Merge remote-tracking branch 'origin/gaisser_fixes_subsystem' into gaisser_fixes_subsystem

CMakeLists.txt

@@ -1,5 +1,13 @@
 cmake_minimum_required(VERSION 3.13)
 
+option(FSFW_GENERATE_SECTIONS
+    "Generate function and data sections. Required to remove unused code" ON
+)
+
+if(FSFW_GENERATE_SECTIONS)
+    option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
+endif()
+
 option(FSFW_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
 # Options to exclude parts of the FSFW from compilation.
 option(FSFW_USE_RMAP "Compile with RMAP" ON)
@@ -26,15 +34,22 @@ if(NOT OS_FSFW)
 
 endif()
 
+set(FSFW_OSAL_DEFINITION FSFW_HOST)
+
 if(${OS_FSFW} STREQUAL host)
 	set(OS_FSFW_NAME "Host")
 elseif(${OS_FSFW} STREQUAL linux)
 	set(OS_FSFW_NAME "Linux")
+	set(FSFW_OSAL_DEFINITION FSFW_LINUX)
 elseif(${OS_FSFW} STREQUAL  freertos)
 	set(OS_FSFW_NAME "FreeRTOS")
-	target_link_libraries(${LIB_FSFW_NAME} ${LIB_OS_NAME})
+	set(FSFW_OSAL_DEFINITION FSFW_FREERTOS)
+	target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        ${LIB_OS_NAME}
+	)
 elseif(${OS_FSFW} STREQUAL rtems)
 	set(OS_FSFW_NAME "RTEMS")
+    set(FSFW_OSAL_DEFINITION FSFW_RTEMS)
 else()
 	message(WARNING 
 		"Invalid operating system for FSFW specified! Setting to host.."
@@ -43,6 +58,14 @@ else()
 	set(OS_FSFW "host")
 endif()
 
+target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_OSAL_DEFINITION}
+)
+
+target_compile_definitions(${LIB_FSFW_NAME} INTERFACE
+    ${FSFW_OSAL_DEFINITION}
+)
+
 message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
 
 add_subdirectory(action)
@@ -88,6 +111,7 @@ add_subdirectory(timemanager)
 add_subdirectory(tmstorage)
 add_subdirectory(tmtcpacket)
 add_subdirectory(tmtcservices)
+add_subdirectory(unittest)
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
 # If this is not given, we include the default configuration and emit a warning.
@@ -107,6 +131,21 @@ else()
 	)
 endif()
 
+foreach(INCLUDE_PATH ${FSFW_ADDITIONAL_INC_PATH})
+    if(IS_ABSOLUTE ${INCLUDE_PATH})
+        set(CURR_ABS_INC_PATH "${FREERTOS_PATH}")
+    else()
+        get_filename_component(CURR_ABS_INC_PATH
+            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
+    endif()
+
+    if(CMAKE_VERBOSE)
+        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
+    endif()
+
+    list(APPEND FSFW_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
+endforeach()
+
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
     if(NOT DEFINED FSFW_WARNING_FLAGS)
 	   set(FSFW_WARNING_FLAGS
@@ -118,6 +157,19 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
         )
     endif()
 
+    if(FSFW_GENERATE_SECTIONS)
+        target_compile_options(${LIB_FSFW_NAME} PRIVATE
+            "-ffunction-sections"
+            "-fdata-sections"
+        )
+    endif()
+
+    if(FSFW_REMOVE_UNUSED_CODE)
+        target_link_options(${LIB_FSFW_NAME} PRIVATE
+            "Wl,--gc-sections"
+        )
+    endif()
+  
     if(FSFW_WARNING_SHADOW_LOCAL_GCC)
         list(APPEND WARNING_FLAGS "-Wshadow=local")
     endif()
@@ -132,6 +184,7 @@ endif()
 target_include_directories(${LIB_FSFW_NAME} INTERFACE 
 	${CMAKE_SOURCE_DIR}
 	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_ADD_INC_PATHS_ABS}
 )
 
 # Includes path required to compile FSFW itself as well
@@ -140,9 +193,14 @@ target_include_directories(${LIB_FSFW_NAME} INTERFACE
 target_include_directories(${LIB_FSFW_NAME} PRIVATE 
 	${CMAKE_SOURCE_DIR}
 	${FSFW_CONFIG_PATH_ABSOLUTE}
+	${FSFW_ADD_INC_PATHS_ABS}
 )
 
 target_compile_options(${LIB_FSFW_NAME} PRIVATE 
 	${FSFW_WARNING_FLAGS}
 	${COMPILER_FLAGS}
 )
+
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+    ${FSFW_ADDITIONAL_LINK_LIBS}
+)

FSFWVersion.h

@@ -3,9 +3,9 @@
 
 const char* const FSFW_VERSION_NAME = "ASTP";
 
-#define FSFW_VERSION 		0
+#define FSFW_VERSION        1
 #define	FSFW_SUBVERSION     0
-#define	FSFW_REVISION 	1
+#define	FSFW_REVISION       0
 
 
 

action/ActionHelper.cpp

@@ -147,11 +147,6 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
         return result;
     }
 
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-        ipcStore->deleteData(storeAddress);
-        return result;
-    }
-
     /* We don't need to report the objectId, as we receive REQUESTED data before the completion
     success message. True aperiodic replies need to be reported with another dedicated message. */
     ActionMessage::setDataReply(&reply, replyId, storeAddress);

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):
@@ -17,6 +17,9 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
     mutex = MutexFactory::instance()->createMutex();
 }
 
+SharedRingBuffer::~SharedRingBuffer() {
+    MutexFactory::instance()->deleteMutex(mutex);
+}
 
 void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
     this->fifoDepth = fifoDepth;

container/SharedRingBuffer.h

@@ -26,6 +26,18 @@ public:
      */
     SharedRingBuffer(object_id_t objectId, const size_t size,
             bool overwriteOld, size_t maxExcessBytes);
+    /**
+     * This constructor takes an external buffer with the specified size.
+     * @param buffer
+     * @param size
+     * @param overwriteOld
+     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
+     */
+    SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
+            bool overwriteOld, size_t maxExcessBytes);
+
+    virtual~ SharedRingBuffer();
 
     /**
      * @brief    This function can be used to add an optional FIFO to the class
@@ -37,16 +49,7 @@ public:
      */
     void setToUseReceiveSizeFIFO(size_t fifoDepth);
 
-    /**
+
-     * This constructor takes an external buffer with the specified size.
-     * @param buffer
-     * @param size
-     * @param overwriteOld
-     * If the ring buffer is overflowing at a write operartion, the oldest data
-     * will be overwritten.
-     */
-    SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
-            bool overwriteOld, size_t maxExcessBytes);
 
     /**
      * Unless a read-only constant value is read, all operations on the
@@ -66,7 +69,7 @@ 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/HkSwitchHelper.cpp

@@ -7,7 +7,7 @@ HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
 }
 
 HkSwitchHelper::~HkSwitchHelper() {
-	// TODO Auto-generated destructor stub
+    QueueFactory::instance()->deleteMessageQueue(actionQueue);
 }
 
 ReturnValue_t HkSwitchHelper::initialize() {

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;
@@ -61,11 +64,11 @@ ReturnValue_t PoolDataSetBase::read(MutexIF::TimeoutType timeoutType,
     }
     else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "DataSet::read(): Call made in wrong position. Don't forget to commit"
+        sif::warning << "PoolDataSetBase::read: Call made in wrong position. Don't forget to "
-                " member datasets!" << std::endl;
+                "commit member datasets!" << std::endl;
 #else
-        sif::printError("DataSet::read(): Call made in wrong position. Don't forget to commit"
+        sif::printWarning("PoolDataSetBase::read: Call made in wrong position. Don't forget to "
-                " member datasets!\n");
+                "commit member datasets!\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
         result = SET_WAS_ALREADY_READ;
     }

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";
@@ -871,33 +909,32 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
 			errorPrint = "Unknown error";
 		}
 	}
+	object_id_t objectId = 0xffffffff;
+	if(owner != nullptr) {
+	    objectId = owner->getObjectId();
+	}
 
 	if(outputType == sif::OutputTypes::OUT_WARNING) {
-#if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::warning << "LocalDataPoolManager::" << functionName
+		sif::warning << "LocalDataPoolManager::" << functionName << ": Object ID 0x" <<
-				<< ": Object ID 0x" << std::setw(8) << std::setfill('0')
+		        std::setw(8) << std::setfill('0') << std::hex << objectId << " | " << errorPrint <<
-				<< std::hex << owner->getObjectId() << " | " << errorPrint
+		        std::dec << std::setfill(' ') << std::endl;
-				<< std::dec << std::setfill(' ') << std::endl;
 #else
 		sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
-				functionName, owner->getObjectId(), errorPrint);
+				functionName, objectId, 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
+		sif::error << "LocalDataPoolManager::" << functionName << ": Object ID 0x" <<
-				<< ": Object ID 0x" << std::setw(8) << std::setfill('0')
+		        std::setw(8) << std::setfill('0') << std::hex << objectId << " | " << errorPrint <<
-				<< std::hex << owner->getObjectId() << " | " << errorPrint
+		        std::dec << std::setfill(' ') << std::endl;
-				<< std::dec << std::setfill(' ') << std::endl;
 #else
 		sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
-				functionName, owner->getObjectId(), errorPrint);
+				functionName, objectId, 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);
     }
 };

defaultcfg/fsfwconfig/FSFWConfig.h

@@ -40,6 +40,13 @@
 //! Specify whether a special mode store is used for Subsystem components.
 #define FSFW_USE_MODESTORE          0
 
+//! Defines if the real time scheduler for linux should be used.
+//! If set to 0, this will also disable priority settings for linux
+//! as most systems will not allow to set nice values without privileges
+//! For embedded linux system set this to 1.
+//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
+#define FSFW_USE_REALTIME_FOR_LINUX 1
+
 namespace fsfwconfig {
 //! Default timestamp size. The default timestamp will be an eight byte CDC
 //! short timestamp.
@@ -52,11 +59,12 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
-//! simulataneously. This will increase the required RAM for
+//! simultaneously. This will increase the required RAM for
 //! each CSB service !
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
+
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

devicehandlers/DeviceHandlerBase.cpp

@@ -1483,7 +1483,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
         if(errorCode == ObjectManagerIF::CHILD_INIT_FAILED) {
             errorPrint = "Initialization error";
         }
-        if(errorCode == HasReturnvaluesIF::RETURN_FAILED) {
+        else if(errorCode == HasReturnvaluesIF::RETURN_FAILED) {
             if(errorType == sif::OutputTypes::OUT_WARNING) {
                 errorPrint = "Generic Warning";
             }
@@ -1495,6 +1495,9 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
             errorPrint = "Unknown error";
         }
     }
+    if(functionName == nullptr) {
+        functionName = "unknown function";
+    }
 
     if(errorType == sif::OutputTypes::OUT_WARNING) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -1504,7 +1507,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
                 << std::setfill(' ') << std::endl;
 #else
         sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
-                this->getObjectId(), errorPrint);
+                functionName, this->getObjectId(), errorPrint);
 #endif
     }
     else if(errorType == sif::OutputTypes::OUT_ERROR) {
@@ -1515,7 +1518,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
                 << std::setfill(' ') << std::endl;
 #else
         sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
-                this->getObjectId(), errorPrint);
+                functionName, this->getObjectId(), errorPrint);
 #endif
     }
 

devicehandlers/HealthDevice.cpp

@@ -16,9 +16,9 @@ ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
 	CommandMessage command;
 	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		healthHelper.handleHealthCommand(&command);
+		result = healthHelper.handleHealthCommand(&command);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
+	return result;
 }
 
 ReturnValue_t HealthDevice::initialize() {

events/EventMessage.cpp

@@ -109,6 +109,6 @@ bool EventMessage::isClearedEventMessage() {
 	return getEvent() == INVALID_EVENT;
 }
 
-size_t EventMessage::getMinimumMessageSize() {
+size_t EventMessage::getMinimumMessageSize() const {
 	return EVENT_MESSAGE_SIZE;
 }

events/EventMessage.h

@@ -45,7 +45,7 @@ public:
 
 protected:
 	static const Event INVALID_EVENT = 0;
-	virtual size_t getMinimumMessageSize();
+	virtual size_t getMinimumMessageSize() const override;
 
 };
 

globalfunctions/arrayprinter.cpp

@@ -51,7 +51,7 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
 #else
     // General format: 0x01, 0x02, 0x03 so it is number of chars times 6
     // plus line break plus small safety margin.
-    char printBuffer[(size + 1) * 7 + 1];
+    char printBuffer[(size + 1) * 7 + 1] = {};
     size_t currentPos = 0;
     for(size_t i = 0; i < size; i++) {
         // To avoid buffer overflows.
@@ -67,7 +67,9 @@ 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
 }
 
@@ -92,7 +94,7 @@ void arrayprinter::printDec(const uint8_t *data, size_t size,
 #else
     // General format: 32, 243, -12 so it is number of chars times 5
     // plus line break plus small safety margin.
-    char printBuffer[(size + 1) * 5 + 1];
+    char printBuffer[(size + 1) * 5 + 1] = {};
     size_t currentPos = 0;
     for(size_t i = 0; i < size; i++) {
         // To avoid buffer overflows.
@@ -108,7 +110,9 @@ 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;
@@ -58,35 +58,51 @@ 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,
+	ReturnValue_t result = SerializeAdapter::serialize(&count,
 			&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+	    sif::warning << "HealthTable::printAll: Serialization of health table failed" << std::endl;
+#else
+	    sif::printWarning("HealthTable::printAll: Serialization of health table failed\n");
+#endif
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+	    return;
+	}
 	for (const auto& health: healthMap) {
-		SerializeAdapter::serialize(&health.first,
+		result = SerializeAdapter::serialize(&health.first,
 				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    return;
+		}
 		uint8_t healthValue = health.second;
-		SerializeAdapter::serialize(&healthValue, &pointer, &size,
+		result = SerializeAdapter::serialize(&healthValue, &pointer, &size,
 				maxSize, SerializeIF::Endianness::BIG);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return;
+        }
 	}
 }
 
 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();
 	}
 	if (mapIterator == healthMap.end()) {
-		result = HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	*value = *mapIterator;
 	mapIterator++;

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;

internalError/InternalErrorReporter.cpp

@@ -3,6 +3,7 @@
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
 #include "../serviceinterface/ServiceInterface.h"
+#include "../datapool/PoolReadGuard.h"
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId,
         uint32_t messageQueueDepth): SystemObject(setObjectId),
@@ -23,13 +24,17 @@ void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
 }
 
 ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
-    internalErrorDataset.read(timeoutType, timeoutMs);
+    CommandMessage message;
+    ReturnValue_t result = commandQueue->receiveMessage(&message);
+    if(result != MessageQueueIF::EMPTY) {
+        poolManager.handleHousekeepingMessage(&message);
+    }
 
     uint32_t newQueueHits = getAndResetQueueHits();
     uint32_t newTmHits = getAndResetTmHits();
     uint32_t newStoreHits = getAndResetStoreHits();
 
-#if FSFW_VERBOSE_LEVEL == 1
+#if FSFW_VERBOSE_LEVEL >= 1
     if(diagnosticPrintout) {
         if((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -48,19 +53,17 @@ ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
     }
 #endif
 
+    {
+        PoolReadGuard readGuard(&internalErrorDataset);
+        if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
             internalErrorDataset.queueHits.value += newQueueHits;
             internalErrorDataset.storeHits.value += newStoreHits;
             internalErrorDataset.tmHits.value += newTmHits;
             internalErrorDataset.setValidity(true, true);
-	internalErrorDataset.commit(timeoutType, timeoutMs);
+        }
+    }
 
     poolManager.performHkOperation();
-
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
-	if(result != MessageQueueIF::EMPTY) {
-	    poolManager.handleHousekeepingMessage(&message);
-	}
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -155,14 +158,11 @@ MessageQueueId_t InternalErrorReporter::getCommandQueue() const {
 
 ReturnValue_t InternalErrorReporter::initializeLocalDataPool(
         localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(errorPoolIds::TM_HITS,
+    localDataPoolMap.emplace(errorPoolIds::TM_HITS, new PoolEntry<uint32_t>());
-            new PoolEntry<uint32_t>());
+    localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS, new PoolEntry<uint32_t>());
-    localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS,
+    localDataPoolMap.emplace(errorPoolIds::STORE_HITS, new PoolEntry<uint32_t>());
-            new PoolEntry<uint32_t>());
+    poolManager.subscribeForPeriodicPacket(internalErrorSid, false, getPeriodicOperationFrequency(),
-    localDataPoolMap.emplace(errorPoolIds::STORE_HITS,
+            true);
-            new PoolEntry<uint32_t>());
-    poolManager.subscribeForPeriodicPacket(internalErrorSid, false,
-            getPeriodicOperationFrequency(), true);
     internalErrorDataset.setValidity(true, true);
     return HasReturnvaluesIF::RETURN_OK;
 }

internalError/InternalErrorReporter.h

@@ -17,7 +17,8 @@
  * All functions were kept virtual so this class can be extended easily
  * to store custom internal errors (e.g. communication interface errors).
  */
-class InternalErrorReporter: public SystemObject,
+class InternalErrorReporter:
+        public SystemObject,
         public ExecutableObjectIF,
         public InternalErrorReporterIF,
         public HasLocalDataPoolIF {

ipc/MessageQueueIF.h

@@ -27,7 +27,7 @@ public:
 	//! Returned if a reply method was called without partner
 	static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
 	//! Returned if the target destination is invalid.
-	static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
+	static constexpr ReturnValue_t DESTINATION_INVALID = MAKE_RETURN_CODE(4);
 
 	virtual ~MessageQueueIF() {}
 	/**

ipc/MessageQueueMessage.cpp

@@ -86,3 +86,7 @@ size_t MessageQueueMessage::getMaximumMessageSize() const {
     return this->MAX_MESSAGE_SIZE;
 }
 
+size_t MessageQueueMessage::getMaximumDataSize() const {
+    return this->MAX_DATA_SIZE;
+}
+

ipc/MessageQueueMessage.h

@@ -139,6 +139,7 @@ public:
 	virtual void setMessageSize(size_t messageSize) override;
 	virtual size_t getMinimumMessageSize() const override;
 	virtual size_t getMaximumMessageSize() const override;
+	virtual size_t getMaximumDataSize() const override;
 
 	/**
 	 * @brief	This is a debug method that prints the content.

ipc/MessageQueueMessageIF.h

@@ -72,6 +72,7 @@ public:
     virtual void setMessageSize(size_t messageSize) = 0;
     virtual size_t getMinimumMessageSize() const = 0;
     virtual size_t getMaximumMessageSize() const = 0;
+    virtual size_t getMaximumDataSize() const = 0;
 
 };
 

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

@@ -10,10 +10,9 @@ elseif(${OS_FSFW} STREQUAL "host")
     if (WIN32)
         add_subdirectory(windows)
     elseif(UNIX)
-		target_sources(${LIB_FSFW_NAME}
+        # We still need to pull in some Linux specific sources
-			PUBLIC
+        target_sources(${LIB_FSFW_NAME} PUBLIC
-				linux/TcUnixUdpPollingTask.cpp
+            linux/tcpipHelpers.cpp
-				linux/TmTcUnixUdpBridge.cpp
         )
     endif ()
 
@@ -32,3 +31,5 @@ else()
     endif()
 
 endif()
+
+add_subdirectory(common)

osal/FreeRTOS/Clock.cpp

@@ -111,7 +111,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 
 ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
         timeval* to) {
-    struct tm time_tm;
+    struct tm time_tm = {};
 
     time_tm.tm_year = from->year - 1900;
     time_tm.tm_mon = from->month - 1;

osal/FreeRTOS/MessageQueue.cpp

@@ -135,7 +135,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	QueueHandle_t destination = nullptr;
 
 	if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
-		return MessageQueueIF::DESTINVATION_INVALID;
+		return MessageQueueIF::DESTINATION_INVALID;
 	}
 	else  {
 		destination = reinterpret_cast<QueueHandle_t>(sendTo);

osal/common/CMakeLists.txt

@@ -0,0 +1,16 @@
+if(DEFINED WIN32 OR DEFINED UNIX)
+    target_sources(${LIB_FSFW_NAME} PRIVATE 
+        tcpipCommon.cpp
+        TcpIpBase.cpp
+        UdpTcPollingTask.cpp
+        UdpTmTcBridge.cpp
+        TcpTmTcServer.cpp
+    )
+endif()
+
+if(WIN32)
+    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
+        wsock32 
+        ws2_32
+    )
+endif()

osal/common/TcpIpBase.cpp

@@ -0,0 +1,54 @@
+#include "TcpIpBase.h"
+
+#ifdef __unix__
+
+#include <errno.h>
+#include <unistd.h>
+
+#endif
+
+TcpIpBase::TcpIpBase() {
+
+}
+
+ReturnValue_t TcpIpBase::initialize() {
+#ifdef _WIN32
+    /* 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;
+    }
+#endif
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+TcpIpBase::~TcpIpBase() {
+    closeSocket(serverSocket);
+#ifdef _WIN32
+    WSACleanup();
+#endif
+}
+
+int TcpIpBase::closeSocket(socket_t socket) {
+#ifdef _WIN32
+    return closesocket(socket);
+#elif defined(__unix__)
+    return close(socket);
+#endif
+}
+
+int TcpIpBase::getLastSocketError() {
+#ifdef _WIN32
+    return WSAGetLastError();
+#elif defined(__unix__)
+    return errno;
+#endif
+}
+

osal/common/TcpIpBase.h

@@ -0,0 +1,50 @@
+#ifndef FSFW_OSAL_COMMON_TCPIPIF_H_
+#define FSFW_OSAL_COMMON_TCPIPIF_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#ifdef _WIN32
+
+#include <winsock2.h>
+
+#elif defined(__unix__)
+
+#include <sys/socket.h>
+
+#endif
+
+class TcpIpBase {
+protected:
+
+#ifdef _WIN32
+    static constexpr int SHUT_RECV = SD_RECEIVE;
+    static constexpr int SHUT_SEND = SD_SEND;
+    static constexpr int SHUT_BOTH = SD_BOTH;
+
+    using socket_t = SOCKET;
+#elif defined(__unix__)
+    using socket_t = int;
+
+    static constexpr int INVALID_SOCKET = -1;
+    static constexpr int SOCKET_ERROR = -1;
+
+    static constexpr int SHUT_RECV = SHUT_RD;
+    static constexpr int SHUT_SEND = SHUT_WR;
+    static constexpr int SHUT_BOTH = SHUT_RDWR;
+#endif
+
+    TcpIpBase();
+    virtual ~TcpIpBase();
+
+    ReturnValue_t initialize();
+
+    int closeSocket(socket_t socket);
+
+    int getLastSocketError();
+
+    socket_t serverSocket = 0;
+
+};
+
+
+#endif /* FSFW_OSAL_COMMON_TCPIPIF_H_ */

osal/common/TcpTmTcServer.cpp

@@ -0,0 +1,132 @@
+#include "TcpTmTcServer.h"
+#include "tcpipHelpers.h"
+#include "../../serviceinterface/ServiceInterface.h"
+
+#ifdef _WIN32
+#include <winsock2.h>
+#include <ws2tcpip.h>
+
+#elif defined(__unix__)
+
+#include <netdb.h>
+
+#endif
+
+const std::string TcpTmTcServer::DEFAULT_TCP_SERVER_PORT =  "7301";
+const std::string TcpTmTcServer::DEFAULT_TCP_CLIENT_PORT =  "7302";
+
+TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+        std::string customTcpServerPort):
+        SystemObject(objectId), tcpPort(customTcpServerPort) {
+    if(tcpPort == "") {
+        tcpPort = DEFAULT_TCP_SERVER_PORT;
+    }
+}
+
+ReturnValue_t TcpTmTcServer::initialize() {
+    using namespace tcpip;
+
+    ReturnValue_t result = TcpIpBase::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    int retval = 0;
+    struct addrinfo *addrResult = nullptr;
+    struct addrinfo 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::TcpTmTcServer: 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::TcpTmTcServer: Binding socket failed!" <<
+                std::endl;
+#endif
+        freeaddrinfo(addrResult);
+        handleError(Protocol::TCP, ErrorSources::BIND_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    freeaddrinfo(addrResult);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+TcpTmTcServer::~TcpTmTcServer() {
+    closeSocket(listenerTcpSocket);
+}
+
+ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
+    using namespace tcpip;
+    /* If a connection is accepted, the corresponding socket will be assigned to the new socket */
+    socket_t clientSocket = 0;
+    sockaddr clientSockAddr = {};
+    socklen_t 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, &clientSockAddr, &connectorSockAddrLen);
+
+        if(clientSocket == INVALID_SOCKET) {
+            handleError(Protocol::TCP, ErrorSources::ACCEPT_CALL, 500);
+            closeSocket(clientSocket);
+            continue;
+        };
+
+        retval = recv(clientSocket, reinterpret_cast<char*>(receptionBuffer.data()),
+                receptionBuffer.size(), 0);
+        if(retval > 0) {
+#if FSFW_TCP_RCV_WIRETAPPING_ENABLED == 1
+            sif::info << "TcpTmTcServer::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, SHUT_SEND);
+        closeSocket(clientSocket);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+

osal/common/TcpTmTcServer.h

@@ -0,0 +1,53 @@
+#ifndef FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
+#define FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_
+
+#include "TcpIpBase.h"
+#include "../../objectmanager/SystemObject.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+#ifdef __unix__
+#include <sys/socket.h>
+#endif
+
+#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 TcpTmTcServer:
+        public SystemObject,
+        public TcpIpBase,
+        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;
+
+    TcpTmTcServer(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+            std::string customTcpServerPort = "");
+    virtual~ TcpTmTcServer();
+
+    ReturnValue_t initialize() override;
+    ReturnValue_t performOperation(uint8_t opCode) override;
+
+private:
+
+    std::string tcpPort;
+    socket_t listenerTcpSocket = 0;
+    struct sockaddr tcpAddress;
+    int tcpAddrLen = sizeof(tcpAddress);
+    int currentBacklog = 3;
+
+    std::vector<uint8_t> receptionBuffer;
+    int tcpSockOpt = 0;
+
+
+};
+
+#endif /* FSFW_OSAL_WINDOWS_TCWINTCPSERVER_H_ */

osal/common/UdpTcPollingTask.cpp

@@ -0,0 +1,180 @@
+#include "UdpTcPollingTask.h"
+#include "tcpipHelpers.h"
+#include "../../globalfunctions/arrayprinter.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+#ifdef _WIN32
+
+#include <winsock2.h>
+
+#else
+
+#include <sys/types.h>
+#include <sys/socket.h>
+
+#endif
+
+//! Debugging preprocessor define.
+#define FSFW_UDP_RECV_WIRETAPPING_ENABLED    0
+
+UdpTcPollingTask::UdpTcPollingTask(object_id_t objectId,
+        object_id_t tmtcUnixUdpBridge, size_t maxRecvSize,
+        double timeoutSeconds): SystemObject(objectId),
+        tmtcBridgeId(tmtcUnixUdpBridge) {
+    if(frameSize > 0) {
+        this->frameSize = frameSize;
+    }
+    else {
+        this->frameSize = DEFAULT_MAX_RECV_SIZE;
+    }
+
+    /* Set up reception buffer with specified frame size.
+	For now, it is assumed that only one frame is held in the buffer! */
+    receptionBuffer.reserve(this->frameSize);
+    receptionBuffer.resize(this->frameSize);
+
+    if(timeoutSeconds == -1) {
+        receptionTimeout = DEFAULT_TIMEOUT;
+    }
+    else {
+        receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
+    }
+}
+
+UdpTcPollingTask::~UdpTcPollingTask() {}
+
+ReturnValue_t UdpTcPollingTask::performOperation(uint8_t opCode) {
+    /* Sender Address is cached here. */
+    struct sockaddr senderAddress;
+    socklen_t senderAddressSize = sizeof(senderAddress);
+
+    /* Poll for new UDP datagrams in permanent loop. */
+    while(true) {
+        int bytesReceived = recvfrom(
+                this->serverSocket,
+                reinterpret_cast<char*>(receptionBuffer.data()),
+                frameSize,
+                receptionFlags,
+                &senderAddress,
+                &senderAddressSize
+        );
+        if(bytesReceived == SOCKET_ERROR) {
+            /* Handle error */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "UdpTcPollingTask::performOperation: Reception error." << std::endl;
+#endif
+            tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::RECVFROM_CALL, 1000);
+            continue;
+        }
+#if FSFW_UDP_RECV_WIRETAPPING_ENABLED == 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::debug << "UdpTcPollingTask::performOperation: " << bytesReceived <<
+                " bytes received" << std::endl;
+#else
+#endif
+#endif /* FSFW_UDP_RCV_WIRETAPPING_ENABLED == 1 */
+
+        ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
+        if(result != HasReturnvaluesIF::RETURN_FAILED) {
+
+        }
+        tmtcBridge->checkAndSetClientAddress(senderAddress);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t UdpTcPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
+    store_address_t storeId;
+
+#if FSFW_UDP_RECV_WIRETAPPING_ENABLED == 1
+    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::warning<< "UdpTcPollingTask::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;
+    }
+
+    TmTcMessage message(storeId);
+
+    result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "UdpTcPollingTask::handleSuccessfullTcRead: "
+                " Sending message to queue failed" << std::endl;
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        tcStore->deleteData(storeId);
+    }
+    return result;
+}
+
+ReturnValue_t UdpTcPollingTask::initialize() {
+    tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+    if (tcStore == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "UdpTcPollingTask::initialize: TC store uninitialized!" << std::endl;
+#endif
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+
+    tmtcBridge = objectManager->get<UdpTmTcBridge>(tmtcBridgeId);
+    if(tmtcBridge == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "UdpTcPollingTask::initialize: Invalid TMTC bridge object!" <<
+                std::endl;
+#endif
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+
+    ReturnValue_t result = TcpIpBase::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t UdpTcPollingTask::initializeAfterTaskCreation() {
+    /* Initialize the destination after task creation. This ensures
+	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 regardless of which class was initialized first */
+    this->serverSocket = tmtcBridge->serverSocket;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void UdpTcPollingTask::setTimeout(double timeoutSeconds) {
+#ifdef _WIN32
+    DWORD timeoutMs = timeoutSeconds * 1000.0;
+    int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO,
+            reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
+    if(result == -1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting "
+                "receive timeout failed with " << strerror(errno) << std::endl;
+#endif
+    }
+#elif defined(__unix__)
+    timeval tval;
+    tval = timevalOperations::toTimeval(timeoutSeconds);
+    int result = setsockopt(serverSocket, SOL_SOCKET, SO_RCVTIMEO,
+            &tval, sizeof(receptionTimeout));
+    if(result == -1) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
+                "receive timeout failed with " << strerror(errno) << std::endl;
+#endif
+    }
+#endif
+}

osal/common/UdpTcPollingTask.h

@@ -1,7 +1,7 @@
 #ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
 #define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
 
-#include "TmTcWinUdpBridge.h"
+#include "UdpTmTcBridge.h"
 #include "../../objectmanager/SystemObject.h"
 #include "../../tasks/ExecutableObjectIF.h"
 #include "../../storagemanager/StorageManagerIF.h"
@@ -9,25 +9,22 @@
 #include <vector>
 
 /**
- * @brief 	This class can be used to implement the polling of a Unix socket,
+ * @brief   This class should be used with the UdpTmTcBridge to implement a UDP server
- * 			using UDP for now.
+ *          for receiving and sending PUS TMTC.
- * @details
- * The task will be blocked while the specified number of bytes has not been
- * received, so TC reception is handled inside a separate task.
- * This class caches the IP address of the sender. It is assumed there
- * is only one sender for now.
  */
-class TcWinUdpPollingTask: public SystemObject,
+class UdpTcPollingTask:
+        public TcpIpBase,
+        public SystemObject,
 		public ExecutableObjectIF {
 	friend class TmTcWinUdpBridge;
 public:
-	static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
+	static constexpr size_t DEFAULT_MAX_RECV_SIZE = 1500;
 	//! 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,
+	UdpTcPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
-			size_t frameSize = 0, double timeoutSeconds = -1);
+			size_t maxRecvSize = 0, double timeoutSeconds = -1);
-	virtual~ TcWinUdpPollingTask();
+	virtual~ UdpTcPollingTask();
 
 	/**
 	 * Turn on optional timeout for UDP polling. In the default mode,
@@ -46,14 +43,11 @@ protected:
 private:
 	//! TMTC bridge is cached.
 	object_id_t tmtcBridgeId = objects::NO_OBJECT;
-	TmTcWinUdpBridge* tmtcBridge = nullptr;
+	UdpTmTcBridge* tmtcBridge = nullptr;
 	MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
-	//! Reception flags: https://linux.die.net/man/2/recvfrom.
-	int receptionFlags = 0;
 
-	//! Server socket, which is member of TMTC bridge and is assigned in
+	//! See: https://docs.microsoft.com/en-us/windows/win32/api/winsock/nf-winsock-recvfrom
-	//! constructor
+	int receptionFlags = 0;
-	SOCKET serverUdpSocket = 0;
 
 	std::vector<uint8_t> receptionBuffer;
 
@@ -61,7 +55,6 @@ private:
 	timeval receptionTimeout;
 
 	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
-	void handleReadError();
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

osal/common/UdpTmTcBridge.cpp

@@ -0,0 +1,174 @@
+#include "tcpipHelpers.h"
+
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/ipc/MutexGuard.h>
+#include <fsfw/osal/common/UdpTmTcBridge.h>
+
+#ifdef _WIN32
+
+#include <ws2tcpip.h>
+
+#elif defined(__unix__)
+
+#include <netdb.h>
+#include <arpa/inet.h>
+
+#endif
+
+//! Debugging preprocessor define.
+#define FSFW_UDP_SEND_WIRETAPPING_ENABLED    0
+
+const std::string UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT =  tcpip::DEFAULT_SERVER_PORT;
+
+UdpTmTcBridge::UdpTmTcBridge(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;
+}
+
+ReturnValue_t UdpTmTcBridge::initialize() {
+    ReturnValue_t result = TmTcBridge::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "TmTcUdpBridge::initialize: TmTcBridge initialization failed!"
+                << std::endl;
+#endif
+        return result;
+    }
+
+
+#ifdef _WIN32
+    /* 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 << "TmTcUdpBridge::TmTcUdpBridge: WSAStartup failed with error: " <<
+                err << std::endl;
+#else
+        sif::printError("TmTcUdpBridge::TmTcUdpBridge: WSAStartup failed with error: %d\n",
+                err);
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+#endif
+
+    struct addrinfo *addrResult = nullptr;
+    struct addrinfo 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://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 << "TmTcUdpBridge::TmTcUdpBridge: Retrieving address info failed!" <<
+                std::endl;
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+    serverSocket = socket(addrResult->ai_family, addrResult->ai_socktype, addrResult->ai_protocol);
+    if(serverSocket == INVALID_SOCKET) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TmTcUdpBridge::TmTcUdpBridge: Could not open UDP socket!" <<
+                std::endl;
+#endif
+        freeaddrinfo(addrResult);
+        tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SOCKET_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
+    tcpip::printAddress(addrResult->ai_addr);
+#endif
+
+    retval = bind(serverSocket, addrResult->ai_addr, static_cast<int>(addrResult->ai_addrlen));
+    if(retval != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "TmTcUdpBridge::TmTcUdpBridge: Could not bind "
+                "local port (" << udpServerPort << ") to server socket!" << std::endl;
+#endif
+        freeaddrinfo(addrResult);
+        tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::BIND_CALL);
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    freeaddrinfo(addrResult);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+UdpTmTcBridge::~UdpTmTcBridge() {
+    if(mutex != nullptr) {
+        MutexFactory::instance()->deleteMutex(mutex);
+    }
+}
+
+ReturnValue_t UdpTmTcBridge::sendTm(const uint8_t *data, size_t dataLen) {
+    int flags = 0;
+
+    /* The target address can be set by different threads so this lock ensures thread-safety */
+    MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
+
+#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
+    tcpip::printAddress(&clientAddress);
+#endif
+
+    int bytesSent = sendto(
+            serverSocket,
+            reinterpret_cast<const char*>(data),
+            dataLen,
+            flags,
+            &clientAddress,
+            clientAddressLen
+    );
+    if(bytesSent == SOCKET_ERROR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TmTcUdpBridge::sendTm: Send operation failed." << std::endl;
+#endif
+        tcpip::handleError(tcpip::Protocol::UDP, tcpip::ErrorSources::SENDTO_CALL);
+    }
+#if FSFW_CPP_OSTREAM_ENABLED == 1 && FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
+    sif::debug << "TmTcUdpBridge::sendTm: " << bytesSent << " bytes were"
+            " sent." << std::endl;
+#endif
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void UdpTmTcBridge::checkAndSetClientAddress(sockaddr& newAddress) {
+    /* The target address can be set by different threads so this lock ensures thread-safety */
+    MutexGuard lock(mutex, timeoutType, mutexTimeoutMs);
+
+#if FSFW_UDP_SEND_WIRETAPPING_ENABLED == 1
+    tcpip::printAddress(&newAddress);
+    tcpip::printAddress(&clientAddress);
+#endif
+
+    registerCommConnect();
+
+    /* Set new IP address to reply to */
+    clientAddress = newAddress;
+    clientAddressLen = sizeof(clientAddress);
+}
+
+void UdpTmTcBridge::setMutexProperties(MutexIF::TimeoutType timeoutType,
+        dur_millis_t timeoutMs) {
+    this->timeoutType = timeoutType;
+    this->mutexTimeoutMs = timeoutMs;
+}

osal/common/UdpTmTcBridge.h

@@ -0,0 +1,60 @@
+#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
+#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
+
+#include "TcpIpBase.h"
+#include "../../tmtcservices/TmTcBridge.h"
+
+#ifdef _WIN32
+
+#include <ws2tcpip.h>
+
+#elif defined(__unix__)
+
+#include <sys/socket.h>
+
+#endif
+
+#include <string>
+
+/**
+ * @brief   This class should be used with the UdpTcPollingTask to implement a UDP server
+ *          for receiving and sending PUS TMTC.
+ */
+class UdpTmTcBridge:
+        public TmTcBridge,
+        public TcpIpBase {
+    friend class UdpTcPollingTask;
+public:
+    /* The ports chosen here should not be used by any other process. */
+    static const std::string DEFAULT_UDP_SERVER_PORT;
+
+    UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
+            object_id_t tmStoreId, object_id_t tcStoreId, std::string udpServerPort = "");
+    virtual~ UdpTmTcBridge();
+
+    /**
+     * Set properties of internal mutex.
+     */
+    void setMutexProperties(MutexIF::TimeoutType timeoutType, dur_millis_t timeoutMs);
+
+    ReturnValue_t initialize() override;
+
+    void checkAndSetClientAddress(sockaddr& clientAddress);
+
+protected:
+    virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
+
+private:
+    std::string udpServerPort;
+
+    struct sockaddr clientAddress;
+    socklen_t clientAddressLen = 0;
+
+    //! Access to the client address is mutex protected as it is set by another task.
+    MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+    dur_millis_t mutexTimeoutMs = 20;
+    MutexIF* mutex;
+};
+
+#endif /* FSFW_OSAL_HOST_TMTCWINUDPBRIDGE_H_ */
+

osal/common/tcpipCommon.cpp

@@ -0,0 +1,75 @@
+#include "tcpipCommon.h"
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#ifdef _WIN32
+#include <ws2tcpip.h>
+#endif
+
+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";
+    }
+}
+
+void tcpip::printAddress(struct sockaddr* addr) {
+    char ipAddress[INET6_ADDRSTRLEN] = {};
+    const char* stringPtr = NULL;
+    switch(addr->sa_family) {
+    case AF_INET: {
+        struct sockaddr_in *addrIn = reinterpret_cast<struct sockaddr_in*>(addr);
+        stringPtr = inet_ntop(AF_INET, &(addrIn->sin_addr), ipAddress, INET_ADDRSTRLEN);
+        break;
+    }
+    case AF_INET6: {
+        struct sockaddr_in6 *addrIn = reinterpret_cast<struct sockaddr_in6*>(addr);
+        stringPtr = inet_ntop(AF_INET6, &(addrIn->sin6_addr), ipAddress, INET6_ADDRSTRLEN);
+        break;
+    }
+    }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(stringPtr == NULL) {
+        sif::debug << "Could not convert IP address to text representation, error code "
+                << errno << std::endl;
+    }
+    else {
+        sif::debug << "IP Address Sender: " <<  ipAddress << std::endl;
+    }
+#else
+    if(stringPtr == NULL) {
+        sif::printDebug("Could not convert IP address to text representation, error code %d\n",
+                errno);
+    }
+    else {
+        sif::printDebug("IP Address Sender: %s\n", ipAddress);
+    }
+#endif
+}

osal/common/tcpipCommon.h

@@ -0,0 +1,42 @@
+#ifndef FSFW_OSAL_COMMON_TCPIPCOMMON_H_
+#define FSFW_OSAL_COMMON_TCPIPCOMMON_H_
+
+#include "../../timemanager/clockDefinitions.h"
+#include <string>
+
+#ifdef _WIN32
+#include <winsock2.h>
+#else
+#include <netdb.h>
+#include <arpa/inet.h>
+#endif
+
+namespace tcpip {
+
+const char* const DEFAULT_SERVER_PORT = "7301";
+
+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);
+
+void printAddress(struct sockaddr* addr);
+
+}
+
+#endif /* FSFW_OSAL_COMMON_TCPIPCOMMON_H_ */

osal/common/tcpipHelpers.h

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

osal/host/CMakeLists.txt

@@ -10,6 +10,7 @@ target_sources(${LIB_FSFW_NAME}
 		QueueMapManager.cpp
 		SemaphoreFactory.cpp
 		TaskFactory.cpp
+		taskHelpers.cpp
 )
 
 if(UNIX)

osal/host/FixedTimeslotTask.cpp

@@ -1,10 +1,9 @@
+#include "taskHelpers.h"
 #include "../../osal/host/FixedTimeslotTask.h"
-
 #include "../../ipc/MutexFactory.h"
 #include "../../osal/host/Mutex.h"
 #include "../../osal/host/FixedTimeslotTask.h"
-
+#include "../../serviceinterface/ServiceInterface.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
 #include <thread>
@@ -12,6 +11,7 @@
 
 #if defined(WIN32)
 #include <windows.h>
+#include "../windows/winTaskHelpers.h"
 #elif defined(LINUX)
 #include <pthread.h>
 #endif
@@ -24,34 +24,12 @@ FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
     // It is propably possible to set task priorities by using the native
     // task handles for Windows / Linux
     mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
-#if defined(WIN32)
+#if defined(_WIN32)
-    /* List of possible priority classes:
+    tasks::setTaskPriority(reinterpret_cast<HANDLE>(mainThread.native_handle()), setPriority);
-     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+#elif defined(__unix__)
-     * nf-processthreadsapi-setpriorityclass
+    // TODO: We could reuse existing code here.
-     * And respective thread priority numbers:
-     * https://docs.microsoft.com/en-us/windows/
-     * win32/procthread/scheduling-priorities */
-    int result = SetPriorityClass(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            ABOVE_NORMAL_PRIORITY_CLASS);
-    if(result != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-#endif
-    }
-    result = SetThreadPriority(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            THREAD_PRIORITY_NORMAL);
-    if(result != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-#endif
-    }
-#elif defined(LINUX)
-    // TODO: we can just copy and paste the code from the linux OSAL here.
 #endif
+    tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
 FixedTimeslotTask::~FixedTimeslotTask(void) {
@@ -60,7 +38,6 @@ FixedTimeslotTask::~FixedTimeslotTask(void) {
     if(mainThread.joinable()) {
         mainThread.join();
     }
-    delete this;
 }
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
@@ -141,8 +118,11 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
     }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "Component " << std::hex << componentId <<
+    sif::error << "Component " << std::hex << "0x" << componentId << "not found, "
-            " not found, not adding it to pst" << std::endl;
+            "not adding it to PST.." << std::dec << std::endl;
+#else
+    sif::printError("Component 0x%08x not found, not adding it to PST..\n",
+            static_cast<unsigned int>(componentId));
 #endif
     return HasReturnvaluesIF::RETURN_FAILED;
 }

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) {
@@ -63,12 +63,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	if(messageQueue.empty()) {
 		return MessageQueueIF::EMPTY;
 	}
-	// not sure this will work..
+	MutexGuard mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
-	//*message = std::move(messageQueue.front());
+	std::copy(messageQueue.front().data(), messageQueue.front().data() + messageSize,
-	MutexHelper mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
+	        message->getBuffer());
-	MessageQueueMessage* currentMessage = &messageQueue.front();
-	std::copy(currentMessage->getBuffer(),
-			currentMessage->getBuffer() + messageSize, message->getBuffer());
 	messageQueue.pop();
 	// The last partner is the first uint32_t field in the message
 	this->lastPartner = message->getSender();
@@ -82,7 +79,7 @@ MessageQueueId_t MessageQueue::getLastPartner() const {
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
 	*count = messageQueue.size();
 	// Clears the queue.
-	messageQueue = std::queue<MessageQueueMessage>();
+	messageQueue = std::queue<std::vector<uint8_t>>();
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -108,6 +105,9 @@ bool MessageQueue::isDefaultDestinationSet() const {
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault) {
+    if(message == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 	message->setSender(sentFrom);
 	if(message->getMessageSize() > message->getMaximumMessageSize()) {
 		// Actually, this should never happen or an error will be emitted
@@ -130,21 +130,10 @@ 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);
-		        MutexIF::TimeoutType::WAITING, 20);
+		targetQueue->messageQueue.push(std::vector<uint8_t>(message->getMaximumMessageSize()));
-		// not ideal, works for now though.
+		memcpy(targetQueue->messageQueue.back().data(), message->getBuffer(),
-		MessageQueueMessage* mqmMessage =
+		        message->getMaximumMessageSize());
-				dynamic_cast<MessageQueueMessage*>(message);
-		if(message != nullptr) {
-			targetQueue->messageQueue.push(*mqmMessage);
-		}
-		else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
-					"is not MessageQueueMessage!" << std::endl;
-#endif
-		}
-
 	}
 	else {
 		return MessageQueueIF::FULL;

osal/host/MessageQueue.h

@@ -212,7 +212,7 @@ protected:
 	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
 private:
-	std::queue<MessageQueueMessage> messageQueue;
+	std::queue<std::vector<uint8_t>> messageQueue;
 	/**
 	 * @brief	The class stores the queue id it got assigned.
 	 * 			If initialization fails, the queue id is set to zero.

osal/host/MutexFactory.cpp

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

osal/host/PeriodicTask.cpp

@@ -1,5 +1,6 @@
 #include "Mutex.h"
 #include "PeriodicTask.h"
+#include "taskHelpers.h"
 
 #include "../../ipc/MutexFactory.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
@@ -10,7 +11,8 @@
 
 #if defined(WIN32)
 #include <processthreadsapi.h>
-#elif defined(LINUX)
+#include <fsfw/osal/windows/winTaskHelpers.h>
+#elif defined(__unix__)
 #include <pthread.h>
 #endif
 
@@ -19,37 +21,15 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), taskName(name), period(setPeriod),
 		deadlineMissedFunc(setDeadlineMissedFunc) {
-    // It is propably possible to set task priorities by using the native
+    // It is probably possible to set task priorities by using the native
     // task handles for Windows / Linux
 	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
-#if defined(WIN32)
+#if defined(_WIN32)
-    /* List of possible priority classes:
+	tasks::setTaskPriority(reinterpret_cast<HANDLE>(mainThread.native_handle()), setPriority);
-     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+#elif defined(__unix__)
-     * nf-processthreadsapi-setpriorityclass
+    // TODO: We could reuse existing code here.
-     * And respective thread priority numbers:
-     * https://docs.microsoft.com/en-us/windows/
-     * win32/procthread/scheduling-priorities */
-    int result = SetPriorityClass(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            ABOVE_NORMAL_PRIORITY_CLASS);
-    if(result != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-#endif
-    }
-    result = SetThreadPriority(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            THREAD_PRIORITY_NORMAL);
-    if(result != 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-#endif
-    }
-#elif defined(LINUX)
-    // we can just copy and paste the code from linux here.
 #endif
+    tasks::insertTaskName(mainThread.get_id(), taskName);
 }
 
 PeriodicTask::~PeriodicTask(void) {
@@ -58,7 +38,6 @@ PeriodicTask::~PeriodicTask(void) {
 	if(mainThread.joinable()) {
 		mainThread.join();
 	}
-	delete this;
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {

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;
 
@@ -10,6 +10,10 @@ QueueMapManager::QueueMapManager() {
     mapLock = MutexFactory::instance()->createMutex();
 }
 
+QueueMapManager::~QueueMapManager() {
+    MutexFactory::instance()->deleteMutex(mapLock);
+}
+
 QueueMapManager* QueueMapManager::instance() {
 	if (mqManagerInstance == nullptr){
 		mqManagerInstance = new QueueMapManager();
@@ -43,7 +47,7 @@ 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/QueueMapManager.h

@@ -36,6 +36,8 @@ public:
 private:
 	//! External instantiation is forbidden.
 	QueueMapManager();
+	~QueueMapManager();
+
 	uint32_t queueCounter = 0;
 	MutexIF* mapLock;
 	QueueMap queueMap;

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/host/TaskFactory.cpp

@@ -1,14 +1,16 @@
+#include "taskHelpers.h"
+#include "../../tasks/TaskFactory.h"
 #include "../../osal/host/FixedTimeslotTask.h"
 #include "../../osal/host/PeriodicTask.h"
-#include "../../tasks/TaskFactory.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
+#include "../../serviceinterface/ServiceInterface.h"
 
 #include <chrono>
 
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
 
-// Will propably not be used for hosted implementation
+// Not used for the host implementation for now because C++ thread abstraction is used
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
 
 TaskFactory::TaskFactory() {
@@ -49,8 +51,12 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
 }
 
 void TaskFactory::printMissedDeadline() {
-    /* TODO: Implement */
+    std::string name = tasks::getTaskName(std::this_thread::get_id());
-    return;
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "TaskFactory::printMissedDeadline: " << name << std::endl;
+#else
+    sif::printWarning("TaskFactory::printMissedDeadline: %s\n", name);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 }
 
 

osal/host/taskHelpers.cpp

@@ -0,0 +1,27 @@
+#include "taskHelpers.h"
+#include <map>
+#include <mutex>
+
+std::mutex nameMapLock;
+std::map<std::thread::id, std::string> taskNameMap;
+
+ReturnValue_t tasks::insertTaskName(std::thread::id threadId, std::string taskName) {
+    std::lock_guard<std::mutex> lg(nameMapLock);
+    auto returnPair = taskNameMap.emplace(threadId, taskName);
+    if(not returnPair.second) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+std::string tasks::getTaskName(std::thread::id threadId) {
+    std::lock_guard<std::mutex> lg(nameMapLock);
+    auto resultIter = taskNameMap.find(threadId);
+    if(resultIter != taskNameMap.end()) {
+        return resultIter->second;
+    }
+    else {
+        return "Unknown task";
+    }
+}
+

osal/host/taskHelpers.h

@@ -0,0 +1,16 @@
+#ifndef FSFW_OSAL_HOST_TASKHELPERS_H_
+#define FSFW_OSAL_HOST_TASKHELPERS_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <thread>
+
+namespace tasks {
+
+ReturnValue_t insertTaskName(std::thread::id threadId, std::string taskName);
+std::string getTaskName(std::thread::id threadId);
+
+}
+
+
+
+#endif /* FSFW_OSAL_HOST_TASKHELPERS_H_ */

osal/linux/CMakeLists.txt

@@ -13,9 +13,8 @@ target_sources(${LIB_FSFW_NAME}
 		QueueFactory.cpp
 		SemaphoreFactory.cpp
 		TaskFactory.cpp
-		TcUnixUdpPollingTask.cpp
-		TmTcUnixUdpBridge.cpp
 		Timer.cpp
+		tcpipHelpers.cpp
 )
 
 find_package(Threads REQUIRED)

osal/linux/MessageQueue.cpp

@@ -190,13 +190,15 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
-	}else if(status==0){
+	}
+	else if (status==0) {
 		//Success but no message received
 		return MessageQueueIF::EMPTY;
-	} else {
+	}
+	else {
 		//No message was received. Keep lastPartner anyway, I might send
 		//something later. But still, delete packet content.
-		memset(message->getData(), 0, message->getMaximumMessageSize());
+		memset(message->getData(), 0, message->getMaximumDataSize());
 		switch(errno){
 		case EAGAIN:
 			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
@@ -371,7 +373,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 					<<"mq_send to: " << sendTo << " sent from "
 					<< sentFrom << std::endl;
 #endif
-			return DESTINVATION_INVALID;
+			return DESTINATION_INVALID;
 		}
 		case EINTR:
 			//The call was interrupted by a signal.

osal/linux/PosixThread.cpp

@@ -6,7 +6,7 @@
 #include <errno.h>
 
 PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
-		thread(0),priority(priority_),stackSize(stackSize_) {
+		thread(0), priority(priority_), stackSize(stackSize_) {
     name[0] = '\0';
     std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
 }
@@ -184,8 +184,11 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 					strerror(status) << std::endl;
 #endif
 	}
-
+#ifndef FSFW_USE_REALTIME_FOR_LINUX
-	// TODO FIFO -> This needs root privileges for the process
+#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
+#endif
+#if FSFW_USE_REALTIME_FOR_LINUX == 1
+	// FIFO -> This needs root privileges for the process
 	status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
 	if(status != 0){
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -203,7 +206,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 				strerror(status) << std::endl;
 #endif
 	}
-
+#endif
 	//Set Signal Mask for suspend until startTask is called
 	sigset_t waitSignal;
 	sigemptyset(&waitSignal);
@@ -220,8 +223,16 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 	status = pthread_create(&thread,&attributes,fnc_,arg_);
 	if(status != 0){
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "Posix Thread create failed with: " <<
+		sif::error << "PosixThread::createTask: Failed with: " <<
 				strerror(status) << std::endl;
+		sif::error << "For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call " <<
+		        "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
+		        "/etc/security/limit.conf" << std::endl;
+#else
+		sif::printError("PosixThread::createTask: Create failed with: %s\n", strerror(status));
+		sif::printError("For FSFW_USE_REALTIME_FOR_LINUX == 1 make sure to call "
+		        "\"all sudo setcap 'cap_sys_nice=eip'\" on the application or set "
+                "/etc/security/limit.conf\n");
 #endif
 	}
 

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

@@ -1,158 +0,0 @@
-#include "TcUnixUdpPollingTask.h"
-#include "../../globalfunctions/arrayprinter.h"
-
-#include <errno.h>
-
-TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
-		object_id_t tmtcUnixUdpBridge, size_t frameSize,
-		double timeoutSeconds): SystemObject(objectId),
-		tmtcBridgeId(tmtcUnixUdpBridge) {
-
-	if(frameSize > 0) {
-		this->frameSize = frameSize;
-	}
-	else {
-		this->frameSize = DEFAULT_MAX_FRAME_SIZE;
-	}
-
-	// Set up reception buffer with specified frame size.
-	// For now, it is assumed that only one frame is held in the buffer!
-	receptionBuffer.reserve(this->frameSize);
-	receptionBuffer.resize(this->frameSize);
-
-	if(timeoutSeconds == -1) {
-		receptionTimeout = DEFAULT_TIMEOUT;
-	}
-	else {
-		receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
-	}
-}
-
-TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {}
-
-ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
-	// Poll for new UDP datagrams in permanent loop.
-	while(1) {
-		//! Sender Address is cached here.
-		struct sockaddr_in senderAddress;
-		socklen_t senderSockLen = 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();
-
-			continue;
-		}
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-//		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
-//				<< " bytes received" << std::endl;
-#endif
-
-		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
-		if(result != HasReturnvaluesIF::RETURN_FAILED) {
-
-		}
-		tmtcBridge->registerCommConnect();
-		tmtcBridge->checkAndSetClientAddress(senderAddress);
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
-	store_address_t storeId;
-	ReturnValue_t result = tcStore->addData(&storeId,
-			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
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	TmTcMessage message(storeId);
-
-	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "Serial Polling: Sending message to queue failed"
-				<< std::endl;
-#endif
-		tcStore->deleteData(storeId);
-	}
-	return result;
-}
-
-ReturnValue_t TcUnixUdpPollingTask::initialize() {
-	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
-	if (tcStore == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
-				<< std::endl;
-#endif
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-
-	tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
-	if(tmtcBridge == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
-				" TMTC bridge object!" << std::endl;
-#endif
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-
-	serverUdpSocket = tmtcBridge->serverSocket;
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() {
-	// Initialize the destination after task creation. This ensures
-	// that the destination will be set in the TMTC bridge.
-	targetTcDestination = tmtcBridge->getRequestQueue();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
-	timeval tval;
-	tval = timevalOperations::toTimeval(timeoutSeconds);
-	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
-			&tval, sizeof(receptionTimeout));
-	if(result == -1) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
-				"receive timeout failed with " << strerror(errno) << std::endl;
-#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

@@ -1,67 +0,0 @@
-#ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
-#define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
-
-#include "../../objectmanager/SystemObject.h"
-#include "../../osal/linux/TmTcUnixUdpBridge.h"
-#include "../../tasks/ExecutableObjectIF.h"
-
-#include <sys/socket.h>
-#include <vector>
-
-/**
- * @brief 	This class can be used to implement the polling of a Unix socket,
- * 			using UDP for now.
- * @details
- * The task will be blocked while the specified number of bytes has not been
- * received, so TC reception is handled inside a separate task.
- * This class caches the IP address of the sender. It is assumed there
- * is only one sender for now.
- */
-class TcUnixUdpPollingTask: public SystemObject,
-		public ExecutableObjectIF {
-	friend class TmTcUnixUdpBridge;
-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};
-
-	TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
-			size_t frameSize = 0, double timeoutSeconds = -1);
-	virtual~ TcUnixUdpPollingTask();
-
-	/**
-	 * Turn on optional timeout for UDP polling. In the default mode,
-	 * the receive function will block until a packet is received.
-	 * @param timeoutSeconds
-	 */
-	void setTimeout(double timeoutSeconds);
-
-	virtual ReturnValue_t performOperation(uint8_t opCode) override;
-	virtual ReturnValue_t initialize() override;
-	virtual ReturnValue_t initializeAfterTaskCreation() override;
-
-protected:
-	StorageManagerIF* tcStore = nullptr;
-
-private:
-	//! TMTC bridge is cached.
-	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;
-
-	//! Server socket, which is member of TMTC bridge and is assigned in
-	//! constructor
-	int serverUdpSocket = 0;
-
-	std::vector<uint8_t> receptionBuffer;
-
-	size_t frameSize = 0;
-	timeval receptionTimeout;
-
-	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
-	void handleReadError();
-};
-
-#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

osal/linux/TmTcUnixUdpBridge.cpp

@@ -1,206 +0,0 @@
-#include "TmTcUnixUdpBridge.h"
-#include "../../serviceinterface/ServiceInterface.h"
-#include "../../ipc/MutexHelper.h"
-
-#include <errno.h>
-#include <arpa/inet.h>
-
-
-TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
-		object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
-		uint16_t serverPort, uint16_t clientPort):
-		TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
-	mutex = MutexFactory::instance()->createMutex();
-
-	uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
-	if(serverPort != 0xFFFF) {
-		setServerPort = serverPort;
-	}
-
-	uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
-	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 < 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
-				" 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;
-	}
-}
-
-TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
-}
-
-ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
-	int flags = 0;
-
-	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
-
-	if(ipAddrAnySet){
-		clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
-		//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
-		clientAddressLen = sizeof(serverAddress);
-	}
-
-//	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,
-			reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
-	if(bytesSent < 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
-				<< std::endl;
-#endif
-		handleSendError();
-	}
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-//	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);
-
-//	char ipAddress [15];
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-//	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-//			&newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
-//	sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
-//			&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
-#endif
-
-	// Set new IP address if it has changed.
-	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
-		clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
-		clientAddressLen = sizeof(clientAddress);
-	}
-}
-
-
-void TmTcUnixUdpBridge::handleSocketError() {
-	// See: https://man7.org/linux/man-pages/man2/socket.2.html
-	switch(errno) {
-	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

@@ -1,51 +0,0 @@
-#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
-#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
-
-#include "../../tmtcservices/AcceptsTelecommandsIF.h"
-#include "../../tmtcservices/TmTcBridge.h"
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <netinet/udp.h>
-
-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
-	static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
-	static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
-
-	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);
-	virtual~ TmTcUnixUdpBridge();
-
-	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;
-
-	const int serverSocketOptions = 0;
-
-	struct sockaddr_in clientAddress;
-	socklen_t clientAddressLen = 0;
-
-	struct sockaddr_in serverAddress;
-	socklen_t serverAddressLen = 0;
-
-	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 +1,109 @@
+#include "../common/tcpipHelpers.h"
+
+#include "../../serviceinterface/ServiceInterface.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.c_str(),
+            errorSrcString.c_str(), infoString.c_str());
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+
+    if(sleepDuration > 0) {
+        TaskFactory::instance()->delayTask(sleepDuration);
+    }
+}

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/rtems/MessageQueue.cpp

@@ -61,7 +61,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	} else {
 		//No message was received. Keep lastPartner anyway, I might send something later.
 		//But still, delete packet content.
-		memset(message->getData(), 0, message->getMaximumMessageSize());
+		memset(message->getData(), 0, message->getMaximumDataSize());
 	}
 	return convertReturnCode(status);
 }

osal/windows/CMakeLists.txt

@@ -1,11 +1,4 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE 
-	PRIVATE 
+    tcpipHelpers.cpp
-		TcWinUdpPollingTask.cpp
+    winTaskHelpers.cpp
-		TmTcWinUdpBridge.cpp
-)
-
-target_link_libraries(${LIB_FSFW_NAME} 
-	PRIVATE
-		wsock32 
-		ws2_32
 )

osal/windows/TcWinUdpPollingTask.cpp

@@ -1,177 +0,0 @@
-#include "TcWinUdpPollingTask.h"
-#include "../../globalfunctions/arrayprinter.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-#include <winsock2.h>
-#include <windows.h>
-
-TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId,
-		object_id_t tmtcUnixUdpBridge, size_t frameSize,
-		double timeoutSeconds): SystemObject(objectId),
-		tmtcBridgeId(tmtcUnixUdpBridge) {
-	if(frameSize > 0) {
-		this->frameSize = frameSize;
-	}
-	else {
-		this->frameSize = DEFAULT_MAX_FRAME_SIZE;
-	}
-
-	// Set up reception buffer with specified frame size.
-	// For now, it is assumed that only one frame is held in the buffer!
-	receptionBuffer.reserve(this->frameSize);
-	receptionBuffer.resize(this->frameSize);
-
-	if(timeoutSeconds == -1) {
-		receptionTimeout = DEFAULT_TIMEOUT;
-	}
-	else {
-		receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
-	}
-}
-
-TcWinUdpPollingTask::~TcWinUdpPollingTask() {}
-
-ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
-	// Poll for new UDP datagrams in permanent loop.
-	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,
-				receptionFlags, reinterpret_cast<sockaddr*>(&senderAddress),
-				&senderAddressSize);
-		if(bytesReceived == SOCKET_ERROR) {
-			// handle error
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "TcWinUdpPollingTask::performOperation: Reception"
-					" error." << std::endl;
-#endif
-			handleReadError();
-			continue;
-		}
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		//sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived
-		//		<< " bytes received" << std::endl;
-#endif
-
-		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
-		if(result != HasReturnvaluesIF::RETURN_FAILED) {
-
-		}
-		tmtcBridge->registerCommConnect();
-		tmtcBridge->checkAndSetClientAddress(senderAddress);
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
-	store_address_t storeId;
-	ReturnValue_t result = tcStore->addData(&storeId,
-			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
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	TmTcMessage message(storeId);
-
-	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "Serial Polling: Sending message to queue failed"
-				<< std::endl;
-#endif
-		tcStore->deleteData(storeId);
-	}
-	return result;
-}
-
-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!"
-				<< std::endl;
-#endif
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-
-	tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
-	if(tmtcBridge == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
-				" TMTC bridge object!" << 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
-	// that the destination has already been set in the TMTC bridge.
-	targetTcDestination = tmtcBridge->getRequestQueue();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
-	DWORD timeoutMs = timeoutSeconds * 1000.0;
-	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
-			reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
-	if(result == -1) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting "
-				"receive timeout failed with " << strerror(errno) << std::endl;
-#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/TmTcWinUdpBridge.cpp

@@ -1,212 +0,0 @@
-#include <fsfw/ipc/MutexHelper.h>
-#include "TmTcWinUdpBridge.h"
-
-TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
-        object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
-        uint16_t serverPort, uint16_t clientPort):
-        TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
-    mutex = MutexFactory::instance()->createMutex();
-    communicationLinkUp = false;
-
-    // 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;
-    }
-
-    uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
-    if(serverPort != 0xFFFF) {
-        setServerPort = serverPort;
-    }
-
-    uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
-    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"
-                " UDP socket!" << std::endl;
-#endif
-        handleSocketError();
-        return;
-    }
-
-    serverAddress.sin_family = AF_INET;
-
-    // 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!"
-                << std::endl;
-#endif
-        handleBindError();
-    }
-}
-
-TmTcWinUdpBridge::~TmTcWinUdpBridge() {
-    WSACleanup();
-}
-
-ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
-    int flags = 0;
-
-    //clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
-    //clientAddressLen = sizeof(serverAddress);
-
-//  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,
-            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."
-                << std::endl;
-#endif
-        handleSendError();
-    }
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-//  sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
-//          " sent." << std::endl;
-#endif
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
-    MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
-
-//  char ipAddress [15];
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-//  sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-//          &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
-//  sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
-//          &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
-#endif
-    registerCommConnect();
-
-    // Set new IP address if it has changed.
-    if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
-        clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
-        clientAddressLen = sizeof(clientAddress);
-    }
-}
-
-void TmTcWinUdpBridge::handleSocketError() {
-    int errCode = WSAGetLastError();
-    switch(errCode) {
-    case(WSANOTINITIALISED): {
-#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

@@ -1,49 +0,0 @@
-#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
-#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
-
-#include "../../tmtcservices/TmTcBridge.h"
-
-#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.
-    static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
-    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,
-            uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
-    virtual~ TmTcWinUdpBridge();
-
-    void checkAndSetClientAddress(sockaddr_in clientAddress);
-
-protected:
-    virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
-
-private:
-    SOCKET serverSocket = 0;
-
-    const int serverSocketOptions = 0;
-
-    struct sockaddr_in clientAddress;
-    int clientAddressLen = 0;
-
-    struct sockaddr_in serverAddress;
-    int serverAddressLen = 0;
-
-    //! 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 "../common/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/winTaskHelpers.cpp

@@ -0,0 +1,107 @@
+#include <fsfw/osal/windows/winTaskHelpers.h>
+#include <mutex>
+
+TaskPriority tasks::makeWinPriority(PriorityClass prioClass, PriorityNumber prioNumber) {
+    return (static_cast<uint16_t>(prioClass) << 16) | static_cast<uint16_t> (prioNumber);
+}
+
+void tasks::getWinPriorityParameters(TaskPriority priority,
+        DWORD& priorityClass, int& priorityNumber) {
+    PriorityClass classInternal = static_cast<PriorityClass>(priority >> 16 & 0xff);
+    PriorityNumber numberInternal = static_cast<PriorityNumber>(priority & 0xff);
+    switch(classInternal) {
+    case(CLASS_IDLE): {
+        priorityClass = IDLE_PRIORITY_CLASS;
+        break;
+    }
+    case(CLASS_BELOW_NORMAL): {
+        priorityClass = BELOW_NORMAL_PRIORITY_CLASS;
+        break;
+    }
+    case(CLASS_NORMAL): {
+        priorityClass = NORMAL_PRIORITY_CLASS;
+        break;
+    }
+    case(CLASS_ABOVE_NORMAL): {
+        priorityClass = ABOVE_NORMAL_PRIORITY_CLASS;
+        break;
+    }
+    case(CLASS_HIGH): {
+        priorityClass = HIGH_PRIORITY_CLASS;
+        break;
+    }
+    case(CLASS_REALTIME): {
+        priorityClass = REALTIME_PRIORITY_CLASS;
+        break;
+    }
+    default: {
+        priorityClass = NORMAL_PRIORITY_CLASS;
+    }
+    }
+
+    switch(numberInternal) {
+    case(IDLE): {
+        priorityNumber = THREAD_PRIORITY_IDLE;
+        break;
+    }
+    case(LOWEST): {
+        priorityNumber = THREAD_PRIORITY_LOWEST;
+        break;
+    }
+    case(BELOW_NORMAL): {
+        priorityNumber = THREAD_PRIORITY_BELOW_NORMAL;
+        break;
+    }
+    case(NORMAL): {
+        priorityNumber = THREAD_PRIORITY_NORMAL;
+        break;
+    }
+    case(ABOVE_NORMAL): {
+        priorityNumber = THREAD_PRIORITY_ABOVE_NORMAL;
+        break;
+    }
+    case(HIGHEST): {
+        priorityNumber = THREAD_PRIORITY_HIGHEST;
+        break;
+    }
+    case(CRITICAL): {
+        priorityNumber = THREAD_PRIORITY_TIME_CRITICAL;
+        break;
+    }
+    default: {
+        priorityNumber = THREAD_PRIORITY_NORMAL;
+    }
+    }
+}
+
+ReturnValue_t tasks::setTaskPriority(HANDLE nativeHandle, TaskPriority priority) {
+    /* List of possible priority classes:
+    https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/nf-processthreadsapi-setpriorityclass
+    And respective thread priority numbers:
+    https://docs.microsoft.com/en-us/windows/win32/procthread/scheduling-priorities
+    */
+    DWORD dwPriorityClass = 0;
+    int nPriorityNumber = 0;
+    tasks::getWinPriorityParameters(priority, dwPriorityClass, nPriorityNumber);
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(nativeHandle),
+            dwPriorityClass);
+    if(result != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(nativeHandle),
+            nPriorityNumber);
+    if(result != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

osal/windows/winTaskHelpers.h

@@ -0,0 +1,37 @@
+#include "../../tasks/TaskFactory.h"
+
+#include <thread>
+#include <map>
+
+#ifdef _WIN32
+
+namespace tasks {
+
+enum PriorityClass: uint16_t {
+    CLASS_IDLE,
+    CLASS_BELOW_NORMAL,
+    CLASS_NORMAL,
+    CLASS_ABOVE_NORMAL,
+    CLASS_HIGH,
+    CLASS_REALTIME
+};
+enum PriorityNumber: uint16_t {
+    IDLE,
+    LOWEST,
+    BELOW_NORMAL,
+    NORMAL,
+    ABOVE_NORMAL,
+    HIGHEST,
+    CRITICAL
+};
+TaskPriority makeWinPriority(PriorityClass prioClass = PriorityClass::CLASS_NORMAL,
+        PriorityNumber prioNumber = PriorityNumber::NORMAL);
+void getWinPriorityParameters(TaskPriority priority, DWORD& priorityClass,
+        int& priorityNumber);
+
+ReturnValue_t setTaskPriority(HANDLE nativeHandle, TaskPriority priority);
+
+}
+
+#endif
+

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/CService200ModeCommanding.cpp

@@ -61,8 +61,7 @@ ReturnValue_t CService200ModeCommanding::prepareCommand(
 		return result;
 	}
 
-	ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
+	ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
-	        ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
 	        modeCommandPacket.getSubmode());
 	return result;
 }

pus/Service1TelecommandVerification.cpp

@@ -15,7 +15,9 @@ Service1TelecommandVerification::Service1TelecommandVerification(
 	tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
-Service1TelecommandVerification::~Service1TelecommandVerification() {}
+Service1TelecommandVerification::~Service1TelecommandVerification() {
+    QueueFactory::instance()->deleteMessageQueue(tmQueue);
+}
 
 MessageQueueId_t Service1TelecommandVerification::getVerificationQueue(){
 	return tmQueue->getId();

pus/Service20ParameterManagement.cpp

@@ -75,9 +75,8 @@ ReturnValue_t Service20ParameterManagement::checkInterfaceAndAcquireMessageQueue
 #else
         sif::printError("Service20ParameterManagement::checkInterfaceAndAcquire"
                 "MessageQueue: Can't access object\n");
-        sif::printError("Object ID: 0x%08x\n", objectId);
+        sif::printError("Object ID: 0x%08x\n", *objectId);
-        sif::printError("Make sure it implements "
+        sif::printError("Make sure it implements ReceivesParameterMessagesIF!\n");
-                "ReceivesParameterMessagesIF!\n");
 #endif
 
         return CommandingServiceBase::INVALID_OBJECT;

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;
     }
 

pus/Service5EventReporting.cpp

@@ -15,7 +15,9 @@ Service5EventReporting::Service5EventReporting(object_id_t objectId,
 	eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
-Service5EventReporting::~Service5EventReporting(){}
+Service5EventReporting::~Service5EventReporting() {
+    QueueFactory::instance()->deleteMessageQueue(eventQueue);
+}
 
 ReturnValue_t Service5EventReporting::performService() {
 	EventMessage message;

pus/Service8FunctionManagement.cpp

@@ -53,12 +53,14 @@ ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t Service8FunctionManagement::prepareCommand(
 		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
 		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
-	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
+	return prepareDirectCommand(message, tcData, tcDataLen);
-				tcData, tcDataLen);
 }
 
 ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
 		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+    if(message == nullptr) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
     if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::debug << "Service8FunctionManagement::prepareDirectCommand:"

pus/servicepackets/Service8Packets.h

@@ -43,8 +43,8 @@ public:
 
 private:
 	DirectCommand(const DirectCommand &command);
-	object_id_t objectId;
+	object_id_t objectId = 0;
-	ActionId_t actionId;
+	ActionId_t actionId = 0;
 	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
 	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
 

serialize/SerializeElement.h

@@ -25,7 +25,7 @@ public:
 
 	}
 	SerializeElement() :
-			LinkedElement<SerializeIF>(this) {
+			LinkedElement<SerializeIF>(this), entry() {
 	}
 
 	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,

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"
 
 
 /**