Merge remote-tracking branch 'upstream/master' into mueller_TmTcBridge_cherryPicked

action/ActionHelper.cpp

@@ -49,7 +49,7 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
 		store_address_t dataAddress) {
 	const uint8_t* dataPtr = NULL;
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		CommandMessage reply;

action/CommandActionHelper.cpp

@@ -113,7 +113,7 @@ uint8_t CommandActionHelper::getCommandCount() const {
 
 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
 	const uint8_t * data = NULL;
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return;

action/SimpleActionHelper.cpp

@@ -44,7 +44,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
 		queueToUse->sendMessage(commandedBy, &reply);
 	}
 	const uint8_t* dataPtr = NULL;
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		ActionMessage::setStepReply(&reply, actionId, 0, result);

container/FIFO.h

@@ -3,6 +3,11 @@
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
+/**
+ * @brief Simple First-In-First-Out data structure
+ * @tparam T Entry Type
+ * @tparam capacity Maximum capacity
+ */
 template<typename T, uint8_t capacity>
 class FIFO {
 private:
@@ -54,6 +59,21 @@ public:
 			return HasReturnvaluesIF::RETURN_OK;
 		}
 	}
+
+	ReturnValue_t peek(T * value) {
+	    if(empty()) {
+	        return EMPTY;
+	    } else {
+	       *value = data[readIndex];
+	       return HasReturnvaluesIF::RETURN_OK;
+	    }
+	}
+
+	ReturnValue_t pop() {
+		T value;
+		return this->retrieve(&value);
+	}
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::FIFO_CLASS;
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);

datalinklayer/Clcw.cpp

@@ -55,7 +55,7 @@ void Clcw::setBitLock(bool bitLock) {
 }
 
 void Clcw::print() {
-	debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole() << std::dec << std::endl;
+	sif::debug << "Clcw::print: Clcw is: " << std::hex << getAsWhole() << std::dec << std::endl;
 }
 
 void Clcw::setWhole(uint32_t rawClcw) {

datalinklayer/DataLinkLayer.cpp

@@ -98,8 +98,8 @@ ReturnValue_t DataLinkLayer::processFrame(uint16_t length) {
 	receivedDataLength = length;
 	ReturnValue_t status = allFramesReception();
 	if (status != RETURN_OK) {
-		error << "DataLinkLayer::processFrame: frame reception failed. Error code: " << std::hex
+		sif::error << "DataLinkLayer::processFrame: frame reception failed. "
-				<< status << std::dec << std::endl;
+		         "Error code: " << std::hex << status << std::dec << std::endl;
 //		currentFrame.print();
 		return status;
 	} else {
@@ -124,7 +124,7 @@ ReturnValue_t DataLinkLayer::initialize() {
 	if ( virtualChannels.begin() != virtualChannels.end() ) {
 		clcw->setVirtualChannel( virtualChannels.begin()->second->getChannelId() );
 	} else {
-		error << "DataLinkLayer::initialize: No VC assigned to this DLL instance! " << std::endl;
+		sif::error << "DataLinkLayer::initialize: No VC assigned to this DLL instance! " << std::endl;
 		return RETURN_FAILED;
 	}
 

datalinklayer/MapPacketExtraction.cpp

@@ -36,7 +36,7 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
 			bufferPosition = &packetBuffer[packetLength];
 			status = RETURN_OK;
 		} else {
-			error
+			sif::error
 					<< "MapPacketExtraction::extractPackets. Packet too large! Size: "
 					<< packetLength << std::endl;
 			clearBuffers();
@@ -58,14 +58,14 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
 				}
 				status = RETURN_OK;
 			} else {
-				error
+				sif::error
 						<< "MapPacketExtraction::extractPackets. Packet too large! Size: "
 						<< packetLength << std::endl;
 				clearBuffers();
 				status = CONTENT_TOO_LARGE;
 			}
 		} else {
-			error
+			sif::error
 					<< "MapPacketExtraction::extractPackets. Illegal segment! Last flag: "
 					<< (int) lastSegmentationFlag << std::endl;
 			clearBuffers();
@@ -73,7 +73,7 @@ ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
 		}
 		break;
 	default:
-		error
+		sif::error
 				<< "MapPacketExtraction::extractPackets. Illegal segmentationFlag: "
 				<< (int) segmentationFlag << std::endl;
 		clearBuffers();
@@ -142,9 +142,9 @@ ReturnValue_t MapPacketExtraction::initialize() {
 }
 
 void MapPacketExtraction::printPacketBuffer(void) {
-	debug << "DLL: packet_buffer contains: " << std::endl;
+	sif::debug << "DLL: packet_buffer contains: " << std::endl;
 	for (uint32_t i = 0; i < this->packetLength; ++i) {
-		debug << "packet_buffer[" << std::dec << i << "]: 0x" << std::hex
+		sif::debug << "packet_buffer[" << std::dec << i << "]: 0x" << std::hex
 				<< (uint16_t) this->packetBuffer[i] << std::endl;
 	}
 }

datalinklayer/TcTransferFrame.cpp

@@ -87,11 +87,11 @@ uint8_t* TcTransferFrame::getFullDataField() {
 }
 
 void TcTransferFrame::print() {
-	debug << "Raw Frame: " << std::hex << std::endl;
+	sif::debug << "Raw Frame: " << std::hex << std::endl;
 	for (uint16_t count = 0; count < this->getFullSize(); count++ ) {
-		debug << (uint16_t)this->getFullFrame()[count] << " ";
+		sif::debug << (uint16_t)this->getFullFrame()[count] << " ";
 	}
-	debug << std::dec << std::endl;
+	sif::debug << std::dec << std::endl;
 //	debug << "Frame Header:" << std::endl;
 //	debug << "Version Number: " << std::hex << (uint16_t)this->current_frame.getVersionNumber() << std::endl;
 //	debug << "Bypass Flag set?| Ctrl Cmd Flag set?: " << (uint16_t)this->current_frame.bypassFlagSet() << " | " << (uint16_t)this->current_frame.controlCommandFlagSet()  << std::endl;

datalinklayer/TcTransferFrameLocal.cpp

@@ -37,7 +37,7 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
 			this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
 			this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
 		} else {
-			debug << "TcTransferFrameLocal: dataSize too large: " << dataSize << std::endl;
+			sif::debug << "TcTransferFrameLocal: dataSize too large: " << dataSize << std::endl;
 		}
 	} else {
 		//No data in frame

datalinklayer/VirtualChannelReception.cpp

@@ -102,7 +102,7 @@ uint8_t VirtualChannelReception::getChannelId() const {
 ReturnValue_t VirtualChannelReception::initialize() {
 	ReturnValue_t returnValue = RETURN_FAILED;
 	if ((slidingWindowWidth > 254) || (slidingWindowWidth % 2 != 0)) {
-		error << "VirtualChannelReception::initialize: Illegal sliding window width: "
+		sif::error << "VirtualChannelReception::initialize: Illegal sliding window width: "
 				<< (int) slidingWindowWidth << std::endl;
 		return RETURN_FAILED;
 	}

datapool/DataPool.cpp

@@ -55,7 +55,7 @@ PoolEntryIF* DataPool::getRawData( uint32_t data_pool_id ) {
 ReturnValue_t DataPool::freeDataPoolLock() {
 	ReturnValue_t status = mutex->unlockMutex();
 	if ( status != RETURN_OK ) {
-		error << "DataPool::DataPool: unlock of mutex failed with error code: " << status << std::endl;
+		sif::error << "DataPool::DataPool: unlock of mutex failed with error code: " << status << std::endl;
 	}
 	return status;
 }
@@ -63,17 +63,17 @@ ReturnValue_t DataPool::freeDataPoolLock() {
 ReturnValue_t DataPool::lockDataPool() {
 	ReturnValue_t status = mutex->lockMutex(MutexIF::NO_TIMEOUT);
 	if ( status != RETURN_OK ) {
-		error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
+		sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
 	}
 	return status;
 }
 
 void DataPool::print() {
-	debug << "DataPool contains: " << std::endl;
+	sif::debug << "DataPool contains: " << std::endl;
 	std::map<uint32_t, PoolEntryIF*>::iterator	dataPoolIt;
 	dataPoolIt = this->data_pool.begin();
 	while( dataPoolIt != this->data_pool.end() ) {
-		debug << std::hex << dataPoolIt->first << std::dec << " |";
+		sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
 		dataPoolIt->second->print();
 		dataPoolIt++;
 	}

datapool/DataPoolAdmin.cpp

@@ -215,7 +215,7 @@ ReturnValue_t DataPoolAdmin::handleParameterCommand(CommandMessage* command) {
 				ParameterMessage::getParameterId(command));
 
 		const uint8_t *storedStream;
-		uint32_t storedStreamSize;
+		size_t storedStreamSize;
 		result = storage->getData(ParameterMessage::getStoreId(command),
 				&storedStream, &storedStreamSize);
 		if (result != HasReturnvaluesIF::RETURN_OK) {

datapool/DataSet.cpp

@@ -31,7 +31,7 @@ ReturnValue_t DataSet::read() {
 		state = DATA_SET_WAS_READ;
 		freeDataPoolLock();
 	} else {
-		error << "DataSet::read(): Call made in wrong position." << std::endl;
+		sif::error << "DataSet::read(): Call made in wrong position." << std::endl;
 		result = SET_WAS_ALREADY_READ;
 	}
 	return result;
@@ -68,9 +68,9 @@ ReturnValue_t DataSet::commit() {
 			} else if (registeredVariables[count]->getDataPoolId()
 					!= PoolVariableIF::NO_PARAMETER) {
 				if (result != COMMITING_WITHOUT_READING) {
-					error
+					sif::error <<
-							<< "DataSet::commit(): commit-without-read call made with non write-only variable."
+					        "DataSet::commit(): commit-without-read "
-							<< std::endl;
+					        "call made with non write-only variable." << std::endl;
 					result = COMMITING_WITHOUT_READING;
 				}
 			}
@@ -92,7 +92,7 @@ void DataSet::registerVariable(PoolVariableIF* variable) {
 			}
 		}
 	}
-	error
+	sif::error
 			<< "DataSet::registerVariable: failed. Either NULL, or set is full, or call made in wrong position."
 			<< std::endl;
 	return;

datapool/PIDReader.h

@@ -26,7 +26,7 @@ protected:
 		} else {
 			value = 0;
 			valid = false;
-			error << "PIDReader: read of PID 0x" << std::hex << parameterId
+			sif::error << "PIDReader: read of PID 0x" << std::hex << parameterId
 					<< std::dec << " failed." << std::endl;
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}

datapool/PoolEntry.cpp

@@ -46,9 +46,10 @@ uint8_t PoolEntry<T>::getValid() {
 template <typename T>
 void PoolEntry<T>::print() {
 	for (uint8_t size = 0; size < this->length; size++ ) {
-		debug << "| " << std::hex << (double)this->address[size] << (this->valid? " (valid) " : " (invalid) ");
+		sif::debug << "| " << std::hex << (double)this->address[size]
+		           << (this->valid? " (valid) " : " (invalid) ");
 	}
-	debug << std::dec << std::endl;
+	sif::debug << std::dec << std::endl;
 }
 
 template<typename T>

datapool/PoolRawAccess.cpp

@@ -42,7 +42,7 @@ ReturnValue_t PoolRawAccess::read() {
 	} else {
 		//Error entry does not exist.
 	}
-	error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
+	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
 			<< std::dec << " failed." << std::endl;
 	valid = INVALID;
 	typeSize = 0;
@@ -123,7 +123,7 @@ ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t* buffer,
 #endif
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
+		sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
 				<< (uint32_t) typeSize << ", Requested: " << setSize
 				<< std::endl;
 		return INCORRECT_SIZE;

datapool/PoolVariable.h

@@ -66,7 +66,7 @@ protected:
 		} else {
 			value = 0;
 			valid = false;
-			error << "PoolVariable: read of DP Variable 0x" << std::hex
+			sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
 					<< dataPoolId << std::dec << " failed." << std::endl;
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}

datapool/PoolVector.h

@@ -70,7 +70,7 @@ protected:
 
 		} else {
 			memset(this->value, 0, vector_size * sizeof(T));
-			error << "PoolVector: read of DP Variable 0x" << std::hex
+			sif::error << "PoolVector: read of DP Variable 0x" << std::hex
 					<< dataPoolId << std::dec << " failed." << std::endl;
 			this->valid = INVALID;
 			return HasReturnvaluesIF::RETURN_FAILED;

devicehandlers/DeviceHandlerBase.cpp

@@ -558,7 +558,7 @@ void DeviceHandlerBase::doGetRead() {
 
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 		uint8_t * *data, uint32_t * len) {
-	uint32_t lenTmp;
+	size_t lenTmp;
 
 	if (IPCStore == NULL) {
 		*data = NULL;
@@ -1165,7 +1165,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 	if (mode == MODE_NORMAL) {
 		result = buildNormalDeviceCommand(&deviceCommandId);
 		if (result == BUSY) {
-			debug << std::hex << getObjectId()
+			sif::debug << std::hex << getObjectId()
 					<< ": DHB::buildInternalCommand busy" << std::endl; //so we can track misconfigurations
 			result = NOTHING_TO_SEND; //no need to report this
 		}
@@ -1186,7 +1186,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 		if (iter == deviceCommandMap.end()) {
 			result = COMMAND_NOT_SUPPORTED;
 		} else if (iter->second.isExecuting) {
-			debug << std::hex << getObjectId()
+			sif::debug << std::hex << getObjectId()
 					<< ": DHB::buildInternalCommand: Command "
 					<< deviceCommandId << " isExecuting" << std::endl; //so we can track misconfigurations
 			return; //this is an internal command, no need to report a failure here, missed reply will track if a reply is too late, otherwise, it's ok

devicehandlers/FixedSlotSequence.cpp

@@ -89,17 +89,20 @@ uint32_t FixedSlotSequence::getLengthMs() const {
 }
 
 ReturnValue_t FixedSlotSequence::checkSequence() const {
-	//Iterate through slotList and check successful creation. Checks if timing is ok (must be ascending) and if all handlers were found.
+	if(slotList.empty()) {
+		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 	auto slotIt = slotList.begin();
 	uint32_t count = 0;
 	uint32_t time = 0;
 	while (slotIt != slotList.end()) {
 		if ((*slotIt)->handler == NULL) {
-			error << "FixedSlotSequene::initialize: ObjectId does not exist!"
+			sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
 					<< std::endl;
 			count++;
 		} else if ((*slotIt)->pollingTimeMs < time) {
-			error << "FixedSlotSequence::initialize: Time: "
+			sif::error << "FixedSlotSequence::initialize: Time: "
 					<< (*slotIt)->pollingTimeMs
 					<< " is smaller than previous with " << time << std::endl;
 			count++;

devicehandlers/FixedSlotSequence.h

@@ -6,15 +6,21 @@
 #include <list>
 
 /**
- * \brief	This class is the representation of a Polling Sequence Table in software.
+ * @brief	This class is the representation of a Polling Sequence Table in software.
  *
- * \details	The FixedSlotSequence object maintains the dynamic execution of device handler objects.
+ * @details
- * 			The main idea is to create a list of device handlers, to announce all handlers to the
+ * The FixedSlotSequence object maintains the dynamic execution of
- * 			polling sequence and to maintain a list of polling slot objects. This slot list represents the
+ * device handler objects.
- * 			Polling Sequence Table in software. Each polling slot contains information to indicate when and
+ *
- * 			which device handler shall be executed within a given polling period.
+ * The main idea is to create a list of device handlers, to announce all
- * 			The sequence is then executed by iterating through this slot list.
+ * handlers to thepolling sequence and to maintain a list of
- * 			Handlers are invoking by calling a certain function stored in the handler list.
+ * polling slot objects. This slot list represents the Polling Sequence Table
+ * in software.
+ *
+ * Each polling slot contains information to indicate when and
+ * which device handler shall be executed within a given polling period.
+ * The sequence is then executed by iterating through this slot list.
+ * Handlers are invoking by calling a certain function stored in the handler list.
  */
 class FixedSlotSequence {
 public:
@@ -97,6 +103,11 @@ public:
 	 */
 	std::list<FixedSequenceSlot*>::iterator current;
 
+	/**
+	 * Iterate through slotList and check successful creation.
+	 * Checks if timing is ok (must be ascending) and if all handlers were found.
+	 * @return
+	 */
 	ReturnValue_t checkSequence() const;
 protected:
 

events/EventManager.cpp

@@ -117,26 +117,26 @@ void EventManager::printEvent(EventMessage* message) {
 	switch (message->getSeverity()) {
 	case SEVERITY::INFO:
 //		string = translateObject(message->getReporter());
-//		info << "EVENT: ";
+//		sif::info << "EVENT: ";
 //		if (string != 0) {
-//			info << string;
+//			sif::info << string;
 //		} else {
-//			info << "0x" << std::hex << message->getReporter() << std::dec;
+//			sif::info << "0x" << std::hex << message->getReporter() << std::dec;
 //		}
-//		info << " reported " << translateEvents(message->getEvent()) << " ("
+//		sif::info << " reported " << translateEvents(message->getEvent()) << " ("
 //				<< std::dec << message->getEventId() << std::hex << ") P1: 0x"
 //				<< message->getParameter1() << " P2: 0x"
 //				<< message->getParameter2() << std::dec << std::endl;
 		break;
 	default:
 		string = translateObject(message->getReporter());
-		error << "EVENT: ";
+		sif::error << "EVENT: ";
 		if (string != 0) {
-			error << string;
+			sif::error << string;
 		} else {
-			error << "0x" << std::hex << message->getReporter() << std::dec;
+			sif::error << "0x" << std::hex << message->getReporter() << std::dec;
 		}
-		error << " reported " << translateEvents(message->getEvent()) << " ("
+		sif::error << " reported " << translateEvents(message->getEvent()) << " ("
 				<< std::dec << message->getEventId() << std::hex << ") P1: 0x"
 				<< message->getParameter1() << " P2: 0x"
 				<< message->getParameter2() << std::dec << std::endl;

globalfunctions/arrayprinter.cpp

@@ -0,0 +1,61 @@
+#include <framework/globalfunctions/arrayprinter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <bitset>
+
+void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
+		bool printInfo, size_t maxCharPerLine) {
+	if(printInfo) {
+		sif::info << "Printing data with size " << size << ": ";
+	}
+	sif::info << "[";
+	if(type == OutputType::HEX) {
+		arrayprinter::printHex(data, size, maxCharPerLine);
+	}
+	else if (type == OutputType::DEC) {
+		arrayprinter::printDec(data, size, maxCharPerLine);
+	}
+	else if(type == OutputType::BIN) {
+	    arrayprinter::printBin(data, size);
+	}
+}
+
+void arrayprinter::printHex(const uint8_t *data, size_t size,
+		size_t maxCharPerLine) {
+	sif::info << std::hex;
+	for(size_t i = 0; i < size; i++) {
+		sif::info << "0x" << static_cast<int>(data[i]);
+		if(i < size - 1){
+			sif::info << " , ";
+			if(i > 0 and i % maxCharPerLine == 0) {
+				sif::info << std::endl;
+			}
+		}
+
+	}
+	sif::info << std::dec;
+	sif::info << "]" << std::endl;
+}
+
+void arrayprinter::printDec(const uint8_t *data, size_t size,
+		size_t maxCharPerLine) {
+	sif::info << std::dec;
+	for(size_t i = 0; i < size; i++) {
+		sif::info << static_cast<int>(data[i]);
+		if(i < size - 1){
+			sif::info << " , ";
+			if(i > 0 and i % maxCharPerLine == 0) {
+				sif::info << std::endl;
+			}
+		}
+	}
+	sif::info << "]" << std::endl;
+}
+
+void arrayprinter::printBin(const uint8_t *data, size_t size) {
+    sif::info << "\n" << std::flush;
+    for(size_t i = 0; i < size; i++) {
+        sif::info << "Byte " << i + 1 << ": 0b"<<
+                std::bitset<8>(data[i]) << ",\n" << std::flush;
+    }
+    sif::info << "]" << std::endl;
+}

globalfunctions/arrayprinter.h

@@ -0,0 +1,20 @@
+#ifndef FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_
+#define FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_
+#include <cstdint>
+#include <cstddef>
+
+enum class OutputType {
+	DEC,
+	HEX,
+	BIN
+};
+
+namespace arrayprinter {
+void print(const uint8_t* data, size_t size, OutputType type = OutputType::HEX,
+		bool printInfo = true, size_t maxCharPerLine = 12);
+void printHex(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
+void printDec(const uint8_t* data, size_t size, size_t maxCharPerLine = 12);
+void printBin(const uint8_t* data, size_t size);
+}
+
+#endif /* FRAMEWORK_GLOBALFUNCTIONS_ARRAYPRINTER_H_ */

health/HealthHelper.cpp

@@ -70,7 +70,7 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
 			health, oldHealth);
 	if (MessageQueueSenderIF::sendMessage(parentQueue, &message,
 			owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
-		debug << "HealthHelper::informParent: sending health reply failed."
+		sif::debug << "HealthHelper::informParent: sending health reply failed."
 				<< std::endl;
 	}
 }
@@ -89,7 +89,7 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* message) {
 	}
 	if (MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
 			owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
-		debug
+		sif::debug
 				<< "HealthHelper::handleHealthCommand: sending health reply failed."
 				<< std::endl;
 	}

ipc/MessageQueueMessage.cpp

@@ -52,12 +52,12 @@ size_t MessageQueueMessage::getMinimumMessageSize() {
 }
 
 void MessageQueueMessage::print() {
-	debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
+	sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
 			<< std::endl;
 	for (uint8_t count = 0; count < this->messageSize; count++) {
-		debug << (uint32_t) this->internalBuffer[count] << ":";
+		sif::debug << (uint32_t) this->internalBuffer[count] << ":";
 	}
-	debug << std::dec << std::endl;
+	sif::debug << std::dec << std::endl;
 }
 
 void MessageQueueMessage::clear() {

ipc/MutexHelper.h

@@ -10,7 +10,7 @@ public:
 			internalMutex(mutex) {
 		ReturnValue_t status = mutex->lockMutex(timeoutMs);
 		if(status != HasReturnvaluesIF::RETURN_OK){
-			error << "MutexHelper: Lock of Mutex failed " << status << std::endl;
+			sif::error << "MutexHelper: Lock of Mutex failed " << status << std::endl;
 		}
 	}
 

memory/MemoryHelper.cpp

@@ -15,7 +15,7 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
 	lastSender = message->getSender();
 	lastCommand = message->getCommand();
 	if (busy) {
-		debug << "MemHelper: Busy!" << std::endl;
+		sif::debug << "MemHelper: Busy!" << std::endl;
 	}
 	switch (lastCommand) {
 	case MemoryMessage::CMD_MEMORY_DUMP:
@@ -152,7 +152,7 @@ void MemoryHelper::handleMemoryLoad(CommandMessage* message) {
 	ipcAddress = MemoryMessage::getStoreID(message);
 	const uint8_t* p_data = NULL;
 	uint8_t* dataPointer = NULL;
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t returnCode = ipcStore->getData(ipcAddress, &p_data, &size);
 	if (returnCode == RETURN_OK) {
 		returnCode = workOnThis->handleMemoryLoad(address, p_data, size,

modes/ModeMessage.cpp

@@ -16,6 +16,10 @@ ReturnValue_t ModeMessage::setModeMessage(CommandMessage* message, Command_t com
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t ModeMessage::getCantReachModeReason(const CommandMessage* message) {
+	return message->getParameter();
+}
+
 void ModeMessage::clear(CommandMessage* message) {
 	message->setCommand(CommandMessage::CMD_NONE);
 }

modes/ModeMessage.h

@@ -23,7 +23,6 @@ public:
 	static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);//!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
 	static const Command_t REPLY_MODE_INFO = MAKE_COMMAND_ID(0x03);	//!> Unrequested info about the current mode (used for composites to inform their container of a changed mode)
 	static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(0x04); //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
-	//SHOULDDO is there a way we can transmit a returnvalue when responding that the mode is wrong, so we can give a nice failure code when commanded by PUS?
 	static const Command_t REPLY_WRONG_MODE_REPLY = MAKE_COMMAND_ID(0x05);//!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded and a transition started but was aborted; the parameters contain the mode that was reached
 	static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(0x06);//!> Command to read the current mode and reply with a REPLY_MODE_REPLY
 	static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(0x07);//!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
@@ -34,6 +33,7 @@ public:
 	static ReturnValue_t setModeMessage(CommandMessage* message,
 			Command_t command, Mode_t mode, Submode_t submode);
 	static void cantReachMode(CommandMessage* message, ReturnValue_t reason);
+	static ReturnValue_t getCantReachModeReason(const CommandMessage* message);
 	static void clear(CommandMessage* message);
 };
 

monitoring/MonitoringMessageContent.h

@@ -63,7 +63,8 @@ private:
 		if (timeStamper == NULL) {
 			timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
 			if ( timeStamper == NULL ) {
-				error << "MonitoringReportContent::checkAndSetStamper: Stamper not found!" << std::endl;
+				sif::error << "MonitoringReportContent::checkAndSetStamper: "
+				        "Stamper not found!" << std::endl;
 				return false;
 			}
 		}

objectmanager/ObjectManager.cpp

@@ -2,37 +2,42 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <cstdlib>
 
-ObjectManager::ObjectManager( void (*setProducer)() ) : produceObjects(setProducer) {
+ObjectManager::ObjectManager( void (*setProducer)() ):
+		produceObjects(setProducer) {
 	//There's nothing special to do in the constructor.
 }
 
 
 ObjectManager::~ObjectManager() {
-	std::map<object_id_t, SystemObjectIF*>::iterator it;
+	for (auto const& iter : objectList) {
-	for (it = this->objectList.begin(); it != this->objectList.end(); it++) {
+		delete iter.second;
-		delete it->second;
 	}
 }
 
 ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
-	bool insert_return = this->objectList.insert( std::pair< object_id_t, SystemObjectIF* >( id, object ) ).second;
+	auto returnPair = objectList.emplace(id, object);
-	if (insert_return == true) {
+	if (returnPair.second) {
-//		debug << "ObjectManager::insert: Object " << std::hex << (int)id << std::dec << " inserted." << std::endl;
+	    // sif::debug << "ObjectManager::insert: Object " << std::hex
+	    //            << (int)id << std::dec << " inserted." << std::endl;
 		return this->RETURN_OK;
 	} else {
-		error << "ObjectManager::insert: Object id " << std::hex << (int)id << std::dec << " is already in use!" << std::endl;
+		sif::error << "ObjectManager::insert: Object id " << std::hex
-		exit(0); //This is very severe and difficult to handle in other places.
+		           << (int)id << std::dec << " is already in use!" << std::endl;
-		return this->INSERTION_FAILED;
+		sif::error << "Terminating program." << std::endl;
+		//This is very severe and difficult to handle in other places.
+		std::exit(INSERTION_FAILED);
 	}
 }
 
 ReturnValue_t ObjectManager::remove( object_id_t id ) {
 	if ( this->getSystemObject(id) != NULL ) {
 		this->objectList.erase( id );
-		debug << "ObjectManager::removeObject: Object " << std::hex << (int)id << std::dec << " removed." << std::endl;
+		//sif::debug << "ObjectManager::removeObject: Object " << std::hex
+		//           << (int)id << std::dec << " removed." << std::endl;
 		return RETURN_OK;
 	} else {
-		error << "ObjectManager::removeObject: Requested object "<< std::hex << (int)id << std::dec << " not found." << std::endl;
+		sif::error << "ObjectManager::removeObject: Requested object "
+		        << std::hex << (int)id << std::dec << " not found." << std::endl;
 		return NOT_FOUND;
 	}
 }
@@ -40,55 +45,63 @@ ReturnValue_t ObjectManager::remove( object_id_t id ) {
 
 
 SystemObjectIF* ObjectManager::getSystemObject( object_id_t id ) {
-	std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.find( id );
+	auto listIter = this->objectList.find( id );
-	if (it == this->objectList.end() ) {
+	if (listIter == this->objectList.end() ) {
-		//Changed for testing different method.
+		return nullptr;
-//		SystemObjectIF* object = this->produceObjects( id );
-//		return object;
-		return NULL;
 	} else {
-		return it->second;
+		return listIter->second;
 	}
 }
 
-ObjectManager::ObjectManager( ) : produceObjects(NULL) {
+ObjectManager::ObjectManager() : produceObjects(nullptr) {
 
 }
 
 void ObjectManager::initialize() {
+	if(produceObjects == nullptr) {
+		sif::error << "ObjectManager::initialize: Passed produceObjects "
+				"functions is nullptr!" << std::endl;
+		return;
+	}
 	this->produceObjects();
-	ReturnValue_t return_value = RETURN_FAILED;
+	ReturnValue_t result = RETURN_FAILED;
-	uint32_t error_count = 0;
+	uint32_t errorCount = 0;
-	for (std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.begin(); it != objectList.end(); it++ ) {
+	for (auto const& it : objectList) {
-		return_value = it->second->initialize();
+		result = it.second->initialize();
-		if ( return_value != RETURN_OK ) {
+		if ( result != RETURN_OK ) {
-			object_id_t var = it->first;
+			object_id_t var = it.first;
-			error << "Object " << std::hex <<  (int) var << " failed to initialize with code 0x" << return_value << std::dec << std::endl;
+			sif::error << "ObjectManager::initialize: Object 0x" << std::hex <<
-			error_count++;
+					std::setw(8) << std::setfill('0')<< var << " failed to "
+					"initialize with code 0x" << result << std::dec <<
+					std::setfill(' ') << std::endl;
+			errorCount++;
 		}
 	}
-	if (error_count > 0) {
+	if (errorCount > 0) {
-		error << "ObjectManager::ObjectManager: Counted " << error_count << " failed initializations." << std::endl;
+		sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
+		           << " failed initializations." << std::endl;
 	}
 	//Init was successful. Now check successful interconnections.
-	error_count = 0;
+	errorCount = 0;
-	for (std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.begin(); it != objectList.end(); it++ ) {
+	for (auto const& it : objectList) {
-		return_value = it->second->checkObjectConnections();
+		result = it.second->checkObjectConnections();
-		if ( return_value != RETURN_OK ) {
+		if ( result != RETURN_OK ) {
-			error << "Object " << std::hex <<  (int) it->first << " connection check failed with code 0x" << return_value << std::dec << std::endl;
+			sif::error << "ObjectManager::ObjectManager: Object " << std::hex <<
-			error_count++;
+					(int) it.first  << " connection check failed with code 0x"
+					<< result << std::dec << std::endl;
+			errorCount++;
 		}
 	}
-	if (error_count > 0) {
+	if (errorCount > 0) {
-		error << "ObjectManager::ObjectManager: Counted " << error_count << " failed connection checks." << std::endl;
+		sif::error << "ObjectManager::ObjectManager: Counted " << errorCount
+		           << " failed connection checks." << std::endl;
 	}
-
 }
 
 void ObjectManager::printList() {
 	std::map<object_id_t, SystemObjectIF*>::iterator it;
-	debug << "ObjectManager: Object List contains:" << std::endl;
+	sif::debug << "ObjectManager: Object List contains:" << std::endl;
-	for (it = this->objectList.begin(); it != this->objectList.end(); it++) {
+	for (auto const& it : objectList) {
-		debug << std::hex << it->first << " | " << it->second << std::endl;
+		sif::debug << std::hex << it.first << " | " << it.second << std::endl;
 	}
 }

objectmanager/ObjectManagerIF.h

@@ -1,17 +1,10 @@
-/**
+#ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
- * @file	ObjectManagerIF.h
+#define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
- * @brief	This file contains the implementation of the ObjectManagerIF interface
- * @date	19.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef OBJECTMANAGERIF_H_
-#define OBJECTMANAGERIF_H_
 
 #include <framework/objectmanager/frameworkObjects.h>
-#include <config/objects/systemObjectList.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 /**
  * @brief	This class provides an interface to the global object manager.
@@ -20,13 +13,17 @@
  * 			inserted, removed and retrieved from the list. On getting the
  * 			object, the call checks if the object implements the requested
  * 			interface.
- * \ingroup system_objects
+ * @author	Bastian Baetz
+ * @ingroup system_objects
  */
 class ObjectManagerIF : public HasReturnvaluesIF {
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
-	static const ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
+	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
-	static const ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
+	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
+	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
+	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
+
 protected:
 	/**
 	 * @brief	This method is used to hide the template-based get call from
@@ -78,15 +75,21 @@ public:
 	virtual void printList() = 0;
 };
 
-template <typename T>
-T* ObjectManagerIF::get( object_id_t id ) {
-	SystemObjectIF* temp = this->getSystemObject(id);
-	return dynamic_cast<T*>(temp);
-}
 
 /**
  * @brief	This is the forward declaration of the global objectManager instance.
  */
 extern ObjectManagerIF *objectManager;
 
+/*Documentation can be found in the class method declaration above.*/
+template <typename T>
+T* ObjectManagerIF::get( object_id_t id ) {
+	if(objectManager == nullptr) {
+		sif::error << "ObjectManagerIF: Global object manager has not "
+				"been initialized yet!" << std::endl;
+	}
+	SystemObjectIF* temp = this->getSystemObject(id);
+	return dynamic_cast<T*>(temp);
+}
+
 #endif /* OBJECTMANAGERIF_H_ */

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -19,8 +19,7 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
 	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
-	FixedTimeslotTask *originalTask(
+	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-			reinterpret_cast<FixedTimeslotTask*>(argument));
 	// Task should not start until explicitly requested
 	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
 	// but not if the scheduler is not running.
@@ -33,14 +32,14 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
 	}
 
 	originalTask->taskFunctionality();
-	debug << "Polling task " << originalTask->handle
+	sif::debug << "Polling task " << originalTask->handle
 			<< " returned from taskFunctionality." << std::endl;
 }
 
 void FixedTimeslotTask::missedDeadlineCounter() {
 	FixedTimeslotTask::deadlineMissedCount++;
 	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-		error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
+		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
 				<< " deadlines." << std::endl;
 	}
 }
@@ -58,8 +57,19 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-	return HasReturnvaluesIF::RETURN_OK;
+		if(slotTimeMs == 0) {
+			// FreeRTOS throws a sanity error for zero values, so we set
+			// the time to one millisecond.
+			slotTimeMs = 1;
+		}
+		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	sif::error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 uint32_t FixedTimeslotTask::getPeriodMs() const {

osal/FreeRTOS/MessageQueue.cpp

@@ -8,7 +8,7 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
 defaultDestination(0),lastPartner(0)  {
 	handle = xQueueCreate(message_depth, max_message_size);
 	if (handle == NULL) {
-		error << "MessageQueue creation failed" << std::endl;
+		sif::error << "MessageQueue creation failed" << std::endl;
 	}
 }
 
@@ -97,7 +97,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		bool ignoreFault) {
 	message->setSender(sentFrom);
 
-	BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
+	BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
+			reinterpret_cast<const void*>(message->getBuffer()), 0);
 	if (result != pdPASS) {
 		if (!ignoreFault) {
 			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(

osal/FreeRTOS/PeriodicTask.cpp

@@ -10,7 +10,8 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 
 	BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
 	if(status != pdPASS){
-		debug << "PeriodicTask Insufficient heap memory remaining. Status: " << status << std::endl;
+		sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
+		           << status << std::endl;
 	}
 
 }
@@ -34,7 +35,7 @@ void PeriodicTask::taskEntryPoint(void* argument) {
 	}
 
 	originalTask->taskFunctionality();
-	debug << "Polling task " << originalTask->handle
+	sif::debug << "Polling task " << originalTask->handle
 			<< " returned from taskFunctionality." << std::endl;
 }
 

osal/linux/FixedTimeslotTask.cpp

@@ -9,7 +9,9 @@
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
 
-FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_):PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) {
+FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_,
+		size_t stackSize_, uint32_t periodMs_):
+		PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) {
 }
 
 FixedTimeslotTask::~FixedTimeslotTask() {
@@ -40,8 +42,14 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-	return HasReturnvaluesIF::RETURN_OK;
+		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	sif::error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 ReturnValue_t FixedTimeslotTask::checkSequence() const {
@@ -80,7 +88,7 @@ void FixedTimeslotTask::taskFunctionality() {
 void FixedTimeslotTask::missedDeadlineCounter() {
 	FixedTimeslotTask::deadlineMissedCount++;
 	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-		error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
+		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
-				<< " deadlines." << std::endl;
+				   << " deadlines." << std::endl;
 	}
 }

osal/linux/MessageQueue.cpp

@@ -17,11 +17,11 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
 	attributes.mq_maxmsg = message_depth;
 	attributes.mq_msgsize = max_message_size;
 	attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
-
 	//Set the name of the queue
 	sprintf(name, "/Q%u\n", queueCounter++);
 
-	//Create a nonblocking queue if the name is available (the queue is Read and writable for the owner as well as the group)
+	//Create a nonblocking queue if the name is available (the queue is Read and
+	// writable for the owner as well as the group)
 	mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
 	S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH, &attributes);
 	if (tempId == -1) {
@@ -32,8 +32,8 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
 			//We unlink the other queue
 			int status = mq_unlink(name);
 			if (status != 0) {
-				error << "mq_unlink Failed with status: " << strerror(errno)
+				sif::error << "mq_unlink Failed with status: " << strerror(errno)
-						<< std::endl;
+						   << std::endl;
 			} else {
 				//Successful unlinking, try to open again
 				mqd_t tempId = mq_open(name,
@@ -47,7 +47,7 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
 			}
 		}
 		//Failed either the first time or the second time
-		error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
+		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
 				<< name << std::dec << " failed with status: "
 				<< strerror(errno) << std::endl;
 	} else {
@@ -59,11 +59,13 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
 MessageQueue::~MessageQueue() {
 	int status = mq_close(this->id);
 	if(status != 0){
-		error << "MessageQueue::Destructor: mq_close Failed with status: " << strerror(errno) <<std::endl;
+		sif::error << "MessageQueue::Destructor: mq_close Failed with status: "
+				   << strerror(errno) <<std::endl;
 	}
 	status = mq_unlink(name);
 	if(status != 0){
-		error << "MessageQueue::Destructor: mq_unlink Failed with status: " << strerror(errno) <<std::endl;
+		sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
+				   << strerror(errno) <<std::endl;
 	}
 }
 
@@ -93,7 +95,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
 
 ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 	unsigned int messagePriority = 0;
-	int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),message->MAX_MESSAGE_SIZE,&messagePriority);
+	int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
+			message->MAX_MESSAGE_SIZE,&messagePriority);
 	if (status > 0) {
 		this->lastPartner = message->getSender();
 		//Check size of incoming message.
@@ -114,7 +117,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 			return MessageQueueIF::EMPTY;
 		case EBADF:
 			//mqdes doesn't represent a valid queue open for reading.
-			error << "MessageQueue::receive: configuration error " << strerror(errno)  << std::endl;
+			sif::error << "MessageQueue::receive: configuration error "
+			           << strerror(errno)  << std::endl;
 			/*NO BREAK*/
 		case EINVAL:
 			/*
@@ -123,7 +127,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 			 * * The number of bytes requested, msg_len is less than zero.
 			 * * msg_len is anything other than the mq_msgsize of the specified queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't been set in the queue's mq_flags.
 			 */
-			error << "MessageQueue::receive: configuration error " << strerror(errno)  << std::endl;
+			sif::error << "MessageQueue::receive: configuration error "
+					   << strerror(errno)  << std::endl;
 			/*NO BREAK*/
 		case EMSGSIZE:
 			/*
@@ -131,7 +136,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 			 * * the QNX extended option MQ_READBUF_DYNAMIC hasn't been set, and the given msg_len is shorter than the mq_msgsize for the given queue.
 			 * * the extended option MQ_READBUF_DYNAMIC has been set, but the given msg_len is too short for the message that would have been received.
 			 */
-			error << "MessageQueue::receive: configuration error " << strerror(errno)  << std::endl;
+			sif::error << "MessageQueue::receive: configuration error "
+			           << strerror(errno)  << std::endl;
 			/*NO BREAK*/
 		case EINTR:
 			//The operation was interrupted by a signal.
@@ -154,7 +160,8 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 		switch(errno){
 		case EBADF:
 			//mqdes doesn't represent a valid message queue.
-			error << "MessageQueue::flush configuration error, called flush with an invalid queue ID" << std::endl;
+			sif::error << "MessageQueue::flush configuration error, "
+					"called flush with an invalid queue ID" << std::endl;
 			/*NO BREAK*/
 		case EINVAL:
 			//mq_attr is NULL
@@ -169,7 +176,8 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 		switch(errno){
 		case EBADF:
 			//mqdes doesn't represent a valid message queue.
-			error << "MessageQueue::flush configuration error, called flush with an invalid queue ID" << std::endl;
+			sif::error << "MessageQueue::flush configuration error, "
+					"called flush with an invalid queue ID" << std::endl;
 			/*NO BREAK*/
 		case EINVAL:
 			/*
@@ -237,7 +245,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			return MessageQueueIF::FULL;
 		case EBADF:
 			//mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing.
-			error << "MessageQueue::sendMessage: Configuration error " << strerror(errno) << " in mq_send mqSendTo: " << sendTo << " sent from " << sentFrom << std::endl;
+			sif::error << "MessageQueue::sendMessage: Configuration error "
+			           << strerror(errno) << " in mq_send mqSendTo: " << sendTo
+					   << " sent from " << sentFrom << std::endl;
 			/*NO BREAK*/
 		case EINTR:
 			//The call was interrupted by a signal.
@@ -248,9 +258,11 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			 * * msg_len is negative.
 			 * * msg_prio is greater than MQ_PRIO_MAX.
 			 * * msg_prio is less than 0.
-			 * * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and msg_prio is greater than the priority of the calling process.
+			 * * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des,
+			 *   and msg_prio is greater than the priority of the calling process.
 			 * */
-			error << "MessageQueue::sendMessage: Configuration error " << strerror(errno) << " in mq_send" << std::endl;
+			sif::error << "MessageQueue::sendMessage: Configuration error "
+			           << strerror(errno) << " in mq_send" << std::endl;
 			/*NO BREAK*/
 		case EMSGSIZE:
 			//The msg_len is greater than the msgsize associated with the specified queue.

osal/linux/Mutex.cpp

@@ -13,22 +13,22 @@ Mutex::Mutex() {
 	pthread_mutexattr_t mutexAttr;
 	int status = pthread_mutexattr_init(&mutexAttr);
 	if (status != 0) {
-		error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl;
+		sif::error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl;
 	}
 	status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT);
 	if (status != 0) {
-		error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status)
+		sif::error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status)
 				<< std::endl;
 	}
 	status = pthread_mutex_init(&mutex, &mutexAttr);
 	if (status != 0) {
-		error << "Mutex: creation with name, id " << mutex.__data.__count
+		sif::error << "Mutex: creation with name, id " << mutex.__data.__count
 				<< ", " << " failed with " << strerror(status) << std::endl;
 	}
 	//After a mutex attributes object has been used to initialize one or more mutexes, any function affecting the attributes object (including destruction) shall not affect any previously initialized mutexes.
 	status = pthread_mutexattr_destroy(&mutexAttr);
 	if (status != 0) {
-		error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
+		sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
 	}
 }
 

osal/linux/PeriodicPosixTask.cpp

@@ -56,9 +56,9 @@ void PeriodicPosixTask::taskFunctionality(void){
 			char name[20] = {0};
 			int status = pthread_getname_np(pthread_self(),name,sizeof(name));
 			if(status==0){
-				error << "ObjectTask: " << name << " Deadline missed." << std::endl;
+				sif::error << "ObjectTask: " << name << " Deadline missed." << std::endl;
 			}else{
-				error << "ObjectTask: X Deadline missed. " << status << std::endl;
+				sif::error << "ObjectTask: X Deadline missed. " << status << std::endl;
 			}
 			if (this->deadlineMissedFunc != NULL) {
 				this->deadlineMissedFunc();

osal/linux/PeriodicPosixTask.h

@@ -9,7 +9,8 @@
 
 class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF {
 public:
-	PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(*deadlineMissedFunc_)());
+	PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
+			uint32_t period_, void(*deadlineMissedFunc_)());
 	virtual ~PeriodicPosixTask();
 	/**
 	 * @brief	The method to start the task.

osal/linux/PosixThread.cpp

@@ -22,7 +22,8 @@ ReturnValue_t PosixThread::sleep(uint64_t ns) {
 			//The nanosleep() function was interrupted by a signal.
 			return HasReturnvaluesIF::RETURN_FAILED;
 		case EINVAL:
-			//The rqtp argument specified a nanosecond value less than zero or greater than or equal to 1000 million.
+			//The rqtp argument specified a nanosecond value less than zero or
+			// greater than or equal to 1000 million.
 			return HasReturnvaluesIF::RETURN_FAILED;
 		default:
 			return HasReturnvaluesIF::RETURN_FAILED;
@@ -40,8 +41,8 @@ void PosixThread::suspend() {
 	sigaddset(&waitSignal, SIGUSR1);
 	sigwait(&waitSignal, &caughtSig);
 	if (caughtSig != SIGUSR1) {
-		error << "FixedTimeslotTask: Unknown Signal received: " << caughtSig
+		sif::error << "FixedTimeslotTask: Unknown Signal received: " <<
-				<< std::endl;
+				caughtSig << std::endl;
 	}
 }
 
@@ -112,14 +113,15 @@ uint64_t PosixThread::getCurrentMonotonicTimeMs(){
 	return currentTime_ms;
 }
 
-PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):thread(0),priority(priority_),stackSize(stackSize_) {
+PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
+		thread(0),priority(priority_),stackSize(stackSize_) {
 	strcpy(name,name_);
 }
 
 
 
 void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
-	debug << "PosixThread::createTask" << std::endl;
+	//sif::debug << "PosixThread::createTask" << std::endl;
 	/*
 	 * The attr argument points to a pthread_attr_t structure whose contents
        are used at thread creation time to determine attributes for the new
@@ -130,35 +132,41 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 	pthread_attr_t attributes;
 	int status = pthread_attr_init(&attributes);
 	if(status != 0){
-			error << "Posix Thread attribute init failed with: " << strerror(status) << std::endl;
+		sif::error << "Posix Thread attribute init failed with: " <<
+				strerror(status) << std::endl;
 	}
 	void* sp;
 	status = posix_memalign(&sp, sysconf(_SC_PAGESIZE), stackSize);
 	if(status != 0){
-			error << "Posix Thread stack init failed with: " << strerror(status) << std::endl;
+		sif::error << "Posix Thread stack init failed with: " <<
+				strerror(status) << std::endl;
 	}
 
 	status = pthread_attr_setstack(&attributes, sp, stackSize);
 	if(status != 0){
-			error << "Posix Thread attribute setStack failed with: " << strerror(status) << std::endl;
+		sif::error << "Posix Thread attribute setStack failed with: " <<
+				strerror(status) << std::endl;
 	}
 
 	status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
 	if(status != 0){
-			error << "Posix Thread attribute setinheritsched failed with: " << strerror(status) << std::endl;
+			sif::error << "Posix Thread attribute setinheritsched failed with: " <<
+					strerror(status) << std::endl;
 	}
 
 //TODO FIFO -> This needs root privileges for the process
 	status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
 	if(status != 0){
-		error << "Posix Thread attribute schedule policy failed with: " << strerror(status) << std::endl;
+		sif::error << "Posix Thread attribute schedule policy failed with: " <<
+				strerror(status) << std::endl;
 	}
 
 	sched_param scheduleParams;
 	scheduleParams.__sched_priority = priority;
 	status = pthread_attr_setschedparam(&attributes, &scheduleParams);
 	if(status != 0){
-			error << "Posix Thread attribute schedule params failed with: " << strerror(status) << std::endl;
+		sif::error << "Posix Thread attribute schedule params failed with: " <<
+				strerror(status) << std::endl;
 	}
 
 	//Set Signal Mask for suspend until startTask is called
@@ -167,22 +175,26 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 	sigaddset(&waitSignal, SIGUSR1);
 	status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL);
 	if(status != 0){
-			error << "Posix Thread sigmask failed failed with: " << strerror(status) << " errno: " << strerror(errno) << std::endl;
+		sif::error << "Posix Thread sigmask failed failed with: " <<
+				strerror(status) << " errno: " << strerror(errno) << std::endl;
 	}
 
 
 	status = pthread_create(&thread,&attributes,fnc_,arg_);
 	if(status != 0){
-		error << "Posix Thread create failed with: " << strerror(status) << std::endl;
+		sif::error << "Posix Thread create failed with: " <<
+				strerror(status) << std::endl;
 	}
 
 	status = pthread_setname_np(thread,name);
 	if(status != 0){
-		error << "Posix Thread setname failed with: " << strerror(status) << std::endl;
+		sif::error << "Posix Thread setname failed with: " <<
+				strerror(status) << std::endl;
 	}
 
 	status = pthread_attr_destroy(&attributes);
 	if(status!=0){
-		error << "Posix Thread attribute destroy failed with: " << strerror(status) << std::endl;
+		sif::error << "Posix Thread attribute destroy failed with: " <<
+				strerror(status) << std::endl;
 	}
 }

osal/linux/Timer.cpp

@@ -9,7 +9,8 @@ Timer::Timer() {
 	sigEvent.sigev_value.sival_ptr = &timerId;
 	int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId);
 	if(status!=0){
-		error << "Timer creation failed with: " << status << " errno: " << errno << std::endl;
+		sif::error << "Timer creation failed with: " << status <<
+				" errno: " << errno << std::endl;
 	}
 }
 

osal/rtems/PollingTask.cpp

@@ -66,10 +66,16 @@ ReturnValue_t PollingTask::startTask() {
 	}
 }
 
-ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+ReturnValue_t PollingTask::addSlot(object_id_t componentId,
-		int8_t executionStep) {
+		uint32_t slotTimeMs, int8_t executionStep) {
-	pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-	return HasReturnvaluesIF::RETURN_OK;
+		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
 uint32_t PollingTask::getPeriodMs() const {

parameters/ParameterHelper.cpp

@@ -37,7 +37,7 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 				ParameterMessage::getParameterId(message));
 
 		const uint8_t *storedStream;
-		uint32_t storedStreamSize;
+		size_t storedStreamSize;
 		result = storage->getData(
 				ParameterMessage::getStoreId(message), &storedStream,
 				&storedStreamSize);

parameters/ParameterWrapper.cpp

@@ -91,7 +91,7 @@ template<typename T>
 ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
 	const T *element = (const T*) readonlyData;
-	ReturnValue_t result;
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 	uint16_t dataSize = columns * rows;
 	while (dataSize != 0) {
 		result = SerializeAdapter<T>::serialize(element, buffer, size, max_size,

serviceinterface/ServiceInterfaceStream.h

@@ -7,11 +7,15 @@
 #include <sstream>
 #include <cstdio>
 
-//Unfortunately, there must be a forward declaration of log_fe (MUST be defined in main), to let the system know where to write to.
+// Unfortunately, there must be a forward declaration of log_fe
+// (MUST be defined in main), to let the system know where to write to.
+namespace sif {
 extern std::ostream debug;
 extern std::ostream info;
 extern std::ostream warning;
 extern std::ostream error;
+}
+
 
 class ServiceInterfaceStream : public std::basic_ostream< char, std::char_traits< char > > {
 protected:

storagemanager/LocalPool.h

@@ -1,14 +1,11 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
-#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
-
 /**
  *	@file	LocalPool
- *
  *  @date	02.02.2012
  *	@author	Bastian Baetz
- *
  *	@brief	This file contains the definition of the LocalPool class.
  */
+#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
+#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 
 #include <framework/objectmanager/SystemObject.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
@@ -20,7 +17,7 @@
 /**
  * @brief	The LocalPool class provides an intermediate data storage with
  * 			a fixed pool size policy.
- * \details	The class implements the StorageManagerIF interface. While the
+ * @details	The class implements the StorageManagerIF interface. While the
  * 			total number of pools is fixed, the element sizes in one pool and
  * 			the number of pool elements per pool are set on construction.
  * 			The full amount of memory is allocated on construction.
@@ -31,7 +28,6 @@
  * 			It is possible to store empty packets in the pool.
  * 			The local pool is NOT thread-safe.
  */
-
 template<uint8_t NUMBER_OF_POOLS = 5>
 class LocalPool: public SystemObject, public StorageManagerIF {
 public:
@@ -39,7 +35,65 @@ public:
 	 * @brief	This definition generally sets the number of different sized pools.
 	 * @details This must be less than the maximum number of pools (currently 0xff).
 	 */
-//	static const uint32_t NUMBER_OF_POOLS;
+	//	static const uint32_t NUMBER_OF_POOLS;
+	/**
+	 * @brief	This is the default constructor for a pool manager instance.
+	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
+	 * 			allocates memory (with \c new) for store and size_list. These
+	 * 			regions are all set to zero on start up.
+	 * @param setObjectId	The object identifier to be set. This allows for
+	 * 						multiple instances of LocalPool in the system.
+	 * @param element_sizes	An array of size NUMBER_OF_POOLS in which the size
+	 * 						of a single element in each pool is determined.
+	 * 						<b>The sizes must be provided in ascending order.
+	 * 						</b>
+	 * @param n_elements	An array of size NUMBER_OF_POOLS in which the
+	 * 						number of elements for each pool is determined.
+	 * 						The position of these values correspond to those in
+	 * 						element_sizes.
+	 * @param registered	Register the pool in object manager or not.
+	 * Default is false (local pool).
+	 * @param spillsToHigherPools A variable to determine whether
+	 * higher n pools are used if the store is full.
+	 */
+	LocalPool(object_id_t setObjectId,
+			const uint16_t element_sizes[NUMBER_OF_POOLS],
+			const uint16_t n_elements[NUMBER_OF_POOLS],
+			bool registered = false,
+			bool spillsToHigherPools = false);
+	/**
+	 * @brief	In the LocalPool's destructor all allocated memory is freed.
+	 */
+	virtual ~LocalPool(void);
+
+	/**
+	 * Documentation: See StorageManagerIF.h
+	 */
+	ReturnValue_t addData(store_address_t* storageId, const uint8_t * data,
+			size_t size, bool ignoreFault = false) override;
+	ReturnValue_t getFreeElement(store_address_t* storageId,const size_t size,
+			uint8_t** p_data, bool ignoreFault = false) override;
+	ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
+			size_t * size) override;
+	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
+			size_t * size) override;
+	virtual ReturnValue_t deleteData(store_address_t) override;
+	virtual ReturnValue_t deleteData(uint8_t* ptr, size_t size,
+			store_address_t* storeId = NULL) override;
+	void clearStore() override;
+	ReturnValue_t initialize() override;
+protected:
+	/**
+	 * With this helper method, a free element of \c size is reserved.
+	 * @param size	The minimum packet size that shall be reserved.
+	 * @param[out] address Storage ID of the reserved data.
+	 * @return	- #RETURN_OK on success,
+	 * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
+	 */
+	virtual ReturnValue_t reserveSpace(const uint32_t size,
+			store_address_t* address, bool ignoreFault);
+
+	InternalErrorReporterIF *internalErrorReporter;
 private:
 	/**
 	 * Indicates that this element is free.
@@ -60,7 +114,7 @@ private:
 	/**
 	 * @brief	store represents the actual memory pool.
 	 * @details	It is an array of pointers to memory, which was allocated with
-	 * 			a \c new call on construction.
+	 * 			a @c new call on construction.
 	 */
 	uint8_t* store[NUMBER_OF_POOLS];
 	/**
@@ -78,7 +132,7 @@ private:
 	 * @param data		The data to be stored.
 	 * @param size		The size of the data to be stored.
 	 */
-	void write(store_address_t packet_id, const uint8_t* data, uint32_t size);
+	void write(store_address_t packet_id, const uint8_t* data, size_t size);
 	/**
 	 * @brief	A helper method to read the element size of a certain pool.
 	 * @param pool_index	The pool in which to look.
@@ -101,7 +155,8 @@ private:
 	 * @return	- #RETURN_OK on success,
 	 * 			- #DATA_TOO_LARGE otherwise.
 	 */
-	ReturnValue_t getPoolIndex(uint32_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex = 0);
+	ReturnValue_t getPoolIndex(size_t packet_size, uint16_t* poolIndex,
+			uint16_t startAtIndex = 0);
 	/**
 	 * @brief	This helper method calculates the true array position in store
 	 * 			of a given packet id.
@@ -121,310 +176,8 @@ private:
 	 * 			- #DATA_STORAGE_FULL if the store is full
 	 */
 	ReturnValue_t findEmpty(uint16_t pool_index, uint16_t* element);
-protected:
-	/**
-	 * With this helper method, a free element of \c size is reserved.
-	 * @param size	The minimum packet size that shall be reserved.
-	 * @param[out] address Storage ID of the reserved data.
-	 * @return	- #RETURN_OK on success,
-	 * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
-	 */
-	virtual ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault);
-
-	InternalErrorReporterIF *internalErrorReporter;
-public:
-	/**
-	 * @brief	This is the default constructor for a pool manager instance.
-	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
-	 * 			allocates memory (with \c new) for store and size_list. These
-	 * 			regions are all set to zero on start up.
-	 * @param setObjectId	The object identifier to be set. This allows for
-	 * 						multiple instances of LocalPool in the system.
-	 * @param element_sizes	An array of size NUMBER_OF_POOLS in which the size
-	 * 						of a single element in each pool is determined.
-	 * 						<b>The sizes must be provided in ascending order.
-	 * 						</b>
-	 * @param n_elements	An array of size NUMBER_OF_POOLS in which the
-	 * 						number of elements for each pool is determined.
-	 * 						The position of these values correspond to those in
-	 * 						element_sizes.
-	 * @param registered	Register the pool in object manager or not. Default is false (local pool).
-	 */
-	LocalPool(object_id_t setObjectId,
-			const uint16_t element_sizes[NUMBER_OF_POOLS],
-			const uint16_t n_elements[NUMBER_OF_POOLS],
-			bool registered = false,
-			bool spillsToHigherPools = false);
-	/**
-	 * @brief	In the LocalPool's destructor all allocated memory is freed.
-	 */
-	virtual ~LocalPool(void);
-	ReturnValue_t addData(store_address_t* storageId, const uint8_t * data,
-			uint32_t size, bool ignoreFault = false);
-
-	/**
-	 * With this helper method, a free element of \c size is reserved.
-	 *
-	 * @param size	The minimum packet size that shall be reserved.
-	 * @return	Returns the storage identifier within the storage or
-	 * 			StorageManagerIF::INVALID_ADDRESS (in raw).
-	 */
-	ReturnValue_t getFreeElement(store_address_t* storageId,
-			const uint32_t size, uint8_t** p_data, bool ignoreFault = false);
-	ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
-			uint32_t* size);
-	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
-			uint32_t* size);
-	virtual ReturnValue_t deleteData(store_address_t);
-	virtual ReturnValue_t deleteData(uint8_t* ptr, uint32_t size,
-			store_address_t* storeId = NULL);
-	void clearStore();
-	ReturnValue_t initialize();
 };
 
-template<uint8_t NUMBER_OF_POOLS>
+#include <framework/storagemanager/LocalPool.tpp>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::findEmpty(uint16_t pool_index,
-		uint16_t* element) {
-	ReturnValue_t status = DATA_STORAGE_FULL;
-	for (uint16_t foundElement = 0; foundElement < n_elements[pool_index];
-			foundElement++) {
-		if (size_list[pool_index][foundElement] == STORAGE_FREE) {
-			*element = foundElement;
-			status = RETURN_OK;
-			break;
-		}
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline void LocalPool<NUMBER_OF_POOLS>::write(store_address_t packet_id,
-		const uint8_t* data, uint32_t size) {
-	uint8_t* ptr;
-	uint32_t packet_position = getRawPosition(packet_id);
-
-	//check size? -> Not necessary, because size is checked before calling this function.
-	ptr = &store[packet_id.pool_index][packet_position];
-	memcpy(ptr, data, size);
-	size_list[packet_id.pool_index][packet_id.packet_index] = size;
-}
-
-//Returns page size of 0 in case store_index is illegal
-template<uint8_t NUMBER_OF_POOLS>
-inline uint32_t LocalPool<NUMBER_OF_POOLS>::getPageSize(uint16_t pool_index) {
-	if (pool_index < NUMBER_OF_POOLS) {
-		return element_sizes[pool_index];
-	} else {
-		return 0;
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getPoolIndex(
-		uint32_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex) {
-	for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
-//		debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: " << n << ", Element Size: " << element_sizes[n] << std::endl;
-		if (element_sizes[n] >= packet_size) {
-			*poolIndex = n;
-			return RETURN_OK;
-		}
-	}
-	return DATA_TOO_LARGE;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline uint32_t LocalPool<NUMBER_OF_POOLS>::getRawPosition(
-		store_address_t packet_id) {
-	return packet_id.packet_index * element_sizes[packet_id.pool_index];
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::reserveSpace(
-		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	ReturnValue_t status = getPoolIndex(size, &address->pool_index);
-	if (status != RETURN_OK) {
-		error << "LocalPool( " << std::hex << getObjectId() << std::dec
-				<< " )::reserveSpace: Packet too large." << std::endl;
-		return status;
-	}
-	status = findEmpty(address->pool_index, &address->packet_index);
-	while (status != RETURN_OK && spillsToHigherPools) {
-		status = getPoolIndex(size, &address->pool_index, address->pool_index + 1);
-		if (status != RETURN_OK) {
-			//We don't find any fitting pool anymore.
-			break;
-		}
-		status = findEmpty(address->pool_index, &address->packet_index);
-	}
-	if (status == RETURN_OK) {
-//		if (getObjectId() == objects::IPC_STORE && address->pool_index >= 3) {
-//			debug << "Reserve: Pool: " << std::dec << address->pool_index << " Index: " << address->packet_index << std::endl;
-//		}
-
-		size_list[address->pool_index][address->packet_index] = size;
-	} else {
-		if (!ignoreFault) {
-			internalErrorReporter->storeFull();
-		}
-//		error << "LocalPool( " << std::hex << getObjectId() << std::dec
-//				<< " )::reserveSpace: Packet store is full." << std::endl;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
-		const uint16_t element_sizes[NUMBER_OF_POOLS],
-		const uint16_t n_elements[NUMBER_OF_POOLS], bool registered, bool spillsToHigherPools) :
-		SystemObject(setObjectId, registered), spillsToHigherPools(spillsToHigherPools), internalErrorReporter(NULL) {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		this->element_sizes[n] = element_sizes[n];
-		this->n_elements[n] = n_elements[n];
-		store[n] = new uint8_t[n_elements[n] * element_sizes[n]];
-		size_list[n] = new uint32_t[n_elements[n]];
-		memset(store[n], 0x00, (n_elements[n] * element_sizes[n]));
-		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list))); //TODO checkme
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		delete[] store[n];
-		delete[] size_list[n];
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(
-		store_address_t* storageId, const uint8_t* data, uint32_t size, bool ignoreFault) {
-	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
-	if (status == RETURN_OK) {
-		write(*storageId, data, size);
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
-		store_address_t* storageId, const uint32_t size, uint8_t** p_data, bool ignoreFault) {
-	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
-	if (status == RETURN_OK) {
-		*p_data = &store[storageId->pool_index][getRawPosition(*storageId)];
-	} else {
-		*p_data = NULL;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
-		store_address_t packet_id, const uint8_t** packet_ptr, uint32_t* size) {
-	uint8_t* tempData = NULL;
-	ReturnValue_t status = modifyData(packet_id, &tempData, size);
-	*packet_ptr = tempData;
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(store_address_t packet_id,
-		uint8_t** packet_ptr, uint32_t* size) {
-	ReturnValue_t status = RETURN_FAILED;
-	if (packet_id.pool_index >= NUMBER_OF_POOLS) {
-		return ILLEGAL_STORAGE_ID;
-	}
-	if ((packet_id.packet_index >= n_elements[packet_id.pool_index])) {
-		return ILLEGAL_STORAGE_ID;
-	}
-	if (size_list[packet_id.pool_index][packet_id.packet_index]
-			!= STORAGE_FREE) {
-		uint32_t packet_position = getRawPosition(packet_id);
-		*packet_ptr = &store[packet_id.pool_index][packet_position];
-		*size = size_list[packet_id.pool_index][packet_id.packet_index];
-		status = RETURN_OK;
-	} else {
-		status = DATA_DOES_NOT_EXIST;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(
-		store_address_t packet_id) {
-
-//	if (getObjectId() == objects::IPC_STORE && packet_id.pool_index >= 3) {
-//		debug << "Delete: Pool: " << std::dec << packet_id.pool_index << " Index: " << packet_id.packet_index << std::endl;
-//	}
-	ReturnValue_t status = RETURN_OK;
-	uint32_t page_size = getPageSize(packet_id.pool_index);
-	if ((page_size != 0)
-			&& (packet_id.packet_index < n_elements[packet_id.pool_index])) {
-		uint16_t packet_position = getRawPosition(packet_id);
-		uint8_t* ptr = &store[packet_id.pool_index][packet_position];
-		memset(ptr, 0, page_size);
-		//Set free list
-		size_list[packet_id.pool_index][packet_id.packet_index] = STORAGE_FREE;
-	} else {
-		//pool_index or packet_index is too large
-		error << "LocalPool:deleteData failed." << std::endl;
-		status = ILLEGAL_STORAGE_ID;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline void LocalPool<NUMBER_OF_POOLS>::clearStore() {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));//TODO checkme
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(uint8_t* ptr,
-		uint32_t size, store_address_t* storeId) {
-	store_address_t localId;
-	ReturnValue_t result = ILLEGAL_ADDRESS;
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		//Not sure if new allocates all stores in order. so better be careful.
-		if ((store[n] <= ptr) && (&store[n][n_elements[n]*element_sizes[n]]) > ptr) {
-			localId.pool_index = n;
-			uint32_t deltaAddress = ptr - store[n];
-			//Getting any data from the right "block" is ok. This is necessary, as IF's sometimes don't point to the first element of an object.
-			localId.packet_index = deltaAddress / element_sizes[n];
-			result = deleteData(localId);
-//			if (deltaAddress % element_sizes[n] != 0) {
-//				error << "Pool::deleteData: address not aligned!" << std::endl;
-//			}
-			break;
-		}
-	}
-	if (storeId != NULL) {
-		*storeId = localId;
-	}
-	return result;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	internalErrorReporter = objectManager->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-	if (internalErrorReporter == NULL){
-		return RETURN_FAILED;
-	}
-
-	//Check if any pool size is large than the maximum allowed.
-	for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
-		if (element_sizes[count] >= STORAGE_FREE) {
-			error
-					<< "LocalPool::initialize: Pool is too large! Max. allowed size is: "
-					<< (STORAGE_FREE - 1) << std::endl;
-			return RETURN_FAILED;
-		}
-	}
-	return RETURN_OK;
-}
 
 #endif /* FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ */

storagemanager/LocalPool.tpp

@@ -0,0 +1,260 @@
+#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
+#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
+
+template<uint8_t NUMBER_OF_POOLS>
+inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
+		const uint16_t element_sizes[NUMBER_OF_POOLS],
+		const uint16_t n_elements[NUMBER_OF_POOLS], bool registered,
+		bool spillsToHigherPools) :
+		SystemObject(setObjectId, registered),  internalErrorReporter(nullptr),
+		spillsToHigherPools(spillsToHigherPools)
+{
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		this->element_sizes[n] = element_sizes[n];
+		this->n_elements[n] = n_elements[n];
+		store[n] = new uint8_t[n_elements[n] * element_sizes[n]];
+		size_list[n] = new uint32_t[n_elements[n]];
+		memset(store[n], 0x00, (n_elements[n] * element_sizes[n]));
+		//TODO checkme
+		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));
+	}
+}
+
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::findEmpty(uint16_t pool_index,
+		uint16_t* element) {
+	ReturnValue_t status = DATA_STORAGE_FULL;
+	for (uint16_t foundElement = 0; foundElement < n_elements[pool_index];
+			foundElement++) {
+		if (size_list[pool_index][foundElement] == STORAGE_FREE) {
+			*element = foundElement;
+			status = RETURN_OK;
+			break;
+		}
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline void LocalPool<NUMBER_OF_POOLS>::write(store_address_t packet_id,
+		const uint8_t* data, size_t size) {
+	uint8_t* ptr;
+	uint32_t packet_position = getRawPosition(packet_id);
+
+	//check size? -> Not necessary, because size is checked before calling this function.
+	ptr = &store[packet_id.pool_index][packet_position];
+	memcpy(ptr, data, size);
+	size_list[packet_id.pool_index][packet_id.packet_index] = size;
+}
+
+//Returns page size of 0 in case store_index is illegal
+template<uint8_t NUMBER_OF_POOLS>
+inline uint32_t LocalPool<NUMBER_OF_POOLS>::getPageSize(uint16_t pool_index) {
+	if (pool_index < NUMBER_OF_POOLS) {
+		return element_sizes[pool_index];
+	} else {
+		return 0;
+	}
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getPoolIndex(
+		size_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex) {
+	for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
+		//debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: " <<
+		//		n << ", Element Size: " << element_sizes[n] << std::endl;
+		if (element_sizes[n] >= packet_size) {
+			*poolIndex = n;
+			return RETURN_OK;
+		}
+	}
+	return DATA_TOO_LARGE;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline uint32_t LocalPool<NUMBER_OF_POOLS>::getRawPosition(
+		store_address_t packet_id) {
+	return packet_id.packet_index * element_sizes[packet_id.pool_index];
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::reserveSpace(
+		const uint32_t size, store_address_t* address, bool ignoreFault) {
+	ReturnValue_t status = getPoolIndex(size, &address->pool_index);
+	if (status != RETURN_OK) {
+		sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec
+				<< " )::reserveSpace: Packet too large." << std::endl;
+		return status;
+	}
+	status = findEmpty(address->pool_index, &address->packet_index);
+	while (status != RETURN_OK && spillsToHigherPools) {
+		status = getPoolIndex(size, &address->pool_index, address->pool_index + 1);
+		if (status != RETURN_OK) {
+			//We don't find any fitting pool anymore.
+			break;
+		}
+		status = findEmpty(address->pool_index, &address->packet_index);
+	}
+	if (status == RETURN_OK) {
+		// if (getObjectId() == objects::IPC_STORE && address->pool_index >= 3) {
+		//	   debug << "Reserve: Pool: " << std::dec << address->pool_index <<
+		//				" Index: " << address->packet_index << std::endl;
+		// }
+
+		size_list[address->pool_index][address->packet_index] = size;
+	} else {
+		if (!ignoreFault and internalErrorReporter != nullptr) {
+			internalErrorReporter->storeFull();
+		}
+		// error << "LocalPool( " << std::hex << getObjectId() << std::dec
+		// 			<< " )::reserveSpace: Packet store is full." << std::endl;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		delete[] store[n];
+		delete[] size_list[n];
+	}
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(store_address_t* storageId,
+		const uint8_t* data, size_t size, bool ignoreFault) {
+	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+	if (status == RETURN_OK) {
+		write(*storageId, data, size);
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
+		store_address_t* storageId, const size_t size,
+		uint8_t** p_data, bool ignoreFault) {
+	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+	if (status == RETURN_OK) {
+		*p_data = &store[storageId->pool_index][getRawPosition(*storageId)];
+	} else {
+		*p_data = NULL;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
+		store_address_t packet_id, const uint8_t** packet_ptr, size_t* size) {
+	uint8_t* tempData = NULL;
+	ReturnValue_t status = modifyData(packet_id, &tempData, size);
+	*packet_ptr = tempData;
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
+		store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
+	ReturnValue_t status = RETURN_FAILED;
+	if (packet_id.pool_index >= NUMBER_OF_POOLS) {
+		return ILLEGAL_STORAGE_ID;
+	}
+	if ((packet_id.packet_index >= n_elements[packet_id.pool_index])) {
+		return ILLEGAL_STORAGE_ID;
+	}
+	if (size_list[packet_id.pool_index][packet_id.packet_index]
+			!= STORAGE_FREE) {
+		uint32_t packet_position = getRawPosition(packet_id);
+		*packet_ptr = &store[packet_id.pool_index][packet_position];
+		*size = size_list[packet_id.pool_index][packet_id.packet_index];
+		status = RETURN_OK;
+	} else {
+		status = DATA_DOES_NOT_EXIST;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(
+		store_address_t packet_id) {
+	//if (getObjectId() == objects::IPC_STORE && packet_id.pool_index >= 3) {
+	//	debug << "Delete: Pool: " << std::dec << packet_id.pool_index << " Index: "
+	//	         << packet_id.packet_index << std::endl;
+	//}
+	ReturnValue_t status = RETURN_OK;
+	uint32_t page_size = getPageSize(packet_id.pool_index);
+	if ((page_size != 0)
+			&& (packet_id.packet_index < n_elements[packet_id.pool_index])) {
+		uint16_t packet_position = getRawPosition(packet_id);
+		uint8_t* ptr = &store[packet_id.pool_index][packet_position];
+		memset(ptr, 0, page_size);
+		//Set free list
+		size_list[packet_id.pool_index][packet_id.packet_index] = STORAGE_FREE;
+	} else {
+		//pool_index or packet_index is too large
+		sif::error << "LocalPool:deleteData failed." << std::endl;
+		status = ILLEGAL_STORAGE_ID;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline void LocalPool<NUMBER_OF_POOLS>::clearStore() {
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		//TODO checkme
+		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));
+	}
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(uint8_t* ptr,
+		size_t size, store_address_t* storeId) {
+	store_address_t localId;
+	ReturnValue_t result = ILLEGAL_ADDRESS;
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		//Not sure if new allocates all stores in order. so better be careful.
+		if ((store[n] <= ptr) && (&store[n][n_elements[n]*element_sizes[n]]) > ptr) {
+			localId.pool_index = n;
+			uint32_t deltaAddress = ptr - store[n];
+			// Getting any data from the right "block" is ok.
+			// This is necessary, as IF's sometimes don't point to the first
+			// element of an object.
+			localId.packet_index = deltaAddress / element_sizes[n];
+			result = deleteData(localId);
+			//if (deltaAddress % element_sizes[n] != 0) {
+			//	error << "Pool::deleteData: address not aligned!" << std::endl;
+			//}
+			break;
+		}
+	}
+	if (storeId != NULL) {
+		*storeId = localId;
+	}
+	return result;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+	internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			objects::INTERNAL_ERROR_REPORTER);
+	if (internalErrorReporter == NULL){
+		return RETURN_FAILED;
+	}
+
+	//Check if any pool size is large than the maximum allowed.
+	for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
+		if (element_sizes[count] >= STORAGE_FREE) {
+			sif::error << "LocalPool::initialize: Pool is too large! "
+					"Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
+			return RETURN_FAILED;
+		}
+	}
+	return RETURN_OK;
+}
+
+#endif

storagemanager/PoolManager.h

@@ -1,12 +1,3 @@
-/**
- *	@file	PoolManager
- *
- *  @date	02.02.2012
- *	@author	Bastian Baetz
- *
- *	@brief	This file contains the definition of the PoolManager class.
- */
-
 #ifndef POOLMANAGER_H_
 #define POOLMANAGER_H_
 
@@ -17,70 +8,39 @@
 /**
  * @brief	The PoolManager class provides an intermediate data storage with
  * 			a fixed pool size policy for inter-process communication.
- * \details	Uses local pool, but is thread-safe.
+ * @details	Uses local pool calls but is thread safe by protecting the call
+ * 			with a lock.
  */
 
 template <uint8_t NUMBER_OF_POOLS = 5>
 class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
+public:
+	PoolManager(object_id_t setObjectId,
+			const uint16_t element_sizes[NUMBER_OF_POOLS],
+			const uint16_t n_elements[NUMBER_OF_POOLS]);
+
+	//! @brief	In the PoolManager's destructor all allocated memory is freed.
+	virtual ~PoolManager();
+
+	//! @brief LocalPool overrides for thread-safety.
+	ReturnValue_t deleteData(store_address_t) override;
+	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
+			store_address_t* storeId = NULL) override;
+	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
+				size_t* size) override;
 protected:
-	/**
+	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
-	 * Overwritten for thread safety.
+			bool ignoreFault) override;
-	 * Locks during execution.
-	 */
-	virtual ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault);
 
 	/**
-	 * \brief	The mutex is created in the constructor and makes access mutual exclusive.
+	 * @brief	The mutex is created in the constructor and makes
-	 * \details	Locking and unlocking is done during searching for free slots and deleting existing slots.
+	 * 			access mutual exclusive.
+	 * @details	Locking and unlocking is done during searching for free slots
+	 * 			and deleting existing slots.
 	 */
-	MutexIF*	mutex;
+	MutexIF* mutex;
-public:
-	PoolManager( object_id_t setObjectId, const uint16_t element_sizes[NUMBER_OF_POOLS], const uint16_t n_elements[NUMBER_OF_POOLS] );
-	/**
-	 * @brief	In the PoolManager's destructor all allocated memory is freed.
-	 */
-	virtual ~PoolManager( void );
-	/**
-	 * Overwritten for thread safety.
-	 */
-	virtual ReturnValue_t deleteData(store_address_t);
-	virtual ReturnValue_t deleteData(uint8_t* buffer, uint32_t size, store_address_t* storeId = NULL);
 };
 
-template<uint8_t NUMBER_OF_POOLS>
+#include "PoolManager.tpp"
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
-	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,address,ignoreFault);
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
-		const uint16_t element_sizes[NUMBER_OF_POOLS],
-		const uint16_t n_elements[NUMBER_OF_POOLS]) : LocalPool<NUMBER_OF_POOLS>(setObjectId, element_sizes, n_elements, true) {
-	mutex = MutexFactory::instance()->createMutex();
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
-	MutexFactory::instance()->deleteMutex(mutex);
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
-		store_address_t packet_id) {
-	//	debug << "PoolManager( " << translateObject(getObjectId()) << " )::deleteData from store " << packet_id.pool_index << ". id is " << packet_id.packet_index << std::endl;
-		MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
-		ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
-		return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer, uint32_t size,
-		store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
-	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer, size, storeId);
-	return status;
-}
 
 #endif /* POOLMANAGER_H_ */

storagemanager/PoolManager.tpp

@@ -0,0 +1,55 @@
+#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
+#define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
+
+template<uint8_t NUMBER_OF_POOLS>
+inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
+		const uint16_t element_sizes[NUMBER_OF_POOLS],
+		const uint16_t n_elements[NUMBER_OF_POOLS]) :
+		LocalPool<NUMBER_OF_POOLS>(setObjectId, element_sizes, n_elements, true) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
+	MutexFactory::instance()->deleteMutex(mutex);
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
+		const uint32_t size, store_address_t* address, bool ignoreFault) {
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
+			address,ignoreFault);
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
+		store_address_t packet_id) {
+	// debug << "PoolManager( " << translateObject(getObjectId()) <<
+	//       " )::deleteData from store " << packet_id.pool_index <<
+	//       ". id is "<< packet_id.packet_index << std::endl;
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
+		size_t size, store_address_t* storeId) {
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
+			size, storeId);
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData(
+		store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::modifyData(packet_id,
+				packet_ptr, size);
+	return status;
+}
+
+#endif

storagemanager/StorageManagerIF.h

@@ -6,18 +6,19 @@
 #include <stddef.h>
 
 /**
- * This union defines the type that identifies where a data packet is stored in the store.
+ * @brief 	This union defines the type that identifies where a data packet is
- * It comprises of a raw part to read it as raw value and a structured part to use it in
+ * 			stored in the store.
- * pool-like stores.
+ * It consists of a raw part to read it as raw value and
+ * a structured part to use it in pool-like stores.
  */
 union store_address_t {
 	/**
 	 * Default Constructor, initializing to INVALID_ADDRESS
 	 */
 	store_address_t():raw(0xFFFFFFFF){}
+
 	/**
 	 * Constructor to create an address object using the raw address
-	 *
 	 * @param rawAddress
 	 */
 	store_address_t(uint32_t rawAddress):raw(rawAddress){}
@@ -30,7 +31,8 @@ union store_address_t {
 	 * @param packetIndex
 	 */
 	store_address_t(uint16_t poolIndex, uint16_t packetIndex):
-		pool_index(poolIndex),packet_index(packetIndex){}
+			pool_index(poolIndex),packet_index(packetIndex) {}
+
 	/**
 	 * A structure with two elements to access the store address pool-like.
 	 */
@@ -48,6 +50,10 @@ union store_address_t {
 	 * Alternative access to the raw value.
 	 */
 	uint32_t raw;
+
+	bool operator==(const store_address_t& other) const {
+		return raw == other.raw;
+	}
 };
 
 /**
@@ -94,7 +100,8 @@ public:
 	 * 					@li	RETURN_FAILED if data could not be added.
 	 * 						storageId is unchanged then.
 	 */
-	virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t * data, uint32_t size, bool ignoreFault = false) = 0;
+	virtual ReturnValue_t addData(store_address_t* storageId,
+			const uint8_t * data, size_t size, bool ignoreFault = false) = 0;
 	/**
 	 * @brief	With deleteData, the storageManager frees the memory region
 	 * 			identified by packet_id.
@@ -105,14 +112,16 @@ public:
 	 */
 	virtual ReturnValue_t deleteData(store_address_t packet_id) = 0;
 	/**
-	 * @brief	Another deleteData which uses the pointer and size of the stored data to delete the content.
+	 * @brief	Another deleteData which uses the pointer and size of the
+	 * 			stored data to delete the content.
 	 * @param buffer	Pointer to the data.
 	 * @param size		Size of data to be stored.
 	 * @param storeId	Store id of the deleted element (optional)
 	 * @return	@li RETURN_OK on success.
 	 * 			@li	failure code if deletion did not work
 	 */
-	virtual ReturnValue_t deleteData(uint8_t* buffer, uint32_t size, store_address_t* storeId = NULL) = 0;
+	virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
+			store_address_t* storeId = nullptr) = 0;
 	/**
 	 * @brief	getData returns an address to data and the size of the data
 	 * 			for a given packet_id.
@@ -125,12 +134,12 @@ public:
 	 * 				(e.g. an illegal packet_id was passed).
 	 */
 	virtual ReturnValue_t getData(store_address_t packet_id,
-			const uint8_t** packet_ptr, uint32_t* size) = 0;
+			const uint8_t** packet_ptr, size_t* size) = 0;
 	/**
 	 * Same as above, but not const and therefore modifiable.
 	 */
 	virtual ReturnValue_t modifyData(store_address_t packet_id,
-			uint8_t** packet_ptr, uint32_t* size) = 0;
+			uint8_t** packet_ptr, size_t* size) = 0;
 	/**
 	 * This method reserves an element of \c size.
 	 *
@@ -144,13 +153,13 @@ public:
 	 * 					@li	RETURN_FAILED if data could not be added.
 	 * 						storageId is unchanged then.
 	 */
-	virtual ReturnValue_t getFreeElement(store_address_t* storageId, const uint32_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t getFreeElement(store_address_t* storageId,
+			const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
 	/**
 	 * Clears the whole store.
 	 * Use with care!
 	 */
 	virtual void clearStore() = 0;
-
 };
 
 #endif /* STORAGEMANAGERIF_H_ */

subsystem/Subsystem.cpp

@@ -162,7 +162,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 	case ModeSequenceMessage::ADD_SEQUENCE: {
 		FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> sequence;
 		const uint8_t *pointer;
-		uint32_t sizeRead;
+		size_t sizeRead;
 		result = IPCStore->getData(
 				ModeSequenceMessage::getStoreAddress(message), &pointer,
 				&sizeRead);
@@ -188,7 +188,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 	case ModeSequenceMessage::ADD_TABLE: {
 		FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> table;
 		const uint8_t *pointer;
-		uint32_t sizeRead;
+		size_t sizeRead;
 		result = IPCStore->getData(
 				ModeSequenceMessage::getStoreAddress(message), &pointer,
 				&sizeRead);

subsystem/SubsystemBase.cpp

@@ -88,7 +88,7 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
 		object_id_t object = tableIter.value->getObject();
 		if ((iter = childrenMap.find(object)) == childrenMap.end()) {
 			//illegal table entry, should only happen due to misconfigured mode table
-			debug << std::hex << getObjectId() << ": invalid mode table entry"
+			sif::debug << std::hex << getObjectId() << ": invalid mode table entry"
 					<< std::endl;
 			continue;
 		}

tcdistribution/CCSDSDistributor.cpp

@@ -13,7 +13,7 @@ CCSDSDistributor::~CCSDSDistributor() {
 iterator_t CCSDSDistributor::selectDestination() {
 //	debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl;
 	const uint8_t* p_packet = NULL;
-	uint32_t size = 0;
+	size_t size = 0;
 	//TODO check returncode?
 	this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size );
 	SpacePacketBase current_packet( p_packet );

tcdistribution/PUSDistributor.cpp

@@ -31,7 +31,7 @@ iterator_t PUSDistributor::selectDestination() {
 	}
 
 	if (tcStatus != RETURN_OK) {
-		debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
+		sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
 				<< std::endl;
 		return this->queueMap.end();
 	} else {

tcdistribution/TcDistributor.cpp

@@ -39,14 +39,14 @@ ReturnValue_t TcDistributor::handlePacket() {
 }
 
 void TcDistributor::print() {
-	debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
+	sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
 			<< std::endl;
 	for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end();
 			it++) {
-		debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
+		sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
 				<< std::endl;
 	}
-	debug << std::dec;
+	sif::debug << std::dec;
 
 }
 

tmtcpacket/pus/TcPacketBase.cpp

@@ -61,11 +61,11 @@ uint8_t TcPacketBase::getPusVersionNumber() {
 
 void TcPacketBase::print() {
 	uint8_t * wholeData = getWholeData();
-	debug << "TcPacket contains: " << std::endl;
+	sif::debug << "TcPacket contains: " << std::endl;
 	for (uint8_t count = 0; count < getFullSize(); ++count) {
-		debug << std::hex << (uint16_t) wholeData[count] << " ";
+		sif::debug << std::hex << (uint16_t) wholeData[count] << " ";
 	}
-	debug << std::dec << std::endl;
+	sif::debug << std::dec << std::endl;
 }
 
 void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,

tmtcpacket/pus/TcPacketStored.cpp

@@ -48,7 +48,7 @@ bool TcPacketStored::checkAndSetStore() {
 	if (this->store == NULL) {
 		this->store = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 		if (this->store == NULL) {
-			error << "TcPacketStored::TcPacketStored: TC Store not found!"
+			sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
 					<< std::endl;
 			return false;
 		}
@@ -59,7 +59,7 @@ bool TcPacketStored::checkAndSetStore() {
 void TcPacketStored::setStoreAddress(store_address_t setAddress) {
 	this->storeAddress = setAddress;
 	const uint8_t* temp_data = NULL;
-	uint32_t temp_size;
+	size_t temp_size;
 	ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
 	if (this->checkAndSetStore()) {
 		status = this->store->getData(this->storeAddress, &temp_data,
@@ -79,7 +79,7 @@ store_address_t TcPacketStored::getStoreAddress() {
 
 bool TcPacketStored::isSizeCorrect() {
 	const uint8_t* temp_data = NULL;
-	uint32_t temp_size;
+	size_t temp_size;
 	ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
 			&temp_size);
 	if (status == StorageManagerIF::RETURN_OK) {

tmtcpacket/pus/TmPacketBase.cpp

@@ -63,7 +63,7 @@ bool TmPacketBase::checkAndSetStamper() {
 	if (timeStamper == NULL) {
 		timeStamper = objectManager->get<TimeStamperIF>(timeStamperId);
 		if (timeStamper == NULL) {
-			error << "TmPacketBase::checkAndSetStamper: Stamper not found!"
+			sif::error << "TmPacketBase::checkAndSetStamper: Stamper not found!"
 					<< std::endl;
 			return false;
 		}

tmtcpacket/pus/TmPacketStored.cpp

@@ -81,7 +81,7 @@ void TmPacketStored::deletePacket() {
 void TmPacketStored::setStoreAddress(store_address_t setAddress) {
 	storeAddress = setAddress;
 	const uint8_t* temp_data = NULL;
-	uint32_t temp_size;
+	size_t temp_size;
 	if (!checkAndSetStore()) {
 		return;
 	}
@@ -98,7 +98,7 @@ bool TmPacketStored::checkAndSetStore() {
 	if (store == NULL) {
 		store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
 		if (store == NULL) {
-			error << "TmPacketStored::TmPacketStored: TM Store not found!"
+			sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
 					<< std::endl;
 			return false;
 		}

tmtcservices/PusServiceBase.cpp

@@ -48,7 +48,7 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 			break;
 		} else {
 
-			error << "PusServiceBase::performOperation: Service "
+			sif::error << "PusServiceBase::performOperation: Service "
 					<< (uint16_t) this->serviceId
 					<< ": Error receiving packet. Code: " << std::hex << status
 					<< std::dec << std::endl;
@@ -59,7 +59,7 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 		return RETURN_OK;
 	} else {
 
-		error << "PusService " << (uint16_t) this->serviceId
+		sif::error << "PusService " << (uint16_t) this->serviceId
 				<< ": performService returned with " << (int16_t) return_code
 				<< std::endl;
 		return RETURN_FAILED;
@@ -89,7 +89,7 @@ ReturnValue_t PusServiceBase::initialize() {
 		distributor->registerService(this);
 		return RETURN_OK;
 	} else {
-		error << "PusServiceBase::PusServiceBase: Service "
+		sif::error << "PusServiceBase::PusServiceBase: Service "
 				<< (uint32_t) this->serviceId << ": Configuration error."
 				<< " Make sure packetSource and packetDestination are defined correctly" << std::endl;
 		return RETURN_FAILED;

tmtcservices/VerificationReporter.cpp

@@ -24,7 +24,7 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 			current_packet->getPacketSequenceControl(), 0, set_step);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		error
+		sif::error
 				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
 				<< (uint16_t) status << std::endl;
 	}
@@ -40,7 +40,7 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 			tcSequenceControl, 0, set_step);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		error
+		sif::error
 				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
 				<< (uint16_t) status << std::endl;
 	}
@@ -59,7 +59,7 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 			parameter1, parameter2);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		error
+		sif::error
 				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
 				<< (uint16_t) status << std::endl;
 	}
@@ -76,7 +76,7 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 			tcSequenceControl, error_code, step, parameter1, parameter2);
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		error
+		sif::error
 				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
 				<< (uint16_t) status << std::endl;
 	}
@@ -88,7 +88,7 @@ void VerificationReporter::initialize() {
 	if (temp != NULL) {
 		this->acknowledgeQueue = temp->getVerificationQueue();
 	} else {
-		error
+		sif::error
 				<< "VerificationReporter::VerificationReporter: Configuration error."
 				<< std::endl;
 	}