Merge branch 'development' into mueller/cmake-init

CHANGELOG

@@ -15,6 +15,35 @@ a C file without issues
 - The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets
 
+### Local Pool
+
+- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
+
+### Parameter Service
+
+- The API of the parameter service has been changed to prevent inconsistencies
+between documentation and actual code and to clarify usage.
+- The parameter ID now consists of:
+	1. Domain ID (1 byte)
+	2. Unique Identifier (1 byte)
+	3. Linear Index (2 bytes)
+The linear index can be used for arrays as well as matrices.
+The parameter load command now explicitely expects the ECSS PTC and PFC
+information as well as  the rows and column number. Rows and column will
+default to one, which is equivalent to one scalar parameter (the most
+important use-case)
+   
+### File System Interface
+
+- A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)
+
+### Internal Error Reporter
+
+- The new internal error reporter uses the local data pools. The pool IDs for
+the exisiting three error values and the new error set will be hardcoded for
+now, the the constructor for the internal error reporter just takes an object
+ID for now.
+
 ### Device Handler Base
 
 - There is an additional `PERFORM_OPERATION` step for the device handler base. It is important

controller/ControllerBase.cpp

@@ -1,16 +1,16 @@
-#include "../subsystem/SubsystemBase.h"
 #include "ControllerBase.h"
+
 #include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
 #include "../action/HasActionsIF.h"
 
-ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
+ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 		size_t commandQueueDepth) :
-		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
-				SUBMODE_NONE), commandQueue(NULL), modeHelper(
-				this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
-
+		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
+		submode(SUBMODE_NONE), modeHelper(this),
+		healthHelper(this, setObjectId) {
+	commandQueue = QueueFactory::instance()->createMessageQueue(
+	        commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() {
@@ -24,9 +24,9 @@ ReturnValue_t ControllerBase::initialize() {
 	}
 
 	MessageQueueId_t parentQueue = 0;
-	if (parentId != 0) {
+	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
+		if (parent == nullptr) {
 			return RETURN_FAILED;
 		}
 		parentQueue = parent->getCommandQueue();
@@ -44,10 +44,6 @@ ReturnValue_t ControllerBase::initialize() {
 		return result;
 	}
 
-	result = hkSwitcher.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
 	return RETURN_OK;
 }
 
@@ -56,26 +52,27 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
 }
 
 void ControllerBase::handleQueue() {
-	CommandMessage message;
-	ReturnValue_t result;
-	for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
-			result = commandQueue->receiveMessage(&message)) {
+	CommandMessage command;
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	for (result = commandQueue->receiveMessage(&command);
+	        result == RETURN_OK;
+			result = commandQueue->receiveMessage(&command)) {
 
-		result = modeHelper.handleModeCommand(&message);
+		result = modeHelper.handleModeCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
-		result = handleCommandMessage(&message);
+		result = handleCommandMessage(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
-		message.setToUnknownCommand();
-		commandQueue->reply(&message);
+		command.setToUnknownCommand();
+		commandQueue->reply(&command);
 	}
 
 }
@@ -106,7 +103,6 @@ void ControllerBase::announceMode(bool recursive) {
 
 ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
 	handleQueue();
-	hkSwitcher.performOperation();
 	performControlOperation();
 	return RETURN_OK;
 }
@@ -135,3 +131,7 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
 
 void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
+
+ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
+    return HasReturnvaluesIF::RETURN_OK;
+}

controller/ControllerBase.h

@@ -1,5 +1,5 @@
-#ifndef CONTROLLERBASE_H_
-#define CONTROLLERBASE_H_
+#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
+#define FSFW_CONTROLLER_CONTROLLERBASE_H_
 
 #include "../health/HasHealthIF.h"
 #include "../health/HealthHelper.h"
@@ -7,73 +7,88 @@
 #include "../modes/ModeHelper.h"
 #include "../objectmanager/SystemObject.h"
 #include "../tasks/ExecutableObjectIF.h"
+#include "../tasks/PeriodicTaskIF.h"
 #include "../datapool/HkSwitchHelper.h"
 
-
+/**
+ * @brief   Generic base class for controller classes
+ * @details
+ * Implements common interfaces for controllers, which generally have
+ * a mode and a health state. This avoids boilerplate code.
+ */
 class ControllerBase: public HasModesIF,
 		public HasHealthIF,
 		public ExecutableObjectIF,
 		public SystemObject,
 		public HasReturnvaluesIF {
 public:
-
 	static const Mode_t MODE_NORMAL = 2;
 
-	ControllerBase(uint32_t setObjectId, uint32_t parentId,
+	ControllerBase(object_id_t setObjectId, object_id_t parentId,
 			size_t commandQueueDepth = 3);
 	virtual ~ControllerBase();
 
-	ReturnValue_t initialize();
+	/** SystemObject override */
+	virtual ReturnValue_t initialize() override;
 
-	virtual MessageQueueId_t getCommandQueue() const;
+	virtual MessageQueueId_t getCommandQueue() const override;
 
-	virtual ReturnValue_t performOperation(uint8_t opCode);
-
-	virtual ReturnValue_t setHealth(HealthState health);
-
-	virtual HasHealthIF::HealthState getHealth();
-
-	/**
-	 * Implementation of ExecutableObjectIF function
-	 *
-	 * Used to setup the reference of the task, that executes this component
-	 * @param task_ Pointer to the taskIF of this task
-	 */
-	virtual  void setTaskIF(PeriodicTaskIF* task_);
+	/** HasHealthIF overrides */
+	virtual ReturnValue_t setHealth(HealthState health) override;
+	virtual HasHealthIF::HealthState getHealth() override;
 
+	/** ExecutableObjectIF overrides */
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 
 protected:
-	const uint32_t parentId;
+
+	/**
+	 * Implemented by child class. Handle command messages which are not
+	 * mode or health messages.
+	 * @param message
+	 * @return
+	 */
+    virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
+
+    /**
+     * Periodic helper, implemented by child class.
+     */
+    virtual void performControlOperation() = 0;
+
+    virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+            uint32_t *msToReachTheMode) = 0;
+
+	const object_id_t parentId;
 
 	Mode_t mode;
 
 	Submode_t submode;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
 	ModeHelper modeHelper;
 
 	HealthHelper healthHelper;
 
-	HkSwitchHelper hkSwitcher;
-
 	/**
-	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 * Pointer to the task which executes this component,
+	 * is invalid before setTaskIF was called.
 	 */
-	PeriodicTaskIF* executingTask;
+	PeriodicTaskIF* executingTask = nullptr;
 
-	void handleQueue();
+	/** Handle mode and health messages */
+	virtual void handleQueue();
 
-	virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
-	virtual void performControlOperation() = 0;
-	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-			uint32_t *msToReachTheMode) = 0;
+	/** Mode helpers */
 	virtual void modeChanged(Mode_t mode, Submode_t submode);
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 	virtual void getMode(Mode_t *mode, Submode_t *submode);
 	virtual void setToExternalControl();
 	virtual void announceMode(bool recursive);
+	/** HK helpers */
 	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };
 
-#endif /* CONTROLLERBASE_H_ */
+#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */

datalinklayer/MapPacketExtraction.cpp

@@ -1,10 +1,3 @@
-/**
- * @file	MapPacketExtraction.cpp
- * @brief	This file defines the MapPacketExtraction class.
- * @date	26.03.2013
- * @author	baetz
- */
-
 #include "MapPacketExtraction.h"
 #include "../ipc/QueueFactory.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
@@ -12,14 +5,14 @@
 #include "../tmtcpacket/SpacePacketBase.h"
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../tmtcservices/TmTcMessage.h"
-#include <string.h>
+#include <cstring>
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
-		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
-				packetBuffer), packetDestination(setPacketDestination), packetStore(
-				NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
-	memset(packetBuffer, 0, sizeof(packetBuffer));
+		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId),
+		bufferPosition(packetBuffer), packetDestination(setPacketDestination),
+		tcQueueId(MessageQueueIF::NO_QUEUE) {
+	std::memset(packetBuffer, 0, sizeof(packetBuffer));
 }
 
 ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {

datalinklayer/MapPacketExtraction.h

@@ -1,12 +1,5 @@
-/**
- * @file	MapPacketExtraction.h
- * @brief	This file defines the MapPacketExtraction class.
- * @date	26.03.2013
- * @author	baetz
- */
-
-#ifndef MAPPACKETEXTRACTION_H_
-#define MAPPACKETEXTRACTION_H_
+#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
+#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
 
 #include "MapPacketExtractionIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -20,17 +13,19 @@ class StorageManagerIF;
  * The class implements the full MAP Packet Extraction functionality as described in the CCSDS
  * TC Space Data Link Protocol. It internally stores incomplete segmented packets until they are
  * fully received. All found packets are forwarded to a single distribution entity.
+ * @author B. Baetz
  */
 class MapPacketExtraction: public MapPacketExtractionIF {
 private:
 	static const uint32_t MAX_PACKET_SIZE = 4096;
 	uint8_t lastSegmentationFlag;	//!< The segmentation flag of the last received frame.
 	uint8_t mapId;	//!< MAP ID of this MAP Channel.
-	uint32_t packetLength;	//!< Complete length of the current Space Packet.
+	uint32_t packetLength = 0;	//!< Complete length of the current Space Packet.
 	uint8_t* bufferPosition;	//!< Position to write to in the internal Packet buffer.
 	uint8_t packetBuffer[MAX_PACKET_SIZE];	//!< The internal Space Packet Buffer.
 	object_id_t packetDestination;
-	StorageManagerIF* packetStore;	//!< Pointer to the store where full TC packets are stored.
+	//!< Pointer to the store where full TC packets are stored.
+	StorageManagerIF* packetStore = nullptr;
 	MessageQueueId_t tcQueueId;		//!< QueueId to send found packets to the distributor.
 	/**
 	 * Debug method to print the packet Buffer's content.
@@ -75,4 +70,4 @@ public:
 	uint8_t getMapId() const;
 };
 
-#endif /* MAPPACKETEXTRACTION_H_ */
+#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */

devicehandlers/DeviceHandlerBase.cpp

@@ -3,8 +3,6 @@
 #include "DeviceTmReportingWrapper.h"
 
 #include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../objectmanager/ObjectManager.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../thermal/ThermalComponentIF.h"
@@ -13,9 +11,11 @@
 #include "../ipc/MessageQueueMessage.h"
 #include "../ipc/QueueFactory.h"
 #include "../subsystem/SubsystemBase.h"
+#include "../datapoollocal/LocalPoolVariable.h"
 
 #include <iomanip>
 
+
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
@@ -56,9 +56,10 @@ void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
 }
 
 void DeviceHandlerBase::setThermalStateRequestPoolIds(
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
-	this->deviceThermalRequestPoolId = thermalStatePoolId;
-	this->deviceThermalRequestPoolId = thermalRequestPoolId;
+		lp_id_t thermalStatePoolId, lp_id_t heaterRequestPoolId,
+		uint32_t thermalSetId) {
+	thermalSet = new DeviceHandlerThermalSet(this, thermalSetId,
+			thermalStatePoolId, heaterRequestPoolId);
 }
 
 
@@ -86,7 +87,6 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
-		hkManager.performHkOperation();
 		performOperationHook();
 		return RETURN_OK;
 	}
@@ -111,6 +111,9 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		break;
 	case CommunicationAction::GET_READ:
 		doGetRead();
+		// This will be performed after datasets have been updated by the
+		// custom device implementation.
+		hkManager.performHkOperation();
 		break;
 	default:
 		break;
@@ -208,16 +211,18 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	fillCommandAndReplyMap();
 
+	if(thermalSet != nullptr) {
 		//Set temperature target state to NON_OP.
-	GlobDataSet mySet;
-	gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	mySet.read();
-	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
-	mySet.commit(PoolVariableIF::VALID);
+		result = thermalSet->read();
+		if(result == HasReturnvaluesIF::RETURN_OK) {
+			thermalSet->heaterRequest.value =
+					ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+			thermalSet->commit(PoolVariableIF::VALID);
+		}
+
+	}
 
 	return RETURN_OK;
-
 }
 
 void DeviceHandlerBase::decrementDeviceReplyMap() {
@@ -505,15 +510,17 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
 	}
 	Clock::getUptime(&timeoutStart);
 
-	if (mode == MODE_OFF) {
-		GlobDataSet mySet;
-		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
-				PoolVariableIF::VAR_READ_WRITE);
-		mySet.read();
-		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
-			thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+	if (mode == MODE_OFF and thermalSet != nullptr) {
+		ReturnValue_t result = thermalSet->read();
+		if(result == HasReturnvaluesIF::RETURN_OK) {
+			if (thermalSet->heaterRequest.value !=
+					ThermalComponentIF::STATE_REQUEST_IGNORE) {
+				thermalSet->heaterRequest.value = ThermalComponentIF::
+						STATE_REQUEST_NON_OPERATIONAL;
 			}
-		mySet.commit(PoolVariableIF::VALID);
+			thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
+		}
+
 	}
 	changeHK(mode, submode, true);
 }
@@ -976,17 +983,15 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
 	}
 
 	if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
-			&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
-		GlobDataSet mySet;
-		gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
-				PoolVariableIF::VAR_READ);
-		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
-				PoolVariableIF::VAR_READ);
-		mySet.read();
-		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
-			if (!ThermalComponentIF::isOperational(thermalState)) {
+			and (thermalSet != nullptr)) {
+		ReturnValue_t result = thermalSet->read();
+		if(result == HasReturnvaluesIF::RETURN_OK) {
+			if((thermalSet->heaterRequest.value !=
+					ThermalComponentIF::STATE_REQUEST_IGNORE) and (not
+					ThermalComponentIF::isOperational(
+							thermalSet->thermalState.value))) {
 				triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE,
-						thermalState);
+						thermalSet->thermalState.value);
 				return NON_OP_TEMPERATURE;
 			}
 		}
@@ -999,32 +1004,15 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
 		Submode_t commandedSubmode) {
 	switch (commandedMode) {
 	case MODE_ON:
-		if (mode == MODE_OFF) {
-			transitionSourceMode = _MODE_POWER_DOWN;
-			transitionSourceSubMode = SUBMODE_NONE;
-			setMode(_MODE_POWER_ON, commandedSubmode);
-			//already set the delay for the child transition so we don't need to call it twice
-			childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
-					MODE_ON);
-			triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
-			GlobDataSet mySet;
-			gp_int8_t thermalRequest(deviceThermalRequestPoolId,
-					&mySet, PoolVariableIF::VAR_READ_WRITE);
-			mySet.read();
-			if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
-				thermalRequest = ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
-				mySet.commit(PoolVariableIF::VALID);
-			}
-		} else {
-			setTransition(MODE_ON, commandedSubmode);
-		}
+		handleTransitionToOnMode(commandedMode, commandedSubmode);
 		break;
 	case MODE_OFF:
 		if (mode == MODE_OFF) {
 			triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
 			setMode(_MODE_POWER_DOWN, commandedSubmode);
 		} else {
-			//already set the delay for the child transition so we don't need to call it twice
+			// already set the delay for the child transition
+			// so we don't need to call it twice
 			childTransitionDelay = getTransitionDelayMs(mode, _MODE_POWER_DOWN);
 			transitionSourceMode = _MODE_POWER_DOWN;
 			transitionSourceSubMode = commandedSubmode;
@@ -1050,6 +1038,33 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
 	}
 }
 
+void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode,
+		Submode_t commandedSubmode) {
+	if (mode == MODE_OFF) {
+		transitionSourceMode = _MODE_POWER_DOWN;
+		transitionSourceSubMode = SUBMODE_NONE;
+		setMode(_MODE_POWER_ON, commandedSubmode);
+		// already set the delay for the child transition so we don't
+		// need to call it twice
+		childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
+				MODE_ON);
+		triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
+		if(thermalSet != nullptr) {
+			ReturnValue_t result = thermalSet->read();
+			if(result == HasReturnvaluesIF::RETURN_OK) {
+				if(thermalSet->heaterRequest !=
+						ThermalComponentIF::STATE_REQUEST_IGNORE) {
+					thermalSet->heaterRequest =
+							ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
+					thermalSet->commit();
+				}
+			}
+		}
+	} else {
+		setTransition(MODE_ON, commandedSubmode);
+	}
+}
+
 void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
 	*mode = this->mode;
 	*submode = this->submode;
@@ -1222,10 +1237,12 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 		}
 	}
 	//Try to cast to GlobDataSet and commit data.
-	if (!neverInDataPool) {
-		GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
-		if (dataSet != NULL) {
-			dataSet->commit(PoolVariableIF::VALID);
+	if (not neverInDataPool) {
+		LocalPoolDataSetBase* dataSet =
+				dynamic_cast<LocalPoolDataSetBase*>(data);
+		if (dataSet != nullptr) {
+			dataSet->setValidity(true, true);
+			dataSet->commit();
 		}
 	}
 }
@@ -1262,7 +1279,8 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 		if (result == BUSY) {
 		    //so we can track misconfigurations
 			sif::debug << std::hex << getObjectId()
-					<< ": DHB::buildInternalCommand: Busy" << std::dec << std::endl;
+					<< ": DHB::buildInternalCommand: Busy" << std::dec
+					<< std::endl;
 			result = NOTHING_TO_SEND; //no need to report this
 		}
 	}
@@ -1371,8 +1389,8 @@ bool DeviceHandlerBase::commandIsExecuting(DeviceCommandId_t commandId) {
 void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
 
-void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
-	executingTask = task_;
+void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task){
+	executingTask = task;
 }
 
 // Default implementations empty.
@@ -1385,6 +1403,12 @@ void DeviceHandlerBase::performOperationHook() {
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
 		LocalDataPool &localDataPoolMap,
         LocalDataPoolManager& poolManager) {
+	if(thermalSet != nullptr) {
+		localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
+				new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
+		localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
+				new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
+	}
 	return RETURN_OK;
 }
 
@@ -1429,3 +1453,9 @@ dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
     return pstIntervalMs;
 }
 
+DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
+    if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
+        return cookieInfo.pendingCommand->first;
+    }
+    return DeviceHandlerIF::NO_COMMAND;
+}

devicehandlers/DeviceHandlerBase.h

@@ -4,6 +4,7 @@
 #include "DeviceHandlerIF.h"
 #include "DeviceCommunicationIF.h"
 #include "DeviceHandlerFailureIsolation.h"
+#include "DeviceHandlerThermalSet.h"
 
 #include "../objectmanager/SystemObject.h"
 #include "../tasks/ExecutableObjectIF.h"
@@ -103,8 +104,21 @@ public:
 			size_t cmdQueueSize = 20);
 
 	void setHkDestination(object_id_t hkDestination);
-	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
-			uint32_t thermalRequestPoolId);
+
+	/**
+	 * If the device handler is controlled by the FSFW thermal building blocks,
+	 * this function should be called to initialize all required components.
+	 * The device handler will then take care of creating local pool entries
+	 * for the device thermal state and device heating request.
+	 * Custom local pool IDs can be assigned as well.
+	 * @param thermalStatePoolId
+	 * @param thermalRequestPoolId
+	 */
+	void setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId =
+			DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+			lp_id_t thermalRequestPoolId =
+			DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
+			uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
 	/**
 	 * @brief   Helper function to ease device handler development.
 	 * This will instruct the transition to MODE_ON immediately
@@ -694,19 +708,7 @@ protected:
 	//! and to send replies.
 	MessageQueueIF* commandQueue = nullptr;
 
-	/**
-	 * this is the datapool variable with the thermal state of the device
-	 *
-	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
-	 */
-	uint32_t deviceThermalStatePoolId = PoolVariableIF::NO_PARAMETER;
-
-	/**
-	 * this is the datapool variable with the thermal request of the device
-	 *
-	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
-	 */
-	uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
+	DeviceHandlerThermalSet* thermalSet = nullptr;
 
 	/**
 	 * Optional Error code. Can be set in doStartUp(), doShutDown() and
@@ -732,15 +734,28 @@ protected:
 	//! before setTaskIF was called.
 	PeriodicTaskIF* executingTask = nullptr;
 
-	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
+	//!< Object which switches power on and off.
+	static object_id_t powerSwitcherId;
 
-	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
+	//!< Object which receives RAW data by default.
+	static object_id_t rawDataReceiverId;
+
+	//!< Object which may be the root cause of an identified fault.
+	static object_id_t defaultFdirParentId;
+
+	/**
+	 * Helper function to get pending command. This is useful for devices
+	 * like SPI sensors to identify the last sent command.
+	 * This only returns the command sent in the last SEND_WRITE cycle.
+	 * @return
+	 */
+	DeviceCommandId_t getPendingCommand() const;
 
-	static object_id_t defaultFdirParentId; //!< Object which may be the root cause of an identified fault.
 	/**
 	 * Helper function to report a missed reply
 	 *
-	 * Can be overwritten by children to act on missed replies or to fake reporting Id.
+	 * Can be overwritten by children to act on missed replies or to fake
+	 * reporting Id.
 	 *
 	 * @param id of the missed reply
 	 */
@@ -847,15 +862,18 @@ protected:
 	/**
 	 * Build the device command to send for raw mode.
 	 *
-	 * This is only called in @c MODE_RAW. It is for the rare case that in raw mode packets
-	 * are to be sent by the handler itself. It is NOT needed for the raw commanding service.
-	 * Its only current use is in the STR handler which gets its raw packets from a different
-	 * source.
-	 * Also it can be used for transitional commands, to get the device ready for @c MODE_RAW
+	 * This is only called in @c MODE_RAW. It is for the rare case that in
+	 * raw mode packets are to be sent by the handler itself. It is NOT needed
+	 * for the raw commanding service. Its only current use is in the STR
+	 * handler which gets its raw packets from a different source.
+	 * Also it can be used for transitional commands, to get the device ready
+	 * for @c MODE_RAW
 	 *
-	 * As it is almost never used, there is a default implementation returning @c NOTHING_TO_SEND.
+	 * As it is almost never used, there is a default implementation
+	 * returning @c NOTHING_TO_SEND.
 	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 * #rawPacket and #rawPacketLen must be set by this method to the packet
+	 * to be sent.
 	 *
 	 * @param[out] id the device command id built
 	 * @return
@@ -868,7 +886,9 @@ protected:
 	 * Returns the delay cycle count of a reply.
 	 * A count != 0 indicates that the command is already executed.
 	 * @param deviceCommand	The command to look for
-	 * @return	The current delay count. If the command does not exist (should never happen) it returns 0.
+	 * @return
+	 * The current delay count. If the command does not exist  (should never
+	 * happen) it returns 0.
 	 */
 	uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
 
@@ -878,20 +898,22 @@ protected:
 	 * It gets space in the #IPCStore, copies data there, then sends a raw reply
 	 * containing the store address.
 	 *
-	 * This method is virtual, as the STR has a different channel to send raw replies
-	 * and overwrites it accordingly.
+	 * This method is virtual, as the STR has a different channel to send
+	 * raw replies and overwrites it accordingly.
 	 *
 	 * @param data data to send
 	 * @param len length of @c data
 	 * @param sendTo the messageQueueId of the one to send to
-	 * @param isCommand marks the raw data as a command, the message then will be of type raw_command
+	 * @param isCommand marks the raw data as a command, the message then
+	 * will be of type raw_command
 	 */
 	virtual void replyRawData(const uint8_t *data, size_t len,
 			MessageQueueId_t sendTo, bool isCommand = false);
 
 	/**
-	 * Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping is active and if so,
-	 * does not send the Data as the wiretapping will have sent it already
+	 * Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping
+	 * is active and if so, does not send the data as the wiretapping will have
+	 * sent it already
 	 */
 	void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len);
 
@@ -903,17 +925,19 @@ protected:
 	/**
 	 * Enable the reply checking for a command
 	 *
-	 * Is only called, if the command was sent (ie the getWriteReply was successful).
-	 * Must ensure that all replies are activated and correctly linked to the command that initiated it.
-	 * The default implementation looks for a reply with the same id as the command id in the replyMap or
-	 * uses the alternativeReplyId if flagged so.
-	 * When found, copies maxDelayCycles to delayCycles in the reply information and sets the command to
-	 * expect one reply.
+	 * Is only called, if the command was sent (i.e. the getWriteReply was
+	 * successful). Must ensure that all replies are activated and correctly
+	 * linked to the command that initiated it.
+	 * The default implementation looks for a reply with the same id as the
+	 * command id in the replyMap or uses the alternativeReplyId if flagged so.
+	 * When found, copies maxDelayCycles to delayCycles in the reply information
+	 * and sets the command to expect one reply.
 	 *
 	 * Can be overwritten by the child, if a command activates multiple replies
 	 * or replyId differs from commandId.
 	 * Notes for child implementations:
-	 * 	- If the command was not found in the reply map, NO_REPLY_EXPECTED MUST be returned.
+	 * 	- If the command was not found in the reply map,
+	 * 	  NO_REPLY_EXPECTED MUST be returned.
 	 * 	- A failure code may be returned if something went fundamentally wrong.
 	 *
 	 * @param deviceCommand
@@ -929,17 +953,20 @@ protected:
 	 * get the state of the PCDU switches in the datapool
 	 *
 	 * @return
-	 *     - @c PowerSwitchIF::SWITCH_ON if all switches specified by #switches are on
-	 *     - @c PowerSwitchIF::SWITCH_OFF one of the switches specified by #switches are off
+	 *  - @c PowerSwitchIF::SWITCH_ON if all switches specified
+	 *       by #switches are on
+	 *  - @c PowerSwitchIF::SWITCH_OFF one of the switches specified by
+	 *       #switches are off
 	 *  - @c PowerSwitchIF::RETURN_FAILED if an error occured
 	 */
 	ReturnValue_t getStateOfSwitches(void);
 
 	/**
-	 * set all datapool variables that are update periodically in normal mode invalid
-	 *
-	 * Child classes should provide an implementation which sets all those variables invalid
-	 * which are set periodically during any normal mode.
+	 * @brief   Set all datapool variables that are update periodically in
+	 *          normal mode invalid
+	 * @details TODO: Use local pools
+	 * Child classes should provide an implementation which sets all those
+	 * variables invalid which are set periodically during any normal mode.
 	 */
 	virtual void setNormalDatapoolEntriesInvalid() = 0;
 
@@ -949,11 +976,12 @@ protected:
 	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 
 	/**
-	 * Children can overwrite this function to suppress checking of the command Queue
+	 * Children can overwrite this function to suppress checking of the
+	 * command Queue
 	 *
-	 * This can be used when the child does not want to receive a command in a certain
-	 * situation. Care must be taken that checking is not permanentely disabled as this
-	 * would render the handler unusable.
+	 * This can be used when the child does not want to receive a command in
+	 * a certain situation. Care must be taken that checking is not
+	 * permanentely disabled as this would render the handler unusable.
 	 *
 	 * @return whether checking the queue should NOT be done
 	 */
@@ -992,17 +1020,20 @@ protected:
 	virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
 			uint32_t parameter2 = 0) const;
 	/**
-	 * Checks state of switches in conjunction with mode and triggers an event if they don't fit.
+	 * Checks state of switches in conjunction with mode and triggers an event
+	 * if they don't fit.
 	 */
 	virtual void checkSwitchState();
 
 	/**
-	 * Reserved for the rare case where a device needs to perform additional operation cyclically in OFF mode.
+	 * Reserved for the rare case where a device needs to perform additional
+	 * operation cyclically in OFF mode.
 	 */
 	virtual void doOffActivity();
 
 	/**
-	 * Reserved for the rare case where a device needs to perform additional operation cyclically in ON mode.
+	 * Reserved for the rare case where a device needs to perform additional
+	 * operation cyclically in ON mode.
 	 */
 	virtual void doOnActivity();
 
@@ -1043,9 +1074,10 @@ private:
 	/**
 	 * Information about a cookie.
 	 *
-	 * This is stored in a map for each cookie, to not only track the state, but also information
-	 * about  the sent command. Tracking this information is needed as
-	 * the state of a commandId (waiting for reply) is done when a RMAP write reply is received.
+	 * This is stored in a map for each cookie, to not only track the state,
+	 * but also information about the sent command. Tracking this information
+	 * is needed as the state of a commandId (waiting for reply) is done when a
+	 * write reply is received.
 	 */
 	struct CookieInfo {
 		CookieState_t state;
@@ -1102,10 +1134,14 @@ private:
 	/**
 	 * Handle the device handler mode.
 	 *
-	 * - checks whether commands are valid for the current mode, rejects them accordingly
-	 * - checks whether commanded mode transitions are required and calls handleCommandedModeTransition()
-	 * - does the necessary action for the current mode or calls doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
-	 * - actions that happen in transitions (eg setting a timeout) are handled in setMode()
+	 * - checks whether commands are valid for the current mode, rejects
+	 *   them accordingly
+	 * - checks whether commanded mode transitions are required and calls
+	 *   handleCommandedModeTransition()
+	 * - does the necessary action for the current mode or calls
+	 *   doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
+	 * - actions that happen in transitions (e.g. setting a timeout) are
+	 *   handled in setMode()
 	 */
 	void doStateMachine(void);
 
@@ -1115,16 +1151,17 @@ private:
 	/**
 	 * Decrement the counter for the timout of replies.
 	 *
-	 * This is called at the beginning of each cycle. It checks whether a reply has timed out (that means a reply was expected
-	 * but not received).
+	 * This is called at the beginning of each cycle. It checks whether a
+	 * reply has timed out (that means a reply was expected but not received).
 	 */
 	void decrementDeviceReplyMap(void);
 
 	/**
 	 * Convenience function to handle a reply.
 	 *
-	 * Called after scanForReply() has found a packet. Checks if the found id is in the #deviceCommandMap, if so,
-	 * calls interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) for further action.
+	 * Called after scanForReply() has found a packet. Checks if the found ID
+	 * is in the #deviceCommandMap, if so,  calls
+	 * #interpretDeviceReply for further action.
 	 *
 	 * It also resets the timeout counter for the command id.
 	 *
@@ -1184,7 +1221,7 @@ private:
 	 * @param[out] len
 	 * @return
 	 *   - @c RETURN_OK @c data is valid
-	 *   - @c RETURN_FAILED IPCStore is NULL
+	 *   - @c RETURN_FAILED IPCStore is nullptr
 	 *   - the return value from the IPCStore if it was not @c RETURN_OK
 	 */
 	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
@@ -1208,6 +1245,9 @@ private:
 
     void parseReply(const uint8_t* receivedData,
                 size_t receivedDataLen);
+
+    void handleTransitionToOnMode(Mode_t commandedMode,
+    		Submode_t commandedSubmode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

events/EventManager.cpp

@@ -7,21 +7,22 @@
 #include "../ipc/MutexFactory.h"
 
 
-const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
-		sizeof(EventMatchTree::Node), sizeof(EventIdRangeMatcher),
-		sizeof(ReporterRangeMatcher) };
 // If one checks registerListener calls, there are around 40 (to max 50)
 // objects registering for certain events.
 // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
 // So a good guess is 75 to a max of 100 pools required for each, which fits well.
-const uint16_t EventManager::N_ELEMENTS[N_POOLS] = {
-		fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES ,
-		fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS,
-		fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS };
+const LocalPool::LocalPoolConfig EventManager::poolConfig = {
+        {fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES,
+        		sizeof(EventMatchTree::Node)},
+        {fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS,
+        		sizeof(EventIdRangeMatcher)},
+        {fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS,
+        		sizeof(ReporterRangeMatcher)}
+};
 
 EventManager::EventManager(object_id_t setObjectId) :
 		SystemObject(setObjectId),
-		factoryBackend(0, POOL_SIZES, N_ELEMENTS, false, true) {
+		factoryBackend(0, poolConfig, false, true) {
 	mutex = MutexFactory::instance()->createMutex();
 	eventReportQueue = QueueFactory::instance()->createMessageQueue(
 			MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);
@@ -113,7 +114,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 	return result;
 }
 
-#ifdef DEBUG
+#if FSFW_DEBUG_OUTPUT == 1
 
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;

events/EventManager.h

@@ -8,9 +8,11 @@
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MutexIF.h"
+#include <FSFWConfig.h>
+
 #include <map>
 
-#ifdef DEBUG
+#if FSFW_DEBUG_OUTPUT == 1
 // forward declaration, should be implemented by mission
 extern const char* translateObject(object_id_t object);
 extern const char* translateEvents(Event event);
@@ -49,13 +51,15 @@ protected:
 	MutexIF* mutex = nullptr;
 
 	static const uint8_t N_POOLS = 3;
-	LocalPool<N_POOLS> factoryBackend;
+	LocalPool factoryBackend;
+	static const LocalPool::LocalPoolConfig poolConfig;
+
 	static const uint16_t POOL_SIZES[N_POOLS];
 	static const uint16_t N_ELEMENTS[N_POOLS];
 
 	void notifyListeners(EventMessage *message);
 
-#ifdef DEBUG
+#if FSFW_DEBUG_OUTPUT == 1
 	void printEvent(EventMessage *message);
 #endif
 

internalError/InternalErrorDataset.h

@@ -0,0 +1,34 @@
+#ifndef FSFW_INTERNALERROR_INTERNALERRORDATASET_H_
+#define FSFW_INTERNALERROR_INTERNALERRORDATASET_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+
+enum errorPoolIds {
+    TM_HITS,
+    QUEUE_HITS,
+    STORE_HITS
+};
+
+
+class InternalErrorDataset: public StaticLocalDataSet<3 * sizeof(uint32_t)> {
+public:
+    static constexpr uint8_t ERROR_SET_ID = 0;
+
+    InternalErrorDataset(HasLocalDataPoolIF* owner):
+            StaticLocalDataSet(owner, ERROR_SET_ID) {}
+
+    InternalErrorDataset(object_id_t objectId):
+           StaticLocalDataSet(sid_t(objectId , ERROR_SET_ID)) {}
+
+    lp_var_t<uint32_t> tmHits = lp_var_t<uint32_t>(hkManager->getOwner(),
+    		TM_HITS, this);
+    lp_var_t<uint32_t> queueHits = lp_var_t<uint32_t>(hkManager->getOwner(),
+    		QUEUE_HITS, this);
+    lp_var_t<uint32_t> storeHits = lp_var_t<uint32_t>(hkManager->getOwner(),
+    		STORE_HITS, this);
+};
+
+
+
+#endif /* FSFW_INTERNALERROR_INTERNALERRORDATASET_H_ */

internalError/InternalErrorReporter.cpp

@@ -1,16 +1,16 @@
-#include "../datapoolglob/GlobalDataSet.h"
 #include "InternalErrorReporter.h"
 
-#include "../datapoolglob/GlobalPoolVariable.h"
+#include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
-
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId,
-		uint32_t queuePoolId, uint32_t tmPoolId, uint32_t storePoolId) :
-		SystemObject(setObjectId), mutex(NULL), queuePoolId(queuePoolId),
-		tmPoolId(tmPoolId),storePoolId(storePoolId), queueHits(0), tmHits(0),
-		storeHits(0) {
+        uint32_t messageQueueDepth): SystemObject(setObjectId),
+		commandQueue(QueueFactory::instance()->
+		        createMessageQueue(messageQueueDepth)),
+		poolManager(this, commandQueue),
+		internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
+		internalErrorDataset(this) {
 	mutex = MutexFactory::instance()->createMutex();
 }
 
@@ -18,28 +18,42 @@ InternalErrorReporter::~InternalErrorReporter() {
 	MutexFactory::instance()->deleteMutex(mutex);
 }
 
+void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
+    this->diagnosticPrintout = enable;
+}
+
 ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
-
-	GlobDataSet mySet;
-	gp_uint32_t queueHitsInPool(queuePoolId, &mySet,
-			PoolVariableIF::VAR_READ_WRITE);
-	gp_uint32_t tmHitsInPool(tmPoolId, &mySet,
-			PoolVariableIF::VAR_READ_WRITE);
-
-	gp_uint32_t storeHitsInPool(storePoolId, &mySet,
-			PoolVariableIF::VAR_READ_WRITE);
-	mySet.read();
+    internalErrorDataset.read(INTERNAL_ERROR_MUTEX_TIMEOUT);
 
 	uint32_t newQueueHits = getAndResetQueueHits();
 	uint32_t newTmHits = getAndResetTmHits();
 	uint32_t newStoreHits = getAndResetStoreHits();
 
-	queueHitsInPool.value += newQueueHits;
-	tmHitsInPool.value += newTmHits;
-	storeHitsInPool.value += newStoreHits;
+#ifdef DEBUG
+	if(diagnosticPrintout) {
+	    if((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
+	        sif::debug << "InternalErrorReporter::performOperation: Errors "
+	                << "occured!" << std::endl;
+	        sif::debug << "Queue errors: " << newQueueHits << std::endl;
+	        sif::debug << "TM errors: " << newTmHits << std::endl;
+	        sif::debug << "Store errors: " << newStoreHits << std::endl;
+	    }
+	}
+#endif
 
-	mySet.commit(PoolVariableIF::VALID);
+	internalErrorDataset.queueHits.value += newQueueHits;
+	internalErrorDataset.storeHits.value += newStoreHits;
+	internalErrorDataset.tmHits.value += newTmHits;
 
+	internalErrorDataset.commit(INTERNAL_ERROR_MUTEX_TIMEOUT);
+
+	poolManager.performHkOperation();
+
+	CommandMessage message;
+	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	if(result != MessageQueueIF::EMPTY) {
+	    poolManager.handleHousekeepingMessage(&message);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -53,7 +67,7 @@ void InternalErrorReporter::lostTm() {
 
 uint32_t InternalErrorReporter::getAndResetQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = queueHits;
 	queueHits = 0;
 	mutex->unlockMutex();
@@ -62,21 +76,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
 
 uint32_t InternalErrorReporter::getQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = queueHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementQueueHits() {
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	queueHits++;
 	mutex->unlockMutex();
 }
 
 uint32_t InternalErrorReporter::getAndResetTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = tmHits;
 	tmHits = 0;
 	mutex->unlockMutex();
@@ -85,14 +99,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
 
 uint32_t InternalErrorReporter::getTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = tmHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementTmHits() {
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	tmHits++;
 	mutex->unlockMutex();
 }
@@ -103,7 +117,7 @@ void InternalErrorReporter::storeFull() {
 
 uint32_t InternalErrorReporter::getAndResetStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = storeHits;
 	storeHits = 0;
 	mutex->unlockMutex();
@@ -112,14 +126,65 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
 
 uint32_t InternalErrorReporter::getStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = storeHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementStoreHits() {
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	storeHits++;
 	mutex->unlockMutex();
 }
+
+object_id_t InternalErrorReporter::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+MessageQueueId_t InternalErrorReporter::getCommandQueue() const {
+    return this->commandQueue->getId();
+}
+
+ReturnValue_t InternalErrorReporter::initializeLocalDataPool(
+        LocalDataPool &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);
+    internalErrorDataset.setValidity(true, true);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+LocalDataPoolManager* InternalErrorReporter::getHkManagerHandle() {
+    return &poolManager;
+}
+
+dur_millis_t InternalErrorReporter::getPeriodicOperationFrequency() const {
+    return this->executingTask->getPeriodMs();
+}
+
+LocalPoolDataSetBase* InternalErrorReporter::getDataSetHandle(sid_t sid) {
+    return &internalErrorDataset;
+}
+
+void InternalErrorReporter::setTaskIF(PeriodicTaskIF *task) {
+    this->executingTask = task;
+}
+
+ReturnValue_t InternalErrorReporter::initialize() {
+    ReturnValue_t result = poolManager.initialize(commandQueue);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    return SystemObject::initialize();
+}
+
+ReturnValue_t InternalErrorReporter::initializeAfterTaskCreation() {
+    return poolManager.initializeAfterTaskCreation();
+}
+

internalError/InternalErrorReporter.h

@@ -1,37 +1,75 @@
-#ifndef INTERNALERRORREPORTER_H_
-#define INTERNALERRORREPORTER_H_
+#ifndef FSFW_INTERNALERROR_INTERNALERRORREPORTER_H_
+#define FSFW_INTERNALERROR_INTERNALERRORREPORTER_H_
 
 #include "InternalErrorReporterIF.h"
 
+#include "../tasks/PeriodicTaskIF.h"
+#include "../internalError/InternalErrorDataset.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../ipc/MutexIF.h"
 
+/**
+ * @brief   This class is used to track internal errors like lost telemetry,
+ *          failed message sending or a full store.
+ * @details
+ * All functions were kept virtual so this class can be extended easily
+ * to store custom internal errors (e.g. communication interface errors).
+ */
 class InternalErrorReporter: public SystemObject,
 		public ExecutableObjectIF,
-		public InternalErrorReporterIF {
+		public InternalErrorReporterIF,
+		public HasLocalDataPoolIF {
 public:
-	InternalErrorReporter(object_id_t setObjectId, uint32_t queuePoolId,
-			uint32_t tmPoolId, uint32_t storePoolId);
+    static constexpr uint8_t INTERNAL_ERROR_MUTEX_TIMEOUT = 20;
+
+	InternalErrorReporter(object_id_t setObjectId,
+	        uint32_t messageQueueDepth = 5);
+
+	/**
+	 * Enable diagnostic printout. Please note that this feature will
+	 * only work if DEBUG has been supplied to the build defines.
+	 * @param enable
+	 */
+	void setDiagnosticPrintout(bool enable);
+
 	virtual ~InternalErrorReporter();
 
-	virtual ReturnValue_t performOperation(uint8_t opCode);
+    virtual object_id_t getObjectId() const override;
+    virtual MessageQueueId_t getCommandQueue() const override;
+    virtual ReturnValue_t initializeLocalDataPool(
+            LocalDataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+    virtual LocalDataPoolManager* getHkManagerHandle() override;
+    virtual dur_millis_t getPeriodicOperationFrequency() const override;
+    virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+
+    virtual ReturnValue_t initialize() override;
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
 	virtual void queueMessageNotSent();
 
 	virtual void lostTm();
 
 	virtual void storeFull();
+
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
 protected:
-	MutexIF* mutex;
+	MessageQueueIF* commandQueue;
+	LocalDataPoolManager poolManager;
 
-	uint32_t queuePoolId;
-	uint32_t tmPoolId;
-	uint32_t storePoolId;
+	PeriodicTaskIF* executingTask = nullptr;
+	MutexIF* mutex = nullptr;
+	sid_t internalErrorSid;
+	InternalErrorDataset internalErrorDataset;
 
-	uint32_t queueHits;
-	uint32_t tmHits;
-	uint32_t storeHits;
+	bool diagnosticPrintout = true;
+
+	uint32_t queueHits = 0;
+	uint32_t tmHits = 0;
+	uint32_t storeHits = 0;
 
 	uint32_t getAndResetQueueHits();
 	uint32_t getQueueHits();
@@ -47,4 +85,4 @@ protected:
 
 };
 
-#endif /* INTERNALERRORREPORTER_H_ */
+#endif /* FSFW_INTERNALERROR_INTERNALERRORREPORTER_H_ */

memory/HasFileSystemIF.h

@@ -0,0 +1,80 @@
+#ifndef FSFW_MEMORY_HASFILESYSTEMIF_H_
+#define FSFW_MEMORY_HASFILESYSTEMIF_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../returnvalues/FwClassIds.h"
+#include "../ipc/messageQueueDefinitions.h"
+
+#include <cstddef>
+
+/**
+ * @brief	Generic interface for objects which expose a file system to enable
+ * 			message based file handling.
+ * @author  J. Meier, R. Mueller
+ */
+class HasFileSystemIF {
+public:
+    static constexpr uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM;
+
+    static constexpr ReturnValue_t FILE_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x00);
+    static constexpr ReturnValue_t FILE_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+    static constexpr ReturnValue_t FILE_LOCKED = MAKE_RETURN_CODE(0x02);
+
+    static constexpr ReturnValue_t DIRECTORY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
+    static constexpr ReturnValue_t DIRECTORY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x04);
+    static constexpr ReturnValue_t DIRECTORY_NOT_EMPTY = MAKE_RETURN_CODE(0x05);
+
+
+    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_WRITE = MAKE_RETURN_CODE(0x06); //! P1: Sequence number missing
+    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_READ = MAKE_RETURN_CODE(0x07); //! P1: Sequence number missing
+
+	virtual ~HasFileSystemIF() {}
+	/**
+	 * Function to get the MessageQueueId_t of the implementing object
+	 * @return MessageQueueId_t of the object
+	 */
+	virtual MessageQueueId_t getCommandQueue() const = 0;
+
+	/**
+	 * Generic function to append to file.
+	 * @param dirname Directory of the file
+	 * @param filename The filename of the file
+	 * @param data The data to write to the file
+	 * @param size The size of the data to write
+	 * @param packetNumber Current packet number. Can be used to verify that
+	 * there are no missing packets.
+	 * @param args Any other arguments which an implementation might require.
+	 * @param bytesWritten Actual bytes written to file
+	 * For large files the write procedure must be split in multiple calls
+	 * to writeToFile
+	 */
+	virtual ReturnValue_t appendToFile(const char* repositoryPath,
+	        const char* filename, const uint8_t* data, size_t size,
+	        uint16_t packetNumber, void* args = nullptr) = 0;
+
+	/**
+	 * Generic function to create a new file.
+	 * @param repositoryPath
+	 * @param filename
+	 * @param data
+	 * @param size
+	 * @param args Any other arguments which an implementation might require.
+	 * @return
+	 */
+	virtual ReturnValue_t createFile(const char* repositoryPath,
+	        const char* filename, const uint8_t* data = nullptr,
+	        size_t size = 0, void* args = nullptr) = 0;
+
+	/**
+	 * Generic function to delete a file.
+	 * @param repositoryPath
+	 * @param filename
+	 * @param args
+	 * @return
+	 */
+	virtual ReturnValue_t deleteFile(const char* repositoryPath,
+	        const char* filename, void* args = nullptr) = 0;
+};
+
+
+#endif /* FSFW_MEMORY_HASFILESYSTEMIF_H_ */

monitoring/AbsLimitMonitor.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
-#define FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
+#ifndef FSFW_MONITORING_ABSLIMITMONITOR_H_
+#define FSFW_MONITORING_ABSLIMITMONITOR_H_
 
 #include "MonitorBase.h"
 #include <cmath>
@@ -7,9 +7,14 @@
 template<typename T>
 class AbsLimitMonitor: public MonitorBase<T> {
 public:
-	AbsLimitMonitor(object_id_t reporterId, uint8_t monitorId, uint32_t parameterId,
-			uint16_t confirmationLimit, T limit, Event violationEvent = MonitoringIF::VALUE_OUT_OF_RANGE, bool aboveIsViolation = true) :
-			MonitorBase<T>(reporterId, monitorId, parameterId, confirmationLimit), limit(limit), violationEvent(violationEvent), aboveIsViolation(aboveIsViolation) {
+	AbsLimitMonitor(object_id_t reporterId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit, T limit,
+	        Event violationEvent = MonitoringIF::VALUE_OUT_OF_RANGE,
+	        bool aboveIsViolation = true) :
+			MonitorBase<T>(reporterId, monitorId, globalPoolId,
+					confirmationLimit),
+			limit(limit), violationEvent(violationEvent),
+			aboveIsViolation(aboveIsViolation) {
 	}
 	virtual ~AbsLimitMonitor() {
 	}
@@ -32,8 +37,9 @@ public:
 			const ParameterWrapper *newValues, uint16_t startAtIndex) {
 		ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId,
 				parameterId, parameterWrapper, newValues, startAtIndex);
-		//We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there.
-		if (result != this->INVALID_MATRIX_ID) {
+		// We'll reuse the DOMAIN_ID of MonitorReporter,
+		// as we know the parameterIds used there.
+		if (result != this->INVALID_IDENTIFIER_ID) {
 			return result;
 		}
 		switch (parameterId) {
@@ -41,7 +47,7 @@ public:
 			parameterWrapper->set(this->limit);
 			break;
 		default:
-			return this->INVALID_MATRIX_ID;
+			return this->INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -59,7 +65,9 @@ protected:
 	void sendTransitionEvent(T currentValue, ReturnValue_t state) {
 		switch (state) {
 		case MonitoringIF::OUT_OF_RANGE:
-			EventManagerIF::triggerEvent(this->reportingId, violationEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId,
+			        violationEvent, this->globalPoolId.objectId,
+					this->globalPoolId.localPoolId);
 			break;
 		default:
 			break;
@@ -70,4 +78,4 @@ protected:
 	const bool aboveIsViolation;
 };
 
-#endif /* FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_ */
+#endif /* FSFW_MONITORING_ABSLIMITMONITOR_H_ */

monitoring/HasMonitorsIF.h

@@ -1,11 +1,5 @@
-/**
- * @file	HasMonitorsIF.h
- * @brief	This file defines the HasMonitorsIF class.
- * @date	28.07.2014
- * @author	baetz
- */
-#ifndef HASMONITORSIF_H_
-#define HASMONITORSIF_H_
+#ifndef FSFW_MONITORING_HASMONITORSIF_H_
+#define FSFW_MONITORING_HASMONITORSIF_H_
 
 #include "../events/EventReportingProxyIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -27,4 +21,4 @@ public:
 	}
 };
 
-#endif /* HASMONITORSIF_H_ */
+#endif /* FSFW_MONITORING_HASMONITORSIF_H_ */

monitoring/LimitMonitor.h

@@ -12,13 +12,15 @@
 template<typename T>
 class LimitMonitor: public MonitorBase<T> {
 public:
-	LimitMonitor(object_id_t reporterId, uint8_t monitorId, uint32_t parameterId,
-			uint16_t confirmationLimit, T lowerLimit, T upperLimit,
-			Event belowLowEvent = MonitoringIF::VALUE_BELOW_LOW_LIMIT,
+	LimitMonitor(object_id_t reporterId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit, T lowerLimit,
+			T upperLimit, Event belowLowEvent =
+					MonitoringIF::VALUE_BELOW_LOW_LIMIT,
 			Event aboveHighEvent = MonitoringIF::VALUE_ABOVE_HIGH_LIMIT) :
-			MonitorBase<T>(reporterId, monitorId, parameterId, confirmationLimit), lowerLimit(
-					lowerLimit), upperLimit(upperLimit), belowLowEvent(
-					belowLowEvent), aboveHighEvent(aboveHighEvent) {
+			MonitorBase<T>(reporterId, monitorId, globalPoolId,
+			        confirmationLimit),
+			lowerLimit(lowerLimit), upperLimit(upperLimit),
+			belowLowEvent(belowLowEvent), aboveHighEvent(aboveHighEvent) {
 	}
 	virtual ~LimitMonitor() {
 	}
@@ -41,7 +43,7 @@ public:
 		ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId,
 				parameterId, parameterWrapper, newValues, startAtIndex);
 		//We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there.
-		if (result != this->INVALID_MATRIX_ID) {
+		if (result != this->INVALID_IDENTIFIER_ID) {
 			return result;
 		}
 		switch (parameterId) {
@@ -52,12 +54,13 @@ public:
 			parameterWrapper->set(this->upperLimit);
 			break;
 		default:
-			return this->INVALID_MATRIX_ID;
+			return this->INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 	bool isOutOfLimits() {
-		if (this->oldState == MonitoringIF::ABOVE_HIGH_LIMIT || this->oldState == MonitoringIF::BELOW_LOW_LIMIT) {
+		if (this->oldState == MonitoringIF::ABOVE_HIGH_LIMIT or
+		        this->oldState == MonitoringIF::BELOW_LOW_LIMIT) {
 			return true;
 		} else {
 			return false;
@@ -76,10 +79,12 @@ protected:
 	void sendTransitionEvent(T currentValue, ReturnValue_t state) {
 		switch (state) {
 		case MonitoringIF::BELOW_LOW_LIMIT:
-			EventManagerIF::triggerEvent(this->reportingId, belowLowEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId, belowLowEvent,
+			        this->globalPoolId.objectId, this->globalPoolId.localPoolId);
 			break;
 		case MonitoringIF::ABOVE_HIGH_LIMIT:
-			EventManagerIF::triggerEvent(this->reportingId, aboveHighEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId, aboveHighEvent,
+			        this->globalPoolId.objectId, this->globalPoolId.localPoolId);
 			break;
 		default:
 			break;

monitoring/MonitorBase.h

@@ -1,39 +1,50 @@
-#ifndef MONITORBASE_H_
-#define MONITORBASE_H_
+#ifndef FSFW_MONITORING_MONITORBASE_H_
+#define FSFW_MONITORING_MONITORBASE_H_
+
+#include "LimitViolationReporter.h"
+#include "MonitoringIF.h"
+#include "MonitoringMessageContent.h"
+#include "MonitorReporter.h"
+
+#include "../datapoollocal/LocalPoolVariable.h"
 
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/PIDReader.h"
-#include "../monitoring/LimitViolationReporter.h"
-#include "../monitoring/MonitoringIF.h"
-#include "../monitoring/MonitoringMessageContent.h"
-#include "../monitoring/MonitorReporter.h"
 
 /**
- * Base class for monitoring of parameters.
- * Can be used anywhere, specializations need to implement checkSample and should override sendTransitionEvent.
- * Manages state handling, enabling and disabling of events/reports and forwarding of transition
- * reports via MonitorReporter. In addition, it provides default implementations for fetching the parameter sample from
- * the data pool and a simple confirmation counter.
+ * @brief   Base class for monitoring of parameters.
+ * @details
+ * Can be used anywhere, specializations need to implement checkSample and
+ * should override sendTransitionEvent.
+ * Manages state handling, enabling and disabling of events/reports and
+ * forwarding of transition reports via MonitorReporter.
+ *
+ * In addition, it provides default implementations for fetching the
+ * parameter sample from the data pool and a simple confirmation counter.
  */
 template<typename T>
 class MonitorBase: public MonitorReporter<T> {
 public:
+
 	MonitorBase(object_id_t reporterId, uint8_t monitorId,
-			uint32_t parameterId, uint16_t confirmationLimit) :
-			MonitorReporter<T>(reporterId, monitorId, parameterId, confirmationLimit) {
+	        gp_id_t globalPoolId, uint16_t confirmationLimit):
+	        MonitorReporter<T>(reporterId, monitorId, globalPoolId,
+	                confirmationLimit),
+	        poolVariable(globalPoolId) {
 	}
+
 	virtual ~MonitorBase() {
 	}
+
 	virtual ReturnValue_t check() {
-		//1. Fetch sample of type T, return validity.
+		// 1. Fetch sample of type T, return validity.
 		T sample = 0;
 		ReturnValue_t validity = fetchSample(&sample);
 
-		//2. If returning from fetch != OK, parameter is invalid. Report (if oldState is != invalidity).
+		// 2. If returning from fetch != OK, parameter is invalid.
+		// Report (if oldState is != invalidity).
 		if (validity != HasReturnvaluesIF::RETURN_OK) {
 			this->monitorStateIs(validity, sample, 0);
-			//3. Otherwise, check sample.
 		} else {
+            //3. Otherwise, check sample.
 			this->oldState = doCheck(sample);
 		}
 		return this->oldState;
@@ -43,20 +54,25 @@ public:
 		ReturnValue_t currentState = checkSample(sample, &crossedLimit);
 		return this->monitorStateIs(currentState,sample, crossedLimit);
 	}
-	//Abstract or default.
+
+	// Abstract or default.
 	virtual ReturnValue_t checkSample(T sample, T* crossedLimit) = 0;
 
 protected:
+
 	virtual ReturnValue_t fetchSample(T* sample) {
-		GlobDataSet mySet;
-		PIDReader<T> parameter(this->parameterId, &mySet);
-		mySet.read();
-		if (!parameter.isValid()) {
+	    ReturnValue_t result = poolVariable.read();
+	    if(result != HasReturnvaluesIF::RETURN_OK) {
+	        return result;
+	    }
+	    if (not poolVariable.isValid()) {
 	        return MonitoringIF::INVALID;
 	    }
-		*sample = parameter.value;
+	    *sample = poolVariable.value;
 	    return HasReturnvaluesIF::RETURN_OK;
 	}
+
+	LocalPoolVar<T> poolVariable;
 };
 
-#endif /* MONITORBASE_H_ */
+#endif /* FSFW_MONITORING_MONITORBASE_H_ */

monitoring/MonitorReporter.h

@@ -1,10 +1,12 @@
-#ifndef FRAMEWORK_MONITORING_MONITORREPORTER_H_
-#define FRAMEWORK_MONITORING_MONITORREPORTER_H_
+#ifndef FSFW_MONITORING_MONITORREPORTER_H_
+#define FSFW_MONITORING_MONITORREPORTER_H_
 
-#include "../events/EventManagerIF.h"
 #include "LimitViolationReporter.h"
 #include "MonitoringIF.h"
 #include "MonitoringMessageContent.h"
+
+#include "../datapoollocal/locPoolDefinitions.h"
+#include "../events/EventManagerIF.h"
 #include "../parameters/HasParametersIF.h"
 
 template<typename T>
@@ -14,11 +16,14 @@ public:
 	static const uint8_t ENABLED = 1;
 	static const uint8_t DISABLED = 0;
 
-	MonitorReporter(object_id_t reportingId, uint8_t monitorId, uint32_t parameterId, uint16_t confirmationLimit) :
-			monitorId(monitorId), parameterId(parameterId), reportingId(
-					reportingId), oldState(MonitoringIF::UNCHECKED), reportingEnabled(
-			ENABLED), eventEnabled(ENABLED), currentCounter(0), confirmationLimit(
-					confirmationLimit) {
+	// TODO: Adapt to use SID instead of parameter ID.
+
+	MonitorReporter(object_id_t reportingId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit) :
+			monitorId(monitorId), globalPoolId(globalPoolId),
+			reportingId(reportingId), oldState(MonitoringIF::UNCHECKED),
+			reportingEnabled(ENABLED), eventEnabled(ENABLED), currentCounter(0),
+			confirmationLimit(confirmationLimit) {
 	}
 
 	virtual ~MonitorReporter() {
@@ -63,7 +68,7 @@ public:
 			parameterWrapper->set(this->eventEnabled);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -91,7 +96,7 @@ public:
 
 protected:
 	const uint8_t monitorId;
-	const uint32_t parameterId;
+	const gp_id_t globalPoolId;
 	object_id_t reportingId;
 	ReturnValue_t oldState;
 
@@ -148,7 +153,8 @@ protected:
 		case HasReturnvaluesIF::RETURN_OK:
 			break;
 		default:
-			EventManagerIF::triggerEvent(reportingId, MonitoringIF::MONITOR_CHANGED_STATE, state);
+			EventManagerIF::triggerEvent(reportingId,
+			        MonitoringIF::MONITOR_CHANGED_STATE, state);
 			break;
 		}
 	}
@@ -159,14 +165,15 @@ protected:
 	 * @param crossedLimit The limit crossed (if applicable).
 	 * @param state Current state the monitor is in.
 	 */
-	virtual void sendTransitionReport(T parameterValue, T crossedLimit, ReturnValue_t state) {
-		MonitoringReportContent<T> report(parameterId,
+	virtual void sendTransitionReport(T parameterValue, T crossedLimit,
+	        ReturnValue_t state) {
+		MonitoringReportContent<T> report(globalPoolId,
 				parameterValue, crossedLimit, oldState, state);
 		LimitViolationReporter::sendLimitViolationReport(&report);
 	}
 	ReturnValue_t setToState(ReturnValue_t state) {
 		if (oldState != state && reportingEnabled) {
-			MonitoringReportContent<T> report(parameterId, 0, 0, oldState,
+			MonitoringReportContent<T> report(globalPoolId, 0, 0, oldState,
 					state);
 			LimitViolationReporter::sendLimitViolationReport(&report);
 			oldState = state;
@@ -175,4 +182,4 @@ protected:
 	}
 };
 
-#endif /* FRAMEWORK_MONITORING_MONITORREPORTER_H_ */
+#endif /* FSFW_MONITORING_MONITORREPORTER_H_ */

monitoring/MonitoringIF.h

@@ -1,8 +1,8 @@
-#ifndef MONITORINGIF_H_
-#define MONITORINGIF_H_
+#ifndef FSFW_MONITORING_MONITORINGIF_H_
+#define FSFW_MONITORING_MONITORINGIF_H_
 
-#include "../memory/HasMemoryIF.h"
 #include "MonitoringMessage.h"
+#include "../memory/HasMemoryIF.h"
 #include "../serialize/SerializeIF.h"
 
 class MonitoringIF : public SerializeIF {
@@ -64,4 +64,4 @@ public:
 
 
 
-#endif /* MONITORINGIF_H_ */
+#endif /* FSFW_MONITORING_MONITORINGIF_H_ */

monitoring/MonitoringMessageContent.h

@@ -3,6 +3,7 @@
 
 #include "HasMonitorsIF.h"
 #include "MonitoringIF.h"
+#include "../datapoollocal/locPoolDefinitions.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/SerialBufferAdapter.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
@@ -16,12 +17,17 @@ void setStaticFrameworkObjectIds();
 }
 
 //PID(uint32_t), TYPE, LIMIT_ID, value,limitValue, previous, later, timestamp
+/**
+ * @brief	Does magic.
+ * @tparam T
+ */
 template<typename T>
 class MonitoringReportContent: public SerialLinkedListAdapter<SerializeIF> {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	SerializeElement<uint8_t> monitorId;
-	SerializeElement<uint32_t> parameterId;
+	SerializeElement<uint32_t> parameterObjectId;
+	SerializeElement<lp_id_t> localPoolId;
 	SerializeElement<T> parameterValue;
 	SerializeElement<T> limitValue;
 	SerializeElement<ReturnValue_t> oldState;
@@ -30,20 +36,23 @@ public:
 	SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
 	TimeStamperIF* timeStamper;
 	MonitoringReportContent() :
-			SerialLinkedListAdapter<SerializeIF>(
-					LinkedElement<SerializeIF>::Iterator(&parameterId)), monitorId(0), parameterId(
-					0), parameterValue(0), limitValue(0), oldState(0), newState(
-					0), rawTimestamp( { 0 }), timestampSerializer(rawTimestamp,
+			SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
+					monitorId(0), parameterObjectId(0),
+					localPoolId(0), parameterValue(0),
+					limitValue(0), oldState(0), newState(0),
+					rawTimestamp( { 0 }), timestampSerializer(rawTimestamp,
 					sizeof(rawTimestamp)), timeStamper(NULL) {
 		setAllNext();
 	}
-	MonitoringReportContent(uint32_t setPID, T value, T limitValue,
+	MonitoringReportContent(gp_id_t globalPoolId, T value, T limitValue,
 			ReturnValue_t oldState, ReturnValue_t newState) :
-			SerialLinkedListAdapter<SerializeIF>(
-					LinkedElement<SerializeIF>::Iterator(&parameterId)), monitorId(0), parameterId(
-					setPID), parameterValue(value), limitValue(limitValue), oldState(
-					oldState), newState(newState), timestampSerializer(rawTimestamp,
-							sizeof(rawTimestamp)), timeStamper(NULL) {
+			SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
+					monitorId(0), parameterObjectId(globalPoolId.objectId),
+					localPoolId(globalPoolId.localPoolId),
+					parameterValue(value), limitValue(limitValue),
+					oldState(oldState), newState(newState),
+					timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
+					timeStamper(NULL) {
 		setAllNext();
 		if (checkAndSetStamper()) {
 			timeStamper->addTimeStamp(rawTimestamp, sizeof(rawTimestamp));
@@ -53,16 +62,16 @@ private:
 
 	static object_id_t timeStamperId;
 	void setAllNext() {
-		parameterId.setNext(&parameterValue);
+		parameterObjectId.setNext(&parameterValue);
 		parameterValue.setNext(&limitValue);
 		limitValue.setNext(&oldState);
 		oldState.setNext(&newState);
 		newState.setNext(&timestampSerializer);
 	}
 	bool checkAndSetStamper() {
-		if (timeStamper == NULL) {
+		if (timeStamper == nullptr) {
 			timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
-			if ( timeStamper == NULL ) {
+			if ( timeStamper == nullptr ) {
 				sif::error << "MonitoringReportContent::checkAndSetStamper: "
 				        "Stamper not found!" << std::endl;
 				return false;

monitoring/TriplexMonitor.h

@@ -82,7 +82,7 @@ public:
 			parameterWrapper->set(limit);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}

parameters/HasParametersIF.h

@@ -1,12 +1,16 @@
 #ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_
 #define FSFW_PARAMETERS_HASPARAMETERSIF_H_
 
-#include "../parameters/ParameterWrapper.h"
+#include "ParameterWrapper.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stdint.h>
+#include <cstdint>
 
-/** Each parameter is identified with a unique parameter ID */
-typedef uint32_t ParameterId_t;
+/**
+ * Each parameter is identified with a unique parameter ID
+ * The first byte of the parameter ID will denote the domain ID.
+ * The second and third byte will be the unique identifier number.
+ */
+using ParameterId_t = uint32_t;
 
 /**
  * @brief	This interface is used by components which have modifiable
@@ -16,16 +20,15 @@ typedef uint32_t ParameterId_t;
  * ID is the domain ID which can be used to identify unqiue spacecraft domains
  * (e.g. control and sensor domain in the AOCS controller).
  *
- * The second and third byte represent the matrix ID, which can represent
- * a 8-bit row and column number and the last byte...
+ * The second byte is a unique identfier ID.
  *
- * Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number
- * of a 8 bit number now?
+ * The third and  fourth byte can be used as a linear index for matrix or array
+ * parameter entries.
  */
 class HasParametersIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
-	static const ReturnValue_t INVALID_MATRIX_ID = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t INVALID_IDENTIFIER_ID = MAKE_RETURN_CODE(0x01);
 	static const ReturnValue_t INVALID_DOMAIN_ID = MAKE_RETURN_CODE(0x02);
 	static const ReturnValue_t INVALID_VALUE = MAKE_RETURN_CODE(0x03);
 	static const ReturnValue_t READ_ONLY = MAKE_RETURN_CODE(0x05);
@@ -34,33 +37,45 @@ public:
 		return id >> 24;
 	}
 
-	static uint16_t getMatrixId(ParameterId_t id) {
-		return id >> 8;
+	static uint8_t getUniqueIdentifierId(ParameterId_t id) {
+		return id >> 16;
 	}
 
-	static uint8_t getIndex(ParameterId_t id) {
+	/**
+	 * Get the index of a parameter. Please note that the index is always a
+	 * linear index. For a vector, this is straightforward.
+	 * For a matrix, the linear indexing run from left to right, top to bottom.
+	 * @param id
+	 * @return
+	 */
+	static uint16_t getIndex(ParameterId_t id) {
 		return id;
 	}
 
-	static uint32_t getFullParameterId(uint8_t domainId, uint16_t parameterId,
-			uint8_t index) {
-		return (domainId << 24) + (parameterId << 8) + index;
+	static uint32_t getFullParameterId(uint8_t domainId,
+	        uint8_t uniqueIdentifier, uint16_t linearIndex) {
+		return (domainId << 24) + (uniqueIdentifier << 16) + linearIndex;
 	}
 
 	virtual ~HasParametersIF() {}
 
 	/**
+	 * This is the generic function overriden by child classes to set
+	 * parameters. To set a parameter, the parameter wrapper is used with
+	 * a variety of set functions. The provided values can be checked with
+	 * newValues.
 	 * Always set parameter before checking newValues!
 	 *
 	 * @param domainId
 	 * @param parameterId
 	 * @param parameterWrapper
 	 * @param newValues
-	 * @param startAtIndex
+	 * @param startAtIndex Linear index, runs left to right, top to bottom for
+	 * matrix indexes.
 	 * @return
 	 */
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-			ParameterWrapper *parameterWrapper,
+	virtual ReturnValue_t getParameter(uint8_t domainId,
+	        uint16_t uniqueIdentifier, ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex) = 0;
 };
 

parameters/ParameterHelper.cpp

@@ -2,22 +2,27 @@
 #include "ParameterMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
-ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
+ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner):
         owner(owner) {}
 
 ParameterHelper::~ParameterHelper() {
 }
 
 ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
+    if(storage == nullptr) {
+        // ParameterHelper was not initialized
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
     ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
     switch (message->getCommand()) {
     case ParameterMessage::CMD_PARAMETER_DUMP: {
         ParameterWrapper description;
         uint8_t domain = HasParametersIF::getDomain(
                 ParameterMessage::getParameterId(message));
-		uint16_t parameterId = HasParametersIF::getMatrixId(
+        uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
                 ParameterMessage::getParameterId(message));
-		result = owner->getParameter(domain, parameterId,
+        result = owner->getParameter(domain, uniqueIdentifier,
                 &description, &description, 0);
         if (result == HasReturnvaluesIF::RETURN_OK) {
             result = sendParameter(message->getSender(),
@@ -26,49 +31,48 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
     }
     break;
     case ParameterMessage::CMD_PARAMETER_LOAD: {
-		uint8_t domain = HasParametersIF::getDomain(
-				ParameterMessage::getParameterId(message));
-		uint16_t parameterId = HasParametersIF::getMatrixId(
-				ParameterMessage::getParameterId(message));
-		uint8_t index = HasParametersIF::getIndex(
-				ParameterMessage::getParameterId(message));
+        ParameterId_t parameterId = 0;
+        uint8_t ptc = 0;
+        uint8_t pfc = 0;
+        uint8_t rows = 0;
+        uint8_t columns = 0;
+        store_address_t storeId = ParameterMessage::getParameterLoadCommand(
+                message, &parameterId, &ptc, &pfc, &rows, &columns);
+        Type type(Type::getActualType(ptc, pfc));
 
-		const uint8_t *storedStream = nullptr;
-		size_t storedStreamSize = 0;
-		result = storage->getData(
-				ParameterMessage::getStoreId(message), &storedStream,
-				&storedStreamSize);
+        uint8_t domain = HasParametersIF::getDomain(parameterId);
+        uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
+                parameterId);
+        uint16_t linearIndex = HasParametersIF::getIndex(parameterId);
+
+        ConstStorageAccessor accessor(storeId);
+        result = storage->getData(storeId, accessor);
         if (result != HasReturnvaluesIF::RETURN_OK) {
             sif::error << "ParameterHelper::handleParameterMessage: Getting"
-					" store data failed for load command." << std::endl;
+                    << " store data failed for load command." << std::endl;
             break;
         }
 
         ParameterWrapper streamWrapper;
-		result = streamWrapper.set(storedStream, storedStreamSize);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			storage->deleteData(ParameterMessage::getStoreId(message));
-			break;
+        result = streamWrapper.set(type, rows, columns, accessor.data(),
+                accessor.size());
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
         }
 
         ParameterWrapper ownerWrapper;
-		result = owner->getParameter(domain, parameterId, &ownerWrapper,
-				&streamWrapper, index);
+        result = owner->getParameter(domain, uniqueIdentifier, &ownerWrapper,
+                &streamWrapper, linearIndex);
+
+        result = ownerWrapper.copyFrom(&streamWrapper, linearIndex);
         if (result != HasReturnvaluesIF::RETURN_OK) {
-			storage->deleteData(ParameterMessage::getStoreId(message));
-			break;
+            return result;
         }
 
-		result = ownerWrapper.copyFrom(&streamWrapper, index);
-
-		storage->deleteData(ParameterMessage::getStoreId(message));
-
-		if (result == HasReturnvaluesIF::RETURN_OK) {
         result = sendParameter(message->getSender(),
                 ParameterMessage::getParameterId(message), &ownerWrapper);
-		}
-	}
         break;
+    }
     default:
         return HasReturnvaluesIF::RETURN_FAILED;
     }
@@ -115,13 +119,11 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 ReturnValue_t ParameterHelper::initialize() {
     ownerQueueId = owner->getCommandQueue();
 
-
     storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (storage == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	} else {
-		return HasReturnvaluesIF::RETURN_OK;
+    if (storage == nullptr) {
+        return ObjectManagerIF::CHILD_INIT_FAILED;
     }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,

parameters/ParameterMessage.cpp

@@ -25,10 +25,26 @@ void ParameterMessage::setParameterDumpReply(CommandMessage* message,
 }
 
 void ParameterMessage::setParameterLoadCommand(CommandMessage* message,
-		ParameterId_t id, store_address_t storageID) {
+		ParameterId_t id, store_address_t storeId, uint8_t ptc, uint8_t pfc,
+		uint8_t rows = 1, uint8_t columns = 1) {
 	message->setCommand(CMD_PARAMETER_LOAD);
 	message->setParameter(id);
-	message->setParameter2(storageID.raw);
+	message->setParameter2(storeId.raw);
+	uint32_t packedParameterSettings = (ptc << 24) | (pfc << 16) |
+	        (rows << 8) | columns;
+	message->setParameter3(packedParameterSettings);
+}
+
+store_address_t ParameterMessage::getParameterLoadCommand(
+        const CommandMessage *message, ParameterId_t* parameterId, uint8_t *ptc,
+        uint8_t *pfc, uint8_t *rows, uint8_t *columns) {
+    *parameterId = message->getParameter2();
+    uint32_t packedParamSettings = message->getParameter3();
+    *ptc = packedParamSettings >> 24 & 0xff;
+    *pfc = packedParamSettings >> 16 & 0xff;
+    *rows = packedParamSettings >> 8 & 0xff;
+    *columns = packedParamSettings & 0xff;
+    return message->getParameter2();
 }
 
 void ParameterMessage::clear(CommandMessage* message) {

parameters/ParameterMessage.h

@@ -5,6 +5,20 @@
 #include "../ipc/CommandMessage.h"
 #include "../storagemanager/StorageManagerIF.h"
 
+/**
+ * @brief   ParameterMessage interface
+ * @details
+ * General structure of a parameter message:
+ *  1. 4-byte Object ID
+ *  2. 4-byte Parameter ID, first byte is Domain ID, second byte is unique
+ *     identifier, third and fourth byte is linear index to start from
+ *  3. 4-byte Parameter Settings. First byte and second byte are the PTC and PFC
+ *     ECSS type identifiers (see ECSS-E-ST-70-41C15 p.428 or Type class in
+ *     globalfunctions). Third byte is the number of rows and fourth byte
+ *     is the number of columns. For single variable parameters, this will
+ *     be [1, 1].
+ *
+ */
 class ParameterMessage {
 private:
 	ParameterMessage();
@@ -20,8 +34,27 @@ public:
 			ParameterId_t id);
 	static void setParameterDumpReply(CommandMessage* message,
 			ParameterId_t id,  store_address_t storageID);
+
+	/**
+	 * Command to set a load parameter message. The CCSDS / ECSS type in
+	 * form of a PTC and a PFC is expected. See ECSS-E-ST-70-41C15 p.428
+	 * for all types or the Type class in globalfunctions.
+	 * @param message
+	 * @param id
+	 * @param storeId
+	 * @param ptc Type information according to CCSDS/ECSS standards
+	 * @param pfc Type information according to CCSDS/ECSS standards
+	 * @param rows Set number of rows in parameter set, minimum one.
+	 * @param columns Set number of columns in parameter set, minimum one
+	 */
 	static void setParameterLoadCommand(CommandMessage* message,
-			ParameterId_t id, store_address_t storageID);
+	        ParameterId_t id, store_address_t storeId, uint8_t ptc,
+	        uint8_t pfc, uint8_t rows, uint8_t columns);
+
+	static store_address_t getParameterLoadCommand(
+	        const CommandMessage* message, ParameterId_t* parameterId,
+	        uint8_t* ptc, uint8_t* pfc, uint8_t* rows, uint8_t* columns) ;
+
 	static void clear(CommandMessage* message);
 
 };

parameters/ParameterWrapper.cpp

@@ -115,7 +115,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 		uint8_t fromColumns) {
 
 	//treat from as a continuous Stream as we copy all of it
-	const uint8_t *fromAsStream = (const uint8_t*) from;
+	const uint8_t *fromAsStream = reinterpret_cast<const uint8_t*>(from);
 	size_t streamSize = fromRows * fromColumns * sizeof(T);
 
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@@ -123,8 +123,9 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 	for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
 
 		//get the start element of this row in data
-		T *dataWithDataType = ((T*) data)
-				+ (((startingRow + fromRow) * columns) + startingColumn);
+	    uint16_t offset = (((startingRow + fromRow) *
+	    		static_cast<uint16_t>(columns)) + startingColumn);
+		T *dataWithDataType = static_cast<T*>(data) + offset;
 
 		for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
 			result = SerializeAdapter::deSerialize(
@@ -159,6 +160,23 @@ ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
 	return copyFrom(&streamDescription, startWritingAtIndex);
 }
 
+ReturnValue_t ParameterWrapper::set(Type type, uint8_t rows, uint8_t columns,
+        const void *data, size_t dataSize) {
+    this->type = type;
+    this->rows = rows;
+    this->columns = columns;
+
+    size_t expectedSize = type.getSize() * rows * columns;
+    if (expectedSize < dataSize) {
+        return SerializeIF::STREAM_TOO_SHORT;
+    }
+
+    this->data = nullptr;
+    this->readonlyData = data;
+    pointsToStream = true;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
 		const uint8_t **remainingStream, size_t *remainingSize) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
@@ -202,11 +220,13 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
 
 ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 		uint16_t startWritingAtIndex) {
-	if (data == NULL) {
+    // TODO: Optional diagnostic output (which can be disabled in FSFWConfig)
+    // to determined faulty implementations and configuration errors quickly.
+	if (data == nullptr) {
 		return READONLY;
 	}
 
-	if (from->readonlyData == NULL) {
+	if (from->readonlyData == nullptr) {
 		return SOURCE_NOT_SET;
 	}
 
@@ -214,9 +234,16 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 		return DATATYPE_MISSMATCH;
 	}
 
+	// The smallest allowed value for rows and columns is one.
+	if(rows == 0 or columns == 0) {
+	    return COLUMN_OR_ROWS_ZERO;
+	}
+
 	//check if from fits into this
-	uint8_t startingRow = startWritingAtIndex / columns;
-	uint8_t startingColumn = startWritingAtIndex % columns;
+	uint8_t startingRow = 0;
+	uint8_t startingColumn = 0;
+	ParameterWrapper::convertLinearIndexToRowAndColumn(startWritingAtIndex,
+	        &startingRow, &startingColumn);
 
 	if ((from->rows > (rows - startingRow))
 			|| (from->columns > (columns - startingColumn))) {
@@ -270,8 +297,8 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 		//need a type to do arithmetic
 		uint8_t* typedData = static_cast<uint8_t*>(data);
 		for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
-			size_t offset = (((startingRow + fromRow) * columns) +
-					startingColumn) * typeSize;
+			size_t offset = (((startingRow + fromRow) * static_cast<uint16_t>(
+					columns)) + startingColumn) * typeSize;
 			std::memcpy(typedData +  offset, from->readonlyData,
 					typeSize * from->columns);
 		}
@@ -279,3 +306,18 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 
 	return result;
 }
+
+void ParameterWrapper::convertLinearIndexToRowAndColumn(uint16_t index,
+        uint8_t *row, uint8_t *column) {
+    if(row == nullptr or column == nullptr) {
+        return;
+    }
+    // Integer division.
+    *row = index / columns;
+    *column = index % columns;
+}
+
+uint16_t ParameterWrapper::convertRowAndColumnToLinearIndex(uint8_t row,
+        uint8_t column) {
+    return row * columns + column;
+}

parameters/ParameterWrapper.h

@@ -22,6 +22,7 @@ public:
 	static const ReturnValue_t SOURCE_NOT_SET = MAKE_RETURN_CODE(0x05);
 	static const ReturnValue_t OUT_OF_BOUNDS = MAKE_RETURN_CODE(0x06);
 	static const ReturnValue_t NOT_SET = MAKE_RETURN_CODE(0x07);
+	static const ReturnValue_t COLUMN_OR_ROWS_ZERO = MAKE_RETURN_CODE(0x08);
 
 	ParameterWrapper();
 	ParameterWrapper(Type type, uint8_t rows, uint8_t columns, void *data);
@@ -68,7 +69,7 @@ public:
 
 	template<typename T>
 	void set(const T *readonlyData, uint8_t rows, uint8_t columns) {
-		this->data = NULL;
+		this->data = nullptr;
 		this->readonlyData = readonlyData;
 		this->type = PodTypeConversion<T>::type;
 		this->rows = rows;
@@ -97,14 +98,19 @@ public:
 	}
 	template<typename T>
 	void setMatrix(T& member) {
-		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
+		this->set(member[0], sizeof(member)/sizeof(member[0]),
+		        sizeof(member[0])/sizeof(member[0][0]));
 	}
 
 	template<typename T>
 	void setMatrix(const T& member) {
-		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
+		this->set(member[0], sizeof(member)/sizeof(member[0]),
+		        sizeof(member[0])/sizeof(member[0][0]));
 	}
 
+	ReturnValue_t set(Type type, uint8_t rows, uint8_t columns,
+	        const void *data, size_t dataSize);
+
 	ReturnValue_t set(const uint8_t *stream, size_t streamSize,
 			const uint8_t **remainingStream = nullptr,
 			size_t *remainingSize = nullptr);
@@ -113,6 +119,13 @@ public:
 			uint16_t startWritingAtIndex);
 
 private:
+
+    void convertLinearIndexToRowAndColumn(uint16_t index,
+            uint8_t *row, uint8_t *column);
+
+    uint16_t convertRowAndColumnToLinearIndex(uint8_t row,
+            uint8_t column);
+
 	bool pointsToStream = false;
 
 	Type type;
@@ -148,9 +161,9 @@ inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row,
 	if (pointsToStream) {
 		const uint8_t *streamWithType = static_cast<const uint8_t*>(readonlyData);
 		streamWithType += (row * columns + column) * type.getSize();
-		int32_t size = type.getSize();
+		size_t size = type.getSize();
 		return SerializeAdapter::deSerialize(value, &streamWithType,
-				&size, true);
+				&size, SerializeIF::Endianness::BIG);
 	}
 	else {
 		const T *dataWithType = static_cast<const T*>(readonlyData);

power/Fuse.cpp

@@ -1,22 +1,25 @@
+#include "Fuse.h"
+
 #include "../monitoring/LimitViolationReporter.h"
 #include "../monitoring/MonitoringMessageContent.h"
 #include "../objectmanager/ObjectManagerIF.h"
-#include "../power/Fuse.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../ipc/QueueFactory.h"
 
 object_id_t Fuse::powerSwitchId = 0;
 
-Fuse::Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
+Fuse::Fuse(object_id_t fuseObjectId, uint8_t fuseId,
+		sid_t variableSet, VariableIds ids,
 		float maxCurrent, uint16_t confirmationCount) :
-		SystemObject(fuseObjectId), oldFuseState(0), fuseId(fuseId), powerIF(
-		NULL), currentLimit(fuseObjectId, 1, ids.pidCurrent, confirmationCount,
-				maxCurrent, FUSE_CURRENT_HIGH), powerMonitor(fuseObjectId, 2,
-				GlobalDataPool::poolIdAndPositionToPid(ids.poolIdPower, 0),
-				confirmationCount), set(), voltage(ids.pidVoltage, &set), current(
-				ids.pidCurrent, &set), state(ids.pidState, &set), power(
-				ids.poolIdPower, &set, PoolVariableIF::VAR_READ_WRITE), commandQueue(
-				NULL), parameterHelper(this), healthHelper(this, fuseObjectId) {
+		SystemObject(fuseObjectId), oldFuseState(0), fuseId(fuseId),
+		currentLimit(fuseObjectId, 1, ids.pidCurrent, confirmationCount,
+				maxCurrent, FUSE_CURRENT_HIGH),
+		powerMonitor(fuseObjectId, 2, ids.poolIdPower,
+				confirmationCount),
+		set(variableSet), voltage(ids.pidVoltage, &set),
+		current(ids.pidCurrent, &set), state(ids.pidState, &set),
+		power(ids.poolIdPower, &set, PoolVariableIF::VAR_READ_WRITE),
+		parameterHelper(this), healthHelper(this, fuseObjectId) {
 	commandQueue = QueueFactory::instance()->createMessageQueue();
 }
 
@@ -75,7 +78,7 @@ ReturnValue_t Fuse::check() {
 		float lowLimit = 0.0;
 		float highLimit = RESIDUAL_POWER;
 		calculatePowerLimits(&lowLimit, &highLimit);
-		result = powerMonitor.checkPower(power, lowLimit, highLimit);
+		result = powerMonitor.checkPower(power.value, lowLimit, highLimit);
 		if (result == MonitoringIF::BELOW_LOW_LIMIT) {
 			reportEvents(POWER_BELOW_LOW_LIMIT);
 		} else if (result == MonitoringIF::ABOVE_HIGH_LIMIT) {
@@ -132,7 +135,7 @@ void Fuse::calculateFusePower() {
 		return;
 	}
 	//Calculate fuse power.
-	power = current * voltage;
+	power.value = current.value * voltage.value;
 	power.setValid(PoolVariableIF::VALID);
 }
 
@@ -190,12 +193,12 @@ void Fuse::checkFuseState() {
 			reportEvents(FUSE_WENT_OFF);
 		}
 	}
-	oldFuseState = state;
+	oldFuseState = state.value;
 }
 
 float Fuse::getPower() {
 	if (power.isValid()) {
-		return power;
+		return power.value;
 	} else {
 		return 0.0;
 	}

power/Fuse.h

@@ -1,17 +1,16 @@
-#ifndef FUSE_H_
-#define FUSE_H_
+#ifndef FSFW_POWER_FUSE_H_
+#define FSFW_POWER_FUSE_H_
+
+#include "PowerComponentIF.h"
+#include "PowerSwitchIF.h"
 
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../datapoolglob/PIDReader.h"
 #include "../devicehandlers/HealthDevice.h"
 #include "../monitoring/AbsLimitMonitor.h"
-#include "../power/PowerComponentIF.h"
-#include "../power/PowerSwitchIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../parameters/ParameterHelper.h"
 #include <list>
 
+#include "../datapoollocal/StaticLocalDataSet.h"
 namespace Factory {
 void setStaticFrameworkObjectIds();
 }
@@ -26,10 +25,10 @@ private:
 	static constexpr float RESIDUAL_POWER = 0.005 * 28.5; //!< This is the upper limit of residual power lost by fuses and switches. Worst case is Fuse and one of two switches on. See PCDU ICD 1.9 p29 bottom
 public:
 	struct VariableIds {
-		uint32_t pidVoltage;
-		uint32_t pidCurrent;
-		uint32_t pidState;
-		uint32_t poolIdPower;
+		gp_id_t pidVoltage;
+		gp_id_t pidCurrent;
+		gp_id_t pidState;
+		gp_id_t poolIdPower;
 	};
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
@@ -39,8 +38,8 @@ public:
 	static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW); //!< PSS detected a fuse that violates its limits.
 
 	typedef std::list<PowerComponentIF*> DeviceList;
-	Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
-			float maxCurrent, uint16_t confirmationCount = 2);
+	Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet,
+			VariableIds ids, float maxCurrent, uint16_t confirmationCount = 2);
 	virtual ~Fuse();
 	void addDevice(PowerComponentIF *set);
 	float getPower();
@@ -70,12 +69,12 @@ public:
 private:
 	uint8_t oldFuseState;
 	uint8_t fuseId;
-	PowerSwitchIF *powerIF; //could be static in our case.
+	PowerSwitchIF *powerIF = nullptr; //could be static in our case.
 	AbsLimitMonitor<float> currentLimit;
 	class PowerMonitor: public MonitorReporter<float> {
 	public:
 		template<typename ... Args>
-		PowerMonitor(Args ... args) :
+		PowerMonitor(Args ... args):
 				MonitorReporter<float>(std::forward<Args>(args)...) {
 		}
 		ReturnValue_t checkPower(float sample, float lowerLimit,
@@ -85,12 +84,14 @@ private:
 
 	};
 	PowerMonitor powerMonitor;
-	GlobDataSet set;
-	PIDReader<float> voltage;
-	PIDReader<float> current;
-	PIDReader<uint8_t> state;
-	gp_float_t power;
-	MessageQueueIF* commandQueue;
+	StaticLocalDataSet<3> set;
+
+	lp_var_t<float> voltage;
+	lp_var_t<float> current;
+	lp_var_t<uint8_t> state;
+
+	lp_var_t<float> power;
+	MessageQueueIF* commandQueue = nullptr;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
 	static object_id_t powerSwitchId;
@@ -103,4 +104,4 @@ private:
 	bool areSwitchesOfComponentOn(DeviceList::iterator iter);
 };
 
-#endif /* FUSE_H_ */
+#endif /* FSFW_POWER_FUSE_H_ */

power/PowerComponent.cpp

@@ -1,20 +1,15 @@
-/**
- * @file	PowerComponent.cpp
- * @brief	This file defines the PowerComponent class.
- * @date	28.08.2014
- * @author	baetz
- */
-
 #include "PowerComponent.h"
+#include "../serialize/SerializeAdapter.h"
 
-PowerComponent::PowerComponent() :
-		deviceObjectId(0), switchId1(0xFF), switchId2(0xFF), doIHaveTwoSwitches(
-		false), min(0.0), max(0.0), moduleId(0) {
+PowerComponent::PowerComponent(): switchId1(0xFF), switchId2(0xFF),
+        doIHaveTwoSwitches(false) {
 }
-PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max,
-		uint8_t switchId1, bool twoSwitches, uint8_t switchId2) :
-		deviceObjectId(setId), switchId1(switchId1), switchId2(switchId2), doIHaveTwoSwitches(
-				twoSwitches), min(min), max(max), moduleId(moduleId) {
+
+PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min,
+        float max, uint8_t switchId1, bool twoSwitches, uint8_t switchId2) :
+		deviceObjectId(setId), switchId1(switchId1), switchId2(switchId2),
+		doIHaveTwoSwitches(twoSwitches), min(min), max(max),
+		moduleId(moduleId) {
 }
 
 ReturnValue_t PowerComponent::serialize(uint8_t** buffer, size_t* size,
@@ -57,7 +52,7 @@ float PowerComponent::getMax() {
 }
 
 ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size,
-Endianness streamEndianness) {
+        Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
 			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -80,7 +75,7 @@ ReturnValue_t PowerComponent::getParameter(uint8_t domainId,
 		parameterWrapper->set<>(max);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

power/PowerComponent.h

@@ -1,13 +1,17 @@
-#ifndef POWERCOMPONENT_H_
-#define POWERCOMPONENT_H_
+#ifndef FSFW_POWER_POWERCOMPONENT_H_
+#define FSFW_POWER_POWERCOMPONENT_H_
 
-#include "../objectmanager/SystemObjectIF.h"
 #include "PowerComponentIF.h"
 
+#include "../objectmanager/frameworkObjects.h"
+#include "../objectmanager/SystemObjectIF.h"
+
+
 class PowerComponent: public PowerComponentIF {
 public:
-	PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max, uint8_t switchId1,
-			bool twoSwitches = false, uint8_t switchId2 = 0xFF);
+	PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max,
+	        uint8_t switchId1, bool twoSwitches = false,
+	        uint8_t switchId2 = 0xFF);
 
 	virtual object_id_t getDeviceObjectId();
 
@@ -31,18 +35,18 @@ public:
 				ParameterWrapper *parameterWrapper,
 				const ParameterWrapper *newValues, uint16_t startAtIndex);
 private:
-	const object_id_t deviceObjectId;
+	const object_id_t deviceObjectId = objects::NO_OBJECT;
 	const uint8_t switchId1;
 	const uint8_t switchId2;
 
 	const bool doIHaveTwoSwitches;
 
-	float min;
-	float max;
+	float min = 0.0;
+	float max = 0.0;
 
-	uint8_t moduleId;
+	uint8_t moduleId = 0;
 
 	PowerComponent();
 };
 
-#endif /* POWERCOMPONENT_H_ */
+#endif /* FSFW_POWER_POWERCOMPONENT_H_ */

power/PowerComponentIF.h

@@ -1,24 +1,23 @@
-#ifndef POWERCOMPONENTIF_H_
-#define POWERCOMPONENTIF_H_
+#ifndef FSFW_POWER_POWERCOMPONENTIF_H_
+#define FSFW_POWER_POWERCOMPONENTIF_H_
 
 #include "../serialize/SerializeIF.h"
 #include "../parameters/HasParametersIF.h"
+#include "../objectmanager/SystemObjectIF.h"
 
 class PowerComponentIF : public SerializeIF, public HasParametersIF {
 public:
-	virtual ~PowerComponentIF() {
+	virtual ~PowerComponentIF() {}
 
-	}
+	virtual object_id_t getDeviceObjectId() = 0;
 
-	virtual object_id_t getDeviceObjectId()=0;
-
-	virtual uint8_t getSwitchId1()=0;
-	virtual uint8_t getSwitchId2()=0;
-	virtual bool hasTwoSwitches()=0;
+	virtual uint8_t getSwitchId1() = 0;
+	virtual uint8_t getSwitchId2() = 0;
+	virtual bool hasTwoSwitches() = 0;
 
 	virtual float getMin() = 0;
 	virtual float getMax() = 0;
 
 };
 
-#endif /* POWERCOMPONENTIF_H_ */
+#endif /* FSFW_POWER_POWERCOMPONENTIF_H_ */

power/PowerSensor.cpp

@@ -1,14 +1,18 @@
 #include "PowerSensor.h"
+
 #include "../ipc/QueueFactory.h"
 
-PowerSensor::PowerSensor(object_id_t setId, VariableIds ids,
+PowerSensor::PowerSensor(object_id_t objectId, sid_t setId,  VariableIds ids,
 		DefaultLimits limits, SensorEvents events, uint16_t confirmationCount) :
-		SystemObject(setId), commandQueue(NULL), parameterHelper(this), healthHelper(this, setId), set(), current(
-				ids.pidCurrent, &set), voltage(ids.pidVoltage, &set), power(
-				ids.poolIdPower, &set, PoolVariableIF::VAR_WRITE), currentLimit(
-				setId, MODULE_ID_CURRENT, ids.pidCurrent, confirmationCount,
+		SystemObject(objectId), parameterHelper(this),
+		healthHelper(this, objectId),
+		powerSensorSet(setId), current(ids.pidCurrent, &powerSensorSet),
+		voltage(ids.pidVoltage, &powerSensorSet),
+		power(ids.poolIdPower, &powerSensorSet, PoolVariableIF::VAR_WRITE),
+		currentLimit(objectId, MODULE_ID_CURRENT, ids.pidCurrent, confirmationCount,
 				limits.currentMin, limits.currentMax, events.currentLow,
-				events.currentHigh), voltageLimit(setId, MODULE_ID_VOLTAGE,
+				events.currentHigh),
+		voltageLimit(objectId, MODULE_ID_VOLTAGE,
 				ids.pidVoltage, confirmationCount, limits.voltageMin,
 				limits.voltageMax, events.voltageLow, events.voltageHigh) {
 		commandQueue = QueueFactory::instance()->createMessageQueue();
@@ -19,13 +23,13 @@ PowerSensor::~PowerSensor() {
 }
 
 ReturnValue_t PowerSensor::calculatePower() {
-	set.read();
+	powerSensorSet.read();
 	ReturnValue_t result1 = HasReturnvaluesIF::RETURN_FAILED;
 	ReturnValue_t result2 = HasReturnvaluesIF::RETURN_FAILED;
 	if (healthHelper.healthTable->isHealthy(getObjectId()) && voltage.isValid()
 			&& current.isValid()) {
-		result1 = voltageLimit.doCheck(voltage);
-		result2 = currentLimit.doCheck(current);
+		result1 = voltageLimit.doCheck(voltage.value);
+		result2 = currentLimit.doCheck(current.value);
 	} else {
 		voltageLimit.setToInvalid();
 		currentLimit.setToInvalid();
@@ -37,9 +41,9 @@ ReturnValue_t PowerSensor::calculatePower() {
 		power.setValid(PoolVariableIF::INVALID);
 	} else {
 		power.setValid(PoolVariableIF::VALID);
-		power = current * voltage;
+		power.value = current.value * voltage.value;
 	}
-	set.commit();
+	powerSensorSet.commit();
 	return result1;
 }
 
@@ -92,8 +96,8 @@ void PowerSensor::checkCommandQueue() {
 }
 
 void PowerSensor::setDataPoolEntriesInvalid() {
-	set.read();
-	set.commit(PoolVariableIF::INVALID);
+	powerSensorSet.read();
+	powerSensorSet.commit(PoolVariableIF::INVALID);
 }
 
 float PowerSensor::getPower() {

power/PowerSensor.h

@@ -1,9 +1,7 @@
-#ifndef POWERSENSOR_H_
-#define POWERSENSOR_H_
+#ifndef FSFW_POWER_POWERSENSOR_H_
+#define FSFW_POWER_POWERSENSOR_H_
 
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../datapoolglob/PIDReader.h"
+#include "../datapoollocal/StaticLocalDataSet.h"
 #include "../devicehandlers/HealthDevice.h"
 #include "../monitoring/LimitMonitor.h"
 #include "../parameters/ParameterHelper.h"
@@ -12,15 +10,18 @@
 
 class PowerController;
 
+/**
+ * @brief	Does magic.
+ */
 class PowerSensor: public SystemObject,
 		public ReceivesParameterMessagesIF,
 		public HasHealthIF {
 	friend class PowerController;
 public:
 	struct VariableIds {
-		uint32_t pidCurrent;
-		uint32_t pidVoltage;
-		uint32_t poolIdPower;
+		gp_id_t pidCurrent;
+		gp_id_t pidVoltage;
+		gp_id_t poolIdPower;
 	};
 	struct DefaultLimits {
 		float currentMin;
@@ -34,8 +35,9 @@ public:
 		Event voltageLow;
 		Event voltageHigh;
 	};
-	PowerSensor(object_id_t setId, VariableIds setIds, DefaultLimits limits,
-			SensorEvents events, uint16_t confirmationCount = 0);
+	PowerSensor(object_id_t objectId, sid_t sid, VariableIds setIds,
+			DefaultLimits limits, SensorEvents events,
+			uint16_t confirmationCount = 0);
 	virtual ~PowerSensor();
 	ReturnValue_t calculatePower();
 	ReturnValue_t performOperation(uint8_t opCode);
@@ -50,15 +52,19 @@ public:
 			ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex);
 private:
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
-	GlobDataSet set;
+	//GlobDataSet set;
+	StaticLocalDataSet<3> powerSensorSet;
 	//Variables in
-	PIDReader<float> current;
-	PIDReader<float> voltage;
+	lp_var_t<float> current;
+	lp_var_t<float> voltage;
+	//PIDReader<float> current;
+	//PIDReader<float> voltage;
 	//Variables out
-	gp_float_t power;
+	lp_var_t<float> power;
+	//gp_float_t power;
 
 	static const uint8_t MODULE_ID_CURRENT = 1;
 	static const uint8_t MODULE_ID_VOLTAGE = 2;
@@ -68,4 +74,4 @@ protected:
 	LimitMonitor<float> voltageLimit;
 };
 
-#endif /* POWERSENSOR_H_ */
+#endif /* FSFW_POWER_POWERSENSOR_H_ */

power/PowerSwitchIF.h

@@ -1,18 +1,16 @@
-/**
- * @file	PowerSwitchIF.h
- * @brief	This file defines the PowerSwitchIF class.
- * @date	20.03.2013
- * @author	baetz
- */
-
-#ifndef POWERSWITCHIF_H_
-#define POWERSWITCHIF_H_
+#ifndef FSFW_POWER_POWERSWITCHIF_H_
+#define FSFW_POWER_POWERSWITCHIF_H_
 
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 /**
- * This interface defines a connection to a device that is capable of turning on and off
- * switches of devices identified by a switch ID.
+ *
+ * @brief   This interface defines a connection to a device that is capable of
+ *          turning on and off switches of devices identified by a switch ID.
+ * @details
+ * The virtual functions of this interface do not allow to make any assignments
+ * because they can be called asynchronosuly (const ending).
+ * @ingroup interfaces
  */
 class PowerSwitchIF : public HasReturnvaluesIF {
 public:
@@ -72,4 +70,4 @@ public:
 };
 
 
-#endif /* POWERSWITCHIF_H_ */
+#endif /* FSFW_POWER_POWERSWITCHIF_H_ */

power/PowerSwitcher.cpp

@@ -1,15 +1,17 @@
-#include "../objectmanager/ObjectManagerIF.h"
 #include "PowerSwitcher.h"
+
+#include "../objectmanager/ObjectManagerIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
 PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
-		PowerSwitcher::State_t setStartState) :
-		state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2), power(NULL) {
+		PowerSwitcher::State_t setStartState):
+		state(setStartState), firstSwitch(setSwitch1),
+		secondSwitch(setSwitch2) {
 }
 
 ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
 	power = objectManager->get<PowerSwitchIF>(powerSwitchId);
-	if (power == NULL) {
+	if (power == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
@@ -17,19 +19,25 @@ ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
 
 ReturnValue_t PowerSwitcher::getStateOfSwitches() {
 	SwitchReturn_t result = howManySwitches();
+
 	switch (result) {
 	case ONE_SWITCH:
 		return power->getSwitchState(firstSwitch);
-	case TWO_SWITCHES:
-		if ((power->getSwitchState(firstSwitch) == PowerSwitchIF::SWITCH_ON)
-				&& (power->getSwitchState(secondSwitch) == PowerSwitchIF::SWITCH_ON)) {
+	case TWO_SWITCHES: {
+	    ReturnValue_t firstSwitchState = power->getSwitchState(firstSwitch);
+	    ReturnValue_t secondSwitchState = power->getSwitchState(firstSwitch);
+		if ((firstSwitchState == PowerSwitchIF::SWITCH_ON)
+				&& (secondSwitchState == PowerSwitchIF::SWITCH_ON)) {
 			return PowerSwitchIF::SWITCH_ON;
-		} else if ((power->getSwitchState(firstSwitch) == PowerSwitchIF::SWITCH_OFF)
-				&& (power->getSwitchState(secondSwitch) == PowerSwitchIF::SWITCH_OFF)) {
+		}
+		else if ((firstSwitchState == PowerSwitchIF::SWITCH_OFF)
+				&& (secondSwitchState  == PowerSwitchIF::SWITCH_OFF)) {
 			return PowerSwitchIF::SWITCH_OFF;
-		} else {
+		}
+		else {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
+	}
 	default:
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

power/PowerSwitcher.h

@@ -1,10 +1,13 @@
-#ifndef POWERSWITCHER_H_
-#define POWERSWITCHER_H_
+#ifndef FSFW_POWER_POWERSWITCHER_H_
+#define FSFW_POWER_POWERSWITCHER_H_
+
 #include "PowerSwitchIF.h"
+
+#include "../objectmanager/SystemObjectIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../timemanager/Countdown.h"
 
-class PowerSwitcher : public HasReturnvaluesIF {
+class PowerSwitcher: public HasReturnvaluesIF {
 public:
 	enum State_t {
 		WAIT_OFF,
@@ -16,7 +19,8 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
 	static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
-	PowerSwitcher( uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH, State_t setStartState = SWITCH_IS_OFF );
+	PowerSwitcher( uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH,
+	        State_t setStartState = SWITCH_IS_OFF );
 	ReturnValue_t initialize(object_id_t powerSwitchId);
 	void turnOn();
 	void turnOff();
@@ -29,7 +33,8 @@ public:
 private:
 	uint8_t firstSwitch;
 	uint8_t secondSwitch;
-	PowerSwitchIF* power;
+	PowerSwitchIF* power = nullptr;
+
 	static const uint8_t NO_SWITCH = 0xFF;
 	enum SwitchReturn_t {
 		ONE_SWITCH = 1,
@@ -42,4 +47,4 @@ private:
 
 
 
-#endif /* POWERSWITCHER_H_ */
+#endif /* FSFW_POWER_POWERSWITCHER_H_ */

storagemanager/ConstStorageAccessor.h

@@ -20,9 +20,7 @@ class StorageManagerIF;
  */
 class ConstStorageAccessor {
 	//! StorageManager classes have exclusive access to private variables.
-	template<uint8_t NUMBER_OF_POOLS>
 	friend class PoolManager;
-	template<uint8_t NUMBER_OF_POOLS>
 	friend class LocalPool;
 public:
 	/**

storagemanager/LocalPool.cpp

@@ -0,0 +1,347 @@
+#include "LocalPool.h"
+#include <FSFWConfig.h>
+#include <cstring>
+
+LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
+		bool registered, bool spillsToHigherPools):
+		SystemObject(setObjectId, registered),
+		NUMBER_OF_POOLS(poolConfig.size()),
+		spillsToHigherPools(spillsToHigherPools) {
+	if(NUMBER_OF_POOLS == 0) {
+		sif::error << "LocalPool::LocalPool: Passed pool configuration is "
+				<< " invalid!" << std::endl;
+	}
+	max_pools_t index = 0;
+	for (const auto& currentPoolConfig: poolConfig) {
+		this->numberOfElements[index] = currentPoolConfig.first;
+		this->elementSizes[index] = currentPoolConfig.second;
+		store[index] = std::vector<uint8_t>(
+				numberOfElements[index] * elementSizes[index]);
+		sizeLists[index] = std::vector<size_type>(numberOfElements[index]);
+		for(auto& size: sizeLists[index]) {
+			size = STORAGE_FREE;
+		}
+		index++;
+	}
+}
+
+LocalPool::~LocalPool(void) {}
+
+
+ReturnValue_t LocalPool::addData(store_address_t* storageId,
+        const uint8_t* data, size_t size, bool ignoreFault) {
+    ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+    if (status == RETURN_OK) {
+        write(*storageId, data, size);
+    }
+    return status;
+}
+
+ReturnValue_t LocalPool::getData(store_address_t packetId,
+        const uint8_t **packetPtr, size_t *size) {
+    uint8_t* tempData = nullptr;
+    ReturnValue_t status = modifyData(packetId, &tempData, size);
+    *packetPtr = tempData;
+    return status;
+}
+
+ReturnValue_t LocalPool::getData(store_address_t storeId,
+        ConstStorageAccessor& storeAccessor) {
+    uint8_t* tempData = nullptr;
+    ReturnValue_t status = modifyData(storeId, &tempData,
+            &storeAccessor.size_);
+    storeAccessor.assignStore(this);
+    storeAccessor.constDataPointer = tempData;
+    return status;
+}
+
+ConstAccessorPair LocalPool::getData(store_address_t storeId) {
+    uint8_t* tempData = nullptr;
+    ConstStorageAccessor constAccessor(storeId, this);
+    ReturnValue_t status = modifyData(storeId, &tempData, &constAccessor.size_);
+    constAccessor.constDataPointer = tempData;
+    return ConstAccessorPair(status, std::move(constAccessor));
+}
+
+ReturnValue_t LocalPool::getFreeElement(store_address_t *storageId,
+        const size_t size, uint8_t **pData, bool ignoreFault) {
+    ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+    if (status == RETURN_OK) {
+        *pData = &store[storageId->poolIndex][getRawPosition(*storageId)];
+    }
+    else {
+        *pData = nullptr;
+    }
+    return status;
+}
+
+
+AccessorPair LocalPool::modifyData(store_address_t storeId) {
+    StorageAccessor accessor(storeId, this);
+    ReturnValue_t status = modifyData(storeId, &accessor.dataPointer,
+            &accessor.size_);
+    accessor.assignConstPointer();
+    return AccessorPair(status, std::move(accessor));
+}
+
+ReturnValue_t LocalPool::modifyData(store_address_t storeId,
+        StorageAccessor& storeAccessor) {
+    storeAccessor.assignStore(this);
+    ReturnValue_t status = modifyData(storeId, &storeAccessor.dataPointer,
+            &storeAccessor.size_);
+    storeAccessor.assignConstPointer();
+    return status;
+}
+
+ReturnValue_t LocalPool::modifyData(store_address_t storeId,
+        uint8_t **packetPtr, size_t *size) {
+    ReturnValue_t status = RETURN_FAILED;
+    if (storeId.poolIndex >= NUMBER_OF_POOLS) {
+        return ILLEGAL_STORAGE_ID;
+    }
+    if ((storeId.packetIndex >= numberOfElements[storeId.poolIndex])) {
+        return ILLEGAL_STORAGE_ID;
+    }
+
+    if (sizeLists[storeId.poolIndex][storeId.packetIndex]
+            != STORAGE_FREE) {
+        size_type packetPosition = getRawPosition(storeId);
+        *packetPtr = &store[storeId.poolIndex][packetPosition];
+        *size = sizeLists[storeId.poolIndex][storeId.packetIndex];
+        status = RETURN_OK;
+    }
+    else {
+        status = DATA_DOES_NOT_EXIST;
+    }
+    return status;
+}
+
+ReturnValue_t LocalPool::deleteData(store_address_t storeId) {
+#if FSFW_VERBOSE_PRINTOUT == 2
+      sif::debug << "Delete: Pool: " << std::dec << storeId.poolIndex
+              << " Index: " << storeId.packetIndex << std::endl;
+
+#endif
+    ReturnValue_t status = RETURN_OK;
+    size_type pageSize = getPageSize(storeId.poolIndex);
+    if ((pageSize != 0) and
+            (storeId.packetIndex < numberOfElements[storeId.poolIndex])) {
+        uint16_t packetPosition = getRawPosition(storeId);
+        uint8_t* ptr = &store[storeId.poolIndex][packetPosition];
+        std::memset(ptr, 0, pageSize);
+        //Set free list
+        sizeLists[storeId.poolIndex][storeId.packetIndex] = STORAGE_FREE;
+    }
+    else {
+        //pool_index or packet_index is too large
+        sif::error << "LocalPool::deleteData: Illegal store ID, no deletion!"
+        		<< std::endl;
+        status = ILLEGAL_STORAGE_ID;
+    }
+    return status;
+}
+
+ReturnValue_t LocalPool::deleteData(uint8_t *ptr, size_t size,
+        store_address_t *storeId) {
+    store_address_t localId;
+    ReturnValue_t result = ILLEGAL_ADDRESS;
+    for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+        //Not sure if new allocates all stores in order. so better be careful.
+        if ((store[n].data() <= ptr) and
+        		(&store[n][numberOfElements[n]*elementSizes[n]] > ptr)) {
+            localId.poolIndex = n;
+            uint32_t deltaAddress = ptr - store[n].data();
+            // Getting any data from the right "block" is ok.
+            // This is necessary, as IF's sometimes don't point to the first
+            // element of an object.
+            localId.packetIndex = deltaAddress / elementSizes[n];
+            result = deleteData(localId);
+#if FSFW_VERBOSE_PRINTOUT == 2
+            if (deltaAddress % elementSizes[n] != 0) {
+                sif::error << "LocalPool::deleteData: Address not aligned!"
+                        << std::endl;
+            }
+#endif
+            break;
+        }
+    }
+    if (storeId != nullptr) {
+        *storeId = localId;
+    }
+    return result;
+}
+
+
+ReturnValue_t LocalPool::initialize() {
+    ReturnValue_t result = SystemObject::initialize();
+    if (result != RETURN_OK) {
+        return result;
+    }
+    internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+            objects::INTERNAL_ERROR_REPORTER);
+    if (internalErrorReporter == nullptr){
+        return ObjectManagerIF::INTERNAL_ERR_REPORTER_UNINIT;
+    }
+
+    //Check if any pool size is large than the maximum allowed.
+    for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
+        if (elementSizes[count] >= STORAGE_FREE) {
+            sif::error << "LocalPool::initialize: Pool is too large! "
+                    "Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
+            return StorageManagerIF::POOL_TOO_LARGE;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void LocalPool::clearStore() {
+    for(auto& sizeList: sizeLists) {
+        for(auto& size: sizeList) {
+            size = STORAGE_FREE;
+        }
+//        std::memset(sizeList[index], 0xff,
+//                numberOfElements[index] * sizeof(size_type));
+    }
+
+}
+
+ReturnValue_t LocalPool::reserveSpace(const size_t size,
+        store_address_t *storeId, bool ignoreFault) {
+    ReturnValue_t status = getPoolIndex(size, &storeId->poolIndex);
+    if (status != RETURN_OK) {
+        sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec
+                << " )::reserveSpace: Packet too large." << std::endl;
+        return status;
+    }
+    status = findEmpty(storeId->poolIndex, &storeId->packetIndex);
+    while (status != RETURN_OK && spillsToHigherPools) {
+        status = getPoolIndex(size, &storeId->poolIndex, storeId->poolIndex + 1);
+        if (status != RETURN_OK) {
+            //We don't find any fitting pool anymore.
+            break;
+        }
+        status = findEmpty(storeId->poolIndex, &storeId->packetIndex);
+    }
+    if (status == RETURN_OK) {
+#if FSFW_VERBOSE_PRINTOUT == 2
+        sif::debug << "Reserve: Pool: " << std::dec
+                << storeId->poolIndex << " Index: " << storeId->packetIndex
+                << std::endl;
+#endif
+        sizeLists[storeId->poolIndex][storeId->packetIndex] = size;
+    }
+    else {
+        if ((not ignoreFault) and (internalErrorReporter != nullptr)) {
+            internalErrorReporter->storeFull();
+        }
+    }
+    return status;
+}
+
+void LocalPool::write(store_address_t storeId, const uint8_t *data,
+        size_t size) {
+    uint8_t* ptr = nullptr;
+    size_type packetPosition = getRawPosition(storeId);
+
+    // Size was checked before calling this function.
+    ptr = &store[storeId.poolIndex][packetPosition];
+    std::memcpy(ptr, data, size);
+    sizeLists[storeId.poolIndex][storeId.packetIndex] = size;
+}
+
+LocalPool::size_type LocalPool::getPageSize(max_pools_t poolIndex) {
+    if (poolIndex < NUMBER_OF_POOLS) {
+        return elementSizes[poolIndex];
+    }
+    else {
+        return 0;
+    }
+}
+
+void LocalPool::setToSpillToHigherPools(bool enable) {
+	this->spillsToHigherPools = enable;
+}
+
+ReturnValue_t LocalPool::getPoolIndex(size_t packetSize, uint16_t *poolIndex,
+        uint16_t startAtIndex) {
+    for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
+#if FSFW_VERBOSE_PRINTOUT == 2
+        sif::debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: "
+             << n << ", Element Size: " << elementSizes[n] << std::endl;
+#endif
+        if (elementSizes[n] >= packetSize) {
+            *poolIndex = n;
+            return RETURN_OK;
+        }
+    }
+    return DATA_TOO_LARGE;
+}
+
+LocalPool::size_type LocalPool::getRawPosition(store_address_t storeId) {
+    return storeId.packetIndex * elementSizes[storeId.poolIndex];
+}
+
+ReturnValue_t LocalPool::findEmpty(n_pool_elem_t poolIndex, uint16_t *element) {
+    ReturnValue_t status = DATA_STORAGE_FULL;
+    for (uint16_t foundElement = 0; foundElement < numberOfElements[poolIndex];
+            foundElement++) {
+        if (sizeLists[poolIndex][foundElement] == STORAGE_FREE) {
+            *element = foundElement;
+            status = RETURN_OK;
+            break;
+        }
+    }
+    return status;
+}
+
+size_t LocalPool::getTotalSize(size_t* additionalSize) {
+    size_t totalSize = 0;
+    size_t sizesSize = 0;
+    for(uint8_t idx = 0; idx < NUMBER_OF_POOLS; idx ++) {
+        totalSize += elementSizes[idx] * numberOfElements[idx];
+        sizesSize += numberOfElements[idx] * sizeof(size_type);
+    }
+    if(additionalSize != nullptr) {
+        *additionalSize = sizesSize;
+    }
+    return totalSize;
+}
+
+void LocalPool::getFillCount(uint8_t *buffer, uint8_t *bytesWritten) {
+	if(bytesWritten == nullptr or buffer == nullptr) {
+		return;
+	}
+
+	uint16_t reservedHits = 0;
+	uint8_t idx = 0;
+	uint16_t sum = 0;
+	for(; idx < NUMBER_OF_POOLS; idx ++) {
+		for(const auto& size: sizeLists[idx]) {
+			if(size != STORAGE_FREE) {
+				reservedHits++;
+			}
+		}
+		buffer[idx] = static_cast<float>(reservedHits) /
+				numberOfElements[idx] * 100;
+		*bytesWritten += 1;
+		sum += buffer[idx];
+		reservedHits = 0;
+	}
+	buffer[idx] = sum / NUMBER_OF_POOLS;
+	*bytesWritten += 1;
+}
+
+
+void LocalPool::clearPage(max_pools_t  pageIndex) {
+	if(pageIndex >= NUMBER_OF_POOLS) {
+		return;
+	}
+
+	// Mark the storage as free
+	for(auto& size: sizeLists[pageIndex]) {
+		size = STORAGE_FREE;
+	}
+
+	// Set all the page content to 0.
+	std::memset(store[pageIndex].data(), 0, elementSizes[pageIndex]);
+}

storagemanager/LocalPool.h

@@ -7,57 +7,93 @@
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../internalError/InternalErrorReporterIF.h"
 #include "../storagemanager/StorageAccessor.h"
-#include <cstring>
+
+#include <vector>
+#include <set>
+#include <utility>
+#include <limits>
 
 
 /**
  * @brief   The LocalPool class provides an intermediate data storage with
  *          a fixed pool size policy.
- * @details	The class implements the StorageManagerIF interface. While the
- * 			total number of pools is fixed, the element sizes in one pool and
- * 			the number of pool elements per pool are set on construction.
- * 			The full amount of memory is allocated on construction.
- * 			The overhead is 4 byte per pool element to store the size
- * 			information of each stored element.
- * 			To maintain an "empty" information, the pool size is limited to
- * 			0xFFFF-1 bytes.
+ * @details
+ * The class implements the StorageManagerIF interface. While the total number
+ * of pools is fixed, the element sizes in one pool and the number of pool
+ * elements per pool are set on construction. The full amount of memory is
+ * allocated on construction.
+ * The overhead is 4 byte per pool element to store the size information of
+ * each stored element. To maintain an "empty" information, the pool size is
+ * limited to 0xFFFF-1 bytes.
  * It is possible to store empty packets in the pool.
  * The local pool is NOT thread-safe.
- * @author 	Bastian Baetz
  */
-template<uint8_t NUMBER_OF_POOLS = 5>
 class LocalPool: public SystemObject, public StorageManagerIF {
 public:
+    using pool_elem_size_t = size_type;
+    using n_pool_elem_t = uint16_t;
+	using LocalPoolCfgPair = std::pair<n_pool_elem_t, pool_elem_size_t>;
+
+	// The configuration needs to be provided with the pool sizes ascending
+	// but the number of pool elements as the first value is more intuitive.
+	// Therefore, a custom comparator was provided.
+	struct LocalPoolConfigCmp
+	{
+		bool operator ()(const LocalPoolCfgPair &a,
+				const LocalPoolCfgPair &b) const
+		{
+			if(a.second < b.second) {
+				return true;
+			}
+			else if(a.second > b.second) {
+				return false;
+			}
+			else {
+				if(a.first < b.first) {
+					return true;
+				}
+				else {
+					return false;
+				}
+			}
+		}
+	};
+    using LocalPoolConfig = std::multiset<LocalPoolCfgPair, LocalPoolConfigCmp>;
+
     /**
-	 * @brief	This definition generally sets the number of different sized pools.
-	 * @details This must be less than the maximum number of pools (currently 0xff).
+     * @brief   This definition generally sets the number of
+     * 			different sized pools. It is derived from the number of pairs
+     * 			inside the LocalPoolConfig set on object creation.
+     * @details
+     * This must be less than the maximum number of pools (currently 0xff).
      */
-	//	static const uint32_t NUMBER_OF_POOLS;
+    const max_pools_t NUMBER_OF_POOLS;
+
     /**
      * @brief   This is the default constructor for a pool manager instance.
-	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
-	 * 			allocates memory (with @c new) for store and size_list. These
-	 * 			regions are all set to zero on start up.
+     * @details
+     * The pool is configured by passing a set of pairs into the constructor.
+     * The first value of that pair determines the number of one elements on
+     * the respective page of the pool while the second value determines how
+     * many elements with that size are created on that page.
+     * All regions are to zero on start up.
      * @param setObjectId   The object identifier to be set. This allows for
      *                      multiple instances of LocalPool in the system.
-	 * @param element_sizes	An array of size NUMBER_OF_POOLS in which the size
-	 * 						of a single element in each pool is determined.
-	 * 						<b>The sizes must be provided in ascending order.
-	 * 						</b>
-	 * @param n_elements	An array of size NUMBER_OF_POOLS in which the
-	 * 						number of elements for each pool is determined.
-	 * 						The position of these values correspond to those in
-	 * 						element_sizes.
-	 * @param registered	Register the pool in object manager or not.
-	 * Default is false (local pool).
+     * @param poolConfig
+     * This is a set of pairs to configure the number of pages in the pool,
+     * the size of an element on a page, the number of elements on a page
+     * and the total size of the pool at once while also implicitely
+     * sorting the pairs in the right order.
+     * @param registered
+     * Determines whether the pool is registered in the object manager or not.
      * @param spillsToHigherPools A variable to determine whether
      * higher n pools are used if the store is full.
      */
-	LocalPool(object_id_t setObjectId,
-			const uint16_t element_sizes[NUMBER_OF_POOLS],
-			const uint16_t n_elements[NUMBER_OF_POOLS],
-			bool registered = false,
-			bool spillsToHigherPools = false);
+    LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
+            bool registered = false, bool spillsToHigherPools = false);
+
+    void setToSpillToHigherPools(bool enable);
+
 	/**
 	 * @brief	In the LocalPool's destructor all allocated memory is freed.
 	 */
@@ -66,25 +102,49 @@ public:
 	/**
 	 * Documentation: See StorageManagerIF.h
 	 */
-	ReturnValue_t addData(store_address_t* storageId, const uint8_t * data,
+	ReturnValue_t addData(store_address_t* storeId, const uint8_t * data,
 			size_t size, bool ignoreFault = false) override;
-	ReturnValue_t getFreeElement(store_address_t* storageId,const size_t size,
-			uint8_t** p_data, bool ignoreFault = false) override;
+	ReturnValue_t getFreeElement(store_address_t* storeId,const size_t size,
+			uint8_t** pData, bool ignoreFault = false) override;
 
-	ConstAccessorPair getData(store_address_t packet_id) override;
-	ReturnValue_t getData(store_address_t packet_id, ConstStorageAccessor&) override;
-	ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
+	ConstAccessorPair getData(store_address_t storeId) override;
+	ReturnValue_t getData(store_address_t storeId,
+	        ConstStorageAccessor& constAccessor) override;
+	ReturnValue_t getData(store_address_t storeId,
+	        const uint8_t** packet_ptr, size_t * size) override;
+
+	AccessorPair modifyData(store_address_t storeId) override;
+	ReturnValue_t modifyData(store_address_t storeId,
+	        StorageAccessor& storeAccessor) override;
+	ReturnValue_t modifyData(store_address_t storeId, uint8_t** packet_ptr,
 			size_t * size) override;
 
-	AccessorPair modifyData(store_address_t packet_id) override;
-	ReturnValue_t modifyData(store_address_t packet_id, StorageAccessor&) override;
-	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
-			size_t * size) override;
-
-	virtual ReturnValue_t deleteData(store_address_t) override;
+	virtual ReturnValue_t deleteData(store_address_t storeId) override;
 	virtual ReturnValue_t deleteData(uint8_t* ptr, size_t size,
-			store_address_t* storeId = NULL) override;
+			store_address_t* storeId = nullptr) override;
+
+	/**
+	 * Get the total size of allocated memory for pool data.
+	 * There is an additional overhead of the sizes of elements which will
+	 * be assigned to additionalSize
+	 * @return
+	 */
+	size_t getTotalSize(size_t* additionalSize) override;
+
+	/**
+	 * Get the fill count of the pool. Each character inside the provided
+	 * buffer will be assigned to a rounded percentage fill count for each
+	 * page. The last written byte (at the index bytesWritten - 1)
+	 * will contain the total fill count of the pool as a mean of the
+	 * percentages of single pages.
+	 * @param buffer
+	 * @param maxSize
+	 */
+	void getFillCount(uint8_t* buffer, uint8_t* bytesWritten) override;
+
 	void clearStore() override;
+	void clearPage(max_pools_t pageIndex) override;
+
 	ReturnValue_t initialize() override;
 protected:
 	/**
@@ -94,43 +154,48 @@ protected:
 	 * @return	- #RETURN_OK on success,
 	 * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
 	 */
-	virtual ReturnValue_t reserveSpace(const uint32_t size,
+	virtual ReturnValue_t reserveSpace(const size_t size,
 			store_address_t* address, bool ignoreFault);
 
-	InternalErrorReporterIF *internalErrorReporter;
 private:
     /**
      * Indicates that this element is free.
-	 * This value limits the maximum size of a pool. Change to larger data type
-	 * if increase is required.
+     * This value limits the maximum size of a pool.
+     * Change to larger data type if increase is required.
      */
-	static const uint32_t STORAGE_FREE = 0xFFFFFFFF;
+    static const size_type STORAGE_FREE = std::numeric_limits<size_type>::max();
 	/**
 	 * @brief	In this array, the element sizes of each pool is stored.
 	 * @details	The sizes are maintained for internal pool management. The sizes
 	 * 			must be set in ascending order on construction.
 	 */
-	uint32_t element_sizes[NUMBER_OF_POOLS];
+    std::vector<size_type> elementSizes =
+            std::vector<size_type>(NUMBER_OF_POOLS);
 	/**
 	 * @brief	n_elements stores the number of elements per pool.
 	 * @details	These numbers are maintained for internal pool management.
 	 */
-	uint16_t n_elements[NUMBER_OF_POOLS];
+	std::vector<uint16_t> numberOfElements =
+	        std::vector<uint16_t>(NUMBER_OF_POOLS);
 	/**
 	 * @brief	store represents the actual memory pool.
 	 * @details	It is an array of pointers to memory, which was allocated with
 	 * 			a @c new call on construction.
 	 */
-	uint8_t* store[NUMBER_OF_POOLS];
+	std::vector<std::vector<uint8_t>> store =
+	        std::vector<std::vector<uint8_t>>(NUMBER_OF_POOLS);
+
 	/**
 	 * @brief	The size_list attribute stores the size values of every pool element.
 	 * @details	As the number of elements is determined on construction, the size list
 	 * 			is also dynamically allocated there.
 	 */
-	uint32_t* size_list[NUMBER_OF_POOLS];
+	std::vector<std::vector<size_type>> sizeLists =
+	        std::vector<std::vector<size_type>>(NUMBER_OF_POOLS);
+
 	//! A variable to determine whether higher n pools are used if
 	//! the store is full.
-	bool spillsToHigherPools;
+	bool spillsToHigherPools = false;
 	/**
 	 * @brief	This method safely stores the given data in the given packet_id.
 	 * @details	It also sets the size in size_list. The method does not perform
@@ -139,30 +204,24 @@ private:
 	 * @param data		The data to be stored.
 	 * @param size		The size of the data to be stored.
 	 */
-	void write(store_address_t packet_id, const uint8_t* data, size_t size);
+	void write(store_address_t packetId, const uint8_t* data, size_t size);
 	/**
 	 * @brief	A helper method to read the element size of a certain pool.
 	 * @param pool_index	The pool in which to look.
 	 * @return	Returns the size of an element or 0.
 	 */
-	uint32_t getPageSize(uint16_t pool_index);
-	/**
-	 * @brief	This helper method looks up a fitting pool for a given size.
-	 * @details	The pools are looked up in ascending order, so the first that
-	 * 			fits is used.
-	 * @param packet_size	The size of the data to be stored.
-	 * @return	Returns the pool that fits or StorageManagerIF::INVALID_ADDRESS.
-	 */
+	size_type getPageSize(max_pools_t poolIndex);
+
 	/**
 	 * @brief	This helper method looks up a fitting pool for a given size.
 	 * @details	The pools are looked up in ascending order, so the first that
 	 * 			fits is used.
 	 * @param packet_size		The size of the data to be stored.
 	 * @param[out] poolIndex	The fitting pool index found.
-	 * @return	- #RETURN_OK on success,
-	 * 			- #DATA_TOO_LARGE otherwise.
+	 * @return	- @c RETURN_OK on success,
+	 * 			- @c DATA_TOO_LARGE otherwise.
 	 */
-	ReturnValue_t getPoolIndex(size_t packet_size, uint16_t* poolIndex,
+	ReturnValue_t getPoolIndex(size_t packetSize, uint16_t* poolIndex,
 			uint16_t startAtIndex = 0);
 	/**
 	 * @brief	This helper method calculates the true array position in store
@@ -172,7 +231,7 @@ private:
 	 * @param packet_id	The packet id to look up.
 	 * @return	Returns the position of the data in store.
 	 */
-	uint32_t getRawPosition(store_address_t packet_id);
+	size_type getRawPosition(store_address_t storeId);
 	/**
 	 * @brief	This is a helper method to find an empty element in a given pool.
 	 * @details	The method searches size_list for the first empty element, so
@@ -182,9 +241,9 @@ private:
 	 * @return	- #RETURN_OK on success,
 	 * 			- #DATA_STORAGE_FULL if the store is full
 	 */
-	ReturnValue_t findEmpty(uint16_t pool_index, uint16_t* element);
+	ReturnValue_t findEmpty(n_pool_elem_t poolIndex, uint16_t* element);
+
+    InternalErrorReporterIF *internalErrorReporter = nullptr;
 };
 
-#include "LocalPool.tpp"
-
 #endif /* FSFW_STORAGEMANAGER_LOCALPOOL_H_ */

storagemanager/PoolManager.cpp

@@ -0,0 +1,60 @@
+#include "PoolManager.h"
+#include <FSFWConfig.h>
+
+PoolManager::PoolManager(object_id_t setObjectId,
+        const LocalPoolConfig& localPoolConfig):
+        LocalPool(setObjectId, localPoolConfig, true) {
+    mutex = MutexFactory::instance()->createMutex();
+}
+
+
+PoolManager::~PoolManager(void) {
+    MutexFactory::instance()->deleteMutex(mutex);
+}
+
+
+ReturnValue_t PoolManager::reserveSpace(const size_t size,
+        store_address_t* address, bool ignoreFault) {
+    MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
+            mutexTimeoutMs);
+    ReturnValue_t status = LocalPool::reserveSpace(size,
+            address,ignoreFault);
+    return status;
+}
+
+
+ReturnValue_t PoolManager::deleteData(
+        store_address_t storeId) {
+#if FSFW_VERBOSE_PRINTOUT == 2
+     sif::debug << "PoolManager( " << translateObject(getObjectId()) <<
+           " )::deleteData from store " << storeId.poolIndex <<
+           ". id is "<< storeId.packetIndex << std::endl;
+#endif
+    MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
+            mutexTimeoutMs);
+    return LocalPool::deleteData(storeId);
+}
+
+
+ReturnValue_t PoolManager::deleteData(uint8_t* buffer,
+        size_t size, store_address_t* storeId) {
+    MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    ReturnValue_t status = LocalPool::deleteData(buffer,
+            size, storeId);
+    return status;
+}
+
+
+void PoolManager::setMutexTimeout(
+        uint32_t mutexTimeoutMs) {
+    this->mutexTimeoutMs = mutexTimeoutMs;
+}
+
+ReturnValue_t PoolManager::lockMutex(MutexIF::TimeoutType timeoutType,
+		uint32_t timeoutMs) {
+	return mutex->lockMutex(timeoutType, timeoutMs);
+}
+
+ReturnValue_t PoolManager::unlockMutex() {
+	return mutex->unlockMutex();
+}

storagemanager/PoolManager.h

@@ -9,16 +9,20 @@
 /**
  * @brief	The PoolManager class provides an intermediate data storage with
  * 			a fixed pool size policy for inter-process communication.
- * @details	Uses local pool calls but is thread safe by protecting the call
- * 			with a lock.
+ * @details
+ * Uses local pool calls but is thread safe by protecting most calls
+ * with a lock. The developer can lock the pool with the provided API
+ * if the lock needs to persists beyond the function call.
+ *
+ * Other than that, the class provides the same interface as the LocalPool
+ * class. The class is always registered as a system object as it is assumed
+ * it will always be used concurrently (if this is not the case, it is
+ * recommended to use the LocalPool class instead).
  * @author 	Bastian Baetz
  */
-template <uint8_t NUMBER_OF_POOLS = 5>
-class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
+class PoolManager: public LocalPool {
 public:
-	PoolManager(object_id_t setObjectId,
-			const uint16_t element_sizes[NUMBER_OF_POOLS],
-			const uint16_t n_elements[NUMBER_OF_POOLS]);
+	PoolManager(object_id_t setObjectId, const LocalPoolConfig& poolConfig);
 
 	/**
 	 * @brief	In the PoolManager's destructor all allocated memory
@@ -26,6 +30,12 @@ public:
 	 */
 	virtual ~PoolManager();
 
+	/**
+	 * Set the default mutex timeout for internal calls.
+	 * @param mutexTimeoutMs
+	 */
+	void setMutexTimeout(uint32_t mutexTimeoutMs);
+
 	/**
 	 * @brief 	LocalPool overrides for thread-safety. Decorator function
 	 * 			which wraps LocalPool calls with a mutex protection.
@@ -34,12 +44,23 @@ public:
 	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = nullptr) override;
 
-	void setMutexTimeout(uint32_t mutexTimeoutMs);
+	/**
+	 * The developer is allowed to lock the mutex in case the lock needs
+	 * to persist beyond the function calls which are not protected by the
+	 * class.
+	 * @param timeoutType
+	 * @param timeoutMs
+	 * @return
+	 */
+	ReturnValue_t lockMutex(MutexIF::TimeoutType timeoutType,
+			uint32_t timeoutMs);
+	ReturnValue_t unlockMutex();
+
 protected:
 	//! Default mutex timeout value to prevent permanent blocking.
 	uint32_t mutexTimeoutMs = 20;
 
-	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
+	ReturnValue_t reserveSpace(const size_t size, store_address_t* address,
 			bool ignoreFault) override;
 
 	/**
@@ -51,6 +72,4 @@ protected:
 	MutexIF* mutex;
 };
 
-#include "PoolManager.tpp"
-
 #endif /* FSFW_STORAGEMANAGER_POOLMANAGER_H_ */

storagemanager/StorageAccessor.h

@@ -10,9 +10,7 @@ class StorageManagerIF;
  */
 class StorageAccessor: public ConstStorageAccessor {
 	//! StorageManager classes have exclusive access to private variables.
-	template<uint8_t NUMBER_OF_POOLS>
 	friend class PoolManager;
-	template<uint8_t NUMBER_OF_POOLS>
 	friend class LocalPool;
 public:
 	StorageAccessor(store_address_t storeId);

storagemanager/StorageManagerIF.h

@@ -28,6 +28,9 @@ using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
  */
 class StorageManagerIF : public HasReturnvaluesIF {
 public:
+	using size_type = size_t;
+	using max_pools_t = uint8_t;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::STORAGE_MANAGER_IF; //!< The unique ID for return codes for this interface.
 	static const ReturnValue_t DATA_TOO_LARGE = MAKE_RETURN_CODE(1); //!< This return code indicates that the data to be stored is too large for the store.
 	static const ReturnValue_t DATA_STORAGE_FULL = MAKE_RETURN_CODE(2); //!< This return code indicates that a data storage is full.
@@ -40,7 +43,9 @@ public:
 	static const Event GET_DATA_FAILED = MAKE_EVENT(0, severity::LOW);
 	static const Event STORE_DATA_FAILED = MAKE_EVENT(1, severity::LOW);
 
-	static const uint32_t INVALID_ADDRESS = 0xFFFFFFFF; //!< Indicates an invalid (i.e unused) storage address.
+	//!< Indicates an invalid (i.e unused) storage address.
+	static const uint32_t INVALID_ADDRESS = 0xFFFFFFFF;
+
 	/**
 	 * @brief This is the empty virtual destructor as required for C++ interfaces.
 	 */
@@ -164,6 +169,22 @@ public:
 	 * Use with care!
 	 */
 	virtual void clearStore() = 0;
+
+	/**
+	 * Clears a page in the store. Use with care!
+	 * @param pageIndex
+	 */
+	virtual void clearPage(uint8_t pageIndex) = 0;
+
+	/**
+	 * Get the fill count of the pool. The exact form will be implementation
+	 * dependant.
+	 * @param buffer
+	 * @param bytesWritten
+	 */
+	virtual void getFillCount(uint8_t* buffer, uint8_t* bytesWritten) = 0;
+
+	virtual size_t getTotalSize(size_t* additionalSize) = 0;
 };
 
 #endif /* FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_ */

storagemanager/storeAddress.h

@@ -3,16 +3,21 @@
 
 #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 {
+
 	/**
 	 * Default Constructor, initializing to INVALID_ADDRESS
 	 */
-	store_address_t():raw(0xFFFFFFFF){}
+	store_address_t(): raw(storeId::INVALID_STORE_ADDRESS){}
 	/**
 	 * Constructor to create an address object using the raw address
 	 *
@@ -28,7 +33,7 @@ union store_address_t {
 	 * @param packetIndex
 	 */
 	store_address_t(uint16_t poolIndex, uint16_t packetIndex):
-		pool_index(poolIndex),packet_index(packetIndex){}
+		poolIndex(poolIndex), packetIndex(packetIndex){}
 	/**
 	 * A structure with two elements to access the store address pool-like.
 	 */
@@ -36,11 +41,11 @@ union store_address_t {
 		/**
 		 * The index in which pool the packet lies.
 		 */
-		uint16_t pool_index;
+		uint16_t poolIndex;
 		/**
 		 * The position in the chosen pool.
 		 */
-		uint16_t packet_index;
+		uint16_t packetIndex;
 	};
 	/**
 	 * Alternative access to the raw value.

thermal/AbstractTemperatureSensor.cpp

@@ -44,19 +44,19 @@ ReturnValue_t AbstractTemperatureSensor::performHealthOp() {
 }
 
 void AbstractTemperatureSensor::handleCommandQueue() {
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	CommandMessage command;
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		result = parameterHelper.handleParameterMessage(&message);
+		result = parameterHelper.handleParameterMessage(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		message.setToUnknownCommand();
-		commandQueue->reply(&message);
+		command.setToUnknownCommand();
+		commandQueue->reply(&command);
 	}
 }
 

thermal/AbstractTemperatureSensor.h

@@ -10,6 +10,16 @@
 #include "ThermalModuleIF.h"
 #include "tcsDefinitions.h"
 
+/**
+ * @defgroup thermal Thermal Components
+ * @brief Contains all components related to thermal tasks (sensors, heaters)
+ */
+
+/**
+ * @brief Base class for Temperature Sensor, implements all important interfaces.
+ *        Please use the TemperatureSensor class to implement the actual sensors.
+ * @ingroup thermal
+ */
 class AbstractTemperatureSensor: public HasHealthIF,
 		public SystemObject,
 		public ExecutableObjectIF,

thermal/AcceptsThermalMessagesIF.h

@@ -0,0 +1,22 @@
+/**
+ * \file AcceptsThermalMessagesIF.h
+ *
+ * \date 16.02.2020
+ */
+
+#ifndef FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_
+#define FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_
+#include "../ipc/MessageQueueSenderIF.h"
+
+class AcceptsThermalMessagesIF {
+public:
+
+	/**
+	 * @brief	This is the empty virtual destructor as required for C++ interfaces.
+	 */
+	virtual ~AcceptsThermalMessagesIF() { }
+
+	virtual MessageQueueId_t getReceptionQueue() const = 0;
+};
+
+#endif /* FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_ */

thermal/CoreComponent.h

@@ -1,96 +0,0 @@
-#ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
-#define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
-
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../thermal/ThermalComponentIF.h"
-#include "../thermal/AbstractTemperatureSensor.h"
-#include "../thermal/ThermalModule.h"
-#include "../thermal/ThermalMonitor.h"
-
-// TODO: Documentaiton, how to use this? only use Thermal Component, which inherits core component?
-class CoreComponent: public ThermalComponentIF {
-public:
-	struct Parameters {
-		float lowerOpLimit;
-		float upperOpLimit;
-		float heaterOn;
-		float hysteresis;
-		float heaterSwitchoff;
-	};
-
-	static const uint16_t COMPONENT_TEMP_CONFIRMATION = 5;
-
-	CoreComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
-			uint32_t targetStatePoolId, uint32_t currentStatePoolId,
-			uint32_t requestPoolId, GlobDataSet *dataSet,
-			AbstractTemperatureSensor *sensor,
-			AbstractTemperatureSensor *firstRedundantSensor,
-			AbstractTemperatureSensor *secondRedundantSensor,
-			ThermalModuleIF *thermalModule, Parameters parameters,
-			Priority priority, StateRequest initialTargetState =
-					ThermalComponentIF::STATE_REQUEST_OPERATIONAL);
-
-	virtual ~CoreComponent();
-
-	virtual HeaterRequest performOperation(uint8_t opCode);
-
-	void markStateIgnored();
-
-	object_id_t getObjectId();
-
-	uint8_t getDomainId() const;
-
-	virtual float getLowerOpLimit();
-
-	ReturnValue_t setTargetState(int8_t newState);
-
-	virtual void setOutputInvalid();
-
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex);
-
-protected:
-
-	AbstractTemperatureSensor *sensor;
-	AbstractTemperatureSensor *firstRedundantSensor;
-	AbstractTemperatureSensor *secondRedundantSensor;
-	ThermalModuleIF *thermalModule;
-
-	gp_float_t temperature;
-	gp_int8_t targetState;
-	gp_int8_t currentState;
-	gp_uint8_t heaterRequest;
-
-	bool isHeating;
-
-	bool isSafeComponent;
-
-	float minTemp;
-
-	float maxTemp;
-
-	Parameters parameters;
-
-	ThermalMonitor temperatureMonitor;
-
-	const uint8_t domainId;
-
-	virtual float getTemperature();
-	virtual State getState(float temperature, Parameters parameters,
-			int8_t targetState);
-
-	virtual void checkLimits(State state);
-
-	virtual HeaterRequest getHeaterRequest(int8_t targetState,
-			float temperature, Parameters parameters);
-
-	virtual State getIgnoredState(int8_t state);
-
-	void updateMinMaxTemp();
-
-	virtual Parameters getParameters();
-};
-
-#endif /* MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_ */

thermal/Heater.cpp

@@ -279,14 +279,14 @@ ReturnValue_t Heater::initialize() {
 }
 
 void Heater::handleQueue() {
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	CommandMessage command;
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		parameterHelper.handleParameterMessage(&message);
+		parameterHelper.handleParameterMessage(&command);
 	}
 }
 
@@ -301,7 +301,7 @@ ReturnValue_t Heater::getParameter(uint8_t domainId, uint16_t parameterId,
 		parameterWrapper->set(heaterOnCountdown.timeout);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

thermal/RedundantHeater.h

@@ -1,7 +1,7 @@
 #ifndef REDUNDANTHEATER_H_
 #define REDUNDANTHEATER_H_
 
-#include "Heater.h"
+#include "../thermal/Heater.h"
 
 class RedundantHeater {
 public:
@@ -10,15 +10,14 @@ public:
 		Parameters(uint32_t objectIdHeater0, uint32_t objectIdHeater1,
 				uint8_t switch0Heater0, uint8_t switch1Heater0,
 				uint8_t switch0Heater1, uint8_t switch1Heater1) :
-				objectIdHeater0(objectIdHeater0), objectIdHeater1(
-						objectIdHeater1), switch0Heater0(switch0Heater0), switch1Heater0(
-						switch1Heater0), switch0Heater1(switch0Heater1), switch1Heater1(
-						switch1Heater1) {
+				objectIdHeater0(objectIdHeater0), objectIdHeater1(objectIdHeater1),
+				switch0Heater0(switch0Heater0),switch1Heater0(switch1Heater0),
+				switch0Heater1(switch0Heater1), switch1Heater1(switch1Heater1) {
 		}
 
 		Parameters() :
-				objectIdHeater0(0), objectIdHeater1(0), switch0Heater0(0), switch1Heater0(
-						0), switch0Heater1(0), switch1Heater1(0) {
+				objectIdHeater0(0), objectIdHeater1(0), switch0Heater0(0),
+				switch1Heater0(0), switch0Heater1(0), switch1Heater1(0) {
 		}
 
 		uint32_t objectIdHeater0;

thermal/TemperatureSensor.h

@@ -1,40 +1,101 @@
 #ifndef TEMPERATURESENSOR_H_
 #define TEMPERATURESENSOR_H_
 
-#include "../datapool/DataSet.h"
-#include "AbstractTemperatureSensor.h"
+#include "../thermal/AbstractTemperatureSensor.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../monitoring/LimitMonitor.h"
 
-template<typename T>
+/**
+ * @brief 	This building block handles non-linear value conversion and
+ * 			range checks for analog temperature sensors.
+ * @details This class can be used to perform all necessary tasks for temperature sensors.
+ *          A sensor can be instantiated by calling the constructor.
+ *          The temperature is calculated from an input value with
+ *			the calculateOutputTemperature() function. Range checking and
+ *			limit monitoring is performed automatically.
+ *			The inputType specifies the type of the raw input while the
+ *			limitType specifies the type of the upper and lower limit to check against.
+ * @ingroup thermal
+ */
+
+template<typename inputType, typename limitType = inputType>
 class TemperatureSensor: public AbstractTemperatureSensor {
 public:
+	/**
+	 * This structure contains parameters required for range checking
+	 * and the conversion from the input value to the output temperature.
+	 * a, b and c can be any parameters required to calculate the output
+	 * temperature from the input value, depending on the formula used.
+	 *
+	 * The parameters a,b and c are used in the calculateOutputTemperature() call.
+	 *
+	 * The lower and upper limits can be specified in any type, for example float for C values
+	 * or any other type for raw values.
+	 */
 	struct Parameters {
 		float a;
 		float b;
 		float c;
-		T lowerLimit;
-		T upperLimit;
-		float gradient;
+		limitType lowerLimit;
+		limitType upperLimit;
+		float maxGradient;
 	};
+
+	/**
+	 * Forward declaration for explicit instantiation of used parameters.
+	 */
 	struct UsedParameters {
 		UsedParameters(Parameters parameters) :
-				a(parameters.a), b(parameters.b), c(parameters.c), gradient(
-						parameters.gradient) {
-		}
+			a(parameters.a), b(parameters.b), c(parameters.c),
+			gradient(parameters.maxGradient) {}
 		float a;
 		float b;
 		float c;
 		float gradient;
 	};
 
-	static const uint16_t ADDRESS_A = 0;
-	static const uint16_t ADDRESS_B = 1;
-	static const uint16_t ADDRESS_C = 2;
-	static const uint16_t ADDRESS_GRADIENT = 3;
+	/**
+	 * Instantiate Temperature Sensor Object.
+	 * @param setObjectid objectId of the sensor object
+	 * @param inputValue Input value which is converted to a temperature
+	 * @param poolVariable Pool Variable to store the temperature value
+	 * @param vectorIndex Vector Index for the sensor monitor
+	 * @param parameters Calculation parameters, temperature limits, gradient limit
+	 * @param datapoolId Datapool ID of the output temperature
+	 * @param outputSet Output dataset for the output temperature to fetch it with read()
+	 * @param thermalModule respective thermal module, if it has one
+	 */
+	TemperatureSensor(object_id_t setObjectid,
+			inputType *inputValue, PoolVariableIF *poolVariable,
+			uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0},
+			GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
+			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
+			inputValue(inputValue), poolVariable(poolVariable),
+			outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE),
+			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR,
+				GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex),
+				DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
+				TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
+			oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
+	}
+
+
+protected:
+	/**
+	 * This formula is used to calculate the temperature from an input value
+	 * with an arbitrary type.
+	 * A default implementation is provided but can be replaced depending
+	 * on the required calculation.
+	 * @param inputTemperature
+	 * @return
+	 */
+	virtual float calculateOutputTemperature(inputType inputValue) {
+		return parameters.a * inputValue * inputValue
+				+ parameters.b * inputValue + parameters.c;
+	}
 
-	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)
 
-	static const uint8_t DOMAIN_ID_SENSOR = 1;
 private:
 	void setInvalid() {
 		outputTemperature = INVALID_TEMPERATURE;
@@ -47,22 +108,17 @@ protected:
 
 	UsedParameters parameters;
 
-	T *inputTemperature;
+	inputType * inputValue;
 
 	PoolVariableIF *poolVariable;
 
-	PoolVariable<float> outputTemperature;
+	gp_float_t outputTemperature;
 
-	LimitMonitor<T> sensorMonitor;
+	LimitMonitor<limitType> sensorMonitor;
 
 	float oldTemperature;
 	timeval uptimeOfOldTemperature;
 
-	virtual float calculateOutputTemperature(T inputTemperature) {
-		return parameters.a * inputTemperature * inputTemperature
-				+ parameters.b * inputTemperature + parameters.c;
-	}
-
 	void doChildOperation() {
 		if (!poolVariable->isValid()
 				|| !healthHelper.healthTable->isHealthy(getObjectId())) {
@@ -70,7 +126,7 @@ protected:
 			return;
 		}
 
-		outputTemperature = calculateOutputTemperature(*inputTemperature);
+		outputTemperature = calculateOutputTemperature(*inputValue);
 		outputTemperature.setValid(PoolVariableIF::VALID);
 
 		timeval uptime;
@@ -78,7 +134,7 @@ protected:
 
 		if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) {
 			//In theory, we could use an AbsValueMonitor to monitor the gradient.
-			//But this would require storing the gradient in DP and quite some overhead.
+			//But this would require storing the maxGradient in DP and quite some overhead.
 			//The concept of delta limits is a bit strange anyway.
 			float deltaTime;
 			float deltaTemp;
@@ -96,8 +152,8 @@ protected:
 			}
 		}
 
-		//Check is done against raw limits. SHOULDDO: Why? Using °C would be more easy to handle.
-		sensorMonitor.doCheck(*inputTemperature);
+		//Check is done against raw limits. SHOULDDO: Why? Using <EFBFBD>C would be more easy to handle.
+		sensorMonitor.doCheck(outputTemperature.value);
 
 		if (sensorMonitor.isOutOfLimits()) {
 			uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
@@ -110,23 +166,6 @@ protected:
 	}
 
 public:
-	TemperatureSensor(object_id_t setObjectid,
-			T *inputTemperature, PoolVariableIF *poolVariable,
-			uint8_t vectorIndex, Parameters parameters, uint32_t datapoolId,
-			DataSet *outputSet, ThermalModuleIF *thermalModule) :
-			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(
-					parameters), inputTemperature(inputTemperature), poolVariable(
-					poolVariable), outputTemperature(datapoolId, outputSet,
-					PoolVariableIF::VAR_WRITE), sensorMonitor(setObjectid,
-							DOMAIN_ID_SENSOR,
-					DataPool::poolIdAndPositionToPid(
-							poolVariable->getDataPoolId(), vectorIndex),
-					DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit,
-					parameters.upperLimit, TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH), oldTemperature(
-					20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
-
-	}
-
 	float getTemperature() {
 		return outputTemperature;
 	}
@@ -135,6 +174,15 @@ public:
 		return outputTemperature.isValid();
 	}
 
+	static const uint16_t ADDRESS_A = 0;
+	static const uint16_t ADDRESS_B = 1;
+	static const uint16_t ADDRESS_C = 2;
+	static const uint16_t ADDRESS_GRADIENT = 3;
+
+	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)
+
+	static const uint8_t DOMAIN_ID_SENSOR = 1;
+
 	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 			ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex) {
@@ -160,7 +208,7 @@ public:
 			parameterWrapper->set(parameters.gradient);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}

thermal/ThermalComponent.cpp

@@ -1,20 +1,20 @@
 #include "ThermalComponent.h"
 
 ThermalComponent::ThermalComponent(object_id_t reportingObjectId,
-		uint8_t domainId, uint32_t temperaturePoolId,
-		uint32_t targetStatePoolId, uint32_t currentStatePoolId,
-		uint32_t requestPoolId, GlobDataSet* dataSet,
+		uint8_t domainId, gp_id_t temperaturePoolId,
+		gp_id_t targetStatePoolId, gp_id_t currentStatePoolId,
+		gp_id_t requestPoolId, LocalPoolDataSetBase* dataSet,
 		AbstractTemperatureSensor* sensor,
 		AbstractTemperatureSensor* firstRedundantSensor,
 		AbstractTemperatureSensor* secondRedundantSensor,
 		ThermalModuleIF* thermalModule, Parameters parameters,
 		Priority priority) :
-		CoreComponent(reportingObjectId, domainId, temperaturePoolId,
+		ThermalComponentCore(reportingObjectId, domainId, temperaturePoolId,
 				targetStatePoolId, currentStatePoolId, requestPoolId, dataSet,
-				sensor, firstRedundantSensor, secondRedundantSensor,
-				thermalModule,{ parameters.lowerOpLimit, parameters.upperOpLimit,
-				parameters.heaterOn, parameters.hysteresis, parameters.heaterSwitchoff },
-				priority, ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
+				{ parameters.lowerOpLimit, parameters.upperOpLimit,
+				parameters.heaterOn, parameters.hysteresis,
+				parameters.heaterSwitchoff },
+				ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
 		nopParameters({ parameters.lowerNopLimit, parameters.upperNopLimit }) {
 }
 
@@ -22,22 +22,22 @@ ThermalComponent::~ThermalComponent() {
 }
 
 ReturnValue_t ThermalComponent::setTargetState(int8_t newState) {
-	GlobDataSet mySet;
-	gp_int8_t writableTargetState(targetState.getDataPoolId(),
-			&mySet, PoolVariableIF::VAR_READ_WRITE);
-	mySet.read();
-	if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
-			&& (newState != STATE_REQUEST_IGNORE)) {
+	targetState.setReadWriteMode(pool_rwm_t::VAR_READ_WRITE);
+	targetState.read();
+	if ((targetState == STATE_REQUEST_OPERATIONAL)
+			and (newState != STATE_REQUEST_IGNORE)) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	switch (newState) {
 	case STATE_REQUEST_NON_OPERATIONAL:
-		writableTargetState = newState;
-		mySet.commit(PoolVariableIF::VALID);
+		targetState = newState;
+		targetState.setValid(true);
+		targetState.commit(PoolVariableIF::VALID);
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
-		return CoreComponent::setTargetState(newState);
+		return ThermalComponentCore::setTargetState(newState);
 	}
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
@@ -57,11 +57,11 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
 }
 
 ThermalComponentIF::State ThermalComponent::getState(float temperature,
-		CoreComponent::Parameters parameters, int8_t targetState) {
+		ThermalComponentCore::Parameters parameters, int8_t targetState) {
 	if (temperature < nopParameters.lowerNopLimit) {
 		return OUT_OF_RANGE_LOW;
 	} else {
-		State state = CoreComponent::getState(temperature, parameters,
+		State state = ThermalComponentCore::getState(temperature, parameters,
 				targetState);
 		if (state != NON_OPERATIONAL_HIGH
 				&& state != NON_OPERATIONAL_HIGH_IGNORED) {
@@ -78,18 +78,19 @@ ThermalComponentIF::State ThermalComponent::getState(float temperature,
 }
 
 void ThermalComponent::checkLimits(ThermalComponentIF::State state) {
-	if (targetState == STATE_REQUEST_OPERATIONAL || targetState == STATE_REQUEST_IGNORE) {
-		CoreComponent::checkLimits(state);
+	if ((targetState == STATE_REQUEST_OPERATIONAL) or
+			(targetState == STATE_REQUEST_IGNORE)) {
+		ThermalComponentCore::checkLimits(state);
 		return;
 	}
-	//If component is not operational, it checks the NOP limits.
+	// If component is not operational, it checks the NOP limits.
 	temperatureMonitor.translateState(state, temperature.value,
 			nopParameters.lowerNopLimit, nopParameters.upperNopLimit, false);
 }
 
 ThermalComponentIF::HeaterRequest ThermalComponent::getHeaterRequest(
 		int8_t targetState, float temperature,
-		CoreComponent::Parameters parameters) {
+		ThermalComponentCore::Parameters parameters) {
 	if (targetState == STATE_REQUEST_IGNORE) {
 		isHeating = false;
 		return HEATER_DONT_CARE;
@@ -142,16 +143,16 @@ ThermalComponentIF::State ThermalComponent::getIgnoredState(int8_t state) {
 	case OUT_OF_RANGE_HIGH_IGNORED:
 		return OUT_OF_RANGE_HIGH_IGNORED;
 	default:
-		return CoreComponent::getIgnoredState(state);
+		return ThermalComponentCore::getIgnoredState(state);
 	}
 }
 
 ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
 		uint16_t parameterId, ParameterWrapper* parameterWrapper,
 		const ParameterWrapper* newValues, uint16_t startAtIndex) {
-	ReturnValue_t result = CoreComponent::getParameter(domainId, parameterId,
+	ReturnValue_t result = ThermalComponentCore::getParameter(domainId, parameterId,
 			parameterWrapper, newValues, startAtIndex);
-	if (result != INVALID_MATRIX_ID) {
+	if (result != INVALID_IDENTIFIER_ID) {
 		return result;
 	}
 	switch (parameterId) {
@@ -162,7 +163,7 @@ ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
 		parameterWrapper->set(nopParameters.upperNopLimit);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

thermal/ThermalComponent.h

@@ -1,12 +1,14 @@
-#ifndef THERMALCOMPONENT_H_
-#define THERMALCOMPONENT_H_
+#ifndef FSFW_THERMAL_THERMALCOMPONENT_H_
+#define FSFW_THERMAL_THERMALCOMPONENT_H_
 
-#include "CoreComponent.h"
+#include "ThermalComponentCore.h"
 
 /**
- * What is it. How to use
+ * @brief
+ * @details
+ * Some more documentation.
  */
-class ThermalComponent: public CoreComponent {
+class ThermalComponent: public ThermalComponentCore {
 public:
 	struct Parameters {
 		float lowerNopLimit;
@@ -42,9 +44,10 @@ public:
 	 * @param parameters
 	 * @param priority
 	 */
-	ThermalComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
-			uint32_t targetStatePoolId, uint32_t currentStatePoolId, uint32_t requestPoolId,
-			GlobDataSet *dataSet, AbstractTemperatureSensor *sensor,
+	ThermalComponent(object_id_t reportingObjectId, uint8_t domainId,
+	        gp_id_t temperaturePoolId, gp_id_t targetStatePoolId,
+	        gp_id_t currentStatePoolId, gp_id_t requestPoolId,
+			LocalPoolDataSetBase *dataSet, AbstractTemperatureSensor *sensor,
 			AbstractTemperatureSensor *firstRedundantSensor,
 			AbstractTemperatureSensor *secondRedundantSensor,
 			ThermalModuleIF *thermalModule, Parameters parameters,
@@ -63,15 +66,15 @@ protected:
 
 	NopParameters nopParameters;
 
-	State getState(float temperature, CoreComponent::Parameters parameters,
+	State getState(float temperature, ThermalComponentCore::Parameters parameters,
 			int8_t targetState);
 
 	virtual void checkLimits(State state);
 
 	virtual HeaterRequest getHeaterRequest(int8_t targetState, float temperature,
-			CoreComponent::Parameters parameters);
+			ThermalComponentCore::Parameters parameters);
 
 	State getIgnoredState(int8_t state);
 };
 
-#endif /* THERMALCOMPONENT_H_ */
+#endif /* FSFW_THERMAL_THERMALCOMPONENT_H_ */

thermal/ThermalComponentCore.cpp

@@ -1,50 +1,73 @@
-#include "CoreComponent.h"
+#include "ThermalComponentCore.h"
 
-CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId,
-		uint32_t temperaturePoolId, uint32_t targetStatePoolId,
-		uint32_t currentStatePoolId, uint32_t requestPoolId, GlobDataSet* dataSet,
-		AbstractTemperatureSensor* sensor,
-		AbstractTemperatureSensor* firstRedundantSensor,
-		AbstractTemperatureSensor* secondRedundantSensor,
-		ThermalModuleIF* thermalModule, Parameters parameters,
-		Priority priority, StateRequest initialTargetState) :
-		sensor(sensor), firstRedundantSensor(firstRedundantSensor), secondRedundantSensor(
-				secondRedundantSensor), thermalModule(thermalModule), temperature(
-				temperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
-				targetStatePoolId, dataSet, PoolVariableIF::VAR_READ), currentState(
-				currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), heaterRequest(
-				requestPoolId, dataSet, PoolVariableIF::VAR_WRITE), isHeating(
-		false), isSafeComponent(priority == SAFE), minTemp(999), maxTemp(
-				AbstractTemperatureSensor::ZERO_KELVIN_C), parameters(
-				parameters), temperatureMonitor(reportingObjectId,
-				domainId + 1,
-				GlobalDataPool::poolIdAndPositionToPid(temperaturePoolId, 0),
-				COMPONENT_TEMP_CONFIRMATION), domainId(domainId) {
-	if (thermalModule != NULL) {
+ThermalComponentCore::ThermalComponentCore(object_id_t reportingObjectId,
+        uint8_t domainId, gp_id_t temperaturePoolId,
+        gp_id_t targetStatePoolId, gp_id_t currentStatePoolId,
+		gp_id_t requestPoolId, LocalPoolDataSetBase* dataSet,
+		Parameters parameters, StateRequest initialTargetState) :
+		temperature(temperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		targetState(targetStatePoolId, dataSet, PoolVariableIF::VAR_READ),
+		currentState(currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		heaterRequest(requestPoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		parameters(parameters), domainId(domainId),
+		temperatureMonitor(reportingObjectId, domainId + 1,temperaturePoolId,
+				COMPONENT_TEMP_CONFIRMATION) {
+	//Set thermal state once, then leave to operator.
+	targetState.setReadWriteMode(PoolVariableIF::VAR_WRITE);
+	ReturnValue_t result = targetState.read();
+	if(result == HasReturnvaluesIF::RETURN_OK) {
+		targetState = initialTargetState;
+		targetState.setValid(true);
+		targetState.commit();
+	}
+	targetState.setReadWriteMode(PoolVariableIF::VAR_READ);
+}
+
+void ThermalComponentCore::addSensor(AbstractTemperatureSensor* sensor) {
+    this->sensor = sensor;
+}
+
+void ThermalComponentCore::addFirstRedundantSensor(
+        AbstractTemperatureSensor *firstRedundantSensor) {
+    this->firstRedundantSensor = firstRedundantSensor;
+}
+
+void ThermalComponentCore::addSecondRedundantSensor(
+        AbstractTemperatureSensor *secondRedundantSensor) {
+    this->secondRedundantSensor = secondRedundantSensor;
+}
+
+void ThermalComponentCore::addThermalModule(ThermalModule *thermalModule,
+        Priority priority) {
+    this->thermalModule = thermalModule;
+    if(thermalModule != nullptr) {
         thermalModule->registerComponent(this, priority);
     }
-	//Set thermal state once, then leave to operator.
-	GlobDataSet mySet;
-	gp_uint8_t writableTargetState(targetStatePoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	writableTargetState = initialTargetState;
-	mySet.commit(PoolVariableIF::VALID);
 }
 
-CoreComponent::~CoreComponent() {
+void ThermalComponentCore::setPriority(Priority priority) {
+    if(priority == SAFE) {
+        this->isSafeComponent = true;
+    }
 }
 
-ThermalComponentIF::HeaterRequest CoreComponent::performOperation(uint8_t opCode) {
+ThermalComponentCore::~ThermalComponentCore() {
+}
+
+ThermalComponentIF::HeaterRequest ThermalComponentCore::performOperation(
+        uint8_t opCode) {
 	HeaterRequest request = HEATER_DONT_CARE;
 	//SHOULDDO: Better pass db_float_t* to getTemperature and set it invalid if invalid.
 	temperature = getTemperature();
 	updateMinMaxTemp();
-	if ((temperature != INVALID_TEMPERATURE)) {
+	if (temperature != INVALID_TEMPERATURE) {
 		temperature.setValid(PoolVariableIF::VALID);
-		State state = getState(temperature, getParameters(), targetState);
+		State state = getState(temperature.value, getParameters(),
+				targetState.value);
 		currentState = state;
 		checkLimits(state);
-		request = getHeaterRequest(targetState, temperature, getParameters());
+		request = getHeaterRequest(targetState.value, temperature.value,
+				getParameters());
 	} else {
 		temperatureMonitor.setToInvalid();
 		temperature.setValid(PoolVariableIF::INVALID);
@@ -57,42 +80,45 @@ ThermalComponentIF::HeaterRequest CoreComponent::performOperation(uint8_t opCode
 	return request;
 }
 
-void CoreComponent::markStateIgnored() {
-	currentState = getIgnoredState(currentState);
+void ThermalComponentCore::markStateIgnored() {
+	currentState = getIgnoredState(currentState.value);
 }
 
-object_id_t CoreComponent::getObjectId() {
+object_id_t ThermalComponentCore::getObjectId() {
 	return temperatureMonitor.getReporterId();
+	return 0;
 }
 
-float CoreComponent::getLowerOpLimit() {
+float ThermalComponentCore::getLowerOpLimit() {
 	return parameters.lowerOpLimit;
 }
 
-ReturnValue_t CoreComponent::setTargetState(int8_t newState) {
-	GlobDataSet mySet;
-	gp_uint8_t writableTargetState(targetState.getDataPoolId(),
-			&mySet, PoolVariableIF::VAR_READ_WRITE);
-	mySet.read();
-	if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
-			&& (newState != STATE_REQUEST_IGNORE)) {
+
+
+ReturnValue_t ThermalComponentCore::setTargetState(int8_t newState) {
+	targetState.setReadWriteMode(pool_rwm_t::VAR_READ_WRITE);
+	targetState.read();
+	if((targetState == STATE_REQUEST_OPERATIONAL) and
+			(newState != STATE_REQUEST_IGNORE)) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+
 	switch (newState) {
 	case STATE_REQUEST_HEATING:
 	case STATE_REQUEST_IGNORE:
 	case STATE_REQUEST_OPERATIONAL:
-		writableTargetState = newState;
+		targetState = newState;
 		break;
 	case STATE_REQUEST_NON_OPERATIONAL:
 	default:
 		return INVALID_TARGET_STATE;
 	}
-	mySet.commit(PoolVariableIF::VALID);
+	targetState.setValid(true);
+	targetState.commit();
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void CoreComponent::setOutputInvalid() {
+void ThermalComponentCore::setOutputInvalid() {
 	temperature = INVALID_TEMPERATURE;
 	temperature.setValid(PoolVariableIF::INVALID);
 	currentState.setValid(PoolVariableIF::INVALID);
@@ -101,20 +127,22 @@ void CoreComponent::setOutputInvalid() {
 	temperatureMonitor.setToUnchecked();
 }
 
-float CoreComponent::getTemperature() {
-	if ((sensor != NULL) && (sensor->isValid())) {
+float ThermalComponentCore::getTemperature() {
+	if ((sensor != nullptr) && (sensor->isValid())) {
 		return sensor->getTemperature();
 	}
 
-	if ((firstRedundantSensor != NULL) && (firstRedundantSensor->isValid())) {
+	if ((firstRedundantSensor != nullptr) &&
+	        (firstRedundantSensor->isValid())) {
 		return firstRedundantSensor->getTemperature();
 	}
 
-	if ((secondRedundantSensor != NULL) && (secondRedundantSensor->isValid())) {
+	if ((secondRedundantSensor != nullptr) &&
+	        (secondRedundantSensor->isValid())) {
 		return secondRedundantSensor->getTemperature();
 	}
 
-	if (thermalModule != NULL) {
+	if (thermalModule != nullptr) {
 		float temperature = thermalModule->getTemperature();
 		if (temperature != ThermalModuleIF::INVALID_TEMPERATURE) {
 			return temperature;
@@ -126,7 +154,7 @@ float CoreComponent::getTemperature() {
 	}
 }
 
-ThermalComponentIF::State CoreComponent::getState(float temperature,
+ThermalComponentIF::State ThermalComponentCore::getState(float temperature,
 		Parameters parameters, int8_t targetState) {
 	ThermalComponentIF::State state;
 
@@ -144,14 +172,14 @@ ThermalComponentIF::State CoreComponent::getState(float temperature,
 	return state;
 }
 
-void CoreComponent::checkLimits(ThermalComponentIF::State state) {
+void ThermalComponentCore::checkLimits(ThermalComponentIF::State state) {
 	//Checks operational limits only.
 	temperatureMonitor.translateState(state, temperature.value,
 			getParameters().lowerOpLimit, getParameters().upperOpLimit);
 
 }
 
-ThermalComponentIF::HeaterRequest CoreComponent::getHeaterRequest(
+ThermalComponentIF::HeaterRequest ThermalComponentCore::getHeaterRequest(
 		int8_t targetState, float temperature, Parameters parameters) {
 	if (targetState == STATE_REQUEST_IGNORE) {
 		isHeating = false;
@@ -177,7 +205,7 @@ ThermalComponentIF::HeaterRequest CoreComponent::getHeaterRequest(
 	return HEATER_DONT_CARE;
 }
 
-ThermalComponentIF::State CoreComponent::getIgnoredState(int8_t state) {
+ThermalComponentIF::State ThermalComponentCore::getIgnoredState(int8_t state) {
 	switch (state) {
 	case NON_OPERATIONAL_LOW:
 		return NON_OPERATIONAL_LOW_IGNORED;
@@ -197,27 +225,27 @@ ThermalComponentIF::State CoreComponent::getIgnoredState(int8_t state) {
 	}
 }
 
-void CoreComponent::updateMinMaxTemp() {
+void ThermalComponentCore::updateMinMaxTemp() {
 	if (temperature == INVALID_TEMPERATURE) {
 		return;
 	}
 	if (temperature < minTemp) {
-		minTemp = temperature;
+		minTemp = static_cast<float>(temperature);
 	}
 	if (temperature > maxTemp) {
-		maxTemp = temperature;
+		maxTemp = static_cast<float>(temperature);
 	}
 }
 
-uint8_t CoreComponent::getDomainId() const {
+uint8_t ThermalComponentCore::getDomainId() const {
 	return domainId;
 }
 
-CoreComponent::Parameters CoreComponent::getParameters() {
+ThermalComponentCore::Parameters ThermalComponentCore::getParameters() {
 	return parameters;
 }
 
-ReturnValue_t CoreComponent::getParameter(uint8_t domainId,
+ReturnValue_t ThermalComponentCore::getParameter(uint8_t domainId,
 		uint16_t parameterId, ParameterWrapper* parameterWrapper,
 		const ParameterWrapper* newValues, uint16_t startAtIndex) {
 	ReturnValue_t result = temperatureMonitor.getParameter(domainId,
@@ -251,7 +279,7 @@ ReturnValue_t CoreComponent::getParameter(uint8_t domainId,
 		parameterWrapper->set(parameters.upperOpLimit);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

thermal/ThermalComponentCore.h

@@ -0,0 +1,117 @@
+#ifndef FSFW_THERMAL_THERMALCOMPONENTCORE_H_
+#define FSFW_THERMAL_THERMALCOMPONENTCORE_H_
+
+#include "ThermalMonitorReporter.h"
+#include "ThermalComponentIF.h"
+#include "AbstractTemperatureSensor.h"
+#include "ThermalModule.h"
+
+#include "../datapoollocal/LocalPoolVariable.h"
+
+/**
+ * @brief
+ * @details
+ */
+class ThermalComponentCore: public ThermalComponentIF {
+public:
+	struct Parameters {
+		float lowerOpLimit;
+		float upperOpLimit;
+		float heaterOn;
+		float hysteresis;
+		float heaterSwitchoff;
+	};
+
+	static const uint16_t COMPONENT_TEMP_CONFIRMATION = 5;
+
+	/**
+	 * Some documentation
+	 * @param reportingObjectId
+	 * @param domainId
+	 * @param temperaturePoolId
+	 * @param targetStatePoolId
+	 * @param currentStatePoolId
+	 * @param requestPoolId
+	 * @param dataSet
+	 * @param parameters
+	 * @param initialTargetState
+	 */
+	ThermalComponentCore(object_id_t reportingObjectId, uint8_t domainId,
+	        gp_id_t temperaturePoolId, gp_id_t targetStatePoolId,
+	        gp_id_t currentStatePoolId, gp_id_t requestPoolId,
+			LocalPoolDataSetBase* dataSet, Parameters parameters,
+			StateRequest initialTargetState =
+					ThermalComponentIF::STATE_REQUEST_OPERATIONAL);
+
+	void addSensor(AbstractTemperatureSensor* firstRedundantSensor);
+	void addFirstRedundantSensor(
+	        AbstractTemperatureSensor* firstRedundantSensor);
+    void addSecondRedundantSensor(
+            AbstractTemperatureSensor* secondRedundantSensor);
+    void addThermalModule(ThermalModule* thermalModule, Priority priority);
+
+    void setPriority(Priority priority);
+
+	virtual ~ThermalComponentCore();
+
+	virtual HeaterRequest performOperation(uint8_t opCode);
+
+	void markStateIgnored();
+
+	object_id_t getObjectId();
+
+	uint8_t getDomainId() const;
+
+	virtual float getLowerOpLimit();
+
+	ReturnValue_t setTargetState(int8_t newState);
+
+	virtual void setOutputInvalid();
+
+	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+			ParameterWrapper *parameterWrapper,
+			const ParameterWrapper *newValues, uint16_t startAtIndex);
+
+protected:
+
+	AbstractTemperatureSensor *sensor = nullptr;
+	AbstractTemperatureSensor *firstRedundantSensor = nullptr;
+	AbstractTemperatureSensor *secondRedundantSensor = nullptr;
+	ThermalModuleIF *thermalModule = nullptr;
+
+	lp_var_t<float> temperature;
+	lp_var_t<int8_t> targetState;
+	lp_var_t<int8_t> currentState;
+	lp_var_t<uint8_t> heaterRequest;
+
+	bool isHeating = false;
+
+	bool isSafeComponent = false;
+
+	float minTemp = 999;
+
+	float maxTemp = AbstractTemperatureSensor::ZERO_KELVIN_C;
+
+	Parameters parameters;
+
+	const uint8_t domainId;
+
+	ThermalMonitorReporter temperatureMonitor;
+
+	virtual float getTemperature();
+	virtual State getState(float temperature, Parameters parameters,
+			int8_t targetState);
+
+	virtual void checkLimits(State state);
+
+	virtual HeaterRequest getHeaterRequest(int8_t targetState,
+			float temperature, Parameters parameters);
+
+	virtual State getIgnoredState(int8_t state);
+
+	void updateMinMaxTemp();
+
+	virtual Parameters getParameters();
+};
+
+#endif /* FSFW_THERMAL_THERMALCOMPONENT_CORE_H_ */

thermal/ThermalModule.cpp

@@ -1,28 +1,31 @@
-#include "../monitoring/LimitViolationReporter.h"
-#include "../monitoring/MonitoringMessageContent.h"
 #include "ThermalModule.h"
-
 #include "AbstractTemperatureSensor.h"
 
-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
-		uint32_t currentStatePoolId, uint32_t targetStatePoolId,
-		GlobDataSet *dataSet, Parameters parameters,
+#include "../monitoring/LimitViolationReporter.h"
+#include "../monitoring/MonitoringMessageContent.h"
+
+
+ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
+		gp_id_t currentStatePoolId, gp_id_t targetStatePoolId,
+		LocalPoolDataSetBase *dataSet, Parameters parameters,
 		RedundantHeater::Parameters heaterParameters) :
-		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
-				false), parameters(parameters), moduleTemperature(
-				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), currentState(
-				currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
-				targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
+		oldStrategy(ACTIVE_SINGLE), parameters(parameters),
+		moduleTemperature(moduleTemperaturePoolId, dataSet,
+				PoolVariableIF::VAR_WRITE),
+		currentState(currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		targetState(targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
 	heater = new RedundantHeater(heaterParameters);
 }
 
-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet* dataSet) :
-		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
-				false), parameters( { 0, 0 }), moduleTemperature(
-				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), heater(
-				NULL), currentState(PoolVariableIF::INVALID, dataSet,
-				PoolVariableIF::VAR_WRITE), targetState(PoolVariableIF::INVALID,
-				dataSet, PoolVariableIF::VAR_READ) {
+ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
+		LocalPoolDataSetBase* dataSet) :
+		oldStrategy(ACTIVE_SINGLE), parameters( { 0, 0 }),
+		moduleTemperature(moduleTemperaturePoolId, dataSet,
+				PoolVariableIF::VAR_WRITE),
+		currentState(gp_id_t(), dataSet,
+				PoolVariableIF::VAR_WRITE),
+		targetState(gp_id_t(), dataSet,
+				PoolVariableIF::VAR_READ) {
 }
 
 ThermalModule::~ThermalModule() {
@@ -30,7 +33,7 @@ ThermalModule::~ThermalModule() {
 }
 
 void ThermalModule::performOperation(uint8_t opCode) {
-	if (heater != NULL) {
+	if (heater != nullptr) {
 		heater->performOperation(0);
 	}
 }
@@ -42,7 +45,7 @@ void ThermalModule::performMode(Strategy strategy) {
 	ThermalComponentIF::HeaterRequest componentHeaterRequest =
 			letComponentsPerformAndDeciceIfWeNeedToHeat(safeOnly);
 
-	if (heater == NULL) {
+	if (heater == nullptr) {
 		informComponentsAboutHeaterState(false, NONE);
 		return;
 	}
@@ -53,7 +56,7 @@ void ThermalModule::performMode(Strategy strategy) {
 		//Components overwrite the module request.
 		heating = ((componentHeaterRequest
 				== ThermalComponentIF::HEATER_REQUEST_ON)
-				|| (componentHeaterRequest
+				or (componentHeaterRequest
 				== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
 	}
 
@@ -76,7 +79,7 @@ void ThermalModule::performMode(Strategy strategy) {
 }
 
 float ThermalModule::getTemperature() {
-	return moduleTemperature;
+	return moduleTemperature.value;
 }
 
 void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {
@@ -85,7 +88,8 @@ void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {
 
 void ThermalModule::registerComponent(ThermalComponentIF* component,
 		ThermalComponentIF::Priority priority) {
-	components.push_back(ComponentData( { component, priority, ThermalComponentIF::HEATER_DONT_CARE }));
+	components.push_back(ComponentData( { component, priority,
+		ThermalComponentIF::HEATER_DONT_CARE }));
 }
 
 void ThermalModule::calculateTemperature() {
@@ -94,12 +98,13 @@ void ThermalModule::calculateTemperature() {
 	std::list<AbstractTemperatureSensor *>::iterator iter = sensors.begin();
 	for (; iter != sensors.end(); iter++) {
 		if ((*iter)->isValid()) {
-			moduleTemperature = moduleTemperature + (*iter)->getTemperature();
+			moduleTemperature = moduleTemperature.value +
+					(*iter)->getTemperature();
 			numberOfValidSensors++;
 		}
 	}
 	if (numberOfValidSensors != 0) {
-		moduleTemperature = moduleTemperature / numberOfValidSensors;
+		moduleTemperature = moduleTemperature.value / numberOfValidSensors;
 		moduleTemperature.setValid(PoolVariableIF::VALID);
 	} else {
 		moduleTemperature = INVALID_TEMPERATURE;
@@ -117,9 +122,10 @@ ThermalComponentIF* ThermalModule::findComponent(object_id_t objectId) {
 	return NULL;
 }
 
-ThermalComponentIF::HeaterRequest ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(
-		bool safeOnly) {
-	ThermalComponentIF::HeaterRequest heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];
+ThermalComponentIF::HeaterRequest
+ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(bool safeOnly) {
+	ThermalComponentIF::HeaterRequest
+	heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];
 
 	survivalTargetTemp = -999;
 	targetTemp = -999;
@@ -224,7 +230,7 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 		limit = survivalTargetTemp;
 	}
 
-	if (moduleTemperature >= limit) {
+	if (moduleTemperature.value >= limit) {
 		currentState = OPERATIONAL;
 	} else {
 		currentState = NON_OPERATIONAL;
@@ -250,15 +256,16 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 }
 
 void ThermalModule::setHeating(bool on) {
-	GlobDataSet mySet;
-	gp_int8_t writableTargetState(targetState.getDataPoolId(),
-			&mySet, PoolVariableIF::VAR_WRITE);
-	if (on) {
-		writableTargetState = STATE_REQUEST_HEATING;
-	} else {
-		writableTargetState = STATE_REQUEST_PASSIVE;
+	ReturnValue_t result = targetState.read();
+	if(result == HasReturnvaluesIF::RETURN_OK) {
+		if(on) {
+			targetState.value = STATE_REQUEST_HEATING;
 		}
-	mySet.commit(PoolVariableIF::VALID);
+		else {
+			targetState.value = STATE_REQUEST_PASSIVE;
+		}
+	}
+	targetState.setValid(true);
 }
 
 void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,

thermal/ThermalModule.h

@@ -1,14 +1,18 @@
-#ifndef THERMALMODULE_H_
-#define THERMALMODULE_H_
+#ifndef FSFW_THERMAL_THERMALMODULE_H_
+#define FSFW_THERMAL_THERMALMODULE_H_
 
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../devicehandlers/HealthDevice.h"
-#include "../events/EventReportingProxyIF.h"
 #include "ThermalModuleIF.h"
-#include <list>
 #include "tcsDefinitions.h"
 #include "RedundantHeater.h"
+
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+#include "../datapoollocal/LocalPoolVariable.h"
+#include "../devicehandlers/HealthDevice.h"
+#include "../events/EventReportingProxyIF.h"
+
+#include <list>
+
+
 class PowerSwitchIF;
 
 /**
@@ -22,11 +26,12 @@ public:
 		float hysteresis;
 	};
 
-	ThermalModule(uint32_t moduleTemperaturePoolId, uint32_t currentStatePoolId,
-			uint32_t targetStatePoolId, GlobDataSet *dataSet, Parameters parameters,
-			RedundantHeater::Parameters heaterParameters);
+	ThermalModule(gp_id_t moduleTemperaturePoolId, gp_id_t currentStatePoolId,
+			gp_id_t targetStatePoolId, LocalPoolDataSetBase *dataSet,
+			Parameters parameters, RedundantHeater::Parameters heaterParameters);
 
-	ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet *dataSet);
+	ThermalModule(gp_id_t moduleTemperaturePoolId,
+			LocalPoolDataSetBase *dataSet);
 
 	virtual ~ThermalModule();
 
@@ -62,20 +67,20 @@ protected:
 
 	Strategy oldStrategy;
 
-	float survivalTargetTemp;
+	float survivalTargetTemp = 0.0;
 
-	float targetTemp;
+	float targetTemp = 0.0;
 
-	bool heating;
+	bool heating = false;
 
 	Parameters parameters;
 
-	gp_float_t moduleTemperature;
+	lp_var_t<float> moduleTemperature;
 
-	RedundantHeater *heater;
+	RedundantHeater *heater = nullptr;
 
-	gp_int8_t currentState;
-	gp_int8_t targetState;
+	lp_var_t<int8_t> currentState;
+	lp_var_t<int8_t> targetState;
 
 	std::list<AbstractTemperatureSensor *> sensors;
 	std::list<ComponentData> components;
@@ -92,4 +97,4 @@ protected:
 	void updateTargetTemperatures(ThermalComponentIF *component, bool isSafe);
 };
 
-#endif /* THERMALMODULE_H_ */
+#endif /* FSFW_THERMAL_THERMALMODULE_H_ */

thermal/ThermalMonitor.h

@@ -1,23 +0,0 @@
-#ifndef FRAMEWORK_THERMAL_THERMALMONITOR_H_
-#define FRAMEWORK_THERMAL_THERMALMONITOR_H_
-
-#include "../monitoring/MonitorReporter.h"
-#include "ThermalComponentIF.h"
-
-class ThermalMonitor: public MonitorReporter<float> {
-public:
-	template<typename ... Args>
-	ThermalMonitor(Args ... args) :
-			MonitorReporter<float>(std::forward<Args>(args)...) {
-	}
-	~ThermalMonitor();
-	ReturnValue_t translateState(ThermalComponentIF::State state, float sample,
-			float lowerLimit, float upperLimit, bool componentIsOperational = true);
-
-	bool isAboveHighLimit();
-protected:
-	virtual void sendTransitionEvent(float currentValue, ReturnValue_t state);
-
-};
-
-#endif /* FRAMEWORK_THERMAL_THERMALMONITOR_H_ */

thermal/ThermalMonitorReporter.cpp

@@ -1,10 +1,12 @@
-#include "ThermalMonitor.h"
+#include "ThermalMonitorReporter.h"
 #include "ThermalComponentIF.h"
+
 #include "../monitoring/MonitoringIF.h"
-ThermalMonitor::~ThermalMonitor() {
+
+ThermalMonitorReporter::~ThermalMonitorReporter() {
 }
 
-void ThermalMonitor::sendTransitionEvent(float currentValue,
+void ThermalMonitorReporter::sendTransitionEvent(float currentValue,
 		ReturnValue_t state) {
 	switch (state) {
 	case MonitoringIF::BELOW_LOW_LIMIT:
@@ -28,7 +30,7 @@ void ThermalMonitor::sendTransitionEvent(float currentValue,
 	}
 }
 
-bool ThermalMonitor::isAboveHighLimit() {
+bool ThermalMonitorReporter::isAboveHighLimit() {
 	if (oldState == ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT) {
 		return true;
 	} else {
@@ -36,7 +38,8 @@ bool ThermalMonitor::isAboveHighLimit() {
 	}
 }
 
-ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, float sample, float lowerLimit,
+ReturnValue_t ThermalMonitorReporter::translateState(
+		ThermalComponentIF::State state, float sample, float lowerLimit,
 		float upperLimit, bool componentIsOperational) {
 	if (ThermalComponentIF::isIgnoredState(state)) {
 		setToUnchecked();
@@ -44,10 +47,12 @@ ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, fl
 	}
 	switch (state) {
 	case ThermalComponentIF::OUT_OF_RANGE_LOW:
-		return monitorStateIs(MonitoringIF::BELOW_LOW_LIMIT, sample, lowerLimit);
+		return monitorStateIs(MonitoringIF::BELOW_LOW_LIMIT, sample,
+				lowerLimit);
 	case ThermalComponentIF::NON_OPERATIONAL_LOW:
 		if (componentIsOperational) {
-			return monitorStateIs(ThermalComponentIF::BELOW_OPERATIONAL_LIMIT, sample, lowerLimit);
+			return monitorStateIs(ThermalComponentIF::BELOW_OPERATIONAL_LIMIT,
+					sample, lowerLimit);
 		} else {
 			return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
 		}
@@ -55,12 +60,14 @@ ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, fl
 		return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
 	case ThermalComponentIF::NON_OPERATIONAL_HIGH:
 		if (componentIsOperational) {
-			return monitorStateIs(ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT, sample, upperLimit);
+			return monitorStateIs(ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT,
+					sample, upperLimit);
 		} else {
 			return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
 		}
 	case ThermalComponentIF::OUT_OF_RANGE_HIGH:
-		return monitorStateIs(MonitoringIF::ABOVE_HIGH_LIMIT, sample, upperLimit);
+		return monitorStateIs(MonitoringIF::ABOVE_HIGH_LIMIT, sample,
+				upperLimit);
 	default:
 		//Never reached, all states covered.
 		return HasReturnvaluesIF::RETURN_FAILED;

thermal/ThermalMonitorReporter.h

@@ -0,0 +1,28 @@
+#ifndef FSFW_THERMAL_THERMALMONITORREPORTER_H_
+#define FSFW_THERMAL_THERMALMONITORREPORTER_H_
+
+#include "ThermalComponentIF.h"
+#include "../monitoring/MonitorReporter.h"
+
+
+/**
+ * @brief   Monitor Reporter implementation for thermal components.
+ */
+class ThermalMonitorReporter: public MonitorReporter<float> {
+public:
+	template<typename ... Args>
+	ThermalMonitorReporter(Args ... args) :
+			MonitorReporter<float>(std::forward<Args>(args)...) {
+	}
+	~ThermalMonitorReporter();
+	ReturnValue_t translateState(ThermalComponentIF::State state, float sample,
+			float lowerLimit, float upperLimit,
+			bool componentIsOperational = true);
+
+	bool isAboveHighLimit();
+protected:
+	virtual void sendTransitionEvent(float currentValue, ReturnValue_t state);
+
+};
+
+#endif /* FSFW_THERMAL_THERMALMONITORREPORTERREPORTER_H_ */

thermal/tcsDefinitions.h

@@ -2,7 +2,7 @@
 #define TCSDEFINITIONS_H_
 
 
-static const uint32_t INVALID_TEMPERATURE = 999;
+static const float INVALID_TEMPERATURE = 999;
 
 
 #endif /* TCSDEFINITIONS_H_ */

tmtcpacket/packetmatcher/PacketMatchTree.cpp

@@ -3,19 +3,30 @@
 #include "ServiceMatcher.h"
 #include "SubserviceMatcher.h"
 
+// This should be configurable..
+const LocalPool::LocalPoolConfig PacketMatchTree::poolConfig = {
+		{10, sizeof(ServiceMatcher)},
+		{20, sizeof(SubServiceMatcher)},
+		{2, sizeof(ApidMatcher)},
+		{40, sizeof(PacketMatchTree::Node)}
+};
+
 PacketMatchTree::PacketMatchTree(Node* root) :
-		MatchTree<TmPacketMinimal*>(root, 2), factoryBackend(0, POOL_SIZES,
-				N_ELEMENTS, false, true), factory(&factoryBackend) {
+		MatchTree<TmPacketMinimal*>(root, 2),
+		factoryBackend(0, poolConfig, false, true),
+		factory(&factoryBackend) {
 }
 
 PacketMatchTree::PacketMatchTree(iterator root) :
-		MatchTree<TmPacketMinimal*>(root.element, 2), factoryBackend(0,
-				POOL_SIZES, N_ELEMENTS, false, true), factory(&factoryBackend) {
+		MatchTree<TmPacketMinimal*>(root.element, 2),
+		factoryBackend(0, poolConfig, false, true),
+		factory(&factoryBackend) {
 }
 
 PacketMatchTree::PacketMatchTree() :
-		MatchTree<TmPacketMinimal*>((Node*) NULL, 2), factoryBackend(0,
-				POOL_SIZES, N_ELEMENTS, false, true), factory(&factoryBackend) {
+		MatchTree<TmPacketMinimal*>((Node*) NULL, 2),
+		factoryBackend(0, poolConfig, false, true),
+		factory(&factoryBackend) {
 }
 
 PacketMatchTree::~PacketMatchTree() {
@@ -172,11 +183,6 @@ ReturnValue_t PacketMatchTree::initialize() {
 	return factoryBackend.initialize();
 }
 
-const uint16_t PacketMatchTree::POOL_SIZES[N_POOLS] = { sizeof(ServiceMatcher),
-		sizeof(SubServiceMatcher), sizeof(ApidMatcher),
-		sizeof(PacketMatchTree::Node) };
-//Maximum number of types and subtypes to filter should be more than sufficient.
-const uint16_t PacketMatchTree::N_ELEMENTS[N_POOLS] = { 10, 20, 2, 40 };
 
 ReturnValue_t PacketMatchTree::changeMatch(bool addToMatch, uint16_t apid,
 		uint8_t type, uint8_t subtype) {

tmtcpacket/packetmatcher/PacketMatchTree.h

@@ -23,8 +23,9 @@ protected:
 	ReturnValue_t cleanUpElement(iterator position);
 private:
 	static const uint8_t N_POOLS = 4;
-	LocalPool<N_POOLS> factoryBackend;
+	LocalPool factoryBackend;
 	PlacementFactory factory;
+	static const LocalPool::LocalPoolConfig poolConfig;
 	static const uint16_t POOL_SIZES[N_POOLS];
 	static const uint16_t N_ELEMENTS[N_POOLS];
 	template<typename VALUE_T, typename INSERTION_T>

unittest/tests/storagemanager/TestPool.cpp

@@ -1,296 +1,295 @@
-//#include "CatchDefinitions.h"
-//
-//#include <config/objects/Factory.h>
-//#include <fsfw/objectmanager/ObjectManager.h>
-//#include <fsfw/storagemanager/LocalPool.h>
-//
-//#include <catch.hpp>
-//#include <CatchDefinitions.h>
-//
-//#include <cstring>
-//
-//
-//TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
-////	uint16_t numberOfElements[1] = {1};
-////	uint16_t sizeofElements[1] = {10};
-//	LocalPool::LocalPoolConfig config = {{1, 10}};
-//	LocalPool simplePool(0, config);
-//	std::array<uint8_t, 20> testDataArray;
-//	std::array<uint8_t, 20> receptionArray;
-//	store_address_t testStoreId;
-//	ReturnValue_t result = retval::CATCH_FAILED;
-//	uint8_t *pointer = nullptr;
-//	const uint8_t * constPointer = nullptr;
-//
-//	for(size_t i = 0; i < testDataArray.size(); i++) {
-//		testDataArray[i] = i;
-//	}
-//	size_t size = 10;
-//
-//	SECTION ( "Basic tests") {
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.getData(testStoreId, &constPointer, &size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		memcpy(receptionArray.data(), constPointer, size);
-//		for(size_t i = 0; i < size; i++) {
-//			CHECK(receptionArray[i] == i );
-//		}
-//		memset(receptionArray.data(), 0, size);
-//		result = simplePool.modifyData(testStoreId, &pointer, &size);
-//		memcpy(receptionArray.data(), pointer, size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		for(size_t i = 0; i < size; i++) {
-//			CHECK(receptionArray[i] == i );
-//		}
-//		result = simplePool.deleteData(testStoreId);
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), 15);
-//		CHECK (result == (int) StorageManagerIF::DATA_TOO_LARGE);
-//	}
-//
-//	SECTION ( "Reservation Tests ") {
-//		pointer = nullptr;
-//		result = simplePool.getFreeElement(&testStoreId, size, &pointer);
-//		REQUIRE (result == retval::CATCH_OK);
-//		memcpy(pointer, testDataArray.data(), size);
-//		constPointer = nullptr;
-//		result = simplePool.getData(testStoreId, &constPointer, &size);
-//
-//		REQUIRE (result == retval::CATCH_OK);
-//		memcpy(receptionArray.data(), constPointer, size);
-//		for(size_t i = 0; i < size; i++) {
-//			CHECK(receptionArray[i] == i );
-//		}
-//	}
-//
-//	SECTION ( "Add, delete, add, add when full") {
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.getData(testStoreId, &constPointer, &size);
-//		REQUIRE( result == retval::CATCH_OK);
-//		memcpy(receptionArray.data(), constPointer, size);
-//		for(size_t i = 0; i < size; i++) {
-//			CHECK(receptionArray[i] == i );
-//		}
-//
-//		result = simplePool.deleteData(testStoreId);
-//		REQUIRE(result == retval::CATCH_OK);
-//
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.getData(testStoreId, &constPointer, &size);
-//		REQUIRE( result == retval::CATCH_OK);
-//		memcpy(receptionArray.data(), constPointer, size);
-//		for(size_t i = 0; i < size; i++) {
-//			CHECK(receptionArray[i] == i );
-//		}
-//
-//		store_address_t newAddress;
-//		result = simplePool.addData(&newAddress, testDataArray.data(), size);
-//		REQUIRE(result == (int) StorageManagerIF::DATA_STORAGE_FULL);
-//
-//		// Packet Index to high intentionally
-//		newAddress.packetIndex = 2;
-//		pointer = testDataArray.data();
-//		result = simplePool.modifyData(newAddress, &pointer, &size);
-//		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
-//
-//		result = simplePool.deleteData(newAddress);
-//		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
-//
-//		newAddress.packetIndex = 0;
-//		newAddress.poolIndex = 2;
-//		result = simplePool.deleteData(newAddress);
-//		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
-//	}
-//
-//	SECTION ( "Initialize and clear store, delete with pointer") {
-//		result = simplePool.initialize();
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		simplePool.clearStore();
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.modifyData(testStoreId, &pointer, &size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		store_address_t newId;
-//		result = simplePool.deleteData(pointer, size, &testStoreId);
-//		REQUIRE(result == retval::CATCH_OK);
-//		REQUIRE(testStoreId.raw != (uint32_t) StorageManagerIF::INVALID_ADDRESS);
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//	}
-//}
-//
-//int runIdx = 0;
-//
-//TEST_CASE( "Local Pool Extended Tests [3 Pools]" , "[TestPool2]") {
-//	LocalPool::LocalPoolConfig* config;
-//	if(runIdx == 0) {
-//		config = new LocalPool::LocalPoolConfig{{10, 5}, {5, 10}, {2, 20}};
-//	}
-//	else {
-//		// shufle the order, they should be sort implictely so that the
-//		// order is ascending for the page sizes.
-//		config = new LocalPool::LocalPoolConfig{{5, 10}, {2, 20}, {10, 5}};
-//		size_t lastSize = 0;
-//		for(const auto& pair: *config) {
-//			CHECK(pair.second > lastSize);
-//			lastSize = pair.second;
-//		}
-//	}
-//	runIdx++;
-//
-//	LocalPool simplePool(0, *config);
-//	std::array<uint8_t, 20> testDataArray;
-//	std::array<uint8_t, 20> receptionArray;
-//	store_address_t testStoreId;
-//	ReturnValue_t result = retval::CATCH_FAILED;
-//	for(size_t i = 0; i < testDataArray.size(); i++) {
-//		testDataArray[i] = i;
-//	}
-//	size_t size = 0;
-//
-//	SECTION ("Basic tests") {
-//		size = 8;
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		// Should be on second page of the pool now for 8 bytes
-//		CHECK(testStoreId.poolIndex == 1);
-//		CHECK(testStoreId.packetIndex == 0);
-//
-//		size = 15;
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		// Should be on third page of the pool now for 15 bytes
-//		CHECK(testStoreId.poolIndex == 2);
-//		CHECK(testStoreId.packetIndex == 0);
-//
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		// Should be on third page of the pool now for 15 bytes
-//		CHECK(testStoreId.poolIndex == 2);
-//		CHECK(testStoreId.packetIndex == 1);
-//
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		// Should be on third page of the pool now for 15 bytes
-//		REQUIRE(result == (int) LocalPool::DATA_STORAGE_FULL);
-//
-//		size = 8;
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		// Should still work
-//		CHECK(testStoreId.poolIndex == 1);
-//		CHECK(testStoreId.packetIndex == 1);
-//
-//		// fill the rest of the pool
-//		for(uint8_t idx = 2; idx < 5; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 1);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//	}
-//
-//	SECTION ("Fill Count and Clearing") {
-//		//SECTION("Basic tests");
-//		uint8_t bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		// fill count should be all zeros now.
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 0);
-//		CHECK(receptionArray[1] == 0);
-//		CHECK(receptionArray[2] == 0);
-//		CHECK(receptionArray[3] == 0);
-//
-//		// now fill the store completely.
-//		size = 5;
-//		for(uint8_t idx = 0; idx < 10; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 0);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//		size = 10;
-//		for(uint8_t idx = 0; idx < 5; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 1);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//		size = 20;
-//		for(uint8_t idx = 0; idx < 2; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 2);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//		bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		// fill count should be all 100 now.
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 100);
-//		CHECK(receptionArray[1] == 100);
-//		CHECK(receptionArray[2] == 100);
-//		CHECK(receptionArray[3] == 100);
-//
-//		// now clear the store
-//		simplePool.clearStore();
-//		bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 0);
-//		CHECK(receptionArray[1] == 0);
-//		CHECK(receptionArray[2] == 0);
-//		CHECK(receptionArray[3] == 0);
-//
-//		// now fill one page
-//		size = 5;
-//		for(uint8_t idx = 0; idx < 10; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 0);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//		bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		// First page full, median fill count is 33 %
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 100);
-//		CHECK(receptionArray[1] == 0);
-//		CHECK(receptionArray[2] == 0);
-//		CHECK(receptionArray[3] == 33);
-//
-//		// now fill second page
-//		size = 10;
-//		for(uint8_t idx = 0; idx < 5; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 1);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//		bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		// First and second page full, median fill count is 66 %
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 100);
-//		CHECK(receptionArray[1] == 100);
-//		CHECK(receptionArray[2] == 0);
-//		CHECK(receptionArray[3] == 66);
-//
-//		// now clear first page
-//		simplePool.clearPage(0);
-//		bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		// Second page full, median fill count is 33 %
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 0);
-//		CHECK(receptionArray[1] == 100);
-//		CHECK(receptionArray[2] == 0);
-//		CHECK(receptionArray[3] == 33);
-//	}
-//
-//	delete(config);
-//}
+#include "CatchDefinitions.h"
+
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/storagemanager/LocalPool.h>
+
+#include <catch.hpp>
+#include <CatchDefinitions.h>
+
+#include <cstring>
+
+
+TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
+//	uint16_t numberOfElements[1] = {1};
+//	uint16_t sizeofElements[1] = {10};
+	LocalPool::LocalPoolConfig config = {{1, 10}};
+	LocalPool simplePool(0, config);
+	std::array<uint8_t, 20> testDataArray;
+	std::array<uint8_t, 20> receptionArray;
+	store_address_t testStoreId;
+	ReturnValue_t result = retval::CATCH_FAILED;
+	uint8_t *pointer = nullptr;
+	const uint8_t * constPointer = nullptr;
+
+	for(size_t i = 0; i < testDataArray.size(); i++) {
+		testDataArray[i] = i;
+	}
+	size_t size = 10;
+
+	SECTION ( "Basic tests") {
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.getData(testStoreId, &constPointer, &size);
+		REQUIRE(result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+		memset(receptionArray.data(), 0, size);
+		result = simplePool.modifyData(testStoreId, &pointer, &size);
+		memcpy(receptionArray.data(), pointer, size);
+		REQUIRE(result == retval::CATCH_OK);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+		result = simplePool.deleteData(testStoreId);
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), 15);
+		CHECK (result == (int) StorageManagerIF::DATA_TOO_LARGE);
+	}
+
+	SECTION ( "Reservation Tests ") {
+		pointer = nullptr;
+		result = simplePool.getFreeElement(&testStoreId, size, &pointer);
+		REQUIRE (result == retval::CATCH_OK);
+		memcpy(pointer, testDataArray.data(), size);
+		constPointer = nullptr;
+		result = simplePool.getData(testStoreId, &constPointer, &size);
+
+		REQUIRE (result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+	}
+
+	SECTION ( "Add, delete, add, add when full") {
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.getData(testStoreId, &constPointer, &size);
+		REQUIRE( result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+
+		result = simplePool.deleteData(testStoreId);
+		REQUIRE(result == retval::CATCH_OK);
+
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.getData(testStoreId, &constPointer, &size);
+		REQUIRE( result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+
+		store_address_t newAddress;
+		result = simplePool.addData(&newAddress, testDataArray.data(), size);
+		REQUIRE(result == (int) StorageManagerIF::DATA_STORAGE_FULL);
+
+		// Packet Index to high intentionally
+		newAddress.packetIndex = 2;
+		pointer = testDataArray.data();
+		result = simplePool.modifyData(newAddress, &pointer, &size);
+		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+
+		result = simplePool.deleteData(newAddress);
+		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+
+		newAddress.packetIndex = 0;
+		newAddress.poolIndex = 2;
+		result = simplePool.deleteData(newAddress);
+		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+	}
+
+	SECTION ( "Initialize and clear store, delete with pointer") {
+		result = simplePool.initialize();
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		simplePool.clearStore();
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.modifyData(testStoreId, &pointer, &size);
+		REQUIRE(result == retval::CATCH_OK);
+		store_address_t newId;
+		result = simplePool.deleteData(pointer, size, &testStoreId);
+		REQUIRE(result == retval::CATCH_OK);
+		REQUIRE(testStoreId.raw != (uint32_t) StorageManagerIF::INVALID_ADDRESS);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+	}
+}
+
+int runIdx = 0;
+
+TEST_CASE( "Local Pool Extended Tests [3 Pools]" , "[TestPool2]") {
+	LocalPool::LocalPoolConfig* config;
+	if(runIdx == 0) {
+		config = new LocalPool::LocalPoolConfig{{10, 5}, {5, 10}, {2, 20}};
+	}
+	else {
+		// shufle the order, they should be sort implictely so that the
+		// order is ascending for the page sizes.
+		config = new LocalPool::LocalPoolConfig{{5, 10}, {2, 20}, {10, 5}};
+		size_t lastSize = 0;
+		for(const auto& pair: *config) {
+			CHECK(pair.second > lastSize);
+			lastSize = pair.second;
+		}
+	}
+	runIdx++;
+
+	LocalPool simplePool(0, *config);
+	std::array<uint8_t, 20> testDataArray;
+	std::array<uint8_t, 20> receptionArray;
+	store_address_t testStoreId;
+	ReturnValue_t result = retval::CATCH_FAILED;
+	for(size_t i = 0; i < testDataArray.size(); i++) {
+		testDataArray[i] = i;
+	}
+	size_t size = 0;
+
+	SECTION ("Basic tests") {
+		size = 8;
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should be on second page of the pool now for 8 bytes
+		CHECK(testStoreId.poolIndex == 1);
+		CHECK(testStoreId.packetIndex == 0);
+
+		size = 15;
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should be on third page of the pool now for 15 bytes
+		CHECK(testStoreId.poolIndex == 2);
+		CHECK(testStoreId.packetIndex == 0);
+
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should be on third page of the pool now for 15 bytes
+		CHECK(testStoreId.poolIndex == 2);
+		CHECK(testStoreId.packetIndex == 1);
+
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		// Should be on third page of the pool now for 15 bytes
+		REQUIRE(result == (int) LocalPool::DATA_STORAGE_FULL);
+
+		size = 8;
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should still work
+		CHECK(testStoreId.poolIndex == 1);
+		CHECK(testStoreId.packetIndex == 1);
+
+		// fill the rest of the pool
+		for(uint8_t idx = 2; idx < 5; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 1);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+	}
+
+	SECTION ("Fill Count and Clearing") {
+		//SECTION("Basic tests");
+		uint8_t bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// fill count should be all zeros now.
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 0);
+		CHECK(receptionArray[1] == 0);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 0);
+
+		// now fill the store completely.
+		size = 5;
+		for(uint8_t idx = 0; idx < 10; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 0);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		size = 10;
+		for(uint8_t idx = 0; idx < 5; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 1);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		size = 20;
+		for(uint8_t idx = 0; idx < 2; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 2);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// fill count should be all 100 now.
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 100);
+		CHECK(receptionArray[1] == 100);
+		CHECK(receptionArray[2] == 100);
+		CHECK(receptionArray[3] == 100);
+
+		// now clear the store
+		simplePool.clearStore();
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 0);
+		CHECK(receptionArray[1] == 0);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 0);
+
+		// now fill one page
+		size = 5;
+		for(uint8_t idx = 0; idx < 10; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 0);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// First page full, median fill count is 33 %
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 100);
+		CHECK(receptionArray[1] == 0);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 33);
+
+		// now fill second page
+		size = 10;
+		for(uint8_t idx = 0; idx < 5; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 1);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// First and second page full, median fill count is 66 %
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 100);
+		CHECK(receptionArray[1] == 100);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 66);
+
+		// now clear first page
+		simplePool.clearPage(0);
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// Second page full, median fill count is 33 %
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 0);
+		CHECK(receptionArray[1] == 100);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 33);
+	}
+
+	delete(config);
+}