Merge branch 'master' into mueller/oldPoolRenaming

2020-09-29 14:31:27 +02:00 · 2020-09-29 14:31:27 +02:00 · 40fa8e5405
commit 40fa8e5405
parent 4d1492f130 dae79f30d7
31 changed files with 847 additions and 491 deletions
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@ -1,5 +1,6 @@
 #include "ActionHelper.h"
 #include "HasActionsIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 #include "../objectmanager/ObjectManagerIF.h"

 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@ -18,7 +18,7 @@ MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
 		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
 				packetBuffer), packetDestination(setPacketDestination), packetStore(
-				NULL), tcQueueId(MessageQueueSenderIF::NO_QUEUE) {
+				NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
 	memset(packetBuffer, 0, sizeof(packetBuffer));
 }

--- a/devicehandlers/FixedSequenceSlot.cpp
+++ b/devicehandlers/FixedSequenceSlot.cpp
@ -1,20 +0,0 @@
-/**
- * @file	PollingSlot.cpp
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#include "FixedSequenceSlot.h"
-#include "../objectmanager/SystemObjectIF.h"
-#include <cstddef>
-
-FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
-		int8_t setSequenceId, PeriodicTaskIF* executingTask) :
-		handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
-	handler = objectManager->get<ExecutableObjectIF>(handlerId);
-	handler->setTaskIF(executingTask);
-}
-
-FixedSequenceSlot::~FixedSequenceSlot() {}
-
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@ -5,7 +5,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId,
 		MessageQueueId_t parentQueue) :
 		SystemObject(setObjectId), lastHealth(HEALTHY), parentQueue(
 				parentQueue), commandQueue(), healthHelper(this, setObjectId) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(3, CommandMessage::COMMAND_MESSAGE_SIZE);
+	commandQueue = QueueFactory::instance()->createMessageQueue(3);
 }

 HealthDevice::~HealthDevice() {
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@ -1,124 +1,96 @@
-/**
- * @file	CommandMessage.cpp
- * @brief	This file defines the CommandMessage class.
- * @date	20.06.2013
- * @author	baetz
- */
-
-#include "../devicehandlers/DeviceHandlerMessage.h"
-#include "../health/HealthMessage.h"
 #include "CommandMessage.h"
-#include "../memory/MemoryMessage.h"
-#include "../modes/ModeMessage.h"
-#include "../monitoring/MonitoringMessage.h"
-#include "../subsystem/modes/ModeSequenceMessage.h"
-#include "../tmstorage/TmStoreMessage.h"
-#include "../parameters/ParameterMessage.h"
-
-namespace messagetypes {
-void clearMissionMessage(CommandMessage* message);
-}
-
+#include "CommandMessageCleaner.h"
+#include <cstring>

 CommandMessage::CommandMessage() {
-	this->messageSize = COMMAND_MESSAGE_SIZE;
-	setCommand(CMD_NONE);
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
+    setCommand(CMD_NONE);
 }

 CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
-		uint32_t parameter2) {
-	this->messageSize = COMMAND_MESSAGE_SIZE;
-	setCommand(command);
-	setParameter(parameter1);
-	setParameter2(parameter2);
+        uint32_t parameter2) {
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
+    setCommand(command);
+    setParameter(parameter1);
+    setParameter2(parameter2);
 }

 Command_t CommandMessage::getCommand() const {
-	Command_t command;
-	memcpy(&command, getData(), sizeof(Command_t));
-	return command;
+    Command_t command;
+    std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
+    return command;
 }

 void CommandMessage::setCommand(Command_t command) {
-	memcpy(getData(), &command, sizeof(command));
+    std::memcpy(MessageQueueMessage::getData(), &command, sizeof(Command_t));
+}
+
+uint8_t CommandMessage::getMessageType() const {
+    // first byte of command ID.
+    return getCommand() >> 8 & 0xff;
 }

 uint32_t CommandMessage::getParameter() const {
-	uint32_t parameter1;
-	memcpy(&parameter1, getData() + sizeof(Command_t), sizeof(parameter1));
-	return parameter1;
+    uint32_t parameter1;
+    std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
+    return parameter1;
 }

 void CommandMessage::setParameter(uint32_t parameter1) {
-	memcpy(getData() + sizeof(Command_t), &parameter1, sizeof(parameter1));
+    std::memcpy(this->getData(), &parameter1, sizeof(parameter1));
 }

 uint32_t CommandMessage::getParameter2() const {
-	uint32_t parameter2;
-	memcpy(&parameter2, getData() + sizeof(Command_t) + sizeof(uint32_t),
-			sizeof(parameter2));
-	return parameter2;
+    uint32_t parameter2;
+    std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
+            sizeof(parameter2));
+    return parameter2;
 }

 void CommandMessage::setParameter2(uint32_t parameter2) {
-	memcpy(getData() + sizeof(Command_t) + sizeof(uint32_t), &parameter2,
-			sizeof(parameter2));
+    std::memcpy(this->getData()  + sizeof(uint32_t), &parameter2,
+            sizeof(parameter2));
 }

-void CommandMessage::clearCommandMessage() {
-	switch((getCommand()>>8) & 0xff){
-	case  messagetypes::MODE_COMMAND:
-		ModeMessage::clear(this);
-		break;
-	case messagetypes::HEALTH_COMMAND:
-		HealthMessage::clear(this);
-		break;
-	case messagetypes::MODE_SEQUENCE:
-		ModeSequenceMessage::clear(this);
-		break;
-	case messagetypes::ACTION:
-		ActionMessage::clear(this);
-		break;
-	case messagetypes::DEVICE_HANDLER_COMMAND:
-		DeviceHandlerMessage::clear(this);
-		break;
-	case messagetypes::MEMORY:
-		MemoryMessage::clear(this);
-		break;
-	case messagetypes::MONITORING:
-		MonitoringMessage::clear(this);
-		break;
-	case messagetypes::TM_STORE:
-		TmStoreMessage::clear(this);
-		break;
-	case messagetypes::PARAMETER:
-		ParameterMessage::clear(this);
-		break;
-	default:
-		messagetypes::clearMissionMessage(this);
-		break;
-	}
+uint32_t CommandMessage::getParameter3() const {
+    uint32_t parameter3;
+    std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
+            sizeof(parameter3));
+    return parameter3;
 }

-bool CommandMessage::isClearedCommandMessage() {
-	return getCommand() == CMD_NONE;
+void CommandMessage::setParameter3(uint32_t parameter3) {
+    std::memcpy(this->getData()  + 2 * sizeof(uint32_t), &parameter3,
+            sizeof(parameter3));
 }

 size_t CommandMessage::getMinimumMessageSize() const {
-	return COMMAND_MESSAGE_SIZE;
+    return MINIMUM_COMMAND_MESSAGE_SIZE;
+}
+
+void CommandMessage::clearCommandMessage() {
+    clear();
+}
+
+void CommandMessage::clear() {
+    CommandMessageCleaner::clearCommandMessage(this);
+}
+
+bool CommandMessage::isClearedCommandMessage() {
+    return getCommand() == CMD_NONE;
 }

 void CommandMessage::setToUnknownCommand() {
-	Command_t initialCommand = getCommand();
-	clearCommandMessage();
-	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
+    Command_t initialCommand = getCommand();
+    this->clear();
+    setReplyRejected(UNKNOWN_COMMAND, initialCommand);
 }

 void CommandMessage::setReplyRejected(ReturnValue_t reason,
-		Command_t initialCommand) {
+        Command_t initialCommand) {
 	setCommand(REPLY_REJECTED);
-	setParameter(reason);
-	setParameter2(initialCommand);
+    setParameter(reason);
+    setParameter2(initialCommand);
 }

 ReturnValue_t CommandMessage::getReplyRejectedReason(
@ -129,3 +101,11 @@ ReturnValue_t CommandMessage::getReplyRejectedReason(
    }
    return reason;
 }
+
+uint8_t* CommandMessage::getData() {
+    return MessageQueueMessage::getData() + sizeof(Command_t);
+}
+
+const uint8_t* CommandMessage::getData() const {
+    return MessageQueueMessage::getData() + sizeof(Command_t);
+}
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@ -1,114 +1,87 @@
-/**
- * @file	CommandMessage.h
- * @brief	This file defines the CommandMessage class.
- * @date	20.06.2013
- * @author	baetz
- */
-
-#ifndef COMMANDMESSAGE_H_
-#define COMMANDMESSAGE_H_
-
-
-#include "FwMessageTypes.h"
-#include <config/ipc/MissionMessageTypes.h>
+#ifndef FSFW_IPC_COMMANDMESSAGE_H_
+#define FSFW_IPC_COMMANDMESSAGE_H_

+#include "CommandMessageIF.h"
 #include "MessageQueueMessage.h"
+#include "FwMessageTypes.h"

-#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
-typedef ReturnValue_t Command_t;
-
-class CommandMessage : public MessageQueueMessage {
+/**
+ * @brief 	Default command message used to pass command messages between tasks.
+ * 			Primary message type for IPC. Contains sender, 2-byte command ID
+ * 			field, and 3 4-byte parameter
+ * @details
+ * It operates on an external memory which is contained inside a
+ * class implementing MessageQueueMessageIF by taking its address.
+ * This allows for a more flexible designs of message implementations.
+ * The pointer can be passed to different message implementations without
+ * the need of unnecessary copying.
+ *
+ * The command message is based of the generic MessageQueueMessage which
+ * currently has an internal message size of 28 bytes.
+ * @author	Bastian Baetz
+ */
+class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
-	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
-
-
-	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
-	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
-	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
-	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
+    /**
+     * Default size can accomodate 3 4-byte parameters.
+     */
+    static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
+            CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE +
+			3 * sizeof(uint32_t);

 	/**
-	 * This is the size of a message as it is seen by the MessageQueue
-	 */
-	static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE
-			+ sizeof(Command_t) + 2 * sizeof(uint32_t);
-
-	/**
-	 * Default Constructor, does not initialize anything.
-	 *
-	 * This constructor should be used when receiving a Message, as the content is filled by the MessageQueue.
+	 * @brief   Default Constructor, does not initialize anything.
+	 * @details
+	 * This constructor should be used when receiving a Message, as the
+	 * content is filled by the MessageQueue.
 	 */
 	CommandMessage();
 	/**
-	 * This constructor creates a new message with all message content initialized
+	 * This constructor creates a new message with all message content
+	 * initialized
 	 *
 	 * @param command	The DeviceHandlerCommand_t that will be sent
 	 * @param parameter1	The first parameter
 	 * @param parameter2	The second parameter
 	 */
-	CommandMessage(Command_t command,
-			uint32_t parameter1, uint32_t parameter2);
+	CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);

 	/**
-	 * Default Destructor
+	 * @brief 	Default Destructor
 	 */
-	virtual ~CommandMessage() {
-	}
+	virtual ~CommandMessage() {}

-	/**
-	 * Read the DeviceHandlerCommand_t that is stored in the message, usually used after receiving
-	 *
-	 * @return the Command stored in the Message
-	 */
-	Command_t getCommand() const;
+    /**
+     * Read the DeviceHandlerCommand_t that is stored in the message,
+     * usually used after receiving.
+     *
+     * @return the Command stored in the Message
+     */
+    virtual Command_t getCommand() const override;
+    /**
+     * Set the command type of the message. Default implementation also
+     * sets the message type, which will be the first byte of the command ID.
+     * @param the Command to be sent
+     */
+    virtual void setCommand(Command_t command);

-	/**
-	 * Set the DeviceHandlerCOmmand_t of the message
-	 *
-	 * @param the Command to be sent
-	 */
-	void setCommand(Command_t command);
+    virtual uint8_t* getData() override;
+    virtual const uint8_t* getData() const override;

 	/**
 	 * Get the first parameter of the message
-	 *
 	 * @return the first Parameter of the message
 	 */
 	uint32_t getParameter() const;
-
 	/**
 	 * Set the first parameter of the message
-	 *
 	 * @param the first parameter of the message
 	 */
 	void setParameter(uint32_t parameter1);
-
-	/**
-	 * Get the second parameter of the message
-	 *
-	 * @return the second Parameter of the message
-	 */
 	uint32_t getParameter2() const;
-
-	/**
-	 * Set the second parameter of the message
-	 *
-	 * @param the second parameter of the message
-	 */
 	void setParameter2(uint32_t parameter2);
-
-	/**
-	 * Set the command to CMD_NONE and try to find
-	 * the correct class to handle a more detailed
-	 * clear.
-	 * Also, calls a mission-specific clearMissionMessage
-	 * function to separate between framework and mission
-	 * messages. Not optimal, may be replaced by totally
-	 * different auto-delete solution (e.g. smart pointers).
-	 *
-	 */
-	void clearCommandMessage();
+	uint32_t getParameter3() const;
+	void setParameter3(uint32_t parameter3);

 	/**
 	 * check if a message was cleared
@ -117,18 +90,41 @@ public:
 	 */
 	bool isClearedCommandMessage();

-
 	/**
 	 * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
 	 * Is needed quite often, so we better code it once only.
 	 */
-	void setToUnknownCommand();
-	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
-	ReturnValue_t getReplyRejectedReason(
-	        Command_t *initialCommand = nullptr) const;
+	void setToUnknownCommand() override;

-	size_t getMinimumMessageSize() const;
+    /**
+     * A command message can be rejected and needs to offer a function
+     * to set a rejected reply
+     * @param reason
+     * @param initialCommand
+     */
+    void setReplyRejected(ReturnValue_t reason,
+            Command_t initialCommand) override;
+    /**
+     * Corrensonding getter function.
+     * @param initialCommand
+     * @return
+     */
+    ReturnValue_t getReplyRejectedReason(
+            Command_t* initialCommand = nullptr) const override;
+
+
+    virtual void clear() override;
+    void clearCommandMessage();
+
+    /**
+     * Extract message ID, which is the first byte of the command ID for the
+     * default implementation.
+     * @return
+     */
+    virtual uint8_t getMessageType() const override;
+
+    /** MessageQueueMessageIF functions used for minimum size check. */
+    size_t getMinimumMessageSize() const override;
 };

-
-#endif /* COMMANDMESSAGE_H_ */
+#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */
--- a/ipc/CommandMessageCleaner.cpp
+++ b/ipc/CommandMessageCleaner.cpp
@ -0,0 +1,45 @@
+#include "../ipc/CommandMessageCleaner.h"
+
+#include "../devicehandlers/DeviceHandlerMessage.h"
+#include "../health/HealthMessage.h"
+#include "../memory/MemoryMessage.h"
+#include "../modes/ModeMessage.h"
+#include "../monitoring/MonitoringMessage.h"
+#include "../subsystem/modes/ModeSequenceMessage.h"
+#include "../tmstorage/TmStoreMessage.h"
+#include "../parameters/ParameterMessage.h"
+
+void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
+	switch(message->getMessageType()){
+	case  messagetypes::MODE_COMMAND:
+		ModeMessage::clear(message);
+		break;
+	case messagetypes::HEALTH_COMMAND:
+		HealthMessage::clear(message);
+		break;
+	case messagetypes::MODE_SEQUENCE:
+		ModeSequenceMessage::clear(message);
+		break;
+	case messagetypes::ACTION:
+		ActionMessage::clear(message);
+		break;
+	case messagetypes::DEVICE_HANDLER_COMMAND:
+		DeviceHandlerMessage::clear(message);
+		break;
+	case messagetypes::MEMORY:
+		MemoryMessage::clear(message);
+		break;
+	case messagetypes::MONITORING:
+		MonitoringMessage::clear(message);
+		break;
+	case messagetypes::TM_STORE:
+		TmStoreMessage::clear(message);
+		break;
+	case messagetypes::PARAMETER:
+		ParameterMessage::clear(message);
+		break;
+	default:
+		messagetypes::clearMissionMessage(message);
+		break;
+	}
+}
--- a/ipc/CommandMessageCleaner.h
+++ b/ipc/CommandMessageCleaner.h
@ -0,0 +1,16 @@
+#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
+#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
+#include "../ipc/CommandMessage.h"
+
+namespace messagetypes {
+// Implemented in config.
+void clearMissionMessage(CommandMessage* message);
+}
+
+class CommandMessageCleaner {
+public:
+	static void clearCommandMessage(CommandMessage* message);
+};
+
+
+#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */
--- a/ipc/CommandMessageIF.h
+++ b/ipc/CommandMessageIF.h
@ -0,0 +1,73 @@
+#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
+#define FSFW_IPC_COMMANDMESSAGEIF_H_
+
+#include "MessageQueueMessageIF.h"
+#include "FwMessageTypes.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+
+#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
+typedef uint16_t Command_t;
+
+class CommandMessageIF {
+public:
+    /**
+     * Header consists of sender ID and command ID.
+     */
+	static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
+			sizeof(Command_t);
+	/**
+	 * This minimum size is derived from the interface requirement to be able
+     * to set a rejected reply, which contains a returnvalue and the initial
+     * command.
+	 */
+	static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
+	        CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
+	        sizeof(Command_t);
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
+	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
+
+	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
+	//! Used internally, shall be ignored
+	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
+	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
+	//! Reply indicating that the current command was rejected,
+	//! par1 should contain the error code
+	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
+
+	virtual ~CommandMessageIF() {};
+
+	/**
+	 * A command message shall have a uint16_t command ID field.
+	 * @return
+	 */
+	virtual Command_t getCommand() const = 0;
+	/**
+	 * A command message shall have a uint8_t message type ID field.
+	 * @return
+	 */
+	virtual uint8_t getMessageType() const = 0;
+
+	/**
+	 * A command message can be rejected and needs to offer a function
+	 * to set a rejected reply
+	 * @param reason
+	 * @param initialCommand
+	 */
+	virtual void setReplyRejected(ReturnValue_t reason,
+			Command_t initialCommand) = 0;
+	/**
+	 * Corrensonding getter function.
+	 * @param initialCommand
+	 * @return
+	 */
+	virtual ReturnValue_t getReplyRejectedReason(
+			Command_t* initialCommand = nullptr) const  = 0;
+
+	virtual void setToUnknownCommand() = 0;
+
+	virtual void clear() = 0;
+
+};
+
+#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@ -1,15 +1,15 @@
-#ifndef FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
-#define FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
+#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
+#define FSFW_IPC_MESSAGEQUEUEIF_H_

 // COULDDO: We could support blocking calls

+#include "messageQueueDefinitions.h"
 #include "MessageQueueMessage.h"
-#include "MessageQueueSenderIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
+
 class MessageQueueIF {
 public:
-
-	static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
+	static const MessageQueueId_t NO_QUEUE = 0;

 	static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
 	/**
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@ -1,13 +1,27 @@
 #include "MessageQueueMessage.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
-
-#include <string.h>
+#include "../globalfunctions/arrayprinter.h"
+#include <cstring>

 MessageQueueMessage::MessageQueueMessage() :
-		messageSize(this->HEADER_SIZE) {
+		messageSize(getMinimumMessageSize()) {
 	memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
 }

+MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
+		messageSize(this->HEADER_SIZE + size) {
+	if (size <= this->MAX_DATA_SIZE) {
+		memcpy(this->getData(), data, size);
+		this->messageSize = this->HEADER_SIZE + size;
+	}
+	else {
+		sif::warning << "MessageQueueMessage: Passed size larger than maximum"
+				"allowed size! Setting content to 0" << std::endl;
+		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
+		this->messageSize = this->HEADER_SIZE;
+	}
+}
+
 MessageQueueMessage::~MessageQueueMessage() {
 }

@ -37,29 +51,34 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
 	memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
 }

-MessageQueueMessage::MessageQueueMessage(uint8_t* data, uint32_t size) :
-		messageSize(this->HEADER_SIZE + size) {
-	if (size <= this->MAX_DATA_SIZE) {
-		memcpy(this->getData(), data, size);
-	} else {
-		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
-		this->messageSize = this->HEADER_SIZE;
+void MessageQueueMessage::print(bool printWholeMessage) {
+	sif::debug << "MessageQueueMessage content: " << std::endl;
+	if(printWholeMessage) {
+	    arrayprinter::print(getData(), getMaximumMessageSize());
 	}
-}
-
-size_t MessageQueueMessage::getMinimumMessageSize() {
-	return this->HEADER_SIZE;
-}
-
-void MessageQueueMessage::print() {
-	sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
-			<< std::endl;
-	for (uint8_t count = 0; count < this->messageSize; count++) {
-		sif::debug << (uint32_t) this->internalBuffer[count] << ":";
+	else {
+	    arrayprinter::print(getData(), getMessageSize());
 	}
-	sif::debug << std::dec << std::endl;
+
 }

 void MessageQueueMessage::clear() {
 	memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
 }
+
+size_t MessageQueueMessage::getMessageSize() const {
+	return this->messageSize;
+}
+
+void MessageQueueMessage::setMessageSize(size_t messageSize) {
+	this->messageSize = messageSize;
+}
+
+size_t MessageQueueMessage::getMinimumMessageSize() const {
+    return this->MIN_MESSAGE_SIZE;
+}
+
+size_t MessageQueueMessage::getMaximumMessageSize() const {
+    return this->MAX_MESSAGE_SIZE;
+}
+
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@ -1,118 +1,149 @@
-#ifndef MESSAGEQUEUEMESSAGE_H_
-#define MESSAGEQUEUEMESSAGE_H_
+#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
+#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_

-#include "MessageQueueSenderIF.h"
-#include <stddef.h>
+#include "../ipc/MessageQueueMessageIF.h"
+#include <cstddef>

 /**
- *	\brief		This class is the representation and data organizer for interprocess messages.
+ *	@brief		This class is the representation and data organizer
+ *				for interprocess messages.
+ *	@details
+ *	To facilitate and standardize interprocess communication, this class was
+ *	created to handle a lightweight "interprocess message protocol".
 *
- *	\details	To facilitate and standardize interprocess communication, this class was created
- *				to handle a lightweight "interprocess message protocol". It adds a header with the
- *				sender's queue id to every sent message and defines the maximum total message size.
- *				Specialized messages, such as device commanding messages, can be created by inheriting
- *				from this class and filling the buffer provided by getData with additional content.
- *				If larger amounts of data must be sent between processes, the data shall be stored in
- *				the IPC Store object and only the storage id is passed in a queue message.
- *				The class is used both to generate and send messages and to receive messages from
- *				other tasks.
- *	\ingroup message_queue
+ *	It adds a header with the sender's queue id to every sent message and
+ *	defines the maximum total message size. Specialized messages, such as
+ *	device commanding messages, can be created by inheriting from this class
+ *	and filling the buffer provided by getData with additional content.
+ *
+ *	If larger amounts of data must be sent between processes, the data shall
+ *	be stored in the IPC Store object and only the storage id is passed in a
+ *	queue message.The class is used both to generate and send messages and to
+ *	receive messages from other tasks.
+ *	@ingroup message_queue
 */
-class MessageQueueMessage {
+class MessageQueueMessage: public MessageQueueMessageIF {
 public:
 	/**
-	 * \brief	This constant defines the maximum size of the data content, excluding the header.
-	 * \details	It may be changed if necessary, but in general should be kept as small as possible.
+	 * @brief	The class is initialized empty with this constructor.
+	 * @details
+	 * The messageSize attribute is set to the header's size and the whole
+	 * content is set to zero.
+	 */
+	MessageQueueMessage();
+	/**
+	 * @brief	With this constructor the class is initialized with
+	 * 			the given content.
+	 * @details
+	 * If the passed message size fits into the buffer, the passed data is
+	 * copied to the internal buffer and the messageSize information is set.
+	 * Otherwise, messageSize is set to the header's size and the whole
+	 * content is set to zero.
+	 * @param data	The data to be put in the message.
+	 * @param size	Size of the data to be copied. Must be smaller than
+	 * 				MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
+	 */
+	MessageQueueMessage(uint8_t* data, size_t size);
+
+	/**
+	 * @brief	As no memory is allocated in this class,
+	 * 		    the destructor is empty.
+	 */
+	virtual ~MessageQueueMessage();
+
+	/**
+	 * @brief	The size information of each message is stored in
+	 *  			this attribute.
+	 * @details
+	 * It is public to simplify usage and to allow for passing the size
+	 * address as a pointer. Care must be taken when inheriting from this class,
+	 * as every child class is responsible for managing the size information by
+	 * itself. When using the class to receive a message, the size information
+	 * is updated automatically.
+	 *
+	 * Please note that the minimum size is limited by the size of the header
+	 * while the maximum size is limited by the maximum allowed message size.
+	 */
+	size_t messageSize;
+	/**
+	 * @brief	This constant defines the maximum size of the data content,
+	 * 			excluding the header.
+	 * @details
+	 * It may be changed if necessary, but in general should be kept
+	 * as small as possible.
 	 */
 	static const size_t MAX_DATA_SIZE = 24;
+
 	/**
-	 * \brief	This constants defines the size of the header, which is added to every message.
+	 * @brief	This constant defines the maximum total size in bytes
+	 * 			of a sent message.
+	 * @details
+	 * It is the sum of the maximum data and the header size. Be aware that
+	 * this constant is used to define the buffer sizes for every message
+	 * queue in the system. So, a change here may have significant impact on
+	 * the required resources.
 	 */
-	static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
+	static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
 	/**
-	 * \brief	This constant defines the maximum total size in bytes of a sent message.
-	 * \details	It is the sum of the maximum data and the header size. Be aware that this constant
-	 * 			is used to define the buffer sizes for every message queue in the system. So, a change
-	 * 			here may have significant impact on the required resources.
+	 * @brief Defines the minimum size of a message where only the
+	 * 		  header is included
 	 */
-	static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
+	static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
 private:
 	/**
-	 * \brief	This is the internal buffer that contains the actual message data.
+	 * @brief	This is the internal buffer that contains the
+	 * 			actual message data.
 	 */
 	uint8_t internalBuffer[MAX_MESSAGE_SIZE];
 public:
 	/**
-	 * \brief	The size information of each message is stored in this attribute.
-	 * \details	It is public to simplify usage and to allow for passing the variable's address as a
-	 * 			pointer. Care must be taken when inheriting from this class, as every child class is
-	 * 			responsible for managing the size information by itself. When using the class to
-	 * 			receive a message, the size information is updated automatically.
+	 * @brief	This method is used to get the complete data of the message.
 	 */
-	size_t messageSize;
+	const uint8_t* getBuffer() const override;
 	/**
-	 * \brief	The class is initialized empty with this constructor.
-	 * \details	The messageSize attribute is set to the header's size and the whole content is set to
-	 * 			zero.
+	 * @brief	This method is used to get the complete data of the message.
 	 */
-	MessageQueueMessage();
+	uint8_t* getBuffer() override;
 	/**
-	 * \brief	With this constructor the class is initialized with the given content.
-	 * \details	If the passed message size fits into the buffer, the passed data is copied to the
-	 * 			internal buffer and the messageSize information is set. Otherwise, messageSize
-	 * 			is set to the header's size and the whole content is set to zero.
-	 * \param data	The data to be put in the message.
-	 * \param size	Size of the data to be copied. Must be smaller than MAX_MESSAGE_SIZE.
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
 	 */
-	MessageQueueMessage(uint8_t* data, uint32_t size);
+	const uint8_t* getData() const override;
 	/**
-	 * \brief	As no memory is allocated in this class, the destructor is empty.
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
 	 */
-	virtual ~MessageQueueMessage();
+	uint8_t* getData() override;
 	/**
-	 * \brief	This method is used to get the complete data of the message.
+	 * @brief	This method is used to extract the sender's message
+	 * 			queue id information from a received message.
 	 */
-	const uint8_t* getBuffer() const;
+	MessageQueueId_t getSender() const override;
 	/**
-	 * \brief	This method is used to get the complete data of the message.
+	 * @brief	With this method, the whole content
+	 * 			and the message size is set to zero.
 	 */
-	uint8_t* getBuffer();
+	void clear() override;
+
 	/**
-	 * \brief	This method is used to fetch the data content of the message.
-	 * \details It shall be used by child classes to add data at the right position.
+	 * @brief	This method is used to set the sender's message queue id
+	 * 			information prior to ing the message.
+	 * @param setId
+	 * The message queue id that identifies the sending message queue.
 	 */
-	const uint8_t* getData() const;
+	void setSender(MessageQueueId_t setId) override;
+
+	virtual size_t getMessageSize() const override;
+	virtual void setMessageSize(size_t messageSize) override;
+	virtual size_t getMinimumMessageSize() const override;
+	virtual size_t getMaximumMessageSize() const override;
+
 	/**
-	 * \brief	This method is used to fetch the data content of the message.
-	 * \details It shall be used by child classes to add data at the right position.
+	 * @brief	This is a debug method that prints the content.
 	 */
-	uint8_t* getData();
-	/**
-	 * \brief	This method is used to extract the sender's message queue id information from a
-	 * 			received message.
-	 */
-	MessageQueueId_t getSender() const;
-	/**
-	 * \brief	With this method, the whole content and the message size is set to zero.
-	 */
-	void clear();
-	/**
-	 * \brief	This is a debug method that prints the content (till messageSize) to the debug output.
-	 */
-	void print();
-	/**
-	 * \brief	This method is used to set the sender's message queue id information prior to
-	 * 			sending the message.
-	 * \param setId	The message queue id that identifies the sending message queue.
-	 */
-	void setSender(MessageQueueId_t setId);
-	/**
-	 * \brief	This helper function is used by the MessageQueue class to check the size of an
-	 * 			incoming message.
-	 * \details	The method must be overwritten by child classes if size checks shall be more strict.
-	 * @return	The default implementation returns HEADER_SIZE.
-	 */
-	virtual size_t getMinimumMessageSize();
+	void print(bool printWholeMessage);
 };

-#endif /* MESSAGEQUEUEMESSAGE_H_ */
+#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@ -0,0 +1,80 @@
+#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
+#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
+
+#include <fsfw/ipc/messageQueueDefinitions.h>
+#include <cstddef>
+#include <cstdint>
+
+class MessageQueueMessageIF {
+public:
+
+    /**
+     * @brief   This constants defines the size of the header,
+     *          which is added to every message.
+     */
+    static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
+
+	virtual ~MessageQueueMessageIF() {};
+
+	/**
+	 * @brief	With this method, the whole content and the message
+	 * 			size is set to zero.
+	 * @details
+	 * Implementations should also take care to clear data which is stored
+	 * indirectly (e.g. storage data).
+	 */
+	virtual void clear() = 0;
+
+	/**
+	 * @brief	Get read-only pointer to the complete data of the message.
+	 * @return
+	 */
+	virtual const uint8_t* getBuffer() const = 0;
+
+	/**
+	 * @brief	This method is used to get the complete data of the message.
+	 */
+	virtual uint8_t* getBuffer() = 0;
+
+	/**
+	 * @brief	This method is used to set the sender's message queue id
+	 * 			information prior to sending the message.
+	 * @param setId
+	 * The message queue id that identifies the sending message queue.
+	 */
+	virtual void setSender(MessageQueueId_t setId) = 0;
+
+	/**
+	 * @brief	This method is used to extract the sender's message queue id
+	 * 			information from a received message.
+	 */
+	virtual MessageQueueId_t getSender() const = 0;
+
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	virtual const uint8_t* getData() const = 0;
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	virtual uint8_t* getData() = 0;
+
+	/**
+	 * Get constant message size of current message implementation.
+	 * @return
+	 */
+	virtual size_t getMessageSize() const = 0;
+
+    virtual void setMessageSize(size_t messageSize) = 0;
+    virtual size_t getMinimumMessageSize() const = 0;
+    virtual size_t getMaximumMessageSize() const = 0;
+
+};
+
+
+
+#endif /* FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_ */
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@ -1,37 +1,26 @@
-#ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
-#define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
+#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
+#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_

+#include "../ipc/MessageQueueIF.h"
+#include "../ipc/MessageQueueMessageIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
-class MessageQueueMessage;
-
-
-//TODO: Actually, the definition of this ID to be a uint32_t is not ideal and breaks layering.
-//However, it is difficult to keep layering, as the ID is stored in many places and sent around in
-//MessageQueueMessage.
-//Ideally, one would use the (current) object_id_t only, however, doing a lookup of queueIDs for every
-//call does not sound ideal.
-//In a first step, I'll circumvent the issue by not touching it, maybe in a second step.
-//This also influences Interface design (getCommandQueue) and some other issues..
-typedef uint32_t MessageQueueId_t;

 class MessageQueueSenderIF {
 public:
-	static const MessageQueueId_t NO_QUEUE = 0;

 	virtual ~MessageQueueSenderIF() {}

 	/**
-	 * Allows sending messages without actually "owing" a message queue.
+	 * Allows sending messages without actually "owning" a message queue.
 	 * Not sure whether this is actually a good idea.
-	 * Must be implemented by a subclass.
 	 */
 	static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom =
-					MessageQueueSenderIF::NO_QUEUE, bool ignoreFault=false);
+			MessageQueueMessage* message,
+			MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
+			bool ignoreFault = false);
 private:
 	MessageQueueSenderIF() {}
 };


-
-#endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */
+#endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */
--- a/ipc/messageQueueDefinitions.h
+++ b/ipc/messageQueueDefinitions.h
@ -0,0 +1,19 @@
+#ifndef FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
+#define FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
+
+#include <cstdint>
+
+/*
+ * TODO: Actually, the definition of this ID to be a uint32_t is not  ideal and
+ * breaks layering. However, it is difficult to keep layering, as the ID is
+ * stored in many places and sent around in MessageQueueMessage.
+ * Ideally, one would use the (current) object_id_t only, however, doing a
+ * lookup of queueIDs for every call does not sound ideal.
+ * In a first step, I'll circumvent the issue by not touching it,
+ * maybe in a second step. This also influences Interface design
+ * (getCommandQueue) and some other issues..
+ */
+using MessageQueueId_t = uint32_t;
+
+
+#endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@ -36,7 +36,7 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
 		commandedMode = mode;
 		commandedSubmode = submode;

-		if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
+		if ((parentQueueId != MessageQueueIF::NO_QUEUE)
 				&& (theOneWhoCommandedAMode != parentQueueId)) {
 			owner->setToExternalControl();
 		}
@ -74,7 +74,7 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
 void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
 	forced = false;
 	CommandMessage reply;
-	if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
+	if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE) {
 		if ((mode != commandedMode) || (submode != commandedSubmode)) {
 			ModeMessage::setModeMessage(&reply,
 					ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
@ -86,12 +86,12 @@ void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
 				owner->getCommandQueue());
 	}
 	if (theOneWhoCommandedAMode != parentQueueId
-			&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
+			&& parentQueueId != MessageQueueIF::NO_QUEUE) {
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
 				submode);
 		MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
 	}
-	theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
+	theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
 }

 void ModeHelper::startTimer(uint32_t timeoutMs) {
--- a/objectmanager/frameworkObjects.h
+++ b/objectmanager/frameworkObjects.h
@ -4,13 +4,13 @@
 namespace objects {
 enum framework_objects {
 	// Default verification reporter.
-	PUS_SERVICE_1 = 0x53000001,
-	PUS_SERVICE_2 = 0x53000002,
-	PUS_SERVICE_5 = 0x53000005,
-	PUS_SERVICE_8 = 0x53000008,
-	PUS_SERVICE_9 = 0x53000009,
-	PUS_SERVICE_17 = 0x53000017,
-	PUS_SERVICE_200 = 0x53000200,
+	PUS_SERVICE_1_VERIFICATION = 0x53000001,
+	PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
+	PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
+	PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
+	PUS_SERVICE_9_TIME_MGMT = 0x53000009,
+	PUS_SERVICE_17_TEST = 0x53000017,
+	PUS_SERVICE_200_MODE_MGMT = 0x53000200,

 	//Generic IDs for IPC, modes, health, events
 	HEALTH_TABLE = 0x53010000,
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/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) {
-		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+    ExecutableObjectIF* handler =
+            objectManager->get<ExecutableObjectIF>(componentId);
+	if (handler != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}

@ -85,6 +87,8 @@ void FixedTimeslotTask::taskFunctionality() {
    // start time for the first entry.
 	auto slotListIter = pst.current;

+	pst.intializeSequenceAfterTaskCreation();
+
 	//The start time for the first entry is read.
 	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
@ -143,10 +147,6 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
 }

 void FixedTimeslotTask::handleMissedDeadline() {
-#ifdef DEBUG
-    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
-            " missed deadline!\n" << std::flush;
-#endif
    if(deadlineMissedFunc != nullptr) {
        this->deadlineMissedFunc();
    }
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@ -1,12 +1,11 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#ifndef FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_

 #include "FreeRTOSTaskIF.h"
-#include "../../devicehandlers/FixedSlotSequence.h"
+#include "../../tasks/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "../../tasks/Typedef.h"

-
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>

@ -99,4 +98,4 @@ protected:
 	void handleMissedDeadline();
 };

-#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */
+#endif /* FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@ -1,5 +1,6 @@
 #include "MessageQueue.h"

+#include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"

 // TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
@ -101,7 +102,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			reinterpret_cast<const void*>(message->getBuffer()), 0);
 	if (result != pdPASS) {
 		if (!ignoreFault) {
-			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
 					objects::INTERNAL_ERROR_REPORTER);
 			if (internalErrorReporter != NULL) {
 				internalErrorReporter->queueMessageNotSent();
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@ -133,10 +133,6 @@ TaskHandle_t PeriodicTask::getTaskHandle() {
 }

 void PeriodicTask::handleMissedDeadline() {
-#ifdef DEBUG
-    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
-            " missed deadline!\n" << std::flush;
-#endif
    if(deadlineMissedFunc != nullptr) {
        this->deadlineMissedFunc();
    }
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@ -1,18 +1,21 @@
+#include "../../ipc/MessageQueueSenderIF.h"
 #include "../../ipc/QueueFactory.h"

 #include "MessageQueue.h"


-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;


 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
 }

 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
@ -24,9 +27,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }

-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
 		size_t maxMessageSize) {
-	return new MessageQueue(message_depth, maxMessageSize);
+	return new MessageQueue(messageDepth, maxMessageSize);
 }

 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
--- a/osal/linux/FixedTimeslotTask.cpp
+++ b/osal/linux/FixedTimeslotTask.cpp
@ -1,5 +1,5 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "FixedTimeslotTask.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"

 #include <limits.h>

@ -39,13 +39,16 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {

 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	ExecutableObjectIF* executableObject =
+			objectManager->get<ExecutableObjectIF>(componentId);
+	if (executableObject != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep,
+				executableObject,this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}

 	sif::error << "Component " << std::hex << componentId <<
-			" not found, not adding it to pst" << std::endl;
+			" not found, not adding it to pst" << std::dec << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }

@ -58,6 +61,9 @@ void FixedTimeslotTask::taskFunctionality() {
 	if (!started) {
 		suspend();
 	}
+
+	pst.intializeSequenceAfterTaskCreation();
+
 	//The start time for the first entry is read.
 	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
 	uint64_t interval = pst.getIntervalToNextSlotMs();
--- a/osal/linux/FixedTimeslotTask.h
+++ b/osal/linux/FixedTimeslotTask.h
@ -1,9 +1,9 @@
-#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
-#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
+#ifndef FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
+#define FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_

-#include "../../tasks/FixedTimeslotTaskIF.h"
-#include "../../devicehandlers/FixedSlotSequence.h"
 #include "PosixThread.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/FixedSlotSequence.h"
 #include <pthread.h>

 class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
@ -74,4 +74,4 @@ private:
 	bool started;
 };

-#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
+#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@ -1,8 +1,14 @@
 #include "../../ipc/QueueFactory.h"
+#include "MessageQueue.h"
+
+#include "../../ipc/messageQueueDefinitions.h"
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
 #include <mqueue.h>
 #include <errno.h>
-#include "MessageQueue.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+
 #include <cstring>

 QueueFactory* QueueFactory::factoryInstance = nullptr;
--- a/tasks/FixedSequenceSlot.cpp
+++ b/tasks/FixedSequenceSlot.cpp
@ -0,0 +1,17 @@
+#include "FixedSequenceSlot.h"
+#include "PeriodicTaskIF.h"
+#include <cstddef>
+
+FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
+		int8_t setSequenceId, ExecutableObjectIF* executableObject,
+		PeriodicTaskIF* executingTask) : handlerId(handlerId),
+		pollingTimeMs(setTime), opcode(setSequenceId) {
+    if(executableObject == nullptr) {
+        return;
+    }
+    this->executableObject = executableObject;
+    this->executableObject->setTaskIF(executingTask);
+}
+
+FixedSequenceSlot::~FixedSequenceSlot() {}
+
--- a/devicehandlers/FixedSequenceSlot.h
+++ b/devicehandlers/FixedSequenceSlot.h
@ -1,41 +1,41 @@
-/**
- * @file	FixedSequenceSlot.h
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#ifndef FIXEDSEQUENCESLOT_H_
-#define FIXEDSEQUENCESLOT_H_
+#ifndef FSFW_TASKS_FIXEDSEQUENCESLOT_H_
+#define FSFW_TASKS_FIXEDSEQUENCESLOT_H_

+#include "ExecutableObjectIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
-#include "../tasks/ExecutableObjectIF.h"
+
 class PeriodicTaskIF;

 /**
- * @brief	This class is the representation of a single polling sequence table entry.
- *
- * @details	The PollingSlot class is the representation of a single polling
- * 			sequence table entry.
+ * @brief	This class is the representation of a single polling sequence
+ *          table entry.
+ * @details
+ * The PollingSlot class is the representation of a single polling
+ * sequence table entry.
+ * @author  baetz
 */
 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();

+	object_id_t handlerId;
+
 	/**
-	 * @brief	Handler identifies which device handler object is executed in this slot.
+	 * @brief	Handler identifies which object is executed in this slot.
 	 */
-	ExecutableObjectIF*	handler;
+	ExecutableObjectIF*	executableObject = nullptr;

 	/**
 	 * @brief	This attribute defines when a device handler object is executed.
-	 *
-	 * @details	The pollingTime attribute identifies the time the handler is executed in ms.
-	 * 			It must be smaller than the period length of the polling sequence.
+	 * @details
+	 * The pollingTime attribute identifies the time the handler is
+	 * executed in ms. It must be smaller than the period length of the
+	 * polling sequence.
 	 */
-	uint32_t	pollingTimeMs;
+	uint32_t pollingTimeMs;

 	/**
 	 * @brief	This value defines the type of device communication.
@ -43,7 +43,7 @@ public:
 	 * @details	The state of this value decides what communication routine is
 	 * 			called in the PST executable or the device handler object.
 	 */
-	uint8_t			opcode;
+	uint8_t	opcode;

 	/**
 	 * @brief 	Operator overload for the comparison operator to
@ -57,4 +57,4 @@ public:
 };


-#endif /* FIXEDSEQUENCESLOT_H_ */
+#endif /* FSFW_TASKS_FIXEDSEQUENCESLOT_H_ */
--- a/devicehandlers/FixedSlotSequence.cpp
+++ b/devicehandlers/FixedSlotSequence.cpp
@ -1,5 +1,6 @@
 #include "FixedSlotSequence.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
+#include <cstdlib>

 FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
 		lengthMs(setLengthMs) {
@ -12,7 +13,7 @@ FixedSlotSequence::~FixedSlotSequence() {
 }

 void FixedSlotSequence::executeAndAdvance() {
-	current->handler->performOperation(current->opcode);
+	current->executableObject->performOperation(current->opcode);
 //	if (returnValue != RETURN_OK) {
 //		this->sendErrorMessage( returnValue );
 //	}
@ -80,44 +81,82 @@ uint32_t FixedSlotSequence::getLengthMs() const {
 	return this->lengthMs;
 }

+void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+        int8_t executionStep, ExecutableObjectIF* executableObject,
+        PeriodicTaskIF* executingTask) {
+    this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
+            executionStep, executableObject, executingTask));
+   this->current = slotList.begin();
+}
+
 ReturnValue_t FixedSlotSequence::checkSequence() const {
 	if(slotList.empty()) {
-		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
+		sif::error << "FixedSlotSequence::checkSequence:"
+				<< " Slot list is empty!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

-	auto slotIt = slotList.begin();
-	uint32_t count = 0;
-	uint32_t time = 0;
-	while (slotIt != slotList.end()) {
-		if (slotIt->handler == nullptr) {
-			sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
-					<< std::endl;
-			count++;
-		} else if (slotIt->pollingTimeMs < time) {
-			sif::error << "FixedSlotSequence::initialize: Time: "
-					<< slotIt->pollingTimeMs
-					<< " is smaller than previous with " << time << std::endl;
-			count++;
-		} else {
-			// All ok, print slot.
-			//info << "Current slot polling time: " << std::endl;
-			//info << std::dec << slotIt->pollingTimeMs << std::endl;
+	if(customCheckFunction != nullptr) {
+		ReturnValue_t result = customCheckFunction(slotList);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			// Continue for now but print error output.
+			sif::error << "FixedSlotSequence::checkSequence:"
+					<< " Custom check failed!" << std::endl;
 		}
-		time = slotIt->pollingTimeMs;
-		slotIt++;
 	}
-	//info << "Number of elements in slot list: "
+
+	uint32_t errorCount = 0;
+	uint32_t time = 0;
+	for(const auto& slot: slotList) {
+		if (slot.executableObject == nullptr) {
+			errorCount++;
+		}
+		else if (slot.pollingTimeMs < time) {
+			sif::error << "FixedSlotSequence::checkSequence: Time: "
+					<< slot.pollingTimeMs << " is smaller than previous with "
+					<< time << std::endl;
+			errorCount++;
+		}
+		else {
+			// All ok, print slot.
+			//sif::info << "Current slot polling time: " << std::endl;
+			//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
+		}
+		time = slot.pollingTimeMs;
+
+	}
+	//sif::info << "Number of elements in slot list: "
 	//	   << slotList.size() << std::endl;
-	if (count > 0) {
+	if (errorCount > 0) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

-void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-		int8_t executionStep, PeriodicTaskIF* executingTask) {
-	this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
-			executingTask));
-	this->current = slotList.begin();
+
+ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
+    std::set<ExecutableObjectIF*> uniqueObjects;
+    uint32_t count = 0;
+    for(const auto& slot: slotList) {
+        // Ensure that each unique object is initialized once.
+        if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
+            ReturnValue_t result =
+                    slot.executableObject->initializeAfterTaskCreation();
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                count++;
+            }
+            uniqueObjects.emplace(slot.executableObject);
+        }
+    }
+    if (count > 0) {
+        sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:"
+                "Counted " << count << " failed initializations!"  << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void FixedSlotSequence::addCustomCheck(ReturnValue_t
+		(*customCheckFunction)(const SlotList&)) {
+	this->customCheckFunction = customCheckFunction;
 }
--- a/devicehandlers/FixedSlotSequence.h
+++ b/devicehandlers/FixedSlotSequence.h
@ -1,26 +1,30 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
-#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
+#ifndef FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
+#define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_

 #include "FixedSequenceSlot.h"
 #include "../objectmanager/SystemObject.h"
+
 #include <set>

 /**
- * @brief	This class is the representation of a Polling Sequence Table in software.
- *
+ * @brief	This class is the representation of a
+ * 			Polling Sequence Table in software.
 * @details
 * The FixedSlotSequence object maintains the dynamic execution of
- * device handler objects.
+ * objects with stricter timing requirements for the FixedTimeslotTask.
 *
- * The main idea is to create a list of device handlers, to announce all
- * handlers to thepolling sequence and to maintain a list of
- * polling slot objects. This slot list represents the Polling Sequence Table
- * in software.
+ * The main idea is to create a list of executable objects (for example
+ * device handlers), to announce all handlers to the polling sequence and to
+ * maintain a list of polling slot objects.
+ * This slot list represents the Polling Sequence Table in software.
 *
 * Each polling slot contains information to indicate when and
- * which device handler shall be executed within a given polling period.
- * The sequence is then executed by iterating through this slot list.
- * Handlers are invoking by calling a certain function stored in the handler list.
+ * which executable object shall be executed within a given polling period.
+ * When adding a slot, a pointer to the executing task, a pointer to the
+ * executable object and a step number can be passed. The step number will be
+ * passed to the periodic handler.
+ * The sequence is executed by iterating through the slot sequence and
+ * executing the executable object in the correct timeslot.
 */
 class FixedSlotSequence {
 public:
@ -29,41 +33,44 @@ public:

 	/**
 	 * @brief	The constructor of the FixedSlotSequence object.
-	 *
-	 * @details	The constructor takes two arguments, the period length and the init function.
-	 *
 	 * @param	setLength	The period length, expressed in ms.
 	 */
 	FixedSlotSequence(uint32_t setLengthMs);

 	/**
 	 * @brief	The destructor of the FixedSlotSequence object.
-	 *
-	 * @details	The destructor frees all allocated memory by iterating through the slotList
-	 *  		and deleting all allocated resources.
+	 * @details
+	 * The destructor frees all allocated memory by iterating through the
+	 * slotList and deleting all allocated resources.
 	 */
 	virtual ~FixedSlotSequence();

 	/**
 	 * @brief	This is a method to add an PollingSlot object to slotList.
 	 *
-	 * @details	Here, a polling slot object is added to the slot list. It is appended
-	 * 			to the end of the list. The list is currently NOT reordered.
-	 * 			Afterwards, the iterator current is set to the beginning of the list.
-	 * 	@param Object ID of the object to add
-	 * 	@param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
-	 * 				   will be called inside the slot period.
-	 * 	@param setSequenceId ID which can be used to distinguish
-	 * 	                     different task operations
+	 * @details
+	 * Here, a polling slot object is added to the slot list. It is appended
+	 * to the end of the list. The list is currently NOT reordered.
+	 * Afterwards, the iterator current is set to the beginning of the list.
+	 * 	@param handlerId ID of the object to add
+	 * 	@param setTime
+	 * 	Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
+	 * 	will be called inside the slot period.
+	 * 	@param setSequenceId
+	 * 	ID which can be used to distinguish different task operations. This
+	 * 	value will be passed to the executable function.
 	 * 	@param
 	 * 	@param
 	 */
 	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
+			ExecutableObjectIF* executableObject,
 			PeriodicTaskIF* executingTask);

 	/**
-	 * Checks if the current slot shall be executed immediately after the one before.
-	 * This allows to distinguish between grouped and not grouped handlers.
+	 * @brief	Checks if the current slot shall be executed immediately
+	 * 			after the one before.
+	 * @details
+	 * This allows to distinguish between grouped and separated handlers.
 	 * @return 	- @c true if the slot has the same polling time as the previous
 	 * 			- @c false else
 	 */
@ -125,12 +132,32 @@ 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.
 	 * @return
 	 */
 	ReturnValue_t checkSequence() const;

+	/**
+	 * @brief   A custom check can be injected for the respective slot list.
+	 * @details
+	 * This can be used by the developer to check the validity of a certain
+	 * sequence. The function will be run in the #checkSequence function.
+	 * The general check will be continued for now if the custom check function
+	 * fails but a diagnostic debug output will be given.
+	 * @param customCheckFunction
+	 */
+	void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
+
+	/**
+	 * @brief 	Perform any initialization steps required after the executing
+	 * 			task has been created. This function should be called from the
+	 * 			executing task!
+	 * @return
+	 */
+	ReturnValue_t intializeSequenceAfterTaskCreation() const;
+
 protected:

 	/**
@ -146,7 +173,9 @@ protected:
 	 */
 	SlotList slotList;

+	ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
+
 	uint32_t lengthMs;
 };

-#endif /* FIXEDSLOTSEQUENCE_H_ */
+#endif /* FSFW_TASKS_FIXEDSLOTSEQUENCE_H_ */
--- a/tmtcservices/VerificationReporter.cpp
+++ b/tmtcservices/VerificationReporter.cpp
@ -1,55 +1,59 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "VerificationReporter.h"
 #include "AcceptsVerifyMessageIF.h"
 #include "PusVerificationReport.h"
-#include "VerificationReporter.h"

-object_id_t VerificationReporter::messageReceiver = 0;
+#include "../ipc/MessageQueueIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../objectmanager/frameworkObjects.h"
+
+object_id_t VerificationReporter::messageReceiver =
+		objects::PUS_SERVICE_1_VERIFICATION;

 VerificationReporter::VerificationReporter() :
-		acknowledgeQueue() {
+		acknowledgeQueue(MessageQueueIF::NO_QUEUE) {
 }

-VerificationReporter::~VerificationReporter() {
-	//Default, empty
-}
+VerificationReporter::~VerificationReporter() {}

 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 		TcPacketBase* current_packet, uint8_t set_step) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(set_report_id,
 			current_packet->getAcknowledgeFlags(),
 			current_packet->getPacketId(),
 			current_packet->getPacketSequenceControl(), 0, set_step);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }

 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		uint8_t set_step) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE)  {
 		this->initialize();
 	}
 	PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
 			tcSequenceControl, 0, set_step);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }

 void VerificationReporter::sendFailureReport(uint8_t report_id,
 		TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step,
 		uint32_t parameter1, uint32_t parameter2) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(report_id,
@ -57,11 +61,12 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 			current_packet->getPacketId(),
 			current_packet->getPacketSequenceControl(), error_code, step,
 			parameter1, parameter2);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendFailureReport: Error writing "
+				<< "to queue. Code: " << std::hex  << "0x" << status << std::dec
+				<< std::endl;
 	}
 }

@ -69,27 +74,33 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		ReturnValue_t error_code, uint8_t step, uint32_t parameter1,
 		uint32_t parameter2) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(report_id, ackFlags, tcPacketId,
 			tcSequenceControl, error_code, step, parameter1, parameter2);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendFailureReport: Error writing "
+				<< "to queue. Code: " << std::hex << "0x" << status << std::dec
+				<< std::endl;
 	}
 }

 void VerificationReporter::initialize() {
+	if(messageReceiver == objects::NO_OBJECT) {
+		sif::warning << "VerificationReporter::initialize: Verification message"
+				" receiver object ID not set yet in Factory!" << std::endl;
+		return;
+	}
 	AcceptsVerifyMessageIF* temp = objectManager->get<AcceptsVerifyMessageIF>(
 			messageReceiver);
-	if (temp != NULL) {
-		this->acknowledgeQueue = temp->getVerificationQueue();
-	} else {
-		sif::error
-				<< "VerificationReporter::VerificationReporter: Configuration error."
-				<< std::endl;
+	if (temp == nullptr) {
+		sif::error << "VerificationReporter::initialize: Message "
+				<< "receiver invalid. Make sure it is set up properly and "
+				<< "implementsAcceptsVerifyMessageIF" << std::endl;
+		return;
 	}
+	this->acknowledgeQueue = temp->getVerificationQueue();
 }
--- a/tmtcservices/VerificationReporter.h
+++ b/tmtcservices/VerificationReporter.h
@ -1,31 +1,50 @@
-#ifndef VERIFICATIONREPORTER_H_
-#define VERIFICATIONREPORTER_H_
+#ifndef FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
+#define FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_

-#include "../objectmanager/ObjectManagerIF.h"
 #include "PusVerificationReport.h"
+#include "../objectmanager/ObjectManagerIF.h"

 namespace Factory{
 void setStaticFrameworkObjectIds();
 }

+/**
+ * @brief 	This helper object is used to forward verification messages
+ * 			which are generated by the Flight Software Framework.
+ * @details
+ * The messages can be relayed to an arbitrary object, for example a dedicated
+ * Verification Reporter. The destination is set by setting the static framework
+ * Id VerificationReporter::messageReceiver. The default verification reporter
+ * will be the PUS service 1, which sends verification messages according
+ * to the PUS standard.
+ *
+ */
 class VerificationReporter {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	VerificationReporter();
 	virtual ~VerificationReporter();
-	void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet, uint8_t set_step = 0 );
-	void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, uint8_t set_step = 0);
-	void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet, ReturnValue_t error_code = 0,
-			uint8_t step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 0 );
+
+	void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet,
+			uint8_t set_step = 0 );
+	void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags,
+			uint16_t tcPacketId, uint16_t tcSequenceControl,
+			uint8_t set_step = 0);
+
+	void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet,
+			ReturnValue_t error_code = 0,
+			uint8_t step = 0, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0 );
 	void sendFailureReport(uint8_t report_id,
-			uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, ReturnValue_t error_code = 0, uint8_t step = 0,
+			uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
+			ReturnValue_t error_code = 0, uint8_t step = 0,
 			uint32_t parameter1 = 0, uint32_t parameter2 = 0);
+
 	void initialize();
+
 private:
 	static object_id_t messageReceiver;
 	MessageQueueId_t acknowledgeQueue;
-
-
 };

-#endif /* VERIFICATIONREPORTER_H_ */
+#endif /* FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_ */