Merge branch 'mueller_localPoolNeat' of https://egit.irs.uni-stuttgart.de/KSat/fsfw into mueller_localPoolNeat

container/FIFO.h

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

datalinklayer/Clcw.cpp

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

datalinklayer/DataLinkLayer.cpp

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

datalinklayer/MapPacketExtraction.cpp

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

datalinklayer/TcTransferFrame.cpp

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

datalinklayer/TcTransferFrameLocal.cpp

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

datalinklayer/VirtualChannelReception.cpp

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

datapool/DataPool.cpp

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

datapool/DataSet.cpp

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

datapool/PIDReader.h

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

datapool/PoolEntry.cpp

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

datapool/PoolRawAccess.cpp

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

datapool/PoolVariable.h

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

datapool/PoolVector.h

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

devicehandlers/DeviceHandlerBase.cpp

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

devicehandlers/FixedSlotSequence.cpp

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

devicehandlers/FixedSlotSequence.h

@@ -6,12 +6,18 @@
 #include <list>
 
 /**
- * \brief	This class is the representation of a Polling Sequence Table in software.
+ * @brief	This class is the representation of a Polling Sequence Table in software.
  *
- * \details	The FixedSlotSequence object maintains the dynamic execution of device handler objects.
+ * @details
- * 			The main idea is to create a list of device handlers, to announce all handlers to the
+ * The FixedSlotSequence object maintains the dynamic execution of
- * 			polling sequence and to maintain a list of polling slot objects. This slot list represents the
+ * device handler objects.
- * 			Polling Sequence Table in software. Each polling slot contains information to indicate when and
+ *
+ * The main idea is to create a list of device handlers, to announce all
+ * handlers to thepolling sequence and to maintain a list of
+ * polling slot objects. This slot list represents the Polling Sequence Table
+ * in software.
+ *
+ * Each polling slot contains information to indicate when and
  * which device handler shall be executed within a given polling period.
  * The sequence is then executed by iterating through this slot list.
  * Handlers are invoking by calling a certain function stored in the handler list.
@@ -97,6 +103,11 @@ public:
 	 */
 	std::list<FixedSequenceSlot*>::iterator current;
 
+	/**
+	 * Iterate through slotList and check successful creation.
+	 * Checks if timing is ok (must be ascending) and if all handlers were found.
+	 * @return
+	 */
 	ReturnValue_t checkSequence() const;
 protected:
 

events/EventManager.cpp

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

health/HealthHelper.cpp

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

ipc/MessageQueueMessage.cpp

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

ipc/MutexHelper.h

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

memory/MemoryHelper.cpp

@@ -15,7 +15,7 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
 	lastSender = message->getSender();
 	lastCommand = message->getCommand();
 	if (busy) {
-		debug << "MemHelper: Busy!" << std::endl;
+		sif::debug << "MemHelper: Busy!" << std::endl;
 	}
 	switch (lastCommand) {
 	case MemoryMessage::CMD_MEMORY_DUMP:

modes/ModeMessage.cpp

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

modes/ModeMessage.h

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

monitoring/MonitoringMessageContent.h

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

objectmanager/ObjectManager.cpp

@@ -17,10 +17,12 @@ ObjectManager::~ObjectManager() {
 ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 	bool insert_return = this->objectList.insert( std::pair< object_id_t, SystemObjectIF* >( id, object ) ).second;
 	if (insert_return == true) {
-//		debug << "ObjectManager::insert: Object " << std::hex << (int)id << std::dec << " inserted." << std::endl;
+	    // sif::debug << "ObjectManager::insert: Object " << std::hex
+	    //            << (int)id << std::dec << " inserted." << std::endl;
 		return this->RETURN_OK;
 	} else {
-		error << "ObjectManager::insert: Object id " << std::hex << (int)id << std::dec << " is already in use!" << std::endl;
+		sif::error << "ObjectManager::insert: Object id " << std::hex
+		           << (int)id << std::dec << " is already in use!" << std::endl;
 		exit(0); //This is very severe and difficult to handle in other places.
 		return this->INSERTION_FAILED;
 	}
@@ -29,10 +31,12 @@ ReturnValue_t ObjectManager::insert( object_id_t id, SystemObjectIF* object) {
 ReturnValue_t ObjectManager::remove( object_id_t id ) {
 	if ( this->getSystemObject(id) != NULL ) {
 		this->objectList.erase( id );
-		debug << "ObjectManager::removeObject: Object " << std::hex << (int)id << std::dec << " removed." << std::endl;
+		sif::debug << "ObjectManager::removeObject: Object " << std::hex
+		           << (int)id << std::dec << " removed." << std::endl;
 		return RETURN_OK;
 	} else {
-		error << "ObjectManager::removeObject: Requested object "<< std::hex << (int)id << std::dec << " not found." << std::endl;
+		sif::error << "ObjectManager::removeObject: Requested object "
+		        << std::hex << (int)id << std::dec << " not found." << std::endl;
 		return NOT_FOUND;
 	}
 }
@@ -63,32 +67,38 @@ void ObjectManager::initialize() {
 		return_value = it->second->initialize();
 		if ( return_value != RETURN_OK ) {
 			object_id_t var = it->first;
-			error << "Object " << std::hex <<  (int) var << " failed to initialize with code 0x" << return_value << std::dec << std::endl;
+			sif::error << "Object " << std::hex <<  (int) var
+			        << " failed to initialize with code 0x" << return_value
+			        << std::dec << std::endl;
 			error_count++;
 		}
 	}
 	if (error_count > 0) {
-		error << "ObjectManager::ObjectManager: Counted " << error_count << " failed initializations." << std::endl;
+		sif::error << "ObjectManager::ObjectManager: Counted " << error_count
+		           << " failed initializations." << std::endl;
 	}
 	//Init was successful. Now check successful interconnections.
 	error_count = 0;
 	for (std::map<object_id_t, SystemObjectIF*>::iterator it = this->objectList.begin(); it != objectList.end(); it++ ) {
 		return_value = it->second->checkObjectConnections();
 		if ( return_value != RETURN_OK ) {
-			error << "Object " << std::hex <<  (int) it->first << " connection check failed with code 0x" << return_value << std::dec << std::endl;
+			sif::error << "Object " << std::hex <<  (int) it->first
+			        << " connection check failed with code 0x" << return_value
+			        << std::dec << std::endl;
 			error_count++;
 		}
 	}
 	if (error_count > 0) {
-		error << "ObjectManager::ObjectManager: Counted " << error_count << " failed connection checks." << std::endl;
+		sif::error << "ObjectManager::ObjectManager: Counted " << error_count
+		           << " failed connection checks." << std::endl;
 	}
 
 }
 
 void ObjectManager::printList() {
 	std::map<object_id_t, SystemObjectIF*>::iterator it;
-	debug << "ObjectManager: Object List contains:" << std::endl;
+	sif::debug << "ObjectManager: Object List contains:" << std::endl;
 	for (it = this->objectList.begin(); it != this->objectList.end(); it++) {
-		debug << std::hex << it->first << " | " << it->second << std::endl;
+		sif::debug << std::hex << it->first << " | " << it->second << std::endl;
 	}
 }

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -19,8 +19,7 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
 	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
-	FixedTimeslotTask *originalTask(
+	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-			reinterpret_cast<FixedTimeslotTask*>(argument));
 	// Task should not start until explicitly requested
 	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
 	// but not if the scheduler is not running.
@@ -33,14 +32,14 @@ void FixedTimeslotTask::taskEntryPoint(void* argument) {
 	}
 
 	originalTask->taskFunctionality();
-	debug << "Polling task " << originalTask->handle
+	sif::debug << "Polling task " << originalTask->handle
 			<< " returned from taskFunctionality." << std::endl;
 }
 
 void FixedTimeslotTask::missedDeadlineCounter() {
 	FixedTimeslotTask::deadlineMissedCount++;
 	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-		error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
+		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
 				<< " deadlines." << std::endl;
 	}
 }
@@ -58,10 +57,21 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+		if(slotTimeMs == 0) {
+			// FreeRTOS throws a sanity error for zero values, so we set
+			// the time to one millisecond.
+			slotTimeMs = 1;
+		}
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
+	sif::error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
 uint32_t FixedTimeslotTask::getPeriodMs() const {
 	return pst.getLengthMs();
 }

osal/FreeRTOS/MessageQueue.cpp

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

osal/FreeRTOS/PeriodicTask.cpp

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

osal/linux/FixedTimeslotTask.cpp

@@ -9,7 +9,9 @@
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
 
-FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_):PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) {
+FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_,
+		size_t stackSize_, uint32_t periodMs_):
+		PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) {
 }
 
 FixedTimeslotTask::~FixedTimeslotTask() {
@@ -40,10 +42,16 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
+	sif::error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
 ReturnValue_t FixedTimeslotTask::checkSequence() const {
 	return pst.checkSequence();
 }
@@ -80,7 +88,7 @@ void FixedTimeslotTask::taskFunctionality() {
 void FixedTimeslotTask::missedDeadlineCounter() {
 	FixedTimeslotTask::deadlineMissedCount++;
 	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-		error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
+		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
 				   << " deadlines." << std::endl;
 	}
 }

osal/linux/MessageQueue.cpp

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

osal/linux/Mutex.cpp

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

osal/linux/PeriodicPosixTask.cpp

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

osal/linux/PeriodicPosixTask.h

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

osal/linux/PosixThread.cpp

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

osal/linux/Timer.cpp

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

osal/rtems/PollingTask.cpp

@@ -66,12 +66,18 @@ ReturnValue_t PollingTask::startTask() {
 	}
 }
 
-ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+ReturnValue_t PollingTask::addSlot(object_id_t componentId,
-		int8_t executionStep) {
+		uint32_t slotTimeMs, int8_t executionStep) {
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
+	error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
 uint32_t PollingTask::getPeriodMs() const {
 	return pst.getLengthMs();
 }

parameters/ParameterWrapper.cpp

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

serviceinterface/ServiceInterfaceStream.h

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

storagemanager/LocalPool.tpp

@@ -1,5 +1,5 @@
-#ifndef LOCALPOOL_TPP
+#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
-#define LOCALPOOL_TPP
+#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
 
 template<uint8_t NUMBER_OF_POOLS>
 inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
@@ -83,7 +83,7 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::reserveSpace(
 		const uint32_t size, store_address_t* address, bool ignoreFault) {
 	ReturnValue_t status = getPoolIndex(size, &address->pool_index);
 	if (status != RETURN_OK) {
-		error << "LocalPool( " << std::hex << getObjectId() << std::dec
+		sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec
 				<< " )::reserveSpace: Packet too large." << std::endl;
 		return status;
 	}
@@ -193,7 +193,7 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(
 		size_list[packet_id.pool_index][packet_id.packet_index] = STORAGE_FREE;
 	} else {
 		//pool_index or packet_index is too large
-		error << "LocalPool:deleteData failed." << std::endl;
+		sif::error << "LocalPool:deleteData failed." << std::endl;
 		status = ILLEGAL_STORAGE_ID;
 	}
 	return status;
@@ -249,7 +249,7 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
 	//Check if any pool size is large than the maximum allowed.
 	for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
 		if (element_sizes[count] >= STORAGE_FREE) {
-			error << "LocalPool::initialize: Pool is too large! "
+			sif::error << "LocalPool::initialize: Pool is too large! "
 					"Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
 			return RETURN_FAILED;
 		}

storagemanager/PoolManager.tpp

@@ -1,3 +1,6 @@
+#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
+#define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
+
 template<uint8_t NUMBER_OF_POOLS>
 inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
 		const uint16_t element_sizes[NUMBER_OF_POOLS],
@@ -48,3 +51,5 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData(
 				packet_ptr, size);
 	return status;
 }
+
+#endif

storagemanager/StorageManagerIF.h

@@ -50,6 +50,10 @@ union store_address_t {
 	 * Alternative access to the raw value.
 	 */
 	uint32_t raw;
+
+	bool operator==(const store_address_t& other) const {
+		return raw == other.raw;
+	}
 };
 
 /**

subsystem/SubsystemBase.cpp

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

tcdistribution/PUSDistributor.cpp

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

tcdistribution/TcDistributor.cpp

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

tmtcpacket/pus/TcPacketBase.cpp

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

tmtcpacket/pus/TcPacketStored.cpp

@@ -48,7 +48,7 @@ bool TcPacketStored::checkAndSetStore() {
 	if (this->store == NULL) {
 		this->store = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 		if (this->store == NULL) {
-			error << "TcPacketStored::TcPacketStored: TC Store not found!"
+			sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
 					<< std::endl;
 			return false;
 		}

tmtcpacket/pus/TmPacketBase.cpp

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

tmtcpacket/pus/TmPacketStored.cpp

@@ -98,7 +98,7 @@ bool TmPacketStored::checkAndSetStore() {
 	if (store == NULL) {
 		store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
 		if (store == NULL) {
-			error << "TmPacketStored::TmPacketStored: TM Store not found!"
+			sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
 					<< std::endl;
 			return false;
 		}

tmtcservices/PusServiceBase.cpp

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

tmtcservices/VerificationReporter.cpp

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