Merge branch 'mueller/master' into mueller/project/distribDatapool

container/SharedRingBuffer.cpp

@@ -3,40 +3,57 @@
 #include <framework/ipc/MutexHelper.h>
 
 SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
-		bool overwriteOld, dur_millis_t mutexTimeout):
+		bool overwriteOld, size_t maxExcessBytes, dur_millis_t mutexTimeout):
-		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld),
+		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
-		mutexTimeout(mutexTimeout) {
+		maxExcessBytes), mutexTimeout(mutexTimeout) {
 	mutex = MutexFactory::instance()->createMutex();
 }
 
 SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
-		const size_t size, bool overwriteOld, dur_millis_t mutexTimeout):
+		const size_t size, bool overwriteOld, size_t maxExcessBytes,
-		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld),
+		dur_millis_t mutexTimeout):
-		mutexTimeout(mutexTimeout) {
+		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
+		maxExcessBytes), mutexTimeout(mutexTimeout) {
 	mutex = MutexFactory::instance()->createMutex();
 }
 
+ReturnValue_t SharedRingBuffer::getFreeElementProtected(uint8_t** writePtr,
+		size_t amount) {
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeout);
+	return SimpleRingBuffer::getFreeElement(writePtr,amount);
+}
+
 ReturnValue_t SharedRingBuffer::writeDataProtected(const uint8_t *data,
 		size_t amount) {
-	MutexHelper(mutex, mutexTimeout);
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeout);
 	return SimpleRingBuffer::writeData(data,amount);
 }
 
 ReturnValue_t SharedRingBuffer::readDataProtected(uint8_t *data, size_t amount,
 		bool incrementReadPtr, bool readRemaining,
 		size_t *trueAmount) {
-	MutexHelper(mutex, mutexTimeout);
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeout);
 	return SimpleRingBuffer::readData(data,amount, incrementReadPtr,
 			readRemaining, trueAmount);
 }
 
 ReturnValue_t SharedRingBuffer::deleteDataProtected(size_t amount,
 		bool deleteRemaining, size_t *trueAmount) {
-	MutexHelper(mutex, mutexTimeout);
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeout);
 	return SimpleRingBuffer::deleteData(amount, deleteRemaining, trueAmount);
 }
 
+size_t SharedRingBuffer::getExcessBytes() const {
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeout);
+	return SimpleRingBuffer::getExcessBytes();
+}
+
+void SharedRingBuffer::moveExcessBytesToStart() {
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeout);
+	return SimpleRingBuffer::moveExcessBytesToStart();
+}
+
 size_t SharedRingBuffer::getAvailableReadDataProtected(uint8_t n) const {
-	MutexHelper(mutex, mutexTimeout);
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, mutexTimeout);
 	return ((write + size) - read[n]) % size;
 }

container/SharedRingBuffer.h

@@ -17,7 +17,8 @@ public:
 	 * will be overwritten.
 	 */
 	SharedRingBuffer(object_id_t objectId, const size_t size,
-			bool overwriteOld, dur_millis_t mutexTimeout = 10);
+			bool overwriteOld, size_t maxExcessBytes,
+			dur_millis_t mutexTimeout = 10);
 
 	/**
 	 * This constructor takes an external buffer with the specified size.
@@ -28,10 +29,22 @@ public:
 	 * will be overwritten.
 	 */
 	SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
-			bool overwriteOld, dur_millis_t mutexTimeout = 10);
+			bool overwriteOld, size_t maxExcessBytes,
+			dur_millis_t mutexTimeout = 10);
 
 	void setMutexTimeout(dur_millis_t newTimeout);
 
+	virtual size_t getExcessBytes() const override;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	virtual void moveExcessBytesToStart() override;
+
+	/** Performs mutex protected SimpleRingBuffer::getFreeElement call */
+	ReturnValue_t getFreeElementProtected(uint8_t** writePtr, size_t amount);
+
 	/** Performs mutex protected SimpleRingBuffer::writeData call */
 	ReturnValue_t writeDataProtected(const uint8_t* data, size_t amount);
 

container/SimpleRingBuffer.cpp

@@ -1,20 +1,55 @@
 #include <framework/container/SimpleRingBuffer.h>
 #include <cstring>
 
-SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld) :
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
-		RingBufferBase<>(0, size, overwriteOld) {
+		size_t maxExcessBytes) :
-	buffer = new uint8_t[size];
+		RingBufferBase<>(0, size, overwriteOld),
+		maxExcessBytes(maxExcessBytes) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+	buffer = new uint8_t[size + maxExcessBytes];
 }
 
 SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
-        bool overwriteOld):
+		bool overwriteOld, size_t maxExcessBytes):
-        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {}
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+}
 
 
 SimpleRingBuffer::~SimpleRingBuffer() {
 	delete[] buffer;
 }
 
+
+ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
+        size_t amount) {
+    if (availableWriteSpace() >= amount or overwriteOld) {
+        size_t amountTillWrap = writeTillWrap();
+        if (amountTillWrap < amount) {
+            if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            excessBytes = amount - amountTillWrap;
+        }
+        *writePointer = &buffer[write];
+        incrementWrite(amount);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
 ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
 		size_t amount) {
 	if (availableWriteSpace() >= amount or overwriteOld) {
@@ -62,6 +97,17 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+size_t SimpleRingBuffer::getExcessBytes() const {
+    return excessBytes;
+}
+
+void SimpleRingBuffer::moveExcessBytesToStart() {
+    if(excessBytes > 0) {
+        std::memcpy(buffer, &buffer[size], excessBytes);
+        excessBytes = 0;
+    }
+}
+
 ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
 		bool deleteRemaining, size_t* trueAmount) {
 	size_t availableData = availableReadData(READ_PTR);

container/SimpleRingBuffer.h

@@ -16,12 +16,17 @@ class SimpleRingBuffer: public RingBufferBase<> {
 public:
     /**
      * This constructor allocates a new internal buffer with the supplied size.
+     *
      * @param size
-     * @param overwriteOld
+     * @param overwriteOld If the ring buffer is overflowing at a write
-     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * operation, the oldest data will be overwritten.
-     * will be overwritten.
+     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * to the specified size to accomodate contiguous write operations
+     * with getFreeElement.
+     *
      */
-	SimpleRingBuffer(const size_t size, bool overwriteOld);
+	SimpleRingBuffer(const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
 	/**
 	 * This constructor takes an external buffer with the specified size.
 	 * @param buffer
@@ -29,8 +34,13 @@ public:
 	 * @param overwriteOld
 	 * If the ring buffer is overflowing at a write operartion, the oldest data
      * will be overwritten.
+	 * @param maxExcessBytes
+	 * If the buffer can accomodate additional bytes for contigous write
+	 * operations with getFreeElement, this is the maximum allowed additional
+	 * size
 	 */
-	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
 
 	virtual ~SimpleRingBuffer();
 
@@ -43,6 +53,25 @@ public:
 	 */
 	ReturnValue_t writeData(const uint8_t* data, size_t amount);
 
+	/**
+	 * Returns a pointer to a free element. If the remaining buffer is
+	 * not large enough, the data will be written past the actual size
+	 * and the amount of excess bytes will be cached.
+	 * @param writePointer Pointer to a pointer which can be used to write
+	 * contiguous blocks into the ring buffer
+	 * @param amount
+	 * @return
+	 */
+	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
+
+	virtual size_t getExcessBytes() const;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	virtual void moveExcessBytesToStart();
+
 	/**
 	 * Read from circular buffer at read pointer.
 	 * @param data
@@ -82,6 +111,8 @@ public:
 private:
 	static const uint8_t READ_PTR = 0;
 	uint8_t* buffer = nullptr;
+	size_t maxExcessBytes;
+	size_t excessBytes = 0;
 };
 
 #endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */

datapoolglob/GlobalDataPool.cpp

@@ -54,7 +54,8 @@ ReturnValue_t GlobalDataPool::unlockDataPool() {
 }
 
 ReturnValue_t GlobalDataPool::lockDataPool(uint32_t timeoutMs) {
-	ReturnValue_t status = mutex->lockMutex(timeoutMs);
+	ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
+	        timeoutMs);
 	if(status != RETURN_OK) {
 		sif::error << "DataPool::DataPool: lock of mutex failed "
 				"with error code: " << status << std::endl;

datapoollocal/LocalDataSet.cpp

@@ -1,11 +1,105 @@
-#include <framework/datapoollocal/LocalDataSet.h>
+#include <framework/datapoollocal/LocalDataPoolManager.h>
-
+#include <framework/datapoollocal/LocalDataSet.h>
-LocalDataSet::LocalDataSet(HasLocalDataPoolIF *hkOwner, const size_t maxSize):
+#include <framework/serialize/SerializeAdapter.h>
-        LocalDataSetBase(hkOwner, nullptr, maxSize), poolVarList(maxSize) {
+
-    this->setContainer(poolVarList.data());
+#include <cmath>
-}
+#include <cstring>
-
+
-LocalDataSet::LocalDataSet(object_id_t owner, const size_t maxSize):
+LocalDataSet::LocalDataSet(HasLocalDataPoolIF *hkOwner,
-        LocalDataSetBase(owner, nullptr, maxSize), poolVarList(maxSize) {
+        const size_t maxNumberOfVariables):
-    this->setContainer(poolVarList.data());
+        DataSetBase(poolVarList.data(), maxNumberOfVariables) {
-}
+    poolVarList.reserve(maxNumberOfVariables);
+    poolVarList.resize(maxNumberOfVariables);
+    if(hkOwner == nullptr) {
+        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+                << std::endl;
+        return;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
+}
+
+LocalDataSet::LocalDataSet(object_id_t ownerId,
+        const size_t maxNumberOfVariables):
+        DataSetBase(poolVarList.data(), maxNumberOfVariables)  {
+    poolVarList.reserve(maxNumberOfVariables);
+    poolVarList.resize(maxNumberOfVariables);
+    HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
+            ownerId);
+    if(hkOwner == nullptr) {
+        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+                << std::endl;
+        return;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
+}
+
+LocalDataSet::~LocalDataSet() {
+}
+
+ReturnValue_t LocalDataSet::lockDataPool(uint32_t timeoutMs) {
+	MutexIF* mutex = hkManager->getMutexHandle();
+	return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs);
+}
+
+ReturnValue_t LocalDataSet::serializeWithValidityBuffer(uint8_t **buffer,
+        size_t *size, size_t maxSize,
+        SerializeIF::Endianness streamEndianness) const {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
+    uint8_t validityMask[validityMaskSize];
+    uint8_t validBufferIndex = 0;
+    uint8_t validBufferIndexBit = 0;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        if(registeredVariables[count]->isValid()) {
+            // set validity buffer here.
+            this->bitSetter(validityMask + validBufferIndex,
+                    validBufferIndexBit);
+            if(validBufferIndexBit == 7) {
+                validBufferIndex ++;
+                validBufferIndexBit = 0;
+            }
+            else {
+                validBufferIndexBit ++;
+            }
+        }
+        result = registeredVariables[count]->serialize(buffer, size, maxSize,
+                streamEndianness);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+    // copy validity buffer to end
+    std::memcpy(*buffer, validityMask, validityMaskSize);
+    *size += validityMaskSize;
+    return result;
+}
+
+ReturnValue_t LocalDataSet::unlockDataPool() {
+	MutexIF* mutex = hkManager->getMutexHandle();
+	return mutex->unlockMutex();
+}
+
+ReturnValue_t LocalDataSet::serializeLocalPoolIds(uint8_t** buffer,
+        size_t* size, size_t maxSize,
+        SerializeIF::Endianness streamEndianness) const {
+    for (uint16_t count = 0; count < fillCount; count++) {
+        lp_id_t currentPoolId = registeredVariables[count]->getDataPoolId();
+        auto result = SerializeAdapter::serialize(&currentPoolId, buffer,
+                size, maxSize, streamEndianness);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
+                    " error!" << std::endl;
+            return result;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void LocalDataSet::bitSetter(uint8_t* byte, uint8_t position) const {
+    if(position > 7) {
+        sif::debug << "Pool Raw Access: Bit setting invalid position" << std::endl;
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte |= 1 << shiftNumber;
+}

datapoollocal/LocalPoolVariable.tpp

@@ -48,7 +48,8 @@ inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
 
 template<typename T>
 inline ReturnValue_t LocalPoolVar<T>::read(dur_millis_t lockTimeout) {
-	MutexHelper(hkManager->getMutexHandle(), lockTimeout);
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
 	return readWithoutLock();
 }
 
@@ -76,7 +77,8 @@ inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
 
 template<typename T>
 inline ReturnValue_t LocalPoolVar<T>::commit(dur_millis_t lockTimeout) {
-	MutexHelper(hkManager->getMutexHandle(), lockTimeout);
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
 	return commitWithoutLock();
 }
 

datapoollocal/LocalPoolVector.tpp

@@ -44,7 +44,8 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
 
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
-	MutexHelper(hkManager->getMutexHandle(), lockTimeout);
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
 	return readWithoutLock();
 }
 template<typename T, uint16_t vectorSize>
@@ -74,7 +75,8 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
 		uint32_t lockTimeout) {
-	MutexHelper(hkManager->getMutexHandle(), lockTimeout);
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
 	return commitWithoutLock();
 }
 

devicehandlers/AssemblyBase.cpp

@@ -165,9 +165,8 @@ ReturnValue_t AssemblyBase::checkChildrenState() {
 }
 
 ReturnValue_t AssemblyBase::checkChildrenStateOff() {
-	for (std::map<object_id_t, ChildInfo>::iterator iter = childrenMap.begin();
+	for (const auto& childIter: childrenMap) {
-			iter != childrenMap.end(); iter++) {
+		if (checkChildOff(childIter.first) != RETURN_OK) {
-		if (checkChildOff(iter->first) != RETURN_OK) {
 			return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
 		}
 	}

devicehandlers/AssemblyBase.h

@@ -1,10 +1,30 @@
-#ifndef ASSEMBLYBASE_H_
+#ifndef FRAMEWORK_DEVICEHANDLERS_ASSEMBLYBASE_H_
-#define ASSEMBLYBASE_H_
+#define FRAMEWORK_DEVICEHANDLERS_ASSEMBLYBASE_H_
 
 #include <framework/container/FixedArrayList.h>
 #include <framework/devicehandlers/DeviceHandlerBase.h>
 #include <framework/subsystem/SubsystemBase.h>
 
+/**
+ * @brief   Base class to implement reconfiguration and failure handling for
+ *          redundant devices by monitoring their modes health states.
+ * @details
+ * Documentation: Dissertation Baetz p.156, 157.
+ *
+ * This class reduces the complexity of controller components which would
+ * otherwise be needed for the handling of redundant devices.
+ *
+ * The template class monitors mode and health state of its children
+ * and checks availability of devices on every detected change.
+ * AssemblyBase does not implement any redundancy logic by itself, but provides
+ * adaptation points for implementations to do so. Since most monitoring
+ * activities rely on mode and health state only and are therefore
+ * generic, it is sufficient for subclasses to provide:
+ *
+ * 1. check logic when active-> checkChildrenStateOn
+ * 2. transition logic to change the mode -> commandChildren
+ *
+ */
 class AssemblyBase: public SubsystemBase {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::ASSEMBLY_BASE;
@@ -16,10 +36,41 @@ public:
 	static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE =
 			MAKE_RETURN_CODE(0xa1);
 
-	AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
+	AssemblyBase(object_id_t objectId, object_id_t parentId,
+	        uint16_t commandQueueDepth = 8);
 	virtual ~AssemblyBase();
 
 protected:
+
+    // SHOULDDO: Change that OVERWRITE_HEALTH may be returned
+    // (or return internalState directly?)
+    /**
+     * Command children to reach [mode,submode] combination
+     * Can be done by setting #commandsOutstanding correctly,
+     * or using executeTable()
+     * @param mode
+     * @param submode
+     * @return
+     *    - @c RETURN_OK if ok
+     *    - @c NEED_SECOND_STEP if children need to be commanded again
+     */
+    virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
+
+    /**
+     * Check whether desired assembly mode was achieved by checking the modes
+     * or/and health states of child device handlers.
+     * The assembly template class will also call this function if a health
+     * or mode change of a child device handler was detected.
+     * @param wantedMode
+     * @param wantedSubmode
+     * @return
+     */
+    virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
+            Submode_t wantedSubmode) = 0;
+
+    virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
+            Submode_t submode) = 0;
+
 	enum InternalState {
 		STATE_NONE,
 		STATE_OVERWRITE_HEALTH,
@@ -36,6 +87,7 @@ protected:
 		RECOVERY_WAIT
 	} recoveryState; //!< Indicates if one of the children requested a recovery.
 	ChildrenMap::iterator recoveringDevice;
+
 	/**
 	 * the mode the current transition is trying to achieve.
 	 * Can be different from the modehelper.commandedMode!
@@ -61,8 +113,8 @@ protected:
 	bool handleChildrenChanged();
 
 	/**
-	 * This method is called if the children changed its mode in a way that the current
+	 * This method is called if the children changed its mode in a way that
-	 * mode can't be kept.
+	 * the current mode can't be kept.
 	 * Default behavior is to go to MODE_OFF.
 	 * @param result The failure code which was returned by checkChildrenState.
 	 */
@@ -75,9 +127,6 @@ protected:
 	ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
 			uint32_t *msToReachTheMode);
 
-	virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
-			Submode_t submode) = 0;
-
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 
 	virtual void doStartTransition(Mode_t mode, Submode_t submode);
@@ -90,24 +139,6 @@ protected:
 
 	void sendHealthCommand(MessageQueueId_t sendTo, HealthState health);
 
-	//SHOULDDO: Change that OVERWRITE_HEALTH may be returned (or return internalState directly?)
-	/**
-	 * command children to reach mode,submode
-	 *
-	 * set #commandsOutstanding correctly, or use executeTable()
-	 *
-	 * @param mode
-	 * @param submode
-	 * @return
-	 *    - @c RETURN_OK if ok
-	 *    - @c NEED_SECOND_STEP if children need to be commanded again
-	 */
-	virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
-
-	//SHOULDDO: Remove wantedMode, wantedSubmode, as targetMode/submode is available?
-	virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
-			Submode_t wantedSubmode) = 0;
-
 	virtual ReturnValue_t checkChildrenStateOff();
 
 	ReturnValue_t checkChildrenState();
@@ -129,4 +160,4 @@ protected:
 
 };
 
-#endif /* ASSEMBLYBASE_H_ */
+#endif /* FRAMEWORK_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

devicehandlers/ChildHandlerBase.cpp

@@ -39,7 +39,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 		parent->registerChild(getObjectId());
 	}
 
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 
 	modeHelper.setParentQueue(parentQueue);
 

devicehandlers/DeviceHandlerBase.cpp

@@ -128,7 +128,9 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	result = communicationInterface->initializeInterface(comCookie);
 	if (result != RETURN_OK) {
-		return result;
+	    sif::error << "DeviceHandlerBase::initialize: Initializing "
+	            "communication interface failed!" << std::endl;
+	    return result;
 	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
@@ -678,16 +680,24 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		switch (result) {
 		case RETURN_OK:
 			handleReply(receivedData, foundId, foundLen);
+			if(foundLen == 0) {
+			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+			            " Packet parsing will be stuck." << std::endl;
+			}
 			break;
 		case APERIODIC_REPLY: {
 			result = interpretDeviceReply(foundId, receivedData);
 			if (result != RETURN_OK) {
-				replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			    replyRawReplyIfnotWiretapped(receivedData, foundLen);
-				triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
+			    triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
-						foundId);
+			            foundId);
 			}
+			if(foundLen == 0) {
+			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+			            " Packet parsing will be stuck." << std::endl;
+			}
+			break;
 		}
-		break;
 		case IGNORE_REPLY_DATA:
 			break;
 		case IGNORE_FULL_PACKET:
@@ -1134,7 +1144,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 
 void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 	modeHelper.setParentQueue(parentQueueId);
-	healthHelper.setParentQeueue(parentQueueId);
+	healthHelper.setParentQueue(parentQueueId);
 }
 
 bool DeviceHandlerBase::isAwaitingReply() {

devicehandlers/DeviceHandlerBase.h

@@ -379,6 +379,8 @@ protected:
 	 * @param deviceCommand	Identifier of the command to add.
 	 * @param maxDelayCycles The maximum number of delay cycles the command
 	 * waits until it times out.
+	 * @param replyLen Will be supplied to the requestReceiveMessage call of
+	 * the communication interface.
 	 * @param periodic	Indicates if the command is periodic (i.e. it is sent
 	 * by the device repeatedly without request) or not. Default is aperiodic (0)
 	 * @return	- @c RETURN_OK when the command was successfully inserted,

devicehandlers/DeviceHandlerIF.h

@@ -98,7 +98,7 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
 	// Standard codes used when building commands.
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
 	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
 	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
 	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);

devicehandlers/HealthDevice.cpp

@@ -38,7 +38,7 @@ MessageQueueId_t HealthDevice::getCommandQueue() const {
 }
 
 void HealthDevice::setParentQueue(MessageQueueId_t parentQueue) {
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 }
 
 bool HealthDevice::hasHealthChanged() {

events/fwSubsystemIdRanges.h

@@ -18,6 +18,8 @@ enum {
 	SYSTEM_MANAGER = 74,
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
+	PUS_SERVICE_1 = 80,
+	FW_SUBSYSTEM_ID_RANGE
 };
 }
 

fdir/FailureIsolationBase.cpp

@@ -7,8 +7,8 @@
 
 FailureIsolationBase::FailureIsolationBase(object_id_t owner,
 		object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
-		eventQueue(NULL), ownerId(owner), owner(NULL),
+		ownerId(owner), faultTreeParent(parent),
-		faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
+		parameterDomainBase(parameterDomainBase) {
 	eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
 			EventMessage::EVENT_MESSAGE_SIZE);
 }
@@ -104,9 +104,9 @@ MessageQueueId_t FailureIsolationBase::getEventReceptionQueue() {
 ReturnValue_t FailureIsolationBase::sendConfirmationRequest(EventMessage* event,
 		MessageQueueId_t destination) {
 	event->setMessageId(EventMessage::CONFIRMATION_REQUEST);
-	if (destination != 0) {
+	if (destination != MessageQueueIF::NO_QUEUE) {
 		return eventQueue->sendMessage(destination, event);
-	} else if (faultTreeParent != 0) {
+	} else if (faultTreeParent != objects::NO_OBJECT) {
 		return eventQueue->sendToDefault(event);
 	}
 	return RETURN_FAILED;

fdir/FailureIsolationBase.h

@@ -33,9 +33,9 @@ public:
 	virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
 			uint32_t parameter2 = 0);
 protected:
-	MessageQueueIF* eventQueue;
+	MessageQueueIF* eventQueue = nullptr;
 	object_id_t ownerId;
-	HasHealthIF* owner;
+	HasHealthIF* owner = nullptr;
 	object_id_t faultTreeParent;
 	uint8_t parameterDomainBase;
 	void setOwnerHealth(HasHealthIF::HealthState health);
@@ -45,7 +45,7 @@ protected:
 	virtual ReturnValue_t confirmFault(EventMessage* event);
 	virtual void decrementFaultCounters() = 0;
 	ReturnValue_t sendConfirmationRequest(EventMessage* event,
-			MessageQueueId_t destination = 0);
+			MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
 	void throwFdirEvent(Event event, uint32_t parameter1 = 0,
 			uint32_t parameter2 = 0);
 private:

health/HealthHelper.cpp

@@ -28,11 +28,11 @@ HasHealthIF::HealthState HealthHelper::getHealth() {
 }
 
 ReturnValue_t HealthHelper::initialize(MessageQueueId_t parentQueue) {
-	setParentQeueue(parentQueue);
+	setParentQueue(parentQueue);
 	return initialize();
 }
 
-void HealthHelper::setParentQeueue(MessageQueueId_t parentQueue) {
+void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
 	this->parentQueue = parentQueue;
 }
 

health/HealthHelper.h

@@ -79,7 +79,7 @@ public:
 	/**
 	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
 	 */
-	void setParentQeueue(MessageQueueId_t parentQueue);
+	void setParentQueue(MessageQueueId_t parentQueue);
 
 	/**
 	 *

ipc/CommandMessage.cpp

@@ -88,6 +88,7 @@ void CommandMessage::setToUnknownCommand() {
 
 void CommandMessage::setReplyRejected(ReturnValue_t reason,
         Command_t initialCommand) {
+	setCommand(REPLY_REJECTED);
     setParameter(reason);
     setParameter2(initialCommand);
 }

ipc/MutexHelper.h

@@ -6,9 +6,11 @@
 
 class MutexHelper {
 public:
-	MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
+	MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
+			MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0) :
 			internalMutex(mutex) {
-		ReturnValue_t status = mutex->lockMutex(timeoutMs);
+		ReturnValue_t status = mutex->lockMutex(timeoutType,
+		        timeoutMs);
 		if(status == MutexIF::MUTEX_TIMEOUT) {
 			sif::error << "MutexHelper: Lock of mutex failed with timeout of "
 					<< timeoutMs << " milliseconds!" << std::endl;

ipc/MutexIF.h

@@ -5,27 +5,31 @@
 
 /**
  * @brief Common interface for OS Mutex objects which provide MUTual EXclusion.
- *
  * @details https://en.wikipedia.org/wiki/Lock_(computer_science)
  * @ingroup osal
  * @ingroup interface
  */
 class MutexIF {
 public:
-	/**
+    /**
-	 * @brief 	Timeout value used for polling lock attempt.
+     * Different types of timeout for the mutex lock.
-	 * @details
+     */
-	 * If the lock is not successfull, MUTEX_TIMEOUT will be returned
+    enum TimeoutType {
-	 * immediately. Value needs to be defined in implementation.
+        POLLING, //!< If mutex is not available, return immediately
-	 */
+        WAITING, //!< Wait a specified time for the mutex to become available
-	static const uint32_t POLLING;
+        BLOCKING //!< Block indefinitely until the mutex becomes available.
-	/**
+    };
-	 * @brief 	Timeout value used for permanent blocking lock attempt.
+
-	 * @details
+    /**
-	 * The task will be blocked (indefinitely) until the mutex is unlocked.
+     * Lock the mutex. The timeout value will only be used for
-	 * Value needs to be defined in implementation.
+     * TimeoutType::WAITING
-	 */
+     * @param timeoutType
-	static const uint32_t BLOCKING;
+     * @param timeoutMs
+     * @return
+     */
+    virtual ReturnValue_t lockMutex(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
+    virtual ReturnValue_t unlockMutex() = 0;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
 	/**
@@ -77,9 +81,7 @@ public:
 	 */
 	static const ReturnValue_t MUTEX_DESTROYED_WHILE_WAITING = MAKE_RETURN_CODE(12);
 
-	virtual ~MutexIF() {}
+    virtual ~MutexIF() {}
-	virtual ReturnValue_t lockMutex(uint32_t timeoutMs) = 0;
-	virtual ReturnValue_t unlockMutex() = 0;
 };
 
 

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -5,11 +5,12 @@
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
-FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
+FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod overallPeriod,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), handle(NULL), pst(overallPeriod * 1000) {
-	xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
+	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
 	// All additional attributes are applied to the object.
 	this->deadlineMissedFunc = setDeadlineMissedFunc;
 }
@@ -125,19 +126,18 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-    // Tick count has overflown
+    // Time to wake has not overflown.
-    if(currentTickCount < xLastWakeTime) {
+    if(timeToWake > xLastWakeTime) {
-        // Time to wake has overflown as well. If the tick count
+        /* If the current time has overflown exclusively or the current
-        // is larger than the time to wake, a deadline was missed.
+         * tick count is simply larger than the time to wake, a deadline was
-        if(timeToWake < xLastWakeTime and
+         * missed */
-                currentTickCount > timeToWake) {
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
             handleMissedDeadline();
         }
     }
-    // No tick count overflow. If the timeToWake has not overflown
+    /* Time to wake has overflown. A deadline was missed if the current time
-    // and the current tick count is larger than the time to wake,
+     * is larger than the time to wake */
-    // a deadline was missed.
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
         handleMissedDeadline();
     }
 }

osal/FreeRTOS/FixedTimeslotTask.h

@@ -24,7 +24,7 @@ public:
 	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
 	 * @return Pointer to the newly created task.
 	 */
-	FixedTimeslotTask(const char *name, TaskPriority setPriority,
+	FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 			TaskStackSize setStack, TaskPeriod overallPeriod,
 			void (*setDeadlineMissedFunc)());
 

osal/FreeRTOS/MessageQueue.cpp

@@ -123,11 +123,20 @@ bool MessageQueue::isDefaultDestinationSet() const {
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault, CallContext callContext) {
+	BaseType_t result = pdFALSE;
+	QueueHandle_t destination = nullptr;
+
+	if(sendTo == MessageQueueIF::NO_QUEUE) {
+		return MessageQueueIF::DESTINVATION_INVALID;
+	}
+	else  {
+		destination = reinterpret_cast<QueueHandle_t>(sendTo);
+	}
     message->setSender(sentFrom);
-    BaseType_t result;
+
 
     if(callContext == CallContext::TASK) {
-        result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
+        result = xQueueSendToBack(destination,
                 static_cast<const void*>(message->getBuffer()), 0);
     }
     else {

osal/FreeRTOS/Mutex.cpp

@@ -2,13 +2,10 @@
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::POLLING = 0;
-const uint32_t MutexIF::BLOCKING = portMAX_DELAY;
-
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
 	if(handle == nullptr) {
-		sif::error << "Mutex: Creation failure" << std::endl;
+		sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
 	}
 }
 
@@ -19,15 +16,17 @@ Mutex::~Mutex() {
 
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
 	if (handle == nullptr) {
 		return MutexIF::MUTEX_NOT_FOUND;
 	}
-	TickType_t timeout = MutexIF::POLLING;
+	// If the timeout type is BLOCKING, this will be the correct value.
-	if(timeoutMs == MutexIF::BLOCKING) {
+	uint32_t timeout = portMAX_DELAY;
-		timeout = MutexIF::BLOCKING;
+	if(timeoutType == TimeoutType::POLLING) {
+		timeout = 0;
 	}
-	else if(timeoutMs > MutexIF::POLLING){
+	else if(timeoutType == TimeoutType::WAITING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 

osal/FreeRTOS/Mutex.h

@@ -18,8 +18,10 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
+	ReturnValue_t lockMutex(TimeoutType timeoutType,
+	        uint32_t timeoutMs) override;
 	ReturnValue_t unlockMutex() override;
+
 private:
 	SemaphoreHandle_t handle;
 };

osal/FreeRTOS/PeriodicTask.cpp

@@ -5,12 +5,13 @@
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
-		void (*setDeadlineMissedFunc)()) :
+		TaskDeadlineMissedFunction deadlineMissedFunc) :
 		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
-		setDeadlineMissedFunc)
+		deadlineMissedFunc)
 {
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
 	BaseType_t status = xTaskCreate(taskEntryPoint, name,
-			setStack, this, setPriority, &handle);
+			stackSize, this, setPriority, &handle);
 	if(status != pdPASS){
 		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
 		        "Status: " << status << std::endl;
@@ -81,7 +82,7 @@ void PeriodicTask::taskFunctionality() {
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
@@ -90,12 +91,9 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
 
-	if(setTaskIF) {
+	return newObject->initializeAfterTaskCreation();
-	     newObject->setTaskIF(this);
-	}
-	ReturnValue_t result = newObject->initializeAfterTaskCreation();
-	return result;
 }
 
 uint32_t PeriodicTask::getPeriodMs() const {
@@ -109,19 +107,18 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-    // Tick count has overflown
+    // Time to wake has not overflown.
-    if(currentTickCount < xLastWakeTime) {
+    if(timeToWake > xLastWakeTime) {
-        // Time to wake has overflown as well. If the tick count
+        /* If the current time has overflown exclusively or the current
-        // is larger than the time to wake, a deadline was missed.
+         * tick count is simply larger than the time to wake, a deadline was
-        if(timeToWake < xLastWakeTime and
+         * missed */
-                currentTickCount > timeToWake) {
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
             handleMissedDeadline();
         }
     }
-    // No tick count overflow. If the timeToWake has not overflown
+    /* Time to wake has overflown. A deadline was missed if the current time
-    // and the current tick count is larger than the time to wake,
+     * is larger than the time to wake */
-    // a deadline was missed.
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
         handleMissedDeadline();
     }
 }

osal/FreeRTOS/PeriodicTask.h

@@ -40,9 +40,9 @@ public:
 	 * The function pointer to the deadline missed function that shall
 	 * be assigned.
 	 */
-	PeriodicTask(const char *name, TaskPriority setPriority,
+	PeriodicTask(TaskName name, TaskPriority setPriority,
 	        TaskStackSize setStack, TaskPeriod setPeriod,
-	        void (*setDeadlineMissedFunc)());
+	        TaskDeadlineMissedFunction deadlineMissedFunc);
 	/**
 	 * @brief	Currently, the executed object's lifetime is not coupled with
 	 * 			the task object's lifetime, so the destructor is empty.
@@ -65,8 +65,7 @@ public:
 	 * -@c RETURN_OK on success
 	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object,
+	ReturnValue_t addComponent(object_id_t object) override;
-	        bool setTaskIF = true) override;
 
 	uint32_t getPeriodMs() const override;
 

osal/FreeRTOS/TaskFactory.cpp

@@ -18,8 +18,8 @@ PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
 		TaskPriority taskPriority_, TaskStackSize stackSize_,
 		TaskPeriod period_,
 		TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	return (PeriodicTaskIF*) (new PeriodicTask(name_, taskPriority_, stackSize_,
+	return dynamic_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_,
-			period_, deadLineMissedFunction_));
+			stackSize_, period_, deadLineMissedFunction_));
 }
 
 /**
@@ -29,8 +29,8 @@ FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
 		TaskPriority taskPriority_, TaskStackSize stackSize_,
 		TaskPeriod period_,
 		TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	return (FixedTimeslotTaskIF*) (new FixedTimeslotTask(name_, taskPriority_,
+	return dynamic_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_,
-			stackSize_, period_, deadLineMissedFunction_));
+			taskPriority_,stackSize_, period_, deadLineMissedFunction_));
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

osal/linux/Mutex.cpp

@@ -2,8 +2,6 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/timemanager/Clock.h>
 
-const uint32_t MutexIF::BLOCKING = 0xffffffff;
-const uint32_t MutexIF::POLLING = 0;
 uint8_t Mutex::count = 0;
 
 
@@ -40,9 +38,13 @@ Mutex::~Mutex() {
 	pthread_mutex_destroy(&mutex);
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
 	int status = 0;
-	if (timeoutMs != MutexIF::BLOCKING) {
+
+	if(timeoutType == TimeoutType::POLLING) {
+	    status = pthread_mutex_trylock(&mutex);
+	}
+	else if (timeoutType == TimeoutType::WAITING) {
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
@@ -50,27 +52,35 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 		timeOut.tv_sec = nseconds / 1000000000;
 		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
 		status = pthread_mutex_timedlock(&mutex, &timeOut);
-	} else {
+	}
+	else if(timeoutType == TimeoutType::BLOCKING) {
 		status = pthread_mutex_lock(&mutex);
 	}
+
 	switch (status) {
 	case EINVAL:
-		//The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling.
+		// The mutex was created with the protocol attribute having the value
+		// PTHREAD_PRIO_PROTECT and the calling thread's priority is higher
+		// than the mutex's current priority ceiling.
 		return WRONG_ATTRIBUTE_SETTING;
-		//The process or thread would have blocked, and the abs_timeout parameter specified a nanoseconds field value less than zero or greater than or equal to 1000 million.
+		// The process or thread would have blocked, and the abs_timeout
-		//The value specified by mutex does not refer to an initialized mutex object.
+		// parameter specified a nanoseconds field value less than zero or
+		// greater than or equal to 1000 million.
+		// The value specified by mutex does not refer to an initialized mutex object.
 		//return MUTEX_NOT_FOUND;
 	case EBUSY:
-		//The mutex could not be acquired because it was already locked.
+		// The mutex could not be acquired because it was already locked.
 		return MUTEX_ALREADY_LOCKED;
 	case ETIMEDOUT:
-		//The mutex could not be locked before the specified timeout expired.
+		// The mutex could not be locked before the specified timeout expired.
 		return MUTEX_TIMEOUT;
 	case EAGAIN:
-		//The mutex could not be acquired because the maximum number of recursive locks for mutex has been exceeded.
+		// The mutex could not be acquired because the maximum number of
+		// recursive locks for mutex has been exceeded.
 		return MUTEX_MAX_LOCKS;
 	case EDEADLK:
-		//A deadlock condition was detected or the current thread already owns the mutex.
+		// A deadlock condition was detected or the current thread
+		// already owns the mutex.
 		return CURR_THREAD_ALREADY_OWNS_MUTEX;
 	case 0:
 		//Success

osal/linux/Mutex.h

@@ -12,7 +12,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	virtual ~Mutex();
-	virtual ReturnValue_t lockMutex(uint32_t timeoutMs);
+	virtual ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs);
 	virtual ReturnValue_t unlockMutex();
 private:
 	pthread_mutex_t mutex;

osal/linux/PeriodicPosixTask.cpp

@@ -22,8 +22,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
-		bool setTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
@@ -32,13 +31,9 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
 
-	if(setTaskIF) {
+	return newObject->initializeAfterTaskCreation();
-	    newObject->setTaskIF(this);
-	}
-
-	ReturnValue_t result = newObject->initializeAfterTaskCreation();
-	return result;
 }
 
 ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {

osal/linux/PeriodicPosixTask.h

@@ -39,8 +39,7 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object,
+	ReturnValue_t addComponent(object_id_t object) override;
-	        bool setTaskIF = true) override;
 
 	uint32_t getPeriodMs() const override;
 

osal/linux/TmTcUnixUdpBridge.cpp

@@ -85,7 +85,7 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 }
 
 void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
-	MutexHelper lock(mutex, 10);
+	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
 
 //	char ipAddress [15];
 //	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,

parameters/HasParametersIF.h

@@ -5,8 +5,23 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <stdint.h>
 
+/** Each parameter is identified with a unique parameter ID */
 typedef uint32_t ParameterId_t;
 
+/**
+ * @brief	This interface is used by components which have modifiable
+ * 			parameters, e.g. atittude controllers
+ * @details
+ * Each parameter has a unique parameter ID. The first byte of the parameter
+ * ID is the domain ID which can be used to identify unqiue spacecraft domains
+ * (e.g. control and sensor domain in the AOCS controller).
+ *
+ * The second and third byte represent the matrix ID, which can represent
+ * a 8-bit row and column number and the last byte...
+ *
+ * Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number
+ * of a 8 bit number now?
+ */
 class HasParametersIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
@@ -32,13 +47,11 @@ public:
 		return (domainId << 24) + (parameterId << 8) + index;
 	}
 
-	virtual ~HasParametersIF() {
+	virtual ~HasParametersIF() {}
-	}
 
 	/**
 	 * Always set parameter before checking newValues!
 	 *
-	 *
 	 * @param domainId
 	 * @param parameterId
 	 * @param parameterWrapper

parameters/ParameterHelper.cpp

@@ -26,7 +26,6 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 	}
 		break;
 	case ParameterMessage::CMD_PARAMETER_LOAD: {
-
 		uint8_t domain = HasParametersIF::getDomain(
 				ParameterMessage::getParameterId(message));
 		uint16_t parameterId = HasParametersIF::getMatrixId(
@@ -34,12 +33,14 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 		uint8_t index = HasParametersIF::getIndex(
 				ParameterMessage::getParameterId(message));
 
-		const uint8_t *storedStream;
+		const uint8_t *storedStream = nullptr;
-		size_t storedStreamSize;
+		size_t storedStreamSize = 0;
 		result = storage->getData(
 				ParameterMessage::getStoreId(message), &storedStream,
 				&storedStreamSize);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
+			sif::error << "ParameterHelper::handleParameterMessage: Getting"
+					" store data failed for load command." << std::endl;
 			break;
 		}
 

parameters/ParameterHelper.h

@@ -5,6 +5,12 @@
 #include <framework/parameters/ParameterMessage.h>
 #include <framework/parameters/ReceivesParameterMessagesIF.h>
 
+/**
+ * @brief	Helper class to handle parameter messages
+ * @details
+ * This class simplfiies handling of parameter messages, which are sent
+ * to a class which implements ReceivesParameterMessagesIF.
+ */
 class ParameterHelper {
 public:
 	ParameterHelper(ReceivesParameterMessagesIF *owner);

parameters/ParameterWrapper.cpp

@@ -1,20 +1,19 @@
 #include <framework/parameters/ParameterWrapper.h>
 
 ParameterWrapper::ParameterWrapper() :
-		pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
+		pointsToStream(false), type(Type::UNKNOWN_TYPE) {
-		NULL), readonlyData(NULL) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
 		void *data) :
-		pointsToStream(false), type(type), rows(rows), columns(columns), data(
+		pointsToStream(false), type(type), rows(rows), columns(columns),
-				data), readonlyData(data) {
+		data(data), readonlyData(data) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
 		const void *data) :
-		pointsToStream(false), type(type), rows(rows), columns(columns), data(
+		pointsToStream(false), type(type), rows(rows), columns(columns),
-		NULL), readonlyData(data) {
+		data(nullptr), readonlyData(data) {
 }
 
 ParameterWrapper::~ParameterWrapper() {
@@ -266,15 +265,14 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 			result = UNKNOW_DATATYPE;
 			break;
 		}
-	} else {
+	}
+	else {
 		//need a type to do arithmetic
-		uint8_t *toDataWithType = (uint8_t*) data;
+		uint8_t* typedData = static_cast<uint8_t*>(data);
 		for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
-			memcpy(
+			uint8_t offset = (((startingRow + fromRow) * columns) + startingColumn) * typeSize;
-					toDataWithType
+			std::memcpy(typedData +  offset, from->readonlyData,
-							+ (((startingRow + fromRow) * columns)
+					typeSize * from->columns);
-									+ startingColumn) * typeSize,
-					from->readonlyData, typeSize * from->columns);
 		}
 	}
 

parameters/ParameterWrapper.h

@@ -1,5 +1,5 @@
-#ifndef PARAMETERWRAPPER_H_
+#ifndef FRAMEWORK_PARAMETERS_PARAMETERWRAPPER_H_
-#define PARAMETERWRAPPER_H_
+#define FRAMEWORK_PARAMETERS_PARAMETERWRAPPER_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/serialize/SerializeAdapter.h>
@@ -7,6 +7,10 @@
 #include <stddef.h>
 #include <framework/globalfunctions/Type.h>
 
+/**
+ * @brief
+ * @details
+ */
 class ParameterWrapper: public SerializeIF {
 	friend class DataPoolParameterWrapper;
 public:
@@ -36,32 +40,21 @@ public:
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness, uint16_t startWritingAtIndex = 0);
 
+	/**
+	 * Get a specific parameter value by supplying the row and the column.
+	 * @tparam T Type of target data
+	 * @param value [out] Pointer to storage location
+	 * @param row
+	 * @param column
+	 * @return
+	 * -@c RETURN_OK if element was retrieved successfully
+	 * -@c NOT_SET data has not been set yet
+	 * -@c DATATYPE_MISSMATCH Invalid supplied type
+	 * -@c OUT_OF_BOUNDS Invalid row and/or column.
+	 */
 	template<typename T>
-	ReturnValue_t getElement(T *value, uint8_t row = 0, uint8_t column = 0) const {
+	ReturnValue_t getElement(T *value, uint8_t row = 0,
-		if (readonlyData == NULL){
+			uint8_t column = 0) const;
-			return NOT_SET;
-		}
-
-		if (PodTypeConversion<T>::type != type) {
-			return DATATYPE_MISSMATCH;
-		}
-
-		if ((row >= rows) || (column >= columns)) {
-			return OUT_OF_BOUNDS;
-		}
-
-		if (pointsToStream) {
-			const uint8_t *streamWithtype = (const uint8_t *) readonlyData;
-			streamWithtype += (row * columns + column) * type.getSize();
-			int32_t size = type.getSize();
-			return SerializeAdapter::deSerialize(value, &streamWithtype,
-					&size, true);
-		} else {
-			const T *dataWithType = (const T *) readonlyData;
-			*value = dataWithType[row * columns + column];
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
 
 	template<typename T>
 	void set(T *data, uint8_t rows, uint8_t columns) {
@@ -111,21 +104,22 @@ public:
 	void setMatrix(const T& member) {
 		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
 	}
+
 	ReturnValue_t set(const uint8_t *stream, size_t streamSize,
-			const uint8_t **remainingStream = NULL, size_t *remainingSize =
+			const uint8_t **remainingStream = nullptr,
-					NULL);
+			size_t *remainingSize = nullptr);
 
 	ReturnValue_t copyFrom(const ParameterWrapper *from,
 			uint16_t startWritingAtIndex);
 
 private:
-	bool pointsToStream;
+	bool pointsToStream = false;
 
 	Type type;
-	uint8_t rows;
+	uint8_t rows = 0;
-	uint8_t columns;
+	uint8_t columns = 0;
-	void *data;
+	void *data = nullptr;
-	const void *readonlyData;
+	const void *readonlyData = nullptr;
 
 	template<typename T>
 	ReturnValue_t serializeData(uint8_t** buffer, size_t* size,
@@ -136,4 +130,33 @@ private:
 			const void *from, uint8_t fromRows, uint8_t fromColumns);
 };
 
+template <typename T>
+inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row,
+		uint8_t column) const {
+	if (readonlyData == nullptr){
+		return NOT_SET;
+	}
+
+	if (PodTypeConversion<T>::type != type) {
+		return DATATYPE_MISSMATCH;
+	}
+
+	if ((row >= rows) or (column >= columns)) {
+		return OUT_OF_BOUNDS;
+	}
+
+	if (pointsToStream) {
+		const uint8_t *streamWithType = static_cast<const uint8_t*>(readonlyData);
+		streamWithType += (row * columns + column) * type.getSize();
+		int32_t size = type.getSize();
+		return SerializeAdapter::deSerialize(value, &streamWithType,
+				&size, true);
+	}
+	else {
+		const T *dataWithType = static_cast<const T*>(readonlyData);
+		*value = dataWithType[row * columns + column];
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+}
+
 #endif /* PARAMETERWRAPPER_H_ */

pus/servicepackets/Service1Packets.h

@@ -1,22 +1,22 @@
-/**
- * @defgroup spacepackets PUS Packet Definitions
- *  This group contains all implemented TM or TM packages that are sent to
- *  or sent by the OBC.They are exported later to display
- *  packet structures in Mission Information Base (MIB).
- */
-
 #ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
 #define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
 
 #include <framework/serialize/SerializeAdapter.h>
 #include <framework/tmtcservices/VerificationCodes.h>
 
+/**
+ * @defgroup spacepackets PUS Packet Definitions
+ *  This group contains all implemented TM or TM packages that are sent to
+ *  or sent by the OBC.They are exported later to display
+ *  packet structures in Mission Information Base (MIB).
+ */
+
 /**
  * @brief 	FailureReport class to serialize a failure report
  * @brief 	Subservice 1, 3, 5, 7
  * @ingroup spacepackets
  */
-class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
+class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
 public:
 	FailureReport(uint8_t failureSubtype_, uint16_t packetId_,
 			uint16_t packetSequenceControl_, uint8_t stepNumber_,
@@ -111,7 +111,7 @@ private:
  * @brief       Subservices 2, 4, 6, 8
  * @ingroup     spacepackets
  */
-class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
+class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
 public:
 	SuccessReport(uint8_t subtype_, uint16_t packetId_,
 			uint16_t packetSequenceControl_,uint8_t stepNumber_) :

serviceinterface/ServiceInterfaceBuffer.cpp

@@ -78,9 +78,9 @@ int ServiceInterfaceBuffer::sync(void) {
 	}
 
 	size_t preambleSize  = 0;
-	auto preamble = getPreamble(&preambleSize);
+	std::string* preamble = getPreamble(&preambleSize);
 	// Write logMessage and time
-	this->putChars(preamble.data(), preamble.data() + preambleSize);
+	this->putChars(preamble->data(), preamble->data() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
@@ -92,7 +92,7 @@ bool ServiceInterfaceBuffer::isBuffered() const {
 	return buffered;
 }
 
-std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
+std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
 	size_t currentSize = 0;
@@ -110,18 +110,18 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 					loggerTime.usecond /1000);
 	if(charCount < 0) {
 		printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
-		return "";
+		return &preamble;
 	}
 	if(charCount > MAX_PREAMBLE_SIZE) {
 		printf("ServiceInterfaceBuffer: Char count too large for maximum "
 				"preamble size");
-		return "";
+		return &preamble;
 	}
 	currentSize += charCount;
 	if(preambleSize != nullptr) {
 		*preambleSize = currentSize;
 	}
-	return preamble;
+	return &preamble;
 }
 
 

serviceinterface/ServiceInterfaceBuffer.h

@@ -60,7 +60,7 @@ private:
 	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
-	std::string getPreamble(size_t * preambleSize = nullptr);
+	std::string* getPreamble(size_t * preambleSize = nullptr);
 };
 
 #endif

serviceinterface/ServiceInterfaceStream.cpp

@@ -9,7 +9,7 @@ void ServiceInterfaceStream::setActive( bool myActive) {
 	this->streambuf.isActive = myActive;
 }
 
-std::string ServiceInterfaceStream::getPreamble() {
+std::string* ServiceInterfaceStream::getPreamble() {
 	return streambuf.getPreamble();
 }
 

serviceinterface/ServiceInterfaceStream.h

@@ -33,7 +33,7 @@ public:
 	 * the unbuffered mode.
 	 * @return Preamle consisting of log message and timestamp.
 	 */
-	std::string getPreamble();
+	std::string* getPreamble();
 
 	/**
 	 * This prints an error with a preamble. Useful if using the unbuffered

storagemanager/PoolManager.tpp

@@ -21,7 +21,8 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
 		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex, mutexTimeout);
+	MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
+			mutexTimeout);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
 			address,ignoreFault);
 	return status;
@@ -33,7 +34,8 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 	// debug << "PoolManager( " << translateObject(getObjectId()) <<
 	//       " )::deleteData from store " << packet_id.pool_index <<
 	//       ". id is "<< packet_id.packet_index << std::endl;
-	MutexHelper mutexHelper(mutex, mutexTimeout);
+	MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
+				mutexTimeout);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
 	return status;
 }
@@ -41,7 +43,8 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 		size_t size, store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex, mutexTimeout);
+	MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
+				mutexTimeout);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
 			size, storeId);
 	return status;

subsystem/SubsystemBase.cpp

@@ -5,9 +5,9 @@
 
 SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		Mode_t initialMode, uint16_t commandQueueDepth) :
-		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), childrenChangedMode(
+		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE),
-		false), commandsOutstanding(0), commandQueue(NULL), healthHelper(this,
+		childrenChangedMode(false), commandsOutstanding(0), commandQueue(NULL),
-				setObjectId), modeHelper(this), parentId(parent) {
+		healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
 			MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
@@ -23,8 +23,8 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
 	HasModesIF *child = objectManager->get<HasModesIF>(objectId);
 	//This is a rather ugly hack to have the changedHealth info for all children available. (needed for FOGs).
 	HasHealthIF* healthChild = objectManager->get<HasHealthIF>(objectId);
-	if (child == NULL) {
+	if (child == nullptr) {
-		if (healthChild == NULL) {
+		if (healthChild == nullptr) {
 			return CHILD_DOESNT_HAVE_MODES;
 		} else {
 			info.commandQueue = healthChild->getCommandQueue();
@@ -76,14 +76,15 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(
 	return RETURN_OK;
 }
 
-void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode) {
+void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter,
+        Submode_t targetSubmode) {
 	CommandMessage command;
 
 	std::map<object_id_t, ChildInfo>::iterator iter;
 
 	commandsOutstanding = 0;
 
-	for (; tableIter.value != NULL; ++tableIter) {
+	for (; tableIter.value != nullptr; ++tableIter) {
 		object_id_t object = tableIter.value->getObject();
 		if ((iter = childrenMap.find(object)) == childrenMap.end()) {
 			//illegal table entry, should only happen due to misconfigured mode table

tasks/PeriodicTaskIF.h

@@ -36,8 +36,7 @@ public:
 	 * to the component.
 	 * @return
 	 */
-	virtual ReturnValue_t addComponent(object_id_t object,
+	virtual ReturnValue_t addComponent(object_id_t object) {
-	        bool setTaskIF = true) {
 	    return HasReturnvaluesIF::RETURN_FAILED;
 	};
 

tasks/Typedef.h

@@ -1,7 +1,6 @@
 #ifndef FRAMEWORK_TASKS_TYPEDEF_H_
 #define FRAMEWORK_TASKS_TYPEDEF_H_
 
-//TODO more generic?
 typedef const char* TaskName;
 typedef uint8_t TaskPriority;
 typedef size_t TaskStackSize;

tmtcservices/CommandingServiceBase.cpp

@@ -126,11 +126,11 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 			&nextCommand, iter->objectId, &isStep);
 
 	/* If the child implementation does not implement special handling for
-	 * rejected replies (RETURN_FAILED is returned), a failure verification
+	 * rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a
-	 * will be generated with the reason as the return code and the initial
+	 * failure verification will be generated with the reason as the
-	 * command as failure parameter 1 */
+	 * return code and the initial command as failure parameter 1 */
-	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
+	if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and
-			result == RETURN_FAILED) {
+			(result == RETURN_FAILED or result == INVALID_REPLY)) {
 	    result = reply->getReplyRejectedReason();
 	    failureParameter1 = iter->command;
 	}
@@ -230,8 +230,8 @@ void CommandingServiceBase::handleRequestQueue() {
 		address = message.getStorageId();
 		packet.setStoreAddress(address);
 
-		if (packet.getSubService() == 0
+		if ((packet.getSubService() == 0)
-				or isValidSubservice(packet.getSubService()) != RETURN_OK) {
+				or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
 			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}

tmtcservices/CommandingServiceBase.h

@@ -87,7 +87,7 @@ public:
 	 * @param opCode is unused here at the moment
 	 * @return RETURN_OK
 	 */
-	virtual ReturnValue_t performOperation(uint8_t opCode);
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
 	virtual uint16_t getIdentifier();
 
@@ -116,7 +116,7 @@ public:
 	 * Used to setup the reference of the task, that executes this component
 	 * @param task Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task);
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
 
 protected:
 	/**
@@ -173,9 +173,7 @@ protected:
 	 * This function is implemented by child services to specify how replies
 	 * to a command from another software component are handled.
 	 * @param reply
-	 * This is the reply which can be accessed via the command message
+	 * This is the reply in form of a generic read-only command message.
-	 * interface. The internal message pointer can be passed to different
-	 * command message implementations (see CommandMessageIF)
 	 * @param previousCommand
 	 * Command_t of related command
 	 * @param state [out/in]
@@ -189,10 +187,11 @@ protected:
 	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
 	 *   generate TC verification success
 	 * - @c INVALID_REPLY Calls handleUnrequestedReply
-	 * - Anything else triggers a TC verification failure. If RETURN_FAILED
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED or
-	 *   is returned and the command ID is CommandMessage::REPLY_REJECTED,
+	 * 	 INVALID_REPLY is returned and the command ID is
-	 *   a failure verification message with the reason as the error parameter
+	 * 	 CommandMessage::REPLY_REJECTED, a failure verification message with
-	 *   and the initial command as failure parameter 1.
+	 * 	 the reason as the error parameter and the initial command as
+	 * 	 failure parameter 1 is generated.
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,