Merge branch 'mueller/better-missing-inc-path-warning' into mueller/fsfw-from-zero

Reviewed-on: fsfw/fsfw#673

CHANGELOG.md

@@ -8,8 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v6.0.0]
-
 ## Changes
 
 - Removed `HasReturnvaluesIF` class in favor of `returnvalue` namespace with `OK` and `FAILED`
@@ -18,10 +16,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
-- Add `util::DataWrapper` class inside the `util` module. This is a tagged union which allows
-  to specify raw data either as a classic C-style raw pointer and size or as a `SerializeIF`
-  pointer.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/668
 - Add new `UnsignedByteField` class
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/660
 

CMakeLists.txt

@@ -360,7 +360,7 @@ if(NOT FSFW_CONFIG_PATH)
   if(NOT FSFW_BUILD_DOCS)
     message(
       WARNING
-        "${MSG_PREFIX} Flight Software Framework configuration path not set")
+        "${MSG_PREFIX} Flight Software Framework configuration path FSFW_CONFIG_PATH not set")
     message(
       WARNING
         "${MSG_PREFIX} Setting default configuration from ${DEF_CONF_PATH} ..")

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -8,6 +8,7 @@
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serialize/SerialBufferAdapter.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/subsystem/SubsystemBase.h"
@@ -1257,28 +1258,30 @@ ReturnValue_t DeviceHandlerBase::letChildHandleMessage(CommandMessage* message)
   return returnvalue::FAILED;
 }
 
-void DeviceHandlerBase::handleDeviceTM(SerializeIF* dataSet, DeviceCommandId_t replyId,
-                                       bool forceDirectTm) {
-  if (dataSet == nullptr) {
-    return;
-  }
+void DeviceHandlerBase::handleDeviceTm(const uint8_t* rawData, size_t rawDataLen,
+                                       DeviceCommandId_t replyId, bool forceDirectTm) {
+  SerialBufferAdapter bufferWrapper(rawData, rawDataLen);
+  handleDeviceTm(bufferWrapper, replyId, forceDirectTm);
+}
 
-  DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
+void DeviceHandlerBase::handleDeviceTm(const SerializeIF& dataSet, DeviceCommandId_t replyId,
+                                       bool forceDirectTm) {
+  auto iter = deviceReplyMap.find(replyId);
   if (iter == deviceReplyMap.end()) {
     triggerEvent(DEVICE_UNKNOWN_REPLY, replyId);
     return;
   }
 
-  /* Regular replies to a command */
+  // Regular replies to a command
   if (iter->second.command != deviceCommandMap.end()) {
     MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
 
     if (queueId != NO_COMMANDER) {
-      /* This may fail, but we'll ignore the fault. */
-      actionHelper.reportData(queueId, replyId, dataSet);
+      // This may fail, but we'll ignore the fault.
+      actionHelper.reportData(queueId, replyId, const_cast<SerializeIF*>(&dataSet));
     }
 
-    /* This check should make sure we get any TM but don't get anything doubled. */
+    // This check should make sure we get any TM but don't get anything doubled.
     if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
       DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
       actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
@@ -1289,22 +1292,17 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* dataSet, DeviceCommandId_t r
       // hiding of sender needed so the service will handle it as
       // unexpected Data, no matter what state (progress or completed)
       // it is in
-      actionHelper.reportData(defaultRawReceiver, replyId, dataSet, true);
+      actionHelper.reportData(defaultRawReceiver, replyId, const_cast<SerializeIF*>(&dataSet),
+                              true);
     }
   }
-  /* Unrequested or aperiodic replies */
+  // Unrequested or aperiodic replies
   else {
     DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
     if (wiretappingMode == TM) {
       actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
     }
     if (forceDirectTm and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
-      //		    sid_t setSid = sid_t(this->getObjectId(), replyId);
-      //		    LocalPoolDataSetBase* dataset = getDataSetHandle(setSid);
-      //		    if(dataset != nullptr) {
-      //	            poolManager.generateHousekeepingPacket(setSid, dataset, true);
-      //		    }
-
       // hiding of sender needed so the service will handle it as
       // unexpected Data, no matter what state (progress or completed)
       // it is in
@@ -1325,10 +1323,10 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueue
   } else if (iter->second.isExecuting) {
     result = COMMAND_ALREADY_SENT;
   } else {
+    iter->second.sendReplyTo = commandedBy;
     result = buildCommandFromCommand(actionId, data, size);
   }
   if (result == returnvalue::OK) {
-    iter->second.sendReplyTo = commandedBy;
     iter->second.isExecuting = true;
     cookieInfo.pendingCommand = iter;
     cookieInfo.state = COOKIE_WRITE_READY;

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -1052,9 +1052,25 @@ class DeviceHandlerBase : public DeviceHandlerIF,
 
   bool isAwaitingReply();
 
-  void handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId, bool forceDirectTm = false);
-  //	void handleDeviceTM(uint8_t* data, size_t dataSize, DeviceCommandId_t replyId,
-  //	        bool forceDirectTm);
+  /**
+   * Wrapper function for @handleDeviceTm which wraps the raw buffer with @SerialBufferAdapter.
+   * For interpreted data, prefer the other function.
+   * @param rawData
+   * @param rawDataLen
+   * @param replyId
+   * @param forceDirectTm
+   */
+  void handleDeviceTm(const uint8_t *rawData, size_t rawDataLen, DeviceCommandId_t replyId,
+                      bool forceDirectTm = false);
+  /**
+   * Can be used to handle Service 8 data replies. This will also generate the TM wiretapping
+   * packets accordingly.
+   * @param dataSet
+   * @param replyId
+   * @param forceDirectTm
+   */
+  void handleDeviceTm(const SerializeIF &dataSet, DeviceCommandId_t replyId,
+                      bool forceDirectTm = false);
 
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                          uint32_t *msToReachTheMode);

src/fsfw/devicehandlers/DeviceTmReportingWrapper.cpp

@@ -3,10 +3,10 @@
 #include "fsfw/serialize/SerializeAdapter.h"
 
 DeviceTmReportingWrapper::DeviceTmReportingWrapper(object_id_t objectId, ActionId_t actionId,
-                                                   SerializeIF* data)
+                                                   const SerializeIF& data)
     : objectId(objectId), actionId(actionId), data(data) {}
 
-DeviceTmReportingWrapper::~DeviceTmReportingWrapper() {}
+DeviceTmReportingWrapper::~DeviceTmReportingWrapper() = default;
 
 ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                                                   Endianness streamEndianness) const {
@@ -19,22 +19,14 @@ ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer, size_t* size
   if (result != returnvalue::OK) {
     return result;
   }
-  return data->serialize(buffer, size, maxSize, streamEndianness);
+  return data.serialize(buffer, size, maxSize, streamEndianness);
 }
 
 size_t DeviceTmReportingWrapper::getSerializedSize() const {
-  return sizeof(objectId) + sizeof(ActionId_t) + data->getSerializedSize();
+  return sizeof(objectId) + sizeof(ActionId_t) + data.getSerializedSize();
 }
 
 ReturnValue_t DeviceTmReportingWrapper::deSerialize(const uint8_t** buffer, size_t* size,
                                                     Endianness streamEndianness) {
-  ReturnValue_t result = SerializeAdapter::deSerialize(&objectId, buffer, size, streamEndianness);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  result = SerializeAdapter::deSerialize(&actionId, buffer, size, streamEndianness);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return data->deSerialize(buffer, size, streamEndianness);
+  return returnvalue::FAILED;
 }

src/fsfw/devicehandlers/DeviceTmReportingWrapper.h

@@ -7,21 +7,22 @@
 
 class DeviceTmReportingWrapper : public SerializeIF {
  public:
-  DeviceTmReportingWrapper(object_id_t objectId, ActionId_t actionId, SerializeIF* data);
-  virtual ~DeviceTmReportingWrapper();
+  DeviceTmReportingWrapper(object_id_t objectId, ActionId_t actionId, const SerializeIF& data);
+  ~DeviceTmReportingWrapper() 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;
-
-  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                                    Endianness streamEndianness) override;
+  [[nodiscard]] size_t getSerializedSize() const override;
 
  private:
   object_id_t objectId;
   ActionId_t actionId;
-  SerializeIF* data;
+  const SerializeIF& data;
+
+  // Deserialization forbidden
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            Endianness streamEndianness) override;
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_ */

src/fsfw/events/Event.h

@@ -4,8 +4,6 @@
 #include <stdint.h>
 
 #include "fwSubsystemIdRanges.h"
-// could be moved to more suitable location
-#include <events/subsystemIdRanges.h>
 
 using EventId_t = uint16_t;
 using EventSeverity_t = uint8_t;

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -161,7 +161,7 @@ void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
 
   while (true) {
     ssize_t retval = recv(connSocket, reinterpret_cast<char*>(receptionBuffer.data()),
-                          receptionBuffer.capacity(), tcpConfig.tcpFlags);
+                          receptionBuffer.size(), tcpConfig.tcpFlags);
     if (retval == 0) {
       size_t availableReadData = ringBuffer.getAvailableReadData();
       if (availableReadData > lastRingBufferSize) {
@@ -335,31 +335,27 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
   }
   ringBuffer.readData(receptionBuffer.data(), readAmount, true);
   const uint8_t* bufPtr = receptionBuffer.data();
-  const uint8_t** bufPtrPtr = &bufPtr;
-  size_t startIdx = 0;
-  size_t foundSize = 0;
-  size_t readLen = 0;
-  while (readLen < readAmount) {
-    if (spacePacketParser == nullptr) {
-      return returnvalue::FAILED;
-    }
-    result =
-        spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount, startIdx, foundSize, readLen);
+  SpacePacketParser::FoundPacketInfo info;
+  if (spacePacketParser == nullptr) {
+    return returnvalue::FAILED;
+  }
+  spacePacketParser->reset();
+  while (spacePacketParser->getAmountRead() < readAmount) {
+    result = spacePacketParser->parseSpacePackets(&bufPtr, readAmount, info);
     switch (result) {
       case (SpacePacketParser::NO_PACKET_FOUND):
       case (SpacePacketParser::SPLIT_PACKET): {
         break;
       }
       case (returnvalue::OK): {
-        result = handleTcReception(receptionBuffer.data() + startIdx, foundSize);
+        result = handleTcReception(receptionBuffer.data() + info.startIdx, info.sizeFound);
         if (result != returnvalue::OK) {
           status = result;
         }
       }
     }
-    ringBuffer.deleteData(foundSize);
+    ringBuffer.deleteData(info.sizeFound);
     lastRingBufferSize = ringBuffer.getAvailableReadData();
-    std::memset(receptionBuffer.data() + startIdx, 0, foundSize);
   }
   return status;
 }

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -38,8 +38,9 @@ class Service11TelecommandScheduling final : public PusServiceBase {
   static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_11;
 
   static constexpr ReturnValue_t INVALID_TYPE_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 1);
-  static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 2);
-  static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 3);
+  static constexpr ReturnValue_t INVALID_TIME_WINDOW = returnvalue::makeCode(CLASS_ID, 2);
+  static constexpr ReturnValue_t TIMESHIFTING_NOT_POSSIBLE = returnvalue::makeCode(CLASS_ID, 3);
+  static constexpr ReturnValue_t INVALID_RELATIVE_TIME = returnvalue::makeCode(CLASS_ID, 4);
 
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_11;
 

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -571,12 +571,17 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
       if (result != returnvalue::OK) {
         return result;
       }
+      if(fromTimestamp > toTimestamp) {
+        return INVALID_TIME_WINDOW;
+      }
       itBegin = telecommandMap.begin();
-      itEnd = telecommandMap.begin();
 
       while (itBegin->first < fromTimestamp && itBegin != telecommandMap.end()) {
         itBegin++;
       }
+
+      //start looking for end beginning at begin
+      itEnd = itBegin;
       while (itEnd->first <= toTimestamp && itEnd != telecommandMap.end()) {
         itEnd++;
       }
@@ -586,17 +591,6 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::getMapFilterFr
     default:
       return returnvalue::FAILED;
   }
-
-  // additional security check, this should never be true
-  if (itBegin > itEnd) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "11::getMapFilterFromData: itBegin > itEnd\n" << std::endl;
-#else
-    sif::printError("11::getMapFilterFromData: itBegin > itEnd\n");
-#endif
-    return returnvalue::FAILED;
-  }
-
   // the map range should now be set according to the sent filter.
   return returnvalue::OK;
 }

src/fsfw/returnvalues/returnvalue.h

@@ -1,8 +1,6 @@
 #ifndef FSFW_RETURNVALUES_RETURNVALUE_H_
 #define FSFW_RETURNVALUES_RETURNVALUE_H_
 
-#include <returnvalues/classIds.h>
-
 #include <cstdint>
 
 #include "FwClassIds.h"

src/fsfw/tmtcservices/SpacePacketParser.cpp

@@ -6,17 +6,9 @@
 SpacePacketParser::SpacePacketParser(std::vector<uint16_t> validPacketIds)
     : validPacketIds(validPacketIds) {}
 
-ReturnValue_t SpacePacketParser::parseSpacePackets(const uint8_t* buffer, const size_t maxSize,
-                                                   size_t& startIndex, size_t& foundSize) {
-  const uint8_t** tempPtr = &buffer;
-  size_t readLen = 0;
-  return parseSpacePackets(tempPtr, maxSize, startIndex, foundSize, readLen);
-}
-
 ReturnValue_t SpacePacketParser::parseSpacePackets(const uint8_t** buffer, const size_t maxSize,
-                                                   size_t& startIndex, size_t& foundSize,
-                                                   size_t& readLen) {
-  if (buffer == nullptr or maxSize < 5) {
+                                                   FoundPacketInfo& packetInfo) {
+  if (buffer == nullptr or nextStartIdx > maxSize) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::warning << "SpacePacketParser::parseSpacePackets: Frame invalid" << std::endl;
 #else
@@ -26,35 +18,32 @@ ReturnValue_t SpacePacketParser::parseSpacePackets(const uint8_t** buffer, const
   }
   const uint8_t* bufPtr = *buffer;
 
-  auto verifyLengthField = [&](size_t idx) {
-    uint16_t lengthField = bufPtr[idx + 4] << 8 | bufPtr[idx + 5];
+  auto verifyLengthField = [&](size_t localIdx) {
+    uint16_t lengthField = (bufPtr[localIdx + 4] << 8) | bufPtr[localIdx + 5];
     size_t packetSize = lengthField + 7;
-    startIndex = idx;
     ReturnValue_t result = returnvalue::OK;
-    if (lengthField == 0) {
-      // Skip whole header for now
-      foundSize = 6;
-      result = NO_PACKET_FOUND;
-    } else if (packetSize + idx > maxSize) {
+    if (packetSize + localIdx + amountRead > maxSize) {
       // Don't increment buffer and read length here, user has to decide what to do
-      foundSize = packetSize;
+      packetInfo.sizeFound = packetSize;
       return SPLIT_PACKET;
     } else {
-      foundSize = packetSize;
+      packetInfo.sizeFound = packetSize;
     }
-    *buffer += foundSize;
-    readLen += idx + foundSize;
+    *buffer += packetInfo.sizeFound;
+    packetInfo.startIdx = localIdx + amountRead;
+    nextStartIdx = localIdx + amountRead + packetInfo.sizeFound;
+    amountRead = nextStartIdx;
     return result;
   };
 
   size_t idx = 0;
   // Space packet ID as start marker
   if (validPacketIds.size() > 0) {
-    while (idx < maxSize - 5) {
-      uint16_t currentPacketId = bufPtr[idx] << 8 | bufPtr[idx + 1];
+    while (idx + amountRead < maxSize - 5) {
+      uint16_t currentPacketId = (bufPtr[idx] << 8) | bufPtr[idx + 1];
       if (std::find(validPacketIds.begin(), validPacketIds.end(), currentPacketId) !=
           validPacketIds.end()) {
-        if (idx + 5 >= maxSize) {
+        if (idx + amountRead >= maxSize - 5) {
           return SPLIT_PACKET;
         }
         return verifyLengthField(idx);
@@ -62,10 +51,10 @@ ReturnValue_t SpacePacketParser::parseSpacePackets(const uint8_t** buffer, const
         idx++;
       }
     }
-    startIndex = 0;
-    foundSize = maxSize;
-    *buffer += foundSize;
-    readLen += foundSize;
+    nextStartIdx = maxSize;
+    packetInfo.sizeFound = maxSize;
+    amountRead = maxSize;
+    *buffer += maxSize;
     return NO_PACKET_FOUND;
   }
   // Assume that the user verified a valid start of a space packet

src/fsfw/tmtcservices/SpacePacketParser.h

@@ -17,9 +17,11 @@
  */
 class SpacePacketParser {
  public:
-  //! The first entry is the index inside the buffer while the second index
-  //! is the size of the PUS packet starting at that index.
-  using IndexSizePair = std::pair<size_t, size_t>;
+
+  struct FoundPacketInfo {
+    size_t startIdx = 0;
+    size_t sizeFound = 0;
+  };
 
   static constexpr uint8_t INTERFACE_ID = CLASS_ID::SPACE_PACKET_PARSER;
   static constexpr ReturnValue_t NO_PACKET_FOUND = MAKE_RETURN_CODE(0x00);
@@ -36,44 +38,32 @@ class SpacePacketParser {
   SpacePacketParser(std::vector<uint16_t> validPacketIds);
 
   /**
-   * Parse a given frame for space packets but also increment the given buffer and assign the
-   * total number of bytes read so far
+   * Parse a given frame for space packets but also increments the given buffer.
    * @param buffer        Parser will look for space packets in this buffer
    * @param maxSize       Maximum size of the buffer
-   * @param startIndex    Start index of a found space packet
-   * @param foundSize     Found size of the space packet
-   * @param readLen       Length read so far. This value is incremented by the number of parsed
-   *                      bytes which also includes the size of a found packet
-   *  -@c NO_PACKET_FOUND if no packet was found in the given buffer or the length field is
-   *      invalid. foundSize will be set to the size of the space packet header. buffer and
-   *      readLen will be incremented accordingly.
-   *  -@c SPLIT_PACKET if a packet was found but the detected size exceeds maxSize. foundSize
-   *      will be set to the detected packet size and startIndex will be set to the start of the
-   *      detected packet. buffer and read length will not be incremented but the found length
-   *      will be assigned.
-   *  -@c returnvalue::OK if a packet was found
+   * @param packetInfo    Information about packets found.
+   *  -@c NO_PACKET_FOUND if no packet was found in the given buffer
+   *  -@c SPLIT_PACKET if a packet was found but the detected size exceeds maxSize. packetInfo
+   *      will contain the detected packet size and start index.
+   *  -@c returnvalue::OK if a packet was found. Packet size and start index will be set in
+   *      packetInfo
    */
-  ReturnValue_t parseSpacePackets(const uint8_t** buffer, const size_t maxSize, size_t& startIndex,
-                                  size_t& foundSize, size_t& readLen);
+  ReturnValue_t parseSpacePackets(const uint8_t** buffer, const size_t maxSize,
+                                  FoundPacketInfo& packetInfo);
 
-  /**
-   * Parse a given frame for space packets
-   * @param buffer        Parser will look for space packets in this buffer
-   * @param maxSize       Maximum size of the buffer
-   * @param startIndex    Start index of a found space packet
-   * @param foundSize     Found size of the space packet
-   *  -@c NO_PACKET_FOUND if no packet was found in the given buffer or the length field is
-   *      invalid. foundSize will be set to the size of the space packet header
-   *  -@c SPLIT_PACKET if a packet was found but the detected size exceeds maxSize. foundSize
-   *      will be set to the detected packet size and startIndex will be set to the start of the
-   *      detected packet
-   *  -@c returnvalue::OK if a packet was found
-   */
-  ReturnValue_t parseSpacePackets(const uint8_t* buffer, const size_t maxSize, size_t& startIndex,
-                                  size_t& foundSize);
+  size_t getAmountRead() {
+    return amountRead;
+  }
+
+  void reset() {
+    nextStartIdx = 0;
+    amountRead = 0;
+  }
 
  private:
   std::vector<uint16_t> validPacketIds;
+  size_t nextStartIdx = 0;
+  size_t amountRead = 0;
 };
 
 #endif /* FRAMEWORK_TMTCSERVICES_PUSPARSER_H_ */

src/fsfw/util/dataWrapper.h

@@ -1,76 +0,0 @@
-#ifndef FSFW_UTIL_DATAWRAPPER_H
-#define FSFW_UTIL_DATAWRAPPER_H
-
-#include <cstddef>
-#include <cstdint>
-#include <utility>
-
-#include "fsfw/serialize.h"
-
-namespace util {
-
-using BufPair = std::pair<const uint8_t*, size_t>;
-
-struct RawData {
-  RawData() = default;
-  const uint8_t* data = nullptr;
-  size_t len = 0;
-};
-
-enum DataTypes { NONE, RAW, SERIALIZABLE };
-
-union DataUnion {
-  RawData raw{};
-  SerializeIF* serializable;
-};
-
-struct DataWrapper {
-  
-  DataWrapper() = default;
-
-  DataWrapper(const uint8_t* data, size_t size): type(DataTypes::RAW) {
-    setRawData({data, size});
-  }
-
-  explicit DataWrapper(BufPair raw): type(DataTypes::RAW) {
-    setRawData(raw);
-  }
-
-  explicit DataWrapper(SerializeIF& serializable): type(DataTypes::SERIALIZABLE) {
-    setSerializable(serializable);
-  }
-
-  DataTypes type = DataTypes::NONE;
-  DataUnion dataUnion;
-
-  [[nodiscard]] size_t getLength() const {
-    if (type == DataTypes::RAW) {
-      return dataUnion.raw.len;
-    } else if (type == DataTypes::SERIALIZABLE and dataUnion.serializable != nullptr) {
-      return dataUnion.serializable->getSerializedSize();
-    }
-    return 0;
-  }
-
-  [[nodiscard]] bool isNull() const {
-    if ((type == DataTypes::NONE) or (type == DataTypes::RAW and dataUnion.raw.data == nullptr) or
-        (type == DataTypes::SERIALIZABLE and dataUnion.serializable == nullptr)) {
-      return true;
-    }
-    return false;
-  }
-  void setRawData(BufPair bufPair) {
-    type = DataTypes::RAW;
-    dataUnion.raw.data = bufPair.first;
-    dataUnion.raw.len = bufPair.second;
-  }
-
-  void setSerializable(SerializeIF& serializable) {
-    type = DataTypes::SERIALIZABLE;
-    dataUnion.serializable = &serializable;
-  }
-};
-
-}  // namespace util
-
-#endif  // FSFW_UTIL_DATAWRAPPER_H

src/fsfw_hal/common/CMakeLists.txt

@@ -1 +1,3 @@
 add_subdirectory(gpio)
+
+target_sources(${LIB_FSFW_NAME} PRIVATE printChar.c)

src/fsfw_hal/common/printChar.c

@@ -0,0 +1,10 @@
+#include <stdio.h>
+#include <stdbool.h>
+
+void __attribute__((weak)) printChar(const char* character, bool errStream) {
+  if (errStream) {
+    fprintf(stderr, "%c", *character);
+  } else {
+    printf("%c", *character);
+  }
+}

src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -2,7 +2,6 @@
 #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
 
 #include "devicedefinitions/MgmLIS3HandlerDefs.h"
-#include "events/subsystemIdRanges.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 

unittests/CMakeLists.txt

@@ -18,6 +18,7 @@ add_subdirectory(power)
 add_subdirectory(util)
 add_subdirectory(container)
 add_subdirectory(osal)
+add_subdirectory(pus)
 add_subdirectory(serialize)
 add_subdirectory(datapoollocal)
 add_subdirectory(storagemanager)

unittests/pus/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+    testService11.cpp
+)

unittests/pus/testService11.cpp

@@ -0,0 +1,14 @@
+#include <fsfw/pus/Service11TelecommandScheduling.h>
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "objects/systemObjectList.h"
+#include "tmtc/apid.h"
+#include "tmtc/pusIds.h"
+
+TEST_CASE("PUS Service 11", "[pus-srvc11]") {
+  Service11TelecommandScheduling<13> pusService11(objects::PUS_SERVICE_11_TC_SCHEDULER,
+                                                  apid::DEFAULT_APID, pus::PUS_SERVICE_11, nullptr);
+
+  // TODO test something...
+}

unittests/util/CMakeLists.txt

@@ -1,4 +1,3 @@
 target_sources(${FSFW_TEST_TGT} PRIVATE
   testUnsignedByteField.cpp
-  testDataWrapper.cpp
 )

unittests/util/testDataWrapper.cpp

@@ -1,59 +0,0 @@
-#include <array>
-#include <catch2/catch_test_macros.hpp>
-
-#include "fsfw/util/dataWrapper.h"
-#include "mocks/SimpleSerializable.h"
-
-TEST_CASE("Data Wrapper", "[util]") {
-  util::DataWrapper wrapper;
-  SECTION("State") {
-    REQUIRE(wrapper.isNull());
-    REQUIRE(wrapper.type == util::DataTypes::NONE);
-  }
-
-  SECTION("Set Raw Data") {
-    util::DataWrapper* instance = &wrapper;
-    bool deleteInst = false;
-    REQUIRE(wrapper.isNull());
-    std::array<uint8_t, 4> data = {1, 2, 3, 4};
-    SECTION("Setter") {
-      wrapper.setRawData({data.data(), data.size()});
-    }
-    SECTION("Direct Construction Pair") {
-      instance = new util::DataWrapper(util::BufPair(data.data(), data.size()));
-      deleteInst = true;
-    }
-    SECTION("Direct Construction Single Args") {
-      instance = new util::DataWrapper(data.data(), data.size());
-      deleteInst = true;
-    }
-    REQUIRE(not instance->isNull());
-    REQUIRE(instance->type == util::DataTypes::RAW);
-    REQUIRE(instance->dataUnion.raw.data == data.data());
-    REQUIRE(instance->dataUnion.raw.len == data.size());
-    if(deleteInst) {
-      delete instance;
-    }
-  }
-
-  SECTION("Simple Serializable") {
-    util::DataWrapper* instance = &wrapper;
-    bool deleteInst = false;
-    REQUIRE(instance->isNull());
-    SimpleSerializable serializable;
-    SECTION("Setter") {
-      wrapper.setSerializable(serializable);
-    }
-    SECTION("Direct Construction") {
-      instance = new util::DataWrapper(serializable);
-      deleteInst = true;
-    }
-
-    REQUIRE(not instance->isNull());
-    REQUIRE(instance->type == util::DataTypes::SERIALIZABLE);
-    REQUIRE(instance->dataUnion.serializable == &serializable);
-    if(deleteInst) {
-      delete instance;
-    }
-  }
-}

unittests/util/testUnsignedByteField.cpp

@@ -4,7 +4,7 @@
 
 #include "fsfw/util/UnsignedByteField.h"
 
-TEST_CASE("Unsigned Byte Field", "[util]") {
+TEST_CASE("Unsigned Byte Field", "[unsigned-byte-field]") {
   auto testByteField = UnsignedByteField<uint32_t>(10);
   auto u32ByteField = U32ByteField(10);
   auto u16ByteField = U16ByteField(5);