added new local data pool files

datapoollocal/HasLocalDataPoolIF.h

@@ -0,0 +1,95 @@
+#ifndef FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
+#define FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
+
+#include "../datapool/PoolEntryIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
+#include "../housekeeping/HousekeepingMessage.h"
+
+#include <map>
+
+class LocalDataPoolManager;
+class LocalPoolDataSetBase;
+
+/**
+ * @brief	Type definition for local pool entries.
+ */
+using lp_id_t = uint32_t;
+using LocalDataPool =  std::map<lp_id_t, PoolEntryIF*>;
+using LocalDataPoolMapIter = LocalDataPool::iterator;
+
+/**
+ * @brief 		This interface is implemented by classes which posses a local
+ * 				data pool (not the managing class). It defines the relationship
+ * 				between the local data pool owner and the LocalDataPoolManager.
+ * @details
+ * Any class implementing this interface shall also have a LocalDataPoolManager
+ * member class which contains the actual pool data structure
+ * and exposes the public interface for it.
+ * This is required because the pool entries are templates, which makes
+ * specifying an interface rather difficult. The local data pool can be
+ * accessed by using the LocalPoolVariable, LocalPoolVector or LocalDataSet
+ * classes.
+ *
+ * Architectural Note:
+ * This could be circumvented by using a wrapper/accessor function or
+ * implementing the templated function in this interface..
+ * The first solution sounds better than the second but
+ * the LocalPoolVariable classes are templates as well, so this just shifts
+ * the problem somewhere else. Interfaces are nice, but the most
+ * pragmatic solution I found was to offer the client the full interface
+ * of the LocalDataPoolManager.
+ */
+class HasLocalDataPoolIF {
+public:
+	virtual~ HasLocalDataPoolIF() {};
+
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
+	static constexpr lp_id_t NO_POOL_ID = 0xffffffff;
+
+	virtual object_id_t getObjectId() const = 0;
+
+	/** Command queue for housekeeping messages. */
+	virtual MessageQueueId_t getCommandQueue() const = 0;
+
+	/**
+	 * Is used by pool owner to initialize the pool map once
+	 * The manager instance shall also be passed to this function.
+	 * It can be used to subscribe for periodic packets for for updates.
+	 */
+	virtual ReturnValue_t initializeLocalDataPool(
+	        LocalDataPool& localDataPoolMap,
+	        LocalDataPoolManager& poolManager) = 0;
+
+	/** Can be used to get a handle to the local data pool manager. */
+	virtual LocalDataPoolManager* getHkManagerHandle() = 0;
+
+	/**
+	 * Returns the minimum sampling frequency in milliseconds, which will
+	 * usually be the period the pool owner performs its periodic operation.
+	 * @return
+	 */
+	virtual uint32_t getPeriodicOperationFrequency() const = 0;
+
+	/**
+	 * This function is used by the pool manager to get a valid dataset
+     * from a SID
+	 * @param sid Corresponding structure ID
+	 * @return
+	 */
+	virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) = 0;
+
+	/* These function can be implemented by pool owner, as they are required
+	 * by the housekeeping message interface */
+	virtual ReturnValue_t addDataSet(sid_t sid) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
+	virtual ReturnValue_t removeDataSet(sid_t sid) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
+	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
+	        float newIntervalSeconds) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
+};
+
+#endif /* FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_ */

datapoollocal/LocalDataPoolManager.cpp

@@ -0,0 +1,427 @@
+#include "LocalDataPoolManager.h"
+#include "LocalPoolDataSetBase.h"
+
+#include "../housekeeping/HousekeepingSetPacket.h"
+#include "../housekeeping/AcceptsHkPacketsIF.h"
+#include "../ipc/MutexFactory.h"
+#include "../ipc/MutexHelper.h"
+#include "../ipc/QueueFactory.h"
+#include "../objectmanager/frameworkObjects.h"
+
+#include <array>
+#include <cmath>
+
+object_id_t LocalDataPoolManager::defaultHkDestination =
+		objects::PUS_SERVICE_3_HOUSEKEEPING;
+
+LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
+        MessageQueueIF* queueToUse, bool appendValidityBuffer):
+        appendValidityBuffer(appendValidityBuffer) {
+    if(owner == nullptr) {
+        sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
+                << "Invalid supplied owner!" << std::endl;
+        return;
+    }
+    this->owner = owner;
+    mutex = MutexFactory::instance()->createMutex();
+    if(mutex == nullptr) {
+        sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
+                << "Could not create mutex." << std::endl;
+    }
+
+    hkQueue = queueToUse;
+}
+
+LocalDataPoolManager::~LocalDataPoolManager() {}
+
+ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
+    if(queueToUse == nullptr) {
+        sif::error << "LocalDataPoolManager::initialize: "
+                << std::hex << "0x" << owner->getObjectId() << ". Supplied "
+                << "queue invalid!" << std::dec << std::endl;
+    }
+    hkQueue = queueToUse;
+
+    ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    if(ipcStore == nullptr) {
+        sif::error << "LocalDataPoolManager::initialize: "
+                << std::hex << "0x" << owner->getObjectId() << ": Could not "
+                << "set IPC store." <<std::dec << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
+
+    if(defaultHkDestination != objects::NO_OBJECT) {
+        AcceptsHkPacketsIF* hkPacketReceiver =
+                objectManager->get<AcceptsHkPacketsIF>(defaultHkDestination);
+        if(hkPacketReceiver != nullptr) {
+            hkDestinationId = hkPacketReceiver->getHkQueue();
+        }
+        else {
+            sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
+                   << "Default HK destination object is invalid!" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(
+        uint8_t nonDiagInvlFactor) {
+    setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
+    return initializeHousekeepingPoolEntriesOnce();
+}
+
+ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
+	if(not mapInitialized) {
+		ReturnValue_t result = owner->initializeLocalDataPool(localPoolMap,
+		        *this);
+		if(result == HasReturnvaluesIF::RETURN_OK) {
+			mapInitialized = true;
+		}
+		return result;
+	}
+	sif::warning << "HousekeepingManager: The map should only be initialized "
+	        << "once!" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::performHkOperation() {
+    for(auto& receiver: hkReceiversMap) {
+        //HkReceiver* receiver = &hkReceiversIter.second;
+
+        switch(receiver.reportingType) {
+        case(ReportingType::PERIODIC): {
+            if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
+                // Periodic packets shall only be generated from datasets.
+                continue;
+            }
+            performPeriodicHkGeneration(receiver);
+            break;
+        }
+        case(ReportingType::UPDATE_SNAPSHOT): {
+            // check whether data has changed and send messages in case it has.
+            break;
+        }
+        default:
+            // This should never happen.
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
+		bool enableReporting, float collectionInterval, bool isDiagnostics,
+		object_id_t packetDestination) {
+	AcceptsHkPacketsIF* hkReceiverObject =
+			objectManager->get<AcceptsHkPacketsIF>(packetDestination);
+	if(hkReceiverObject == nullptr) {
+		sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
+				<< " Invalid receiver!"<< std::endl;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	struct HkReceiver hkReceiver;
+	hkReceiver.dataId.sid = sid;
+	hkReceiver.reportingType = ReportingType::PERIODIC;
+	hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
+
+	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+	if(dataSet != nullptr) {
+		dataSet->setReportingEnabled(enableReporting);
+		dataSet->setDiagnostic(isDiagnostics);
+		dataSet->initializePeriodicHelper(collectionInterval,
+				owner->getPeriodicOperationFrequency(), isDiagnostics);
+	}
+
+	hkReceiversMap.push_back(hkReceiver);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
+		CommandMessage* message) {
+    Command_t command = message->getCommand();
+    sid_t sid = HousekeepingMessage::getSid(message);
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    switch(command) {
+    case(HousekeepingMessage::ENABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
+    	result = togglePeriodicGeneration(sid, true, true);
+    	break;
+    }
+
+    case(HousekeepingMessage::DISABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
+    	result = togglePeriodicGeneration(sid, false, true);
+    	break;
+    }
+
+    case(HousekeepingMessage::ENABLE_PERIODIC_HK_REPORT_GENERATION): {
+    	result = togglePeriodicGeneration(sid, true, false);
+    	break;
+    }
+
+    case(HousekeepingMessage::DISABLE_PERIODIC_HK_REPORT_GENERATION): {
+    	result = togglePeriodicGeneration(sid, false, false);
+    	break;
+    }
+
+    case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES):
+        return generateSetStructurePacket(sid, true);
+    case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES):
+        return generateSetStructurePacket(sid, false);
+    case(HousekeepingMessage::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL):
+    case(HousekeepingMessage::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL): {
+    	float newCollIntvl = 0;
+    	HousekeepingMessage::getCollectionIntervalModificationCommand(message,
+    			&newCollIntvl);
+    	if(command == HousekeepingMessage::
+    			MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL) {
+    		result = changeCollectionInterval(sid, newCollIntvl, true);
+    	}
+    	else {
+    		result = changeCollectionInterval(sid, newCollIntvl, false);
+    	}
+    	break;
+    }
+
+    case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
+    case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
+    	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+    	if(command == HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT
+    			and dataSet->isDiagnostics()) {
+    		return WRONG_HK_PACKET_TYPE;
+    	}
+    	else if(command == HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT
+    			and not dataSet->isDiagnostics()) {
+    		return WRONG_HK_PACKET_TYPE;
+    	}
+    	return generateHousekeepingPacket(HousekeepingMessage::getSid(message),
+    			dataSet, true);
+    }
+
+    default:
+        return CommandMessageIF::UNKNOWN_COMMAND;
+    }
+
+    CommandMessage reply;
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
+	}
+	else {
+		HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
+	}
+	hkQueue->sendMessage(hkDestinationId, &reply);
+	return result;
+}
+
+ReturnValue_t LocalDataPoolManager::printPoolEntry(
+		lp_id_t localPoolId) {
+	auto poolIter = localPoolMap.find(localPoolId);
+	if (poolIter == localPoolMap.end()) {
+		sif::debug << "HousekeepingManager::fechPoolEntry:"
+				<< " Pool entry not found." << std::endl;
+		return POOL_ENTRY_NOT_FOUND;
+	}
+	poolIter->second->print();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MutexIF* LocalDataPoolManager::getMutexHandle() {
+	return mutex;
+}
+
+HasLocalDataPoolIF* LocalDataPoolManager::getOwner() {
+    return owner;
+}
+
+ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
+		LocalPoolDataSetBase* dataSet, bool forDownlink,
+		MessageQueueId_t destination) {
+	if(dataSet == nullptr) {
+		// Configuration error.
+		sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
+				<< " Set ID not found or dataset not assigned!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	store_address_t storeId;
+	HousekeepingPacketDownlink hkPacket(sid, dataSet);
+	size_t serializedSize = 0;
+	ReturnValue_t result = serializeHkPacketIntoStore(hkPacket, storeId,
+			forDownlink, &serializedSize);
+	if(result != HasReturnvaluesIF::RETURN_OK or serializedSize == 0) {
+	    return result;
+	}
+
+	// and now we set a HK message and send it the HK packet destination.
+	CommandMessage hkMessage;
+	if(dataSet->isDiagnostics()) {
+		HousekeepingMessage::setHkDiagnosticsReply(&hkMessage, sid, storeId);
+	}
+	else {
+		HousekeepingMessage::setHkReportReply(&hkMessage, sid, storeId);
+	}
+
+	if(hkQueue == nullptr) {
+	    return QUEUE_OR_DESTINATION_NOT_SET;
+	}
+	if(destination == MessageQueueIF::NO_QUEUE) {
+	    if(hkDestinationId == MessageQueueIF::NO_QUEUE) {
+	        // error, all destinations invalid
+	        return HasReturnvaluesIF::RETURN_FAILED;
+	    }
+	    destination = hkDestinationId;
+	}
+
+	return hkQueue->sendMessage(destination, &hkMessage);
+}
+
+ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
+        HousekeepingPacketDownlink& hkPacket,
+        store_address_t& storeId, bool forDownlink,
+		size_t* serializedSize) {
+    uint8_t* dataPtr = nullptr;
+    const size_t maxSize = hkPacket.getSerializedSize();
+    ReturnValue_t result = ipcStore->getFreeElement(&storeId,
+            maxSize, &dataPtr);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    if(forDownlink) {
+    	return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
+    	            SerializeIF::Endianness::BIG);
+    }
+    return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
+            SerializeIF::Endianness::MACHINE);
+}
+
+void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
+        uint8_t nonDiagInvlFactor) {
+    this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
+}
+
+void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
+	sid_t sid = receiver.dataId.sid;
+	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+	if(not dataSet->getReportingEnabled()) {
+		return;
+	}
+
+	if(dataSet->periodicHelper == nullptr) {
+		// Configuration error.
+		return;
+	}
+
+	if(not dataSet->periodicHelper->checkOpNecessary()) {
+		return;
+	}
+
+	ReturnValue_t result = generateHousekeepingPacket(
+			sid, dataSet, true);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		// configuration error
+		sif::debug << "LocalDataPoolManager::performHkOperation:"
+				<< "0x" << std::hex << std::setfill('0') << std::setw(8)
+				<< owner->getObjectId() << " Error generating "
+				<< "HK packet" << std::setfill(' ') << std::dec << std::endl;
+	}
+}
+
+
+ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid,
+		bool enable, bool isDiagnostics) {
+	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+	if((dataSet->isDiagnostics() and not isDiagnostics) or
+			(not dataSet->isDiagnostics() and isDiagnostics)) {
+		return WRONG_HK_PACKET_TYPE;
+	}
+
+	if((dataSet->getReportingEnabled() and enable) or
+			(not dataSet->getReportingEnabled() and not enable)) {
+		return REPORTING_STATUS_UNCHANGED;
+	}
+
+	dataSet->setReportingEnabled(enable);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
+		float newCollectionInterval, bool isDiagnostics) {
+	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+	bool targetIsDiagnostics = dataSet->isDiagnostics();
+	if((targetIsDiagnostics and not isDiagnostics) or
+			(not targetIsDiagnostics and isDiagnostics)) {
+		return WRONG_HK_PACKET_TYPE;
+	}
+
+	if(dataSet->periodicHelper == nullptr) {
+		// config error
+		return PERIODIC_HELPER_INVALID;
+	}
+
+	dataSet->periodicHelper->changeCollectionInterval(newCollectionInterval);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
+		bool isDiagnostics) {
+    // Get and check dataset first.
+	LocalPoolDataSetBase* dataSet = dynamic_cast<LocalPoolDataSetBase*>(
+			owner->getDataSetHandle(sid));
+	if(dataSet == nullptr) {
+		sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
+				<< " Set ID not found" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+
+	bool targetIsDiagnostics = dataSet->isDiagnostics();
+	if((targetIsDiagnostics and not isDiagnostics) or
+			(not targetIsDiagnostics and isDiagnostics)) {
+		return WRONG_HK_PACKET_TYPE;
+	}
+
+	bool valid = dataSet->isValid();
+	bool reportingEnabled = dataSet->getReportingEnabled();
+	float collectionInterval =
+			dataSet->periodicHelper->getCollectionIntervalInSeconds();
+
+	// Generate set packet which can be serialized.
+	HousekeepingSetPacket setPacket = HousekeepingSetPacket(sid,
+			reportingEnabled, valid, collectionInterval, dataSet);
+	size_t expectedSize = setPacket.getSerializedSize();
+	uint8_t* storePtr = nullptr;
+	store_address_t storeId;
+	ReturnValue_t result = ipcStore->getFreeElement(&storeId,
+			expectedSize,&storePtr);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "HousekeepingManager::generateHousekeepingPacket: "
+				<< "Could not get free element from IPC store." << std::endl;
+		return result;
+	}
+
+	// Serialize set packet into store.
+	size_t size = 0;
+	result = setPacket.serialize(&storePtr, &size, expectedSize,
+			SerializeIF::Endianness::BIG);
+	if(expectedSize != size) {
+		sif::error << "HousekeepingManager::generateSetStructurePacket: "
+				<< "Expected size is not equal to serialized size" << std::endl;
+	}
+
+	// Send structure reporting reply.
+	CommandMessage reply;
+	if(isDiagnostics) {
+	    HousekeepingMessage::setDiagnosticsStuctureReportReply(&reply,
+	            sid, storeId);
+	}
+	else {
+	    HousekeepingMessage::setHkStuctureReportReply(&reply,
+	                    sid, storeId);
+	}
+
+	hkQueue->reply(&reply);
+	return result;
+}

datapoollocal/LocalDataPoolManager.h

@@ -0,0 +1,291 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
+#define FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
+
+#include "HasLocalDataPoolIF.h"
+
+#include "../housekeeping/HousekeepingPacketDownlink.h"
+#include "../housekeeping/HousekeepingMessage.h"
+#include "../housekeeping/PeriodicHousekeepingHelper.h"
+#include "../datapool/DataSetIF.h"
+#include "../datapool/PoolEntry.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../ipc/MutexIF.h"
+#include "../ipc/CommandMessage.h"
+#include "../ipc/MessageQueueIF.h"
+#include "../ipc/MutexHelper.h"
+
+#include <map>
+
+namespace Factory {
+void setStaticFrameworkObjectIds();
+}
+
+class LocalDataSetBase;
+
+
+/**
+ * @brief 		This class is the managing instance for the local data pool.
+ * @details
+ * The actual data pool structure is a member of this class. Any class which
+ * has a local data pool shall have this class as a member and implement
+ * the HasLocalDataPoolIF.
+ *
+ * Users of the data pool use the helper classes LocalDataSet,
+ * LocalPoolVariable and LocalPoolVector to access pool entries in
+ * a thread-safe and efficient way.
+ *
+ * The local data pools employ a blackboard logic: Only the most recent
+ * value is stored. The helper classes offer a read() and commit() interface
+ * through the PoolVariableIF which is used to read and update values.
+ * Each pool entry has a valid state too.
+ * @author 		R. Mueller
+ */
+class LocalDataPoolManager {
+	template<typename T>
+	friend class LocalPoolVar;
+	template<typename T, uint16_t vecSize>
+	friend class LocalPoolVector;
+	friend class LocalPoolDataSetBase;
+	friend void (Factory::setStaticFrameworkObjectIds)();
+public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
+
+    static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00);
+    static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01);
+
+    static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x02);
+
+    static constexpr ReturnValue_t WRONG_HK_PACKET_TYPE = MAKE_RETURN_CODE(0x03);
+    static constexpr ReturnValue_t REPORTING_STATUS_UNCHANGED = MAKE_RETURN_CODE(0x04);
+    static constexpr ReturnValue_t PERIODIC_HELPER_INVALID = MAKE_RETURN_CODE(0x05);
+
+    /**
+     * This constructor is used by a class which wants to implement
+     * a personal local data pool. The queueToUse can be supplied if it
+     * is already known.
+     *
+     * initialize() has to be called in any case before using the object!
+     * @param owner
+     * @param queueToUse
+     * @param appendValidityBuffer
+     */
+	LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
+	        bool appendValidityBuffer = true);
+	virtual~ LocalDataPoolManager();
+
+	/**
+	 * Assigns the queue to use.
+	 * @param queueToUse
+	 * @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
+	 * @return
+	 */
+	ReturnValue_t initialize(MessageQueueIF* queueToUse);
+
+	/**
+	 * Initializes the map by calling the map initialization function and
+	 * setting the periodic factor for non-diagnostic packets.
+	 * Don't forget to call this, otherwise the map will be invalid!
+	 * @param nonDiagInvlFactor
+	 * @return
+	 */
+	ReturnValue_t initializeAfterTaskCreation(uint8_t nonDiagInvlFactor = 5);
+
+    /**
+     * This should be called in the periodic handler of the owner.
+     * It performs all the periodic functionalities of the data pool manager,
+     * for example generating periodic HK packets.
+     * @return
+     */
+    ReturnValue_t performHkOperation();
+
+	/**
+	 * @return
+	 */
+	ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
+			float collectionInterval, bool isDiagnostics,
+			object_id_t packetDestination = defaultHkDestination);
+
+	/**
+	 * Non-Diagnostics packets usually have a lower minimum sampling frequency
+	 * than diagnostic packets.
+	 * A factor can be specified to determine the minimum sampling frequency
+	 * for non-diagnostic packets. The minimum sampling frequency of the
+	 * diagnostics packets,which is usually jusst the period of the
+	 * performOperation calls, is multiplied with that factor.
+	 * @param factor
+	 */
+	void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
+
+
+	/**
+	 * Generate a housekeeping packet with a given SID.
+	 * @param sid
+	 * @return
+	 */
+	ReturnValue_t generateHousekeepingPacket(sid_t sid,
+			LocalPoolDataSetBase* dataSet, bool forDownlink,
+			MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
+
+	ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
+
+	/**
+	 * This function is used to fill the local data pool map with pool
+	 * entries. It should only be called once by the pool owner.
+	 * @param localDataPoolMap
+	 * @return
+	 */
+	ReturnValue_t initializeHousekeepingPoolEntriesOnce();
+
+	HasLocalDataPoolIF* getOwner();
+
+	ReturnValue_t printPoolEntry(lp_id_t localPoolId);
+
+    /**
+     * Different types of housekeeping reporting are possible.
+     *  1. PERIODIC:
+     *     HK packets are generated in fixed intervals and sent to
+     *     destination. Fromat will be raw.
+     *  2. UPDATE_NOTIFICATION:
+     *     Notification will be sent out if HK data has changed.
+     *  3. UPDATE_SNAPSHOT:
+     *     HK packets are only generated if explicitely requested.
+     *     Propably not necessary, just use multiple local data sets or
+     *     shared datasets.
+     */
+    enum class ReportingType: uint8_t {
+        //! Periodic generation of HK packets.
+        PERIODIC,
+        //! Housekeeping packet will be generated if values have changed.
+        UPDATE_HK,
+		//! Update notification will be sent out as message.
+		UPDATE_NOTIFICATION,
+        //! Notification will be sent out as message and a snapshot of the
+        //! current data will be generated.
+        UPDATE_SNAPSHOT,
+    };
+
+    /**
+     * Different data types are possible in the HK receiver map.
+     * For example, updates can be requested for full datasets or
+     * for single pool variables. Periodic reporting is only possible for
+     * data sets.
+     */
+    enum class DataType: uint8_t {
+    	LOCAL_POOL_VARIABLE,
+		DATA_SET
+    };
+
+    /* Copying forbidden */
+    LocalDataPoolManager(const LocalDataPoolManager &) = delete;
+    LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
+
+private:
+    LocalDataPool localPoolMap;
+    //! Every housekeeping data manager has a mutex to protect access
+    //! to it's data pool.
+    MutexIF* mutex = nullptr;
+
+    /** The class which actually owns the manager (and its datapool). */
+    HasLocalDataPoolIF* owner = nullptr;
+
+    uint8_t nonDiagnosticIntervalFactor = 0;
+
+	/** Default receiver for periodic HK packets */
+	static object_id_t defaultHkDestination;
+	MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
+
+    /** The data pool manager will keep an internal map of HK receivers. */
+    struct HkReceiver {
+		/** Object ID of receiver */
+		object_id_t objectId = objects::NO_OBJECT;
+
+		DataType dataType = DataType::DATA_SET;
+        union DataId {
+			DataId(): sid() {};
+            sid_t sid;
+            lp_id_t localPoolId;
+        };
+        DataId dataId;
+
+        ReportingType reportingType = ReportingType::PERIODIC;
+        MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
+    };
+
+    /** This vector will contain the list of HK receivers. */
+    using HkReceivers = std::vector<struct HkReceiver>;
+
+    HkReceivers hkReceiversMap;
+
+    /** This is the map holding the actual data. Should only be initialized
+     * once ! */
+    bool mapInitialized = false;
+    /** This specifies whether a validity buffer is appended at the end
+     * of generated housekeeping packets. */
+    bool appendValidityBuffer = true;
+
+	/**
+	 * @brief Queue used for communication, for example commands.
+	 * Is also used to send messages. Can be set either in the constructor
+     * or in the initialize() function.
+	 */
+	MessageQueueIF* hkQueue = nullptr;
+
+	/** Global IPC store is used to store all packets. */
+	StorageManagerIF* ipcStore = nullptr;
+	/**
+	 * Get the pointer to the mutex. Can be used to lock the data pool
+	 * eternally. Use with care and don't forget to unlock locked mutexes!
+	 * For now, only friend classes can accss this function.
+	 * @return
+	 */
+	MutexIF* getMutexHandle();
+
+	/**
+	 * Read a variable by supplying its local pool ID and assign the pool
+	 * entry to the supplied PoolEntry pointer. The type of the pool entry
+	 * is deduced automatically. This call is not thread-safe!
+	 * For now, only friend classes like LocalPoolVar may access this
+	 * function.
+	 * @tparam T Type of the pool entry
+	 * @param localPoolId Pool ID of the variable to read
+	 * @param poolVar [out] Corresponding pool entry will be assigned to the
+	 * 						supplied pointer.
+	 * @return
+	 */
+	template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
+			PoolEntry<T> **poolEntry);
+
+	ReturnValue_t serializeHkPacketIntoStore(
+	        HousekeepingPacketDownlink& hkPacket,
+	        store_address_t& storeId, bool forDownlink, size_t* serializedSize);
+
+	void performPeriodicHkGeneration(HkReceiver& hkReceiver);
+	ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable,
+			bool isDiagnostics);
+	ReturnValue_t changeCollectionInterval(sid_t sid,
+			float newCollectionInterval, bool isDiagnostics);
+	ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
+};
+
+
+template<class T> inline
+ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
+		PoolEntry<T> **poolEntry) {
+	auto poolIter = localPoolMap.find(localPoolId);
+	if (poolIter == localPoolMap.end()) {
+		sif::warning << "HousekeepingManager::fechPoolEntry: Pool entry "
+		        "not found." << std::endl;
+		return POOL_ENTRY_NOT_FOUND;
+	}
+
+	*poolEntry = dynamic_cast< PoolEntry<T>* >(poolIter->second);
+	if(*poolEntry == nullptr) {
+		sif::debug << "HousekeepingManager::fetchPoolEntry:"
+				" Pool entry not found." << std::endl;
+		return POOL_ENTRY_TYPE_CONFLICT;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_ */

datapoollocal/LocalDataSet.cpp

@@ -0,0 +1,22 @@
+#include "LocalDataSet.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+#include "../serialize/SerializeAdapter.h"
+
+#include <cmath>
+#include <cstring>
+
+LocalDataSet::LocalDataSet(HasLocalDataPoolIF *hkOwner, uint32_t setId,
+        const size_t maxNumberOfVariables):
+        LocalPoolDataSetBase(hkOwner, setId, nullptr, maxNumberOfVariables),
+        poolVarList(maxNumberOfVariables) {
+	this->setContainer(poolVarList.data());
+}
+
+LocalDataSet::LocalDataSet(sid_t sid, const size_t maxNumberOfVariables):
+        LocalPoolDataSetBase(sid, nullptr, maxNumberOfVariables),
+		poolVarList(maxNumberOfVariables) {
+	this->setContainer(poolVarList.data());
+}
+
+LocalDataSet::~LocalDataSet() {}
+

datapoollocal/LocalDataSet.h

@@ -0,0 +1,21 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALDATASET_H_
+#define FSFW_DATAPOOLLOCAL_LOCALDATASET_H_
+
+#include "LocalPoolDataSetBase.h"
+#include <vector>
+
+class LocalDataSet: public LocalPoolDataSetBase {
+public:
+    LocalDataSet(HasLocalDataPoolIF* hkOwner, uint32_t setId,
+    		const size_t maxSize);
+    LocalDataSet(sid_t sid, const size_t maxSize);
+    virtual~ LocalDataSet();
+
+    //! Copying forbidden for now.
+    LocalDataSet(const LocalDataSet&) = delete;
+    LocalDataSet& operator=(const LocalDataSet&) = delete;
+private:
+    std::vector<PoolVariableIF*> poolVarList;
+};
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALDATASET_H_ */

datapoollocal/LocalPoolDataSetBase.cpp

@@ -0,0 +1,259 @@
+#include "LocalPoolDataSetBase.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+#include "../housekeeping/PeriodicHousekeepingHelper.h"
+#include "../serialize/SerializeAdapter.h"
+
+#include <cmath>
+#include <cstring>
+
+LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
+		uint32_t setId, PoolVariableIF** registeredVariablesArray,
+		const size_t maxNumberOfVariables, bool noPeriodicHandling):
+		PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
+	if(hkOwner == nullptr) {
+		// Configuration error.
+		sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
+				<< "invalid!" << std::endl;
+		return;
+	}
+    hkManager = hkOwner->getHkManagerHandle();
+    this->sid.objectId = hkOwner->getObjectId();
+    this->sid.ownerSetId = setId;
+
+    // Data creators get a periodic helper for periodic HK data generation.
+    if(not noPeriodicHandling) {
+    	 periodicHelper = new PeriodicHousekeepingHelper(this);
+    }
+}
+
+LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
+        PoolVariableIF** registeredVariablesArray,
+        const size_t maxNumberOfVariables):
+        PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables)  {
+    HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
+            sid.objectId);
+    if(hkOwner == nullptr) {
+    	// Configuration error.
+        sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
+        		<< "invalid!" << std::endl;
+        return;
+    }
+    hkManager = hkOwner->getHkManagerHandle();
+    this->sid = sid;
+}
+
+LocalPoolDataSetBase::~LocalPoolDataSetBase() {
+}
+
+ReturnValue_t LocalPoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
+	MutexIF* mutex = hkManager->getMutexHandle();
+	return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs);
+}
+
+ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer,
+        size_t *size, size_t maxSize,
+        SerializeIF::Endianness streamEndianness) const {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
+    uint8_t validityMask[validityMaskSize];
+    uint8_t validBufferIndex = 0;
+    uint8_t validBufferIndexBit = 0;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        if(registeredVariables[count]->isValid()) {
+            // set validity buffer here.
+            this->bitSetter(validityMask + validBufferIndex,
+                    validBufferIndexBit);
+            if(validBufferIndexBit == 7) {
+                validBufferIndex ++;
+                validBufferIndexBit = 0;
+            }
+            else {
+                validBufferIndexBit ++;
+            }
+        }
+        result = registeredVariables[count]->serialize(buffer, size, maxSize,
+                streamEndianness);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+    // copy validity buffer to end
+    std::memcpy(*buffer, validityMask, validityMaskSize);
+    *size += validityMaskSize;
+    return result;
+}
+
+ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
+        const uint8_t **buffer, size_t *size,
+        SerializeIF::Endianness streamEndianness) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    for (uint16_t count = 0; count < fillCount; count++) {
+        result = registeredVariables[count]->deSerialize(buffer, size,
+                        streamEndianness);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+    }
+    uint8_t validBufferIndex = 0;
+    uint8_t validBufferIndexBit = 0;
+    // could be made more efficient but make it work first
+    for (uint16_t count = 0; count < fillCount; count++) {
+        // set validity buffer here.
+        bool nextVarValid = this->bitGetter(*buffer +
+                validBufferIndex, validBufferIndexBit);
+        registeredVariables[count]->setValid(nextVarValid);
+
+        if(validBufferIndexBit == 7) {
+            validBufferIndex ++;
+            validBufferIndexBit = 0;
+        }
+        else {
+            validBufferIndexBit ++;
+        }
+    }
+    return result;
+}
+ReturnValue_t LocalPoolDataSetBase::unlockDataPool() {
+	MutexIF* mutex = hkManager->getMutexHandle();
+	return mutex->unlockMutex();
+}
+
+ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
+        size_t* size, size_t maxSize,SerializeIF::Endianness streamEndianness,
+        bool serializeFillCount) const {
+    // Serialize as uint8_t
+    uint8_t fillCount = this->fillCount;
+    if(serializeFillCount) {
+        SerializeAdapter::serialize(&fillCount, buffer, size, maxSize,
+                streamEndianness);
+    }
+    for (uint16_t count = 0; count < fillCount; count++) {
+        lp_id_t currentPoolId = registeredVariables[count]->getDataPoolId();
+        auto result = SerializeAdapter::serialize(&currentPoolId, buffer,
+                size, maxSize, streamEndianness);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
+                    " error!" << std::endl;
+            return result;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+uint8_t LocalPoolDataSetBase::getLocalPoolIdsSerializedSize(
+        bool serializeFillCount) const {
+    if(serializeFillCount) {
+        return fillCount * sizeof(lp_id_t) + sizeof(uint8_t);
+    }
+    else {
+        return fillCount * sizeof(lp_id_t);
+    }
+}
+
+size_t LocalPoolDataSetBase::getSerializedSize() const {
+    if(withValidityBuffer) {
+        uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
+        return validityMaskSize + PoolDataSetBase::getSerializedSize();
+    }
+    else {
+        return PoolDataSetBase::getSerializedSize();
+    }
+}
+
+void LocalPoolDataSetBase::setValidityBufferGeneration(
+        bool withValidityBuffer) {
+    this->withValidityBuffer = withValidityBuffer;
+}
+
+ReturnValue_t LocalPoolDataSetBase::deSerialize(const uint8_t **buffer,
+        size_t *size, SerializeIF::Endianness streamEndianness) {
+    if(withValidityBuffer) {
+        return this->deSerializeWithValidityBuffer(buffer, size,
+                streamEndianness);
+    }
+    else {
+        return PoolDataSetBase::deSerialize(buffer, size, streamEndianness);
+    }
+}
+
+ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size,
+        size_t maxSize, SerializeIF::Endianness streamEndianness) const {
+    if(withValidityBuffer) {
+        return this->serializeWithValidityBuffer(buffer, size,
+                maxSize, streamEndianness);
+    }
+    else {
+        return PoolDataSetBase::serialize(buffer, size, maxSize,
+                streamEndianness);
+    }
+}
+
+void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
+    if(position > 7) {
+        sif::debug << "Pool Raw Access: Bit setting invalid position"
+        		<< std::endl;
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte |= 1 << shiftNumber;
+}
+
+void LocalPoolDataSetBase::setDiagnostic(bool isDiagnostics) {
+	this->diagnostic = isDiagnostics;
+}
+
+bool LocalPoolDataSetBase::isDiagnostics() const {
+	return diagnostic;
+}
+
+void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
+	this->reportingEnabled = reportingEnabled;
+}
+
+bool LocalPoolDataSetBase::getReportingEnabled() const {
+	return reportingEnabled;
+}
+
+void LocalPoolDataSetBase::initializePeriodicHelper(
+		float collectionInterval, dur_millis_t minimumPeriodicInterval,
+		bool isDiagnostics, uint8_t nonDiagIntervalFactor) {
+	periodicHelper->initialize(collectionInterval, minimumPeriodicInterval,
+			isDiagnostics, nonDiagIntervalFactor);
+}
+
+void LocalPoolDataSetBase::setChanged(bool changed) {
+	this->changed = changed;
+}
+
+bool LocalPoolDataSetBase::isChanged() const {
+	return changed;
+}
+
+sid_t LocalPoolDataSetBase::getSid() const {
+	return sid;
+}
+
+bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
+		uint8_t position) const {
+    if(position > 7) {
+        sif::debug << "Pool Raw Access: Bit setting invalid position"
+        		<< std::endl;
+        return false;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    return *byte & (1 << shiftNumber);
+}
+
+bool LocalPoolDataSetBase::isValid() const {
+    return this->valid;
+}
+
+void LocalPoolDataSetBase::setValidity(bool valid, bool setEntriesRecursively) {
+	if(setEntriesRecursively) {
+		for(size_t idx = 0; idx < this->getFillCount(); idx++) {
+			registeredVariables[idx] -> setValid(valid);
+		}
+	}
+	this->valid = valid;
+}

datapoollocal/LocalPoolDataSetBase.h

@@ -0,0 +1,190 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
+
+#include "HasLocalDataPoolIF.h"
+#include "../datapool/DataSetIF.h"
+#include "../datapool/PoolDataSetBase.h"
+#include "../serialize/SerializeIF.h"
+
+#include <vector>
+
+class LocalDataPoolManager;
+class PeriodicHousekeepingHelper;
+
+/**
+ * @brief	The LocalDataSet class manages a set of locally checked out
+ *          variables for local data pools
+ * @details
+ * Extends the PoolDataSetBase class for local data pools by introducing
+ * a validity state, a flag to mark the set as changed, and various other
+ * functions to make it usable by the LocalDataPoolManager class.
+ *
+ * This class manages a list, where a set of local variables (or pool variables)
+ * are registered. They are checked-out (i.e. their values are looked
+ * up and copied) with the read call. After the user finishes working with the
+ * pool variables, he can write back all variable values to the pool with
+ * the commit call. The data set manages locking and freeing the local data
+ * pools, to ensure thread-safety.
+ *
+ * Pool variables can be added to the dataset by using the constructor
+ * argument of the pool variable or using the #registerVariable member function.
+ *
+ * An internal state manages usage of this class. Variables may only be
+ * registered before any read call is made, and the commit call can only happen
+ * after the read call.
+ *
+ * If pool variables are writable and not committed until destruction
+ * of the set, the DataSet class automatically sets the valid flag in the
+ * data pool to invalid (without) changing the variable's value.
+ *
+ * @ingroup data_pool
+ */
+class LocalPoolDataSetBase: public PoolDataSetBase {
+	friend class LocalDataPoolManager;
+	friend class PeriodicHousekeepingHelper;
+public:
+	/**
+	 * @brief	Constructor for the creator of local pool data.
+	 * @details
+	 * This constructor also initializes the components required for
+	 * periodic handling.
+	 */
+	LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
+			uint32_t setId, PoolVariableIF** registeredVariablesArray,
+	        const size_t maxNumberOfVariables, bool noPeriodicHandling = false);
+
+	/**
+	 * @brief	Constructor for users of local pool data.
+	 * @details
+	 * @param sid Unique identifier of dataset consisting of object ID and
+	 * set ID.
+	 * @param registeredVariablesArray
+	 * @param maxNumberOfVariables
+	 */
+	LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
+	        const size_t maxNumberOfVariables);
+
+	/**
+	 * @brief	The destructor automatically manages writing the valid
+	 * 			information of variables.
+	 * @details
+	 * In case the data set was read out, but not committed(indicated by state),
+	 * the destructor parses all variables that are still registered to the set.
+	 * For each, the valid flag in the data pool is set to "invalid".
+	 */
+	~LocalPoolDataSetBase();
+
+	void setValidityBufferGeneration(bool withValidityBuffer);
+
+	sid_t getSid() const;
+
+	/** SerializeIF overrides */
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+	            SerializeIF::Endianness streamEndianness) const override;
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t *size,
+	        SerializeIF::Endianness streamEndianness) override;
+	size_t getSerializedSize() const override;
+
+	/**
+	 * Special version of the serilization function which appends a
+	 * validity buffer at the end. Each bit of this validity buffer
+	 * denotes whether the container data set entries are valid from left
+	 * to right, MSB first. (length = ceil(N/8), N = number of pool variables)
+	 * @param buffer
+	 * @param size
+	 * @param maxSize
+	 * @param bigEndian
+	 * @param withValidityBuffer
+	 * @return
+	 */
+	ReturnValue_t serializeWithValidityBuffer(uint8_t** buffer,
+	        size_t* size, size_t maxSize,
+	        SerializeIF::Endianness streamEndianness) const;
+	ReturnValue_t deSerializeWithValidityBuffer(const uint8_t** buffer,
+	        size_t *size, SerializeIF::Endianness streamEndianness);
+	ReturnValue_t serializeLocalPoolIds(uint8_t** buffer,
+	        size_t* size, size_t maxSize,
+	        SerializeIF::Endianness streamEndianness,
+	        bool serializeFillCount = true) const;
+	uint8_t getLocalPoolIdsSerializedSize(bool serializeFillCount = true) const;
+
+	/**
+	 * Set the dataset valid or invalid
+	 * @param setEntriesRecursively
+	 * If this is true, all contained datasets will also be set recursively.
+	 */
+	void setValidity(bool valid, bool setEntriesRecursively);
+	bool isValid() const override;
+
+	void setChanged(bool changed);
+	bool isChanged() const;
+
+protected:
+	sid_t sid;
+
+	bool diagnostic = false;
+	void setDiagnostic(bool diagnostics);
+	bool isDiagnostics() const;
+
+	/**
+	 * Used for periodic generation.
+	 */
+	bool reportingEnabled = false;
+	void setReportingEnabled(bool enabled);
+	bool getReportingEnabled() const;
+
+	void initializePeriodicHelper(float collectionInterval,
+			dur_millis_t minimumPeriodicInterval,
+			bool isDiagnostics, uint8_t nonDiagIntervalFactor = 5);
+
+	/**
+	 * If the valid state of a dataset is always relevant to the whole
+	 * data set we can use this flag.
+	 */
+	bool valid = false;
+
+	/**
+	 * Can be used to mark the dataset as changed, which is used
+	 * by the LocalDataPoolManager to send out update messages.
+	 */
+	bool changed = false;
+
+	/**
+	 * Specify whether the validity buffer is serialized too when serializing
+	 * or deserializing the packet. Each bit of the validity buffer will
+	 * contain the validity state of the pool variables from left to right.
+	 * The size of validity buffer thus will be ceil(N / 8) with N = number of
+	 * pool variables.
+	 */
+	bool withValidityBuffer = true;
+
+	/**
+	 * @brief	This is a small helper function to facilitate locking
+	 * 			the global data pool.
+	 * @details
+	 * It makes use of the lockDataPool method offered by the DataPool class.
+	 */
+	ReturnValue_t lockDataPool(uint32_t timeoutMs) override;
+	/**
+	 * @brief	This is a small helper function to facilitate
+	 * 			unlocking the global data pool
+	 * @details
+	 * It makes use of the freeDataPoolLock method offered by the DataPool class.
+	 */
+	ReturnValue_t unlockDataPool() override;
+
+	LocalDataPoolManager* hkManager;
+
+	/**
+	 * Set n-th bit of a byte, with n being the position from 0
+	 * (most significant bit) to 7 (least significant bit)
+	 */
+	void bitSetter(uint8_t* byte, uint8_t position) const;
+	bool bitGetter(const uint8_t* byte, uint8_t position) const;
+
+	PeriodicHousekeepingHelper* periodicHelper = nullptr;
+
+};
+
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_ */

datapoollocal/LocalPoolVariable.h

@@ -0,0 +1,177 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+
+#include "HasLocalDataPoolIF.h"
+#include "LocalDataPoolManager.h"
+
+#include "../datapool/PoolVariableIF.h"
+#include "../datapool/DataSetIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../serialize/SerializeAdapter.h"
+
+/**
+ * @brief 	Local Pool Variable class which is used to access the local pools.
+ * @details
+ * This class is not stored in the map. Instead, it is used to access
+ * the pool entries by using a pointer to the map storing the pool
+ * entries. It can also be used to organize these pool entries into data sets.
+ *
+ * @tparam T The template parameter sets the type of the variable. Currently,
+ * all plain data types are supported, but in principle  any type is possible.
+ * @ingroup data_pool
+ */
+template<typename T>
+class LocalPoolVar: public PoolVariableIF, HasReturnvaluesIF {
+public:
+	//! Default ctor is forbidden.
+	LocalPoolVar() = delete;
+
+	/**
+	 * This constructor is used by the data creators to have pool variable
+	 * instances which can also be stored in datasets.
+	 *
+	 * It does not fetch the current value from the data pool, which
+	 * has to be done by calling the read() operation.
+	 * Datasets can be used to access multiple local pool entries in an
+	 * efficient way. A pointer to a dataset can be passed to register
+	 * the pool variable in that dataset directly.
+	 * @param poolId ID of the local pool entry.
+	 * @param hkOwner Pointer of the owner. This will generally be the calling
+	 * class itself which passes "this".
+	 * @param dataSet The data set in which the variable shall register itself.
+	 * If nullptr, the variable is not registered.
+	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
+	 */
+	LocalPoolVar(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
+			DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+
+	/**
+	 * This constructor is used by data users like controllers to have
+	 * access to the local pool variables of data creators by supplying
+	 * the respective creator object ID.
+	 *
+	 * It does not fetch the current value from the data pool, which
+	 * has to be done by calling the read() operation.
+	 * Datasets can be used to access multiple local pool entries in an
+	 * efficient way. A pointer to a dataset can be passed to register
+	 * the pool variable in that dataset directly.
+	 * @param poolId ID of the local pool entry.
+	 * @param hkOwner object ID of the pool owner.
+	 * @param dataSet The data set in which the variable shall register itself.
+	 * If nullptr, the variable is not registered.
+	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
+	 *
+	 */
+	LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
+			DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+
+	virtual~ LocalPoolVar() {};
+
+	/**
+	 * @brief	This is the local copy of the data pool entry.
+	 * @details	The user can work on this attribute
+	 * 			just like he would on a simple local variable.
+	 */
+	T value = 0;
+
+	pool_rwm_t getReadWriteMode() const override;
+
+	lp_id_t getDataPoolId() const override;
+	void setDataPoolId(lp_id_t poolId);
+
+	bool isValid() const override;
+	void setValid(bool validity) override;
+	uint8_t getValid() const;
+
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+	        SerializeIF::Endianness streamEndianness) const override;
+	virtual size_t getSerializedSize() const override;
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override;
+
+	/**
+	 * @brief	This is a call to read the array's values
+	 * 			from the global data pool.
+	 * @details
+	 * When executed, this operation tries to fetch the pool entry with matching
+	 * data pool id from the data pool and copies all array values and the valid
+	 * information to its local attributes.
+	 * In case of a failure (wrong type, size or pool id not found), the
+	 * variable is set to zero and invalid.
+	 * The read call is protected with a lock.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 *
+	 */
+	ReturnValue_t read(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
+	/**
+	 * @brief	The commit call copies the array values back to the data pool.
+	 * @details
+	 * It checks type and size, as well as if the variable is writable. If so,
+	 * the value is copied and the local valid flag is written back as well.
+	 * The read call is protected with a lock.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 */
+	ReturnValue_t commit(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
+
+
+	LocalPoolVar<T> &operator=(T newValue);
+protected:
+	/**
+	 * @brief	Like #read, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t readWithoutLock() override;
+	/**
+	 * @brief	Like #commit, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t commitWithoutLock() override;
+
+	// std::ostream is the type for object std::cout
+	template <typename U>
+	friend std::ostream& operator<< (std::ostream &out,
+			const LocalPoolVar<U> &var);
+
+private:
+	//! @brief 	Pool ID of pool entry inside the used local pool.
+	lp_id_t localPoolId = PoolVariableIF::NO_PARAMETER;
+	//! @brief 	Read-write mode of the pool variable
+	pool_rwm_t readWriteMode = pool_rwm_t::VAR_READ_WRITE;
+	//! @brief 	Specifies whether the entry is valid or invalid.
+	bool valid = false;
+
+	//! Pointer to the class which manages the HK pool.
+	LocalDataPoolManager* hkManager;
+};
+
+#include "LocalPoolVariable.tpp"
+
+template<class T>
+using lp_var_t = LocalPoolVar<T>;
+
+using lp_bool_t = LocalPoolVar<uint8_t>;
+using lp_uint8_t = LocalPoolVar<uint8_t>;
+using lp_uint16_t = LocalPoolVar<uint16_t>;
+using lp_uint32_t = LocalPoolVar<uint32_t>;
+using lp_uint64_t = LocalPoolVar<uint64_t>;
+using lp_int8_t = LocalPoolVar<int8_t>;
+using lp_int16_t = LocalPoolVar<int16_t>;
+using lp_int32_t = LocalPoolVar<int32_t>;
+using lp_int64_t = LocalPoolVar<int64_t>;
+using lp_float_t = LocalPoolVar<float>;
+using lp_double_t = LocalPoolVar<double>;
+
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_ */

datapoollocal/LocalPoolVariable.tpp

@@ -0,0 +1,169 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
+
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+#error Include LocalPoolVariable.h before LocalPoolVariable.tpp!
+#endif
+
+template<typename T>
+inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId,
+		HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
+		pool_rwm_t setReadWriteMode):
+		localPoolId(poolId), readWriteMode(setReadWriteMode) {
+	if(poolId == PoolVariableIF::NO_PARAMETER) {
+		sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
+		        << "which is the NO_PARAMETER value!" << std::endl;
+	}
+	if(hkOwner == nullptr) {
+		sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool "
+		        << "owner is a invalid!" << std::endl;
+		return;
+	}
+	hkManager = hkOwner->getHkManagerHandle();
+	if(dataSet != nullptr) {
+	    dataSet->registerVariable(this);
+	}
+}
+
+template<typename T>
+inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
+        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+        localPoolId(poolId), readWriteMode(setReadWriteMode) {
+    if(poolId == PoolVariableIF::NO_PARAMETER) {
+        sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
+                << "which is the NO_PARAMETER value!" << std::endl;
+    }
+    HasLocalDataPoolIF* hkOwner =
+            objectManager->get<HasLocalDataPoolIF>(poolOwner);
+    if(hkOwner == nullptr) {
+        sif::error << "LocalPoolVariable: The supplied pool owner did not "
+                << "implement  the correct interface "
+                << "HasLocalDataPoolIF!" << std::endl;
+        return;
+	}
+	hkManager = hkOwner->getHkManagerHandle();
+	if(dataSet != nullptr) {
+		dataSet->registerVariable(this);
+	}
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::read(dur_millis_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
+	return readWithoutLock();
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
+	if(readWriteMode == pool_rwm_t::VAR_WRITE) {
+		sif::debug << "LocalPoolVar: Invalid read write "
+				"mode for read() call." << std::endl;
+		return PoolVariableIF::INVALID_READ_WRITE_MODE;
+	}
+
+	PoolEntry<T>* poolEntry = nullptr;
+	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
+	if(result != RETURN_OK and poolEntry != nullptr) {
+		sif::error << "PoolVector: Read of local pool variable of object "
+				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
+				hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
+				std::dec << " failed.\n" << std::flush;
+		return result;
+	}
+	this->value = *(poolEntry->address);
+	this->valid = poolEntry->valid;
+	return RETURN_OK;
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::commit(dur_millis_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
+	return commitWithoutLock();
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
+	if(readWriteMode == pool_rwm_t::VAR_READ) {
+		sif::debug << "LocalPoolVar: Invalid read write "
+				 "mode for commit() call." << std::endl;
+		return PoolVariableIF::INVALID_READ_WRITE_MODE;
+	}
+	PoolEntry<T>* poolEntry = nullptr;
+	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
+	if(result != RETURN_OK) {
+		sif::error << "PoolVector: Read of local pool variable of object "
+				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
+				hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
+				std::dec << " failed.\n" << std::flush;
+		return result;
+	}
+	*(poolEntry->address) = this->value;
+	poolEntry->valid = this->valid;
+	return RETURN_OK;
+}
+
+template<typename T>
+inline LocalPoolVar<T> & LocalPoolVar<T>::operator =(T newValue) {
+    value = newValue;
+    return *this;
+}
+
+
+template<typename T>
+inline pool_rwm_t LocalPoolVar<T>::getReadWriteMode() const {
+	return readWriteMode;
+}
+
+template<typename T>
+inline lp_id_t LocalPoolVar<T>::getDataPoolId() const {
+	return localPoolId;
+}
+
+template<typename T>
+inline void LocalPoolVar<T>::setDataPoolId(lp_id_t poolId) {
+	this->localPoolId = poolId;
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::isValid() const {
+	return valid;
+}
+
+template<typename T>
+inline void LocalPoolVar<T>::setValid(bool validity) {
+	this->valid = validity;
+}
+
+template<typename T>
+inline uint8_t LocalPoolVar<T>::getValid() const {
+	return valid;
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::serialize(uint8_t** buffer, size_t* size,
+		const size_t max_size, SerializeIF::Endianness streamEndianness) const {
+	return SerializeAdapter::serialize(&value,
+			buffer, size ,max_size, streamEndianness);
+}
+
+template<typename T>
+inline size_t LocalPoolVar<T>::getSerializedSize() const {
+	return SerializeAdapter::getSerializedSize(&value);
+}
+
+template<typename T>
+inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
+		size_t* size, SerializeIF::Endianness streamEndianness) {
+	return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
+}
+
+template<typename T>
+inline std::ostream& operator<< (std::ostream &out,
+		const LocalPoolVar<T> &var) {
+    out << var.value;
+    return out;
+}
+
+#endif

datapoollocal/LocalPoolVector.h

@@ -0,0 +1,202 @@
+#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+
+#include "../datapool/DataSetIF.h"
+#include "../datapool/PoolEntry.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+
+/**
+ * @brief	This is the access class for array-type data pool entries.
+ * @details
+ * To ensure safe usage of the data pool, operation is not done directly on the
+ * data pool entries, but on local copies. This class provides simple type-
+ * and length-safe access to vector-style data pool entries (i.e. entries with
+ * length > 1). The class can be instantiated as read-write and read only.
+ *
+ * It provides a commit-and-roll-back semantic, which means that no array
+ * entry in the data pool is changed until the commit call is executed.
+ * There are two template parameters:
+ * @tparam	T
+ * This template parameter specifies the data type of an array entry. Currently,
+ * all plain data types are supported, but in principle any type is possible.
+ * @tparam  vector_size
+ * This template parameter specifies the vector size of this entry. Using a
+ * template parameter for this is not perfect, but avoids
+ * dynamic memory allocation.
+ * @ingroup data_pool
+ */
+template<typename T, uint16_t vectorSize>
+class LocalPoolVector: public PoolVariableIF, public HasReturnvaluesIF {
+public:
+	LocalPoolVector() = delete;
+	/**
+	 * This constructor is used by the data creators to have pool variable
+	 * instances which can also be stored in datasets.
+	 * It does not fetch the current value from the data pool. This is performed
+	 * by the read() operation (which is not thread-safe).
+	 * Datasets can be used to access local pool entires in a thread-safe way.
+	 * @param poolId ID of the local pool entry.
+	 * @param hkOwner Pointer of the owner. This will generally be the calling
+	 * class itself which passes "this".
+	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
+	 * @param dataSet The data set in which the variable shall register itself.
+	 * If nullptr, the variable is not registered.
+	 */
+	LocalPoolVector(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
+			DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE
+			);
+
+	/**
+	 * This constructor is used by data users like controllers to have
+	 * access to the local pool variables of data creators by supplying
+	 * the respective creator object ID.
+	 * It does not fetch the current value from the data pool. This is performed
+	 * by the read() operation (which is not thread-safe).
+	 * Datasets can be used to access local pool entires in a thread-safe way.
+	 * @param poolId ID of the local pool entry.
+	 * @param hkOwner Pointer of the owner. This will generally be the calling
+	 * class itself which passes "this".
+	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
+	 * @param dataSet The data set in which the variable shall register itself.
+	 * If nullptr, the variable is not registered.
+	 */
+	LocalPoolVector(lp_id_t poolId, object_id_t poolOwner,
+			DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE
+			);
+
+	/**
+	 * @brief	This is the local copy of the data pool entry.
+	 * @details
+	 * The user can work on this attribute just like he would on a local
+	 * array of this type.
+	 */
+	T value[vectorSize];
+	/**
+	 * @brief	The classes destructor is empty.
+	 * @details	If commit() was not called, the local value is
+	 * 			discarded and not written back to the data pool.
+	 */
+	~LocalPoolVector() {};
+	/**
+	 * @brief	The operation returns the number of array entries
+	 * 			in this variable.
+	 */
+	uint8_t getSize() {
+		return vectorSize;
+	}
+
+	uint32_t getDataPoolId() const override;
+	/**
+	 * @brief This operation sets the data pool ID of the variable.
+	 * @details
+	 * The method is necessary to set id's of data pool member variables
+	 * with bad initialization.
+	 */
+	void setDataPoolId(uint32_t poolId);
+
+	/**
+	 * This method returns if the variable is write-only, read-write or read-only.
+	 */
+	pool_rwm_t getReadWriteMode() const;
+
+	/**
+	 * @brief	With this call, the valid information of the variable is returned.
+	 */
+	bool isValid() const override;
+	void setValid(bool valid) override;
+	uint8_t getValid() const;
+
+	T& operator [](int i);
+	const T &operator [](int i) const;
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			const size_t maxSize,
+			SerializeIF::Endianness streamEndiannes) const override;
+	virtual size_t getSerializedSize() const override;
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override;
+
+	/**
+	 * @brief	This is a call to read the array's values
+	 * 			from the global data pool.
+	 * @details
+	 * When executed, this operation tries to fetch the pool entry with matching
+	 * data pool id from the data pool and copies all array values and the valid
+	 * information to its local attributes.
+	 * In case of a failure (wrong type, size or pool id not found), the
+	 * variable is set to zero and invalid.
+	 * The read call is protected with a lock.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 */
+	ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+	/**
+	 * @brief	The commit call copies the array values back to the data pool.
+	 * @details
+	 * It checks type and size, as well as if the variable is writable. If so,
+	 * the value is copied and the local valid flag is written back as well.
+	 * The read call is protected with a lock.
+	 * It is recommended to use DataSets to read and commit multiple variables
+	 * at once to avoid the overhead of unnecessary lock und unlock operations.
+	 */
+	ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+
+protected:
+	/**
+	 * @brief	Like #read, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t readWithoutLock() override;
+	/**
+	 * @brief	Like #commit, but without a lock protection of the global pool.
+	 * @details
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * This can be used if the lock is handled externally to avoid the overhead
+	 * of consecutive lock und unlock operations.
+	 * Declared protected to discourage free public usage.
+	 */
+	ReturnValue_t commitWithoutLock() override;
+
+private:
+	/**
+	 * @brief	To access the correct data pool entry on read and commit calls,
+	 * 			the data pool id is stored.
+	 */
+	uint32_t localPoolId;
+	/**
+	 * @brief	The valid information as it was stored in the data pool
+	 * 			is copied to this attribute.
+	 */
+	bool valid;
+	/**
+	 * @brief	The information whether the class is read-write or
+	 * 			read-only is stored here.
+	 */
+	ReadWriteMode_t readWriteMode;
+	//! @brief	Pointer to the class which manages the HK pool.
+	LocalDataPoolManager* hkManager;
+
+	// std::ostream is the type for object std::cout
+	template <typename U, uint16_t otherSize>
+	friend std::ostream& operator<< (std::ostream &out,
+	        const LocalPoolVector<U, otherSize> &var);
+
+
+};
+
+#include "LocalPoolVector.tpp"
+
+template<typename T, uint16_t vectorSize>
+using lp_vec_t = LocalPoolVector<T, vectorSize>;
+
+#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_ */

datapoollocal/LocalPoolVector.tpp

@@ -0,0 +1,209 @@
+#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
+#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
+
+#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+#error Include LocalPoolVector.h before LocalPoolVector.tpp!
+#endif
+
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
+		HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
+		pool_rwm_t setReadWriteMode):
+		localPoolId(poolId), valid(false), readWriteMode(setReadWriteMode) {
+	if(poolId == PoolVariableIF::NO_PARAMETER) {
+		sif::warning << "LocalPoolVector: PoolVariableIF::NO_PARAMETER passed "
+				<< "as pool ID, which is the NO_PARAMETER value!" << std::endl;
+	}
+	std::memset(this->value, 0, vectorSize * sizeof(T));
+	hkManager = hkOwner->getHkManagerHandle();
+	if (dataSet != nullptr) {
+		dataSet->registerVariable(this);
+	}
+}
+
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
+		object_id_t poolOwner, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+		readWriteMode(setReadWriteMode) {
+	if(poolId == PoolVariableIF::NO_PARAMETER) {
+		sif::warning << "LocalPoolVector: PoolVariableIF::NO_PARAMETER passed "
+				<< "as pool ID, which is the NO_PARAMETER value!" << std::endl;
+	}
+	HasLocalDataPoolIF* hkOwner =
+			objectManager->get<HasLocalDataPoolIF>(poolOwner);
+	if(hkOwner == nullptr) {
+		sif::error << "LocalPoolVariable: The supplied pool owner did not "
+				<< "implement the correct interface HasHkPoolParametersIF!"
+				<< std::endl;
+		return;
+	}
+	hkManager = hkOwner->getHkManagerHandle();
+	if(dataSet != nullptr) {
+		dataSet->registerVariable(this);
+	}
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
+	return readWithoutLock();
+}
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
+	if(readWriteMode == pool_rwm_t::VAR_WRITE) {
+		sif::debug << "LocalPoolVar: Invalid read write "
+				"mode for read() call." << std::endl;
+		return PoolVariableIF::INVALID_READ_WRITE_MODE;
+	}
+
+	PoolEntry<T>* poolEntry = nullptr;
+	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
+	memset(this->value, 0, vectorSize * sizeof(T));
+
+	if(result != RETURN_OK) {
+		sif::error << "PoolVector: Read of local pool variable of object "
+				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
+				hkManager->getOwner() << "and lp ID 0x" << localPoolId <<
+				std::dec << " failed." << std::endl;
+		return result;
+	}
+	std::memcpy(this->value, poolEntry->address, poolEntry->getByteSize());
+	this->valid = poolEntry->valid;
+	return RETURN_OK;
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commit(
+		uint32_t lockTimeout) {
+	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
+			lockTimeout);
+	return commitWithoutLock();
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
+	if(readWriteMode == pool_rwm_t::VAR_READ) {
+		sif::debug << "LocalPoolVar: Invalid read write "
+				"mode for commit() call." << std::endl;
+		return PoolVariableIF::INVALID_READ_WRITE_MODE;
+	}
+	PoolEntry<T>* poolEntry = nullptr;
+	ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
+	if(result != RETURN_OK) {
+		sif::error << "PoolVector: Read of local pool variable of object "
+				"0x" << std::hex << std::setw(8) << std::setfill('0') <<
+				hkManager->getOwner() << " and lp ID 0x" << localPoolId <<
+				std::dec << " failed.\n" << std::flush;
+		return result;
+	}
+	std::memcpy(poolEntry->address, this->value, poolEntry->getByteSize());
+	poolEntry->valid = this->valid;
+	return RETURN_OK;
+}
+
+template<typename T, uint16_t vectorSize>
+inline T& LocalPoolVector<T, vectorSize>::operator [](int i) {
+	if(i <= vectorSize) {
+		return value[i];
+	}
+	// If this happens, I have to set some value. I consider this
+	// a configuration error, but I wont exit here.
+	sif::error << "LocalPoolVector: Invalid index. Setting or returning"
+			" last value!" << std::endl;
+	return value[i];
+}
+
+template<typename T, uint16_t vectorSize>
+inline const T& LocalPoolVector<T, vectorSize>::operator [](int i) const {
+	if(i <= vectorSize) {
+		return value[i];
+	}
+	// If this happens, I have to set some value. I consider this
+	// a configuration error, but I wont exit here.
+	sif::error << "LocalPoolVector: Invalid index. Setting or returning"
+			" last value!" << std::endl;
+	return value[i];
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
+		size_t* size, size_t maxSize,
+		SerializeIF::Endianness streamEndianness) const {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t i = 0; i < vectorSize; i++) {
+		result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			break;
+		}
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline size_t LocalPoolVector<T, vectorSize>::getSerializedSize() const {
+	return vectorSize * SerializeAdapter::getSerializedSize(value);
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
+		const uint8_t** buffer, size_t* size,
+		SerializeIF::Endianness streamEndianness) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t i = 0; i < vectorSize; i++) {
+		result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+				streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			break;
+		}
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline pool_rwm_t LocalPoolVector<T, vectorSize>::getReadWriteMode() const {
+	return this->readWriteMode;
+}
+
+
+template<typename T, uint16_t vectorSize>
+inline uint32_t LocalPoolVector<T, vectorSize>::getDataPoolId() const {
+	return localPoolId;
+}
+
+template<typename T, uint16_t vectorSize>
+inline void LocalPoolVector<T, vectorSize>::setDataPoolId(uint32_t poolId) {
+	this->localPoolId = poolId;
+}
+
+template<typename T, uint16_t vectorSize>
+inline void LocalPoolVector<T, vectorSize>::setValid(bool valid) {
+	this->valid = valid;
+}
+
+template<typename T, uint16_t vectorSize>
+inline uint8_t LocalPoolVector<T, vectorSize>::getValid() const {
+	return valid;
+}
+
+template<typename T, uint16_t vectorSize>
+inline bool LocalPoolVector<T, vectorSize>::isValid() const {
+	return valid;
+}
+
+template<typename T, uint16_t vectorSize>
+inline std::ostream& operator<< (std::ostream &out,
+        const LocalPoolVector<T, vectorSize> &var) {
+    out << "Vector: [";
+    for(int i = 0;i < vectorSize; i++) {
+        out << var.value[i];
+        if(i < vectorSize - 1) {
+            out << ", ";
+        }
+    }
+    out << "]";
+    return out;
+}
+
+#endif

datapoollocal/SharedLocalDataSet.cpp

@@ -0,0 +1,16 @@
+#include "SharedLocalDataSet.h"
+
+SharedLocalDataSet::SharedLocalDataSet(object_id_t objectId, sid_t sid,
+        const size_t maxSize): SystemObject(objectId),
+        LocalPoolDataSetBase(sid, nullptr, maxSize) {
+    this->setContainer(poolVarVector.data());
+    datasetLock = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SharedLocalDataSet::lockDataset(dur_millis_t mutexTimeout) {
+    return datasetLock->lockMutex(MutexIF::TimeoutType::WAITING, mutexTimeout);
+}
+
+ReturnValue_t SharedLocalDataSet::unlockDataset() {
+    return datasetLock->unlockMutex();
+}

datapoollocal/SharedLocalDataSet.h

@@ -0,0 +1,24 @@
+#ifndef FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
+#define FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
+
+#include "LocalPoolDataSetBase.h"
+#include "../datapool/SharedDataSetIF.h"
+#include "../objectmanager/SystemObject.h"
+#include <vector>
+
+class SharedLocalDataSet: public SystemObject,
+        public LocalPoolDataSetBase,
+        public SharedDataSetIF {
+public:
+    SharedLocalDataSet(object_id_t objectId, sid_t sid,
+            const size_t maxSize);
+    ReturnValue_t lockDataset(dur_millis_t mutexTimeout) override;
+    ReturnValue_t unlockDataset() override;
+private:
+
+    MutexIF* datasetLock = nullptr;
+    std::vector<PoolVariableIF*> poolVarVector;
+};
+
+
+#endif /* FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_ */

datapoollocal/StaticLocalDataSet.h

@@ -0,0 +1,50 @@
+#ifndef FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
+#define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
+
+#include "LocalPoolDataSetBase.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include <array>
+
+/**
+ * @brief   This local dataset type is created on the stack.
+ * @details
+ * This will is the primary data structure to organize pool variables into
+ * sets which can be accessed via the housekeeping service interface or
+ * which can be sent to other software objects.
+ *
+ * It is recommended to read the documentation of the LocalPoolDataSetBase
+ * class for more information on how this class works and how to use it.
+ * @tparam capacity Capacity of the static dataset, which is usually known
+ * beforehand.
+ */
+template <uint8_t NUM_VARIABLES>
+class StaticLocalDataSet: public LocalPoolDataSetBase {
+public:
+	/**
+	 * Constructor used by data owner and creator like device handlers.
+	 * This constructor also initialized the components required for
+	 * periodic handling.
+	 * @param hkOwner
+	 * @param setId
+	 */
+    StaticLocalDataSet(HasLocalDataPoolIF* hkOwner,
+    		uint32_t setId): LocalPoolDataSetBase(hkOwner, setId, nullptr,
+            NUM_VARIABLES) {
+        this->setContainer(poolVarList.data());
+    }
+
+	/**
+	 * Constructor used by data users like controllers.
+	 * @param hkOwner
+	 * @param setId
+	 */
+    StaticLocalDataSet(sid_t sid): LocalPoolDataSetBase(sid, nullptr,
+            NUM_VARIABLES) {
+        this->setContainer(poolVarList.data());
+    }
+
+private:
+    std::array<PoolVariableIF*, NUM_VARIABLES> poolVarList;
+};
+
+#endif /* FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */

housekeeping/AcceptsHkPacketsIF.h

@@ -0,0 +1,11 @@
+#ifndef FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
+#define FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
+#include "../ipc/MessageQueueMessageIF.h"
+
+class AcceptsHkPacketsIF {
+public:
+    virtual~ AcceptsHkPacketsIF() {};
+    virtual MessageQueueId_t getHkQueue() const = 0;
+};
+
+#endif /* FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_ */

housekeeping/HousekeepingMessage.cpp

@@ -0,0 +1,162 @@
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include "HousekeepingMessage.h"
+#include <cstring>
+
+HousekeepingMessage::~HousekeepingMessage() {}
+
+void HousekeepingMessage::setHkReportReply(CommandMessage* message, sid_t sid,
+		store_address_t storeId) {
+	message->setCommand(HK_REPORT);
+	message->setMessageSize(HK_MESSAGE_SIZE);
+	setSid(message, sid);
+	message->setParameter3(storeId.raw);
+}
+
+void HousekeepingMessage::setHkDiagnosticsReply(CommandMessage* message,
+		sid_t sid, store_address_t storeId) {
+	message->setCommand(DIAGNOSTICS_REPORT);
+	message->setMessageSize(HK_MESSAGE_SIZE);
+	setSid(message, sid);
+	message->setParameter3(storeId.raw);
+}
+
+sid_t HousekeepingMessage::getHkDataReply(const CommandMessage *message,
+		store_address_t *storeIdToSet) {
+	if(storeIdToSet != nullptr) {
+	    *storeIdToSet = message->getParameter3();
+	}
+	return getSid(message);
+}
+
+void HousekeepingMessage::setToggleReportingCommand(CommandMessage *message,
+		sid_t sid, bool enableReporting, bool isDiagnostics) {
+	if(isDiagnostics) {
+		if(enableReporting) {
+			message->setCommand(ENABLE_PERIODIC_DIAGNOSTICS_GENERATION);
+		}
+		else {
+			message->setCommand(DISABLE_PERIODIC_DIAGNOSTICS_GENERATION);
+		}
+	}
+	else {
+		if(enableReporting) {
+			message->setCommand(ENABLE_PERIODIC_HK_REPORT_GENERATION);
+		}
+		else {
+			message->setCommand(DISABLE_PERIODIC_HK_REPORT_GENERATION);
+		}
+	}
+
+	setSid(message, sid);
+}
+
+void HousekeepingMessage::setStructureReportingCommand(CommandMessage *command,
+		sid_t sid, bool isDiagnostics) {
+	if(isDiagnostics) {
+		command->setCommand(REPORT_DIAGNOSTICS_REPORT_STRUCTURES);
+	}
+	else {
+		command->setCommand(REPORT_HK_REPORT_STRUCTURES);
+	}
+
+	setSid(command, sid);
+}
+
+void HousekeepingMessage::setOneShotReportCommand(CommandMessage *command,
+		sid_t sid, bool isDiagnostics) {
+	if(isDiagnostics) {
+		command->setCommand(GENERATE_ONE_DIAGNOSTICS_REPORT);
+	}
+	else {
+		command->setCommand(GENERATE_ONE_PARAMETER_REPORT);
+	}
+
+	setSid(command, sid);
+}
+
+void HousekeepingMessage::setCollectionIntervalModificationCommand(
+		CommandMessage *command, sid_t sid, float collectionInterval,
+		bool isDiagnostics) {
+	if(isDiagnostics) {
+		command->setCommand(MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL);
+	}
+	else {
+		command->setCommand(MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL);
+	}
+	command->setParameter3(collectionInterval);
+
+	setSid(command, sid);
+}
+
+sid_t HousekeepingMessage::getCollectionIntervalModificationCommand(
+		const CommandMessage* command, float* newCollectionInterval) {
+	if(newCollectionInterval != nullptr) {
+		*newCollectionInterval = command->getParameter3();
+	}
+
+	return getSid(command);
+}
+
+void HousekeepingMessage::setHkRequestSuccessReply(CommandMessage *reply,
+		sid_t sid) {
+	setSid(reply, sid);
+	reply->setCommand(HK_REQUEST_SUCCESS);
+}
+
+void HousekeepingMessage::setHkRequestFailureReply(CommandMessage *reply,
+		sid_t sid, ReturnValue_t error) {
+	setSid(reply, sid);
+	reply->setCommand(HK_REQUEST_FAILURE);
+	reply->setParameter3(error);
+}
+
+sid_t HousekeepingMessage::getHkRequestFailureReply(const CommandMessage *reply,
+		ReturnValue_t *error) {
+	if(error != nullptr) {
+		*error = reply->getParameter3();
+	}
+	return getSid(reply);
+}
+
+sid_t HousekeepingMessage::getSid(const CommandMessage* message) {
+	sid_t sid;
+	std::memcpy(&sid.raw, message->getData(), sizeof(sid.raw));
+	return sid;
+}
+
+void HousekeepingMessage::setSid(CommandMessage *message, sid_t sid) {
+	std::memcpy(message->getData(), &sid.raw, sizeof(sid.raw));
+}
+
+void HousekeepingMessage::setHkStuctureReportReply(CommandMessage *reply,
+        sid_t sid, store_address_t storeId) {
+    reply->setCommand(HK_DEFINITIONS_REPORT);
+    setSid(reply, sid);
+    reply->setParameter3(storeId.raw);
+}
+
+void HousekeepingMessage::setDiagnosticsStuctureReportReply(
+        CommandMessage *reply, sid_t sid, store_address_t storeId) {
+    reply->setCommand(DIAGNOSTICS_DEFINITION_REPORT);
+    setSid(reply, sid);
+    reply->setParameter3(storeId.raw);
+}
+
+void HousekeepingMessage::clear(CommandMessage* message) {
+    switch(message->getCommand()) {
+    case(HK_REPORT):
+    case(DIAGNOSTICS_REPORT):
+    case(HK_DEFINITIONS_REPORT):
+    case(DIAGNOSTICS_DEFINITION_REPORT):
+    case(UPDATE_SNAPSHOT): {
+        store_address_t storeId;
+        getHkDataReply(message, &storeId);
+        StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+                objects::IPC_STORE);
+        if (ipcStore != nullptr) {
+            ipcStore->deleteData(storeId);
+        }
+    }
+    }
+    message->setCommand(CommandMessage::CMD_NONE);
+}

housekeeping/HousekeepingMessage.h

@@ -0,0 +1,157 @@
+#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGMESSAGE_H_
+#define FSFW_HOUSEKEEPING_HOUSEKEEPINGMESSAGE_H_
+
+#include "../ipc/CommandMessage.h"
+#include "../ipc/FwMessageTypes.h"
+#include "../objectmanager/frameworkObjects.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+
+union sid_t {
+	static constexpr uint64_t INVALID_SID = -1;
+	static constexpr uint32_t INVALID_SET_ID = -1;
+	static constexpr uint32_t INVALID_OBJECT_ID = objects::NO_OBJECT;
+	sid_t(): raw(INVALID_SID) {}
+
+	sid_t(object_id_t objectId, uint32_t setId):
+			objectId(objectId),
+			ownerSetId(setId) {}
+
+	struct {
+		object_id_t objectId ;
+		/**
+		 * A generic 32 bit ID to identify unique HK packets for a single
+		 * object. For example, the DeviceCommandId_t is used for
+		 * DeviceHandlers
+		 */
+		uint32_t ownerSetId;
+	};
+	/**
+	 * Alternative access to the raw value. This is also the size of the type.
+	 */
+	uint64_t raw;
+
+	bool notSet() const {
+	    return raw == INVALID_SID;
+	}
+
+	bool operator==(const sid_t& other) const {
+		return raw == other.raw;
+	}
+
+	bool operator!=(const sid_t& other) const {
+		return not (raw == other.raw);
+	}
+};
+
+
+/**
+ * @brief	Special command message type for housekeeping messages
+ * @details
+ * This message is slightly larger than regular command messages to accomodate
+ * the uint64_t structure ID (SID).
+ */
+class HousekeepingMessage {
+public:
+
+	static constexpr size_t HK_MESSAGE_SIZE = CommandMessageIF::HEADER_SIZE +
+	        sizeof(sid_t) + sizeof(uint32_t);
+
+	/**
+	 * Concrete instance is not used, instead this class operates on
+	 * command message instances.
+	 */
+	HousekeepingMessage() = delete;
+	virtual ~HousekeepingMessage();
+
+	static constexpr uint8_t MESSAGE_ID = messagetypes::HOUSEKEEPING;
+
+	static constexpr Command_t ENABLE_PERIODIC_HK_REPORT_GENERATION =
+			MAKE_COMMAND_ID(5);
+	static constexpr Command_t DISABLE_PERIODIC_HK_REPORT_GENERATION =
+			MAKE_COMMAND_ID(6);
+
+	static constexpr Command_t ENABLE_PERIODIC_DIAGNOSTICS_GENERATION =
+			MAKE_COMMAND_ID(7);
+	static constexpr Command_t DISABLE_PERIODIC_DIAGNOSTICS_GENERATION =
+			MAKE_COMMAND_ID(8);
+
+	static constexpr Command_t REPORT_HK_REPORT_STRUCTURES = MAKE_COMMAND_ID(9);
+	static constexpr Command_t REPORT_DIAGNOSTICS_REPORT_STRUCTURES =
+			MAKE_COMMAND_ID(11);
+
+	static constexpr Command_t HK_DEFINITIONS_REPORT = MAKE_COMMAND_ID(10);
+	static constexpr Command_t DIAGNOSTICS_DEFINITION_REPORT = MAKE_COMMAND_ID(12);
+
+	static constexpr Command_t HK_REPORT = MAKE_COMMAND_ID(25);
+	static constexpr Command_t DIAGNOSTICS_REPORT = MAKE_COMMAND_ID(26);
+
+	static constexpr Command_t GENERATE_ONE_PARAMETER_REPORT  =
+			MAKE_COMMAND_ID(27);
+	static constexpr Command_t GENERATE_ONE_DIAGNOSTICS_REPORT =
+			MAKE_COMMAND_ID(28);
+
+	static constexpr Command_t MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL =
+			MAKE_COMMAND_ID(31);
+	static constexpr Command_t MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL =
+			MAKE_COMMAND_ID(32);
+
+	static constexpr Command_t HK_REQUEST_SUCCESS =
+			MAKE_COMMAND_ID(128);
+	static constexpr Command_t HK_REQUEST_FAILURE =
+			MAKE_COMMAND_ID(129);
+
+	static constexpr Command_t UPDATE_NOTIFICATION = MAKE_COMMAND_ID(130);
+	static constexpr Command_t UPDATE_SNAPSHOT = MAKE_COMMAND_ID(131);
+
+	static constexpr Command_t UPDATE_HK_REPORT = MAKE_COMMAND_ID(132);
+
+	static sid_t getSid(const CommandMessage* message);
+
+	/** Setter functions */
+	static void setToggleReportingCommand(CommandMessage* command, sid_t sid,
+			bool enableReporting, bool isDiagnostics);
+	static void setStructureReportingCommand(CommandMessage* command, sid_t sid,
+			bool isDiagnostics);
+	static void setOneShotReportCommand(CommandMessage* command, sid_t sid,
+			bool isDiagnostics);
+	static void setCollectionIntervalModificationCommand(
+			CommandMessage* command, sid_t sid, float collectionInterval,
+			bool isDiagnostics);
+
+	static void setHkReportReply(CommandMessage* reply, sid_t sid,
+			store_address_t storeId);
+	static void setHkDiagnosticsReply(CommandMessage* reply, sid_t sid,
+			store_address_t storeId);
+
+	static void setHkRequestSuccessReply(CommandMessage* reply, sid_t sid);
+	static void setHkRequestFailureReply(CommandMessage* reply, sid_t sid,
+			ReturnValue_t error);
+
+	static void setHkStuctureReportReply(CommandMessage* reply,
+	        sid_t sid, store_address_t storeId);
+	static void setDiagnosticsStuctureReportReply(CommandMessage* reply,
+	            sid_t sid, store_address_t storeId);
+
+	static sid_t getHkRequestFailureReply(const CommandMessage* reply,
+			ReturnValue_t* error);
+
+	/**
+	 * @brief	Generic getter function for housekeeping data replies
+	 * @details
+	 * Command ID can be used beforehand to distinguish between diagnostics and
+	 * regular HK packets. This getter function should be used for the
+	 * command IDs 10, 12, 25 and 26.
+	 */
+	static sid_t getHkDataReply(const CommandMessage* message,
+			store_address_t * storeIdToSet);
+	static sid_t getCollectionIntervalModificationCommand(
+			const CommandMessage* command, float* newCollectionInterval);
+
+	static void clear(CommandMessage* message);
+private:
+	static void setSid(CommandMessage* message, sid_t sid);
+};
+
+
+#endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGMESSAGE_H_ */

housekeeping/HousekeepingPacketDownlink.h

@@ -0,0 +1,34 @@
+#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_
+#define FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_
+
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../storagemanager/StorageManagerIF.h"
+
+/**
+ * @brief   This class will be used to serialize general housekeeping packets
+ *          which are destined to be downlinked into the store.
+ * @details
+ * The housekeeping packets are stored into the IPC store and forwarded
+ * to the designated housekeeping handler.
+ */
+class HousekeepingPacketDownlink: public SerialLinkedListAdapter<SerializeIF> {
+public:
+    HousekeepingPacketDownlink(sid_t sid, LocalPoolDataSetBase* dataSetPtr):
+            sourceId(sid.objectId), setId(sid.ownerSetId), hkData(dataSetPtr) {
+        setLinks();
+    }
+
+private:
+    void setLinks() {
+        setStart(&sourceId);
+        sourceId.setNext(&setId);
+        setId.setNext(&hkData);
+    }
+
+    SerializeElement<object_id_t> sourceId;
+    SerializeElement<uint32_t> setId;
+    LinkedElement<SerializeIF> hkData;
+};
+
+#endif /* FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_ */

housekeeping/HousekeepingPacketUpdate.h

@@ -0,0 +1,73 @@
+#ifndef FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_
+#define FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_
+
+#include "../serialize/SerialBufferAdapter.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+
+/**
+ * @brief   This helper class will be used to serialize and deserialize
+ *          update housekeeping packets into the store.
+ */
+class HousekeepingPacketUpdate: public SerializeIF {
+public:
+    /**
+     * @param timeStamp
+     * @param timeStampSize
+     * @param hkData
+     * @param hkDataSize
+     */
+    HousekeepingPacketUpdate(uint8_t* timeStamp, size_t timeStampSize,
+            LocalPoolDataSetBase* dataSetPtr):
+            timeStamp(timeStamp), timeStampSize(timeStampSize),
+            dataSetPtr(dataSetPtr) {};
+
+    virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+            size_t maxSize, Endianness streamEndianness) const {
+        if(timeStamp != nullptr) {
+            /* Endianness will always be MACHINE, so we can simply use memcpy
+            here. */
+            std::memcpy(*buffer, timeStamp, timeStampSize);
+            *size += timeStampSize;
+            *buffer += timeStampSize;
+        }
+        if(dataSetPtr == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+
+        return dataSetPtr->serialize(buffer, size, maxSize, streamEndianness);
+    }
+
+    virtual size_t getSerializedSize() const {
+        if(dataSetPtr == nullptr) {
+            return 0;
+        }
+        return timeStampSize + dataSetPtr->getSerializedSize();
+    }
+
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            SerializeIF::Endianness streamEndianness) override {
+        if(timeStamp != nullptr) {
+            /* Endianness will always be MACHINE, so we can simply use memcpy
+            here. */
+            std::memcpy(timeStamp, *buffer, timeStampSize);
+            *size += timeStampSize;
+            *buffer += timeStampSize;
+        }
+
+        if(dataSetPtr == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return dataSetPtr->deSerialize(buffer, size, streamEndianness);
+    }
+
+private:
+   uint8_t* timeStamp;
+   size_t timeStampSize;
+
+   LocalPoolDataSetBase* dataSetPtr = nullptr;
+};
+
+
+
+#endif /* FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_ */

housekeeping/HousekeepingSetPacket.h

@@ -0,0 +1,59 @@
+#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGSETPACKET_H_
+#define FSFW_HOUSEKEEPING_HOUSEKEEPINGSETPACKET_H_
+
+#include "../housekeeping/HousekeepingMessage.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+
+class HousekeepingSetPacket: public SerialLinkedListAdapter<SerializeIF> {
+public:
+	HousekeepingSetPacket(sid_t sid, bool reportingEnabled, bool valid,
+			float collectionInterval, LocalPoolDataSetBase* dataSetPtr):
+			objectId(sid.objectId), setId(sid.ownerSetId),
+			reportingEnabled(reportingEnabled), valid(valid),
+			collectionIntervalSeconds(collectionInterval), dataSet(dataSetPtr) {
+	    setLinks();
+	}
+
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				size_t maxSize, Endianness streamEndianness) const override {
+		ReturnValue_t result = SerialLinkedListAdapter::serialize(buffer, size,
+				maxSize, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		return dataSet->serializeLocalPoolIds(buffer, size ,maxSize,
+				streamEndianness);
+	}
+
+	size_t getSerializedSize() const override {
+		size_t linkedSize = SerialLinkedListAdapter::getSerializedSize();
+		linkedSize += dataSet->getLocalPoolIdsSerializedSize();
+		return linkedSize;
+	}
+
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+				Endianness streamEndianness) override {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&setId);
+		setId.setNext(&reportingEnabled);
+		reportingEnabled.setNext(&valid);
+		valid.setNext(&collectionIntervalSeconds);
+		collectionIntervalSeconds.setEnd();
+	}
+
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<uint32_t> setId;
+	SerializeElement<bool> reportingEnabled;
+	SerializeElement<bool> valid;
+	SerializeElement<float> collectionIntervalSeconds;
+	LocalPoolDataSetBase* dataSet;
+};
+
+#endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGSETPACKET_H_ */

housekeeping/PeriodicHousekeepingHelper.cpp

@@ -0,0 +1,48 @@
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+#include "PeriodicHousekeepingHelper.h"
+#include <cmath>
+
+PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(
+		LocalPoolDataSetBase* owner): owner(owner) {}
+
+
+void PeriodicHousekeepingHelper::initialize(float collectionInterval,
+		dur_millis_t minimumPeriodicInterval, bool isDiagnostics,
+		uint8_t nonDiagIntervalFactor) {
+	this->minimumPeriodicInterval = minimumPeriodicInterval;
+	if(not isDiagnostics) {
+		this->minimumPeriodicInterval = this->minimumPeriodicInterval *
+				nonDiagIntervalFactor;
+	}
+	collectionIntervalTicks = intervalSecondsToInterval(collectionInterval);
+}
+
+float PeriodicHousekeepingHelper::getCollectionIntervalInSeconds() {
+	return intervalToIntervalSeconds(collectionIntervalTicks);
+}
+
+bool PeriodicHousekeepingHelper::checkOpNecessary() {
+	if(internalTickCounter >= collectionIntervalTicks) {
+		internalTickCounter = 1;
+		return true;
+	}
+	internalTickCounter++;
+	return false;
+}
+
+uint32_t PeriodicHousekeepingHelper::intervalSecondsToInterval(
+		float collectionIntervalSeconds) {
+        return std::ceil(collectionIntervalSeconds * 1000
+                / minimumPeriodicInterval);
+}
+
+float PeriodicHousekeepingHelper::intervalToIntervalSeconds(
+		uint32_t collectionInterval) {
+	return static_cast<float>(collectionInterval *
+			minimumPeriodicInterval);
+}
+
+void PeriodicHousekeepingHelper::changeCollectionInterval(
+		float newIntervalSeconds) {
+	collectionIntervalTicks = intervalSecondsToInterval(newIntervalSeconds);
+}

housekeeping/PeriodicHousekeepingHelper.h

@@ -0,0 +1,32 @@
+#ifndef FSFW_HOUSEKEEPING_PERIODICHOUSEKEEPINGHELPER_H_
+#define FSFW_HOUSEKEEPING_PERIODICHOUSEKEEPINGHELPER_H_
+
+#include "../timemanager/Clock.h"
+#include <cstdint>
+
+class LocalPoolDataSetBase;
+
+class PeriodicHousekeepingHelper {
+public:
+	PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner);
+
+	void initialize(float collectionInterval,
+			dur_millis_t minimumPeriodicInterval, bool isDiagnostics,
+			uint8_t nonDiagIntervalFactor);
+
+	void changeCollectionInterval(float newInterval);
+	float getCollectionIntervalInSeconds();
+	bool checkOpNecessary();
+private:
+	LocalPoolDataSetBase* owner = nullptr;
+
+	uint32_t intervalSecondsToInterval(float collectionIntervalSeconds);
+	float intervalToIntervalSeconds(uint32_t collectionInterval);
+
+	dur_millis_t minimumPeriodicInterval = 0;
+	uint32_t internalTickCounter = 1;
+	uint32_t collectionIntervalTicks = 0;
+
+};
+
+#endif /* FSFW_HOUSEKEEPING_PERIODICHOUSEKEEPINGHELPER_H_ */