Merge branch 'development' of https://egit.irs.uni-stuttgart.de/eive/fsfw into development

container/FixedArrayList.h

@@ -8,7 +8,9 @@
  */
 template<typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList: public ArrayList<T, count_t> {
-    static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE");
+#if !defined(_MSC_VER)
+    static_assert(MAX_SIZE <= (std::pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE");
+#endif
 private:
     T data[MAX_SIZE];
 public:

container/SharedRingBuffer.cpp

@@ -1,6 +1,6 @@
 #include "SharedRingBuffer.h"
 #include "../ipc/MutexFactory.h"
-#include "../ipc/MutexHelper.h"
+#include "../ipc/MutexGuard.h"
 
 SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
         bool overwriteOld, size_t maxExcessBytes):

container/SharedRingBuffer.h

@@ -66,7 +66,7 @@ public:
 
     /**
      * The mutex handle can be accessed directly, for example to perform
-     * the lock with the #MutexHelper for a RAII compliant lock operation.
+     * the lock with the #MutexGuard for a RAII compliant lock operation.
      * @return
      */
     MutexIF* getMutexHandle() const;

controller/ExtendedControllerBase.cpp

@@ -17,14 +17,6 @@ ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-
-
-ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
-        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    /* Needs to be overriden and implemented by child class. */
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
 object_id_t ExtendedControllerBase::getObjectId() const {
     return SystemObject::getObjectId();
 }
@@ -107,14 +99,6 @@ MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
     return commandQueue->getId();
 }
 
-LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
-            << " implementation provided, returning nullptr!" << std::endl;
-#endif
-    return nullptr;
-}
-
 LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() {
     return &poolManager;
 }

controller/ExtendedControllerBase.h

@@ -61,11 +61,11 @@ protected:
     /* HasLocalDatapoolIF overrides */
     virtual LocalDataPoolManager* getHkManagerHandle() override;
     virtual object_id_t getObjectId() const override;
-    virtual ReturnValue_t initializeLocalDataPool(
-            localpool::DataPool& localDataPoolMap,
-            LocalDataPoolManager& poolManager) override;
     virtual uint32_t getPeriodicOperationFrequency() const override;
-    virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+
+    virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override = 0;
+    virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
 };
 
 

datapool/PoolDataSetBase.cpp

@@ -8,13 +8,16 @@
 PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
         const size_t maxFillCount):
         registeredVariables(registeredVariablesArray),
-        maxFillCount(maxFillCount) {
+        maxFillCount(maxFillCount) {}
-}
 
 PoolDataSetBase::~PoolDataSetBase() {}
 
 
 ReturnValue_t PoolDataSetBase::registerVariable(PoolVariableIF *variable) {
+    if(registeredVariables == nullptr) {
+        /* Underlying container invalid */
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
     if (state != States::STATE_SET_UNINITIALISED) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "DataSet::registerVariable: Call made in wrong position." << std::endl;

datapool/PoolDataSetIF.h

@@ -9,8 +9,8 @@
  *          and unlock a data pool and read/commit semantics.
  */
 class PoolDataSetIF:
-        public DataSetIF,
+        virtual public DataSetIF,
-        public ReadCommitIF {
+        virtual public ReadCommitIF {
 public:
     virtual~ PoolDataSetIF() {};
 

datapool/PoolEntry.cpp

@@ -7,7 +7,7 @@
 
 template <typename T>
 PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, bool setValid ):
-		length(initValue.size()), valid(setValid) {
+		length(static_cast<uint8_t>(initValue.size())), valid(setValid) {
 	this->address = new T[this->length];
 	if(initValue.size() == 0) {
 		std::memset(this->address, 0, this->getByteSize());

datapool/SharedDataSetIF.h

@@ -1,13 +1,15 @@
 #ifndef FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
 #define FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
+
 #include "PoolDataSetIF.h"
 
-class SharedDataSetIF: public PoolDataSetIF {
+class SharedDataSetIF {
 public:
     virtual ~SharedDataSetIF() {};
 
 private:
-    virtual ReturnValue_t lockDataset(dur_millis_t mutexTimeout) = 0;
+    virtual ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType,
+            dur_millis_t mutexTimeout) = 0;
     virtual ReturnValue_t unlockDataset() = 0;
 };
 

datapoollocal/HasLocalDataPoolIF.h

@@ -65,34 +65,45 @@ public:
      * usually be the period the pool owner performs its periodic operation.
      * @return
      */
-    virtual uint32_t getPeriodicOperationFrequency() const = 0;
+    virtual dur_millis_t getPeriodicOperationFrequency() const = 0;
 
     /**
      * @brief   This function will be called by the manager if an update
      *          notification is received.
      * @details  HasLocalDataPoolIF
      * Can be overriden by the child class to handle changed datasets.
-     * @param sid
+     * @param sid           SID of the updated set
      * @param storeId       If a snapshot was requested, data will be located inside
      * the IPC store with this store ID.
+     * @param clearMessage  If this is set to true, the pool manager will take care of
+     *                      clearing the store automatically
      */
     virtual void handleChangedDataset(sid_t sid,
-            store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
+            store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
-        return;
+            bool* clearMessage = nullptr) {
+        if(clearMessage != nullptr) {
+            *clearMessage = true;
+        }
     }
 
     /**
      * @brief   This function will be called by the manager if an update
      *          notification is received.
      * @details
-     * Can be overriden by the child class to handle changed pool IDs.
+     * Can be overriden by the child class to handle changed pool variables.
-     * @param sid
+     * @param gpid          GPID of the updated variable.
      * @param storeId       If a snapshot was requested, data will be located inside
      * the IPC store with this store ID.
+     * @param clearMessage  Relevant for snapshots. If the boolean this points to is set to true,
+     *                      the pool manager will take care of clearing the store automatically
+     *                      after the callback.
      */
-    virtual void handleChangedPoolVariable(gp_id_t globPoolId,
+    virtual void handleChangedPoolVariable(gp_id_t gpid,
-            store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
+            store_address_t storeId = storeId::INVALID_STORE_ADDRESS,
-        return;
+            bool* clearMessage = nullptr) {
+        if(clearMessage != nullptr) {
+            *clearMessage = true;
+        }
     }
 
     /**

datapoollocal/LocalDataPoolManager.cpp

@@ -10,7 +10,7 @@
 #include "../housekeeping/AcceptsHkPacketsIF.h"
 #include "../timemanager/CCSDSTime.h"
 #include "../ipc/MutexFactory.h"
-#include "../ipc/MutexHelper.h"
+#include "../ipc/MutexGuard.h"
 #include "../ipc/QueueFactory.h"
 
 #include <array>
@@ -38,7 +38,11 @@ LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQue
 	hkQueue = queueToUse;
 }
 
-LocalDataPoolManager::~LocalDataPoolManager() {}
+LocalDataPoolManager::~LocalDataPoolManager() {
+    if(mutex != nullptr) {
+        MutexFactory::instance()->deleteMutex(mutex);
+    }
+}
 
 ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
 	if(queueToUse == nullptr) {
@@ -132,13 +136,16 @@ ReturnValue_t LocalDataPoolManager::performHkOperation() {
 ReturnValue_t LocalDataPoolManager::handleHkUpdate(HkReceiver& receiver,
 		ReturnValue_t& status) {
 	if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
-		// Update packets shall only be generated from datasets.
+		/* Update packets shall only be generated from datasets. */
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner,
 			receiver.dataId.sid);
+	if(dataSet == nullptr) {
+        return DATASET_NOT_FOUND;
+	}
 	if(dataSet->hasChanged()) {
-		// prepare and send update notification
+		/* Prepare and send update notification */
 		ReturnValue_t result = generateHousekeepingPacket(
 				receiver.dataId.sid, dataSet, true);
 		if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -328,7 +335,7 @@ void LocalDataPoolManager::handleChangeResetLogic(
 			toReset->setChanged(false);
 		}
 		/* All recipients have been notified, reset the changed flag */
-		if(changeInfo.currentUpdateCounter <= 1) {
+		else if(changeInfo.currentUpdateCounter <= 1) {
 			toReset->setChanged(false);
 			changeInfo.currentUpdateCounter = 0;
 		}
@@ -372,7 +379,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
 		LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enableReporting);
 		LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
 		LocalPoolDataSetAttorney::initializePeriodicHelper(*dataSet, collectionInterval,
-				owner->getPeriodicOperationFrequency(), isDiagnostics);
+				owner->getPeriodicOperationFrequency());
 	}
 
 	hkReceivers.push_back(hkReceiver);
@@ -398,7 +405,6 @@ ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid,
 	hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
 
 	LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
-	//LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
 	if(dataSet != nullptr) {
 		LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, true);
 		LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
@@ -516,11 +522,19 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 	}
 
 	case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES): {
-		return generateSetStructurePacket(sid, true);
+		result = generateSetStructurePacket(sid, true);
+		if(result == HasReturnvaluesIF::RETURN_OK) {
+		    return result;
+		}
+		break;
 	}
 
 	case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES): {
-		return generateSetStructurePacket(sid, false);
+		result = generateSetStructurePacket(sid, false);
+        if(result == HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+        break;
 	}
 	case(HousekeepingMessage::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL):
 	case(HousekeepingMessage::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL): {
@@ -540,14 +554,15 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 	case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
 	case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
 		LocalPoolDataSetBase* dataSet =HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
-		//LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
 		if(command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT
 				and LocalPoolDataSetAttorney::isDiagnostics(*dataSet)) {
-			return WRONG_HK_PACKET_TYPE;
+			result = WRONG_HK_PACKET_TYPE;
+			break;
 		}
 		else if(command == HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT
 				and not LocalPoolDataSetAttorney::isDiagnostics(*dataSet)) {
-			return WRONG_HK_PACKET_TYPE;
+            result = WRONG_HK_PACKET_TYPE;
+            break;
 		}
 		return generateHousekeepingPacket(HousekeepingMessage::getSid(message),
 				dataSet, true);
@@ -566,14 +581,22 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 	case(HousekeepingMessage::UPDATE_SNAPSHOT_SET): {
 		store_address_t storeId;
 		HousekeepingMessage::getUpdateSnapshotSetCommand(message, &storeId);
-		owner->handleChangedDataset(sid, storeId);
+		bool clearMessage = true;
+		owner->handleChangedDataset(sid, storeId, &clearMessage);
+		if(clearMessage) {
+	        message->clear();
+		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 	case(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE): {
 		store_address_t storeId;
 		gp_id_t globPoolId = HousekeepingMessage::getUpdateSnapshotVariableCommand(message,
 		        &storeId);
-		owner->handleChangedPoolVariable(globPoolId, storeId);
+		bool clearMessage = true;
+		owner->handleChangedPoolVariable(globPoolId, storeId, &clearMessage);
+		if(clearMessage) {
+	        message->clear();
+		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
@@ -616,7 +639,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
 		LocalPoolDataSetBase* dataSet, bool forDownlink,
 		MessageQueueId_t destination) {
 	if(dataSet == nullptr) {
-		// Configuration error.
+		/* Configuration error. */
 		printWarningOrError(sif::OutputTypes::OUT_WARNING,
 				"generateHousekeepingPacket",
 				DATASET_NOT_FOUND);
@@ -632,7 +655,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
 		return result;
 	}
 
-	// and now we set a HK message and send it the HK packet destination.
+	/* Now we set a HK message and send it the HK packet destination. */
 	CommandMessage hkMessage;
 	if(LocalPoolDataSetAttorney::isDiagnostics(*dataSet)) {
 		HousekeepingMessage::setHkDiagnosticsReply(&hkMessage, sid, storeId);
@@ -642,7 +665,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
 	}
 
 	if(hkQueue == nullptr) {
-		// error, no queue available to send packet with.
+		/* Error, no queue available to send packet with. */
 		printWarningOrError(sif::OutputTypes::OUT_WARNING,
 				"generateHousekeepingPacket",
 				QUEUE_OR_DESTINATION_INVALID);
@@ -650,7 +673,7 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
 	}
 	if(destination == MessageQueueIF::NO_QUEUE) {
 		if(hkDestinationId == MessageQueueIF::NO_QUEUE) {
-			// error, all destinations invalid
+			/* Error, all destinations invalid */
 			printWarningOrError(sif::OutputTypes::OUT_WARNING,
 					"generateHousekeepingPacket",
 					QUEUE_OR_DESTINATION_INVALID);
@@ -729,6 +752,12 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
 ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid,
 		bool enable, bool isDiagnostics) {
 	LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
+    if(dataSet == nullptr) {
+        printWarningOrError(sif::OutputTypes::OUT_WARNING, "togglePeriodicGeneration",
+                DATASET_NOT_FOUND);
+        return DATASET_NOT_FOUND;
+    }
+
 	if((LocalPoolDataSetAttorney::isDiagnostics(*dataSet) and not isDiagnostics) or
 			(not LocalPoolDataSetAttorney::isDiagnostics(*dataSet) and isDiagnostics)) {
 		return WRONG_HK_PACKET_TYPE;
@@ -746,6 +775,12 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid,
 ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
 		float newCollectionInterval, bool isDiagnostics) {
 	LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
+	if(dataSet == nullptr) {
+        printWarningOrError(sif::OutputTypes::OUT_WARNING, "changeCollectionInterval",
+                DATASET_NOT_FOUND);
+	    return DATASET_NOT_FOUND;
+	}
+
 	bool targetIsDiagnostics = LocalPoolDataSetAttorney::isDiagnostics(*dataSet);
 	if((targetIsDiagnostics and not isDiagnostics) or
 			(not targetIsDiagnostics and isDiagnostics)) {
@@ -756,7 +791,7 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
 			LocalPoolDataSetAttorney::getPeriodicHelper(*dataSet);
 
 	if(periodicHelper == nullptr) {
-		// config error
+		/* Configuration error, set might not have a corresponding pool manager */
 		return PERIODIC_HELPER_INVALID;
 	}
 
@@ -766,13 +801,11 @@ ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
 
 ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
 		bool isDiagnostics) {
-	// Get and check dataset first.
+	/* Get and check dataset first. */
-	//LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
 	LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
 	if(dataSet == nullptr) {
 		printWarningOrError(sif::OutputTypes::OUT_WARNING,
-				"performPeriodicHkGeneration",
+				"performPeriodicHkGeneration", DATASET_NOT_FOUND);
-				DATASET_NOT_FOUND);
 		return DATASET_NOT_FOUND;
 	}
 
@@ -831,6 +864,10 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
 void LocalDataPoolManager::clearReceiversList() {
 	/* Clear the vector completely and releases allocated memory. */
 	HkReceivers().swap(hkReceivers);
+	/* Also clear the reset helper if it exists */
+	if(hkUpdateResetList != nullptr) {
+	    HkUpdateResetList().swap(*hkUpdateResetList);
+	}
 }
 
 MutexIF* LocalDataPoolManager::getLocalPoolMutex() {
@@ -843,6 +880,7 @@ object_id_t LocalDataPoolManager::getCreatorObjectId() const {
 
 void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 		const char* functionName, ReturnValue_t error, const char* errorPrint) {
+#if FSFW_VERBOSE_LEVEL >= 1
 	if(errorPrint == nullptr) {
 		if(error == DATASET_NOT_FOUND) {
 			errorPrint = "Dataset not found";
@@ -873,7 +911,6 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 	}
 
 	if(outputType == sif::OutputTypes::OUT_WARNING) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::warning << "LocalDataPoolManager::" << functionName
 				<< ": Object ID 0x" << std::setw(8) << std::setfill('0')
@@ -883,10 +920,8 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 		sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
 				functionName, owner->getObjectId(), errorPrint);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
 	}
 	else if(outputType == sif::OutputTypes::OUT_ERROR) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
 		sif::error << "LocalDataPoolManager::" << functionName
 				<< ": Object ID 0x" << std::setw(8) << std::setfill('0')
@@ -896,8 +931,8 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 		sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
 				functionName, owner->getObjectId(), errorPrint);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
 	}
+#endif /* #if FSFW_VERBOSE_LEVEL >= 1 */
 }
 
 LocalDataPoolManager* LocalDataPoolManager::getPoolManagerHandle() {

datapoollocal/LocalDataPoolManager.h

@@ -14,7 +14,7 @@
 #include "../ipc/MutexIF.h"
 #include "../ipc/CommandMessage.h"
 #include "../ipc/MessageQueueIF.h"
-#include "../ipc/MutexHelper.h"
+#include "../ipc/MutexGuard.h"
 
 #include <map>
 #include <vector>
@@ -391,6 +391,10 @@ protected:
 
 template<class T> inline
 ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId, PoolEntry<T> **poolEntry) {
+    if(poolEntry == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
     auto poolIter = localPoolMap.find(localPoolId);
     if (poolIter == localPoolMap.end()) {
         printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",

datapoollocal/LocalPoolDataSetBase.cpp

@@ -58,8 +58,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registere
     this->sid = sid;
 }
 
-LocalPoolDataSetBase::LocalPoolDataSetBase(
+LocalPoolDataSetBase::LocalPoolDataSetBase(PoolVariableIF **registeredVariablesArray,
-        PoolVariableIF **registeredVariablesArray,
         const size_t maxNumberOfVariables, bool protectEveryReadCommitCall):
 		        PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
     this->setReadCommitProtectionBehaviour(protectEveryReadCommitCall);
@@ -95,14 +94,23 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer
         size_t *size, size_t maxSize,
         SerializeIF::Endianness streamEndianness) const {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
+    const uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
-    uint8_t validityMask[validityMaskSize] = {};
+    uint8_t* validityPtr = nullptr;
+#ifdef _MSC_VER
+    /* Use a std::vector here because MSVC will (rightly) not create a fixed size array
+    with a non constant size specifier */
+    std::vector<uint8_t> validityMask(validityMaskSize);
+    validityPtr = validityMask.data();
+#else
+    uint8_t validityMask[validityMaskSize] = {0};
+    validityPtr = validityMask;
+#endif
     uint8_t validBufferIndex = 0;
     uint8_t validBufferIndexBit = 0;
     for (uint16_t count = 0; count < fillCount; count++) {
         if(registeredVariables[count]->isValid()) {
             /* Set bit at correct position */
-            bitutil::bitSet(validityMask + validBufferIndex, validBufferIndexBit);
+            bitutil::bitSet(validityPtr + validBufferIndex, validBufferIndexBit);
         }
         if(validBufferIndexBit == 7) {
             validBufferIndex ++;
@@ -123,7 +131,7 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer
         return SerializeIF::BUFFER_TOO_SHORT;
     }
     // copy validity buffer to end
-    std::memcpy(*buffer, validityMask, validityMaskSize);
+    std::memcpy(*buffer, validityPtr, validityMaskSize);
     *size += validityMaskSize;
     return result;
 }
@@ -262,11 +270,9 @@ bool LocalPoolDataSetBase::getReportingEnabled() const {
     return reportingEnabled;
 }
 
-void LocalPoolDataSetBase::initializePeriodicHelper(
+void LocalPoolDataSetBase::initializePeriodicHelper(float collectionInterval,
-        float collectionInterval, dur_millis_t minimumPeriodicInterval,
+        dur_millis_t minimumPeriodicInterval, uint8_t nonDiagIntervalFactor) {
-        bool isDiagnostics, uint8_t nonDiagIntervalFactor) {
+    periodicHelper->initialize(collectionInterval, minimumPeriodicInterval, nonDiagIntervalFactor);
-    periodicHelper->initialize(collectionInterval, minimumPeriodicInterval,
-            isDiagnostics, nonDiagIntervalFactor);
 }
 
 void LocalPoolDataSetBase::setChanged(bool changed) {
@@ -306,3 +312,12 @@ void LocalPoolDataSetBase::setAllVariablesReadOnly() {
         registeredVariables[idx]->setReadWriteMode(pool_rwm_t::VAR_READ);
     }
 }
+
+float LocalPoolDataSetBase::getCollectionInterval() const {
+    if(periodicHelper != nullptr) {
+        return periodicHelper->getCollectionIntervalInSeconds();
+    }
+    else {
+        return 0.0;
+    }
+}

datapoollocal/LocalPoolDataSetBase.h

@@ -166,6 +166,16 @@ public:
 
     object_id_t getCreatorObjectId();
 
+    bool getReportingEnabled() const;
+
+    /**
+     * Returns the current periodic HK generation interval this set
+     * belongs to a HK manager and the interval is not 0. Otherwise,
+     * returns 0.0
+     * @return
+     */
+    float getCollectionInterval() const;
+
 protected:
     sid_t sid;
     //! This mutex is used if the data is created by one object only.
@@ -180,11 +190,9 @@ protected:
      */
     bool reportingEnabled = false;
     void setReportingEnabled(bool enabled);
-    bool getReportingEnabled() const;
 
-    void initializePeriodicHelper(float collectionInterval,
+    void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
-            dur_millis_t minimumPeriodicInterval,
+            uint8_t nonDiagIntervalFactor = 5);
-            bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5);
 
     /**
      * If the valid state of a dataset is always relevant to the whole

datapoollocal/LocalPoolVector.tpp

@@ -25,7 +25,7 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(
         MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
     return readWithoutLock();
 }
 template<typename T, uint16_t vectorSize>
@@ -64,7 +64,7 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(bool valid,
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
         MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+    MutexGuard(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
     return commitWithoutLock();
 }
 

datapoollocal/SharedLocalDataSet.cpp

@@ -1,16 +1,37 @@
 #include "SharedLocalDataSet.h"
 
+
 SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId, sid_t sid,
         const size_t maxSize): SystemObject(objectId),
-        LocalPoolDataSetBase(sid, nullptr, maxSize) {
+        LocalPoolDataSetBase(sid, nullptr, maxSize), poolVarVector(maxSize) {
     this->setContainer(poolVarVector.data());
     datasetLock = MutexFactory::instance()->createMutex();
 }
 
-ReturnValue_t SharedLocalDataSet::lockDataset(dur_millis_t mutexTimeout) {
+SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId,
-    return datasetLock->lockMutex(MutexIF::TimeoutType::WAITING, mutexTimeout);
+        HasLocalDataPoolIF *owner, uint32_t setId,
+        const size_t maxSize): SystemObject(objectId),
+        LocalPoolDataSetBase(owner, setId, nullptr, maxSize), poolVarVector(maxSize)  {
+    this->setContainer(poolVarVector.data());
+    datasetLock = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SharedLocalDataSet::lockDataset(MutexIF::TimeoutType timeoutType,
+        dur_millis_t mutexTimeout) {
+    if(datasetLock != nullptr) {
+        return datasetLock->lockMutex(timeoutType, mutexTimeout);
+    }
+    return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+
+SharedLocalDataSet::~SharedLocalDataSet() {
+    MutexFactory::instance()->deleteMutex(datasetLock);
 }
 
 ReturnValue_t SharedLocalDataSet::unlockDataset() {
+    if(datasetLock != nullptr) {
         return datasetLock->unlockMutex();
+    }
+    return HasReturnvaluesIF::RETURN_FAILED;
 }

datapoollocal/SharedLocalDataSet.h

@@ -11,16 +11,22 @@
  * multiple threads. It provides a lock in addition to all other functionalities provided
  * by the LocalPoolDataSetBase class.
  *
- * TODO: override and protect read, commit and some other calls used by pool manager.
+ * The user is completely responsible for lockingand unlocking the dataset when using the
+ * shared dataset.
  */
 class SharedLocalDataSet:
         public SystemObject,
         public LocalPoolDataSetBase,
         public SharedDataSetIF {
 public:
-    SharedLocalDataSet(object_id_t objectId, sid_t sid,
+    SharedLocalDataSet(object_id_t objectId, HasLocalDataPoolIF* owner, uint32_t setId,
             const size_t maxSize);
-    ReturnValue_t lockDataset(dur_millis_t mutexTimeout) override;
+    SharedLocalDataSet(object_id_t objectId, sid_t sid, const size_t maxSize);
+
+    virtual~ SharedLocalDataSet();
+
+    ReturnValue_t lockDataset(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
+            dur_millis_t mutexTimeout = 20) override;
     ReturnValue_t unlockDataset() override;
 private:
 

datapoollocal/datapoollocal.h

@@ -0,0 +1,12 @@
+#ifndef FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_
+#define FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_
+
+/* Collected related headers */
+#include "LocalPoolVariable.h"
+#include "LocalPoolVector.h"
+#include "StaticLocalDataSet.h"
+#include "LocalDataSet.h"
+#include "SharedLocalDataSet.h"
+
+
+#endif /* FSFW_DATAPOOLLOCAL_DATAPOOLLOCAL_H_ */

datapoollocal/internal/LocalPoolDataSetAttorney.h

@@ -14,9 +14,8 @@ private:
     }
 
     static void initializePeriodicHelper(LocalPoolDataSetBase& set, float collectionInterval,
-            uint32_t minimumPeriodicIntervalMs,
+            uint32_t minimumPeriodicIntervalMs, uint8_t nonDiagIntervalFactor = 5) {
-            bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5) {
+        set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs,
-        set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs, isDiagnostics,
                 nonDiagIntervalFactor);
     }
 

datapoollocal/localPoolDefinitions.h

@@ -96,11 +96,11 @@ union gp_id_t {
         return raw == INVALID_GPID;
     }
 
-    bool operator==(const sid_t& other) const {
+    bool operator==(const gp_id_t& other) const {
         return raw == other.raw;
     }
 
-    bool operator!=(const sid_t& other) const {
+    bool operator!=(const gp_id_t& other) const {
         return not (raw == other.raw);
     }
 };

devicehandlers/DeviceHandlerBase.cpp

@@ -308,6 +308,14 @@ void DeviceHandlerBase::doStateMachine() {
         uint32_t currentUptime;
         Clock::getUptime(&currentUptime);
         if (currentUptime - timeoutStart >= childTransitionDelay) {
+#if FSFW_VERBOSE_LEVEL >= 1
+            char printout[60];
+            sprintf(printout, "Transition timeout (%lu) occured !",
+                    static_cast<unsigned long>(childTransitionDelay));
+            /* Very common configuration error, so print it */
+            printWarningOrError(sif::OutputTypes::OUT_WARNING, "doStateMachine",
+                    RETURN_FAILED, printout);
+#endif
             triggerEvent(MODE_TRANSITION_FAILED, childTransitionFailure, 0);
             setMode(transitionSourceMode, transitionSourceSubMode);
             break;

globalfunctions/arrayprinter.cpp

@@ -76,7 +76,9 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
             }
         }
     }
+#if FSFW_DISABLE_PRINTOUT == 0
     printf("[%s]\n", printBuffer);
+#endif /* FSFW_DISABLE_PRINTOUT == 0 */
 #endif
 }
 
@@ -117,7 +119,9 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
             }
         }
     }
+#if FSFW_DISABLE_PRINTOUT == 0
     printf("[%s]\n", printBuffer);
+#endif /* FSFW_DISABLE_PRINTOUT == 0 */
 #endif
 }
 

health/HealthTable.cpp

@@ -1,5 +1,5 @@
 #include "HealthTable.h"
-#include "../ipc/MutexHelper.h"
+#include "../ipc/MutexGuard.h"
 #include "../ipc/MutexFactory.h"
 #include "../serialize/SerializeAdapter.h"
 
@@ -31,7 +31,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
 
 void HealthTable::setHealth(object_id_t object,
 		HasHealthIF::HealthState newState) {
-    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+    MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		iter->second = newState;
@@ -40,7 +40,7 @@ void HealthTable::setHealth(object_id_t object,
 
 HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 	HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
-	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+	MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		state = iter->second;
@@ -49,7 +49,7 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 }
 
 bool HealthTable::hasHealth(object_id_t object) {
-	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+	MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		return true;
@@ -58,14 +58,14 @@ bool HealthTable::hasHealth(object_id_t object) {
 }
 
 size_t HealthTable::getPrintSize() {
-    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+    MutexGuard(mutex, timeoutType, mutexTimeoutMs);
     uint32_t size = healthMap.size() * sizeof(object_id_t) +
             sizeof(HasHealthIF::HealthState) + sizeof(uint16_t);
     return size;
 }
 
 void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
-    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+    MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	size_t size = 0;
 	uint16_t count = healthMap.size();
 	SerializeAdapter::serialize(&count,
@@ -81,7 +81,7 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
 
 ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
+	MutexGuard(mutex, timeoutType, mutexTimeoutMs);
 	if (reset) {
 		mapIterator = healthMap.begin();
 	}

housekeeping/HousekeepingMessage.cpp

@@ -84,15 +84,21 @@ void HousekeepingMessage::setCollectionIntervalModificationCommand(
 	else {
 		command->setCommand(MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL);
 	}
-	command->setParameter3(collectionInterval);
+
+	/* Raw storage of the float in the message. Do not use setParameter3, does
+	implicit conversion to integer type! */
+	std::memcpy(command->getData() + 2 * sizeof(uint32_t), &collectionInterval,
+	        sizeof(collectionInterval));
 
 	setSid(command, sid);
 }
 
 sid_t HousekeepingMessage::getCollectionIntervalModificationCommand(
 		const CommandMessage* command, float* newCollectionInterval) {
+
 	if(newCollectionInterval != nullptr) {
-		*newCollectionInterval = command->getParameter3();
+	    std::memcpy(newCollectionInterval, command->getData() + 2 * sizeof(uint32_t),
+	            sizeof(*newCollectionInterval));
 	}
 
 	return getSid(command);
@@ -151,7 +157,8 @@ void HousekeepingMessage::clear(CommandMessage* message) {
     case(DIAGNOSTICS_REPORT):
     case(HK_DEFINITIONS_REPORT):
     case(DIAGNOSTICS_DEFINITION_REPORT):
-    case(UPDATE_SNAPSHOT_SET): {
+    case(UPDATE_SNAPSHOT_SET):
+    case(UPDATE_SNAPSHOT_VARIABLE): {
         store_address_t storeId;
         getHkDataReply(message, &storeId);
         StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(

housekeeping/HousekeepingSnapshot.h

@@ -11,7 +11,8 @@
  * @brief   This helper class will be used to serialize and deserialize update housekeeping packets
  *          into the store.
  */
-class HousekeepingSnapshot: public SerializeIF {
+class HousekeepingSnapshot:
+        public SerializeIF {
 public:
 
     /**
@@ -36,6 +37,17 @@ public:
                 timeStamp(timeStamp), timeStampSize(timeStampSize),
                 updateData(dataSetPtr) {};
 
+    /**
+     * Update packet constructor for pool variables.
+     * @param timeStamp
+     * @param timeStampSize
+     * @param dataSetPtr
+     */
+    HousekeepingSnapshot(CCSDSTime::CDS_short* cdsShort, LocalPoolObjectBase* dataSetPtr):
+            timeStamp(reinterpret_cast<uint8_t*>(cdsShort)),
+            timeStampSize(sizeof(CCSDSTime::CDS_short)), updateData(dataSetPtr) {};
+
+
     /**
      * Update packet constructor for pool variables.
      * @param timeStamp
@@ -47,8 +59,8 @@ public:
                 timeStamp(timeStamp), timeStampSize(timeStampSize),
                 updateData(dataSetPtr) {};
 
-    virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+    virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-            size_t maxSize, Endianness streamEndianness) const {
+            Endianness streamEndianness) const {
         if(timeStamp != nullptr) {
             /* Endianness will always be MACHINE, so we can simply use memcpy
             here. */

housekeeping/PeriodicHousekeepingHelper.cpp

@@ -6,20 +6,18 @@
 PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(
         LocalPoolDataSetBase* owner): owner(owner) {}
 
-
 void PeriodicHousekeepingHelper::initialize(float collectionInterval,
-		dur_millis_t minimumPeriodicInterval, bool isDiagnostics,
+        dur_millis_t minimumPeriodicInterval, uint8_t nonDiagIntervalFactor) {
-		uint8_t nonDiagIntervalFactor) {
     this->minimumPeriodicInterval = minimumPeriodicInterval;
-	if(not isDiagnostics) {
+    this->nonDiagIntervalFactor = nonDiagIntervalFactor;
-		this->minimumPeriodicInterval = this->minimumPeriodicInterval *
+    collectionIntervalTicks = intervalSecondsToIntervalTicks(collectionInterval);
-				nonDiagIntervalFactor;
+    /* This will cause a checkOpNecessary call to be true immediately. I think it's okay
-	}
+	if a HK packet is generated immediately instead of waiting one generation cycle. */
-	collectionIntervalTicks = intervalSecondsToInterval(collectionInterval);
+    internalTickCounter = collectionIntervalTicks;
 }
 
-float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() {
+float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() const {
-	return intervalToIntervalSeconds(collectionIntervalTicks);
+    return intervalTicksToSeconds(collectionIntervalTicks);
 }
 
 bool PeriodicHousekeepingHelper::checkOpNecessary() {
@@ -31,19 +29,62 @@ bool PeriodicHousekeepingHelper::checkOpNecessary() {
     return false;
 }
 
-uint32_t PeriodicHousekeepingHelper::intervalSecondsToInterval(
+uint32_t PeriodicHousekeepingHelper::intervalSecondsToIntervalTicks(
         float collectionIntervalSeconds) {
-        return std::ceil(collectionIntervalSeconds * 1000
+    if(owner == nullptr) {
-                / minimumPeriodicInterval);
+        return 0;
+    }
+    bool isDiagnostics = owner->isDiagnostics();
+
+    /* Avoid division by zero */
+    if(minimumPeriodicInterval == 0) {
+        if(isDiagnostics) {
+            /* Perform operation each cycle */
+            return 1;
+        }
+        else {
+            return nonDiagIntervalFactor;
+        }
+    }
+    else {
+        dur_millis_t intervalInMs = collectionIntervalSeconds * 1000;
+        uint32_t divisor = minimumPeriodicInterval;
+        if(not isDiagnostics) {
+            /* We need to multiply the divisor because non-diagnostics only
+            allow a multiple of the minimum periodic interval */
+            divisor *= nonDiagIntervalFactor;
+        }
+        uint32_t ticks = std::ceil(static_cast<float>(intervalInMs) / divisor);
+        if(not isDiagnostics) {
+            /* Now we need to multiply the calculated ticks with the factor as as well
+            because the minimum tick count to generate a non-diagnostic is the factor itself.
+
+            Example calculation for non-diagnostic with
+            0.4 second interval and 0.2 second task interval.
+            Resultant tick count of 5 is equal to operation each second.
+
+            Examle calculation for non-diagnostic with  2.0 second interval and 0.2 second
+            task interval.
+            Resultant tick count of 10 is equal to operatin every 2 seconds.
+
+            Example calculation for diagnostic with 0.4 second interval and 0.3
+            second task interval. Resulting tick count of 2 is equal to operation
+            every 0.6 seconds. */
+            ticks *= nonDiagIntervalFactor;
+        }
+        return ticks;
+    }
 }
 
-float PeriodicHousekeepingHelper::intervalToIntervalSeconds(
+float PeriodicHousekeepingHelper::intervalTicksToSeconds(
-		uint32_t collectionInterval) {
+        uint32_t collectionInterval) const {
-	return static_cast<float>(collectionInterval *
+    /* Number of ticks times the minimum interval is in milliseconds, so we divide by 1000 to get
-			minimumPeriodicInterval);
+    the value in seconds */
+    return static_cast<float>(collectionInterval * minimumPeriodicInterval / 1000.0);
 }
 
 void PeriodicHousekeepingHelper::changeCollectionInterval(
         float newIntervalSeconds) {
-	collectionIntervalTicks = intervalSecondsToInterval(newIntervalSeconds);
+    collectionIntervalTicks = intervalSecondsToIntervalTicks(newIntervalSeconds);
 }
+

housekeeping/PeriodicHousekeepingHelper.h

@@ -10,18 +10,19 @@ class PeriodicHousekeepingHelper {
 public:
 	PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner);
 
-	void initialize(float collectionInterval,
+	void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval,
-			dur_millis_t minimumPeriodicInterval, bool isDiagnostics,
 	        uint8_t nonDiagIntervalFactor);
 
 	void changeCollectionInterval(float newInterval);
-	float getCollectionIntervalInSeconds();
+	float getCollectionIntervalInSeconds() const;
 	bool checkOpNecessary();
+
 private:
 	LocalPoolDataSetBase* owner = nullptr;
+	uint8_t nonDiagIntervalFactor = 0;
 
-	uint32_t intervalSecondsToInterval(float collectionIntervalSeconds);
+	uint32_t intervalSecondsToIntervalTicks(float collectionIntervalSeconds);
-	float intervalToIntervalSeconds(uint32_t collectionInterval);
+	float intervalTicksToSeconds(uint32_t collectionInterval) const;
 
 	dur_millis_t minimumPeriodicInterval = 0;
 	uint32_t internalTickCounter = 1;

ipc/MutexGuard.h

@@ -0,0 +1,60 @@
+#ifndef FRAMEWORK_IPC_MUTEXGUARD_H_
+#define FRAMEWORK_IPC_MUTEXGUARD_H_
+
+#include "MutexFactory.h"
+#include "../serviceinterface/ServiceInterface.h"
+
+class MutexGuard {
+public:
+    MutexGuard(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
+            MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0):
+            internalMutex(mutex) {
+        if(mutex == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "MutexGuard: Passed mutex is invalid!" << std::endl;
+#else
+            sif::printError("MutexGuard: Passed mutex is invalid!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+            return;
+        }
+        result = mutex->lockMutex(timeoutType,
+                timeoutMs);
+#if FSFW_VERBOSE_LEVEL >= 1
+        if(result == MutexIF::MUTEX_TIMEOUT) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "MutexGuard: Lock of mutex failed with timeout of "
+                    << timeoutMs << " milliseconds!" << std::endl;
+#else
+            sif::printError("MutexGuard: Lock of mutex failed with timeout of %lu milliseconds\n",
+                    timeoutMs);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+
+        }
+        else if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "MutexGuard: Lock of Mutex failed with code " << result << std::endl;
+#else
+            sif::printError("MutexGuard: Lock of Mutex failed with code %d\n", result);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+        }
+#else
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+    }
+
+    ReturnValue_t getLockResult() const {
+        return result;
+    }
+
+    ~MutexGuard() {
+        if(internalMutex != nullptr) {
+            internalMutex->unlockMutex();
+        }
+    }
+private:
+    MutexIF* internalMutex;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+};
+
+#endif /* FRAMEWORK_IPC_MUTEXGUARD_H_ */

ipc/MutexHelper.h

@@ -1,57 +0,0 @@
-#ifndef FRAMEWORK_IPC_MUTEXHELPER_H_
-#define FRAMEWORK_IPC_MUTEXHELPER_H_
-
-#include "MutexFactory.h"
-#include "../serviceinterface/ServiceInterface.h"
-
-class MutexHelper {
-public:
-    MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
-            MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0):
-            internalMutex(mutex) {
-        if(mutex == nullptr) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "MutexHelper: Passed mutex is invalid!" << std::endl;
-#else
-            sif::printError("MutexHelper: Passed mutex is invalid!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
-            return;
-        }
-        ReturnValue_t status = mutex->lockMutex(timeoutType,
-                timeoutMs);
-#if FSFW_VERBOSE_LEVEL >= 1
-        if(status == MutexIF::MUTEX_TIMEOUT) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "MutexHelper: Lock of mutex failed with timeout of "
-                    << timeoutMs << " milliseconds!" << std::endl;
-#else
-            sif::printError("MutexHelper: Lock of mutex failed with timeout of %lu milliseconds\n",
-                    timeoutMs);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-
-        }
-        else if(status != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::error << "MutexHelper: Lock of Mutex failed with code " << status << std::endl;
-#else
-            sif::printError("MutexHelper: Lock of Mutex failed with code %d\n", status);
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-        }
-#else
-        /* To avoid unused variable warning */
-        static_cast<void>(status);
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
-    }
-
-    ~MutexHelper() {
-        if(internalMutex != nullptr) {
-            internalMutex->unlockMutex();
-        }
-    }
-private:
-    MutexIF* internalMutex;
-};
-
-#endif /* FRAMEWORK_IPC_MUTEXHELPER_H_ */

osal/CMakeLists.txt

@@ -32,3 +32,5 @@ else()
 	endif()
 
 endif()
+
+add_subdirectory(common)

osal/common/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE 
+    tcpipCommon.cpp
+)

osal/common/tcpipCommon.cpp

@@ -0,0 +1,36 @@
+#include "tcpipCommon.h"
+
+void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string &protStr,
+        std::string &srcString) {
+    if(protocol == Protocol::TCP) {
+        protStr = "TCP";
+    }
+    else if(protocol == Protocol::UDP) {
+        protStr = "UDP";
+    }
+    else {
+        protStr = "Unknown protocol";
+    }
+
+    if(errorSrc == ErrorSources::SETSOCKOPT_CALL) {
+        srcString = "setsockopt call";
+    }
+    else if(errorSrc == ErrorSources::SOCKET_CALL) {
+        srcString = "socket call";
+    }
+    else if(errorSrc == ErrorSources::LISTEN_CALL) {
+        srcString = "listen call";
+    }
+    else if(errorSrc == ErrorSources::ACCEPT_CALL) {
+        srcString = "accept call";
+    }
+    else if(errorSrc == ErrorSources::RECVFROM_CALL) {
+        srcString = "recvfrom call";
+    }
+    else if(errorSrc == ErrorSources::GETADDRINFO_CALL) {
+        srcString = "getaddrinfo call";
+    }
+    else {
+        srcString = "unknown call";
+    }
+}

osal/common/tcpipCommon.h

@@ -0,0 +1,36 @@
+#ifndef FSFW_OSAL_COMMON_TCPIPCOMMON_H_
+#define FSFW_OSAL_COMMON_TCPIPCOMMON_H_
+
+#include "../../timemanager/clockDefinitions.h"
+#include <string>
+
+namespace tcpip {
+
+const char* const DEFAULT_UDP_SERVER_PORT = "7301";
+const char* const DEFAULT_TCP_SERVER_PORT = "7303";
+
+enum class Protocol {
+    UDP,
+    TCP
+};
+
+enum class ErrorSources {
+    GETADDRINFO_CALL,
+    SOCKET_CALL,
+    SETSOCKOPT_CALL,
+    BIND_CALL,
+    RECV_CALL,
+    RECVFROM_CALL,
+    LISTEN_CALL,
+    ACCEPT_CALL,
+    SENDTO_CALL
+};
+
+void determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std::string& protStr,
+        std::string& srcString);
+
+}
+
+
+
+#endif /* FSFW_OSAL_COMMON_TCPIPCOMMON_H_ */

osal/host/MessageQueue.cpp

@@ -3,7 +3,7 @@
 
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "../../ipc/MutexFactory.h"
-#include "../../ipc/MutexHelper.h"
+#include "../../ipc/MutexGuard.h"
 
 MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
 		messageSize(maxMessageSize), messageDepth(messageDepth) {
@@ -65,7 +65,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	}
 	// not sure this will work..
 	//*message = std::move(messageQueue.front());
-	MutexHelper mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
+	MutexGuard mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
 	MessageQueueMessage* currentMessage = &messageQueue.front();
 	std::copy(currentMessage->getBuffer(),
 			currentMessage->getBuffer() + messageSize, message->getBuffer());
@@ -130,7 +130,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
-		MutexHelper mutexLock(targetQueue->queueLock,
+		MutexGuard mutexLock(targetQueue->queueLock,
 		        MutexIF::TimeoutType::WAITING, 20);
 		// not ideal, works for now though.
 		MessageQueueMessage* mqmMessage =

osal/host/MutexFactory.cpp

@@ -24,5 +24,7 @@ MutexIF* MutexFactory::createMutex() {
 }
 
 void MutexFactory::deleteMutex(MutexIF* mutex) {
+    if(mutex != nullptr) {
         delete mutex;
+    }
 }

osal/host/QueueMapManager.cpp

@@ -2,7 +2,7 @@
 
 #include "../../serviceinterface/ServiceInterface.h"
 #include "../../ipc/MutexFactory.h"
-#include "../../ipc/MutexHelper.h"
+#include "../../ipc/MutexGuard.h"
 
 QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
 
@@ -43,7 +43,7 @@ ReturnValue_t QueueMapManager::addMessageQueue(
 
 MessageQueueIF* QueueMapManager::getMessageQueue(
 		MessageQueueId_t messageQueueId) const {
-	MutexHelper(mapLock, MutexIF::TimeoutType::WAITING, 50);
+	MutexGuard(mapLock, MutexIF::TimeoutType::WAITING, 50);
 	auto queueIter = queueMap.find(messageQueueId);
 	if(queueIter != queueMap.end()) {
 		return queueIter->second;

osal/host/SemaphoreFactory.cpp

@@ -1,7 +1,5 @@
 #include "../../tasks/SemaphoreFactory.h"
-#include "../../osal/linux/BinarySemaphore.h"
+#include "../../serviceinterface/ServiceInterface.h"
-#include "../../osal/linux/CountingSemaphore.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
 

osal/linux/CMakeLists.txt

@@ -16,6 +16,7 @@ target_sources(${LIB_FSFW_NAME}
 		TcUnixUdpPollingTask.cpp
 		TmTcUnixUdpBridge.cpp
 		Timer.cpp
+		tcpipHelpers.cpp
 )
 
 find_package(Threads REQUIRED)

osal/linux/PosixThread.cpp

@@ -57,10 +57,8 @@ void PosixThread::suspend() {
 
 void PosixThread::resume(){
     /* Signal the thread to start. Makes sense to call kill to start or? ;)
-	 *
+    According to POSIX raise(signal) will call pthread_kill(pthread_self(), sig),
-	*	According to Posix raise(signal) will call pthread_kill(pthread_self(), sig),
+    but as the call must be done from the thread itself this is not possible here */
-	*	but as the call must be done from the thread itsself this is not possible here
-	*/
     pthread_kill(thread,SIGUSR1);
 }
 
@@ -68,7 +66,7 @@ bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
         const uint64_t delayTime_ms) {
     uint64_t nextTimeToWake_ms;
     bool shouldDelay = false;
-	//Get current Time
+    /* Get current Time */
     const uint64_t currentTime_ms = getCurrentMonotonicTimeMs();
     /* Generate the tick time at which the task wants to wake. */
     nextTimeToWake_ms = (*prevoiusWakeTime_ms) + delayTime_ms;
@@ -102,7 +100,7 @@ bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
         PosixThread::sleep(sleepTime * 1000000ull);
         return true;
     }
-	//We are shifting the time in case the deadline was missed like rtems
+    /* We are shifting the time in case the deadline was missed like RTEMS */
     (*prevoiusWakeTime_ms) = currentTime_ms;
     return false;
 
@@ -125,10 +123,10 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 #endif
     /*
      * The attr argument points to a pthread_attr_t structure whose contents
-       are used at thread creation time to determine attributes for the new
+     * are used at thread creation time to determine attributes for the new
-       thread; this structure is initialized using pthread_attr_init(3) and
+     * thread; this structure is initialized using pthread_attr_init(3) and
-       related functions.  If attr is NULL, then the thread is created with
+     * related functions.  If attr is NULL, then the thread is created with
-       default attributes.
+     * default attributes.
      */
     pthread_attr_t attributes;
     int status = pthread_attr_init(&attributes);

osal/linux/TaskFactory.cpp

@@ -2,6 +2,7 @@
 #include "PeriodicPosixTask.h"
 
 #include "../../tasks/TaskFactory.h"
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
 
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?

osal/linux/TcUnixUdpPollingTask.cpp

@@ -1,7 +1,9 @@
 #include "TcUnixUdpPollingTask.h"
+#include "tcpipHelpers.h"
+
 #include "../../globalfunctions/arrayprinter.h"
 
-#include <errno.h>
+#define FSFW_UDP_RCV_WIRETAPPING_ENABLED    0
 
 TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
 		object_id_t tmtcUnixUdpBridge, size_t frameSize,
@@ -15,8 +17,8 @@ TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
 		this->frameSize = DEFAULT_MAX_FRAME_SIZE;
 	}
 
-	// Set up reception buffer with specified frame size.
+	/* Set up reception buffer with specified frame size.
-	// For now, it is assumed that only one frame is held in the buffer!
+	For now, it is assumed that only one frame is held in the buffer! */
 	receptionBuffer.reserve(this->frameSize);
 	receptionBuffer.resize(this->frameSize);
 
@@ -31,34 +33,37 @@ TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
 TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {}
 
 ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
-	// Poll for new UDP datagrams in permanent loop.
+    /* Sender Address is cached here. */
-	while(1) {
-		//! Sender Address is cached here.
     struct sockaddr_in senderAddress;
-		socklen_t senderSockLen = sizeof(senderAddress);
+    socklen_t senderAddressSize = sizeof(senderAddress);
-		ssize_t bytesReceived = recvfrom(serverUdpSocket,
-				receptionBuffer.data(), frameSize, receptionFlags,
-				reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
-		if(bytesReceived < 0) {
-			// handle error
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "TcSocketPollingTask::performOperation: Reception"
-					"error." << std::endl;
-#endif
-			handleReadError();
 
+	/* Poll for new UDP datagrams in permanent loop. */
+	while(true) {
+		ssize_t bytesReceived = recvfrom(
+		        serverUdpSocket,
+				receptionBuffer.data(),
+				frameSize,
+				receptionFlags,
+				reinterpret_cast<sockaddr*>(&senderAddress),
+				&senderAddressSize
+		);
+		if(bytesReceived < 0) {
+			/* Handle error */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+			sif::error << "TcSocketPollingTask::performOperation: Reception error." << std::endl;
+#endif
+			tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 500);
 			continue;
 		}
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
-//		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
+		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
-//				<< " bytes received" << std::endl;
+		        << " bytes received" << std::endl;
 #endif
 
 		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
 		if(result != HasReturnvaluesIF::RETURN_FAILED) {
 
 		}
-		tmtcBridge->registerCommConnect();
 		tmtcBridge->checkAndSetClientAddress(senderAddress);
 	}
 	return HasReturnvaluesIF::RETURN_OK;
@@ -67,15 +72,21 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 
 ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 	store_address_t storeId;
-	ReturnValue_t result = tcStore->addData(&storeId,
+
-			receptionBuffer.data(), bytesRead);
+#if FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
-	// arrayprinter::print(receptionBuffer.data(), bytesRead);
+    arrayprinter::print(receptionBuffer.data(), bytesRead);
+#endif
+
+    ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRead);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
+		sif::error << "TcUnixUdpPollingTask::handleSuccessfullTcRead: Data "
 				"storage failed" << std::endl;
 		sif::error << "Packet size: " << bytesRead << std::endl;
-#endif
+#else
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
@@ -83,10 +94,13 @@ ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 
 	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "Serial Polling: Sending message to queue failed"
+		sif::error << "TcUnixUdpPollingTask::handleSuccessfullTcRead: Sending message to queue "
-				<< std::endl;
+		        "failed" << std::endl;
-#endif
+#else
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
 		tcStore->deleteData(storeId);
 	}
 	return result;
@@ -111,15 +125,16 @@ ReturnValue_t TcUnixUdpPollingTask::initialize() {
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
-	serverUdpSocket = tmtcBridge->serverSocket;
-
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() {
-	// Initialize the destination after task creation. This ensures
+    /* Initialize the destination after task creation. This ensures
-	// that the destination will be set in the TMTC bridge.
+    that the destination has already been set in the TMTC bridge. */
 	targetTcDestination = tmtcBridge->getRequestQueue();
+    /* The server socket is set up in the bridge intialization. Calling this function here
+    ensures that it is set up properly in any case*/
+    serverUdpSocket = tmtcBridge->serverSocket;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -135,24 +150,3 @@ void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
 #endif
 	}
 }
-
-// TODO: sleep after error detection to prevent spam
-void TcUnixUdpPollingTask::handleReadError() {
-	switch(errno) {
-	case(EAGAIN): {
-		// todo: When working in timeout mode, this will occur more often
-		// and is not an error.
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout."
-				<< std::endl;
-#endif
-		break;
-	}
-	default: {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcUnixUdpPollingTask::handleReadError: "
-				<< strerror(errno) << std::endl;
-#endif
-	}
-	}
-}

osal/linux/TcUnixUdpPollingTask.h

@@ -48,6 +48,7 @@ private:
 	object_id_t tmtcBridgeId = objects::NO_OBJECT;
 	TmTcUnixUdpBridge* tmtcBridge = nullptr;
 	MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
+
 	//! Reception flags: https://linux.die.net/man/2/recvfrom.
 	int receptionFlags = 0;
 
@@ -61,7 +62,6 @@ private:
 	timeval receptionTimeout;
 
 	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
-	void handleReadError();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

osal/linux/TmTcUnixUdpBridge.cpp

@@ -1,206 +1,157 @@
 #include "TmTcUnixUdpBridge.h"
+#include "tcpipHelpers.h"
 #include "../../serviceinterface/ServiceInterface.h"
-#include "../../ipc/MutexHelper.h"
+#include "../../ipc/MutexGuard.h"
 
-#include <errno.h>
 #include <arpa/inet.h>
+#include <unistd.h>
+#include <netdb.h>
 
+#include <cstring>
 
-TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
+//! Debugging preprocessor define.
-		object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
+#define FSFW_UDP_SEND_WIRETAPPING_ENABLED   0
-		uint16_t serverPort, uint16_t clientPort):
+
+const std::string TmTcUnixUdpBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_UDP_SERVER_PORT;
+
+TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
+        object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort):
 		TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
+    if(udpServerPort == "") {
+        this->udpServerPort = DEFAULT_UDP_SERVER_PORT;
+    }
+    else {
+        this->udpServerPort = udpServerPort;
+    }
+
     mutex = MutexFactory::instance()->createMutex();
+    communicationLinkUp = false;
+}
 
-	uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
+ReturnValue_t TmTcUnixUdpBridge::initialize() {
-	if(serverPort != 0xFFFF) {
+    using namespace tcpip;
-		setServerPort = serverPort;
-	}
 
-	uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
+    ReturnValue_t result = TmTcBridge::initialize();
-	if(clientPort != 0xFFFF) {
+    if(result != HasReturnvaluesIF::RETURN_OK) {
-		setClientPort = clientPort;
-	}
-
-	// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
-	//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
-	serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
-	if(serverSocket < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
+        sif::error << "TmTcUnixUdpBridge::initialize: TmTcBridge initialization failed!"
-				" UDP socket!" << std::endl;
-#endif
-		handleSocketError();
-		return;
-	}
-
-	serverAddress.sin_family = AF_INET;
-
-	// Accept packets from any interface.
-	//serverAddress.sin_addr.s_addr = inet_addr("127.73.73.0");
-	serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
-	serverAddress.sin_port = htons(setServerPort);
-	serverAddressLen = sizeof(serverAddress);
-	setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
-			sizeof(serverSocketOptions));
-
-	clientAddress.sin_family = AF_INET;
-	clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
-	clientAddress.sin_port = htons(setClientPort);
-	clientAddressLen = sizeof(clientAddress);
-
-	int result = bind(serverSocket,
-			reinterpret_cast<struct sockaddr*>(&serverAddress),
-			serverAddressLen);
-	if(result == -1) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
-				"local port " << setServerPort << " to server socket!"
                 << std::endl;
 #endif
-		handleBindError();
+        return result;
-		return;
     }
+
+    struct addrinfo *addrResult = nullptr;
+    struct addrinfo hints;
+
+    std::memset(&hints, 0, sizeof(hints));
+    hints.ai_family = AF_INET;
+    hints.ai_socktype = SOCK_DGRAM;
+    hints.ai_protocol = IPPROTO_UDP;
+    hints.ai_flags = AI_PASSIVE;
+
+    /* Set up UDP socket:
+    https://man7.org/linux/man-pages/man3/getaddrinfo.3.html
+    Passing nullptr as the first parameter and specifying AI_PASSIVE in hints will cause
+    getaddrinfo to assign the address 0.0.0.0 (any address) */
+    int retval = getaddrinfo(nullptr, udpServerPort.c_str(), &hints, &addrResult);
+    if (retval != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Retrieving address info failed!" <<
+                std::endl;
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    /* Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html */
+    serverSocket = socket(addrResult->ai_family, addrResult->ai_socktype, addrResult->ai_protocol);
+    if(serverSocket < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open UDP socket!" <<
+                std::endl;
+#else
+        sif::printError("TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open UDP socket!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+        freeaddrinfo(addrResult);
+        handleError(Protocol::UDP, ErrorSources::SOCKET_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
+    if(retval != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
+                "local port (" << udpServerPort << ") to server socket!" << std::endl;
+#endif
+        freeaddrinfo(addrResult);
+        handleError(Protocol::UDP, ErrorSources::BIND_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
+    if(mutex != nullptr) {
+        MutexFactory::instance()->deleteMutex(mutex);
+    }
+    close(serverSocket);
 }
 
 ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
     int flags = 0;
 
-	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
+    /* The target address can be set by different threads so this lock ensures thread-safety */
+    MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
 
-	if(ipAddrAnySet){
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-		clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
+    char ipAddress [15];
-		//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
+    sif::debug << "IP Address Sender: "<<
-		clientAddressLen = sizeof(serverAddress);
+            inet_ntop(AF_INET,&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
-	}
-
-//	char ipAddress [15];
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-//	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-//					&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 #endif
 
-	ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
+    ssize_t bytesSent = sendto(
-			reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
+            serverSocket,
+            data,
+            dataLen,
+            flags,
+            reinterpret_cast<sockaddr*>(&clientAddress),
+            clientAddressLen
+    );
     if(bytesSent < 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
+        sif::warning << "TmTcUnixUdpBridge::sendTm: Send operation failed." << std::endl;
-				<< std::endl;
 #endif
-		handleSendError();
+        tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
     }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+
-//	sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-//			" sent." << std::endl;
+    sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
+            " sent." << std::endl;
 #endif
+
     return HasReturnvaluesIF::RETURN_OK;
 }
 
 void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
-	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
+    /* The target address can be set by different threads so this lock ensures thread-safety */
+    MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
 
-//	char ipAddress [15];
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    char ipAddress [15];
-//	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+    sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-//			&newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+            &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
-//	sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
+    sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
-//			&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+            &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 #endif
+    registerCommConnect();
 
-	// Set new IP address if it has changed.
+    /* Set new IP address to reply to. */
-	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
+    clientAddress = newAddress;
-		clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
     clientAddressLen = sizeof(clientAddress);
-	}
 }
 
-
+void TmTcUnixUdpBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
-void TmTcUnixUdpBridge::handleSocketError() {
+        dur_millis_t timeoutMs) {
-	// See: https://man7.org/linux/man-pages/man2/socket.2.html
+    this->timeoutType = timeoutType;
-	switch(errno) {
+    this->mutexTimeoutMs = timeoutMs;
-	case(EACCES):
-	case(EINVAL):
-	case(EMFILE):
-	case(ENFILE):
-	case(EAFNOSUPPORT):
-	case(ENOBUFS):
-	case(ENOMEM):
-	case(EPROTONOSUPPORT):
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed"
-				<< " with " << strerror(errno) << std::endl;
-#endif
-		break;
-	default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixBridge::handleSocketError: Unknown error"
-				<< std::endl;
-#endif
-		break;
-	}
 }
-
-void TmTcUnixUdpBridge::handleBindError() {
-	// See: https://man7.org/linux/man-pages/man2/bind.2.html
-	switch(errno) {
-	case(EACCES): {
-		/*
-		 Ephermeral ports can be shown with following command:
-		 sysctl -A | grep ip_local_port_range
-		 */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixBridge::handleBindError: Port access issue."
-				"Ports 1-1024 are reserved on UNIX systems and require root "
-				"rights while ephermeral ports should not be used as well."
-				<< std::endl;
-#endif
-	}
-	break;
-	case(EADDRINUSE):
-	case(EBADF):
-	case(EINVAL):
-	case(ENOTSOCK):
-	case(EADDRNOTAVAIL):
-	case(EFAULT):
-	case(ELOOP):
-	case(ENAMETOOLONG):
-	case(ENOENT):
-	case(ENOMEM):
-	case(ENOTDIR):
-	case(EROFS): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed"
-				<< " with " << strerror(errno) << std::endl;
-#endif
-		break;
-	}
-	default:
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixBridge::handleBindError: Unknown error"
-				<< std::endl;
-#endif
-		break;
-	}
-}
-
-void TmTcUnixUdpBridge::handleSendError() {
-	switch(errno) {
-	default: {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixBridge::handleSendError: "
-		        << strerror(errno) << std::endl;
-#else
-		sif::printError("TmTcUnixBridge::handleSendError: %s\n",
-				strerror(errno));
-#endif
-	}
-	}
-}
-
-void TmTcUnixUdpBridge::setClientAddressToAny(bool ipAddrAnySet){
-	this->ipAddrAnySet = ipAddrAnySet;
-}
-

osal/linux/TmTcUnixUdpBridge.h

@@ -7,45 +7,43 @@
 #include <netinet/in.h>
 #include <netinet/udp.h>
 
-class TmTcUnixUdpBridge: public TmTcBridge {
+class TmTcUnixUdpBridge:
+        public TmTcBridge {
     friend class TcUnixUdpPollingTask;
 public:
-	// The ports chosen here should not be used by any other process.
+
-	// List of used ports on Linux: /etc/services
+    /* The ports chosen here should not be used by any other process.
-	static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
+	List of used ports on Linux: /etc/services */
-	static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
+    static const std::string DEFAULT_UDP_SERVER_PORT;
 
     TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
             object_id_t tmStoreId, object_id_t tcStoreId,
-			uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
+            std::string serverPort = "");
     virtual~ TmTcUnixUdpBridge();
 
+    /**
+     * Set properties of internal mutex.
+     */
+    void setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs);
+
+    ReturnValue_t initialize() override;
+
     void checkAndSetClientAddress(sockaddr_in& clientAddress);
 
-	void setClientAddressToAny(bool ipAddrAnySet);
 protected:
     virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
 
 private:
     int serverSocket = 0;
-
+    std::string udpServerPort;
-	const int serverSocketOptions = 0;
 
     struct sockaddr_in clientAddress;
     socklen_t clientAddressLen = 0;
 
-	struct sockaddr_in serverAddress;
+    //! Access to the client address is mutex protected as it is set by another task.
-	socklen_t serverAddressLen = 0;
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
-
+    dur_millis_t mutexTimeoutMs = 20;
-	bool ipAddrAnySet = false;
-
-	//! Access to the client address is mutex protected as it is set
-	//! by another task.
     MutexIF* mutex;
-
-	void handleSocketError();
-	void handleBindError();
-	void handleSendError();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */

osal/linux/tcpipHelpers.cpp

@@ -0,0 +1,108 @@
+#include "tcpipHelpers.h"
+
+#include "../../tasks/TaskFactory.h"
+
+#include <errno.h>
+#include <string>
+
+void tcpip::handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration) {
+    int errCode = errno;
+    std::string protocolString;
+    std::string errorSrcString;
+    determineErrorStrings(protocol, errorSrc, protocolString, errorSrcString);
+    std::string infoString;
+    switch(errCode) {
+    case(EACCES): {
+        infoString = "EACCES";
+        break;
+    }
+    case(EINVAL): {
+        infoString = "EINVAL";
+        break;
+    }
+    case(EAGAIN): {
+        infoString = "EAGAIN";
+        break;
+    }
+    case(EMFILE): {
+        infoString = "EMFILE";
+        break;
+    }
+    case(ENFILE): {
+        infoString = "ENFILE";
+        break;
+    }
+    case(EAFNOSUPPORT): {
+        infoString = "EAFNOSUPPORT";
+        break;
+    }
+    case(ENOBUFS): {
+        infoString = "ENOBUFS";
+        break;
+    }
+    case(ENOMEM): {
+        infoString = "ENOMEM";
+        break;
+    }
+    case(EPROTONOSUPPORT): {
+        infoString = "EPROTONOSUPPORT";
+        break;
+    }
+    case(EADDRINUSE): {
+        infoString = "EADDRINUSE";
+        break;
+    }
+    case(EBADF): {
+        infoString = "EBADF";
+        break;
+    }
+    case(ENOTSOCK): {
+        infoString = "ENOTSOCK";
+        break;
+    }
+    case(EADDRNOTAVAIL): {
+        infoString = "EADDRNOTAVAIL";
+        break;
+    }
+    case(EFAULT): {
+        infoString = "EFAULT";
+        break;
+    }
+    case(ELOOP): {
+        infoString = "ELOOP";
+        break;
+    }
+    case(ENAMETOOLONG): {
+        infoString = "ENAMETOOLONG";
+        break;
+    }
+    case(ENOENT): {
+        infoString = "ENOENT";
+        break;
+    }
+    case(ENOTDIR): {
+        infoString = "ENOTDIR";
+        break;
+    }
+    case(EROFS):  {
+        infoString = "EROFS";
+        break;
+    }
+
+    default: {
+        infoString = "Error code: " + std::to_string(errCode);
+    }
+    }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "tcpip::handleError: " << protocolString << " | " << errorSrcString <<
+            " | " << infoString << std::endl;
+#else
+    sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString,
+            errorSrcString, infoString);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+
+    if(sleepDuration > 0) {
+        TaskFactory::instance()->delayTask(sleepDuration);
+    }
+}

osal/linux/tcpipHelpers.h

@@ -0,0 +1,14 @@
+#ifndef FSFW_OSAL_LINUX_TCPIPHELPERS_H_
+#define FSFW_OSAL_LINUX_TCPIPHELPERS_H_
+
+#include "../../timemanager/clockDefinitions.h"
+#include "../common/tcpipCommon.h"
+
+namespace tcpip {
+
+
+void handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration = 0);
+
+}
+
+#endif /* FSFW_OSAL_LINUX_TCPIPHELPERS_H_ */

osal/rtems/Clock.cpp

@@ -1,7 +1,7 @@
 #include "RtemsBasic.h"
 
 #include "../../timemanager/Clock.h"
-#include "../../ipc/MutexHelper.h"
+#include "../../ipc/MutexGuard.h"
 
 #include <rtems/score/todimpl.h>
 #include <rtems/rtems/clockimpl.h>
@@ -183,7 +183,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
     if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-    MutexHelper helper(timeMutex);
+    MutexGuard helper(timeMutex);
 
 
     leapSeconds = leapSeconds_;
@@ -196,7 +196,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
     if(timeMutex==nullptr){
         return HasReturnvaluesIF::RETURN_FAILED;
     }
-    MutexHelper helper(timeMutex);
+    MutexGuard helper(timeMutex);
 
     *leapSeconds_ = leapSeconds;
 

osal/windows/CMakeLists.txt

@@ -1,11 +1,11 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE 
-	PRIVATE 
     TcWinUdpPollingTask.cpp
     TmTcWinUdpBridge.cpp
+    TcWinTcpServer.cpp
+    tcpipHelpers.cpp
 )
 
-target_link_libraries(${LIB_FSFW_NAME} 
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-	PRIVATE
     wsock32 
     ws2_32
 )

osal/windows/TcWinTcpServer.cpp

@@ -0,0 +1,131 @@
+#include "TcWinTcpServer.h"
+#include "tcpipHelpers.h"
+#include "../../serviceinterface/ServiceInterface.h"
+
+#include <winsock2.h>
+#include <ws2tcpip.h>
+
+const std::string TcWinTcpServer::DEFAULT_TCP_SERVER_PORT =  "7301";
+const std::string TcWinTcpServer::DEFAULT_TCP_CLIENT_PORT =  "7302";
+
+TcWinTcpServer::TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+        std::string customTcpServerPort):
+        SystemObject(objectId), tcpPort(customTcpServerPort) {
+    if(tcpPort == "") {
+        tcpPort = DEFAULT_TCP_SERVER_PORT;
+    }
+}
+
+ReturnValue_t TcWinTcpServer::initialize() {
+    using namespace tcpip;
+    int retval = 0;
+    struct addrinfo *addrResult = nullptr;
+    struct addrinfo hints;
+    /* Initiates Winsock DLL. */
+    WSAData wsaData;
+    WORD wVersionRequested = MAKEWORD(2, 2);
+    int err = WSAStartup(wVersionRequested, &wsaData);
+    if (err != 0) {
+        /* Tell the user that we could not find a usable Winsock DLL. */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: " <<
+                err << std::endl;
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    ZeroMemory(&hints, sizeof (hints));
+    hints.ai_family = AF_INET;
+    hints.ai_socktype = SOCK_STREAM;
+    hints.ai_protocol = IPPROTO_TCP;
+    hints.ai_flags = AI_PASSIVE;
+
+    retval = getaddrinfo(nullptr, tcpPort.c_str(), &hints, &addrResult);
+    if (retval != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TcWinTcpServer::TcWinTcpServer: Retrieving address info failed!" <<
+                std::endl;
+#endif
+        handleError(Protocol::TCP, ErrorSources::GETADDRINFO_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    /* Open TCP (stream) socket */
+    listenerTcpSocket = socket(addrResult->ai_family, addrResult->ai_socktype,
+            addrResult->ai_protocol);
+    if(listenerTcpSocket == INVALID_SOCKET) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TcWinTcpServer::TcWinTcpServer: Socket creation failed!" << std::endl;
+#endif
+        freeaddrinfo(addrResult);
+        handleError(Protocol::TCP, ErrorSources::SOCKET_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    retval = bind(listenerTcpSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
+    if(retval == SOCKET_ERROR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TcWinTcpServer::TcWinTcpServer: Binding socket failed!" <<
+                std::endl;
+#endif
+        freeaddrinfo(addrResult);
+        handleError(Protocol::TCP, ErrorSources::BIND_CALL);
+    }
+
+    freeaddrinfo(addrResult);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+TcWinTcpServer::~TcWinTcpServer() {
+    closesocket(listenerTcpSocket);
+    WSACleanup();
+}
+
+ReturnValue_t TcWinTcpServer::performOperation(uint8_t opCode) {
+    using namespace tcpip;
+    /* If a connection is accepted, the corresponding socket will be assigned to the new socket */
+    SOCKET clientSocket;
+    sockaddr_in clientSockAddr;
+    int connectorSockAddrLen = 0;
+    int retval = 0;
+
+    /* Listen for connection requests permanently for lifetime of program */
+    while(true) {
+        retval = listen(listenerTcpSocket, currentBacklog);
+        if(retval == SOCKET_ERROR) {
+            handleError(Protocol::TCP, ErrorSources::LISTEN_CALL, 500);
+            continue;
+        }
+
+        clientSocket = accept(listenerTcpSocket, reinterpret_cast<sockaddr*>(&clientSockAddr),
+                &connectorSockAddrLen);
+
+        if(clientSocket == INVALID_SOCKET) {
+            handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
+            continue;
+        };
+
+        retval = recv(clientSocket, reinterpret_cast<char*>(receptionBuffer.data()),
+                receptionBuffer.size(), 0);
+        if(retval > 0) {
+#if FSFW_TCP_RCV_WIRETAPPING_ENABLED == 1
+            sif::info << "TcWinTcpServer::performOperation: Received " << retval << " bytes."
+                    std::endl;
+#endif
+            handleError(Protocol::TCP, ErrorSources::RECV_CALL, 500);
+        }
+        else if(retval == 0) {
+
+        }
+        else {
+
+        }
+
+        /* Done, shut down connection */
+        retval = shutdown(clientSocket, SD_SEND);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+

osal/windows/TcWinTcpServer.h

@@ -0,0 +1,47 @@
+#ifndef FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
+#define FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
+
+#include "../../objectmanager/SystemObject.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+#include <string>
+#include <vector>
+
+//! Debugging preprocessor define.
+#define FSFW_TCP_RCV_WIRETAPPING_ENABLED    0
+
+/**
+ * @brief   Windows TCP server used to receive telecommands on a Windows Host
+ * @details
+ * Based on: https://docs.microsoft.com/en-us/windows/win32/winsock/complete-server-code
+ */
+class TcWinTcpServer:
+        public SystemObject,
+        public ExecutableObjectIF {
+public:
+    /* The ports chosen here should not be used by any other process. */
+    static const std::string DEFAULT_TCP_SERVER_PORT;
+    static const std::string DEFAULT_TCP_CLIENT_PORT;
+
+    TcWinTcpServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+            std::string customTcpServerPort = "");
+    virtual~ TcWinTcpServer();
+
+    ReturnValue_t initialize() override;
+    ReturnValue_t performOperation(uint8_t opCode) override;
+
+private:
+
+    std::string tcpPort;
+    SOCKET listenerTcpSocket = 0;
+    struct sockaddr_in tcpAddress;
+    int tcpAddrLen = sizeof(tcpAddress);
+    int currentBacklog = 3;
+
+    std::vector<uint8_t> receptionBuffer;
+    int tcpSockOpt = 0;
+
+
+};
+
+#endif /* FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_ */

osal/windows/TcWinUdpPollingTask.cpp

@@ -1,9 +1,12 @@
 #include "TcWinUdpPollingTask.h"
+#include "tcpipHelpers.h"
 #include "../../globalfunctions/arrayprinter.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 #include <winsock2.h>
-#include <windows.h>
+
+//! Debugging preprocessor define.
+#define FSFW_UDP_RCV_WIRETAPPING_ENABLED    0
 
 TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId,
 		object_id_t tmtcUnixUdpBridge, size_t frameSize,
@@ -16,8 +19,8 @@ TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId,
 		this->frameSize = DEFAULT_MAX_FRAME_SIZE;
 	}
 
-	// Set up reception buffer with specified frame size.
+	/* Set up reception buffer with specified frame size.
-	// For now, it is assumed that only one frame is held in the buffer!
+	For now, it is assumed that only one frame is held in the buffer! */
 	receptionBuffer.reserve(this->frameSize);
 	receptionBuffer.resize(this->frameSize);
 
@@ -32,34 +35,37 @@ TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId,
 TcWinUdpPollingTask::~TcWinUdpPollingTask() {}
 
 ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
-	// Poll for new UDP datagrams in permanent loop.
+    /* Sender Address is cached here. */
-	while(true) {
-		//! Sender Address is cached here.
     struct sockaddr_in senderAddress;
     int senderAddressSize = sizeof(senderAddress);
-		ssize_t bytesReceived = recvfrom(serverUdpSocket,
+
-				reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
+	/* Poll for new UDP datagrams in permanent loop. */
-				receptionFlags, reinterpret_cast<sockaddr*>(&senderAddress),
+	while(true) {
-				&senderAddressSize);
+		int bytesReceived = recvfrom(
+		        serverUdpSocket,
+		        reinterpret_cast<char*>(receptionBuffer.data()),
+		        frameSize,
+				receptionFlags,
+				reinterpret_cast<sockaddr*>(&senderAddress),
+				&senderAddressSize
+		);
 		if(bytesReceived == SOCKET_ERROR) {
-			// handle error
+			/* Handle error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "TcWinUdpPollingTask::performOperation: Reception"
+			sif::error << "TcWinUdpPollingTask::performOperation: Reception error." << std::endl;
-					" error." << std::endl;
 #endif
-			handleReadError();
+			tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000);
 			continue;
 		}
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
-		//sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived
+		sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived <<
-		//		<< " bytes received" << std::endl;
+		        " bytes received" << std::endl;
 #endif
 
 		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
 		if(result != HasReturnvaluesIF::RETURN_FAILED) {
 
 		}
-		tmtcBridge->registerCommConnect();
 		tmtcBridge->checkAndSetClientAddress(senderAddress);
 	}
 	return HasReturnvaluesIF::RETURN_OK;
@@ -68,15 +74,20 @@ ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
 
 ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 	store_address_t storeId;
-	ReturnValue_t result = tcStore->addData(&storeId,
+
-			receptionBuffer.data(), bytesRead);
+#if FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1
-	// arrayprinter::print(receptionBuffer.data(), bytesRead);
+    arrayprinter::print(receptionBuffer.data(), bytesRead);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
-				"storage failed" << std::endl;
-		sif::error << "Packet size: " << bytesRead << std::endl;
 #endif
+
+	ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRead);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+		sif::warning<< "TcWinUdpPollingTask::transferPusToSoftwareBus: Data storage failed." <<
+		        std::endl;
+		sif::warning << "Packet size: " << bytesRead << std::endl;
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
@@ -84,10 +95,12 @@ ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
 
 	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "Serial Polling: Sending message to queue failed"
+		sif::warning << "TcWinUdpPollingTask::handleSuccessfullTcRead: "
-				<< std::endl;
+		        " Sending message to queue failed" << std::endl;
-#endif
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
 		tcStore->deleteData(storeId);
 	}
 	return result;
@@ -97,8 +110,7 @@ ReturnValue_t TcWinUdpPollingTask::initialize() {
 	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 	if (tcStore == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
+		sif::error << "TcWinUdpPollingTask::initialize: TC store uninitialized!" << std::endl;
-				<< std::endl;
 #endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
@@ -106,25 +118,21 @@ ReturnValue_t TcWinUdpPollingTask::initialize() {
 	tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
 	if(tmtcBridge == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
+		sif::error << "TcWinUdpPollingTask::initialize: Invalid TMTC bridge object!" <<
-				" TMTC bridge object!" << std::endl;
+		        std::endl;
 #endif
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
-
-	serverUdpSocket = tmtcBridge->serverSocket;
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-	//sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket "
-	//        << serverUdpSocket << std::endl;
-#endif
-
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TcWinUdpPollingTask::initializeAfterTaskCreation() {
-	// Initialize the destination after task creation. This ensures
+	/* Initialize the destination after task creation. This ensures
-	// that the destination has already been set in the TMTC bridge.
+	that the destination has already been set in the TMTC bridge. */
 	targetTcDestination = tmtcBridge->getRequestQueue();
+	/* The server socket is set up in the bridge intialization. Calling this function here
+	ensures that it is set up properly in any case*/
+    serverUdpSocket = tmtcBridge->serverSocket;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -139,39 +147,3 @@ void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
 #endif
 	}
 }
-
-void TcWinUdpPollingTask::handleReadError() {
-    int error = WSAGetLastError();
-    switch(error) {
-    case(WSANOTINITIALISED): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TcWinUdpPollingTask::handleReadError: WSANOTINITIALISED: "
-                << "WSAStartup(...) call " << "necessary" << std::endl;
-#endif
-        break;
-    }
-    case(WSAEFAULT): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TcWinUdpPollingTask::handleReadError: WSADEFAULT: "
-                << "Bad address " << std::endl;
-#endif
-        break;
-    }
-    case(WSAEINVAL): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TcWinUdpPollingTask::handleReadError: WSAEINVAL: "
-                << "Invalid input parameters. " << std::endl;
-#endif
-        break;
-    }
-    default: {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TcWinUdpPollingTask::handleReadError: Error code: "
-                << error << std::endl;
-#endif
-        break;
-    }
-    }
-    // to prevent spam.
-    Sleep(1000);
-}

osal/windows/TcWinUdpPollingTask.h

@@ -23,7 +23,7 @@ class TcWinUdpPollingTask: public SystemObject,
 public:
 	static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
 	//! 0.5  default milliseconds timeout for now.
-	static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
+	static constexpr timeval DEFAULT_TIMEOUT = {0, 500};
 
 	TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
 			size_t frameSize = 0, double timeoutSeconds = -1);
@@ -48,11 +48,12 @@ private:
 	object_id_t tmtcBridgeId = objects::NO_OBJECT;
 	TmTcWinUdpBridge* tmtcBridge = nullptr;
 	MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
-	//! Reception flags: https://linux.die.net/man/2/recvfrom.
+
+	//! See: https://docs.microsoft.com/en-us/windows/win32/api/winsock/nf-winsock-recvfrom
 	int receptionFlags = 0;
 
-	//! Server socket, which is member of TMTC bridge and is assigned in
+	//! Server socket, which is member of TMTC bridge.
-	//! constructor
+	//! Will be cached shortly after SW intialization.
 	SOCKET serverUdpSocket = 0;
 
 	std::vector<uint8_t> receptionBuffer;
@@ -61,7 +62,6 @@ private:
 	timeval receptionTimeout;
 
 	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
-	void handleReadError();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

osal/windows/TmTcWinUdpBridge.cpp

@@ -1,14 +1,40 @@
-#include <fsfw/ipc/MutexHelper.h>
 #include "TmTcWinUdpBridge.h"
+#include "tcpipHelpers.h"
 
-TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
+#include <fsfw/serviceinterface/ServiceInterface.h>
-        object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
+#include <fsfw/ipc/MutexGuard.h>
-        uint16_t serverPort, uint16_t clientPort):
+#include <ws2tcpip.h>
+
+//! Debugging preprocessor define.
+#define FSFW_UDP_SEND_WIRETAPPING_ENABLED    0
+
+const std::string TmTcWinUdpBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_UDP_SERVER_PORT;
+
+TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
+        object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort):
         TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
+    if(udpServerPort == "") {
+        this->udpServerPort = DEFAULT_UDP_SERVER_PORT;
+    }
+    else {
+        this->udpServerPort = udpServerPort;
+    }
+
     mutex = MutexFactory::instance()->createMutex();
     communicationLinkUp = false;
+}
 
-    // Initiates Winsock DLL.
+ReturnValue_t TmTcWinUdpBridge::initialize() {
+    ReturnValue_t result = TmTcBridge::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "TmTcWinUdpBridge::initialize: TmTcBridge initialization failed!"
+                << std::endl;
+#endif
+        return result;
+    }
+
+    /* Initiates Winsock DLL. */
     WSAData wsaData;
     WORD wVersionRequested = MAKEWORD(2, 2);
     int err = WSAStartup(wVersionRequested, &wsaData);
@@ -16,197 +42,125 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
         /* Tell the user that we could not find a usable */
         /* Winsock DLL.                                  */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:"
+        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: " <<
-                "WSAStartup failed with error: " << err << std::endl;
+                err << std::endl;
+#else
+        sif::printError("TmTcWinUdpBridge::TmTcWinUdpBridge: WSAStartup failed with error: %d\n",
+                err);
 #endif
-        return;
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
+    struct addrinfo *addrResult = nullptr;
-    if(serverPort != 0xFFFF) {
+    struct addrinfo hints;
-        setServerPort = serverPort;
+
+    ZeroMemory(&hints, sizeof (hints));
+    hints.ai_family = AF_INET;
+    hints.ai_socktype = SOCK_DGRAM;
+    hints.ai_protocol = IPPROTO_UDP;
+    /* See:
+    https://docs.microsoft.com/en-us/windows/win32/api/ws2tcpip/nf-ws2tcpip-getaddrinfo
+    for information about AI_PASSIVE. */
+    hints.ai_flags = AI_PASSIVE;
+
+    /* Set up UDP socket:
+    https://en.wikipedia.org/wiki/Getaddrinfo
+    Passing nullptr as the first parameter and specifying AI_PASSIVE in hints will cause
+    getaddrinfo to assign the address 0.0.0.0 (any address) */
+    int retval = getaddrinfo(nullptr, udpServerPort.c_str(), &hints, &addrResult);
+    if (retval != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Retrieving address info failed!" <<
+                std::endl;
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
+    serverSocket = socket(addrResult->ai_family, addrResult->ai_socktype, addrResult->ai_protocol);
-    if(clientPort != 0xFFFF) {
-        setClientPort = clientPort;
-    }
-
-    // Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
-    //clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
-    serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
     if(serverSocket == INVALID_SOCKET) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open"
+        sif::warning << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open UDP socket!" <<
-                " UDP socket!" << std::endl;
+                std::endl;
 #endif
-        handleSocketError();
+        freeaddrinfo(addrResult);
-        return;
+        tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SOCKET_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-    serverAddress.sin_family = AF_INET;
+    retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
-
+    if(retval != 0) {
-    // Accept packets from any interface. (potentially insecure).
-    serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
-    serverAddress.sin_port = htons(setServerPort);
-    serverAddressLen = sizeof(serverAddress);
-    setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR,
-            reinterpret_cast<const char*>(&serverSocketOptions),
-            sizeof(serverSocketOptions));
-
-    clientAddress.sin_family = AF_INET;
-    clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
-    clientAddress.sin_port = htons(setClientPort);
-    clientAddressLen = sizeof(clientAddress);
-
-    int result = bind(serverSocket,
-            reinterpret_cast<struct sockaddr*>(&serverAddress),
-            serverAddressLen);
-    if(result != 0) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
-                "local port " << setServerPort << " to server socket!"
+                "local port (" << udpServerPort << ") to server socket!" << std::endl;
-                << std::endl;
 #endif
-        handleBindError();
+        freeaddrinfo(addrResult);
+        tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::BIND_CALL);
     }
+    freeaddrinfo(addrResult);
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 TmTcWinUdpBridge::~TmTcWinUdpBridge() {
+    if(mutex != nullptr) {
+        MutexFactory::instance()->deleteMutex(mutex);
+    }
+    closesocket(serverSocket);
     WSACleanup();
 }
 
 ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
     int flags = 0;
 
-    //clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
+    /* The target address can be set by different threads so this lock ensures thread-safety */
-    //clientAddressLen = sizeof(serverAddress);
+    MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
 
-//  char ipAddress [15];
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    char ipAddress [15];
-//  sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+    sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-//                  &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+            &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 #endif
 
-    ssize_t bytesSent = sendto(serverSocket,
+    int bytesSent = sendto(
-            reinterpret_cast<const char*>(data), dataLen, flags,
+            serverSocket,
-            reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
+            reinterpret_cast<const char*>(data),
+            dataLen,
+            flags,
+            reinterpret_cast<sockaddr*>(&clientAddress),
+            clientAddressLen
+    );
     if(bytesSent == SOCKET_ERROR) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "TmTcWinUdpBridge::sendTm: Send operation failed."
+        sif::warning << "TmTcWinUdpBridge::sendTm: Send operation failed." << std::endl;
-                << std::endl;
 #endif
-        handleSendError();
+        tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
     }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-//  sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
+    sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
-//          " sent." << std::endl;
+            " sent." << std::endl;
 #endif
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
-    MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
+    /* The target address can be set by different threads so this lock ensures thread-safety */
+    MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
 
-//  char ipAddress [15];
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
+    char ipAddress [15];
-//  sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+    sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-//          &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+            &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
-//  sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
+    sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
-//          &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+            &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 #endif
     registerCommConnect();
 
-    // Set new IP address if it has changed.
+    /* Set new IP address to reply to */
-    if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
+    clientAddress = newAddress;
-        clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
     clientAddressLen = sizeof(clientAddress);
-    }
 }
 
-void TmTcWinUdpBridge::handleSocketError() {
+void TmTcWinUdpBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
-    int errCode = WSAGetLastError();
+        dur_millis_t timeoutMs) {
-    switch(errCode) {
+    this->timeoutType = timeoutType;
-    case(WSANOTINITIALISED): {
+    this->mutexTimeoutMs = timeoutMs;
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: "
-                << "WSAStartup(...) call necessary" << std::endl;
-#endif
-        break;
-    }
-    default: {
-        /*
-        https://docs.microsoft.com/en-us/windows/win32/winsock/
-        windows-sockets-error-codes-2
-         */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TmTcWinUdpBridge::handleSocketError: Error code: "
-                << errCode << std::endl;
-#endif
-        break;
-    }
-    }
 }
-
-void TmTcWinUdpBridge::handleBindError() {
-    int errCode = WSAGetLastError();
-    switch(errCode) {
-    case(WSANOTINITIALISED): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TmTcWinUdpBridge::handleBindError: WSANOTINITIALISED: "
-                << "WSAStartup(...) call " << "necessary" << std::endl;
-#endif
-        break;
-    }
-    case(WSAEADDRINUSE): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    	sif::warning << "TmTcWinUdpBridge::handleBindError: WSAEADDRINUSE: "
-    			<< "Port is already in use!" << std::endl;
-#endif
-    	break;
-    }
-    default: {
-        /*
-        https://docs.microsoft.com/en-us/windows/win32/winsock/
-        windows-sockets-error-codes-2
-        */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TmTcWinUdpBridge::handleBindError: Error code: "
-                << errCode << std::endl;
-#endif
-        break;
-    }
-    }
-}
-
-void TmTcWinUdpBridge::handleSendError() {
-    int errCode = WSAGetLastError();
-    switch(errCode) {
-    case(WSANOTINITIALISED): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: "
-                << "WSAStartup(...) call necessary" << std::endl;
-#endif
-        break;
-    }
-    case(WSAEADDRNOTAVAIL): {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TmTcWinUdpBridge::handleSendError: WSAEADDRNOTAVAIL: "
-                << "Check target address. " << std::endl;
-#endif
-        break;
-    }
-    default: {
-        /*
-        https://docs.microsoft.com/en-us/windows/win32/winsock/
-        windows-sockets-error-codes-2
-        */
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::info << "TmTcWinUdpBridge::handleSendError: Error code: "
-                << errCode << std::endl;
-#endif
-        break;
-    }
-    }
-}
-

osal/windows/TmTcWinUdpBridge.h

@@ -3,47 +3,43 @@
 
 #include "../../tmtcservices/TmTcBridge.h"
 
+#include <string>
 #include <winsock2.h>
-#include <windows.h>
 
 class TmTcWinUdpBridge: public TmTcBridge {
     friend class TcWinUdpPollingTask;
 public:
-    // The ports chosen here should not be used by any other process.
+    /* The ports chosen here should not be used by any other process. */
-    static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
+    static const std::string DEFAULT_UDP_SERVER_PORT;
-    static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
 
     TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
-            object_id_t tmStoreId, object_id_t tcStoreId,
+            object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort = "");
-            uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
     virtual~ TmTcWinUdpBridge();
 
-    void checkAndSetClientAddress(sockaddr_in clientAddress);
+    /**
+     * Set properties of internal mutex.
+     */
+    void setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs);
+
+    ReturnValue_t initialize() override;
+
+    void checkAndSetClientAddress(sockaddr_in& clientAddress);
 
 protected:
     virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
 
 private:
     SOCKET serverSocket = 0;
-
+    std::string udpServerPort;
-    const int serverSocketOptions = 0;
 
     struct sockaddr_in clientAddress;
     int clientAddressLen = 0;
 
-    struct sockaddr_in serverAddress;
+    //! Access to the client address is mutex protected as it is set by another task.
-    int serverAddressLen = 0;
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
-
+    dur_millis_t mutexTimeoutMs = 20;
-    //! Access to the client address is mutex protected as it is set
-    //! by another task.
     MutexIF* mutex;
-
-    void handleSocketError();
-    void handleBindError();
-    void handleSendError();
 };
 
-
-
 #endif /* FSFW_OSAL_HOST_TMTCWINUDPBRIDGE_H_ */
 

osal/windows/tcpipHelpers.cpp

@@ -0,0 +1,63 @@
+#include "tcpipHelpers.h"
+#include <FSFWConfig.h>
+
+#include "../../tasks/TaskFactory.h"
+#include "../../serviceinterface/ServiceInterface.h"
+
+
+#include <winsock2.h>
+#include <string>
+
+void tcpip::handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration) {
+#if FSFW_VERBOSE_LEVEL >= 1
+    int errCode = WSAGetLastError();
+    std::string protocolString;
+    std::string errorSrcString;
+    determineErrorStrings(protocol, errorSrc, protocolString, errorSrcString);
+
+    std::string infoString;
+    switch(errCode) {
+    case(WSANOTINITIALISED): {
+        infoString = "WSANOTINITIALISED";
+        break;
+    }
+    case(WSAEADDRINUSE): {
+        infoString = "WSAEADDRINUSE";
+        break;
+    }
+    case(WSAEFAULT): {
+        infoString = "WSAEFAULT";
+        break;
+    }
+    case(WSAEADDRNOTAVAIL): {
+        infoString = "WSAEADDRNOTAVAIL";
+        break;
+    }
+    case(WSAEINVAL): {
+        infoString = "WSAEINVAL";
+        break;
+    }
+    default: {
+        /*
+        https://docs.microsoft.com/en-us/windows/win32/winsock/windows-sockets-error-codes-2
+         */
+        infoString = "Error code: " + std::to_string(errCode);
+        break;
+    }
+    }
+
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "tcpip::handleError: " << protocolString << " | " << errorSrcString <<
+            " | " << infoString << std::endl;
+#else
+    sif::printWarning("tcpip::handleError: %s | %s | %s\n", protocolString,
+            errorSrcString, infoString);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+
+    if(sleepDuration > 0) {
+        TaskFactory::instance()->delayTask(sleepDuration);
+    }
+}
+

osal/windows/tcpipHelpers.h

@@ -0,0 +1,15 @@
+#ifndef FSFW_OSAL_WINDOWS_TCPIPHELPERS_H_
+#define FSFW_OSAL_WINDOWS_TCPIPHELPERS_H_
+
+#include "../../timemanager/clockDefinitions.h"
+#include "../common/tcpipCommon.h"
+
+namespace tcpip {
+
+void handleError(Protocol protocol, ErrorSources errorSrc, dur_millis_t sleepDuration = 0);
+
+}
+
+
+
+#endif /* FSFW_OSAL_WINDOWS_TCPIPHELPERS_H_ */

power/PowerComponent.cpp

@@ -1,6 +1,7 @@
 #include "PowerComponent.h"
 #include "../serialize/SerializeAdapter.h"
 
+
 PowerComponent::PowerComponent(): switchId1(0xFF), switchId2(0xFF),
         doIHaveTwoSwitches(false) {
 }
@@ -8,23 +9,23 @@ PowerComponent::PowerComponent(): switchId1(0xFF), switchId2(0xFF),
 PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min,
         float max, uint8_t switchId1, bool twoSwitches, uint8_t switchId2) :
 		deviceObjectId(setId), switchId1(switchId1), switchId2(switchId2),
-		doIHaveTwoSwitches(twoSwitches), min(min), max(max),
+		doIHaveTwoSwitches(twoSwitches), minPower(min), maxPower(max),
 		moduleId(moduleId) {
 }
 
 ReturnValue_t PowerComponent::serialize(uint8_t** buffer, size_t* size,
 		size_t maxSize, Endianness streamEndianness) const {
-	ReturnValue_t result = SerializeAdapter::serialize(&min, buffer,
+	ReturnValue_t result = SerializeAdapter::serialize(&minPower, buffer,
 			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter::serialize(&max, buffer, size, maxSize,
+	return SerializeAdapter::serialize(&maxPower, buffer, size, maxSize,
 			streamEndianness);
 }
 
 size_t PowerComponent::getSerializedSize() const {
-	return sizeof(min) + sizeof(max);
+	return sizeof(minPower) + sizeof(maxPower);
 }
 
 object_id_t PowerComponent::getDeviceObjectId() {
@@ -44,21 +45,21 @@ bool PowerComponent::hasTwoSwitches() {
 }
 
 float PowerComponent::getMin() {
-	return min;
+	return minPower;
 }
 
 float PowerComponent::getMax() {
-	return max;
+	return maxPower;
 }
 
 ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size,
         Endianness streamEndianness) {
-	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&minPower, buffer,
 			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter::deSerialize(&max, buffer, size, streamEndianness);
+	return SerializeAdapter::deSerialize(&maxPower, buffer, size, streamEndianness);
 }
 
 ReturnValue_t PowerComponent::getParameter(uint8_t domainId, uint8_t uniqueId,
@@ -69,10 +70,10 @@ ReturnValue_t PowerComponent::getParameter(uint8_t domainId, uint8_t uniqueId,
 	}
 	switch (uniqueId) {
 	case 0:
-		parameterWrapper->set<>(min);
+		parameterWrapper->set<>(minPower);
 		break;
 	case 1:
-		parameterWrapper->set<>(max);
+		parameterWrapper->set<>(maxPower);
 		break;
 	default:
 		return INVALID_IDENTIFIER_ID;

power/PowerComponent.h

@@ -9,7 +9,7 @@
 
 class PowerComponent: public PowerComponentIF {
 public:
-	PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max,
+	PowerComponent(object_id_t setId, uint8_t moduleId, float minPower, float maxPower,
 	        uint8_t switchId1, bool twoSwitches = false,
 	        uint8_t switchId2 = 0xFF);
 
@@ -41,8 +41,8 @@ private:
 
 	const bool doIHaveTwoSwitches;
 
-	float min = 0.0;
+	float minPower = 0.0;
-	float max = 0.0;
+	float maxPower = 0.0;
 
 	uint8_t moduleId = 0;
 

pus/Service3Housekeeping.cpp

@@ -159,7 +159,7 @@ ReturnValue_t Service3Housekeeping::prepareCollectionIntervalModificationCommand
         CommandMessage *command, object_id_t objectId, bool isDiagnostics,
         const uint8_t *tcData, size_t tcDataLen) {
     if(tcDataLen < sizeof(sid_t) + sizeof(float)) {
-        // SID plus the size of the new collection intervL.
+        /* SID plus the size of the new collection interval. */
         return CommandingServiceBase::INVALID_TC;
     }
 

storagemanager/PoolManager.cpp

@@ -15,7 +15,7 @@ PoolManager::~PoolManager(void) {
 
 ReturnValue_t PoolManager::reserveSpace(const size_t size,
         store_address_t* address, bool ignoreFault) {
-    MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
+    MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
             mutexTimeoutMs);
     ReturnValue_t status = LocalPool::reserveSpace(size,
             address,ignoreFault);
@@ -32,7 +32,7 @@ ReturnValue_t PoolManager::deleteData(
            ". id is "<< storeId.packetIndex << std::endl;
 #endif
 #endif
-    MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
+    MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
             mutexTimeoutMs);
     return LocalPool::deleteData(storeId);
 }
@@ -40,7 +40,7 @@ ReturnValue_t PoolManager::deleteData(
 
 ReturnValue_t PoolManager::deleteData(uint8_t* buffer,
         size_t size, store_address_t* storeId) {
-    MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    MutexGuard mutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
     ReturnValue_t status = LocalPool::deleteData(buffer,
             size, storeId);
     return status;

storagemanager/PoolManager.h

@@ -3,7 +3,7 @@
 
 #include "LocalPool.h"
 #include "StorageAccessor.h"
-#include "../ipc/MutexHelper.h"
+#include "../ipc/MutexGuard.h"
 
 
 /**

tmtcservices/TmTcBridge.cpp

@@ -173,6 +173,9 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 
 ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 	store_address_t storeId = 0;
+	if(tmFifo == nullptr) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	}
 
 	if(tmFifo->full()) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1

unittest/tests/action/TestActionHelper.cpp

@@ -70,7 +70,7 @@ TEST_CASE( "Action Helper" , "[ActionHelper]") {
 	SECTION("Handle finish"){
 		CHECK(not testMqMock.wasMessageSent());
 		ReturnValue_t status = 0x9876;
-		actionHelper.finish(true, testMqMock.getId(), testActionId, status);
+		actionHelper.finish(false, testMqMock.getId(), testActionId, status);
 		CHECK(testMqMock.wasMessageSent());
 		CommandMessage testMessage;
 		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));

unittest/tests/datapoollocal/CMakeLists.txt

@@ -3,4 +3,5 @@ target_sources(${TARGET_NAME} PRIVATE
 	LocalPoolVectorTest.cpp
 	DataSetTest.cpp
 	LocalPoolManagerTest.cpp
+	LocalPoolOwnerBase.cpp
 )

unittest/tests/datapoollocal/DataSetTest.cpp

@@ -4,13 +4,14 @@
 #include <catch2/catch_approx.hpp>
 
 #include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
+#include <fsfw/datapoollocal/SharedLocalDataSet.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
-#include <fsfw/datapool/PoolReadHelper.h>
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/bitutility.h>
 
 #include <unittest/core/CatchDefinitions.h>
 
-TEST_CASE("LocalDataSet" , "[LocDataSetTest]") {
+TEST_CASE("DataSetTest" , "[DataSetTest]") {
     LocalPoolOwnerBase* poolOwner = objectManager->
             get<LocalPoolOwnerBase>(objects::TEST_LOCAL_POOL_OWNER_BASE);
     REQUIRE(poolOwner != nullptr);
@@ -21,6 +22,7 @@ TEST_CASE("LocalDataSet" , "[LocDataSetTest]") {
 
     SECTION("BasicTest") {
         /* Test some basic functions */
+        CHECK(localSet.getReportingEnabled() == false);
         CHECK(localSet.getLocalPoolIdsSerializedSize(false) == 3 * sizeof(lp_id_t));
         CHECK(localSet.getLocalPoolIdsSerializedSize(true) ==
                 3 * sizeof(lp_id_t) + sizeof(uint8_t));
@@ -54,7 +56,7 @@ TEST_CASE("LocalDataSet" , "[LocDataSetTest]") {
 
         {
             /* Test read operation. Values should be all zeros */
-            PoolReadHelper readHelper(&localSet);
+            PoolReadGuard readHelper(&localSet);
             REQUIRE(readHelper.getReadResult() == retval::CATCH_OK);
             CHECK(not localSet.isValid());
             CHECK(localSet.localPoolVarUint8.value == 0);
@@ -79,10 +81,15 @@ TEST_CASE("LocalDataSet" , "[LocDataSetTest]") {
         localSet.localPoolVarUint8 = 0;
         localSet.localPoolVarFloat = 0;
 
+        localSet.setAllVariablesReadOnly();
+        CHECK(localSet.localPoolUint16Vec.getReadWriteMode() == pool_rwm_t::VAR_READ);
+        CHECK(localSet.localPoolVarUint8.getReadWriteMode() == pool_rwm_t::VAR_READ);
+        CHECK(localSet.localPoolVarFloat.getReadWriteMode() == pool_rwm_t::VAR_READ);
+
         {
             /* Now we read again and check whether our zeroed values were overwritten with
             the values in the pool */
-            PoolReadHelper readHelper(&localSet);
+            PoolReadGuard readHelper(&localSet);
             REQUIRE(readHelper.getReadResult() == retval::CATCH_OK);
             CHECK(localSet.isValid());
             CHECK(localSet.localPoolVarUint8.value == 232);
@@ -201,6 +208,75 @@ TEST_CASE("LocalDataSet" , "[LocDataSetTest]") {
 
     }
 
+    SECTION("MorePoolVariables") {
+        LocalDataSet set(poolOwner, 2, 10);
+
+        /* Register same variables again to get more than 8 registered variables */
+        for(uint8_t idx = 0; idx < 8; idx ++) {
+            REQUIRE(set.registerVariable(&localSet.localPoolVarUint8) == retval::CATCH_OK);
+        }
+        REQUIRE(set.registerVariable(&localSet.localPoolVarUint8) == retval::CATCH_OK);
+        REQUIRE(set.registerVariable(&localSet.localPoolUint16Vec) == retval::CATCH_OK);
+
+        set.setValidityBufferGeneration(true);
+        {
+            PoolReadGuard readHelper(&localSet);
+            localSet.localPoolVarUint8.value = 42;
+            localSet.localPoolVarUint8.setValid(true);
+            localSet.localPoolUint16Vec.setValid(false);
+        }
+
+        size_t maxSize = set.getSerializedSize();
+        CHECK(maxSize == 9 + sizeof(uint16_t) * 3 + 2);
+        size_t serSize = 0;
+        /* Already reserve additional space for validity buffer, will be needed later */
+        uint8_t buffer[maxSize + 1];
+        uint8_t* buffPtr = buffer;
+        CHECK(set.serialize(&buffPtr, &serSize, maxSize,
+                SerializeIF::Endianness::MACHINE) == retval::CATCH_OK);
+        std::array<uint8_t, 2> validityBuffer;
+        std::memcpy(validityBuffer.data(), buffer + 9 + sizeof(uint16_t) * 3, 2);
+        /* The first 9 variables should be valid */
+        CHECK(validityBuffer[0] == 0xff);
+        CHECK(bitutil::bitGet(validityBuffer.data() + 1, 0) == true);
+        CHECK(bitutil::bitGet(validityBuffer.data() + 1, 1) == false);
+
+        /* Now we invert the validity */
+        validityBuffer[0] = 0;
+        validityBuffer[1] = 0b0100'0000;
+        std::memcpy(buffer + 9 + sizeof(uint16_t) * 3, validityBuffer.data(), 2);
+        const uint8_t* constBuffPtr = buffer;
+        size_t sizeToDeSerialize = serSize;
+        CHECK(set.deSerialize(&constBuffPtr, &sizeToDeSerialize, SerializeIF::Endianness::MACHINE)
+                == retval::CATCH_OK);
+        CHECK(localSet.localPoolVarUint8.isValid() == false);
+        CHECK(localSet.localPoolUint16Vec.isValid() == true);
+    }
+
+    SECTION("SharedDataSet") {
+        object_id_t sharedSetId = objects::SHARED_SET_ID;
+        SharedLocalDataSet sharedSet(sharedSetId, poolOwner, lpool::testSetId, 5);
+        localSet.localPoolVarUint8.setReadWriteMode(pool_rwm_t::VAR_WRITE);
+        localSet.localPoolUint16Vec.setReadWriteMode(pool_rwm_t::VAR_WRITE);
+        CHECK(sharedSet.registerVariable(&localSet.localPoolVarUint8) == retval::CATCH_OK);
+        CHECK(sharedSet.registerVariable(&localSet.localPoolUint16Vec) == retval::CATCH_OK);
+        CHECK(sharedSet.initialize() == retval::CATCH_OK);
+        CHECK(sharedSet.lockDataset() == retval::CATCH_OK);
+        CHECK(sharedSet.unlockDataset() == retval::CATCH_OK);
+
+        {
+            //PoolReadGuard rg(&sharedSet);
+            //CHECK(rg.getReadResult() == retval::CATCH_OK);
+            localSet.localPoolVarUint8.value = 5;
+            localSet.localPoolUint16Vec.value[0] = 1;
+            localSet.localPoolUint16Vec.value[1] = 2;
+            localSet.localPoolUint16Vec.value[2] = 3;
+            CHECK(sharedSet.commit() == retval::CATCH_OK);
+        }
+
+        sharedSet.setReadCommitProtectionBehaviour(true);
+    }
+
     /* we need to reset the subscription list because the pool owner
     is a global object. */
     CHECK(poolOwner->reset() == retval::CATCH_OK);

unittest/tests/datapoollocal/LocalPoolManagerTest.cpp

@@ -3,7 +3,7 @@
 #include <catch2/catch_test_macros.hpp>
 #include <catch2/catch_approx.hpp>
 
-#include <fsfw/datapool/PoolReadHelper.h>
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/housekeeping/HousekeepingSnapshot.h>
@@ -20,14 +20,21 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
     REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK);
     REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation()
             == retval::CATCH_OK);
-    //REQUIRE(poolOwner->dataset.assignPointers() == retval::CATCH_OK);
+
     MessageQueueMockBase* mqMock = poolOwner->getMockQueueHandle();
     REQUIRE(mqMock != nullptr);
     CommandMessage messageSent;
     uint8_t messagesSent = 0;
 
-
     SECTION("BasicTest") {
+        {
+            /* For code coverage, should not crash */
+            LocalDataPoolManager manager(nullptr, nullptr);
+        }
+        auto owner = poolOwner->poolManager.getOwner();
+        REQUIRE(owner != nullptr);
+        CHECK(owner->getObjectId() == objects::TEST_LOCAL_POOL_OWNER_BASE);
+
         /* Subscribe for message generation on update. */
         REQUIRE(poolOwner->subscribeWrapperSetUpdate() == retval::CATCH_OK);
         /* Subscribe for an update message. */
@@ -72,10 +79,10 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
 
     }
 
-    SECTION("SnapshotUpdateTests") {
+    SECTION("SetSnapshotUpdateTest") {
         /* Set the variables in the set to certain values. These are checked later. */
         {
-            PoolReadHelper readHelper(&poolOwner->dataset);
+            PoolReadGuard readHelper(&poolOwner->dataset);
             REQUIRE(readHelper.getReadResult() == retval::CATCH_OK);
             poolOwner->dataset.localPoolVarUint8.value = 5;
             poolOwner->dataset.localPoolVarFloat.value = -12.242;
@@ -137,7 +144,69 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
         CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(1));
     }
 
-    SECTION("AdvancedTests") {
+    SECTION("VariableSnapshotTest") {
+        /* Acquire subscription interface */
+        ProvidesDataPoolSubscriptionIF* subscriptionIF = poolOwner->getSubscriptionInterface();
+        REQUIRE(subscriptionIF != nullptr);
+
+        /* Subscribe for variable snapshot */
+        REQUIRE(poolOwner->subscribeWrapperVariableSnapshot(lpool::uint8VarId) == retval::CATCH_OK);
+        auto poolVar = dynamic_cast<lp_var_t<uint8_t>*>(
+                poolOwner->getPoolObjectHandle(lpool::uint8VarId));
+        REQUIRE(poolVar != nullptr);
+
+        {
+            PoolReadGuard rg(poolVar);
+            CHECK(rg.getReadResult() == retval::CATCH_OK);
+            poolVar->value = 25;
+        }
+
+        poolVar->setChanged(true);
+
+        /* Store current time, we are going to check the (approximate) time equality later */
+        CCSDSTime::CDS_short timeCdsNow;
+        timeval now;
+        Clock::getClock_timeval(&now);
+        CCSDSTime::convertToCcsds(&timeCdsNow, &now);
+
+        REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
+
+        /* Check update snapshot was sent. */
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+
+        /* Should have been reset. */
+        CHECK(poolVar->hasChanged() == false);
+        REQUIRE(mqMock->receiveMessage(&messageSent) == retval::CATCH_OK);
+        CHECK(messageSent.getCommand() == static_cast<int>(
+                HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE));
+        /* Now we deserialize the snapshot into a new dataset instance */
+        CCSDSTime::CDS_short cdsShort;
+        lp_var_t<uint8_t> varCopy = lp_var_t<uint8_t>(lpool::uint8VarGpid);
+        HousekeepingSnapshot snapshot(&cdsShort, &varCopy);
+        store_address_t storeId;
+        HousekeepingMessage::getUpdateSnapshotVariableCommand(&messageSent, &storeId);
+        ConstAccessorPair accessorPair = tglob::getIpcStoreHandle()->getData(storeId);
+        REQUIRE(accessorPair.first == retval::CATCH_OK);
+        const uint8_t* readOnlyPtr = accessorPair.second.data();
+        size_t sizeToDeserialize = accessorPair.second.size();
+        CHECK(varCopy.value == 0);
+        /* Fill the dataset and timestamp */
+        REQUIRE(snapshot.deSerialize(&readOnlyPtr, &sizeToDeserialize,
+                SerializeIF::Endianness::MACHINE) == retval::CATCH_OK);
+        CHECK(varCopy.value == 25);
+
+        /* Now we check that both times are equal */
+        CHECK(cdsShort.pField == timeCdsNow.pField);
+        CHECK(cdsShort.dayLSB == Catch::Approx(timeCdsNow.dayLSB).margin(1));
+        CHECK(cdsShort.dayMSB == Catch::Approx(timeCdsNow.dayMSB).margin(1));
+        CHECK(cdsShort.msDay_h == Catch::Approx(timeCdsNow.msDay_h).margin(1));
+        CHECK(cdsShort.msDay_hh == Catch::Approx(timeCdsNow.msDay_hh).margin(1));
+        CHECK(cdsShort.msDay_l == Catch::Approx(timeCdsNow.msDay_l).margin(1));
+        CHECK(cdsShort.msDay_ll == Catch::Approx(timeCdsNow.msDay_ll).margin(1));
+    }
+
+    SECTION("VariableNotificationTest") {
         /* Acquire subscription interface */
         ProvidesDataPoolSubscriptionIF* subscriptionIF = poolOwner->getSubscriptionInterface();
         REQUIRE(subscriptionIF != nullptr);
@@ -149,6 +218,7 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
                 poolOwner->getPoolObjectHandle(lpool::uint8VarId));
         REQUIRE(poolVar != nullptr);
         poolVar->setChanged(true);
+        REQUIRE(poolVar->hasChanged() == true);
         REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
 
         /* Check update notification was sent. */
@@ -190,6 +260,164 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
         REQUIRE(mqMock->receiveMessage(&messageSent) == static_cast<int>(MessageQueueIF::EMPTY));
     }
 
+    SECTION("PeriodicHKAndMessaging") {
+        /* Now we subcribe for a HK periodic generation. Even when it's difficult to simulate
+        the temporal behaviour correctly the HK manager should generate a HK packet
+        immediately and the periodic helper depends on HK op function calls anyway instead of
+        using the clock, so we could also just call performHkOperation multiple times */
+        REQUIRE(poolOwner->subscribePeriodicHk(true) == retval::CATCH_OK);
+        REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
+        /* Now HK packet should be sent as message immediately. */
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        LocalPoolDataSetBase* setHandle = poolOwner->getDataSetHandle(lpool::testSid);
+        REQUIRE(setHandle != nullptr);
+        CHECK(poolOwner->poolManager.generateHousekeepingPacket(lpool::testSid,
+                setHandle, false) == retval::CATCH_OK);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        CHECK(setHandle->getReportingEnabled() == true);
+        CommandMessage hkCmd;
+        HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        CHECK(setHandle->getReportingEnabled() == false);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, false);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        CHECK(setHandle->getReportingEnabled() == true);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, false);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        CHECK(setHandle->getReportingEnabled() == false);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd,
+                lpool::testSid, 0.4, false);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        /* For non-diagnostics and a specified minimum frequency of 0.2 seconds, the
+        resulting collection interval should be 1.0 second */
+        CHECK(poolOwner->dataset.getCollectionInterval() == 1.0);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
+        REQUIRE(poolOwner->poolManager.performHkOperation() == retval::CATCH_OK);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        /* Now HK packet should be sent as message. */
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setUpdateNotificationSetCommand(&hkCmd, lpool::testSid);
+        sid_t sidToCheck;
+        store_address_t storeId;
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        CHECK(poolOwner->changedDataSetCallbackWasCalled(sidToCheck, storeId) == true);
+        CHECK(sidToCheck == lpool::testSid);
+
+        /* Now we test the handling is the dataset is set to diagnostic */
+        poolOwner->dataset.setDiagnostic(true);
+
+        HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
+                static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
+        /* We still expect a failure message being sent */
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd,
+                lpool::testSid, 0.4, false);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
+                static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, false);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
+                static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setStructureReportingCommand(&hkCmd, lpool::testSid, true);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setCollectionIntervalModificationCommand(&hkCmd, lpool::testSid, 0.4,
+                true);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, true, true);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setToggleReportingCommand(&hkCmd, lpool::testSid, false, true);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, false);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) ==
+                static_cast<int>(LocalDataPoolManager::WRONG_HK_PACKET_TYPE));
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setOneShotReportCommand(&hkCmd, lpool::testSid, true);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        REQUIRE(mqMock->wasMessageSent(&messagesSent) == true);
+        CHECK(messagesSent == 1);
+        CHECK(mqMock->popMessage() == retval::CATCH_OK);
+
+        HousekeepingMessage::setUpdateNotificationVariableCommand(&hkCmd, lpool::uint8VarGpid);
+        gp_id_t gpidToCheck;
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        CHECK(poolOwner->changedVariableCallbackWasCalled(gpidToCheck, storeId) == true);
+        CHECK(gpidToCheck == lpool::uint8VarGpid);
+
+        HousekeepingMessage::setUpdateSnapshotSetCommand(&hkCmd, lpool::testSid,
+                storeId::INVALID_STORE_ADDRESS);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        CHECK(poolOwner->changedDataSetCallbackWasCalled(sidToCheck, storeId) == true);
+        CHECK(sidToCheck == lpool::testSid);
+
+        HousekeepingMessage::setUpdateSnapshotVariableCommand(&hkCmd, lpool::uint8VarGpid,
+                storeId::INVALID_STORE_ADDRESS);
+        CHECK(poolOwner->poolManager.handleHousekeepingMessage(&hkCmd) == retval::CATCH_OK);
+        CHECK(poolOwner->changedVariableCallbackWasCalled(gpidToCheck, storeId) == true);
+        CHECK(gpidToCheck == lpool::uint8VarGpid);
+
+        poolOwner->poolManager.printPoolEntry(lpool::uint8VarId);
+
+    }
+
     /* we need to reset the subscription list because the pool owner
     is a global object. */
     CHECK(poolOwner->reset() == retval::CATCH_OK);

unittest/tests/datapoollocal/LocalPoolOwnerBase.cpp

@@ -0,0 +1,141 @@
+#include "LocalPoolOwnerBase.h"
+
+LocalPoolOwnerBase::LocalPoolOwnerBase(object_id_t objectId):
+        SystemObject(objectId), poolManager(this, messageQueue),
+        dataset(this, lpool::testSetId) {
+    messageQueue = new MessageQueueMockBase();
+}
+
+LocalPoolOwnerBase::~LocalPoolOwnerBase() {
+    QueueFactory::instance()->deleteMessageQueue(messageQueue);
+}
+
+ReturnValue_t LocalPoolOwnerBase::initializeHkManager() {
+    if(not initialized) {
+        initialized = true;
+        return poolManager.initialize(messageQueue);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalPoolOwnerBase::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+        LocalDataPoolManager &poolManager) {
+
+    // Default initialization empty for now.
+    localDataPoolMap.emplace(lpool::uint8VarId,
+            new PoolEntry<uint8_t>({0}));
+    localDataPoolMap.emplace(lpool::floatVarId,
+            new PoolEntry<float>({0}));
+    localDataPoolMap.emplace(lpool::uint32VarId,
+            new PoolEntry<uint32_t>({0}));
+
+    localDataPoolMap.emplace(lpool::uint16Vec3Id,
+            new PoolEntry<uint16_t>({0, 0, 0}));
+    localDataPoolMap.emplace(lpool::int64Vec2Id,
+            new PoolEntry<int64_t>({0, 0}));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+LocalPoolObjectBase* LocalPoolOwnerBase::getPoolObjectHandle(lp_id_t localPoolId) {
+    if(localPoolId == lpool::uint8VarId) {
+        return &testUint8;
+    }
+    else if(localPoolId == lpool::uint16Vec3Id) {
+        return &testUint16Vec;
+    }
+    else if(localPoolId == lpool::floatVarId) {
+        return &testFloat;
+    }
+    else if(localPoolId == lpool::int64Vec2Id) {
+        return &testInt64Vec;
+    }
+    else if(localPoolId == lpool::uint32VarId) {
+        return &testUint32;
+    }
+    else {
+        return &testUint8;
+    }
+}
+
+ReturnValue_t LocalPoolOwnerBase::reset() {
+    resetSubscriptionList();
+    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+    {
+        PoolReadGuard readHelper(&dataset);
+        if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+            status = readHelper.getReadResult();
+        }
+        dataset.localPoolVarUint8.value = 0;
+        dataset.localPoolVarFloat.value = 0.0;
+        dataset.localPoolUint16Vec.value[0] = 0;
+        dataset.localPoolUint16Vec.value[1] = 0;
+        dataset.localPoolUint16Vec.value[2] = 0;
+        dataset.setValidity(false, true);
+    }
+
+    {
+        PoolReadGuard readHelper(&testUint32);
+        if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+            status = readHelper.getReadResult();
+        }
+        testUint32.value = 0;
+        testUint32.setValid(false);
+    }
+
+    {
+        PoolReadGuard readHelper(&testInt64Vec);
+        if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+            status = readHelper.getReadResult();
+        }
+        testInt64Vec.value[0] = 0;
+        testInt64Vec.value[1] = 0;
+        testInt64Vec.setValid(false);
+    }
+    return status;
+}
+
+bool LocalPoolOwnerBase::changedDataSetCallbackWasCalled(sid_t &sid, store_address_t &storeId) {
+    bool condition = false;
+    if(not this->changedDatasetSid.notSet()) {
+        condition = true;
+    }
+    sid = changedDatasetSid;
+    storeId = storeIdForChangedSet;
+    this->changedDatasetSid.raw = sid_t::INVALID_SID;
+    this->storeIdForChangedSet = storeId::INVALID_STORE_ADDRESS;
+    return condition;
+}
+
+void LocalPoolOwnerBase::handleChangedDataset(sid_t sid, store_address_t storeId,
+        bool* clearMessage) {
+    this->changedDatasetSid = sid;
+    this->storeIdForChangedSet = storeId;
+}
+
+bool LocalPoolOwnerBase::changedVariableCallbackWasCalled(gp_id_t &gpid, store_address_t &storeId) {
+    bool condition = false;
+    if(not this->changedPoolVariableGpid.notSet()) {
+        condition = true;
+    }
+    gpid = changedPoolVariableGpid;
+    storeId = storeIdForChangedVariable;
+    this->changedPoolVariableGpid.raw = gp_id_t::INVALID_GPID;
+    this->storeIdForChangedVariable = storeId::INVALID_STORE_ADDRESS;
+    return condition;
+}
+
+ReturnValue_t LocalPoolOwnerBase::initializeHkManagerAfterTaskCreation() {
+    if(not initializedAfterTaskCreation) {
+        initializedAfterTaskCreation = true;
+        return poolManager.initializeAfterTaskCreation();
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+
+}
+
+void LocalPoolOwnerBase::handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
+        bool* clearMessage) {
+    this->changedPoolVariableGpid = globPoolId;
+    this->storeIdForChangedVariable = storeId;
+}
+

unittest/tests/datapoollocal/LocalPoolOwnerBase.h

@@ -1,16 +1,17 @@
 #ifndef FSFW_UNITTEST_TESTS_DATAPOOLLOCAL_LOCALPOOLOWNERBASE_H_
 #define FSFW_UNITTEST_TESTS_DATAPOOLLOCAL_LOCALPOOLOWNERBASE_H_
 
+#include <testcfg/objects/systemObjectList.h>
+
 #include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
 #include <fsfw/datapoollocal/LocalDataSet.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/datapoollocal/LocalPoolVariable.h>
 #include <fsfw/datapoollocal/LocalPoolVector.h>
 #include <fsfw/ipc/QueueFactory.h>
-#include <testcfg/objects/systemObjectList.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/unittest/tests/mocks/MessageQueueMockBase.h>
-#include "../../../datapool/PoolReadHelper.h"
+#include <fsfw/datapool/PoolReadGuard.h>
 
 namespace lpool {
 static constexpr lp_id_t uint8VarId = 0;
@@ -36,6 +37,7 @@ class LocalPoolStaticTestDataSet: public StaticLocalDataSet<3> {
 public:
     LocalPoolStaticTestDataSet():
         StaticLocalDataSet(lpool::testSid) {
+
     }
 
     LocalPoolStaticTestDataSet(HasLocalDataPoolIF* owner, uint32_t setId):
@@ -52,8 +54,7 @@ private:
 class LocalPoolTestDataSet: public LocalDataSet {
 public:
     LocalPoolTestDataSet():
-        LocalDataSet(lpool::testSid, lpool::dataSetMaxVariables) {
+        LocalDataSet(lpool::testSid, lpool::dataSetMaxVariables) {}
-    }
 
     LocalPoolTestDataSet(HasLocalDataPoolIF* owner, uint32_t setId):
         LocalDataSet(owner, setId, lpool::dataSetMaxVariables) {
@@ -63,42 +64,26 @@ public:
     lp_var_t<float> localPoolVarFloat = lp_var_t<float>(lpool::floatVarGpid, this);
     lp_vec_t<uint16_t, 3> localPoolUint16Vec = lp_vec_t<uint16_t, 3>(lpool::uint16Vec3Gpid, this);
 
+    void setDiagnostic(bool isDiagnostic) {
+        LocalPoolDataSetBase::setDiagnostic(isDiagnostic);
+    }
 private:
 };
 
 
 class LocalPoolOwnerBase: public SystemObject, public HasLocalDataPoolIF {
 public:
-    LocalPoolOwnerBase(
+    LocalPoolOwnerBase(object_id_t objectId = objects::TEST_LOCAL_POOL_OWNER_BASE);
-            object_id_t objectId = objects::TEST_LOCAL_POOL_OWNER_BASE):
-                SystemObject(objectId), poolManager(this, messageQueue),
-                dataset(this, lpool::testSetId) {
-        messageQueue = new MessageQueueMockBase();
-    }
 
-    ~LocalPoolOwnerBase() {
+    ~LocalPoolOwnerBase();
-        QueueFactory::instance()->deleteMessageQueue(messageQueue);
-    }
 
     object_id_t getObjectId() const override {
         return SystemObject::getObjectId();
     }
 
-    ReturnValue_t initializeHkManager() {
+    ReturnValue_t initializeHkManager();
-        if(not initialized) {
-            initialized = true;
-            return poolManager.initialize(messageQueue);
-        }
-        return HasReturnvaluesIF::RETURN_OK;
-    }
 
-    ReturnValue_t initializeHkManagerAfterTaskCreation() {
+    ReturnValue_t initializeHkManagerAfterTaskCreation();
-        if(not initializedAfterTaskCreation) {
-            initializedAfterTaskCreation = true;
-            return poolManager.initializeAfterTaskCreation();
-        }
-        return HasReturnvaluesIF::RETURN_OK;
-    }
 
     /** Command queue for housekeeping messages. */
     MessageQueueId_t getCommandQueue() const override {
@@ -106,30 +91,15 @@ public:
     }
 
     // This is called by initializeAfterTaskCreation of the HK manager.
-    virtual ReturnValue_t initializeLocalDataPool(
+    virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-            localpool::DataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
-            LocalDataPoolManager& poolManager) {
-        // Default initialization empty for now.
-        localDataPoolMap.emplace(lpool::uint8VarId,
-                new PoolEntry<uint8_t>({0}));
-        localDataPoolMap.emplace(lpool::floatVarId,
-                new PoolEntry<float>({0}));
-        localDataPoolMap.emplace(lpool::uint32VarId,
-                new PoolEntry<uint32_t>({0}));
-
-        localDataPoolMap.emplace(lpool::uint16Vec3Id,
-                new PoolEntry<uint16_t>({0, 0, 0}));
-        localDataPoolMap.emplace(lpool::int64Vec2Id,
-                new PoolEntry<int64_t>({0, 0}));
-        return HasReturnvaluesIF::RETURN_OK;
-    }
 
     LocalDataPoolManager* getHkManagerHandle() override {
         return &poolManager;
     }
 
-    uint32_t getPeriodicOperationFrequency() const override {
+    dur_millis_t getPeriodicOperationFrequency() const override {
-        return 0;
+        return 200;
     }
 
     /**
@@ -142,32 +112,16 @@ public:
         return &dataset;
     }
 
-    virtual LocalPoolObjectBase* getPoolObjectHandle(
+    virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) override;
-            lp_id_t localPoolId) override {
-        if(localPoolId == lpool::uint8VarId) {
-            return &testUint8;
-        }
-        else if(localPoolId == lpool::uint16Vec3Id) {
-            return &testUint16Vec;
-        }
-        else if(localPoolId == lpool::floatVarId) {
-            return &testFloat;
-        }
-        else if(localPoolId == lpool::int64Vec2Id) {
-            return &testInt64Vec;
-        }
-        else if(localPoolId == lpool::uint32VarId) {
-            return &testUint32;
-        }
-        else {
-            return &testUint8;
-        }
-    }
 
     MessageQueueMockBase* getMockQueueHandle() const {
         return dynamic_cast<MessageQueueMockBase*>(messageQueue);
     }
 
+    ReturnValue_t subscribePeriodicHk(bool enableReporting) {
+        return poolManager.subscribeForPeriodicPacket(lpool::testSid, enableReporting, 0.2, false);
+    }
+
     ReturnValue_t subscribeWrapperSetUpdate() {
         return poolManager.subscribeForSetUpdateMessage(lpool::testSetId,
                 objects::NO_OBJECT, objects::HK_RECEIVER_MOCK, false);
@@ -188,51 +142,33 @@ public:
                 MessageQueueIF::NO_QUEUE, objects::HK_RECEIVER_MOCK, false);
     }
 
-    ReturnValue_t reset() {
+    ReturnValue_t subscribeWrapperVariableSnapshot(lp_id_t localPoolId) {
-        resetSubscriptionList();
+        return poolManager.subscribeForVariableUpdateMessage(localPoolId,
-        ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+                MessageQueueIF::NO_QUEUE, objects::HK_RECEIVER_MOCK, true);
-        {
-            PoolReadGuard readHelper(&dataset);
-            if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
-                status = readHelper.getReadResult();
-            }
-            dataset.localPoolVarUint8.value = 0;
-            dataset.localPoolVarFloat.value = 0.0;
-            dataset.localPoolUint16Vec.value[0] = 0;
-            dataset.localPoolUint16Vec.value[1] = 0;
-            dataset.localPoolUint16Vec.value[2] = 0;
-            dataset.setValidity(false, true);
     }
 
-        {
+    ReturnValue_t reset();
-            PoolReadGuard readHelper(&testUint32);
-            if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
-                status = readHelper.getReadResult();
-            }
-            testUint32.value = 0;
-            testUint32.setValid(false);
-        }
-
-        {
-            PoolReadGuard readHelper(&testInt64Vec);
-            if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
-                status = readHelper.getReadResult();
-            }
-            testInt64Vec.value[0] = 0;
-            testInt64Vec.value[1] = 0;
-            testInt64Vec.setValid(false);
-        }
-        return status;
-    }
 
     void resetSubscriptionList() {
         poolManager.clearReceiversList();
     }
 
+    bool changedDataSetCallbackWasCalled(sid_t& sid, store_address_t& storeId);
+    bool changedVariableCallbackWasCalled(gp_id_t& gpid, store_address_t& storeId);
+
     LocalDataPoolManager poolManager;
     LocalPoolTestDataSet dataset;
 private:
 
+    void handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) override;
+    sid_t changedDatasetSid;
+    store_address_t storeIdForChangedSet;
+
+    void handleChangedPoolVariable(gp_id_t globPoolId, store_address_t storeId,
+            bool* clearMessage) override;
+    gp_id_t changedPoolVariableGpid;
+    store_address_t storeIdForChangedVariable;
+
     lp_var_t<uint8_t> testUint8 = lp_var_t<uint8_t>(this, lpool::uint8VarId);
     lp_var_t<float> testFloat = lp_var_t<float>(this, lpool::floatVarId);
     lp_var_t<uint32_t> testUint32 = lp_var_t<uint32_t>(this, lpool::uint32VarId);

unittest/tests/datapoollocal/LocalPoolVariableTest.cpp

@@ -10,8 +10,7 @@ TEST_CASE("LocalPoolVariable" , "[LocPoolVarTest]") {
             get<LocalPoolOwnerBase>(objects::TEST_LOCAL_POOL_OWNER_BASE);
     REQUIRE(poolOwner != nullptr);
     REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK);
-    REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation()
+    REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation() == retval::CATCH_OK);
-            == retval::CATCH_OK);
 
     SECTION("Basic Tests") {
         /* very basic test. */

unittest/tests/datapoollocal/LocalPoolVectorTest.cpp

@@ -115,6 +115,7 @@ TEST_CASE("LocalPoolVector" , "[LocPoolVecTest]") {
         REQUIRE(readOnlyVec.commit() ==
                 static_cast<int>(PoolVariableIF::INVALID_READ_WRITE_MODE));
     }
+    poolOwner->reset();
 }
 
 

unittest/tests/mocks/MessageQueueMockBase.h

@@ -29,16 +29,24 @@ public:
 		return tempMessageSent;
 	}
 
+	/**
+	 * Pop a message, clearing it in the process.
+	 * @return
+	 */
+	ReturnValue_t popMessage() {
+	    CommandMessage message;
+	    message.clear();
+	    return receiveMessage(&message);
+	}
+
 	virtual ReturnValue_t reply( MessageQueueMessageIF* message ) {
-		//messageSent = true;
-		//lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
 		return sendMessage(myQueueId, message);
-		return HasReturnvaluesIF::RETURN_OK;
 	};
 	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom) {
 		return receiveMessage(message);
 	}
+
 	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) {
 		if(messagesSentQueue.empty()) {
 			return MessageQueueIF::EMPTY;
@@ -61,21 +69,13 @@ public:
 	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
 			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 			bool ignoreFault = false ) {
-		//messageSent = true;
-		//lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
-		//return HasReturnvaluesIF::RETURN_OK;
 		return sendMessage(sendTo, message);
 	}
 	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
 			MessageQueueId_t sentFrom, bool ignoreFault = false ) {
-		//messageSent = true;
-		//lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
-		//return HasReturnvaluesIF::RETURN_OK;
 		return sendMessage(myQueueId, message);
 	}
 	virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) {
-		//messageSent = true;
-		//lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
 		return sendMessage(myQueueId, message);
 	}
 	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
@@ -114,7 +114,6 @@ public:
 
 private:
 	std::queue<MessageQueueMessage> messagesSentQueue;
-	//MessageQueueMessage lastMessage;
 };