srv3 received reply now

datapoollocal/HasLocalDataPoolIF.h

@@ -48,9 +48,14 @@ public:
 	/** Command queue for housekeeping messages. */
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 
-	/** Is used by pool owner to initialize the pool map once */
+	/**
-	virtual ReturnValue_t initializePoolEntries(
+	 * Is used by pool owner to initialize the pool map once
-	        LocalDataPool& localDataPoolMap) = 0;
+	 * The manager instance shall also be passed to this function.
+	 * It can be used to subscribe for periodic packets for for updates.
+	 */
+	virtual ReturnValue_t initializeLocalDataPool(
+	        LocalDataPool& localDataPoolMap,
+	        LocalDataPoolManager& poolManager) = 0;
 
 	/** Can be used to get a handle to the local data pool manager. */
 	virtual LocalDataPoolManager* getHkManagerHandle() = 0;

datapoollocal/LocalDataPoolManager.cpp

@@ -30,18 +30,30 @@ LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
 	}
 
 	hkQueue = queueToUse;
+
+	if(defaultHkDestination != objects::NO_OBJECT) {
+	    AcceptsHkPacketsIF* hkPacketReceiver =
+	            objectManager->get<AcceptsHkPacketsIF>(defaultHkDestination);
+	    if(hkPacketReceiver != nullptr) {
+	        defaultHkDestinationId = hkPacketReceiver->getHkQueue();
+	    }
+	}
 }
 
 LocalDataPoolManager::~LocalDataPoolManager() {}
 
-ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse,
+ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
-        uint8_t nonDiagInvlFactor) {
     if(queueToUse == nullptr) {
         sif::error << "LocalDataPoolManager::initialize: Supplied queue "
                 "invalid!" << std::endl;
     }
     hkQueue = queueToUse;
 
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(
+        uint8_t nonDiagInvlFactor) {
     setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
     diagnosticMinimumInterval = owner->getPeriodicOperationFrequency();
     regularMinimumInterval = diagnosticMinimumInterval *
@@ -51,7 +63,8 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse,
 
 ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 	if(not mapInitialized) {
-		ReturnValue_t result = owner->initializePoolEntries(localPoolMap);
+		ReturnValue_t result = owner->initializeLocalDataPool(localPoolMap,
+		        *this);
 		if(result == HasReturnvaluesIF::RETURN_OK) {
 			mapInitialized = true;
 		}
@@ -106,7 +119,16 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
 	hkReceiver.reportingType = ReportingType::PERIODIC;
 	hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
 	hkReceiver.reportingEnabled = enableReporting;
-	hkReceiver.hkParameter.collectionIntervalSeconds = collectionInterval;
+	if(not isDiagnostics) {
+	    hkReceiver.hkParameter.collectionIntervalTicks =
+	            intervalSecondsToInterval(isDiagnostics, collectionInterval *
+	            nonDiagnosticIntervalFactor);
+	}
+	else {
+	    hkReceiver.hkParameter.collectionIntervalTicks =
+	            intervalSecondsToInterval(isDiagnostics, collectionInterval);
+	}
+
 	hkReceiver.isDiagnostics = isDiagnostics;
 	hkReceiver.intervalCounter = 1;
 
@@ -154,54 +176,47 @@ const HasLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
     return owner;
 }
 
-ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
+ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
+        float collectionInterval, MessageQueueId_t destination) {
 	LocalPoolDataSetBase* dataSetToSerialize =
 			dynamic_cast<LocalPoolDataSetBase*>(owner->getDataSetHandle(sid));
 	if(dataSetToSerialize == nullptr) {
 		sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
-				" Set ID not found" << std::endl;
+				" Set ID not found or dataset not assigned!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-
+	sif::info << "hk gen called" << std::endl;
-//	store_address_t storeId;
+	store_address_t storeId;
-//	HousekeepingPacketDownlink hkPacket(sid, collectionInterval,
+	HousekeepingPacketDownlink hkPacket(sid, collectionInterval,
-//	        dataSetToSerialize->getFillCount(), dataSetToSerialize);
+	        dataSetToSerialize->getFillCount(), dataSetToSerialize);
-//	ReturnValue_t result = serializeHkPacketIntoStore(hkPacket, &storeId);
+	ReturnValue_t result = serializeHkPacketIntoStore(hkPacket, &storeId);
-//	if(result != HasReturnvaluesIF::RETURN_OK) {
+	if(result != HasReturnvaluesIF::RETURN_OK) {
-//	    return result;
+	    return result;
-//	}
+	}
 
 	// and now we set a HK message and send it the HK packet destination.
-//	CommandMessage hkMessage;
+	CommandMessage hkMessage;
-//	HousekeepingMessage::setHkReportMessage(&hkMessage, sid, storeId);
+	HousekeepingMessage::setHkReportMessage(&hkMessage, sid, storeId);
-//	if(hkQueue == nullptr) {
+	if(hkQueue == nullptr) {
-//	    return QUEUE_OR_DESTINATION_NOT_SET;
+	    return QUEUE_OR_DESTINATION_NOT_SET;
-//	}
+	}
-//
+	if(destination == MessageQueueIF::NO_QUEUE) {
-//	if(sendTo != MessageQueueIF::NO_QUEUE) {
+	    if(defaultHkDestinationId == MessageQueueIF::NO_QUEUE) {
-//	    result = hkQueue->sendMessage(sendTo, &hkMessage);
+	        // error, all destinations invalid
-//	}
+	        return HasReturnvaluesIF::RETURN_FAILED;
-//	else {
+	    }
-//	    if(hkDestination == MessageQueueIF::NO_QUEUE) {
+	    destination = defaultHkDestinationId;
-//	        sif::warning << "LocalDataPoolManager::generateHousekeepingPacket:"
+	}
-//	                " Destination is not set properly!" << std::endl;
-//	        return QUEUE_OR_DESTINATION_NOT_SET;
-//	    }
-//	    else {
-//	        result = hkQueue->sendMessage(hkDestination, &hkMessage);
-//	    }
-//	}
 
-//	return result;
+	return hkQueue->sendMessage(destination, &hkMessage);
-	return 0;
 }
 
 ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
         HousekeepingPacketDownlink& hkPacket,
         store_address_t *storeId) {
     uint8_t* dataPtr = nullptr;
-    size_t serializedSize = hkPacket.getSerializedSize();
+    size_t serializedSize = 0;
-    const size_t maxSize = serializedSize;
+    const size_t maxSize = hkPacket.getSerializedSize();
     ReturnValue_t  result = ipcStore->getFreeElement(storeId,
             serializedSize, &dataPtr);
     if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -246,14 +261,11 @@ void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
 }
 
 
-
-
 void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver* receiver) {
-    if(receiver->intervalCounter >= intervalSecondsToInterval(
+    if(receiver->intervalCounter >=
-            receiver->isDiagnostics,
+            receiver->hkParameter.collectionIntervalTicks) {
-            receiver->hkParameter.collectionIntervalSeconds)) {
         ReturnValue_t result = generateHousekeepingPacket(
-                receiver->dataId.dataSetSid /*, receiver->destinationQueue */);
+                receiver->dataId.dataSetSid);
         if(result != HasReturnvaluesIF::RETURN_OK) {
             // configuration error
             sif::debug << "LocalDataPoolManager::performHkOperation:"
@@ -271,10 +283,12 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver* receiver) {
 uint32_t LocalDataPoolManager::intervalSecondsToInterval(bool isDiagnostics,
         float collectionIntervalSeconds) {
     if(isDiagnostics) {
-        return std::ceil(collectionIntervalSeconds/diagnosticMinimumInterval);
+        return std::ceil(collectionIntervalSeconds * 1000
+                /diagnosticMinimumInterval);
     }
     else {
-        return std::ceil(collectionIntervalSeconds/regularMinimumInterval);
+        return std::ceil(collectionIntervalSeconds * 1000
+                /regularMinimumInterval);
     }
 }
 
@@ -285,6 +299,7 @@ float LocalDataPoolManager::intervalToIntervalSeconds(bool isDiagnostics,
         		diagnosticMinimumInterval);
     }
     else {
-        return static_cast<float>(collectionInterval * regularMinimumInterval);
+        return static_cast<float>(collectionInterval *
+                regularMinimumInterval);
     }
 }

datapoollocal/LocalDataPoolManager.h

@@ -75,8 +75,9 @@ public:
 	 * @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
 	 * @return
 	 */
-	ReturnValue_t initialize(MessageQueueIF* queueToUse,
+	ReturnValue_t initialize(MessageQueueIF* queueToUse);
-			uint8_t nonDiagInvlFactor = 5);
+
+	ReturnValue_t initializeAfterTaskCreation(uint8_t nonDiagInvlFactor = 5);
 
 	/**
 	 * @return
@@ -108,7 +109,9 @@ public:
 	 * @param sid
 	 * @return
 	 */
-	ReturnValue_t generateHousekeepingPacket(sid_t sid);
+	ReturnValue_t generateHousekeepingPacket(sid_t sid,
+	        float collectionInterval = 0,
+	        MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
 	ReturnValue_t generateSetStructurePacket(sid_t sid);
 
 	ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
@@ -166,6 +169,7 @@ private:
 
 	/** Default receiver for periodic HK packets */
 	static object_id_t defaultHkDestination;
+	MessageQueueId_t defaultHkDestinationId = MessageQueueIF::NO_QUEUE;
 
     /** The data pool manager will keep an internal map of HK receivers. */
     struct HkReceiver {
@@ -187,7 +191,7 @@ private:
         type */
         union HkParameter {
             /** This parameter will be used for the PERIODIC type */
-            float collectionIntervalSeconds = 0;
+            uint32_t collectionIntervalTicks = 0;
             /** This parameter will be used for the ON_UPDATE type */
             bool hkDataChanged;
         };

datapoollocal/LocalDataSet.cpp

@@ -6,8 +6,9 @@
 #include <cstring>
 
 LocalDataSet::LocalDataSet(HasLocalDataPoolIF *hkOwner, uint32_t setId,
-        const size_t maxNumberOfVariables): poolVarList(maxNumberOfVariables),
+        const size_t maxNumberOfVariables):
-        LocalPoolDataSetBase(hkOwner, setId, nullptr, maxNumberOfVariables) {
+        LocalPoolDataSetBase(hkOwner, setId, nullptr, maxNumberOfVariables),
+        poolVarList(maxNumberOfVariables) {
 	this->setContainer(poolVarList.data());
 }
 

devicehandlers/DeviceHandlerBase.cpp

@@ -391,24 +391,28 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
 		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		size_t replyLen, bool periodic, bool hasDifferentReplyId,
+		PoolDataSetIF* replyDataSet, size_t replyLen, bool periodic,
-		DeviceCommandId_t replyId) {
+		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
 	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
-		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles,
+		        replyDataSet, replyLen, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles,
+		        replyDataSet, replyLen, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
+		uint16_t maxDelayCycles, PoolDataSetIF* dataSet,
+		size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
 	info.replyLen = replyLen;
+	info.dataSet = dataSet;
 	info.command = deviceCommandMap.end();
 	auto resultPair = deviceReplyMap.emplace(replyId, info);
 	if (resultPair.second) {
@@ -434,13 +438,12 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
 		uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
-	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
+	auto replyIter = deviceReplyMap.find(deviceReply);
-			deviceReplyMap.find(deviceReply);
+	if (replyIter == deviceReplyMap.end()) {
-	if (iter == deviceReplyMap.end()) {
 		triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
 		return RETURN_FAILED;
 	} else {
-		DeviceReplyInfo *info = &(iter->second);
+		DeviceReplyInfo *info = &(replyIter->second);
 		if (maxDelayCycles != 0) {
 			info->maxDelayCycles = maxDelayCycles;
 		}
@@ -450,6 +453,17 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
 	}
 }
 
+
+ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
+        PoolDataSetIF *dataSet) {
+    auto replyIter = deviceReplyMap.find(replyId);
+    if(replyIter == deviceReplyMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    replyIter->second.dataSet = dataSet;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 void DeviceHandlerBase::callChildStatemachine() {
 	if (mode == _MODE_START_UP) {
 		doStartUp();
@@ -1363,8 +1377,9 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 void DeviceHandlerBase::performOperationHook() {
 }
 
-ReturnValue_t DeviceHandlerBase::initializePoolEntries(
+ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
-		LocalDataPool &localDataPoolMap) {
+		LocalDataPool &localDataPoolMap,
+        LocalDataPoolManager& poolManager) {
 	return RETURN_OK;
 }
 
@@ -1379,6 +1394,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
     if(executingTask != nullptr) {
         pstIntervalMs = executingTask->getPeriodMs();
     }
+    this->hkManager.initializeAfterTaskCreation();
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -1399,3 +1415,4 @@ object_id_t DeviceHandlerBase::getObjectId() const {
 dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
     return pstIntervalMs;
 }
+

devicehandlers/DeviceHandlerBase.h

@@ -387,7 +387,8 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false,
+			uint16_t maxDelayCycles, PoolDataSetIF* replyDataSet = nullptr,
+			size_t replyLen = 0, bool periodic = false,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 
 	/**
@@ -401,7 +402,8 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false);
+			uint16_t maxDelayCycles, PoolDataSetIF* dataSet = nullptr,
+			size_t replyLen = 0, bool periodic = false);
 
 	/**
 	 * @brief 	A simple command to add a command to the commandList.
@@ -429,6 +431,9 @@ protected:
 			uint16_t delayCycles, uint16_t maxDelayCycles,
 			bool periodic = false);
 
+	ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
+	        PoolDataSetIF* dataset);
+
 	/**
 	 * @brief   Can be implemented by child handler to
 	 *          perform debugging
@@ -482,8 +487,8 @@ protected:
 	 * @param localDataPoolMap
 	 * @return
 	 */
-	virtual ReturnValue_t initializePoolEntries(
+	virtual ReturnValue_t initializeLocalDataPool(LocalDataPool& localDataPoolMap,
-				LocalDataPool& localDataPoolMap) override;
+				LocalDataPoolManager& poolManager) override;
 
 	/** Get the HK manager object handle */
 	virtual LocalDataPoolManager* getHkManagerHandle() override;
@@ -656,7 +661,7 @@ protected:
 		//! The dataset used to access housekeeping data related to the
 		//! respective device reply. Will point to a dataset held by
 		//! the child handler (if one is specified)
-		DataSetIF* dataSet = nullptr;
+		PoolDataSetIF* dataSet = nullptr;
 		//! The command that expects this reply.
 		DeviceCommandMap::iterator command;
 	};
@@ -1197,7 +1202,7 @@ private:
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
 
 	virtual ReturnValue_t initializeAfterTaskCreation() override;
-	DataSetIF* getDataSetHandle(sid_t sid) override;
+	virtual DataSetIF* getDataSetHandle(sid_t sid) override;
 
 	void parseReply(const uint8_t* receivedData,
 	            size_t receivedDataLen);

housekeeping/HousekeepingPacketDownlink.h

@@ -25,7 +25,7 @@ public:
 
     /**
      * Helper functions which can be used to move HK data from the IPC store
-     * to the telemetry store.
+     * to the telemetry store. TODO: maybe not needed.
      * @param formerStore
      * @param storeId
      * @param newStore

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -8,7 +8,7 @@ const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod overallPeriod,
 		void (*setDeadlineMissedFunc)()) :
-		started(false), handle(NULL), pst(overallPeriod * 1000) {
+		started(false), handle(nullptr), pst(overallPeriod * 1000) {
 	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
 	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
 	// All additional attributes are applied to the object.
@@ -62,8 +62,10 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+    ExecutableObjectIF* handler =
-		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+            objectManager->get<ExecutableObjectIF>(componentId);
+	if (handler != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
@@ -76,8 +78,8 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
 	return pst.getLengthMs();
 }
 
-ReturnValue_t FixedTimeslotTask::checkSequence() const {
+ReturnValue_t FixedTimeslotTask::checkAndInitializeSequence() const {
-	return pst.checkSequence();
+	return pst.checkAndInitializeSequence();
 }
 
 void FixedTimeslotTask::taskFunctionality() {

osal/FreeRTOS/FixedTimeslotTask.h

@@ -54,7 +54,7 @@ public:
 
 	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t checkSequence() const override;
+	ReturnValue_t checkAndInitializeSequence() const override;
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
 

osal/host/FixedTimeslotTask.cpp

@@ -132,7 +132,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
     return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t FixedTimeslotTask::checkSequence() const {
+ReturnValue_t FixedTimeslotTask::checkAndInitializeSequence() const {
     return pollingSeqTable.checkSequence();
 }
 

osal/host/FixedTimeslotTask.h

@@ -61,7 +61,7 @@ public:
     ReturnValue_t addSlot(object_id_t componentId,
                    uint32_t slotTimeMs, int8_t executionStep);
 
-    ReturnValue_t checkSequence() const;
+    ReturnValue_t checkAndInitializeSequence() const;
 
     uint32_t getPeriodMs() const;
 

osal/linux/FixedTimeslotTask.cpp

@@ -49,7 +49,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t FixedTimeslotTask::checkSequence() const {
+ReturnValue_t FixedTimeslotTask::checkAndInitializeSequence() const {
 	return pst.checkSequence();
 }
 

osal/linux/FixedTimeslotTask.h

@@ -33,7 +33,7 @@ public:
 	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
 			int8_t executionStep);
 
-	virtual ReturnValue_t checkSequence() const;
+	virtual ReturnValue_t checkAndInitializeSequence() const;
 
 	/**
 	 * This static function can be used as #deadlineMissedFunc.

osal/rtems/PollingTask.cpp

@@ -82,7 +82,7 @@ uint32_t PollingTask::getPeriodMs() const {
 	return pst.getLengthMs();
 }
 
-ReturnValue_t PollingTask::checkSequence() const {
+ReturnValue_t PollingTask::checkAndInitializeSequence() const {
 	return pst.checkSequence();
 }
 

osal/rtems/PollingTask.h

@@ -42,7 +42,7 @@ class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
 
 	uint32_t getPeriodMs() const;
 
-	ReturnValue_t checkSequence() const;
+	ReturnValue_t checkAndInitializeSequence() const;
 
 	ReturnValue_t sleepFor(uint32_t ms);
 protected:

tasks/FixedSequenceSlot.cpp

@@ -3,13 +3,14 @@
 #include <cstddef>
 
 FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
-		int8_t setSequenceId, PeriodicTaskIF* executingTask) :
+		int8_t setSequenceId, ExecutableObjectIF* executableObject,
+		PeriodicTaskIF* executingTask) :
 		pollingTimeMs(setTime), opcode(setSequenceId) {
-	handler = objectManager->get<ExecutableObjectIF>(handlerId);
+    if(executableObject == nullptr) {
-	if(executingTask != nullptr) {
+        return;
-	    handler->setTaskIF(executingTask);
     }
-	handler->initializeAfterTaskCreation();
+    this->executableObject = executableObject;
+    this->executableObject->setTaskIF(executingTask);
 }
 
 FixedSequenceSlot::~FixedSequenceSlot() {}

tasks/FixedSequenceSlot.h

@@ -16,19 +16,21 @@ class PeriodicTaskIF;
 class FixedSequenceSlot {
 public:
 	FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
-			int8_t setSequenceId, PeriodicTaskIF* executingTask );
+			int8_t setSequenceId, ExecutableObjectIF* executableObject,
+			PeriodicTaskIF* executingTask);
 	virtual ~FixedSequenceSlot();
 
 	/**
-	 * @brief	Handler identifies which device handler object is executed in this slot.
+	 * @brief	Handler identifies which object is executed in this slot.
 	 */
-	ExecutableObjectIF*	handler = nullptr;
+	ExecutableObjectIF*	executableObject = nullptr;
 
 	/**
 	 * @brief	This attribute defines when a device handler object is executed.
-	 *
+	 * @details
-	 * @details	The pollingTime attribute identifies the time the handler is executed in ms.
+	 * The pollingTime attribute identifies the time the handler is
-	 * 			It must be smaller than the period length of the polling sequence.
+	 * executed in ms. It must be smaller than the period length of the
+	 * polling sequence.
 	 */
 	uint32_t pollingTimeMs;
 

tasks/FixedSlotSequence.cpp

@@ -13,7 +13,7 @@ FixedSlotSequence::~FixedSlotSequence() {
 }
 
 void FixedSlotSequence::executeAndAdvance() {
-	current->handler->performOperation(current->opcode);
+	current->executableObject->performOperation(current->opcode);
 //	if (returnValue != RETURN_OK) {
 //		this->sendErrorMessage( returnValue );
 //	}
@@ -81,34 +81,38 @@ uint32_t FixedSlotSequence::getLengthMs() const {
 	return this->lengthMs;
 }
 
-ReturnValue_t FixedSlotSequence::checkSequence() const {
+ReturnValue_t FixedSlotSequence::checkAndInitializeSequence() const {
 	if(slotList.empty()) {
 		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-	auto slotIt = slotList.begin();
+	std::set<ExecutableObjectIF*> uniqueObjects;
 	uint32_t count = 0;
 	uint32_t time = 0;
-	while (slotIt != slotList.end()) {
+	for(const auto& slot: slotList) {
-		if (slotIt->handler == nullptr) {
+		if (slot.executableObject == nullptr) {
-			sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
-					<< std::endl;
 			count++;
-		} else if (slotIt->pollingTimeMs < time) {
+		}
+		else if (slot.pollingTimeMs < time) {
 			sif::error << "FixedSlotSequence::initialize: Time: "
-					<< slotIt->pollingTimeMs
+					<< slot.pollingTimeMs << " is smaller than previous with "
-					<< " is smaller than previous with " << time << std::endl;
+					<< time << std::endl;
 			count++;
-		} else {
+		}
+		else {
 			// All ok, print slot.
-			//info << "Current slot polling time: " << std::endl;
+			//sif::info << "Current slot polling time: " << std::endl;
-			//info << std::dec << slotIt->pollingTimeMs << std::endl;
+			//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
 		}
-		time = slotIt->pollingTimeMs;
+		time = slot.pollingTimeMs;
-		slotIt++;
+		// Ensure that each unique object is initialized once.
+		if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
+		    slot.executableObject->initializeAfterTaskCreation();
+		    uniqueObjects.emplace(slot.executableObject);
 		}
-	//info << "Number of elements in slot list: "
+	}
+	//sif::info << "Number of elements in slot list: "
 	//	   << slotList.size() << std::endl;
 	if (count > 0) {
 		return HasReturnvaluesIF::RETURN_FAILED;
@@ -117,8 +121,9 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
 }
 
 void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-		int8_t executionStep, PeriodicTaskIF* executingTask) {
+		int8_t executionStep, ExecutableObjectIF* executableObject,
-	this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
+		PeriodicTaskIF* executingTask) {
-			executingTask));
+    this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
+            executionStep, executableObject, executingTask));
    this->current = slotList.begin();
 }

tasks/FixedSlotSequence.h

@@ -59,7 +59,7 @@ public:
 	 * 	@param
 	 */
 	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
-			PeriodicTaskIF* executingTask);
+			ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask);
 
 	/**
 	 * Checks if the current slot shall be executed immediately after the one before.
@@ -125,11 +125,14 @@ public:
 	SlotListIter current;
 
 	/**
-	 * Iterate through slotList and check successful creation.
+	 * @brief   Check and initialize slot list.
+	 * @details
 	 * Checks if timing is ok (must be ascending) and if all handlers were found.
+	 * Also calls any initialization steps which are required after task
+	 * creation.
 	 * @return
 	 */
-	ReturnValue_t checkSequence() const;
+	ReturnValue_t checkAndInitializeSequence() const;
 
 protected:
 

tasks/FixedTimeslotTaskIF.h

@@ -22,8 +22,12 @@ public:
 	 */
 	virtual ReturnValue_t addSlot(object_id_t componentId,
 			uint32_t slotTimeMs, int8_t executionStep) = 0;
-	/** Check whether the sequence is valid */
+
-	virtual ReturnValue_t checkSequence() const = 0;
+	/**
+	 * Check whether the sequence is valid and perform all other required
+	 * initialization steps which are needed after task creation
+	 */
+	virtual ReturnValue_t checkAndInitializeSequence() const = 0;
 };
 
 #endif /* FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ */