Merge branch 'development' into mohr/documentation_ci

This reverts commit 7877776e24.

CHANGELOG.md

@@ -8,17 +8,49 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-## Changes
+# [v6.0.0]
 
-- Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
-  constants.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/659
+## Fixes
+
+- 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
 
 ## Added
 
 - Add new `UnsignedByteField` class
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
 
+## Changes
+
+- 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
+
 # [v5.0.0] 25.07.2022
 
 ## Changes

CMakeLists.txt

@@ -80,7 +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}.1.0
     CACHE STRING "Catch2 library exact version requirement")
 
 # Keep this off by default for now. See PR:
@@ -326,7 +326,8 @@ if(FSFW_BUILD_TESTS)
             "/usr/local/include/*"
             "*/fsfw_tests/*"
             "*/catch2-src/*"
-            "*/fsfw_hal/*")
+            "*/fsfw_hal/*"
+            "unittests/*")
       endif()
 
       target_link_options(${FSFW_TEST_TGT} PRIVATE -fprofile-arcs
@@ -345,7 +346,8 @@ if(FSFW_BUILD_TESTS)
       else()
         setup_target_for_coverage_lcov(
           NAME ${FSFW_TEST_TGT}_coverage EXECUTABLE ${FSFW_TEST_TGT}
-          DEPENDENCIES ${FSFW_TEST_TGT})
+          DEPENDENCIES ${FSFW_TEST_TGT}
+          GENHTML_ARGS --html-epilog ${CMAKE_SOURCE_DIR}/unittests/lcov_epilog.html)
       endif()
     endif()
   endif()
@@ -360,7 +362,8 @@ if(NOT FSFW_CONFIG_PATH)
   if(NOT FSFW_BUILD_DOCS)
     message(
       WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_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} ..")

README.md

@@ -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

automation/Dockerfile

@@ -5,16 +5,25 @@ 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
+
+RUN python3 -m pip install sphinx 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

automation/Jenkinsfile

@@ -1,9 +1,13 @@
 pipeline {
     environment {
-        BUILDDIR = 'build-tests'
+        BUILDDIR = 'cmake-build-tests'
+        DOCDDIR = 'cmake-build-documentation'
     }
     agent {
-        docker { image 'fsfw-ci:d3'}
+        docker { 
+            image 'fsfw-ci:d6'
+            args '--network host'
+        }
     }
     stages {
         stage('Clean') {
@@ -39,5 +43,43 @@ pipeline {
                 }
             }
         }
+        stage('Documentation') {
+            when {
+                branch 'development'
+            }
+            steps {
+                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:/fsfw/development'
+                    }
+                }
+                dir(BUILDDIR) {
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
+                    }
+                }
+            }
+        }
+        stage('Master Documentation') {
+            when {
+                branch 'master'
+            }
+            steps {
+                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:/fsfw/master'
+                    }
+                }
+                dir(BUILDDIR) {
+                    sshagent(credentials: ['documentation-buildfix']) {
+                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
+                    }
+                }
+            }
+        }
     }
 }

docs/conf.py

@@ -50,6 +50,11 @@ exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
 #
 html_theme = 'alabaster'
 
+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".

docs/highlevel.rst

@@ -6,13 +6,14 @@ 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
 -----------------

misc/defaultcfg/fsfwconfig/FSFWConfig.h

@@ -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

misc/defaultcfg/fsfwconfig/objects/FsfwFactory.cpp

@@ -35,8 +35,8 @@ 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;

scripts/helper.py

@@ -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"
 
 

src/fsfw/cfdp/CFDPMessage.cpp

@@ -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) {}

src/fsfw/cfdp/CMakeLists.txt

@@ -1,4 +1,4 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE CFDPHandler.cpp CFDPMessage.cpp)
+target_sources(${LIB_FSFW_NAME} PRIVATE CfdpHandler.cpp CfdpMessage.cpp)
 
 add_subdirectory(pdu)
 add_subdirectory(tlv)

src/fsfw/cfdp/CfdpHandler.cpp

@@ -1,24 +1,23 @@
-#include "fsfw/cfdp/CFDPHandler.h"
+#include "fsfw/cfdp/CfdpHandler.h"
 
-#include "fsfw/cfdp/CFDPMessage.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;
+object_id_t CfdpHandler::packetSource = 0;
+object_id_t CfdpHandler::packetDestination = 0;
 
-CFDPHandler::CFDPHandler(object_id_t setObjectId, CFDPDistributor* dist)
+CfdpHandler::CfdpHandler(object_id_t setObjectId, CFDPDistributor* dist)
     : SystemObject(setObjectId) {
   requestQueue = QueueFactory::instance()->createMessageQueue(CFDP_HANDLER_MAX_RECEPTION);
   distributor = dist;
 }
 
-CFDPHandler::~CFDPHandler() {}
+CfdpHandler::~CfdpHandler() = default;
 
-ReturnValue_t CFDPHandler::initialize() {
+ReturnValue_t CfdpHandler::initialize() {
   ReturnValue_t result = SystemObject::initialize();
   if (result != returnvalue::OK) {
     return result;
@@ -27,7 +26,7 @@ ReturnValue_t CFDPHandler::initialize() {
   return returnvalue::OK;
 }
 
-ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
+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;
@@ -41,17 +40,17 @@ ReturnValue_t CFDPHandler::handleRequest(store_address_t storeId) {
   return returnvalue::OK;
 }
 
-ReturnValue_t CFDPHandler::performOperation(uint8_t opCode) {
+ReturnValue_t CfdpHandler::performOperation(uint8_t opCode) {
   ReturnValue_t status = returnvalue::OK;
   CommandMessage currentMessage;
   for (status = this->requestQueue->receiveMessage(&currentMessage); status == returnvalue::OK;
        status = this->requestQueue->receiveMessage(&currentMessage)) {
-    store_address_t storeId = CFDPMessage::getStoreId(&currentMessage);
+    store_address_t storeId = CfdpMessage::getStoreId(&currentMessage);
     this->handleRequest(storeId);
   }
   return returnvalue::OK;
 }
 
-uint16_t CFDPHandler::getIdentifier() { return 0; }
+uint16_t CfdpHandler::getIdentifier() { return 0; }
 
-MessageQueueId_t CFDPHandler::getRequestQueue() { return this->requestQueue->getId(); }
+MessageQueueId_t CfdpHandler::getRequestQueue() { return this->requestQueue->getId(); }

src/fsfw/cfdp/CfdpHandler.h

@@ -12,15 +12,15 @@ namespace Factory {
 void setStaticFrameworkObjectIds();
 }
 
-class CFDPHandler : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject {
+class CfdpHandler : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject {
   friend void(Factory::setStaticFrameworkObjectIds)();
 
  public:
-  CFDPHandler(object_id_t setObjectId, CFDPDistributor* distributor);
+  CfdpHandler(object_id_t setObjectId, CFDPDistributor* distributor);
   /**
    * The destructor is empty.
    */
-  virtual ~CFDPHandler();
+  virtual ~CfdpHandler();
 
   virtual ReturnValue_t handleRequest(store_address_t storeId);
 
@@ -42,7 +42,7 @@ class CFDPHandler : public ExecutableObjectIF, public AcceptsTelecommandsIF, pub
    * The current CFDP packet to be processed.
    * It is deleted after handleRequest was executed.
    */
-  CFDPPacketStored currentPacket;
+  CfdpPacketStored currentPacket;
 
   static object_id_t packetSource;
 

src/fsfw/cfdp/CfdpMessage.cpp

@@ -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) {}

src/fsfw/cfdp/CfdpMessage.h

@@ -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);

src/fsfw/cfdp/tlv/Lv.cpp

@@ -21,7 +21,7 @@ cfdp::Lv& cfdp::Lv::operator=(const Lv& other) {
   if (value == nullptr or otherSize == 0) {
     this->zeroLen = true;
   }
-  this->value.setBuffer(value, otherSize);
+  this->value.setConstBuffer(value, otherSize);
   return *this;
 }
 
@@ -70,7 +70,7 @@ ReturnValue_t cfdp::Lv::deSerialize(const uint8_t** buffer, size_t* size,
   }
   zeroLen = false;
   // Zero-copy implementation
-  value.setBuffer(const_cast<uint8_t*>(*buffer + 1), lengthField);
+  value.setConstBuffer(*buffer + 1, lengthField);
   *buffer += 1 + lengthField;
   *size -= 1 + lengthField;
   return returnvalue::OK;

src/fsfw/cfdp/tlv/Tlv.cpp

@@ -75,7 +75,7 @@ ReturnValue_t cfdp::Tlv::deSerialize(const uint8_t **buffer, size_t *size,
   }
   zeroLen = false;
   // Zero-copy implementation
-  value.setBuffer(const_cast<uint8_t *>(*buffer + 1), lengthField);
+  value.setConstBuffer(*buffer + 1, lengthField);
   *buffer += 1 + lengthField;
   *size -= 1 + lengthField;
   return returnvalue::OK;
@@ -96,7 +96,7 @@ void cfdp::Tlv::setValue(uint8_t *value, size_t len) {
   if (len > 0) {
     zeroLen = false;
   }
-  this->value.setBuffer(value, len);
+  this->value.setConstBuffer(value, len);
 }
 
 uint8_t cfdp::Tlv::getLengthField() const { return this->value.getSerializedSize() - 1; }

src/fsfw/datalinklayer/MapPacketExtraction.cpp

@@ -6,7 +6,7 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
-#include "fsfw/tmtcpacket/SpacePacketBase.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
 

src/fsfw/datapoollocal/HasLocalDataPoolIF.h

@@ -79,8 +79,7 @@ class HasLocalDataPoolIF {
    * @param clearMessage  If this is set to true, the pool manager will take care of
    *                      clearing the store automatically
    */
-  virtual void handleChangedDataset(sid_t sid,
-                                    store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
+  virtual void handleChangedDataset(sid_t sid, store_address_t storeId = store_address_t::invalid(),
                                     bool* clearMessage = nullptr) {
     if (clearMessage != nullptr) {
       *clearMessage = true;
@@ -100,7 +99,7 @@ class HasLocalDataPoolIF {
    *                      after the callback.
    */
   virtual void handleChangedPoolVariable(gp_id_t gpid,
-                                         store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
+                                         store_address_t storeId = store_address_t::invalid(),
                                          bool* clearMessage = nullptr) {
     if (clearMessage != nullptr) {
       *clearMessage = true;

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -1,6 +1,5 @@
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 
-#include <array>
 #include <cmath>
 
 #include "fsfw/datapoollocal.h"
@@ -15,6 +14,7 @@
 #include "internal/HasLocalDpIFManagerAttorney.h"
 #include "internal/LocalPoolDataSetAttorney.h"
 
+// TODO: Get rid of this. This should be a constructor argument, not something hardcoded in any way
 object_id_t LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
 
 LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
@@ -57,7 +57,7 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
   }
 
   if (defaultHkDestination != objects::NO_OBJECT) {
-    AcceptsHkPacketsIF* hkPacketReceiver =
+    auto* hkPacketReceiver =
         ObjectManager::instance()->get<AcceptsHkPacketsIF>(defaultHkDestination);
     if (hkPacketReceiver != nullptr) {
       hkDestinationId = hkPacketReceiver->getHkQueue();
@@ -209,9 +209,9 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
     }
 
     /* Prepare and send update snapshot */
-    timeval now;
+    timeval now{};
     Clock::getClock_timeval(&now);
-    CCSDSTime::CDS_short cds;
+    CCSDSTime::CDS_short cds{};
     CCSDSTime::convertToCcsds(&cds, &now);
     HousekeepingSnapshot updatePacket(
         reinterpret_cast<uint8_t*>(&cds), sizeof(cds),
@@ -245,9 +245,9 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(HkReceiver& recei
     }
 
     /* Prepare and send update snapshot */
-    timeval now;
+    timeval now{};
     Clock::getClock_timeval(&now);
-    CCSDSTime::CDS_short cds;
+    CCSDSTime::CDS_short cds{};
     CCSDSTime::convertToCcsds(&cds, &now);
     HousekeepingSnapshot updatePacket(
         reinterpret_cast<uint8_t*>(&cds), sizeof(cds),
@@ -291,12 +291,7 @@ ReturnValue_t LocalDataPoolManager::addUpdateToStore(HousekeepingSnapshot& updat
 
 void LocalDataPoolManager::handleChangeResetLogic(DataType type, DataId dataId,
                                                   MarkChangedIF* toReset) {
-  if (hkUpdateResetList == nullptr) {
-    /* Config error */
-    return;
-  }
-  HkUpdateResetList& listRef = *hkUpdateResetList;
-  for (auto& changeInfo : listRef) {
+  for (auto& changeInfo : hkUpdateResetList) {
     if (changeInfo.dataType != type) {
       continue;
     }
@@ -326,38 +321,37 @@ void LocalDataPoolManager::handleChangeResetLogic(DataType type, DataId dataId,
 }
 
 void LocalDataPoolManager::resetHkUpdateResetHelper() {
-  if (hkUpdateResetList == nullptr) {
-    return;
-  }
-
-  for (auto& changeInfo : *hkUpdateResetList) {
+  for (auto& changeInfo : hkUpdateResetList) {
     changeInfo.currentUpdateCounter = changeInfo.updateCounter;
   }
 }
 
-ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
-                                                               float collectionInterval,
-                                                               bool isDiagnostics,
-                                                               object_id_t packetDestination) {
-  AcceptsHkPacketsIF* hkReceiverObject =
-      ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
-  if (hkReceiverObject == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
-                        QUEUE_OR_DESTINATION_INVALID);
-    return QUEUE_OR_DESTINATION_INVALID;
-  }
+ReturnValue_t LocalDataPoolManager::subscribeForRegularPeriodicPacket(
+    subdp::RegularHkPeriodicParams params) {
+  return subscribeForPeriodicPacket(params);
+}
 
+ReturnValue_t LocalDataPoolManager::subscribeForDiagPeriodicPacket(
+    subdp::DiagnosticsHkPeriodicParams params) {
+  return subscribeForPeriodicPacket(params);
+}
+
+ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(subdp::ParamsBase& params) {
   struct HkReceiver hkReceiver;
-  hkReceiver.dataId.sid = sid;
+  hkReceiver.dataId.sid = params.sid;
   hkReceiver.reportingType = ReportingType::PERIODIC;
   hkReceiver.dataType = DataType::DATA_SET;
-  hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
+  if (params.receiver == MessageQueueIF::NO_QUEUE) {
+    hkReceiver.destinationQueue = hkDestinationId;
+  } else {
+    hkReceiver.destinationQueue = params.receiver;
+  }
 
-  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
+  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
   if (dataSet != nullptr) {
-    LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enableReporting);
-    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
-    LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, collectionInterval,
+    LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, params.enableReporting);
+    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
+    LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, params.collectionInterval,
                                                        owner->getPeriodicOperationFrequency());
   }
 
@@ -365,27 +359,30 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid, bool e
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid, bool isDiagnostics,
-                                                             bool reportingEnabled,
-                                                             object_id_t packetDestination) {
-  AcceptsHkPacketsIF* hkReceiverObject =
-      ObjectManager::instance()->get<AcceptsHkPacketsIF>(packetDestination);
-  if (hkReceiverObject == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "subscribeForPeriodicPacket",
-                        QUEUE_OR_DESTINATION_INVALID);
-    return QUEUE_OR_DESTINATION_INVALID;
-  }
+ReturnValue_t LocalDataPoolManager::subscribeForRegularUpdatePacket(
+    subdp::RegularHkUpdateParams params) {
+  return subscribeForUpdatePacket(params);
+}
+ReturnValue_t LocalDataPoolManager::subscribeForDiagUpdatePacket(
+    subdp::DiagnosticsHkUpdateParams params) {
+  return subscribeForUpdatePacket(params);
+}
 
+ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(subdp::ParamsBase& params) {
   struct HkReceiver hkReceiver;
-  hkReceiver.dataId.sid = sid;
+  hkReceiver.dataId.sid = params.sid;
   hkReceiver.reportingType = ReportingType::UPDATE_HK;
   hkReceiver.dataType = DataType::DATA_SET;
-  hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
+  if (params.receiver == MessageQueueIF::NO_QUEUE) {
+    hkReceiver.destinationQueue = hkDestinationId;
+  } else {
+    hkReceiver.destinationQueue = params.receiver;
+  }
 
-  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
+  LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, params.sid);
   if (dataSet != nullptr) {
     LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, true);
-    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
+    LocalPoolDataSetAttorney::setDiagnostic(*dataSet, params.isDiagnostics());
   }
 
   hkReceivers.push_back(hkReceiver);
@@ -436,11 +433,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForVariableUpdateMessage(
 }
 
 void LocalDataPoolManager::handleHkUpdateResetListInsertion(DataType dataType, DataId dataId) {
-  if (hkUpdateResetList == nullptr) {
-    hkUpdateResetList = new std::vector<struct HkUpdateResetHelper>();
-  }
-
-  for (auto& updateResetStruct : *hkUpdateResetList) {
+  for (auto& updateResetStruct : hkUpdateResetList) {
     if (dataType == DataType::DATA_SET) {
       if (updateResetStruct.dataId.sid == dataId.sid) {
         updateResetStruct.updateCounter++;
@@ -464,7 +457,7 @@ void LocalDataPoolManager::handleHkUpdateResetListInsertion(DataType dataType, D
   } else {
     hkUpdateResetHelper.dataId.localPoolId = dataId.localPoolId;
   }
-  hkUpdateResetList->push_back(hkUpdateResetHelper);
+  hkUpdateResetList.push_back(hkUpdateResetHelper);
 }
 
 ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(CommandMessage* message) {
@@ -639,6 +632,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
       /* Error, all destinations invalid */
       printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateHousekeepingPacket",
                           QUEUE_OR_DESTINATION_INVALID);
+      return QUEUE_OR_DESTINATION_INVALID;
     }
     destination = hkDestinationId;
   }
@@ -815,9 +809,7 @@ void LocalDataPoolManager::clearReceiversList() {
   /* Clear the vector completely and releases allocated memory. */
   HkReceivers().swap(hkReceivers);
   /* Also clear the reset helper if it exists */
-  if (hkUpdateResetList != nullptr) {
-    HkUpdateResetList().swap(*hkUpdateResetList);
-  }
+  HkUpdateResetList().swap(hkUpdateResetList);
 }
 
 MutexIF* LocalDataPoolManager::getLocalPoolMutex() { return this->mutex; }
@@ -877,3 +869,7 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 }
 
 LocalDataPoolManager* LocalDataPoolManager::getPoolManagerHandle() { return this; }
+
+void LocalDataPoolManager::setHkDestinationId(MessageQueueId_t hkDestId) {
+  hkDestinationId = hkDestId;
+}

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -8,6 +8,7 @@
 #include "ProvidesDataPoolSubscriptionIF.h"
 #include "fsfw/datapool/DataSetIF.h"
 #include "fsfw/datapool/PoolEntry.h"
+#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
 #include "fsfw/housekeeping/HousekeepingMessage.h"
 #include "fsfw/housekeeping/HousekeepingPacketDownlink.h"
 #include "fsfw/housekeeping/PeriodicHousekeepingHelper.h"
@@ -80,7 +81,9 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
                        bool appendValidityBuffer = true);
-  virtual ~LocalDataPoolManager();
+  ~LocalDataPoolManager() override;
+
+  void setHkDestinationId(MessageQueueId_t hkDestId);
 
   /**
    * Assigns the queue to use. Make sure to call this in the #initialize
@@ -112,31 +115,6 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   virtual ReturnValue_t performHkOperation();
 
-  /**
-   * @brief   Subscribe for the generation of periodic packets.
-   * @details
-   * This subscription mechanism will generally be used by the data creator
-   * to generate housekeeping packets which are downlinked directly.
-   * @return
-   */
-  ReturnValue_t subscribeForPeriodicPacket(
-      sid_t sid, bool enableReporting, float collectionInterval, bool isDiagnostics,
-      object_id_t packetDestination = defaultHkDestination) override;
-
-  /**
-   * @brief   Subscribe for the  generation of packets if the dataset
-   *          is marked as changed.
-   * @details
-   * This subscription mechanism will generally be used by the data creator.
-   * @param sid
-   * @param isDiagnostics
-   * @param packetDestination
-   * @return
-   */
-  ReturnValue_t subscribeForUpdatePacket(
-      sid_t sid, bool reportingEnabled, bool isDiagnostics,
-      object_id_t packetDestination = defaultHkDestination) override;
-
   /**
    * @brief   Subscribe for a notification message which will be sent
    *          if a dataset has changed.
@@ -151,7 +129,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * Otherwise, only an notification message is sent.
    * @return
    */
-  ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId, object_id_t destinationObject,
+  ReturnValue_t subscribeForSetUpdateMessage(uint32_t setId, object_id_t destinationObject,
                                              MessageQueueId_t targetQueueId,
                                              bool generateSnapshot) override;
 
@@ -169,7 +147,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * Otherwise, only an notification message is sent.
    * @return
    */
-  ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
+  ReturnValue_t subscribeForVariableUpdateMessage(lp_id_t localPoolId,
                                                   object_id_t destinationObject,
                                                   MessageQueueId_t targetQueueId,
                                                   bool generateSnapshot) override;
@@ -252,7 +230,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   void clearReceiversList();
 
-  object_id_t getCreatorObjectId() const;
+  [[nodiscard]] object_id_t getCreatorObjectId() const;
 
   /**
    * Get the pointer to the mutex. Can be used to lock the data pool
@@ -262,9 +240,17 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    */
   MutexIF* getMutexHandle();
 
-  virtual LocalDataPoolManager* getPoolManagerHandle() override;
+  LocalDataPoolManager* getPoolManagerHandle() override;
+  ReturnValue_t subscribeForRegularPeriodicPacket(subdp::RegularHkPeriodicParams params) override;
+  ReturnValue_t subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams params) override;
+
+  ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) override;
+  ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) override;
 
  protected:
+  ReturnValue_t subscribeForPeriodicPacket(subdp::ParamsBase& params);
+  ReturnValue_t subscribeForUpdatePacket(subdp::ParamsBase& params);
+
   /** Core data structure for the actual pool data */
   localpool::DataPool localPoolMap;
   /** Every housekeeping data manager has a mutex to protect access
@@ -312,8 +298,8 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
 
   using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
   /** This list is used to manage creating multiple update packets and only resetting
-  the update flag if all of them were created. Will only be created when needed. */
-  HkUpdateResetList* hkUpdateResetList = nullptr;
+  the update flag if all of them were created. */
+  HkUpdateResetList hkUpdateResetList = HkUpdateResetList();
 
   /** This is the map holding the actual data. Should only be initialized
    * once ! */

src/fsfw/datapoollocal/LocalPoolObjectBase.cpp

@@ -48,12 +48,12 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
   if (hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "LocalPoolVariable: The supplied pool owner 0x" << std::hex << poolOwner
-               << std::dec << " did not implement the correct interface "
+               << std::dec << "  does not exist or does not implement the correct interface "
                << "HasLocalDataPoolIF" << std::endl;
 #else
     sif::printError(
-        "LocalPoolVariable: The supplied pool owner 0x%08x did not implement the correct "
-        "interface HasLocalDataPoolIF\n",
+        "LocalPoolVariable: The supplied pool owner 0x%08x does not exist or does not implement "
+        "the correct interface HasLocalDataPoolIF\n",
         poolOwner);
 #endif
     return;

src/fsfw/datapoollocal/ProvidesDataPoolSubscriptionIF.h

@@ -1,24 +1,90 @@
 #ifndef FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
 #define FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_
 
-#include "../ipc/messageQueueDefinitions.h"
-#include "../returnvalues/returnvalue.h"
+#include "fsfw/housekeeping/AcceptsHkPacketsIF.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/ipc/messageQueueDefinitions.h"
+#include "fsfw/returnvalues/returnvalue.h"
 #include "localPoolDefinitions.h"
 
+namespace subdp {
+
+struct ParamsBase {
+  ParamsBase(sid_t sid, bool enableReporting, float collectionInterval, bool diagnostics)
+      : sid(sid),
+        enableReporting(enableReporting),
+        collectionInterval(collectionInterval),
+        diagnostics(diagnostics) {}
+
+  [[nodiscard]] bool isDiagnostics() const { return diagnostics; }
+
+  sid_t sid;
+  bool enableReporting;
+  float collectionInterval;
+  MessageQueueId_t receiver = MessageQueueIF::NO_QUEUE;
+
+ protected:
+  bool diagnostics;
+};
+
+struct RegularHkPeriodicParams : public ParamsBase {
+  RegularHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
+      : ParamsBase(sid, enableReporting, collectionInterval, false) {}
+};
+
+struct DiagnosticsHkPeriodicParams : public ParamsBase {
+  DiagnosticsHkPeriodicParams(sid_t sid, bool enableReporting, float collectionInterval)
+      : ParamsBase(sid, enableReporting, collectionInterval, true) {}
+};
+
+struct RegularHkUpdateParams : public ParamsBase {
+  RegularHkUpdateParams(sid_t sid, bool enableReporting)
+      : ParamsBase(sid, enableReporting, 0.0, false) {}
+};
+
+struct DiagnosticsHkUpdateParams : public ParamsBase {
+  DiagnosticsHkUpdateParams(sid_t sid, bool enableReporting)
+      : ParamsBase(sid, enableReporting, 0.0, true) {}
+};
+}  // namespace subdp
+
 class ProvidesDataPoolSubscriptionIF {
  public:
-  virtual ~ProvidesDataPoolSubscriptionIF(){};
-
+  virtual ~ProvidesDataPoolSubscriptionIF() = default;
   /**
-   * @brief   Subscribe for the generation of periodic packets.
+   * @brief   Subscribe for the generation of periodic packets. Used for regular HK packets
    * @details
    * This subscription mechanism will generally be used by the data creator
    * to generate housekeeping packets which are downlinked directly.
    * @return
    */
-  virtual ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
-                                                   float collectionInterval, bool isDiagnostics,
-                                                   object_id_t packetDestination) = 0;
+  virtual ReturnValue_t subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams params) = 0;
+  /**
+   * @brief   Subscribe for the generation of periodic packets. Used for diagnostic packets
+   * @details
+   * This subscription mechanism will generally be used by the data creator
+   * to generate housekeeping packets which are downlinked directly.
+   * @return
+   */
+  virtual ReturnValue_t subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams params) = 0;
+
+  [[deprecated(
+      "Please use the new API which takes all arguments as one wrapper "
+      "struct")]] virtual ReturnValue_t
+  subscribeForPeriodicPacket(sid_t sid, bool enableReporting, float collectionInterval,
+                             bool isDiagnostics,
+                             object_id_t packetDestination = objects::NO_OBJECT) {
+    if (isDiagnostics) {
+      subdp::DiagnosticsHkPeriodicParams params(sid, enableReporting, collectionInterval);
+      return subscribeForDiagPeriodicPacket(params);
+    } else {
+      subdp::RegularHkPeriodicParams params(sid, enableReporting, collectionInterval);
+      return subscribeForRegularPeriodicPacket(params);
+    }
+  }
+
   /**
    * @brief   Subscribe for the  generation of packets if the dataset
    *          is marked as changed.
@@ -29,9 +95,28 @@ class ProvidesDataPoolSubscriptionIF {
    * @param packetDestination
    * @return
    */
-  virtual ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
-                                                 bool isDiagnostics,
-                                                 object_id_t packetDestination) = 0;
+  virtual ReturnValue_t subscribeForRegularUpdatePacket(subdp::RegularHkUpdateParams params) = 0;
+  virtual ReturnValue_t subscribeForDiagUpdatePacket(subdp::DiagnosticsHkUpdateParams params) = 0;
+
+  //  virtual ReturnValue_t
+  //  subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics) {
+  //    return subscribeForUpdatePacket(sid, reportingEnabled, isDiagnostics, objects::NO_OBJECT);
+  //  }
+
+  [[deprecated(
+      "Please use the new API which takes all arguments as one wrapper "
+      "struct")]] virtual ReturnValue_t
+  subscribeForUpdatePacket(sid_t sid, bool reportingEnabled, bool isDiagnostics,
+                           object_id_t packetDestination = objects::NO_OBJECT) {
+    if (isDiagnostics) {
+      subdp::DiagnosticsHkUpdateParams params(sid, reportingEnabled);
+      return subscribeForDiagUpdatePacket(params);
+    } else {
+      subdp::RegularHkUpdateParams params(sid, reportingEnabled);
+      return subscribeForRegularUpdatePacket(params);
+    }
+  }
+
   /**
    * @brief   Subscribe for a notification message which will be sent
    *          if a dataset has changed.
@@ -46,8 +131,7 @@ class ProvidesDataPoolSubscriptionIF {
    *                              Otherwise, only an notification message is sent.
    * @return
    */
-  virtual ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
-                                                     object_id_t destinationObject,
+  virtual ReturnValue_t subscribeForSetUpdateMessage(uint32_t setId, object_id_t destinationObject,
                                                      MessageQueueId_t targetQueueId,
                                                      bool generateSnapshot) = 0;
   /**
@@ -64,7 +148,7 @@ class ProvidesDataPoolSubscriptionIF {
    *                              only an notification message is sent.
    * @return
    */
-  virtual ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
+  virtual ReturnValue_t subscribeForVariableUpdateMessage(lp_id_t localPoolId,
                                                           object_id_t destinationObject,
                                                           MessageQueueId_t targetQueueId,
                                                           bool generateSnapshot) = 0;

src/fsfw/health/HealthTable.h

@@ -9,8 +9,8 @@
 
 class HealthTable : public HealthTableIF, public SystemObject {
  public:
-  HealthTable(object_id_t objectid);
-  virtual ~HealthTable();
+  explicit HealthTable(object_id_t objectid);
+  ~HealthTable() override;
 
   void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
 

src/fsfw/housekeeping/AcceptsHkPacketsIF.h

@@ -1,12 +1,12 @@
 #ifndef FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
 #define FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
 
-#include "../ipc/MessageQueueMessageIF.h"
+#include "fsfw/ipc/MessageQueueMessageIF.h"
 
 class AcceptsHkPacketsIF {
  public:
-  virtual ~AcceptsHkPacketsIF(){};
-  virtual MessageQueueId_t getHkQueue() const = 0;
+  virtual ~AcceptsHkPacketsIF() = default;
+  [[nodiscard]] virtual MessageQueueId_t getHkQueue() const = 0;
 };
 
 #endif /* FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_ */

src/fsfw/internalerror/InternalErrorReporter.cpp

@@ -126,11 +126,12 @@ MessageQueueId_t InternalErrorReporter::getCommandQueue() const {
 
 ReturnValue_t InternalErrorReporter::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                              LocalDataPoolManager &poolManager) {
-  localDataPoolMap.emplace(errorPoolIds::TM_HITS, new PoolEntry<uint32_t>());
-  localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, new PoolEntry<uint32_t>());
-  localDataPoolMap.emplace(errorPoolIds::STORE_HITS, new PoolEntry<uint32_t>());
-  poolManager.subscribeForPeriodicPacket(internalErrorSid, false, getPeriodicOperationFrequency(),
-                                         true);
+  localDataPoolMap.emplace(errorPoolIds::TM_HITS, &tmHitsEntry);
+  localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, &queueHitsEntry);
+  localDataPoolMap.emplace(errorPoolIds::STORE_HITS, &storeHitsEntry);
+  poolManager.subscribeForDiagPeriodicPacket(subdp::DiagnosticsHkPeriodicParams(
+      internalErrorSid, false,
+      static_cast<float>(getPeriodicOperationFrequency()) / static_cast<float>(1000.0)));
   internalErrorDataset.setValidity(true, true);
   return returnvalue::OK;
 }

src/fsfw/internalerror/InternalErrorReporter.h

@@ -72,6 +72,9 @@ class InternalErrorReporter : public SystemObject,
   uint32_t queueHits = 0;
   uint32_t tmHits = 0;
   uint32_t storeHits = 0;
+  PoolEntry<uint32_t> tmHitsEntry = PoolEntry<uint32_t>();
+  PoolEntry<uint32_t> storeHitsEntry = PoolEntry<uint32_t>();
+  PoolEntry<uint32_t> queueHitsEntry = PoolEntry<uint32_t>();
 
   uint32_t getAndResetQueueHits();
   void incrementQueueHits();

src/fsfw/internalerror/InternalErrorReporterIF.h

@@ -12,7 +12,7 @@
  */
 class InternalErrorReporterIF {
  public:
-  virtual ~InternalErrorReporterIF() {}
+  virtual ~InternalErrorReporterIF() = default;
   /**
    * @brief Function to be called if a message queue could not be sent.
    * @details OSAL Implementations should call this function to indicate that

src/fsfw/ipc/MessageQueueBase.cpp

@@ -8,7 +8,7 @@ MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t default
   }
 }
 
-MessageQueueBase::~MessageQueueBase() {}
+MessageQueueBase::~MessageQueueBase() = default;
 
 ReturnValue_t MessageQueueBase::sendToDefault(MessageQueueMessageIF* message) {
   return sendToDefaultFrom(message, this->getId(), false);

src/fsfw/ipc/MessageQueueBase.h

@@ -7,28 +7,28 @@
 class MessageQueueBase : public MessageQueueIF {
  public:
   MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs);
-  virtual ~MessageQueueBase();
+  ~MessageQueueBase() override;
 
   // Default implementations for MessageQueueIF where possible
-  virtual MessageQueueId_t getLastPartner() const override;
-  virtual MessageQueueId_t getId() const override;
-  virtual MqArgs& getMqArgs() override;
-  virtual void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-  virtual MessageQueueId_t getDefaultDestination() const override;
-  virtual bool isDefaultDestinationSet() const override;
-  virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                    bool ignoreFault) override;
-  virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-  virtual ReturnValue_t reply(MessageQueueMessageIF* message) override;
-  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-                                       MessageQueueId_t* receivedFrom) override;
-  virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-                                          bool ignoreFault = false) override;
+  [[nodiscard]] MessageQueueId_t getLastPartner() const override;
+  [[nodiscard]] MessageQueueId_t getId() const override;
+  MqArgs& getMqArgs() override;
+  void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+  [[nodiscard]] MessageQueueId_t getDefaultDestination() const override;
+  [[nodiscard]] bool isDefaultDestinationSet() const override;
+  ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                            bool ignoreFault) override;
+  ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+  ReturnValue_t reply(MessageQueueMessageIF* message) override;
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+                               MessageQueueId_t* receivedFrom) override;
+  ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+                                  bool ignoreFault = false) override;
 
   // OSAL specific, forward the abstract function
-  virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
-  virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
-                                        MessageQueueId_t sentFrom, bool ignoreFault = false) = 0;
+  ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override = 0;
+  ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
+                                MessageQueueId_t sentFrom, bool ignoreFault = false) override = 0;
 
  protected:
   MessageQueueId_t id = MessageQueueIF::NO_QUEUE;

src/fsfw/ipc/MessageQueueIF.h

@@ -30,7 +30,7 @@ class MessageQueueIF {
   //! [EXPORT] : [COMMENT] Returned if the target destination is invalid.
   static constexpr ReturnValue_t DESTINATION_INVALID = MAKE_RETURN_CODE(4);
 
-  virtual ~MessageQueueIF() {}
+  virtual ~MessageQueueIF() = default;
   /**
    * @brief	This operation sends a message to the last communication partner.
    * @details
@@ -82,11 +82,11 @@ class MessageQueueIF {
   /**
    * @brief	This method returns the message queue ID of the last communication partner.
    */
-  virtual MessageQueueId_t getLastPartner() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getLastPartner() const = 0;
   /**
    * @brief	This method returns the message queue ID  of this class's message queue.
    */
-  virtual MessageQueueId_t getId() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getId() const = 0;
 
   /**
    * @brief	With the sendMessage call, a queue message is sent to a receiving queue.
@@ -159,9 +159,9 @@ class MessageQueueIF {
   /**
    * @brief	This method is a simple getter for the default destination.
    */
-  virtual MessageQueueId_t getDefaultDestination() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getDefaultDestination() const = 0;
 
-  virtual bool isDefaultDestinationSet() const = 0;
+  [[nodiscard]] virtual bool isDefaultDestinationSet() const = 0;
 
   virtual MqArgs& getMqArgs() = 0;
 };

src/fsfw/ipc/MessageQueueMessage.cpp

@@ -10,10 +10,10 @@ MessageQueueMessage::MessageQueueMessage() : messageSize(getMinimumMessageSize()
 }
 
 MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
-    : messageSize(this->HEADER_SIZE + size) {
-  if (size <= this->MAX_DATA_SIZE) {
-    memcpy(this->getData(), data, size);
-    this->messageSize = this->HEADER_SIZE + size;
+    : messageSize(MessageQueueMessage::HEADER_SIZE + size) {
+  if (size <= MessageQueueMessage::MAX_DATA_SIZE) {
+    std::memcpy(MessageQueueMessage::getData(), data, size);
+    this->messageSize = MessageQueueMessage::HEADER_SIZE + size;
   } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "MessageQueueMessage: Passed size larger than maximum"
@@ -21,21 +21,23 @@ MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size)
                  << std::endl;
 #endif
     memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
-    this->messageSize = this->HEADER_SIZE;
+    this->messageSize = MessageQueueMessage::HEADER_SIZE;
   }
 }
 
-MessageQueueMessage::~MessageQueueMessage() {}
+MessageQueueMessage::~MessageQueueMessage() = default;
 
 const uint8_t* MessageQueueMessage::getBuffer() const { return this->internalBuffer; }
 
 uint8_t* MessageQueueMessage::getBuffer() { return this->internalBuffer; }
 
 const uint8_t* MessageQueueMessage::getData() const {
-  return this->internalBuffer + this->HEADER_SIZE;
+  return this->internalBuffer + MessageQueueMessage::HEADER_SIZE;
 }
 
-uint8_t* MessageQueueMessage::getData() { return this->internalBuffer + this->HEADER_SIZE; }
+uint8_t* MessageQueueMessage::getData() {
+  return this->internalBuffer + MessageQueueMessage::HEADER_SIZE;
+}
 
 MessageQueueId_t MessageQueueMessage::getSender() const {
   MessageQueueId_t temp_id;
@@ -58,14 +60,22 @@ void MessageQueueMessage::print(bool printWholeMessage) {
   }
 }
 
-void MessageQueueMessage::clear() { memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE); }
+void MessageQueueMessage::clear() {
+  memset(this->getBuffer(), 0, MessageQueueMessage::MAX_MESSAGE_SIZE);
+}
 
 size_t MessageQueueMessage::getMessageSize() const { return this->messageSize; }
 
-void MessageQueueMessage::setMessageSize(size_t messageSize) { this->messageSize = messageSize; }
+void MessageQueueMessage::setMessageSize(size_t messageSize_) { this->messageSize = messageSize_; }
 
-size_t MessageQueueMessage::getMinimumMessageSize() const { return this->MIN_MESSAGE_SIZE; }
+size_t MessageQueueMessage::getMinimumMessageSize() const {
+  return MessageQueueMessage::MIN_MESSAGE_SIZE;
+}
 
-size_t MessageQueueMessage::getMaximumMessageSize() const { return this->MAX_MESSAGE_SIZE; }
+size_t MessageQueueMessage::getMaximumMessageSize() const {
+  return MessageQueueMessage::MAX_MESSAGE_SIZE;
+}
 
-size_t MessageQueueMessage::getMaximumDataSize() const { return this->MAX_DATA_SIZE; }
+size_t MessageQueueMessage::getMaximumDataSize() const {
+  return MessageQueueMessage::MAX_DATA_SIZE;
+}

src/fsfw/ipc/MessageQueueMessage.h

@@ -25,6 +25,30 @@
  */
 class MessageQueueMessage : public MessageQueueMessageIF {
  public:
+  /**
+   * @brief	This constant defines the maximum size of the data content,
+   * 			excluding the header.
+   * @details
+   * It may be changed if necessary, but in general should be kept
+   * as small as possible.
+   */
+  static const size_t MAX_DATA_SIZE = 24;
+  /**
+   * @brief	This constant defines the maximum total size in bytes
+   * 			of a sent message.
+   * @details
+   * It is the sum of the maximum data and the header size. Be aware that
+   * this constant is used to define the buffer sizes for every message
+   * queue in the system. So, a change here may have significant impact on
+   * the required resources.
+   */
+  static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
+  /**
+   * @brief Defines the minimum size of a message where only the
+   * 		  header is included
+   */
+  static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
+
   /**
    * @brief	The class is initialized empty with this constructor.
    * @details
@@ -50,59 +74,12 @@ class MessageQueueMessage : public MessageQueueMessageIF {
    * @brief	As no memory is allocated in this class,
    * 		    the destructor is empty.
    */
-  virtual ~MessageQueueMessage();
+  ~MessageQueueMessage() override;
 
-  /**
-   * @brief	The size information of each message is stored in
-   *  			this attribute.
-   * @details
-   * It is public to simplify usage and to allow for passing the size
-   * address as a pointer. Care must be taken when inheriting from this class,
-   * as every child class is responsible for managing the size information by
-   * itself. When using the class to receive a message, the size information
-   * is updated automatically.
-   *
-   * Please note that the minimum size is limited by the size of the header
-   * while the maximum size is limited by the maximum allowed message size.
-   */
-  size_t messageSize;
-  /**
-   * @brief	This constant defines the maximum size of the data content,
-   * 			excluding the header.
-   * @details
-   * It may be changed if necessary, but in general should be kept
-   * as small as possible.
-   */
-  static const size_t MAX_DATA_SIZE = 24;
-
-  /**
-   * @brief	This constant defines the maximum total size in bytes
-   * 			of a sent message.
-   * @details
-   * It is the sum of the maximum data and the header size. Be aware that
-   * this constant is used to define the buffer sizes for every message
-   * queue in the system. So, a change here may have significant impact on
-   * the required resources.
-   */
-  static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
-  /**
-   * @brief Defines the minimum size of a message where only the
-   * 		  header is included
-   */
-  static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
-
- private:
-  /**
-   * @brief	This is the internal buffer that contains the
-   * 			actual message data.
-   */
-  uint8_t internalBuffer[MAX_MESSAGE_SIZE];
-
- public:
   /**
    * @brief	This method is used to get the complete data of the message.
    */
-  const uint8_t* getBuffer() const override;
+  [[nodiscard]] const uint8_t* getBuffer() const override;
   /**
    * @brief	This method is used to get the complete data of the message.
    */
@@ -112,7 +89,7 @@ class MessageQueueMessage : public MessageQueueMessageIF {
    * @details
    * It shall be used by child classes to add data at the right position.
    */
-  const uint8_t* getData() const override;
+  [[nodiscard]] const uint8_t* getData() const override;
   /**
    * @brief	This method is used to fetch the data content of the message.
    * @details
@@ -123,7 +100,7 @@ class MessageQueueMessage : public MessageQueueMessageIF {
    * @brief	This method is used to extract the sender's message
    * 			queue id information from a received message.
    */
-  MessageQueueId_t getSender() const override;
+  [[nodiscard]] MessageQueueId_t getSender() const override;
   /**
    * @brief	With this method, the whole content
    * 			and the message size is set to zero.
@@ -138,16 +115,40 @@ class MessageQueueMessage : public MessageQueueMessageIF {
    */
   void setSender(MessageQueueId_t setId) override;
 
-  virtual size_t getMessageSize() const override;
-  virtual void setMessageSize(size_t messageSize) override;
-  virtual size_t getMinimumMessageSize() const override;
-  virtual size_t getMaximumMessageSize() const override;
-  virtual size_t getMaximumDataSize() const override;
+  [[nodiscard]] size_t getMessageSize() const override;
+  void setMessageSize(size_t messageSize) override;
+  [[nodiscard]] size_t getMinimumMessageSize() const override;
+  [[nodiscard]] size_t getMaximumMessageSize() const override;
+  [[nodiscard]] size_t getMaximumDataSize() const override;
 
   /**
    * @brief	This is a debug method that prints the content.
    */
   void print(bool printWholeMessage);
+
+  /**
+   * TODO: This really should not be public. If it should be possible to pass size address as a
+   *       pointer, add a getter function returning a const reference to the size
+   * @brief	The size information of each message is stored in
+   *  			this attribute.
+   * @details
+   * It is public to simplify usage and to allow for passing the size
+   * address as a pointer. Care must be taken when inheriting from this class,
+   * as every child class is responsible for managing the size information by
+   * itself. When using the class to receive a message, the size information
+   * is updated automatically.
+   *
+   * Please note that the minimum size is limited by the size of the header
+   * while the maximum size is limited by the maximum allowed message size.
+   */
+  size_t messageSize;
+
+ private:
+  /**
+   * @brief	This is the internal buffer that contains the
+   * 			actual message data.
+   */
+  uint8_t internalBuffer[MAX_MESSAGE_SIZE] = {};
 };
 
 #endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */

src/fsfw/ipc/MessageQueueMessageIF.h

@@ -14,7 +14,7 @@ class MessageQueueMessageIF {
    */
   static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
 
-  virtual ~MessageQueueMessageIF(){};
+  virtual ~MessageQueueMessageIF() = default;
 
   /**
    * @brief	With this method, the whole content and the message
@@ -29,7 +29,7 @@ class MessageQueueMessageIF {
    * @brief	Get read-only pointer to the complete data of the message.
    * @return
    */
-  virtual const uint8_t* getBuffer() const = 0;
+  [[nodiscard]] virtual const uint8_t* getBuffer() const = 0;
 
   /**
    * @brief	This method is used to get the complete data of the message.
@@ -48,14 +48,14 @@ class MessageQueueMessageIF {
    * @brief	This method is used to extract the sender's message queue id
    * 			information from a received message.
    */
-  virtual MessageQueueId_t getSender() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getSender() const = 0;
 
   /**
    * @brief	This method is used to fetch the data content of the message.
    * @details
    * It shall be used by child classes to add data at the right position.
    */
-  virtual const uint8_t* getData() const = 0;
+  [[nodiscard]] virtual const uint8_t* getData() const = 0;
   /**
    * @brief	This method is used to fetch the data content of the message.
    * @details
@@ -67,12 +67,28 @@ class MessageQueueMessageIF {
    * Get constant message size of current message implementation.
    * @return
    */
-  virtual size_t getMessageSize() const = 0;
+  [[nodiscard]] virtual size_t getMessageSize() const = 0;
 
+  /**
+   * Sets the current message size of a given message
+   * @param messageSize
+   */
   virtual void setMessageSize(size_t messageSize) = 0;
-  virtual size_t getMinimumMessageSize() const = 0;
-  virtual size_t getMaximumMessageSize() const = 0;
-  virtual size_t getMaximumDataSize() const = 0;
+  /**
+   * Returns the smallest possible message size, including any headers
+   * @return
+   */
+  [[nodiscard]] virtual size_t getMinimumMessageSize() const = 0;
+  /**
+   * Returns the largest possible message size, including any headers
+   * @return
+   */
+  [[nodiscard]] virtual size_t getMaximumMessageSize() const = 0;
+  /**
+   * Returns the largest possible data size without any headers
+   * @return
+   */
+  [[nodiscard]] virtual size_t getMaximumDataSize() const = 0;
 };
 
 #endif /* FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_ */

src/fsfw/ipc/MessageQueueSenderIF.h

@@ -1,14 +1,14 @@
 #ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 #define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 
-#include "../objectmanager/ObjectManagerIF.h"
 #include "MessageQueueIF.h"
 #include "MessageQueueMessageIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
 
 class MessageQueueSenderIF {
  public:
-  virtual ~MessageQueueSenderIF() {}
-
+  virtual ~MessageQueueSenderIF() = default;
+  MessageQueueSenderIF() = delete;
   /**
    * Allows sending messages without actually "owning" a message queue.
    * Not sure whether this is actually a good idea.
@@ -16,9 +16,6 @@ class MessageQueueSenderIF {
   static ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
                                    MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
                                    bool ignoreFault = false);
-
- private:
-  MessageQueueSenderIF() {}
 };
 
 #endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */

src/fsfw/monitoring/MonitoringMessageContent.h

@@ -8,7 +8,7 @@
 #include "../serialize/SerialLinkedListAdapter.h"
 #include "../serialize/SerializeElement.h"
 #include "../serviceinterface/ServiceInterface.h"
-#include "../timemanager/TimeStamperIF.h"
+#include "../timemanager/TimeWriterIF.h"
 #include "HasMonitorsIF.h"
 #include "MonitoringIF.h"
 #include "monitoringConf.h"
@@ -34,9 +34,9 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
   SerializeElement<T> limitValue;
   SerializeElement<ReturnValue_t> oldState;
   SerializeElement<ReturnValue_t> newState;
-  uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE] = {};
+  uint8_t rawTimestamp[TimeWriterIF::MAXIMUM_TIMESTAMP_LEN] = {};
   SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
-  TimeStamperIF* timeStamper;
+  TimeWriterIF* timeStamper;
   MonitoringReportContent()
       : SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
         monitorId(0),
@@ -47,7 +47,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
         oldState(0),
         newState(0),
         timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
-        timeStamper(NULL) {
+        timeStamper(nullptr) {
     setAllNext();
   }
   MonitoringReportContent(gp_id_t globalPoolId, T value, T limitValue, ReturnValue_t oldState,
@@ -61,7 +61,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
         oldState(oldState),
         newState(newState),
         timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
-        timeStamper(NULL) {
+        timeStamper(nullptr) {
     setAllNext();
     if (checkAndSetStamper()) {
       timeStamper->addTimeStamp(rawTimestamp, sizeof(rawTimestamp));
@@ -79,7 +79,7 @@ class MonitoringReportContent : public SerialLinkedListAdapter<SerializeIF> {
   }
   bool checkAndSetStamper() {
     if (timeStamper == nullptr) {
-      timeStamper = ObjectManager::instance()->get<TimeStamperIF>(timeStamperId);
+      timeStamper = ObjectManager::instance()->get<TimeWriterIF>(timeStamperId);
       if (timeStamper == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "MonitoringReportContent::checkAndSetStamper: "

src/fsfw/objectmanager/ObjectManager.cpp

@@ -21,7 +21,7 @@ void ObjectManager::setObjectFactoryFunction(produce_function_t objFactoryFunc,
   this->factoryArgs = factoryArgs;
 }
 
-ObjectManager::ObjectManager() {}
+ObjectManager::ObjectManager() = default;
 
 ObjectManager::~ObjectManager() {
   for (auto const& iter : objectList) {
@@ -53,7 +53,7 @@ ReturnValue_t ObjectManager::insert(object_id_t id, SystemObjectIF* object) {
 }
 
 ReturnValue_t ObjectManager::remove(object_id_t id) {
-  if (this->getSystemObject(id) != NULL) {
+  if (this->getSystemObject(id) != nullptr) {
     this->objectList.erase(id);
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     // sif::debug << "ObjectManager::removeObject: Object " << std::hex

src/fsfw/objectmanager/ObjectManager.h

@@ -38,7 +38,7 @@ class ObjectManager : public ObjectManagerIF {
   /**
    *  @brief  In the class's destructor, all objects in the list are deleted.
    */
-  virtual ~ObjectManager();
+  ~ObjectManager() override;
   ReturnValue_t insert(object_id_t id, SystemObjectIF* object) override;
   ReturnValue_t remove(object_id_t id) override;
   void initialize() override;

src/fsfw/objectmanager/SystemObjectIF.h

@@ -46,7 +46,7 @@ class SystemObjectIF : public EventReportingProxyIF {
    * Therefore, a two-step initialization resolves this problem and prevents
    * circular dependencies of not-fully initialized objects on start up.
    * @return	- @c returnvalue::OK in case the initialization was successful
-   * 			- @c returnvalue::FAILED otherwise
+   * 		- @c returnvalue::FAILED otherwise
    */
   virtual ReturnValue_t initialize() = 0;
   /**

src/fsfw/objectmanager/frameworkObjects.h

@@ -33,6 +33,7 @@ enum framework_objects : object_id_t {
   TC_STORE = 0x534f0100,
   TM_STORE = 0x534f0200,
   TIME_STAMPER = 0x53500010,
+  VERIFICATION_REPORTER = 0x53500020,
 
   FSFW_OBJECTS_END = 0x53ffffff,
   NO_OBJECT = 0xFFFFFFFF

src/fsfw/osal/host/Clock.cpp

@@ -146,7 +146,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 }
 
 ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  struct tm time_tm;
+  struct tm time_tm {};
 
   time_tm.tm_year = from->year - 1900;
   time_tm.tm_mon = from->month - 1;

src/fsfw/osal/host/MessageQueue.cpp

@@ -65,11 +65,11 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     // But I will still return a failure here.
     return returnvalue::FAILED;
   }
-  MessageQueue* targetQueue =
+  auto* targetQueue =
       dynamic_cast<MessageQueue*>(QueueMapManager::instance()->getMessageQueue(sendTo));
   if (targetQueue == nullptr) {
     if (not ignoreFault) {
-      InternalErrorReporterIF* internalErrorReporter =
+      auto* internalErrorReporter =
           ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
       if (internalErrorReporter != nullptr) {
         internalErrorReporter->queueMessageNotSent();
@@ -84,7 +84,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
            message->getMaximumMessageSize());
   } else {
     if (not ignoreFault) {
-      InternalErrorReporterIF* internalErrorReporter =
+      auto* internalErrorReporter =
           ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
       if (internalErrorReporter != nullptr) {
         internalErrorReporter->queueMessageNotSent();

src/fsfw/osal/host/MessageQueue.h

@@ -68,7 +68,7 @@ class MessageQueue : public MessageQueueBase {
    * @details	This is accomplished by using the delete call provided
    * 			by the operating system.
    */
-  virtual ~MessageQueue();
+  ~MessageQueue() override;
 
   // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase
   virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message,
@@ -111,8 +111,6 @@ class MessageQueue : public MessageQueueBase {
   size_t messageDepth = 0;
 
   MutexIF* queueLock;
-
-  MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
 };
 
 #endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

src/fsfw/osal/host/QueueFactory.cpp

@@ -13,7 +13,6 @@ ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
                                                 MessageQueueMessageIF* message,
                                                 MessageQueueId_t sentFrom, bool ignoreFault) {
   return MessageQueue::sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault);
-  return returnvalue::OK;
 }
 
 QueueFactory* QueueFactory::instance() {
@@ -23,9 +22,9 @@ QueueFactory* QueueFactory::instance() {
   return factoryInstance;
 }
 
-QueueFactory::QueueFactory() {}
+QueueFactory::QueueFactory() = default;
 
-QueueFactory::~QueueFactory() {}
+QueueFactory::~QueueFactory() = default;
 
 MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth, size_t maxMessageSize,
                                                  MqArgs* args) {

src/fsfw/osal/host/QueueMapManager.cpp

@@ -54,7 +54,7 @@ MessageQueueIF* QueueMapManager::getMessageQueue(MessageQueueId_t messageQueueId
   } else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId
-                 << " does not exists in the map!" << std::endl;
+                 << " does not exist in the map" << std::endl;
 #else
     sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
                       messageQueueId);

src/fsfw/osal/linux/Clock.cpp

@@ -2,23 +2,22 @@
 
 #include <linux/sysinfo.h>
 #include <sys/sysinfo.h>
-#include <sys/time.h>
-#include <time.h>
 #include <unistd.h>
 
+#include <ctime>
 #include <fstream>
 
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-uint32_t Clock::getTicksPerSecond(void) {
+uint32_t Clock::getTicksPerSecond() {
   uint32_t ticks = sysconf(_SC_CLK_TCK);
   return ticks;
 }
 
 ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-  timespec timeUnix;
-  timeval timeTimeval;
+  timespec timeUnix{};
+  timeval timeTimeval{};
   convertTimeOfDayToTimeval(time, &timeTimeval);
   timeUnix.tv_sec = timeTimeval.tv_sec;
   timeUnix.tv_nsec = (__syscall_slong_t)timeTimeval.tv_usec * 1000;
@@ -32,7 +31,7 @@ ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
 }
 
 ReturnValue_t Clock::setClock(const timeval* time) {
-  timespec timeUnix;
+  timespec timeUnix{};
   timeUnix.tv_sec = time->tv_sec;
   timeUnix.tv_nsec = (__syscall_slong_t)time->tv_usec * 1000;
   int status = clock_settime(CLOCK_REALTIME, &timeUnix);
@@ -44,7 +43,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
 }
 
 ReturnValue_t Clock::getClock_timeval(timeval* time) {
-  timespec timeUnix;
+  timespec timeUnix{};
   int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
     return returnvalue::FAILED;
@@ -55,18 +54,18 @@ ReturnValue_t Clock::getClock_timeval(timeval* time) {
 }
 
 ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-  timeval timeVal;
+  timeval timeVal{};
   ReturnValue_t result = getClock_timeval(&timeVal);
   if (result != returnvalue::OK) {
     return result;
   }
-  *time = (uint64_t)timeVal.tv_sec * 1e6 + timeVal.tv_usec;
+  *time = static_cast<uint64_t>(timeVal.tv_sec) * 1e6 + timeVal.tv_usec;
 
   return returnvalue::OK;
 }
 
 timeval Clock::getUptime() {
-  timeval uptime;
+  timeval uptime{};
   auto result = getUptime(&uptime);
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -99,7 +98,7 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
 //}
 
 ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-  timeval uptime;
+  timeval uptime{};
   ReturnValue_t result = getUptime(&uptime);
   if (result != returnvalue::OK) {
     return result;
@@ -109,7 +108,7 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
 }
 
 ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-  timespec timeUnix;
+  timespec timeUnix{};
   int status = clock_gettime(CLOCK_REALTIME, &timeUnix);
   if (status != 0) {
     // TODO errno
@@ -122,7 +121,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
   MutexGuard helper(timeMutex);
   // gmtime writes its output in a global buffer which is not Thread Safe
   // Therefore we have to use a Mutex here
-  struct tm* timeInfo;
+  struct std::tm* timeInfo;
   timeInfo = gmtime(&timeUnix.tv_sec);
   time->year = timeInfo->tm_year + 1900;
   time->month = timeInfo->tm_mon + 1;
@@ -136,7 +135,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 }
 
 ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from, timeval* to) {
-  tm fromTm;
+  std::tm fromTm{};
   // Note: Fails for years before AD
   fromTm.tm_year = from->year - 1900;
   fromTm.tm_mon = from->month - 1;

src/fsfw/parameters/ParameterMessage.cpp

@@ -44,7 +44,7 @@ store_address_t ParameterMessage::getParameterLoadCommand(const CommandMessage*
   *pfc = packedParamSettings >> 16 & 0xff;
   *rows = packedParamSettings >> 8 & 0xff;
   *columns = packedParamSettings & 0xff;
-  return message->getParameter2();
+  return static_cast<store_address_t>(message->getParameter2());
 }
 
 void ParameterMessage::clear(CommandMessage* message) {

src/fsfw/pus/CService200ModeCommanding.cpp

@@ -41,7 +41,7 @@ ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(uint8_t subser
 
 ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
     MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
-  HasModesIF *destination = ObjectManager::instance()->get<HasModesIF>(*objectId);
+  auto *destination = ObjectManager::instance()->get<HasModesIF>(*objectId);
   if (destination == nullptr) {
     return CommandingServiceBase::INVALID_OBJECT;
   }
@@ -96,13 +96,13 @@ ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply
 ReturnValue_t CService200ModeCommanding::prepareModeReply(const CommandMessage *reply,
                                                           object_id_t objectId) {
   ModePacket modeReplyPacket(objectId, ModeMessage::getMode(reply), ModeMessage::getSubmode(reply));
-  return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket);
+  return sendTmPacket(Subservice::REPLY_MODE_REPLY, modeReplyPacket);
 }
 
 ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(const CommandMessage *reply,
                                                                object_id_t objectId) {
   ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply), ModeMessage::getSubmode(reply));
-  ReturnValue_t result = sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
+  ReturnValue_t result = sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, wrongModeReply);
   if (result == returnvalue::OK) {
     // We want to produce an error here in any case because the mode was not correct
     return returnvalue::FAILED;
@@ -113,7 +113,7 @@ ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(const CommandMess
 ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(const CommandMessage *reply,
                                                                    object_id_t objectId) {
   CantReachModePacket cantReachModePacket(objectId, ModeMessage::getCantReachModeReason(reply));
-  ReturnValue_t result = sendTmPacket(Subservice::REPLY_CANT_REACH_MODE, &cantReachModePacket);
+  ReturnValue_t result = sendTmPacket(Subservice::REPLY_CANT_REACH_MODE, cantReachModePacket);
   if (result == returnvalue::OK) {
     // We want to produce an error here in any case because the mode was not reached
     return returnvalue::FAILED;

src/fsfw/pus/CService201HealthCommanding.cpp

@@ -102,5 +102,5 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
   auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
   auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
   HealthSetReply healthSetReply(health, oldHealth);
-  return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
+  return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
 }

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -72,8 +72,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
     TO_TIMETAG = 3
   };
 
-  Service11TelecommandScheduling(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                                 AcceptsTelecommandsIF* tcRecipient,
+  Service11TelecommandScheduling(PsbParams params, AcceptsTelecommandsIF* tcRecipient,
                                  uint16_t releaseTimeMarginSeconds = DEFAULT_RELEASE_TIME_MARGIN,
                                  bool debugMode = false);
 
@@ -157,7 +156,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
    * @param data The Application data of the TC (get via getApplicationData()).
    * @return requestId
    */
-  uint64_t getRequestIdFromDataTC(const uint8_t* data) const;
+  [[nodiscard]] uint64_t getRequestIdFromTc() const;
 
   /**
    * @brief Extracts the Request ID from the Application Data directly, assuming it is packed

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -11,9 +11,9 @@ static constexpr auto DEF_END = SerializeIF::Endianness::BIG;
 
 template <size_t MAX_NUM_TCS>
 inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduling(
-    object_id_t objectId, uint16_t apid, uint8_t serviceId, AcceptsTelecommandsIF *tcRecipient,
-    uint16_t releaseTimeMarginSeconds, bool debugMode)
-    : PusServiceBase(objectId, apid, serviceId),
+    PsbParams params, AcceptsTelecommandsIF *tcRecipient, uint16_t releaseTimeMarginSeconds,
+    bool debugMode)
+    : PusServiceBase(params),
       RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds),
       debugMode(debugMode),
       tcRecipient(tcRecipient) {}
@@ -32,11 +32,8 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleRequest(
 #endif
   }
   // Get de-serialized Timestamp
-  const uint8_t *data = currentPacket.getApplicationData();
-  size_t size = currentPacket.getApplicationDataSize();
-  if (data == nullptr) {
-    return handleInvalidData("handleRequest");
-  }
+  const uint8_t *data = currentPacket.getUserData();
+  size_t size = currentPacket.getUserDataLen();
   switch (subservice) {
     case Subservice::ENABLE_SCHEDULING: {
       schedulingEnabled = true;
@@ -82,7 +79,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::performService
       if (schedulingEnabled) {
         // release tc
         TmTcMessage releaseMsg(it->second.storeAddr);
-        auto sendRet = this->requestQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
+        auto sendRet = psbParams.reqQueue->sendMessage(recipientMsgQueueId, &releaseMsg, false);
 
         if (sendRet != returnvalue::OK) {
           return sendRet;
@@ -175,7 +172,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   // store currentPacket and receive the store address
   store_address_t addr{};
   if (tcStore->addData(&addr, data, size) != returnvalue::OK ||
-      addr.raw == storeId::INVALID_STORE_ADDRESS) {
+      addr.raw == store_address_t::INVALID_RAW) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service11TelecommandScheduling::doInsertActivity: Adding data to TC Store failed"
                << std::endl;
@@ -190,8 +187,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivi
   TelecommandStruct tc;
   tc.seconds = timestamp;
   tc.storeAddr = addr;
-  tc.requestId =
-      getRequestIdFromDataTC(data);  // TODO: Missing sanity check of the returned request id
+  tc.requestId = getRequestIdFromTc();  // TODO: Missing sanity check of the returned request id
 
   auto it = telecommandMap.insert(std::pair<uint32_t, TelecommandStruct>(timestamp, tc));
   if (it == telecommandMap.end()) {
@@ -455,13 +451,10 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doFilterTimesh
 }
 
 template <size_t MAX_NUM_TCS>
-inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromDataTC(
-    const uint8_t *data) const {
-  TcPacketPus mask(data);
-
-  uint32_t sourceId = mask.getSourceId();
-  uint16_t apid = mask.getAPID();
-  uint16_t sequenceCount = mask.getPacketSequenceCount();
+inline uint64_t Service11TelecommandScheduling<MAX_NUM_TCS>::getRequestIdFromTc() const {
+  uint32_t sourceId = currentPacket.getSourceId();
+  uint16_t apid = currentPacket.getApid();
+  uint16_t sequenceCount = currentPacket.getSequenceCount();
 
   return buildRequestId(sourceId, apid, sequenceCount);
 }
@@ -571,7 +564,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
       if (result != returnvalue::OK) {
         return result;
       }
-      if(fromTimestamp > toTimestamp) {
+      if (fromTimestamp > toTimestamp) {
         return INVALID_TIME_WINDOW;
       }
       itBegin = telecommandMap.begin();
@@ -580,7 +573,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
         itBegin++;
       }
 
-      //start looking for end beginning at begin
+      // start looking for end beginning at begin
       itEnd = itBegin;
       while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
         itEnd++;

src/fsfw/pus/Service17Test.cpp

@@ -1,39 +1,33 @@
 #include "fsfw/pus/Service17Test.h"
 
 #include "fsfw/FSFW.h"
+#include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/objectmanager/SystemObject.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tmtcpacket/pus/tm/TmPacketStored.h"
+#include "fsfw/tmtcservices/tmHelpers.h"
 
-Service17Test::Service17Test(object_id_t objectId, uint16_t apid, uint8_t serviceId)
-    : PusServiceBase(objectId, apid, serviceId), packetSubCounter(0) {}
+Service17Test::Service17Test(PsbParams params)
+    : PusServiceBase(params),
+      storeHelper(params.apid),
+      tmHelper(params.serviceId, storeHelper, sendHelper) {}
 
-Service17Test::~Service17Test() {}
+Service17Test::~Service17Test() = default;
 
 ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
   switch (subservice) {
     case Subservice::CONNECTION_TEST: {
-#if FSFW_USE_PUS_C_TELEMETRY == 0
-      TmPacketStoredPusA connectionPacket(apid, serviceId, Subservice::CONNECTION_TEST_REPORT,
-                                          packetSubCounter++);
-#else
-      TmPacketStoredPusC connectionPacket(apid, serviceId, Subservice::CONNECTION_TEST_REPORT,
-                                          packetSubCounter++);
-#endif
-      connectionPacket.sendPacket(requestQueue->getDefaultDestination(), requestQueue->getId());
-      return returnvalue::OK;
+      ReturnValue_t result = tmHelper.prepareTmPacket(Subservice::CONNECTION_TEST_REPORT);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      return tmHelper.storeAndSendTmPacket();
     }
     case Subservice::EVENT_TRIGGER_TEST: {
-#if FSFW_USE_PUS_C_TELEMETRY == 0
-      TmPacketStoredPusA connectionPacket(apid, serviceId, Subservice::CONNECTION_TEST_REPORT,
-                                          packetSubCounter++);
-#else
-      TmPacketStoredPusC connectionPacket(apid, serviceId, Subservice::CONNECTION_TEST_REPORT,
-                                          packetSubCounter++);
-#endif
-      connectionPacket.sendPacket(requestQueue->getDefaultDestination(), requestQueue->getId());
       triggerEvent(TEST, 1234, 5678);
-      return returnvalue::OK;
+      ReturnValue_t result = tmHelper.prepareTmPacket(Subservice::EVENT_TRIGGER_TEST);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      return tmHelper.storeAndSendTmPacket();
     }
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -41,3 +35,23 @@ ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
 }
 
 ReturnValue_t Service17Test::performService() { return returnvalue::OK; }
+
+ReturnValue_t Service17Test::initialize() {
+  ReturnValue_t result = PusServiceBase::initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  initializeTmHelpers(sendHelper, storeHelper);
+  if (storeHelper.getTmStore() == nullptr) {
+    auto* tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
+    if (tmStore == nullptr) {
+      return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+    storeHelper.setTmStore(*tmStore);
+  }
+  return result;
+}
+
+void Service17Test::setCustomTmStore(StorageManagerIF& tmStore_) {
+  storeHelper.setTmStore(tmStore_);
+}

src/fsfw/pus/Service17Test.h

@@ -3,6 +3,8 @@
 
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw/tmtcservices/TmStoreAndSendHelper.h"
+#include "fsfw/tmtcservices/TmStoreHelper.h"
 
 /**
  * @brief Test Service
@@ -32,13 +34,19 @@ class Service17Test : public PusServiceBase {
     EVENT_TRIGGER_TEST = 128,
   };
 
-  Service17Test(object_id_t objectId, uint16_t apid, uint8_t serviceId);
-  virtual ~Service17Test();
-  virtual ReturnValue_t handleRequest(uint8_t subservice) override;
-  virtual ReturnValue_t performService() override;
+  explicit Service17Test(PsbParams params);
+
+  void setCustomTmStore(StorageManagerIF& tmStore);
+
+  ~Service17Test() override;
+  ReturnValue_t handleRequest(uint8_t subservice) override;
+  ReturnValue_t performService() override;
+  ReturnValue_t initialize() override;
 
  protected:
-  uint16_t packetSubCounter = 0;
+  TmStoreHelper storeHelper;
+  TmSendHelper sendHelper;
+  TmStoreAndSendWrapper tmHelper;
 };
 
 #endif /* FSFW_PUS_SERVICE17TEST_H_ */

src/fsfw/pus/Service1TelecommandVerification.cpp

@@ -3,19 +3,21 @@
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/pus/servicepackets/Service1Packets.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tmtcpacket/pus/tm/TmPacketStored.h"
 #include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
 #include "fsfw/tmtcservices/PusVerificationReport.h"
+#include "fsfw/tmtcservices/tmHelpers.h"
 
 Service1TelecommandVerification::Service1TelecommandVerification(object_id_t objectId,
                                                                  uint16_t apid, uint8_t serviceId,
                                                                  object_id_t targetDestination,
-                                                                 uint16_t messageQueueDepth)
+                                                                 uint16_t messageQueueDepth,
+                                                                 TimeWriterIF* timeStamper)
     : SystemObject(objectId),
       apid(apid),
       serviceId(serviceId),
-      targetDestination(targetDestination) {
+      targetDestination(targetDestination),
+      storeHelper(apid),
+      tmHelper(serviceId, storeHelper, sendHelper) {
   tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
@@ -47,6 +49,19 @@ ReturnValue_t Service1TelecommandVerification::performOperation(uint8_t operatio
 ReturnValue_t Service1TelecommandVerification::sendVerificationReport(
     PusVerificationMessage* message) {
   ReturnValue_t result;
+  uint8_t reportId = message->getReportId();
+  if (reportId == 0 or reportId > 8) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "Service1TelecommandVerification::sendVerificationReport: Invalid report ID "
+               << static_cast<int>(reportId) << " detected" << std::endl;
+#else
+    sif::printError(
+        "Service1TelecommandVerification::sendVerificationReport: Invalid report ID "
+        "%d detected\n",
+        reportId);
+#endif
+    return returnvalue::FAILED;
+  }
   if (message->getReportId() % 2 == 0) {
     result = generateFailureReport(message);
   } else {
@@ -67,32 +82,37 @@ ReturnValue_t Service1TelecommandVerification::generateFailureReport(
   FailureReport report(message->getReportId(), message->getTcPacketId(),
                        message->getTcSequenceControl(), message->getStep(), message->getErrorCode(),
                        message->getParameter1(), message->getParameter2());
-#if FSFW_USE_PUS_C_TELEMETRY == 0
-  TmPacketStoredPusA tmPacket(apid, serviceId, message->getReportId(), packetSubCounter++, &report);
-#else
-  TmPacketStoredPusC tmPacket(apid, serviceId, message->getReportId(), packetSubCounter++, &report);
-#endif
-  ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(), tmQueue->getId());
-  return result;
+  ReturnValue_t result =
+      storeHelper.preparePacket(serviceId, message->getReportId(), packetSubCounter++);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = storeHelper.setSourceDataSerializable(report);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return tmHelper.storeAndSendTmPacket();
 }
 
 ReturnValue_t Service1TelecommandVerification::generateSuccessReport(
     PusVerificationMessage* message) {
   SuccessReport report(message->getReportId(), message->getTcPacketId(),
                        message->getTcSequenceControl(), message->getStep());
-#if FSFW_USE_PUS_C_TELEMETRY == 0
-  TmPacketStoredPusA tmPacket(apid, serviceId, message->getReportId(), packetSubCounter++, &report);
-#else
-  TmPacketStoredPusC tmPacket(apid, serviceId, message->getReportId(), packetSubCounter++, &report);
-#endif
-  ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(), tmQueue->getId());
-  return result;
+  ReturnValue_t result =
+      storeHelper.preparePacket(serviceId, message->getReportId(), packetSubCounter++);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  result = storeHelper.setSourceDataSerializable(report);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return tmHelper.storeAndSendTmPacket();
 }
 
 ReturnValue_t Service1TelecommandVerification::initialize() {
   // Get target object for TC verification messages
-  AcceptsTelemetryIF* funnel =
-      ObjectManager::instance()->get<AcceptsTelemetryIF>(targetDestination);
+  auto* funnel = ObjectManager::instance()->get<AcceptsTelemetryIF>(targetDestination);
   if (funnel == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service1TelecommandVerification::initialize: Specified"
@@ -102,6 +122,33 @@ ReturnValue_t Service1TelecommandVerification::initialize() {
 #endif
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
+  if (tmQueue == nullptr) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
   tmQueue->setDefaultDestination(funnel->getReportReceptionQueue());
+  if (tmStore == nullptr) {
+    tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
+    if (tmStore == nullptr) {
+      return ObjectManager::CHILD_INIT_FAILED;
+    }
+    storeHelper.setTmStore(*tmStore);
+  }
+  if (timeStamper == nullptr) {
+    timeStamper = ObjectManager::instance()->get<TimeWriterIF>(objects::TIME_STAMPER);
+    if (timeStamper == nullptr) {
+      return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+  } else {
+  }
+  storeHelper.setTimeStamper(*timeStamper);
+
+  sendHelper.setMsgQueue(*tmQueue);
+  if (errReporter == nullptr) {
+    errReporter =
+        ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
+    if (errReporter != nullptr) {
+      sendHelper.setInternalErrorReporter(*errReporter);
+    }
+  }
   return SystemObject::initialize();
 }

src/fsfw/pus/Service1TelecommandVerification.h

@@ -7,6 +7,9 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw/tmtcservices/AcceptsVerifyMessageIF.h"
 #include "fsfw/tmtcservices/PusVerificationReport.h"
+#include "fsfw/tmtcservices/TmSendHelper.h"
+#include "fsfw/tmtcservices/TmStoreAndSendHelper.h"
+#include "fsfw/tmtcservices/TmStoreHelper.h"
 
 /**
  * @brief Verify TC acceptance, start, progress and execution.
@@ -43,14 +46,15 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
   static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_1;
 
   Service1TelecommandVerification(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                                  object_id_t targetDestination, uint16_t messageQueueDepth);
-  virtual ~Service1TelecommandVerification();
+                                  object_id_t targetDestination, uint16_t messageQueueDepth,
+                                  TimeWriterIF* timeStamper = nullptr);
+  ~Service1TelecommandVerification() override;
 
   /**
    *
    * @return ID of Verification Queue
    */
-  virtual MessageQueueId_t getVerificationQueue() override;
+  MessageQueueId_t getVerificationQueue() override;
 
   /**
    * Performs the service periodically as specified in init_mission().
@@ -58,7 +62,7 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
    * @param operationCode
    * @return
    */
-  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
 
   /**
    * Initializes the destination for TC verification messages and initializes
@@ -79,6 +83,12 @@ class Service1TelecommandVerification : public AcceptsVerifyMessageIF,
 
   uint16_t packetSubCounter = 0;
 
+  TmSendHelper sendHelper;
+  TmStoreHelper storeHelper;
+  TmStoreAndSendWrapper tmHelper;
+  InternalErrorReporterIF* errReporter = nullptr;
+  TimeWriterIF* timeStamper = nullptr;
+  StorageManagerIF* tmStore = nullptr;
   MessageQueueIF* tmQueue = nullptr;
 
   enum class Subservice : uint8_t {

src/fsfw/pus/Service20ParameterManagement.cpp

@@ -14,7 +14,7 @@ Service20ParameterManagement::Service20ParameterManagement(object_id_t objectId,
     : CommandingServiceBase(objectId, apid, serviceId, numberOfParallelCommands,
                             commandTimeoutSeconds) {}
 
-Service20ParameterManagement::~Service20ParameterManagement() {}
+Service20ParameterManagement::~Service20ParameterManagement() = default;
 
 ReturnValue_t Service20ParameterManagement::isValidSubservice(uint8_t subservice) {
   switch (static_cast<Subservice>(subservice)) {
@@ -64,8 +64,7 @@ ReturnValue_t Service20ParameterManagement::checkAndAcquireTargetID(object_id_t*
 ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue(
     MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
   // check ReceivesParameterMessagesIF property of target
-  ReceivesParameterMessagesIF* possibleTarget =
-      ObjectManager::instance()->get<ReceivesParameterMessagesIF>(*objectId);
+  auto* possibleTarget = ObjectManager::instance()->get<ReceivesParameterMessagesIF>(*objectId);
   if (possibleTarget == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service20ParameterManagement::checkInterfaceAndAcquire"
@@ -137,7 +136,7 @@ ReturnValue_t Service20ParameterManagement::prepareLoadCommand(CommandMessage* m
   if (parameterDataLen == 0) {
     return CommandingServiceBase::INVALID_TC;
   }
-  ReturnValue_t result = IPCStore->getFreeElement(&storeAddress, parameterDataLen, &storePointer);
+  ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, parameterDataLen, &storePointer);
   if (result != returnvalue::OK) {
     return result;
   }
@@ -169,7 +168,7 @@ ReturnValue_t Service20ParameterManagement::handleReply(const CommandMessage* re
 
   switch (replyId) {
     case ParameterMessage::REPLY_PARAMETER_DUMP: {
-      ConstAccessorPair parameterData = IPCStore->getData(ParameterMessage::getStoreId(reply));
+      ConstAccessorPair parameterData = ipcStore->getData(ParameterMessage::getStoreId(reply));
       if (parameterData.first != returnvalue::OK) {
         return returnvalue::FAILED;
       }
@@ -177,8 +176,7 @@ ReturnValue_t Service20ParameterManagement::handleReply(const CommandMessage* re
       ParameterId_t parameterId = ParameterMessage::getParameterId(reply);
       ParameterDumpReply parameterReply(objectId, parameterId, parameterData.second.data(),
                                         parameterData.second.size());
-      sendTmPacket(static_cast<uint8_t>(Subservice::PARAMETER_DUMP_REPLY), &parameterReply);
-      return returnvalue::OK;
+      return sendTmPacket(static_cast<uint8_t>(Subservice::PARAMETER_DUMP_REPLY), parameterReply);
     }
     default:
       return CommandingServiceBase::INVALID_REPLY;

src/fsfw/pus/Service2DeviceAccess.cpp

@@ -75,7 +75,7 @@ ReturnValue_t Service2DeviceAccess::prepareRawCommand(CommandMessage* messageToS
   // store command into the Inter Process Communication Store
   store_address_t storeAddress;
   ReturnValue_t result =
-      IPCStore->addData(&storeAddress, RawCommand.getCommand(), RawCommand.getCommandSize());
+      ipcStore->addData(&storeAddress, RawCommand.getCommand(), RawCommand.getCommandSize());
   DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet, storeAddress);
   return result;
 }
@@ -135,7 +135,7 @@ void Service2DeviceAccess::sendWiretappingTm(CommandMessage* reply, uint8_t subs
   store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
   const uint8_t* data = nullptr;
   size_t size = 0;
-  ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
+  ReturnValue_t result = ipcStore->getData(storeAddress, &data, &size);
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
@@ -147,10 +147,12 @@ void Service2DeviceAccess::sendWiretappingTm(CommandMessage* reply, uint8_t subs
 
   // Init our dummy packet and correct endianness of object ID before
   // sending it back.
-  WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply), data);
-  TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
-  sendTmPacket(subservice, TmPacket.data, size, reinterpret_cast<uint8_t*>(&TmPacket.objectId),
-               sizeof(TmPacket.objectId));
+  WiretappingPacket tmPacket(DeviceHandlerMessage::getDeviceObjectId(reply), data);
+  result = sendTmPacket(subservice, tmPacket.objectId, tmPacket.data, size);
+  if (result != returnvalue::OK) {
+    // TODO: Warning
+    return;
+  }
 }
 
 MessageQueueId_t Service2DeviceAccess::getDeviceQueue() { return commandQueue->getId(); }

src/fsfw/pus/Service3Housekeeping.cpp

@@ -284,14 +284,13 @@ ReturnValue_t Service3Housekeeping::generateHkReply(const CommandMessage* hkMess
   store_address_t storeId;
 
   sid_t sid = HousekeepingMessage::getHkDataReply(hkMessage, &storeId);
-  auto resultPair = IPCStore->getData(storeId);
+  auto resultPair = ipcStore->getData(storeId);
   if (resultPair.first != returnvalue::OK) {
     return resultPair.first;
   }
 
   HkPacket hkPacket(sid, resultPair.second.data(), resultPair.second.size());
-  return sendTmPacket(static_cast<uint8_t>(subserviceId), hkPacket.hkData, hkPacket.hkSize, nullptr,
-                      0);
+  return sendTmPacket(static_cast<uint8_t>(subserviceId), hkPacket.hkData, hkPacket.hkSize);
 }
 
 sid_t Service3Housekeeping::buildSid(object_id_t objectId, const uint8_t** tcData,

src/fsfw/pus/Service5EventReporting.cpp

@@ -5,12 +5,13 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/pus/servicepackets/Service5Packets.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tmtcpacket/pus/tm/TmPacketStored.h"
+#include "fsfw/tmtcservices/tmHelpers.h"
 
-Service5EventReporting::Service5EventReporting(object_id_t objectId, uint16_t apid,
-                                               uint8_t serviceId, size_t maxNumberReportsPerCycle,
+Service5EventReporting::Service5EventReporting(PsbParams params, size_t maxNumberReportsPerCycle,
                                                uint32_t messageQueueDepth)
-    : PusServiceBase(objectId, apid, serviceId),
+    : PusServiceBase(params),
+      storeHelper(params.apid),
+      tmHelper(params.serviceId, storeHelper, sendHelper),
       maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
   eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
@@ -45,15 +46,9 @@ ReturnValue_t Service5EventReporting::performService() {
 ReturnValue_t Service5EventReporting::generateEventReport(EventMessage message) {
   EventReport report(message.getEventId(), message.getReporter(), message.getParameter1(),
                      message.getParameter2());
-#if FSFW_USE_PUS_C_TELEMETRY == 0
-  TmPacketStoredPusA tmPacket(PusServiceBase::apid, PusServiceBase::serviceId,
-                              message.getSeverity(), packetSubCounter++, &report);
-#else
-  TmPacketStoredPusC tmPacket(PusServiceBase::apid, PusServiceBase::serviceId,
-                              message.getSeverity(), packetSubCounter++, &report);
-#endif
-  ReturnValue_t result =
-      tmPacket.sendPacket(requestQueue->getDefaultDestination(), requestQueue->getId());
+  storeHelper.preparePacket(psbParams.serviceId, message.getSeverity(), tmHelper.sendCounter);
+  storeHelper.setSourceDataSerializable(report);
+  ReturnValue_t result = tmHelper.storeAndSendTmPacket();
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "Service5EventReporting::generateEventReport: "
@@ -86,14 +81,19 @@ ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
 // In addition to the default PUSServiceBase initialization, this service needs
 // to be registered to the event manager to listen for events.
 ReturnValue_t Service5EventReporting::initialize() {
+  ReturnValue_t result = PusServiceBase::initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
   auto* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (manager == nullptr) {
     return returnvalue::FAILED;
   }
   // register Service 5 as listener for events
-  ReturnValue_t result = manager->registerListener(eventQueue->getId(), true);
+  result = manager->registerListener(eventQueue->getId(), true);
   if (result != returnvalue::OK) {
     return result;
   }
-  return PusServiceBase::initialize();
+  initializeTmHelpers(sendHelper, storeHelper);
+  return result;
 }

src/fsfw/pus/Service5EventReporting.h

@@ -3,6 +3,7 @@
 
 #include "fsfw/events/EventMessage.h"
 #include "fsfw/tmtcservices/PusServiceBase.h"
+#include "fsfw/tmtcservices/TmStoreAndSendHelper.h"
 
 /**
  * @brief Report on-board events like information or errors
@@ -40,9 +41,9 @@
  */
 class Service5EventReporting : public PusServiceBase {
  public:
-  Service5EventReporting(object_id_t objectId, uint16_t apid, uint8_t serviceId,
-                         size_t maxNumberReportsPerCycle = 10, uint32_t messageQueueDepth = 10);
-  virtual ~Service5EventReporting();
+  Service5EventReporting(PsbParams params, size_t maxNumberReportsPerCycle = 10,
+                         uint32_t messageQueueDepth = 10);
+  ~Service5EventReporting() override;
 
   /***
    * Check for events and generate event reports if required.
@@ -74,9 +75,11 @@ class Service5EventReporting : public PusServiceBase {
   };
 
  private:
-  uint16_t packetSubCounter = 0;
   MessageQueueIF* eventQueue = nullptr;
   bool enableEventReport = true;
+  TmSendHelper sendHelper;
+  TmStoreHelper storeHelper;
+  TmStoreAndSendWrapper tmHelper;
   const uint8_t maxNumberReportsPerCycle;
 
   ReturnValue_t generateEventReport(EventMessage message);

src/fsfw/pus/Service8FunctionManagement.cpp

@@ -78,7 +78,7 @@ ReturnValue_t Service8FunctionManagement::prepareDirectCommand(CommandMessage* m
   // store additional parameters into the IPC Store
   store_address_t parameterAddress;
   ReturnValue_t result =
-      IPCStore->addData(&parameterAddress, command.getParameters(), command.getParametersSize());
+      ipcStore->addData(&parameterAddress, command.getParameters(), command.getParametersSize());
 
   // setCommand expects a Command Message, an Action ID and a store adress
   // pointing to additional parameters
@@ -130,7 +130,7 @@ ReturnValue_t Service8FunctionManagement::handleDataReply(const CommandMessage*
   store_address_t storeId = ActionMessage::getStoreId(reply);
   size_t size = 0;
   const uint8_t* buffer = nullptr;
-  ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size);
+  ReturnValue_t result = ipcStore->getData(storeId, &buffer, &size);
   if (result != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "Service 8: Could not retrieve data for data reply" << std::endl;
@@ -138,9 +138,9 @@ ReturnValue_t Service8FunctionManagement::handleDataReply(const CommandMessage*
     return result;
   }
   DataReply dataReply(objectId, actionId, buffer, size);
-  result = sendTmPacket(static_cast<uint8_t>(Subservice::REPLY_DIRECT_COMMANDING_DATA), &dataReply);
+  result = sendTmPacket(static_cast<uint8_t>(Subservice::REPLY_DIRECT_COMMANDING_DATA), dataReply);
 
-  auto deletionResult = IPCStore->deleteData(storeId);
+  auto deletionResult = ipcStore->deleteData(storeId);
   if (deletionResult != returnvalue::OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "Service8FunctionManagement::handleReply: Deletion"

src/fsfw/pus/Service8FunctionManagement.h

@@ -32,7 +32,7 @@ class Service8FunctionManagement : public CommandingServiceBase {
  public:
   Service8FunctionManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId,
                              uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
-  virtual ~Service8FunctionManagement();
+  ~Service8FunctionManagement() override;
 
  protected:
   /* CSB abstract functions implementation . See CSB documentation. */

src/fsfw/pus/Service9TimeManagement.cpp

@@ -5,11 +5,9 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/timemanager/CCSDSTime.h"
 
-Service9TimeManagement::Service9TimeManagement(object_id_t objectId, uint16_t apid,
-                                               uint8_t serviceId)
-    : PusServiceBase(objectId, apid, serviceId) {}
+Service9TimeManagement::Service9TimeManagement(PsbParams params) : PusServiceBase(params) {}
 
-Service9TimeManagement::~Service9TimeManagement() {}
+Service9TimeManagement::~Service9TimeManagement() = default;
 
 ReturnValue_t Service9TimeManagement::performService() { return returnvalue::OK; }
 
@@ -25,7 +23,7 @@ ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
 
 ReturnValue_t Service9TimeManagement::setTime() {
   Clock::TimeOfDay_t timeToSet;
-  TimePacket timePacket(currentPacket.getApplicationData(), currentPacket.getApplicationDataSize());
+  TimePacket timePacket(currentPacket.getUserData(), currentPacket.getUserDataLen());
   ReturnValue_t result =
       CCSDSTime::convertFromCcsds(&timeToSet, timePacket.getTime(), timePacket.getTimeSize());
   if (result != returnvalue::OK) {

src/fsfw/pus/Service9TimeManagement.h

@@ -16,16 +16,16 @@ class Service9TimeManagement : public PusServiceBase {
   /**
    * 	@brief This service provides the capability to set the on-board time.
    */
-  Service9TimeManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId);
+  explicit Service9TimeManagement(PsbParams params);
 
-  virtual ~Service9TimeManagement();
+  ~Service9TimeManagement() override;
 
-  virtual ReturnValue_t performService() override;
+  ReturnValue_t performService() override;
 
   /**
    * 	@brief Sets the onboard-time by retrieving the time to set from TC[9,128].
    */
-  virtual ReturnValue_t handleRequest(uint8_t subservice) override;
+  ReturnValue_t handleRequest(uint8_t subservice) override;
 
   virtual ReturnValue_t setTime();
 

src/fsfw/pus/servicepackets/Service1Packets.h

@@ -50,7 +50,7 @@ class FailureReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 2, 4, 6
     if (result != returnvalue::OK) {
       return result;
     }
-    if (failureSubtype == tc_verification::PROGRESS_FAILURE) {
+    if (failureSubtype == tcverif::PROGRESS_FAILURE) {
       result = SerializeAdapter::serialize(&stepNumber, buffer, size, maxSize, streamEndianness);
       if (result != returnvalue::OK) {
         return result;
@@ -73,7 +73,7 @@ class FailureReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 2, 4, 6
     size_t size = 0;
     size += SerializeAdapter::getSerializedSize(&packetId);
     size += sizeof(packetSequenceControl);
-    if (failureSubtype == tc_verification::PROGRESS_FAILURE) {
+    if (failureSubtype == tcverif::PROGRESS_FAILURE) {
       size += SerializeAdapter::getSerializedSize(&stepNumber);
     }
     size += SerializeAdapter::getSerializedSize(&errorCode);
@@ -130,7 +130,7 @@ class SuccessReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 3, 5
     if (result != returnvalue::OK) {
       return result;
     }
-    if (subtype == tc_verification::PROGRESS_SUCCESS) {
+    if (subtype == tcverif::PROGRESS_SUCCESS) {
       result = SerializeAdapter::serialize(&stepNumber, buffer, size, maxSize, streamEndianness);
       if (result != returnvalue::OK) {
         return result;
@@ -143,7 +143,7 @@ class SuccessReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 3, 5
     size_t size = 0;
     size += SerializeAdapter::getSerializedSize(&packetId);
     size += sizeof(packetSequenceControl);
-    if (subtype == tc_verification::PROGRESS_SUCCESS) {
+    if (subtype == tcverif::PROGRESS_SUCCESS) {
       size += SerializeAdapter::getSerializedSize(&stepNumber);
     }
     return size;

src/fsfw/pus/servicepackets/Service9Packets.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
 #define FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
 
-#include "../../serialize/SerialLinkedListAdapter.h"
+#include "fsfw/serialize/SerialLinkedListAdapter.h"
 
 /**
  * @brief Subservice 128
@@ -11,16 +11,16 @@
  */
 class TimePacket : SerialLinkedListAdapter<SerializeIF> {  //!< [EXPORT] : [SUBSERVICE] 128
  public:
+  TimePacket(const TimePacket& command) = delete;
   TimePacket(const uint8_t* timeBuffer_, uint32_t timeSize_) {
     timeBuffer = timeBuffer_;
     timeSize = timeSize_;
   }
   const uint8_t* getTime() { return timeBuffer; }
 
-  uint32_t getTimeSize() const { return timeSize; }
+  [[nodiscard]] uint32_t getTimeSize() const { return timeSize; }
 
  private:
-  TimePacket(const TimePacket& command);
   const uint8_t* timeBuffer;
   uint32_t timeSize;  //!< [EXPORT] : [IGNORE]
 };

src/fsfw/returnvalues/FwClassIds.h

@@ -34,9 +34,10 @@ enum : uint8_t {
   FIFO_CLASS,                     // FF
   MESSAGE_PROXY,                  // MQP
   TRIPLE_REDUNDACY_CHECK,         // TRC
-  TC_PACKET_CHECK,                // TCC
+  PACKET_CHECK,                   // TCC
   PACKET_DISTRIBUTION,            // TCD
-  ACCEPTS_TELECOMMANDS_IF,        // PUS
+  ACCEPTS_TELECOMMANDS_IF,        // ATC
+  PUS_IF,                         // PUS
   DEVICE_SERVICE_BASE,            // DSB
   COMMAND_SERVICE_BASE,           // CSB
   TM_STORE_BACKEND_IF,            // TMB

src/fsfw/returnvalues/HasReturnvaluesIF.h

@@ -0,0 +1,8 @@
+#ifndef FSFW_RETURNVALUES_HASRETURNVALUES_IF_H_
+#define FSFW_RETURNVALUES_HASRETURNVALUES_IF_H_
+
+#warning "This header is deprecated, please include returnvalue.h"
+
+#include "returnvalue.h"
+
+#endif /* FSFW_RETURNVALUES_HASRETURNVALUES_IF_H_ */

src/fsfw/retval.h

@@ -0,0 +1,6 @@
+#ifndef FSFW_RETVAL_H
+#define FSFW_RETVAL_H
+
+#include "fsfw/returnvalues/returnvalue.h"
+
+#endif  // FSFW_RETVAL_H

src/fsfw/serialize.h

@@ -1,10 +1,10 @@
-#ifndef FSFW_INC_FSFW_SERIALIZE_H_
-#define FSFW_INC_FSFW_SERIALIZE_H_
+#ifndef FSFW_SERIALIZE_H_
+#define FSFW_SERIALIZE_H_
 
-#include "fsfw/serialize/EndianConverter.h"
-#include "fsfw/serialize/SerialArrayListAdapter.h"
-#include "fsfw/serialize/SerialBufferAdapter.h"
-#include "fsfw/serialize/SerialLinkedListAdapter.h"
-#include "fsfw/serialize/SerializeElement.h"
+#include "serialize/EndianConverter.h"
+#include "serialize/SerialArrayListAdapter.h"
+#include "serialize/SerialBufferAdapter.h"
+#include "serialize/SerialLinkedListAdapter.h"
+#include "serialize/SerializeElement.h"
 
-#endif /* FSFW_INC_FSFW_SERIALIZE_H_ */
+#endif /* FSFW_SERIALIZE_H_ */

src/fsfw/serialize/SerialBufferAdapter.cpp

@@ -21,7 +21,7 @@ SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer, count_t buffe
       bufferLength(bufferLength) {}
 
 template <typename count_t>
-SerialBufferAdapter<count_t>::~SerialBufferAdapter() {}
+SerialBufferAdapter<count_t>::~SerialBufferAdapter() = default;
 
 template <typename count_t>
 ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer, size_t* size,
@@ -119,10 +119,10 @@ const uint8_t* SerialBufferAdapter<count_t>::getConstBuffer() const {
 }
 
 template <typename count_t>
-void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer, count_t bufferLength) {
-  this->buffer = buffer;
-  this->constBuffer = buffer;
-  this->bufferLength = bufferLength;
+void SerialBufferAdapter<count_t>::setConstBuffer(const uint8_t* buf, count_t bufLen) {
+  this->buffer = nullptr;
+  this->bufferLength = bufLen;
+  this->constBuffer = buf;
 }
 
 // forward Template declaration for linker

src/fsfw/serialize/SerialBufferAdapter.h

@@ -21,6 +21,7 @@
 template <typename count_t>
 class SerialBufferAdapter : public SerializeIF {
  public:
+  SerialBufferAdapter() = default;
   /**
    * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
    * Type of length can be supplied as template type.
@@ -40,12 +41,12 @@ class SerialBufferAdapter : public SerializeIF {
    */
   SerialBufferAdapter(uint8_t* buffer, count_t bufferLength, bool serializeLength = false);
 
-  virtual ~SerialBufferAdapter();
+  ~SerialBufferAdapter() override;
 
-  virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                  Endianness streamEndianness) const override;
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                          Endianness streamEndianness) const override;
 
-  virtual size_t getSerializedSize() const override;
+  [[nodiscard]] size_t getSerializedSize() const override;
 
   /**
    * @brief This function deserializes a buffer into the member buffer.
@@ -59,12 +60,12 @@ class SerialBufferAdapter : public SerializeIF {
    * @param bigEndian
    * @return
    */
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                    Endianness streamEndianness) override;
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            Endianness streamEndianness) override;
 
   uint8_t* getBuffer();
-  const uint8_t* getConstBuffer() const;
-  void setBuffer(uint8_t* buffer, count_t bufferLength);
+  [[nodiscard]] const uint8_t* getConstBuffer() const;
+  void setConstBuffer(const uint8_t* buf, count_t bufLen);
 
  private:
   bool serializeLength = false;

src/fsfw/serialize/SerializeAdapter.h

@@ -74,7 +74,7 @@ class SerializeAdapter {
       return returnvalue::FAILED;
     }
     InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
-    uint8_t **tempPtr = const_cast<uint8_t **>(&buffer);
+    auto **tempPtr = const_cast<uint8_t **>(&buffer);
     size_t tmpSize = 0;
     ReturnValue_t result = adapter.serialize(object, tempPtr, &tmpSize, maxSize, streamEndianness);
     if (serSize != nullptr) {
@@ -232,7 +232,7 @@ class SerializeAdapter {
       }
     }
 
-    uint32_t getSerializedSize(const T *object) { return sizeof(T); }
+    uint32_t getSerializedSize(const T *) { return sizeof(T); }
   };
 
   /**

src/fsfw/serviceinterface/ServiceInterfaceBuffer.cpp

@@ -1,8 +1,8 @@
-#include "fsfw/serviceinterface/ServiceInterfaceBuffer.h"
+#include "ServiceInterfaceBuffer.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 
-#include <inttypes.h>
+#include <cinttypes>
 
 #include <cstring>
 
@@ -16,8 +16,6 @@
 // to be implemented by bsp
 extern "C" void printChar(const char*, bool errStream);
 
-#ifndef UT699
-
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
                                                bool buffered, bool errStream, uint16_t port)
     : isActive(true),
@@ -58,6 +56,9 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage, bool addC
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+  if (not isActive) {
+    return;
+  }
   char array[BUF_SIZE];
   uint32_t length = end - begin;
   if (length > sizeof(array)) {
@@ -74,8 +75,6 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
   }
 }
 
-#endif
-
 int ServiceInterfaceBuffer::overflow(int c) {
   if (not buffered and this->isActive) {
     if (c != Traits::eof()) {
@@ -169,89 +168,4 @@ void ServiceInterfaceBuffer::setAsciiColorPrefix(std::string colorPrefix) {
 }
 #endif
 
-#ifdef UT699
-#include "../osal/rtems/Interrupt.h"
-
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
-  this->log_message = set_message;
-  this->isActive = true;
-  setp(buf, buf + BUF_SIZE);
-}
-
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-  char array[BUF_SIZE];
-  uint32_t length = end - begin;
-  if (length > sizeof(array)) {
-    length = sizeof(array);
-  }
-  memcpy(array, begin, length);
-
-  if (!Interrupt::isInterruptInProgress()) {
-    std::cout << array;
-  } else {
-    // Uncomment the following line if you need ISR debug output.
-    //		printk(array);
-  }
-}
-#endif  // UT699
-
-#ifdef ML505
-#include <bsp_flp/network/networkconfig.h>
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port)
-    : isActive(true),
-      log_message(set_message),
-      udpSocket(0),
-      remoteAddressLength(sizeof(remoteAddress)) {
-  setp(buf, buf + BUF_SIZE);
-  memset((uint8_t*)&remoteAddress, 0, sizeof(remoteAddress));
-  remoteAddress.sin_family = AF_INET;
-  remoteAddress.sin_port = htons(port);
-  remoteAddress.sin_addr.s_addr = htonl(inet_addr("192.168.250.100"));
-}
-
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-  char array[BUF_SIZE];
-  uint32_t length = end - begin;
-  if (length > sizeof(array)) {
-    length = sizeof(array);
-  }
-  memcpy(array, begin, length);
-
-  if (udpSocket <= 0) {
-    initSocket();
-  }
-
-  if (udpSocket > 0) {
-    sendto(udpSocket, array, length, 0, (sockaddr*)&remoteAddress, sizeof(remoteAddress));
-  }
-}
-
-void ServiceInterfaceBuffer::initSocket() {
-  sockaddr_in address;
-  memset((uint8_t*)&address, 0, sizeof(address));
-  address.sin_family = AF_INET;
-  address.sin_port = htons(0);
-  address.sin_addr.s_addr = htonl(INADDR_ANY);
-
-  udpSocket = socket(PF_INET, SOCK_DGRAM, 0);
-  if (socket < 0) {
-    printf("Error opening socket!\n");
-    return;
-  }
-  timeval timeout = {0, 20};
-  if (setsockopt(udpSocket, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout)) < 0) {
-    printf("Error setting SO_RCVTIMEO socket options!\n");
-    return;
-  }
-  if (setsockopt(udpSocket, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof(timeout)) < 0) {
-    printf("Error setting SO_SNDTIMEO socket options!\n");
-    return;
-  }
-  if (bind(udpSocket, (sockaddr*)&address, sizeof(address)) < 0) {
-    printf("Error binding socket!\n");
-  }
-}
-
-#endif  // ML505
-
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif

src/fsfw/serviceinterface/ServiceInterfaceBuffer.h

@@ -1,9 +1,8 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
-#include <FSFWConfig.h>
-
-#include "../returnvalues/returnvalue.h"
+#include "fsfw/FSFW.h"
+#include "fsfw/returnvalues/returnvalue.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 
@@ -11,8 +10,6 @@
 #include <iostream>
 #include <sstream>
 
-#ifndef UT699
-
 /**
  * @brief 	This is the underlying stream buffer which implements the
  * 			streambuf class and overloads the overflow() and sync() methods
@@ -77,85 +74,6 @@ class ServiceInterfaceBuffer : public std::streambuf {
   bool crAdditionEnabled() const;
 };
 
-#endif
-
-#ifdef UT699
-class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
-  friend class ServiceInterfaceStream;
-
- public:
-  ServiceInterfaceBuffer(std::string set_message, uint16_t port);
-
- protected:
-  bool isActive;
-  // This is called when buffer becomes full. If
-  // buffer is not used, then this is called every
-  // time when characters are put to stream.
-  virtual int overflow(int c = Traits::eof());
-
-  // This function is called when stream is flushed,
-  // for example when std::endl is put to stream.
-  virtual int sync(void);
-
- private:
-  // For additional message information
-  std::string log_message;
-  // For EOF detection
-  typedef std::char_traits<char> Traits;
-
-  // Work in buffer mode. It is also possible to work without buffer.
-  static size_t const BUF_SIZE = 128;
-  char buf[BUF_SIZE];
-
-  // In this function, the characters are parsed.
-  void putChars(char const* begin, char const* end);
-};
-#endif  // UT699
-
-#ifdef ML505
-#include <arpa/inet.h>
-#include <netinet/in.h>
-#include <netinet/udp.h>
-#include <sys/socket.h>
-#include <sys/types.h>
-
-class ServiceInterfaceBuffer : public std::basic_streambuf<char, std::char_traits<char> > {
-  friend class ServiceInterfaceStream;
-
- public:
-  ServiceInterfaceBuffer(std::string set_message, uint16_t port);
-
- protected:
-  bool isActive;
-  // This is called when buffer becomes full. If
-  // buffer is not used, then this is called every
-  // time when characters are put to stream.
-  virtual int overflow(int c = Traits::eof());
-
-  // This function is called when stream is flushed,
-  // for example when std::endl is put to stream.
-  virtual int sync(void);
-
- private:
-  // For additional message information
-  std::string log_message;
-  // For EOF detection
-  typedef std::char_traits<char> Traits;
-
-  // Work in buffer mode. It is also possible to work without buffer.
-  static size_t const BUF_SIZE = 128;
-  char buf[BUF_SIZE];
-
-  // In this function, the characters are parsed.
-  void putChars(char const* begin, char const* end);
-
-  int udpSocket;
-  sockaddr_in remoteAddress;
-  socklen_t remoteAddressLength;
-  void initSocket();
-};
-#endif  // ML505
-
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_ */

src/fsfw/serviceinterface/ServiceInterfaceStream.h

@@ -1,9 +1,8 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_
 
-#include <FSFWConfig.h>
-
 #include "ServiceInterfaceBuffer.h"
+#include "fsfw/FSFW.h"
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 

src/fsfw/storagemanager/LocalPool.cpp

@@ -194,8 +194,6 @@ void LocalPool::clearStore() {
     for (auto& size : sizeList) {
       size = STORAGE_FREE;
     }
-    //        std::memset(sizeList[index], 0xff,
-    //                numberOfElements[index] * sizeof(size_type));
   }
 }
 
@@ -338,3 +336,16 @@ void LocalPool::clearSubPool(max_subpools_t subpoolIndex) {
 }
 
 LocalPool::max_subpools_t LocalPool::getNumberOfSubPools() const { return NUMBER_OF_SUBPOOLS; }
+
+bool LocalPool::hasDataAtId(store_address_t storeId) const {
+  if (storeId.poolIndex >= NUMBER_OF_SUBPOOLS) {
+    return false;
+  }
+  if ((storeId.packetIndex >= numberOfElements[storeId.poolIndex])) {
+    return false;
+  }
+  if (sizeLists[storeId.poolIndex][storeId.packetIndex] != STORAGE_FREE) {
+    return true;
+  }
+  return false;
+}

src/fsfw/storagemanager/LocalPool.h

@@ -81,7 +81,7 @@ class LocalPool : public SystemObject, public StorageManagerIF {
   /**
    * @brief	In the LocalPool's destructor all allocated memory is freed.
    */
-  virtual ~LocalPool(void);
+  ~LocalPool() override;
 
   /**
    * Documentation: See StorageManagerIF.h
@@ -132,6 +132,7 @@ class LocalPool : public SystemObject, public StorageManagerIF {
    * @return
    */
   max_subpools_t getNumberOfSubPools() const override;
+  bool hasDataAtId(store_address_t storeId) const override;
 
  protected:
   /**

src/fsfw/storagemanager/PoolManager.cpp

@@ -7,7 +7,7 @@ PoolManager::PoolManager(object_id_t setObjectId, const LocalPoolConfig& localPo
   mutex = MutexFactory::instance()->createMutex();
 }
 
-PoolManager::~PoolManager(void) { MutexFactory::instance()->deleteMutex(mutex); }
+PoolManager::~PoolManager() { MutexFactory::instance()->deleteMutex(mutex); }
 
 ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* address,
                                         bool ignoreFault) {
@@ -17,7 +17,7 @@ ReturnValue_t PoolManager::reserveSpace(const size_t size, store_address_t* addr
 }
 
 ReturnValue_t PoolManager::deleteData(store_address_t storeId) {
-#if FSFW_VERBOSE_LEVEL >= 2
+#if FSFW_VERBOSE_LEVEL >= 2 && FSFW_OBJ_EVENT_TRANSLATION == 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::debug << "PoolManager( " << translateObject(getObjectId()) << " )::deleteData from store "
              << storeId.poolIndex << ". id is " << storeId.packetIndex << std::endl;

src/fsfw/storagemanager/StorageManagerIF.h

@@ -55,7 +55,7 @@ class StorageManagerIF {
   /**
    * @brief This is the empty virtual destructor as required for C++ interfaces.
    */
-  virtual ~StorageManagerIF(){};
+  ~StorageManagerIF() = default;
   /**
    * @brief	With addData, a free storage position is allocated and data
    * 			stored there.
@@ -63,9 +63,8 @@ class StorageManagerIF {
    * @param storageId A pointer to the storageId to retrieve.
    * @param data	The data to be stored in the StorageManager.
    * @param size	The amount of data to be stored.
-   * @return	Returns @li returnvalue::OK if data was added.
-   * 					@li	returnvalue::FAILED if data could not be added.
-   * 						storageId is unchanged then.
+   * @return	Returns @returnvalue::OK if data was added.
+   * 		@returnvalue::FAILED if data could not be added, storageId is unchanged then.
    */
   virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t* data, size_t size,
                                 bool ignoreFault = false) = 0;
@@ -116,8 +115,8 @@ class StorageManagerIF {
    * @param packet_ptr	The passed pointer address is set to the the memory
    * 						position
    * @param size			The exact size of the stored data is returned here.
-   * @return	@li returnvalue::OK on success.
-   * 			@li	returnvalue::FAILED if fetching data did not work
+   * @return	@returnvalue::OK on success.
+   * 		@returnvalue::FAILED if fetching data did not work
    * 				(e.g. an illegal packet_id was passed).
    */
   virtual ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
@@ -157,11 +156,12 @@ class StorageManagerIF {
    * @param size		The size of the space to be reserved.
    * @param p_data	A pointer to the element data is returned here.
    * @return	Returns @li returnvalue::OK if data was added.
-   * 					@li	returnvalue::FAILED if data could not be added.
-   * 						storageId is unchanged then.
+   * 		@returnvalue::FAILED if data could not be added, storageId is unchanged then.
    */
-  virtual ReturnValue_t getFreeElement(store_address_t* storageId, const size_t size,
-                                       uint8_t** p_data, bool ignoreFault = false) = 0;
+  virtual ReturnValue_t getFreeElement(store_address_t* storageId, size_t size, uint8_t** p_data,
+                                       bool ignoreFault = false) = 0;
+
+  [[nodiscard]] virtual bool hasDataAtId(store_address_t storeId) const = 0;
 
   /**
    * Clears the whole store.
@@ -192,7 +192,7 @@ class StorageManagerIF {
    * Get number of pools.
    * @return
    */
-  virtual max_subpools_t getNumberOfSubPools() const = 0;
+  [[nodiscard]] virtual max_subpools_t getNumberOfSubPools() const = 0;
 };
 
 #endif /* FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_ */

src/fsfw/storagemanager/storeAddress.h

@@ -3,26 +3,26 @@
 
 #include <cstdint>
 
-namespace storeId {
-static constexpr uint32_t INVALID_STORE_ADDRESS = 0xffffffff;
-}
-
 /**
  * This union defines the type that identifies where a data packet is
  * stored in the store. It comprises of a raw part to read it as raw value and
  * a structured part to use it in pool-like stores.
  */
 union store_address_t {
+ public:
+  static constexpr uint32_t INVALID_RAW = 0xffffffff;
   /**
    * Default Constructor, initializing to INVALID_ADDRESS
    */
-  store_address_t() : raw(storeId::INVALID_STORE_ADDRESS) {}
+  store_address_t() : raw(INVALID_RAW) {}
   /**
    * Constructor to create an address object using the raw address
    *
    * @param rawAddress
    */
-  store_address_t(uint32_t rawAddress) : raw(rawAddress) {}
+  explicit store_address_t(uint32_t rawAddress) : raw(rawAddress) {}
+
+  static store_address_t invalid() { return {}; };
 
   /**
    * Constructor to create an address object using pool
@@ -52,6 +52,12 @@ union store_address_t {
   uint32_t raw;
 
   bool operator==(const store_address_t& other) const { return raw == other.raw; }
+  bool operator!=(const store_address_t& other) const { return raw != other.raw; }
+
+  store_address_t& operator=(const uint32_t rawAddr) {
+    raw = rawAddr;
+    return *this;
+  }
 };
 
 #endif /* FSFW_STORAGEMANAGER_STOREADDRESS_H_ */

src/fsfw/tcdistribution/CCSDSDistributor.cpp

@@ -2,12 +2,13 @@
 
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tmtcpacket/SpacePacketBase.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
 
 #define CCSDS_DISTRIBUTOR_DEBUGGING 0
 
-CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId)
-    : TcDistributor(setObjectId), defaultApid(setDefaultApid) {}
+CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId,
+                                   CcsdsPacketCheckIF* packetChecker)
+    : TcDistributor(setObjectId), defaultApid(setDefaultApid), packetChecker(packetChecker) {}
 
 CCSDSDistributor::~CCSDSDistributor() = default;
 
@@ -25,7 +26,7 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
 #endif
   const uint8_t* packet = nullptr;
   size_t size = 0;
-  ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(), &packet, &size);
+  ReturnValue_t result = tcStore->getData(currentMessage.getStorageId(), &packet, &size);
   if (result != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -40,19 +41,21 @@ TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
 #endif
     return queueMap.end();
   }
-  SpacePacketBase currentPacket(packet);
-
+  SpacePacketReader currentPacket(packet, size);
+  result = packetChecker->checkPacket(currentPacket, size);
+  if (result != returnvalue::OK) {
+  }
 #if FSFW_CPP_OSTREAM_ENABLED == 1 && CCSDS_DISTRIBUTOR_DEBUGGING == 1
-  sif::info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex
-            << currentPacket.getAPID() << std::dec << std::endl;
+  sif::info << "CCSDSDistributor::selectDestination has packet with APID 0x" << std::hex
+            << currentPacket.getApid() << std::dec << std::endl;
 #endif
-  auto position = this->queueMap.find(currentPacket.getAPID());
+  auto position = this->queueMap.find(currentPacket.getApid());
   if (position != this->queueMap.end()) {
     return position;
   } else {
     // The APID was not found. Forward packet to main SW-APID anyway to
     //  create acceptance failure report.
-    return this->queueMap.find(this->defaultApid);
+    return queueMap.find(this->defaultApid);
   }
 }
 
@@ -80,6 +83,9 @@ ReturnValue_t CCSDSDistributor::registerApplication(uint16_t apid, MessageQueueI
 uint16_t CCSDSDistributor::getIdentifier() { return 0; }
 
 ReturnValue_t CCSDSDistributor::initialize() {
+  if (packetChecker == nullptr) {
+    packetChecker = new CcsdsPacketChecker(ccsds::PacketType::TC);
+  }
   ReturnValue_t status = this->TcDistributor::initialize();
   this->tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
   if (this->tcStore == nullptr) {

src/fsfw/tcdistribution/CCSDSDistributor.h

@@ -1,11 +1,12 @@
 #ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
 #define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
 
-#include "../objectmanager/ObjectManagerIF.h"
-#include "../storagemanager/StorageManagerIF.h"
-#include "../tcdistribution/CCSDSDistributorIF.h"
-#include "../tcdistribution/TcDistributor.h"
-#include "../tmtcservices/AcceptsTelecommandsIF.h"
+#include "fsfw/objectmanager/ObjectManagerIF.h"
+#include "fsfw/storagemanager/StorageManagerIF.h"
+#include "fsfw/tcdistribution/CCSDSDistributorIF.h"
+#include "fsfw/tcdistribution/CcsdsPacketChecker.h"
+#include "fsfw/tcdistribution/TcDistributor.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 
 /**
  * @brief 	An instantiation of the CCSDSDistributorIF.
@@ -24,14 +25,15 @@ class CCSDSDistributor : public TcDistributor,
    * 			TcDistributor ctor with a certain object id.
    * @details
    * @c tcStore is set in the @c initialize method.
-   * @param setDefaultApid The default APID, where packets with unknown
+   * @param unknownApid The default APID, where packets with unknown
    * destination are sent to.
    */
-  CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId);
+  CCSDSDistributor(uint16_t unknownApid, object_id_t setObjectId,
+                   CcsdsPacketCheckIF* packetChecker = nullptr);
   /**
    * The destructor is empty.
    */
-  virtual ~CCSDSDistributor();
+  ~CCSDSDistributor() override;
 
   MessageQueueId_t getRequestQueue() override;
   ReturnValue_t registerApplication(uint16_t apid, MessageQueueId_t id) override;
@@ -63,6 +65,8 @@ class CCSDSDistributor : public TcDistributor,
    * pure Space Packets and there exists no SpacePacketStored class.
    */
   StorageManagerIF* tcStore = nullptr;
+
+  CcsdsPacketCheckIF* packetChecker = nullptr;
 };
 
 #endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */

src/fsfw/tcdistribution/CCSDSDistributorIF.h

@@ -18,7 +18,7 @@ class CCSDSDistributorIF {
    * at the distributor.
    * @param application A pointer to the Application to register.
    * @return	- @c returnvalue::OK on success,
-   * 			- @c returnvalue::FAILED on failure.
+   * 		- @c returnvalue::FAILED on failure.
    */
   virtual ReturnValue_t registerApplication(AcceptsTelecommandsIF* application) = 0;
   /**
@@ -28,13 +28,13 @@ class CCSDSDistributorIF {
    * @param id	The MessageQueueId of the message queue to send the
    *              TC Packets to.
    * @return	- @c returnvalue::OK on success,
-   * 			- @c returnvalue::FAILED on failure.
+   * 		- @c returnvalue::FAILED on failure.
    */
   virtual ReturnValue_t registerApplication(uint16_t apid, MessageQueueId_t id) = 0;
   /**
    * The empty virtual destructor.
    */
-  virtual ~CCSDSDistributorIF() {}
+  virtual ~CCSDSDistributorIF() = default;
 };
 
 #endif /* FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_ */

src/fsfw/tcdistribution/CFDPDistributor.cpp

@@ -2,7 +2,7 @@
 
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/tcdistribution/CCSDSDistributorIF.h"
-#include "fsfw/tmtcpacket/cfdp/CFDPPacketStored.h"
+#include "fsfw/tmtcpacket/cfdp/CfdpPacketStored.h"
 
 #ifndef FSFW_CFDP_DISTRIBUTOR_DEBUGGING
 #define FSFW_CFDP_DISTRIBUTOR_DEBUGGING 1
@@ -16,7 +16,7 @@ CFDPDistributor::CFDPDistributor(uint16_t setApid, object_id_t setObjectId,
       tcStatus(returnvalue::FAILED),
       packetSource(setPacketSource) {}
 
-CFDPDistributor::~CFDPDistributor() {}
+CFDPDistributor::~CFDPDistributor() = default;
 
 CFDPDistributor::TcMqMapIter CFDPDistributor::selectDestination() {
 #if FSFW_CFDP_DISTRIBUTOR_DEBUGGING == 1
@@ -29,13 +29,13 @@ CFDPDistributor::TcMqMapIter CFDPDistributor::selectDestination() {
                   storeId.packetIndex);
 #endif
 #endif
-  TcMqMapIter queueMapIt = this->queueMap.end();
+  auto queueMapIt = this->queueMap.end();
   if (this->currentPacket == nullptr) {
     return queueMapIt;
   }
   this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
-  if (currentPacket->getWholeData() != nullptr) {
-    tcStatus = checker.checkPacket(currentPacket);
+  if (currentPacket->getFullData() != nullptr) {
+    tcStatus = checker.checkPacket(*currentPacket, currentPacket->getFullPacketLen());
     if (tcStatus != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -72,7 +72,7 @@ CFDPDistributor::TcMqMapIter CFDPDistributor::selectDestination() {
 
 ReturnValue_t CFDPDistributor::registerHandler(AcceptsTelecommandsIF* handler) {
   uint16_t handlerId =
-      handler->getIdentifier();  // should be 0, because CFDPHandler does not set a set a service-ID
+      handler->getIdentifier();  // should be 0, because CfdpHandler does not set a set a service-ID
 #if FSFW_CFDP_DISTRIBUTOR_DEBUGGING == 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
   sif::info << "CFDPDistributor::registerHandler: Handler ID: " << static_cast<int>(handlerId)
@@ -121,14 +121,13 @@ MessageQueueId_t CFDPDistributor::getRequestQueue() { return tcQueue->getId(); }
 uint16_t CFDPDistributor::getIdentifier() { return this->apid; }
 
 ReturnValue_t CFDPDistributor::initialize() {
-  currentPacket = new CFDPPacketStored();
+  currentPacket = new CfdpPacketStored();
   if (currentPacket == nullptr) {
     // Should not happen, memory allocation failed!
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  CCSDSDistributorIF* ccsdsDistributor =
-      ObjectManager::instance()->get<CCSDSDistributorIF>(packetSource);
+  auto* ccsdsDistributor = ObjectManager::instance()->get<CCSDSDistributorIF>(packetSource);
   if (ccsdsDistributor == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "CFDPDistributor::initialize: Packet source invalid" << std::endl;

src/fsfw/tcdistribution/CFDPDistributor.h

@@ -1,10 +1,10 @@
 #ifndef FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_
 #define FSFW_TCDISTRIBUTION_CFDPDISTRIBUTOR_H_
 
-#include <fsfw/tcdistribution/TcPacketCheckCFDP.h>
+#include <fsfw/tcdistribution/CfdpPacketChecker.h>
 
 #include "../returnvalues/returnvalue.h"
-#include "../tmtcpacket/cfdp/CFDPPacketStored.h"
+#include "../tmtcpacket/cfdp/CfdpPacketStored.h"
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../tmtcservices/VerificationReporter.h"
 #include "CFDPDistributorIF.h"
@@ -31,7 +31,7 @@ class CFDPDistributor : public TcDistributor,
   /**
    * The destructor is empty.
    */
-  virtual ~CFDPDistributor();
+  ~CFDPDistributor() override;
   ReturnValue_t registerHandler(AcceptsTelecommandsIF* handler) override;
   MessageQueueId_t getRequestQueue() override;
   ReturnValue_t initialize() override;
@@ -42,8 +42,8 @@ class CFDPDistributor : public TcDistributor,
   /**
    * The currently handled packet is stored here.
    */
-  CFDPPacketStored* currentPacket = nullptr;
-  TcPacketCheckCFDP checker;
+  CfdpPacketStored* currentPacket = nullptr;
+  CfdpPacketChecker checker;
   /**
    * With this variable, the current check status is stored to generate
    * acceptance messages later.

src/fsfw/tcdistribution/CFDPDistributorIF.h

@@ -13,12 +13,12 @@ class CFDPDistributorIF {
   /**
    * The empty virtual destructor.
    */
-  virtual ~CFDPDistributorIF() {}
+  virtual ~CFDPDistributorIF() = default;
   /**
    * With this method, Handlers can register themselves at the CFDP Distributor.
    * @param handler A pointer to the registering Handler.
    * @return	- @c returnvalue::OK on success,
-   * 			- @c returnvalue::FAILED on failure.
+   * 		- @c returnvalue::FAILED on failure.
    */
   virtual ReturnValue_t registerHandler(AcceptsTelecommandsIF* handler) = 0;
 };

src/fsfw/tcdistribution/CMakeLists.txt

@@ -1,4 +1,9 @@
 target_sources(
   ${LIB_FSFW_NAME}
-  PRIVATE CCSDSDistributor.cpp PUSDistributor.cpp TcDistributor.cpp
-          TcPacketCheckPUS.cpp TcPacketCheckCFDP.cpp CFDPDistributor.cpp)
+  PRIVATE CCSDSDistributor.cpp
+          PusDistributor.cpp
+          TcDistributor.cpp
+          PusPacketChecker.cpp
+          TcPacketCheckCFDP.cpp
+          CFDPDistributor.cpp
+          CcsdsPacketChecker.cpp)

src/fsfw/tcdistribution/CcsdsPacketCheckIF.h

@@ -1,30 +1,32 @@
 #ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECKIF_H_
 #define FSFW_TCDISTRIBUTION_TCPACKETCHECKIF_H_
 
-#include "../returnvalues/returnvalue.h"
+#include <cstddef>
 
-class SpacePacketBase;
+#include "fsfw/returnvalues/returnvalue.h"
+
+class SpacePacketReader;
 
 /**
  * This interface is used by PacketCheckers for PUS packets and CFDP packets .
  * @ingroup tc_distribution
  */
-class TcPacketCheckIF {
+class CcsdsPacketCheckIF {
  public:
   /**
    * The empty virtual destructor.
    */
-  virtual ~TcPacketCheckIF() {}
+  virtual ~CcsdsPacketCheckIF() = default;
 
   /**
    * This is the actual method to formally check a certain Packet.
    * The packet's Application Data can not be checked here.
    * @param current_packet The packet to check
    * @return	- @c returnvalue::OK on success.
-   * 			- @c INCORRECT_CHECKSUM if checksum is invalid.
-   * 			- @c ILLEGAL_APID if APID does not match.
+   * 		- @c INCORRECT_CHECKSUM if checksum is invalid.
+   * 		- @c ILLEGAL_APID if APID does not match.
    */
-  virtual ReturnValue_t checkPacket(SpacePacketBase* currentPacket) = 0;
+  virtual ReturnValue_t checkPacket(const SpacePacketReader& currentPacket, size_t packetLen) = 0;
 };
 
 #endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECKIF_H_ */

src/fsfw/tcdistribution/CcsdsPacketChecker.cpp

@@ -0,0 +1,33 @@
+#include "CcsdsPacketChecker.h"
+
+#include "fsfw/tcdistribution/definitions.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
+
+CcsdsPacketChecker::CcsdsPacketChecker(ccsds::PacketType packetType_, uint8_t ccsdsVersion_)
+    : packetType(packetType_), ccsdsVersion(ccsdsVersion_) {}
+
+ReturnValue_t CcsdsPacketChecker::checkPacket(const SpacePacketReader& currentPacket,
+                                              size_t packetLen) {
+  if (checkApid) {
+    if (currentPacket.getApid() != apid) {
+      return tcdistrib::INVALID_APID;
+    }
+  }
+
+  if (currentPacket.getVersion() != ccsdsVersion) {
+    return tcdistrib::INVALID_CCSDS_VERSION;
+  }
+  if (currentPacket.getPacketType() != packetType) {
+    return tcdistrib::INVALID_PACKET_TYPE;
+  }
+  // This assumes that the getFullPacketLen version uses the space packet data length field
+  if (currentPacket.getFullPacketLen() != packetLen) {
+    return tcdistrib::INCOMPLETE_PACKET;
+  }
+  return returnvalue::OK;
+}
+
+void CcsdsPacketChecker::setApidToCheck(uint16_t apid_) {
+  apid = apid_;
+  checkApid = true;
+}

src/fsfw/tcdistribution/CcsdsPacketChecker.h

@@ -0,0 +1,20 @@
+#ifndef FSFW_TESTS_CCSDSPACKETCHECKERBASE_H
+#define FSFW_TESTS_CCSDSPACKETCHECKERBASE_H
+
+#include "CcsdsPacketCheckIF.h"
+#include "fsfw/tmtcpacket/ccsds/SpacePacketIF.h"
+
+class CcsdsPacketChecker : public CcsdsPacketCheckIF {
+ public:
+  CcsdsPacketChecker(ccsds::PacketType packetType, uint8_t ccsdsVersion = 0b000);
+
+  void setApidToCheck(uint16_t apid);
+  ReturnValue_t checkPacket(const SpacePacketReader& currentPacket, size_t packetLen) override;
+
+ protected:
+  bool checkApid = false;
+  uint16_t apid = 0;
+  ccsds::PacketType packetType;
+  uint8_t ccsdsVersion;
+};
+#endif  // FSFW_TESTS_CCSDSPACKETCHECKERBASE_H

src/fsfw/tcdistribution/CfdpPacketChecker.h

@@ -1,16 +1,16 @@
 #ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECKCFDP_H_
 #define FSFW_TCDISTRIBUTION_TCPACKETCHECKCFDP_H_
 
-#include "TcPacketCheckIF.h"
+#include "CcsdsPacketCheckIF.h"
 #include "fsfw/FSFW.h"
 
-class CFDPPacketStored;
+class CfdpPacketStored;
 
 /**
  * This class performs a formal packet check for incoming CFDP Packets.
  * @ingroup tc_distribution
  */
-class TcPacketCheckCFDP : public TcPacketCheckIF {
+class CfdpPacketChecker : public CcsdsPacketCheckIF {
  protected:
   /**
    * The packet id each correct packet should have.
@@ -23,11 +23,11 @@ class TcPacketCheckCFDP : public TcPacketCheckIF {
    * The constructor only sets the APID attribute.
    * @param set_apid The APID to set.
    */
-  TcPacketCheckCFDP(uint16_t setApid);
+  explicit CfdpPacketChecker(uint16_t setApid);
 
-  ReturnValue_t checkPacket(SpacePacketBase* currentPacket) override;
+  ReturnValue_t checkPacket(const SpacePacketReader& currentPacket, size_t packetLen) override;
 
-  uint16_t getApid() const;
+  [[nodiscard]] uint16_t getApid() const;
 };
 
 #endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECKCFDP_H_ */

src/fsfw/tcdistribution/PUSDistributor.cpp

@@ -1,146 +0,0 @@
-#include "fsfw/tcdistribution/PUSDistributor.h"
-
-#include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/serviceinterface/ServiceInterface.h"
-#include "fsfw/tcdistribution/CCSDSDistributorIF.h"
-#include "fsfw/tmtcservices/PusVerificationReport.h"
-
-#define PUS_DISTRIBUTOR_DEBUGGING 0
-
-PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
-                               object_id_t setPacketSource)
-    : TcDistributor(setObjectId),
-      checker(setApid),
-      verifyChannel(),
-      tcStatus(returnvalue::FAILED),
-      packetSource(setPacketSource) {}
-
-PUSDistributor::~PUSDistributor() = default;
-
-PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
-#if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
-    store_address_t storeId = this->currentMessage.getStorageId());
-    sif::debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", "
-               << storeId.packetIndex << std::endl;
-#endif
-    auto queueMapIt = this->queueMap.end();
-    if (this->currentPacket == nullptr) {
-      return queueMapIt;
-    }
-    this->currentPacket->setStoreAddress(this->currentMessage.getStorageId(), currentPacket);
-    if (currentPacket->getWholeData() != nullptr) {
-      tcStatus = checker.checkPacket(currentPacket);
-      if (tcStatus != returnvalue::OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-        const char* keyword = "unnamed error";
-        if (tcStatus == TcPacketCheckPUS::INCORRECT_CHECKSUM) {
-          keyword = "checksum";
-        } else if (tcStatus == TcPacketCheckPUS::INCORRECT_PRIMARY_HEADER) {
-          keyword = "incorrect primary header";
-        } else if (tcStatus == TcPacketCheckPUS::ILLEGAL_APID) {
-          keyword = "illegal APID";
-        } else if (tcStatus == TcPacketCheckPUS::INCORRECT_SECONDARY_HEADER) {
-          keyword = "incorrect secondary header";
-        } else if (tcStatus == TcPacketCheckPUS::INCOMPLETE_PACKET) {
-          keyword = "incomplete packet";
-        }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "PUSDistributor::handlePacket: Packet format invalid, " << keyword
-                     << " error" << std::endl;
-#else
-        sif::printWarning("PUSDistributor::handlePacket: Packet format invalid, %s error\n",
-                          keyword);
-#endif
-#endif
-      }
-      uint32_t queue_id = currentPacket->getService();
-      queueMapIt = this->queueMap.find(queue_id);
-    } else {
-      tcStatus = PACKET_LOST;
-    }
-
-    if (queueMapIt == this->queueMap.end()) {
-      tcStatus = DESTINATION_NOT_FOUND;
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::debug << "PUSDistributor::handlePacket: Destination not found" << std::endl;
-#else
-      sif::printDebug("PUSDistributor::handlePacket: Destination not found\n");
-#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif
-    }
-
-    if (tcStatus != returnvalue::OK) {
-      return this->queueMap.end();
-    } else {
-      return queueMapIt;
-    }
-}
-
-ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
-  uint16_t serviceId = service->getIdentifier();
-#if PUS_DISTRIBUTOR_DEBUGGING == 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-  sif::info << "Service ID: " << static_cast<int>(serviceId) << std::endl;
-#else
-  sif::printInfo("Service ID: %d\n", static_cast<int>(serviceId));
-#endif
-#endif
-  MessageQueueId_t queue = service->getRequestQueue();
-  auto returnPair = queueMap.emplace(serviceId, queue);
-  if (not returnPair.second) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PUSDistributor::registerService: Service ID already"
-                  " exists in map"
-               << std::endl;
-#else
-    sif::printError("PUSDistributor::registerService: Service ID already exists in map\n");
-#endif
-#endif
-    return SERVICE_ID_ALREADY_EXISTS;
-  }
-  return returnvalue::OK;
-}
-
-MessageQueueId_t PUSDistributor::getRequestQueue() { return tcQueue->getId(); }
-
-ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
-  if (queueStatus != returnvalue::OK) {
-    tcStatus = queueStatus;
-  }
-  if (tcStatus != returnvalue::OK) {
-    this->verifyChannel.sendFailureReport(tc_verification::ACCEPTANCE_FAILURE, currentPacket,
-                                          tcStatus);
-    // A failed packet is deleted immediately after reporting,
-    // otherwise it will block memory.
-    currentPacket->deletePacket();
-    return returnvalue::FAILED;
-  } else {
-    this->verifyChannel.sendSuccessReport(tc_verification::ACCEPTANCE_SUCCESS, currentPacket);
-    return returnvalue::OK;
-  }
-}
-
-uint16_t PUSDistributor::getIdentifier() { return checker.getApid(); }
-
-ReturnValue_t PUSDistributor::initialize() {
-  currentPacket = new TcPacketStoredPus();
-  if (currentPacket == nullptr) {
-    // Should not happen, memory allocation failed!
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  auto* ccsdsDistributor = ObjectManager::instance()->get<CCSDSDistributorIF>(packetSource);
-  if (ccsdsDistributor == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl;
-    sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl;
-#else
-    sif::printError("PUSDistributor::initialize: Packet source invalid\n");
-    sif::printError("Make sure it exists and implements CCSDSDistributorIF\n");
-#endif
-    return returnvalue::FAILED;
-  }
-  return ccsdsDistributor->registerApplication(this);
-}

src/fsfw/tcdistribution/PUSDistributorIF.h

@@ -18,7 +18,7 @@ class PUSDistributorIF {
    * With this method, Services can register themselves at the PUS Distributor.
    * @param service A pointer to the registering Service.
    * @return	- @c returnvalue::OK on success,
-   * 			- @c returnvalue::FAILED on failure.
+   * 		- @c returnvalue::FAILED on failure.
    */
   virtual ReturnValue_t registerService(AcceptsTelecommandsIF* service) = 0;
 };

src/fsfw/tcdistribution/PusDistributor.cpp

@@ -0,0 +1,168 @@
+#include "fsfw/tcdistribution/PusDistributor.h"
+
+#include "definitions.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/tcdistribution/CCSDSDistributorIF.h"
+#include "fsfw/tmtcservices/PusVerificationReport.h"
+
+#define PUS_DISTRIBUTOR_DEBUGGING 0
+
+PusDistributor::PusDistributor(uint16_t setApid, object_id_t setObjectId,
+                               CCSDSDistributorIF* distributor, StorageManagerIF* store_)
+    : TcDistributor(setObjectId),
+      store(store_),
+      checker(setApid, ccsds::PacketType::TC),
+      ccsdsDistributor(distributor),
+      tcStatus(returnvalue::FAILED) {}
+
+PusDistributor::~PusDistributor() = default;
+
+PusDistributor::TcMqMapIter PusDistributor::selectDestination() {
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
+  store_address_t storeId = currentMessage.getStorageId();
+  sif::debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", "
+             << storeId.packetIndex << std::endl;
+#endif
+  auto queueMapIt = queueMap.end();
+  // TODO: Need to set the data
+  const uint8_t* packetPtr = nullptr;
+  size_t packetLen = 0;
+  if (store->getData(currentMessage.getStorageId(), &packetPtr, &packetLen) != returnvalue::OK) {
+    return queueMapIt;
+  }
+  ReturnValue_t result = reader.setReadOnlyData(packetPtr, packetLen);
+  if (result != returnvalue::OK) {
+    tcStatus = PACKET_LOST;
+    return queueMapIt;
+  }
+  // CRC check done by checker
+  result = reader.parseDataWithoutCrcCheck();
+  if (result != returnvalue::OK) {
+    tcStatus = PACKET_LOST;
+    return queueMapIt;
+  }
+  if (reader.getFullData() != nullptr) {
+    tcStatus = checker.checkPacket(reader, reader.getFullPacketLen());
+    if (tcStatus != returnvalue::OK) {
+      checkerFailurePrinter();
+    }
+    uint32_t queue_id = reader.getService();
+    queueMapIt = queueMap.find(queue_id);
+  } else {
+    tcStatus = PACKET_LOST;
+  }
+
+  if (queueMapIt == this->queueMap.end()) {
+    tcStatus = DESTINATION_NOT_FOUND;
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::debug << "PUSDistributor::handlePacket: Destination not found" << std::endl;
+#else
+    sif::printDebug("PUSDistributor::handlePacket: Destination not found\n");
+#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif
+  }
+
+  if (tcStatus != returnvalue::OK) {
+    return this->queueMap.end();
+  } else {
+    return queueMapIt;
+  }
+}
+
+ReturnValue_t PusDistributor::registerService(AcceptsTelecommandsIF* service) {
+  uint16_t serviceId = service->getIdentifier();
+#if PUS_DISTRIBUTOR_DEBUGGING == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "Service ID: " << static_cast<int>(serviceId) << std::endl;
+#else
+  sif::printInfo("Service ID: %d\n", static_cast<int>(serviceId));
+#endif
+#endif
+  MessageQueueId_t queue = service->getRequestQueue();
+  auto returnPair = queueMap.emplace(serviceId, queue);
+  if (not returnPair.second) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PUSDistributor::registerService: Service ID already"
+                  " exists in map"
+               << std::endl;
+#else
+    sif::printError("PUSDistributor::registerService: Service ID already exists in map\n");
+#endif
+#endif
+    return SERVICE_ID_ALREADY_EXISTS;
+  }
+  return returnvalue::OK;
+}
+
+MessageQueueId_t PusDistributor::getRequestQueue() { return tcQueue->getId(); }
+
+ReturnValue_t PusDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
+  if (queueStatus != returnvalue::OK) {
+    tcStatus = queueStatus;
+  }
+  if (tcStatus != returnvalue::OK) {
+    verifyChannel->sendFailureReport({tcverif::ACCEPTANCE_FAILURE, reader, tcStatus});
+    // A failed packet is deleted immediately after reporting,
+    // otherwise it will block memory.
+    store->deleteData(currentMessage.getStorageId());
+    return returnvalue::FAILED;
+  } else {
+    verifyChannel->sendSuccessReport({tcverif::ACCEPTANCE_SUCCESS, reader});
+    return returnvalue::OK;
+  }
+}
+
+uint16_t PusDistributor::getIdentifier() { return checker.getApid(); }
+
+ReturnValue_t PusDistributor::initialize() {
+  if (store == nullptr) {
+    store = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
+    if (store == nullptr) {
+      return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+  }
+  if (ccsdsDistributor == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PUSDistributor::initialize: Packet source invalid" << std::endl;
+    sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl;
+#else
+    sif::printError("PusDistributor::initialize: Packet source invalid\n");
+    sif::printError("Make sure it exists and implements CCSDSDistributorIF\n");
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  if (verifyChannel == nullptr) {
+    verifyChannel =
+        ObjectManager::instance()->get<VerificationReporterIF>(objects::VERIFICATION_REPORTER);
+    if (verifyChannel == nullptr) {
+      return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+  }
+  return ccsdsDistributor->registerApplication(this);
+}
+
+void PusDistributor::checkerFailurePrinter() const {
+#if FSFW_VERBOSE_LEVEL >= 1
+  const char* keyword = "unnamed error";
+  if (tcStatus == tcdistrib::INCORRECT_CHECKSUM) {
+    keyword = "checksum";
+  } else if (tcStatus == tcdistrib::INCORRECT_PRIMARY_HEADER) {
+    keyword = "incorrect primary header";
+  } else if (tcStatus == tcdistrib::INVALID_APID) {
+    keyword = "illegal APID";
+  } else if (tcStatus == tcdistrib::INCORRECT_SECONDARY_HEADER) {
+    keyword = "incorrect secondary header";
+  } else if (tcStatus == tcdistrib::INCOMPLETE_PACKET) {
+    keyword = "incomplete packet";
+  }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::warning << "PUSDistributor::handlePacket: Packet format invalid, " << keyword << " error"
+               << std::endl;
+#else
+  sif::printWarning("PUSDistributor::handlePacket: Packet format invalid, %s error\n", keyword);
+#endif
+#endif
+}

src/fsfw/tcdistribution/PusDistributor.h

@@ -2,20 +2,22 @@
 #define FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
 
 #include "PUSDistributorIF.h"
+#include "PusPacketChecker.h"
 #include "TcDistributor.h"
-#include "TcPacketCheckPUS.h"
 #include "fsfw/returnvalues/returnvalue.h"
 #include "fsfw/tmtcpacket/pus/tc.h"
 #include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
 #include "fsfw/tmtcservices/VerificationReporter.h"
 
+class CCSDSDistributorIF;
+
 /**
  * This class accepts PUS Telecommands and forwards them to Application
  * services. In addition, the class performs a formal packet check and
  * sends acceptance success or failure messages.
  * @ingroup tc_distribution
  */
-class PUSDistributor : public TcDistributor, public PUSDistributorIF, public AcceptsTelecommandsIF {
+class PusDistributor : public TcDistributor, public PUSDistributorIF, public AcceptsTelecommandsIF {
  public:
   /**
    * The ctor passes @c set_apid to the checker class and calls the
@@ -25,30 +27,31 @@ class PUSDistributor : public TcDistributor, public PUSDistributorIF, public Acc
    * @param setPacketSource Object ID of the source of TC packets.
    * Must implement CCSDSDistributorIF.
    */
-  PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource);
+  PusDistributor(uint16_t setApid, object_id_t setObjectId, CCSDSDistributorIF* packetSource,
+                 StorageManagerIF* store = nullptr);
   /**
    * The destructor is empty.
    */
-  virtual ~PUSDistributor();
+  ~PusDistributor() override;
   ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
   MessageQueueId_t getRequestQueue() override;
   ReturnValue_t initialize() override;
   uint16_t getIdentifier() override;
 
  protected:
+  StorageManagerIF* store;
   /**
    * This attribute contains the class, that performs a formal packet check.
    */
-  TcPacketCheckPUS checker;
+  PusPacketChecker checker;
   /**
    * With this class, verification messages are sent to the
    * TC Verification service.
    */
-  VerificationReporter verifyChannel;
-  /**
-   * The currently handled packet is stored here.
-   */
-  TcPacketStoredPus* currentPacket = nullptr;
+  VerificationReporterIF* verifyChannel = nullptr;
+  //! Cached for initialization
+  CCSDSDistributorIF* ccsdsDistributor = nullptr;
+  PusTcReader reader;
 
   /**
    * With this variable, the current check status is stored to generate
@@ -56,8 +59,6 @@ class PUSDistributor : public TcDistributor, public PUSDistributorIF, public Acc
    */
   ReturnValue_t tcStatus;
 
-  const object_id_t packetSource;
-
   /**
    * This method reads the packet service, checks if such a service is
    * registered and forwards the packet to the destination.
@@ -72,6 +73,8 @@ class PUSDistributor : public TcDistributor, public PUSDistributorIF, public Acc
    * success/failure messages.
    */
   ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override;
+
+  void checkerFailurePrinter() const;
 };
 
 #endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */

src/fsfw/tcdistribution/PusPacketChecker.cpp

@@ -0,0 +1,30 @@
+#include "fsfw/tcdistribution/PusPacketChecker.h"
+
+#include "fsfw/globalfunctions/CRC.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+#include "fsfw/tcdistribution/definitions.h"
+#include "fsfw/tmtcpacket/pus/tc/PusTcReader.h"
+
+PusPacketChecker::PusPacketChecker(uint16_t apid, ccsds::PacketType packetType_,
+                                   ecss::PusVersion pusVersion_)
+    : pusVersion(pusVersion_), apid(apid) {}
+
+ReturnValue_t PusPacketChecker::checkPacket(const PusTcReader& pusPacket, size_t packetLen) {
+  // Other primary header fields are checked by base class
+  if (not pusPacket.hasSecHeader()) {
+    return tcdistrib::INVALID_SEC_HEADER_FIELD;
+  }
+  uint16_t calculated_crc = CRC::crc16ccitt(pusPacket.getFullData(), pusPacket.getFullPacketLen());
+  if (calculated_crc != 0) {
+    return tcdistrib::INCORRECT_CHECKSUM;
+  }
+  if (pusPacket.getApid() != apid) {
+    return tcdistrib::INVALID_APID;
+  }
+  if (pusPacket.getPusVersion() != pusVersion) {
+    return tcdistrib::INVALID_PUS_VERSION;
+  }
+  return returnvalue::OK;
+}
+
+uint16_t PusPacketChecker::getApid() const { return apid; }

src/fsfw/tcdistribution/PusPacketChecker.h

@@ -0,0 +1,34 @@
+#ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECKPUS_H_
+#define FSFW_TCDISTRIBUTION_TCPACKETCHECKPUS_H_
+
+#include "fsfw/FSFW.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/tmtcpacket/pus/defs.h"
+#include "fsfw/tmtcservices/PusVerificationReport.h"
+
+/**
+ * This class performs a formal packet check for incoming PUS Telecommand Packets.
+ * Currently, it only checks if the APID and CRC are correct.
+ * @ingroup tc_distribution
+ */
+class PusPacketChecker {
+ public:
+  /**
+   * The constructor only sets the APID attribute.
+   * @param set_apid The APID to set.
+   */
+  explicit PusPacketChecker(uint16_t apid, ccsds::PacketType packetType,
+                            ecss::PusVersion = ecss::PusVersion::PUS_C);
+
+  ReturnValue_t checkPacket(const PusTcReader& currentPacket, size_t packetLen);
+
+  [[nodiscard]] uint16_t getApid() const;
+
+ protected:
+  ecss::PusVersion pusVersion;
+  uint16_t apid;
+
+ private:
+};
+
+#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECKPUS_H_ */

src/fsfw/tcdistribution/TcDistributor.cpp

@@ -11,25 +11,24 @@ TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
 TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }
 
 ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
-  ReturnValue_t status = returnvalue::OK;
+  ReturnValue_t status;
   for (status = tcQueue->receiveMessage(&currentMessage); status == returnvalue::OK;
        status = tcQueue->receiveMessage(&currentMessage)) {
     status = handlePacket();
   }
   if (status == MessageQueueIF::EMPTY) {
     return returnvalue::OK;
-  } else {
-    return status;
   }
+  return status;
 }
 
 ReturnValue_t TcDistributor::handlePacket() {
-  TcMqMapIter queueMapIt = this->selectDestination();
-  ReturnValue_t returnValue = returnvalue::FAILED;
-  if (queueMapIt != this->queueMap.end()) {
-    returnValue = this->tcQueue->sendMessage(queueMapIt->second, &this->currentMessage);
+  auto queueMapIt = selectDestination();
+  ReturnValue_t result = returnvalue::FAILED;
+  if (queueMapIt != queueMap.end()) {
+    result = tcQueue->sendMessage(queueMapIt->second, &currentMessage);
   }
-  return this->callbackAfterSending(returnValue);
+  return callbackAfterSending(result);
 }
 
 void TcDistributor::print() {