hk stuff continued

container/ArrayList.h

@@ -140,6 +140,10 @@ public:
 
         //SHOULDDO this should be implemented as non-member
         bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
+        	// POSSIBLY BUGGY ! Also this is really confusing. Why does
+        	// the operator above use the value while this one
+        	// dereferences itself?
+        	//return not (value == other.value);
         	return !(*this == other);
         }
     };

container/FixedMap.h

@@ -143,6 +143,15 @@ public:
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
+	bool empty() {
+		if(_size == 0) {
+			return true;
+		}
+		else {
+			return false;
+		}
+	}
+
     bool full() {
         if(_size >= theMap.maxSize()) {
             return true;

datapoollocal/HasLocalDataPoolIF.h

@@ -9,7 +9,8 @@
 #include <map>
 
 class LocalDataPoolManager;
-class DataSetIF;
+class LocalPoolDataSetBase;
+
 /**
  * @brief	Type definition for local pool entries.
  */
@@ -76,7 +77,7 @@ public:
 	 * @param sid Corresponding structure ID
 	 * @return
 	 */
-	virtual DataSetIF* getDataSetHandle(sid_t sid) = 0;
+	virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) = 0;
 
 	/* These function can be implemented by pool owner, as they are required
 	 * by the housekeeping message interface */

datapoollocal/LocalDataPoolManager.cpp

@@ -56,9 +56,6 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
 ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(
         uint8_t nonDiagInvlFactor) {
     setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
-    diagnosticMinimumInterval = owner->getPeriodicOperationFrequency();
-    regularMinimumInterval = diagnosticMinimumInterval *
-            nonDiagnosticIntervalFactor;
     return initializeHousekeepingPoolEntriesOnce();
 }
 
@@ -77,12 +74,12 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 }
 
 ReturnValue_t LocalDataPoolManager::performHkOperation() {
-    for(auto& hkReceiversIter: hkReceiversMap) {
+    for(auto& receiver: hkReceiversMap) {
-        HkReceiver* receiver = &hkReceiversIter.second;
+        //HkReceiver* receiver = &hkReceiversIter.second;
 
-        switch(receiver->reportingType) {
+        switch(receiver.reportingType) {
         case(ReportingType::PERIODIC): {
-            if(receiver->dataId.dataSetSid.notSet()) {
+            if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
                 // Periodic packets shall only be generated from datasets.
                 continue;
             }
@@ -113,30 +110,19 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
 	}
 
 	struct HkReceiver hkReceiver;
-	hkReceiver.dataId.dataSetSid = sid;
+	hkReceiver.dataId.sid = sid;
 	hkReceiver.reportingType = ReportingType::PERIODIC;
 	hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
 
-	if(not isDiagnostics) {
+	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
-	    hkReceiver.hkParameter.collectionIntervalTicks =
-	            intervalSecondsToInterval(isDiagnostics, collectionInterval *
-	            nonDiagnosticIntervalFactor);
-	}
-	else {
-	    hkReceiver.hkParameter.collectionIntervalTicks =
-	            intervalSecondsToInterval(isDiagnostics, collectionInterval);
-	}
-
-	LocalPoolDataSetBase* dataSet = dynamic_cast<LocalPoolDataSetBase*>(
-	            owner->getDataSetHandle(sid));
 	if(dataSet != nullptr) {
 		dataSet->setReportingEnabled(enableReporting);
-		dataSet->setIsDiagnostic(isDiagnostics);
+		dataSet->setDiagnostic(isDiagnostics);
+		dataSet->initializePeriodicHelper(collectionInterval,
+				owner->getPeriodicOperationFrequency(), isDiagnostics);
 	}
 
-	hkReceiver.intervalCounter = 1;
+	hkReceiversMap.push_back(hkReceiver);
-
-	hkReceiversMap.emplace(packetDestination, hkReceiver);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -153,7 +139,6 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 		return togglePeriodicGeneration(sid, true, false);
     case(HousekeepingMessage::DISABLE_PERIODIC_HK_REPORT_GENERATION):
 		return togglePeriodicGeneration(sid, false, false);
-
     case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES):
     case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES):
 		//return generateSetStructurePacket(sid, );
@@ -174,14 +159,13 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 
     case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
     case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
-    	LocalPoolDataSetBase* dataSet = dynamic_cast<LocalPoolDataSetBase*>(
+    	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
-    			owner->getDataSetHandle(sid));
     	if(command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT
-    			and dataSet->getIsDiagnostics()) {
+    			and dataSet->isDiagnostics()) {
     		return WRONG_HK_PACKET_TYPE;
     	}
     	else if(command == HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT
-    			and not dataSet->getIsDiagnostics()) {
+    			and not dataSet->isDiagnostics()) {
     		return WRONG_HK_PACKET_TYPE;
     	}
     	return generateHousekeepingPacket(HousekeepingMessage::getSid(message),
@@ -234,7 +218,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
 
 	// and now we set a HK message and send it the HK packet destination.
 	CommandMessage hkMessage;
-	if(dataSet->getIsDiagnostics()) {
+	if(dataSet->isDiagnostics()) {
 		HousekeepingMessage::setHkDiagnosticsReply(&hkMessage, sid, storeId);
 	}
 	else {
@@ -280,16 +264,22 @@ void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
     this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
 }
 
-void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver* receiver) {
+void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
-    if(receiver->intervalCounter >=
+	sid_t sid = receiver.dataId.sid;
-            receiver->hkParameter.collectionIntervalTicks) {
+	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
-    	sid_t sid = receiver->dataId.dataSetSid;
-    	LocalPoolDataSetBase* dataSet = dynamic_cast<LocalPoolDataSetBase*>(
-    			owner->getDataSetHandle(sid));
 	if(not dataSet->getReportingEnabled()) {
 		return;
 	}
 
+	if(dataSet->periodicHelper == nullptr) {
+		// Configuration error.
+		return;
+	}
+
+	if(not dataSet->periodicHelper->checkOpNecessary()) {
+		return;
+	}
+
 	ReturnValue_t result = generateHousekeepingPacket(
 			sid, dataSet, true);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -299,43 +289,15 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver* receiver) {
 		<< owner->getObjectId() << " Error generating "
 		<< "HK packet" << std::setfill(' ') << std::endl;
 	}
-        receiver->intervalCounter = 1;
-    }
-    else {
-        receiver->intervalCounter++;
-    }
 }
 
-uint32_t LocalDataPoolManager::intervalSecondsToInterval(bool isDiagnostics,
-        float collectionIntervalSeconds) {
-    if(isDiagnostics) {
-        return std::ceil(collectionIntervalSeconds * 1000
-                /diagnosticMinimumInterval);
-    }
-    else {
-        return std::ceil(collectionIntervalSeconds * 1000
-                /regularMinimumInterval);
-    }
-}
-
-float LocalDataPoolManager::intervalToIntervalSeconds(bool isDiagnostics,
-        uint32_t collectionInterval) {
-    if(isDiagnostics) {
-        return static_cast<float>(collectionInterval *
-        		diagnosticMinimumInterval);
-    }
-    else {
-        return static_cast<float>(collectionInterval *
-                regularMinimumInterval);
-    }
-}
 
 ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid,
 		bool enable, bool isDiagnostics) {
 	LocalPoolDataSetBase* dataSet = dynamic_cast<LocalPoolDataSetBase*>(
 			owner->getDataSetHandle(sid));
-	if((dataSet->getIsDiagnostics() and not isDiagnostics) or
+	if((dataSet->isDiagnostics() and not isDiagnostics) or
-			(not dataSet->getIsDiagnostics() and isDiagnostics)) {
+			(not dataSet->isDiagnostics() and isDiagnostics)) {
 		return WRONG_HK_PACKET_TYPE;
 	}
 
@@ -352,7 +314,7 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
 		float newCollectionInterval, bool isDiagnostics) {
 	LocalPoolDataSetBase* dataSet = dynamic_cast<LocalPoolDataSetBase*>(
 				owner->getDataSetHandle(sid));
-	bool targetIsDiagnostics = dataSet->getIsDiagnostics();
+	bool targetIsDiagnostics = dataSet->isDiagnostics();
 	if((targetIsDiagnostics and not isDiagnostics) or
 			(not targetIsDiagnostics and isDiagnostics)) {
 		return WRONG_HK_PACKET_TYPE;
@@ -364,20 +326,11 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
 	}
 
 	dataSet->periodicHelper->changeCollectionInterval(newCollectionInterval);
-//	for(auto& receiver: hkReceiversMap) {
-//		if(receiver.second.reportingType != ReportingType::PERIODIC) {
-//			continue;
-//		}
-//
-//		uint32_t newInterval = intervalSecondsToInterval(isDiagnostics,
-//				newCollectionInterval);
-//		receiver.second.hkParameter.collectionIntervalTicks = newInterval;
-//	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
-		float collectionInterval, bool isDiagnostics) {
+		bool isDiagnostics) {
 	LocalPoolDataSetBase* dataSet = dynamic_cast<LocalPoolDataSetBase*>(
 			owner->getDataSetHandle(sid));
 	if(dataSet == nullptr) {
@@ -386,15 +339,22 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-    bool valid = dataSet->isValid();
+	bool targetIsDiagnostics = dataSet->isDiagnostics();
-    bool targetIsDiagnostics = dataSet->getIsDiagnostics();
+	if((targetIsDiagnostics and not isDiagnostics) or
-    bool reportingEnabled = dataSet->getReportingEnabled();
+			(not targetIsDiagnostics and isDiagnostics)) {
+		return WRONG_HK_PACKET_TYPE;
+	}
 
-    size_t expectedSize = dataSet->getFillCount() * sizeof(lp_id_t);
+	bool valid = dataSet->isValid();
+	bool reportingEnabled = dataSet->getReportingEnabled();
+	float collectionInterval =
+			dataSet->periodicHelper->getCollectionIntervalInSeconds();
+
+	HousekeepingSetPacket setPacket = HousekeepingSetPacket(sid,
+			reportingEnabled, valid, collectionInterval, dataSet);
+	size_t expectedSize = setPacket.getSerializedSize();
 	uint8_t* storePtr = nullptr;
 	store_address_t storeId;
-    HousekeepingSetPacket setPacket = HousekeepingSetPacket(sid, reportingEnabled,
-    		valid, collectionInterval, dataSet);
 	ReturnValue_t result = ipcStore->getFreeElement(&storeId,
 			expectedSize,&storePtr);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -402,9 +362,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
 				"Could not get free element from IPC store." << std::endl;
 		return result;
 	}
+
 	size_t size = 0;
-    result = dataSet->serializeLocalPoolIds(&storePtr, &size,
+	result = setPacket.serialize(&storePtr, &size, expectedSize,
-            expectedSize, SerializeIF::Endianness::BIG);
+			SerializeIF::Endianness::BIG);
 	if(expectedSize != size) {
 		sif::error << "HousekeepingManager::generateSetStructurePacket: "
 				"Expected size is not equal to serialized size" << std::endl;

datapoollocal/LocalDataPoolManager.h

@@ -5,6 +5,7 @@
 
 #include "../housekeeping/HousekeepingPacketDownlink.h"
 #include "../housekeeping/HousekeepingMessage.h"
+#include "../housekeeping/PeriodicHousekeepingHelper.h"
 #include "../datapool/DataSetIF.h"
 #include "../datapool/PoolEntry.h"
 #include "../objectmanager/SystemObjectIF.h"
@@ -131,16 +132,15 @@ public:
 
     /**
      * Different types of housekeeping reporting are possible.
-     *  1. PERIODIC: HK packets are generated in fixed intervals and sent to
+     *  1. PERIODIC:
+     *     HK packets are generated in fixed intervals and sent to
      *     destination. Fromat will be raw.
-     *  2. UPDATED: Notification will be sent out if HK data has changed.
+     *  2. UPDATE_NOTIFICATION:
-     *     Question: Send Raw data directly or just the message?
+     *     Notification will be sent out if HK data has changed.
-     *  3. REQUESTED: HK packets are only generated if explicitely requested.
+     *  3. UPDATE_SNAPSHOT:
+     *     HK packets are only generated if explicitely requested.
      *     Propably not necessary, just use multiple local data sets or
      *     shared datasets.
-     *
-     *  Notifications should also be possible for single variables instead of
-     *  full dataset updates.
      */
     enum class ReportingType: uint8_t {
         //! Periodic generation of HK packets.
@@ -152,6 +152,17 @@ public:
         UPDATE_SNAPSHOT,
     };
 
+    /**
+     * Different data types are possible in the HK receiver map.
+     * For example, updates can be requested for full datasets or
+     * for single pool variables. Periodic reporting is only possible for
+     * data sets.
+     */
+    enum class DataType: uint8_t {
+    	LOCAL_POOL_VARIABLE,
+		DATA_SET
+    };
+
     /* Copying forbidden */
     LocalDataPoolManager(const LocalDataPoolManager &) = delete;
     LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
@@ -165,8 +176,6 @@ private:
     HasLocalDataPoolIF* owner = nullptr;
 
     uint8_t nonDiagnosticIntervalFactor = 0;
-    dur_millis_t regularMinimumInterval = 0;
-    dur_millis_t diagnosticMinimumInterval = 0;
 
 	/** Default receiver for periodic HK packets */
 	static object_id_t defaultHkDestination;
@@ -174,40 +183,25 @@ private:
 
     /** The data pool manager will keep an internal map of HK receivers. */
     struct HkReceiver {
-        /** Different member of this union will be used depending on the
+		/** Object ID of receiver */
-        type of data the receiver is interested in (full datasets or
+		object_id_t objectId = objects::NO_OBJECT;
-        single data variables. */
+
+		DataType dataType = DataType::DATA_SET;
         union DataId {
-        	DataId(): dataSetSid() {}
+			DataId(): sid() {};
-            /** Will be initialized to INVALID_ADDRESS */
+            sid_t sid;
-            sid_t dataSetSid;
+            lp_id_t localPoolId;
-            lp_id_t localPoolId = HasLocalDataPoolIF::NO_POOL_ID;
         };
         DataId dataId;
 
         ReportingType reportingType = ReportingType::PERIODIC;
-        // SHOULDDO: it would be nice to also have the object ID instead of
-        // a queue (or in addition).. but the FSFW is not ready  for that yet.
-        // Also, an object can have multiple queues.
         MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
-
-        /** Different members of this union will be used depending on reporting
-        type */
-        union HkParameter {
-            /** This parameter will be used for the PERIODIC type */
-            uint32_t collectionIntervalTicks = 0;
-            /** This parameter will be used for the ON_UPDATE type */
-            bool hkDataChanged;
-        };
-        HkParameter hkParameter;
-        /** General purpose counter which is used for periodic generation. */
-        uint32_t intervalCounter;
     };
 
-    /** Using a multimap as the same object might request multiple datasets */
+    /** This vector will contain the list of HK receivers. */
-    using HkReceiversMap = std::multimap<object_id_t, struct HkReceiver>;
+    using HkReceivers = std::vector<struct HkReceiver>;
 
-    HkReceiversMap hkReceiversMap;
+    HkReceivers hkReceiversMap;
 
     /** This is the map holding the actual data. Should only be initialized
      * once ! */
@@ -252,18 +246,12 @@ private:
 	        HousekeepingPacketDownlink& hkPacket,
 	        store_address_t& storeId, bool forDownlink, size_t* serializedSize);
 
-	uint32_t intervalSecondsToInterval(bool isDiagnostics,
+	void performPeriodicHkGeneration(HkReceiver& hkReceiver);
-	        float collectionIntervalSeconds);
-	float intervalToIntervalSeconds(bool isDiagnostics,
-	        uint32_t collectionInterval);
-
-	void performPeriodicHkGeneration(HkReceiver* hkReceiver);
 	ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable,
 			bool isDiagnostics);
 	ReturnValue_t changeCollectionInterval(sid_t sid,
 			float newCollectionInterval, bool isDiagnostics);
-	ReturnValue_t generateSetStructurePacket(sid_t sid,
+	ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
-			float collectionInterval, bool isDiagnostics);
 };
 
 

datapoollocal/LocalPoolDataSetBase.cpp

@@ -1,5 +1,6 @@
 #include "LocalPoolDataSetBase.h"
 #include "../datapoollocal/LocalDataPoolManager.h"
+#include "../housekeeping/PeriodicHousekeepingHelper.h"
 #include "../serialize/SerializeAdapter.h"
 
 #include <cmath>
@@ -10,8 +11,9 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
 		const size_t maxNumberOfVariables):
 		PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
 	if(hkOwner == nullptr) {
-        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+		// Configuration error.
-                << std::endl;
+		sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
+				<< "invalid!" << std::endl;
 		return;
 	}
     hkManager = hkOwner->getHkManagerHandle();
@@ -29,8 +31,9 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
     HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
             sid.objectId);
     if(hkOwner == nullptr) {
-        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+    	// Configuration error.
-                << std::endl;
+        sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
+        		<< "invalid!" << std::endl;
         return;
     }
     hkManager = hkOwner->getHkManagerHandle();
@@ -178,12 +181,12 @@ void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
     *byte |= 1 << shiftNumber;
 }
 
-void LocalPoolDataSetBase::setIsDiagnostic(bool isDiagnostics) {
+void LocalPoolDataSetBase::setDiagnostic(bool isDiagnostics) {
-	this->isDiagnostics = isDiagnostics;
+	this->diagnostic = isDiagnostics;
 }
 
-bool LocalPoolDataSetBase::getIsDiagnostics() const {
+bool LocalPoolDataSetBase::isDiagnostics() const {
-	return isDiagnostics;
+	return diagnostic;
 }
 
 void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
@@ -194,6 +197,25 @@ bool LocalPoolDataSetBase::getReportingEnabled() const {
 	return reportingEnabled;
 }
 
+void LocalPoolDataSetBase::initializePeriodicHelper(
+		float collectionInterval, dur_millis_t minimumPeriodicInterval,
+		bool isDiagnostics, uint8_t nonDiagIntervalFactor) {
+	periodicHelper->initialize(collectionInterval, minimumPeriodicInterval,
+			isDiagnostics, nonDiagIntervalFactor);
+}
+
+void LocalPoolDataSetBase::setChanged(bool changed) {
+	this->changed = changed;
+}
+
+bool LocalPoolDataSetBase::isChanged() const {
+	return changed;
+}
+
+sid_t LocalPoolDataSetBase::getSid() const {
+	return sid;
+}
+
 bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
 		uint8_t position) const {
     if(position > 7) {

datapoollocal/LocalPoolDataSetBase.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
 #define FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
 
-#include <fsfw/housekeeping/PeriodicHousekeepingHelper.h>
+
 #include "HasLocalDataPoolIF.h"
 #include "../datapool/DataSetIF.h"
 #include "../datapool/PoolDataSetBase.h"
@@ -10,6 +10,7 @@
 #include <vector>
 
 class LocalDataPoolManager;
+class PeriodicHousekeepingHelper;
 
 /**
  * @brief	The LocalDataSet class manages a set of locally checked out
@@ -38,14 +39,16 @@ class LocalPoolDataSetBase: public PoolDataSetBase {
 public:
 	/**
 	 * @brief	Constructor for the creator of local pool data.
+	 * @details
+	 * This constructor also initializes the components required for
+	 * periodic handling.
 	 */
 	LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
 			uint32_t setId, PoolVariableIF** registeredVariablesArray,
 	        const size_t maxNumberOfVariables);
 
 	/**
-	 * @brief	Constructor for users of local pool data. The passed pool
+	 * @brief	Constructor for users of local pool data.
-	 * 			owner should implement the HasHkPoolParametersIF.
 	 * @details
 	 * @param sid Unique identifier of dataset consisting of object ID and
 	 * set ID.
@@ -67,6 +70,8 @@ public:
 
 	void setValidityBufferGeneration(bool withValidityBuffer);
 
+	sid_t getSid() const;
+
 	ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
 	            SerializeIF::Endianness streamEndianness) const override;
 	ReturnValue_t deSerialize(const uint8_t** buffer, size_t *size,
@@ -102,12 +107,15 @@ public:
 	void setValidity(bool valid, bool setEntriesRecursively);
 	bool isValid() const override;
 
+	void setChanged(bool changed);
+	bool isChanged() const;
+
 protected:
 	sid_t sid;
 
-	bool isDiagnostics = false;
+	bool diagnostic = false;
-	void setIsDiagnostic(bool diagnostics);
+	void setDiagnostic(bool diagnostics);
-	bool getIsDiagnostics() const;
+	bool isDiagnostics() const;
 
 	/**
 	 * Used for periodic generation.
@@ -116,12 +124,22 @@ protected:
 	void setReportingEnabled(bool enabled);
 	bool getReportingEnabled() const;
 
+	void initializePeriodicHelper(float collectionInterval,
+			dur_millis_t minimumPeriodicInterval,
+			bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5);
+
 	/**
 	 * If the valid state of a dataset is always relevant to the whole
 	 * data set we can use this flag.
 	 */
 	bool valid = false;
 
+	/**
+	 * Can be used to mark the dataset as changed, which is used
+	 * by the LocalDataPoolManager to send out update messages.
+	 */
+	bool changed = false;
+
 	bool withValidityBuffer = true;
 
 	/**
@@ -147,7 +165,7 @@ protected:
 	 */
 	void bitSetter(uint8_t* byte, uint8_t position) const;
 	bool bitGetter(const uint8_t* byte, uint8_t position) const;
-private:
+
 	PeriodicHousekeepingHelper* periodicHelper = nullptr;
 
 };

datapoollocal/StaticLocalDataSet.h

@@ -17,6 +17,24 @@
 template <uint8_t NUM_VARIABLES>
 class StaticLocalDataSet: public LocalPoolDataSetBase {
 public:
+	/**
+	 * Constructor used by data owner and creator like device handlers.
+	 * This constructor also initialized the components required for
+	 * periodic handling.
+	 * @param hkOwner
+	 * @param setId
+	 */
+    StaticLocalDataSet(HasLocalDataPoolIF* hkOwner,
+    		uint32_t setId): LocalPoolDataSetBase(hkOwner, setId, nullptr,
+            NUM_VARIABLES) {
+        this->setContainer(poolVarList.data());
+    }
+
+	/**
+	 * Constructor used by data users like controllers.
+	 * @param hkOwner
+	 * @param setId
+	 */
     StaticLocalDataSet(sid_t sid): LocalPoolDataSetBase(sid, nullptr,
             NUM_VARIABLES) {
         this->setContainer(poolVarList.data());

devicehandlers/DeviceHandlerBase.cpp

@@ -391,7 +391,7 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
 		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		PoolDataSetIF* replyDataSet, size_t replyLen, bool periodic,
+		LocalPoolDataSetBase* replyDataSet, size_t replyLen, bool periodic,
 		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
 	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
@@ -405,7 +405,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, PoolDataSetIF* dataSet,
+		uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet,
 		size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
@@ -455,7 +455,7 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
 
 
 ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
-        PoolDataSetIF *dataSet) {
+        LocalPoolDataSetBase *dataSet) {
     auto replyIter = deviceReplyMap.find(replyId);
     if(replyIter == deviceReplyMap.end()) {
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -1396,7 +1396,7 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
 	auto iter = deviceReplyMap.find(sid.ownerSetId);
 	if(iter != deviceReplyMap.end()) {
 		return iter->second.dataSet;

devicehandlers/DeviceHandlerBase.h

@@ -389,7 +389,8 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, PoolDataSetIF* replyDataSet = nullptr,
+			uint16_t maxDelayCycles,
+			LocalPoolDataSetBase* replyDataSet = nullptr,
 			size_t replyLen = 0, bool periodic = false,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 
@@ -404,7 +405,7 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, PoolDataSetIF* dataSet = nullptr,
+			uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
 			size_t replyLen = 0, bool periodic = false);
 
 	/**
@@ -434,7 +435,7 @@ protected:
 			bool periodic = false);
 
 	ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
-	        PoolDataSetIF* dataset);
+	        LocalPoolDataSetBase* dataset);
 
 	/**
 	 * @brief   Can be implemented by child handler to
@@ -663,7 +664,7 @@ 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)
-		PoolDataSetIF* dataSet = nullptr;
+		LocalPoolDataSetBase* dataSet;
 		//! The command that expects this reply.
 		DeviceCommandMap::iterator command;
 	};
@@ -1198,7 +1199,7 @@ private:
 
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
 
-	virtual DataSetIF* getDataSetHandle(sid_t sid) override;
+	virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
     virtual dur_millis_t getPeriodicOperationFrequency() const override;
 

housekeeping/HousekeepingMessage.h

@@ -3,14 +3,15 @@
 
 #include "../ipc/CommandMessage.h"
 #include "../ipc/FwMessageTypes.h"
+#include "../objectmanager/frameworkObjects.h"
 #include "../objectmanager/SystemObjectIF.h"
 #include "../storagemanager/StorageManagerIF.h"
-#include <limits>
 
 union sid_t {
-	static constexpr uint64_t INVALID_ADDRESS =
+	static constexpr uint64_t INVALID_SID = -1;
-			std::numeric_limits<uint64_t>::max();
+	static constexpr uint32_t INVALID_SET_ID = -1;
-	sid_t(): raw(INVALID_ADDRESS) {}
+	static constexpr uint32_t INVALID_OBJECT_ID = objects::NO_OBJECT;
+	sid_t(): raw(INVALID_SID) {}
 
 	sid_t(object_id_t objectId, uint32_t setId):
 			objectId(objectId),
@@ -31,7 +32,7 @@ union sid_t {
 	uint64_t raw;
 
 	bool notSet() const {
-	    return raw == INVALID_ADDRESS;
+	    return raw == INVALID_SID;
 	}
 
 	bool operator==(const sid_t& other) const {

housekeeping/PeriodicHousekeepingHelper.cpp

@@ -10,10 +10,11 @@ void PeriodicHousekeepingHelper::initialize(float collectionInterval,
 		dur_millis_t minimumPeriodicInterval, bool isDiagnostics,
 		uint8_t nonDiagIntervalFactor) {
 	this->minimumPeriodicInterval = minimumPeriodicInterval;
-	if(not owner->getIsDiagnostics()) {
+	if(isDiagnostics) {
 		this->minimumPeriodicInterval = this->minimumPeriodicInterval *
 				nonDiagIntervalFactor;
 	}
+	collectionIntervalTicks = intervalSecondsToInterval(collectionInterval);
 }
 
 float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() {

housekeeping/PeriodicHousekeepingHelper.h

@@ -20,7 +20,6 @@ public:
 private:
 	LocalPoolDataSetBase* owner = nullptr;
 
-
 	uint32_t intervalSecondsToInterval(float collectionIntervalSeconds);
 	float intervalToIntervalSeconds(uint32_t collectionInterval);
 
@@ -30,6 +29,4 @@ private:
 
 };
 
-
-
 #endif /* FSFW_HOUSEKEEPING_PERIODICHOUSEKEEPINGHELPER_H_ */

pus/Service3Housekeeping.cpp

@@ -6,7 +6,7 @@
 Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid,
 			uint8_t serviceId):
 		CommandingServiceBase(objectId, apid, serviceId,
-		NUM_OF_PARALLEL_COMMANDS, COMMAND_TIMEOUT_SECONDS) {}
+		NUM_OF_PARALLEL_COMMANDS, 5) {}
 
 Service3Housekeeping::~Service3Housekeeping() {}
 

tmtcservices/CommandingServiceBase.cpp

@@ -387,7 +387,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 	store_address_t address;
 	if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
-		commandMap.erase(&iter);
+		commandMap.erase(iter->first);
 	} else {
 		TcPacketStored newPacket(address);
 		startExecution(&newPacket, iter);
@@ -411,8 +411,14 @@ void CommandingServiceBase::checkTimeout() {
 	uint32_t uptime;
 	Clock::getUptime(&uptime);
 	CommandMapIter iter;
+	// TODO: BUG HERE! Problems with comparison operator of iterator.
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
+		if(commandMap.empty()) {
+			// intermediate solution.
+			break;
+		}
 		if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
+			sif::info << "test" << std::endl;
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
 					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,

tmtcservices/VerificationReporter.cpp

@@ -63,8 +63,8 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
 	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "VerificationReporter::sendFailureReport Error writing "
+		sif::error << "VerificationReporter::sendFailureReport: Error writing "
-				<< "to queue. Code: " << std::hex << status << std::dec
+				<< "to queue. Code: " << std::hex  << "0x" << status << std::dec
 				<< std::endl;
 	}
 }
@@ -81,8 +81,8 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
 	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "VerificationReporter::sendFailureReport Error writing "
+		sif::error << "VerificationReporter::sendFailureReport: Error writing "
-				<< "to queue. Code: " << std::hex << status << std::dec
+				<< "to queue. Code: " << std::hex << "0x" << status << std::dec
 				<< std::endl;
 	}
 }