Merge remote-tracking branch 'origin/master' into mohr_serialize

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

@@ -115,10 +115,9 @@ uint8_t CommandActionHelper::getCommandCount() const {
 	return commandCount;
 }
 
-void CommandActionHelper::extractDataForOwner(ActionId_t actionId,
+void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-		store_address_t storeId) {
+	const uint8_t * data = NULL;
-	const uint8_t *data = NULL;
+	size_t size = 0;
-	uint32_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/ChildHandlerBase.cpp

@@ -2,15 +2,16 @@
 #include <framework/devicehandlers/ChildHandlerBase.h>
 #include <framework/subsystem/SubsystemBase.h>
 
-ChildHandlerBase::ChildHandlerBase(uint32_t ioBoardAddress,
+ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
-		object_id_t setObjectId, object_id_t deviceCommunication,
+		object_id_t deviceCommunication, CookieIF * comCookie,
-		uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
+		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		uint32_t thermalRequestPoolId, uint32_t parent,
-		uint32_t parent, FailureIsolationBase* customFdir, uint32_t cmdQueueSize) :
+		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
-		DeviceHandlerBase(ioBoardAddress, setObjectId, maxDeviceReplyLen,
+		DeviceHandlerBase(setObjectId, deviceCommunication, comCookie,
-				setDeviceSwitch, deviceCommunication, thermalStatePoolId,
+				setDeviceSwitch, thermalStatePoolId,thermalRequestPoolId,
-				thermalRequestPoolId, (customFdir == NULL? &childHandlerFdir : customFdir), cmdQueueSize), parentId(
+				(customFdir == nullptr? &childHandlerFdir : customFdir),
-				parent), childHandlerFdir(setObjectId) {
+				cmdQueueSize),
+		parentId(parent), childHandlerFdir(setObjectId) {
 }
 
 ChildHandlerBase::~ChildHandlerBase() {

devicehandlers/ChildHandlerBase.h

@@ -6,12 +6,12 @@
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
-	ChildHandlerBase(uint32_t ioBoardAddress, object_id_t setObjectId,
+	ChildHandlerBase(object_id_t setObjectId,
-			object_id_t deviceCommunication, uint32_t maxDeviceReplyLen,
+			object_id_t deviceCommunication, CookieIF * comCookie,
 			uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId, uint32_t parent,
-			FailureIsolationBase* customFdir = NULL,
+			FailureIsolationBase* customFdir = nullptr,
-			uint32_t cmdQueueSize = 20);
+			size_t cmdQueueSize = 20);
 	virtual ~ChildHandlerBase();
 
 	virtual ReturnValue_t initialize();

devicehandlers/Cookie.h

@@ -1,10 +0,0 @@
-#ifndef COOKIE_H_
-#define COOKIE_H_
-
-class Cookie{
-public:
-	virtual ~Cookie(){}
-};
-
-
-#endif /* COOKIE_H_ */

devicehandlers/CookieIF.h

@@ -0,0 +1,34 @@
+#ifndef COOKIE_H_
+#define COOKIE_H_
+#include <cstdint>
+
+/**
+ * @brief Physical address type
+ */
+typedef std::uint32_t address_t;
+
+/**
+ * @brief 	This datatype is used to identify different connection over a
+ * 			single interface (like RMAP or I2C)
+ * @details
+ * To use this class, implement a communication specific child cookie which
+ * inherits Cookie. Cookie instances are created in config/Factory.cpp by
+ * calling @code{.cpp} CookieIF* childCookie = new ChildCookie(...)
+ * @endcode .
+ *
+ * [not implemented yet]
+ * This cookie is then passed to the child device handlers, which stores the
+ * pointer and passes it to the communication interface functions.
+ *
+ * The cookie can be used to store all kinds of information
+ * about the communication, like slave addresses, communication status,
+ * communication parameters etc.
+ *
+ * @ingroup comm
+ */
+class CookieIF {
+public:
+	virtual ~CookieIF() {};
+};
+
+#endif /* COOKIE_H_ */

devicehandlers/DeviceCommunicationIF.h

@@ -1,63 +1,131 @@
 #ifndef DEVICECOMMUNICATIONIF_H_
 #define DEVICECOMMUNICATIONIF_H_
 
-#include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/CookieIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
+/**
+ * @defgroup interfaces Interfaces
+ * @brief Interfaces for flight software objects
+ */
 
+/**
+ * @defgroup comm Communication
+ * @brief Communication software components.
+ */
+
+/**
+ * @brief This is an interface to decouple device communication from
+ * the device handler to allow reuse of these components.
+ * @details
+ * Documentation: Dissertation Baetz p.138.
+ * It works with the assumption that received data
+ * is polled by a component. There are four generic steps of device communication:
+ *
+ *   1. Send data to a device
+ *   2. Get acknowledgement for sending
+ *   3. Request reading data from a device
+ *   4. Read received data
+ *
+ *  To identify different connection over a single interface can return
+ *  so-called cookies to components.
+ *  The CommunicationMessage message type can be used to extend the
+ *  functionality of the ComIF if a separate polling task is required.
+ *  @ingroup interfaces
+ *  @ingroup comm
+ */
 class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
-	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x01);
+	//! Standard Error Codes
-	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x02);
+	//! General protocol error. Define more concrete errors in child handler
-	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x04);
+	//! If cookie is a null pointer
-	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x05);
+	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x06);
+	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x03);
-	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x07);
+	// is this needed if there is no open/close call?
+	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
+	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x06);
+	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x07);
+	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x08);
 
-	virtual ~DeviceCommunicationIF() {
+	//! Can be used in readReceivedMessage() if no reply was received.
+	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0xA1);
 
-	}
+	virtual ~DeviceCommunicationIF() {}
 
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
-			uint32_t maxReplyLen) = 0;
 
 	/**
-	 * Use an existing cookie to open a connection to a new DeviceCommunication.
+	 * @brief Device specific initialization, using the cookie.
-	 * The previous connection must not be closed.
+	 * @details
-	 * If the returnvalue is not RETURN_OK, the cookie is unchanged and
+	 * The cookie is already prepared in the factory. If the communication
-	 * can be used with the previous connection.
+	 * interface needs to be set up in some way and requires cookie information,
+	 * this can be performed in this function, which is called on device handler
+	 * initialization.
+	 * @param cookie
+	 * @return
+	 *  - @c RETURN_OK if initialization was successfull
+	 *  - Everything else triggers failure event with returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0;
+
+	/**
+	 * Called by DHB in the SEND_WRITE doSendWrite().
+	 * This function is used to send data to the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return
+	 *  - @c RETURN_OK for successfull send
+	 *  - Everything else triggers failure event with returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
+			size_t sendLen) = 0;
+
+	/**
+	 * Called by DHB in the GET_WRITE doGetWrite().
+	 * Get send confirmation that the data in sendMessage() was sent successfully.
+	 * @param cookie
+	 * @return - @c RETURN_OK if data was sent successfull
+	 * 		   - Everything else triggers falure event with
+	 * 		     returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
+
+	/**
+	 * Called by DHB in the SEND_WRITE doSendRead().
+	 * It is assumed that it is always possible to request a reply
+	 * from a device. If a requestLen of 0 is supplied, no reply was enabled
+	 * and communication specific action should be taken (e.g. read nothing
+	 * or read everything).
 	 *
 	 * @param cookie
-	 * @param address
+	 * @param requestLen Size of data to read
-	 * @param maxReplyLen
+	 * @return - @c RETURN_OK to confirm the request for data has been sent.
-	 * @return
+	 *         - Everything else triggers failure event with
+	 *           returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-			uint32_t maxReplyLen) = 0;
+			size_t requestLen) = 0;
-
-	virtual void close(Cookie *cookie) = 0;
-
-	//SHOULDDO can data be const?
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
-			uint32_t len) = 0;
-
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
-			uint32_t *size) = 0;
-
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address) = 0;
-
-	virtual uint32_t getAddress(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter) = 0;
-
-	virtual uint32_t getParameter(Cookie *cookie) = 0;
 
+	/**
+	 * Called by DHB in the GET_WRITE doGetRead().
+	 * This function is used to receive data from the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param buffer [out] Set reply here (by using *buffer = ...)
+	 * @param size [out] size pointer to set (by using *size = ...).
+	 * 	           Set to 0 if no reply was received
+	 * @return - @c RETURN_OK for successfull receive
+	 * 		   - @c NO_REPLY_RECEIVED if not reply was received. Setting size to
+	 * 		   	   0 has the same effect
+	 *         - Everything else triggers failure event with
+	 *           returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) = 0;
 };
 
 #endif /* DEVICECOMMUNICATIONIF_H_ */

devicehandlers/DeviceHandlerBase.cpp

@@ -1,52 +1,60 @@
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/datapool/PoolVector.h>
-#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
 #include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
-#include <framework/globalfunctions/CRC.h>
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/subsystem/SubsystemBase.h>
 #include <framework/thermal/ThermalComponentIF.h>
+#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
+
+#include <framework/datapool/DataSet.h>
+#include <framework/datapool/PoolVariable.h>
+#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
+#include <framework/globalfunctions/CRC.h>
+#include <framework/subsystem/SubsystemBase.h>
 #include <framework/ipc/QueueFactory.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+#include <iomanip>
+
 object_id_t DeviceHandlerBase::powerSwitcherId = 0;
 object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
-DeviceHandlerBase::DeviceHandlerBase(uint32_t ioBoardAddress,
+DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
-		object_id_t setObjectId, uint32_t maxDeviceReplyLen,
+		object_id_t deviceCommunication, CookieIF * comCookie,
-		uint8_t setDeviceSwitch, object_id_t deviceCommunication,
+		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
-		FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
+		size_t cmdQueueSize) :
-		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(
+		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
-				MODE_OFF), submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(
+		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
-				maxDeviceReplyLen), wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(
+		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
-				StorageManagerIF::INVALID_ADDRESS), requestedRawTraffic(0), powerSwitcher(
+		deviceThermalStatePoolId(thermalStatePoolId),
-		NULL), IPCStore(NULL), deviceCommunicationId(deviceCommunication), communicationInterface(
+		deviceThermalRequestPoolId(thermalRequestPoolId),
-		NULL), cookie(
+		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
-		NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(
+		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
-				thermalRequestPoolId), healthHelper(this, setObjectId), modeHelper(
+		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
-				this), parameterHelper(this), childTransitionFailure(RETURN_OK), ignoreMissedRepliesCount(
+		switchOffWasReported(false), actionHelper(this, nullptr),
-				0), fdirInstance(fdirInstance), hkSwitcher(this), defaultFDIRUsed(
+		childTransitionDelay(5000),
-				fdirInstance == NULL), switchOffWasReported(false),executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(
+		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
-				ioBoardAddress), timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(
+		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
-				_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(
-				setDeviceSwitch) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			CommandMessage::MAX_MESSAGE_SIZE);
-	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
-	if (this->fdirInstance == NULL) {
+	cookieInfo.state = COOKIE_UNUSED;
+	cookieInfo.pendingCommand = deviceCommandMap.end();
+	if (comCookie == nullptr) {
+		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
+				std::setw(8) << std::setfill('0') << this->getObjectId() <<
+				std::dec << ": Do not pass nullptr as a cookie, consider "
+				<< std::setfill(' ') << "passing a dummy cookie instead!" <<
+				std::endl;
+	}
+	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
 				defaultFDIRParentId);
 	}
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-	communicationInterface->close(cookie);
+	delete comCookie;
 	if (defaultFDIRUsed) {
 		delete fdirInstance;
 	}
@@ -56,7 +64,7 @@ DeviceHandlerBase::~DeviceHandlerBase() {
 ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	this->pstStep = counter;
 
-	if (counter == 0) {
+	if (getComAction() == SEND_WRITE) {
 		cookieInfo.state = COOKIE_UNUSED;
 		readCommandQueue();
 		doStateMachine();
@@ -64,11 +72,12 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
+		performOperationHook();
 	}
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
 	}
-	switch (getRmapAction()) {
+	switch (getComAction()) {
 	case SEND_WRITE:
 		if ((cookieInfo.state == COOKIE_UNUSED)) {
 			buildInternalCommand();
@@ -91,13 +100,91 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	return RETURN_OK;
 }
 
+ReturnValue_t DeviceHandlerBase::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	communicationInterface = objectManager->get<DeviceCommunicationIF>(
+			deviceCommunicationId);
+	if (communicationInterface == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = communicationInterface->initializeInterface(comCookie);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (IPCStore == NULL) {
+		return RETURN_FAILED;
+	}
+
+	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+			AcceptsDeviceResponsesIF>(rawDataReceiverId);
+
+	if (rawReceiver == NULL) {
+		return RETURN_FAILED;
+	}
+
+	defaultRawReceiver = rawReceiver->getDeviceQueue();
+
+	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+	if (powerSwitcher == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = healthHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	result = modeHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = actionHelper.initialize(commandQueue);
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = fdirInstance->initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = parameterHelper.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = hkSwitcher.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	fillCommandAndReplyMap();
+
+	//Set temperature target state to NON_OP.
+	DataSet mySet;
+	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+			PoolVariableIF::VAR_WRITE);
+	mySet.read();
+	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+	mySet.commit(PoolVariableIF::VALID);
+
+	return RETURN_OK;
+
+}
+
 void DeviceHandlerBase::decrementDeviceReplyMap() {
 	for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
 		if (iter->second.delayCycles != 0) {
 			iter->second.delayCycles--;
 			if (iter->second.delayCycles == 0) {
-				if (iter->second.periodic != 0) {
+				if (iter->second.periodic) {
 					iter->second.delayCycles = iter->second.maxDelayCycles;
 				}
 				replyToReply(iter, TIMEOUT);
@@ -256,55 +343,49 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
+ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
+		uint16_t maxDelayCycles, size_t replyLen, bool periodic,
-		uint8_t periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
-//No need to check, as we may try to insert multiple times.
+	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
-		return insertInReplyMap(replyId, maxDelayCycles, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, uint8_t periodic) {
+		uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
+	info.replyLen = replyLen;
 	info.command = deviceCommandMap.end();
-	std::pair<std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator, bool> returnValue;
+	auto resultPair = deviceReplyMap.emplace(replyId, info);
-	returnValue = deviceReplyMap.insert(
+	if (resultPair.second) {
-			std::pair<DeviceCommandId_t, DeviceReplyInfo>(replyId, info));
-	if (returnValue.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
-		DeviceCommandId_t deviceCommand) {
 	DeviceCommandInfo info;
 	info.expectedReplies = 0;
 	info.isExecuting = false;
 	info.sendReplyTo = NO_COMMANDER;
-	std::pair<std::map<DeviceCommandId_t, DeviceCommandInfo>::iterator, bool> returnValue;
+	auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
-	returnValue = deviceCommandMap.insert(
+	if (resultPair.second) {
-			std::pair<DeviceCommandId_t, DeviceCommandInfo>(deviceCommand,
-					info));
-	if (returnValue.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(
+ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
-		DeviceCommandId_t deviceReply, uint16_t delayCycles,
+		uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
-		uint16_t maxDelayCycles, uint8_t periodic) {
 	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.find(deviceReply);
 	if (iter == deviceReplyMap.end()) {
@@ -429,7 +510,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
 void DeviceHandlerBase::doSendWrite() {
 	if (cookieInfo.state == COOKIE_WRITE_READY) {
 
-		ReturnValue_t result = communicationInterface->sendMessage(cookie,
+		ReturnValue_t result = communicationInterface->sendMessage(comCookie,
 				rawPacket, rawPacketLen);
 
 		if (result == RETURN_OK) {
@@ -450,12 +531,14 @@ void DeviceHandlerBase::doGetWrite() {
 		return;
 	}
 	cookieInfo.state = COOKIE_UNUSED;
-	ReturnValue_t result = communicationInterface->getSendSuccess(cookie);
+	ReturnValue_t result = communicationInterface->getSendSuccess(comCookie);
 	if (result == RETURN_OK) {
 		if (wiretappingMode == RAW) {
 			replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
 		}
-		//We need to distinguish here, because a raw command never expects a reply. (Could be done in eRIRM, but then child implementations need to be careful.
+
+		//We need to distinguish here, because a raw command never expects a reply.
+		//(Could be done in eRIRM, but then child implementations need to be careful.
 		result = enableReplyInReplyMap(cookieInfo.pendingCommand);
 	} else {
 		//always generate a failure event, so that FDIR knows what's up
@@ -471,7 +554,17 @@ void DeviceHandlerBase::doGetWrite() {
 void DeviceHandlerBase::doSendRead() {
 	ReturnValue_t result;
 
-	result = communicationInterface->requestReceiveMessage(cookie);
+	size_t requestLen = 0;
+	if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
+		DeviceReplyIter iter = deviceReplyMap.find(
+				cookieInfo.pendingCommand->first);
+		if(iter != deviceReplyMap.end()) {
+			requestLen = iter->second.replyLen;
+		}
+	}
+
+	result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
+
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
 	} else {
@@ -485,10 +578,10 @@ void DeviceHandlerBase::doSendRead() {
 }
 
 void DeviceHandlerBase::doGetRead() {
-	uint32_t receivedDataLen;
+	size_t receivedDataLen;
 	uint8_t *receivedData;
 	DeviceCommandId_t foundId = 0xFFFFFFFF;
-	uint32_t foundLen = 0;
+	size_t foundLen = 0;
 	ReturnValue_t result;
 
 	if (cookieInfo.state != COOKIE_READ_SENT) {
@@ -498,8 +591,8 @@ void DeviceHandlerBase::doGetRead() {
 
 	cookieInfo.state = COOKIE_UNUSED;
 
-	result = communicationInterface->readReceivedMessage(cookie, &receivedData,
+	result = communicationInterface->readReceivedMessage(comCookie,
-			&receivedDataLen);
+			&receivedData, &receivedDataLen);
 
 	if (result != RETURN_OK) {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
@@ -508,7 +601,7 @@ void DeviceHandlerBase::doGetRead() {
 		return;
 	}
 
-	if (receivedDataLen == 0)
+	if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED)
 		return;
 
 	if (wiretappingMode == RAW) {
@@ -539,6 +632,8 @@ void DeviceHandlerBase::doGetRead() {
 				break;
 			case IGNORE_REPLY_DATA:
 				break;
+			case IGNORE_FULL_PACKET:
+				return;
 			default:
 				//We need to wait for timeout.. don't know what command failed and who sent it.
 				replyRawReplyIfnotWiretapped(receivedData, foundLen);
@@ -558,10 +653,10 @@ 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) {
+	if (IPCStore == nullptr) {
-		*data = NULL;
+		*data = nullptr;
 		*len = 0;
 		return RETURN_FAILED;
 	}
@@ -572,90 +667,10 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 	} else {
 		triggerEvent(StorageManagerIF::GET_DATA_FAILED, result,
 				storageAddress.raw);
-		*data = NULL;
+		*data = nullptr;
 		*len = 0;
 		return result;
 	}
-
-}
-
-ReturnValue_t DeviceHandlerBase::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	communicationInterface = objectManager->get<DeviceCommunicationIF>(
-			deviceCommunicationId);
-	if (communicationInterface == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = communicationInterface->open(&cookie, ioBoardAddress,
-			maxDeviceReplyLen);
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (IPCStore == NULL) {
-		return RETURN_FAILED;
-	}
-
-	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
-			AcceptsDeviceResponsesIF>(rawDataReceiverId);
-
-	if (rawReceiver == NULL) {
-		return RETURN_FAILED;
-	}
-
-	defaultRawReceiver = rawReceiver->getDeviceQueue();
-
-	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
-	if (powerSwitcher == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	result = modeHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = actionHelper.initialize(commandQueue);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = fdirInstance->initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = parameterHelper.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = hkSwitcher.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	fillCommandAndReplyMap();
-
-	//Set temperature target state to NON_OP.
-	DataSet mySet;
-	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	mySet.read();
-	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
-	mySet.commit(PoolVariableIF::VALID);
-
-	return RETURN_OK;
-
 }
 
 void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
@@ -687,8 +702,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 }
 
 //Default child implementations
-
+DeviceHandlerIF::CommunicationAction_t DeviceHandlerBase::getComAction() {
-DeviceHandlerBase::RmapAction_t DeviceHandlerBase::getRmapAction() {
 	switch (pstStep) {
 	case 0:
 		return SEND_WRITE;
@@ -727,7 +741,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 
 	if (info->delayCycles != 0) {
 
-		if (info->periodic != 0) {
+		if (info->periodic) {
 			info->delayCycles = info->maxDelayCycles;
 		} else {
 			info->delayCycles = 0;
@@ -748,20 +762,20 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
+//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
-	DeviceCommunicationIF *newCommunication = objectManager->get<
+//	DeviceCommunicationIF *newCommunication = objectManager->get<
-			DeviceCommunicationIF>(newChannelId);
+//			DeviceCommunicationIF>(newChannelId);
-
+//
-	if (newCommunication != NULL) {
+//	if (newCommunication != NULL) {
-		ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
+//		ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
-				maxDeviceReplyLen);
+//				maxDeviceReplyLen);
-		if (result != RETURN_OK) {
+//		if (result != RETURN_OK) {
-			return result;
+//			return result;
-		}
+//		}
-		return RETURN_OK;
+//		return RETURN_OK;
-	}
+//	}
-	return RETURN_FAILED;
+//	return RETURN_FAILED;
-}
+//}
 
 void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 	storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
@@ -1022,7 +1036,6 @@ void DeviceHandlerBase::replyRawReplyIfnotWiretapped(const uint8_t* data,
 
 ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		CommandMessage * message) {
-	ReturnValue_t result;
 	switch (message->getCommand()) {
 	case DeviceHandlerMessage::CMD_WIRETAPPING:
 		switch (DeviceHandlerMessage::getWiretappingMode(message)) {
@@ -1044,19 +1057,19 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		}
 		replyReturnvalueToCommand(RETURN_OK);
 		return RETURN_OK;
-	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
+//	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
-		if (mode != MODE_OFF) {
+//		if (mode != MODE_OFF) {
-			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
+//			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
-		} else {
+//		} else {
-			result = switchCookieChannel(
+//			result = switchCookieChannel(
-					DeviceHandlerMessage::getIoBoardObjectId(message));
+//					DeviceHandlerMessage::getIoBoardObjectId(message));
-			if (result == RETURN_OK) {
+//			if (result == RETURN_OK) {
-				replyReturnvalueToCommand(RETURN_OK);
+//				replyReturnvalueToCommand(RETURN_OK);
-			} else {
+//			} else {
-				replyReturnvalueToCommand(CANT_SWITCH_IOBOARD);
+//				replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
-			}
+//			}
-		}
+//		}
-		return RETURN_OK;
+//		return RETURN_OK;
 	case DeviceHandlerMessage::CMD_RAW:
 		if ((mode != MODE_RAW)) {
 			DeviceHandlerMessage::clear(message);
@@ -1165,7 +1178,7 @@ 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 +1199,7 @@ 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
@@ -1270,3 +1283,9 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
 			executingTask = task_;
 }
+
+// Default implementations empty.
+void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
+		object_id_t objectId, uint32_t parameter) {}
+
+void DeviceHandlerBase::performOperationHook() {}

devicehandlers/DeviceHandlerIF.h

@@ -8,7 +8,8 @@
 #include <framework/ipc/MessageQueueSenderIF.h>
 
 /**
- * This is the Interface used to communicate with a device handler.
+ * @brief 	This is the Interface used to communicate with a device handler.
+ * @details Includes all expected return values, events and modes.
  *
  */
 class DeviceHandlerIF {
@@ -22,22 +23,62 @@ public:
 	 *
 	 * @details The mode of the device handler must not be confused with the mode the device is in.
 	 * The mode of the device itself is transparent to the user but related to the mode of the handler.
+	 * MODE_ON and MODE_OFF are included in hasModesIF.h
 	 */
-//		MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
+
-//		MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
+	// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
-		static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
+	// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
-		static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
+	//! The device is powered on and the device handler periodically sends
-		static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
+	//! commands. The commands to be sent are selected by the handler
-		static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
+	//! according to the submode.
-		static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
+	static const Mode_t MODE_NORMAL = 2;
+	//! The device is powered on and ready to perform operations. In this mode,
+	//! raw commands can be sent. The device handler will send all replies
+	//! received from the command back to the commanding object.
+	static const Mode_t MODE_RAW = 3;
+	//! The device is shut down but the switch could not be turned off, so the
+	//! device still is powered. In this mode, only a mode change to @c MODE_OFF
+	//! can be commanded, which tries to switch off the device again.
+	static const Mode_t MODE_ERROR_ON = 4;
+	//! This is a transitional state which can not be commanded. The device
+	//! handler performs all commands to get the device in a state ready to
+	//! perform commands. When this is completed, the mode changes to @c MODE_ON.
+	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+	//! This is a transitional state which can not be commanded.
+	//! The device handler performs all actions and commands to get the device
+	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+	//! It is possible to set the mode to _MODE_TO_ON to use the to on
+	//! transition if available.
 	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+	//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+	//! transition if available.
 	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+	//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+	//! transition if available.
 	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-		static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
+	//! This is a transitional state which can not be commanded.
-		static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
+	//! The device is shut down and ready to be switched off.
-		static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
+	//! After the command to set the switch off has been sent,
-		static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
+	//! the mode changes to @c MODE_WAIT_OFF
-		static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
+	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+	//! This is a transitional state which can not be commanded. The device
+	//! will be switched on in this state. After the command to set the switch
+	//! on has been sent, the mode changes to @c MODE_WAIT_ON.
+	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+	//! This is a transitional state which can not be commanded. The switch has
+	//! been commanded off and the handler waits for it to be off.
+	//! When the switch is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+	//! This is a transitional state which can not be commanded. The switch
+	//! has been commanded on and the handler waits for it to be on.
+	//! When the switch is on, the mode changes to @c MODE_TO_ON.
+	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+	//! This is a transitional state which can not be commanded. The switch has
+	//! been commanded off and is off now. This state is only to do an RMAP
+	//! cycle once more where the doSendRead() function will set the mode to
+	//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
+	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
 	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
@@ -53,11 +94,13 @@ public:
 	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
-		static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0);
+
-		static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
+	// Standard codes used when building commands.
-		static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2);
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
+	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
 	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
-		static const ReturnValue_t CANT_SWITCH_IOBOARD = MAKE_RETURN_CODE(0xA4);
+	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA4);
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
@@ -65,50 +108,42 @@ public:
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 
-		//standard codes used in scan for reply
+	// Standard codes used in scanForReply
-	//	static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE(0xB1);
+	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);
-		static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
+	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB1);
-		static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
+	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB2);
-		static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB3);
-		static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
 
-		//standard codes used in  interpret device reply
+	// Standard codes used in  interpretDeviceReply
-		static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
+	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
-		static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
+	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
-		static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
+	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
-		static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
+	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected
 
-		//Standard codes used in buildCommandFromCommand
+	// Standard codes used in buildCommandFromCommand
-		static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(
+	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
-				0xD0);
+	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
-		static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS =
-				MAKE_RETURN_CODE(0xD1);
 
 	/**
-		 * RMAP Action that will be executed.
+	 * Communication action that will be executed.
 	 *
 	 * This is used by the child class to tell the base class what to do.
 	 */
-		enum RmapAction_t {
+	enum CommunicationAction_t: uint8_t {
-			SEND_WRITE,//!< RMAP send write
+		SEND_WRITE,//!< Send write
-			GET_WRITE, //!< RMAP get write
+		GET_WRITE, //!< Get write
-			SEND_READ, //!< RMAP send read
+		SEND_READ, //!< Send read
-			GET_READ,  //!< RMAP get read
+		GET_READ,  //!< Get read
 		NOTHING    //!< Do nothing.
 	};
+
 	/**
 	 * Default Destructor
 	 */
-	virtual ~DeviceHandlerIF() {
+	virtual ~DeviceHandlerIF() {}
-
-	}
 
 	/**
 	 * This MessageQueue is used to command the device handler.
-	 *
-	 * To command a device handler, a DeviceHandlerCommandMessage can be sent to this Queue.
-	 * The handler replies with a DeviceHandlerCommandMessage containing the DeviceHandlerCommand_t reply.
-	 *
 	 * @return the id of the MessageQueue
 	 */
 	virtual MessageQueueId_t getCommandQueue() const = 0;

devicehandlers/FixedSequenceSlot.cpp

@@ -16,6 +16,5 @@ FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
 	handler->setTaskIF(executingTask);
 }
 
-FixedSequenceSlot::~FixedSequenceSlot() {
+FixedSequenceSlot::~FixedSequenceSlot() {}
-}
 

devicehandlers/FixedSequenceSlot.h

@@ -13,35 +13,47 @@
 class PeriodicTaskIF;
 
 /**
- * \brief	This class is the representation of a single polling sequence table entry.
+ * @brief	This class is the representation of a single polling sequence table entry.
  *
- * \details	The PollingSlot class is the representation of a single polling sequence table entry.
+ * @details	The PollingSlot class is the representation of a single polling
+ * 			sequence table entry.
  */
 class FixedSequenceSlot {
 public:
-			FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs, int8_t setSequenceId, PeriodicTaskIF* executingTask );
+	FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
+			int8_t setSequenceId, PeriodicTaskIF* executingTask );
 	virtual ~FixedSequenceSlot();
 
 	/**
-	 * \brief	\c handler identifies which device handler object is executed in this slot.
+	 * @brief	Handler identifies which device handler object is executed in this slot.
 	 */
 	ExecutableObjectIF*	handler;
 
 	/**
-	 * \brief	This attribute defines when a device handler object is executed.
+	 * @brief	This attribute defines when a device handler object is executed.
 	 *
-	 * \details	The pollingTime attribute identifies the time the handler is executed in ms. It must be
+	 * @details	The pollingTime attribute identifies the time the handler is executed in ms.
-	 * 			smaller than the period length of the polling sequence, what is ensured by automated calculation
+	 * 			It must be smaller than the period length of the polling sequence.
-	 * 			from a database.
 	 */
 	uint32_t	pollingTimeMs;
 
 	/**
-	 * \brief	This value defines the type of device communication.
+	 * @brief	This value defines the type of device communication.
 	 *
-	 * \details	The state of this value decides what communication routine is called in the PST executable or the device handler object.
+	 * @details	The state of this value decides what communication routine is
+	 * 			called in the PST executable or the device handler object.
 	 */
 	uint8_t			opcode;
+
+	/**
+	 * @brief 	Operator overload for the comparison operator to
+	 * 			allow sorting by polling time.
+	 * @param fixedSequenceSlot
+	 * @return
+	 */
+	bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const {
+		return pollingTimeMs < fixedSequenceSlot.pollingTimeMs;
+	}
 };
 
 

devicehandlers/FixedSlotSequence.cpp

@@ -7,17 +7,12 @@ FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
 }
 
 FixedSlotSequence::~FixedSlotSequence() {
-	std::list<FixedSequenceSlot*>::iterator slotIt;
+	// Call the destructor on each list entry.
-	//Iterate through slotList and delete all entries.
+	slotList.clear();
-	slotIt = this->slotList.begin();
-	while (slotIt != this->slotList.end()) {
-		delete (*slotIt);
-		slotIt++;
-	}
 }
 
 void FixedSlotSequence::executeAndAdvance() {
-	(*this->current)->handler->performOperation((*this->current)->opcode);
+	current->handler->performOperation(current->opcode);
 //	if (returnValue != RETURN_OK) {
 //		this->sendErrorMessage( returnValue );
 //	}
@@ -31,53 +26,50 @@ void FixedSlotSequence::executeAndAdvance() {
 
 uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
 	uint32_t oldTime;
-	std::list<FixedSequenceSlot*>::iterator it;
+	SlotListIter slotListIter = current;
-	it = current;
 	// Get the pollingTimeMs of the current slot object.
-	oldTime = (*it)->pollingTimeMs;
+	oldTime = slotListIter->pollingTimeMs;
 	// Advance to the next object.
-	it++;
+	slotListIter++;
 	// Find the next interval which is not 0.
-	while (it != slotList.end()) {
+	while (slotListIter != slotList.end()) {
-		if (oldTime != (*it)->pollingTimeMs) {
+		if (oldTime != slotListIter->pollingTimeMs) {
-			return (*it)->pollingTimeMs - oldTime;
+			return slotListIter->pollingTimeMs - oldTime;
 		} else {
-			it++;
+			slotListIter++;
 		}
 	}
 	// If the list end is reached (this is definitely an interval != 0),
 	// the interval is calculated by subtracting the remaining time of the PST
 	// and adding the start time of the first handler in the list.
-	it = slotList.begin();
+	slotListIter = slotList.begin();
-	return lengthMs - oldTime + (*it)->pollingTimeMs;
+	return lengthMs - oldTime + slotListIter->pollingTimeMs;
 }
 
 uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
 	uint32_t currentTime;
-	std::list<FixedSequenceSlot*>::iterator it;
+	SlotListIter slotListIter = current;
-	it = current;
 	// Get the pollingTimeMs of the current slot object.
-	currentTime = (*it)->pollingTimeMs;
+	currentTime = slotListIter->pollingTimeMs;
 
 	//if it is the first slot, calculate difference to last slot
-	if (it == slotList.begin()){
+	if (slotListIter == slotList.begin()){
-		return lengthMs - (*(--slotList.end()))->pollingTimeMs + currentTime;
+		return lengthMs - (--slotList.end())->pollingTimeMs + currentTime;
 	}
 	// get previous slot
-	it--;
+	slotListIter--;
 
-	return currentTime - (*it)->pollingTimeMs;
+	return currentTime - slotListIter->pollingTimeMs;
 }
 
 bool FixedSlotSequence::slotFollowsImmediately() {
-	uint32_t currentTime = (*current)->pollingTimeMs;
+	uint32_t currentTime = current->pollingTimeMs;
-	std::list<FixedSequenceSlot*>::iterator it;
+	SlotListIter fixedSequenceIter = this->current;
-	it = this->current;
 	// Get the pollingTimeMs of the current slot object.
-	if (it == slotList.begin())
+	if (fixedSequenceIter == slotList.begin())
 		return false;
-	it--;
+	fixedSequenceIter--;
-	if ((*it)->pollingTimeMs == currentTime) {
+	if (fixedSequenceIter->pollingTimeMs == currentTime) {
 		return true;
 	} else {
 		return false;
@@ -89,27 +81,34 @@ 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) {
+		if (slotIt->handler == nullptr) {
-			error << "FixedSlotSequene::initialize: ObjectId does not exist!"
+			sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
 					<< std::endl;
 			count++;
-		} else if ((*slotIt)->pollingTimeMs < time) {
+		} else if (slotIt->pollingTimeMs < time) {
-			error << "FixedSlotSequence::initialize: Time: "
+			sif::error << "FixedSlotSequence::initialize: Time: "
-					<< (*slotIt)->pollingTimeMs
+					<< slotIt->pollingTimeMs
 					<< " is smaller than previous with " << time << std::endl;
 			count++;
 		} else {
-			//All ok, print slot.
+			// All ok, print slot.
-//			(*slotIt)->print();
+			//info << "Current slot polling time: " << std::endl;
+			//info << std::dec << slotIt->pollingTimeMs << std::endl;
 		}
-		time = (*slotIt)->pollingTimeMs;
+		time = slotIt->pollingTimeMs;
 		slotIt++;
 	}
+	//info << "Number of elements in slot list: "
+	//	   << slotList.size() << std::endl;
 	if (count > 0) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
@@ -118,8 +117,7 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
 
 void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
 		int8_t executionStep, PeriodicTaskIF* executingTask) {
-	this->slotList.push_back(
+	this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
-			new FixedSequenceSlot(componentId, slotTimeMs, executionStep,
 			executingTask));
 	this->current = slotList.begin();
 }

devicehandlers/FixedSlotSequence.h

@@ -1,47 +1,62 @@
-#ifndef FIXEDSLOTSEQUENCE_H_
+#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
-#define FIXEDSLOTSEQUENCE_H_
+#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
 
 #include <framework/devicehandlers/FixedSequenceSlot.h>
 #include <framework/objectmanager/SystemObject.h>
-#include <list>
+#include <set>
 
 /**
- * \brief	This class is the representation of a Polling Sequence Table in software.
+ * @brief	This class is the representation of a Polling Sequence Table in software.
  *
- * \details	The FixedSlotSequence object maintains the dynamic execution of device handler objects.
+ * @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
+ *
+ * The main idea is to create a list of device handlers, to announce all
+ * handlers to thepolling sequence and to maintain a list of
+ * polling slot objects. This slot list represents the Polling Sequence Table
+ * in software.
+ *
+ * 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:
+	using SlotList = std::multiset<FixedSequenceSlot>;
+	using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
 
 	/**
-	 * \brief	The constructor of the FixedSlotSequence object.
+	 * @brief	The constructor of the FixedSlotSequence object.
 	 *
-	 * \details	The constructor takes two arguments, the period length and the init function.
+	 * @details	The constructor takes two arguments, the period length and the init function.
 	 *
-	 * \param	setLength	The period length, expressed in ms.
+	 * @param	setLength	The period length, expressed in ms.
 	 */
 	FixedSlotSequence(uint32_t setLengthMs);
 
 	/**
-	 * \brief	The destructor of the FixedSlotSequence object.
+	 * @brief	The destructor of the FixedSlotSequence object.
 	 *
-	 * \details	The destructor frees all allocated memory by iterating through the slotList
+	 * @details	The destructor frees all allocated memory by iterating through the slotList
 	 *  		and deleting all allocated resources.
 	 */
 	virtual ~FixedSlotSequence();
 
 	/**
-	 * \brief	This is a method to add an PollingSlot object to slotList.
+	 * @brief	This is a method to add an PollingSlot object to slotList.
 	 *
-	 * \details	Here, a polling slot object is added to the slot list. It is appended
+	 * @details	Here, a polling slot object is added to the slot list. It is appended
 	 * 			to the end of the list. The list is currently NOT reordered.
 	 * 			Afterwards, the iterator current is set to the beginning of the list.
+	 * 	@param Object ID of the object to add
+	 * 	@param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
+	 * 				   will be called inside the slot period.
+	 * 	@param setSequenceId ID which can be used to distinguish
+	 * 	                     different task operations
+	 * 	@param
+	 * 	@param
 	 */
 	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
 			PeriodicTaskIF* executingTask);
@@ -55,61 +70,81 @@ public:
 	bool slotFollowsImmediately();
 
 	/**
-	 * \brief	This method returns the time until the next software component is invoked.
+	 * @brief	This method returns the time until the next software
+	 * 			component is invoked.
 	 *
-	 * \details	This method is vitally important for the operation of the PST. By fetching the polling time
+	 * @details
-	 * 			of the current slot and that of the next one (or the first one, if the list end is reached)
+	 * This method is vitally important for the operation of the PST.
-	 * 			it calculates and returns the interval in milliseconds within which the handler execution
+	 * By fetching the polling time of the current slot and that of the
-	 * 			shall take place. If the next slot has the same time as the current one, it is ignored until
+	 * next one (or the first one, if the list end is reached)
-	 * 			a slot with different time or the end of the PST is found.
+	 * it calculates and returns the interval in milliseconds within
+	 * which the handler execution shall take place.
+	 * If the next slot has the same time as the current one, it is ignored
+	 * until a slot with different time or the end of the PST is found.
 	 */
 	uint32_t getIntervalToNextSlotMs();
 
 	/**
-	 * \brief	This method returns the time difference between the current slot and the previous slot
+	 * @brief	This method returns the time difference between the current
+	 * 			slot and the previous slot
 	 *
-	 * \details	This method is vitally important for the operation of the PST. By fetching the polling time
+	 * @details
-	 * 			of the current slot and that of the prevous one (or the last one, if the slot is the first one)
+	 * This method is vitally important for the operation of the PST.
-	 * 			it calculates and returns the interval in milliseconds that the handler execution shall be delayed.
+	 * By fetching the polling time of the current slot and that of the previous
+	 * one (or the last one, if the slot is the first one) it calculates and
+	 * returns the interval in milliseconds that the handler execution shall
+	 * be delayed.
 	 */
 	uint32_t getIntervalToPreviousSlotMs();
 
 	/**
-	 * \brief	This method returns the length of this FixedSlotSequence instance.
+	 * @brief	This method returns the length of this FixedSlotSequence instance.
 	 */
 	uint32_t getLengthMs() const;
 
 	/**
-	 * \brief	The method to execute the device handler entered in the current OPUSPollingSlot object.
+	 * @brief	The method to execute the device handler entered in the current
+	 * 			PollingSlot object.
 	 *
-	 * \details	Within this method the device handler object to be executed is chosen by looking up the
+	 * @details
-	 * 			handler address of the current slot in the handlerMap. Either the device handler's
+	 * Within this method the device handler object to be executed is chosen by
-	 * 			talkToInterface or its listenToInterface method is invoked, depending on the isTalking flag
+	 * looking up the handler address of the current slot in the handlerMap.
-	 * 			of the polling slot. After execution the iterator current is increased or, by reaching the
+	 * Either the device handler's talkToInterface or its listenToInterface
+	 * method is invoked, depending on the isTalking flag of the polling slot.
+	 * After execution the iterator current is increased or, by reaching the
 	 * end of slotList, reset to the beginning.
 	 */
 	void executeAndAdvance();
 
 	/**
-	 * \brief	An iterator that indicates the current polling slot to execute.
+	 * @brief	An iterator that indicates the current polling slot to execute.
 	 *
-	 * \details	This is an iterator for slotList and always points to the polling slot which is executed next.
+	 * @details	This is an iterator for slotList and always points to the
+	 * 			polling slot which is executed next.
 	 */
-	std::list<FixedSequenceSlot*>::iterator current;
+	SlotListIter 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:
 
 	/**
-	 * \brief	This list contains all OPUSPollingSlot objects, defining order and execution time of the
+	 * @brief	This list contains all PollingSlot objects, defining order and
-	 * 			device handler objects.
+	 * 			execution time of the device handler objects.
 	 *
-	 * \details	The slot list is a std:list object that contains all created OPUSPollingSlot instances.
+	 * @details
-	 * 			They are NOT ordered automatically, so by adding entries, the correct order needs to be ensured.
+	 * The slot list is a std:list object that contains all created
-	 * 			By iterating through this list the polling sequence is executed. Two entries with identical
+	 * PollingSlot instances. They are NOT ordered automatically, so by
-	 * 			polling times are executed immediately one after another.
+	 * adding entries, the correct order needs to be ensured. By iterating
+	 * through this list the polling sequence is executed. Two entries with
+	 * identical polling times are executed immediately one after another.
 	 */
-	std::list<FixedSequenceSlot*> slotList;
+	SlotList slotList;
 
 	uint32_t lengthMs;
 };

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;
 		}
 	}
 

ipc/QueueFactory.h

@@ -18,8 +18,8 @@ public:
 	 */
 	static QueueFactory* instance();
 
-	MessageQueueIF* createMessageQueue(uint32_t message_depth = 3,
+	MessageQueueIF* createMessageQueue(uint32_t messageDepth = 3,
-			uint32_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE);
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
 
 	void deleteMessageQueue(MessageQueueIF* queue);
 private:

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

@@ -1,38 +1,44 @@
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <iomanip>
 #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 +46,63 @@ 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) {
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+		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 {
@@ -72,10 +82,10 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
-	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+	auto slotListIter = pst.current;
 
 	//The start time for the first entry is read.
-	uint32_t intervalMs = (*it)->pollingTimeMs;
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
 
 	TickType_t xLastWakeTime;
@@ -110,4 +120,3 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
-

osal/FreeRTOS/FixedTimeslotTask.h

@@ -5,8 +5,10 @@
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
+extern "C" {
+#include "FreeRTOS.h"
 #include "task.h"
+}
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:

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/FreeRTOS/QueueFactory.cpp

@@ -25,8 +25,8 @@ QueueFactory::~QueueFactory() {
 }
 
 MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
-		uint32_t max_message_size) {
+		size_t maxMessageSize) {
-	return new MessageQueue(message_depth, max_message_size);
+	return new MessageQueue(message_depth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

osal/linux/FixedTimeslotTask.cpp

@@ -1,15 +1,14 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <unistd.h>
-#include <limits.h>
-#include <signal.h>
-#include <errno.h>
 #include <framework/osal/linux/FixedTimeslotTask.h>
 
+#include <limits.h>
 
 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() {
@@ -21,7 +20,7 @@ void* FixedTimeslotTask::taskEntryPoint(void* arg) {
 	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
 	//The task's functionality is called.
 	originalTask->taskFunctionality();
-	return NULL;
+	return nullptr;
 }
 
 ReturnValue_t FixedTimeslotTask::startTask() {
@@ -40,8 +39,14 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		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 +85,7 @@ 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;
 	}
 }

osal/linux/FixedTimeslotTask.h

@@ -8,7 +8,20 @@
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
 public:
-	FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
+	/**
+	 * Create a generic periodic task.
+	 * @param name_
+	 * Name, maximum allowed size of linux is 16 chars, everything else will
+	 * be truncated.
+	 * @param priority_
+	 * Real-time priority, ranges from 1 to 99 for Linux.
+	 * See: https://man7.org/linux/man-pages/man7/sched.7.html
+	 * @param stackSize_
+	 * @param period_
+	 * @param deadlineMissedFunc_
+	 */
+	FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_,
+			uint32_t periodMs_);
 	virtual ~FixedTimeslotTask();
 
 	virtual ReturnValue_t startTask();
@@ -17,7 +30,9 @@ public:
 
 	virtual uint32_t getPeriodMs() const;
 
-	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
+	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+			int8_t executionStep);
+
 	virtual ReturnValue_t checkSequence() const;
 
 	/**
@@ -34,11 +49,10 @@ public:
 protected:
 	/**
 	 * @brief	This function holds the main functionality of the thread.
-	 *
+	 * @details
-	 *
+	 * Holding the main functionality of the task, this method is most important.
-	 * @details	Holding the main functionality of the task, this method is most important.
+	 * It links the functionalities provided by FixedSlotSequence with the
-	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
+	 * OS's System Calls to keep the timing of the periods.
-	 * 			to keep the timing of the periods.
 	 */
 	virtual void taskFunctionality();
 
@@ -46,8 +60,13 @@ private:
 	/**
 	 * @brief	This is the entry point in a new thread.
 	 *
-	 * @details	This method, that is the entry point in the new thread and calls taskFunctionality of the child class.
+	 * @details
-	 * 			Needs a valid pointer to the derived class.
+	 * This method, that is the entry point in the new thread and calls
+	 * taskFunctionality of the child class. Needs a valid pointer to the
+	 * derived class.
+	 *
+	 * The void* returnvalue is not used yet but could be used to return
+	 * arbitrary data.
 	 */
 	static void* taskEntryPoint(void* arg);
 	FixedSlotSequence pst;

osal/linux/MessageQueue.cpp

@@ -1,56 +1,37 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <fcntl.h>           /* For O_* constants */
-#include <sys/stat.h>        /* For mode constants */
-#include <mqueue.h>
-#include <cstring>
-#include <errno.h>
 #include <framework/osal/linux/MessageQueue.h>
 
+#include <fstream>
 
-MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
+#include <fcntl.h>           /* For O_* constants */
-		id(0), lastPartner(0), defaultDestination(NO_QUEUE) {
+#include <sys/stat.h>        /* For mode constants */
+#include <cstring>
+#include <errno.h>
+
+
+MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
+		id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
+		defaultDestination(MessageQueueIF::NO_QUEUE) {
 	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
 	mq_attr attributes;
 	this->id = 0;
 	//Set attributes
 	attributes.mq_curmsgs = 0;
-	attributes.mq_maxmsg = message_depth;
+	attributes.mq_maxmsg = messageDepth;
-	attributes.mq_msgsize = max_message_size;
+	attributes.mq_msgsize = maxMessageSize;
 	attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
+	//Set the name of the queue. The slash is mandatory!
+	sprintf(name, "/FSFW_MQ%u\n", queueCounter++);
 
-	//Set the name of the queue
+	// Create a nonblocking queue if the name is available (the queue is read
-	sprintf(name, "/Q%u\n", queueCounter++);
+	// and writable for the owner as well as the group)
-
+	int oflag = O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL;
-	//Create a nonblocking queue if the name is available (the queue is Read and writable for the owner as well as the group)
+	mode_t mode = S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH;
-	mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
+	mqd_t tempId = mq_open(name, oflag, mode, &attributes);
-	S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH, &attributes);
 	if (tempId == -1) {
-		//An error occured during open
+		handleError(&attributes, messageDepth);
-		//We need to distinguish if it is caused by an already created queue
-		if (errno == EEXIST) {
-			//There's another queue with the same name
-			//We unlink the other queue
-			int status = mq_unlink(name);
-			if (status != 0) {
-				error << "mq_unlink Failed with status: " << strerror(errno)
-						<< std::endl;
-			} else {
-				//Successful unlinking, try to open again
-				mqd_t tempId = mq_open(name,
-				O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
-				S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, &attributes);
-				if (tempId != -1) {
-					//Successful mq_open
-					this->id = tempId;
-					return;
 	}
-			}
+	else {
-		}
-		//Failed either the first time or the second time
-		error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
-				<< name << std::dec << " failed with status: "
-				<< strerror(errno) << std::endl;
-	} else {
 		//Successful mq_open call
 		this->id = tempId;
 	}
@@ -59,14 +40,83 @@ 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;
 	}
 }
 
+ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
+		uint32_t messageDepth) {
+	switch(errno) {
+	case(EINVAL): {
+		sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
+				" for message size" << std::endl;
+		size_t defaultMqMaxMsg = 0;
+		// Not POSIX conformant, but should work for all UNIX systems.
+		// Just an additional helpful printout :-)
+		if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
+				defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
+			// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
+			// This happens if the msg_max value is not large enough
+			// It is ignored if the executable is run in privileged mode.
+			// Run the unlockRealtime script or grant the mode manually by using:
+			// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
+
+			// Persistent solution for session:
+			// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
+
+			// Permanent solution:
+			// sudo nano /etc/sysctl.conf
+			// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
+			// Apply changes with: sudo sysctl -p
+			sif::error << "MessageQueue::MessageQueue: Default MQ size "
+					<< defaultMqMaxMsg << " is too small for requested size "
+					<< messageDepth << std::endl;
+		}
+		break;
+	}
+	case(EEXIST): {
+		// An error occured during open
+		// We need to distinguish if it is caused by an already created queue
+		//There's another queue with the same name
+		//We unlink the other queue
+		int status = mq_unlink(name);
+		if (status != 0) {
+			sif::error << "mq_unlink Failed with status: " << strerror(errno)
+													<< std::endl;
+		}
+		else {
+			// Successful unlinking, try to open again
+			mqd_t tempId = mq_open(name,
+					O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
+					S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
+			if (tempId != -1) {
+				//Successful mq_open
+				this->id = tempId;
+				return HasReturnvaluesIF::RETURN_OK;
+			}
+		}
+		break;
+	}
+
+	default:
+		// Failed either the first time or the second time
+		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
+		<< name << std::dec << " failed with status: "
+		<< strerror(errno) << std::endl;
+
+	}
+	return HasReturnvaluesIF::RETURN_FAILED;
+
+
+
+}
+
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
 		MessageQueueMessage* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), false);
@@ -93,7 +143,8 @@ 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.
@@ -105,33 +156,44 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 		//Success but no message received
 		return MessageQueueIF::EMPTY;
 	} else {
-		//No message was received. Keep lastPartner anyway, I might send something later.
+		//No message was received. Keep lastPartner anyway, I might send
-		//But still, delete packet content.
+		//something later. But still, delete packet content.
 		memset(message->getData(), 0, message->MAX_DATA_SIZE);
 		switch(errno){
 		case EAGAIN:
-			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages currently on the specified queue.
+			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
+			//currently on the specified queue.
 			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:
 			/*
 			 * This value indicates one of the following:
-			 * * The pointer to the buffer for storing the received message, msg_ptr, is NULL.
+			 * - The pointer to the buffer for storing the received message,
-			 * * The number of bytes requested, msg_len is less than zero.
+			 *   msg_ptr, is NULL.
-			 * * 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.
+			 * - 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:
 			/*
 			 * This value indicates one of the following:
-			 * * 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 QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
-			 * * 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.
+			 *   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 +216,8 @@ 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
@@ -169,14 +232,16 @@ 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:
 			/*
 			 * This value indicates one of the following:
-			 * * mq_attr is NULL.
+			 *  - mq_attr is NULL.
-			 * * MQ_MULT_NOTIFY had been set for this queue, and the given mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once MQ_MULT_NOTIFY has been turned on, it may never be turned off.
+			 *  - MQ_MULT_NOTIFY had been set for this queue, and the given
-			 *
+			 *    mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
+			 *    MQ_MULT_NOTIFY has been turned on, it may never be turned off.
 			 */
 		default:
 			return HasReturnvaluesIF::RETURN_FAILED;
@@ -225,7 +290,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	//TODO: Check if we're in ISR.
 	if (result != 0) {
 		if(!ignoreFault){
-			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
 						objects::INTERNAL_ERROR_REPORTER);
 			if (internalErrorReporter != NULL) {
 				internalErrorReporter->queueMessageNotSent();
@@ -233,27 +299,38 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		}
 		switch(errno){
 		case EAGAIN:
-			//The O_NONBLOCK flag was set when opening the queue, or the MQ_NONBLOCK flag was set in its attributes, and the specified queue is full.
+			//The O_NONBLOCK flag was set when opening the queue, or the
+			//MQ_NONBLOCK flag was set in its attributes, and the
+			//specified queue is full.
 			return MessageQueueIF::FULL;
 		case EBADF:
-			//mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing.
+			//mq_des doesn't represent a valid message queue descriptor,
-			error << "MessageQueue::sendMessage: Configuration error " << strerror(errno) << " in mq_send mqSendTo: " << sendTo << " sent from " << sentFrom << std::endl;
+			//or mq_des wasn't opened for writing.
+			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.
 		case EINVAL:
 			/*
 			 * This value indicates one of the following:
-			 * * msg_ptr is NULL.
+			 * - msg_ptr is NULL.
-			 * * msg_len is negative.
+			 * - msg_len is negative.
-			 * * msg_prio is greater than MQ_PRIO_MAX.
+			 * - msg_prio is greater than MQ_PRIO_MAX.
-			 * * msg_prio is less than 0.
+			 * - 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.
+			// The msg_len is greater than the msgsize associated with
+			//the specified queue.
+			sif::error << "MessageQueue::sendMessage: Size error [" <<
+					strerror(errno) << "] in mq_send" << std::endl;
+			/*NO BREAK*/
 		default:
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}

osal/linux/MessageQueue.h

@@ -4,21 +4,26 @@
 #include <framework/internalError/InternalErrorReporterIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/ipc/MessageQueueMessage.h>
+
+#include <mqueue.h>
 /**
  * @brief		This class manages sending and receiving of message queue messages.
  *
- *	@details	Message queues are used to pass asynchronous messages between processes.
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
  * They work like post boxes, where all incoming messages are stored in FIFO
  * order. This class creates a new receiving queue and provides methods to fetch
- *				received messages. Being a child of MessageQueueSender, this class also provides
+ * received messages. Being a child of MessageQueueSender, this class also
- *				methods to send a message to a user-defined or a default destination. In addition
+ * provides methods to send a message to a user-defined or a default destination.
- *				it also provides a reply method to answer to the queue it received its last message
+ * In addition it also provides a reply method to answer to the queue it
- *				from.
+ * received its last message from.
- *				The MessageQueue should be used as "post box" for a single owning object. So all
+ *
- *				message queue communication is "n-to-one".
+ * The MessageQueue should be used as "post box" for a single owning object.
- *				For creating the queue, as well as sending and receiving messages, the class makes
+ * So all message queue communication is "n-to-one".
- *				use of the operating system calls provided.
+ *
- *	\ingroup message_queue
+ * The creation of message queues, as well as sending and receiving messages,
+ * makes use of the operating system calls provided.
+ *	@ingroup message_queue
  */
 class MessageQueue : public MessageQueueIF {
 	friend class MessageQueueSenderIF;
@@ -35,7 +40,8 @@ public:
 	 * @param max_message_size	With this parameter, the maximum message size can be adjusted.
 	 * 							This should be left default.
 	 */
-	MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
+	MessageQueue(uint32_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
 	/**
 	 * @brief	The destructor deletes the formerly created message queue.
 	 * @details	This is accomplished by using the delete call provided by the operating system.
@@ -168,6 +174,8 @@ private:
 	char name[5];
 
 	static uint16_t queueCounter;
+
+	ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
 };
 
 #endif /* MESSAGEQUEUE_H_ */

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

@@ -3,9 +3,10 @@
 #include <errno.h>
 #include <framework/osal/linux/PeriodicPosixTask.h>
 
-PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):PosixThread(name_,priority_,stackSize_),objectList(),started(false),periodMs(period_),deadlineMissedFunc(
+PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
-		deadlineMissedFunc_) {
+		size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
-
+		PosixThread(name_,priority_,stackSize_),objectList(),started(false),
+		periodMs(period_),deadlineMissedFunc(deadlineMissedFunc_) {
 }
 
 PeriodicPosixTask::~PeriodicPosixTask() {
@@ -37,7 +38,8 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
 
 ReturnValue_t PeriodicPosixTask::startTask(void){
 	started = true;
-	createTask(&taskEntryPoint,this);
+	//sif::info << stackSize << std::endl;
+	PosixThread::createTask(&taskEntryPoint,this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -56,9 +58,11 @@ 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 << "PeriodicPosixTask " << name << ": Deadline "
+						"missed." << std::endl;
 			}else{
-				error << "ObjectTask: X Deadline missed. " << status << std::endl;
+				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
+						status << std::endl;
 			}
 			if (this->deadlineMissedFunc != NULL) {
 				this->deadlineMissedFunc();

osal/linux/PeriodicPosixTask.h

@@ -9,8 +9,22 @@
 
 class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF {
 public:
-	PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(*deadlineMissedFunc_)());
+	/**
+	 * Create a generic periodic task.
+	 * @param name_
+	 * Name, maximum allowed size of linux is 16 chars, everything else will
+	 * be truncated.
+	 * @param priority_
+	 * Real-time priority, ranges from 1 to 99 for Linux.
+	 * See: https://man7.org/linux/man-pages/man7/sched.7.html
+	 * @param stackSize_
+	 * @param period_
+	 * @param deadlineMissedFunc_
+	 */
+	PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_,
+			uint32_t period_, void(*deadlineMissedFunc_)());
 	virtual ~PeriodicPosixTask();
+
 	/**
 	 * @brief	The method to start the task.
 	 * @details	The method starts the task with the respective system call.

osal/linux/PosixThread.cpp

@@ -1,8 +1,13 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/osal/linux/PosixThread.h>
 #include <cstring>
 #include <errno.h>
-#include <framework/osal/linux/PosixThread.h>
 
+PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):
+		thread(0),priority(priority_),stackSize(stackSize_) {
+    name[0] = '\0';
+    std::strncat(name, name_, PTHREAD_MAX_NAMELEN - 1);
+}
 
 PosixThread::~PosixThread() {
 	//No deletion and no free of Stack Pointer
@@ -22,7 +27,8 @@ 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 +46,8 @@ 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;
 	}
 }
 
@@ -54,10 +60,6 @@ void PosixThread::resume(){
 	pthread_kill(thread,SIGUSR1);
 }
 
-
-
-
-
 bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
 		const uint64_t delayTime_ms) {
 	uint64_t nextTimeToWake_ms;
@@ -112,14 +114,9 @@ uint64_t PosixThread::getCurrentMonotonicTimeMs(){
 	return currentTime_ms;
 }
 
-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 +127,51 @@ 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;
+	void* stackPointer;
-	status = posix_memalign(&sp, sysconf(_SC_PAGESIZE), stackSize);
+	status = posix_memalign(&stackPointer, sysconf(_SC_PAGESIZE), stackSize);
 	if(status != 0){
-			error << "Posix Thread stack init failed with: " << strerror(status) << std::endl;
+		sif::error << "PosixThread::createTask: Stack init failed with: " <<
+				strerror(status) << std::endl;
+		if(errno == ENOMEM) {
+			uint64_t stackMb = stackSize/10e6;
+			sif::error << "PosixThread::createTask: Insufficient memory for"
+					" the requested " << stackMb << " MB" << std::endl;
+		}
+		else if(errno == EINVAL) {
+			sif::error << "PosixThread::createTask: Wrong alignment argument!"
+					<< std::endl;
+		}
+		return;
 	}
 
-	status = pthread_attr_setstack(&attributes, sp, stackSize);
+	status = pthread_attr_setstack(&attributes, stackPointer, 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
+	// 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 +180,36 @@ 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 << "PosixThread::createTask: setname failed with: " <<
+				strerror(status) << std::endl;
+		if(status == ERANGE) {
+			sif::error << "PosixThread::createTask: Task name length longer"
+					" than 16 chars. Truncating.." << std::endl;
+			name[15] = '\0';
+			status = pthread_setname_np(thread,name);
+			if(status != 0){
+				sif::error << "PosixThread::createTask: Setting name"
+						" did not work.." << 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/PosixThread.h

@@ -1,15 +1,15 @@
 #ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
 #define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
 
-#include <pthread.h>
-#include <sched.h>
-#include <signal.h>
-#include <stdlib.h>
-#include <unistd.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <pthread.h>
+#include <signal.h>
+#include <cstdlib>
+#include <unistd.h>
 
 class PosixThread {
 public:
+	static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
 	PosixThread(const char* name_, int priority_, size_t stackSize_);
 	virtual ~PosixThread();
 	/**
@@ -54,21 +54,24 @@ protected:
 	pthread_t thread;
 
 	/**
-	 * @brief Function that has to be called by derived class because the derived class pointer has to be valid as argument
+	 * @brief 	Function that has to be called by derived class because the
-	 * @details This function creates a pthread with the given parameters. As the function requires a pointer to the derived object
+	 *  		derived class pointer has to be valid as argument.
-	 * 			it has to be called after the this pointer of the derived object is valid. Sets the taskEntryPoint as
+	 * @details
-	 * 			function to be called by new a thread.
+	 * This function creates a pthread with the given parameters. As the
-	 * @param name_ Name of the task
+	 * function requires a pointer to the derived object it has to be called
-	 * @param priority_ Priority of the task according to POSIX
+	 * after the this pointer of the derived object is valid.
-	 * @param stackSize_ Size of the stack attached to that task
+	 * Sets the taskEntryPoint as function to be called by new a thread.
-	 * @param arg_ argument of the taskEntryPoint function, needs to be this pointer of derived class
+	 * @param fnc_ Function which will be executed by the thread.
+	 * @param arg_
+	 * argument of the taskEntryPoint function, needs to be this pointer
+	 * of derived class
 	 */
 	void createTask(void* (*fnc_)(void*),void* arg_);
 
 private:
-	char name[10];
+	char name[PTHREAD_MAX_NAMELEN];
 	int priority;
-	size_t stackSize;
+	size_t stackSize = 0;
 };
 
 #endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */

osal/linux/QueueFactory.cpp

@@ -5,16 +5,18 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <cstring>
 
-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
 }
 
 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
@@ -26,9 +28,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
-		uint32_t max_message_size) {
+		size_t maxMessageSize) {
-	return new MessageQueue(message_depth, max_message_size);
+	return new MessageQueue(messageDepth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

osal/linux/TaskFactory.cpp

@@ -13,12 +13,20 @@ TaskFactory* TaskFactory::instance() {
 	return TaskFactory::factoryInstance;
 }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
-	return static_cast<PeriodicTaskIF*>(new PeriodicPosixTask(name_, taskPriority_,stackSize_,periodInSeconds_ * 1000,deadLineMissedFunction_));
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return new PeriodicPosixTask(name_, taskPriority_,stackSize_,
+			periodInSeconds_ * 1000, deadLineMissedFunction_);
 }
 
-FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
-	return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_, taskPriority_,stackSize_,periodInSeconds_*1000));
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return new FixedTimeslotTask(name_, taskPriority_,stackSize_,
+			periodInSeconds_*1000);
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {

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) {
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
 		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 {

osal/rtems/QueueFactory.cpp

@@ -49,9 +49,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
-		uint32_t max_message_size) {
+		size_t maxMessageSize) {
-	return new MessageQueue(message_depth, max_message_size);
+	return new MessageQueue(messageDepth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

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

@@ -96,7 +96,7 @@ template<typename T>
 ReturnValue_t ParameterWrapper::serializeData(uint8_t **buffer, size_t *size,
 		size_t maxSize, Endianness streamEndianness) 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::serialize(element, buffer, size, maxSize,

returnvalues/FwClassIds.h

@@ -24,6 +24,7 @@ enum {
 	MEMORY_HELPER, //MH
 	SERIALIZE_IF, //SE
 	FIXED_MAP, //FM
+	FIXED_MULTIMAP, //FMM
 	HAS_HEALTH_IF, //HHI
 	FIFO_CLASS, //FF
 	MESSAGE_PROXY, //MQP
@@ -54,11 +55,15 @@ enum {
 	HAS_ACTIONS_IF, //HF
 	DEVICE_COMMUNICATION_IF, //DC
 	BSP, //BSP
-	TIME_STAMPER_IF, //TSI 52
+	TIME_STAMPER_IF, //TSI 53
 	//TODO This will shift all IDs for FLP
-	SGP4PROPAGATOR_CLASS, //SGP4 53
+	SGP4PROPAGATOR_CLASS, //SGP4 54
-	MUTEX_IF, //MUX 54
+	MUTEX_IF, //MUX 55
-	MESSAGE_QUEUE_IF,//MQI 55
+	MESSAGE_QUEUE_IF,//MQI 56
+	SEMAPHORE_IF, //SPH 57
+	LOCAL_POOL_OWNER_IF, //LPIF 58
+	POOL_VARIABLE_IF, //PVA 59
+	HOUSEKEEPING_MANAGER, //HKM 60
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

returnvalues/HasReturnvaluesIF.h

@@ -1,27 +1,23 @@
-#ifndef HASRETURNVALUESIF_H_
+#ifndef FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
-#define HASRETURNVALUESIF_H_
+#define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
 
-#include <stdint.h>
 #include <framework/returnvalues/FwClassIds.h>
 #include <config/returnvalues/classIds.h>
+#include <cstdint>
 
 #define MAKE_RETURN_CODE( number )	((INTERFACE_ID << 8) + (number))
 typedef uint16_t ReturnValue_t;
 
 
-
-
-
-
 class HasReturnvaluesIF {
 public:
 	static const ReturnValue_t RETURN_OK = 0;
 	static const ReturnValue_t RETURN_FAILED = 1;
-	virtual ~HasReturnvaluesIF() {
+	virtual ~HasReturnvaluesIF() {}
-	}
 
+	static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) {
+	    return (interfaceId << 8) + number;
+	}
 };
 
-
+#endif /* FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_ */
-
-#endif /* HASRETURNVALUESIF_H_ */

rmap/RMAPCookie.h

@@ -1,12 +1,12 @@
 #ifndef RMAPCOOKIE_H_
 #define RMAPCOOKIE_H_
 
-#include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/CookieIF.h>
 #include <framework/rmap/rmapStructs.h>
 
 class RMAPChannelIF;
 
-class RMAPCookie : public Cookie{
+class RMAPCookie : public CookieIF {
 public:
 	//To Uli: Sorry, I need an empty ctor to initialize an array of cookies.
 	RMAPCookie();

rmap/RmapDeviceCommunicationIF.cpp

@@ -5,43 +5,43 @@
 RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() {
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::sendMessage(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::sendMessage(CookieIF* cookie,
 		uint8_t* data, uint32_t len) {
 	return RMAP::sendWriteCommand((RMAPCookie *) cookie, data, len);
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(Cookie* cookie) {
+ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(CookieIF* cookie) {
 	return RMAP::getWriteReply((RMAPCookie *) cookie);
 }
 
 ReturnValue_t RmapDeviceCommunicationIF::requestReceiveMessage(
-		Cookie* cookie) {
+		CookieIF* cookie) {
 	return RMAP::sendReadCommand((RMAPCookie *) cookie,
 				((RMAPCookie *) cookie)->getMaxReplyLen());
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(CookieIF* cookie,
 		uint8_t** buffer, uint32_t* size) {
 	return RMAP::getReadReply((RMAPCookie *) cookie, buffer, size);
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::setAddress(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::setAddress(CookieIF* cookie,
 		uint32_t address) {
 
 	((RMAPCookie *) cookie)->setAddress(address);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-uint32_t RmapDeviceCommunicationIF::getAddress(Cookie* cookie) {
+uint32_t RmapDeviceCommunicationIF::getAddress(CookieIF* cookie) {
 	return ((RMAPCookie *) cookie)->getAddress();
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::setParameter(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::setParameter(CookieIF* cookie,
 		uint32_t parameter) {
 	//TODO Empty?
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-uint32_t RmapDeviceCommunicationIF::getParameter(Cookie* cookie) {
+uint32_t RmapDeviceCommunicationIF::getParameter(CookieIF* cookie) {
 	return 0;
 }

rmap/RmapDeviceCommunicationIF.h

@@ -25,7 +25,7 @@ public:
 	 * @param maxReplyLen Maximum length of expected reply
 	 * @return
 	 */
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
+	virtual ReturnValue_t open(CookieIF **cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
 
 	/**
@@ -39,7 +39,7 @@ public:
 	 * @param maxReplyLen
 	 * @return
 	 */
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
+	virtual ReturnValue_t reOpen(CookieIF *cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
 
 
@@ -47,7 +47,7 @@ public:
 	 * Closing call of connection and memory free of cookie. Mission dependent call
 	 * @param cookie
 	 */
-	virtual void close(Cookie *cookie) = 0;
+	virtual void close(CookieIF *cookie) = 0;
 
 	//SHOULDDO can data be const?
 	/**
@@ -58,23 +58,23 @@ public:
 	 * @param len Length of the data to be send
 	 * @return - Return codes of RMAP::sendWriteCommand()
 	 */
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
+	virtual ReturnValue_t sendMessage(CookieIF *cookie, uint8_t *data,
 			uint32_t len);
 
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie);
+	virtual ReturnValue_t getSendSuccess(CookieIF *cookie);
 
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie);
 
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 			uint32_t *size);
 
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
+	virtual ReturnValue_t setAddress(CookieIF *cookie, uint32_t address);
 
-	virtual uint32_t getAddress(Cookie *cookie);
+	virtual uint32_t getAddress(CookieIF *cookie);
 
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
+	virtual ReturnValue_t setParameter(CookieIF *cookie, uint32_t parameter);
 
-	virtual uint32_t getParameter(Cookie *cookie);
+	virtual uint32_t getParameter(CookieIF *cookie);
 };
 
 #endif /* MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */

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;
-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

@@ -165,7 +165,7 @@ 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);
@@ -192,7 +192,7 @@ 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

@@ -82,8 +82,8 @@ void TmPacketStored::deletePacket() {
 
 void TmPacketStored::setStoreAddress(store_address_t setAddress) {
 	storeAddress = setAddress;
-	const uint8_t *temp_data = NULL;
+	const uint8_t* temp_data = NULL;
-	uint32_t temp_size;
+	size_t temp_size;
 	if (!checkAndSetStore()) {
 		return;
 	}
@@ -100,7 +100,7 @@ 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;
 	}