Merge pull request 'DeviceHandlerBase: All Refactoring' (#44) from KSat/fsfw:mueller_DeviceHandlerBase_AllRefactoring into master

devicehandlers/ChildHandlerBase.cpp

@@ -2,15 +2,16 @@
 #include <framework/devicehandlers/ChildHandlerBase.h>
 #include <framework/subsystem/SubsystemBase.h>
 
-ChildHandlerBase::ChildHandlerBase(uint32_t ioBoardAddress,
+ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
-		object_id_t setObjectId, object_id_t deviceCommunication,
+		object_id_t deviceCommunication, CookieIF * comCookie,
-		uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
+		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		uint32_t thermalRequestPoolId, uint32_t parent,
-		uint32_t parent, FailureIsolationBase* customFdir, uint32_t cmdQueueSize) :
+		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
-		DeviceHandlerBase(ioBoardAddress, setObjectId, maxDeviceReplyLen,
+		DeviceHandlerBase(setObjectId, deviceCommunication, comCookie,
-				setDeviceSwitch, deviceCommunication, thermalStatePoolId,
+				setDeviceSwitch, thermalStatePoolId,thermalRequestPoolId,
-				thermalRequestPoolId, (customFdir == NULL? &childHandlerFdir : customFdir), cmdQueueSize), parentId(
+				(customFdir == nullptr? &childHandlerFdir : customFdir),
-				parent), childHandlerFdir(setObjectId) {
+				cmdQueueSize),
+		parentId(parent), childHandlerFdir(setObjectId) {
 }
 
 ChildHandlerBase::~ChildHandlerBase() {

devicehandlers/ChildHandlerBase.h

@@ -6,12 +6,12 @@
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
-	ChildHandlerBase(uint32_t ioBoardAddress, object_id_t setObjectId,
+	ChildHandlerBase(object_id_t setObjectId,
-			object_id_t deviceCommunication, uint32_t maxDeviceReplyLen,
+			object_id_t deviceCommunication, CookieIF * comCookie,
 			uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId, uint32_t parent,
-			FailureIsolationBase* customFdir = NULL,
+			FailureIsolationBase* customFdir = nullptr,
-			uint32_t cmdQueueSize = 20);
+			size_t cmdQueueSize = 20);
 	virtual ~ChildHandlerBase();
 
 	virtual ReturnValue_t initialize();

devicehandlers/Cookie.h

@@ -1,10 +0,0 @@
-#ifndef COOKIE_H_
-#define COOKIE_H_
-
-class Cookie{
-public:
-	virtual ~Cookie(){}
-};
-
-
-#endif /* COOKIE_H_ */

devicehandlers/CookieIF.h

@@ -0,0 +1,34 @@
+#ifndef COOKIE_H_
+#define COOKIE_H_
+#include <cstdint>
+
+/**
+ * @brief Physical address type
+ */
+typedef std::uint32_t address_t;
+
+/**
+ * @brief 	This datatype is used to identify different connection over a
+ * 			single interface (like RMAP or I2C)
+ * @details
+ * To use this class, implement a communication specific child cookie which
+ * inherits Cookie. Cookie instances are created in config/Factory.cpp by
+ * calling @code{.cpp} CookieIF* childCookie = new ChildCookie(...)
+ * @endcode .
+ *
+ * [not implemented yet]
+ * This cookie is then passed to the child device handlers, which stores the
+ * pointer and passes it to the communication interface functions.
+ *
+ * The cookie can be used to store all kinds of information
+ * about the communication, like slave addresses, communication status,
+ * communication parameters etc.
+ *
+ * @ingroup comm
+ */
+class CookieIF {
+public:
+	virtual ~CookieIF() {};
+};
+
+#endif /* COOKIE_H_ */

devicehandlers/DeviceCommunicationIF.h

@@ -1,63 +1,131 @@
 #ifndef DEVICECOMMUNICATIONIF_H_
 #define DEVICECOMMUNICATIONIF_H_
 
-#include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/CookieIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
+/**
+ * @defgroup interfaces Interfaces
+ * @brief Interfaces for flight software objects
+ */
 
+/**
+ * @defgroup comm Communication
+ * @brief Communication software components.
+ */
+
+/**
+ * @brief This is an interface to decouple device communication from
+ * the device handler to allow reuse of these components.
+ * @details
+ * Documentation: Dissertation Baetz p.138.
+ * It works with the assumption that received data
+ * is polled by a component. There are four generic steps of device communication:
+ *
+ *   1. Send data to a device
+ *   2. Get acknowledgement for sending
+ *   3. Request reading data from a device
+ *   4. Read received data
+ *
+ *  To identify different connection over a single interface can return
+ *  so-called cookies to components.
+ *  The CommunicationMessage message type can be used to extend the
+ *  functionality of the ComIF if a separate polling task is required.
+ *  @ingroup interfaces
+ *  @ingroup comm
+ */
 class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
-	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x01);
+	//! Standard Error Codes
-	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x02);
+	//! General protocol error. Define more concrete errors in child handler
-	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x04);
+	//! If cookie is a null pointer
-	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x05);
+	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x06);
+	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x03);
-	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x07);
+	// is this needed if there is no open/close call?
+	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
+	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x06);
+	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x07);
+	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x08);
 
-	virtual ~DeviceCommunicationIF() {
+	//! Can be used in readReceivedMessage() if no reply was received.
+	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0xA1);
 
-	}
+	virtual ~DeviceCommunicationIF() {}
 
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
-			uint32_t maxReplyLen) = 0;
 
 	/**
-	 * Use an existing cookie to open a connection to a new DeviceCommunication.
+	 * @brief Device specific initialization, using the cookie.
-	 * The previous connection must not be closed.
+	 * @details
-	 * If the returnvalue is not RETURN_OK, the cookie is unchanged and
+	 * The cookie is already prepared in the factory. If the communication
-	 * can be used with the previous connection.
+	 * interface needs to be set up in some way and requires cookie information,
+	 * this can be performed in this function, which is called on device handler
+	 * initialization.
+	 * @param cookie
+	 * @return
+	 *  - @c RETURN_OK if initialization was successfull
+	 *  - Everything else triggers failure event with returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0;
+
+	/**
+	 * Called by DHB in the SEND_WRITE doSendWrite().
+	 * This function is used to send data to the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return
+	 *  - @c RETURN_OK for successfull send
+	 *  - Everything else triggers failure event with returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
+			size_t sendLen) = 0;
+
+	/**
+	 * Called by DHB in the GET_WRITE doGetWrite().
+	 * Get send confirmation that the data in sendMessage() was sent successfully.
+	 * @param cookie
+	 * @return - @c RETURN_OK if data was sent successfull
+	 * 		   - Everything else triggers falure event with
+	 * 		     returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
+
+	/**
+	 * Called by DHB in the SEND_WRITE doSendRead().
+	 * It is assumed that it is always possible to request a reply
+	 * from a device. If a requestLen of 0 is supplied, no reply was enabled
+	 * and communication specific action should be taken (e.g. read nothing
+	 * or read everything).
 	 *
 	 * @param cookie
-	 * @param address
+	 * @param requestLen Size of data to read
-	 * @param maxReplyLen
+	 * @return - @c RETURN_OK to confirm the request for data has been sent.
-	 * @return
+	 *         - Everything else triggers failure event with
+	 *           returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-			uint32_t maxReplyLen) = 0;
+			size_t requestLen) = 0;
-
-	virtual void close(Cookie *cookie) = 0;
-
-	//SHOULDDO can data be const?
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
-			uint32_t len) = 0;
-
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
-			uint32_t *size) = 0;
-
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address) = 0;
-
-	virtual uint32_t getAddress(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter) = 0;
-
-	virtual uint32_t getParameter(Cookie *cookie) = 0;
 
+	/**
+	 * Called by DHB in the GET_WRITE doGetRead().
+	 * This function is used to receive data from the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param buffer [out] Set reply here (by using *buffer = ...)
+	 * @param size [out] size pointer to set (by using *size = ...).
+	 * 	           Set to 0 if no reply was received
+	 * @return - @c RETURN_OK for successfull receive
+	 * 		   - @c NO_REPLY_RECEIVED if not reply was received. Setting size to
+	 * 		   	   0 has the same effect
+	 *         - Everything else triggers failure event with
+	 *           returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) = 0;
 };
 
 #endif /* DEVICECOMMUNICATIONIF_H_ */

devicehandlers/DeviceHandlerBase.cpp

@@ -1,52 +1,60 @@
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/datapool/PoolVector.h>
-#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
 #include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
-#include <framework/globalfunctions/CRC.h>
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/subsystem/SubsystemBase.h>
 #include <framework/thermal/ThermalComponentIF.h>
+#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
+
+#include <framework/datapool/DataSet.h>
+#include <framework/datapool/PoolVariable.h>
+#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
+#include <framework/globalfunctions/CRC.h>
+#include <framework/subsystem/SubsystemBase.h>
 #include <framework/ipc/QueueFactory.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+#include <iomanip>
+
 object_id_t DeviceHandlerBase::powerSwitcherId = 0;
 object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
-DeviceHandlerBase::DeviceHandlerBase(uint32_t ioBoardAddress,
+DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
-		object_id_t setObjectId, uint32_t maxDeviceReplyLen,
+		object_id_t deviceCommunication, CookieIF * comCookie,
-		uint8_t setDeviceSwitch, object_id_t deviceCommunication,
+		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
-		FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
+		size_t cmdQueueSize) :
-		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(
+		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
-				MODE_OFF), submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(
+		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
-				maxDeviceReplyLen), wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(
+		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
-				StorageManagerIF::INVALID_ADDRESS), requestedRawTraffic(0), powerSwitcher(
+		deviceThermalStatePoolId(thermalStatePoolId),
-		NULL), IPCStore(NULL), deviceCommunicationId(deviceCommunication), communicationInterface(
+		deviceThermalRequestPoolId(thermalRequestPoolId),
-		NULL), cookie(
+		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
-		NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(
+		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
-				thermalRequestPoolId), healthHelper(this, setObjectId), modeHelper(
+		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
-				this), parameterHelper(this), childTransitionFailure(RETURN_OK), ignoreMissedRepliesCount(
+		switchOffWasReported(false), actionHelper(this, nullptr),
-				0), fdirInstance(fdirInstance), hkSwitcher(this), defaultFDIRUsed(
+		childTransitionDelay(5000),
-				fdirInstance == NULL), switchOffWasReported(false),executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(
+		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
-				ioBoardAddress), timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(
+		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
-				_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(
-				setDeviceSwitch) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			CommandMessage::MAX_MESSAGE_SIZE);
-	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
-	if (this->fdirInstance == NULL) {
+	cookieInfo.state = COOKIE_UNUSED;
+	cookieInfo.pendingCommand = deviceCommandMap.end();
+	if (comCookie == nullptr) {
+		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
+				std::setw(8) << std::setfill('0') << this->getObjectId() <<
+				std::dec << ": Do not pass nullptr as a cookie, consider "
+				<< std::setfill(' ') << "passing a dummy cookie instead!" <<
+				std::endl;
+	}
+	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
 				defaultFDIRParentId);
 	}
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-	communicationInterface->close(cookie);
+	delete comCookie;
 	if (defaultFDIRUsed) {
 		delete fdirInstance;
 	}
@@ -56,7 +64,7 @@ DeviceHandlerBase::~DeviceHandlerBase() {
 ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	this->pstStep = counter;
 
-	if (counter == 0) {
+	if (getComAction() == SEND_WRITE) {
 		cookieInfo.state = COOKIE_UNUSED;
 		readCommandQueue();
 		doStateMachine();
@@ -64,11 +72,12 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
+		performOperationHook();
 	}
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
 	}
-	switch (getRmapAction()) {
+	switch (getComAction()) {
 	case SEND_WRITE:
 		if ((cookieInfo.state == COOKIE_UNUSED)) {
 			buildInternalCommand();
@@ -91,13 +100,91 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	return RETURN_OK;
 }
 
+ReturnValue_t DeviceHandlerBase::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	communicationInterface = objectManager->get<DeviceCommunicationIF>(
+			deviceCommunicationId);
+	if (communicationInterface == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = communicationInterface->initializeInterface(comCookie);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (IPCStore == NULL) {
+		return RETURN_FAILED;
+	}
+
+	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+			AcceptsDeviceResponsesIF>(rawDataReceiverId);
+
+	if (rawReceiver == NULL) {
+		return RETURN_FAILED;
+	}
+
+	defaultRawReceiver = rawReceiver->getDeviceQueue();
+
+	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+	if (powerSwitcher == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = healthHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	result = modeHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = actionHelper.initialize(commandQueue);
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = fdirInstance->initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = parameterHelper.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = hkSwitcher.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	fillCommandAndReplyMap();
+
+	//Set temperature target state to NON_OP.
+	DataSet mySet;
+	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+			PoolVariableIF::VAR_WRITE);
+	mySet.read();
+	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+	mySet.commit(PoolVariableIF::VALID);
+
+	return RETURN_OK;
+
+}
+
 void DeviceHandlerBase::decrementDeviceReplyMap() {
 	for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
 		if (iter->second.delayCycles != 0) {
 			iter->second.delayCycles--;
 			if (iter->second.delayCycles == 0) {
-				if (iter->second.periodic != 0) {
+				if (iter->second.periodic) {
 					iter->second.delayCycles = iter->second.maxDelayCycles;
 				}
 				replyToReply(iter, TIMEOUT);
@@ -256,55 +343,49 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
+ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
+		uint16_t maxDelayCycles, size_t replyLen, bool periodic,
-		uint8_t periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
-//No need to check, as we may try to insert multiple times.
+	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
-		return insertInReplyMap(replyId, maxDelayCycles, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, uint8_t periodic) {
+		uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
+	info.replyLen = replyLen;
 	info.command = deviceCommandMap.end();
-	std::pair<std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator, bool> returnValue;
+	auto resultPair = deviceReplyMap.emplace(replyId, info);
-	returnValue = deviceReplyMap.insert(
+	if (resultPair.second) {
-			std::pair<DeviceCommandId_t, DeviceReplyInfo>(replyId, info));
-	if (returnValue.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
-		DeviceCommandId_t deviceCommand) {
 	DeviceCommandInfo info;
 	info.expectedReplies = 0;
 	info.isExecuting = false;
 	info.sendReplyTo = NO_COMMANDER;
-	std::pair<std::map<DeviceCommandId_t, DeviceCommandInfo>::iterator, bool> returnValue;
+	auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
-	returnValue = deviceCommandMap.insert(
+	if (resultPair.second) {
-			std::pair<DeviceCommandId_t, DeviceCommandInfo>(deviceCommand,
-					info));
-	if (returnValue.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(
+ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
-		DeviceCommandId_t deviceReply, uint16_t delayCycles,
+		uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
-		uint16_t maxDelayCycles, uint8_t periodic) {
 	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.find(deviceReply);
 	if (iter == deviceReplyMap.end()) {
@@ -429,7 +510,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
 void DeviceHandlerBase::doSendWrite() {
 	if (cookieInfo.state == COOKIE_WRITE_READY) {
 
-		ReturnValue_t result = communicationInterface->sendMessage(cookie,
+		ReturnValue_t result = communicationInterface->sendMessage(comCookie,
 				rawPacket, rawPacketLen);
 
 		if (result == RETURN_OK) {
@@ -450,12 +531,14 @@ void DeviceHandlerBase::doGetWrite() {
 		return;
 	}
 	cookieInfo.state = COOKIE_UNUSED;
-	ReturnValue_t result = communicationInterface->getSendSuccess(cookie);
+	ReturnValue_t result = communicationInterface->getSendSuccess(comCookie);
 	if (result == RETURN_OK) {
 		if (wiretappingMode == RAW) {
 			replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
 		}
-		//We need to distinguish here, because a raw command never expects a reply. (Could be done in eRIRM, but then child implementations need to be careful.
+
+		//We need to distinguish here, because a raw command never expects a reply.
+		//(Could be done in eRIRM, but then child implementations need to be careful.
 		result = enableReplyInReplyMap(cookieInfo.pendingCommand);
 	} else {
 		//always generate a failure event, so that FDIR knows what's up
@@ -471,7 +554,17 @@ void DeviceHandlerBase::doGetWrite() {
 void DeviceHandlerBase::doSendRead() {
 	ReturnValue_t result;
 
-	result = communicationInterface->requestReceiveMessage(cookie);
+	size_t requestLen = 0;
+	if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
+		DeviceReplyIter iter = deviceReplyMap.find(
+				cookieInfo.pendingCommand->first);
+		if(iter != deviceReplyMap.end()) {
+			requestLen = iter->second.replyLen;
+		}
+	}
+
+	result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
+
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
 	} else {
@@ -485,10 +578,10 @@ void DeviceHandlerBase::doSendRead() {
 }
 
 void DeviceHandlerBase::doGetRead() {
-	uint32_t receivedDataLen;
+	size_t receivedDataLen;
 	uint8_t *receivedData;
 	DeviceCommandId_t foundId = 0xFFFFFFFF;
-	uint32_t foundLen = 0;
+	size_t foundLen = 0;
 	ReturnValue_t result;
 
 	if (cookieInfo.state != COOKIE_READ_SENT) {
@@ -498,8 +591,8 @@ void DeviceHandlerBase::doGetRead() {
 
 	cookieInfo.state = COOKIE_UNUSED;
 
-	result = communicationInterface->readReceivedMessage(cookie, &receivedData,
+	result = communicationInterface->readReceivedMessage(comCookie,
-			&receivedDataLen);
+			&receivedData, &receivedDataLen);
 
 	if (result != RETURN_OK) {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
@@ -508,7 +601,7 @@ void DeviceHandlerBase::doGetRead() {
 		return;
 	}
 
-	if (receivedDataLen == 0)
+	if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED)
 		return;
 
 	if (wiretappingMode == RAW) {
@@ -539,6 +632,8 @@ void DeviceHandlerBase::doGetRead() {
 				break;
 			case IGNORE_REPLY_DATA:
 				break;
+			case IGNORE_FULL_PACKET:
+				return;
 			default:
 				//We need to wait for timeout.. don't know what command failed and who sent it.
 				replyRawReplyIfnotWiretapped(receivedData, foundLen);
@@ -560,8 +655,8 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 		uint8_t * *data, uint32_t * len) {
 	size_t lenTmp;
 
-	if (IPCStore == NULL) {
+	if (IPCStore == nullptr) {
-		*data = NULL;
+		*data = nullptr;
 		*len = 0;
 		return RETURN_FAILED;
 	}
@@ -572,90 +667,10 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 	} else {
 		triggerEvent(StorageManagerIF::GET_DATA_FAILED, result,
 				storageAddress.raw);
-		*data = NULL;
+		*data = nullptr;
 		*len = 0;
 		return result;
 	}
-
-}
-
-ReturnValue_t DeviceHandlerBase::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	communicationInterface = objectManager->get<DeviceCommunicationIF>(
-			deviceCommunicationId);
-	if (communicationInterface == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = communicationInterface->open(&cookie, ioBoardAddress,
-			maxDeviceReplyLen);
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (IPCStore == NULL) {
-		return RETURN_FAILED;
-	}
-
-	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
-			AcceptsDeviceResponsesIF>(rawDataReceiverId);
-
-	if (rawReceiver == NULL) {
-		return RETURN_FAILED;
-	}
-
-	defaultRawReceiver = rawReceiver->getDeviceQueue();
-
-	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
-	if (powerSwitcher == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	result = modeHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = actionHelper.initialize(commandQueue);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = fdirInstance->initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = parameterHelper.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = hkSwitcher.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	fillCommandAndReplyMap();
-
-	//Set temperature target state to NON_OP.
-	DataSet mySet;
-	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	mySet.read();
-	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
-	mySet.commit(PoolVariableIF::VALID);
-
-	return RETURN_OK;
-
 }
 
 void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
@@ -687,8 +702,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 }
 
 //Default child implementations
-
+DeviceHandlerIF::CommunicationAction_t DeviceHandlerBase::getComAction() {
-DeviceHandlerBase::RmapAction_t DeviceHandlerBase::getRmapAction() {
 	switch (pstStep) {
 	case 0:
 		return SEND_WRITE;
@@ -727,7 +741,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 
 	if (info->delayCycles != 0) {
 
-		if (info->periodic != 0) {
+		if (info->periodic) {
 			info->delayCycles = info->maxDelayCycles;
 		} else {
 			info->delayCycles = 0;
@@ -748,20 +762,20 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
+//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
-	DeviceCommunicationIF *newCommunication = objectManager->get<
+//	DeviceCommunicationIF *newCommunication = objectManager->get<
-			DeviceCommunicationIF>(newChannelId);
+//			DeviceCommunicationIF>(newChannelId);
-
+//
-	if (newCommunication != NULL) {
+//	if (newCommunication != NULL) {
-		ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
+//		ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
-				maxDeviceReplyLen);
+//				maxDeviceReplyLen);
-		if (result != RETURN_OK) {
+//		if (result != RETURN_OK) {
-			return result;
+//			return result;
-		}
+//		}
-		return RETURN_OK;
+//		return RETURN_OK;
-	}
+//	}
-	return RETURN_FAILED;
+//	return RETURN_FAILED;
-}
+//}
 
 void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 	storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
@@ -1022,7 +1036,6 @@ void DeviceHandlerBase::replyRawReplyIfnotWiretapped(const uint8_t* data,
 
 ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		CommandMessage * message) {
-	ReturnValue_t result;
 	switch (message->getCommand()) {
 	case DeviceHandlerMessage::CMD_WIRETAPPING:
 		switch (DeviceHandlerMessage::getWiretappingMode(message)) {
@@ -1044,19 +1057,19 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		}
 		replyReturnvalueToCommand(RETURN_OK);
 		return RETURN_OK;
-	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
+//	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
-		if (mode != MODE_OFF) {
+//		if (mode != MODE_OFF) {
-			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
+//			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
-		} else {
+//		} else {
-			result = switchCookieChannel(
+//			result = switchCookieChannel(
-					DeviceHandlerMessage::getIoBoardObjectId(message));
+//					DeviceHandlerMessage::getIoBoardObjectId(message));
-			if (result == RETURN_OK) {
+//			if (result == RETURN_OK) {
-				replyReturnvalueToCommand(RETURN_OK);
+//				replyReturnvalueToCommand(RETURN_OK);
-			} else {
+//			} else {
-				replyReturnvalueToCommand(CANT_SWITCH_IOBOARD);
+//				replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
-			}
+//			}
-		}
+//		}
-		return RETURN_OK;
+//		return RETURN_OK;
 	case DeviceHandlerMessage::CMD_RAW:
 		if ((mode != MODE_RAW)) {
 			DeviceHandlerMessage::clear(message);
@@ -1270,3 +1283,9 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
 			executingTask = task_;
 }
+
+// Default implementations empty.
+void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
+		object_id_t objectId, uint32_t parameter) {}
+
+void DeviceHandlerBase::performOperationHook() {}

devicehandlers/DeviceHandlerIF.h

@@ -8,7 +8,8 @@
 #include <framework/ipc/MessageQueueSenderIF.h>
 
 /**
- * This is the Interface used to communicate with a device handler.
+ * @brief 	This is the Interface used to communicate with a device handler.
+ * @details Includes all expected return values, events and modes.
  *
  */
 class DeviceHandlerIF {
@@ -22,22 +23,62 @@ public:
 	 *
 	 * @details The mode of the device handler must not be confused with the mode the device is in.
 	 * The mode of the device itself is transparent to the user but related to the mode of the handler.
+	 * MODE_ON and MODE_OFF are included in hasModesIF.h
 	 */
-//		MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
+
-//		MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
+	// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
-		static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
+	// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
-		static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
+	//! The device is powered on and the device handler periodically sends
-		static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
+	//! commands. The commands to be sent are selected by the handler
-		static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
+	//! according to the submode.
-		static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
+	static const Mode_t MODE_NORMAL = 2;
+	//! The device is powered on and ready to perform operations. In this mode,
+	//! raw commands can be sent. The device handler will send all replies
+	//! received from the command back to the commanding object.
+	static const Mode_t MODE_RAW = 3;
+	//! The device is shut down but the switch could not be turned off, so the
+	//! device still is powered. In this mode, only a mode change to @c MODE_OFF
+	//! can be commanded, which tries to switch off the device again.
+	static const Mode_t MODE_ERROR_ON = 4;
+	//! This is a transitional state which can not be commanded. The device
+	//! handler performs all commands to get the device in a state ready to
+	//! perform commands. When this is completed, the mode changes to @c MODE_ON.
+	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+	//! This is a transitional state which can not be commanded.
+	//! The device handler performs all actions and commands to get the device
+	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+	//! It is possible to set the mode to _MODE_TO_ON to use the to on
+	//! transition if available.
 	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+	//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+	//! transition if available.
 	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+	//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+	//! transition if available.
 	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-		static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
+	//! This is a transitional state which can not be commanded.
-		static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
+	//! The device is shut down and ready to be switched off.
-		static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
+	//! After the command to set the switch off has been sent,
-		static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
+	//! the mode changes to @c MODE_WAIT_OFF
-		static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
+	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+	//! This is a transitional state which can not be commanded. The device
+	//! will be switched on in this state. After the command to set the switch
+	//! on has been sent, the mode changes to @c MODE_WAIT_ON.
+	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+	//! This is a transitional state which can not be commanded. The switch has
+	//! been commanded off and the handler waits for it to be off.
+	//! When the switch is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+	//! This is a transitional state which can not be commanded. The switch
+	//! has been commanded on and the handler waits for it to be on.
+	//! When the switch is on, the mode changes to @c MODE_TO_ON.
+	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+	//! This is a transitional state which can not be commanded. The switch has
+	//! been commanded off and is off now. This state is only to do an RMAP
+	//! cycle once more where the doSendRead() function will set the mode to
+	//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
+	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
 	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
@@ -53,11 +94,13 @@ public:
 	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
-		static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0);
+
-		static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
+	// Standard codes used when building commands.
-		static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2);
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
+	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
 	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
-		static const ReturnValue_t CANT_SWITCH_IOBOARD = MAKE_RETURN_CODE(0xA4);
+	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA4);
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
@@ -65,50 +108,42 @@ public:
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 
-		//standard codes used in scan for reply
+	// Standard codes used in scanForReply
-	//	static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE(0xB1);
+	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);
-		static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
+	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB1);
-		static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
+	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB2);
-		static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB3);
-		static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
 
-		//standard codes used in  interpret device reply
+	// Standard codes used in  interpretDeviceReply
-		static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
+	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
-		static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
+	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
-		static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
+	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
-		static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
+	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected
 
-		//Standard codes used in buildCommandFromCommand
+	// Standard codes used in buildCommandFromCommand
-		static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(
+	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
-				0xD0);
+	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
-		static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS =
-				MAKE_RETURN_CODE(0xD1);
 
 	/**
-		 * RMAP Action that will be executed.
+	 * Communication action that will be executed.
 	 *
 	 * This is used by the child class to tell the base class what to do.
 	 */
-		enum RmapAction_t {
+	enum CommunicationAction_t: uint8_t {
-			SEND_WRITE,//!< RMAP send write
+		SEND_WRITE,//!< Send write
-			GET_WRITE, //!< RMAP get write
+		GET_WRITE, //!< Get write
-			SEND_READ, //!< RMAP send read
+		SEND_READ, //!< Send read
-			GET_READ,  //!< RMAP get read
+		GET_READ,  //!< Get read
 		NOTHING    //!< Do nothing.
 	};
+
 	/**
 	 * Default Destructor
 	 */
-	virtual ~DeviceHandlerIF() {
+	virtual ~DeviceHandlerIF() {}
-
-	}
 
 	/**
 	 * This MessageQueue is used to command the device handler.
-	 *
-	 * To command a device handler, a DeviceHandlerCommandMessage can be sent to this Queue.
-	 * The handler replies with a DeviceHandlerCommandMessage containing the DeviceHandlerCommand_t reply.
-	 *
 	 * @return the id of the MessageQueue
 	 */
 	virtual MessageQueueId_t getCommandQueue() const = 0;

osal/FreeRTOS/FixedTimeslotTask.h

@@ -5,8 +5,10 @@
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
+extern "C" {
+#include "FreeRTOS.h"
 #include "task.h"
+}
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:

rmap/RMAPCookie.h

@@ -1,12 +1,12 @@
 #ifndef RMAPCOOKIE_H_
 #define RMAPCOOKIE_H_
 
-#include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/CookieIF.h>
 #include <framework/rmap/rmapStructs.h>
 
 class RMAPChannelIF;
 
-class RMAPCookie : public Cookie{
+class RMAPCookie : public CookieIF {
 public:
 	//To Uli: Sorry, I need an empty ctor to initialize an array of cookies.
 	RMAPCookie();

rmap/RmapDeviceCommunicationIF.cpp

@@ -5,43 +5,43 @@
 RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() {
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::sendMessage(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::sendMessage(CookieIF* cookie,
 		uint8_t* data, uint32_t len) {
 	return RMAP::sendWriteCommand((RMAPCookie *) cookie, data, len);
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(Cookie* cookie) {
+ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(CookieIF* cookie) {
 	return RMAP::getWriteReply((RMAPCookie *) cookie);
 }
 
 ReturnValue_t RmapDeviceCommunicationIF::requestReceiveMessage(
-		Cookie* cookie) {
+		CookieIF* cookie) {
 	return RMAP::sendReadCommand((RMAPCookie *) cookie,
 				((RMAPCookie *) cookie)->getMaxReplyLen());
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(CookieIF* cookie,
 		uint8_t** buffer, uint32_t* size) {
 	return RMAP::getReadReply((RMAPCookie *) cookie, buffer, size);
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::setAddress(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::setAddress(CookieIF* cookie,
 		uint32_t address) {
 
 	((RMAPCookie *) cookie)->setAddress(address);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-uint32_t RmapDeviceCommunicationIF::getAddress(Cookie* cookie) {
+uint32_t RmapDeviceCommunicationIF::getAddress(CookieIF* cookie) {
 	return ((RMAPCookie *) cookie)->getAddress();
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::setParameter(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::setParameter(CookieIF* cookie,
 		uint32_t parameter) {
 	//TODO Empty?
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-uint32_t RmapDeviceCommunicationIF::getParameter(Cookie* cookie) {
+uint32_t RmapDeviceCommunicationIF::getParameter(CookieIF* cookie) {
 	return 0;
 }

rmap/RmapDeviceCommunicationIF.h

@@ -25,7 +25,7 @@ public:
 	 * @param maxReplyLen Maximum length of expected reply
 	 * @return
 	 */
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
+	virtual ReturnValue_t open(CookieIF **cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
 
 	/**
@@ -39,7 +39,7 @@ public:
 	 * @param maxReplyLen
 	 * @return
 	 */
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
+	virtual ReturnValue_t reOpen(CookieIF *cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
 
 
@@ -47,7 +47,7 @@ public:
 	 * Closing call of connection and memory free of cookie. Mission dependent call
 	 * @param cookie
 	 */
-	virtual void close(Cookie *cookie) = 0;
+	virtual void close(CookieIF *cookie) = 0;
 
 	//SHOULDDO can data be const?
 	/**
@@ -58,23 +58,23 @@ public:
 	 * @param len Length of the data to be send
 	 * @return - Return codes of RMAP::sendWriteCommand()
 	 */
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
+	virtual ReturnValue_t sendMessage(CookieIF *cookie, uint8_t *data,
 			uint32_t len);
 
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie);
+	virtual ReturnValue_t getSendSuccess(CookieIF *cookie);
 
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie);
 
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 			uint32_t *size);
 
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
+	virtual ReturnValue_t setAddress(CookieIF *cookie, uint32_t address);
 
-	virtual uint32_t getAddress(Cookie *cookie);
+	virtual uint32_t getAddress(CookieIF *cookie);
 
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
+	virtual ReturnValue_t setParameter(CookieIF *cookie, uint32_t parameter);
 
-	virtual uint32_t getParameter(Cookie *cookie);
+	virtual uint32_t getParameter(CookieIF *cookie);
 };
 
 #endif /* MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */