From 368ef242ff59b6556e155ba4007630991c328cff Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 18 Jan 2020 18:49:55 +0100
Subject: [PATCH 001/653] CCSDSTime bugfix for atmel

Possible good for other cases too?
---
 timemanager/CCSDSTime.cpp | 43 +++++++++++++++++++++++----------------
 1 file changed, 26 insertions(+), 17 deletions(-)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 32032716..2eb6c4b5 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -154,32 +154,41 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	if (length < 19) {
 		return RETURN_FAILED;
 	}
-	uint16_t year;
-	uint8_t month;
-	uint16_t day;
-	uint8_t hour;
-	uint8_t minute;
-	float second;
-//try Code A (yyyy-mm-dd)
-	int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year,
-			&month, &day, &hour, &minute, &second);
-	if (count == 6) {
+	// In the size optimized nano library used by ATMEL, floating point conversion
+	// is not allowed. There is a linker flag to allow it apparently, but I
+	// could not manage to make it run (removing -specs=nano.specs in linker flags works though,
+	// but we propably should include this). Using floats with sscanf is also expensive.
+	// Furthermore, the stdio.c library by ATMEL can't resolve the %hhi specifiers
+	// Therefore, I adapted this function.
+	int year;
+	int month;
+	int day;
+	int hour;
+	int minute;
+	int second;
+	int usecond;
+	// try Code A (yyyy-mm-dd)
+	//int count = sscanf((char *) from, "%4hi-%2hi-%2hiT%2hi:%2hi:%fZ", &year,
+	//		&month, &day, &hour, &minute, &second);
+	int count = sscanf((char *) from, "%4d-%2d-%2dT%2d:%2d:%2d.%dZ", &year,
+				&month, &day, &hour, &minute, &second, &usecond);
+	if (count == 7) {
 		to->year = year;
 		to->month = month;
 		to->day = day;
 		to->hour = hour;
 		to->minute = minute;
 		to->second = second;
-		to->usecond = (second - floor(second)) * 1000000;
+		to->usecond = usecond;//(second - floor(second)) * 1000000;
 		return RETURN_OK;
 	}
 
-	//try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day,
-			&hour, &minute, &second);
-	if (count == 5) {
+	// try Code B (yyyy-ddd)
+	count = sscanf((char *) from, "%4i-%3iT%2i:%2i:%2i.%iZ", &year, &day,
+			&hour, &minute, &second, &usecond);
+	if (count == 6) {
 		uint8_t tempDay;
-		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month,
+		ReturnValue_t result = CCSDSTime::convertDaysOfYear((uint16_t)day,(uint16_t) year,(uint8_t *) &month,
 				&tempDay);
 		if (result != RETURN_OK) {
 			return RETURN_FAILED;
@@ -190,7 +199,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		to->hour = hour;
 		to->minute = minute;
 		to->second = second;
-		to->usecond = (second - floor(second)) * 1000000;
+		to->usecond = usecond;
 		return RETURN_OK;
 	}
 

From e03aff373156245fbad37bebda646f3be535aaae Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 3 Feb 2020 22:34:15 +0100
Subject: [PATCH 002/653] Device Handler Base Proposals

1. Interface functions moved closer to top (and functions which should
be implemented)
2. ioBoardAddress renamed to logicalAddress. getter FUnction added.
3. debug interface for easier debugging of device handlers
4. new documentation
5. new return value for scanForReply to ignore full packet
---
 devicehandlers/DeviceHandlerBase.cpp | 220 +++++------
 devicehandlers/DeviceHandlerBase.h   | 540 +++++++++++++++------------
 2 files changed, 417 insertions(+), 343 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index ae9199f2..c4f7465d 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -16,32 +16,32 @@ object_id_t DeviceHandlerBase::powerSwitcherId = 0;
 object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
-DeviceHandlerBase::DeviceHandlerBase(uint32_t ioBoardAddress,
+DeviceHandlerBase::DeviceHandlerBase(uint32_t logicalAddress_,
 		object_id_t setObjectId, uint32_t maxDeviceReplyLen,
 		uint8_t setDeviceSwitch, object_id_t deviceCommunication,
 		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
 		FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
-		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(
-				MODE_OFF), submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(
-				maxDeviceReplyLen), wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(
-				StorageManagerIF::INVALID_ADDRESS), requestedRawTraffic(0), powerSwitcher(
-		NULL), IPCStore(NULL), deviceCommunicationId(deviceCommunication), communicationInterface(
-		NULL), cookie(
-		NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(
-				thermalRequestPoolId), healthHelper(this, setObjectId), modeHelper(
-				this), parameterHelper(this), childTransitionFailure(RETURN_OK), ignoreMissedRepliesCount(
-				0), fdirInstance(fdirInstance), hkSwitcher(this), defaultFDIRUsed(
-				fdirInstance == NULL), switchOffWasReported(false),executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(
-				ioBoardAddress), timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(
-				_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(
-				setDeviceSwitch) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
-			CommandMessage::MAX_MESSAGE_SIZE);
+		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(MODE_OFF),
+		submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(maxDeviceReplyLen),
+		wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(StorageManagerIF::INVALID_ADDRESS),
+		requestedRawTraffic(0), powerSwitcher(NULL), IPCStore(NULL),
+		deviceCommunicationId(deviceCommunication), communicationInterface(NULL),
+		cookie(NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId),
+		deviceThermalRequestPoolId(thermalRequestPoolId), healthHelper(this, setObjectId),
+		modeHelper(this), parameterHelper(this), childTransitionFailure(RETURN_OK),
+		ignoreMissedRepliesCount(0), fdirInstance(fdirInstance), hkSwitcher(this),
+		defaultFDIRUsed(fdirInstance == NULL), switchOffWasReported(false),
+		executingTask(NULL), actionHelper(this, NULL), cookieInfo(), logicalAddress(logicalAddress_),
+		timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
+		transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch)
+{
+	commandQueue = QueueFactory::instance()->
+			createMessageQueue(cmdQueueSize, CommandMessage::MAX_MESSAGE_SIZE);
 	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
 	if (this->fdirInstance == NULL) {
-		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
-				defaultFDIRParentId);
+		this->fdirInstance =
+				new DeviceHandlerFailureIsolation(setObjectId, defaultFDIRParentId);
 	}
 }
 
@@ -55,7 +55,6 @@ DeviceHandlerBase::~DeviceHandlerBase() {
 
 ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	this->pstStep = counter;
-
 	if (counter == 0) {
 		cookieInfo.state = COOKIE_UNUSED;
 		readCommandQueue();
@@ -91,6 +90,85 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	return RETURN_OK;
 }
 
+ReturnValue_t DeviceHandlerBase::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	communicationInterface = objectManager->get<DeviceCommunicationIF>(
+			deviceCommunicationId);
+	if (communicationInterface == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = communicationInterface->open(&cookie, logicalAddress,
+			maxDeviceReplyLen);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (IPCStore == NULL) {
+		return RETURN_FAILED;
+	}
+
+	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+			AcceptsDeviceResponsesIF>(rawDataReceiverId);
+
+	if (rawReceiver == NULL) {
+		return RETURN_FAILED;
+	}
+
+	defaultRawReceiver = rawReceiver->getDeviceQueue();
+
+	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+	if (powerSwitcher == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = healthHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	result = modeHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = actionHelper.initialize(commandQueue);
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = fdirInstance->initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = parameterHelper.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = hkSwitcher.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	fillCommandAndReplyMap();
+
+	//Set temperature target state to NON_OP.
+	DataSet mySet;
+	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+			PoolVariableIF::VAR_WRITE);
+	mySet.read();
+	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+	mySet.commit(PoolVariableIF::VALID);
+
+	return RETURN_OK;
+
+}
+
 void DeviceHandlerBase::decrementDeviceReplyMap() {
 	for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
@@ -455,7 +533,8 @@ void DeviceHandlerBase::doGetWrite() {
 		if (wiretappingMode == RAW) {
 			replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
 		}
-		//We need to distinguish here, because a raw command never expects a reply. (Could be done in eRIRM, but then child implementations need to be careful.
+		//We need to distinguish here, because a raw command never expects a reply.
+		//(Could be done in eRIRM, but then child implementations need to be careful.
 		result = enableReplyInReplyMap(cookieInfo.pendingCommand);
 	} else {
 		//always generate a failure event, so that FDIR knows what's up
@@ -470,7 +549,6 @@ void DeviceHandlerBase::doGetWrite() {
 
 void DeviceHandlerBase::doSendRead() {
 	ReturnValue_t result;
-
 	result = communicationInterface->requestReceiveMessage(cookie);
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
@@ -539,6 +617,8 @@ void DeviceHandlerBase::doGetRead() {
 				break;
 			case IGNORE_REPLY_DATA:
 				break;
+			case IGNORE_FULL_PACKET:
+				return;
 			default:
 				//We need to wait for timeout.. don't know what command failed and who sent it.
 				replyRawReplyIfnotWiretapped(receivedData, foundLen);
@@ -579,84 +659,6 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 
 }
 
-ReturnValue_t DeviceHandlerBase::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	communicationInterface = objectManager->get<DeviceCommunicationIF>(
-			deviceCommunicationId);
-	if (communicationInterface == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = communicationInterface->open(&cookie, ioBoardAddress,
-			maxDeviceReplyLen);
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (IPCStore == NULL) {
-		return RETURN_FAILED;
-	}
-
-	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
-			AcceptsDeviceResponsesIF>(rawDataReceiverId);
-
-	if (rawReceiver == NULL) {
-		return RETURN_FAILED;
-	}
-
-	defaultRawReceiver = rawReceiver->getDeviceQueue();
-
-	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
-	if (powerSwitcher == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	result = modeHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = actionHelper.initialize(commandQueue);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = fdirInstance->initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = parameterHelper.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = hkSwitcher.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	fillCommandAndReplyMap();
-
-	//Set temperature target state to NON_OP.
-	DataSet mySet;
-	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	mySet.read();
-	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
-	mySet.commit(PoolVariableIF::VALID);
-
-	return RETURN_OK;
-
-}
 
 void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 		MessageQueueId_t sendTo, bool isCommand) {
@@ -672,7 +674,6 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 	}
 
 	CommandMessage message;
-
 	DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&message,
 			getObjectId(), address, isCommand);
 
@@ -753,7 +754,7 @@ ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
 			DeviceCommunicationIF>(newChannelId);
 
 	if (newCommunication != NULL) {
-		ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
+		ReturnValue_t result = newCommunication->reOpen(cookie, logicalAddress,
 				maxDeviceReplyLen);
 		if (result != RETURN_OK) {
 			return result;
@@ -837,8 +838,9 @@ ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
 	ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
 	if ((result == RETURN_OK) && (numberOfSwitches != 0)) {
 		while (numberOfSwitches > 0) {
-			if (powerSwitcher->getSwitchState(switches[numberOfSwitches - 1])
-					== PowerSwitchIF::SWITCH_OFF) {
+			if (powerSwitcher-> getSwitchState(switches[numberOfSwitches - 1])
+				== PowerSwitchIF::SWITCH_OFF)
+			{
 				return PowerSwitchIF::SWITCH_OFF;
 			}
 			numberOfSwitches--;
@@ -1112,8 +1114,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 
 			// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
 			//(progress or completed) it is in
-			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
-			true);
+			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper, true);
 
 		}
 	} else { //unrequested/aperiodic replies
@@ -1270,3 +1271,10 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
 			executingTask = task_;
 }
+
+void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId, uint32_t parameter) {
+}
+
+uint32_t DeviceHandlerBase::getLogicalAddress() {
+	return logicalAddress;
+}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 756ad530..f16a4ff9 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -34,24 +34,40 @@ class StorageManagerIF;
  */
 
 /**
- * \brief This is the abstract base class for device handlers.
- *
+ * @brief This is the abstract base class for device handlers.
+ * @details
  * Documentation: Dissertation Baetz p.138,139, p.141-149
- * SpaceWire Remote Memory Access Protocol (RMAP)
  *
- * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, the RMAP communication and the
- * communication with commanding objects.
+ * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, communication with
+ * physical devices, using the @link DeviceCommunicationIF @endlink, and communication with commanding objects.
  * It inherits SystemObject and thus can be created by the ObjectManagerIF.
  *
  * This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
- * For each step an RMAP action is selected and executed. If data has been received (eg in case of an RMAP Read), the data will be interpreted.
- * The action for each step can be defined by the child class but as most device handlers share a 4-call (Read-getRead-write-getWrite) structure,
- * a default implementation is provided.
+ * For each step an RMAP action is selected and executed.
+ * If data has been received (GET_READ), the data will be interpreted.
+ * The action for each step can be defined by the child class but as most device handlers share a 4-call
+ * (sendRead-getRead-sendWrite-getWrite) structure, a default implementation is provided.
+ * NOTE: RMAP is a standard which is used for FLP.
+ * RMAP communication is not mandatory for projects implementing the FSFW.
+ * However, the communication principles are similar to RMAP as there are two write and two send calls involved.
  *
  * Device handler instances should extend this class and implement the abstract functions.
  * Components and drivers can send so called cookies which are used for communication
+ * and contain information about the communcation (e.g. slave address for I2C or RMAP structs).
+ * The following abstract methods must be implemented by a device handler:
+ *  1. doStartUp()
+ *  2. doShutDown()
+ *  3. buildTransitionDeviceCommand()
+ *  4. buildNormalDeviceCommand()
+ *  5. buildCommandFromCommand()
+ *  6. fillCommandAndReplyMap()
+ *  7. scanForReply()
+ *  8. interpretDeviceReply()
  *
- * \ingroup devices
+ * Other important virtual methods with a default implementation
+ * are the getTransitionDelayMs() function and the getSwitches() function.
+ *
+ * @ingroup devices
  */
 class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasReturnvaluesIF,
@@ -69,55 +85,270 @@ public:
 	 * @param setObjectId the ObjectId to pass to the SystemObject() Constructor
 	 * @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
 	 * @param setDeviceSwitch the switch the device is connected to, for devices using two switches, overwrite getSwitches()
+	 * @param deviceCommuncation Communcation Interface object which is used to implement communication functions
+	 * @param thermalStatePoolId
+	 * @param thermalRequestPoolId
+	 * @param fdirInstance
+	 * @param cmdQueueSize
 	 */
-	DeviceHandlerBase(uint32_t ioBoardAddress, object_id_t setObjectId,
+	DeviceHandlerBase(uint32_t logicalAddress, object_id_t setObjectId,
 			uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
-			object_id_t deviceCommunication, uint32_t thermalStatePoolId =
-					PoolVariableIF::NO_PARAMETER,
+			object_id_t deviceCommunication,
+			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
 			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
 			FailureIsolationBase* fdirInstance = NULL, uint32_t cmdQueueSize = 20);
 
-	virtual MessageQueueId_t getCommandQueue(void) const;
-
-
 	/**
-		 * This function is a core component and is called periodically.
-		 * General sequence:
-		 * If the State is SEND_WRITE:
-		 *   1. Set the cookie state to COOKIE_UNUSED and read the command queue
-		 *   2. Handles Device State Modes by calling doStateMachine().
-		 *      This function calls callChildStatemachine() which calls the abstract functions
-		 *      doStartUp() and doShutDown()
-		 *   3. Check switch states by calling checkSwitchStates()
-		 *   4. Decrements counter for timeout of replies by calling decrementDeviceReplyMap()
-		 *   5. Performs FDIR check for failures
-		 *   6. Calls hkSwitcher.performOperation()
-		 *   7. If the device mode is MODE_OFF, return RETURN_OK. Otherwise, perform the Action property
-		 *   	and performs depending on value specified
-		 *      by input value counter. The child class tells base class what to do by setting this value.
-		 *     - SEND_WRITE: Send data or commands to device by calling doSendWrite()
-		 *     	 Calls abstract funtions buildNomalDeviceCommand()
-		 *     	 or buildTransitionDeviceCommand()
-		 *     - GET_WRITE: Get ackknowledgement for sending by calling doGetWrite().
-		 *       Calls abstract functions scanForReply() and interpretDeviceReply().
-		 *     - SEND_READ: Request reading data from device by calling doSendRead()
-		 *     - GET_READ: Access requested reading data by calling doGetRead()
-		 * @param counter Specifies which Action to perform
-		 * @return RETURN_OK for successful execution
-		 */
+	 * @brief This function is the device handler base core component and is called periodically.
+	 * @details
+	 * General sequence, showing where abstract virtual functions are called:
+	 * If the State is SEND_WRITE:
+	 *   1. Set the cookie state to COOKIE_UNUSED and read the command queue
+	 *   2. Handles Device State Modes by calling doStateMachine().
+	 *      This function calls callChildStatemachine() which calls the abstract functions
+	 *      doStartUp() and doShutDown()
+	 *   3. Check switch states by calling checkSwitchStates()
+	 *   4. Decrements counter for timeout of replies by calling decrementDeviceReplyMap()
+	 *   5. Performs FDIR check for failures
+	 *   6. Calls hkSwitcher.performOperation()
+	 *   7. If the device mode is MODE_OFF, return RETURN_OK. Otherwise, perform the Action property
+	 *   	and performs depending on value specified
+	 *      by input value counter. The child class tells base class what to do by setting this value.
+	 *     - SEND_WRITE: Send data or commands to device by calling doSendWrite() which calls
+	 *       sendMessage function of #communicationInterface
+	 *     	 and calls buildInternalCommand if the cookie state is COOKIE_UNUSED
+	 *     - GET_WRITE: Get ackknowledgement for sending by calling doGetWrite() which calls
+	 *       getSendSuccess of #communicationInterface.
+	 *       Calls abstract functions scanForReply() and interpretDeviceReply().
+	 *     - SEND_READ: Request reading data from device by calling doSendRead() which calls
+	 *       requestReceiveMessage of #communcationInterface
+	 *     - GET_READ: Access requested reading data by calling doGetRead() which calls
+	 *       readReceivedMessage of #communicationInterface
+	 * @param counter Specifies which Action to perform
+	 * @return RETURN_OK for successful execution
+	 */
 	virtual ReturnValue_t performOperation(uint8_t counter);
 
+	/**
+	 * @brief  Initializes the device handler
+	 * @details
+	 * Initialize Device Handler as system object and
+	 * initializes all important helper classes.
+	 * Calls fillCommandAndReplyMap().
+	 * @return
+	 */
 	virtual ReturnValue_t initialize();
 
-	/**
-	 *
-	 * @param parentQueueId
-	 */
-	virtual void setParentQueue(MessageQueueId_t parentQueueId);
 	/**
 	 * Destructor.
 	 */
 	virtual ~DeviceHandlerBase();
+protected:
+	/**
+	 * This is used to let the child class handle the transition from mode @c _MODE_START_UP to @c MODE_ON
+	 *
+	 * It is only called when the device handler is in mode @c _MODE_START_UP. That means, the device switch(es) are already set to on.
+	 * Device handler commands are read and can be handled by the child class. If the child class handles a command, it should also send
+	 * an reply accordingly.
+	 * If an Command is not handled (ie #DeviceHandlerCommand is not @c CMD_NONE, the base class handles rejecting the command and sends a reply.
+	 * The replies for mode transitions are handled by the base class.
+	 *
+	 * If the device is started and ready for operation, the mode should be set to MODE_ON. It is possible to set the mode to _MODE_TO_ON to
+	 * use the to on transition if available.
+	 * If the power-up fails, the mode should be set to _MODE_POWER_DOWN which will lead to the device being powered off.
+	 * If the device does not change the mode, the mode will be changed to _MODE_POWER_DOWN, after the timeout (from getTransitionDelay()) has passed.
+	 *
+	 * #transitionFailure can be set to a failure code indicating the reason for a failed transition
+	 */
+	virtual void doStartUp() = 0;
+
+	/**
+	 * This is used to let the child class handle the transition from mode @c _MODE_SHUT_DOWN to @c _MODE_POWER_DOWN
+	 *
+	 * It is only called when the device handler is in mode @c _MODE_SHUT_DOWN.
+	 * Device handler commands are read and can be handled by the child class. If the child class handles a command, it should also send
+	 * an reply accordingly.
+	 * If an Command is not handled (ie #DeviceHandlerCommand is not @c CMD_NONE, the base class handles rejecting the command and sends a reply.
+	 * The replies for mode transitions are handled by the base class.
+	 *
+	 * If the device ready to be switched off, the mode should be set to _MODE_POWER_DOWN.
+	 * If the device should not be switched off, the mode can be changed to _MODE_TO_ON (or MODE_ON if no transition is needed).
+	 * If the device does not change the mode, the mode will be changed to _MODE_POWER_DOWN, when the timeout (from getTransitionDelay()) has passed.
+	 *
+	 * #transitionFailure can be set to a failure code indicating the reason for a failed transition
+	 */
+	virtual void doShutDown() = 0;
+
+	/**
+	 * Build the device command to send for normal mode.
+	 *
+	 * This is only called in @c MODE_NORMAL. If multiple submodes for @c MODE_NORMAL are supported,
+	 * different commands can built returned depending on the submode.
+	 *
+	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 *
+	 * @param[out] id the device command id that has been built
+	 * @return
+	 *    - @c RETURN_OK when a command is to be sent
+	 *    - not @c RETURN_OK when no command is to be sent
+	 */
+	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0;
+
+	/**
+	 * Build the device command to send for a transitional mode.
+	 *
+	 * This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW,
+	 * @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp() and doShutDown() as well as doTransition()
+	 *
+	 * A good idea is to implement a flag indicating a command has to be built and a variable containing the command number to be built
+	 * and filling them in doStartUp(), doShutDown() and doTransition() so no modes have to be checked here.
+	 *
+	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 *
+	 * @param[out] id the device command id built
+	 * @return
+	 *    - @c RETURN_OK when a command is to be sent
+	 *    - not @c RETURN_OK when no command is to be sent
+	 */
+	virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) = 0;
+
+	/**
+	 * Build a device command packet from data supplied by a direct command.
+	 *
+	 * #rawPacket and #rawPacketLen should be set by this method to the packet to be sent.
+	 *
+	 * @param deviceCommand the command to build, already checked against deviceCommandMap
+	 * @param commandData pointer to the data from the direct command
+	 * @param commandDataLen length of commandData
+	 * @return
+	 *     - @c RETURN_OK when #rawPacket is valid
+	 *     - @c RETURN_FAILED when #rawPacket is invalid and no data should be sent
+	 */
+	virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+			const uint8_t * commandData, size_t commandDataLen) = 0;
+
+	/**
+	 * @brief fill the #deviceCommandMap
+	 *	 	  called by the initialize() of the base class
+	 * @details
+	 * This is used to let the base class know which replies are expected.
+	 * There are different scenarios regarding this:
+	 *  - "Normal" commands. These are commands, that trigger a direct reply from the device.
+	 *    In this case, the id of the command should be added to the command map
+	 *    with a commandData_t where maxDelayCycles is set to the maximum expected
+	 *    number of PST cycles the reply will take. Then, scanForReply returns
+	 *    the id of the command and the base class can handle time-out and missing replies.
+	 *  - Periodic, unrequested replies. These are replies that, once enabled, are sent by the device
+	 *    on its own in a defined interval. In this case, the id of the reply
+	 *    or a placeholder id should be added to the deviceCommandMap with a commandData_t
+	 *    where maxDelayCycles is set to the maximum expected number of PST cycles between
+	 *    two replies (also a tolerance should be added, as an FDIR message will be generated if it is missed).
+	 *    As soon as the replies are enabled, DeviceCommandInfo.periodic must be set to 1,
+	 *    DeviceCommandInfo.delayCycles to DeviceCommandInfo.MaxDelayCycles.
+	 *    From then on, the base class handles the reception.
+	 *    Then, scanForReply returns the id of the reply or the placeholder id and the base class will
+	 *    take care of checking that all replies are received and the interval is correct.
+	 *    When the replies are disabled, DeviceCommandInfo.periodic must be set to 0,
+	 *    DeviceCommandInfo.delayCycles to 0;
+	 *  - Aperiodic, unrequested replies. These are replies that are sent
+	 *    by the device without any preceding command and not in a defined interval.
+	 *    These are not entered in the deviceCommandMap but handled by returning @c APERIODIC_REPLY in scanForReply().
+	 *
+	 */
+	virtual void fillCommandAndReplyMap() = 0;
+
+	/**
+	 * @brief Scans a buffer for a valid reply.
+	 * @details
+	 * This is used by the base class to check the data received for valid packets.
+	 * It only checks if a valid packet starts at @c start.
+	 * It also only checks the structural validy of the packet, eg checksums lengths and protocol data.
+	 * No information check is done, e.g. range checks etc.
+	 *
+	 * Errors should be reported directly, the base class does NOT report any errors based on the return
+	 * value of this function.
+	 *
+	 * @param start start of remaining buffer to be scanned
+	 * @param len length of remaining buffer to be scanned
+	 * @param[out] foundId the id of the data found in the buffer.
+	 * @param[out] foundLen length of the data found. Is to be set in function, buffer is scanned at previous position + foundLen.
+	 * @return
+	 *     - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
+	 *     - @c RETURN_FAILED no reply could be found starting at @c start, implies @c foundLen is not valid, base class will call scanForReply() again with ++start
+	 *     - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid, eg checksum error, implies @c foundLen is valid, can be used to skip some bytes
+	 *     - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid
+	 *     - @c DeviceHandlerIF::IGNORE_REPLY_DATA Ignore this specific part of the packet
+	 *     - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet
+	 *     - @c APERIODIC_REPLY if a valid reply is received that has not been requested by a command, but should be handled anyway (@see also fillCommandAndCookieMap() )
+	 */
+	virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
+			DeviceCommandId_t *foundId, uint32_t *foundLen) = 0;
+
+	/**
+	 * @brief Interpret a reply from the device.
+	 * @details
+	 * This is called after scanForReply() found a valid packet, it can be assumed that the length and structure is valid.
+	 * This routine extracts the data from the packet into a DataSet and then calls handleDeviceTM(), which either sends
+	 * a TM packet or stores the data in the DataPool depending on whether the it was an external command.
+	 * No packet length is given, as it should be defined implicitly by the id.
+	 *
+	 * @param id the id found by scanForReply()
+	 * @param packet
+	 * @return
+	 *     - @c RETURN_OK when the reply was interpreted.
+	 *     - @c RETURN_FAILED when the reply could not be interpreted, eg. logical errors or range violations occurred
+	 */
+	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+			const uint8_t *packet) = 0;
+
+	/**
+	 * @brief   Can be implemented by child handler to
+	 *          perform debugging
+	 * @details Example: Calling this in performOperation
+	 *          to track values like mode.
+	 * @param 	positionTracker Provide the child handler a way to know where the debugInterface was called
+	 * @param 	objectId Provide the child handler object Id to specify actions for spefic devices
+	 * @param 	parameter Supply a parameter of interest
+	 * Please delete all debugInterface calls in DHB after debugging is finished !
+	 */
+	virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0, uint32_t parameter = 0);
+
+	/**
+	 * Get the time needed to transit from modeFrom to modeTo.
+	 *
+	 * Used for the following transitions:
+	 * modeFrom -> modeTo:
+	 *  - MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
+	 *  - MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
+	 *  - MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
+	 *  - _MODE_START_UP -> MODE_ON (do not include time to set the switches, the base class got you covered)
+	 *
+	 * The default implementation returns 0 !
+	 * @param modeFrom
+	 * @param modeTo
+	 * @return time in ms
+	 */
+	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo);
+
+	/**
+	 * Return the switches connected to the device.
+	 *
+	 * The default implementation returns one switch set in the ctor.
+	 *
+	 * @param[out] switches pointer to an array of switches
+	 * @param[out] numberOfSwitches length of returned array
+	 * @return
+	 *      - @c RETURN_OK if the parameters were set
+	 *      - @c RETURN_FAILED if no switches exist
+	 */
+	virtual ReturnValue_t getSwitches(const uint8_t **switches,
+			uint8_t *numberOfSwitches);
+
+public:
+	/**
+	 * @param parentQueueId
+	 */
+	virtual void setParentQueue(MessageQueueId_t parentQueueId);
 
 	ReturnValue_t executeAction(ActionId_t actionId,
 			MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size);
@@ -136,6 +367,8 @@ public:
 	 * @param task_ Pointer to the taskIF of this task
 	 */
 	virtual  void setTaskIF(PeriodicTaskIF* task_);
+	virtual MessageQueueId_t getCommandQueue(void) const;
+
 protected:
 	/**
 	 * The Returnvalues id of this class, required by HasReturnvaluesIF
@@ -143,8 +376,9 @@ protected:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
 	static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(4);
-	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5);
-	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6);
+	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5); //!< This is used to specify for replies from a device which are not replies to requests
+	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6); //!< Ignore parts of the received packet
+	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(7); //!< Ignore full received packet
 //	static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
 //	static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
 	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(10);
@@ -318,9 +552,10 @@ protected:
 			uint32_t parameter = 0);
 
 	/**
-	 *
-
-	 * @param parameter2 additional parameter
+	 * Send reply to a command, differentiate between raw command
+	 * and normal command.
+	 * @param status
+	 * @param parameter
 	 */
 	void replyToCommand(ReturnValue_t status, uint32_t parameter = 0);
 
@@ -345,41 +580,6 @@ protected:
 	 */
 	void setMode(Mode_t newMode, Submode_t submode);
 
-	/**
-	 * This is used to let the child class handle the transition from mode @c _MODE_START_UP to @c MODE_ON
-	 *
-	 * It is only called when the device handler is in mode @c _MODE_START_UP. That means, the device switch(es) are already set to on.
-	 * Device handler commands are read and can be handled by the child class. If the child class handles a command, it should also send
-	 * an reply accordingly.
-	 * If an Command is not handled (ie #DeviceHandlerCommand is not @c CMD_NONE, the base class handles rejecting the command and sends a reply.
-	 * The replies for mode transitions are handled by the base class.
-	 *
-	 * If the device is started and ready for operation, the mode should be set to MODE_ON. It is possible to set the mode to _MODE_TO_ON to
-	 * use the to on transition if available.
-	 * If the power-up fails, the mode should be set to _MODE_POWER_DOWN which will lead to the device being powered off.
-	 * If the device does not change the mode, the mode will be changed to _MODE_POWER_DOWN, after the timeout (from getTransitionDelay()) has passed.
-	 *
-	 * #transitionFailure can be set to a failure code indicating the reason for a failed transition
-	 */
-	virtual void doStartUp() = 0;
-
-	/**
-	 * This is used to let the child class handle the transition from mode @c _MODE_SHUT_DOWN to @c _MODE_POWER_DOWN
-	 *
-	 * It is only called when the device handler is in mode @c _MODE_SHUT_DOWN.
-	 * Device handler commands are read and can be handled by the child class. If the child class handles a command, it should also send
-	 * an reply accordingly.
-	 * If an Command is not handled (ie #DeviceHandlerCommand is not @c CMD_NONE, the base class handles rejecting the command and sends a reply.
-	 * The replies for mode transitions are handled by the base class.
-	 *
-	 * If the device ready to be switched off, the mode should be set to _MODE_POWER_DOWN.
-	 * If the device should not be switched off, the mode can be changed to _MODE_TO_ON (or MODE_ON if no transition is needed).
-	 * If the device does not change the mode, the mode will be changed to _MODE_POWER_DOWN, when the timeout (from getTransitionDelay()) has passed.
-	 *
-	 * #transitionFailure can be set to a failure code indicating the reason for a failed transition
-	 */
-	virtual void doShutDown() = 0;
-
 	/**
 	 * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
 	 *
@@ -409,24 +609,6 @@ protected:
 	 */
 	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
 
-	/**
-	 * Get the time needed to transit from modeFrom to modeTo.
-	 *
-	 * Used for the following transitions:
-	 * modeFrom -> modeTo:
-	 * MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
-	 * MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
-	 * MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
-	 * _MODE_START_UP -> MODE_ON (do not include time to set the switches, the base class got you covered)
-	 *
-	 * The default implementation returns 0;
-	 *
-	 * @param modeFrom
-	 * @param modeTo
-	 * @return time in ms
-	 */
-	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo);
-
 	/**
 	 * Is the combination of mode and submode valid?
 	 *
@@ -448,40 +630,6 @@ protected:
 	 */
 	virtual RmapAction_t getRmapAction();
 
-	/**
-	 * Build the device command to send for normal mode.
-	 *
-	 * This is only called in @c MODE_NORMAL. If multiple submodes for @c MODE_NORMAL are supported,
-	 * different commands can built returned depending on the submode.
-	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
-	 *
-	 * @param[out] id the device command id that has been built
-	 * @return
-	 *    - @c RETURN_OK when a command is to be sent
-	 *    - not @c RETURN_OK when no command is to be sent
-	 */
-	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0;
-
-	/**
-	 * Build the device command to send for a transitional mode.
-	 *
-	 * This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW,
-	 * @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp() and doShutDown() as well as doTransition()
-	 *
-	 * A good idea is to implement a flag indicating a command has to be built and a variable containing the command number to be built
-	 * and filling them in doStartUp(), doShutDown() and doTransition() so no modes have to be checked here.
-	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
-	 *
-	 * @param[out] id the device command id built
-	 * @return
-	 *    - @c RETURN_OK when a command is to be sent
-	 *    - not @c RETURN_OK when no command is to be sent
-	 */
-	virtual ReturnValue_t buildTransitionDeviceCommand(
-			DeviceCommandId_t * id) = 0;
-
 	/**
 	 * Build the device command to send for raw mode.
 	 *
@@ -502,40 +650,6 @@ protected:
 	 */
 	virtual ReturnValue_t buildChildRawCommand();
 
-	/**
-	 * Build a device command packet from data supplied by a direct command.
-	 *
-	 * #rawPacket and #rawPacketLen should be set by this method to the packet to be sent.
-	 *
-	 * @param deviceCommand the command to build, already checked against deviceCommandMap
-	 * @param commandData pointer to the data from the direct command
-	 * @param commandDataLen length of commandData
-	 * @return
-	 *     - @c RETURN_OK when #rawPacket is valid
-	 *     - @c RETURN_FAILED when #rawPacket is invalid and no data should be sent
-	 */
-	virtual ReturnValue_t buildCommandFromCommand(
-			DeviceCommandId_t deviceCommand, const uint8_t * commandData,
-			size_t commandDataLen) = 0;
-
-	/**
-	 * fill the #deviceCommandMap
-	 *
-	 * called by the initialize() of the base class
-	 *
-	 * This is used to let the base class know which replies are expected.
-	 * There are different scenarios regarding this:
-	 * - "Normal" commands. These are commands, that trigger a direct reply from the device. In this case, the id of the command should be added to the command map
-	 * with a commandData_t where maxDelayCycles is set to the maximum expected number of PST cycles the reply will take. Then, scanForReply returns the id of the command and the base class can handle time-out and missing replies.
-	 * - Periodic, unrequested replies. These are replies that, once enabled, are sent by the device on its own in a defined interval. In this case, the id of the reply or a placeholder id should be added to the deviceCommandMap
-	 * with a commandData_t where maxDelayCycles is set to the maximum expected number of PST cycles between two replies (also a tolerance should be added, as an FDIR message will be generated if it is missed).
-	 * As soon as the replies are enabled, DeviceCommandInfo.periodic must be set to 1, DeviceCommandInfo.delayCycles to DeviceCommandInfo.MaxDelayCycles. From then on, the base class handles the reception.
-	 * Then, scanForReply returns the id of the reply or the placeholder id and the base class will take care of checking that all replies are received and the interval is correct.
-	 * When the replies are disabled, DeviceCommandInfo.periodic must be set to 0, DeviceCommandInfo.delayCycles to 0;
-	 * - Aperiodic, unrequested replies. These are replies that are sent by the device without any preceding command and not in a defined interval. These are not entered in the deviceCommandMap but handled by returning @c APERIODIC_REPLY in scanForReply().
-	 *
-	 */
-	virtual void fillCommandAndReplyMap() = 0;
 
 	/**
 	 * This is a helper method to facilitate inserting entries in the command map.
@@ -583,48 +697,6 @@ protected:
 	 * @return	The current delay count. If the command does not exist (should never happen) it returns 0.
 	 */
 	uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
-	/**
-	 * Scans a buffer for a valid reply.
-	 *
-	 * This is used by the base class to check the data received from the RMAP stack for valid packets.
-	 * It only checks if a valid packet starts at @c start.
-	 * It also only checks the structural validy of the packet, eg checksums lengths and protocol data. No
-	 * information check is done, eg range checks etc.
-	 *
-	 * Errors should be reported directly, the base class does NOT report any errors based on the return
-	 * value of this function.
-	 *
-	 * @param start start of data
-	 * @param len length of data
-	 * @param[out] foundId the id of the packet starting at @c start
-	 * @param[out] foundLen length of the packet found
-	 * @return
-	 *     - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
-	 *     - @c NO_VALID_REPLY no reply could be found starting at @c start, implies @c foundLen is not valid, base class will call scanForReply() again with ++start
-	 *     - @c INVALID_REPLY a packet was found but it is invalid, eg checksum error, implies @c foundLen is valid, can be used to skip some bytes
-	 *     - @c TOO_SHORT @c len is too short for any valid packet
-	 *     - @c APERIODIC_REPLY if a valid reply is received that has not been requested by a command, but should be handled anyway (@see also fillCommandAndCookieMap() )
-	 */
-	virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
-			DeviceCommandId_t *foundId, uint32_t *foundLen) = 0;
-
-	/**
-	 * Interpret a reply from the device.
-	 *
-	 * This is called after scanForReply() found a valid packet, it can be assumed that the length and structure is valid.
-	 * This routine extracts the data from the packet into a DataSet and then calls handleDeviceTM(), which either sends
-	 * a TM packet or stores the data in the DataPool depending on whether the it was an external command.
-	 * No packet length is given, as it should be defined implicitly by the id.
-	 *
-	 * @param id the id found by scanForReply()
-	 * @param packet
-	 * @param commander the one who initiated the command, is 0 if not external commanded
-	 * @return
-	 *     - @c RETURN_OK when the reply was interpreted.
-	 *     - @c RETURN_FAILED when the reply could not be interpreted, eg. logical errors or range violations occurred
-	 */
-	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-			const uint8_t *packet) = 0;
 
 	/**
 	 * Construct a command reply containing a raw reply.
@@ -649,21 +721,6 @@ protected:
 	 */
 	void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len);
 
-	/**
-	 * Return the switches connected to the device.
-	 *
-	 * The default implementation returns one switch set in the ctor.
-	 *
-	 *
-	 * @param[out] switches pointer to an array of switches
-	 * @param[out] numberOfSwitches length of returned array
-	 * @return
-	 *      - @c RETURN_OK if the parameters were set
-	 *      - @c RETURN_FAILED if no switches exist
-	 */
-	virtual ReturnValue_t getSwitches(const uint8_t **switches,
-			uint8_t *numberOfSwitches);
-
 	/**
 	 * notify child about mode change
 	 */
@@ -671,7 +728,8 @@ protected:
 
 	struct DeviceCommandInfo {
 		bool isExecuting; //!< Indicates if the command is already executing.
-		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected.
+		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
+		uint8_t expectedRepliesWhenEnablingReplyMap; //!< Constant value which specifies expected replies when enabling reply map. Inititated in insertInCommandAndReplyMap()
 		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
 	};
 
@@ -735,6 +793,11 @@ protected:
 	 */
 	virtual bool dontCheckQueue();
 
+	/**
+	 * Used to retrieve logical address
+	 * @return logicalAddress
+	 */
+	virtual uint32_t getLogicalAddress();
 	Mode_t getBaseMode(Mode_t transitionMode);
 
 	bool isAwaitingReply();
@@ -747,7 +810,6 @@ protected:
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 	virtual void setToExternalControl();
 	virtual void announceMode(bool recursive);
-
 	virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
 
 	/**
@@ -829,6 +891,7 @@ protected:
 	DeviceCommandMap deviceCommandMap;
 
 	ActionHelper actionHelper;
+
 private:
 
 	/**
@@ -862,9 +925,9 @@ private:
 	CookieInfo cookieInfo;
 
 	/**
-	 * cached from ctor for initialize()
-	 */
-	const uint32_t ioBoardAddress;
+	* cached from ctor for initialize()
+	*/
+	const uint32_t logicalAddress;
 
 	/**
 	 * Used for timing out mode transitions.
@@ -919,16 +982,12 @@ private:
 	void buildRawDeviceCommand(CommandMessage* message);
 	void buildInternalCommand(void);
 
-//	/**
-//	 * Send a reply with the current mode and submode.
-//	 */
-//	void announceMode(void);
-
 	/**
 	 * Decrement the counter for the timout of replies.
 	 *
 	 * This is called at the beginning of each cycle. It checks whether a reply has timed out (that means a reply was expected
 	 * but not received).
+	 * In case the reply is periodic, the counter is simply set back to a specified value.
 	 */
 	void decrementDeviceReplyMap(void);
 
@@ -1027,7 +1086,14 @@ private:
 	 */
 	ReturnValue_t switchCookieChannel(object_id_t newChannelId);
 
+	/**
+	 * Handle device handler messages (e.g. commands sent by PUS Service 2)
+	 * @param message
+	 * @return
+	 */
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
+
+
 };
 
 #endif /* DEVICEHANDLERBASE_H_ */

From 029b2133e6df5ecee9341226706ad6f8bcdf6b8b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 23 Mar 2020 18:03:00 +0100
Subject: [PATCH 003/653] new adaptions for cookie + comIF changes

hook for performOp() added
---
 devicehandlers/DeviceHandlerBase.cpp | 101 +++++++++--------
 devicehandlers/DeviceHandlerBase.h   | 164 ++++++++++++++++-----------
 2 files changed, 151 insertions(+), 114 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index c4f7465d..5834db2f 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -16,37 +16,34 @@ object_id_t DeviceHandlerBase::powerSwitcherId = 0;
 object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
-DeviceHandlerBase::DeviceHandlerBase(uint32_t logicalAddress_,
-		object_id_t setObjectId, uint32_t maxDeviceReplyLen,
-		uint8_t setDeviceSwitch, object_id_t deviceCommunication,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
-		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(MODE_OFF),
-		submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(maxDeviceReplyLen),
-		wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(StorageManagerIF::INVALID_ADDRESS),
-		requestedRawTraffic(0), powerSwitcher(NULL), IPCStore(NULL),
-		deviceCommunicationId(deviceCommunication), communicationInterface(NULL),
-		cookie(NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId),
-		deviceThermalRequestPoolId(thermalRequestPoolId), healthHelper(this, setObjectId),
-		modeHelper(this), parameterHelper(this), childTransitionFailure(RETURN_OK),
-		ignoreMissedRepliesCount(0), fdirInstance(fdirInstance), hkSwitcher(this),
-		defaultFDIRUsed(fdirInstance == NULL), switchOffWasReported(false),
-		executingTask(NULL), actionHelper(this, NULL), cookieInfo(), logicalAddress(logicalAddress_),
-		timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
-		transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch)
+DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, address_t logicalAddress_,
+		object_id_t deviceCommunication, Cookie * cookie_, size_t maxReplyLen,
+		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
+		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
+		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
+	    deviceCommunicationId(deviceCommunication), cookie(cookie_),
+		deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(thermalRequestPoolId),
+		healthHelper(this, setObjectId), modeHelper(this), parameterHelper(this),
+		fdirInstance(fdirInstance), hkSwitcher(this),
+		defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
+		executingTask(nullptr), actionHelper(this, nullptr), cookieInfo(),
+		logicalAddress(logicalAddress_), childTransitionDelay(5000),
+		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE),
+		deviceSwitch(setDeviceSwitch)
 {
+	this->cookie->setMaxReplyLen(maxReplyLen);
 	commandQueue = QueueFactory::instance()->
 			createMessageQueue(cmdQueueSize, CommandMessage::MAX_MESSAGE_SIZE);
 	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
-	if (this->fdirInstance == NULL) {
+	if (this->fdirInstance == nullptr) {
 		this->fdirInstance =
 				new DeviceHandlerFailureIsolation(setObjectId, defaultFDIRParentId);
 	}
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-	communicationInterface->close(cookie);
 	if (defaultFDIRUsed) {
 		delete fdirInstance;
 	}
@@ -63,10 +60,12 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
+		performOperationHook();
 	}
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
 	}
+
 	switch (getRmapAction()) {
 	case SEND_WRITE:
 		if ((cookieInfo.state == COOKIE_UNUSED)) {
@@ -87,6 +86,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	default:
 		break;
 	}
+
 	return RETURN_OK;
 }
 
@@ -102,11 +102,11 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return RETURN_FAILED;
 	}
 
-	result = communicationInterface->open(&cookie, logicalAddress,
-			maxDeviceReplyLen);
-	if (result != RETURN_OK) {
-		return result;
-	}
+//	result = communicationInterface->open(&cookie, logicalAddress,
+//			maxDeviceReplyLen, comParameter1, comParameter2);
+//	if (result != RETURN_OK) {
+//		return result;
+//	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	if (IPCStore == NULL) {
@@ -166,7 +166,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	mySet.commit(PoolVariableIF::VALID);
 
 	return RETURN_OK;
-
 }
 
 void DeviceHandlerBase::decrementDeviceReplyMap() {
@@ -549,7 +548,7 @@ void DeviceHandlerBase::doGetWrite() {
 
 void DeviceHandlerBase::doSendRead() {
 	ReturnValue_t result;
-	result = communicationInterface->requestReceiveMessage(cookie);
+	result = communicationInterface->requestReceiveMessage(cookie, requestLen);
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
 	} else {
@@ -563,10 +562,10 @@ void DeviceHandlerBase::doSendRead() {
 }
 
 void DeviceHandlerBase::doGetRead() {
-	uint32_t receivedDataLen;
+	size_t receivedDataLen;
 	uint8_t *receivedData;
 	DeviceCommandId_t foundId = 0xFFFFFFFF;
-	uint32_t foundLen = 0;
+	size_t foundLen = 0;
 	ReturnValue_t result;
 
 	if (cookieInfo.state != COOKIE_READ_SENT) {
@@ -637,8 +636,8 @@ void DeviceHandlerBase::doGetRead() {
 }
 
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
-		uint8_t * *data, uint32_t * len) {
-	uint32_t lenTmp;
+		uint8_t ** data, size_t * len) {
+	size_t lenTmp;
 
 	if (IPCStore == NULL) {
 		*data = NULL;
@@ -689,7 +688,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 
 //Default child implementations
 
-DeviceHandlerBase::RmapAction_t DeviceHandlerBase::getRmapAction() {
+DeviceHandlerBase::CommunicationAction_t DeviceHandlerBase::getRmapAction() {
 	switch (pstStep) {
 	case 0:
 		return SEND_WRITE;
@@ -749,20 +748,20 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
-	DeviceCommunicationIF *newCommunication = objectManager->get<
-			DeviceCommunicationIF>(newChannelId);
-
-	if (newCommunication != NULL) {
-		ReturnValue_t result = newCommunication->reOpen(cookie, logicalAddress,
-				maxDeviceReplyLen);
-		if (result != RETURN_OK) {
-			return result;
-		}
-		return RETURN_OK;
-	}
-	return RETURN_FAILED;
-}
+//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
+//	DeviceCommunicationIF *newCommunication = objectManager->get<
+//			DeviceCommunicationIF>(newChannelId);
+//
+//	if (newCommunication != NULL) {
+//		ReturnValue_t result = newCommunication->reOpen(cookie, logicalAddress,
+//				maxDeviceReplyLen, comParameter1, comParameter2);
+//		if (result != RETURN_OK) {
+//			return result;
+//		}
+//		return RETURN_OK;
+//	}
+//	return RETURN_FAILED;
+//}
 
 void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 	storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
@@ -1046,12 +1045,13 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		}
 		replyReturnvalueToCommand(RETURN_OK);
 		return RETURN_OK;
-	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
+	case DeviceHandlerMessage::CMD_SWITCH_ADDRESS:
 		if (mode != MODE_OFF) {
 			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
 		} else {
-			result = switchCookieChannel(
-					DeviceHandlerMessage::getIoBoardObjectId(message));
+			// rework in progress
+			//result = switchCookieChannel(
+			//		DeviceHandlerMessage::getIoBoardObjectId(message));
 			if (result == RETURN_OK) {
 				replyReturnvalueToCommand(RETURN_OK);
 			} else {
@@ -1278,3 +1278,6 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t obje
 uint32_t DeviceHandlerBase::getLogicalAddress() {
 	return logicalAddress;
 }
+
+void DeviceHandlerBase::performOperationHook() {
+}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index f16a4ff9..e9288921 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -18,9 +18,9 @@
 #include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
 #include <framework/datapool/HkSwitchHelper.h>
 #include <framework/serialize/SerialFixedArrayListAdapter.h>
-#include <map>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
+#include <map>
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
@@ -29,7 +29,7 @@ void setStaticFrameworkObjectIds();
 class StorageManagerIF;
 
 /**
- * \defgroup devices Devices
+ * @defgroup devices Devices
  * Contains all devices and the DeviceHandlerBase class.
  */
 
@@ -38,18 +38,20 @@ class StorageManagerIF;
  * @details
  * Documentation: Dissertation Baetz p.138,139, p.141-149
  *
- * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, communication with
- * physical devices, using the @link DeviceCommunicationIF @endlink, and communication with commanding objects.
+ * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink,
+ * communication with physical devices, using the @link DeviceCommunicationIF @endlink,
+ * and communication with commanding objects.
  * It inherits SystemObject and thus can be created by the ObjectManagerIF.
  *
  * This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
  * For each step an RMAP action is selected and executed.
  * If data has been received (GET_READ), the data will be interpreted.
- * The action for each step can be defined by the child class but as most device handlers share a 4-call
- * (sendRead-getRead-sendWrite-getWrite) structure, a default implementation is provided.
- * NOTE: RMAP is a standard which is used for FLP.
+ * The action for each step can be defined by the child class but as most
+ * device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
+ * a default implementation is provided. NOTE: RMAP is a standard which is used for FLP.
  * RMAP communication is not mandatory for projects implementing the FSFW.
- * However, the communication principles are similar to RMAP as there are two write and two send calls involved.
+ * However, the communication principles are similar to RMAP as there are
+ * two write and two send calls involved.
  *
  * Device handler instances should extend this class and implement the abstract functions.
  * Components and drivers can send so called cookies which are used for communication
@@ -83,7 +85,7 @@ public:
 	 * The constructor passes the objectId to the SystemObject().
 	 *
 	 * @param setObjectId the ObjectId to pass to the SystemObject() Constructor
-	 * @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
+	 * @param maxDeviceReplyLen the largest allowed reply size
 	 * @param setDeviceSwitch the switch the device is connected to, for devices using two switches, overwrite getSwitches()
 	 * @param deviceCommuncation Communcation Interface object which is used to implement communication functions
 	 * @param thermalStatePoolId
@@ -91,12 +93,11 @@ public:
 	 * @param fdirInstance
 	 * @param cmdQueueSize
 	 */
-	DeviceHandlerBase(uint32_t logicalAddress, object_id_t setObjectId,
-			uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
-			object_id_t deviceCommunication,
-			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
+	DeviceHandlerBase(object_id_t setObjectId, address_t logicalAddress_,
+			object_id_t deviceCommunication, Cookie* cookie_, size_t maxReplyLen,
+			uint8_t setDeviceSwitch, uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
 			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
-			FailureIsolationBase* fdirInstance = NULL, uint32_t cmdQueueSize = 20);
+			FailureIsolationBase* fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
 	/**
 	 * @brief This function is the device handler base core component and is called periodically.
@@ -281,8 +282,8 @@ protected:
 	 *     - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet
 	 *     - @c APERIODIC_REPLY if a valid reply is received that has not been requested by a command, but should be handled anyway (@see also fillCommandAndCookieMap() )
 	 */
-	virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
-			DeviceCommandId_t *foundId, uint32_t *foundLen) = 0;
+	virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+			DeviceCommandId_t *foundId, size_t *foundLen) = 0;
 
 	/**
 	 * @brief Interpret a reply from the device.
@@ -301,6 +302,14 @@ protected:
 	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
 			const uint8_t *packet) = 0;
 
+	/**
+	 * set all datapool variables that are update periodically in normal mode invalid
+	 *
+	 * Child classes should provide an implementation which sets all those variables invalid
+	 * which are set periodically during any normal mode.
+	 */
+	virtual void setNormalDatapoolEntriesInvalid() = 0;
+
 	/**
 	 * @brief   Can be implemented by child handler to
 	 *          perform debugging
@@ -344,6 +353,12 @@ protected:
 	virtual ReturnValue_t getSwitches(const uint8_t **switches,
 			uint8_t *numberOfSwitches);
 
+	/**
+	 * Can be used to perform device specific periodic operations.
+	 * This is called on the SEND_READ step of the performOperation() call
+	 */
+	virtual void performOperationHook();
+
 public:
 	/**
 	 * @param parentQueueId
@@ -396,11 +411,32 @@ protected:
 	/**
 	 * Pointer to the raw packet that will be sent.
 	 */
-	uint8_t *rawPacket;
+	uint8_t *rawPacket = nullptr;
 	/**
 	 * Size of the #rawPacket.
 	 */
-	uint32_t rawPacketLen;
+	size_t rawPacketLen = 0;
+
+	/**
+	 * Size of data to request.
+	 */
+	size_t requestLen = 0;
+
+//	/**
+//	 * This union (or std::variant) type can be used to set comParameters which
+//	 * are passed in the open() and reOpen() calls to the communication
+//	 * interface
+//	 * TODO: I don't know if we should use C++17 features but if we do we propably
+//	 *		 should also write a function to get either a storeId handle
+//	 *		 or an array handle so these values can be set conveniently.
+//	 * The good think is that if there are many parameters, they can
+//	 * be stored in the IPC pool. But maybe two uint32_t parameters are enough.
+//	 * Simple = Good. It is downwards compatible and one can still store
+//	 * 4 bytes of parameters AND a store ID.
+//	 */
+//	comParameters_t comParameters;
+	// uint32_t comParameter1 = 0;
+	// uint32_t comParameter2 = 0;
 
 	/**
 	 * The mode the device handler is currently in.
@@ -419,12 +455,12 @@ protected:
 	/**
 	 * This is the counter value from performOperation().
 	 */
-	uint8_t pstStep;
+	uint8_t pstStep = 0;
 
 	/**
 	 * This will be used in the RMAP getRead command as expected length, is set by the constructor, can be modiefied at will.
 	 */
-	const uint32_t maxDeviceReplyLen;
+	const uint32_t maxDeviceReplyLen = 0;
 
 	/**
 	 * wiretapping flag:
@@ -442,7 +478,7 @@ protected:
 	 * Statically initialized in initialize() to a configurable object. Used when there is no method
 	 * of finding a recipient, ie raw mode and reporting erreonous replies
 	 */
-	MessageQueueId_t defaultRawReceiver;
+	MessageQueueId_t defaultRawReceiver = 0;
 
 	store_address_t storedRawData;
 
@@ -451,19 +487,19 @@ protected:
 	 *
 	 * if #isWiretappingActive all raw communication from and to the device will be sent to this queue
 	 */
-	MessageQueueId_t requestedRawTraffic;
+	MessageQueueId_t requestedRawTraffic = 0;
 
 	/**
 	 * the object used to set power switches
 	 */
-	PowerSwitchIF *powerSwitcher;
+	PowerSwitchIF *powerSwitcher = nullptr;
 
 	/**
 	 * Pointer to the IPCStore.
 	 *
 	 * This caches the pointer received from the objectManager in the constructor.
 	 */
-	StorageManagerIF *IPCStore;
+	StorageManagerIF *IPCStore = nullptr;
 
 	/**
 	 * cached for init
@@ -473,17 +509,18 @@ protected:
 	/**
 	 * Communication object used for device communication
 	 */
-	DeviceCommunicationIF *communicationInterface;
+	DeviceCommunicationIF *communicationInterface = nullptr;
 
 	/**
-	 * Cookie used for communication
+	 * Cookie used for communication. This is passed to the communication
+	 * interface.
 	 */
 	Cookie *cookie;
 
 	/**
 	 * The MessageQueue used to receive device handler commands and to send replies.
 	 */
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
 	/**
 	 * this is the datapool variable with the thermal state of the device
@@ -512,9 +549,9 @@ protected:
 	 * Optional Error code
 	 * Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
 	 */
-	ReturnValue_t childTransitionFailure;
+	ReturnValue_t childTransitionFailure = RETURN_OK;
 
-	uint32_t ignoreMissedRepliesCount; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
+	uint32_t ignoreMissedRepliesCount = 0; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
 
 	FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
 
@@ -531,6 +568,28 @@ protected:
 	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
 
 	static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
+
+	/**
+	 * Set the device handler mode
+	 *
+	 * Sets #timeoutStart with every call.
+	 *
+	 * Sets #transitionTargetMode if necessary so transitional states can be entered from everywhere without breaking the state machine
+	 * (which relies on a correct #transitionTargetMode).
+	 *
+	 * The submode is left unchanged.
+	 *
+	 *
+	 * @param newMode
+	 */
+	void setMode(Mode_t newMode);
+
+	/**
+	 * @overload
+	 * @param submode
+	 */
+	void setMode(Mode_t newMode, Submode_t submode);
+
 	/**
 	 * Helper function to report a missed reply
 	 *
@@ -559,27 +618,6 @@ protected:
 	 */
 	void replyToCommand(ReturnValue_t status, uint32_t parameter = 0);
 
-	/**
-	 * Set the device handler mode
-	 *
-	 * Sets #timeoutStart with every call.
-	 *
-	 * Sets #transitionTargetMode if necessary so transitional states can be entered from everywhere without breaking the state machine
-	 * (which relies on a correct #transitionTargetMode).
-	 *
-	 * The submode is left unchanged.
-	 *
-	 *
-	 * @param newMode
-	 */
-	void setMode(Mode_t newMode);
-
-	/**
-	 * @overload
-	 * @param submode
-	 */
-	void setMode(Mode_t newMode, Submode_t submode);
-
 	/**
 	 * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
 	 *
@@ -628,7 +666,7 @@ protected:
 	 *
 	 * @return The Rmap action to execute in this step
 	 */
-	virtual RmapAction_t getRmapAction();
+	virtual CommunicationAction_t getRmapAction();
 
 	/**
 	 * Build the device command to send for raw mode.
@@ -655,8 +693,10 @@ protected:
 	 * This is a helper method to facilitate inserting entries in the command map.
 	 * @param deviceCommand	Identifier of the command to add.
 	 * @param maxDelayCycles The maximum number of delay cycles the command waits until it times out.
-	 * @param periodic	Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
+	 * @param periodic	Indicates if the reply is periodic (i.e. it is sent by the device repeatedly without request) or not.
 	 *		 			Default is aperiodic (0)
+	 * @param hasDifferentReplyId
+	 * @param replyId
 	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
@@ -769,14 +809,6 @@ protected:
 	 */
 	ReturnValue_t getStateOfSwitches(void);
 
-	/**
-	 * set all datapool variables that are update periodically in normal mode invalid
-	 *
-	 * Child classes should provide an implementation which sets all those variables invalid
-	 * which are set periodically during any normal mode.
-	 */
-	virtual void setNormalDatapoolEntriesInvalid() = 0;
-
 	/**
 	 * build a list of sids and pass it to the #hkSwitcher
 	 */
@@ -897,7 +929,7 @@ private:
 	/**
 	 * State a cookie is in.
 	 *
-	 * Used to keep track of the state of the RMAP communication.
+	 * Used to keep track of the state of the communication.
 	 */
 	enum CookieState_t {
 		COOKIE_UNUSED,    //!< The Cookie is unused
@@ -934,7 +966,7 @@ private:
 	 *
 	 * Set when setMode() is called.
 	 */
-	uint32_t timeoutStart;
+	uint32_t timeoutStart = 0;
 
 	/**
 	 * Delay for the current mode transition, used for time out
@@ -976,6 +1008,8 @@ private:
 	 * - checks whether commanded mode transitions are required and calls handleCommandedModeTransition()
 	 * - does the necessary action for the current mode or calls doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
 	 * - actions that happen in transitions (eg setting a timeout) are handled in setMode()
+	 * - Maybe export this into own class to increase modularity of software
+	 *   and reduce the massive class size ?
 	 */
 	void doStateMachine(void);
 
@@ -1054,8 +1088,8 @@ private:
 	 *   - @c RETURN_FAILED IPCStore is NULL
 	 *   - the return value from the IPCStore if it was not @c RETURN_OK
 	 */
-	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
-			uint32_t *len);
+	ReturnValue_t getStorageData(store_address_t storageAddress,
+			uint8_t ** data, size_t * len);
 
 	/**
 	 * set all switches returned by getSwitches()
@@ -1084,7 +1118,7 @@ private:
 	 *     - @c RETURN_FAILED when cookies could not be changed, eg because the newChannel is not enabled
 	 *     - @c returnvalues of RMAPChannelIF::isActive()
 	 */
-	ReturnValue_t switchCookieChannel(object_id_t newChannelId);
+	//ReturnValue_t switchCookieChannel(object_id_t newChannelId);
 
 	/**
 	 * Handle device handler messages (e.g. commands sent by PUS Service 2)

From 59812199fdfe32ee3817a3a61de4834e1a4d4906 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 23 Mar 2020 19:16:01 +0100
Subject: [PATCH 004/653] new cookieIF

---
 devicehandlers/DeviceHandlerBase.cpp | 31 ++++++++++++++--------------
 devicehandlers/DeviceHandlerBase.h   | 29 +++++++-------------------
 2 files changed, 23 insertions(+), 37 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 5834db2f..33e44146 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -16,23 +16,22 @@ object_id_t DeviceHandlerBase::powerSwitcherId = 0;
 object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
-DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, address_t logicalAddress_,
-		object_id_t deviceCommunication, Cookie * cookie_, size_t maxReplyLen,
-		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
+		CookieIF * comCookie_, size_t maxReplyLen, uint8_t setDeviceSwitch,
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
 		FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
 		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
-	    deviceCommunicationId(deviceCommunication), cookie(cookie_),
+	    deviceCommunicationId(deviceCommunication), comCookie(comCookie_),
 		deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(thermalRequestPoolId),
 		healthHelper(this, setObjectId), modeHelper(this), parameterHelper(this),
 		fdirInstance(fdirInstance), hkSwitcher(this),
 		defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
 		executingTask(nullptr), actionHelper(this, nullptr), cookieInfo(),
-		logicalAddress(logicalAddress_), childTransitionDelay(5000),
-		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE),
-		deviceSwitch(setDeviceSwitch)
+		childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
+		transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch)
 {
-	this->cookie->setMaxReplyLen(maxReplyLen);
+	this->comCookie->setMaxReplyLen(maxReplyLen);
 	commandQueue = QueueFactory::instance()->
 			createMessageQueue(cmdQueueSize, CommandMessage::MAX_MESSAGE_SIZE);
 	cookieInfo.state = COOKIE_UNUSED;
@@ -44,6 +43,7 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, address_t logicalA
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
+	delete comCookie;
 	if (defaultFDIRUsed) {
 		delete fdirInstance;
 	}
@@ -66,7 +66,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		return RETURN_OK;
 	}
 
-	switch (getRmapAction()) {
+	switch (getComAction()) {
 	case SEND_WRITE:
 		if ((cookieInfo.state == COOKIE_UNUSED)) {
 			buildInternalCommand();
@@ -506,7 +506,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
 void DeviceHandlerBase::doSendWrite() {
 	if (cookieInfo.state == COOKIE_WRITE_READY) {
 
-		ReturnValue_t result = communicationInterface->sendMessage(cookie,
+		ReturnValue_t result = communicationInterface->sendMessage(comCookie,
 				rawPacket, rawPacketLen);
 
 		if (result == RETURN_OK) {
@@ -527,7 +527,7 @@ void DeviceHandlerBase::doGetWrite() {
 		return;
 	}
 	cookieInfo.state = COOKIE_UNUSED;
-	ReturnValue_t result = communicationInterface->getSendSuccess(cookie);
+	ReturnValue_t result = communicationInterface->getSendSuccess(comCookie);
 	if (result == RETURN_OK) {
 		if (wiretappingMode == RAW) {
 			replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
@@ -548,7 +548,7 @@ void DeviceHandlerBase::doGetWrite() {
 
 void DeviceHandlerBase::doSendRead() {
 	ReturnValue_t result;
-	result = communicationInterface->requestReceiveMessage(cookie, requestLen);
+	result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
 	} else {
@@ -575,7 +575,7 @@ void DeviceHandlerBase::doGetRead() {
 
 	cookieInfo.state = COOKIE_UNUSED;
 
-	result = communicationInterface->readReceivedMessage(cookie, &receivedData,
+	result = communicationInterface->readReceivedMessage(comCookie, &receivedData,
 			&receivedDataLen);
 
 	if (result != RETURN_OK) {
@@ -688,7 +688,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 
 //Default child implementations
 
-DeviceHandlerBase::CommunicationAction_t DeviceHandlerBase::getRmapAction() {
+DeviceHandlerBase::CommunicationAction_t DeviceHandlerBase::getComAction() {
 	switch (pstStep) {
 	case 0:
 		return SEND_WRITE;
@@ -1050,6 +1050,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
 		} else {
 			// rework in progress
+			result = RETURN_OK;
 			//result = switchCookieChannel(
 			//		DeviceHandlerMessage::getIoBoardObjectId(message));
 			if (result == RETURN_OK) {
@@ -1276,7 +1277,7 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t obje
 }
 
 uint32_t DeviceHandlerBase::getLogicalAddress() {
-	return logicalAddress;
+	return this->comCookie->getAddress();
 }
 
 void DeviceHandlerBase::performOperationHook() {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index e9288921..05be2d45 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -17,6 +17,7 @@
 #include <framework/tasks/ExecutableObjectIF.h>
 #include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
 #include <framework/datapool/HkSwitchHelper.h>
+#include <framework/devicehandlers/CookieIF.h>
 #include <framework/serialize/SerialFixedArrayListAdapter.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
@@ -93,9 +94,9 @@ public:
 	 * @param fdirInstance
 	 * @param cmdQueueSize
 	 */
-	DeviceHandlerBase(object_id_t setObjectId, address_t logicalAddress_,
-			object_id_t deviceCommunication, Cookie* cookie_, size_t maxReplyLen,
-			uint8_t setDeviceSwitch, uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
+	DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
+			CookieIF * comCookie_, size_t maxReplyLen, uint8_t setDeviceSwitch,
+			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
 			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
 			FailureIsolationBase* fdirInstance = nullptr, size_t cmdQueueSize = 20);
 
@@ -422,22 +423,6 @@ protected:
 	 */
 	size_t requestLen = 0;
 
-//	/**
-//	 * This union (or std::variant) type can be used to set comParameters which
-//	 * are passed in the open() and reOpen() calls to the communication
-//	 * interface
-//	 * TODO: I don't know if we should use C++17 features but if we do we propably
-//	 *		 should also write a function to get either a storeId handle
-//	 *		 or an array handle so these values can be set conveniently.
-//	 * The good think is that if there are many parameters, they can
-//	 * be stored in the IPC pool. But maybe two uint32_t parameters are enough.
-//	 * Simple = Good. It is downwards compatible and one can still store
-//	 * 4 bytes of parameters AND a store ID.
-//	 */
-//	comParameters_t comParameters;
-	// uint32_t comParameter1 = 0;
-	// uint32_t comParameter2 = 0;
-
 	/**
 	 * The mode the device handler is currently in.
 	 *
@@ -515,7 +500,7 @@ protected:
 	 * Cookie used for communication. This is passed to the communication
 	 * interface.
 	 */
-	Cookie *cookie;
+	CookieIF *comCookie;
 
 	/**
 	 * The MessageQueue used to receive device handler commands and to send replies.
@@ -666,7 +651,7 @@ protected:
 	 *
 	 * @return The Rmap action to execute in this step
 	 */
-	virtual CommunicationAction_t getRmapAction();
+	virtual CommunicationAction_t getComAction();
 
 	/**
 	 * Build the device command to send for raw mode.
@@ -959,7 +944,7 @@ private:
 	/**
 	* cached from ctor for initialize()
 	*/
-	const uint32_t logicalAddress;
+	//const uint32_t logicalAddress = 0;
 
 	/**
 	 * Used for timing out mode transitions.

From ea4151455364c18ed1e791cee6ae001824aa74d5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 23 Mar 2020 19:17:53 +0100
Subject: [PATCH 005/653] new cookie.cpp + cookieIF.h

---
 devicehandlers/Cookie.cpp | 26 ++++++++++++++++++++++++++
 devicehandlers/CookieIF.h | 25 +++++++++++++++++++++++++
 2 files changed, 51 insertions(+)
 create mode 100644 devicehandlers/Cookie.cpp
 create mode 100644 devicehandlers/CookieIF.h

diff --git a/devicehandlers/Cookie.cpp b/devicehandlers/Cookie.cpp
new file mode 100644
index 00000000..05b9425c
--- /dev/null
+++ b/devicehandlers/Cookie.cpp
@@ -0,0 +1,26 @@
+/**
+ * @file Cookie.cpp
+ *
+ * @date 23.03.2020
+ */
+#include <framework/devicehandlers/Cookie.h>
+
+Cookie::Cookie(address_t logicalAddress_): logicalAddress(logicalAddress_) {
+}
+
+void Cookie::setAddress(address_t logicalAddress_) {
+	logicalAddress = logicalAddress_;
+}
+void Cookie::setMaxReplyLen(size_t maxReplyLen_) {
+	maxReplyLen = maxReplyLen_;
+}
+
+address_t Cookie::getAddress() const {
+	return logicalAddress;
+}
+
+size_t Cookie::getMaxReplyLen() const {
+	return maxReplyLen;
+}
+
+
diff --git a/devicehandlers/CookieIF.h b/devicehandlers/CookieIF.h
new file mode 100644
index 00000000..d8781cd7
--- /dev/null
+++ b/devicehandlers/CookieIF.h
@@ -0,0 +1,25 @@
+/**
+ * @file CookieIF.h
+ *
+ * @date 23.03.2020
+ */
+
+#ifndef FRAMEWORK_DEVICEHANDLERS_COOKIEIF_H_
+#define FRAMEWORK_DEVICEHANDLERS_COOKIEIF_H_
+#include <framework/devicehandlers/DeviceHandlerIF.h>
+
+class CookieIF {
+public:
+	/**
+	 * Default empty virtual destructor.
+	 */
+	virtual ~CookieIF() {};
+
+	virtual void setAddress(address_t logicalAddress_) = 0;
+	virtual address_t getAddress() const = 0;
+
+	virtual void setMaxReplyLen(size_t maxReplyLen_) = 0;
+	virtual size_t getMaxReplyLen() const = 0;
+};
+
+#endif /* FRAMEWORK_DEVICEHANDLERS_COOKIEIF_H_ */

From bfb0234d4134097db7e4db9e251d21989b894b32 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 24 Mar 2020 15:59:08 +0100
Subject: [PATCH 006/653] more refactoring

---
 devicehandlers/DeviceCommunicationIF.h | 121 +++++++++++++------
 devicehandlers/DeviceHandlerBase.cpp   |  31 +++--
 devicehandlers/DeviceHandlerBase.h     |  59 ++++++----
 devicehandlers/DeviceHandlerIF.h       | 157 ++++++++++++++-----------
 4 files changed, 225 insertions(+), 143 deletions(-)

diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index e0aca573..931fc8b5 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -2,62 +2,107 @@
 #define DEVICECOMMUNICATIONIF_H_
 
 #include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/DeviceHandlerIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+/**
+ * @defgroup interfaces Interfaces
+ * @brief Interfaces for flight software objects
+ */
 
+/**
+ * @defgroup communication comm
+ * @brief Communication software components.
+ */
+
+/**
+ * @brief This is an interface to decouple device communication from
+ * the device handler to allow reuse of these components.
+ * @details
+ * Documentation: Dissertation Baetz p.138
+ * It works with the assumption that received data
+ * is polled by a component. There are four generic steps of device communication:
+ *
+ *   1. Send data to a device
+ *   2. Get acknowledgement for sending
+ *   3. Request reading data from a device
+ *   4. Read received data
+ *
+ *  To identify different connection over a single interface can return
+ *  so-called cookies to components.
+ *  The CommunicationMessage message type can be used to extend the functionality of the
+ *  ComIF if a separate polling task is required.
+ *  @ingroup interfaces
+ *  @ingroup comm
+ */
 class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
 	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x01);
 	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x03);
-	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x04);
-	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x05);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x06);
-	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x07);
+	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x04);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x05);
 
-	virtual ~DeviceCommunicationIF() {
-
-	}
-
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
-			uint32_t maxReplyLen) = 0;
+	virtual ~DeviceCommunicationIF() {}
 
 	/**
-	 * Use an existing cookie to open a connection to a new DeviceCommunication.
-	 * The previous connection must not be closed.
-	 * If the returnvalue is not RETURN_OK, the cookie is unchanged and
-	 * can be used with the previous connection.
-	 *
+	 * @brief Device specific initialization, using the cookie.
+	 * @details
+	 * The cookie is already prepared in the factory. If the communication
+	 * interface needs to be set up in some way and requires cookie information,
+	 * this can be performed in this function, which is called on device handler
+	 * initialization.
 	 * @param cookie
-	 * @param address
-	 * @param maxReplyLen
 	 * @return
 	 */
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
-			uint32_t maxReplyLen) = 0;
+	virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0;
 
-	virtual void close(Cookie *cookie) = 0;
+	/**
+	 * Called by DHB in the SEND_WRITE doSendWrite().
+	 * This function is used to send data to the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return -@c RETURN_OK for successfull send
+	 *         - Everything else triggers sending failed event with
+	 *           returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
+			size_t sendLen) = 0;
 
-	//SHOULDDO can data be const?
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
-			uint32_t len) = 0;
+	/**
+	 * Called by DHB in the GET_WRITE doGetWrite().
+	 * Get send confirmation that the data in sendMessage() was sent successfully.
+	 * @param cookie
+	 * @return -@c RETURN_OK if data was sent successfull
+	 * 		   - Everything else triggers sending failed event with
+	 *           returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
-			uint32_t *size) = 0;
-
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address) = 0;
-
-	virtual uint32_t getAddress(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter) = 0;
-
-	virtual uint32_t getParameter(Cookie *cookie) = 0;
+	/**
+	 * Called by DHB in the SEND_WRITE doSendRead().
+	 * Request a reply.
+	 * @param cookie
+	 * @return
+	 */
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) = 0;
 
+	/**
+	 * Called by DHB in the GET_WRITE doGetRead().
+	 * This function is used to receive data from the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return @c RETURN_OK for successfull receive
+	 *         - Everything else triggers receiving failed with
+	 *           returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) = 0;
 };
 
 #endif /* DEVICECOMMUNICATIONIF_H_ */
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 33e44146..ad699508 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -102,11 +102,10 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return RETURN_FAILED;
 	}
 
-//	result = communicationInterface->open(&cookie, logicalAddress,
-//			maxDeviceReplyLen, comParameter1, comParameter2);
-//	if (result != RETURN_OK) {
-//		return result;
-//	}
+	result = communicationInterface->initializeInterface(comCookie);
+	if (result != RETURN_OK) {
+		return result;
+	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	if (IPCStore == NULL) {
@@ -811,9 +810,9 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(
 		iter = deviceReplyMap.find(command->first);
 	}
 	if (iter != deviceReplyMap.end()) {
-		DeviceReplyInfo *info = &(iter->second);
-		info->delayCycles = info->maxDelayCycles;
-		info->command = command;
+		DeviceReplyInfo & info = iter->second;
+		info.delayCycles = info.maxDelayCycles;
+		info.command = command;
 		command->second.expectedReplies = expectedReplies;
 		return RETURN_OK;
 	} else {
@@ -1056,7 +1055,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 			if (result == RETURN_OK) {
 				replyReturnvalueToCommand(RETURN_OK);
 			} else {
-				replyReturnvalueToCommand(CANT_SWITCH_IOBOARD);
+				replyReturnvalueToCommand(CANT_SWITCH_ADDRESS);
 			}
 		}
 		return RETURN_OK;
@@ -1138,11 +1137,15 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 }
 
 ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
-		MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) {
+		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
 	ReturnValue_t result = acceptExternalDeviceCommands();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
+	if(size == 0) {
+		return NO_COMMAND_DATA;
+	}
+
 	DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId);
 	if (iter == deviceCommandMap.end()) {
 		result = COMMAND_NOT_SUPPORTED;
@@ -1161,7 +1164,7 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
 }
 
 void DeviceHandlerBase::buildInternalCommand(void) {
-//Neither Raw nor Direct could build a command
+	// Neither Raw nor Direct could build a command
 	ReturnValue_t result = NOTHING_TO_SEND;
 	DeviceCommandId_t deviceCommandId = NO_COMMAND_ID;
 	if (mode == MODE_NORMAL) {
@@ -1179,12 +1182,13 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 	} else {
 		return;
 	}
+
 	if (result == NOTHING_TO_SEND) {
 		return;
 	}
 	if (result == RETURN_OK) {
-		DeviceCommandMap::iterator iter = deviceCommandMap.find(
-				deviceCommandId);
+		DeviceCommandMap::iterator iter =
+				deviceCommandMap.find(deviceCommandId);
 		if (iter == deviceCommandMap.end()) {
 			result = COMMAND_NOT_SUPPORTED;
 		} else if (iter->second.isExecuting) {
@@ -1199,6 +1203,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 			cookieInfo.state = COOKIE_WRITE_READY;
 		}
 	}
+
 	if (result != RETURN_OK) {
 		triggerEvent(DEVICE_BUILDING_COMMAND_FAILED, result, deviceCommandId);
 	}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 05be2d45..dcca2cc4 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -69,6 +69,12 @@ class StorageManagerIF;
  *
  * Other important virtual methods with a default implementation
  * are the getTransitionDelayMs() function and the getSwitches() function.
+ * Please ensure that getSwitches() returns DeviceHandlerIF::NO_SWITCHES if
+ * power switches are not implemented yet. Otherwise, the device handler will
+ * not transition to MODE_ON, even if setMode(MODE_ON) is called.
+ * If a transition to MODE_ON is desired without commanding, override the
+ * intialize() function and call setMode(_MODE_START_UP) before calling
+ * DeviceHandlerBase::initialize().
  *
  * @ingroup devices
  */
@@ -191,8 +197,9 @@ protected:
 	 *
 	 * @param[out] id the device command id that has been built
 	 * @return
-	 *    - @c RETURN_OK when a command is to be sent
-	 *    - not @c RETURN_OK when no command is to be sent
+	 *    - @c RETURN_OK to send command after setting #rawPacket and #rawPacketLen.
+	 *    - @c NOTHING_TO_SEND when no command is to be sent.
+	 *    - Anything else triggers an even with the returnvalue as a parameter.
 	 */
 	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0;
 
@@ -210,21 +217,25 @@ protected:
 	 * @param[out] id the device command id built
 	 * @return
 	 *    - @c RETURN_OK when a command is to be sent
-	 *    - not @c RETURN_OK when no command is to be sent
+	 *    - @c NOTHING_TO_SEND when no command is to be sent
+	 *    - Anything else triggers an even with the returnvalue as a parameter
 	 */
 	virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) = 0;
 
 	/**
-	 * Build a device command packet from data supplied by a direct command.
+	 * @brief Build a device command packet from data supplied by a direct command.
 	 *
+	 * @details
 	 * #rawPacket and #rawPacketLen should be set by this method to the packet to be sent.
+	 * The existence of the command in the command map and the command size check
+	 * against 0 are done by the base class.
 	 *
 	 * @param deviceCommand the command to build, already checked against deviceCommandMap
 	 * @param commandData pointer to the data from the direct command
 	 * @param commandDataLen length of commandData
 	 * @return
-	 *     - @c RETURN_OK when #rawPacket is valid
-	 *     - @c RETURN_FAILED when #rawPacket is invalid and no data should be sent
+	 *     - @c RETURN_OK to send command after #rawPacket and #rawPacketLen have been set.
+	 *     - Anything else triggers an event with the returnvalue as a parameter
 	 */
 	virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 			const uint8_t * commandData, size_t commandDataLen) = 0;
@@ -349,7 +360,7 @@ protected:
 	 * @param[out] numberOfSwitches length of returned array
 	 * @return
 	 *      - @c RETURN_OK if the parameters were set
-	 *      - @c RETURN_FAILED if no switches exist
+	 *      - @c NO_SWITCH or any other returnvalue if no switches exist
 	 */
 	virtual ReturnValue_t getSwitches(const uint8_t **switches,
 			uint8_t *numberOfSwitches);
@@ -360,14 +371,29 @@ protected:
 	 */
 	virtual void performOperationHook();
 
+	/**
+	 * The Returnvalues id of this class, required by HasReturnvaluesIF
+	 */
+	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
+
 public:
 	/**
 	 * @param parentQueueId
 	 */
 	virtual void setParentQueue(MessageQueueId_t parentQueueId);
 
+	/**
+	 * This function call handles the execution of external commands as required
+	 * by the HasActionIF.
+	 * @param actionId
+	 * @param commandedBy
+	 * @param data
+	 * @param size
+	 * @return
+	 */
 	ReturnValue_t executeAction(ActionId_t actionId,
-			MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size);
+			MessageQueueId_t commandedBy, const uint8_t* data, size_t size);
+
 	Mode_t getTransitionSourceMode() const;
 	Submode_t getTransitionSourceSubMode() const;
 	virtual void getMode(Mode_t *mode, Submode_t *submode);
@@ -386,21 +412,6 @@ public:
 	virtual MessageQueueId_t getCommandQueue(void) const;
 
 protected:
-	/**
-	 * The Returnvalues id of this class, required by HasReturnvaluesIF
-	 */
-	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
-
-	static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(4);
-	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5); //!< This is used to specify for replies from a device which are not replies to requests
-	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6); //!< Ignore parts of the received packet
-	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(7); //!< Ignore full received packet
-//	static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
-//	static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
-	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(10);
-	static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(11);
-	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(12);
-
 	//Mode handling error Codes
 	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE1);
 	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE2);
@@ -453,7 +464,7 @@ protected:
 	 * indicates either that all raw messages to and from the device should be sent to #theOneWhoWantsToReadRawTraffic
 	 * or that all device TM should be downlinked to #theOneWhoWantsToReadRawTraffic
 	 */
-	enum WiretappingMode {
+	enum WiretappingMode: uint8_t {
 		OFF = 0, RAW = 1, TM = 2
 	} wiretappingMode;
 
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index fe0ee8e8..5ea527e9 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -8,7 +8,13 @@
 #include <framework/ipc/MessageQueueSenderIF.h>
 
 /**
- * This is the Interface used to communicate with a device handler.
+ * @brief Physical address type
+ */
+typedef uint32_t address_t;
+
+/**
+ * @brief 	This is the Interface used to communicate with a device handler.
+ * @details Includes all expected return values, events and modes.
  *
  */
 class DeviceHandlerIF {
@@ -22,80 +28,95 @@ public:
 	 *
 	 * @details The mode of the device handler must not be confused with the mode the device is in.
 	 * The mode of the device itself is transparent to the user but related to the mode of the handler.
+	 * MODE_ON and MODE_OFF are included in hasModesIF.h
 	 */
-//		MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
-//		MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
-		static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
-		static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
-		static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
-		static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
-		static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
-		static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
-		static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-		static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-		static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
-		static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
-		static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
-		static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
-		static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
 
-		static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
-		static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
-		static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
-		static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
-		static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
-		static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
-		static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
-		static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
-		static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
-		static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
-		static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
-		static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
+	// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
+	// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
+	static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
+	static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
+	static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
+	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
+	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON; //!< It is possible to set the mode to _MODE_TO_ON to use the to on transition if available.
+	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
+	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
+	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
+	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
 
-		static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
-		static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0);
-		static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
-		static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2);
-		static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
-		static const ReturnValue_t CANT_SWITCH_IOBOARD = MAKE_RETURN_CODE(0xA4);
-		static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
-		static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
-		static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-		static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
-		static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
-		static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
+	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
+	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
+	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
+	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
+	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
+	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
+	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
+	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
+	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
+	static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
+	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
 
-		//standard codes used in scan for reply
-	//	static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE(0xB1);
-		static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
-		static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
-		static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
-		static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
+	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
-		//standard codes used in  interpret device reply
-		static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
-		static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
-		static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
-		static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
+	// Standard codes used when building commands.
+	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xA0); //!< Return this if no command sending in required
+	// Mostly used for internal handling.
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA2); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA3); //!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA4); //!< Command ID not in commandMap. Checked in DHB
+	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA5); //!< Command was already executed. Checked in DHB
+	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA6);
+	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA7);
+	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA8);
+	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA9);
+	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xAA);
+	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xAB);
+	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAC);
 
-		//Standard codes used in buildCommandFromCommand
-		static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(
-				0xD0);
-		static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS =
-				MAKE_RETURN_CODE(0xD1);
+	// Standard codes used in scanForReply
+	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB1); //!< This is used to specify for replies from a device which are not replies to requests
+	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB2);
+	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB3); //!< Ignore parts of the received packet
+	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB4); //!< Ignore full received packet
+	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB5);
+	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB6);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB7);
+
+	// Standard codes used in  interpretDeviceReply
+	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
+	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
+	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
+	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
+
+	// Standard codes used in buildCommandFromCommand
+	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
+	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
+
+	// Standard codes used in getSwitches
+	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xE1); //!< Return in getSwitches() to specify there are no switches
+
+	//	static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
+	//	static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
+	// where is this used?
+	// static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(11);
+
+	/**
+	 * Communication action that will be executed.
+	 *
+	 * This is used by the child class to tell the base class what to do.
+	 */
+	enum CommunicationAction_t: uint8_t {
+		SEND_WRITE,//!< Send write
+		GET_WRITE, //!< Get write
+		SEND_READ, //!< Send read
+		GET_READ,  //!< Get read
+		NOTHING    //!< Do nothing.
+	};
 
-		/**
-		 * RMAP Action that will be executed.
-		 *
-		 * This is used by the child class to tell the base class what to do.
-		 */
-		enum RmapAction_t {
-			SEND_WRITE,//!< RMAP send write
-			GET_WRITE, //!< RMAP get write
-			SEND_READ, //!< RMAP send read
-			GET_READ,  //!< RMAP get read
-			NOTHING    //!< Do nothing.
-		};
 	/**
 	 * Default Destructor
 	 */

From ac4275ef05628a02185906811bec00297198982e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 27 Mar 2020 14:44:54 +0100
Subject: [PATCH 007/653] some minor changes

---
 devicehandlers/DeviceHandlerBase.cpp |  63 +++++-----
 devicehandlers/DeviceHandlerBase.h   | 182 ++++++++++++++-------------
 devicehandlers/DeviceHandlerIF.h     |   5 -
 3 files changed, 131 insertions(+), 119 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index ad699508..8187ffde 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -332,55 +332,49 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
-		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		uint8_t periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
-//No need to check, as we may try to insert multiple times.
+ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
+		uint16_t maxDelayCycles, size_t replyLen, uint8_t periodic,
+		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
-		return insertInReplyMap(replyId, maxDelayCycles, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, uint8_t periodic) {
+		uint16_t maxDelayCycles, size_t replyLen, uint8_t periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
+	info.replyLen = replyLen;
 	info.command = deviceCommandMap.end();
-	std::pair<std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator, bool> returnValue;
-	returnValue = deviceReplyMap.insert(
-			std::pair<DeviceCommandId_t, DeviceReplyInfo>(replyId, info));
-	if (returnValue.second) {
+	std::pair<DeviceReplyIter, bool> result = deviceReplyMap.emplace(replyId, info);
+	if (result.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(
-		DeviceCommandId_t deviceCommand) {
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
 	DeviceCommandInfo info;
 	info.expectedReplies = 0;
 	info.isExecuting = false;
 	info.sendReplyTo = NO_COMMANDER;
-	std::pair<std::map<DeviceCommandId_t, DeviceCommandInfo>::iterator, bool> returnValue;
-	returnValue = deviceCommandMap.insert(
-			std::pair<DeviceCommandId_t, DeviceCommandInfo>(deviceCommand,
-					info));
-	if (returnValue.second) {
+	std::pair<DeviceCommandIter, bool> result = deviceCommandMap.emplace(deviceCommand,info);
+	if (result.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(
-		DeviceCommandId_t deviceReply, uint16_t delayCycles,
-		uint16_t maxDelayCycles, uint8_t periodic) {
+ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
+		uint16_t delayCycles, uint16_t maxDelayCycles, uint8_t periodic) {
 	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.find(deviceReply);
 	if (iter == deviceReplyMap.end()) {
@@ -492,7 +486,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
 		return;
 	}
 //Check if more replies are expected. If so, do nothing.
-	DeviceCommandInfo* info = &(iter->second.command->second);
+	DeviceCommandInfo * info = &(iter->second.command->second);
 	if (--info->expectedReplies == 0) {
 		//Check if it was transition or internal command. Don't send any replies in that case.
 		if (info->sendReplyTo != NO_COMMANDER) {
@@ -547,10 +541,23 @@ void DeviceHandlerBase::doGetWrite() {
 
 void DeviceHandlerBase::doSendRead() {
 	ReturnValue_t result;
+
+	DeviceReplyIter iter = deviceReplyMap.find(cookieInfo.pendingCommand->first);
+	if(iter != deviceReplyMap.end()) {
+		requestLen = iter->second.replyLen;
+	}
+	else {
+		requestLen = comCookie->getMaxReplyLen();
+	}
+
 	result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
-	} else {
+	}
+	else if(result == DeviceCommunicationIF::NO_READ_REQUEST) {
+		return;
+	}
+	else {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
 		//We can't inform anyone, because we don't know which command was sent last.
 		//So, we need to wait for a timeout.
@@ -770,8 +777,8 @@ void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 		replyReturnvalueToCommand(result, RAW_COMMAND_ID);
 		storedRawData.raw = StorageManagerIF::INVALID_ADDRESS;
 	} else {
-		cookieInfo.pendingCommand = deviceCommandMap.find(
-				(DeviceCommandId_t) RAW_COMMAND_ID);
+		cookieInfo.pendingCommand = deviceCommandMap.
+				find((DeviceCommandId_t) RAW_COMMAND_ID);
 		cookieInfo.pendingCommand->second.isExecuting = true;
 		cookieInfo.state = COOKIE_WRITE_READY;
 	}
@@ -810,9 +817,9 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(
 		iter = deviceReplyMap.find(command->first);
 	}
 	if (iter != deviceReplyMap.end()) {
-		DeviceReplyInfo & info = iter->second;
-		info.delayCycles = info.maxDelayCycles;
-		info.command = command;
+		DeviceReplyInfo * info = &(iter->second);
+		info->delayCycles = info->maxDelayCycles;
+		info->command = command;
 		command->second.expectedReplies = expectedReplies;
 		return RETURN_OK;
 	} else {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index dcca2cc4..129fb288 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -194,6 +194,9 @@ protected:
 	 * different commands can built returned depending on the submode.
 	 *
 	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 * If variable command frequence is required, a counter can be used and
+	 * the frequency in the reply map has to be set manually
+	 * by calling updateReplyMap().
 	 *
 	 * @param[out] id the device command id that has been built
 	 * @return
@@ -275,26 +278,33 @@ protected:
 	 * @details
 	 * This is used by the base class to check the data received for valid packets.
 	 * It only checks if a valid packet starts at @c start.
-	 * It also only checks the structural validy of the packet, eg checksums lengths and protocol data.
+	 * It also only checks the structural validy of the packet,
+	 * e.g. checksums lengths and protocol data.
 	 * No information check is done, e.g. range checks etc.
 	 *
-	 * Errors should be reported directly, the base class does NOT report any errors based on the return
-	 * value of this function.
+	 * Errors should be reported directly,  the base class does NOT report
+	 * any errors based on the returnvalue of this function.
 	 *
 	 * @param start start of remaining buffer to be scanned
 	 * @param len length of remaining buffer to be scanned
 	 * @param[out] foundId the id of the data found in the buffer.
-	 * @param[out] foundLen length of the data found. Is to be set in function, buffer is scanned at previous position + foundLen.
+	 * @param[out] foundLen length of the data found. Is to be set in function,
+	 * 						buffer is scanned at previous position + foundLen.
 	 * @return
 	 *     - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
-	 *     - @c RETURN_FAILED no reply could be found starting at @c start, implies @c foundLen is not valid, base class will call scanForReply() again with ++start
-	 *     - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid, eg checksum error, implies @c foundLen is valid, can be used to skip some bytes
+	 *     - @c RETURN_FAILED no reply could be found starting at @c start,
+	 *             implies @c foundLen is not valid,
+	 *             base class will call scanForReply() again with ++start
+	 *     - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid,
+	 *             e.g. checksum error, implies @c foundLen is valid, can be used to skip some bytes
 	 *     - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid
 	 *     - @c DeviceHandlerIF::IGNORE_REPLY_DATA Ignore this specific part of the packet
 	 *     - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet
-	 *     - @c APERIODIC_REPLY if a valid reply is received that has not been requested by a command, but should be handled anyway (@see also fillCommandAndCookieMap() )
+	 *     - @c APERIODIC_REPLY if a valid reply is received that has not been
+	 *             requested by a command, but should be handled anyway
+	 *             (@see also fillCommandAndCookieMap() )
 	 */
-	virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+	virtual ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
 			DeviceCommandId_t *foundId, size_t *foundLen) = 0;
 
 	/**
@@ -513,6 +523,31 @@ protected:
 	 */
 	CookieIF *comCookie;
 
+	struct DeviceCommandInfo {
+		bool isExecuting; //!< Indicates if the command is already executing.
+		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
+		uint8_t expectedRepliesWhenEnablingReplyMap; //!< Constant value which specifies expected replies when enabling reply map. Inititated in insertInCommandAndReplyMap()
+		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
+	};
+	typedef std::map<DeviceCommandId_t, DeviceCommandInfo> DeviceCommandMap;
+	typedef DeviceCommandMap::iterator DeviceCommandIter;
+
+	/**
+	 * @brief Information about expected replies
+	 *
+	 * This is used to keep track of pending replies
+	 */
+	struct DeviceReplyInfo {
+		uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
+		uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
+		size_t replyLen = 0; //!< Expected size of the reply.
+		uint8_t periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
+		DeviceCommandMap::iterator command; //!< The command that expects this reply.
+	};
+
+	typedef std::map<DeviceCommandId_t, DeviceReplyInfo> DeviceReplyMap;
+	typedef DeviceReplyMap::iterator DeviceReplyIter;
+
 	/**
 	 * The MessageQueue used to receive device handler commands and to send replies.
 	 */
@@ -643,6 +678,55 @@ protected:
 	 */
 	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
 
+	/**
+	 * This is a helper method to facilitate inserting entries in the command map.
+	 * @param deviceCommand	Identifier of the command to add.
+	 * @param maxDelayCycles The maximum number of delay cycles the command waits until it times out.
+	 * @param periodic	Indicates if the reply is periodic (i.e. it is sent by the device repeatedly without request) or not.
+	 *		 			Default is aperiodic (0)
+	 * @param hasDifferentReplyId
+	 * @param replyId
+	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
+	 */
+	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
+			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0,
+			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
+	/**
+	 * This is a helper method to insert replies in the reply map.
+	 * @param deviceCommand	Identifier of the reply to add.
+	 * @param maxDelayCycles The maximum number of delay cycles the reply waits until it times out.
+	 * @param periodic	Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
+	 *		 			Default is aperiodic (0)
+	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
+	 */
+	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
+			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0);
+	/**
+	 * A simple command to add a command to the commandList.
+	 * @param deviceCommand The command to add
+	 * @return RETURN_OK if the command was successfully inserted, RETURN_FAILED else.
+	 */
+	ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
+	/**
+	 * This is a helper method to facilitate updating entries in the reply map.
+	 * @param deviceCommand		Identifier of the reply to update.
+	 * @param delayCycles		The current number of delay cycles to wait. As stated in #fillCommandAndCookieMap, to disable periodic commands, this is set to zero.
+	 * @param maxDelayCycles	The maximum number of delay cycles the reply waits until it times out. By passing 0 the entry remains untouched.
+	 * @param periodic			Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
+	 *		 					Default is aperiodic (0). Warning: The setting always overrides the value that was entered in the map.
+	 * @return	RETURN_OK when the reply was successfully updated, COMMAND_MAP_ERROR else.
+	 */
+	ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply,
+			uint16_t delayCycles, uint16_t maxDelayCycles,
+			uint8_t periodic = 0);
+	/**
+	 * Returns the delay cycle count of a reply.
+	 * A count != 0 indicates that the command is already executed.
+	 * @param deviceCommand	The command to look for
+	 * @return	The current delay count. If the command does not exist (should never happen) it returns 0.
+	 */
+	uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
+
 	/**
 	 * Is the combination of mode and submode valid?
 	 *
@@ -684,56 +768,6 @@ protected:
 	 */
 	virtual ReturnValue_t buildChildRawCommand();
 
-
-	/**
-	 * This is a helper method to facilitate inserting entries in the command map.
-	 * @param deviceCommand	Identifier of the command to add.
-	 * @param maxDelayCycles The maximum number of delay cycles the command waits until it times out.
-	 * @param periodic	Indicates if the reply is periodic (i.e. it is sent by the device repeatedly without request) or not.
-	 *		 			Default is aperiodic (0)
-	 * @param hasDifferentReplyId
-	 * @param replyId
-	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
-	 */
-	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, uint8_t periodic = 0,
-			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
-	/**
-	 * This is a helper method to insert replies in the reply map.
-	 * @param deviceCommand	Identifier of the reply to add.
-	 * @param maxDelayCycles The maximum number of delay cycles the reply waits until it times out.
-	 * @param periodic	Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
-	 *		 			Default is aperiodic (0)
-	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
-	 */
-	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, uint8_t periodic = 0);
-	/**
-	 * A simple command to add a command to the commandList.
-	 * @param deviceCommand The command to add
-	 * @return RETURN_OK if the command was successfully inserted, RETURN_FAILED else.
-	 */
-	ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
-	/**
-	 * This is a helper method to facilitate updating entries in the reply map.
-	 * @param deviceCommand		Identifier of the reply to update.
-	 * @param delayCycles		The current number of delay cycles to wait. As stated in #fillCommandAndCookieMap, to disable periodic commands, this is set to zero.
-	 * @param maxDelayCycles	The maximum number of delay cycles the reply waits until it times out. By passing 0 the entry remains untouched.
-	 * @param periodic			Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
-	 *		 					Default is aperiodic (0). Warning: The setting always overrides the value that was entered in the map.
-	 * @return	RETURN_OK when the reply was successfully updated, COMMAND_MAP_ERROR else.
-	 */
-	ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply,
-			uint16_t delayCycles, uint16_t maxDelayCycles,
-			uint8_t periodic = 0);
-	/**
-	 * Returns the delay cycle count of a reply.
-	 * A count != 0 indicates that the command is already executed.
-	 * @param deviceCommand	The command to look for
-	 * @return	The current delay count. If the command does not exist (should never happen) it returns 0.
-	 */
-	uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
-
 	/**
 	 * Construct a command reply containing a raw reply.
 	 *
@@ -762,14 +796,6 @@ protected:
 	 */
 	virtual void modeChanged(void);
 
-	struct DeviceCommandInfo {
-		bool isExecuting; //!< Indicates if the command is already executing.
-		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
-		uint8_t expectedRepliesWhenEnablingReplyMap; //!< Constant value which specifies expected replies when enabling reply map. Inititated in insertInCommandAndReplyMap()
-		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
-	};
-
-	typedef std::map<DeviceCommandId_t, DeviceCommandInfo> DeviceCommandMap;
 	/**
 	 * Enable the reply checking for a command
 	 *
@@ -780,16 +806,16 @@ protected:
 	 * When found, copies maxDelayCycles to delayCycles in the reply information and sets the command to
 	 * expect one reply.
 	 *
-	 * Can be overwritten by the child, if a command activates multiple replies or replyId differs from
-	 * commandId.
+	 * Can be overwritten by the child, if a command activates multiple replies
+	 * or replyId differs from commandId.
 	 * Notes for child implementations:
 	 * 	- If the command was not found in the reply map, NO_REPLY_EXPECTED MUST be returned.
 	 * 	- A failure code may be returned if something went fundamentally wrong.
 	 *
 	 * @param deviceCommand
 	 * @return 	- RETURN_OK if a reply was activated.
-	 * 			- NO_REPLY_EXPECTED if there was no reply found. This is not an error case as many commands
-	 * 				do not expect a reply.
+	 * 			- NO_REPLY_EXPECTED if there was no reply found. This is not an
+	 * 			  error case as many commands do not expect a reply.
 	 */
 	virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator cmd,
 			uint8_t expectedReplies = 1, bool useAlternateId = false,
@@ -884,22 +910,6 @@ protected:
 
 	bool commandIsExecuting(DeviceCommandId_t commandId);
 
-	/**
-	 * Information about expected replies
-	 *
-	 * This is used to keep track of pending replies
-	 */
-	struct DeviceReplyInfo {
-		uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
-		uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
-		uint8_t periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
-		DeviceCommandMap::iterator command; //!< The command that expects this reply.
-	};
-
-	/**
-	 * Definition for the important reply Map.
-	 */
-	typedef std::map<DeviceCommandId_t, DeviceReplyInfo> DeviceReplyMap;
 	/**
 	 * This map is used to check and track correct reception of all replies.
 	 *
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 5ea527e9..34aa4114 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -7,11 +7,6 @@
 #include <framework/modes/HasModesIF.h>
 #include <framework/ipc/MessageQueueSenderIF.h>
 
-/**
- * @brief Physical address type
- */
-typedef uint32_t address_t;
-
 /**
  * @brief 	This is the Interface used to communicate with a device handler.
  * @details Includes all expected return values, events and modes.

From 511c0db8c70e490b1a41800552e539add5147288 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 1 Apr 2020 12:43:53 +0200
Subject: [PATCH 008/653] Cookie -> CookieIF, DHB changes

According to changes agreed on 01.04.2020,
slight refactoring of DHB:
requestLen is set to 0 if no respective reply is enabled
---
 devicehandlers/Cookie.cpp              | 26 ------------
 devicehandlers/Cookie.h                | 10 -----
 devicehandlers/CookieIF.h              | 58 +++++++++++++++-----------
 devicehandlers/DeviceCommunicationIF.h | 43 +++++++++++--------
 devicehandlers/DeviceHandlerBase.cpp   | 31 +++++++-------
 devicehandlers/DeviceHandlerBase.h     | 23 +---------
 6 files changed, 75 insertions(+), 116 deletions(-)
 delete mode 100644 devicehandlers/Cookie.cpp
 delete mode 100644 devicehandlers/Cookie.h

diff --git a/devicehandlers/Cookie.cpp b/devicehandlers/Cookie.cpp
deleted file mode 100644
index 05b9425c..00000000
--- a/devicehandlers/Cookie.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * @file Cookie.cpp
- *
- * @date 23.03.2020
- */
-#include <framework/devicehandlers/Cookie.h>
-
-Cookie::Cookie(address_t logicalAddress_): logicalAddress(logicalAddress_) {
-}
-
-void Cookie::setAddress(address_t logicalAddress_) {
-	logicalAddress = logicalAddress_;
-}
-void Cookie::setMaxReplyLen(size_t maxReplyLen_) {
-	maxReplyLen = maxReplyLen_;
-}
-
-address_t Cookie::getAddress() const {
-	return logicalAddress;
-}
-
-size_t Cookie::getMaxReplyLen() const {
-	return maxReplyLen;
-}
-
-
diff --git a/devicehandlers/Cookie.h b/devicehandlers/Cookie.h
deleted file mode 100644
index 495c8c40..00000000
--- a/devicehandlers/Cookie.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef COOKIE_H_
-#define COOKIE_H_
-
-class Cookie{
-public:
-	virtual ~Cookie(){}
-};
-
-
-#endif /* COOKIE_H_ */
diff --git a/devicehandlers/CookieIF.h b/devicehandlers/CookieIF.h
index d8781cd7..55fdb44b 100644
--- a/devicehandlers/CookieIF.h
+++ b/devicehandlers/CookieIF.h
@@ -1,25 +1,33 @@
-/**
- * @file CookieIF.h
- *
- * @date 23.03.2020
- */
-
-#ifndef FRAMEWORK_DEVICEHANDLERS_COOKIEIF_H_
-#define FRAMEWORK_DEVICEHANDLERS_COOKIEIF_H_
-#include <framework/devicehandlers/DeviceHandlerIF.h>
-
-class CookieIF {
-public:
-	/**
-	 * Default empty virtual destructor.
-	 */
-	virtual ~CookieIF() {};
-
-	virtual void setAddress(address_t logicalAddress_) = 0;
-	virtual address_t getAddress() const = 0;
-
-	virtual void setMaxReplyLen(size_t maxReplyLen_) = 0;
-	virtual size_t getMaxReplyLen() const = 0;
-};
-
-#endif /* FRAMEWORK_DEVICEHANDLERS_COOKIEIF_H_ */
+#ifndef COOKIE_H_
+#define COOKIE_H_
+#include <framework/devicehandlers/CookieIF.h>
+#include <stdint.h>
+
+/**
+ * @brief Physical address type
+ */
+typedef uint32_t address_t;
+
+/**
+ * @brief This datatype is used to identify different connection over a single interface
+ *        (like RMAP or I2C)
+ * @details
+ * To use this class, implement a communication specific child cookie which
+ * inherits Cookie. Cookie instances are created in config/ Factory.cpp by calling
+ * CookieIF* childCookie = new ChildCookie(...).
+ *
+ * This cookie is then passed to the child device handlers, which stores the
+ * pointer and passes it to the communication interface functions.
+ *
+ * The cookie can be used to store all kinds of information
+ * about the communication, like slave addresses, communication status,
+ * communication parameters etc.
+ *
+ * @ingroup comm
+ */
+class CookieIF {
+public:
+	virtual ~CookieIF() {};
+};
+
+#endif /* COOKIE_H_ */
diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index 931fc8b5..657f7232 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -1,7 +1,7 @@
 #ifndef DEVICECOMMUNICATIONIF_H_
 #define DEVICECOMMUNICATIONIF_H_
 
-#include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/CookieIF.h>
 #include <framework/devicehandlers/DeviceHandlerIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 /**
@@ -10,7 +10,7 @@
  */
 
 /**
- * @defgroup communication comm
+ * @defgroup comm Communication
  * @brief Communication software components.
  */
 
@@ -18,7 +18,7 @@
  * @brief This is an interface to decouple device communication from
  * the device handler to allow reuse of these components.
  * @details
- * Documentation: Dissertation Baetz p.138
+ * Documentation: Dissertation Baetz p.138.
  * It works with the assumption that received data
  * is polled by a component. There are four generic steps of device communication:
  *
@@ -38,11 +38,16 @@ class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
-	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x03);
-	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x04);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x05);
+	//!< This is used if no read request is to be made by the device handler.
+	static const ReturnValue_t NO_READ_REQUEST = MAKE_RETURN_CODE(0x01);
+	//! General protocol error. Define more concrete errors in child handler
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x02);
+	//! If cookie is a null pointer
+	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x04);
+	// is this needed if there is no open/close call?
+	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
+	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
 
 	virtual ~DeviceCommunicationIF() {}
 
@@ -54,7 +59,8 @@ public:
 	 * this can be performed in this function, which is called on device handler
 	 * initialization.
 	 * @param cookie
-	 * @return
+	 * @return -@c RETURN_OK if initialization was successfull
+	 * 		   - Everything else triggers failure event with returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0;
 
@@ -66,8 +72,7 @@ public:
 	 * @param data
 	 * @param len
 	 * @return -@c RETURN_OK for successfull send
-	 *         - Everything else triggers sending failed event with
-	 *           returnvalue as parameter 1
+	 *         - Everything else triggers failure event with returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
 			size_t sendLen) = 0;
@@ -77,16 +82,21 @@ public:
 	 * Get send confirmation that the data in sendMessage() was sent successfully.
 	 * @param cookie
 	 * @return -@c RETURN_OK if data was sent successfull
-	 * 		   - Everything else triggers sending failed event with
-	 *           returnvalue as parameter 1
+	 * 		   - Everything else triggers falure event with returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 
 	/**
 	 * Called by DHB in the SEND_WRITE doSendRead().
-	 * Request a reply.
+	 * It is assumed that it is always possible to request a reply
+	 * from a device. If a requestLen of 0 is supplied, no reply was enabled
+	 * and communication specific action should be taken (e.g. read nothing
+	 * or read everything).
+	 *
 	 * @param cookie
-	 * @return
+	 * @param requestLen Size of data to read
+	 * @return -@c RETURN_OK to confirm the request for data has been sent.
+	 *         - Everything else triggers failure event with returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) = 0;
 
@@ -98,8 +108,7 @@ public:
 	 * @param data
 	 * @param len
 	 * @return @c RETURN_OK for successfull receive
-	 *         - Everything else triggers receiving failed with
-	 *           returnvalue as parameter 1
+	 *         - Everything else triggers failure event with returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 			size_t *size) = 0;
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 8187ffde..9691ac2f 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -17,7 +17,7 @@ object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
 DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-		CookieIF * comCookie_, size_t maxReplyLen, uint8_t setDeviceSwitch,
+		CookieIF * comCookie_, uint8_t setDeviceSwitch,
 		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
 		FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
 		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
@@ -31,7 +31,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
 		childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
 		transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch)
 {
-	this->comCookie->setMaxReplyLen(maxReplyLen);
 	commandQueue = QueueFactory::instance()->
 			createMessageQueue(cmdQueueSize, CommandMessage::MAX_MESSAGE_SIZE);
 	cookieInfo.state = COOKIE_UNUSED;
@@ -540,23 +539,27 @@ void DeviceHandlerBase::doGetWrite() {
 }
 
 void DeviceHandlerBase::doSendRead() {
-	ReturnValue_t result;
-
-	DeviceReplyIter iter = deviceReplyMap.find(cookieInfo.pendingCommand->first);
-	if(iter != deviceReplyMap.end()) {
-		requestLen = iter->second.replyLen;
-	}
-	else {
-		requestLen = comCookie->getMaxReplyLen();
+	ReturnValue_t result = RETURN_FAILED;
+	size_t requestLen = 0;
+	// If the device handler can only request replies after a command
+	// has been sent, there should be only one reply enabled and the
+	// correct reply length will be mapped.
+	for(DeviceReplyIter iter = deviceReplyMap.begin();
+			iter != deviceReplyMap.end();iter++)
+	{
+		if(iter->second.delayCycles != 0) {
+			requestLen = iter->second.replyLen;
+			break;
+		}
 	}
 
 	result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
 	}
-	else if(result == DeviceCommunicationIF::NO_READ_REQUEST) {
+/*	else if(result == DeviceCommunicationIF::NO_READ_REQUEST) {
 		return;
-	}
+	}*/
 	else {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
 		//We can't inform anyone, because we don't know which command was sent last.
@@ -1288,9 +1291,5 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId, uint32_t parameter) {
 }
 
-uint32_t DeviceHandlerBase::getLogicalAddress() {
-	return this->comCookie->getAddress();
-}
-
 void DeviceHandlerBase::performOperationHook() {
 }
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 129fb288..c162210c 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -101,7 +101,7 @@ public:
 	 * @param cmdQueueSize
 	 */
 	DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * comCookie_, size_t maxReplyLen, uint8_t setDeviceSwitch,
+			CookieIF * comCookie_, uint8_t setDeviceSwitch,
 			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
 			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
 			FailureIsolationBase* fdirInstance = nullptr, size_t cmdQueueSize = 20);
@@ -439,11 +439,6 @@ protected:
 	 */
 	size_t rawPacketLen = 0;
 
-	/**
-	 * Size of data to request.
-	 */
-	size_t requestLen = 0;
-
 	/**
 	 * The mode the device handler is currently in.
 	 *
@@ -463,11 +458,6 @@ protected:
 	 */
 	uint8_t pstStep = 0;
 
-	/**
-	 * This will be used in the RMAP getRead command as expected length, is set by the constructor, can be modiefied at will.
-	 */
-	const uint32_t maxDeviceReplyLen = 0;
-
 	/**
 	 * wiretapping flag:
 	 *
@@ -526,7 +516,6 @@ protected:
 	struct DeviceCommandInfo {
 		bool isExecuting; //!< Indicates if the command is already executing.
 		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
-		uint8_t expectedRepliesWhenEnablingReplyMap; //!< Constant value which specifies expected replies when enabling reply map. Inititated in insertInCommandAndReplyMap()
 		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
 	};
 	typedef std::map<DeviceCommandId_t, DeviceCommandInfo> DeviceCommandMap;
@@ -847,11 +836,6 @@ protected:
 	 */
 	virtual bool dontCheckQueue();
 
-	/**
-	 * Used to retrieve logical address
-	 * @return logicalAddress
-	 */
-	virtual uint32_t getLogicalAddress();
 	Mode_t getBaseMode(Mode_t transitionMode);
 
 	bool isAwaitingReply();
@@ -962,11 +946,6 @@ private:
 	 */
 	CookieInfo cookieInfo;
 
-	/**
-	* cached from ctor for initialize()
-	*/
-	//const uint32_t logicalAddress = 0;
-
 	/**
 	 * Used for timing out mode transitions.
 	 *

From ee23a7c0b57f78256bc69cddf012db44b83f1d13 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Apr 2020 14:02:33 +0200
Subject: [PATCH 009/653] fix

---
 devicehandlers/DeviceHandlerBase.cpp | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 9691ac2f..5fb5a9e5 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -557,9 +557,6 @@ void DeviceHandlerBase::doSendRead() {
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
 	}
-/*	else if(result == DeviceCommunicationIF::NO_READ_REQUEST) {
-		return;
-	}*/
 	else {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
 		//We can't inform anyone, because we don't know which command was sent last.
@@ -594,7 +591,7 @@ void DeviceHandlerBase::doGetRead() {
 		return;
 	}
 
-	if (receivedDataLen == 0)
+	if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED)
 		return;
 
 	if (wiretappingMode == RAW) {
@@ -1152,9 +1149,6 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	if(size == 0) {
-		return NO_COMMAND_DATA;
-	}
 
 	DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId);
 	if (iter == deviceCommandMap.end()) {

From 2b740a3c0f9f2b28173afb1b3eb1e4efa161551f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Apr 2020 18:02:42 +0200
Subject: [PATCH 010/653] bugfix

---
 timemanager/Stopwatch.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 6c50f0de..3f0755fd 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -12,7 +12,7 @@ Stopwatch::Stopwatch(bool displayOnDestruction,
         StopwatchDisplayMode displayMode): displayMode(displayMode),
         displayOnDestruction(displayOnDestruction) {
     // Measures start time on initialization.
-    Clock::getUptime(&startTime);
+    startTime = Clock::getUptime();
 }
 
 void Stopwatch::start() {
@@ -31,8 +31,8 @@ seconds_t Stopwatch::stopSeconds() {
 
 void Stopwatch::display() {
     if(displayMode == StopwatchDisplayMode::MILLIS) {
-        info << "Stopwatch: Operation took " << elapsedTime.tv_sec * 1000 +
-                elapsedTime.tv_usec * 1000 << " milliseconds" << std::endl;
+        info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
+                elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl;
     }
     else if(displayMode == StopwatchDisplayMode::SECONDS) {
         info <<"Stopwatch: Operation took "  << std::setprecision(3)

From 81ab5a691480af2dc67d0cec5ba87157f30dfb01 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 18 Apr 2020 14:03:37 +0200
Subject: [PATCH 011/653] As discussed, renamed Cookie to CookieIF.

Also added documentation on the purpose of this class
---
 devicehandlers/Cookie.h   | 10 ----------
 devicehandlers/CookieIF.h | 34 ++++++++++++++++++++++++++++++++++
 2 files changed, 34 insertions(+), 10 deletions(-)
 delete mode 100644 devicehandlers/Cookie.h
 create mode 100644 devicehandlers/CookieIF.h

diff --git a/devicehandlers/Cookie.h b/devicehandlers/Cookie.h
deleted file mode 100644
index 495c8c40..00000000
--- a/devicehandlers/Cookie.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef COOKIE_H_
-#define COOKIE_H_
-
-class Cookie{
-public:
-	virtual ~Cookie(){}
-};
-
-
-#endif /* COOKIE_H_ */
diff --git a/devicehandlers/CookieIF.h b/devicehandlers/CookieIF.h
new file mode 100644
index 00000000..6b2bb559
--- /dev/null
+++ b/devicehandlers/CookieIF.h
@@ -0,0 +1,34 @@
+#ifndef COOKIE_H_
+#define COOKIE_H_
+#include <framework/devicehandlers/CookieIF.h>
+#include <stdint.h>
+
+/**
+ * @brief Physical address type
+ */
+typedef uint32_t address_t;
+
+/**
+ * @brief 	This datatype is used to identify different connection over a
+ * 			single interface (like RMAP or I2C)
+ * @details
+ * To use this class, implement a communication specific child cookie which
+ * inherits Cookie. Cookie instances are created in config/Factory.cpp by
+ * calling @code{.cpp} CookieIF* childCookie = new ChildCookie(...)
+ * @endcode .
+ *
+ * This cookie is then passed to the child device handlers, which stores the
+ * pointer and passes it to the communication interface functions.
+ *
+ * The cookie can be used to store all kinds of information
+ * about the communication, like slave addresses, communication status,
+ * communication parameters etc.
+ *
+ * @ingroup comm
+ */
+class CookieIF {
+public:
+	virtual ~CookieIF() {};
+};
+
+#endif /* COOKIE_H_ */

From 9c958c06fe9eda9cbb5cb5ec0e6d27d3db985197 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 18 Apr 2020 14:10:38 +0200
Subject: [PATCH 012/653] Changed Cookie to CookieIF

---
 devicehandlers/CookieIF.h              |  1 +
 devicehandlers/DeviceCommunicationIF.h | 24 ++++++++++++------------
 devicehandlers/DeviceHandlerBase.h     |  2 +-
 rmap/RMAPCookie.h                      |  4 ++--
 rmap/RmapDeviceCommunicationIF.cpp     | 16 ++++++++--------
 rmap/RmapDeviceCommunicationIF.h       | 22 +++++++++++-----------
 6 files changed, 35 insertions(+), 34 deletions(-)

diff --git a/devicehandlers/CookieIF.h b/devicehandlers/CookieIF.h
index 6b2bb559..e25ef258 100644
--- a/devicehandlers/CookieIF.h
+++ b/devicehandlers/CookieIF.h
@@ -17,6 +17,7 @@ typedef uint32_t address_t;
  * calling @code{.cpp} CookieIF* childCookie = new ChildCookie(...)
  * @endcode .
  *
+ * [not implemented yet]
  * This cookie is then passed to the child device handlers, which stores the
  * pointer and passes it to the communication interface functions.
  *
diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index e0aca573..35a64cee 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -1,7 +1,7 @@
 #ifndef DEVICECOMMUNICATIONIF_H_
 #define DEVICECOMMUNICATIONIF_H_
 
-#include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/CookieIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
 class DeviceCommunicationIF: public HasReturnvaluesIF {
@@ -20,7 +20,7 @@ public:
 
 	}
 
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
+	virtual ReturnValue_t open(CookieIF **cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
 
 	/**
@@ -34,29 +34,29 @@ public:
 	 * @param maxReplyLen
 	 * @return
 	 */
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
+	virtual ReturnValue_t reOpen(CookieIF *cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
 
-	virtual void close(Cookie *cookie) = 0;
+	virtual void close(CookieIF *cookie) = 0;
 
 	//SHOULDDO can data be const?
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
+	virtual ReturnValue_t sendMessage(CookieIF *cookie, uint8_t *data,
 			uint32_t len) = 0;
 
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie) = 0;
+	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie) = 0;
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie) = 0;
 
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 			uint32_t *size) = 0;
 
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address) = 0;
+	virtual ReturnValue_t setAddress(CookieIF *cookie, uint32_t address) = 0;
 
-	virtual uint32_t getAddress(Cookie *cookie) = 0;
+	virtual uint32_t getAddress(CookieIF *cookie) = 0;
 
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter) = 0;
+	virtual ReturnValue_t setParameter(CookieIF *cookie, uint32_t parameter) = 0;
 
-	virtual uint32_t getParameter(Cookie *cookie) = 0;
+	virtual uint32_t getParameter(CookieIF *cookie) = 0;
 
 };
 
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 756ad530..ec5e3cd8 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -244,7 +244,7 @@ protected:
 	/**
 	 * Cookie used for communication
 	 */
-	Cookie *cookie;
+	CookieIF *cookie;
 
 	/**
 	 * The MessageQueue used to receive device handler commands and to send replies.
diff --git a/rmap/RMAPCookie.h b/rmap/RMAPCookie.h
index c091ba18..4890c516 100644
--- a/rmap/RMAPCookie.h
+++ b/rmap/RMAPCookie.h
@@ -1,12 +1,12 @@
 #ifndef RMAPCOOKIE_H_
 #define RMAPCOOKIE_H_
 
-#include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/CookieIF.h>
 #include <framework/rmap/rmapStructs.h>
 
 class RMAPChannelIF;
 
-class RMAPCookie : public Cookie{
+class RMAPCookie : public CookieIF {
 public:
 	//To Uli: Sorry, I need an empty ctor to initialize an array of cookies.
 	RMAPCookie();
diff --git a/rmap/RmapDeviceCommunicationIF.cpp b/rmap/RmapDeviceCommunicationIF.cpp
index 4958b3ed..674d050d 100644
--- a/rmap/RmapDeviceCommunicationIF.cpp
+++ b/rmap/RmapDeviceCommunicationIF.cpp
@@ -5,43 +5,43 @@
 RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() {
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::sendMessage(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::sendMessage(CookieIF* cookie,
 		uint8_t* data, uint32_t len) {
 	return RMAP::sendWriteCommand((RMAPCookie *) cookie, data, len);
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(Cookie* cookie) {
+ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(CookieIF* cookie) {
 	return RMAP::getWriteReply((RMAPCookie *) cookie);
 }
 
 ReturnValue_t RmapDeviceCommunicationIF::requestReceiveMessage(
-		Cookie* cookie) {
+		CookieIF* cookie) {
 	return RMAP::sendReadCommand((RMAPCookie *) cookie,
 				((RMAPCookie *) cookie)->getMaxReplyLen());
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(CookieIF* cookie,
 		uint8_t** buffer, uint32_t* size) {
 	return RMAP::getReadReply((RMAPCookie *) cookie, buffer, size);
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::setAddress(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::setAddress(CookieIF* cookie,
 		uint32_t address) {
 
 	((RMAPCookie *) cookie)->setAddress(address);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-uint32_t RmapDeviceCommunicationIF::getAddress(Cookie* cookie) {
+uint32_t RmapDeviceCommunicationIF::getAddress(CookieIF* cookie) {
 	return ((RMAPCookie *) cookie)->getAddress();
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::setParameter(Cookie* cookie,
+ReturnValue_t RmapDeviceCommunicationIF::setParameter(CookieIF* cookie,
 		uint32_t parameter) {
 	//TODO Empty?
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-uint32_t RmapDeviceCommunicationIF::getParameter(Cookie* cookie) {
+uint32_t RmapDeviceCommunicationIF::getParameter(CookieIF* cookie) {
 	return 0;
 }
diff --git a/rmap/RmapDeviceCommunicationIF.h b/rmap/RmapDeviceCommunicationIF.h
index 12ae67e4..9d756ea2 100644
--- a/rmap/RmapDeviceCommunicationIF.h
+++ b/rmap/RmapDeviceCommunicationIF.h
@@ -25,7 +25,7 @@ public:
 	 * @param maxReplyLen Maximum length of expected reply
 	 * @return
 	 */
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
+	virtual ReturnValue_t open(CookieIF **cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
 
 	/**
@@ -39,7 +39,7 @@ public:
 	 * @param maxReplyLen
 	 * @return
 	 */
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
+	virtual ReturnValue_t reOpen(CookieIF *cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
 
 
@@ -47,7 +47,7 @@ public:
 	 * Closing call of connection and memory free of cookie. Mission dependent call
 	 * @param cookie
 	 */
-	virtual void close(Cookie *cookie) = 0;
+	virtual void close(CookieIF *cookie) = 0;
 
 	//SHOULDDO can data be const?
 	/**
@@ -58,23 +58,23 @@ public:
 	 * @param len Length of the data to be send
 	 * @return - Return codes of RMAP::sendWriteCommand()
 	 */
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
+	virtual ReturnValue_t sendMessage(CookieIF *cookie, uint8_t *data,
 			uint32_t len);
 
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie);
+	virtual ReturnValue_t getSendSuccess(CookieIF *cookie);
 
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie);
 
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
 			uint32_t *size);
 
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
+	virtual ReturnValue_t setAddress(CookieIF *cookie, uint32_t address);
 
-	virtual uint32_t getAddress(Cookie *cookie);
+	virtual uint32_t getAddress(CookieIF *cookie);
 
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
+	virtual ReturnValue_t setParameter(CookieIF *cookie, uint32_t parameter);
 
-	virtual uint32_t getParameter(Cookie *cookie);
+	virtual uint32_t getParameter(CookieIF *cookie);
 };
 
 #endif /* MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */

From db34c45b67dfa8621581617700dc9f8dc487026d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 18 Apr 2020 14:16:46 +0200
Subject: [PATCH 013/653] removed self-inclusion

---
 devicehandlers/CookieIF.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/devicehandlers/CookieIF.h b/devicehandlers/CookieIF.h
index e25ef258..ae2c5173 100644
--- a/devicehandlers/CookieIF.h
+++ b/devicehandlers/CookieIF.h
@@ -1,7 +1,6 @@
 #ifndef COOKIE_H_
 #define COOKIE_H_
-#include <framework/devicehandlers/CookieIF.h>
-#include <stdint.h>
+#include <cstdint>
 
 /**
  * @brief Physical address type

From a1f36e6ae5c36062ea31d42ae0fac37b31a3b04d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 18 Apr 2020 15:05:51 +0200
Subject: [PATCH 014/653] added std:: before uint32_t typedef

---
 devicehandlers/CookieIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/CookieIF.h b/devicehandlers/CookieIF.h
index ae2c5173..496cf0d2 100644
--- a/devicehandlers/CookieIF.h
+++ b/devicehandlers/CookieIF.h
@@ -5,7 +5,7 @@
 /**
  * @brief Physical address type
  */
-typedef uint32_t address_t;
+typedef std::uint32_t address_t;
 
 /**
  * @brief 	This datatype is used to identify different connection over a

From abe7239018908ac5c4912dcc62b840b882fd95f6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 13:24:10 +0200
Subject: [PATCH 015/653] reset, splitting up merge request

---
 devicehandlers/CookieIF.h              |   33 -
 devicehandlers/DeviceCommunicationIF.h |  142 +--
 devicehandlers/DeviceHandlerBase.cpp   |  357 ++++----
 devicehandlers/DeviceHandlerBase.h     | 1095 +++++++++++-------------
 devicehandlers/DeviceHandlerIF.h       |  152 ++--
 5 files changed, 787 insertions(+), 992 deletions(-)
 delete mode 100644 devicehandlers/CookieIF.h

diff --git a/devicehandlers/CookieIF.h b/devicehandlers/CookieIF.h
deleted file mode 100644
index 55fdb44b..00000000
--- a/devicehandlers/CookieIF.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#ifndef COOKIE_H_
-#define COOKIE_H_
-#include <framework/devicehandlers/CookieIF.h>
-#include <stdint.h>
-
-/**
- * @brief Physical address type
- */
-typedef uint32_t address_t;
-
-/**
- * @brief This datatype is used to identify different connection over a single interface
- *        (like RMAP or I2C)
- * @details
- * To use this class, implement a communication specific child cookie which
- * inherits Cookie. Cookie instances are created in config/ Factory.cpp by calling
- * CookieIF* childCookie = new ChildCookie(...).
- *
- * This cookie is then passed to the child device handlers, which stores the
- * pointer and passes it to the communication interface functions.
- *
- * The cookie can be used to store all kinds of information
- * about the communication, like slave addresses, communication status,
- * communication parameters etc.
- *
- * @ingroup comm
- */
-class CookieIF {
-public:
-	virtual ~CookieIF() {};
-};
-
-#endif /* COOKIE_H_ */
diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index 657f7232..e0aca573 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -1,117 +1,63 @@
 #ifndef DEVICECOMMUNICATIONIF_H_
 #define DEVICECOMMUNICATIONIF_H_
 
-#include <framework/devicehandlers/CookieIF.h>
-#include <framework/devicehandlers/DeviceHandlerIF.h>
+#include <framework/devicehandlers/Cookie.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
-/**
- * @defgroup interfaces Interfaces
- * @brief Interfaces for flight software objects
- */
 
-/**
- * @defgroup comm Communication
- * @brief Communication software components.
- */
-
-/**
- * @brief This is an interface to decouple device communication from
- * the device handler to allow reuse of these components.
- * @details
- * Documentation: Dissertation Baetz p.138.
- * It works with the assumption that received data
- * is polled by a component. There are four generic steps of device communication:
- *
- *   1. Send data to a device
- *   2. Get acknowledgement for sending
- *   3. Request reading data from a device
- *   4. Read received data
- *
- *  To identify different connection over a single interface can return
- *  so-called cookies to components.
- *  The CommunicationMessage message type can be used to extend the functionality of the
- *  ComIF if a separate polling task is required.
- *  @ingroup interfaces
- *  @ingroup comm
- */
 class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
-	//!< This is used if no read request is to be made by the device handler.
-	static const ReturnValue_t NO_READ_REQUEST = MAKE_RETURN_CODE(0x01);
-	//! General protocol error. Define more concrete errors in child handler
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x02);
-	//! If cookie is a null pointer
-	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x03);
-	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x04);
-	// is this needed if there is no open/close call?
-	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
-	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
+	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x02);
+	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x04);
+	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x05);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x06);
+	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x07);
 
-	virtual ~DeviceCommunicationIF() {}
+	virtual ~DeviceCommunicationIF() {
+
+	}
+
+	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
+			uint32_t maxReplyLen) = 0;
 
 	/**
-	 * @brief Device specific initialization, using the cookie.
-	 * @details
-	 * The cookie is already prepared in the factory. If the communication
-	 * interface needs to be set up in some way and requires cookie information,
-	 * this can be performed in this function, which is called on device handler
-	 * initialization.
-	 * @param cookie
-	 * @return -@c RETURN_OK if initialization was successfull
-	 * 		   - Everything else triggers failure event with returnvalue as parameter 1
-	 */
-	virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0;
-
-	/**
-	 * Called by DHB in the SEND_WRITE doSendWrite().
-	 * This function is used to send data to the physical device
-	 * by implementing and calling related drivers or wrapper functions.
-	 * @param cookie
-	 * @param data
-	 * @param len
-	 * @return -@c RETURN_OK for successfull send
-	 *         - Everything else triggers failure event with returnvalue as parameter 1
-	 */
-	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
-			size_t sendLen) = 0;
-
-	/**
-	 * Called by DHB in the GET_WRITE doGetWrite().
-	 * Get send confirmation that the data in sendMessage() was sent successfully.
-	 * @param cookie
-	 * @return -@c RETURN_OK if data was sent successfull
-	 * 		   - Everything else triggers falure event with returnvalue as parameter 1
-	 */
-	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
-
-	/**
-	 * Called by DHB in the SEND_WRITE doSendRead().
-	 * It is assumed that it is always possible to request a reply
-	 * from a device. If a requestLen of 0 is supplied, no reply was enabled
-	 * and communication specific action should be taken (e.g. read nothing
-	 * or read everything).
+	 * Use an existing cookie to open a connection to a new DeviceCommunication.
+	 * The previous connection must not be closed.
+	 * If the returnvalue is not RETURN_OK, the cookie is unchanged and
+	 * can be used with the previous connection.
 	 *
 	 * @param cookie
-	 * @param requestLen Size of data to read
-	 * @return -@c RETURN_OK to confirm the request for data has been sent.
-	 *         - Everything else triggers failure event with returnvalue as parameter 1
+	 * @param address
+	 * @param maxReplyLen
+	 * @return
 	 */
-	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) = 0;
+	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
+			uint32_t maxReplyLen) = 0;
+
+	virtual void close(Cookie *cookie) = 0;
+
+	//SHOULDDO can data be const?
+	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
+			uint32_t len) = 0;
+
+	virtual ReturnValue_t getSendSuccess(Cookie *cookie) = 0;
+
+	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie) = 0;
+
+	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
+			uint32_t *size) = 0;
+
+	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address) = 0;
+
+	virtual uint32_t getAddress(Cookie *cookie) = 0;
+
+	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter) = 0;
+
+	virtual uint32_t getParameter(Cookie *cookie) = 0;
 
-	/**
-	 * Called by DHB in the GET_WRITE doGetRead().
-	 * This function is used to receive data from the physical device
-	 * by implementing and calling related drivers or wrapper functions.
-	 * @param cookie
-	 * @param data
-	 * @param len
-	 * @return @c RETURN_OK for successfull receive
-	 *         - Everything else triggers failure event with returnvalue as parameter 1
-	 */
-	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-			size_t *size) = 0;
 };
 
 #endif /* DEVICECOMMUNICATIONIF_H_ */
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 5fb5a9e5..22d49d37 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -4,7 +4,7 @@
 #include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
 #include <framework/devicehandlers/DeviceHandlerBase.h>
 #include <framework/devicehandlers/DeviceTmReportingWrapper.h>
-#include <framework/globalfunctions/crc_ccitt.h>
+#include <framework/globalfunctions/CRC.h>
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/subsystem/SubsystemBase.h>
@@ -16,33 +16,37 @@ object_id_t DeviceHandlerBase::powerSwitcherId = 0;
 object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
-DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-		CookieIF * comCookie_, uint8_t setDeviceSwitch,
+DeviceHandlerBase::DeviceHandlerBase(uint32_t ioBoardAddress,
+		object_id_t setObjectId, uint32_t maxDeviceReplyLen,
+		uint8_t setDeviceSwitch, object_id_t deviceCommunication,
 		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
-		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
-		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
-	    deviceCommunicationId(deviceCommunication), comCookie(comCookie_),
-		deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(thermalRequestPoolId),
-		healthHelper(this, setObjectId), modeHelper(this), parameterHelper(this),
-		fdirInstance(fdirInstance), hkSwitcher(this),
-		defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
-		executingTask(nullptr), actionHelper(this, nullptr), cookieInfo(),
-		childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
-		transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch)
-{
-	commandQueue = QueueFactory::instance()->
-			createMessageQueue(cmdQueueSize, CommandMessage::MAX_MESSAGE_SIZE);
+		FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
+		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(
+				MODE_OFF), submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(
+				maxDeviceReplyLen), wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(
+				StorageManagerIF::INVALID_ADDRESS), requestedRawTraffic(0), powerSwitcher(
+		NULL), IPCStore(NULL), deviceCommunicationId(deviceCommunication), communicationInterface(
+		NULL), cookie(
+		NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(
+				thermalRequestPoolId), healthHelper(this, setObjectId), modeHelper(
+				this), parameterHelper(this), childTransitionFailure(RETURN_OK), ignoreMissedRepliesCount(
+				0), fdirInstance(fdirInstance), hkSwitcher(this), defaultFDIRUsed(
+				fdirInstance == NULL), switchOffWasReported(false),executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(
+				ioBoardAddress), timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(
+				_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(
+				setDeviceSwitch) {
+	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
+			CommandMessage::MAX_MESSAGE_SIZE);
 	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
-	if (this->fdirInstance == nullptr) {
-		this->fdirInstance =
-				new DeviceHandlerFailureIsolation(setObjectId, defaultFDIRParentId);
+	if (this->fdirInstance == NULL) {
+		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
+				defaultFDIRParentId);
 	}
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-	delete comCookie;
+	communicationInterface->close(cookie);
 	if (defaultFDIRUsed) {
 		delete fdirInstance;
 	}
@@ -51,6 +55,7 @@ DeviceHandlerBase::~DeviceHandlerBase() {
 
 ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	this->pstStep = counter;
+
 	if (counter == 0) {
 		cookieInfo.state = COOKIE_UNUSED;
 		readCommandQueue();
@@ -59,13 +64,11 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
-		performOperationHook();
 	}
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
 	}
-
-	switch (getComAction()) {
+	switch (getRmapAction()) {
 	case SEND_WRITE:
 		if ((cookieInfo.state == COOKIE_UNUSED)) {
 			buildInternalCommand();
@@ -85,84 +88,6 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	default:
 		break;
 	}
-
-	return RETURN_OK;
-}
-
-ReturnValue_t DeviceHandlerBase::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	communicationInterface = objectManager->get<DeviceCommunicationIF>(
-			deviceCommunicationId);
-	if (communicationInterface == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = communicationInterface->initializeInterface(comCookie);
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (IPCStore == NULL) {
-		return RETURN_FAILED;
-	}
-
-	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
-			AcceptsDeviceResponsesIF>(rawDataReceiverId);
-
-	if (rawReceiver == NULL) {
-		return RETURN_FAILED;
-	}
-
-	defaultRawReceiver = rawReceiver->getDeviceQueue();
-
-	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
-	if (powerSwitcher == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	result = modeHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = actionHelper.initialize(commandQueue);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = fdirInstance->initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = parameterHelper.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = hkSwitcher.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	fillCommandAndReplyMap();
-
-	//Set temperature target state to NON_OP.
-	DataSet mySet;
-	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	mySet.read();
-	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
-	mySet.commit(PoolVariableIF::VALID);
-
 	return RETURN_OK;
 }
 
@@ -331,49 +256,55 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-		uint16_t maxDelayCycles, size_t replyLen, uint8_t periodic,
-		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
-	//No need to check, as we may try to insert multiple times.
+ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
+		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
+		uint8_t periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
-		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, size_t replyLen, uint8_t periodic) {
+		uint16_t maxDelayCycles, uint8_t periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
-	info.replyLen = replyLen;
 	info.command = deviceCommandMap.end();
-	std::pair<DeviceReplyIter, bool> result = deviceReplyMap.emplace(replyId, info);
-	if (result.second) {
+	std::pair<std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator, bool> returnValue;
+	returnValue = deviceReplyMap.insert(
+			std::pair<DeviceCommandId_t, DeviceReplyInfo>(replyId, info));
+	if (returnValue.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(
+		DeviceCommandId_t deviceCommand) {
 	DeviceCommandInfo info;
 	info.expectedReplies = 0;
 	info.isExecuting = false;
 	info.sendReplyTo = NO_COMMANDER;
-	std::pair<DeviceCommandIter, bool> result = deviceCommandMap.emplace(deviceCommand,info);
-	if (result.second) {
+	std::pair<std::map<DeviceCommandId_t, DeviceCommandInfo>::iterator, bool> returnValue;
+	returnValue = deviceCommandMap.insert(
+			std::pair<DeviceCommandId_t, DeviceCommandInfo>(deviceCommand,
+					info));
+	if (returnValue.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
-		uint16_t delayCycles, uint16_t maxDelayCycles, uint8_t periodic) {
+ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(
+		DeviceCommandId_t deviceReply, uint16_t delayCycles,
+		uint16_t maxDelayCycles, uint8_t periodic) {
 	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.find(deviceReply);
 	if (iter == deviceReplyMap.end()) {
@@ -485,7 +416,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
 		return;
 	}
 //Check if more replies are expected. If so, do nothing.
-	DeviceCommandInfo * info = &(iter->second.command->second);
+	DeviceCommandInfo* info = &(iter->second.command->second);
 	if (--info->expectedReplies == 0) {
 		//Check if it was transition or internal command. Don't send any replies in that case.
 		if (info->sendReplyTo != NO_COMMANDER) {
@@ -498,7 +429,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
 void DeviceHandlerBase::doSendWrite() {
 	if (cookieInfo.state == COOKIE_WRITE_READY) {
 
-		ReturnValue_t result = communicationInterface->sendMessage(comCookie,
+		ReturnValue_t result = communicationInterface->sendMessage(cookie,
 				rawPacket, rawPacketLen);
 
 		if (result == RETURN_OK) {
@@ -519,13 +450,12 @@ void DeviceHandlerBase::doGetWrite() {
 		return;
 	}
 	cookieInfo.state = COOKIE_UNUSED;
-	ReturnValue_t result = communicationInterface->getSendSuccess(comCookie);
+	ReturnValue_t result = communicationInterface->getSendSuccess(cookie);
 	if (result == RETURN_OK) {
 		if (wiretappingMode == RAW) {
 			replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
 		}
-		//We need to distinguish here, because a raw command never expects a reply.
-		//(Could be done in eRIRM, but then child implementations need to be careful.
+		//We need to distinguish here, because a raw command never expects a reply. (Could be done in eRIRM, but then child implementations need to be careful.
 		result = enableReplyInReplyMap(cookieInfo.pendingCommand);
 	} else {
 		//always generate a failure event, so that FDIR knows what's up
@@ -539,25 +469,12 @@ void DeviceHandlerBase::doGetWrite() {
 }
 
 void DeviceHandlerBase::doSendRead() {
-	ReturnValue_t result = RETURN_FAILED;
-	size_t requestLen = 0;
-	// If the device handler can only request replies after a command
-	// has been sent, there should be only one reply enabled and the
-	// correct reply length will be mapped.
-	for(DeviceReplyIter iter = deviceReplyMap.begin();
-			iter != deviceReplyMap.end();iter++)
-	{
-		if(iter->second.delayCycles != 0) {
-			requestLen = iter->second.replyLen;
-			break;
-		}
-	}
+	ReturnValue_t result;
 
-	result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
+	result = communicationInterface->requestReceiveMessage(cookie);
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
-	}
-	else {
+	} else {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
 		//We can't inform anyone, because we don't know which command was sent last.
 		//So, we need to wait for a timeout.
@@ -568,10 +485,10 @@ void DeviceHandlerBase::doSendRead() {
 }
 
 void DeviceHandlerBase::doGetRead() {
-	size_t receivedDataLen;
+	uint32_t receivedDataLen;
 	uint8_t *receivedData;
 	DeviceCommandId_t foundId = 0xFFFFFFFF;
-	size_t foundLen = 0;
+	uint32_t foundLen = 0;
 	ReturnValue_t result;
 
 	if (cookieInfo.state != COOKIE_READ_SENT) {
@@ -581,7 +498,7 @@ void DeviceHandlerBase::doGetRead() {
 
 	cookieInfo.state = COOKIE_UNUSED;
 
-	result = communicationInterface->readReceivedMessage(comCookie, &receivedData,
+	result = communicationInterface->readReceivedMessage(cookie, &receivedData,
 			&receivedDataLen);
 
 	if (result != RETURN_OK) {
@@ -591,7 +508,7 @@ void DeviceHandlerBase::doGetRead() {
 		return;
 	}
 
-	if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED)
+	if (receivedDataLen == 0)
 		return;
 
 	if (wiretappingMode == RAW) {
@@ -622,8 +539,6 @@ void DeviceHandlerBase::doGetRead() {
 				break;
 			case IGNORE_REPLY_DATA:
 				break;
-			case IGNORE_FULL_PACKET:
-				return;
 			default:
 				//We need to wait for timeout.. don't know what command failed and who sent it.
 				replyRawReplyIfnotWiretapped(receivedData, foundLen);
@@ -642,8 +557,8 @@ void DeviceHandlerBase::doGetRead() {
 }
 
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
-		uint8_t ** data, size_t * len) {
-	size_t lenTmp;
+		uint8_t * *data, uint32_t * len) {
+	uint32_t lenTmp;
 
 	if (IPCStore == NULL) {
 		*data = NULL;
@@ -664,6 +579,84 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 
 }
 
+ReturnValue_t DeviceHandlerBase::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	communicationInterface = objectManager->get<DeviceCommunicationIF>(
+			deviceCommunicationId);
+	if (communicationInterface == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = communicationInterface->open(&cookie, ioBoardAddress,
+			maxDeviceReplyLen);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (IPCStore == NULL) {
+		return RETURN_FAILED;
+	}
+
+	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+			AcceptsDeviceResponsesIF>(rawDataReceiverId);
+
+	if (rawReceiver == NULL) {
+		return RETURN_FAILED;
+	}
+
+	defaultRawReceiver = rawReceiver->getDeviceQueue();
+
+	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+	if (powerSwitcher == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = healthHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	result = modeHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = actionHelper.initialize(commandQueue);
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = fdirInstance->initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = parameterHelper.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = hkSwitcher.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	fillCommandAndReplyMap();
+
+	//Set temperature target state to NON_OP.
+	DataSet mySet;
+	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+			PoolVariableIF::VAR_WRITE);
+	mySet.read();
+	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+	mySet.commit(PoolVariableIF::VALID);
+
+	return RETURN_OK;
+
+}
 
 void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 		MessageQueueId_t sendTo, bool isCommand) {
@@ -679,6 +672,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 	}
 
 	CommandMessage message;
+
 	DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&message,
 			getObjectId(), address, isCommand);
 
@@ -694,7 +688,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 
 //Default child implementations
 
-DeviceHandlerBase::CommunicationAction_t DeviceHandlerBase::getComAction() {
+DeviceHandlerBase::RmapAction_t DeviceHandlerBase::getRmapAction() {
 	switch (pstStep) {
 	case 0:
 		return SEND_WRITE;
@@ -754,20 +748,20 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 	}
 }
 
-//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
-//	DeviceCommunicationIF *newCommunication = objectManager->get<
-//			DeviceCommunicationIF>(newChannelId);
-//
-//	if (newCommunication != NULL) {
-//		ReturnValue_t result = newCommunication->reOpen(cookie, logicalAddress,
-//				maxDeviceReplyLen, comParameter1, comParameter2);
-//		if (result != RETURN_OK) {
-//			return result;
-//		}
-//		return RETURN_OK;
-//	}
-//	return RETURN_FAILED;
-//}
+ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
+	DeviceCommunicationIF *newCommunication = objectManager->get<
+			DeviceCommunicationIF>(newChannelId);
+
+	if (newCommunication != NULL) {
+		ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
+				maxDeviceReplyLen);
+		if (result != RETURN_OK) {
+			return result;
+		}
+		return RETURN_OK;
+	}
+	return RETURN_FAILED;
+}
 
 void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 	storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
@@ -777,8 +771,8 @@ void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 		replyReturnvalueToCommand(result, RAW_COMMAND_ID);
 		storedRawData.raw = StorageManagerIF::INVALID_ADDRESS;
 	} else {
-		cookieInfo.pendingCommand = deviceCommandMap.
-				find((DeviceCommandId_t) RAW_COMMAND_ID);
+		cookieInfo.pendingCommand = deviceCommandMap.find(
+				(DeviceCommandId_t) RAW_COMMAND_ID);
 		cookieInfo.pendingCommand->second.isExecuting = true;
 		cookieInfo.state = COOKIE_WRITE_READY;
 	}
@@ -817,7 +811,7 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(
 		iter = deviceReplyMap.find(command->first);
 	}
 	if (iter != deviceReplyMap.end()) {
-		DeviceReplyInfo * info = &(iter->second);
+		DeviceReplyInfo *info = &(iter->second);
 		info->delayCycles = info->maxDelayCycles;
 		info->command = command;
 		command->second.expectedReplies = expectedReplies;
@@ -843,9 +837,8 @@ ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
 	ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
 	if ((result == RETURN_OK) && (numberOfSwitches != 0)) {
 		while (numberOfSwitches > 0) {
-			if (powerSwitcher-> getSwitchState(switches[numberOfSwitches - 1])
-				== PowerSwitchIF::SWITCH_OFF)
-			{
+			if (powerSwitcher->getSwitchState(switches[numberOfSwitches - 1])
+					== PowerSwitchIF::SWITCH_OFF) {
 				return PowerSwitchIF::SWITCH_OFF;
 			}
 			numberOfSwitches--;
@@ -1051,18 +1044,16 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		}
 		replyReturnvalueToCommand(RETURN_OK);
 		return RETURN_OK;
-	case DeviceHandlerMessage::CMD_SWITCH_ADDRESS:
+	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
 		if (mode != MODE_OFF) {
 			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
 		} else {
-			// rework in progress
-			result = RETURN_OK;
-			//result = switchCookieChannel(
-			//		DeviceHandlerMessage::getIoBoardObjectId(message));
+			result = switchCookieChannel(
+					DeviceHandlerMessage::getIoBoardObjectId(message));
 			if (result == RETURN_OK) {
 				replyReturnvalueToCommand(RETURN_OK);
 			} else {
-				replyReturnvalueToCommand(CANT_SWITCH_ADDRESS);
+				replyReturnvalueToCommand(CANT_SWITCH_IOBOARD);
 			}
 		}
 		return RETURN_OK;
@@ -1121,7 +1112,8 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 
 			// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
 			//(progress or completed) it is in
-			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper, true);
+			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
+			true);
 
 		}
 	} else { //unrequested/aperiodic replies
@@ -1144,12 +1136,11 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 }
 
 ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
-		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
+		MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) {
 	ReturnValue_t result = acceptExternalDeviceCommands();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-
 	DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId);
 	if (iter == deviceCommandMap.end()) {
 		result = COMMAND_NOT_SUPPORTED;
@@ -1168,7 +1159,7 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
 }
 
 void DeviceHandlerBase::buildInternalCommand(void) {
-	// Neither Raw nor Direct could build a command
+//Neither Raw nor Direct could build a command
 	ReturnValue_t result = NOTHING_TO_SEND;
 	DeviceCommandId_t deviceCommandId = NO_COMMAND_ID;
 	if (mode == MODE_NORMAL) {
@@ -1186,13 +1177,12 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 	} else {
 		return;
 	}
-
 	if (result == NOTHING_TO_SEND) {
 		return;
 	}
 	if (result == RETURN_OK) {
-		DeviceCommandMap::iterator iter =
-				deviceCommandMap.find(deviceCommandId);
+		DeviceCommandMap::iterator iter = deviceCommandMap.find(
+				deviceCommandId);
 		if (iter == deviceCommandMap.end()) {
 			result = COMMAND_NOT_SUPPORTED;
 		} else if (iter->second.isExecuting) {
@@ -1207,7 +1197,6 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 			cookieInfo.state = COOKIE_WRITE_READY;
 		}
 	}
-
 	if (result != RETURN_OK) {
 		triggerEvent(DEVICE_BUILDING_COMMAND_FAILED, result, deviceCommandId);
 	}
@@ -1281,9 +1270,3 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
 			executingTask = task_;
 }
-
-void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId, uint32_t parameter) {
-}
-
-void DeviceHandlerBase::performOperationHook() {
-}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index c162210c..756ad530 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -17,11 +17,10 @@
 #include <framework/tasks/ExecutableObjectIF.h>
 #include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
 #include <framework/datapool/HkSwitchHelper.h>
-#include <framework/devicehandlers/CookieIF.h>
 #include <framework/serialize/SerialFixedArrayListAdapter.h>
+#include <map>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
-#include <map>
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
@@ -30,53 +29,29 @@ void setStaticFrameworkObjectIds();
 class StorageManagerIF;
 
 /**
- * @defgroup devices Devices
+ * \defgroup devices Devices
  * Contains all devices and the DeviceHandlerBase class.
  */
 
 /**
- * @brief This is the abstract base class for device handlers.
- * @details
- * Documentation: Dissertation Baetz p.138,139, p.141-149
+ * \brief This is the abstract base class for device handlers.
  *
- * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink,
- * communication with physical devices, using the @link DeviceCommunicationIF @endlink,
- * and communication with commanding objects.
+ * Documentation: Dissertation Baetz p.138,139, p.141-149
+ * SpaceWire Remote Memory Access Protocol (RMAP)
+ *
+ * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, the RMAP communication and the
+ * communication with commanding objects.
  * It inherits SystemObject and thus can be created by the ObjectManagerIF.
  *
  * This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
- * For each step an RMAP action is selected and executed.
- * If data has been received (GET_READ), the data will be interpreted.
- * The action for each step can be defined by the child class but as most
- * device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
- * a default implementation is provided. NOTE: RMAP is a standard which is used for FLP.
- * RMAP communication is not mandatory for projects implementing the FSFW.
- * However, the communication principles are similar to RMAP as there are
- * two write and two send calls involved.
+ * For each step an RMAP action is selected and executed. If data has been received (eg in case of an RMAP Read), the data will be interpreted.
+ * The action for each step can be defined by the child class but as most device handlers share a 4-call (Read-getRead-write-getWrite) structure,
+ * a default implementation is provided.
  *
  * Device handler instances should extend this class and implement the abstract functions.
  * Components and drivers can send so called cookies which are used for communication
- * and contain information about the communcation (e.g. slave address for I2C or RMAP structs).
- * The following abstract methods must be implemented by a device handler:
- *  1. doStartUp()
- *  2. doShutDown()
- *  3. buildTransitionDeviceCommand()
- *  4. buildNormalDeviceCommand()
- *  5. buildCommandFromCommand()
- *  6. fillCommandAndReplyMap()
- *  7. scanForReply()
- *  8. interpretDeviceReply()
  *
- * Other important virtual methods with a default implementation
- * are the getTransitionDelayMs() function and the getSwitches() function.
- * Please ensure that getSwitches() returns DeviceHandlerIF::NO_SWITCHES if
- * power switches are not implemented yet. Otherwise, the device handler will
- * not transition to MODE_ON, even if setMode(MODE_ON) is called.
- * If a transition to MODE_ON is desired without commanding, override the
- * intialize() function and call setMode(_MODE_START_UP) before calling
- * DeviceHandlerBase::initialize().
- *
- * @ingroup devices
+ * \ingroup devices
  */
 class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasReturnvaluesIF,
@@ -92,66 +67,284 @@ public:
 	 * The constructor passes the objectId to the SystemObject().
 	 *
 	 * @param setObjectId the ObjectId to pass to the SystemObject() Constructor
-	 * @param maxDeviceReplyLen the largest allowed reply size
+	 * @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
 	 * @param setDeviceSwitch the switch the device is connected to, for devices using two switches, overwrite getSwitches()
-	 * @param deviceCommuncation Communcation Interface object which is used to implement communication functions
-	 * @param thermalStatePoolId
-	 * @param thermalRequestPoolId
-	 * @param fdirInstance
-	 * @param cmdQueueSize
 	 */
-	DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * comCookie_, uint8_t setDeviceSwitch,
-			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
+	DeviceHandlerBase(uint32_t ioBoardAddress, object_id_t setObjectId,
+			uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
+			object_id_t deviceCommunication, uint32_t thermalStatePoolId =
+					PoolVariableIF::NO_PARAMETER,
 			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
-			FailureIsolationBase* fdirInstance = nullptr, size_t cmdQueueSize = 20);
+			FailureIsolationBase* fdirInstance = NULL, uint32_t cmdQueueSize = 20);
+
+	virtual MessageQueueId_t getCommandQueue(void) const;
+
 
 	/**
-	 * @brief This function is the device handler base core component and is called periodically.
-	 * @details
-	 * General sequence, showing where abstract virtual functions are called:
-	 * If the State is SEND_WRITE:
-	 *   1. Set the cookie state to COOKIE_UNUSED and read the command queue
-	 *   2. Handles Device State Modes by calling doStateMachine().
-	 *      This function calls callChildStatemachine() which calls the abstract functions
-	 *      doStartUp() and doShutDown()
-	 *   3. Check switch states by calling checkSwitchStates()
-	 *   4. Decrements counter for timeout of replies by calling decrementDeviceReplyMap()
-	 *   5. Performs FDIR check for failures
-	 *   6. Calls hkSwitcher.performOperation()
-	 *   7. If the device mode is MODE_OFF, return RETURN_OK. Otherwise, perform the Action property
-	 *   	and performs depending on value specified
-	 *      by input value counter. The child class tells base class what to do by setting this value.
-	 *     - SEND_WRITE: Send data or commands to device by calling doSendWrite() which calls
-	 *       sendMessage function of #communicationInterface
-	 *     	 and calls buildInternalCommand if the cookie state is COOKIE_UNUSED
-	 *     - GET_WRITE: Get ackknowledgement for sending by calling doGetWrite() which calls
-	 *       getSendSuccess of #communicationInterface.
-	 *       Calls abstract functions scanForReply() and interpretDeviceReply().
-	 *     - SEND_READ: Request reading data from device by calling doSendRead() which calls
-	 *       requestReceiveMessage of #communcationInterface
-	 *     - GET_READ: Access requested reading data by calling doGetRead() which calls
-	 *       readReceivedMessage of #communicationInterface
-	 * @param counter Specifies which Action to perform
-	 * @return RETURN_OK for successful execution
-	 */
+		 * This function is a core component and is called periodically.
+		 * General sequence:
+		 * If the State is SEND_WRITE:
+		 *   1. Set the cookie state to COOKIE_UNUSED and read the command queue
+		 *   2. Handles Device State Modes by calling doStateMachine().
+		 *      This function calls callChildStatemachine() which calls the abstract functions
+		 *      doStartUp() and doShutDown()
+		 *   3. Check switch states by calling checkSwitchStates()
+		 *   4. Decrements counter for timeout of replies by calling decrementDeviceReplyMap()
+		 *   5. Performs FDIR check for failures
+		 *   6. Calls hkSwitcher.performOperation()
+		 *   7. If the device mode is MODE_OFF, return RETURN_OK. Otherwise, perform the Action property
+		 *   	and performs depending on value specified
+		 *      by input value counter. The child class tells base class what to do by setting this value.
+		 *     - SEND_WRITE: Send data or commands to device by calling doSendWrite()
+		 *     	 Calls abstract funtions buildNomalDeviceCommand()
+		 *     	 or buildTransitionDeviceCommand()
+		 *     - GET_WRITE: Get ackknowledgement for sending by calling doGetWrite().
+		 *       Calls abstract functions scanForReply() and interpretDeviceReply().
+		 *     - SEND_READ: Request reading data from device by calling doSendRead()
+		 *     - GET_READ: Access requested reading data by calling doGetRead()
+		 * @param counter Specifies which Action to perform
+		 * @return RETURN_OK for successful execution
+		 */
 	virtual ReturnValue_t performOperation(uint8_t counter);
 
-	/**
-	 * @brief  Initializes the device handler
-	 * @details
-	 * Initialize Device Handler as system object and
-	 * initializes all important helper classes.
-	 * Calls fillCommandAndReplyMap().
-	 * @return
-	 */
 	virtual ReturnValue_t initialize();
 
+	/**
+	 *
+	 * @param parentQueueId
+	 */
+	virtual void setParentQueue(MessageQueueId_t parentQueueId);
 	/**
 	 * Destructor.
 	 */
 	virtual ~DeviceHandlerBase();
+
+	ReturnValue_t executeAction(ActionId_t actionId,
+			MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size);
+	Mode_t getTransitionSourceMode() const;
+	Submode_t getTransitionSourceSubMode() const;
+	virtual void getMode(Mode_t *mode, Submode_t *submode);
+	HealthState getHealth();
+	ReturnValue_t setHealth(HealthState health);
+	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+			ParameterWrapper *parameterWrapper,
+			const ParameterWrapper *newValues, uint16_t startAtIndex);
+	/**
+	 * Implementation of ExecutableObjectIF function
+	 *
+	 * Used to setup the reference of the task, that executes this component
+	 * @param task_ Pointer to the taskIF of this task
+	 */
+	virtual  void setTaskIF(PeriodicTaskIF* task_);
 protected:
+	/**
+	 * The Returnvalues id of this class, required by HasReturnvaluesIF
+	 */
+	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
+
+	static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(4);
+	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5);
+	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6);
+//	static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
+//	static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
+	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(10);
+	static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(11);
+	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(12);
+
+	//Mode handling error Codes
+	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE1);
+	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE2);
+
+	static const DeviceCommandId_t RAW_COMMAND_ID = -1;
+	static const DeviceCommandId_t NO_COMMAND_ID = -2;
+	static const MessageQueueId_t NO_COMMANDER = 0;
+
+	/**
+	 * Pointer to the raw packet that will be sent.
+	 */
+	uint8_t *rawPacket;
+	/**
+	 * Size of the #rawPacket.
+	 */
+	uint32_t rawPacketLen;
+
+	/**
+	 * The mode the device handler is currently in.
+	 *
+	 * This should never be changed directly but only with setMode()
+	 */
+	Mode_t mode;
+
+	/**
+	 * The submode the device handler is currently in.
+	 *
+	 * This should never be changed directly but only with setMode()
+	 */
+	Submode_t submode;
+
+	/**
+	 * This is the counter value from performOperation().
+	 */
+	uint8_t pstStep;
+
+	/**
+	 * This will be used in the RMAP getRead command as expected length, is set by the constructor, can be modiefied at will.
+	 */
+	const uint32_t maxDeviceReplyLen;
+
+	/**
+	 * wiretapping flag:
+	 *
+	 * indicates either that all raw messages to and from the device should be sent to #theOneWhoWantsToReadRawTraffic
+	 * or that all device TM should be downlinked to #theOneWhoWantsToReadRawTraffic
+	 */
+	enum WiretappingMode {
+		OFF = 0, RAW = 1, TM = 2
+	} wiretappingMode;
+
+	/**
+	 * A message queue that accepts raw replies
+	 *
+	 * Statically initialized in initialize() to a configurable object. Used when there is no method
+	 * of finding a recipient, ie raw mode and reporting erreonous replies
+	 */
+	MessageQueueId_t defaultRawReceiver;
+
+	store_address_t storedRawData;
+
+	/**
+	 * the message queue which wants to read all raw traffic
+	 *
+	 * if #isWiretappingActive all raw communication from and to the device will be sent to this queue
+	 */
+	MessageQueueId_t requestedRawTraffic;
+
+	/**
+	 * the object used to set power switches
+	 */
+	PowerSwitchIF *powerSwitcher;
+
+	/**
+	 * Pointer to the IPCStore.
+	 *
+	 * This caches the pointer received from the objectManager in the constructor.
+	 */
+	StorageManagerIF *IPCStore;
+
+	/**
+	 * cached for init
+	 */
+	object_id_t deviceCommunicationId;
+
+	/**
+	 * Communication object used for device communication
+	 */
+	DeviceCommunicationIF *communicationInterface;
+
+	/**
+	 * Cookie used for communication
+	 */
+	Cookie *cookie;
+
+	/**
+	 * The MessageQueue used to receive device handler commands and to send replies.
+	 */
+	MessageQueueIF* commandQueue;
+
+	/**
+	 * this is the datapool variable with the thermal state of the device
+	 *
+	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
+	 */
+	uint32_t deviceThermalStatePoolId;
+
+	/**
+	 * this is the datapool variable with the thermal request of the device
+	 *
+	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
+	 */
+	uint32_t deviceThermalRequestPoolId;
+
+	/**
+	 * Taking care of the health
+	 */
+	HealthHelper healthHelper;
+
+	ModeHelper modeHelper;
+
+	ParameterHelper parameterHelper;
+
+	/**
+	 * Optional Error code
+	 * Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
+	 */
+	ReturnValue_t childTransitionFailure;
+
+	uint32_t ignoreMissedRepliesCount; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
+
+	FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
+
+	HkSwitchHelper hkSwitcher;
+
+	bool defaultFDIRUsed; //!< To correctly delete the default instance.
+
+	bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
+
+	PeriodicTaskIF* executingTask;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
+
+	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
+
+	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
+
+	static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
+	/**
+	 * Helper function to report a missed reply
+	 *
+	 * Can be overwritten by children to act on missed replies or to fake reporting Id.
+	 *
+	 * @param id of the missed reply
+	 */
+	virtual void missedReply(DeviceCommandId_t id);
+
+	/**
+	 * Send a reply to a received device handler command.
+	 *
+	 * This also resets #DeviceHandlerCommand to 0.
+	 *
+	 * @param reply the reply type
+	 * @param parameter parameter for the reply
+	 */
+	void replyReturnvalueToCommand(ReturnValue_t status,
+			uint32_t parameter = 0);
+
+	/**
+	 *
+
+	 * @param parameter2 additional parameter
+	 */
+	void replyToCommand(ReturnValue_t status, uint32_t parameter = 0);
+
+	/**
+	 * Set the device handler mode
+	 *
+	 * Sets #timeoutStart with every call.
+	 *
+	 * Sets #transitionTargetMode if necessary so transitional states can be entered from everywhere without breaking the state machine
+	 * (which relies on a correct #transitionTargetMode).
+	 *
+	 * The submode is left unchanged.
+	 *
+	 *
+	 * @param newMode
+	 */
+	void setMode(Mode_t newMode);
+
+	/**
+	 * @overload
+	 * @param submode
+	 */
+	void setMode(Mode_t newMode, Submode_t submode);
+
 	/**
 	 * This is used to let the child class handle the transition from mode @c _MODE_START_UP to @c MODE_ON
 	 *
@@ -187,457 +380,6 @@ protected:
 	 */
 	virtual void doShutDown() = 0;
 
-	/**
-	 * Build the device command to send for normal mode.
-	 *
-	 * This is only called in @c MODE_NORMAL. If multiple submodes for @c MODE_NORMAL are supported,
-	 * different commands can built returned depending on the submode.
-	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
-	 * If variable command frequence is required, a counter can be used and
-	 * the frequency in the reply map has to be set manually
-	 * by calling updateReplyMap().
-	 *
-	 * @param[out] id the device command id that has been built
-	 * @return
-	 *    - @c RETURN_OK to send command after setting #rawPacket and #rawPacketLen.
-	 *    - @c NOTHING_TO_SEND when no command is to be sent.
-	 *    - Anything else triggers an even with the returnvalue as a parameter.
-	 */
-	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0;
-
-	/**
-	 * Build the device command to send for a transitional mode.
-	 *
-	 * This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW,
-	 * @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp() and doShutDown() as well as doTransition()
-	 *
-	 * A good idea is to implement a flag indicating a command has to be built and a variable containing the command number to be built
-	 * and filling them in doStartUp(), doShutDown() and doTransition() so no modes have to be checked here.
-	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
-	 *
-	 * @param[out] id the device command id built
-	 * @return
-	 *    - @c RETURN_OK when a command is to be sent
-	 *    - @c NOTHING_TO_SEND when no command is to be sent
-	 *    - Anything else triggers an even with the returnvalue as a parameter
-	 */
-	virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) = 0;
-
-	/**
-	 * @brief Build a device command packet from data supplied by a direct command.
-	 *
-	 * @details
-	 * #rawPacket and #rawPacketLen should be set by this method to the packet to be sent.
-	 * The existence of the command in the command map and the command size check
-	 * against 0 are done by the base class.
-	 *
-	 * @param deviceCommand the command to build, already checked against deviceCommandMap
-	 * @param commandData pointer to the data from the direct command
-	 * @param commandDataLen length of commandData
-	 * @return
-	 *     - @c RETURN_OK to send command after #rawPacket and #rawPacketLen have been set.
-	 *     - Anything else triggers an event with the returnvalue as a parameter
-	 */
-	virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-			const uint8_t * commandData, size_t commandDataLen) = 0;
-
-	/**
-	 * @brief fill the #deviceCommandMap
-	 *	 	  called by the initialize() of the base class
-	 * @details
-	 * This is used to let the base class know which replies are expected.
-	 * There are different scenarios regarding this:
-	 *  - "Normal" commands. These are commands, that trigger a direct reply from the device.
-	 *    In this case, the id of the command should be added to the command map
-	 *    with a commandData_t where maxDelayCycles is set to the maximum expected
-	 *    number of PST cycles the reply will take. Then, scanForReply returns
-	 *    the id of the command and the base class can handle time-out and missing replies.
-	 *  - Periodic, unrequested replies. These are replies that, once enabled, are sent by the device
-	 *    on its own in a defined interval. In this case, the id of the reply
-	 *    or a placeholder id should be added to the deviceCommandMap with a commandData_t
-	 *    where maxDelayCycles is set to the maximum expected number of PST cycles between
-	 *    two replies (also a tolerance should be added, as an FDIR message will be generated if it is missed).
-	 *    As soon as the replies are enabled, DeviceCommandInfo.periodic must be set to 1,
-	 *    DeviceCommandInfo.delayCycles to DeviceCommandInfo.MaxDelayCycles.
-	 *    From then on, the base class handles the reception.
-	 *    Then, scanForReply returns the id of the reply or the placeholder id and the base class will
-	 *    take care of checking that all replies are received and the interval is correct.
-	 *    When the replies are disabled, DeviceCommandInfo.periodic must be set to 0,
-	 *    DeviceCommandInfo.delayCycles to 0;
-	 *  - Aperiodic, unrequested replies. These are replies that are sent
-	 *    by the device without any preceding command and not in a defined interval.
-	 *    These are not entered in the deviceCommandMap but handled by returning @c APERIODIC_REPLY in scanForReply().
-	 *
-	 */
-	virtual void fillCommandAndReplyMap() = 0;
-
-	/**
-	 * @brief Scans a buffer for a valid reply.
-	 * @details
-	 * This is used by the base class to check the data received for valid packets.
-	 * It only checks if a valid packet starts at @c start.
-	 * It also only checks the structural validy of the packet,
-	 * e.g. checksums lengths and protocol data.
-	 * No information check is done, e.g. range checks etc.
-	 *
-	 * Errors should be reported directly,  the base class does NOT report
-	 * any errors based on the returnvalue of this function.
-	 *
-	 * @param start start of remaining buffer to be scanned
-	 * @param len length of remaining buffer to be scanned
-	 * @param[out] foundId the id of the data found in the buffer.
-	 * @param[out] foundLen length of the data found. Is to be set in function,
-	 * 						buffer is scanned at previous position + foundLen.
-	 * @return
-	 *     - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
-	 *     - @c RETURN_FAILED no reply could be found starting at @c start,
-	 *             implies @c foundLen is not valid,
-	 *             base class will call scanForReply() again with ++start
-	 *     - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid,
-	 *             e.g. checksum error, implies @c foundLen is valid, can be used to skip some bytes
-	 *     - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid
-	 *     - @c DeviceHandlerIF::IGNORE_REPLY_DATA Ignore this specific part of the packet
-	 *     - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet
-	 *     - @c APERIODIC_REPLY if a valid reply is received that has not been
-	 *             requested by a command, but should be handled anyway
-	 *             (@see also fillCommandAndCookieMap() )
-	 */
-	virtual ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
-			DeviceCommandId_t *foundId, size_t *foundLen) = 0;
-
-	/**
-	 * @brief Interpret a reply from the device.
-	 * @details
-	 * This is called after scanForReply() found a valid packet, it can be assumed that the length and structure is valid.
-	 * This routine extracts the data from the packet into a DataSet and then calls handleDeviceTM(), which either sends
-	 * a TM packet or stores the data in the DataPool depending on whether the it was an external command.
-	 * No packet length is given, as it should be defined implicitly by the id.
-	 *
-	 * @param id the id found by scanForReply()
-	 * @param packet
-	 * @return
-	 *     - @c RETURN_OK when the reply was interpreted.
-	 *     - @c RETURN_FAILED when the reply could not be interpreted, eg. logical errors or range violations occurred
-	 */
-	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-			const uint8_t *packet) = 0;
-
-	/**
-	 * set all datapool variables that are update periodically in normal mode invalid
-	 *
-	 * Child classes should provide an implementation which sets all those variables invalid
-	 * which are set periodically during any normal mode.
-	 */
-	virtual void setNormalDatapoolEntriesInvalid() = 0;
-
-	/**
-	 * @brief   Can be implemented by child handler to
-	 *          perform debugging
-	 * @details Example: Calling this in performOperation
-	 *          to track values like mode.
-	 * @param 	positionTracker Provide the child handler a way to know where the debugInterface was called
-	 * @param 	objectId Provide the child handler object Id to specify actions for spefic devices
-	 * @param 	parameter Supply a parameter of interest
-	 * Please delete all debugInterface calls in DHB after debugging is finished !
-	 */
-	virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0, uint32_t parameter = 0);
-
-	/**
-	 * Get the time needed to transit from modeFrom to modeTo.
-	 *
-	 * Used for the following transitions:
-	 * modeFrom -> modeTo:
-	 *  - MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
-	 *  - MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
-	 *  - MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
-	 *  - _MODE_START_UP -> MODE_ON (do not include time to set the switches, the base class got you covered)
-	 *
-	 * The default implementation returns 0 !
-	 * @param modeFrom
-	 * @param modeTo
-	 * @return time in ms
-	 */
-	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo);
-
-	/**
-	 * Return the switches connected to the device.
-	 *
-	 * The default implementation returns one switch set in the ctor.
-	 *
-	 * @param[out] switches pointer to an array of switches
-	 * @param[out] numberOfSwitches length of returned array
-	 * @return
-	 *      - @c RETURN_OK if the parameters were set
-	 *      - @c NO_SWITCH or any other returnvalue if no switches exist
-	 */
-	virtual ReturnValue_t getSwitches(const uint8_t **switches,
-			uint8_t *numberOfSwitches);
-
-	/**
-	 * Can be used to perform device specific periodic operations.
-	 * This is called on the SEND_READ step of the performOperation() call
-	 */
-	virtual void performOperationHook();
-
-	/**
-	 * The Returnvalues id of this class, required by HasReturnvaluesIF
-	 */
-	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
-
-public:
-	/**
-	 * @param parentQueueId
-	 */
-	virtual void setParentQueue(MessageQueueId_t parentQueueId);
-
-	/**
-	 * This function call handles the execution of external commands as required
-	 * by the HasActionIF.
-	 * @param actionId
-	 * @param commandedBy
-	 * @param data
-	 * @param size
-	 * @return
-	 */
-	ReturnValue_t executeAction(ActionId_t actionId,
-			MessageQueueId_t commandedBy, const uint8_t* data, size_t size);
-
-	Mode_t getTransitionSourceMode() const;
-	Submode_t getTransitionSourceSubMode() const;
-	virtual void getMode(Mode_t *mode, Submode_t *submode);
-	HealthState getHealth();
-	ReturnValue_t setHealth(HealthState health);
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex);
-	/**
-	 * Implementation of ExecutableObjectIF function
-	 *
-	 * Used to setup the reference of the task, that executes this component
-	 * @param task_ Pointer to the taskIF of this task
-	 */
-	virtual  void setTaskIF(PeriodicTaskIF* task_);
-	virtual MessageQueueId_t getCommandQueue(void) const;
-
-protected:
-	//Mode handling error Codes
-	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE1);
-	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE2);
-
-	static const DeviceCommandId_t RAW_COMMAND_ID = -1;
-	static const DeviceCommandId_t NO_COMMAND_ID = -2;
-	static const MessageQueueId_t NO_COMMANDER = 0;
-
-	/**
-	 * Pointer to the raw packet that will be sent.
-	 */
-	uint8_t *rawPacket = nullptr;
-	/**
-	 * Size of the #rawPacket.
-	 */
-	size_t rawPacketLen = 0;
-
-	/**
-	 * The mode the device handler is currently in.
-	 *
-	 * This should never be changed directly but only with setMode()
-	 */
-	Mode_t mode;
-
-	/**
-	 * The submode the device handler is currently in.
-	 *
-	 * This should never be changed directly but only with setMode()
-	 */
-	Submode_t submode;
-
-	/**
-	 * This is the counter value from performOperation().
-	 */
-	uint8_t pstStep = 0;
-
-	/**
-	 * wiretapping flag:
-	 *
-	 * indicates either that all raw messages to and from the device should be sent to #theOneWhoWantsToReadRawTraffic
-	 * or that all device TM should be downlinked to #theOneWhoWantsToReadRawTraffic
-	 */
-	enum WiretappingMode: uint8_t {
-		OFF = 0, RAW = 1, TM = 2
-	} wiretappingMode;
-
-	/**
-	 * A message queue that accepts raw replies
-	 *
-	 * Statically initialized in initialize() to a configurable object. Used when there is no method
-	 * of finding a recipient, ie raw mode and reporting erreonous replies
-	 */
-	MessageQueueId_t defaultRawReceiver = 0;
-
-	store_address_t storedRawData;
-
-	/**
-	 * the message queue which wants to read all raw traffic
-	 *
-	 * if #isWiretappingActive all raw communication from and to the device will be sent to this queue
-	 */
-	MessageQueueId_t requestedRawTraffic = 0;
-
-	/**
-	 * the object used to set power switches
-	 */
-	PowerSwitchIF *powerSwitcher = nullptr;
-
-	/**
-	 * Pointer to the IPCStore.
-	 *
-	 * This caches the pointer received from the objectManager in the constructor.
-	 */
-	StorageManagerIF *IPCStore = nullptr;
-
-	/**
-	 * cached for init
-	 */
-	object_id_t deviceCommunicationId;
-
-	/**
-	 * Communication object used for device communication
-	 */
-	DeviceCommunicationIF *communicationInterface = nullptr;
-
-	/**
-	 * Cookie used for communication. This is passed to the communication
-	 * interface.
-	 */
-	CookieIF *comCookie;
-
-	struct DeviceCommandInfo {
-		bool isExecuting; //!< Indicates if the command is already executing.
-		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
-		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
-	};
-	typedef std::map<DeviceCommandId_t, DeviceCommandInfo> DeviceCommandMap;
-	typedef DeviceCommandMap::iterator DeviceCommandIter;
-
-	/**
-	 * @brief Information about expected replies
-	 *
-	 * This is used to keep track of pending replies
-	 */
-	struct DeviceReplyInfo {
-		uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
-		uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
-		size_t replyLen = 0; //!< Expected size of the reply.
-		uint8_t periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
-		DeviceCommandMap::iterator command; //!< The command that expects this reply.
-	};
-
-	typedef std::map<DeviceCommandId_t, DeviceReplyInfo> DeviceReplyMap;
-	typedef DeviceReplyMap::iterator DeviceReplyIter;
-
-	/**
-	 * The MessageQueue used to receive device handler commands and to send replies.
-	 */
-	MessageQueueIF* commandQueue = nullptr;
-
-	/**
-	 * this is the datapool variable with the thermal state of the device
-	 *
-	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
-	 */
-	uint32_t deviceThermalStatePoolId;
-
-	/**
-	 * this is the datapool variable with the thermal request of the device
-	 *
-	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
-	 */
-	uint32_t deviceThermalRequestPoolId;
-
-	/**
-	 * Taking care of the health
-	 */
-	HealthHelper healthHelper;
-
-	ModeHelper modeHelper;
-
-	ParameterHelper parameterHelper;
-
-	/**
-	 * Optional Error code
-	 * Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
-	 */
-	ReturnValue_t childTransitionFailure = RETURN_OK;
-
-	uint32_t ignoreMissedRepliesCount = 0; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
-
-	FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
-
-	HkSwitchHelper hkSwitcher;
-
-	bool defaultFDIRUsed; //!< To correctly delete the default instance.
-
-	bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
-
-	PeriodicTaskIF* executingTask;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
-
-	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
-
-	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
-
-	static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
-
-	/**
-	 * Set the device handler mode
-	 *
-	 * Sets #timeoutStart with every call.
-	 *
-	 * Sets #transitionTargetMode if necessary so transitional states can be entered from everywhere without breaking the state machine
-	 * (which relies on a correct #transitionTargetMode).
-	 *
-	 * The submode is left unchanged.
-	 *
-	 *
-	 * @param newMode
-	 */
-	void setMode(Mode_t newMode);
-
-	/**
-	 * @overload
-	 * @param submode
-	 */
-	void setMode(Mode_t newMode, Submode_t submode);
-
-	/**
-	 * Helper function to report a missed reply
-	 *
-	 * Can be overwritten by children to act on missed replies or to fake reporting Id.
-	 *
-	 * @param id of the missed reply
-	 */
-	virtual void missedReply(DeviceCommandId_t id);
-
-	/**
-	 * Send a reply to a received device handler command.
-	 *
-	 * This also resets #DeviceHandlerCommand to 0.
-	 *
-	 * @param reply the reply type
-	 * @param parameter parameter for the reply
-	 */
-	void replyReturnvalueToCommand(ReturnValue_t status,
-			uint32_t parameter = 0);
-
-	/**
-	 * Send reply to a command, differentiate between raw command
-	 * and normal command.
-	 * @param status
-	 * @param parameter
-	 */
-	void replyToCommand(ReturnValue_t status, uint32_t parameter = 0);
-
 	/**
 	 * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
 	 *
@@ -667,18 +409,144 @@ protected:
 	 */
 	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
 
+	/**
+	 * Get the time needed to transit from modeFrom to modeTo.
+	 *
+	 * Used for the following transitions:
+	 * modeFrom -> modeTo:
+	 * MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
+	 * MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
+	 * MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
+	 * _MODE_START_UP -> MODE_ON (do not include time to set the switches, the base class got you covered)
+	 *
+	 * The default implementation returns 0;
+	 *
+	 * @param modeFrom
+	 * @param modeTo
+	 * @return time in ms
+	 */
+	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo);
+
+	/**
+	 * Is the combination of mode and submode valid?
+	 *
+	 * @param mode
+	 * @param submode
+	 * @return
+	 *    - @c RETURN_OK if valid
+	 *    - @c RETURN_FAILED if invalid
+	 */
+	virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
+			Submode_t submode);
+
+	/**
+	 * Get the Rmap action for the current step.
+	 *
+	 * The step number can be read from #pstStep.
+	 *
+	 * @return The Rmap action to execute in this step
+	 */
+	virtual RmapAction_t getRmapAction();
+
+	/**
+	 * Build the device command to send for normal mode.
+	 *
+	 * This is only called in @c MODE_NORMAL. If multiple submodes for @c MODE_NORMAL are supported,
+	 * different commands can built returned depending on the submode.
+	 *
+	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 *
+	 * @param[out] id the device command id that has been built
+	 * @return
+	 *    - @c RETURN_OK when a command is to be sent
+	 *    - not @c RETURN_OK when no command is to be sent
+	 */
+	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0;
+
+	/**
+	 * Build the device command to send for a transitional mode.
+	 *
+	 * This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW,
+	 * @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp() and doShutDown() as well as doTransition()
+	 *
+	 * A good idea is to implement a flag indicating a command has to be built and a variable containing the command number to be built
+	 * and filling them in doStartUp(), doShutDown() and doTransition() so no modes have to be checked here.
+	 *
+	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 *
+	 * @param[out] id the device command id built
+	 * @return
+	 *    - @c RETURN_OK when a command is to be sent
+	 *    - not @c RETURN_OK when no command is to be sent
+	 */
+	virtual ReturnValue_t buildTransitionDeviceCommand(
+			DeviceCommandId_t * id) = 0;
+
+	/**
+	 * Build the device command to send for raw mode.
+	 *
+	 * This is only called in @c MODE_RAW. It is for the rare case that in raw mode packets
+	 * are to be sent by the handler itself. It is NOT needed for the raw commanding service.
+	 * Its only current use is in the STR handler which gets its raw packets from a different
+	 * source.
+	 * Also it can be used for transitional commands, to get the device ready for @c MODE_RAW
+	 *
+	 * As it is almost never used, there is a default implementation returning @c NOTHING_TO_SEND.
+	 *
+	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 *
+	 * @param[out] id the device command id built
+	 * @return
+	 *    - @c RETURN_OK when a command is to be sent
+	 *    - not @c NOTHING_TO_SEND when no command is to be sent
+	 */
+	virtual ReturnValue_t buildChildRawCommand();
+
+	/**
+	 * Build a device command packet from data supplied by a direct command.
+	 *
+	 * #rawPacket and #rawPacketLen should be set by this method to the packet to be sent.
+	 *
+	 * @param deviceCommand the command to build, already checked against deviceCommandMap
+	 * @param commandData pointer to the data from the direct command
+	 * @param commandDataLen length of commandData
+	 * @return
+	 *     - @c RETURN_OK when #rawPacket is valid
+	 *     - @c RETURN_FAILED when #rawPacket is invalid and no data should be sent
+	 */
+	virtual ReturnValue_t buildCommandFromCommand(
+			DeviceCommandId_t deviceCommand, const uint8_t * commandData,
+			size_t commandDataLen) = 0;
+
+	/**
+	 * fill the #deviceCommandMap
+	 *
+	 * called by the initialize() of the base class
+	 *
+	 * This is used to let the base class know which replies are expected.
+	 * There are different scenarios regarding this:
+	 * - "Normal" commands. These are commands, that trigger a direct reply from the device. In this case, the id of the command should be added to the command map
+	 * with a commandData_t where maxDelayCycles is set to the maximum expected number of PST cycles the reply will take. Then, scanForReply returns the id of the command and the base class can handle time-out and missing replies.
+	 * - Periodic, unrequested replies. These are replies that, once enabled, are sent by the device on its own in a defined interval. In this case, the id of the reply or a placeholder id should be added to the deviceCommandMap
+	 * with a commandData_t where maxDelayCycles is set to the maximum expected number of PST cycles between two replies (also a tolerance should be added, as an FDIR message will be generated if it is missed).
+	 * As soon as the replies are enabled, DeviceCommandInfo.periodic must be set to 1, DeviceCommandInfo.delayCycles to DeviceCommandInfo.MaxDelayCycles. From then on, the base class handles the reception.
+	 * Then, scanForReply returns the id of the reply or the placeholder id and the base class will take care of checking that all replies are received and the interval is correct.
+	 * When the replies are disabled, DeviceCommandInfo.periodic must be set to 0, DeviceCommandInfo.delayCycles to 0;
+	 * - Aperiodic, unrequested replies. These are replies that are sent by the device without any preceding command and not in a defined interval. These are not entered in the deviceCommandMap but handled by returning @c APERIODIC_REPLY in scanForReply().
+	 *
+	 */
+	virtual void fillCommandAndReplyMap() = 0;
+
 	/**
 	 * This is a helper method to facilitate inserting entries in the command map.
 	 * @param deviceCommand	Identifier of the command to add.
 	 * @param maxDelayCycles The maximum number of delay cycles the command waits until it times out.
-	 * @param periodic	Indicates if the reply is periodic (i.e. it is sent by the device repeatedly without request) or not.
+	 * @param periodic	Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
 	 *		 			Default is aperiodic (0)
-	 * @param hasDifferentReplyId
-	 * @param replyId
 	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0,
+			uint16_t maxDelayCycles, uint8_t periodic = 0,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 	/**
 	 * This is a helper method to insert replies in the reply map.
@@ -689,7 +557,7 @@ protected:
 	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0);
+			uint16_t maxDelayCycles, uint8_t periodic = 0);
 	/**
 	 * A simple command to add a command to the commandList.
 	 * @param deviceCommand The command to add
@@ -715,47 +583,48 @@ protected:
 	 * @return	The current delay count. If the command does not exist (should never happen) it returns 0.
 	 */
 	uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
-
 	/**
-	 * Is the combination of mode and submode valid?
+	 * Scans a buffer for a valid reply.
 	 *
-	 * @param mode
-	 * @param submode
+	 * This is used by the base class to check the data received from the RMAP stack for valid packets.
+	 * It only checks if a valid packet starts at @c start.
+	 * It also only checks the structural validy of the packet, eg checksums lengths and protocol data. No
+	 * information check is done, eg range checks etc.
+	 *
+	 * Errors should be reported directly, the base class does NOT report any errors based on the return
+	 * value of this function.
+	 *
+	 * @param start start of data
+	 * @param len length of data
+	 * @param[out] foundId the id of the packet starting at @c start
+	 * @param[out] foundLen length of the packet found
 	 * @return
-	 *    - @c RETURN_OK if valid
-	 *    - @c RETURN_FAILED if invalid
+	 *     - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
+	 *     - @c NO_VALID_REPLY no reply could be found starting at @c start, implies @c foundLen is not valid, base class will call scanForReply() again with ++start
+	 *     - @c INVALID_REPLY a packet was found but it is invalid, eg checksum error, implies @c foundLen is valid, can be used to skip some bytes
+	 *     - @c TOO_SHORT @c len is too short for any valid packet
+	 *     - @c APERIODIC_REPLY if a valid reply is received that has not been requested by a command, but should be handled anyway (@see also fillCommandAndCookieMap() )
 	 */
-	virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
-			Submode_t submode);
+	virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
+			DeviceCommandId_t *foundId, uint32_t *foundLen) = 0;
 
 	/**
-	 * Get the Rmap action for the current step.
+	 * Interpret a reply from the device.
 	 *
-	 * The step number can be read from #pstStep.
+	 * This is called after scanForReply() found a valid packet, it can be assumed that the length and structure is valid.
+	 * This routine extracts the data from the packet into a DataSet and then calls handleDeviceTM(), which either sends
+	 * a TM packet or stores the data in the DataPool depending on whether the it was an external command.
+	 * No packet length is given, as it should be defined implicitly by the id.
 	 *
-	 * @return The Rmap action to execute in this step
-	 */
-	virtual CommunicationAction_t getComAction();
-
-	/**
-	 * Build the device command to send for raw mode.
-	 *
-	 * This is only called in @c MODE_RAW. It is for the rare case that in raw mode packets
-	 * are to be sent by the handler itself. It is NOT needed for the raw commanding service.
-	 * Its only current use is in the STR handler which gets its raw packets from a different
-	 * source.
-	 * Also it can be used for transitional commands, to get the device ready for @c MODE_RAW
-	 *
-	 * As it is almost never used, there is a default implementation returning @c NOTHING_TO_SEND.
-	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
-	 *
-	 * @param[out] id the device command id built
+	 * @param id the id found by scanForReply()
+	 * @param packet
+	 * @param commander the one who initiated the command, is 0 if not external commanded
 	 * @return
-	 *    - @c RETURN_OK when a command is to be sent
-	 *    - not @c NOTHING_TO_SEND when no command is to be sent
+	 *     - @c RETURN_OK when the reply was interpreted.
+	 *     - @c RETURN_FAILED when the reply could not be interpreted, eg. logical errors or range violations occurred
 	 */
-	virtual ReturnValue_t buildChildRawCommand();
+	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+			const uint8_t *packet) = 0;
 
 	/**
 	 * Construct a command reply containing a raw reply.
@@ -780,11 +649,33 @@ protected:
 	 */
 	void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len);
 
+	/**
+	 * Return the switches connected to the device.
+	 *
+	 * The default implementation returns one switch set in the ctor.
+	 *
+	 *
+	 * @param[out] switches pointer to an array of switches
+	 * @param[out] numberOfSwitches length of returned array
+	 * @return
+	 *      - @c RETURN_OK if the parameters were set
+	 *      - @c RETURN_FAILED if no switches exist
+	 */
+	virtual ReturnValue_t getSwitches(const uint8_t **switches,
+			uint8_t *numberOfSwitches);
+
 	/**
 	 * notify child about mode change
 	 */
 	virtual void modeChanged(void);
 
+	struct DeviceCommandInfo {
+		bool isExecuting; //!< Indicates if the command is already executing.
+		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected.
+		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
+	};
+
+	typedef std::map<DeviceCommandId_t, DeviceCommandInfo> DeviceCommandMap;
 	/**
 	 * Enable the reply checking for a command
 	 *
@@ -795,16 +686,16 @@ protected:
 	 * When found, copies maxDelayCycles to delayCycles in the reply information and sets the command to
 	 * expect one reply.
 	 *
-	 * Can be overwritten by the child, if a command activates multiple replies
-	 * or replyId differs from commandId.
+	 * Can be overwritten by the child, if a command activates multiple replies or replyId differs from
+	 * commandId.
 	 * Notes for child implementations:
 	 * 	- If the command was not found in the reply map, NO_REPLY_EXPECTED MUST be returned.
 	 * 	- A failure code may be returned if something went fundamentally wrong.
 	 *
 	 * @param deviceCommand
 	 * @return 	- RETURN_OK if a reply was activated.
-	 * 			- NO_REPLY_EXPECTED if there was no reply found. This is not an
-	 * 			  error case as many commands do not expect a reply.
+	 * 			- NO_REPLY_EXPECTED if there was no reply found. This is not an error case as many commands
+	 * 				do not expect a reply.
 	 */
 	virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator cmd,
 			uint8_t expectedReplies = 1, bool useAlternateId = false,
@@ -820,6 +711,14 @@ protected:
 	 */
 	ReturnValue_t getStateOfSwitches(void);
 
+	/**
+	 * set all datapool variables that are update periodically in normal mode invalid
+	 *
+	 * Child classes should provide an implementation which sets all those variables invalid
+	 * which are set periodically during any normal mode.
+	 */
+	virtual void setNormalDatapoolEntriesInvalid() = 0;
+
 	/**
 	 * build a list of sids and pass it to the #hkSwitcher
 	 */
@@ -848,6 +747,7 @@ protected:
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 	virtual void setToExternalControl();
 	virtual void announceMode(bool recursive);
+
 	virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
 
 	/**
@@ -894,6 +794,22 @@ protected:
 
 	bool commandIsExecuting(DeviceCommandId_t commandId);
 
+	/**
+	 * Information about expected replies
+	 *
+	 * This is used to keep track of pending replies
+	 */
+	struct DeviceReplyInfo {
+		uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
+		uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
+		uint8_t periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
+		DeviceCommandMap::iterator command; //!< The command that expects this reply.
+	};
+
+	/**
+	 * Definition for the important reply Map.
+	 */
+	typedef std::map<DeviceCommandId_t, DeviceReplyInfo> DeviceReplyMap;
 	/**
 	 * This map is used to check and track correct reception of all replies.
 	 *
@@ -913,13 +829,12 @@ protected:
 	DeviceCommandMap deviceCommandMap;
 
 	ActionHelper actionHelper;
-
 private:
 
 	/**
 	 * State a cookie is in.
 	 *
-	 * Used to keep track of the state of the communication.
+	 * Used to keep track of the state of the RMAP communication.
 	 */
 	enum CookieState_t {
 		COOKIE_UNUSED,    //!< The Cookie is unused
@@ -946,12 +861,17 @@ private:
 	 */
 	CookieInfo cookieInfo;
 
+	/**
+	 * cached from ctor for initialize()
+	 */
+	const uint32_t ioBoardAddress;
+
 	/**
 	 * Used for timing out mode transitions.
 	 *
 	 * Set when setMode() is called.
 	 */
-	uint32_t timeoutStart = 0;
+	uint32_t timeoutStart;
 
 	/**
 	 * Delay for the current mode transition, used for time out
@@ -993,20 +913,22 @@ private:
 	 * - checks whether commanded mode transitions are required and calls handleCommandedModeTransition()
 	 * - does the necessary action for the current mode or calls doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
 	 * - actions that happen in transitions (eg setting a timeout) are handled in setMode()
-	 * - Maybe export this into own class to increase modularity of software
-	 *   and reduce the massive class size ?
 	 */
 	void doStateMachine(void);
 
 	void buildRawDeviceCommand(CommandMessage* message);
 	void buildInternalCommand(void);
 
+//	/**
+//	 * Send a reply with the current mode and submode.
+//	 */
+//	void announceMode(void);
+
 	/**
 	 * Decrement the counter for the timout of replies.
 	 *
 	 * This is called at the beginning of each cycle. It checks whether a reply has timed out (that means a reply was expected
 	 * but not received).
-	 * In case the reply is periodic, the counter is simply set back to a specified value.
 	 */
 	void decrementDeviceReplyMap(void);
 
@@ -1073,8 +995,8 @@ private:
 	 *   - @c RETURN_FAILED IPCStore is NULL
 	 *   - the return value from the IPCStore if it was not @c RETURN_OK
 	 */
-	ReturnValue_t getStorageData(store_address_t storageAddress,
-			uint8_t ** data, size_t * len);
+	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
+			uint32_t *len);
 
 	/**
 	 * set all switches returned by getSwitches()
@@ -1103,16 +1025,9 @@ private:
 	 *     - @c RETURN_FAILED when cookies could not be changed, eg because the newChannel is not enabled
 	 *     - @c returnvalues of RMAPChannelIF::isActive()
 	 */
-	//ReturnValue_t switchCookieChannel(object_id_t newChannelId);
+	ReturnValue_t switchCookieChannel(object_id_t newChannelId);
 
-	/**
-	 * Handle device handler messages (e.g. commands sent by PUS Service 2)
-	 * @param message
-	 * @return
-	 */
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
-
-
 };
 
 #endif /* DEVICEHANDLERBASE_H_ */
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 34aa4114..fe0ee8e8 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -8,8 +8,7 @@
 #include <framework/ipc/MessageQueueSenderIF.h>
 
 /**
- * @brief 	This is the Interface used to communicate with a device handler.
- * @details Includes all expected return values, events and modes.
+ * This is the Interface used to communicate with a device handler.
  *
  */
 class DeviceHandlerIF {
@@ -23,95 +22,80 @@ public:
 	 *
 	 * @details The mode of the device handler must not be confused with the mode the device is in.
 	 * The mode of the device itself is transparent to the user but related to the mode of the handler.
-	 * MODE_ON and MODE_OFF are included in hasModesIF.h
 	 */
+//		MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
+//		MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
+		static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
+		static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
+		static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
+		static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
+		static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
+		static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+		static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+		static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+		static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
+		static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
+		static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
+		static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
+		static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
 
-	// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
-	// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
-	static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
-	static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
-	static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
-	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
-	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
-	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON; //!< It is possible to set the mode to _MODE_TO_ON to use the to on transition if available.
-	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
-	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
-	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
-	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
-	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
+		static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
+		static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
+		static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
+		static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
+		static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
+		static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
+		static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
+		static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
+		static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
+		static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
+		static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
+		static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
 
-	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
-	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
-	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
-	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
-	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
-	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
-	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
-	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
-	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
-	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
-	static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
-	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
+		static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
+		static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0);
+		static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
+		static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2);
+		static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
+		static const ReturnValue_t CANT_SWITCH_IOBOARD = MAKE_RETURN_CODE(0xA4);
+		static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
+		static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
+		static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
+		static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+		static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
+		static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 
-	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
+		//standard codes used in scan for reply
+	//	static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE(0xB1);
+		static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
+		static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
+		static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
+		static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
 
-	// Standard codes used when building commands.
-	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xA0); //!< Return this if no command sending in required
-	// Mostly used for internal handling.
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA2); //!< If the command size is 0. Checked in DHB
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA3); //!< Used to indicate that this is a command-only command.
-	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA4); //!< Command ID not in commandMap. Checked in DHB
-	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA5); //!< Command was already executed. Checked in DHB
-	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA6);
-	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA8);
-	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA9);
-	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xAA);
-	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xAB);
-	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAC);
+		//standard codes used in  interpret device reply
+		static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
+		static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
+		static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
+		static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
 
-	// Standard codes used in scanForReply
-	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB1); //!< This is used to specify for replies from a device which are not replies to requests
-	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB2);
-	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB3); //!< Ignore parts of the received packet
-	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB4); //!< Ignore full received packet
-	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB5);
-	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB6);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB7);
-
-	// Standard codes used in  interpretDeviceReply
-	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
-	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
-	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
-	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
-
-	// Standard codes used in buildCommandFromCommand
-	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
-	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
-
-	// Standard codes used in getSwitches
-	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xE1); //!< Return in getSwitches() to specify there are no switches
-
-	//	static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
-	//	static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
-	// where is this used?
-	// static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(11);
-
-	/**
-	 * Communication action that will be executed.
-	 *
-	 * This is used by the child class to tell the base class what to do.
-	 */
-	enum CommunicationAction_t: uint8_t {
-		SEND_WRITE,//!< Send write
-		GET_WRITE, //!< Get write
-		SEND_READ, //!< Send read
-		GET_READ,  //!< Get read
-		NOTHING    //!< Do nothing.
-	};
+		//Standard codes used in buildCommandFromCommand
+		static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(
+				0xD0);
+		static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS =
+				MAKE_RETURN_CODE(0xD1);
 
+		/**
+		 * RMAP Action that will be executed.
+		 *
+		 * This is used by the child class to tell the base class what to do.
+		 */
+		enum RmapAction_t {
+			SEND_WRITE,//!< RMAP send write
+			GET_WRITE, //!< RMAP get write
+			SEND_READ, //!< RMAP send read
+			GET_READ,  //!< RMAP get read
+			NOTHING    //!< Do nothing.
+		};
 	/**
 	 * Default Destructor
 	 */

From 0cb2abfe7e2d902fdfd4ba676ee6ae6c049fa703 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 13:26:40 +0200
Subject: [PATCH 016/653] old cookie added again

will be replaced in separate branch/pull request
---
 devicehandlers/Cookie.h | 10 ++++++++++
 1 file changed, 10 insertions(+)
 create mode 100644 devicehandlers/Cookie.h

diff --git a/devicehandlers/Cookie.h b/devicehandlers/Cookie.h
new file mode 100644
index 00000000..495c8c40
--- /dev/null
+++ b/devicehandlers/Cookie.h
@@ -0,0 +1,10 @@
+#ifndef COOKIE_H_
+#define COOKIE_H_
+
+class Cookie{
+public:
+	virtual ~Cookie(){}
+};
+
+
+#endif /* COOKIE_H_ */

From 0c0c8ec4486dffc3563f384ea95c8e8b02896f02 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 13:29:50 +0200
Subject: [PATCH 017/653] device handler base indentation

---
 devicehandlers/DeviceHandlerBase.cpp | 27 +++++++++++++--------------
 1 file changed, 13 insertions(+), 14 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 22d49d37..77483d06 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -21,20 +21,19 @@ DeviceHandlerBase::DeviceHandlerBase(uint32_t ioBoardAddress,
 		uint8_t setDeviceSwitch, object_id_t deviceCommunication,
 		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
 		FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
-		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(
-				MODE_OFF), submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(
-				maxDeviceReplyLen), wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(
-				StorageManagerIF::INVALID_ADDRESS), requestedRawTraffic(0), powerSwitcher(
-		NULL), IPCStore(NULL), deviceCommunicationId(deviceCommunication), communicationInterface(
-		NULL), cookie(
-		NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(
-				thermalRequestPoolId), healthHelper(this, setObjectId), modeHelper(
-				this), parameterHelper(this), childTransitionFailure(RETURN_OK), ignoreMissedRepliesCount(
-				0), fdirInstance(fdirInstance), hkSwitcher(this), defaultFDIRUsed(
-				fdirInstance == NULL), switchOffWasReported(false),executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(
-				ioBoardAddress), timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(
-				_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(
-				setDeviceSwitch) {
+		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(MODE_OFF),
+		submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(maxDeviceReplyLen),
+		wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(StorageManagerIF::INVALID_ADDRESS),
+		requestedRawTraffic(0), powerSwitcher(NULL), IPCStore(NULL),
+		deviceCommunicationId(deviceCommunication), communicationInterface(NULL),
+		cookie(NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId),
+		deviceThermalRequestPoolId(thermalRequestPoolId), healthHelper(this, setObjectId),
+		modeHelper(this), parameterHelper(this), childTransitionFailure(RETURN_OK),
+		ignoreMissedRepliesCount(0), fdirInstance(fdirInstance), hkSwitcher(this),
+		defaultFDIRUsed(fdirInstance == NULL), switchOffWasReported(false),
+		executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(ioBoardAddress),
+		timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
+		transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			CommandMessage::MAX_MESSAGE_SIZE);
 	cookieInfo.state = COOKIE_UNUSED;

From 574d6051bab05db9edb7cd62d695758588b136e4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 13:41:43 +0200
Subject: [PATCH 018/653] new returnvalue for scanForReply

to ignore full packet
DeviceCommunicationIF sendMessage function takes const data pointer now
---
 devicehandlers/DeviceCommunicationIF.h | 25 +++++++++++++++++--
 devicehandlers/DeviceHandlerBase.cpp   |  2 ++
 devicehandlers/DeviceHandlerBase.h     | 34 +++++++++++++++++---------
 3 files changed, 48 insertions(+), 13 deletions(-)

diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index e0aca573..b24e7d37 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -39,14 +39,35 @@ public:
 
 	virtual void close(Cookie *cookie) = 0;
 
-	//SHOULDDO can data be const?
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
+	/**
+	 * Called by DHB in the SEND_WRITE doSendWrite().
+	 * This function is used to send data to the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return - @c RETURN_OK for successfull send
+	 *         - Everything else triggers sending failed event with
+	 *         returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t sendMessage(Cookie *cookie,const uint8_t *data,
 			uint32_t len) = 0;
 
 	virtual ReturnValue_t getSendSuccess(Cookie *cookie) = 0;
 
 	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie) = 0;
 
+	/**
+	 * Called by DHB in the GET_WIRTE doGetRead().
+	 * This function is used to receive data from the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return - @c RETURN_OK for successfull receive
+	 *         - Everything else triggers receiving failed with returnvalue
+	 *         as parameter 1
+	 */
 	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
 			uint32_t *size) = 0;
 
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 77483d06..bd304603 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -538,6 +538,8 @@ void DeviceHandlerBase::doGetRead() {
 				break;
 			case IGNORE_REPLY_DATA:
 				break;
+			case IGNORE_FULL_PACKET:
+				return;
 			default:
 				//We need to wait for timeout.. don't know what command failed and who sent it.
 				replyRawReplyIfnotWiretapped(receivedData, foundLen);
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 756ad530..871c9153 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -143,8 +143,10 @@ protected:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
 	static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(4);
-	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5);
-	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6);
+	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5); //!< This is used to specify for replies from a device which are not replies to requests
+	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6); //!< Ignore parts of the received packet
+	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(7); //!< Ignore full received packet
+
 //	static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
 //	static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
 	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(10);
@@ -583,6 +585,7 @@ protected:
 	 * @return	The current delay count. If the command does not exist (should never happen) it returns 0.
 	 */
 	uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
+
 	/**
 	 * Scans a buffer for a valid reply.
 	 *
@@ -594,16 +597,25 @@ protected:
 	 * Errors should be reported directly, the base class does NOT report any errors based on the return
 	 * value of this function.
 	 *
-	 * @param start start of data
-	 * @param len length of data
-	 * @param[out] foundId the id of the packet starting at @c start
-	 * @param[out] foundLen length of the packet found
+	 * @param start start of remaining buffer to be scanned
+	 * @param len length of remaining buffer to be scanned
+	 * @param[out] foundId the id of the data found in the buffer.
+	 * @param[out] foundLen length of the data found. Is to be set in function, buffer is scanned at previous position + foundLen.
 	 * @return
-	 *     - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
-	 *     - @c NO_VALID_REPLY no reply could be found starting at @c start, implies @c foundLen is not valid, base class will call scanForReply() again with ++start
-	 *     - @c INVALID_REPLY a packet was found but it is invalid, eg checksum error, implies @c foundLen is valid, can be used to skip some bytes
-	 *     - @c TOO_SHORT @c len is too short for any valid packet
-	 *     - @c APERIODIC_REPLY if a valid reply is received that has not been requested by a command, but should be handled anyway (@see also fillCommandAndCookieMap() )
+	 *  - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
+	 *  - @c RETURN_FAILED no reply could be found starting at @c start,
+	 *    implies @c foundLen is not valid, base class will call scanForReply()
+	 *    again with ++start
+	 *  - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid,
+	 *    e.g. checksum error, implies @c foundLen is valid, can be used to
+	 *    skip some bytes
+	 *  - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid
+	 *  - @c DeviceHandlerIF::IGNORE_REPLY_DATA Ignore this specific part of
+	 *    the packet
+	 *  - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet
+	 *  - @c APERIODIC_REPLY if a valid reply is received that has not been
+	 *    requested by a command, but should be handled anyway
+	 *    (@see also fillCommandAndCookieMap() )
 	 */
 	virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
 			DeviceCommandId_t *foundId, uint32_t *foundLen) = 0;

From 7126c19ee05a17412107cf7dc738c967fb0d3c3a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 14:03:47 +0200
Subject: [PATCH 019/653] Restructured header file

Abstract functions are closer to the top
because they must be implemented and documentation
should be near the top.
Important virtual functions moved up too.
Additional documentation added and existing adapted
to 80 column width.
I tried to reduce the number of included files and sorted them a bit
---
 devicehandlers/DeviceHandlerBase.cpp | 177 ++++----
 devicehandlers/DeviceHandlerBase.h   | 606 ++++++++++++++++-----------
 2 files changed, 449 insertions(+), 334 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index bd304603..e7fd744a 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1,14 +1,14 @@
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/datapool/PoolVector.h>
-#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
 #include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
-#include <framework/globalfunctions/CRC.h>
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/subsystem/SubsystemBase.h>
 #include <framework/thermal/ThermalComponentIF.h>
+#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
+
+#include <framework/datapool/DataSet.h>
+#include <framework/datapool/PoolVariable.h>
+#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
+#include <framework/globalfunctions/CRC.h>
+#include <framework/subsystem/SubsystemBase.h>
 #include <framework/ipc/QueueFactory.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
@@ -90,6 +90,85 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	return RETURN_OK;
 }
 
+ReturnValue_t DeviceHandlerBase::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	communicationInterface = objectManager->get<DeviceCommunicationIF>(
+			deviceCommunicationId);
+	if (communicationInterface == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = communicationInterface->open(&cookie, ioBoardAddress,
+			maxDeviceReplyLen);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (IPCStore == NULL) {
+		return RETURN_FAILED;
+	}
+
+	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+			AcceptsDeviceResponsesIF>(rawDataReceiverId);
+
+	if (rawReceiver == NULL) {
+		return RETURN_FAILED;
+	}
+
+	defaultRawReceiver = rawReceiver->getDeviceQueue();
+
+	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+	if (powerSwitcher == NULL) {
+		return RETURN_FAILED;
+	}
+
+	result = healthHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	result = modeHelper.initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = actionHelper.initialize(commandQueue);
+	if (result != RETURN_OK) {
+		return result;
+	}
+	result = fdirInstance->initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = parameterHelper.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	result = hkSwitcher.initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	fillCommandAndReplyMap();
+
+	//Set temperature target state to NON_OP.
+	DataSet mySet;
+	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+			PoolVariableIF::VAR_WRITE);
+	mySet.read();
+	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+	mySet.commit(PoolVariableIF::VALID);
+
+	return RETURN_OK;
+
+}
+
 void DeviceHandlerBase::decrementDeviceReplyMap() {
 	for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
@@ -454,7 +533,9 @@ void DeviceHandlerBase::doGetWrite() {
 		if (wiretappingMode == RAW) {
 			replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
 		}
-		//We need to distinguish here, because a raw command never expects a reply. (Could be done in eRIRM, but then child implementations need to be careful.
+
+		//We need to distinguish here, because a raw command never expects a reply.
+		//(Could be done in eRIRM, but then child implementations need to be careful.
 		result = enableReplyInReplyMap(cookieInfo.pendingCommand);
 	} else {
 		//always generate a failure event, so that FDIR knows what's up
@@ -577,86 +658,6 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 		*len = 0;
 		return result;
 	}
-
-}
-
-ReturnValue_t DeviceHandlerBase::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	communicationInterface = objectManager->get<DeviceCommunicationIF>(
-			deviceCommunicationId);
-	if (communicationInterface == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = communicationInterface->open(&cookie, ioBoardAddress,
-			maxDeviceReplyLen);
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (IPCStore == NULL) {
-		return RETURN_FAILED;
-	}
-
-	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
-			AcceptsDeviceResponsesIF>(rawDataReceiverId);
-
-	if (rawReceiver == NULL) {
-		return RETURN_FAILED;
-	}
-
-	defaultRawReceiver = rawReceiver->getDeviceQueue();
-
-	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
-	if (powerSwitcher == NULL) {
-		return RETURN_FAILED;
-	}
-
-	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	result = modeHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = actionHelper.initialize(commandQueue);
-	if (result != RETURN_OK) {
-		return result;
-	}
-	result = fdirInstance->initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = parameterHelper.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = hkSwitcher.initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	fillCommandAndReplyMap();
-
-	//Set temperature target state to NON_OP.
-	DataSet mySet;
-	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	mySet.read();
-	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
-	mySet.commit(PoolVariableIF::VALID);
-
-	return RETURN_OK;
-
 }
 
 void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 871c9153..f475fde6 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -1,26 +1,24 @@
 #ifndef DEVICEHANDLERBASE_H_
 #define DEVICEHANDLERBASE_H_
 
-#include <framework/action/ActionHelper.h>
+#include <framework/objectmanager/SystemObject.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/action/HasActionsIF.h>
-#include <framework/datapool/DataSet.h>
 #include <framework/datapool/PoolVariableIF.h>
 #include <framework/devicehandlers/DeviceCommunicationIF.h>
 #include <framework/devicehandlers/DeviceHandlerIF.h>
-#include <framework/health/HealthHelper.h>
 #include <framework/modes/HasModesIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/parameters/ParameterHelper.h>
 #include <framework/power/PowerSwitchIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
-#include <framework/datapool/HkSwitchHelper.h>
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-#include <map>
 #include <framework/ipc/MessageQueueIF.h>
-#include <framework/tasks/PeriodicTaskIF.h>
+
+#include <framework/action/ActionHelper.h>
+#include <framework/health/HealthHelper.h>
+#include <framework/parameters/ParameterHelper.h>
+#include <framework/datapool/HkSwitchHelper.h>
+#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
+
+#include <map>
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
@@ -34,24 +32,48 @@ class StorageManagerIF;
  */
 
 /**
- * \brief This is the abstract base class for device handlers.
- *
+ * @brief This is the abstract base class for device handlers.
+ * @details
  * Documentation: Dissertation Baetz p.138,139, p.141-149
- * SpaceWire Remote Memory Access Protocol (RMAP)
  *
- * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, the RMAP communication and the
- * communication with commanding objects.
+ * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink,
+ * communication with physical devices, using the @link DeviceCommunicationIF @endlink,
+ * and communication with commanding objects.
  * It inherits SystemObject and thus can be created by the ObjectManagerIF.
  *
  * This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
- * For each step an RMAP action is selected and executed. If data has been received (eg in case of an RMAP Read), the data will be interpreted.
- * The action for each step can be defined by the child class but as most device handlers share a 4-call (Read-getRead-write-getWrite) structure,
- * a default implementation is provided.
+ * For each step an RMAP action is selected and executed.
+ * If data has been received (GET_READ), the data will be interpreted.
+ * The action for each step can be defined by the child class but as most
+ * device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
+ * a default implementation is provided. NOTE: RMAP is a standard which is used for FLP.
+ * RMAP communication is not mandatory for projects implementing the FSFW.
+ * However, the communication principles are similar to RMAP as there are
+ * two write and two send calls involved.
  *
  * Device handler instances should extend this class and implement the abstract functions.
  * Components and drivers can send so called cookies which are used for communication
+ * and contain information about the communcation (e.g. slave address for I2C or RMAP structs).
+ * The following abstract methods must be implemented by a device handler:
+ *  1. doStartUp()
+ *  2. doShutDown()
+ *  3. buildTransitionDeviceCommand()
+ *  4. buildNormalDeviceCommand()
+ *  5. buildCommandFromCommand()
+ *  6. fillCommandAndReplyMap()
+ *  7. scanForReply()
+ *  8. interpretDeviceReply()
  *
- * \ingroup devices
+ * Other important virtual methods with a default implementation
+ * are the getTransitionDelayMs() function and the getSwitches() function.
+ * Please ensure that getSwitches() returns DeviceHandlerIF::NO_SWITCHES if
+ * power switches are not implemented yet. Otherwise, the device handler will
+ * not transition to MODE_ON, even if setMode(MODE_ON) is called.
+ * If a transition to MODE_ON is desired without commanding, override the
+ * intialize() function and call setMode(_MODE_START_UP) before calling
+ * DeviceHandlerBase::initialize().
+ *
+ * @ingroup devices
  */
 class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasReturnvaluesIF,
@@ -68,56 +90,335 @@ public:
 	 *
 	 * @param setObjectId the ObjectId to pass to the SystemObject() Constructor
 	 * @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
-	 * @param setDeviceSwitch the switch the device is connected to, for devices using two switches, overwrite getSwitches()
+	 * @param setDeviceSwitch the switch the device is connected to,
+	 * for devices using two switches, overwrite getSwitches()
+	 * @param deviceCommuncation Communcation Interface object which is used
+	 * to implement communication functions
+	 * @param thermalStatePoolId
+	 * @param thermalRequestPoolId
+	 * @param fdirInstance
+	 * @param cmdQueueSize
 	 */
 	DeviceHandlerBase(uint32_t ioBoardAddress, object_id_t setObjectId,
 			uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
-			object_id_t deviceCommunication, uint32_t thermalStatePoolId =
-					PoolVariableIF::NO_PARAMETER,
+			object_id_t deviceCommunication,
+			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
 			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
 			FailureIsolationBase* fdirInstance = NULL, uint32_t cmdQueueSize = 20);
 
-	virtual MessageQueueId_t getCommandQueue(void) const;
-
-
 	/**
-		 * This function is a core component and is called periodically.
-		 * General sequence:
-		 * If the State is SEND_WRITE:
-		 *   1. Set the cookie state to COOKIE_UNUSED and read the command queue
-		 *   2. Handles Device State Modes by calling doStateMachine().
-		 *      This function calls callChildStatemachine() which calls the abstract functions
-		 *      doStartUp() and doShutDown()
-		 *   3. Check switch states by calling checkSwitchStates()
-		 *   4. Decrements counter for timeout of replies by calling decrementDeviceReplyMap()
-		 *   5. Performs FDIR check for failures
-		 *   6. Calls hkSwitcher.performOperation()
-		 *   7. If the device mode is MODE_OFF, return RETURN_OK. Otherwise, perform the Action property
-		 *   	and performs depending on value specified
-		 *      by input value counter. The child class tells base class what to do by setting this value.
-		 *     - SEND_WRITE: Send data or commands to device by calling doSendWrite()
-		 *     	 Calls abstract funtions buildNomalDeviceCommand()
-		 *     	 or buildTransitionDeviceCommand()
-		 *     - GET_WRITE: Get ackknowledgement for sending by calling doGetWrite().
-		 *       Calls abstract functions scanForReply() and interpretDeviceReply().
-		 *     - SEND_READ: Request reading data from device by calling doSendRead()
-		 *     - GET_READ: Access requested reading data by calling doGetRead()
-		 * @param counter Specifies which Action to perform
-		 * @return RETURN_OK for successful execution
-		 */
+	 * @brief 	This function is the device handler base core component and is
+	 * 			called periodically.
+	 * @details
+	 * General sequence, showing where abstract virtual functions are called:
+	 * If the State is SEND_WRITE:
+	 *   1. Set the cookie state to COOKIE_UNUSED and read the command queue
+	 *   2. Handles Device State Modes by calling doStateMachine().
+	 *      This function calls callChildStatemachine() which calls the
+	 *      abstract functions doStartUp() and doShutDown()
+	 *   3. Check switch states by calling checkSwitchStates()
+	 *   4. Decrements counter for timeout of replies by calling
+	 *      decrementDeviceReplyMap()
+	 *   5. Performs FDIR check for failures
+	 *   6. Calls hkSwitcher.performOperation()
+	 *   7. If the device mode is MODE_OFF, return RETURN_OK.
+     *      Otherwise, perform the Action property and performs depending
+     *      on value specified by input value counter (incremented in PST).
+     *      The child class tells base class what to do by setting this value.
+	 *     - SEND_WRITE: Send data or commands to device by calling
+	 *       doSendWrite() which calls sendMessage function
+	 *       of #communicationInterface
+	 *     	 and calls buildInternalCommand if the cookie state is COOKIE_UNUSED
+	 *     - GET_WRITE: Get ackknowledgement for sending by calling doGetWrite()
+	 *       which calls getSendSuccess of #communicationInterface.
+	 *       Calls abstract functions scanForReply() and interpretDeviceReply().
+	 *     - SEND_READ: Request reading data from device by calling doSendRead()
+	 *       which calls requestReceiveMessage of #communcationInterface
+	 *     - GET_READ: Access requested reading data by calling doGetRead()
+	 *       which calls readReceivedMessage of #communicationInterface
+	 * @param counter Specifies which Action to perform
+	 * @return RETURN_OK for successful execution
+	 */
 	virtual ReturnValue_t performOperation(uint8_t counter);
 
+	/**
+	 * @brief  Initializes the device handler
+	 * @details
+	 * Initialize Device Handler as system object and
+	 * initializes all important helper classes.
+	 * Calls fillCommandAndReplyMap().
+	 * @return
+	 */
 	virtual ReturnValue_t initialize();
 
-	/**
-	 *
-	 * @param parentQueueId
-	 */
-	virtual void setParentQueue(MessageQueueId_t parentQueueId);
 	/**
 	 * Destructor.
 	 */
 	virtual ~DeviceHandlerBase();
+protected:
+	/**
+	 * @brief 	This is used to let the child class handle the transition from
+	 * 			mode @c _MODE_START_UP to @c MODE_ON
+	 * @details
+	 * It is only called when the device handler is in mode @c _MODE_START_UP.
+	 * That means, the device switch(es) are already set to on.
+	 * Device handler commands are read and can be handled by the child class.
+	 * If the child class handles a command, it should also send
+	 * an reply accordingly.
+	 * If an Command is not handled (ie #DeviceHandlerCommand is not @c CMD_NONE,
+	 * the base class handles rejecting the command and sends a reply.
+	 * The replies for mode transitions are handled by the base class.
+	 *
+	 *  - If the device is started and ready for operation, the mode should be
+	 *    set to MODE_ON. It is possible to set the mode to _MODE_TO_ON to
+	 *    use the to on transition if available.
+	 *  - If the power-up fails, the mode should be set to _MODE_POWER_DOWN
+	 *    which will lead to the device being powered off.
+	 *  - If the device does not change the mode, the mode will be changed
+	 *    to _MODE_POWER_DOWN, after the timeout (from getTransitionDelay())
+	 *    has passed.
+	 *
+	 * #transitionFailure can be set to a failure code indicating the reason
+	 * for a failed transition
+	 */
+	virtual void doStartUp() = 0;
+
+	/**
+	 * @brief 	This is used to let the child class handle the transition
+	 * 			from mode @c _MODE_SHUT_DOWN to @c _MODE_POWER_DOWN
+	 * @details
+	 * It is only called when the device handler is in mode @c _MODE_SHUT_DOWN.
+	 * Device handler commands are read and can be handled by the child class.
+	 * If the child class handles a command, it should also send an reply
+	 * accordingly.
+	 * If an Command is not handled (ie #DeviceHandlerCommand is not
+	 * @c CMD_NONE, the base class handles rejecting the command and sends a
+	 * reply. The replies for mode transitions are handled by the base class.
+	 *
+	 *  - If the device ready to be switched off,
+	 *    the mode should be set to _MODE_POWER_DOWN.
+	 *  - If the device should not be switched off, the mode can be changed to
+	 *     _MODE_TO_ON (or MODE_ON if no transition is needed).
+	 *  - If the device does not change the mode, the mode will be changed to
+	 *    _MODE_POWER_DOWN, when the timeout (from getTransitionDelay())
+	 *    has passed.
+	 *
+	 * #transitionFailure can be set to a failure code indicating the reason
+	 * for a failed transition
+	 */
+	virtual void doShutDown() = 0;
+
+	/**
+	 * Build the device command to send for normal mode.
+	 *
+	 * This is only called in @c MODE_NORMAL. If multiple submodes for
+	 * @c MODE_NORMAL are supported, different commands can built,
+	 * depending on the submode.
+	 *
+	 * #rawPacket and #rawPacketLen must be set by this method to the
+	 * packet to be sent. If variable command frequence is required, a counter
+	 * can be used and the frequency in the reply map has to be set manually
+	 * by calling updateReplyMap().
+	 *
+	 * @param[out] id the device command id that has been built
+	 * @return
+	 *    - @c RETURN_OK to send command after setting #rawPacket and #rawPacketLen.
+	 *    - @c NOTHING_TO_SEND when no command is to be sent.
+	 *    - Anything else triggers an even with the returnvalue as a parameter.
+	 */
+	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0;
+
+	/**
+	 * Build the device command to send for a transitional mode.
+	 *
+	 * This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW,
+	 * @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp()
+	 * and doShutDown() as well as doTransition()
+	 *
+	 * A good idea is to implement a flag indicating a command has to be built
+	 * and a variable containing the command number to be built
+	 * and filling them in doStartUp(), doShutDown() and doTransition() so no
+	 * modes have to be checked here.
+	 *
+	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 *
+	 * @param[out] id the device command id built
+	 * @return
+	 *    - @c RETURN_OK when a command is to be sent
+	 *    - @c NOTHING_TO_SEND when no command is to be sent
+	 *    - Anything else triggers an even with the returnvalue as a parameter
+	 */
+	virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) = 0;
+
+	/**
+	 * @brief Build a device command packet from data supplied by a direct command.
+	 *
+	 * @details
+	 * #rawPacket and #rawPacketLen should be set by this method to the packet to be sent.
+	 * The existence of the command in the command map and the command size check
+	 * against 0 are done by the base class.
+	 *
+	 * @param deviceCommand the command to build, already checked against deviceCommandMap
+	 * @param commandData pointer to the data from the direct command
+	 * @param commandDataLen length of commandData
+	 * @return
+	 *     - @c RETURN_OK to send command after #rawPacket and #rawPacketLen have been set.
+	 *     - Anything else triggers an event with the returnvalue as a parameter
+	 */
+	virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+			const uint8_t * commandData, size_t commandDataLen) = 0;
+
+	/**
+	 * @brief fill the #deviceCommandMap
+	 *	 	  called by the initialize() of the base class
+	 * @details
+	 * This is used to let the base class know which replies are expected.
+	 * There are different scenarios regarding this:
+	 *
+	 *  - "Normal" commands. These are commands, that trigger a direct reply
+	 *    from the device. In this case, the id of the command should be added
+	 *    to the command map with a commandData_t where maxDelayCycles is set
+	 *    to the maximum expected number of PST cycles the reply will take.
+	 *    Then, scanForReply returns the id of the command and the base class
+	 *    can handle time-out and missing replies.
+	 *
+	 *  - Periodic, unrequested replies. These are replies that, once enabled,
+	 *    are sent by the device on its own in a defined interval.
+	 *    In this case, the id of the reply or a placeholder id should be added
+	 *    to the deviceCommandMap with a commandData_t where maxDelayCycles is
+	 *    set to the maximum expected number of PST cycles between two replies
+	 *    (also a tolerance should be added, as an FDIR message will be
+	 *    generated if it is missed).
+	 *
+	 *    (Robin) This part confuses me. "must do as soon as" implies that
+	 *    the developer must do something somewhere else in the code. Is
+	 *    that really the case? If I understood correctly, DHB performs
+	 *    almost everything (e.g. in erirm function) as long as the commands
+	 *    are inserted correctly.
+	 *
+	 *    As soon as the replies are enabled, DeviceCommandInfo.periodic must
+	 *    be set to true, DeviceCommandInfo.delayCycles to
+	 *    DeviceCommandInfo.maxDelayCycles.
+	 *    From then on, the base class handles the reception.
+	 *    Then, scanForReply returns the id of the reply or the placeholder id
+	 *    and the base class will take care of checking that all replies are
+	 *    received and the interval is correct.
+	 *    When the replies are disabled, DeviceCommandInfo.periodic must be set
+	 *    to 0, DeviceCommandInfo.delayCycles to 0;
+	 *
+	 *  - Aperiodic, unrequested replies. These are replies that are sent
+	 *    by the device without any preceding command and not in a defined
+	 *    interval. These are not entered in the deviceCommandMap but
+	 *    handled by returning @c APERIODIC_REPLY in scanForReply().
+	 */
+	virtual void fillCommandAndReplyMap() = 0;
+
+	/**
+	 * @brief Scans a buffer for a valid reply.
+	 * @details
+	 * This is used by the base class to check the data received for valid packets.
+	 * It only checks if a valid packet starts at @c start.
+	 * It also only checks the structural validy of the packet,
+	 * e.g. checksums lengths and protocol data. No information check is done,
+	 * e.g. range checks etc.
+	 *
+	 * Errors should be reported directly, the base class does NOT report any
+	 * errors based on the return value of this function.
+	 *
+	 * @param start start of remaining buffer to be scanned
+	 * @param len length of remaining buffer to be scanned
+	 * @param[out] foundId the id of the data found in the buffer.
+	 * @param[out] foundLen length of the data found. Is to be set in function,
+	 *                       buffer is scanned at previous position + foundLen.
+	 * @return
+	 *  - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
+	 *  - @c RETURN_FAILED no reply could be found starting at @c start,
+	 *    implies @c foundLen is not valid, base class will call scanForReply()
+	 *    again with ++start
+	 *  - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid,
+	 *    e.g. checksum error, implies @c foundLen is valid, can be used to
+	 *    skip some bytes
+	 *  - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid
+	 *  - @c DeviceHandlerIF::IGNORE_REPLY_DATA Ignore this specific part of
+	 *    the packet
+	 *  - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet
+	 *  - @c APERIODIC_REPLY if a valid reply is received that has not been
+	 *    requested by a command, but should be handled anyway
+	 *    (@see also fillCommandAndCookieMap() )
+	 */
+	virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
+			DeviceCommandId_t *foundId, uint32_t *foundLen) = 0;
+
+	/**
+	 * @brief Interpret a reply from the device.
+	 * @details
+	 * This is called after scanForReply() found a valid packet, it can be
+	 * assumed that the length and structure is valid.
+	 * This routine extracts the data from the packet into a DataSet and then
+	 * calls handleDeviceTM(), which either sends a TM packet or stores the
+	 * data in the DataPool depending on whether it was an external command.
+	 * No packet length is given, as it should be defined implicitly by the id.
+	 *
+	 * @param id the id found by scanForReply()
+	 * @param packet
+	 * @return
+	 *     - @c RETURN_OK when the reply was interpreted.
+	 *     - @c RETURN_FAILED when the reply could not be interpreted,
+	 *     e.g. logical errors or range violations occurred
+	 */
+
+	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+			const uint8_t *packet) = 0;
+
+	/**
+	 * @brief   Can be implemented by child handler to
+	 *          perform debugging
+	 * @details Example: Calling this in performOperation
+	 *          to track values like mode.
+	 * @param 	positionTracker Provide the child handler a way to know where the debugInterface was called
+	 * @param 	objectId Provide the child handler object Id to specify actions for spefic devices
+	 * @param 	parameter Supply a parameter of interest
+	 * Please delete all debugInterface calls in DHB after debugging is finished !
+	 */
+	virtual void debugInterface(uint8_t positionTracker = 0,
+			object_id_t objectId = 0, uint32_t parameter = 0);
+
+	/**
+	 * Get the time needed to transit from modeFrom to modeTo.
+	 *
+	 * Used for the following transitions:
+	 * modeFrom -> modeTo:
+	 * MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
+	 * MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
+	 * MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
+	 * _MODE_START_UP -> MODE_ON (do not include time to set the switches, the base class got you covered)
+	 *
+	 * The default implementation returns 0 !
+	 * @param modeFrom
+	 * @param modeTo
+	 * @return time in ms
+	 */
+	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo);
+
+	/**
+	 * Return the switches connected to the device.
+	 *
+	 * The default implementation returns one switch set in the ctor.
+	 *
+	 * @param[out] switches pointer to an array of switches
+	 * @param[out] numberOfSwitches length of returned array
+	 * @return
+	 *      - @c RETURN_OK if the parameters were set
+	 *      - @c RETURN_FAILED if no switches exist
+	 */
+	virtual ReturnValue_t getSwitches(const uint8_t **switches,
+			uint8_t *numberOfSwitches);
+
+public:
+	/**
+	 * @param parentQueueId
+	 */
+	virtual void setParentQueue(MessageQueueId_t parentQueueId);
 
 	ReturnValue_t executeAction(ActionId_t actionId,
 			MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size);
@@ -136,6 +437,8 @@ public:
 	 * @param task_ Pointer to the taskIF of this task
 	 */
 	virtual  void setTaskIF(PeriodicTaskIF* task_);
+	virtual MessageQueueId_t getCommandQueue(void) const;
+
 protected:
 	/**
 	 * The Returnvalues id of this class, required by HasReturnvaluesIF
@@ -347,41 +650,6 @@ protected:
 	 */
 	void setMode(Mode_t newMode, Submode_t submode);
 
-	/**
-	 * This is used to let the child class handle the transition from mode @c _MODE_START_UP to @c MODE_ON
-	 *
-	 * It is only called when the device handler is in mode @c _MODE_START_UP. That means, the device switch(es) are already set to on.
-	 * Device handler commands are read and can be handled by the child class. If the child class handles a command, it should also send
-	 * an reply accordingly.
-	 * If an Command is not handled (ie #DeviceHandlerCommand is not @c CMD_NONE, the base class handles rejecting the command and sends a reply.
-	 * The replies for mode transitions are handled by the base class.
-	 *
-	 * If the device is started and ready for operation, the mode should be set to MODE_ON. It is possible to set the mode to _MODE_TO_ON to
-	 * use the to on transition if available.
-	 * If the power-up fails, the mode should be set to _MODE_POWER_DOWN which will lead to the device being powered off.
-	 * If the device does not change the mode, the mode will be changed to _MODE_POWER_DOWN, after the timeout (from getTransitionDelay()) has passed.
-	 *
-	 * #transitionFailure can be set to a failure code indicating the reason for a failed transition
-	 */
-	virtual void doStartUp() = 0;
-
-	/**
-	 * This is used to let the child class handle the transition from mode @c _MODE_SHUT_DOWN to @c _MODE_POWER_DOWN
-	 *
-	 * It is only called when the device handler is in mode @c _MODE_SHUT_DOWN.
-	 * Device handler commands are read and can be handled by the child class. If the child class handles a command, it should also send
-	 * an reply accordingly.
-	 * If an Command is not handled (ie #DeviceHandlerCommand is not @c CMD_NONE, the base class handles rejecting the command and sends a reply.
-	 * The replies for mode transitions are handled by the base class.
-	 *
-	 * If the device ready to be switched off, the mode should be set to _MODE_POWER_DOWN.
-	 * If the device should not be switched off, the mode can be changed to _MODE_TO_ON (or MODE_ON if no transition is needed).
-	 * If the device does not change the mode, the mode will be changed to _MODE_POWER_DOWN, when the timeout (from getTransitionDelay()) has passed.
-	 *
-	 * #transitionFailure can be set to a failure code indicating the reason for a failed transition
-	 */
-	virtual void doShutDown() = 0;
-
 	/**
 	 * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
 	 *
@@ -411,24 +679,6 @@ protected:
 	 */
 	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
 
-	/**
-	 * Get the time needed to transit from modeFrom to modeTo.
-	 *
-	 * Used for the following transitions:
-	 * modeFrom -> modeTo:
-	 * MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
-	 * MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
-	 * MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
-	 * _MODE_START_UP -> MODE_ON (do not include time to set the switches, the base class got you covered)
-	 *
-	 * The default implementation returns 0;
-	 *
-	 * @param modeFrom
-	 * @param modeTo
-	 * @return time in ms
-	 */
-	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo);
-
 	/**
 	 * Is the combination of mode and submode valid?
 	 *
@@ -450,40 +700,6 @@ protected:
 	 */
 	virtual RmapAction_t getRmapAction();
 
-	/**
-	 * Build the device command to send for normal mode.
-	 *
-	 * This is only called in @c MODE_NORMAL. If multiple submodes for @c MODE_NORMAL are supported,
-	 * different commands can built returned depending on the submode.
-	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
-	 *
-	 * @param[out] id the device command id that has been built
-	 * @return
-	 *    - @c RETURN_OK when a command is to be sent
-	 *    - not @c RETURN_OK when no command is to be sent
-	 */
-	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0;
-
-	/**
-	 * Build the device command to send for a transitional mode.
-	 *
-	 * This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW,
-	 * @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp() and doShutDown() as well as doTransition()
-	 *
-	 * A good idea is to implement a flag indicating a command has to be built and a variable containing the command number to be built
-	 * and filling them in doStartUp(), doShutDown() and doTransition() so no modes have to be checked here.
-	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
-	 *
-	 * @param[out] id the device command id built
-	 * @return
-	 *    - @c RETURN_OK when a command is to be sent
-	 *    - not @c RETURN_OK when no command is to be sent
-	 */
-	virtual ReturnValue_t buildTransitionDeviceCommand(
-			DeviceCommandId_t * id) = 0;
-
 	/**
 	 * Build the device command to send for raw mode.
 	 *
@@ -504,41 +720,6 @@ protected:
 	 */
 	virtual ReturnValue_t buildChildRawCommand();
 
-	/**
-	 * Build a device command packet from data supplied by a direct command.
-	 *
-	 * #rawPacket and #rawPacketLen should be set by this method to the packet to be sent.
-	 *
-	 * @param deviceCommand the command to build, already checked against deviceCommandMap
-	 * @param commandData pointer to the data from the direct command
-	 * @param commandDataLen length of commandData
-	 * @return
-	 *     - @c RETURN_OK when #rawPacket is valid
-	 *     - @c RETURN_FAILED when #rawPacket is invalid and no data should be sent
-	 */
-	virtual ReturnValue_t buildCommandFromCommand(
-			DeviceCommandId_t deviceCommand, const uint8_t * commandData,
-			size_t commandDataLen) = 0;
-
-	/**
-	 * fill the #deviceCommandMap
-	 *
-	 * called by the initialize() of the base class
-	 *
-	 * This is used to let the base class know which replies are expected.
-	 * There are different scenarios regarding this:
-	 * - "Normal" commands. These are commands, that trigger a direct reply from the device. In this case, the id of the command should be added to the command map
-	 * with a commandData_t where maxDelayCycles is set to the maximum expected number of PST cycles the reply will take. Then, scanForReply returns the id of the command and the base class can handle time-out and missing replies.
-	 * - Periodic, unrequested replies. These are replies that, once enabled, are sent by the device on its own in a defined interval. In this case, the id of the reply or a placeholder id should be added to the deviceCommandMap
-	 * with a commandData_t where maxDelayCycles is set to the maximum expected number of PST cycles between two replies (also a tolerance should be added, as an FDIR message will be generated if it is missed).
-	 * As soon as the replies are enabled, DeviceCommandInfo.periodic must be set to 1, DeviceCommandInfo.delayCycles to DeviceCommandInfo.MaxDelayCycles. From then on, the base class handles the reception.
-	 * Then, scanForReply returns the id of the reply or the placeholder id and the base class will take care of checking that all replies are received and the interval is correct.
-	 * When the replies are disabled, DeviceCommandInfo.periodic must be set to 0, DeviceCommandInfo.delayCycles to 0;
-	 * - Aperiodic, unrequested replies. These are replies that are sent by the device without any preceding command and not in a defined interval. These are not entered in the deviceCommandMap but handled by returning @c APERIODIC_REPLY in scanForReply().
-	 *
-	 */
-	virtual void fillCommandAndReplyMap() = 0;
-
 	/**
 	 * This is a helper method to facilitate inserting entries in the command map.
 	 * @param deviceCommand	Identifier of the command to add.
@@ -586,58 +767,6 @@ protected:
 	 */
 	uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
 
-	/**
-	 * Scans a buffer for a valid reply.
-	 *
-	 * This is used by the base class to check the data received from the RMAP stack for valid packets.
-	 * It only checks if a valid packet starts at @c start.
-	 * It also only checks the structural validy of the packet, eg checksums lengths and protocol data. No
-	 * information check is done, eg range checks etc.
-	 *
-	 * Errors should be reported directly, the base class does NOT report any errors based on the return
-	 * value of this function.
-	 *
-	 * @param start start of remaining buffer to be scanned
-	 * @param len length of remaining buffer to be scanned
-	 * @param[out] foundId the id of the data found in the buffer.
-	 * @param[out] foundLen length of the data found. Is to be set in function, buffer is scanned at previous position + foundLen.
-	 * @return
-	 *  - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
-	 *  - @c RETURN_FAILED no reply could be found starting at @c start,
-	 *    implies @c foundLen is not valid, base class will call scanForReply()
-	 *    again with ++start
-	 *  - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid,
-	 *    e.g. checksum error, implies @c foundLen is valid, can be used to
-	 *    skip some bytes
-	 *  - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid
-	 *  - @c DeviceHandlerIF::IGNORE_REPLY_DATA Ignore this specific part of
-	 *    the packet
-	 *  - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet
-	 *  - @c APERIODIC_REPLY if a valid reply is received that has not been
-	 *    requested by a command, but should be handled anyway
-	 *    (@see also fillCommandAndCookieMap() )
-	 */
-	virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
-			DeviceCommandId_t *foundId, uint32_t *foundLen) = 0;
-
-	/**
-	 * Interpret a reply from the device.
-	 *
-	 * This is called after scanForReply() found a valid packet, it can be assumed that the length and structure is valid.
-	 * This routine extracts the data from the packet into a DataSet and then calls handleDeviceTM(), which either sends
-	 * a TM packet or stores the data in the DataPool depending on whether the it was an external command.
-	 * No packet length is given, as it should be defined implicitly by the id.
-	 *
-	 * @param id the id found by scanForReply()
-	 * @param packet
-	 * @param commander the one who initiated the command, is 0 if not external commanded
-	 * @return
-	 *     - @c RETURN_OK when the reply was interpreted.
-	 *     - @c RETURN_FAILED when the reply could not be interpreted, eg. logical errors or range violations occurred
-	 */
-	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
-			const uint8_t *packet) = 0;
-
 	/**
 	 * Construct a command reply containing a raw reply.
 	 *
@@ -661,21 +790,6 @@ protected:
 	 */
 	void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len);
 
-	/**
-	 * Return the switches connected to the device.
-	 *
-	 * The default implementation returns one switch set in the ctor.
-	 *
-	 *
-	 * @param[out] switches pointer to an array of switches
-	 * @param[out] numberOfSwitches length of returned array
-	 * @return
-	 *      - @c RETURN_OK if the parameters were set
-	 *      - @c RETURN_FAILED if no switches exist
-	 */
-	virtual ReturnValue_t getSwitches(const uint8_t **switches,
-			uint8_t *numberOfSwitches);
-
 	/**
 	 * notify child about mode change
 	 */

From 1ec1d057b822df09aed7268a2dfb6bdeafe1a8b4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 23 Mar 2020 18:05:39 +0100
Subject: [PATCH 020/653] renamed rmap to com (more generic)

---
 devicehandlers/DeviceHandlerBase.cpp |   5 +-
 devicehandlers/DeviceHandlerBase.h   |   5 +-
 devicehandlers/DeviceHandlerIF.h     | 137 +++++++++++++--------------
 3 files changed, 73 insertions(+), 74 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index e7fd744a..fa9c0248 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -67,7 +67,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
 	}
-	switch (getRmapAction()) {
+	switch (getCommandQueue()) {
 	case SEND_WRITE:
 		if ((cookieInfo.state == COOKIE_UNUSED)) {
 			buildInternalCommand();
@@ -689,8 +689,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 }
 
 //Default child implementations
-
-DeviceHandlerBase::RmapAction_t DeviceHandlerBase::getRmapAction() {
+DeviceHandlerIF::CommunicationAction_t DeviceHandlerBase::getComAction() {
 	switch (pstStep) {
 	case 0:
 		return SEND_WRITE;
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index f475fde6..24d0c428 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -3,11 +3,11 @@
 
 #include <framework/objectmanager/SystemObject.h>
 #include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/devicehandlers/DeviceHandlerIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/action/HasActionsIF.h>
 #include <framework/datapool/PoolVariableIF.h>
 #include <framework/devicehandlers/DeviceCommunicationIF.h>
-#include <framework/devicehandlers/DeviceHandlerIF.h>
 #include <framework/modes/HasModesIF.h>
 #include <framework/power/PowerSwitchIF.h>
 #include <framework/ipc/MessageQueueIF.h>
@@ -698,7 +698,8 @@ protected:
 	 *
 	 * @return The Rmap action to execute in this step
 	 */
-	virtual RmapAction_t getRmapAction();
+
+	virtual CommunicationAction_t getComAction();
 
 	/**
 	 * Build the device command to send for raw mode.
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index fe0ee8e8..d347fd68 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -23,85 +23,84 @@ public:
 	 * @details The mode of the device handler must not be confused with the mode the device is in.
 	 * The mode of the device itself is transparent to the user but related to the mode of the handler.
 	 */
-//		MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
-//		MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
-		static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
-		static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
-		static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
-		static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
-		static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
-		static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
-		static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-		static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-		static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
-		static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
-		static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
-		static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
-		static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
+	//		MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
+	//		MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
+	static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
+	static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
+	static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
+	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
+	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
+	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
+	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
+	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
 
-		static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
-		static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
-		static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
-		static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
-		static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
-		static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
-		static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
-		static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
-		static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
-		static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
-		static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
-		static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
+	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
+	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
+	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
+	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
+	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
+	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
+	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
+	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
+	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
+	static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
+	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
 
-		static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
-		static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0);
-		static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
-		static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2);
-		static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
-		static const ReturnValue_t CANT_SWITCH_IOBOARD = MAKE_RETURN_CODE(0xA4);
-		static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
-		static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
-		static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-		static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
-		static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
-		static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
+	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0);
+	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
+	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2);
+	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
+	static const ReturnValue_t CANT_SWITCH_IOBOARD = MAKE_RETURN_CODE(0xA4);
+	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
+	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
+	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
+	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 
-		//standard codes used in scan for reply
+	//standard codes used in scan for reply
 	//	static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE(0xB1);
-		static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
-		static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
-		static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
-		static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
+	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
+	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
+	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
 
-		//standard codes used in  interpret device reply
-		static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
-		static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
-		static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
-		static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
+	//standard codes used in  interpret device reply
+	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
+	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
+	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
+	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
 
-		//Standard codes used in buildCommandFromCommand
-		static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(
-				0xD0);
-		static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS =
-				MAKE_RETURN_CODE(0xD1);
+	//Standard codes used in buildCommandFromCommand
+	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(
+			0xD0);
+	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS =
+			MAKE_RETURN_CODE(0xD1);
+
+	/**
+	 * Communication action which will be executed.
+	 *
+	 * This is used by the child class to tell the base class what to do.
+	 */
+	enum CommunicationAction_t {
+		SEND_WRITE,//!< RMAP send write
+		GET_WRITE, //!< RMAP get write
+		SEND_READ, //!< RMAP send read
+		GET_READ,  //!< RMAP get read
+		NOTHING    //!< Do nothing.
+	};
 
-		/**
-		 * RMAP Action that will be executed.
-		 *
-		 * This is used by the child class to tell the base class what to do.
-		 */
-		enum RmapAction_t {
-			SEND_WRITE,//!< RMAP send write
-			GET_WRITE, //!< RMAP get write
-			SEND_READ, //!< RMAP send read
-			GET_READ,  //!< RMAP get read
-			NOTHING    //!< Do nothing.
-		};
 	/**
 	 * Default Destructor
 	 */
-	virtual ~DeviceHandlerIF() {
-
-	}
+	virtual ~DeviceHandlerIF() {}
 
 	/**
 	 * This MessageQueue is used to command the device handler.

From 62644bdfc95d145ad3f0f4d13525b1fc76238bb7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 14:45:28 +0200
Subject: [PATCH 021/653] DeviceHandlerIF fixed some indentation error

still some unclarities about returnvalues
so I added a comment on what the returnvalues
in DHB and DH interface mean
---
 devicehandlers/DeviceHandlerBase.cpp |  2 +-
 devicehandlers/DeviceHandlerBase.h   |  6 ++++
 devicehandlers/DeviceHandlerIF.h     | 44 ++++++++++++++++------------
 3 files changed, 32 insertions(+), 20 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index fa9c0248..ca8fa85c 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1054,7 +1054,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 			if (result == RETURN_OK) {
 				replyReturnvalueToCommand(RETURN_OK);
 			} else {
-				replyReturnvalueToCommand(CANT_SWITCH_IOBOARD);
+				replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
 			}
 		}
 		return RETURN_OK;
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 24d0c428..4d3e3f4e 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -445,7 +445,13 @@ protected:
 	 */
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
+	/**
+	 * These returnvalues can be returned from abstract functions
+	 * to alter the behaviour of DHB.For error values, refer to
+	 * DeviceHandlerIF.h returnvalues.
+	 */
 	static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(4);
+	// Returnvalues for scanForReply()
 	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5); //!< This is used to specify for replies from a device which are not replies to requests
 	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6); //!< Ignore parts of the received packet
 	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(7); //!< Ignore full received packet
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index d347fd68..04e94613 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -2,13 +2,15 @@
 #define DEVICEHANDLERIF_H_
 
 #include <framework/action/HasActionsIF.h>
-#include <framework/devicehandlers/DeviceHandlerMessage.h>
-#include <framework/events/Event.h>
 #include <framework/modes/HasModesIF.h>
 #include <framework/ipc/MessageQueueSenderIF.h>
+#include <framework/devicehandlers/DeviceHandlerMessage.h>
+#include <framework/events/Event.h>
+
 
 /**
- * This is the Interface used to communicate with a device handler.
+ * @brief 	This is the Interface used to communicate with a device handler.
+ * @details Includes all expected return values, events and modes.
  *
  */
 class DeviceHandlerIF {
@@ -22,15 +24,17 @@ public:
 	 *
 	 * @details The mode of the device handler must not be confused with the mode the device is in.
 	 * The mode of the device itself is transparent to the user but related to the mode of the handler.
+	 * MODE_ON and MODE_OFF are included in hasModesIF.h
 	 */
-	//		MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
-	//		MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
+
+	// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
+	// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
 	static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
 	static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
 	static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
 	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
 	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
-	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON; //!< It is possible to set the mode to _MODE_TO_ON to use the to on transition if available.
 	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
 	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
 	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
@@ -53,11 +57,12 @@ public:
 	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
+	// Standard error codes when handling or building commands.
 	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0);
 	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
 	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2);
 	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
-	static const ReturnValue_t CANT_SWITCH_IOBOARD = MAKE_RETURN_CODE(0xA4);
+	static const ReturnValue_t CANT_SWITCH_IO_ADDRESS = MAKE_RETURN_CODE(0xA4);
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
@@ -65,35 +70,35 @@ public:
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 
-	//standard codes used in scan for reply
-	//	static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE(0xB1);
+	// Standard error codes used in scan for reply
+	//static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE(0xB1);
 	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
 	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
 	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
 	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
 
-	//standard codes used in  interpret device reply
+	// Standard error codes used in  interpret device reply
 	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
 	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
 	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
 	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
 
-	//Standard codes used in buildCommandFromCommand
+	// Standard error codes used in buildCommandFromCommand
 	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(
 			0xD0);
 	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS =
 			MAKE_RETURN_CODE(0xD1);
 
 	/**
-	 * Communication action which will be executed.
+	 * Communication action that will be executed.
 	 *
 	 * This is used by the child class to tell the base class what to do.
 	 */
-	enum CommunicationAction_t {
-		SEND_WRITE,//!< RMAP send write
-		GET_WRITE, //!< RMAP get write
-		SEND_READ, //!< RMAP send read
-		GET_READ,  //!< RMAP get read
+	enum CommunicationAction_t: uint8_t {
+		SEND_WRITE,//!< Send write
+		GET_WRITE, //!< Get write
+		SEND_READ, //!< Send read
+		GET_READ,  //!< Get read
 		NOTHING    //!< Do nothing.
 	};
 
@@ -105,8 +110,9 @@ public:
 	/**
 	 * This MessageQueue is used to command the device handler.
 	 *
-	 * To command a device handler, a DeviceHandlerCommandMessage can be sent to this Queue.
-	 * The handler replies with a DeviceHandlerCommandMessage containing the DeviceHandlerCommand_t reply.
+	 * To command a device handler, a DeviceHandlerCommandMessage can be
+	 * sent to this Queue. The handler replies with a
+	 * DeviceHandlerCommandMessage containing the DeviceHandlerCommand_t reply.
 	 *
 	 * @return the id of the MessageQueue
 	 */

From 74b8c3eef47b39f01420456b7ce4a87eb7069089 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 14:52:27 +0200
Subject: [PATCH 022/653] new returnvalue DeviceComIF

explicitely setting receivedDataLen to 0 in readReceivedMessage() does
not trigger error anymore
---
 devicehandlers/DeviceCommunicationIF.h | 6 ++++--
 devicehandlers/DeviceHandlerBase.cpp   | 2 +-
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index b24e7d37..41d47cd3 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -8,6 +8,7 @@ class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
+	// Standard error codes
 	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x01);
 	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x02);
 	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x03);
@@ -16,9 +17,10 @@ public:
 	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x06);
 	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x07);
 
-	virtual ~DeviceCommunicationIF() {
+	// Can be used in readReceivedMessage()
+	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0xA1);
 
-	}
+	virtual ~DeviceCommunicationIF() {}
 
 	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
 			uint32_t maxReplyLen) = 0;
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index ca8fa85c..30228dd4 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -588,7 +588,7 @@ void DeviceHandlerBase::doGetRead() {
 		return;
 	}
 
-	if (receivedDataLen == 0)
+	if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED)
 		return;
 
 	if (wiretappingMode == RAW) {

From eacedf7ed603fc68f507ee11c08e4787d3f5c079 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 15:01:27 +0200
Subject: [PATCH 023/653] DHB: replyLen in replyMap now

both maps are closer together now as well
---
 devicehandlers/DeviceHandlerBase.cpp | 39 +++++++++++--------
 devicehandlers/DeviceHandlerBase.h   | 58 ++++++++++++++--------------
 2 files changed, 52 insertions(+), 45 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 30228dd4..3e17b451 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -334,37 +334,35 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
-		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		uint8_t periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
-//No need to check, as we may try to insert multiple times.
+ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
+		uint16_t maxDelayCycles, size_t replyLen, uint8_t periodic,
+		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
-		return insertInReplyMap(replyId, maxDelayCycles, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, uint8_t periodic) {
+		uint16_t maxDelayCycles, size_t replyLen, uint8_t periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
+	info.replyLen = replyLen;
 	info.command = deviceCommandMap.end();
-	std::pair<std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator, bool> returnValue;
-	returnValue = deviceReplyMap.insert(
-			std::pair<DeviceCommandId_t, DeviceReplyInfo>(replyId, info));
-	if (returnValue.second) {
+	std::pair<DeviceReplyIter, bool> result = deviceReplyMap.emplace(replyId, info);
+	if (result.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(
-		DeviceCommandId_t deviceCommand) {
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
 	DeviceCommandInfo info;
 	info.expectedReplies = 0;
 	info.isExecuting = false;
@@ -380,9 +378,8 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(
-		DeviceCommandId_t deviceReply, uint16_t delayCycles,
-		uint16_t maxDelayCycles, uint8_t periodic) {
+ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
+		uint16_t delayCycles, uint16_t maxDelayCycles, uint8_t periodic) {
 	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.find(deviceReply);
 	if (iter == deviceReplyMap.end()) {
@@ -551,7 +548,17 @@ void DeviceHandlerBase::doGetWrite() {
 void DeviceHandlerBase::doSendRead() {
 	ReturnValue_t result;
 
+	size_t requestLen = 0;
+	DeviceReplyIter iter = deviceReplyMap.find(cookieInfo.pendingCommand->first);
+	if(iter != deviceReplyMap.end()) {
+		requestLen = iter->second.replyLen;
+	}
+	else {
+		requestLen = 0;
+	}
+
 	result = communicationInterface->requestReceiveMessage(cookie);
+
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
 	} else {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 4d3e3f4e..d774ce98 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -557,6 +557,29 @@ protected:
 	 */
 	Cookie *cookie;
 
+	struct DeviceCommandInfo {
+		bool isExecuting; //!< Indicates if the command is already executing.
+		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
+		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
+	};
+	using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo> ;
+
+	/**
+	 * @brief Information about expected replies
+	 *
+	 * This is used to keep track of pending replies
+	 */
+	struct DeviceReplyInfo {
+		uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
+		uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
+		size_t replyLen = 0; //!< Expected size of the reply.
+		uint8_t periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
+		DeviceCommandMap::iterator command; //!< The command that expects this reply.
+	};
+
+	using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo> ;
+	using DeviceReplyIter = DeviceReplyMap::iterator;
+
 	/**
 	 * The MessageQueue used to receive device handler commands and to send replies.
 	 */
@@ -736,7 +759,7 @@ protected:
 	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, uint8_t periodic = 0,
+			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 	/**
 	 * This is a helper method to insert replies in the reply map.
@@ -747,7 +770,7 @@ protected:
 	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, uint8_t periodic = 0);
+			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0);
 	/**
 	 * A simple command to add a command to the commandList.
 	 * @param deviceCommand The command to add
@@ -802,13 +825,6 @@ protected:
 	 */
 	virtual void modeChanged(void);
 
-	struct DeviceCommandInfo {
-		bool isExecuting; //!< Indicates if the command is already executing.
-		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected.
-		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
-	};
-
-	typedef std::map<DeviceCommandId_t, DeviceCommandInfo> DeviceCommandMap;
 	/**
 	 * Enable the reply checking for a command
 	 *
@@ -819,16 +835,16 @@ protected:
 	 * When found, copies maxDelayCycles to delayCycles in the reply information and sets the command to
 	 * expect one reply.
 	 *
-	 * Can be overwritten by the child, if a command activates multiple replies or replyId differs from
-	 * commandId.
+	 * Can be overwritten by the child, if a command activates multiple replies
+	 * or replyId differs from commandId.
 	 * Notes for child implementations:
 	 * 	- If the command was not found in the reply map, NO_REPLY_EXPECTED MUST be returned.
 	 * 	- A failure code may be returned if something went fundamentally wrong.
 	 *
 	 * @param deviceCommand
 	 * @return 	- RETURN_OK if a reply was activated.
-	 * 			- NO_REPLY_EXPECTED if there was no reply found. This is not an error case as many commands
-	 * 				do not expect a reply.
+	 * 			- NO_REPLY_EXPECTED if there was no reply found. This is not an
+	 * 			  error case as many commands do not expect a reply.
 	 */
 	virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator cmd,
 			uint8_t expectedReplies = 1, bool useAlternateId = false,
@@ -927,22 +943,6 @@ protected:
 
 	bool commandIsExecuting(DeviceCommandId_t commandId);
 
-	/**
-	 * Information about expected replies
-	 *
-	 * This is used to keep track of pending replies
-	 */
-	struct DeviceReplyInfo {
-		uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
-		uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
-		uint8_t periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
-		DeviceCommandMap::iterator command; //!< The command that expects this reply.
-	};
-
-	/**
-	 * Definition for the important reply Map.
-	 */
-	typedef std::map<DeviceCommandId_t, DeviceReplyInfo> DeviceReplyMap;
 	/**
 	 * This map is used to check and track correct reception of all replies.
 	 *

From ce554c615c82c1d2295c1ce1ce4bdddf0202c76e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 15:15:33 +0200
Subject: [PATCH 024/653] reduced massive ctor size

this was done by moving zero or nullptr initialization
into the header file
---
 devicehandlers/DeviceHandlerBase.cpp | 31 ++++++++++++++--------------
 devicehandlers/DeviceHandlerBase.h   | 26 +++++++++++------------
 2 files changed, 28 insertions(+), 29 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 3e17b451..5211cf92 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -21,24 +21,23 @@ DeviceHandlerBase::DeviceHandlerBase(uint32_t ioBoardAddress,
 		uint8_t setDeviceSwitch, object_id_t deviceCommunication,
 		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
 		FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
-		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(MODE_OFF),
-		submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(maxDeviceReplyLen),
-		wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(StorageManagerIF::INVALID_ADDRESS),
-		requestedRawTraffic(0), powerSwitcher(NULL), IPCStore(NULL),
-		deviceCommunicationId(deviceCommunication), communicationInterface(NULL),
-		cookie(NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId),
-		deviceThermalRequestPoolId(thermalRequestPoolId), healthHelper(this, setObjectId),
-		modeHelper(this), parameterHelper(this), childTransitionFailure(RETURN_OK),
-		ignoreMissedRepliesCount(0), fdirInstance(fdirInstance), hkSwitcher(this),
-		defaultFDIRUsed(fdirInstance == NULL), switchOffWasReported(false),
-		executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(ioBoardAddress),
-		timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
-		transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
+		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
+		maxDeviceReplyLen(maxDeviceReplyLen), wiretappingMode(OFF),
+		storedRawData(StorageManagerIF::INVALID_ADDRESS), deviceCommunicationId(
+	    deviceCommunication), deviceThermalStatePoolId(thermalStatePoolId),
+		deviceThermalRequestPoolId(thermalRequestPoolId), healthHelper(this,
+		setObjectId), modeHelper(this), parameterHelper(this),
+		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
+		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
+		switchOffWasReported(false), actionHelper(this, nullptr), cookieInfo(),
+		ioBoardAddress(ioBoardAddress), childTransitionDelay(5000),
+		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
+		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			CommandMessage::MAX_MESSAGE_SIZE);
 	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
-	if (this->fdirInstance == NULL) {
+	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
 				defaultFDIRParentId);
 	}
@@ -55,7 +54,7 @@ DeviceHandlerBase::~DeviceHandlerBase() {
 ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	this->pstStep = counter;
 
-	if (counter == 0) {
+	if (getComAction() == SEND_WRITE) {
 		cookieInfo.state = COOKIE_UNUSED;
 		readCommandQueue();
 		doStateMachine();
@@ -67,7 +66,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
 	}
-	switch (getCommandQueue()) {
+	switch (getComAction()) {
 	case SEND_WRITE:
 		if ((cookieInfo.state == COOKIE_UNUSED)) {
 			buildInternalCommand();
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index d774ce98..b7314d5b 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -473,11 +473,11 @@ protected:
 	/**
 	 * Pointer to the raw packet that will be sent.
 	 */
-	uint8_t *rawPacket;
+	uint8_t *rawPacket = nullptr;
 	/**
 	 * Size of the #rawPacket.
 	 */
-	uint32_t rawPacketLen;
+	uint32_t rawPacketLen = 0;
 
 	/**
 	 * The mode the device handler is currently in.
@@ -496,7 +496,7 @@ protected:
 	/**
 	 * This is the counter value from performOperation().
 	 */
-	uint8_t pstStep;
+	uint8_t pstStep = 0;
 
 	/**
 	 * This will be used in the RMAP getRead command as expected length, is set by the constructor, can be modiefied at will.
@@ -519,7 +519,7 @@ protected:
 	 * Statically initialized in initialize() to a configurable object. Used when there is no method
 	 * of finding a recipient, ie raw mode and reporting erreonous replies
 	 */
-	MessageQueueId_t defaultRawReceiver;
+	MessageQueueId_t defaultRawReceiver = 0;
 
 	store_address_t storedRawData;
 
@@ -528,19 +528,19 @@ protected:
 	 *
 	 * if #isWiretappingActive all raw communication from and to the device will be sent to this queue
 	 */
-	MessageQueueId_t requestedRawTraffic;
+	MessageQueueId_t requestedRawTraffic = 0;
 
 	/**
 	 * the object used to set power switches
 	 */
-	PowerSwitchIF *powerSwitcher;
+	PowerSwitchIF *powerSwitcher = nullptr;
 
 	/**
 	 * Pointer to the IPCStore.
 	 *
 	 * This caches the pointer received from the objectManager in the constructor.
 	 */
-	StorageManagerIF *IPCStore;
+	StorageManagerIF *IPCStore = nullptr;
 
 	/**
 	 * cached for init
@@ -550,12 +550,12 @@ protected:
 	/**
 	 * Communication object used for device communication
 	 */
-	DeviceCommunicationIF *communicationInterface;
+	DeviceCommunicationIF *communicationInterface = nullptr;
 
 	/**
 	 * Cookie used for communication
 	 */
-	Cookie *cookie;
+	Cookie *cookie = nullptr;
 
 	struct DeviceCommandInfo {
 		bool isExecuting; //!< Indicates if the command is already executing.
@@ -583,7 +583,7 @@ protected:
 	/**
 	 * The MessageQueue used to receive device handler commands and to send replies.
 	 */
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
 	/**
 	 * this is the datapool variable with the thermal state of the device
@@ -614,7 +614,7 @@ protected:
 	 */
 	ReturnValue_t childTransitionFailure;
 
-	uint32_t ignoreMissedRepliesCount; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
+	uint32_t ignoreMissedRepliesCount = 0; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
 
 	FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
 
@@ -624,7 +624,7 @@ protected:
 
 	bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
 
-	PeriodicTaskIF* executingTask;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	PeriodicTaskIF* executingTask = nullptr;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
 
 	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
 
@@ -1004,7 +1004,7 @@ private:
 	 *
 	 * Set when setMode() is called.
 	 */
-	uint32_t timeoutStart;
+	uint32_t timeoutStart = 0;
 
 	/**
 	 * Delay for the current mode transition, used for time out

From 520ed881bb77c07c6cf2ba86ce4a1dbfebfe4e20 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 15:16:44 +0200
Subject: [PATCH 025/653] wrong function call fixed

---
 devicehandlers/DeviceHandlerBase.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 3e17b451..24b56572 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -55,7 +55,7 @@ DeviceHandlerBase::~DeviceHandlerBase() {
 ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	this->pstStep = counter;
 
-	if (counter == 0) {
+	if (getComAction() == SEND_WRITE) {
 		cookieInfo.state = COOKIE_UNUSED;
 		readCommandQueue();
 		doStateMachine();
@@ -67,7 +67,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
 	}
-	switch (getCommandQueue()) {
+	switch (getComAction()) {
 	case SEND_WRITE:
 		if ((cookieInfo.state == COOKIE_UNUSED)) {
 			buildInternalCommand();

From ff47fa191af805884b226e3f3940164c75152bee Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 15:25:17 +0200
Subject: [PATCH 026/653] Communication interface rework

As discussed, open/reOpen not used anymore, replaced by
initializeInterface call.
Using CookieIF.
---
 devicehandlers/DeviceCommunicationIF.h | 149 ++++++++++++++++++-------
 1 file changed, 106 insertions(+), 43 deletions(-)

diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index e0aca573..bb095116 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -1,63 +1,126 @@
 #ifndef DEVICECOMMUNICATIONIF_H_
 #define DEVICECOMMUNICATIONIF_H_
 
-#include <framework/devicehandlers/Cookie.h>
+#include <framework/devicehandlers/CookieIF.h>
+#include <framework/devicehandlers/DeviceHandlerIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+/**
+ * @defgroup interfaces Interfaces
+ * @brief Interfaces for flight software objects
+ */
 
+/**
+ * @defgroup comm Communication
+ * @brief Communication software components.
+ */
+
+/**
+ * @brief This is an interface to decouple device communication from
+ * the device handler to allow reuse of these components.
+ * @details
+ * Documentation: Dissertation Baetz p.138.
+ * It works with the assumption that received data
+ * is polled by a component. There are four generic steps of device communication:
+ *
+ *   1. Send data to a device
+ *   2. Get acknowledgement for sending
+ *   3. Request reading data from a device
+ *   4. Read received data
+ *
+ *  To identify different connection over a single interface can return
+ *  so-called cookies to components.
+ *  The CommunicationMessage message type can be used to extend the
+ *  functionality of the ComIF if a separate polling task is required.
+ *  @ingroup interfaces
+ *  @ingroup comm
+ */
 class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
-	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x03);
-	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x04);
-	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x05);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x06);
-	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x07);
+	//! This is returned in readReceivedMessage() if no reply was reived.
+	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0x01);
 
-	virtual ~DeviceCommunicationIF() {
+	//! General protocol error. Define more concrete errors in child handler
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x02);
+	//! If cookie is a null pointer
+	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x04);
+	// is this needed if there is no open/close call?
+	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
+	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
 
-	}
-
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
-			uint32_t maxReplyLen) = 0;
+	virtual ~DeviceCommunicationIF() {}
 
 	/**
-	 * Use an existing cookie to open a connection to a new DeviceCommunication.
-	 * The previous connection must not be closed.
-	 * If the returnvalue is not RETURN_OK, the cookie is unchanged and
-	 * can be used with the previous connection.
+	 * @brief Device specific initialization, using the cookie.
+	 * @details
+	 * The cookie is already prepared in the factory. If the communication
+	 * interface needs to be set up in some way and requires cookie information,
+	 * this can be performed in this function, which is called on device handler
+	 * initialization.
+	 * @param cookie
+	 * @return
+	 *  - @c RETURN_OK if initialization was successfull
+	 *  - Everything else triggers failure event with returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0;
+
+	/**
+	 * Called by DHB in the SEND_WRITE doSendWrite().
+	 * This function is used to send data to the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return
+	 *  - @c RETURN_OK for successfull send
+	 *  - Everything else triggers failure event with returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
+			size_t sendLen) = 0;
+
+	/**
+	 * Called by DHB in the GET_WRITE doGetWrite().
+	 * Get send confirmation that the data in sendMessage() was sent successfully.
+	 * @param cookie
+	 * @return - @c RETURN_OK if data was sent successfull
+	 * 		   - Everything else triggers falure event with
+	 * 		     returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
+
+	/**
+	 * Called by DHB in the SEND_WRITE doSendRead().
+	 * It is assumed that it is always possible to request a reply
+	 * from a device. If a requestLen of 0 is supplied, no reply was enabled
+	 * and communication specific action should be taken (e.g. read nothing
+	 * or read everything).
 	 *
 	 * @param cookie
-	 * @param address
-	 * @param maxReplyLen
-	 * @return
+	 * @param requestLen Size of data to read
+	 * @return - @c RETURN_OK to confirm the request for data has been sent.
+	 *         - Everything else triggers failure event with
+	 *           returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
-			uint32_t maxReplyLen) = 0;
-
-	virtual void close(Cookie *cookie) = 0;
-
-	//SHOULDDO can data be const?
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
-			uint32_t len) = 0;
-
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
-			uint32_t *size) = 0;
-
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address) = 0;
-
-	virtual uint32_t getAddress(Cookie *cookie) = 0;
-
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter) = 0;
-
-	virtual uint32_t getParameter(Cookie *cookie) = 0;
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) = 0;
 
+	/**
+	 * Called by DHB in the GET_WRITE doGetRead().
+	 * This function is used to receive data from the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param buffer [out] Set reply here (by using *buffer = ...)
+	 * @param size [out] size pointer to set (by using *size = ...).
+	 * 	           Set to 0 if no reply was received
+	 * @return - @c RETURN_OK for successfull receive
+	 * 		   - @c NO_REPLY_RECEIVED if not reply was received. Setting size to
+	 * 		   	   0 has the same effect
+	 *         - Everything else triggers failure event with
+	 *           returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+			size_t *size) = 0;
 };
 
 #endif /* DEVICECOMMUNICATIONIF_H_ */

From 1820ad14b7f16511d06073fae3f1c5c9540c6309 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 15:48:17 +0200
Subject: [PATCH 027/653] API change introduced, using new device comIF

also changed child handler base.
---
 devicehandlers/ChildHandlerBase.cpp  | 19 ++++++++++---------
 devicehandlers/ChildHandlerBase.h    |  8 ++++----
 devicehandlers/DeviceHandlerBase.cpp | 24 ++++++++++++------------
 devicehandlers/DeviceHandlerBase.h   | 12 ++++++------
 4 files changed, 32 insertions(+), 31 deletions(-)

diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index 50a5c07e..7144db8f 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -2,15 +2,16 @@
 #include <framework/devicehandlers/ChildHandlerBase.h>
 #include <framework/subsystem/SubsystemBase.h>
 
-ChildHandlerBase::ChildHandlerBase(uint32_t ioBoardAddress,
-		object_id_t setObjectId, object_id_t deviceCommunication,
-		uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		uint32_t parent, FailureIsolationBase* customFdir, uint32_t cmdQueueSize) :
-		DeviceHandlerBase(ioBoardAddress, setObjectId, maxDeviceReplyLen,
-				setDeviceSwitch, deviceCommunication, thermalStatePoolId,
-				thermalRequestPoolId, (customFdir == NULL? &childHandlerFdir : customFdir), cmdQueueSize), parentId(
-				parent), childHandlerFdir(setObjectId) {
+ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
+		object_id_t deviceCommunication, CookieIF * comCookie,
+		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
+		uint32_t thermalRequestPoolId, uint32_t parent,
+		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
+		DeviceHandlerBase(setObjectId, deviceCommunication, comCookie,
+				setDeviceSwitch, thermalStatePoolId,thermalRequestPoolId,
+				(customFdir == nullptr? &childHandlerFdir : customFdir),
+				cmdQueueSize),
+		parentId(parent), childHandlerFdir(setObjectId) {
 }
 
 ChildHandlerBase::~ChildHandlerBase() {
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index 3879f66f..59cf26b1 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -6,12 +6,12 @@
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
-	ChildHandlerBase(uint32_t ioBoardAddress, object_id_t setObjectId,
-			object_id_t deviceCommunication, uint32_t maxDeviceReplyLen,
+	ChildHandlerBase(object_id_t setObjectId,
+			object_id_t deviceCommunication, CookieIF * comCookie,
 			uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId, uint32_t parent,
-			FailureIsolationBase* customFdir = NULL,
-			uint32_t cmdQueueSize = 20);
+			FailureIsolationBase* customFdir = nullptr,
+			size_t cmdQueueSize = 20);
 	virtual ~ChildHandlerBase();
 
 	virtual ReturnValue_t initialize();
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 05062ad6..e979799f 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -16,17 +16,17 @@ object_id_t DeviceHandlerBase::powerSwitcherId = 0;
 object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
 
-DeviceHandlerBase::DeviceHandlerBase(uint32_t ioBoardAddress,
-		object_id_t setObjectId, uint32_t maxDeviceReplyLen,
-		uint8_t setDeviceSwitch, object_id_t deviceCommunication,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
+DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
+		object_id_t deviceCommunication, CookieIF * comCookie,
+		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
+		uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
+		size_t cmdQueueSize) :
 		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(MODE_OFF),
 		submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(maxDeviceReplyLen),
 		wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		requestedRawTraffic(0), powerSwitcher(NULL), IPCStore(NULL),
 		deviceCommunicationId(deviceCommunication), communicationInterface(NULL),
-		cookie(NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId),
+		comCookie(comCookie), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId),
 		deviceThermalRequestPoolId(thermalRequestPoolId), healthHelper(this, setObjectId),
 		modeHelper(this), parameterHelper(this), childTransitionFailure(RETURN_OK),
 		ignoreMissedRepliesCount(0), fdirInstance(fdirInstance), hkSwitcher(this),
@@ -102,7 +102,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return RETURN_FAILED;
 	}
 
-	result = communicationInterface->initializeInterface(cookie);
+	result = communicationInterface->initializeInterface(comCookie);
 	if (result != RETURN_OK) {
 		return result;
 	}
@@ -503,7 +503,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
 void DeviceHandlerBase::doSendWrite() {
 	if (cookieInfo.state == COOKIE_WRITE_READY) {
 
-		ReturnValue_t result = communicationInterface->sendMessage(cookie,
+		ReturnValue_t result = communicationInterface->sendMessage(comCookie,
 				rawPacket, rawPacketLen);
 
 		if (result == RETURN_OK) {
@@ -524,7 +524,7 @@ void DeviceHandlerBase::doGetWrite() {
 		return;
 	}
 	cookieInfo.state = COOKIE_UNUSED;
-	ReturnValue_t result = communicationInterface->getSendSuccess(cookie);
+	ReturnValue_t result = communicationInterface->getSendSuccess(comCookie);
 	if (result == RETURN_OK) {
 		if (wiretappingMode == RAW) {
 			replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
@@ -556,7 +556,7 @@ void DeviceHandlerBase::doSendRead() {
 		requestLen = 0;
 	}
 
-	result = communicationInterface->requestReceiveMessage(cookie, requestLen);
+	result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
 
 	if (result == RETURN_OK) {
 		cookieInfo.state = COOKIE_READ_SENT;
@@ -584,8 +584,8 @@ void DeviceHandlerBase::doGetRead() {
 
 	cookieInfo.state = COOKIE_UNUSED;
 
-	result = communicationInterface->readReceivedMessage(cookie, &receivedData,
-			&receivedDataLen);
+	result = communicationInterface->readReceivedMessage(comCookie,
+			&receivedData, &receivedDataLen);
 
 	if (result != RETURN_OK) {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 44ee636d..0f3633dd 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -27,7 +27,7 @@ void setStaticFrameworkObjectIds();
 class StorageManagerIF;
 
 /**
- * \defgroup devices Devices
+ * @defgroup devices Devices
  * Contains all devices and the DeviceHandlerBase class.
  */
 
@@ -99,12 +99,12 @@ public:
 	 * @param fdirInstance
 	 * @param cmdQueueSize
 	 */
-	DeviceHandlerBase(uint32_t ioBoardAddress, object_id_t setObjectId,
-			uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
-			object_id_t deviceCommunication,
+	DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
+			CookieIF * comCookie, uint8_t setDeviceSwitch,
 			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
 			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
-			FailureIsolationBase* fdirInstance = NULL, uint32_t cmdQueueSize = 20);
+			FailureIsolationBase* fdirInstance = nullptr,
+			size_t cmdQueueSize = 20);
 
 	/**
 	 * @brief 	This function is the device handler base core component and is
@@ -555,7 +555,7 @@ protected:
 	/**
 	 * Cookie used for communication
 	 */
-	CookieIF *cookie;
+	CookieIF * comCookie;
 
 	struct DeviceCommandInfo {
 		bool isExecuting; //!< Indicates if the command is already executing.

From 7f08bb35061885ab6c07125aa478d9096f562813 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 15:54:28 +0200
Subject: [PATCH 028/653] removed ioboardAddress, max reply Len

---
 devicehandlers/DeviceHandlerBase.cpp |  6 +++---
 devicehandlers/DeviceHandlerBase.h   | 10 ----------
 2 files changed, 3 insertions(+), 13 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index e979799f..9d464973 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -22,8 +22,8 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
 		size_t cmdQueueSize) :
 		SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(MODE_OFF),
-		submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(maxDeviceReplyLen),
-		wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(StorageManagerIF::INVALID_ADDRESS),
+		submode(SUBMODE_NONE), pstStep(0), wiretappingMode(OFF),
+		defaultRawReceiver(0), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		requestedRawTraffic(0), powerSwitcher(NULL), IPCStore(NULL),
 		deviceCommunicationId(deviceCommunication), communicationInterface(NULL),
 		comCookie(comCookie), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId),
@@ -31,7 +31,7 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		modeHelper(this), parameterHelper(this), childTransitionFailure(RETURN_OK),
 		ignoreMissedRepliesCount(0), fdirInstance(fdirInstance), hkSwitcher(this),
 		defaultFDIRUsed(fdirInstance == NULL), switchOffWasReported(false),
-		executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(ioBoardAddress),
+		executingTask(NULL), actionHelper(this, NULL), cookieInfo(),
 		timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
 		transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 0f3633dd..872903ca 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -498,11 +498,6 @@ protected:
 	 */
 	uint8_t pstStep;
 
-	/**
-	 * This will be used in the RMAP getRead command as expected length, is set by the constructor, can be modiefied at will.
-	 */
-	const uint32_t maxDeviceReplyLen;
-
 	/**
 	 * wiretapping flag:
 	 *
@@ -994,11 +989,6 @@ private:
 	 */
 	CookieInfo cookieInfo;
 
-	/**
-	 * cached from ctor for initialize()
-	 */
-	const uint32_t ioBoardAddress;
-
 	/**
 	 * Used for timing out mode transitions.
 	 *

From fd100cb9945f2c4d875a08db3ee72a3927fe10d2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 16:10:44 +0200
Subject: [PATCH 029/653] header function order change

fillCOmmandANdREplyMAp is now closer to its helper functions
---
 devicehandlers/DeviceHandlerBase.h | 202 +++++++++++++++--------------
 1 file changed, 107 insertions(+), 95 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 2e125e84..f31e1b7b 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -268,51 +268,6 @@ protected:
 	virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 			const uint8_t * commandData, size_t commandDataLen) = 0;
 
-	/**
-	 * @brief fill the #deviceCommandMap
-	 *	 	  called by the initialize() of the base class
-	 * @details
-	 * This is used to let the base class know which replies are expected.
-	 * There are different scenarios regarding this:
-	 *
-	 *  - "Normal" commands. These are commands, that trigger a direct reply
-	 *    from the device. In this case, the id of the command should be added
-	 *    to the command map with a commandData_t where maxDelayCycles is set
-	 *    to the maximum expected number of PST cycles the reply will take.
-	 *    Then, scanForReply returns the id of the command and the base class
-	 *    can handle time-out and missing replies.
-	 *
-	 *  - Periodic, unrequested replies. These are replies that, once enabled,
-	 *    are sent by the device on its own in a defined interval.
-	 *    In this case, the id of the reply or a placeholder id should be added
-	 *    to the deviceCommandMap with a commandData_t where maxDelayCycles is
-	 *    set to the maximum expected number of PST cycles between two replies
-	 *    (also a tolerance should be added, as an FDIR message will be
-	 *    generated if it is missed).
-	 *
-	 *    (Robin) This part confuses me. "must do as soon as" implies that
-	 *    the developer must do something somewhere else in the code. Is
-	 *    that really the case? If I understood correctly, DHB performs
-	 *    almost everything (e.g. in erirm function) as long as the commands
-	 *    are inserted correctly.
-	 *
-	 *    As soon as the replies are enabled, DeviceCommandInfo.periodic must
-	 *    be set to true, DeviceCommandInfo.delayCycles to
-	 *    DeviceCommandInfo.maxDelayCycles.
-	 *    From then on, the base class handles the reception.
-	 *    Then, scanForReply returns the id of the reply or the placeholder id
-	 *    and the base class will take care of checking that all replies are
-	 *    received and the interval is correct.
-	 *    When the replies are disabled, DeviceCommandInfo.periodic must be set
-	 *    to 0, DeviceCommandInfo.delayCycles to 0;
-	 *
-	 *  - Aperiodic, unrequested replies. These are replies that are sent
-	 *    by the device without any preceding command and not in a defined
-	 *    interval. These are not entered in the deviceCommandMap but
-	 *    handled by returning @c APERIODIC_REPLY in scanForReply().
-	 */
-	virtual void fillCommandAndReplyMap() = 0;
-
 	/**
 	 * @brief Scans a buffer for a valid reply.
 	 * @details
@@ -370,14 +325,114 @@ protected:
 	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
 			const uint8_t *packet) = 0;
 
+	/**
+	 * @brief fill the #deviceCommandMap
+	 *	 	  called by the initialize() of the base class
+	 * @details
+	 * This is used to let the base class know which replies are expected.
+	 * There are different scenarios regarding this:
+	 *
+	 *  - "Normal" commands. These are commands, that trigger a direct reply
+	 *    from the device. In this case, the id of the command should be added
+	 *    to the command map with a commandData_t where maxDelayCycles is set
+	 *    to the maximum expected number of PST cycles the reply will take.
+	 *    Then, scanForReply returns the id of the command and the base class
+	 *    can handle time-out and missing replies.
+	 *
+	 *  - Periodic, unrequested replies. These are replies that, once enabled,
+	 *    are sent by the device on its own in a defined interval.
+	 *    In this case, the id of the reply or a placeholder id should be added
+	 *    to the deviceCommandMap with a commandData_t where maxDelayCycles is
+	 *    set to the maximum expected number of PST cycles between two replies
+	 *    (also a tolerance should be added, as an FDIR message will be
+	 *    generated if it is missed).
+	 *
+	 *    (Robin) This part confuses me. "must do as soon as" implies that
+	 *    the developer must do something somewhere else in the code. Is
+	 *    that really the case? If I understood correctly, DHB performs
+	 *    almost everything (e.g. in erirm function) as long as the commands
+	 *    are inserted correctly.
+	 *
+	 *    As soon as the replies are enabled, DeviceCommandInfo.periodic must
+	 *    be set to true, DeviceCommandInfo.delayCycles to
+	 *    DeviceCommandInfo.maxDelayCycles.
+	 *    From then on, the base class handles the reception.
+	 *    Then, scanForReply returns the id of the reply or the placeholder id
+	 *    and the base class will take care of checking that all replies are
+	 *    received and the interval is correct.
+	 *    When the replies are disabled, DeviceCommandInfo.periodic must be set
+	 *    to 0, DeviceCommandInfo.delayCycles to 0;
+	 *
+	 *  - Aperiodic, unrequested replies. These are replies that are sent
+	 *    by the device without any preceding command and not in a defined
+	 *    interval. These are not entered in the deviceCommandMap but
+	 *    handled by returning @c APERIODIC_REPLY in scanForReply().
+	 */
+	virtual void fillCommandAndReplyMap() = 0;
+
+	/**
+	 * This is a helper method to facilitate inserting entries in the command map.
+	 * @param deviceCommand	Identifier of the command to add.
+	 * @param maxDelayCycles The maximum number of delay cycles the command
+	 * waits until it times out.
+	 * @param periodic	Indicates if the command is periodic (i.e. it is sent
+	 * by the device repeatedly without request) or not. Default is aperiodic (0)
+	 * @return	- @c RETURN_OK when the command was successfully inserted,
+	 *          - @c RETURN_FAILED else.
+	 */
+	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
+			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0,
+			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
+
+	/**
+	 * @brief 	This is a helper method to insert replies in the reply map.
+	 * @param deviceCommand	Identifier of the reply to add.
+	 * @param maxDelayCycles The maximum number of delay cycles the reply waits
+	 * until it times out.
+	 * @param periodic	Indicates if the command is periodic (i.e. it is sent
+	 * by the device repeatedly without request) or not. Default is aperiodic (0)
+	 * @return	- @c RETURN_OK when the command was successfully inserted,
+	 *          - @c RETURN_FAILED else.
+	 */
+	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
+			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0);
+
+	/**
+	 * @brief 	A simple command to add a command to the commandList.
+	 * @param deviceCommand The command to add
+	 * @return - @c RETURN_OK when the command was successfully inserted,
+	 *         - @c RETURN_FAILED else.
+	 */
+	ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
+	/**
+	 * @brief 	This is a helper method to facilitate updating entries
+	 *        	in the reply map.
+	 * @param deviceCommand	Identifier of the reply to update.
+	 * @param delayCycles The current number of delay cycles to wait.
+	 * As stated in #fillCommandAndCookieMap, to disable periodic commands,
+	 * this is set to zero.
+	 * @param maxDelayCycles The maximum number of delay cycles the reply waits
+	 * until it times out. By passing 0 the entry remains untouched.
+	 * @param periodic Indicates if the command is periodic (i.e. it is sent
+	 * by the device repeatedly without request) or not.Default is aperiodic (0).
+	 * Warning: The setting always overrides the value that was entered in the map.
+	 * @return - @c RETURN_OK when the command was successfully inserted,
+	 *         - @c RETURN_FAILED else.
+	 */
+	ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply,
+			uint16_t delayCycles, uint16_t maxDelayCycles,
+			uint8_t periodic = 0);
+
 	/**
 	 * @brief   Can be implemented by child handler to
 	 *          perform debugging
 	 * @details Example: Calling this in performOperation
 	 *          to track values like mode.
-	 * @param 	positionTracker Provide the child handler a way to know where the debugInterface was called
-	 * @param 	objectId Provide the child handler object Id to specify actions for spefic devices
-	 * @param 	parameter Supply a parameter of interest
+	 * @param positionTracker Provide the child handler a way to know
+	 * where the debugInterface was called
+	 * @param objectId Provide the child handler object Id to
+	 * specify actions for spefic devices
+	 * @param parameter Supply a parameter of interest
 	 * Please delete all debugInterface calls in DHB after debugging is finished !
 	 */
 	virtual void debugInterface(uint8_t positionTracker = 0,
@@ -391,7 +446,8 @@ protected:
 	 * MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
 	 * MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
 	 * MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
-	 * _MODE_START_UP -> MODE_ON (do not include time to set the switches, the base class got you covered)
+	 * _MODE_START_UP -> MODE_ON (do not include time to set the switches,
+	 * the base class got you covered)
 	 *
 	 * The default implementation returns 0 !
 	 * @param modeFrom
@@ -413,7 +469,6 @@ protected:
 	 */
 	virtual ReturnValue_t getSwitches(const uint8_t **switches,
 			uint8_t *numberOfSwitches);
-
 public:
 	/**
 	 * @param parentQueueId
@@ -646,11 +701,6 @@ protected:
 	void replyReturnvalueToCommand(ReturnValue_t status,
 			uint32_t parameter = 0);
 
-	/**
-	 *
-
-	 * @param parameter2 additional parameter
-	 */
 	void replyToCommand(ReturnValue_t status, uint32_t parameter = 0);
 
 	/**
@@ -658,7 +708,8 @@ protected:
 	 *
 	 * Sets #timeoutStart with every call.
 	 *
-	 * Sets #transitionTargetMode if necessary so transitional states can be entered from everywhere without breaking the state machine
+	 * Sets #transitionTargetMode if necessary so transitional states can be
+	 * entered from everywhere without breaking the state machine
 	 * (which relies on a correct #transitionTargetMode).
 	 *
 	 * The submode is left unchanged.
@@ -745,45 +796,6 @@ protected:
 	 */
 	virtual ReturnValue_t buildChildRawCommand();
 
-	/**
-	 * This is a helper method to facilitate inserting entries in the command map.
-	 * @param deviceCommand	Identifier of the command to add.
-	 * @param maxDelayCycles The maximum number of delay cycles the command waits until it times out.
-	 * @param periodic	Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
-	 *		 			Default is aperiodic (0)
-	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
-	 */
-	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0,
-			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
-	/**
-	 * This is a helper method to insert replies in the reply map.
-	 * @param deviceCommand	Identifier of the reply to add.
-	 * @param maxDelayCycles The maximum number of delay cycles the reply waits until it times out.
-	 * @param periodic	Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
-	 *		 			Default is aperiodic (0)
-	 * @return	RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
-	 */
-	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0);
-	/**
-	 * A simple command to add a command to the commandList.
-	 * @param deviceCommand The command to add
-	 * @return RETURN_OK if the command was successfully inserted, RETURN_FAILED else.
-	 */
-	ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
-	/**
-	 * This is a helper method to facilitate updating entries in the reply map.
-	 * @param deviceCommand		Identifier of the reply to update.
-	 * @param delayCycles		The current number of delay cycles to wait. As stated in #fillCommandAndCookieMap, to disable periodic commands, this is set to zero.
-	 * @param maxDelayCycles	The maximum number of delay cycles the reply waits until it times out. By passing 0 the entry remains untouched.
-	 * @param periodic			Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
-	 *		 					Default is aperiodic (0). Warning: The setting always overrides the value that was entered in the map.
-	 * @return	RETURN_OK when the reply was successfully updated, COMMAND_MAP_ERROR else.
-	 */
-	ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply,
-			uint16_t delayCycles, uint16_t maxDelayCycles,
-			uint8_t periodic = 0);
 	/**
 	 * Returns the delay cycle count of a reply.
 	 * A count != 0 indicates that the command is already executed.

From 3bd83c00f590dcb15dc37429f202c261928acdae Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 21:52:13 +0200
Subject: [PATCH 030/653] freeRTOS with included with extern"C"

---
 osal/FreeRTOS/FixedTimeslotTask.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index bed13051..d20b8268 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -5,8 +5,10 @@
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
+extern "C" {
+#include "FreeRTOS.h"
 #include "task.h"
+}
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:

From 225e1b98a00f9a73efa840200f25780b7303c986 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 22:10:02 +0200
Subject: [PATCH 031/653] some bugfixes in cpp file to enable compilation

---
 devicehandlers/DeviceHandlerBase.cpp | 27 +++++++++++++++------------
 1 file changed, 15 insertions(+), 12 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index dff2a412..84e97819 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1027,7 +1027,6 @@ void DeviceHandlerBase::replyRawReplyIfnotWiretapped(const uint8_t* data,
 
 ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		CommandMessage * message) {
-	ReturnValue_t result;
 	switch (message->getCommand()) {
 	case DeviceHandlerMessage::CMD_WIRETAPPING:
 		switch (DeviceHandlerMessage::getWiretappingMode(message)) {
@@ -1050,17 +1049,17 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		replyReturnvalueToCommand(RETURN_OK);
 		return RETURN_OK;
 	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
-		if (mode != MODE_OFF) {
-			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
-		} else {
-			result = switchCookieChannel(
-					DeviceHandlerMessage::getIoBoardObjectId(message));
-			if (result == RETURN_OK) {
-				replyReturnvalueToCommand(RETURN_OK);
-			} else {
-				replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
-			}
-		}
+//		if (mode != MODE_OFF) {
+//			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
+//		} else {
+////			result = switchCookieChannel(
+////					DeviceHandlerMessage::getIoBoardObjectId(message));
+//			if (result == RETURN_OK) {
+//				replyReturnvalueToCommand(RETURN_OK);
+//			} else {
+//				replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
+//			}
+//		}
 		return RETURN_OK;
 	case DeviceHandlerMessage::CMD_RAW:
 		if ((mode != MODE_RAW)) {
@@ -1275,3 +1274,7 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
 			executingTask = task_;
 }
+
+// Default implementation empty.
+void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
+		object_id_t objectId, uint32_t parameter) {}

From b78b3ac68a36248255c5859a5b89c4dfb27c1f1c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 19 Apr 2020 22:17:14 +0200
Subject: [PATCH 032/653] added performOperationHook()

---
 devicehandlers/DeviceHandlerBase.cpp | 5 ++++-
 devicehandlers/DeviceHandlerBase.h   | 6 ++++++
 2 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 84e97819..3331f5f9 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -61,6 +61,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
+		performOperationHook();
 	}
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
@@ -1275,6 +1276,8 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
 			executingTask = task_;
 }
 
-// Default implementation empty.
+// Default implementations empty.
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 		object_id_t objectId, uint32_t parameter) {}
+
+void DeviceHandlerBase::performOperationHook() {}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index f31e1b7b..d0c95a5a 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -469,6 +469,12 @@ protected:
 	 */
 	virtual ReturnValue_t getSwitches(const uint8_t **switches,
 			uint8_t *numberOfSwitches);
+
+	/**
+	 * @brief 	Hook function for child handlers which is called once per
+	 * 			performOperation(). Default implementation is empty.
+	 */
+	virtual void performOperationHook();
 public:
 	/**
 	 * @param parentQueueId

From ea904642d1c8b4085b03fdd2837912ebe242c20c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 21 Apr 2020 16:16:02 +0200
Subject: [PATCH 033/653] CCSDS time possible bugfix for sscanf()

---
 timemanager/CCSDSTime.cpp | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 32032716..8a0e65b7 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -1,5 +1,6 @@
 #include <framework/timemanager/CCSDSTime.h>
 #include <stdio.h>
+#include <inttypes.h>
 #include <math.h>
 
 CCSDSTime::CCSDSTime() {
@@ -160,9 +161,10 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	uint8_t hour;
 	uint8_t minute;
 	float second;
-//try Code A (yyyy-mm-dd)
-	int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year,
-			&month, &day, &hour, &minute, &second);
+	//try Code A (yyyy-mm-dd)
+	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16
+			"T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day,
+			&hour, &minute, &second);
 	if (count == 6) {
 		to->year = year;
 		to->month = month;
@@ -175,8 +177,8 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	}
 
 	//try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day,
-			&hour, &minute, &second);
+	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8
+			":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second);
 	if (count == 5) {
 		uint8_t tempDay;
 		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month,
@@ -193,7 +195,6 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		to->usecond = (second - floor(second)) * 1000000;
 		return RETURN_OK;
 	}
-
 	return UNSUPPORTED_TIME_FORMAT;
 }
 

From c30cae3431d586304bf0d3fd1c5d1ff05d7f9691 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 21 Apr 2020 16:32:39 +0200
Subject: [PATCH 034/653] added back NoC99 io section

---
 timemanager/CCSDSTime.cpp | 46 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 8a0e65b7..e00beb27 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -155,6 +155,51 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	if (length < 19) {
 		return RETURN_FAILED;
 	}
+	// Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README
+	// Suggestion: use uint16 all the time. This should work on all systems.
+#ifdef NEWLIB_NANO_NO_C99_IO
+	uint16_t year;
+	uint16_t month;
+	uint16_t day;
+	uint16_t hour;
+	uint16_t minute;
+	float second;
+	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2"
+			SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &month, &day, &hour,
+			&minute, &second);
+	if (count == 6) {
+		to->year = year;
+		to->month = month;
+		to->day = day;
+		to->hour = hour;
+		to->minute = minute;
+		to->second = second;
+		to->usecond = (second - floor(second)) * 1000000;
+		return RETURN_OK;
+	}
+
+	// try Code B (yyyy-ddd)
+	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2"
+			SCNu16 ":%fZ", &year, &day, &hour, &minute, &second);
+	if (count == 5) {
+		uint8_t tempDay;
+		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year,
+				reinterpret_cast<uint8_t *>(&month), reinterpret_cast<uint8_t *>(&tempDay));
+		if (result != RETURN_OK) {
+			return RETURN_FAILED;
+		}
+		to->year = year;
+		to->month = month;
+		to->day = tempDay;
+		to->hour = hour;
+		to->minute = minute;
+		to->second = second;
+		to->usecond = (second - floor(second)) * 1000000;
+		return RETURN_OK;
+	}
+	// Warning: Compiler/Linker fails ambiguously if library does not implement
+	// C99 I/O
+#else
 	uint16_t year;
 	uint8_t month;
 	uint16_t day;
@@ -195,6 +240,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		to->usecond = (second - floor(second)) * 1000000;
 		return RETURN_OK;
 	}
+#endif
 	return UNSUPPORTED_TIME_FORMAT;
 }
 

From 209332948168edcb994c44bd24c242c6c05c4af9 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Tue, 21 Apr 2020 21:34:03 +0200
Subject: [PATCH 035/653] working on updating SerializeIF, to quote Basti: This
 is going to be horrible

---
 container/FixedMap.h                         |  16 +-
 container/IndexedRingMemoryArray.h           |  32 +--
 datapool/DataPoolParameterWrapper.cpp        |   6 +-
 datapool/PIDReader.h                         |  34 ++--
 datapool/PoolRawAccess.cpp                   |  22 ++-
 datapool/PoolRawAccess.h                     |  16 +-
 datapool/PoolVariable.h                      |  30 +--
 datapool/PoolVector.h                        |   6 +-
 devicehandlers/DeviceTmReportingWrapper.cpp  |   8 +-
 globalfunctions/Type.cpp                     |  10 +-
 globalfunctions/Type.h                       |  16 +-
 globalfunctions/matching/MatchTree.h         |   2 +-
 globalfunctions/matching/RangeMatcher.h      |  29 +--
 health/HealthTable.cpp                       |   6 +-
 memory/MemoryHelper.cpp                      |   6 +-
 osal/rtems/CpuUsage.cpp                      |  16 +-
 parameters/ParameterWrapper.cpp              |  16 +-
 parameters/ParameterWrapper.h                |   2 +-
 power/PowerComponent.cpp                     |   8 +-
 serialize/EndianSwapper.h                    |  46 ++++-
 serialize/SerialArrayListAdapter.h           |  10 +-
 serialize/SerialBufferAdapter.cpp            |   8 +-
 serialize/SerialLinkedListAdapter.h          |  36 ++--
 serialize/SerializeAdapter.h                 | 198 +++++++++----------
 serialize/SerializeElement.h                 |  34 ++--
 serialize/SerializeIF.h                      |  15 +-
 subsystem/Subsystem.cpp                      |   2 +-
 subsystem/modes/ModeDefinitions.h            |  16 +-
 thermal/ThermalComponent.cpp                 |   8 +-
 tmstorage/TmStorePackets.h                   |  38 ++--
 tmtcpacket/packetmatcher/ApidMatcher.h       |   6 +-
 tmtcpacket/packetmatcher/ServiceMatcher.h    |   6 +-
 tmtcpacket/packetmatcher/SubserviceMatcher.h |   6 +-
 tmtcservices/CommandingServiceBase.cpp       |   2 +-
 tmtcservices/PusVerificationReport.cpp       |  18 +-
 35 files changed, 389 insertions(+), 341 deletions(-)

diff --git a/container/FixedMap.h b/container/FixedMap.h
index 0b84bf4e..eaf8a24c 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -150,13 +150,13 @@ public:
 
 	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter<uint32_t>::serialize(&this->_size,
+		ReturnValue_t result = SerializeAdapter::serialize(&this->_size,
 				buffer, size, max_size, bigEndian);
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
-			result = SerializeAdapter<key_t>::serialize(&theMap[i].first, buffer,
+			result = SerializeAdapter::serialize(&theMap[i].first, buffer,
 					size, max_size, bigEndian);
-			result = SerializeAdapter<T>::serialize(&theMap[i].second, buffer, size,
+			result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
 					max_size, bigEndian);
 			++i;
 		}
@@ -168,9 +168,9 @@ public:
 		uint32_t i = 0;
 
 		for (i = 0; i < _size; ++i) {
-			printSize += SerializeAdapter<key_t>::getSerializedSize(
+			printSize += SerializeAdapter::getSerializedSize(
 					&theMap[i].first);
-			printSize += SerializeAdapter<T>::getSerializedSize(&theMap[i].second);
+			printSize += SerializeAdapter::getSerializedSize(&theMap[i].second);
 		}
 
 		return printSize;
@@ -178,16 +178,16 @@ public:
 
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<uint32_t>::deSerialize(&this->_size,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
 				buffer, size, bigEndian);
 		if (this->_size > theMap.maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
-			result = SerializeAdapter<key_t>::deSerialize(&theMap[i].first, buffer,
+			result = SerializeAdapter::deSerialize(&theMap[i].first, buffer,
 					size, bigEndian);
-			result = SerializeAdapter<T>::deSerialize(&theMap[i].second, buffer, size,
+			result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
 					bigEndian);
 			++i;
 		}
diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h
index 992b7489..32b61c2d 100644
--- a/container/IndexedRingMemoryArray.h
+++ b/container/IndexedRingMemoryArray.h
@@ -70,7 +70,7 @@ public:
 
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 				const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = AutoSerializeAdapter::serialize(&blockStartAddress,buffer,size,max_size,bigEndian);
+		ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,max_size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -78,17 +78,17 @@ public:
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&this->storedPackets,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,max_size,bigEndian);
 		return result;
 	}
 
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 				bool bigEndian){
-		ReturnValue_t result = AutoSerializeAdapter::deSerialize(&blockStartAddress,buffer,size,bigEndian);
+		ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -96,11 +96,11 @@ public:
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&this->storedPackets,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -108,10 +108,10 @@ public:
 	}
 
 	uint32_t getSerializedSize() const {
-		uint32_t size = AutoSerializeAdapter::getSerializedSize(&blockStartAddress);
+		uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress);
 		size += indexType.getSerializedSize();
-		size += AutoSerializeAdapter::getSerializedSize(&this->size);
-		size += AutoSerializeAdapter::getSerializedSize(&this->storedPackets);
+		size += SerializeAdapter::getSerializedSize(&this->size);
+		size += SerializeAdapter::getSerializedSize(&this->storedPackets);
 		return size;
 	}
 
@@ -500,14 +500,14 @@ public:
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
-		result = AutoSerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
 
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
-			result = SerializeAdapter<Index<T> >::serialize(&this->entries[i], buffer, size,
+			result = SerializeAdapter::serialize(&this->entries[i], buffer, size,
 					max_size, bigEndian);
 			++i;
 		}
@@ -515,7 +515,7 @@ public:
 			return result;
 		}
 		uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize));
-		result = AutoSerializeAdapter::serialize(&crc,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&crc,buffer,size,max_size,bigEndian);
 		return result;
 	}
 
@@ -531,10 +531,10 @@ public:
 			size += additionalInfo->getSerializedSize();
 		}
 		size += currentWriteBlock->getSerializedSize();
-		size += AutoSerializeAdapter::getSerializedSize(&this->size);
+		size += SerializeAdapter::getSerializedSize(&this->size);
 		size += (this->entries[0].getSerializedSize()) * this->size;
 		uint16_t crc = 0;
-		size += AutoSerializeAdapter::getSerializedSize(&crc);
+		size += SerializeAdapter::getSerializedSize(&crc);
 		return size;
 	}
 	/**
@@ -563,7 +563,7 @@ public:
 					return result;
 		}
 		uint32_t tempSize = 0;
-		result = AutoSerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
@@ -572,7 +572,7 @@ public:
 		}
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
-			result = SerializeAdapter<Index<T> >::deSerialize(
+			result = SerializeAdapter::deSerialize(
 					&this->entries[i], buffer, size,
 					bigEndian);
 			++i;
diff --git a/datapool/DataPoolParameterWrapper.cpp b/datapool/DataPoolParameterWrapper.cpp
index 0ff2121d..10fb5392 100644
--- a/datapool/DataPoolParameterWrapper.cpp
+++ b/datapool/DataPoolParameterWrapper.cpp
@@ -39,18 +39,18 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter<Type>::serialize(&type, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&columns, buffer, size,
+	result = SerializeAdapter::serialize(&columns, buffer, size,
 			max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::serialize(&rows, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/datapool/PIDReader.h b/datapool/PIDReader.h
index 299cc2fe..ac1d169e 100644
--- a/datapool/PIDReader.h
+++ b/datapool/PIDReader.h
@@ -17,7 +17,7 @@ protected:
 	uint8_t valid;
 	ReturnValue_t read() {
 		uint8_t arrayIndex = DataPool::PIDToArrayIndex(parameterId);
-		PoolEntry<T>* read_out = ::dataPool.getData<T>(
+		PoolEntry<T> *read_out = ::dataPool.getData<T>(
 				DataPool::PIDToDataPoolId(parameterId), arrayIndex);
 		if (read_out != NULL) {
 			valid = read_out->valid;
@@ -43,7 +43,8 @@ protected:
 	 * Empty ctor for List initialization
 	 */
 	PIDReader() :
-		parameterId(PoolVariableIF::NO_PARAMETER), valid(PoolVariableIF::INVALID), value(0) {
+			parameterId(PoolVariableIF::NO_PARAMETER), valid(
+					PoolVariableIF::INVALID), value(0) {
 
 	}
 public:
@@ -63,9 +64,9 @@ public:
 	 * \param setWritable If this flag is set to true, changes in the value attribute can be
 	 * 					written back to the data pool, otherwise not.
 	 */
-	PIDReader(uint32_t setParameterId, DataSetIF* dataSet) :
-			parameterId(setParameterId), valid(
-					PoolVariableIF::INVALID), value(0) {
+	PIDReader(uint32_t setParameterId, DataSetIF *dataSet) :
+			parameterId(setParameterId), valid(PoolVariableIF::INVALID), value(
+					0) {
 		if (dataSet != NULL) {
 			dataSet->registerVariable(this);
 		}
@@ -74,7 +75,7 @@ public:
 	/**
 	 * Copy ctor to copy classes containing Pool Variables.
 	 */
-	PIDReader(const PIDReader& rhs) :
+	PIDReader(const PIDReader &rhs) :
 			parameterId(rhs.parameterId), valid(rhs.valid), value(rhs.value) {
 	}
 
@@ -121,24 +122,25 @@ public:
 		return value;
 	}
 
-	PIDReader<T> &operator=(T newValue) {
+	PIDReader<T>& operator=(T newValue) {
 		value = newValue;
 		return *this;
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<T>::serialize(&value, buffer, size, max_size,
-				bigEndian);
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t maxSize, Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize(&value, buffer, size, maxSize,
+				streamEndianness);
 	}
 
-	virtual uint32_t getSerializedSize() const {
-		return SerializeAdapter<T>::getSerializedSize(&value);
+	virtual size_t getSerializedSize() const override {
+		return SerializeAdapter::getSerializedSize(&value);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
-		return SerializeAdapter<T>::deSerialize(&value, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override {
+		return SerializeAdapter::deSerialize(&value, buffer, size,
+				streamEndianness);
 	}
 };
 
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index 555896bb..2053498b 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -145,10 +145,12 @@ uint16_t PoolRawAccess::getSizeTillEnd() const {
 	return sizeTillEnd;
 }
 
-ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
-	if (typeSize + *size <= max_size) {
-		if (bigEndian) {
+ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
+	//TODO integer overflow
+	if (typeSize + *size <= maxSize) {
+#error use endian swapper
+		if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
@@ -169,16 +171,16 @@ ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, uint32_t* size,
 	}
 }
 
-uint32_t PoolRawAccess::getSerializedSize() const {
+size_t PoolRawAccess::getSerializedSize() const {
 	return typeSize;
 }
 
-ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
-	*size -= typeSize;
-	if (*size >= 0) {
+ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 
-		if (bigEndian) {
+	if (*size >= typeSize) {
+		*size -= typeSize;
+		if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
index 3e2bd7ae..190c38a9 100644
--- a/datapool/PoolRawAccess.h
+++ b/datapool/PoolRawAccess.h
@@ -70,7 +70,7 @@ public:
 	static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
 	uint8_t value[RAW_MAX_SIZE];
 	PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
-			DataSetIF* data_set, ReadWriteMode_t setReadWriteMode =
+			DataSetIF *data_set, ReadWriteMode_t setReadWriteMode =
 					PoolVariableIF::VAR_READ);
 	/**
 	 * \brief	The classes destructor is empty. If commit() was not called, the local value is
@@ -97,7 +97,7 @@ public:
 	 * \return	- \c RETURN_OK if entry could be acquired
 	 * 			- \c RETURN_FAILED else.
 	 */
-	ReturnValue_t getEntryEndianSafe(uint8_t* buffer, uint32_t* size,
+	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, uint32_t *size,
 			uint32_t max_size);
 	/**
 	 * With this method, the content can be set from a big endian buffer safely.
@@ -106,7 +106,7 @@ public:
 	 * @return	- \c RETURN_OK on success
 	 * 			- \c RETURN_FAILED on failure
 	 */
-	ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer,
+	ReturnValue_t setEntryFromBigEndian(const uint8_t *buffer,
 			uint32_t setSize);
 	/**
 	 *  \brief This operation returns the type of the entry currently stored.
@@ -140,13 +140,13 @@ public:
 	 */
 	uint16_t getSizeTillEnd() const;
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+			 Endianness streamEndianness) const override;
 
-	uint32_t getSerializedSize() const;
+	size_t getSerializedSize() const override;
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			 Endianness streamEndianness) override;
 };
 
 #endif /* POOLRAWACCESS_H_ */
diff --git a/datapool/PoolVariable.h b/datapool/PoolVariable.h
index 25345c0a..ce073426 100644
--- a/datapool/PoolVariable.h
+++ b/datapool/PoolVariable.h
@@ -58,7 +58,7 @@ protected:
 	 * 			The operation does NOT provide any mutual exclusive protection by itself.
 	 */
 	ReturnValue_t read() {
-		PoolEntry<T>* read_out = ::dataPool.getData<T>(dataPoolId, 1);
+		PoolEntry<T> *read_out = ::dataPool.getData < T > (dataPoolId, 1);
 		if (read_out != NULL) {
 			valid = read_out->valid;
 			value = *(read_out->address);
@@ -79,7 +79,7 @@ protected:
 	 *
 	 */
 	ReturnValue_t commit() {
-		PoolEntry<T>* write_back = ::dataPool.getData<T>(dataPoolId, 1);
+		PoolEntry<T> *write_back = ::dataPool.getData < T > (dataPoolId, 1);
 		if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
 			write_back->valid = valid;
 			*(write_back->address) = value;
@@ -115,7 +115,7 @@ public:
 	 * \param setWritable If this flag is set to true, changes in the value attribute can be
 	 * 					written back to the data pool, otherwise not.
 	 */
-	PoolVariable(uint32_t set_id, DataSetIF* dataSet,
+	PoolVariable(uint32_t set_id, DataSetIF *dataSet,
 			ReadWriteMode_t setReadWriteMode) :
 			dataPoolId(set_id), valid(PoolVariableIF::INVALID), readWriteMode(
 					setReadWriteMode), value(0) {
@@ -126,7 +126,7 @@ public:
 	/**
 	 * Copy ctor to copy classes containing Pool Variables.
 	 */
-	PoolVariable(const PoolVariable& rhs) :
+	PoolVariable(const PoolVariable &rhs) :
 			dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
 					rhs.readWriteMode), value(rhs.value) {
 	}
@@ -184,29 +184,29 @@ public:
 		return value;
 	}
 
-	PoolVariable<T> &operator=(T newValue) {
+	PoolVariable<T>& operator=(T newValue) {
 		value = newValue;
 		return *this;
 	}
 
-	PoolVariable<T> &operator=(PoolVariable<T> newPoolVariable) {
+	PoolVariable<T>& operator=(PoolVariable<T> newPoolVariable) {
 		value = newPoolVariable.value;
 		return *this;
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<T>::serialize(&value, buffer, size, max_size,
-				bigEndian);
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t max_size, Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize<T>(&value, buffer, size, max_size,
+				streamEndianness);
 	}
 
-	virtual uint32_t getSerializedSize() const {
-		return SerializeAdapter<T>::getSerializedSize(&value);
+	virtual uint32_t getSerializedSize() const override {
+		return SerializeAdapter::getSerializedSize(&value);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter<T>::deSerialize(&value, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override {
+		return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/datapool/PoolVector.h b/datapool/PoolVector.h
index d3617d17..3809f93b 100644
--- a/datapool/PoolVector.h
+++ b/datapool/PoolVector.h
@@ -202,7 +202,7 @@ public:
 		uint16_t i;
 		ReturnValue_t result;
 		for (i = 0; i < vector_size; i++) {
-			result = SerializeAdapter<T>::serialize(&(value[i]), buffer, size,
+			result = SerializeAdapter::serialize(&(value[i]), buffer, size,
 					max_size, bigEndian);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
@@ -212,7 +212,7 @@ public:
 	}
 
 	virtual uint32_t getSerializedSize() const {
-		return vector_size * SerializeAdapter<T>::getSerializedSize(value);
+		return vector_size * SerializeAdapter::getSerializedSize(value);
 	}
 
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
@@ -220,7 +220,7 @@ public:
 		uint16_t i;
 		ReturnValue_t result;
 		for (i = 0; i < vector_size; i++) {
-			result = SerializeAdapter<T>::deSerialize(&(value[i]), buffer, size,
+			result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
 					bigEndian);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp
index 2c9e820f..55861c3c 100644
--- a/devicehandlers/DeviceTmReportingWrapper.cpp
+++ b/devicehandlers/DeviceTmReportingWrapper.cpp
@@ -13,12 +13,12 @@ DeviceTmReportingWrapper::~DeviceTmReportingWrapper() {
 
 ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer,
 		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<object_id_t>::serialize(&objectId,
+	ReturnValue_t result = SerializeAdapter::serialize(&objectId,
 			buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<ActionId_t>::serialize(&actionId, buffer,
+	result = SerializeAdapter::serialize(&actionId, buffer,
 			size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -32,12 +32,12 @@ uint32_t DeviceTmReportingWrapper::getSerializedSize() const {
 
 ReturnValue_t DeviceTmReportingWrapper::deSerialize(const uint8_t** buffer,
 		int32_t* size, bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<object_id_t>::deSerialize(&objectId,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&objectId,
 			buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<ActionId_t>::deSerialize(&actionId, buffer,
+	result = SerializeAdapter::deSerialize(&actionId, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp
index 814d26f4..b7b7fd82 100644
--- a/globalfunctions/Type.cpp
+++ b/globalfunctions/Type.cpp
@@ -68,13 +68,13 @@ ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&ptc, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&ptc, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&pfc, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&pfc, buffer, size, max_size,
 			bigEndian);
 
 	return result;
@@ -83,20 +83,20 @@ ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
 
 uint32_t Type::getSerializedSize() const {
 	uint8_t dontcare = 0;
-	return 2 * SerializeAdapter<uint8_t>::getSerializedSize(&dontcare);
+	return 2 * SerializeAdapter::getSerializedSize(&dontcare);
 }
 
 ReturnValue_t Type::deSerialize(const uint8_t** buffer, int32_t* size,
 		bool bigEndian) {
 	uint8_t ptc;
 	uint8_t pfc;
-	ReturnValue_t result = SerializeAdapter<uint8_t>::deSerialize(&ptc, buffer,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&ptc, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::deSerialize(&pfc, buffer, size,
+	result = SerializeAdapter::deSerialize(&pfc, buffer, size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h
index 88df07b6..3ec250b0 100644
--- a/globalfunctions/Type.h
+++ b/globalfunctions/Type.h
@@ -22,7 +22,7 @@ public:
 
 	Type(ActualType_t actualType);
 
-	Type(const Type& type);
+	Type(const Type &type);
 
 	Type& operator=(Type rhs);
 
@@ -30,8 +30,8 @@ public:
 
 	operator ActualType_t() const;
 
-	bool operator==(const Type& rhs);
-	bool operator!=(const Type& rhs);
+	bool operator==(const Type &rhs);
+	bool operator!=(const Type &rhs);
 
 	uint8_t getSize() const;
 
@@ -39,13 +39,13 @@ public:
 
 	static ActualType_t getActualType(uint8_t ptc, uint8_t pfc);
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override;
 
 private:
 	ActualType_t actualType;
diff --git a/globalfunctions/matching/MatchTree.h b/globalfunctions/matching/MatchTree.h
index 398cf3f0..0ee3890b 100644
--- a/globalfunctions/matching/MatchTree.h
+++ b/globalfunctions/matching/MatchTree.h
@@ -49,7 +49,7 @@ public:
 			const uint32_t max_size, bool bigEndian) const {
 		iterator iter = this->begin();
 		uint8_t count = this->countRight(iter);
-		ReturnValue_t result = SerializeAdapter<uint8_t>::serialize(&count,
+		ReturnValue_t result = SerializeAdapter::serialize(&count,
 				buffer, size, max_size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
diff --git a/globalfunctions/matching/RangeMatcher.h b/globalfunctions/matching/RangeMatcher.h
index 10e07173..c30406f6 100644
--- a/globalfunctions/matching/RangeMatcher.h
+++ b/globalfunctions/matching/RangeMatcher.h
@@ -4,7 +4,6 @@
 #include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
 #include <framework/serialize/SerializeAdapter.h>
 
-
 template<typename T>
 class RangeMatcher: public SerializeableMatcherIF<T> {
 public:
@@ -27,34 +26,40 @@ public:
 		}
 	}
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter<T>::serialize(&lowerBound, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t max_size,
+			SerializeIF::Endianness streamEndianness) const override {
+		ReturnValue_t result = SerializeAdapter::serialize(&lowerBound, buffer,
+				size, max_size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<T>::serialize(&upperBound, buffer, size, max_size, bigEndian);
+		result = SerializeAdapter::serialize(&upperBound, buffer, size,
+				max_size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<bool>::serialize(&inverted, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&inverted, buffer, size, max_size,
+				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const {
+	uint32_t getSerializedSize() const override {
 		return sizeof(lowerBound) + sizeof(upperBound) + sizeof(bool);
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<T>::deSerialize(&lowerBound, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			SerializeIF::Endianness streamEndianness) override {
+		ReturnValue_t result = SerializeAdapter::deSerialize(&lowerBound,
+				buffer, size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<T>::deSerialize(&upperBound, buffer, size, bigEndian);
+		result = SerializeAdapter::deSerialize(&upperBound, buffer, size,
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<bool>::deSerialize(&inverted, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&inverted, buffer, size,
+				streamEndianness);
 	}
 protected:
 	bool doMatch(T input) {
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index a575b282..48ee6679 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -67,16 +67,16 @@ void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
 	mutex->lockMutex(MutexIF::NO_TIMEOUT);
 	uint32_t size = 0;
 	uint16_t count = healthMap.size();
-	ReturnValue_t result = SerializeAdapter<uint16_t>::serialize(&count,
+	ReturnValue_t result = SerializeAdapter::serialize(&count,
 			&pointer, &size, maxSize, true);
 	HealthMap::iterator iter;
 	for (iter = healthMap.begin();
 			iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
 			++iter) {
-		result = SerializeAdapter<object_id_t>::serialize(&iter->first,
+		result = SerializeAdapter::serialize(&iter->first,
 				&pointer, &size, maxSize, true);
 		uint8_t health = iter->second;
-		result = SerializeAdapter<uint8_t>::serialize(&health, &pointer, &size,
+		result = SerializeAdapter::serialize(&health, &pointer, &size,
 				maxSize, true);
 	}
 	mutex->unlockMutex();
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index 69830084..c89fd5a4 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -53,7 +53,7 @@ void MemoryHelper::completeLoad(ReturnValue_t errorCode,
 		memcpy(copyHere, dataToCopy, size);
 		break;
 	case HasMemoryIF::POINTS_TO_VARIABLE:
-		EndianSwapper::swap(copyHere, dataToCopy, size);
+		EndianConverter::convertBigEndian(copyHere, dataToCopy, size);
 		break;
 	case HasMemoryIF::ACTIVITY_COMPLETED:
 	case RETURN_OK:
@@ -86,7 +86,7 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
 	case HasMemoryIF::POINTS_TO_VARIABLE:
 		//"data" must be valid pointer!
 		if (errorCode == HasMemoryIF::POINTS_TO_VARIABLE) {
-			EndianSwapper::swap(reservedSpaceInIPC, dataToCopy, size);
+			EndianConverter::convertBigEndian(reservedSpaceInIPC, dataToCopy, size);
 		} else {
 			memcpy(reservedSpaceInIPC, dataToCopy, size);
 		}
@@ -136,7 +136,7 @@ void MemoryHelper::swapMatrixCopy(uint8_t* out, const uint8_t *in,
 	}
 
 	while (totalSize > 0){
-		EndianSwapper::swap(out,in,datatypeSize);
+		EndianConverter::convertBigEndian(out,in,datatypeSize);
 		out += datatypeSize;
 		in += datatypeSize;
 		totalSize -= datatypeSize;
diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp
index 9fc34ff1..903a4d0e 100644
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@@ -91,7 +91,7 @@ void CpuUsage::clear() {
 
 ReturnValue_t CpuUsage::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<float>::serialize(
+	ReturnValue_t result = SerializeAdapter::serialize(
 			&timeSinceLastReset, buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -111,7 +111,7 @@ uint32_t CpuUsage::getSerializedSize() const {
 
 ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, int32_t* size,
 		bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<float>::deSerialize(
+	ReturnValue_t result = SerializeAdapter::deSerialize(
 			&timeSinceLastReset, buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -122,7 +122,7 @@ ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, int32_t* size,
 
 ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<uint32_t>::serialize(&id, buffer,
+	ReturnValue_t result = SerializeAdapter::serialize(&id, buffer,
 			size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -133,12 +133,12 @@ ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, uint32_t* size,
 	memcpy(*buffer, name, MAX_LENGTH_OF_THREAD_NAME);
 	*size += MAX_LENGTH_OF_THREAD_NAME;
 	*buffer += MAX_LENGTH_OF_THREAD_NAME;
-	result = SerializeAdapter<float>::serialize(&timeRunning,
+	result = SerializeAdapter::serialize(&timeRunning,
 			buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<float>::serialize(&percentUsage,
+	result = SerializeAdapter::serialize(&percentUsage,
 			buffer, size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -159,7 +159,7 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const {
 
 ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
 		int32_t* size, bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<uint32_t>::deSerialize(&id, buffer,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -169,12 +169,12 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
 	}
 	memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME);
 	*buffer -= MAX_LENGTH_OF_THREAD_NAME;
-	result = SerializeAdapter<float>::deSerialize(&timeRunning,
+	result = SerializeAdapter::deSerialize(&timeRunning,
 			buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<float>::deSerialize(&percentUsage,
+	result = SerializeAdapter::deSerialize(&percentUsage,
 			buffer, size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index 8f661bb3..9dcbc6d5 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -24,18 +24,18 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter<Type>::serialize(&type, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::serialize(&columns, buffer, size,
+	result = SerializeAdapter::serialize(&columns, buffer, size,
 			max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::serialize(&rows, buffer, size, max_size,
+	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
 			bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -94,7 +94,7 @@ ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size,
 	ReturnValue_t result;
 	uint16_t dataSize = columns * rows;
 	while (dataSize != 0) {
-		result = SerializeAdapter<T>::serialize(element, buffer, size, max_size,
+		result = SerializeAdapter::serialize(element, buffer, size, max_size,
 				bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
@@ -123,7 +123,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 				+ (((startingRow + fromRow) * columns) + startingColumn);
 
 		for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
-			result = SerializeAdapter<T>::deSerialize(
+			result = SerializeAdapter::deSerialize(
 					dataWithDataType + fromColumn, &fromAsStream, &streamSize,
 					true);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -155,18 +155,18 @@ ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
 
 ReturnValue_t ParameterWrapper::set(const uint8_t* stream, int32_t streamSize,
 		const uint8_t **remainingStream, int32_t *remainingSize) {
-	ReturnValue_t result = SerializeAdapter<Type>::deSerialize(&type, &stream,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
 			&streamSize, true);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter<uint8_t>::deSerialize(&columns, &stream,
+	result = SerializeAdapter::deSerialize(&columns, &stream,
 			&streamSize, true);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter<uint8_t>::deSerialize(&rows, &stream, &streamSize,
+	result = SerializeAdapter::deSerialize(&rows, &stream, &streamSize,
 			true);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index f61786b8..e6d29c59 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -54,7 +54,7 @@ public:
 			const uint8_t *streamWithtype = (const uint8_t *) readonlyData;
 			streamWithtype += (row * columns + column) * type.getSize();
 			int32_t size = type.getSize();
-			return SerializeAdapter<T>::deSerialize(value, &streamWithtype,
+			return SerializeAdapter::deSerialize(value, &streamWithtype,
 					&size, true);
 		} else {
 			const T *dataWithType = (const T *) readonlyData;
diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp
index 6a87d88b..53bb06c8 100644
--- a/power/PowerComponent.cpp
+++ b/power/PowerComponent.cpp
@@ -19,12 +19,12 @@ PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min, f
 
 ReturnValue_t PowerComponent::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
-	ReturnValue_t result = SerializeAdapter<float>::serialize(&min, buffer,
+	ReturnValue_t result = SerializeAdapter::serialize(&min, buffer,
 			size, max_size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter<float>::serialize(&max, buffer, size, max_size,
+	return SerializeAdapter::serialize(&max, buffer, size, max_size,
 			bigEndian);
 }
 
@@ -58,12 +58,12 @@ float PowerComponent::getMax() {
 
 ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, int32_t* size,
 bool bigEndian) {
-	ReturnValue_t result = SerializeAdapter<float>::deSerialize(&min, buffer,
+	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
 			size, bigEndian);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter<float>::deSerialize(&max, buffer, size, bigEndian);
+	return SerializeAdapter::deSerialize(&max, buffer, size, bigEndian);
 }
 
 ReturnValue_t PowerComponent::getParameter(uint8_t domainId,
diff --git a/serialize/EndianSwapper.h b/serialize/EndianSwapper.h
index 6ff54444..e142c2a1 100644
--- a/serialize/EndianSwapper.h
+++ b/serialize/EndianSwapper.h
@@ -5,20 +5,20 @@
 #include <cstring>
 #include <iostream>
 
-class EndianSwapper {
+class EndianConverter {
 private:
-	EndianSwapper() {
+	EndianConverter() {
 	}
 	;
 public:
 	template<typename T>
-	static T swap(T in) {
+	static T convertBigEndian(T in) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 		T tmp;
-		uint8_t *pointerOut = (uint8_t *) &tmp;
-		uint8_t *pointerIn = (uint8_t *) &in;
+		uint8_t *pointerOut = (uint8_t*) &tmp;
+		uint8_t *pointerIn = (uint8_t*) &in;
 		for (uint8_t count = 0; count < sizeof(T); count++) {
 			pointerOut[sizeof(T) - count - 1] = pointerIn[count];
 		}
@@ -29,7 +29,8 @@ public:
 #error Unknown Byte Order
 #endif
 	}
-	static void swap(uint8_t* out, const uint8_t* in, uint32_t size) {
+	static void convertBigEndian(uint8_t *out, const uint8_t *in,
+			uint32_t size) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
@@ -40,6 +41,39 @@ public:
 #elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 		memcpy(out, in, size);
 		return;
+#endif
+	}
+
+	template<typename T>
+	static T convertLittleEndian(T in) {
+#ifndef BYTE_ORDER_SYSTEM
+	#error BYTE_ORDER_SYSTEM not defined
+	#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
+			T tmp;
+			uint8_t *pointerOut = (uint8_t *) &tmp;
+			uint8_t *pointerIn = (uint8_t *) &in;
+			for (uint8_t count = 0; count < sizeof(T); count++) {
+				pointerOut[sizeof(T) - count - 1] = pointerIn[count];
+			}
+			return tmp;
+	#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
+		return in;
+#else
+	#error Unknown Byte Order
+	#endif
+	}
+	static void convertLittleEndian(uint8_t *out, const uint8_t *in,
+			uint32_t size) {
+#ifndef BYTE_ORDER_SYSTEM
+	#error BYTE_ORDER_SYSTEM not defined
+	#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
+			for (uint8_t count = 0; count < size; count++) {
+				out[size - count - 1] = in[count];
+			}
+			return;
+	#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
+		memcpy(out, in, size);
+		return;
 #endif
 	}
 };
diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index 5ffbc375..ab0c6c6f 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -27,11 +27,11 @@ public:
 
 	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<count_t>::serialize(&list->size,
+		ReturnValue_t result = SerializeAdapter::serialize(&list->size,
 				buffer, size, max_size, bigEndian);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter<T>::serialize(&list->entries[i], buffer, size,
+			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
 					max_size, bigEndian);
 			++i;
 		}
@@ -47,7 +47,7 @@ public:
 		count_t i = 0;
 
 		for (i = 0; i < list->size; ++i) {
-			printSize += SerializeAdapter<T>::getSerializedSize(&list->entries[i]);
+			printSize += SerializeAdapter::getSerializedSize(&list->entries[i]);
 		}
 
 		return printSize;
@@ -61,7 +61,7 @@ public:
 	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
 		count_t tempSize = 0;
-		ReturnValue_t result = SerializeAdapter<count_t>::deSerialize(&tempSize,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
 				buffer, size, bigEndian);
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
@@ -69,7 +69,7 @@ public:
 		list->size = tempSize;
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter<T>::deSerialize(
+			result = SerializeAdapter::deSerialize(
 					&list->front()[i], buffer, size,
 					bigEndian);
 			++i;
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 3ed083bf..f78ec8ac 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -26,14 +26,14 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size
 		const uint32_t max_size, bool bigEndian) const {
 	uint32_t serializedLength = bufferLength;
 	if (serializeLength) {
-		serializedLength += AutoSerializeAdapter::getSerializedSize(
+		serializedLength += SerializeAdapter::getSerializedSize(
 				&bufferLength);
 	}
 	if (*size + serializedLength > max_size) {
 		return BUFFER_TOO_SHORT;
 	} else {
 		if (serializeLength) {
-			AutoSerializeAdapter::serialize(&bufferLength, buffer, size,
+			SerializeAdapter::serialize(&bufferLength, buffer, size,
 					max_size, bigEndian);
 		}
 		if (this->constBuffer != NULL) {
@@ -52,7 +52,7 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size
 template<typename T>
 uint32_t SerialBufferAdapter<T>::getSerializedSize() const {
 	if (serializeLength) {
-		return bufferLength + AutoSerializeAdapter::getSerializedSize(&bufferLength);
+		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
 	} else {
 		return bufferLength;
 	}
@@ -63,7 +63,7 @@ ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer,
 	//TODO Ignores Endian flag!
 	if (buffer != NULL) {
 		if(serializeLength){
-			T serializedSize = AutoSerializeAdapter::getSerializedSize(
+			T serializedSize = SerializeAdapter::getSerializedSize(
 					&bufferLength);
 			if((*size - bufferLength - serializedSize) >= 0){
 				*buffer +=  serializedSize;
diff --git a/serialize/SerialLinkedListAdapter.h b/serialize/SerialLinkedListAdapter.h
index 29952c4a..7b10e331 100644
--- a/serialize/SerialLinkedListAdapter.h
+++ b/serialize/SerialLinkedListAdapter.h
@@ -31,32 +31,32 @@ public:
 			SinglyLinkedList<T>(), printCount(printCount) {
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override {
 		if (printCount) {
 			count_t mySize = SinglyLinkedList<T>::getSize();
-			ReturnValue_t result = SerializeAdapter<count_t>::serialize(&mySize,
-					buffer, size, max_size, bigEndian);
+			ReturnValue_t result = SerializeAdapter::serialize(&mySize,
+					buffer, size, maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
 		}
-		return serialize(SinglyLinkedList<T>::start, buffer, size, max_size,
-				bigEndian);
+		return serialize(SinglyLinkedList<T>::start, buffer, size, maxSize,
+				streamEndianness);
 	}
 
 	static ReturnValue_t serialize(const LinkedElement<T>* element,
-			uint8_t** buffer, uint32_t* size, const uint32_t max_size,
-			bool bigEndian) {
+			uint8_t** buffer, size_t* size, size_t maxSize,
+			Endianness streamEndianness) {
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
-			result = element->value->serialize(buffer, size, max_size,
-					bigEndian);
+			result = element->value->serialize(buffer, size, maxSize,
+					streamEndianness);
 			element = element->getNext();
 		}
 		return result;
 	}
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const override {
 		if (printCount) {
 			return SerialLinkedListAdapter<T>::getSerializedSize()
 					+ sizeof(count_t);
@@ -64,8 +64,8 @@ public:
 			return getSerializedSize(SinglyLinkedList<T>::start);
 		}
 	}
-	static uint32_t getSerializedSize(const LinkedElement<T> *element) {
-		uint32_t size = 0;
+	static size_t getSerializedSize(const LinkedElement<T> *element) {
+		size_t size = 0;
 		while (element != NULL) {
 			size += element->value->getSerializedSize();
 			element = element->getNext();
@@ -73,16 +73,16 @@ public:
 		return size;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return deSerialize(SinglyLinkedList<T>::start, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override {
+		return deSerialize(SinglyLinkedList<T>::start, buffer, size, streamEndianness);
 	}
 
 	static ReturnValue_t deSerialize(LinkedElement<T>* element,
-			const uint8_t** buffer, int32_t* size, bool bigEndian) {
+			const uint8_t** buffer, size_t* size, Endianness streamEndianness) {
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
-			result = element->value->deSerialize(buffer, size, bigEndian);
+			result = element->value->deSerialize(buffer, size, streamEndianness);
 			element = element->getNext();
 		}
 		return result;
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index fd9e1b6a..73323c2a 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -10,116 +10,114 @@
 /**
  * \ingroup serialize
  */
-template<typename T, int>
-class SerializeAdapter_ {
-public:
-	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
-			uint32_t* size, const uint32_t max_size, bool bigEndian) {
-		uint32_t ignoredSize = 0;
-		if (size == NULL) {
-			size = &ignoredSize;
-		}
-		if (sizeof(T) + *size <= max_size) {
-			T tmp;
-			if (bigEndian) {
-				tmp = EndianSwapper::swap<T>(*object);
-			} else {
-				tmp = *object;
-			}
-			memcpy(*buffer, &tmp, sizeof(T));
-			*size += sizeof(T);
-			(*buffer) += sizeof(T);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return SerializeIF::BUFFER_TOO_SHORT;
-		}
-	}
 
-	ReturnValue_t deSerialize(T* object, const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		T tmp;
-		*size -= sizeof(T);
-		if (*size >= 0) {
-			memcpy(&tmp, *buffer, sizeof(T));
-			if (bigEndian) {
-				*object = EndianSwapper::swap<T>(tmp);
-			} else {
-				*object = tmp;
-			}
-			*buffer += sizeof(T);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return SerializeIF::STREAM_TOO_SHORT;
-		}
-	}
-
-	uint32_t getSerializedSize(const T * object) {
-		return sizeof(T);
-	}
-
-};
-
-template<typename T>
-class SerializeAdapter_<T, 1> {
-public:
-	ReturnValue_t serialize(const T* object, uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		uint32_t ignoredSize = 0;
-		if (size == NULL) {
-			size = &ignoredSize;
-		}
-		return object->serialize(buffer, size, max_size, bigEndian);
-	}
-	uint32_t getSerializedSize(const T* object) const {
-		return object->getSerializedSize();
-	}
-
-	ReturnValue_t deSerialize(T* object, const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return object->deSerialize(buffer, size, bigEndian);
-	}
-};
-
-template<typename T>
 class SerializeAdapter {
-public:
-	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
-			uint32_t* size, const uint32_t max_size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.serialize(object, buffer, size, max_size, bigEndian);
-	}
-	static uint32_t getSerializedSize(const T* object) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.getSerializedSize(object);
-	}
-
-	static ReturnValue_t deSerialize(T* object, const uint8_t** buffer,
-			int32_t* size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.deSerialize(object, buffer, size, bigEndian);
-	}
-};
-
-
-class AutoSerializeAdapter {
 public:
 	template<typename T>
-	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
-			uint32_t* size, const uint32_t max_size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.serialize(object, buffer, size, max_size, bigEndian);
+	static ReturnValue_t serialize(const T *object, uint8_t **buffer,
+			size_t *size, size_t maxSize, SerializeIF::Endianness streamEndianness) {
+		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+		return adapter.serialize(object, buffer, size, maxSize,
+				streamEndianness);
 	}
 	template<typename T>
-	static uint32_t getSerializedSize(const T* object) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+	static uint32_t getSerializedSize(const T *object) {
+		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
 		return adapter.getSerializedSize(object);
 	}
 	template<typename T>
-	static ReturnValue_t deSerialize(T* object, const uint8_t** buffer,
-			int32_t* size, bool bigEndian) {
-		SerializeAdapter_<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
-		return adapter.deSerialize(object, buffer, size, bigEndian);
+	static ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+			size_t *size, SerializeIF::Endianness streamEndianness) {
+		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+		return adapter.deSerialize(object, buffer, size, streamEndianness);
 	}
+private:
+	template<typename T, int>
+	class InternalSerializeAdapter {
+	public:
+		static ReturnValue_t serialize(const T *object, uint8_t **buffer,
+				size_t *size, size_t max_size, SerializeIF::Endianness streamEndianness) {
+			size_t ignoredSize = 0;
+			if (size == NULL) {
+				size = &ignoredSize;
+			}
+			//TODO check integer overflow of *size
+			if (sizeof(T) + *size <= max_size) {
+				T tmp;
+				switch (streamEndianness) {
+				case SerializeIF::Endianness::BIG:
+					tmp = EndianConverter::convertBigEndian<T>(*object);
+					break;
+				case SerializeIF::Endianness::LITTLE:
+					tmp = EndianConverter::convertLittleEndian<T>(*object);
+					break;
+				default:
+				case SerializeIF::Endianness::MACHINE:
+					tmp = *object;
+					break;
+				}
+				memcpy(*buffer, &tmp, sizeof(T));
+				*size += sizeof(T);
+				(*buffer) += sizeof(T);
+				return HasReturnvaluesIF::RETURN_OK;
+			} else {
+				return SerializeIF::BUFFER_TOO_SHORT;
+			}
+		}
+
+		ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+				size_t *size, SerializeIF::Endianness streamEndianness) {
+			T tmp;
+			if (*size >= sizeof(T)) {
+				*size -= sizeof(T);
+				memcpy(&tmp, *buffer, sizeof(T));
+				switch (streamEndianness) {
+				case SerializeIF::Endianness::BIG:
+					*object = EndianConverter::convertBigEndian<T>(tmp);
+					break;
+				case SerializeIF::Endianness::LITTLE:
+					*object = EndianConverter::convertLittleEndian<T>(tmp);
+					break;
+				default:
+				case SerializeIF::Endianness::MACHINE:
+					*object = tmp;
+					break;
+				}
+
+				*buffer += sizeof(T);
+				return HasReturnvaluesIF::RETURN_OK;
+			} else {
+				return SerializeIF::STREAM_TOO_SHORT;
+			}
+		}
+
+		uint32_t getSerializedSize(const T *object) {
+			return sizeof(T);
+		}
+
+	};
+
+	template<typename T>
+	class InternalSerializeAdapter<T, 1> {
+	public:
+		ReturnValue_t serialize(const T *object, uint8_t **buffer,
+				size_t *size, size_t max_size,
+				SerializeIF::Endianness streamEndianness) const {
+			size_t ignoredSize = 0;
+			if (size == NULL) {
+				size = &ignoredSize;
+			}
+			return object->serialize(buffer, size, max_size, streamEndianness);
+		}
+		uint32_t getSerializedSize(const T *object) const {
+			return object->getSerializedSize();
+		}
+
+		ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
+				size_t *size, SerializeIF::Endianness streamEndianness) {
+			return object->deSerialize(buffer, size, streamEndianness);
+		}
+	};
 };
 
 #endif /* SERIALIZEADAPTER_H_ */
diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h
index db7db20a..22e9838c 100644
--- a/serialize/SerializeElement.h
+++ b/serialize/SerializeElement.h
@@ -9,41 +9,43 @@
  * \ingroup serialize
  */
 template<typename T>
-class SerializeElement : public SerializeIF, public LinkedElement<SerializeIF> {
+class SerializeElement: public SerializeIF, public LinkedElement<SerializeIF> {
 public:
-	template<typename... Args>
-	SerializeElement(Args... args) : LinkedElement<SerializeIF>(this), entry(std::forward<Args>(args)...) {
+	template<typename ... Args>
+	SerializeElement(Args ... args) :
+			LinkedElement<SerializeIF>(this), entry(std::forward<Args>(args)...) {
 
 	}
-	SerializeElement() : LinkedElement<SerializeIF>(this) {
+	SerializeElement() :
+			LinkedElement<SerializeIF>(this) {
 	}
 	T entry;
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<T>::serialize(&entry, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+			Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize(&entry, buffer, size, maxSize,
+				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const {
-		return SerializeAdapter<T>::getSerializedSize(&entry);
+	uint32_t getSerializedSize() const override {
+		return SerializeAdapter::getSerializedSize(&entry);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter<T>::deSerialize(&entry, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) override {
+		return SerializeAdapter::deSerialize(&entry, buffer, size,
+				streamEndianness);
 	}
 	operator T() {
 		return entry;
 	}
 
-	SerializeElement<T> &operator=(T newValue) {
+	SerializeElement<T>& operator=(T newValue) {
 		entry = newValue;
 		return *this;
 	}
-	T *operator->() {
+	T* operator->() {
 		return &entry;
 	}
 };
 
-
-
 #endif /* SERIALIZEELEMENT_H_ */
diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 701fbf56..6c875a5c 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -2,6 +2,7 @@
 #define SERIALIZEIF_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <stddef.h>
 
 /**
  * \defgroup serialize Serialization
@@ -14,6 +15,10 @@
  */
 class SerializeIF {
 public:
+	enum class Endianness : uint8_t {
+		BIG, LITTLE, MACHINE
+	};
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::SERIALIZE_IF;
 	static const ReturnValue_t BUFFER_TOO_SHORT = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(2);
@@ -22,13 +27,13 @@ public:
 	virtual ~SerializeIF() {
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const = 0;
+	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+			size_t max_size, Endianness streamEndianness) const = 0;
 
-	virtual uint32_t getSerializedSize() const = 0;
+	virtual size_t getSerializedSize() const = 0;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) = 0;
+	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			Endianness streamEndianness) = 0;
 
 };
 
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index e1ec544b..ef706dd7 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -169,7 +169,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 		if (result == RETURN_OK) {
 			Mode_t fallbackId;
 			int32_t size = sizeRead;
-			result = SerializeAdapter<Mode_t>::deSerialize(&fallbackId,
+			result = SerializeAdapter::deSerialize(&fallbackId,
 					&pointer, &size, true);
 			if (result == RETURN_OK) {
 				result = SerialArrayListAdapter<ModeListEntry>::deSerialize(
diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h
index 8e7531f3..3e749dd8 100644
--- a/subsystem/modes/ModeDefinitions.h
+++ b/subsystem/modes/ModeDefinitions.h
@@ -23,26 +23,26 @@ public:
 
 		ReturnValue_t result;
 
-		result = SerializeAdapter<uint32_t>::serialize(&value1, buffer, size,
+		result = SerializeAdapter::serialize(&value1, buffer, size,
 				max_size, bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint32_t>::serialize(&value2, buffer, size,
+		result = SerializeAdapter::serialize(&value2, buffer, size,
 				max_size, bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint8_t>::serialize(&value3, buffer, size,
+		result = SerializeAdapter::serialize(&value3, buffer, size,
 				max_size, bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 
-		result = SerializeAdapter<uint8_t>::serialize(&value4, buffer, size,
+		result = SerializeAdapter::serialize(&value4, buffer, size,
 				max_size, bigEndian);
 
 		return result;
@@ -57,25 +57,25 @@ public:
 	bool bigEndian) {
 		ReturnValue_t result;
 
-		result = SerializeAdapter<uint32_t>::deSerialize(&value1, buffer, size,
+		result = SerializeAdapter::deSerialize(&value1, buffer, size,
 				bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint32_t>::deSerialize(&value2, buffer, size,
+		result = SerializeAdapter::deSerialize(&value2, buffer, size,
 				bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint8_t>::deSerialize(&value3, buffer, size,
+		result = SerializeAdapter::deSerialize(&value3, buffer, size,
 				bigEndian);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = SerializeAdapter<uint8_t>::deSerialize(&value4, buffer, size,
+		result = SerializeAdapter::deSerialize(&value4, buffer, size,
 				bigEndian);
 
 		return result;
diff --git a/thermal/ThermalComponent.cpp b/thermal/ThermalComponent.cpp
index bf6f7398..93513e16 100644
--- a/thermal/ThermalComponent.cpp
+++ b/thermal/ThermalComponent.cpp
@@ -47,13 +47,13 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) {
 		return MonitoringIF::INVALID_SIZE;
 	}
 	int32_t readSize = size;
-	SerializeAdapter<float>::deSerialize(&nopParameters.lowerNopLimit, &data,
+	SerializeAdapter::deSerialize(&nopParameters.lowerNopLimit, &data,
 			&readSize, true);
-	SerializeAdapter<float>::deSerialize(&parameters.lowerOpLimit, &data,
+	SerializeAdapter::deSerialize(&parameters.lowerOpLimit, &data,
 			&readSize, true);
-	SerializeAdapter<float>::deSerialize(&parameters.upperOpLimit, &data,
+	SerializeAdapter::deSerialize(&parameters.upperOpLimit, &data,
 			&readSize, true);
-	SerializeAdapter<float>::deSerialize(&nopParameters.upperNopLimit, &data,
+	SerializeAdapter::deSerialize(&nopParameters.upperNopLimit, &data,
 			&readSize, true);
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h
index 6eea6f58..4e7160fb 100644
--- a/tmstorage/TmStorePackets.h
+++ b/tmstorage/TmStorePackets.h
@@ -34,12 +34,12 @@ public:
 	uint16_t ssc;
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter<uint16_t>::serialize(&apid,
+		ReturnValue_t result = SerializeAdapter::serialize(&apid,
 				buffer, size, max_size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<uint16_t>::serialize(&ssc, buffer, size,
+		return SerializeAdapter::serialize(&ssc, buffer, size,
 				max_size, bigEndian);
 
 	}
@@ -50,12 +50,12 @@ public:
 
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 	bool bigEndian) {
-		ReturnValue_t result = SerializeAdapter<uint16_t>::deSerialize(&apid,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&apid,
 				buffer, size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter<uint16_t>::deSerialize(&ssc, buffer, size,
+		return SerializeAdapter::deSerialize(&ssc, buffer, size,
 				bigEndian);
 	}
 };
@@ -220,23 +220,23 @@ public:
 
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = AutoSerializeAdapter::serialize(&apid,buffer,size,max_size,bigEndian);
+		ReturnValue_t result = SerializeAdapter::serialize(&apid,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&sourceSequenceCount,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&sourceSequenceCount,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&serviceType,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceType,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&serviceSubtype,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceSubtype,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = AutoSerializeAdapter::serialize(&subCounter,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&subCounter,buffer,size,max_size,bigEndian);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -246,11 +246,11 @@ public:
 
 	uint32_t getSerializedSize() const {
 		uint32_t size = 0;
-		size += AutoSerializeAdapter::getSerializedSize(&apid);
-		size += AutoSerializeAdapter::getSerializedSize(&sourceSequenceCount);
-		size += AutoSerializeAdapter::getSerializedSize(&serviceType);
-		size += AutoSerializeAdapter::getSerializedSize(&serviceSubtype);
-		size += AutoSerializeAdapter::getSerializedSize(&subCounter);
+		size += SerializeAdapter::getSerializedSize(&apid);
+		size += SerializeAdapter::getSerializedSize(&sourceSequenceCount);
+		size += SerializeAdapter::getSerializedSize(&serviceType);
+		size += SerializeAdapter::getSerializedSize(&serviceSubtype);
+		size += SerializeAdapter::getSerializedSize(&subCounter);
 		SerialBufferAdapter<uint8_t> adapter(rawTimestamp,sizeof(rawTimestamp));
 		size += adapter.getSerializedSize();
 		return size;
@@ -259,27 +259,27 @@ public:
 
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 	bool bigEndian) {
-		ReturnValue_t result = AutoSerializeAdapter::deSerialize(&apid, buffer,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&apid, buffer,
 				size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&sourceSequenceCount, buffer,
+		result = SerializeAdapter::deSerialize(&sourceSequenceCount, buffer,
 				size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&serviceType, buffer, size,
+		result = SerializeAdapter::deSerialize(&serviceType, buffer, size,
 				bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&serviceSubtype, buffer,
+		result = SerializeAdapter::deSerialize(&serviceSubtype, buffer,
 				size, bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		result = AutoSerializeAdapter::deSerialize(&subCounter, buffer, size,
+		result = SerializeAdapter::deSerialize(&subCounter, buffer, size,
 				bigEndian);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
diff --git a/tmtcpacket/packetmatcher/ApidMatcher.h b/tmtcpacket/packetmatcher/ApidMatcher.h
index 1f194968..d5d96f2d 100644
--- a/tmtcpacket/packetmatcher/ApidMatcher.h
+++ b/tmtcpacket/packetmatcher/ApidMatcher.h
@@ -24,14 +24,14 @@ public:
 	}
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<uint16_t>::serialize(&apid, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&apid, buffer, size, max_size, bigEndian);
 	}
 	uint32_t getSerializedSize() const {
-		return SerializeAdapter<uint16_t>::getSerializedSize(&apid);
+		return SerializeAdapter::getSerializedSize(&apid);
 	}
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		return SerializeAdapter<uint16_t>::deSerialize(&apid, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&apid, buffer, size, bigEndian);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/ServiceMatcher.h b/tmtcpacket/packetmatcher/ServiceMatcher.h
index 1a6781b4..b0623780 100644
--- a/tmtcpacket/packetmatcher/ServiceMatcher.h
+++ b/tmtcpacket/packetmatcher/ServiceMatcher.h
@@ -24,14 +24,14 @@ public:
 	}
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<uint8_t>::serialize(&service, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&service, buffer, size, max_size, bigEndian);
 	}
 	uint32_t getSerializedSize() const {
-		return SerializeAdapter<uint8_t>::getSerializedSize(&service);
+		return SerializeAdapter::getSerializedSize(&service);
 	}
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		return SerializeAdapter<uint8_t>::deSerialize(&service, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&service, buffer, size, bigEndian);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/SubserviceMatcher.h b/tmtcpacket/packetmatcher/SubserviceMatcher.h
index 1b589b20..90370af1 100644
--- a/tmtcpacket/packetmatcher/SubserviceMatcher.h
+++ b/tmtcpacket/packetmatcher/SubserviceMatcher.h
@@ -22,14 +22,14 @@ public:
 	}
 	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
 			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter<uint8_t>::serialize(&subService, buffer, size, max_size, bigEndian);
+		return SerializeAdapter::serialize(&subService, buffer, size, max_size, bigEndian);
 	}
 	uint32_t getSerializedSize() const {
-		return SerializeAdapter<uint8_t>::getSerializedSize(&subService);
+		return SerializeAdapter::getSerializedSize(&subService);
 	}
 	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
 			bool bigEndian) {
-		return SerializeAdapter<uint8_t>::deSerialize(&subService, buffer, size, bigEndian);
+		return SerializeAdapter::deSerialize(&subService, buffer, size, bigEndian);
 	}
 private:
 	uint8_t subService;
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index d70b9042..5b9e7b68 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -236,7 +236,7 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 	uint8_t buffer[sizeof(object_id_t)];
 	uint8_t* pBuffer = buffer;
 	uint32_t size = 0;
-	SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
+	SerializeAdapter::serialize(&objectId, &pBuffer, &size,
 			sizeof(object_id_t), true);
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, buffer, size);
diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index 1bc53c2a..e1dad2be 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -108,12 +108,12 @@ PusSuccessReport::PusSuccessReport(uint16_t setPacketId,
 		uint16_t setSequenceControl, uint8_t setStep) :
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
-	SerializeAdapter<uint16_t>::serialize(&setPacketId, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
-	SerializeAdapter<uint16_t>::serialize(&setSequenceControl, &pBuffer,
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
 			&reportSize, sizeof(reportBuffer), true);
 	if (setStep != 0) {
-		SerializeAdapter<uint8_t>::serialize(&setStep, &pBuffer, &reportSize,
+		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
 				sizeof(reportBuffer), true);
 	}
 }
@@ -135,19 +135,19 @@ PusFailureReport::PusFailureReport(uint16_t setPacketId,
 		uint8_t setStep, uint32_t parameter1, uint32_t parameter2) :
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
-	SerializeAdapter<uint16_t>::serialize(&setPacketId, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
-	SerializeAdapter<uint16_t>::serialize(&setSequenceControl, &pBuffer,
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
 			&reportSize, sizeof(reportBuffer), true);
 	if (setStep != 0) {
-		SerializeAdapter<uint8_t>::serialize(&setStep, &pBuffer, &reportSize,
+		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
 				sizeof(reportBuffer), true);
 	}
-	SerializeAdapter<ReturnValue_t>::serialize(&setErrorCode, &pBuffer,
+	SerializeAdapter::serialize(&setErrorCode, &pBuffer,
 			&reportSize, sizeof(reportBuffer), true);
-	SerializeAdapter<uint32_t>::serialize(&parameter1, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&parameter1, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
-	SerializeAdapter<uint32_t>::serialize(&parameter2, &pBuffer, &reportSize,
+	SerializeAdapter::serialize(&parameter2, &pBuffer, &reportSize,
 			sizeof(reportBuffer), true);
 }
 

From cf3190a90445d6b0f93986b40e22036e3fde4d92 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Tue, 21 Apr 2020 22:28:43 +0200
Subject: [PATCH 036/653] Actually, not that horrible, thanks to sed

---
 action/ActionHelper.cpp                      |   6 +-
 action/CommandActionHelper.cpp               |  39 ++++---
 container/FixedMap.h                         |  22 ++--
 container/IndexedRingMemoryArray.h           |  60 +++++------
 datapool/DataPool.cpp                        |   4 +-
 datapool/DataPoolAdmin.cpp                   |   6 +-
 datapool/DataPoolParameterWrapper.cpp        |  20 ++--
 datapool/DataPoolParameterWrapper.h          |  10 +-
 datapool/DataSet.cpp                         |  18 ++--
 datapool/DataSet.h                           |  10 +-
 datapool/PoolRawAccess.cpp                   |   6 +-
 datapool/PoolRawAccess.h                     |   6 +-
 datapool/PoolVariable.h                      |   6 +-
 datapool/PoolVector.h                        |  14 +--
 devicehandlers/DeviceTmReportingWrapper.cpp  |  18 ++--
 devicehandlers/DeviceTmReportingWrapper.h    |  10 +-
 events/eventmatching/EventRangeMatcherBase.h |  14 +--
 globalfunctions/Type.cpp                     |  22 ++--
 globalfunctions/conversion.cpp               | 104 -------------------
 globalfunctions/conversion.h                 |  24 -----
 globalfunctions/matching/MatchTree.h         |  20 ++--
 globalfunctions/matching/RangeMatcher.h      |  10 +-
 health/HealthTable.cpp                       |  10 +-
 health/HealthTable.h                         |   2 +-
 monitoring/LimitViolationReporter.cpp        |   6 +-
 osal/rtems/CpuUsage.cpp                      |  36 +++----
 osal/rtems/CpuUsage.h                        |  20 ++--
 parameters/ParameterHelper.cpp               |   6 +-
 parameters/ParameterWrapper.cpp              |  92 ++++++++--------
 parameters/ParameterWrapper.h                |  22 ++--
 power/Fuse.cpp                               |  14 +--
 power/Fuse.h                                 |  27 ++---
 power/PowerComponent.cpp                     |  20 ++--
 power/PowerComponent.h                       |  10 +-
 serialize/SerialArrayListAdapter.h           |  30 +++---
 serialize/SerialBufferAdapter.cpp            |  12 +--
 serialize/SerialBufferAdapter.h              |  10 +-
 serialize/SerialFixedArrayListAdapter.h      |  14 +--
 serialize/SerializeElement.h                 |   2 +-
 serialize/SerializeIF.h                      |   2 +-
 subsystem/Subsystem.cpp                      |  39 ++++---
 subsystem/modes/ModeDefinitions.h            |  26 ++---
 thermal/ThermalComponent.cpp                 |  10 +-
 tmstorage/TmStorePackets.h                   |  52 +++++-----
 tmtcpacket/packetmatcher/ApidMatcher.h       |  14 +--
 tmtcpacket/packetmatcher/ServiceMatcher.h    |  14 +--
 tmtcpacket/packetmatcher/SubserviceMatcher.h |  14 +--
 tmtcpacket/pus/TmPacketStored.cpp            |  33 +++---
 tmtcservices/CommandingServiceBase.cpp       |   4 +-
 tmtcservices/PusVerificationReport.cpp       |  28 ++---
 tmtcservices/PusVerificationReport.h         |   6 +-
 51 files changed, 458 insertions(+), 566 deletions(-)
 delete mode 100644 globalfunctions/conversion.cpp
 delete mode 100644 globalfunctions/conversion.h

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 9c1475f1..f93afaa8 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -71,18 +71,18 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
 	CommandMessage reply;
 	store_address_t storeAddress;
 	uint8_t *dataPtr;
-	uint32_t maxSize = data->getSerializedSize();
+	size_t maxSize = data->getSerializedSize();
 	if (maxSize == 0) {
 		//No error, there's simply nothing to report.
 		return HasReturnvaluesIF::RETURN_OK;
 	}
-	uint32_t size = 0;
+	size_t size = 0;
 	ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
 			&dataPtr);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = data->serialize(&dataPtr, &size, maxSize, true);
+	result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		ipcStore->deleteData(storeAddress);
 		return result;
diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp
index 05eb9346..6a26453c 100644
--- a/action/CommandActionHelper.cpp
+++ b/action/CommandActionHelper.cpp
@@ -4,30 +4,31 @@
 #include <framework/action/HasActionsIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 
-CommandActionHelper::CommandActionHelper(CommandsActionsIF* setOwner) :
+CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
 		owner(setOwner), queueToUse(NULL), ipcStore(
-				NULL), commandCount(0), lastTarget(0) {
+		NULL), commandCount(0), lastTarget(0) {
 }
 
 CommandActionHelper::~CommandActionHelper() {
 }
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
-		ActionId_t actionId, SerializeIF* data) {
-	HasActionsIF* receiver = objectManager->get<HasActionsIF>(commandTo);
+		ActionId_t actionId, SerializeIF *data) {
+	HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
 	if (receiver == NULL) {
 		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
 	}
 	store_address_t storeId;
-	uint8_t* storePointer;
-	uint32_t maxSize = data->getSerializedSize();
+	uint8_t *storePointer;
+	size_t maxSize = data->getSerializedSize();
 	ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
 			&storePointer);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	uint32_t size = 0;
-	result = data->serialize(&storePointer, &size, maxSize, true);
+	size_t size = 0;
+	result = data->serialize(&storePointer, &size, maxSize,
+			SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -35,11 +36,11 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
 }
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
-		ActionId_t actionId, const uint8_t* data, uint32_t size) {
+		ActionId_t actionId, const uint8_t *data, uint32_t size) {
 //	if (commandCount != 0) {
 //		return CommandsFunctionsIF::ALREADY_COMMANDING;
 //	}
-	HasActionsIF* receiver = objectManager->get<HasActionsIF>(commandTo);
+	HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
 	if (receiver == NULL) {
 		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
 	}
@@ -71,13 +72,13 @@ ReturnValue_t CommandActionHelper::initialize() {
 	}
 
 	queueToUse = owner->getCommandQueuePtr();
-	if(queueToUse == NULL){
+	if (queueToUse == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t CommandActionHelper::handleReply(CommandMessage* reply) {
+ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
 	if (reply->getSender() != lastTarget) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
@@ -88,7 +89,8 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage* reply) {
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::COMPLETION_FAILED:
 		commandCount--;
-		owner->completionFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getReturnCode(reply));
+		owner->completionFailedReceived(ActionMessage::getActionId(reply),
+				ActionMessage::getReturnCode(reply));
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::STEP_SUCCESS:
 		owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
@@ -96,11 +98,13 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage* reply) {
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::STEP_FAILED:
 		commandCount--;
-		owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
+		owner->stepFailedReceived(ActionMessage::getActionId(reply),
+				ActionMessage::getStep(reply),
 				ActionMessage::getReturnCode(reply));
 		return HasReturnvaluesIF::RETURN_OK;
 	case ActionMessage::DATA_REPLY:
-		extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
+		extractDataForOwner(ActionMessage::getActionId(reply),
+				ActionMessage::getStoreId(reply));
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
 		return HasReturnvaluesIF::RETURN_FAILED;
@@ -111,8 +115,9 @@ uint8_t CommandActionHelper::getCommandCount() const {
 	return commandCount;
 }
 
-void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-	const uint8_t * data = NULL;
+void CommandActionHelper::extractDataForOwner(ActionId_t actionId,
+		store_address_t storeId) {
+	const uint8_t *data = NULL;
 	uint32_t size = 0;
 	ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/container/FixedMap.h b/container/FixedMap.h
index eaf8a24c..ac170bd2 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -148,22 +148,22 @@ public:
 		return theMap.maxSize();
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 		ReturnValue_t result = SerializeAdapter::serialize(&this->_size,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
 			result = SerializeAdapter::serialize(&theMap[i].first, buffer,
-					size, max_size, bigEndian);
+					size, maxSize, streamEndianness);
 			result = SerializeAdapter::serialize(&theMap[i].second, buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			++i;
 		}
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		uint32_t printSize = sizeof(_size);
 		uint32_t i = 0;
 
@@ -176,19 +176,19 @@ public:
 		return printSize;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::deSerialize(&this->_size,
-				buffer, size, bigEndian);
+				buffer, size, streamEndianness);
 		if (this->_size > theMap.maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->_size)) {
 			result = SerializeAdapter::deSerialize(&theMap[i].first, buffer,
-					size, bigEndian);
+					size, streamEndianness);
 			result = SerializeAdapter::deSerialize(&theMap[i].second, buffer, size,
-					bigEndian);
+					streamEndianness);
 			++i;
 		}
 		return result;
diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h
index 32b61c2d..6e7f330c 100644
--- a/container/IndexedRingMemoryArray.h
+++ b/container/IndexedRingMemoryArray.h
@@ -68,46 +68,46 @@ public:
 		return this->storedPackets;
 	}
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-				const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,max_size,bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				size_t maxSize, Endianness streamEndianness) const {
+		ReturnValue_t result = SerializeAdapter::serialize(&blockStartAddress,buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = indexType.serialize(buffer,size,max_size,bigEndian);
+		result = indexType.serialize(buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->storedPackets,buffer,size,maxSize,streamEndianness);
 		return result;
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-				bool bigEndian){
-		ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+				Endianness streamEndianness){
+		ReturnValue_t result = SerializeAdapter::deSerialize(&blockStartAddress,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = indexType.deSerialize(buffer,size,bigEndian);
+		result = indexType.deSerialize(buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::deSerialize(&this->size,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->size,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&this->storedPackets,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		return result;
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		uint32_t size = SerializeAdapter::getSerializedSize(&blockStartAddress);
 		size += indexType.getSerializedSize();
 		size += SerializeAdapter::getSerializedSize(&this->size);
@@ -485,22 +485,22 @@ public:
 	 * Parameters according to HasSerializeIF
 	 * @param buffer
 	 * @param size
-	 * @param max_size
-	 * @param bigEndian
+	 * @param maxSize
+	 * @param streamEndianness
 	 * @return
 	 */
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-				const uint32_t max_size, bool bigEndian) const{
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				size_t maxSize, Endianness streamEndianness) const{
 		uint8_t* crcBuffer = *buffer;
 		uint32_t oldSize = *size;
 		if(additionalInfo!=NULL){
-			additionalInfo->serialize(buffer,size,max_size,bigEndian);
+			additionalInfo->serialize(buffer,size,maxSize,streamEndianness);
 		}
-		ReturnValue_t result = currentWriteBlock->serialize(buffer,size,max_size,bigEndian);
+		ReturnValue_t result = currentWriteBlock->serialize(buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
-		result = SerializeAdapter::serialize(&this->size,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&this->size,buffer,size,maxSize,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
@@ -508,14 +508,14 @@ public:
 		uint32_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
 			result = SerializeAdapter::serialize(&this->entries[i], buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			++i;
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		uint16_t crc = Calculate_CRC(crcBuffer,(*size-oldSize));
-		result = SerializeAdapter::serialize(&crc,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&crc,buffer,size,maxSize,streamEndianness);
 		return result;
 	}
 
@@ -524,7 +524,7 @@ public:
 	 * Get the serialized Size of the index
 	 * @return The serialized size of the index
 	 */
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 
 		uint32_t size = 0;
 		if(additionalInfo!=NULL){
@@ -542,28 +542,28 @@ public:
 	 * CRC Has to be checked before!
 	 * @param buffer
 	 * @param size
-	 * @param bigEndian
+	 * @param streamEndianness
 	 * @return
 	 */
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-				bool bigEndian){
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+				Endianness streamEndianness){
 
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 		if(additionalInfo!=NULL){
-			result = additionalInfo->deSerialize(buffer,size,bigEndian);
+			result = additionalInfo->deSerialize(buffer,size,streamEndianness);
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
 
 		Index<T> tempIndex;
-		result = tempIndex.deSerialize(buffer,size,bigEndian);
+		result = tempIndex.deSerialize(buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
 		uint32_t tempSize = 0;
-		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,bigEndian);
+		result = SerializeAdapter::deSerialize(&tempSize,buffer,size,streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK){
 					return result;
 		}
@@ -574,7 +574,7 @@ public:
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < this->size)) {
 			result = SerializeAdapter::deSerialize(
 					&this->entries[i], buffer, size,
-					bigEndian);
+					streamEndianness);
 			++i;
 		}
 		if(result != HasReturnvaluesIF::RETURN_OK){
diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp
index 89543d77..6604dc23 100644
--- a/datapool/DataPool.cpp
+++ b/datapool/DataPool.cpp
@@ -39,10 +39,10 @@ PoolEntryIF* DataPool::getRawData( uint32_t data_pool_id ) {
 	}
 }
 
-//uint8_t DataPool::getRawData( uint32_t data_pool_id, uint8_t* address, uint16_t* size, uint32_t max_size ) {
+//uint8_t DataPool::getRawData( uint32_t data_pool_id, uint8_t* address, uint16_t* size, uint32_t maxSize ) {
 //	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
 //	if ( it != this->data_pool.end() ) {
-//		if ( it->second->getByteSize() <= max_size ) {
+//		if ( it->second->getByteSize() <= maxSize ) {
 //			*size = it->second->getByteSize();
 //			memcpy( address, it->second->getRawData(), *size );
 //			return DP_SUCCESSFUL;
diff --git a/datapool/DataPoolAdmin.cpp b/datapool/DataPoolAdmin.cpp
index fe6b9215..8bf7f6b3 100644
--- a/datapool/DataPoolAdmin.cpp
+++ b/datapool/DataPoolAdmin.cpp
@@ -261,7 +261,7 @@ ReturnValue_t DataPoolAdmin::handleParameterCommand(CommandMessage* command) {
 //identical to ParameterHelper::sendParameter()
 ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
 		const DataPoolParameterWrapper* wrapper) {
-	uint32_t serializedSize = wrapper->getSerializedSize();
+	size_t serializedSize = wrapper->getSerializedSize();
 
 	uint8_t *storeElement;
 	store_address_t address;
@@ -272,10 +272,10 @@ ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
 		return result;
 	}
 
-	uint32_t storeElementSize = 0;
+	size_t storeElementSize = 0;
 
 	result = wrapper->serialize(&storeElement, &storeElementSize,
-			serializedSize, true);
+			serializedSize, SerializeIF::Endianness::BIG);
 
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		storage->deleteData(address);
diff --git a/datapool/DataPoolParameterWrapper.cpp b/datapool/DataPoolParameterWrapper.cpp
index 10fb5392..e08eba5b 100644
--- a/datapool/DataPoolParameterWrapper.cpp
+++ b/datapool/DataPoolParameterWrapper.cpp
@@ -36,22 +36,22 @@ ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
 }
 
 ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
-		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
 	result = SerializeAdapter::serialize(&columns, buffer, size,
-			max_size, bigEndian);
+			maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -60,7 +60,7 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 		DataSet mySet;
 		PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
 		mySet.read();
-		result = raw.serialize(buffer,size,max_size,bigEndian);
+		result = raw.serialize(buffer,size,maxSize,streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
@@ -69,8 +69,8 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 }
 
 //same as ParameterWrapper
-uint32_t DataPoolParameterWrapper::getSerializedSize() const {
-	uint32_t serializedSize = 0;
+size_t DataPoolParameterWrapper::getSerializedSize() const {
+	size_t serializedSize = 0;
 	serializedSize += type.getSerializedSize();
 	serializedSize += sizeof(rows);
 	serializedSize += sizeof(columns);
@@ -80,7 +80,7 @@ uint32_t DataPoolParameterWrapper::getSerializedSize() const {
 }
 
 ReturnValue_t DataPoolParameterWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		size_t* size, Endianness streamEndianness) {
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
diff --git a/datapool/DataPoolParameterWrapper.h b/datapool/DataPoolParameterWrapper.h
index faadf659..a3dbdc04 100644
--- a/datapool/DataPoolParameterWrapper.h
+++ b/datapool/DataPoolParameterWrapper.h
@@ -11,13 +11,13 @@ public:
 
 	ReturnValue_t set(uint8_t domainId, uint16_t parameterId);
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
 	ReturnValue_t copyFrom(const ParameterWrapper *from,
 			uint16_t startWritingAtIndex);
diff --git a/datapool/DataSet.cpp b/datapool/DataSet.cpp
index b4725c73..94cdcf0c 100644
--- a/datapool/DataSet.cpp
+++ b/datapool/DataSet.cpp
@@ -106,12 +106,12 @@ uint8_t DataSet::lockDataPool() {
 	return ::dataPool.lockDataPool();
 }
 
-ReturnValue_t DataSet::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t DataSet::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = RETURN_FAILED;
 	for (uint16_t count = 0; count < fill_count; count++) {
-		result = registeredVariables[count]->serialize(buffer, size, max_size,
-				bigEndian);
+		result = registeredVariables[count]->serialize(buffer, size, maxSize,
+				streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
@@ -119,8 +119,8 @@ ReturnValue_t DataSet::serialize(uint8_t** buffer, uint32_t* size,
 	return result;
 }
 
-uint32_t DataSet::getSerializedSize() const {
-	uint32_t size = 0;
+size_t DataSet::getSerializedSize() const {
+	size_t size = 0;
 	for (uint16_t count = 0; count < fill_count; count++) {
 		size += registeredVariables[count]->getSerializedSize();
 	}
@@ -136,12 +136,12 @@ void DataSet::setValid(uint8_t valid) {
 	}
 }
 
-ReturnValue_t DataSet::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
+ReturnValue_t DataSet::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 	ReturnValue_t result = RETURN_FAILED;
 	for (uint16_t count = 0; count < fill_count; count++) {
 		result = registeredVariables[count]->deSerialize(buffer, size,
-				bigEndian);
+				streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
diff --git a/datapool/DataSet.h b/datapool/DataSet.h
index 982be692..3d211537 100644
--- a/datapool/DataSet.h
+++ b/datapool/DataSet.h
@@ -146,13 +146,13 @@ public:
 	 */
 	void setValid(uint8_t valid);
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	uint32_t getSerializedSize() const;
+	size_t getSerializedSize() const override;
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
 };
 
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index 2053498b..94766d87 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -69,12 +69,12 @@ uint8_t* PoolRawAccess::getEntry() {
 }
 
 ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
-		uint32_t* writtenBytes, uint32_t max_size) {
+		uint32_t* writtenBytes, uint32_t maxSize) {
 	uint8_t* data_ptr = getEntry();
 //	debug << "PoolRawAccess::getEntry: Array position: " << index * size_of_type << " Size of T: " << (int)size_of_type << " ByteSize: " << byte_size << " Position: " << *size << std::endl;
 	if (typeSize == 0)
 		return DATA_POOL_ACCESS_FAILED;
-	if (typeSize > max_size)
+	if (typeSize > maxSize)
 		return INCORRECT_SIZE;
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
@@ -149,7 +149,7 @@ ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
 		size_t maxSize, Endianness streamEndianness) const {
 	//TODO integer overflow
 	if (typeSize + *size <= maxSize) {
-#error use endian swapper
+#warning use endian swapper
 		if (1) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
index 190c38a9..8cc8f3f0 100644
--- a/datapool/PoolRawAccess.h
+++ b/datapool/PoolRawAccess.h
@@ -90,15 +90,15 @@ public:
 	 * \details	It makes use of the getEntry call of this function, but additionally flips the
 	 * 			bytes to big endian, which is the default for external communication (as House-
 	 * 			keeping telemetry). To achieve this, the data is copied directly to the passed
-	 * 			buffer, if it fits in the given max_size.
+	 * 			buffer, if it fits in the given maxSize.
 	 * \param buffer	A pointer to a buffer to write to
 	 * \param writtenBytes	The number of bytes written is returned with this value.
-	 * \param max_size	The maximum size that the function may write to buffer.
+	 * \param maxSize	The maximum size that the function may write to buffer.
 	 * \return	- \c RETURN_OK if entry could be acquired
 	 * 			- \c RETURN_FAILED else.
 	 */
 	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, uint32_t *size,
-			uint32_t max_size);
+			uint32_t maxSize);
 	/**
 	 * With this method, the content can be set from a big endian buffer safely.
 	 * @param buffer	Pointer to the data to set
diff --git a/datapool/PoolVariable.h b/datapool/PoolVariable.h
index ce073426..c1a57539 100644
--- a/datapool/PoolVariable.h
+++ b/datapool/PoolVariable.h
@@ -195,12 +195,12 @@ public:
 	}
 
 	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-			size_t max_size, Endianness streamEndianness) const override {
-		return SerializeAdapter::serialize<T>(&value, buffer, size, max_size,
+			size_t maxSize, Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize<T>(&value, buffer, size, maxSize,
 				streamEndianness);
 	}
 
-	virtual uint32_t getSerializedSize() const override {
+	virtual size_t getSerializedSize() const override {
 		return SerializeAdapter::getSerializedSize(&value);
 	}
 
diff --git a/datapool/PoolVector.h b/datapool/PoolVector.h
index 3809f93b..50724054 100644
--- a/datapool/PoolVector.h
+++ b/datapool/PoolVector.h
@@ -197,13 +197,13 @@ public:
 		return *this;
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 		uint16_t i;
 		ReturnValue_t result;
 		for (i = 0; i < vector_size; i++) {
 			result = SerializeAdapter::serialize(&(value[i]), buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
@@ -211,17 +211,17 @@ public:
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		return vector_size * SerializeAdapter::getSerializedSize(value);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
 		uint16_t i;
 		ReturnValue_t result;
 		for (i = 0; i < vector_size; i++) {
 			result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
-					bigEndian);
+					streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp
index 55861c3c..ce5eb109 100644
--- a/devicehandlers/DeviceTmReportingWrapper.cpp
+++ b/devicehandlers/DeviceTmReportingWrapper.cpp
@@ -12,35 +12,35 @@ DeviceTmReportingWrapper::~DeviceTmReportingWrapper() {
 }
 
 ReturnValue_t DeviceTmReportingWrapper::serialize(uint8_t** buffer,
-		uint32_t* size, const uint32_t max_size, bool bigEndian) const {
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(&objectId,
-			buffer, size, max_size, bigEndian);
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::serialize(&actionId, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return data->serialize(buffer, size, max_size, bigEndian);
+	return data->serialize(buffer, size, maxSize, streamEndianness);
 }
 
-uint32_t DeviceTmReportingWrapper::getSerializedSize() const {
+size_t DeviceTmReportingWrapper::getSerializedSize() const {
 	return sizeof(objectId) + sizeof(ActionId_t) + data->getSerializedSize();
 }
 
 ReturnValue_t DeviceTmReportingWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		size_t* size, Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&objectId,
-			buffer, size, bigEndian);
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::deSerialize(&actionId, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return data->deSerialize(buffer, size, bigEndian);
+	return data->deSerialize(buffer, size, streamEndianness);
 }
diff --git a/devicehandlers/DeviceTmReportingWrapper.h b/devicehandlers/DeviceTmReportingWrapper.h
index 1cd9470d..4432b7f1 100644
--- a/devicehandlers/DeviceTmReportingWrapper.h
+++ b/devicehandlers/DeviceTmReportingWrapper.h
@@ -11,13 +11,13 @@ public:
 			SerializeIF *data);
 	virtual ~DeviceTmReportingWrapper();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 private:
 	object_id_t objectId;
 	ActionId_t actionId;
diff --git a/events/eventmatching/EventRangeMatcherBase.h b/events/eventmatching/EventRangeMatcherBase.h
index 921a5d6a..587669ba 100644
--- a/events/eventmatching/EventRangeMatcherBase.h
+++ b/events/eventmatching/EventRangeMatcherBase.h
@@ -11,16 +11,16 @@ class EventRangeMatcherBase: public SerializeableMatcherIF<EventMessage*> {
 public:
 	EventRangeMatcherBase(T from, T till, bool inverted) : rangeMatcher(from, till, inverted) {	}
 	virtual ~EventRangeMatcherBase() { }
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return rangeMatcher.serialize(buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return rangeMatcher.serialize(buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return rangeMatcher.getSerializedSize();
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return rangeMatcher.deSerialize(buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return rangeMatcher.deSerialize(buffer, size, streamEndianness);
 	}
 protected:
 	RangeMatcher<T> rangeMatcher;
diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp
index b7b7fd82..a481f768 100644
--- a/globalfunctions/Type.cpp
+++ b/globalfunctions/Type.cpp
@@ -59,8 +59,8 @@ uint8_t Type::getSize() const {
 	}
 }
 
-ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t Type::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	uint8_t ptc;
 	uint8_t pfc;
 	ReturnValue_t result = getPtcPfc(&ptc, &pfc);
@@ -68,36 +68,36 @@ ReturnValue_t Type::serialize(uint8_t** buffer, uint32_t* size,
 		return result;
 	}
 
-	result = SerializeAdapter::serialize(&ptc, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&ptc, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter::serialize(&pfc, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&pfc, buffer, size, maxSize,
+			streamEndianness);
 
 	return result;
 
 }
 
-uint32_t Type::getSerializedSize() const {
+size_t Type::getSerializedSize() const {
 	uint8_t dontcare = 0;
 	return 2 * SerializeAdapter::getSerializedSize(&dontcare);
 }
 
-ReturnValue_t Type::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
+ReturnValue_t Type::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 	uint8_t ptc;
 	uint8_t pfc;
 	ReturnValue_t result = SerializeAdapter::deSerialize(&ptc, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
 	result = SerializeAdapter::deSerialize(&pfc, buffer, size,
-			bigEndian);
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/globalfunctions/conversion.cpp b/globalfunctions/conversion.cpp
deleted file mode 100644
index d4f542bd..00000000
--- a/globalfunctions/conversion.cpp
+++ /dev/null
@@ -1,104 +0,0 @@
-#include <framework/globalfunctions/conversion.h>
-#include <framework/osal/Endiness.h>
-#include <cstring>
-
-
-
-//SHOULDDO: This shall be optimized (later)!
-void convertToByteStream( uint16_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF00) >> 8;
-	buffer[1] = (value & 0x00FF);
-	*size += 2;
-}
-
-void convertToByteStream( uint32_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF000000) >> 24;
-	buffer[1] = (value & 0x00FF0000) >> 16;
-	buffer[2] = (value & 0x0000FF00) >> 8;
-	buffer[3] = (value & 0x000000FF);
-	*size +=4;
-}
-
-void convertToByteStream( int16_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF00) >> 8;
-	buffer[1] = (value & 0x00FF);
-	*size += 2;
-}
-
-void convertToByteStream( int32_t value, uint8_t* buffer, uint32_t* size ) {
-	buffer[0] = (value & 0xFF000000) >> 24;
-	buffer[1] = (value & 0x00FF0000) >> 16;
-	buffer[2] = (value & 0x0000FF00) >> 8;
-	buffer[3] = (value & 0x000000FF);
-	*size += 4;
-}
-
-//void convertToByteStream( uint64_t value, uint8_t* buffer, uint32_t* size ) {
-//	buffer[0] = (value & 0xFF00000000000000) >> 56;
-//	buffer[1] = (value & 0x00FF000000000000) >> 48;
-//	buffer[2] = (value & 0x0000FF0000000000) >> 40;
-//	buffer[3] = (value & 0x000000FF00000000) >> 32;
-//	buffer[4] = (value & 0x00000000FF000000) >> 24;
-//	buffer[5] = (value & 0x0000000000FF0000) >> 16;
-//	buffer[6] = (value & 0x000000000000FF00) >> 8;
-//	buffer[7] = (value & 0x00000000000000FF);
-//	*size+=8;
-//}
-//
-//void convertToByteStream( int64_t value, uint8_t* buffer, uint32_t* size ) {
-//	buffer[0] = (value & 0xFF00000000000000) >> 56;
-//	buffer[1] = (value & 0x00FF000000000000) >> 48;
-//	buffer[2] = (value & 0x0000FF0000000000) >> 40;
-//	buffer[3] = (value & 0x000000FF00000000) >> 32;
-//	buffer[4] = (value & 0x00000000FF000000) >> 24;
-//	buffer[5] = (value & 0x0000000000FF0000) >> 16;
-//	buffer[6] = (value & 0x000000000000FF00) >> 8;
-//	buffer[7] = (value & 0x00000000000000FF);
-//	*size+=8;
-//}
-
-void convertToByteStream( float in_value, uint8_t* buffer, uint32_t* size ) {
-#ifndef BYTE_ORDER_SYSTEM
-	#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-	union float_union {
-		float value;
-		uint8_t chars[4];
-	};
-	float_union temp;
-	temp.value = in_value;
-	buffer[0] = temp.chars[3];
-	buffer[1] = temp.chars[2];
-	buffer[2] = temp.chars[1];
-	buffer[3] = temp.chars[0];
-	*size += 4;
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-	memcpy(buffer, &in_value, sizeof(in_value));
-	*size += sizeof(in_value);
-#endif
-}
-
-void convertToByteStream( double in_value, uint8_t* buffer, uint32_t* size ) {
-#ifndef BYTE_ORDER_SYSTEM
-	#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-	union double_union {
-		double value;
-		uint8_t chars[8];
-	};
-	double_union temp;
-	temp.value = in_value;
-	buffer[0] = temp.chars[7];
-	buffer[1] = temp.chars[6];
-	buffer[2] = temp.chars[5];
-	buffer[3] = temp.chars[4];
-	buffer[4] = temp.chars[3];
-	buffer[5] = temp.chars[2];
-	buffer[6] = temp.chars[1];
-	buffer[7] = temp.chars[0];
-	*size += 8;
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-	memcpy(buffer, &in_value, sizeof(in_value));
-	*size += sizeof(in_value);
-#endif
-}
diff --git a/globalfunctions/conversion.h b/globalfunctions/conversion.h
deleted file mode 100644
index 0d1ca1a6..00000000
--- a/globalfunctions/conversion.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef CONVERSION_H_
-#define CONVERSION_H_
-
-
-#include <stdint.h>
-
-
-void convertToByteStream( uint16_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( uint32_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( int16_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( int32_t value, uint8_t* buffer, uint32_t* size );
-
-//void convertToByteStream( uint64_t value, uint8_t* buffer, uint32_t* size );
-//
-//void convertToByteStream( int64_t value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( float value, uint8_t* buffer, uint32_t* size );
-
-void convertToByteStream( double value, uint8_t* buffer, uint32_t* size );
-
-#endif /* CONVERSION_H_ */
diff --git a/globalfunctions/matching/MatchTree.h b/globalfunctions/matching/MatchTree.h
index 0ee3890b..b54f5492 100644
--- a/globalfunctions/matching/MatchTree.h
+++ b/globalfunctions/matching/MatchTree.h
@@ -45,38 +45,38 @@ public:
 		return matchSubtree(iter, number);
 	}
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, SerializeIF::Endianness streamEndianness) const override {
 		iterator iter = this->begin();
 		uint8_t count = this->countRight(iter);
 		ReturnValue_t result = SerializeAdapter::serialize(&count,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		if (iter == this->end()) {
 			return HasReturnvaluesIF::RETURN_OK;
 		}
-		result = iter->serialize(buffer, size, max_size, bigEndian);
+		result = iter->serialize(buffer, size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		if (maxDepth > 0) {
 			MatchTree<T> temp(iter.left(), maxDepth - 1);
-			result = temp.serialize(buffer, size, max_size, bigEndian);
+			result = temp.serialize(buffer, size, maxSize, streamEndianness);
 		}
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		iter = iter.right();
 		while (iter != this->end()) {
-			result = iter->serialize(buffer, size, max_size, bigEndian);
+			result = iter->serialize(buffer, size, maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
 			if (maxDepth > 0) {
 				MatchTree<T> temp(iter.left(), maxDepth - 1);
-				result = temp.serialize(buffer, size, max_size, bigEndian);
+				result = temp.serialize(buffer, size, maxSize, streamEndianness);
 			}
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
@@ -86,7 +86,7 @@ public:
 		return result;
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const override {
 		//Analogous to serialize!
 		uint32_t size = 1; //One for count
 		iterator iter = this->begin();
@@ -115,8 +115,8 @@ public:
 		return size;
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			SerializeIF::Endianness streamEndianness) override {
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
diff --git a/globalfunctions/matching/RangeMatcher.h b/globalfunctions/matching/RangeMatcher.h
index c30406f6..6fee1f52 100644
--- a/globalfunctions/matching/RangeMatcher.h
+++ b/globalfunctions/matching/RangeMatcher.h
@@ -26,23 +26,23 @@ public:
 		}
 	}
 
-	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t max_size,
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
 			SerializeIF::Endianness streamEndianness) const override {
 		ReturnValue_t result = SerializeAdapter::serialize(&lowerBound, buffer,
-				size, max_size, streamEndianness);
+				size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::serialize(&upperBound, buffer, size,
-				max_size, streamEndianness);
+				maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		return SerializeAdapter::serialize(&inverted, buffer, size, max_size,
+		return SerializeAdapter::serialize(&inverted, buffer, size, maxSize,
 				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const override {
+	size_t getSerializedSize() const override {
 		return sizeof(lowerBound) + sizeof(upperBound) + sizeof(bool);
 	}
 
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index 48ee6679..bd6606db 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -63,21 +63,21 @@ bool HealthTable::hasHealth(object_id_t object) {
 	return exits;
 }
 
-void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
+void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
 	mutex->lockMutex(MutexIF::NO_TIMEOUT);
-	uint32_t size = 0;
+	size_t size = 0;
 	uint16_t count = healthMap.size();
 	ReturnValue_t result = SerializeAdapter::serialize(&count,
-			&pointer, &size, maxSize, true);
+			&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
 	HealthMap::iterator iter;
 	for (iter = healthMap.begin();
 			iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
 			++iter) {
 		result = SerializeAdapter::serialize(&iter->first,
-				&pointer, &size, maxSize, true);
+				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
 		uint8_t health = iter->second;
 		result = SerializeAdapter::serialize(&health, &pointer, &size,
-				maxSize, true);
+				maxSize, SerializeIF::Endianness::BIG);
 	}
 	mutex->unlockMutex();
 }
diff --git a/health/HealthTable.h b/health/HealthTable.h
index 32a7eee2..2c74bda4 100644
--- a/health/HealthTable.h
+++ b/health/HealthTable.h
@@ -21,7 +21,7 @@ public:
 	virtual HasHealthIF::HealthState getHealth(object_id_t);
 
 	virtual uint32_t getPrintSize();
-	virtual void printAll(uint8_t *pointer, uint32_t maxSize);
+	virtual void printAll(uint8_t *pointer, size_t maxSize);
 
 protected:
 	MutexIF* mutex;
diff --git a/monitoring/LimitViolationReporter.cpp b/monitoring/LimitViolationReporter.cpp
index 760e8b93..489a8f9e 100644
--- a/monitoring/LimitViolationReporter.cpp
+++ b/monitoring/LimitViolationReporter.cpp
@@ -17,7 +17,7 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 	}
 	store_address_t storeId;
 	uint8_t* dataTarget = NULL;
-	uint32_t maxSize = data->getSerializedSize();
+	size_t maxSize = data->getSerializedSize();
 	if (maxSize > MonitoringIF::VIOLATION_REPORT_MAX_SIZE) {
 		return MonitoringIF::INVALID_SIZE;
 	}
@@ -26,8 +26,8 @@ ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	uint32_t size = 0;
-	result = data->serialize(&dataTarget, &size, maxSize, true);
+	size_t size = 0;
+	result = data->serialize(&dataTarget, &size, maxSize, SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp
index 903a4d0e..61b66c3d 100644
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@@ -89,15 +89,15 @@ void CpuUsage::clear() {
 	threadData.clear();
 }
 
-ReturnValue_t CpuUsage::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t CpuUsage::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(
-			&timeSinceLastReset, buffer, size, max_size, bigEndian);
+			&timeSinceLastReset, buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	return SerialArrayListAdapter<ThreadData>::serialize(&threadData, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 }
 
 uint32_t CpuUsage::getSerializedSize() const {
@@ -109,37 +109,37 @@ uint32_t CpuUsage::getSerializedSize() const {
 	return size;
 }
 
-ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, int32_t* size,
-		bool bigEndian) {
+ReturnValue_t CpuUsage::deSerialize(const uint8_t** buffer, size_t* size,
+		Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(
-			&timeSinceLastReset, buffer, size, bigEndian);
+			&timeSinceLastReset, buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	return SerialArrayListAdapter<ThreadData>::deSerialize(&threadData, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 }
 
-ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t CpuUsage::ThreadData::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(&id, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	if (*size + MAX_LENGTH_OF_THREAD_NAME > max_size) {
+	if (*size + MAX_LENGTH_OF_THREAD_NAME > maxSize) {
 		return BUFFER_TOO_SHORT;
 	}
 	memcpy(*buffer, name, MAX_LENGTH_OF_THREAD_NAME);
 	*size += MAX_LENGTH_OF_THREAD_NAME;
 	*buffer += MAX_LENGTH_OF_THREAD_NAME;
 	result = SerializeAdapter::serialize(&timeRunning,
-			buffer, size, max_size, bigEndian);
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::serialize(&percentUsage,
-			buffer, size, max_size, bigEndian);
+			buffer, size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -158,9 +158,9 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const {
 }
 
 ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		int32_t* size, Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -170,12 +170,12 @@ ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
 	memcpy(name, *buffer, MAX_LENGTH_OF_THREAD_NAME);
 	*buffer -= MAX_LENGTH_OF_THREAD_NAME;
 	result = SerializeAdapter::deSerialize(&timeRunning,
-			buffer, size, bigEndian);
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::deSerialize(&percentUsage,
-			buffer, size, bigEndian);
+			buffer, size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/rtems/CpuUsage.h b/osal/rtems/CpuUsage.h
index 3d317e4e..eb03c5e3 100644
--- a/osal/rtems/CpuUsage.h
+++ b/osal/rtems/CpuUsage.h
@@ -18,13 +18,13 @@ public:
 		float timeRunning;
 		float percentUsage;
 
-		virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-				const uint32_t max_size, bool bigEndian) const;
+		virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				size_t maxSize, Endianness streamEndianness) const override;
 
-		virtual uint32_t getSerializedSize() const;
+		virtual size_t getSerializedSize() const override;
 
-		virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-				bool bigEndian);
+		virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+				Endianness streamEndianness) override;
 	};
 
 	CpuUsage();
@@ -41,13 +41,13 @@ public:
 
 	void clear();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 };
 
 #endif /* CPUUSAGE_H_ */
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 75b71a7e..725fa1d7 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -83,7 +83,7 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 
 ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 		const ParameterWrapper* description) {
-	uint32_t serializedSize = description->getSerializedSize();
+	size_t serializedSize = description->getSerializedSize();
 
 	uint8_t *storeElement;
 	store_address_t address;
@@ -94,10 +94,10 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 		return result;
 	}
 
-	uint32_t storeElementSize = 0;
+	size_t storeElementSize = 0;
 
 	result = description->serialize(&storeElement, &storeElementSize,
-			serializedSize, true);
+			serializedSize, SerializeIF::Endianness::BIG);
 
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		storage->deleteData(address);
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index 9dcbc6d5..602ec361 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -2,41 +2,41 @@
 
 ParameterWrapper::ParameterWrapper() :
 		pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
-				NULL), readonlyData(NULL) {
+		NULL), readonlyData(NULL) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
-		void* data) :
+		void *data) :
 		pointsToStream(false), type(type), rows(rows), columns(columns), data(
 				data), readonlyData(data) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
-		const void* data) :
+		const void *data) :
 		pointsToStream(false), type(type), rows(rows), columns(columns), data(
-				NULL), readonlyData(data) {
+		NULL), readonlyData(data) {
 }
 
 ParameterWrapper::~ParameterWrapper() {
 }
 
-ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t ParameterWrapper::serialize(uint8_t **buffer, size_t *size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result;
 
-	result = SerializeAdapter::serialize(&type, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter::serialize(&columns, buffer, size,
-			max_size, bigEndian);
+	result = SerializeAdapter::serialize(&columns, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = SerializeAdapter::serialize(&rows, buffer, size, max_size,
-			bigEndian);
+	result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
+			streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -47,28 +47,33 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
 	}
 	switch (type) {
 	case Type::UINT8_T:
-		result = serializeData<uint8_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<uint8_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::INT8_T:
-		result = serializeData<int8_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<int8_t>(buffer, size, maxSize, streamEndianness);
 		break;
 	case Type::UINT16_T:
-		result = serializeData<uint16_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<uint16_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::INT16_T:
-		result = serializeData<int16_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<int16_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::UINT32_T:
-		result = serializeData<uint32_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<uint32_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::INT32_T:
-		result = serializeData<int32_t>(buffer, size, max_size, bigEndian);
+		result = serializeData<int32_t>(buffer, size, maxSize,
+				streamEndianness);
 		break;
 	case Type::FLOAT:
-		result = serializeData<float>(buffer, size, max_size, bigEndian);
+		result = serializeData<float>(buffer, size, maxSize, streamEndianness);
 		break;
 	case Type::DOUBLE:
-		result = serializeData<double>(buffer, size, max_size, bigEndian);
+		result = serializeData<double>(buffer, size, maxSize, streamEndianness);
 		break;
 	default:
 		result = UNKNOW_DATATYPE;
@@ -77,7 +82,7 @@ ReturnValue_t ParameterWrapper::serialize(uint8_t** buffer, uint32_t* size,
 	return result;
 }
 
-uint32_t ParameterWrapper::getSerializedSize() const {
+size_t ParameterWrapper::getSerializedSize() const {
 	uint32_t serializedSize = 0;
 	serializedSize += type.getSerializedSize();
 	serializedSize += sizeof(rows);
@@ -88,14 +93,14 @@ uint32_t ParameterWrapper::getSerializedSize() const {
 }
 
 template<typename T>
-ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t ParameterWrapper::serializeData(uint8_t **buffer, size_t *size,
+		size_t maxSize, Endianness streamEndianness) const {
 	const T *element = (const T*) readonlyData;
 	ReturnValue_t result;
 	uint16_t dataSize = columns * rows;
 	while (dataSize != 0) {
-		result = SerializeAdapter::serialize(element, buffer, size, max_size,
-				bigEndian);
+		result = SerializeAdapter::serialize(element, buffer, size, maxSize,
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
@@ -111,21 +116,21 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 		uint8_t fromColumns) {
 
 	//treat from as a continuous Stream as we copy all of it
-	const uint8_t *fromAsStream = (const uint8_t *) from;
-	int32_t streamSize = fromRows * fromColumns * sizeof(T);
+	const uint8_t *fromAsStream = (const uint8_t*) from;
+	size_t streamSize = fromRows * fromColumns * sizeof(T);
 
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 
 	for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
 
 		//get the start element of this row in data
-		T *dataWithDataType = ((T *) data)
+		T *dataWithDataType = ((T*) data)
 				+ (((startingRow + fromRow) * columns) + startingColumn);
 
 		for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
 			result = SerializeAdapter::deSerialize(
 					dataWithDataType + fromColumn, &fromAsStream, &streamSize,
-					true);
+					SerializeIF::Endianness::BIG);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
 				return result;
 			}
@@ -136,13 +141,14 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 
 }
 
-ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
-	return deSerialize(buffer, size, bigEndian, 0);
+ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
+		size_t *size, Endianness streamEndianness) {
+	return deSerialize(buffer, size, streamEndianness, 0);
 }
 
-ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian, uint16_t startWritingAtIndex) {
+ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
+		size_t *size, Endianness streamEndianness,
+		uint16_t startWritingAtIndex) {
 	ParameterWrapper streamDescription;
 
 	ReturnValue_t result = streamDescription.set(*buffer, *size, buffer, size);
@@ -153,26 +159,26 @@ ReturnValue_t ParameterWrapper::deSerialize(const uint8_t** buffer,
 	return copyFrom(&streamDescription, startWritingAtIndex);
 }
 
-ReturnValue_t ParameterWrapper::set(const uint8_t* stream, int32_t streamSize,
-		const uint8_t **remainingStream, int32_t *remainingSize) {
+ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
+		const uint8_t **remainingStream, size_t *remainingSize) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
-			&streamSize, true);
+			&streamSize, SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	result = SerializeAdapter::deSerialize(&columns, &stream,
-			&streamSize, true);
+	result = SerializeAdapter::deSerialize(&columns, &stream, &streamSize,
+			SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 	result = SerializeAdapter::deSerialize(&rows, &stream, &streamSize,
-			true);
+			SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
 
-	int32_t dataSize = type.getSize() * rows * columns;
+	size_t dataSize = type.getSize() * rows * columns;
 
 	if (streamSize < dataSize) {
 		return SerializeIF::STREAM_TOO_SHORT;
@@ -194,7 +200,7 @@ ReturnValue_t ParameterWrapper::set(const uint8_t* stream, int32_t streamSize,
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper* from,
+ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 		uint16_t startWritingAtIndex) {
 	if (data == NULL) {
 		return READONLY;
@@ -261,7 +267,7 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper* from,
 		}
 	} else {
 		//need a type to do arithmetic
-		uint8_t *toDataWithType = (uint8_t *) data;
+		uint8_t *toDataWithType = (uint8_t*) data;
 		for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
 			memcpy(
 					toDataWithType
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index e6d29c59..a00c997c 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -25,16 +25,16 @@ public:
 			const void *data);
 	virtual ~ParameterWrapper();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian, uint16_t startWritingAtIndex = 0);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness, uint16_t startWritingAtIndex = 0);
 
 	template<typename T>
 	ReturnValue_t getElement(T *value, uint8_t row = 0, uint8_t column = 0) const {
@@ -111,8 +111,8 @@ public:
 	void setMatrix(const T& member) {
 		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
 	}
-	ReturnValue_t set(const uint8_t *stream, int32_t streamSize,
-			const uint8_t **remainingStream = NULL, int32_t *remainingSize =
+	ReturnValue_t set(const uint8_t *stream, size_t streamSize,
+			const uint8_t **remainingStream = NULL, size_t *remainingSize =
 					NULL);
 
 	ReturnValue_t copyFrom(const ParameterWrapper *from,
@@ -128,8 +128,8 @@ private:
 	const void *readonlyData;
 
 	template<typename T>
-	ReturnValue_t serializeData(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serializeData(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const;
 
 	template<typename T>
 	ReturnValue_t deSerializeData(uint8_t startingRow, uint8_t startingColumn,
diff --git a/power/Fuse.cpp b/power/Fuse.cpp
index dd5d3e3f..db24100b 100644
--- a/power/Fuse.cpp
+++ b/power/Fuse.cpp
@@ -86,12 +86,12 @@ ReturnValue_t Fuse::check() {
 	return result;
 }
 
-ReturnValue_t Fuse::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t Fuse::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = RETURN_FAILED;
 	for (DeviceList::const_iterator iter = devices.begin();
 			iter != devices.end(); iter++) {
-		result = (*iter)->serialize(buffer, size, max_size, bigEndian);
+		result = (*iter)->serialize(buffer, size, maxSize, streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
@@ -99,7 +99,7 @@ ReturnValue_t Fuse::serialize(uint8_t** buffer, uint32_t* size,
 	return RETURN_OK;
 }
 
-uint32_t Fuse::getSerializedSize() const {
+size_t Fuse::getSerializedSize() const {
 	uint32_t size = 0;
 	for (DeviceList::const_iterator iter = devices.begin();
 			iter != devices.end(); iter++) {
@@ -108,12 +108,12 @@ uint32_t Fuse::getSerializedSize() const {
 	return size;
 }
 
-ReturnValue_t Fuse::deSerialize(const uint8_t** buffer, int32_t* size,
-bool bigEndian) {
+ReturnValue_t Fuse::deSerialize(const uint8_t** buffer, size_t* size,
+Endianness streamEndianness) {
 	ReturnValue_t result = RETURN_FAILED;
 	for (DeviceList::iterator iter = devices.begin(); iter != devices.end();
 			iter++) {
-		result = (*iter)->deSerialize(buffer, size, bigEndian);
+		result = (*iter)->deSerialize(buffer, size, streamEndianness);
 		if (result != RETURN_OK) {
 			return result;
 		}
diff --git a/power/Fuse.h b/power/Fuse.h
index 6da24178..4e22e3ed 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -11,14 +11,15 @@
 #include <framework/parameters/ParameterHelper.h>
 #include <list>
 
-namespace Factory{
+namespace Factory {
 void setStaticFrameworkObjectIds();
 }
 
 class Fuse: public SystemObject,
 		public HasHealthIF,
 		public HasReturnvaluesIF,
-		public ReceivesParameterMessagesIF {
+		public ReceivesParameterMessagesIF,
+		public SerializeIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 private:
 	static constexpr float RESIDUAL_POWER = 0.005 * 28.5; //!< This is the upper limit of residual power lost by fuses and switches. Worst case is Fuse and one of two switches on. See PCDU ICD 1.9 p29 bottom
@@ -40,7 +41,7 @@ public:
 	Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
 			float maxCurrent, uint16_t confirmationCount = 2);
 	virtual ~Fuse();
-	void addDevice(PowerComponentIF* set);
+	void addDevice(PowerComponentIF *set);
 	float getPower();
 
 	bool isPowerValid();
@@ -49,11 +50,11 @@ public:
 	uint8_t getFuseId() const;
 	ReturnValue_t initialize();
 	DeviceList devices;
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
-	uint32_t getSerializedSize() const;
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian);
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+			SerializeIF::Endianness streamEndianness) const override;
+	size_t getSerializedSize() const override;
+	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+			SerializeIF::Endianness streamEndianness) override;
 	void setAllMonitorsToUnchecked();
 	ReturnValue_t performOperation(uint8_t opCode);
 	MessageQueueId_t getCommandQueue() const;
@@ -62,13 +63,13 @@ public:
 	HasHealthIF::HealthState getHealth();
 
 	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-				ParameterWrapper *parameterWrapper,
-				const ParameterWrapper *newValues, uint16_t startAtIndex);
+			ParameterWrapper *parameterWrapper,
+			const ParameterWrapper *newValues, uint16_t startAtIndex);
 
 private:
 	uint8_t oldFuseState;
 	uint8_t fuseId;
-	PowerSwitchIF* powerIF; //could be static in our case.
+	PowerSwitchIF *powerIF; //could be static in our case.
 	AbsLimitMonitor<float> currentLimit;
 	class PowerMonitor: public MonitorReporter<float> {
 	public:
@@ -88,11 +89,11 @@ private:
 	PIDReader<float> current;
 	PIDReader<uint8_t> state;
 	db_float_t power;
-	MessageQueueIF* commandQueue;
+	MessageQueueIF *commandQueue;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
 	static object_id_t powerSwitchId;
-	void calculatePowerLimits(float* low, float* high);
+	void calculatePowerLimits(float *low, float *high);
 	void calculateFusePower();
 	void checkFuseState();
 	void reportEvents(Event event);
diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp
index 53bb06c8..cd116a86 100644
--- a/power/PowerComponent.cpp
+++ b/power/PowerComponent.cpp
@@ -17,18 +17,18 @@ PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min, f
 				twoSwitches), min(min), max(max), moduleId(moduleId) {
 }
 
-ReturnValue_t PowerComponent::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t PowerComponent::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	ReturnValue_t result = SerializeAdapter::serialize(&min, buffer,
-			size, max_size, bigEndian);
+			size, maxSize, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter::serialize(&max, buffer, size, max_size,
-			bigEndian);
+	return SerializeAdapter::serialize(&max, buffer, size, maxSize,
+			streamEndianness);
 }
 
-uint32_t PowerComponent::getSerializedSize() const {
+size_t PowerComponent::getSerializedSize() const {
 	return sizeof(min) + sizeof(max);
 }
 
@@ -56,14 +56,14 @@ float PowerComponent::getMax() {
 	return max;
 }
 
-ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, int32_t* size,
-bool bigEndian) {
+ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size,
+Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
-			size, bigEndian);
+			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	return SerializeAdapter::deSerialize(&max, buffer, size, bigEndian);
+	return SerializeAdapter::deSerialize(&max, buffer, size, streamEndianness);
 }
 
 ReturnValue_t PowerComponent::getParameter(uint8_t domainId,
diff --git a/power/PowerComponent.h b/power/PowerComponent.h
index a82fe1d7..61ab3674 100644
--- a/power/PowerComponent.h
+++ b/power/PowerComponent.h
@@ -19,13 +19,13 @@ public:
 	float getMin();
 	float getMax();
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	uint32_t getSerializedSize() const;
+	size_t getSerializedSize() const override;
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 
 	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 				ParameterWrapper *parameterWrapper,
diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index ab0c6c6f..bcd99818 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -20,25 +20,25 @@ public:
 	SerialArrayListAdapter(ArrayList<T, count_t> *adaptee) : adaptee(adaptee) {
 	}
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return serialize(adaptee, buffer, size, max_size, bigEndian);
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return serialize(adaptee, buffer, size, maxSize, streamEndianness);
 	}
 
-	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) {
+	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::serialize(&list->size,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
 			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 			++i;
 		}
 		return result;
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		return getSerializedSize(adaptee);
 	}
 
@@ -53,16 +53,16 @@ public:
 		return printSize;
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return deSerialize(adaptee, buffer, size, bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return deSerialize(adaptee, buffer, size, streamEndianness);
 	}
 
-	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
+	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
 		count_t tempSize = 0;
 		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
-				buffer, size, bigEndian);
+				buffer, size, streamEndianness);
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
@@ -71,7 +71,7 @@ public:
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
 			result = SerializeAdapter::deSerialize(
 					&list->front()[i], buffer, size,
-					bigEndian);
+					streamEndianness);
 			++i;
 		}
 		return result;
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index f78ec8ac..d4d8d1c7 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -22,19 +22,19 @@ SerialBufferAdapter<T>::~SerialBufferAdapter() {
 }
 
 template<typename T>
-ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size,
-		const uint32_t max_size, bool bigEndian) const {
+ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
 	uint32_t serializedLength = bufferLength;
 	if (serializeLength) {
 		serializedLength += SerializeAdapter::getSerializedSize(
 				&bufferLength);
 	}
-	if (*size + serializedLength > max_size) {
+	if (*size + serializedLength > maxSize) {
 		return BUFFER_TOO_SHORT;
 	} else {
 		if (serializeLength) {
 			SerializeAdapter::serialize(&bufferLength, buffer, size,
-					max_size, bigEndian);
+					maxSize, streamEndianness);
 		}
 		if (this->constBuffer != NULL) {
 			memcpy(*buffer, this->constBuffer, bufferLength);
@@ -50,7 +50,7 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, uint32_t* size
 }
 
 template<typename T>
-uint32_t SerialBufferAdapter<T>::getSerializedSize() const {
+size_t SerialBufferAdapter<T>::getSerializedSize() const {
 	if (serializeLength) {
 		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
 	} else {
@@ -59,7 +59,7 @@ uint32_t SerialBufferAdapter<T>::getSerializedSize() const {
 }
 template<typename T>
 ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer,
-		int32_t* size, bool bigEndian) {
+		size_t* size, Endianness streamEndianness) {
 	//TODO Ignores Endian flag!
 	if (buffer != NULL) {
 		if(serializeLength){
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index 7cd75d55..78d42b80 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -16,13 +16,13 @@ public:
 
 	virtual ~SerialBufferAdapter();
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const;
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const override;
 
-	virtual uint32_t getSerializedSize() const;
+	virtual size_t getSerializedSize() const override;
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian);
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) override;
 private:
 	bool serializeLength;
 	const uint8_t *constBuffer;
diff --git a/serialize/SerialFixedArrayListAdapter.h b/serialize/SerialFixedArrayListAdapter.h
index 16919b62..a2e683bf 100644
--- a/serialize/SerialFixedArrayListAdapter.h
+++ b/serialize/SerialFixedArrayListAdapter.h
@@ -13,16 +13,16 @@ public:
 	template<typename... Args>
 	SerialFixedArrayListAdapter(Args... args) : FixedArrayList<T, MAX_SIZE, count_t>(std::forward<Args>(args)...) {
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerialArrayListAdapter<T, count_t>::serialize(this, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerialArrayListAdapter<T, count_t>::serialize(this, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerialArrayListAdapter<T, count_t>::getSerializedSize(this);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerialArrayListAdapter<T, count_t>::deSerialize(this, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerialArrayListAdapter<T, count_t>::deSerialize(this, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h
index 22e9838c..3941e9fb 100644
--- a/serialize/SerializeElement.h
+++ b/serialize/SerializeElement.h
@@ -26,7 +26,7 @@ public:
 				streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const override {
+	size_t getSerializedSize() const override {
 		return SerializeAdapter::getSerializedSize(&entry);
 	}
 
diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 6c875a5c..14244a7a 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -28,7 +28,7 @@ public:
 	}
 
 	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-			size_t max_size, Endianness streamEndianness) const = 0;
+			size_t maxSize, Endianness streamEndianness) const = 0;
 
 	virtual size_t getSerializedSize() const = 0;
 
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index ef706dd7..2e8a325a 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -13,7 +13,7 @@ Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
 				false), uptimeStartTable(0), currentTargetTable(), targetMode(
 				0), targetSubmode(SUBMODE_NONE), initialMode(0), currentSequenceIterator(), modeTables(
 				maxNumberOfTables), modeSequences(maxNumberOfSequences), IPCStore(
-				NULL)
+		NULL)
 #ifdef USE_MODESTORE
 ,modeStore(NULL)
 #endif
@@ -75,7 +75,8 @@ void Subsystem::performChildOperation() {
 	if (isInTransition) {
 		if (commandsOutstanding <= 0) { //all children of the current table were commanded and replied
 			if (currentSequenceIterator.value == NULL) { //we're through with this sequence
-				if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) {
+				if (checkStateAgainstTable(currentTargetTable, targetSubmode)
+						== RETURN_OK) {
 					setMode(targetMode, targetSubmode);
 					isInTransition = false;
 					return;
@@ -86,7 +87,8 @@ void Subsystem::performChildOperation() {
 				}
 			}
 			if (currentSequenceIterator->checkSuccess()) {
-				if (checkStateAgainstTable(getCurrentTable(), targetSubmode) != RETURN_OK) {
+				if (checkStateAgainstTable(getCurrentTable(), targetSubmode)
+						!= RETURN_OK) {
 					transitionFailed(TABLE_CHECK_FAILED,
 							currentSequenceIterator->getTableId());
 					return;
@@ -117,7 +119,8 @@ void Subsystem::performChildOperation() {
 			childrenChangedHealth = false;
 			startTransition(mode, submode);
 		} else if (childrenChangedMode) {
-			if (checkStateAgainstTable(currentTargetTable, submode) != RETURN_OK) {
+			if (checkStateAgainstTable(currentTargetTable, submode)
+					!= RETURN_OK) {
 				triggerEvent(CANT_KEEP_MODE, mode, submode);
 				cantKeepMode();
 			}
@@ -147,7 +150,7 @@ HybridIterator<ModeListEntry> Subsystem::getTable(Mode_t id) {
 	}
 }
 
-ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
+ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
 	ReturnValue_t result;
 	switch (message->getCommand()) {
 	case HealthMessage::HEALTH_INFO: {
@@ -168,12 +171,13 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 				&sizeRead);
 		if (result == RETURN_OK) {
 			Mode_t fallbackId;
-			int32_t size = sizeRead;
-			result = SerializeAdapter::deSerialize(&fallbackId,
-					&pointer, &size, true);
+			size_t size = sizeRead;
+			result = SerializeAdapter::deSerialize(&fallbackId, &pointer, &size,
+					SerializeIF::Endianness::BIG);
 			if (result == RETURN_OK) {
 				result = SerialArrayListAdapter<ModeListEntry>::deSerialize(
-						&sequence, &pointer, &size, true);
+						&sequence, &pointer, &size,
+						SerializeIF::Endianness::BIG);
 				if (result == RETURN_OK) {
 					result = addSequence(&sequence,
 							ModeSequenceMessage::getSequenceId(message),
@@ -193,9 +197,9 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
 				ModeSequenceMessage::getStoreAddress(message), &pointer,
 				&sizeRead);
 		if (result == RETURN_OK) {
-			int32_t size = sizeRead;
+			size_t size = sizeRead;
 			result = SerialArrayListAdapter<ModeListEntry>::deSerialize(&table,
-					&pointer, &size, true);
+					&pointer, &size, SerializeIF::Endianness::BIG);
 			if (result == RETURN_OK) {
 				result = addTable(&table,
 						ModeSequenceMessage::getSequenceId(message));
@@ -339,7 +343,7 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
 	}
 }
 
-ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry>* sequence,
+ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence,
 		Mode_t id, Mode_t fallbackSequence, bool inStore, bool preInit) {
 
 	ReturnValue_t result;
@@ -507,7 +511,7 @@ MessageQueueId_t Subsystem::getSequenceCommandQueue() const {
 }
 
 ReturnValue_t Subsystem::checkModeCommand(Mode_t mode, Submode_t submode,
-		uint32_t* msToReachTheMode) {
+		uint32_t *msToReachTheMode) {
 	//Need to accept all submodes to be able to inherit submodes
 //	if (submode != SUBMODE_NONE) {
 //		return INVALID_SUBMODE;
@@ -599,15 +603,15 @@ void Subsystem::transitionFailed(ReturnValue_t failureCode,
 }
 
 void Subsystem::sendSerializablesAsCommandMessage(Command_t command,
-		SerializeIF** elements, uint8_t count) {
+		SerializeIF **elements, uint8_t count) {
 	ReturnValue_t result;
-	uint32_t maxSize = 0;
+	size_t maxSize = 0;
 	for (uint8_t i = 0; i < count; i++) {
 		maxSize += elements[i]->getSerializedSize();
 	}
 	uint8_t *storeBuffer;
 	store_address_t address;
-	uint32_t size = 0;
+	size_t size = 0;
 
 	result = IPCStore->getFreeElement(&address, maxSize, &storeBuffer);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -615,7 +619,8 @@ void Subsystem::sendSerializablesAsCommandMessage(Command_t command,
 		return;
 	}
 	for (uint8_t i = 0; i < count; i++) {
-		elements[i]->serialize(&storeBuffer, &size, maxSize, true);
+		elements[i]->serialize(&storeBuffer, &size, maxSize,
+				SerializeIF::Endianness::BIG);
 	}
 	CommandMessage reply;
 	ModeSequenceMessage::setModeSequenceMessage(&reply, command, address);
diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h
index 3e749dd8..153710af 100644
--- a/subsystem/modes/ModeDefinitions.h
+++ b/subsystem/modes/ModeDefinitions.h
@@ -18,65 +18,65 @@ public:
 	uint8_t value3;
 	uint8_t value4;
 
-	virtual ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 
 		ReturnValue_t result;
 
 		result = SerializeAdapter::serialize(&value1, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::serialize(&value2, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::serialize(&value3, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 
 		result = SerializeAdapter::serialize(&value4, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 		return result;
 
 	}
 
-	virtual uint32_t getSerializedSize() const {
+	virtual size_t getSerializedSize() const {
 		return sizeof(value1) + sizeof(value2) + sizeof(value3) + sizeof(value4);
 	}
 
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	Endianness streamEndianness) {
 		ReturnValue_t result;
 
 		result = SerializeAdapter::deSerialize(&value1, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&value2, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&value3, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&value4, buffer, size,
-				bigEndian);
+				streamEndianness);
 
 		return result;
 	}
diff --git a/thermal/ThermalComponent.cpp b/thermal/ThermalComponent.cpp
index 93513e16..5dcd0bc6 100644
--- a/thermal/ThermalComponent.cpp
+++ b/thermal/ThermalComponent.cpp
@@ -46,15 +46,15 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) {
 	if (size != 4 * sizeof(parameters.lowerOpLimit)) {
 		return MonitoringIF::INVALID_SIZE;
 	}
-	int32_t readSize = size;
+	size_t readSize = size;
 	SerializeAdapter::deSerialize(&nopParameters.lowerNopLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	SerializeAdapter::deSerialize(&parameters.lowerOpLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	SerializeAdapter::deSerialize(&parameters.upperOpLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	SerializeAdapter::deSerialize(&nopParameters.upperNopLimit, &data,
-			&readSize, true);
+			&readSize, SerializeIF::Endianness::BIG);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h
index 4e7160fb..16768e68 100644
--- a/tmstorage/TmStorePackets.h
+++ b/tmstorage/TmStorePackets.h
@@ -32,31 +32,31 @@ public:
 	}
 	uint16_t apid;
 	uint16_t ssc;
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
 		ReturnValue_t result = SerializeAdapter::serialize(&apid,
-				buffer, size, max_size, bigEndian);
+				buffer, size, maxSize, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		return SerializeAdapter::serialize(&ssc, buffer, size,
-				max_size, bigEndian);
+				maxSize, streamEndianness);
 
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return sizeof(apid) + sizeof(ssc);
 	}
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::deSerialize(&apid,
-				buffer, size, bigEndian);
+				buffer, size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		return SerializeAdapter::deSerialize(&ssc, buffer, size,
-				bigEndian);
+				streamEndianness);
 	}
 };
 
@@ -218,33 +218,33 @@ public:
 	}
 
 
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		ReturnValue_t result = SerializeAdapter::serialize(&apid,buffer,size,max_size,bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		ReturnValue_t result = SerializeAdapter::serialize(&apid,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&sourceSequenceCount,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&sourceSequenceCount,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&serviceType,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceType,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&serviceSubtype,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&serviceSubtype,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
-		result = SerializeAdapter::serialize(&subCounter,buffer,size,max_size,bigEndian);
+		result = SerializeAdapter::serialize(&subCounter,buffer,size,maxSize,streamEndianness);
 		if(result!=HasReturnvaluesIF::RETURN_OK){
 			return result;
 		}
 		SerialBufferAdapter<uint8_t> adapter(rawTimestamp,sizeof(rawTimestamp));
-		return adapter.serialize(buffer,size,max_size,bigEndian);
+		return adapter.serialize(buffer,size,maxSize,streamEndianness);
 	}
 
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		uint32_t size = 0;
 		size += SerializeAdapter::getSerializedSize(&apid);
 		size += SerializeAdapter::getSerializedSize(&sourceSequenceCount);
@@ -257,35 +257,35 @@ public:
 
 	};
 
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-	bool bigEndian) {
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::deSerialize(&apid, buffer,
-				size, bigEndian);
+				size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&sourceSequenceCount, buffer,
-				size, bigEndian);
+				size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&serviceType, buffer, size,
-				bigEndian);
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&serviceSubtype, buffer,
-				size, bigEndian);
+				size, streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		result = SerializeAdapter::deSerialize(&subCounter, buffer, size,
-				bigEndian);
+				streamEndianness);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		SerialBufferAdapter<uint8_t> adapter(rawTimestamp,sizeof(rawTimestamp));
-		return adapter.deSerialize(buffer,size,bigEndian);
+		return adapter.deSerialize(buffer,size,streamEndianness);
 	}
 
 private:
diff --git a/tmtcpacket/packetmatcher/ApidMatcher.h b/tmtcpacket/packetmatcher/ApidMatcher.h
index d5d96f2d..3080ffef 100644
--- a/tmtcpacket/packetmatcher/ApidMatcher.h
+++ b/tmtcpacket/packetmatcher/ApidMatcher.h
@@ -22,16 +22,16 @@ public:
 			return false;
 		}
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter::serialize(&apid, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerializeAdapter::serialize(&apid, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerializeAdapter::getSerializedSize(&apid);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter::deSerialize(&apid, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&apid, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/ServiceMatcher.h b/tmtcpacket/packetmatcher/ServiceMatcher.h
index b0623780..f6e9e360 100644
--- a/tmtcpacket/packetmatcher/ServiceMatcher.h
+++ b/tmtcpacket/packetmatcher/ServiceMatcher.h
@@ -22,16 +22,16 @@ public:
 			return false;
 		}
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter::serialize(&service, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerializeAdapter::serialize(&service, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerializeAdapter::getSerializedSize(&service);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter::deSerialize(&service, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&service, buffer, size, streamEndianness);
 	}
 };
 
diff --git a/tmtcpacket/packetmatcher/SubserviceMatcher.h b/tmtcpacket/packetmatcher/SubserviceMatcher.h
index 90370af1..2e8b82b2 100644
--- a/tmtcpacket/packetmatcher/SubserviceMatcher.h
+++ b/tmtcpacket/packetmatcher/SubserviceMatcher.h
@@ -20,16 +20,16 @@ public:
 			return false;
 		}
 	}
-	ReturnValue_t serialize(uint8_t** buffer, uint32_t* size,
-			const uint32_t max_size, bool bigEndian) const {
-		return SerializeAdapter::serialize(&subService, buffer, size, max_size, bigEndian);
+	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, Endianness streamEndianness) const {
+		return SerializeAdapter::serialize(&subService, buffer, size, maxSize, streamEndianness);
 	}
-	uint32_t getSerializedSize() const {
+	size_t getSerializedSize() const {
 		return SerializeAdapter::getSerializedSize(&subService);
 	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, int32_t* size,
-			bool bigEndian) {
-		return SerializeAdapter::deSerialize(&subService, buffer, size, bigEndian);
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+			Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&subService, buffer, size, streamEndianness);
 	}
 private:
 	uint8_t subService;
diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index f2c1eb28..32f9c431 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -10,14 +10,14 @@ TmPacketStored::TmPacketStored(store_address_t setAddress) :
 }
 
 TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
-		uint8_t subservice, uint8_t packetSubcounter, const uint8_t* data,
-		uint32_t size, const uint8_t* headerData, uint32_t headerSize) :
+		uint8_t subservice, uint8_t packetSubcounter, const uint8_t *data,
+		uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
 		TmPacketBase(NULL) {
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	if (!checkAndSetStore()) {
 		return;
 	}
-	uint8_t* pData = NULL;
+	uint8_t *pData = NULL;
 	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
 			(TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData);
 
@@ -34,21 +34,21 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 }
 
 TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
-		uint8_t subservice, uint8_t packetSubcounter, SerializeIF* content,
-		SerializeIF* header) :
+		uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
+		SerializeIF *header) :
 		TmPacketBase(NULL) {
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	if (!checkAndSetStore()) {
 		return;
 	}
-	uint32_t sourceDataSize = 0;
+	size_t sourceDataSize = 0;
 	if (content != NULL) {
 		sourceDataSize += content->getSerializedSize();
 	}
 	if (header != NULL) {
 		sourceDataSize += header->getSerializedSize();
 	}
-	uint8_t* p_data = NULL;
+	uint8_t *p_data = NULL;
 	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
 			(TmPacketBase::TM_PACKET_MIN_SIZE + sourceDataSize), &p_data);
 	if (returnValue != store->RETURN_OK) {
@@ -56,13 +56,15 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 	}
 	setData(p_data);
 	initializeTmPacket(apid, service, subservice, packetSubcounter);
-	uint8_t* putDataHere = getSourceData();
-	uint32_t size = 0;
+	uint8_t *putDataHere = getSourceData();
+	size_t size = 0;
 	if (header != NULL) {
-		header->serialize(&putDataHere, &size, sourceDataSize, true);
+		header->serialize(&putDataHere, &size, sourceDataSize,
+				SerializeIF::Endianness::BIG);
 	}
 	if (content != NULL) {
-		content->serialize(&putDataHere, &size, sourceDataSize, true);
+		content->serialize(&putDataHere, &size, sourceDataSize,
+				SerializeIF::Endianness::BIG);
 	}
 	setPacketDataLength(
 			sourceDataSize + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
@@ -80,7 +82,7 @@ void TmPacketStored::deletePacket() {
 
 void TmPacketStored::setStoreAddress(store_address_t setAddress) {
 	storeAddress = setAddress;
-	const uint8_t* temp_data = NULL;
+	const uint8_t *temp_data = NULL;
 	uint32_t temp_size;
 	if (!checkAndSetStore()) {
 		return;
@@ -106,8 +108,8 @@ bool TmPacketStored::checkAndSetStore() {
 	return true;
 }
 
-StorageManagerIF* TmPacketStored::store = NULL;
-InternalErrorReporterIF* TmPacketStored::internalErrorReporter = NULL;
+StorageManagerIF *TmPacketStored::store = NULL;
+InternalErrorReporterIF *TmPacketStored::internalErrorReporter = NULL;
 
 ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 		MessageQueueId_t sentFrom, bool doErrorReporting) {
@@ -116,7 +118,8 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	TmTcMessage tmMessage(getStoreAddress());
-	ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination, &tmMessage, sentFrom);
+	ReturnValue_t result = MessageQueueSenderIF::sendMessage(destination,
+			&tmMessage, sentFrom);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		deletePacket();
 		if (doErrorReporting) {
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 5b9e7b68..aa41f334 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -235,9 +235,9 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 		object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
 	uint8_t buffer[sizeof(object_id_t)];
 	uint8_t* pBuffer = buffer;
-	uint32_t size = 0;
+	size_t size = 0;
 	SerializeAdapter::serialize(&objectId, &pBuffer, &size,
-			sizeof(object_id_t), true);
+			sizeof(object_id_t), SerializeIF::Endianness::BIG);
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, buffer, size);
 	ReturnValue_t result = tmPacketStored.sendPacket(
diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index e1dad2be..07631801 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -33,7 +33,7 @@ PusVerificationMessage::PusVerificationMessage(uint8_t set_report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		ReturnValue_t set_error_code, uint8_t set_step, uint32_t parameter1,
 		uint32_t parameter2) {
-	uint8_t* data = this->getBuffer();
+	uint8_t *data = this->getBuffer();
 	data[messageSize] = set_report_id;
 	messageSize += sizeof(set_report_id);
 	data[messageSize] = ackFlags;
@@ -109,12 +109,12 @@ PusSuccessReport::PusSuccessReport(uint16_t setPacketId,
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
 	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
-	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
-			&reportSize, sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer, &reportSize,
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	if (setStep != 0) {
 		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
-				sizeof(reportBuffer), true);
+				sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	}
 }
 
@@ -136,25 +136,25 @@ PusFailureReport::PusFailureReport(uint16_t setPacketId,
 		reportSize(0), pBuffer(reportBuffer) {
 	//Serialization won't fail, because we know the necessary max-size of the buffer.
 	SerializeAdapter::serialize(&setPacketId, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
-	SerializeAdapter::serialize(&setSequenceControl, &pBuffer,
-			&reportSize, sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
+	SerializeAdapter::serialize(&setSequenceControl, &pBuffer, &reportSize,
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	if (setStep != 0) {
 		SerializeAdapter::serialize(&setStep, &pBuffer, &reportSize,
-				sizeof(reportBuffer), true);
+				sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	}
-	SerializeAdapter::serialize(&setErrorCode, &pBuffer,
-			&reportSize, sizeof(reportBuffer), true);
+	SerializeAdapter::serialize(&setErrorCode, &pBuffer, &reportSize,
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	SerializeAdapter::serialize(&parameter1, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 	SerializeAdapter::serialize(&parameter2, &pBuffer, &reportSize,
-			sizeof(reportBuffer), true);
+			sizeof(reportBuffer), SerializeIF::Endianness::BIG);
 }
 
 PusFailureReport::~PusFailureReport() {
 }
 
-uint32_t PusFailureReport::getSize() {
+size_t PusFailureReport::getSize() {
 	return reportSize;
 }
 
diff --git a/tmtcservices/PusVerificationReport.h b/tmtcservices/PusVerificationReport.h
index 7a173be9..ee84f0c1 100644
--- a/tmtcservices/PusVerificationReport.h
+++ b/tmtcservices/PusVerificationReport.h
@@ -49,7 +49,7 @@ class PusSuccessReport {
 private:
 	static const uint16_t MAX_SIZE = 7;
 	uint8_t reportBuffer[MAX_SIZE];
-	uint32_t reportSize;
+	size_t reportSize;
 	uint8_t * pBuffer;
 public:
 	PusSuccessReport(uint16_t setPacketId, uint16_t setSequenceControl,
@@ -63,14 +63,14 @@ class PusFailureReport {
 private:
 	static const uint16_t MAX_SIZE = 16;
 	uint8_t reportBuffer[MAX_SIZE];
-	uint32_t reportSize;
+	size_t reportSize;
 	uint8_t * pBuffer;
 public:
 	PusFailureReport(uint16_t setPacketId, uint16_t setSequenceControl,
 			ReturnValue_t setErrorCode, uint8_t setStep = 0,
 			uint32_t parameter1 = 0, uint32_t parameter2 = 0);
 	~PusFailureReport();
-	uint32_t getSize();
+	size_t getSize();
 	uint8_t* getReport();
 };
 

From 07247dbf403b625dcc1b5c54241243ad19219288 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 23 Apr 2020 11:50:13 +0200
Subject: [PATCH 037/653] added virtual keyword for init and performOp()

---
 tmtcservices/TmTcBridge.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index c6c79d6c..9fb00ef1 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -52,12 +52,12 @@ public:
 	 * Initializes necessary FSFW components for the TMTC Bridge
 	 * @return
 	 */
-	ReturnValue_t initialize() override;
+	virtual ReturnValue_t initialize() override;
 
 	/**
 	 * @brief	Handles TMTC reception
 	 */
-	ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
 	/**
 	 * Return TMTC Reception Queue

From 6be607e4220141111c67a2a611fc1e62517e269c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 4 May 2020 17:33:56 +0200
Subject: [PATCH 038/653] FIFO protected

---
 tmtcservices/TmTcBridge.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 9fb00ef1..15fd42c1 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -75,6 +75,7 @@ protected:
 	//! Used to specify whether communication link is up
 	bool communicationLinkUp = false;
 	bool tmStored = false;
+	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> fifo;
 
 	/**
 	 * @brief 	Handle TC reception
@@ -141,7 +142,6 @@ protected:
 	void printData(uint8_t * data, size_t dataLen);
 
 private:
-	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> fifo;
 	uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
 	uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };

From 684dd67f638040143c425df537d16ab13230b38d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 5 May 2020 19:14:51 +0200
Subject: [PATCH 039/653] seconds_t double now

---
 timemanager/Clock.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 5f18de3e..2883878f 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -8,7 +8,7 @@
 #include <framework/globalfunctions/timevalOperations.h>
 
 typedef uint32_t millis_t;
-typedef float seconds_t;
+typedef double seconds_t;
 
 class Clock {
 public:

From 25ff8784cf0554e85ed50ff0d073dbff56bf2d51 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 7 May 2020 20:00:42 +0200
Subject: [PATCH 040/653] corrected documentation

---
 timemanager/Stopwatch.cpp |  6 ------
 timemanager/Stopwatch.h   | 13 +++----------
 2 files changed, 3 insertions(+), 16 deletions(-)

diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 3f0755fd..771b63dc 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -1,9 +1,3 @@
-/**
- * @file Stopwatch.cpp
- *
- * @date 08.04.2020
- */
-
 #include <framework/timemanager/Stopwatch.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <iomanip>
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
index 786a9d57..19e1f92b 100644
--- a/timemanager/Stopwatch.h
+++ b/timemanager/Stopwatch.h
@@ -1,9 +1,3 @@
-/**
- * @file Stopwatch.h
- *
- * @date 08.04.2020
- */
-
 #ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
 #define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
 #include <framework/timemanager/Clock.h>
@@ -18,8 +12,7 @@ enum class StopwatchDisplayMode {
  * @details
  * This class can be used to measure elapsed times. It also displays elapsed
  * times automatically on destruction if not explicitely deactivated in the
- * constructor. The default time format is the elapsed time in miliseconds
- * as a float.
+ * constructor. The default time format is the elapsed time in miliseconds.
  */
 class Stopwatch {
 public:
@@ -28,8 +21,8 @@ public:
      * no parameters are required!
      * @param displayOnDestruction If set to true, displays measured time on
      *        object destruction
-     * @param displayMode Display format is either MS rounded or MS as double
-     *        format
+     * @param displayMode Display format is either MS rounded or seconds as
+     * 		  double format
      * @param outputPrecision If using double format, specify precision here.
      */
     Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode

From 33eae034c7c7a9e697505461b8676eeae2a4d733 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 7 May 2020 23:14:29 +0200
Subject: [PATCH 041/653] replace device comIF uint32_t with size_t

---
 devicehandlers/DeviceCommunicationIF.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index 1f6d01f0..8301ddcf 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -81,7 +81,7 @@ public:
 	 *  - Everything else triggers failure event with returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
-			uint32_t sendLen) = 0;
+			size_t sendLen) = 0;
 
 	/**
 	 * Called by DHB in the GET_WRITE doGetWrite().
@@ -107,7 +107,7 @@ public:
 	 *           returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-			uint32_t requestLen) = 0;
+			size_t requestLen) = 0;
 
 	/**
 	 * Called by DHB in the GET_WRITE doGetRead().
@@ -124,7 +124,7 @@ public:
 	 *           returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-			uint32_t *size) = 0;
+			size_t *size) = 0;
 };
 
 #endif /* DEVICECOMMUNICATIONIF_H_ */

From 614deea323bd22af7fd937bb40bf1f23dee7ad83 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 7 May 2020 23:38:28 +0200
Subject: [PATCH 042/653] last size_t replacements

---
 devicehandlers/DeviceCommunicationIF.h | 1 +
 devicehandlers/DeviceHandlerBase.cpp   | 4 ++--
 devicehandlers/DeviceHandlerBase.h     | 4 ++--
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index 8301ddcf..9ca31a9b 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -3,6 +3,7 @@
 
 #include <framework/devicehandlers/CookieIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
 /**
  * @defgroup interfaces Interfaces
  * @brief Interfaces for flight software objects
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 3331f5f9..068fdd78 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -570,10 +570,10 @@ void DeviceHandlerBase::doSendRead() {
 }
 
 void DeviceHandlerBase::doGetRead() {
-	uint32_t receivedDataLen;
+	size_t receivedDataLen;
 	uint8_t *receivedData;
 	DeviceCommandId_t foundId = 0xFFFFFFFF;
-	uint32_t foundLen = 0;
+	size_t foundLen = 0;
 	ReturnValue_t result;
 
 	if (cookieInfo.state != COOKIE_READ_SENT) {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index d0c95a5a..379992b1 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -301,8 +301,8 @@ protected:
 	 *    requested by a command, but should be handled anyway
 	 *    (@see also fillCommandAndCookieMap() )
 	 */
-	virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
-			DeviceCommandId_t *foundId, uint32_t *foundLen) = 0;
+	virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
+			DeviceCommandId_t *foundId, size_t *foundLen) = 0;
 
 	/**
 	 * @brief Interpret a reply from the device.

From fadebe2eb4255aa6ff870ed3fa07e70905487138 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 8 May 2020 14:38:10 +0200
Subject: [PATCH 043/653] new initializer list ctor

---
 datapool/PoolEntry.cpp | 18 ++++++++--
 datapool/PoolEntry.h   | 79 ++++++++++++++++++++++++------------------
 2 files changed, 62 insertions(+), 35 deletions(-)

diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index de024c81..97c60131 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -2,9 +2,22 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 template <typename T>
-PoolEntry<T>::PoolEntry( T* initValue, uint8_t set_length, uint8_t set_valid ) : length(set_length), valid(set_valid) {
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t set_length,
+		uint8_t set_valid ) : length(set_length), valid(set_valid) {
 	this->address = new T[this->length];
-	if (initValue != NULL) {
+	if(initValue.size() == 0) {
+		memset(this->address, 0, this->getByteSize());
+	}
+	else {
+		memcpy(this->address, initValue.begin(), this->getByteSize());
+	}
+}
+
+template <typename T>
+PoolEntry<T>::PoolEntry( T* initValue, uint8_t set_length, uint8_t set_valid ) :
+		length(set_length), valid(set_valid) {
+	this->address = new T[this->length];
+	if (initValue != nullptr) {
 		memcpy(this->address, initValue, this->getByteSize() );
 	} else {
 		memset(this->address, 0, this->getByteSize() );
@@ -57,6 +70,7 @@ Type PoolEntry<T>::getType() {
 	return PodTypeConversion<T>::type;
 }
 
+template class PoolEntry<bool>;
 template class PoolEntry<uint8_t>;
 template class PoolEntry<uint16_t>;
 template class PoolEntry<uint32_t>;
diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h
index ce41a991..5edc0198 100644
--- a/datapool/PoolEntry.h
+++ b/datapool/PoolEntry.h
@@ -1,81 +1,94 @@
 #ifndef POOLENTRY_H_
 #define POOLENTRY_H_
 
-
 #include <framework/datapool/PoolEntryIF.h>
 #include <stddef.h>
 #include <cstring>
+#include <initializer_list>
+
 /**
- * \brief		This is a small helper class that defines a single data pool entry.
+ * @brief	This is a small helper class that defines a single data pool entry.
+ * @details
+ * The helper is used to store all information together with the data as a
+ * single data pool entry.The content's type is defined by the template argument.
+ * It is prepared for use with plain old data types, but may be extended to
+ * complex types if necessary. It can be initialized with a certain value,
+ * size and validity flag. It holds a pointer to the real data and offers
+ * methods to access this data and to acquire additional information
+ * (such as validity and array/byte size). It is NOT intended to be used
+ * outside the DataPool class.
  *
- * \details		The helper is used to store all information together with the data as a single data pool entry.
- * 				The content's type is defined by the template argument.
- * 				It is prepared for use with plain old data types,
- * 				but may be extended to complex types if necessary.
- * 				It can be initialized with a certain value, size and validity flag.
- * 				It holds a pointer to the real data and offers methods to access this data and to acquire
- * 				additional information (such as validity and array/byte size).
- * 				It is NOT intended to be used outside the DataPool class.
- *
- *	\ingroup data_pool
+ * @ingroup data_pool
  *
  */
 template <typename T>
 class PoolEntry : public PoolEntryIF {
 public:
 	/**
-	 * \brief	In the classe's constructor, space is allocated on the heap and
+	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.
-	 * \param initValue		A pointer to the single value or array that holds the init value.
-	 * 						With the default value (NULL), the entry is initalized with all 0.
-	 * \param set_length	Defines the array length of this entry.
-	 * \param set_valid		Sets the initialization flag. It is invalid (0) by default.
+	 * @param initValue	Initializer list with values to initialize with
+	 * @param set_length	Defines the array length of this entry.
+	 * @param set_valid		Sets the initialization flag.
+	 * 						It is invalid (0) by default.
 	 */
-	PoolEntry( T* initValue = NULL, uint8_t set_length = 1, uint8_t set_valid = 0 );
+	PoolEntry(std::initializer_list<T> initValue = {}, uint8_t set_length = 1,
+			uint8_t set_valid = 0);
 	/**
-	 * \brief	The allocated memory for the variable is freed in the destructor.
-	 * \details	As the data pool is global, this dtor is only called on program exit.
-	 * 			PoolEntries shall never be copied, as a copy might delete the variable on the heap.
+	 * @brief	In the classe's constructor, space is allocated on the heap and
+	 * 			potential init values are copied to that space.
+	 * @param initValue	A pointer to the single value or array that holds
+	 *  the init value. With the default value (nullptr), the entry is
+	 *  initalized with all 0.
+	 * @param set_length	Defines the array length of this entry.
+	 * @param set_valid		Sets the initialization flag. It is invalid (0) by default.
+	 */
+	PoolEntry(T* initValue = nullptr, uint8_t set_length = 1, uint8_t set_valid = 0);
+
+	/**
+	 * @brief	The allocated memory for the variable is freed in the destructor.
+	 * @details	As the data pool is global, this dtor is only called on program exit.
+	 * PoolEntries shall never be copied, as a copy might delete the variable on the heap.
 	 */
 	~PoolEntry();
 	/**
-	 * \brief	This is the address pointing to the allocated memory.
+	 * @brief	This is the address pointing to the allocated memory.
 	 */
 	T* address;
 	/**
-	 * \brief	This attribute stores the length information.
+	 * @brief	This attribute stores the length information.
 	 */
 	uint8_t length;
 	/**
-	 * \brief	Here, the validity information for a variable is stored.
+	 * @brief	Here, the validity information for a variable is stored.
 	 * 			Every entry (single variable or vector) has one valid flag.
 	 */
 	uint8_t valid;
 	/**
-	 * \brief	getSize returns the array size of the entry.
-	 * \details	A single parameter has size 1.
+	 * @brief	getSize returns the array size of the entry.
+	 * @details	A single parameter has size 1.
 	 */
 	uint8_t getSize();
 	/**
-	 * \brief	This operation returns the size in bytes.
-	 * \details	The size is calculated by sizeof(type) * array_size.
+	 * @brief	This operation returns the size in bytes.
+	 * @details	The size is calculated by sizeof(type) * array_size.
 	 */
 	uint16_t getByteSize();
 	/**
-	 * \brief	This operation returns a the address pointer casted to void*.
+	 * @brief	This operation returns a the address pointer casted to void*.
 	 */
 	void* getRawData();
 	/**
-	 * \brief	This method allows to set the valid information of the pool entry.
+	 * @brief	This method allows to set the valid information of the pool entry.
 	 */
 	void setValid( uint8_t isValid );
 	/**
-	 * \brief	This method allows to get the valid information of the pool entry.
+	 * @brief	This method allows to get the valid information of the pool entry.
 	 */
 	uint8_t getValid();
 	/**
-	 * \brief	This is a debug method that prints all values and the valid information to the screen.
-	 * 			It prints all array entries in a row.
+	 * @brief	This is a debug method that prints all values and the valid
+	 * 			information to the screen. It prints all array entries in a row.
 	 */
 	void print();
 

From a159e60a9055e51b6c38a739b1f489e378a30857 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 11 May 2020 16:53:16 +0200
Subject: [PATCH 044/653] removed bool specialization

---
 datapool/PoolEntry.cpp | 1 -
 datapool/PoolEntry.h   | 7 +++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index 97c60131..1d8d2486 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -70,7 +70,6 @@ Type PoolEntry<T>::getType() {
 	return PodTypeConversion<T>::type;
 }
 
-template class PoolEntry<bool>;
 template class PoolEntry<uint8_t>;
 template class PoolEntry<uint16_t>;
 template class PoolEntry<uint32_t>;
diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h
index 5edc0198..4487db72 100644
--- a/datapool/PoolEntry.h
+++ b/datapool/PoolEntry.h
@@ -2,10 +2,10 @@
 #define POOLENTRY_H_
 
 #include <framework/datapool/PoolEntryIF.h>
-#include <stddef.h>
+#include <cstddef>
 #include <cstring>
 #include <initializer_list>
-
+#include <type_traits>
 /**
  * @brief	This is a small helper class that defines a single data pool entry.
  * @details
@@ -24,6 +24,9 @@
 template <typename T>
 class PoolEntry : public PoolEntryIF {
 public:
+	static_assert(not std::is_same<T, bool>::value,
+				"Do not use boolean for the PoolEntry type, use uint8_t instead!"
+				"Warum? Darum :-)");
 	/**
 	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.

From 1fb87db82e5e5cac6e1933f2fed5cf7066a0822e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 15 May 2020 19:44:14 +0200
Subject: [PATCH 045/653] bugfix and additional functions

---
 tmtcpacket/SpacePacketBase.cpp  |  3 ++-
 tmtcpacket/pus/TcPacketBase.cpp | 22 +++++++++++++++++-----
 tmtcpacket/pus/TcPacketBase.h   | 20 +++++++++++++++++---
 3 files changed, 36 insertions(+), 9 deletions(-)

diff --git a/tmtcpacket/SpacePacketBase.cpp b/tmtcpacket/SpacePacketBase.cpp
index 13c062d8..a06c3a33 100644
--- a/tmtcpacket/SpacePacketBase.cpp
+++ b/tmtcpacket/SpacePacketBase.cpp
@@ -14,7 +14,8 @@ uint8_t SpacePacketBase::getPacketVersionNumber( void ) {
 	return (this->data->header.packet_id_h & 0b11100000) >> 5;
 }
 
-void SpacePacketBase::initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
+void SpacePacketBase::initSpacePacketHeader(bool isTelecommand,
+		bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount) {
 	//reset header to zero:
 	memset(data,0, sizeof(this->data->header) );
 	//Set TC/TM bit.
diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp
index 0f3bd52e..b98cf136 100644
--- a/tmtcpacket/pus/TcPacketBase.cpp
+++ b/tmtcpacket/pus/TcPacketBase.cpp
@@ -28,7 +28,7 @@ const uint8_t* TcPacketBase::getApplicationData() const {
 	return &tcData->data;
 }
 
-uint16_t TcPacketBase::getApplicationDataSize() {
+size_t TcPacketBase::getApplicationDataSize() {
 	return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1;
 }
 
@@ -46,9 +46,16 @@ void TcPacketBase::setErrorControl() {
 	(&tcData->data)[size + 1] = (crc) & 0X00FF; 		// CRCL
 }
 
-void TcPacketBase::setData(const uint8_t* p_Data) {
-	SpacePacketBase::setData(p_Data);
-	tcData = (TcPacketPointer*) p_Data;
+void TcPacketBase::setData(const uint8_t* pData) {
+	SpacePacketBase::setData(pData);
+	tcData = (TcPacketPointer*) pData;
+}
+
+void TcPacketBase::setApplicationData(const uint8_t * pData, size_t dataLen) {
+	SpacePacketBase::setData(pData);
+	tcData = (TcPacketPointer*) pData;
+	SpacePacketBase::setPacketDataLength(dataLen +
+			sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE-1);
 }
 
 uint8_t TcPacketBase::getSecondaryHeaderFlag() {
@@ -72,7 +79,7 @@ void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
 		uint8_t ack, uint8_t service, uint8_t subservice) {
 	initSpacePacketHeader(true, true, apid, sequenceCount);
 	memset(&tcData->data_field, 0, sizeof(tcData->data_field));
-	setPacketDataLength(sizeof(tcData->data_field) + CRC_SIZE);
+	setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
 	//Data Field Header:
 	//Set CCSDS_secondary_header_flag to 0, version number to 001 and ack to 0000
 	tcData->data_field.version_type_ack = 0b00010000;
@@ -80,3 +87,8 @@ void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
 	tcData->data_field.service_type = service;
 	tcData->data_field.service_subtype = subservice;
 }
+
+size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) {
+	return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) +
+			appDataLen + TcPacketBase::CRC_SIZE;
+}
diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h
index e6e6bdad..69c64b87 100644
--- a/tmtcpacket/pus/TcPacketBase.h
+++ b/tmtcpacket/pus/TcPacketBase.h
@@ -2,6 +2,7 @@
 #define TCPACKETBASE_H_
 
 #include <framework/tmtcpacket/SpacePacketBase.h>
+#include <cstddef>
 
 /**
  * This struct defines a byte-wise structured PUS TC Data Field Header.
@@ -99,7 +100,8 @@ public:
 	 * @param service	PUS Service
 	 * @param subservice PUS Subservice
 	 */
-	void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack, uint8_t service, uint8_t subservice);
+	void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
+			uint8_t service, uint8_t subservice);
 	/**
 	 * This command returns the CCSDS Secondary Header Flag.
 	 * It shall always be zero for PUS Packets. This is the
@@ -151,7 +153,7 @@ public:
 	 * @return	The size of the PUS Application Data (without Error Control
 	 * 		field)
 	 */
-	uint16_t getApplicationDataSize();
+	size_t getApplicationDataSize();
 	/**
 	 * This getter returns the Error Control Field of the packet.
 	 *
@@ -175,12 +177,24 @@ public:
 	 *
 	 * @param p_data	A pointer to another PUS Telecommand Packet.
 	 */
-	void setData( const uint8_t* p_data );
+	void setData( const uint8_t* pData );
+	/**
+	 * Set application data and corresponding length field.
+	 * @param pData
+	 * @param dataLen
+	 */
+	void setApplicationData(const uint8_t * pData, size_t dataLen);
 	/**
 	 * This is a debugging helper method that prints the whole packet content
 	 * to the screen.
 	 */
 	void print();
+	/**
+	 * Calculate full packet length from application data length.
+	 * @param appDataLen
+	 * @return
+	 */
+	static size_t calculateFullPacketLength(size_t appDataLen);
 };
 
 

From eb5832180b18b5c789ba66c309e5aa5d3771dbc0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 15 May 2020 19:51:39 +0200
Subject: [PATCH 046/653] size_t uint16_t corrections

---
 tmtcpacket/SpacePacketBase.cpp  | 2 +-
 tmtcpacket/SpacePacketBase.h    | 5 +++--
 tmtcpacket/pus/TcPacketBase.cpp | 2 +-
 tmtcpacket/pus/TcPacketBase.h   | 2 +-
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/tmtcpacket/SpacePacketBase.cpp b/tmtcpacket/SpacePacketBase.cpp
index a06c3a33..b9ae0684 100644
--- a/tmtcpacket/SpacePacketBase.cpp
+++ b/tmtcpacket/SpacePacketBase.cpp
@@ -82,7 +82,7 @@ void SpacePacketBase::setPacketDataLength( uint16_t new_length) {
 	this->data->header.packet_length_l = ( new_length & 0x00FF );
 }
 
-uint32_t SpacePacketBase::getFullSize() {
+size_t SpacePacketBase::getFullSize() {
 	//+1 is done because size in packet data length field is: size of data field -1
 	return this->getPacketDataLength() + sizeof(this->data->header) + 1;
 }
diff --git a/tmtcpacket/SpacePacketBase.h b/tmtcpacket/SpacePacketBase.h
index cc68f714..57a5df9c 100644
--- a/tmtcpacket/SpacePacketBase.h
+++ b/tmtcpacket/SpacePacketBase.h
@@ -2,9 +2,10 @@
 #define SPACEPACKETBASE_H_
 
 #include <framework/tmtcpacket/ccsds_header.h>
+#include <cstddef>
 
 /**
- * \defgroup tmtcpackets Space Packets
+ * @defgroup tmtcpackets Space Packets
  * This is the group, where all classes associated with Telecommand and
  * Telemetry packets belong to.
  * The class hierarchy resembles the dependency between the different standards
@@ -167,7 +168,7 @@ public:
 	 * This method returns the full raw packet size.
 	 * @return	The full size of the packet in bytes.
 	 */
-	uint32_t getFullSize();
+	size_t getFullSize();
 
 	uint32_t getApidAndSequenceCount() const;
 
diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp
index b98cf136..4ef50c0d 100644
--- a/tmtcpacket/pus/TcPacketBase.cpp
+++ b/tmtcpacket/pus/TcPacketBase.cpp
@@ -51,7 +51,7 @@ void TcPacketBase::setData(const uint8_t* pData) {
 	tcData = (TcPacketPointer*) pData;
 }
 
-void TcPacketBase::setApplicationData(const uint8_t * pData, size_t dataLen) {
+void TcPacketBase::setApplicationData(const uint8_t * pData, uint16_t dataLen) {
 	SpacePacketBase::setData(pData);
 	tcData = (TcPacketPointer*) pData;
 	SpacePacketBase::setPacketDataLength(dataLen +
diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h
index 69c64b87..c8342896 100644
--- a/tmtcpacket/pus/TcPacketBase.h
+++ b/tmtcpacket/pus/TcPacketBase.h
@@ -183,7 +183,7 @@ public:
 	 * @param pData
 	 * @param dataLen
 	 */
-	void setApplicationData(const uint8_t * pData, size_t dataLen);
+	void setApplicationData(const uint8_t * pData, uint16_t dataLen);
 	/**
 	 * This is a debugging helper method that prints the whole packet content
 	 * to the screen.

From 1c967d473933a3262ac9f74a0bdc1914d54b6aeb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 15 May 2020 19:56:21 +0200
Subject: [PATCH 047/653] app data size uint16_t

---
 tmtcpacket/pus/TcPacketBase.cpp | 2 +-
 tmtcpacket/pus/TcPacketBase.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp
index 4ef50c0d..f8dba79f 100644
--- a/tmtcpacket/pus/TcPacketBase.cpp
+++ b/tmtcpacket/pus/TcPacketBase.cpp
@@ -28,7 +28,7 @@ const uint8_t* TcPacketBase::getApplicationData() const {
 	return &tcData->data;
 }
 
-size_t TcPacketBase::getApplicationDataSize() {
+uint16_t TcPacketBase::getApplicationDataSize() {
 	return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1;
 }
 
diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h
index c8342896..136aaa0b 100644
--- a/tmtcpacket/pus/TcPacketBase.h
+++ b/tmtcpacket/pus/TcPacketBase.h
@@ -153,7 +153,7 @@ public:
 	 * @return	The size of the PUS Application Data (without Error Control
 	 * 		field)
 	 */
-	size_t getApplicationDataSize();
+	uint16_t getApplicationDataSize();
 	/**
 	 * This getter returns the Error Control Field of the packet.
 	 *

From 4819bad402e7a6b1c596aeff89c630e60bfeeaf1 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 15 May 2020 20:01:11 +0200
Subject: [PATCH 048/653] addtional comment

---
 tmtcpacket/pus/TcPacketBase.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp
index f8dba79f..0972ffff 100644
--- a/tmtcpacket/pus/TcPacketBase.cpp
+++ b/tmtcpacket/pus/TcPacketBase.cpp
@@ -52,10 +52,10 @@ void TcPacketBase::setData(const uint8_t* pData) {
 }
 
 void TcPacketBase::setApplicationData(const uint8_t * pData, uint16_t dataLen) {
-	SpacePacketBase::setData(pData);
-	tcData = (TcPacketPointer*) pData;
+	setData(pData);
+	// packet data length is actual size of data field minus 1
 	SpacePacketBase::setPacketDataLength(dataLen +
-			sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE-1);
+			sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE - 1);
 }
 
 uint8_t TcPacketBase::getSecondaryHeaderFlag() {

From b8e7b12a63b35262cf5616a0afe4b7abc05b4ac6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 17 May 2020 13:10:09 +0200
Subject: [PATCH 049/653] commented whole SWITCH IO BOARD block

---
 devicehandlers/DeviceHandlerBase.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 068fdd78..84dd0811 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1049,19 +1049,19 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		}
 		replyReturnvalueToCommand(RETURN_OK);
 		return RETURN_OK;
-	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
+//	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
 //		if (mode != MODE_OFF) {
 //			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
 //		} else {
-////			result = switchCookieChannel(
-////					DeviceHandlerMessage::getIoBoardObjectId(message));
+//			result = switchCookieChannel(
+//					DeviceHandlerMessage::getIoBoardObjectId(message));
 //			if (result == RETURN_OK) {
 //				replyReturnvalueToCommand(RETURN_OK);
 //			} else {
 //				replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
 //			}
 //		}
-		return RETURN_OK;
+//		return RETURN_OK;
 	case DeviceHandlerMessage::CMD_RAW:
 		if ((mode != MODE_RAW)) {
 			DeviceHandlerMessage::clear(message);

From fb0834ffe14b44a88fa32a25b3366def4dc25a3e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 17 May 2020 15:28:00 +0200
Subject: [PATCH 050/653] added cookie caching and deletion

---
 devicehandlers/DeviceHandlerBase.cpp | 6 ++++--
 devicehandlers/DeviceHandlerBase.h   | 4 ++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 84dd0811..b12d797a 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -23,8 +23,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		size_t cmdQueueSize) :
 		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
-		deviceCommunicationId(deviceCommunication), deviceThermalStatePoolId(
-		thermalStatePoolId),deviceThermalRequestPoolId(thermalRequestPoolId),
+		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
+		deviceThermalStatePoolId(thermalStatePoolId),
+		deviceThermalRequestPoolId(thermalRequestPoolId),
 		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
 		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
 		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
@@ -44,6 +45,7 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 
 DeviceHandlerBase::~DeviceHandlerBase() {
 	//communicationInterface->close(cookie);
+	delete comCookie;
 	if (defaultFDIRUsed) {
 		delete fdirInstance;
 	}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 379992b1..3d13f1e3 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -606,12 +606,12 @@ protected:
 	/**
 	 * Communication object used for device communication
 	 */
-	DeviceCommunicationIF *communicationInterface = nullptr;
+	DeviceCommunicationIF * communicationInterface = nullptr;
 
 	/**
 	 * Cookie used for communication
 	 */
-	CookieIF * comCookie = nullptr;
+	CookieIF * comCookie;
 
 	struct DeviceCommandInfo {
 		bool isExecuting; //!< Indicates if the command is already executing.

From 7ceb6f3c96914bd1ebea5532f21bee6dd17b3f20 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 17 May 2020 15:43:45 +0200
Subject: [PATCH 051/653] override for executeAction()

---
 devicehandlers/DeviceHandlerBase.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 3d13f1e3..38af3020 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -482,7 +482,8 @@ public:
 	virtual void setParentQueue(MessageQueueId_t parentQueueId);
 
 	ReturnValue_t executeAction(ActionId_t actionId,
-			MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size);
+			MessageQueueId_t commandedBy, const uint8_t* data,
+			uint32_t size) override;
 	Mode_t getTransitionSourceMode() const;
 	Submode_t getTransitionSourceSubMode() const;
 	virtual void getMode(Mode_t *mode, Submode_t *submode);

From f4ad38f07ffd873b70076bfac26d4ece6baeaefc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 17 May 2020 15:47:17 +0200
Subject: [PATCH 052/653] replyMap insertion improvements

---
 devicehandlers/DeviceHandlerBase.cpp | 11 ++++-------
 devicehandlers/DeviceHandlerBase.h   |  2 ++
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index b12d797a..f58fab18 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -354,8 +354,8 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
 	info.delayCycles = 0;
 	info.replyLen = replyLen;
 	info.command = deviceCommandMap.end();
-	std::pair<DeviceReplyIter, bool> result = deviceReplyMap.emplace(replyId, info);
-	if (result.second) {
+	auto resultPair = deviceReplyMap.emplace(replyId, info);
+	if (resultPair.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
@@ -367,11 +367,8 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
 	info.expectedReplies = 0;
 	info.isExecuting = false;
 	info.sendReplyTo = NO_COMMANDER;
-	std::pair<std::map<DeviceCommandId_t, DeviceCommandInfo>::iterator, bool> returnValue;
-	returnValue = deviceCommandMap.insert(
-			std::pair<DeviceCommandId_t, DeviceCommandInfo>(deviceCommand,
-					info));
-	if (returnValue.second) {
+	auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
+	if (resultPair.second) {
 		return RETURN_OK;
 	} else {
 		return RETURN_FAILED;
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 38af3020..56f9be1d 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -481,9 +481,11 @@ public:
 	 */
 	virtual void setParentQueue(MessageQueueId_t parentQueueId);
 
+	/** @brief 	Implementation required for HasActionIF */
 	ReturnValue_t executeAction(ActionId_t actionId,
 			MessageQueueId_t commandedBy, const uint8_t* data,
 			uint32_t size) override;
+
 	Mode_t getTransitionSourceMode() const;
 	Submode_t getTransitionSourceSubMode() const;
 	virtual void getMode(Mode_t *mode, Submode_t *submode);

From deb8ce3744c9c2962c19310f5092bf547a016d8a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 17 May 2020 15:53:29 +0200
Subject: [PATCH 053/653] merged upstream master

---
 devicehandlers/DeviceHandlerBase.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 0fd2a601..fa06a93a 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -44,7 +44,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-	//communicationInterface->close(cookie);
 	delete comCookie;
 	if (defaultFDIRUsed) {
 		delete fdirInstance;

From 80c6eff8a6fd543b5151716a21e392639367a246 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 17 May 2020 17:46:27 +0200
Subject: [PATCH 054/653] added error output for passed nullptr cookie

---
 devicehandlers/DeviceHandlerBase.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index fa06a93a..ac9d15c1 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -37,6 +37,12 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 			CommandMessage::MAX_MESSAGE_SIZE);
 	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
+	if (comCookie == nullptr) {
+		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
+				this->getObjectId() << std::dec << ": Do not pass nullptr as a"
+				" cookie, consider passing a dummy cookie instead!" <<
+				std::endl;
+	}
 	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
 				defaultFDIRParentId);

From 0bf8e97830f3c6ec2de91935091389890bec44ac Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 17 May 2020 17:49:32 +0200
Subject: [PATCH 055/653] better error output for invalid passed cookie

---
 devicehandlers/DeviceHandlerBase.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index ac9d15c1..f52ddbad 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -12,6 +12,8 @@
 #include <framework/ipc/QueueFactory.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+#include <iomanip>
+
 object_id_t DeviceHandlerBase::powerSwitcherId = 0;
 object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
 object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
@@ -39,9 +41,9 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 	insertInCommandMap(RAW_COMMAND_ID);
 	if (comCookie == nullptr) {
 		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
-				this->getObjectId() << std::dec << ": Do not pass nullptr as a"
-				" cookie, consider passing a dummy cookie instead!" <<
-				std::endl;
+				std::setw(8) << std::setfill('0') << this->getObjectId() <<
+				std::dec << ": Do not pass nullptr as a cookie, consider "
+				"passing a dummy cookie instead!" << std::endl;
 	}
 	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,

From df7be467eb1885c35527aabbe9c47678457dc41f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 17 May 2020 17:54:21 +0200
Subject: [PATCH 056/653] nullptr replacements

---
 devicehandlers/DeviceHandlerBase.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index f52ddbad..338ed9b2 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -653,8 +653,8 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 		uint8_t * *data, uint32_t * len) {
 	uint32_t lenTmp;
 
-	if (IPCStore == NULL) {
-		*data = NULL;
+	if (IPCStore == nullptr) {
+		*data = nullptr;
 		*len = 0;
 		return RETURN_FAILED;
 	}
@@ -665,7 +665,7 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 	} else {
 		triggerEvent(StorageManagerIF::GET_DATA_FAILED, result,
 				storageAddress.raw);
-		*data = NULL;
+		*data = nullptr;
 		*len = 0;
 		return result;
 	}

From 7bc7e06277b95a3ee39ecc6339daa359b1cdfb4b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 18 May 2020 16:41:37 +0200
Subject: [PATCH 057/653] added reordering of ctor arguments

---
 tmtcpacket/pus/TcPacketStored.cpp | 18 +++++++++---------
 tmtcpacket/pus/TcPacketStored.h   |  4 +++-
 2 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp
index 81eb7f99..57b90bcc 100644
--- a/tmtcpacket/pus/TcPacketStored.cpp
+++ b/tmtcpacket/pus/TcPacketStored.cpp
@@ -1,22 +1,22 @@
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <string.h>
+#include <cstring>
 
 TcPacketStored::TcPacketStored(store_address_t setAddress) :
-		TcPacketBase(NULL), storeAddress(setAddress) {
+		TcPacketBase(nullptr), storeAddress(setAddress) {
 	this->setStoreAddress(this->storeAddress);
 }
 
-TcPacketStored::TcPacketStored(uint16_t apid, uint8_t ack, uint8_t service,
-		uint8_t subservice, uint8_t sequence_count, const uint8_t* data,
-		uint32_t size) :
-		TcPacketBase(NULL) {
+TcPacketStored::TcPacketStored(uint8_t service, uint8_t subservice,
+		uint16_t apid, uint8_t sequence_count, const uint8_t* data,
+		size_t size, uint8_t ack ) :
+		TcPacketBase(nullptr) {
 	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	if (!this->checkAndSetStore()) {
 		return;
 	}
-	uint8_t* p_data = NULL;
+	uint8_t* p_data = nullptr;
 	ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
 			(TC_PACKET_MIN_SIZE + size), &p_data);
 	if (returnValue != this->store->RETURN_OK) {
@@ -59,7 +59,7 @@ bool TcPacketStored::checkAndSetStore() {
 void TcPacketStored::setStoreAddress(store_address_t setAddress) {
 	this->storeAddress = setAddress;
 	const uint8_t* temp_data = NULL;
-	uint32_t temp_size;
+	size_t temp_size;
 	ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
 	if (this->checkAndSetStore()) {
 		status = this->store->getData(this->storeAddress, &temp_data,
@@ -79,7 +79,7 @@ store_address_t TcPacketStored::getStoreAddress() {
 
 bool TcPacketStored::isSizeCorrect() {
 	const uint8_t* temp_data = NULL;
-	uint32_t temp_size;
+	size_t temp_size;
 	ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
 			&temp_size);
 	if (status == StorageManagerIF::RETURN_OK) {
diff --git a/tmtcpacket/pus/TcPacketStored.h b/tmtcpacket/pus/TcPacketStored.h
index c57f0e0f..a9c49c2e 100644
--- a/tmtcpacket/pus/TcPacketStored.h
+++ b/tmtcpacket/pus/TcPacketStored.h
@@ -64,7 +64,9 @@ public:
 	 * @param data		The data to be copied to the Application Data Field.
 	 * @param size		The amount of data to be copied.
 	 */
-	TcPacketStored( uint16_t apid, uint8_t ack, uint8_t service, uint8_t subservice, uint8_t sequence_count = 0, const uint8_t* data = NULL, uint32_t size = 0 );
+	TcPacketStored( uint8_t service, uint8_t subservice, uint16_t apid,
+			uint8_t sequence_count = 0, const uint8_t* data = nullptr,
+			size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL );
 	/**
 	 * Another constructor to create a TcPacket from a raw packet stream.
 	 * Takes the data and adds it unchecked to the TcStore.

From 483a47d353219a4a6af1fd36c08ddd55a2bcf3d4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 19 May 2020 18:55:13 +0200
Subject: [PATCH 058/653] some renamings

---
 tmtcpacket/pus/TcPacketBase.cpp   | 30 +++++++++++++++---------------
 tmtcpacket/pus/TcPacketBase.h     |  4 ++--
 tmtcpacket/pus/TcPacketStored.cpp |  2 +-
 3 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp
index 0972ffff..32caf5bb 100644
--- a/tmtcpacket/pus/TcPacketBase.cpp
+++ b/tmtcpacket/pus/TcPacketBase.cpp
@@ -13,28 +13,28 @@ TcPacketBase::~TcPacketBase() {
 }
 
 uint8_t TcPacketBase::getService() {
-	return tcData->data_field.service_type;
+	return tcData->dataField.service_type;
 }
 
 uint8_t TcPacketBase::getSubService() {
-	return tcData->data_field.service_subtype;
+	return tcData->dataField.service_subtype;
 }
 
 uint8_t TcPacketBase::getAcknowledgeFlags() {
-	return tcData->data_field.version_type_ack & 0b00001111;
+	return tcData->dataField.version_type_ack & 0b00001111;
 }
 
 const uint8_t* TcPacketBase::getApplicationData() const {
-	return &tcData->data;
+	return &tcData->appData;
 }
 
 uint16_t TcPacketBase::getApplicationDataSize() {
-	return getPacketDataLength() - sizeof(tcData->data_field) - CRC_SIZE + 1;
+	return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1;
 }
 
 uint16_t TcPacketBase::getErrorControl() {
 	uint16_t size = getApplicationDataSize() + CRC_SIZE;
-	uint8_t* p_to_buffer = &tcData->data;
+	uint8_t* p_to_buffer = &tcData->appData;
 	return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
 }
 
@@ -42,8 +42,8 @@ void TcPacketBase::setErrorControl() {
 	uint32_t full_size = getFullSize();
 	uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
 	uint32_t size = getApplicationDataSize();
-	(&tcData->data)[size] = (crc & 0XFF00) >> 8;	// CRCH
-	(&tcData->data)[size + 1] = (crc) & 0X00FF; 		// CRCL
+	(&tcData->appData)[size] = (crc & 0XFF00) >> 8;	// CRCH
+	(&tcData->appData)[size + 1] = (crc) & 0X00FF; 		// CRCL
 }
 
 void TcPacketBase::setData(const uint8_t* pData) {
@@ -59,11 +59,11 @@ void TcPacketBase::setApplicationData(const uint8_t * pData, uint16_t dataLen) {
 }
 
 uint8_t TcPacketBase::getSecondaryHeaderFlag() {
-	return (tcData->data_field.version_type_ack & 0b10000000) >> 7;
+	return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
 }
 
 uint8_t TcPacketBase::getPusVersionNumber() {
-	return (tcData->data_field.version_type_ack & 0b01110000) >> 4;
+	return (tcData->dataField.version_type_ack & 0b01110000) >> 4;
 }
 
 void TcPacketBase::print() {
@@ -78,14 +78,14 @@ void TcPacketBase::print() {
 void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
 		uint8_t ack, uint8_t service, uint8_t subservice) {
 	initSpacePacketHeader(true, true, apid, sequenceCount);
-	memset(&tcData->data_field, 0, sizeof(tcData->data_field));
+	memset(&tcData->dataField, 0, sizeof(tcData->dataField));
 	setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
 	//Data Field Header:
 	//Set CCSDS_secondary_header_flag to 0, version number to 001 and ack to 0000
-	tcData->data_field.version_type_ack = 0b00010000;
-	tcData->data_field.version_type_ack |= (ack & 0x0F);
-	tcData->data_field.service_type = service;
-	tcData->data_field.service_subtype = subservice;
+	tcData->dataField.version_type_ack = 0b00010000;
+	tcData->dataField.version_type_ack |= (ack & 0x0F);
+	tcData->dataField.service_type = service;
+	tcData->dataField.service_subtype = subservice;
 }
 
 size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) {
diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h
index 136aaa0b..9b858bd9 100644
--- a/tmtcpacket/pus/TcPacketBase.h
+++ b/tmtcpacket/pus/TcPacketBase.h
@@ -24,8 +24,8 @@ struct PUSTcDataFieldHeader {
  */
 struct TcPacketPointer {
 	CCSDSPrimaryHeader primary;
-	PUSTcDataFieldHeader data_field;
-	uint8_t data;
+	PUSTcDataFieldHeader dataField;
+	uint8_t appData;
 };
 
 /**
diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp
index 57b90bcc..47cf2ecd 100644
--- a/tmtcpacket/pus/TcPacketStored.cpp
+++ b/tmtcpacket/pus/TcPacketStored.cpp
@@ -24,7 +24,7 @@ TcPacketStored::TcPacketStored(uint8_t service, uint8_t subservice,
 	}
 	this->setData(p_data);
 	initializeTcPacket(apid, sequence_count, ack, service, subservice);
-	memcpy(&tcData->data, data, size);
+	memcpy(&tcData->appData, data, size);
 	this->setPacketDataLength(
 			size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
 	this->setErrorControl();

From 7bc29fc2d5c90e3f2ce9888e39cb4fcf7f380771 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 19 May 2020 19:00:33 +0200
Subject: [PATCH 059/653] souce data setter function

---
 tmtcpacket/pus/TmPacketBase.cpp | 5 +++++
 tmtcpacket/pus/TmPacketBase.h   | 7 +++++++
 2 files changed, 12 insertions(+)

diff --git a/tmtcpacket/pus/TmPacketBase.cpp b/tmtcpacket/pus/TmPacketBase.cpp
index a7bda5af..a2c27ce1 100644
--- a/tmtcpacket/pus/TmPacketBase.cpp
+++ b/tmtcpacket/pus/TmPacketBase.cpp
@@ -102,6 +102,11 @@ void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service, uint8_t su
 	}
 }
 
+void TmPacketBase::setSourceData(uint8_t* sourceData, size_t sourceSize) {
+	memcpy(getSourceData(), sourceData, sourceSize);
+	setSourceDataSize(sourceSize);
+}
+
 void TmPacketBase::setSourceDataSize(uint16_t size) {
 	setPacketDataLength(size + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
 }
diff --git a/tmtcpacket/pus/TmPacketBase.h b/tmtcpacket/pus/TmPacketBase.h
index d03beba5..583a5495 100644
--- a/tmtcpacket/pus/TmPacketBase.h
+++ b/tmtcpacket/pus/TmPacketBase.h
@@ -125,6 +125,13 @@ public:
 	 * current content of the packet.
 	 */
 	void setErrorControl();
+	/**
+	 * This sets the source data. It copies the provided data to
+	 * the internal TmPacketPointer.
+	 * @param sourceData
+	 * @param sourceSize
+	 */
+	void setSourceData(uint8_t* sourceData, size_t sourceSize);
 	/**
 	 * With this method, the packet data pointer can be redirected to another
 	 * location.

From 730c7151202160afceac06792d151cc10a698ee4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 19 May 2020 19:01:25 +0200
Subject: [PATCH 060/653] doc improved

---
 tmtcpacket/pus/TmPacketBase.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtcpacket/pus/TmPacketBase.h b/tmtcpacket/pus/TmPacketBase.h
index 583a5495..6f3c4b59 100644
--- a/tmtcpacket/pus/TmPacketBase.h
+++ b/tmtcpacket/pus/TmPacketBase.h
@@ -127,7 +127,7 @@ public:
 	void setErrorControl();
 	/**
 	 * This sets the source data. It copies the provided data to
-	 * the internal TmPacketPointer.
+	 * the internal TmPacketPointer source data location.
 	 * @param sourceData
 	 * @param sourceSize
 	 */

From 331b36fe18024698912910d13bf2a3d6c3580889 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 19 May 2020 19:05:17 +0200
Subject: [PATCH 061/653] fixed setAppData function

---
 tmtcpacket/pus/TcPacketBase.cpp |  7 +++----
 tmtcpacket/pus/TcPacketBase.h   | 15 +++++++++------
 2 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp
index 32caf5bb..733c36df 100644
--- a/tmtcpacket/pus/TcPacketBase.cpp
+++ b/tmtcpacket/pus/TcPacketBase.cpp
@@ -51,11 +51,10 @@ void TcPacketBase::setData(const uint8_t* pData) {
 	tcData = (TcPacketPointer*) pData;
 }
 
-void TcPacketBase::setApplicationData(const uint8_t * pData, uint16_t dataLen) {
-	setData(pData);
-	// packet data length is actual size of data field minus 1
+void TcPacketBase::setAppData(uint8_t * appData, uint16_t dataLen) {
+	memcpy(&tcData->appData, appData, dataLen);
 	SpacePacketBase::setPacketDataLength(dataLen +
-			sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE - 1);
+				sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE - 1);
 }
 
 uint8_t TcPacketBase::getSecondaryHeaderFlag() {
diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h
index 9b858bd9..73076176 100644
--- a/tmtcpacket/pus/TcPacketBase.h
+++ b/tmtcpacket/pus/TcPacketBase.h
@@ -168,6 +168,14 @@ public:
 	 * current content of the packet.
 	 */
 	void setErrorControl();
+
+	/**
+	 * Copies the supplied data to the internal TC application data field.
+	 * @param pData
+	 * @param dataLen
+	 */
+	void setAppData(uint8_t * appData, uint16_t dataLen);
+
 	/**
 	 * With this method, the packet data pointer can be redirected to another
 	 * location.
@@ -178,12 +186,7 @@ public:
 	 * @param p_data	A pointer to another PUS Telecommand Packet.
 	 */
 	void setData( const uint8_t* pData );
-	/**
-	 * Set application data and corresponding length field.
-	 * @param pData
-	 * @param dataLen
-	 */
-	void setApplicationData(const uint8_t * pData, uint16_t dataLen);
+
 	/**
 	 * This is a debugging helper method that prints the whole packet content
 	 * to the screen.

From ca10020f190783821077ee281d7f1c56284fa6ab Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 19 May 2020 20:29:37 +0200
Subject: [PATCH 062/653] added getter function for tc packet stored

---
 tmtcpacket/pus/TcPacketStored.cpp | 12 ++++++++++++
 tmtcpacket/pus/TcPacketStored.h   | 13 +++++++++++--
 2 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp
index 47cf2ecd..64aa74dc 100644
--- a/tmtcpacket/pus/TcPacketStored.cpp
+++ b/tmtcpacket/pus/TcPacketStored.cpp
@@ -1,6 +1,7 @@
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/tmtcpacket/pus/TcPacketStored.h>
+
 #include <cstring>
 
 TcPacketStored::TcPacketStored(store_address_t setAddress) :
@@ -20,6 +21,8 @@ TcPacketStored::TcPacketStored(uint8_t service, uint8_t subservice,
 	ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
 			(TC_PACKET_MIN_SIZE + size), &p_data);
 	if (returnValue != this->store->RETURN_OK) {
+		sif::warning << "TcPacketStored: Could not get free element from store!"
+				<< std::endl;
 		return;
 	}
 	this->setData(p_data);
@@ -30,6 +33,15 @@ TcPacketStored::TcPacketStored(uint8_t service, uint8_t subservice,
 	this->setErrorControl();
 }
 
+ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr,
+		size_t* dataSize) {
+	auto result = this->store->getData(storeAddress, dataPtr, dataSize);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::warning << "TcPacketStored: Could not get data!" << std::endl;
+	}
+	return result;
+}
+
 TcPacketStored::TcPacketStored() :
 		TcPacketBase(NULL) {
 	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
diff --git a/tmtcpacket/pus/TcPacketStored.h b/tmtcpacket/pus/TcPacketStored.h
index a9c49c2e..4ce95ddd 100644
--- a/tmtcpacket/pus/TcPacketStored.h
+++ b/tmtcpacket/pus/TcPacketStored.h
@@ -74,10 +74,19 @@ public:
 	 * @param Size size of the packet.
 	 */
 	TcPacketStored( const uint8_t* data, uint32_t size);
+
+	/**
+	 * Getter function for the raw data.
+	 * @param dataPtr [out] Pointer to the data pointer to set
+	 * @param dataSize [out] Address of size to set.
+	 * @return -@c RETURN_OK if data was retrieved successfully.
+	 */
+	ReturnValue_t getData(const uint8_t ** dataPtr,
+			size_t* dataSize);
 	/**
 	 * This is a getter for the current store address of the packet.
-	 * @return	The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
-	 * 			the packet is not linked.
+	 * @return	The current store address. The (raw) value is
+	 * 			@c StorageManagerIF::INVALID_ADDRESS if the packet is not linked.
 	 */
 	store_address_t getStoreAddress();
 	/**

From 7eb250a90ab432b8a5e5d10f78ec7598f13cdd45 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 25 May 2020 15:06:54 +0200
Subject: [PATCH 063/653] include testing

---
 osal/FreeRTOS/Clock.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index 5e597f25..a672076a 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -4,8 +4,7 @@
 #include "Timekeeper.h"
 
 extern "C" {
-#include <FreeRTOS.h>
-#include <task.h>
+#include <freertos/FreeRTOS.h>
 }
 
 

From 35b9346c2bface422ad7943d66689a8c7da21ed0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 25 May 2020 15:25:17 +0200
Subject: [PATCH 064/653] include improvements for clock, sif fixes

---
 osal/FreeRTOS/Clock.cpp   | 1 +
 timemanager/Stopwatch.cpp | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index a672076a..82c9e170 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -5,6 +5,7 @@
 
 extern "C" {
 #include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 }
 
 
diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 771b63dc..2c85376d 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -25,11 +25,11 @@ seconds_t Stopwatch::stopSeconds() {
 
 void Stopwatch::display() {
     if(displayMode == StopwatchDisplayMode::MILLIS) {
-        info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
+        sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
                 elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl;
     }
     else if(displayMode == StopwatchDisplayMode::SECONDS) {
-        info <<"Stopwatch: Operation took "  << std::setprecision(3)
+        sif::info <<"Stopwatch: Operation took "  << std::setprecision(3)
              << std::fixed << timevalOperations::toDouble(elapsedTime)
              << " seconds" << std::endl;
     }

From 19b4332801baa3aa427e330cc712eaa8910decca Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 25 May 2020 23:16:46 +0200
Subject: [PATCH 065/653] some little tweaks

---
 devicehandlers/DeviceHandlerIF.h | 128 ++++++++++++++++++++-----------
 1 file changed, 85 insertions(+), 43 deletions(-)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 04e94613..aec0e796 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -2,11 +2,10 @@
 #define DEVICEHANDLERIF_H_
 
 #include <framework/action/HasActionsIF.h>
-#include <framework/modes/HasModesIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
 #include <framework/devicehandlers/DeviceHandlerMessage.h>
 #include <framework/events/Event.h>
-
+#include <framework/modes/HasModesIF.h>
+#include <framework/ipc/MessageQueueSenderIF.h>
 
 /**
  * @brief 	This is the Interface used to communicate with a device handler.
@@ -29,19 +28,57 @@ public:
 
 	// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
 	// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
-	static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
-	static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
-	static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
-	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
-	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
-	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON; //!< It is possible to set the mode to _MODE_TO_ON to use the to on transition if available.
+	//! The device is powered on and the device handler periodically sends
+	//! commands. The commands to be sent are selected by the handler
+	//! according to the submode.
+	static const Mode_t MODE_NORMAL = 2;
+	//! The device is powered on and ready to perform operations. In this mode,
+	//! raw commands can be sent. The device handler will send all replies
+	//! received from the command back to the commanding object.
+	static const Mode_t MODE_RAW = 3;
+	//! The device is shut down but the switch could not be turned off, so the
+	//! device still is powered. In this mode, only a mode change to @c MODE_OFF
+	//! can be commanded, which tries to switch off the device again.
+	static const Mode_t MODE_ERROR_ON = 4;
+	//! This is a transitional state which can not be commanded. The device
+	//! handler performs all commands to get the device in a state ready to
+	//! perform commands. When this is completed, the mode changes to @c MODE_ON.
+	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+	//! This is a transitional state which can not be commanded.
+	//! The device handler performs all actions and commands to get the device
+	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+	//! It is possible to set the mode to _MODE_TO_ON to use the to on
+	//! transition if available.
+	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+	//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+	//! transition if available.
 	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+	//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+	//! transition if available.
 	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
-	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
-	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
-	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
-	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
+	//! This is a transitional state which can not be commanded.
+	//! The device is shut down and ready to be switched off.
+	//! After the command to set the switch off has been sent,
+	//! the mode changes to @c MODE_WAIT_OFF
+	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+	//! This is a transitional state which can not be commanded. The device
+	//! will be switched on in this state. After the command to set the switch
+	//! on has been sent, the mode changes to @c MODE_WAIT_ON.
+	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+	//! This is a transitional state which can not be commanded. The switch has
+	//! been commanded off and the handler waits for it to be off.
+	//! When the switch is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+	//! This is a transitional state which can not be commanded. The switch
+	//! has been commanded on and the handler waits for it to be on.
+	//! When the switch is on, the mode changes to @c MODE_TO_ON.
+	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+	//! This is a transitional state which can not be commanded. The switch has
+	//! been commanded off and is off now. This state is only to do an RMAP
+	//! cycle once more where the doSendRead() function will set the mode to
+	//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
+	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
 	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
@@ -57,37 +94,47 @@ public:
 	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
-	// Standard error codes when handling or building commands.
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0);
-	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
-	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2);
-	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
-	static const ReturnValue_t CANT_SWITCH_IO_ADDRESS = MAKE_RETURN_CODE(0xA4);
-	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
-	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
-	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
-	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
-	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 
-	// Standard error codes used in scan for reply
-	//static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE(0xB1);
-	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
-	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
-	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
+	// Standard codes used when building commands.
+	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xA0); //!< Return this if no command sending in required
+	// Mostly used for internal handling.
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA2); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA3); //!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA4); //!< Command ID not in commandMap. Checked in DHB
+	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA5); //!< Command was already executed. Checked in DHB
+	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA6);
+	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA7);
+	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA8);
+	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA9);
+	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xAA);
+	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xAB);
+	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAC);
 
-	// Standard error codes used in  interpret device reply
+	// Standard codes used in scanForReply
+	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB1); //!< This is used to specify for replies from a device which are not replies to requests
+	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB2);
+	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB3); //!< Ignore parts of the received packet
+	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB4); //!< Ignore full received packet
+	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB5);
+	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB6);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB7);
+
+	// Standard codes used in  interpretDeviceReply
 	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
 	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
 	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
 	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
 
-	// Standard error codes used in buildCommandFromCommand
-	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(
-			0xD0);
-	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS =
-			MAKE_RETURN_CODE(0xD1);
+	// Standard codes used in buildCommandFromCommand
+	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
+	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
+
+	// Standard codes used in getSwitches
+	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xE1); //!< Return in getSwitches() to specify there are no switches
+
+	// static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
+	// static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
+	// static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(11);
 
 	/**
 	 * Communication action that will be executed.
@@ -109,11 +156,6 @@ public:
 
 	/**
 	 * This MessageQueue is used to command the device handler.
-	 *
-	 * To command a device handler, a DeviceHandlerCommandMessage can be
-	 * sent to this Queue. The handler replies with a
-	 * DeviceHandlerCommandMessage containing the DeviceHandlerCommand_t reply.
-	 *
 	 * @return the id of the MessageQueue
 	 */
 	virtual MessageQueueId_t getCommandQueue() const = 0;

From 98449ddc7fbb7a10a4052d3393ec721adbd81d26 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 25 May 2020 23:17:15 +0200
Subject: [PATCH 066/653] comment removed

---
 devicehandlers/DeviceHandlerIF.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index aec0e796..e2a5138d 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -97,7 +97,6 @@ public:
 
 	// Standard codes used when building commands.
 	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xA0); //!< Return this if no command sending in required
-	// Mostly used for internal handling.
 	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA2); //!< If the command size is 0. Checked in DHB
 	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA3); //!< Used to indicate that this is a command-only command.
 	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA4); //!< Command ID not in commandMap. Checked in DHB

From 112779d91ffbcca1937e813d76f5381d46703aaf Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 25 May 2020 23:31:13 +0200
Subject: [PATCH 067/653] cleaned up returnvlaues

---
 devicehandlers/DeviceHandlerBase.h | 16 ++++++------
 devicehandlers/DeviceHandlerIF.h   | 41 +++++++++++-------------------
 2 files changed, 23 insertions(+), 34 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 56f9be1d..99b53b57 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -505,28 +505,28 @@ public:
 
 protected:
 	/**
-	 * The Returnvalues id of this class, required by HasReturnvaluesIF
+	 * The Returnvalues ID of this class, required by HasReturnvaluesIF
 	 */
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
-	/**
-	 * These returnvalues can be returned from abstract functions
+	/* These returnvalues can be returned from abstract functions
 	 * to alter the behaviour of DHB.For error values, refer to
-	 * DeviceHandlerIF.h returnvalues.
-	 */
+	 * DeviceHandlerIF.h returnvalues. */
 	static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(4);
+
 	// Returnvalues for scanForReply()
 	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5); //!< This is used to specify for replies from a device which are not replies to requests
 	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6); //!< Ignore parts of the received packet
 	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(7); //!< Ignore full received packet
 
-//	static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
-//	static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
+	// Returnvalues for command building
+	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xA0); //!< Return this if no command sending in required
 	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(10);
 	static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(11);
 	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(12);
 
-	//Mode handling error Codes
+	// (Robin): Maybe this would be better in DeviceHandlerIF?
+	// Mode handling error Codes
 	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE1);
 	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE2);
 
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index e2a5138d..2cb1ec3b 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -96,27 +96,23 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
 	// Standard codes used when building commands.
-	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xA0); //!< Return this if no command sending in required
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA2); //!< If the command size is 0. Checked in DHB
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA3); //!< Used to indicate that this is a command-only command.
-	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA4); //!< Command ID not in commandMap. Checked in DHB
-	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA5); //!< Command was already executed. Checked in DHB
-	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA6);
-	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA8);
-	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA9);
-	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xAA);
-	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xAB);
-	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAC);
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
+	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
+	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
+	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA4);
+	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
+	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
+	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
+	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 
 	// Standard codes used in scanForReply
-	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB1); //!< This is used to specify for replies from a device which are not replies to requests
-	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB2);
-	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB3); //!< Ignore parts of the received packet
-	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB4); //!< Ignore full received packet
-	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB5);
-	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB6);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB7);
+	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
+	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
+	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
 
 	// Standard codes used in  interpretDeviceReply
 	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
@@ -128,13 +124,6 @@ public:
 	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
 	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
 
-	// Standard codes used in getSwitches
-	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xE1); //!< Return in getSwitches() to specify there are no switches
-
-	// static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
-	// static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
-	// static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(11);
-
 	/**
 	 * Communication action that will be executed.
 	 *

From 5de68fcc6e5433d4bf6fb6af87680f5d7c659459 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 25 May 2020 23:36:47 +0200
Subject: [PATCH 068/653] some returnvalue comments

---
 devicehandlers/DeviceHandlerBase.h | 22 ++++++++++++----------
 1 file changed, 12 insertions(+), 10 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 99b53b57..bcfcde97 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -512,23 +512,25 @@ protected:
 	/* These returnvalues can be returned from abstract functions
 	 * to alter the behaviour of DHB.For error values, refer to
 	 * DeviceHandlerIF.h returnvalues. */
-	static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(4);
+	// (Robin): maybe this would be better in DeviceHandlerIF?
+	static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(0xA0);
 
 	// Returnvalues for scanForReply()
-	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5); //!< This is used to specify for replies from a device which are not replies to requests
-	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6); //!< Ignore parts of the received packet
-	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(7); //!< Ignore full received packet
+	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB0); //!< This is used to specify for replies from a device which are not replies to requests
+	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB1); //!< Ignore parts of the received packet
+	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB2); //!< Ignore full received packet
 
 	// Returnvalues for command building
-	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xA0); //!< Return this if no command sending in required
-	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(10);
-	static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(11);
-	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(12);
+	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xC0); //!< Return this if no command sending in required
+	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xC1);
+	// (Robin): Maybe this would be better in DeviceHandlerIF?
+	static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(0xC2);
+	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xC3);
 
 	// (Robin): Maybe this would be better in DeviceHandlerIF?
 	// Mode handling error Codes
-	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE1);
-	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE2);
+	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xD0);
+	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xD1);
 
 	static const DeviceCommandId_t RAW_COMMAND_ID = -1;
 	static const DeviceCommandId_t NO_COMMAND_ID = -2;

From dd5b301980550442ef702662f27cc602aad07017 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 25 May 2020 23:38:11 +0200
Subject: [PATCH 069/653] improved returnvalues

---
 devicehandlers/DeviceHandlerIF.h | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 2cb1ec3b..666d9efc 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -109,16 +109,16 @@ public:
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 
 	// Standard codes used in scanForReply
-	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
-	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
-	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
+	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);
+	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB1);
+	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB2);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB3);
 
 	// Standard codes used in  interpretDeviceReply
-	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
-	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
-	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
-	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
+	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
+	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
+	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
+	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected
 
 	// Standard codes used in buildCommandFromCommand
 	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);

From 9951b59627b55093cd50334946d7473d9aabe114 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 25 May 2020 23:45:32 +0200
Subject: [PATCH 070/653] DHB retval fixes

---
 devicehandlers/DeviceHandlerBase.h | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index bcfcde97..421e0005 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -522,15 +522,16 @@ protected:
 
 	// Returnvalues for command building
 	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xC0); //!< Return this if no command sending in required
-	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xC1);
 	// (Robin): Maybe this would be better in DeviceHandlerIF?
 	static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(0xC2);
-	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xC3);
+
+	// Returnvalues for getSwitches()
+	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xD0);
 
 	// (Robin): Maybe this would be better in DeviceHandlerIF?
 	// Mode handling error Codes
-	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xD0);
-	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xD1);
+	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE0);
+	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE1);
 
 	static const DeviceCommandId_t RAW_COMMAND_ID = -1;
 	static const DeviceCommandId_t NO_COMMAND_ID = -2;

From ca74e0c0f2d6e82fcb7eb3dc2848f157dec1709f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 26 May 2020 16:07:32 +0200
Subject: [PATCH 071/653] removed comments

---
 devicehandlers/DeviceHandlerBase.h | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 421e0005..b959c9de 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -509,26 +509,16 @@ protected:
 	 */
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
-	/* These returnvalues can be returned from abstract functions
-	 * to alter the behaviour of DHB.For error values, refer to
-	 * DeviceHandlerIF.h returnvalues. */
-	// (Robin): maybe this would be better in DeviceHandlerIF?
 	static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(0xA0);
-
 	// Returnvalues for scanForReply()
 	static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(0xB0); //!< This is used to specify for replies from a device which are not replies to requests
 	static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(0xB1); //!< Ignore parts of the received packet
 	static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(0xB2); //!< Ignore full received packet
-
 	// Returnvalues for command building
 	static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(0xC0); //!< Return this if no command sending in required
-	// (Robin): Maybe this would be better in DeviceHandlerIF?
 	static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(0xC2);
-
 	// Returnvalues for getSwitches()
 	static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(0xD0);
-
-	// (Robin): Maybe this would be better in DeviceHandlerIF?
 	// Mode handling error Codes
 	static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE0);
 	static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE1);

From f388bd374c8db334b5d7b0b9207a360d712d5fde Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 13:29:29 +0200
Subject: [PATCH 072/653] added new factory and interface

---
 tasks/SemaphoreFactory.h | 49 ++++++++++++++++++++++++++++++++
 tasks/SemaphoreIF.h      | 61 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 110 insertions(+)
 create mode 100644 tasks/SemaphoreFactory.h
 create mode 100644 tasks/SemaphoreIF.h

diff --git a/tasks/SemaphoreFactory.h b/tasks/SemaphoreFactory.h
new file mode 100644
index 00000000..7f8edaf1
--- /dev/null
+++ b/tasks/SemaphoreFactory.h
@@ -0,0 +1,49 @@
+#ifndef FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_
+#define FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_
+#include <framework/tasks/SemaphoreIF.h>
+
+/**
+ * Creates Semaphore.
+ * This class is a "singleton" interface, i.e. it provides an
+ * interface, but also is the base class for a singleton.
+ */
+class SemaphoreFactory {
+public:
+	virtual ~SemaphoreFactory();
+	/**
+	 * Returns the single instance of SemaphoreFactory.
+	 * The implementation of #instance is found in its subclasses.
+	 * Thus, we choose link-time variability of the  instance.
+	 */
+	static SemaphoreFactory* instance();
+
+	/**
+	 * Create a binary semaphore.
+	 * Creator function for a binary semaphore which may only be acquired once
+	 * @param argument Can be used to pass implementation specific information.
+	 * @return Pointer to newly created semaphore class instance.
+	 */
+	SemaphoreIF* createBinarySemaphore(uint32_t arguments = 0);
+	/**
+	 * Create a counting semaphore.
+	 * Creator functons for a counting semaphore which may be acquired multiple
+	 * times.
+	 * @param count Semaphore can be taken count times.
+	 * @param initCount Initial count value.
+	 * @param argument Can be used to pass implementation specific information.
+	 * @return
+	 */
+	SemaphoreIF* createCountingSemaphore(const uint8_t maxCount,
+			uint8_t initCount, uint32_t arguments = 0);
+
+	void deleteSemaphore(SemaphoreIF* semaphore);
+
+private:
+	/**
+	 * External instantiation is not allowed.
+	 */
+	SemaphoreFactory();
+	static SemaphoreFactory* factoryInstance;
+};
+
+#endif /* FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_ */
diff --git a/tasks/SemaphoreIF.h b/tasks/SemaphoreIF.h
new file mode 100644
index 00000000..a7c5a97b
--- /dev/null
+++ b/tasks/SemaphoreIF.h
@@ -0,0 +1,61 @@
+#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
+#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
+#include <framework/returnvalues/FwClassIds.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstdint>
+
+/**
+ * @brief 	Generic interface for semaphores, which can be used to achieve
+ * 			task synchronization. This is a generic interface which can be
+ * 			used for both binary semaphores and counting semaphores.
+ * @details
+ * A semaphore is a synchronization primitive.
+ * See: https://en.wikipedia.org/wiki/Semaphore_(programming)
+ * A semaphore can be used to achieve task synchonization and track the
+ * availability of resources by using either the binary or the counting
+ * semaphore types.
+ *
+ * If mutual exlcusion of a resource is desired, a mutex should be used,
+ * which is a special form of a semaphore and has an own interface.
+ */
+class SemaphoreIF {
+public:
+	virtual~ SemaphoreIF() {};
+	//! Needs to be defined in implementation. No blocking time
+	static const uint32_t NO_TIMEOUT;
+	//! Needs to be defined in implementation. Blocks indefinitely.
+	static const uint32_t MAX_TIMEOUT;
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+	//! Semaphore timeout
+	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
+	//! The current semaphore can not be given, because it is not owned
+	static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
+	static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
+
+	/**
+	 * Generic call to acquire a semaphore.
+	 * If there are no more semaphores to be taken (for a counting semaphore,
+	 * a semaphore may be taken more than once), the taks will block
+	 * for a maximum of timeoutMs while trying to acquire the semaphore.
+	 * This can be used to achieve task synchrnization.
+	 * @param timeoutMs
+	 * @return - c RETURN_OK for successfull acquisition
+	 */
+	virtual ReturnValue_t acquire(uint32_t timeoutMs) = 0;
+
+	/**
+	 * Corrensponding call to release a semaphore.
+	 * @return -@c RETURN_OK for successfull release
+	 */
+	virtual ReturnValue_t release() = 0;
+
+	/**
+	 * If the semaphore is a counting semaphore then the semaphores current
+	 * count value is returned. If the semaphore is a binary semaphore then 1
+	 * is returned if the semaphore is available, and 0 is returned if the
+	 * semaphore is not available.
+	 */
+	virtual uint8_t getSemaphoreCounter() const = 0;
+};
+
+#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */

From d909fcb6a17448a3f2ccd3c7c9512a666a429e33 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 13:31:19 +0200
Subject: [PATCH 073/653] added semaphore implementations

---
 osal/FreeRTOS/BinSemaphUsingTask.cpp      |  91 ++++++++++++++++++
 osal/FreeRTOS/BinSemaphUsingTask.h        |  75 +++++++++++++++
 osal/FreeRTOS/BinarySemaphore.cpp         | 103 ++++++++++++++++++++
 osal/FreeRTOS/BinarySemaphore.h           | 107 +++++++++++++++++++++
 osal/FreeRTOS/CountingSemaphUsingTask.cpp | 110 ++++++++++++++++++++++
 osal/FreeRTOS/CountingSemaphUsingTask.h   | 100 ++++++++++++++++++++
 osal/FreeRTOS/CountingSemaphore.cpp       |  43 +++++++++
 osal/FreeRTOS/CountingSemaphore.h         |  34 +++++++
 8 files changed, 663 insertions(+)
 create mode 100644 osal/FreeRTOS/BinSemaphUsingTask.cpp
 create mode 100644 osal/FreeRTOS/BinSemaphUsingTask.h
 create mode 100644 osal/FreeRTOS/BinarySemaphore.cpp
 create mode 100644 osal/FreeRTOS/BinarySemaphore.h
 create mode 100644 osal/FreeRTOS/CountingSemaphUsingTask.cpp
 create mode 100644 osal/FreeRTOS/CountingSemaphUsingTask.h
 create mode 100644 osal/FreeRTOS/CountingSemaphore.cpp
 create mode 100644 osal/FreeRTOS/CountingSemaphore.h

diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp
new file mode 100644
index 00000000..8f5fd4d8
--- /dev/null
+++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp
@@ -0,0 +1,91 @@
+#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
+#include <framework/osal/FreeRTOS/TaskManagement.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
+	handle = TaskManagement::getCurrentTaskHandle();
+	if(handle == nullptr) {
+		sif::error << "Could not retrieve task handle. Please ensure the"
+				"constructor was called inside a task." << std::endl;
+	}
+	xTaskNotifyGive(handle);
+}
+
+BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
+	// Clear notification value on destruction.
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::acquire(uint32_t timeoutMs) {
+	TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
+	if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
+		timeout = SemaphoreIF::MAX_TIMEOUT;
+	}
+	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+		timeout = pdMS_TO_TICKS(timeoutMs);
+	}
+	return acquireWithTickTimeout(timeout);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
+        TickType_t timeoutTicks) {
+	BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::release() {
+	return release(this->handle);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::release(
+		TaskHandle_t taskHandle) {
+	if(getSemaphoreCounter(taskHandle) == 1) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	BaseType_t returncode = xTaskNotifyGive(taskHandle);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		// This should never happen.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
+	return handle;
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
+	return getSemaphoreCounter(this->handle);
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
+		TaskHandle_t taskHandle) {
+	uint32_t notificationValue;
+	xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+// Be careful with the stack size here. This is called from an ISR!
+ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
+		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
+	if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
+		TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue = 0;
+	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
+			higherPriorityTaskWoken);
+	return notificationValue;
+}
diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
new file mode 100644
index 00000000..48c1cd12
--- /dev/null
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -0,0 +1,75 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/tasks/SemaphoreIF.h>
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+/**
+ * @brief 	Binary Semaphore implementation using the task notification value.
+ * 			The notification value should therefore not be used
+ * 			for other purposes.
+ * @details
+ * Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ * and general semaphore documentation.
+ */
+class BinarySemaphoreUsingTask: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphoreUsingTask();
+	//! @brief Default dtor
+	virtual~ BinarySemaphoreUsingTask();
+
+	ReturnValue_t acquire(uint32_t timeoutMs =
+	        SemaphoreIF::NO_TIMEOUT) override;
+	ReturnValue_t release() override;
+	uint8_t getSemaphoreCounter() const override;
+	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
+			BaseType_t* higherPriorityTaskWoken);
+
+	/**
+	 * Same as acquire() with timeout in FreeRTOS ticks.
+	 * @param timeoutTicks
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	ReturnValue_t acquireWithTickTimeout(TickType_t timeoutTicks =
+	        SemaphoreIF::NO_TIMEOUT);
+
+	/**
+	 * Get handle to the task related to the semaphore.
+	 * @return
+	 */
+	TaskHandle_t getTaskHandle();
+
+	 /**
+	 * Wrapper function to give back semaphore from handle
+	 * @param semaphore
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
+
+	/**
+	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * @param semaphore
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+				BaseType_t * higherPriorityTaskWoken);
+
+protected:
+	TaskHandle_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp
new file mode 100644
index 00000000..b6687bb7
--- /dev/null
+++ b/osal/FreeRTOS/BinarySemaphore.cpp
@@ -0,0 +1,103 @@
+#include <framework/osal/FreeRTOS/BinarySemaphore.h>
+#include <framework/osal/FreeRTOS/TaskManagement.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+BinarySemaphore::BinarySemaphore() {
+	handle = xSemaphoreCreateBinary();
+	if(handle == nullptr) {
+		sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
+	}
+	// Initiated semaphore must be given before it can be taken.
+	xSemaphoreGive(handle);
+}
+
+BinarySemaphore::~BinarySemaphore() {
+	vSemaphoreDelete(handle);
+}
+
+BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
+    handle = xSemaphoreCreateBinary();
+    if(handle == nullptr) {
+        sif::error << "Binary semaphore creation failure" << std::endl;
+    }
+    xSemaphoreGive(handle);
+}
+
+BinarySemaphore& BinarySemaphore::operator =(
+        BinarySemaphore&& s) {
+    if(&s != this) {
+        handle = xSemaphoreCreateBinary();
+        if(handle == nullptr) {
+            sif::error << "Binary semaphore creation failure" << std::endl;
+        }
+        xSemaphoreGive(handle);
+    }
+    return *this;
+}
+
+ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
+	TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
+	if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
+	    timeout = SemaphoreIF::MAX_TIMEOUT;
+	}
+	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+	    timeout = pdMS_TO_TICKS(timeoutMs);
+	}
+	return acquireWithTickTimeout(timeout);
+}
+
+ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TickType_t timeoutTicks) {
+	if(handle == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+
+	BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t BinarySemaphore::release() {
+	return release(handle);
+}
+
+ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
+	if (semaphore == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+	BaseType_t returncode = xSemaphoreGive(semaphore);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter() const {
+	return uxSemaphoreGetCount(handle);
+}
+
+SemaphoreHandle_t BinarySemaphore::getSemaphore() {
+	return handle;
+}
+
+
+// Be careful with the stack size here. This is called from an ISR!
+ReturnValue_t BinarySemaphore::releaseFromISR(
+		SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
+	if (semaphore == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+	BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
+			higherPriorityTaskWoken);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+}
diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h
new file mode 100644
index 00000000..0938dee6
--- /dev/null
+++ b/osal/FreeRTOS/BinarySemaphore.h
@@ -0,0 +1,107 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/tasks/SemaphoreIF.h>
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+
+/**
+ * @brief 	OS Tool to achieve synchronization of between tasks or between
+ * 			task and ISR. The default semaphore implementation creates a
+ * 			binary semaphore, which can only be taken once.
+ * @details
+ * Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
+ *
+ * Please note that if the semaphore implementation is only related to
+ * the synchronization of one task, the new task notifications can be used,
+ * also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
+ * These use the task notification value instead of a queue and are
+ * faster and more efficient.
+ *
+ * @author 	R. Mueller
+ * @ingroup osal
+ */
+class BinarySemaphore: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphore();
+	//! @brief Copy ctor, deleted explicitely.
+	BinarySemaphore(const BinarySemaphore&) = delete;
+	//! @brief Copy assignment, deleted explicitely.
+	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
+	//! @brief Move ctor
+	BinarySemaphore (BinarySemaphore &&);
+	//! @brief Move assignment
+	BinarySemaphore & operator=(BinarySemaphore &&);
+	//! @brief Destructor
+	virtual ~BinarySemaphore();
+
+	uint8_t getSemaphoreCounter() const override;
+
+	/**
+	 * Take the binary semaphore.
+	 * If the semaphore has already been taken, the task will be blocked
+	 * for a maximum of #timeoutMs or until the semaphore is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(uint32_t timeoutMs =
+	       	   SemaphoreIF::NO_TIMEOUT) override;
+
+	/**
+	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
+	 * @param timeoutTicks
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t  acquireWithTickTimeout(TickType_t timeoutTicks =
+	        BinarySemaphore::NO_TIMEOUT);
+
+	/**
+	 * Release the binary semaphore.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	ReturnValue_t release() override;
+
+	/**
+	 * Get Handle to the semaphore.
+	 * @return
+	 */
+	SemaphoreHandle_t getSemaphore();
+
+	 /**
+	 * Wrapper function to give back semaphore from handle
+	 * @param semaphore
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	static ReturnValue_t release(SemaphoreHandle_t semaphore);
+
+	/**
+	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * @param semaphore
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch from an ISR should
+	 * then be requested (see TaskManagement functions)
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
+				BaseType_t * higherPriorityTaskWoken);
+
+protected:
+	SemaphoreHandle_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
new file mode 100644
index 00000000..d0f63f3f
--- /dev/null
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
@@ -0,0 +1,110 @@
+#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
+#include <framework/osal/FreeRTOS/TaskManagement.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
+		uint8_t initCount): maxCount(maxCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	handle = TaskManagement::getCurrentTaskHandle();
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
+				"handle. Please ensure the constructor was called inside a "
+				"task." << std::endl;
+	}
+
+	uint32_t oldNotificationValue;
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
+			&oldNotificationValue);
+	if(oldNotificationValue != 0) {
+		sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
+				"current notification value is not 0. Please ensure the "
+				"notification value is not used for other purposes!" << std::endl;
+	}
+	for(int i = 0; i < initCount; i++) {
+		xTaskNotifyGive(handle);
+	}
+}
+
+CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
+	// Clear notification value on destruction.
+	// If this is not desired, don't call the destructor
+	// (or implement a boolean which disables the reset)
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::acquire(uint32_t timeoutMs) {
+	TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
+	if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
+		timeout = SemaphoreIF::MAX_TIMEOUT;
+	}
+	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+		timeout = pdMS_TO_TICKS(timeoutMs);
+	}
+	return acquireWithTickTimeout(timeout);
+
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
+		TickType_t timeoutTicks) {
+	// Decrement notfication value without resetting it.
+	BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
+	if (getSemaphoreCounter() == oldCount - 1) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::release() {
+	if(getSemaphoreCounter() == maxCount) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	return release(handle);
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::release(
+		TaskHandle_t taskToNotify) {
+	BaseType_t returncode = xTaskNotifyGive(taskToNotify);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		// This should never happen.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
+	uint32_t notificationValue = 0;
+	xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
+	return handle;
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
+		TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
+	vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
+		TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue;
+	xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
+			higherPriorityTaskWoken);
+	return notificationValue;
+}
+
+uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
+	return maxCount;
+}
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h
new file mode 100644
index 00000000..797e864b
--- /dev/null
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.h
@@ -0,0 +1,100 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+
+#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
+#include <framework/tasks/SemaphoreIF.h>
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+
+/**
+ * @brief 	Couting Semaphore implementation which uses the notification value
+ * 			of the task. The notification value should therefore not be used
+ * 			for other purposes.
+ * @details
+ *  Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ *  and general semaphore documentation.
+ */
+class CountingSemaphoreUsingTask: public SemaphoreIF {
+public:
+	CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
+	virtual ~CountingSemaphoreUsingTask();
+
+	/**
+	 * Acquire the counting semaphore.
+	 * If no semaphores are available, the task will be blocked
+	 * for a maximum of #timeoutMs or until one is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(uint32_t timeoutMs = SemaphoreIF::NO_TIMEOUT) override;
+
+	/**
+	 * Release a semaphore, increasing the number of available counting
+	 * semaphores up to the #maxCount value.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	ReturnValue_t release() override;
+
+	uint8_t getSemaphoreCounter() const override;
+	/**
+	 * Get the semaphore counter from an ISR.
+	 * @param task
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return
+	 */
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
+			BaseType_t* higherPriorityTaskWoken);
+
+	/**
+	 * Acquire with a timeout value in ticks
+	 * @param timeoutTicks
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquireWithTickTimeout(
+			TickType_t timeoutTicks = SemaphoreIF::NO_TIMEOUT);
+
+	/**
+	 * Get handle to the task related to the semaphore.
+	 * @return
+	 */
+	TaskHandle_t getTaskHandle();
+
+	/**
+	 * Release semaphore of task by supplying task handle
+	 * @param taskToNotify
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
+	/**
+	 * Release seamphore of a task from an ISR.
+	 * @param taskToNotify
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+			BaseType_t* higherPriorityTaskWoken);
+
+	uint8_t getMaxCount() const;
+
+private:
+	TaskHandle_t handle;
+	const uint8_t maxCount;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/CountingSemaphore.cpp b/osal/FreeRTOS/CountingSemaphore.cpp
new file mode 100644
index 00000000..957f6a31
--- /dev/null
+++ b/osal/FreeRTOS/CountingSemaphore.cpp
@@ -0,0 +1,43 @@
+#include <framework/osal/FreeRTOS/CountingSemaphore.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/osal/FreeRTOS/TaskManagement.h>
+
+#include <freertos/semphr.h>
+
+// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
+// free FreeRTOSConfig.h file.
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+		maxCount(maxCount), initCount(initCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	handle = xSemaphoreCreateCounting(maxCount, initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+}
+
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+		maxCount(other.maxCount), initCount(other.initCount) {
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+}
+
+CountingSemaphore& CountingSemaphore::operator =(
+		CountingSemaphore&& other) {
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+	return * this;
+}
+
+
+uint8_t CountingSemaphore::getMaxCount() const {
+	return maxCount;
+}
diff --git a/osal/FreeRTOS/CountingSemaphore.h b/osal/FreeRTOS/CountingSemaphore.h
new file mode 100644
index 00000000..dca3ab0e
--- /dev/null
+++ b/osal/FreeRTOS/CountingSemaphore.h
@@ -0,0 +1,34 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#include <framework/osal/FreeRTOS/BinarySemaphore.h>
+
+/**
+ * @brief 	Counting semaphores, which can be acquire more than once.
+ * @details
+ * See: https://www.freertos.org/CreateCounting.html
+ * API of counting semaphores is almost identical to binary semaphores,
+ * so we just inherit from binary semaphore and provide the respective
+ * constructors.
+ */
+class CountingSemaphore: public BinarySemaphore {
+public:
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	//! @brief Copy ctor, disabled
+	CountingSemaphore(const CountingSemaphore&) = delete;
+	//! @brief Copy assignment, disabled
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	//! @brief Move ctor
+	CountingSemaphore (CountingSemaphore &&);
+	//! @brief Move assignment
+	CountingSemaphore & operator=(CountingSemaphore &&);
+
+	/* Same API as binary semaphore otherwise. acquire() can be called
+	 * until there are not semaphores left and release() can be called
+	 * until maxCount is reached. */
+	uint8_t getMaxCount() const;
+private:
+	const uint8_t maxCount;
+	uint8_t initCount = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

From f829d063cee5383abfdc9dc951a4f82cbea7d36f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 13:31:55 +0200
Subject: [PATCH 074/653] added task management functions

required for freeRTOS
---
 osal/FreeRTOS/TaskManagement.cpp | 23 ++++++++++++
 osal/FreeRTOS/TaskManagement.h   | 63 ++++++++++++++++++++++++++++++++
 2 files changed, 86 insertions(+)
 create mode 100644 osal/FreeRTOS/TaskManagement.cpp
 create mode 100644 osal/FreeRTOS/TaskManagement.h

diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
new file mode 100644
index 00000000..7871ab2e
--- /dev/null
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -0,0 +1,23 @@
+#include <framework/osal/FreeRTOS/TaskManagement.h>
+
+void TaskManagement::requestContextSwitchFromTask() {
+	vTaskDelay(0);
+}
+
+void TaskManagement::requestContextSwitch(
+		CallContext callContext = CallContext::TASK) {
+	if(callContext == CallContext::ISR) {
+		// This function depends on the partmacro.h definition for the specific device
+		requestContextSwitchFromISR();
+	} else {
+		requestContextSwitchFromTask();
+	}
+}
+
+TaskHandle_t TaskManagement::getCurrentTaskHandle() {
+	return xTaskGetCurrentTaskHandle();
+}
+
+configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark() {
+	return uxTaskGetStackHighWaterMark(TaskManagement::getCurrentTaskHandle());
+}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
new file mode 100644
index 00000000..39c24377
--- /dev/null
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -0,0 +1,63 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+#include <cstdint>
+
+/**
+ * Architecture dependant portmacro.h function call.
+ * Should be implemented in bsp.
+ */
+extern "C" void requestContextSwitchFromISR();
+
+/*!
+ * Used by functions to tell if they are being called from
+ * within an ISR or from a regular task. This is required because FreeRTOS
+ * has different functions for handling semaphores and messages from within
+ * an ISR and task.
+ */
+enum class CallContext {
+	TASK = 0x00,//!< task_context
+	ISR = 0xFF  //!< isr_context
+};
+
+
+class TaskManagement {
+public:
+	/**
+	 * @brief	In this function, a function dependant on the portmacro.h header
+	 * 			function calls to request a context switch can be specified.
+	 * This can be used if sending to the queue from an ISR caused a task
+	 * to unblock and a context switch is required.
+	 */
+	static void requestContextSwitch(CallContext callContext);
+
+	/**
+	 * If task preemption in FreeRTOS is disabled, a context switch
+	 * can be requested manually by calling this function.
+	 */
+	static void requestContextSwitchFromTask(void);
+
+	/**
+	 * @return The current task handle
+	 */
+	static TaskHandle_t getCurrentTaskHandle();
+
+	/**
+	 * Get returns the minimum amount of remaining stack space in words
+	 * that was a available to the task since the task started executing.
+	 * Please note that the actual value in bytes depends
+	 * on the stack depth type.
+	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+	 * @return Smallest value of stack remaining since the task was started in
+	 * 		   words.
+	 */
+	static configSTACK_DEPTH_TYPE getTaskStackHighWatermark();
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

From adb80a68fc0fb8fd7a206ad842565083df18a59d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 13:32:38 +0200
Subject: [PATCH 075/653] addd freertos semaphore factory

---
 osal/FreeRTOS/SemaphoreFactory.cpp | 61 ++++++++++++++++++++++++++++++
 1 file changed, 61 insertions(+)
 create mode 100644 osal/FreeRTOS/SemaphoreFactory.cpp

diff --git a/osal/FreeRTOS/SemaphoreFactory.cpp b/osal/FreeRTOS/SemaphoreFactory.cpp
new file mode 100644
index 00000000..05a898cd
--- /dev/null
+++ b/osal/FreeRTOS/SemaphoreFactory.cpp
@@ -0,0 +1,61 @@
+#include <framework/osal/FreeRTOS/BinarySemaphore.h>
+#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
+#include <framework/osal/FreeRTOS/CountingSemaphore.h>
+#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
+#include <framework/tasks/SemaphoreFactory.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+const uint32_t SemaphoreIF::NO_TIMEOUT = 0;
+const uint32_t SemaphoreIF::MAX_TIMEOUT = portMAX_DELAY;
+
+static const uint32_t USE_REGULAR_SEMAPHORES = 0;
+static const uint32_t USE_TASK_NOTIFICATIONS = 1;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
+		return new BinarySemaphore();
+	}
+	else if(argument == USE_TASK_NOTIFICATIONS) {
+		return new BinarySemaphoreUsingTask();
+	}
+	else {
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+				"binary semaphore" << std::endl;
+		return new BinarySemaphore();
+	}
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
+		uint8_t initCount, uint32_t argument) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
+		return new CountingSemaphore(maxCount, initCount);
+	}
+	else if(argument == USE_TASK_NOTIFICATIONS) {
+		return new CountingSemaphoreUsingTask(maxCount, initCount);
+	}
+	else {
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+						"binary semaphore" << std::endl;
+		return new CountingSemaphore(maxCount, initCount);
+	}
+
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}

From b4c6a04d4a9969727f2602fee1fb1fff8c4bc832 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 13:33:44 +0200
Subject: [PATCH 076/653] added linux implementations

---
 osal/linux/BinarySemaphore.cpp   | 148 +++++++++++++++++++++++++++++++
 osal/linux/BinarySemaphore.h     |  81 +++++++++++++++++
 osal/linux/CountingSemaphore.cpp |  54 +++++++++++
 osal/linux/CountingSemaphore.h   |  37 ++++++++
 osal/linux/SemaphoreFactory.cpp  |  36 ++++++++
 5 files changed, 356 insertions(+)
 create mode 100644 osal/linux/BinarySemaphore.cpp
 create mode 100644 osal/linux/BinarySemaphore.h
 create mode 100644 osal/linux/CountingSemaphore.cpp
 create mode 100644 osal/linux/CountingSemaphore.h
 create mode 100644 osal/linux/SemaphoreFactory.cpp

diff --git a/osal/linux/BinarySemaphore.cpp b/osal/linux/BinarySemaphore.cpp
new file mode 100644
index 00000000..7c76a5c4
--- /dev/null
+++ b/osal/linux/BinarySemaphore.cpp
@@ -0,0 +1,148 @@
+#include <framework/osal/linux/BinarySemaphore.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+extern "C" {
+#include <errno.h>
+#include <string.h>
+}
+
+BinarySemaphore::BinarySemaphore() {
+	// Using unnamed semaphores for now
+	initSemaphore();
+}
+
+BinarySemaphore::~BinarySemaphore() {
+	sem_destroy(&handle);
+}
+
+BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
+	initSemaphore();
+}
+
+BinarySemaphore& BinarySemaphore::operator =(
+        BinarySemaphore&& s) {
+	initSemaphore();
+	return * this;
+}
+
+ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
+	int result = 0;
+	if(timeoutMs == SemaphoreIF::NO_TIMEOUT) {
+		result = sem_trywait(&handle);
+	}
+	else if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
+	    result = sem_wait(&handle);
+	}
+	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+		timespec timeOut;
+		clock_gettime(CLOCK_REALTIME, &timeOut);
+		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
+		nseconds += timeoutMs * 1000000;
+		timeOut.tv_sec = nseconds / 1000000000;
+		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
+	    result = sem_timedwait(&handle, &timeOut);
+	    if(result != 0 and errno == EINVAL) {
+	    	sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
+	    			<< std::endl;
+	    }
+	}
+	if(result == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	switch(errno) {
+	case(EAGAIN):
+		// Operation could not be performed without blocking (for sem_trywait)
+	case(ETIMEDOUT):
+		// Semaphore is 0
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	case(EINVAL):
+		// Semaphore invalid
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	case(EINTR):
+		// Call was interrupted by signal handler
+		sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
+				"Code " << strerror(errno) << std::endl;
+		/* No break */
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t BinarySemaphore::release() {
+	return BinarySemaphore::release(&this->handle);
+}
+
+ReturnValue_t BinarySemaphore::release(sem_t *handle) {
+	ReturnValue_t countResult = checkCount(handle, 1);
+	if(countResult != HasReturnvaluesIF::RETURN_OK) {
+		return countResult;
+	}
+
+	int result = sem_post(handle);
+	if(result == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	switch(errno) {
+	case(EINVAL):
+		// Semaphore invalid
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	case(EOVERFLOW):
+		// SEM_MAX_VALUE overflow. This should never happen
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter() const {
+	// And another ugly cast :-D
+	return getSemaphoreCounter(const_cast<sem_t*>(&this->handle));
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter(sem_t *handle) {
+	int value = 0;
+	int result = sem_getvalue(handle, &value);
+	if (result == 0) {
+		return value;
+	}
+	else if(result != 0 and errno == EINVAL) {
+		// Could be called from interrupt, use lightweight printf
+		printf("BinarySemaphore::getSemaphoreCounter: Invalid semaphore\n");
+		return 0;
+	}
+	else {
+		// This should never happen.
+		return 0;
+	}
+}
+
+void BinarySemaphore::initSemaphore(uint8_t initCount) {
+	auto result = sem_init(&handle, true, initCount);
+	if(result == -1) {
+		switch(errno) {
+		case(EINVAL):
+			// Value exceeds SEM_VALUE_MAX
+		case(ENOSYS):
+		// System does not support process-shared semaphores
+		sif::error << "BinarySemaphore: Init failed with" << strerror(errno)
+				<< std::endl;
+		}
+	}
+}
+
+ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
+	int value = getSemaphoreCounter(handle);
+	if(value >= maxCount) {
+		if(maxCount == 1 and value > 1) {
+			// Binary Semaphore special case.
+			// This is a config error use lightweight printf is this is called
+			// from an interrupt
+			printf("BinarySemaphore::release: Value of binary semaphore greater"
+					" than 1!\n");
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/osal/linux/BinarySemaphore.h b/osal/linux/BinarySemaphore.h
new file mode 100644
index 00000000..7836cd41
--- /dev/null
+++ b/osal/linux/BinarySemaphore.h
@@ -0,0 +1,81 @@
+#ifndef FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/tasks/SemaphoreIF.h>
+
+extern "C" {
+#include <semaphore.h>
+}
+
+/**
+ * @brief 	OS Tool to achieve synchronization of between tasks or between
+ * 			task and ISR. The default semaphore implementation creates a
+ * 			binary semaphore, which can only be taken once.
+ * @details
+ * See: http://www.man7.org/linux/man-pages/man7/sem_overview.7.html
+ * @author 	R. Mueller
+ * @ingroup osal
+ */
+class BinarySemaphore: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphore();
+	//! @brief Copy ctor, deleted explicitely.
+	BinarySemaphore(const BinarySemaphore&) = delete;
+	//! @brief Copy assignment, deleted explicitely.
+	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
+	//! @brief Move ctor
+	BinarySemaphore (BinarySemaphore &&);
+	//! @brief Move assignment
+	BinarySemaphore & operator=(BinarySemaphore &&);
+	//! @brief Destructor
+	virtual ~BinarySemaphore();
+
+	void initSemaphore(uint8_t initCount = 1);
+
+	uint8_t getSemaphoreCounter() const override;
+	static uint8_t getSemaphoreCounter(sem_t* handle);
+
+	/**
+	 * Take the binary semaphore.
+	 * If the semaphore has already been taken, the task will be blocked
+	 * for a maximum of #timeoutMs or until the semaphore is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(uint32_t timeoutMs =
+	       	   SemaphoreIF::NO_TIMEOUT) override;
+
+	/**
+	 * Release the binary semaphore.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	virtual ReturnValue_t release() override;
+	/**
+	 * This static function can be used to release a semaphore  by providing
+	 * its handle.
+	 * @param handle
+	 * @return
+	 */
+	static ReturnValue_t release(sem_t* handle);
+
+	/** Checks the validity of the semaphore count against a specified
+	 * known maxCount
+	 * @param handle
+	 * @param maxCount
+	 * @return
+	 */
+	static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
+protected:
+	sem_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
diff --git a/osal/linux/CountingSemaphore.cpp b/osal/linux/CountingSemaphore.cpp
new file mode 100644
index 00000000..dfc4d801
--- /dev/null
+++ b/osal/linux/CountingSemaphore.cpp
@@ -0,0 +1,54 @@
+#include <framework/osal/linux/CountingSemaphore.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+		maxCount(maxCount), initCount(initCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	initSemaphore(initCount);
+}
+
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+		maxCount(other.maxCount), initCount(other.initCount) {
+	initSemaphore(initCount);
+}
+
+CountingSemaphore& CountingSemaphore::operator =(
+		CountingSemaphore&& other) {
+	initSemaphore(other.initCount);
+	return * this;
+}
+
+ReturnValue_t CountingSemaphore::release() {
+	ReturnValue_t result = checkCount(&handle, maxCount);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	return CountingSemaphore::release(&this->handle);
+}
+
+ReturnValue_t CountingSemaphore::release(sem_t* handle) {
+	int result = sem_post(handle);
+	if(result == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	switch(errno) {
+	case(EINVAL):
+		// Semaphore invalid
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	case(EOVERFLOW):
+		// SEM_MAX_VALUE overflow. This should never happen
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+uint8_t CountingSemaphore::getMaxCount() const {
+	return maxCount;
+}
+
diff --git a/osal/linux/CountingSemaphore.h b/osal/linux/CountingSemaphore.h
new file mode 100644
index 00000000..ba606595
--- /dev/null
+++ b/osal/linux/CountingSemaphore.h
@@ -0,0 +1,37 @@
+#ifndef FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
+#include <framework/osal/linux/BinarySemaphore.h>
+
+/**
+ * @brief 	Counting semaphores, which can be acquired more than once.
+ * @details
+ * See: https://www.freertos.org/CreateCounting.html
+ * API of counting semaphores is almost identical to binary semaphores,
+ * so we just inherit from binary semaphore and provide the respective
+ * constructors.
+ */
+class CountingSemaphore: public BinarySemaphore {
+public:
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	//! @brief Copy ctor, disabled
+	CountingSemaphore(const CountingSemaphore&) = delete;
+	//! @brief Copy assignment, disabled
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	//! @brief Move ctor
+	CountingSemaphore (CountingSemaphore &&);
+	//! @brief Move assignment
+	CountingSemaphore & operator=(CountingSemaphore &&);
+
+	ReturnValue_t release() override;
+	static ReturnValue_t release(sem_t* sem);
+	/* Same API as binary semaphore otherwise. acquire() can be called
+	 * until there are not semaphores left and release() can be called
+	 * until maxCount is reached. */
+
+	uint8_t getMaxCount() const;
+private:
+	const uint8_t maxCount;
+	uint8_t initCount = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
diff --git a/osal/linux/SemaphoreFactory.cpp b/osal/linux/SemaphoreFactory.cpp
new file mode 100644
index 00000000..5aec84ea
--- /dev/null
+++ b/osal/linux/SemaphoreFactory.cpp
@@ -0,0 +1,36 @@
+#include <framework/tasks/SemaphoreFactory.h>
+#include <framework/osal/linux/BinarySemaphore.h>
+#include <framework/osal/linux/CountingSemaphore.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+const uint32_t SemaphoreIF::NO_TIMEOUT = 0;
+const uint32_t SemaphoreIF::MAX_TIMEOUT = 0xFFFFFFFF;
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	return new BinarySemaphore();
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
+		uint8_t initCount, uint32_t arguments) {
+	return new CountingSemaphore(maxCount, initCount);
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}

From 6c9f157d2c657874990c579bea920bc2c0a6c3e5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 13:34:17 +0200
Subject: [PATCH 077/653] added fw class ids

---
 returnvalues/FwClassIds.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index d21861c0..120d8b8c 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -24,6 +24,7 @@ enum {
 	MEMORY_HELPER, //MH
 	SERIALIZE_IF, //SE
 	FIXED_MAP, //FM
+	FIXED_MULTIMAP, //FMM
 	HAS_HEALTH_IF, //HHI
 	FIFO_CLASS, //FF
 	MESSAGE_PROXY, //MQP
@@ -59,6 +60,7 @@ enum {
 	SGP4PROPAGATOR_CLASS, //SGP4 53
 	MUTEX_IF, //MUX 54
 	MESSAGE_QUEUE_IF,//MQI 55
+	SEMAPHORE_IF, //SPH 56
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

From 73183b39efaa3de9e7a295100dace8fb82aa069f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 13:37:13 +0200
Subject: [PATCH 078/653] added new casts

otherwise i cant compile with new freertos version
---
 osal/FreeRTOS/MessageQueue.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index e5da0442..18e7aa3d 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -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>(

From 8f563b7b21af065208e34b1705533bfc700cd9e5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 14:02:14 +0200
Subject: [PATCH 079/653] added retvals for mutex

---
 osal/FreeRTOS/Mutex.cpp | 18 ++++++++----------
 osal/FreeRTOS/Mutex.h   | 25 +++++++++++++++----------
 2 files changed, 23 insertions(+), 20 deletions(-)

diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index 7c511091..e304d60e 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -1,4 +1,4 @@
-#include "Mutex.h"
+#include <framework/osal/FreeRTOS/Mutex.h>
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
@@ -6,7 +6,9 @@ const uint32_t MutexIF::NO_TIMEOUT = 0;
 
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
-	//TODO print error
+	if(handle == NULL) {
+		sif::error << "Mutex creation failure" << std::endl;
+	}
 }
 
 Mutex::~Mutex() {
@@ -18,8 +20,7 @@ Mutex::~Mutex() {
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if (handle == 0) {
-		//TODO Does not exist
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::MUTEX_NOT_FOUND;
 	}
 	TickType_t timeout = portMAX_DELAY;
 	if (timeoutMs != NO_TIMEOUT) {
@@ -30,21 +31,18 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		//TODO could not be acquired/timeout
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::MUTEX_TIMEOUT;
 	}
 }
 
 ReturnValue_t Mutex::unlockMutex() {
 	if (handle == 0) {
-		//TODO Does not exist
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::MUTEX_NOT_FOUND;
 	}
 	BaseType_t returncode = xSemaphoreGive(handle);
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		//TODO is not owner
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
 	}
 }
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index 91f29585..e04cd20d 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -1,22 +1,27 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef FRAMEWORK_FREERTOS_MUTEX_H_
+#define FRAMEWORK_FREERTOS_MUTEX_H_
 
 #include <framework/ipc/MutexIF.h>
 
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
 
-#include <FreeRTOS.h>
-#include "semphr.h"
-
-
-
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
 class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs);
-	ReturnValue_t unlockMutex();
+	ReturnValue_t lockMutex(uint32_t timeoutMs) override;
+	ReturnValue_t unlockMutex() override;
 private:
 	SemaphoreHandle_t handle;
 };
 
-#endif /* OS_RTEMS_MUTEX_H_ */
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */

From 2eba8655641e0ef51d085f4da52b3a5ecee4b478 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 14:03:39 +0200
Subject: [PATCH 080/653] some minor form corrections

---
 ipc/MutexHelper.h | 4 ++--
 ipc/MutexIF.h     | 7 +++++++
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index f76ccec4..671cd5a6 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -10,11 +10,11 @@ public:
 			internalMutex(mutex) {
 		ReturnValue_t status = mutex->lockMutex(timeoutMs);
 		if(status != HasReturnvaluesIF::RETURN_OK){
-			sif::error << "MutexHelper: Lock of Mutex failed " << status << std::endl;
+			sif::error << "MutexHelper: Lock of Mutex failed " <<
+					status << std::endl;
 		}
 	}
 
-
 	~MutexHelper() {
 		internalMutex->unlockMutex();
 	}
diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index 35786d6a..a4aff1cd 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -3,6 +3,13 @@
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
+/**
+ * @brief Common interface for OS Mutex objects which provide MUTual EXclusion.
+ *
+ * @details https://en.wikipedia.org/wiki/Lock_(computer_science)
+ * @ingroup osal
+ * @ingroup interface
+ */
 class MutexIF {
 public:
 	static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.

From 896e7f15dc9e4e4ababcf1283e5c6be460780d8a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 14:16:44 +0200
Subject: [PATCH 081/653] addd new timeout value

---
 ipc/MutexIF.h           |  2 +-
 osal/FreeRTOS/Mutex.cpp | 18 +++++++++++-------
 osal/FreeRTOS/Mutex.h   |  2 +-
 3 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index a4aff1cd..dcb1cf33 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -13,7 +13,7 @@
 class MutexIF {
 public:
 	static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.
-
+	static const uint32_t MAX_TIMEOUT;
 	static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
 	/**
 	 * The system lacked the necessary resources (other than memory) to initialize another mutex.
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index e304d60e..cc2f865f 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -3,27 +3,31 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 const uint32_t MutexIF::NO_TIMEOUT = 0;
+const uint32_t MutexIF::MAX_TIMEOUT = portMAX_DELAY;
 
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
-	if(handle == NULL) {
-		sif::error << "Mutex creation failure" << std::endl;
+	if(handle == nullptr) {
+		sif::error << "Mutex: Creation failure" << std::endl;
 	}
 }
 
 Mutex::~Mutex() {
-	if (handle != 0) {
+	if (handle != nullptr) {
 		vSemaphoreDelete(handle);
 	}
 
 }
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	if (handle == 0) {
+	if (handle == nullptr) {
 		return MutexIF::MUTEX_NOT_FOUND;
 	}
-	TickType_t timeout = portMAX_DELAY;
-	if (timeoutMs != NO_TIMEOUT) {
+	TickType_t timeout = MutexIF::NO_TIMEOUT;
+	if(timeoutMs == MutexIF::MAX_TIMEOUT) {
+		timeout = MutexIF::MAX_TIMEOUT;
+	}
+	else if(timeoutMs > MutexIF::NO_TIMEOUT){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 
@@ -36,7 +40,7 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 }
 
 ReturnValue_t Mutex::unlockMutex() {
-	if (handle == 0) {
+	if (handle == nullptr) {
 		return MutexIF::MUTEX_NOT_FOUND;
 	}
 	BaseType_t returncode = xSemaphoreGive(handle);
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index e04cd20d..90e82467 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -18,7 +18,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs) override;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::MAX_TIMEOUT) override;
 	ReturnValue_t unlockMutex() override;
 private:
 	SemaphoreHandle_t handle;

From 8af5a32f1d3f3376cb229b85a3d742b51bec0ef3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 16:37:46 +0200
Subject: [PATCH 082/653] new store accessor classes

implementation of local pool and pool manager extracted into
tpp file.

store_address_t definition extracted in separate file to avoid circular
includes by using forward declarations
---
 storagemanager/LocalPool.h         | 389 ++++++-----------------------
 storagemanager/LocalPool.tpp       | 300 ++++++++++++++++++++++
 storagemanager/PoolManager.h       |  96 ++-----
 storagemanager/PoolManager.tpp     |  47 ++++
 storagemanager/StorageAccessor.cpp | 155 ++++++++++++
 storagemanager/StorageAccessor.h   | 151 +++++++++++
 storagemanager/StorageManagerIF.h  | 118 ++++-----
 storagemanager/storeAddress.h      |  54 ++++
 8 files changed, 868 insertions(+), 442 deletions(-)
 create mode 100644 storagemanager/LocalPool.tpp
 create mode 100644 storagemanager/PoolManager.tpp
 create mode 100644 storagemanager/StorageAccessor.cpp
 create mode 100644 storagemanager/StorageAccessor.h
 create mode 100644 storagemanager/storeAddress.h

diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index 5104be2e..c155f918 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -1,26 +1,18 @@
 #ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 #define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 
-/**
- *	@file	LocalPool
- *
- *  @date	02.02.2012
- *	@author	Bastian Baetz
- *
- *	@brief	This file contains the definition of the LocalPool class.
- */
-
 #include <framework/objectmanager/SystemObject.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/internalError/InternalErrorReporterIF.h>
-#include <string.h>
+#include <framework/storagemanager/StorageAccessor.h>
+#include <cstring>
 
 /**
  * @brief	The LocalPool class provides an intermediate data storage with
  * 			a fixed pool size policy.
- * \details	The class implements the StorageManagerIF interface. While the
+ * @details	The class implements the StorageManagerIF interface. While the
  * 			total number of pools is fixed, the element sizes in one pool and
  * 			the number of pool elements per pool are set on construction.
  * 			The full amount of memory is allocated on construction.
@@ -39,7 +31,71 @@ public:
 	 * @brief	This definition generally sets the number of different sized pools.
 	 * @details This must be less than the maximum number of pools (currently 0xff).
 	 */
-//	static const uint32_t NUMBER_OF_POOLS;
+	//	static const uint32_t NUMBER_OF_POOLS;
+	/**
+	 * @brief	This is the default constructor for a pool manager instance.
+	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
+	 * 			allocates memory (with \c new) for store and size_list. These
+	 * 			regions are all set to zero on start up.
+	 * @param setObjectId	The object identifier to be set. This allows for
+	 * 						multiple instances of LocalPool in the system.
+	 * @param element_sizes	An array of size NUMBER_OF_POOLS in which the size
+	 * 						of a single element in each pool is determined.
+	 * 						<b>The sizes must be provided in ascending order.
+	 * 						</b>
+	 * @param n_elements	An array of size NUMBER_OF_POOLS in which the
+	 * 						number of elements for each pool is determined.
+	 * 						The position of these values correspond to those in
+	 * 						element_sizes.
+	 * @param registered	Register the pool in object manager or not. Default is false (local pool).
+	 * @param spillsToHigherPools
+	 * 						A variable to determine whether higher n pools are used if the store is full.
+	 */
+	LocalPool(object_id_t setObjectId,
+			const uint16_t element_sizes[NUMBER_OF_POOLS],
+			const uint16_t n_elements[NUMBER_OF_POOLS],
+			bool registered = false,
+			bool spillsToHigherPools = false);
+	/**
+	 * @brief	In the LocalPool's destructor all allocated memory is freed.
+	 */
+	virtual ~LocalPool(void);
+
+	/**
+	 * Documentation: See StorageManagerIF.h
+	 */
+	ReturnValue_t addData(store_address_t* storageId, const uint8_t * data,
+			size_t size, bool ignoreFault = false) override;
+	ReturnValue_t getFreeElement(store_address_t* storageId,const size_t size,
+			uint8_t** p_data, bool ignoreFault = false) override;
+
+	ConstAccessorPair getData(store_address_t packet_id) override;
+	ReturnValue_t getData(store_address_t packet_id, ConstStorageAccessor&) override;
+	ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
+			size_t * size) override;
+
+	AccessorPair modifyData(store_address_t packet_id) override;
+	ReturnValue_t modifyData(store_address_t packet_id, StorageAccessor&) override;
+	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
+			size_t * size) override;
+
+	virtual ReturnValue_t deleteData(store_address_t) override;
+	virtual ReturnValue_t deleteData(uint8_t* ptr, size_t size,
+			store_address_t* storeId = NULL) override;
+	void clearStore() override;
+	ReturnValue_t initialize() override;
+protected:
+	/**
+	 * With this helper method, a free element of \c size is reserved.
+	 * @param size	The minimum packet size that shall be reserved.
+	 * @param[out] address Storage ID of the reserved data.
+	 * @return	- #RETURN_OK on success,
+	 * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
+	 */
+	virtual ReturnValue_t reserveSpace(const uint32_t size,
+			store_address_t* address, bool ignoreFault);
+
+	InternalErrorReporterIF *internalErrorReporter;
 private:
 	/**
 	 * Indicates that this element is free.
@@ -78,7 +134,7 @@ private:
 	 * @param data		The data to be stored.
 	 * @param size		The size of the data to be stored.
 	 */
-	void write(store_address_t packet_id, const uint8_t* data, uint32_t size);
+	void write(store_address_t packet_id, const uint8_t* data, size_t size);
 	/**
 	 * @brief	A helper method to read the element size of a certain pool.
 	 * @param pool_index	The pool in which to look.
@@ -101,7 +157,8 @@ private:
 	 * @return	- #RETURN_OK on success,
 	 * 			- #DATA_TOO_LARGE otherwise.
 	 */
-	ReturnValue_t getPoolIndex(uint32_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex = 0);
+	ReturnValue_t getPoolIndex(size_t packet_size, uint16_t* poolIndex,
+			uint16_t startAtIndex = 0);
 	/**
 	 * @brief	This helper method calculates the true array position in store
 	 * 			of a given packet id.
@@ -121,310 +178,8 @@ private:
 	 * 			- #DATA_STORAGE_FULL if the store is full
 	 */
 	ReturnValue_t findEmpty(uint16_t pool_index, uint16_t* element);
-protected:
-	/**
-	 * With this helper method, a free element of \c size is reserved.
-	 * @param size	The minimum packet size that shall be reserved.
-	 * @param[out] address Storage ID of the reserved data.
-	 * @return	- #RETURN_OK on success,
-	 * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
-	 */
-	virtual ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault);
-
-	InternalErrorReporterIF *internalErrorReporter;
-public:
-	/**
-	 * @brief	This is the default constructor for a pool manager instance.
-	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
-	 * 			allocates memory (with \c new) for store and size_list. These
-	 * 			regions are all set to zero on start up.
-	 * @param setObjectId	The object identifier to be set. This allows for
-	 * 						multiple instances of LocalPool in the system.
-	 * @param element_sizes	An array of size NUMBER_OF_POOLS in which the size
-	 * 						of a single element in each pool is determined.
-	 * 						<b>The sizes must be provided in ascending order.
-	 * 						</b>
-	 * @param n_elements	An array of size NUMBER_OF_POOLS in which the
-	 * 						number of elements for each pool is determined.
-	 * 						The position of these values correspond to those in
-	 * 						element_sizes.
-	 * @param registered	Register the pool in object manager or not. Default is false (local pool).
-	 */
-	LocalPool(object_id_t setObjectId,
-			const uint16_t element_sizes[NUMBER_OF_POOLS],
-			const uint16_t n_elements[NUMBER_OF_POOLS],
-			bool registered = false,
-			bool spillsToHigherPools = false);
-	/**
-	 * @brief	In the LocalPool's destructor all allocated memory is freed.
-	 */
-	virtual ~LocalPool(void);
-	ReturnValue_t addData(store_address_t* storageId, const uint8_t * data,
-			uint32_t size, bool ignoreFault = false);
-
-	/**
-	 * With this helper method, a free element of \c size is reserved.
-	 *
-	 * @param size	The minimum packet size that shall be reserved.
-	 * @return	Returns the storage identifier within the storage or
-	 * 			StorageManagerIF::INVALID_ADDRESS (in raw).
-	 */
-	ReturnValue_t getFreeElement(store_address_t* storageId,
-			const uint32_t size, uint8_t** p_data, bool ignoreFault = false);
-	ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
-			uint32_t* size);
-	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
-			uint32_t* size);
-	virtual ReturnValue_t deleteData(store_address_t);
-	virtual ReturnValue_t deleteData(uint8_t* ptr, uint32_t size,
-			store_address_t* storeId = NULL);
-	void clearStore();
-	ReturnValue_t initialize();
 };
 
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::findEmpty(uint16_t pool_index,
-		uint16_t* element) {
-	ReturnValue_t status = DATA_STORAGE_FULL;
-	for (uint16_t foundElement = 0; foundElement < n_elements[pool_index];
-			foundElement++) {
-		if (size_list[pool_index][foundElement] == STORAGE_FREE) {
-			*element = foundElement;
-			status = RETURN_OK;
-			break;
-		}
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline void LocalPool<NUMBER_OF_POOLS>::write(store_address_t packet_id,
-		const uint8_t* data, uint32_t size) {
-	uint8_t* ptr;
-	uint32_t packet_position = getRawPosition(packet_id);
-
-	//check size? -> Not necessary, because size is checked before calling this function.
-	ptr = &store[packet_id.pool_index][packet_position];
-	memcpy(ptr, data, size);
-	size_list[packet_id.pool_index][packet_id.packet_index] = size;
-}
-
-//Returns page size of 0 in case store_index is illegal
-template<uint8_t NUMBER_OF_POOLS>
-inline uint32_t LocalPool<NUMBER_OF_POOLS>::getPageSize(uint16_t pool_index) {
-	if (pool_index < NUMBER_OF_POOLS) {
-		return element_sizes[pool_index];
-	} else {
-		return 0;
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getPoolIndex(
-		uint32_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex) {
-	for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
-//		debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: " << n << ", Element Size: " << element_sizes[n] << std::endl;
-		if (element_sizes[n] >= packet_size) {
-			*poolIndex = n;
-			return RETURN_OK;
-		}
-	}
-	return DATA_TOO_LARGE;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline uint32_t LocalPool<NUMBER_OF_POOLS>::getRawPosition(
-		store_address_t packet_id) {
-	return packet_id.packet_index * element_sizes[packet_id.pool_index];
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::reserveSpace(
-		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	ReturnValue_t status = getPoolIndex(size, &address->pool_index);
-	if (status != RETURN_OK) {
-		sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec
-				   << " )::reserveSpace: Packet too large." << std::endl;
-		return status;
-	}
-	status = findEmpty(address->pool_index, &address->packet_index);
-	while (status != RETURN_OK && spillsToHigherPools) {
-		status = getPoolIndex(size, &address->pool_index, address->pool_index + 1);
-		if (status != RETURN_OK) {
-			//We don't find any fitting pool anymore.
-			break;
-		}
-		status = findEmpty(address->pool_index, &address->packet_index);
-	}
-	if (status == RETURN_OK) {
-//		if (getObjectId() == objects::IPC_STORE && address->pool_index >= 3) {
-//			debug << "Reserve: Pool: " << std::dec << address->pool_index << " Index: " << address->packet_index << std::endl;
-//		}
-
-		size_list[address->pool_index][address->packet_index] = size;
-	} else {
-		if (!ignoreFault) {
-			internalErrorReporter->storeFull();
-		}
-//		error << "LocalPool( " << std::hex << getObjectId() << std::dec
-//				<< " )::reserveSpace: Packet store is full." << std::endl;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
-		const uint16_t element_sizes[NUMBER_OF_POOLS],
-		const uint16_t n_elements[NUMBER_OF_POOLS], bool registered, bool spillsToHigherPools) :
-		SystemObject(setObjectId, registered), spillsToHigherPools(spillsToHigherPools), internalErrorReporter(NULL) {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		this->element_sizes[n] = element_sizes[n];
-		this->n_elements[n] = n_elements[n];
-		store[n] = new uint8_t[n_elements[n] * element_sizes[n]];
-		size_list[n] = new uint32_t[n_elements[n]];
-		memset(store[n], 0x00, (n_elements[n] * element_sizes[n]));
-		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list))); //TODO checkme
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		delete[] store[n];
-		delete[] size_list[n];
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(
-		store_address_t* storageId, const uint8_t* data, uint32_t size, bool ignoreFault) {
-	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
-	if (status == RETURN_OK) {
-		write(*storageId, data, size);
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
-		store_address_t* storageId, const uint32_t size, uint8_t** p_data, bool ignoreFault) {
-	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
-	if (status == RETURN_OK) {
-		*p_data = &store[storageId->pool_index][getRawPosition(*storageId)];
-	} else {
-		*p_data = NULL;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
-		store_address_t packet_id, const uint8_t** packet_ptr, uint32_t* size) {
-	uint8_t* tempData = NULL;
-	ReturnValue_t status = modifyData(packet_id, &tempData, size);
-	*packet_ptr = tempData;
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(store_address_t packet_id,
-		uint8_t** packet_ptr, uint32_t* size) {
-	ReturnValue_t status = RETURN_FAILED;
-	if (packet_id.pool_index >= NUMBER_OF_POOLS) {
-		return ILLEGAL_STORAGE_ID;
-	}
-	if ((packet_id.packet_index >= n_elements[packet_id.pool_index])) {
-		return ILLEGAL_STORAGE_ID;
-	}
-	if (size_list[packet_id.pool_index][packet_id.packet_index]
-			!= STORAGE_FREE) {
-		uint32_t packet_position = getRawPosition(packet_id);
-		*packet_ptr = &store[packet_id.pool_index][packet_position];
-		*size = size_list[packet_id.pool_index][packet_id.packet_index];
-		status = RETURN_OK;
-	} else {
-		status = DATA_DOES_NOT_EXIST;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(
-		store_address_t packet_id) {
-
-//	if (getObjectId() == objects::IPC_STORE && packet_id.pool_index >= 3) {
-//		debug << "Delete: Pool: " << std::dec << packet_id.pool_index << " Index: " << packet_id.packet_index << std::endl;
-//	}
-	ReturnValue_t status = RETURN_OK;
-	uint32_t page_size = getPageSize(packet_id.pool_index);
-	if ((page_size != 0)
-			&& (packet_id.packet_index < n_elements[packet_id.pool_index])) {
-		uint16_t packet_position = getRawPosition(packet_id);
-		uint8_t* ptr = &store[packet_id.pool_index][packet_position];
-		memset(ptr, 0, page_size);
-		//Set free list
-		size_list[packet_id.pool_index][packet_id.packet_index] = STORAGE_FREE;
-	} else {
-		//pool_index or packet_index is too large
-		sif::error << "LocalPool:deleteData failed." << std::endl;
-		status = ILLEGAL_STORAGE_ID;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline void LocalPool<NUMBER_OF_POOLS>::clearStore() {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));//TODO checkme
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(uint8_t* ptr,
-		uint32_t size, store_address_t* storeId) {
-	store_address_t localId;
-	ReturnValue_t result = ILLEGAL_ADDRESS;
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		//Not sure if new allocates all stores in order. so better be careful.
-		if ((store[n] <= ptr) && (&store[n][n_elements[n]*element_sizes[n]]) > ptr) {
-			localId.pool_index = n;
-			uint32_t deltaAddress = ptr - store[n];
-			//Getting any data from the right "block" is ok. This is necessary, as IF's sometimes don't point to the first element of an object.
-			localId.packet_index = deltaAddress / element_sizes[n];
-			result = deleteData(localId);
-//			if (deltaAddress % element_sizes[n] != 0) {
-//				error << "Pool::deleteData: address not aligned!" << std::endl;
-//			}
-			break;
-		}
-	}
-	if (storeId != NULL) {
-		*storeId = localId;
-	}
-	return result;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	internalErrorReporter = objectManager->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER);
-	if (internalErrorReporter == NULL){
-		return RETURN_FAILED;
-	}
-
-	//Check if any pool size is large than the maximum allowed.
-	for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
-		if (element_sizes[count] >= STORAGE_FREE) {
-			sif::error
-					<< "LocalPool::initialize: Pool is too large! Max. allowed size is: "
-					<< (STORAGE_FREE - 1) << std::endl;
-			return RETURN_FAILED;
-		}
-	}
-	return RETURN_OK;
-}
+#include <framework/storagemanager/LocalPool.tpp>
 
 #endif /* FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ */
diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
new file mode 100644
index 00000000..32724bd8
--- /dev/null
+++ b/storagemanager/LocalPool.tpp
@@ -0,0 +1,300 @@
+#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
+#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
+
+template<uint8_t NUMBER_OF_POOLS>
+inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
+		const uint16_t element_sizes[NUMBER_OF_POOLS],
+		const uint16_t n_elements[NUMBER_OF_POOLS], bool registered,
+		bool spillsToHigherPools) :
+		SystemObject(setObjectId, registered),  internalErrorReporter(nullptr),
+		spillsToHigherPools(spillsToHigherPools)
+{
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		this->element_sizes[n] = element_sizes[n];
+		this->n_elements[n] = n_elements[n];
+		store[n] = new uint8_t[n_elements[n] * element_sizes[n]];
+		size_list[n] = new uint32_t[n_elements[n]];
+		memset(store[n], 0x00, (n_elements[n] * element_sizes[n]));
+		//TODO checkme
+		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));
+	}
+}
+
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::findEmpty(uint16_t pool_index,
+		uint16_t* element) {
+	ReturnValue_t status = DATA_STORAGE_FULL;
+	for (uint16_t foundElement = 0; foundElement < n_elements[pool_index];
+			foundElement++) {
+		if (size_list[pool_index][foundElement] == STORAGE_FREE) {
+			*element = foundElement;
+			status = RETURN_OK;
+			break;
+		}
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline void LocalPool<NUMBER_OF_POOLS>::write(store_address_t packet_id,
+		const uint8_t* data, size_t size) {
+	uint8_t* ptr;
+	uint32_t packet_position = getRawPosition(packet_id);
+
+	//check size? -> Not necessary, because size is checked before calling this function.
+	ptr = &store[packet_id.pool_index][packet_position];
+	memcpy(ptr, data, size);
+	size_list[packet_id.pool_index][packet_id.packet_index] = size;
+}
+
+//Returns page size of 0 in case store_index is illegal
+template<uint8_t NUMBER_OF_POOLS>
+inline uint32_t LocalPool<NUMBER_OF_POOLS>::getPageSize(uint16_t pool_index) {
+	if (pool_index < NUMBER_OF_POOLS) {
+		return element_sizes[pool_index];
+	} else {
+		return 0;
+	}
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getPoolIndex(
+		size_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex) {
+	for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
+		//debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: " <<
+		//		n << ", Element Size: " << element_sizes[n] << std::endl;
+		if (element_sizes[n] >= packet_size) {
+			*poolIndex = n;
+			return RETURN_OK;
+		}
+	}
+	return DATA_TOO_LARGE;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline uint32_t LocalPool<NUMBER_OF_POOLS>::getRawPosition(
+		store_address_t packet_id) {
+	return packet_id.packet_index * element_sizes[packet_id.pool_index];
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::reserveSpace(
+		const uint32_t size, store_address_t* address, bool ignoreFault) {
+	ReturnValue_t status = getPoolIndex(size, &address->pool_index);
+	if (status != RETURN_OK) {
+		sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec
+				<< " )::reserveSpace: Packet too large." << std::endl;
+		return status;
+	}
+	status = findEmpty(address->pool_index, &address->packet_index);
+	while (status != RETURN_OK && spillsToHigherPools) {
+		status = getPoolIndex(size, &address->pool_index, address->pool_index + 1);
+		if (status != RETURN_OK) {
+			//We don't find any fitting pool anymore.
+			break;
+		}
+		status = findEmpty(address->pool_index, &address->packet_index);
+	}
+	if (status == RETURN_OK) {
+		// if (getObjectId() == objects::IPC_STORE && address->pool_index >= 3) {
+		//	   debug << "Reserve: Pool: " << std::dec << address->pool_index <<
+		//				" Index: " << address->packet_index << std::endl;
+		// }
+
+		size_list[address->pool_index][address->packet_index] = size;
+	} else {
+		if (!ignoreFault and internalErrorReporter != nullptr) {
+			internalErrorReporter->storeFull();
+		}
+		// error << "LocalPool( " << std::hex << getObjectId() << std::dec
+		// 			<< " )::reserveSpace: Packet store is full." << std::endl;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		delete[] store[n];
+		delete[] size_list[n];
+	}
+}
+
+template<uint8_t NUMBER_OF_POOLS> inline
+ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(store_address_t* storageId,
+		const uint8_t* data, size_t size, bool ignoreFault) {
+	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+	if (status == RETURN_OK) {
+		write(*storageId, data, size);
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
+		store_address_t* storageId, const size_t size,
+		uint8_t** p_data, bool ignoreFault) {
+	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+	if (status == RETURN_OK) {
+		*p_data = &store[storageId->pool_index][getRawPosition(*storageId)];
+	} else {
+		*p_data = NULL;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ConstAccessorPair LocalPool<NUMBER_OF_POOLS>::getData(
+		store_address_t storeId) {
+	uint8_t* tempData = nullptr;
+	ConstStorageAccessor constAccessor(storeId, this);
+	ReturnValue_t status = modifyData(storeId, &tempData, &constAccessor.size_);
+	constAccessor.constDataPointer = tempData;
+	return ConstAccessorPair(status, std::move(constAccessor));
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(store_address_t storeId,
+		ConstStorageAccessor& storeAccessor) {
+	uint8_t* tempData = nullptr;
+	ReturnValue_t status = modifyData(storeId, &tempData, &storeAccessor.size_);
+	storeAccessor.assignStore(this);
+	storeAccessor.constDataPointer = tempData;
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
+		store_address_t packet_id, const uint8_t** packet_ptr, size_t* size) {
+	uint8_t* tempData = NULL;
+	ReturnValue_t status = modifyData(packet_id, &tempData, size);
+	*packet_ptr = tempData;
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline AccessorPair LocalPool<NUMBER_OF_POOLS>::modifyData(
+		store_address_t storeId) {
+	StorageAccessor accessor(storeId, this);
+	ReturnValue_t status = modifyData(storeId, &accessor.dataPointer,
+			&accessor.size_);
+	accessor.assignConstPointer();
+	return AccessorPair(status, std::move(accessor));
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
+		store_address_t storeId, StorageAccessor& storeAccessor) {
+	storeAccessor.assignStore(this);
+	ReturnValue_t status = modifyData(storeId, &storeAccessor.dataPointer,
+			&storeAccessor.size_);
+	storeAccessor.assignConstPointer();
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
+		store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
+	ReturnValue_t status = RETURN_FAILED;
+	if (packet_id.pool_index >= NUMBER_OF_POOLS) {
+		return ILLEGAL_STORAGE_ID;
+	}
+	if ((packet_id.packet_index >= n_elements[packet_id.pool_index])) {
+		return ILLEGAL_STORAGE_ID;
+	}
+	if (size_list[packet_id.pool_index][packet_id.packet_index]
+			!= STORAGE_FREE) {
+		uint32_t packet_position = getRawPosition(packet_id);
+		*packet_ptr = &store[packet_id.pool_index][packet_position];
+		*size = size_list[packet_id.pool_index][packet_id.packet_index];
+		status = RETURN_OK;
+	} else {
+		status = DATA_DOES_NOT_EXIST;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(
+		store_address_t packet_id) {
+	//if (getObjectId() == objects::IPC_STORE && packet_id.pool_index >= 3) {
+	//	debug << "Delete: Pool: " << std::dec << packet_id.pool_index << " Index: "
+	//	         << packet_id.packet_index << std::endl;
+	//}
+	ReturnValue_t status = RETURN_OK;
+	uint32_t page_size = getPageSize(packet_id.pool_index);
+	if ((page_size != 0)
+			&& (packet_id.packet_index < n_elements[packet_id.pool_index])) {
+		uint16_t packet_position = getRawPosition(packet_id);
+		uint8_t* ptr = &store[packet_id.pool_index][packet_position];
+		memset(ptr, 0, page_size);
+		//Set free list
+		size_list[packet_id.pool_index][packet_id.packet_index] = STORAGE_FREE;
+	} else {
+		//pool_index or packet_index is too large
+		sif::error << "LocalPool:deleteData failed." << std::endl;
+		status = ILLEGAL_STORAGE_ID;
+	}
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline void LocalPool<NUMBER_OF_POOLS>::clearStore() {
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		//TODO checkme
+		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));
+	}
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(uint8_t* ptr,
+		size_t size, store_address_t* storeId) {
+	store_address_t localId;
+	ReturnValue_t result = ILLEGAL_ADDRESS;
+	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+		//Not sure if new allocates all stores in order. so better be careful.
+		if ((store[n] <= ptr) && (&store[n][n_elements[n]*element_sizes[n]]) > ptr) {
+			localId.pool_index = n;
+			uint32_t deltaAddress = ptr - store[n];
+			// Getting any data from the right "block" is ok.
+			// This is necessary, as IF's sometimes don't point to the first
+			// element of an object.
+			localId.packet_index = deltaAddress / element_sizes[n];
+			result = deleteData(localId);
+			//if (deltaAddress % element_sizes[n] != 0) {
+			//	error << "Pool::deleteData: address not aligned!" << std::endl;
+			//}
+			break;
+		}
+	}
+	if (storeId != NULL) {
+		*storeId = localId;
+	}
+	return result;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+	internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			objects::INTERNAL_ERROR_REPORTER);
+	if (internalErrorReporter == nullptr){
+		return ObjectManagerIF::INTERNAL_ERR_REPORTER_UNINIT;
+	}
+
+	//Check if any pool size is large than the maximum allowed.
+	for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
+		if (element_sizes[count] >= STORAGE_FREE) {
+			sif::error << "LocalPool::initialize: Pool is too large! "
+					"Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
+			return StorageManagerIF::POOL_TOO_LARGE;
+		}
+	}
+	return RETURN_OK;
+}
+
+#endif
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 68a7addc..6e353de2 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -1,86 +1,44 @@
-/**
- *	@file	PoolManager
- *
- *  @date	02.02.2012
- *	@author	Bastian Baetz
- *
- *	@brief	This file contains the definition of the PoolManager class.
- */
-
-#ifndef POOLMANAGER_H_
-#define POOLMANAGER_H_
-
+#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_H_
+#define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_H_
 
 #include <framework/storagemanager/LocalPool.h>
 #include <framework/ipc/MutexHelper.h>
+#include <framework/storagemanager/StorageAccessor.h>
 
 /**
  * @brief	The PoolManager class provides an intermediate data storage with
  * 			a fixed pool size policy for inter-process communication.
- * \details	Uses local pool, but is thread-safe.
+ * @details	Uses local pool calls but is thread safe by protecting the call
+ * 			with a lock.
  */
-
-template <uint8_t NUMBER_OF_POOLS = 5>
+template <uint8_t NUMBER_OF_POOLS>
 class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
+public:
+	PoolManager(object_id_t setObjectId,
+			const uint16_t element_sizes[NUMBER_OF_POOLS],
+			const uint16_t n_elements[NUMBER_OF_POOLS]);
+
+	//! @brief	In the PoolManager's destructor all allocated memory is freed.
+	virtual ~PoolManager();
+
+	//! @brief LocalPool overrides for thread-safety. Decorator function which
+	//! 	   wraps LocalPool calls with a mutex protection.
+	ReturnValue_t deleteData(store_address_t) override;
+	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
+			store_address_t* storeId = nullptr) override;
 protected:
-	/**
-	 * Overwritten for thread safety.
-	 * Locks during execution.
-	 */
-	virtual ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault);
+	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
+			bool ignoreFault) override;
 
 	/**
-	 * \brief	The mutex is created in the constructor and makes access mutual exclusive.
-	 * \details	Locking and unlocking is done during searching for free slots and deleting existing slots.
+	 * @brief	The mutex is created in the constructor and makes
+	 * 			access mutual exclusive.
+	 * @details	Locking and unlocking is done during searching for free slots
+	 * 			and deleting existing slots.
 	 */
-	MutexIF*	mutex;
-public:
-	PoolManager( object_id_t setObjectId, const uint16_t element_sizes[NUMBER_OF_POOLS], const uint16_t n_elements[NUMBER_OF_POOLS] );
-	/**
-	 * @brief	In the PoolManager's destructor all allocated memory is freed.
-	 */
-	virtual ~PoolManager( void );
-	/**
-	 * Overwritten for thread safety.
-	 */
-	virtual ReturnValue_t deleteData(store_address_t);
-	virtual ReturnValue_t deleteData(uint8_t* buffer, uint32_t size, store_address_t* storeId = NULL);
+	MutexIF* mutex;
 };
 
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
-	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,address,ignoreFault);
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
-		const uint16_t element_sizes[NUMBER_OF_POOLS],
-		const uint16_t n_elements[NUMBER_OF_POOLS]) : LocalPool<NUMBER_OF_POOLS>(setObjectId, element_sizes, n_elements, true) {
-	mutex = MutexFactory::instance()->createMutex();
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
-	MutexFactory::instance()->deleteMutex(mutex);
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
-		store_address_t packet_id) {
-	//	debug << "PoolManager( " << translateObject(getObjectId()) << " )::deleteData from store " << packet_id.pool_index << ". id is " << packet_id.packet_index << std::endl;
-		MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
-		ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
-		return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer, uint32_t size,
-		store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
-	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer, size, storeId);
-	return status;
-}
+#include "PoolManager.tpp"
 
 #endif /* POOLMANAGER_H_ */
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
new file mode 100644
index 00000000..854e22da
--- /dev/null
+++ b/storagemanager/PoolManager.tpp
@@ -0,0 +1,47 @@
+#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
+#define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
+
+template<uint8_t NUMBER_OF_POOLS>
+inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
+		const uint16_t element_sizes[NUMBER_OF_POOLS],
+		const uint16_t n_elements[NUMBER_OF_POOLS]) :
+		LocalPool<NUMBER_OF_POOLS>(setObjectId, element_sizes, n_elements, true) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
+	MutexFactory::instance()->deleteMutex(mutex);
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
+		const uint32_t size, store_address_t* address, bool ignoreFault) {
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
+			address,ignoreFault);
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
+		store_address_t packet_id) {
+	// debug << "PoolManager( " << translateObject(getObjectId()) <<
+	//       " )::deleteData from store " << packet_id.pool_index <<
+	//       ". id is "<< packet_id.packet_index << std::endl;
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
+	return status;
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
+		size_t size, store_address_t* storeId) {
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
+			size, storeId);
+	return status;
+}
+
+#endif
+
diff --git a/storagemanager/StorageAccessor.cpp b/storagemanager/StorageAccessor.cpp
new file mode 100644
index 00000000..c0c8126b
--- /dev/null
+++ b/storagemanager/StorageAccessor.cpp
@@ -0,0 +1,155 @@
+#include <framework/storagemanager/StorageAccessor.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
+		storeId(storeId) {}
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
+		StorageManagerIF* store):
+		storeId(storeId), store(store) {
+	internalState = AccessState::ASSIGNED;
+}
+
+ConstStorageAccessor::~ConstStorageAccessor() {
+	if(deleteData and store != nullptr) {
+		sif::debug << "deleting store data" << std::endl;
+		store->deleteData(storeId);
+	}
+}
+
+ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
+		constDataPointer(other.constDataPointer), storeId(other.storeId),
+		size_(other.size_), store(other.store), deleteData(other.deleteData),
+		internalState(other.internalState) {
+	// This prevent premature deletion
+	other.store = nullptr;
+}
+
+ConstStorageAccessor& ConstStorageAccessor::operator=(
+		ConstStorageAccessor&& other) {
+	constDataPointer = other.constDataPointer;
+	storeId = other.storeId;
+	store = other.store;
+	size_ = other.size_;
+	deleteData = other.deleteData;
+	this->store = other.store;
+	// This prevents premature deletion
+	other.store = nullptr;
+	return *this;
+}
+
+const uint8_t* ConstStorageAccessor::data() const {
+	return constDataPointer;
+}
+
+size_t ConstStorageAccessor::size() const {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+	}
+	return size_;
+}
+
+ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
+		size_t maxSize) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(size_ > maxSize) {
+		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(constDataPointer, constDataPointer + size_, pointer);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void ConstStorageAccessor::release() {
+	deleteData = false;
+}
+
+store_address_t ConstStorageAccessor::getId() const {
+	return storeId;
+}
+
+void ConstStorageAccessor::print() const {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return;
+	}
+	sif::info << "StorageAccessor: Printing data: [";
+	for(uint16_t iPool = 0; iPool < size_; iPool++) {
+		sif::info << std::hex << (int)constDataPointer[iPool];
+		if(iPool < size_ - 1){
+			sif::info << " , ";
+		}
+	}
+	sif::info << " ] " << std::endl;
+}
+
+void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
+	internalState = AccessState::ASSIGNED;
+	this->store = store;
+}
+
+
+StorageAccessor::StorageAccessor(store_address_t storeId):
+		ConstStorageAccessor(storeId) {
+}
+
+StorageAccessor::StorageAccessor(store_address_t storeId,
+		StorageManagerIF* store):
+		ConstStorageAccessor(storeId, store) {
+}
+
+StorageAccessor& StorageAccessor::operator =(
+		StorageAccessor&& other) {
+	// Call the parent move assignment and also assign own member.
+	dataPointer = other.dataPointer;
+	StorageAccessor::operator=(std::move(other));
+	return * this;
+}
+
+// Call the parent move ctor and also transfer own member.
+StorageAccessor::StorageAccessor(StorageAccessor&& other):
+		ConstStorageAccessor(std::move(other)), dataPointer(other.dataPointer) {
+}
+
+ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(size_ > maxSize) {
+		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(dataPointer, dataPointer + size_, pointer);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t* StorageAccessor::data() {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+	}
+	return dataPointer;
+}
+
+ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size,
+		uint16_t offset) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(offset + size > size_) {
+		sif::error << "StorageAccessor: Data too large for pool entry!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(data, data + size, dataPointer + offset);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void StorageAccessor::assignConstPointer() {
+	constDataPointer = dataPointer;
+}
+
+
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
new file mode 100644
index 00000000..57c9369c
--- /dev/null
+++ b/storagemanager/StorageAccessor.h
@@ -0,0 +1,151 @@
+#ifndef FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
+#define FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
+
+#include <framework/ipc/MutexHelper.h>
+#include <framework/storagemanager/storeAddress.h>
+
+class StorageManagerIF;
+
+/**
+ * @brief 	Helper classes to facilitate safe access to storages which is also
+ * 			conforming to RAII principles
+ * @details
+ * Accessor class which can be returned by pool manager or passed and set by
+ * pool managers to have safe access to the pool resources.
+ *
+ * These helper can be used together with the StorageManager classes to manage
+ * access to a storage. It can take care of thread-safety while also providing
+ * mechanisms to automatically clear storage data.
+ */
+class ConstStorageAccessor {
+	//! StorageManager classes have exclusive access to private variables.
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class PoolManager;
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class LocalPool;
+public:
+	/**
+	 * @brief	Simple constructor which takes the store ID of the storage
+	 * 			entry to access.
+	 * @param storeId
+	 */
+	ConstStorageAccessor(store_address_t storeId);
+	ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
+
+	/**
+	 * @brief 	The destructor in default configuration takes care of
+	 * 			deleting the accessed pool entry and unlocking the mutex
+	 */
+	virtual ~ConstStorageAccessor();
+
+	/**
+	 * @brief	Returns a pointer to the read-only data
+	 * @return
+	 */
+	const uint8_t* data() const;
+
+	/**
+	 * @brief	Copies the read-only data to the supplied pointer
+	 * @param pointer
+	 */
+	virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
+
+	/**
+	 * @brief   Calling this will prevent the Accessor from deleting the data
+	 *          when the destructor is called.
+	 */
+	void release();
+
+	/**
+	 * Get the size of the data
+	 * @return
+	 */
+	size_t size() const;
+
+	/**
+	 * Get the storage ID.
+	 * @return
+	 */
+	store_address_t getId() const;
+
+	void print() const;
+
+	/**
+	 * @brief	Move ctor and move assignment allow returning accessors as
+	 * 			a returnvalue. They prevent resource being free prematurely.
+	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * move-constructors-and-move-assignment-operators-cpp.md
+	 * @param
+	 * @return
+	 */
+	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
+	ConstStorageAccessor (ConstStorageAccessor&&);
+
+	//! The copy ctor and copy assignemnt should be deleted implicitely
+	//! according to https://foonathan.net/2019/02/special-member-functions/
+	//! but I still deleted them to make it more explicit. (remember rule of 5).
+	ConstStorageAccessor& operator= (ConstStorageAccessor&) = delete;
+	ConstStorageAccessor (ConstStorageAccessor&) = delete;
+protected:
+	const uint8_t* constDataPointer = nullptr;
+	store_address_t storeId;
+	size_t size_ = 0;
+	//! Managing pool, has to assign itself.
+	StorageManagerIF* store = nullptr;
+	bool deleteData = true;
+
+	enum class AccessState {
+		UNINIT,
+		ASSIGNED
+	};
+	//! Internal state for safety reasons.
+	AccessState internalState = AccessState::UNINIT;
+	/**
+	 * Used by the pool manager instances to assign themselves to the
+	 * accessor. This is necessary to delete the data when the acessor
+	 * exits the scope ! The internal state will be considered read
+	 * when this function is called, so take care all data is set properly as
+	 * well.
+	 * @param
+	 */
+	void assignStore(StorageManagerIF*);
+};
+
+
+/**
+ * @brief   Child class for modifyable data. Also has a normal pointer member.
+ */
+class StorageAccessor: public ConstStorageAccessor {
+	//! StorageManager classes have exclusive access to private variables.
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class PoolManager;
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class LocalPool;
+public:
+	StorageAccessor(store_address_t storeId);
+	StorageAccessor(store_address_t storeId, StorageManagerIF* store);
+	/**
+	 * @brief	Move ctor and move assignment allow returning accessors as
+	 * 			a returnvalue. They prevent resource being free prematurely.
+	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * 			 move-constructors-and-move-assignment-operators-cpp.md
+	 * @param
+	 * @return
+	 */
+	StorageAccessor& operator= (StorageAccessor&&);
+	StorageAccessor (StorageAccessor&&);
+
+	ReturnValue_t write(uint8_t *data, size_t size,
+		uint16_t offset = 0);
+	uint8_t* data();
+	ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize) override;
+
+private:
+	//! Non-const pointer for modifyable data.
+	uint8_t* dataPointer = nullptr;
+	//! For modifyable data, the const pointer is assigned to the normal
+	//! pointer by the pool manager so both access functions can be used safely
+	void assignConstPointer();
+};
+
+#endif /* TEST_PROTOTYPES_STORAGEACCESSOR_H_ */
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index a0c2b23d..d5ac5818 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -3,56 +3,14 @@
 
 #include <framework/events/Event.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <stddef.h>
+#include <framework/storagemanager/StorageAccessor.h>
+#include <framework/storagemanager/storeAddress.h>
+#include <utility>
+#include <cstddef>
 
-/**
- * This union defines the type that identifies where a data packet is stored in the store.
- * It comprises of a raw part to read it as raw value and a structured part to use it in
- * pool-like stores.
- */
-union store_address_t {
-	/**
-	 * Default Constructor, initializing to INVALID_ADDRESS
-	 */
-	store_address_t():raw(0xFFFFFFFF){}
-	/**
-	 * Constructor to create an address object using the raw address
-	 *
-	 * @param rawAddress
-	 */
-	store_address_t(uint32_t rawAddress):raw(rawAddress){}
+using AccessorPair = std::pair<ReturnValue_t, StorageAccessor>;
+using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
 
-	/**
-	 * Constructor to create an address object using pool
-	 * and packet indices
-	 *
-	 * @param poolIndex
-	 * @param packetIndex
-	 */
-	store_address_t(uint16_t poolIndex, uint16_t packetIndex):
-		pool_index(poolIndex),packet_index(packetIndex){}
-	/**
-	 * A structure with two elements to access the store address pool-like.
-	 */
-	struct {
-		/**
-		 * The index in which pool the packet lies.
-		 */
-		uint16_t pool_index;
-		/**
-		 * The position in the chosen pool.
-		 */
-		uint16_t packet_index;
-	};
-	/**
-	 * Alternative access to the raw value.
-	 */
-	uint32_t raw;
-
-	bool operator==(const store_address_t& other) const {
-		return raw == other.raw;
-	}
-};
 
 /**
  * @brief	This class provides an interface for intermediate data storage.
@@ -75,6 +33,7 @@ public:
 	static const ReturnValue_t ILLEGAL_STORAGE_ID = MAKE_RETURN_CODE(3); //!< This return code indicates that data was requested with an illegal storage ID.
 	static const ReturnValue_t DATA_DOES_NOT_EXIST = MAKE_RETURN_CODE(4); //!< This return code indicates that the requested ID was valid, but no data is stored there.
 	static const ReturnValue_t ILLEGAL_ADDRESS = MAKE_RETURN_CODE(5);
+	static const ReturnValue_t POOL_TOO_LARGE = MAKE_RETURN_CODE(6); //!< Pool size too large on initialization.
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW;
 	static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
@@ -98,7 +57,8 @@ public:
 	 * 					@li	RETURN_FAILED if data could not be added.
 	 * 						storageId is unchanged then.
 	 */
-	virtual ReturnValue_t addData(store_address_t* storageId, const uint8_t * data, uint32_t size, bool ignoreFault = false) = 0;
+	virtual ReturnValue_t addData(store_address_t* storageId,
+			const uint8_t * data, size_t size, bool ignoreFault = false) = 0;
 	/**
 	 * @brief	With deleteData, the storageManager frees the memory region
 	 * 			identified by packet_id.
@@ -109,14 +69,37 @@ public:
 	 */
 	virtual ReturnValue_t deleteData(store_address_t packet_id) = 0;
 	/**
-	 * @brief	Another deleteData which uses the pointer and size of the stored data to delete the content.
+	 * @brief	Another deleteData which uses the pointer and size of the
+	 * 			stored data to delete the content.
 	 * @param buffer	Pointer to the data.
 	 * @param size		Size of data to be stored.
 	 * @param storeId	Store id of the deleted element (optional)
 	 * @return	@li RETURN_OK on success.
 	 * 			@li	failure code if deletion did not work
 	 */
-	virtual ReturnValue_t deleteData(uint8_t* buffer, uint32_t size, store_address_t* storeId = NULL) = 0;
+	virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
+			store_address_t* storeId = nullptr) = 0;
+
+	/**
+	 * @brief 	Access the data by supplying a store ID.
+	 * @details
+	 * A pair consisting of the retrieval result and an instance of a
+	 * ConstStorageAccessor class is returned
+	 * @param storeId
+	 * @return Pair of return value and a ConstStorageAccessor instance
+	 */
+	virtual ConstAccessorPair getData(store_address_t storeId) = 0;
+
+	/**
+	 * @brief 	Access the data by supplying a store ID and a helper
+	 * 			instance
+	 * @param storeId
+	 * @param constAccessor Wrapper function to access store data.
+	 * @return
+	 */
+	virtual ReturnValue_t getData(store_address_t storeId,
+			ConstStorageAccessor& constAccessor) = 0;
+
 	/**
 	 * @brief	getData returns an address to data and the size of the data
 	 * 			for a given packet_id.
@@ -129,12 +112,34 @@ public:
 	 * 				(e.g. an illegal packet_id was passed).
 	 */
 	virtual ReturnValue_t getData(store_address_t packet_id,
-			const uint8_t** packet_ptr, uint32_t* size) = 0;
+			const uint8_t** packet_ptr, size_t* size) = 0;
+
+
 	/**
-	 * Same as above, but not const and therefore modifiable.
+	 * Modify data by supplying a store ID
+	 * @param storeId
+	 * @return Pair of return value and StorageAccessor helper
+	 */
+	virtual AccessorPair modifyData(store_address_t storeId) = 0;
+
+	/**
+	 * Modify data by supplying a store ID and a StorageAccessor helper instance.
+	 * @param storeId
+	 * @param accessor Helper class to access the modifiable data.
+	 * @return
+	 */
+	virtual ReturnValue_t modifyData(store_address_t storeId,
+				StorageAccessor& accessor) = 0;
+
+	/**
+	 * Get pointer and size of modifiable data by supplying the storeId
+	 * @param packet_id
+	 * @param packet_ptr [out] Pointer to pointer of data to set
+	 * @param size [out] Pointer to size to set
+	 * @return
 	 */
 	virtual ReturnValue_t modifyData(store_address_t packet_id,
-			uint8_t** packet_ptr, uint32_t* size) = 0;
+			uint8_t** packet_ptr, size_t* size) = 0;
 	/**
 	 * This method reserves an element of \c size.
 	 *
@@ -148,13 +153,14 @@ public:
 	 * 					@li	RETURN_FAILED if data could not be added.
 	 * 						storageId is unchanged then.
 	 */
-	virtual ReturnValue_t getFreeElement(store_address_t* storageId, const uint32_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t getFreeElement(store_address_t* storageId,
+			const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
+
 	/**
 	 * Clears the whole store.
 	 * Use with care!
 	 */
 	virtual void clearStore() = 0;
-
 };
 
 #endif /* STORAGEMANAGERIF_H_ */
diff --git a/storagemanager/storeAddress.h b/storagemanager/storeAddress.h
new file mode 100644
index 00000000..5dd785a3
--- /dev/null
+++ b/storagemanager/storeAddress.h
@@ -0,0 +1,54 @@
+#ifndef FRAMEWORK_STORAGEMANAGER_STOREADDRESS_H_
+#define FRAMEWORK_STORAGEMANAGER_STOREADDRESS_H_
+#include <cstdint>
+
+/**
+ * This union defines the type that identifies where a data packet is
+ * stored in the store. It comprises of a raw part to read it as raw value and
+ * a structured part to use it in pool-like stores.
+ */
+union store_address_t {
+	/**
+	 * Default Constructor, initializing to INVALID_ADDRESS
+	 */
+	store_address_t():raw(0xFFFFFFFF){}
+	/**
+	 * Constructor to create an address object using the raw address
+	 *
+	 * @param rawAddress
+	 */
+	store_address_t(uint32_t rawAddress):raw(rawAddress){}
+
+	/**
+	 * Constructor to create an address object using pool
+	 * and packet indices
+	 *
+	 * @param poolIndex
+	 * @param packetIndex
+	 */
+	store_address_t(uint16_t poolIndex, uint16_t packetIndex):
+		pool_index(poolIndex),packet_index(packetIndex){}
+	/**
+	 * A structure with two elements to access the store address pool-like.
+	 */
+	struct {
+		/**
+		 * The index in which pool the packet lies.
+		 */
+		uint16_t pool_index;
+		/**
+		 * The position in the chosen pool.
+		 */
+		uint16_t packet_index;
+	};
+	/**
+	 * Alternative access to the raw value.
+	 */
+	uint32_t raw;
+
+	bool operator==(const store_address_t& other) const {
+		return raw == other.raw;
+	}
+};
+
+#endif /* FRAMEWORK_STORAGEMANAGER_STOREADDRESS_H_ */

From d83181cb0fddcb9ad8f2572151058ca97c2e0a96 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 16:41:23 +0200
Subject: [PATCH 083/653] added author tag

---
 storagemanager/LocalPool.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index c155f918..2d61dea5 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -22,6 +22,7 @@
  * 			0xFFFF-1 bytes.
  * 			It is possible to store empty packets in the pool.
  * 			The local pool is NOT thread-safe.
+ * @author 	Bastian Baetz
  */
 
 template<uint8_t NUMBER_OF_POOLS = 5>

From a993223f6e32ed278b5739d407411466bea83c47 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 16:44:31 +0200
Subject: [PATCH 084/653] added include protection

---
 storagemanager/LocalPool.tpp   | 4 ++++
 storagemanager/PoolManager.tpp | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
index 32724bd8..dd360a0a 100644
--- a/storagemanager/LocalPool.tpp
+++ b/storagemanager/LocalPool.tpp
@@ -1,6 +1,10 @@
 #ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
 #define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
 
+#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
+#error Include LocalPool.h instead of LocalPool.tpp!.
+#endif
+
 template<uint8_t NUMBER_OF_POOLS>
 inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
 		const uint16_t element_sizes[NUMBER_OF_POOLS],
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index 854e22da..bdc73ec2 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -1,6 +1,10 @@
 #ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
 #define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
 
+#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_H_
+#error Include LocalPool.h instead of LocalPool.tpp!.
+#endif
+
 template<uint8_t NUMBER_OF_POOLS>
 inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
 		const uint16_t element_sizes[NUMBER_OF_POOLS],

From ab17e284052297a4ab94852ecbc331a7add97159 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 16:45:52 +0200
Subject: [PATCH 085/653] include protection output fix

---
 storagemanager/LocalPool.tpp   | 2 +-
 storagemanager/PoolManager.tpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
index dd360a0a..b7fa0da9 100644
--- a/storagemanager/LocalPool.tpp
+++ b/storagemanager/LocalPool.tpp
@@ -2,7 +2,7 @@
 #define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
 
 #ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
-#error Include LocalPool.h instead of LocalPool.tpp!.
+#error Include LocalPool.h instead of LocalPool.tpp!
 #endif
 
 template<uint8_t NUMBER_OF_POOLS>
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index bdc73ec2..97603246 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -2,7 +2,7 @@
 #define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
 
 #ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_H_
-#error Include LocalPool.h instead of LocalPool.tpp!.
+#error Include LocalPool.h instead of LocalPool.tpp!
 #endif
 
 template<uint8_t NUMBER_OF_POOLS>

From acf037614ff9795ee1bea4875d76415a61388835 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 16:48:53 +0200
Subject: [PATCH 086/653] added another author tag

---
 storagemanager/PoolManager.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 6e353de2..c74e95c0 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -10,6 +10,7 @@
  * 			a fixed pool size policy for inter-process communication.
  * @details	Uses local pool calls but is thread safe by protecting the call
  * 			with a lock.
+ * @author 	Bastian Baetz
  */
 template <uint8_t NUMBER_OF_POOLS>
 class PoolManager : public LocalPool<NUMBER_OF_POOLS> {

From a3f379e149dd32e4ac90e1fd58038138d8a65701 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 16:50:37 +0200
Subject: [PATCH 087/653] and another little include guard fix

---
 storagemanager/LocalPool.tpp   | 2 +-
 storagemanager/PoolManager.tpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
index b7fa0da9..764bd7be 100644
--- a/storagemanager/LocalPool.tpp
+++ b/storagemanager/LocalPool.tpp
@@ -2,7 +2,7 @@
 #define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
 
 #ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
-#error Include LocalPool.h instead of LocalPool.tpp!
+#error Include LocalPool.h before LocalPool.tpp!
 #endif
 
 template<uint8_t NUMBER_OF_POOLS>
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index 97603246..29b2b82a 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -2,7 +2,7 @@
 #define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
 
 #ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_H_
-#error Include LocalPool.h instead of LocalPool.tpp!
+#error Include PoolManager.h before PoolManager.tpp!
 #endif
 
 template<uint8_t NUMBER_OF_POOLS>

From f871f75e1c8fd5f625e4a2067492eb92f3b82289 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:10:57 +0200
Subject: [PATCH 088/653] added back default value for pool manager.h

---
 storagemanager/PoolManager.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index c74e95c0..144d073d 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -12,7 +12,7 @@
  * 			with a lock.
  * @author 	Bastian Baetz
  */
-template <uint8_t NUMBER_OF_POOLS>
+template <uint8_t NUMBER_OF_POOLS = 5>
 class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
 public:
 	PoolManager(object_id_t setObjectId,

From 1cf5991101f9dc0e677911e1d7cfeffaa250285b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:43:06 +0200
Subject: [PATCH 089/653] getClock_timval used now

---
 timemanager/Stopwatch.cpp | 12 +++++++-----
 timemanager/Stopwatch.h   | 17 ++++++++++++-----
 2 files changed, 19 insertions(+), 10 deletions(-)

diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 2c85376d..bc8b4149 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -3,14 +3,14 @@
 #include <iomanip>
 
 Stopwatch::Stopwatch(bool displayOnDestruction,
-        StopwatchDisplayMode displayMode): displayMode(displayMode),
-        displayOnDestruction(displayOnDestruction) {
+        StopwatchDisplayMode displayMode): displayOnDestruction(
+        displayOnDestruction), displayMode(displayMode) {
     // Measures start time on initialization.
-    startTime = Clock::getUptime();
+    Clock::getClock_timeval(&startTime);
 }
 
 void Stopwatch::start() {
-    startTime = Clock::getUptime();
+    Clock::getClock_timeval(&startTime);
 }
 
 millis_t Stopwatch::stop() {
@@ -51,5 +51,7 @@ StopwatchDisplayMode Stopwatch::getDisplayMode() const {
 }
 
 void Stopwatch::stopInternal() {
-    elapsedTime = Clock::getUptime() - startTime;
+	timeval endTime;
+	Clock::getClock_timeval(&endTime);
+    elapsedTime = endTime - startTime;
 }
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
index 19e1f92b..71580778 100644
--- a/timemanager/Stopwatch.h
+++ b/timemanager/Stopwatch.h
@@ -8,11 +8,13 @@ enum class StopwatchDisplayMode {
 };
 
 /**
- * @brief Simple Stopwatch implementation to measure elapsed time
+ * @brief 	Simple Stopwatch implementation to measure elapsed time
  * @details
  * This class can be used to measure elapsed times. It also displays elapsed
  * times automatically on destruction if not explicitely deactivated in the
- * constructor. The default time format is the elapsed time in miliseconds.
+ * constructor. The default time format is the elapsed time in miliseconds
+ * in seconds as a double.
+ * @author 	R. Mueller
  */
 class Stopwatch {
 public:
@@ -21,8 +23,8 @@ public:
      * no parameters are required!
      * @param displayOnDestruction If set to true, displays measured time on
      *        object destruction
-     * @param displayMode Display format is either MS rounded or seconds as
-     * 		  double format
+     * @param displayMode Display format is either MS rounded or MS as double
+     *        format
      * @param outputPrecision If using double format, specify precision here.
      */
     Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode
@@ -39,6 +41,10 @@ public:
      * @return elapsed time in milliseconds (rounded)
      */
     millis_t stop();
+    /**
+     * Calculates the elapsed time since start and returns it
+     * @return elapsed time in seconds (double precision)
+     */
     seconds_t stopSeconds();
 
     /**
@@ -49,12 +55,13 @@ public:
 
     StopwatchDisplayMode getDisplayMode() const;
     void setDisplayMode(StopwatchDisplayMode displayMode);
+    bool displayOnDestruction = true;
 private:
     timeval startTime {0, 0};
     timeval elapsedTime {0, 0};
 
     StopwatchDisplayMode displayMode = StopwatchDisplayMode::MILLIS;
-    bool displayOnDestruction = true;
+
     void stopInternal();
 };
 

From 0be418a553a95971a56fc61a0f9e57276a345165 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:45:08 +0200
Subject: [PATCH 090/653] clock.h form improvements

---
 timemanager/Clock.h | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 2883878f..19991b81 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -2,11 +2,12 @@
 #define FRAMEWORK_TIMEMANAGER_CLOCK_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <stdint.h>
-#include <sys/time.h>
 #include <framework/ipc/MutexFactory.h>
 #include <framework/globalfunctions/timevalOperations.h>
 
+#include <cstdint>
+#include <sys/time.h>
+
 typedef uint32_t millis_t;
 typedef double seconds_t;
 
@@ -22,7 +23,7 @@ public:
 	  uint32_t usecond; //!< Microseconds, 0 .. 999999
 	}   TimeOfDay_t;
 
-	/**static Clock* TimeOfDay_t();
+	/**
 	 * This method returns the number of clock ticks per second.
 	 * In RTEMS, this is typically 1000.
 	 * @return	The number of ticks.
@@ -34,22 +35,23 @@ public:
 	 * This system call sets the system time.
 	 * To set the time, it uses a TimeOfDay_t struct.
 	 * @param time The struct with the time settings to set.
-	 * @return	\c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 * @return	-@c RETURN_OK on success. Otherwise, the OS failure code
+	 * 				is returned.
 	 */
 	static ReturnValue_t setClock(const TimeOfDay_t* time);
 	/**
 	 * This system call sets the system time.
 	 * To set the time, it uses a timeval struct.
 	 * @param time The struct with the time settings to set.
-	 * @return	\c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 * @return	-@c RETURN_OK on success. Otherwise, the OS failure code is returned.
 	 */
 	static ReturnValue_t setClock(const timeval* time);
 	/**
 	 * This system call returns the current system clock in timeval format.
-	 * The timval format has the fields \c tv_sec with seconds and \c tv_usec with
+	 * The timval format has the fields @c tv_sec with seconds and @c tv_usec with
 	 * microseconds since an OS-defined epoch.
 	 * @param time	A pointer to a timeval struct where the current time is stored.
-	 * @return \c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
 	 */
 	static ReturnValue_t getClock_timeval(timeval* time);
 
@@ -57,7 +59,7 @@ public:
 	 * Get the time since boot in a timeval struct
 	 *
 	 * @param[out] time A pointer to a timeval struct where the uptime is stored.
-	 * @return\c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
 	 *
 	 * @deprecated, I do not think this should be able to fail, use timeval getUptime()
 	 */

From f15424be4fef0a280385fc4d3a5eae85beba9ec5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:47:55 +0200
Subject: [PATCH 091/653] implemented missing static function

---
 osal/linux/Clock.cpp | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index e24a4fe4..630b2cf4 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -1,10 +1,10 @@
-#include <sys/time.h>
-#include <time.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/timemanager/Clock.h>
 
-
+#include <sys/time.h>
 #include <sys/sysinfo.h>
 #include <linux/sysinfo.h>
+#include <time.h>
 #include <unistd.h>
 
 //#include <fstream>
@@ -65,6 +65,15 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+timeval Clock::getUptime() {
+	timeval uptime;
+	auto result = getUptime(&uptime);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "Clock::getUptime: Error getting uptime" << std::endl;
+	}
+	return uptime;
+}
+
 ReturnValue_t Clock::getUptime(timeval* uptime) {
 	//TODO This is not posix compatible and delivers only seconds precision
 	struct sysinfo sysInfo;

From c5bb18a7884a1b1f383581a854772ca0771cf04b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:49:39 +0200
Subject: [PATCH 092/653] include improvements, nullptr used

---
 osal/FreeRTOS/Clock.cpp | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index 82c9e170..dce20265 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -1,19 +1,18 @@
 #include <framework/timemanager/Clock.h>
 #include <framework/globalfunctions/timevalOperations.h>
-#include <stdlib.h>
-#include "Timekeeper.h"
+#include <framework/osal/FreeRTOS/Timekeeper.h>
 
-extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-}
 
+#include <stdlib.h>
+#include <time.h>
 
 //TODO sanitize input?
 //TODO much of this code can be reused for tick-only systems
 
 uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
+MutexIF* Clock::timeMutex = nullptr;
 
 uint32_t Clock::getTicksPerSecond(void) {
 	return 1000;
@@ -130,7 +129,7 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
 
 ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
 	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
+	if (timeMutex == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 

From a9a23d76231564d2d5bc15836455686b618a546a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 17:51:15 +0200
Subject: [PATCH 093/653] include improvements

---
 osal/FreeRTOS/Timekeeper.cpp | 15 ++++-----------
 osal/FreeRTOS/Timekeeper.h   |  6 +++---
 2 files changed, 7 insertions(+), 14 deletions(-)

diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp
index 949e1df3..643b2747 100644
--- a/osal/FreeRTOS/Timekeeper.cpp
+++ b/osal/FreeRTOS/Timekeeper.cpp
@@ -1,17 +1,12 @@
-/**
- * @file Timekeeper.cpp
- * @date
- */
-
 #include <framework/osal/FreeRTOS/Timekeeper.h>
 
-extern "C" {
-#include <task.h>
-}
+#include "FreeRTOSConfig.h"
 
 Timekeeper * Timekeeper::myinstance = nullptr;
 
-Timekeeper::Timekeeper() : offset( { 0, 0 }) {}
+Timekeeper::Timekeeper() : offset( { 0, 0 } ) {}
+
+Timekeeper::~Timekeeper() {}
 
 const timeval& Timekeeper::getOffset() const {
 	return offset;
@@ -28,8 +23,6 @@ void Timekeeper::setOffset(const timeval& offset) {
 	this->offset = offset;
 }
 
-Timekeeper::~Timekeeper() {}
-
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 	timeval uptime;
 	uptime.tv_sec = ticks / configTICK_RATE_HZ;
diff --git a/osal/FreeRTOS/Timekeeper.h b/osal/FreeRTOS/Timekeeper.h
index 05f0f701..7d3ca22b 100644
--- a/osal/FreeRTOS/Timekeeper.h
+++ b/osal/FreeRTOS/Timekeeper.h
@@ -2,9 +2,9 @@
 #define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
 
 #include <framework/timemanager/Clock.h>
-extern "C" {
-#include <FreeRTOS.h>
-}
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 
 /**

From e5cea3ead078302df24d17ce43895ceae5c5046c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 20:31:08 +0200
Subject: [PATCH 094/653] service interface stream enhancements

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 28 +++++++++++++--------
 serviceinterface/ServiceInterfaceBuffer.h   | 28 ++++++++++++++++-----
 serviceinterface/ServiceInterfaceStream.cpp |  6 ++---
 serviceinterface/ServiceInterfaceStream.h   |  7 +++---
 4 files changed, 47 insertions(+), 22 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 58065994..2a97ab90 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -23,14 +23,16 @@ int ServiceInterfaceBuffer::sync(void) {
 	if (this->isActive) {
 		Clock::TimeOfDay_t loggerTime;
 		Clock::getDateAndTime(&loggerTime);
-		char preamble[96] = { 0 };
-		sprintf(preamble, "%s: | %lu:%02lu:%02lu.%03lu | ",
-				this->log_message.c_str(), (unsigned long) loggerTime.hour,
-				(unsigned long) loggerTime.minute,
-				(unsigned long) loggerTime.second,
-				(unsigned long) loggerTime.usecond /1000);
+		std::string preamble;
+		if(addCrToPreamble) {
+			preamble += "\r";
+		}
+		preamble += log_message + ": | " + zero_padded(loggerTime.hour, 2)
+				+ ":" + zero_padded(loggerTime.minute, 2) + ":"
+				+ zero_padded(loggerTime.second, 2) + "."
+				+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
 		// Write log_message and time
-		this->putChars(preamble, preamble + sizeof(preamble));
+		this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
 		// Handle output
 		this->putChars(pbase(), pptr());
 	}
@@ -39,9 +41,13 @@ int ServiceInterfaceBuffer::sync(void) {
 	return 0;
 }
 
+
+
 #ifndef UT699
 
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
+        uint16_t port, bool addCrToPreamble) {
+	this->addCrToPreamble = addCrToPreamble;
 	this->log_message = set_message;
 	this->isActive = true;
 	setp( buf, buf + BUF_SIZE );
@@ -55,17 +61,19 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
 	}
 	memcpy(array, begin, length);
 
-	for( ; begin != end; begin++){
+	for(; begin != end; begin++){
 		printChar(begin);
 	}
 
 }
 #endif
 
+
 #ifdef UT699
 #include <framework/osal/rtems/Interrupt.h>
 
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
+		uint16_t port) {
 	this->log_message = set_message;
 	this->isActive = true;
 	setp( buf, buf + BUF_SIZE );
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index b42c8a19..a2bc4f4b 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -2,32 +2,36 @@
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
 #include <iostream>
-#include <iosfwd>
 #include <sstream>
 #include <cstdio>
+#include <iomanip>
 
 #ifndef UT699
-class ServiceInterfaceBuffer: public std::basic_streambuf<char,
-		std::char_traits<char> > {
+class ServiceInterfaceBuffer:
+        public std::basic_streambuf<char,std::char_traits<char>> {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string set_message, uint16_t port);
+	ServiceInterfaceBuffer(std::string set_message, uint16_t port,
+			bool addCrToPreamble);
 protected:
 	bool isActive;
 	// This is called when buffer becomes full. If
 	// buffer is not used, then this is called every
 	// time when characters are put to stream.
-	virtual int overflow(int c = Traits::eof());
+	int overflow(int c = Traits::eof()) override;
 
 	// This function is called when stream is flushed,
 	// for example when std::endl is put to stream.
-	virtual int sync(void);
+	int sync(void) override;
 
 private:
 	// For additional message information
 	std::string log_message;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
+	// This is useful for some terminal programs which do not have
+	// implicit carriage return with newline characters.
+	bool addCrToPreamble;
 
 	// Work in buffer mode. It is also possible to work without buffer.
 	static size_t const BUF_SIZE = 128;
@@ -35,6 +39,18 @@ private:
 
 	// In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
+
+	template<typename T>
+	std::string zero_padded(const T& num, uint8_t width) {
+	    std::ostringstream string_to_pad;
+	    string_to_pad << std::setw(width) << std::setfill('0') << num;
+	    std::string result = string_to_pad.str();
+	    if (result.length() > width)
+	    {
+	        result.erase(0, result.length() - width);
+	    }
+	    return result;
+	}
 };
 #endif
 
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index c2979f36..40f52f1f 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -5,7 +5,7 @@ void ServiceInterfaceStream::setActive( bool myActive) {
 }
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string set_message,
-		uint16_t port) :
-		std::basic_ostream<char, std::char_traits<char> >(&buf), buf(
-				set_message, port) {
+		bool addCrToPreamble, uint16_t port) :
+		std::basic_ostream<char, std::char_traits<char>>(&buf),
+		buf(set_message, port, addCrToPreamble) {
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index df736a1b..a445dced 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -17,14 +17,15 @@ extern std::ostream error;
 }
 
 
-class ServiceInterfaceStream : public std::basic_ostream< char, std::char_traits< char > > {
+class ServiceInterfaceStream :
+        public std::basic_ostream<char, std::char_traits<char>> {
 protected:
     ServiceInterfaceBuffer buf;
 public:
-    ServiceInterfaceStream( std::string set_message, uint16_t port = 1234 );
+    ServiceInterfaceStream( std::string set_message,
+    		bool addCrToPreamble = false, uint16_t port = 1234);
 	void setActive( bool );
 };
 
 
-
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

From d4f69633f0e45c7c379d7cc9738af2859d6a8ad3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 2 Jun 2020 22:36:42 +0200
Subject: [PATCH 095/653] renamed timeout values

---
 osal/FreeRTOS/BinSemaphUsingTask.cpp      |  8 ++++----
 osal/FreeRTOS/BinSemaphUsingTask.h        |  4 ++--
 osal/FreeRTOS/BinarySemaphore.cpp         |  8 ++++----
 osal/FreeRTOS/BinarySemaphore.h           |  4 ++--
 osal/FreeRTOS/CountingSemaphUsingTask.cpp |  8 ++++----
 osal/FreeRTOS/CountingSemaphUsingTask.h   |  4 ++--
 osal/FreeRTOS/SemaphoreFactory.cpp        |  4 ++--
 osal/linux/BinarySemaphore.cpp            |  6 +++---
 osal/linux/BinarySemaphore.h              |  2 +-
 osal/linux/SemaphoreFactory.cpp           |  4 ++--
 tasks/SemaphoreIF.h                       | 19 +++++++++++++++----
 11 files changed, 41 insertions(+), 30 deletions(-)

diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp
index 8f5fd4d8..d3351888 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp
@@ -17,11 +17,11 @@ BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
 }
 
 ReturnValue_t BinarySemaphoreUsingTask::acquire(uint32_t timeoutMs) {
-	TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
-	if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
-		timeout = SemaphoreIF::MAX_TIMEOUT;
+	TickType_t timeout = SemaphoreIF::POLLING;
+	if(timeoutMs == SemaphoreIF::BLOCKING) {
+		timeout = SemaphoreIF::BLOCKING;
 	}
-	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+	else if(timeoutMs > SemaphoreIF::POLLING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 	return acquireWithTickTimeout(timeout);
diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index 48c1cd12..43772e5a 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -26,7 +26,7 @@ public:
 	virtual~ BinarySemaphoreUsingTask();
 
 	ReturnValue_t acquire(uint32_t timeoutMs =
-	        SemaphoreIF::NO_TIMEOUT) override;
+	        SemaphoreIF::BLOCKING) override;
 	ReturnValue_t release() override;
 	uint8_t getSemaphoreCounter() const override;
 	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
@@ -40,7 +40,7 @@ public:
 	 *         - @c RETURN_FAILED on failure
 	 */
 	ReturnValue_t acquireWithTickTimeout(TickType_t timeoutTicks =
-	        SemaphoreIF::NO_TIMEOUT);
+	        SemaphoreIF::BLOCKING);
 
 	/**
 	 * Get handle to the task related to the semaphore.
diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp
index b6687bb7..e6d2f92f 100644
--- a/osal/FreeRTOS/BinarySemaphore.cpp
+++ b/osal/FreeRTOS/BinarySemaphore.cpp
@@ -36,11 +36,11 @@ BinarySemaphore& BinarySemaphore::operator =(
 }
 
 ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
-	TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
-	if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
-	    timeout = SemaphoreIF::MAX_TIMEOUT;
+	TickType_t timeout = SemaphoreIF::POLLING;
+	if(timeoutMs == SemaphoreIF::BLOCKING) {
+	    timeout = SemaphoreIF::BLOCKING;
 	}
-	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+	else if(timeoutMs > SemaphoreIF::POLLING){
 	    timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 	return acquireWithTickTimeout(timeout);
diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h
index 0938dee6..2a372cd2 100644
--- a/osal/FreeRTOS/BinarySemaphore.h
+++ b/osal/FreeRTOS/BinarySemaphore.h
@@ -53,7 +53,7 @@ public:
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
 	ReturnValue_t acquire(uint32_t timeoutMs =
-	       	   SemaphoreIF::NO_TIMEOUT) override;
+			SemaphoreIF::BLOCKING) override;
 
 	/**
 	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
@@ -62,7 +62,7 @@ public:
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
 	ReturnValue_t  acquireWithTickTimeout(TickType_t timeoutTicks =
-	        BinarySemaphore::NO_TIMEOUT);
+			SemaphoreIF::BLOCKING);
 
 	/**
 	 * Release the binary semaphore.
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
index d0f63f3f..f33c7a0d 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
@@ -38,11 +38,11 @@ CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
 }
 
 ReturnValue_t CountingSemaphoreUsingTask::acquire(uint32_t timeoutMs) {
-	TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
-	if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
-		timeout = SemaphoreIF::MAX_TIMEOUT;
+	TickType_t timeout = SemaphoreIF::POLLING;
+	if(timeoutMs == SemaphoreIF::BLOCKING) {
+		timeout = SemaphoreIF::BLOCKING;
 	}
-	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+	else if(timeoutMs > SemaphoreIF::POLLING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 	return acquireWithTickTimeout(timeout);
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h
index 797e864b..f1d82c1d 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.h
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.h
@@ -31,7 +31,7 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
-	ReturnValue_t acquire(uint32_t timeoutMs = SemaphoreIF::NO_TIMEOUT) override;
+	ReturnValue_t acquire(uint32_t timeoutMs = SemaphoreIF::BLOCKING) override;
 
 	/**
 	 * Release a semaphore, increasing the number of available counting
@@ -61,7 +61,7 @@ public:
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
 	ReturnValue_t acquireWithTickTimeout(
-			TickType_t timeoutTicks = SemaphoreIF::NO_TIMEOUT);
+			TickType_t timeoutTicks = SemaphoreIF::BLOCKING);
 
 	/**
 	 * Get handle to the task related to the semaphore.
diff --git a/osal/FreeRTOS/SemaphoreFactory.cpp b/osal/FreeRTOS/SemaphoreFactory.cpp
index 05a898cd..78427f6c 100644
--- a/osal/FreeRTOS/SemaphoreFactory.cpp
+++ b/osal/FreeRTOS/SemaphoreFactory.cpp
@@ -6,8 +6,8 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-const uint32_t SemaphoreIF::NO_TIMEOUT = 0;
-const uint32_t SemaphoreIF::MAX_TIMEOUT = portMAX_DELAY;
+const uint32_t SemaphoreIF::POLLING = 0;
+const uint32_t SemaphoreIF::BLOCKING = portMAX_DELAY;
 
 static const uint32_t USE_REGULAR_SEMAPHORES = 0;
 static const uint32_t USE_TASK_NOTIFICATIONS = 1;
diff --git a/osal/linux/BinarySemaphore.cpp b/osal/linux/BinarySemaphore.cpp
index 7c76a5c4..e2ad9b58 100644
--- a/osal/linux/BinarySemaphore.cpp
+++ b/osal/linux/BinarySemaphore.cpp
@@ -27,13 +27,13 @@ BinarySemaphore& BinarySemaphore::operator =(
 
 ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
 	int result = 0;
-	if(timeoutMs == SemaphoreIF::NO_TIMEOUT) {
+	if(timeoutMs == SemaphoreIF::POLLING) {
 		result = sem_trywait(&handle);
 	}
-	else if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
+	else if(timeoutMs == SemaphoreIF::BLOCKING) {
 	    result = sem_wait(&handle);
 	}
-	else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
+	else if(timeoutMs > SemaphoreIF::POLLING){
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
diff --git a/osal/linux/BinarySemaphore.h b/osal/linux/BinarySemaphore.h
index 7836cd41..9d4ed1cd 100644
--- a/osal/linux/BinarySemaphore.h
+++ b/osal/linux/BinarySemaphore.h
@@ -50,7 +50,7 @@ public:
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
 	ReturnValue_t acquire(uint32_t timeoutMs =
-	       	   SemaphoreIF::NO_TIMEOUT) override;
+	       	   SemaphoreIF::BLOCKING) override;
 
 	/**
 	 * Release the binary semaphore.
diff --git a/osal/linux/SemaphoreFactory.cpp b/osal/linux/SemaphoreFactory.cpp
index 5aec84ea..4fbd60d9 100644
--- a/osal/linux/SemaphoreFactory.cpp
+++ b/osal/linux/SemaphoreFactory.cpp
@@ -3,8 +3,8 @@
 #include <framework/osal/linux/CountingSemaphore.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t SemaphoreIF::NO_TIMEOUT = 0;
-const uint32_t SemaphoreIF::MAX_TIMEOUT = 0xFFFFFFFF;
+const uint32_t SemaphoreIF::POLLING = 0;
+const uint32_t SemaphoreIF::BLOCKING = 0xffffffff;
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
 
diff --git a/tasks/SemaphoreIF.h b/tasks/SemaphoreIF.h
index a7c5a97b..4fc92ebd 100644
--- a/tasks/SemaphoreIF.h
+++ b/tasks/SemaphoreIF.h
@@ -21,10 +21,21 @@
 class SemaphoreIF {
 public:
 	virtual~ SemaphoreIF() {};
-	//! Needs to be defined in implementation. No blocking time
-	static const uint32_t NO_TIMEOUT;
-	//! Needs to be defined in implementation. Blocks indefinitely.
-	static const uint32_t MAX_TIMEOUT;
+	/**
+	 * @brief 	Timeout value used for polling lock attempt.
+	 * @details
+	 * If the lock is not successfull, MUTEX_TIMEOUT will be returned
+	 * immediately. Value needs to be defined in implementation.
+	 */
+	static const uint32_t POLLING;
+	/**
+	 * @brief 	Timeout value used for permanent blocking lock attempt.
+	 * @details
+	 * The task will be blocked (indefinitely) until the mutex is unlocked.
+	 * Value needs to be defined in implementation.
+	 */
+	static const uint32_t BLOCKING;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
 	//! Semaphore timeout
 	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);

From 7259a1356959ab9fb18472bfdeb45a2c88f864dd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 3 Jun 2020 23:14:17 +0200
Subject: [PATCH 096/653] more improvements:

1. New optional flag to redirect print to stderr. THis can be useful on
host environemtns (e.g linux)
2. non-buffered mode if this flag is true: the preamble msut be printed
manually
2. Getter function for preamble for that case.
3. printChar function: specify whether to print to stderr or stdout
---
 serviceinterface/ServiceInterfaceBuffer.cpp | 94 ++++++++++++---------
 serviceinterface/ServiceInterfaceBuffer.h   | 50 ++++++++---
 serviceinterface/ServiceInterfaceStream.cpp | 12 ++-
 serviceinterface/ServiceInterfaceStream.h   | 37 ++++++--
 4 files changed, 131 insertions(+), 62 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 2a97ab90..93de88b3 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -3,9 +3,42 @@
 #include <cstring>
 
 // to be implemented by bsp
-extern "C" void printChar(const char*);
+extern "C" void printChar(const char*, bool errStream);
+
+#ifndef UT699
+
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
+        bool errStream, bool addCrToPreamble, uint16_t port):
+		isActive(true), logMessage(setMessage),
+		addCrToPreamble(addCrToPreamble), errStream(errStream) {
+	if(not errStream) {
+		// Set pointers if the stream is buffered.
+		setp( buf, buf + BUF_SIZE );
+	}
+}
+
+void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+	char array[BUF_SIZE];
+	uint32_t length = end - begin;
+	if (length > sizeof(array)) {
+		length = sizeof(array);
+	}
+	memcpy(array, begin, length);
+
+	for(; begin != end; begin++){
+		printChar(begin, false);
+	}
+}
+
+#endif
 
 int ServiceInterfaceBuffer::overflow(int c) {
+	if(errStream and this->isActive) {
+		if (c != Traits::eof()) {
+			printChar(reinterpret_cast<const char*>(&c), true);
+		}
+		return 0;
+	}
 	// Handle output
 	putChars(pbase(), pptr());
 	if (c != Traits::eof()) {
@@ -20,53 +53,38 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if (this->isActive) {
-		Clock::TimeOfDay_t loggerTime;
-		Clock::getDateAndTime(&loggerTime);
-		std::string preamble;
-		if(addCrToPreamble) {
-			preamble += "\r";
+	if(not this->isActive or errStream) {
+		if(not errStream) {
+			setp(buf, buf + BUF_SIZE - 1);
 		}
-		preamble += log_message + ": | " + zero_padded(loggerTime.hour, 2)
-				+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-				+ zero_padded(loggerTime.second, 2) + "."
-				+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
-		// Write log_message and time
-		this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
-		// Handle output
-		this->putChars(pbase(), pptr());
+		return 0;
 	}
+
+	auto preamble = getPreamble();
+	// Write logMessage and time
+	this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
+	// Handle output
+	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
 	setp(buf, buf + BUF_SIZE - 1);
 	return 0;
 }
 
 
-
-#ifndef UT699
-
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
-        uint16_t port, bool addCrToPreamble) {
-	this->addCrToPreamble = addCrToPreamble;
-	this->log_message = set_message;
-	this->isActive = true;
-	setp( buf, buf + BUF_SIZE );
+std::string ServiceInterfaceBuffer::getPreamble() {
+	Clock::TimeOfDay_t loggerTime;
+	Clock::getDateAndTime(&loggerTime);
+	std::string preamble;
+	if(addCrToPreamble) {
+		preamble += "\r";
+	}
+	preamble += logMessage + ": | " + zero_padded(loggerTime.hour, 2)
+							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
+							+ zero_padded(loggerTime.second, 2) + "."
+							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
+	return preamble;
 }
 
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
-	char array[BUF_SIZE];
-	uint32_t length = end - begin;
-	if (length > sizeof(array)) {
-		length = sizeof(array);
-	}
-	memcpy(array, begin, length);
-
-	for(; begin != end; begin++){
-		printChar(begin);
-	}
-
-}
-#endif
 
 
 #ifdef UT699
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index a2bc4f4b..74facafe 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -3,43 +3,64 @@
 
 #include <iostream>
 #include <sstream>
-#include <cstdio>
 #include <iomanip>
 
 #ifndef UT699
+
+/**
+ * @brief 	This is the underlying stream buffer which implements the
+ * 			streambuf class and overloads the overflow() and sync() methods
+ * @details
+ * This class is used to modify the output of the stream, for example by adding.
+ * It also calls the char printing function which is implemented in the
+ * board supply package (BSP).
+ */
 class ServiceInterfaceBuffer:
-        public std::basic_streambuf<char,std::char_traits<char>> {
+        public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string set_message, uint16_t port,
-			bool addCrToPreamble);
+	ServiceInterfaceBuffer(std::string setMessage, bool errStream,
+			bool addCrToPreamble, uint16_t port);
+
 protected:
 	bool isActive;
-	// This is called when buffer becomes full. If
-	// buffer is not used, then this is called every
-	// time when characters are put to stream.
+	//! This is called when buffer becomes full. If
+	//! buffer is not used, then this is called every
+	//! time when characters are put to stream.
 	int overflow(int c = Traits::eof()) override;
 
-	// This function is called when stream is flushed,
-	// for example when std::endl is put to stream.
+	//! This function is called when stream is flushed,
+	//! for example when std::endl is put to stream.
 	int sync(void) override;
 
 private:
-	// For additional message information
-	std::string log_message;
+	//! For additional message information
+	std::string logMessage;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
-	// This is useful for some terminal programs which do not have
-	// implicit carriage return with newline characters.
+	//! This is useful for some terminal programs which do not have
+	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
+	//! This specifies to print to stderr and work in unbuffered mode.
+	bool errStream;
 
 	// Work in buffer mode. It is also possible to work without buffer.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
 
-	// In this function, the characters are parsed.
+	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
+	std::string getPreamble();
+
+	/**
+	 * This helper function returns the zero padded string version of a number.
+	 * The type is deduced automatically.
+	 * @tparam T
+	 * @param num
+	 * @param width
+	 * @return
+	 */
 	template<typename T>
 	std::string zero_padded(const T& num, uint8_t width) {
 	    std::ostringstream string_to_pad;
@@ -52,6 +73,7 @@ private:
 	    return result;
 	}
 };
+
 #endif
 
 
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 40f52f1f..78371548 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -1,11 +1,15 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
+		bool errStream, bool addCrToPreamble, uint16_t port) :
+		std::ostream(&buf),
+		buf(setMessage, errStream, addCrToPreamble, port) {
+}
+
 void ServiceInterfaceStream::setActive( bool myActive) {
 	this->buf.isActive = myActive;
 }
 
-ServiceInterfaceStream::ServiceInterfaceStream(std::string set_message,
-		bool addCrToPreamble, uint16_t port) :
-		std::basic_ostream<char, std::char_traits<char>>(&buf),
-		buf(set_message, port, addCrToPreamble) {
+std::string ServiceInterfaceStream::getPreamble() {
+	return buf.getPreamble();
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index a445dced..aecd45c3 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -3,11 +3,9 @@
 
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <iostream>
-#include <iosfwd>
-#include <sstream>
 #include <cstdio>
 
-// Unfortunately, there must be a forward declaration of log_fe
+// Unfortunately, there must be a forward declaration of the log front end
 // (MUST be defined in main), to let the system know where to write to.
 namespace sif {
 extern std::ostream debug;
@@ -18,14 +16,41 @@ extern std::ostream error;
 
 
 class ServiceInterfaceStream :
-        public std::basic_ostream<char, std::char_traits<char>> {
+        public std::ostream {
 protected:
     ServiceInterfaceBuffer buf;
 public:
-    ServiceInterfaceStream( std::string set_message,
-    		bool addCrToPreamble = false, uint16_t port = 1234);
+    /**
+     * This constructor is used by specifying the preamble message.
+     * Optionally, the output can be directed to stderr and a CR character
+     * can be prepended to the preamble.
+     * @param set_message
+     * @param errStream
+     * @param addCrToPreamble
+     * @param port
+     */
+    ServiceInterfaceStream(std::string setMessage,
+    		bool errStream = false, bool addCrToPreamble = false,
+			uint16_t port = 1234);
+
+    //! An inactive stream will not print anything.
 	void setActive( bool );
+
+	/**
+	 * This can be used to retrieve the preamble in case it should be printed in
+	 * the unbuffered mode.
+	 * @return Preamle consisting of log message and timestamp.
+	 */
+	std::string getPreamble();
 };
 
+// Forward declaration of interface streams. These are needed so the public
+// functions can be used by including this header
+namespace sif {
+extern ServiceInterfaceStream debugStream;
+extern ServiceInterfaceStream infoStream;
+extern ServiceInterfaceStream warningStream;
+extern ServiceInterfaceStream errorStream;
+}
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

From 9361568b4513645fb42a571659e8e060b3d374c7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 3 Jun 2020 23:28:31 +0200
Subject: [PATCH 097/653] clarifying commnet

---
 serviceinterface/ServiceInterfaceStream.h | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index aecd45c3..375a1875 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -5,8 +5,11 @@
 #include <iostream>
 #include <cstdio>
 
-// Unfortunately, there must be a forward declaration of the log front end
-// (MUST be defined in main), to let the system know where to write to.
+/* Unfortunately, there must be a forward declaration of the log front end
+ * (MUST be defined in main), to let the system know where to write to.
+ * The ServiceInterfaceStream instances, which are declared below and
+ * can instantaited somewhere else can be passed to these front ends by passing
+ * their underlying buffers with .rdbuf() */
 namespace sif {
 extern std::ostream debug;
 extern std::ostream info;

From ef1324940579d307b8ba62c1270c7db3fbaa9472 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 13:01:59 +0200
Subject: [PATCH 098/653] typedef renamed

---
 timemanager/Clock.h       | 5 +++--
 timemanager/Stopwatch.cpp | 4 ++--
 timemanager/Stopwatch.h   | 4 ++--
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 19991b81..121c63df 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -8,8 +8,9 @@
 #include <cstdint>
 #include <sys/time.h>
 
-typedef uint32_t millis_t;
-typedef double seconds_t;
+//! Don't use these for time points, type is not large enough for UNIX epoch.
+typedef uint32_t dur_millis_t;
+typedef double dur_seconds_t;
 
 class Clock {
 public:
diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index bc8b4149..52118d58 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -13,12 +13,12 @@ void Stopwatch::start() {
     Clock::getClock_timeval(&startTime);
 }
 
-millis_t Stopwatch::stop() {
+dur_millis_t Stopwatch::stop() {
     stopInternal();
     return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
 }
 
-seconds_t Stopwatch::stopSeconds() {
+dur_seconds_t Stopwatch::stopSeconds() {
     stopInternal();
     return timevalOperations::toDouble(elapsedTime);
 }
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
index 71580778..630202cc 100644
--- a/timemanager/Stopwatch.h
+++ b/timemanager/Stopwatch.h
@@ -40,12 +40,12 @@ public:
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in milliseconds (rounded)
      */
-    millis_t stop();
+    dur_millis_t stop();
     /**
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in seconds (double precision)
      */
-    seconds_t stopSeconds();
+    dur_seconds_t stopSeconds();
 
     /**
      * Displays the elapsed times on the osstream, depending on internal display

From 764608005b0934c02faedf9913ae7b3153e11ba3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 13:26:35 +0200
Subject: [PATCH 099/653] buf renamed to streambuf

---
 osal/FreeRTOS/MessageQueue.cpp              | 3 ++-
 serviceinterface/ServiceInterfaceStream.cpp | 8 ++++----
 serviceinterface/ServiceInterfaceStream.h   | 2 +-
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index e5da0442..18e7aa3d 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -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>(
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 78371548..d9bc980a 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -2,14 +2,14 @@
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
 		bool errStream, bool addCrToPreamble, uint16_t port) :
-		std::ostream(&buf),
-		buf(setMessage, errStream, addCrToPreamble, port) {
+		std::ostream(&streambuf),
+		streambuf(setMessage, errStream, addCrToPreamble, port) {
 }
 
 void ServiceInterfaceStream::setActive( bool myActive) {
-	this->buf.isActive = myActive;
+	this->streambuf.isActive = myActive;
 }
 
 std::string ServiceInterfaceStream::getPreamble() {
-	return buf.getPreamble();
+	return streambuf.getPreamble();
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 375a1875..c44fe03a 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -21,7 +21,7 @@ extern std::ostream error;
 class ServiceInterfaceStream :
         public std::ostream {
 protected:
-    ServiceInterfaceBuffer buf;
+    ServiceInterfaceBuffer streambuf;
 public:
     /**
      * This constructor is used by specifying the preamble message.

From f8fb370ae7698c8b27c86428ab01129042cedfa3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 14:08:26 +0200
Subject: [PATCH 100/653] preamble changes started

---
 osal/FreeRTOS/FixedTimeslotTask.cpp         |  2 +-
 serviceinterface/ServiceInterfaceBuffer.cpp | 65 +++++++++++++++------
 serviceinterface/ServiceInterfaceBuffer.h   |  8 ++-
 serviceinterface/ServiceInterfaceStream.cpp | 28 +++++++--
 serviceinterface/ServiceInterfaceStream.h   | 53 ++++++++---------
 5 files changed, 104 insertions(+), 52 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index fb3c3b03..549ffbf1 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -68,7 +68,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 	}
 
 	sif::error << "Component " << std::hex << componentId <<
-			" not found, not adding it to pst" << std::endl;
+			" not found, not adding it to pst\r" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 93de88b3..321b1d3c 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -8,13 +8,15 @@ extern "C" void printChar(const char*, bool errStream);
 #ifndef UT699
 
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
-        bool errStream, bool addCrToPreamble, uint16_t port):
+		bool addCrToPreamble, bool buffered , bool errStream, uint16_t port):
 		isActive(true), logMessage(setMessage),
-		addCrToPreamble(addCrToPreamble), errStream(errStream) {
-	if(not errStream) {
+		addCrToPreamble(addCrToPreamble), buffered(buffered),
+		errStream(errStream) {
+	if(buffered) {
 		// Set pointers if the stream is buffered.
 		setp( buf, buf + BUF_SIZE );
 	}
+	preamble.reserve(96);
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
@@ -26,16 +28,27 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
 	memcpy(array, begin, length);
 
 	for(; begin != end; begin++){
-		printChar(begin, false);
+		if(errStream) {
+			printChar(begin, true);
+		}
+		else {
+			printChar(begin, false);
+		}
+
 	}
 }
 
 #endif
 
 int ServiceInterfaceBuffer::overflow(int c) {
-	if(errStream and this->isActive) {
+	if(not buffered and this->isActive) {
 		if (c != Traits::eof()) {
-			printChar(reinterpret_cast<const char*>(&c), true);
+			if(errStream) {
+				printChar(reinterpret_cast<const char*>(&c), true);
+			}
+			else {
+				printChar(reinterpret_cast<const char*>(&c), false);
+			}
 		}
 		return 0;
 	}
@@ -53,16 +66,17 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if(not this->isActive or errStream) {
-		if(not errStream) {
+	if(not this->isActive) {
+		if(not buffered) {
 			setp(buf, buf + BUF_SIZE - 1);
 		}
 		return 0;
 	}
 
-	auto preamble = getPreamble();
+	size_t preambleSize  = 0;
+	auto preamble = getPreamble(&preambleSize);
 	// Write logMessage and time
-	this->putChars(preamble.c_str(), preamble.c_str() + preamble.size());
+	this->putChars(preamble.c_str(), preamble.c_str() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
@@ -71,17 +85,34 @@ int ServiceInterfaceBuffer::sync(void) {
 }
 
 
-std::string ServiceInterfaceBuffer::getPreamble() {
+std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
-	std::string preamble;
+	//preamble.clear();
+	//std::string preamble;
+	size_t currentSize = 0;
 	if(addCrToPreamble) {
-		preamble += "\r";
+		preamble[0] = '\r';
+		currentSize += 1;
 	}
-	preamble += logMessage + ": | " + zero_padded(loggerTime.hour, 2)
-							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-							+ zero_padded(loggerTime.second, 2) + "."
-							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
+	logMessage.copy(preamble.data() + 1, logMessage.size());
+	currentSize += logMessage.size();
+	preamble[++currentSize] = ':';
+	preamble[++currentSize] = ' ';
+	preamble[++currentSize] = '|';
+	zero_padded(loggerTime.hour, 2).copy(preamble.data() + )
+	//preamble.c_str() + 1 = logMessage;
+//
+//			+ ": | " + zero_padded(loggerTime.hour, 2)
+//							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
+//							+ zero_padded(loggerTime.second, 2) + "."
+//							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
+	currentSize += logMessage.size(); //+ 4 +2 +1 +2 +1 +2 +1 + 3 + 3;
+	preamble[currentSize] = '\0';
+	printf("%s", preamble.c_str());
+	uint8_t debugArray[96];
+	memcpy(debugArray, preamble.data(), currentSize);
+	*preambleSize = currentSize;
 	return preamble;
 }
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 74facafe..ab5d8c90 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -19,8 +19,8 @@ class ServiceInterfaceBuffer:
         public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string setMessage, bool errStream,
-			bool addCrToPreamble, uint16_t port);
+	ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
+			bool buffered, bool errStream, uint16_t port);
 
 protected:
 	bool isActive;
@@ -36,11 +36,13 @@ protected:
 private:
 	//! For additional message information
 	std::string logMessage;
+	std::string preamble;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
 	//! This is useful for some terminal programs which do not have
 	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
+	bool buffered;
 	//! This specifies to print to stderr and work in unbuffered mode.
 	bool errStream;
 
@@ -51,7 +53,7 @@ private:
 	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
-	std::string getPreamble();
+	std::string getPreamble(size_t * preambleSize = nullptr);
 
 	/**
 	 * This helper function returns the zero padded string version of a number.
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index d9bc980a..bef8136e 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -1,15 +1,33 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
-		bool errStream, bool addCrToPreamble, uint16_t port) :
-		std::ostream(&streambuf),
-		streambuf(setMessage, errStream, addCrToPreamble, port) {
+		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
+		std::ostream(&buf),
+		buf(setMessage, addCrToPreamble, buffered, errStream,  port) {
 }
 
 void ServiceInterfaceStream::setActive( bool myActive) {
-	this->streambuf.isActive = myActive;
+	this->buf.isActive = myActive;
 }
 
 std::string ServiceInterfaceStream::getPreamble() {
-	return streambuf.getPreamble();
+	return buf.getPreamble();
+}
+
+void ServiceInterfaceStream::print(std::string error,
+		bool withPreamble, bool withNewline, bool flush) {
+	if(not buffered and withPreamble) {
+		*this << getPreamble() << error;
+	}
+	else {
+		*this << error;
+	}
+
+	if(withNewline) {
+		*this << "\n";
+	}
+	// if mode is non-buffered, no need to flush.
+	if(flush and buffered) {
+		this->flush();
+	}
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index c44fe03a..9b8b5b6e 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -5,36 +5,28 @@
 #include <iostream>
 #include <cstdio>
 
-/* Unfortunately, there must be a forward declaration of the log front end
- * (MUST be defined in main), to let the system know where to write to.
- * The ServiceInterfaceStream instances, which are declared below and
- * can instantaited somewhere else can be passed to these front ends by passing
- * their underlying buffers with .rdbuf() */
-namespace sif {
-extern std::ostream debug;
-extern std::ostream info;
-extern std::ostream warning;
-extern std::ostream error;
-}
-
-
+/**
+ * Generic service interface stream which can be used like std::cout or
+ * std::cerr but has additional capability. Add preamble and timestamp
+ * to output. Can be run in buffered or unbuffered mode.
+ */
 class ServiceInterfaceStream :
         public std::ostream {
 protected:
-    ServiceInterfaceBuffer streambuf;
+    ServiceInterfaceBuffer buf;
 public:
     /**
      * This constructor is used by specifying the preamble message.
      * Optionally, the output can be directed to stderr and a CR character
      * can be prepended to the preamble.
-     * @param set_message
-     * @param errStream
-     * @param addCrToPreamble
-     * @param port
+     * @param setMessage message of preamble.
+     * @param addCrToPreamble Useful for applications like Puttty.
+     * @param buffered specify whether to use buffered mode.
+     * @param errStream specify which output stream to use (stderr or stdout).
      */
     ServiceInterfaceStream(std::string setMessage,
-    		bool errStream = false, bool addCrToPreamble = false,
-			uint16_t port = 1234);
+    		bool addCrToPreamble = false, bool buffered = true,
+			bool errStream = false, uint16_t port = 1234);
 
     //! An inactive stream will not print anything.
 	void setActive( bool );
@@ -45,15 +37,24 @@ public:
 	 * @return Preamle consisting of log message and timestamp.
 	 */
 	std::string getPreamble();
+
+	/**
+	 * This prints an error with a preamble. Useful if using the unbuffered
+	 * mode. Flushes in default mode (prints immediately).
+	 */
+	void print(std::string error, bool withPreamble = true,
+			bool withNewline = true, bool flush = true);
+
+	bool buffered = false;
 };
 
-// Forward declaration of interface streams. These are needed so the public
-// functions can be used by including this header
+// Forward declaration of interface streams. These should be instantiated in
+// main. They can then be used like std::cout or std::cerr.
 namespace sif {
-extern ServiceInterfaceStream debugStream;
-extern ServiceInterfaceStream infoStream;
-extern ServiceInterfaceStream warningStream;
-extern ServiceInterfaceStream errorStream;
+extern ServiceInterfaceStream debug;
+extern ServiceInterfaceStream info;
+extern ServiceInterfaceStream warning;
+extern ServiceInterfaceStream error;
 }
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

From 966c9c3993df460de712823a43c5fef04213dd53 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 14:22:04 +0200
Subject: [PATCH 101/653] buffer changes

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 52 ++++++++++++++-------
 1 file changed, 34 insertions(+), 18 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 321b1d3c..3c365f17 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -95,24 +95,40 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 		preamble[0] = '\r';
 		currentSize += 1;
 	}
-	logMessage.copy(preamble.data() + 1, logMessage.size());
-	currentSize += logMessage.size();
-	preamble[++currentSize] = ':';
-	preamble[++currentSize] = ' ';
-	preamble[++currentSize] = '|';
-	zero_padded(loggerTime.hour, 2).copy(preamble.data() + )
-	//preamble.c_str() + 1 = logMessage;
-//
-//			+ ": | " + zero_padded(loggerTime.hour, 2)
-//							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-//							+ zero_padded(loggerTime.second, 2) + "."
-//							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
-	currentSize += logMessage.size(); //+ 4 +2 +1 +2 +1 +2 +1 + 3 + 3;
-	preamble[currentSize] = '\0';
-	printf("%s", preamble.c_str());
-	uint8_t debugArray[96];
-	memcpy(debugArray, preamble.data(), currentSize);
-	*preambleSize = currentSize;
+	int32_t charCount = sprintf(preamble.data() + currentSize,
+			"%s: | %lu:%02lu:%02lu.%03lu | ",
+					this->logMessage.c_str(), (unsigned long) loggerTime.hour,
+					(unsigned long) loggerTime.minute,
+					(unsigned long) loggerTime.second,
+					(unsigned long) loggerTime.usecond /1000);
+	if(charCount < 0) {
+		printf("ServiceInterfaceBuffer: Failure parsing preamble");
+		return "";
+	}
+	currentSize += charCount;
+//	size_t currentSize = 0;
+//	if(addCrToPreamble) {
+//		preamble[0] = '\r';
+//		currentSize += 1;
+//	}
+//	logMessage.copy(preamble.data() + 1, logMessage.size());
+//	currentSize += logMessage.size();
+//	preamble[++currentSize] = ':';
+//	preamble[++currentSize] = ' ';
+//	preamble[++currentSize] = '|';
+//	zero_padded(loggerTime.hour, 2).copy(preamble.data() + )
+//	//preamble.c_str() + 1 = logMessage;
+////
+////			+ ": | " + zero_padded(loggerTime.hour, 2)
+////							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
+////							+ zero_padded(loggerTime.second, 2) + "."
+////							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
+//	currentSize += logMessage.size(); //+ 4 +2 +1 +2 +1 +2 +1 + 3 + 3;
+//	preamble[currentSize] = '\0';
+//	printf("%s", preamble.c_str());
+//	uint8_t debugArray[96];
+//	memcpy(debugArray, preamble.data(), currentSize);
+//	*preambleSize = currentSize;
 	return preamble;
 }
 

From 8e3f99a350be66308d9afabae8069426f67ce8e6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 14:59:14 +0200
Subject: [PATCH 102/653] removed object manager changes for now

---
 objectmanager/ObjectManagerIF.h | 29 +++++++++--------------------
 1 file changed, 9 insertions(+), 20 deletions(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index b5cab408..aca24a24 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -8,11 +8,10 @@
 #ifndef OBJECTMANAGERIF_H_
 #define OBJECTMANAGERIF_H_
 
-#include "systemObjectList.h"
 #include <framework/objectmanager/frameworkObjects.h>
+#include <config/objects/systemObjectList.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 /**
  * @brief	This class provides an interface to the global object manager.
@@ -25,12 +24,9 @@
  */
 class ObjectManagerIF : public HasReturnvaluesIF {
 public:
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
-	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
-	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
-	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
-
+	static const uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
+	static const ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
+	static const ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
 protected:
 	/**
 	 * @brief	This method is used to hide the template-based get call from
@@ -82,22 +78,15 @@ public:
 	virtual void printList() = 0;
 };
 
+template <typename T>
+T* ObjectManagerIF::get( object_id_t id ) {
+	SystemObjectIF* temp = this->getSystemObject(id);
+	return dynamic_cast<T*>(temp);
+}
 
 /**
  * @brief	This is the forward declaration of the global objectManager instance.
  */
 extern ObjectManagerIF *objectManager;
 
-/*Documentation can be found in the class method declaration above.*/
-template <typename T>
-T* ObjectManagerIF::get( object_id_t id ) {
-	if(objectManager == nullptr) {
-		sif::error << "ObjectManagerIF: Global object manager has not "
-				"been initialized yet!" << std::endl;
-		std::exit(0);
-	}
-	SystemObjectIF* temp = this->getSystemObject(id);
-	return dynamic_cast<T*>(temp);
-}
-
 #endif /* OBJECTMANAGERIF_H_ */

From 1d99a99bbd79942b5f034705fd74f4e599b47444 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 15:00:05 +0200
Subject: [PATCH 103/653] I now remember why I included object manager IF
 changes

---
 objectmanager/ObjectManagerIF.h | 42 ++++++++++++++++++---------------
 1 file changed, 23 insertions(+), 19 deletions(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index aca24a24..0dfb7f30 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -1,17 +1,10 @@
-/**
- * @file	ObjectManagerIF.h
- * @brief	This file contains the implementation of the ObjectManagerIF interface
- * @date	19.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef OBJECTMANAGERIF_H_
-#define OBJECTMANAGERIF_H_
+#ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
 #include <framework/objectmanager/frameworkObjects.h>
-#include <config/objects/systemObjectList.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 /**
  * @brief	This class provides an interface to the global object manager.
@@ -20,13 +13,17 @@
  * 			inserted, removed and retrieved from the list. On getting the
  * 			object, the call checks if the object implements the requested
  * 			interface.
- * \ingroup system_objects
+ * @author	Bastian Baetz
+ * @ingroup system_objects
  */
 class ObjectManagerIF : public HasReturnvaluesIF {
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
-	static const ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
-	static const ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
+	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
+	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
+	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
+	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
+
 protected:
 	/**
 	 * @brief	This method is used to hide the template-based get call from
@@ -78,15 +75,22 @@ public:
 	virtual void printList() = 0;
 };
 
-template <typename T>
-T* ObjectManagerIF::get( object_id_t id ) {
-	SystemObjectIF* temp = this->getSystemObject(id);
-	return dynamic_cast<T*>(temp);
-}
 
 /**
  * @brief	This is the forward declaration of the global objectManager instance.
  */
 extern ObjectManagerIF *objectManager;
 
+/*Documentation can be found in the class method declaration above.*/
+template <typename T>
+T* ObjectManagerIF::get( object_id_t id ) {
+	if(objectManager == nullptr) {
+		sif::error << "ObjectManagerIF: Global object manager has not "
+				"been initialized yet!" << std::endl;
+		std::exit(1);
+	}
+	SystemObjectIF* temp = this->getSystemObject(id);
+	return dynamic_cast<T*>(temp);
+}
+
 #endif /* OBJECTMANAGERIF_H_ */

From 3d175f603c0cfdb1a8b1c7185ab15ad248f164a6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 15:02:14 +0200
Subject: [PATCH 104/653] removed conflict markers

---
 storagemanager/LocalPool.h | 20 +++++++-------------
 1 file changed, 7 insertions(+), 13 deletions(-)

diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index d842294c..7e349dcd 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -1,12 +1,3 @@
-<<<<<<< HEAD
-=======
-/**
- *	@file	LocalPool
- *  @date	02.02.2012
- *	@author	Bastian Baetz
- *	@brief	This file contains the definition of the LocalPool class.
- */
->>>>>>> upstream/master
 #ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 #define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 
@@ -44,7 +35,7 @@ public:
 	/**
 	 * @brief	This is the default constructor for a pool manager instance.
 	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
-	 * 			allocates memory (with \c new) for store and size_list. These
+	 * 			allocates memory (with @c new) for store and size_list. These
 	 * 			regions are all set to zero on start up.
 	 * @param setObjectId	The object identifier to be set. This allows for
 	 * 						multiple instances of LocalPool in the system.
@@ -96,7 +87,7 @@ public:
 	ReturnValue_t initialize() override;
 protected:
 	/**
-	 * With this helper method, a free element of \c size is reserved.
+	 * With this helper method, a free element of @c size is reserved.
 	 * @param size	The minimum packet size that shall be reserved.
 	 * @param[out] address Storage ID of the reserved data.
 	 * @return	- #RETURN_OK on success,
@@ -109,7 +100,8 @@ protected:
 private:
 	/**
 	 * Indicates that this element is free.
-	 * This value limits the maximum size of a pool. Change to larger data type if increase is required.
+	 * This value limits the maximum size of a pool. Change to larger data type
+	 * if increase is required.
 	 */
 	static const uint32_t STORAGE_FREE = 0xFFFFFFFF;
 	/**
@@ -135,7 +127,9 @@ private:
 	 * 			is also dynamically allocated there.
 	 */
 	uint32_t* size_list[NUMBER_OF_POOLS];
-	bool spillsToHigherPools; //!< A variable to determine whether higher n pools are used if the store is full.
+	//! A variable to determine whether higher n pools are used if
+	//! the store is full.
+	bool spillsToHigherPools;
 	/**
 	 * @brief	This method safely stores the given data in the given packet_id.
 	 * @details	It also sets the size in size_list. The method does not perform

From a6a31801960dca7a5949daece14c1843caaa9baf Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 15:03:29 +0200
Subject: [PATCH 105/653] removed conflict markers

---
 storagemanager/PoolManager.h | 10 +---------
 1 file changed, 1 insertion(+), 9 deletions(-)

diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index cbb5d54b..7c2e8a71 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -22,20 +22,12 @@ public:
 	//! @brief	In the PoolManager's destructor all allocated memory is freed.
 	virtual ~PoolManager();
 
-<<<<<<< HEAD
 	//! @brief LocalPool overrides for thread-safety. Decorator function which
 	//! 	   wraps LocalPool calls with a mutex protection.
 	ReturnValue_t deleteData(store_address_t) override;
 	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = nullptr) override;
-=======
-	//! @brief LocalPool overrides for thread-safety.
-	ReturnValue_t deleteData(store_address_t) override;
-	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
-			store_address_t* storeId = NULL) override;
-	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
-				size_t* size) override;
->>>>>>> upstream/master
+
 protected:
 	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
 			bool ignoreFault) override;

From 1cb241ca0cb3ab729b4bf67167a3e36f5dc2bcb3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 17:30:09 +0200
Subject: [PATCH 106/653] zero padded not using dyn mem alloc now

---
 serviceinterface/ServiceInterfaceBuffer.h | 31 ++++++++++++++++-------
 1 file changed, 22 insertions(+), 9 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index ab5d8c90..a032691c 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <iostream>
 #include <sstream>
 #include <iomanip>
@@ -58,21 +59,33 @@ private:
 	/**
 	 * This helper function returns the zero padded string version of a number.
 	 * The type is deduced automatically.
+	 * TODO: This uses dynamic memory allocation, so we should provide
+	 * a custom streambuf class to use it (which takes maxSize as argument)
+	 * Then we would propably
 	 * @tparam T
 	 * @param num
 	 * @param width
 	 * @return
 	 */
 	template<typename T>
-	std::string zero_padded(const T& num, uint8_t width) {
-	    std::ostringstream string_to_pad;
-	    string_to_pad << std::setw(width) << std::setfill('0') << num;
-	    std::string result = string_to_pad.str();
-	    if (result.length() > width)
-	    {
-	        result.erase(0, result.length() - width);
-	    }
-	    return result;
+	ReturnValue_t zeroPadded(std::string stringToFill, const T& num,
+			uint8_t width) {
+		auto numString = std::to_string(num);
+		uint8_t i = 0;
+		for(i = 0; i < width; i++) {
+			stringToFill[i] = '0';
+		}
+		numString.copy(stringToFill.data() + i, numString.size());
+//		std::streambuf streambuf;
+//	    std::ostringstream string_to_pad;
+//	    string_to_pad << std::setw(width) << std::setfill('0') << num;
+//	    std::string result = string_to_pad.str();
+//	    if (result.length() > width)
+//	    {
+//	        result.erase(0, result.length() - width);
+//	    }
+//	    return result;
+	    //std::string dest = std::string( number_of_zeros, '0').append( original_string);
 	}
 };
 

From d466921aa0f5ac1adc8fe8b95f83d8b518eb7653 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 17:58:22 +0200
Subject: [PATCH 107/653] some more experiments

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 3c365f17..7cf75a36 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -75,6 +75,8 @@ int ServiceInterfaceBuffer::sync(void) {
 
 	size_t preambleSize  = 0;
 	auto preamble = getPreamble(&preambleSize);
+	uint8_t debugArray[96];
+	memcpy(debugArray, preamble.data(), preambleSize);
 	// Write logMessage and time
 	this->putChars(preamble.c_str(), preamble.c_str() + preambleSize);
 	// Handle output
@@ -124,12 +126,11 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 ////							+ zero_padded(loggerTime.second, 2) + "."
 ////							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
 //	currentSize += logMessage.size(); //+ 4 +2 +1 +2 +1 +2 +1 + 3 + 3;
-//	preamble[currentSize] = '\0';
-//	printf("%s", preamble.c_str());
-//	uint8_t debugArray[96];
-//	memcpy(debugArray, preamble.data(), currentSize);
-//	*preambleSize = currentSize;
-	return preamble;
+	preamble[++currentSize] = '\0';
+	uint8_t debugArray[96];
+	memcpy(debugArray, preamble.data(), currentSize);
+	*preambleSize = currentSize;
+	return std::move(preamble);
 }
 
 

From c0808e71d99324fd40082bbbbb16d4cbbff9a7ab Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 19:07:04 +0200
Subject: [PATCH 108/653] no dyn memory allocation, print seems to work

---
 objectmanager/ObjectManagerIF.h             |  1 -
 serviceinterface/ServiceInterfaceBuffer.cpp | 48 +++++++--------------
 serviceinterface/ServiceInterfaceBuffer.h   | 18 +-------
 3 files changed, 17 insertions(+), 50 deletions(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index aca24a24..830aa400 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -9,7 +9,6 @@
 #define OBJECTMANAGERIF_H_
 
 #include <framework/objectmanager/frameworkObjects.h>
-#include <config/objects/systemObjectList.h>
 #include <framework/objectmanager/SystemObjectIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 7cf75a36..30149ce0 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -1,6 +1,7 @@
 #include <framework/timemanager/Clock.h>
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <cstring>
+#include <inttypes.h>
 
 // to be implemented by bsp
 extern "C" void printChar(const char*, bool errStream);
@@ -17,6 +18,7 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
 		setp( buf, buf + BUF_SIZE );
 	}
 	preamble.reserve(96);
+	preamble.resize(96);
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
@@ -78,7 +80,7 @@ int ServiceInterfaceBuffer::sync(void) {
 	uint8_t debugArray[96];
 	memcpy(debugArray, preamble.data(), preambleSize);
 	// Write logMessage and time
-	this->putChars(preamble.c_str(), preamble.c_str() + preambleSize);
+	this->putChars(preamble.data(), preamble.data() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
@@ -90,47 +92,29 @@ int ServiceInterfaceBuffer::sync(void) {
 std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
-	//preamble.clear();
-	//std::string preamble;
+	std::string preamble (96, 0);
 	size_t currentSize = 0;
+	char* parsePosition = &preamble[0];
 	if(addCrToPreamble) {
 		preamble[0] = '\r';
 		currentSize += 1;
+		parsePosition += 1;
 	}
-	int32_t charCount = sprintf(preamble.data() + currentSize,
-			"%s: | %lu:%02lu:%02lu.%03lu | ",
-					this->logMessage.c_str(), (unsigned long) loggerTime.hour,
-					(unsigned long) loggerTime.minute,
-					(unsigned long) loggerTime.second,
-					(unsigned long) loggerTime.usecond /1000);
+	int32_t charCount = sprintf(parsePosition,
+			"%s: | %02" SCNu32 ":%02" SCNu32 ":%02" SCNu32 ".%03" SCNu32 " | ",
+					this->logMessage.c_str(), loggerTime.hour,
+					loggerTime.minute,
+					loggerTime.second,
+					loggerTime.usecond /1000);
 	if(charCount < 0) {
 		printf("ServiceInterfaceBuffer: Failure parsing preamble");
 		return "";
 	}
 	currentSize += charCount;
-//	size_t currentSize = 0;
-//	if(addCrToPreamble) {
-//		preamble[0] = '\r';
-//		currentSize += 1;
-//	}
-//	logMessage.copy(preamble.data() + 1, logMessage.size());
-//	currentSize += logMessage.size();
-//	preamble[++currentSize] = ':';
-//	preamble[++currentSize] = ' ';
-//	preamble[++currentSize] = '|';
-//	zero_padded(loggerTime.hour, 2).copy(preamble.data() + )
-//	//preamble.c_str() + 1 = logMessage;
-////
-////			+ ": | " + zero_padded(loggerTime.hour, 2)
-////							+ ":" + zero_padded(loggerTime.minute, 2) + ":"
-////							+ zero_padded(loggerTime.second, 2) + "."
-////							+ zero_padded(loggerTime.usecond/1000, 3) + " | ";
-//	currentSize += logMessage.size(); //+ 4 +2 +1 +2 +1 +2 +1 + 3 + 3;
-	preamble[++currentSize] = '\0';
-	uint8_t debugArray[96];
-	memcpy(debugArray, preamble.data(), currentSize);
-	*preambleSize = currentSize;
-	return std::move(preamble);
+	if(preambleSize != nullptr) {
+		*preambleSize = currentSize;
+	}
+	return preamble;
 }
 
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index a032691c..9a4ae479 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -76,29 +76,13 @@ private:
 			stringToFill[i] = '0';
 		}
 		numString.copy(stringToFill.data() + i, numString.size());
-//		std::streambuf streambuf;
-//	    std::ostringstream string_to_pad;
-//	    string_to_pad << std::setw(width) << std::setfill('0') << num;
-//	    std::string result = string_to_pad.str();
-//	    if (result.length() > width)
-//	    {
-//	        result.erase(0, result.length() - width);
-//	    }
-//	    return result;
-	    //std::string dest = std::string( number_of_zeros, '0').append( original_string);
+		return HasReturnvaluesIF::RETURN_OK;
 	}
 };
 
 #endif
 
 
-
-
-
-
-
-
-
 #ifdef UT699
 class ServiceInterfaceBuffer: public std::basic_streambuf<char,
 		std::char_traits<char> > {

From 3a573c1b4c460cb19163d8bb9f319b501657f1e8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 19:37:33 +0200
Subject: [PATCH 109/653] no run-time dyn memory allocation now

---
 serviceinterface/ServiceInterfaceBuffer.cpp |  8 +++++-
 serviceinterface/ServiceInterfaceBuffer.h   | 28 ++----------------
 serviceinterface/ServiceInterfaceStream.cpp | 13 ++++-----
 serviceinterface/ServiceInterfaceStream.h   | 32 ++++++++++-----------
 4 files changed, 31 insertions(+), 50 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 30149ce0..f1332637 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -68,12 +68,15 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if(not this->isActive) {
+	if(not this->isActive and not buffered) {
 		if(not buffered) {
 			setp(buf, buf + BUF_SIZE - 1);
 		}
 		return 0;
 	}
+	if(not buffered) {
+		return 0;
+	}
 
 	size_t preambleSize  = 0;
 	auto preamble = getPreamble(&preambleSize);
@@ -88,6 +91,9 @@ int ServiceInterfaceBuffer::sync(void) {
 	return 0;
 }
 
+bool ServiceInterfaceBuffer::isBuffered() const {
+	return buffered;
+}
 
 std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 9a4ae479..00a8e74a 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -34,6 +34,7 @@ protected:
 	//! for example when std::endl is put to stream.
 	int sync(void) override;
 
+	bool isBuffered() const;
 private:
 	//! For additional message information
 	std::string logMessage;
@@ -43,10 +44,10 @@ private:
 	//! This is useful for some terminal programs which do not have
 	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
-	bool buffered;
+
 	//! This specifies to print to stderr and work in unbuffered mode.
 	bool errStream;
-
+	bool buffered;
 	// Work in buffer mode. It is also possible to work without buffer.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
@@ -55,29 +56,6 @@ private:
 	void putChars(char const* begin, char const* end);
 
 	std::string getPreamble(size_t * preambleSize = nullptr);
-
-	/**
-	 * This helper function returns the zero padded string version of a number.
-	 * The type is deduced automatically.
-	 * TODO: This uses dynamic memory allocation, so we should provide
-	 * a custom streambuf class to use it (which takes maxSize as argument)
-	 * Then we would propably
-	 * @tparam T
-	 * @param num
-	 * @param width
-	 * @return
-	 */
-	template<typename T>
-	ReturnValue_t zeroPadded(std::string stringToFill, const T& num,
-			uint8_t width) {
-		auto numString = std::to_string(num);
-		uint8_t i = 0;
-		for(i = 0; i < width; i++) {
-			stringToFill[i] = '0';
-		}
-		numString.copy(stringToFill.data() + i, numString.size());
-		return HasReturnvaluesIF::RETURN_OK;
-	}
 };
 
 #endif
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index bef8136e..76481ed1 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -2,21 +2,20 @@
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
 		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
-		std::ostream(&buf),
-		buf(setMessage, addCrToPreamble, buffered, errStream,  port) {
-}
+		std::ostream(&streambuf),
+		streambuf(setMessage, addCrToPreamble, buffered, errStream, port) {}
 
 void ServiceInterfaceStream::setActive( bool myActive) {
-	this->buf.isActive = myActive;
+	this->streambuf.isActive = myActive;
 }
 
 std::string ServiceInterfaceStream::getPreamble() {
-	return buf.getPreamble();
+	return streambuf.getPreamble();
 }
 
 void ServiceInterfaceStream::print(std::string error,
 		bool withPreamble, bool withNewline, bool flush) {
-	if(not buffered and withPreamble) {
+	if(not streambuf.isBuffered() and withPreamble) {
 		*this << getPreamble() << error;
 	}
 	else {
@@ -27,7 +26,7 @@ void ServiceInterfaceStream::print(std::string error,
 		*this << "\n";
 	}
 	// if mode is non-buffered, no need to flush.
-	if(flush and buffered) {
+	if(flush and streambuf.isBuffered()) {
 		this->flush();
 	}
 }
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 9b8b5b6e..9e19c228 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -10,25 +10,22 @@
  * std::cerr but has additional capability. Add preamble and timestamp
  * to output. Can be run in buffered or unbuffered mode.
  */
-class ServiceInterfaceStream :
-        public std::ostream {
-protected:
-    ServiceInterfaceBuffer buf;
+class ServiceInterfaceStream : public std::ostream {
 public:
-    /**
-     * This constructor is used by specifying the preamble message.
-     * Optionally, the output can be directed to stderr and a CR character
-     * can be prepended to the preamble.
-     * @param setMessage message of preamble.
-     * @param addCrToPreamble Useful for applications like Puttty.
-     * @param buffered specify whether to use buffered mode.
-     * @param errStream specify which output stream to use (stderr or stdout).
-     */
-    ServiceInterfaceStream(std::string setMessage,
-    		bool addCrToPreamble = false, bool buffered = true,
+	/**
+	 * This constructor is used by specifying the preamble message.
+	 * Optionally, the output can be directed to stderr and a CR character
+	 * can be prepended to the preamble.
+	 * @param setMessage message of preamble.
+	 * @param addCrToPreamble Useful for applications like Puttty.
+	 * @param buffered specify whether to use buffered mode.
+	 * @param errStream specify which output stream to use (stderr or stdout).
+	 */
+	ServiceInterfaceStream(std::string setMessage,
+			bool addCrToPreamble = false, bool buffered = true,
 			bool errStream = false, uint16_t port = 1234);
 
-    //! An inactive stream will not print anything.
+	//! An inactive stream will not print anything.
 	void setActive( bool );
 
 	/**
@@ -45,7 +42,8 @@ public:
 	void print(std::string error, bool withPreamble = true,
 			bool withNewline = true, bool flush = true);
 
-	bool buffered = false;
+protected:
+	ServiceInterfaceBuffer streambuf;
 };
 
 // Forward declaration of interface streams. These should be instantiated in

From 7014833c1c89938d0475e88a7a57b628933051e5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 19:50:56 +0200
Subject: [PATCH 110/653] improvements and fixes

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 15 ++++++++-------
 serviceinterface/ServiceInterfaceBuffer.h   |  9 +++++++--
 2 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index f1332637..5c80862c 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -17,8 +17,8 @@ ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
 		// Set pointers if the stream is buffered.
 		setp( buf, buf + BUF_SIZE );
 	}
-	preamble.reserve(96);
-	preamble.resize(96);
+	preamble.reserve(MAX_PREAMBLE_SIZE);
+	preamble.resize(MAX_PREAMBLE_SIZE);
 }
 
 void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
@@ -36,7 +36,6 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
 		else {
 			printChar(begin, false);
 		}
-
 	}
 }
 
@@ -80,8 +79,6 @@ int ServiceInterfaceBuffer::sync(void) {
 
 	size_t preambleSize  = 0;
 	auto preamble = getPreamble(&preambleSize);
-	uint8_t debugArray[96];
-	memcpy(debugArray, preamble.data(), preambleSize);
 	// Write logMessage and time
 	this->putChars(preamble.data(), preamble.data() + preambleSize);
 	// Handle output
@@ -98,7 +95,6 @@ bool ServiceInterfaceBuffer::isBuffered() const {
 std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
-	std::string preamble (96, 0);
 	size_t currentSize = 0;
 	char* parsePosition = &preamble[0];
 	if(addCrToPreamble) {
@@ -113,7 +109,12 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 					loggerTime.second,
 					loggerTime.usecond /1000);
 	if(charCount < 0) {
-		printf("ServiceInterfaceBuffer: Failure parsing preamble");
+		printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
+		return "";
+	}
+	if(charCount > MAX_PREAMBLE_SIZE) {
+		printf("ServiceInterfaceBuffer: Char count too large for maximum "
+				"preamble size");
 		return "";
 	}
 	currentSize += charCount;
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 00a8e74a..39ea25c2 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -20,6 +20,8 @@ class ServiceInterfaceBuffer:
         public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
+	static constexpr uint8_t MAX_PREAMBLE_SIZE = 40;
+
 	ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
 			bool buffered, bool errStream, uint16_t port);
 
@@ -41,14 +43,17 @@ private:
 	std::string preamble;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
+
 	//! This is useful for some terminal programs which do not have
 	//! implicit carriage return with newline characters.
 	bool addCrToPreamble;
 
+	//! Specifies whether the stream operates in buffered or unbuffered mode.
+	bool buffered;
 	//! This specifies to print to stderr and work in unbuffered mode.
 	bool errStream;
-	bool buffered;
-	// Work in buffer mode. It is also possible to work without buffer.
+
+	//! Needed for buffered mode.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
 

From 639b517edaffc63094870cd1bcdcdb9bed9229ca Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 19:57:25 +0200
Subject: [PATCH 111/653] removed unnecessary change

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 549ffbf1..fb3c3b03 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -68,7 +68,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 	}
 
 	sif::error << "Component " << std::hex << componentId <<
-			" not found, not adding it to pst\r" << std::endl;
+			" not found, not adding it to pst" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 

From 56340bb8b69b6a02e733960693f497b29aa75a17 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 20:12:37 +0200
Subject: [PATCH 112/653] free rtos mutex improvements

---
 ipc/MutexIF.h           | 17 +++++++++++++++--
 osal/FreeRTOS/Mutex.cpp | 12 ++++++------
 osal/FreeRTOS/Mutex.h   |  2 +-
 3 files changed, 22 insertions(+), 9 deletions(-)

diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index dcb1cf33..29e59e58 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -12,8 +12,21 @@
  */
 class MutexIF {
 public:
-	static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.
-	static const uint32_t MAX_TIMEOUT;
+	/**
+	 * @brief 	Timeout value used for polling lock attempt.
+	 * @details
+	 * If the lock is not successfull, MUTEX_TIMEOUT will be returned
+	 * immediately. Value needs to be defined in implementation.
+	 */
+	static const uint32_t POLLING;
+	/**
+	 * @brief 	Timeout value used for permanent blocking lock attempt.
+	 * @details
+	 * The task will be blocked (indefinitely) until the mutex is unlocked.
+	 * Value needs to be defined in implementation.
+	 */
+	static const uint32_t BLOCKING;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
 	/**
 	 * The system lacked the necessary resources (other than memory) to initialize another mutex.
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index cc2f865f..6d90c3f6 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -2,8 +2,8 @@
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::NO_TIMEOUT = 0;
-const uint32_t MutexIF::MAX_TIMEOUT = portMAX_DELAY;
+const uint32_t MutexIF::POLLING = 0;
+const uint32_t MutexIF::BLOCKING = portMAX_DELAY;
 
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
@@ -23,11 +23,11 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if (handle == nullptr) {
 		return MutexIF::MUTEX_NOT_FOUND;
 	}
-	TickType_t timeout = MutexIF::NO_TIMEOUT;
-	if(timeoutMs == MutexIF::MAX_TIMEOUT) {
-		timeout = MutexIF::MAX_TIMEOUT;
+	TickType_t timeout = MutexIF::POLLING;
+	if(timeoutMs == MutexIF::BLOCKING) {
+		timeout = MutexIF::BLOCKING;
 	}
-	else if(timeoutMs > MutexIF::NO_TIMEOUT){
+	else if(timeoutMs > MutexIF::POLLING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index 90e82467..d6e0aab9 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -18,7 +18,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::MAX_TIMEOUT) override;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
 	ReturnValue_t unlockMutex() override;
 private:
 	SemaphoreHandle_t handle;

From 869700e6f52eca5efe8b1c5a20e5923730b51d8e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 20:20:38 +0200
Subject: [PATCH 113/653] added mutex IF timeout name

---
 datapool/DataPool.cpp                   |  2 +-
 events/EventManager.cpp                 |  2 +-
 health/HealthTable.cpp                  | 12 ++++++------
 internalError/InternalErrorReporter.cpp | 18 +++++++++---------
 osal/FreeRTOS/Clock.cpp                 |  4 ++--
 osal/linux/Mutex.cpp                    |  8 ++++++--
 storagemanager/PoolManager.h            |  6 +++---
 7 files changed, 28 insertions(+), 24 deletions(-)

diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp
index 70a2a3fb..2c226c54 100644
--- a/datapool/DataPool.cpp
+++ b/datapool/DataPool.cpp
@@ -61,7 +61,7 @@ ReturnValue_t DataPool::freeDataPoolLock() {
 }
 
 ReturnValue_t DataPool::lockDataPool() {
-	ReturnValue_t status = mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
 	if ( status != RETURN_OK ) {
 		sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
 	}
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 0f1511e4..c7d9cf8f 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -147,7 +147,7 @@ void EventManager::printEvent(EventMessage* message) {
 #endif
 
 void EventManager::lockMutex() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 }
 
 void EventManager::unlockMutex() {
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index a575b282..d0e5485a 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -26,7 +26,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
 
 void HealthTable::setHealth(object_id_t object,
 		HasHealthIF::HealthState newState) {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		iter->second = newState;
@@ -36,7 +36,7 @@ void HealthTable::setHealth(object_id_t object,
 
 HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 	HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		state = iter->second;
@@ -46,7 +46,7 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 }
 
 uint32_t HealthTable::getPrintSize() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	uint32_t size = healthMap.size() * 5 + 2;
 	mutex->unlockMutex();
 	return size;
@@ -54,7 +54,7 @@ uint32_t HealthTable::getPrintSize() {
 
 bool HealthTable::hasHealth(object_id_t object) {
 	bool exits = false;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		exits = true;
@@ -64,7 +64,7 @@ bool HealthTable::hasHealth(object_id_t object) {
 }
 
 void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	uint32_t size = 0;
 	uint16_t count = healthMap.size();
 	ReturnValue_t result = SerializeAdapter<uint16_t>::serialize(&count,
@@ -85,7 +85,7 @@ void HealthTable::printAll(uint8_t* pointer, uint32_t maxSize) {
 ReturnValue_t HealthTable::iterate(
 		std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	if (reset) {
 		mapIterator = healthMap.begin();
 	}
diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp
index 9a8ede00..dbcd2622 100644
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@@ -54,7 +54,7 @@ void InternalErrorReporter::lostTm() {
 
 uint32_t InternalErrorReporter::getAndResetQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = queueHits;
 	queueHits = 0;
 	mutex->unlockMutex();
@@ -63,21 +63,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
 
 uint32_t InternalErrorReporter::getQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = queueHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementQueueHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	queueHits++;
 	mutex->unlockMutex();
 }
 
 uint32_t InternalErrorReporter::getAndResetTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = tmHits;
 	tmHits = 0;
 	mutex->unlockMutex();
@@ -86,14 +86,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
 
 uint32_t InternalErrorReporter::getTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = tmHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementTmHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	tmHits++;
 	mutex->unlockMutex();
 }
@@ -104,7 +104,7 @@ void InternalErrorReporter::storeFull() {
 
 uint32_t InternalErrorReporter::getAndResetStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = storeHits;
 	storeHits = 0;
 	mutex->unlockMutex();
@@ -113,14 +113,14 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
 
 uint32_t InternalErrorReporter::getStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = storeHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementStoreHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	storeHits++;
 	mutex->unlockMutex();
 }
diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index cffc2125..589f44d5 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -154,7 +154,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 	if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -169,7 +169,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 	if (timeMutex == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index 36bb3ce4..62fbccd7 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -2,7 +2,8 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/timemanager/Clock.h>
 
-const uint32_t MutexIF::NO_TIMEOUT = 0;
+const uint32_t MutexIF::POLLING = 0;
+const uint32_t MutexIF::NO_TIMEOUT = 0xffffffff;
 uint8_t Mutex::count = 0;
 
 
@@ -39,7 +40,10 @@ Mutex::~Mutex() {
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	int status = 0;
-	if (timeoutMs != MutexIF::NO_TIMEOUT) {
+	if(timeoutMs == MutexIF::POLLING) {
+		status = pthread_mutex_trylock(&mutex);
+	}
+	else if (timeoutMs != MutexIF::BLOCKING) {
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 68a7addc..5fd9b5f7 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -49,7 +49,7 @@ public:
 
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,address,ignoreFault);
 	return status;
 }
@@ -70,7 +70,7 @@ template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 		store_address_t packet_id) {
 	//	debug << "PoolManager( " << translateObject(getObjectId()) << " )::deleteData from store " << packet_id.pool_index << ". id is " << packet_id.packet_index << std::endl;
-		MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+		MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 		ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
 		return status;
 }
@@ -78,7 +78,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer, uint32_t size,
 		store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer, size, storeId);
 	return status;
 }

From fbf804cdca0c13e0d272af81f09493550f1ee13d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 4 Jun 2020 20:25:15 +0200
Subject: [PATCH 114/653] linux changes for mutex

---
 osal/linux/Clock.cpp |  4 ++--
 osal/linux/Mutex.cpp | 10 ++++++----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index e24a4fe4..53a597d6 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -170,7 +170,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -185,7 +185,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 	if(timeMutex==NULL){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index 62fbccd7..169ac354 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -3,7 +3,7 @@
 #include <framework/timemanager/Clock.h>
 
 const uint32_t MutexIF::POLLING = 0;
-const uint32_t MutexIF::NO_TIMEOUT = 0xffffffff;
+const uint32_t MutexIF::BLOCKING = 0xffffffff;
 uint8_t Mutex::count = 0;
 
 
@@ -43,7 +43,10 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if(timeoutMs == MutexIF::POLLING) {
 		status = pthread_mutex_trylock(&mutex);
 	}
-	else if (timeoutMs != MutexIF::BLOCKING) {
+	else if (timeoutMs == MutexIF::BLOCKING) {
+		status = pthread_mutex_lock(&mutex);
+	}
+	else {
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
@@ -51,9 +54,8 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 		timeOut.tv_sec = nseconds / 1000000000;
 		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
 		status = pthread_mutex_timedlock(&mutex, &timeOut);
-	} else {
-		status = pthread_mutex_lock(&mutex);
 	}
+
 	switch (status) {
 	case EINVAL:
 		//The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling.

From cef5fda3796754ae28b3982a8de2bdca6c92a86e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 13:43:06 +0200
Subject: [PATCH 115/653] refactored initializer list

---
 datapool/PoolEntry.cpp     | 35 ++++++++------
 datapool/PoolEntry.h       | 95 +++++++++++++++++++++++++-------------
 datapool/PoolEntryIF.h     | 57 +++++++++++------------
 datapool/PoolRawAccess.cpp |  2 +
 4 files changed, 111 insertions(+), 78 deletions(-)

diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index 1d8d2486..a87a6c4e 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -1,26 +1,34 @@
 #include <framework/datapool/PoolEntry.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/globalfunctions/printer.h>
+#include <cstring>
 
 template <typename T>
-PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t set_length,
-		uint8_t set_valid ) : length(set_length), valid(set_valid) {
+PoolEntry<T>::PoolEntry(std::initializer_list<T> initValue, uint8_t setLength,
+		bool setValid ) : length(setLength), valid(setValid) {
 	this->address = new T[this->length];
 	if(initValue.size() == 0) {
-		memset(this->address, 0, this->getByteSize());
+		std::memset(this->address, 0, this->getByteSize());
+	}
+	else if (initValue.size() != setLength){
+		sif::warning << "PoolEntry: setLength is not equal to initializer list"
+				"length! Performing zero initialization with given setLength"
+				<< std::endl;
+		std::memset(this->address, 0, this->getByteSize());
 	}
 	else {
-		memcpy(this->address, initValue.begin(), this->getByteSize());
+		std::copy(initValue.begin(), initValue.end(), this->address);
 	}
 }
 
 template <typename T>
-PoolEntry<T>::PoolEntry( T* initValue, uint8_t set_length, uint8_t set_valid ) :
-		length(set_length), valid(set_valid) {
+PoolEntry<T>::PoolEntry( T* initValue, uint8_t setLength, bool setValid ) :
+		length(setLength), valid(setValid) {
 	this->address = new T[this->length];
 	if (initValue != nullptr) {
-		memcpy(this->address, initValue, this->getByteSize() );
+		std::memcpy(this->address, initValue, this->getByteSize() );
 	} else {
-		memset(this->address, 0, this->getByteSize() );
+		std::memset(this->address, 0, this->getByteSize() );
 	}
 }
 
@@ -47,21 +55,20 @@ void* PoolEntry<T>::getRawData() {
 }
 
 template <typename T>
-void PoolEntry<T>::setValid( uint8_t isValid ) {
+void PoolEntry<T>::setValid(bool isValid) {
 	this->valid = isValid;
 }
 
 template <typename T>
-uint8_t PoolEntry<T>::getValid() {
+bool PoolEntry<T>::getValid() {
 	return valid;
 }
 
 template <typename T>
 void PoolEntry<T>::print() {
-	for (uint8_t size = 0; size < this->length; size++ ) {
-		sif::debug << "| " << std::hex << (double)this->address[size]
-		           << (this->valid? " (valid) " : " (invalid) ");
-	}
+	 sif::debug << "Pool Entry Validity: " <<
+			 (this->valid? " (valid) " : " (invalid) ") << std::endl;
+	printer::print(reinterpret_cast<uint8_t*>(address), length);
 	sif::debug << std::dec << std::endl;
 }
 
diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h
index 4487db72..1a22bb63 100644
--- a/datapool/PoolEntry.h
+++ b/datapool/PoolEntry.h
@@ -1,59 +1,86 @@
-#ifndef POOLENTRY_H_
-#define POOLENTRY_H_
+#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
+#define FRAMEWORK_DATAPOOL_POOLENTRY_H_
 
 #include <framework/datapool/PoolEntryIF.h>
-#include <cstddef>
-#include <cstring>
+
 #include <initializer_list>
 #include <type_traits>
+#include <cstddef>
+
 /**
  * @brief	This is a small helper class that defines a single data pool entry.
  * @details
  * The helper is used to store all information together with the data as a
- * single data pool entry.The content's type is defined by the template argument.
- * It is prepared for use with plain old data types, but may be extended to
- * complex types if necessary. It can be initialized with a certain value,
- * size and validity flag. It holds a pointer to the real data and offers
- * methods to access this data and to acquire additional information
- * (such as validity and array/byte size). It is NOT intended to be used
- * outside the DataPool class.
+ * single data pool entry. The content's type is defined by the template
+ * argument.
+ *
+ * It is prepared for use with plain old data types, but may be
+ * extended to complex types if necessary. It can be initialized with a
+ * certain value, size and validity flag.
+ *
+ * It holds a pointer to the real data and offers methods to access this data
+ * and to acquire additional information (such as validity and array/byte size).
+ * It is NOT intended to be used outside DataPool implementations as it performs
+ * dynamic memory allocation.
  *
  * @ingroup data_pool
- *
  */
 template <typename T>
 class PoolEntry : public PoolEntryIF {
 public:
 	static_assert(not std::is_same<T, bool>::value,
-				"Do not use boolean for the PoolEntry type, use uint8_t instead!"
-				"Warum? Darum :-)");
+				"Do not use boolean for the PoolEntry type, use uint8_t "
+				"instead! The ECSS standard defines a boolean as a one bit "
+				"field. Therefore it is preferred to store a boolean as an "
+				"uint8_t");
 	/**
 	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.
-	 * @param initValue	Initializer list with values to initialize with
-	 * @param set_length	Defines the array length of this entry.
-	 * @param set_valid		Sets the initialization flag.
-	 * 						It is invalid (0) by default.
+	 * @details
+	 * Not passing any arguments will initialize an non-array pool entry
+	 * (setLength = 1) with an initial invalid state.
+	 * Please note that if an initializer list is passed, the correct
+	 * corresponding length should be passed too, otherwise a zero
+	 * initialization will be performed with the given setLength.
+	 * @param initValue
+	 * Initializer list with values to initialize with, for example {0,0} to
+	 * initialize the two entries to zero.
+	 * @param setLength
+	 * Defines the array length of this entry. Should be equal to the
+	 * intializer list length.
+	 * @param setValid
+	 * Sets the initialization flag. It is invalid by default.
 	 */
-	PoolEntry(std::initializer_list<T> initValue = {}, uint8_t set_length = 1,
-			uint8_t set_valid = 0);
+	PoolEntry(std::initializer_list<T> initValue = {}, uint8_t setLength = 1,
+			bool setValid = false);
 	/**
 	 * @brief	In the classe's constructor, space is allocated on the heap and
 	 * 			potential init values are copied to that space.
-	 * @param initValue	A pointer to the single value or array that holds
-	 *  the init value. With the default value (nullptr), the entry is
-	 *  initalized with all 0.
-	 * @param set_length	Defines the array length of this entry.
-	 * @param set_valid		Sets the initialization flag. It is invalid (0) by default.
+	 * @param initValue
+	 * A pointer to the single value or array that holds the init value.
+	 * With the default value (nullptr), the entry is initalized with all 0.
+	 * @param setLength
+	 * Defines the array length of this entry.
+	 * @param setValid
+	 * Sets the initialization flag. It is invalid by default.
 	 */
-	PoolEntry(T* initValue = nullptr, uint8_t set_length = 1, uint8_t set_valid = 0);
+	PoolEntry(T* initValue, uint8_t setLength = 1, bool setValid = false);
+
+	//! Explicitely deleted copy ctor, copying is not allowed!
+	PoolEntry(const PoolEntry&) = delete;
+	//! Explicitely deleted copy assignment, copying is not allowed!
+	PoolEntry& operator=(const PoolEntry&) = delete;
 
 	/**
-	 * @brief	The allocated memory for the variable is freed in the destructor.
-	 * @details	As the data pool is global, this dtor is only called on program exit.
-	 * PoolEntries shall never be copied, as a copy might delete the variable on the heap.
+	 * @brief	The allocated memory for the variable is freed
+	 * 			in the destructor.
+	 * @details
+	 * As the data pool is global, this dtor is only called on program exit.
+	 * PoolEntries shall never be copied, as a copy might delete the variable
+	 * on the heap.
 	 */
 	~PoolEntry();
+
 	/**
 	 * @brief	This is the address pointing to the allocated memory.
 	 */
@@ -82,13 +109,15 @@ public:
 	 */
 	void* getRawData();
 	/**
-	 * @brief	This method allows to set the valid information of the pool entry.
+	 * @brief	This method allows to set the valid information
+	 * 			of the pool entry.
 	 */
-	void setValid( uint8_t isValid );
+	void setValid( bool isValid );
 	/**
-	 * @brief	This method allows to get the valid information of the pool entry.
+	 * @brief	This method allows to get the valid information
+	 * 			of the pool entry.
 	 */
-	uint8_t getValid();
+	bool getValid();
 	/**
 	 * @brief	This is a debug method that prints all values and the valid
 	 * 			information to the screen. It prints all array entries in a row.
diff --git a/datapool/PoolEntryIF.h b/datapool/PoolEntryIF.h
index 514e67ef..a075436e 100644
--- a/datapool/PoolEntryIF.h
+++ b/datapool/PoolEntryIF.h
@@ -1,62 +1,57 @@
-/**
- * \file	PoolEntryIF.h
- *
- * \brief	This file holds the class that defines the Interface for Pool Entry elements.
- *
- * \date	10/18/2012
- *
- * \author	Bastian Baetz
- */
-
-#ifndef POOLENTRYIF_H_
-#define POOLENTRYIF_H_
+#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
+#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
 
 #include <framework/globalfunctions/Type.h>
-#include <stdint.h>
-
-
+#include <cstdint>
 
 /**
- * \brief	This interface defines the access possibilities to a single data pool entry.
+ * @brief	This interface defines the access possibilities to a
+ * 			single data pool entry.
+ * @details
+ * The interface provides methods to determine the size and the validity
+ * information of a value. It also defines a method to receive a pointer to the
+ * raw data content. It is mainly used by DataPool itself, but also as a
+ * return pointer.
  *
- * \details	The interface provides methods to determine the size and the validity information of a value.
- * 			It also defines a method to receive a pointer to the raw data content.
- * 			It is mainly used by DataPool itself, but also as a return pointer.
- *
- *	\ingroup data_pool
+ * @author	Bastian Baetz
+ * @ingroup data_pool
  *
  */
 class PoolEntryIF {
 public:
 	/**
-	 * \brief	This is an empty virtual destructor, as it is proposed for C++ interfaces.
+	 * @brief	This is an empty virtual destructor,
+	 * 			as it is required for C++ interfaces.
 	 */
 	virtual ~PoolEntryIF() {
 	}
 	/**
-	 * \brief	getSize returns the array size of the entry. A single variable parameter has size 1.
+	 * @brief	getSize returns the array size of the entry.
+	 * 			A single variable parameter has size 1.
 	 */
 	virtual uint8_t getSize() = 0;
 	/**
-	 * \brief	This operation returns the size in bytes, which is calculated by
+	 * @brief	This operation returns the size in bytes, which is calculated by
 	 * 			sizeof(type) * array_size.
 	 */
 	virtual uint16_t getByteSize() = 0;
 	/**
-	 * \brief	This operation returns a the address pointer casted to void*.
+	 * @brief	This operation returns a the address pointer casted to void*.
 	 */
 	virtual void* getRawData() = 0;
 	/**
-	 * \brief	This method allows to set the valid information of the pool entry.
+	 * @brief	This method allows to set the valid information of the pool entry.
 	 */
-	virtual void setValid(uint8_t isValid) = 0;
+	virtual void setValid(bool isValid) = 0;
 	/**
-	 * \brief	This method allows to set the valid information of the pool entry.
+	 * @brief	This method allows to set the valid information of the pool entry.
 	 */
-	virtual uint8_t getValid() = 0;
+	virtual bool getValid() = 0;
 	/**
-	 * \brief	This is a debug method that prints all values and the valid information to the screen.
-	 * 			It prints all array entries in a row.
+	 * @brief	This is a debug method that prints all values and the valid
+	 * 			information to the screen. It prints all array entries in a row.
+	 * @details
+	 * Also displays whether the pool entry is valid or invalid.
 	 */
 	virtual void print() = 0;
 	/**
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index ba68bcd2..fd81b894 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -4,6 +4,8 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/osal/Endiness.h>
 
+#include <cstring>
+
 PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
 		DataSetIF* data_set, ReadWriteMode_t setReadWriteMode) :
 		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(Type::UNKNOWN_TYPE), typeSize(

From 03e9362825e474b26fe79fc9405104496bdac221 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 5 Jun 2020 20:42:39 +0200
Subject: [PATCH 116/653] mutex helper special output for timeout fail

---
 ipc/MutexHelper.h | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index 671cd5a6..20760b32 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -9,8 +9,12 @@ public:
 	MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
 			internalMutex(mutex) {
 		ReturnValue_t status = mutex->lockMutex(timeoutMs);
-		if(status != HasReturnvaluesIF::RETURN_OK){
-			sif::error << "MutexHelper: Lock of Mutex failed " <<
+		if(status == MutexIF::MUTEX_TIMEOUT) {
+			sif::error << "MutexHelper: Lock of mutex failed with timeout of"
+					<< timeoutMs << " milliseconds!" << std::endl;
+		}
+		else if(status != HasReturnvaluesIF::RETURN_OK){
+			sif::error << "MutexHelper: Lock of Mutex failed with code " <<
 					status << std::endl;
 		}
 	}

From 9c766c123d965726805e8a7f471dda7f91f621f2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 20:56:09 +0200
Subject: [PATCH 117/653] device command iter was uninitialized

---
 devicehandlers/DeviceHandlerBase.cpp | 20 +++++++++++---------
 1 file changed, 11 insertions(+), 9 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 338ed9b2..054112b1 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -31,19 +31,21 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
 		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
 		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
-		switchOffWasReported(false), actionHelper(this, nullptr), cookieInfo(),
+		switchOffWasReported(false), actionHelper(this, nullptr),
 		childTransitionDelay(5000),
 		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
 		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			CommandMessage::MAX_MESSAGE_SIZE);
-	cookieInfo.state = COOKIE_UNUSED;
 	insertInCommandMap(RAW_COMMAND_ID);
+	cookieInfo.state = COOKIE_UNUSED;
+	cookieInfo.pendingCommand = deviceCommandMap.end();
 	if (comCookie == nullptr) {
 		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
 				std::setw(8) << std::setfill('0') << this->getObjectId() <<
 				std::dec << ": Do not pass nullptr as a cookie, consider "
-				"passing a dummy cookie instead!" << std::endl;
+				<< std::setfill(' ') << "passing a dummy cookie instead!" <<
+				std::endl;
 	}
 	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
@@ -553,12 +555,12 @@ void DeviceHandlerBase::doSendRead() {
 	ReturnValue_t result;
 
 	size_t requestLen = 0;
-	DeviceReplyIter iter = deviceReplyMap.find(cookieInfo.pendingCommand->first);
-	if(iter != deviceReplyMap.end()) {
-		requestLen = iter->second.replyLen;
-	}
-	else {
-		requestLen = 0;
+	if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
+		DeviceReplyIter iter = deviceReplyMap.find(
+				cookieInfo.pendingCommand->first);
+		if(iter != deviceReplyMap.end()) {
+			requestLen = iter->second.replyLen;
+		}
 	}
 
 	result = communicationInterface->requestReceiveMessage(comCookie, requestLen);

From 20abb810f2ba16ab9781e07bd0c06c7fde4e9efb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 8 Jun 2020 14:11:38 +0200
Subject: [PATCH 118/653] i hope this is correct

---
 osal/rtems/Mutex.cpp | 3 ++-
 osal/rtems/Mutex.h   | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index d094e1dc..0c1675b1 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,7 +1,8 @@
 #include "Mutex.h"
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT;
+const uint32_t MutexIF::BLOCKING = RTEMS_NO_TIMEOUT;
+const uint32_t MutexIF::POLLING = RTEMS_NO_WAIT;
 uint8_t Mutex::count = 0;
 
 Mutex::Mutex() :
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 19b34e7f..486055ba 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -1,5 +1,5 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
+#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
 
 #include <framework/ipc/MutexIF.h>
 #include "RtemsBasic.h"

From b5567e8aae90e5f87e6d94b45b9c51889387bb41 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 9 Jun 2020 13:26:27 +0200
Subject: [PATCH 119/653] rtems mutex update

---
 osal/rtems/Mutex.cpp | 17 +++++++++++++++--
 osal/rtems/Mutex.h   |  2 +-
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index 0c1675b1..5487a503 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,7 +1,7 @@
 #include "Mutex.h"
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::BLOCKING = RTEMS_NO_TIMEOUT;
+const uint32_t MutexIF::BLOCKING = RTEMS_WAIT;
 const uint32_t MutexIF::POLLING = RTEMS_NO_WAIT;
 uint8_t Mutex::count = 0;
 
@@ -26,7 +26,20 @@ Mutex::~Mutex() {
 }
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs);
+	if(timeoutMs == MutexIF::BLOCKING) {
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_WAIT, timeoutMs);
+	}
+	else if(timeoutMs == MutexIF::POLLING) {
+		timeoutMs = RTEMS_NO_TIMEOUT;
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_NO_WAIT, timeoutMs);
+	}
+	else {
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_NO_WAIT, timeoutMs);
+	}
+
 	switch(status){
 	case RTEMS_SUCCESSFUL:
 		//semaphore obtained successfully
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 486055ba..4aa25e40 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -8,7 +8,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs);
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING);
 	ReturnValue_t unlockMutex();
 private:
 	rtems_id mutexId;

From 860cdba94d4cb6d1de1ba59f4a0f1dd68f761549 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 20:28:44 +0200
Subject: [PATCH 120/653] subservicve passed to handleRequest()

---
 tmtcservices/PusServiceBase.cpp | 3 ++-
 tmtcservices/PusServiceBase.h   | 7 +++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index b1d97293..c27defe6 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -29,7 +29,8 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 			this->currentPacket.setStoreAddress(message.getStorageId());
 			//	info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
 
-			ReturnValue_t return_code = this->handleRequest();
+			ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService());
+
 			// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
 			if (return_code == RETURN_OK) {
 				this->verifyReporter.sendSuccessReport(
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index d318ff1e..dbb1754c 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -30,7 +30,10 @@ void setStaticFrameworkObjectIds();
  * All PUS Services are System Objects, so an Object ID needs to be specified on construction.
  * \ingroup pus_services
  */
-class PusServiceBase : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject, public HasReturnvaluesIF {
+class PusServiceBase : public ExecutableObjectIF,
+        public AcceptsTelecommandsIF,
+        public SystemObject,
+        public HasReturnvaluesIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
@@ -63,7 +66,7 @@ public:
 	 * @return	The returned status_code is directly taken as main error code in the Verification Report.
 	 * 			On success, RETURN_OK shall be returned.
 	 */
-	virtual ReturnValue_t handleRequest() = 0;
+	virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
 	/**
 	 * In performService, implementations can handle periodic, non-TC-triggered activities.
 	 * The performService method is always called.

From ed7b4e2a3a88142ff6ff1aed74e3f0cb009c85ea Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 20:49:30 +0200
Subject: [PATCH 121/653] PSB improvements

---
 objectmanager/ObjectManager.cpp |  1 +
 tmtcservices/PusServiceBase.cpp | 74 +++++++++++++++++++--------------
 tmtcservices/PusServiceBase.h   |  8 ++--
 3 files changed, 49 insertions(+), 34 deletions(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index cfdf6562..1c54355a 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -1,5 +1,6 @@
 #include <framework/objectmanager/ObjectManager.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <iomanip>
 #include <cstdlib>
 
 ObjectManager::ObjectManager( void (*setProducer)() ):
diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index c27defe6..f5d1e30b 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -9,10 +9,11 @@
 object_id_t PusServiceBase::packetSource = 0;
 object_id_t PusServiceBase::packetDestination = 0;
 
-PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) :
-		SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1(
-				0), errorParameter2(0), requestQueue(NULL) {
-	requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
+PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid,
+		uint8_t setServiceId) :
+		SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
+	requestQueue = QueueFactory::instance()->
+			createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
 }
 
 PusServiceBase::~PusServiceBase() {
@@ -20,51 +21,60 @@ PusServiceBase::~PusServiceBase() {
 }
 
 ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
+	handleRequestQueue();
+	ReturnValue_t result = this->performService();
+	if (result != RETURN_OK) {
+		sif::error << "PusService " << (uint16_t) this->serviceId
+				<< ": performService returned with " << (int16_t) result
+				<< std::endl;
+		return RETURN_FAILED;
+	}
+	return RETURN_OK;
+}
+
+void PusServiceBase::handleRequestQueue() {
 	TmTcMessage message;
+	ReturnValue_t result = RETURN_FAILED;
 	for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
 		ReturnValue_t status = this->requestQueue->receiveMessage(&message);
-		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId()
-		// << std::dec << " returned: " << status << std::endl;
+		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: "
+		//      << std::hex << this->requestQueue.getId()
+		//      << std::dec << " returned: " << status << std::endl;
 		if (status == RETURN_OK) {
 			this->currentPacket.setStoreAddress(message.getStorageId());
-			//	info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
+			//info << "Service " << (uint16_t) this->serviceId <<
+			//     ": new packet!" << std::endl;
 
-			ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService());
+			result = this->handleRequest(currentPacket.getSubService());
 
-			// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
-			if (return_code == RETURN_OK) {
+			// debug << "Service " << (uint16_t)this->serviceId <<
+			//    ": handleRequest returned: " << (int)return_code << std::endl;
+			if (result == RETURN_OK) {
 				this->verifyReporter.sendSuccessReport(
 						TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
-			} else {
+			}
+			else {
 				this->verifyReporter.sendFailureReport(
 						TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket,
-						return_code, 0, errorParameter1, errorParameter2);
+						result, 0, errorParameter1, errorParameter2);
 			}
 			this->currentPacket.deletePacket();
 			errorParameter1 = 0;
 			errorParameter2 = 0;
-		} else if (status == MessageQueueIF::EMPTY) {
+		}
+		else if (status == MessageQueueIF::EMPTY) {
 			status = RETURN_OK;
-			// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
+			// debug << "PusService " << (uint16_t)this->serviceId <<
+			//      ": no new packet." << std::endl;
 			break;
-		} else {
-
+		}
+		else {
 			sif::error << "PusServiceBase::performOperation: Service "
 					<< (uint16_t) this->serviceId
 					<< ": Error receiving packet. Code: " << std::hex << status
 					<< std::dec << std::endl;
 		}
 	}
-	ReturnValue_t return_code = this->performService();
-	if (return_code == RETURN_OK) {
-		return RETURN_OK;
-	} else {
-
-		sif::error << "PusService " << (uint16_t) this->serviceId
-				<< ": performService returned with " << (int16_t) return_code
-				<< std::endl;
-		return RETURN_FAILED;
-	}
 }
 
 uint16_t PusServiceBase::getIdentifier() {
@@ -80,19 +90,21 @@ ReturnValue_t PusServiceBase::initialize() {
 	if (result != RETURN_OK) {
 		return result;
 	}
-	AcceptsTelemetryIF* dest_service = objectManager->get<AcceptsTelemetryIF>(
+	AcceptsTelemetryIF* destService = objectManager->get<AcceptsTelemetryIF>(
 			packetDestination);
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((dest_service != NULL) && (distributor != NULL)) {
+	if ((destService != nullptr) && (distributor != nullptr)) {
 		this->requestQueue->setDefaultDestination(
-				dest_service->getReportReceptionQueue());
+				destService->getReportReceptionQueue());
 		distributor->registerService(this);
 		return RETURN_OK;
-	} else {
+	}
+	else {
 		sif::error << "PusServiceBase::PusServiceBase: Service "
 				<< (uint32_t) this->serviceId << ": Configuration error."
-				<< " Make sure packetSource and packetDestination are defined correctly" << std::endl;
+				<< " Make sure packetSource and packetDestination are defined "
+			       "correctly" << std::endl;
 		return RETURN_FAILED;
 	}
 }
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index dbb1754c..5f741410 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -97,16 +97,16 @@ protected:
 	/**
 	 * One of two error parameters for additional error information.
 	 */
-	uint32_t errorParameter1;
+	uint32_t errorParameter1 = 0;
 	/**
 	 * One of two error parameters for additional error information.
 	 */
-	uint32_t errorParameter2;
+	uint32_t errorParameter2 = 0;
 	/**
 	 * This is a complete instance of the Telecommand reception queue of the class.
 	 * It is initialized on construction of the class.
 	 */
-	MessageQueueIF* requestQueue;
+	MessageQueueIF* requestQueue = nullptr;
 	/**
 	 * An instance of the VerificationReporter class, that simplifies sending any kind of
 	 * Verification Message to the TC Verification Service.
@@ -127,6 +127,8 @@ private:
 	 * Remember that one packet must be completely handled in one #handleRequest call.
 	 */
 	static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
+
+	void handleRequestQueue();
 };
 
 #endif /* PUSSERVICEBASE_H_ */

From 39d5fe34bb3ee1ddda0d8724ec4beb3459eed783 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 21:36:21 +0200
Subject: [PATCH 122/653] better include guard, doc form improvement

---
 tmtcservices/PusServiceBase.h | 80 +++++++++++++++++++++--------------
 1 file changed, 48 insertions(+), 32 deletions(-)

diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 5f741410..39600c41 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -1,5 +1,5 @@
-#ifndef PUSSERVICEBASE_H_
-#define PUSSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
@@ -9,7 +9,6 @@
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/tmtcservices/VerificationCodes.h>
 #include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 
 namespace Factory{
@@ -17,18 +16,22 @@ void setStaticFrameworkObjectIds();
 }
 
 /**
- * \defgroup pus_services PUS Service Framework
+ * @defgroup pus_services PUS Service Framework
  * These group contains all implementations of PUS Services in the OBSW.
  * Most of the Services are directly taken from the ECSS PUS Standard.
  */
 
 /**
- * \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
- * It manages Telecommand reception and the generation of Verification Reports. Every class that inherits
- * from this abstract class has to implement handleRequest and performService. Services that are created with this
+ * @brief 	This class is the basis for all PUS Services,
+ * 			which can immediately process Telecommand Packets.
+ * @details
+ * It manages Telecommand reception and the generation of Verification Reports.
+ * Every class that inherits from this abstract class has to implement
+ * handleRequest and performService. Services that are created with this
  * Base class have to handle any kind of request immediately on reception.
- * All PUS Services are System Objects, so an Object ID needs to be specified on construction.
- * \ingroup pus_services
+ * All PUS Services are System Objects, so an Object ID needs to be specified
+ * on construction.
+ * @ingroup pus_services
  */
 class PusServiceBase : public ExecutableObjectIF,
         public AcceptsTelecommandsIF,
@@ -37,49 +40,61 @@ class PusServiceBase : public ExecutableObjectIF,
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
-	 * The constructor for the class.
-	 * The passed values are set, but inter-object initialization is done in the initialize method.
-	 * @param setObjectId		The system object identifier of this Service instance.
-	 * @param set_apid			The APID the Service is instantiated for.
-	 * @param set_service_id	The Service Identifier as specified in ECSS PUS.
+	 * @brief	The passed values are set, but inter-object initialization is
+	 * 			done in the initialize method.
+	 * @param setObjectId
+	 * The system object identifier of this Service instance.
+	 * @param setApid
+	 * The APID the Service is instantiated for.
+	 * @param setServiceId
+	 * The Service Identifier as specified in ECSS PUS.
 	 */
-	PusServiceBase(	object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId);
+	PusServiceBase(	object_id_t setObjectId, uint16_t setApid,
+			uint8_t setServiceId);
 	/**
 	 * The destructor is empty.
 	 */
 	virtual ~PusServiceBase();
 	/**
-	 * @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
+	 * @brief 	The handleRequest method shall handle any kind of Telecommand
+	 * 			Request immediately.
 	 * @details
-	 * Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
-	 * They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
-	 * Success or Failure Reports are generated automatically after execution of this method.
+	 * Implemetations can take the Telecommand in currentPacket and perform
+	 * any kind of operation.
+	 * They may send additional "Start Success (1,3)" messages with the
+	 * verifyReporter, but Completion Success or Failure Reports are generated
+	 * automatically after execution of this method.
 	 *
 	 * If a Telecommand can not be executed within one call cycle,
 	 * this Base class is not the right parent.
 	 *
-	 * The child class may add additional error information by setting #errorParameters which are
-	 * attached to the generated verification message.
+	 * The child class may add additional error information by setting
+	 * #errorParameters which aren attached to the generated verification
+	 * message.
 	 *
 	 * Subservice checking should be implemented in this method.
 	 *
-	 * @return	The returned status_code is directly taken as main error code in the Verification Report.
+	 * @return	The returned status_code is directly taken as main error code
+	 * 			in the Verification Report.
 	 * 			On success, RETURN_OK shall be returned.
 	 */
 	virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
 	/**
-	 * In performService, implementations can handle periodic, non-TC-triggered activities.
+	 * In performService, implementations can handle periodic,
+	 * non-TC-triggered activities.
 	 * The performService method is always called.
-	 * @return	A success or failure code that does not trigger any kind of verification message.
+	 * @return	Currently, everything other that RETURN_OK only triggers
+	 * 			diagnostic output.
 	 */
 	virtual ReturnValue_t performService() = 0;
 	/**
 	 * This method implements the typical activity of a simple PUS Service.
-	 * It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
+	 * It checks for new requests, and, if found, calls handleRequest, sends
+	 * completion verification messages and deletes
 	 * the TC requests afterwards.
 	 * performService is always executed afterwards.
-	 * @return	\c RETURN_OK if the periodic performService was successful.
-	 * 			\c RETURN_FAILED else.
+	 * @return	@c RETURN_OK if the periodic performService was successful.
+	 * 			@c RETURN_FAILED else.
 	 */
 	ReturnValue_t performOperation(uint8_t opCode);
 	virtual uint16_t getIdentifier();
@@ -103,13 +118,13 @@ protected:
 	 */
 	uint32_t errorParameter2 = 0;
 	/**
-	 * This is a complete instance of the Telecommand reception queue of the class.
-	 * It is initialized on construction of the class.
+	 * This is a complete instance of the telecommand reception queue
+	 * of the class. It is initialized on construction of the class.
 	 */
 	MessageQueueIF* requestQueue = nullptr;
 	/**
-	 * An instance of the VerificationReporter class, that simplifies sending any kind of
-	 * Verification Message to the TC Verification Service.
+	 * An instance of the VerificationReporter class, that simplifies
+	 * sending any kind of verification message to the TC Verification Service.
 	 */
 	VerificationReporter verifyReporter;
 	/**
@@ -124,7 +139,8 @@ protected:
 private:
 	/**
 	 * This constant sets the maximum number of packets accepted per call.
-	 * Remember that one packet must be completely handled in one #handleRequest call.
+	 * Remember that one packet must be completely handled in one
+	 * #handleRequest call.
 	 */
 	static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
 

From 5dc2133c3a4218f5027955fc77c3a505f0e948f4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 21:41:48 +0200
Subject: [PATCH 123/653] CSB improvements

---
 tmtcservices/CommandingServiceBase.cpp | 56 +++++++++++++-------------
 tmtcservices/CommandingServiceBase.h   | 48 +++++++++++-----------
 2 files changed, 54 insertions(+), 50 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index d70b9042..adc9400f 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -218,9 +218,9 @@ void CommandingServiceBase::handleRequestQueue() {
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		const uint8_t* data, uint32_t dataLen, const uint8_t* headerData,
-		uint32_t headerSize) {
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+		const uint8_t* data, size_t dataLen, const uint8_t* headerData,
+		size_t headerSize) {
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, headerData, headerSize);
 	ReturnValue_t result = tmPacketStored.sendPacket(
@@ -228,36 +228,38 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		this->tmPacketCounter++;
 	}
+	return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
-	uint8_t buffer[sizeof(object_id_t)];
-	uint8_t* pBuffer = buffer;
-	uint32_t size = 0;
-	SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
-			sizeof(object_id_t), true);
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
-			this->tmPacketCounter, data, dataLen, buffer, size);
-	ReturnValue_t result = tmPacketStored.sendPacket(
-			requestQueue->getDefaultDestination(), requestQueue->getId());
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		this->tmPacketCounter++;
-	}
-
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+        object_id_t objectId, const uint8_t *data, size_t dataLen) {
+    uint8_t buffer[sizeof(object_id_t)];
+    uint8_t* pBuffer = buffer;
+    size_t size = 0;
+    SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
+            sizeof(object_id_t), true);
+    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, data, dataLen, buffer, size);
+    ReturnValue_t result = tmPacketStored.sendPacket(
+            requestQueue->getDefaultDestination(), requestQueue->getId());
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        this->tmPacketCounter++;
+    }
+    return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		SerializeIF* content, SerializeIF* header) {
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
-			this->tmPacketCounter, content, header);
-	ReturnValue_t result = tmPacketStored.sendPacket(
-			requestQueue->getDefaultDestination(), requestQueue->getId());
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		this->tmPacketCounter++;
-	}
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+        SerializeIF* content, SerializeIF* header) {
+    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, content, header);
+    ReturnValue_t result = tmPacketStored.sendPacket(
+            requestQueue->getDefaultDestination(), requestQueue->getId());
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        this->tmPacketCounter++;
+    }
+    return result;
 }
 
 
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index bf2e8242..e79e806d 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -125,7 +125,7 @@ protected:
 	 *         - @c CSB or implementation specific return codes
 	 */
 	virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-			const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
 			object_id_t *objectId) = 0;
 
 	/**
@@ -133,18 +133,16 @@ protected:
 	 * the command is prepared by using an implementation specific CommandMessage type
 	 * which is sent to the target object.
 	 * It contains all necessary information for the device to execute telecommands.
-	 * @param message[out] message to be sent to the object
-	 * @param subservice[in] Subservice of the current communication
-	 * @param tcData Additional data of the command
-	 * @param tcDataLen Length of the additional data
-	 * @param state[out] Setable state of the communication
+	 * @param message
+	 * @param subservice
+	 * @param tcData
+	 * @param tcDataLen
+	 * @param state
 	 * @param objectId Target object ID
-	 * @return - @c RETURN_OK on success
-     *         - @c EXECUTION_COMPLETE if exectuin is finished 
-     *         - any other return code will be part of (1,4) start failure
+	 * @return
 	 */
 	virtual ReturnValue_t prepareCommand(CommandMessage *message,
-			uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
 			uint32_t *state, object_id_t objectId) = 0;
 
 	/**
@@ -152,10 +150,10 @@ protected:
 	 * and the respective PUS Commanding Service once the execution has started.
 	 * The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
 	 * There are different translations of these replies to specify how the Command Service proceeds.
-	 * @param reply Command Message which contains information about the command
-	 * @param previousCommand Command_t of last command
-	 * @param state state of the communication
-	 * @param optionalNextCommand[out] An optional next command which can be set in this function
+	 * @param reply[out] Command Message which contains information about the command
+	 * @param previousCommand [out]
+	 * @param state
+	 * @param optionalNextCommand
 	 * @param objectId Source object ID
 	 * @param isStep Flag value to mark steps of command execution
 	 * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
@@ -215,34 +213,38 @@ protected:
 	PeriodicTaskIF* executingTask;
 
 	/**
-	 * Send TM data from pointer to data. If a header is supplied it is added before data
+	 * @brief   Send TM data from pointer to data.
+	 *          If a header is supplied it is added before data
 	 * @param subservice Number of subservice
 	 * @param data Pointer to the data in the Packet
 	 * @param dataLen Lenght of data in the Packet
 	 * @param headerData HeaderData will be placed before data
 	 * @param headerSize Size of HeaderData
 	 */
-	void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen,
-			const uint8_t* headerData = NULL, uint32_t headerSize = 0);
+	ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
+	        size_t dataLen, const uint8_t* headerData = nullptr,
+	        size_t headerSize = 0);
 
 	/**
-	 * To send TM packets of objects that still need to be serialized and consist of an object ID with appended data
+	 * @brief   To send TM packets of objects that still need to be serialized
+	 *          and consist of an object ID with appended data.
 	 * @param subservice Number of subservice
 	 * @param objectId ObjectId is placed before data
 	 * @param data Data to append to the packet
 	 * @param dataLen Length of Data
 	 */
-	void sendTmPacket(uint8_t subservice, object_id_t objectId,
-			const uint8_t *data, uint32_t dataLen);
+	ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
+			const uint8_t *data, size_t dataLen);
 
 	/**
-	 * To send packets has data which is in form of a SerializeIF or Adapters implementing it
+	 * @brief   To send packets which are contained inside a class implementing
+	 *          SerializeIF.
 	 * @param subservice Number of subservice
 	 * @param content This is a pointer to the serialized packet
 	 * @param header Serialize IF header which will be placed before content
 	 */
-	void sendTmPacket(uint8_t subservice, SerializeIF* content,
-			SerializeIF* header = NULL);
+	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
+			SerializeIF* header = nullptr);
 
 	virtual void handleUnrequestedReply(CommandMessage *reply);
 

From 482aedfaf23cca466dcd9bb060b6238ac63f185c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 22:13:49 +0200
Subject: [PATCH 124/653] cleaned up includes, improved doc

---
 tmtcservices/CommandingServiceBase.cpp |  27 +++---
 tmtcservices/CommandingServiceBase.h   | 114 ++++++++++++++-----------
 2 files changed, 76 insertions(+), 65 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index adc9400f..361baf3b 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -1,22 +1,21 @@
-/*
- * CommandingServiceBase.cpp
- *
- *  Created on: 28.08.2019
- *      Author: gaisser
- */
+#include <framework/tcdistribution/PUSDistributorIF.h>
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
 
 #include <framework/tmtcservices/CommandingServiceBase.h>
+#include <framework/tmtcservices/TmTcMessage.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcpacket/pus/TcPacketStored.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
 
 CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
 		uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
-		uint16_t commandTimeout_seconds, object_id_t setPacketSource,
+		uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
 		object_id_t setPacketDestination, size_t queueDepth) :
-		SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
-				commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
-		NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
-				numberOfParallelCommands), failureParameter1(0), failureParameter2(
-				0), packetSource(setPacketSource), packetDestination(
-				setPacketDestination),executingTask(NULL) {
+		SystemObject(setObjectId), apid(apid), service(service),
+		timeoutSeconds(commandTimeoutSeconds),
+		commandMap(numberOfParallelCommands), packetSource(setPacketSource),
+		packetDestination(setPacketDestination) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 	requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }
@@ -369,7 +368,7 @@ void CommandingServiceBase::checkTimeout() {
 	typename FixedMap<MessageQueueId_t,
 			CommandingServiceBase::CommandInfo>::Iterator iter;
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
-		if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
+		if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index e79e806d..37f6891c 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -1,35 +1,33 @@
-#ifndef COMMANDINGSERVICEBASE_H_
-#define COMMANDINGSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
-#include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
-#include <framework/serialize/SerializeAdapter.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include <framework/ipc/MessageQueueIF.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/tmtcservices/TmTcMessage.h>
+
 #include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/timemanager/Clock.h>
+#include <framework/ipc/CommandMessage.h>
+#include <framework/container/FixedMap.h>
+#include <framework/container/FIFO.h>
+#include <framework/serialize/SerializeIF.h>
+
+class TcPacketStored;
 
 /**
- * \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus.
+ * @brief 	This class is the basis for all PUS Services, which have to
+ * 			relay Telecommands to software bus.
  *
- * It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase.
- * Every class that inherits from this abstract class has to implement four adaption points:
+ * It manages Telecommand reception and the generation of Verification Reports
+ * similar to PusServiceBase. This class is used if a telecommand can't be
+ * handled immediately and must be relayed to the internal software bus.
  *   - isValidSubservice
  *   - getMessageQueueAndObject
  *   - prepareCommand
  *   - handleReply
- * \ingroup pus_services
+ * @author gaisser
+ * @ingroup pus_services
  */
 class CommandingServiceBase: public SystemObject,
 		public AcceptsTelecommandsIF,
@@ -59,7 +57,7 @@ public:
 	 */
 	CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
 			uint8_t service, uint8_t numberOfParallelCommands,
-			uint16_t commandTimeout_seconds, object_id_t setPacketSource,
+			uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
 			object_id_t setPacketDestination, size_t queueDepth = 20);
 	virtual ~CommandingServiceBase();
 
@@ -113,8 +111,9 @@ protected:
 	virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
 
 	/**
-	 * Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
-	 * The target message queue ID can then be acquired by using the target interface.
+	 * Once a TC Request is valid, the existence of the destination and its
+	 * target interface is checked and retrieved. The target message queue ID
+	 * can then be acquired by using the target interface.
 	 * @param subservice
 	 * @param tcData Application Data of TC Packet
 	 * @param tcDataLen
@@ -129,10 +128,10 @@ protected:
 			object_id_t *objectId) = 0;
 
 	/**
-	 * After the Message Queue and Object ID are determined,
-	 * the command is prepared by using an implementation specific CommandMessage type
-	 * which is sent to the target object.
-	 * It contains all necessary information for the device to execute telecommands.
+	 * After the Message Queue and Object ID are determined, the command is
+	 * prepared by using an implementation specific CommandMessage type
+	 * which is sent to the target object. It contains all necessary information
+	 * for the device to execute telecommands.
 	 * @param message
 	 * @param subservice
 	 * @param tcData
@@ -146,25 +145,40 @@ protected:
 			uint32_t *state, object_id_t objectId) = 0;
 
 	/**
-	 * This function is responsible for the communication between the Command Service Base
-	 * and the respective PUS Commanding Service once the execution has started.
-	 * The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
-	 * There are different translations of these replies to specify how the Command Service proceeds.
-	 * @param reply[out] Command Message which contains information about the command
-	 * @param previousCommand [out]
-	 * @param state
-	 * @param optionalNextCommand
+	 * This function is implemented by child services to specify how replies
+	 * to a command from another software component are handled
+	 * @param reply
+	 * This is the reply in form of a command message.
+	 * @param previousCommand
+	 * Command_t of related command
+	 * @param state [out/in]
+	 * Additional parameter which can be used to pass state information.
+	 * State of the communication
+	 * @param optionalNextCommand [out]
+	 * An optional next command which can be set in this function
 	 * @param objectId Source object ID
 	 * @param isStep Flag value to mark steps of command execution
-	 * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
-	 *         - @c INVALID_REPLY can handle unrequested replies
-	 *         - Anything else triggers a TC verification failure
+	 * @return
+	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
+	 *   generate TC verification success
+	 * - @c INVALID_REPLY calls handleUnrequestedReply
+	 * - Anything else triggers a TC verification failure
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessage *reply,
 			Command_t previousCommand, uint32_t *state,
 			CommandMessage *optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
 
+	/**
+	 * This function can be overidden to handle unrequested reply,
+	 * when the reply sender ID is unknown or is not found is the command map.
+	 * @param reply
+	 */
+	virtual void handleUnrequestedReply(CommandMessage *reply);
+
+	virtual void doPeriodicOperation();
+
+
 	struct CommandInfo {
 		struct tcInfo {
 			uint8_t ackFlags;
@@ -184,33 +198,35 @@ protected:
 
 	const uint8_t service;
 
-	const uint16_t timeout_seconds;
+	const uint16_t timeoutSeconds;
 
-	uint8_t tmPacketCounter;
+	uint8_t tmPacketCounter = 0;
 
-	StorageManagerIF *IPCStore;
+	StorageManagerIF *IPCStore = nullptr;
 
-	StorageManagerIF *TCStore;
+	StorageManagerIF *TCStore = nullptr;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
-	MessageQueueIF* requestQueue;
+	MessageQueueIF* requestQueue = nullptr;
 
 	VerificationReporter verificationReporter;
 
 	FixedMap<MessageQueueId_t, CommandInfo> commandMap;
 
-	uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition.
-	uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition.
+	/* May be set be children to return a more precise failure condition. */
+	uint32_t failureParameter1 = 0;
+	uint32_t failureParameter2 = 0;
 
 	object_id_t packetSource;
 
 	object_id_t packetDestination;
 
 	/**
-	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 * Pointer to the task which executes this component,
+	 * is invalid before setTaskIF was called.
 	 */
-	PeriodicTaskIF* executingTask;
+	PeriodicTaskIF* executingTask = nullptr;
 
 	/**
 	 * @brief   Send TM data from pointer to data.
@@ -246,10 +262,6 @@ protected:
 	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = nullptr);
 
-	virtual void handleUnrequestedReply(CommandMessage *reply);
-
-	virtual void doPeriodicOperation();
-
 	void checkAndExecuteFifo(
 			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
 

From 534fddd2c6443f52bfedbe3532cd4263470ee18c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 22:19:08 +0200
Subject: [PATCH 125/653] added back comment removed for unknown reasons

---
 tmtcservices/CommandingServiceBase.h | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 37f6891c..f97eabb0 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -132,11 +132,12 @@ protected:
 	 * prepared by using an implementation specific CommandMessage type
 	 * which is sent to the target object. It contains all necessary information
 	 * for the device to execute telecommands.
-	 * @param message
-	 * @param subservice
-	 * @param tcData
-	 * @param tcDataLen
-	 * @param state
+	 * @param message [out] message which can be set and is sent to the object
+	 * @param subservice Subservice of the current communication
+	 * @param tcData Application data of command
+	 * @param tcDataLen Application data length
+	 * @param state [out/in] Setable state of the communication.
+	 * communication
 	 * @param objectId Target object ID
 	 * @return
 	 */

From 72f3b16c2474eadbf1569edd60b06b0296ae6bf6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 10 Jun 2020 22:53:24 +0200
Subject: [PATCH 126/653] split up huge member function for readability

---
 tmtcservices/CommandingServiceBase.cpp | 193 ++++++++++++++-----------
 tmtcservices/CommandingServiceBase.h   |   7 +
 2 files changed, 113 insertions(+), 87 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 361baf3b..4c557f82 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -56,7 +56,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 			objectManager->get<AcceptsTelemetryIF>(packetDestination);
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((packetForwarding == NULL) && (distributor == NULL)) {
+	if (packetForwarding == nullptr or distributor == nullptr) {
 		return RETURN_FAILED;
 	}
 
@@ -67,7 +67,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
-	if ((IPCStore == NULL) || (TCStore == NULL)) {
+	if (IPCStore == nullptr or TCStore == nullptr) {
 		return RETURN_FAILED;
 	}
 
@@ -76,97 +76,116 @@ ReturnValue_t CommandingServiceBase::initialize() {
 }
 
 void CommandingServiceBase::handleCommandQueue() {
-	CommandMessage reply, nextCommand;
-	ReturnValue_t result, sendResult = RETURN_OK;
-	bool isStep = false;
+	CommandMessage reply;
+	ReturnValue_t result = RETURN_FAILED;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&reply)) {
-		isStep = false;
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator iter;
-		if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
-			handleUnrequestedReply(&reply);
-			continue;
-		}
-		if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
-			handleUnrequestedReply(&reply);
-			continue;
-		}
-		nextCommand.setCommand(CommandMessage::CMD_NONE);
-		result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
-				iter->objectId, &isStep);
-		switch (result) {
-		case EXECUTION_COMPLETE:
-		case RETURN_OK:
-		case NO_STEP_MESSAGE:
-			iter->command = nextCommand.getCommand();
-			if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
-				sendResult = commandQueue->sendMessage(reply.getSender(),
-						&nextCommand);
-			}
-			if (sendResult == RETURN_OK) {
-				if (isStep) {
-					if (result != NO_STEP_MESSAGE) {
-						verificationReporter.sendSuccessReport(
-								TC_VERIFY::PROGRESS_SUCCESS,
-								iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-								iter->tcInfo.tcSequenceControl, ++iter->step);
-					}
-				} else {
-					verificationReporter.sendSuccessReport(
-							TC_VERIFY::COMPLETION_SUCCESS,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, 0);
-					checkAndExecuteFifo(&iter);
-				}
-			} else {
-				if (isStep) {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-							iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult,
-							++iter->step, failureParameter1, failureParameter2);
-				} else {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::COMPLETION_FAILURE,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult, 0,
-							failureParameter1, failureParameter2);
-				}
-				failureParameter1 = 0;
-				failureParameter2 = 0;
-				checkAndExecuteFifo(&iter);
-			}
-			break;
-		case INVALID_REPLY:
-			//might be just an unrequested reply at a bad moment
-			handleUnrequestedReply(&reply);
-			break;
-		default:
-			if (isStep) {
-				verificationReporter.sendFailureReport(
-						TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-						iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-						result, ++iter->step, failureParameter1,
-						failureParameter2);
-			} else {
-				verificationReporter.sendFailureReport(
-						TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
-						iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-						result, 0, failureParameter1, failureParameter2);
-			}
-			failureParameter1 = 0;
-			failureParameter2 = 0;
-			checkAndExecuteFifo(&iter);
-			break;
-		}
-
+		handleCommandMessage(reply);
 	}
 }
 
 
+void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
+	bool isStep = false;
+	CommandMessage nextCommand;
+	CommandMapIter iter;
+	if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
+		handleUnrequestedReply(&reply);
+		return;
+	}
+	if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
+		handleUnrequestedReply(&reply);
+		return;
+	}
+	nextCommand.setCommand(CommandMessage::CMD_NONE);
+
+	// Implemented by child class, specifies what to do with reply.
+	ReturnValue_t result = handleReply(&reply, iter->command, &iter->state,
+			&nextCommand, iter->objectId, &isStep);
+
+	switch (result) {
+	case EXECUTION_COMPLETE:
+	case RETURN_OK:
+	case NO_STEP_MESSAGE:
+		// handle result of reply handler implemented by developer.
+		handleReplyHandlerResult(result, iter, nextCommand, reply, isStep);
+		break;
+	case INVALID_REPLY:
+		//might be just an unrequested reply at a bad moment
+		handleUnrequestedReply(&reply);
+		break;
+	default:
+		if (isStep) {
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					result, ++iter->step, failureParameter1,
+					failureParameter2);
+		} else {
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					result, 0, failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(&iter);
+		break;
+	}
+
+}
+
+void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
+		CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply,
+		bool& isStep) {
+	iter->command = nextCommand.getCommand();
+
+	// In case a new command is to be sent immediately, this is performed here.
+	// If no new command is sent, only analyse reply result by initializing
+	// sendResult as RETURN_OK
+	ReturnValue_t sendResult = RETURN_OK;
+	if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
+		sendResult = commandQueue->sendMessage(reply.getSender(),
+				&nextCommand);
+	}
+
+	if (sendResult == RETURN_OK) {
+		if (isStep and result != NO_STEP_MESSAGE) {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::PROGRESS_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, ++iter->step);
+		}
+		else {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::COMPLETION_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, 0);
+			checkAndExecuteFifo(&iter);
+		}
+	}
+	else {
+		if (isStep) {
+			nextCommand.clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult,
+					++iter->step, failureParameter1, failureParameter2);
+		} else {
+			nextCommand.clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult, 0,
+					failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(&iter);
+	}
+}
+
 void CommandingServiceBase::handleRequestQueue() {
 	TmTcMessage message;
 	ReturnValue_t result;
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index f97eabb0..9a68a2d3 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -267,6 +267,9 @@ protected:
 			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
 
 private:
+	using CommandMapIter = FixedMap<MessageQueueId_t,
+			CommandingServiceBase::CommandInfo>::Iterator;
+
 	/**
 	 * This method handles internal execution of a command,
 	 * once it has been started by @sa{startExecution()} in the Request Queue handler.
@@ -298,6 +301,10 @@ private:
 	void startExecution(TcPacketStored *storedPacket,
 			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
 
+	void handleCommandMessage(CommandMessage& reply);
+	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
+			CommandMessage& nextCommand,CommandMessage& reply, bool& isStep);
+
 	void checkTimeout();
 };
 

From eb4880f60348969b2b70147c97e545577a32c7df Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 20:53:10 +0200
Subject: [PATCH 127/653] singly linked list improvements

---
 container/SinglyLinkedList.h | 69 +++++++++++++++++++++---------------
 1 file changed, 40 insertions(+), 29 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 0a2e0531..3c0078fc 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -1,10 +1,13 @@
-#ifndef SINGLYLINKEDLIST_H_
-#define SINGLYLINKEDLIST_H_
+#ifndef FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+#define FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+
+#include <cstddef>
+#include <cstdint>
 
-#include <stddef.h>
-#include <stdint.h>
 /**
- * \ingroup container
+ * @brief	Linked list data structure,
+ * 			each entry has a pointer to the next entry (singly)
+ * @ingroup container
  */
 template<typename T>
 class LinkedElement {
@@ -12,11 +15,8 @@ public:
 	T *value;
 	class Iterator {
 	public:
-		LinkedElement<T> *value;
-		Iterator() :
-				value(NULL) {
-
-		}
+		LinkedElement<T> *value = nullptr;
+		Iterator() {}
 
 		Iterator(LinkedElement<T> *element) :
 				value(element) {
@@ -45,12 +45,11 @@ public:
 		}
 	};
 
-	LinkedElement(T* setElement, LinkedElement<T>* setNext = NULL) : value(setElement),
-		next(setNext) {
-	}
-	virtual ~LinkedElement(){
+	LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
+	       value(setElement), next(setNext) {}
+
+	virtual ~LinkedElement(){}
 
-	}
 	virtual LinkedElement* getNext() const {
 		return next;
 	}
@@ -58,11 +57,16 @@ public:
 	virtual void setNext(LinkedElement* next) {
 		this->next = next;
 	}
+
+	virtual void setEnd() {
+	    this->next = nullptr;
+	}
+
 	LinkedElement* begin() {
 		return this;
 	}
 	LinkedElement* end() {
-		return NULL;
+		return nullptr;
 	}
 private:
 	LinkedElement *next;
@@ -71,21 +75,21 @@ private:
 template<typename T>
 class SinglyLinkedList {
 public:
-	SinglyLinkedList() :
-			start(NULL) {
-	}
+    using ElementIterator = typename LinkedElement<T>::Iterator;
+
+	SinglyLinkedList() {}
+
+	SinglyLinkedList(ElementIterator start) :
+			start(start.value) {}
 
-	SinglyLinkedList(typename LinkedElement<T>::Iterator start) :
-			start(start.value) {
-	}
 	SinglyLinkedList(LinkedElement<T>* startElement) :
-				start(startElement) {
-		}
-	typename LinkedElement<T>::Iterator begin() const {
-		return LinkedElement<T>::Iterator::Iterator(start);
+			start(startElement) {}
+
+	ElementIterator begin() const {
+		return ElementIterator::Iterator(start);
 	}
-	typename LinkedElement<T>::Iterator::Iterator end() const {
-		return LinkedElement<T>::Iterator::Iterator();
+	typename ElementIterator::Iterator end() const {
+		return ElementIterator::Iterator();
 	}
 
 	uint32_t getSize() const {
@@ -100,8 +104,15 @@ public:
 	void setStart(LinkedElement<T>* setStart) {
 		start = setStart;
 	}
+
+    void setEnd(LinkedElement<T>* setEnd) {
+        setEnd->setEnd();
+    }
+
+    // SHOULDDO: Insertion operation ?
+
 protected:
-	LinkedElement<T> *start;
+	LinkedElement<T> *start = nullptr;
 };
 
 #endif /* SINGLYLINKEDLIST_H_ */

From 0c4552254089de1b5626a4bca31114acb39a0290 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 20:57:35 +0200
Subject: [PATCH 128/653] hybrid iterator fix and improvement

---
 container/HybridIterator.h | 20 +++++++++-----------
 1 file changed, 9 insertions(+), 11 deletions(-)

diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index b34fdfd0..db1ce4bc 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -8,13 +8,11 @@ template<typename T, typename count_t = uint8_t>
 class HybridIterator: public LinkedElement<T>::Iterator,
 		public ArrayList<T, count_t>::Iterator {
 public:
-	HybridIterator() :
-			value(NULL), linked(NULL), end(NULL) {
-	}
+	HybridIterator() {}
 
 	HybridIterator(typename LinkedElement<T>::Iterator *iter) :
-		LinkedElement<T>::Iterator(*iter), value(
-					iter->value), linked(true), end(NULL) {
+		LinkedElement<T>::Iterator(*iter), value(iter->value),
+		linked(true) {
 
 	}
 
@@ -66,11 +64,11 @@ public:
 		return tmp;
 	}
 
-	bool operator==(HybridIterator other) {
-		return value == other->value;
+	bool operator==(const HybridIterator& other) {
+		return value == other.value;
 	}
 
-	bool operator!=(HybridIterator other) {
+	bool operator!=(const HybridIterator& other) {
 		return !(*this == other);
 	}
 
@@ -82,11 +80,11 @@ public:
 		return value;
 	}
 
-	T* value;
+	T* value = nullptr;
 
 private:
-	bool linked;
-	T *end;
+	bool linked = false;
+	T *end = nullptr;
 };
 
 #endif /* HYBRIDITERATOR_H_ */

From 952fc7303a0a55f1a9fb8a39d5b05cf2fb5886eb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 17 Jun 2020 21:15:19 +0200
Subject: [PATCH 129/653] renamed MESSAGE_TYPE to messagetypes

---
 action/ActionMessage.h                |  2 +-
 devicehandlers/DeviceHandlerMessage.h |  2 +-
 health/HealthMessage.h                |  2 +-
 ipc/CommandMessage.cpp                | 22 +++++++++++-----------
 ipc/CommandMessage.h                  |  2 +-
 ipc/FwMessageTypes.h                  |  2 +-
 memory/MemoryMessage.h                |  2 +-
 modes/ModeMessage.h                   |  2 +-
 monitoring/MonitoringMessage.h        |  2 +-
 parameters/ParameterMessage.h         |  2 +-
 subsystem/modes/ModeSequenceMessage.h |  2 +-
 tmstorage/TmStoreMessage.h            |  2 +-
 12 files changed, 22 insertions(+), 22 deletions(-)

diff --git a/action/ActionMessage.h b/action/ActionMessage.h
index 5d8332cb..59ad619e 100644
--- a/action/ActionMessage.h
+++ b/action/ActionMessage.h
@@ -10,7 +10,7 @@ class ActionMessage {
 private:
 	ActionMessage();
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::ACTION;
+	static const uint8_t MESSAGE_ID = messagetypes::ACTION;
 	static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
 	static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
 	static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h
index fad0f1b1..26f3b4ed 100644
--- a/devicehandlers/DeviceHandlerMessage.h
+++ b/devicehandlers/DeviceHandlerMessage.h
@@ -25,7 +25,7 @@ public:
 	/**
 	 * These are the commands that can be sent to a DeviceHandlerBase
 	 */
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::DEVICE_HANDLER_COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
 	static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
 //	static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
 	static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
diff --git a/health/HealthMessage.h b/health/HealthMessage.h
index 7fd00904..13e79b88 100644
--- a/health/HealthMessage.h
+++ b/health/HealthMessage.h
@@ -6,7 +6,7 @@
 
 class HealthMessage {
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::HEALTH_COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::HEALTH_COMMAND;
 	static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED
 	static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3);	//NO REPLY!
 	static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5);
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index fa41c653..69a0bfd3 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -15,7 +15,7 @@
 #include <framework/tmstorage/TmStoreMessage.h>
 #include <framework/parameters/ParameterMessage.h>
 
-namespace MESSAGE_TYPE {
+namespace messagetypes {
 void clearMissionMessage(CommandMessage* message);
 }
 
@@ -67,35 +67,35 @@ void CommandMessage::setParameter2(uint32_t parameter2) {
 
 void CommandMessage::clearCommandMessage() {
 	switch((getCommand()>>8) & 0xff){
-	case  MESSAGE_TYPE::MODE_COMMAND:
+	case  messagetypes::MODE_COMMAND:
 		ModeMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::HEALTH_COMMAND:
+	case messagetypes::HEALTH_COMMAND:
 		HealthMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::MODE_SEQUENCE:
+	case messagetypes::MODE_SEQUENCE:
 		ModeSequenceMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::ACTION:
+	case messagetypes::ACTION:
 		ActionMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::DEVICE_HANDLER_COMMAND:
+	case messagetypes::DEVICE_HANDLER_COMMAND:
 		DeviceHandlerMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::MEMORY:
+	case messagetypes::MEMORY:
 		MemoryMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::MONITORING:
+	case messagetypes::MONITORING:
 		MonitoringMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::TM_STORE:
+	case messagetypes::TM_STORE:
 		TmStoreMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::PARAMETER:
+	case messagetypes::PARAMETER:
 		ParameterMessage::clear(this);
 		break;
 	default:
-		MESSAGE_TYPE::clearMissionMessage(this);
+		messagetypes::clearMissionMessage(this);
 		break;
 	}
 }
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 2d966063..3d563607 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -23,7 +23,7 @@ public:
 	static const ReturnValue_t UNKNOW_COMMAND = MAKE_RETURN_CODE(0x01);
 
 
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
 	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
 	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
 	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
diff --git a/ipc/FwMessageTypes.h b/ipc/FwMessageTypes.h
index ec1c9aa2..e820b1df 100644
--- a/ipc/FwMessageTypes.h
+++ b/ipc/FwMessageTypes.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_FWMESSAGETYPES_H_
 #define FRAMEWORK_IPC_FWMESSAGETYPES_H_
 
-namespace MESSAGE_TYPE {
+namespace messagetypes {
 //Remember to add new Message Types to the clearCommandMessage function!
 enum FW_MESSAGE_TYPE {
 	COMMAND = 0,
diff --git a/memory/MemoryMessage.h b/memory/MemoryMessage.h
index 124fad08..48badb05 100644
--- a/memory/MemoryMessage.h
+++ b/memory/MemoryMessage.h
@@ -9,7 +9,7 @@ class MemoryMessage {
 private:
 	MemoryMessage(); //A private ctor inhibits instantiation
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MEMORY;
+	static const uint8_t MESSAGE_ID = messagetypes::MEMORY;
 	static const Command_t CMD_MEMORY_LOAD = MAKE_COMMAND_ID( 0x01 );
 	static const Command_t CMD_MEMORY_DUMP = MAKE_COMMAND_ID( 0x02 );
 	static const Command_t CMD_MEMORY_CHECK = MAKE_COMMAND_ID( 0x03 );
diff --git a/modes/ModeMessage.h b/modes/ModeMessage.h
index f72fdeec..675c614b 100644
--- a/modes/ModeMessage.h
+++ b/modes/ModeMessage.h
@@ -17,7 +17,7 @@ class ModeMessage {
 private:
 	ModeMessage();
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MODE_COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
 	static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);//!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!!
 	static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);//!> Command to set the specified Mode, regardless of external control flag, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!!
 	static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);//!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
diff --git a/monitoring/MonitoringMessage.h b/monitoring/MonitoringMessage.h
index d2ff9b4d..793e1fbf 100644
--- a/monitoring/MonitoringMessage.h
+++ b/monitoring/MonitoringMessage.h
@@ -6,7 +6,7 @@
 
 class MonitoringMessage: public CommandMessage {
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MONITORING;
+	static const uint8_t MESSAGE_ID = messagetypes::MONITORING;
 	//Object id could be useful, but we better manage that on service level (register potential reporters).
 	static const Command_t LIMIT_VIOLATION_REPORT = MAKE_COMMAND_ID(10);
 	virtual ~MonitoringMessage();
diff --git a/parameters/ParameterMessage.h b/parameters/ParameterMessage.h
index 0f286675..43283294 100644
--- a/parameters/ParameterMessage.h
+++ b/parameters/ParameterMessage.h
@@ -9,7 +9,7 @@ class ParameterMessage {
 private:
 	ParameterMessage();
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::PARAMETER;
+	static const uint8_t MESSAGE_ID = messagetypes::PARAMETER;
 	static const Command_t CMD_PARAMETER_LOAD = MAKE_COMMAND_ID( 0x01 );
 	static const Command_t CMD_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x02 );
 	static const Command_t REPLY_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x03 );
diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h
index 830cf532..61d1b628 100644
--- a/subsystem/modes/ModeSequenceMessage.h
+++ b/subsystem/modes/ModeSequenceMessage.h
@@ -7,7 +7,7 @@
 
 class ModeSequenceMessage {
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MODE_SEQUENCE;
+	static const uint8_t MESSAGE_ID = messagetypes::MODE_SEQUENCE;
 
 	static const Command_t ADD_SEQUENCE = MAKE_COMMAND_ID(0x01);
 	static const Command_t ADD_TABLE = MAKE_COMMAND_ID(0x02);
diff --git a/tmstorage/TmStoreMessage.h b/tmstorage/TmStoreMessage.h
index 0883063c..bd6b2def 100644
--- a/tmstorage/TmStoreMessage.h
+++ b/tmstorage/TmStoreMessage.h
@@ -41,7 +41,7 @@ public:
 
 	static store_address_t getStoreId(const CommandMessage* cmd);
 	virtual ~TmStoreMessage();
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::TM_STORE;
+	static const uint8_t MESSAGE_ID = messagetypes::TM_STORE;
 	static const Command_t ENABLE_STORING = MAKE_COMMAND_ID(1);
 	static const Command_t DELETE_STORE_CONTENT = MAKE_COMMAND_ID(2);
 	static const Command_t DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(3);

From cda3130b34b6885455c76bb46d94f1b48d9056ab Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 01:05:51 +0200
Subject: [PATCH 130/653] periodic reply map param is bool now

---
 devicehandlers/DeviceHandlerBase.cpp | 10 +++++-----
 devicehandlers/DeviceHandlerBase.h   |  8 ++++----
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 7620a116..fe6152cf 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -184,7 +184,7 @@ void DeviceHandlerBase::decrementDeviceReplyMap() {
 		if (iter->second.delayCycles != 0) {
 			iter->second.delayCycles--;
 			if (iter->second.delayCycles == 0) {
-				if (iter->second.periodic != 0) {
+				if (iter->second.periodic) {
 					iter->second.delayCycles = iter->second.maxDelayCycles;
 				}
 				replyToReply(iter, TIMEOUT);
@@ -344,7 +344,7 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 }
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-		uint16_t maxDelayCycles, size_t replyLen, uint8_t periodic,
+		uint16_t maxDelayCycles, size_t replyLen, bool periodic,
 		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
 	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
@@ -356,7 +356,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t de
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, size_t replyLen, uint8_t periodic) {
+		uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
@@ -385,7 +385,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
 }
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
-		uint16_t delayCycles, uint16_t maxDelayCycles, uint8_t periodic) {
+		uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
 	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
 			deviceReplyMap.find(deviceReply);
 	if (iter == deviceReplyMap.end()) {
@@ -741,7 +741,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 
 	if (info->delayCycles != 0) {
 
-		if (info->periodic != 0) {
+		if (info->periodic) {
 			info->delayCycles = info->maxDelayCycles;
 		} else {
 			info->delayCycles = 0;
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index b959c9de..435f8e06 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -381,7 +381,7 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0,
+			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 
 	/**
@@ -395,7 +395,7 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0);
+			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false);
 
 	/**
 	 * @brief 	A simple command to add a command to the commandList.
@@ -421,7 +421,7 @@ protected:
 	 */
 	ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply,
 			uint16_t delayCycles, uint16_t maxDelayCycles,
-			uint8_t periodic = 0);
+			bool periodic = false);
 
 	/**
 	 * @brief   Can be implemented by child handler to
@@ -625,7 +625,7 @@ protected:
 		uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
 		uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
 		size_t replyLen = 0; //!< Expected size of the reply.
-		uint8_t periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
+		bool periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
 		DeviceCommandMap::iterator command; //!< The command that expects this reply.
 	};
 

From d8e9e34ad9fc33b365f98ef3497fdc84fa698c8a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 14:36:49 +0200
Subject: [PATCH 131/653] framework submakefile improvements

---
 framework.mk | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/framework.mk b/framework.mk
index a5a65364..c8822981 100644
--- a/framework.mk
+++ b/framework.mk
@@ -1,5 +1,5 @@
-# This file needs FRAMEWORK_PATH and API set correctly
-# Valid API settings: rtems, linux, freeRTOS
+# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
+# Valid API settings: rtems, linux, freeRTOS, host
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
@@ -8,11 +8,13 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/framework.mk/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
@@ -26,14 +28,16 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
 
 # select the OS
-ifeq ($(OS),rtems)
+ifeq ($(OS_FSFW),rtems)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
-else ifeq ($(OS),linux)
+else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
-else ifeq ($(OS),freeRTOS)
+else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+else ifeq ($(OS_FSFW),host)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS)
+$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
@@ -54,3 +58,4 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/test/*.cpp)
\ No newline at end of file

From 31e557776373eb5334430ae6f1e68616aba4a617 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 14:45:29 +0200
Subject: [PATCH 132/653] added deadline missed check

---
 osal/FreeRTOS/PeriodicTask.cpp | 55 ++++++++++++-------
 osal/FreeRTOS/PeriodicTask.h   | 96 +++++++++++++++++++---------------
 2 files changed, 90 insertions(+), 61 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index deab2dc1..31867639 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -1,17 +1,19 @@
+#include "PeriodicTask.h"
+
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include "PeriodicTask.h"
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
-				setDeadlineMissedFunc) {
-
-	BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
+		setDeadlineMissedFunc)
+{
+	BaseType_t status = xTaskCreate(taskEntryPoint, name,
+			setStack, this, setPriority, &handle);
 	if(status != pdPASS){
-		sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
-		           << status << std::endl;
+		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+		        "Status: " << status << std::endl;
 	}
 
 }
@@ -21,16 +23,19 @@ PeriodicTask::~PeriodicTask(void) {
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
-	//The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as PeriodicTask. The Task object is
+    // global, so it is found from any place.
 	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(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.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -59,9 +64,9 @@ void PeriodicTask::taskFunctionality() {
 	TickType_t xLastWakeTime;
 	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
-	 After this assignment, xLastWakeTime is updated automatically internally within
-	 vTaskDelayUntil(). */
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
@@ -69,8 +74,22 @@ void PeriodicTask::taskFunctionality() {
 				it != objectList.end(); ++it) {
 			(*it)->performOperation();
 		}
-		//TODO deadline missed check
+
+		/* If all operations are finished and the difference of the
+		 * current time minus the last wake time is larger than the
+		 * wait period, a deadline was missed. */
+		if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
+#ifdef DEBUG
+			sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+					" missed deadline!\n" << std::flush;
+#endif
+			if(deadlineMissedFunc != nullptr) {
+				this->deadlineMissedFunc();
+			}
+		}
+
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
+
 	}
 }
 
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index e7ba8dd2..b9930a73 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -1,48 +1,49 @@
-#ifndef MULTIOBJECTTASK_H_
-#define MULTIOBJECTTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
-#include "task.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 #include <vector>
 
 class ExecutableObjectIF;
 
 /**
- * @brief This class represents a specialized task for periodic activities of multiple objects.
- *
- * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
- * 			multiple objects that implement the ExecutableObjectIF interface. The objects must be
- * 			added prior to starting the task.
- *
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
  * @ingroup task_handling
  */
 class PeriodicTask: public PeriodicTaskIF {
 public:
 	/**
-	 * @brief	Standard constructor of the class.
-	 * @details	The class is initialized without allocated objects. These need to be added
-	 * 			with #addObject.
-	 * 			In the underlying TaskBase class, a new operating system task is created.
-	 * 			In addition to the TaskBase parameters, the period, the pointer to the
-	 * 			aforementioned initialization function and an optional "deadline-missed"
-	 * 			function pointer is passed.
-	 * @param priority		Sets the priority of a task. Values range from a low 0 to a high 99.
-	 * @param stack_size	The stack size reserved by the operating system for the task.
-	 * @param setPeriod 	The length of the period with which the task's functionality will be
-	 * 						executed. It is expressed in clock ticks.
-	 * @param setDeadlineMissedFunc	The function pointer to the deadline missed function
-	 * 								that shall be assigned.
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * TODO: why does this need to be called before vTaskStartScheduler?
+	 * @details
+	 * The class is initialized without allocated objects.
+	 * These need to be added with #addComponent.
+	 * @param priority
+	 * Sets the priority of a task. Values depend on freeRTOS configuration,
+	 * high number means high priority.
+	 * @param stack_size
+	 * The stack size reserved by the operating system for the task.
+	 * @param setPeriod
+	 * The length of the period with which the task's
+	 * functionality will be executed. It is expressed in clock ticks.
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall
+	 * be assigned.
 	 */
-	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod,
-			void (*setDeadlineMissedFunc)());
+	PeriodicTask(const char *name, TaskPriority setPriority,
+	        TaskStackSize setStack, TaskPeriod setPeriod,
+	        void (*setDeadlineMissedFunc)());
 	/**
-	 * @brief	Currently, the executed object's lifetime is not coupled with the task object's
-	 * 			lifetime, so the destructor is empty.
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
 	 */
 	virtual ~PeriodicTask(void);
 
@@ -58,7 +59,9 @@ public:
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
 	 * @param object Id of the object to add.
-	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
+	 * @return
+	 * -@c RETURN_OK on success
+	 * -@c RETURN_FAILED if the object could not be added.
 	 */
 	ReturnValue_t addComponent(object_id_t object);
 
@@ -69,42 +72,49 @@ protected:
 	bool started;
 	TaskHandle_t handle;
 
-	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
+	//! Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
 	/**
 	 * @brief	This attribute holds a list of objects to be executed.
 	 */
 	ObjectList objectList;
 	/**
 	 * @brief	The period of the task.
-	 * @details	The period determines the frequency of the task's execution. It is expressed in clock ticks.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
 	 */
 	TaskPeriod period;
 	/**
 	 * @brief	The pointer to the deadline-missed function.
-	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
-	 * 			So, each may react individually on a timing failure. The pointer may be NULL,
-	 * 			then nothing happens on missing the deadline. The deadline is equal to the next execution
-	 * 			of the periodic task.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed so each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
 	 * @brief	This is the function executed in the new task's context.
-	 * @details	It converts the argument back to the thread object type and copies the class instance
-	 * 			to the task context. The taskFunctionality method is called afterwards.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context. The taskFunctionality method is
+	 * called afterwards.
 	 * @param	A pointer to the task object itself is passed as argument.
 	 */
 
 	static void taskEntryPoint(void* argument);
 	/**
 	 * @brief	The function containing the actual functionality of the task.
-	 * @details	The method sets and starts
-	 * 			the task's period, then enters a loop that is repeated as long as the isRunning
-	 * 			attribute is true. Within the loop, all performOperation methods of the added
-	 * 			objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
-	 * 			until the next period.
-	 * 			On missing the deadline, the deadlineMissedFunction is executed.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called.
+	 * Afterwards the checkAndRestartPeriod system call blocks the task until
+	 * the next period.
+	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
 };
 
-#endif /* MULTIOBJECTTASK_H_ */
+#endif /* PERIODICTASK_H_ */

From 56aaa299854f4a7e0cf02499cdb2cb11db0899b9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 19 Jun 2020 14:47:01 +0200
Subject: [PATCH 133/653] added deadline missed check

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 64 ++++++++++++++++----------
 osal/FreeRTOS/FixedTimeslotTask.h   | 69 ++++++++++++++++-------------
 2 files changed, 77 insertions(+), 56 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index fb3c3b03..ea324d35 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -1,6 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "FixedTimeslotTask.h"
 
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
@@ -18,16 +19,19 @@ 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.
+	// The argument is re-interpreted as FixedTimeslotTask. The Task object is
+    // global, so it is found from any place.
 	FixedTimeslotTask *originalTask(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.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -81,11 +85,12 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 }
 
 void FixedTimeslotTask::taskFunctionality() {
-	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
-	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+	// A local iterator for the Polling Sequence Table is created to find the
+    // start time for the first entry.
+	SlotListIter slotListIter = pst.current;
 
 	//The start time for the first entry is read.
-	uint32_t intervalMs = (*it)->pollingTimeMs;
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
 
 	TickType_t xLastWakeTime;
@@ -101,18 +106,30 @@ void FixedTimeslotTask::taskFunctionality() {
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
 		//The component for this slot is executed and the next one is chosen.
-		this->pst.executeAndAdvance();
-		if (pst.slotFollowsImmediately()) {
-			//Do nothing
-		} else {
-			// we need to wait before executing the current slot
-			//this gives us the time to wait:
-			intervalMs = this->pst.getIntervalToPreviousSlotMs();
-			interval = pdMS_TO_TICKS(intervalMs);
-			vTaskDelayUntil(&xLastWakeTime, interval);
-			//TODO deadline missed check
-		}
+	    this->pst.executeAndAdvance();
+	    if (not pst.slotFollowsImmediately()) {
+	        /* If all operations are finished and the difference of the
+	         * current time minus the last wake time is larger than the
+	         * expected wait period, a deadline was missed. */
+	        if(xTaskGetTickCount() - xLastWakeTime >=
+	                pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
+#ifdef DEBUG
+	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
+	                    " missed deadline!\n" << std::flush;
+#endif
+	            if(deadlineMissedFunc != nullptr) {
+	                this->deadlineMissedFunc();
+	            }
+	            // Continue immediately, no need to wait.
+	            break;
+	        }
 
+	        // we need to wait before executing the current slot
+	        //this gives us the time to wait:
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+	        vTaskDelayUntil(&xLastWakeTime, interval);
+	    }
 	}
 }
 
@@ -120,4 +137,3 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
-
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index bed13051..39db667c 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,24 +1,27 @@
-#ifndef POLLINGTASK_H_
-#define POLLINGTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
 #include <framework/devicehandlers/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
-#include "task.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
+
 	/**
-	 * @brief	The standard constructor of the class.
-	 *
-	 * @details	This is the general constructor of the class. In addition to the TaskBase parameters,
-	 * 			the following variables are passed:
-	 *
-	 * @param	(*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
-	 *
-	 * @param	getPst The object id of the completely initialized polling sequence.
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
+	 * @param setPriority Number of priorities specified by
+	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
+	 * @param setStack	Stack size in words (not bytes!).
+	 * Lower limit specified by configMINIMAL_STACK_SIZE
+	 * @param overallPeriod		Period in seconds.
+	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
+	 * @return Pointer to the newly created task.
 	 */
 	FixedTimeslotTask(const char *name, TaskPriority setPriority,
 			TaskStackSize setStack, TaskPeriod overallPeriod,
@@ -26,16 +29,18 @@ public:
 
 	/**
 	 * @brief	The destructor of the class.
-	 *
-	 * @details	The destructor frees all heap memory that was allocated on thread initialization for the PST and
-	 * 			the device handlers. This is done by calling the PST's destructor.
+	 * @details
+	 * The destructor frees all heap memory that was allocated on thread
+	 * initialization for the PST and the device handlers. This is done by
+	 * calling the PST's destructor.
 	 */
 	virtual ~FixedTimeslotTask(void);
 
 	ReturnValue_t startTask(void);
 	/**
 	 * This static function can be used as #deadlineMissedFunc.
-	 * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
+	 * It counts missedDeadlines and prints the number of missed deadlines
+	 * every 10th time.
 	 */
 	static void missedDeadlineCounter();
 	/**
@@ -51,6 +56,7 @@ public:
 	ReturnValue_t checkSequence() const;
 
 	ReturnValue_t sleepFor(uint32_t ms);
+
 protected:
 	bool started;
 	TaskHandle_t handle;
@@ -58,30 +64,29 @@ protected:
 	FixedSlotSequence pst;
 
 	/**
-	 * @brief	This attribute holds a function pointer that is executed when a deadline was missed.
-	 *
-	 * @details	Another function may be announced to determine the actions to perform when a deadline was missed.
-	 * 			Currently, only one function for missing any deadline is allowed.
-	 * 			If not used, it shall be declared NULL.
+	 * @brief	This attribute holds a function pointer that is executed when
+	 *          a deadline was missed.
+	 * @details
+	 * Another function may be announced to determine the actions to perform
+	 * when a deadline was missed. Currently, only one function for missing
+	 * any deadline is allowed. If not used, it shall be declared NULL.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
-	 * @brief	This is the entry point in a new polling thread.
-	 *
-	 * @details	This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
-	 * 			and link the Polling Sequence Table to the thread object and start taskFunctionality()
-	 * 			on success. If operation of the task is ended for some reason,
-	 * 			the destructor is called to free allocated memory.
+	 * @brief	This is the entry point for a new task.
+	 * @details
+	 * This method starts the task by calling taskFunctionality(), as soon as
+	 * all requirements (task scheduler has started and startTask()
+	 * has been called) are met.
 	 */
 	static void taskEntryPoint(void* argument);
 
 	/**
 	 * @brief	This function holds the main functionality of the thread.
-	 *
-	 *
-	 * @details	Holding the main functionality of the task, this method is most important.
-	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
-	 * 			to keep the timing of the periods.
+	 * @details
+	 * Core function holding the main functionality of the task
+	 * It links the functionalities provided by FixedSlotSequence with the
+	 * OS's System Calls to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
 };

From ffe2a7bffefbb744d1149e4c4d53807649c0570e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 19:00:02 +0200
Subject: [PATCH 134/653] fix for fixed timeslot task improvement

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index ea324d35..a4acc420 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -87,10 +87,10 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the
     // start time for the first entry.
-	SlotListIter slotListIter = pst.current;
+    std::list<FixedSequenceSlot*>::iterator slotListIter = pst.current;
 
 	//The start time for the first entry is read.
-	uint32_t intervalMs = slotListIter->pollingTimeMs;
+	uint32_t intervalMs = (*slotListIter)->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
 
 	TickType_t xLastWakeTime;
@@ -121,7 +121,7 @@ void FixedTimeslotTask::taskFunctionality() {
 	                this->deadlineMissedFunc();
 	            }
 	            // Continue immediately, no need to wait.
-	            break;
+	            continue;
 	        }
 
 	        // we need to wait before executing the current slot

From 2cada2df4a611daf5d8c9e6bfa1e8026dc98e09b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 20:21:11 +0200
Subject: [PATCH 135/653] some fixes and improvements

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 28 ++++++++++++----------------
 1 file changed, 12 insertions(+), 16 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index a4acc420..edb7f835 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -62,11 +62,6 @@ 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;
 	}
@@ -87,7 +82,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the
     // start time for the first entry.
-    std::list<FixedSequenceSlot*>::iterator slotListIter = pst.current;
+	auto slotListIter = pst.current;
 
 	//The start time for the first entry is read.
 	uint32_t intervalMs = (*slotListIter)->pollingTimeMs;
@@ -101,18 +96,23 @@ void FixedTimeslotTask::taskFunctionality() {
 	xLastWakeTime = xTaskGetTickCount();
 
 	// wait for first entry's start time
-	vTaskDelayUntil(&xLastWakeTime, interval);
+	if(interval > 0) {
+	    vTaskDelayUntil(&xLastWakeTime, interval);
+	}
 
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
 		//The component for this slot is executed and the next one is chosen.
 	    this->pst.executeAndAdvance();
 	    if (not pst.slotFollowsImmediately()) {
+	        // Get the interval till execution of the next slot.
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+
 	        /* If all operations are finished and the difference of the
 	         * current time minus the last wake time is larger than the
 	         * expected wait period, a deadline was missed. */
-	        if(xTaskGetTickCount() - xLastWakeTime >=
-	                pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
+	        if(xTaskGetTickCount() - xLastWakeTime >= interval) {
 #ifdef DEBUG
 	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
 	                    " missed deadline!\n" << std::flush;
@@ -120,14 +120,9 @@ void FixedTimeslotTask::taskFunctionality() {
 	            if(deadlineMissedFunc != nullptr) {
 	                this->deadlineMissedFunc();
 	            }
-	            // Continue immediately, no need to wait.
-	            continue;
 	        }
-
-	        // we need to wait before executing the current slot
-	        //this gives us the time to wait:
-	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
-	        interval = pdMS_TO_TICKS(intervalMs);
+	        // Wait for the interval. This exits immediately if a deadline was
+	        // missed while also updating the last wake time.
 	        vTaskDelayUntil(&xLastWakeTime, interval);
 	    }
 	}
@@ -137,3 +132,4 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
+

From 3c7ac60dbe2e2e623f6aea1d746418335a2a6dbe Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 20:39:36 +0200
Subject: [PATCH 136/653] added overflow checking

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index edb7f835..d92474c7 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -111,8 +111,15 @@ void FixedTimeslotTask::taskFunctionality() {
 
 	        /* If all operations are finished and the difference of the
 	         * current time minus the last wake time is larger than the
-	         * expected wait period, a deadline was missed. */
-	        if(xTaskGetTickCount() - xLastWakeTime >= interval) {
+	         * expected wait period, a deadline was missed.
+	         * We also check whether an overflow has occured first.
+	         * In this special case, we will ignore missed deadlines for now. */
+	        const TickType_t constTickCount = xTaskGetTickCount();
+	        if(constTickCount < xLastWakeTime or
+	                constTickCount + interval < xLastWakeTime) {
+	            // don't do anything for now.
+	        }
+	        else if(xTaskGetTickCount() - xLastWakeTime >= interval) {
 #ifdef DEBUG
 	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
 	                    " missed deadline!\n" << std::flush;

From bf63ba15fedfacd7ae19de5298d49a0a05154aae Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 23:30:17 +0200
Subject: [PATCH 137/653] finished overflow checking (hopefully)

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 55 +++++++++++++++++++----------
 osal/FreeRTOS/FixedTimeslotTask.h   |  4 +++
 2 files changed, 40 insertions(+), 19 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index d92474c7..d72354ae 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -109,25 +109,8 @@ void FixedTimeslotTask::taskFunctionality() {
 	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
 	        interval = pdMS_TO_TICKS(intervalMs);
 
-	        /* If all operations are finished and the difference of the
-	         * current time minus the last wake time is larger than the
-	         * expected wait period, a deadline was missed.
-	         * We also check whether an overflow has occured first.
-	         * In this special case, we will ignore missed deadlines for now. */
-	        const TickType_t constTickCount = xTaskGetTickCount();
-	        if(constTickCount < xLastWakeTime or
-	                constTickCount + interval < xLastWakeTime) {
-	            // don't do anything for now.
-	        }
-	        else if(xTaskGetTickCount() - xLastWakeTime >= interval) {
-#ifdef DEBUG
-	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
-	                    " missed deadline!\n" << std::flush;
-#endif
-	            if(deadlineMissedFunc != nullptr) {
-	                this->deadlineMissedFunc();
-	            }
-	        }
+	        checkMissedDeadline(xLastWakeTime, interval);
+
 	        // Wait for the interval. This exits immediately if a deadline was
 	        // missed while also updating the last wake time.
 	        vTaskDelayUntil(&xLastWakeTime, interval);
@@ -135,6 +118,40 @@ void FixedTimeslotTask::taskFunctionality() {
 	}
 }
 
+void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Tick count has overflown
+    if(currentTickCount < xLastWakeTime) {
+        // Time to wake has overflown as well. If the tick count
+        // is larger than the time to wake, a deadline was missed.
+        if(timeToWake < xLastWakeTime and
+                currentTickCount > timeToWake) {
+            handleMissedDeadline();
+        }
+    }
+    // No tick count overflow. If the timeToWake has not overflown
+    // and the current tick count is larger than the time to wake,
+    // a deadline was missed.
+    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+        handleMissedDeadline();
+    }
+}
+
+void FixedTimeslotTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}
+
 ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 39db667c..cddd5ecd 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -89,6 +89,10 @@ protected:
 	 * OS's System Calls to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
 #endif /* POLLINGTASK_H_ */

From 0c9c9c581ba1aa05acc9de1e6af9528c99b1a4fd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 23:31:27 +0200
Subject: [PATCH 138/653] minor formatting

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index d72354ae..871b7922 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -90,9 +90,9 @@ void FixedTimeslotTask::taskFunctionality() {
 
 	TickType_t xLastWakeTime;
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
-	 After this assignment, xLastWakeTime is updated automatically internally within
-	 vTaskDelayUntil(). */
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 
 	// wait for first entry's start time

From 1cc50639c7ca8d99377d6bc753f9c6815469b659 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 22 Jun 2020 23:49:31 +0200
Subject: [PATCH 139/653] improvements integrated

---
 osal/FreeRTOS/FixedTimeslotTask.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index cddd5ecd..08a9c3b3 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -12,7 +12,7 @@ class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
 
 	/**
-	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * Keep in mind that you need to call before vTaskStartScheduler()!
 	 * A lot of task parameters are set in "FreeRTOSConfig.h".
 	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
 	 * @param setPriority Number of priorities specified by
@@ -49,13 +49,13 @@ public:
 	static uint32_t deadlineMissedCount;
 
 	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-			int8_t executionStep);
+			int8_t executionStep) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t checkSequence() const;
+	ReturnValue_t checkSequence() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 protected:
 	bool started;

From 4507bdfb69f9a8239b8af6c51d1f9c1a32338ae8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 01:14:28 +0200
Subject: [PATCH 140/653] added setting task IF

---
 osal/FreeRTOS/PeriodicTask.cpp   | 62 +++++++++++++++++++++++---------
 osal/FreeRTOS/PeriodicTask.h     | 13 ++++---
 osal/linux/PeriodicPosixTask.cpp |  9 +++--
 osal/linux/PeriodicPosixTask.h   |  7 ++--
 tasks/PeriodicTaskIF.h           | 26 +++++++++++---
 5 files changed, 87 insertions(+), 30 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 31867639..170eb0a4 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -70,39 +70,67 @@ void PeriodicTask::taskFunctionality() {
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (auto const& object: objectList) {
+			object->performOperation();
 		}
 
-		/* If all operations are finished and the difference of the
-		 * current time minus the last wake time is larger than the
-		 * wait period, a deadline was missed. */
-		if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
-#ifdef DEBUG
-			sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
-					" missed deadline!\n" << std::flush;
-#endif
-			if(deadlineMissedFunc != nullptr) {
-				this->deadlineMissedFunc();
-			}
-		}
+		checkMissedDeadline(xLastWakeTime, xPeriod);
 
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
 
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implement ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+
+	if(setTaskIF) {
+	     newObject->setTaskIF(this);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t PeriodicTask::getPeriodMs() const {
 	return period * 1000;
 }
+
+void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Tick count has overflown
+    if(currentTickCount < xLastWakeTime) {
+        // Time to wake has overflown as well. If the tick count
+        // is larger than the time to wake, a deadline was missed.
+        if(timeToWake < xLastWakeTime and
+                currentTickCount > timeToWake) {
+            handleMissedDeadline();
+        }
+    }
+    // No tick count overflow. If the timeToWake has not overflown
+    // and the current tick count is larger than the time to wake,
+    // a deadline was missed.
+    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+        handleMissedDeadline();
+    }
+}
+
+void PeriodicTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index b9930a73..09aa6bc7 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -54,7 +54,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
@@ -63,11 +63,12 @@ public:
 	 * -@c RETURN_OK on success
 	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	bool started;
 	TaskHandle_t handle;
@@ -115,6 +116,10 @@ protected:
 	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
 #endif /* PERIODICTASK_H_ */
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index b754c3f4..1a06a8bf 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -20,13 +20,18 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
+        bool addTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+
+	if(setTaskIF) {
+	    newObject->setTaskIF(this);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index 43647eda..e994898a 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -26,11 +26,12 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool addTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 private:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h
index 304a7de6..6f490977 100644
--- a/tasks/PeriodicTaskIF.h
+++ b/tasks/PeriodicTaskIF.h
@@ -1,9 +1,11 @@
-#ifndef PERIODICTASKIF_H_
-#define PERIODICTASKIF_H_
+#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
+#define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/timemanager/Clock.h>
 #include <cstddef>
 class ExecutableObjectIF;
+
 /**
  * New version of TaskIF
  * Follows RAII principles, i.e. there's no create or delete method.
@@ -17,11 +19,27 @@ public:
 	 */
 	virtual ~PeriodicTaskIF() { }
 	/**
-	 * @brief	With the startTask method, a created task can be started for the first time.
+	 * @brief	With the startTask method, a created task can be started
+	 *          for the first time.
 	 */
 	virtual ReturnValue_t startTask() = 0;
 
-	virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
+	/**
+	 * Add a component (object) to a periodic task. The pointer to the
+	 * task can be set optionally
+	 * @param object
+	 * Add an object to the task. The most important case is to add an
+	 * executable object with a function which will be called regularly
+	 * (see ExecutableObjectIF)
+	 * @param setTaskIF
+	 * Can be used to specify whether the task object pointer is passed
+	 * to the component.
+	 * @return
+	 */
+	virtual ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 
 	virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 

From e935b8bd04ee349e45c4bdcd60a2fa306cc73d74 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 10:45:47 +0200
Subject: [PATCH 141/653] some minor improvements

---
 tmtcservices/TmTcBridge.cpp | 50 ++++++++++++++++---------------------
 tmtcservices/TmTcBridge.h   | 20 ++++++++-------
 2 files changed, 32 insertions(+), 38 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index b4732a85..f9a7d3bc 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -1,9 +1,9 @@
 #include <framework/tmtcservices/TmTcBridge.h>
 
 #include <framework/ipc/QueueFactory.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/globalfunctions/arrayprinter.h>
 
 TmTcBridge::TmTcBridge(object_id_t objectId_,
         object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
@@ -22,7 +22,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 		return RETURN_OK;
 	}
 	else {
-	    warning << "TmTcBridge: Number of packets sent per cycle "
+	    sif::warning << "TmTcBridge: Number of packets sent per cycle "
 	               "exceeds limits. Keeping default value." << std::endl;
 		return RETURN_FAILED;
 	}
@@ -35,7 +35,7 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
         return RETURN_OK;
     }
     else {
-        warning << "TmTcBridge: Number of packets stored "
+        sif::warning << "TmTcBridge: Number of packets stored "
                    "exceeds limits. Keeping default value." << std::endl;
         return RETURN_FAILED;
     }
@@ -63,11 +63,11 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 	ReturnValue_t result;
 	result = handleTc();
 	if(result != RETURN_OK) {
-		error << "TMTC Bridge: Error handling TCs" << std::endl;
+		sif::error << "TMTC Bridge: Error handling TCs" << std::endl;
 	}
 	result = handleTm();
 	if (result != RETURN_OK) {
-		error << "TMTC Bridge: Error handling TMs" << std::endl;
+		sif::error << "TMTC Bridge: Error handling TMs" << std::endl;
 	}
 	return result;
 }
@@ -82,11 +82,11 @@ ReturnValue_t TmTcBridge::handleTc() {
 ReturnValue_t TmTcBridge::handleTm() {
 	ReturnValue_t result = handleTmQueue();
 	if(result != RETURN_OK) {
-		error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
+		sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
 		return RETURN_FAILED;
 	}
 
-	if(tmStored && communicationLinkUp) {
+	if(tmStored and communicationLinkUp) {
 		result = handleStoredTm();
 	}
 	return result;
@@ -95,8 +95,8 @@ ReturnValue_t TmTcBridge::handleTm() {
 
 ReturnValue_t TmTcBridge::handleTmQueue() {
 	TmTcMessage message;
-	const uint8_t* data = nullptr;
-	uint32_t size = 0;
+	const uint8_t* data = nullptr;
+	size_t size = 0;
 	for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
 		 result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
 	{
@@ -112,7 +112,7 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 
 		result = sendTm(data, size);
 		if (result != RETURN_OK) {
-			error << "TMTC Bridge: Could not send TM packet"<< std::endl;
+			sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl;
 			tmStore->deleteData(message.getStorageId());
 			return result;
 
@@ -127,14 +127,14 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 	//		 "Saving packet ID to be sent later\r\n" << std::flush;
 	store_address_t storeId = 0;
 
-	if(fifo.full()) {
-		error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
+	if(tmFifo.full()) {
+		sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
 				 "reached! Overwriting old data" << std::endl;
-		fifo.retrieve(&storeId);
+		tmFifo.retrieve(&storeId);
 		tmStore->deleteData(storeId);
 	}
 	storeId = message->getStorageId();
-	fifo.insert(storeId);
+	tmFifo.insert(storeId);
 	tmStored = true;
 	return RETURN_OK;
 }
@@ -142,25 +142,25 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 ReturnValue_t TmTcBridge::handleStoredTm() {
 	uint8_t counter = 0;
 	ReturnValue_t result = RETURN_OK;
-	while(not fifo.empty() && counter < sentPacketsPerCycle) {
+	while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
 		//info << "TMTC Bridge: Sending stored TM data. There are "
 		//     << (int) fifo.size() << " left to send\r\n" << std::flush;
 		store_address_t storeId;
-		const uint8_t* data = NULL;
-		uint32_t size = 0;
-		fifo.retrieve(&storeId);
+		const uint8_t* data = nullptr;
+		size_t size = 0;
+		tmFifo.retrieve(&storeId);
 		result = tmStore->getData(storeId, &data, &size);
 
 		sendTm(data,size);
 
 		if(result != RETURN_OK) {
-			error << "TMTC Bridge: Could not send stored downlink data"
+			sif::error << "TMTC Bridge: Could not send stored downlink data"
 			      << std::endl;
 			result = RETURN_FAILED;
 		}
 		counter ++;
 
-		if(fifo.empty()) {
+		if(tmFifo.empty()) {
 			tmStored = false;
 		}
 		tmStore->deleteData(storeId);
@@ -187,14 +187,6 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
 }
 
 
-
 void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
-	info << "TMTC Bridge: Printing data: [";
-	for(uint32_t i = 0; i < dataLen; i++) {
-		info << std::hex << (int)data[i];
-		if(i < dataLen-1){
-			info << " , ";
-		}
-	}
-	info << " ] " << std::endl;
+	arrayprinter::print(data, dataLen);
 }
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 15fd42c1..3e0432d8 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -25,8 +25,6 @@ public:
 	TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
 	virtual ~TmTcBridge();
 
-	void setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets);
-
 	/**
 	 * Set number of packets sent per performOperation().Please note that this
 	 * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
@@ -45,8 +43,8 @@ public:
 	 */
 	ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
 
-	void registerCommConnect();
-	void registerCommDisconnect();
+	virtual void registerCommConnect();
+	virtual void registerCommDisconnect();
 
 	/**
 	 * Initializes necessary FSFW components for the TMTC Bridge
@@ -64,7 +62,8 @@ public:
 	 * @param virtualChannel
 	 * @return
 	 */
-	MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
+	MessageQueueId_t getReportReceptionQueue(
+			uint8_t virtualChannel = 0) override;
 protected:
 	//! Used to send and receive TMTC messages.
 	//! TmTcMessage is used to transport messages between tasks.
@@ -75,7 +74,6 @@ protected:
 	//! Used to specify whether communication link is up
 	bool communicationLinkUp = false;
 	bool tmStored = false;
-	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> fifo;
 
 	/**
 	 * @brief 	Handle TC reception
@@ -141,9 +139,13 @@ protected:
 	 */
 	void printData(uint8_t * data, size_t dataLen);
 
-private:
-	uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
-	uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+	/**
+	 * This fifo can be used to store downlink data
+	 * which can not be sent at the moment.
+	 */
+	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
+    uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
+    uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };
 
 

From 4c59b043e13aa8f21949d9adf9662e75ecb98611 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 10:57:14 +0200
Subject: [PATCH 142/653] const store accessor in separate file now

---
 storagemanager/ConstStoreAccessor.cpp |  93 +++++++++++++++++++++
 storagemanager/ConstStoreAccessor.h   | 116 ++++++++++++++++++++++++++
 storagemanager/StorageAccessor.cpp    |  98 ++--------------------
 storagemanager/StorageAccessor.h      | 109 +-----------------------
 4 files changed, 215 insertions(+), 201 deletions(-)
 create mode 100644 storagemanager/ConstStoreAccessor.cpp
 create mode 100644 storagemanager/ConstStoreAccessor.h

diff --git a/storagemanager/ConstStoreAccessor.cpp b/storagemanager/ConstStoreAccessor.cpp
new file mode 100644
index 00000000..84f40053
--- /dev/null
+++ b/storagemanager/ConstStoreAccessor.cpp
@@ -0,0 +1,93 @@
+#include <framework/storagemanager/ConstStoreAccessor.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
+		storeId(storeId) {}
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
+		StorageManagerIF* store):
+		storeId(storeId), store(store) {
+	internalState = AccessState::ASSIGNED;
+}
+
+ConstStorageAccessor::~ConstStorageAccessor() {
+	if(deleteData and store != nullptr) {
+		sif::debug << "deleting store data" << std::endl;
+		store->deleteData(storeId);
+	}
+}
+
+ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
+		constDataPointer(other.constDataPointer), storeId(other.storeId),
+		size_(other.size_), store(other.store), deleteData(other.deleteData),
+		internalState(other.internalState) {
+	// This prevent premature deletion
+	other.store = nullptr;
+}
+
+ConstStorageAccessor& ConstStorageAccessor::operator=(
+		ConstStorageAccessor&& other) {
+	constDataPointer = other.constDataPointer;
+	storeId = other.storeId;
+	store = other.store;
+	size_ = other.size_;
+	deleteData = other.deleteData;
+	this->store = other.store;
+	// This prevents premature deletion
+	other.store = nullptr;
+	return *this;
+}
+
+const uint8_t* ConstStorageAccessor::data() const {
+	return constDataPointer;
+}
+
+size_t ConstStorageAccessor::size() const {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+	}
+	return size_;
+}
+
+ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
+		size_t maxSize) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(size_ > maxSize) {
+		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(constDataPointer, constDataPointer + size_, pointer);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void ConstStorageAccessor::release() {
+	deleteData = false;
+}
+
+store_address_t ConstStorageAccessor::getId() const {
+	return storeId;
+}
+
+void ConstStorageAccessor::print() const {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return;
+	}
+	sif::info << "StorageAccessor: Printing data: [";
+	for(uint16_t iPool = 0; iPool < size_; iPool++) {
+		sif::info << std::hex << (int)constDataPointer[iPool];
+		if(iPool < size_ - 1){
+			sif::info << " , ";
+		}
+	}
+	sif::info << " ] " << std::endl;
+}
+
+void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
+	internalState = AccessState::ASSIGNED;
+	this->store = store;
+}
diff --git a/storagemanager/ConstStoreAccessor.h b/storagemanager/ConstStoreAccessor.h
new file mode 100644
index 00000000..2420893c
--- /dev/null
+++ b/storagemanager/ConstStoreAccessor.h
@@ -0,0 +1,116 @@
+#ifndef FRAMEWORK_STORAGEMANAGER_CONSTSTOREACCESSOR_H_
+#define FRAMEWORK_STORAGEMANAGER_CONSTSTOREACCESSOR_H_
+
+#include <framework/storagemanager/storeAddress.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
+
+class StorageManagerIF;
+
+/**
+ * @brief 	Helper classes to facilitate safe access to storages which is also
+ * 			conforming to RAII principles
+ * @details
+ * Accessor class which can be returned by pool manager or passed and set by
+ * pool managers to have safe access to the pool resources.
+ *
+ * These helper can be used together with the StorageManager classes to manage
+ * access to a storage. It can take care of thread-safety while also providing
+ * mechanisms to automatically clear storage data.
+ */
+class ConstStorageAccessor {
+	//! StorageManager classes have exclusive access to private variables.
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class PoolManager;
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class LocalPool;
+public:
+	/**
+	 * @brief	Simple constructor which takes the store ID of the storage
+	 * 			entry to access.
+	 * @param storeId
+	 */
+	ConstStorageAccessor(store_address_t storeId);
+	ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
+
+	/**
+	 * @brief 	The destructor in default configuration takes care of
+	 * 			deleting the accessed pool entry and unlocking the mutex
+	 */
+	virtual ~ConstStorageAccessor();
+
+	/**
+	 * @brief	Returns a pointer to the read-only data
+	 * @return
+	 */
+	const uint8_t* data() const;
+
+	/**
+	 * @brief	Copies the read-only data to the supplied pointer
+	 * @param pointer
+	 */
+	virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
+
+	/**
+	 * @brief   Calling this will prevent the Accessor from deleting the data
+	 *          when the destructor is called.
+	 */
+	void release();
+
+	/**
+	 * Get the size of the data
+	 * @return
+	 */
+	size_t size() const;
+
+	/**
+	 * Get the storage ID.
+	 * @return
+	 */
+	store_address_t getId() const;
+
+	void print() const;
+
+	/**
+	 * @brief	Move ctor and move assignment allow returning accessors as
+	 * 			a returnvalue. They prevent resource being free prematurely.
+	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * move-constructors-and-move-assignment-operators-cpp.md
+	 * @param
+	 * @return
+	 */
+	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
+	ConstStorageAccessor (ConstStorageAccessor&&);
+
+	//! The copy ctor and copy assignemnt should be deleted implicitely
+	//! according to https://foonathan.net/2019/02/special-member-functions/
+	//! but I still deleted them to make it more explicit. (remember rule of 5).
+	ConstStorageAccessor& operator= (ConstStorageAccessor&) = delete;
+	ConstStorageAccessor (ConstStorageAccessor&) = delete;
+protected:
+	const uint8_t* constDataPointer = nullptr;
+	store_address_t storeId;
+	size_t size_ = 0;
+	//! Managing pool, has to assign itself.
+	StorageManagerIF* store = nullptr;
+	bool deleteData = true;
+
+	enum class AccessState {
+		UNINIT,
+		ASSIGNED
+	};
+	//! Internal state for safety reasons.
+	AccessState internalState = AccessState::UNINIT;
+	/**
+	 * Used by the pool manager instances to assign themselves to the
+	 * accessor. This is necessary to delete the data when the acessor
+	 * exits the scope ! The internal state will be considered read
+	 * when this function is called, so take care all data is set properly as
+	 * well.
+	 * @param
+	 */
+	void assignStore(StorageManagerIF*);
+};
+
+
+#endif /* FRAMEWORK_STORAGEMANAGER_CONSTSTOREACCESSOR_H_ */
diff --git a/storagemanager/StorageAccessor.cpp b/storagemanager/StorageAccessor.cpp
index c0c8126b..b827b9c0 100644
--- a/storagemanager/StorageAccessor.cpp
+++ b/storagemanager/StorageAccessor.cpp
@@ -1,96 +1,6 @@
 #include <framework/storagemanager/StorageAccessor.h>
 #include <framework/storagemanager/StorageManagerIF.h>
-
-ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
-		storeId(storeId) {}
-
-ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
-		StorageManagerIF* store):
-		storeId(storeId), store(store) {
-	internalState = AccessState::ASSIGNED;
-}
-
-ConstStorageAccessor::~ConstStorageAccessor() {
-	if(deleteData and store != nullptr) {
-		sif::debug << "deleting store data" << std::endl;
-		store->deleteData(storeId);
-	}
-}
-
-ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
-		constDataPointer(other.constDataPointer), storeId(other.storeId),
-		size_(other.size_), store(other.store), deleteData(other.deleteData),
-		internalState(other.internalState) {
-	// This prevent premature deletion
-	other.store = nullptr;
-}
-
-ConstStorageAccessor& ConstStorageAccessor::operator=(
-		ConstStorageAccessor&& other) {
-	constDataPointer = other.constDataPointer;
-	storeId = other.storeId;
-	store = other.store;
-	size_ = other.size_;
-	deleteData = other.deleteData;
-	this->store = other.store;
-	// This prevents premature deletion
-	other.store = nullptr;
-	return *this;
-}
-
-const uint8_t* ConstStorageAccessor::data() const {
-	return constDataPointer;
-}
-
-size_t ConstStorageAccessor::size() const {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-	}
-	return size_;
-}
-
-ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
-		size_t maxSize) {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if(size_ > maxSize) {
-		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	std::copy(constDataPointer, constDataPointer + size_, pointer);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void ConstStorageAccessor::release() {
-	deleteData = false;
-}
-
-store_address_t ConstStorageAccessor::getId() const {
-	return storeId;
-}
-
-void ConstStorageAccessor::print() const {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return;
-	}
-	sif::info << "StorageAccessor: Printing data: [";
-	for(uint16_t iPool = 0; iPool < size_; iPool++) {
-		sif::info << std::hex << (int)constDataPointer[iPool];
-		if(iPool < size_ - 1){
-			sif::info << " , ";
-		}
-	}
-	sif::info << " ] " << std::endl;
-}
-
-void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
-	internalState = AccessState::ASSIGNED;
-	this->store = store;
-}
-
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 StorageAccessor::StorageAccessor(store_address_t storeId):
 		ConstStorageAccessor(storeId) {
@@ -120,7 +30,8 @@ ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	if(size_ > maxSize) {
-		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
+		sif::error << "StorageAccessor: Supplied buffer not large "
+				"enough" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	std::copy(dataPointer, dataPointer + size_, pointer);
@@ -141,7 +52,8 @@ ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	if(offset + size > size_) {
-		sif::error << "StorageAccessor: Data too large for pool entry!" << std::endl;
+		sif::error << "StorageAccessor: Data too large for pool "
+				"entry!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	std::copy(data, data + size, dataPointer + offset);
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index 57c9369c..bcefe24d 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -1,117 +1,10 @@
 #ifndef FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
 #define FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
 
-#include <framework/ipc/MutexHelper.h>
-#include <framework/storagemanager/storeAddress.h>
+#include <framework/storagemanager/ConstStoreAccessor.h>
 
 class StorageManagerIF;
 
-/**
- * @brief 	Helper classes to facilitate safe access to storages which is also
- * 			conforming to RAII principles
- * @details
- * Accessor class which can be returned by pool manager or passed and set by
- * pool managers to have safe access to the pool resources.
- *
- * These helper can be used together with the StorageManager classes to manage
- * access to a storage. It can take care of thread-safety while also providing
- * mechanisms to automatically clear storage data.
- */
-class ConstStorageAccessor {
-	//! StorageManager classes have exclusive access to private variables.
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class PoolManager;
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class LocalPool;
-public:
-	/**
-	 * @brief	Simple constructor which takes the store ID of the storage
-	 * 			entry to access.
-	 * @param storeId
-	 */
-	ConstStorageAccessor(store_address_t storeId);
-	ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
-
-	/**
-	 * @brief 	The destructor in default configuration takes care of
-	 * 			deleting the accessed pool entry and unlocking the mutex
-	 */
-	virtual ~ConstStorageAccessor();
-
-	/**
-	 * @brief	Returns a pointer to the read-only data
-	 * @return
-	 */
-	const uint8_t* data() const;
-
-	/**
-	 * @brief	Copies the read-only data to the supplied pointer
-	 * @param pointer
-	 */
-	virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
-
-	/**
-	 * @brief   Calling this will prevent the Accessor from deleting the data
-	 *          when the destructor is called.
-	 */
-	void release();
-
-	/**
-	 * Get the size of the data
-	 * @return
-	 */
-	size_t size() const;
-
-	/**
-	 * Get the storage ID.
-	 * @return
-	 */
-	store_address_t getId() const;
-
-	void print() const;
-
-	/**
-	 * @brief	Move ctor and move assignment allow returning accessors as
-	 * 			a returnvalue. They prevent resource being free prematurely.
-	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
-	 * move-constructors-and-move-assignment-operators-cpp.md
-	 * @param
-	 * @return
-	 */
-	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
-	ConstStorageAccessor (ConstStorageAccessor&&);
-
-	//! The copy ctor and copy assignemnt should be deleted implicitely
-	//! according to https://foonathan.net/2019/02/special-member-functions/
-	//! but I still deleted them to make it more explicit. (remember rule of 5).
-	ConstStorageAccessor& operator= (ConstStorageAccessor&) = delete;
-	ConstStorageAccessor (ConstStorageAccessor&) = delete;
-protected:
-	const uint8_t* constDataPointer = nullptr;
-	store_address_t storeId;
-	size_t size_ = 0;
-	//! Managing pool, has to assign itself.
-	StorageManagerIF* store = nullptr;
-	bool deleteData = true;
-
-	enum class AccessState {
-		UNINIT,
-		ASSIGNED
-	};
-	//! Internal state for safety reasons.
-	AccessState internalState = AccessState::UNINIT;
-	/**
-	 * Used by the pool manager instances to assign themselves to the
-	 * accessor. This is necessary to delete the data when the acessor
-	 * exits the scope ! The internal state will be considered read
-	 * when this function is called, so take care all data is set properly as
-	 * well.
-	 * @param
-	 */
-	void assignStore(StorageManagerIF*);
-};
-
-
 /**
  * @brief   Child class for modifyable data. Also has a normal pointer member.
  */

From a589be7c746d9f44b3ef3b47fceaa2ae3cd8412e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 23 Jun 2020 11:06:54 +0200
Subject: [PATCH 143/653] took over imrpvements

---
 ...tStoreAccessor.cpp => ConstStorageAccessor.cpp} | 14 ++++----------
 ...ConstStoreAccessor.h => ConstStorageAccessor.h} |  6 +++---
 storagemanager/PoolManager.h                       |  3 +++
 storagemanager/PoolManager.tpp                     |  6 +++---
 storagemanager/StorageAccessor.h                   |  2 +-
 5 files changed, 14 insertions(+), 17 deletions(-)
 rename storagemanager/{ConstStoreAccessor.cpp => ConstStorageAccessor.cpp} (87%)
 rename storagemanager/{ConstStoreAccessor.h => ConstStorageAccessor.h} (94%)

diff --git a/storagemanager/ConstStoreAccessor.cpp b/storagemanager/ConstStorageAccessor.cpp
similarity index 87%
rename from storagemanager/ConstStoreAccessor.cpp
rename to storagemanager/ConstStorageAccessor.cpp
index 84f40053..0bfde58c 100644
--- a/storagemanager/ConstStoreAccessor.cpp
+++ b/storagemanager/ConstStorageAccessor.cpp
@@ -1,6 +1,7 @@
-#include <framework/storagemanager/ConstStoreAccessor.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/storagemanager/ConstStorageAccessor.h>
 #include <framework/storagemanager/StorageManagerIF.h>
+#include <framework/globalfunctions/arrayprinter.h>
 
 ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
 		storeId(storeId) {}
@@ -73,18 +74,11 @@ store_address_t ConstStorageAccessor::getId() const {
 }
 
 void ConstStorageAccessor::print() const {
-	if(internalState == AccessState::UNINIT) {
+	if(internalState == AccessState::UNINIT or constDataPointer == nullptr) {
 		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
 		return;
 	}
-	sif::info << "StorageAccessor: Printing data: [";
-	for(uint16_t iPool = 0; iPool < size_; iPool++) {
-		sif::info << std::hex << (int)constDataPointer[iPool];
-		if(iPool < size_ - 1){
-			sif::info << " , ";
-		}
-	}
-	sif::info << " ] " << std::endl;
+	arrayprinter::print(constDataPointer, size_);
 }
 
 void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
diff --git a/storagemanager/ConstStoreAccessor.h b/storagemanager/ConstStorageAccessor.h
similarity index 94%
rename from storagemanager/ConstStoreAccessor.h
rename to storagemanager/ConstStorageAccessor.h
index 2420893c..cf8ca08f 100644
--- a/storagemanager/ConstStoreAccessor.h
+++ b/storagemanager/ConstStorageAccessor.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_CONSTSTOREACCESSOR_H_
-#define FRAMEWORK_STORAGEMANAGER_CONSTSTOREACCESSOR_H_
+#ifndef FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+#define FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
 
 #include <framework/storagemanager/storeAddress.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
@@ -113,4 +113,4 @@ protected:
 };
 
 
-#endif /* FRAMEWORK_STORAGEMANAGER_CONSTSTOREACCESSOR_H_ */
+#endif /* FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 7c2e8a71..3c1c1217 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -29,6 +29,9 @@ public:
 			store_address_t* storeId = nullptr) override;
 
 protected:
+	//! Default mutex timeout value to prevent permanent blocking.
+	static constexpr uint32_t mutexTimeout = 50;
+
 	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
 			bool ignoreFault) override;
 
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index a364f5a2..4ca22b85 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -21,7 +21,7 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
 		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex, mutexTimeout);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
 			address,ignoreFault);
 	return status;
@@ -33,7 +33,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 	// debug << "PoolManager( " << translateObject(getObjectId()) <<
 	//       " )::deleteData from store " << packet_id.pool_index <<
 	//       ". id is "<< packet_id.packet_index << std::endl;
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex, mutexTimeout);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
 	return status;
 }
@@ -41,7 +41,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 		size_t size, store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex, mutexTimeout);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
 			size, storeId);
 	return status;
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index bcefe24d..c5e38306 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
 #define FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
 
-#include <framework/storagemanager/ConstStoreAccessor.h>
+#include <framework/storagemanager/ConstStorageAccessor.h>
 
 class StorageManagerIF;
 

From f6d2549534e8c4baa59e718781d3384c1d7922eb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 11:35:07 +0200
Subject: [PATCH 144/653] requested changed implemented

---
 container/HybridIterator.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index db1ce4bc..79f0485f 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -17,8 +17,8 @@ public:
 	}
 
 	HybridIterator(LinkedElement<T> *start) :
-		LinkedElement<T>::Iterator(start), value(
-					start->value), linked(true), end(NULL) {
+		LinkedElement<T>::Iterator(start), value(start->value),
+		linked(true) {
 
 	}
 
@@ -64,11 +64,11 @@ public:
 		return tmp;
 	}
 
-	bool operator==(const HybridIterator& other) {
+	bool operator==(const HybridIterator& other) const {
 		return value == other.value;
 	}
 
-	bool operator!=(const HybridIterator& other) {
+	bool operator!=(const HybridIterator& other) const {
 		return !(*this == other);
 	}
 

From a5a53e7f9b67bc6fd9e8df90f354a5502dace4df Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 11:36:10 +0200
Subject: [PATCH 145/653] include guard updated

---
 container/HybridIterator.h | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index 79f0485f..3dbd47a8 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -1,5 +1,5 @@
-#ifndef HYBRIDITERATOR_H_
-#define HYBRIDITERATOR_H_
+#ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
+#define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
 
 #include <framework/container/ArrayList.h>
 #include <framework/container/SinglyLinkedList.h>
@@ -24,16 +24,16 @@ public:
 
 	HybridIterator(typename ArrayList<T, count_t>::Iterator start,
 			typename ArrayList<T, count_t>::Iterator end) :
-			ArrayList<T, count_t>::Iterator(start), value(start.value), linked(
-					false), end(end.value) {
+			ArrayList<T, count_t>::Iterator(start), value(start.value),
+			linked(false), end(end.value) {
 		if (value == this->end) {
 			value = NULL;
 		}
 	}
 
 	HybridIterator(T *firstElement, T *lastElement) :
-			ArrayList<T, count_t>::Iterator(firstElement), value(firstElement), linked(
-					false), end(++lastElement) {
+			ArrayList<T, count_t>::Iterator(firstElement), value(firstElement),
+			linked(false), end(++lastElement) {
 		if (value == end) {
 			value = NULL;
 		}
@@ -42,17 +42,17 @@ public:
 	HybridIterator& operator++() {
 		if (linked) {
 			LinkedElement<T>::Iterator::operator++();
-			if (LinkedElement<T>::Iterator::value != NULL) {
+			if (LinkedElement<T>::Iterator::value != nullptr) {
 				value = LinkedElement<T>::Iterator::value->value;
 			} else {
-				value = NULL;
+				value = nullptr;
 			}
 		} else {
 			ArrayList<T, count_t>::Iterator::operator++();
 			value = ArrayList<T, count_t>::Iterator::value;
 
 			if (value == end) {
-				value = NULL;
+				value = nullptr;
 			}
 		}
 		return *this;

From f826ada774ed53d31899483b003162c10302527d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 11:40:21 +0200
Subject: [PATCH 146/653] some more little changes for single linked list

---
 container/SinglyLinkedList.h | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 3c0078fc..a78a1467 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -88,14 +88,15 @@ public:
 	ElementIterator begin() const {
 		return ElementIterator::Iterator(start);
 	}
-	typename ElementIterator::Iterator end() const {
+
+	ElementIterator end() const {
 		return ElementIterator::Iterator();
 	}
 
-	uint32_t getSize() const {
-		uint32_t size = 0;
+	size_t getSize() const {
+		size_t size = 0;
 		LinkedElement<T> *element = start;
-		while (element != NULL) {
+		while (element != nullptr) {
 			size++;
 			element = element->getNext();
 		}

From 19cbac923f885f94f40876aa41e3f163874003e6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 12:06:08 +0200
Subject: [PATCH 147/653] typo fix

---
 osal/FreeRTOS/PeriodicTask.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 170eb0a4..44a7b801 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -86,7 +86,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 			object);
 	if (newObject == nullptr) {
 	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-	            "it implement ExecutableObjectIF" << std::endl;
+	            "it implements ExecutableObjectIF!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);

From 8a56964dab62de52a67563c5446fd7986100db06 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 16:01:17 +0200
Subject: [PATCH 148/653] doc fix, various improvements

---
 tmtcservices/CommandingServiceBase.cpp | 140 +++++++++++++------------
 tmtcservices/CommandingServiceBase.h   |  53 ++++++----
 2 files changed, 102 insertions(+), 91 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 4c557f82..acf66389 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -80,39 +80,49 @@ void CommandingServiceBase::handleCommandQueue() {
 	ReturnValue_t result = RETURN_FAILED;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&reply)) {
-		handleCommandMessage(reply);
+		handleCommandMessage(&reply);
 	}
 }
 
 
-void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
+void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	bool isStep = false;
 	CommandMessage nextCommand;
-	CommandMapIter iter;
-	if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
-		handleUnrequestedReply(&reply);
-		return;
-	}
-	if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
-		handleUnrequestedReply(&reply);
+	CommandMapIter iter = commandMap.find(reply->getSender());
+
+	// handle unrequested reply first
+	if (reply->getSender() == MessageQueueIF::NO_QUEUE or
+			iter == commandMap.end()) {
+		handleUnrequestedReply(reply);
 		return;
 	}
 	nextCommand.setCommand(CommandMessage::CMD_NONE);
 
+
 	// Implemented by child class, specifies what to do with reply.
-	ReturnValue_t result = handleReply(&reply, iter->command, &iter->state,
+	ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
 			&nextCommand, iter->objectId, &isStep);
 
+	/* If the child implementation does not implement special handling for
+	 * rejected replies (RETURN_FAILED is returned), a failure verification
+	 * will be generated with the reason as the return code and the initial
+	 * command as failure parameter 1 */
+	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
+			result == RETURN_FAILED) {
+		result = reply->getReplyRejectedReason(
+				reinterpret_cast<Command_t*>(&failureParameter1));
+	}
+
 	switch (result) {
 	case EXECUTION_COMPLETE:
 	case RETURN_OK:
 	case NO_STEP_MESSAGE:
 		// handle result of reply handler implemented by developer.
-		handleReplyHandlerResult(result, iter, nextCommand, reply, isStep);
+		handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
 		break;
 	case INVALID_REPLY:
 		//might be just an unrequested reply at a bad moment
-		handleUnrequestedReply(&reply);
+		handleUnrequestedReply(reply);
 		break;
 	default:
 		if (isStep) {
@@ -129,24 +139,24 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
 		}
 		failureParameter1 = 0;
 		failureParameter2 = 0;
-		checkAndExecuteFifo(&iter);
+		checkAndExecuteFifo(iter);
 		break;
 	}
 
 }
 
 void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
-		CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply,
-		bool& isStep) {
-	iter->command = nextCommand.getCommand();
+		CommandMapIter iter, CommandMessage* nextCommand,
+		CommandMessage* reply, bool& isStep) {
+	iter->command = nextCommand->getCommand();
 
 	// In case a new command is to be sent immediately, this is performed here.
 	// If no new command is sent, only analyse reply result by initializing
 	// sendResult as RETURN_OK
 	ReturnValue_t sendResult = RETURN_OK;
-	if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
-		sendResult = commandQueue->sendMessage(reply.getSender(),
-				&nextCommand);
+	if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
+		sendResult = commandQueue->sendMessage(reply->getSender(),
+				nextCommand);
 	}
 
 	if (sendResult == RETURN_OK) {
@@ -161,19 +171,19 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 					TC_VERIFY::COMPLETION_SUCCESS,
 					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
 					iter->tcInfo.tcSequenceControl, 0);
-			checkAndExecuteFifo(&iter);
+			checkAndExecuteFifo(iter);
 		}
 	}
 	else {
 		if (isStep) {
-			nextCommand.clearCommandMessage();
+			nextCommand->clear();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId,
 					iter->tcInfo.tcSequenceControl, sendResult,
 					++iter->step, failureParameter1, failureParameter2);
 		} else {
-			nextCommand.clearCommandMessage();
+			nextCommand->clear();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE,
 					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
@@ -182,7 +192,7 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 		}
 		failureParameter1 = 0;
 		failureParameter2 = 0;
-		checkAndExecuteFifo(&iter);
+		checkAndExecuteFifo(iter);
 	}
 }
 
@@ -198,8 +208,8 @@ void CommandingServiceBase::handleRequestQueue() {
 		address = message.getStorageId();
 		packet.setStoreAddress(address);
 
-		if ((packet.getSubService() == 0)
-				|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
+		if (packet.getSubService() == 0
+				or isValidSubservice(packet.getSubService()) != RETURN_OK) {
 			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}
@@ -212,8 +222,7 @@ void CommandingServiceBase::handleRequestQueue() {
 		}
 
 		//Is a command already active for the target object?
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator iter;
+		CommandMapIter iter;
 		iter = commandMap.find(queue);
 
 		if (iter != commandMap.end()) {
@@ -228,7 +237,7 @@ void CommandingServiceBase::handleRequestQueue() {
 			if (result != RETURN_OK) {
 				rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
 			} else {
-				startExecution(&packet, &iter);
+				startExecution(&packet, iter);
 			}
 		}
 
@@ -281,46 +290,44 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
 }
 
 
-void CommandingServiceBase::startExecution(
-		TcPacketStored *storedPacket,
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator *iter) {
-	ReturnValue_t result, sendResult = RETURN_OK;
-	CommandMessage message;
-	(*iter)->subservice = storedPacket->getSubService();
-	result = prepareCommand(&message, (*iter)->subservice,
-			storedPacket->getApplicationData(),
-			storedPacket->getApplicationDataSize(), &(*iter)->state,
-			(*iter)->objectId);
+void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
+        CommandMapIter iter) {
+    ReturnValue_t result = RETURN_OK;
+    CommandMessage command;
+    iter->subservice = storedPacket->getSubService();
+    result = prepareCommand(&command, iter->subservice,
+            storedPacket->getApplicationData(),
+            storedPacket->getApplicationDataSize(), &iter->state,
+            iter->objectId);
 
+    ReturnValue_t sendResult = RETURN_OK;
 	switch (result) {
 	case RETURN_OK:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
-			sendResult = commandQueue->sendMessage((*iter).value->first,
-					&message);
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
+			sendResult = commandQueue->sendMessage(iter.value->first,
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
-			Clock::getUptime(&(*iter)->uptimeOfStart);
-			(*iter)->step = 0;
-//			(*iter)->state = 0;
-			(*iter)->subservice = storedPacket->getSubService();
-			(*iter)->command = message.getCommand();
-			(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
-			(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
-			(*iter)->tcInfo.tcSequenceControl =
+			Clock::getUptime(&iter->uptimeOfStart);
+			iter->step = 0;
+			iter->subservice = storedPacket->getSubService();
+			iter->command = command.getCommand();
+			iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
+			iter->tcInfo.tcPacketId = storedPacket->getPacketId();
+			iter->tcInfo.tcSequenceControl =
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			message.clearCommandMessage();
+			command.clear();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
 		break;
 	case EXECUTION_COMPLETE:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
 			//Fire-and-forget command.
-			sendResult = commandQueue->sendMessage((*iter).value->first,
-					&message);
+			sendResult = commandQueue->sendMessage(iter.value->first,
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
 			verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
@@ -328,7 +335,7 @@ void CommandingServiceBase::startExecution(
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			message.clearCommandMessage();
+			command.clear();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -355,12 +362,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 }
 
 
-void CommandingServiceBase::checkAndExecuteFifo(
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator *iter) {
+void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 	store_address_t address;
-	if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
-		commandMap.erase(iter);
+	if (iter->fifo.retrieve(&address) != RETURN_OK) {
+		commandMap.erase(&iter);
 	} else {
 		TcPacketStored newPacket(address);
 		startExecution(&newPacket, iter);
@@ -368,9 +373,8 @@ void CommandingServiceBase::checkAndExecuteFifo(
 }
 
 
-void CommandingServiceBase::handleUnrequestedReply(
-		CommandMessage* reply) {
-	reply->clearCommandMessage();
+void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
+	reply->clear();
 }
 
 
@@ -384,18 +388,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() {
 void CommandingServiceBase::checkTimeout() {
 	uint32_t uptime;
 	Clock::getUptime(&uptime);
-	typename FixedMap<MessageQueueId_t,
-			CommandingServiceBase::CommandInfo>::Iterator iter;
+	CommandMapIter iter;
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
 		if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
 					TIMEOUT);
-			checkAndExecuteFifo(&iter);
+			checkAndExecuteFifo(iter);
 		}
 	}
 }
 
-
-
+void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
+    executingTask = task_;
+}
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 9a68a2d3..277e5589 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -97,9 +97,7 @@ public:
 	 * Used to setup the reference of the task, that executes this component
 	 * @param task_ Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_){
-		executingTask = task_;
-	};
+	virtual void setTaskIF(PeriodicTaskIF* task_);
 
 protected:
 	/**
@@ -141,15 +139,15 @@ protected:
 	 * @param objectId Target object ID
 	 * @return
 	 */
-	virtual ReturnValue_t prepareCommand(CommandMessage *message,
+	virtual ReturnValue_t prepareCommand(CommandMessage* message,
 			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
 			uint32_t *state, object_id_t objectId) = 0;
 
 	/**
 	 * This function is implemented by child services to specify how replies
-	 * to a command from another software component are handled
+	 * to a command from another software component are handled.
 	 * @param reply
-	 * This is the reply in form of a command message.
+	 * This is the reply in form of a generic read-only command message.
 	 * @param previousCommand
 	 * Command_t of related command
 	 * @param state [out/in]
@@ -163,19 +161,26 @@ protected:
 	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
 	 *   generate TC verification success
 	 * - @c INVALID_REPLY calls handleUnrequestedReply
-	 * - Anything else triggers a TC verification failure
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED
+	 *   is returned and the command ID is CommandMessage::REPLY_REJECTED,
+	 *   a failure verification message with the reason as the error parameter
+	 *   and the initial command as failure parameter 1.
 	 */
-	virtual ReturnValue_t handleReply(const CommandMessage *reply,
+	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,
-			CommandMessage *optionalNextCommand, object_id_t objectId,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
 
 	/**
 	 * This function can be overidden to handle unrequested reply,
 	 * when the reply sender ID is unknown or is not found is the command map.
+	 * The default implementation will clear the command message and all
+	 * its contents.
 	 * @param reply
+	 * Reply which is non-const so the default implementation can clear the
+	 * message.
 	 */
-	virtual void handleUnrequestedReply(CommandMessage *reply);
+	virtual void handleUnrequestedReply(CommandMessage* reply);
 
 	virtual void doPeriodicOperation();
 
@@ -195,6 +200,9 @@ protected:
 		FIFO<store_address_t, 3> fifo;
 	};
 
+	using CommandMapIter = FixedMap<MessageQueueId_t,
+	        CommandingServiceBase::CommandInfo>::Iterator;
+
 	const uint16_t apid;
 
 	const uint8_t service;
@@ -263,21 +271,21 @@ protected:
 	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = nullptr);
 
-	void checkAndExecuteFifo(
-			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
+	void checkAndExecuteFifo(CommandMapIter iter);
 
 private:
-	using CommandMapIter = FixedMap<MessageQueueId_t,
-			CommandingServiceBase::CommandInfo>::Iterator;
 
 	/**
 	 * This method handles internal execution of a command,
-	 * once it has been started by @sa{startExecution()} in the Request Queue handler.
-	 * It handles replies generated by the devices and relayed by the specific service implementation.
-	 * This means that it determines further course of action depending on the return values specified
-	 * in the service implementation.
+	 * once it has been started by @sa{startExecution()} in the request
+	 * queue handler.
+	 * It handles replies generated by the devices and relayed by the specific
+	 * service implementation. This means that it determines further course of
+	 * action depending on the return values specified in the service
+	 * implementation.
 	 * This includes the generation of TC verification messages. Note that
-	 * the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
+	 * the static framework object ID @c VerificationReporter::messageReceiver
+	 * needs to be set.
 	 *   - TM[1,5] Step Successs
 	 *   - TM[1,6] Step Failure
 	 *   - TM[1,7] Completion Success
@@ -298,12 +306,11 @@ private:
 
 	void acceptPacket(uint8_t reportId, TcPacketStored* packet);
 
-	void startExecution(TcPacketStored *storedPacket,
-			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
+	void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
 
-	void handleCommandMessage(CommandMessage& reply);
+	void handleCommandMessage(CommandMessage* reply);
 	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
-			CommandMessage& nextCommand,CommandMessage& reply, bool& isStep);
+			CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
 
 	void checkTimeout();
 };

From 644896245ff2eca019ebb0a5e9e0840f2b1dcc22 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 16:03:54 +0200
Subject: [PATCH 149/653] better returnvalues for CSB init

---
 objectmanager/ObjectManagerIF.h        | 3 ++-
 tmtcservices/CommandingServiceBase.cpp | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index 90a1ce3b..dcef81cd 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -21,7 +21,8 @@ public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
 	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
 	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
+
+	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
 protected:
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index acf66389..abf5b0ed 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -57,7 +57,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
 	if (packetForwarding == nullptr or distributor == nullptr) {
-		return RETURN_FAILED;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	distributor->registerService(this);
@@ -68,7 +68,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
 	if (IPCStore == nullptr or TCStore == nullptr) {
-		return RETURN_FAILED;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	return RETURN_OK;

From fc0d42e3e06e6d7c632f8a60ea0e5fe0e0972c7c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 16:07:02 +0200
Subject: [PATCH 150/653] error output for CSB init failure

---
 tmtcservices/CommandingServiceBase.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index abf5b0ed..f370cc6f 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -57,6 +57,8 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
 	if (packetForwarding == nullptr or distributor == nullptr) {
+	    sif::error << "CommandingServiceBase::intialize: Packet source or "
+	            "packet destination invalid!" << std::endl;
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
@@ -68,6 +70,8 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
 	if (IPCStore == nullptr or TCStore == nullptr) {
+	    sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
+	                    "not initialized yet!" << std::endl;
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 

From ce3e4a1176afd5170fb9dce62c2737c88d7d9786 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 16:24:16 +0200
Subject: [PATCH 151/653] added getter for reject reply

---
 ipc/CommandMessage.cpp                 | 11 +++++++++++
 ipc/CommandMessage.h                   |  2 ++
 tmtcservices/CommandingServiceBase.cpp | 12 ++++++------
 3 files changed, 19 insertions(+), 6 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index fa41c653..991c9df8 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -120,3 +120,14 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
 	setParameter(reason);
 	setParameter2(initialCommand);
 }
+
+ReturnValue_t CommandMessage::getReplyRejectedReason(
+        Command_t *initialCommand) const {
+    ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
+    std::memcpy(&reason, getData(), sizeof(reason));
+    if(initialCommand != nullptr) {
+        std::memcpy(initialCommand, getData() + sizeof(reason),
+                sizeof(Command_t));
+    }
+    return reason;
+}
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 2d966063..b800b9d2 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -124,6 +124,8 @@ public:
 	 */
 	void setToUnknownCommand();
 	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
+	ReturnValue_t getReplyRejectedReason(Command_t *initialCommand) const;
+
 	size_t getMinimumMessageSize() const;
 };
 
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index f370cc6f..e3ecada1 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -180,14 +180,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 	}
 	else {
 		if (isStep) {
-			nextCommand->clear();
+			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId,
 					iter->tcInfo.tcSequenceControl, sendResult,
 					++iter->step, failureParameter1, failureParameter2);
 		} else {
-			nextCommand->clear();
+			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE,
 					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
@@ -267,7 +267,7 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
         object_id_t objectId, const uint8_t *data, size_t dataLen) {
     uint8_t buffer[sizeof(object_id_t)];
     uint8_t* pBuffer = buffer;
-    size_t size = 0;
+    uint32_t size = 0;
     SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
             sizeof(object_id_t), true);
     TmPacketStored tmPacketStored(this->apid, this->service, subservice,
@@ -322,7 +322,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			command.clear();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -339,7 +339,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			command.clear();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -378,7 +378,7 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 
 
 void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
-	reply->clear();
+	reply->clearCommandMessage();
 }
 
 

From 1ed5da3a122c98b01b9d59cac646bc9064cd33f5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 24 Jun 2020 16:26:44 +0200
Subject: [PATCH 152/653] getter function bugfix

---
 ipc/CommandMessage.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 991c9df8..679793e3 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -123,11 +123,9 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
 
 ReturnValue_t CommandMessage::getReplyRejectedReason(
         Command_t *initialCommand) const {
-    ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
-    std::memcpy(&reason, getData(), sizeof(reason));
+    ReturnValue_t reason = getParameter();
     if(initialCommand != nullptr) {
-        std::memcpy(initialCommand, getData() + sizeof(reason),
-                sizeof(Command_t));
+        *initialCommand = getParameter2();
     }
     return reason;
 }

From d1b9ab51263e10f5486fe2e8f53afe8670a3087b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 25 Jun 2020 17:17:24 +0200
Subject: [PATCH 153/653] added basic insertion operations

---
 container/SinglyLinkedList.h | 47 +++++++++++++++++++++++++++++++-----
 1 file changed, 41 insertions(+), 6 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index a78a1467..618a21e1 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -58,7 +58,7 @@ public:
 		this->next = next;
 	}
 
-	virtual void setEnd() {
+	virtual void setLast() {
 	    this->next = nullptr;
 	}
 
@@ -89,10 +89,23 @@ public:
 		return ElementIterator::Iterator(start);
 	}
 
+	/** Returns iterator to nulltr */
 	ElementIterator end() const {
 		return ElementIterator::Iterator();
 	}
 
+	/**
+	 * Returns last element in singly linked list.
+	 * @return
+	 */
+	ElementIterator back() const {
+	    LinkedElement<T> *element = start;
+	    while (element != nullptr) {
+	        element = element->getNext();
+	    }
+	    return ElementIterator::Iterator(element);
+	}
+
 	size_t getSize() const {
 		size_t size = 0;
 		LinkedElement<T> *element = start;
@@ -102,15 +115,37 @@ public:
 		}
 		return size;
 	}
-	void setStart(LinkedElement<T>* setStart) {
-		start = setStart;
+	void setStart(LinkedElement<T>* firstElement) {
+		start = firstElement;
 	}
 
-    void setEnd(LinkedElement<T>* setEnd) {
-        setEnd->setEnd();
+	void setNext(LinkedElement<T>* currentElement,
+	        LinkedElement<T>* nextElement) {
+	    currentElement->setNext(nextElement);
+	}
+
+    void setEnd(LinkedElement<T>* lastElement) {
+        lastElement->setLast();
     }
 
-    // SHOULDDO: Insertion operation ?
+    void insertElement(LinkedElement<T>* element, size_t position) {
+        LinkedElement<T> *currentElement = start;
+        for(size_t count = 0; count < position; count++) {
+            if(currentElement == nullptr) {
+                return;
+            }
+            currentElement = currentElement->getNext();
+        }
+        LinkedElement<T>* elementAfterCurrent = currentElement->next;
+        currentElement->setNext(element);
+        if(elementAfterCurrent != nullptr) {
+            element->setNext(elementAfterCurrent);
+        }
+    }
+
+    void insertBack(LinkedElement<T>* lastElement) {
+        back().value->setNext(lastElement);
+    }
 
 protected:
 	LinkedElement<T> *start = nullptr;

From 053b47215786d38b0f604755e0b712300908296a Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 25 Jun 2020 18:09:32 +0200
Subject: [PATCH 154/653] Fixed spelling mistake in HealthHelper

---
 devicehandlers/ChildHandlerBase.cpp  | 2 +-
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 devicehandlers/HealthDevice.cpp      | 2 +-
 health/HealthHelper.cpp              | 4 ++--
 health/HealthHelper.h                | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index 50a5c07e..430b24e0 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -34,7 +34,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 		parent->registerChild(getObjectId());
 	}
 
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 
 	modeHelper.setParentQueue(parentQueue);
 
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 90875838..2e24e0d5 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1072,7 +1072,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 
 void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 	modeHelper.setParentQueue(parentQueueId);
-	healthHelper.setParentQeueue(parentQueueId);
+	healthHelper.setParentQueue(parentQueueId);
 }
 
 bool DeviceHandlerBase::isAwaitingReply() {
diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index ea0b99ff..61a82421 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -38,7 +38,7 @@ MessageQueueId_t HealthDevice::getCommandQueue() const {
 }
 
 void HealthDevice::setParentQueue(MessageQueueId_t parentQueue) {
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 }
 
 bool HealthDevice::hasHealthChanged() {
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index ed97f3d3..7b8b3a53 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -29,11 +29,11 @@ HasHealthIF::HealthState HealthHelper::getHealth() {
 }
 
 ReturnValue_t HealthHelper::initialize(MessageQueueId_t parentQueue) {
-	setParentQeueue(parentQueue);
+	setParentQueue(parentQueue);
 	return initialize();
 }
 
-void HealthHelper::setParentQeueue(MessageQueueId_t parentQueue) {
+void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
 	this->parentQueue = parentQueue;
 }
 
diff --git a/health/HealthHelper.h b/health/HealthHelper.h
index a1ca2c52..471bc7e9 100644
--- a/health/HealthHelper.h
+++ b/health/HealthHelper.h
@@ -78,7 +78,7 @@ public:
 	/**
 	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
 	 */
-	void setParentQeueue(MessageQueueId_t parentQueue);
+	void setParentQueue(MessageQueueId_t parentQueue);
 
 	/**
 	 *

From bfd49caab4dd4432a575cc13738a818167d62c43 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 26 Jun 2020 12:52:03 +0200
Subject: [PATCH 155/653] fixed include guard comment

---
 container/HybridIterator.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index 3dbd47a8..f2fd6b28 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -87,4 +87,4 @@ private:
 	T *end = nullptr;
 };
 
-#endif /* HYBRIDITERATOR_H_ */
+#endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */

From 5400e38126d89730af33177f60963051659a985f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 16:53:32 +0200
Subject: [PATCH 156/653] slight change

---
 tmtcservices/CommandingServiceBase.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index e3ecada1..d69a0f03 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -113,8 +113,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	 * command as failure parameter 1 */
 	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
 			result == RETURN_FAILED) {
-		result = reply->getReplyRejectedReason(
-				reinterpret_cast<Command_t*>(&failureParameter1));
+	    result = reply->getReplyRejectedReason();
+	    failureParameter1 = iter->command;
 	}
 
 	switch (result) {

From d311c499981bbd247466e1da6bf5f84999931bad Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 29 Jun 2020 16:57:00 +0200
Subject: [PATCH 157/653] setTaskIF implemented

---
 tmtcservices/PusServiceBase.cpp | 11 +++++++++++
 tmtcservices/PusServiceBase.h   | 17 +++++++++++++----
 2 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index f5d1e30b..82e5ff5c 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -32,6 +32,10 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 	return RETURN_OK;
 }
 
+void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) {
+    this->taskHandle = taskHandle;
+}
+
 void PusServiceBase::handleRequestQueue() {
 	TmTcMessage message;
 	ReturnValue_t result = RETURN_FAILED;
@@ -108,3 +112,10 @@ ReturnValue_t PusServiceBase::initialize() {
 		return RETURN_FAILED;
 	}
 }
+
+ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {
+    // If task parameters, for example task frequency are required, this
+    // function should be overriden and the system object task IF can
+    // be used to get those parameters.
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 39600c41..6d3d9bac 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -96,11 +96,20 @@ public:
 	 * @return	@c RETURN_OK if the periodic performService was successful.
 	 * 			@c RETURN_FAILED else.
 	 */
-	ReturnValue_t performOperation(uint8_t opCode);
-	virtual uint16_t getIdentifier();
-	MessageQueueId_t getRequestQueue();
-	virtual ReturnValue_t initialize();
+	ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual uint16_t getIdentifier() override;
+	MessageQueueId_t getRequestQueue() override;
+	virtual ReturnValue_t initialize() override;
+
+	virtual void setTaskIF(PeriodicTaskIF* taskHandle) override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 protected:
+	/**
+	 * @brief   Handle to the underlying task
+	 * @details
+	 * Will be set by setTaskIF(), which is called on task creation.
+	 */
+	PeriodicTaskIF* taskHandle = nullptr;
 	/**
 	 * The APID of this instance of the Service.
 	 */

From 06b481b02f4a598dcea06572683608264c49a217 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 12:44:08 +0200
Subject: [PATCH 158/653] Corrected filename of EndianConverter.h

---
 memory/MemoryHelper.cpp                          | 2 +-
 serialize/{EndianSwapper.h => EndianConverter.h} | 0
 serialize/SerializeAdapter.h                     | 2 +-
 3 files changed, 2 insertions(+), 2 deletions(-)
 rename serialize/{EndianSwapper.h => EndianConverter.h} (100%)

diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index 132f4dc7..af56f2b8 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -2,7 +2,7 @@
 #include <framework/memory/MemoryHelper.h>
 #include <framework/memory/MemoryMessage.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/EndianSwapper.h>
+#include <framework/serialize/EndianConverter.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue) :
diff --git a/serialize/EndianSwapper.h b/serialize/EndianConverter.h
similarity index 100%
rename from serialize/EndianSwapper.h
rename to serialize/EndianConverter.h
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index 73323c2a..ec727515 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -3,7 +3,7 @@
 
 #include <framework/container/IsDerivedFrom.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/EndianSwapper.h>
+#include <framework/serialize/EndianConverter.h>
 #include <framework/serialize/SerializeIF.h>
 #include <string.h>
 

From 89accf8940913213de1d5e067d42c1b2e09628e6 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 15:46:00 +0200
Subject: [PATCH 159/653] Documented EndianConverter and changed length to
 size_t

---
 serialize/EndianConverter.h | 57 +++++++++++++++++++++++++++++++++----
 1 file changed, 51 insertions(+), 6 deletions(-)

diff --git a/serialize/EndianConverter.h b/serialize/EndianConverter.h
index e142c2a1..cd5d5497 100644
--- a/serialize/EndianConverter.h
+++ b/serialize/EndianConverter.h
@@ -5,12 +5,44 @@
 #include <cstring>
 #include <iostream>
 
+/**
+ * Helper class to convert variables or bitstreams between machine
+ * endian and either big or little endian.
+ * Machine endian is the endianness used by the machine running the
+ * program and is one of big or little endian. As this is portable
+ * code, it is not known at coding time which it is. At compile time
+ * it is however, which is why this is implemented using compiler
+ * macros and translates to a copy operation at runtime.
+ *
+ * This changes the layout of multi-byte variables in the machine's
+ * memory. In most cases, you should not need to use this class.
+ * Probably what you are looking for is the SerializeAdapter.
+ * If you still decide you need this class, please read and understand
+ * the code first.
+ *
+ * The order of the individual bytes of the multi-byte variable is
+ * reversed, the byte at the highest address is moved to the lowest
+ * address and vice versa, same for the bytes in between.
+ *
+ * Note that the conversion is also its inversion, that is converting
+ * from machine to a specified endianness is the same operation as
+ * converting from specified to machine (I looked it up, mathematicians
+ * would call it an involution):
+ *
+ * X == convertBigEndian(convertBigEndian(X))
+ *
+ * Thus, there is only one function supplied to do the conversion.
+ */
 class EndianConverter {
 private:
 	EndianConverter() {
 	}
 	;
 public:
+	/**
+	 * Convert a typed variable between big endian and machine endian.
+	 * Intended for plain old datatypes.
+	 */
 	template<typename T>
 	static T convertBigEndian(T in) {
 #ifndef BYTE_ORDER_SYSTEM
@@ -19,7 +51,7 @@ public:
 		T tmp;
 		uint8_t *pointerOut = (uint8_t*) &tmp;
 		uint8_t *pointerIn = (uint8_t*) &in;
-		for (uint8_t count = 0; count < sizeof(T); count++) {
+		for (size_t count = 0; count < sizeof(T); count++) {
 			pointerOut[sizeof(T) - count - 1] = pointerIn[count];
 		}
 		return tmp;
@@ -29,12 +61,17 @@ public:
 #error Unknown Byte Order
 #endif
 	}
+
+	/**
+	 * convert a bytestream representing a single variable between big endian
+	 * and machine endian.
+	 */
 	static void convertBigEndian(uint8_t *out, const uint8_t *in,
-			uint32_t size) {
+			size_t size) {
 #ifndef BYTE_ORDER_SYSTEM
 #error BYTE_ORDER_SYSTEM not defined
 #elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-		for (uint8_t count = 0; count < size; count++) {
+		for (size_t count = 0; count < size; count++) {
 			out[size - count - 1] = in[count];
 		}
 		return;
@@ -44,6 +81,10 @@ public:
 #endif
 	}
 
+	/**
+	 * Convert a typed variable between little endian and machine endian.
+	 * Intended for plain old datatypes.
+	 */
 	template<typename T>
 	static T convertLittleEndian(T in) {
 #ifndef BYTE_ORDER_SYSTEM
@@ -52,7 +93,7 @@ public:
 			T tmp;
 			uint8_t *pointerOut = (uint8_t *) &tmp;
 			uint8_t *pointerIn = (uint8_t *) &in;
-			for (uint8_t count = 0; count < sizeof(T); count++) {
+			for (size_t count = 0; count < sizeof(T); count++) {
 				pointerOut[sizeof(T) - count - 1] = pointerIn[count];
 			}
 			return tmp;
@@ -62,12 +103,16 @@ public:
 	#error Unknown Byte Order
 	#endif
 	}
+	/**
+	 * convert a bytestream representing a single variable between little endian
+	 * and machine endian.
+	 */
 	static void convertLittleEndian(uint8_t *out, const uint8_t *in,
-			uint32_t size) {
+			size_t size) {
 #ifndef BYTE_ORDER_SYSTEM
 	#error BYTE_ORDER_SYSTEM not defined
 	#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-			for (uint8_t count = 0; count < size; count++) {
+			for (size_t count = 0; count < size; count++) {
 				out[size - count - 1] = in[count];
 			}
 			return;

From 45430e85861c9c14141d7f4841c69b34c051fce0 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 15:47:05 +0200
Subject: [PATCH 160/653] Reworked PoolRawAccess to use EndianConverter instead
 of converting by itself

---
 datapool/PoolRawAccess.cpp | 116 ++++++++++++++++---------------------
 datapool/PoolRawAccess.h   |  18 +++---
 2 files changed, 59 insertions(+), 75 deletions(-)

diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index 494aa567..e088e22f 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -2,12 +2,13 @@
 #include <framework/datapool/PoolEntryIF.h>
 #include <framework/datapool/PoolRawAccess.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/Endiness.h>
+#include <framework/serialize/EndianConverter.h>
 
 PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
-		DataSetIF* data_set, ReadWriteMode_t setReadWriteMode) :
-		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(Type::UNKNOWN_TYPE), typeSize(
-				0), arraySize(0), sizeTillEnd(0), readWriteMode(setReadWriteMode) {
+		DataSetIF *data_set, ReadWriteMode_t setReadWriteMode) :
+		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(
+				Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0), readWriteMode(
+				setReadWriteMode) {
 	memset(value, 0, sizeof(value));
 	if (data_set != NULL) {
 		data_set->registerVariable(this);
@@ -19,7 +20,7 @@ PoolRawAccess::~PoolRawAccess() {
 }
 
 ReturnValue_t PoolRawAccess::read() {
-	PoolEntryIF* read_out = ::dataPool.getRawData(dataPoolId);
+	PoolEntryIF *read_out = ::dataPool.getRawData(dataPoolId);
 	if (read_out != NULL) {
 		valid = read_out->getValid();
 		if (read_out->getSize() > arrayEntry) {
@@ -29,7 +30,7 @@ ReturnValue_t PoolRawAccess::read() {
 			if (typeSize <= sizeof(value)) {
 				uint16_t arrayPosition = arrayEntry * typeSize;
 				sizeTillEnd = read_out->getByteSize() - arrayPosition;
-				uint8_t* ptr =
+				uint8_t *ptr =
 						&((uint8_t*) read_out->getRawData())[arrayPosition];
 				memcpy(value, ptr, typeSize);
 				return HasReturnvaluesIF::RETURN_OK;
@@ -42,8 +43,8 @@ ReturnValue_t PoolRawAccess::read() {
 	} else {
 		//Error entry does not exist.
 	}
-	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
-			<< std::dec << " failed." << std::endl;
+	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex
+			<< dataPoolId << std::dec << " failed." << std::endl;
 	valid = INVALID;
 	typeSize = 0;
 	sizeTillEnd = 0;
@@ -52,11 +53,11 @@ ReturnValue_t PoolRawAccess::read() {
 }
 
 ReturnValue_t PoolRawAccess::commit() {
-	PoolEntryIF* write_back = ::dataPool.getRawData(dataPoolId);
+	PoolEntryIF *write_back = ::dataPool.getRawData(dataPoolId);
 	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
 		write_back->setValid(valid);
 		uint8_t array_position = arrayEntry * typeSize;
-		uint8_t* ptr = &((uint8_t*) write_back->getRawData())[array_position];
+		uint8_t *ptr = &((uint8_t*) write_back->getRawData())[array_position];
 		memcpy(ptr, value, typeSize);
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
@@ -68,23 +69,17 @@ uint8_t* PoolRawAccess::getEntry() {
 	return value;
 }
 
-ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
-		uint32_t* writtenBytes, uint32_t maxSize) {
-	uint8_t* data_ptr = getEntry();
+ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t *buffer,
+		size_t *writtenBytes, size_t maxSize) {
+	uint8_t *data_ptr = getEntry();
 //	debug << "PoolRawAccess::getEntry: Array position: " << index * size_of_type << " Size of T: " << (int)size_of_type << " ByteSize: " << byte_size << " Position: " << *size << std::endl;
-	if (typeSize == 0)
+	if (typeSize == 0) {
 		return DATA_POOL_ACCESS_FAILED;
-	if (typeSize > maxSize)
-		return INCORRECT_SIZE;
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-	for (uint8_t count = 0; count < typeSize; count++) {
-		buffer[count] = data_ptr[typeSize - count - 1];
 	}
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-	memcpy(buffer, data_ptr, typeSize);
-#endif
+	if (typeSize > maxSize) {
+		return INCORRECT_SIZE;
+	}
+	EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
 	*writtenBytes = typeSize;
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -93,11 +88,11 @@ Type PoolRawAccess::getType() {
 	return type;
 }
 
-uint8_t PoolRawAccess::getSizeOfType() {
+size_t PoolRawAccess::getSizeOfType() {
 	return typeSize;
 }
 
-uint8_t PoolRawAccess::getArraySize(){
+size_t PoolRawAccess::getArraySize() {
 	return arraySize;
 }
 
@@ -109,21 +104,14 @@ PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
 	return readWriteMode;
 }
 
-ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t* buffer,
-		uint32_t setSize) {
+ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
+		size_t setSize) {
 	if (typeSize == setSize) {
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-		for (uint8_t count = 0; count < typeSize; count++) {
-			value[count] = buffer[typeSize - count - 1];
-		}
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-		memcpy(value, buffer, typeSize);
-#endif
+		EndianConverter::convertBigEndian(value, buffer, typeSize);
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
+		sif::error
+				<< "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
 				<< (uint32_t) typeSize << ", Requested: " << setSize
 				<< std::endl;
 		return INCORRECT_SIZE;
@@ -141,27 +129,24 @@ void PoolRawAccess::setValid(uint8_t valid) {
 	this->valid = valid;
 }
 
-uint16_t PoolRawAccess::getSizeTillEnd() const {
+size_t PoolRawAccess::getSizeTillEnd() const {
 	return sizeTillEnd;
 }
 
-ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
+ReturnValue_t PoolRawAccess::serialize(uint8_t **buffer, size_t *size,
 		size_t maxSize, Endianness streamEndianness) const {
-	//TODO integer overflow
 	if (typeSize + *size <= maxSize) {
-#warning use endian swapper
-		if (1) {
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-			for (uint8_t count = 0; count < typeSize; count++) {
-				(*buffer)[count] = value[typeSize - count - 1];
-			}
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-			memcpy(*buffer, value, typeSize);
-#endif
-		} else {
+		switch (streamEndianness) {
+		case (Endianness::BIG):
+			EndianConverter::convertBigEndian(*buffer, value, typeSize);
+			break;
+		case (Endianness::LITTLE):
+			EndianConverter::convertLittleEndian(*buffer, value, typeSize);
+			break;
+		default:
+		case (Endianness::MACHINE):
 			memcpy(*buffer, value, typeSize);
+			break;
 		}
 		*size += typeSize;
 		(*buffer) += typeSize;
@@ -175,24 +160,23 @@ size_t PoolRawAccess::getSerializedSize() const {
 	return typeSize;
 }
 
-ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, size_t* size,
+ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
 		Endianness streamEndianness) {
 
 	if (*size >= typeSize) {
-		*size -= typeSize;
-		if (1) {
-#ifndef BYTE_ORDER_SYSTEM
-#error BYTE_ORDER_SYSTEM not defined
-#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
-			for (uint8_t count = 0; count < typeSize; count++) {
-				value[count] = (*buffer)[typeSize - count - 1];
-			}
-#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
-			memcpy(value, *buffer, typeSize);
-#endif
-		} else {
+		switch (streamEndianness) {
+		case (Endianness::BIG):
+			EndianConverter::convertBigEndian(value, *buffer, typeSize);
+			break;
+		case (Endianness::LITTLE):
+			EndianConverter::convertLittleEndian(value, *buffer, typeSize);
+			break;
+		default:
+		case (Endianness::MACHINE):
 			memcpy(value, *buffer, typeSize);
+			break;
 		}
+		*size -= typeSize;
 		*buffer += typeSize;
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
index 8cc8f3f0..09d19afd 100644
--- a/datapool/PoolRawAccess.h
+++ b/datapool/PoolRawAccess.h
@@ -32,15 +32,15 @@ private:
 	/**
 	 * \brief	This value contains the size of the data pool entry in bytes.
 	 */
-	uint8_t typeSize;
+	size_t typeSize;
 	/**
 	 * The size of the DP array (single values return 1)
 	 */
-	uint8_t arraySize;
+	size_t arraySize;
 	/**
 	 * The size (in bytes) from the selected entry till the end of this DataPool variable.
 	 */
-	uint16_t sizeTillEnd;
+	size_t sizeTillEnd;
 	/**
 	 * \brief	The information whether the class is read-write or read-only is stored here.
 	 */
@@ -97,8 +97,8 @@ public:
 	 * \return	- \c RETURN_OK if entry could be acquired
 	 * 			- \c RETURN_FAILED else.
 	 */
-	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, uint32_t *size,
-			uint32_t maxSize);
+	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
+			size_t maxSize);
 	/**
 	 * With this method, the content can be set from a big endian buffer safely.
 	 * @param buffer	Pointer to the data to set
@@ -107,7 +107,7 @@ public:
 	 * 			- \c RETURN_FAILED on failure
 	 */
 	ReturnValue_t setEntryFromBigEndian(const uint8_t *buffer,
-			uint32_t setSize);
+			size_t setSize);
 	/**
 	 *  \brief This operation returns the type of the entry currently stored.
 	 */
@@ -115,12 +115,12 @@ public:
 	/**
 	 *  \brief This operation returns the size of the entry currently stored.
 	 */
-	uint8_t getSizeOfType();
+	size_t getSizeOfType();
 	/**
 	 *
 	 * @return the size of the datapool array
 	 */
-	uint8_t getArraySize();
+	size_t getArraySize();
 	/**
 	 * \brief	This operation returns the data pool id of the variable.
 	 */
@@ -138,7 +138,7 @@ public:
 	/**
 	 * Getter for the remaining size.
 	 */
-	uint16_t getSizeTillEnd() const;
+	size_t getSizeTillEnd() const;
 
 	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
 			 Endianness streamEndianness) const override;

From 6e799720868de42e59be07f850b78cc04fe1e422 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Fri, 3 Jul 2020 15:50:29 +0200
Subject: [PATCH 161/653] size_t for DataPoolAdmin

---
 datapool/DataPoolAdmin.cpp | 8 ++++----
 datapool/DataPoolAdmin.h   | 6 +++---
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/datapool/DataPoolAdmin.cpp b/datapool/DataPoolAdmin.cpp
index 3ac3ef6a..3ea266ea 100644
--- a/datapool/DataPoolAdmin.cpp
+++ b/datapool/DataPoolAdmin.cpp
@@ -26,7 +26,7 @@ MessageQueueId_t DataPoolAdmin::getCommandQueue() const {
 }
 
 ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
-		MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) {
+		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
 	if (actionId != SET_VALIDITY) {
 		return INVALID_ACTION_ID;
 	}
@@ -91,7 +91,7 @@ void DataPoolAdmin::handleCommand() {
 }
 
 ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
-		const uint8_t* data, uint32_t size, uint8_t** dataPointer) {
+		const uint8_t* data, size_t size, uint8_t** dataPointer) {
 	uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
 	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
 	DataSet testSet;
@@ -129,7 +129,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
 	return ACTIVITY_COMPLETED;
 }
 
-ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, uint32_t size,
+ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
 		uint8_t** dataPointer, uint8_t* copyHere) {
 	uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
 	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
@@ -151,7 +151,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, uint32_t size,
 				PoolVariableIF::VAR_READ);
 		status = rawSet.read();
 		if (status == RETURN_OK) {
-			uint32_t temp = 0;
+			size_t temp = 0;
 			status = variable.getEntryEndianSafe(ptrToCopy, &temp, size);
 			if (status != RETURN_OK) {
 				return RETURN_FAILED;
diff --git a/datapool/DataPoolAdmin.h b/datapool/DataPoolAdmin.h
index 448d78fb..1be920b5 100644
--- a/datapool/DataPoolAdmin.h
+++ b/datapool/DataPoolAdmin.h
@@ -29,12 +29,12 @@ public:
 	MessageQueueId_t getCommandQueue() const;
 
 	ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data,
-			uint32_t size, uint8_t** dataPointer);
-	ReturnValue_t handleMemoryDump(uint32_t address, uint32_t size,
+			size_t size, uint8_t** dataPointer);
+	ReturnValue_t handleMemoryDump(uint32_t address, size_t size,
 			uint8_t** dataPointer, uint8_t* copyHere);
 
 	ReturnValue_t executeAction(ActionId_t actionId,
-			MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size);
+			MessageQueueId_t commandedBy, const uint8_t* data, size_t size);
 
 	//not implemented as ParameterHelper is no used
 	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,

From 6a0a2675b1bba3f69e81224d935ac93166306c97 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 12:36:01 +0200
Subject: [PATCH 162/653] typedef instead of auto used now

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 223cf4bd..c062101d 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -82,10 +82,10 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the
     // start time for the first entry.
-	auto slotListIter = pst.current;
+	FixedSlotSequence::SlotListIter slotListIter = pst.current;
 
 	//The start time for the first entry is read.
-	uint32_t intervalMs = (*slotListIter)->pollingTimeMs;
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
 
 	TickType_t xLastWakeTime;

From ec212d9fcf45410507110d5b87f00af71846d037 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 13:26:58 +0200
Subject: [PATCH 163/653] new fifo init

---
 container/FIFO.h       | 88 ++++++++----------------------------------
 container/FIFOBase.h   | 59 ++++++++++++++++++++++++++++
 container/FIFOBase.tpp | 76 ++++++++++++++++++++++++++++++++++++
 container/StaticFIFO.h | 23 +++++++++++
 4 files changed, 174 insertions(+), 72 deletions(-)
 create mode 100644 container/FIFOBase.h
 create mode 100644 container/FIFOBase.tpp
 create mode 100644 container/StaticFIFO.h

diff --git a/container/FIFO.h b/container/FIFO.h
index f70c78b0..217ddbca 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -1,82 +1,26 @@
-#ifndef FIFO_H_
-#define FIFO_H_
+#ifndef FRAMEWORK_CONTAINER_FIFO_H_
+#define FRAMEWORK_CONTAINER_FIFO_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/container/FIFOBase.h>
+#include <vector>
 
 /**
- * @brief Simple First-In-First-Out data structure
+ * @brief 	Simple First-In-First-Out data structure. The maximum size
+ * 			can be set in the constructor. THe public interface of
+ * 			FIFOBase exposes the user interface for the FIFO.
  * @tparam T Entry Type
  * @tparam capacity Maximum capacity
  */
-template<typename T, uint8_t capacity>
-class FIFO {
-private:
-	uint8_t readIndex, writeIndex, currentSize;
-	T data[capacity];
-
-	uint8_t next(uint8_t current) {
-		++current;
-		if (current == capacity) {
-			current = 0;
-		}
-		return current;
-	}
+template<typename T>
+class FIFO: public FIFOBase<T> {
 public:
-	FIFO() :
-			readIndex(0), writeIndex(0), currentSize(0) {
-	}
+	FIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity) {
+		values.reserve(maxCapacity);
+		values.resize(maxCapacity);
+	};
 
-	bool empty() {
-		return (currentSize == 0);
-	}
-
-	bool full() {
-		return (currentSize == capacity);
-	}
-
-	uint8_t size(){
-		return currentSize;
-	}
-
-	ReturnValue_t insert(T value) {
-		if (full()) {
-			return FULL;
-		} else {
-			data[writeIndex] = value;
-			writeIndex = next(writeIndex);
-			++currentSize;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-
-	ReturnValue_t retrieve(T *value) {
-		if (empty()) {
-			return EMPTY;
-		} else {
-			*value = data[readIndex];
-			readIndex = next(readIndex);
-			--currentSize;
-			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);
+private:
+	std::vector<T> values;
 };
 
-#endif /* FIFO_H_ */
+#endif /* FRAMEWORK_CONTAINER_FIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
new file mode 100644
index 00000000..c6a74d2f
--- /dev/null
+++ b/container/FIFOBase.h
@@ -0,0 +1,59 @@
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_H_
+#define FRAMEWORK_CONTAINER_FIFOBASE_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <cstddef>
+
+template <typename T>
+class FIFOBase {
+public:
+	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);
+
+
+	/** Default ctor, no input arguments required. */
+	FIFOBase(T* values, const size_t maxCapacity);
+
+	/**
+	 * Insert value into FIFO
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t insert(T value);
+	/**
+	 * Retrieve item from FIFO. This removes the item from the FIFO.
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t retrieve(T *value);
+	/**
+	 * Retrieve item from FIFO without removing it from FIFO.
+	 * @param value
+	 * @return
+	 */
+	ReturnValue_t peek(T * value);
+	/**
+	 * Remove item from FIFO.
+	 * @return
+	 */
+	ReturnValue_t pop();
+
+	bool empty();
+	bool full();
+	size_t size();
+
+private:
+	T* values;
+	size_t maxCapacity;
+
+	size_t readIndex = 0;
+	size_t writeIndex = 0;
+	size_t currentSize = 0;
+
+	size_t next(size_t current);
+};
+
+#include <framework/container/FIFOBase.tpp>
+
+#endif /* FRAMEWORK_CONTAINER_FIFOBASE_H_ */
diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp
new file mode 100644
index 00000000..011ce6de
--- /dev/null
+++ b/container/FIFOBase.tpp
@@ -0,0 +1,76 @@
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_TPP_
+#define FRAMEWORK_CONTAINER_FIFOBASE_TPP_
+
+#ifndef FRAMEWORK_CONTAINER_FIFOBASE_H_
+#error Include FIFOBase.h before FIFOBase.tpp!
+#endif
+
+template<typename T>
+inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
+		values(values), maxCapacity(maxCapacity) {};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::insert(T value) {
+	if (full()) {
+		return FULL;
+	} else {
+		values[writeIndex] = value;
+		writeIndex = next(writeIndex);
+		++currentSize;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
+	if (empty()) {
+		return EMPTY;
+	} else {
+		*value = values[readIndex];
+		readIndex = next(readIndex);
+		--currentSize;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::peek(T* value) {
+	if(empty()) {
+		return EMPTY;
+	} else {
+		*value = values[readIndex];
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+};
+
+template<typename T>
+inline ReturnValue_t FIFOBase<T>::pop() {
+	T value;
+	return this->retrieve(&value);
+};
+
+template<typename T>
+inline bool FIFOBase<T>::empty() {
+	return (currentSize == 0);
+};
+
+template<typename T>
+inline bool FIFOBase<T>::full() {
+	return (currentSize == maxCapacity);
+}
+
+template<typename T>
+inline size_t FIFOBase<T>::size() {
+	return currentSize;
+}
+
+template<typename T>
+inline size_t FIFOBase<T>::next(size_t current) {
+	++current;
+	if (current == maxCapacity) {
+		current = 0;
+	}
+	return current;
+}
+
+#endif
diff --git a/container/StaticFIFO.h b/container/StaticFIFO.h
new file mode 100644
index 00000000..651c4989
--- /dev/null
+++ b/container/StaticFIFO.h
@@ -0,0 +1,23 @@
+#ifndef FRAMEWORK_CONTAINER_STATICFIFO_H_
+#define FRAMEWORK_CONTAINER_STATICFIFO_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/container/FIFOBase.h>
+
+/**
+ * @brief 	Simple First-In-First-Out data structure with size fixed at
+ * 			compile time. The public interface of FIFOBase exposes
+ * 			the user interface for the FIFO.
+ * @tparam T Entry Type
+ * @tparam capacity Maximum capacity
+ */
+template<typename T, size_t capacity>
+class StaticFIFO: public FIFOBase<T> {
+public:
+	StaticFIFO(): FIFOBase<T>(values.data(), capacity) {};
+
+private:
+	std::array<T, capacity> values;
+};
+
+#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */

From 991385de6576583e4a45aa8c059c23f964094434 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 13:29:56 +0200
Subject: [PATCH 164/653] added missing include, CSB uses static fifo now

---
 container/StaticFIFO.h               | 1 +
 tmtcservices/CommandingServiceBase.h | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/container/StaticFIFO.h b/container/StaticFIFO.h
index 651c4989..780b0383 100644
--- a/container/StaticFIFO.h
+++ b/container/StaticFIFO.h
@@ -3,6 +3,7 @@
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/container/FIFOBase.h>
+#include <array>
 
 /**
  * @brief 	Simple First-In-First-Out data structure with size fixed at
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index bf2e8242..b3132be5 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -2,7 +2,7 @@
 #define COMMANDINGSERVICEBASE_H_
 
 #include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
+#include <framework/container/StaticFIFO.h>
 #include <framework/ipc/CommandMessage.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
@@ -179,7 +179,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		FIFO<store_address_t, 3> fifo;
+		StaticFIFO<store_address_t, 3> fifo;
 	};
 
 	const uint16_t apid;

From b699c8b2b3be6446502c107f893c8b53201f5bc9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 13:38:11 +0200
Subject: [PATCH 165/653] put FIFO in namespace, fixed doc

---
 container/FIFO.h                     |  4 ++++
 container/FIFOBase.h                 |  8 ++++++--
 container/StaticFIFO.h               | 10 ++++++++--
 tmtcservices/CommandingServiceBase.h |  2 +-
 4 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/container/FIFO.h b/container/FIFO.h
index 217ddbca..801df6a2 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -4,6 +4,8 @@
 #include <framework/container/FIFOBase.h>
 #include <vector>
 
+namespace fifo {
+
 /**
  * @brief 	Simple First-In-First-Out data structure. The maximum size
  * 			can be set in the constructor. THe public interface of
@@ -23,4 +25,6 @@ private:
 	std::vector<T> values;
 };
 
+}
+
 #endif /* FRAMEWORK_CONTAINER_FIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index c6a74d2f..ac5c6e2c 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -4,6 +4,8 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <cstddef>
 
+namespace fsfw {
+
 template <typename T>
 class FIFOBase {
 public:
@@ -11,8 +13,8 @@ public:
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(2);
 
-
-	/** Default ctor, no input arguments required. */
+	/** Default ctor, takes pointer to first entry of underlying container
+	 *  and maximum capacity */
 	FIFOBase(T* values, const size_t maxCapacity);
 
 	/**
@@ -56,4 +58,6 @@ private:
 
 #include <framework/container/FIFOBase.tpp>
 
+}
+
 #endif /* FRAMEWORK_CONTAINER_FIFOBASE_H_ */
diff --git a/container/StaticFIFO.h b/container/StaticFIFO.h
index 780b0383..f3128200 100644
--- a/container/StaticFIFO.h
+++ b/container/StaticFIFO.h
@@ -5,10 +5,14 @@
 #include <framework/container/FIFOBase.h>
 #include <array>
 
+namespace fsfw {
+
 /**
  * @brief 	Simple First-In-First-Out data structure with size fixed at
- * 			compile time. The public interface of FIFOBase exposes
- * 			the user interface for the FIFO.
+ * 			compile time
+ * @details
+ * Performs no dynamic memory allocation.
+ * The public interface of FIFOBase exposes the user interface for the FIFO.
  * @tparam T Entry Type
  * @tparam capacity Maximum capacity
  */
@@ -21,4 +25,6 @@ private:
 	std::array<T, capacity> values;
 };
 
+}
+
 #endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index b3132be5..a4343065 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -179,7 +179,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		StaticFIFO<store_address_t, 3> fifo;
+		fsfw::StaticFIFO<store_address_t, 3> fifo;
 	};
 
 	const uint16_t apid;

From 8f6c3b50af92e9e5619a79e48414a8e252e29577 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 13:40:13 +0200
Subject: [PATCH 166/653] namespace fix

---
 container/FIFO.h | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/container/FIFO.h b/container/FIFO.h
index 801df6a2..7251321f 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -4,12 +4,15 @@
 #include <framework/container/FIFOBase.h>
 #include <vector>
 
-namespace fifo {
+namespace fsfw {
 
 /**
  * @brief 	Simple First-In-First-Out data structure. The maximum size
- * 			can be set in the constructor. THe public interface of
- * 			FIFOBase exposes the user interface for the FIFO.
+ * 			can be set in the constructor.
+ * @details
+ * The maximum capacity can be determined at run-time, so this container
+ * performs dynamic memory allocation!
+ * The public interface of FIFOBase exposes the user interface for the FIFO.
  * @tparam T Entry Type
  * @tparam capacity Maximum capacity
  */

From 2fccc4fef77537a62f39297f1c5bf39fbc9ea08f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 6 Jul 2020 23:08:31 +0200
Subject: [PATCH 167/653] getter function for capacity

---
 container/FIFO.h       | 6 ++----
 container/FIFOBase.h   | 4 +++-
 container/FIFOBase.tpp | 5 +++++
 3 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/container/FIFO.h b/container/FIFO.h
index 7251321f..19daaf1b 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -19,10 +19,8 @@ namespace fsfw {
 template<typename T>
 class FIFO: public FIFOBase<T> {
 public:
-	FIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity) {
-		values.reserve(maxCapacity);
-		values.resize(maxCapacity);
-	};
+	FIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
+			values(maxCapacity) {};
 
 private:
 	std::vector<T> values;
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index ac5c6e2c..6ed7d924 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -45,9 +45,11 @@ public:
 	bool full();
 	size_t size();
 
+	size_t getMaxCapacity() const;
+
 private:
 	T* values;
-	size_t maxCapacity;
+	size_t maxCapacity = 0;
 
 	size_t readIndex = 0;
 	size_t writeIndex = 0;
diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp
index 011ce6de..48a060ff 100644
--- a/container/FIFOBase.tpp
+++ b/container/FIFOBase.tpp
@@ -73,4 +73,9 @@ inline size_t FIFOBase<T>::next(size_t current) {
 	return current;
 }
 
+template<typename T>
+inline size_t FIFOBase<T>::getMaxCapacity() const {
+	return maxCapacity;
+}
+
 #endif

From 986bb154be701a7ce989ac4edd6a8a4f4a6965de Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 13:24:04 +0200
Subject: [PATCH 168/653] hotfix: arrayprinter was renamed

---
 datapool/PoolEntry.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index a87a6c4e..d535a72b 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -1,6 +1,6 @@
 #include <framework/datapool/PoolEntry.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/globalfunctions/printer.h>
+#include <framework/globalfunctions/arrayprinter.h>
 #include <cstring>
 
 template <typename T>
@@ -68,7 +68,7 @@ template <typename T>
 void PoolEntry<T>::print() {
 	 sif::debug << "Pool Entry Validity: " <<
 			 (this->valid? " (valid) " : " (invalid) ") << std::endl;
-	printer::print(reinterpret_cast<uint8_t*>(address), length);
+	arrayprinter::print(reinterpret_cast<uint8_t*>(address), length);
 	sif::debug << std::dec << std::endl;
 }
 

From 5f76b03f3ab29b5f401124ad2a0a137a6828d285 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 17:44:15 +0200
Subject: [PATCH 169/653] fifo tweaks

---
 container/DynamicFIFO.h | 27 +++++++++++++++++++++++++++
 container/FIFO.h        | 23 +++++++++--------------
 container/FIFOBase.h    |  4 ----
 container/StaticFIFO.h  | 30 ------------------------------
 4 files changed, 36 insertions(+), 48 deletions(-)
 create mode 100644 container/DynamicFIFO.h
 delete mode 100644 container/StaticFIFO.h

diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h
new file mode 100644
index 00000000..3a5242c7
--- /dev/null
+++ b/container/DynamicFIFO.h
@@ -0,0 +1,27 @@
+#ifndef FRAMEWORK_CONTAINER_DYNAMICFIFO_H_
+#define FRAMEWORK_CONTAINER_DYNAMICFIFO_H_
+
+#include <framework/container/FIFOBase.h>
+#include <vector>
+
+/**
+ * @brief 	Simple First-In-First-Out data structure. The maximum size
+ * 			can be set in the constructor.
+ * @details
+ * The maximum capacity can be determined at run-time, so this container
+ * performs dynamic memory allocation!
+ * The public interface of FIFOBase exposes the user interface for the FIFO.
+ * @tparam T Entry Type
+ * @tparam capacity Maximum capacity
+ */
+template<typename T>
+class DynamicFIFO: public FIFOBase<T> {
+public:
+	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
+			values(maxCapacity) {};
+
+private:
+	std::vector<T> values;
+};
+
+#endif /* FRAMEWORK_CONTAINER_DYNAMICFIFO_H_ */
diff --git a/container/FIFO.h b/container/FIFO.h
index 19daaf1b..ecb218fd 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -1,31 +1,26 @@
 #ifndef FRAMEWORK_CONTAINER_FIFO_H_
 #define FRAMEWORK_CONTAINER_FIFO_H_
 
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/container/FIFOBase.h>
-#include <vector>
-
-namespace fsfw {
+#include <array>
 
 /**
- * @brief 	Simple First-In-First-Out data structure. The maximum size
- * 			can be set in the constructor.
+ * @brief 	Simple First-In-First-Out data structure with size fixed at
+ * 			compile time
  * @details
- * The maximum capacity can be determined at run-time, so this container
- * performs dynamic memory allocation!
+ * Performs no dynamic memory allocation.
  * The public interface of FIFOBase exposes the user interface for the FIFO.
  * @tparam T Entry Type
  * @tparam capacity Maximum capacity
  */
-template<typename T>
+template<typename T, size_t capacity>
 class FIFO: public FIFOBase<T> {
 public:
-	FIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
-			values(maxCapacity) {};
+	FIFO(): FIFOBase<T>(values.data(), capacity) {};
 
 private:
-	std::vector<T> values;
+	std::array<T, capacity> values;
 };
 
-}
-
-#endif /* FRAMEWORK_CONTAINER_FIFO_H_ */
+#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index 6ed7d924..8bdb333f 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -4,8 +4,6 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <cstddef>
 
-namespace fsfw {
-
 template <typename T>
 class FIFOBase {
 public:
@@ -60,6 +58,4 @@ private:
 
 #include <framework/container/FIFOBase.tpp>
 
-}
-
 #endif /* FRAMEWORK_CONTAINER_FIFOBASE_H_ */
diff --git a/container/StaticFIFO.h b/container/StaticFIFO.h
deleted file mode 100644
index f3128200..00000000
--- a/container/StaticFIFO.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#ifndef FRAMEWORK_CONTAINER_STATICFIFO_H_
-#define FRAMEWORK_CONTAINER_STATICFIFO_H_
-
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/container/FIFOBase.h>
-#include <array>
-
-namespace fsfw {
-
-/**
- * @brief 	Simple First-In-First-Out data structure with size fixed at
- * 			compile time
- * @details
- * Performs no dynamic memory allocation.
- * The public interface of FIFOBase exposes the user interface for the FIFO.
- * @tparam T Entry Type
- * @tparam capacity Maximum capacity
- */
-template<typename T, size_t capacity>
-class StaticFIFO: public FIFOBase<T> {
-public:
-	StaticFIFO(): FIFOBase<T>(values.data(), capacity) {};
-
-private:
-	std::array<T, capacity> values;
-};
-
-}
-
-#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */

From d795892d578772cc04ac159a228f9501ab39d8db Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 17:54:09 +0200
Subject: [PATCH 170/653] csb fifo tweak

---
 tmtcservices/CommandingServiceBase.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index a4343065..e7702860 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -1,8 +1,8 @@
-#ifndef COMMANDINGSERVICEBASE_H_
-#define COMMANDINGSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
 #include <framework/container/FixedMap.h>
-#include <framework/container/StaticFIFO.h>
+#include <framework/container/FIFO.h>
 #include <framework/ipc/CommandMessage.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
@@ -179,7 +179,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		fsfw::StaticFIFO<store_address_t, 3> fifo;
+		FIFO<store_address_t, 3> fifo;
 	};
 
 	const uint16_t apid;
@@ -286,4 +286,4 @@ private:
 	void checkTimeout();
 };
 
-#endif /* COMMANDINGSERVICEBASE_H_ */
+#endif /* FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ */

From 65d71b1c65b2841a94d0fa1cb95b849afa2cff47 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 7 Jul 2020 18:11:36 +0200
Subject: [PATCH 171/653] added new ctor, non-allocating

---
 container/SimpleRingBuffer.cpp | 18 +++++++----
 container/SimpleRingBuffer.h   | 57 +++++++++++++++++++++++++++++++---
 2 files changed, 64 insertions(+), 11 deletions(-)

diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index 63dc3514..731c9dc9 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -1,18 +1,23 @@
 #include <framework/container/SimpleRingBuffer.h>
-#include <string.h>
+#include <cstring>
 
-SimpleRingBuffer::SimpleRingBuffer(uint32_t size, bool overwriteOld) :
-		RingBufferBase<>(0, size, overwriteOld), buffer(NULL) {
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld) :
+		RingBufferBase<>(0, size, overwriteOld) {
 	buffer = new uint8_t[size];
 }
 
+SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
+        bool overwriteOld):
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {}
+
+
 SimpleRingBuffer::~SimpleRingBuffer() {
 	delete[] buffer;
 }
 
 ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
 		uint32_t amount) {
-	if (availableWriteSpace() >= amount || overwriteOld) {
+	if (availableWriteSpace() >= amount or overwriteOld) {
 		uint32_t amountTillWrap = writeTillWrap();
 		if (amountTillWrap >= amount) {
 			memcpy(&buffer[write], data, amount);
@@ -38,7 +43,7 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
-	if (trueAmount != NULL) {
+	if (trueAmount != nullptr) {
 		*trueAmount = amount;
 	}
 	if (amountTillWrap >= amount) {
@@ -60,9 +65,10 @@ ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
-	if (trueAmount != NULL) {
+	if (trueAmount != nullptr) {
 		*trueAmount = amount;
 	}
 	incrementRead(amount, READ_PTR);
 	return HasReturnvaluesIF::RETURN_OK;
 }
+
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index 6d7d67e1..30dd184c 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -2,19 +2,66 @@
 #define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
 
 #include <framework/container/RingBufferBase.h>
-#include <stddef.h>
+#include <cstddef>
 
+/**
+ * @brief 	Circular buffer implementation, useful for buffering
+ *          into data streams.
+ * @details
+ * Note that the deleteData() has to be called to increment the read pointer.
+ * This class allocated dynamically, so
+ * @ingroup containers
+ */
 class SimpleRingBuffer: public RingBufferBase<> {
 public:
-	SimpleRingBuffer(uint32_t size, bool overwriteOld);
+    /**
+     * This constructor allocates a new internal buffer with the supplied size.
+     * @param size
+     * @param overwriteOld
+     */
+	SimpleRingBuffer(const size_t size, bool overwriteOld);
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 */
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
+
 	virtual ~SimpleRingBuffer();
+
+	/**
+	 * Write to circular buffer and increment write pointer by amount
+	 * @param data
+	 * @param amount
+	 * @return
+	 */
 	ReturnValue_t writeData(const uint8_t* data, uint32_t amount);
-	ReturnValue_t readData(uint8_t* data, uint32_t amount, bool readRemaining = false, uint32_t* trueAmount = NULL);
-	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false, uint32_t* trueAmount = NULL);
+
+	/**
+	 * Read from circular buffer at read pointer
+	 * @param data
+	 * @param amount
+	 * @param readRemaining
+	 * @param trueAmount
+	 * @return
+	 */
+	ReturnValue_t readData(uint8_t* data, uint32_t amount,
+	        bool readRemaining = false, uint32_t* trueAmount = nullptr);
+
+	/**
+	 * Delete data starting by incrementing read pointer
+	 * @param amount
+	 * @param deleteRemaining
+	 * @param trueAmount
+	 * @return
+	 */
+	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false,
+	        uint32_t* trueAmount = nullptr);
 private:
 //	static const uint8_t TEMP_READ_PTR = 1;
 	static const uint8_t READ_PTR = 0;
-	uint8_t* buffer;
+	uint8_t* buffer = nullptr;
 };
 
 #endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */

From 133ed9586b2ecceccdf92316f25d7cbf2c551c0d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 19:31:28 +0200
Subject: [PATCH 172/653] tmtc bridge improvements

---
 tmtcservices/TmTcBridge.cpp | 58 +++++++++++++++++++++++--------------
 tmtcservices/TmTcBridge.h   | 53 +++++++++++++++++----------------
 2 files changed, 63 insertions(+), 48 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index f9a7d3bc..8c44f7de 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -5,11 +5,13 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/globalfunctions/arrayprinter.h>
 
-TmTcBridge::TmTcBridge(object_id_t objectId_,
-        object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
-        ccsdsPacketDistributor(ccsdsPacketDistributor_)
+TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+		object_id_t tmStoreId, object_id_t tcStoreId):
+		SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId),
+		tcDestination(tcDestination)
+
 {
-    TmTcReceptionQueue = QueueFactory::instance()->
+    tmTcReceptionQueue = QueueFactory::instance()->
             createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
@@ -42,20 +44,27 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
 }
 
 ReturnValue_t TmTcBridge::initialize() {
-	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
-	if (tcStore == NULL) {
-		return RETURN_FAILED;
+	tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
+	if (tcStore == nullptr) {
+		sif::error << "TmTcBridge::initialize: TC store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
-	tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
-	if (tmStore == NULL) {
-		return RETURN_FAILED;
+	tmStore = objectManager->get<StorageManagerIF>(tmStoreId);
+	if (tmStore == nullptr) {
+		sif::error << "TmTcBridge::initialize: TM store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 	AcceptsTelecommandsIF* tcDistributor =
-			objectManager->get<AcceptsTelecommandsIF>(ccsdsPacketDistributor);
-	if (tcDistributor == NULL) {
-		return RETURN_FAILED;
+			objectManager->get<AcceptsTelecommandsIF>(tcDestination);
+	if (tcDistributor == nullptr) {
+		sif::error << "TmTcBridge::initialize: TC Distributor invalid"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
-	TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
+
+	tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
 	return RETURN_OK;
 }
 
@@ -73,10 +82,7 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 }
 
 ReturnValue_t TmTcBridge::handleTc() {
-	uint8_t * recvBuffer = nullptr;
-	size_t recvLen = 0;
-	ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
-	return result;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t TmTcBridge::handleTm() {
@@ -97,8 +103,8 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 	TmTcMessage message;
 	const uint8_t* data = nullptr;
 	size_t size = 0;
-	for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
-		 result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
+	for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
+		 result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
 	{
 		if(communicationLinkUp == false) {
 			result = storeDownlinkData(&message);
@@ -183,10 +189,20 @@ void TmTcBridge::registerCommDisconnect() {
 }
 
 MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
-	return TmTcReceptionQueue->getId();
+	return tmTcReceptionQueue->getId();
 }
 
 
 void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
 	arrayprinter::print(data, dataLen);
 }
+
+uint16_t TmTcBridge::getIdentifier() {
+	// This is no PUS service, so we just return 0
+	return 0;
+}
+
+MessageQueueId_t TmTcBridge::getRequestQueue() {
+	// Default implementation: Relay TC messages to TC distributor directly.
+	return tmTcReceptionQueue->getDefaultDestination();
+}
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 3e0432d8..3e3d1b71 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -1,16 +1,18 @@
 #ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 #define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 
+#include <framework/objectmanager/SystemObject.h>
 #include <framework/tmtcservices/AcceptsTelemetryIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/objectmanager/SystemObject.h>
+#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 
-#include <framework/tmtcservices/TmTcMessage.h>
 #include <framework/container/FIFO.h>
+#include <framework/tmtcservices/TmTcMessage.h>
 
 class TmTcBridge : public AcceptsTelemetryIF,
+		public AcceptsTelecommandsIF,
 		public ExecutableObjectIF,
 		public HasReturnvaluesIF,
 		public SystemObject {
@@ -22,7 +24,8 @@ public:
 	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
 	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
 
-	TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
+	TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+			object_id_t tmStoreId, object_id_t tcStoreId);
 	virtual ~TmTcBridge();
 
 	/**
@@ -57,45 +60,41 @@ public:
 	 */
 	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-	/**
-	 * Return TMTC Reception Queue
-	 * @param virtualChannel
-	 * @return
-	 */
-	MessageQueueId_t getReportReceptionQueue(
+
+	/** AcceptsTelemetryIF override */
+	virtual MessageQueueId_t getReportReceptionQueue(
 			uint8_t virtualChannel = 0) override;
+
+	/** AcceptsTelecommandsIF override */
+	virtual uint16_t getIdentifier() override;
+	virtual MessageQueueId_t getRequestQueue() override;
+
 protected:
+	//! Cached for initialize function.
+	object_id_t tmStoreId = objects::NO_OBJECT;
+	object_id_t tcStoreId = objects::NO_OBJECT;
+	object_id_t tcDestination = objects::NO_OBJECT;
+
 	//! Used to send and receive TMTC messages.
 	//! TmTcMessage is used to transport messages between tasks.
-	MessageQueueIF* TmTcReceptionQueue = nullptr;
-	StorageManagerIF* tcStore = nullptr;
+	MessageQueueIF* tmTcReceptionQueue = nullptr;
+
 	StorageManagerIF* tmStore = nullptr;
-	object_id_t ccsdsPacketDistributor = 0;
-	//! Used to specify whether communication link is up
-	bool communicationLinkUp = false;
+	StorageManagerIF* tcStore = nullptr;
+
+	//! Used to specify whether communication link is up by default.
+	bool communicationLinkUp = true;
 	bool tmStored = false;
 
 	/**
 	 * @brief 	Handle TC reception
 	 * @details
 	 * Default implementation provided, but is empty.
-	 * Child handler should override this in most cases orsend TC to the
-	 * TC distributor directly with the address of the reception queue by
-	 * calling getReportRecptionQueue()
+	 * In most cases, TC reception will be handled in a separate task anyway.
 	 * @return
 	 */
 	virtual ReturnValue_t handleTc();
 
-	/**
-	 * Implemented by child class. Perform receiving of Telecommand,
-	 * for example by implementing specific drivers or wrappers,
-	 * e.g. UART Communication or an ethernet stack
-	 * @param recvBuffer [out] Received data
-	 * @param size [out] Size of received data
-	 * @return
-	 */
-	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0;
-
 	/**
 	 * Handle Telemetry. Default implementation provided.
 	 * Calls sendTm()

From 90e299977bcb0d32672d520ecf94fee666913923 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 19:41:16 +0200
Subject: [PATCH 173/653] minor formatting improvements

---
 tmtcservices/TmTcBridge.cpp | 27 +++++++++++++++------------
 tmtcservices/TmTcBridge.h   | 11 +++++++----
 2 files changed, 22 insertions(+), 16 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 8c44f7de..b55803cb 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -24,8 +24,9 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 		return RETURN_OK;
 	}
 	else {
-	    sif::warning << "TmTcBridge: Number of packets sent per cycle "
-	               "exceeds limits. Keeping default value." << std::endl;
+	    sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of "
+	             << "packets sent per cycle exceeds limits. "
+	             << "Keeping default value." << std::endl;
 		return RETURN_FAILED;
 	}
 }
@@ -37,8 +38,9 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
         return RETURN_OK;
     }
     else {
-        sif::warning << "TmTcBridge: Number of packets stored "
-                   "exceeds limits. Keeping default value." << std::endl;
+        sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of "
+                << "packets stored exceeds limits. "
+                << "Keeping default value." << std::endl;
         return RETURN_FAILED;
     }
 }
@@ -72,11 +74,13 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 	ReturnValue_t result;
 	result = handleTc();
 	if(result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Error handling TCs" << std::endl;
+		sif::debug << "TmTcBridge::performOperation: "
+		        << "Error handling TCs" << std::endl;
 	}
 	result = handleTm();
 	if (result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Error handling TMs" << std::endl;
+	    sif::debug << "TmTcBridge::performOperation: "
+	                    << "Error handling TMs" << std::endl;
 	}
 	return result;
 }
@@ -88,7 +92,7 @@ ReturnValue_t TmTcBridge::handleTc() {
 ReturnValue_t TmTcBridge::handleTm() {
 	ReturnValue_t result = handleTmQueue();
 	if(result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
+		sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
 		return RETURN_FAILED;
 	}
 
@@ -118,7 +122,7 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 
 		result = sendTm(data, size);
 		if (result != RETURN_OK) {
-			sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl;
+			sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
 			tmStore->deleteData(message.getStorageId());
 			return result;
 
@@ -129,13 +133,12 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 }
 
 ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
-	//debug << "TMTC Bridge: Comm Link down. "
-	//		 "Saving packet ID to be sent later\r\n" << std::flush;
 	store_address_t storeId = 0;
 
 	if(tmFifo.full()) {
-		sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
-				 "reached! Overwriting old data" << std::endl;
+		sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+		        << "of stored packet IDs reached! "
+		        << "Overwriting old data" << std::endl;
 		tmFifo.retrieve(&storeId);
 		tmStore->deleteData(storeId);
 	}
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 3e3d1b71..993cd5b9 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -76,13 +76,14 @@ protected:
 	object_id_t tcDestination = objects::NO_OBJECT;
 
 	//! Used to send and receive TMTC messages.
-	//! TmTcMessage is used to transport messages between tasks.
+	//! The TmTcMessage class is used to transport messages between tasks.
 	MessageQueueIF* tmTcReceptionQueue = nullptr;
 
 	StorageManagerIF* tmStore = nullptr;
 	StorageManagerIF* tcStore = nullptr;
 
-	//! Used to specify whether communication link is up by default.
+	//! Used to specify whether communication link is up. Will be true
+	//! by default, so telemetry will be handled immediately.
 	bool communicationLinkUp = true;
 	bool tmStored = false;
 
@@ -103,7 +104,8 @@ protected:
 	virtual ReturnValue_t handleTm();
 
 	/**
-	 * Read the TM Queue and send TM if necessary. Default implementation provided
+	 * Read the TM Queue and send TM if necessary.
+	 * Default implementation provided
 	 * @return
 	 */
 	virtual ReturnValue_t handleTmQueue();
@@ -116,7 +118,8 @@ protected:
 
 	/**
 	 * Implemented by child class. Perform sending of Telemetry by implementing
-	 * communication drivers or wrappers, e.g. UART communication or lwIP stack.
+	 * communication drivers or wrappers, e.g. serial communication or a socket
+	 * call.
 	 * @param data
 	 * @param dataLen
 	 * @return

From 83484237ae67298190275965c64e83c4268fd4e1 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 19:53:17 +0200
Subject: [PATCH 174/653] default argument for getter function

---
 ipc/CommandMessage.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index b800b9d2..b75d94b1 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -124,7 +124,8 @@ public:
 	 */
 	void setToUnknownCommand();
 	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
-	ReturnValue_t getReplyRejectedReason(Command_t *initialCommand) const;
+	ReturnValue_t getReplyRejectedReason(
+	        Command_t *initialCommand = nullptr) const;
 
 	size_t getMinimumMessageSize() const;
 };

From d1e922eecf6b24bdd01286864a075b63080d4aa0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 9 Jul 2020 20:08:40 +0200
Subject: [PATCH 175/653] new intiialize after task creation function

---
 tasks/ExecutableObjectIF.h | 36 ++++++++++++++++++++----------------
 1 file changed, 20 insertions(+), 16 deletions(-)

diff --git a/tasks/ExecutableObjectIF.h b/tasks/ExecutableObjectIF.h
index 5c5955c1..d716cdfb 100644
--- a/tasks/ExecutableObjectIF.h
+++ b/tasks/ExecutableObjectIF.h
@@ -1,15 +1,5 @@
-/**
- * @file	ExecutableObjectIF.h
- *
- * @brief	This file contains the definition for the ExecutableObjectIF interface.
- *
- * @author	Bastian Baetz
- *
- * @date	12.03.2012
- */
-
-#ifndef EXECUTABLEOBJECTIF_H_
-#define EXECUTABLEOBJECTIF_H_
+#ifndef FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_
+#define FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_
 
 class PeriodicTaskIF;
 
@@ -20,6 +10,7 @@ class PeriodicTaskIF;
  * @brief	The interface provides a method to execute objects within a task.
  * @details	The performOperation method, that is required by the interface is
  * 			executed cyclically within a task context.
+ * @author  Bastian Baetz
  */
 class ExecutableObjectIF {
 public:
@@ -37,13 +28,26 @@ public:
 
 	/**
 	 * @brief Function called during setup assignment of object to task
-	 * @details Has to be called from the function that assigns the object to a task and
-	 * 			enables the object implementation to overwrite this function and get a reference to the executing task
+	 * @details
+	 * Has to be called from the function that assigns the object to a task and
+	 * enables the object implementation to overwrite this function and get
+	 * a reference to the executing task
 	 * @param task_ Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_) {
+	virtual void setTaskIF(PeriodicTaskIF* task_) {};
 
+	/**
+	 * This function should be called after the object was assigned to a
+	 * specific task.
+	 *
+	 * Example: Can be used to get task execution frequency.
+	 * The task is created after initialize() and the object ctors have been
+	 * called so the execution frequency can't be cached in initialize()
+	 * @return
+	 */
+	virtual ReturnValue_t initializeAfterTaskCreation() {
+	    return HasReturnvaluesIF::RETURN_OK;
 	}
 };
 
-#endif /* EXECUTABLEOBJECTIF_H_ */
+#endif /* FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_ */

From 6b2b788308bef172e6a83c46a44ea20bf3106f41 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 14:16:55 +0200
Subject: [PATCH 176/653] added new pus services

---
 framework.mk                            |  13 +-
 pus/CService200ModeCommanding.cpp       | 119 +++++++++++++++++
 pus/CService200ModeCommanding.h         |  85 ++++++++++++
 pus/Service1TelecommandVerification.cpp | 100 ++++++++++++++
 pus/Service1TelecommandVerification.h   |  94 +++++++++++++
 pus/Service2DeviceAccess.cpp            | 167 ++++++++++++++++++++++++
 pus/Service2DeviceAccess.h              |  92 +++++++++++++
 pus/Service5EventReporting.cpp          |  91 +++++++++++++
 pus/Service5EventReporting.h            |  86 ++++++++++++
 pus/Service8FunctionManagement.cpp      | 135 +++++++++++++++++++
 pus/Service8FunctionManagement.h        |  67 ++++++++++
 pus/servicepackets/Service1Packets.h    | 166 +++++++++++++++++++++++
 pus/servicepackets/Service200Packets.h  |  63 +++++++++
 pus/servicepackets/Service2Packets.h    |  76 +++++++++++
 pus/servicepackets/Service5Packets.h    |  76 +++++++++++
 pus/servicepackets/Service8Packets.h    | 136 +++++++++++++++++++
 16 files changed, 1562 insertions(+), 4 deletions(-)
 create mode 100644 pus/CService200ModeCommanding.cpp
 create mode 100644 pus/CService200ModeCommanding.h
 create mode 100644 pus/Service1TelecommandVerification.cpp
 create mode 100644 pus/Service1TelecommandVerification.h
 create mode 100644 pus/Service2DeviceAccess.cpp
 create mode 100644 pus/Service2DeviceAccess.h
 create mode 100644 pus/Service5EventReporting.cpp
 create mode 100644 pus/Service5EventReporting.h
 create mode 100644 pus/Service8FunctionManagement.cpp
 create mode 100644 pus/Service8FunctionManagement.h
 create mode 100644 pus/servicepackets/Service1Packets.h
 create mode 100644 pus/servicepackets/Service200Packets.h
 create mode 100644 pus/servicepackets/Service2Packets.h
 create mode 100644 pus/servicepackets/Service5Packets.h
 create mode 100644 pus/servicepackets/Service8Packets.h

diff --git a/framework.mk b/framework.mk
index a5a65364..5db96b5b 100644
--- a/framework.mk
+++ b/framework.mk
@@ -1,5 +1,5 @@
-# This file needs FRAMEWORK_PATH and API set correctly
-# Valid API settings: rtems, linux, freeRTOS
+# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
+# Valid API settings: rtems, linux, freeRTOS, host
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
@@ -8,11 +8,13 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/framework.mk/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
@@ -32,8 +34,10 @@ else ifeq ($(OS),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
 else ifeq ($(OS),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+else ifeq ($(OS),host)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS)
+$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
@@ -54,3 +58,4 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp
new file mode 100644
index 00000000..fd6da67e
--- /dev/null
+++ b/pus/CService200ModeCommanding.cpp
@@ -0,0 +1,119 @@
+#include <framework/pus/CService200ModeCommanding.h>
+#include <framework/pus/servicepackets/Service200Packets.h>
+
+#include <framework/modes/HasModesIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/modes/ModeMessage.h>
+
+CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId):
+        CommandingServiceBase(objectId, apid, serviceId,
+	    NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {}
+
+CService200ModeCommanding::~CService200ModeCommanding() {}
+
+ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
+	switch(subservice) {
+	case(Subservice::COMMAND_MODE_COMMAND):
+	case(Subservice::COMMAND_MODE_READ):
+	case(Subservice::COMMAND_MODE_ANNCOUNCE):
+		return RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+
+ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+		MessageQueueId_t *id, object_id_t *objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
+            SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
+        MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+    HasModesIF * destination = objectManager->get<HasModesIF>(*objectId);
+    if(destination == nullptr) {
+        return CommandingServiceBase::INVALID_OBJECT;
+
+    }
+
+    *messageQueueToSet = destination->getCommandQueue();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t CService200ModeCommanding::prepareCommand(
+		CommandMessage* message,uint8_t subservice, const uint8_t *tcData,
+		size_t tcDataLen, uint32_t *state, object_id_t objectId) {
+	ModePacket modeCommandPacket;
+	ReturnValue_t result = modeCommandPacket.deSerialize(&tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
+	        ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+	        modeCommandPacket.getSubmode());
+	return result;
+}
+
+
+ReturnValue_t CService200ModeCommanding::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t *state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool *isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	switch(replyId) {
+	case(ModeMessage::REPLY_MODE_REPLY): {
+		result = prepareModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_WRONG_MODE_REPLY): {
+		result = prepareWrongModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_CANT_REACH_MODE): {
+		result = prepareCantReachModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_MODE_INFO):
+		result = INVALID_REPLY;
+		break;
+	default:
+		result = RETURN_FAILED;
+	}
+	return result;
+}
+
+ReturnValue_t CService200ModeCommanding::prepareModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	ModePacket modeReplyPacket(objectId,
+			ModeMessage::getMode(reply),
+			ModeMessage::getSubmode(reply));
+	return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket);
+}
+
+ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply),
+			ModeMessage::getSubmode(reply));
+	return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
+}
+
+ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	CantReachModePacket cantReachModePacket(objectId,
+	        ModeMessage::getCantReachModeReason(reply));
+	return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
+	        &cantReachModePacket);
+}
diff --git a/pus/CService200ModeCommanding.h b/pus/CService200ModeCommanding.h
new file mode 100644
index 00000000..ede61a84
--- /dev/null
+++ b/pus/CService200ModeCommanding.h
@@ -0,0 +1,85 @@
+#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+
+#include <framework/tmtcservices/CommandingServiceBase.h>
+
+/**
+ * @brief Custom PUS service to set mode of all objects implementing HasModesIF
+ *
+ * Examples: Device Handlers, Assemblies or Subsystems.
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * @ingroup pus_services
+ */
+class CService200ModeCommanding: public CommandingServiceBase {
+public:
+	static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
+	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
+
+	CService200ModeCommanding(object_id_t objectId,
+	        uint16_t apid, uint8_t serviceId);
+	virtual~ CService200ModeCommanding();
+
+protected:
+	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+			uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+			Command_t previousCommand, uint32_t *state,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
+			bool *isStep) override;
+
+private:
+	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
+			const uint8_t* tcData, uint32_t tcDataLen);
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+	ReturnValue_t prepareWrongModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+	ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+
+	enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices
+		//!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode
+		COMMAND_MODE_COMMAND = 1,
+		//!< [EXPORT] : [COMMAND] Command to set the specified Mode,
+		//! regardless of external control flag
+		COMMAND_MODE_COMMAND_FORCED = 2,
+		//!< [EXPORT] : [COMMAND] Read the current mode and
+		//! reply with a REPLY_MODE_REPLY
+		COMMAND_MODE_READ = 3,
+		//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
+		//! This command does NOT have a reply
+		COMMAND_MODE_ANNCOUNCE = 4,
+		//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
+		//! command to every child. This command does NOT have a reply.
+		COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
+		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
+		REPLY_MODE_REPLY = 6,
+		//!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed.
+		REPLY_CANT_REACH_MODE = 7,
+		//!< [EXPORT] : [REPLY] 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
+		REPLY_WRONG_MODE_REPLY = 8
+	};
+
+	enum modeParameters {
+		MODE_OFF = 0,
+		MODE_ON = 1,
+		MODE_NORMAL = 2,
+		MODE_RAW = 3
+	};
+};
+
+#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp
new file mode 100644
index 00000000..4ce2ce54
--- /dev/null
+++ b/pus/Service1TelecommandVerification.cpp
@@ -0,0 +1,100 @@
+#include <framework/pus/Service1TelecommandVerification.h>
+#include <framework/pus/servicepackets/Service1Packets.h>
+
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcservices/PusVerificationReport.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+
+Service1TelecommandVerification::Service1TelecommandVerification(
+        object_id_t objectId, uint16_t apid, uint8_t serviceId,
+        object_id_t targetDestination):
+        SystemObject(objectId), apid(apid), serviceId(serviceId),
+        targetDestination(targetDestination) {
+	tmQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+Service1TelecommandVerification::~Service1TelecommandVerification() {}
+
+MessageQueueId_t Service1TelecommandVerification::getVerificationQueue(){
+	return tmQueue->getId();
+}
+
+
+ReturnValue_t Service1TelecommandVerification::performOperation(
+		uint8_t operationCode){
+	PusVerificationMessage message;
+	ReturnValue_t status = tmQueue->receiveMessage(&message);
+	while(status == HasReturnvaluesIF::RETURN_OK) {
+		status = sendVerificationReport(&message);
+		if(status != HasReturnvaluesIF::RETURN_OK) {
+			return status;
+		}
+		status = tmQueue->receiveMessage(&message);
+	}
+	if (status == MessageQueueIF::EMPTY) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return status;
+	}
+}
+
+
+ReturnValue_t Service1TelecommandVerification::sendVerificationReport(
+		PusVerificationMessage* message) {
+	ReturnValue_t result;
+	if(message->getReportId() % 2 == 0) {
+		result = generateFailureReport(message);
+	} else {
+		result = generateSuccessReport(message);
+	}
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		sif::error << "Service1TelecommandVerification::initialize: "
+		        "Sending verification packet failed !" << std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t Service1TelecommandVerification::generateFailureReport(
+        PusVerificationMessage *message) {
+	FailureReport report(
+			message->getReportId(), message->getTcPacketId(),
+			message->getTcSequenceControl(), message->getStep(),
+			message->getErrorCode(), message->getParameter1(),
+			message->getParameter2());
+	TmPacketStored tmPacket(apid, serviceId, message->getReportId(),
+	        packetSubCounter++, &report);
+	ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(),
+			tmQueue->getId());
+	return result;
+}
+
+ReturnValue_t Service1TelecommandVerification::generateSuccessReport(
+        PusVerificationMessage *message) {
+	SuccessReport report(message->getReportId(),message->getTcPacketId(),
+			message->getTcSequenceControl(),message->getStep());
+	TmPacketStored tmPacket(apid, serviceId, message->getReportId(),
+	        packetSubCounter++, &report);
+	ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(),
+			tmQueue->getId());
+	return result;
+}
+
+
+ReturnValue_t Service1TelecommandVerification::initialize() {
+	// Get target object for TC verification messages
+	AcceptsTelemetryIF* funnel = objectManager->
+			get<AcceptsTelemetryIF>(targetDestination);
+	if(funnel == nullptr){
+	    sif::error << "Service1TelecommandVerification::initialize: Specified"
+	            " TM funnel invalid. Make sure it is set up and implements"
+	            " AcceptsTelemetryIF." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+	tmQueue->setDefaultDestination(funnel->getReportReceptionQueue());
+	return SystemObject::initialize();
+}
diff --git a/pus/Service1TelecommandVerification.h b/pus/Service1TelecommandVerification.h
new file mode 100644
index 00000000..1d4b6719
--- /dev/null
+++ b/pus/Service1TelecommandVerification.h
@@ -0,0 +1,94 @@
+#ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
+#define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
+
+#include <framework/objectmanager/SystemObject.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
+#include <framework/tmtcservices/PusVerificationReport.h>
+#include <framework/ipc/MessageQueueIF.h>
+
+/**
+ * @brief Verify TC acceptance, start, progress and execution.
+ *
+ * Full Documentation: ECSS-E70-41A p.51
+ *
+ * The telecommand verification service provides the capability for
+ * explicit verification of each distinct stage of execution of a telecommand
+ * packet, from on-board acceptance through to completion of execution.
+ *
+ * Minimum capabilities of this service:
+ *
+ *  - TM[1,1]: Telecommand Acceptance Report - Success.
+ *  - TM[1,2]: Telecommand Acceptance Report - Failure.
+ *
+ * Additional capabilities of this service:
+ *
+ *  - TM[1,3]: Telecommand Execution Started Report - Success (Req. 4).
+ *  - TM[1,4]: Telecommand Execution Started Report - Failure (Req. 3).
+ *  - TM[1,5]: Telecommand Execution Progress Report - Success (Req. 6).
+ *  - TM[1,6]: Telecommand Execution Progress Report - Failure (Req. 5).
+ *  - TM[1,7]: Telecommand Execution Completed Report - Success (Req. 8).
+ *  - TM[1,8]: Telecommand Execution Completed Report - Failure (Req. 7).
+ *
+ * This Service is not inherited from PUSServiceBase unlike other PUS Services
+ * because all services implementing PUSServiceBase use this service to
+ * generate verification reports.
+ * @ingroup pus_services
+ */
+class Service1TelecommandVerification: public AcceptsVerifyMessageIF,
+		public SystemObject,
+		public ExecutableObjectIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_1;
+
+	Service1TelecommandVerification(object_id_t objectId,
+	        uint16_t apid, uint8_t serviceId, object_id_t targetDestination);
+	virtual ~Service1TelecommandVerification();
+
+	/**
+	 *
+	 * @return ID of Verification Queue
+	 */
+	virtual MessageQueueId_t getVerificationQueue();
+
+	/**
+	 * Performs the service periodically as specified in init_mission().
+	 * Triggers the handlePacket function to send TC verification messages
+	 * @param operationCode
+	 * @return
+	 */
+	ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+	/**
+	 * Initializes the destination for TC verification messages and initializes
+	 * Service 1 as a system object
+	 * @return
+	 */
+	ReturnValue_t initialize() override;
+private:
+	uint16_t apid = 0;
+	uint8_t serviceId = 0;
+
+	object_id_t targetDestination = objects::NO_OBJECT;
+
+	ReturnValue_t sendVerificationReport(PusVerificationMessage* message);
+	ReturnValue_t generateFailureReport(PusVerificationMessage* message);
+	ReturnValue_t generateSuccessReport(PusVerificationMessage* message);
+
+	uint16_t packetSubCounter = 0;
+
+	MessageQueueIF* tmQueue = nullptr;
+
+	enum class Subservice: uint8_t {
+		VERIFY_ACCEPTANCE_SUCCESS = 1, //!< [EXPORT] : [TM]
+		VERIFY_ACCEPTANCE_FAILED = 2, //!< [EXPORT] : [TM]
+		VERIFY_START_SUCCESS = 3, //!< [EXPORT] : [TM]
+		VERIFY_START_FAILED = 4, //!< [EXPORT] : [TM]
+		VERIFY_STEP_SUCCESS = 5, //!< [EXPORT] : [TM]
+		VERIFY_STEP_FAILED = 6 //!< [EXPORT] : [TM]
+	};
+};
+
+#endif /* MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */
diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
new file mode 100644
index 00000000..1d5f21eb
--- /dev/null
+++ b/pus/Service2DeviceAccess.cpp
@@ -0,0 +1,167 @@
+#include <framework/pus/Service2DeviceAccess.h>
+#include <framework/pus/servicepackets/Service2Packets.h>
+
+#include <framework/devicehandlers/DeviceHandlerIF.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+#include <framework/devicehandlers/DeviceHandlerMessage.h>
+#include <framework/serialize/EndianConverter.h>
+#include <framework/action/ActionMessage.h>
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands,
+        uint16_t commandTimeoutSeconds):
+        CommandingServiceBase(objectId, apid, serviceId,
+	        numberOfParallelCommands, commandTimeoutSeconds) {}
+
+Service2DeviceAccess::~Service2DeviceAccess() {}
+
+
+ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)){
+	case Subservice::RAW_COMMANDING:
+	case Subservice::TOGGLE_WIRETAPPING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		sif::error << "Invalid Subservice" << std::endl;
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData,
+                &tcDataLen, SerializeIF::Endianness::BIG);
+
+	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
+	return result;
+}
+
+ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
+	DeviceHandlerIF* possibleTarget =
+			objectManager->get<DeviceHandlerIF>(*objectId);
+	if(possibleTarget == nullptr) {
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		uint32_t* state, object_id_t objectId) {
+	switch(static_cast<Subservice>(subservice)){
+	case Subservice::RAW_COMMANDING: {
+		return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	break;
+	case Subservice::TOGGLE_WIRETAPPING: {
+		return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	break;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::prepareRawCommand(
+        CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) {
+	RawCommand RawCommand(tcData,tcDataLen);
+	// store command into the Inter Process Communication Store
+	store_address_t storeAddress;
+	ReturnValue_t result = IPCStore->addData(&storeAddress,
+	        RawCommand.getCommand(), RawCommand.getCommandSize());
+	DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet,
+	        storeAddress);
+	return result;
+}
+
+ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
+		CommandMessage *messageToSet, const uint8_t *tcData,
+		size_t tcDataLen) {
+	if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	WiretappingToggle command;
+	ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen,
+	        SerializeIF::Endianness::BIG);
+	DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet,
+			command.getWiretappingMode());
+	return result;
+}
+
+
+ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
+		Command_t previousCommand, uint32_t* state,
+		CommandMessage* optionalNextCommand, object_id_t objectId,
+		bool* isStep) {
+	switch(reply->getCommand()) {
+	case CommandMessage::REPLY_COMMAND_OK:
+		return HasReturnvaluesIF::RETURN_OK;
+	case CommandMessage::REPLY_REJECTED:
+		return reply->getReplyRejectedReason();
+	default:
+		return CommandingServiceBase::INVALID_REPLY;
+	}
+}
+
+// All device handlers set service 2 as default raw receiver for wiretapping
+// so we have to handle those unrequested messages.
+void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
+	switch(reply->getCommand()) {
+	case DeviceHandlerMessage::REPLY_RAW_COMMAND:
+		sendWiretappingTm(reply,
+				static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
+		break;
+	case DeviceHandlerMessage::REPLY_RAW_REPLY:
+		sendWiretappingTm(reply,
+				static_cast<uint8_t>(Subservice::RAW_REPLY));
+		break;
+	default:
+		sif::error << "Unknown message in Service2DeviceAccess::"
+				"handleUnrequestedReply with command ID " <<
+				reply->getCommand() << std::endl;
+		break;
+	}
+	//Must be reached by all cases to clear message
+	reply->clear();
+}
+
+void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
+		uint8_t subservice) {
+	// Raw Wiretapping
+	// Get Address of Data from Message
+	store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
+	const uint8_t* data = nullptr;
+	size_t size = 0;
+	ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
+		        "handleUnrequestedReply with failure ID "<< result
+		        << std::endl;
+		return;
+	}
+
+	// Init our dummy packet and correct endianness of object ID before
+	// sending it back.
+	WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply),
+	        data);
+	TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
+	sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast<uint8_t*>(
+			&TmPacket.objectId), sizeof(TmPacket.objectId));
+}
+
+MessageQueueId_t Service2DeviceAccess::getDeviceQueue() {
+	return commandQueue->getId();
+}
+
diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h
new file mode 100644
index 00000000..1a0bede0
--- /dev/null
+++ b/pus/Service2DeviceAccess.h
@@ -0,0 +1,92 @@
+#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
+#include <framework/tmtcservices/CommandingServiceBase.h>
+
+/**
+ * @brief   Raw Commanding and Wiretapping of devices.
+ * @details
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This service provides the capability to communicate with devices in their
+ * native protocols with raw commands through the DeviceHandlerIF.
+ *
+ * This is a gateway service. It relays device commands to the software bus.
+ * This service is very closely tied to the CommandingServiceBase
+ * template class.
+ *
+ * There are 4 adaption points for component implementation through the
+ * CommandingServiceBase.
+ *
+ * This service employs custom subservices exclusively.  This includes a
+ * wiretapping subservice to monitor all traffic between target devices and
+ * this service.
+ *
+ *   - TC[2,128]: Raw Commanding
+ *   - TC[2,129]: Toggle Wiretapping
+ *   - TM[2,130]: Wiretapping Packet TM
+ *   - TM[2,131]: Wiretapping Packet TC
+ * @ingroup pus_services
+ */
+class Service2DeviceAccess : public CommandingServiceBase,
+		public AcceptsDeviceResponsesIF
+{
+public:
+	Service2DeviceAccess(object_id_t objectId, uint16_t apid,
+	        uint8_t serviceId, uint8_t numberOfParallelCommands = 4,
+	        uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service2DeviceAccess();
+
+protected:
+	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+	        const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
+	        const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
+	        object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+	/**
+	 * @brief 	Generates TM packets containing either the TC wiretapping
+	 * 			packets or the TM wiretapping packets.
+	 * Note that for service 2, all telemetry will be treated as an
+	 * unrequested reply regardless of wiretapping mode.
+	 * @param reply
+	 */
+	void handleUnrequestedReply(CommandMessage* reply) override;
+
+	MessageQueueId_t getDeviceQueue() override;
+private:
+	/**
+	 * Generates TM packets for Wiretapping Service
+	 * @param reply
+	 * @param subservice
+	 */
+	void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
+
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareRawCommand(CommandMessage* messageToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+
+	enum class Subservice {
+		RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
+		TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
+		RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
+		WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
+	};
+};
+
+
+#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */
diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
new file mode 100644
index 00000000..1dfbe229
--- /dev/null
+++ b/pus/Service5EventReporting.cpp
@@ -0,0 +1,91 @@
+#include <framework/pus/Service5EventReporting.h>
+#include <framework/pus/servicepackets/Service5Packets.h>
+
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/events/EventManagerIF.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
+
+
+Service5EventReporting::Service5EventReporting(object_id_t objectId,
+            uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle):
+		PusServiceBase(objectId, apid, serviceId),
+		maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
+	eventQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+Service5EventReporting::~Service5EventReporting(){}
+
+ReturnValue_t Service5EventReporting::performService() {
+	EventMessage message;
+	ReturnValue_t status = RETURN_OK;
+	for(uint8_t counter = 0;
+	        counter < maxNumberReportsPerCycle;
+	        counter++)
+	{
+	    // Receive messages even if reporting is disabled for now.
+	    status = eventQueue->receiveMessage(&message);
+	    if(status == MessageQueueIF::EMPTY) {
+	        return HasReturnvaluesIF::RETURN_OK;
+	    }
+
+	    if(enableEventReport) {
+	       status = generateEventReport(message);
+	       if(status != HasReturnvaluesIF::RETURN_OK) {
+	           return status;
+	       }
+	    }
+	}
+	sif::debug <<  "Service5EventReporting::generateEventReport:"
+	        " Too many events" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service5EventReporting::generateEventReport(
+		EventMessage message)
+{
+	EventReport report(message.getEventId(),message.getReporter(),
+			message.getParameter1(),message.getParameter2());
+	TmPacketStored tmPacket(PusServiceBase::apid, PusServiceBase::serviceId,
+			message.getSeverity(), packetSubCounter++, &report);
+	ReturnValue_t result = tmPacket.sendPacket(
+	        requestQueue->getDefaultDestination(),requestQueue->getId());
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::debug << "Service5EventReporting::generateEventReport:"
+		        " Could not send TM packet" << std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
+	switch(subservice) {
+	case Subservice::ENABLE: {
+		enableEventReport = true;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	case Subservice::DISABLE: {
+		enableEventReport = false;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+
+// In addition to the default PUSServiceBase initialization, this service needs
+// to be registered to the event manager to listen for events.
+ReturnValue_t Service5EventReporting::initialize() {
+	EventManagerIF* manager = objectManager->get<EventManagerIF>(
+				objects::EVENT_MANAGER);
+	if (manager == NULL) {
+			return RETURN_FAILED;
+	}
+	// register Service 5 as listener for events
+	ReturnValue_t result =  manager->registerListener(eventQueue->getId(),true);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+	     return result;
+	}
+	return PusServiceBase::initialize();
+}
diff --git a/pus/Service5EventReporting.h b/pus/Service5EventReporting.h
new file mode 100644
index 00000000..79b7c5e7
--- /dev/null
+++ b/pus/Service5EventReporting.h
@@ -0,0 +1,86 @@
+#ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
+#define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
+
+#include <framework/tmtcservices/PusServiceBase.h>
+#include <framework/events/EventMessage.h>
+
+/**
+ * @brief Report on-board events like information or errors
+ * @details
+ * Full Documentation: ECSS-E70-41A p.79
+ * Implements the PusServiceBase template class.
+ * Documentation: Dissertation Baetz p.135,136
+ *
+ * This service provides for the reporting to the service user of information of
+ * operational significance.
+ *   1. reporting of failures or anomalies detected on-board;
+ *   2. reporting of autonomous on-board actions;
+ *   3. reporting of normal progress of operations and activities, e.g.
+ *   detection of events which are not anomalous (such as payload events),
+ *   reaching of predefined steps in an operation. Some reports can combine
+ *   more than one of these events.
+ *
+ * Minimum capabilities of this service:
+ *
+ * - TM[5,1]: Normal/Progress Report
+ * - TM[5,2]: Error/Anomaly Report - Low Severity
+ * - TM[5,3]: Error/Anomaly Report - Medium Severity
+ * - TM[5,4]: Error/Anomaly Report - High Severity
+ *
+ * Events can be translated by using translator files located in
+ * /config/objects/ and /config/events/. Description to events can be added by
+ * adding a comment behind the event definition with [//!<] as leading string
+ *
+ * Additional capabilities of this service:
+ *
+ *  - TC[5,5]: Enable Event Report Generation (Req. 6)
+ *  - TC[5,6]: Disable Event Report Generation (Req. 5)
+ * @author 	R. Mueller
+ * @ingroup pus_services
+ */
+class Service5EventReporting: public PusServiceBase {
+public:
+
+	Service5EventReporting(object_id_t objectId, uint16_t apid,
+	        uint8_t serviceId, size_t maxNumberReportsPerCycle = 10);
+	virtual ~Service5EventReporting();
+
+	/***
+	* Check for events and generate event reports if required.
+	* @return
+	*/
+	ReturnValue_t performService() override;
+
+	/***
+	 * Turn event generation on or off.
+	 * @return
+	 */
+	ReturnValue_t handleRequest(uint8_t subservice) override;
+
+	/**
+	 * The default PusServiceBase initialize has been overridden but is still
+	 * executed. Registers this service as a listener for events at the
+	 * EventManager.
+	 * @return
+	 */
+	ReturnValue_t initialize() override;
+
+	enum Subservice: uint8_t {
+		NORMAL_REPORT = 1, //!< [EXPORT] : [REPLY] Generate normal report
+		ERROR_LOW_SEVERITY = 2, //!< [EXPORT] : [REPLY] Generate error report with low severity
+		ERROR_MED_SEVERITY = 3, //!< [EXPORT] : [REPLY] Generate error report with medium severity
+		ERROR_HIGH_SEVERITY = 4, //!< [EXPORT] : [REPLY] Generate error report with high severity
+		ENABLE = 5, //!< [EXPORT] : [COMMAND] Enable report generation
+		DISABLE = 6 //!< [EXPORT] : [COMMAND] Disable report generation
+	};
+
+private:
+	uint16_t packetSubCounter = 0;
+	MessageQueueIF* eventQueue = nullptr;
+	bool enableEventReport = true;
+	const uint8_t maxNumberReportsPerCycle;
+
+	ReturnValue_t generateEventReport(EventMessage message);
+};
+
+#endif /* MISSION_PUS_SERVICE5EVENTREPORTING_H_ */
diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
new file mode 100644
index 00000000..812398b9
--- /dev/null
+++ b/pus/Service8FunctionManagement.cpp
@@ -0,0 +1,135 @@
+#include <framework/pus/Service8FunctionManagement.h>
+#include <framework/pus/servicepackets/Service8Packets.h>
+
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/action/HasActionsIF.h>
+#include <framework/devicehandlers/DeviceHandlerIF.h>
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
+		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
+		uint16_t commandTimeoutSeconds):
+		CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
+		commandTimeoutSeconds) {}
+
+Service8FunctionManagement::~Service8FunctionManagement() {}
+
+
+ReturnValue_t Service8FunctionManagement::isValidSubservice(
+		uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)) {
+	case Subservice::DIRECT_COMMANDING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+	if(tcDataLen < sizeof(object_id_t)) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	SerializeAdapter::deSerialize(objectId, &tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+	// check HasActionIF property of target
+	HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
+	if(possibleTarget == nullptr){
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service8FunctionManagement::prepareCommand(
+		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
+		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
+	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+}
+
+ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
+		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+	// Create direct command instance by extracting data from Telecommand
+	DirectCommand command(tcData,tcDataLen);
+
+	// store additional parameters into the IPC Store
+	store_address_t parameterAddress;
+	ReturnValue_t result = IPCStore->addData(&parameterAddress,
+			command.getParameters(),command.getParametersSize());
+
+	// setCommand expects a Command Message, an Action ID and a store adress
+	// pointing to additional parameters
+	ActionMessage::setCommand(message,command.getActionId(),parameterAddress);
+	return result;
+}
+
+
+ReturnValue_t Service8FunctionManagement::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t* state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool* isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	ActionId_t actionId = ActionMessage::getActionId(reply);
+	ReturnValue_t returnCode = ActionMessage::getReturnCode(reply);
+
+	switch(replyId)  {
+	case ActionMessage::COMPLETION_SUCCESS: {
+		DirectReply completionReply(objectId, actionId,returnCode);
+		result = CommandingServiceBase::EXECUTION_COMPLETE;
+		break;
+	}
+	case ActionMessage::STEP_SUCCESS: {
+		*isStep = true;
+		result = HasReturnvaluesIF::RETURN_OK;
+		break;
+	}
+	case ActionMessage::DATA_REPLY: {
+	    result = handleDataReply(reply, objectId, actionId);
+		break;
+	}
+	case ActionMessage::STEP_FAILED:
+		*isStep = true;
+		/*No break, falls through*/
+	case ActionMessage::COMPLETION_FAILED:
+		result = ActionMessage::getReturnCode(reply);
+		break;
+	default:
+		result = INVALID_REPLY;
+	}
+	return result;
+}
+
+ReturnValue_t Service8FunctionManagement::handleDataReply(
+        const CommandMessage* reply, object_id_t objectId,
+        ActionId_t actionId) {
+    store_address_t storeId = ActionMessage::getStoreId(reply);
+    size_t size = 0;
+    const uint8_t * buffer = nullptr;
+    ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size);
+    if(result != RETURN_OK) {
+        sif::error << "Service 8: Could not retrieve data for data reply"
+                << std::endl;
+        return result;
+    }
+    DataReply dataReply(objectId, actionId, buffer, size);
+    result = sendTmPacket(static_cast<uint8_t>(
+            Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
+
+    auto deletionResult = IPCStore->deleteData(storeId);
+    if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Service8FunctionManagement::handleReply: Deletion"
+                << " of data in pool failed." << std::endl;
+    }
+    return result;
+}
diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h
new file mode 100644
index 00000000..e2c7a84f
--- /dev/null
+++ b/pus/Service8FunctionManagement.h
@@ -0,0 +1,67 @@
+#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/tmtcservices/CommandingServiceBase.h>
+
+/**
+ * @brief Functional commanding.
+ * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
+ * Dissertation Baetz p. 115, 116, 165-167
+ *
+ * This service provides the capability to perform functions of an
+ * application process and provides high-level commanding as opposed to the
+ * Raw Access provided by Service 2. Examples for these functions can include
+ * control and operation of payload or the AOCS subsystem.
+ * This service will be the primary means to control the spacecraft as it is
+ * considered safer than the Raw Access provided
+ * by Service 2 and is generally sufficient for most tasks.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * This service is very closely tied to the Commanding Service Base template
+ * class. There is constant interaction between this Service Base und a
+ * subclass like this service.
+ *
+ * Service Capability:
+ * 	 - TC[8,128]: Direct Commanding
+ *   - TM[8,130]: Direct Commanding Data Reply
+ *
+ * @ingroup pus_services
+ */
+class Service8FunctionManagement : public CommandingServiceBase
+{
+public:
+	Service8FunctionManagement(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId, uint8_t numParallelCommands = 4,
+			uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service8FunctionManagement();
+
+protected:
+	/* CSB abstract functions implementation . See CSB documentation. */
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+				uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+				uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+private:
+	enum class Subservice {
+		DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
+		DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
+	};
+
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+	ReturnValue_t prepareDirectCommand(CommandMessage* message,
+			const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t handleDataReply(const CommandMessage* reply,
+	        object_id_t objectId, ActionId_t actionId);
+};
+
+#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h
new file mode 100644
index 00000000..b01942c6
--- /dev/null
+++ b/pus/servicepackets/Service1Packets.h
@@ -0,0 +1,166 @@
+/**
+ * @defgroup spacepackets PUS Packet Definitions
+ *  This group contains all implemented TM or TM packages that are sent to
+ *  or sent by the OBC.They are exported later to display
+ *  packet structures in Mission Information Base (MIB).
+ */
+
+#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
+#define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
+
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/tmtcservices/VerificationCodes.h>
+
+/**
+ * @brief 	FailureReport class to serialize a failure report
+ * @brief 	Subservice 1, 3, 5, 7
+ * @ingroup spacepackets
+ */
+class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
+public:
+	FailureReport(uint8_t failureSubtype_, uint16_t packetId_,
+			uint16_t packetSequenceControl_, uint8_t stepNumber_,
+			ReturnValue_t errorCode_, uint32_t errorParameter1_,
+			uint32_t errorParameter2_) :
+			packetId(packetId_), packetSequenceControl(packetSequenceControl_),
+			stepNumber(stepNumber_), errorCode(errorCode_),
+			errorParameter1(errorParameter1_), errorParameter2(errorParameter2_),
+			failureSubtype(failureSubtype_) {}
+
+	/**
+	 * This function is called by the FSFW when calling the tm packet send
+	 * function and supplying the SerializeIF* as parameter
+	 * @param buffer Object content is serialized into the buffer
+	 * @param size
+	 * @param max_size
+	 * @param bigEndian
+	 * @return
+	 */
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+	        size_t maxSize, SerializeIF::Endianness streamEndianness
+	        ) const override {
+		ReturnValue_t result = SerializeAdapter::serialize(&packetId, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&packetSequenceControl, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		if (failureSubtype == TC_VERIFY::PROGRESS_FAILURE) {
+			result = SerializeAdapter::serialize(&stepNumber, buffer, size,
+			        maxSize, streamEndianness);
+			if (result != HasReturnvaluesIF::RETURN_OK) {
+				return result;
+			}
+		}
+		result = SerializeAdapter::serialize(&errorCode, buffer, size,
+		        maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&errorParameter1, buffer, size,
+		        maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+
+		result = SerializeAdapter::serialize(&errorParameter2, buffer, size,
+		        maxSize, streamEndianness);
+		return result;
+	}
+
+
+	virtual size_t getSerializedSize() const {
+		size_t size = 0;
+		size += SerializeAdapter::getSerializedSize(&packetId);
+		size += sizeof(packetSequenceControl);
+		if(failureSubtype==TC_VERIFY::PROGRESS_FAILURE){
+			size += SerializeAdapter::getSerializedSize(&stepNumber);
+		}
+		size += SerializeAdapter::getSerializedSize(&errorCode);
+		size += SerializeAdapter::getSerializedSize(&errorParameter1);
+		size += SerializeAdapter::getSerializedSize(&errorParameter2);
+		return size;
+	}
+
+	/**
+	 * Deserialization is not allowed for a report.
+	 * @param buffer
+	 * @param size
+	 * @param bigEndian
+	 * @return
+	 */
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+private:
+	uint16_t packetId; //!< [EXPORT] : [COMMENT] Packet ID of respective Telecommand
+	uint16_t packetSequenceControl; //!< [EXPORT] : [COMMENT] Packet SSC of respective Telecommand
+	uint8_t stepNumber; //!< [EXPORT] : [OPTIONAL][SUBSERVICE] 6
+	ReturnValue_t errorCode; //!< [EXPORT] : [COMMENT] Error code which can be looked up in generated error code file
+	uint32_t errorParameter1;
+	uint32_t errorParameter2;
+	const uint8_t failureSubtype; //!< [EXPORT] : [IGNORE]
+};
+
+/**
+ * @brief       Subservices 2, 4, 6, 8
+ * @ingroup     spacepackets
+ */
+class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
+public:
+	SuccessReport(uint8_t subtype_, uint16_t packetId_,
+			uint16_t packetSequenceControl_,uint8_t stepNumber_) :
+			packetId(packetId_), packetSequenceControl(packetSequenceControl_),
+			stepNumber(stepNumber_), subtype(subtype_) {}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize, SerializeIF::Endianness streamEndianness
+			) const override {
+		ReturnValue_t result = SerializeAdapter::serialize(&packetId, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&packetSequenceControl, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		if (subtype == TC_VERIFY::PROGRESS_SUCCESS) {
+			result = SerializeAdapter::serialize(&stepNumber, buffer, size,
+					maxSize, streamEndianness);
+			if (result != HasReturnvaluesIF::RETURN_OK) {
+				return result;
+			}
+		}
+		return result;
+	}
+
+	virtual size_t getSerializedSize() const override {
+		size_t size = 0;
+		size += SerializeAdapter::getSerializedSize(&packetId);
+		size += sizeof(packetSequenceControl);
+		if(subtype == TC_VERIFY::PROGRESS_SUCCESS){
+			size += SerializeAdapter::getSerializedSize(&stepNumber);
+		}
+		return size;
+
+	}
+
+	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+private:
+	uint16_t packetId; //!< [EXPORT] : [COMMENT] Packet ID of respective Telecommand
+	uint16_t packetSequenceControl; //!< [EXPORT] : [COMMENT] Packet SSC of respective Telecommand
+	uint8_t stepNumber; //!< [EXPORT] : [OPTIONAL][SUBSERVICE] 6
+	const uint8_t subtype; //!< [EXPORT] : [IGNORE]
+};
+
+#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_ */
diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h
new file mode 100644
index 00000000..1b5bf236
--- /dev/null
+++ b/pus/servicepackets/Service200Packets.h
@@ -0,0 +1,63 @@
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/modes/ModeMessage.h>
+#include <framework/serialize/SerializeIF.h>
+
+/**
+ * @brief Subservice 1, 2, 3, 4, 5
+ * @ingroup spacepackets
+ */
+class ModePacket : public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6
+public:
+
+	ModePacket() {
+		setLinks();
+	}
+
+	ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) :
+	        objectId(objectId), mode(mode), submode(submode) {
+		setLinks();
+	}
+
+	Mode_t getMode() {
+		return mode.entry;
+	}
+
+	Submode_t getSubmode() {
+		return submode.entry;
+	}
+
+	// Forbid copying, pointers are used.
+	ModePacket(const ModePacket&) = delete;
+	ModePacket& operator=(const ModePacket&) = delete;
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&mode);
+		mode.setNext(&submode);
+	}
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Target or source object
+	SerializeElement<Mode_t> mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW
+	SerializeElement<Submode_t> submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible
+};
+
+/**
+ * @brief Subservice 7
+ * @ingroup spacepackets
+ */
+class CantReachModePacket: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 7
+public:
+    CantReachModePacket(object_id_t objectId, ReturnValue_t reason):
+            objectId(objectId), reason(reason) {
+        setStart(&this->objectId);
+        this->objectId.setNext(&this->reason);
+    }
+
+    SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Reply source object
+	SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
diff --git a/pus/servicepackets/Service2Packets.h b/pus/servicepackets/Service2Packets.h
new file mode 100644
index 00000000..f292611e
--- /dev/null
+++ b/pus/servicepackets/Service2Packets.h
@@ -0,0 +1,76 @@
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+/**
+ * @brief Subservice 128
+ * @ingroup spacepackets
+ */
+class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	RawCommand(const uint8_t* buffer, size_t size) {
+		// Deserialize Adapter to get correct endianness
+		SerializeAdapter::deSerialize(&objectId, &buffer, &size,
+		        SerializeIF::Endianness::BIG);
+		commandBuffer = buffer;
+		// size is decremented by AutoSerializeAdapter,
+		// remaining size is data size
+		dataSize = size;
+	}
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getCommand() {
+		return commandBuffer;
+	}
+
+	size_t getCommandSize() const {
+		return dataSize;
+	}
+private:
+	object_id_t objectId = 0;
+	const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes
+	size_t dataSize = 0; //!< [EXPORT] : [IGNORE]
+};
+
+
+/**
+ * @brief Subservice 129: Command packet to set wiretapping mode
+ * @ingroup spacepackets
+ */
+class WiretappingToggle: public SerialLinkedListAdapter<SerializeIF>{ //!< [EXPORT] : [SUBSERVICE] 129
+public:
+	static const size_t WIRETAPPING_COMMAND_SIZE = 5;
+	WiretappingToggle(){
+		setStart(&objectId);
+		objectId.setNext(&wiretappingMode);
+	}
+
+	uint8_t getWiretappingMode() const {
+		return wiretappingMode.entry;
+	}
+private:
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<uint8_t> wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW
+};
+
+
+/**
+ * @brief Subservices 130 and 131: TM packets
+ * @ingroup spacepackets
+ */
+class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131
+public:
+	object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object
+	const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size
+	WiretappingPacket(object_id_t objectId, const uint8_t* buffer):
+	    objectId(objectId), data(buffer) {
+	}
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
diff --git a/pus/servicepackets/Service5Packets.h b/pus/servicepackets/Service5Packets.h
new file mode 100644
index 00000000..14219c93
--- /dev/null
+++ b/pus/servicepackets/Service5Packets.h
@@ -0,0 +1,76 @@
+#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
+#define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
+
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/tmtcservices/VerificationCodes.h>
+
+
+/**
+ * @brief Subservice 1, 2, 3, 4
+ * Structure of Event Report.
+ * It consists of:
+ *      1. Report ID(RID). This is the Event ID in the FSFW
+ *      2. Object ID of the reporter (e.g. subsystem)
+ *      2. Parameter 1
+ *      3. Parameter 2
+ *
+ * @ingroup spacepackets
+ */
+class EventReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4
+public:
+
+	EventReport(EventId_t reportId_, object_id_t objectId_, uint32_t parameter1_,
+			uint32_t parameter2_):
+			reportId(reportId_),objectId(objectId_), parameter1(parameter1_),
+			parameter2(parameter2_) {}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t maxSize,
+			SerializeIF::Endianness streamEndianness) const override
+	{
+		ReturnValue_t result = SerializeAdapter::serialize(&reportId, buffer,
+				size, maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&objectId, buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&parameter1, buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = SerializeAdapter::serialize(&parameter2, buffer, size,
+				maxSize, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		return result;
+	}
+
+	virtual size_t getSerializedSize() const override {
+		uint32_t size = 0;
+		size += SerializeAdapter::getSerializedSize(&reportId);
+		size += SerializeAdapter::getSerializedSize(&objectId);
+		size += SerializeAdapter::getSerializedSize(&parameter1);
+		size += SerializeAdapter::getSerializedSize(&parameter2);
+		return size;
+
+	}
+
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+private:
+	EventId_t reportId;
+	object_id_t objectId;
+	uint32_t parameter1;
+	uint32_t parameter2;
+};
+
+
+#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
new file mode 100644
index 00000000..5ef91280
--- /dev/null
+++ b/pus/servicepackets/Service8Packets.h
@@ -0,0 +1,136 @@
+/**
+ * \file Service8Packets.h
+ *
+ * \brief Structure of a Direct Command.
+ * Normal reply (subservice 130) consists of
+ *   1. Target object ID
+ *   2. Action ID (taget device has specified functions with action IDs)
+ *   3. Return Code
+ *   4. Optional step number for step replies
+ *
+ * Data reply (subservice 132) consists of
+ *   1. Target Object ID
+ *   2. Action ID
+ *   3. Data
+ *
+ *  \date 01.07.2019
+ *  \author R. Mueller
+ */
+
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/serialize/SerialBufferAdapter.h>
+#include <framework/serialize/SerializeElement.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/serialize/SerialFixedArrayListAdapter.h>
+
+
+/**
+ * \brief Subservice 128
+ * \ingroup spacepackets
+ */
+class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	//typedef uint16_t typeOfMaxData;
+	//static const typeOfMaxData MAX_DATA = 256;
+	DirectCommand(const uint8_t* dataBuffer_, uint32_t size_) {
+		size_t size = sizeof(objectId);
+		SerializeAdapter::deSerialize(&objectId,&dataBuffer_,&size,
+		        SerializeIF::Endianness::BIG);
+		size = sizeof(actionId);
+		SerializeAdapter::deSerialize(&actionId,&dataBuffer_,&size,
+		        SerializeIF::Endianness::BIG);
+		parameterBuffer = dataBuffer_;
+		parametersSize = size_ - sizeof(objectId) - sizeof(actionId);
+	}
+	ActionId_t getActionId() const {
+		return actionId;
+	}
+
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getParameters() {
+		return parameterBuffer;
+	}
+
+	uint32_t getParametersSize() const {
+		return parametersSize;
+	}
+
+private:
+	DirectCommand(const DirectCommand &command);
+	object_id_t objectId;
+	ActionId_t actionId;
+	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
+	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
+
+};
+
+
+/**
+ * \brief Subservice 130
+ * \ingroup spacepackets
+ */
+class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+	DataReply(object_id_t objectId_, ActionId_t actionId_,
+		const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0):
+		objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){
+		setLinks();
+	}
+
+private:
+	DataReply(const DataReply &reply);
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&replyData);
+	}
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<ActionId_t> actionId;
+	SerializeElement<SerialBufferAdapter<uint16_t>> replyData;
+};
+
+
+/**
+ * \brief Subservice 132
+ * \ingroup spacepackets
+ */
+class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+
+	DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_,
+			bool isStep_ = false, uint8_t step_ = 0):
+			isStep(isStep_), objectId(objectId_), actionId(actionId_),
+			returnCode(returnCode_),step(step_)  {
+		setLinks();
+	}
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&returnCode);
+		if(isStep) {
+			returnCode.setNext(&step);
+		}
+	}
+	bool isDataReply; //!< [EXPORT] : [IGNORE]
+	bool isStep; //!< [EXPORT] : [IGNORE]
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ReturnValue_t> returnCode; //!< [EXPORT] : [IGNORE]
+	SerializeElement<uint8_t> step; //!< [EXPORT] : [OPTIONAL] [IGNORE]
+
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */

From 97b01f837ceaf876ec2939150c444c23e7d6040e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 14:29:17 +0200
Subject: [PATCH 177/653] srv8 improvements

---
 pus/Service8FunctionManagement.cpp   |  9 +++++-
 pus/servicepackets/Service8Packets.h | 41 ++++++++++++++--------------
 2 files changed, 29 insertions(+), 21 deletions(-)

diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
index 812398b9..50102b04 100644
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@@ -59,8 +59,15 @@ ReturnValue_t Service8FunctionManagement::prepareCommand(
 
 ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
 		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+    if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
+        sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
+                << " TC size smaller thant minimum size of direct command."
+                << std::endl;
+        return CommandingServiceBase::INVALID_TC;
+    }
+
 	// Create direct command instance by extracting data from Telecommand
-	DirectCommand command(tcData,tcDataLen);
+	DirectCommand command(tcData, tcDataLen);
 
 	// store additional parameters into the IPC Store
 	store_address_t parameterAddress;
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index 5ef91280..86681c14 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -8,10 +8,7 @@
  *   3. Return Code
  *   4. Optional step number for step replies
  *
- * Data reply (subservice 132) consists of
- *   1. Target Object ID
- *   2. Action ID
- *   3. Data
+
  *
  *  \date 01.07.2019
  *  \author R. Mueller
@@ -29,23 +26,21 @@
 
 
 /**
- * \brief Subservice 128
- * \ingroup spacepackets
+ * @brief Subservice 128
+ * @ingroup spacepackets
  */
 class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
 public:
-	//typedef uint16_t typeOfMaxData;
-	//static const typeOfMaxData MAX_DATA = 256;
-	DirectCommand(const uint8_t* dataBuffer_, uint32_t size_) {
-		size_t size = sizeof(objectId);
-		SerializeAdapter::deSerialize(&objectId,&dataBuffer_,&size,
+
+	DirectCommand(const uint8_t* tcData, size_t size) {
+		SerializeAdapter::deSerialize(&objectId, &tcData, &size,
 		        SerializeIF::Endianness::BIG);
-		size = sizeof(actionId);
-		SerializeAdapter::deSerialize(&actionId,&dataBuffer_,&size,
+		SerializeAdapter::deSerialize(&actionId, &tcData, &size,
 		        SerializeIF::Endianness::BIG);
-		parameterBuffer = dataBuffer_;
-		parametersSize = size_ - sizeof(objectId) - sizeof(actionId);
+		parameterBuffer = tcData;
+		parametersSize = size;
 	}
+
 	ActionId_t getActionId() const {
 		return actionId;
 	}
@@ -73,8 +68,12 @@ private:
 
 
 /**
- * \brief Subservice 130
- * \ingroup spacepackets
+ * @brief Subservice 130
+ * Data reply (subservice 130) consists of
+ *   1. Target Object ID
+ *   2. Action ID
+ *   3. Data
+ * @ingroup spacepackets
  */
 class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
 public:
@@ -100,8 +99,10 @@ private:
 
 
 /**
- * \brief Subservice 132
- * \ingroup spacepackets
+ * @brief Subservice 132
+ * @details
+ * Not used yet. Telecommand Verification takes care of this.
+ * @ingroup spacepackets
  */
 class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
 public:
@@ -124,7 +125,7 @@ private:
 			returnCode.setNext(&step);
 		}
 	}
-	bool isDataReply; //!< [EXPORT] : [IGNORE]
+
 	bool isStep; //!< [EXPORT] : [IGNORE]
 	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
 	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]

From 85d24b9dfef5b13b8ae5dd4ffd8eadf60c38fd8b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 10 Jul 2020 14:31:58 +0200
Subject: [PATCH 178/653] removed file header comment

---
 pus/servicepackets/Service8Packets.h | 16 ----------------
 1 file changed, 16 deletions(-)

diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index 86681c14..8ea0d108 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -1,19 +1,3 @@
-/**
- * \file Service8Packets.h
- *
- * \brief Structure of a Direct Command.
- * Normal reply (subservice 130) consists of
- *   1. Target object ID
- *   2. Action ID (taget device has specified functions with action IDs)
- *   3. Return Code
- *   4. Optional step number for step replies
- *
-
- *
- *  \date 01.07.2019
- *  \author R. Mueller
- */
-
 #ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
 #define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
 

From 72c9ef1089ddc3108c999b9b5aec01bf8bb26376 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 02:12:11 +0200
Subject: [PATCH 179/653] size_t replacement

---
 health/HealthTableIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/health/HealthTableIF.h b/health/HealthTableIF.h
index 6fdfc2c0..a850a804 100644
--- a/health/HealthTableIF.h
+++ b/health/HealthTableIF.h
@@ -17,7 +17,7 @@ public:
 			HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
 
 	virtual uint32_t getPrintSize() = 0;
-	virtual void printAll(uint8_t *pointer, uint32_t maxSize) = 0;
+	virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
 
 protected:
 	virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false) = 0;

From 3a2dc5eeb60d3b06d3e77a29b433482cb53f94f0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 13:33:12 +0200
Subject: [PATCH 180/653] new tmtc unix udp bridge

---
 osal/linux/TcUnixUdpPollingTask.cpp | 137 +++++++++++++++++++++++
 osal/linux/TcUnixUdpPollingTask.h   |  67 +++++++++++
 osal/linux/TmTcUnixUdpBridge.cpp    | 168 ++++++++++++++++++++++++++++
 osal/linux/TmTcUnixUdpBridge.h      |  48 ++++++++
 4 files changed, 420 insertions(+)
 create mode 100644 osal/linux/TcUnixUdpPollingTask.cpp
 create mode 100644 osal/linux/TcUnixUdpPollingTask.h
 create mode 100644 osal/linux/TmTcUnixUdpBridge.cpp
 create mode 100644 osal/linux/TmTcUnixUdpBridge.h

diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
new file mode 100644
index 00000000..8cf7b285
--- /dev/null
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -0,0 +1,137 @@
+#include <framework/osal/linux/TcUnixUdpPollingTask.h>
+#include <framework/globalfunctions/arrayprinter.h>
+
+TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
+		object_id_t tmtcUnixUdpBridge, size_t frameSize,
+		double timeoutSeconds): SystemObject(objectId),
+		tmtcBridgeId(tmtcUnixUdpBridge) {
+
+	if(frameSize > 0) {
+		this->frameSize = frameSize;
+	}
+	else {
+		this->frameSize = DEFAULT_MAX_FRAME_SIZE;
+	}
+
+	// Set up reception buffer with specified frame size.
+	// For now, it is assumed that only one frame is held in the buffer!
+	receptionBuffer.reserve(this->frameSize);
+	receptionBuffer.resize(this->frameSize);
+
+	if(timeoutSeconds == -1) {
+		receptionTimeout = DEFAULT_TIMEOUT;
+	}
+	else {
+		receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
+	}
+}
+
+TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {}
+
+ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
+	// Poll for new UDP datagrams in permanent loop.
+	while(1) {
+		//! Sender Address is cached here.
+		struct sockaddr_in senderAddress;
+		socklen_t senderSockLen = 0;
+		ssize_t bytesReceived = recvfrom(serverUdpSocket,
+				receptionBuffer.data(), frameSize, receptionFlags,
+				reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
+		if(bytesReceived < 0) {
+			// handle error
+			sif::error << "TcSocketPollingTask::performOperation: Reception"
+					"error." << std::endl;
+			handleReadError();
+
+			continue;
+		}
+//		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
+//				<< " bytes received" << std::endl;
+
+		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
+		if(result != HasReturnvaluesIF::RETURN_FAILED) {
+
+		}
+		tmtcBridge->registerCommConnect();
+		tmtcBridge->checkAndSetClientAddress(senderAddress);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
+	store_address_t storeId;
+	ReturnValue_t result = tcStore->addData(&storeId,
+			receptionBuffer.data(), bytesRead);
+	// arrayprinter::print(receptionBuffer.data(), bytesRead);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
+				"storage failed" << std::endl;
+		sif::error << "Packet size: " << bytesRead << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	TmTcMessage message(storeId);
+
+	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "Serial Polling: Sending message to queue failed"
+				<< std::endl;
+		tcStore->deleteData(storeId);
+	}
+	return result;
+}
+
+ReturnValue_t TcUnixUdpPollingTask::initialize() {
+	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+	if (tcStore == nullptr) {
+		sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
+	if(tmtcBridge == nullptr) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
+				" TMTC bridge object!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	serverUdpSocket = tmtcBridge->serverSocket;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() {
+	// Initialize the destination after task creation. This ensures
+	// that the destination will be set in the TMTC bridge.
+	targetTcDestination = tmtcBridge->getRequestQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
+	timeval tval;
+	tval = timevalOperations::toTimeval(timeoutSeconds);
+	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
+			&tval, sizeof(receptionTimeout));
+	if(result == -1) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
+				"receive timeout failed with " << strerror(errno) << std::endl;
+	}
+}
+
+void TcUnixUdpPollingTask::handleReadError() {
+	switch(errno) {
+	case(EAGAIN): {
+		// todo: When working in timeout mode, this will occur more often
+		// and is not an error.
+		sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout."
+				<< std::endl;
+		break;
+	}
+	default: {
+		sif::error << "TcUnixUdpPollingTask::handleReadError: "
+				<< strerror(errno) << std::endl;
+	}
+	}
+}
diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h
new file mode 100644
index 00000000..d8de1458
--- /dev/null
+++ b/osal/linux/TcUnixUdpPollingTask.h
@@ -0,0 +1,67 @@
+#ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
+#define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
+
+#include <framework/objectmanager/SystemObject.h>
+#include <framework/osal/linux/TmTcUnixUdpBridge.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+
+#include <sys/socket.h>
+#include <vector>
+
+/**
+ * @brief 	This class can be used to implement the polling of a Unix socket,
+ * 			using UDP for now.
+ * @details
+ * The task will be blocked while the specified number of bytes has not been
+ * received, so TC reception is handled inside a separate task.
+ * This class caches the IP address of the sender. It is assumed there
+ * is only one sender for now.
+ */
+class TcUnixUdpPollingTask: public SystemObject,
+		public ExecutableObjectIF {
+	friend class TmTcUnixUdpBridge;
+public:
+	static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
+	//! 0.5  default milliseconds timeout for now.
+	static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
+
+	TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+			size_t frameSize = 0, double timeoutSeconds = -1);
+	virtual~ TcUnixUdpPollingTask();
+
+	/**
+	 * Turn on optional timeout for UDP polling. In the default mode,
+	 * the receive function will block until a packet is received.
+	 * @param timeoutSeconds
+	 */
+	void setTimeout(double timeoutSeconds);
+
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual ReturnValue_t initialize() override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
+
+protected:
+	StorageManagerIF* tcStore = nullptr;
+
+private:
+	//! TMTC bridge is cached.
+	object_id_t tmtcBridgeId = objects::NO_OBJECT;
+	TmTcUnixUdpBridge* tmtcBridge = nullptr;
+	MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
+	//! Reception flags: https://linux.die.net/man/2/recvfrom.
+	int receptionFlags = 0;
+
+	//! Server socket, which is member of TMTC bridge and is assigned in
+	//! constructor
+	int serverUdpSocket = 0;
+
+	std::vector<uint8_t> receptionBuffer;
+
+	size_t frameSize = 0;
+	timeval receptionTimeout;
+
+	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
+	void handleReadError();
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
new file mode 100644
index 00000000..92fbbdfa
--- /dev/null
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -0,0 +1,168 @@
+#include <framework/osal/linux/TmTcUnixUdpBridge.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/ipc/MutexHelper.h>
+
+#include <errno.h>
+#include <arpa/inet.h>
+
+TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
+		object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
+		uint16_t serverPort, uint16_t clientPort):
+		TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
+	mutex = MutexFactory::instance()->createMutex();
+
+	uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
+	if(serverPort != 0xFFFF) {
+		setServerPort = serverPort;
+	}
+
+	uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
+	if(clientPort != 0xFFFF) {
+		setClientPort = clientPort;
+	}
+
+	// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
+	//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
+	serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+	if(socket < 0) {
+		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
+				" UDP socket!" << std::endl;
+		handleSocketError();
+		return;
+	}
+
+	serverAddress.sin_family = AF_INET;
+
+	// Accept packets from any interface.
+	//serverAddress.sin_addr.s_addr = inet_addr("127.73.73.0");
+	serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+	serverAddress.sin_port = htons(setServerPort);
+	serverAddressLen = sizeof(serverAddress);
+	setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
+			sizeof(serverSocketOptions));
+
+	clientAddress.sin_family = AF_INET;
+	clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+	clientAddress.sin_port = htons(setClientPort);
+	clientAddressLen = sizeof(clientAddress);
+
+	int result = bind(serverSocket,
+			reinterpret_cast<struct sockaddr*>(&serverAddress),
+			serverAddressLen);
+	if(result == -1) {
+		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
+				"local port " << setServerPort << " to server socket!"
+				<< std::endl;
+		handleBindError();
+		return;
+	}
+}
+
+TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
+}
+
+ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
+	int flags = 0;
+
+	clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
+	//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
+	clientAddressLen = sizeof(serverAddress);
+
+//	char ipAddress [15];
+//	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+//					&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+
+	ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
+			reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
+	if(bytesSent < 0) {
+		sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
+				<< std::endl;
+		handleSendError();
+	}
+//	sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
+//			" sent." << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+	MutexHelper lock(mutex, 10);
+
+//	char ipAddress [15];
+//	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+//			&newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+//	sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
+//			&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+
+	// Set new IP address if it has changed.
+	if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
+		clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
+		clientAddressLen = sizeof(clientAddress);
+	}
+}
+
+void TmTcUnixUdpBridge::handleSocketError() {
+
+	// See: https://man7.org/linux/man-pages/man2/socket.2.html
+	switch(errno) {
+	case(EACCES):
+	case(EINVAL):
+	case(EMFILE):
+	case(ENFILE):
+	case(EAFNOSUPPORT):
+	case(ENOBUFS):
+	case(ENOMEM):
+	case(EPROTONOSUPPORT):
+		sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed"
+				<< " with " << strerror(errno) << std::endl;
+		break;
+	default:
+		sif::error << "TmTcUnixBridge::handleSocketError: Unknown error"
+				<< std::endl;
+		break;
+	}
+}
+
+void TmTcUnixUdpBridge::handleBindError() {
+	// See: https://man7.org/linux/man-pages/man2/bind.2.html
+	switch(errno) {
+	case(EACCES): {
+		/*
+		 Ephermeral ports can be shown with following command:
+		 sysctl -A | grep ip_local_port_range
+		 */
+		sif::error << "TmTcUnixBridge::handleBindError: Port access issue."
+				"Ports 1-1024 are reserved on UNIX systems and require root "
+				"rights while ephermeral ports should not be used as well."
+				<< std::endl;
+	}
+	break;
+	case(EADDRINUSE):
+	case(EBADF):
+	case(EINVAL):
+	case(ENOTSOCK):
+	case(EADDRNOTAVAIL):
+	case(EFAULT):
+	case(ELOOP):
+	case(ENAMETOOLONG):
+	case(ENOENT):
+	case(ENOMEM):
+	case(ENOTDIR):
+	case(EROFS): {
+		sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed"
+				<< " with " << strerror(errno) << std::endl;
+		break;
+	}
+	default:
+		sif::error << "TmTcUnixBridge::handleBindError: Unknown error"
+				<< std::endl;
+		break;
+	}
+}
+
+void TmTcUnixUdpBridge::handleSendError() {
+	switch(errno) {
+	default:
+		sif::error << "Error: " << strerror(errno) << std::endl;
+	}
+}
+
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
new file mode 100644
index 00000000..dbddc6c3
--- /dev/null
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -0,0 +1,48 @@
+#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
+#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
+
+#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
+#include <framework/tmtcservices/TmTcBridge.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netinet/udp.h>
+
+class TmTcUnixUdpBridge: public TmTcBridge {
+	friend class TcUnixUdpPollingTask;
+public:
+	// The ports chosen here should not be used by any other process.
+	// List of used ports on Linux: /etc/services
+	static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
+	static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
+
+	TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
+			object_id_t tmStoreId, object_id_t tcStoreId,
+			uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
+	virtual~ TmTcUnixUdpBridge();
+
+	void checkAndSetClientAddress(sockaddr_in clientAddress);
+
+protected:
+	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
+
+private:
+	int serverSocket = 0;
+
+	const int serverSocketOptions = 0;
+
+	struct sockaddr_in clientAddress;
+	socklen_t clientAddressLen = 0;
+
+	struct sockaddr_in serverAddress;
+	socklen_t serverAddressLen = 0;
+
+	//! Access to the client address is mutex protected as it is set
+	//! by another task.
+	MutexIF* mutex;
+
+	void handleSocketError();
+	void handleBindError();
+	void handleSendError();
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */

From 14f86422e366390583a8070f685b390c2eccb04f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 19:47:31 +0200
Subject: [PATCH 181/653] additional size_t replacement

---
 tmtcservices/CommandingServiceBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 4277de6f..0c5f5eab 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -267,7 +267,7 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
         object_id_t objectId, const uint8_t *data, size_t dataLen) {
     uint8_t buffer[sizeof(object_id_t)];
     uint8_t* pBuffer = buffer;
-    uint32_t size = 0;
+    size_t size = 0;
     SerializeAdapter::serialize(&objectId, &pBuffer, &size,
                 sizeof(object_id_t), SerializeIF::Endianness::BIG);
     TmPacketStored tmPacketStored(this->apid, this->service, subservice,

From d7e157d90817d26a1546d78fec56d658073465ad Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 19:53:44 +0200
Subject: [PATCH 182/653] switch setLast and setEnd

---
 container/SinglyLinkedList.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 618a21e1..7d5fc4a9 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -58,7 +58,7 @@ public:
 		this->next = next;
 	}
 
-	virtual void setLast() {
+	virtual void setEnd() {
 	    this->next = nullptr;
 	}
 
@@ -124,8 +124,8 @@ public:
 	    currentElement->setNext(nextElement);
 	}
 
-    void setEnd(LinkedElement<T>* lastElement) {
-        lastElement->setLast();
+    void setLast(LinkedElement<T>* lastElement) {
+        lastElement->setEnd();
     }
 
     void insertElement(LinkedElement<T>* element, size_t position) {

From ef2a44c683fe0d236dfa55ad935c09d8f7472f2e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 13 Jul 2020 22:15:38 +0200
Subject: [PATCH 183/653] added back inttypes.h for cleaner code

---
 timemanager/CCSDSTime.cpp | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 47cab911..71b2539d 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -205,9 +205,10 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	uint8_t hour;
 	uint8_t minute;
 	float second;
-	//try Code A (yyyy-mm-dd)
-	int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year,
-				&month, &day, &hour, &minute, &second);
+    //try Code A (yyyy-mm-dd)
+    int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16
+            "T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day,
+            &hour, &minute, &second);
 	if (count == 6) {
 		to->year = year;
 		to->month = month;
@@ -219,9 +220,9 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		return RETURN_OK;
 	}
 
-	//try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day,
-			&hour, &minute, &second);
+    //try Code B (yyyy-ddd)
+    count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8
+            ":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second);
 	if (count == 5) {
 		uint8_t tempDay;
 		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month,

From aca0c94c514a3cfb6401f291e1021b2fe6c662d5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 11:47:11 +0200
Subject: [PATCH 184/653] CSB new update init

---
 tmtcservices/CommandingServiceBase.cpp | 396 ++++++++++++++-----------
 tmtcservices/CommandingServiceBase.h   | 256 ++++++++++------
 2 files changed, 379 insertions(+), 273 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index aa41f334..4c9b5375 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -1,26 +1,35 @@
-/*
- * CommandingServiceBase.cpp
- *
- *  Created on: 28.08.2019
- *      Author: gaisser
- */
+#include <framework/tcdistribution/PUSDistributorIF.h>
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
 
 #include <framework/tmtcservices/CommandingServiceBase.h>
+#include <framework/tmtcservices/TmTcMessage.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcpacket/pus/TcPacketStored.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
+
+object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
+object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
 
 CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
 		uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
-		uint16_t commandTimeout_seconds, object_id_t setPacketSource,
-		object_id_t setPacketDestination, size_t queueDepth) :
-		SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
-				commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
-		NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
-				numberOfParallelCommands), failureParameter1(0), failureParameter2(
-				0), packetSource(setPacketSource), packetDestination(
-				setPacketDestination),executingTask(NULL) {
+		uint16_t commandTimeoutSeconds, size_t queueDepth) :
+		SystemObject(setObjectId), apid(apid), service(service),
+		timeoutSeconds(commandTimeoutSeconds),
+		commandMap(numberOfParallelCommands) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 	requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }
 
+void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
+	this->packetSource = packetSource;
+}
+
+void CommandingServiceBase::setPacketDestination(
+		object_id_t packetDestination) {
+	this->packetDestination = packetDestination;
+}
+
 
 CommandingServiceBase::~CommandingServiceBase() {
 	QueueFactory::instance()->deleteMessageQueue(commandQueue);
@@ -53,12 +62,22 @@ ReturnValue_t CommandingServiceBase::initialize() {
 		return result;
 	}
 
+	if(packetDestination == objects::NO_OBJECT) {
+	    packetDestination = defaultPacketDestination;
+	}
 	AcceptsTelemetryIF* packetForwarding =
 			objectManager->get<AcceptsTelemetryIF>(packetDestination);
+
+	if(packetSource == objects::NO_OBJECT) {
+	    packetSource = defaultPacketSource;
+	}
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((packetForwarding == NULL) && (distributor == NULL)) {
-		return RETURN_FAILED;
+
+	if (packetForwarding == nullptr or distributor == nullptr) {
+	    sif::error << "CommandingServiceBase::intialize: Packet source or "
+	            "packet destination invalid!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	distributor->registerService(this);
@@ -68,8 +87,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
-	if ((IPCStore == NULL) || (TCStore == NULL)) {
-		return RETURN_FAILED;
+	if (IPCStore == nullptr or TCStore == nullptr) {
+	    sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
+	                    "not initialized yet!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	return RETURN_OK;
@@ -77,97 +98,126 @@ ReturnValue_t CommandingServiceBase::initialize() {
 }
 
 void CommandingServiceBase::handleCommandQueue() {
-	CommandMessage reply, nextCommand;
-	ReturnValue_t result, sendResult = RETURN_OK;
-	bool isStep = false;
+	CommandMessage reply;
+	ReturnValue_t result = RETURN_FAILED;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&reply)) {
-		isStep = false;
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator iter;
-		if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
-			handleUnrequestedReply(&reply);
-			continue;
-		}
-		if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
-			handleUnrequestedReply(&reply);
-			continue;
-		}
-		nextCommand.setCommand(CommandMessage::CMD_NONE);
-		result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
-				iter->objectId, &isStep);
-		switch (result) {
-		case EXECUTION_COMPLETE:
-		case RETURN_OK:
-		case NO_STEP_MESSAGE:
-			iter->command = nextCommand.getCommand();
-			if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
-				sendResult = commandQueue->sendMessage(reply.getSender(),
-						&nextCommand);
-			}
-			if (sendResult == RETURN_OK) {
-				if (isStep) {
-					if (result != NO_STEP_MESSAGE) {
-						verificationReporter.sendSuccessReport(
-								TC_VERIFY::PROGRESS_SUCCESS,
-								iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-								iter->tcInfo.tcSequenceControl, ++iter->step);
-					}
-				} else {
-					verificationReporter.sendSuccessReport(
-							TC_VERIFY::COMPLETION_SUCCESS,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, 0);
-					checkAndExecuteFifo(&iter);
-				}
-			} else {
-				if (isStep) {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-							iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult,
-							++iter->step, failureParameter1, failureParameter2);
-				} else {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::COMPLETION_FAILURE,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult, 0,
-							failureParameter1, failureParameter2);
-				}
-				failureParameter1 = 0;
-				failureParameter2 = 0;
-				checkAndExecuteFifo(&iter);
-			}
-			break;
-		case INVALID_REPLY:
-			//might be just an unrequested reply at a bad moment
-			handleUnrequestedReply(&reply);
-			break;
-		default:
-			if (isStep) {
-				verificationReporter.sendFailureReport(
-						TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-						iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-						result, ++iter->step, failureParameter1,
-						failureParameter2);
-			} else {
-				verificationReporter.sendFailureReport(
-						TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
-						iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-						result, 0, failureParameter1, failureParameter2);
-			}
-			failureParameter1 = 0;
-			failureParameter2 = 0;
-			checkAndExecuteFifo(&iter);
-			break;
-		}
-
+		handleCommandMessage(&reply);
 	}
 }
 
 
+void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
+	bool isStep = false;
+	CommandMessage nextCommand;
+	CommandMapIter iter = commandMap.find(reply->getSender());
+
+	// handle unrequested reply first
+	if (reply->getSender() == MessageQueueIF::NO_QUEUE or
+			iter == commandMap.end()) {
+		handleUnrequestedReply(reply);
+		return;
+	}
+	nextCommand.setCommand(CommandMessage::CMD_NONE);
+
+
+	// Implemented by child class, specifies what to do with reply.
+	ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
+			&nextCommand, iter->objectId, &isStep);
+
+	/* If the child implementation does not implement special handling for
+	 * rejected replies (RETURN_FAILED is returned), a failure verification
+	 * will be generated with the reason as the return code and the initial
+	 * command as failure parameter 1 */
+	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
+			result == RETURN_FAILED) {
+	    result = reply->getReplyRejectedReason();
+	    failureParameter1 = iter->command;
+	}
+
+	switch (result) {
+	case EXECUTION_COMPLETE:
+	case RETURN_OK:
+	case NO_STEP_MESSAGE:
+		// handle result of reply handler implemented by developer.
+		handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
+		break;
+	case INVALID_REPLY:
+		//might be just an unrequested reply at a bad moment
+		handleUnrequestedReply(reply);
+		break;
+	default:
+		if (isStep) {
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					result, ++iter->step, failureParameter1,
+					failureParameter2);
+		} else {
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					result, 0, failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(iter);
+		break;
+	}
+
+}
+
+void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
+		CommandMapIter iter, CommandMessage* nextCommand,
+		CommandMessage* reply, bool& isStep) {
+	iter->command = nextCommand->getCommand();
+
+	// In case a new command is to be sent immediately, this is performed here.
+	// If no new command is sent, only analyse reply result by initializing
+	// sendResult as RETURN_OK
+	ReturnValue_t sendResult = RETURN_OK;
+	if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
+		sendResult = commandQueue->sendMessage(reply->getSender(),
+				nextCommand);
+	}
+
+	if (sendResult == RETURN_OK) {
+		if (isStep and result != NO_STEP_MESSAGE) {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::PROGRESS_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, ++iter->step);
+		}
+		else {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::COMPLETION_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, 0);
+			checkAndExecuteFifo(iter);
+		}
+	}
+	else {
+		if (isStep) {
+			nextCommand->clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult,
+					++iter->step, failureParameter1, failureParameter2);
+		} else {
+			nextCommand->clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult, 0,
+					failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(iter);
+	}
+}
+
 void CommandingServiceBase::handleRequestQueue() {
 	TmTcMessage message;
 	ReturnValue_t result;
@@ -180,8 +230,8 @@ void CommandingServiceBase::handleRequestQueue() {
 		address = message.getStorageId();
 		packet.setStoreAddress(address);
 
-		if ((packet.getSubService() == 0)
-				|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
+		if (packet.getSubService() == 0
+				or isValidSubservice(packet.getSubService()) != RETURN_OK) {
 			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}
@@ -194,8 +244,7 @@ void CommandingServiceBase::handleRequestQueue() {
 		}
 
 		//Is a command already active for the target object?
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator iter;
+		CommandMapIter iter;
 		iter = commandMap.find(queue);
 
 		if (iter != commandMap.end()) {
@@ -210,7 +259,7 @@ void CommandingServiceBase::handleRequestQueue() {
 			if (result != RETURN_OK) {
 				rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
 			} else {
-				startExecution(&packet, &iter);
+				startExecution(&packet, iter);
 			}
 		}
 
@@ -218,9 +267,9 @@ void CommandingServiceBase::handleRequestQueue() {
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		const uint8_t* data, uint32_t dataLen, const uint8_t* headerData,
-		uint32_t headerSize) {
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+		const uint8_t* data, size_t dataLen, const uint8_t* headerData,
+		size_t headerSize) {
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, headerData, headerSize);
 	ReturnValue_t result = tmPacketStored.sendPacket(
@@ -228,79 +277,79 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		this->tmPacketCounter++;
 	}
+	return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
-	uint8_t buffer[sizeof(object_id_t)];
-	uint8_t* pBuffer = buffer;
-	size_t size = 0;
-	SerializeAdapter::serialize(&objectId, &pBuffer, &size,
-			sizeof(object_id_t), SerializeIF::Endianness::BIG);
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
-			this->tmPacketCounter, data, dataLen, buffer, size);
-	ReturnValue_t result = tmPacketStored.sendPacket(
-			requestQueue->getDefaultDestination(), requestQueue->getId());
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		this->tmPacketCounter++;
-	}
-
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+        object_id_t objectId, const uint8_t *data, size_t dataLen) {
+    uint8_t buffer[sizeof(object_id_t)];
+    uint8_t* pBuffer = buffer;
+    size_t size = 0;
+    SerializeAdapter::serialize(&objectId, &pBuffer, &size,
+                sizeof(object_id_t), SerializeIF::Endianness::BIG);
+    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, data, dataLen, buffer, size);
+    ReturnValue_t result = tmPacketStored.sendPacket(
+            requestQueue->getDefaultDestination(), requestQueue->getId());
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        this->tmPacketCounter++;
+    }
+    return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		SerializeIF* content, SerializeIF* header) {
-	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
-			this->tmPacketCounter, content, header);
-	ReturnValue_t result = tmPacketStored.sendPacket(
-			requestQueue->getDefaultDestination(), requestQueue->getId());
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		this->tmPacketCounter++;
-	}
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
+        SerializeIF* content, SerializeIF* header) {
+    TmPacketStored tmPacketStored(this->apid, this->service, subservice,
+            this->tmPacketCounter, content, header);
+    ReturnValue_t result = tmPacketStored.sendPacket(
+            requestQueue->getDefaultDestination(), requestQueue->getId());
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+        this->tmPacketCounter++;
+    }
+    return result;
 }
 
 
-void CommandingServiceBase::startExecution(
-		TcPacketStored *storedPacket,
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator *iter) {
-	ReturnValue_t result, sendResult = RETURN_OK;
-	CommandMessage message;
-	(*iter)->subservice = storedPacket->getSubService();
-	result = prepareCommand(&message, (*iter)->subservice,
-			storedPacket->getApplicationData(),
-			storedPacket->getApplicationDataSize(), &(*iter)->state,
-			(*iter)->objectId);
+void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
+        CommandMapIter iter) {
+    ReturnValue_t result = RETURN_OK;
+    CommandMessage command;
+    iter->subservice = storedPacket->getSubService();
+    result = prepareCommand(&command, iter->subservice,
+            storedPacket->getApplicationData(),
+            storedPacket->getApplicationDataSize(), &iter->state,
+            iter->objectId);
 
+    ReturnValue_t sendResult = RETURN_OK;
 	switch (result) {
 	case RETURN_OK:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
-			sendResult = commandQueue->sendMessage((*iter).value->first,
-					&message);
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
+			sendResult = commandQueue->sendMessage(iter.value->first,
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
-			Clock::getUptime(&(*iter)->uptimeOfStart);
-			(*iter)->step = 0;
-//			(*iter)->state = 0;
-			(*iter)->subservice = storedPacket->getSubService();
-			(*iter)->command = message.getCommand();
-			(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
-			(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
-			(*iter)->tcInfo.tcSequenceControl =
+			Clock::getUptime(&iter->uptimeOfStart);
+			iter->step = 0;
+			iter->subservice = storedPacket->getSubService();
+			iter->command = command.getCommand();
+			iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
+			iter->tcInfo.tcPacketId = storedPacket->getPacketId();
+			iter->tcInfo.tcSequenceControl =
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			message.clearCommandMessage();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
 		break;
 	case EXECUTION_COMPLETE:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
 			//Fire-and-forget command.
-			sendResult = commandQueue->sendMessage((*iter).value->first,
-					&message);
+			sendResult = commandQueue->sendMessage(iter.value->first,
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
 			verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
@@ -308,7 +357,7 @@ void CommandingServiceBase::startExecution(
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			message.clearCommandMessage();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -335,12 +384,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 }
 
 
-void CommandingServiceBase::checkAndExecuteFifo(
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator *iter) {
+void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 	store_address_t address;
-	if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
-		commandMap.erase(iter);
+	if (iter->fifo.retrieve(&address) != RETURN_OK) {
+		commandMap.erase(&iter);
 	} else {
 		TcPacketStored newPacket(address);
 		startExecution(&newPacket, iter);
@@ -348,8 +395,7 @@ void CommandingServiceBase::checkAndExecuteFifo(
 }
 
 
-void CommandingServiceBase::handleUnrequestedReply(
-		CommandMessage* reply) {
+void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
 	reply->clearCommandMessage();
 }
 
@@ -364,18 +410,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() {
 void CommandingServiceBase::checkTimeout() {
 	uint32_t uptime;
 	Clock::getUptime(&uptime);
-	typename FixedMap<MessageQueueId_t,
-			CommandingServiceBase::CommandInfo>::Iterator iter;
+	CommandMapIter iter;
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
-		if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
+		if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
 					TIMEOUT);
-			checkAndExecuteFifo(&iter);
+			checkAndExecuteFifo(iter);
 		}
 	}
 }
 
-
-
+void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
+    executingTask = task_;
+}
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index bf2e8242..1bd18571 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -1,40 +1,43 @@
-#ifndef COMMANDINGSERVICEBASE_H_
-#define COMMANDINGSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
-#include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
-#include <framework/serialize/SerializeAdapter.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include <framework/ipc/MessageQueueIF.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/tmtcservices/TmTcMessage.h>
+
 #include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/timemanager/Clock.h>
+#include <framework/ipc/CommandMessage.h>
+#include <framework/container/FixedMap.h>
+#include <framework/container/FIFO.h>
+#include <framework/serialize/SerializeIF.h>
+
+class TcPacketStored;
+
+namespace Factory{
+void setStaticFrameworkObjectIds();
+}
 
 /**
- * \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus.
+ * @brief 	This class is the basis for all PUS Services, which have to
+ * 			relay Telecommands to software bus.
  *
- * It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase.
- * Every class that inherits from this abstract class has to implement four adaption points:
+ * It manages Telecommand reception and the generation of Verification Reports
+ * similar to PusServiceBase. This class is used if a telecommand can't be
+ * handled immediately and must be relayed to the internal software bus.
  *   - isValidSubservice
  *   - getMessageQueueAndObject
  *   - prepareCommand
  *   - handleReply
- * \ingroup pus_services
+ * @author gaisser
+ * @ingroup pus_services
  */
 class CommandingServiceBase: public SystemObject,
 		public AcceptsTelecommandsIF,
 		public ExecutableObjectIF,
 		public HasReturnvaluesIF {
+	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
 	static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
@@ -59,10 +62,24 @@ public:
 	 */
 	CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
 			uint8_t service, uint8_t numberOfParallelCommands,
-			uint16_t commandTimeout_seconds, object_id_t setPacketSource,
-			object_id_t setPacketDestination, size_t queueDepth = 20);
+			uint16_t commandTimeoutSeconds, size_t queueDepth = 20);
 	virtual ~CommandingServiceBase();
 
+	/**
+	 * This setter can be used to set the packet source individually instead
+	 * of using the default static framework ID set in the factory.
+	 * This should be called at object initialization and not during run-time!
+	 * @param packetSource
+	 */
+	void setPacketSource(object_id_t packetSource);
+	/**
+	 * This setter can be used to set the packet destination individually
+	 * instead of using the default static framework ID set in the factory.
+	 * This should be called at object initialization and not during run-time!
+	 * @param packetDestination
+	 */
+	void setPacketDestination(object_id_t packetDestination);
+
 	/***
 	 * This is the periodically called function.
 	 * Handle request queue for external commands.
@@ -91,82 +108,111 @@ public:
 	 */
 	virtual MessageQueueId_t getCommandQueue();
 
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
 
 	/**
 	 * Implementation of ExecutableObjectIF function
 	 *
 	 * Used to setup the reference of the task, that executes this component
-	 * @param task_ Pointer to the taskIF of this task
+	 * @param task Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_){
-		executingTask = task_;
-	};
+	virtual void setTaskIF(PeriodicTaskIF* task);
 
 protected:
 	/**
 	 * Check the target subservice
 	 * @param subservice[in]
-	 * @return -@c RETURN_OK on success
-     *         -@c INVALID_SUBSERVICE if service is not known
+	 * @return
+	 * -@c RETURN_OK Subservice valid, continue message handling
+     * -@c INVALID_SUBSERVICE if service is not known, rejects packet.
 	 */
 	virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
 
 	/**
-	 * Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
-	 * The target message queue ID can then be acquired by using the target interface.
+	 * Once a TC Request is valid, the existence of the destination and its
+	 * target interface is checked and retrieved. The target message queue ID
+	 * can then be acquired by using the target interface.
 	 * @param subservice
 	 * @param tcData Application Data of TC Packet
 	 * @param tcDataLen
 	 * @param id MessageQueue ID is stored here
 	 * @param objectId Object ID is extracted and stored here
-	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED
-	 *         - @c CSB or implementation specific return codes
+	 * @return
+	 * - @c RETURN_OK Cotinue message handling
+	 * - @c RETURN_FAILED Reject the packet and generates a start failure
+	 *      verification
 	 */
 	virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-			const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
 			object_id_t *objectId) = 0;
 
 	/**
-	 * After the Message Queue and Object ID are determined,
-	 * the command is prepared by using an implementation specific CommandMessage type
-	 * which is sent to the target object.
-	 * It contains all necessary information for the device to execute telecommands.
-	 * @param message[out] message to be sent to the object
-	 * @param subservice[in] Subservice of the current communication
-	 * @param tcData Additional data of the command
-	 * @param tcDataLen Length of the additional data
-	 * @param state[out] Setable state of the communication
+	 * After the Message Queue and Object ID are determined, the command is
+	 * prepared by using an implementation specific CommandMessage type
+	 * which is sent to the target object. It contains all necessary information
+	 * for the device to execute telecommands.
+	 * @param message [out] message which can be set and is sent to the object
+	 * @param subservice Subservice of the current communication
+	 * @param tcData Application data of command
+	 * @param tcDataLen Application data length
+	 * @param state [out/in] Setable state of the communication.
+	 * communication
 	 * @param objectId Target object ID
-	 * @return - @c RETURN_OK on success
-     *         - @c EXECUTION_COMPLETE if exectuin is finished 
-     *         - any other return code will be part of (1,4) start failure
+	 * @return
+	 * - @c RETURN_OK to generate a verification start message
+	 * - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
+	 *      verification message.
+	 * - @c Anything else rejects the packets and generates a start failure
+	 *      verification.
 	 */
-	virtual ReturnValue_t prepareCommand(CommandMessage *message,
-			uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
+	virtual ReturnValue_t prepareCommand(CommandMessage* message,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
 			uint32_t *state, object_id_t objectId) = 0;
 
 	/**
-	 * This function is responsible for the communication between the Command Service Base
-	 * and the respective PUS Commanding Service once the execution has started.
-	 * The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
-	 * There are different translations of these replies to specify how the Command Service proceeds.
-	 * @param reply Command Message which contains information about the command
-	 * @param previousCommand Command_t of last command
-	 * @param state state of the communication
-	 * @param optionalNextCommand[out] An optional next command which can be set in this function
+	 * This function is implemented by child services to specify how replies
+	 * to a command from another software component are handled.
+	 * @param reply
+	 * This is the reply which can be accessed via the command message
+	 * interface. The internal message pointer can be passed to different
+	 * command message implementations (see CommandMessageIF)
+	 * @param previousCommand
+	 * Command_t of related command
+	 * @param state [out/in]
+	 * Additional parameter which can be used to pass state information.
+	 * State of the communication
+	 * @param optionalNextCommand [out]
+	 * An optional next command which can be set in this function
 	 * @param objectId Source object ID
 	 * @param isStep Flag value to mark steps of command execution
-	 * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
-	 *         - @c INVALID_REPLY can handle unrequested replies
-	 *         - Anything else triggers a TC verification failure
+	 * @return
+	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
+	 *   generate TC verification success
+	 * - @c INVALID_REPLY Calls handleUnrequestedReply
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED
+	 *   is returned and the command ID is CommandMessage::REPLY_REJECTED,
+	 *   a failure verification message with the reason as the error parameter
+	 *   and the initial command as failure parameter 1.
 	 */
-	virtual ReturnValue_t handleReply(const CommandMessage *reply,
+	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,
-			CommandMessage *optionalNextCommand, object_id_t objectId,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
 
+	/**
+	 * This function can be overidden to handle unrequested reply,
+	 * when the reply sender ID is unknown or is not found is the command map.
+	 * The default implementation will clear the command message and all
+	 * its contents.
+	 * @param reply
+	 * Reply which is non-const so the default implementation can clear the
+	 * message.
+	 */
+	virtual void handleUnrequestedReply(CommandMessage* reply);
+
+	virtual void doPeriodicOperation();
+
+
 	struct CommandInfo {
 		struct tcInfo {
 			uint8_t ackFlags;
@@ -182,84 +228,92 @@ protected:
 		FIFO<store_address_t, 3> fifo;
 	};
 
+	using CommandMapIter = FixedMap<MessageQueueId_t,
+	        CommandingServiceBase::CommandInfo>::Iterator;
+
 	const uint16_t apid;
 
 	const uint8_t service;
 
-	const uint16_t timeout_seconds;
+	const uint16_t timeoutSeconds;
 
-	uint8_t tmPacketCounter;
+	uint8_t tmPacketCounter = 0;
 
-	StorageManagerIF *IPCStore;
+	StorageManagerIF *IPCStore = nullptr;
 
-	StorageManagerIF *TCStore;
+	StorageManagerIF *TCStore = nullptr;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
-	MessageQueueIF* requestQueue;
+	MessageQueueIF* requestQueue = nullptr;
 
 	VerificationReporter verificationReporter;
 
 	FixedMap<MessageQueueId_t, CommandInfo> commandMap;
 
-	uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition.
-	uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition.
+	/* May be set be children to return a more precise failure condition. */
+	uint32_t failureParameter1 = 0;
+	uint32_t failureParameter2 = 0;
 
-	object_id_t packetSource;
-
-	object_id_t packetDestination;
+	static object_id_t defaultPacketSource;
+	object_id_t packetSource = objects::NO_OBJECT;
+	static object_id_t defaultPacketDestination;
+	object_id_t packetDestination = objects::NO_OBJECT;
 
 	/**
-	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 * Pointer to the task which executes this component,
+	 * is invalid before setTaskIF was called.
 	 */
-	PeriodicTaskIF* executingTask;
+	PeriodicTaskIF* executingTask = nullptr;
 
 	/**
-	 * Send TM data from pointer to data. If a header is supplied it is added before data
+	 * @brief   Send TM data from pointer to data.
+	 *          If a header is supplied it is added before data
 	 * @param subservice Number of subservice
 	 * @param data Pointer to the data in the Packet
 	 * @param dataLen Lenght of data in the Packet
 	 * @param headerData HeaderData will be placed before data
 	 * @param headerSize Size of HeaderData
 	 */
-	void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen,
-			const uint8_t* headerData = NULL, uint32_t headerSize = 0);
+	ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
+	        size_t dataLen, const uint8_t* headerData = nullptr,
+	        size_t headerSize = 0);
 
 	/**
-	 * To send TM packets of objects that still need to be serialized and consist of an object ID with appended data
+	 * @brief   To send TM packets of objects that still need to be serialized
+	 *          and consist of an object ID with appended data.
 	 * @param subservice Number of subservice
 	 * @param objectId ObjectId is placed before data
 	 * @param data Data to append to the packet
 	 * @param dataLen Length of Data
 	 */
-	void sendTmPacket(uint8_t subservice, object_id_t objectId,
-			const uint8_t *data, uint32_t dataLen);
+	ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
+			const uint8_t *data, size_t dataLen);
 
 	/**
-	 * To send packets has data which is in form of a SerializeIF or Adapters implementing it
+	 * @brief   To send packets which are contained inside a class implementing
+	 *          SerializeIF.
 	 * @param subservice Number of subservice
 	 * @param content This is a pointer to the serialized packet
 	 * @param header Serialize IF header which will be placed before content
 	 */
-	void sendTmPacket(uint8_t subservice, SerializeIF* content,
-			SerializeIF* header = NULL);
+	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
+			SerializeIF* header = nullptr);
 
-	virtual void handleUnrequestedReply(CommandMessage *reply);
-
-	virtual void doPeriodicOperation();
-
-	void checkAndExecuteFifo(
-			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
+	void checkAndExecuteFifo(CommandMapIter iter);
 
 private:
 	/**
 	 * This method handles internal execution of a command,
-	 * once it has been started by @sa{startExecution()} in the Request Queue handler.
-	 * It handles replies generated by the devices and relayed by the specific service implementation.
-	 * This means that it determines further course of action depending on the return values specified
-	 * in the service implementation.
+	 * once it has been started by @sa{startExecution()} in the request
+	 * queue handler.
+	 * It handles replies generated by the devices and relayed by the specific
+	 * service implementation. This means that it determines further course of
+	 * action depending on the return values specified in the service
+	 * implementation.
 	 * This includes the generation of TC verification messages. Note that
-	 * the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
+	 * the static framework object ID @c VerificationReporter::messageReceiver
+	 * needs to be set.
 	 *   - TM[1,5] Step Successs
 	 *   - TM[1,6] Step Failure
 	 *   - TM[1,7] Completion Success
@@ -268,10 +322,13 @@ private:
 	void handleCommandQueue();
 
 	/**
+	 * @brief       Handler function for request queue
+	 * @details
 	 * Sequence of request queue handling:
 	 * isValidSubservice -> getMessageQueueAndObject -> startExecution
-	 * Generates Start Success Reports TM[1,3] in subfunction @sa{startExecution()}
-	 * or Start Failure Report TM[1,4] by using the TC Verification Service
+	 * Generates a Start Success Reports TM[1,3] in subfunction
+	 * @sa{startExecution()} or  a Start Failure Report TM[1,4] by using the
+	 * TC Verification Service.
 	 */
 	void handleRequestQueue();
 
@@ -280,8 +337,11 @@ private:
 
 	void acceptPacket(uint8_t reportId, TcPacketStored* packet);
 
-	void startExecution(TcPacketStored *storedPacket,
-			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
+	void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
+
+	void handleCommandMessage(CommandMessage* reply);
+	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
+			CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
 
 	void checkTimeout();
 };

From 646e86ea85d8bd29f89c2568efb42e2a49e497aa Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 11:56:48 +0200
Subject: [PATCH 185/653] dhb update init

---
 devicehandlers/DeviceHandlerBase.cpp | 517 +++++++++++++++++----------
 devicehandlers/DeviceHandlerBase.h   | 310 +++++++++-------
 2 files changed, 504 insertions(+), 323 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 872310a1..cc97cd42 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -4,55 +4,69 @@
 #include <framework/thermal/ThermalComponentIF.h>
 #include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
+#include <framework/datapoolglob/GlobalDataSet.h>
+#include <framework/datapoolglob/GlobalPoolVariable.h>
 #include <framework/devicehandlers/DeviceTmReportingWrapper.h>
 #include <framework/globalfunctions/CRC.h>
+#include <framework/housekeeping/HousekeepingMessage.h>
+#include <framework/ipc/MessageQueueMessage.h>
 #include <framework/subsystem/SubsystemBase.h>
 #include <framework/ipc/QueueFactory.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
 #include <iomanip>
 
-object_id_t DeviceHandlerBase::powerSwitcherId = 0;
-object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
-object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
+object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
+object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
+object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
+object_id_t DeviceHandlerBase::defaultHkDestination = objects::NO_OBJECT;
 
 DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * comCookie,
-		uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
-		uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
-		size_t cmdQueueSize) :
+		FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
 		SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
-		deviceThermalStatePoolId(thermalStatePoolId),
-		deviceThermalRequestPoolId(thermalRequestPoolId),
 		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
+		actionHelper(this, nullptr), hkManager(this, nullptr),
 		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
 		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
-		switchOffWasReported(false), actionHelper(this, nullptr),
-		childTransitionDelay(5000),
-		transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
-		SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
+		switchOffWasReported(false), childTransitionDelay(5000),
+		transitionSourceMode(_MODE_POWER_DOWN),
+		transitionSourceSubMode(SUBMODE_NONE) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
-			CommandMessage::MAX_MESSAGE_SIZE);
+			MessageQueueMessage::MAX_MESSAGE_SIZE);
 	insertInCommandMap(RAW_COMMAND_ID);
 	cookieInfo.state = COOKIE_UNUSED;
 	cookieInfo.pendingCommand = deviceCommandMap.end();
 	if (comCookie == nullptr) {
-		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
-				std::setw(8) << std::setfill('0') << this->getObjectId() <<
-				std::dec << ": Do not pass nullptr as a cookie, consider "
-				<< std::setfill(' ') << "passing a dummy cookie instead!" <<
-				std::endl;
+		sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex
+				<< std::setw(8) << std::setfill('0') << this->getObjectId()
+				<< std::dec << ": Do not pass nullptr as a cookie, consider "
+				<< std::setfill(' ') << "passing a dummy cookie instead!"
+				<< std::endl;
 	}
 	if (this->fdirInstance == nullptr) {
 		this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
-				defaultFDIRParentId);
+				defaultFdirParentId);
 	}
 }
 
+void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
+	this->hkDestination = hkDestination;
+}
+
+void DeviceHandlerBase::setThermalStateRequestPoolIds(
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
+	this->deviceThermalRequestPoolId = thermalStatePoolId;
+	this->deviceThermalRequestPoolId = thermalRequestPoolId;
+}
+
+
+void DeviceHandlerBase::setDeviceSwitch(uint8_t deviceSwitch) {
+	this->deviceSwitch = deviceSwitch;
+}
+
 DeviceHandlerBase::~DeviceHandlerBase() {
 	delete comCookie;
 	if (defaultFDIRUsed) {
@@ -108,8 +122,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	communicationInterface = objectManager->get<DeviceCommunicationIF>(
 			deviceCommunicationId);
-	if (communicationInterface == NULL) {
-		return RETURN_FAILED;
+	if (communicationInterface == nullptr) {
+		sif::error << "DeviceHandlerBase::initialize: Communication interface "
+				"invalid." << std::endl;
+		sif::error << "Make sure it is set up properly and implements"
+				" DeviceCommunicationIF" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	result = communicationInterface->initializeInterface(comCookie);
@@ -118,27 +136,44 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (IPCStore == NULL) {
-		return RETURN_FAILED;
+	if (IPCStore == nullptr) {
+		sif::error << "DeviceHandlerBase::initialize: IPC store not set up in "
+				"factory." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
-	AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
-			AcceptsDeviceResponsesIF>(rawDataReceiverId);
+	if(rawDataReceiverId != objects::NO_OBJECT) {
+		AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
+				AcceptsDeviceResponsesIF>(rawDataReceiverId);
 
-	if (rawReceiver == NULL) {
-		return RETURN_FAILED;
+		if (rawReceiver == nullptr) {
+			sif::error << "DeviceHandlerBase::initialize: Raw receiver object "
+					"ID set but no valid object found." << std::endl;
+			sif::error << "Make sure the raw receiver object is set up properly"
+					" and implements AcceptsDeviceResponsesIF" << std::endl;
+			return ObjectManagerIF::CHILD_INIT_FAILED;
+		}
+		defaultRawReceiver = rawReceiver->getDeviceQueue();
 	}
 
-	defaultRawReceiver = rawReceiver->getDeviceQueue();
-
-	powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
-	if (powerSwitcher == NULL) {
-		return RETURN_FAILED;
+	if(powerSwitcherId != objects::NO_OBJECT) {
+		powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
+		if (powerSwitcher == nullptr) {
+			sif::error << "DeviceHandlerBase::initialize: Power switcher "
+					<< "object ID set but no valid object found." << std::endl;
+			sif::error << "Make sure the raw receiver object is set up properly"
+					<< " and implements PowerSwitchIF" << std::endl;
+			return ObjectManagerIF::CHILD_INIT_FAILED;
+		}
 	}
 
 	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-		return result;
+	if (result == RETURN_OK) {
+		healthHelperActive = true;
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::initialize: Health Helper "
+				"initialization failure." << std::endl;
 	}
 
 	result = modeHelper.initialize();
@@ -164,11 +199,20 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
+	if(hkDestination == objects::NO_OBJECT) {
+		hkDestination = defaultHkDestination;
+	}
+
+	result = hkManager.initialize(commandQueue, hkDestination);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
 	fillCommandAndReplyMap();
 
 	//Set temperature target state to NON_OP.
-	DataSet mySet;
-	PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+	GlobDataSet mySet;
+	gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 			PoolVariableIF::VAR_WRITE);
 	mySet.read();
 	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
@@ -200,43 +244,50 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	CommandMessage command;
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result != RETURN_OK) {
 		return;
 	}
 
-	result = healthHelper.handleHealthCommand(&message);
+	if(healthHelperActive) {
+		result = healthHelper.handleHealthCommand(&command);
+		if (result == RETURN_OK) {
+			return;
+		}
+	}
+
+	result = modeHelper.handleModeCommand(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = modeHelper.handleModeCommand(&message);
+	result = actionHelper.handleActionMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = actionHelper.handleActionMessage(&message);
+	result = parameterHelper.handleParameterMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = parameterHelper.handleParameterMessage(&message);
+	result = hkManager.handleHousekeepingMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = handleDeviceHandlerMessage(&message);
+	result = handleDeviceHandlerMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	result = letChildHandleMessage(&message);
+	result = letChildHandleMessage(&command);
 	if (result == RETURN_OK) {
 		return;
 	}
 
-	replyReturnvalueToCommand(CommandMessage::UNKNOW_COMMAND);
+	replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND);
 
 }
 
@@ -273,7 +324,8 @@ void DeviceHandlerBase::doStateMachine() {
 	case _MODE_WAIT_ON: {
 		uint32_t currentUptime;
 		Clock::getUptime(&currentUptime);
-		if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
+		if (powerSwitcher != nullptr and currentUptime - timeoutStart >=
+				powerSwitcher->getSwitchDelayMs()) {
 			triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
 					0);
 			setMode(_MODE_POWER_DOWN);
@@ -293,6 +345,12 @@ void DeviceHandlerBase::doStateMachine() {
 	case _MODE_WAIT_OFF: {
 		uint32_t currentUptime;
 		Clock::getUptime(&currentUptime);
+
+		if(powerSwitcher == nullptr) {
+		    setMode(MODE_OFF);
+		    break;
+		}
+
 		if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
 			triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
 					0);
@@ -343,9 +401,10 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-		uint16_t maxDelayCycles, size_t replyLen, bool periodic,
-		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
+ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
+		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
+		size_t replyLen, bool periodic, bool hasDifferentReplyId,
+		DeviceCommandId_t replyId) {
 	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
@@ -371,7 +430,8 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
 	}
 }
 
-ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
+ReturnValue_t DeviceHandlerBase::insertInCommandMap(
+		DeviceCommandId_t deviceCommand) {
 	DeviceCommandInfo info;
 	info.expectedReplies = 0;
 	info.isExecuting = false;
@@ -419,7 +479,7 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
 	transitionSourceSubMode = submode;
 	childTransitionFailure = CHILD_TIMEOUT;
 
-//transitionTargetMode is set by setMode
+	// transitionTargetMode is set by setMode
 	setMode((modeTo | TRANSITION_MODE_CHILD_ACTION_MASK), submodeTo);
 }
 
@@ -436,8 +496,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
 	Clock::getUptime(&timeoutStart);
 
 	if (mode == MODE_OFF) {
-		DataSet mySet;
-		PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+		GlobDataSet mySet;
+		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ_WRITE);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -578,11 +638,8 @@ void DeviceHandlerBase::doSendRead() {
 }
 
 void DeviceHandlerBase::doGetRead() {
-	size_t receivedDataLen;
-	uint8_t *receivedData;
-	DeviceCommandId_t foundId = 0xFFFFFFFF;
-	size_t foundLen = 0;
-	ReturnValue_t result;
+	size_t receivedDataLen = 0;
+	uint8_t *receivedData = nullptr;
 
 	if (cookieInfo.state != COOKIE_READ_SENT) {
 		cookieInfo.state = COOKIE_UNUSED;
@@ -591,8 +648,8 @@ void DeviceHandlerBase::doGetRead() {
 
 	cookieInfo.state = COOKIE_UNUSED;
 
-	result = communicationInterface->readReceivedMessage(comCookie,
-			&receivedData, &receivedDataLen);
+	ReturnValue_t result = communicationInterface->readReceivedMessage(
+			comCookie, &receivedData, &receivedDataLen);
 
 	if (result != RETURN_OK) {
 		triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
@@ -608,51 +665,101 @@ void DeviceHandlerBase::doGetRead() {
 		replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
 	}
 
-	if (mode == MODE_RAW) {
+	if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
 		replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
-	} else {
-		//The loop may not execute more often than the number of received bytes (worst case).
-		//This approach avoids infinite loops due to buggy scanForReply routines (seen in bug 1077).
-		uint32_t remainingLength = receivedDataLen;
-		for (uint32_t count = 0; count < receivedDataLen; count++) {
-			result = scanForReply(receivedData, remainingLength, &foundId,
-					&foundLen);
-			switch (result) {
-			case RETURN_OK:
-				handleReply(receivedData, foundId, foundLen);
-				break;
-			case APERIODIC_REPLY: {
-				result = interpretDeviceReply(foundId, receivedData);
-				if (result != RETURN_OK) {
-					replyRawReplyIfnotWiretapped(receivedData, foundLen);
-					triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
-							foundId);
-				}
-			}
-				break;
-			case IGNORE_REPLY_DATA:
-				break;
-			case IGNORE_FULL_PACKET:
-				return;
-			default:
-				//We need to wait for timeout.. don't know what command failed and who sent it.
+	}
+	else {
+		parseReply(receivedData, receivedDataLen);
+	}
+}
+
+void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
+		size_t receivedDataLen) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	DeviceCommandId_t foundId = 0xFFFFFFFF;
+	size_t foundLen = 0;
+	// The loop may not execute more often than the number of received bytes
+	// (worst case). This approach avoids infinite loops due to buggy
+	// scanForReply routines.
+	uint32_t remainingLength = receivedDataLen;
+	for (uint32_t count = 0; count < receivedDataLen; count++) {
+		result = scanForReply(receivedData, remainingLength, &foundId,
+				&foundLen);
+		switch (result) {
+		case RETURN_OK:
+			handleReply(receivedData, foundId, foundLen);
+			break;
+		case APERIODIC_REPLY: {
+			result = interpretDeviceReply(foundId, receivedData);
+			if (result != RETURN_OK) {
 				replyRawReplyIfnotWiretapped(receivedData, foundLen);
-				triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
-				break;
-			}
-			receivedData += foundLen;
-			if (remainingLength > foundLen) {
-				remainingLength -= foundLen;
-			} else {
-				return;
+				triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
+						foundId);
 			}
 		}
+		break;
+		case IGNORE_REPLY_DATA:
+			break;
+		case IGNORE_FULL_PACKET:
+			return;
+		default:
+			//We need to wait for timeout.. don't know what command failed and who sent it.
+			replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
+			break;
+		}
+		receivedData += foundLen;
+		if (remainingLength > foundLen) {
+			remainingLength -= foundLen;
+		} else {
+			return;
+		}
+	}
+}
 
+void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
+		DeviceCommandId_t foundId, uint32_t foundLen) {
+	ReturnValue_t result;
+	DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
+
+	if (iter == deviceReplyMap.end()) {
+		replyRawReplyIfnotWiretapped(receivedData, foundLen);
+		triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
+		return;
+	}
+
+	DeviceReplyInfo *info = &(iter->second);
+
+	if (info->delayCycles != 0) {
+
+		if (info->periodic != false) {
+			info->delayCycles = info->maxDelayCycles;
+		}
+		else {
+			info->delayCycles = 0;
+		}
+
+		result = interpretDeviceReply(foundId, receivedData);
+
+		if (result != RETURN_OK) {
+			// Report failed interpretation to FDIR.
+			replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
+		}
+		replyToReply(iter, result);
+	}
+	else {
+		// Other completion failure messages are created by timeout.
+		// Powering down the device might take some time during which periodic
+		// replies may still come in.
+		if (mode != _MODE_WAIT_OFF) {
+			triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
+		}
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
-		uint8_t * *data, uint32_t * len) {
+		uint8_t** data, uint32_t * len) {
 	size_t lenTmp;
 
 	if (IPCStore == nullptr) {
@@ -675,7 +782,7 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
 
 void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 		MessageQueueId_t sendTo, bool isCommand) {
-	if (IPCStore == NULL || len == 0) {
+	if (IPCStore == nullptr or len == 0 or sendTo == MessageQueueIF::NO_QUEUE) {
 		return;
 	}
 	store_address_t address;
@@ -686,18 +793,17 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 		return;
 	}
 
-	CommandMessage message;
+	CommandMessage command;
 
-	DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&message,
+	DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command,
 			getObjectId(), address, isCommand);
 
-//	this->DeviceHandlerCommand = CommandMessage::CMD_NONE;
-
-	result = commandQueue->sendMessage(sendTo, &message);
+	result = commandQueue->sendMessage(sendTo, &command);
 
 	if (result != RETURN_OK) {
 		IPCStore->deleteData(address);
-		//Silently discard data, this indicates heavy TM traffic which should not be increased by additional events.
+		// Silently discard data, this indicates heavy TM traffic which
+		// should not be increased by additional events.
 	}
 }
 
@@ -726,57 +832,6 @@ MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {
 	return commandQueue->getId();
 }
 
-void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
-		DeviceCommandId_t foundId, uint32_t foundLen) {
-	ReturnValue_t result;
-	DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
-
-	if (iter == deviceReplyMap.end()) {
-		replyRawReplyIfnotWiretapped(receivedData, foundLen);
-		triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
-		return;
-	}
-
-	DeviceReplyInfo *info = &(iter->second);
-
-	if (info->delayCycles != 0) {
-
-		if (info->periodic) {
-			info->delayCycles = info->maxDelayCycles;
-		} else {
-			info->delayCycles = 0;
-		}
-		result = interpretDeviceReply(foundId, receivedData);
-		if (result != RETURN_OK) {
-			//Report failed interpretation to FDIR.
-			replyRawReplyIfnotWiretapped(receivedData, foundLen);
-			triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
-		}
-		replyToReply(iter, result);
-	} else {
-		//Other completion failure messages are created by timeout.
-		//Powering down the device might take some time during which periodic replies may still come in.
-		if (mode != _MODE_WAIT_OFF) {
-			triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
-		}
-	}
-}
-
-//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
-//	DeviceCommunicationIF *newCommunication = objectManager->get<
-//			DeviceCommunicationIF>(newChannelId);
-//
-//	if (newCommunication != NULL) {
-//		ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
-//				maxDeviceReplyLen);
-//		if (result != RETURN_OK) {
-//			return result;
-//		}
-//		return RETURN_OK;
-//	}
-//	return RETURN_FAILED;
-//}
-
 void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 	storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
 	ReturnValue_t result = getStorageData(storedRawData, &rawPacket,
@@ -793,6 +848,9 @@ void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
 }
 
 void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
+	if(powerSwitcher == nullptr) {
+		return;
+	}
 	const uint8_t *switches;
 	uint8_t numberOfSwitches = 0;
 	ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
@@ -807,9 +865,7 @@ void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
 
 ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t **switches,
 		uint8_t *numberOfSwitches) {
-	*switches = &deviceSwitch;
-	*numberOfSwitches = 1;
-	return RETURN_OK;
+	return DeviceHandlerBase::NO_SWITCH;
 }
 
 void DeviceHandlerBase::modeChanged(void) {
@@ -845,6 +901,9 @@ uint32_t DeviceHandlerBase::getTransitionDelayMs(Mode_t modeFrom,
 }
 
 ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
+	if(powerSwitcher == nullptr) {
+		return NO_SWITCH;
+	}
 	uint8_t numberOfSwitches = 0;
 	const uint8_t *switches;
 
@@ -894,10 +953,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
 
 	if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
 			&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
-		DataSet mySet;
-		PoolVariable<int8_t> thermalState(deviceThermalStatePoolId, &mySet,
+		GlobDataSet mySet;
+		gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
 				PoolVariableIF::VAR_READ);
-		PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
+		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -924,8 +983,8 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
 			childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
 					MODE_ON);
 			triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
-			DataSet mySet;
-			PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId,
+			GlobDataSet mySet;
+			gp_int8_t thermalRequest(deviceThermalRequestPoolId,
 					&mySet, PoolVariableIF::VAR_READ_WRITE);
 			mySet.read();
 			if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -973,7 +1032,9 @@ void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
 }
 
 void DeviceHandlerBase::setToExternalControl() {
-	healthHelper.setHealth(EXTERNAL_CONTROL);
+	if(healthHelperActive) {
+		healthHelper.setHealth(EXTERNAL_CONTROL);
+	}
 }
 
 void DeviceHandlerBase::announceMode(bool recursive) {
@@ -993,11 +1054,24 @@ void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
 }
 
 HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
-	return healthHelper.getHealth();
+	if(healthHelperActive) {
+		return healthHelper.getHealth();
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
+				<< std::endl;
+		return HasHealthIF::HEALTHY;
+	}
 }
 
 ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
-	healthHelper.setHealth(health);
+	if(healthHelperActive) {
+		healthHelper.setHealth(health);
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
+				<< std::endl;
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -1085,7 +1159,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 
 void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 	modeHelper.setParentQueue(parentQueueId);
-	healthHelper.setParentQueue(parentQueueId);
+	healthHelper.setParentQeueue(parentQueueId);
 }
 
 bool DeviceHandlerBase::isAwaitingReply() {
@@ -1111,37 +1185,49 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 		return;
 	}
 	DeviceTmReportingWrapper wrapper(getObjectId(), replyId, data);
-	if (iter->second.command != deviceCommandMap.end()) {//replies to a command
+	//replies to a command
+	if (iter->second.command != deviceCommandMap.end())
+	{
 		MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
 
 		if (queueId != NO_COMMANDER) {
 			//This may fail, but we'll ignore the fault.
 			actionHelper.reportData(queueId, replyId, data);
 		}
+
 		//This check should make sure we get any TM but don't get anything doubled.
 		if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
 			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
-		} else if (forceDirectTm && (defaultRawReceiver != queueId)) {
-
-			// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
-			//(progress or completed) it is in
-			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
-			true);
-
 		}
-	} else { //unrequested/aperiodic replies
-		if (wiretappingMode == TM) {
-			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
-		} else if (forceDirectTm) {
-			// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
-			//(progress or completed) it is in
+		else if (forceDirectTm and (defaultRawReceiver != queueId) and
+					(defaultRawReceiver != MessageQueueIF::NO_QUEUE))
+		{
+			// hiding of sender needed so the service will handle it as
+			// unexpected Data, no matter what state (progress or completed)
+			// it is in
 			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
-			true);
+					true);
 		}
 	}
-//Try to cast to DataSet and commit data.
+	//unrequested/aperiodic replies
+	else
+	{
+		if (wiretappingMode == TM) {
+			actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
+		}
+		else if (forceDirectTm and defaultRawReceiver !=
+				MessageQueueIF::NO_QUEUE)
+		{
+			// hiding of sender needed so the service will handle it as
+			// unexpected Data, no matter what state (progress or completed)
+			// it is in
+			actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
+					true);
+		}
+	}
+	//Try to cast to GlobDataSet and commit data.
 	if (!neverInDataPool) {
-		DataSet* dataSet = dynamic_cast<DataSet*>(data);
+		GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
 		if (dataSet != NULL) {
 			dataSet->commit(PoolVariableIF::VALID);
 		}
@@ -1149,7 +1235,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 }
 
 ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
-		MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) {
+		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
 	ReturnValue_t result = acceptExternalDeviceCommands();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -1178,18 +1264,23 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 	if (mode == MODE_NORMAL) {
 		result = buildNormalDeviceCommand(&deviceCommandId);
 		if (result == BUSY) {
+		    //so we can track misconfigurations
 			sif::debug << std::hex << getObjectId()
-					<< ": DHB::buildInternalCommand busy" << std::endl; //so we can track misconfigurations
+					<< ": DHB::buildInternalCommand: Busy" << std::endl;
 			result = NOTHING_TO_SEND; //no need to report this
 		}
-	} else if (mode == MODE_RAW) {
+	}
+	else if (mode == MODE_RAW) {
 		result = buildChildRawCommand();
 		deviceCommandId = RAW_COMMAND_ID;
-	} else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
+	}
+	else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
 		result = buildTransitionDeviceCommand(&deviceCommandId);
-	} else {
+	}
+	else {
 		return;
 	}
+
 	if (result == NOTHING_TO_SEND) {
 		return;
 	}
@@ -1281,11 +1372,53 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
 
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
-			executingTask = task_;
+	executingTask = task_;
 }
 
 // Default implementations empty.
 void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 		object_id_t objectId, uint32_t parameter) {}
 
-void DeviceHandlerBase::performOperationHook() {}
+void DeviceHandlerBase::performOperationHook() {
+}
+
+ReturnValue_t DeviceHandlerBase::initializePoolEntries(
+		LocalDataPool &localDataPoolMap) {
+	return RETURN_OK;
+}
+
+LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
+	return &hkManager;
+}
+
+ReturnValue_t DeviceHandlerBase::addDataSet(sid_t sid) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerBase::removeDataSet(sid_t sid) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
+        dur_seconds_t newInterval) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
+    // In this function, the task handle should be valid if the task
+    // was implemented correctly. We still check to be 1000 % sure :-)
+    if(executingTask != nullptr) {
+        pstIntervalMs = executingTask->getPeriodMs();
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
+	auto iter = deviceReplyMap.find(sid.ownerSetId);
+	if(iter != deviceReplyMap.end()) {
+		return iter->second.dataSet;
+	}
+	else {
+		return nullptr;
+	}
+}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 435f8e06..61fb701d 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -1,5 +1,5 @@
-#ifndef DEVICEHANDLERBASE_H_
-#define DEVICEHANDLERBASE_H_
+#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
 
 #include <framework/objectmanager/SystemObject.h>
 #include <framework/tasks/ExecutableObjectIF.h>
@@ -11,13 +11,15 @@
 #include <framework/modes/HasModesIF.h>
 #include <framework/power/PowerSwitchIF.h>
 #include <framework/ipc/MessageQueueIF.h>
+#include <framework/tasks/PeriodicTaskIF.h>
 
 #include <framework/action/ActionHelper.h>
 #include <framework/health/HealthHelper.h>
 #include <framework/parameters/ParameterHelper.h>
 #include <framework/datapool/HkSwitchHelper.h>
+#include <framework/datapoollocal/HasLocalDataPoolIF.h>
+#include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
-
 #include <map>
 
 namespace Factory{
@@ -46,14 +48,16 @@ class StorageManagerIF;
  * If data has been received (GET_READ), the data will be interpreted.
  * The action for each step can be defined by the child class but as most
  * device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
- * a default implementation is provided. NOTE: RMAP is a standard which is used for FLP.
+ * a default implementation is provided.
+ * NOTE: RMAP is a standard which is used for FLP.
  * RMAP communication is not mandatory for projects implementing the FSFW.
  * However, the communication principles are similar to RMAP as there are
  * two write and two send calls involved.
  *
- * Device handler instances should extend this class and implement the abstract functions.
- * Components and drivers can send so called cookies which are used for communication
- * and contain information about the communcation (e.g. slave address for I2C or RMAP structs).
+ * Device handler instances should extend this class and implement the abstract
+ * functions. Components and drivers can send so called cookies which are used
+ * for communication and contain information about the communcation (e.g. slave
+ * address for I2C or RMAP structs).
  * The following abstract methods must be implemented by a device handler:
  *  1. doStartUp()
  *  2. doShutDown()
@@ -82,7 +86,8 @@ class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasModesIF,
 		public HasHealthIF,
 		public HasActionsIF,
-		public ReceivesParameterMessagesIF {
+		public ReceivesParameterMessagesIF,
+		public HasLocalDataPoolIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
@@ -100,12 +105,14 @@ public:
 	 * @param cmdQueueSize
 	 */
 	DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * comCookie, uint8_t setDeviceSwitch,
-			uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
-			uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
-			FailureIsolationBase* fdirInstance = nullptr,
+			CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
 			size_t cmdQueueSize = 20);
 
+	void setDeviceSwitch(uint8_t deviceSwitch);
+	void setHkDestination(object_id_t hkDestination);
+	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
+			uint32_t thermalRequestPoolId);
+
 	/**
 	 * @brief 	This function is the device handler base core component and is
 	 * 			called periodically.
@@ -150,11 +157,9 @@ public:
 	 * @return
 	 */
 	virtual ReturnValue_t initialize();
-
-	/**
-	 * Destructor.
-	 */
+	/** Destructor. */
 	virtual ~DeviceHandlerBase();
+
 protected:
 	/**
 	 * @brief 	This is used to let the child class handle the transition from
@@ -232,8 +237,9 @@ protected:
 	 * Build the device command to send for a transitional mode.
 	 *
 	 * This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW,
-	 * @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp()
-	 * and doShutDown() as well as doTransition()
+	 * @c _MODE_START_UP and @c _MODE_SHUT_DOWN. So it is used by doStartUp()
+	 * and doShutDown() as well as doTransition(), by setting those
+	 * modes in the respective functions.
 	 *
 	 * A good idea is to implement a flag indicating a command has to be built
 	 * and a variable containing the command number to be built
@@ -321,12 +327,11 @@ protected:
 	 *     - @c RETURN_FAILED when the reply could not be interpreted,
 	 *     e.g. logical errors or range violations occurred
 	 */
-
 	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
 			const uint8_t *packet) = 0;
 
 	/**
-	 * @brief fill the #deviceCommandMap
+	 * @brief fill the #DeviceCommandMap and #DeviceReplyMap
 	 *	 	  called by the initialize() of the base class
 	 * @details
 	 * This is used to let the base class know which replies are expected.
@@ -470,6 +475,23 @@ protected:
 	virtual ReturnValue_t getSwitches(const uint8_t **switches,
 			uint8_t *numberOfSwitches);
 
+	/**
+	 * This function is used to initialize the local housekeeping pool
+	 * entries. The default implementation leaves the pool empty.
+	 * @param localDataPoolMap
+	 * @return
+	 */
+	virtual ReturnValue_t initializePoolEntries(
+				LocalDataPool& localDataPoolMap) override;
+
+	/** Get the HK manager object handle */
+	virtual LocalDataPoolManager* getHkManagerHandle() override;
+
+	virtual ReturnValue_t addDataSet(sid_t sid) override;
+	virtual ReturnValue_t removeDataSet(sid_t sid) override;
+	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
+	        dur_seconds_t newInterval) override;
+
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.
@@ -484,7 +506,7 @@ public:
 	/** @brief 	Implementation required for HasActionIF */
 	ReturnValue_t executeAction(ActionId_t actionId,
 			MessageQueueId_t commandedBy, const uint8_t* data,
-			uint32_t size) override;
+			size_t size) override;
 
 	Mode_t getTransitionSourceMode() const;
 	Submode_t getTransitionSourceSubMode() const;
@@ -493,7 +515,7 @@ public:
 	ReturnValue_t setHealth(HealthState health);
 	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex);
+			const ParameterWrapper *newValues, uint16_t startAtIndex) override;
 	/**
 	 * Implementation of ExecutableObjectIF function
 	 *
@@ -505,7 +527,7 @@ public:
 
 protected:
 	/**
-	 * The Returnvalues ID of this class, required by HasReturnvaluesIF
+	 * The Returnvalues id of this class, required by HasReturnvaluesIF
 	 */
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
 
@@ -527,114 +549,141 @@ protected:
 	static const DeviceCommandId_t NO_COMMAND_ID = -2;
 	static const MessageQueueId_t NO_COMMANDER = 0;
 
-	/**
-	 * Pointer to the raw packet that will be sent.
-	 */
+	/** Pointer to the raw packet that will be sent.*/
 	uint8_t *rawPacket = nullptr;
-	/**
-	 * Size of the #rawPacket.
-	 */
+	/** Size of the #rawPacket. */
 	uint32_t rawPacketLen = 0;
 
 	/**
 	 * The mode the device handler is currently in.
-	 *
 	 * This should never be changed directly but only with setMode()
 	 */
 	Mode_t mode;
-
 	/**
 	 * The submode the device handler is currently in.
-	 *
 	 * This should never be changed directly but only with setMode()
 	 */
 	Submode_t submode;
 
-	/**
-	 * This is the counter value from performOperation().
-	 */
+	/** This is the counter value from performOperation(). */
 	uint8_t pstStep = 0;
+	uint32_t pstIntervalMs = 0;
 
 	/**
-	 * wiretapping flag:
+	 * Wiretapping flag:
 	 *
-	 * indicates either that all raw messages to and from the device should be sent to #theOneWhoWantsToReadRawTraffic
-	 * or that all device TM should be downlinked to #theOneWhoWantsToReadRawTraffic
+	 * indicates either that all raw messages to and from the device should be
+	 * sent to #defaultRawReceiver
+	 * or that all device TM should be downlinked to #defaultRawReceiver.
 	 */
 	enum WiretappingMode {
 		OFF = 0, RAW = 1, TM = 2
 	} wiretappingMode;
-
 	/**
-	 * A message queue that accepts raw replies
+	 * @brief 	A message queue that accepts raw replies
 	 *
-	 * Statically initialized in initialize() to a configurable object. Used when there is no method
-	 * of finding a recipient, ie raw mode and reporting erreonous replies
+	 * Statically initialized in initialize() to a configurable object.
+	 * Used when there is no method of finding a recipient, ie raw mode and
+	 * reporting erroneous replies
 	 */
-	MessageQueueId_t defaultRawReceiver = 0;
-
+	MessageQueueId_t defaultRawReceiver = MessageQueueIF::NO_QUEUE;
 	store_address_t storedRawData;
 
 	/**
-	 * the message queue which wants to read all raw traffic
-	 *
-	 * if #isWiretappingActive all raw communication from and to the device will be sent to this queue
+	 * @brief 	The message queue which wants to read all raw traffic
+	 * If #isWiretappingActive all raw communication from and to the device
+	 * will be sent to this queue
 	 */
 	MessageQueueId_t requestedRawTraffic = 0;
 
-	/**
-	 * the object used to set power switches
-	 */
-	PowerSwitchIF *powerSwitcher = nullptr;
-
 	/**
 	 * Pointer to the IPCStore.
-	 *
 	 * This caches the pointer received from the objectManager in the constructor.
 	 */
 	StorageManagerIF *IPCStore = nullptr;
-
-	/**
-	 * cached for init
-	 */
+	/** The comIF object ID is cached for the intialize() function */
 	object_id_t deviceCommunicationId;
-
-	/**
-	 * Communication object used for device communication
-	 */
+	/** Communication object used for device communication */
 	DeviceCommunicationIF * communicationInterface = nullptr;
-
-	/**
-	 * Cookie used for communication
-	 */
+	/** Cookie used for communication */
 	CookieIF * comCookie;
 
+	/** Health helper for HasHealthIF */
+	HealthHelper healthHelper;
+	bool healthHelperActive = false;
+	/** Mode helper for HasModesIF */
+	ModeHelper modeHelper;
+	/** Parameter helper for ReceivesParameterMessagesIF */
+	ParameterHelper parameterHelper;
+	/** Action helper for HasActionsIF */
+	ActionHelper actionHelper;
+	/** Housekeeping Manager */
+	LocalDataPoolManager hkManager;
+
+	/**
+	 *  @brief Information about commands
+	 */
 	struct DeviceCommandInfo {
-		bool isExecuting; //!< Indicates if the command is already executing.
-		uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
-		MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
+		//! Indicates if the command is already executing.
+		bool isExecuting;
+		//! Dynamic value to indicate how many replies are expected.
+		//! Inititated with 0.
+		uint8_t expectedReplies;
+		//! if this is != NO_COMMANDER, DHB was commanded externally and shall
+		//! report everything to commander.
+		MessageQueueId_t sendReplyTo;
 	};
 	using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo> ;
+	/**
+	 * Information about commands
+	 */
+	DeviceCommandMap deviceCommandMap;
 
 	/**
 	 * @brief Information about expected replies
-	 *
-	 * This is used to keep track of pending replies
+	 * This is used to keep track of pending replies.
 	 */
 	struct DeviceReplyInfo {
-		uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
-		uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
+		//! The maximum number of cycles the handler should wait for a reply
+		//! to this command.
+		uint16_t maxDelayCycles;
+		//! The currently remaining cycles the handler should wait for a reply,
+		//! 0 means there is no reply expected
+		uint16_t delayCycles;
 		size_t replyLen = 0; //!< Expected size of the reply.
-		bool periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
-		DeviceCommandMap::iterator command; //!< The command that expects this reply.
+		//! if this is !=0, the delayCycles will not be reset to 0 but to
+		//! maxDelayCycles
+		bool periodic = false;
+		//! The dataset used to access housekeeping data related to the
+		//! respective device reply. Will point to a dataset held by
+		//! the child handler (if one is specified)
+		DataSetIF* dataSet = nullptr;
+		float collectionInterval = 0.0;
+		uint32_t intervalCounter = 0;
+		//! The command that expects this reply.
+		DeviceCommandMap::iterator command;
 	};
 
 	using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo> ;
 	using DeviceReplyIter = DeviceReplyMap::iterator;
-
 	/**
-	 * The MessageQueue used to receive device handler commands and to send replies.
+	 * This map is used to check and track correct reception of all replies.
+	 *
+	 * It has multiple use:
+	 * - It stores the information on pending replies. If a command is sent,
+	 * 	 the DeviceCommandInfo.count is incremented.
+	 * - It is used to time-out missing replies. If a command is sent, the
+	 * 	 DeviceCommandInfo.DelayCycles is set to MaxDelayCycles.
+	 * - It is queried to check if a reply from the device can be interpreted.
+	 *   scanForReply() returns the id of the command a reply was found for.
+	 * The reply is ignored in the following cases:
+	 *     - No entry for the returned id was found
+	 *     - The deviceReplyInfo.delayCycles is == 0
 	 */
+	DeviceReplyMap deviceReplyMap;
+
+	//! The MessageQueue used to receive device handler commands
+	//! and to send replies.
 	MessageQueueIF* commandQueue = nullptr;
 
 	/**
@@ -642,23 +691,14 @@ protected:
 	 *
 	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
 	 */
-	uint32_t deviceThermalStatePoolId;
+	uint32_t deviceThermalStatePoolId = PoolVariableIF::NO_PARAMETER;
 
 	/**
 	 * this is the datapool variable with the thermal request of the device
 	 *
 	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
 	 */
-	uint32_t deviceThermalRequestPoolId;
-
-	/**
-	 * Taking care of the health
-	 */
-	HealthHelper healthHelper;
-
-	ModeHelper modeHelper;
-
-	ParameterHelper parameterHelper;
+	uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
 
 	/**
 	 * Optional Error code
@@ -676,13 +716,15 @@ protected:
 
 	bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
 
-	PeriodicTaskIF* executingTask = nullptr;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	//! Pointer to the task which executes this component, is invalid
+	//! before setTaskIF was called.
+	PeriodicTaskIF* executingTask = nullptr;
 
 	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
 
 	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
 
-	static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
+	static object_id_t defaultFdirParentId; //!< Object which may be the root cause of an identified fault.
 	/**
 	 * Helper function to report a missed reply
 	 *
@@ -730,28 +772,40 @@ protected:
 	/**
 	 * Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
 	 *
-	 * If the transition is complete, the mode should be set to the target mode, which can be deduced from the current mode which is
+	 * If the transition is complete, the mode should be set to the target mode,
+	 * which can be deduced from the current mode which is
 	 * [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
 	 *
-	 * The intended target submode is already set. The origin submode can be read in subModeFrom.
+	 * The intended target submode is already set.
+	 * The origin submode can be read in subModeFrom.
 	 *
-	 * If the transition can not be completed, the child class can try to reach an working mode by setting the mode either directly
-	 * or setting the mode to an transitional mode (TO_ON, TO_NORMAL, TO_RAW) if the device needs to be reconfigured.
+	 * If the transition can not be completed, the child class can try to reach
+	 * an working mode by setting the mode either directly
+	 * or setting the mode to an transitional mode (TO_ON, TO_NORMAL, TO_RAW)
+	 * if the device needs to be reconfigured.
 	 *
-	 * If nothing works, the child class can wait for the timeout and the base class will reset the mode to the mode where the transition
+	 * If nothing works, the child class can wait for the timeout and the base
+	 * class will reset the mode to the mode where the transition
 	 * originated from (the child should report the reason for the failed transition).
 	 *
-	 * The intended way to send commands is to set a flag (enum) indicating which command is to be sent here
-	 * and then to check in buildTransitionCommand() for the flag. This flag can also be used by doStartUp() and
-	 * doShutDown() to get a nice and clean implementation of buildTransitionCommand() without switching through modes.
+	 * The intended way to send commands is to set a flag (enum) indicating
+	 * which command is to be sent here and then to check in
+	 * buildTransitionCommand() for the flag. This flag can also be used by
+	 * doStartUp() and doShutDown() to get a nice and clean implementation of
+	 * buildTransitionCommand() without switching through modes.
 	 *
-	 * When the the condition for the completion of the transition is met, the mode can be set, for example in the parseReply() function.
+	 * When the the condition for the completion of the transition is met, the
+	 * mode can be set, for example in the scanForReply() function.
 	 *
-	 * The default implementation goes into the target mode;
+	 * The default implementation goes into the target mode directly.
 	 *
-	 * #transitionFailure can be set to a failure code indicating the reason for a failed transition
+	 * #transitionFailure can be set to a failure code indicating the reason
+	 * for a failed transition
 	 *
-	 * @param modeFrom the mode the transition originated from: [MODE_ON, MODE_NORMAL, MODE_RAW and _MODE_POWER_DOWN (if the mode changed from _MODE_START_UP to _MODE_TO_ON)]
+	 * @param modeFrom
+	 * The mode the transition originated from:
+	 * [MODE_ON, MODE_NORMAL, MODE_RAW and _MODE_POWER_DOWN (if the mode changed
+	 * from _MODE_START_UP to _MODE_TO_ON)]
 	 * @param subModeFrom the subMode of modeFrom
 	 */
 	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
@@ -953,24 +1007,11 @@ protected:
 	bool commandIsExecuting(DeviceCommandId_t commandId);
 
 	/**
-	 * This map is used to check and track correct reception of all replies.
+	 * set all switches returned by getSwitches()
 	 *
-	 * It has multiple use:
-	 * - it stores the information on pending replies. If a command is sent, the DeviceCommandInfo.count is incremented.
-	 * - it is used to time-out missing replies. If a command is sent, the DeviceCommandInfo.DelayCycles is set to MaxDelayCycles.
-	 * - it is queried to check if a reply from the device can be interpreted. scanForReply() returns the id of the command a reply was found for.
-	 * The reply is ignored in the following cases:
-	 *     - No entry for the returned id was found
-	 *     - The deviceReplyInfo.delayCycles is == 0
+	 * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
 	 */
-	DeviceReplyMap deviceReplyMap;
-
-	/**
-	 * Information about commands
-	 */
-	DeviceCommandMap deviceCommandMap;
-
-	ActionHelper actionHelper;
+	void commandSwitch(ReturnValue_t onOff);
 private:
 
 	/**
@@ -997,15 +1038,21 @@ private:
 	};
 
 	/**
-	 * Info about the #cookie
-	 *
+	 * @brief   Info about the #cookie
 	 * Used to track the state of the communication
 	 */
 	CookieInfo cookieInfo;
 
+	/** the object used to set power switches */
+	PowerSwitchIF *powerSwitcher = nullptr;
+
+	/** Cached for initialize() */
+	static object_id_t defaultHkDestination;
+	/** HK destination can also be set individually */
+	object_id_t hkDestination = objects::NO_OBJECT;
+
 	/**
-	 * Used for timing out mode transitions.
-	 *
+	 * @brief   Used for timing out mode transitions.
 	 * Set when setMode() is called.
 	 */
 	uint32_t timeoutStart = 0;
@@ -1016,11 +1063,12 @@ private:
 	uint32_t childTransitionDelay;
 
 	/**
-	 * The mode the current transition originated from
+	 * @brief   The mode the current transition originated from
 	 *
 	 * This is private so the child can not change it and fuck up the timeouts
 	 *
-	 * IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!! (it is _MODE_POWER_DOWN during this modes)
+	 * IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!!
+	 * (it is _MODE_POWER_DOWN during this modes)
 	 *
 	 * is element of [MODE_ON, MODE_NORMAL, MODE_RAW]
 	 */
@@ -1036,7 +1084,7 @@ private:
 	 *
 	 * for devices using two switches override getSwitches()
 	 */
-	const uint8_t deviceSwitch;
+	uint8_t deviceSwitch;
 
 	/**
 	 * read the command queue
@@ -1135,12 +1183,6 @@ private:
 	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
 			uint32_t *len);
 
-	/**
-	 * set all switches returned by getSwitches()
-	 *
-	 * @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
-	 */
-	void commandSwitch(ReturnValue_t onOff);
 
 	/**
 	 * @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
@@ -1165,7 +1207,13 @@ private:
 	ReturnValue_t switchCookieChannel(object_id_t newChannelId);
 
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
+
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
+	DataSetIF* getDataSetHandle(sid_t sid) override;
+
+	void parseReply(const uint8_t* receivedData,
+	            size_t receivedDataLen);
 };
 
-#endif /* DEVICEHANDLERBASE_H_ */
+#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
 

From 307c954007f8526d8459146e7cbd6317b365433d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 12:49:53 +0200
Subject: [PATCH 186/653] fixed CommandMessageTypo

and integrated HasActionsIF interface changes
---
 action/ActionHelper.cpp              | 15 ++++----
 action/ActionHelper.h                |  2 +-
 action/HasActionsIF.h                | 54 ++++++++++++++++------------
 devicehandlers/DeviceHandlerBase.cpp |  4 +--
 devicehandlers/DeviceHandlerBase.h   |  2 +-
 ipc/CommandMessage.cpp               |  2 +-
 ipc/CommandMessage.h                 |  2 +-
 subsystem/SubsystemBase.cpp          |  2 +-
 tmstorage/TmStoreMessage.cpp         |  2 +-
 9 files changed, 49 insertions(+), 36 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index bcb302cd..dc6bd498 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -1,9 +1,9 @@
 #include <framework/action/ActionHelper.h>
 #include <framework/action/HasActionsIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
+
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
-		owner(setOwner), queueToUse(useThisQueue), ipcStore(
-				NULL) {
+		owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
 }
 
 ActionHelper::~ActionHelper() {
@@ -16,16 +16,18 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
 				ActionMessage::getStoreId(command));
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		return CommandMessage::UNKNOW_COMMAND;
+		return CommandMessage::UNKNOWN_COMMAND;
 	}
 }
 
 ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
 	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (ipcStore == NULL) {
+	if (ipcStore == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	setQueueToUse(queueToUse_);
+	if(queueToUse_ != nullptr) {
+		setQueueToUse(queueToUse_);
+	}
 
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -67,7 +69,8 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
 	}
 }
 
-ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender) {
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
+		ActionId_t replyId, SerializeIF* data, bool hideSender) {
 	CommandMessage reply;
 	store_address_t storeAddress;
 	uint8_t *dataPtr;
diff --git a/action/ActionHelper.h b/action/ActionHelper.h
index 6ba6dd89..3d8351d6 100644
--- a/action/ActionHelper.h
+++ b/action/ActionHelper.h
@@ -38,7 +38,7 @@ public:
 	 * @param queueToUse_ Pointer to the messageQueue to be used
 	 * @return Returns RETURN_OK if successful
 	 */
-	ReturnValue_t initialize(MessageQueueIF* queueToUse_);
+	ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
 	/**
 	 * Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
 	 *
diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h
index f30fcb45..008d9eaf 100644
--- a/action/HasActionsIF.h
+++ b/action/HasActionsIF.h
@@ -1,5 +1,5 @@
-#ifndef HASACTIONSIF_H_
-#define HASACTIONSIF_H_
+#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
+#define FRAMEWORK_ACTION_HASACTIONSIF_H_
 
 #include <framework/action/ActionHelper.h>
 #include <framework/action/ActionMessage.h>
@@ -7,27 +7,35 @@
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 /**
- * \brief Interface for component which uses actions
+ * @brief
+ * Interface for component which uses actions
  *
- * This interface is used to execute actions in the component. Actions, in the sense of this interface, are activities with a well-defined beginning and
- * end in time. They may adjust sub-states of components, but are not supposed to change
- * the main mode of operation, which is handled with the HasModesIF described below.
+ * @details
+ * This interface is used to execute actions in the component. Actions, in the
+ * sense of this interface, are activities with a well-defined beginning and
+ * end in time. They may adjust sub-states of components, but are not supposed
+ * to change the main mode of operation, which is handled with the HasModesIF
+ * described below.
  *
- * The HasActionsIF allows components to define such actions and make them available
- * for other components to use. Implementing the interface is straightforward: There’s a
- * single executeAction call, which provides an identifier for the action to execute, as well
- * as arbitrary parameters for input. Aside from direct, software-based
- * actions, it is used in device handler components as an interface to forward commands to
- * devices.
- * Implementing components of the interface are supposed to check identifier (ID) and
- * parameters and immediately start execution of the action. It is, however, not required to
- * immediately finish execution. Instead, this may be deferred to a later point in time, at
- * which the component needs to inform the caller about finished or failed execution.
+ * The HasActionsIF allows components to define such actions and make them
+ * available for other components to use. Implementing the interface is
+ * straightforward: There’s a single executeAction call, which provides an
+ * identifier for the action to execute, as well as arbitrary parameters for
+ * input.
+ * Aside from direct, software-based actions, it is used in device handler
+ * components as an interface to forward commands to devices.
+ * Implementing components of the interface are supposed to check identifier
+ * (ID) and parameters and immediately start execution of the action.
+ * It is, however, not required to immediately finish execution.
+ * Instead, this may be deferred to a later point in time, at which the
+ * component needs to inform the caller about finished or failed execution.
+ *
+ * @ingroup interfaces
  */
 class HasActionsIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
-	static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);//!<
+	static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
 	static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
 	static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
@@ -39,12 +47,14 @@ public:
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	/**
 	 * Execute or initialize the execution of a certain function.
-	 * Returning #EXECUTION_FINISHED or a failure code, nothing else needs to be done.
-	 * When needing more steps, return RETURN_OK and issue steps and completion manually. One "step failed" or completion report must
-	 * be issued!
+	 * Returning #EXECUTION_FINISHED or a failure code, nothing else needs to
+	 * be done. When needing more steps, return RETURN_OK and issue steps and
+	 * completion manually.
+	 * One "step failed" or completion report must be issued!
 	 */
-	virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) = 0;
+	virtual ReturnValue_t executeAction(ActionId_t actionId,
+			MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
 };
 
 
-#endif /* HASACTIONSIF_H_ */
+#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 872310a1..79b504b5 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -236,7 +236,7 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	replyReturnvalueToCommand(CommandMessage::UNKNOW_COMMAND);
+	replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND);
 
 }
 
@@ -1149,7 +1149,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 }
 
 ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
-		MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) {
+		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
 	ReturnValue_t result = acceptExternalDeviceCommands();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 435f8e06..e79d5d5c 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -484,7 +484,7 @@ public:
 	/** @brief 	Implementation required for HasActionIF */
 	ReturnValue_t executeAction(ActionId_t actionId,
 			MessageQueueId_t commandedBy, const uint8_t* data,
-			uint32_t size) override;
+			size_t size) override;
 
 	Mode_t getTransitionSourceMode() const;
 	Submode_t getTransitionSourceSubMode() const;
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index fa41c653..ce72786b 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -111,7 +111,7 @@ size_t CommandMessage::getMinimumMessageSize() const {
 void CommandMessage::setToUnknownCommand() {
 	Command_t initialCommand = getCommand();
 	clearCommandMessage();
-	setReplyRejected(UNKNOW_COMMAND, initialCommand);
+	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
 }
 
 void CommandMessage::setReplyRejected(ReturnValue_t reason,
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 2d966063..c3ed2016 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -20,7 +20,7 @@ typedef ReturnValue_t Command_t;
 class CommandMessage : public MessageQueueMessage {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
-	static const ReturnValue_t UNKNOW_COMMAND = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
 
 
 	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::COMMAND;
diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp
index 6df0b64f..cceb2d41 100644
--- a/subsystem/SubsystemBase.cpp
+++ b/subsystem/SubsystemBase.cpp
@@ -329,7 +329,7 @@ void SubsystemBase::checkCommandQueue() {
 		result = handleCommandMessage(&message);
 		if (result != RETURN_OK) {
 			CommandMessage reply;
-			reply.setReplyRejected(CommandMessage::UNKNOW_COMMAND,
+			reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
 					message.getCommand());
 			replyToCommand(&reply);
 		}
diff --git a/tmstorage/TmStoreMessage.cpp b/tmstorage/TmStoreMessage.cpp
index 4509ba91..e908b923 100644
--- a/tmstorage/TmStoreMessage.cpp
+++ b/tmstorage/TmStoreMessage.cpp
@@ -74,7 +74,7 @@ void TmStoreMessage::clear(CommandMessage* cmd) {
 	case DELETE_STORE_CONTENT_BLOCKS:
 	case DOWNLINK_STORE_CONTENT_BLOCKS:
 	case REPORT_INDEX_REQUEST:
-		cmd->setCommand(UNKNOW_COMMAND);
+		cmd->setCommand(UNKNOWN_COMMAND);
 		cmd->setParameter(0);
 		cmd->setParameter2(0);
 		break;

From 36f7cf2caf2c1c1a4153389a9f3598fdf85fa5fa Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 12:54:30 +0200
Subject: [PATCH 187/653] updated DHB changes

---
 devicehandlers/DeviceHandlerBase.cpp | 55 +++++-----------------------
 devicehandlers/DeviceHandlerBase.h   | 14 -------
 2 files changed, 9 insertions(+), 60 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index cc97cd42..282f20b2 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -63,10 +63,6 @@ void DeviceHandlerBase::setThermalStateRequestPoolIds(
 }
 
 
-void DeviceHandlerBase::setDeviceSwitch(uint8_t deviceSwitch) {
-	this->deviceSwitch = deviceSwitch;
-}
-
 DeviceHandlerBase::~DeviceHandlerBase() {
 	delete comCookie;
 	if (defaultFDIRUsed) {
@@ -168,12 +164,8 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	}
 
 	result = healthHelper.initialize();
-	if (result == RETURN_OK) {
-		healthHelperActive = true;
-	}
-	else {
-		sif::warning << "DeviceHandlerBase::initialize: Health Helper "
-				"initialization failure." << std::endl;
+	if (result != RETURN_OK) {
+	    return result;
 	}
 
 	result = modeHelper.initialize();
@@ -250,11 +242,9 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	if(healthHelperActive) {
-		result = healthHelper.handleHealthCommand(&command);
-		if (result == RETURN_OK) {
-			return;
-		}
+	result = healthHelper.handleHealthCommand(&command);
+	if (result == RETURN_OK) {
+	    return;
 	}
 
 	result = modeHelper.handleModeCommand(&command);
@@ -1032,9 +1022,7 @@ void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
 }
 
 void DeviceHandlerBase::setToExternalControl() {
-	if(healthHelperActive) {
-		healthHelper.setHealth(EXTERNAL_CONTROL);
-	}
+	healthHelper.setHealth(EXTERNAL_CONTROL);
 }
 
 void DeviceHandlerBase::announceMode(bool recursive) {
@@ -1054,25 +1042,12 @@ void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
 }
 
 HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
-	if(healthHelperActive) {
-		return healthHelper.getHealth();
-	}
-	else {
-		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
-				<< std::endl;
-		return HasHealthIF::HEALTHY;
-	}
+	return healthHelper.getHealth();
 }
 
 ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
-	if(healthHelperActive) {
-		healthHelper.setHealth(health);
-	}
-	else {
-		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
-				<< std::endl;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
+    healthHelper.setHealth(health);
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void DeviceHandlerBase::checkSwitchState() {
@@ -1391,18 +1366,6 @@ LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
 	return &hkManager;
 }
 
-ReturnValue_t DeviceHandlerBase::addDataSet(sid_t sid) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t DeviceHandlerBase::removeDataSet(sid_t sid) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
-        dur_seconds_t newInterval) {
-    return HasReturnvaluesIF::RETURN_OK;
-}
 
 ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
     // In this function, the task handle should be valid if the task
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 61fb701d..ddbf6041 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -108,7 +108,6 @@ public:
 			CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
 			size_t cmdQueueSize = 20);
 
-	void setDeviceSwitch(uint8_t deviceSwitch);
 	void setHkDestination(object_id_t hkDestination);
 	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId);
@@ -487,11 +486,6 @@ protected:
 	/** Get the HK manager object handle */
 	virtual LocalDataPoolManager* getHkManagerHandle() override;
 
-	virtual ReturnValue_t addDataSet(sid_t sid) override;
-	virtual ReturnValue_t removeDataSet(sid_t sid) override;
-	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
-	        dur_seconds_t newInterval) override;
-
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.
@@ -610,7 +604,6 @@ protected:
 
 	/** Health helper for HasHealthIF */
 	HealthHelper healthHelper;
-	bool healthHelperActive = false;
 	/** Mode helper for HasModesIF */
 	ModeHelper modeHelper;
 	/** Parameter helper for ReceivesParameterMessagesIF */
@@ -1079,13 +1072,6 @@ private:
 	 */
 	Submode_t transitionSourceSubMode;
 
-	/**
-	 * the switch of the device
-	 *
-	 * for devices using two switches override getSwitches()
-	 */
-	uint8_t deviceSwitch;
-
 	/**
 	 * read the command queue
 	 */

From c9bc022941251ad24ddcd2b3e4fff40904c18c1c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 12:57:29 +0200
Subject: [PATCH 188/653] commented out all new hk manager components

---
 devicehandlers/DeviceHandlerBase.cpp | 24 ++++++++++++------------
 devicehandlers/DeviceHandlerBase.h   | 16 ++++++++--------
 2 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 282f20b2..6b7dad1e 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -191,14 +191,14 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
-	if(hkDestination == objects::NO_OBJECT) {
-		hkDestination = defaultHkDestination;
-	}
-
-	result = hkManager.initialize(commandQueue, hkDestination);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+//	if(hkDestination == objects::NO_OBJECT) {
+//		hkDestination = defaultHkDestination;
+//	}
+//
+//	result = hkManager.initialize(commandQueue, hkDestination);
+//	if (result != HasReturnvaluesIF::RETURN_OK) {
+//		return result;
+//	}
 
 	fillCommandAndReplyMap();
 
@@ -262,10 +262,10 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	result = hkManager.handleHousekeepingMessage(&command);
-	if (result == RETURN_OK) {
-		return;
-	}
+//	result = hkManager.handleHousekeepingMessage(&command);
+//	if (result == RETURN_OK) {
+//		return;
+//	}
 
 	result = handleDeviceHandlerMessage(&command);
 	if (result == RETURN_OK) {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index ddbf6041..a041dbc7 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -17,8 +17,8 @@
 #include <framework/health/HealthHelper.h>
 #include <framework/parameters/ParameterHelper.h>
 #include <framework/datapool/HkSwitchHelper.h>
-#include <framework/datapoollocal/HasLocalDataPoolIF.h>
-#include <framework/datapoollocal/LocalDataPoolManager.h>
+//#include <framework/datapoollocal/HasLocalDataPoolIF.h>
+//#include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
 #include <map>
 
@@ -86,8 +86,8 @@ class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasModesIF,
 		public HasHealthIF,
 		public HasActionsIF,
-		public ReceivesParameterMessagesIF,
-		public HasLocalDataPoolIF {
+		public ReceivesParameterMessagesIF
+		/* public HasLocalDataPoolIF */ {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
@@ -480,11 +480,11 @@ protected:
 	 * @param localDataPoolMap
 	 * @return
 	 */
-	virtual ReturnValue_t initializePoolEntries(
-				LocalDataPool& localDataPoolMap) override;
+	//virtual ReturnValue_t initializePoolEntries(
+	//			LocalDataPool& localDataPoolMap) override;
 
 	/** Get the HK manager object handle */
-	virtual LocalDataPoolManager* getHkManagerHandle() override;
+	//virtual LocalDataPoolManager* getHkManagerHandle() override;
 
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
@@ -611,7 +611,7 @@ protected:
 	/** Action helper for HasActionsIF */
 	ActionHelper actionHelper;
 	/** Housekeeping Manager */
-	LocalDataPoolManager hkManager;
+	//LocalDataPoolManager hkManager;
 
 	/**
 	 *  @brief Information about commands

From 6b03a1c03df0ee70c31810b0faafaf507646965b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 16 Jul 2020 13:00:22 +0200
Subject: [PATCH 189/653] commented out some more components

---
 devicehandlers/DeviceHandlerBase.h | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index a041dbc7..66c10778 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -650,9 +650,7 @@ protected:
 		//! The dataset used to access housekeeping data related to the
 		//! respective device reply. Will point to a dataset held by
 		//! the child handler (if one is specified)
-		DataSetIF* dataSet = nullptr;
-		float collectionInterval = 0.0;
-		uint32_t intervalCounter = 0;
+		// DataSetIF* dataSet = nullptr;
 		//! The command that expects this reply.
 		DeviceCommandMap::iterator command;
 	};
@@ -1195,7 +1193,8 @@ private:
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
 
 	virtual ReturnValue_t initializeAfterTaskCreation() override;
-	DataSetIF* getDataSetHandle(sid_t sid) override;
+
+    //DataSetIF* getDataSetHandle(sid_t sid) override;
 
 	void parseReply(const uint8_t* receivedData,
 	            size_t receivedDataLen);

From dc4db6e031cb1ccb58b89d8a055b54208a939799 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 25 Jun 2020 18:09:32 +0200
Subject: [PATCH 190/653] Fixed spelling mistake in HealthHelper

---
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 6b7dad1e..dc90d812 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1134,7 +1134,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 
 void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 	modeHelper.setParentQueue(parentQueueId);
-	healthHelper.setParentQeueue(parentQueueId);
+	healthHelper.setParentQueue(parentQueueId);
 }
 
 bool DeviceHandlerBase::isAwaitingReply() {

From be9d0a61f47b7e630f8d3ba94b36dd4ee25d0910 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 21 Jul 2020 15:15:53 +0200
Subject: [PATCH 191/653] Fixes #149

---
 serviceinterface/ServiceInterfaceBuffer.cpp | 12 ++++++------
 serviceinterface/ServiceInterfaceBuffer.h   |  2 +-
 serviceinterface/ServiceInterfaceStream.cpp |  2 +-
 serviceinterface/ServiceInterfaceStream.h   |  2 +-
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 5c80862c..8c510eac 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -78,9 +78,9 @@ int ServiceInterfaceBuffer::sync(void) {
 	}
 
 	size_t preambleSize  = 0;
-	auto preamble = getPreamble(&preambleSize);
+	std::string* preamble = getPreamble(&preambleSize);
 	// Write logMessage and time
-	this->putChars(preamble.data(), preamble.data() + preambleSize);
+	this->putChars(preamble->data(), preamble->data() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
 	// This tells that buffer is empty again
@@ -92,7 +92,7 @@ bool ServiceInterfaceBuffer::isBuffered() const {
 	return buffered;
 }
 
-std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
+std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 	Clock::TimeOfDay_t loggerTime;
 	Clock::getDateAndTime(&loggerTime);
 	size_t currentSize = 0;
@@ -110,18 +110,18 @@ std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 					loggerTime.usecond /1000);
 	if(charCount < 0) {
 		printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
-		return "";
+		return &preamble;
 	}
 	if(charCount > MAX_PREAMBLE_SIZE) {
 		printf("ServiceInterfaceBuffer: Char count too large for maximum "
 				"preamble size");
-		return "";
+		return &preamble;
 	}
 	currentSize += charCount;
 	if(preambleSize != nullptr) {
 		*preambleSize = currentSize;
 	}
-	return preamble;
+	return &preamble;
 }
 
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 39ea25c2..7a2ce2ee 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -60,7 +60,7 @@ private:
 	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 
-	std::string getPreamble(size_t * preambleSize = nullptr);
+	std::string* getPreamble(size_t * preambleSize = nullptr);
 };
 
 #endif
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 76481ed1..31bc7c73 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -9,7 +9,7 @@ void ServiceInterfaceStream::setActive( bool myActive) {
 	this->streambuf.isActive = myActive;
 }
 
-std::string ServiceInterfaceStream::getPreamble() {
+std::string* ServiceInterfaceStream::getPreamble() {
 	return streambuf.getPreamble();
 }
 
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index 9e19c228..dc111459 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -33,7 +33,7 @@ public:
 	 * the unbuffered mode.
 	 * @return Preamle consisting of log message and timestamp.
 	 */
-	std::string getPreamble();
+	std::string* getPreamble();
 
 	/**
 	 * This prints an error with a preamble. Useful if using the unbuffered

From 06e7f286d6592b454823a2027377cfde10be798f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 25 Jul 2020 10:55:28 +0200
Subject: [PATCH 192/653] added explicit brackets

---
 tmtcservices/CommandingServiceBase.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 0c5f5eab..331bc7c8 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -212,8 +212,8 @@ void CommandingServiceBase::handleRequestQueue() {
 		address = message.getStorageId();
 		packet.setStoreAddress(address);
 
-		if (packet.getSubService() == 0
-				or isValidSubservice(packet.getSubService()) != RETURN_OK) {
+		if ((packet.getSubService() == 0)
+				or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
 			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}

From 5df88eb73be77446e520d542e062ebcc4728cd78 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 12:20:23 +0200
Subject: [PATCH 193/653] singlyl inked list bugfix

---
 container/SinglyLinkedList.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 7d5fc4a9..eb6ae276 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -100,7 +100,7 @@ public:
 	 */
 	ElementIterator back() const {
 	    LinkedElement<T> *element = start;
-	    while (element != nullptr) {
+	    while (element->getNext() != nullptr) {
 	        element = element->getNext();
 	    }
 	    return ElementIterator::Iterator(element);

From 0defc6a7d867ec1d966b2e6078e224c5a94f4686 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 12:36:22 +0200
Subject: [PATCH 194/653] removed folders

---
 framework.mk | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/framework.mk b/framework.mk
index c8822981..ee0a7ba4 100644
--- a/framework.mk
+++ b/framework.mk
@@ -8,9 +8,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
@@ -58,4 +55,3 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/test/*.cpp)
\ No newline at end of file

From 036a887ea31124fe1ae0492343c811afceeb7eef Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 13:02:43 +0200
Subject: [PATCH 195/653] bugfix

---
 serialize/SerialArrayListAdapter.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index bcd99818..56fb3452 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -63,6 +63,9 @@ public:
 		count_t tempSize = 0;
 		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
 				buffer, size, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    return result;
+		}
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}

From 4bffcf17fb2a70373c8d3765796cc8e9f4aac277 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 13:04:58 +0200
Subject: [PATCH 196/653] some formatting stuff

---
 serialize/SerialArrayListAdapter.h | 27 ++++++++++++---------------
 1 file changed, 12 insertions(+), 15 deletions(-)

diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index 56fb3452..21c6951d 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -1,18 +1,13 @@
-/**
- * @file	SerialArrayListAdapter.h
- * @brief	This file defines the SerialArrayListAdapter class.
- * @date	22.07.2014
- * @author	baetz
- */
-#ifndef SERIALARRAYLISTADAPTER_H_
-#define SERIALARRAYLISTADAPTER_H_
+#ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
+#define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
 
 #include <framework/container/ArrayList.h>
 #include <framework/serialize/SerializeIF.h>
 #include <utility>
 
 /**
- * \ingroup serialize
+ * @ingroup serialize
+ * @author  baetz
  */
 template<typename T, typename count_t = uint8_t>
 class SerialArrayListAdapter : public SerializeIF {
@@ -25,14 +20,15 @@ public:
 		return serialize(adaptee, buffer, size, maxSize, streamEndianness);
 	}
 
-	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) {
+	static ReturnValue_t serialize(const ArrayList<T, count_t>* list,
+	        uint8_t** buffer, size_t* size, size_t maxSize,
+	        Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::serialize(&list->size,
 				buffer, size, maxSize, streamEndianness);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
-					maxSize, streamEndianness);
+			result = SerializeAdapter::serialize(&list->entries[i], buffer,
+			        size, maxSize, streamEndianness);
 			++i;
 		}
 		return result;
@@ -58,7 +54,8 @@ public:
 		return deSerialize(adaptee, buffer, size, streamEndianness);
 	}
 
-	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, size_t* size,
+	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list,
+	        const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness) {
 		count_t tempSize = 0;
 		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
@@ -85,4 +82,4 @@ private:
 
 
 
-#endif /* SERIALARRAYLISTADAPTER_H_ */
+#endif /* FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */

From 0449c63225de411920dba5a3b7bb88a9eb6c72d1 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 28 Jul 2020 13:13:40 +0200
Subject: [PATCH 197/653] bugfixes

---
 container/DynamicFIFO.h | 21 ++++++++++++++++++---
 container/FIFO.h        | 12 ++++++++++--
 container/FIFOBase.h    |  8 ++++++--
 container/FIFOBase.tpp  |  8 +++++++-
 4 files changed, 41 insertions(+), 8 deletions(-)

diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h
index 3a5242c7..59adfb3a 100644
--- a/container/DynamicFIFO.h
+++ b/container/DynamicFIFO.h
@@ -17,11 +17,26 @@
 template<typename T>
 class DynamicFIFO: public FIFOBase<T> {
 public:
-	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
-			values(maxCapacity) {};
+	DynamicFIFO(size_t maxCapacity): FIFOBase<T>(nullptr, maxCapacity),
+			fifoVector(maxCapacity)  {
+		// trying to pass the pointer of the uninitialized vector
+		// to the FIFOBase constructor directly lead to a super evil bug.
+		// So we do it like this now.
+		this->setData(fifoVector.data());
+	};
+
+	/**
+	 * @brief	Custom copy constructor which prevents setting the
+	 * 	        underlying pointer wrong.
+	 */
+	DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
+			fifoVector(other.maxCapacity) {
+		this->setData(fifoVector.data());
+	}
+
 
 private:
-	std::vector<T> values;
+	std::vector<T> fifoVector;
 };
 
 #endif /* FRAMEWORK_CONTAINER_DYNAMICFIFO_H_ */
diff --git a/container/FIFO.h b/container/FIFO.h
index ecb218fd..2e332dc2 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -17,10 +17,18 @@
 template<typename T, size_t capacity>
 class FIFO: public FIFOBase<T> {
 public:
-	FIFO(): FIFOBase<T>(values.data(), capacity) {};
+	FIFO(): FIFOBase<T>(fifoArray.data(), capacity) {};
+
+	/**
+	 * @brief 	Custom copy constructor to set pointer correctly.
+	 * @param other
+	 */
+	FIFO(const FIFO& other): FIFOBase<T>(other) {
+		this->setData(fifoArray.data());
+	}
 
 private:
-	std::array<T, capacity> values;
+	std::array<T, capacity> fifoArray;
 };
 
 #endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index 8bdb333f..7f8bde96 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -3,6 +3,7 @@
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <cstddef>
+#include <cstring>
 
 template <typename T>
 class FIFOBase {
@@ -43,12 +44,15 @@ public:
 	bool full();
 	size_t size();
 
+
 	size_t getMaxCapacity() const;
 
-private:
-	T* values;
+protected:
+	void setData(T* data);
 	size_t maxCapacity = 0;
 
+	T* values;
+
 	size_t readIndex = 0;
 	size_t writeIndex = 0;
 	size_t currentSize = 0;
diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp
index 48a060ff..c73e9d59 100644
--- a/container/FIFOBase.tpp
+++ b/container/FIFOBase.tpp
@@ -7,7 +7,7 @@
 
 template<typename T>
 inline FIFOBase<T>::FIFOBase(T* values, const size_t maxCapacity):
-		values(values), maxCapacity(maxCapacity) {};
+		maxCapacity(maxCapacity), values(values){};
 
 template<typename T>
 inline ReturnValue_t FIFOBase<T>::insert(T value) {
@@ -78,4 +78,10 @@ inline size_t FIFOBase<T>::getMaxCapacity() const {
 	return maxCapacity;
 }
 
+
+template<typename T>
+inline void FIFOBase<T>::setData(T *data) {
+	this->values = data;
+}
+
 #endif

From 652c60c362f2b9b57ef6b54b6d3ca0b3051e6a3b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 29 Jul 2020 20:02:04 +0200
Subject: [PATCH 198/653] important bugfix

I checked all 5 cases for overflows when checking
for missed deadlines (there is current time, timeToWake
and lastWakeTime, with various combinations of overflows)

This should be the correct implementation now
---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 19 +++++++++----------
 osal/FreeRTOS/PeriodicTask.cpp      | 19 +++++++++----------
 2 files changed, 18 insertions(+), 20 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index c062101d..17804d90 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -125,19 +125,18 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-    // Tick count has overflown
-    if(currentTickCount < xLastWakeTime) {
-        // Time to wake has overflown as well. If the tick count
-        // is larger than the time to wake, a deadline was missed.
-        if(timeToWake < xLastWakeTime and
-                currentTickCount > timeToWake) {
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
             handleMissedDeadline();
         }
     }
-    // No tick count overflow. If the timeToWake has not overflown
-    // and the current tick count is larger than the time to wake,
-    // a deadline was missed.
-    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
         handleMissedDeadline();
     }
 }
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 44a7b801..91135375 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -108,19 +108,18 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-    // Tick count has overflown
-    if(currentTickCount < xLastWakeTime) {
-        // Time to wake has overflown as well. If the tick count
-        // is larger than the time to wake, a deadline was missed.
-        if(timeToWake < xLastWakeTime and
-                currentTickCount > timeToWake) {
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
             handleMissedDeadline();
         }
     }
-    // No tick count overflow. If the timeToWake has not overflown
-    // and the current tick count is larger than the time to wake,
-    // a deadline was missed.
-    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
         handleMissedDeadline();
     }
 }

From 21984067140f3baf3ecc30db4e1e5d196bae56e6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 1 Aug 2020 16:53:17 +0200
Subject: [PATCH 199/653] csb update

---
 tmtcservices/CommandingServiceBase.cpp | 10 +++++-----
 tmtcservices/CommandingServiceBase.h   | 15 ++++++---------
 2 files changed, 11 insertions(+), 14 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 98cbbe2c..330fd00f 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -126,11 +126,11 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 			&nextCommand, iter->objectId, &isStep);
 
 	/* If the child implementation does not implement special handling for
-	 * rejected replies (RETURN_FAILED is returned), a failure verification
-	 * will be generated with the reason as the return code and the initial
-	 * command as failure parameter 1 */
-	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
-			result == RETURN_FAILED) {
+	 * rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a
+	 * failure verification will be generated with the reason as the
+	 * return code and the initial command as failure parameter 1 */
+	if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and
+			(result == RETURN_FAILED or result == INVALID_REPLY)) {
 	    result = reply->getReplyRejectedReason();
 	    failureParameter1 = iter->command;
 	}
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 76eca6b7..9290bb7c 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -87,7 +87,7 @@ public:
 	 * @param opCode is unused here at the moment
 	 * @return RETURN_OK
 	 */
-	virtual ReturnValue_t performOperation(uint8_t opCode);
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
 	virtual uint16_t getIdentifier();
 
@@ -186,12 +186,11 @@ protected:
 	 * @return
 	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
 	 *   generate TC verification success
-	 * - @c INVALID_REPLY calls handleUnrequestedReply
-	 * - Anything else triggers a TC verification failure. If RETURN_FAILED or
-	 *   INVALID_REPLY is returned and the command ID is
-	 *   CommandMessage::REPLY_REJECTED, a failure verification message
-	 *   with the reason as the error parameter and the initial command as
-	 *   failure parameter 1 is generated.
+	 * - @c INVALID_REPLY Calls handleUnrequestedReply
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED is
+	 *   returned and the command ID is CommandMessage::REPLY_REJECTED,
+     *   a failure verification message with the reason as the error parameter
+     *   and the initial command as failure parameter 1
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,
@@ -254,7 +253,6 @@ protected:
 	uint32_t failureParameter1 = 0;
 	uint32_t failureParameter2 = 0;
 
-	object_id_t packetSource;
 	static object_id_t defaultPacketSource;
 	object_id_t packetSource = objects::NO_OBJECT;
 	static object_id_t defaultPacketDestination;
@@ -303,7 +301,6 @@ protected:
 	void checkAndExecuteFifo(CommandMapIter iter);
 
 private:
-
 	/**
 	 * This method handles internal execution of a command,
 	 * once it has been started by @sa{startExecution()} in the request

From d8bf1931ccbbca5d96598905599bdf594e914c7f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 1 Aug 2020 16:55:20 +0200
Subject: [PATCH 200/653] doc correction

---
 tmtcservices/CommandingServiceBase.h | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 9290bb7c..b3a15985 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -187,10 +187,11 @@ protected:
 	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
 	 *   generate TC verification success
 	 * - @c INVALID_REPLY Calls handleUnrequestedReply
-	 * - Anything else triggers a TC verification failure. If RETURN_FAILED is
-	 *   returned and the command ID is CommandMessage::REPLY_REJECTED,
-     *   a failure verification message with the reason as the error parameter
-     *   and the initial command as failure parameter 1
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED or
+	 * 	 INVALID_REPLY is returned and the command ID is
+	 * 	 CommandMessage::REPLY_REJECTED, a failure verification message with
+	 * 	 the reason as the error parameter and the initial command as
+	 * 	 failure parameter 1 is generated.
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,

From a0ff1e0019824feb8da8183ce2051b5890bb6cb9 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 2 Aug 2020 15:46:25 +0200
Subject: [PATCH 201/653] reverted datapool changes

---
 devicehandlers/DeviceHandlerBase.cpp | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index dc90d812..8e256bcf 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -4,11 +4,11 @@
 #include <framework/thermal/ThermalComponentIF.h>
 #include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
 
-#include <framework/datapoolglob/GlobalDataSet.h>
-#include <framework/datapoolglob/GlobalPoolVariable.h>
+#include <framework/datapool/DataSet.h>
+#include <framework/datapool/PoolVariable.h>
 #include <framework/devicehandlers/DeviceTmReportingWrapper.h>
 #include <framework/globalfunctions/CRC.h>
-#include <framework/housekeeping/HousekeepingMessage.h>
+//#include <framework/housekeeping/HousekeepingMessage.h>
 #include <framework/ipc/MessageQueueMessage.h>
 #include <framework/subsystem/SubsystemBase.h>
 #include <framework/ipc/QueueFactory.h>
@@ -203,8 +203,8 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	fillCommandAndReplyMap();
 
 	//Set temperature target state to NON_OP.
-	GlobDataSet mySet;
-	gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+	DataSet mySet;
+	dp_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 			PoolVariableIF::VAR_WRITE);
 	mySet.read();
 	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
@@ -486,8 +486,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
 	Clock::getUptime(&timeoutStart);
 
 	if (mode == MODE_OFF) {
-		GlobDataSet mySet;
-		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+		DataSet mySet;
+		db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ_WRITE);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -943,10 +943,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
 
 	if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
 			&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
-		GlobDataSet mySet;
-		gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
+		DataSet mySet;
+		db_int8_t thermalState(deviceThermalStatePoolId, &mySet,
 				PoolVariableIF::VAR_READ);
-		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+		db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -973,8 +973,8 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
 			childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
 					MODE_ON);
 			triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
-			GlobDataSet mySet;
-			gp_int8_t thermalRequest(deviceThermalRequestPoolId,
+			DataSet mySet;
+			db_int8_t thermalRequest(deviceThermalRequestPoolId,
 					&mySet, PoolVariableIF::VAR_READ_WRITE);
 			mySet.read();
 			if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {

From 2e08037e75f1457d67ef13e14c5b87765ee4a03d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 2 Aug 2020 15:48:09 +0200
Subject: [PATCH 202/653] revertiing pool changes

---
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 8e256bcf..c09d913e 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -204,7 +204,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	//Set temperature target state to NON_OP.
 	DataSet mySet;
-	dp_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+	db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 			PoolVariableIF::VAR_WRITE);
 	mySet.read();
 	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;

From d58fc5c6f71724221c10968bddad8a3d29e66fe5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 2 Aug 2020 15:55:56 +0200
Subject: [PATCH 203/653] removed includes in framework.mk

---
 framework.mk | 2 --
 1 file changed, 2 deletions(-)

diff --git a/framework.mk b/framework.mk
index 7f27c037..04fac47f 100644
--- a/framework.mk
+++ b/framework.mk
@@ -8,8 +8,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)

From 6ac36cec1546ba637c822979243ab1fc4a51ba1e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 2 Aug 2020 15:56:38 +0200
Subject: [PATCH 204/653] removed other include in framework.mk

---
 framework.mk | 1 -
 1 file changed, 1 deletion(-)

diff --git a/framework.mk b/framework.mk
index 04fac47f..c3917f20 100644
--- a/framework.mk
+++ b/framework.mk
@@ -8,7 +8,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)

From 78442a8b92b5548098fca7439a78ba65978de4b5 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Tue, 4 Aug 2020 12:22:45 +0200
Subject: [PATCH 205/653] Amending PR #145, forgot some documentation

---
 action/ActionHelper.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/action/ActionHelper.h b/action/ActionHelper.h
index 3d8351d6..eb3bfa54 100644
--- a/action/ActionHelper.h
+++ b/action/ActionHelper.h
@@ -35,7 +35,7 @@ public:
 	ReturnValue_t handleActionMessage(CommandMessage* command);
 	/**
 	 * Helper initialize function. Must be called before use of any other helper function
-	 * @param queueToUse_ Pointer to the messageQueue to be used
+	 * @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
 	 * @return Returns RETURN_OK if successful
 	 */
 	ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);

From ea9288d848d62352c78e81dd98cc6555bb6a12d5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 15:17:40 +0200
Subject: [PATCH 206/653] updated subsystem ID range

---
 events/fwSubsystemIdRanges.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/events/fwSubsystemIdRanges.h b/events/fwSubsystemIdRanges.h
index 4c261e57..a05652c2 100644
--- a/events/fwSubsystemIdRanges.h
+++ b/events/fwSubsystemIdRanges.h
@@ -18,6 +18,8 @@ enum {
 	SYSTEM_MANAGER = 74,
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
+	PUS_SERVICE_1 = 80,
+	FW_SUBSYSTEM_ID_RANGE
 };
 }
 

From c42b5283af448e288bc54775e51e80ebb50715a8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 15:19:31 +0200
Subject: [PATCH 207/653] periodic task IF: setting task if boolean removed

---
 osal/linux/PeriodicPosixTask.cpp | 7 ++-----
 osal/linux/PeriodicPosixTask.h   | 3 +--
 tasks/PeriodicTaskIF.h           | 3 +--
 3 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index c05f1030..6b2ebd88 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -21,8 +21,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
-        bool addTaskIF) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
@@ -30,9 +29,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 	}
 	objectList.push_back(newObject);
 
-	if(setTaskIF) {
-	    newObject->setTaskIF(this);
-	}
+	newObject->setTaskIF(this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index bf1a995b..b194733b 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -39,8 +39,7 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object,
-	        bool addTaskIF = true) override;
+	ReturnValue_t addComponent(object_id_t object) override;
 
 	uint32_t getPeriodMs() const override;
 
diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h
index 6f490977..f54d6155 100644
--- a/tasks/PeriodicTaskIF.h
+++ b/tasks/PeriodicTaskIF.h
@@ -36,8 +36,7 @@ public:
 	 * to the component.
 	 * @return
 	 */
-	virtual ReturnValue_t addComponent(object_id_t object,
-	        bool setTaskIF = true) {
+	virtual ReturnValue_t addComponent(object_id_t object) {
 	    return HasReturnvaluesIF::RETURN_FAILED;
 	};
 

From 9102eec4ab20e13bd15acdac83498e88398856b3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 4 Aug 2020 15:20:43 +0200
Subject: [PATCH 208/653] interface change for freeRTOS

---
 osal/FreeRTOS/PeriodicTask.cpp | 6 ++----
 osal/FreeRTOS/PeriodicTask.h   | 3 +--
 2 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 44a7b801..e84411f8 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -81,7 +81,7 @@ void PeriodicTask::taskFunctionality() {
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
@@ -91,9 +91,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	}
 	objectList.push_back(newObject);
 
-	if(setTaskIF) {
-	     newObject->setTaskIF(this);
-	}
+	newObject->setTaskIF(this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 09aa6bc7..eea88dfd 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -63,8 +63,7 @@ public:
 	 * -@c RETURN_OK on success
 	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object,
-	        bool setTaskIF = true) override;
+	ReturnValue_t addComponent(object_id_t object) override;
 
 	uint32_t getPeriodMs() const override;
 

From 7b3fddfd429a02f6dedaad4e33a7c0a308f540d4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 7 Aug 2020 22:10:58 +0200
Subject: [PATCH 209/653] implemented mutex if changes

---
 ipc/MutexHelper.h       |  5 +++--
 ipc/MutexIF.h           | 38 ++++++++++++++++++++------------------
 osal/FreeRTOS/Mutex.cpp | 17 ++++++++---------
 osal/FreeRTOS/Mutex.h   |  4 +++-
 4 files changed, 34 insertions(+), 30 deletions(-)

diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index 20760b32..fc6e38bf 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -8,9 +8,10 @@ class MutexHelper {
 public:
 	MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
 			internalMutex(mutex) {
-		ReturnValue_t status = mutex->lockMutex(timeoutMs);
+		ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
+		        timeoutMs);
 		if(status == MutexIF::MUTEX_TIMEOUT) {
-			sif::error << "MutexHelper: Lock of mutex failed with timeout of"
+			sif::error << "MutexHelper: Lock of mutex failed with timeout of "
 					<< timeoutMs << " milliseconds!" << std::endl;
 		}
 		else if(status != HasReturnvaluesIF::RETURN_OK){
diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index 29e59e58..b0096a34 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -5,27 +5,31 @@
 
 /**
  * @brief Common interface for OS Mutex objects which provide MUTual EXclusion.
- *
  * @details https://en.wikipedia.org/wiki/Lock_(computer_science)
  * @ingroup osal
  * @ingroup interface
  */
 class MutexIF {
 public:
-	/**
-	 * @brief 	Timeout value used for polling lock attempt.
-	 * @details
-	 * If the lock is not successfull, MUTEX_TIMEOUT will be returned
-	 * immediately. Value needs to be defined in implementation.
-	 */
-	static const uint32_t POLLING;
-	/**
-	 * @brief 	Timeout value used for permanent blocking lock attempt.
-	 * @details
-	 * The task will be blocked (indefinitely) until the mutex is unlocked.
-	 * Value needs to be defined in implementation.
-	 */
-	static const uint32_t BLOCKING;
+    /**
+     * Different types of timeout for the mutex lock.
+     */
+    enum TimeoutType {
+        POLLING, //!< If mutex is not available, return immediately
+        WAITING, //!< Wait a specified time for the mutex to become available
+        BLOCKING //!< Block indefinitely until the mutex becomes available.
+    };
+
+    /**
+     * Lock the mutex. The timeout value will only be used for
+     * TimeoutType::WAITING
+     * @param timeoutType
+     * @param timeoutMs
+     * @return
+     */
+    virtual ReturnValue_t lockMutex(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
+    virtual ReturnValue_t unlockMutex() = 0;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
 	/**
@@ -77,9 +81,7 @@ public:
 	 */
 	static const ReturnValue_t MUTEX_DESTROYED_WHILE_WAITING = MAKE_RETURN_CODE(12);
 
-	virtual ~MutexIF() {}
-	virtual ReturnValue_t lockMutex(uint32_t timeoutMs) = 0;
-	virtual ReturnValue_t unlockMutex() = 0;
+    virtual ~MutexIF() {}
 };
 
 
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index 6d90c3f6..764b0ae0 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -2,13 +2,10 @@
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-const uint32_t MutexIF::POLLING = 0;
-const uint32_t MutexIF::BLOCKING = portMAX_DELAY;
-
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
 	if(handle == nullptr) {
-		sif::error << "Mutex: Creation failure" << std::endl;
+		sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
 	}
 }
 
@@ -19,15 +16,17 @@ Mutex::~Mutex() {
 
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
 	if (handle == nullptr) {
 		return MutexIF::MUTEX_NOT_FOUND;
 	}
-	TickType_t timeout = MutexIF::POLLING;
-	if(timeoutMs == MutexIF::BLOCKING) {
-		timeout = MutexIF::BLOCKING;
+	// If the timeout type is BLOCKING, this will be the correct value.
+	uint32_t timeout = portMAX_DELAY;
+	if(timeoutType == TimeoutType::POLLING) {
+		timeout = 0;
 	}
-	else if(timeoutMs > MutexIF::POLLING){
+	else if(timeoutType == TimeoutType::WAITING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index d6e0aab9..2a4fae26 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -18,8 +18,10 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
+	ReturnValue_t lockMutex(TimeoutType timeoutType,
+	        uint32_t timeoutMs) override;
 	ReturnValue_t unlockMutex() override;
+
 private:
 	SemaphoreHandle_t handle;
 };

From caeb2f9dd639cddd9674f2b0c5cc32887a4db041 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 7 Aug 2020 22:16:10 +0200
Subject: [PATCH 210/653] mutex api changes

---
 ipc/MutexHelper.h    |  5 +++--
 osal/linux/Mutex.cpp | 41 ++++++++++++++++++++++++-----------------
 osal/linux/Mutex.h   | 10 +++++++---
 3 files changed, 34 insertions(+), 22 deletions(-)

diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index fc6e38bf..52ce51e3 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -6,9 +6,10 @@
 
 class MutexHelper {
 public:
-	MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
+	MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
+			MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0) :
 			internalMutex(mutex) {
-		ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
+		ReturnValue_t status = mutex->lockMutex(timeoutType,
 		        timeoutMs);
 		if(status == MutexIF::MUTEX_TIMEOUT) {
 			sif::error << "MutexHelper: Lock of mutex failed with timeout of "
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index 169ac354..03789e62 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -2,8 +2,6 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/timemanager/Clock.h>
 
-const uint32_t MutexIF::POLLING = 0;
-const uint32_t MutexIF::BLOCKING = 0xffffffff;
 uint8_t Mutex::count = 0;
 
 
@@ -26,7 +24,9 @@ Mutex::Mutex() {
 		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.
+	// 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) {
 		sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
@@ -38,15 +38,13 @@ Mutex::~Mutex() {
 	pthread_mutex_destroy(&mutex);
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
 	int status = 0;
-	if(timeoutMs == MutexIF::POLLING) {
-		status = pthread_mutex_trylock(&mutex);
+
+	if(timeoutType == TimeoutType::POLLING) {
+	    status = pthread_mutex_trylock(&mutex);
 	}
-	else if (timeoutMs == MutexIF::BLOCKING) {
-		status = pthread_mutex_lock(&mutex);
-	}
-	else {
+	else if (timeoutType == TimeoutType::WAITING) {
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
@@ -55,25 +53,34 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
 		status = pthread_mutex_timedlock(&mutex, &timeOut);
 	}
+	else if(timeoutType == TimeoutType::BLOCKING) {
+		status = pthread_mutex_lock(&mutex);
+	}
 
 	switch (status) {
 	case EINVAL:
-		//The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling.
+		// The mutex was created with the protocol attribute having the value
+		// PTHREAD_PRIO_PROTECT and the calling thread's priority is higher
+		// than the mutex's current priority ceiling.
 		return WRONG_ATTRIBUTE_SETTING;
-		//The process or thread would have blocked, and the abs_timeout parameter specified a nanoseconds field value less than zero or greater than or equal to 1000 million.
-		//The value specified by mutex does not refer to an initialized mutex object.
+		// The process or thread would have blocked, and the abs_timeout
+		// parameter specified a nanoseconds field value less than zero or
+		// greater than or equal to 1000 million.
+		// The value specified by mutex does not refer to an initialized mutex object.
 		//return MUTEX_NOT_FOUND;
 	case EBUSY:
-		//The mutex could not be acquired because it was already locked.
+		// The mutex could not be acquired because it was already locked.
 		return MUTEX_ALREADY_LOCKED;
 	case ETIMEDOUT:
-		//The mutex could not be locked before the specified timeout expired.
+		// The mutex could not be locked before the specified timeout expired.
 		return MUTEX_TIMEOUT;
 	case EAGAIN:
-		//The mutex could not be acquired because the maximum number of recursive locks for mutex has been exceeded.
+		// The mutex could not be acquired because the maximum number of
+		// recursive locks for mutex has been exceeded.
 		return MUTEX_MAX_LOCKS;
 	case EDEADLK:
-		//A deadlock condition was detected or the current thread already owns the mutex.
+		// A deadlock condition was detected or the current thread
+		// already owns the mutex.
 		return CURR_THREAD_ALREADY_OWNS_MUTEX;
 	case 0:
 		//Success
diff --git a/osal/linux/Mutex.h b/osal/linux/Mutex.h
index d02d008f..26420c2e 100644
--- a/osal/linux/Mutex.h
+++ b/osal/linux/Mutex.h
@@ -1,14 +1,18 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef OS_LINUX_MUTEX_H_
+#define OS_LINUX_MUTEX_H_
 
 #include <framework/ipc/MutexIF.h>
+
+extern "C" {
 #include <pthread.h>
+}
+
 
 class Mutex : public MutexIF {
 public:
 	Mutex();
 	virtual ~Mutex();
-	virtual ReturnValue_t lockMutex(uint32_t timeoutMs);
+	virtual ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs);
 	virtual ReturnValue_t unlockMutex();
 private:
 	pthread_mutex_t mutex;

From 54825dca6b3c63259a4eb1a45878358e5ae1192d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 7 Aug 2020 22:19:13 +0200
Subject: [PATCH 211/653] periodic posix task hotfix

---
 osal/linux/PeriodicPosixTask.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index c05f1030..548590ac 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -22,7 +22,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 }
 
 ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
-        bool addTaskIF) {
+		bool addTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
@@ -30,9 +30,7 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 	}
 	objectList.push_back(newObject);
 
-	if(setTaskIF) {
-	    newObject->setTaskIF(this);
-	}
+	newObject->setTaskIF(this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

From 90a3e2b8c5dfa121fb02a8627d9cbe8973261a0e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 7 Aug 2020 22:26:01 +0200
Subject: [PATCH 212/653] linux hotfix

---
 osal/linux/PeriodicPosixTask.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index c05f1030..6149c84b 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -29,10 +29,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
 
-	if(setTaskIF) {
-	    newObject->setTaskIF(this);
-	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

From a0f41d3238395e55a4bab09c16eb3c437a72d87b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 8 Aug 2020 12:46:06 +0200
Subject: [PATCH 213/653] stack size is bytes now

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 11 ++++++++---
 osal/FreeRTOS/FixedTimeslotTask.h   |  7 +++++--
 osal/FreeRTOS/FreeRTOSTaskIF.h      | 13 +++++++++++++
 osal/FreeRTOS/PeriodicTask.cpp      | 19 +++++++++++--------
 osal/FreeRTOS/PeriodicTask.h        | 13 ++++++++-----
 tasks/Typedef.h                     |  1 -
 6 files changed, 45 insertions(+), 19 deletions(-)
 create mode 100644 osal/FreeRTOS/FreeRTOSTaskIF.h

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 17804d90..2a7bff9c 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -5,11 +5,12 @@
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
-FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
+FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod overallPeriod,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), handle(NULL), pst(overallPeriod * 1000) {
-	xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
+	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
 	// All additional attributes are applied to the object.
 	this->deadlineMissedFunc = setDeadlineMissedFunc;
 }
@@ -82,7 +83,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the
     // start time for the first entry.
-	FixedSlotSequence::SlotListIter slotListIter = pst.current;
+	auto slotListIter = pst.current;
 
 	//The start time for the first entry is read.
 	uint32_t intervalMs = slotListIter->pollingTimeMs;
@@ -155,3 +156,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
+
+TaskHandle_t FixedTimeslotTask::getTaskHandle() {
+    return handle;
+}
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 66af0311..a1fdfdeb 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
+#include <framework/osal/FreeRTOS/FreeRTOSTaskIF.h>
 #include <framework/devicehandlers/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
@@ -8,7 +9,7 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
-class FixedTimeslotTask: public FixedTimeslotTaskIF {
+class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
 public:
 
 	/**
@@ -23,7 +24,7 @@ public:
 	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
 	 * @return Pointer to the newly created task.
 	 */
-	FixedTimeslotTask(const char *name, TaskPriority setPriority,
+	FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 			TaskStackSize setStack, TaskPeriod overallPeriod,
 			void (*setDeadlineMissedFunc)());
 
@@ -57,6 +58,8 @@ public:
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
 
+	TaskHandle_t getTaskHandle() override;
+
 protected:
 	bool started;
 	TaskHandle_t handle;
diff --git a/osal/FreeRTOS/FreeRTOSTaskIF.h b/osal/FreeRTOS/FreeRTOSTaskIF.h
new file mode 100644
index 00000000..06fda282
--- /dev/null
+++ b/osal/FreeRTOS/FreeRTOSTaskIF.h
@@ -0,0 +1,13 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+class FreeRTOSTaskIF {
+public:
+	virtual~ FreeRTOSTaskIF() {}
+	virtual TaskHandle_t getTaskHandle() = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 91135375..7b0c8619 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -5,12 +5,13 @@
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
-		void (*setDeadlineMissedFunc)()) :
+		TaskDeadlineMissedFunction deadlineMissedFunc) :
 		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
-		setDeadlineMissedFunc)
+		deadlineMissedFunc)
 {
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
 	BaseType_t status = xTaskCreate(taskEntryPoint, name,
-			setStack, this, setPriority, &handle);
+			stackSize, this, setPriority, &handle);
 	if(status != pdPASS){
 		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
 		        "Status: " << status << std::endl;
@@ -81,19 +82,17 @@ void PeriodicTask::taskFunctionality() {
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
 	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-	            "it implements ExecutableObjectIF!" << std::endl;
+	            "it implement ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
 
-	if(setTaskIF) {
-	     newObject->setTaskIF(this);
-	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -124,6 +123,10 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
     }
 }
 
+TaskHandle_t PeriodicTask::getTaskHandle() {
+    return handle;
+}
+
 void PeriodicTask::handleMissedDeadline() {
 #ifdef DEBUG
     sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 09aa6bc7..8030baad 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -1,10 +1,12 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 
+#include <framework/osal/FreeRTOS/FreeRTOSTaskIF.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
+
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
@@ -17,7 +19,7 @@ class ExecutableObjectIF;
  * 			periodic activities of multiple objects.
  * @ingroup task_handling
  */
-class PeriodicTask: public PeriodicTaskIF {
+class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
 public:
 	/**
 	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
@@ -38,9 +40,9 @@ public:
 	 * The function pointer to the deadline missed function that shall
 	 * be assigned.
 	 */
-	PeriodicTask(const char *name, TaskPriority setPriority,
+	PeriodicTask(TaskName name, TaskPriority setPriority,
 	        TaskStackSize setStack, TaskPeriod setPeriod,
-	        void (*setDeadlineMissedFunc)());
+	        TaskDeadlineMissedFunction deadlineMissedFunc);
 	/**
 	 * @brief	Currently, the executed object's lifetime is not coupled with
 	 * 			the task object's lifetime, so the destructor is empty.
@@ -63,12 +65,13 @@ public:
 	 * -@c RETURN_OK on success
 	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object,
-	        bool setTaskIF = true) override;
+	ReturnValue_t addComponent(object_id_t object) override;
 
 	uint32_t getPeriodMs() const override;
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() override;
 protected:
 	bool started;
 	TaskHandle_t handle;
diff --git a/tasks/Typedef.h b/tasks/Typedef.h
index b393ee1e..07d96b00 100644
--- a/tasks/Typedef.h
+++ b/tasks/Typedef.h
@@ -1,7 +1,6 @@
 #ifndef FRAMEWORK_TASKS_TYPEDEF_H_
 #define FRAMEWORK_TASKS_TYPEDEF_H_
 
-//TODO more generic?
 typedef const char* TaskName;
 typedef uint8_t TaskPriority;
 typedef size_t TaskStackSize;

From 944226c2ed117120749610bdaab03503c523b2fd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 8 Aug 2020 12:47:14 +0200
Subject: [PATCH 214/653] periodic task if fix

---
 tasks/PeriodicTaskIF.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h
index 6f490977..f54d6155 100644
--- a/tasks/PeriodicTaskIF.h
+++ b/tasks/PeriodicTaskIF.h
@@ -36,8 +36,7 @@ public:
 	 * to the component.
 	 * @return
 	 */
-	virtual ReturnValue_t addComponent(object_id_t object,
-	        bool setTaskIF = true) {
+	virtual ReturnValue_t addComponent(object_id_t object) {
 	    return HasReturnvaluesIF::RETURN_FAILED;
 	};
 

From e61fdd0d5ef25108c64b467455971cf88a2f0b1c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 8 Aug 2020 13:15:41 +0200
Subject: [PATCH 215/653] freeRTOS task management init

---
 osal/FreeRTOS/TaskManagement.cpp | 24 ++++++++++++
 osal/FreeRTOS/TaskManagement.h   | 64 ++++++++++++++++++++++++++++++++
 2 files changed, 88 insertions(+)
 create mode 100644 osal/FreeRTOS/TaskManagement.cpp
 create mode 100644 osal/FreeRTOS/TaskManagement.h

diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
new file mode 100644
index 00000000..ff552adb
--- /dev/null
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -0,0 +1,24 @@
+#include <framework/osal/FreeRTOS/TaskManagement.h>
+
+void TaskManagement::vRequestContextSwitchFromTask() {
+	vTaskDelay(0);
+}
+
+void TaskManagement::requestContextSwitch(
+		CallContext callContext = CallContext::TASK) {
+	if(callContext == CallContext::ISR) {
+		// This function depends on the partmacro.h definition for the specific device
+		vRequestContextSwitchFromISR();
+	} else {
+		vRequestContextSwitchFromTask();
+	}
+}
+
+TaskHandle_t TaskManagement::getCurrentTaskHandle() {
+	return xTaskGetCurrentTaskHandle();
+}
+
+size_t TaskManagement::getTaskStackHighWatermark(
+        TaskHandle_t task) {
+	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
new file mode 100644
index 00000000..62c68331
--- /dev/null
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -0,0 +1,64 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+#include <cstdint>
+
+/**
+ * Architecture dependant portmacro.h function call.
+ * Should be implemented in bsp.
+ */
+extern void vRequestContextSwitchFromISR();
+
+/*!
+ * Used by functions to tell if they are being called from
+ * within an ISR or from a regular task. This is required because FreeRTOS
+ * has different functions for handling semaphores and messages from within
+ * an ISR and task.
+ */
+enum class CallContext {
+	TASK = 0x00,//!< task_context
+	ISR = 0xFF  //!< isr_context
+};
+
+
+class TaskManagement {
+public:
+	/**
+	 * @brief	In this function, a function dependant on the portmacro.h header
+	 * 			function calls to request a context switch can be specified.
+	 * This can be used if sending to the queue from an ISR caused a task
+	 * to unblock and a context switch is required.
+	 */
+	static void requestContextSwitch(CallContext callContext);
+
+	/**
+	 * If task preemption in FreeRTOS is disabled, a context switch
+	 * can be requested manually by calling this function.
+	 */
+	static void vRequestContextSwitchFromTask(void);
+
+	/**
+	 * @return The current task handle
+	 */
+	static TaskHandle_t getCurrentTaskHandle();
+
+	/**
+	 * Get returns the minimum amount of remaining stack space in words
+	 * that was a available to the task since the task started executing.
+	 * Please note that the actual value in bytes depends
+	 * on the stack depth type.
+	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+	 * @return Smallest value of stack remaining since the task was started in
+	 * 		   words.
+	 */
+	static size_t getTaskStackHighWatermark(
+	        TaskHandle_t task = nullptr);
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

From 6b4fa0cc0443802d2d51db18dc32a800578afd65 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 8 Aug 2020 13:28:59 +0200
Subject: [PATCH 216/653] fdir update

---
 .../DeviceHandlerFailureIsolation.cpp         | 38 +++++++++++--------
 .../DeviceHandlerFailureIsolation.h           |  2 +
 fdir/FailureIsolationBase.cpp                 | 35 +++++++++++------
 fdir/FailureIsolationBase.h                   | 17 ++++++---
 4 files changed, 60 insertions(+), 32 deletions(-)

diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 65c40219..46e73cd8 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -7,13 +7,15 @@
 
 object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = 0;
 
-DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner, object_id_t parent) :
-		FailureIsolationBase(owner, parent), strangeReplyCount(MAX_STRANGE_REPLIES,
-				STRANGE_REPLIES_TIME_MS, parameterDomainBase++), missedReplyCount(
-				MAX_MISSED_REPLY_COUNT, MISSED_REPLY_TIME_MS,
-				parameterDomainBase++), recoveryCounter(MAX_REBOOT,
-				REBOOT_TIME_MS, parameterDomainBase++), fdirState(NONE), powerConfirmation(
-				0) {
+DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner,
+		object_id_t parent) :
+		FailureIsolationBase(owner, parent),
+		strangeReplyCount(MAX_STRANGE_REPLIES, STRANGE_REPLIES_TIME_MS,
+				parameterDomainBase++),
+		missedReplyCount( MAX_MISSED_REPLY_COUNT, MISSED_REPLY_TIME_MS,
+				parameterDomainBase++),
+		recoveryCounter(MAX_REBOOT, REBOOT_TIME_MS, parameterDomainBase++),
+		fdirState(NONE), powerConfirmation(0) {
 }
 
 DeviceHandlerFailureIsolation::~DeviceHandlerFailureIsolation() {
@@ -68,9 +70,11 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
 		break;
 		//****Power*****
 	case PowerSwitchIF::SWITCH_WENT_OFF:
-		result = sendConfirmationRequest(event, powerConfirmation);
-		if (result == RETURN_OK) {
-			setFdirState(DEVICE_MIGHT_BE_OFF);
+		if(hasPowerConfirmation) {
+			result = sendConfirmationRequest(event, powerConfirmation);
+			if (result == RETURN_OK) {
+				setFdirState(DEVICE_MIGHT_BE_OFF);
+			}
 		}
 		break;
 	case Fuse::FUSE_WENT_OFF:
@@ -133,7 +137,7 @@ void DeviceHandlerFailureIsolation::decrementFaultCounters() {
 
 void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
 	clearFaultCounters();
-	if (!recoveryCounter.incrementAndCheck()) {
+	if (not recoveryCounter.incrementAndCheck()) {
 		startRecovery(reason);
 	} else {
 		setFaulty(reason);
@@ -142,7 +146,8 @@ void DeviceHandlerFailureIsolation::handleRecovery(Event reason) {
 
 void DeviceHandlerFailureIsolation::wasParentsFault(EventMessage* event) {
 	//We'll better ignore the SWITCH_WENT_OFF event and await a system-wide reset.
-	//This means, no fault message will come through until a MODE_ or HEALTH_INFO message comes through -> Is that ok?
+	//This means, no fault message will come through until a MODE_ or
+	//HEALTH_INFO message comes through -> Is that ok?
 	//Same issue in TxFailureIsolation!
 //	if ((event->getEvent() == PowerSwitchIF::SWITCH_WENT_OFF)
 //			&& (fdirState != RECOVERY_ONGOING)) {
@@ -158,14 +163,17 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
 ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
 	ReturnValue_t result = FailureIsolationBase::initialize();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
+				" initialize FailureIsolationBase." << std::endl;
 		return result;
 	}
 	ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
 			powerConfirmationId);
-	if (power == NULL) {
-		return RETURN_FAILED;
+	if (power != nullptr) {
+		powerConfirmation = power->getEventReceptionQueue();
+		hasPowerConfirmation = true;
 	}
-	powerConfirmation = power->getEventReceptionQueue();
+
 	return RETURN_OK;
 }
 
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.h b/devicehandlers/DeviceHandlerFailureIsolation.h
index 91f6ef64..4343d88b 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.h
+++ b/devicehandlers/DeviceHandlerFailureIsolation.h
@@ -28,8 +28,10 @@ protected:
 		NONE, RECOVERY_ONGOING, DEVICE_MIGHT_BE_OFF, AWAIT_SHUTDOWN
 	};
 	FDIRState fdirState;
+	bool hasPowerConfirmation = false;
 	MessageQueueId_t powerConfirmation;
 	static object_id_t powerConfirmationId;
+	// TODO: Are those hardcoded value? How can they be changed.
 	static const uint32_t MAX_REBOOT = 1;
 	static const uint32_t REBOOT_TIME_MS = 180000;
 	static const uint32_t MAX_STRANGE_REPLIES = 10;
diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index 4b7caac5..ad4493ff 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -5,10 +5,12 @@
 #include <framework/ipc/QueueFactory.h>
 #include <framework/objectmanager/ObjectManagerIF.h>
 
-FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
-		eventQueue(NULL), ownerId(
-				owner), owner(NULL), faultTreeParent(parent), parameterDomainBase(parameterDomainBase) {
-	eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth, EventMessage::EVENT_MESSAGE_SIZE);
+FailureIsolationBase::FailureIsolationBase(object_id_t owner,
+		object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
+		ownerId(owner), faultTreeParent(parent),
+		parameterDomainBase(parameterDomainBase) {
+	eventQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
+			EventMessage::EVENT_MESSAGE_SIZE);
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
@@ -18,27 +20,36 @@ FailureIsolationBase::~FailureIsolationBase() {
 ReturnValue_t FailureIsolationBase::initialize() {
 	EventManagerIF* manager = objectManager->get<EventManagerIF>(
 			objects::EVENT_MANAGER);
-	if (manager == NULL) {
+	if (manager == nullptr) {
+		sif::error << "FailureIsolationBase::initialize: Event Manager has not"
+				" been initialized!" << std::endl;
 		return RETURN_FAILED;
 	}
 	ReturnValue_t result = manager->registerListener(eventQueue->getId());
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	if (ownerId != 0) {
+	if (ownerId != objects::NO_OBJECT) {
 		result = manager->subscribeToAllEventsFrom(eventQueue->getId(), ownerId);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
 		owner = objectManager->get<HasHealthIF>(ownerId);
-		if (owner == NULL) {
-			return RETURN_FAILED;
+		if (owner == nullptr) {
+			sif::error << "FailureIsolationBase::intialize: Owner object "
+					"invalid. Make sure it implements HasHealthIF" << std::endl;
+			return ObjectManagerIF::CHILD_INIT_FAILED;
 		}
 	}
-	if (faultTreeParent != 0) {
+	if (faultTreeParent != objects::NO_OBJECT) {
 		ConfirmsFailuresIF* parentIF = objectManager->get<ConfirmsFailuresIF>(
 				faultTreeParent);
-		if (parentIF == NULL) {
+		if (parentIF == nullptr) {
+			sif::error << "FailureIsolationBase::intialize: Parent object"
+					<< "invalid." << std::endl;
+			sif::error << "Make sure it implements ConfirmsFailuresIF."
+					<< std::endl;
+			return ObjectManagerIF::CHILD_INIT_FAILED;
 			return RETURN_FAILED;
 		}
 		eventQueue->setDefaultDestination(parentIF->getEventReceptionQueue());
@@ -93,9 +104,9 @@ MessageQueueId_t FailureIsolationBase::getEventReceptionQueue() {
 ReturnValue_t FailureIsolationBase::sendConfirmationRequest(EventMessage* event,
 		MessageQueueId_t destination) {
 	event->setMessageId(EventMessage::CONFIRMATION_REQUEST);
-	if (destination != 0) {
+	if (destination != MessageQueueIF::NO_QUEUE) {
 		return eventQueue->sendMessage(destination, event);
-	} else if (faultTreeParent != 0) {
+	} else if (faultTreeParent != objects::NO_OBJECT) {
 		return eventQueue->sendToDefault(event);
 	}
 	return RETURN_FAILED;
diff --git a/fdir/FailureIsolationBase.h b/fdir/FailureIsolationBase.h
index cd582e39..c0fe6041 100644
--- a/fdir/FailureIsolationBase.h
+++ b/fdir/FailureIsolationBase.h
@@ -17,18 +17,25 @@ public:
 	static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, SEVERITY::INFO); //!< FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
 	static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, SEVERITY::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery.
 	static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, SEVERITY::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery.
-	FailureIsolationBase(object_id_t owner, object_id_t parent = 0,
+
+	FailureIsolationBase(object_id_t owner,
+			object_id_t parent = objects::NO_OBJECT,
 			uint8_t messageDepth = 10, uint8_t parameterDomainBase = 0xF0);
+
 	virtual ~FailureIsolationBase();
 	virtual ReturnValue_t initialize();
+
+	/**
+	 * This is called by the DHB in performOperation()
+	 */
 	void checkForFailures();
-	MessageQueueId_t getEventReceptionQueue();
+	MessageQueueId_t getEventReceptionQueue() override;
 	virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
 			uint32_t parameter2 = 0);
 protected:
-	MessageQueueIF* eventQueue;
+	MessageQueueIF* eventQueue = nullptr;
 	object_id_t ownerId;
-	HasHealthIF* owner;
+	HasHealthIF* owner = nullptr;
 	object_id_t faultTreeParent;
 	uint8_t parameterDomainBase;
 	void setOwnerHealth(HasHealthIF::HealthState health);
@@ -38,7 +45,7 @@ protected:
 	virtual ReturnValue_t confirmFault(EventMessage* event);
 	virtual void decrementFaultCounters() = 0;
 	ReturnValue_t sendConfirmationRequest(EventMessage* event,
-			MessageQueueId_t destination = 0);
+			MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
 	void throwFdirEvent(Event event, uint32_t parameter1 = 0,
 			uint32_t parameter2 = 0);
 private:

From 8c722feafb18f15e5e1db3ddde65ae66a3b09dad Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 11 Aug 2020 16:21:59 +0200
Subject: [PATCH 217/653] Fixes #47 and #36

---
 container/ArrayList.h                  |  8 ++-
 container/FixedMap.h                   | 23 ++++-----
 container/FixedOrderedMultimap.h       | 13 +----
 subsystem/Subsystem.cpp                |  4 +-
 tmtcservices/CommandingServiceBase.cpp | 70 +++++++++++++-------------
 5 files changed, 54 insertions(+), 64 deletions(-)

diff --git a/container/ArrayList.h b/container/ArrayList.h
index 9c4c4ceb..0a2f460b 100644
--- a/container/ArrayList.h
+++ b/container/ArrayList.h
@@ -72,11 +72,15 @@ public:
 			return tmp;
 		}
 
-		T operator*() {
+		T& operator*(){
 			return *value;
 		}
 
-		T *operator->() {
+		const T& operator*() const{
+			return *value;
+		}
+
+		T *operator->(){
 			return value;
 		}
 
diff --git a/container/FixedMap.h b/container/FixedMap.h
index ac170bd2..0823b670 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -1,5 +1,5 @@
-#ifndef FIXEDMAP_H_
-#define FIXEDMAP_H_
+#ifndef FRAMEWORK_CONTAINER_FIXEDMAP_H_
+#define FRAMEWORK_CONTAINER_FIXEDMAP_H_
 
 #include <framework/container/ArrayList.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
@@ -7,6 +7,10 @@
 
 /**
  * \ingroup container
+ *
+ *
+ *  \warning Iterators return a non-const key_t in the pair.
+ *  \warning A User is not allowed to change the key, otherwise the map is corrupted.
  */
 template<typename key_t, typename T>
 class FixedMap: public SerializeIF {
@@ -47,15 +51,6 @@ public:
 		Iterator(std::pair<key_t, T> *pair) :
 				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
 		}
-
-		T operator*() {
-			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
-
-		T *operator->() {
-			return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
-
 	};
 
 	Iterator begin() const {
@@ -70,7 +65,7 @@ public:
 		return _size;
 	}
 
-	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
+	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
 		if (exists(key) == HasReturnvaluesIF::RETURN_OK) {
 			return KEY_ALREADY_EXISTS;
 		}
@@ -79,7 +74,7 @@ public:
 		}
 		theMap[_size].first = key;
 		theMap[_size].second = value;
-		if (storedValue != NULL) {
+		if (storedValue != nullptr) {
 			*storedValue = Iterator(&theMap[_size]);
 		}
 		++_size;
@@ -87,7 +82,7 @@ public:
 	}
 
 	ReturnValue_t insert(std::pair<key_t, T> pair) {
-		return insert(pair.fist, pair.second);
+		return insert(pair.first, pair.second);
 	}
 
 	ReturnValue_t exists(key_t key) const {
diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index 21629664..4f81c97c 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -68,15 +68,6 @@ public:
 		Iterator(std::pair<key_t, T> *pair) :
 				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
 		}
-
-		T operator*() {
-			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
-
-		T *operator->() {
-			return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
-
 	};
 
 	Iterator begin() const {
@@ -91,7 +82,7 @@ public:
 		return _size;
 	}
 
-	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = NULL) {
+	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
 		if (_size == theMap.maxSize()) {
 			return MAP_FULL;
 		}
@@ -101,7 +92,7 @@ public:
 		theMap[position].first = key;
 		theMap[position].second = value;
 		++_size;
-		if (storedValue != NULL) {
+		if (storedValue != nullptr) {
 			*storedValue = Iterator(&theMap[position]);
 		}
 		return HasReturnvaluesIF::RETURN_OK;
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index fcf2e189..094e79b4 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -549,7 +549,7 @@ Mode_t Subsystem::getFallbackSequence(Mode_t sequence) {
 	for (FixedMap<Mode_t, SequenceInfo>::Iterator iter = modeSequences.begin();
 			iter != modeSequences.end(); ++iter) {
 		if (iter.value->first == sequence) {
-			return iter->fallbackSequence;
+			return iter->second.fallbackSequence;
 		}
 	}
 	return -1;
@@ -558,7 +558,7 @@ Mode_t Subsystem::getFallbackSequence(Mode_t sequence) {
 bool Subsystem::isFallbackSequence(Mode_t SequenceId) {
 	for (FixedMap<Mode_t, SequenceInfo>::Iterator iter = modeSequences.begin();
 			iter != modeSequences.end(); iter++) {
-		if (iter->fallbackSequence == SequenceId) {
+		if (iter->second.fallbackSequence == SequenceId) {
 			return true;
 		}
 	}
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 331bc7c8..b08e315d 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -104,8 +104,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 
 
 	// Implemented by child class, specifies what to do with reply.
-	ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
-			&nextCommand, iter->objectId, &isStep);
+	ReturnValue_t result = handleReply(reply, iter->second.command, &iter->second.state,
+			&nextCommand, iter->second.objectId, &isStep);
 
 	/* If the child implementation does not implement special handling for
 	 * rejected replies (RETURN_FAILED is returned), a failure verification
@@ -114,7 +114,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
 			result == RETURN_FAILED) {
 	    result = reply->getReplyRejectedReason();
-	    failureParameter1 = iter->command;
+	    failureParameter1 = iter->second.command;
 	}
 
 	switch (result) {
@@ -131,14 +131,14 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	default:
 		if (isStep) {
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
-					result, ++iter->step, failureParameter1,
+					TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
+					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
+					result, ++iter->second.step, failureParameter1,
 					failureParameter2);
 		} else {
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
-					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
+					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
 					result, 0, failureParameter1, failureParameter2);
 		}
 		failureParameter1 = 0;
@@ -152,7 +152,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 		CommandMapIter iter, CommandMessage* nextCommand,
 		CommandMessage* reply, bool& isStep) {
-	iter->command = nextCommand->getCommand();
+	iter->second.command = nextCommand->getCommand();
 
 	// In case a new command is to be sent immediately, this is performed here.
 	// If no new command is sent, only analyse reply result by initializing
@@ -167,14 +167,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 		if (isStep and result != NO_STEP_MESSAGE) {
 			verificationReporter.sendSuccessReport(
 					TC_VERIFY::PROGRESS_SUCCESS,
-					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-					iter->tcInfo.tcSequenceControl, ++iter->step);
+					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
+					iter->second.tcInfo.tcSequenceControl, ++iter->second.step);
 		}
 		else {
 			verificationReporter.sendSuccessReport(
 					TC_VERIFY::COMPLETION_SUCCESS,
-					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-					iter->tcInfo.tcSequenceControl, 0);
+					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
+					iter->second.tcInfo.tcSequenceControl, 0);
 			checkAndExecuteFifo(iter);
 		}
 	}
@@ -182,16 +182,16 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 		if (isStep) {
 			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-					iter->tcInfo.tcPacketId,
-					iter->tcInfo.tcSequenceControl, sendResult,
-					++iter->step, failureParameter1, failureParameter2);
+					TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
+					iter->second.tcInfo.tcPacketId,
+					iter->second.tcInfo.tcSequenceControl, sendResult,
+					++iter->second.step, failureParameter1, failureParameter2);
 		} else {
 			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE,
-					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-					iter->tcInfo.tcSequenceControl, sendResult, 0,
+					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
+					iter->second.tcInfo.tcSequenceControl, sendResult, 0,
 					failureParameter1, failureParameter2);
 		}
 		failureParameter1 = 0;
@@ -230,7 +230,7 @@ void CommandingServiceBase::handleRequestQueue() {
 		iter = commandMap.find(queue);
 
 		if (iter != commandMap.end()) {
-			result = iter->fifo.insert(address);
+			result = iter->second.fifo.insert(address);
 			if (result != RETURN_OK) {
 				rejectPacket(TC_VERIFY::START_FAILURE, &packet, OBJECT_BUSY);
 			}
@@ -298,11 +298,11 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
         CommandMapIter iter) {
     ReturnValue_t result = RETURN_OK;
     CommandMessage command;
-    iter->subservice = storedPacket->getSubService();
-    result = prepareCommand(&command, iter->subservice,
+    iter->second.subservice = storedPacket->getSubService();
+    result = prepareCommand(&command, iter->second.subservice,
             storedPacket->getApplicationData(),
-            storedPacket->getApplicationDataSize(), &iter->state,
-            iter->objectId);
+            storedPacket->getApplicationDataSize(), &iter->second.state,
+            iter->second.objectId);
 
     ReturnValue_t sendResult = RETURN_OK;
 	switch (result) {
@@ -312,13 +312,13 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 					&command);
 		}
 		if (sendResult == RETURN_OK) {
-			Clock::getUptime(&iter->uptimeOfStart);
-			iter->step = 0;
-			iter->subservice = storedPacket->getSubService();
-			iter->command = command.getCommand();
-			iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
-			iter->tcInfo.tcPacketId = storedPacket->getPacketId();
-			iter->tcInfo.tcSequenceControl =
+			Clock::getUptime(&iter->second.uptimeOfStart);
+			iter->second.step = 0;
+			iter->second.subservice = storedPacket->getSubService();
+			iter->second.command = command.getCommand();
+			iter->second.tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
+			iter->second.tcInfo.tcPacketId = storedPacket->getPacketId();
+			iter->second.tcInfo.tcSequenceControl =
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
@@ -368,7 +368,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 
 void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
 	store_address_t address;
-	if (iter->fifo.retrieve(&address) != RETURN_OK) {
+	if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
 		commandMap.erase(&iter);
 	} else {
 		TcPacketStored newPacket(address);
@@ -394,10 +394,10 @@ void CommandingServiceBase::checkTimeout() {
 	Clock::getUptime(&uptime);
 	CommandMapIter iter;
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
-		if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
+		if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
-					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
+					TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
+					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
 					TIMEOUT);
 			checkAndExecuteFifo(iter);
 		}

From e963aca02a343a8afa46e5ef0103307b1b87248d Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 11 Aug 2020 17:02:19 +0200
Subject: [PATCH 218/653] Fixed an issue with memmove in FixedOrderedMultimap

---
 container/FixedOrderedMultimap.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index 4f81c97c..4ddc5dcb 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -48,7 +48,7 @@ private:
 		if (_size <= position) {
 			return;
 		}
-		memmove(&theMap[position], &theMap[position + 1],
+		memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
 				(_size - position - 1) * sizeof(std::pair<key_t,T>));
 		--_size;
 	}
@@ -87,7 +87,7 @@ public:
 			return MAP_FULL;
 		}
 		uint32_t position = findNicePlace(key);
-		memmove(&theMap[position + 1], &theMap[position],
+		memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
 				(_size - position) * sizeof(std::pair<key_t,T>));
 		theMap[position].first = key;
 		theMap[position].second = value;

From 3d4daa51d537b0e957644103293b8dbadb773018 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 11 Aug 2020 17:17:50 +0200
Subject: [PATCH 219/653] Corrected warning to fit name of setting

---
 framework.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/framework.mk b/framework.mk
index ee0a7ba4..643eb74f 100644
--- a/framework.mk
+++ b/framework.mk
@@ -34,7 +34,7 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
 else ifeq ($(OS_FSFW),host)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
+$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)

From b484e4d5ad7325597fa42905fdb984ec145a475e Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 13 Aug 2020 10:27:16 +0200
Subject: [PATCH 220/653] Removed unused function

---
 container/FixedOrderedMultimap.h | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index 4ddc5dcb..872425e6 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -136,12 +136,6 @@ public:
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	//This is potentially unsafe
-//	T *findValue(key_t key) const {
-//		return &theMap[findFirstIndex(key)].second;
-//	}
-
-
 	Iterator find(key_t key) const {
 		ReturnValue_t result = exists(key);
 		if (result != HasReturnvaluesIF::RETURN_OK) {

From 4a2ef6d97f51418864856c53ac596652aa002bb9 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 13 Aug 2020 17:58:42 +0200
Subject: [PATCH 221/653] Fixed a shadowing issue of with moving to inner scope

---
 subsystem/Subsystem.cpp | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index fcf2e189..2f0cb04e 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -151,7 +151,6 @@ HybridIterator<ModeListEntry> Subsystem::getTable(Mode_t id) {
 }
 
 ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
-	ReturnValue_t result;
 	switch (message->getCommand()) {
 	case HealthMessage::HEALTH_INFO: {
 		HealthState health = HealthMessage::getHealth(message);
@@ -166,7 +165,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
 		FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> sequence;
 		const uint8_t *pointer;
 		size_t sizeRead;
-		result = IPCStore->getData(
+		ReturnValue_t result = IPCStore->getData(
 				ModeSequenceMessage::getStoreAddress(message), &pointer,
 				&sizeRead);
 		if (result == RETURN_OK) {
@@ -193,7 +192,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
 		FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> table;
 		const uint8_t *pointer;
 		size_t sizeRead;
-		result = IPCStore->getData(
+		ReturnValue_t result = IPCStore->getData(
 				ModeSequenceMessage::getStoreAddress(message), &pointer,
 				&sizeRead);
 		if (result == RETURN_OK) {
@@ -210,21 +209,23 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
 
 	}
 		break;
-	case ModeSequenceMessage::DELETE_SEQUENCE:
+	case ModeSequenceMessage::DELETE_SEQUENCE:{
 		if (isInTransition) {
 			replyToCommand(IN_TRANSITION, 0);
 			break;
 		}
-		result = deleteSequence(ModeSequenceMessage::getSequenceId(message));
+		ReturnValue_t result = deleteSequence(ModeSequenceMessage::getSequenceId(message));
 		replyToCommand(result, 0);
+	}
 		break;
-	case ModeSequenceMessage::DELETE_TABLE:
+	case ModeSequenceMessage::DELETE_TABLE:{
 		if (isInTransition) {
 			replyToCommand(IN_TRANSITION, 0);
 			break;
 		}
-		result = deleteTable(ModeSequenceMessage::getTableId(message));
+		ReturnValue_t result = deleteTable(ModeSequenceMessage::getTableId(message));
 		replyToCommand(result, 0);
+	}
 		break;
 	case ModeSequenceMessage::LIST_SEQUENCES: {
 		SerialFixedArrayListAdapter<Mode_t, MAX_NUMBER_OF_TABLES_OR_SEQUENCES> sequences;

From 3d89bc83e5a872a781fd6e1b1af6b39b20e06ddc Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 13 Aug 2020 18:08:17 +0200
Subject: [PATCH 222/653] Another shadowing, altough again no problem

---
 timemanager/CCSDSTime.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 71b2539d..cdb14d9a 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -119,7 +119,7 @@ ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* f
 
 	if (temp->pField & (1 << 3)) { //day of year variation
 		uint16_t tempDay = (temp->month << 8) + temp->day;
-		ReturnValue_t result = convertDaysOfYear(tempDay, to->year,
+		result = convertDaysOfYear(tempDay, to->year,
 				&(temp->month), &(temp->day));
 		if (result != RETURN_OK) {
 			return result;

From 287a83c54c54da467b339fbb32fda52ce8946a67 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 13 Aug 2020 19:11:23 +0200
Subject: [PATCH 223/653] Another shadowing error

---
 objectmanager/ObjectManager.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 1c54355a..71769d68 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -100,7 +100,6 @@ void ObjectManager::initialize() {
 }
 
 void ObjectManager::printList() {
-	std::map<object_id_t, SystemObjectIF*>::iterator it;
 	sif::debug << "ObjectManager: Object List contains:" << std::endl;
 	for (auto const& it : objectList) {
 		sif::debug << std::hex << it.first << " | " << it.second << std::endl;

From d5dedce294d02e2afe44331f455cd65eee00197a Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 13 Aug 2020 20:53:35 +0200
Subject: [PATCH 224/653] Relative Paths

---
 action/ActionHelper.cpp                       |   6 +-
 action/ActionHelper.h                         |   6 +-
 action/ActionMessage.cpp                      |   6 +-
 action/ActionMessage.h                        |   6 +-
 action/CommandActionHelper.cpp                |  10 +-
 action/CommandActionHelper.h                  |  12 +-
 action/CommandsActionsIF.h                    |   6 +-
 action/HasActionsIF.h                         |  10 +-
 action/SimpleActionHelper.cpp                 |   4 +-
 action/SimpleActionHelper.h                   |   2 +-
 container/ArrayList.h                         |   6 +-
 container/FIFO.h                              |   2 +-
 container/FixedArrayList.h                    |   2 +-
 container/FixedMap.h                          |   4 +-
 container/FixedOrderedMultimap.h              |   2 +-
 container/HybridIterator.h                    |   4 +-
 container/IndexedRingMemoryArray.h            |  10 +-
 container/PlacementFactory.h                  |   2 +-
 container/RingBufferBase.h                    |   2 +-
 container/SimpleRingBuffer.cpp                |   2 +-
 container/SimpleRingBuffer.h                  |   2 +-
 controller/ControllerBase.cpp                 |  10 +-
 controller/ControllerBase.h                   |  14 +-
 coordinates/CoordinateTransformations.cpp     |   8 +-
 coordinates/CoordinateTransformations.h       |   2 +-
 coordinates/Jgm3Model.h                       |   8 +-
 coordinates/Sgp4Propagator.cpp                |  12 +-
 coordinates/Sgp4Propagator.h                  |   2 +-
 datalinklayer/BCFrame.h                       |   2 +-
 datalinklayer/CCSDSReturnValuesIF.h           |   2 +-
 datalinklayer/Clcw.cpp                        |   4 +-
 datalinklayer/Clcw.h                          |   2 +-
 datalinklayer/DataLinkLayer.cpp               |   6 +-
 datalinklayer/DataLinkLayer.h                 |  10 +-
 datalinklayer/Farm1StateIF.h                  |   2 +-
 datalinklayer/Farm1StateLockout.cpp           |   8 +-
 datalinklayer/Farm1StateLockout.h             |   2 +-
 datalinklayer/Farm1StateOpen.cpp              |   8 +-
 datalinklayer/Farm1StateOpen.h                |   2 +-
 datalinklayer/Farm1StateWait.cpp              |   8 +-
 datalinklayer/Farm1StateWait.h                |   2 +-
 datalinklayer/MapPacketExtraction.cpp         |  14 +-
 datalinklayer/MapPacketExtraction.h           |   8 +-
 datalinklayer/MapPacketExtractionIF.h         |   4 +-
 datalinklayer/TcTransferFrame.cpp             |   4 +-
 datalinklayer/TcTransferFrameLocal.cpp        |   6 +-
 datalinklayer/TcTransferFrameLocal.h          |   2 +-
 datalinklayer/VirtualChannelReception.cpp     |   6 +-
 datalinklayer/VirtualChannelReception.h       |  16 +-
 datalinklayer/VirtualChannelReceptionIF.h     |   6 +-
 datapool/ControllerSet.cpp                    |   2 +-
 datapool/ControllerSet.h                      |   2 +-
 datapool/DataPool.cpp                         |   6 +-
 datapool/DataPool.h                           |   6 +-
 datapool/DataPoolAdmin.cpp                    |  14 +-
 datapool/DataPoolAdmin.h                      |  18 +-
 datapool/DataPoolParameterWrapper.cpp         |   6 +-
 datapool/DataPoolParameterWrapper.h           |   4 +-
 datapool/DataSet.cpp                          |   4 +-
 datapool/DataSet.h                            |  14 +-
 datapool/HkSwitchHelper.cpp                   |   4 +-
 datapool/HkSwitchHelper.h                     |   6 +-
 datapool/PIDReader.h                          |  12 +-
 datapool/PIDReaderList.h                      |   4 +-
 datapool/PoolEntry.cpp                        |   6 +-
 datapool/PoolEntry.h                          |   2 +-
 datapool/PoolEntryIF.h                        |   2 +-
 datapool/PoolRawAccess.cpp                    |  10 +-
 datapool/PoolRawAccess.h                      |   4 +-
 datapool/PoolVarList.h                        |   4 +-
 datapool/PoolVariable.h                       |  10 +-
 datapool/PoolVariableIF.h                     |   4 +-
 datapool/PoolVector.h                         |  10 +-
 devicehandlers/AcceptsDeviceResponsesIF.h     |   2 +-
 devicehandlers/AssemblyBase.cpp               |   2 +-
 devicehandlers/AssemblyBase.h                 |   6 +-
 devicehandlers/ChildHandlerBase.cpp           |   6 +-
 devicehandlers/ChildHandlerBase.h             |   4 +-
 devicehandlers/ChildHandlerFDIR.cpp           |   2 +-
 devicehandlers/ChildHandlerFDIR.h             |   2 +-
 devicehandlers/DeviceCommunicationIF.h        |   4 +-
 devicehandlers/DeviceHandlerBase.cpp          |  24 +-
 devicehandlers/DeviceHandlerBase.h            |  30 +-
 .../DeviceHandlerFailureIsolation.cpp         |  12 +-
 .../DeviceHandlerFailureIsolation.h           |   4 +-
 devicehandlers/DeviceHandlerIF.h              |  10 +-
 devicehandlers/DeviceHandlerMessage.cpp       |   6 +-
 devicehandlers/DeviceHandlerMessage.h         |   8 +-
 devicehandlers/DeviceTmReportingWrapper.cpp   |   6 +-
 devicehandlers/DeviceTmReportingWrapper.h     |   6 +-
 devicehandlers/FixedSequenceSlot.cpp          |   4 +-
 devicehandlers/FixedSequenceSlot.h            |   4 +-
 devicehandlers/FixedSlotSequence.cpp          |   4 +-
 devicehandlers/FixedSlotSequence.h            |   4 +-
 devicehandlers/HealthDevice.cpp               |   4 +-
 devicehandlers/HealthDevice.h                 |  10 +-
 events/Event.cpp                              |   2 +-
 events/Event.h                                |   2 +-
 events/EventManager.cpp                       |  10 +-
 events/EventManager.h                         |  14 +-
 events/EventManagerIF.h                       |   8 +-
 events/EventMessage.cpp                       |   2 +-
 events/EventMessage.h                         |   6 +-
 events/EventReportingProxyIF.h                |   2 +-
 events/eventmatching/EventIdRangeMatcher.cpp  |   2 +-
 events/eventmatching/EventIdRangeMatcher.h    |   2 +-
 events/eventmatching/EventMatchTree.cpp       |   8 +-
 events/eventmatching/EventMatchTree.h         |   8 +-
 events/eventmatching/EventRangeMatcherBase.h  |   6 +-
 events/eventmatching/ReporterRangeMatcher.cpp |   2 +-
 events/eventmatching/ReporterRangeMatcher.h   |   2 +-
 events/eventmatching/SeverityRangeMatcher.cpp |   6 +-
 events/eventmatching/SeverityRangeMatcher.h   |   2 +-
 events/eventmatching/eventmatching.h          |   8 +-
 fdir/ConfirmsFailuresIF.h                     |   4 +-
 fdir/EventCorrelation.cpp                     |   2 +-
 fdir/EventCorrelation.h                       |   2 +-
 fdir/FailureIsolationBase.cpp                 |  12 +-
 fdir/FailureIsolationBase.h                   |  14 +-
 fdir/FaultCounter.cpp                         |   2 +-
 fdir/FaultCounter.h                           |   4 +-
 globalfunctions/AsciiConverter.cpp            |   2 +-
 globalfunctions/AsciiConverter.h              |   2 +-
 globalfunctions/CRC.cpp                       |   2 +-
 globalfunctions/DleEncoder.cpp                |   2 +-
 globalfunctions/DleEncoder.h                  |   2 +-
 globalfunctions/Type.cpp                      |   6 +-
 globalfunctions/Type.h                        |   4 +-
 globalfunctions/arrayprinter.cpp              |   4 +-
 globalfunctions/matching/BinaryMatcher.h      |   2 +-
 globalfunctions/matching/DecimalMatcher.h     |   2 +-
 globalfunctions/matching/MatchTree.h          |   6 +-
 globalfunctions/matching/RangeMatcher.h       |   4 +-
 .../matching/SerializeableMatcherIF.h         |   4 +-
 globalfunctions/math/QuaternionOperations.cpp |   2 +-
 globalfunctions/timevalOperations.cpp         |   2 +-
 health/HasHealthIF.h                          |   6 +-
 health/HealthHelper.cpp                       |   6 +-
 health/HealthHelper.h                         |  14 +-
 health/HealthMessage.cpp                      |   2 +-
 health/HealthMessage.h                        |   4 +-
 health/HealthTable.cpp                        |   6 +-
 health/HealthTable.h                          |   6 +-
 health/HealthTableIF.h                        |   6 +-
 health/ManagesHealthIF.h                      |   4 +-
 internalError/InternalErrorReporter.cpp       |   8 +-
 internalError/InternalErrorReporter.h         |   6 +-
 ipc/CommandMessage.cpp                        |  18 +-
 ipc/CommandMessage.h                          |   4 +-
 ipc/MessageQueueIF.h                          |   6 +-
 ipc/MessageQueueMessage.cpp                   |   4 +-
 ipc/MessageQueueMessage.h                     |   2 +-
 ipc/MessageQueueSenderIF.h                    |   2 +-
 ipc/MutexFactory.h                            |   2 +-
 ipc/MutexHelper.h                             |   4 +-
 ipc/MutexIF.h                                 |   2 +-
 ipc/QueueFactory.h                            |   2 +-
 memory/AcceptsMemoryMessagesIF.h              |   6 +-
 memory/HasMemoryIF.h                          |   2 +-
 memory/MemoryHelper.cpp                       |  12 +-
 memory/MemoryHelper.h                         |  10 +-
 memory/MemoryMessage.cpp                      |   4 +-
 memory/MemoryMessage.h                        |   4 +-
 memory/MemoryProxyIF.h                        |   2 +-
 modes/HasModesIF.h                            |   8 +-
 modes/ModeHelper.cpp                          |   6 +-
 modes/ModeHelper.h                            |   6 +-
 modes/ModeMessage.cpp                         |   2 +-
 modes/ModeMessage.h                           |   2 +-
 monitoring/AbsLimitMonitor.h                  |   2 +-
 monitoring/HasMonitorsIF.h                    |   6 +-
 monitoring/LimitMonitor.h                     |   2 +-
 monitoring/LimitViolationReporter.cpp         |  10 +-
 monitoring/LimitViolationReporter.h           |   8 +-
 monitoring/MonitorBase.h                      |  12 +-
 monitoring/MonitorReporter.h                  |  10 +-
 monitoring/MonitoringIF.h                     |   6 +-
 monitoring/MonitoringMessage.cpp              |   4 +-
 monitoring/MonitoringMessage.h                |   4 +-
 monitoring/MonitoringMessageContent.h         |  18 +-
 monitoring/ReceivesMonitoringReportsIF.h      |   2 +-
 monitoring/TriplexMonitor.h                   |  10 +-
 monitoring/TwoValueLimitMonitor.h             |   2 +-
 objectmanager/ObjectManager.cpp               |   4 +-
 objectmanager/ObjectManager.h                 |   4 +-
 objectmanager/ObjectManagerIF.h               |   8 +-
 objectmanager/SystemObject.cpp                |   6 +-
 objectmanager/SystemObject.h                  |   8 +-
 objectmanager/SystemObjectIF.h                |   4 +-
 osal/FreeRTOS/Clock.cpp                       |   6 +-
 osal/FreeRTOS/FixedTimeslotTask.cpp           |   2 +-
 osal/FreeRTOS/FixedTimeslotTask.h             |   6 +-
 osal/FreeRTOS/MessageQueue.cpp                |   2 +-
 osal/FreeRTOS/MessageQueue.h                  |   6 +-
 osal/FreeRTOS/Mutex.cpp                       |   2 +-
 osal/FreeRTOS/Mutex.h                         |   2 +-
 osal/FreeRTOS/MutexFactory.cpp                |   2 +-
 osal/FreeRTOS/PeriodicTask.cpp                |   4 +-
 osal/FreeRTOS/PeriodicTask.h                  |   6 +-
 osal/FreeRTOS/QueueFactory.cpp                |   4 +-
 osal/FreeRTOS/TaskFactory.cpp                 |   4 +-
 osal/FreeRTOS/Timekeeper.cpp                  |   2 +-
 osal/FreeRTOS/Timekeeper.h                    |   2 +-
 osal/InternalErrorCodes.h                     |   2 +-
 osal/linux/Clock.cpp                          |   4 +-
 osal/linux/FixedTimeslotTask.cpp              |   4 +-
 osal/linux/FixedTimeslotTask.h                |   6 +-
 osal/linux/InternalErrorCodes.cpp             |   2 +-
 osal/linux/MessageQueue.cpp                   |   4 +-
 osal/linux/MessageQueue.h                     |   6 +-
 osal/linux/Mutex.cpp                          |   6 +-
 osal/linux/Mutex.h                            |   2 +-
 osal/linux/MutexFactory.cpp                   |   4 +-
 osal/linux/PeriodicPosixTask.cpp              |   6 +-
 osal/linux/PeriodicPosixTask.h                |   8 +-
 osal/linux/PosixThread.cpp                    |   4 +-
 osal/linux/PosixThread.h                      |   2 +-
 osal/linux/QueueFactory.cpp                   |   6 +-
 osal/linux/TaskFactory.cpp                    |   8 +-
 osal/linux/Timer.cpp                          |   4 +-
 osal/rtems/Clock.cpp                          |   2 +-
 osal/rtems/CpuUsage.cpp                       |   4 +-
 osal/rtems/CpuUsage.h                         |   4 +-
 osal/rtems/InternalErrorCodes.cpp             |   2 +-
 osal/rtems/Interrupt.h                        |   2 +-
 osal/rtems/MessageQueue.cpp                   |   2 +-
 osal/rtems/MessageQueue.h                     |   6 +-
 osal/rtems/MultiObjectTask.cpp                |   4 +-
 osal/rtems/MultiObjectTask.h                  |   4 +-
 osal/rtems/Mutex.cpp                          |   2 +-
 osal/rtems/Mutex.h                            |   2 +-
 osal/rtems/MutexFactory.cpp                   |   2 +-
 osal/rtems/PollingTask.cpp                    |  12 +-
 osal/rtems/PollingTask.h                      |   4 +-
 osal/rtems/QueueFactory.cpp                   |   2 +-
 osal/rtems/RtemsBasic.h                       |   2 +-
 osal/rtems/TaskBase.cpp                       |   2 +-
 osal/rtems/TaskBase.h                         |   2 +-
 osal/rtems/TaskFactory.cpp                    |   4 +-
 parameters/HasParametersIF.h                  |   4 +-
 parameters/ParameterHelper.cpp                |   6 +-
 parameters/ParameterHelper.h                  |   4 +-
 parameters/ParameterMessage.cpp               |   4 +-
 parameters/ParameterMessage.h                 |   6 +-
 parameters/ParameterWrapper.cpp               |   2 +-
 parameters/ParameterWrapper.h                 |   8 +-
 parameters/ReceivesParameterMessagesIF.h      |   4 +-
 power/Fuse.cpp                                |  12 +-
 power/Fuse.h                                  |  16 +-
 power/PowerComponent.cpp                      |   2 +-
 power/PowerComponent.h                        |   4 +-
 power/PowerComponentIF.h                      |   4 +-
 power/PowerSensor.cpp                         |   4 +-
 power/PowerSensor.h                           |  16 +-
 power/PowerSwitchIF.h                         |   4 +-
 power/PowerSwitcher.cpp                       |   6 +-
 power/PowerSwitcher.h                         |   6 +-
 pus/CService200ModeCommanding.cpp             | 238 +++++-----
 pus/CService200ModeCommanding.h               | 170 +++----
 pus/Service1TelecommandVerification.cpp       |  16 +-
 pus/Service1TelecommandVerification.h         |  12 +-
 pus/Service2DeviceAccess.cpp                  | 334 +++++++-------
 pus/Service2DeviceAccess.h                    | 184 ++++----
 pus/Service5EventReporting.cpp                |  12 +-
 pus/Service5EventReporting.h                  |   4 +-
 pus/Service8FunctionManagement.cpp            | 284 ++++++------
 pus/Service8FunctionManagement.h              | 134 +++---
 pus/servicepackets/Service1Packets.h          |   4 +-
 pus/servicepackets/Service200Packets.h        | 126 +++---
 pus/servicepackets/Service2Packets.h          | 152 +++----
 pus/servicepackets/Service5Packets.h          |   4 +-
 pus/servicepackets/Service8Packets.h          | 242 +++++-----
 returnvalues/HasReturnvaluesIF.h              |   2 +-
 rmap/RMAP.cpp                                 |   8 +-
 rmap/RMAP.h                                   |   4 +-
 rmap/RMAPChannelIF.h                          |   4 +-
 rmap/RMAPCookie.cpp                           |   4 +-
 rmap/RMAPCookie.h                             |   4 +-
 rmap/RmapDeviceCommunicationIF.cpp            |   4 +-
 rmap/RmapDeviceCommunicationIF.h              |   2 +-
 serialize/EndianConverter.h                   |   2 +-
 serialize/SerialArrayListAdapter.h            |   4 +-
 serialize/SerialBufferAdapter.cpp             |   2 +-
 serialize/SerialBufferAdapter.h               |   4 +-
 serialize/SerialFixedArrayListAdapter.h       |   4 +-
 serialize/SerialLinkedListAdapter.h           |   8 +-
 serialize/SerializeAdapter.h                  |   8 +-
 serialize/SerializeElement.h                  |   4 +-
 serialize/SerializeIF.h                       |   2 +-
 serviceinterface/ServiceInterfaceBuffer.cpp   |   6 +-
 serviceinterface/ServiceInterfaceBuffer.h     |   2 +-
 serviceinterface/ServiceInterfaceStream.cpp   |   2 +-
 serviceinterface/ServiceInterfaceStream.h     |   2 +-
 storagemanager/LocalPool.h                    |  12 +-
 storagemanager/PoolManager.h                  |   4 +-
 storagemanager/StorageManagerIF.h             |   4 +-
 subsystem/Subsystem.cpp                       |  14 +-
 subsystem/Subsystem.h                         |  14 +-
 subsystem/SubsystemBase.cpp                   |   8 +-
 subsystem/SubsystemBase.h                     |  18 +-
 subsystem/modes/HasModeSequenceIF.h           |   6 +-
 subsystem/modes/ModeDefinitions.h             |   8 +-
 subsystem/modes/ModeSequenceMessage.cpp       |  10 +-
 subsystem/modes/ModeSequenceMessage.h         |   6 +-
 subsystem/modes/ModeStore.cpp                 |   2 +-
 subsystem/modes/ModeStore.h                   |   8 +-
 subsystem/modes/ModeStoreIF.h                 |   8 +-
 tasks/ExecutableObjectIF.h                    |   2 +-
 tasks/FixedTimeslotTaskIF.h                   |   4 +-
 tasks/PeriodicTaskIF.h                        |   4 +-
 tasks/TaskFactory.h                           |   4 +-
 tcdistribution/CCSDSDistributor.cpp           |   6 +-
 tcdistribution/CCSDSDistributor.h             |  10 +-
 tcdistribution/CCSDSDistributorIF.h           |   4 +-
 tcdistribution/PUSDistributor.cpp             |  10 +-
 tcdistribution/PUSDistributor.h               |  12 +-
 tcdistribution/PUSDistributorIF.h             |   4 +-
 tcdistribution/TcDistributor.cpp              |  10 +-
 tcdistribution/TcDistributor.h                |  14 +-
 tcdistribution/TcPacketCheck.cpp              |  10 +-
 tcdistribution/TcPacketCheck.h                |   6 +-
 thermal/AbstractTemperatureSensor.cpp         |   2 +-
 thermal/AbstractTemperatureSensor.h           |  12 +-
 thermal/CoreComponent.h                       |  12 +-
 thermal/Heater.cpp                            |   6 +-
 thermal/Heater.h                              |  10 +-
 thermal/RedundantHeater.h                     |   2 +-
 thermal/TemperatureSensor.h                   |   4 +-
 thermal/ThermalComponentIF.h                  |   8 +-
 thermal/ThermalModule.cpp                     |   4 +-
 thermal/ThermalModule.h                       |   8 +-
 thermal/ThermalMonitor.cpp                    |   6 +-
 thermal/ThermalMonitor.h                      |   4 +-
 timemanager/CCSDSTime.cpp                     |   2 +-
 timemanager/CCSDSTime.h                       |   4 +-
 timemanager/Clock.h                           |   6 +-
 timemanager/Countdown.cpp                     |   2 +-
 timemanager/Countdown.h                       |   2 +-
 timemanager/Stopwatch.cpp                     | 114 ++---
 timemanager/Stopwatch.h                       | 142 +++---
 timemanager/TimeMessage.cpp                   |   2 +-
 timemanager/TimeMessage.h                     |   4 +-
 timemanager/TimeStamperIF.h                   |   2 +-
 tmstorage/TmStoreBackendIF.h                  |  10 +-
 tmstorage/TmStoreFrontendIF.h                 |   6 +-
 tmstorage/TmStoreMessage.cpp                  |   4 +-
 tmstorage/TmStoreMessage.h                    |   8 +-
 tmstorage/TmStorePackets.h                    |  16 +-
 tmtcpacket/SpacePacket.cpp                    |   6 +-
 tmtcpacket/SpacePacket.h                      |   2 +-
 tmtcpacket/SpacePacketBase.cpp                |   4 +-
 tmtcpacket/SpacePacketBase.h                  |   2 +-
 tmtcpacket/packetmatcher/ApidMatcher.h        |   6 +-
 tmtcpacket/packetmatcher/PacketMatchTree.cpp  |   8 +-
 tmtcpacket/packetmatcher/PacketMatchTree.h    |   8 +-
 tmtcpacket/packetmatcher/ServiceMatcher.h     |   6 +-
 tmtcpacket/packetmatcher/SubserviceMatcher.h  |   6 +-
 tmtcpacket/pus/PacketTimestampInterpreterIF.h |   2 +-
 tmtcpacket/pus/TcPacketBase.cpp               |   6 +-
 tmtcpacket/pus/TcPacketBase.h                 |   2 +-
 tmtcpacket/pus/TcPacketStored.cpp             |   6 +-
 tmtcpacket/pus/TcPacketStored.h               |   4 +-
 tmtcpacket/pus/TmPacketBase.cpp               |  10 +-
 tmtcpacket/pus/TmPacketBase.h                 |   8 +-
 tmtcpacket/pus/TmPacketMinimal.cpp            |   4 +-
 tmtcpacket/pus/TmPacketMinimal.h              |   4 +-
 tmtcpacket/pus/TmPacketStored.cpp             |   8 +-
 tmtcpacket/pus/TmPacketStored.h               |  10 +-
 tmtcservices/AcceptsTelecommandsIF.h          |   2 +-
 tmtcservices/AcceptsTelemetryIF.h             |   2 +-
 tmtcservices/AcceptsVerifyMessageIF.h         |   2 +-
 tmtcservices/CommandingServiceBase.cpp        |  16 +-
 tmtcservices/CommandingServiceBase.h          |  20 +-
 tmtcservices/PusServiceBase.cpp               |  14 +-
 tmtcservices/PusServiceBase.h                 |  18 +-
 tmtcservices/PusVerificationReport.cpp        |   4 +-
 tmtcservices/PusVerificationReport.h          |   6 +-
 tmtcservices/SourceSequenceCounter.h          |   2 +-
 tmtcservices/TmTcBridge.cpp                   | 414 +++++++++---------
 tmtcservices/TmTcBridge.h                     | 308 ++++++-------
 tmtcservices/TmTcMessage.cpp                  |   2 +-
 tmtcservices/TmTcMessage.h                    |   4 +-
 tmtcservices/VerificationReporter.cpp         |   8 +-
 tmtcservices/VerificationReporter.h           |   4 +-
 384 files changed, 2477 insertions(+), 2477 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index dc6bd498..b43c676d 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -1,6 +1,6 @@
-#include <framework/action/ActionHelper.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "ActionHelper.h"
+#include "HasActionsIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
 		owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
diff --git a/action/ActionHelper.h b/action/ActionHelper.h
index eb3bfa54..bbc6d114 100644
--- a/action/ActionHelper.h
+++ b/action/ActionHelper.h
@@ -1,9 +1,9 @@
 #ifndef ACTIONHELPER_H_
 #define ACTIONHELPER_H_
 
-#include <framework/action/ActionMessage.h>
-#include <framework/serialize/SerializeIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "ActionMessage.h"
+#include "../serialize/SerializeIF.h"
+#include "../ipc/MessageQueueIF.h"
 /**
  * \brief Action Helper is a helper class which handles action messages
  *
diff --git a/action/ActionMessage.cpp b/action/ActionMessage.cpp
index 96ff59b6..b0bcabaa 100644
--- a/action/ActionMessage.cpp
+++ b/action/ActionMessage.cpp
@@ -1,6 +1,6 @@
-#include <framework/action/ActionMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "ActionMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../storagemanager/StorageManagerIF.h"
 
 ActionMessage::ActionMessage() {
 }
diff --git a/action/ActionMessage.h b/action/ActionMessage.h
index 5d8332cb..c564911c 100644
--- a/action/ActionMessage.h
+++ b/action/ActionMessage.h
@@ -1,9 +1,9 @@
 #ifndef ACTIONMESSAGE_H_
 #define ACTIONMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../ipc/CommandMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../storagemanager/StorageManagerIF.h"
 typedef uint32_t ActionId_t;
 
 class ActionMessage {
diff --git a/action/CommandActionHelper.cpp b/action/CommandActionHelper.cpp
index 70ffbbde..4e88f3c3 100644
--- a/action/CommandActionHelper.cpp
+++ b/action/CommandActionHelper.cpp
@@ -1,8 +1,8 @@
-#include <framework/action/ActionMessage.h>
-#include <framework/action/CommandActionHelper.h>
-#include <framework/action/CommandsActionsIF.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "ActionMessage.h"
+#include "CommandActionHelper.h"
+#include "CommandsActionsIF.h"
+#include "HasActionsIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
 		owner(setOwner), queueToUse(NULL), ipcStore(
diff --git a/action/CommandActionHelper.h b/action/CommandActionHelper.h
index 24d0380c..cfed8c94 100644
--- a/action/CommandActionHelper.h
+++ b/action/CommandActionHelper.h
@@ -1,12 +1,12 @@
 #ifndef COMMANDACTIONHELPER_H_
 #define COMMANDACTIONHELPER_H_
 
-#include <framework/action/ActionMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "ActionMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 class CommandsActionsIF;
 
diff --git a/action/CommandsActionsIF.h b/action/CommandsActionsIF.h
index db76fb50..3d04015d 100644
--- a/action/CommandsActionsIF.h
+++ b/action/CommandsActionsIF.h
@@ -1,9 +1,9 @@
 #ifndef COMMANDSACTIONSIF_H_
 #define COMMANDSACTIONSIF_H_
 
-#include <framework/action/CommandActionHelper.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "CommandActionHelper.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 /**
  * Interface to separate commanding actions of other objects.
diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h
index 008d9eaf..886d0837 100644
--- a/action/HasActionsIF.h
+++ b/action/HasActionsIF.h
@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
 #define FRAMEWORK_ACTION_HASACTIONSIF_H_
 
-#include <framework/action/ActionHelper.h>
-#include <framework/action/ActionMessage.h>
-#include <framework/action/SimpleActionHelper.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "ActionHelper.h"
+#include "ActionMessage.h"
+#include "SimpleActionHelper.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueIF.h"
 /**
  * @brief
  * Interface for component which uses actions
diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp
index 6861fc28..d79a3c97 100644
--- a/action/SimpleActionHelper.cpp
+++ b/action/SimpleActionHelper.cpp
@@ -1,5 +1,5 @@
-#include <framework/action/HasActionsIF.h>
-#include <framework/action/SimpleActionHelper.h>
+#include "HasActionsIF.h"
+#include "SimpleActionHelper.h"
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
 		MessageQueueIF* useThisQueue) :
 		ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
diff --git a/action/SimpleActionHelper.h b/action/SimpleActionHelper.h
index 71e73c5a..1329b5fb 100644
--- a/action/SimpleActionHelper.h
+++ b/action/SimpleActionHelper.h
@@ -1,7 +1,7 @@
 #ifndef SIMPLEACTIONHELPER_H_
 #define SIMPLEACTIONHELPER_H_
 
-#include <framework/action/ActionHelper.h>
+#include "ActionHelper.h"
 
 class SimpleActionHelper: public ActionHelper {
 public:
diff --git a/container/ArrayList.h b/container/ArrayList.h
index 9c4c4ceb..018f9894 100644
--- a/container/ArrayList.h
+++ b/container/ArrayList.h
@@ -1,9 +1,9 @@
 #ifndef ARRAYLIST_H_
 #define ARRAYLIST_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serialize/SerializeIF.h"
 
 /**
  * A List that stores its values in an array.
diff --git a/container/FIFO.h b/container/FIFO.h
index f70c78b0..3172d9d1 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -1,7 +1,7 @@
 #ifndef FIFO_H_
 #define FIFO_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief Simple First-In-First-Out data structure
diff --git a/container/FixedArrayList.h b/container/FixedArrayList.h
index eeffcc87..42b59177 100644
--- a/container/FixedArrayList.h
+++ b/container/FixedArrayList.h
@@ -1,7 +1,7 @@
 #ifndef FIXEDARRAYLIST_H_
 #define FIXEDARRAYLIST_H_
 
-#include <framework/container/ArrayList.h>
+#include "ArrayList.h"
 /**
  * \ingroup container
  */
diff --git a/container/FixedMap.h b/container/FixedMap.h
index ac170bd2..dc19ce53 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -1,8 +1,8 @@
 #ifndef FIXEDMAP_H_
 #define FIXEDMAP_H_
 
-#include <framework/container/ArrayList.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "ArrayList.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <utility>
 
 /**
diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index 21629664..6152d8d7 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
 #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
 
-#include <framework/container/ArrayList.h>
+#include "ArrayList.h"
 #include <cstring>
 #include <set>
 /**
diff --git a/container/HybridIterator.h b/container/HybridIterator.h
index f2fd6b28..8d020cb9 100644
--- a/container/HybridIterator.h
+++ b/container/HybridIterator.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
 #define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
 
-#include <framework/container/ArrayList.h>
-#include <framework/container/SinglyLinkedList.h>
+#include "ArrayList.h"
+#include "SinglyLinkedList.h"
 
 template<typename T, typename count_t = uint8_t>
 class HybridIterator: public LinkedElement<T>::Iterator,
diff --git a/container/IndexedRingMemoryArray.h b/container/IndexedRingMemoryArray.h
index 6e7f330c..0d85b49b 100644
--- a/container/IndexedRingMemoryArray.h
+++ b/container/IndexedRingMemoryArray.h
@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
 #define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
 
-#include <framework/container/ArrayList.h>
-#include <framework/globalfunctions/CRC.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerialArrayListAdapter.h>
+#include "ArrayList.h"
+#include "../globalfunctions/CRC.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerialArrayListAdapter.h"
 #include <cmath>
 
 template<typename T>
diff --git a/container/PlacementFactory.h b/container/PlacementFactory.h
index daf4ee20..05538478 100644
--- a/container/PlacementFactory.h
+++ b/container/PlacementFactory.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
 #define FRAMEWORK_CONTAINER_PLACEMENTFACTORY_H_
 
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../storagemanager/StorageManagerIF.h"
 #include <utility>
 
 class PlacementFactory {
diff --git a/container/RingBufferBase.h b/container/RingBufferBase.h
index 3ef782d8..e3a87d9d 100644
--- a/container/RingBufferBase.h
+++ b/container/RingBufferBase.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
 #define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 template<uint8_t N_READ_PTRS = 1>
 class RingBufferBase {
diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index 63dc3514..ee087643 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -1,4 +1,4 @@
-#include <framework/container/SimpleRingBuffer.h>
+#include "SimpleRingBuffer.h"
 #include <string.h>
 
 SimpleRingBuffer::SimpleRingBuffer(uint32_t size, bool overwriteOld) :
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index 6d7d67e1..5d4fecab 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
 #define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
 
-#include <framework/container/RingBufferBase.h>
+#include "RingBufferBase.h"
 #include <stddef.h>
 
 class SimpleRingBuffer: public RingBufferBase<> {
diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp
index 7b11bdfa..69551731 100644
--- a/controller/ControllerBase.cpp
+++ b/controller/ControllerBase.cpp
@@ -1,8 +1,8 @@
-#include <framework/subsystem/SubsystemBase.h>
-#include <framework/controller/ControllerBase.h>
-#include <framework/subsystem/SubsystemBase.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/action/HasActionsIF.h>
+#include "../subsystem/SubsystemBase.h"
+#include "ControllerBase.h"
+#include "../subsystem/SubsystemBase.h"
+#include "../ipc/QueueFactory.h"
+#include "../action/HasActionsIF.h"
 
 ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
 		size_t commandQueueDepth) :
diff --git a/controller/ControllerBase.h b/controller/ControllerBase.h
index 804bc7c2..f5182ceb 100644
--- a/controller/ControllerBase.h
+++ b/controller/ControllerBase.h
@@ -1,13 +1,13 @@
 #ifndef CONTROLLERBASE_H_
 #define CONTROLLERBASE_H_
 
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthHelper.h>
-#include <framework/modes/HasModesIF.h>
-#include <framework/modes/ModeHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/datapool/HkSwitchHelper.h>
+#include "../health/HasHealthIF.h"
+#include "../health/HealthHelper.h"
+#include "../modes/HasModesIF.h"
+#include "../modes/ModeHelper.h"
+#include "../objectmanager/SystemObject.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../datapool/HkSwitchHelper.h"
 
 
 class ControllerBase: public HasModesIF,
diff --git a/coordinates/CoordinateTransformations.cpp b/coordinates/CoordinateTransformations.cpp
index b57519a3..4e2debbe 100644
--- a/coordinates/CoordinateTransformations.cpp
+++ b/coordinates/CoordinateTransformations.cpp
@@ -1,7 +1,7 @@
-#include <framework/coordinates/CoordinateTransformations.h>
-#include <framework/globalfunctions/constants.h>
-#include <framework/globalfunctions/math/MatrixOperations.h>
-#include <framework/globalfunctions/math/VectorOperations.h>
+#include "CoordinateTransformations.h"
+#include "../globalfunctions/constants.h"
+#include "../globalfunctions/math/MatrixOperations.h"
+#include "../globalfunctions/math/VectorOperations.h"
 #include <stddef.h>
 #include <cmath>
 
diff --git a/coordinates/CoordinateTransformations.h b/coordinates/CoordinateTransformations.h
index b072271f..09ea2c48 100644
--- a/coordinates/CoordinateTransformations.h
+++ b/coordinates/CoordinateTransformations.h
@@ -1,7 +1,7 @@
 #ifndef COORDINATETRANSFORMATIONS_H_
 #define COORDINATETRANSFORMATIONS_H_
 
-#include <framework/timemanager/Clock.h>
+#include "../timemanager/Clock.h"
 #include <cstring>
 
 class CoordinateTransformations {
diff --git a/coordinates/Jgm3Model.h b/coordinates/Jgm3Model.h
index 8f0598f8..884ed141 100644
--- a/coordinates/Jgm3Model.h
+++ b/coordinates/Jgm3Model.h
@@ -2,10 +2,10 @@
 #define FRAMEWORK_COORDINATES_JGM3MODEL_H_
 
 #include <stdint.h>
-#include <framework/coordinates/CoordinateTransformations.h>
-#include <framework/globalfunctions/math/VectorOperations.h>
-#include <framework/globalfunctions/timevalOperations.h>
-#include <framework/globalfunctions/constants.h>
+#include "CoordinateTransformations.h"
+#include "../globalfunctions/math/VectorOperations.h"
+#include "../globalfunctions/timevalOperations.h"
+#include "../globalfunctions/constants.h"
 #include <memory.h>
 
 
diff --git a/coordinates/Sgp4Propagator.cpp b/coordinates/Sgp4Propagator.cpp
index 0eb20f08..5cb1497c 100644
--- a/coordinates/Sgp4Propagator.cpp
+++ b/coordinates/Sgp4Propagator.cpp
@@ -1,9 +1,9 @@
-#include <framework/coordinates/CoordinateTransformations.h>
-#include <framework/coordinates/Sgp4Propagator.h>
-#include <framework/globalfunctions/constants.h>
-#include <framework/globalfunctions/math/MatrixOperations.h>
-#include <framework/globalfunctions/math/VectorOperations.h>
-#include <framework/globalfunctions/timevalOperations.h>
+#include "CoordinateTransformations.h"
+#include "Sgp4Propagator.h"
+#include "../globalfunctions/constants.h"
+#include "../globalfunctions/math/MatrixOperations.h"
+#include "../globalfunctions/math/VectorOperations.h"
+#include "../globalfunctions/timevalOperations.h"
 #include <cstring>
 Sgp4Propagator::Sgp4Propagator() :
 		initialized(false), epoch({0, 0}), whichconst(wgs84) {
diff --git a/coordinates/Sgp4Propagator.h b/coordinates/Sgp4Propagator.h
index 95739762..3949547e 100644
--- a/coordinates/Sgp4Propagator.h
+++ b/coordinates/Sgp4Propagator.h
@@ -3,7 +3,7 @@
 
 #include <sys/time.h>
 #include "../contrib/sgp4/sgp4unit.h"
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class Sgp4Propagator {
 public:
diff --git a/datalinklayer/BCFrame.h b/datalinklayer/BCFrame.h
index bcdf5300..b7795556 100644
--- a/datalinklayer/BCFrame.h
+++ b/datalinklayer/BCFrame.h
@@ -8,7 +8,7 @@
 #ifndef BCFRAME_H_
 #define BCFRAME_H_
 
-#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
+#include "CCSDSReturnValuesIF.h"
 
 /**
  * Small helper class to identify a BcFrame.
diff --git a/datalinklayer/CCSDSReturnValuesIF.h b/datalinklayer/CCSDSReturnValuesIF.h
index 4d4f4bde..805b6969 100644
--- a/datalinklayer/CCSDSReturnValuesIF.h
+++ b/datalinklayer/CCSDSReturnValuesIF.h
@@ -8,7 +8,7 @@
 #ifndef CCSDSRETURNVALUESIF_H_
 #define CCSDSRETURNVALUESIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 /**
  * This is a helper class to collect special return values that come up during CCSDS Handling.
  * @ingroup ccsds_handling
diff --git a/datalinklayer/Clcw.cpp b/datalinklayer/Clcw.cpp
index ee497e20..dc435a2b 100644
--- a/datalinklayer/Clcw.cpp
+++ b/datalinklayer/Clcw.cpp
@@ -7,8 +7,8 @@
 
 
 
-#include <framework/datalinklayer/Clcw.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "Clcw.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 Clcw::Clcw() {
 	content.raw = 0;
diff --git a/datalinklayer/Clcw.h b/datalinklayer/Clcw.h
index f19f37b6..8116d63b 100644
--- a/datalinklayer/Clcw.h
+++ b/datalinklayer/Clcw.h
@@ -8,7 +8,7 @@
 #ifndef CLCW_H_
 #define CLCW_H_
 
-#include <framework/datalinklayer/ClcwIF.h>
+#include "ClcwIF.h"
 /**
  * Small helper method to handle the Clcw values.
  * It has a content struct that manages the register and can be set externally.
diff --git a/datalinklayer/DataLinkLayer.cpp b/datalinklayer/DataLinkLayer.cpp
index 4ca7f270..75f2edda 100644
--- a/datalinklayer/DataLinkLayer.cpp
+++ b/datalinklayer/DataLinkLayer.cpp
@@ -1,6 +1,6 @@
-#include <framework/datalinklayer/DataLinkLayer.h>
-#include <framework/globalfunctions/CRC.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "DataLinkLayer.h"
+#include "../globalfunctions/CRC.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 DataLinkLayer::DataLinkLayer(uint8_t* set_frame_buffer, ClcwIF* setClcw,
 		uint8_t set_start_sequence_length, uint16_t set_scid) :
diff --git a/datalinklayer/DataLinkLayer.h b/datalinklayer/DataLinkLayer.h
index 8a3bb8e5..5a900099 100644
--- a/datalinklayer/DataLinkLayer.h
+++ b/datalinklayer/DataLinkLayer.h
@@ -1,11 +1,11 @@
 #ifndef DATALINKLAYER_H_
 #define DATALINKLAYER_H_
 
-#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
-#include <framework/datalinklayer/ClcwIF.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/datalinklayer/VirtualChannelReceptionIF.h>
-#include <framework/events/Event.h>
+#include "CCSDSReturnValuesIF.h"
+#include "ClcwIF.h"
+#include "TcTransferFrame.h"
+#include "VirtualChannelReceptionIF.h"
+#include "../events/Event.h"
 #include <map>
 
 
diff --git a/datalinklayer/Farm1StateIF.h b/datalinklayer/Farm1StateIF.h
index 25836e6a..71794d75 100644
--- a/datalinklayer/Farm1StateIF.h
+++ b/datalinklayer/Farm1StateIF.h
@@ -8,7 +8,7 @@
 #ifndef FARM1STATEIF_H_
 #define FARM1STATEIF_H_
 
-#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
+#include "CCSDSReturnValuesIF.h"
 class VirtualChannelReception;
 class TcTransferFrame;
 class ClcwIF;
diff --git a/datalinklayer/Farm1StateLockout.cpp b/datalinklayer/Farm1StateLockout.cpp
index 45ae47f9..1b339a85 100644
--- a/datalinklayer/Farm1StateLockout.cpp
+++ b/datalinklayer/Farm1StateLockout.cpp
@@ -7,10 +7,10 @@
 
 
 
-#include <framework/datalinklayer/ClcwIF.h>
-#include <framework/datalinklayer/Farm1StateLockout.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/datalinklayer/VirtualChannelReception.h>
+#include "ClcwIF.h"
+#include "Farm1StateLockout.h"
+#include "TcTransferFrame.h"
+#include "VirtualChannelReception.h"
 Farm1StateLockout::Farm1StateLockout(VirtualChannelReception* setMyVC) : myVC(setMyVC) {
 }
 
diff --git a/datalinklayer/Farm1StateLockout.h b/datalinklayer/Farm1StateLockout.h
index aac8ed74..63cdc4d2 100644
--- a/datalinklayer/Farm1StateLockout.h
+++ b/datalinklayer/Farm1StateLockout.h
@@ -8,7 +8,7 @@
 #ifndef FARM1STATELOCKOUT_H_
 #define FARM1STATELOCKOUT_H_
 
-#include <framework/datalinklayer/Farm1StateIF.h>
+#include "Farm1StateIF.h"
 
 /**
  * This class represents the FARM-1 "Lockout" State.
diff --git a/datalinklayer/Farm1StateOpen.cpp b/datalinklayer/Farm1StateOpen.cpp
index b06cff48..61c0997f 100644
--- a/datalinklayer/Farm1StateOpen.cpp
+++ b/datalinklayer/Farm1StateOpen.cpp
@@ -8,10 +8,10 @@
 
 
 
-#include <framework/datalinklayer/ClcwIF.h>
-#include <framework/datalinklayer/Farm1StateOpen.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/datalinklayer/VirtualChannelReception.h>
+#include "ClcwIF.h"
+#include "Farm1StateOpen.h"
+#include "TcTransferFrame.h"
+#include "VirtualChannelReception.h"
 
 Farm1StateOpen::Farm1StateOpen(VirtualChannelReception* setMyVC) : myVC(setMyVC) {
 }
diff --git a/datalinklayer/Farm1StateOpen.h b/datalinklayer/Farm1StateOpen.h
index 09caacbb..3b3a2604 100644
--- a/datalinklayer/Farm1StateOpen.h
+++ b/datalinklayer/Farm1StateOpen.h
@@ -8,7 +8,7 @@
 #ifndef FARM1STATEOPEN_H_
 #define FARM1STATEOPEN_H_
 
-#include <framework/datalinklayer/Farm1StateIF.h>
+#include "Farm1StateIF.h"
 
 /**
  * This class represents the FARM-1 "Open" State.
diff --git a/datalinklayer/Farm1StateWait.cpp b/datalinklayer/Farm1StateWait.cpp
index 1c72e68f..9001e1f5 100644
--- a/datalinklayer/Farm1StateWait.cpp
+++ b/datalinklayer/Farm1StateWait.cpp
@@ -6,10 +6,10 @@
  */
 
 
-#include <framework/datalinklayer/ClcwIF.h>
-#include <framework/datalinklayer/Farm1StateWait.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/datalinklayer/VirtualChannelReception.h>
+#include "ClcwIF.h"
+#include "Farm1StateWait.h"
+#include "TcTransferFrame.h"
+#include "VirtualChannelReception.h"
 
 Farm1StateWait::Farm1StateWait(VirtualChannelReception* setMyVC) : myVC(setMyVC) {
 }
diff --git a/datalinklayer/Farm1StateWait.h b/datalinklayer/Farm1StateWait.h
index f1201791..877c36c2 100644
--- a/datalinklayer/Farm1StateWait.h
+++ b/datalinklayer/Farm1StateWait.h
@@ -8,7 +8,7 @@
 #ifndef FARM1STATEWAIT_H_
 #define FARM1STATEWAIT_H_
 
-#include <framework/datalinklayer/Farm1StateIF.h>
+#include "Farm1StateIF.h"
 
 /**
  * This class represents the FARM-1 "Wait" State.
diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp
index 11b0792a..cb12b321 100644
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@@ -5,13 +5,13 @@
  * @author	baetz
  */
 
-#include <framework/datalinklayer/MapPacketExtraction.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tmtcpacket/SpacePacketBase.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/TmTcMessage.h>
+#include "MapPacketExtraction.h"
+#include "../ipc/QueueFactory.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../tmtcpacket/SpacePacketBase.h"
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
+#include "../tmtcservices/TmTcMessage.h"
 #include <string.h>
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
diff --git a/datalinklayer/MapPacketExtraction.h b/datalinklayer/MapPacketExtraction.h
index 5a32366c..507f13db 100644
--- a/datalinklayer/MapPacketExtraction.h
+++ b/datalinklayer/MapPacketExtraction.h
@@ -8,10 +8,10 @@
 #ifndef MAPPACKETEXTRACTION_H_
 #define MAPPACKETEXTRACTION_H_
 
-#include <framework/datalinklayer/MapPacketExtractionIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "MapPacketExtractionIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class StorageManagerIF;
 
diff --git a/datalinklayer/MapPacketExtractionIF.h b/datalinklayer/MapPacketExtractionIF.h
index 802a893d..e29ac666 100644
--- a/datalinklayer/MapPacketExtractionIF.h
+++ b/datalinklayer/MapPacketExtractionIF.h
@@ -8,8 +8,8 @@
 #ifndef MAPPACKETEXTRACTIONIF_H_
 #define MAPPACKETEXTRACTIONIF_H_
 
-#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
+#include "CCSDSReturnValuesIF.h"
+#include "TcTransferFrame.h"
 
 /**
  * This is the interface for MAP Packet Extraction classes.
diff --git a/datalinklayer/TcTransferFrame.cpp b/datalinklayer/TcTransferFrame.cpp
index 30398e9b..f1a70bdc 100644
--- a/datalinklayer/TcTransferFrame.cpp
+++ b/datalinklayer/TcTransferFrame.cpp
@@ -7,8 +7,8 @@
 
 
 
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "TcTransferFrame.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 TcTransferFrame::TcTransferFrame() {
 	 frame = NULL;
diff --git a/datalinklayer/TcTransferFrameLocal.cpp b/datalinklayer/TcTransferFrameLocal.cpp
index 79e14167..e8785c92 100644
--- a/datalinklayer/TcTransferFrameLocal.cpp
+++ b/datalinklayer/TcTransferFrameLocal.cpp
@@ -5,9 +5,9 @@
  * @author	baetz
  */
 
-#include <framework/datalinklayer/TcTransferFrameLocal.h>
-#include <framework/globalfunctions/CRC.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "TcTransferFrameLocal.h"
+#include "../globalfunctions/CRC.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include <string.h>
 
 TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uint16_t scid,
diff --git a/datalinklayer/TcTransferFrameLocal.h b/datalinklayer/TcTransferFrameLocal.h
index f20f12ec..487d8940 100644
--- a/datalinklayer/TcTransferFrameLocal.h
+++ b/datalinklayer/TcTransferFrameLocal.h
@@ -8,7 +8,7 @@
 #ifndef TCTRANSFERFRAMELOCAL_H_
 #define TCTRANSFERFRAMELOCAL_H_
 
-#include <framework/datalinklayer/TcTransferFrame.h>
+#include "TcTransferFrame.h"
 
 /**
  * This is a helper class to locally create TC Transfer Frames.
diff --git a/datalinklayer/VirtualChannelReception.cpp b/datalinklayer/VirtualChannelReception.cpp
index 373f6c62..cde28de3 100644
--- a/datalinklayer/VirtualChannelReception.cpp
+++ b/datalinklayer/VirtualChannelReception.cpp
@@ -5,9 +5,9 @@
  * @author	baetz
  */
 
-#include <framework/datalinklayer/BCFrame.h>
-#include <framework/datalinklayer/VirtualChannelReception.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "BCFrame.h"
+#include "VirtualChannelReception.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 VirtualChannelReception::VirtualChannelReception(uint8_t setChannelId,
 		uint8_t setSlidingWindowWidth) :
diff --git a/datalinklayer/VirtualChannelReception.h b/datalinklayer/VirtualChannelReception.h
index f364c6e5..9b4e2987 100644
--- a/datalinklayer/VirtualChannelReception.h
+++ b/datalinklayer/VirtualChannelReception.h
@@ -8,14 +8,14 @@
 #ifndef VIRTUALCHANNELRECEPTION_H_
 #define VIRTUALCHANNELRECEPTION_H_
 
-#include <framework/datalinklayer/CCSDSReturnValuesIF.h>
-#include <framework/datalinklayer/Clcw.h>
-#include <framework/datalinklayer/Farm1StateIF.h>
-#include <framework/datalinklayer/Farm1StateLockout.h>
-#include <framework/datalinklayer/Farm1StateOpen.h>
-#include <framework/datalinklayer/Farm1StateWait.h>
-#include <framework/datalinklayer/MapPacketExtractionIF.h>
-#include <framework/datalinklayer/VirtualChannelReceptionIF.h>
+#include "CCSDSReturnValuesIF.h"
+#include "Clcw.h"
+#include "Farm1StateIF.h"
+#include "Farm1StateLockout.h"
+#include "Farm1StateOpen.h"
+#include "Farm1StateWait.h"
+#include "MapPacketExtractionIF.h"
+#include "VirtualChannelReceptionIF.h"
 #include <map>
 /**
  * Implementation of a TC Virtual Channel.
diff --git a/datalinklayer/VirtualChannelReceptionIF.h b/datalinklayer/VirtualChannelReceptionIF.h
index 98a9b72c..36f60e8c 100644
--- a/datalinklayer/VirtualChannelReceptionIF.h
+++ b/datalinklayer/VirtualChannelReceptionIF.h
@@ -8,9 +8,9 @@
 #ifndef VIRTUALCHANNELRECEPTIONIF_H_
 #define VIRTUALCHANNELRECEPTIONIF_H_
 
-#include <framework/datalinklayer/ClcwIF.h>
-#include <framework/datalinklayer/TcTransferFrame.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "ClcwIF.h"
+#include "TcTransferFrame.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 /**
  * This is the interface for Virtual Channel reception classes.
diff --git a/datapool/ControllerSet.cpp b/datapool/ControllerSet.cpp
index eb4f6d0f..6339034c 100644
--- a/datapool/ControllerSet.cpp
+++ b/datapool/ControllerSet.cpp
@@ -1,4 +1,4 @@
-#include <framework/datapool/ControllerSet.h>
+#include "ControllerSet.h"
 
 ControllerSet::ControllerSet() {
 
diff --git a/datapool/ControllerSet.h b/datapool/ControllerSet.h
index de06bf91..e27debff 100644
--- a/datapool/ControllerSet.h
+++ b/datapool/ControllerSet.h
@@ -1,7 +1,7 @@
 #ifndef CONTROLLERSET_H_
 #define CONTROLLERSET_H_
 
-#include <framework/datapool/DataSet.h>
+#include "DataSet.h"
 
 class ControllerSet :public DataSet {
 public:
diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp
index f44da64e..817089bf 100644
--- a/datapool/DataPool.cpp
+++ b/datapool/DataPool.cpp
@@ -1,6 +1,6 @@
-#include <framework/datapool/DataPool.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/ipc/MutexFactory.h>
+#include "DataPool.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../ipc/MutexFactory.h"
 
 DataPool::DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) ) {
 	mutex = MutexFactory::instance()->createMutex();
diff --git a/datapool/DataPool.h b/datapool/DataPool.h
index 6e38dc1b..7abf2898 100644
--- a/datapool/DataPool.h
+++ b/datapool/DataPool.h
@@ -11,9 +11,9 @@
 #ifndef DATAPOOL_H_
 #define DATAPOOL_H_
 
-#include <framework/datapool/PoolEntry.h>
-#include <framework/globalfunctions/Type.h>
-#include <framework/ipc/MutexIF.h>
+#include "PoolEntry.h"
+#include "../globalfunctions/Type.h"
+#include "../ipc/MutexIF.h"
 #include <map>
 
 /**
diff --git a/datapool/DataPoolAdmin.cpp b/datapool/DataPoolAdmin.cpp
index 3ea266ea..f298d530 100644
--- a/datapool/DataPoolAdmin.cpp
+++ b/datapool/DataPoolAdmin.cpp
@@ -1,10 +1,10 @@
-#include <framework/datapool/DataPool.h>
-#include <framework/datapool/DataPoolAdmin.h>
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolRawAccess.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/parameters/ParameterMessage.h>
+#include "DataPool.h"
+#include "DataPoolAdmin.h"
+#include "DataSet.h"
+#include "PoolRawAccess.h"
+#include "../ipc/CommandMessage.h"
+#include "../ipc/QueueFactory.h"
+#include "../parameters/ParameterMessage.h"
 
 DataPoolAdmin::DataPoolAdmin(object_id_t objectId) :
 		SystemObject(objectId), storage(NULL), commandQueue(NULL), memoryHelper(
diff --git a/datapool/DataPoolAdmin.h b/datapool/DataPoolAdmin.h
index 1be920b5..e2d1e9e1 100644
--- a/datapool/DataPoolAdmin.h
+++ b/datapool/DataPoolAdmin.h
@@ -1,15 +1,15 @@
 #ifndef DATAPOOLADMIN_H_
 #define DATAPOOLADMIN_H_
 
-#include <framework/memory/MemoryHelper.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/action/SimpleActionHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/parameters/ReceivesParameterMessagesIF.h>
-#include <framework/datapool/DataPoolParameterWrapper.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../memory/MemoryHelper.h"
+#include "../action/HasActionsIF.h"
+#include "../action/SimpleActionHelper.h"
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../parameters/ReceivesParameterMessagesIF.h"
+#include "DataPoolParameterWrapper.h"
+#include "../ipc/MessageQueueIF.h"
 
 class DataPoolAdmin: public HasActionsIF,
 		public ExecutableObjectIF,
diff --git a/datapool/DataPoolParameterWrapper.cpp b/datapool/DataPoolParameterWrapper.cpp
index e08eba5b..79367405 100644
--- a/datapool/DataPoolParameterWrapper.cpp
+++ b/datapool/DataPoolParameterWrapper.cpp
@@ -1,10 +1,10 @@
 #include "DataPoolParameterWrapper.h"
 
 //for returncodes
-#include <framework/parameters/HasParametersIF.h>
+#include "../parameters/HasParametersIF.h"
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolRawAccess.h>
+#include "DataSet.h"
+#include "PoolRawAccess.h"
 
 DataPoolParameterWrapper::DataPoolParameterWrapper() :
 		type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId(
diff --git a/datapool/DataPoolParameterWrapper.h b/datapool/DataPoolParameterWrapper.h
index a3dbdc04..b1e505a7 100644
--- a/datapool/DataPoolParameterWrapper.h
+++ b/datapool/DataPoolParameterWrapper.h
@@ -1,8 +1,8 @@
 #ifndef DATAPOOLPARAMETERWRAPPER_H_
 #define DATAPOOLPARAMETERWRAPPER_H_
 
-#include <framework/globalfunctions/Type.h>
-#include <framework/parameters/ParameterWrapper.h>
+#include "../globalfunctions/Type.h"
+#include "../parameters/ParameterWrapper.h"
 
 class DataPoolParameterWrapper: public SerializeIF {
 public:
diff --git a/datapool/DataSet.cpp b/datapool/DataSet.cpp
index f49f2ee5..e41489bd 100644
--- a/datapool/DataSet.cpp
+++ b/datapool/DataSet.cpp
@@ -1,5 +1,5 @@
-#include <framework/datapool/DataSet.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "DataSet.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 DataSet::DataSet() :
 		fill_count(0), state(DATA_SET_UNINITIALISED) {
diff --git a/datapool/DataSet.h b/datapool/DataSet.h
index 3d211537..04044bfe 100644
--- a/datapool/DataSet.h
+++ b/datapool/DataSet.h
@@ -12,13 +12,13 @@
 #ifndef DATASET_H_
 #define DATASET_H_
 
-#include <framework/datapool/DataPool.h>
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolRawAccess.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/datapool/PoolVarList.h>
-#include <framework/datapool/PoolVector.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "DataPool.h"
+#include "DataSetIF.h"
+#include "PoolRawAccess.h"
+#include "PoolVariable.h"
+#include "PoolVarList.h"
+#include "PoolVector.h"
+#include "../serialize/SerializeAdapter.h"
 /**
  * \brief	The DataSet class manages a set of locally checked out variables.
  *
diff --git a/datapool/HkSwitchHelper.cpp b/datapool/HkSwitchHelper.cpp
index caae2146..04096aca 100644
--- a/datapool/HkSwitchHelper.cpp
+++ b/datapool/HkSwitchHelper.cpp
@@ -1,6 +1,6 @@
-#include <framework/datapool/HkSwitchHelper.h>
+#include "HkSwitchHelper.h"
 //#include <mission/tmtcservices/HKService_03.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../ipc/QueueFactory.h"
 
 HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
 		commandActionHelper(this), eventProxy(eventProxy) {
diff --git a/datapool/HkSwitchHelper.h b/datapool/HkSwitchHelper.h
index 1a3b6275..385b2047 100644
--- a/datapool/HkSwitchHelper.h
+++ b/datapool/HkSwitchHelper.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
 #define FRAMEWORK_DATAPOOL_HKSWITCHHELPER_H_
 
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/action/CommandsActionsIF.h>
-#include <framework/events/EventReportingProxyIF.h>
+#include "../tasks/ExecutableObjectIF.h"
+#include "../action/CommandsActionsIF.h"
+#include "../events/EventReportingProxyIF.h"
 
 //TODO this class violations separation between mission and framework
 //but it is only a transitional solution until the Datapool is
diff --git a/datapool/PIDReader.h b/datapool/PIDReader.h
index 464b1549..3b38b51d 100644
--- a/datapool/PIDReader.h
+++ b/datapool/PIDReader.h
@@ -1,11 +1,11 @@
 #ifndef PIDREADER_H_
 #define PIDREADER_H_
-#include <framework/datapool/DataPool.h>
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolEntry.h>
-#include <framework/datapool/PoolVariableIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "DataPool.h"
+#include "DataSetIF.h"
+#include "PoolEntry.h"
+#include "PoolVariableIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 template<typename U, uint8_t n_var> class PIDReaderList;
 
diff --git a/datapool/PIDReaderList.h b/datapool/PIDReaderList.h
index 07d1b8e6..1f6aa99c 100644
--- a/datapool/PIDReaderList.h
+++ b/datapool/PIDReaderList.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
 #define FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
 
-#include <framework/datapool/PIDReader.h>
-#include <framework/datapool/PoolVariableIF.h>
+#include "PIDReader.h"
+#include "PoolVariableIF.h"
 template <class T, uint8_t n_var>
 class PIDReaderList {
 private:
diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index d535a72b..56e489a5 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -1,6 +1,6 @@
-#include <framework/datapool/PoolEntry.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/globalfunctions/arrayprinter.h>
+#include "PoolEntry.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../globalfunctions/arrayprinter.h"
 #include <cstring>
 
 template <typename T>
diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h
index 1a22bb63..7b47c673 100644
--- a/datapool/PoolEntry.h
+++ b/datapool/PoolEntry.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
 #define FRAMEWORK_DATAPOOL_POOLENTRY_H_
 
-#include <framework/datapool/PoolEntryIF.h>
+#include "PoolEntryIF.h"
 
 #include <initializer_list>
 #include <type_traits>
diff --git a/datapool/PoolEntryIF.h b/datapool/PoolEntryIF.h
index a075436e..462de18b 100644
--- a/datapool/PoolEntryIF.h
+++ b/datapool/PoolEntryIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
 #define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
 
-#include <framework/globalfunctions/Type.h>
+#include "../globalfunctions/Type.h"
 #include <cstdint>
 
 /**
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
index eca354a9..f9264081 100644
--- a/datapool/PoolRawAccess.cpp
+++ b/datapool/PoolRawAccess.cpp
@@ -1,8 +1,8 @@
-#include <framework/datapool/DataPool.h>
-#include <framework/datapool/PoolEntryIF.h>
-#include <framework/datapool/PoolRawAccess.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/serialize/EndianConverter.h>
+#include "DataPool.h"
+#include "PoolEntryIF.h"
+#include "PoolRawAccess.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serialize/EndianConverter.h"
 
 #include <cstring>
 
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
index 09d19afd..0c7a06bf 100644
--- a/datapool/PoolRawAccess.h
+++ b/datapool/PoolRawAccess.h
@@ -1,8 +1,8 @@
 #ifndef POOLRAWACCESS_H_
 #define POOLRAWACCESS_H_
 
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolVariableIF.h>
+#include "DataSetIF.h"
+#include "PoolVariableIF.h"
 
 /**
  * This class allows accessing Data Pool variables as raw bytes.
diff --git a/datapool/PoolVarList.h b/datapool/PoolVarList.h
index 90c9f178..035ff2ac 100644
--- a/datapool/PoolVarList.h
+++ b/datapool/PoolVarList.h
@@ -1,8 +1,8 @@
 #ifndef POOLVARLIST_H_
 #define POOLVARLIST_H_
 
-#include <framework/datapool/PoolVariable.h>
-#include <framework/datapool/PoolVariableIF.h>
+#include "PoolVariable.h"
+#include "PoolVariableIF.h"
 template <class T, uint8_t n_var>
 class PoolVarList {
 private:
diff --git a/datapool/PoolVariable.h b/datapool/PoolVariable.h
index a06935c3..a9d3407d 100644
--- a/datapool/PoolVariable.h
+++ b/datapool/PoolVariable.h
@@ -11,11 +11,11 @@
 #ifndef POOLVARIABLE_H_
 #define POOLVARIABLE_H_
 
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolEntry.h>
-#include <framework/datapool/PoolVariableIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "DataSetIF.h"
+#include "PoolEntry.h"
+#include "PoolVariableIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 template<typename T, uint8_t n_var> class PoolVarList;
 
diff --git a/datapool/PoolVariableIF.h b/datapool/PoolVariableIF.h
index 7626c9c1..f47173df 100644
--- a/datapool/PoolVariableIF.h
+++ b/datapool/PoolVariableIF.h
@@ -11,8 +11,8 @@
 #ifndef POOLVARIABLEIF_H_
 #define POOLVARIABLEIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeIF.h"
 
 /**
  * \brief	This interface is used to control local data pool variable representations.
diff --git a/datapool/PoolVector.h b/datapool/PoolVector.h
index 777ec723..d4ca0842 100644
--- a/datapool/PoolVector.h
+++ b/datapool/PoolVector.h
@@ -11,11 +11,11 @@
 #ifndef POOLVECTOR_H_
 #define POOLVECTOR_H_
 
-#include <framework/datapool/DataSetIF.h>
-#include <framework/datapool/PoolEntry.h>
-#include <framework/datapool/PoolVariableIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "DataSetIF.h"
+#include "PoolEntry.h"
+#include "PoolVariableIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 /**
  * \brief	This is the access class for array-type data pool entries.
diff --git a/devicehandlers/AcceptsDeviceResponsesIF.h b/devicehandlers/AcceptsDeviceResponsesIF.h
index 0eedae88..8dc69de4 100644
--- a/devicehandlers/AcceptsDeviceResponsesIF.h
+++ b/devicehandlers/AcceptsDeviceResponsesIF.h
@@ -8,7 +8,7 @@
 #ifndef ACCEPTSDEVICERESPONSESIF_H_
 #define ACCEPTSDEVICERESPONSESIF_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../ipc/MessageQueueSenderIF.h"
 
 class AcceptsDeviceResponsesIF {
 public:
diff --git a/devicehandlers/AssemblyBase.cpp b/devicehandlers/AssemblyBase.cpp
index c250cf73..8b3f7f4d 100644
--- a/devicehandlers/AssemblyBase.cpp
+++ b/devicehandlers/AssemblyBase.cpp
@@ -1,4 +1,4 @@
-#include <framework/devicehandlers/AssemblyBase.h>
+#include "AssemblyBase.h"
 
 AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId,
 		uint16_t commandQueueDepth) :
diff --git a/devicehandlers/AssemblyBase.h b/devicehandlers/AssemblyBase.h
index ee121032..bd2e8fad 100644
--- a/devicehandlers/AssemblyBase.h
+++ b/devicehandlers/AssemblyBase.h
@@ -1,9 +1,9 @@
 #ifndef ASSEMBLYBASE_H_
 #define ASSEMBLYBASE_H_
 
-#include <framework/container/FixedArrayList.h>
-#include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/subsystem/SubsystemBase.h>
+#include "../container/FixedArrayList.h"
+#include "DeviceHandlerBase.h"
+#include "../subsystem/SubsystemBase.h"
 
 class AssemblyBase: public SubsystemBase {
 public:
diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index 34e45b68..cee2a349 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -1,6 +1,6 @@
-#include <framework/subsystem/SubsystemBase.h>
-#include <framework/devicehandlers/ChildHandlerBase.h>
-#include <framework/subsystem/SubsystemBase.h>
+#include "../subsystem/SubsystemBase.h"
+#include "ChildHandlerBase.h"
+#include "../subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * comCookie,
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index 59cf26b1..005e8065 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -1,8 +1,8 @@
 #ifndef PAYLOADHANDLERBASE_H_
 #define PAYLOADHANDLERBASE_H_
 
-#include <framework/devicehandlers/ChildHandlerFDIR.h>
-#include <framework/devicehandlers/DeviceHandlerBase.h>
+#include "ChildHandlerFDIR.h"
+#include "DeviceHandlerBase.h"
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
diff --git a/devicehandlers/ChildHandlerFDIR.cpp b/devicehandlers/ChildHandlerFDIR.cpp
index 1bba47fe..14043a77 100644
--- a/devicehandlers/ChildHandlerFDIR.cpp
+++ b/devicehandlers/ChildHandlerFDIR.cpp
@@ -1,4 +1,4 @@
-#include <framework/devicehandlers/ChildHandlerFDIR.h>
+#include "ChildHandlerFDIR.h"
 
 ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner, object_id_t faultTreeParent, uint32_t recoveryCount) :
 		DeviceHandlerFailureIsolation(owner, faultTreeParent) {
diff --git a/devicehandlers/ChildHandlerFDIR.h b/devicehandlers/ChildHandlerFDIR.h
index 7df9d238..ce844518 100644
--- a/devicehandlers/ChildHandlerFDIR.h
+++ b/devicehandlers/ChildHandlerFDIR.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
 #define FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
 
-#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
+#include "DeviceHandlerFailureIsolation.h"
 
 /**
  * Very simple extension to normal FDIR.
diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index 9ca31a9b..11960d8e 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -1,8 +1,8 @@
 #ifndef DEVICECOMMUNICATIONIF_H_
 #define DEVICECOMMUNICATIONIF_H_
 
-#include <framework/devicehandlers/CookieIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "CookieIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <cstddef>
 /**
  * @defgroup interfaces Interfaces
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 79b504b5..a87b6de1 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1,16 +1,16 @@
-#include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/objectmanager/ObjectManager.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/thermal/ThermalComponentIF.h>
-#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
+#include "DeviceHandlerBase.h"
+#include "../objectmanager/ObjectManager.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../thermal/ThermalComponentIF.h"
+#include "AcceptsDeviceResponsesIF.h"
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
-#include <framework/globalfunctions/CRC.h>
-#include <framework/subsystem/SubsystemBase.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PoolVariable.h"
+#include "DeviceTmReportingWrapper.h"
+#include "../globalfunctions/CRC.h"
+#include "../subsystem/SubsystemBase.h"
+#include "../ipc/QueueFactory.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 #include <iomanip>
 
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index e79d5d5c..7c68ce06 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -1,22 +1,22 @@
 #ifndef DEVICEHANDLERBASE_H_
 #define DEVICEHANDLERBASE_H_
 
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/devicehandlers/DeviceHandlerIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/datapool/PoolVariableIF.h>
-#include <framework/devicehandlers/DeviceCommunicationIF.h>
-#include <framework/modes/HasModesIF.h>
-#include <framework/power/PowerSwitchIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../objectmanager/SystemObject.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "DeviceHandlerIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../action/HasActionsIF.h"
+#include "../datapool/PoolVariableIF.h"
+#include "DeviceCommunicationIF.h"
+#include "../modes/HasModesIF.h"
+#include "../power/PowerSwitchIF.h"
+#include "../ipc/MessageQueueIF.h"
 
-#include <framework/action/ActionHelper.h>
-#include <framework/health/HealthHelper.h>
-#include <framework/parameters/ParameterHelper.h>
-#include <framework/datapool/HkSwitchHelper.h>
-#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
+#include "../action/ActionHelper.h"
+#include "../health/HealthHelper.h"
+#include "../parameters/ParameterHelper.h"
+#include "../datapool/HkSwitchHelper.h"
+#include "DeviceHandlerFailureIsolation.h"
 
 #include <map>
 
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 65c40219..497d6469 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -1,9 +1,9 @@
-#include <framework/devicehandlers/DeviceHandlerBase.h>
-#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
-#include <framework/health/HealthTableIF.h>
-#include <framework/power/Fuse.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/thermal/ThermalComponentIF.h>
+#include "DeviceHandlerBase.h"
+#include "DeviceHandlerFailureIsolation.h"
+#include "../health/HealthTableIF.h"
+#include "../power/Fuse.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../thermal/ThermalComponentIF.h"
 
 object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = 0;
 
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.h b/devicehandlers/DeviceHandlerFailureIsolation.h
index 91f6ef64..aa43b762 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.h
+++ b/devicehandlers/DeviceHandlerFailureIsolation.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
 #define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
 
-#include <framework/fdir/FaultCounter.h>
-#include <framework/fdir/FailureIsolationBase.h>
+#include "../fdir/FaultCounter.h"
+#include "../fdir/FailureIsolationBase.h"
 namespace Factory{
 void setStaticFrameworkObjectIds();
 }
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 666d9efc..52a3be4d 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -1,11 +1,11 @@
 #ifndef DEVICEHANDLERIF_H_
 #define DEVICEHANDLERIF_H_
 
-#include <framework/action/HasActionsIF.h>
-#include <framework/devicehandlers/DeviceHandlerMessage.h>
-#include <framework/events/Event.h>
-#include <framework/modes/HasModesIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../action/HasActionsIF.h"
+#include "DeviceHandlerMessage.h"
+#include "../events/Event.h"
+#include "../modes/HasModesIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 /**
  * @brief 	This is the Interface used to communicate with a device handler.
diff --git a/devicehandlers/DeviceHandlerMessage.cpp b/devicehandlers/DeviceHandlerMessage.cpp
index 58a6d312..564fae21 100644
--- a/devicehandlers/DeviceHandlerMessage.cpp
+++ b/devicehandlers/DeviceHandlerMessage.cpp
@@ -1,6 +1,6 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/devicehandlers/DeviceHandlerMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "DeviceHandlerMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 DeviceHandlerMessage::DeviceHandlerMessage() {
 }
diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h
index fad0f1b1..f33fdad8 100644
--- a/devicehandlers/DeviceHandlerMessage.h
+++ b/devicehandlers/DeviceHandlerMessage.h
@@ -1,10 +1,10 @@
 #ifndef DEVICEHANDLERMESSAGE_H_
 #define DEVICEHANDLERMESSAGE_H_
 
-#include <framework/action/ActionMessage.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../action/ActionMessage.h"
+#include "../ipc/CommandMessage.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../storagemanager/StorageManagerIF.h"
 //SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID.
 
 /**
diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp
index ce5eb109..84f926f0 100644
--- a/devicehandlers/DeviceTmReportingWrapper.cpp
+++ b/devicehandlers/DeviceTmReportingWrapper.cpp
@@ -1,6 +1,6 @@
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "../serialize/SerializeAdapter.h"
+#include "DeviceTmReportingWrapper.h"
+#include "../serialize/SerializeAdapter.h"
 
 DeviceTmReportingWrapper::DeviceTmReportingWrapper(object_id_t objectId,
 		ActionId_t actionId, SerializeIF* data) :
diff --git a/devicehandlers/DeviceTmReportingWrapper.h b/devicehandlers/DeviceTmReportingWrapper.h
index 4432b7f1..a14c4261 100644
--- a/devicehandlers/DeviceTmReportingWrapper.h
+++ b/devicehandlers/DeviceTmReportingWrapper.h
@@ -1,9 +1,9 @@
 #ifndef DEVICETMREPORTINGWRAPPER_H_
 #define DEVICETMREPORTINGWRAPPER_H_
 
-#include <framework/action/HasActionsIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../action/HasActionsIF.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../serialize/SerializeIF.h"
 
 class DeviceTmReportingWrapper: public SerializeIF {
 public:
diff --git a/devicehandlers/FixedSequenceSlot.cpp b/devicehandlers/FixedSequenceSlot.cpp
index bb97a8e5..667aba1d 100644
--- a/devicehandlers/FixedSequenceSlot.cpp
+++ b/devicehandlers/FixedSequenceSlot.cpp
@@ -5,8 +5,8 @@
  * @author	baetz
  */
 
-#include <framework/devicehandlers/FixedSequenceSlot.h>
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "FixedSequenceSlot.h"
+#include "../objectmanager/SystemObjectIF.h"
 #include <cstddef>
 
 FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
diff --git a/devicehandlers/FixedSequenceSlot.h b/devicehandlers/FixedSequenceSlot.h
index 7868cce3..73504955 100644
--- a/devicehandlers/FixedSequenceSlot.h
+++ b/devicehandlers/FixedSequenceSlot.h
@@ -8,8 +8,8 @@
 #ifndef FIXEDSEQUENCESLOT_H_
 #define FIXEDSEQUENCESLOT_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../tasks/ExecutableObjectIF.h"
 class PeriodicTaskIF;
 
 /**
diff --git a/devicehandlers/FixedSlotSequence.cpp b/devicehandlers/FixedSlotSequence.cpp
index 9a0dc372..38d4dcea 100644
--- a/devicehandlers/FixedSlotSequence.cpp
+++ b/devicehandlers/FixedSlotSequence.cpp
@@ -1,5 +1,5 @@
-#include <framework/devicehandlers/FixedSlotSequence.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "FixedSlotSequence.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
 		lengthMs(setLengthMs) {
diff --git a/devicehandlers/FixedSlotSequence.h b/devicehandlers/FixedSlotSequence.h
index 32b61f56..be6dc2d1 100644
--- a/devicehandlers/FixedSlotSequence.h
+++ b/devicehandlers/FixedSlotSequence.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
 #define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
 
-#include <framework/devicehandlers/FixedSequenceSlot.h>
-#include <framework/objectmanager/SystemObject.h>
+#include "FixedSequenceSlot.h"
+#include "../objectmanager/SystemObject.h"
 #include <set>
 
 /**
diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index 61a82421..411731dc 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -1,5 +1,5 @@
-#include <framework/devicehandlers/HealthDevice.h>
-#include <framework/ipc/QueueFactory.h>
+#include "HealthDevice.h"
+#include "../ipc/QueueFactory.h"
 
 HealthDevice::HealthDevice(object_id_t setObjectId,
 		MessageQueueId_t parentQueue) :
diff --git a/devicehandlers/HealthDevice.h b/devicehandlers/HealthDevice.h
index ffb9e5bd..53b0ab09 100644
--- a/devicehandlers/HealthDevice.h
+++ b/devicehandlers/HealthDevice.h
@@ -1,11 +1,11 @@
 #ifndef HEALTHDEVICE_H_
 #define HEALTHDEVICE_H_
 
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../health/HasHealthIF.h"
+#include "../health/HealthHelper.h"
+#include "../objectmanager/SystemObject.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 class HealthDevice: public SystemObject,
 		public ExecutableObjectIF,
diff --git a/events/Event.cpp b/events/Event.cpp
index 9ea9f552..ea3d46fe 100644
--- a/events/Event.cpp
+++ b/events/Event.cpp
@@ -1,4 +1,4 @@
-#include <framework/events/Event.h>
+#include "Event.h"
 namespace EVENT {
 EventId_t getEventId(Event event) {
 	return (event & 0xFFFF);
diff --git a/events/Event.h b/events/Event.h
index 96800f34..e22c9db1 100644
--- a/events/Event.h
+++ b/events/Event.h
@@ -2,7 +2,7 @@
 #define EVENTOBJECT_EVENT_H_
 
 #include <stdint.h>
-#include <framework/events/fwSubsystemIdRanges.h>
+#include "fwSubsystemIdRanges.h"
 //could be move to more suitable location
 #include <config/tmtc/subsystemIdRanges.h>
 
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 0f1511e4..fb4499b2 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -1,8 +1,8 @@
-#include <framework/events/EventManager.h>
-#include <framework/events/EventMessage.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/ipc/MutexFactory.h>
+#include "EventManager.h"
+#include "EventMessage.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../ipc/QueueFactory.h"
+#include "../ipc/MutexFactory.h"
 
 
 const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
diff --git a/events/EventManager.h b/events/EventManager.h
index 76dde9f8..7badc3bf 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -1,13 +1,13 @@
 #ifndef EVENTMANAGER_H_
 #define EVENTMANAGER_H_
 
-#include <framework/events/eventmatching/EventMatchTree.h>
-#include <framework/events/EventManagerIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/storagemanager/LocalPool.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/ipc/MutexIF.h>
+#include "eventmatching/EventMatchTree.h"
+#include "EventManagerIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../storagemanager/LocalPool.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../ipc/MessageQueueIF.h"
+#include "../ipc/MutexIF.h"
 #include <map>
 
 class EventManager: public EventManagerIF,
diff --git a/events/EventManagerIF.h b/events/EventManagerIF.h
index bc0de432..f9ac420b 100644
--- a/events/EventManagerIF.h
+++ b/events/EventManagerIF.h
@@ -1,10 +1,10 @@
 #ifndef EVENTMANAGERIF_H_
 #define EVENTMANAGERIF_H_
 
-#include <framework/events/eventmatching/eventmatching.h>
-#include <framework/events/EventMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "eventmatching/eventmatching.h"
+#include "EventMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class EventManagerIF {
 public:
diff --git a/events/EventMessage.cpp b/events/EventMessage.cpp
index f06f68c3..b911abab 100644
--- a/events/EventMessage.cpp
+++ b/events/EventMessage.cpp
@@ -1,4 +1,4 @@
-#include <framework/events/EventMessage.h>
+#include "EventMessage.h"
 #include <cstring>
 
 EventMessage::EventMessage() {
diff --git a/events/EventMessage.h b/events/EventMessage.h
index 9cbe3336..4d003bd7 100644
--- a/events/EventMessage.h
+++ b/events/EventMessage.h
@@ -1,9 +1,9 @@
 #ifndef EVENTMESSAGE_H_
 #define EVENTMESSAGE_H_
 
-#include <framework/events/Event.h>
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "Event.h"
+#include "../ipc/MessageQueueMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 /**
  * Passing on events through IPC.
diff --git a/events/EventReportingProxyIF.h b/events/EventReportingProxyIF.h
index 8aca4e26..7a96e3d1 100644
--- a/events/EventReportingProxyIF.h
+++ b/events/EventReportingProxyIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_EVENTS_EVENTREPORTINGPROXYIF_H_
 #define FRAMEWORK_EVENTS_EVENTREPORTINGPROXYIF_H_
 
-#include <framework/events/Event.h>
+#include "Event.h"
 
 
 class EventReportingProxyIF {
diff --git a/events/eventmatching/EventIdRangeMatcher.cpp b/events/eventmatching/EventIdRangeMatcher.cpp
index ac9156fd..974567d4 100644
--- a/events/eventmatching/EventIdRangeMatcher.cpp
+++ b/events/eventmatching/EventIdRangeMatcher.cpp
@@ -1,4 +1,4 @@
-#include <framework/events/eventmatching/EventIdRangeMatcher.h>
+#include "EventIdRangeMatcher.h"
 
 EventIdRangeMatcher::EventIdRangeMatcher(EventId_t lower, EventId_t upper,
 		bool inverted) : EventRangeMatcherBase<EventId_t>(lower, upper, inverted) {
diff --git a/events/eventmatching/EventIdRangeMatcher.h b/events/eventmatching/EventIdRangeMatcher.h
index 57b77cb1..540d372f 100644
--- a/events/eventmatching/EventIdRangeMatcher.h
+++ b/events/eventmatching/EventIdRangeMatcher.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_EVENTIDRANGEMATCHER_H_
 #define FRAMEWORK_EVENTS_EVENTMATCHING_EVENTIDRANGEMATCHER_H_
 
-#include <framework/events/eventmatching/EventRangeMatcherBase.h>
+#include "EventRangeMatcherBase.h"
 
 class EventIdRangeMatcher: public EventRangeMatcherBase<EventId_t> {
 public:
diff --git a/events/eventmatching/EventMatchTree.cpp b/events/eventmatching/EventMatchTree.cpp
index e1925b8f..55e4083f 100644
--- a/events/eventmatching/EventMatchTree.cpp
+++ b/events/eventmatching/EventMatchTree.cpp
@@ -1,7 +1,7 @@
-#include <framework/events/eventmatching/EventIdRangeMatcher.h>
-#include <framework/events/eventmatching/EventMatchTree.h>
-#include <framework/events/eventmatching/ReporterRangeMatcher.h>
-#include <framework/events/eventmatching/SeverityRangeMatcher.h>
+#include "EventIdRangeMatcher.h"
+#include "EventMatchTree.h"
+#include "ReporterRangeMatcher.h"
+#include "SeverityRangeMatcher.h"
 
 EventMatchTree::EventMatchTree(StorageManagerIF* storageBackend,
 		bool invertedMatch) :
diff --git a/events/eventmatching/EventMatchTree.h b/events/eventmatching/EventMatchTree.h
index bd81e3be..82a6de81 100644
--- a/events/eventmatching/EventMatchTree.h
+++ b/events/eventmatching/EventMatchTree.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_EVENTMATCHTREE_H_
 #define FRAMEWORK_EVENTS_EVENTMATCHING_EVENTMATCHTREE_H_
 
-#include <framework/container/PlacementFactory.h>
-#include <framework/events/EventMessage.h>
-#include <framework/globalfunctions/matching/MatchTree.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/PlacementFactory.h"
+#include "../../events/EventMessage.h"
+#include "../../globalfunctions/matching/MatchTree.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 class StorageManagerIF;
 
 class EventMatchTree: public MatchTree<EventMessage*>, public HasReturnvaluesIF {
diff --git a/events/eventmatching/EventRangeMatcherBase.h b/events/eventmatching/EventRangeMatcherBase.h
index 587669ba..e9d57f1c 100644
--- a/events/eventmatching/EventRangeMatcherBase.h
+++ b/events/eventmatching/EventRangeMatcherBase.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_EVENTRANGEMATCHERBASE_H_
 #define FRAMEWORK_EVENTS_EVENTMATCHING_EVENTRANGEMATCHERBASE_H_
 
-#include <framework/events/EventMessage.h>
-#include <framework/globalfunctions/matching/RangeMatcher.h>
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
+#include "../../events/EventMessage.h"
+#include "../../globalfunctions/matching/RangeMatcher.h"
+#include "../../globalfunctions/matching/SerializeableMatcherIF.h"
 
 template <typename T>
 class EventRangeMatcherBase: public SerializeableMatcherIF<EventMessage*> {
diff --git a/events/eventmatching/ReporterRangeMatcher.cpp b/events/eventmatching/ReporterRangeMatcher.cpp
index 76b8e788..61179726 100644
--- a/events/eventmatching/ReporterRangeMatcher.cpp
+++ b/events/eventmatching/ReporterRangeMatcher.cpp
@@ -1,4 +1,4 @@
-#include <framework/events/eventmatching/ReporterRangeMatcher.h>
+#include "ReporterRangeMatcher.h"
 
 ReporterRangeMatcher::ReporterRangeMatcher(object_id_t lower, object_id_t upper,
 		bool inverted) : EventRangeMatcherBase<object_id_t>(lower, upper, inverted) {
diff --git a/events/eventmatching/ReporterRangeMatcher.h b/events/eventmatching/ReporterRangeMatcher.h
index 65be2365..9a0a5fcf 100644
--- a/events/eventmatching/ReporterRangeMatcher.h
+++ b/events/eventmatching/ReporterRangeMatcher.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_REPORTERRANGEMATCHER_H_
 #define FRAMEWORK_EVENTS_EVENTMATCHING_REPORTERRANGEMATCHER_H_
 
-#include <framework/events/eventmatching/EventRangeMatcherBase.h>
+#include "EventRangeMatcherBase.h"
 
 class ReporterRangeMatcher: public EventRangeMatcherBase<object_id_t> {
 public:
diff --git a/events/eventmatching/SeverityRangeMatcher.cpp b/events/eventmatching/SeverityRangeMatcher.cpp
index 98f8d7e1..6fd38271 100644
--- a/events/eventmatching/SeverityRangeMatcher.cpp
+++ b/events/eventmatching/SeverityRangeMatcher.cpp
@@ -1,6 +1,6 @@
-#include <framework/events/eventmatching/SeverityRangeMatcher.h>
-#include <framework/events/EventMessage.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "SeverityRangeMatcher.h"
+#include "../../events/EventMessage.h"
+#include "../../serialize/SerializeAdapter.h"
 
 SeverityRangeMatcher::SeverityRangeMatcher(EventSeverity_t from,
 		EventSeverity_t till, bool inverted) : EventRangeMatcherBase<EventSeverity_t>(from, till, inverted) {
diff --git a/events/eventmatching/SeverityRangeMatcher.h b/events/eventmatching/SeverityRangeMatcher.h
index ffacff81..3f7cc418 100644
--- a/events/eventmatching/SeverityRangeMatcher.h
+++ b/events/eventmatching/SeverityRangeMatcher.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_EVENTS_EVENTMATCHING_SEVERITYRANGEMATCHER_H_
 #define FRAMEWORK_EVENTS_EVENTMATCHING_SEVERITYRANGEMATCHER_H_
 
-#include <framework/events/eventmatching/EventRangeMatcherBase.h>
+#include "EventRangeMatcherBase.h"
 
 class SeverityRangeMatcher: public EventRangeMatcherBase<EventSeverity_t> {
 public:
diff --git a/events/eventmatching/eventmatching.h b/events/eventmatching/eventmatching.h
index 435c7457..7a87e177 100644
--- a/events/eventmatching/eventmatching.h
+++ b/events/eventmatching/eventmatching.h
@@ -1,10 +1,10 @@
 #ifndef EVENTMATCHING_H_
 #define EVENTMATCHING_H_
 
-#include <framework/events/eventmatching/EventIdRangeMatcher.h>
-#include <framework/events/eventmatching/EventMatchTree.h>
-#include <framework/events/eventmatching/ReporterRangeMatcher.h>
-#include <framework/events/eventmatching/SeverityRangeMatcher.h>
+#include "EventIdRangeMatcher.h"
+#include "EventMatchTree.h"
+#include "ReporterRangeMatcher.h"
+#include "SeverityRangeMatcher.h"
 
 
 #endif /* EVENTMATCHING_H_ */
diff --git a/fdir/ConfirmsFailuresIF.h b/fdir/ConfirmsFailuresIF.h
index 99cd212a..14411461 100644
--- a/fdir/ConfirmsFailuresIF.h
+++ b/fdir/ConfirmsFailuresIF.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_FDIR_CONFIRMSFAILURESIF_H_
 #define FRAMEWORK_FDIR_CONFIRMSFAILURESIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class ConfirmsFailuresIF {
 public:
diff --git a/fdir/EventCorrelation.cpp b/fdir/EventCorrelation.cpp
index 32aa3cd3..d60fc6ca 100644
--- a/fdir/EventCorrelation.cpp
+++ b/fdir/EventCorrelation.cpp
@@ -1,4 +1,4 @@
-#include <framework/fdir/EventCorrelation.h>
+#include "EventCorrelation.h"
 
 EventCorrelation::EventCorrelation(uint32_t timeout) :
 		eventPending(false) {
diff --git a/fdir/EventCorrelation.h b/fdir/EventCorrelation.h
index 0cad6265..b8793edf 100644
--- a/fdir/EventCorrelation.h
+++ b/fdir/EventCorrelation.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_FDIR_EVENTCORRELATION_H_
 #define FRAMEWORK_FDIR_EVENTCORRELATION_H_
 
-#include <framework/timemanager/Countdown.h>
+#include "../timemanager/Countdown.h"
 
 class EventCorrelation {
 public:
diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index 4b7caac5..eb7b1bfc 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -1,9 +1,9 @@
-#include <framework/events/EventManagerIF.h>
-#include <framework/fdir/FailureIsolationBase.h>
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthMessage.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "../events/EventManagerIF.h"
+#include "FailureIsolationBase.h"
+#include "../health/HasHealthIF.h"
+#include "../health/HealthMessage.h"
+#include "../ipc/QueueFactory.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent, uint8_t messageDepth, uint8_t parameterDomainBase) :
 		eventQueue(NULL), ownerId(
diff --git a/fdir/FailureIsolationBase.h b/fdir/FailureIsolationBase.h
index cd582e39..6f38bc9f 100644
--- a/fdir/FailureIsolationBase.h
+++ b/fdir/FailureIsolationBase.h
@@ -1,13 +1,13 @@
 #ifndef FRAMEWORK_FDIR_FAILUREISOLATIONBASE_H_
 #define FRAMEWORK_FDIR_FAILUREISOLATIONBASE_H_
 
-#include <framework/events/EventMessage.h>
-#include <framework/fdir/ConfirmsFailuresIF.h>
-#include <framework/fdir/FaultCounter.h>
-#include <framework/health/HealthMessage.h>
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../events/EventMessage.h"
+#include "ConfirmsFailuresIF.h"
+#include "FaultCounter.h"
+#include "../health/HealthMessage.h"
+#include "../parameters/HasParametersIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 class FailureIsolationBase: public HasReturnvaluesIF,
 		public ConfirmsFailuresIF,
diff --git a/fdir/FaultCounter.cpp b/fdir/FaultCounter.cpp
index 3dc899c2..443adb52 100644
--- a/fdir/FaultCounter.cpp
+++ b/fdir/FaultCounter.cpp
@@ -1,4 +1,4 @@
-#include <framework/fdir/FaultCounter.h>
+#include "FaultCounter.h"
 
 FaultCounter::FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs,
 		uint8_t setParameterDomain) :
diff --git a/fdir/FaultCounter.h b/fdir/FaultCounter.h
index ac23853c..dc929deb 100644
--- a/fdir/FaultCounter.h
+++ b/fdir/FaultCounter.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_FDIR_FAULTCOUNTER_H_
 #define FRAMEWORK_FDIR_FAULTCOUNTER_H_
 
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/timemanager/Countdown.h>
+#include "../parameters/HasParametersIF.h"
+#include "../timemanager/Countdown.h"
 
 class FaultCounter: public HasParametersIF {
 public:
diff --git a/globalfunctions/AsciiConverter.cpp b/globalfunctions/AsciiConverter.cpp
index 1459a241..9eb3698f 100644
--- a/globalfunctions/AsciiConverter.cpp
+++ b/globalfunctions/AsciiConverter.cpp
@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/AsciiConverter.h>
+#include "AsciiConverter.h"
 #include <limits>
 #include <cmath>
 
diff --git a/globalfunctions/AsciiConverter.h b/globalfunctions/AsciiConverter.h
index acd406da..7af3cb3d 100644
--- a/globalfunctions/AsciiConverter.h
+++ b/globalfunctions/AsciiConverter.h
@@ -1,7 +1,7 @@
 #ifndef ASCIICONVERTER_H_
 #define ASCIICONVERTER_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class AsciiConverter: public HasReturnvaluesIF {
 public:
diff --git a/globalfunctions/CRC.cpp b/globalfunctions/CRC.cpp
index ecd0b675..7bb56806 100644
--- a/globalfunctions/CRC.cpp
+++ b/globalfunctions/CRC.cpp
@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/CRC.h>
+#include "CRC.h"
 #include <math.h>
 
 const uint16_t CRC::crc16ccitt_table[256] = {
diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp
index a68f1524..088c9d80 100644
--- a/globalfunctions/DleEncoder.cpp
+++ b/globalfunctions/DleEncoder.cpp
@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/DleEncoder.h>
+#include "DleEncoder.h"
 
 DleEncoder::DleEncoder() {
 }
diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h
index fc155600..ff3a2727 100644
--- a/globalfunctions/DleEncoder.h
+++ b/globalfunctions/DleEncoder.h
@@ -1,7 +1,7 @@
 #ifndef DLEENCODER_H_
 #define DLEENCODER_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class DleEncoder: public HasReturnvaluesIF {
 private:
diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp
index a481f768..ae595b81 100644
--- a/globalfunctions/Type.cpp
+++ b/globalfunctions/Type.cpp
@@ -1,6 +1,6 @@
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/globalfunctions/Type.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "../serialize/SerializeAdapter.h"
+#include "Type.h"
+#include "../serialize/SerializeAdapter.h"
 
 Type::Type() :
 		actualType(UNKNOWN_TYPE) {
diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h
index 3ec250b0..be499ffc 100644
--- a/globalfunctions/Type.h
+++ b/globalfunctions/Type.h
@@ -1,8 +1,8 @@
 #ifndef TYPE_H_
 #define TYPE_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeIF.h"
 
 class Type: public SerializeIF {
 public:
diff --git a/globalfunctions/arrayprinter.cpp b/globalfunctions/arrayprinter.cpp
index e8fce56c..b1e888c5 100644
--- a/globalfunctions/arrayprinter.cpp
+++ b/globalfunctions/arrayprinter.cpp
@@ -1,5 +1,5 @@
-#include <framework/globalfunctions/arrayprinter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "arrayprinter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include <bitset>
 
 void arrayprinter::print(const uint8_t *data, size_t size, OutputType type,
diff --git a/globalfunctions/matching/BinaryMatcher.h b/globalfunctions/matching/BinaryMatcher.h
index df7325cf..4f6db85d 100644
--- a/globalfunctions/matching/BinaryMatcher.h
+++ b/globalfunctions/matching/BinaryMatcher.h
@@ -1,7 +1,7 @@
 #ifndef BINARYMATCHER_H_
 #define BINARYMATCHER_H_
 
-#include <framework/globalfunctions/matching/MatcherIF.h>
+#include "MatcherIF.h"
 
 template<typename T>
 class BinaryMatcher: public MatcherIF<T> {
diff --git a/globalfunctions/matching/DecimalMatcher.h b/globalfunctions/matching/DecimalMatcher.h
index f4722e6b..53505020 100644
--- a/globalfunctions/matching/DecimalMatcher.h
+++ b/globalfunctions/matching/DecimalMatcher.h
@@ -1,7 +1,7 @@
 #ifndef DECIMALMATCHER_H_
 #define DECIMALMATCHER_H_
 
-#include <framework/globalfunctions/matching/MatcherIF.h>
+#include "MatcherIF.h"
 
 template<typename T>
 class DecimalMatcher: public MatcherIF<T> {
diff --git a/globalfunctions/matching/MatchTree.h b/globalfunctions/matching/MatchTree.h
index b54f5492..755687b2 100644
--- a/globalfunctions/matching/MatchTree.h
+++ b/globalfunctions/matching/MatchTree.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_GLOBALFUNCTIONS_MATCHING_MATCHTREE_H_
 #define FRAMEWORK_GLOBALFUNCTIONS_MATCHING_MATCHTREE_H_
 
-#include <framework/container/BinaryTree.h>
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "../../container/BinaryTree.h"
+#include "SerializeableMatcherIF.h"
+#include "../../serialize/SerializeAdapter.h"
 
 template<typename T>
 class MatchTree: public SerializeableMatcherIF<T>, public BinaryTree<
diff --git a/globalfunctions/matching/RangeMatcher.h b/globalfunctions/matching/RangeMatcher.h
index 6fee1f52..b64b9e30 100644
--- a/globalfunctions/matching/RangeMatcher.h
+++ b/globalfunctions/matching/RangeMatcher.h
@@ -1,8 +1,8 @@
 #ifndef RANGEMATCHER_H_
 #define RANGEMATCHER_H_
 
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "SerializeableMatcherIF.h"
+#include "../../serialize/SerializeAdapter.h"
 
 template<typename T>
 class RangeMatcher: public SerializeableMatcherIF<T> {
diff --git a/globalfunctions/matching/SerializeableMatcherIF.h b/globalfunctions/matching/SerializeableMatcherIF.h
index 7b00a1b3..067b0251 100644
--- a/globalfunctions/matching/SerializeableMatcherIF.h
+++ b/globalfunctions/matching/SerializeableMatcherIF.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_GLOBALFUNCTIONS_MATCHING_SERIALIZEABLEMATCHERIF_H_
 #define FRAMEWORK_GLOBALFUNCTIONS_MATCHING_SERIALIZEABLEMATCHERIF_H_
 
-#include <framework/globalfunctions/matching/MatcherIF.h>
-#include <framework/serialize/SerializeIF.h>
+#include "MatcherIF.h"
+#include "../../serialize/SerializeIF.h"
 
 template<typename T>
 class SerializeableMatcherIF : public MatcherIF<T>, public SerializeIF {
diff --git a/globalfunctions/math/QuaternionOperations.cpp b/globalfunctions/math/QuaternionOperations.cpp
index f8c75149..c09426da 100644
--- a/globalfunctions/math/QuaternionOperations.cpp
+++ b/globalfunctions/math/QuaternionOperations.cpp
@@ -1,5 +1,5 @@
 #include "QuaternionOperations.h"
-#include <framework/globalfunctions/math/VectorOperations.h>
+#include "VectorOperations.h"
 
 #include <cmath>
 #include <cstring>
diff --git a/globalfunctions/timevalOperations.cpp b/globalfunctions/timevalOperations.cpp
index 253b6eb7..6efe75ba 100644
--- a/globalfunctions/timevalOperations.cpp
+++ b/globalfunctions/timevalOperations.cpp
@@ -1,4 +1,4 @@
-#include <framework/globalfunctions/timevalOperations.h>
+#include "timevalOperations.h"
 
 timeval& operator+=(timeval& lhs, const timeval& rhs) {
 	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
diff --git a/health/HasHealthIF.h b/health/HasHealthIF.h
index dd27fe39..ac404300 100644
--- a/health/HasHealthIF.h
+++ b/health/HasHealthIF.h
@@ -1,9 +1,9 @@
 #ifndef HASHEALTHIF_H_
 #define HASHEALTHIF_H_
 
-#include <framework/events/Event.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../events/Event.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class HasHealthIF {
 public:
diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index 7b8b3a53..1cc7d858 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -1,6 +1,6 @@
-#include <framework/health/HealthHelper.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "HealthHelper.h"
+#include "../ipc/MessageQueueSenderIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) :
 		healthTable(NULL), eventSender(NULL), objectId(objectId), parentQueue(
 				0), owner(owner) {
diff --git a/health/HealthHelper.h b/health/HealthHelper.h
index 471bc7e9..90155ad4 100644
--- a/health/HealthHelper.h
+++ b/health/HealthHelper.h
@@ -1,13 +1,13 @@
 #ifndef HEALTHHELPER_H_
 #define HEALTHHELPER_H_
 
-#include <framework/events/EventManagerIF.h>
-#include <framework/events/EventReportingProxyIF.h>
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthMessage.h>
-#include <framework/health/HealthTableIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../events/EventManagerIF.h"
+#include "../events/EventReportingProxyIF.h"
+#include "HasHealthIF.h"
+#include "HealthMessage.h"
+#include "HealthTableIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 /**
  * Helper class for Objects that implement HasHealthIF
diff --git a/health/HealthMessage.cpp b/health/HealthMessage.cpp
index 768dea46..1bb29526 100644
--- a/health/HealthMessage.cpp
+++ b/health/HealthMessage.cpp
@@ -1,4 +1,4 @@
-#include <framework/health/HealthMessage.h>
+#include "HealthMessage.h"
 
 void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command,
 		HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth) {
diff --git a/health/HealthMessage.h b/health/HealthMessage.h
index 7fd00904..95bd9d45 100644
--- a/health/HealthMessage.h
+++ b/health/HealthMessage.h
@@ -1,8 +1,8 @@
 #ifndef HEALTHMESSAGE_H_
 #define HEALTHMESSAGE_H_
 
-#include <framework/health/HasHealthIF.h>
-#include <framework/ipc/CommandMessage.h>
+#include "HasHealthIF.h"
+#include "../ipc/CommandMessage.h"
 
 class HealthMessage {
 public:
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index bd6606db..846152f6 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -1,6 +1,6 @@
-#include <framework/health/HealthTable.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/ipc/MutexFactory.h>
+#include "HealthTable.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../ipc/MutexFactory.h"
 
 HealthTable::HealthTable(object_id_t objectid) :
 		SystemObject(objectid) {
diff --git a/health/HealthTable.h b/health/HealthTable.h
index 2c74bda4..6f5dd18d 100644
--- a/health/HealthTable.h
+++ b/health/HealthTable.h
@@ -1,9 +1,9 @@
 #ifndef HEALTHTABLE_H_
 #define HEALTHTABLE_H_
 
-#include <framework/health/HealthTableIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/ipc/MutexIF.h>
+#include "HealthTableIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../ipc/MutexIF.h"
 #include <map>
 
 typedef std::map<object_id_t, HasHealthIF::HealthState> HealthMap;
diff --git a/health/HealthTableIF.h b/health/HealthTableIF.h
index a850a804..404c03e4 100644
--- a/health/HealthTableIF.h
+++ b/health/HealthTableIF.h
@@ -1,9 +1,9 @@
 #ifndef HEALTHTABLEIF_H_
 #define HEALTHTABLEIF_H_
 
-#include <framework/health/ManagesHealthIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "ManagesHealthIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <map>
 
 
diff --git a/health/ManagesHealthIF.h b/health/ManagesHealthIF.h
index ff0c5386..42d4c4f0 100644
--- a/health/ManagesHealthIF.h
+++ b/health/ManagesHealthIF.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
 #define FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
 
-#include <framework/health/HasHealthIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "HasHealthIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 class ManagesHealthIF {
 public:
 	virtual ~ManagesHealthIF() {
diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp
index 9a8ede00..b468ca5e 100644
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@@ -1,10 +1,10 @@
 #include "InternalErrorReporter.h"
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/ipc/MutexFactory.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PoolVariable.h"
+#include "../ipc/MutexFactory.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId,
 		uint32_t queuePoolId, uint32_t tmPoolId, uint32_t storePoolId) :
diff --git a/internalError/InternalErrorReporter.h b/internalError/InternalErrorReporter.h
index 7c1df6a7..9aa24a0f 100644
--- a/internalError/InternalErrorReporter.h
+++ b/internalError/InternalErrorReporter.h
@@ -3,9 +3,9 @@
 
 #include "InternalErrorReporterIF.h"
 
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/ipc/MutexIF.h>
+#include "../tasks/ExecutableObjectIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../ipc/MutexIF.h"
 
 class InternalErrorReporter: public SystemObject,
 		public ExecutableObjectIF,
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 05896cbc..8c5e15b8 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -5,15 +5,15 @@
  * @author	baetz
  */
 
-#include <framework/devicehandlers/DeviceHandlerMessage.h>
-#include <framework/health/HealthMessage.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/memory/MemoryMessage.h>
-#include <framework/modes/ModeMessage.h>
-#include <framework/monitoring/MonitoringMessage.h>
-#include <framework/subsystem/modes/ModeSequenceMessage.h>
-#include <framework/tmstorage/TmStoreMessage.h>
-#include <framework/parameters/ParameterMessage.h>
+#include "../devicehandlers/DeviceHandlerMessage.h"
+#include "../health/HealthMessage.h"
+#include "CommandMessage.h"
+#include "../memory/MemoryMessage.h"
+#include "../modes/ModeMessage.h"
+#include "../monitoring/MonitoringMessage.h"
+#include "../subsystem/modes/ModeSequenceMessage.h"
+#include "../tmstorage/TmStoreMessage.h"
+#include "../parameters/ParameterMessage.h"
 
 namespace MESSAGE_TYPE {
 void clearMissionMessage(CommandMessage* message);
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 897632fe..87244c11 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -9,10 +9,10 @@
 #define COMMANDMESSAGE_H_
 
 
-#include <framework/ipc/FwMessageTypes.h>
+#include "FwMessageTypes.h"
 #include <config/ipc/MissionMessageTypes.h>
 
-#include <framework/ipc/MessageQueueMessage.h>
+#include "MessageQueueMessage.h"
 
 #define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
 typedef ReturnValue_t Command_t;
diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h
index 18e2d99a..9fff5287 100644
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@@ -3,9 +3,9 @@
 
 // COULDDO: We could support blocking calls
 
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "MessageQueueMessage.h"
+#include "MessageQueueSenderIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 class MessageQueueIF {
 public:
 
diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp
index 30e0325c..05dde1f5 100644
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@@ -1,5 +1,5 @@
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "MessageQueueMessage.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 #include <string.h>
 
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index 8c4ec947..aa3559d6 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -1,7 +1,7 @@
 #ifndef MESSAGEQUEUEMESSAGE_H_
 #define MESSAGEQUEUEMESSAGE_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "MessageQueueSenderIF.h"
 #include <stddef.h>
 
 /**
diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index 9e7e11c0..d9692f54 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
 #define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
 class MessageQueueMessage;
 
 
diff --git a/ipc/MutexFactory.h b/ipc/MutexFactory.h
index b2e58b6e..f8133d81 100644
--- a/ipc/MutexFactory.h
+++ b/ipc/MutexFactory.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_MUTEXFACTORY_H_
 #define FRAMEWORK_IPC_MUTEXFACTORY_H_
 
-#include <framework/ipc/MutexIF.h>
+#include "MutexIF.h"
 /**
  * Creates Mutex.
  * This class is a "singleton" interface, i.e. it provides an
diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index f76ccec4..dffcd54e 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_IPC_MUTEXHELPER_H_
 #define FRAMEWORK_IPC_MUTEXHELPER_H_
 
-#include <framework/ipc/MutexFactory.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "MutexFactory.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 class MutexHelper {
 public:
diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index 35786d6a..851d50a1 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_MUTEXIF_H_
 #define FRAMEWORK_IPC_MUTEXIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class MutexIF {
 public:
diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h
index 6e7c4a26..4f4d72c7 100644
--- a/ipc/QueueFactory.h
+++ b/ipc/QueueFactory.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_
 #define FRAMEWORK_IPC_QUEUEFACTORY_H_
 
-#include <framework/ipc/MessageQueueIF.h>
+#include "MessageQueueIF.h"
 #include <stdint.h>
 /**
  * Creates message queues.
diff --git a/memory/AcceptsMemoryMessagesIF.h b/memory/AcceptsMemoryMessagesIF.h
index 2b37f1af..a1cbddf8 100644
--- a/memory/AcceptsMemoryMessagesIF.h
+++ b/memory/AcceptsMemoryMessagesIF.h
@@ -8,9 +8,9 @@
 #ifndef ACCEPTSMEMORYMESSAGESIF_H_
 #define ACCEPTSMEMORYMESSAGESIF_H_
 
-#include <framework/memory/HasMemoryIF.h>
-#include <framework/memory/MemoryMessage.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "HasMemoryIF.h"
+#include "MemoryMessage.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class AcceptsMemoryMessagesIF : public HasMemoryIF {
 public:
diff --git a/memory/HasMemoryIF.h b/memory/HasMemoryIF.h
index cd6e6665..4096d1b7 100644
--- a/memory/HasMemoryIF.h
+++ b/memory/HasMemoryIF.h
@@ -1,7 +1,7 @@
 #ifndef HASMEMORYIF_H_
 #define HASMEMORYIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class HasMemoryIF {
 public:
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index af56f2b8..48a605be 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -1,9 +1,9 @@
-#include <framework/globalfunctions/CRC.h>
-#include <framework/memory/MemoryHelper.h>
-#include <framework/memory/MemoryMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/EndianConverter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../globalfunctions/CRC.h"
+#include "MemoryHelper.h"
+#include "MemoryMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../serialize/EndianConverter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue) :
 		workOnThis(workOnThis), queueToUse(useThisQueue), ipcStore(NULL), ipcAddress(), lastCommand(
diff --git a/memory/MemoryHelper.h b/memory/MemoryHelper.h
index 2ff82eb3..5e1a99b6 100644
--- a/memory/MemoryHelper.h
+++ b/memory/MemoryHelper.h
@@ -1,10 +1,10 @@
 #ifndef MEMORYHELPER_H_
 #define MEMORYHELPER_H_
-#include <framework/ipc/CommandMessage.h>
-#include <framework/memory/AcceptsMemoryMessagesIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../ipc/CommandMessage.h"
+#include "AcceptsMemoryMessagesIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 class MemoryHelper : public HasReturnvaluesIF {
 public:
diff --git a/memory/MemoryMessage.cpp b/memory/MemoryMessage.cpp
index c1116e08..741565fc 100644
--- a/memory/MemoryMessage.cpp
+++ b/memory/MemoryMessage.cpp
@@ -1,5 +1,5 @@
-#include <framework/memory/MemoryMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "MemoryMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 MemoryMessage::MemoryMessage() {
 }
 
diff --git a/memory/MemoryMessage.h b/memory/MemoryMessage.h
index 124fad08..f723bbb6 100644
--- a/memory/MemoryMessage.h
+++ b/memory/MemoryMessage.h
@@ -1,8 +1,8 @@
 #ifndef MEMORYMESSAGE_H_
 #define MEMORYMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../ipc/CommandMessage.h"
+#include "../storagemanager/StorageManagerIF.h"
 
 
 class MemoryMessage {
diff --git a/memory/MemoryProxyIF.h b/memory/MemoryProxyIF.h
index d325ba4e..1494d523 100644
--- a/memory/MemoryProxyIF.h
+++ b/memory/MemoryProxyIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
 #define FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
 
-#include <framework/memory/AcceptsMemoryMessagesIF.h>
+#include "AcceptsMemoryMessagesIF.h"
 
 /**
  * This was a nice idea to transparently forward incoming messages to another object.
diff --git a/modes/HasModesIF.h b/modes/HasModesIF.h
index 263b0a87..4381046c 100644
--- a/modes/HasModesIF.h
+++ b/modes/HasModesIF.h
@@ -8,10 +8,10 @@
 #ifndef HASMODESIF_H_
 #define HASMODESIF_H_
 
-#include <framework/events/Event.h>
-#include <framework/modes/ModeHelper.h>
-#include <framework/modes/ModeMessage.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../events/Event.h"
+#include "ModeHelper.h"
+#include "ModeMessage.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 
 
diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp
index 7b98bdc6..cb62c468 100644
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@@ -1,6 +1,6 @@
-#include <framework/modes/HasModesIF.h>
-#include <framework/modes/ModeHelper.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "HasModesIF.h"
+#include "ModeHelper.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 ModeHelper::ModeHelper(HasModesIF *owner) :
 		theOneWhoCommandedAMode(0), commandedMode(HasModesIF::MODE_OFF), commandedSubmode(
diff --git a/modes/ModeHelper.h b/modes/ModeHelper.h
index 87f6d411..542fe780 100644
--- a/modes/ModeHelper.h
+++ b/modes/ModeHelper.h
@@ -1,9 +1,9 @@
 #ifndef MODEHELPER_H_
 #define MODEHELPER_H_
 
-#include <framework/modes/ModeMessage.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/timemanager/Countdown.h>
+#include "ModeMessage.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../timemanager/Countdown.h"
 
 class HasModesIF;
 
diff --git a/modes/ModeMessage.cpp b/modes/ModeMessage.cpp
index 1d3baad5..14dbbb31 100644
--- a/modes/ModeMessage.cpp
+++ b/modes/ModeMessage.cpp
@@ -1,4 +1,4 @@
-#include <framework/modes/ModeMessage.h>
+#include "ModeMessage.h"
 
 Mode_t ModeMessage::getMode(const CommandMessage* message) {
 	return message->getParameter();
diff --git a/modes/ModeMessage.h b/modes/ModeMessage.h
index f72fdeec..5fd82512 100644
--- a/modes/ModeMessage.h
+++ b/modes/ModeMessage.h
@@ -8,7 +8,7 @@
 #ifndef MODEMESSAGE_H_
 #define MODEMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
+#include "../ipc/CommandMessage.h"
 
 typedef uint32_t Mode_t;
 typedef uint8_t Submode_t;
diff --git a/monitoring/AbsLimitMonitor.h b/monitoring/AbsLimitMonitor.h
index 3525ba2c..2e60f6f8 100644
--- a/monitoring/AbsLimitMonitor.h
+++ b/monitoring/AbsLimitMonitor.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
 #define FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
 
-#include <framework/monitoring/MonitorBase.h>
+#include "MonitorBase.h"
 #include <cmath>
 
 template<typename T>
diff --git a/monitoring/HasMonitorsIF.h b/monitoring/HasMonitorsIF.h
index 6f1dc1b3..85d92b6b 100644
--- a/monitoring/HasMonitorsIF.h
+++ b/monitoring/HasMonitorsIF.h
@@ -7,9 +7,9 @@
 #ifndef HASMONITORSIF_H_
 #define HASMONITORSIF_H_
 
-#include <framework/events/EventReportingProxyIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../events/EventReportingProxyIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class HasMonitorsIF {
 public:
diff --git a/monitoring/LimitMonitor.h b/monitoring/LimitMonitor.h
index 45abe48b..66e6725e 100644
--- a/monitoring/LimitMonitor.h
+++ b/monitoring/LimitMonitor.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_MONITORING_LIMITMONITOR_H_
 #define FRAMEWORK_MONITORING_LIMITMONITOR_H_
 
-#include <framework/monitoring/MonitorBase.h>
+#include "MonitorBase.h"
 
 /**
  * Variant of a limit checking class.
diff --git a/monitoring/LimitViolationReporter.cpp b/monitoring/LimitViolationReporter.cpp
index 489a8f9e..c531a6e6 100644
--- a/monitoring/LimitViolationReporter.cpp
+++ b/monitoring/LimitViolationReporter.cpp
@@ -4,11 +4,11 @@
  * @date	17.07.2014
  * @author	baetz
  */
-#include <framework/monitoring/LimitViolationReporter.h>
-#include <framework/monitoring/MonitoringIF.h>
-#include <framework/monitoring/ReceivesMonitoringReportsIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "LimitViolationReporter.h"
+#include "MonitoringIF.h"
+#include "ReceivesMonitoringReportsIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../serialize/SerializeAdapter.h"
 
 ReturnValue_t LimitViolationReporter::sendLimitViolationReport(const SerializeIF* data) {
 	ReturnValue_t result = checkClassLoaded();
diff --git a/monitoring/LimitViolationReporter.h b/monitoring/LimitViolationReporter.h
index 3a9d04dd..a71b972f 100644
--- a/monitoring/LimitViolationReporter.h
+++ b/monitoring/LimitViolationReporter.h
@@ -7,10 +7,10 @@
 #ifndef LIMITVIOLATIONREPORTER_H_
 #define LIMITVIOLATIONREPORTER_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
diff --git a/monitoring/MonitorBase.h b/monitoring/MonitorBase.h
index 79622645..b2d0e6cb 100644
--- a/monitoring/MonitorBase.h
+++ b/monitoring/MonitorBase.h
@@ -1,12 +1,12 @@
 #ifndef MONITORBASE_H_
 #define MONITORBASE_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PIDReader.h>
-#include <framework/monitoring/LimitViolationReporter.h>
-#include <framework/monitoring/MonitoringIF.h>
-#include <framework/monitoring/MonitoringMessageContent.h>
-#include <framework/monitoring/MonitorReporter.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PIDReader.h"
+#include "LimitViolationReporter.h"
+#include "MonitoringIF.h"
+#include "MonitoringMessageContent.h"
+#include "MonitorReporter.h"
 
 /**
  * Base class for monitoring of parameters.
diff --git a/monitoring/MonitorReporter.h b/monitoring/MonitorReporter.h
index 6274313f..ca2b534b 100644
--- a/monitoring/MonitorReporter.h
+++ b/monitoring/MonitorReporter.h
@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_MONITORING_MONITORREPORTER_H_
 #define FRAMEWORK_MONITORING_MONITORREPORTER_H_
 
-#include <framework/events/EventManagerIF.h>
-#include <framework/monitoring/LimitViolationReporter.h>
-#include <framework/monitoring/MonitoringIF.h>
-#include <framework/monitoring/MonitoringMessageContent.h>
-#include <framework/parameters/HasParametersIF.h>
+#include "../events/EventManagerIF.h"
+#include "LimitViolationReporter.h"
+#include "MonitoringIF.h"
+#include "MonitoringMessageContent.h"
+#include "../parameters/HasParametersIF.h"
 
 template<typename T>
 class MonitorReporter: public HasParametersIF {
diff --git a/monitoring/MonitoringIF.h b/monitoring/MonitoringIF.h
index d2d62f35..44218c36 100644
--- a/monitoring/MonitoringIF.h
+++ b/monitoring/MonitoringIF.h
@@ -1,9 +1,9 @@
 #ifndef MONITORINGIF_H_
 #define MONITORINGIF_H_
 
-#include <framework/memory/HasMemoryIF.h>
-#include <framework/monitoring/MonitoringMessage.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../memory/HasMemoryIF.h"
+#include "MonitoringMessage.h"
+#include "../serialize/SerializeIF.h"
 
 class MonitoringIF : public SerializeIF {
 public:
diff --git a/monitoring/MonitoringMessage.cpp b/monitoring/MonitoringMessage.cpp
index 77919bfe..8caa27ae 100644
--- a/monitoring/MonitoringMessage.cpp
+++ b/monitoring/MonitoringMessage.cpp
@@ -1,5 +1,5 @@
-#include <framework/monitoring/MonitoringMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "MonitoringMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 MonitoringMessage::~MonitoringMessage() {
 }
diff --git a/monitoring/MonitoringMessage.h b/monitoring/MonitoringMessage.h
index d2ff9b4d..248cd6ff 100644
--- a/monitoring/MonitoringMessage.h
+++ b/monitoring/MonitoringMessage.h
@@ -1,8 +1,8 @@
 #ifndef MONITORINGMESSAGE_H_
 #define MONITORINGMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../ipc/CommandMessage.h"
+#include "../storagemanager/StorageManagerIF.h"
 
 class MonitoringMessage: public CommandMessage {
 public:
diff --git a/monitoring/MonitoringMessageContent.h b/monitoring/MonitoringMessageContent.h
index 7e1aca62..c82506f3 100644
--- a/monitoring/MonitoringMessageContent.h
+++ b/monitoring/MonitoringMessageContent.h
@@ -1,15 +1,15 @@
 #ifndef MONITORINGMESSAGECONTENT_H_
 #define MONITORINGMESSAGECONTENT_H_
 
-#include <framework/monitoring/HasMonitorsIF.h>
-#include <framework/monitoring/MonitoringIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/SerialBufferAdapter.h>
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-#include <framework/serialize/SerializeElement.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/timemanager/TimeStamperIF.h>
+#include "HasMonitorsIF.h"
+#include "MonitoringIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../serialize/SerialBufferAdapter.h"
+#include "../serialize/SerialFixedArrayListAdapter.h"
+#include "../serialize/SerializeElement.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../timemanager/TimeStamperIF.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
diff --git a/monitoring/ReceivesMonitoringReportsIF.h b/monitoring/ReceivesMonitoringReportsIF.h
index 42c365c1..fb37c16c 100644
--- a/monitoring/ReceivesMonitoringReportsIF.h
+++ b/monitoring/ReceivesMonitoringReportsIF.h
@@ -1,7 +1,7 @@
 #ifndef RECEIVESMONITORINGREPORTSIF_H_
 #define RECEIVESMONITORINGREPORTSIF_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../ipc/MessageQueueSenderIF.h"
 
 class ReceivesMonitoringReportsIF {
 public:
diff --git a/monitoring/TriplexMonitor.h b/monitoring/TriplexMonitor.h
index 9a2e69c3..9b60aeb6 100644
--- a/monitoring/TriplexMonitor.h
+++ b/monitoring/TriplexMonitor.h
@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_
 #define FRAMEWORK_MONITORING_TRIPLEXMONITOR_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PIDReaderList.h>
-#include <framework/health/HealthTableIF.h>
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PIDReaderList.h"
+#include "../health/HealthTableIF.h"
+#include "../parameters/HasParametersIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 
 //SHOULDDO: This is by far not perfect. Could be merged with new Monitor classes. But still, it's over-engineering.
diff --git a/monitoring/TwoValueLimitMonitor.h b/monitoring/TwoValueLimitMonitor.h
index c17ad433..e690cdae 100644
--- a/monitoring/TwoValueLimitMonitor.h
+++ b/monitoring/TwoValueLimitMonitor.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_MONITORING_TWOVALUELIMITMONITOR_H_
 #define FRAMEWORK_MONITORING_TWOVALUELIMITMONITOR_H_
 
-#include <framework/monitoring/LimitMonitor.h>
+#include "LimitMonitor.h"
 
 template<typename T>
 class TwoValueLimitMonitor: public LimitMonitor<T> {
diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 1c54355a..dd0ae188 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -1,5 +1,5 @@
-#include <framework/objectmanager/ObjectManager.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "ObjectManager.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include <iomanip>
 #include <cstdlib>
 
diff --git a/objectmanager/ObjectManager.h b/objectmanager/ObjectManager.h
index 63451071..0d2b3c4a 100644
--- a/objectmanager/ObjectManager.h
+++ b/objectmanager/ObjectManager.h
@@ -8,8 +8,8 @@
 #ifndef OBJECTMANAGER_H_
 #define OBJECTMANAGER_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "ObjectManagerIF.h"
+#include "SystemObjectIF.h"
 #include <map>
 
 /**
diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index dcef81cd..e0162af9 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
 #define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
-#include <framework/objectmanager/frameworkObjects.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "frameworkObjects.h"
+#include "SystemObjectIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 /**
  * @brief	This class provides an interface to the global object manager.
diff --git a/objectmanager/SystemObject.cpp b/objectmanager/SystemObject.cpp
index 85daaa35..53aac599 100644
--- a/objectmanager/SystemObject.cpp
+++ b/objectmanager/SystemObject.cpp
@@ -1,6 +1,6 @@
-#include <framework/events/EventManagerIF.h>
-#include <framework/objectmanager/ObjectManager.h>
-#include <framework/objectmanager/SystemObject.h>
+#include "../events/EventManagerIF.h"
+#include "ObjectManager.h"
+#include "SystemObject.h"
 
 SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
 		objectId(setObjectId), registered(doRegister) {
diff --git a/objectmanager/SystemObject.h b/objectmanager/SystemObject.h
index 6a1b35b6..8e9f20d5 100644
--- a/objectmanager/SystemObject.h
+++ b/objectmanager/SystemObject.h
@@ -8,10 +8,10 @@
 #ifndef SYSTEMOBJECT_H_
 #define SYSTEMOBJECT_H_
 
-#include <framework/events/Event.h>
-#include <framework/events/EventReportingProxyIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/timemanager/Clock.h>
+#include "../events/Event.h"
+#include "../events/EventReportingProxyIF.h"
+#include "SystemObjectIF.h"
+#include "../timemanager/Clock.h"
 
 /**
  * @brief	This class automates insertion into the ObjectManager and
diff --git a/objectmanager/SystemObjectIF.h b/objectmanager/SystemObjectIF.h
index 7540f80f..c5a92196 100644
--- a/objectmanager/SystemObjectIF.h
+++ b/objectmanager/SystemObjectIF.h
@@ -8,8 +8,8 @@
 #ifndef SYSTEMOBJECTIF_H_
 #define SYSTEMOBJECTIF_H_
 
-#include <framework/events/EventReportingProxyIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../events/EventReportingProxyIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 /**
  * \defgroup system_objects Software System Object Management
diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index dce20265..9733c405 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -1,6 +1,6 @@
-#include <framework/timemanager/Clock.h>
-#include <framework/globalfunctions/timevalOperations.h>
-#include <framework/osal/FreeRTOS/Timekeeper.h>
+#include "../../timemanager/Clock.h"
+#include "../../globalfunctions/timevalOperations.h"
+#include "Timekeeper.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 17804d90..902502f9 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -1,6 +1,6 @@
 #include "FixedTimeslotTask.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 66af0311..d65f1fe4 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
-#include <framework/devicehandlers/FixedSlotSequence.h>
-#include <framework/tasks/FixedTimeslotTaskIF.h>
-#include <framework/tasks/Typedef.h>
+#include "../../devicehandlers/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/Typedef.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index 18e7aa3d..3bbd4d9d 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -1,6 +1,6 @@
 #include "MessageQueue.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 // TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
 
diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h
index 32f41b44..aa3d54c1 100644
--- a/osal/FreeRTOS/MessageQueue.h
+++ b/osal/FreeRTOS/MessageQueue.h
@@ -1,9 +1,9 @@
 #ifndef MESSAGEQUEUE_H_
 #define MESSAGEQUEUE_H_
 
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/ipc/MessageQueueMessage.h>
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/MessageQueueMessage.h"
 
 #include <FreeRTOS.h>
 #include <queue.h>
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index 7c511091..6da58783 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -1,6 +1,6 @@
 #include "Mutex.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 const uint32_t MutexIF::NO_TIMEOUT = 0;
 
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index 91f29585..d376b7bc 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -1,7 +1,7 @@
 #ifndef OS_RTEMS_MUTEX_H_
 #define OS_RTEMS_MUTEX_H_
 
-#include <framework/ipc/MutexIF.h>
+#include "../../ipc/MutexIF.h"
 
 
 #include <FreeRTOS.h>
diff --git a/osal/FreeRTOS/MutexFactory.cpp b/osal/FreeRTOS/MutexFactory.cpp
index cadb54fb..75b63d07 100644
--- a/osal/FreeRTOS/MutexFactory.cpp
+++ b/osal/FreeRTOS/MutexFactory.cpp
@@ -1,4 +1,4 @@
-#include <framework/ipc/MutexFactory.h>
+#include "../../ipc/MutexFactory.h"
 
 #include "../FreeRTOS/Mutex.h"
 
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 91135375..a95333b4 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -1,7 +1,7 @@
 #include "PeriodicTask.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tasks/ExecutableObjectIF.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 09aa6bc7..3eb8f57e 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/PeriodicTaskIF.h>
-#include <framework/tasks/Typedef.h>
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+#include "../../tasks/Typedef.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index a0128918..e639179a 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -1,6 +1,6 @@
-#include <framework/ipc/QueueFactory.h>
+#include "../../ipc/QueueFactory.h"
 
-#include <framework/osal/FreeRTOS/MessageQueue.h>
+#include "MessageQueue.h"
 
 
 QueueFactory* QueueFactory::factoryInstance = NULL;
diff --git a/osal/FreeRTOS/TaskFactory.cpp b/osal/FreeRTOS/TaskFactory.cpp
index 753da60f..80df38b2 100644
--- a/osal/FreeRTOS/TaskFactory.cpp
+++ b/osal/FreeRTOS/TaskFactory.cpp
@@ -1,5 +1,5 @@
-#include <framework/tasks/TaskFactory.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../tasks/TaskFactory.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include "PeriodicTask.h"
 #include "FixedTimeslotTask.h"
diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp
index 643b2747..1031f0c4 100644
--- a/osal/FreeRTOS/Timekeeper.cpp
+++ b/osal/FreeRTOS/Timekeeper.cpp
@@ -1,4 +1,4 @@
-#include <framework/osal/FreeRTOS/Timekeeper.h>
+#include "Timekeeper.h"
 
 #include "FreeRTOSConfig.h"
 
diff --git a/osal/FreeRTOS/Timekeeper.h b/osal/FreeRTOS/Timekeeper.h
index 7d3ca22b..7d583f7d 100644
--- a/osal/FreeRTOS/Timekeeper.h
+++ b/osal/FreeRTOS/Timekeeper.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
 #define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
 
-#include <framework/timemanager/Clock.h>
+#include "../../timemanager/Clock.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
diff --git a/osal/InternalErrorCodes.h b/osal/InternalErrorCodes.h
index 5419fd94..1da116fa 100644
--- a/osal/InternalErrorCodes.h
+++ b/osal/InternalErrorCodes.h
@@ -1,7 +1,7 @@
 #ifndef INTERNALERRORCODES_H_
 #define INTERNALERRORCODES_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class InternalErrorCodes {
 public:
diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index 630b2cf4..48e325ef 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -1,5 +1,5 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/timemanager/Clock.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/Clock.h"
 
 #include <sys/time.h>
 #include <sys/sysinfo.h>
diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp
index e5c68f9d..858a39a7 100644
--- a/osal/linux/FixedTimeslotTask.cpp
+++ b/osal/linux/FixedTimeslotTask.cpp
@@ -1,5 +1,5 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/linux/FixedTimeslotTask.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "FixedTimeslotTask.h"
 
 #include <limits.h>
 
diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h
index 916e6d6c..42802b1d 100644
--- a/osal/linux/FixedTimeslotTask.h
+++ b/osal/linux/FixedTimeslotTask.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
 #define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
 
-#include <framework/tasks/FixedTimeslotTaskIF.h>
-#include <framework/devicehandlers/FixedSlotSequence.h>
-#include <framework/osal/linux/PosixThread.h>
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../devicehandlers/FixedSlotSequence.h"
+#include "PosixThread.h"
 #include <pthread.h>
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
diff --git a/osal/linux/InternalErrorCodes.cpp b/osal/linux/InternalErrorCodes.cpp
index 7f83663b..a01cc72a 100644
--- a/osal/linux/InternalErrorCodes.cpp
+++ b/osal/linux/InternalErrorCodes.cpp
@@ -1,4 +1,4 @@
-#include <framework/osal/InternalErrorCodes.h>
+#include "../../osal/InternalErrorCodes.h"
 
 ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
 	//TODO This class can be removed
diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index a0749ded..e5c61cae 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -1,5 +1,5 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/linux/MessageQueue.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "MessageQueue.h"
 
 #include <fstream>
 
diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h
index 2808d36e..31cdca11 100644
--- a/osal/linux/MessageQueue.h
+++ b/osal/linux/MessageQueue.h
@@ -1,9 +1,9 @@
 #ifndef MESSAGEQUEUE_H_
 #define MESSAGEQUEUE_H_
 
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/ipc/MessageQueueMessage.h>
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/MessageQueueMessage.h"
 
 #include <mqueue.h>
 /**
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index 36bb3ce4..dd8d3c5b 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -1,6 +1,6 @@
-#include <framework/osal/linux/Mutex.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/timemanager/Clock.h>
+#include "Mutex.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/Clock.h"
 
 const uint32_t MutexIF::NO_TIMEOUT = 0;
 uint8_t Mutex::count = 0;
diff --git a/osal/linux/Mutex.h b/osal/linux/Mutex.h
index d02d008f..9f9bf521 100644
--- a/osal/linux/Mutex.h
+++ b/osal/linux/Mutex.h
@@ -1,7 +1,7 @@
 #ifndef OS_RTEMS_MUTEX_H_
 #define OS_RTEMS_MUTEX_H_
 
-#include <framework/ipc/MutexIF.h>
+#include "../../ipc/MutexIF.h"
 #include <pthread.h>
 
 class Mutex : public MutexIF {
diff --git a/osal/linux/MutexFactory.cpp b/osal/linux/MutexFactory.cpp
index d769cc33..8c2faf88 100644
--- a/osal/linux/MutexFactory.cpp
+++ b/osal/linux/MutexFactory.cpp
@@ -1,5 +1,5 @@
-#include <framework/ipc/MutexFactory.h>
-#include <framework/osal/linux/Mutex.h>
+#include "../../ipc/MutexFactory.h"
+#include "Mutex.h"
 
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index 6149c84b..c08bb472 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -1,7 +1,7 @@
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../tasks/ExecutableObjectIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <errno.h>
-#include <framework/osal/linux/PeriodicPosixTask.h>
+#include "PeriodicPosixTask.h"
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
 		size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index bf1a995b..6737cee6 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
 #define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
 
-#include <framework/tasks/PeriodicTaskIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/osal/linux/PosixThread.h>
-#include <framework/tasks/ExecutableObjectIF.h>
+#include "../../tasks/PeriodicTaskIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "PosixThread.h"
+#include "../../tasks/ExecutableObjectIF.h"
 #include <vector>
 
 class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF {
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index bc3e62ed..ddb1f74f 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -1,5 +1,5 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/linux/PosixThread.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "PosixThread.h"
 #include <cstring>
 #include <errno.h>
 
diff --git a/osal/linux/PosixThread.h b/osal/linux/PosixThread.h
index e9d31728..7d8d349a 100644
--- a/osal/linux/PosixThread.h
+++ b/osal/linux/PosixThread.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
 #define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 #include <pthread.h>
 #include <signal.h>
 #include <cstdlib>
diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp
index 268d0b99..afeca547 100644
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@@ -1,8 +1,8 @@
-#include <framework/ipc/QueueFactory.h>
+#include "../../ipc/QueueFactory.h"
 #include <mqueue.h>
 #include <errno.h>
-#include <framework/osal/linux/MessageQueue.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "MessageQueue.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <cstring>
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;
diff --git a/osal/linux/TaskFactory.cpp b/osal/linux/TaskFactory.cpp
index 219630a7..f507c767 100644
--- a/osal/linux/TaskFactory.cpp
+++ b/osal/linux/TaskFactory.cpp
@@ -1,7 +1,7 @@
-#include <framework/osal/linux/FixedTimeslotTask.h>
-#include <framework/osal/linux/PeriodicPosixTask.h>
-#include <framework/tasks/TaskFactory.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "FixedTimeslotTask.h"
+#include "PeriodicPosixTask.h"
+#include "../../tasks/TaskFactory.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
diff --git a/osal/linux/Timer.cpp b/osal/linux/Timer.cpp
index 5e27c328..ee964baa 100644
--- a/osal/linux/Timer.cpp
+++ b/osal/linux/Timer.cpp
@@ -1,6 +1,6 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <errno.h>
-#include <framework/osal/linux/Timer.h>
+#include "Timer.h"
 
 Timer::Timer() {
 	sigevent sigEvent;
diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp
index 98198dd3..eeffd7f3 100644
--- a/osal/rtems/Clock.cpp
+++ b/osal/rtems/Clock.cpp
@@ -1,4 +1,4 @@
-#include <framework/timemanager/Clock.h>
+#include "../../timemanager/Clock.h"
 #include "RtemsBasic.h"
 #include <rtems/score/todimpl.h>
 
diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp
index 61b66c3d..d49de4ad 100644
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@@ -1,6 +1,6 @@
 #include "CpuUsage.h"
-#include <framework/serialize/SerialArrayListAdapter.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "../../serialize/SerialArrayListAdapter.h"
+#include "../../serialize/SerializeAdapter.h"
 #include <string.h>
 
 extern "C" {
diff --git a/osal/rtems/CpuUsage.h b/osal/rtems/CpuUsage.h
index eb03c5e3..f487e191 100644
--- a/osal/rtems/CpuUsage.h
+++ b/osal/rtems/CpuUsage.h
@@ -1,8 +1,8 @@
 #ifndef CPUUSAGE_H_
 #define CPUUSAGE_H_
 
-#include <framework/container/FixedArrayList.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../../container/FixedArrayList.h"
+#include "../../serialize/SerializeIF.h"
 #include <stdarg.h>
 
 class CpuUsage : public SerializeIF {
diff --git a/osal/rtems/InternalErrorCodes.cpp b/osal/rtems/InternalErrorCodes.cpp
index dbe3172e..9346cf15 100644
--- a/osal/rtems/InternalErrorCodes.cpp
+++ b/osal/rtems/InternalErrorCodes.cpp
@@ -1,4 +1,4 @@
-#include <framework/osal/InternalErrorCodes.h>
+#include "../../osal/InternalErrorCodes.h"
 #include <rtems/score/interr.h>
 
 ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
diff --git a/osal/rtems/Interrupt.h b/osal/rtems/Interrupt.h
index c4c21911..2152e2f0 100644
--- a/osal/rtems/Interrupt.h
+++ b/osal/rtems/Interrupt.h
@@ -1,7 +1,7 @@
 #ifndef OS_RTEMS_INTERRUPT_H_
 #define OS_RTEMS_INTERRUPT_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 #include <cstring>
 #include <rtems.h>
 
diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp
index de148fdc..700db444 100644
--- a/osal/rtems/MessageQueue.cpp
+++ b/osal/rtems/MessageQueue.cpp
@@ -1,4 +1,4 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 #include <cstring>
diff --git a/osal/rtems/MessageQueue.h b/osal/rtems/MessageQueue.h
index 9bdce7ca..c6fc62d5 100644
--- a/osal/rtems/MessageQueue.h
+++ b/osal/rtems/MessageQueue.h
@@ -10,9 +10,9 @@
 #ifndef MESSAGEQUEUE_H_
 #define MESSAGEQUEUE_H_
 
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/ipc/MessageQueueMessage.h>
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/MessageQueueMessage.h"
 #include "RtemsBasic.h"
 
 /**
diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index bb8c2c81..3c4886a5 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -5,8 +5,8 @@
  * @author	baetz
  */
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tasks/ExecutableObjectIF.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
 #include "MultiObjectTask.h"
 
 MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriority,
diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index 64b09c52..28d05fb1 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -7,8 +7,8 @@
 #ifndef MULTIOBJECTTASK_H_
 #define MULTIOBJECTTASK_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/PeriodicTaskIF.h>
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
 
 #include "TaskBase.h"
 #include <vector>
diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index d094e1dc..d8babcde 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,5 +1,5 @@
 #include "Mutex.h"
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT;
 uint8_t Mutex::count = 0;
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 19b34e7f..340bb16b 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -1,7 +1,7 @@
 #ifndef OS_RTEMS_MUTEX_H_
 #define OS_RTEMS_MUTEX_H_
 
-#include <framework/ipc/MutexIF.h>
+#include "../../ipc/MutexIF.h"
 #include "RtemsBasic.h"
 
 class Mutex : public MutexIF {
diff --git a/osal/rtems/MutexFactory.cpp b/osal/rtems/MutexFactory.cpp
index d7bd16bc..ea594789 100644
--- a/osal/rtems/MutexFactory.cpp
+++ b/osal/rtems/MutexFactory.cpp
@@ -1,4 +1,4 @@
-#include <framework/ipc/MutexFactory.h>
+#include "../../ipc/MutexFactory.h"
 #include "Mutex.h"
 #include "RtemsBasic.h"
 
diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp
index 03ba0951..04191515 100644
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@@ -1,9 +1,9 @@
-#include <framework/devicehandlers/FixedSequenceSlot.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/osal/rtems/PollingTask.h>
-#include <framework/osal/rtems/RtemsBasic.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../devicehandlers/FixedSequenceSlot.h"
+#include "../../objectmanager/SystemObjectIF.h"
+#include "PollingTask.h"
+#include "RtemsBasic.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <rtems/bspIo.h>
 #include <rtems/rtems/ratemon.h>
 #include <rtems/rtems/status.h>
diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h
index 82ec65a2..199c34e7 100644
--- a/osal/rtems/PollingTask.h
+++ b/osal/rtems/PollingTask.h
@@ -1,8 +1,8 @@
 #ifndef POLLINGTASK_H_
 #define POLLINGTASK_H_
 
-#include <framework/devicehandlers/FixedSlotSequence.h>
-#include <framework/tasks/FixedTimeslotTaskIF.h>
+#include "../../devicehandlers/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
 #include "TaskBase.h"
 
 class PollingTask: public TaskBase, public FixedTimeslotTaskIF {
diff --git a/osal/rtems/QueueFactory.cpp b/osal/rtems/QueueFactory.cpp
index 8cc9905c..fce55a0e 100644
--- a/osal/rtems/QueueFactory.cpp
+++ b/osal/rtems/QueueFactory.cpp
@@ -1,4 +1,4 @@
-#include <framework/ipc/QueueFactory.h>
+#include "../../ipc/QueueFactory.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 
diff --git a/osal/rtems/RtemsBasic.h b/osal/rtems/RtemsBasic.h
index f7ab8614..78e0d46e 100644
--- a/osal/rtems/RtemsBasic.h
+++ b/osal/rtems/RtemsBasic.h
@@ -1,7 +1,7 @@
 #ifndef OS_RTEMS_RTEMSBASIC_H_
 #define OS_RTEMS_RTEMSBASIC_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 #include <rtems.h>
 #include <rtems/libio.h>
 #include <rtems/error.h>
diff --git a/osal/rtems/TaskBase.cpp b/osal/rtems/TaskBase.cpp
index ad795645..adf6ee70 100644
--- a/osal/rtems/TaskBase.cpp
+++ b/osal/rtems/TaskBase.cpp
@@ -1,4 +1,4 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "TaskBase.h"
 
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE;
diff --git a/osal/rtems/TaskBase.h b/osal/rtems/TaskBase.h
index b9c1192a..410d9110 100644
--- a/osal/rtems/TaskBase.h
+++ b/osal/rtems/TaskBase.h
@@ -2,7 +2,7 @@
 #define TASKBASE_H_
 
 #include "RtemsBasic.h"
-#include <framework/tasks/PeriodicTaskIF.h>
+#include "../../tasks/PeriodicTaskIF.h"
 
 /**
  * @brief	This is the basic task handling class for rtems.
diff --git a/osal/rtems/TaskFactory.cpp b/osal/rtems/TaskFactory.cpp
index 2bee19c7..bab48a44 100644
--- a/osal/rtems/TaskFactory.cpp
+++ b/osal/rtems/TaskFactory.cpp
@@ -1,9 +1,9 @@
-#include <framework/tasks/TaskFactory.h>
+#include "../../tasks/TaskFactory.h"
 #include "MultiObjectTask.h"
 #include "PollingTask.h"
 #include "InitTask.h"
 #include "RtemsBasic.h"
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
diff --git a/parameters/HasParametersIF.h b/parameters/HasParametersIF.h
index fbb69445..71212b57 100644
--- a/parameters/HasParametersIF.h
+++ b/parameters/HasParametersIF.h
@@ -1,8 +1,8 @@
 #ifndef HASPARAMETERSIF_H_
 #define HASPARAMETERSIF_H_
 
-#include <framework/parameters/ParameterWrapper.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "ParameterWrapper.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 
 typedef uint32_t ParameterId_t;
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index f896f00f..8543515f 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -1,6 +1,6 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/parameters/ParameterHelper.h>
-#include <framework/parameters/ParameterMessage.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "ParameterHelper.h"
+#include "ParameterMessage.h"
 
 ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
 		owner(owner), storage(NULL) {
diff --git a/parameters/ParameterHelper.h b/parameters/ParameterHelper.h
index e2fefdba..d887bf1d 100644
--- a/parameters/ParameterHelper.h
+++ b/parameters/ParameterHelper.h
@@ -1,8 +1,8 @@
 #ifndef PARAMETERHELPER_H_
 #define PARAMETERHELPER_H_
 
-#include <framework/parameters/ParameterMessage.h>
-#include <framework/parameters/ReceivesParameterMessagesIF.h>
+#include "ParameterMessage.h"
+#include "ReceivesParameterMessagesIF.h"
 
 class ParameterHelper {
 public:
diff --git a/parameters/ParameterMessage.cpp b/parameters/ParameterMessage.cpp
index 1c7d6911..7e0ed114 100644
--- a/parameters/ParameterMessage.cpp
+++ b/parameters/ParameterMessage.cpp
@@ -1,5 +1,5 @@
-#include <framework/parameters/ParameterMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "ParameterMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) {
 	return message->getParameter();
diff --git a/parameters/ParameterMessage.h b/parameters/ParameterMessage.h
index 0f286675..7cb02d96 100644
--- a/parameters/ParameterMessage.h
+++ b/parameters/ParameterMessage.h
@@ -1,9 +1,9 @@
 #ifndef PARAMETERMESSAGE_H_
 #define PARAMETERMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../ipc/CommandMessage.h"
+#include "HasParametersIF.h"
+#include "../storagemanager/StorageManagerIF.h"
 
 class ParameterMessage {
 private:
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index bbf1e8a3..56f56426 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -1,4 +1,4 @@
-#include <framework/parameters/ParameterWrapper.h>
+#include "ParameterWrapper.h"
 
 ParameterWrapper::ParameterWrapper() :
 		pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index a00c997c..b18fe2b9 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -1,11 +1,11 @@
 #ifndef PARAMETERWRAPPER_H_
 #define PARAMETERWRAPPER_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serialize/SerializeIF.h"
 #include <stddef.h>
-#include <framework/globalfunctions/Type.h>
+#include "../globalfunctions/Type.h"
 
 class ParameterWrapper: public SerializeIF {
 	friend class DataPoolParameterWrapper;
diff --git a/parameters/ReceivesParameterMessagesIF.h b/parameters/ReceivesParameterMessagesIF.h
index 9bcd226d..1fcbd4b3 100644
--- a/parameters/ReceivesParameterMessagesIF.h
+++ b/parameters/ReceivesParameterMessagesIF.h
@@ -2,8 +2,8 @@
 #define RECEIVESPARAMETERMESSAGESIF_H_
 
 
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "HasParametersIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 
 class ReceivesParameterMessagesIF : public HasParametersIF {
 public:
diff --git a/power/Fuse.cpp b/power/Fuse.cpp
index db24100b..9986ab6b 100644
--- a/power/Fuse.cpp
+++ b/power/Fuse.cpp
@@ -1,9 +1,9 @@
-#include <framework/monitoring/LimitViolationReporter.h>
-#include <framework/monitoring/MonitoringMessageContent.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/power/Fuse.h>
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../monitoring/LimitViolationReporter.h"
+#include "../monitoring/MonitoringMessageContent.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "Fuse.h"
+#include "../serialize/SerialFixedArrayListAdapter.h"
+#include "../ipc/QueueFactory.h"
 
 object_id_t Fuse::powerSwitchId = 0;
 
diff --git a/power/Fuse.h b/power/Fuse.h
index 4e22e3ed..279642be 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -1,14 +1,14 @@
 #ifndef FUSE_H_
 #define FUSE_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PIDReader.h>
-#include <framework/devicehandlers/HealthDevice.h>
-#include <framework/monitoring/AbsLimitMonitor.h>
-#include <framework/power/PowerComponentIF.h>
-#include <framework/power/PowerSwitchIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/parameters/ParameterHelper.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PIDReader.h"
+#include "../devicehandlers/HealthDevice.h"
+#include "../monitoring/AbsLimitMonitor.h"
+#include "PowerComponentIF.h"
+#include "PowerSwitchIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../parameters/ParameterHelper.h"
 #include <list>
 
 namespace Factory {
diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp
index cd116a86..6012ad4c 100644
--- a/power/PowerComponent.cpp
+++ b/power/PowerComponent.cpp
@@ -5,7 +5,7 @@
  * @author	baetz
  */
 
-#include <framework/power/PowerComponent.h>
+#include "PowerComponent.h"
 
 PowerComponent::PowerComponent() :
 		deviceObjectId(0), switchId1(0xFF), switchId2(0xFF), doIHaveTwoSwitches(
diff --git a/power/PowerComponent.h b/power/PowerComponent.h
index 61ab3674..6d1c9c06 100644
--- a/power/PowerComponent.h
+++ b/power/PowerComponent.h
@@ -1,8 +1,8 @@
 #ifndef POWERCOMPONENT_H_
 #define POWERCOMPONENT_H_
 
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/power/PowerComponentIF.h>
+#include "../objectmanager/SystemObjectIF.h"
+#include "PowerComponentIF.h"
 
 class PowerComponent: public PowerComponentIF {
 public:
diff --git a/power/PowerComponentIF.h b/power/PowerComponentIF.h
index f2aa70ae..c2e3a6a5 100644
--- a/power/PowerComponentIF.h
+++ b/power/PowerComponentIF.h
@@ -1,8 +1,8 @@
 #ifndef POWERCOMPONENTIF_H_
 #define POWERCOMPONENTIF_H_
 
-#include <framework/serialize/SerializeIF.h>
-#include <framework/parameters/HasParametersIF.h>
+#include "../serialize/SerializeIF.h"
+#include "../parameters/HasParametersIF.h"
 
 class PowerComponentIF : public SerializeIF, public HasParametersIF {
 public:
diff --git a/power/PowerSensor.cpp b/power/PowerSensor.cpp
index 5433acc9..50cb6acd 100644
--- a/power/PowerSensor.cpp
+++ b/power/PowerSensor.cpp
@@ -1,5 +1,5 @@
-#include <framework/power/PowerSensor.h>
-#include <framework/ipc/QueueFactory.h>
+#include "PowerSensor.h"
+#include "../ipc/QueueFactory.h"
 
 PowerSensor::PowerSensor(object_id_t setId, VariableIds ids,
 		DefaultLimits limits, SensorEvents events, uint16_t confirmationCount) :
diff --git a/power/PowerSensor.h b/power/PowerSensor.h
index 922560d0..0f973e45 100644
--- a/power/PowerSensor.h
+++ b/power/PowerSensor.h
@@ -1,14 +1,14 @@
 #ifndef POWERSENSOR_H_
 #define POWERSENSOR_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PIDReader.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/devicehandlers/HealthDevice.h>
-#include <framework/monitoring/LimitMonitor.h>
-#include <framework/parameters/ParameterHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PIDReader.h"
+#include "../datapool/PoolVariable.h"
+#include "../devicehandlers/HealthDevice.h"
+#include "../monitoring/LimitMonitor.h"
+#include "../parameters/ParameterHelper.h"
+#include "../objectmanager/SystemObject.h"
+#include "../ipc/MessageQueueIF.h"
 
 class PowerController;
 
diff --git a/power/PowerSwitchIF.h b/power/PowerSwitchIF.h
index 1c4c06f7..40220fb6 100644
--- a/power/PowerSwitchIF.h
+++ b/power/PowerSwitchIF.h
@@ -8,8 +8,8 @@
 #ifndef POWERSWITCHIF_H_
 #define POWERSWITCHIF_H_
 
-#include <framework/events/Event.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../events/Event.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 /**
  * This interface defines a connection to a device that is capable of turning on and off
  * switches of devices identified by a switch ID.
diff --git a/power/PowerSwitcher.cpp b/power/PowerSwitcher.cpp
index 6b06bf73..6296a04c 100644
--- a/power/PowerSwitcher.cpp
+++ b/power/PowerSwitcher.cpp
@@ -1,6 +1,6 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/power/PowerSwitcher.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "PowerSwitcher.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
 		PowerSwitcher::State_t setStartState) :
diff --git a/power/PowerSwitcher.h b/power/PowerSwitcher.h
index 5b2789e9..0f1c02de 100644
--- a/power/PowerSwitcher.h
+++ b/power/PowerSwitcher.h
@@ -1,8 +1,8 @@
 #ifndef POWERSWITCHER_H_
 #define POWERSWITCHER_H_
-#include <framework/power/PowerSwitchIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/timemanager/Countdown.h>
+#include "PowerSwitchIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../timemanager/Countdown.h"
 
 class PowerSwitcher : public HasReturnvaluesIF {
 public:
diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp
index fd6da67e..32f7e5a7 100644
--- a/pus/CService200ModeCommanding.cpp
+++ b/pus/CService200ModeCommanding.cpp
@@ -1,119 +1,119 @@
-#include <framework/pus/CService200ModeCommanding.h>
-#include <framework/pus/servicepackets/Service200Packets.h>
-
-#include <framework/modes/HasModesIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/modes/ModeMessage.h>
-
-CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
-        uint16_t apid, uint8_t serviceId):
-        CommandingServiceBase(objectId, apid, serviceId,
-	    NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {}
-
-CService200ModeCommanding::~CService200ModeCommanding() {}
-
-ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
-	switch(subservice) {
-	case(Subservice::COMMAND_MODE_COMMAND):
-	case(Subservice::COMMAND_MODE_READ):
-	case(Subservice::COMMAND_MODE_ANNCOUNCE):
-		return RETURN_OK;
-	default:
-		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-	}
-}
-
-
-ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
-		uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
-		MessageQueueId_t *id, object_id_t *objectId) {
-    if(tcDataLen < sizeof(object_id_t)) {
-        return CommandingServiceBase::INVALID_TC;
-    }
-    SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
-            SerializeIF::Endianness::BIG);
-
-	return checkInterfaceAndAcquireMessageQueue(id,objectId);
-}
-
-ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
-        MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
-    HasModesIF * destination = objectManager->get<HasModesIF>(*objectId);
-    if(destination == nullptr) {
-        return CommandingServiceBase::INVALID_OBJECT;
-
-    }
-
-    *messageQueueToSet = destination->getCommandQueue();
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t CService200ModeCommanding::prepareCommand(
-		CommandMessage* message,uint8_t subservice, const uint8_t *tcData,
-		size_t tcDataLen, uint32_t *state, object_id_t objectId) {
-	ModePacket modeCommandPacket;
-	ReturnValue_t result = modeCommandPacket.deSerialize(&tcData,
-			&tcDataLen, SerializeIF::Endianness::BIG);
-	if (result != RETURN_OK) {
-		return result;
-	}
-
-	ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
-	        ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
-	        modeCommandPacket.getSubmode());
-	return result;
-}
-
-
-ReturnValue_t CService200ModeCommanding::handleReply(
-		const CommandMessage* reply, Command_t previousCommand,
-		uint32_t *state, CommandMessage* optionalNextCommand,
-		object_id_t objectId, bool *isStep) {
-	Command_t replyId = reply->getCommand();
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	switch(replyId) {
-	case(ModeMessage::REPLY_MODE_REPLY): {
-		result = prepareModeReply(reply, objectId);
-		break;
-	}
-	case(ModeMessage::REPLY_WRONG_MODE_REPLY): {
-		result = prepareWrongModeReply(reply, objectId);
-		break;
-	}
-	case(ModeMessage::REPLY_CANT_REACH_MODE): {
-		result = prepareCantReachModeReply(reply, objectId);
-		break;
-	}
-	case(ModeMessage::REPLY_MODE_INFO):
-		result = INVALID_REPLY;
-		break;
-	default:
-		result = RETURN_FAILED;
-	}
-	return result;
-}
-
-ReturnValue_t CService200ModeCommanding::prepareModeReply(
-		const CommandMessage *reply, object_id_t objectId) {
-	ModePacket modeReplyPacket(objectId,
-			ModeMessage::getMode(reply),
-			ModeMessage::getSubmode(reply));
-	return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket);
-}
-
-ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(
-		const CommandMessage *reply, object_id_t objectId) {
-	ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply),
-			ModeMessage::getSubmode(reply));
-	return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
-}
-
-ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
-		const CommandMessage *reply, object_id_t objectId) {
-	CantReachModePacket cantReachModePacket(objectId,
-	        ModeMessage::getCantReachModeReason(reply));
-	return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
-	        &cantReachModePacket);
-}
+#include "CService200ModeCommanding.h"
+#include "servicepackets/Service200Packets.h"
+
+#include "../modes/HasModesIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../modes/ModeMessage.h"
+
+CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId):
+        CommandingServiceBase(objectId, apid, serviceId,
+	    NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {}
+
+CService200ModeCommanding::~CService200ModeCommanding() {}
+
+ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
+	switch(subservice) {
+	case(Subservice::COMMAND_MODE_COMMAND):
+	case(Subservice::COMMAND_MODE_READ):
+	case(Subservice::COMMAND_MODE_ANNCOUNCE):
+		return RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+
+ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+		MessageQueueId_t *id, object_id_t *objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
+            SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
+        MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+    HasModesIF * destination = objectManager->get<HasModesIF>(*objectId);
+    if(destination == nullptr) {
+        return CommandingServiceBase::INVALID_OBJECT;
+
+    }
+
+    *messageQueueToSet = destination->getCommandQueue();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t CService200ModeCommanding::prepareCommand(
+		CommandMessage* message,uint8_t subservice, const uint8_t *tcData,
+		size_t tcDataLen, uint32_t *state, object_id_t objectId) {
+	ModePacket modeCommandPacket;
+	ReturnValue_t result = modeCommandPacket.deSerialize(&tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
+	        ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
+	        modeCommandPacket.getSubmode());
+	return result;
+}
+
+
+ReturnValue_t CService200ModeCommanding::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t *state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool *isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	switch(replyId) {
+	case(ModeMessage::REPLY_MODE_REPLY): {
+		result = prepareModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_WRONG_MODE_REPLY): {
+		result = prepareWrongModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_CANT_REACH_MODE): {
+		result = prepareCantReachModeReply(reply, objectId);
+		break;
+	}
+	case(ModeMessage::REPLY_MODE_INFO):
+		result = INVALID_REPLY;
+		break;
+	default:
+		result = RETURN_FAILED;
+	}
+	return result;
+}
+
+ReturnValue_t CService200ModeCommanding::prepareModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	ModePacket modeReplyPacket(objectId,
+			ModeMessage::getMode(reply),
+			ModeMessage::getSubmode(reply));
+	return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket);
+}
+
+ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply),
+			ModeMessage::getSubmode(reply));
+	return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
+}
+
+ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
+		const CommandMessage *reply, object_id_t objectId) {
+	CantReachModePacket cantReachModePacket(objectId,
+	        ModeMessage::getCantReachModeReason(reply));
+	return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
+	        &cantReachModePacket);
+}
diff --git a/pus/CService200ModeCommanding.h b/pus/CService200ModeCommanding.h
index ede61a84..89347dbd 100644
--- a/pus/CService200ModeCommanding.h
+++ b/pus/CService200ModeCommanding.h
@@ -1,85 +1,85 @@
-#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
-#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
-
-#include <framework/tmtcservices/CommandingServiceBase.h>
-
-/**
- * @brief Custom PUS service to set mode of all objects implementing HasModesIF
- *
- * Examples: Device Handlers, Assemblies or Subsystems.
- * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
- * Dissertation Baetz p. 115, 116, 165-167.
- *
- * This is a gateway service. It relays device commands using the software bus.
- * @ingroup pus_services
- */
-class CService200ModeCommanding: public CommandingServiceBase {
-public:
-	static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
-	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
-
-	CService200ModeCommanding(object_id_t objectId,
-	        uint16_t apid, uint8_t serviceId);
-	virtual~ CService200ModeCommanding();
-
-protected:
-	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
-	ReturnValue_t isValidSubservice(uint8_t subservice) override;
-	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
-			object_id_t *objectId) override;
-	ReturnValue_t prepareCommand(CommandMessage* message,
-			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
-			uint32_t *state, object_id_t objectId) override;
-	ReturnValue_t handleReply(const CommandMessage* reply,
-			Command_t previousCommand, uint32_t *state,
-			CommandMessage* optionalNextCommand, object_id_t objectId,
-			bool *isStep) override;
-
-private:
-	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
-			const uint8_t* tcData, uint32_t tcDataLen);
-	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
-			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
-
-	ReturnValue_t prepareModeReply(const CommandMessage *reply,
-			object_id_t objectId);
-	ReturnValue_t prepareWrongModeReply(const CommandMessage *reply,
-			object_id_t objectId);
-	ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply,
-			object_id_t objectId);
-
-	enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices
-		//!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode
-		COMMAND_MODE_COMMAND = 1,
-		//!< [EXPORT] : [COMMAND] Command to set the specified Mode,
-		//! regardless of external control flag
-		COMMAND_MODE_COMMAND_FORCED = 2,
-		//!< [EXPORT] : [COMMAND] Read the current mode and
-		//! reply with a REPLY_MODE_REPLY
-		COMMAND_MODE_READ = 3,
-		//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
-		//! This command does NOT have a reply
-		COMMAND_MODE_ANNCOUNCE = 4,
-		//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
-		//! command to every child. This command does NOT have a reply.
-		COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
-		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
-		REPLY_MODE_REPLY = 6,
-		//!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed.
-		REPLY_CANT_REACH_MODE = 7,
-		//!< [EXPORT] : [REPLY] 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
-		REPLY_WRONG_MODE_REPLY = 8
-	};
-
-	enum modeParameters {
-		MODE_OFF = 0,
-		MODE_ON = 1,
-		MODE_NORMAL = 2,
-		MODE_RAW = 3
-	};
-};
-
-#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
+#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+
+#include "../tmtcservices/CommandingServiceBase.h"
+
+/**
+ * @brief Custom PUS service to set mode of all objects implementing HasModesIF
+ *
+ * Examples: Device Handlers, Assemblies or Subsystems.
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * @ingroup pus_services
+ */
+class CService200ModeCommanding: public CommandingServiceBase {
+public:
+	static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
+	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
+
+	CService200ModeCommanding(object_id_t objectId,
+	        uint16_t apid, uint8_t serviceId);
+	virtual~ CService200ModeCommanding();
+
+protected:
+	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+			uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+			Command_t previousCommand, uint32_t *state,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
+			bool *isStep) override;
+
+private:
+	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
+			const uint8_t* tcData, uint32_t tcDataLen);
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+	ReturnValue_t prepareWrongModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+	ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply,
+			object_id_t objectId);
+
+	enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices
+		//!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode
+		COMMAND_MODE_COMMAND = 1,
+		//!< [EXPORT] : [COMMAND] Command to set the specified Mode,
+		//! regardless of external control flag
+		COMMAND_MODE_COMMAND_FORCED = 2,
+		//!< [EXPORT] : [COMMAND] Read the current mode and
+		//! reply with a REPLY_MODE_REPLY
+		COMMAND_MODE_READ = 3,
+		//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
+		//! This command does NOT have a reply
+		COMMAND_MODE_ANNCOUNCE = 4,
+		//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
+		//! command to every child. This command does NOT have a reply.
+		COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
+		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
+		REPLY_MODE_REPLY = 6,
+		//!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed.
+		REPLY_CANT_REACH_MODE = 7,
+		//!< [EXPORT] : [REPLY] 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
+		REPLY_WRONG_MODE_REPLY = 8
+	};
+
+	enum modeParameters {
+		MODE_OFF = 0,
+		MODE_ON = 1,
+		MODE_NORMAL = 2,
+		MODE_RAW = 3
+	};
+};
+
+#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp
index 4ce2ce54..570005c5 100644
--- a/pus/Service1TelecommandVerification.cpp
+++ b/pus/Service1TelecommandVerification.cpp
@@ -1,12 +1,12 @@
-#include <framework/pus/Service1TelecommandVerification.h>
-#include <framework/pus/servicepackets/Service1Packets.h>
+#include "Service1TelecommandVerification.h"
+#include "servicepackets/Service1Packets.h"
 
-#include <framework/ipc/QueueFactory.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../ipc/QueueFactory.h"
+#include "../tmtcservices/PusVerificationReport.h"
+#include "/tmtcpacketTmPacketStored.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../tmtcservices/AcceptsTelemetryIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 
 Service1TelecommandVerification::Service1TelecommandVerification(
diff --git a/pus/Service1TelecommandVerification.h b/pus/Service1TelecommandVerification.h
index 1d4b6719..37562d1c 100644
--- a/pus/Service1TelecommandVerification.h
+++ b/pus/Service1TelecommandVerification.h
@@ -1,12 +1,12 @@
 #ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
 #define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
 
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../tmtcservices/AcceptsVerifyMessageIF.h"
+#include "../tmtcservices/PusVerificationReport.h"
+#include "../ipc/MessageQueueIF.h"
 
 /**
  * @brief Verify TC acceptance, start, progress and execution.
diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
index 1d5f21eb..2093a617 100644
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@@ -1,167 +1,167 @@
-#include <framework/pus/Service2DeviceAccess.h>
-#include <framework/pus/servicepackets/Service2Packets.h>
-
-#include <framework/devicehandlers/DeviceHandlerIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/devicehandlers/DeviceHandlerMessage.h>
-#include <framework/serialize/EndianConverter.h>
-#include <framework/action/ActionMessage.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
-        uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands,
-        uint16_t commandTimeoutSeconds):
-        CommandingServiceBase(objectId, apid, serviceId,
-	        numberOfParallelCommands, commandTimeoutSeconds) {}
-
-Service2DeviceAccess::~Service2DeviceAccess() {}
-
-
-ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
-	switch(static_cast<Subservice>(subservice)){
-	case Subservice::RAW_COMMANDING:
-	case Subservice::TOGGLE_WIRETAPPING:
-		return HasReturnvaluesIF::RETURN_OK;
-	default:
-		sif::error << "Invalid Subservice" << std::endl;
-		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-	}
-}
-
-ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
-		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
-		MessageQueueId_t* id, object_id_t* objectId) {
-    if(tcDataLen < sizeof(object_id_t)) {
-        return CommandingServiceBase::INVALID_TC;
-    }
-    SerializeAdapter::deSerialize(objectId, &tcData,
-                &tcDataLen, SerializeIF::Endianness::BIG);
-
-	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
-	return result;
-}
-
-ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
-		MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
-	DeviceHandlerIF* possibleTarget =
-			objectManager->get<DeviceHandlerIF>(*objectId);
-	if(possibleTarget == nullptr) {
-		return CommandingServiceBase::INVALID_OBJECT;
-	}
-	*messageQueueToSet = possibleTarget->getCommandQueue();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
-		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
-		uint32_t* state, object_id_t objectId) {
-	switch(static_cast<Subservice>(subservice)){
-	case Subservice::RAW_COMMANDING: {
-		return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
-	}
-	break;
-	case Subservice::TOGGLE_WIRETAPPING: {
-		return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
-	}
-	break;
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t Service2DeviceAccess::prepareRawCommand(
-        CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) {
-	RawCommand RawCommand(tcData,tcDataLen);
-	// store command into the Inter Process Communication Store
-	store_address_t storeAddress;
-	ReturnValue_t result = IPCStore->addData(&storeAddress,
-	        RawCommand.getCommand(), RawCommand.getCommandSize());
-	DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet,
-	        storeAddress);
-	return result;
-}
-
-ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
-		CommandMessage *messageToSet, const uint8_t *tcData,
-		size_t tcDataLen) {
-	if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) {
-		return CommandingServiceBase::INVALID_TC;
-	}
-	WiretappingToggle command;
-	ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen,
-	        SerializeIF::Endianness::BIG);
-	DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet,
-			command.getWiretappingMode());
-	return result;
-}
-
-
-ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
-		Command_t previousCommand, uint32_t* state,
-		CommandMessage* optionalNextCommand, object_id_t objectId,
-		bool* isStep) {
-	switch(reply->getCommand()) {
-	case CommandMessage::REPLY_COMMAND_OK:
-		return HasReturnvaluesIF::RETURN_OK;
-	case CommandMessage::REPLY_REJECTED:
-		return reply->getReplyRejectedReason();
-	default:
-		return CommandingServiceBase::INVALID_REPLY;
-	}
-}
-
-// All device handlers set service 2 as default raw receiver for wiretapping
-// so we have to handle those unrequested messages.
-void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
-	switch(reply->getCommand()) {
-	case DeviceHandlerMessage::REPLY_RAW_COMMAND:
-		sendWiretappingTm(reply,
-				static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
-		break;
-	case DeviceHandlerMessage::REPLY_RAW_REPLY:
-		sendWiretappingTm(reply,
-				static_cast<uint8_t>(Subservice::RAW_REPLY));
-		break;
-	default:
-		sif::error << "Unknown message in Service2DeviceAccess::"
-				"handleUnrequestedReply with command ID " <<
-				reply->getCommand() << std::endl;
-		break;
-	}
-	//Must be reached by all cases to clear message
-	reply->clear();
-}
-
-void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
-		uint8_t subservice) {
-	// Raw Wiretapping
-	// Get Address of Data from Message
-	store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
-	const uint8_t* data = nullptr;
-	size_t size = 0;
-	ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
-	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
-		        "handleUnrequestedReply with failure ID "<< result
-		        << std::endl;
-		return;
-	}
-
-	// Init our dummy packet and correct endianness of object ID before
-	// sending it back.
-	WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply),
-	        data);
-	TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
-	sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast<uint8_t*>(
-			&TmPacket.objectId), sizeof(TmPacket.objectId));
-}
-
-MessageQueueId_t Service2DeviceAccess::getDeviceQueue() {
-	return commandQueue->getId();
-}
-
+#include "Service2DeviceAccess.h"
+#include "servicepackets/Service2Packets.h"
+
+#include "../devicehandlers/DeviceHandlerIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../devicehandlers/DeviceHandlerMessage.h"
+#include "../serialize/EndianConverter.h"
+#include "../action/ActionMessage.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands,
+        uint16_t commandTimeoutSeconds):
+        CommandingServiceBase(objectId, apid, serviceId,
+	        numberOfParallelCommands, commandTimeoutSeconds) {}
+
+Service2DeviceAccess::~Service2DeviceAccess() {}
+
+
+ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)){
+	case Subservice::RAW_COMMANDING:
+	case Subservice::TOGGLE_WIRETAPPING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		sif::error << "Invalid Subservice" << std::endl;
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData,
+                &tcDataLen, SerializeIF::Endianness::BIG);
+
+	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
+	return result;
+}
+
+ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
+	DeviceHandlerIF* possibleTarget =
+			objectManager->get<DeviceHandlerIF>(*objectId);
+	if(possibleTarget == nullptr) {
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		uint32_t* state, object_id_t objectId) {
+	switch(static_cast<Subservice>(subservice)){
+	case Subservice::RAW_COMMANDING: {
+		return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	break;
+	case Subservice::TOGGLE_WIRETAPPING: {
+		return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	break;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t Service2DeviceAccess::prepareRawCommand(
+        CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) {
+	RawCommand RawCommand(tcData,tcDataLen);
+	// store command into the Inter Process Communication Store
+	store_address_t storeAddress;
+	ReturnValue_t result = IPCStore->addData(&storeAddress,
+	        RawCommand.getCommand(), RawCommand.getCommandSize());
+	DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet,
+	        storeAddress);
+	return result;
+}
+
+ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
+		CommandMessage *messageToSet, const uint8_t *tcData,
+		size_t tcDataLen) {
+	if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	WiretappingToggle command;
+	ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen,
+	        SerializeIF::Endianness::BIG);
+	DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet,
+			command.getWiretappingMode());
+	return result;
+}
+
+
+ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
+		Command_t previousCommand, uint32_t* state,
+		CommandMessage* optionalNextCommand, object_id_t objectId,
+		bool* isStep) {
+	switch(reply->getCommand()) {
+	case CommandMessage::REPLY_COMMAND_OK:
+		return HasReturnvaluesIF::RETURN_OK;
+	case CommandMessage::REPLY_REJECTED:
+		return reply->getReplyRejectedReason();
+	default:
+		return CommandingServiceBase::INVALID_REPLY;
+	}
+}
+
+// All device handlers set service 2 as default raw receiver for wiretapping
+// so we have to handle those unrequested messages.
+void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
+	switch(reply->getCommand()) {
+	case DeviceHandlerMessage::REPLY_RAW_COMMAND:
+		sendWiretappingTm(reply,
+				static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
+		break;
+	case DeviceHandlerMessage::REPLY_RAW_REPLY:
+		sendWiretappingTm(reply,
+				static_cast<uint8_t>(Subservice::RAW_REPLY));
+		break;
+	default:
+		sif::error << "Unknown message in Service2DeviceAccess::"
+				"handleUnrequestedReply with command ID " <<
+				reply->getCommand() << std::endl;
+		break;
+	}
+	//Must be reached by all cases to clear message
+	reply->clear();
+}
+
+void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
+		uint8_t subservice) {
+	// Raw Wiretapping
+	// Get Address of Data from Message
+	store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
+	const uint8_t* data = nullptr;
+	size_t size = 0;
+	ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
+		        "handleUnrequestedReply with failure ID "<< result
+		        << std::endl;
+		return;
+	}
+
+	// Init our dummy packet and correct endianness of object ID before
+	// sending it back.
+	WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply),
+	        data);
+	TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
+	sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast<uint8_t*>(
+			&TmPacket.objectId), sizeof(TmPacket.objectId));
+}
+
+MessageQueueId_t Service2DeviceAccess::getDeviceQueue() {
+	return commandQueue->getId();
+}
+
diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h
index 1a0bede0..f6aa8b52 100644
--- a/pus/Service2DeviceAccess.h
+++ b/pus/Service2DeviceAccess.h
@@ -1,92 +1,92 @@
-#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
-#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
-
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
-#include <framework/tmtcservices/CommandingServiceBase.h>
-
-/**
- * @brief   Raw Commanding and Wiretapping of devices.
- * @details
- * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
- * Dissertation Baetz p. 115, 116, 165-167.
- *
- * This service provides the capability to communicate with devices in their
- * native protocols with raw commands through the DeviceHandlerIF.
- *
- * This is a gateway service. It relays device commands to the software bus.
- * This service is very closely tied to the CommandingServiceBase
- * template class.
- *
- * There are 4 adaption points for component implementation through the
- * CommandingServiceBase.
- *
- * This service employs custom subservices exclusively.  This includes a
- * wiretapping subservice to monitor all traffic between target devices and
- * this service.
- *
- *   - TC[2,128]: Raw Commanding
- *   - TC[2,129]: Toggle Wiretapping
- *   - TM[2,130]: Wiretapping Packet TM
- *   - TM[2,131]: Wiretapping Packet TC
- * @ingroup pus_services
- */
-class Service2DeviceAccess : public CommandingServiceBase,
-		public AcceptsDeviceResponsesIF
-{
-public:
-	Service2DeviceAccess(object_id_t objectId, uint16_t apid,
-	        uint8_t serviceId, uint8_t numberOfParallelCommands = 4,
-	        uint16_t commandTimeoutSeconds = 60);
-	virtual ~Service2DeviceAccess();
-
-protected:
-	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
-	ReturnValue_t isValidSubservice(uint8_t subservice) override;
-	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-	        const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
-			object_id_t *objectId) override;
-	ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
-	        const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
-	        object_id_t objectId) override;
-	ReturnValue_t handleReply(const CommandMessage* reply,
-				Command_t previousCommand, uint32_t *state,
-				CommandMessage* optionalNextCommand, object_id_t objectId,
-				bool *isStep) override;
-
-	/**
-	 * @brief 	Generates TM packets containing either the TC wiretapping
-	 * 			packets or the TM wiretapping packets.
-	 * Note that for service 2, all telemetry will be treated as an
-	 * unrequested reply regardless of wiretapping mode.
-	 * @param reply
-	 */
-	void handleUnrequestedReply(CommandMessage* reply) override;
-
-	MessageQueueId_t getDeviceQueue() override;
-private:
-	/**
-	 * Generates TM packets for Wiretapping Service
-	 * @param reply
-	 * @param subservice
-	 */
-	void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
-
-	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
-	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
-
-	ReturnValue_t prepareRawCommand(CommandMessage* messageToSet,
-	        const uint8_t* tcData, size_t tcDataLen);
-	ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet,
-	        const uint8_t* tcData, size_t tcDataLen);
-
-	enum class Subservice {
-		RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
-		TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
-		RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
-		WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
-	};
-};
-
-
-#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */
+#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+
+#include "../objectmanager/SystemObjectIF.h"
+#include "../devicehandlers/AcceptsDeviceResponsesIF.h"
+#include "../tmtcservices/CommandingServiceBase.h"
+
+/**
+ * @brief   Raw Commanding and Wiretapping of devices.
+ * @details
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This service provides the capability to communicate with devices in their
+ * native protocols with raw commands through the DeviceHandlerIF.
+ *
+ * This is a gateway service. It relays device commands to the software bus.
+ * This service is very closely tied to the CommandingServiceBase
+ * template class.
+ *
+ * There are 4 adaption points for component implementation through the
+ * CommandingServiceBase.
+ *
+ * This service employs custom subservices exclusively.  This includes a
+ * wiretapping subservice to monitor all traffic between target devices and
+ * this service.
+ *
+ *   - TC[2,128]: Raw Commanding
+ *   - TC[2,129]: Toggle Wiretapping
+ *   - TM[2,130]: Wiretapping Packet TM
+ *   - TM[2,131]: Wiretapping Packet TC
+ * @ingroup pus_services
+ */
+class Service2DeviceAccess : public CommandingServiceBase,
+		public AcceptsDeviceResponsesIF
+{
+public:
+	Service2DeviceAccess(object_id_t objectId, uint16_t apid,
+	        uint8_t serviceId, uint8_t numberOfParallelCommands = 4,
+	        uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service2DeviceAccess();
+
+protected:
+	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+	        const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
+	        const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
+	        object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+	/**
+	 * @brief 	Generates TM packets containing either the TC wiretapping
+	 * 			packets or the TM wiretapping packets.
+	 * Note that for service 2, all telemetry will be treated as an
+	 * unrequested reply regardless of wiretapping mode.
+	 * @param reply
+	 */
+	void handleUnrequestedReply(CommandMessage* reply) override;
+
+	MessageQueueId_t getDeviceQueue() override;
+private:
+	/**
+	 * Generates TM packets for Wiretapping Service
+	 * @param reply
+	 * @param subservice
+	 */
+	void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
+
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareRawCommand(CommandMessage* messageToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet,
+	        const uint8_t* tcData, size_t tcDataLen);
+
+	enum class Subservice {
+		RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
+		TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
+		RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
+		WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
+	};
+};
+
+
+#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */
diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
index 1dfbe229..831f92c1 100644
--- a/pus/Service5EventReporting.cpp
+++ b/pus/Service5EventReporting.cpp
@@ -1,10 +1,10 @@
-#include <framework/pus/Service5EventReporting.h>
-#include <framework/pus/servicepackets/Service5Packets.h>
+#include "Service5EventReporting.h"
+#include "servicepackets/Service5Packets.h"
 
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/events/EventManagerIF.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../events/EventManagerIF.h"
+#include "../ipc/QueueFactory.h"
+#include "/tmtcpacketTmPacketStored.h"
 
 
 Service5EventReporting::Service5EventReporting(object_id_t objectId,
diff --git a/pus/Service5EventReporting.h b/pus/Service5EventReporting.h
index 79b7c5e7..0b6ee9a8 100644
--- a/pus/Service5EventReporting.h
+++ b/pus/Service5EventReporting.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
 #define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
 
-#include <framework/tmtcservices/PusServiceBase.h>
-#include <framework/events/EventMessage.h>
+#include "../tmtcservices/PusServiceBase.h"
+#include "../events/EventMessage.h"
 
 /**
  * @brief Report on-board events like information or errors
diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
index 50102b04..2c2e590b 100644
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@@ -1,142 +1,142 @@
-#include <framework/pus/Service8FunctionManagement.h>
-#include <framework/pus/servicepackets/Service8Packets.h>
-
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/action/HasActionsIF.h>
-#include <framework/devicehandlers/DeviceHandlerIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
-		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
-		uint16_t commandTimeoutSeconds):
-		CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
-		commandTimeoutSeconds) {}
-
-Service8FunctionManagement::~Service8FunctionManagement() {}
-
-
-ReturnValue_t Service8FunctionManagement::isValidSubservice(
-		uint8_t subservice) {
-	switch(static_cast<Subservice>(subservice)) {
-	case Subservice::DIRECT_COMMANDING:
-		return HasReturnvaluesIF::RETURN_OK;
-	default:
-		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
-	}
-}
-
-ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
-		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
-		MessageQueueId_t* id, object_id_t* objectId) {
-	if(tcDataLen < sizeof(object_id_t)) {
-		return CommandingServiceBase::INVALID_TC;
-	}
-	SerializeAdapter::deSerialize(objectId, &tcData,
-			&tcDataLen, SerializeIF::Endianness::BIG);
-
-	return checkInterfaceAndAcquireMessageQueue(id,objectId);
-}
-
-ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
-		MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
-	// check HasActionIF property of target
-	HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
-	if(possibleTarget == nullptr){
-		return CommandingServiceBase::INVALID_OBJECT;
-	}
-	*messageQueueToSet = possibleTarget->getCommandQueue();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t Service8FunctionManagement::prepareCommand(
-		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
-		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
-	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
-}
-
-ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
-		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
-    if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
-        sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
-                << " TC size smaller thant minimum size of direct command."
-                << std::endl;
-        return CommandingServiceBase::INVALID_TC;
-    }
-
-	// Create direct command instance by extracting data from Telecommand
-	DirectCommand command(tcData, tcDataLen);
-
-	// store additional parameters into the IPC Store
-	store_address_t parameterAddress;
-	ReturnValue_t result = IPCStore->addData(&parameterAddress,
-			command.getParameters(),command.getParametersSize());
-
-	// setCommand expects a Command Message, an Action ID and a store adress
-	// pointing to additional parameters
-	ActionMessage::setCommand(message,command.getActionId(),parameterAddress);
-	return result;
-}
-
-
-ReturnValue_t Service8FunctionManagement::handleReply(
-		const CommandMessage* reply, Command_t previousCommand,
-		uint32_t* state, CommandMessage* optionalNextCommand,
-		object_id_t objectId, bool* isStep) {
-	Command_t replyId = reply->getCommand();
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	ActionId_t actionId = ActionMessage::getActionId(reply);
-	ReturnValue_t returnCode = ActionMessage::getReturnCode(reply);
-
-	switch(replyId)  {
-	case ActionMessage::COMPLETION_SUCCESS: {
-		DirectReply completionReply(objectId, actionId,returnCode);
-		result = CommandingServiceBase::EXECUTION_COMPLETE;
-		break;
-	}
-	case ActionMessage::STEP_SUCCESS: {
-		*isStep = true;
-		result = HasReturnvaluesIF::RETURN_OK;
-		break;
-	}
-	case ActionMessage::DATA_REPLY: {
-	    result = handleDataReply(reply, objectId, actionId);
-		break;
-	}
-	case ActionMessage::STEP_FAILED:
-		*isStep = true;
-		/*No break, falls through*/
-	case ActionMessage::COMPLETION_FAILED:
-		result = ActionMessage::getReturnCode(reply);
-		break;
-	default:
-		result = INVALID_REPLY;
-	}
-	return result;
-}
-
-ReturnValue_t Service8FunctionManagement::handleDataReply(
-        const CommandMessage* reply, object_id_t objectId,
-        ActionId_t actionId) {
-    store_address_t storeId = ActionMessage::getStoreId(reply);
-    size_t size = 0;
-    const uint8_t * buffer = nullptr;
-    ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size);
-    if(result != RETURN_OK) {
-        sif::error << "Service 8: Could not retrieve data for data reply"
-                << std::endl;
-        return result;
-    }
-    DataReply dataReply(objectId, actionId, buffer, size);
-    result = sendTmPacket(static_cast<uint8_t>(
-            Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
-
-    auto deletionResult = IPCStore->deleteData(storeId);
-    if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "Service8FunctionManagement::handleReply: Deletion"
-                << " of data in pool failed." << std::endl;
-    }
-    return result;
-}
+#include "Service8FunctionManagement.h"
+#include "servicepackets/Service8Packets.h"
+
+#include "../objectmanager/SystemObjectIF.h"
+#include "../action/HasActionsIF.h"
+#include "../devicehandlers/DeviceHandlerIF.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
+		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
+		uint16_t commandTimeoutSeconds):
+		CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
+		commandTimeoutSeconds) {}
+
+Service8FunctionManagement::~Service8FunctionManagement() {}
+
+
+ReturnValue_t Service8FunctionManagement::isValidSubservice(
+		uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)) {
+	case Subservice::DIRECT_COMMANDING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+	if(tcDataLen < sizeof(object_id_t)) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	SerializeAdapter::deSerialize(objectId, &tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+	// check HasActionIF property of target
+	HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
+	if(possibleTarget == nullptr){
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service8FunctionManagement::prepareCommand(
+		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
+		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
+	return prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+}
+
+ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
+		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+    if(tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
+        sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
+                << " TC size smaller thant minimum size of direct command."
+                << std::endl;
+        return CommandingServiceBase::INVALID_TC;
+    }
+
+	// Create direct command instance by extracting data from Telecommand
+	DirectCommand command(tcData, tcDataLen);
+
+	// store additional parameters into the IPC Store
+	store_address_t parameterAddress;
+	ReturnValue_t result = IPCStore->addData(&parameterAddress,
+			command.getParameters(),command.getParametersSize());
+
+	// setCommand expects a Command Message, an Action ID and a store adress
+	// pointing to additional parameters
+	ActionMessage::setCommand(message,command.getActionId(),parameterAddress);
+	return result;
+}
+
+
+ReturnValue_t Service8FunctionManagement::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t* state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool* isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	ActionId_t actionId = ActionMessage::getActionId(reply);
+	ReturnValue_t returnCode = ActionMessage::getReturnCode(reply);
+
+	switch(replyId)  {
+	case ActionMessage::COMPLETION_SUCCESS: {
+		DirectReply completionReply(objectId, actionId,returnCode);
+		result = CommandingServiceBase::EXECUTION_COMPLETE;
+		break;
+	}
+	case ActionMessage::STEP_SUCCESS: {
+		*isStep = true;
+		result = HasReturnvaluesIF::RETURN_OK;
+		break;
+	}
+	case ActionMessage::DATA_REPLY: {
+	    result = handleDataReply(reply, objectId, actionId);
+		break;
+	}
+	case ActionMessage::STEP_FAILED:
+		*isStep = true;
+		/*No break, falls through*/
+	case ActionMessage::COMPLETION_FAILED:
+		result = ActionMessage::getReturnCode(reply);
+		break;
+	default:
+		result = INVALID_REPLY;
+	}
+	return result;
+}
+
+ReturnValue_t Service8FunctionManagement::handleDataReply(
+        const CommandMessage* reply, object_id_t objectId,
+        ActionId_t actionId) {
+    store_address_t storeId = ActionMessage::getStoreId(reply);
+    size_t size = 0;
+    const uint8_t * buffer = nullptr;
+    ReturnValue_t result = IPCStore->getData(storeId, &buffer, &size);
+    if(result != RETURN_OK) {
+        sif::error << "Service 8: Could not retrieve data for data reply"
+                << std::endl;
+        return result;
+    }
+    DataReply dataReply(objectId, actionId, buffer, size);
+    result = sendTmPacket(static_cast<uint8_t>(
+            Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
+
+    auto deletionResult = IPCStore->deleteData(storeId);
+    if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
+        sif::warning << "Service8FunctionManagement::handleReply: Deletion"
+                << " of data in pool failed." << std::endl;
+    }
+    return result;
+}
diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h
index e2c7a84f..b5ebcda8 100644
--- a/pus/Service8FunctionManagement.h
+++ b/pus/Service8FunctionManagement.h
@@ -1,67 +1,67 @@
-#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
-#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
-
-#include <framework/action/ActionMessage.h>
-#include <framework/tmtcservices/CommandingServiceBase.h>
-
-/**
- * @brief Functional commanding.
- * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
- * Dissertation Baetz p. 115, 116, 165-167
- *
- * This service provides the capability to perform functions of an
- * application process and provides high-level commanding as opposed to the
- * Raw Access provided by Service 2. Examples for these functions can include
- * control and operation of payload or the AOCS subsystem.
- * This service will be the primary means to control the spacecraft as it is
- * considered safer than the Raw Access provided
- * by Service 2 and is generally sufficient for most tasks.
- *
- * This is a gateway service. It relays device commands using the software bus.
- * This service is very closely tied to the Commanding Service Base template
- * class. There is constant interaction between this Service Base und a
- * subclass like this service.
- *
- * Service Capability:
- * 	 - TC[8,128]: Direct Commanding
- *   - TM[8,130]: Direct Commanding Data Reply
- *
- * @ingroup pus_services
- */
-class Service8FunctionManagement : public CommandingServiceBase
-{
-public:
-	Service8FunctionManagement(object_id_t objectId, uint16_t apid,
-			uint8_t serviceId, uint8_t numParallelCommands = 4,
-			uint16_t commandTimeoutSeconds = 60);
-	virtual ~Service8FunctionManagement();
-
-protected:
-	/* CSB abstract functions implementation . See CSB documentation. */
-	ReturnValue_t isValidSubservice(uint8_t subservice) override;
-	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
-			object_id_t *objectId) override;
-	ReturnValue_t prepareCommand(CommandMessage* message,
-				uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
-				uint32_t *state, object_id_t objectId) override;
-	ReturnValue_t handleReply(const CommandMessage* reply,
-				Command_t previousCommand, uint32_t *state,
-				CommandMessage* optionalNextCommand, object_id_t objectId,
-				bool *isStep) override;
-
-private:
-	enum class Subservice {
-		DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
-		DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
-	};
-
-	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
-	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
-	ReturnValue_t prepareDirectCommand(CommandMessage* message,
-			const uint8_t* tcData, size_t tcDataLen);
-	ReturnValue_t handleDataReply(const CommandMessage* reply,
-	        object_id_t objectId, ActionId_t actionId);
-};
-
-#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
+#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+
+#include "../action/ActionMessage.h"
+#include "../tmtcservices/CommandingServiceBase.h"
+
+/**
+ * @brief Functional commanding.
+ * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
+ * Dissertation Baetz p. 115, 116, 165-167
+ *
+ * This service provides the capability to perform functions of an
+ * application process and provides high-level commanding as opposed to the
+ * Raw Access provided by Service 2. Examples for these functions can include
+ * control and operation of payload or the AOCS subsystem.
+ * This service will be the primary means to control the spacecraft as it is
+ * considered safer than the Raw Access provided
+ * by Service 2 and is generally sufficient for most tasks.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * This service is very closely tied to the Commanding Service Base template
+ * class. There is constant interaction between this Service Base und a
+ * subclass like this service.
+ *
+ * Service Capability:
+ * 	 - TC[8,128]: Direct Commanding
+ *   - TM[8,130]: Direct Commanding Data Reply
+ *
+ * @ingroup pus_services
+ */
+class Service8FunctionManagement : public CommandingServiceBase
+{
+public:
+	Service8FunctionManagement(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId, uint8_t numParallelCommands = 4,
+			uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service8FunctionManagement();
+
+protected:
+	/* CSB abstract functions implementation . See CSB documentation. */
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+				uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+				uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+private:
+	enum class Subservice {
+		DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
+		DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
+	};
+
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+	ReturnValue_t prepareDirectCommand(CommandMessage* message,
+			const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t handleDataReply(const CommandMessage* reply,
+	        object_id_t objectId, ActionId_t actionId);
+};
+
+#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h
index b01942c6..dbd31028 100644
--- a/pus/servicepackets/Service1Packets.h
+++ b/pus/servicepackets/Service1Packets.h
@@ -8,8 +8,8 @@
 #ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
 #define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
 
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcservices/VerificationCodes.h>
+#include "../../serialize/SerializeAdapter.h"
+#include "../../tmtcservices/VerificationCodes.h"
 
 /**
  * @brief 	FailureReport class to serialize a failure report
diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h
index 1b5bf236..efcf65fc 100644
--- a/pus/servicepackets/Service200Packets.h
+++ b/pus/servicepackets/Service200Packets.h
@@ -1,63 +1,63 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
-
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/modes/ModeMessage.h>
-#include <framework/serialize/SerializeIF.h>
-
-/**
- * @brief Subservice 1, 2, 3, 4, 5
- * @ingroup spacepackets
- */
-class ModePacket : public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6
-public:
-
-	ModePacket() {
-		setLinks();
-	}
-
-	ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) :
-	        objectId(objectId), mode(mode), submode(submode) {
-		setLinks();
-	}
-
-	Mode_t getMode() {
-		return mode.entry;
-	}
-
-	Submode_t getSubmode() {
-		return submode.entry;
-	}
-
-	// Forbid copying, pointers are used.
-	ModePacket(const ModePacket&) = delete;
-	ModePacket& operator=(const ModePacket&) = delete;
-private:
-
-	void setLinks() {
-		setStart(&objectId);
-		objectId.setNext(&mode);
-		mode.setNext(&submode);
-	}
-	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Target or source object
-	SerializeElement<Mode_t> mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW
-	SerializeElement<Submode_t> submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible
-};
-
-/**
- * @brief Subservice 7
- * @ingroup spacepackets
- */
-class CantReachModePacket: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 7
-public:
-    CantReachModePacket(object_id_t objectId, ReturnValue_t reason):
-            objectId(objectId), reason(reason) {
-        setStart(&this->objectId);
-        this->objectId.setNext(&this->reason);
-    }
-
-    SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Reply source object
-	SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
-};
-
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+
+#include "../../serialize/SerialLinkedListAdapter.h"
+#include "../../modes/ModeMessage.h"
+#include "../../serialize/SerializeIF.h"
+
+/**
+ * @brief Subservice 1, 2, 3, 4, 5
+ * @ingroup spacepackets
+ */
+class ModePacket : public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6
+public:
+
+	ModePacket() {
+		setLinks();
+	}
+
+	ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) :
+	        objectId(objectId), mode(mode), submode(submode) {
+		setLinks();
+	}
+
+	Mode_t getMode() {
+		return mode.entry;
+	}
+
+	Submode_t getSubmode() {
+		return submode.entry;
+	}
+
+	// Forbid copying, pointers are used.
+	ModePacket(const ModePacket&) = delete;
+	ModePacket& operator=(const ModePacket&) = delete;
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&mode);
+		mode.setNext(&submode);
+	}
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Target or source object
+	SerializeElement<Mode_t> mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW
+	SerializeElement<Submode_t> submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible
+};
+
+/**
+ * @brief Subservice 7
+ * @ingroup spacepackets
+ */
+class CantReachModePacket: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 7
+public:
+    CantReachModePacket(object_id_t objectId, ReturnValue_t reason):
+            objectId(objectId), reason(reason) {
+        setStart(&this->objectId);
+        this->objectId.setNext(&this->reason);
+    }
+
+    SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Reply source object
+	SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
diff --git a/pus/servicepackets/Service2Packets.h b/pus/servicepackets/Service2Packets.h
index f292611e..d4f3fb17 100644
--- a/pus/servicepackets/Service2Packets.h
+++ b/pus/servicepackets/Service2Packets.h
@@ -1,76 +1,76 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
-
-#include <framework/action/ActionMessage.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-/**
- * @brief Subservice 128
- * @ingroup spacepackets
- */
-class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128
-public:
-	RawCommand(const uint8_t* buffer, size_t size) {
-		// Deserialize Adapter to get correct endianness
-		SerializeAdapter::deSerialize(&objectId, &buffer, &size,
-		        SerializeIF::Endianness::BIG);
-		commandBuffer = buffer;
-		// size is decremented by AutoSerializeAdapter,
-		// remaining size is data size
-		dataSize = size;
-	}
-	object_id_t getObjectId() const {
-		return objectId;
-	}
-
-	const uint8_t*  getCommand() {
-		return commandBuffer;
-	}
-
-	size_t getCommandSize() const {
-		return dataSize;
-	}
-private:
-	object_id_t objectId = 0;
-	const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes
-	size_t dataSize = 0; //!< [EXPORT] : [IGNORE]
-};
-
-
-/**
- * @brief Subservice 129: Command packet to set wiretapping mode
- * @ingroup spacepackets
- */
-class WiretappingToggle: public SerialLinkedListAdapter<SerializeIF>{ //!< [EXPORT] : [SUBSERVICE] 129
-public:
-	static const size_t WIRETAPPING_COMMAND_SIZE = 5;
-	WiretappingToggle(){
-		setStart(&objectId);
-		objectId.setNext(&wiretappingMode);
-	}
-
-	uint8_t getWiretappingMode() const {
-		return wiretappingMode.entry;
-	}
-private:
-	SerializeElement<object_id_t> objectId;
-	SerializeElement<uint8_t> wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW
-};
-
-
-/**
- * @brief Subservices 130 and 131: TM packets
- * @ingroup spacepackets
- */
-class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131
-public:
-	object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object
-	const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size
-	WiretappingPacket(object_id_t objectId, const uint8_t* buffer):
-	    objectId(objectId), data(buffer) {
-	}
-};
-
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+
+#include "../../action/ActionMessage.h"
+#include "../../objectmanager/SystemObjectIF.h"
+#include "../../serialize/SerialLinkedListAdapter.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+/**
+ * @brief Subservice 128
+ * @ingroup spacepackets
+ */
+class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	RawCommand(const uint8_t* buffer, size_t size) {
+		// Deserialize Adapter to get correct endianness
+		SerializeAdapter::deSerialize(&objectId, &buffer, &size,
+		        SerializeIF::Endianness::BIG);
+		commandBuffer = buffer;
+		// size is decremented by AutoSerializeAdapter,
+		// remaining size is data size
+		dataSize = size;
+	}
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getCommand() {
+		return commandBuffer;
+	}
+
+	size_t getCommandSize() const {
+		return dataSize;
+	}
+private:
+	object_id_t objectId = 0;
+	const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes
+	size_t dataSize = 0; //!< [EXPORT] : [IGNORE]
+};
+
+
+/**
+ * @brief Subservice 129: Command packet to set wiretapping mode
+ * @ingroup spacepackets
+ */
+class WiretappingToggle: public SerialLinkedListAdapter<SerializeIF>{ //!< [EXPORT] : [SUBSERVICE] 129
+public:
+	static const size_t WIRETAPPING_COMMAND_SIZE = 5;
+	WiretappingToggle(){
+		setStart(&objectId);
+		objectId.setNext(&wiretappingMode);
+	}
+
+	uint8_t getWiretappingMode() const {
+		return wiretappingMode.entry;
+	}
+private:
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<uint8_t> wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW
+};
+
+
+/**
+ * @brief Subservices 130 and 131: TM packets
+ * @ingroup spacepackets
+ */
+class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131
+public:
+	object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object
+	const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size
+	WiretappingPacket(object_id_t objectId, const uint8_t* buffer):
+	    objectId(objectId), data(buffer) {
+	}
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
diff --git a/pus/servicepackets/Service5Packets.h b/pus/servicepackets/Service5Packets.h
index 14219c93..9655608a 100644
--- a/pus/servicepackets/Service5Packets.h
+++ b/pus/servicepackets/Service5Packets.h
@@ -1,8 +1,8 @@
 #ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
 #define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
 
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcservices/VerificationCodes.h>
+#include "../../serialize/SerializeAdapter.h"
+#include "../../tmtcservices/VerificationCodes.h"
 
 
 /**
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index 8ea0d108..14f8b6e6 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -1,121 +1,121 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
-
-#include <framework/action/ActionMessage.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/serialize/SerialBufferAdapter.h>
-#include <framework/serialize/SerializeElement.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-
-
-/**
- * @brief Subservice 128
- * @ingroup spacepackets
- */
-class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
-public:
-
-	DirectCommand(const uint8_t* tcData, size_t size) {
-		SerializeAdapter::deSerialize(&objectId, &tcData, &size,
-		        SerializeIF::Endianness::BIG);
-		SerializeAdapter::deSerialize(&actionId, &tcData, &size,
-		        SerializeIF::Endianness::BIG);
-		parameterBuffer = tcData;
-		parametersSize = size;
-	}
-
-	ActionId_t getActionId() const {
-		return actionId;
-	}
-
-	object_id_t getObjectId() const {
-		return objectId;
-	}
-
-	const uint8_t*  getParameters() {
-		return parameterBuffer;
-	}
-
-	uint32_t getParametersSize() const {
-		return parametersSize;
-	}
-
-private:
-	DirectCommand(const DirectCommand &command);
-	object_id_t objectId;
-	ActionId_t actionId;
-	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
-	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
-
-};
-
-
-/**
- * @brief Subservice 130
- * Data reply (subservice 130) consists of
- *   1. Target Object ID
- *   2. Action ID
- *   3. Data
- * @ingroup spacepackets
- */
-class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
-public:
-	typedef uint16_t typeOfMaxDataSize;
-	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
-	DataReply(object_id_t objectId_, ActionId_t actionId_,
-		const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0):
-		objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){
-		setLinks();
-	}
-
-private:
-	DataReply(const DataReply &reply);
-	void setLinks() {
-		setStart(&objectId);
-		objectId.setNext(&actionId);
-		actionId.setNext(&replyData);
-	}
-	SerializeElement<object_id_t> objectId;
-	SerializeElement<ActionId_t> actionId;
-	SerializeElement<SerialBufferAdapter<uint16_t>> replyData;
-};
-
-
-/**
- * @brief Subservice 132
- * @details
- * Not used yet. Telecommand Verification takes care of this.
- * @ingroup spacepackets
- */
-class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
-public:
-	typedef uint16_t typeOfMaxDataSize;
-	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
-
-	DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_,
-			bool isStep_ = false, uint8_t step_ = 0):
-			isStep(isStep_), objectId(objectId_), actionId(actionId_),
-			returnCode(returnCode_),step(step_)  {
-		setLinks();
-	}
-private:
-
-	void setLinks() {
-		setStart(&objectId);
-		objectId.setNext(&actionId);
-		actionId.setNext(&returnCode);
-		if(isStep) {
-			returnCode.setNext(&step);
-		}
-	}
-
-	bool isStep; //!< [EXPORT] : [IGNORE]
-	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
-	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]
-	SerializeElement<ReturnValue_t> returnCode; //!< [EXPORT] : [IGNORE]
-	SerializeElement<uint8_t> step; //!< [EXPORT] : [OPTIONAL] [IGNORE]
-
-};
-
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+
+#include "../../action/ActionMessage.h"
+#include "../../objectmanager/SystemObjectIF.h"
+#include "../../serialize/SerialBufferAdapter.h"
+#include "../../serialize/SerializeElement.h"
+#include "../../serialize/SerialLinkedListAdapter.h"
+#include "../../serialize/SerialFixedArrayListAdapter.h"
+
+
+/**
+ * @brief Subservice 128
+ * @ingroup spacepackets
+ */
+class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+
+	DirectCommand(const uint8_t* tcData, size_t size) {
+		SerializeAdapter::deSerialize(&objectId, &tcData, &size,
+		        SerializeIF::Endianness::BIG);
+		SerializeAdapter::deSerialize(&actionId, &tcData, &size,
+		        SerializeIF::Endianness::BIG);
+		parameterBuffer = tcData;
+		parametersSize = size;
+	}
+
+	ActionId_t getActionId() const {
+		return actionId;
+	}
+
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getParameters() {
+		return parameterBuffer;
+	}
+
+	uint32_t getParametersSize() const {
+		return parametersSize;
+	}
+
+private:
+	DirectCommand(const DirectCommand &command);
+	object_id_t objectId;
+	ActionId_t actionId;
+	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
+	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
+
+};
+
+
+/**
+ * @brief Subservice 130
+ * Data reply (subservice 130) consists of
+ *   1. Target Object ID
+ *   2. Action ID
+ *   3. Data
+ * @ingroup spacepackets
+ */
+class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+	DataReply(object_id_t objectId_, ActionId_t actionId_,
+		const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0):
+		objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){
+		setLinks();
+	}
+
+private:
+	DataReply(const DataReply &reply);
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&replyData);
+	}
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<ActionId_t> actionId;
+	SerializeElement<SerialBufferAdapter<uint16_t>> replyData;
+};
+
+
+/**
+ * @brief Subservice 132
+ * @details
+ * Not used yet. Telecommand Verification takes care of this.
+ * @ingroup spacepackets
+ */
+class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+
+	DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_,
+			bool isStep_ = false, uint8_t step_ = 0):
+			isStep(isStep_), objectId(objectId_), actionId(actionId_),
+			returnCode(returnCode_),step(step_)  {
+		setLinks();
+	}
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&returnCode);
+		if(isStep) {
+			returnCode.setNext(&step);
+		}
+	}
+
+	bool isStep; //!< [EXPORT] : [IGNORE]
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ReturnValue_t> returnCode; //!< [EXPORT] : [IGNORE]
+	SerializeElement<uint8_t> step; //!< [EXPORT] : [OPTIONAL] [IGNORE]
+
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */
diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index d231f4ee..5fef91dd 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
 #define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
 
-#include <framework/returnvalues/FwClassIds.h>
+#include "FwClassIds.h"
 #include <config/returnvalues/classIds.h>
 #include <cstdint>
 
diff --git a/rmap/RMAP.cpp b/rmap/RMAP.cpp
index 4c95f6c9..4ab8b17b 100644
--- a/rmap/RMAP.cpp
+++ b/rmap/RMAP.cpp
@@ -1,7 +1,7 @@
-#include <framework/devicehandlers/DeviceCommunicationIF.h>
-#include <framework/rmap/rmapStructs.h>
-#include <framework/rmap/RMAP.h>
-#include <framework/rmap/RMAPChannelIF.h>
+#include "../devicehandlers/DeviceCommunicationIF.h"
+#include "rmapStructs.h"
+#include "RMAP.h"
+#include "RMAPChannelIF.h"
 #include <stddef.h>
 
 ReturnValue_t RMAP::reset(RMAPCookie* cookie) {
diff --git a/rmap/RMAP.h b/rmap/RMAP.h
index 195574f8..d14320cb 100644
--- a/rmap/RMAP.h
+++ b/rmap/RMAP.h
@@ -1,8 +1,8 @@
 #ifndef RMAPpp_H_
 #define RMAPpp_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/rmap/RMAPCookie.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "RMAPCookie.h"
 
 //SHOULDTODO: clean up includes for RMAP, should be enough to include RMAP.h but right now it's quite chaotic...
 
diff --git a/rmap/RMAPChannelIF.h b/rmap/RMAPChannelIF.h
index 6549c8ef..dac4a722 100644
--- a/rmap/RMAPChannelIF.h
+++ b/rmap/RMAPChannelIF.h
@@ -1,8 +1,8 @@
 #ifndef RMAPCHANNELIF_H_
 #define RMAPCHANNELIF_H_
 
-#include <framework/rmap/RMAPCookie.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "RMAPCookie.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class RMAPChannelIF {
 public:
diff --git a/rmap/RMAPCookie.cpp b/rmap/RMAPCookie.cpp
index 5bf2ba9f..597f066c 100644
--- a/rmap/RMAPCookie.cpp
+++ b/rmap/RMAPCookie.cpp
@@ -1,5 +1,5 @@
-#include <framework/rmap/RMAPChannelIF.h>
-#include <framework/rmap/RMAPCookie.h>
+#include "RMAPChannelIF.h"
+#include "RMAPCookie.h"
 #include <stddef.h>
 
 
diff --git a/rmap/RMAPCookie.h b/rmap/RMAPCookie.h
index 4890c516..4c6081bd 100644
--- a/rmap/RMAPCookie.h
+++ b/rmap/RMAPCookie.h
@@ -1,8 +1,8 @@
 #ifndef RMAPCOOKIE_H_
 #define RMAPCOOKIE_H_
 
-#include <framework/devicehandlers/CookieIF.h>
-#include <framework/rmap/rmapStructs.h>
+#include "../devicehandlers/CookieIF.h"
+#include "rmapStructs.h"
 
 class RMAPChannelIF;
 
diff --git a/rmap/RmapDeviceCommunicationIF.cpp b/rmap/RmapDeviceCommunicationIF.cpp
index 674d050d..db4a75b5 100644
--- a/rmap/RmapDeviceCommunicationIF.cpp
+++ b/rmap/RmapDeviceCommunicationIF.cpp
@@ -1,5 +1,5 @@
-#include <framework/rmap/RmapDeviceCommunicationIF.h>
-#include <framework/rmap/RMAP.h>
+#include "RmapDeviceCommunicationIF.h"
+#include "RMAP.h"
 
 //TODO Cast here are all potential bugs
 RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() {
diff --git a/rmap/RmapDeviceCommunicationIF.h b/rmap/RmapDeviceCommunicationIF.h
index 9d756ea2..dacc720b 100644
--- a/rmap/RmapDeviceCommunicationIF.h
+++ b/rmap/RmapDeviceCommunicationIF.h
@@ -1,7 +1,7 @@
 #ifndef MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
 #define MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
 
-#include <framework/devicehandlers/DeviceCommunicationIF.h>
+#include "../devicehandlers/DeviceCommunicationIF.h"
 
 /**
  * @brief	This class is a implementation of a DeviceCommunicationIF for RMAP calls. It expects RMAPCookies or a derived class of RMAPCookies
diff --git a/serialize/EndianConverter.h b/serialize/EndianConverter.h
index cd5d5497..7461576d 100644
--- a/serialize/EndianConverter.h
+++ b/serialize/EndianConverter.h
@@ -1,7 +1,7 @@
 #ifndef ENDIANSWAPPER_H_
 #define ENDIANSWAPPER_H_
 
-#include <framework/osal/Endiness.h>
+#include "../osal/Endiness.h"
 #include <cstring>
 #include <iostream>
 
diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index 21c6951d..7576505a 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
 #define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
 
-#include <framework/container/ArrayList.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../container/ArrayList.h"
+#include "SerializeIF.h"
 #include <utility>
 
 /**
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index d4d8d1c7..5dd01f54 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -1,4 +1,4 @@
-#include <framework/serialize/SerialBufferAdapter.h>
+#include "SerialBufferAdapter.h"
 #include <cstring>
 
 
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index 78d42b80..c27a5424 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -1,8 +1,8 @@
 #ifndef SERIALBUFFERADAPTER_H_
 #define SERIALBUFFERADAPTER_H_
 
-#include <framework/serialize/SerializeIF.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "SerializeIF.h"
+#include "SerializeAdapter.h"
 
 /**
  * \ingroup serialize
diff --git a/serialize/SerialFixedArrayListAdapter.h b/serialize/SerialFixedArrayListAdapter.h
index a2e683bf..38e0d438 100644
--- a/serialize/SerialFixedArrayListAdapter.h
+++ b/serialize/SerialFixedArrayListAdapter.h
@@ -1,8 +1,8 @@
 #ifndef SERIALFIXEDARRAYLISTADAPTER_H_
 #define SERIALFIXEDARRAYLISTADAPTER_H_
 
-#include <framework/container/FixedArrayList.h>
-#include <framework/serialize/SerialArrayListAdapter.h>
+#include "../container/FixedArrayList.h"
+#include "SerialArrayListAdapter.h"
 
 /**
  * \ingroup serialize
diff --git a/serialize/SerialLinkedListAdapter.h b/serialize/SerialLinkedListAdapter.h
index 7b10e331..5de8c242 100644
--- a/serialize/SerialLinkedListAdapter.h
+++ b/serialize/SerialLinkedListAdapter.h
@@ -7,10 +7,10 @@
 #ifndef SERIALLINKEDLISTADAPTER_H_
 #define SERIALLINKEDLISTADAPTER_H_
 
-#include <framework/container/SinglyLinkedList.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/serialize/SerializeElement.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../container/SinglyLinkedList.h"
+#include "SerializeAdapter.h"
+#include "SerializeElement.h"
+#include "SerializeIF.h"
 //This is where we need the SerializeAdapter!
 
 /**
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index ec727515..af5ec116 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -1,10 +1,10 @@
 #ifndef SERIALIZEADAPTER_H_
 #define SERIALIZEADAPTER_H_
 
-#include <framework/container/IsDerivedFrom.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/serialize/EndianConverter.h>
-#include <framework/serialize/SerializeIF.h>
+#include "../container/IsDerivedFrom.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "EndianConverter.h"
+#include "SerializeIF.h"
 #include <string.h>
 
 /**
diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h
index 3941e9fb..ffedeff9 100644
--- a/serialize/SerializeElement.h
+++ b/serialize/SerializeElement.h
@@ -1,8 +1,8 @@
 #ifndef SERIALIZEELEMENT_H_
 #define SERIALIZEELEMENT_H_
 
-#include <framework/container/SinglyLinkedList.h>
-#include <framework/serialize/SerializeAdapter.h>
+#include "../container/SinglyLinkedList.h"
+#include "SerializeAdapter.h"
 #include <utility>
 
 /**
diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 14244a7a..9ed52d29 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -1,7 +1,7 @@
 #ifndef SERIALIZEIF_H_
 #define SERIALIZEIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stddef.h>
 
 /**
diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 8c510eac..68fc4dec 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -1,5 +1,5 @@
-#include <framework/timemanager/Clock.h>
-#include <framework/serviceinterface/ServiceInterfaceBuffer.h>
+#include "../timemanager/Clock.h"
+#include "ServiceInterfaceBuffer.h"
 #include <cstring>
 #include <inttypes.h>
 
@@ -127,7 +127,7 @@ std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
 
 
 #ifdef UT699
-#include <framework/osal/rtems/Interrupt.h>
+#include "../osal/rtems/Interrupt.h"
 
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
 		uint16_t port) {
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index 7a2ce2ee..c5d5b258 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <iostream>
 #include <sstream>
 #include <iomanip>
diff --git a/serviceinterface/ServiceInterfaceStream.cpp b/serviceinterface/ServiceInterfaceStream.cpp
index 31bc7c73..5b7b9f00 100644
--- a/serviceinterface/ServiceInterfaceStream.cpp
+++ b/serviceinterface/ServiceInterfaceStream.cpp
@@ -1,4 +1,4 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "ServiceInterfaceStream.h"
 
 ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
 		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
diff --git a/serviceinterface/ServiceInterfaceStream.h b/serviceinterface/ServiceInterfaceStream.h
index dc111459..76fa1bf2 100644
--- a/serviceinterface/ServiceInterfaceStream.h
+++ b/serviceinterface/ServiceInterfaceStream.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_
 
-#include <framework/serviceinterface/ServiceInterfaceBuffer.h>
+#include "ServiceInterfaceBuffer.h"
 #include <iostream>
 #include <cstdio>
 
diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index 3ddcc491..ad3deee1 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -7,11 +7,11 @@
 #ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 #define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
+#include "../objectmanager/SystemObject.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "StorageManagerIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../internalError/InternalErrorReporterIF.h"
 #include <string.h>
 
 /**
@@ -178,6 +178,6 @@ private:
 	ReturnValue_t findEmpty(uint16_t pool_index, uint16_t* element);
 };
 
-#include <framework/storagemanager/LocalPool.tpp>
+#include "LocalPool.tpp"
 
 #endif /* FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ */
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 67534cc5..0b101d66 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -2,8 +2,8 @@
 #define POOLMANAGER_H_
 
 
-#include <framework/storagemanager/LocalPool.h>
-#include <framework/ipc/MutexHelper.h>
+#include "LocalPool.h"
+#include "../ipc/MutexHelper.h"
 
 /**
  * @brief	The PoolManager class provides an intermediate data storage with
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index 101e0dcd..7c194d72 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -1,8 +1,8 @@
 #ifndef STORAGEMANAGERIF_H_H
 #define STORAGEMANAGERIF_H_H
 
-#include <framework/events/Event.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../events/Event.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stddef.h>
 
 /**
diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index fcf2e189..ff3ef634 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -1,10 +1,10 @@
-#include <framework/health/HealthMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serialize/SerialArrayListAdapter.h>
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-#include <framework/serialize/SerializeElement.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/subsystem/Subsystem.h>
+#include "../health/HealthMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../serialize/SerialArrayListAdapter.h"
+#include "../serialize/SerialFixedArrayListAdapter.h"
+#include "../serialize/SerializeElement.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "Subsystem.h"
 #include <string>
 
 Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h
index ca1020b9..a40b8028 100644
--- a/subsystem/Subsystem.h
+++ b/subsystem/Subsystem.h
@@ -1,13 +1,13 @@
 #ifndef SUBSYSTEM_H_
 #define SUBSYSTEM_H_
 
-#include <framework/container/FixedArrayList.h>
-#include <framework/container/FixedMap.h>
-#include <framework/container/HybridIterator.h>
-#include <framework/container/SinglyLinkedList.h>
-#include <framework/serialize/SerialArrayListAdapter.h>
-#include <framework/subsystem/modes/ModeDefinitions.h>
-#include <framework/subsystem/SubsystemBase.h>
+#include "../container/FixedArrayList.h"
+#include "../container/FixedMap.h"
+#include "../container/HybridIterator.h"
+#include "../container/SinglyLinkedList.h"
+#include "../serialize/SerialArrayListAdapter.h"
+#include "modes/ModeDefinitions.h"
+#include "SubsystemBase.h"
 
 class Subsystem: public SubsystemBase, public HasModeSequenceIF {
 public:
diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp
index cceb2d41..56ae1062 100644
--- a/subsystem/SubsystemBase.cpp
+++ b/subsystem/SubsystemBase.cpp
@@ -1,7 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/subsystem/SubsystemBase.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "SubsystemBase.h"
+#include "../ipc/QueueFactory.h"
 
 SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		Mode_t initialMode, uint16_t commandQueueDepth) :
diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h
index 3294c46d..61a7eaef 100644
--- a/subsystem/SubsystemBase.h
+++ b/subsystem/SubsystemBase.h
@@ -1,15 +1,15 @@
 #ifndef SUBSYSTEMBASE_H_
 #define SUBSYSTEMBASE_H_
 
-#include <framework/container/HybridIterator.h>
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthHelper.h>
-#include <framework/modes/HasModesIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/subsystem/modes/HasModeSequenceIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../container/HybridIterator.h"
+#include "../health/HasHealthIF.h"
+#include "../health/HealthHelper.h"
+#include "../modes/HasModesIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "modes/HasModeSequenceIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../ipc/MessageQueueIF.h"
 #include <map>
 
 class SubsystemBase: public SystemObject,
diff --git a/subsystem/modes/HasModeSequenceIF.h b/subsystem/modes/HasModeSequenceIF.h
index e03de410..70b1667e 100644
--- a/subsystem/modes/HasModeSequenceIF.h
+++ b/subsystem/modes/HasModeSequenceIF.h
@@ -1,9 +1,9 @@
 #ifndef HASMODESEQUENCEIF_H_
 #define HASMODESEQUENCEIF_H_
 
-#include <framework/subsystem/modes/ModeDefinitions.h>
-#include <framework/subsystem/modes/ModeSequenceMessage.h>
-#include <framework/subsystem/modes/ModeStoreIF.h>
+#include "ModeDefinitions.h"
+#include "ModeSequenceMessage.h"
+#include "ModeStoreIF.h"
 
 
 class HasModeSequenceIF {
diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h
index 153710af..a865ab0c 100644
--- a/subsystem/modes/ModeDefinitions.h
+++ b/subsystem/modes/ModeDefinitions.h
@@ -1,10 +1,10 @@
 #ifndef MODEDEFINITIONS_H_
 #define MODEDEFINITIONS_H_
 
-#include <framework/modes/HasModesIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/serialize/SerializeIF.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
+#include "../../modes/HasModesIF.h"
+#include "../../objectmanager/SystemObjectIF.h"
+#include "../../serialize/SerializeIF.h"
+#include "../../serialize/SerialLinkedListAdapter.h"
 class ModeListEntry: public SerializeIF, public LinkedElement<ModeListEntry> {
 public:
 	ModeListEntry() :
diff --git a/subsystem/modes/ModeSequenceMessage.cpp b/subsystem/modes/ModeSequenceMessage.cpp
index 31661739..33019f58 100644
--- a/subsystem/modes/ModeSequenceMessage.cpp
+++ b/subsystem/modes/ModeSequenceMessage.cpp
@@ -1,8 +1,8 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/subsystem/modes/ModeSequenceMessage.h>
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../storagemanager/StorageManagerIF.h"
+#include "ModeSequenceMessage.h"
 
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, Mode_t sequence, store_address_t storeAddress) {
diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h
index 830cf532..9f99cc99 100644
--- a/subsystem/modes/ModeSequenceMessage.h
+++ b/subsystem/modes/ModeSequenceMessage.h
@@ -1,9 +1,9 @@
 #ifndef MODESEQUENCEMESSAGE_H_
 #define MODESEQUENCEMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/subsystem/modes/ModeDefinitions.h>
+#include "../../ipc/CommandMessage.h"
+#include "../../storagemanager/StorageManagerIF.h"
+#include "ModeDefinitions.h"
 
 class ModeSequenceMessage {
 public:
diff --git a/subsystem/modes/ModeStore.cpp b/subsystem/modes/ModeStore.cpp
index 2aa02087..217e177c 100644
--- a/subsystem/modes/ModeStore.cpp
+++ b/subsystem/modes/ModeStore.cpp
@@ -1,4 +1,4 @@
-#include <framework/subsystem/modes/ModeStore.h>
+#include "ModeStore.h"
 
 #ifdef USE_MODESTORE
 
diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h
index cbc45b5a..0bf856a3 100644
--- a/subsystem/modes/ModeStore.h
+++ b/subsystem/modes/ModeStore.h
@@ -3,10 +3,10 @@
 
 #ifdef USE_MODESTORE
 
-#include <framework/container/ArrayList.h>
-#include <framework/container/SinglyLinkedList.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/subsystem/modes/ModeStoreIF.h>
+#include "../../container/ArrayList.h"
+#include "../../container/SinglyLinkedList.h"
+#include "../../objectmanager/SystemObject.h"
+#include "ModeStoreIF.h"
 
 class ModeStore: public ModeStoreIF, public SystemObject {
 public:
diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h
index 7be7a5a7..e5cac3b2 100644
--- a/subsystem/modes/ModeStoreIF.h
+++ b/subsystem/modes/ModeStoreIF.h
@@ -3,10 +3,10 @@
 
 #ifdef USE_MODESTORE
 
-#include <framework/container/ArrayList.h>
-#include <framework/container/SinglyLinkedList.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/subsystem/modes/ModeDefinitions.h>
+#include "../../container/ArrayList.h"
+#include "../../container/SinglyLinkedList.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "ModeDefinitions.h"
 
 class ModeStoreIF {
 public:
diff --git a/tasks/ExecutableObjectIF.h b/tasks/ExecutableObjectIF.h
index d716cdfb..06b837db 100644
--- a/tasks/ExecutableObjectIF.h
+++ b/tasks/ExecutableObjectIF.h
@@ -3,7 +3,7 @@
 
 class PeriodicTaskIF;
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 #include <cstring>
 /**
diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h
index 3a3582fb..421978f0 100644
--- a/tasks/FixedTimeslotTaskIF.h
+++ b/tasks/FixedTimeslotTaskIF.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/PeriodicTaskIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "PeriodicTaskIF.h"
 
 /**
  * Following the same principle as the base class IF. This is the interface for a Fixed timeslot task
diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h
index 6f490977..17a64b96 100644
--- a/tasks/PeriodicTaskIF.h
+++ b/tasks/PeriodicTaskIF.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
 #define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/timemanager/Clock.h>
+#include "../objectmanager/SystemObjectIF.h"
+#include "../timemanager/Clock.h"
 #include <cstddef>
 class ExecutableObjectIF;
 
diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h
index 8a59adf1..cbf2272c 100644
--- a/tasks/TaskFactory.h
+++ b/tasks/TaskFactory.h
@@ -2,8 +2,8 @@
 #define FRAMEWORK_TASKS_TASKFACTORY_H_
 
 #include <stdlib.h>
-#include <framework/tasks/FixedTimeslotTaskIF.h>
-#include <framework/tasks/Typedef.h>
+#include "FixedTimeslotTaskIF.h"
+#include "Typedef.h"
 
 /**
  * Singleton Class that produces Tasks.
diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp
index 878b8f7d..1ebb3185 100644
--- a/tcdistribution/CCSDSDistributor.cpp
+++ b/tcdistribution/CCSDSDistributor.cpp
@@ -1,6 +1,6 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tcdistribution/CCSDSDistributor.h>
-#include <framework/tmtcpacket/SpacePacketBase.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "CCSDSDistributor.h"
+#include "../tmtcpacket/SpacePacketBase.h"
 
 CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) :
 		TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) {
diff --git a/tcdistribution/CCSDSDistributor.h b/tcdistribution/CCSDSDistributor.h
index 9dce34f2..bff72092 100644
--- a/tcdistribution/CCSDSDistributor.h
+++ b/tcdistribution/CCSDSDistributor.h
@@ -1,11 +1,11 @@
 #ifndef CCSDSDISTRIBUTOR_H_
 #define CCSDSDISTRIBUTOR_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tcdistribution/CCSDSDistributorIF.h>
-#include <framework/tcdistribution/TcDistributor.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "CCSDSDistributorIF.h"
+#include "TcDistributor.h"
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
 /**
  * An instantiation of the CCSDSDistributorIF.
  * It receives Space Packets, and selects a destination depending on the APID of the telecommands.
diff --git a/tcdistribution/CCSDSDistributorIF.h b/tcdistribution/CCSDSDistributorIF.h
index dc1263a9..be3c2811 100644
--- a/tcdistribution/CCSDSDistributorIF.h
+++ b/tcdistribution/CCSDSDistributorIF.h
@@ -1,8 +1,8 @@
 #ifndef CCSDSDISTRIBUTORIF_H_
 #define CCSDSDISTRIBUTORIF_H_
 
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 /**
  * This is the Interface to a CCSDS Distributor.
  * On a CCSDS Distributor, Applications (in terms of CCSDS) may register themselves,
diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index c214f674..f77eb99d 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -1,8 +1,8 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tcdistribution/CCSDSDistributorIF.h>
-#include <framework/tcdistribution/PUSDistributor.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "CCSDSDistributorIF.h"
+#include "PUSDistributor.h"
+#include "../tmtcpacket/pus/TcPacketStored.h"
+#include "../tmtcservices/PusVerificationReport.h"
 
 PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource) :
 		TcDistributor(setObjectId), checker(setApid), verifyChannel(), currentPacket(), tcStatus(
diff --git a/tcdistribution/PUSDistributor.h b/tcdistribution/PUSDistributor.h
index 8d774662..e9d4be8c 100644
--- a/tcdistribution/PUSDistributor.h
+++ b/tcdistribution/PUSDistributor.h
@@ -1,12 +1,12 @@
 #ifndef PUSDISTRIBUTOR_H_
 #define PUSDISTRIBUTOR_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tcdistribution/TcDistributor.h>
-#include <framework/tcdistribution/TcPacketCheck.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/VerificationReporter.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "PUSDistributorIF.h"
+#include "TcDistributor.h"
+#include "TcPacketCheck.h"
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
+#include "../tmtcservices/VerificationReporter.h"
 
 /**
  * This class accepts PUS Telecommands and forwards them to Application services.
diff --git a/tcdistribution/PUSDistributorIF.h b/tcdistribution/PUSDistributorIF.h
index bb101137..5e27b35c 100644
--- a/tcdistribution/PUSDistributorIF.h
+++ b/tcdistribution/PUSDistributorIF.h
@@ -1,8 +1,8 @@
 #ifndef PUSDISTRIBUTORIF_H_
 #define PUSDISTRIBUTORIF_H_
 
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 /**
  * This interface allows PUS Services to register themselves at a PUS Distributor.
  * \ingroup tc_distribution
diff --git a/tcdistribution/TcDistributor.cpp b/tcdistribution/TcDistributor.cpp
index 57921459..49a996d9 100644
--- a/tcdistribution/TcDistributor.cpp
+++ b/tcdistribution/TcDistributor.cpp
@@ -1,8 +1,8 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tcdistribution/TcDistributor.h>
-#include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "TcDistributor.h"
+#include "../tmtcservices/TmTcMessage.h"
+#include "../ipc/QueueFactory.h"
 
 TcDistributor::TcDistributor(object_id_t set_object_id) :
 		SystemObject(set_object_id), tcQueue(NULL) {
diff --git a/tcdistribution/TcDistributor.h b/tcdistribution/TcDistributor.h
index b80f08e6..fed1cb3e 100644
--- a/tcdistribution/TcDistributor.h
+++ b/tcdistribution/TcDistributor.h
@@ -1,12 +1,12 @@
 #ifndef TCDISTRIBUTOR_H_
 #define TCDISTRIBUTOR_H_
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../tmtcservices/TmTcMessage.h"
+#include "../ipc/MessageQueueIF.h"
 #include <map>
 
 
diff --git a/tcdistribution/TcPacketCheck.cpp b/tcdistribution/TcPacketCheck.cpp
index 90a1167f..b5881083 100644
--- a/tcdistribution/TcPacketCheck.cpp
+++ b/tcdistribution/TcPacketCheck.cpp
@@ -1,8 +1,8 @@
-#include <framework/globalfunctions/CRC.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tcdistribution/TcPacketCheck.h>
-#include <framework/tmtcservices/VerificationCodes.h>
+#include "../globalfunctions/CRC.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "TcPacketCheck.h"
+#include "../tmtcservices/VerificationCodes.h"
 
 TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
 }
diff --git a/tcdistribution/TcPacketCheck.h b/tcdistribution/TcPacketCheck.h
index 88810ed7..4ba269f5 100644
--- a/tcdistribution/TcPacketCheck.h
+++ b/tcdistribution/TcPacketCheck.h
@@ -1,9 +1,9 @@
 #ifndef TCPACKETCHECK_H_
 #define TCPACKETCHECK_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../tmtcpacket/pus/TcPacketStored.h"
+#include "../tmtcservices/PusVerificationReport.h"
 /**
  * This class performs a formal packet check for incoming PUS Telecommand Packets.
  * Currently, it only checks if the APID and CRC are correct.
diff --git a/thermal/AbstractTemperatureSensor.cpp b/thermal/AbstractTemperatureSensor.cpp
index be143410..45ebe4a2 100644
--- a/thermal/AbstractTemperatureSensor.cpp
+++ b/thermal/AbstractTemperatureSensor.cpp
@@ -1,5 +1,5 @@
 #include "AbstractTemperatureSensor.h"
-#include <framework/ipc/QueueFactory.h>
+#include "../ipc/QueueFactory.h"
 
 AbstractTemperatureSensor::AbstractTemperatureSensor(object_id_t setObjectid,
 		ThermalModuleIF *thermalModule) :
diff --git a/thermal/AbstractTemperatureSensor.h b/thermal/AbstractTemperatureSensor.h
index 75437dca..726ab9f4 100644
--- a/thermal/AbstractTemperatureSensor.h
+++ b/thermal/AbstractTemperatureSensor.h
@@ -1,12 +1,12 @@
 #ifndef ABSTRACTSENSOR_H_
 #define ABSTRACTSENSOR_H_
 
-#include <framework/health/HasHealthIF.h>
-#include <framework/health/HealthHelper.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/parameters/ParameterHelper.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../health/HasHealthIF.h"
+#include "../health/HealthHelper.h"
+#include "../objectmanager/SystemObject.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../parameters/ParameterHelper.h"
+#include "../ipc/MessageQueueIF.h"
 #include "ThermalModuleIF.h"
 #include "tcsDefinitions.h"
 
diff --git a/thermal/CoreComponent.h b/thermal/CoreComponent.h
index f7e7aff8..48a49f7d 100644
--- a/thermal/CoreComponent.h
+++ b/thermal/CoreComponent.h
@@ -1,12 +1,12 @@
 #ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
 #define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/thermal/ThermalComponentIF.h>
-#include <framework/thermal/AbstractTemperatureSensor.h>
-#include <framework/thermal/ThermalModule.h>
-#include <framework/thermal/ThermalMonitor.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PoolVariable.h"
+#include "ThermalComponentIF.h"
+#include "AbstractTemperatureSensor.h"
+#include "ThermalModule.h"
+#include "ThermalMonitor.h"
 
 class CoreComponent: public ThermalComponentIF {
 public:
diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp
index 29daa15d..1301e2e0 100644
--- a/thermal/Heater.cpp
+++ b/thermal/Heater.cpp
@@ -1,8 +1,8 @@
-#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
+#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
 #include "Heater.h"
 
-#include <framework/power/Fuse.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../power/Fuse.h"
+#include "../ipc/QueueFactory.h"
 
 Heater::Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1) :
 		HealthDevice(objectId, 0), internalState(STATE_OFF), powerSwitcher(
diff --git a/thermal/Heater.h b/thermal/Heater.h
index 41004e03..63fe2066 100644
--- a/thermal/Heater.h
+++ b/thermal/Heater.h
@@ -1,11 +1,11 @@
 #ifndef FRAMEWORK_THERMAL_HEATER_H_
 #define FRAMEWORK_THERMAL_HEATER_H_
 
-#include <framework/devicehandlers/HealthDevice.h>
-#include <framework/parameters/ParameterHelper.h>
-#include <framework/power/PowerSwitchIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/timemanager/Countdown.h>
+#include "../devicehandlers/HealthDevice.h"
+#include "../parameters/ParameterHelper.h"
+#include "../power/PowerSwitchIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../timemanager/Countdown.h"
 #include <stdint.h>
 //class RedundantHeater;
 
diff --git a/thermal/RedundantHeater.h b/thermal/RedundantHeater.h
index 29791a9a..ab745a69 100644
--- a/thermal/RedundantHeater.h
+++ b/thermal/RedundantHeater.h
@@ -1,7 +1,7 @@
 #ifndef REDUNDANTHEATER_H_
 #define REDUNDANTHEATER_H_
 
-#include <framework/thermal/Heater.h>
+#include "Heater.h"
 
 class RedundantHeater {
 public:
diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h
index de280d87..356ca722 100644
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@@ -1,9 +1,9 @@
 #ifndef TEMPERATURESENSOR_H_
 #define TEMPERATURESENSOR_H_
 
-#include <framework/datapool/DataSet.h>
+#include "../datapool/DataSet.h"
 #include "AbstractTemperatureSensor.h"
-#include <framework/monitoring/LimitMonitor.h>
+#include "../monitoring/LimitMonitor.h"
 
 template<typename T>
 class TemperatureSensor: public AbstractTemperatureSensor {
diff --git a/thermal/ThermalComponentIF.h b/thermal/ThermalComponentIF.h
index ad8dbd0a..522d4e44 100644
--- a/thermal/ThermalComponentIF.h
+++ b/thermal/ThermalComponentIF.h
@@ -1,10 +1,10 @@
 #ifndef THERMALCOMPONENTIF_H_
 #define THERMALCOMPONENTIF_H_
 
-#include <framework/events/Event.h>
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "../events/Event.h"
+#include "../parameters/HasParametersIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../objectmanager/SystemObjectIF.h"
 
 class ThermalComponentIF : public HasParametersIF {
 public:
diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp
index 24a4c90d..c573008e 100644
--- a/thermal/ThermalModule.cpp
+++ b/thermal/ThermalModule.cpp
@@ -1,5 +1,5 @@
-#include <framework/monitoring/LimitViolationReporter.h>
-#include <framework/monitoring/MonitoringMessageContent.h>
+#include "../monitoring/LimitViolationReporter.h"
+#include "../monitoring/MonitoringMessageContent.h"
 #include "ThermalModule.h"
 
 #include "AbstractTemperatureSensor.h"
diff --git a/thermal/ThermalModule.h b/thermal/ThermalModule.h
index d8ac7d73..19ab9a54 100644
--- a/thermal/ThermalModule.h
+++ b/thermal/ThermalModule.h
@@ -1,10 +1,10 @@
 #ifndef THERMALMODULE_H_
 #define THERMALMODULE_H_
 
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-#include <framework/devicehandlers/HealthDevice.h>
-#include <framework/events/EventReportingProxyIF.h>
+#include "../datapool/DataSet.h"
+#include "../datapool/PoolVariable.h"
+#include "../devicehandlers/HealthDevice.h"
+#include "../events/EventReportingProxyIF.h"
 #include "ThermalModuleIF.h"
 #include <list>
 #include "tcsDefinitions.h"
diff --git a/thermal/ThermalMonitor.cpp b/thermal/ThermalMonitor.cpp
index 773fa084..11abfbe5 100644
--- a/thermal/ThermalMonitor.cpp
+++ b/thermal/ThermalMonitor.cpp
@@ -1,6 +1,6 @@
-#include <framework/thermal/ThermalMonitor.h>
-#include <framework/thermal/ThermalComponentIF.h>
-#include <framework/monitoring/MonitoringIF.h>
+#include "ThermalMonitor.h"
+#include "ThermalComponentIF.h"
+#include "../monitoring/MonitoringIF.h"
 ThermalMonitor::~ThermalMonitor() {
 }
 
diff --git a/thermal/ThermalMonitor.h b/thermal/ThermalMonitor.h
index 6aca55ab..5c6806c1 100644
--- a/thermal/ThermalMonitor.h
+++ b/thermal/ThermalMonitor.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_THERMAL_THERMALMONITOR_H_
 #define FRAMEWORK_THERMAL_THERMALMONITOR_H_
 
-#include <framework/monitoring/MonitorReporter.h>
-#include <framework/thermal/ThermalComponentIF.h>
+#include "../monitoring/MonitorReporter.h"
+#include "ThermalComponentIF.h"
 
 class ThermalMonitor: public MonitorReporter<float> {
 public:
diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 71b2539d..eddbb97b 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -1,4 +1,4 @@
-#include <framework/timemanager/CCSDSTime.h>
+#include "CCSDSTime.h"
 #include <stdio.h>
 #include <inttypes.h>
 #include <math.h>
diff --git a/timemanager/CCSDSTime.h b/timemanager/CCSDSTime.h
index 92060d5d..8563cf0f 100644
--- a/timemanager/CCSDSTime.h
+++ b/timemanager/CCSDSTime.h
@@ -3,8 +3,8 @@
 
 // COULDDO: have calls in Clock.h which return time quality and use timespec accordingly
 
-#include <framework/timemanager/Clock.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "Clock.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 
 bool operator<(const timeval& lhs, const timeval& rhs);
diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 121c63df..6f6a97da 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_TIMEMANAGER_CLOCK_H_
 #define FRAMEWORK_TIMEMANAGER_CLOCK_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/ipc/MutexFactory.h>
-#include <framework/globalfunctions/timevalOperations.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../ipc/MutexFactory.h"
+#include "../globalfunctions/timevalOperations.h"
 
 #include <cstdint>
 #include <sys/time.h>
diff --git a/timemanager/Countdown.cpp b/timemanager/Countdown.cpp
index e6565914..d5695730 100644
--- a/timemanager/Countdown.cpp
+++ b/timemanager/Countdown.cpp
@@ -6,7 +6,7 @@
  */
 
 
-#include <framework/timemanager/Countdown.h>
+#include "Countdown.h"
 
 Countdown::Countdown(uint32_t initialTimeout) : startTime(0), timeout(initialTimeout) {
 }
diff --git a/timemanager/Countdown.h b/timemanager/Countdown.h
index 57a11f91..b86d9fe0 100644
--- a/timemanager/Countdown.h
+++ b/timemanager/Countdown.h
@@ -8,7 +8,7 @@
 #ifndef COUNTDOWN_H_
 #define COUNTDOWN_H_
 
-#include <framework/timemanager/Clock.h>
+#include "Clock.h"
 
 class Countdown {
 private:
diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 52118d58..00373bd7 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -1,57 +1,57 @@
-#include <framework/timemanager/Stopwatch.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <iomanip>
-
-Stopwatch::Stopwatch(bool displayOnDestruction,
-        StopwatchDisplayMode displayMode): displayOnDestruction(
-        displayOnDestruction), displayMode(displayMode) {
-    // Measures start time on initialization.
-    Clock::getClock_timeval(&startTime);
-}
-
-void Stopwatch::start() {
-    Clock::getClock_timeval(&startTime);
-}
-
-dur_millis_t Stopwatch::stop() {
-    stopInternal();
-    return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
-}
-
-dur_seconds_t Stopwatch::stopSeconds() {
-    stopInternal();
-    return timevalOperations::toDouble(elapsedTime);
-}
-
-void Stopwatch::display() {
-    if(displayMode == StopwatchDisplayMode::MILLIS) {
-        sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
-                elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl;
-    }
-    else if(displayMode == StopwatchDisplayMode::SECONDS) {
-        sif::info <<"Stopwatch: Operation took "  << std::setprecision(3)
-             << std::fixed << timevalOperations::toDouble(elapsedTime)
-             << " seconds" << std::endl;
-    }
-}
-
-Stopwatch::~Stopwatch() {
-    if(displayOnDestruction) {
-        stopInternal();
-        display();
-    }
-}
-
-void Stopwatch::setDisplayMode(StopwatchDisplayMode displayMode) {
-    this->displayMode = displayMode;
-}
-
-StopwatchDisplayMode Stopwatch::getDisplayMode() const {
-    return displayMode;
-}
-
-void Stopwatch::stopInternal() {
-	timeval endTime;
-	Clock::getClock_timeval(&endTime);
-    elapsedTime = endTime - startTime;
-}
+#include "Stopwatch.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include <iomanip>
+
+Stopwatch::Stopwatch(bool displayOnDestruction,
+        StopwatchDisplayMode displayMode): displayOnDestruction(
+        displayOnDestruction), displayMode(displayMode) {
+    // Measures start time on initialization.
+    Clock::getClock_timeval(&startTime);
+}
+
+void Stopwatch::start() {
+    Clock::getClock_timeval(&startTime);
+}
+
+dur_millis_t Stopwatch::stop() {
+    stopInternal();
+    return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
+}
+
+dur_seconds_t Stopwatch::stopSeconds() {
+    stopInternal();
+    return timevalOperations::toDouble(elapsedTime);
+}
+
+void Stopwatch::display() {
+    if(displayMode == StopwatchDisplayMode::MILLIS) {
+        sif::info << "Stopwatch: Operation took " << (elapsedTime.tv_sec * 1000 +
+                elapsedTime.tv_usec / 1000) << " milliseconds" << std::endl;
+    }
+    else if(displayMode == StopwatchDisplayMode::SECONDS) {
+        sif::info <<"Stopwatch: Operation took "  << std::setprecision(3)
+             << std::fixed << timevalOperations::toDouble(elapsedTime)
+             << " seconds" << std::endl;
+    }
+}
+
+Stopwatch::~Stopwatch() {
+    if(displayOnDestruction) {
+        stopInternal();
+        display();
+    }
+}
+
+void Stopwatch::setDisplayMode(StopwatchDisplayMode displayMode) {
+    this->displayMode = displayMode;
+}
+
+StopwatchDisplayMode Stopwatch::getDisplayMode() const {
+    return displayMode;
+}
+
+void Stopwatch::stopInternal() {
+	timeval endTime;
+	Clock::getClock_timeval(&endTime);
+    elapsedTime = endTime - startTime;
+}
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
index 630202cc..f216b7e1 100644
--- a/timemanager/Stopwatch.h
+++ b/timemanager/Stopwatch.h
@@ -1,71 +1,71 @@
-#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
-#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
-#include <framework/timemanager/Clock.h>
-
-enum class StopwatchDisplayMode {
-    MILLIS,
-    SECONDS
-};
-
-/**
- * @brief 	Simple Stopwatch implementation to measure elapsed time
- * @details
- * This class can be used to measure elapsed times. It also displays elapsed
- * times automatically on destruction if not explicitely deactivated in the
- * constructor. The default time format is the elapsed time in miliseconds
- * in seconds as a double.
- * @author 	R. Mueller
- */
-class Stopwatch {
-public:
-    /**
-     * Default constructor. Call "Stopwatch stopwatch" without brackets if
-     * no parameters are required!
-     * @param displayOnDestruction If set to true, displays measured time on
-     *        object destruction
-     * @param displayMode Display format is either MS rounded or MS as double
-     *        format
-     * @param outputPrecision If using double format, specify precision here.
-     */
-    Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode
-              = StopwatchDisplayMode::MILLIS);
-    virtual~ Stopwatch();
-
-    /**
-     * Caches the start time
-     */
-    void start();
-
-    /**
-     * Calculates the elapsed time since start and returns it
-     * @return elapsed time in milliseconds (rounded)
-     */
-    dur_millis_t stop();
-    /**
-     * Calculates the elapsed time since start and returns it
-     * @return elapsed time in seconds (double precision)
-     */
-    dur_seconds_t stopSeconds();
-
-    /**
-     * Displays the elapsed times on the osstream, depending on internal display
-     * mode.
-     */
-    void display();
-
-    StopwatchDisplayMode getDisplayMode() const;
-    void setDisplayMode(StopwatchDisplayMode displayMode);
-    bool displayOnDestruction = true;
-private:
-    timeval startTime {0, 0};
-    timeval elapsedTime {0, 0};
-
-    StopwatchDisplayMode displayMode = StopwatchDisplayMode::MILLIS;
-
-    void stopInternal();
-};
-
-
-
-
-#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */
+#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#include "Clock.h"
+
+enum class StopwatchDisplayMode {
+    MILLIS,
+    SECONDS
+};
+
+/**
+ * @brief 	Simple Stopwatch implementation to measure elapsed time
+ * @details
+ * This class can be used to measure elapsed times. It also displays elapsed
+ * times automatically on destruction if not explicitely deactivated in the
+ * constructor. The default time format is the elapsed time in miliseconds
+ * in seconds as a double.
+ * @author 	R. Mueller
+ */
+class Stopwatch {
+public:
+    /**
+     * Default constructor. Call "Stopwatch stopwatch" without brackets if
+     * no parameters are required!
+     * @param displayOnDestruction If set to true, displays measured time on
+     *        object destruction
+     * @param displayMode Display format is either MS rounded or MS as double
+     *        format
+     * @param outputPrecision If using double format, specify precision here.
+     */
+    Stopwatch(bool displayOnDestruction = true, StopwatchDisplayMode displayMode
+              = StopwatchDisplayMode::MILLIS);
+    virtual~ Stopwatch();
+
+    /**
+     * Caches the start time
+     */
+    void start();
+
+    /**
+     * Calculates the elapsed time since start and returns it
+     * @return elapsed time in milliseconds (rounded)
+     */
+    dur_millis_t stop();
+    /**
+     * Calculates the elapsed time since start and returns it
+     * @return elapsed time in seconds (double precision)
+     */
+    dur_seconds_t stopSeconds();
+
+    /**
+     * Displays the elapsed times on the osstream, depending on internal display
+     * mode.
+     */
+    void display();
+
+    StopwatchDisplayMode getDisplayMode() const;
+    void setDisplayMode(StopwatchDisplayMode displayMode);
+    bool displayOnDestruction = true;
+private:
+    timeval startTime {0, 0};
+    timeval elapsedTime {0, 0};
+
+    StopwatchDisplayMode displayMode = StopwatchDisplayMode::MILLIS;
+
+    void stopInternal();
+};
+
+
+
+
+#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */
diff --git a/timemanager/TimeMessage.cpp b/timemanager/TimeMessage.cpp
index bf514317..5a9a416b 100644
--- a/timemanager/TimeMessage.cpp
+++ b/timemanager/TimeMessage.cpp
@@ -5,7 +5,7 @@
  * @author	baetz
  */
 
-#include <framework/timemanager/TimeMessage.h>
+#include "TimeMessage.h"
 
 TimeMessage::TimeMessage() {
 	this->messageSize += sizeof(timeval) + sizeof(uint32_t);
diff --git a/timemanager/TimeMessage.h b/timemanager/TimeMessage.h
index 95685fec..116002e6 100644
--- a/timemanager/TimeMessage.h
+++ b/timemanager/TimeMessage.h
@@ -8,8 +8,8 @@
 #ifndef TIMEMESSAGE_H_
 #define TIMEMESSAGE_H_
 
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/timemanager/Clock.h>
+#include "../ipc/MessageQueueMessage.h"
+#include "Clock.h"
 #include <cstring>
 
 class TimeMessage : public MessageQueueMessage {
diff --git a/timemanager/TimeStamperIF.h b/timemanager/TimeStamperIF.h
index 7ed45371..bdc5e7e3 100644
--- a/timemanager/TimeStamperIF.h
+++ b/timemanager/TimeStamperIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_TIMEMANAGER_TIMESTAMPERIF_H_
 #define FRAMEWORK_TIMEMANAGER_TIMESTAMPERIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 /**
  * A class implementing this IF provides facilities to add a time stamp to the
diff --git a/tmstorage/TmStoreBackendIF.h b/tmstorage/TmStoreBackendIF.h
index 162bd766..a441808e 100644
--- a/tmstorage/TmStoreBackendIF.h
+++ b/tmstorage/TmStoreBackendIF.h
@@ -1,11 +1,11 @@
 #ifndef PLATFORM_TMTCSERVICES_TMSTOREBACKENDIF_H_
 #define PLATFORM_TMTCSERVICES_TMSTOREBACKENDIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/objectmanager/SystemObjectIF.h>
-#include <framework/parameters/HasParametersIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/timemanager/Clock.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include "../parameters/HasParametersIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../timemanager/Clock.h"
 class TmPacketInformation;
 class TmPacketMinimal;
 class SpacePacketBase;
diff --git a/tmstorage/TmStoreFrontendIF.h b/tmstorage/TmStoreFrontendIF.h
index 787c3597..e1bc3a14 100644
--- a/tmstorage/TmStoreFrontendIF.h
+++ b/tmstorage/TmStoreFrontendIF.h
@@ -1,9 +1,9 @@
 #ifndef PLATFORM_TMTCSERVICES_TMSTOREFRONTENDIF_H_
 #define PLATFORM_TMTCSERVICES_TMSTOREFRONTENDIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tmstorage/TmStorePackets.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "TmStorePackets.h"
+#include "../ipc/MessageQueueSenderIF.h"
 class TmPacketMinimal;
 class SpacePacketBase;
 class TmStoreBackendIF;
diff --git a/tmstorage/TmStoreMessage.cpp b/tmstorage/TmStoreMessage.cpp
index e908b923..d2efd403 100644
--- a/tmstorage/TmStoreMessage.cpp
+++ b/tmstorage/TmStoreMessage.cpp
@@ -1,5 +1,5 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tmstorage/TmStoreMessage.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "TmStoreMessage.h"
 
 TmStoreMessage::~TmStoreMessage() {
 	
diff --git a/tmstorage/TmStoreMessage.h b/tmstorage/TmStoreMessage.h
index 0883063c..66fdefa5 100644
--- a/tmstorage/TmStoreMessage.h
+++ b/tmstorage/TmStoreMessage.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_TMSTORAGE_TMSTOREMESSAGE_H_
 #define FRAMEWORK_TMSTORAGE_TMSTOREMESSAGE_H_
 
-#include <framework/ipc/CommandMessage.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tmstorage/TmStorePackets.h>
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "../ipc/CommandMessage.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "TmStorePackets.h"
+#include "../objectmanager/SystemObjectIF.h"
 class TmStoreMessage: public CommandMessage {
 public:
 	static ReturnValue_t setEnableStoringMessage(CommandMessage* cmd,
diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h
index 16768e68..e88e741a 100644
--- a/tmstorage/TmStorePackets.h
+++ b/tmstorage/TmStorePackets.h
@@ -1,14 +1,14 @@
 #ifndef FRAMEWORK_TMSTORAGE_TMSTOREPACKETS_H_
 #define FRAMEWORK_TMSTORAGE_TMSTOREPACKETS_H_
 
-#include <framework/serialize/SerialFixedArrayListAdapter.h>
-#include <framework/serialize/SerializeElement.h>
-#include <framework/serialize/SerialLinkedListAdapter.h>
-#include <framework/serialize/SerialBufferAdapter.h>
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
-#include <framework/timemanager/TimeStamperIF.h>
-#include <framework/timemanager/CCSDSTime.h>
-#include <framework/globalfunctions/timevalOperations.h>
+#include "../serialize/SerialFixedArrayListAdapter.h"
+#include "../serialize/SerializeElement.h"
+#include "../serialize/SerialLinkedListAdapter.h"
+#include "../serialize/SerialBufferAdapter.h"
+#include "../tmtcpacket/pus/TmPacketMinimal.h"
+#include "../timemanager/TimeStamperIF.h"
+#include "../timemanager/CCSDSTime.h"
+#include "../globalfunctions/timevalOperations.h"
 
 class ServiceSubservice: public SerialLinkedListAdapter<SerializeIF> {
 public:
diff --git a/tmtcpacket/SpacePacket.cpp b/tmtcpacket/SpacePacket.cpp
index d9bc08fa..b8ba27e9 100644
--- a/tmtcpacket/SpacePacket.cpp
+++ b/tmtcpacket/SpacePacket.cpp
@@ -1,6 +1,6 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/ccsds_header.h>
-#include <framework/tmtcpacket/SpacePacket.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "ccsds_header.h"
+#include "SpacePacket.h"
 #include <string.h>
 
 SpacePacket::SpacePacket( uint16_t packetDataLength, bool isTelecommand, uint16_t apid, uint16_t sequenceCount ):
diff --git a/tmtcpacket/SpacePacket.h b/tmtcpacket/SpacePacket.h
index f2d45752..49dd5ae5 100644
--- a/tmtcpacket/SpacePacket.h
+++ b/tmtcpacket/SpacePacket.h
@@ -1,7 +1,7 @@
 #ifndef SPACEPACKET_H_
 #define SPACEPACKET_H_
 
-#include <framework/tmtcpacket/SpacePacketBase.h>
+#include "SpacePacketBase.h"
 
 /**
  * The SpacePacket class is a representation of a simple CCSDS Space Packet
diff --git a/tmtcpacket/SpacePacketBase.cpp b/tmtcpacket/SpacePacketBase.cpp
index 13c062d8..a37e024b 100644
--- a/tmtcpacket/SpacePacketBase.cpp
+++ b/tmtcpacket/SpacePacketBase.cpp
@@ -1,5 +1,5 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/SpacePacketBase.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "SpacePacketBase.h"
 #include <string.h>
 
 SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
diff --git a/tmtcpacket/SpacePacketBase.h b/tmtcpacket/SpacePacketBase.h
index cc68f714..ef3ad79d 100644
--- a/tmtcpacket/SpacePacketBase.h
+++ b/tmtcpacket/SpacePacketBase.h
@@ -1,7 +1,7 @@
 #ifndef SPACEPACKETBASE_H_
 #define SPACEPACKETBASE_H_
 
-#include <framework/tmtcpacket/ccsds_header.h>
+#include "ccsds_header.h"
 
 /**
  * \defgroup tmtcpackets Space Packets
diff --git a/tmtcpacket/packetmatcher/ApidMatcher.h b/tmtcpacket/packetmatcher/ApidMatcher.h
index 3080ffef..4f196ac9 100644
--- a/tmtcpacket/packetmatcher/ApidMatcher.h
+++ b/tmtcpacket/packetmatcher/ApidMatcher.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_APIDMATCHER_H_
 #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_APIDMATCHER_H_
 
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
+#include "../../globalfunctions/matching/SerializeableMatcherIF.h"
+#include "../../serialize/SerializeAdapter.h"
+#include "../../tmtcpacket/pus/TmPacketMinimal.h"
 
 class ApidMatcher: public SerializeableMatcherIF<TmPacketMinimal*> {
 private:
diff --git a/tmtcpacket/packetmatcher/PacketMatchTree.cpp b/tmtcpacket/packetmatcher/PacketMatchTree.cpp
index d8f61ffb..a4579657 100644
--- a/tmtcpacket/packetmatcher/PacketMatchTree.cpp
+++ b/tmtcpacket/packetmatcher/PacketMatchTree.cpp
@@ -1,7 +1,7 @@
-#include <framework/tmtcpacket/packetmatcher/ApidMatcher.h>
-#include <framework/tmtcpacket/packetmatcher/PacketMatchTree.h>
-#include <framework/tmtcpacket/packetmatcher/ServiceMatcher.h>
-#include <framework/tmtcpacket/packetmatcher/SubserviceMatcher.h>
+#include "ApidMatcher.h"
+#include "PacketMatchTree.h"
+#include "ServiceMatcher.h"
+#include "SubserviceMatcher.h"
 
 PacketMatchTree::PacketMatchTree(Node* root) :
 		MatchTree<TmPacketMinimal*>(root, 2), factoryBackend(0, POOL_SIZES,
diff --git a/tmtcpacket/packetmatcher/PacketMatchTree.h b/tmtcpacket/packetmatcher/PacketMatchTree.h
index a6c0c61e..86fb087e 100644
--- a/tmtcpacket/packetmatcher/PacketMatchTree.h
+++ b/tmtcpacket/packetmatcher/PacketMatchTree.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_PACKETMATCHTREE_H_
 #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_PACKETMATCHTREE_H_
 
-#include <framework/container/PlacementFactory.h>
-#include <framework/globalfunctions/matching/MatchTree.h>
-#include <framework/storagemanager/LocalPool.h>
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
+#include "../../container/PlacementFactory.h"
+#include "../../globalfunctions/matching/MatchTree.h"
+#include "../../storagemanager/LocalPool.h"
+#include "../../tmtcpacket/pus/TmPacketMinimal.h"
 
 class PacketMatchTree: public MatchTree<TmPacketMinimal*>, public HasReturnvaluesIF {
 public:
diff --git a/tmtcpacket/packetmatcher/ServiceMatcher.h b/tmtcpacket/packetmatcher/ServiceMatcher.h
index f6e9e360..eba23d75 100644
--- a/tmtcpacket/packetmatcher/ServiceMatcher.h
+++ b/tmtcpacket/packetmatcher/ServiceMatcher.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_SERVICEMATCHER_H_
 #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_SERVICEMATCHER_H_
 
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
+#include "../../globalfunctions/matching/SerializeableMatcherIF.h"
+#include "../../serialize/SerializeAdapter.h"
+#include "../../tmtcpacket/pus/TmPacketMinimal.h"
 
 class ServiceMatcher: public SerializeableMatcherIF<TmPacketMinimal*> {
 private:
diff --git a/tmtcpacket/packetmatcher/SubserviceMatcher.h b/tmtcpacket/packetmatcher/SubserviceMatcher.h
index 2e8b82b2..a9b6def8 100644
--- a/tmtcpacket/packetmatcher/SubserviceMatcher.h
+++ b/tmtcpacket/packetmatcher/SubserviceMatcher.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_TMTCPACKET_PACKETMATCHER_SUBSERVICEMATCHER_H_
 #define FRAMEWORK_TMTCPACKET_PACKETMATCHER_SUBSERVICEMATCHER_H_
 
-#include <framework/globalfunctions/matching/SerializeableMatcherIF.h>
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
+#include "../../globalfunctions/matching/SerializeableMatcherIF.h"
+#include "../../serialize/SerializeAdapter.h"
+#include "../../tmtcpacket/pus/TmPacketMinimal.h"
 
 class SubServiceMatcher: public SerializeableMatcherIF<TmPacketMinimal*> {
 public:
diff --git a/tmtcpacket/pus/PacketTimestampInterpreterIF.h b/tmtcpacket/pus/PacketTimestampInterpreterIF.h
index 6e19381a..dd0c0328 100644
--- a/tmtcpacket/pus/PacketTimestampInterpreterIF.h
+++ b/tmtcpacket/pus/PacketTimestampInterpreterIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_TMTCPACKET_PUS_PACKETTIMESTAMPINTERPRETERIF_H_
 #define FRAMEWORK_TMTCPACKET_PUS_PACKETTIMESTAMPINTERPRETERIF_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 class TmPacketMinimal;
 
 class PacketTimestampInterpreterIF {
diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp
index 0f3bd52e..3815eb20 100644
--- a/tmtcpacket/pus/TcPacketBase.cpp
+++ b/tmtcpacket/pus/TcPacketBase.cpp
@@ -1,6 +1,6 @@
-#include <framework/globalfunctions/CRC.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/pus/TcPacketBase.h>
+#include "../../globalfunctions/CRC.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "TcPacketBase.h"
 #include <string.h>
 
 TcPacketBase::TcPacketBase(const uint8_t* set_data) :
diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h
index e6e6bdad..dd63d2be 100644
--- a/tmtcpacket/pus/TcPacketBase.h
+++ b/tmtcpacket/pus/TcPacketBase.h
@@ -1,7 +1,7 @@
 #ifndef TCPACKETBASE_H_
 #define TCPACKETBASE_H_
 
-#include <framework/tmtcpacket/SpacePacketBase.h>
+#include "../../tmtcpacket/SpacePacketBase.h"
 
 /**
  * This struct defines a byte-wise structured PUS TC Data Field Header.
diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp
index 0187b08f..216f89c9 100644
--- a/tmtcpacket/pus/TcPacketStored.cpp
+++ b/tmtcpacket/pus/TcPacketStored.cpp
@@ -1,6 +1,6 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "TcPacketStored.h"
 #include <string.h>
 
 TcPacketStored::TcPacketStored(store_address_t setAddress) :
diff --git a/tmtcpacket/pus/TcPacketStored.h b/tmtcpacket/pus/TcPacketStored.h
index c57f0e0f..2d86f89b 100644
--- a/tmtcpacket/pus/TcPacketStored.h
+++ b/tmtcpacket/pus/TcPacketStored.h
@@ -1,8 +1,8 @@
 #ifndef TCPACKETSTORED_H_
 #define TCPACKETSTORED_H_
 
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tmtcpacket/pus/TcPacketBase.h>
+#include "../../storagemanager/StorageManagerIF.h"
+#include "TcPacketBase.h"
 
 /**
  *	This class generates a ECSS PUS Telecommand packet within a given
diff --git a/tmtcpacket/pus/TmPacketBase.cpp b/tmtcpacket/pus/TmPacketBase.cpp
index a7bda5af..3c1a8ca4 100644
--- a/tmtcpacket/pus/TmPacketBase.cpp
+++ b/tmtcpacket/pus/TmPacketBase.cpp
@@ -1,8 +1,8 @@
-#include <framework/globalfunctions/CRC.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/pus/TmPacketBase.h>
-#include <framework/timemanager/CCSDSTime.h>
+#include "../../globalfunctions/CRC.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "TmPacketBase.h"
+#include "../../timemanager/CCSDSTime.h"
 #include <string.h>
 
 TmPacketBase::TmPacketBase(uint8_t* set_data) :
diff --git a/tmtcpacket/pus/TmPacketBase.h b/tmtcpacket/pus/TmPacketBase.h
index d03beba5..85ae4dac 100644
--- a/tmtcpacket/pus/TmPacketBase.h
+++ b/tmtcpacket/pus/TmPacketBase.h
@@ -1,10 +1,10 @@
 #ifndef TMPACKETBASE_H_
 #define TMPACKETBASE_H_
 
-#include <framework/timemanager/TimeStamperIF.h>
-#include <framework/tmtcpacket/SpacePacketBase.h>
-#include <framework/timemanager/Clock.h>
-#include <framework/objectmanager/SystemObjectIF.h>
+#include "../../timemanager/TimeStamperIF.h"
+#include "../../tmtcpacket/SpacePacketBase.h"
+#include "../../timemanager/Clock.h"
+#include "../../objectmanager/SystemObjectIF.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
diff --git a/tmtcpacket/pus/TmPacketMinimal.cpp b/tmtcpacket/pus/TmPacketMinimal.cpp
index 9df0fe5d..18e9dda1 100644
--- a/tmtcpacket/pus/TmPacketMinimal.cpp
+++ b/tmtcpacket/pus/TmPacketMinimal.cpp
@@ -1,7 +1,7 @@
-#include <framework/tmtcpacket/pus/TmPacketMinimal.h>
+#include "TmPacketMinimal.h"
 #include <stddef.h>
 #include <time.h>
-#include <framework/tmtcpacket/pus/PacketTimestampInterpreterIF.h>
+#include "PacketTimestampInterpreterIF.h"
 
 TmPacketMinimal::TmPacketMinimal(const uint8_t* set_data) : SpacePacketBase( set_data ) {
 	this->tm_data = (TmPacketMinimalPointer*)set_data;
diff --git a/tmtcpacket/pus/TmPacketMinimal.h b/tmtcpacket/pus/TmPacketMinimal.h
index 7bfe0883..728acb15 100644
--- a/tmtcpacket/pus/TmPacketMinimal.h
+++ b/tmtcpacket/pus/TmPacketMinimal.h
@@ -2,8 +2,8 @@
 #define FRAMEWORK_TMTCPACKET_PUS_TMPACKETMINIMAL_H_
 
 
-#include <framework/tmtcpacket/SpacePacketBase.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../tmtcpacket/SpacePacketBase.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 struct timeval;
 class PacketTimestampInterpreterIF;
diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index 7c327581..4e4c9434 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -1,7 +1,7 @@
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
-#include <framework/tmtcservices/TmTcMessage.h>
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "TmPacketStored.h"
+#include "../../tmtcservices/TmTcMessage.h"
 #include <string.h>
 
 TmPacketStored::TmPacketStored(store_address_t setAddress) :
diff --git a/tmtcpacket/pus/TmPacketStored.h b/tmtcpacket/pus/TmPacketStored.h
index eaa26ce7..8962d343 100644
--- a/tmtcpacket/pus/TmPacketStored.h
+++ b/tmtcpacket/pus/TmPacketStored.h
@@ -1,11 +1,11 @@
 #ifndef TMPACKETSTORED_H_
 #define TMPACKETSTORED_H_
 
-#include <framework/serialize/SerializeIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tmtcpacket/pus/TmPacketBase.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../../serialize/SerializeIF.h"
+#include "../../storagemanager/StorageManagerIF.h"
+#include "TmPacketBase.h"
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueSenderIF.h"
 
 /**
  *	This class generates a ECSS PUS Telemetry packet within a given
diff --git a/tmtcservices/AcceptsTelecommandsIF.h b/tmtcservices/AcceptsTelecommandsIF.h
index 03a57aae..76d10a59 100644
--- a/tmtcservices/AcceptsTelecommandsIF.h
+++ b/tmtcservices/AcceptsTelecommandsIF.h
@@ -1,7 +1,7 @@
 #ifndef ACCEPTSTELECOMMANDSIF_H_
 #define ACCEPTSTELECOMMANDSIF_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../ipc/MessageQueueSenderIF.h"
 
 /**
  * @brief 	This interface is implemented by classes that are sinks for
diff --git a/tmtcservices/AcceptsTelemetryIF.h b/tmtcservices/AcceptsTelemetryIF.h
index 8c00b5c6..2325dbe0 100644
--- a/tmtcservices/AcceptsTelemetryIF.h
+++ b/tmtcservices/AcceptsTelemetryIF.h
@@ -1,7 +1,7 @@
 #ifndef ACCEPTSTELEMETRYIF_H_
 #define ACCEPTSTELEMETRYIF_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../ipc/MessageQueueSenderIF.h"
 /**
  * @brief 	This interface is implemented by classes that are sinks for
  * 			Telemetry.
diff --git a/tmtcservices/AcceptsVerifyMessageIF.h b/tmtcservices/AcceptsVerifyMessageIF.h
index fe8bb288..c9318ab0 100644
--- a/tmtcservices/AcceptsVerifyMessageIF.h
+++ b/tmtcservices/AcceptsVerifyMessageIF.h
@@ -1,7 +1,7 @@
 #ifndef ACCEPTSVERIFICATIONMESSAGEIF_H_
 #define ACCEPTSVERIFICATIONMESSAGEIF_H_
 
-#include <framework/ipc/MessageQueueSenderIF.h>
+#include "../ipc/MessageQueueSenderIF.h"
 
 class AcceptsVerifyMessageIF {
 public:
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 330fd00f..0b33e3aa 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -1,12 +1,12 @@
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
+#include "../tcdistribution/PUSDistributorIF.h"
+#include "AcceptsTelemetryIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
-#include <framework/tmtcservices/CommandingServiceBase.h>
-#include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/ipc/QueueFactory.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
+#include "CommandingServiceBase.h"
+#include "TmTcMessage.h"
+#include "../ipc/QueueFactory.h"
+#include "../tmtcpacket/pus/TcPacketStored.h"
+#include "../tmtcpacket/pus/TmPacketStored.h"
 
 object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
 object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index b3a15985..c0453f2f 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -1,17 +1,17 @@
 #ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 #define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
+#include "../objectmanager/SystemObject.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../ipc/MessageQueueIF.h"
+#include "AcceptsTelecommandsIF.h"
 
-#include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
-#include <framework/serialize/SerializeIF.h>
+#include "VerificationReporter.h"
+#include "../ipc/CommandMessage.h"
+#include "../container/FixedMap.h"
+#include "../container/FIFO.h"
+#include "../serialize/SerializeIF.h"
 
 class TcPacketStored;
 
diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index 82e5ff5c..d35944a4 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -1,10 +1,10 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tcdistribution/PUSDistributorIF.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/tmtcservices/PusServiceBase.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
-#include <framework/tmtcservices/TmTcMessage.h>
-#include <framework/ipc/QueueFactory.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../tcdistribution/PUSDistributorIF.h"
+#include "AcceptsTelemetryIF.h"
+#include "PusServiceBase.h"
+#include "PusVerificationReport.h"
+#include "TmTcMessage.h"
+#include "../ipc/QueueFactory.h"
 
 object_id_t PusServiceBase::packetSource = 0;
 object_id_t PusServiceBase::packetDestination = 0;
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 6d3d9bac..98d65efb 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -1,15 +1,15 @@
 #ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
 #define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/VerificationCodes.h>
-#include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/ipc/MessageQueueIF.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../tmtcpacket/pus/TcPacketStored.h"
+#include "AcceptsTelecommandsIF.h"
+#include "VerificationCodes.h"
+#include "VerificationReporter.h"
+#include "../ipc/MessageQueueIF.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index 07631801..b047576b 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -1,5 +1,5 @@
-#include <framework/serialize/SerializeAdapter.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
+#include "../serialize/SerializeAdapter.h"
+#include "PusVerificationReport.h"
 
 PusVerificationMessage::PusVerificationMessage() {
 }
diff --git a/tmtcservices/PusVerificationReport.h b/tmtcservices/PusVerificationReport.h
index ee84f0c1..b4739577 100644
--- a/tmtcservices/PusVerificationReport.h
+++ b/tmtcservices/PusVerificationReport.h
@@ -1,9 +1,9 @@
 #ifndef PUSVERIFICATIONREPORT_H_
 #define PUSVERIFICATIONREPORT_H_
 
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/tmtcpacket/pus/TcPacketBase.h>
-#include <framework/tmtcservices/VerificationCodes.h>
+#include "../ipc/MessageQueueMessage.h"
+#include "../tmtcpacket/pus/TcPacketBase.h"
+#include "VerificationCodes.h"
 
 class PusVerificationMessage: public MessageQueueMessage {
 private:
diff --git a/tmtcservices/SourceSequenceCounter.h b/tmtcservices/SourceSequenceCounter.h
index b92a5c84..1cc58758 100644
--- a/tmtcservices/SourceSequenceCounter.h
+++ b/tmtcservices/SourceSequenceCounter.h
@@ -7,7 +7,7 @@
 
 #ifndef SOURCESEQUENCECOUNTER_H_
 #define SOURCESEQUENCECOUNTER_H_
-#include <framework/tmtcpacket/SpacePacketBase.h>
+#include "../tmtcpacket/SpacePacketBase.h"
 
 class SourceSequenceCounter {
 private:
diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index b55803cb..021b0d7b 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -1,211 +1,211 @@
-#include <framework/tmtcservices/TmTcBridge.h>
-
-#include <framework/ipc/QueueFactory.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/globalfunctions/arrayprinter.h>
-
-TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
-		object_id_t tmStoreId, object_id_t tcStoreId):
-		SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId),
-		tcDestination(tcDestination)
-
-{
-    tmTcReceptionQueue = QueueFactory::instance()->
-            createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
-}
-
-TmTcBridge::~TmTcBridge() {}
-
-ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
-		uint8_t sentPacketsPerCycle) {
-	if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) {
-		this->sentPacketsPerCycle = sentPacketsPerCycle;
-		return RETURN_OK;
-	}
-	else {
-	    sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of "
-	             << "packets sent per cycle exceeds limits. "
-	             << "Keeping default value." << std::endl;
-		return RETURN_FAILED;
-	}
-}
-
-ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
-        uint8_t maxNumberOfPacketsStored) {
-    if(maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
-        this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
-        return RETURN_OK;
-    }
-    else {
-        sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of "
-                << "packets stored exceeds limits. "
-                << "Keeping default value." << std::endl;
-        return RETURN_FAILED;
-    }
-}
-
-ReturnValue_t TmTcBridge::initialize() {
-	tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
-	if (tcStore == nullptr) {
-		sif::error << "TmTcBridge::initialize: TC store invalid. Make sure"
-				"it is created and set up properly." << std::endl;
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-	tmStore = objectManager->get<StorageManagerIF>(tmStoreId);
-	if (tmStore == nullptr) {
-		sif::error << "TmTcBridge::initialize: TM store invalid. Make sure"
-				"it is created and set up properly." << std::endl;
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-	AcceptsTelecommandsIF* tcDistributor =
-			objectManager->get<AcceptsTelecommandsIF>(tcDestination);
-	if (tcDistributor == nullptr) {
-		sif::error << "TmTcBridge::initialize: TC Distributor invalid"
-				<< std::endl;
-		return ObjectManagerIF::CHILD_INIT_FAILED;
-	}
-
-	tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
-	return RETURN_OK;
-}
-
-ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
-	ReturnValue_t result;
-	result = handleTc();
-	if(result != RETURN_OK) {
-		sif::debug << "TmTcBridge::performOperation: "
-		        << "Error handling TCs" << std::endl;
-	}
-	result = handleTm();
-	if (result != RETURN_OK) {
-	    sif::debug << "TmTcBridge::performOperation: "
-	                    << "Error handling TMs" << std::endl;
-	}
-	return result;
-}
-
-ReturnValue_t TmTcBridge::handleTc() {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t TmTcBridge::handleTm() {
-	ReturnValue_t result = handleTmQueue();
-	if(result != RETURN_OK) {
-		sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
-		return RETURN_FAILED;
-	}
-
-	if(tmStored and communicationLinkUp) {
-		result = handleStoredTm();
-	}
-	return result;
-
-}
-
-ReturnValue_t TmTcBridge::handleTmQueue() {
-	TmTcMessage message;
+#include "TmTcBridge.h"
+
+#include "../ipc/QueueFactory.h"
+#include "AcceptsTelecommandsIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../globalfunctions/arrayprinter.h"
+
+TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+		object_id_t tmStoreId, object_id_t tcStoreId):
+		SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId),
+		tcDestination(tcDestination)
+
+{
+    tmTcReceptionQueue = QueueFactory::instance()->
+            createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
+}
+
+TmTcBridge::~TmTcBridge() {}
+
+ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
+		uint8_t sentPacketsPerCycle) {
+	if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) {
+		this->sentPacketsPerCycle = sentPacketsPerCycle;
+		return RETURN_OK;
+	}
+	else {
+	    sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of "
+	             << "packets sent per cycle exceeds limits. "
+	             << "Keeping default value." << std::endl;
+		return RETURN_FAILED;
+	}
+}
+
+ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
+        uint8_t maxNumberOfPacketsStored) {
+    if(maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
+        this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
+        return RETURN_OK;
+    }
+    else {
+        sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of "
+                << "packets stored exceeds limits. "
+                << "Keeping default value." << std::endl;
+        return RETURN_FAILED;
+    }
+}
+
+ReturnValue_t TmTcBridge::initialize() {
+	tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
+	if (tcStore == nullptr) {
+		sif::error << "TmTcBridge::initialize: TC store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+	tmStore = objectManager->get<StorageManagerIF>(tmStoreId);
+	if (tmStore == nullptr) {
+		sif::error << "TmTcBridge::initialize: TM store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+	AcceptsTelecommandsIF* tcDistributor =
+			objectManager->get<AcceptsTelecommandsIF>(tcDestination);
+	if (tcDistributor == nullptr) {
+		sif::error << "TmTcBridge::initialize: TC Distributor invalid"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
+	return RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
+	ReturnValue_t result;
+	result = handleTc();
+	if(result != RETURN_OK) {
+		sif::debug << "TmTcBridge::performOperation: "
+		        << "Error handling TCs" << std::endl;
+	}
+	result = handleTm();
+	if (result != RETURN_OK) {
+	    sif::debug << "TmTcBridge::performOperation: "
+	                    << "Error handling TMs" << std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t TmTcBridge::handleTc() {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::handleTm() {
+	ReturnValue_t result = handleTmQueue();
+	if(result != RETURN_OK) {
+		sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
+		return RETURN_FAILED;
+	}
+
+	if(tmStored and communicationLinkUp) {
+		result = handleStoredTm();
+	}
+	return result;
+
+}
+
+ReturnValue_t TmTcBridge::handleTmQueue() {
+	TmTcMessage message;
 	const uint8_t* data = nullptr;
 	size_t size = 0;
-	for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
-		 result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
-	{
-		if(communicationLinkUp == false) {
-			result = storeDownlinkData(&message);
-			return result;
-		}
-
-		result = tmStore->getData(message.getStorageId(), &data, &size);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			continue;
-		}
-
-		result = sendTm(data, size);
-		if (result != RETURN_OK) {
-			sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
-			tmStore->deleteData(message.getStorageId());
-			return result;
-
-		}
-		tmStore->deleteData(message.getStorageId());
-	}
-	return RETURN_OK;
-}
-
-ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
-	store_address_t storeId = 0;
-
-	if(tmFifo.full()) {
-		sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-		        << "of stored packet IDs reached! "
-		        << "Overwriting old data" << std::endl;
-		tmFifo.retrieve(&storeId);
-		tmStore->deleteData(storeId);
-	}
-	storeId = message->getStorageId();
-	tmFifo.insert(storeId);
-	tmStored = true;
-	return RETURN_OK;
-}
-
-ReturnValue_t TmTcBridge::handleStoredTm() {
-	uint8_t counter = 0;
-	ReturnValue_t result = RETURN_OK;
-	while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
-		//info << "TMTC Bridge: Sending stored TM data. There are "
-		//     << (int) fifo.size() << " left to send\r\n" << std::flush;
-		store_address_t storeId;
+	for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
+		 result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
+	{
+		if(communicationLinkUp == false) {
+			result = storeDownlinkData(&message);
+			return result;
+		}
+
+		result = tmStore->getData(message.getStorageId(), &data, &size);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			continue;
+		}
+
+		result = sendTm(data, size);
+		if (result != RETURN_OK) {
+			sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
+			tmStore->deleteData(message.getStorageId());
+			return result;
+
+		}
+		tmStore->deleteData(message.getStorageId());
+	}
+	return RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
+	store_address_t storeId = 0;
+
+	if(tmFifo.full()) {
+		sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+		        << "of stored packet IDs reached! "
+		        << "Overwriting old data" << std::endl;
+		tmFifo.retrieve(&storeId);
+		tmStore->deleteData(storeId);
+	}
+	storeId = message->getStorageId();
+	tmFifo.insert(storeId);
+	tmStored = true;
+	return RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::handleStoredTm() {
+	uint8_t counter = 0;
+	ReturnValue_t result = RETURN_OK;
+	while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
+		//info << "TMTC Bridge: Sending stored TM data. There are "
+		//     << (int) fifo.size() << " left to send\r\n" << std::flush;
+		store_address_t storeId;
 		const uint8_t* data = nullptr;
 		size_t size = 0;
-		tmFifo.retrieve(&storeId);
-		result = tmStore->getData(storeId, &data, &size);
-
-		sendTm(data,size);
-
-		if(result != RETURN_OK) {
-			sif::error << "TMTC Bridge: Could not send stored downlink data"
-			      << std::endl;
-			result = RETURN_FAILED;
-		}
-		counter ++;
-
-		if(tmFifo.empty()) {
-			tmStored = false;
-		}
-		tmStore->deleteData(storeId);
-	}
-	return result;
-}
-
-void TmTcBridge::registerCommConnect() {
-	if(not communicationLinkUp) {
-		//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
-		communicationLinkUp = true;
-	}
-}
-
-void TmTcBridge::registerCommDisconnect() {
-	//info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
-	if(communicationLinkUp) {
-		communicationLinkUp = false;
-	}
-}
-
-MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
-	return tmTcReceptionQueue->getId();
-}
-
-
-void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
-	arrayprinter::print(data, dataLen);
-}
-
-uint16_t TmTcBridge::getIdentifier() {
-	// This is no PUS service, so we just return 0
-	return 0;
-}
-
-MessageQueueId_t TmTcBridge::getRequestQueue() {
-	// Default implementation: Relay TC messages to TC distributor directly.
-	return tmTcReceptionQueue->getDefaultDestination();
-}
+		tmFifo.retrieve(&storeId);
+		result = tmStore->getData(storeId, &data, &size);
+
+		sendTm(data,size);
+
+		if(result != RETURN_OK) {
+			sif::error << "TMTC Bridge: Could not send stored downlink data"
+			      << std::endl;
+			result = RETURN_FAILED;
+		}
+		counter ++;
+
+		if(tmFifo.empty()) {
+			tmStored = false;
+		}
+		tmStore->deleteData(storeId);
+	}
+	return result;
+}
+
+void TmTcBridge::registerCommConnect() {
+	if(not communicationLinkUp) {
+		//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
+		communicationLinkUp = true;
+	}
+}
+
+void TmTcBridge::registerCommDisconnect() {
+	//info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
+	if(communicationLinkUp) {
+		communicationLinkUp = false;
+	}
+}
+
+MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
+	return tmTcReceptionQueue->getId();
+}
+
+
+void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
+	arrayprinter::print(data, dataLen);
+}
+
+uint16_t TmTcBridge::getIdentifier() {
+	// This is no PUS service, so we just return 0
+	return 0;
+}
+
+MessageQueueId_t TmTcBridge::getRequestQueue() {
+	// Default implementation: Relay TC messages to TC distributor directly.
+	return tmTcReceptionQueue->getDefaultDestination();
+}
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 993cd5b9..32eaf7f2 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -1,154 +1,154 @@
-#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
-#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
-
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-
-#include <framework/container/FIFO.h>
-#include <framework/tmtcservices/TmTcMessage.h>
-
-class TmTcBridge : public AcceptsTelemetryIF,
-		public AcceptsTelecommandsIF,
-		public ExecutableObjectIF,
-		public HasReturnvaluesIF,
-		public SystemObject {
-public:
-	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
-	static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
-	static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
-
-	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
-	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
-
-	TmTcBridge(object_id_t objectId, object_id_t tcDestination,
-			object_id_t tmStoreId, object_id_t tcStoreId);
-	virtual ~TmTcBridge();
-
-	/**
-	 * Set number of packets sent per performOperation().Please note that this
-	 * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
-	 * @param sentPacketsPerCycle
-	 * @return -@c RETURN_OK if value was set successfully
-	 * 		   -@c RETURN_FAILED otherwise, stored value stays the same
-	 */
-	ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);
-
-	/**
-	 * Set number of packets sent per performOperation().Please note that this
-	 * value must be smaller than MAX_DOWNLINK_PACKETS_STORED
-	 * @param sentPacketsPerCycle
-	 * @return -@c RETURN_OK if value was set successfully
-	 *         -@c RETURN_FAILED otherwise, stored value stays the same
-	 */
-	ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
-
-	virtual void registerCommConnect();
-	virtual void registerCommDisconnect();
-
-	/**
-	 * Initializes necessary FSFW components for the TMTC Bridge
-	 * @return
-	 */
-	virtual ReturnValue_t initialize() override;
-
-	/**
-	 * @brief	Handles TMTC reception
-	 */
-	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
-
-
-	/** AcceptsTelemetryIF override */
-	virtual MessageQueueId_t getReportReceptionQueue(
-			uint8_t virtualChannel = 0) override;
-
-	/** AcceptsTelecommandsIF override */
-	virtual uint16_t getIdentifier() override;
-	virtual MessageQueueId_t getRequestQueue() override;
-
-protected:
-	//! Cached for initialize function.
-	object_id_t tmStoreId = objects::NO_OBJECT;
-	object_id_t tcStoreId = objects::NO_OBJECT;
-	object_id_t tcDestination = objects::NO_OBJECT;
-
-	//! Used to send and receive TMTC messages.
-	//! The TmTcMessage class is used to transport messages between tasks.
-	MessageQueueIF* tmTcReceptionQueue = nullptr;
-
-	StorageManagerIF* tmStore = nullptr;
-	StorageManagerIF* tcStore = nullptr;
-
-	//! Used to specify whether communication link is up. Will be true
-	//! by default, so telemetry will be handled immediately.
-	bool communicationLinkUp = true;
-	bool tmStored = false;
-
-	/**
-	 * @brief 	Handle TC reception
-	 * @details
-	 * Default implementation provided, but is empty.
-	 * In most cases, TC reception will be handled in a separate task anyway.
-	 * @return
-	 */
-	virtual ReturnValue_t handleTc();
-
-	/**
-	 * Handle Telemetry. Default implementation provided.
-	 * Calls sendTm()
-	 * @return
-	 */
-	virtual ReturnValue_t handleTm();
-
-	/**
-	 * Read the TM Queue and send TM if necessary.
-	 * Default implementation provided
-	 * @return
-	 */
-	virtual ReturnValue_t handleTmQueue();
-
-	/**
-	 * Send stored data if communication link is active
-	 * @return
-	 */
-	virtual ReturnValue_t handleStoredTm();
-
-	/**
-	 * Implemented by child class. Perform sending of Telemetry by implementing
-	 * communication drivers or wrappers, e.g. serial communication or a socket
-	 * call.
-	 * @param data
-	 * @param dataLen
-	 * @return
-	 */
-	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0;
-
-	/**
-	 * Store data to be sent later if communication link is not up.
-	 * @param message
-	 * @return
-	 */
-	virtual ReturnValue_t storeDownlinkData(TmTcMessage * message);
-
-
-	/**
-	 * Print data as hexidecimal array
-	 * @param data
-	 * @param dataLen
-	 */
-	void printData(uint8_t * data, size_t dataLen);
-
-	/**
-	 * This fifo can be used to store downlink data
-	 * which can not be sent at the moment.
-	 */
-	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
-    uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
-    uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
-};
-
-
-#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */
+#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
+#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
+
+#include "../objectmanager/SystemObject.h"
+#include "AcceptsTelemetryIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+#include "../ipc/MessageQueueIF.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "AcceptsTelecommandsIF.h"
+
+#include "../container/FIFO.h"
+#include "TmTcMessage.h"
+
+class TmTcBridge : public AcceptsTelemetryIF,
+		public AcceptsTelecommandsIF,
+		public ExecutableObjectIF,
+		public HasReturnvaluesIF,
+		public SystemObject {
+public:
+	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
+	static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
+	static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
+
+	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
+	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
+
+	TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+			object_id_t tmStoreId, object_id_t tcStoreId);
+	virtual ~TmTcBridge();
+
+	/**
+	 * Set number of packets sent per performOperation().Please note that this
+	 * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
+	 * @param sentPacketsPerCycle
+	 * @return -@c RETURN_OK if value was set successfully
+	 * 		   -@c RETURN_FAILED otherwise, stored value stays the same
+	 */
+	ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);
+
+	/**
+	 * Set number of packets sent per performOperation().Please note that this
+	 * value must be smaller than MAX_DOWNLINK_PACKETS_STORED
+	 * @param sentPacketsPerCycle
+	 * @return -@c RETURN_OK if value was set successfully
+	 *         -@c RETURN_FAILED otherwise, stored value stays the same
+	 */
+	ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
+
+	virtual void registerCommConnect();
+	virtual void registerCommDisconnect();
+
+	/**
+	 * Initializes necessary FSFW components for the TMTC Bridge
+	 * @return
+	 */
+	virtual ReturnValue_t initialize() override;
+
+	/**
+	 * @brief	Handles TMTC reception
+	 */
+	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+
+	/** AcceptsTelemetryIF override */
+	virtual MessageQueueId_t getReportReceptionQueue(
+			uint8_t virtualChannel = 0) override;
+
+	/** AcceptsTelecommandsIF override */
+	virtual uint16_t getIdentifier() override;
+	virtual MessageQueueId_t getRequestQueue() override;
+
+protected:
+	//! Cached for initialize function.
+	object_id_t tmStoreId = objects::NO_OBJECT;
+	object_id_t tcStoreId = objects::NO_OBJECT;
+	object_id_t tcDestination = objects::NO_OBJECT;
+
+	//! Used to send and receive TMTC messages.
+	//! The TmTcMessage class is used to transport messages between tasks.
+	MessageQueueIF* tmTcReceptionQueue = nullptr;
+
+	StorageManagerIF* tmStore = nullptr;
+	StorageManagerIF* tcStore = nullptr;
+
+	//! Used to specify whether communication link is up. Will be true
+	//! by default, so telemetry will be handled immediately.
+	bool communicationLinkUp = true;
+	bool tmStored = false;
+
+	/**
+	 * @brief 	Handle TC reception
+	 * @details
+	 * Default implementation provided, but is empty.
+	 * In most cases, TC reception will be handled in a separate task anyway.
+	 * @return
+	 */
+	virtual ReturnValue_t handleTc();
+
+	/**
+	 * Handle Telemetry. Default implementation provided.
+	 * Calls sendTm()
+	 * @return
+	 */
+	virtual ReturnValue_t handleTm();
+
+	/**
+	 * Read the TM Queue and send TM if necessary.
+	 * Default implementation provided
+	 * @return
+	 */
+	virtual ReturnValue_t handleTmQueue();
+
+	/**
+	 * Send stored data if communication link is active
+	 * @return
+	 */
+	virtual ReturnValue_t handleStoredTm();
+
+	/**
+	 * Implemented by child class. Perform sending of Telemetry by implementing
+	 * communication drivers or wrappers, e.g. serial communication or a socket
+	 * call.
+	 * @param data
+	 * @param dataLen
+	 * @return
+	 */
+	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0;
+
+	/**
+	 * Store data to be sent later if communication link is not up.
+	 * @param message
+	 * @return
+	 */
+	virtual ReturnValue_t storeDownlinkData(TmTcMessage * message);
+
+
+	/**
+	 * Print data as hexidecimal array
+	 * @param data
+	 * @param dataLen
+	 */
+	void printData(uint8_t * data, size_t dataLen);
+
+	/**
+	 * This fifo can be used to store downlink data
+	 * which can not be sent at the moment.
+	 */
+	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
+    uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
+    uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+};
+
+
+#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */
diff --git a/tmtcservices/TmTcMessage.cpp b/tmtcservices/TmTcMessage.cpp
index d437b41e..987bd232 100644
--- a/tmtcservices/TmTcMessage.cpp
+++ b/tmtcservices/TmTcMessage.cpp
@@ -1,4 +1,4 @@
-#include <framework/tmtcservices/TmTcMessage.h>
+#include "TmTcMessage.h"
 #include <string.h>
 
 
diff --git a/tmtcservices/TmTcMessage.h b/tmtcservices/TmTcMessage.h
index 73f741fb..b5e1ff8d 100644
--- a/tmtcservices/TmTcMessage.h
+++ b/tmtcservices/TmTcMessage.h
@@ -1,8 +1,8 @@
 #ifndef TMTCMESSAGE_H_
 #define TMTCMESSAGE_H_
 
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/storagemanager/StorageManagerIF.h>
+#include "../ipc/MessageQueueMessage.h"
+#include "../storagemanager/StorageManagerIF.h"
 /**
  * @brief	This message class is used to pass Telecommand and Telemetry
  * 			packets between tasks.
diff --git a/tmtcservices/VerificationReporter.cpp b/tmtcservices/VerificationReporter.cpp
index 4484fb9b..43e712a2 100644
--- a/tmtcservices/VerificationReporter.cpp
+++ b/tmtcservices/VerificationReporter.cpp
@@ -1,7 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
-#include <framework/tmtcservices/VerificationReporter.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "AcceptsVerifyMessageIF.h"
+#include "PusVerificationReport.h"
+#include "VerificationReporter.h"
 
 object_id_t VerificationReporter::messageReceiver = 0;
 
diff --git a/tmtcservices/VerificationReporter.h b/tmtcservices/VerificationReporter.h
index 370c44c8..29a273c5 100644
--- a/tmtcservices/VerificationReporter.h
+++ b/tmtcservices/VerificationReporter.h
@@ -1,8 +1,8 @@
 #ifndef VERIFICATIONREPORTER_H_
 #define VERIFICATIONREPORTER_H_
 
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
+#include "../objectmanager/ObjectManagerIF.h"
+#include "PusVerificationReport.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();

From 9e0a90509629730ed1c5f316b6bdd4895dcba649 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 13 Aug 2020 20:58:49 +0200
Subject: [PATCH 225/653] Two paths gone wrong

---
 pus/Service1TelecommandVerification.cpp | 2 +-
 pus/Service5EventReporting.cpp          | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp
index 570005c5..578eb02d 100644
--- a/pus/Service1TelecommandVerification.cpp
+++ b/pus/Service1TelecommandVerification.cpp
@@ -3,7 +3,7 @@
 
 #include "../ipc/QueueFactory.h"
 #include "../tmtcservices/PusVerificationReport.h"
-#include "/tmtcpacketTmPacketStored.h"
+#include "../tmtcpacket/pus/TmPacketStored.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../tmtcservices/AcceptsTelemetryIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
index 831f92c1..829d04bd 100644
--- a/pus/Service5EventReporting.cpp
+++ b/pus/Service5EventReporting.cpp
@@ -4,7 +4,7 @@
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../events/EventManagerIF.h"
 #include "../ipc/QueueFactory.h"
-#include "/tmtcpacketTmPacketStored.h"
+#include "../tmtcpacket/pus/TmPacketStored.h"
 
 
 Service5EventReporting::Service5EventReporting(object_id_t objectId,

From 111f9dce7dc4babf632ce8353def90729555b504 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 16 Aug 2020 23:06:32 +0200
Subject: [PATCH 226/653] added host osal

---
 osal/host/Clock.cpp             | 227 +++++++++++++++++++++++++++++++
 osal/host/FixedTimeslotTask.cpp | 191 ++++++++++++++++++++++++++
 osal/host/FixedTimeslotTask.h   | 130 ++++++++++++++++++
 osal/host/MessageQueue.cpp      | 155 +++++++++++++++++++++
 osal/host/MessageQueue.h        | 230 ++++++++++++++++++++++++++++++++
 osal/host/Mutex.cpp             |  40 ++++++
 osal/host/Mutex.h               |  28 ++++
 osal/host/MutexFactory.cpp      |  28 ++++
 osal/host/PeriodicTask.cpp      | 176 ++++++++++++++++++++++++
 osal/host/PeriodicTask.h        | 123 +++++++++++++++++
 osal/host/QueueFactory.cpp      |  41 ++++++
 osal/host/QueueMapManager.cpp   |  51 +++++++
 osal/host/QueueMapManager.h     |  47 +++++++
 osal/host/SemaphoreFactory.cpp  |  42 ++++++
 osal/host/TaskFactory.cpp       |  55 ++++++++
 15 files changed, 1564 insertions(+)
 create mode 100644 osal/host/Clock.cpp
 create mode 100644 osal/host/FixedTimeslotTask.cpp
 create mode 100644 osal/host/FixedTimeslotTask.h
 create mode 100644 osal/host/MessageQueue.cpp
 create mode 100644 osal/host/MessageQueue.h
 create mode 100644 osal/host/Mutex.cpp
 create mode 100644 osal/host/Mutex.h
 create mode 100644 osal/host/MutexFactory.cpp
 create mode 100644 osal/host/PeriodicTask.cpp
 create mode 100644 osal/host/PeriodicTask.h
 create mode 100644 osal/host/QueueFactory.cpp
 create mode 100644 osal/host/QueueMapManager.cpp
 create mode 100644 osal/host/QueueMapManager.h
 create mode 100644 osal/host/SemaphoreFactory.cpp
 create mode 100644 osal/host/TaskFactory.cpp

diff --git a/osal/host/Clock.cpp b/osal/host/Clock.cpp
new file mode 100644
index 00000000..57f2572b
--- /dev/null
+++ b/osal/host/Clock.cpp
@@ -0,0 +1,227 @@
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/timemanager/Clock.h>
+
+#include <chrono>
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <fstream>
+#endif
+
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = NULL;
+
+using SystemClock = std::chrono::system_clock;
+
+uint32_t Clock::getTicksPerSecond(void){
+	sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
+	return 0;
+	//return CLOCKS_PER_SEC;
+	//uint32_t ticks = sysconf(_SC_CLK_TCK);
+	//return ticks;
+}
+
+ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+	// do some magic with chrono
+	sif::warning << "Clock::setClock: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::setClock(const timeval* time) {
+	// do some magic with chrono
+#if defined(WIN32)
+	return HasReturnvaluesIF::RETURN_OK;
+#elif defined(LINUX)
+	return HasReturnvaluesIF::RETURN_OK;
+#else
+
+#endif
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t Clock::getClock_timeval(timeval* time) {
+#if defined(WIN32)
+	auto now  = std::chrono::system_clock::now();
+	auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
+	auto epoch = now.time_since_epoch();
+	time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
+	auto fraction = now - secondsChrono;
+	time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+	        fraction).count();
+	return HasReturnvaluesIF::RETURN_OK;
+#elif defined(LINUX)
+	timespec timeUnix;
+	int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
+	if(status!=0){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	time->tv_sec = timeUnix.tv_sec;
+	time->tv_usec = timeUnix.tv_nsec / 1000.0;
+	return HasReturnvaluesIF::RETURN_OK;
+#else
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+
+}
+
+ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
+	// do some magic with chrono
+	sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+timeval Clock::getUptime() {
+	timeval timeval;
+#if defined(WIN32)
+	auto uptime  = std::chrono::milliseconds(GetTickCount64());
+	auto secondsChrono = std::chrono::duration_cast<std::chrono::seconds>(uptime);
+	timeval.tv_sec = secondsChrono.count();
+	auto fraction = uptime - secondsChrono;
+	timeval.tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+	            fraction).count();
+#elif defined(LINUX)
+	double uptimeSeconds;
+	if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds)
+	{
+		// value is rounded down automatically
+		timeval.tv_sec = uptimeSeconds;
+		timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
+	}
+#else
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+#endif
+	return timeval;
+}
+
+ReturnValue_t Clock::getUptime(timeval* uptime) {
+	*uptime = getUptime();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
+	timeval uptime = getUptime();
+	*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
+	// do some magic with chrono (C++20!)
+	// Right now, the library doesn't have the new features yet.
+	// so we work around that for now.
+	auto now = SystemClock::now();
+	auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
+	auto fraction = now - seconds;
+	time_t tt = SystemClock::to_time_t(now);
+	struct tm* timeInfo;
+	timeInfo = gmtime(&tt);
+	time->year = timeInfo->tm_year + 1900;
+	time->month = timeInfo->tm_mon+1;
+	time->day = timeInfo->tm_mday;
+	time->hour = timeInfo->tm_hour;
+	time->minute = timeInfo->tm_min;
+	time->second = timeInfo->tm_sec;
+	auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
+	time->usecond = usecond.count();
+
+	//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
+		timeval* to) {
+	struct tm time_tm;
+
+	time_tm.tm_year = from->year - 1900;
+	time_tm.tm_mon = from->month - 1;
+	time_tm.tm_mday = from->day;
+
+	time_tm.tm_hour = from->hour;
+	time_tm.tm_min = from->minute;
+	time_tm.tm_sec = from->second;
+
+	time_t seconds = mktime(&time_tm);
+
+	to->tv_sec = seconds;
+	to->tv_usec = from->usecond;
+	//Fails in 2038..
+	return HasReturnvaluesIF::RETURN_OK;
+	sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
+	*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
+			/ 3600.;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
+	//SHOULDDO: works not for dates in the past (might have less leap seconds)
+	if (timeMutex == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	uint16_t leapSeconds;
+	ReturnValue_t result = getLeapSeconds(&leapSeconds);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	timeval leapSeconds_timeval = { 0, 0 };
+	leapSeconds_timeval.tv_sec = leapSeconds;
+
+	//initial offset between UTC and TAI
+	timeval UTCtoTAI1972 = { 10, 0 };
+
+	timeval TAItoTT = { 32, 184000 };
+
+	*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
+	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	leapSeconds = leapSeconds_;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
+	if(timeMutex == nullptr){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	*leapSeconds_ = leapSeconds;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::checkOrCreateClockMutex(){
+	if(timeMutex == nullptr){
+		MutexFactory* mutexFactory = MutexFactory::instance();
+		if (mutexFactory == nullptr) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		timeMutex = mutexFactory->createMutex();
+		if (timeMutex == nullptr) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
new file mode 100644
index 00000000..dac399f6
--- /dev/null
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -0,0 +1,191 @@
+#include <framework/osal/host/FixedTimeslotTask.h>
+
+#include <framework/ipc/MutexFactory.h>
+#include <framework/osal/host/Mutex.h>
+#include <framework/osal/host/FixedTimeslotTask.h>
+
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
+        TaskStackSize setStack, TaskPeriod setPeriod,
+        void (*setDeadlineMissedFunc)()) :
+        started(false), pollingSeqTable(setPeriod*1000), taskName(name),
+        period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+    mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+FixedTimeslotTask::~FixedTimeslotTask(void) {
+    //Do not delete objects, we were responsible for ptrs only.
+    terminateThread = true;
+    if(mainThread.joinable()) {
+        mainThread.join();
+    }
+    delete this;
+}
+
+void FixedTimeslotTask::taskEntryPoint(void* argument) {
+    FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+
+    if (not originalTask->started) {
+        // we have to suspend/block here until the task is started.
+        // if semaphores are implemented, use them here.
+        std::unique_lock<std::mutex> lock(initMutex);
+        initCondition.wait(lock);
+    }
+
+    this->taskFunctionality();
+    sif::debug << "FixedTimeslotTask::taskEntryPoint: "
+            "Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+    started = true;
+
+    // Notify task to start.
+    std::lock_guard<std::mutex> lock(initMutex);
+    initCondition.notify_one();
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void FixedTimeslotTask::taskFunctionality() {
+    // A local iterator for the Polling Sequence Table is created to
+    // find the start time for the first entry.
+    FixedSlotSequence::SlotListIter slotListIter = pollingSeqTable.current;
+    // Get start time for first entry.
+    chron_ms interval(slotListIter->pollingTimeMs);
+    auto currentStartTime {
+            std::chrono::duration_cast<chron_ms>(
+            std::chrono::system_clock::now().time_since_epoch())
+    };
+    if(interval.count() > 0) {
+        delayForInterval(&currentStartTime, interval);
+    }
+
+    /* Enter the loop that defines the task behavior. */
+    for (;;) {
+        if(terminateThread.load()) {
+            break;
+        }
+        //The component for this slot is executed and the next one is chosen.
+        this->pollingSeqTable.executeAndAdvance();
+        if (not pollingSeqTable.slotFollowsImmediately()) {
+            // we need to wait before executing the current slot
+            //this gives us the time to wait:
+            interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
+            delayForInterval(&currentStartTime, interval);
+            //TODO deadline missed check
+        }
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+        uint32_t slotTimeMs, int8_t executionStep) {
+    if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+        pollingSeqTable.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 pollingSeqTable.checkSequence();
+}
+
+uint32_t FixedTimeslotTask::getPeriodMs() const {
+    return period * 1000;
+}
+
+bool FixedTimeslotTask::delayForInterval(chron_ms * previousWakeTimeMs,
+        const chron_ms interval) {
+    bool shouldDelay = false;
+    //Get current wakeup time
+    auto currentStartTime =
+            std::chrono::duration_cast<chron_ms>(
+            std::chrono::system_clock::now().time_since_epoch());
+    /* Generate the tick time at which the task wants to wake. */
+    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
+
+    if (currentStartTime < *previousWakeTimeMs) {
+        /* The tick count has overflowed since this function was
+         lasted called.  In this case the only time we should ever
+         actually delay is if the wake time has also    overflowed,
+         and the wake time is greater than the tick time.  When this
+         is the case it is as if neither time had overflowed. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                && (nextTimeToWake_ms > currentStartTime)) {
+            shouldDelay = true;
+        }
+    } else {
+        /* The tick time has not overflowed.  In this case we will
+         delay if either the wake time has overflowed, and/or the
+         tick time is less than the wake time. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                || (nextTimeToWake_ms >  currentStartTime)) {
+            shouldDelay = true;
+        }
+    }
+
+    /* Update the wake time ready for the next call. */
+
+    (*previousWakeTimeMs) =  nextTimeToWake_ms;
+
+    if (shouldDelay) {
+        auto sleepTime = std::chrono::duration_cast<chron_ms>(
+                nextTimeToWake_ms - currentStartTime);
+        std::this_thread::sleep_for(sleepTime);
+        return true;
+    }
+    //We are shifting the time in case the deadline was missed like rtems
+    (*previousWakeTimeMs) = currentStartTime;
+    return false;
+
+}
+
+
+
+
diff --git a/osal/host/FixedTimeslotTask.h b/osal/host/FixedTimeslotTask.h
new file mode 100644
index 00000000..b12cc6d3
--- /dev/null
+++ b/osal/host/FixedTimeslotTask.h
@@ -0,0 +1,130 @@
+#ifndef FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
+
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/tasks/FixedSlotSequence.h>
+#include <framework/tasks/FixedTimeslotTaskIF.h>
+#include <framework/tasks/Typedef.h>
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief   This class represents a task for periodic activities with multiple
+ *          steps and strict timeslot requirements for these steps.
+ * @details
+ * @ingroup task_handling
+ */
+class FixedTimeslotTask: public FixedTimeslotTaskIF {
+public:
+    /**
+     * @brief   Standard constructor of the class.
+     * @details
+     * The class is initialized without allocated objects. These need to be
+     * added with #addComponent.
+     * @param priority
+     * @param stack_size
+     * @param setPeriod
+     * @param setDeadlineMissedFunc
+     * The function pointer to the deadline missed function that shall be
+     * assigned.
+     */
+    FixedTimeslotTask(const char *name, TaskPriority setPriority,
+            TaskStackSize setStack, TaskPeriod setPeriod,
+            void (*setDeadlineMissedFunc)());
+    /**
+     * @brief   Currently, the executed object's lifetime is not coupled with
+     *          the task object's lifetime, so the destructor is empty.
+     */
+    virtual ~FixedTimeslotTask(void);
+
+    /**
+     * @brief   The method to start the task.
+     * @details The method starts the task with the respective system call.
+     *          Entry point is the taskEntryPoint method described below.
+     *          The address of the task object is passed as an argument
+     *          to the system call.
+     */
+    ReturnValue_t startTask(void);
+
+    /**
+     * Add timeslot to the polling sequence table.
+     * @param componentId
+     * @param slotTimeMs
+     * @param executionStep
+     * @return
+     */
+    ReturnValue_t addSlot(object_id_t componentId,
+                   uint32_t slotTimeMs, int8_t executionStep);
+
+    ReturnValue_t checkSequence() const;
+
+    uint32_t getPeriodMs() const;
+
+    ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+    using chron_ms = std::chrono::milliseconds;
+
+    bool started;
+    //!< Typedef for the List of objects.
+    typedef std::vector<ExecutableObjectIF*> ObjectList;
+    std::thread mainThread;
+    std::atomic<bool> terminateThread = false;
+
+    //! Polling sequence table which contains the object to execute
+    //! and information like the timeslots and the passed execution step.
+    FixedSlotSequence pollingSeqTable;
+
+    std::condition_variable initCondition;
+    std::mutex initMutex;
+    std::string taskName;
+    /**
+     * @brief   The period of the task.
+     * @details
+     * The period determines the frequency of the task's execution.
+     * It is expressed in clock ticks.
+     */
+    TaskPeriod period;
+
+    /**
+     * @brief   The pointer to the deadline-missed function.
+     * @details
+     * This pointer stores the function that is executed if the task's deadline
+     * is missed. So, each may react individually on a timing failure.
+     * The pointer may be NULL, then nothing happens on missing the deadline.
+     * The deadline is equal to the next execution of the periodic task.
+     */
+    void (*deadlineMissedFunc)(void);
+    /**
+     * @brief   This is the function executed in the new task's context.
+     * @details
+     * It converts the argument back to the thread object type and copies the
+     * class instance to the task context.
+     * The taskFunctionality method is called afterwards.
+     * @param   A pointer to the task object itself is passed as argument.
+     */
+
+    void taskEntryPoint(void* argument);
+    /**
+     * @brief   The function containing the actual functionality of the task.
+     * @details
+     * The method sets and starts the task's period, then enters a loop that is
+     * repeated as long as the isRunning attribute is true. Within the loop,
+     * all performOperation methods of the added objects are called. Afterwards
+     * the checkAndRestartPeriod system call blocks the task until the next
+     *  period. On missing the deadline, the deadlineMissedFunction is executed.
+     */
+    void taskFunctionality(void);
+
+    bool delayForInterval(chron_ms * previousWakeTimeMs,
+            const chron_ms interval);
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */
diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
new file mode 100644
index 00000000..7af5fbd9
--- /dev/null
+++ b/osal/host/MessageQueue.cpp
@@ -0,0 +1,155 @@
+#include <framework/osal/host/MessageQueue.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/osal/host/QueueMapManager.h>
+#include <framework/ipc/MutexFactory.h>
+#include <framework/ipc/MutexHelper.h>
+
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
+		messageSize(maxMessageSize), messageDepth(messageDepth) {
+	queueLock = MutexFactory::instance()->createMutex();
+	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "MessageQueue: Could not be created" << std::endl;
+	}
+}
+
+MessageQueue::~MessageQueue() {
+	MutexFactory::instance()->deleteMutex(queueLock);
+}
+
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, bool ignoreFault) {
+	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
+	return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+	if (this->lastPartner != 0) {
+		return sendMessageFrom(this->lastPartner, message, this->getId());
+	} else {
+		return MessageQueueIF::NO_REPLY_PARTNER;
+	}
+}
+
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
+			ignoreFault);
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
+		MessageQueueId_t* receivedFrom) {
+	ReturnValue_t status = this->receiveMessage(message);
+	if(status == HasReturnvaluesIF::RETURN_OK) {
+		*receivedFrom = this->lastPartner;
+	}
+	return status;
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	if(messageQueue.empty()) {
+		return MessageQueueIF::EMPTY;
+	}
+	// not sure this will work..
+	//*message = std::move(messageQueue.front());
+	MutexHelper mutexLock(queueLock, 20);
+	MessageQueueMessage* currentMessage = &messageQueue.front();
+	std::copy(currentMessage->getBuffer(),
+			currentMessage->getBuffer() + messageSize, message->getBuffer());
+	messageQueue.pop();
+	// The last partner is the first uint32_t field in the message
+	this->lastPartner = message->getSender();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getLastPartner() const {
+	return lastPartner;
+}
+
+ReturnValue_t MessageQueue::flush(uint32_t* count) {
+	*count = messageQueue.size();
+	// Clears the queue.
+	messageQueue = std::queue<MessageQueueMessage>();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getId() const {
+	return mqId;
+}
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+	defaultDestinationSet = true;
+	this->defaultDestination = defaultDestination;
+}
+
+MessageQueueId_t MessageQueue::getDefaultDestination() const {
+	return defaultDestination;
+}
+
+bool MessageQueue::isDefaultDestinationSet() const {
+	return defaultDestinationSet;
+}
+
+
+// static core function to send messages.
+ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+        bool ignoreFault) {
+	if(message->getMessageSize() > message->getMaximumMessageSize()) {
+		// Actually, this should never happen or an error will be emitted
+		// in MessageQueueMessage.
+		// But I will still return a failure here.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	MessageQueue* targetQueue = dynamic_cast<MessageQueue*>(
+			QueueMapManager::instance()->getMessageQueue(sendTo));
+	if(targetQueue == nullptr) {
+		if(not ignoreFault) {
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
+							objects::INTERNAL_ERROR_REPORTER);
+			if (internalErrorReporter != nullptr) {
+				internalErrorReporter->queueMessageNotSent();
+			}
+		}
+		// TODO: Better returnvalue
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
+		MutexHelper mutexLock(targetQueue->queueLock, 20);
+		// not ideal, works for now though.
+		MessageQueueMessage* mqmMessage =
+				dynamic_cast<MessageQueueMessage*>(message);
+		if(message != nullptr) {
+			targetQueue->messageQueue.push(*mqmMessage);
+		}
+		else {
+			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
+					"is not MessageQueueMessage!" << std::endl;
+		}
+
+	}
+	else {
+		return MessageQueueIF::FULL;
+	}
+    message->setSender(sentFrom);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MessageQueue::lockQueue(dur_millis_t lockTimeout) {
+	return queueLock->lockMutex(lockTimeout);
+}
+
+ReturnValue_t MessageQueue::unlockQueue() {
+	return queueLock->unlockMutex();
+}
diff --git a/osal/host/MessageQueue.h b/osal/host/MessageQueue.h
new file mode 100644
index 00000000..7fc77f7a
--- /dev/null
+++ b/osal/host/MessageQueue.h
@@ -0,0 +1,230 @@
+#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+
+#include <framework/internalError/InternalErrorReporterIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+#include <framework/ipc/MessageQueueMessage.h>
+#include <framework/ipc/MutexIF.h>
+#include <framework/timemanager/Clock.h>
+
+#include <queue>
+#include <memory>
+
+/**
+ * @brief		This class manages sending and receiving of
+ * 				message queue messages.
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
+ * They work like post boxes, where all incoming messages are stored in FIFO
+ * order. This class creates a new receiving queue and provides methods to fetch
+ * received messages. Being a child of MessageQueueSender, this class also
+ * provides methods to send a message to a user-defined or a default destination.
+ * In addition it also provides a reply method to answer to the queue it
+ * received its last message from.
+ *
+ * The MessageQueue should be used as "post box" for a single owning object.
+ * So all message queue communication is "n-to-one".
+ * For creating the queue, as well as sending and receiving messages, the class
+ * makes use of the operating system calls provided.
+ *
+ * Please keep in mind that FreeRTOS offers different calls for message queue
+ * operations if called from an ISR.
+ * For now, the system context needs to be switched manually.
+ * @ingroup osal
+ * @ingroup message_queue
+ */
+class MessageQueue : public MessageQueueIF {
+	friend class MessageQueueSenderIF;
+public:
+	/**
+	 * @brief	The constructor initializes and configures the message queue.
+	 * @details
+	 * By making use of the according operating system call, a message queue is
+	 * created and initialized. The message depth - the maximum number of
+	 * messages to be buffered - may be set with the help of a parameter,
+	 * whereas the message size is automatically set to the maximum message
+	 * queue message size. The operating system sets the message queue id, or
+	 * in case of failure, it is set to zero.
+	 * @param message_depth
+	 * The number of messages to be buffered before passing an error to the
+	 * sender. Default is three.
+	 * @param max_message_size
+	 * With this parameter, the maximum message size can be adjusted.
+	 * This should be left default.
+	 */
+	MessageQueue(size_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+
+	/** Copying message queues forbidden */
+	MessageQueue(const MessageQueue&) = delete;
+	MessageQueue& operator=(const MessageQueue&) = delete;
+
+	/**
+	 * @brief	The destructor deletes the formerly created message queue.
+	 * @details	This is accomplished by using the delete call provided
+	 * 			by the operating system.
+	 */
+	virtual ~MessageQueue();
+
+	/**
+	 * @brief	This operation sends a message to the given destination.
+	 * @details	It directly uses the sendMessage call of the MessageQueueSender
+	 * parent, but passes its queue id as "sentFrom" parameter.
+	 * @param sendTo	This parameter specifies the message queue id of the
+	 *  destination message queue.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 * @param ignoreFault If set to true, the internal software fault counter
+	 * is not incremented if queue is full.
+	 */
+	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, bool ignoreFault = false) override;
+	/**
+	 * @brief	This operation sends a message to the default destination.
+	 * @details	As in the sendMessage method, this function uses the
+	 * sendToDefault call of the MessageQueueSender parent class and adds its
+	 * queue id as "sentFrom" information.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+	/**
+	 * @brief	This operation sends a message to the last communication partner.
+	 * @details	This operation simplifies answering an incoming message by using
+	 * the stored lastPartner information as destination. If there was no
+	 * message received yet (i.e. lastPartner is zero), an error code is returned.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	ReturnValue_t reply(MessageQueueMessageIF* message) override;
+
+	/**
+	 * @brief	With the sendMessage call, a queue message is sent to a
+	 * 			receiving queue.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 *  The OS's return value is returned.
+	 * @param sendTo	This parameter specifies the message queue id to send
+	 * the message to.
+	 * @param message	This is a pointer to a previously created message,
+	 * which is sent.
+	 * @param sentFrom	The sentFrom information can be set to inject the
+	 * sender's queue id into the message. This variable is set to zero by
+	 * default.
+	 * @param ignoreFault If set to true, the internal software fault counter
+	 * is not incremented if queue is full.
+	 */
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	/**
+	 * @brief	The sendToDefault method sends a queue message to the default
+	 * 			destination.
+	 * @details
+	 * In all other aspects, it works identical to the sendMessage method.
+	 * @param message	This is a pointer to a previously created message,
+	 * which is sent.
+	 * @param sentFrom	The sentFrom information can be set to inject the
+	 * sender's queue id into the message. This variable is set to zero by
+	 * default.
+	 */
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	/**
+	 * @brief	This function reads available messages from the message queue
+	 * 			and returns the sender.
+	 * @details
+	 * It works identically to the other receiveMessage call, but in  addition
+	 * returns the sender's queue id.
+	 * @param message	A pointer to a message in which the received data is stored.
+	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
+	 */
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+			MessageQueueId_t *receivedFrom) override;
+
+	/**
+	 * @brief	This function reads available messages from the message queue.
+	 * @details
+	 * If data is available it is stored in the passed message pointer.
+	 * The message's original content is overwritten and the sendFrom
+	 * information is stored in the lastPartner attribute. Else, the lastPartner
+	 * information remains untouched, the message's content is cleared and the
+	 * function returns immediately.
+	 * @param message	A pointer to a message in which the received data is stored.
+	 */
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+	/**
+	 * Deletes all pending messages in the queue.
+	 * @param count The number of flushed messages.
+	 * @return RETURN_OK on success.
+	 */
+	ReturnValue_t flush(uint32_t* count) override;
+	/**
+	 * @brief	This method returns the message queue id of the last
+	 * 			communication partner.
+	 */
+	MessageQueueId_t getLastPartner() const override;
+	/**
+	 * @brief	This method returns the message queue id of this class's
+	 * 			message queue.
+	 */
+	MessageQueueId_t getId() const override;
+
+	/**
+	 * @brief	This method is a simple setter for the default destination.
+	 */
+	void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+	/**
+	 * @brief	This method is a simple getter for the default destination.
+	 */
+	MessageQueueId_t getDefaultDestination() const override;
+
+	bool isDefaultDestinationSet() const override;
+
+	ReturnValue_t lockQueue(dur_millis_t lockTimeout);
+	ReturnValue_t unlockQueue();
+protected:
+	/**
+	 * @brief 	Implementation to be called from any send Call within
+	 * 			MessageQueue and MessageQueueSenderIF.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 * The OS's return value is returned.
+	 * @param sendTo
+	 * This parameter specifies the message queue id to send the message to.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @param sentFrom
+	 * The sentFrom information can be set to inject the sender's queue id into
+	 * the message. This variable is set to zero by default.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter  is not incremented
+	 * if queue is full.
+	 * @param context Specify whether call is made from task or from an ISR.
+	 */
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false);
+
+	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
+
+private:
+	std::queue<MessageQueueMessage> messageQueue;
+	/**
+	 * @brief	The class stores the queue id it got assigned.
+	 * 			If initialization fails, the queue id is set to zero.
+	 */
+	MessageQueueId_t mqId = 0;
+	size_t messageSize = 0;
+	size_t messageDepth = 0;
+
+	MutexIF* queueLock;
+
+	bool defaultDestinationSet = false;
+	MessageQueueId_t defaultDestination = 0;
+	MessageQueueId_t lastPartner = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */
diff --git a/osal/host/Mutex.cpp b/osal/host/Mutex.cpp
new file mode 100644
index 00000000..03948c4c
--- /dev/null
+++ b/osal/host/Mutex.cpp
@@ -0,0 +1,40 @@
+#include <framework/osal/host/Mutex.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+const uint32_t MutexIF::POLLING = 0;
+const uint32_t MutexIF::BLOCKING = 0xffffffff;
+
+ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::BLOCKING) {
+		mutex.lock();
+		locked = true;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else if(timeoutMs == MutexIF::POLLING) {
+		if(mutex.try_lock()) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	else if(timeoutMs > MutexIF::POLLING){
+		auto chronoMs = std::chrono::milliseconds(timeoutMs);
+		if(mutex.try_lock_for(chronoMs)) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	return MutexIF::MUTEX_TIMEOUT;
+}
+
+ReturnValue_t Mutex::unlockMutex() {
+	if(not locked) {
+		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
+	}
+	mutex.unlock();
+	locked = false;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+std::timed_mutex* Mutex::getMutexHandle() {
+	return &mutex;
+}
diff --git a/osal/host/Mutex.h b/osal/host/Mutex.h
new file mode 100644
index 00000000..d882c457
--- /dev/null
+++ b/osal/host/Mutex.h
@@ -0,0 +1,28 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+#define FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+
+#include <framework/ipc/MutexIF.h>
+
+#include <mutex>
+
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
+class Mutex : public MutexIF {
+public:
+	Mutex() = default;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
+	ReturnValue_t unlockMutex() override;
+
+	std::timed_mutex* getMutexHandle();
+private:
+	bool locked = false;
+	std::timed_mutex mutex;
+};
+
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */
diff --git a/osal/host/MutexFactory.cpp b/osal/host/MutexFactory.cpp
new file mode 100644
index 00000000..25d9fa46
--- /dev/null
+++ b/osal/host/MutexFactory.cpp
@@ -0,0 +1,28 @@
+#include <framework/ipc/MutexFactory.h>
+#include <framework/osal/host/Mutex.h>
+
+//TODO: Different variant than the lazy loading in QueueFactory.
+//What's better and why? -> one is on heap the other on bss/data
+//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
+MutexFactory* MutexFactory::factoryInstance = nullptr;
+
+MutexFactory::MutexFactory() {
+}
+
+MutexFactory::~MutexFactory() {
+}
+
+MutexFactory* MutexFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new MutexFactory();
+	}
+	return MutexFactory::factoryInstance;
+}
+
+MutexIF* MutexFactory::createMutex() {
+	return new Mutex();
+}
+
+void MutexFactory::deleteMutex(MutexIF* mutex) {
+	delete mutex;
+}
diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
new file mode 100644
index 00000000..1a5024ab
--- /dev/null
+++ b/osal/host/PeriodicTask.cpp
@@ -0,0 +1,176 @@
+#include <framework/ipc/MutexFactory.h>
+#include <framework/osal/host/Mutex.h>
+#include <framework/osal/host/PeriodicTask.h>
+
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod setPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		started(false), taskName(name), period(setPeriod),
+		deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+PeriodicTask::~PeriodicTask(void) {
+	//Do not delete objects, we were responsible for ptrs only.
+	terminateThread = true;
+	if(mainThread.joinable()) {
+		mainThread.join();
+	}
+	delete this;
+}
+
+void PeriodicTask::taskEntryPoint(void* argument) {
+	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
+
+
+	if (not originalTask->started) {
+		// we have to suspend/block here until the task is started.
+		// if semaphores are implemented, use them here.
+		std::unique_lock<std::mutex> lock(initMutex);
+		initCondition.wait(lock);
+	}
+
+	this->taskFunctionality();
+	sif::debug << "PeriodicTask::taskEntryPoint: "
+			"Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	started = true;
+
+	// Notify task to start.
+	std::lock_guard<std::mutex> lock(initMutex);
+	initCondition.notify_one();
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PeriodicTask::taskFunctionality() {
+	std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
+	auto currentStartTime {
+	    std::chrono::duration_cast<std::chrono::milliseconds>(
+	    std::chrono::system_clock::now().time_since_epoch())
+	};
+	auto nextStartTime{ currentStartTime };
+
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		if(terminateThread.load()) {
+			break;
+		}
+		for (ObjectList::iterator it = objectList.begin();
+				it != objectList.end(); ++it) {
+			(*it)->performOperation();
+		}
+		if(not delayForInterval(&currentStartTime, periodChrono)) {
+			sif::warning << "PeriodicTask: " << taskName <<
+					" missed deadline!\n" << std::flush;
+			if(deadlineMissedFunc != nullptr) {
+				this->deadlineMissedFunc();
+			}
+		}
+	}
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+	return period * 1000;
+}
+
+bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs,
+        const chron_ms interval) {
+    bool shouldDelay = false;
+    //Get current wakeup time
+    auto currentStartTime =
+            std::chrono::duration_cast<std::chrono::milliseconds>(
+            std::chrono::system_clock::now().time_since_epoch());
+    /* Generate the tick time at which the task wants to wake. */
+    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
+
+    if (currentStartTime < *previousWakeTimeMs) {
+        /* The tick count has overflowed since this function was
+         lasted called.  In this case the only time we should ever
+         actually delay is if the wake time has also    overflowed,
+         and the wake time is greater than the tick time.  When this
+         is the case it is as if neither time had overflowed. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                && (nextTimeToWake_ms > currentStartTime)) {
+            shouldDelay = true;
+        }
+    } else {
+        /* The tick time has not overflowed.  In this case we will
+         delay if either the wake time has overflowed, and/or the
+         tick time is less than the wake time. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                || (nextTimeToWake_ms >  currentStartTime)) {
+            shouldDelay = true;
+        }
+    }
+
+    /* Update the wake time ready for the next call. */
+
+    (*previousWakeTimeMs) =  nextTimeToWake_ms;
+
+    if (shouldDelay) {
+        auto sleepTime = std::chrono::duration_cast<std::chrono::milliseconds>(
+                nextTimeToWake_ms - currentStartTime);
+        std::this_thread::sleep_for(sleepTime);
+        return true;
+    }
+    //We are shifting the time in case the deadline was missed like rtems
+    (*previousWakeTimeMs) = currentStartTime;
+    return false;
+
+}
diff --git a/osal/host/PeriodicTask.h b/osal/host/PeriodicTask.h
new file mode 100644
index 00000000..d97bf089
--- /dev/null
+++ b/osal/host/PeriodicTask.h
@@ -0,0 +1,123 @@
+#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/tasks/PeriodicTaskIF.h>
+#include <framework/tasks/Typedef.h>
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
+ * @details
+ *
+ * @ingroup task_handling
+ */
+class PeriodicTask: public PeriodicTaskIF {
+public:
+	/**
+	 * @brief	Standard constructor of the class.
+	 * @details
+	 * The class is initialized without allocated objects. These need to be
+	 * added with #addComponent.
+	 * @param priority
+	 * @param stack_size
+	 * @param setPeriod
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall be
+	 * assigned.
+	 */
+	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
+			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
+	/**
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
+	 */
+	virtual ~PeriodicTask(void);
+
+	/**
+	 * @brief	The method to start the task.
+	 * @details	The method starts the task with the respective system call.
+	 * 			Entry point is the taskEntryPoint method described below.
+	 * 			The address of the task object is passed as an argument
+	 * 			to the system call.
+	 */
+	ReturnValue_t startTask(void);
+	/**
+	 * Adds an object to the list of objects to be executed.
+	 * The objects are executed in the order added.
+	 * @param object Id of the object to add.
+	 * @return
+	 *  -@c RETURN_OK on success
+	 *  -@c RETURN_FAILED if the object could not be added.
+	 */
+	ReturnValue_t addComponent(object_id_t object);
+
+	uint32_t getPeriodMs() const;
+
+	ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+	using chron_ms = std::chrono::milliseconds;
+	bool started;
+	//!< Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
+	std::thread mainThread;
+	std::atomic<bool> terminateThread = false;
+
+	/**
+	 * @brief	This attribute holds a list of objects to be executed.
+	 */
+	ObjectList objectList;
+
+	std::condition_variable initCondition;
+	std::mutex initMutex;
+	std::string taskName;
+	/**
+	 * @brief	The period of the task.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
+	 */
+	TaskPeriod period;
+	/**
+	 * @brief	The pointer to the deadline-missed function.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed. So, each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the function executed in the new task's context.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context.
+	 * The taskFunctionality method is called afterwards.
+	 * @param	A pointer to the task object itself is passed as argument.
+	 */
+
+	void taskEntryPoint(void* argument);
+	/**
+	 * @brief	The function containing the actual functionality of the task.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called. Afterwards
+	 * the checkAndRestartPeriod system call blocks the task until the next
+	 *  period. On missing the deadline, the deadlineMissedFunction is executed.
+	 */
+	void taskFunctionality(void);
+
+	bool delayForInterval(chron_ms * previousWakeTimeMs,
+	        const chron_ms interval);
+};
+
+#endif /* PERIODICTASK_H_ */
diff --git a/osal/host/QueueFactory.cpp b/osal/host/QueueFactory.cpp
new file mode 100644
index 00000000..225bb8c7
--- /dev/null
+++ b/osal/host/QueueFactory.cpp
@@ -0,0 +1,41 @@
+#include <framework/ipc/QueueFactory.h>
+#include <framework/osal/host/MessageQueue.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <cstring>
+
+QueueFactory* QueueFactory::factoryInstance = nullptr;
+
+
+ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+QueueFactory* QueueFactory::instance() {
+	if (factoryInstance == nullptr) {
+		factoryInstance = new QueueFactory;
+	}
+	return factoryInstance;
+}
+
+QueueFactory::QueueFactory() {
+}
+
+QueueFactory::~QueueFactory() {
+}
+
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
+		size_t maxMessageSize) {
+	// A thread-safe queue can be implemented  by using a combination
+	// of std::queue and std::mutex. This uses dynamic memory allocation
+	// which could be alleviated by using a custom allocator, external library
+	// (etl::queue) or simply using std::queue, we're on a host machine anyway.
+	return new MessageQueue(messageDepth, maxMessageSize);
+}
+
+void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
+	delete queue;
+}
diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp
new file mode 100644
index 00000000..89b9a948
--- /dev/null
+++ b/osal/host/QueueMapManager.cpp
@@ -0,0 +1,51 @@
+#include <framework/ipc/MutexFactory.h>
+#include <framework/ipc/MutexHelper.h>
+#include <framework/osal/host/QueueMapManager.h>
+
+QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
+
+QueueMapManager::QueueMapManager() {
+    mapLock = MutexFactory::instance()->createMutex();
+}
+
+QueueMapManager* QueueMapManager::instance() {
+	if (mqManagerInstance == nullptr){
+		mqManagerInstance = new QueueMapManager();
+	}
+	return QueueMapManager::mqManagerInstance;
+}
+
+ReturnValue_t QueueMapManager::addMessageQueue(
+		MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
+	// Not thread-safe, but it is assumed all message queues are created
+	// at software initialization now. If this is to be made thread-safe in
+	// the future, it propably would be sufficient to lock the increment
+	// operation here
+	uint32_t currentId = queueCounter++;
+	auto returnPair = queueMap.emplace(currentId, queueToInsert);
+	if(not returnPair.second) {
+		// this should never happen for the atomic variable.
+		sif::error << "QueueMapManager: This ID is already inside the map!"
+				<< std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if (id != nullptr) {
+		*id = currentId;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueIF* QueueMapManager::getMessageQueue(
+		MessageQueueId_t messageQueueId) const {
+	MutexHelper(mapLock, 50);
+	auto queueIter = queueMap.find(messageQueueId);
+	if(queueIter != queueMap.end()) {
+		return queueIter->second;
+	}
+	else {
+		sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
+				messageQueueId << " does not exists in the map" << std::endl;
+		return nullptr;
+	}
+}
+
diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h
new file mode 100644
index 00000000..a2a1b658
--- /dev/null
+++ b/osal/host/QueueMapManager.h
@@ -0,0 +1,47 @@
+#ifndef FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
+#define FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
+
+#include <framework/ipc/MessageQueueSenderIF.h>
+#include <framework/osal/host/MessageQueue.h>
+#include <unordered_map>
+#include <atomic>
+
+using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
+
+
+/**
+ * An internal map to map message queue IDs to message queues.
+ * This propably should be a singleton..
+ */
+class QueueMapManager {
+public:
+	//! Returns the single instance of SemaphoreFactory.
+	static QueueMapManager* instance();
+
+	/**
+	 * Insert a message queue into the map and returns a message queue ID
+	 * @param queue The message queue to insert.
+	 * @param id The passed value will be set unless a nullptr is passed
+	 * @return
+	 */
+	ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
+			id = nullptr);
+	/**
+	 * Get the message queue handle by providing a message queue ID.
+	 * @param messageQueueId
+	 * @return
+	 */
+	MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
+
+private:
+	//! External instantiation is forbidden.
+	QueueMapManager();
+	uint32_t queueCounter = 1;
+	MutexIF* mapLock;
+	QueueMap queueMap;
+	static QueueMapManager* mqManagerInstance;
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_HOST_QUEUEMAP_H_ */
diff --git a/osal/host/SemaphoreFactory.cpp b/osal/host/SemaphoreFactory.cpp
new file mode 100644
index 00000000..0c077f68
--- /dev/null
+++ b/osal/host/SemaphoreFactory.cpp
@@ -0,0 +1,42 @@
+#include <framework/tasks/SemaphoreFactory.h>
+#include <framework/osal/linux/BinarySemaphore.h>
+#include <framework/osal/linux/CountingSemaphore.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+const uint32_t SemaphoreIF::POLLING = 0;
+const uint32_t SemaphoreIF::BLOCKING = 0xFFFFFFFF;
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	// Just gonna wait for full C++20 for now.
+	sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
+			" Returning nullptr!\n" << std::flush;
+	return nullptr;
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
+		uint8_t initCount, uint32_t arguments) {
+	// Just gonna wait for full C++20 for now.
+	sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
+				" Returning nullptr!\n" << std::flush;
+	return nullptr;
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}
diff --git a/osal/host/TaskFactory.cpp b/osal/host/TaskFactory.cpp
new file mode 100644
index 00000000..9db8ac4d
--- /dev/null
+++ b/osal/host/TaskFactory.cpp
@@ -0,0 +1,55 @@
+#include <framework/osal/host/FixedTimeslotTask.h>
+#include <framework/osal/host/PeriodicTask.h>
+#include <framework/tasks/TaskFactory.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/tasks/PeriodicTaskIF.h>
+
+#include <chrono>
+
+TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
+
+// Will propably not be used for hosted implementation
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
+
+TaskFactory::TaskFactory() {
+}
+
+TaskFactory::~TaskFactory() {
+}
+
+TaskFactory* TaskFactory::instance() {
+	return TaskFactory::factoryInstance;
+}
+
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	// This is going to be interesting. Time now learn the C++ threading library
+	// :-)
+	return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
+			deadLineMissedFunction_);
+}
+
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	// This is going to be interesting. Time now learn the C++ threading library
+	// :-)
+	return new FixedTimeslotTask(name_, taskPriority_, stackSize_,
+	        periodInSeconds_, deadLineMissedFunction_);
+}
+
+ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
+	// This might block for some time!
+	delete task;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
+	std::this_thread::sleep_for(std::chrono::milliseconds(delayMs));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+

From 549ad97bd3b2ee6b05af2383e7a30ef1ac846f5c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 18 Aug 2020 11:25:57 +0200
Subject: [PATCH 227/653] shared ring buffer pull request

---
 container/SharedRingBuffer.cpp | 30 +++++++++++++++
 container/SharedRingBuffer.h   | 68 ++++++++++++++++++++++++++++++++++
 2 files changed, 98 insertions(+)
 create mode 100644 container/SharedRingBuffer.cpp
 create mode 100644 container/SharedRingBuffer.h

diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp
new file mode 100644
index 00000000..001a21ed
--- /dev/null
+++ b/container/SharedRingBuffer.cpp
@@ -0,0 +1,30 @@
+#include <framework/container/SharedRingBuffer.h>
+#include <framework/ipc/MutexFactory.h>
+#include <framework/ipc/MutexHelper.h>
+
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
+		bool overwriteOld, size_t maxExcessBytes):
+		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
+		maxExcessBytes) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
+		const size_t size, bool overwriteOld, size_t maxExcessBytes):
+		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
+		maxExcessBytes) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
+        MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
+    return mutex->lockMutex(timeoutType, timeout);
+}
+
+ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
+    return mutex->unlockMutex();
+}
+
+MutexIF* SharedRingBuffer::getMutexHandle() const {
+    return mutex;
+}
diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
new file mode 100644
index 00000000..0b5be052
--- /dev/null
+++ b/container/SharedRingBuffer.h
@@ -0,0 +1,68 @@
+#ifndef FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
+#define FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
+
+#include <framework/container/SimpleRingBuffer.h>
+#include <framework/ipc/MutexIF.h>
+#include <framework/objectmanager/SystemObject.h>
+#include <framework/timemanager/Clock.h>
+
+/**
+ * @brief   Ring buffer which can be shared among multiple objects
+ * @details
+ * This class offers a mutex to perform thread-safe operation on the ring
+ * buffer. It is still up to the developer to actually perform the lock
+ * and unlock operations.
+ */
+class SharedRingBuffer: public SystemObject,
+		public SimpleRingBuffer {
+public:
+	/**
+	 * This constructor allocates a new internal buffer with the supplied size.
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+	 * will be overwritten.
+	 */
+	SharedRingBuffer(object_id_t objectId, const size_t size,
+			bool overwriteOld, size_t maxExcessBytes);
+
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+	 * will be overwritten.
+	 */
+	SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
+			bool overwriteOld, size_t maxExcessBytes);
+
+	/**
+	 * Unless a read-only constant value is read, all operations on the
+	 * shared ring buffer should be protected by calling this function.
+	 * @param timeoutType
+	 * @param timeout
+	 * @return
+	 */
+	virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType,
+	        dur_millis_t timeout);
+	/**
+	 * Any locked mutex also has to be unlocked, otherwise, access to the
+	 * shared ring buffer will be blocked.
+	 * @return
+	 */
+	virtual ReturnValue_t unlockRingBufferMutex();
+
+	/**
+	 * The mutex handle can be accessed directly, for example to perform
+	 * the lock with the #MutexHelper for a RAII compliant lock operation.
+	 * @return
+	 */
+	MutexIF* getMutexHandle() const;
+private:
+	MutexIF* mutex = nullptr;
+};
+
+
+
+#endif /* FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_ */

From c63665c257984be89bd2cd19f83bc81b1adbd588 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 19 Aug 2020 13:13:57 +0200
Subject: [PATCH 228/653] renamed framework.mk to fsfw.mk

---
 fsfw.mk | 59 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 59 insertions(+)
 create mode 100644 fsfw.mk

diff --git a/fsfw.mk b/fsfw.mk
new file mode 100644
index 00000000..c025ba23
--- /dev/null
+++ b/fsfw.mk
@@ -0,0 +1,59 @@
+# This submake file needs to be included by the primary Makefile.
+# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
+# Valid API settings: rtems, linux, freeRTOS, host
+
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/contrib/sgp4/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/health/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/internalError/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/ipc/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/memory/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/modes/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/monitoring/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
+
+# select the OS
+ifeq ($(OS_FSFW),rtems)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
+else ifeq ($(OS_FSFW),linux)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
+else ifeq ($(OS_FSFW),freeRTOS)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+else ifeq ($(OS_FSFW),host)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
+else
+$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
+endif
+
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/power/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/returnvalues/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/rmap/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serialize/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serviceinterface/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/storagemanager/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/modes/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tasks/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tcdistribution/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/thermal/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/timemanager/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmstorage/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)

From e59022dd432cdda2fc57ba8ee9ba350af33a1317 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 19 Aug 2020 13:15:14 +0200
Subject: [PATCH 229/653] old .mk file removed

---
 framework.mk | 58 ----------------------------------------------------
 1 file changed, 58 deletions(-)
 delete mode 100644 framework.mk

diff --git a/framework.mk b/framework.mk
deleted file mode 100644
index 136eff3a..00000000
--- a/framework.mk
+++ /dev/null
@@ -1,58 +0,0 @@
-# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
-# Valid API settings: rtems, linux, freeRTOS, host
-
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/contrib/sgp4/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/health/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/internalError/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/ipc/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/memory/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/modes/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/monitoring/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
-
-# select the OS
-ifeq ($(OS_FSFW),rtems)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
-else ifeq ($(OS_FSFW),linux)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
-else ifeq ($(OS_FSFW),freeRTOS)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
-else ifeq ($(OS_FSFW),host)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
-else
-$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
-endif
-
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/power/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/returnvalues/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/rmap/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serialize/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serviceinterface/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/storagemanager/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/subsystem/modes/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tasks/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tcdistribution/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/thermal/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/timemanager/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmstorage/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)

From 31f398cec948bd232e40f29fc128e2596a20e6b7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 19 Aug 2020 13:16:08 +0200
Subject: [PATCH 230/653] small fix

---
 fsfw.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/fsfw.mk b/fsfw.mk
index c025ba23..c2c6e747 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -35,7 +35,7 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
 else ifeq ($(OS_FSFW),host)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
+$(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)

From 1b4c4de3fa06f5a22e6ae828ad75f5ca015de7e0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 24 Aug 2020 14:38:59 +0200
Subject: [PATCH 231/653] getter/setter functions for serial buffer adapter

---
 serialize/SerialBufferAdapter.cpp | 222 +++++++++++++++++-------------
 serialize/SerialBufferAdapter.h   | 113 ++++++++++-----
 2 files changed, 206 insertions(+), 129 deletions(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 5dd01f54..b1e0856a 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -1,94 +1,128 @@
-#include "SerialBufferAdapter.h"
-#include <cstring>
-
-
-
-template<typename T>
-SerialBufferAdapter<T>::SerialBufferAdapter(const uint8_t* buffer,
-		T bufferLength, bool serializeLenght) :
-		serializeLength(serializeLenght), constBuffer(buffer), buffer(NULL), bufferLength(
-				bufferLength) {
-}
-
-template<typename T>
-SerialBufferAdapter<T>::SerialBufferAdapter(uint8_t* buffer, T bufferLength,
-		bool serializeLenght) :
-		serializeLength(serializeLenght), constBuffer(NULL), buffer(buffer), bufferLength(
-				bufferLength) {
-}
-
-template<typename T>
-SerialBufferAdapter<T>::~SerialBufferAdapter() {
-}
-
-template<typename T>
-ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size,
-		size_t maxSize, Endianness streamEndianness) const {
-	uint32_t serializedLength = bufferLength;
-	if (serializeLength) {
-		serializedLength += SerializeAdapter::getSerializedSize(
-				&bufferLength);
-	}
-	if (*size + serializedLength > maxSize) {
-		return BUFFER_TOO_SHORT;
-	} else {
-		if (serializeLength) {
-			SerializeAdapter::serialize(&bufferLength, buffer, size,
-					maxSize, streamEndianness);
-		}
-		if (this->constBuffer != NULL) {
-			memcpy(*buffer, this->constBuffer, bufferLength);
-		} else if (this->buffer != NULL) {
-			memcpy(*buffer, this->buffer, bufferLength);
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		*size += bufferLength;
-		(*buffer) += bufferLength;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-}
-
-template<typename T>
-size_t SerialBufferAdapter<T>::getSerializedSize() const {
-	if (serializeLength) {
-		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
-	} else {
-		return bufferLength;
-	}
-}
-template<typename T>
-ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer,
-		size_t* size, Endianness streamEndianness) {
-	//TODO Ignores Endian flag!
-	if (buffer != NULL) {
-		if(serializeLength){
-			T serializedSize = SerializeAdapter::getSerializedSize(
-					&bufferLength);
-			if((*size - bufferLength - serializedSize) >= 0){
-				*buffer +=  serializedSize;
-				*size -= serializedSize;
-			}else{
-				return STREAM_TOO_SHORT;
-			}
-		}
-		//No Else If, go on with buffer
-		if (*size - bufferLength >= 0) {
-			*size -= bufferLength;
-			memcpy(this->buffer, *buffer, bufferLength);
-			(*buffer) += bufferLength;
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return STREAM_TOO_SHORT;
-		}
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-
-//forward Template declaration for linker
-template class SerialBufferAdapter<uint8_t>;
-template class SerialBufferAdapter<uint16_t>;
-template class SerialBufferAdapter<uint32_t>;
-
+#include "../serialize/SerialBufferAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include <cstring>
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
+		count_t bufferLength, bool serializeLength) :
+		serializeLength(serializeLength),
+		constBuffer(buffer), buffer(nullptr),
+		bufferLength(bufferLength) {}
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
+		count_t bufferLength, bool serializeLength) :
+		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
+		bufferLength(bufferLength) {}
+
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
+}
+
+template<typename T>
+ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size,
+		size_t maxSize, Endianness streamEndianness) const {
+	uint32_t serializedLength = bufferLength;
+	if (serializeLength) {
+		serializedLength += SerializeAdapter::getSerializedSize(
+				&bufferLength);
+	}
+	if (*size + serializedLength > maxSize) {
+		return BUFFER_TOO_SHORT;
+	} else {
+		if (serializeLength) {
+			SerializeAdapter::serialize(&bufferLength, buffer, size,
+					maxSize, streamEndianness);
+		}
+		if (constBuffer != nullptr) {
+			memcpy(*buffer, this->constBuffer, bufferLength);
+		}
+		else if (buffer != nullptr) {
+			// This will propably be never reached, constBuffer should always be
+			// set if non-const buffer is set.
+			memcpy(*buffer, this->buffer, bufferLength);
+		}
+		else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		*size += bufferLength;
+		(*buffer) += bufferLength;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+}
+
+template<typename T>
+size_t SerialBufferAdapter<T>::getSerializedSize() const {
+	if (serializeLength) {
+		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
+	} else {
+		return bufferLength;
+	}
+}
+
+template<typename T>
+ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer,
+		size_t* size, Endianness streamEndianness) {
+	//TODO Ignores Endian flag!
+	if (buffer != NULL) {
+		if(serializeLength){
+			T serializedSize = SerializeAdapter::getSerializedSize(
+					&bufferLength);
+			if(bufferLength + serializedSize <= *size) {
+				*buffer +=  serializedSize;
+				*size -= serializedSize;
+			}
+			else {
+				return STREAM_TOO_SHORT;
+			}
+		}
+		//No Else If, go on with buffer
+		if (bufferLength <= *size) {
+			*size -= bufferLength;
+			memcpy(this->buffer, *buffer, bufferLength);
+			(*buffer) += bufferLength;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+		else {
+			return STREAM_TOO_SHORT;
+		}
+	}
+	else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+template<typename count_t>
+uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
+	if(buffer == nullptr) {
+		sif::error << "Wrong access function for stored type !"
+				 " Use getConstBuffer()." << std::endl;
+		return nullptr;
+	}
+	return buffer;
+}
+
+template<typename count_t>
+const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
+	if(constBuffer == nullptr) {
+		sif::error << "SerialBufferAdapter: Buffers are unitialized!" << std::endl;
+		return nullptr;
+	}
+	return constBuffer;
+}
+
+template<typename count_t>
+void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
+		count_t bufferLength) {
+	this->buffer = buffer;
+	this->constBuffer = buffer;
+	this->bufferLength = bufferLength;
+}
+
+
+//forward Template declaration for linker
+template class SerialBufferAdapter<uint8_t>;
+template class SerialBufferAdapter<uint16_t>;
+template class SerialBufferAdapter<uint32_t>;
+
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index c27a5424..c3dfcd8f 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -1,35 +1,78 @@
-#ifndef SERIALBUFFERADAPTER_H_
-#define SERIALBUFFERADAPTER_H_
-
-#include "SerializeIF.h"
-#include "SerializeAdapter.h"
-
-/**
- * \ingroup serialize
- */
-template<typename T>
-class SerialBufferAdapter: public SerializeIF {
-public:
-	SerialBufferAdapter(const uint8_t * buffer, T bufferLength, bool serializeLenght = false);
-	SerialBufferAdapter(uint8_t* buffer, T bufferLength,
-			bool serializeLenght = false);
-
-	virtual ~SerialBufferAdapter();
-
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) const override;
-
-	virtual size_t getSerializedSize() const override;
-
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) override;
-private:
-	bool serializeLength;
-	const uint8_t *constBuffer;
-	uint8_t *buffer;
-	T bufferLength;
-};
-
-
-
-#endif /* SERIALBUFFERADAPTER_H_ */
+#ifndef SERIALBUFFERADAPTER_H_
+#define SERIALBUFFERADAPTER_H_
+
+#include "../serialize/SerializeIF.h"
+#include "../serialize/SerializeAdapter.h"
+
+/**
+ * This adapter provides an interface for SerializeIF to serialize or deserialize
+ * buffers with no length header but a known size.
+ *
+ * Additionally, the buffer length can be serialized too and will be put in
+ * front of the serialized buffer.
+ *
+ * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
+ * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
+ * Right now, the SerialBufferAdapter must always
+ * be initialized with the buffer and size !
+ *
+ * \ingroup serialize
+ */
+template<typename count_t>
+class SerialBufferAdapter: public SerializeIF {
+public:
+
+    /**
+     * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
+     * Type of length can be supplied as template type.
+     * @param buffer
+     * @param bufferLength
+     * @param serializeLength
+     */
+    SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
+            bool serializeLength = false);
+
+    /**
+     * Constructor for non-constant uint8_t buffer.
+     * Length field can be serialized optionally.
+     * Type of length can be supplied as template type.
+     * @param buffer
+     * @param bufferLength
+     * @param serializeLength Length field will be serialized with size count_t
+     */
+    SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
+            bool serializeLength = false);
+
+    virtual ~SerialBufferAdapter();
+
+    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+            size_t maxSize, Endianness streamEndianness) const override;
+
+    virtual size_t getSerializedSize() const override;
+
+    /**
+     * @brief This function deserializes a buffer into the member buffer.
+     * @details
+     * If a length field is present, it is ignored, as the size should have
+     * been set in the constructor. If the size is not known beforehand,
+     * consider using SerialFixedArrayListAdapter instead.
+     * @param buffer [out] Resulting buffer
+     * @param size remaining size to deserialize, should be larger than buffer
+     *        + size field size
+     * @param bigEndian
+     * @return
+     */
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            Endianness streamEndianness) override;
+
+    uint8_t * getBuffer();
+    const uint8_t * getConstBuffer();
+    void setBuffer(uint8_t* buffer, count_t bufferLength);
+private:
+	bool serializeLength = false;
+	const uint8_t *constBuffer = nullptr;
+	uint8_t *buffer = nullptr;
+	count_t bufferLength = 0;
+};
+
+#endif /* SERIALBUFFERADAPTER_H_ */

From 26b63d63b90340823777245e194cce253509dd29 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 24 Aug 2020 14:47:53 +0200
Subject: [PATCH 232/653] small fix

---
 serialize/SerialBufferAdapter.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index b1e0856a..5528331d 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -30,15 +30,16 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size,
 	}
 	if (*size + serializedLength > maxSize) {
 		return BUFFER_TOO_SHORT;
-	} else {
+	} 
+	else {
 		if (serializeLength) {
 			SerializeAdapter::serialize(&bufferLength, buffer, size,
 					maxSize, streamEndianness);
 		}
-		if (constBuffer != nullptr) {
+		if (this->constBuffer != nullptr) {
 			memcpy(*buffer, this->constBuffer, bufferLength);
 		}
-		else if (buffer != nullptr) {
+		else if (this->buffer != nullptr) {
 			// This will propably be never reached, constBuffer should always be
 			// set if non-const buffer is set.
 			memcpy(*buffer, this->buffer, bufferLength);

From b7612bee37fdcfefa879ae80b71fdd8ebeaf198e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 24 Aug 2020 14:55:32 +0200
Subject: [PATCH 233/653] getFreeELement function added

---
 container/SimpleRingBuffer.cpp | 203 ++++++++++++++++++++++-----------
 container/SimpleRingBuffer.h   | 149 ++++++++++++++++++++----
 2 files changed, 263 insertions(+), 89 deletions(-)

diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index ee087643..7ed019b2 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -1,68 +1,135 @@
-#include "SimpleRingBuffer.h"
-#include <string.h>
-
-SimpleRingBuffer::SimpleRingBuffer(uint32_t size, bool overwriteOld) :
-		RingBufferBase<>(0, size, overwriteOld), buffer(NULL) {
-	buffer = new uint8_t[size];
-}
-
-SimpleRingBuffer::~SimpleRingBuffer() {
-	delete[] buffer;
-}
-
-ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
-		uint32_t amount) {
-	if (availableWriteSpace() >= amount || overwriteOld) {
-		uint32_t amountTillWrap = writeTillWrap();
-		if (amountTillWrap >= amount) {
-			memcpy(&buffer[write], data, amount);
-		} else {
-			memcpy(&buffer[write], data, amountTillWrap);
-			memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
-		}
-		incrementWrite(amount);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
-		bool readRemaining, uint32_t* trueAmount) {
-	uint32_t availableData = availableReadData(READ_PTR);
-	uint32_t amountTillWrap = readTillWrap(READ_PTR);
-	if (availableData < amount) {
-		if (readRemaining) {
-			amount = availableData;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	if (trueAmount != NULL) {
-		*trueAmount = amount;
-	}
-	if (amountTillWrap >= amount) {
-		memcpy(data, &buffer[read[READ_PTR]], amount);
-	} else {
-		memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
-		memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
-		bool deleteRemaining, uint32_t* trueAmount) {
-	uint32_t availableData = availableReadData(READ_PTR);
-	if (availableData < amount) {
-		if (deleteRemaining) {
-			amount = availableData;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	if (trueAmount != NULL) {
-		*trueAmount = amount;
-	}
-	incrementRead(amount, READ_PTR);
-	return HasReturnvaluesIF::RETURN_OK;
-}
+#include "../container/SimpleRingBuffer.h"
+#include <cstring>
+
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
+		size_t maxExcessBytes) :
+		RingBufferBase<>(0, size, overwriteOld),
+		maxExcessBytes(maxExcessBytes) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+	buffer = new uint8_t[size + maxExcessBytes];
+}
+
+SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
+		bool overwriteOld, size_t maxExcessBytes):
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+}
+
+
+SimpleRingBuffer::~SimpleRingBuffer() {
+	delete[] buffer;
+}
+
+
+ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
+        size_t amount) {
+    if (availableWriteSpace() >= amount or overwriteOld) {
+        size_t amountTillWrap = writeTillWrap();
+        if (amountTillWrap < amount) {
+            if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            excessBytes = amount - amountTillWrap;
+        }
+        *writePointer = &buffer[write];
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
+	if(getExcessBytes() > 0) {
+		moveExcessBytesToStart();
+	}
+	incrementWrite(amount);
+
+}
+
+ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
+		size_t amount) {
+	if (availableWriteSpace() >= amount or overwriteOld) {
+		size_t amountTillWrap = writeTillWrap();
+		if (amountTillWrap >= amount) {
+			// remaining size in buffer is sufficient to fit full amount.
+			memcpy(&buffer[write], data, amount);
+		}
+		else {
+			memcpy(&buffer[write], data, amountTillWrap);
+			memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
+		}
+		incrementWrite(amount);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
+		bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
+	size_t availableData = getAvailableReadData(READ_PTR);
+	size_t amountTillWrap = readTillWrap(READ_PTR);
+	if (availableData < amount) {
+		if (readRemaining) {
+			// more data available than amount specified.
+			amount = availableData;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	if (trueAmount != nullptr) {
+		*trueAmount = amount;
+	}
+	if (amountTillWrap >= amount) {
+		memcpy(data, &buffer[read[READ_PTR]], amount);
+	} else {
+		memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
+		memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
+	}
+
+	if(incrementReadPtr) {
+		deleteData(amount, readRemaining);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+size_t SimpleRingBuffer::getExcessBytes() const {
+    return excessBytes;
+}
+
+void SimpleRingBuffer::moveExcessBytesToStart() {
+    if(excessBytes > 0) {
+        std::memcpy(buffer, &buffer[size], excessBytes);
+        excessBytes = 0;
+    }
+}
+
+ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
+		bool deleteRemaining, size_t* trueAmount) {
+	size_t availableData = getAvailableReadData(READ_PTR);
+	if (availableData < amount) {
+		if (deleteRemaining) {
+			amount = availableData;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	if (trueAmount != nullptr) {
+		*trueAmount = amount;
+	}
+	incrementRead(amount, READ_PTR);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index 5d4fecab..b13e9f2a 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -1,21 +1,128 @@
-#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
-#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
-
-#include "RingBufferBase.h"
-#include <stddef.h>
-
-class SimpleRingBuffer: public RingBufferBase<> {
-public:
-	SimpleRingBuffer(uint32_t size, bool overwriteOld);
-	virtual ~SimpleRingBuffer();
-	ReturnValue_t writeData(const uint8_t* data, uint32_t amount);
-	ReturnValue_t readData(uint8_t* data, uint32_t amount, bool readRemaining = false, uint32_t* trueAmount = NULL);
-	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false, uint32_t* trueAmount = NULL);
-private:
-//	static const uint8_t TEMP_READ_PTR = 1;
-	static const uint8_t READ_PTR = 0;
-	uint8_t* buffer;
-};
-
-#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
-
+#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+
+#include "../container/RingBufferBase.h"
+#include <cstddef>
+
+/**
+ * @brief 	Circular buffer implementation, useful for buffering
+ *          into data streams.
+ * @details
+ * Note that the deleteData() has to be called to increment the read pointer.
+ * This class allocated dynamically, so
+ * @ingroup containers
+ */
+class SimpleRingBuffer: public RingBufferBase<> {
+public:
+    /**
+     * This constructor allocates a new internal buffer with the supplied size.
+     *
+     * @param size
+     * @param overwriteOld If the ring buffer is overflowing at a write
+     * operation, the oldest data will be overwritten.
+     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * to the specified size to accomodate contiguous write operations
+     * with getFreeElement.
+     *
+     */
+	SimpleRingBuffer(const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
+	 * @param maxExcessBytes
+	 * If the buffer can accomodate additional bytes for contigous write
+	 * operations with getFreeElement, this is the maximum allowed additional
+	 * size
+	 */
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
+
+	virtual ~SimpleRingBuffer();
+
+	/**
+	 * Write to circular buffer and increment write pointer by amount.
+	 * @param data
+	 * @param amount
+	 * @return -@c RETURN_OK if write operation was successfull
+	 * -@c RETURN_FAILED if
+	 */
+	ReturnValue_t writeData(const uint8_t* data, size_t amount);
+
+	/**
+	 * Returns a pointer to a free element. If the remaining buffer is
+	 * not large enough, the data will be written past the actual size
+	 * and the amount of excess bytes will be cached. This function
+	 * does not increment the write pointer!
+	 * @param writePointer Pointer to a pointer which can be used to write
+	 * contiguous blocks into the ring buffer
+	 * @param amount
+	 * @return
+	 */
+	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
+
+	/**
+	 * This increments the write pointer and also copies the excess bytes
+	 * to the beginning. It should be called if the write operation
+	 * conducted after calling getFreeElement() was performed.
+	 * @return
+	 */
+	void confirmBytesWritten(size_t amount);
+
+	virtual size_t getExcessBytes() const;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	virtual void moveExcessBytesToStart();
+
+	/**
+	 * Read from circular buffer at read pointer.
+	 * @param data
+	 * @param amount
+	 * @param incrementReadPtr
+	 * If this is set to true, the read pointer will be incremented.
+	 * If readRemaining is set to true, the read pointer will be incremented
+	 * accordingly.
+	 * @param readRemaining
+	 * If this is set to true, the data will be read even if the amount
+	 * specified exceeds the read data available.
+	 * @param trueAmount [out]
+	 * If readRemaining was set to true, the true amount read will be assigned
+	 * to the passed value.
+	 * @return
+	 * - @c RETURN_OK if data was read successfully
+	 * - @c RETURN_FAILED if not enough data was available and readRemaining
+	 *      was set to false.
+	 */
+	ReturnValue_t readData(uint8_t* data, size_t amount,
+			bool incrementReadPtr = false, bool readRemaining = false,
+			size_t* trueAmount = nullptr);
+
+	/**
+	 * Delete data by incrementing read pointer.
+	 * @param amount
+	 * @param deleteRemaining
+	 * If the amount specified is larger than the remaing size to read and this
+	 * is set to true, the remaining amount will be deleted as well
+	 * @param trueAmount [out]
+	 * If deleteRemaining was set to true, the amount deleted will be assigned
+	 * to the passed value.
+	 * @return
+	 */
+	ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
+	        size_t* trueAmount = nullptr);
+private:
+	static const uint8_t READ_PTR = 0;
+	uint8_t* buffer = nullptr;
+	size_t maxExcessBytes;
+	size_t excessBytes = 0;
+};
+
+#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
+

From 84d99a6f04b5ccd6d544c6e633247e0d10bb1fd7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 24 Aug 2020 14:56:50 +0200
Subject: [PATCH 234/653] added brackets for boolean expressions

---
 container/SimpleRingBuffer.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index 7ed019b2..2a19d619 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -33,7 +33,7 @@ SimpleRingBuffer::~SimpleRingBuffer() {
 
 ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
         size_t amount) {
-    if (availableWriteSpace() >= amount or overwriteOld) {
+    if ((availableWriteSpace() >= amount) or overwriteOld) {
         size_t amountTillWrap = writeTillWrap();
         if (amountTillWrap < amount) {
             if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
@@ -59,7 +59,7 @@ void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
 
 ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
 		size_t amount) {
-	if (availableWriteSpace() >= amount or overwriteOld) {
+	if ((availableWriteSpace() >= amount) or overwriteOld) {
 		size_t amountTillWrap = writeTillWrap();
 		if (amountTillWrap >= amount) {
 			// remaining size in buffer is sufficient to fit full amount.

From a4626aeac0682b07b5fee7ee2c4fa94d5322d1b8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:04:59 +0200
Subject: [PATCH 235/653] made rtems adaption

---
 osal/rtems/Mutex.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index 68514534..f1c88826 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -25,12 +25,13 @@ Mutex::~Mutex() {
 	}
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	if(timeoutMs == MutexIF::BLOCKING) {
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
+        TimeoutType::BLOCKING, uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
 		rtems_status_code status = rtems_semaphore_obtain(mutexId,
 				RTEMS_WAIT, timeoutMs);
 	}
-	else if(timeoutMs == MutexIF::POLLING) {
+	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
 		timeoutMs = RTEMS_NO_TIMEOUT;
 		rtems_status_code status = rtems_semaphore_obtain(mutexId,
 				RTEMS_NO_WAIT, timeoutMs);

From 49a36d6fdc9d635946e6eb307ac771aa1ce01266 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:06:39 +0200
Subject: [PATCH 236/653] removed definitions

---
 osal/rtems/Mutex.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index f1c88826..31acdb3c 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,8 +1,6 @@
 #include "Mutex.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-const uint32_t MutexIF::BLOCKING = RTEMS_WAIT;
-const uint32_t MutexIF::POLLING = RTEMS_NO_WAIT;
 uint8_t Mutex::count = 0;
 
 Mutex::Mutex() :

From ab4c65c87ae719143697de99d5a5b26c302d4e68 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:08:12 +0200
Subject: [PATCH 237/653] added header file changes

---
 osal/rtems/Mutex.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 624b556f..72368210 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -8,7 +8,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING);
+	ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
 	ReturnValue_t unlockMutex();
 private:
 	rtems_id mutexId;

From 74dea921e027f1ab6798a58b1b5e7e7cec6c7b01 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:10:28 +0200
Subject: [PATCH 238/653] made fixes

---
 osal/rtems/Mutex.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index 31acdb3c..9553ac79 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -27,16 +27,16 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
         TimeoutType::BLOCKING, uint32_t timeoutMs) {
 	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
 		rtems_status_code status = rtems_semaphore_obtain(mutexId,
-				RTEMS_WAIT, timeoutMs);
+				RTEMS_WAIT, RTEMS_NO_TIMEOUT);
 	}
 	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
 		timeoutMs = RTEMS_NO_TIMEOUT;
 		rtems_status_code status = rtems_semaphore_obtain(mutexId,
-				RTEMS_NO_WAIT, timeoutMs);
+				RTEMS_NO_WAIT, 0);
 	}
 	else {
 		rtems_status_code status = rtems_semaphore_obtain(mutexId,
-				RTEMS_NO_WAIT, timeoutMs);
+				RTEMS_WAIT, timeoutMs);
 	}
 
 	switch(status){

From 1235e38556b4015b3b1edfc2079d55b172db9904 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:20:56 +0200
Subject: [PATCH 239/653] rtems adaption

---
 osal/rtems/MultiObjectTask.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index 3c4886a5..2342c24c 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -78,6 +78,8 @@ ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
+
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

From d0419467a7d9bdf111bd60cd5c642803bb38e69a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:23:46 +0200
Subject: [PATCH 240/653] include guard fix

---
 osal/rtems/MultiObjectTask.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index 28d05fb1..d7c71422 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -4,8 +4,8 @@
  * @date	30.01.2014
  * @author	baetz
  */
-#ifndef MULTIOBJECTTASK_H_
-#define MULTIOBJECTTASK_H_
+#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
+#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
 
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
@@ -63,11 +63,11 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
 	/**
@@ -110,4 +110,4 @@ protected:
 	void taskFunctionality(void);
 };
 
-#endif /* MULTIOBJECTTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */

From 7e0cf49723fd4443751afd63f62d2c6f40b81b9a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:24:37 +0200
Subject: [PATCH 241/653] author tag

---
 osal/rtems/MultiObjectTask.h | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index d7c71422..736e79dd 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -1,9 +1,3 @@
-/**
- * @file	MultiObjectTask.h
- * @brief	This file defines the MultiObjectTask class.
- * @date	30.01.2014
- * @author	baetz
- */
 #ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
 #define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
 
@@ -21,7 +15,7 @@ class ExecutableObjectIF;
  * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
  * 			multiple objects that implement the ExecutableObjectIF interface. The objects must be
  * 			added prior to starting the task.
- *
+ * @author  baetz
  * @ingroup task_handling
  */
 class MultiObjectTask: public TaskBase, public PeriodicTaskIF {

From c0332a80a7218e45d7ba8dfc47028124530e6c98 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 12:40:06 +0200
Subject: [PATCH 242/653] task management update

---
 osal/FreeRTOS/TaskManagement.cpp | 12 ++++++------
 osal/FreeRTOS/TaskManagement.h   | 20 ++++++++++----------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index ff552adb..16682d36 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -1,11 +1,11 @@
-#include <framework/osal/FreeRTOS/TaskManagement.h>
-
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
 void TaskManagement::vRequestContextSwitchFromTask() {
 	vTaskDelay(0);
 }
-
+
 void TaskManagement::requestContextSwitch(
-		CallContext callContext = CallContext::TASK) {
+		CallContext callContext = CallContext::TASK) {
 	if(callContext == CallContext::ISR) {
 		// This function depends on the partmacro.h definition for the specific device
 		vRequestContextSwitchFromISR();
@@ -13,7 +13,7 @@ void TaskManagement::requestContextSwitch(
 		vRequestContextSwitchFromTask();
 	}
 }
-
+
 TaskHandle_t TaskManagement::getCurrentTaskHandle() {
 	return xTaskGetCurrentTaskHandle();
 }
@@ -21,4 +21,4 @@ TaskHandle_t TaskManagement::getCurrentTaskHandle() {
 size_t TaskManagement::getTaskStackHighWatermark(
         TaskHandle_t task) {
 	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 62c68331..43003d76 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -1,14 +1,14 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
 #define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 }
 #include <cstdint>
-
+
 /**
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
@@ -17,9 +17,9 @@ extern void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
- * within an ISR or from a regular task. This is required because FreeRTOS
+ * within an ISR or from a regular task. This is required because FreeRTOS
  * has different functions for handling semaphores and messages from within
- * an ISR and task.
+ * an ISR and task.
  */
 enum class CallContext {
 	TASK = 0x00,//!< task_context
@@ -29,19 +29,19 @@ enum class CallContext {
 
 class TaskManagement {
 public:
-	/**
+	/**
 	 * @brief	In this function, a function dependant on the portmacro.h header
 	 * 			function calls to request a context switch can be specified.
 	 * This can be used if sending to the queue from an ISR caused a task
-	 * to unblock and a context switch is required.
+	 * to unblock and a context switch is required.
 	 */
 	static void requestContextSwitch(CallContext callContext);
 
 	/**
 	 * If task preemption in FreeRTOS is disabled, a context switch
 	 * can be requested manually by calling this function.
-	 */
-	static void vRequestContextSwitchFromTask(void);
+	 */
+	static void vRequestContextSwitchFromTask(void);
 
 	/**
 	 * @return The current task handle
@@ -56,9 +56,9 @@ public:
 	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
 	 * @return Smallest value of stack remaining since the task was started in
 	 * 		   words.
-	 */
+	 */
 	static size_t getTaskStackHighWatermark(
-	        TaskHandle_t task = nullptr);
+	        TaskHandle_t task = nullptr);
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

From 825bf62d791a077c0c9b1af642e98f074459cb30 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 13:14:13 +0200
Subject: [PATCH 243/653] fixed deSerialize

---
 serialize/SerialBufferAdapter.cpp | 28 ++++++++++++----------------
 1 file changed, 12 insertions(+), 16 deletions(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 5528331d..dc721f0d 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -20,9 +20,9 @@ template<typename count_t>
 SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
 }
 
-template<typename T>
-ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size,
-		size_t maxSize, Endianness streamEndianness) const {
+template<typename count_t>
+ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
 	uint32_t serializedLength = bufferLength;
 	if (serializeLength) {
 		serializedLength += SerializeAdapter::getSerializedSize(
@@ -53,8 +53,8 @@ ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size,
 	}
 }
 
-template<typename T>
-size_t SerialBufferAdapter<T>::getSerializedSize() const {
+template<typename count_t>
+size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
 	if (serializeLength) {
 		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
 	} else {
@@ -62,20 +62,16 @@ size_t SerialBufferAdapter<T>::getSerializedSize() const {
 	}
 }
 
-template<typename T>
-ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer,
+template<typename count_t>
+ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
 		size_t* size, Endianness streamEndianness) {
 	//TODO Ignores Endian flag!
-	if (buffer != NULL) {
+	if (buffer != nullptr) {
 		if(serializeLength){
-			T serializedSize = SerializeAdapter::getSerializedSize(
-					&bufferLength);
-			if(bufferLength + serializedSize <= *size) {
-				*buffer +=  serializedSize;
-				*size -= serializedSize;
-			}
-			else {
-				return STREAM_TOO_SHORT;
+			ReturnValue_t result = SerializeAdapter::deSerialize(&bufferLength,
+					buffer, size, streamEndianness);
+			if(result != HasReturnvaluesIF::RETURN_OK) {
+				return result;
 			}
 		}
 		//No Else If, go on with buffer

From 857d61ea130ebe556cb65635e219b1eb2655b90f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 13:16:17 +0200
Subject: [PATCH 244/653] member pointer now checked

---
 serialize/SerialBufferAdapter.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index dc721f0d..53d0b8d4 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -66,7 +66,7 @@ template<typename count_t>
 ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
 		size_t* size, Endianness streamEndianness) {
 	//TODO Ignores Endian flag!
-	if (buffer != nullptr) {
+	if (this->buffer != nullptr) {
 		if(serializeLength){
 			ReturnValue_t result = SerializeAdapter::deSerialize(&bufferLength,
 					buffer, size, streamEndianness);
@@ -77,7 +77,7 @@ ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
 		//No Else If, go on with buffer
 		if (bufferLength <= *size) {
 			*size -= bufferLength;
-			memcpy(this->buffer, *buffer, bufferLength);
+			std::memcpy(this->buffer, *buffer, bufferLength);
 			(*buffer) += bufferLength;
 			return HasReturnvaluesIF::RETURN_OK;
 		}
@@ -103,7 +103,8 @@ uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
 template<typename count_t>
 const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
 	if(constBuffer == nullptr) {
-		sif::error << "SerialBufferAdapter: Buffers are unitialized!" << std::endl;
+		sif::error << "SerialBufferAdapter::getConstBuffer:"
+				" Buffers are unitialized!" << std::endl;
 		return nullptr;
 	}
 	return constBuffer;

From c8595c3442b4e48c5d50330a64e2dae7fed1fc87 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 13:29:36 +0200
Subject: [PATCH 245/653] deSerialize fixed/improved

---
 serialize/SerialBufferAdapter.cpp | 39 +++++++++++++++++--------------
 1 file changed, 21 insertions(+), 18 deletions(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 53d0b8d4..8a5bef4a 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -65,28 +65,31 @@ size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
 template<typename count_t>
 ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
 		size_t* size, Endianness streamEndianness) {
-	//TODO Ignores Endian flag!
-	if (this->buffer != nullptr) {
-		if(serializeLength){
-			ReturnValue_t result = SerializeAdapter::deSerialize(&bufferLength,
-					buffer, size, streamEndianness);
-			if(result != HasReturnvaluesIF::RETURN_OK) {
-				return result;
-			}
+	if (this->buffer == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(serializeLength){
+		count_t lengthField = 0;
+		ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
+				buffer, size, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
 		}
-		//No Else If, go on with buffer
-		if (bufferLength <= *size) {
-			*size -= bufferLength;
-			std::memcpy(this->buffer, *buffer, bufferLength);
-			(*buffer) += bufferLength;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-		else {
-			return STREAM_TOO_SHORT;
+		if(lengthField > bufferLength) {
+			return TOO_MANY_ELEMENTS;
 		}
+		bufferLength = lengthField;
+	}
+
+	if (bufferLength <= *size) {
+		*size -= bufferLength;
+		std::memcpy(this->buffer, *buffer, bufferLength);
+		(*buffer) += bufferLength;
+		return HasReturnvaluesIF::RETURN_OK;
 	}
 	else {
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return STREAM_TOO_SHORT;
 	}
 }
 

From 7d2c48fb3375ca1ab8f1b90a3baa0256ca2f9f58 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 13:32:17 +0200
Subject: [PATCH 246/653] serializhe improved

---
 serialize/SerialBufferAdapter.cpp | 41 +++++++++++++++++--------------
 1 file changed, 23 insertions(+), 18 deletions(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 8a5bef4a..85a55343 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -28,29 +28,34 @@ ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
 		serializedLength += SerializeAdapter::getSerializedSize(
 				&bufferLength);
 	}
+
 	if (*size + serializedLength > maxSize) {
 		return BUFFER_TOO_SHORT;
 	} 
-	else {
-		if (serializeLength) {
-			SerializeAdapter::serialize(&bufferLength, buffer, size,
-					maxSize, streamEndianness);
+
+	if (serializeLength) {
+		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
+				buffer, size, maxSize, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
 		}
-		if (this->constBuffer != nullptr) {
-			memcpy(*buffer, this->constBuffer, bufferLength);
-		}
-		else if (this->buffer != nullptr) {
-			// This will propably be never reached, constBuffer should always be
-			// set if non-const buffer is set.
-			memcpy(*buffer, this->buffer, bufferLength);
-		}
-		else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		*size += bufferLength;
-		(*buffer) += bufferLength;
-		return HasReturnvaluesIF::RETURN_OK;
 	}
+
+	if (this->constBuffer != nullptr) {
+		std::memcpy(*buffer, this->constBuffer, bufferLength);
+	}
+	else if (this->buffer != nullptr) {
+		// This will propably be never reached, constBuffer should always be
+		// set if non-const buffer is set.
+		std::memcpy(*buffer, this->buffer, bufferLength);
+	}
+	else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	*size += bufferLength;
+	(*buffer) += bufferLength;
+	return HasReturnvaluesIF::RETURN_OK;
+
 }
 
 template<typename count_t>

From ba4eac65ccc50898ee936b257f245a75bdd7f3e7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 13:33:31 +0200
Subject: [PATCH 247/653] count t replacements

---
 serialize/SerialBufferAdapter.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 85a55343..478957e9 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -23,7 +23,7 @@ SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
 template<typename count_t>
 ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
 		size_t* size, size_t maxSize, Endianness streamEndianness) const {
-	uint32_t serializedLength = bufferLength;
+	count_t serializedLength = bufferLength;
 	if (serializeLength) {
 		serializedLength += SerializeAdapter::getSerializedSize(
 				&bufferLength);

From fb0a3d22dbbd5d33e2ad9fde4586d7a9ef8731b7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 13:34:52 +0200
Subject: [PATCH 248/653] linker forward decl added

---
 serialize/SerialBufferAdapter.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 478957e9..c300eb36 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -131,4 +131,6 @@ void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
 template class SerialBufferAdapter<uint8_t>;
 template class SerialBufferAdapter<uint16_t>;
 template class SerialBufferAdapter<uint32_t>;
+template class SerialBufferAdapter<uint64_t>;
+template class SerialBufferAdapter<size_t>;
 

From de98dd0871a8c091b8413bd9172416a3afe54f71 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 13:37:42 +0200
Subject: [PATCH 249/653] optimization

---
 serialize/SerialBufferAdapter.cpp | 14 ++++----------
 1 file changed, 4 insertions(+), 10 deletions(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index c300eb36..ab52262f 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -23,16 +23,6 @@ SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
 template<typename count_t>
 ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
 		size_t* size, size_t maxSize, Endianness streamEndianness) const {
-	count_t serializedLength = bufferLength;
-	if (serializeLength) {
-		serializedLength += SerializeAdapter::getSerializedSize(
-				&bufferLength);
-	}
-
-	if (*size + serializedLength > maxSize) {
-		return BUFFER_TOO_SHORT;
-	} 
-
 	if (serializeLength) {
 		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
 				buffer, size, maxSize, streamEndianness);
@@ -41,6 +31,10 @@ ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
 		}
 	}
 
+	if (*size + bufferLength > maxSize) {
+		return BUFFER_TOO_SHORT;
+	}
+
 	if (this->constBuffer != nullptr) {
 		std::memcpy(*buffer, this->constBuffer, bufferLength);
 	}

From 9c2925333788750422f65364445d8f428c00aeb1 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 13:42:36 +0200
Subject: [PATCH 250/653] removed forward decl

---
 serialize/SerialBufferAdapter.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index ab52262f..812cd34b 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -126,5 +126,4 @@ template class SerialBufferAdapter<uint8_t>;
 template class SerialBufferAdapter<uint16_t>;
 template class SerialBufferAdapter<uint32_t>;
 template class SerialBufferAdapter<uint64_t>;
-template class SerialBufferAdapter<size_t>;
 

From 3001911d69522c3fb44a2483c25d129e6cfef98e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 14:00:27 +0200
Subject: [PATCH 251/653] taken over interface changes

---
 storagemanager/ConstStorageAccessor.cpp | 174 ++++++------
 storagemanager/ConstStorageAccessor.h   | 232 ++++++++--------
 storagemanager/StorageAccessor.cpp      | 134 +++++-----
 storagemanager/StorageAccessor.h        |  89 +++----
 storagemanager/StorageManagerIF.h       | 335 ++++++++++++------------
 5 files changed, 482 insertions(+), 482 deletions(-)

diff --git a/storagemanager/ConstStorageAccessor.cpp b/storagemanager/ConstStorageAccessor.cpp
index 0bfde58c..ea9f2e44 100644
--- a/storagemanager/ConstStorageAccessor.cpp
+++ b/storagemanager/ConstStorageAccessor.cpp
@@ -1,87 +1,87 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/storagemanager/ConstStorageAccessor.h>
-#include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/globalfunctions/arrayprinter.h>
-
-ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
-		storeId(storeId) {}
-
-ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
-		StorageManagerIF* store):
-		storeId(storeId), store(store) {
-	internalState = AccessState::ASSIGNED;
-}
-
-ConstStorageAccessor::~ConstStorageAccessor() {
-	if(deleteData and store != nullptr) {
-		sif::debug << "deleting store data" << std::endl;
-		store->deleteData(storeId);
-	}
-}
-
-ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
-		constDataPointer(other.constDataPointer), storeId(other.storeId),
-		size_(other.size_), store(other.store), deleteData(other.deleteData),
-		internalState(other.internalState) {
-	// This prevent premature deletion
-	other.store = nullptr;
-}
-
-ConstStorageAccessor& ConstStorageAccessor::operator=(
-		ConstStorageAccessor&& other) {
-	constDataPointer = other.constDataPointer;
-	storeId = other.storeId;
-	store = other.store;
-	size_ = other.size_;
-	deleteData = other.deleteData;
-	this->store = other.store;
-	// This prevents premature deletion
-	other.store = nullptr;
-	return *this;
-}
-
-const uint8_t* ConstStorageAccessor::data() const {
-	return constDataPointer;
-}
-
-size_t ConstStorageAccessor::size() const {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-	}
-	return size_;
-}
-
-ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
-		size_t maxSize) {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if(size_ > maxSize) {
-		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	std::copy(constDataPointer, constDataPointer + size_, pointer);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void ConstStorageAccessor::release() {
-	deleteData = false;
-}
-
-store_address_t ConstStorageAccessor::getId() const {
-	return storeId;
-}
-
-void ConstStorageAccessor::print() const {
-	if(internalState == AccessState::UNINIT or constDataPointer == nullptr) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return;
-	}
-	arrayprinter::print(constDataPointer, size_);
-}
-
-void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
-	internalState = AccessState::ASSIGNED;
-	this->store = store;
-}
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../storagemanager/ConstStorageAccessor.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../globalfunctions/arrayprinter.h"
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
+		storeId(storeId) {}
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
+		StorageManagerIF* store):
+		storeId(storeId), store(store) {
+	internalState = AccessState::ASSIGNED;
+}
+
+ConstStorageAccessor::~ConstStorageAccessor() {
+	if(deleteData and store != nullptr) {
+		sif::debug << "deleting store data" << std::endl;
+		store->deleteData(storeId);
+	}
+}
+
+ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
+		constDataPointer(other.constDataPointer), storeId(other.storeId),
+		size_(other.size_), store(other.store), deleteData(other.deleteData),
+		internalState(other.internalState) {
+	// This prevent premature deletion
+	other.store = nullptr;
+}
+
+ConstStorageAccessor& ConstStorageAccessor::operator=(
+		ConstStorageAccessor&& other) {
+	constDataPointer = other.constDataPointer;
+	storeId = other.storeId;
+	store = other.store;
+	size_ = other.size_;
+	deleteData = other.deleteData;
+	this->store = other.store;
+	// This prevents premature deletion
+	other.store = nullptr;
+	return *this;
+}
+
+const uint8_t* ConstStorageAccessor::data() const {
+	return constDataPointer;
+}
+
+size_t ConstStorageAccessor::size() const {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+	}
+	return size_;
+}
+
+ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
+		size_t maxSize) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(size_ > maxSize) {
+		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(constDataPointer, constDataPointer + size_, pointer);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void ConstStorageAccessor::release() {
+	deleteData = false;
+}
+
+store_address_t ConstStorageAccessor::getId() const {
+	return storeId;
+}
+
+void ConstStorageAccessor::print() const {
+	if(internalState == AccessState::UNINIT or constDataPointer == nullptr) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return;
+	}
+	arrayprinter::print(constDataPointer, size_);
+}
+
+void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
+	internalState = AccessState::ASSIGNED;
+	this->store = store;
+}
diff --git a/storagemanager/ConstStorageAccessor.h b/storagemanager/ConstStorageAccessor.h
index bb003f55..ec2da8ce 100644
--- a/storagemanager/ConstStorageAccessor.h
+++ b/storagemanager/ConstStorageAccessor.h
@@ -1,116 +1,116 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
-#define FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
-
-#include "storeAddress.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include <cstddef>
-
-class StorageManagerIF;
-
-/**
- * @brief 	Helper classes to facilitate safe access to storages which is also
- * 			conforming to RAII principles
- * @details
- * Accessor class which can be returned by pool manager or passed and set by
- * pool managers to have safe access to the pool resources.
- *
- * These helper can be used together with the StorageManager classes to manage
- * access to a storage. It can take care of thread-safety while also providing
- * mechanisms to automatically clear storage data.
- */
-class ConstStorageAccessor {
-	//! StorageManager classes have exclusive access to private variables.
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class PoolManager;
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class LocalPool;
-public:
-	/**
-	 * @brief	Simple constructor which takes the store ID of the storage
-	 * 			entry to access.
-	 * @param storeId
-	 */
-	ConstStorageAccessor(store_address_t storeId);
-	ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
-
-	/**
-	 * @brief 	The destructor in default configuration takes care of
-	 * 			deleting the accessed pool entry and unlocking the mutex
-	 */
-	virtual ~ConstStorageAccessor();
-
-	/**
-	 * @brief	Returns a pointer to the read-only data
-	 * @return
-	 */
-	const uint8_t* data() const;
-
-	/**
-	 * @brief	Copies the read-only data to the supplied pointer
-	 * @param pointer
-	 */
-	virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
-
-	/**
-	 * @brief   Calling this will prevent the Accessor from deleting the data
-	 *          when the destructor is called.
-	 */
-	void release();
-
-	/**
-	 * Get the size of the data
-	 * @return
-	 */
-	size_t size() const;
-
-	/**
-	 * Get the storage ID.
-	 * @return
-	 */
-	store_address_t getId() const;
-
-	void print() const;
-
-	/**
-	 * @brief	Move ctor and move assignment allow returning accessors as
-	 * 			a returnvalue. They prevent resource being free prematurely.
-	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
-	 * move-constructors-and-move-assignment-operators-cpp.md
-	 * @param
-	 * @return
-	 */
-	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
-	ConstStorageAccessor (ConstStorageAccessor&&);
-
-	//! The copy ctor and copy assignemnt should be deleted implicitely
-	//! according to https://foonathan.net/2019/02/special-member-functions/
-	//! but I still deleted them to make it more explicit. (remember rule of 5).
-	ConstStorageAccessor& operator= (ConstStorageAccessor&) = delete;
-	ConstStorageAccessor (ConstStorageAccessor&) = delete;
-protected:
-	const uint8_t* constDataPointer = nullptr;
-	store_address_t storeId;
-	size_t size_ = 0;
-	//! Managing pool, has to assign itself.
-	StorageManagerIF* store = nullptr;
-	bool deleteData = true;
-
-	enum class AccessState {
-		UNINIT,
-		ASSIGNED
-	};
-	//! Internal state for safety reasons.
-	AccessState internalState = AccessState::UNINIT;
-	/**
-	 * Used by the pool manager instances to assign themselves to the
-	 * accessor. This is necessary to delete the data when the acessor
-	 * exits the scope ! The internal state will be considered read
-	 * when this function is called, so take care all data is set properly as
-	 * well.
-	 * @param
-	 */
-	void assignStore(StorageManagerIF*);
-};
-
-
-#endif /* FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */
+#ifndef FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+#define FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+
+#include "../storagemanager/storeAddress.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
+
+class StorageManagerIF;
+
+/**
+ * @brief 	Helper classes to facilitate safe access to storages which is also
+ * 			conforming to RAII principles
+ * @details
+ * Accessor class which can be returned by pool manager or passed and set by
+ * pool managers to have safe access to the pool resources.
+ *
+ * These helper can be used together with the StorageManager classes to manage
+ * access to a storage. It can take care of thread-safety while also providing
+ * mechanisms to automatically clear storage data.
+ */
+class ConstStorageAccessor {
+	//! StorageManager classes have exclusive access to private variables.
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class PoolManager;
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class LocalPool;
+public:
+	/**
+	 * @brief	Simple constructor which takes the store ID of the storage
+	 * 			entry to access.
+	 * @param storeId
+	 */
+	ConstStorageAccessor(store_address_t storeId);
+	ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
+
+	/**
+	 * @brief 	The destructor in default configuration takes care of
+	 * 			deleting the accessed pool entry and unlocking the mutex
+	 */
+	virtual ~ConstStorageAccessor();
+
+	/**
+	 * @brief	Returns a pointer to the read-only data
+	 * @return
+	 */
+	const uint8_t* data() const;
+
+	/**
+	 * @brief	Copies the read-only data to the supplied pointer
+	 * @param pointer
+	 */
+	virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
+
+	/**
+	 * @brief   Calling this will prevent the Accessor from deleting the data
+	 *          when the destructor is called.
+	 */
+	void release();
+
+	/**
+	 * Get the size of the data
+	 * @return
+	 */
+	size_t size() const;
+
+	/**
+	 * Get the storage ID.
+	 * @return
+	 */
+	store_address_t getId() const;
+
+	void print() const;
+
+	/**
+	 * @brief	Move ctor and move assignment allow returning accessors as
+	 * 			a returnvalue. They prevent resource being free prematurely.
+	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * move-constructors-and-move-assignment-operators-cpp.md
+	 * @param
+	 * @return
+	 */
+	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
+	ConstStorageAccessor(ConstStorageAccessor&&);
+
+	//! The copy ctor and copy assignemnt should be deleted implicitely
+	//! according to https://foonathan.net/2019/02/special-member-functions/
+	//! but I still deleted them to make it more explicit. (remember rule of 5).
+	ConstStorageAccessor& operator=(const ConstStorageAccessor&) = delete;
+	ConstStorageAccessor(const ConstStorageAccessor&) = delete;
+protected:
+	const uint8_t* constDataPointer = nullptr;
+	store_address_t storeId;
+	size_t size_ = 0;
+	//! Managing pool, has to assign itself.
+	StorageManagerIF* store = nullptr;
+	bool deleteData = true;
+
+	enum class AccessState {
+		UNINIT,
+		ASSIGNED
+	};
+	//! Internal state for safety reasons.
+	AccessState internalState = AccessState::UNINIT;
+	/**
+	 * Used by the pool manager instances to assign themselves to the
+	 * accessor. This is necessary to delete the data when the acessor
+	 * exits the scope ! The internal state will be considered read
+	 * when this function is called, so take care all data is set properly as
+	 * well.
+	 * @param
+	 */
+	void assignStore(StorageManagerIF*);
+};
+
+
+#endif /* FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */
diff --git a/storagemanager/StorageAccessor.cpp b/storagemanager/StorageAccessor.cpp
index 9c2f936a..d4d2a54d 100644
--- a/storagemanager/StorageAccessor.cpp
+++ b/storagemanager/StorageAccessor.cpp
@@ -1,67 +1,67 @@
-#include "StorageAccessor.h"
-#include "StorageManagerIF.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-StorageAccessor::StorageAccessor(store_address_t storeId):
-		ConstStorageAccessor(storeId) {
-}
-
-StorageAccessor::StorageAccessor(store_address_t storeId,
-		StorageManagerIF* store):
-		ConstStorageAccessor(storeId, store) {
-}
-
-StorageAccessor& StorageAccessor::operator =(
-		StorageAccessor&& other) {
-	// Call the parent move assignment and also assign own member.
-	dataPointer = other.dataPointer;
-	StorageAccessor::operator=(std::move(other));
-	return * this;
-}
-
-// Call the parent move ctor and also transfer own member.
-StorageAccessor::StorageAccessor(StorageAccessor&& other):
-		ConstStorageAccessor(std::move(other)), dataPointer(other.dataPointer) {
-}
-
-ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if(size_ > maxSize) {
-		sif::error << "StorageAccessor: Supplied buffer not large "
-				"enough" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	std::copy(dataPointer, dataPointer + size_, pointer);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint8_t* StorageAccessor::data() {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-	}
-	return dataPointer;
-}
-
-ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size,
-		uint16_t offset) {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if(offset + size > size_) {
-		sif::error << "StorageAccessor: Data too large for pool "
-				"entry!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	std::copy(data, data + size, dataPointer + offset);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void StorageAccessor::assignConstPointer() {
-	constDataPointer = dataPointer;
-}
-
-
+#include "../storagemanager/StorageAccessor.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+StorageAccessor::StorageAccessor(store_address_t storeId):
+		ConstStorageAccessor(storeId) {
+}
+
+StorageAccessor::StorageAccessor(store_address_t storeId,
+		StorageManagerIF* store):
+		ConstStorageAccessor(storeId, store) {
+}
+
+StorageAccessor& StorageAccessor::operator =(
+		StorageAccessor&& other) {
+	// Call the parent move assignment and also assign own member.
+	dataPointer = other.dataPointer;
+	StorageAccessor::operator=(std::move(other));
+	return * this;
+}
+
+// Call the parent move ctor and also transfer own member.
+StorageAccessor::StorageAccessor(StorageAccessor&& other):
+		ConstStorageAccessor(std::move(other)), dataPointer(other.dataPointer) {
+}
+
+ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(size_ > maxSize) {
+		sif::error << "StorageAccessor: Supplied buffer not large "
+				"enough" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(dataPointer, dataPointer + size_, pointer);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t* StorageAccessor::data() {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+	}
+	return dataPointer;
+}
+
+ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size,
+		uint16_t offset) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(offset + size > size_) {
+		sif::error << "StorageAccessor: Data too large for pool "
+				"entry!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(data, data + size, dataPointer + offset);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void StorageAccessor::assignConstPointer() {
+	constDataPointer = dataPointer;
+}
+
+
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index 5cdd82a7..1ca5f7dd 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -1,44 +1,45 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
-#define FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
-
-#include "ConstStorageAccessor.h"
-
-class StorageManagerIF;
-
-/**
- * @brief   Child class for modifyable data. Also has a normal pointer member.
- */
-class StorageAccessor: public ConstStorageAccessor {
-	//! StorageManager classes have exclusive access to private variables.
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class PoolManager;
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class LocalPool;
-public:
-	StorageAccessor(store_address_t storeId);
-	StorageAccessor(store_address_t storeId, StorageManagerIF* store);
-	/**
-	 * @brief	Move ctor and move assignment allow returning accessors as
-	 * 			a returnvalue. They prevent resource being free prematurely.
-	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
-	 * 			 move-constructors-and-move-assignment-operators-cpp.md
-	 * @param
-	 * @return
-	 */
-	StorageAccessor& operator= (StorageAccessor&&);
-	StorageAccessor (StorageAccessor&&);
-
-	ReturnValue_t write(uint8_t *data, size_t size,
-		uint16_t offset = 0);
-	uint8_t* data();
-	ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize) override;
-
-private:
-	//! Non-const pointer for modifyable data.
-	uint8_t* dataPointer = nullptr;
-	//! For modifyable data, the const pointer is assigned to the normal
-	//! pointer by the pool manager so both access functions can be used safely
-	void assignConstPointer();
-};
-
-#endif /* TEST_PROTOTYPES_STORAGEACCESSOR_H_ */
+#ifndef FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
+#define FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
+
+#include "../storagemanager/ConstStorageAccessor.h"
+
+class StorageManagerIF;
+
+/**
+ * @brief   Child class for modifyable data. Also has a normal pointer member.
+ */
+class StorageAccessor: public ConstStorageAccessor {
+	//! StorageManager classes have exclusive access to private variables.
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class PoolManager;
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class LocalPool;
+public:
+	StorageAccessor(store_address_t storeId);
+	StorageAccessor(store_address_t storeId, StorageManagerIF* store);
+
+	/**
+	 * @brief	Move ctor and move assignment allow returning accessors as
+	 * 			a returnvalue. They prevent resource being freed prematurely.
+	 * See: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * 		move-constructors-and-move-assignment-operators-cpp.md
+	 * @param
+	 * @return
+	 */
+	StorageAccessor& operator=(StorageAccessor&&);
+	StorageAccessor(StorageAccessor&&);
+
+	ReturnValue_t write(uint8_t *data, size_t size,
+		uint16_t offset = 0);
+	uint8_t* data();
+	ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize) override;
+
+private:
+	//! Non-const pointer for modifyable data.
+	uint8_t* dataPointer = nullptr;
+	//! For modifyable data, the const pointer is assigned to the normal
+	//! pointer by the pool manager so both access functions can be used safely
+	void assignConstPointer();
+};
+
+#endif /* TEST_PROTOTYPES_STORAGEACCESSOR_H_ */
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index a36a714a..85341f2e 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -1,168 +1,167 @@
-#ifndef STORAGEMANAGERIF_H_H
-#define STORAGEMANAGERIF_H_H
-
-
-#include "../events/Event.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include "../storagemanager/StorageAccessor.h"
-#include "../storagemanager/storeAddress.h"
-#include <utility>
-#include <cstddef>
-
-using AccessorPair = std::pair<ReturnValue_t, StorageAccessor>;
-using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
-
-/**
- * @brief	This class provides an interface for intermediate data storage.
- * @details	The Storage manager classes shall be used to store larger chunks of
- * 			data in RAM for exchange between tasks. This interface expects the
- * 			data to be stored in one consecutive block of memory, so tasks can
- * 			write directly to the destination pointer.
- * 			For interprocess communication, the stores must be locked during
- * 			insertion and deletion. If the receiving storage identifier is
- * 			passed token-like between tasks, a lock during read and write
- * 			operations is not necessary.
- * @author	Bastian Baetz
- * @date	18.09.2012
- */
-class StorageManagerIF : public HasReturnvaluesIF {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::STORAGE_MANAGER_IF; //!< The unique ID for return codes for this interface.
-	static const ReturnValue_t DATA_TOO_LARGE = MAKE_RETURN_CODE(1); //!< This return code indicates that the data to be stored is too large for the store.
-	static const ReturnValue_t DATA_STORAGE_FULL = MAKE_RETURN_CODE(2); //!< This return code indicates that a data storage is full.
-	static const ReturnValue_t ILLEGAL_STORAGE_ID = MAKE_RETURN_CODE(3); //!< This return code indicates that data was requested with an illegal storage ID.
-	static const ReturnValue_t DATA_DOES_NOT_EXIST = MAKE_RETURN_CODE(4); //!< This return code indicates that the requested ID was valid, but no data is stored there.
-	static const ReturnValue_t ILLEGAL_ADDRESS = MAKE_RETURN_CODE(5);
-	static const ReturnValue_t POOL_TOO_LARGE = MAKE_RETURN_CODE(6); //!< Pool size too large on initialization.
-
-	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW;
-	static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
-	static const Event STORE_DATA_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
-
-	static const uint32_t INVALID_ADDRESS = 0xFFFFFFFF; //!< Indicates an invalid (i.e unused) storage address.
-	/**
-	 * @brief This is the empty virtual destructor as required for C++ interfaces.
-	 */
-	virtual ~StorageManagerIF() {
-	}
-	;
-	/**
-	 * @brief	With addData, a free storage position is allocated and data
-	 * 			stored there.
-	 * @details	During the allocation, the StorageManager is blocked.
-	 * @param storageId A pointer to the storageId to retrieve.
-	 * @param data	The data to be stored in the StorageManager.
-	 * @param size	The amount of data to be stored.
-	 * @return	Returns @li RETURN_OK if data was added.
-	 * 					@li	RETURN_FAILED if data could not be added.
-	 * 						storageId is unchanged then.
-	 */
-	virtual ReturnValue_t addData(store_address_t* storageId,
-			const uint8_t * data, size_t size, bool ignoreFault = false) = 0;
-	/**
-	 * @brief	With deleteData, the storageManager frees the memory region
-	 * 			identified by packet_id.
-	 * @param packet_id	The identifier of the memory region to be freed.
-	 * @return	@li RETURN_OK on success.
-	 * 			@li	RETURN_FAILED if deletion did not work
-	 * 				(e.g. an illegal packet_id was passed).
-	 */
-	virtual ReturnValue_t deleteData(store_address_t packet_id) = 0;
-	/**
-	 * @brief	Another deleteData which uses the pointer and size of the
-	 * 			stored data to delete the content.
-	 * @param buffer	Pointer to the data.
-	 * @param size		Size of data to be stored.
-	 * @param storeId	Store id of the deleted element (optional)
-	 * @return	@li RETURN_OK on success.
-	 * 			@li	failure code if deletion did not work
-	 */
-	virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
-			store_address_t* storeId = nullptr) = 0;
-
-
-	/**
-	 * @brief 	Access the data by supplying a store ID.
-	 * @details
-	 * A pair consisting of the retrieval result and an instance of a
-	 * ConstStorageAccessor class is returned
-	 * @param storeId
-	 * @return Pair of return value and a ConstStorageAccessor instance
-	 */
-	virtual ConstAccessorPair getData(store_address_t storeId) = 0;
-
-	/**
-	 * @brief 	Access the data by supplying a store ID and a helper
-	 * 			instance
-	 * @param storeId
-	 * @param constAccessor Wrapper function to access store data.
-	 * @return
-	 */
-	virtual ReturnValue_t getData(store_address_t storeId,
-			ConstStorageAccessor& constAccessor) = 0;
-
-
-	/**
-	 * @brief	getData returns an address to data and the size of the data
-	 * 			for a given packet_id.
-	 * @param packet_id		The id of the data to be returned
-	 * @param packet_ptr	The passed pointer address is set to the the memory
-	 * 						position
-	 * @param size			The exact size of the stored data is returned here.
-	 * @return	@li RETURN_OK on success.
-	 * 			@li	RETURN_FAILED if fetching data did not work
-	 * 				(e.g. an illegal packet_id was passed).
-	 */
-	virtual ReturnValue_t getData(store_address_t packet_id,
-			const uint8_t** packet_ptr, size_t* size) = 0;
-
-
-	/**
-	 * Modify data by supplying a store ID
-	 * @param storeId
-	 * @return Pair of return value and StorageAccessor helper
-	 */
-	virtual AccessorPair modifyData(store_address_t storeId) = 0;
-
-	/**
-	 * Modify data by supplying a store ID and a StorageAccessor helper instance.
-	 * @param storeId
-	 * @param accessor Helper class to access the modifiable data.
-	 * @return
-	 */
-	virtual ReturnValue_t modifyData(store_address_t storeId,
-				StorageAccessor& accessor) = 0;
-
-	/**
-	 * Get pointer and size of modifiable data by supplying the storeId
-	 * @param packet_id
-	 * @param packet_ptr [out] Pointer to pointer of data to set
-	 * @param size [out] Pointer to size to set
-	 * @return
-	 */
-	virtual ReturnValue_t modifyData(store_address_t packet_id,
-			uint8_t** packet_ptr, size_t* size) = 0;
-	/**
-	 * This method reserves an element of \c size.
-	 *
-	 * It returns the packet id of this element as well as a direct pointer to the
-	 * data of the element. It must be assured that exactly \c size data is
-	 * written to p_data!
-	 * @param storageId A pointer to the storageId to retrieve.
-	 * @param size		The size of the space to be reserved.
-	 * @param p_data	A pointer to the element data is returned here.
-	 * @return	Returns @li RETURN_OK if data was added.
-	 * 					@li	RETURN_FAILED if data could not be added.
-	 * 						storageId is unchanged then.
-	 */
-	virtual ReturnValue_t getFreeElement(store_address_t* storageId,
-			const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
-
-	/**
-	 * Clears the whole store.
-	 * Use with care!
-	 */
-	virtual void clearStore() = 0;
-};
-
-#endif /* STORAGEMANAGERIF_H_ */
+#ifndef STORAGEMANAGERIF_H_H
+#define STORAGEMANAGERIF_H_H
+
+#include "../events/Event.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../storagemanager/StorageAccessor.h"
+#include "../storagemanager/storeAddress.h"
+#include <utility>
+#include <cstddef>
+
+using AccessorPair = std::pair<ReturnValue_t, StorageAccessor>;
+using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
+
+/**
+ * @brief	This class provides an interface for intermediate data storage.
+ * @details	The Storage manager classes shall be used to store larger chunks of
+ * 			data in RAM for exchange between tasks. This interface expects the
+ * 			data to be stored in one consecutive block of memory, so tasks can
+ * 			write directly to the destination pointer.
+ * 			For interprocess communication, the stores must be locked during
+ * 			insertion and deletion. If the receiving storage identifier is
+ * 			passed token-like between tasks, a lock during read and write
+ * 			operations is not necessary.
+ * @author	Bastian Baetz
+ * @date	18.09.2012
+ */
+class StorageManagerIF : public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::STORAGE_MANAGER_IF; //!< The unique ID for return codes for this interface.
+	static const ReturnValue_t DATA_TOO_LARGE = MAKE_RETURN_CODE(1); //!< This return code indicates that the data to be stored is too large for the store.
+	static const ReturnValue_t DATA_STORAGE_FULL = MAKE_RETURN_CODE(2); //!< This return code indicates that a data storage is full.
+	static const ReturnValue_t ILLEGAL_STORAGE_ID = MAKE_RETURN_CODE(3); //!< This return code indicates that data was requested with an illegal storage ID.
+	static const ReturnValue_t DATA_DOES_NOT_EXIST = MAKE_RETURN_CODE(4); //!< This return code indicates that the requested ID was valid, but no data is stored there.
+	static const ReturnValue_t ILLEGAL_ADDRESS = MAKE_RETURN_CODE(5);
+	static const ReturnValue_t POOL_TOO_LARGE = MAKE_RETURN_CODE(6); //!< Pool size too large on initialization.
+
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW;
+	static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
+	static const Event STORE_DATA_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
+
+	static const uint32_t INVALID_ADDRESS = 0xFFFFFFFF; //!< Indicates an invalid (i.e unused) storage address.
+	/**
+	 * @brief This is the empty virtual destructor as required for C++ interfaces.
+	 */
+	virtual ~StorageManagerIF() {
+	}
+	;
+	/**
+	 * @brief	With addData, a free storage position is allocated and data
+	 * 			stored there.
+	 * @details	During the allocation, the StorageManager is blocked.
+	 * @param storageId A pointer to the storageId to retrieve.
+	 * @param data	The data to be stored in the StorageManager.
+	 * @param size	The amount of data to be stored.
+	 * @return	Returns @li RETURN_OK if data was added.
+	 * 					@li	RETURN_FAILED if data could not be added.
+	 * 						storageId is unchanged then.
+	 */
+	virtual ReturnValue_t addData(store_address_t* storageId,
+			const uint8_t * data, size_t size, bool ignoreFault = false) = 0;
+	/**
+	 * @brief	With deleteData, the storageManager frees the memory region
+	 * 			identified by packet_id.
+	 * @param packet_id	The identifier of the memory region to be freed.
+	 * @return	@li RETURN_OK on success.
+	 * 			@li	RETURN_FAILED if deletion did not work
+	 * 				(e.g. an illegal packet_id was passed).
+	 */
+	virtual ReturnValue_t deleteData(store_address_t packet_id) = 0;
+	/**
+	 * @brief	Another deleteData which uses the pointer and size of the
+	 * 			stored data to delete the content.
+	 * @param buffer	Pointer to the data.
+	 * @param size		Size of data to be stored.
+	 * @param storeId	Store id of the deleted element (optional)
+	 * @return	@li RETURN_OK on success.
+	 * 			@li	failure code if deletion did not work
+	 */
+	virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
+			store_address_t* storeId = nullptr) = 0;
+
+
+	/**
+	 * @brief 	Access the data by supplying a store ID.
+	 * @details
+	 * A pair consisting of the retrieval result and an instance of a
+	 * ConstStorageAccessor class is returned
+	 * @param storeId
+	 * @return Pair of return value and a ConstStorageAccessor instance
+	 */
+	virtual ConstAccessorPair getData(store_address_t storeId) = 0;
+
+	/**
+	 * @brief 	Access the data by supplying a store ID and a helper
+	 * 			instance
+	 * @param storeId
+	 * @param constAccessor Wrapper function to access store data.
+	 * @return
+	 */
+	virtual ReturnValue_t getData(store_address_t storeId,
+			ConstStorageAccessor& constAccessor) = 0;
+
+
+	/**
+	 * @brief	getData returns an address to data and the size of the data
+	 * 			for a given packet_id.
+	 * @param packet_id		The id of the data to be returned
+	 * @param packet_ptr	The passed pointer address is set to the the memory
+	 * 						position
+	 * @param size			The exact size of the stored data is returned here.
+	 * @return	@li RETURN_OK on success.
+	 * 			@li	RETURN_FAILED if fetching data did not work
+	 * 				(e.g. an illegal packet_id was passed).
+	 */
+	virtual ReturnValue_t getData(store_address_t packet_id,
+			const uint8_t** packet_ptr, size_t* size) = 0;
+
+
+	/**
+	 * Modify data by supplying a store ID
+	 * @param storeId
+	 * @return Pair of return value and StorageAccessor helper
+	 */
+	virtual AccessorPair modifyData(store_address_t storeId) = 0;
+
+	/**
+	 * Modify data by supplying a store ID and a StorageAccessor helper instance.
+	 * @param storeId
+	 * @param accessor Helper class to access the modifiable data.
+	 * @return
+	 */
+	virtual ReturnValue_t modifyData(store_address_t storeId,
+				StorageAccessor& accessor) = 0;
+
+	/**
+	 * Get pointer and size of modifiable data by supplying the storeId
+	 * @param packet_id
+	 * @param packet_ptr [out] Pointer to pointer of data to set
+	 * @param size [out] Pointer to size to set
+	 * @return
+	 */
+	virtual ReturnValue_t modifyData(store_address_t packet_id,
+			uint8_t** packet_ptr, size_t* size) = 0;
+	/**
+	 * This method reserves an element of \c size.
+	 *
+	 * It returns the packet id of this element as well as a direct pointer to the
+	 * data of the element. It must be assured that exactly \c size data is
+	 * written to p_data!
+	 * @param storageId A pointer to the storageId to retrieve.
+	 * @param size		The size of the space to be reserved.
+	 * @param p_data	A pointer to the element data is returned here.
+	 * @return	Returns @li RETURN_OK if data was added.
+	 * 					@li	RETURN_FAILED if data could not be added.
+	 * 						storageId is unchanged then.
+	 */
+	virtual ReturnValue_t getFreeElement(store_address_t* storageId,
+			const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
+
+	/**
+	 * Clears the whole store.
+	 * Use with care!
+	 */
+	virtual void clearStore() = 0;
+};
+
+#endif /* STORAGEMANAGERIF_H_ */

From af52d1ffdaa3a8fa09a34a4c0e39785d9ade9ff9 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 25 Aug 2020 14:14:58 +0200
Subject: [PATCH 252/653] Added some documentation in SerializeIF

---
 serialize/SerializeIF.h | 55 ++++++++++++++++++++++++++++++++++-------
 1 file changed, 46 insertions(+), 9 deletions(-)

diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 9ed52d29..1f31d91e 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -1,16 +1,16 @@
-#ifndef SERIALIZEIF_H_
-#define SERIALIZEIF_H_
+#ifndef FSFW_SERIALIZE_SERIALIZEIF_H_
+#define FSFW_SERIALIZE_SERIALIZEIF_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <stddef.h>
 
 /**
  * \defgroup serialize Serialization
- * Contains serialisation services.
+ * Contains serialization services.
  */
 
 /**
- * Translation of objects into data streams.
+ * Translation of objects into data streams and from data streams.
  * \ingroup serialize
  */
 class SerializeIF {
@@ -20,21 +20,58 @@ public:
 	};
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::SERIALIZE_IF;
-	static const ReturnValue_t BUFFER_TOO_SHORT = MAKE_RETURN_CODE(1);
-	static const ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(2);
-	static const ReturnValue_t TOO_MANY_ELEMENTS = MAKE_RETURN_CODE(3);
+	static const ReturnValue_t BUFFER_TOO_SHORT = MAKE_RETURN_CODE(1); // !< The given buffer in serialize is too short
+	static const ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(2); // !< The input stream in deSerialize is too short
+	static const ReturnValue_t TOO_MANY_ELEMENTS = MAKE_RETURN_CODE(3);// !< There are too many elements to be deSerialized
 
 	virtual ~SerializeIF() {
 	}
-
+	/**
+	 * Function to serialize the object into a buffer with maxSize at the current size.
+	 *
+	 * Implementations of this function must increase the size variable and move the buffer pointer.
+	 *
+	 *
+	 * Custom implementations might use additional return values.
+	 *
+	 * @param buffer Buffer to serialize into, will be set to the current write location
+	 * @param size Size that has been used in the buffer already, will be increase by the function
+	 * @param maxSize Max size of the buffer.
+	 * @param streamEndianness Endianness of the serialized data according to SerializeIF::Endianness
+	 * @return
+	 * 		- @¢ BUFFER_TOO_SHORT The given buffer in is too short
+	 * 		- @c RETURN_FAILED Generic error
+	 * 		- @c RETURN_OK Successful serialization
+	 */
 	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
 			size_t maxSize, Endianness streamEndianness) const = 0;
 
+	/**
+	 * Gets the size of a object if it would be serialized in a buffer
+	 * @return Size of serialized object
+	 */
 	virtual size_t getSerializedSize() const = 0;
 
+	/**
+	 * DeSerializes a object from a given buffer of given size.
+	 *
+	 * Buffer must be moved to the current read location by the implementation
+	 * of this function. Size must be decreased by the implementation.
+	 *
+	 * Custom implementations might use additional return values.
+	 *
+	 * @param buffer Buffer to deSerialize from. Will be moved by the function.
+	 * @param size Remaining Size of the buffer to read from. Will be decreased by function.
+	 * @param streamEndianness Endianness as in according to SerializeIF::Endianness
+	 * @return
+	 * 	- @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
+	 * 	- @c TOO_MANY_ELEMENTS The buffer has more inputs than expected
+	 * 	- @c RETURN_FAILED Generic Error
+	 * 	- @c RETURN_OK Successful deserialization
+	 */
 	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
 			Endianness streamEndianness) = 0;
 
 };
 
-#endif /* SERIALIZEIF_H_ */
+#endif /* FSFW_SERIALIZE_SERIALIZEIF_H_ */

From 6903a761ff3a185c1d79ada853cee975b77fdf57 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 25 Aug 2020 14:23:59 +0200
Subject: [PATCH 253/653] Some corrections

---
 serialize/SerializeIF.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 1f31d91e..3fb8b264 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -21,8 +21,8 @@ public:
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::SERIALIZE_IF;
 	static const ReturnValue_t BUFFER_TOO_SHORT = MAKE_RETURN_CODE(1); // !< The given buffer in serialize is too short
-	static const ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(2); // !< The input stream in deSerialize is too short
-	static const ReturnValue_t TOO_MANY_ELEMENTS = MAKE_RETURN_CODE(3);// !< There are too many elements to be deSerialized
+	static const ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(2); // !< The input stream in deserialize is too short
+	static const ReturnValue_t TOO_MANY_ELEMENTS = MAKE_RETURN_CODE(3);// !< There are too many elements to be deserialized
 
 	virtual ~SerializeIF() {
 	}
@@ -53,7 +53,7 @@ public:
 	virtual size_t getSerializedSize() const = 0;
 
 	/**
-	 * DeSerializes a object from a given buffer of given size.
+	 * Deserializes a object from a given buffer of given size.
 	 *
 	 * Buffer must be moved to the current read location by the implementation
 	 * of this function. Size must be decreased by the implementation.
@@ -61,7 +61,7 @@ public:
 	 * Custom implementations might use additional return values.
 	 *
 	 * @param buffer Buffer to deSerialize from. Will be moved by the function.
-	 * @param size Remaining Size of the buffer to read from. Will be decreased by function.
+	 * @param size Remaining size of the buffer to read from. Will be decreased by function.
 	 * @param streamEndianness Endianness as in according to SerializeIF::Endianness
 	 * @return
 	 * 	- @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object

From 1ae79ab99d53f324eccf7a715bb3aaa9ba665e66 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 25 Aug 2020 15:06:53 +0200
Subject: [PATCH 254/653] Improvements of comments

---
 serialize/SerializeIF.h | 27 +++++++++++++++++----------
 1 file changed, 17 insertions(+), 10 deletions(-)

diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 3fb8b264..2bb17154 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -27,17 +27,21 @@ public:
 	virtual ~SerializeIF() {
 	}
 	/**
-	 * Function to serialize the object into a buffer with maxSize at the current size.
+	 * @brief
+	 * Function to serialize the object into a buffer with maxSize. Size represents the written amount.
+	 * If a part of the buffer has been used already, size must be set to the used amount of bytes.
 	 *
+	 * @details
 	 * Implementations of this function must increase the size variable and move the buffer pointer.
-	 *
+	 * MaxSize must be checked by implementations of this function
+	 * and BUFFER_TOO_SHORT has to be returned if size would be larger than maxSize.
 	 *
 	 * Custom implementations might use additional return values.
 	 *
-	 * @param buffer Buffer to serialize into, will be set to the current write location
-	 * @param size Size that has been used in the buffer already, will be increase by the function
-	 * @param maxSize Max size of the buffer.
-	 * @param streamEndianness Endianness of the serialized data according to SerializeIF::Endianness
+	 * @param[in/out] buffer Buffer to serialize into, will be set to the current write location
+	 * @param[in/out] size Size that has been used in the buffer already, will be increased by the function
+	 * @param[in] maxSize The size of the buffer that is allowed to be used for serialize.
+	 * @param[in] streamEndianness Endianness of the serialized data according to SerializeIF::Endianness
 	 * @return
 	 * 		- @¢ BUFFER_TOO_SHORT The given buffer in is too short
 	 * 		- @c RETURN_FAILED Generic error
@@ -47,22 +51,25 @@ public:
 			size_t maxSize, Endianness streamEndianness) const = 0;
 
 	/**
-	 * Gets the size of a object if it would be serialized in a buffer
+	 * Gets the size of a object if it would be serialized in a buffer.s
 	 * @return Size of serialized object
 	 */
 	virtual size_t getSerializedSize() const = 0;
 
 	/**
+	 * @brief
 	 * Deserializes a object from a given buffer of given size.
 	 *
+	 * @details
 	 * Buffer must be moved to the current read location by the implementation
 	 * of this function. Size must be decreased by the implementation.
+	 * Implementations are not allowed to alter the buffer as indicated by const pointer.
 	 *
 	 * Custom implementations might use additional return values.
 	 *
-	 * @param buffer Buffer to deSerialize from. Will be moved by the function.
-	 * @param size Remaining size of the buffer to read from. Will be decreased by function.
-	 * @param streamEndianness Endianness as in according to SerializeIF::Endianness
+	 * @param[in/out] buffer Buffer to deSerialize from. Will be moved by the function.
+	 * @param[in/out] size Remaining size of the buffer to read from. Will be decreased by function.
+	 * @param[in] streamEndianness Endianness as in according to SerializeIF::Endianness
 	 * @return
 	 * 	- @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
 	 * 	- @c TOO_MANY_ELEMENTS The buffer has more inputs than expected

From d9ee6d0d909028dd1190985189e4b2f01c58e5c3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 18:15:02 +0200
Subject: [PATCH 255/653] include fix

---
 osal/FreeRTOS/Mutex.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index e5896c41..9d9638b5 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -1,4 +1,4 @@
-#include <framework/osal/FreeRTOS/Mutex.h>
+#include "Mutex.h"
 
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 

From 3f9d9b8770561a1487302d3f61e3e07aa012899d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 18:24:46 +0200
Subject: [PATCH 256/653] ipc update

---
 devicehandlers/HealthDevice.cpp |   2 +-
 ipc/CommandMessage.cpp          | 242 +++++++++++++---------------
 ipc/CommandMessage.h            | 263 +++++++++++++++----------------
 ipc/CommandMessageCleaner.cpp   |  45 ++++++
 ipc/CommandMessageCleaner.h     |  16 ++
 ipc/CommandMessageIF.h          |  73 +++++++++
 ipc/MessageQueueMessage.cpp     | 149 ++++++++++--------
 ipc/MessageQueueMessage.h       | 268 ++++++++++++++++++--------------
 ipc/MessageQueueMessageIF.h     |  91 +++++++++++
 9 files changed, 700 insertions(+), 449 deletions(-)
 create mode 100644 ipc/CommandMessageCleaner.cpp
 create mode 100644 ipc/CommandMessageCleaner.h
 create mode 100644 ipc/CommandMessageIF.h
 create mode 100644 ipc/MessageQueueMessageIF.h

diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index 411731dc..b15e5d2b 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -5,7 +5,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId,
 		MessageQueueId_t parentQueue) :
 		SystemObject(setObjectId), lastHealth(HEALTHY), parentQueue(
 				parentQueue), commandQueue(), healthHelper(this, setObjectId) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(3, CommandMessage::COMMAND_MESSAGE_SIZE);
+	commandQueue = QueueFactory::instance()->createMessageQueue(3);
 }
 
 HealthDevice::~HealthDevice() {
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index dbea8533..16293608 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -1,131 +1,111 @@
-/**
- * @file	CommandMessage.cpp
- * @brief	This file defines the CommandMessage class.
- * @date	20.06.2013
- * @author	baetz
- */
-
-#include "../devicehandlers/DeviceHandlerMessage.h"
-#include "../health/HealthMessage.h"
-#include "CommandMessage.h"
-#include "../memory/MemoryMessage.h"
-#include "../modes/ModeMessage.h"
-#include "../monitoring/MonitoringMessage.h"
-#include "../subsystem/modes/ModeSequenceMessage.h"
-#include "../tmstorage/TmStoreMessage.h"
-#include "../parameters/ParameterMessage.h"
-
-namespace messagetypes {
-void clearMissionMessage(CommandMessage* message);
-}
-
-
-CommandMessage::CommandMessage() {
-	this->messageSize = COMMAND_MESSAGE_SIZE;
-	setCommand(CMD_NONE);
-}
-
-CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
-		uint32_t parameter2) {
-	this->messageSize = COMMAND_MESSAGE_SIZE;
-	setCommand(command);
-	setParameter(parameter1);
-	setParameter2(parameter2);
-}
-
-Command_t CommandMessage::getCommand() const {
-	Command_t command;
-	memcpy(&command, getData(), sizeof(Command_t));
-	return command;
-}
-
-void CommandMessage::setCommand(Command_t command) {
-	memcpy(getData(), &command, sizeof(command));
-}
-
-uint32_t CommandMessage::getParameter() const {
-	uint32_t parameter1;
-	memcpy(&parameter1, getData() + sizeof(Command_t), sizeof(parameter1));
-	return parameter1;
-}
-
-void CommandMessage::setParameter(uint32_t parameter1) {
-	memcpy(getData() + sizeof(Command_t), &parameter1, sizeof(parameter1));
-}
-
-uint32_t CommandMessage::getParameter2() const {
-	uint32_t parameter2;
-	memcpy(&parameter2, getData() + sizeof(Command_t) + sizeof(uint32_t),
-			sizeof(parameter2));
-	return parameter2;
-}
-
-void CommandMessage::setParameter2(uint32_t parameter2) {
-	memcpy(getData() + sizeof(Command_t) + sizeof(uint32_t), &parameter2,
-			sizeof(parameter2));
-}
-
-void CommandMessage::clearCommandMessage() {
-	switch((getCommand()>>8) & 0xff){
-	case  messagetypes::MODE_COMMAND:
-		ModeMessage::clear(this);
-		break;
-	case messagetypes::HEALTH_COMMAND:
-		HealthMessage::clear(this);
-		break;
-	case messagetypes::MODE_SEQUENCE:
-		ModeSequenceMessage::clear(this);
-		break;
-	case messagetypes::ACTION:
-		ActionMessage::clear(this);
-		break;
-	case messagetypes::DEVICE_HANDLER_COMMAND:
-		DeviceHandlerMessage::clear(this);
-		break;
-	case messagetypes::MEMORY:
-		MemoryMessage::clear(this);
-		break;
-	case messagetypes::MONITORING:
-		MonitoringMessage::clear(this);
-		break;
-	case messagetypes::TM_STORE:
-		TmStoreMessage::clear(this);
-		break;
-	case messagetypes::PARAMETER:
-		ParameterMessage::clear(this);
-		break;
-	default:
-		messagetypes::clearMissionMessage(this);
-		break;
-	}
-}
-
-bool CommandMessage::isClearedCommandMessage() {
-	return getCommand() == CMD_NONE;
-}
-
-size_t CommandMessage::getMinimumMessageSize() const {
-	return COMMAND_MESSAGE_SIZE;
-}
-
-void CommandMessage::setToUnknownCommand() {
-	Command_t initialCommand = getCommand();
-	clearCommandMessage();
-	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
-}
-
-void CommandMessage::setReplyRejected(ReturnValue_t reason,
-		Command_t initialCommand) {
-	setCommand(REPLY_REJECTED);
-	setParameter(reason);
-	setParameter2(initialCommand);
-}
-
-ReturnValue_t CommandMessage::getReplyRejectedReason(
-        Command_t *initialCommand) const {
-    ReturnValue_t reason = getParameter();
-    if(initialCommand != nullptr) {
-        *initialCommand = getParameter2();
-    }
-    return reason;
-}
+#include "CommandMessage.h"
+#include "CommandMessageCleaner.h"
+#include <cstring>
+
+CommandMessage::CommandMessage() {
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
+    setCommand(CMD_NONE);
+}
+
+CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
+        uint32_t parameter2) {
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
+    setCommand(command);
+    setParameter(parameter1);
+    setParameter2(parameter2);
+}
+
+Command_t CommandMessage::getCommand() const {
+    Command_t command;
+    std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
+    return command;
+}
+
+void CommandMessage::setCommand(Command_t command) {
+    std::memcpy(MessageQueueMessage::getData(), &command, sizeof(Command_t));
+}
+
+uint8_t CommandMessage::getMessageType() const {
+    // first byte of command ID.
+    return getCommand() >> 8 & 0xff;
+}
+
+uint32_t CommandMessage::getParameter() const {
+    uint32_t parameter1;
+    std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
+    return parameter1;
+}
+
+void CommandMessage::setParameter(uint32_t parameter1) {
+    std::memcpy(this->getData(), &parameter1, sizeof(parameter1));
+}
+
+uint32_t CommandMessage::getParameter2() const {
+    uint32_t parameter2;
+    std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
+            sizeof(parameter2));
+    return parameter2;
+}
+
+void CommandMessage::setParameter2(uint32_t parameter2) {
+    std::memcpy(this->getData()  + sizeof(uint32_t), &parameter2,
+            sizeof(parameter2));
+}
+
+uint32_t CommandMessage::getParameter3() const {
+    uint32_t parameter3;
+    std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
+            sizeof(parameter3));
+    return parameter3;
+}
+
+void CommandMessage::setParameter3(uint32_t parameter3) {
+    std::memcpy(this->getData()  + 2 * sizeof(uint32_t), &parameter3,
+            sizeof(parameter3));
+}
+
+size_t CommandMessage::getMinimumMessageSize() const {
+    return MINIMUM_COMMAND_MESSAGE_SIZE;
+}
+
+void CommandMessage::clearCommandMessage() {
+    clear();
+}
+
+void CommandMessage::clear() {
+    CommandMessageCleaner::clearCommandMessage(this);
+}
+
+bool CommandMessage::isClearedCommandMessage() {
+    return getCommand() == CMD_NONE;
+}
+
+void CommandMessage::setToUnknownCommand() {
+    Command_t initialCommand = getCommand();
+    this->clear();
+    setReplyRejected(UNKNOWN_COMMAND, initialCommand);
+}
+
+void CommandMessage::setReplyRejected(ReturnValue_t reason,
+        Command_t initialCommand) {
+	setCommand(REPLY_REJECTED);
+    setParameter(reason);
+    setParameter2(initialCommand);
+}
+
+ReturnValue_t CommandMessage::getReplyRejectedReason(
+        Command_t *initialCommand) const {
+    ReturnValue_t reason = getParameter();
+    if(initialCommand != nullptr) {
+        *initialCommand = getParameter2();
+    }
+    return reason;
+}
+
+uint8_t* CommandMessage::getData() {
+    return MessageQueueMessage::getData() + sizeof(Command_t);
+}
+
+const uint8_t* CommandMessage::getData() const {
+    return MessageQueueMessage::getData() + sizeof(Command_t);
+}
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index e984ad3d..3be9a120 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -1,134 +1,129 @@
-/**
- * @file	CommandMessage.h
- * @brief	This file defines the CommandMessage class.
- * @date	20.06.2013
- * @author	baetz
- */
-
-#ifndef COMMANDMESSAGE_H_
-#define COMMANDMESSAGE_H_
-
-
-#include "FwMessageTypes.h"
-#include <config/ipc/MissionMessageTypes.h>
-
-#include "MessageQueueMessage.h"
-
-#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
-typedef ReturnValue_t Command_t;
-
-class CommandMessage : public MessageQueueMessage {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
-	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
-
-
-	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
-	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
-	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
-	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
-
-	/**
-	 * This is the size of a message as it is seen by the MessageQueue
-	 */
-	static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE
-			+ sizeof(Command_t) + 2 * sizeof(uint32_t);
-
-	/**
-	 * Default Constructor, does not initialize anything.
-	 *
-	 * This constructor should be used when receiving a Message, as the content is filled by the MessageQueue.
-	 */
-	CommandMessage();
-	/**
-	 * This constructor creates a new message with all message content initialized
-	 *
-	 * @param command	The DeviceHandlerCommand_t that will be sent
-	 * @param parameter1	The first parameter
-	 * @param parameter2	The second parameter
-	 */
-	CommandMessage(Command_t command,
-			uint32_t parameter1, uint32_t parameter2);
-
-	/**
-	 * Default Destructor
-	 */
-	virtual ~CommandMessage() {
-	}
-
-	/**
-	 * Read the DeviceHandlerCommand_t that is stored in the message, usually used after receiving
-	 *
-	 * @return the Command stored in the Message
-	 */
-	Command_t getCommand() const;
-
-	/**
-	 * Set the DeviceHandlerCOmmand_t of the message
-	 *
-	 * @param the Command to be sent
-	 */
-	void setCommand(Command_t command);
-
-	/**
-	 * Get the first parameter of the message
-	 *
-	 * @return the first Parameter of the message
-	 */
-	uint32_t getParameter() const;
-
-	/**
-	 * Set the first parameter of the message
-	 *
-	 * @param the first parameter of the message
-	 */
-	void setParameter(uint32_t parameter1);
-
-	/**
-	 * Get the second parameter of the message
-	 *
-	 * @return the second Parameter of the message
-	 */
-	uint32_t getParameter2() const;
-
-	/**
-	 * Set the second parameter of the message
-	 *
-	 * @param the second parameter of the message
-	 */
-	void setParameter2(uint32_t parameter2);
-
-	/**
-	 * Set the command to CMD_NONE and try to find
-	 * the correct class to handle a more detailed
-	 * clear.
-	 * Also, calls a mission-specific clearMissionMessage
-	 * function to separate between framework and mission
-	 * messages. Not optimal, may be replaced by totally
-	 * different auto-delete solution (e.g. smart pointers).
-	 *
-	 */
-	void clearCommandMessage();
-
-	/**
-	 * check if a message was cleared
-	 *
-	 * @return if the command is CMD_NONE
-	 */
-	bool isClearedCommandMessage();
-
-
-	/**
-	 * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
-	 * Is needed quite often, so we better code it once only.
-	 */
-	void setToUnknownCommand();
-	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
-	ReturnValue_t getReplyRejectedReason(
-	        Command_t *initialCommand = nullptr) const;
-
-	size_t getMinimumMessageSize() const;
-};
-
-
-#endif /* COMMANDMESSAGE_H_ */
+#ifndef FSFW_IPC_COMMANDMESSAGE_H_
+#define FSFW_IPC_COMMANDMESSAGE_H_
+
+#include "CommandMessageIF.h"
+#include "MessageQueueMessage.h"
+#include "FwMessageTypes.h"
+
+/**
+ * @brief 	Default command message used to pass command messages between tasks.
+ * 			Primary message type for IPC. Contains sender, 2-byte command ID
+ * 			field, and 2 4-byte parameters.
+ * @details
+ * It operates on an external memory which is contained inside a
+ * class implementing MessageQueueMessageIF by taking its address.
+ * This allows for a more flexible designs of message implementations.
+ * The pointer can be passed to different message implementations without
+ * the need of unnecessary copying.
+ *
+ * The command message is based of the generic MessageQueueMessage which
+ * currently has an internal message size of 28 bytes.
+ * @author	Bastian Baetz
+ */
+class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
+public:
+    /**
+     * Default size can accomodate 2 4-byte parameters.
+     */
+    static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
+            CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);
+
+	/**
+	 * @brief   Default Constructor, does not initialize anything.
+	 * @details
+	 * This constructor should be used when receiving a Message, as the
+	 * content is filled by the MessageQueue.
+	 */
+	CommandMessage();
+	/**
+	 * This constructor creates a new message with all message content
+	 * initialized
+	 *
+	 * @param command	The DeviceHandlerCommand_t that will be sent
+	 * @param parameter1	The first parameter
+	 * @param parameter2	The second parameter
+	 */
+	CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
+
+	/**
+	 * @brief 	Default Destructor
+	 */
+	virtual ~CommandMessage() {}
+
+    /**
+     * Read the DeviceHandlerCommand_t that is stored in the message,
+     * usually used after receiving.
+     *
+     * @return the Command stored in the Message
+     */
+    virtual Command_t getCommand() const override;
+    /**
+     * Set the command type of the message. Default implementation also
+     * sets the message type, which will be the first byte of the command ID.
+     * @param the Command to be sent
+     */
+    virtual void setCommand(Command_t command);
+
+    virtual uint8_t* getData() override;
+    virtual const uint8_t* getData() const override;
+
+	/**
+	 * Get the first parameter of the message
+	 * @return the first Parameter of the message
+	 */
+	uint32_t getParameter() const;
+	/**
+	 * Set the first parameter of the message
+	 * @param the first parameter of the message
+	 */
+	void setParameter(uint32_t parameter1);
+	uint32_t getParameter2() const;
+	void setParameter2(uint32_t parameter2);
+	uint32_t getParameter3() const;
+	void setParameter3(uint32_t parameter3);
+
+	/**
+	 * check if a message was cleared
+	 *
+	 * @return if the command is CMD_NONE
+	 */
+	bool isClearedCommandMessage();
+
+	/**
+	 * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
+	 * Is needed quite often, so we better code it once only.
+	 */
+	void setToUnknownCommand() override;
+
+    /**
+     * A command message can be rejected and needs to offer a function
+     * to set a rejected reply
+     * @param reason
+     * @param initialCommand
+     */
+    void setReplyRejected(ReturnValue_t reason,
+            Command_t initialCommand) override;
+    /**
+     * Corrensonding getter function.
+     * @param initialCommand
+     * @return
+     */
+    ReturnValue_t getReplyRejectedReason(
+            Command_t* initialCommand = nullptr) const override;
+
+
+    virtual void clear() override;
+    void clearCommandMessage();
+
+    /**
+     * Extract message ID, which is the first byte of the command ID for the
+     * default implementation.
+     * @return
+     */
+    virtual uint8_t getMessageType() const override;
+
+    /** MessageQueueMessageIF functions used for minimum size check. */
+    size_t getMinimumMessageSize() const override;
+};
+
+#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */
diff --git a/ipc/CommandMessageCleaner.cpp b/ipc/CommandMessageCleaner.cpp
new file mode 100644
index 00000000..a4dec78d
--- /dev/null
+++ b/ipc/CommandMessageCleaner.cpp
@@ -0,0 +1,45 @@
+#include "../ipc/CommandMessageCleaner.h"
+
+#include "../devicehandlers/DeviceHandlerMessage.h"
+#include "../health/HealthMessage.h"
+#include "../memory/MemoryMessage.h"
+#include "../modes/ModeMessage.h"
+#include "../monitoring/MonitoringMessage.h"
+#include "../subsystem/modes/ModeSequenceMessage.h"
+#include "../tmstorage/TmStoreMessage.h"
+#include "../parameters/ParameterMessage.h"
+
+void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
+	switch(message->getMessageType()){
+	case  messagetypes::MODE_COMMAND:
+		ModeMessage::clear(message);
+		break;
+	case messagetypes::HEALTH_COMMAND:
+		HealthMessage::clear(message);
+		break;
+	case messagetypes::MODE_SEQUENCE:
+		ModeSequenceMessage::clear(message);
+		break;
+	case messagetypes::ACTION:
+		ActionMessage::clear(message);
+		break;
+	case messagetypes::DEVICE_HANDLER_COMMAND:
+		DeviceHandlerMessage::clear(message);
+		break;
+	case messagetypes::MEMORY:
+		MemoryMessage::clear(message);
+		break;
+	case messagetypes::MONITORING:
+		MonitoringMessage::clear(message);
+		break;
+	case messagetypes::TM_STORE:
+		TmStoreMessage::clear(message);
+		break;
+	case messagetypes::PARAMETER:
+		ParameterMessage::clear(message);
+		break;
+	default:
+		messagetypes::clearMissionMessage(message);
+		break;
+	}
+}
diff --git a/ipc/CommandMessageCleaner.h b/ipc/CommandMessageCleaner.h
new file mode 100644
index 00000000..f17bf282
--- /dev/null
+++ b/ipc/CommandMessageCleaner.h
@@ -0,0 +1,16 @@
+#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
+#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
+#include "../ipc/CommandMessage.h"
+
+namespace messagetypes {
+// Implemented in config.
+void clearMissionMessage(CommandMessage* message);
+}
+
+class CommandMessageCleaner {
+public:
+	static void clearCommandMessage(CommandMessage* message);
+};
+
+
+#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */
diff --git a/ipc/CommandMessageIF.h b/ipc/CommandMessageIF.h
new file mode 100644
index 00000000..68a8d956
--- /dev/null
+++ b/ipc/CommandMessageIF.h
@@ -0,0 +1,73 @@
+#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
+#define FSFW_IPC_COMMANDMESSAGEIF_H_
+
+#include "MessageQueueMessageIF.h"
+#include "FwMessageTypes.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+
+#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
+typedef uint16_t Command_t;
+
+class CommandMessageIF {
+public:
+    /**
+     * Header consists of sender ID and command ID.
+     */
+	static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
+			sizeof(Command_t);
+	/**
+	 * This minimum size is derived from the interface requirement to be able
+     * to set a rejected reply, which contains a returnvalue and the initial
+     * command.
+	 */
+	static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
+	        CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
+	        sizeof(Command_t);
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
+	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
+
+	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
+	//! Used internally, shall be ignored
+	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
+	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
+	//! Reply indicating that the current command was rejected,
+	//! par1 should contain the error code
+	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
+
+	virtual ~CommandMessageIF() {};
+
+	/**
+	 * A command message shall have a uint16_t command ID field.
+	 * @return
+	 */
+	virtual Command_t getCommand() const = 0;
+	/**
+	 * A command message shall have a uint8_t message type ID field.
+	 * @return
+	 */
+	virtual uint8_t getMessageType() const = 0;
+
+	/**
+	 * A command message can be rejected and needs to offer a function
+	 * to set a rejected reply
+	 * @param reason
+	 * @param initialCommand
+	 */
+	virtual void setReplyRejected(ReturnValue_t reason,
+			Command_t initialCommand) = 0;
+	/**
+	 * Corrensonding getter function.
+	 * @param initialCommand
+	 * @return
+	 */
+	virtual ReturnValue_t getReplyRejectedReason(
+			Command_t* initialCommand = nullptr) const  = 0;
+
+	virtual void setToUnknownCommand() = 0;
+
+	virtual void clear() = 0;
+
+};
+
+#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */
diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp
index 05dde1f5..2f79cb3b 100644
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@@ -1,65 +1,84 @@
-#include "MessageQueueMessage.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-#include <string.h>
-
-MessageQueueMessage::MessageQueueMessage() :
-		messageSize(this->HEADER_SIZE) {
-	memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
-}
-
-MessageQueueMessage::~MessageQueueMessage() {
-}
-
-const uint8_t* MessageQueueMessage::getBuffer() const {
-	return this->internalBuffer;
-}
-
-uint8_t* MessageQueueMessage::getBuffer() {
-	return this->internalBuffer;
-}
-
-const uint8_t* MessageQueueMessage::getData() const {
-	return this->internalBuffer + this->HEADER_SIZE;
-}
-
-uint8_t* MessageQueueMessage::getData() {
-	return this->internalBuffer + this->HEADER_SIZE;
-}
-
-MessageQueueId_t MessageQueueMessage::getSender() const {
-	MessageQueueId_t temp_id;
-	memcpy(&temp_id, this->internalBuffer, sizeof(MessageQueueId_t));
-	return temp_id;
-}
-
-void MessageQueueMessage::setSender(MessageQueueId_t setId) {
-	memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
-}
-
-MessageQueueMessage::MessageQueueMessage(uint8_t* data, uint32_t size) :
-		messageSize(this->HEADER_SIZE + size) {
-	if (size <= this->MAX_DATA_SIZE) {
-		memcpy(this->getData(), data, size);
-	} else {
-		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
-		this->messageSize = this->HEADER_SIZE;
-	}
-}
-
-size_t MessageQueueMessage::getMinimumMessageSize() {
-	return this->HEADER_SIZE;
-}
-
-void MessageQueueMessage::print() {
-	sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
-			<< std::endl;
-	for (uint8_t count = 0; count < this->messageSize; count++) {
-		sif::debug << (uint32_t) this->internalBuffer[count] << ":";
-	}
-	sif::debug << std::dec << std::endl;
-}
-
-void MessageQueueMessage::clear() {
-	memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
-}
+#include "MessageQueueMessage.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../globalfunctions/arrayprinter.h"
+#include <cstring>
+
+MessageQueueMessage::MessageQueueMessage() :
+		messageSize(getMinimumMessageSize()) {
+	memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
+}
+
+MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
+		messageSize(this->HEADER_SIZE + size) {
+	if (size <= this->MAX_DATA_SIZE) {
+		memcpy(this->getData(), data, size);
+		this->messageSize = this->HEADER_SIZE + size;
+	}
+	else {
+		sif::warning << "MessageQueueMessage: Passed size larger than maximum"
+				"allowed size! Setting content to 0" << std::endl;
+		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
+		this->messageSize = this->HEADER_SIZE;
+	}
+}
+
+MessageQueueMessage::~MessageQueueMessage() {
+}
+
+const uint8_t* MessageQueueMessage::getBuffer() const {
+	return this->internalBuffer;
+}
+
+uint8_t* MessageQueueMessage::getBuffer() {
+	return this->internalBuffer;
+}
+
+const uint8_t* MessageQueueMessage::getData() const {
+	return this->internalBuffer + this->HEADER_SIZE;
+}
+
+uint8_t* MessageQueueMessage::getData() {
+	return this->internalBuffer + this->HEADER_SIZE;
+}
+
+MessageQueueId_t MessageQueueMessage::getSender() const {
+	MessageQueueId_t temp_id;
+	memcpy(&temp_id, this->internalBuffer, sizeof(MessageQueueId_t));
+	return temp_id;
+}
+
+void MessageQueueMessage::setSender(MessageQueueId_t setId) {
+	memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
+}
+
+void MessageQueueMessage::print(bool printWholeMessage) {
+	sif::debug << "MessageQueueMessage content: " << std::endl;
+	if(printWholeMessage) {
+	    arrayprinter::print(getData(), getMaximumMessageSize());
+	}
+	else {
+	    arrayprinter::print(getData(), getMessageSize());
+	}
+
+}
+
+void MessageQueueMessage::clear() {
+	memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
+}
+
+size_t MessageQueueMessage::getMessageSize() const {
+	return this->messageSize;
+}
+
+void MessageQueueMessage::setMessageSize(size_t messageSize) {
+	this->messageSize = messageSize;
+}
+
+size_t MessageQueueMessage::getMinimumMessageSize() const {
+    return this->MIN_MESSAGE_SIZE;
+}
+
+size_t MessageQueueMessage::getMaximumMessageSize() const {
+    return this->MAX_MESSAGE_SIZE;
+}
+
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index aa3559d6..da5c78cb 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -1,118 +1,150 @@
-#ifndef MESSAGEQUEUEMESSAGE_H_
-#define MESSAGEQUEUEMESSAGE_H_
-
-#include "MessageQueueSenderIF.h"
-#include <stddef.h>
-
-/**
- *	\brief		This class is the representation and data organizer for interprocess messages.
- *
- *	\details	To facilitate and standardize interprocess communication, this class was created
- *				to handle a lightweight "interprocess message protocol". It adds a header with the
- *				sender's queue id to every sent message and defines the maximum total message size.
- *				Specialized messages, such as device commanding messages, can be created by inheriting
- *				from this class and filling the buffer provided by getData with additional content.
- *				If larger amounts of data must be sent between processes, the data shall be stored in
- *				the IPC Store object and only the storage id is passed in a queue message.
- *				The class is used both to generate and send messages and to receive messages from
- *				other tasks.
- *	\ingroup message_queue
- */
-class MessageQueueMessage {
-public:
-	/**
-	 * \brief	This constant defines the maximum size of the data content, excluding the header.
-	 * \details	It may be changed if necessary, but in general should be kept as small as possible.
-	 */
-	static const size_t MAX_DATA_SIZE = 24;
-	/**
-	 * \brief	This constants defines the size of the header, which is added to every message.
-	 */
-	static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
-	/**
-	 * \brief	This constant defines the maximum total size in bytes of a sent message.
-	 * \details	It is the sum of the maximum data and the header size. Be aware that this constant
-	 * 			is used to define the buffer sizes for every message queue in the system. So, a change
-	 * 			here may have significant impact on the required resources.
-	 */
-	static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
-private:
-	/**
-	 * \brief	This is the internal buffer that contains the actual message data.
-	 */
-	uint8_t internalBuffer[MAX_MESSAGE_SIZE];
-public:
-	/**
-	 * \brief	The size information of each message is stored in this attribute.
-	 * \details	It is public to simplify usage and to allow for passing the variable's address as a
-	 * 			pointer. Care must be taken when inheriting from this class, as every child class is
-	 * 			responsible for managing the size information by itself. When using the class to
-	 * 			receive a message, the size information is updated automatically.
-	 */
-	size_t messageSize;
-	/**
-	 * \brief	The class is initialized empty with this constructor.
-	 * \details	The messageSize attribute is set to the header's size and the whole content is set to
-	 * 			zero.
-	 */
-	MessageQueueMessage();
-	/**
-	 * \brief	With this constructor the class is initialized with the given content.
-	 * \details	If the passed message size fits into the buffer, the passed data is copied to the
-	 * 			internal buffer and the messageSize information is set. Otherwise, messageSize
-	 * 			is set to the header's size and the whole content is set to zero.
-	 * \param data	The data to be put in the message.
-	 * \param size	Size of the data to be copied. Must be smaller than MAX_MESSAGE_SIZE.
-	 */
-	MessageQueueMessage(uint8_t* data, uint32_t size);
-	/**
-	 * \brief	As no memory is allocated in this class, the destructor is empty.
-	 */
-	virtual ~MessageQueueMessage();
-	/**
-	 * \brief	This method is used to get the complete data of the message.
-	 */
-	const uint8_t* getBuffer() const;
-	/**
-	 * \brief	This method is used to get the complete data of the message.
-	 */
-	uint8_t* getBuffer();
-	/**
-	 * \brief	This method is used to fetch the data content of the message.
-	 * \details It shall be used by child classes to add data at the right position.
-	 */
-	const uint8_t* getData() const;
-	/**
-	 * \brief	This method is used to fetch the data content of the message.
-	 * \details It shall be used by child classes to add data at the right position.
-	 */
-	uint8_t* getData();
-	/**
-	 * \brief	This method is used to extract the sender's message queue id information from a
-	 * 			received message.
-	 */
-	MessageQueueId_t getSender() const;
-	/**
-	 * \brief	With this method, the whole content and the message size is set to zero.
-	 */
-	void clear();
-	/**
-	 * \brief	This is a debug method that prints the content (till messageSize) to the debug output.
-	 */
-	void print();
-	/**
-	 * \brief	This method is used to set the sender's message queue id information prior to
-	 * 			sending the message.
-	 * \param setId	The message queue id that identifies the sending message queue.
-	 */
-	void setSender(MessageQueueId_t setId);
-	/**
-	 * \brief	This helper function is used by the MessageQueue class to check the size of an
-	 * 			incoming message.
-	 * \details	The method must be overwritten by child classes if size checks shall be more strict.
-	 * @return	The default implementation returns HEADER_SIZE.
-	 */
-	virtual size_t getMinimumMessageSize();
-};
-
-#endif /* MESSAGEQUEUEMESSAGE_H_ */
+#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
+#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
+
+#include "../ipc/MessageQueueMessageIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
+#include <cstddef>
+
+/**
+ *	@brief		This class is the representation and data organizer
+ *				for interprocess messages.
+ *	@details
+ *	To facilitate and standardize interprocess communication, this class was
+ *	created to handle a lightweight "interprocess message protocol".
+ *
+ *	It adds a header with the sender's queue id to every sent message and
+ *	defines the maximum total message size. Specialized messages, such as
+ *	device commanding messages, can be created by inheriting from this class
+ *	and filling the buffer provided by getData with additional content.
+ *
+ *	If larger amounts of data must be sent between processes, the data shall
+ *	be stored in the IPC Store object and only the storage id is passed in a
+ *	queue message.The class is used both to generate and send messages and to
+ *	receive messages from other tasks.
+ *	@ingroup message_queue
+ */
+class MessageQueueMessage: public MessageQueueMessageIF {
+public:
+	/**
+	 * @brief	The class is initialized empty with this constructor.
+	 * @details
+	 * The messageSize attribute is set to the header's size and the whole
+	 * content is set to zero.
+	 */
+	MessageQueueMessage();
+	/**
+	 * @brief	With this constructor the class is initialized with
+	 * 			the given content.
+	 * @details
+	 * If the passed message size fits into the buffer, the passed data is
+	 * copied to the internal buffer and the messageSize information is set.
+	 * Otherwise, messageSize is set to the header's size and the whole
+	 * content is set to zero.
+	 * @param data	The data to be put in the message.
+	 * @param size	Size of the data to be copied. Must be smaller than
+	 * 				MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
+	 */
+	MessageQueueMessage(uint8_t* data, size_t size);
+
+	/**
+	 * @brief	As no memory is allocated in this class,
+	 * 		    the destructor is empty.
+	 */
+	virtual ~MessageQueueMessage();
+
+	/**
+	 * @brief	The size information of each message is stored in
+	 *  			this attribute.
+	 * @details
+	 * It is public to simplify usage and to allow for passing the size
+	 * address as a pointer. Care must be taken when inheriting from this class,
+	 * as every child class is responsible for managing the size information by
+	 * itself. When using the class to receive a message, the size information
+	 * is updated automatically.
+	 *
+	 * Please note that the minimum size is limited by the size of the header
+	 * while the maximum size is limited by the maximum allowed message size.
+	 */
+	size_t messageSize;
+	/**
+	 * @brief	This constant defines the maximum size of the data content,
+	 * 			excluding the header.
+	 * @details
+	 * It may be changed if necessary, but in general should be kept
+	 * as small as possible.
+	 */
+	static const size_t MAX_DATA_SIZE = 24;
+
+	/**
+	 * @brief	This constant defines the maximum total size in bytes
+	 * 			of a sent message.
+	 * @details
+	 * It is the sum of the maximum data and the header size. Be aware that
+	 * this constant is used to define the buffer sizes for every message
+	 * queue in the system. So, a change here may have significant impact on
+	 * the required resources.
+	 */
+	static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
+	/**
+	 * @brief Defines the minimum size of a message where only the
+	 * 		  header is included
+	 */
+	static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
+private:
+	/**
+	 * @brief	This is the internal buffer that contains the
+	 * 			actual message data.
+	 */
+	uint8_t internalBuffer[MAX_MESSAGE_SIZE];
+public:
+	/**
+	 * @brief	This method is used to get the complete data of the message.
+	 */
+	const uint8_t* getBuffer() const override;
+	/**
+	 * @brief	This method is used to get the complete data of the message.
+	 */
+	uint8_t* getBuffer() override;
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	const uint8_t* getData() const override;
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	uint8_t* getData() override;
+	/**
+	 * @brief	This method is used to extract the sender's message
+	 * 			queue id information from a received message.
+	 */
+	MessageQueueId_t getSender() const override;
+	/**
+	 * @brief	With this method, the whole content
+	 * 			and the message size is set to zero.
+	 */
+	void clear() override;
+
+	/**
+	 * @brief	This method is used to set the sender's message queue id
+	 * 			information prior to ing the message.
+	 * @param setId
+	 * The message queue id that identifies the sending message queue.
+	 */
+	void setSender(MessageQueueId_t setId) override;
+
+	virtual size_t getMessageSize() const override;
+	virtual void setMessageSize(size_t messageSize) override;
+	virtual size_t getMinimumMessageSize() const override;
+	virtual size_t getMaximumMessageSize() const override;
+
+	/**
+	 * @brief	This is a debug method that prints the content.
+	 */
+	void print(bool printWholeMessage);
+};
+
+#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
new file mode 100644
index 00000000..91753ced
--- /dev/null
+++ b/ipc/MessageQueueMessageIF.h
@@ -0,0 +1,91 @@
+#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
+#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
+#include <cstddef>
+#include <cstdint>
+
+/*
+ * TODO: Actually, the definition of this ID to be a uint32_t is not  ideal and
+ * breaks layering. However, it is difficult to keep layering, as the ID is
+ * stored in many places and sent around in MessageQueueMessage.
+ * Ideally, one would use the (current) object_id_t only, however, doing a
+ * lookup of queueIDs for every call does not sound ideal.
+ * In a first step, I'll circumvent the issue by not touching it,
+ * maybe in a second step. This also influences Interface design
+ * (getCommandQueue) and some other issues..
+ */
+
+typedef uint32_t MessageQueueId_t;
+
+class MessageQueueMessageIF {
+public:
+	static const MessageQueueId_t NO_QUEUE = -1;
+    /**
+     * @brief   This constants defines the size of the header,
+     *          which is added to every message.
+     */
+    static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
+
+	virtual ~MessageQueueMessageIF() {};
+
+	/**
+	 * @brief	With this method, the whole content and the message
+	 * 			size is set to zero.
+	 * @details
+	 * Implementations should also take care to clear data which is stored
+	 * indirectly (e.g. storage data).
+	 */
+	virtual void clear() = 0;
+
+	/**
+	 * @brief	Get read-only pointer to the complete data of the message.
+	 * @return
+	 */
+	virtual const uint8_t* getBuffer() const = 0;
+
+	/**
+	 * @brief	This method is used to get the complete data of the message.
+	 */
+	virtual uint8_t* getBuffer() = 0;
+
+	/**
+	 * @brief	This method is used to set the sender's message queue id
+	 * 			information prior to sending the message.
+	 * @param setId
+	 * The message queue id that identifies the sending message queue.
+	 */
+	virtual void setSender(MessageQueueId_t setId) = 0;
+
+	/**
+	 * @brief	This method is used to extract the sender's message queue id
+	 * 			information from a received message.
+	 */
+	virtual MessageQueueId_t getSender() const = 0;
+
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	virtual const uint8_t* getData() const = 0;
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	virtual uint8_t* getData() = 0;
+
+	/**
+	 * Get constant message size of current message implementation.
+	 * @return
+	 */
+	virtual size_t getMessageSize() const = 0;
+
+    virtual void setMessageSize(size_t messageSize) = 0;
+    virtual size_t getMinimumMessageSize() const = 0;
+    virtual size_t getMaximumMessageSize() const = 0;
+
+};
+
+
+
+#endif /* FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_ */

From f13e7b4255005a1857abe9734cd8e1df325a4b0a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 25 Aug 2020 18:30:11 +0200
Subject: [PATCH 257/653] include replacements

---
 osal/host/Clock.cpp             | 454 +++++++++++++++----------------
 osal/host/FixedTimeslotTask.cpp | 382 +++++++++++++-------------
 osal/host/FixedTimeslotTask.h   | 260 +++++++++---------
 osal/host/MessageQueue.cpp      | 310 ++++++++++-----------
 osal/host/MessageQueue.h        | 460 ++++++++++++++++----------------
 osal/host/Mutex.cpp             |  80 +++---
 osal/host/Mutex.h               |  56 ++--
 osal/host/MutexFactory.cpp      |  56 ++--
 osal/host/PeriodicTask.cpp      | 352 ++++++++++++------------
 osal/host/PeriodicTask.h        | 246 ++++++++---------
 osal/host/QueueFactory.cpp      |  82 +++---
 osal/host/QueueMapManager.cpp   | 102 +++----
 osal/host/QueueMapManager.h     |  94 +++----
 osal/host/SemaphoreFactory.cpp  |  84 +++---
 osal/host/TaskFactory.cpp       | 110 ++++----
 15 files changed, 1564 insertions(+), 1564 deletions(-)

diff --git a/osal/host/Clock.cpp b/osal/host/Clock.cpp
index 57f2572b..52d0d5f0 100644
--- a/osal/host/Clock.cpp
+++ b/osal/host/Clock.cpp
@@ -1,227 +1,227 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/timemanager/Clock.h>
-
-#include <chrono>
-#if defined(WIN32)
-#include <windows.h>
-#elif defined(LINUX)
-#include <fstream>
-#endif
-
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
-
-using SystemClock = std::chrono::system_clock;
-
-uint32_t Clock::getTicksPerSecond(void){
-	sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
-	return 0;
-	//return CLOCKS_PER_SEC;
-	//uint32_t ticks = sysconf(_SC_CLK_TCK);
-	//return ticks;
-}
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-	// do some magic with chrono
-	sif::warning << "Clock::setClock: not implemented yet" << std::endl;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::setClock(const timeval* time) {
-	// do some magic with chrono
-#if defined(WIN32)
-	return HasReturnvaluesIF::RETURN_OK;
-#elif defined(LINUX)
-	return HasReturnvaluesIF::RETURN_OK;
-#else
-
-#endif
-	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t Clock::getClock_timeval(timeval* time) {
-#if defined(WIN32)
-	auto now  = std::chrono::system_clock::now();
-	auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
-	auto epoch = now.time_since_epoch();
-	time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
-	auto fraction = now - secondsChrono;
-	time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
-	        fraction).count();
-	return HasReturnvaluesIF::RETURN_OK;
-#elif defined(LINUX)
-	timespec timeUnix;
-	int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
-	if(status!=0){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	time->tv_sec = timeUnix.tv_sec;
-	time->tv_usec = timeUnix.tv_nsec / 1000.0;
-	return HasReturnvaluesIF::RETURN_OK;
-#else
-	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
-	return HasReturnvaluesIF::RETURN_FAILED;
-#endif
-
-}
-
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-	// do some magic with chrono
-	sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-timeval Clock::getUptime() {
-	timeval timeval;
-#if defined(WIN32)
-	auto uptime  = std::chrono::milliseconds(GetTickCount64());
-	auto secondsChrono = std::chrono::duration_cast<std::chrono::seconds>(uptime);
-	timeval.tv_sec = secondsChrono.count();
-	auto fraction = uptime - secondsChrono;
-	timeval.tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
-	            fraction).count();
-#elif defined(LINUX)
-	double uptimeSeconds;
-	if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds)
-	{
-		// value is rounded down automatically
-		timeval.tv_sec = uptimeSeconds;
-		timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
-	}
-#else
-	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
-#endif
-	return timeval;
-}
-
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-	*uptime = getUptime();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-	timeval uptime = getUptime();
-	*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-	// do some magic with chrono (C++20!)
-	// Right now, the library doesn't have the new features yet.
-	// so we work around that for now.
-	auto now = SystemClock::now();
-	auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
-	auto fraction = now - seconds;
-	time_t tt = SystemClock::to_time_t(now);
-	struct tm* timeInfo;
-	timeInfo = gmtime(&tt);
-	time->year = timeInfo->tm_year + 1900;
-	time->month = timeInfo->tm_mon+1;
-	time->day = timeInfo->tm_mday;
-	time->hour = timeInfo->tm_hour;
-	time->minute = timeInfo->tm_min;
-	time->second = timeInfo->tm_sec;
-	auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
-	time->usecond = usecond.count();
-
-	//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
-		timeval* to) {
-	struct tm time_tm;
-
-	time_tm.tm_year = from->year - 1900;
-	time_tm.tm_mon = from->month - 1;
-	time_tm.tm_mday = from->day;
-
-	time_tm.tm_hour = from->hour;
-	time_tm.tm_min = from->minute;
-	time_tm.tm_sec = from->second;
-
-	time_t seconds = mktime(&time_tm);
-
-	to->tv_sec = seconds;
-	to->tv_usec = from->usecond;
-	//Fails in 2038..
-	return HasReturnvaluesIF::RETURN_OK;
-	sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-	*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
-			/ 3600.;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
-	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	uint16_t leapSeconds;
-	ReturnValue_t result = getLeapSeconds(&leapSeconds);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	timeval leapSeconds_timeval = { 0, 0 };
-	leapSeconds_timeval.tv_sec = leapSeconds;
-
-	//initial offset between UTC and TAI
-	timeval UTCtoTAI1972 = { 10, 0 };
-
-	timeval TAItoTT = { 32, 184000 };
-
-	*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
-	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	leapSeconds = leapSeconds_;
-
-	result = timeMutex->unlockMutex();
-	return result;
-}
-
-ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-	if(timeMutex == nullptr){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	*leapSeconds_ = leapSeconds;
-
-	result = timeMutex->unlockMutex();
-	return result;
-}
-
-ReturnValue_t Clock::checkOrCreateClockMutex(){
-	if(timeMutex == nullptr){
-		MutexFactory* mutexFactory = MutexFactory::instance();
-		if (mutexFactory == nullptr) {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		timeMutex = mutexFactory->createMutex();
-		if (timeMutex == nullptr) {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/Clock.h"
+
+#include <chrono>
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <fstream>
+#endif
+
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = NULL;
+
+using SystemClock = std::chrono::system_clock;
+
+uint32_t Clock::getTicksPerSecond(void){
+	sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
+	return 0;
+	//return CLOCKS_PER_SEC;
+	//uint32_t ticks = sysconf(_SC_CLK_TCK);
+	//return ticks;
+}
+
+ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+	// do some magic with chrono
+	sif::warning << "Clock::setClock: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::setClock(const timeval* time) {
+	// do some magic with chrono
+#if defined(WIN32)
+	return HasReturnvaluesIF::RETURN_OK;
+#elif defined(LINUX)
+	return HasReturnvaluesIF::RETURN_OK;
+#else
+
+#endif
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t Clock::getClock_timeval(timeval* time) {
+#if defined(WIN32)
+	auto now  = std::chrono::system_clock::now();
+	auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
+	auto epoch = now.time_since_epoch();
+	time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
+	auto fraction = now - secondsChrono;
+	time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+	        fraction).count();
+	return HasReturnvaluesIF::RETURN_OK;
+#elif defined(LINUX)
+	timespec timeUnix;
+	int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
+	if(status!=0){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	time->tv_sec = timeUnix.tv_sec;
+	time->tv_usec = timeUnix.tv_nsec / 1000.0;
+	return HasReturnvaluesIF::RETURN_OK;
+#else
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+
+}
+
+ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
+	// do some magic with chrono
+	sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+timeval Clock::getUptime() {
+	timeval timeval;
+#if defined(WIN32)
+	auto uptime  = std::chrono::milliseconds(GetTickCount64());
+	auto secondsChrono = std::chrono::duration_cast<std::chrono::seconds>(uptime);
+	timeval.tv_sec = secondsChrono.count();
+	auto fraction = uptime - secondsChrono;
+	timeval.tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+	            fraction).count();
+#elif defined(LINUX)
+	double uptimeSeconds;
+	if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds)
+	{
+		// value is rounded down automatically
+		timeval.tv_sec = uptimeSeconds;
+		timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
+	}
+#else
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+#endif
+	return timeval;
+}
+
+ReturnValue_t Clock::getUptime(timeval* uptime) {
+	*uptime = getUptime();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
+	timeval uptime = getUptime();
+	*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
+	// do some magic with chrono (C++20!)
+	// Right now, the library doesn't have the new features yet.
+	// so we work around that for now.
+	auto now = SystemClock::now();
+	auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
+	auto fraction = now - seconds;
+	time_t tt = SystemClock::to_time_t(now);
+	struct tm* timeInfo;
+	timeInfo = gmtime(&tt);
+	time->year = timeInfo->tm_year + 1900;
+	time->month = timeInfo->tm_mon+1;
+	time->day = timeInfo->tm_mday;
+	time->hour = timeInfo->tm_hour;
+	time->minute = timeInfo->tm_min;
+	time->second = timeInfo->tm_sec;
+	auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
+	time->usecond = usecond.count();
+
+	//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
+		timeval* to) {
+	struct tm time_tm;
+
+	time_tm.tm_year = from->year - 1900;
+	time_tm.tm_mon = from->month - 1;
+	time_tm.tm_mday = from->day;
+
+	time_tm.tm_hour = from->hour;
+	time_tm.tm_min = from->minute;
+	time_tm.tm_sec = from->second;
+
+	time_t seconds = mktime(&time_tm);
+
+	to->tv_sec = seconds;
+	to->tv_usec = from->usecond;
+	//Fails in 2038..
+	return HasReturnvaluesIF::RETURN_OK;
+	sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
+	*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
+			/ 3600.;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
+	//SHOULDDO: works not for dates in the past (might have less leap seconds)
+	if (timeMutex == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	uint16_t leapSeconds;
+	ReturnValue_t result = getLeapSeconds(&leapSeconds);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	timeval leapSeconds_timeval = { 0, 0 };
+	leapSeconds_timeval.tv_sec = leapSeconds;
+
+	//initial offset between UTC and TAI
+	timeval UTCtoTAI1972 = { 10, 0 };
+
+	timeval TAItoTT = { 32, 184000 };
+
+	*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
+	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	leapSeconds = leapSeconds_;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
+	if(timeMutex == nullptr){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	*leapSeconds_ = leapSeconds;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::checkOrCreateClockMutex(){
+	if(timeMutex == nullptr){
+		MutexFactory* mutexFactory = MutexFactory::instance();
+		if (mutexFactory == nullptr) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		timeMutex = mutexFactory->createMutex();
+		if (timeMutex == nullptr) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
index dac399f6..1999c9e6 100644
--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -1,191 +1,191 @@
-#include <framework/osal/host/FixedTimeslotTask.h>
-
-#include <framework/ipc/MutexFactory.h>
-#include <framework/osal/host/Mutex.h>
-#include <framework/osal/host/FixedTimeslotTask.h>
-
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-
-#include <thread>
-#include <chrono>
-
-#if defined(WIN32)
-#include <windows.h>
-#elif defined(LINUX)
-#include <pthread.h>
-#endif
-
-FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
-        TaskStackSize setStack, TaskPeriod setPeriod,
-        void (*setDeadlineMissedFunc)()) :
-        started(false), pollingSeqTable(setPeriod*1000), taskName(name),
-        period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
-    // It is propably possible to set task priorities by using the native
-    // task handles for Windows / Linux
-    mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
-#if defined(WIN32)
-    /* List of possible priority classes:
-     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
-     * nf-processthreadsapi-setpriorityclass
-     * And respective thread priority numbers:
-     * https://docs.microsoft.com/en-us/windows/
-     * win32/procthread/scheduling-priorities */
-    int result = SetPriorityClass(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            ABOVE_NORMAL_PRIORITY_CLASS);
-    if(result != 0) {
-        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-    }
-    result = SetThreadPriority(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            THREAD_PRIORITY_NORMAL);
-    if(result != 0) {
-        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-    }
-#elif defined(LINUX)
-    // we can just copy and paste the code from linux here.
-#endif
-}
-
-FixedTimeslotTask::~FixedTimeslotTask(void) {
-    //Do not delete objects, we were responsible for ptrs only.
-    terminateThread = true;
-    if(mainThread.joinable()) {
-        mainThread.join();
-    }
-    delete this;
-}
-
-void FixedTimeslotTask::taskEntryPoint(void* argument) {
-    FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-
-    if (not originalTask->started) {
-        // we have to suspend/block here until the task is started.
-        // if semaphores are implemented, use them here.
-        std::unique_lock<std::mutex> lock(initMutex);
-        initCondition.wait(lock);
-    }
-
-    this->taskFunctionality();
-    sif::debug << "FixedTimeslotTask::taskEntryPoint: "
-            "Returned from taskFunctionality." << std::endl;
-}
-
-ReturnValue_t FixedTimeslotTask::startTask() {
-    started = true;
-
-    // Notify task to start.
-    std::lock_guard<std::mutex> lock(initMutex);
-    initCondition.notify_one();
-
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
-    std::this_thread::sleep_for(std::chrono::milliseconds(ms));
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-void FixedTimeslotTask::taskFunctionality() {
-    // A local iterator for the Polling Sequence Table is created to
-    // find the start time for the first entry.
-    FixedSlotSequence::SlotListIter slotListIter = pollingSeqTable.current;
-    // Get start time for first entry.
-    chron_ms interval(slotListIter->pollingTimeMs);
-    auto currentStartTime {
-            std::chrono::duration_cast<chron_ms>(
-            std::chrono::system_clock::now().time_since_epoch())
-    };
-    if(interval.count() > 0) {
-        delayForInterval(&currentStartTime, interval);
-    }
-
-    /* Enter the loop that defines the task behavior. */
-    for (;;) {
-        if(terminateThread.load()) {
-            break;
-        }
-        //The component for this slot is executed and the next one is chosen.
-        this->pollingSeqTable.executeAndAdvance();
-        if (not pollingSeqTable.slotFollowsImmediately()) {
-            // we need to wait before executing the current slot
-            //this gives us the time to wait:
-            interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
-            delayForInterval(&currentStartTime, interval);
-            //TODO deadline missed check
-        }
-    }
-}
-
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
-        uint32_t slotTimeMs, int8_t executionStep) {
-    if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-        pollingSeqTable.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 pollingSeqTable.checkSequence();
-}
-
-uint32_t FixedTimeslotTask::getPeriodMs() const {
-    return period * 1000;
-}
-
-bool FixedTimeslotTask::delayForInterval(chron_ms * previousWakeTimeMs,
-        const chron_ms interval) {
-    bool shouldDelay = false;
-    //Get current wakeup time
-    auto currentStartTime =
-            std::chrono::duration_cast<chron_ms>(
-            std::chrono::system_clock::now().time_since_epoch());
-    /* Generate the tick time at which the task wants to wake. */
-    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
-
-    if (currentStartTime < *previousWakeTimeMs) {
-        /* The tick count has overflowed since this function was
-         lasted called.  In this case the only time we should ever
-         actually delay is if the wake time has also    overflowed,
-         and the wake time is greater than the tick time.  When this
-         is the case it is as if neither time had overflowed. */
-        if ((nextTimeToWake_ms < *previousWakeTimeMs)
-                && (nextTimeToWake_ms > currentStartTime)) {
-            shouldDelay = true;
-        }
-    } else {
-        /* The tick time has not overflowed.  In this case we will
-         delay if either the wake time has overflowed, and/or the
-         tick time is less than the wake time. */
-        if ((nextTimeToWake_ms < *previousWakeTimeMs)
-                || (nextTimeToWake_ms >  currentStartTime)) {
-            shouldDelay = true;
-        }
-    }
-
-    /* Update the wake time ready for the next call. */
-
-    (*previousWakeTimeMs) =  nextTimeToWake_ms;
-
-    if (shouldDelay) {
-        auto sleepTime = std::chrono::duration_cast<chron_ms>(
-                nextTimeToWake_ms - currentStartTime);
-        std::this_thread::sleep_for(sleepTime);
-        return true;
-    }
-    //We are shifting the time in case the deadline was missed like rtems
-    (*previousWakeTimeMs) = currentStartTime;
-    return false;
-
-}
-
-
-
-
+#include "../../osal/host/FixedTimeslotTask.h"
+
+#include "../../ipc/MutexFactory.h"
+#include "../../osal/host/Mutex.h"
+#include "../../osal/host/FixedTimeslotTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
+        TaskStackSize setStack, TaskPeriod setPeriod,
+        void (*setDeadlineMissedFunc)()) :
+        started(false), pollingSeqTable(setPeriod*1000), taskName(name),
+        period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+    mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+FixedTimeslotTask::~FixedTimeslotTask(void) {
+    //Do not delete objects, we were responsible for ptrs only.
+    terminateThread = true;
+    if(mainThread.joinable()) {
+        mainThread.join();
+    }
+    delete this;
+}
+
+void FixedTimeslotTask::taskEntryPoint(void* argument) {
+    FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+
+    if (not originalTask->started) {
+        // we have to suspend/block here until the task is started.
+        // if semaphores are implemented, use them here.
+        std::unique_lock<std::mutex> lock(initMutex);
+        initCondition.wait(lock);
+    }
+
+    this->taskFunctionality();
+    sif::debug << "FixedTimeslotTask::taskEntryPoint: "
+            "Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+    started = true;
+
+    // Notify task to start.
+    std::lock_guard<std::mutex> lock(initMutex);
+    initCondition.notify_one();
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void FixedTimeslotTask::taskFunctionality() {
+    // A local iterator for the Polling Sequence Table is created to
+    // find the start time for the first entry.
+    FixedSlotSequence::SlotListIter slotListIter = pollingSeqTable.current;
+    // Get start time for first entry.
+    chron_ms interval(slotListIter->pollingTimeMs);
+    auto currentStartTime {
+            std::chrono::duration_cast<chron_ms>(
+            std::chrono::system_clock::now().time_since_epoch())
+    };
+    if(interval.count() > 0) {
+        delayForInterval(&currentStartTime, interval);
+    }
+
+    /* Enter the loop that defines the task behavior. */
+    for (;;) {
+        if(terminateThread.load()) {
+            break;
+        }
+        //The component for this slot is executed and the next one is chosen.
+        this->pollingSeqTable.executeAndAdvance();
+        if (not pollingSeqTable.slotFollowsImmediately()) {
+            // we need to wait before executing the current slot
+            //this gives us the time to wait:
+            interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
+            delayForInterval(&currentStartTime, interval);
+            //TODO deadline missed check
+        }
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+        uint32_t slotTimeMs, int8_t executionStep) {
+    if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+        pollingSeqTable.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 pollingSeqTable.checkSequence();
+}
+
+uint32_t FixedTimeslotTask::getPeriodMs() const {
+    return period * 1000;
+}
+
+bool FixedTimeslotTask::delayForInterval(chron_ms * previousWakeTimeMs,
+        const chron_ms interval) {
+    bool shouldDelay = false;
+    //Get current wakeup time
+    auto currentStartTime =
+            std::chrono::duration_cast<chron_ms>(
+            std::chrono::system_clock::now().time_since_epoch());
+    /* Generate the tick time at which the task wants to wake. */
+    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
+
+    if (currentStartTime < *previousWakeTimeMs) {
+        /* The tick count has overflowed since this function was
+         lasted called.  In this case the only time we should ever
+         actually delay is if the wake time has also    overflowed,
+         and the wake time is greater than the tick time.  When this
+         is the case it is as if neither time had overflowed. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                && (nextTimeToWake_ms > currentStartTime)) {
+            shouldDelay = true;
+        }
+    } else {
+        /* The tick time has not overflowed.  In this case we will
+         delay if either the wake time has overflowed, and/or the
+         tick time is less than the wake time. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                || (nextTimeToWake_ms >  currentStartTime)) {
+            shouldDelay = true;
+        }
+    }
+
+    /* Update the wake time ready for the next call. */
+
+    (*previousWakeTimeMs) =  nextTimeToWake_ms;
+
+    if (shouldDelay) {
+        auto sleepTime = std::chrono::duration_cast<chron_ms>(
+                nextTimeToWake_ms - currentStartTime);
+        std::this_thread::sleep_for(sleepTime);
+        return true;
+    }
+    //We are shifting the time in case the deadline was missed like rtems
+    (*previousWakeTimeMs) = currentStartTime;
+    return false;
+
+}
+
+
+
+
diff --git a/osal/host/FixedTimeslotTask.h b/osal/host/FixedTimeslotTask.h
index b12cc6d3..bbee94a6 100644
--- a/osal/host/FixedTimeslotTask.h
+++ b/osal/host/FixedTimeslotTask.h
@@ -1,130 +1,130 @@
-#ifndef FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
-#define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
-
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/FixedSlotSequence.h>
-#include <framework/tasks/FixedTimeslotTaskIF.h>
-#include <framework/tasks/Typedef.h>
-
-#include <vector>
-#include <thread>
-#include <condition_variable>
-#include <atomic>
-
-class ExecutableObjectIF;
-
-/**
- * @brief   This class represents a task for periodic activities with multiple
- *          steps and strict timeslot requirements for these steps.
- * @details
- * @ingroup task_handling
- */
-class FixedTimeslotTask: public FixedTimeslotTaskIF {
-public:
-    /**
-     * @brief   Standard constructor of the class.
-     * @details
-     * The class is initialized without allocated objects. These need to be
-     * added with #addComponent.
-     * @param priority
-     * @param stack_size
-     * @param setPeriod
-     * @param setDeadlineMissedFunc
-     * The function pointer to the deadline missed function that shall be
-     * assigned.
-     */
-    FixedTimeslotTask(const char *name, TaskPriority setPriority,
-            TaskStackSize setStack, TaskPeriod setPeriod,
-            void (*setDeadlineMissedFunc)());
-    /**
-     * @brief   Currently, the executed object's lifetime is not coupled with
-     *          the task object's lifetime, so the destructor is empty.
-     */
-    virtual ~FixedTimeslotTask(void);
-
-    /**
-     * @brief   The method to start the task.
-     * @details The method starts the task with the respective system call.
-     *          Entry point is the taskEntryPoint method described below.
-     *          The address of the task object is passed as an argument
-     *          to the system call.
-     */
-    ReturnValue_t startTask(void);
-
-    /**
-     * Add timeslot to the polling sequence table.
-     * @param componentId
-     * @param slotTimeMs
-     * @param executionStep
-     * @return
-     */
-    ReturnValue_t addSlot(object_id_t componentId,
-                   uint32_t slotTimeMs, int8_t executionStep);
-
-    ReturnValue_t checkSequence() const;
-
-    uint32_t getPeriodMs() const;
-
-    ReturnValue_t sleepFor(uint32_t ms);
-
-protected:
-    using chron_ms = std::chrono::milliseconds;
-
-    bool started;
-    //!< Typedef for the List of objects.
-    typedef std::vector<ExecutableObjectIF*> ObjectList;
-    std::thread mainThread;
-    std::atomic<bool> terminateThread = false;
-
-    //! Polling sequence table which contains the object to execute
-    //! and information like the timeslots and the passed execution step.
-    FixedSlotSequence pollingSeqTable;
-
-    std::condition_variable initCondition;
-    std::mutex initMutex;
-    std::string taskName;
-    /**
-     * @brief   The period of the task.
-     * @details
-     * The period determines the frequency of the task's execution.
-     * It is expressed in clock ticks.
-     */
-    TaskPeriod period;
-
-    /**
-     * @brief   The pointer to the deadline-missed function.
-     * @details
-     * This pointer stores the function that is executed if the task's deadline
-     * is missed. So, each may react individually on a timing failure.
-     * The pointer may be NULL, then nothing happens on missing the deadline.
-     * The deadline is equal to the next execution of the periodic task.
-     */
-    void (*deadlineMissedFunc)(void);
-    /**
-     * @brief   This is the function executed in the new task's context.
-     * @details
-     * It converts the argument back to the thread object type and copies the
-     * class instance to the task context.
-     * The taskFunctionality method is called afterwards.
-     * @param   A pointer to the task object itself is passed as argument.
-     */
-
-    void taskEntryPoint(void* argument);
-    /**
-     * @brief   The function containing the actual functionality of the task.
-     * @details
-     * The method sets and starts the task's period, then enters a loop that is
-     * repeated as long as the isRunning attribute is true. Within the loop,
-     * all performOperation methods of the added objects are called. Afterwards
-     * the checkAndRestartPeriod system call blocks the task until the next
-     *  period. On missing the deadline, the deadlineMissedFunction is executed.
-     */
-    void taskFunctionality(void);
-
-    bool delayForInterval(chron_ms * previousWakeTimeMs,
-            const chron_ms interval);
-};
-
-
-
-#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */
+#ifndef FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
+
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief   This class represents a task for periodic activities with multiple
+ *          steps and strict timeslot requirements for these steps.
+ * @details
+ * @ingroup task_handling
+ */
+class FixedTimeslotTask: public FixedTimeslotTaskIF {
+public:
+    /**
+     * @brief   Standard constructor of the class.
+     * @details
+     * The class is initialized without allocated objects. These need to be
+     * added with #addComponent.
+     * @param priority
+     * @param stack_size
+     * @param setPeriod
+     * @param setDeadlineMissedFunc
+     * The function pointer to the deadline missed function that shall be
+     * assigned.
+     */
+    FixedTimeslotTask(const char *name, TaskPriority setPriority,
+            TaskStackSize setStack, TaskPeriod setPeriod,
+            void (*setDeadlineMissedFunc)());
+    /**
+     * @brief   Currently, the executed object's lifetime is not coupled with
+     *          the task object's lifetime, so the destructor is empty.
+     */
+    virtual ~FixedTimeslotTask(void);
+
+    /**
+     * @brief   The method to start the task.
+     * @details The method starts the task with the respective system call.
+     *          Entry point is the taskEntryPoint method described below.
+     *          The address of the task object is passed as an argument
+     *          to the system call.
+     */
+    ReturnValue_t startTask(void);
+
+    /**
+     * Add timeslot to the polling sequence table.
+     * @param componentId
+     * @param slotTimeMs
+     * @param executionStep
+     * @return
+     */
+    ReturnValue_t addSlot(object_id_t componentId,
+                   uint32_t slotTimeMs, int8_t executionStep);
+
+    ReturnValue_t checkSequence() const;
+
+    uint32_t getPeriodMs() const;
+
+    ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+    using chron_ms = std::chrono::milliseconds;
+
+    bool started;
+    //!< Typedef for the List of objects.
+    typedef std::vector<ExecutableObjectIF*> ObjectList;
+    std::thread mainThread;
+    std::atomic<bool> terminateThread = false;
+
+    //! Polling sequence table which contains the object to execute
+    //! and information like the timeslots and the passed execution step.
+    FixedSlotSequence pollingSeqTable;
+
+    std::condition_variable initCondition;
+    std::mutex initMutex;
+    std::string taskName;
+    /**
+     * @brief   The period of the task.
+     * @details
+     * The period determines the frequency of the task's execution.
+     * It is expressed in clock ticks.
+     */
+    TaskPeriod period;
+
+    /**
+     * @brief   The pointer to the deadline-missed function.
+     * @details
+     * This pointer stores the function that is executed if the task's deadline
+     * is missed. So, each may react individually on a timing failure.
+     * The pointer may be NULL, then nothing happens on missing the deadline.
+     * The deadline is equal to the next execution of the periodic task.
+     */
+    void (*deadlineMissedFunc)(void);
+    /**
+     * @brief   This is the function executed in the new task's context.
+     * @details
+     * It converts the argument back to the thread object type and copies the
+     * class instance to the task context.
+     * The taskFunctionality method is called afterwards.
+     * @param   A pointer to the task object itself is passed as argument.
+     */
+
+    void taskEntryPoint(void* argument);
+    /**
+     * @brief   The function containing the actual functionality of the task.
+     * @details
+     * The method sets and starts the task's period, then enters a loop that is
+     * repeated as long as the isRunning attribute is true. Within the loop,
+     * all performOperation methods of the added objects are called. Afterwards
+     * the checkAndRestartPeriod system call blocks the task until the next
+     *  period. On missing the deadline, the deadlineMissedFunction is executed.
+     */
+    void taskFunctionality(void);
+
+    bool delayForInterval(chron_ms * previousWakeTimeMs,
+            const chron_ms interval);
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */
diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
index 7af5fbd9..6fd42849 100644
--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@@ -1,155 +1,155 @@
-#include <framework/osal/host/MessageQueue.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/host/QueueMapManager.h>
-#include <framework/ipc/MutexFactory.h>
-#include <framework/ipc/MutexHelper.h>
-
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
-		messageSize(maxMessageSize), messageDepth(messageDepth) {
-	queueLock = MutexFactory::instance()->createMutex();
-	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "MessageQueue: Could not be created" << std::endl;
-	}
-}
-
-MessageQueue::~MessageQueue() {
-	MutexFactory::instance()->deleteMutex(queueLock);
-}
-
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessageIF* message, bool ignoreFault) {
-	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-	return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-		MessageQueueId_t sentFrom, bool ignoreFault) {
-	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-	if (this->lastPartner != 0) {
-		return sendMessageFrom(this->lastPartner, message, this->getId());
-	} else {
-		return MessageQueueIF::NO_REPLY_PARTNER;
-	}
-}
-
-ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
-	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
-			ignoreFault);
-}
-
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-		MessageQueueId_t* receivedFrom) {
-	ReturnValue_t status = this->receiveMessage(message);
-	if(status == HasReturnvaluesIF::RETURN_OK) {
-		*receivedFrom = this->lastPartner;
-	}
-	return status;
-}
-
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
-	if(messageQueue.empty()) {
-		return MessageQueueIF::EMPTY;
-	}
-	// not sure this will work..
-	//*message = std::move(messageQueue.front());
-	MutexHelper mutexLock(queueLock, 20);
-	MessageQueueMessage* currentMessage = &messageQueue.front();
-	std::copy(currentMessage->getBuffer(),
-			currentMessage->getBuffer() + messageSize, message->getBuffer());
-	messageQueue.pop();
-	// The last partner is the first uint32_t field in the message
-	this->lastPartner = message->getSender();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-MessageQueueId_t MessageQueue::getLastPartner() const {
-	return lastPartner;
-}
-
-ReturnValue_t MessageQueue::flush(uint32_t* count) {
-	*count = messageQueue.size();
-	// Clears the queue.
-	messageQueue = std::queue<MessageQueueMessage>();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-MessageQueueId_t MessageQueue::getId() const {
-	return mqId;
-}
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-	defaultDestinationSet = true;
-	this->defaultDestination = defaultDestination;
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const {
-	return defaultDestination;
-}
-
-bool MessageQueue::isDefaultDestinationSet() const {
-	return defaultDestinationSet;
-}
-
-
-// static core function to send messages.
-ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-        bool ignoreFault) {
-	if(message->getMessageSize() > message->getMaximumMessageSize()) {
-		// Actually, this should never happen or an error will be emitted
-		// in MessageQueueMessage.
-		// But I will still return a failure here.
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	MessageQueue* targetQueue = dynamic_cast<MessageQueue*>(
-			QueueMapManager::instance()->getMessageQueue(sendTo));
-	if(targetQueue == nullptr) {
-		if(not ignoreFault) {
-			InternalErrorReporterIF* internalErrorReporter =
-					objectManager->get<InternalErrorReporterIF>(
-							objects::INTERNAL_ERROR_REPORTER);
-			if (internalErrorReporter != nullptr) {
-				internalErrorReporter->queueMessageNotSent();
-			}
-		}
-		// TODO: Better returnvalue
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
-		MutexHelper mutexLock(targetQueue->queueLock, 20);
-		// not ideal, works for now though.
-		MessageQueueMessage* mqmMessage =
-				dynamic_cast<MessageQueueMessage*>(message);
-		if(message != nullptr) {
-			targetQueue->messageQueue.push(*mqmMessage);
-		}
-		else {
-			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
-					"is not MessageQueueMessage!" << std::endl;
-		}
-
-	}
-	else {
-		return MessageQueueIF::FULL;
-	}
-    message->setSender(sentFrom);
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MessageQueue::lockQueue(dur_millis_t lockTimeout) {
-	return queueLock->lockMutex(lockTimeout);
-}
-
-ReturnValue_t MessageQueue::unlockQueue() {
-	return queueLock->unlockMutex();
-}
+#include "../../osal/host/MessageQueue.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../osal/host/QueueMapManager.h"
+#include "../../ipc/MutexFactory.h"
+#include "../../ipc/MutexHelper.h"
+
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
+		messageSize(maxMessageSize), messageDepth(messageDepth) {
+	queueLock = MutexFactory::instance()->createMutex();
+	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "MessageQueue: Could not be created" << std::endl;
+	}
+}
+
+MessageQueue::~MessageQueue() {
+	MutexFactory::instance()->deleteMutex(queueLock);
+}
+
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, bool ignoreFault) {
+	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
+	return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+	if (this->lastPartner != 0) {
+		return sendMessageFrom(this->lastPartner, message, this->getId());
+	} else {
+		return MessageQueueIF::NO_REPLY_PARTNER;
+	}
+}
+
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
+			ignoreFault);
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
+		MessageQueueId_t* receivedFrom) {
+	ReturnValue_t status = this->receiveMessage(message);
+	if(status == HasReturnvaluesIF::RETURN_OK) {
+		*receivedFrom = this->lastPartner;
+	}
+	return status;
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	if(messageQueue.empty()) {
+		return MessageQueueIF::EMPTY;
+	}
+	// not sure this will work..
+	//*message = std::move(messageQueue.front());
+	MutexHelper mutexLock(queueLock, 20);
+	MessageQueueMessage* currentMessage = &messageQueue.front();
+	std::copy(currentMessage->getBuffer(),
+			currentMessage->getBuffer() + messageSize, message->getBuffer());
+	messageQueue.pop();
+	// The last partner is the first uint32_t field in the message
+	this->lastPartner = message->getSender();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getLastPartner() const {
+	return lastPartner;
+}
+
+ReturnValue_t MessageQueue::flush(uint32_t* count) {
+	*count = messageQueue.size();
+	// Clears the queue.
+	messageQueue = std::queue<MessageQueueMessage>();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getId() const {
+	return mqId;
+}
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+	defaultDestinationSet = true;
+	this->defaultDestination = defaultDestination;
+}
+
+MessageQueueId_t MessageQueue::getDefaultDestination() const {
+	return defaultDestination;
+}
+
+bool MessageQueue::isDefaultDestinationSet() const {
+	return defaultDestinationSet;
+}
+
+
+// static core function to send messages.
+ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+        bool ignoreFault) {
+	if(message->getMessageSize() > message->getMaximumMessageSize()) {
+		// Actually, this should never happen or an error will be emitted
+		// in MessageQueueMessage.
+		// But I will still return a failure here.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	MessageQueue* targetQueue = dynamic_cast<MessageQueue*>(
+			QueueMapManager::instance()->getMessageQueue(sendTo));
+	if(targetQueue == nullptr) {
+		if(not ignoreFault) {
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
+							objects::INTERNAL_ERROR_REPORTER);
+			if (internalErrorReporter != nullptr) {
+				internalErrorReporter->queueMessageNotSent();
+			}
+		}
+		// TODO: Better returnvalue
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
+		MutexHelper mutexLock(targetQueue->queueLock, 20);
+		// not ideal, works for now though.
+		MessageQueueMessage* mqmMessage =
+				dynamic_cast<MessageQueueMessage*>(message);
+		if(message != nullptr) {
+			targetQueue->messageQueue.push(*mqmMessage);
+		}
+		else {
+			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
+					"is not MessageQueueMessage!" << std::endl;
+		}
+
+	}
+	else {
+		return MessageQueueIF::FULL;
+	}
+    message->setSender(sentFrom);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MessageQueue::lockQueue(dur_millis_t lockTimeout) {
+	return queueLock->lockMutex(lockTimeout);
+}
+
+ReturnValue_t MessageQueue::unlockQueue() {
+	return queueLock->unlockMutex();
+}
diff --git a/osal/host/MessageQueue.h b/osal/host/MessageQueue.h
index 7fc77f7a..d2da2402 100644
--- a/osal/host/MessageQueue.h
+++ b/osal/host/MessageQueue.h
@@ -1,230 +1,230 @@
-#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
-#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
-
-#include <framework/internalError/InternalErrorReporterIF.h>
-#include <framework/ipc/MessageQueueIF.h>
-#include <framework/ipc/MessageQueueMessage.h>
-#include <framework/ipc/MutexIF.h>
-#include <framework/timemanager/Clock.h>
-
-#include <queue>
-#include <memory>
-
-/**
- * @brief		This class manages sending and receiving of
- * 				message queue messages.
- * @details
- * Message queues are used to pass asynchronous messages between processes.
- * They work like post boxes, where all incoming messages are stored in FIFO
- * order. This class creates a new receiving queue and provides methods to fetch
- * received messages. Being a child of MessageQueueSender, this class also
- * provides methods to send a message to a user-defined or a default destination.
- * In addition it also provides a reply method to answer to the queue it
- * received its last message from.
- *
- * The MessageQueue should be used as "post box" for a single owning object.
- * So all message queue communication is "n-to-one".
- * For creating the queue, as well as sending and receiving messages, the class
- * makes use of the operating system calls provided.
- *
- * Please keep in mind that FreeRTOS offers different calls for message queue
- * operations if called from an ISR.
- * For now, the system context needs to be switched manually.
- * @ingroup osal
- * @ingroup message_queue
- */
-class MessageQueue : public MessageQueueIF {
-	friend class MessageQueueSenderIF;
-public:
-	/**
-	 * @brief	The constructor initializes and configures the message queue.
-	 * @details
-	 * By making use of the according operating system call, a message queue is
-	 * created and initialized. The message depth - the maximum number of
-	 * messages to be buffered - may be set with the help of a parameter,
-	 * whereas the message size is automatically set to the maximum message
-	 * queue message size. The operating system sets the message queue id, or
-	 * in case of failure, it is set to zero.
-	 * @param message_depth
-	 * The number of messages to be buffered before passing an error to the
-	 * sender. Default is three.
-	 * @param max_message_size
-	 * With this parameter, the maximum message size can be adjusted.
-	 * This should be left default.
-	 */
-	MessageQueue(size_t messageDepth = 3,
-			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
-
-	/** Copying message queues forbidden */
-	MessageQueue(const MessageQueue&) = delete;
-	MessageQueue& operator=(const MessageQueue&) = delete;
-
-	/**
-	 * @brief	The destructor deletes the formerly created message queue.
-	 * @details	This is accomplished by using the delete call provided
-	 * 			by the operating system.
-	 */
-	virtual ~MessageQueue();
-
-	/**
-	 * @brief	This operation sends a message to the given destination.
-	 * @details	It directly uses the sendMessage call of the MessageQueueSender
-	 * parent, but passes its queue id as "sentFrom" parameter.
-	 * @param sendTo	This parameter specifies the message queue id of the
-	 *  destination message queue.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 * @param ignoreFault If set to true, the internal software fault counter
-	 * is not incremented if queue is full.
-	 */
-	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, bool ignoreFault = false) override;
-	/**
-	 * @brief	This operation sends a message to the default destination.
-	 * @details	As in the sendMessage method, this function uses the
-	 * sendToDefault call of the MessageQueueSender parent class and adds its
-	 * queue id as "sentFrom" information.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 */
-	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-	/**
-	 * @brief	This operation sends a message to the last communication partner.
-	 * @details	This operation simplifies answering an incoming message by using
-	 * the stored lastPartner information as destination. If there was no
-	 * message received yet (i.e. lastPartner is zero), an error code is returned.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 */
-	ReturnValue_t reply(MessageQueueMessageIF* message) override;
-
-	/**
-	 * @brief	With the sendMessage call, a queue message is sent to a
-	 * 			receiving queue.
-	 * @details
-	 * This method takes the message provided, adds the sentFrom information and
-	 * passes it on to the destination provided with an operating system call.
-	 *  The OS's return value is returned.
-	 * @param sendTo	This parameter specifies the message queue id to send
-	 * the message to.
-	 * @param message	This is a pointer to a previously created message,
-	 * which is sent.
-	 * @param sentFrom	The sentFrom information can be set to inject the
-	 * sender's queue id into the message. This variable is set to zero by
-	 * default.
-	 * @param ignoreFault If set to true, the internal software fault counter
-	 * is not incremented if queue is full.
-	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
-			bool ignoreFault = false) override;
-
-	/**
-	 * @brief	The sendToDefault method sends a queue message to the default
-	 * 			destination.
-	 * @details
-	 * In all other aspects, it works identical to the sendMessage method.
-	 * @param message	This is a pointer to a previously created message,
-	 * which is sent.
-	 * @param sentFrom	The sentFrom information can be set to inject the
-	 * sender's queue id into the message. This variable is set to zero by
-	 * default.
-	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
-			MessageQueueId_t sentFrom = NO_QUEUE,
-			bool ignoreFault = false) override;
-
-	/**
-	 * @brief	This function reads available messages from the message queue
-	 * 			and returns the sender.
-	 * @details
-	 * It works identically to the other receiveMessage call, but in  addition
-	 * returns the sender's queue id.
-	 * @param message	A pointer to a message in which the received data is stored.
-	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-	 */
-	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-			MessageQueueId_t *receivedFrom) override;
-
-	/**
-	 * @brief	This function reads available messages from the message queue.
-	 * @details
-	 * If data is available it is stored in the passed message pointer.
-	 * The message's original content is overwritten and the sendFrom
-	 * information is stored in the lastPartner attribute. Else, the lastPartner
-	 * information remains untouched, the message's content is cleared and the
-	 * function returns immediately.
-	 * @param message	A pointer to a message in which the received data is stored.
-	 */
-	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
-	/**
-	 * Deletes all pending messages in the queue.
-	 * @param count The number of flushed messages.
-	 * @return RETURN_OK on success.
-	 */
-	ReturnValue_t flush(uint32_t* count) override;
-	/**
-	 * @brief	This method returns the message queue id of the last
-	 * 			communication partner.
-	 */
-	MessageQueueId_t getLastPartner() const override;
-	/**
-	 * @brief	This method returns the message queue id of this class's
-	 * 			message queue.
-	 */
-	MessageQueueId_t getId() const override;
-
-	/**
-	 * @brief	This method is a simple setter for the default destination.
-	 */
-	void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-	/**
-	 * @brief	This method is a simple getter for the default destination.
-	 */
-	MessageQueueId_t getDefaultDestination() const override;
-
-	bool isDefaultDestinationSet() const override;
-
-	ReturnValue_t lockQueue(dur_millis_t lockTimeout);
-	ReturnValue_t unlockQueue();
-protected:
-	/**
-	 * @brief 	Implementation to be called from any send Call within
-	 * 			MessageQueue and MessageQueueSenderIF.
-	 * @details
-	 * This method takes the message provided, adds the sentFrom information and
-	 * passes it on to the destination provided with an operating system call.
-	 * The OS's return value is returned.
-	 * @param sendTo
-	 * This parameter specifies the message queue id to send the message to.
-	 * @param message
-	 * This is a pointer to a previously created message, which is sent.
-	 * @param sentFrom
-	 * The sentFrom information can be set to inject the sender's queue id into
-	 * the message. This variable is set to zero by default.
-	 * @param ignoreFault
-	 * If set to true, the internal software fault counter  is not incremented
-	 * if queue is full.
-	 * @param context Specify whether call is made from task or from an ISR.
-	 */
-	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
-			bool ignoreFault=false);
-
-	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
-
-private:
-	std::queue<MessageQueueMessage> messageQueue;
-	/**
-	 * @brief	The class stores the queue id it got assigned.
-	 * 			If initialization fails, the queue id is set to zero.
-	 */
-	MessageQueueId_t mqId = 0;
-	size_t messageSize = 0;
-	size_t messageDepth = 0;
-
-	MutexIF* queueLock;
-
-	bool defaultDestinationSet = false;
-	MessageQueueId_t defaultDestination = 0;
-	MessageQueueId_t lastPartner = 0;
-};
-
-#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */
+#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/MessageQueueMessage.h"
+#include "../../ipc/MutexIF.h"
+#include "../../timemanager/Clock.h"
+
+#include <queue>
+#include <memory>
+
+/**
+ * @brief		This class manages sending and receiving of
+ * 				message queue messages.
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
+ * They work like post boxes, where all incoming messages are stored in FIFO
+ * order. This class creates a new receiving queue and provides methods to fetch
+ * received messages. Being a child of MessageQueueSender, this class also
+ * provides methods to send a message to a user-defined or a default destination.
+ * In addition it also provides a reply method to answer to the queue it
+ * received its last message from.
+ *
+ * The MessageQueue should be used as "post box" for a single owning object.
+ * So all message queue communication is "n-to-one".
+ * For creating the queue, as well as sending and receiving messages, the class
+ * makes use of the operating system calls provided.
+ *
+ * Please keep in mind that FreeRTOS offers different calls for message queue
+ * operations if called from an ISR.
+ * For now, the system context needs to be switched manually.
+ * @ingroup osal
+ * @ingroup message_queue
+ */
+class MessageQueue : public MessageQueueIF {
+	friend class MessageQueueSenderIF;
+public:
+	/**
+	 * @brief	The constructor initializes and configures the message queue.
+	 * @details
+	 * By making use of the according operating system call, a message queue is
+	 * created and initialized. The message depth - the maximum number of
+	 * messages to be buffered - may be set with the help of a parameter,
+	 * whereas the message size is automatically set to the maximum message
+	 * queue message size. The operating system sets the message queue id, or
+	 * in case of failure, it is set to zero.
+	 * @param message_depth
+	 * The number of messages to be buffered before passing an error to the
+	 * sender. Default is three.
+	 * @param max_message_size
+	 * With this parameter, the maximum message size can be adjusted.
+	 * This should be left default.
+	 */
+	MessageQueue(size_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+
+	/** Copying message queues forbidden */
+	MessageQueue(const MessageQueue&) = delete;
+	MessageQueue& operator=(const MessageQueue&) = delete;
+
+	/**
+	 * @brief	The destructor deletes the formerly created message queue.
+	 * @details	This is accomplished by using the delete call provided
+	 * 			by the operating system.
+	 */
+	virtual ~MessageQueue();
+
+	/**
+	 * @brief	This operation sends a message to the given destination.
+	 * @details	It directly uses the sendMessage call of the MessageQueueSender
+	 * parent, but passes its queue id as "sentFrom" parameter.
+	 * @param sendTo	This parameter specifies the message queue id of the
+	 *  destination message queue.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 * @param ignoreFault If set to true, the internal software fault counter
+	 * is not incremented if queue is full.
+	 */
+	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, bool ignoreFault = false) override;
+	/**
+	 * @brief	This operation sends a message to the default destination.
+	 * @details	As in the sendMessage method, this function uses the
+	 * sendToDefault call of the MessageQueueSender parent class and adds its
+	 * queue id as "sentFrom" information.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+	/**
+	 * @brief	This operation sends a message to the last communication partner.
+	 * @details	This operation simplifies answering an incoming message by using
+	 * the stored lastPartner information as destination. If there was no
+	 * message received yet (i.e. lastPartner is zero), an error code is returned.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	ReturnValue_t reply(MessageQueueMessageIF* message) override;
+
+	/**
+	 * @brief	With the sendMessage call, a queue message is sent to a
+	 * 			receiving queue.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 *  The OS's return value is returned.
+	 * @param sendTo	This parameter specifies the message queue id to send
+	 * the message to.
+	 * @param message	This is a pointer to a previously created message,
+	 * which is sent.
+	 * @param sentFrom	The sentFrom information can be set to inject the
+	 * sender's queue id into the message. This variable is set to zero by
+	 * default.
+	 * @param ignoreFault If set to true, the internal software fault counter
+	 * is not incremented if queue is full.
+	 */
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	/**
+	 * @brief	The sendToDefault method sends a queue message to the default
+	 * 			destination.
+	 * @details
+	 * In all other aspects, it works identical to the sendMessage method.
+	 * @param message	This is a pointer to a previously created message,
+	 * which is sent.
+	 * @param sentFrom	The sentFrom information can be set to inject the
+	 * sender's queue id into the message. This variable is set to zero by
+	 * default.
+	 */
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	/**
+	 * @brief	This function reads available messages from the message queue
+	 * 			and returns the sender.
+	 * @details
+	 * It works identically to the other receiveMessage call, but in  addition
+	 * returns the sender's queue id.
+	 * @param message	A pointer to a message in which the received data is stored.
+	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
+	 */
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+			MessageQueueId_t *receivedFrom) override;
+
+	/**
+	 * @brief	This function reads available messages from the message queue.
+	 * @details
+	 * If data is available it is stored in the passed message pointer.
+	 * The message's original content is overwritten and the sendFrom
+	 * information is stored in the lastPartner attribute. Else, the lastPartner
+	 * information remains untouched, the message's content is cleared and the
+	 * function returns immediately.
+	 * @param message	A pointer to a message in which the received data is stored.
+	 */
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+	/**
+	 * Deletes all pending messages in the queue.
+	 * @param count The number of flushed messages.
+	 * @return RETURN_OK on success.
+	 */
+	ReturnValue_t flush(uint32_t* count) override;
+	/**
+	 * @brief	This method returns the message queue id of the last
+	 * 			communication partner.
+	 */
+	MessageQueueId_t getLastPartner() const override;
+	/**
+	 * @brief	This method returns the message queue id of this class's
+	 * 			message queue.
+	 */
+	MessageQueueId_t getId() const override;
+
+	/**
+	 * @brief	This method is a simple setter for the default destination.
+	 */
+	void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+	/**
+	 * @brief	This method is a simple getter for the default destination.
+	 */
+	MessageQueueId_t getDefaultDestination() const override;
+
+	bool isDefaultDestinationSet() const override;
+
+	ReturnValue_t lockQueue(dur_millis_t lockTimeout);
+	ReturnValue_t unlockQueue();
+protected:
+	/**
+	 * @brief 	Implementation to be called from any send Call within
+	 * 			MessageQueue and MessageQueueSenderIF.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 * The OS's return value is returned.
+	 * @param sendTo
+	 * This parameter specifies the message queue id to send the message to.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @param sentFrom
+	 * The sentFrom information can be set to inject the sender's queue id into
+	 * the message. This variable is set to zero by default.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter  is not incremented
+	 * if queue is full.
+	 * @param context Specify whether call is made from task or from an ISR.
+	 */
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false);
+
+	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
+
+private:
+	std::queue<MessageQueueMessage> messageQueue;
+	/**
+	 * @brief	The class stores the queue id it got assigned.
+	 * 			If initialization fails, the queue id is set to zero.
+	 */
+	MessageQueueId_t mqId = 0;
+	size_t messageSize = 0;
+	size_t messageDepth = 0;
+
+	MutexIF* queueLock;
+
+	bool defaultDestinationSet = false;
+	MessageQueueId_t defaultDestination = 0;
+	MessageQueueId_t lastPartner = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */
diff --git a/osal/host/Mutex.cpp b/osal/host/Mutex.cpp
index 03948c4c..28768507 100644
--- a/osal/host/Mutex.cpp
+++ b/osal/host/Mutex.cpp
@@ -1,40 +1,40 @@
-#include <framework/osal/host/Mutex.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-const uint32_t MutexIF::POLLING = 0;
-const uint32_t MutexIF::BLOCKING = 0xffffffff;
-
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	if(timeoutMs == MutexIF::BLOCKING) {
-		mutex.lock();
-		locked = true;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else if(timeoutMs == MutexIF::POLLING) {
-		if(mutex.try_lock()) {
-			locked = true;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-	else if(timeoutMs > MutexIF::POLLING){
-		auto chronoMs = std::chrono::milliseconds(timeoutMs);
-		if(mutex.try_lock_for(chronoMs)) {
-			locked = true;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-	return MutexIF::MUTEX_TIMEOUT;
-}
-
-ReturnValue_t Mutex::unlockMutex() {
-	if(not locked) {
-		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
-	}
-	mutex.unlock();
-	locked = false;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-std::timed_mutex* Mutex::getMutexHandle() {
-	return &mutex;
-}
+#include "../../osal/host/Mutex.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+const uint32_t MutexIF::POLLING = 0;
+const uint32_t MutexIF::BLOCKING = 0xffffffff;
+
+ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::BLOCKING) {
+		mutex.lock();
+		locked = true;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else if(timeoutMs == MutexIF::POLLING) {
+		if(mutex.try_lock()) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	else if(timeoutMs > MutexIF::POLLING){
+		auto chronoMs = std::chrono::milliseconds(timeoutMs);
+		if(mutex.try_lock_for(chronoMs)) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	return MutexIF::MUTEX_TIMEOUT;
+}
+
+ReturnValue_t Mutex::unlockMutex() {
+	if(not locked) {
+		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
+	}
+	mutex.unlock();
+	locked = false;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+std::timed_mutex* Mutex::getMutexHandle() {
+	return &mutex;
+}
diff --git a/osal/host/Mutex.h b/osal/host/Mutex.h
index d882c457..4d49bac7 100644
--- a/osal/host/Mutex.h
+++ b/osal/host/Mutex.h
@@ -1,28 +1,28 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
-#define FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
-
-#include <framework/ipc/MutexIF.h>
-
-#include <mutex>
-
-/**
- * @brief OS component to implement MUTual EXclusion
- *
- * @details
- * Mutexes are binary semaphores which include a priority inheritance mechanism.
- * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
- * @ingroup osal
- */
-class Mutex : public MutexIF {
-public:
-	Mutex() = default;
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
-	ReturnValue_t unlockMutex() override;
-
-	std::timed_mutex* getMutexHandle();
-private:
-	bool locked = false;
-	std::timed_mutex mutex;
-};
-
-#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+#define FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+
+#include "../../ipc/MutexIF.h"
+
+#include <mutex>
+
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
+class Mutex : public MutexIF {
+public:
+	Mutex() = default;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
+	ReturnValue_t unlockMutex() override;
+
+	std::timed_mutex* getMutexHandle();
+private:
+	bool locked = false;
+	std::timed_mutex mutex;
+};
+
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */
diff --git a/osal/host/MutexFactory.cpp b/osal/host/MutexFactory.cpp
index 25d9fa46..284ce59f 100644
--- a/osal/host/MutexFactory.cpp
+++ b/osal/host/MutexFactory.cpp
@@ -1,28 +1,28 @@
-#include <framework/ipc/MutexFactory.h>
-#include <framework/osal/host/Mutex.h>
-
-//TODO: Different variant than the lazy loading in QueueFactory.
-//What's better and why? -> one is on heap the other on bss/data
-//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
-MutexFactory* MutexFactory::factoryInstance = nullptr;
-
-MutexFactory::MutexFactory() {
-}
-
-MutexFactory::~MutexFactory() {
-}
-
-MutexFactory* MutexFactory::instance() {
-	if (factoryInstance == nullptr){
-		factoryInstance = new MutexFactory();
-	}
-	return MutexFactory::factoryInstance;
-}
-
-MutexIF* MutexFactory::createMutex() {
-	return new Mutex();
-}
-
-void MutexFactory::deleteMutex(MutexIF* mutex) {
-	delete mutex;
-}
+#include "../../ipc/MutexFactory.h"
+#include "../../osal/host/Mutex.h"
+
+//TODO: Different variant than the lazy loading in QueueFactory.
+//What's better and why? -> one is on heap the other on bss/data
+//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
+MutexFactory* MutexFactory::factoryInstance = nullptr;
+
+MutexFactory::MutexFactory() {
+}
+
+MutexFactory::~MutexFactory() {
+}
+
+MutexFactory* MutexFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new MutexFactory();
+	}
+	return MutexFactory::factoryInstance;
+}
+
+MutexIF* MutexFactory::createMutex() {
+	return new Mutex();
+}
+
+void MutexFactory::deleteMutex(MutexIF* mutex) {
+	delete mutex;
+}
diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index 1a5024ab..c4cf9f56 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -1,176 +1,176 @@
-#include <framework/ipc/MutexFactory.h>
-#include <framework/osal/host/Mutex.h>
-#include <framework/osal/host/PeriodicTask.h>
-
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tasks/ExecutableObjectIF.h>
-
-#include <thread>
-#include <chrono>
-
-#if defined(WIN32)
-#include <windows.h>
-#elif defined(LINUX)
-#include <pthread.h>
-#endif
-
-PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
-		TaskStackSize setStack, TaskPeriod setPeriod,
-		void (*setDeadlineMissedFunc)()) :
-		started(false), taskName(name), period(setPeriod),
-		deadlineMissedFunc(setDeadlineMissedFunc) {
-    // It is propably possible to set task priorities by using the native
-    // task handles for Windows / Linux
-	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
-#if defined(WIN32)
-    /* List of possible priority classes:
-     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
-     * nf-processthreadsapi-setpriorityclass
-     * And respective thread priority numbers:
-     * https://docs.microsoft.com/en-us/windows/
-     * win32/procthread/scheduling-priorities */
-    int result = SetPriorityClass(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            ABOVE_NORMAL_PRIORITY_CLASS);
-    if(result != 0) {
-        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-    }
-    result = SetThreadPriority(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            THREAD_PRIORITY_NORMAL);
-    if(result != 0) {
-        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-    }
-#elif defined(LINUX)
-    // we can just copy and paste the code from linux here.
-#endif
-}
-
-PeriodicTask::~PeriodicTask(void) {
-	//Do not delete objects, we were responsible for ptrs only.
-	terminateThread = true;
-	if(mainThread.joinable()) {
-		mainThread.join();
-	}
-	delete this;
-}
-
-void PeriodicTask::taskEntryPoint(void* argument) {
-	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
-
-
-	if (not originalTask->started) {
-		// we have to suspend/block here until the task is started.
-		// if semaphores are implemented, use them here.
-		std::unique_lock<std::mutex> lock(initMutex);
-		initCondition.wait(lock);
-	}
-
-	this->taskFunctionality();
-	sif::debug << "PeriodicTask::taskEntryPoint: "
-			"Returned from taskFunctionality." << std::endl;
-}
-
-ReturnValue_t PeriodicTask::startTask() {
-	started = true;
-
-	// Notify task to start.
-	std::lock_guard<std::mutex> lock(initMutex);
-	initCondition.notify_one();
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
-	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void PeriodicTask::taskFunctionality() {
-	std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
-	auto currentStartTime {
-	    std::chrono::duration_cast<std::chrono::milliseconds>(
-	    std::chrono::system_clock::now().time_since_epoch())
-	};
-	auto nextStartTime{ currentStartTime };
-
-	/* Enter the loop that defines the task behavior. */
-	for (;;) {
-		if(terminateThread.load()) {
-			break;
-		}
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
-		}
-		if(not delayForInterval(&currentStartTime, periodChrono)) {
-			sif::warning << "PeriodicTask: " << taskName <<
-					" missed deadline!\n" << std::flush;
-			if(deadlineMissedFunc != nullptr) {
-				this->deadlineMissedFunc();
-			}
-		}
-	}
-}
-
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
-			object);
-	if (newObject == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	objectList.push_back(newObject);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const {
-	return period * 1000;
-}
-
-bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs,
-        const chron_ms interval) {
-    bool shouldDelay = false;
-    //Get current wakeup time
-    auto currentStartTime =
-            std::chrono::duration_cast<std::chrono::milliseconds>(
-            std::chrono::system_clock::now().time_since_epoch());
-    /* Generate the tick time at which the task wants to wake. */
-    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
-
-    if (currentStartTime < *previousWakeTimeMs) {
-        /* The tick count has overflowed since this function was
-         lasted called.  In this case the only time we should ever
-         actually delay is if the wake time has also    overflowed,
-         and the wake time is greater than the tick time.  When this
-         is the case it is as if neither time had overflowed. */
-        if ((nextTimeToWake_ms < *previousWakeTimeMs)
-                && (nextTimeToWake_ms > currentStartTime)) {
-            shouldDelay = true;
-        }
-    } else {
-        /* The tick time has not overflowed.  In this case we will
-         delay if either the wake time has overflowed, and/or the
-         tick time is less than the wake time. */
-        if ((nextTimeToWake_ms < *previousWakeTimeMs)
-                || (nextTimeToWake_ms >  currentStartTime)) {
-            shouldDelay = true;
-        }
-    }
-
-    /* Update the wake time ready for the next call. */
-
-    (*previousWakeTimeMs) =  nextTimeToWake_ms;
-
-    if (shouldDelay) {
-        auto sleepTime = std::chrono::duration_cast<std::chrono::milliseconds>(
-                nextTimeToWake_ms - currentStartTime);
-        std::this_thread::sleep_for(sleepTime);
-        return true;
-    }
-    //We are shifting the time in case the deadline was missed like rtems
-    (*previousWakeTimeMs) = currentStartTime;
-    return false;
-
-}
+#include "../../ipc/MutexFactory.h"
+#include "../../osal/host/Mutex.h"
+#include "../../osal/host/PeriodicTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod setPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		started(false), taskName(name), period(setPeriod),
+		deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+PeriodicTask::~PeriodicTask(void) {
+	//Do not delete objects, we were responsible for ptrs only.
+	terminateThread = true;
+	if(mainThread.joinable()) {
+		mainThread.join();
+	}
+	delete this;
+}
+
+void PeriodicTask::taskEntryPoint(void* argument) {
+	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
+
+
+	if (not originalTask->started) {
+		// we have to suspend/block here until the task is started.
+		// if semaphores are implemented, use them here.
+		std::unique_lock<std::mutex> lock(initMutex);
+		initCondition.wait(lock);
+	}
+
+	this->taskFunctionality();
+	sif::debug << "PeriodicTask::taskEntryPoint: "
+			"Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	started = true;
+
+	// Notify task to start.
+	std::lock_guard<std::mutex> lock(initMutex);
+	initCondition.notify_one();
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PeriodicTask::taskFunctionality() {
+	std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
+	auto currentStartTime {
+	    std::chrono::duration_cast<std::chrono::milliseconds>(
+	    std::chrono::system_clock::now().time_since_epoch())
+	};
+	auto nextStartTime{ currentStartTime };
+
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		if(terminateThread.load()) {
+			break;
+		}
+		for (ObjectList::iterator it = objectList.begin();
+				it != objectList.end(); ++it) {
+			(*it)->performOperation();
+		}
+		if(not delayForInterval(&currentStartTime, periodChrono)) {
+			sif::warning << "PeriodicTask: " << taskName <<
+					" missed deadline!\n" << std::flush;
+			if(deadlineMissedFunc != nullptr) {
+				this->deadlineMissedFunc();
+			}
+		}
+	}
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+	return period * 1000;
+}
+
+bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs,
+        const chron_ms interval) {
+    bool shouldDelay = false;
+    //Get current wakeup time
+    auto currentStartTime =
+            std::chrono::duration_cast<std::chrono::milliseconds>(
+            std::chrono::system_clock::now().time_since_epoch());
+    /* Generate the tick time at which the task wants to wake. */
+    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
+
+    if (currentStartTime < *previousWakeTimeMs) {
+        /* The tick count has overflowed since this function was
+         lasted called.  In this case the only time we should ever
+         actually delay is if the wake time has also    overflowed,
+         and the wake time is greater than the tick time.  When this
+         is the case it is as if neither time had overflowed. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                && (nextTimeToWake_ms > currentStartTime)) {
+            shouldDelay = true;
+        }
+    } else {
+        /* The tick time has not overflowed.  In this case we will
+         delay if either the wake time has overflowed, and/or the
+         tick time is less than the wake time. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                || (nextTimeToWake_ms >  currentStartTime)) {
+            shouldDelay = true;
+        }
+    }
+
+    /* Update the wake time ready for the next call. */
+
+    (*previousWakeTimeMs) =  nextTimeToWake_ms;
+
+    if (shouldDelay) {
+        auto sleepTime = std::chrono::duration_cast<std::chrono::milliseconds>(
+                nextTimeToWake_ms - currentStartTime);
+        std::this_thread::sleep_for(sleepTime);
+        return true;
+    }
+    //We are shifting the time in case the deadline was missed like rtems
+    (*previousWakeTimeMs) = currentStartTime;
+    return false;
+
+}
diff --git a/osal/host/PeriodicTask.h b/osal/host/PeriodicTask.h
index d97bf089..7eb768cb 100644
--- a/osal/host/PeriodicTask.h
+++ b/osal/host/PeriodicTask.h
@@ -1,123 +1,123 @@
-#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
-#define FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
-
-#include <framework/objectmanager/ObjectManagerIF.h>
-#include <framework/tasks/PeriodicTaskIF.h>
-#include <framework/tasks/Typedef.h>
-
-#include <vector>
-#include <thread>
-#include <condition_variable>
-#include <atomic>
-
-class ExecutableObjectIF;
-
-/**
- * @brief 	This class represents a specialized task for
- * 			periodic activities of multiple objects.
- * @details
- *
- * @ingroup task_handling
- */
-class PeriodicTask: public PeriodicTaskIF {
-public:
-	/**
-	 * @brief	Standard constructor of the class.
-	 * @details
-	 * The class is initialized without allocated objects. These need to be
-	 * added with #addComponent.
-	 * @param priority
-	 * @param stack_size
-	 * @param setPeriod
-	 * @param setDeadlineMissedFunc
-	 * The function pointer to the deadline missed function that shall be
-	 * assigned.
-	 */
-	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
-			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
-	/**
-	 * @brief	Currently, the executed object's lifetime is not coupled with
-	 * 			the task object's lifetime, so the destructor is empty.
-	 */
-	virtual ~PeriodicTask(void);
-
-	/**
-	 * @brief	The method to start the task.
-	 * @details	The method starts the task with the respective system call.
-	 * 			Entry point is the taskEntryPoint method described below.
-	 * 			The address of the task object is passed as an argument
-	 * 			to the system call.
-	 */
-	ReturnValue_t startTask(void);
-	/**
-	 * Adds an object to the list of objects to be executed.
-	 * The objects are executed in the order added.
-	 * @param object Id of the object to add.
-	 * @return
-	 *  -@c RETURN_OK on success
-	 *  -@c RETURN_FAILED if the object could not be added.
-	 */
-	ReturnValue_t addComponent(object_id_t object);
-
-	uint32_t getPeriodMs() const;
-
-	ReturnValue_t sleepFor(uint32_t ms);
-
-protected:
-	using chron_ms = std::chrono::milliseconds;
-	bool started;
-	//!< Typedef for the List of objects.
-	typedef std::vector<ExecutableObjectIF*> ObjectList;
-	std::thread mainThread;
-	std::atomic<bool> terminateThread = false;
-
-	/**
-	 * @brief	This attribute holds a list of objects to be executed.
-	 */
-	ObjectList objectList;
-
-	std::condition_variable initCondition;
-	std::mutex initMutex;
-	std::string taskName;
-	/**
-	 * @brief	The period of the task.
-	 * @details
-	 * The period determines the frequency of the task's execution.
-	 * It is expressed in clock ticks.
-	 */
-	TaskPeriod period;
-	/**
-	 * @brief	The pointer to the deadline-missed function.
-	 * @details
-	 * This pointer stores the function that is executed if the task's deadline
-	 * is missed. So, each may react individually on a timing failure.
-	 * The pointer may be NULL, then nothing happens on missing the deadline.
-	 * The deadline is equal to the next execution of the periodic task.
-	 */
-	void (*deadlineMissedFunc)(void);
-	/**
-	 * @brief	This is the function executed in the new task's context.
-	 * @details
-	 * It converts the argument back to the thread object type and copies the
-	 * class instance to the task context.
-	 * The taskFunctionality method is called afterwards.
-	 * @param	A pointer to the task object itself is passed as argument.
-	 */
-
-	void taskEntryPoint(void* argument);
-	/**
-	 * @brief	The function containing the actual functionality of the task.
-	 * @details
-	 * The method sets and starts the task's period, then enters a loop that is
-	 * repeated as long as the isRunning attribute is true. Within the loop,
-	 * all performOperation methods of the added objects are called. Afterwards
-	 * the checkAndRestartPeriod system call blocks the task until the next
-	 *  period. On missing the deadline, the deadlineMissedFunction is executed.
-	 */
-	void taskFunctionality(void);
-
-	bool delayForInterval(chron_ms * previousWakeTimeMs,
-	        const chron_ms interval);
-};
-
-#endif /* PERIODICTASK_H_ */
+#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
+ * @details
+ *
+ * @ingroup task_handling
+ */
+class PeriodicTask: public PeriodicTaskIF {
+public:
+	/**
+	 * @brief	Standard constructor of the class.
+	 * @details
+	 * The class is initialized without allocated objects. These need to be
+	 * added with #addComponent.
+	 * @param priority
+	 * @param stack_size
+	 * @param setPeriod
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall be
+	 * assigned.
+	 */
+	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
+			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
+	/**
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
+	 */
+	virtual ~PeriodicTask(void);
+
+	/**
+	 * @brief	The method to start the task.
+	 * @details	The method starts the task with the respective system call.
+	 * 			Entry point is the taskEntryPoint method described below.
+	 * 			The address of the task object is passed as an argument
+	 * 			to the system call.
+	 */
+	ReturnValue_t startTask(void);
+	/**
+	 * Adds an object to the list of objects to be executed.
+	 * The objects are executed in the order added.
+	 * @param object Id of the object to add.
+	 * @return
+	 *  -@c RETURN_OK on success
+	 *  -@c RETURN_FAILED if the object could not be added.
+	 */
+	ReturnValue_t addComponent(object_id_t object);
+
+	uint32_t getPeriodMs() const;
+
+	ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+	using chron_ms = std::chrono::milliseconds;
+	bool started;
+	//!< Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
+	std::thread mainThread;
+	std::atomic<bool> terminateThread = false;
+
+	/**
+	 * @brief	This attribute holds a list of objects to be executed.
+	 */
+	ObjectList objectList;
+
+	std::condition_variable initCondition;
+	std::mutex initMutex;
+	std::string taskName;
+	/**
+	 * @brief	The period of the task.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
+	 */
+	TaskPeriod period;
+	/**
+	 * @brief	The pointer to the deadline-missed function.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed. So, each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the function executed in the new task's context.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context.
+	 * The taskFunctionality method is called afterwards.
+	 * @param	A pointer to the task object itself is passed as argument.
+	 */
+
+	void taskEntryPoint(void* argument);
+	/**
+	 * @brief	The function containing the actual functionality of the task.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called. Afterwards
+	 * the checkAndRestartPeriod system call blocks the task until the next
+	 *  period. On missing the deadline, the deadlineMissedFunction is executed.
+	 */
+	void taskFunctionality(void);
+
+	bool delayForInterval(chron_ms * previousWakeTimeMs,
+	        const chron_ms interval);
+};
+
+#endif /* PERIODICTASK_H_ */
diff --git a/osal/host/QueueFactory.cpp b/osal/host/QueueFactory.cpp
index 225bb8c7..052671ca 100644
--- a/osal/host/QueueFactory.cpp
+++ b/osal/host/QueueFactory.cpp
@@ -1,41 +1,41 @@
-#include <framework/ipc/QueueFactory.h>
-#include <framework/osal/host/MessageQueue.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <cstring>
-
-QueueFactory* QueueFactory::factoryInstance = nullptr;
-
-
-ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-			bool ignoreFault) {
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
-			sentFrom,ignoreFault);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == nullptr) {
-		factoryInstance = new QueueFactory;
-	}
-	return factoryInstance;
-}
-
-QueueFactory::QueueFactory() {
-}
-
-QueueFactory::~QueueFactory() {
-}
-
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
-		size_t maxMessageSize) {
-	// A thread-safe queue can be implemented  by using a combination
-	// of std::queue and std::mutex. This uses dynamic memory allocation
-	// which could be alleviated by using a custom allocator, external library
-	// (etl::queue) or simply using std::queue, we're on a host machine anyway.
-	return new MessageQueue(messageDepth, maxMessageSize);
-}
-
-void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
-	delete queue;
-}
+#include "../../ipc/QueueFactory.h"
+#include "../../osal/host/MessageQueue.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include <cstring>
+
+QueueFactory* QueueFactory::factoryInstance = nullptr;
+
+
+ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+QueueFactory* QueueFactory::instance() {
+	if (factoryInstance == nullptr) {
+		factoryInstance = new QueueFactory;
+	}
+	return factoryInstance;
+}
+
+QueueFactory::QueueFactory() {
+}
+
+QueueFactory::~QueueFactory() {
+}
+
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
+		size_t maxMessageSize) {
+	// A thread-safe queue can be implemented  by using a combination
+	// of std::queue and std::mutex. This uses dynamic memory allocation
+	// which could be alleviated by using a custom allocator, external library
+	// (etl::queue) or simply using std::queue, we're on a host machine anyway.
+	return new MessageQueue(messageDepth, maxMessageSize);
+}
+
+void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
+	delete queue;
+}
diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp
index 89b9a948..35db204e 100644
--- a/osal/host/QueueMapManager.cpp
+++ b/osal/host/QueueMapManager.cpp
@@ -1,51 +1,51 @@
-#include <framework/ipc/MutexFactory.h>
-#include <framework/ipc/MutexHelper.h>
-#include <framework/osal/host/QueueMapManager.h>
-
-QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
-
-QueueMapManager::QueueMapManager() {
-    mapLock = MutexFactory::instance()->createMutex();
-}
-
-QueueMapManager* QueueMapManager::instance() {
-	if (mqManagerInstance == nullptr){
-		mqManagerInstance = new QueueMapManager();
-	}
-	return QueueMapManager::mqManagerInstance;
-}
-
-ReturnValue_t QueueMapManager::addMessageQueue(
-		MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
-	// Not thread-safe, but it is assumed all message queues are created
-	// at software initialization now. If this is to be made thread-safe in
-	// the future, it propably would be sufficient to lock the increment
-	// operation here
-	uint32_t currentId = queueCounter++;
-	auto returnPair = queueMap.emplace(currentId, queueToInsert);
-	if(not returnPair.second) {
-		// this should never happen for the atomic variable.
-		sif::error << "QueueMapManager: This ID is already inside the map!"
-				<< std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if (id != nullptr) {
-		*id = currentId;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-MessageQueueIF* QueueMapManager::getMessageQueue(
-		MessageQueueId_t messageQueueId) const {
-	MutexHelper(mapLock, 50);
-	auto queueIter = queueMap.find(messageQueueId);
-	if(queueIter != queueMap.end()) {
-		return queueIter->second;
-	}
-	else {
-		sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
-				messageQueueId << " does not exists in the map" << std::endl;
-		return nullptr;
-	}
-}
-
+#include "../../ipc/MutexFactory.h"
+#include "../../ipc/MutexHelper.h"
+#include "../../osal/host/QueueMapManager.h"
+
+QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
+
+QueueMapManager::QueueMapManager() {
+    mapLock = MutexFactory::instance()->createMutex();
+}
+
+QueueMapManager* QueueMapManager::instance() {
+	if (mqManagerInstance == nullptr){
+		mqManagerInstance = new QueueMapManager();
+	}
+	return QueueMapManager::mqManagerInstance;
+}
+
+ReturnValue_t QueueMapManager::addMessageQueue(
+		MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
+	// Not thread-safe, but it is assumed all message queues are created
+	// at software initialization now. If this is to be made thread-safe in
+	// the future, it propably would be sufficient to lock the increment
+	// operation here
+	uint32_t currentId = queueCounter++;
+	auto returnPair = queueMap.emplace(currentId, queueToInsert);
+	if(not returnPair.second) {
+		// this should never happen for the atomic variable.
+		sif::error << "QueueMapManager: This ID is already inside the map!"
+				<< std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if (id != nullptr) {
+		*id = currentId;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueIF* QueueMapManager::getMessageQueue(
+		MessageQueueId_t messageQueueId) const {
+	MutexHelper(mapLock, 50);
+	auto queueIter = queueMap.find(messageQueueId);
+	if(queueIter != queueMap.end()) {
+		return queueIter->second;
+	}
+	else {
+		sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
+				messageQueueId << " does not exists in the map" << std::endl;
+		return nullptr;
+	}
+}
+
diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h
index a2a1b658..acf20389 100644
--- a/osal/host/QueueMapManager.h
+++ b/osal/host/QueueMapManager.h
@@ -1,47 +1,47 @@
-#ifndef FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
-#define FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
-
-#include <framework/ipc/MessageQueueSenderIF.h>
-#include <framework/osal/host/MessageQueue.h>
-#include <unordered_map>
-#include <atomic>
-
-using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
-
-
-/**
- * An internal map to map message queue IDs to message queues.
- * This propably should be a singleton..
- */
-class QueueMapManager {
-public:
-	//! Returns the single instance of SemaphoreFactory.
-	static QueueMapManager* instance();
-
-	/**
-	 * Insert a message queue into the map and returns a message queue ID
-	 * @param queue The message queue to insert.
-	 * @param id The passed value will be set unless a nullptr is passed
-	 * @return
-	 */
-	ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
-			id = nullptr);
-	/**
-	 * Get the message queue handle by providing a message queue ID.
-	 * @param messageQueueId
-	 * @return
-	 */
-	MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
-
-private:
-	//! External instantiation is forbidden.
-	QueueMapManager();
-	uint32_t queueCounter = 1;
-	MutexIF* mapLock;
-	QueueMap queueMap;
-	static QueueMapManager* mqManagerInstance;
-};
-
-
-
-#endif /* FRAMEWORK_OSAL_HOST_QUEUEMAP_H_ */
+#ifndef FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
+#define FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
+
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../osal/host/MessageQueue.h"
+#include <unordered_map>
+#include <atomic>
+
+using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
+
+
+/**
+ * An internal map to map message queue IDs to message queues.
+ * This propably should be a singleton..
+ */
+class QueueMapManager {
+public:
+	//! Returns the single instance of SemaphoreFactory.
+	static QueueMapManager* instance();
+
+	/**
+	 * Insert a message queue into the map and returns a message queue ID
+	 * @param queue The message queue to insert.
+	 * @param id The passed value will be set unless a nullptr is passed
+	 * @return
+	 */
+	ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
+			id = nullptr);
+	/**
+	 * Get the message queue handle by providing a message queue ID.
+	 * @param messageQueueId
+	 * @return
+	 */
+	MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
+
+private:
+	//! External instantiation is forbidden.
+	QueueMapManager();
+	uint32_t queueCounter = 1;
+	MutexIF* mapLock;
+	QueueMap queueMap;
+	static QueueMapManager* mqManagerInstance;
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_HOST_QUEUEMAP_H_ */
diff --git a/osal/host/SemaphoreFactory.cpp b/osal/host/SemaphoreFactory.cpp
index 0c077f68..58040428 100644
--- a/osal/host/SemaphoreFactory.cpp
+++ b/osal/host/SemaphoreFactory.cpp
@@ -1,42 +1,42 @@
-#include <framework/tasks/SemaphoreFactory.h>
-#include <framework/osal/linux/BinarySemaphore.h>
-#include <framework/osal/linux/CountingSemaphore.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-const uint32_t SemaphoreIF::POLLING = 0;
-const uint32_t SemaphoreIF::BLOCKING = 0xFFFFFFFF;
-
-SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-
-SemaphoreFactory::SemaphoreFactory() {
-}
-
-SemaphoreFactory::~SemaphoreFactory() {
-	delete factoryInstance;
-}
-
-SemaphoreFactory* SemaphoreFactory::instance() {
-	if (factoryInstance == nullptr){
-		factoryInstance = new SemaphoreFactory();
-	}
-	return SemaphoreFactory::factoryInstance;
-}
-
-SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
-	// Just gonna wait for full C++20 for now.
-	sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
-			" Returning nullptr!\n" << std::flush;
-	return nullptr;
-}
-
-SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
-		uint8_t initCount, uint32_t arguments) {
-	// Just gonna wait for full C++20 for now.
-	sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
-				" Returning nullptr!\n" << std::flush;
-	return nullptr;
-}
-
-void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
-	delete semaphore;
-}
+#include "../../tasks/SemaphoreFactory.h"
+#include "../../osal/linux/BinarySemaphore.h"
+#include "../../osal/linux/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+const uint32_t SemaphoreIF::POLLING = 0;
+const uint32_t SemaphoreIF::BLOCKING = 0xFFFFFFFF;
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	// Just gonna wait for full C++20 for now.
+	sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
+			" Returning nullptr!\n" << std::flush;
+	return nullptr;
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
+		uint8_t initCount, uint32_t arguments) {
+	// Just gonna wait for full C++20 for now.
+	sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
+				" Returning nullptr!\n" << std::flush;
+	return nullptr;
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}
diff --git a/osal/host/TaskFactory.cpp b/osal/host/TaskFactory.cpp
index 9db8ac4d..3f527130 100644
--- a/osal/host/TaskFactory.cpp
+++ b/osal/host/TaskFactory.cpp
@@ -1,55 +1,55 @@
-#include <framework/osal/host/FixedTimeslotTask.h>
-#include <framework/osal/host/PeriodicTask.h>
-#include <framework/tasks/TaskFactory.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/PeriodicTaskIF.h>
-
-#include <chrono>
-
-TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
-
-// Will propably not be used for hosted implementation
-const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
-
-TaskFactory::TaskFactory() {
-}
-
-TaskFactory::~TaskFactory() {
-}
-
-TaskFactory* TaskFactory::instance() {
-	return TaskFactory::factoryInstance;
-}
-
-PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
-		TaskPriority taskPriority_,TaskStackSize stackSize_,
-		TaskPeriod periodInSeconds_,
-		TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	// This is going to be interesting. Time now learn the C++ threading library
-	// :-)
-	return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
-			deadLineMissedFunction_);
-}
-
-FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
-		TaskPriority taskPriority_,TaskStackSize stackSize_,
-		TaskPeriod periodInSeconds_,
-		TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	// This is going to be interesting. Time now learn the C++ threading library
-	// :-)
-	return new FixedTimeslotTask(name_, taskPriority_, stackSize_,
-	        periodInSeconds_, deadLineMissedFunction_);
-}
-
-ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
-	// This might block for some time!
-	delete task;
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
-	std::this_thread::sleep_for(std::chrono::milliseconds(delayMs));
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
+#include "../../osal/host/FixedTimeslotTask.h"
+#include "../../osal/host/PeriodicTask.h"
+#include "../../tasks/TaskFactory.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+
+#include <chrono>
+
+TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
+
+// Will propably not be used for hosted implementation
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
+
+TaskFactory::TaskFactory() {
+}
+
+TaskFactory::~TaskFactory() {
+}
+
+TaskFactory* TaskFactory::instance() {
+	return TaskFactory::factoryInstance;
+}
+
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	// This is going to be interesting. Time now learn the C++ threading library
+	// :-)
+	return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
+			deadLineMissedFunction_);
+}
+
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	// This is going to be interesting. Time now learn the C++ threading library
+	// :-)
+	return new FixedTimeslotTask(name_, taskPriority_, stackSize_,
+	        periodInSeconds_, deadLineMissedFunction_);
+}
+
+ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
+	// This might block for some time!
+	delete task;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
+	std::this_thread::sleep_for(std::chrono::milliseconds(delayMs));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+

From 2748a8b93b9d6fa9663cea0bd57c94e46d7f0f15 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 26 Aug 2020 17:42:13 +0200
Subject: [PATCH 258/653] added doc to dle encoder

---
 globalfunctions/DleEncoder.cpp | 219 +++++++++++++++++++--------------
 globalfunctions/DleEncoder.h   | 104 ++++++++++++----
 2 files changed, 203 insertions(+), 120 deletions(-)

diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp
index 088c9d80..21dbd2e6 100644
--- a/globalfunctions/DleEncoder.cpp
+++ b/globalfunctions/DleEncoder.cpp
@@ -1,95 +1,124 @@
-#include "DleEncoder.h"
-
-DleEncoder::DleEncoder() {
-}
-
-DleEncoder::~DleEncoder() {
-}
-
-ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
-		uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
-		uint32_t maxDestStreamlen, uint32_t *decodedLen) {
-	uint32_t encodedIndex = 0, decodedIndex = 0;
-	uint8_t nextByte;
-	if (*sourceStream != STX) {
-		return RETURN_FAILED;
-	}
-	++encodedIndex;
-	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
-			&& (sourceStream[encodedIndex] != ETX)
-			&& (sourceStream[encodedIndex] != STX)) {
-		if (sourceStream[encodedIndex] == DLE) {
-			nextByte = sourceStream[encodedIndex + 1];
-			if (nextByte == 0x10) {
-				destStream[decodedIndex] = nextByte;
-			} else {
-				if ((nextByte == 0x42) || (nextByte == 0x43)
-						|| (nextByte == 0x4D)) {
-					destStream[decodedIndex] = nextByte - 0x40;
-				} else {
-					return RETURN_FAILED;
-				}
-			}
-			++encodedIndex;
-		} else {
-			destStream[decodedIndex] = sourceStream[encodedIndex];
-		}
-		++encodedIndex;
-		++decodedIndex;
-	}
-	if (sourceStream[encodedIndex] != ETX) {
-		return RETURN_FAILED;
-	} else {
-		*readLen = ++encodedIndex;
-		*decodedLen = decodedIndex;
-		return RETURN_OK;
-	}
-}
-
-ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
-		uint32_t sourceLen, uint8_t* destStream, uint32_t maxDestLen,
-		uint32_t* encodedLen, bool addStxEtx) {
-	if (maxDestLen < 2) {
-		return RETURN_FAILED;
-	}
-	uint32_t encodedIndex = 0, sourceIndex = 0;
-	uint8_t nextByte;
-	if (addStxEtx) {
-		destStream[0] = STX;
-		++encodedIndex;
-	}
-	while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) {
-		nextByte = sourceStream[sourceIndex];
-		if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return RETURN_FAILED;
-			} else {
-				destStream[encodedIndex] = DLE;
-				++encodedIndex;
-				destStream[encodedIndex] = nextByte + 0x40;
-			}
-		} else if (nextByte == DLE) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return RETURN_FAILED;
-			} else {
-				destStream[encodedIndex] = DLE;
-				++encodedIndex;
-				destStream[encodedIndex] = DLE;
-			}
-		} else {
-			destStream[encodedIndex] = nextByte;
-		}
-		++encodedIndex;
-		++sourceIndex;
-	}
-	if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) {
-		if (addStxEtx) {
-			destStream[encodedIndex] = ETX;
-			++encodedIndex;
-		}
-		*encodedLen = encodedIndex;
-		return RETURN_OK;
-	} else {
-		return RETURN_FAILED;
-	}
-}
+#include "../globalfunctions/DleEncoder.h"
+
+DleEncoder::DleEncoder() {}
+
+DleEncoder::~DleEncoder() {}
+
+ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
+		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
+		size_t* encodedLen, bool addStxEtx) {
+	if (maxDestLen < 2) {
+		return STREAM_TOO_SHORT;
+	}
+	size_t encodedIndex = 0, sourceIndex = 0;
+	uint8_t nextByte;
+	if (addStxEtx) {
+		destStream[0] = STX_CHAR;
+		++encodedIndex;
+	}
+
+	while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
+	{
+		nextByte = sourceStream[sourceIndex];
+		// STX, ETX and CR characters in the stream need to be escaped with DLE
+		if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
+			if (encodedIndex + 1 >= maxDestLen) {
+				return STREAM_TOO_SHORT;
+			}
+			else {
+				destStream[encodedIndex] = DLE_CHAR;
+				++encodedIndex;
+				/* Escaped byte will be actual byte + 0x40. This prevents
+				 * STX, ETX, and carriage return characters from appearing
+				 * in the encoded data stream at all, so when polling an
+				 * encoded stream, the transmission can be stopped at ETX.
+				 * 0x40 was chosen at random with special requirements:
+				 *  - Prevent going from one control char to another
+				 *  - Prevent overflow for common characters */
+				destStream[encodedIndex] = nextByte + 0x40;
+			}
+		}
+		// DLE characters are simply escaped with DLE.
+		else if (nextByte == DLE_CHAR) {
+			if (encodedIndex + 1 >= maxDestLen) {
+			    return STREAM_TOO_SHORT;
+			}
+			else {
+				destStream[encodedIndex] = DLE_CHAR;
+				++encodedIndex;
+				destStream[encodedIndex] = DLE_CHAR;
+			}
+		}
+		else {
+			destStream[encodedIndex] = nextByte;
+		}
+		++encodedIndex;
+		++sourceIndex;
+	}
+
+	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
+		if (addStxEtx) {
+			destStream[encodedIndex] = ETX_CHAR;
+			++encodedIndex;
+		}
+		*encodedLen = encodedIndex;
+		return RETURN_OK;
+	}
+	else {
+		return STREAM_TOO_SHORT;
+	}
+}
+
+ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
+		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+		size_t maxDestStreamlen, size_t *decodedLen) {
+	size_t encodedIndex = 0, decodedIndex = 0;
+	uint8_t nextByte;
+	if (*sourceStream != STX_CHAR) {
+		return DECODING_ERROR;
+	}
+	++encodedIndex;
+
+	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
+			&& (sourceStream[encodedIndex] != ETX_CHAR)
+			&& (sourceStream[encodedIndex] != STX_CHAR)) {
+		if (sourceStream[encodedIndex] == DLE_CHAR) {
+			nextByte = sourceStream[encodedIndex + 1];
+			// The next byte is a DLE character that was escaped by another
+			// DLE character, so we can write it to the destination stream.
+			if (nextByte == DLE_CHAR) {
+				destStream[decodedIndex] = nextByte;
+			}
+			else {
+			    /* The next byte is a STX, DTX or 0x0D character which
+			     * was escaped by a DLE character. The actual byte was
+				 * also encoded by adding + 0x40 to preven having control chars,
+				 * in the stream at all, so we convert it back. */
+				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
+					destStream[decodedIndex] = nextByte - 0x40;
+				}
+				else {
+				    return DECODING_ERROR;
+				}
+			}
+			++encodedIndex;
+		}
+		else {
+			destStream[decodedIndex] = sourceStream[encodedIndex];
+		}
+
+		++encodedIndex;
+		++decodedIndex;
+	}
+
+	if (sourceStream[encodedIndex] != ETX_CHAR) {
+		*readLen = ++encodedIndex;
+		return DECODING_ERROR;
+	}
+	else {
+		*readLen = ++encodedIndex;
+		*decodedLen = decodedIndex;
+		return RETURN_OK;
+	}
+}
+
diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h
index ff3a2727..3c327a55 100644
--- a/globalfunctions/DleEncoder.h
+++ b/globalfunctions/DleEncoder.h
@@ -1,25 +1,79 @@
-#ifndef DLEENCODER_H_
-#define DLEENCODER_H_
-
-#include "../returnvalues/HasReturnvaluesIF.h"
-
-class DleEncoder: public HasReturnvaluesIF {
-private:
-	DleEncoder();
-	virtual ~DleEncoder();
-
-public:
-	static const uint8_t STX = 0x02;
-	static const uint8_t ETX = 0x03;
-	static const uint8_t DLE = 0x10;
-
-	static ReturnValue_t decode(const uint8_t *sourceStream,
-			uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
-			uint32_t maxDestStreamlen, uint32_t *decodedLen);
-
-	static ReturnValue_t encode(const uint8_t *sourceStream, uint32_t sourceLen,
-			uint8_t *destStream, uint32_t maxDestLen, uint32_t *encodedLen,
-			bool addStxEtx = true);
-};
-
-#endif /* DLEENCODER_H_ */
+#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
+#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
+
+/**
+ * @brief   This DLE Encoder (Data Link Encoder) can be used to encode and
+ *          decode arbitrary data with ASCII control characters
+ * @details
+ * List of control codes:
+ * https://en.wikipedia.org/wiki/C0_and_C1_control_codes
+ *
+ * This encoder can be used to achieve a basic transport layer when using
+ * char based transmission systems.
+ * The passed source strean is converted into a encoded stream by adding
+ * a STX marker at the start of the stream and an ETX marker at the end of
+ * the stream. Any STX, ETX, DLE and CR occurences in the source stream are
+ * escaped by a DLE character. The encoder also replaces escaped control chars
+ * by another char, so STX, ETX and CR should not appear anywhere in the actual
+ * encoded data stream.
+ *
+ * When using a strictly char based reception of packets enoded with DLE,
+ * STX can be used to notify a reader that actual data will start to arrive
+ * while ETX can be used to notify the reader that the data has ended.
+ */
+class DleEncoder: public HasReturnvaluesIF {
+private:
+	DleEncoder();
+	virtual ~DleEncoder();
+
+public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
+	static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
+	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
+
+	//! Start Of Text character. First character is encoded stream
+	static constexpr uint8_t STX_CHAR = 0x02;
+	//! End Of Text character. Last character in encoded stream
+	static constexpr uint8_t ETX_CHAR = 0x03;
+	//! Data Link Escape character. Used to escape STX, ETX and DLE occurences
+	//! in the source stream.
+	static constexpr uint8_t DLE_CHAR = 0x10;
+	static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
+
+    /**
+     * Encodes the give data stream by preceding it with the STX marker
+     * and ending it with an ETX marker. STX, ETX and DLE characters inside
+     * the stream are escaped by DLE characters and also replaced by adding
+     * 0x40 (which is reverted in the decoing process).
+     * @param sourceStream
+     * @param sourceLen
+     * @param destStream
+     * @param maxDestLen
+     * @param encodedLen
+     * @param addStxEtx
+     * Adding STX and ETX can be omitted, if they are added manually.
+     * @return
+     */
+    static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+            bool addStxEtx = true);
+
+    /**
+     * Converts an encoded stream back.
+     * @param sourceStream
+     * @param sourceStreamLen
+     * @param readLen
+     * @param destStream
+     * @param maxDestStreamlen
+     * @param decodedLen
+     * @return
+     */
+	static ReturnValue_t decode(const uint8_t *sourceStream,
+			size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+			size_t maxDestStreamlen, size_t *decodedLen);
+};
+
+#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */

From a8f2cf910b025c22f93d1ca1f070285e6d48773f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 26 Aug 2020 17:43:20 +0200
Subject: [PATCH 259/653] taken over dle encoder from upstream master

---
 globalfunctions/DleEncoder.cpp | 219 ++++++++++++++-------------------
 globalfunctions/DleEncoder.h   | 104 ++++------------
 2 files changed, 120 insertions(+), 203 deletions(-)

diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp
index 21dbd2e6..088c9d80 100644
--- a/globalfunctions/DleEncoder.cpp
+++ b/globalfunctions/DleEncoder.cpp
@@ -1,124 +1,95 @@
-#include "../globalfunctions/DleEncoder.h"
-
-DleEncoder::DleEncoder() {}
-
-DleEncoder::~DleEncoder() {}
-
-ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
-		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
-		size_t* encodedLen, bool addStxEtx) {
-	if (maxDestLen < 2) {
-		return STREAM_TOO_SHORT;
-	}
-	size_t encodedIndex = 0, sourceIndex = 0;
-	uint8_t nextByte;
-	if (addStxEtx) {
-		destStream[0] = STX_CHAR;
-		++encodedIndex;
-	}
-
-	while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
-	{
-		nextByte = sourceStream[sourceIndex];
-		// STX, ETX and CR characters in the stream need to be escaped with DLE
-		if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return STREAM_TOO_SHORT;
-			}
-			else {
-				destStream[encodedIndex] = DLE_CHAR;
-				++encodedIndex;
-				/* Escaped byte will be actual byte + 0x40. This prevents
-				 * STX, ETX, and carriage return characters from appearing
-				 * in the encoded data stream at all, so when polling an
-				 * encoded stream, the transmission can be stopped at ETX.
-				 * 0x40 was chosen at random with special requirements:
-				 *  - Prevent going from one control char to another
-				 *  - Prevent overflow for common characters */
-				destStream[encodedIndex] = nextByte + 0x40;
-			}
-		}
-		// DLE characters are simply escaped with DLE.
-		else if (nextByte == DLE_CHAR) {
-			if (encodedIndex + 1 >= maxDestLen) {
-			    return STREAM_TOO_SHORT;
-			}
-			else {
-				destStream[encodedIndex] = DLE_CHAR;
-				++encodedIndex;
-				destStream[encodedIndex] = DLE_CHAR;
-			}
-		}
-		else {
-			destStream[encodedIndex] = nextByte;
-		}
-		++encodedIndex;
-		++sourceIndex;
-	}
-
-	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
-		if (addStxEtx) {
-			destStream[encodedIndex] = ETX_CHAR;
-			++encodedIndex;
-		}
-		*encodedLen = encodedIndex;
-		return RETURN_OK;
-	}
-	else {
-		return STREAM_TOO_SHORT;
-	}
-}
-
-ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
-		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-		size_t maxDestStreamlen, size_t *decodedLen) {
-	size_t encodedIndex = 0, decodedIndex = 0;
-	uint8_t nextByte;
-	if (*sourceStream != STX_CHAR) {
-		return DECODING_ERROR;
-	}
-	++encodedIndex;
-
-	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
-			&& (sourceStream[encodedIndex] != ETX_CHAR)
-			&& (sourceStream[encodedIndex] != STX_CHAR)) {
-		if (sourceStream[encodedIndex] == DLE_CHAR) {
-			nextByte = sourceStream[encodedIndex + 1];
-			// The next byte is a DLE character that was escaped by another
-			// DLE character, so we can write it to the destination stream.
-			if (nextByte == DLE_CHAR) {
-				destStream[decodedIndex] = nextByte;
-			}
-			else {
-			    /* The next byte is a STX, DTX or 0x0D character which
-			     * was escaped by a DLE character. The actual byte was
-				 * also encoded by adding + 0x40 to preven having control chars,
-				 * in the stream at all, so we convert it back. */
-				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
-					destStream[decodedIndex] = nextByte - 0x40;
-				}
-				else {
-				    return DECODING_ERROR;
-				}
-			}
-			++encodedIndex;
-		}
-		else {
-			destStream[decodedIndex] = sourceStream[encodedIndex];
-		}
-
-		++encodedIndex;
-		++decodedIndex;
-	}
-
-	if (sourceStream[encodedIndex] != ETX_CHAR) {
-		*readLen = ++encodedIndex;
-		return DECODING_ERROR;
-	}
-	else {
-		*readLen = ++encodedIndex;
-		*decodedLen = decodedIndex;
-		return RETURN_OK;
-	}
-}
-
+#include "DleEncoder.h"
+
+DleEncoder::DleEncoder() {
+}
+
+DleEncoder::~DleEncoder() {
+}
+
+ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
+		uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
+		uint32_t maxDestStreamlen, uint32_t *decodedLen) {
+	uint32_t encodedIndex = 0, decodedIndex = 0;
+	uint8_t nextByte;
+	if (*sourceStream != STX) {
+		return RETURN_FAILED;
+	}
+	++encodedIndex;
+	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
+			&& (sourceStream[encodedIndex] != ETX)
+			&& (sourceStream[encodedIndex] != STX)) {
+		if (sourceStream[encodedIndex] == DLE) {
+			nextByte = sourceStream[encodedIndex + 1];
+			if (nextByte == 0x10) {
+				destStream[decodedIndex] = nextByte;
+			} else {
+				if ((nextByte == 0x42) || (nextByte == 0x43)
+						|| (nextByte == 0x4D)) {
+					destStream[decodedIndex] = nextByte - 0x40;
+				} else {
+					return RETURN_FAILED;
+				}
+			}
+			++encodedIndex;
+		} else {
+			destStream[decodedIndex] = sourceStream[encodedIndex];
+		}
+		++encodedIndex;
+		++decodedIndex;
+	}
+	if (sourceStream[encodedIndex] != ETX) {
+		return RETURN_FAILED;
+	} else {
+		*readLen = ++encodedIndex;
+		*decodedLen = decodedIndex;
+		return RETURN_OK;
+	}
+}
+
+ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
+		uint32_t sourceLen, uint8_t* destStream, uint32_t maxDestLen,
+		uint32_t* encodedLen, bool addStxEtx) {
+	if (maxDestLen < 2) {
+		return RETURN_FAILED;
+	}
+	uint32_t encodedIndex = 0, sourceIndex = 0;
+	uint8_t nextByte;
+	if (addStxEtx) {
+		destStream[0] = STX;
+		++encodedIndex;
+	}
+	while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) {
+		nextByte = sourceStream[sourceIndex];
+		if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) {
+			if (encodedIndex + 1 >= maxDestLen) {
+				return RETURN_FAILED;
+			} else {
+				destStream[encodedIndex] = DLE;
+				++encodedIndex;
+				destStream[encodedIndex] = nextByte + 0x40;
+			}
+		} else if (nextByte == DLE) {
+			if (encodedIndex + 1 >= maxDestLen) {
+				return RETURN_FAILED;
+			} else {
+				destStream[encodedIndex] = DLE;
+				++encodedIndex;
+				destStream[encodedIndex] = DLE;
+			}
+		} else {
+			destStream[encodedIndex] = nextByte;
+		}
+		++encodedIndex;
+		++sourceIndex;
+	}
+	if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) {
+		if (addStxEtx) {
+			destStream[encodedIndex] = ETX;
+			++encodedIndex;
+		}
+		*encodedLen = encodedIndex;
+		return RETURN_OK;
+	} else {
+		return RETURN_FAILED;
+	}
+}
diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h
index 3c327a55..ff3a2727 100644
--- a/globalfunctions/DleEncoder.h
+++ b/globalfunctions/DleEncoder.h
@@ -1,79 +1,25 @@
-#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
-#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
-
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include <cstddef>
-
-/**
- * @brief   This DLE Encoder (Data Link Encoder) can be used to encode and
- *          decode arbitrary data with ASCII control characters
- * @details
- * List of control codes:
- * https://en.wikipedia.org/wiki/C0_and_C1_control_codes
- *
- * This encoder can be used to achieve a basic transport layer when using
- * char based transmission systems.
- * The passed source strean is converted into a encoded stream by adding
- * a STX marker at the start of the stream and an ETX marker at the end of
- * the stream. Any STX, ETX, DLE and CR occurences in the source stream are
- * escaped by a DLE character. The encoder also replaces escaped control chars
- * by another char, so STX, ETX and CR should not appear anywhere in the actual
- * encoded data stream.
- *
- * When using a strictly char based reception of packets enoded with DLE,
- * STX can be used to notify a reader that actual data will start to arrive
- * while ETX can be used to notify the reader that the data has ended.
- */
-class DleEncoder: public HasReturnvaluesIF {
-private:
-	DleEncoder();
-	virtual ~DleEncoder();
-
-public:
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
-	static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
-	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
-
-	//! Start Of Text character. First character is encoded stream
-	static constexpr uint8_t STX_CHAR = 0x02;
-	//! End Of Text character. Last character in encoded stream
-	static constexpr uint8_t ETX_CHAR = 0x03;
-	//! Data Link Escape character. Used to escape STX, ETX and DLE occurences
-	//! in the source stream.
-	static constexpr uint8_t DLE_CHAR = 0x10;
-	static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
-
-    /**
-     * Encodes the give data stream by preceding it with the STX marker
-     * and ending it with an ETX marker. STX, ETX and DLE characters inside
-     * the stream are escaped by DLE characters and also replaced by adding
-     * 0x40 (which is reverted in the decoing process).
-     * @param sourceStream
-     * @param sourceLen
-     * @param destStream
-     * @param maxDestLen
-     * @param encodedLen
-     * @param addStxEtx
-     * Adding STX and ETX can be omitted, if they are added manually.
-     * @return
-     */
-    static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
-            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
-            bool addStxEtx = true);
-
-    /**
-     * Converts an encoded stream back.
-     * @param sourceStream
-     * @param sourceStreamLen
-     * @param readLen
-     * @param destStream
-     * @param maxDestStreamlen
-     * @param decodedLen
-     * @return
-     */
-	static ReturnValue_t decode(const uint8_t *sourceStream,
-			size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-			size_t maxDestStreamlen, size_t *decodedLen);
-};
-
-#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */
+#ifndef DLEENCODER_H_
+#define DLEENCODER_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+
+class DleEncoder: public HasReturnvaluesIF {
+private:
+	DleEncoder();
+	virtual ~DleEncoder();
+
+public:
+	static const uint8_t STX = 0x02;
+	static const uint8_t ETX = 0x03;
+	static const uint8_t DLE = 0x10;
+
+	static ReturnValue_t decode(const uint8_t *sourceStream,
+			uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
+			uint32_t maxDestStreamlen, uint32_t *decodedLen);
+
+	static ReturnValue_t encode(const uint8_t *sourceStream, uint32_t sourceLen,
+			uint8_t *destStream, uint32_t maxDestLen, uint32_t *encodedLen,
+			bool addStxEtx = true);
+};
+
+#endif /* DLEENCODER_H_ */

From df850116ffc924ff823e1238868994c594249094 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 26 Aug 2020 17:43:47 +0200
Subject: [PATCH 260/653] dle encoder doc added

---
 globalfunctions/DleEncoder.cpp | 219 +++++++++++++++++++--------------
 globalfunctions/DleEncoder.h   | 104 ++++++++++++----
 2 files changed, 203 insertions(+), 120 deletions(-)

diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp
index 088c9d80..21dbd2e6 100644
--- a/globalfunctions/DleEncoder.cpp
+++ b/globalfunctions/DleEncoder.cpp
@@ -1,95 +1,124 @@
-#include "DleEncoder.h"
-
-DleEncoder::DleEncoder() {
-}
-
-DleEncoder::~DleEncoder() {
-}
-
-ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
-		uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
-		uint32_t maxDestStreamlen, uint32_t *decodedLen) {
-	uint32_t encodedIndex = 0, decodedIndex = 0;
-	uint8_t nextByte;
-	if (*sourceStream != STX) {
-		return RETURN_FAILED;
-	}
-	++encodedIndex;
-	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
-			&& (sourceStream[encodedIndex] != ETX)
-			&& (sourceStream[encodedIndex] != STX)) {
-		if (sourceStream[encodedIndex] == DLE) {
-			nextByte = sourceStream[encodedIndex + 1];
-			if (nextByte == 0x10) {
-				destStream[decodedIndex] = nextByte;
-			} else {
-				if ((nextByte == 0x42) || (nextByte == 0x43)
-						|| (nextByte == 0x4D)) {
-					destStream[decodedIndex] = nextByte - 0x40;
-				} else {
-					return RETURN_FAILED;
-				}
-			}
-			++encodedIndex;
-		} else {
-			destStream[decodedIndex] = sourceStream[encodedIndex];
-		}
-		++encodedIndex;
-		++decodedIndex;
-	}
-	if (sourceStream[encodedIndex] != ETX) {
-		return RETURN_FAILED;
-	} else {
-		*readLen = ++encodedIndex;
-		*decodedLen = decodedIndex;
-		return RETURN_OK;
-	}
-}
-
-ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
-		uint32_t sourceLen, uint8_t* destStream, uint32_t maxDestLen,
-		uint32_t* encodedLen, bool addStxEtx) {
-	if (maxDestLen < 2) {
-		return RETURN_FAILED;
-	}
-	uint32_t encodedIndex = 0, sourceIndex = 0;
-	uint8_t nextByte;
-	if (addStxEtx) {
-		destStream[0] = STX;
-		++encodedIndex;
-	}
-	while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) {
-		nextByte = sourceStream[sourceIndex];
-		if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return RETURN_FAILED;
-			} else {
-				destStream[encodedIndex] = DLE;
-				++encodedIndex;
-				destStream[encodedIndex] = nextByte + 0x40;
-			}
-		} else if (nextByte == DLE) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return RETURN_FAILED;
-			} else {
-				destStream[encodedIndex] = DLE;
-				++encodedIndex;
-				destStream[encodedIndex] = DLE;
-			}
-		} else {
-			destStream[encodedIndex] = nextByte;
-		}
-		++encodedIndex;
-		++sourceIndex;
-	}
-	if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) {
-		if (addStxEtx) {
-			destStream[encodedIndex] = ETX;
-			++encodedIndex;
-		}
-		*encodedLen = encodedIndex;
-		return RETURN_OK;
-	} else {
-		return RETURN_FAILED;
-	}
-}
+#include "../globalfunctions/DleEncoder.h"
+
+DleEncoder::DleEncoder() {}
+
+DleEncoder::~DleEncoder() {}
+
+ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
+		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
+		size_t* encodedLen, bool addStxEtx) {
+	if (maxDestLen < 2) {
+		return STREAM_TOO_SHORT;
+	}
+	size_t encodedIndex = 0, sourceIndex = 0;
+	uint8_t nextByte;
+	if (addStxEtx) {
+		destStream[0] = STX_CHAR;
+		++encodedIndex;
+	}
+
+	while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
+	{
+		nextByte = sourceStream[sourceIndex];
+		// STX, ETX and CR characters in the stream need to be escaped with DLE
+		if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
+			if (encodedIndex + 1 >= maxDestLen) {
+				return STREAM_TOO_SHORT;
+			}
+			else {
+				destStream[encodedIndex] = DLE_CHAR;
+				++encodedIndex;
+				/* Escaped byte will be actual byte + 0x40. This prevents
+				 * STX, ETX, and carriage return characters from appearing
+				 * in the encoded data stream at all, so when polling an
+				 * encoded stream, the transmission can be stopped at ETX.
+				 * 0x40 was chosen at random with special requirements:
+				 *  - Prevent going from one control char to another
+				 *  - Prevent overflow for common characters */
+				destStream[encodedIndex] = nextByte + 0x40;
+			}
+		}
+		// DLE characters are simply escaped with DLE.
+		else if (nextByte == DLE_CHAR) {
+			if (encodedIndex + 1 >= maxDestLen) {
+			    return STREAM_TOO_SHORT;
+			}
+			else {
+				destStream[encodedIndex] = DLE_CHAR;
+				++encodedIndex;
+				destStream[encodedIndex] = DLE_CHAR;
+			}
+		}
+		else {
+			destStream[encodedIndex] = nextByte;
+		}
+		++encodedIndex;
+		++sourceIndex;
+	}
+
+	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
+		if (addStxEtx) {
+			destStream[encodedIndex] = ETX_CHAR;
+			++encodedIndex;
+		}
+		*encodedLen = encodedIndex;
+		return RETURN_OK;
+	}
+	else {
+		return STREAM_TOO_SHORT;
+	}
+}
+
+ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
+		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+		size_t maxDestStreamlen, size_t *decodedLen) {
+	size_t encodedIndex = 0, decodedIndex = 0;
+	uint8_t nextByte;
+	if (*sourceStream != STX_CHAR) {
+		return DECODING_ERROR;
+	}
+	++encodedIndex;
+
+	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
+			&& (sourceStream[encodedIndex] != ETX_CHAR)
+			&& (sourceStream[encodedIndex] != STX_CHAR)) {
+		if (sourceStream[encodedIndex] == DLE_CHAR) {
+			nextByte = sourceStream[encodedIndex + 1];
+			// The next byte is a DLE character that was escaped by another
+			// DLE character, so we can write it to the destination stream.
+			if (nextByte == DLE_CHAR) {
+				destStream[decodedIndex] = nextByte;
+			}
+			else {
+			    /* The next byte is a STX, DTX or 0x0D character which
+			     * was escaped by a DLE character. The actual byte was
+				 * also encoded by adding + 0x40 to preven having control chars,
+				 * in the stream at all, so we convert it back. */
+				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
+					destStream[decodedIndex] = nextByte - 0x40;
+				}
+				else {
+				    return DECODING_ERROR;
+				}
+			}
+			++encodedIndex;
+		}
+		else {
+			destStream[decodedIndex] = sourceStream[encodedIndex];
+		}
+
+		++encodedIndex;
+		++decodedIndex;
+	}
+
+	if (sourceStream[encodedIndex] != ETX_CHAR) {
+		*readLen = ++encodedIndex;
+		return DECODING_ERROR;
+	}
+	else {
+		*readLen = ++encodedIndex;
+		*decodedLen = decodedIndex;
+		return RETURN_OK;
+	}
+}
+
diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h
index ff3a2727..3c327a55 100644
--- a/globalfunctions/DleEncoder.h
+++ b/globalfunctions/DleEncoder.h
@@ -1,25 +1,79 @@
-#ifndef DLEENCODER_H_
-#define DLEENCODER_H_
-
-#include "../returnvalues/HasReturnvaluesIF.h"
-
-class DleEncoder: public HasReturnvaluesIF {
-private:
-	DleEncoder();
-	virtual ~DleEncoder();
-
-public:
-	static const uint8_t STX = 0x02;
-	static const uint8_t ETX = 0x03;
-	static const uint8_t DLE = 0x10;
-
-	static ReturnValue_t decode(const uint8_t *sourceStream,
-			uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
-			uint32_t maxDestStreamlen, uint32_t *decodedLen);
-
-	static ReturnValue_t encode(const uint8_t *sourceStream, uint32_t sourceLen,
-			uint8_t *destStream, uint32_t maxDestLen, uint32_t *encodedLen,
-			bool addStxEtx = true);
-};
-
-#endif /* DLEENCODER_H_ */
+#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
+#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
+
+/**
+ * @brief   This DLE Encoder (Data Link Encoder) can be used to encode and
+ *          decode arbitrary data with ASCII control characters
+ * @details
+ * List of control codes:
+ * https://en.wikipedia.org/wiki/C0_and_C1_control_codes
+ *
+ * This encoder can be used to achieve a basic transport layer when using
+ * char based transmission systems.
+ * The passed source strean is converted into a encoded stream by adding
+ * a STX marker at the start of the stream and an ETX marker at the end of
+ * the stream. Any STX, ETX, DLE and CR occurences in the source stream are
+ * escaped by a DLE character. The encoder also replaces escaped control chars
+ * by another char, so STX, ETX and CR should not appear anywhere in the actual
+ * encoded data stream.
+ *
+ * When using a strictly char based reception of packets enoded with DLE,
+ * STX can be used to notify a reader that actual data will start to arrive
+ * while ETX can be used to notify the reader that the data has ended.
+ */
+class DleEncoder: public HasReturnvaluesIF {
+private:
+	DleEncoder();
+	virtual ~DleEncoder();
+
+public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
+	static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
+	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
+
+	//! Start Of Text character. First character is encoded stream
+	static constexpr uint8_t STX_CHAR = 0x02;
+	//! End Of Text character. Last character in encoded stream
+	static constexpr uint8_t ETX_CHAR = 0x03;
+	//! Data Link Escape character. Used to escape STX, ETX and DLE occurences
+	//! in the source stream.
+	static constexpr uint8_t DLE_CHAR = 0x10;
+	static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
+
+    /**
+     * Encodes the give data stream by preceding it with the STX marker
+     * and ending it with an ETX marker. STX, ETX and DLE characters inside
+     * the stream are escaped by DLE characters and also replaced by adding
+     * 0x40 (which is reverted in the decoing process).
+     * @param sourceStream
+     * @param sourceLen
+     * @param destStream
+     * @param maxDestLen
+     * @param encodedLen
+     * @param addStxEtx
+     * Adding STX and ETX can be omitted, if they are added manually.
+     * @return
+     */
+    static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+            bool addStxEtx = true);
+
+    /**
+     * Converts an encoded stream back.
+     * @param sourceStream
+     * @param sourceStreamLen
+     * @param readLen
+     * @param destStream
+     * @param maxDestStreamlen
+     * @param decodedLen
+     * @return
+     */
+	static ReturnValue_t decode(const uint8_t *sourceStream,
+			size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+			size_t maxDestStreamlen, size_t *decodedLen);
+};
+
+#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */

From 281f13e27ba915bc987f7a4023a37a4a73305cf6 Mon Sep 17 00:00:00 2001
From: gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 26 Aug 2020 19:58:18 +0200
Subject: [PATCH 261/653] Update 'globalfunctions/DleEncoder.h'

Corrected some spelling mistakes
---
 globalfunctions/DleEncoder.h | 158 +++++++++++++++++------------------
 1 file changed, 79 insertions(+), 79 deletions(-)

diff --git a/globalfunctions/DleEncoder.h b/globalfunctions/DleEncoder.h
index 3c327a55..6d073f9a 100644
--- a/globalfunctions/DleEncoder.h
+++ b/globalfunctions/DleEncoder.h
@@ -1,79 +1,79 @@
-#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
-#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
-
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include <cstddef>
-
-/**
- * @brief   This DLE Encoder (Data Link Encoder) can be used to encode and
- *          decode arbitrary data with ASCII control characters
- * @details
- * List of control codes:
- * https://en.wikipedia.org/wiki/C0_and_C1_control_codes
- *
- * This encoder can be used to achieve a basic transport layer when using
- * char based transmission systems.
- * The passed source strean is converted into a encoded stream by adding
- * a STX marker at the start of the stream and an ETX marker at the end of
- * the stream. Any STX, ETX, DLE and CR occurences in the source stream are
- * escaped by a DLE character. The encoder also replaces escaped control chars
- * by another char, so STX, ETX and CR should not appear anywhere in the actual
- * encoded data stream.
- *
- * When using a strictly char based reception of packets enoded with DLE,
- * STX can be used to notify a reader that actual data will start to arrive
- * while ETX can be used to notify the reader that the data has ended.
- */
-class DleEncoder: public HasReturnvaluesIF {
-private:
-	DleEncoder();
-	virtual ~DleEncoder();
-
-public:
-	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
-	static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
-	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
-
-	//! Start Of Text character. First character is encoded stream
-	static constexpr uint8_t STX_CHAR = 0x02;
-	//! End Of Text character. Last character in encoded stream
-	static constexpr uint8_t ETX_CHAR = 0x03;
-	//! Data Link Escape character. Used to escape STX, ETX and DLE occurences
-	//! in the source stream.
-	static constexpr uint8_t DLE_CHAR = 0x10;
-	static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
-
-    /**
-     * Encodes the give data stream by preceding it with the STX marker
-     * and ending it with an ETX marker. STX, ETX and DLE characters inside
-     * the stream are escaped by DLE characters and also replaced by adding
-     * 0x40 (which is reverted in the decoing process).
-     * @param sourceStream
-     * @param sourceLen
-     * @param destStream
-     * @param maxDestLen
-     * @param encodedLen
-     * @param addStxEtx
-     * Adding STX and ETX can be omitted, if they are added manually.
-     * @return
-     */
-    static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
-            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
-            bool addStxEtx = true);
-
-    /**
-     * Converts an encoded stream back.
-     * @param sourceStream
-     * @param sourceStreamLen
-     * @param readLen
-     * @param destStream
-     * @param maxDestStreamlen
-     * @param decodedLen
-     * @return
-     */
-	static ReturnValue_t decode(const uint8_t *sourceStream,
-			size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-			size_t maxDestStreamlen, size_t *decodedLen);
-};
-
-#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */
+#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
+#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
+
+/**
+ * @brief   This DLE Encoder (Data Link Encoder) can be used to encode and
+ *          decode arbitrary data with ASCII control characters
+ * @details
+ * List of control codes:
+ * https://en.wikipedia.org/wiki/C0_and_C1_control_codes
+ *
+ * This encoder can be used to achieve a basic transport layer when using
+ * char based transmission systems.
+ * The passed source strean is converted into a encoded stream by adding
+ * a STX marker at the start of the stream and an ETX marker at the end of
+ * the stream. Any STX, ETX, DLE and CR occurrences in the source stream are
+ * escaped by a DLE character. The encoder also replaces escaped control chars
+ * by another char, so STX, ETX and CR should not appear anywhere in the actual
+ * encoded data stream.
+ *
+ * When using a strictly char based reception of packets encoded with DLE,
+ * STX can be used to notify a reader that actual data will start to arrive
+ * while ETX can be used to notify the reader that the data has ended.
+ */
+class DleEncoder: public HasReturnvaluesIF {
+private:
+	DleEncoder();
+	virtual ~DleEncoder();
+
+public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
+	static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
+	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
+
+	//! Start Of Text character. First character is encoded stream
+	static constexpr uint8_t STX_CHAR = 0x02;
+	//! End Of Text character. Last character in encoded stream
+	static constexpr uint8_t ETX_CHAR = 0x03;
+	//! Data Link Escape character. Used to escape STX, ETX and DLE occurrences
+	//! in the source stream.
+	static constexpr uint8_t DLE_CHAR = 0x10;
+	static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
+
+    /**
+     * Encodes the give data stream by preceding it with the STX marker
+     * and ending it with an ETX marker. STX, ETX and DLE characters inside
+     * the stream are escaped by DLE characters and also replaced by adding
+     * 0x40 (which is reverted in the decoding process).
+     * @param sourceStream
+     * @param sourceLen
+     * @param destStream
+     * @param maxDestLen
+     * @param encodedLen
+     * @param addStxEtx
+     * Adding STX and ETX can be omitted, if they are added manually.
+     * @return
+     */
+    static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
+            bool addStxEtx = true);
+
+    /**
+     * Converts an encoded stream back.
+     * @param sourceStream
+     * @param sourceStreamLen
+     * @param readLen
+     * @param destStream
+     * @param maxDestStreamlen
+     * @param decodedLen
+     * @return
+     */
+	static ReturnValue_t decode(const uint8_t *sourceStream,
+			size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+			size_t maxDestStreamlen, size_t *decodedLen);
+};
+
+#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */

From 76f145ddcfe2bd0ed6e201d70873cfe3927d80df Mon Sep 17 00:00:00 2001
From: gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 26 Aug 2020 19:59:58 +0200
Subject: [PATCH 262/653] Update 'globalfunctions/DleEncoder.cpp'

Just a missing char
---
 globalfunctions/DleEncoder.cpp | 248 ++++++++++++++++-----------------
 1 file changed, 124 insertions(+), 124 deletions(-)

diff --git a/globalfunctions/DleEncoder.cpp b/globalfunctions/DleEncoder.cpp
index 21dbd2e6..8520389d 100644
--- a/globalfunctions/DleEncoder.cpp
+++ b/globalfunctions/DleEncoder.cpp
@@ -1,124 +1,124 @@
-#include "../globalfunctions/DleEncoder.h"
-
-DleEncoder::DleEncoder() {}
-
-DleEncoder::~DleEncoder() {}
-
-ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
-		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
-		size_t* encodedLen, bool addStxEtx) {
-	if (maxDestLen < 2) {
-		return STREAM_TOO_SHORT;
-	}
-	size_t encodedIndex = 0, sourceIndex = 0;
-	uint8_t nextByte;
-	if (addStxEtx) {
-		destStream[0] = STX_CHAR;
-		++encodedIndex;
-	}
-
-	while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
-	{
-		nextByte = sourceStream[sourceIndex];
-		// STX, ETX and CR characters in the stream need to be escaped with DLE
-		if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return STREAM_TOO_SHORT;
-			}
-			else {
-				destStream[encodedIndex] = DLE_CHAR;
-				++encodedIndex;
-				/* Escaped byte will be actual byte + 0x40. This prevents
-				 * STX, ETX, and carriage return characters from appearing
-				 * in the encoded data stream at all, so when polling an
-				 * encoded stream, the transmission can be stopped at ETX.
-				 * 0x40 was chosen at random with special requirements:
-				 *  - Prevent going from one control char to another
-				 *  - Prevent overflow for common characters */
-				destStream[encodedIndex] = nextByte + 0x40;
-			}
-		}
-		// DLE characters are simply escaped with DLE.
-		else if (nextByte == DLE_CHAR) {
-			if (encodedIndex + 1 >= maxDestLen) {
-			    return STREAM_TOO_SHORT;
-			}
-			else {
-				destStream[encodedIndex] = DLE_CHAR;
-				++encodedIndex;
-				destStream[encodedIndex] = DLE_CHAR;
-			}
-		}
-		else {
-			destStream[encodedIndex] = nextByte;
-		}
-		++encodedIndex;
-		++sourceIndex;
-	}
-
-	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
-		if (addStxEtx) {
-			destStream[encodedIndex] = ETX_CHAR;
-			++encodedIndex;
-		}
-		*encodedLen = encodedIndex;
-		return RETURN_OK;
-	}
-	else {
-		return STREAM_TOO_SHORT;
-	}
-}
-
-ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
-		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-		size_t maxDestStreamlen, size_t *decodedLen) {
-	size_t encodedIndex = 0, decodedIndex = 0;
-	uint8_t nextByte;
-	if (*sourceStream != STX_CHAR) {
-		return DECODING_ERROR;
-	}
-	++encodedIndex;
-
-	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
-			&& (sourceStream[encodedIndex] != ETX_CHAR)
-			&& (sourceStream[encodedIndex] != STX_CHAR)) {
-		if (sourceStream[encodedIndex] == DLE_CHAR) {
-			nextByte = sourceStream[encodedIndex + 1];
-			// The next byte is a DLE character that was escaped by another
-			// DLE character, so we can write it to the destination stream.
-			if (nextByte == DLE_CHAR) {
-				destStream[decodedIndex] = nextByte;
-			}
-			else {
-			    /* The next byte is a STX, DTX or 0x0D character which
-			     * was escaped by a DLE character. The actual byte was
-				 * also encoded by adding + 0x40 to preven having control chars,
-				 * in the stream at all, so we convert it back. */
-				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
-					destStream[decodedIndex] = nextByte - 0x40;
-				}
-				else {
-				    return DECODING_ERROR;
-				}
-			}
-			++encodedIndex;
-		}
-		else {
-			destStream[decodedIndex] = sourceStream[encodedIndex];
-		}
-
-		++encodedIndex;
-		++decodedIndex;
-	}
-
-	if (sourceStream[encodedIndex] != ETX_CHAR) {
-		*readLen = ++encodedIndex;
-		return DECODING_ERROR;
-	}
-	else {
-		*readLen = ++encodedIndex;
-		*decodedLen = decodedIndex;
-		return RETURN_OK;
-	}
-}
-
+#include "../globalfunctions/DleEncoder.h"
+
+DleEncoder::DleEncoder() {}
+
+DleEncoder::~DleEncoder() {}
+
+ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
+		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
+		size_t* encodedLen, bool addStxEtx) {
+	if (maxDestLen < 2) {
+		return STREAM_TOO_SHORT;
+	}
+	size_t encodedIndex = 0, sourceIndex = 0;
+	uint8_t nextByte;
+	if (addStxEtx) {
+		destStream[0] = STX_CHAR;
+		++encodedIndex;
+	}
+
+	while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
+	{
+		nextByte = sourceStream[sourceIndex];
+		// STX, ETX and CR characters in the stream need to be escaped with DLE
+		if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
+			if (encodedIndex + 1 >= maxDestLen) {
+				return STREAM_TOO_SHORT;
+			}
+			else {
+				destStream[encodedIndex] = DLE_CHAR;
+				++encodedIndex;
+				/* Escaped byte will be actual byte + 0x40. This prevents
+				 * STX, ETX, and carriage return characters from appearing
+				 * in the encoded data stream at all, so when polling an
+				 * encoded stream, the transmission can be stopped at ETX.
+				 * 0x40 was chosen at random with special requirements:
+				 *  - Prevent going from one control char to another
+				 *  - Prevent overflow for common characters */
+				destStream[encodedIndex] = nextByte + 0x40;
+			}
+		}
+		// DLE characters are simply escaped with DLE.
+		else if (nextByte == DLE_CHAR) {
+			if (encodedIndex + 1 >= maxDestLen) {
+			    return STREAM_TOO_SHORT;
+			}
+			else {
+				destStream[encodedIndex] = DLE_CHAR;
+				++encodedIndex;
+				destStream[encodedIndex] = DLE_CHAR;
+			}
+		}
+		else {
+			destStream[encodedIndex] = nextByte;
+		}
+		++encodedIndex;
+		++sourceIndex;
+	}
+
+	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
+		if (addStxEtx) {
+			destStream[encodedIndex] = ETX_CHAR;
+			++encodedIndex;
+		}
+		*encodedLen = encodedIndex;
+		return RETURN_OK;
+	}
+	else {
+		return STREAM_TOO_SHORT;
+	}
+}
+
+ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
+		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+		size_t maxDestStreamlen, size_t *decodedLen) {
+	size_t encodedIndex = 0, decodedIndex = 0;
+	uint8_t nextByte;
+	if (*sourceStream != STX_CHAR) {
+		return DECODING_ERROR;
+	}
+	++encodedIndex;
+
+	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
+			&& (sourceStream[encodedIndex] != ETX_CHAR)
+			&& (sourceStream[encodedIndex] != STX_CHAR)) {
+		if (sourceStream[encodedIndex] == DLE_CHAR) {
+			nextByte = sourceStream[encodedIndex + 1];
+			// The next byte is a DLE character that was escaped by another
+			// DLE character, so we can write it to the destination stream.
+			if (nextByte == DLE_CHAR) {
+				destStream[decodedIndex] = nextByte;
+			}
+			else {
+			    /* The next byte is a STX, DTX or 0x0D character which
+			     * was escaped by a DLE character. The actual byte was
+				 * also encoded by adding + 0x40 to prevent having control chars,
+				 * in the stream at all, so we convert it back. */
+				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
+					destStream[decodedIndex] = nextByte - 0x40;
+				}
+				else {
+				    return DECODING_ERROR;
+				}
+			}
+			++encodedIndex;
+		}
+		else {
+			destStream[decodedIndex] = sourceStream[encodedIndex];
+		}
+
+		++encodedIndex;
+		++decodedIndex;
+	}
+
+	if (sourceStream[encodedIndex] != ETX_CHAR) {
+		*readLen = ++encodedIndex;
+		return DECODING_ERROR;
+	}
+	else {
+		*readLen = ++encodedIndex;
+		*decodedLen = decodedIndex;
+		return RETURN_OK;
+	}
+}
+

From 02be87aa03f0919d7f8ba629d6afc7fb9bd02076 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 15:57:47 +0200
Subject: [PATCH 263/653] init after task creation moved to task functionality

---
 osal/FreeRTOS/PeriodicTask.cpp | 281 +++++++++++++++++----------------
 osal/FreeRTOS/PeriodicTask.h   | 256 +++++++++++++++---------------
 2 files changed, 271 insertions(+), 266 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index ce981877..f99e8a4e 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -1,138 +1,143 @@
-#include "PeriodicTask.h"
-
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../tasks/ExecutableObjectIF.h"
-
-PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
-		TaskStackSize setStack, TaskPeriod setPeriod,
-		TaskDeadlineMissedFunction deadlineMissedFunc) :
-		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
-		deadlineMissedFunc)
-{
-	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
-	BaseType_t status = xTaskCreate(taskEntryPoint, name,
-			stackSize, this, setPriority, &handle);
-	if(status != pdPASS){
-		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
-		        "Status: " << status << std::endl;
-	}
-
-}
-
-PeriodicTask::~PeriodicTask(void) {
-	//Do not delete objects, we were responsible for ptrs only.
-}
-
-void PeriodicTask::taskEntryPoint(void* argument) {
-	// The argument is re-interpreted as PeriodicTask. The Task object is
-    // global, so it is found from any place.
-	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
-	/* Task should not start until explicitly requested,
-	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
-	 * is running but not if the scheduler is not running.
-	 * To be able to accommodate both cases we check a member which is set in
-	 * #startTask(). If it is not set and we get here, the scheduler was started
-	 * before #startTask() was called and we need to suspend if it is set,
-	 * the scheduler was not running before #startTask() was called and we
-	 * can continue */
-
-	if (not originalTask->started) {
-		vTaskSuspend(NULL);
-	}
-
-	originalTask->taskFunctionality();
-	sif::debug << "Polling task " << originalTask->handle
-			<< " returned from taskFunctionality." << std::endl;
-}
-
-ReturnValue_t PeriodicTask::startTask() {
-	started = true;
-
-	// We must not call resume if scheduler is not started yet
-	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
-		vTaskResume(handle);
-	}
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
-	vTaskDelay(pdMS_TO_TICKS(ms));
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void PeriodicTask::taskFunctionality() {
-	TickType_t xLastWakeTime;
-	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
-	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to
-	 explicitly. After this assignment, xLastWakeTime is updated automatically
-	 internally within vTaskDelayUntil(). */
-	xLastWakeTime = xTaskGetTickCount();
-	/* Enter the loop that defines the task behavior. */
-	for (;;) {
-		for (auto const& object: objectList) {
-			object->performOperation();
-		}
-
-		checkMissedDeadline(xLastWakeTime, xPeriod);
-
-		vTaskDelayUntil(&xLastWakeTime, xPeriod);
-
-	}
-}
-
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
-			object);
-	if (newObject == nullptr) {
-	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-	            "it implement ExecutableObjectIF" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	objectList.push_back(newObject);
-	newObject->setTaskIF(this);
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const {
-	return period * 1000;
-}
-
-void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
-        const TickType_t interval) {
-    /* Check whether deadline was missed while also taking overflows
-     * into account. Drawing this on paper with a timeline helps to understand
-     * it. */
-    TickType_t currentTickCount = xTaskGetTickCount();
-    TickType_t timeToWake = xLastWakeTime + interval;
-    // Time to wake has not overflown.
-    if(timeToWake > xLastWakeTime) {
-        /* If the current time has overflown exclusively or the current
-         * tick count is simply larger than the time to wake, a deadline was
-         * missed */
-        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
-            handleMissedDeadline();
-        }
-    }
-    /* Time to wake has overflown. A deadline was missed if the current time
-     * is larger than the time to wake */
-    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-        handleMissedDeadline();
-    }
-}
-
-TaskHandle_t PeriodicTask::getTaskHandle() {
-    return handle;
-}
-
-void PeriodicTask::handleMissedDeadline() {
-#ifdef DEBUG
-    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
-            " missed deadline!\n" << std::flush;
-#endif
-    if(deadlineMissedFunc != nullptr) {
-        this->deadlineMissedFunc();
-    }
-}
+#include "PeriodicTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod setPeriod,
+		TaskDeadlineMissedFunction deadlineMissedFunc) :
+		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
+		deadlineMissedFunc)
+{
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
+	BaseType_t status = xTaskCreate(taskEntryPoint, name,
+			stackSize, this, setPriority, &handle);
+	if(status != pdPASS){
+		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+		        "Status: " << status << std::endl;
+	}
+
+}
+
+PeriodicTask::~PeriodicTask(void) {
+	//Do not delete objects, we were responsible for ptrs only.
+}
+
+void PeriodicTask::taskEntryPoint(void* argument) {
+	// The argument is re-interpreted as PeriodicTask. The Task object is
+    // global, so it is found from any place.
+	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
+
+	if (not originalTask->started) {
+		vTaskSuspend(NULL);
+	}
+
+	originalTask->taskFunctionality();
+	sif::debug << "Polling task " << originalTask->handle
+			<< " returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	started = true;
+
+	// We must not call resume if scheduler is not started yet
+	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+		vTaskResume(handle);
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+	vTaskDelay(pdMS_TO_TICKS(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PeriodicTask::taskFunctionality() {
+	TickType_t xLastWakeTime;
+	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
+
+	for (auto const& object: objectList) {
+	    object->initializeAfterTaskCreation();
+	}
+
+	/* The xLastWakeTime variable needs to be initialized with the current tick
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
+	xLastWakeTime = xTaskGetTickCount();
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		for (auto const& object: objectList) {
+			object->performOperation();
+		}
+
+		checkMissedDeadline(xLastWakeTime, xPeriod);
+
+		vTaskDelayUntil(&xLastWakeTime, xPeriod);
+
+	}
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implement ExecutableObjectIF" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+	return period * 1000;
+}
+
+void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
+            handleMissedDeadline();
+        }
+    }
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
+        handleMissedDeadline();
+    }
+}
+
+TaskHandle_t PeriodicTask::getTaskHandle() {
+    return handle;
+}
+
+void PeriodicTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index ea170aba..1cdc3df7 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -1,128 +1,128 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
-
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
-#include "../../tasks/Typedef.h"
-#include "FreeRTOSTaskIF.h"
-
-
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-
-#include <vector>
-
-class ExecutableObjectIF;
-
-/**
- * @brief 	This class represents a specialized task for
- * 			periodic activities of multiple objects.
- * @ingroup task_handling
- */
-class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
-public:
-	/**
-	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
-	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * TODO: why does this need to be called before vTaskStartScheduler?
-	 * @details
-	 * The class is initialized without allocated objects.
-	 * These need to be added with #addComponent.
-	 * @param priority
-	 * Sets the priority of a task. Values depend on freeRTOS configuration,
-	 * high number means high priority.
-	 * @param stack_size
-	 * The stack size reserved by the operating system for the task.
-	 * @param setPeriod
-	 * The length of the period with which the task's
-	 * functionality will be executed. It is expressed in clock ticks.
-	 * @param setDeadlineMissedFunc
-	 * The function pointer to the deadline missed function that shall
-	 * be assigned.
-	 */
-	PeriodicTask(TaskName name, TaskPriority setPriority,
-	        TaskStackSize setStack, TaskPeriod setPeriod,
-	        TaskDeadlineMissedFunction deadlineMissedFunc);
-	/**
-	 * @brief	Currently, the executed object's lifetime is not coupled with
-	 * 			the task object's lifetime, so the destructor is empty.
-	 */
-	virtual ~PeriodicTask(void);
-
-	/**
-	 * @brief	The method to start the task.
-	 * @details	The method starts the task with the respective system call.
-	 * 			Entry point is the taskEntryPoint method described below.
-	 * 			The address of the task object is passed as an argument
-	 * 			to the system call.
-	 */
-	ReturnValue_t startTask() override;
-	/**
-	 * Adds an object to the list of objects to be executed.
-	 * The objects are executed in the order added.
-	 * @param object Id of the object to add.
-	 * @return
-	 * -@c RETURN_OK on success
-	 * -@c RETURN_FAILED if the object could not be added.
-	 */
-	ReturnValue_t addComponent(object_id_t object) override;
-
-	uint32_t getPeriodMs() const override;
-
-	ReturnValue_t sleepFor(uint32_t ms) override;
-
-	TaskHandle_t getTaskHandle() override;
-protected:
-	bool started;
-	TaskHandle_t handle;
-
-	//! Typedef for the List of objects.
-	typedef std::vector<ExecutableObjectIF*> ObjectList;
-	/**
-	 * @brief	This attribute holds a list of objects to be executed.
-	 */
-	ObjectList objectList;
-	/**
-	 * @brief	The period of the task.
-	 * @details
-	 * The period determines the frequency of the task's execution.
-	 * It is expressed in clock ticks.
-	 */
-	TaskPeriod period;
-	/**
-	 * @brief	The pointer to the deadline-missed function.
-	 * @details
-	 * This pointer stores the function that is executed if the task's deadline
-	 * is missed so each may react individually on a timing failure.
-	 * The pointer may be NULL, then nothing happens on missing the deadline.
-	 * The deadline is equal to the next execution of the periodic task.
-	 */
-	void (*deadlineMissedFunc)(void);
-	/**
-	 * @brief	This is the function executed in the new task's context.
-	 * @details
-	 * It converts the argument back to the thread object type and copies the
-	 * class instance to the task context. The taskFunctionality method is
-	 * called afterwards.
-	 * @param	A pointer to the task object itself is passed as argument.
-	 */
-
-	static void taskEntryPoint(void* argument);
-	/**
-	 * @brief	The function containing the actual functionality of the task.
-	 * @details
-	 * The method sets and starts the task's period, then enters a loop that is
-	 * repeated as long as the isRunning attribute is true. Within the loop,
-	 * all performOperation methods of the added objects are called.
-	 * Afterwards the checkAndRestartPeriod system call blocks the task until
-	 * the next period.
-	 * On missing the deadline, the deadlineMissedFunction is executed.
-	 */
-	void taskFunctionality(void);
-
-	void checkMissedDeadline(const TickType_t xLastWakeTime,
-	        const TickType_t interval);
-	void handleMissedDeadline();
-};
-
-#endif /* PERIODICTASK_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
+
+#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+#include <vector>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
+ * @ingroup task_handling
+ */
+class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
+public:
+	/**
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * TODO: why does this need to be called before vTaskStartScheduler?
+	 * @details
+	 * The class is initialized without allocated objects.
+	 * These need to be added with #addComponent.
+	 * @param priority
+	 * Sets the priority of a task. Values depend on freeRTOS configuration,
+	 * high number means high priority.
+	 * @param stack_size
+	 * The stack size reserved by the operating system for the task.
+	 * @param setPeriod
+	 * The length of the period with which the task's
+	 * functionality will be executed. It is expressed in clock ticks.
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall
+	 * be assigned.
+	 */
+	PeriodicTask(TaskName name, TaskPriority setPriority,
+	        TaskStackSize setStack, TaskPeriod setPeriod,
+	        TaskDeadlineMissedFunction deadlineMissedFunc);
+	/**
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
+	 */
+	virtual ~PeriodicTask(void);
+
+	/**
+	 * @brief	The method to start the task.
+	 * @details	The method starts the task with the respective system call.
+	 * 			Entry point is the taskEntryPoint method described below.
+	 * 			The address of the task object is passed as an argument
+	 * 			to the system call.
+	 */
+	ReturnValue_t startTask() override;
+	/**
+	 * Adds an object to the list of objects to be executed.
+	 * The objects are executed in the order added.
+	 * @param object Id of the object to add.
+	 * @return
+	 * -@c RETURN_OK on success
+	 * -@c RETURN_FAILED if the object could not be added.
+	 */
+	ReturnValue_t addComponent(object_id_t object) override;
+
+	uint32_t getPeriodMs() const override;
+
+	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() override;
+protected:
+	bool started;
+	TaskHandle_t handle;
+
+	//! Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
+	/**
+	 * @brief	This attribute holds a list of objects to be executed.
+	 */
+	ObjectList objectList;
+	/**
+	 * @brief	The period of the task.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
+	 */
+	TaskPeriod period;
+	/**
+	 * @brief	The pointer to the deadline-missed function.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed so each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the function executed in the new task's context.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context. The taskFunctionality method is
+	 * called afterwards.
+	 * @param	A pointer to the task object itself is passed as argument.
+	 */
+
+	static void taskEntryPoint(void* argument);
+	/**
+	 * @brief	The function containing the actual functionality of the task.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called.
+	 * Afterwards the checkAndRestartPeriod system call blocks the task until
+	 * the next period.
+	 * On missing the deadline, the deadlineMissedFunction is executed.
+	 */
+	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
+};
+
+#endif /* PERIODICTASK_H_ */

From 66cf2d3559b93ff78ebb043dafc4ea2abb4d6efa Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 16:05:31 +0200
Subject: [PATCH 264/653] timeslot update for FreeRTOS

---
 devicehandlers/FixedSequenceSlot.cpp          |  20 --
 osal/FreeRTOS/FixedTimeslotTask.cpp           | 328 +++++++++---------
 osal/FreeRTOS/FixedTimeslotTask.h             | 203 ++++++-----
 tasks/FixedSequenceSlot.cpp                   |  17 +
 {devicehandlers => tasks}/FixedSequenceSlot.h | 117 +++----
 .../FixedSlotSequence.cpp                     | 270 +++++++-------
 {devicehandlers => tasks}/FixedSlotSequence.h | 311 +++++++++--------
 7 files changed, 647 insertions(+), 619 deletions(-)
 delete mode 100644 devicehandlers/FixedSequenceSlot.cpp
 create mode 100644 tasks/FixedSequenceSlot.cpp
 rename {devicehandlers => tasks}/FixedSequenceSlot.h (56%)
 rename {devicehandlers => tasks}/FixedSlotSequence.cpp (61%)
 rename {devicehandlers => tasks}/FixedSlotSequence.h (90%)

diff --git a/devicehandlers/FixedSequenceSlot.cpp b/devicehandlers/FixedSequenceSlot.cpp
deleted file mode 100644
index 667aba1d..00000000
--- a/devicehandlers/FixedSequenceSlot.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/**
- * @file	PollingSlot.cpp
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#include "FixedSequenceSlot.h"
-#include "../objectmanager/SystemObjectIF.h"
-#include <cstddef>
-
-FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
-		int8_t setSequenceId, PeriodicTaskIF* executingTask) :
-		handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
-	handler = objectManager->get<ExecutableObjectIF>(handlerId);
-	handler->setTaskIF(executingTask);
-}
-
-FixedSequenceSlot::~FixedSequenceSlot() {}
-
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 4873dde4..772c4bca 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -1,162 +1,166 @@
-#include "FixedTimeslotTask.h"
-
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
-const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
-
-FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
-		TaskStackSize setStack, TaskPeriod overallPeriod,
-		void (*setDeadlineMissedFunc)()) :
-		started(false), handle(NULL), pst(overallPeriod * 1000) {
-	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
-	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
-	// All additional attributes are applied to the object.
-	this->deadlineMissedFunc = setDeadlineMissedFunc;
-}
-
-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(reinterpret_cast<FixedTimeslotTask*>(argument));
-	/* Task should not start until explicitly requested,
-	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
-	 * is running but not if the scheduler is not running.
-	 * To be able to accommodate both cases we check a member which is set in
-	 * #startTask(). If it is not set and we get here, the scheduler was started
-	 * before #startTask() was called and we need to suspend if it is set,
-	 * the scheduler was not running before #startTask() was called and we
-	 * can continue */
-
-	if (not originalTask->started) {
-		vTaskSuspend(NULL);
-	}
-
-	originalTask->taskFunctionality();
-	sif::debug << "Polling task " << originalTask->handle
-			<< " returned from taskFunctionality." << std::endl;
-}
-
-void FixedTimeslotTask::missedDeadlineCounter() {
-	FixedTimeslotTask::deadlineMissedCount++;
-	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
-				<< " deadlines." << std::endl;
-	}
-}
-
-ReturnValue_t FixedTimeslotTask::startTask() {
-	started = true;
-
-	// We must not call resume if scheduler is not started yet
-	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
-		vTaskResume(handle);
-	}
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-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;
-}
-
-uint32_t FixedTimeslotTask::getPeriodMs() const {
-	return pst.getLengthMs();
-}
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const {
-	return pst.checkSequence();
-}
-
-void FixedTimeslotTask::taskFunctionality() {
-	// A local iterator for the Polling Sequence Table is created to find the
-    // start time for the first entry.
-	auto slotListIter = pst.current;
-
-	//The start time for the first entry is read.
-	uint32_t intervalMs = slotListIter->pollingTimeMs;
-	TickType_t interval = pdMS_TO_TICKS(intervalMs);
-
-	TickType_t xLastWakeTime;
-	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to
-	 explicitly. After this assignment, xLastWakeTime is updated automatically
-	 internally within vTaskDelayUntil(). */
-	xLastWakeTime = xTaskGetTickCount();
-
-	// wait for first entry's start time
-	if(interval > 0) {
-	    vTaskDelayUntil(&xLastWakeTime, interval);
-	}
-
-	/* Enter the loop that defines the task behavior. */
-	for (;;) {
-		//The component for this slot is executed and the next one is chosen.
-	    this->pst.executeAndAdvance();
-	    if (not pst.slotFollowsImmediately()) {
-	        // Get the interval till execution of the next slot.
-	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
-	        interval = pdMS_TO_TICKS(intervalMs);
-
-	        checkMissedDeadline(xLastWakeTime, interval);
-
-	        // Wait for the interval. This exits immediately if a deadline was
-	        // missed while also updating the last wake time.
-	        vTaskDelayUntil(&xLastWakeTime, interval);
-	    }
-	}
-}
-
-void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
-        const TickType_t interval) {
-    /* Check whether deadline was missed while also taking overflows
-     * into account. Drawing this on paper with a timeline helps to understand
-     * it. */
-    TickType_t currentTickCount = xTaskGetTickCount();
-    TickType_t timeToWake = xLastWakeTime + interval;
-    // Time to wake has not overflown.
-    if(timeToWake > xLastWakeTime) {
-        /* If the current time has overflown exclusively or the current
-         * tick count is simply larger than the time to wake, a deadline was
-         * missed */
-        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
-            handleMissedDeadline();
-        }
-    }
-    /* Time to wake has overflown. A deadline was missed if the current time
-     * is larger than the time to wake */
-    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-        handleMissedDeadline();
-    }
-}
-
-void FixedTimeslotTask::handleMissedDeadline() {
-#ifdef DEBUG
-    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
-            " missed deadline!\n" << std::flush;
-#endif
-    if(deadlineMissedFunc != nullptr) {
-        this->deadlineMissedFunc();
-    }
-}
-
-ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
-	vTaskDelay(pdMS_TO_TICKS(ms));
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-TaskHandle_t FixedTimeslotTask::getTaskHandle() {
-    return handle;
-}
+#include "FixedTimeslotTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
+
+FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod overallPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		started(false), handle(nullptr), pst(overallPeriod * 1000) {
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
+	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
+	// All additional attributes are applied to the object.
+	this->deadlineMissedFunc = setDeadlineMissedFunc;
+}
+
+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(reinterpret_cast<FixedTimeslotTask*>(argument));
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
+
+	if (not originalTask->started) {
+		vTaskSuspend(NULL);
+	}
+
+	originalTask->taskFunctionality();
+	sif::debug << "Polling task " << originalTask->handle
+			<< " returned from taskFunctionality." << std::endl;
+}
+
+void FixedTimeslotTask::missedDeadlineCounter() {
+	FixedTimeslotTask::deadlineMissedCount++;
+	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
+		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
+				<< " deadlines." << std::endl;
+	}
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+	started = true;
+
+	// We must not call resume if scheduler is not started yet
+	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+		vTaskResume(handle);
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+		uint32_t slotTimeMs, int8_t executionStep) {
+    ExecutableObjectIF* handler =
+            objectManager->get<ExecutableObjectIF>(componentId);
+	if (handler != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, handler, 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();
+}
+
+ReturnValue_t FixedTimeslotTask::checkSequence() const {
+	return pst.checkSequence();
+}
+
+void FixedTimeslotTask::taskFunctionality() {
+	// A local iterator for the Polling Sequence Table is created to find the
+    // start time for the first entry.
+	auto slotListIter = pst.current;
+
+	pst.intializeSequenceAfterTaskCreation();
+
+	//The start time for the first entry is read.
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
+	TickType_t interval = pdMS_TO_TICKS(intervalMs);
+
+	TickType_t xLastWakeTime;
+	/* The xLastWakeTime variable needs to be initialized with the current tick
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
+	xLastWakeTime = xTaskGetTickCount();
+
+	// wait for first entry's start time
+	if(interval > 0) {
+	    vTaskDelayUntil(&xLastWakeTime, interval);
+	}
+
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		//The component for this slot is executed and the next one is chosen.
+	    this->pst.executeAndAdvance();
+	    if (not pst.slotFollowsImmediately()) {
+	        // Get the interval till execution of the next slot.
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+
+	        checkMissedDeadline(xLastWakeTime, interval);
+
+	        // Wait for the interval. This exits immediately if a deadline was
+	        // missed while also updating the last wake time.
+	        vTaskDelayUntil(&xLastWakeTime, interval);
+	    }
+	}
+}
+
+void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
+            handleMissedDeadline();
+        }
+    }
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
+        handleMissedDeadline();
+    }
+}
+
+void FixedTimeslotTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
+	vTaskDelay(pdMS_TO_TICKS(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+TaskHandle_t FixedTimeslotTask::getTaskHandle() {
+    return handle;
+}
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 84264c4c..42af14b8 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,102 +1,101 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
-
-#include "FreeRTOSTaskIF.h"
-#include "../../devicehandlers/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
-#include "../../tasks/Typedef.h"
-
-
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-
-class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
-public:
-
-	/**
-	 * Keep in mind that you need to call before vTaskStartScheduler()!
-	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
-	 * @param setPriority Number of priorities specified by
-	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
-	 * @param setStack	Stack size in words (not bytes!).
-	 * Lower limit specified by configMINIMAL_STACK_SIZE
-	 * @param overallPeriod		Period in seconds.
-	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
-	 * @return Pointer to the newly created task.
-	 */
-	FixedTimeslotTask(TaskName name, TaskPriority setPriority,
-			TaskStackSize setStack, TaskPeriod overallPeriod,
-			void (*setDeadlineMissedFunc)());
-
-	/**
-	 * @brief	The destructor of the class.
-	 * @details
-	 * The destructor frees all heap memory that was allocated on thread
-	 * initialization for the PST and the device handlers. This is done by
-	 * calling the PST's destructor.
-	 */
-	virtual ~FixedTimeslotTask(void);
-
-	ReturnValue_t startTask(void);
-	/**
-	 * This static function can be used as #deadlineMissedFunc.
-	 * It counts missedDeadlines and prints the number of missed deadlines
-	 * every 10th time.
-	 */
-	static void missedDeadlineCounter();
-	/**
-	 * A helper variable to count missed deadlines.
-	 */
-	static uint32_t deadlineMissedCount;
-
-	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-			int8_t executionStep) override;
-
-	uint32_t getPeriodMs() const override;
-
-	ReturnValue_t checkSequence() const override;
-
-	ReturnValue_t sleepFor(uint32_t ms) override;
-
-	TaskHandle_t getTaskHandle() override;
-
-protected:
-	bool started;
-	TaskHandle_t handle;
-
-	FixedSlotSequence pst;
-
-	/**
-	 * @brief	This attribute holds a function pointer that is executed when
-	 *          a deadline was missed.
-	 * @details
-	 * Another function may be announced to determine the actions to perform
-	 * when a deadline was missed. Currently, only one function for missing
-	 * any deadline is allowed. If not used, it shall be declared NULL.
-	 */
-	void (*deadlineMissedFunc)(void);
-	/**
-	 * @brief	This is the entry point for a new task.
-	 * @details
-	 * This method starts the task by calling taskFunctionality(), as soon as
-	 * all requirements (task scheduler has started and startTask()
-	 * has been called) are met.
-	 */
-	static void taskEntryPoint(void* argument);
-
-	/**
-	 * @brief	This function holds the main functionality of the thread.
-	 * @details
-	 * Core function holding the main functionality of the task
-	 * It links the functionalities provided by FixedSlotSequence with the
-	 * OS's System Calls to keep the timing of the periods.
-	 */
-	void taskFunctionality(void);
-
-	void checkMissedDeadline(const TickType_t xLastWakeTime,
-	        const TickType_t interval);
-	void handleMissedDeadline();
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+
+#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
+#include "../../tasks/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
+public:
+
+	/**
+	 * Keep in mind that you need to call before vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
+	 * @param setPriority Number of priorities specified by
+	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
+	 * @param setStack	Stack size in words (not bytes!).
+	 * Lower limit specified by configMINIMAL_STACK_SIZE
+	 * @param overallPeriod		Period in seconds.
+	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
+	 * @return Pointer to the newly created task.
+	 */
+	FixedTimeslotTask(TaskName name, TaskPriority setPriority,
+			TaskStackSize setStack, TaskPeriod overallPeriod,
+			void (*setDeadlineMissedFunc)());
+
+	/**
+	 * @brief	The destructor of the class.
+	 * @details
+	 * The destructor frees all heap memory that was allocated on thread
+	 * initialization for the PST and the device handlers. This is done by
+	 * calling the PST's destructor.
+	 */
+	virtual ~FixedTimeslotTask(void);
+
+	ReturnValue_t startTask(void);
+	/**
+	 * This static function can be used as #deadlineMissedFunc.
+	 * It counts missedDeadlines and prints the number of missed deadlines
+	 * every 10th time.
+	 */
+	static void missedDeadlineCounter();
+	/**
+	 * A helper variable to count missed deadlines.
+	 */
+	static uint32_t deadlineMissedCount;
+
+	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+			int8_t executionStep) override;
+
+	uint32_t getPeriodMs() const override;
+
+	ReturnValue_t checkSequence() const override;
+
+	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() override;
+
+protected:
+	bool started;
+	TaskHandle_t handle;
+
+	FixedSlotSequence pst;
+
+	/**
+	 * @brief	This attribute holds a function pointer that is executed when
+	 *          a deadline was missed.
+	 * @details
+	 * Another function may be announced to determine the actions to perform
+	 * when a deadline was missed. Currently, only one function for missing
+	 * any deadline is allowed. If not used, it shall be declared NULL.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the entry point for a new task.
+	 * @details
+	 * This method starts the task by calling taskFunctionality(), as soon as
+	 * all requirements (task scheduler has started and startTask()
+	 * has been called) are met.
+	 */
+	static void taskEntryPoint(void* argument);
+
+	/**
+	 * @brief	This function holds the main functionality of the thread.
+	 * @details
+	 * Core function holding the main functionality of the task
+	 * It links the functionalities provided by FixedSlotSequence with the
+	 * OS's System Calls to keep the timing of the periods.
+	 */
+	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
+};
+
+#endif /* POLLINGTASK_H_ */
diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp
new file mode 100644
index 00000000..5fe49523
--- /dev/null
+++ b/tasks/FixedSequenceSlot.cpp
@@ -0,0 +1,17 @@
+#include "FixedSequenceSlot.h"
+#include "../objectmanager/SystemObjectIF.h"
+#include <cstddef>
+
+FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
+		int8_t setSequenceId, ExecutableObjectIF* executableObject,
+		PeriodicTaskIF* executingTask) :
+		pollingTimeMs(setTime), opcode(setSequenceId) {
+    if(executableObject == nullptr) {
+        return;
+    }
+    this->executableObject = executableObject;
+    this->executableObject->setTaskIF(executingTask);
+}
+
+FixedSequenceSlot::~FixedSequenceSlot() {}
+
diff --git a/devicehandlers/FixedSequenceSlot.h b/tasks/FixedSequenceSlot.h
similarity index 56%
rename from devicehandlers/FixedSequenceSlot.h
rename to tasks/FixedSequenceSlot.h
index 73504955..9cf5894c 100644
--- a/devicehandlers/FixedSequenceSlot.h
+++ b/tasks/FixedSequenceSlot.h
@@ -1,60 +1,57 @@
-/**
- * @file	FixedSequenceSlot.h
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#ifndef FIXEDSEQUENCESLOT_H_
-#define FIXEDSEQUENCESLOT_H_
-
-#include "../objectmanager/ObjectManagerIF.h"
-#include "../tasks/ExecutableObjectIF.h"
-class PeriodicTaskIF;
-
-/**
- * @brief	This class is the representation of a single polling sequence table entry.
- *
- * @details	The PollingSlot class is the representation of a single polling
- * 			sequence table entry.
- */
-class FixedSequenceSlot {
-public:
-	FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
-			int8_t setSequenceId, PeriodicTaskIF* executingTask );
-	virtual ~FixedSequenceSlot();
-
-	/**
-	 * @brief	Handler identifies which device handler object is executed in this slot.
-	 */
-	ExecutableObjectIF*	handler;
-
-	/**
-	 * @brief	This attribute defines when a device handler object is executed.
-	 *
-	 * @details	The pollingTime attribute identifies the time the handler is executed in ms.
-	 * 			It must be smaller than the period length of the polling sequence.
-	 */
-	uint32_t	pollingTimeMs;
-
-	/**
-	 * @brief	This value defines the type of device communication.
-	 *
-	 * @details	The state of this value decides what communication routine is
-	 * 			called in the PST executable or the device handler object.
-	 */
-	uint8_t			opcode;
-
-	/**
-	 * @brief 	Operator overload for the comparison operator to
-	 * 			allow sorting by polling time.
-	 * @param fixedSequenceSlot
-	 * @return
-	 */
-	bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const {
-		return pollingTimeMs < fixedSequenceSlot.pollingTimeMs;
-	}
-};
-
-
-#endif /* FIXEDSEQUENCESLOT_H_ */
+#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
+#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
+
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+class PeriodicTaskIF;
+
+/**
+ * @brief	This class is the representation of a single polling sequence
+ *          table entry.
+ * @details
+ * The PollingSlot class is the representation of a single polling
+ * sequence table entry.
+ * @author  baetz
+ */
+class FixedSequenceSlot {
+public:
+	FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
+			int8_t setSequenceId, ExecutableObjectIF* executableObject,
+			PeriodicTaskIF* executingTask);
+	virtual ~FixedSequenceSlot();
+
+	/**
+	 * @brief	Handler identifies which object is executed in this slot.
+	 */
+	ExecutableObjectIF*	executableObject = nullptr;
+
+	/**
+	 * @brief	This attribute defines when a device handler object is executed.
+	 * @details
+	 * The pollingTime attribute identifies the time the handler is
+	 * executed in ms. It must be smaller than the period length of the
+	 * polling sequence.
+	 */
+	uint32_t pollingTimeMs;
+
+	/**
+	 * @brief	This value defines the type of device communication.
+	 *
+	 * @details	The state of this value decides what communication routine is
+	 * 			called in the PST executable or the device handler object.
+	 */
+	uint8_t	opcode;
+
+	/**
+	 * @brief 	Operator overload for the comparison operator to
+	 * 			allow sorting by polling time.
+	 * @param fixedSequenceSlot
+	 * @return
+	 */
+	bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const {
+		return pollingTimeMs < fixedSequenceSlot.pollingTimeMs;
+	}
+};
+
+
+#endif /* FIXEDSEQUENCESLOT_H_ */
diff --git a/devicehandlers/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp
similarity index 61%
rename from devicehandlers/FixedSlotSequence.cpp
rename to tasks/FixedSlotSequence.cpp
index 38d4dcea..78f512ca 100644
--- a/devicehandlers/FixedSlotSequence.cpp
+++ b/tasks/FixedSlotSequence.cpp
@@ -1,123 +1,147 @@
-#include "FixedSlotSequence.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
-		lengthMs(setLengthMs) {
-	current = slotList.begin();
-}
-
-FixedSlotSequence::~FixedSlotSequence() {
-	// Call the destructor on each list entry.
-	slotList.clear();
-}
-
-void FixedSlotSequence::executeAndAdvance() {
-	current->handler->performOperation(current->opcode);
-//	if (returnValue != RETURN_OK) {
-//		this->sendErrorMessage( returnValue );
-//	}
-	//Increment the polling Sequence iterator
-	this->current++;
-	//Set it to the beginning, if the list's end is reached.
-	if (this->current == this->slotList.end()) {
-		this->current = this->slotList.begin();
-	}
-}
-
-uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
-	uint32_t oldTime;
-	SlotListIter slotListIter = current;
-	// Get the pollingTimeMs of the current slot object.
-	oldTime = slotListIter->pollingTimeMs;
-	// Advance to the next object.
-	slotListIter++;
-	// Find the next interval which is not 0.
-	while (slotListIter != slotList.end()) {
-		if (oldTime != slotListIter->pollingTimeMs) {
-			return slotListIter->pollingTimeMs - oldTime;
-		} else {
-			slotListIter++;
-		}
-	}
-	// If the list end is reached (this is definitely an interval != 0),
-	// the interval is calculated by subtracting the remaining time of the PST
-	// and adding the start time of the first handler in the list.
-	slotListIter = slotList.begin();
-	return lengthMs - oldTime + slotListIter->pollingTimeMs;
-}
-
-uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
-	uint32_t currentTime;
-	SlotListIter slotListIter = current;
-	// Get the pollingTimeMs of the current slot object.
-	currentTime = slotListIter->pollingTimeMs;
-
-	//if it is the first slot, calculate difference to last slot
-	if (slotListIter == slotList.begin()){
-		return lengthMs - (--slotList.end())->pollingTimeMs + currentTime;
-	}
-	// get previous slot
-	slotListIter--;
-
-	return currentTime - slotListIter->pollingTimeMs;
-}
-
-bool FixedSlotSequence::slotFollowsImmediately() {
-	uint32_t currentTime = current->pollingTimeMs;
-	SlotListIter fixedSequenceIter = this->current;
-	// Get the pollingTimeMs of the current slot object.
-	if (fixedSequenceIter == slotList.begin())
-		return false;
-	fixedSequenceIter--;
-	if (fixedSequenceIter->pollingTimeMs == currentTime) {
-		return true;
-	} else {
-		return false;
-	}
-}
-
-uint32_t FixedSlotSequence::getLengthMs() const {
-	return this->lengthMs;
-}
-
-ReturnValue_t FixedSlotSequence::checkSequence() const {
-	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 == nullptr) {
-			sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
-					<< std::endl;
-			count++;
-		} else if (slotIt->pollingTimeMs < time) {
-			sif::error << "FixedSlotSequence::initialize: Time: "
-					<< slotIt->pollingTimeMs
-					<< " is smaller than previous with " << time << std::endl;
-			count++;
-		} else {
-			// All ok, print slot.
-			//info << "Current slot polling time: " << std::endl;
-			//info << std::dec << slotIt->pollingTimeMs << std::endl;
-		}
-		time = slotIt->pollingTimeMs;
-		slotIt++;
-	}
-	//info << "Number of elements in slot list: "
-	//	   << slotList.size() << std::endl;
-	if (count > 0) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-		int8_t executionStep, PeriodicTaskIF* executingTask) {
-	this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
-			executingTask));
-	this->current = slotList.begin();
-}
+#include "FixedSlotSequence.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include <cstdlib>
+
+FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
+		lengthMs(setLengthMs) {
+	current = slotList.begin();
+}
+
+FixedSlotSequence::~FixedSlotSequence() {
+	// Call the destructor on each list entry.
+	slotList.clear();
+}
+
+void FixedSlotSequence::executeAndAdvance() {
+	current->executableObject->performOperation(current->opcode);
+//	if (returnValue != RETURN_OK) {
+//		this->sendErrorMessage( returnValue );
+//	}
+	//Increment the polling Sequence iterator
+	this->current++;
+	//Set it to the beginning, if the list's end is reached.
+	if (this->current == this->slotList.end()) {
+		this->current = this->slotList.begin();
+	}
+}
+
+uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
+	uint32_t oldTime;
+	SlotListIter slotListIter = current;
+	// Get the pollingTimeMs of the current slot object.
+	oldTime = slotListIter->pollingTimeMs;
+	// Advance to the next object.
+	slotListIter++;
+	// Find the next interval which is not 0.
+	while (slotListIter != slotList.end()) {
+		if (oldTime != slotListIter->pollingTimeMs) {
+			return slotListIter->pollingTimeMs - oldTime;
+		} else {
+			slotListIter++;
+		}
+	}
+	// If the list end is reached (this is definitely an interval != 0),
+	// the interval is calculated by subtracting the remaining time of the PST
+	// and adding the start time of the first handler in the list.
+	slotListIter = slotList.begin();
+	return lengthMs - oldTime + slotListIter->pollingTimeMs;
+}
+
+uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
+	uint32_t currentTime;
+	SlotListIter slotListIter = current;
+	// Get the pollingTimeMs of the current slot object.
+	currentTime = slotListIter->pollingTimeMs;
+
+	//if it is the first slot, calculate difference to last slot
+	if (slotListIter == slotList.begin()){
+		return lengthMs - (--slotList.end())->pollingTimeMs + currentTime;
+	}
+	// get previous slot
+	slotListIter--;
+
+	return currentTime - slotListIter->pollingTimeMs;
+}
+
+bool FixedSlotSequence::slotFollowsImmediately() {
+	uint32_t currentTime = current->pollingTimeMs;
+	SlotListIter fixedSequenceIter = this->current;
+	// Get the pollingTimeMs of the current slot object.
+	if (fixedSequenceIter == slotList.begin())
+		return false;
+	fixedSequenceIter--;
+	if (fixedSequenceIter->pollingTimeMs == currentTime) {
+		return true;
+	} else {
+		return false;
+	}
+}
+
+uint32_t FixedSlotSequence::getLengthMs() const {
+	return this->lengthMs;
+}
+
+void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+        int8_t executionStep, ExecutableObjectIF* executableObject,
+        PeriodicTaskIF* executingTask) {
+    this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
+            executionStep, executableObject, executingTask));
+   this->current = slotList.begin();
+}
+
+ReturnValue_t FixedSlotSequence::checkSequence() const {
+	if(slotList.empty()) {
+		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	uint32_t count = 0;
+	uint32_t time = 0;
+	for(const auto& slot: slotList) {
+		if (slot.executableObject == nullptr) {
+			count++;
+		}
+		else if (slot.pollingTimeMs < time) {
+			sif::error << "FixedSlotSequence::initialize: Time: "
+					<< slot.pollingTimeMs << " is smaller than previous with "
+					<< time << std::endl;
+			count++;
+		}
+		else {
+			// All ok, print slot.
+			//sif::info << "Current slot polling time: " << std::endl;
+			//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
+		}
+		time = slot.pollingTimeMs;
+
+	}
+	//sif::info << "Number of elements in slot list: "
+	//	   << slotList.size() << std::endl;
+	if (count > 0) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
+    std::set<ExecutableObjectIF*> uniqueObjects;
+    uint32_t count = 0;
+    for(const auto& slot: slotList) {
+        // Ensure that each unique object is initialized once.
+        if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
+            ReturnValue_t result =
+                    slot.executableObject->initializeAfterTaskCreation();
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                count++;
+            }
+            uniqueObjects.emplace(slot.executableObject);
+        }
+    }
+    if (count > 0) {
+        sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:"
+                "Counted " << count << " failed initializations!"  << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/devicehandlers/FixedSlotSequence.h b/tasks/FixedSlotSequence.h
similarity index 90%
rename from devicehandlers/FixedSlotSequence.h
rename to tasks/FixedSlotSequence.h
index be6dc2d1..8aa04a27 100644
--- a/devicehandlers/FixedSlotSequence.h
+++ b/tasks/FixedSlotSequence.h
@@ -1,152 +1,159 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
-#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
-
-#include "FixedSequenceSlot.h"
-#include "../objectmanager/SystemObject.h"
-#include <set>
-
-/**
- * @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.
- *
- * The main idea is to create a list of device handlers, to announce all
- * handlers to thepolling sequence and to maintain a list of
- * polling slot objects. This slot list represents the Polling Sequence Table
- * in software.
- *
- * Each polling slot contains information to indicate when and
- * which device handler shall be executed within a given polling period.
- * The sequence is then executed by iterating through this slot list.
- * Handlers are invoking by calling a certain function stored in the handler list.
- */
-class FixedSlotSequence {
-public:
-	using SlotList = std::multiset<FixedSequenceSlot>;
-	using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
-
-	/**
-	 * @brief	The constructor of the FixedSlotSequence object.
-	 *
-	 * @details	The constructor takes two arguments, the period length and the init function.
-	 *
-	 * @param	setLength	The period length, expressed in ms.
-	 */
-	FixedSlotSequence(uint32_t setLengthMs);
-
-	/**
-	 * @brief	The destructor of the FixedSlotSequence object.
-	 *
-	 * @details	The destructor frees all allocated memory by iterating through the slotList
-	 *  		and deleting all allocated resources.
-	 */
-	virtual ~FixedSlotSequence();
-
-	/**
-	 * @brief	This is a method to add an PollingSlot object to slotList.
-	 *
-	 * @details	Here, a polling slot object is added to the slot list. It is appended
-	 * 			to the end of the list. The list is currently NOT reordered.
-	 * 			Afterwards, the iterator current is set to the beginning of the list.
-	 * 	@param Object ID of the object to add
-	 * 	@param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
-	 * 				   will be called inside the slot period.
-	 * 	@param setSequenceId ID which can be used to distinguish
-	 * 	                     different task operations
-	 * 	@param
-	 * 	@param
-	 */
-	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
-			PeriodicTaskIF* executingTask);
-
-	/**
-	 * Checks if the current slot shall be executed immediately after the one before.
-	 * This allows to distinguish between grouped and not grouped handlers.
-	 * @return 	- @c true if the slot has the same polling time as the previous
-	 * 			- @c false else
-	 */
-	bool slotFollowsImmediately();
-
-	/**
-	 * @brief	This method returns the time until the next software
-	 * 			component is invoked.
-	 *
-	 * @details
-	 * This method is vitally important for the operation of the PST.
-	 * By fetching the polling time of the current slot and that of the
-	 * next one (or the first one, if the list end is reached)
-	 * it calculates and returns the interval in milliseconds within
-	 * which the handler execution shall take place.
-	 * If the next slot has the same time as the current one, it is ignored
-	 * until a slot with different time or the end of the PST is found.
-	 */
-	uint32_t getIntervalToNextSlotMs();
-
-	/**
-	 * @brief	This method returns the time difference between the current
-	 * 			slot and the previous slot
-	 *
-	 * @details
-	 * This method is vitally important for the operation of the PST.
-	 * By fetching the polling time of the current slot and that of the previous
-	 * one (or the last one, if the slot is the first one) it calculates and
-	 * returns the interval in milliseconds that the handler execution shall
-	 * be delayed.
-	 */
-	uint32_t getIntervalToPreviousSlotMs();
-
-	/**
-	 * @brief	This method returns the length of this FixedSlotSequence instance.
-	 */
-	uint32_t getLengthMs() const;
-
-	/**
-	 * @brief	The method to execute the device handler entered in the current
-	 * 			PollingSlot object.
-	 *
-	 * @details
-	 * Within this method the device handler object to be executed is chosen by
-	 * looking up the handler address of the current slot in the handlerMap.
-	 * Either the device handler's talkToInterface or its listenToInterface
-	 * method is invoked, depending on the isTalking flag of the polling slot.
-	 * After execution the iterator current is increased or, by reaching the
-	 * end of slotList, reset to the beginning.
-	 */
-	void executeAndAdvance();
-
-	/**
-	 * @brief	An iterator that indicates the current polling slot to execute.
-	 *
-	 * @details	This is an iterator for slotList and always points to the
-	 * 			polling slot which is executed next.
-	 */
-	SlotListIter current;
-
-	/**
-	 * Iterate through slotList and check successful creation.
-	 * Checks if timing is ok (must be ascending) and if all handlers were found.
-	 * @return
-	 */
-	ReturnValue_t checkSequence() const;
-
-protected:
-
-	/**
-	 * @brief	This list contains all PollingSlot objects, defining order and
-	 * 			execution time of the device handler objects.
-	 *
-	 * @details
-	 * The slot list is a std:list object that contains all created
-	 * PollingSlot instances. They are NOT ordered automatically, so by
-	 * adding entries, the correct order needs to be ensured. By iterating
-	 * through this list the polling sequence is executed. Two entries with
-	 * identical polling times are executed immediately one after another.
-	 */
-	SlotList slotList;
-
-	uint32_t lengthMs;
-};
-
-#endif /* FIXEDSLOTSEQUENCE_H_ */
+#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
+#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
+
+#include "FixedSequenceSlot.h"
+#include "../objectmanager/SystemObject.h"
+
+#include <set>
+
+/**
+ * @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.
+ *
+ * The main idea is to create a list of device handlers, to announce all
+ * handlers to thepolling sequence and to maintain a list of
+ * polling slot objects. This slot list represents the Polling Sequence Table
+ * in software.
+ *
+ * Each polling slot contains information to indicate when and
+ * which device handler shall be executed within a given polling period.
+ * The sequence is then executed by iterating through this slot list.
+ * Handlers are invoking by calling a certain function stored in the handler list.
+ */
+class FixedSlotSequence {
+public:
+	using SlotList = std::multiset<FixedSequenceSlot>;
+	using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
+
+	/**
+	 * @brief	The constructor of the FixedSlotSequence object.
+	 *
+	 * @details	The constructor takes two arguments, the period length and the init function.
+	 *
+	 * @param	setLength	The period length, expressed in ms.
+	 */
+	FixedSlotSequence(uint32_t setLengthMs);
+
+	/**
+	 * @brief	The destructor of the FixedSlotSequence object.
+	 *
+	 * @details	The destructor frees all allocated memory by iterating through the slotList
+	 *  		and deleting all allocated resources.
+	 */
+	virtual ~FixedSlotSequence();
+
+	/**
+	 * @brief	This is a method to add an PollingSlot object to slotList.
+	 *
+	 * @details	Here, a polling slot object is added to the slot list. It is appended
+	 * 			to the end of the list. The list is currently NOT reordered.
+	 * 			Afterwards, the iterator current is set to the beginning of the list.
+	 * 	@param Object ID of the object to add
+	 * 	@param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
+	 * 				   will be called inside the slot period.
+	 * 	@param setSequenceId ID which can be used to distinguish
+	 * 	                     different task operations
+	 * 	@param
+	 * 	@param
+	 */
+	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
+			ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask);
+
+	/**
+	 * Checks if the current slot shall be executed immediately after the one before.
+	 * This allows to distinguish between grouped and not grouped handlers.
+	 * @return 	- @c true if the slot has the same polling time as the previous
+	 * 			- @c false else
+	 */
+	bool slotFollowsImmediately();
+
+	/**
+	 * @brief	This method returns the time until the next software
+	 * 			component is invoked.
+	 *
+	 * @details
+	 * This method is vitally important for the operation of the PST.
+	 * By fetching the polling time of the current slot and that of the
+	 * next one (or the first one, if the list end is reached)
+	 * it calculates and returns the interval in milliseconds within
+	 * which the handler execution shall take place.
+	 * If the next slot has the same time as the current one, it is ignored
+	 * until a slot with different time or the end of the PST is found.
+	 */
+	uint32_t getIntervalToNextSlotMs();
+
+	/**
+	 * @brief	This method returns the time difference between the current
+	 * 			slot and the previous slot
+	 *
+	 * @details
+	 * This method is vitally important for the operation of the PST.
+	 * By fetching the polling time of the current slot and that of the previous
+	 * one (or the last one, if the slot is the first one) it calculates and
+	 * returns the interval in milliseconds that the handler execution shall
+	 * be delayed.
+	 */
+	uint32_t getIntervalToPreviousSlotMs();
+
+	/**
+	 * @brief	This method returns the length of this FixedSlotSequence instance.
+	 */
+	uint32_t getLengthMs() const;
+
+	/**
+	 * @brief	The method to execute the device handler entered in the current
+	 * 			PollingSlot object.
+	 *
+	 * @details
+	 * Within this method the device handler object to be executed is chosen by
+	 * looking up the handler address of the current slot in the handlerMap.
+	 * Either the device handler's talkToInterface or its listenToInterface
+	 * method is invoked, depending on the isTalking flag of the polling slot.
+	 * After execution the iterator current is increased or, by reaching the
+	 * end of slotList, reset to the beginning.
+	 */
+	void executeAndAdvance();
+
+	/**
+	 * @brief	An iterator that indicates the current polling slot to execute.
+	 *
+	 * @details	This is an iterator for slotList and always points to the
+	 * 			polling slot which is executed next.
+	 */
+	SlotListIter current;
+
+	/**
+	 * @brief   Check and initialize slot list.
+	 * @details
+	 * Checks if timing is ok (must be ascending) and if all handlers were found.
+	 * Also calls any initialization steps which are required after task
+	 * creation.
+	 * @return
+	 */
+	ReturnValue_t checkSequence() const;
+
+	ReturnValue_t intializeSequenceAfterTaskCreation() const;
+
+protected:
+
+	/**
+	 * @brief	This list contains all PollingSlot objects, defining order and
+	 * 			execution time of the device handler objects.
+	 *
+	 * @details
+	 * The slot list is a std:list object that contains all created
+	 * PollingSlot instances. They are NOT ordered automatically, so by
+	 * adding entries, the correct order needs to be ensured. By iterating
+	 * through this list the polling sequence is executed. Two entries with
+	 * identical polling times are executed immediately one after another.
+	 */
+	SlotList slotList;
+
+	uint32_t lengthMs;
+
+	bool isEmpty = false;
+};
+
+#endif /* FIXEDSLOTSEQUENCE_H_ */

From 89d3fe509504382980aff1bbeaf9be1ffd508136 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 16:11:40 +0200
Subject: [PATCH 265/653] integrated change manually

---
 osal/FreeRTOS/PeriodicTask.cpp | 286 ++++++++++++++++-----------------
 1 file changed, 143 insertions(+), 143 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index f99e8a4e..990d38d6 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -1,143 +1,143 @@
-#include "PeriodicTask.h"
-
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../tasks/ExecutableObjectIF.h"
-
-PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
-		TaskStackSize setStack, TaskPeriod setPeriod,
-		TaskDeadlineMissedFunction deadlineMissedFunc) :
-		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
-		deadlineMissedFunc)
-{
-	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
-	BaseType_t status = xTaskCreate(taskEntryPoint, name,
-			stackSize, this, setPriority, &handle);
-	if(status != pdPASS){
-		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
-		        "Status: " << status << std::endl;
-	}
-
-}
-
-PeriodicTask::~PeriodicTask(void) {
-	//Do not delete objects, we were responsible for ptrs only.
-}
-
-void PeriodicTask::taskEntryPoint(void* argument) {
-	// The argument is re-interpreted as PeriodicTask. The Task object is
-    // global, so it is found from any place.
-	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
-	/* Task should not start until explicitly requested,
-	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
-	 * is running but not if the scheduler is not running.
-	 * To be able to accommodate both cases we check a member which is set in
-	 * #startTask(). If it is not set and we get here, the scheduler was started
-	 * before #startTask() was called and we need to suspend if it is set,
-	 * the scheduler was not running before #startTask() was called and we
-	 * can continue */
-
-	if (not originalTask->started) {
-		vTaskSuspend(NULL);
-	}
-
-	originalTask->taskFunctionality();
-	sif::debug << "Polling task " << originalTask->handle
-			<< " returned from taskFunctionality." << std::endl;
-}
-
-ReturnValue_t PeriodicTask::startTask() {
-	started = true;
-
-	// We must not call resume if scheduler is not started yet
-	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
-		vTaskResume(handle);
-	}
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
-	vTaskDelay(pdMS_TO_TICKS(ms));
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void PeriodicTask::taskFunctionality() {
-	TickType_t xLastWakeTime;
-	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
-
-	for (auto const& object: objectList) {
-	    object->initializeAfterTaskCreation();
-	}
-
-	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to
-	 explicitly. After this assignment, xLastWakeTime is updated automatically
-	 internally within vTaskDelayUntil(). */
-	xLastWakeTime = xTaskGetTickCount();
-	/* Enter the loop that defines the task behavior. */
-	for (;;) {
-		for (auto const& object: objectList) {
-			object->performOperation();
-		}
-
-		checkMissedDeadline(xLastWakeTime, xPeriod);
-
-		vTaskDelayUntil(&xLastWakeTime, xPeriod);
-
-	}
-}
-
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
-			object);
-	if (newObject == nullptr) {
-	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-	            "it implement ExecutableObjectIF" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	objectList.push_back(newObject);
-	newObject->setTaskIF(this);
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const {
-	return period * 1000;
-}
-
-void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
-        const TickType_t interval) {
-    /* Check whether deadline was missed while also taking overflows
-     * into account. Drawing this on paper with a timeline helps to understand
-     * it. */
-    TickType_t currentTickCount = xTaskGetTickCount();
-    TickType_t timeToWake = xLastWakeTime + interval;
-    // Time to wake has not overflown.
-    if(timeToWake > xLastWakeTime) {
-        /* If the current time has overflown exclusively or the current
-         * tick count is simply larger than the time to wake, a deadline was
-         * missed */
-        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
-            handleMissedDeadline();
-        }
-    }
-    /* Time to wake has overflown. A deadline was missed if the current time
-     * is larger than the time to wake */
-    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-        handleMissedDeadline();
-    }
-}
-
-TaskHandle_t PeriodicTask::getTaskHandle() {
-    return handle;
-}
-
-void PeriodicTask::handleMissedDeadline() {
-#ifdef DEBUG
-    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
-            " missed deadline!\n" << std::flush;
-#endif
-    if(deadlineMissedFunc != nullptr) {
-        this->deadlineMissedFunc();
-    }
-}
+#include "PeriodicTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod setPeriod,
+		TaskDeadlineMissedFunction deadlineMissedFunc) :
+		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
+		deadlineMissedFunc)
+{
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
+	BaseType_t status = xTaskCreate(taskEntryPoint, name,
+			stackSize, this, setPriority, &handle);
+	if(status != pdPASS){
+		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+		        "Status: " << status << std::endl;
+	}
+
+}
+
+PeriodicTask::~PeriodicTask(void) {
+	//Do not delete objects, we were responsible for ptrs only.
+}
+
+void PeriodicTask::taskEntryPoint(void* argument) {
+	// The argument is re-interpreted as PeriodicTask. The Task object is
+    // global, so it is found from any place.
+	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
+
+	if (not originalTask->started) {
+		vTaskSuspend(NULL);
+	}
+
+	originalTask->taskFunctionality();
+	sif::debug << "Polling task " << originalTask->handle
+			<< " returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	started = true;
+
+	// We must not call resume if scheduler is not started yet
+	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+		vTaskResume(handle);
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+	vTaskDelay(pdMS_TO_TICKS(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PeriodicTask::taskFunctionality() {
+	TickType_t xLastWakeTime;
+	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
+	
+	for (auto const &object: objectList) {
+		object->initializeAfterTaskCreation();
+	}
+
+	/* The xLastWakeTime variable needs to be initialized with the current tick
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
+	xLastWakeTime = xTaskGetTickCount();
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		for (auto const& object: objectList) {
+			object->performOperation();
+		}
+
+		checkMissedDeadline(xLastWakeTime, xPeriod);
+
+		vTaskDelayUntil(&xLastWakeTime, xPeriod);
+
+	}
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implement ExecutableObjectIF" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+	return period * 1000;
+}
+
+void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
+            handleMissedDeadline();
+        }
+    }
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
+        handleMissedDeadline();
+    }
+}
+
+TaskHandle_t PeriodicTask::getTaskHandle() {
+    return handle;
+}
+
+void PeriodicTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}

From 4530b1954811727d0f32eea4fd25b8378a153db0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 16:13:36 +0200
Subject: [PATCH 266/653] header update

---
 osal/FreeRTOS/PeriodicTask.h | 254 +++++++++++++++++------------------
 1 file changed, 126 insertions(+), 128 deletions(-)

diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 1cdc3df7..87b8b6d2 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -1,128 +1,126 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
-
-#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
-#include "../../tasks/Typedef.h"
-
-
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-
-#include <vector>
-
-class ExecutableObjectIF;
-
-/**
- * @brief 	This class represents a specialized task for
- * 			periodic activities of multiple objects.
- * @ingroup task_handling
- */
-class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
-public:
-	/**
-	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
-	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * TODO: why does this need to be called before vTaskStartScheduler?
-	 * @details
-	 * The class is initialized without allocated objects.
-	 * These need to be added with #addComponent.
-	 * @param priority
-	 * Sets the priority of a task. Values depend on freeRTOS configuration,
-	 * high number means high priority.
-	 * @param stack_size
-	 * The stack size reserved by the operating system for the task.
-	 * @param setPeriod
-	 * The length of the period with which the task's
-	 * functionality will be executed. It is expressed in clock ticks.
-	 * @param setDeadlineMissedFunc
-	 * The function pointer to the deadline missed function that shall
-	 * be assigned.
-	 */
-	PeriodicTask(TaskName name, TaskPriority setPriority,
-	        TaskStackSize setStack, TaskPeriod setPeriod,
-	        TaskDeadlineMissedFunction deadlineMissedFunc);
-	/**
-	 * @brief	Currently, the executed object's lifetime is not coupled with
-	 * 			the task object's lifetime, so the destructor is empty.
-	 */
-	virtual ~PeriodicTask(void);
-
-	/**
-	 * @brief	The method to start the task.
-	 * @details	The method starts the task with the respective system call.
-	 * 			Entry point is the taskEntryPoint method described below.
-	 * 			The address of the task object is passed as an argument
-	 * 			to the system call.
-	 */
-	ReturnValue_t startTask() override;
-	/**
-	 * Adds an object to the list of objects to be executed.
-	 * The objects are executed in the order added.
-	 * @param object Id of the object to add.
-	 * @return
-	 * -@c RETURN_OK on success
-	 * -@c RETURN_FAILED if the object could not be added.
-	 */
-	ReturnValue_t addComponent(object_id_t object) override;
-
-	uint32_t getPeriodMs() const override;
-
-	ReturnValue_t sleepFor(uint32_t ms) override;
-
-	TaskHandle_t getTaskHandle() override;
-protected:
-	bool started;
-	TaskHandle_t handle;
-
-	//! Typedef for the List of objects.
-	typedef std::vector<ExecutableObjectIF*> ObjectList;
-	/**
-	 * @brief	This attribute holds a list of objects to be executed.
-	 */
-	ObjectList objectList;
-	/**
-	 * @brief	The period of the task.
-	 * @details
-	 * The period determines the frequency of the task's execution.
-	 * It is expressed in clock ticks.
-	 */
-	TaskPeriod period;
-	/**
-	 * @brief	The pointer to the deadline-missed function.
-	 * @details
-	 * This pointer stores the function that is executed if the task's deadline
-	 * is missed so each may react individually on a timing failure.
-	 * The pointer may be NULL, then nothing happens on missing the deadline.
-	 * The deadline is equal to the next execution of the periodic task.
-	 */
-	void (*deadlineMissedFunc)(void);
-	/**
-	 * @brief	This is the function executed in the new task's context.
-	 * @details
-	 * It converts the argument back to the thread object type and copies the
-	 * class instance to the task context. The taskFunctionality method is
-	 * called afterwards.
-	 * @param	A pointer to the task object itself is passed as argument.
-	 */
-
-	static void taskEntryPoint(void* argument);
-	/**
-	 * @brief	The function containing the actual functionality of the task.
-	 * @details
-	 * The method sets and starts the task's period, then enters a loop that is
-	 * repeated as long as the isRunning attribute is true. Within the loop,
-	 * all performOperation methods of the added objects are called.
-	 * Afterwards the checkAndRestartPeriod system call blocks the task until
-	 * the next period.
-	 * On missing the deadline, the deadlineMissedFunction is executed.
-	 */
-	void taskFunctionality(void);
-
-	void checkMissedDeadline(const TickType_t xLastWakeTime,
-	        const TickType_t interval);
-	void handleMissedDeadline();
-};
-
-#endif /* PERIODICTASK_H_ */
+#ifndef FSFW_OSAL_FREERTOS_PERIODICTASK_H_
+#define FSFW_OSAL_FREERTOS_PERIODICTASK_H_
+
+#include "FreeRTOSTaskIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+#include <vector>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
+ * @ingroup task_handling
+ */
+class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
+public:
+	/**
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * @details
+	 * The class is initialized without allocated objects.
+	 * These need to be added with #addComponent.
+	 * @param priority
+	 * Sets the priority of a task. Values depend on freeRTOS configuration,
+	 * high number means high priority.
+	 * @param stack_size
+	 * The stack size reserved by the operating system for the task.
+	 * @param setPeriod
+	 * The length of the period with which the task's
+	 * functionality will be executed. It is expressed in clock ticks.
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall
+	 * be assigned.
+	 */
+	PeriodicTask(TaskName name, TaskPriority setPriority,
+	        TaskStackSize setStack, TaskPeriod setPeriod,
+	        TaskDeadlineMissedFunction deadlineMissedFunc);
+	/**
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
+	 */
+	virtual ~PeriodicTask(void);
+
+	/**
+	 * @brief	The method to start the task.
+	 * @details	The method starts the task with the respective system call.
+	 * 			Entry point is the taskEntryPoint method described below.
+	 * 			The address of the task object is passed as an argument
+	 * 			to the system call.
+	 */
+	ReturnValue_t startTask() override;
+	/**
+	 * Adds an object to the list of objects to be executed.
+	 * The objects are executed in the order added.
+	 * @param object Id of the object to add.
+	 * @return
+	 * -@c RETURN_OK on success
+	 * -@c RETURN_FAILED if the object could not be added.
+	 */
+	ReturnValue_t addComponent(object_id_t object) override;
+
+	uint32_t getPeriodMs() const override;
+
+	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() override;
+protected:
+	bool started;
+	TaskHandle_t handle;
+
+	//! Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
+	/**
+	 * @brief	This attribute holds a list of objects to be executed.
+	 */
+	ObjectList objectList;
+	/**
+	 * @brief	The period of the task.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
+	 */
+	TaskPeriod period;
+	/**
+	 * @brief	The pointer to the deadline-missed function.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed so each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the function executed in the new task's context.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context. The taskFunctionality method is
+	 * called afterwards.
+	 * @param	A pointer to the task object itself is passed as argument.
+	 */
+
+	static void taskEntryPoint(void* argument);
+	/**
+	 * @brief	The function containing the actual functionality of the task.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called.
+	 * Afterwards the checkAndRestartPeriod system call blocks the task until
+	 * the next period.
+	 * On missing the deadline, the deadlineMissedFunction is executed.
+	 */
+	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
+};
+
+#endif /* FSFW_OSAL_FREERTOS_PERIODICTASK_H_ */

From 64022212f97e6726feb6a5768f44897180081e20 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 16:20:32 +0200
Subject: [PATCH 267/653] removed is empty flag

---
 tasks/FixedSlotSequence.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h
index 8aa04a27..026d5a3d 100644
--- a/tasks/FixedSlotSequence.h
+++ b/tasks/FixedSlotSequence.h
@@ -152,8 +152,6 @@ protected:
 	SlotList slotList;
 
 	uint32_t lengthMs;
-
-	bool isEmpty = false;
 };
 
 #endif /* FIXEDSLOTSEQUENCE_H_ */

From aacda3afc242dad3c20b9d959a2417dbae5822ed Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 16:26:00 +0200
Subject: [PATCH 268/653] interface adapted

---
 osal/FreeRTOS/BinSemaphUsingTask.cpp      | 186 +++++++++---------
 osal/FreeRTOS/BinSemaphUsingTask.h        | 151 +++++++--------
 osal/FreeRTOS/BinarySemaphore.cpp         |  33 ++--
 osal/FreeRTOS/BinarySemaphore.h           |  12 +-
 osal/FreeRTOS/CountingSemaphUsingTask.cpp | 224 +++++++++++-----------
 osal/FreeRTOS/CountingSemaphUsingTask.h   | 202 +++++++++----------
 osal/FreeRTOS/CountingSemaphore.cpp       |  86 ++++-----
 osal/FreeRTOS/CountingSemaphore.h         |  68 +++----
 osal/FreeRTOS/SemaphoreFactory.cpp        | 120 ++++++------
 tasks/SemaphoreIF.h                       | 140 +++++++-------
 10 files changed, 616 insertions(+), 606 deletions(-)

diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp
index d3351888..8c831bbe 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp
@@ -1,91 +1,95 @@
-#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
-#include <framework/osal/FreeRTOS/TaskManagement.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
-	handle = TaskManagement::getCurrentTaskHandle();
-	if(handle == nullptr) {
-		sif::error << "Could not retrieve task handle. Please ensure the"
-				"constructor was called inside a task." << std::endl;
-	}
-	xTaskNotifyGive(handle);
-}
-
-BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
-	// Clear notification value on destruction.
-	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
-}
-
-ReturnValue_t BinarySemaphoreUsingTask::acquire(uint32_t timeoutMs) {
-	TickType_t timeout = SemaphoreIF::POLLING;
-	if(timeoutMs == SemaphoreIF::BLOCKING) {
-		timeout = SemaphoreIF::BLOCKING;
-	}
-	else if(timeoutMs > SemaphoreIF::POLLING){
-		timeout = pdMS_TO_TICKS(timeoutMs);
-	}
-	return acquireWithTickTimeout(timeout);
-}
-
-ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
-        TickType_t timeoutTicks) {
-	BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
-	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	}
-}
-
-ReturnValue_t BinarySemaphoreUsingTask::release() {
-	return release(this->handle);
-}
-
-ReturnValue_t BinarySemaphoreUsingTask::release(
-		TaskHandle_t taskHandle) {
-	if(getSemaphoreCounter(taskHandle) == 1) {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
-	BaseType_t returncode = xTaskNotifyGive(taskHandle);
-	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		// This should never happen.
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
-	return handle;
-}
-
-uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
-	return getSemaphoreCounter(this->handle);
-}
-
-uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
-		TaskHandle_t taskHandle) {
-	uint32_t notificationValue;
-	xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
-	return notificationValue;
-}
-
-// Be careful with the stack size here. This is called from an ISR!
-ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
-		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
-	if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
-	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
-		TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
-	uint32_t notificationValue = 0;
-	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
-			higherPriorityTaskWoken);
-	return notificationValue;
-}
+#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
+	handle = TaskManagement::getCurrentTaskHandle();
+	if(handle == nullptr) {
+		sif::error << "Could not retrieve task handle. Please ensure the"
+				"constructor was called inside a task." << std::endl;
+	}
+	xTaskNotifyGive(handle);
+}
+
+BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
+	// Clear notification value on destruction.
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+    if(timeoutType == TimeoutType::POLLING) {
+        timeout = 0;
+    }
+    else if(timeoutType == TimeoutType::WAITING){
+        timeout = pdMS_TO_TICKS(timeoutMs);
+    }
+    else {
+        timeout = portMAX_DELAY;
+    }
+	return acquireWithTickTimeout(timeoutType, timeout);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
+        TimeoutType timeoutType, TickType_t timeoutTicks) {
+	BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::release() {
+	return release(this->handle);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::release(
+		TaskHandle_t taskHandle) {
+	if(getSemaphoreCounter(taskHandle) == 1) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	BaseType_t returncode = xTaskNotifyGive(taskHandle);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		// This should never happen.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
+	return handle;
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
+	return getSemaphoreCounter(this->handle);
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
+		TaskHandle_t taskHandle) {
+	uint32_t notificationValue;
+	xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+// Be careful with the stack size here. This is called from an ISR!
+ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
+		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
+	if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
+		TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue = 0;
+	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
+			higherPriorityTaskWoken);
+	return notificationValue;
+}
diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index 43772e5a..2d2cf159 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -1,75 +1,76 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
-
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/SemaphoreIF.h>
-
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-
-/**
- * @brief 	Binary Semaphore implementation using the task notification value.
- * 			The notification value should therefore not be used
- * 			for other purposes.
- * @details
- * Additional information: https://www.freertos.org/RTOS-task-notifications.html
- * and general semaphore documentation.
- */
-class BinarySemaphoreUsingTask: public SemaphoreIF,
-		public HasReturnvaluesIF {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
-
-	//! @brief Default ctor
-	BinarySemaphoreUsingTask();
-	//! @brief Default dtor
-	virtual~ BinarySemaphoreUsingTask();
-
-	ReturnValue_t acquire(uint32_t timeoutMs =
-	        SemaphoreIF::BLOCKING) override;
-	ReturnValue_t release() override;
-	uint8_t getSemaphoreCounter() const override;
-	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
-	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
-			BaseType_t* higherPriorityTaskWoken);
-
-	/**
-	 * Same as acquire() with timeout in FreeRTOS ticks.
-	 * @param timeoutTicks
-	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED on failure
-	 */
-	ReturnValue_t acquireWithTickTimeout(TickType_t timeoutTicks =
-	        SemaphoreIF::BLOCKING);
-
-	/**
-	 * Get handle to the task related to the semaphore.
-	 * @return
-	 */
-	TaskHandle_t getTaskHandle();
-
-	 /**
-	 * Wrapper function to give back semaphore from handle
-	 * @param semaphore
-	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED on failure
-	 */
-	static ReturnValue_t release(TaskHandle_t taskToNotify);
-
-	/**
-	 * Wrapper function to give back semaphore from handle when called from an ISR
-	 * @param semaphore
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch should be requested
-	 * from an ISR if this is the case (see TaskManagement functions)
-	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED on failure
-	 */
-	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
-				BaseType_t * higherPriorityTaskWoken);
-
-protected:
-	TaskHandle_t handle;
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+/**
+ * @brief 	Binary Semaphore implementation using the task notification value.
+ * 			The notification value should therefore not be used
+ * 			for other purposes.
+ * @details
+ * Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ * and general semaphore documentation.
+ */
+class BinarySemaphoreUsingTask: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphoreUsingTask();
+	//! @brief Default dtor
+	virtual~ BinarySemaphoreUsingTask();
+
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        uint32_t timeoutMs = portMAX_DELAY) override;
+	ReturnValue_t release() override;
+	uint8_t getSemaphoreCounter() const override;
+	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
+			BaseType_t* higherPriorityTaskWoken);
+
+	/**
+	 * Same as acquire() with timeout in FreeRTOS ticks.
+	 * @param timeoutTicks
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	ReturnValue_t acquireWithTickTimeout(
+	        TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Get handle to the task related to the semaphore.
+	 * @return
+	 */
+	TaskHandle_t getTaskHandle();
+
+	 /**
+	 * Wrapper function to give back semaphore from handle
+	 * @param semaphore
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
+
+	/**
+	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * @param semaphore
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+				BaseType_t * higherPriorityTaskWoken);
+
+protected:
+	TaskHandle_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp
index e6d2f92f..f1c78473 100644
--- a/osal/FreeRTOS/BinarySemaphore.cpp
+++ b/osal/FreeRTOS/BinarySemaphore.cpp
@@ -1,11 +1,11 @@
-#include <framework/osal/FreeRTOS/BinarySemaphore.h>
-#include <framework/osal/FreeRTOS/TaskManagement.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 BinarySemaphore::BinarySemaphore() {
 	handle = xSemaphoreCreateBinary();
-	if(handle == nullptr) {
-		sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
+	if(handle == nullptr) {
+		sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
 	}
 	// Initiated semaphore must be given before it can be taken.
 	xSemaphoreGive(handle);
@@ -35,18 +35,23 @@ BinarySemaphore& BinarySemaphore::operator =(
     return *this;
 }
 
-ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
-	TickType_t timeout = SemaphoreIF::POLLING;
-	if(timeoutMs == SemaphoreIF::BLOCKING) {
-	    timeout = SemaphoreIF::BLOCKING;
+ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+	if(timeoutType == TimeoutType::POLLING) {
+	    timeout = 0;
 	}
-	else if(timeoutMs > SemaphoreIF::POLLING){
+	else if(timeoutType == TimeoutType::WAITING){
 	    timeout = pdMS_TO_TICKS(timeoutMs);
 	}
-	return acquireWithTickTimeout(timeout);
+	else {
+	    timeout = portMAX_DELAY;
+	}
+	return acquireWithTickTimeout(timeoutType, timeout);
 }
 
-ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TickType_t timeoutTicks) {
+ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
+        TickType_t timeoutTicks) {
 	if(handle == nullptr) {
 		return SemaphoreIF::SEMAPHORE_INVALID;
 	}
@@ -84,7 +89,7 @@ uint8_t BinarySemaphore::getSemaphoreCounter() const {
 SemaphoreHandle_t BinarySemaphore::getSemaphore() {
 	return handle;
 }
-
+
 
 // Be careful with the stack size here. This is called from an ISR!
 ReturnValue_t BinarySemaphore::releaseFromISR(
@@ -100,4 +105,4 @@ ReturnValue_t BinarySemaphore::releaseFromISR(
 	else {
 		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
 	}
-}
+}
diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h
index 2a372cd2..5a32088a 100644
--- a/osal/FreeRTOS/BinarySemaphore.h
+++ b/osal/FreeRTOS/BinarySemaphore.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
 #define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/SemaphoreIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/semphr.h>
@@ -52,8 +52,8 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
-	ReturnValue_t acquire(uint32_t timeoutMs =
-			SemaphoreIF::BLOCKING) override;
+	ReturnValue_t acquire(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
 
 	/**
 	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
@@ -61,8 +61,8 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
-	ReturnValue_t  acquireWithTickTimeout(TickType_t timeoutTicks =
-			SemaphoreIF::BLOCKING);
+	ReturnValue_t  acquireWithTickTimeout(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
 
 	/**
 	 * Release the binary semaphore.
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
index f33c7a0d..e66671ac 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
@@ -1,110 +1,114 @@
-#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
-#include <framework/osal/FreeRTOS/TaskManagement.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
-		uint8_t initCount): maxCount(maxCount) {
-	if(initCount > maxCount) {
-		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
-				"intial cout. Setting initial count to max count." << std::endl;
-		initCount = maxCount;
-	}
-
-	handle = TaskManagement::getCurrentTaskHandle();
-	if(handle == nullptr) {
-		sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
-				"handle. Please ensure the constructor was called inside a "
-				"task." << std::endl;
-	}
-
-	uint32_t oldNotificationValue;
-	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
-			&oldNotificationValue);
-	if(oldNotificationValue != 0) {
-		sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
-				"current notification value is not 0. Please ensure the "
-				"notification value is not used for other purposes!" << std::endl;
-	}
-	for(int i = 0; i < initCount; i++) {
-		xTaskNotifyGive(handle);
-	}
-}
-
-CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
-	// Clear notification value on destruction.
-	// If this is not desired, don't call the destructor
-	// (or implement a boolean which disables the reset)
-	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
-}
-
-ReturnValue_t CountingSemaphoreUsingTask::acquire(uint32_t timeoutMs) {
-	TickType_t timeout = SemaphoreIF::POLLING;
-	if(timeoutMs == SemaphoreIF::BLOCKING) {
-		timeout = SemaphoreIF::BLOCKING;
-	}
-	else if(timeoutMs > SemaphoreIF::POLLING){
-		timeout = pdMS_TO_TICKS(timeoutMs);
-	}
-	return acquireWithTickTimeout(timeout);
-
-}
-
-ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
-		TickType_t timeoutTicks) {
-	// Decrement notfication value without resetting it.
-	BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
-	if (getSemaphoreCounter() == oldCount - 1) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	}
-}
-
-ReturnValue_t CountingSemaphoreUsingTask::release() {
-	if(getSemaphoreCounter() == maxCount) {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
-	return release(handle);
-}
-
-ReturnValue_t CountingSemaphoreUsingTask::release(
-		TaskHandle_t taskToNotify) {
-	BaseType_t returncode = xTaskNotifyGive(taskToNotify);
-	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		// This should never happen.
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-
-uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
-	uint32_t notificationValue = 0;
-	xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
-	return notificationValue;
-}
-
-TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
-	return handle;
-}
-
-ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
-		TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
-	vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
-		TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
-	uint32_t notificationValue;
-	xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
-			higherPriorityTaskWoken);
-	return notificationValue;
-}
-
-uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
-	return maxCount;
-}
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
+		uint8_t initCount): maxCount(maxCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	handle = TaskManagement::getCurrentTaskHandle();
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
+				"handle. Please ensure the constructor was called inside a "
+				"task." << std::endl;
+	}
+
+	uint32_t oldNotificationValue;
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
+			&oldNotificationValue);
+	if(oldNotificationValue != 0) {
+		sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
+				"current notification value is not 0. Please ensure the "
+				"notification value is not used for other purposes!" << std::endl;
+	}
+	for(int i = 0; i < initCount; i++) {
+		xTaskNotifyGive(handle);
+	}
+}
+
+CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
+	// Clear notification value on destruction.
+	// If this is not desired, don't call the destructor
+	// (or implement a boolean which disables the reset)
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+    if(timeoutType == TimeoutType::POLLING) {
+        timeout = 0;
+    }
+    else if(timeoutType == TimeoutType::WAITING){
+        timeout = pdMS_TO_TICKS(timeoutMs);
+    }
+    else {
+        timeout = portMAX_DELAY;
+    }
+    return acquireWithTickTimeout(timeoutType, timeout);
+
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
+        TimeoutType timeoutType, TickType_t timeoutTicks) {
+	// Decrement notfication value without resetting it.
+	BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
+	if (getSemaphoreCounter() == oldCount - 1) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::release() {
+	if(getSemaphoreCounter() == maxCount) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	return release(handle);
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::release(
+		TaskHandle_t taskToNotify) {
+	BaseType_t returncode = xTaskNotifyGive(taskToNotify);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		// This should never happen.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
+	uint32_t notificationValue = 0;
+	xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
+	return handle;
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
+		TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
+	vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
+		TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue;
+	xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
+			higherPriorityTaskWoken);
+	return notificationValue;
+}
+
+uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
+	return maxCount;
+}
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h
index f1d82c1d..e3733382 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.h
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.h
@@ -1,100 +1,102 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
-
-#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
-#include <framework/tasks/SemaphoreIF.h>
-
-extern "C" {
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-}
-
-/**
- * @brief 	Couting Semaphore implementation which uses the notification value
- * 			of the task. The notification value should therefore not be used
- * 			for other purposes.
- * @details
- *  Additional information: https://www.freertos.org/RTOS-task-notifications.html
- *  and general semaphore documentation.
- */
-class CountingSemaphoreUsingTask: public SemaphoreIF {
-public:
-	CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
-	virtual ~CountingSemaphoreUsingTask();
-
-	/**
-	 * Acquire the counting semaphore.
-	 * If no semaphores are available, the task will be blocked
-	 * for a maximum of #timeoutMs or until one is given back,
-	 * for example by an ISR or another task.
-	 * @param timeoutMs
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
-	ReturnValue_t acquire(uint32_t timeoutMs = SemaphoreIF::BLOCKING) override;
-
-	/**
-	 * Release a semaphore, increasing the number of available counting
-	 * semaphores up to the #maxCount value.
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
-	 *         	already available.
-	 */
-	ReturnValue_t release() override;
-
-	uint8_t getSemaphoreCounter() const override;
-	/**
-	 * Get the semaphore counter from an ISR.
-	 * @param task
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch should be requested
-	 * from an ISR if this is the case (see TaskManagement functions)
-	 * @return
-	 */
-	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
-			BaseType_t* higherPriorityTaskWoken);
-
-	/**
-	 * Acquire with a timeout value in ticks
-	 * @param timeoutTicks
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
-	ReturnValue_t acquireWithTickTimeout(
-			TickType_t timeoutTicks = SemaphoreIF::BLOCKING);
-
-	/**
-	 * Get handle to the task related to the semaphore.
-	 * @return
-	 */
-	TaskHandle_t getTaskHandle();
-
-	/**
-	 * Release semaphore of task by supplying task handle
-	 * @param taskToNotify
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
-	 *         	already available.
-	 */
-	static ReturnValue_t release(TaskHandle_t taskToNotify);
-	/**
-	 * Release seamphore of a task from an ISR.
-	 * @param taskToNotify
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch should be requested
-	 * from an ISR if this is the case (see TaskManagement functions)
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
-	 *         	already available.
-	 */
-	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
-			BaseType_t* higherPriorityTaskWoken);
-
-	uint8_t getMaxCount() const;
-
-private:
-	TaskHandle_t handle;
-	const uint8_t maxCount;
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../tasks/SemaphoreIF.h"
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+
+/**
+ * @brief 	Couting Semaphore implementation which uses the notification value
+ * 			of the task. The notification value should therefore not be used
+ * 			for other purposes.
+ * @details
+ *  Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ *  and general semaphore documentation.
+ */
+class CountingSemaphoreUsingTask: public SemaphoreIF {
+public:
+	CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
+	virtual ~CountingSemaphoreUsingTask();
+
+	/**
+	 * Acquire the counting semaphore.
+	 * If no semaphores are available, the task will be blocked
+	 * for a maximum of #timeoutMs or until one is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        uint32_t timeoutMs = portMAX_DELAY) override;
+
+	/**
+	 * Release a semaphore, increasing the number of available counting
+	 * semaphores up to the #maxCount value.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	ReturnValue_t release() override;
+
+	uint8_t getSemaphoreCounter() const override;
+	/**
+	 * Get the semaphore counter from an ISR.
+	 * @param task
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return
+	 */
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
+			BaseType_t* higherPriorityTaskWoken);
+
+	/**
+	 * Acquire with a timeout value in ticks
+	 * @param timeoutTicks
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquireWithTickTimeout(
+	        TimeoutType timeoutType = TimeoutType::BLOCKING,
+			TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Get handle to the task related to the semaphore.
+	 * @return
+	 */
+	TaskHandle_t getTaskHandle();
+
+	/**
+	 * Release semaphore of task by supplying task handle
+	 * @param taskToNotify
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
+	/**
+	 * Release seamphore of a task from an ISR.
+	 * @param taskToNotify
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+			BaseType_t* higherPriorityTaskWoken);
+
+	uint8_t getMaxCount() const;
+
+private:
+	TaskHandle_t handle;
+	const uint8_t maxCount;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/CountingSemaphore.cpp b/osal/FreeRTOS/CountingSemaphore.cpp
index 957f6a31..0b218e54 100644
--- a/osal/FreeRTOS/CountingSemaphore.cpp
+++ b/osal/FreeRTOS/CountingSemaphore.cpp
@@ -1,43 +1,43 @@
-#include <framework/osal/FreeRTOS/CountingSemaphore.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/osal/FreeRTOS/TaskManagement.h>
-
-#include <freertos/semphr.h>
-
-// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
-// free FreeRTOSConfig.h file.
-CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
-		maxCount(maxCount), initCount(initCount) {
-	if(initCount > maxCount) {
-		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
-				"intial cout. Setting initial count to max count." << std::endl;
-		initCount = maxCount;
-	}
-
-	handle = xSemaphoreCreateCounting(maxCount, initCount);
-	if(handle == nullptr) {
-		sif::error << "CountingSemaphore: Creation failure" << std::endl;
-	}
-}
-
-CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
-		maxCount(other.maxCount), initCount(other.initCount) {
-	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
-	if(handle == nullptr) {
-		sif::error << "CountingSemaphore: Creation failure" << std::endl;
-	}
-}
-
-CountingSemaphore& CountingSemaphore::operator =(
-		CountingSemaphore&& other) {
-	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
-	if(handle == nullptr) {
-		sif::error << "CountingSemaphore: Creation failure" << std::endl;
-	}
-	return * this;
-}
-
-
-uint8_t CountingSemaphore::getMaxCount() const {
-	return maxCount;
-}
+#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+#include <freertos/semphr.h>
+
+// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
+// free FreeRTOSConfig.h file.
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+		maxCount(maxCount), initCount(initCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	handle = xSemaphoreCreateCounting(maxCount, initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+}
+
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+		maxCount(other.maxCount), initCount(other.initCount) {
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+}
+
+CountingSemaphore& CountingSemaphore::operator =(
+		CountingSemaphore&& other) {
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+	return * this;
+}
+
+
+uint8_t CountingSemaphore::getMaxCount() const {
+	return maxCount;
+}
diff --git a/osal/FreeRTOS/CountingSemaphore.h b/osal/FreeRTOS/CountingSemaphore.h
index dca3ab0e..9432ed81 100644
--- a/osal/FreeRTOS/CountingSemaphore.h
+++ b/osal/FreeRTOS/CountingSemaphore.h
@@ -1,34 +1,34 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
-#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
-#include <framework/osal/FreeRTOS/BinarySemaphore.h>
-
-/**
- * @brief 	Counting semaphores, which can be acquire more than once.
- * @details
- * See: https://www.freertos.org/CreateCounting.html
- * API of counting semaphores is almost identical to binary semaphores,
- * so we just inherit from binary semaphore and provide the respective
- * constructors.
- */
-class CountingSemaphore: public BinarySemaphore {
-public:
-	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
-	//! @brief Copy ctor, disabled
-	CountingSemaphore(const CountingSemaphore&) = delete;
-	//! @brief Copy assignment, disabled
-	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
-	//! @brief Move ctor
-	CountingSemaphore (CountingSemaphore &&);
-	//! @brief Move assignment
-	CountingSemaphore & operator=(CountingSemaphore &&);
-
-	/* Same API as binary semaphore otherwise. acquire() can be called
-	 * until there are not semaphores left and release() can be called
-	 * until maxCount is reached. */
-	uint8_t getMaxCount() const;
-private:
-	const uint8_t maxCount;
-	uint8_t initCount = 0;
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+
+/**
+ * @brief 	Counting semaphores, which can be acquire more than once.
+ * @details
+ * See: https://www.freertos.org/CreateCounting.html
+ * API of counting semaphores is almost identical to binary semaphores,
+ * so we just inherit from binary semaphore and provide the respective
+ * constructors.
+ */
+class CountingSemaphore: public BinarySemaphore {
+public:
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	//! @brief Copy ctor, disabled
+	CountingSemaphore(const CountingSemaphore&) = delete;
+	//! @brief Copy assignment, disabled
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	//! @brief Move ctor
+	CountingSemaphore (CountingSemaphore &&);
+	//! @brief Move assignment
+	CountingSemaphore & operator=(CountingSemaphore &&);
+
+	/* Same API as binary semaphore otherwise. acquire() can be called
+	 * until there are not semaphores left and release() can be called
+	 * until maxCount is reached. */
+	uint8_t getMaxCount() const;
+private:
+	const uint8_t maxCount;
+	uint8_t initCount = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
diff --git a/osal/FreeRTOS/SemaphoreFactory.cpp b/osal/FreeRTOS/SemaphoreFactory.cpp
index 78427f6c..8575cf4a 100644
--- a/osal/FreeRTOS/SemaphoreFactory.cpp
+++ b/osal/FreeRTOS/SemaphoreFactory.cpp
@@ -1,61 +1,59 @@
-#include <framework/osal/FreeRTOS/BinarySemaphore.h>
-#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
-#include <framework/osal/FreeRTOS/CountingSemaphore.h>
-#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
-#include <framework/tasks/SemaphoreFactory.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-const uint32_t SemaphoreIF::POLLING = 0;
-const uint32_t SemaphoreIF::BLOCKING = portMAX_DELAY;
-
-static const uint32_t USE_REGULAR_SEMAPHORES = 0;
-static const uint32_t USE_TASK_NOTIFICATIONS = 1;
-
-SemaphoreFactory::SemaphoreFactory() {
-}
-
-SemaphoreFactory::~SemaphoreFactory() {
-	delete factoryInstance;
-}
-
-SemaphoreFactory* SemaphoreFactory::instance() {
-	if (factoryInstance == nullptr){
-		factoryInstance = new SemaphoreFactory();
-	}
-	return SemaphoreFactory::factoryInstance;
-}
-
-SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
-	if(argument == USE_REGULAR_SEMAPHORES) {
-		return new BinarySemaphore();
-	}
-	else if(argument == USE_TASK_NOTIFICATIONS) {
-		return new BinarySemaphoreUsingTask();
-	}
-	else {
-		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
-				"binary semaphore" << std::endl;
-		return new BinarySemaphore();
-	}
-}
-
-SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
-		uint8_t initCount, uint32_t argument) {
-	if(argument == USE_REGULAR_SEMAPHORES) {
-		return new CountingSemaphore(maxCount, initCount);
-	}
-	else if(argument == USE_TASK_NOTIFICATIONS) {
-		return new CountingSemaphoreUsingTask(maxCount, initCount);
-	}
-	else {
-		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
-						"binary semaphore" << std::endl;
-		return new CountingSemaphore(maxCount, initCount);
-	}
-
-}
-
-void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
-	delete semaphore;
-}
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../tasks/SemaphoreFactory.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+static const uint32_t USE_REGULAR_SEMAPHORES = 0;
+static const uint32_t USE_TASK_NOTIFICATIONS = 1;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
+		return new BinarySemaphore();
+	}
+	else if(argument == USE_TASK_NOTIFICATIONS) {
+		return new BinarySemaphoreUsingTask();
+	}
+	else {
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+				"binary semaphore" << std::endl;
+		return new BinarySemaphore();
+	}
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
+		uint8_t initCount, uint32_t argument) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
+		return new CountingSemaphore(maxCount, initCount);
+	}
+	else if(argument == USE_TASK_NOTIFICATIONS) {
+		return new CountingSemaphoreUsingTask(maxCount, initCount);
+	}
+	else {
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+						"binary semaphore" << std::endl;
+		return new CountingSemaphore(maxCount, initCount);
+	}
+
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}
diff --git a/tasks/SemaphoreIF.h b/tasks/SemaphoreIF.h
index 4fc92ebd..30d4ed88 100644
--- a/tasks/SemaphoreIF.h
+++ b/tasks/SemaphoreIF.h
@@ -1,72 +1,68 @@
-#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
-#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
-#include <framework/returnvalues/FwClassIds.h>
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <cstdint>
-
-/**
- * @brief 	Generic interface for semaphores, which can be used to achieve
- * 			task synchronization. This is a generic interface which can be
- * 			used for both binary semaphores and counting semaphores.
- * @details
- * A semaphore is a synchronization primitive.
- * See: https://en.wikipedia.org/wiki/Semaphore_(programming)
- * A semaphore can be used to achieve task synchonization and track the
- * availability of resources by using either the binary or the counting
- * semaphore types.
- *
- * If mutual exlcusion of a resource is desired, a mutex should be used,
- * which is a special form of a semaphore and has an own interface.
- */
-class SemaphoreIF {
-public:
-	virtual~ SemaphoreIF() {};
-	/**
-	 * @brief 	Timeout value used for polling lock attempt.
-	 * @details
-	 * If the lock is not successfull, MUTEX_TIMEOUT will be returned
-	 * immediately. Value needs to be defined in implementation.
-	 */
-	static const uint32_t POLLING;
-	/**
-	 * @brief 	Timeout value used for permanent blocking lock attempt.
-	 * @details
-	 * The task will be blocked (indefinitely) until the mutex is unlocked.
-	 * Value needs to be defined in implementation.
-	 */
-	static const uint32_t BLOCKING;
-
-	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
-	//! Semaphore timeout
-	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
-	//! The current semaphore can not be given, because it is not owned
-	static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
-	static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
-
-	/**
-	 * Generic call to acquire a semaphore.
-	 * If there are no more semaphores to be taken (for a counting semaphore,
-	 * a semaphore may be taken more than once), the taks will block
-	 * for a maximum of timeoutMs while trying to acquire the semaphore.
-	 * This can be used to achieve task synchrnization.
-	 * @param timeoutMs
-	 * @return - c RETURN_OK for successfull acquisition
-	 */
-	virtual ReturnValue_t acquire(uint32_t timeoutMs) = 0;
-
-	/**
-	 * Corrensponding call to release a semaphore.
-	 * @return -@c RETURN_OK for successfull release
-	 */
-	virtual ReturnValue_t release() = 0;
-
-	/**
-	 * If the semaphore is a counting semaphore then the semaphores current
-	 * count value is returned. If the semaphore is a binary semaphore then 1
-	 * is returned if the semaphore is available, and 0 is returned if the
-	 * semaphore is not available.
-	 */
-	virtual uint8_t getSemaphoreCounter() const = 0;
-};
-
-#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */
+#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
+#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
+#include "../returnvalues/FwClassIds.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstdint>
+
+/**
+ * @brief 	Generic interface for semaphores, which can be used to achieve
+ * 			task synchronization. This is a generic interface which can be
+ * 			used for both binary semaphores and counting semaphores.
+ * @details
+ * A semaphore is a synchronization primitive.
+ * See: https://en.wikipedia.org/wiki/Semaphore_(programming)
+ * A semaphore can be used to achieve task synchonization and track the
+ * availability of resources by using either the binary or the counting
+ * semaphore types.
+ *
+ * If mutual exlcusion of a resource is desired, a mutex should be used,
+ * which is a special form of a semaphore and has an own interface.
+ */
+class SemaphoreIF {
+public:
+    /**
+     * Different types of timeout for the mutex lock.
+     */
+    enum TimeoutType {
+        POLLING, //!< If mutex is not available, return immediately
+        WAITING, //!< Wait a specified time for the mutex to become available
+        BLOCKING //!< Block indefinitely until the mutex becomes available.
+    };
+
+	virtual~ SemaphoreIF() {};
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+	//! Semaphore timeout
+	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
+	//! The current semaphore can not be given, because it is not owned
+	static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
+	static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
+
+	/**
+	 * Generic call to acquire a semaphore.
+	 * If there are no more semaphores to be taken (for a counting semaphore,
+	 * a semaphore may be taken more than once), the taks will block
+	 * for a maximum of timeoutMs while trying to acquire the semaphore.
+	 * This can be used to achieve task synchrnization.
+	 * @param timeoutMs
+	 * @return - c RETURN_OK for successfull acquisition
+	 */
+	virtual ReturnValue_t acquire(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
+
+	/**
+	 * Corrensponding call to release a semaphore.
+	 * @return -@c RETURN_OK for successfull release
+	 */
+	virtual ReturnValue_t release() = 0;
+
+	/**
+	 * If the semaphore is a counting semaphore then the semaphores current
+	 * count value is returned. If the semaphore is a binary semaphore then 1
+	 * is returned if the semaphore is available, and 0 is returned if the
+	 * semaphore is not available.
+	 */
+	virtual uint8_t getSemaphoreCounter() const = 0;
+};
+
+#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */

From 073f168b9507800d11ddcee8f63deb6025c513e7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 16:27:54 +0200
Subject: [PATCH 269/653] task management function taken over from master

---
 osal/FreeRTOS/TaskManagement.cpp | 23 ++++++++++++-----------
 osal/FreeRTOS/TaskManagement.h   | 23 ++++++++++++-----------
 2 files changed, 24 insertions(+), 22 deletions(-)

diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index 7871ab2e..16682d36 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -1,23 +1,24 @@
-#include <framework/osal/FreeRTOS/TaskManagement.h>
-
-void TaskManagement::requestContextSwitchFromTask() {
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+void TaskManagement::vRequestContextSwitchFromTask() {
 	vTaskDelay(0);
 }
-
+
 void TaskManagement::requestContextSwitch(
-		CallContext callContext = CallContext::TASK) {
+		CallContext callContext = CallContext::TASK) {
 	if(callContext == CallContext::ISR) {
 		// This function depends on the partmacro.h definition for the specific device
-		requestContextSwitchFromISR();
+		vRequestContextSwitchFromISR();
 	} else {
-		requestContextSwitchFromTask();
+		vRequestContextSwitchFromTask();
 	}
 }
-
+
 TaskHandle_t TaskManagement::getCurrentTaskHandle() {
 	return xTaskGetCurrentTaskHandle();
 }
 
-configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark() {
-	return uxTaskGetStackHighWaterMark(TaskManagement::getCurrentTaskHandle());
-}
+size_t TaskManagement::getTaskStackHighWatermark(
+        TaskHandle_t task) {
+	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 39c24377..43003d76 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -1,25 +1,25 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
 #define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 }
 #include <cstdint>
-
+
 /**
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern "C" void requestContextSwitchFromISR();
+extern void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
- * within an ISR or from a regular task. This is required because FreeRTOS
+ * within an ISR or from a regular task. This is required because FreeRTOS
  * has different functions for handling semaphores and messages from within
- * an ISR and task.
+ * an ISR and task.
  */
 enum class CallContext {
 	TASK = 0x00,//!< task_context
@@ -29,19 +29,19 @@ enum class CallContext {
 
 class TaskManagement {
 public:
-	/**
+	/**
 	 * @brief	In this function, a function dependant on the portmacro.h header
 	 * 			function calls to request a context switch can be specified.
 	 * This can be used if sending to the queue from an ISR caused a task
-	 * to unblock and a context switch is required.
+	 * to unblock and a context switch is required.
 	 */
 	static void requestContextSwitch(CallContext callContext);
 
 	/**
 	 * If task preemption in FreeRTOS is disabled, a context switch
 	 * can be requested manually by calling this function.
-	 */
-	static void requestContextSwitchFromTask(void);
+	 */
+	static void vRequestContextSwitchFromTask(void);
 
 	/**
 	 * @return The current task handle
@@ -56,8 +56,9 @@ public:
 	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
 	 * @return Smallest value of stack remaining since the task was started in
 	 * 		   words.
-	 */
-	static configSTACK_DEPTH_TYPE getTaskStackHighWatermark();
+	 */
+	static size_t getTaskStackHighWatermark(
+	        TaskHandle_t task = nullptr);
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

From 73db79a3fefb1d7153a9a6f9cbaceb55b725d494 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 17:06:10 +0200
Subject: [PATCH 270/653] updated linux implementation

---
 osal/linux/BinarySemaphore.cpp   |  13 ++--
 osal/linux/BinarySemaphore.h     |   8 +--
 osal/linux/CountingSemaphore.cpp | 108 +++++++++++++++----------------
 osal/linux/CountingSemaphore.h   |  74 ++++++++++-----------
 osal/linux/SemaphoreFactory.cpp  |  69 ++++++++++----------
 5 files changed, 135 insertions(+), 137 deletions(-)

diff --git a/osal/linux/BinarySemaphore.cpp b/osal/linux/BinarySemaphore.cpp
index e2ad9b58..5216ff37 100644
--- a/osal/linux/BinarySemaphore.cpp
+++ b/osal/linux/BinarySemaphore.cpp
@@ -1,5 +1,5 @@
-#include <framework/osal/linux/BinarySemaphore.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "../../osal/linux/BinarySemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 extern "C" {
 #include <errno.h>
@@ -25,15 +25,16 @@ BinarySemaphore& BinarySemaphore::operator =(
 	return * this;
 }
 
-ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
+ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
+		 uint32_t timeoutMs) {
 	int result = 0;
-	if(timeoutMs == SemaphoreIF::POLLING) {
+	if(timeoutType == TimeoutType::POLLING) {
 		result = sem_trywait(&handle);
 	}
-	else if(timeoutMs == SemaphoreIF::BLOCKING) {
+	else if(timeoutType == TimeoutType::BLOCKING) {
 	    result = sem_wait(&handle);
 	}
-	else if(timeoutMs > SemaphoreIF::POLLING){
+	else if(timeoutType == TimeoutType::WAITING){
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
diff --git a/osal/linux/BinarySemaphore.h b/osal/linux/BinarySemaphore.h
index 9d4ed1cd..4181de85 100644
--- a/osal/linux/BinarySemaphore.h
+++ b/osal/linux/BinarySemaphore.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
 #define FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/tasks/SemaphoreIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
 
 extern "C" {
 #include <semaphore.h>
@@ -49,8 +49,8 @@ public:
 	 * @return -@c RETURN_OK on success
 	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
 	 */
-	ReturnValue_t acquire(uint32_t timeoutMs =
-	       	   SemaphoreIF::BLOCKING) override;
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+			uint32_t timeoutMs = 0) override;
 
 	/**
 	 * Release the binary semaphore.
diff --git a/osal/linux/CountingSemaphore.cpp b/osal/linux/CountingSemaphore.cpp
index dfc4d801..ef32539b 100644
--- a/osal/linux/CountingSemaphore.cpp
+++ b/osal/linux/CountingSemaphore.cpp
@@ -1,54 +1,54 @@
-#include <framework/osal/linux/CountingSemaphore.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
-		maxCount(maxCount), initCount(initCount) {
-	if(initCount > maxCount) {
-		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
-				"intial cout. Setting initial count to max count." << std::endl;
-		initCount = maxCount;
-	}
-
-	initSemaphore(initCount);
-}
-
-CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
-		maxCount(other.maxCount), initCount(other.initCount) {
-	initSemaphore(initCount);
-}
-
-CountingSemaphore& CountingSemaphore::operator =(
-		CountingSemaphore&& other) {
-	initSemaphore(other.initCount);
-	return * this;
-}
-
-ReturnValue_t CountingSemaphore::release() {
-	ReturnValue_t result = checkCount(&handle, maxCount);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	return CountingSemaphore::release(&this->handle);
-}
-
-ReturnValue_t CountingSemaphore::release(sem_t* handle) {
-	int result = sem_post(handle);
-	if(result == 0) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	switch(errno) {
-	case(EINVAL):
-		// Semaphore invalid
-		return SemaphoreIF::SEMAPHORE_INVALID;
-	case(EOVERFLOW):
-		// SEM_MAX_VALUE overflow. This should never happen
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-uint8_t CountingSemaphore::getMaxCount() const {
-	return maxCount;
-}
-
+#include "../../osal/linux/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+		maxCount(maxCount), initCount(initCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	initSemaphore(initCount);
+}
+
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+		maxCount(other.maxCount), initCount(other.initCount) {
+	initSemaphore(initCount);
+}
+
+CountingSemaphore& CountingSemaphore::operator =(
+		CountingSemaphore&& other) {
+	initSemaphore(other.initCount);
+	return * this;
+}
+
+ReturnValue_t CountingSemaphore::release() {
+	ReturnValue_t result = checkCount(&handle, maxCount);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	return CountingSemaphore::release(&this->handle);
+}
+
+ReturnValue_t CountingSemaphore::release(sem_t* handle) {
+	int result = sem_post(handle);
+	if(result == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	switch(errno) {
+	case(EINVAL):
+		// Semaphore invalid
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	case(EOVERFLOW):
+		// SEM_MAX_VALUE overflow. This should never happen
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+uint8_t CountingSemaphore::getMaxCount() const {
+	return maxCount;
+}
+
diff --git a/osal/linux/CountingSemaphore.h b/osal/linux/CountingSemaphore.h
index ba606595..afe21a61 100644
--- a/osal/linux/CountingSemaphore.h
+++ b/osal/linux/CountingSemaphore.h
@@ -1,37 +1,37 @@
-#ifndef FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
-#define FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
-#include <framework/osal/linux/BinarySemaphore.h>
-
-/**
- * @brief 	Counting semaphores, which can be acquired more than once.
- * @details
- * See: https://www.freertos.org/CreateCounting.html
- * API of counting semaphores is almost identical to binary semaphores,
- * so we just inherit from binary semaphore and provide the respective
- * constructors.
- */
-class CountingSemaphore: public BinarySemaphore {
-public:
-	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
-	//! @brief Copy ctor, disabled
-	CountingSemaphore(const CountingSemaphore&) = delete;
-	//! @brief Copy assignment, disabled
-	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
-	//! @brief Move ctor
-	CountingSemaphore (CountingSemaphore &&);
-	//! @brief Move assignment
-	CountingSemaphore & operator=(CountingSemaphore &&);
-
-	ReturnValue_t release() override;
-	static ReturnValue_t release(sem_t* sem);
-	/* Same API as binary semaphore otherwise. acquire() can be called
-	 * until there are not semaphores left and release() can be called
-	 * until maxCount is reached. */
-
-	uint8_t getMaxCount() const;
-private:
-	const uint8_t maxCount;
-	uint8_t initCount = 0;
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
+#ifndef FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
+#include "../../osal/linux/BinarySemaphore.h"
+
+/**
+ * @brief 	Counting semaphores, which can be acquired more than once.
+ * @details
+ * See: https://www.freertos.org/CreateCounting.html
+ * API of counting semaphores is almost identical to binary semaphores,
+ * so we just inherit from binary semaphore and provide the respective
+ * constructors.
+ */
+class CountingSemaphore: public BinarySemaphore {
+public:
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	//! @brief Copy ctor, disabled
+	CountingSemaphore(const CountingSemaphore&) = delete;
+	//! @brief Copy assignment, disabled
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	//! @brief Move ctor
+	CountingSemaphore (CountingSemaphore &&);
+	//! @brief Move assignment
+	CountingSemaphore & operator=(CountingSemaphore &&);
+
+	ReturnValue_t release() override;
+	static ReturnValue_t release(sem_t* sem);
+	/* Same API as binary semaphore otherwise. acquire() can be called
+	 * until there are not semaphores left and release() can be called
+	 * until maxCount is reached. */
+
+	uint8_t getMaxCount() const;
+private:
+	const uint8_t maxCount;
+	uint8_t initCount = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
diff --git a/osal/linux/SemaphoreFactory.cpp b/osal/linux/SemaphoreFactory.cpp
index 4fbd60d9..805865ca 100644
--- a/osal/linux/SemaphoreFactory.cpp
+++ b/osal/linux/SemaphoreFactory.cpp
@@ -1,36 +1,33 @@
-#include <framework/tasks/SemaphoreFactory.h>
-#include <framework/osal/linux/BinarySemaphore.h>
-#include <framework/osal/linux/CountingSemaphore.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-
-const uint32_t SemaphoreIF::POLLING = 0;
-const uint32_t SemaphoreIF::BLOCKING = 0xffffffff;
-
-SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-
-SemaphoreFactory::SemaphoreFactory() {
-}
-
-SemaphoreFactory::~SemaphoreFactory() {
-	delete factoryInstance;
-}
-
-SemaphoreFactory* SemaphoreFactory::instance() {
-	if (factoryInstance == nullptr){
-		factoryInstance = new SemaphoreFactory();
-	}
-	return SemaphoreFactory::factoryInstance;
-}
-
-SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
-	return new BinarySemaphore();
-}
-
-SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
-		uint8_t initCount, uint32_t arguments) {
-	return new CountingSemaphore(maxCount, initCount);
-}
-
-void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
-	delete semaphore;
-}
+#include "../../tasks/SemaphoreFactory.h"
+#include "../../osal/linux/BinarySemaphore.h"
+#include "../../osal/linux/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	return new BinarySemaphore();
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
+		uint8_t initCount, uint32_t arguments) {
+	return new CountingSemaphore(maxCount, initCount);
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}

From 3be253efd62cae876f3df5fc9689380d3309cf5d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 17:07:42 +0200
Subject: [PATCH 271/653] include fix

---
 tasks/SemaphoreFactory.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tasks/SemaphoreFactory.h b/tasks/SemaphoreFactory.h
index 7f8edaf1..bffa59c8 100644
--- a/tasks/SemaphoreFactory.h
+++ b/tasks/SemaphoreFactory.h
@@ -1,6 +1,6 @@
 #ifndef FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_
 #define FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_
-#include <framework/tasks/SemaphoreIF.h>
+#include "../tasks/SemaphoreIF.h"
 
 /**
  * Creates Semaphore.

From 0fedad6da09816c8a06615f3903a8e34545001bc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 17:14:49 +0200
Subject: [PATCH 272/653] semaphore factory update

---
 osal/linux/SemaphoreFactory.cpp |  4 +-
 tasks/SemaphoreFactory.h        | 99 +++++++++++++++++----------------
 2 files changed, 52 insertions(+), 51 deletions(-)

diff --git a/osal/linux/SemaphoreFactory.cpp b/osal/linux/SemaphoreFactory.cpp
index 805865ca..bcb5d16f 100644
--- a/osal/linux/SemaphoreFactory.cpp
+++ b/osal/linux/SemaphoreFactory.cpp
@@ -1,6 +1,6 @@
 #include "../../tasks/SemaphoreFactory.h"
-#include "../../osal/linux/BinarySemaphore.h"
-#include "../../osal/linux/CountingSemaphore.h"
+#include "BinarySemaphore.h"
+#include "CountingSemaphore.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
diff --git a/tasks/SemaphoreFactory.h b/tasks/SemaphoreFactory.h
index bffa59c8..2c41a135 100644
--- a/tasks/SemaphoreFactory.h
+++ b/tasks/SemaphoreFactory.h
@@ -1,49 +1,50 @@
-#ifndef FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_
-#define FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_
-#include "../tasks/SemaphoreIF.h"
-
-/**
- * Creates Semaphore.
- * This class is a "singleton" interface, i.e. it provides an
- * interface, but also is the base class for a singleton.
- */
-class SemaphoreFactory {
-public:
-	virtual ~SemaphoreFactory();
-	/**
-	 * Returns the single instance of SemaphoreFactory.
-	 * The implementation of #instance is found in its subclasses.
-	 * Thus, we choose link-time variability of the  instance.
-	 */
-	static SemaphoreFactory* instance();
-
-	/**
-	 * Create a binary semaphore.
-	 * Creator function for a binary semaphore which may only be acquired once
-	 * @param argument Can be used to pass implementation specific information.
-	 * @return Pointer to newly created semaphore class instance.
-	 */
-	SemaphoreIF* createBinarySemaphore(uint32_t arguments = 0);
-	/**
-	 * Create a counting semaphore.
-	 * Creator functons for a counting semaphore which may be acquired multiple
-	 * times.
-	 * @param count Semaphore can be taken count times.
-	 * @param initCount Initial count value.
-	 * @param argument Can be used to pass implementation specific information.
-	 * @return
-	 */
-	SemaphoreIF* createCountingSemaphore(const uint8_t maxCount,
-			uint8_t initCount, uint32_t arguments = 0);
-
-	void deleteSemaphore(SemaphoreIF* semaphore);
-
-private:
-	/**
-	 * External instantiation is not allowed.
-	 */
-	SemaphoreFactory();
-	static SemaphoreFactory* factoryInstance;
-};
-
-#endif /* FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_ */
+#ifndef FSFW_TASKS_SEMAPHOREFACTORY_H_
+#define FSFW_TASKS_SEMAPHOREFACTORY_H_
+
+#include "../tasks/SemaphoreIF.h"
+
+/**
+ * Creates Semaphore.
+ * This class is a "singleton" interface, i.e. it provides an
+ * interface, but also is the base class for a singleton.
+ */
+class SemaphoreFactory {
+public:
+	virtual ~SemaphoreFactory();
+	/**
+	 * Returns the single instance of SemaphoreFactory.
+	 * The implementation of #instance is found in its subclasses.
+	 * Thus, we choose link-time variability of the  instance.
+	 */
+	static SemaphoreFactory* instance();
+
+	/**
+	 * Create a binary semaphore.
+	 * Creator function for a binary semaphore which may only be acquired once
+	 * @param argument Can be used to pass implementation specific information.
+	 * @return Pointer to newly created semaphore class instance.
+	 */
+	SemaphoreIF* createBinarySemaphore(uint32_t arguments = 0);
+	/**
+	 * Create a counting semaphore.
+	 * Creator functons for a counting semaphore which may be acquired multiple
+	 * times.
+	 * @param count Semaphore can be taken count times.
+	 * @param initCount Initial count value.
+	 * @param argument Can be used to pass implementation specific information.
+	 * @return
+	 */
+	SemaphoreIF* createCountingSemaphore(const uint8_t maxCount,
+			uint8_t initCount, uint32_t arguments = 0);
+
+	void deleteSemaphore(SemaphoreIF* semaphore);
+
+private:
+	/**
+	 * External instantiation is not allowed.
+	 */
+	SemaphoreFactory();
+	static SemaphoreFactory* factoryInstance;
+};
+
+#endif /* FSFW_TASKS_SEMAPHOREFACTORY_H_ */

From dfe3658a851d4576738dcd1c973ce0b20672753a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 19:52:25 +0200
Subject: [PATCH 273/653] removed hk stuff

---
 devicehandlers/ChildHandlerBase.cpp  |  8 +++-----
 devicehandlers/ChildHandlerBase.h    |  5 ++---
 devicehandlers/DeviceHandlerBase.cpp | 14 --------------
 devicehandlers/DeviceHandlerBase.h   |  9 +--------
 4 files changed, 6 insertions(+), 30 deletions(-)

diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index acc1b5a0..f18c3812 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -4,15 +4,13 @@
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * cookie,
-		object_id_t hkDestination, uint32_t thermalStatePoolId,
-		uint32_t thermalRequestPoolId,
-		object_id_t parent,
-		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		object_id_t parent, FailureIsolationBase* customFdir,
+		size_t cmdQueueSize) :
 		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
 			(customFdir == nullptr? &childHandlerFdir : customFdir),
 			cmdQueueSize),
 		parentId(parent), childHandlerFdir(setObjectId) {
-	this->setHkDestination(hkDestination);
 	this->setThermalStateRequestPoolIds(thermalStatePoolId,
 			thermalRequestPoolId);
 
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index 625955f0..70c27952 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -7,9 +7,8 @@
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
 	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * cookie, object_id_t hkDestination,
-			uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-			object_id_t parent = objects::NO_OBJECT,
+			CookieIF * cookie, uint32_t thermalStatePoolId,
+			uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT,
 			FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
 	virtual ~ChildHandlerBase();
 
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index ff6a5dbe..017ea8d2 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -17,7 +17,6 @@
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
-object_id_t DeviceHandlerBase::defaultHkDestination = objects::NO_OBJECT;
 
 DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * comCookie,
@@ -49,10 +48,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 	}
 }
 
-void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
-	this->hkDestination = hkDestination;
-}
-
 void DeviceHandlerBase::setThermalStateRequestPoolIds(
 		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
 	this->deviceThermalRequestPoolId = thermalStatePoolId;
@@ -188,15 +183,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
-//	if(hkDestination == objects::NO_OBJECT) {
-//		hkDestination = defaultHkDestination;
-//	}
-//
-//	result = hkManager.initialize(commandQueue, hkDestination);
-//	if (result != HasReturnvaluesIF::RETURN_OK) {
-//		return result;
-//	}
-
 	fillCommandAndReplyMap();
 
 	//Set temperature target state to NON_OP.
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index d41a50e5..5666f35e 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -85,8 +85,7 @@ class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasModesIF,
 		public HasHealthIF,
 		public HasActionsIF,
-		public ReceivesParameterMessagesIF
-		/* public HasLocalDataPoolIF */ {
+		public ReceivesParameterMessagesIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
@@ -107,7 +106,6 @@ public:
 			CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
 			size_t cmdQueueSize = 20);
 
-	void setHkDestination(object_id_t hkDestination);
 	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId);
 
@@ -1036,11 +1034,6 @@ private:
 	/** the object used to set power switches */
 	PowerSwitchIF *powerSwitcher = nullptr;
 
-	/** Cached for initialize() */
-	static object_id_t defaultHkDestination;
-	/** HK destination can also be set individually */
-	object_id_t hkDestination = objects::NO_OBJECT;
-
 	/**
 	 * @brief   Used for timing out mode transitions.
 	 * Set when setMode() is called.

From 8f2d5a5528c7247a0f1cd60a6dc29ffd85eaeb45 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 19:58:35 +0200
Subject: [PATCH 274/653] DH fdir improvements

---
 devicehandlers/DeviceHandlerFailureIsolation.cpp | 6 +++---
 devicehandlers/DeviceHandlerFailureIsolation.h   | 5 ++---
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 1f098d55..8831f9ae 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -5,7 +5,8 @@
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../thermal/ThermalComponentIF.h"
 
-object_id_t DeviceHandlerFailureIsolation::powerConfirmationId = 0;
+object_id_t DeviceHandlerFailureIsolation::powerConfirmationId =
+        objects::NO_OBJECT;
 
 DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner,
 		object_id_t parent) :
@@ -70,7 +71,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::eventReceived(EventMessage* event)
 		break;
 		//****Power*****
 	case PowerSwitchIF::SWITCH_WENT_OFF:
-		if(hasPowerConfirmation) {
+		if(powerConfirmation != MessageQueueIF::NO_QUEUE) {
 			result = sendConfirmationRequest(event, powerConfirmation);
 			if (result == RETURN_OK) {
 				setFdirState(DEVICE_MIGHT_BE_OFF);
@@ -171,7 +172,6 @@ ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
 			powerConfirmationId);
 	if (power != nullptr) {
 		powerConfirmation = power->getEventReceptionQueue();
-		hasPowerConfirmation = true;
 	}
 
 	return RETURN_OK;
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.h b/devicehandlers/DeviceHandlerFailureIsolation.h
index 56649ee9..6ed53efd 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.h
+++ b/devicehandlers/DeviceHandlerFailureIsolation.h
@@ -3,11 +3,11 @@
 
 #include "../fdir/FaultCounter.h"
 #include "../fdir/FailureIsolationBase.h"
+
 namespace Factory{
 void setStaticFrameworkObjectIds();
 }
 
-
 class DeviceHandlerFailureIsolation: public FailureIsolationBase {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 	friend class Heater;
@@ -28,8 +28,7 @@ protected:
 		NONE, RECOVERY_ONGOING, DEVICE_MIGHT_BE_OFF, AWAIT_SHUTDOWN
 	};
 	FDIRState fdirState;
-	bool hasPowerConfirmation = false;
-	MessageQueueId_t powerConfirmation;
+	MessageQueueId_t powerConfirmation = MessageQueueIF::NO_QUEUE;
 	static object_id_t powerConfirmationId;
 	// TODO: Are those hardcoded value? How can they be changed.
 	static const uint32_t MAX_REBOOT = 1;

From c4c607776c38d9913be6bf2b4ada0d767d345c53 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 20:07:03 +0200
Subject: [PATCH 275/653] important fix, 0 init removed

---
 .../DeviceHandlerFailureIsolation.cpp         | 15 ++++++++----
 .../DeviceHandlerFailureIsolation.h           | 24 +++++++++++--------
 2 files changed, 24 insertions(+), 15 deletions(-)

diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 8831f9ae..9fbe71d8 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -1,5 +1,7 @@
-#include "DeviceHandlerBase.h"
 #include "DeviceHandlerFailureIsolation.h"
+
+#include "../devicehandlers/DeviceHandlerIF.h"
+#include "../modes/HasModesIF.h"
 #include "../health/HealthTableIF.h"
 #include "../power/Fuse.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
@@ -11,12 +13,15 @@ object_id_t DeviceHandlerFailureIsolation::powerConfirmationId =
 DeviceHandlerFailureIsolation::DeviceHandlerFailureIsolation(object_id_t owner,
 		object_id_t parent) :
 		FailureIsolationBase(owner, parent),
-		strangeReplyCount(MAX_STRANGE_REPLIES, STRANGE_REPLIES_TIME_MS,
+		strangeReplyCount(DEFAULT_MAX_STRANGE_REPLIES,
+		        DEFAULT_STRANGE_REPLIES_TIME_MS,
 				parameterDomainBase++),
-		missedReplyCount( MAX_MISSED_REPLY_COUNT, MISSED_REPLY_TIME_MS,
+		missedReplyCount( DEFAULT_MAX_MISSED_REPLY_COUNT,
+		        DEFAULT_MISSED_REPLY_TIME_MS,
 				parameterDomainBase++),
-		recoveryCounter(MAX_REBOOT, REBOOT_TIME_MS, parameterDomainBase++),
-		fdirState(NONE), powerConfirmation(0) {
+		recoveryCounter(DEFAULT_MAX_REBOOT, DEFAULT_REBOOT_TIME_MS,
+		        parameterDomainBase++),
+		fdirState(NONE) {
 }
 
 DeviceHandlerFailureIsolation::~DeviceHandlerFailureIsolation() {
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.h b/devicehandlers/DeviceHandlerFailureIsolation.h
index 6ed53efd..8a3fd9dd 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.h
+++ b/devicehandlers/DeviceHandlerFailureIsolation.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
-#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_
 
 #include "../fdir/FaultCounter.h"
 #include "../fdir/FailureIsolationBase.h"
@@ -20,23 +20,27 @@ public:
 	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 			ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex);
+
 protected:
 	FaultCounter strangeReplyCount;
 	FaultCounter missedReplyCount;
 	FaultCounter recoveryCounter;
+
 	enum FDIRState {
 		NONE, RECOVERY_ONGOING, DEVICE_MIGHT_BE_OFF, AWAIT_SHUTDOWN
 	};
 	FDIRState fdirState;
+
 	MessageQueueId_t powerConfirmation = MessageQueueIF::NO_QUEUE;
 	static object_id_t powerConfirmationId;
-	// TODO: Are those hardcoded value? How can they be changed.
-	static const uint32_t MAX_REBOOT = 1;
-	static const uint32_t REBOOT_TIME_MS = 180000;
-	static const uint32_t MAX_STRANGE_REPLIES = 10;
-	static const uint32_t STRANGE_REPLIES_TIME_MS = 10000;
-	static const uint32_t MAX_MISSED_REPLY_COUNT = 5;
-	static const uint32_t MISSED_REPLY_TIME_MS = 10000;
+
+	static const uint32_t DEFAULT_MAX_REBOOT = 1;
+	static const uint32_t DEFAULT_REBOOT_TIME_MS = 180000;
+	static const uint32_t DEFAULT_MAX_STRANGE_REPLIES = 10;
+	static const uint32_t DEFAULT_STRANGE_REPLIES_TIME_MS = 10000;
+	static const uint32_t DEFAULT_MAX_MISSED_REPLY_COUNT = 5;
+	static const uint32_t DEFAULT_MISSED_REPLY_TIME_MS = 10000;
+
 	virtual ReturnValue_t eventReceived(EventMessage* event);
 	virtual void eventConfirmed(EventMessage* event);
 	void wasParentsFault(EventMessage* event);
@@ -50,4 +54,4 @@ protected:
 	bool isFdirInActionOrAreWeFaulty(EventMessage* event);
 };
 
-#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERFAILUREISOLATION_H_ */

From 54112acf625b3ca918313b3186a127521686008f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 20:11:36 +0200
Subject: [PATCH 276/653] chb update

---
 devicehandlers/ChildHandlerBase.h | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index 70c27952..3e9652a3 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -1,15 +1,17 @@
-#ifndef PAYLOADHANDLERBASE_H_
-#define PAYLOADHANDLERBASE_H_
+#ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
+#define FSFW_DEVICES_CHILDHANDLERBASE_H_
 
-#include "../devicehandlers/ChildHandlerFDIR.h"
-#include "../devicehandlers/DeviceHandlerBase.h"
+#include "ChildHandlerFDIR.h"
+#include "DeviceHandlerBase.h"
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
 	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
 			CookieIF * cookie, uint32_t thermalStatePoolId,
-			uint32_t thermalRequestPoolId, object_id_t parent = objects::NO_OBJECT,
-			FailureIsolationBase* customFdir = nullptr, size_t cmdQueueSize = 20);
+			uint32_t thermalRequestPoolId,
+			object_id_t parent = objects::NO_OBJECT,
+			FailureIsolationBase* customFdir = nullptr,
+			size_t cmdQueueSize = 20);
 	virtual ~ChildHandlerBase();
 
 	virtual ReturnValue_t initialize();
@@ -20,4 +22,5 @@ protected:
 
 };
 
-#endif /* PAYLOADHANDLERBASE_H_ */
+#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
+

From eb503ae030fdc5a8c7925f58cad85427d77251cf Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 20:19:27 +0200
Subject: [PATCH 277/653] include guard fix

---
 container/DynamicFIFO.h | 6 +++---
 container/FIFOBase.h    | 6 +++---
 container/FIFOBase.tpp  | 6 +++---
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h
index 5cdae81a..7fa0c32c 100644
--- a/container/DynamicFIFO.h
+++ b/container/DynamicFIFO.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_CONTAINER_DYNAMICFIFO_H_
-#define FRAMEWORK_CONTAINER_DYNAMICFIFO_H_
+#ifndef FSFW_CONTAINER_DYNAMICFIFO_H_
+#define FSFW_CONTAINER_DYNAMICFIFO_H_
 
 #include "FIFOBase.h"
 #include <vector>
@@ -39,4 +39,4 @@ private:
 	std::vector<T> fifoVector;
 };
 
-#endif /* FRAMEWORK_CONTAINER_DYNAMICFIFO_H_ */
+#endif /* FSFW_CONTAINER_DYNAMICFIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index acb38b82..bbabd67c 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_CONTAINER_FIFOBASE_H_
-#define FRAMEWORK_CONTAINER_FIFOBASE_H_
+#ifndef FSFW_CONTAINER_FIFOBASE_H_
+#define FSFW_CONTAINER_FIFOBASE_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <cstddef>
@@ -62,4 +62,4 @@ protected:
 
 #include "FIFOBase.tpp"
 
-#endif /* FRAMEWORK_CONTAINER_FIFOBASE_H_ */
+#endif /* FSFW_CONTAINER_FIFOBASE_H_ */
diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp
index c73e9d59..e1287dcf 100644
--- a/container/FIFOBase.tpp
+++ b/container/FIFOBase.tpp
@@ -1,7 +1,7 @@
-#ifndef FRAMEWORK_CONTAINER_FIFOBASE_TPP_
-#define FRAMEWORK_CONTAINER_FIFOBASE_TPP_
+#ifndef FSFW_CONTAINER_FIFOBASE_TPP_
+#define FSFW_CONTAINER_FIFOBASE_TPP_
 
-#ifndef FRAMEWORK_CONTAINER_FIFOBASE_H_
+#ifndef FSFW_CONTAINER_FIFOBASE_H_
 #error Include FIFOBase.h before FIFOBase.tpp!
 #endif
 

From aec557a8c06a233b3139134a8fa5db0befb4e757 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 28 Aug 2020 17:14:20 +0200
Subject: [PATCH 278/653] updated unix udp bridge

---
 globalfunctions/timevalOperations.cpp | 191 +++++++++++++-------------
 globalfunctions/timevalOperations.h   |   1 +
 osal/linux/TcUnixUdpPollingTask.cpp   |   4 +-
 osal/linux/TcUnixUdpPollingTask.h     |   6 +-
 osal/linux/TmTcUnixUdpBridge.cpp      |   8 +-
 osal/linux/TmTcUnixUdpBridge.h        |   4 +-
 6 files changed, 111 insertions(+), 103 deletions(-)

diff --git a/globalfunctions/timevalOperations.cpp b/globalfunctions/timevalOperations.cpp
index 6efe75ba..ae49ef21 100644
--- a/globalfunctions/timevalOperations.cpp
+++ b/globalfunctions/timevalOperations.cpp
@@ -1,92 +1,99 @@
-#include "timevalOperations.h"
-
-timeval& operator+=(timeval& lhs, const timeval& rhs) {
-	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
-	lhs.tv_sec = sum / 1000000;
-	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
-	return lhs;
-}
-
-timeval operator+(timeval lhs, const timeval& rhs) {
-	lhs += rhs;
-	return lhs;
-}
-
-timeval& operator-=(timeval& lhs, const timeval& rhs) {
-	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	sum -= rhs.tv_sec * 1000000. + rhs.tv_usec;
-	lhs.tv_sec = sum / 1000000;
-	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
-	return lhs;
-}
-
-timeval operator-(timeval lhs, const timeval& rhs) {
-	lhs -= rhs;
-	return lhs;
-}
-
-double operator/(const timeval& lhs, const timeval& rhs) {
-	double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
-	return lhs64 / rhs64;
-}
-
-timeval& operator/=(timeval& lhs, double scalar) {
-	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	product /= scalar;
-	lhs.tv_sec = product / 1000000;
-	lhs.tv_usec = product - lhs.tv_sec * 1000000;
-	return lhs;
-}
-
-timeval operator/(timeval lhs, double scalar) {
-	lhs /= scalar;
-	return lhs;
-}
-
-timeval& operator*=(timeval& lhs, double scalar) {
-	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	product *= scalar;
-	lhs.tv_sec = product / 1000000;
-	lhs.tv_usec = product - lhs.tv_sec * 1000000;
-	return lhs;
-}
-
-timeval operator*(timeval lhs, double scalar) {
-	lhs *= scalar;
-	return lhs;
-}
-
-timeval operator*(double scalar, timeval rhs) {
-	rhs *= scalar;
-	return rhs;
-}
-
-bool operator==(const timeval& lhs, const timeval& rhs) {
-	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
-	return lhs64 == rhs64;
-}
-bool operator!=(const timeval& lhs, const timeval& rhs) {
-	return !operator==(lhs, rhs);
-}
-bool operator<(const timeval& lhs, const timeval& rhs) {
-	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
-	return lhs64 < rhs64;
-}
-bool operator>(const timeval& lhs, const timeval& rhs) {
-	return operator<(rhs, lhs);
-}
-bool operator<=(const timeval& lhs, const timeval& rhs) {
-	return !operator>(lhs, rhs);
-}
-bool operator>=(const timeval& lhs, const timeval& rhs) {
-	return !operator<(lhs, rhs);
-}
-
-double timevalOperations::toDouble(const timeval timeval) {
-	double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
-	return result / 1000000.;
-}
+#include "timevalOperations.h"
+
+timeval& operator+=(timeval& lhs, const timeval& rhs) {
+	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
+	lhs.tv_sec = sum / 1000000;
+	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
+	return lhs;
+}
+
+timeval operator+(timeval lhs, const timeval& rhs) {
+	lhs += rhs;
+	return lhs;
+}
+
+timeval& operator-=(timeval& lhs, const timeval& rhs) {
+	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	sum -= rhs.tv_sec * 1000000. + rhs.tv_usec;
+	lhs.tv_sec = sum / 1000000;
+	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
+	return lhs;
+}
+
+timeval operator-(timeval lhs, const timeval& rhs) {
+	lhs -= rhs;
+	return lhs;
+}
+
+double operator/(const timeval& lhs, const timeval& rhs) {
+	double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
+	return lhs64 / rhs64;
+}
+
+timeval& operator/=(timeval& lhs, double scalar) {
+	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	product /= scalar;
+	lhs.tv_sec = product / 1000000;
+	lhs.tv_usec = product - lhs.tv_sec * 1000000;
+	return lhs;
+}
+
+timeval operator/(timeval lhs, double scalar) {
+	lhs /= scalar;
+	return lhs;
+}
+
+timeval& operator*=(timeval& lhs, double scalar) {
+	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	product *= scalar;
+	lhs.tv_sec = product / 1000000;
+	lhs.tv_usec = product - lhs.tv_sec * 1000000;
+	return lhs;
+}
+
+timeval operator*(timeval lhs, double scalar) {
+	lhs *= scalar;
+	return lhs;
+}
+
+timeval operator*(double scalar, timeval rhs) {
+	rhs *= scalar;
+	return rhs;
+}
+
+bool operator==(const timeval& lhs, const timeval& rhs) {
+	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
+	return lhs64 == rhs64;
+}
+bool operator!=(const timeval& lhs, const timeval& rhs) {
+	return !operator==(lhs, rhs);
+}
+bool operator<(const timeval& lhs, const timeval& rhs) {
+	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
+	return lhs64 < rhs64;
+}
+bool operator>(const timeval& lhs, const timeval& rhs) {
+	return operator<(rhs, lhs);
+}
+bool operator<=(const timeval& lhs, const timeval& rhs) {
+	return !operator>(lhs, rhs);
+}
+bool operator>=(const timeval& lhs, const timeval& rhs) {
+	return !operator<(lhs, rhs);
+}
+
+double timevalOperations::toDouble(const timeval timeval) {
+	double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
+	return result / 1000000.;
+}
+
+timeval timevalOperations::toTimeval(const double seconds) {
+	timeval tval;
+	tval.tv_sec = seconds;
+	tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
+	return tval;
+}
diff --git a/globalfunctions/timevalOperations.h b/globalfunctions/timevalOperations.h
index a553e60a..3977d5d9 100644
--- a/globalfunctions/timevalOperations.h
+++ b/globalfunctions/timevalOperations.h
@@ -41,6 +41,7 @@ namespace timevalOperations {
  * @return seconds
  */
 double toDouble(const timeval timeval);
+timeval toTimeval(const double seconds);
 }
 
 #endif /* TIMEVALOPERATIONS_H_ */
diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index 8cf7b285..95910b02 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -1,5 +1,5 @@
-#include <framework/osal/linux/TcUnixUdpPollingTask.h>
-#include <framework/globalfunctions/arrayprinter.h>
+#include "TcUnixUdpPollingTask.h"
+#include "../../globalfunctions/arrayprinter.h"
 
 TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
 		object_id_t tmtcUnixUdpBridge, size_t frameSize,
diff --git a/osal/linux/TcUnixUdpPollingTask.h b/osal/linux/TcUnixUdpPollingTask.h
index d8de1458..cc032561 100644
--- a/osal/linux/TcUnixUdpPollingTask.h
+++ b/osal/linux/TcUnixUdpPollingTask.h
@@ -1,9 +1,9 @@
 #ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
 #define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
 
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/osal/linux/TmTcUnixUdpBridge.h>
-#include <framework/tasks/ExecutableObjectIF.h>
+#include "../../objectmanager/SystemObject.h"
+#include "../../osal/linux/TmTcUnixUdpBridge.h"
+#include "../../tasks/ExecutableObjectIF.h"
 
 #include <sys/socket.h>
 #include <vector>
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 92fbbdfa..46b26254 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -1,6 +1,6 @@
-#include <framework/osal/linux/TmTcUnixUdpBridge.h>
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/ipc/MutexHelper.h>
+#include "TmTcUnixUdpBridge.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../ipc/MutexHelper.h"
 
 #include <errno.h>
 #include <arpa/inet.h>
@@ -85,7 +85,7 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 }
 
 void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
-	MutexHelper lock(mutex, 10);
+	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
 
 //	char ipAddress [15];
 //	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
index dbddc6c3..5245c44c 100644
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
 #define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
 
-#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/TmTcBridge.h>
+#include "../../tmtcservices/AcceptsTelecommandsIF.h"
+#include "../../tmtcservices/TmTcBridge.h"
 #include <sys/socket.h>
 #include <netinet/in.h>
 #include <netinet/udp.h>

From b54d63edcb6077572f7cd61f0b94c96990460b07 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 28 Aug 2020 18:10:02 +0200
Subject: [PATCH 279/653] event manager improvements

---
 events/EventManager.cpp | 59 +++++++++++++++++++++++------------------
 events/EventManager.h   | 10 +++++--
 2 files changed, 41 insertions(+), 28 deletions(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index e58f251a..e71951e3 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -8,13 +8,16 @@
 const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
 		sizeof(EventMatchTree::Node), sizeof(EventIdRangeMatcher),
 		sizeof(ReporterRangeMatcher) };
-//If one checks registerListener calls, there are around 40 (to max 50) objects registering for certain events.
-//Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// If one checks registerListener calls, there are around 40 (to max 50)
+// objects registering for certain events.
+// Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
+// So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
 const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
 
 EventManager::EventManager(object_id_t setObjectId) :
-		SystemObject(setObjectId), eventReportQueue(NULL), mutex(NULL), factoryBackend(
-				0, POOL_SIZES, N_ELEMENTS, false, true) {
+		SystemObject(setObjectId),
+		factoryBackend(0, POOL_SIZES, N_ELEMENTS, false, true) {
 	mutex = MutexFactory::instance()->createMutex();
 	eventReportQueue = QueueFactory::instance()->createMessageQueue(
 			MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);
@@ -108,41 +111,45 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 
 #ifdef DEBUG
 
-//forward declaration, should be implemented by mission
-const char* translateObject(object_id_t object);
-const char * translateEvents(Event event);
-
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
 	switch (message->getSeverity()) {
 	case SEVERITY::INFO:
-//		string = translateObject(message->getReporter());
-//		sif::info << "EVENT: ";
-//		if (string != 0) {
-//			sif::info << string;
-//		} else {
-//			sif::info << "0x" << std::hex << message->getReporter() << std::dec;
-//		}
-//		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:
+#ifdef DEBUG_INFO_EVENT
 		string = translateObject(message->getReporter());
-		sif::error << "EVENT: ";
+		sif::info << "EVENT: ";
 		if (string != 0) {
-			sif::error << string;
+			sif::info << string;
 		} else {
-			sif::error << "0x" << std::hex << message->getReporter() << std::dec;
+			sif::info << "0x" << std::hex << message->getReporter() << std::dec;
 		}
-		sif::error << " 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;
+#endif
+		break;
+	default:
+		string = translateObject(message->getReporter());
+		sif::debug << "EventManager: ";
+		if (string != 0) {
+			sif::debug << string;
+		}
+		else {
+			sif::debug << "0x" << std::hex << message->getReporter() << std::dec;
+		}
+		sif::debug << " reported " << translateEvents(message->getEvent())
+				<< " (" << std::dec << message->getEventId() << ") "
+				<< std::endl;
+
+		sif::debug << std::hex << "P1 Hex: 0x" << message->getParameter1()
+				<< ", P1 Dec: " << std::dec << message->getParameter1()
+				<< std::endl;
+		sif::debug << std::hex << "P2 Hex: 0x" << message->getParameter2()
+				<< ", P2 Dec: " <<  std::dec << message->getParameter2()
+				<< std::endl;
 		break;
 	}
-
 }
 #endif
 
diff --git a/events/EventManager.h b/events/EventManager.h
index 7badc3bf..2602aeb2 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -10,6 +10,12 @@
 #include "../ipc/MutexIF.h"
 #include <map>
 
+#ifdef DEBUG
+// forward declaration, should be implemented by mission
+extern const char* translateObject(object_id_t object);
+extern const char* translateEvents(Event event);
+#endif
+
 class EventManager: public EventManagerIF,
 		public ExecutableObjectIF,
 		public SystemObject {
@@ -36,11 +42,11 @@ public:
 	ReturnValue_t performOperation(uint8_t opCode);
 protected:
 
-	MessageQueueIF* eventReportQueue;
+	MessageQueueIF* eventReportQueue = nullptr;
 
 	std::map<MessageQueueId_t, EventMatchTree> listenerList;
 
-	MutexIF* mutex;
+	MutexIF* mutex = nullptr;
 
 	static const uint8_t N_POOLS = 3;
 	LocalPool<N_POOLS> factoryBackend;

From 7a5c70e75366399082ac9d40a6f95c1c7245cf95 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 28 Aug 2020 18:46:47 +0200
Subject: [PATCH 280/653] typo fixes

---
 parameters/HasParametersIF.h             | 27 +++++--
 parameters/ParameterHelper.cpp           | 16 ++--
 parameters/ParameterHelper.h             | 23 ++++--
 parameters/ParameterMessage.cpp          |  2 +-
 parameters/ParameterMessage.h            |  8 +-
 parameters/ParameterWrapper.cpp          | 31 ++++----
 parameters/ParameterWrapper.h            | 95 +++++++++++++++---------
 parameters/ReceivesParameterMessagesIF.h |  6 +-
 8 files changed, 126 insertions(+), 82 deletions(-)

diff --git a/parameters/HasParametersIF.h b/parameters/HasParametersIF.h
index 71212b57..005403fa 100644
--- a/parameters/HasParametersIF.h
+++ b/parameters/HasParametersIF.h
@@ -1,12 +1,27 @@
-#ifndef HASPARAMETERSIF_H_
-#define HASPARAMETERSIF_H_
+#ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_
+#define FSFW_PARAMETERS_HASPARAMETERSIF_H_
 
-#include "ParameterWrapper.h"
+#include "../parameters/ParameterWrapper.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 
+/** Each parameter is identified with a unique parameter ID */
 typedef uint32_t ParameterId_t;
 
+/**
+ * @brief	This interface is used by components which have modifiable
+ * 			parameters, e.g. atittude controllers
+ * @details
+ * Each parameter has a unique parameter ID. The first byte of the parameter
+ * ID is the domain ID which can be used to identify unqiue spacecraft domains
+ * (e.g. control and sensor domain in the AOCS controller).
+ *
+ * The second and third byte represent the matrix ID, which can represent
+ * a 8-bit row and column number and the last byte...
+ *
+ * Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number
+ * of a 8 bit number now?
+ */
 class HasParametersIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
@@ -32,13 +47,11 @@ public:
 		return (domainId << 24) + (parameterId << 8) + index;
 	}
 
-	virtual ~HasParametersIF() {
-	}
+	virtual ~HasParametersIF() {}
 
 	/**
 	 * Always set parameter before checking newValues!
 	 *
-	 *
 	 * @param domainId
 	 * @param parameterId
 	 * @param parameterWrapper
@@ -51,4 +64,4 @@ public:
 			const ParameterWrapper *newValues, uint16_t startAtIndex) = 0;
 };
 
-#endif /* HASPARAMETERSIF_H_ */
+#endif /* FSFW_PARAMETERS_HASPARAMETERSIF_H_ */
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 8543515f..659b00de 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -1,11 +1,9 @@
-#include "../objectmanager/ObjectManagerIF.h"
 #include "ParameterHelper.h"
 #include "ParameterMessage.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
-		owner(owner), storage(NULL) {
-
-}
+		owner(owner) {}
 
 ParameterHelper::~ParameterHelper() {
 }
@@ -28,7 +26,6 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 	}
 		break;
 	case ParameterMessage::CMD_PARAMETER_LOAD: {
-
 		uint8_t domain = HasParametersIF::getDomain(
 				ParameterMessage::getParameterId(message));
 		uint16_t parameterId = HasParametersIF::getMatrixId(
@@ -36,12 +33,14 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 		uint8_t index = HasParametersIF::getIndex(
 				ParameterMessage::getParameterId(message));
 
-		const uint8_t *storedStream;
-		size_t storedStreamSize;
+		const uint8_t *storedStream = nullptr;
+		size_t storedStreamSize = 0;
 		result = storage->getData(
 				ParameterMessage::getStoreId(message), &storedStream,
 				&storedStreamSize);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
+			sif::error << "ParameterHelper::handleParameterMessage: Getting"
+					" store data failed for load command." << std::endl;
 			break;
 		}
 
@@ -125,7 +124,8 @@ ReturnValue_t ParameterHelper::initialize() {
 	}
 }
 
-void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand) {
+void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
+		Command_t initialCommand) {
 	CommandMessage reply;
 	reply.setReplyRejected(reason, initialCommand);
 	MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
diff --git a/parameters/ParameterHelper.h b/parameters/ParameterHelper.h
index d887bf1d..595b4bc5 100644
--- a/parameters/ParameterHelper.h
+++ b/parameters/ParameterHelper.h
@@ -1,9 +1,16 @@
-#ifndef PARAMETERHELPER_H_
-#define PARAMETERHELPER_H_
+#ifndef FSFW_PARAMETERS_PARAMETERHELPER_H_
+#define FSFW_PARAMETERS_PARAMETERHELPER_H_
 
 #include "ParameterMessage.h"
 #include "ReceivesParameterMessagesIF.h"
+#include "../ipc/MessageQueueIF.h"
 
+/**
+ * @brief	Helper class to handle parameter messages.
+ * @details
+ * This class simplfies handling of parameter messages, which are sent
+ * to a class which implements ReceivesParameterMessagesIF.
+ */
 class ParameterHelper {
 public:
 	ParameterHelper(ReceivesParameterMessagesIF *owner);
@@ -15,13 +22,15 @@ public:
 private:
 	ReceivesParameterMessagesIF *owner;
 
-	MessageQueueId_t ownerQueueId;
+	MessageQueueId_t ownerQueueId = MessageQueueIF::NO_QUEUE;
 
-	StorageManagerIF *storage;
+	StorageManagerIF *storage = nullptr;
 
-	ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id, const ParameterWrapper *description);
+	ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id,
+			const ParameterWrapper *description);
 
-	void rejectCommand(MessageQueueId_t to, ReturnValue_t reason, Command_t initialCommand);
+	void rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
+			Command_t initialCommand);
 };
 
-#endif /* PARAMETERHELPER_H_ */
+#endif /* FSFW_PARAMETERS_PARAMETERHELPER_H_ */
diff --git a/parameters/ParameterMessage.cpp b/parameters/ParameterMessage.cpp
index 7e0ed114..e9f3191f 100644
--- a/parameters/ParameterMessage.cpp
+++ b/parameters/ParameterMessage.cpp
@@ -1,4 +1,4 @@
-#include "ParameterMessage.h"
+#include "../parameters/ParameterMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
 ParameterId_t ParameterMessage::getParameterId(const CommandMessage* message) {
diff --git a/parameters/ParameterMessage.h b/parameters/ParameterMessage.h
index f59af513..31d7fe0b 100644
--- a/parameters/ParameterMessage.h
+++ b/parameters/ParameterMessage.h
@@ -1,8 +1,8 @@
-#ifndef PARAMETERMESSAGE_H_
-#define PARAMETERMESSAGE_H_
+#ifndef FSFW_PARAMETERS_PARAMETERMESSAGE_H_
+#define FSFW_PARAMETERS_PARAMETERMESSAGE_H_
 
-#include "../ipc/CommandMessage.h"
 #include "HasParametersIF.h"
+#include "../ipc/CommandMessage.h"
 #include "../storagemanager/StorageManagerIF.h"
 
 class ParameterMessage {
@@ -26,4 +26,4 @@ public:
 
 };
 
-#endif /* PARAMETERMESSAGE_H_ */
+#endif /* FSFW_PARAMETERS_PARAMETERMESSAGE_H_ */
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index 56f56426..d020da33 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -1,20 +1,19 @@
 #include "ParameterWrapper.h"
 
 ParameterWrapper::ParameterWrapper() :
-		pointsToStream(false), type(Type::UNKNOWN_TYPE), rows(0), columns(0), data(
-		NULL), readonlyData(NULL) {
+		pointsToStream(false), type(Type::UNKNOWN_TYPE) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
 		void *data) :
-		pointsToStream(false), type(type), rows(rows), columns(columns), data(
-				data), readonlyData(data) {
+		pointsToStream(false), type(type), rows(rows), columns(columns),
+		data(data), readonlyData(data) {
 }
 
 ParameterWrapper::ParameterWrapper(Type type, uint8_t rows, uint8_t columns,
 		const void *data) :
-		pointsToStream(false), type(type), rows(rows), columns(columns), data(
-		NULL), readonlyData(data) {
+		pointsToStream(false), type(type), rows(rows), columns(columns),
+		data(nullptr), readonlyData(data) {
 }
 
 ParameterWrapper::~ParameterWrapper() {
@@ -141,6 +140,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 
 }
 
+
 ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
 		size_t *size, Endianness streamEndianness) {
 	return deSerialize(buffer, size, streamEndianness, 0);
@@ -184,16 +184,16 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
 		return SerializeIF::STREAM_TOO_SHORT;
 	}
 
-	data = NULL;
+	data = nullptr;
 	readonlyData = stream;
 	pointsToStream = true;
 
 	stream += dataSize;
-	if (remainingStream != NULL) {
+	if (remainingStream !=  nullptr) {
 		*remainingStream = stream;
 	}
 	streamSize -= dataSize;
-	if (remainingSize != NULL) {
+	if (remainingSize != nullptr) {
 		*remainingSize = streamSize;
 	}
 
@@ -265,15 +265,14 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 			result = UNKNOW_DATATYPE;
 			break;
 		}
-	} else {
+	}
+	else {
 		//need a type to do arithmetic
-		uint8_t *toDataWithType = (uint8_t*) data;
+		uint8_t* typedData = static_cast<uint8_t*>(data);
 		for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
-			memcpy(
-					toDataWithType
-							+ (((startingRow + fromRow) * columns)
-									+ startingColumn) * typeSize,
-					from->readonlyData, typeSize * from->columns);
+			uint8_t offset = (((startingRow + fromRow) * columns) + startingColumn) * typeSize;
+			std::memcpy(typedData +  offset, from->readonlyData,
+					typeSize * from->columns);
 		}
 	}
 
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index b18fe2b9..f07205d4 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -1,12 +1,16 @@
-#ifndef PARAMETERWRAPPER_H_
-#define PARAMETERWRAPPER_H_
+#ifndef FSFW_PARAMETERS_PARAMETERWRAPPER_H_
+#define FSFW_PARAMETERS_PARAMETERWRAPPER_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeAdapter.h"
 #include "../serialize/SerializeIF.h"
-#include <stddef.h>
 #include "../globalfunctions/Type.h"
+#include <cstddef>
 
+/**
+ * @brief
+ * @details
+ */
 class ParameterWrapper: public SerializeIF {
 	friend class DataPoolParameterWrapper;
 public:
@@ -36,32 +40,21 @@ public:
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness, uint16_t startWritingAtIndex = 0);
 
+	/**
+	 * Get a specific parameter value by supplying the row and the column.
+	 * @tparam T Type of target data
+	 * @param value [out] Pointer to storage location
+	 * @param row
+	 * @param column
+	 * @return
+	 * -@c RETURN_OK if element was retrieved successfully
+	 * -@c NOT_SET data has not been set yet
+	 * -@c DATATYPE_MISSMATCH Invalid supplied type
+	 * -@c OUT_OF_BOUNDS Invalid row and/or column.
+	 */
 	template<typename T>
-	ReturnValue_t getElement(T *value, uint8_t row = 0, uint8_t column = 0) const {
-		if (readonlyData == NULL){
-			return NOT_SET;
-		}
-
-		if (PodTypeConversion<T>::type != type) {
-			return DATATYPE_MISSMATCH;
-		}
-
-		if ((row >= rows) || (column >= columns)) {
-			return OUT_OF_BOUNDS;
-		}
-
-		if (pointsToStream) {
-			const uint8_t *streamWithtype = (const uint8_t *) readonlyData;
-			streamWithtype += (row * columns + column) * type.getSize();
-			int32_t size = type.getSize();
-			return SerializeAdapter::deSerialize(value, &streamWithtype,
-					&size, true);
-		} else {
-			const T *dataWithType = (const T *) readonlyData;
-			*value = dataWithType[row * columns + column];
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
+	ReturnValue_t getElement(T *value, uint8_t row = 0,
+			uint8_t column = 0) const;
 
 	template<typename T>
 	void set(T *data, uint8_t rows, uint8_t columns) {
@@ -111,21 +104,22 @@ public:
 	void setMatrix(const T& member) {
 		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
 	}
+
 	ReturnValue_t set(const uint8_t *stream, size_t streamSize,
-			const uint8_t **remainingStream = NULL, size_t *remainingSize =
-					NULL);
+			const uint8_t **remainingStream = nullptr,
+			size_t *remainingSize = nullptr);
 
 	ReturnValue_t copyFrom(const ParameterWrapper *from,
 			uint16_t startWritingAtIndex);
 
 private:
-	bool pointsToStream;
+	bool pointsToStream = false;
 
 	Type type;
-	uint8_t rows;
-	uint8_t columns;
-	void *data;
-	const void *readonlyData;
+	uint8_t rows = 0;
+	uint8_t columns = 0;
+	void *data = nullptr;
+	const void *readonlyData = nullptr;
 
 	template<typename T>
 	ReturnValue_t serializeData(uint8_t** buffer, size_t* size,
@@ -136,4 +130,33 @@ private:
 			const void *from, uint8_t fromRows, uint8_t fromColumns);
 };
 
-#endif /* PARAMETERWRAPPER_H_ */
+template <typename T>
+inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row,
+		uint8_t column) const {
+	if (readonlyData == nullptr){
+		return NOT_SET;
+	}
+
+	if (PodTypeConversion<T>::type != type) {
+		return DATATYPE_MISSMATCH;
+	}
+
+	if ((row >= rows) or (column >= columns)) {
+		return OUT_OF_BOUNDS;
+	}
+
+	if (pointsToStream) {
+		const uint8_t *streamWithType = static_cast<const uint8_t*>(readonlyData);
+		streamWithType += (row * columns + column) * type.getSize();
+		int32_t size = type.getSize();
+		return SerializeAdapter::deSerialize(value, &streamWithType,
+				&size, true);
+	}
+	else {
+		const T *dataWithType = static_cast<const T*>(readonlyData);
+		*value = dataWithType[row * columns + column];
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+}
+
+#endif /* FSFW_PARAMETERS_PARAMETERWRAPPER_H_ */
diff --git a/parameters/ReceivesParameterMessagesIF.h b/parameters/ReceivesParameterMessagesIF.h
index 1fcbd4b3..e8c7fa69 100644
--- a/parameters/ReceivesParameterMessagesIF.h
+++ b/parameters/ReceivesParameterMessagesIF.h
@@ -1,5 +1,5 @@
-#ifndef RECEIVESPARAMETERMESSAGESIF_H_
-#define RECEIVESPARAMETERMESSAGESIF_H_
+#ifndef FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_
+#define FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_
 
 
 #include "HasParametersIF.h"
@@ -16,4 +16,4 @@ public:
 };
 
 
-#endif /* RECEIVESPARAMETERMESSAGESIF_H_ */
+#endif /* FSFW_PARAMETERS_RECEIVESPARAMETERMESSAGESIF_H_ */

From c0ed474373aef91fc12e2dc9b26bc9b8f4b8a4e4 Mon Sep 17 00:00:00 2001
From: gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 1 Sep 2020 11:34:28 +0200
Subject: [PATCH 281/653] Update 'serialize/SerializeIF.h'

---
 serialize/SerializeIF.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 2bb17154..7f9ea9df 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -5,13 +5,13 @@
 #include <stddef.h>
 
 /**
- * \defgroup serialize Serialization
+ * @defgroup serialize Serialization
  * Contains serialization services.
  */
 
 /**
  * Translation of objects into data streams and from data streams.
- * \ingroup serialize
+ * @ingroup serialize
  */
 class SerializeIF {
 public:
@@ -51,7 +51,7 @@ public:
 			size_t maxSize, Endianness streamEndianness) const = 0;
 
 	/**
-	 * Gets the size of a object if it would be serialized in a buffer.s
+	 * Gets the size of a object if it would be serialized in a buffer
 	 * @return Size of serialized object
 	 */
 	virtual size_t getSerializedSize() const = 0;

From a4d9c761a78831a963c06c5969410daedd48e4dd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Sep 2020 11:49:43 +0200
Subject: [PATCH 282/653] renormalize CHB

---
 contrib/sgp4/sgp4unit.cpp           | 4180 +++++++++++++--------------
 contrib/sgp4/sgp4unit.h             |  234 +-
 devicehandlers/ChildHandlerBase.cpp |   90 +-
 devicehandlers/ChildHandlerBase.h   |   48 +-
 osal/FreeRTOS/TaskManagement.cpp    |   48 +-
 osal/FreeRTOS/TaskManagement.h      |  128 +-
 serialize/SerialBufferAdapter.cpp   |  258 +-
 serialize/SerialBufferAdapter.h     |  156 +-
 8 files changed, 2571 insertions(+), 2571 deletions(-)

diff --git a/contrib/sgp4/sgp4unit.cpp b/contrib/sgp4/sgp4unit.cpp
index 24d63aa9..b707a7a2 100644
--- a/contrib/sgp4/sgp4unit.cpp
+++ b/contrib/sgp4/sgp4unit.cpp
@@ -1,2090 +1,2090 @@
-/*     ----------------------------------------------------------------
-*
-*                               sgp4unit.cpp
-*
-*    this file contains the sgp4 procedures for analytical propagation
-*    of a satellite. the code was originally released in the 1980 and 1986
-*    spacetrack papers. a detailed discussion of the theory and history
-*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
-*    and kelso.
-*
-*                            companion code for
-*               fundamentals of astrodynamics and applications
-*                                    2007
-*                              by david vallado
-*
-*       (w) 719-573-2600, email dvallado@agi.com
-*
-*    current :
-*              16 nov 07  david vallado
-*                           misc fixes for better compliance
-*    changes :
-*              20 apr 07  david vallado
-*                           misc fixes for constants
-*              11 aug 06  david vallado
-*                           chg lyddane choice back to strn3, constants, misc doc
-*              15 dec 05  david vallado
-*                           misc fixes
-*              26 jul 05  david vallado
-*                           fixes for paper
-*                           note that each fix is preceded by a
-*                           comment with "sgp4fix" and an explanation of
-*                           what was changed
-*              10 aug 04  david vallado
-*                           2nd printing baseline working
-*              14 may 01  david vallado
-*                           2nd edition baseline
-*                     80  norad
-*                           original baseline
-*       ----------------------------------------------------------------      */
-
-#include "sgp4unit.h"
-
-const char help = 'n';
-FILE *dbgfile;
-
-#define pi 3.14159265358979323846
-
-
-/* ----------- local functions - only ever used internally by sgp4 ---------- */
-static void dpper
-     (
-       double e3,     double ee2,    double peo,     double pgho,   double pho,
-       double pinco,  double plo,    double se2,     double se3,    double sgh2,
-       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
-       double si3,    double sl2,    double sl3,     double sl4,    double t,
-       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
-       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
-       double zmol,   double zmos,   double inclo,
-       char init,
-       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
-     );
-
-static void dscom
-     (
-       double epoch,  double ep,     double argpp,   double tc,     double inclp,
-       double nodep,  double np,
-       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
-       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
-       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
-       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
-       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
-       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
-       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
-       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
-       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
-       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
-       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
-       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
-       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
-       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
-       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
-       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
-       double& zmos
-     );
-
-static void dsinit
-     (
-       gravconsttype whichconst,
-       double cosim,  double emsq,   double argpo,   double s1,     double s2,
-       double s3,     double s4,     double s5,      double sinim,  double ss1,
-       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
-       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
-       double sz31,   double sz33,   double t,       double tc,     double gsto,
-       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
-       double xpidot, double z1,     double z3,      double z11,    double z13,
-       double z21,    double z23,    double z31,     double z33,    double ecco,
-       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
-       double& nm,    double& nodem,
-       int& irez,
-       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
-       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
-       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
-       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
-       double& xfact, double& xlamo, double& xli,    double& xni
-     );
-
-static void dspace
-     (
-       int irez,
-       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
-       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
-       double dedt,   double del1,   double del2,    double del3,   double didt,
-       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
-       double t,      double tc,     double gsto,    double xfact,  double xlamo,
-       double no,
-       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
-       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
-     );
-
-static void initl
-     (
-       int satn,      gravconsttype whichconst,
-       double ecco,   double epoch,  double inclo,   double& no,
-       char& method,
-       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
-       double& cosio2,double& eccsq, double& omeosq, double& posq,
-       double& rp,    double& rteosq,double& sinio , double& gsto
-     );
-
-/* -----------------------------------------------------------------------------
-*
-*                           procedure dpper
-*
-*  this procedure provides deep space long period periodic contributions
-*    to the mean elements.  by design, these periodics are zero at epoch.
-*    this used to be dscom which included initialization, but it's really a
-*    recurring function.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    e3          -
-*    ee2         -
-*    peo         -
-*    pgho        -
-*    pho         -
-*    pinco       -
-*    plo         -
-*    se2 , se3 , sgh2, sgh3, sgh4, sh2, sh3, si2, si3, sl2, sl3, sl4 -
-*    t           -
-*    xh2, xh3, xi2, xi3, xl2, xl3, xl4 -
-*    zmol        -
-*    zmos        -
-*    ep          - eccentricity                           0.0 - 1.0
-*    inclo       - inclination - needed for lyddane modification
-*    nodep       - right ascension of ascending node
-*    argpp       - argument of perigee
-*    mp          - mean anomaly
-*
-*  outputs       :
-*    ep          - eccentricity                           0.0 - 1.0
-*    inclp       - inclination
-*    nodep        - right ascension of ascending node
-*    argpp       - argument of perigee
-*    mp          - mean anomaly
-*
-*  locals        :
-*    alfdp       -
-*    betdp       -
-*    cosip  , sinip  , cosop  , sinop  ,
-*    dalf        -
-*    dbet        -
-*    dls         -
-*    f2, f3      -
-*    pe          -
-*    pgh         -
-*    ph          -
-*    pinc        -
-*    pl          -
-*    sel   , ses   , sghl  , sghs  , shl   , shs   , sil   , sinzf , sis   ,
-*    sll   , sls
-*    xls         -
-*    xnoh        -
-*    zf          -
-*    zm          -
-*
-*  coupling      :
-*    none.
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dpper
-     (
-       double e3,     double ee2,    double peo,     double pgho,   double pho,
-       double pinco,  double plo,    double se2,     double se3,    double sgh2,
-       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
-       double si3,    double sl2,    double sl3,     double sl4,    double t,
-       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
-       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
-       double zmol,   double zmos,   double inclo,
-       char init,
-       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     const double twopi = 2.0 * pi;
-     double alfdp, betdp, cosip, cosop, dalf, dbet, dls,
-          f2,    f3,    pe,    pgh,   ph,   pinc, pl ,
-          sel,   ses,   sghl,  sghs,  shll, shs,  sil,
-          sinip, sinop, sinzf, sis,   sll,  sls,  xls,
-          xnoh,  zf,    zm,    zel,   zes,  znl,  zns;
-
-     /* ---------------------- constants ----------------------------- */
-     zns   = 1.19459e-5;
-     zes   = 0.01675;
-     znl   = 1.5835218e-4;
-     zel   = 0.05490;
-
-     /* --------------- calculate time varying periodics ----------- */
-     zm    = zmos + zns * t;
-     // be sure that the initial call has time set to zero
-     if (init == 'y')
-         zm = zmos;
-     zf    = zm + 2.0 * zes * sin(zm);
-     sinzf = sin(zf);
-     f2    =  0.5 * sinzf * sinzf - 0.25;
-     f3    = -0.5 * sinzf * cos(zf);
-     ses   = se2* f2 + se3 * f3;
-     sis   = si2 * f2 + si3 * f3;
-     sls   = sl2 * f2 + sl3 * f3 + sl4 * sinzf;
-     sghs  = sgh2 * f2 + sgh3 * f3 + sgh4 * sinzf;
-     shs   = sh2 * f2 + sh3 * f3;
-     zm    = zmol + znl * t;
-     if (init == 'y')
-         zm = zmol;
-     zf    = zm + 2.0 * zel * sin(zm);
-     sinzf = sin(zf);
-     f2    =  0.5 * sinzf * sinzf - 0.25;
-     f3    = -0.5 * sinzf * cos(zf);
-     sel   = ee2 * f2 + e3 * f3;
-     sil   = xi2 * f2 + xi3 * f3;
-     sll   = xl2 * f2 + xl3 * f3 + xl4 * sinzf;
-     sghl  = xgh2 * f2 + xgh3 * f3 + xgh4 * sinzf;
-     shll  = xh2 * f2 + xh3 * f3;
-     pe    = ses + sel;
-     pinc  = sis + sil;
-     pl    = sls + sll;
-     pgh   = sghs + sghl;
-     ph    = shs + shll;
-
-     if (init == 'n')
-       {
-       pe    = pe - peo;
-       pinc  = pinc - pinco;
-       pl    = pl - plo;
-       pgh   = pgh - pgho;
-       ph    = ph - pho;
-       inclp = inclp + pinc;
-       ep    = ep + pe;
-       sinip = sin(inclp);
-       cosip = cos(inclp);
-
-       /* ----------------- apply periodics directly ------------ */
-       //  sgp4fix for lyddane choice
-       //  strn3 used original inclination - this is technically feasible
-       //  gsfc used perturbed inclination - also technically feasible
-       //  probably best to readjust the 0.2 limit value and limit discontinuity
-       //  0.2 rad = 11.45916 deg
-       //  use next line for original strn3 approach and original inclination
-       //  if (inclo >= 0.2)
-       //  use next line for gsfc version and perturbed inclination
-       if (inclp >= 0.2)
-         {
-           ph     = ph / sinip;
-           pgh    = pgh - cosip * ph;
-           argpp  = argpp + pgh;
-           nodep  = nodep + ph;
-           mp     = mp + pl;
-         }
-         else
-         {
-           /* ---- apply periodics with lyddane modification ---- */
-           sinop  = sin(nodep);
-           cosop  = cos(nodep);
-           alfdp  = sinip * sinop;
-           betdp  = sinip * cosop;
-           dalf   =  ph * cosop + pinc * cosip * sinop;
-           dbet   = -ph * sinop + pinc * cosip * cosop;
-           alfdp  = alfdp + dalf;
-           betdp  = betdp + dbet;
-           nodep  = fmod(nodep, twopi);
-           //  sgp4fix for afspc written intrinsic functions
-           // nodep used without a trigonometric function ahead
-           if (nodep < 0.0)
-               nodep = nodep + twopi;
-           xls    = mp + argpp + cosip * nodep;
-           dls    = pl + pgh - pinc * nodep * sinip;
-           xls    = xls + dls;
-           xnoh   = nodep;
-           nodep  = atan2(alfdp, betdp);
-           //  sgp4fix for afspc written intrinsic functions
-           // nodep used without a trigonometric function ahead
-           if (nodep < 0.0)
-               nodep = nodep + twopi;
-           if (fabs(xnoh - nodep) > pi){
-             if (nodep < xnoh)
-                nodep = nodep + twopi;
-               else
-                nodep = nodep - twopi;
-           }
-           mp    = mp + pl;
-           argpp = xls - mp - cosip * nodep;
-         }
-       }   // if init == 'n'
-
-//#include "debug1.cpp"
-}  // end dpper
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure dscom
-*
-*  this procedure provides deep space common items used by both the secular
-*    and periodics subroutines.  input is provided as shown. this routine
-*    used to be called dpper, but the functions inside weren't well organized.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    epoch       -
-*    ep          - eccentricity
-*    argpp       - argument of perigee
-*    tc          -
-*    inclp       - inclination
-*    nodep       - right ascension of ascending node
-*    np          - mean motion
-*
-*  outputs       :
-*    sinim  , cosim  , sinomm , cosomm , snodm  , cnodm
-*    day         -
-*    e3          -
-*    ee2         -
-*    em          - eccentricity
-*    emsq        - eccentricity squared
-*    gam         -
-*    peo         -
-*    pgho        -
-*    pho         -
-*    pinco       -
-*    plo         -
-*    rtemsq      -
-*    se2, se3         -
-*    sgh2, sgh3, sgh4        -
-*    sh2, sh3, si2, si3, sl2, sl3, sl4         -
-*    s1, s2, s3, s4, s5, s6, s7          -
-*    ss1, ss2, ss3, ss4, ss5, ss6, ss7, sz1, sz2, sz3         -
-*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
-*    xgh2, xgh3, xgh4, xh2, xh3, xi2, xi3, xl2, xl3, xl4         -
-*    nm          - mean motion
-*    z1, z2, z3, z11, z12, z13, z21, z22, z23, z31, z32, z33         -
-*    zmol        -
-*    zmos        -
-*
-*  locals        :
-*    a1, a2, a3, a4, a5, a6, a7, a8, a9, a10         -
-*    betasq      -
-*    cc          -
-*    ctem, stem        -
-*    x1, x2, x3, x4, x5, x6, x7, x8          -
-*    xnodce      -
-*    xnoi        -
-*    zcosg  , zsing  , zcosgl , zsingl , zcosh  , zsinh  , zcoshl , zsinhl ,
-*    zcosi  , zsini  , zcosil , zsinil ,
-*    zx          -
-*    zy          -
-*
-*  coupling      :
-*    none.
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dscom
-     (
-       double epoch,  double ep,     double argpp,   double tc,     double inclp,
-       double nodep,  double np,
-       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
-       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
-       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
-       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
-       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
-       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
-       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
-       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
-       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
-       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
-       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
-       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
-       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
-       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
-       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
-       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
-       double& zmos
-     )
-{
-     /* -------------------------- constants ------------------------- */
-     const double zes     =  0.01675;
-     const double zel     =  0.05490;
-     const double c1ss    =  2.9864797e-6;
-     const double c1l     =  4.7968065e-7;
-     const double zsinis  =  0.39785416;
-     const double zcosis  =  0.91744867;
-     const double zcosgs  =  0.1945905;
-     const double zsings  = -0.98088458;
-     const double twopi   =  2.0 * pi;
-
-     /* --------------------- local variables ------------------------ */
-     int lsflg;
-     double a1    , a2    , a3    , a4    , a5    , a6    , a7    ,
-        a8    , a9    , a10   , betasq, cc    , ctem  , stem  ,
-        x1    , x2    , x3    , x4    , x5    , x6    , x7    ,
-        x8    , xnodce, xnoi  , zcosg , zcosgl, zcosh , zcoshl,
-        zcosi , zcosil, zsing , zsingl, zsinh , zsinhl, zsini ,
-        zsinil, zx    , zy;
-
-     nm     = np;
-     em     = ep;
-     snodm  = sin(nodep);
-     cnodm  = cos(nodep);
-     sinomm = sin(argpp);
-     cosomm = cos(argpp);
-     sinim  = sin(inclp);
-     cosim  = cos(inclp);
-     emsq   = em * em;
-     betasq = 1.0 - emsq;
-     rtemsq = sqrt(betasq);
-
-     /* ----------------- initialize lunar solar terms --------------- */
-     peo    = 0.0;
-     pinco  = 0.0;
-     plo    = 0.0;
-     pgho   = 0.0;
-     pho    = 0.0;
-     day    = epoch + 18261.5 + tc / 1440.0;
-     xnodce = fmod(4.5236020 - 9.2422029e-4 * day, twopi);
-     stem   = sin(xnodce);
-     ctem   = cos(xnodce);
-     zcosil = 0.91375164 - 0.03568096 * ctem;
-     zsinil = sqrt(1.0 - zcosil * zcosil);
-     zsinhl = 0.089683511 * stem / zsinil;
-     zcoshl = sqrt(1.0 - zsinhl * zsinhl);
-     gam    = 5.8351514 + 0.0019443680 * day;
-     zx     = 0.39785416 * stem / zsinil;
-     zy     = zcoshl * ctem + 0.91744867 * zsinhl * stem;
-     zx     = atan2(zx, zy);
-     zx     = gam + zx - xnodce;
-     zcosgl = cos(zx);
-     zsingl = sin(zx);
-
-     /* ------------------------- do solar terms --------------------- */
-     zcosg = zcosgs;
-     zsing = zsings;
-     zcosi = zcosis;
-     zsini = zsinis;
-     zcosh = cnodm;
-     zsinh = snodm;
-     cc    = c1ss;
-     xnoi  = 1.0 / nm;
-
-     for (lsflg = 1; lsflg <= 2; lsflg++)
-       {
-         a1  =   zcosg * zcosh + zsing * zcosi * zsinh;
-         a3  =  -zsing * zcosh + zcosg * zcosi * zsinh;
-         a7  =  -zcosg * zsinh + zsing * zcosi * zcosh;
-         a8  =   zsing * zsini;
-         a9  =   zsing * zsinh + zcosg * zcosi * zcosh;
-         a10 =   zcosg * zsini;
-         a2  =   cosim * a7 + sinim * a8;
-         a4  =   cosim * a9 + sinim * a10;
-         a5  =  -sinim * a7 + cosim * a8;
-         a6  =  -sinim * a9 + cosim * a10;
-
-         x1  =  a1 * cosomm + a2 * sinomm;
-         x2  =  a3 * cosomm + a4 * sinomm;
-         x3  = -a1 * sinomm + a2 * cosomm;
-         x4  = -a3 * sinomm + a4 * cosomm;
-         x5  =  a5 * sinomm;
-         x6  =  a6 * sinomm;
-         x7  =  a5 * cosomm;
-         x8  =  a6 * cosomm;
-
-         z31 = 12.0 * x1 * x1 - 3.0 * x3 * x3;
-         z32 = 24.0 * x1 * x2 - 6.0 * x3 * x4;
-         z33 = 12.0 * x2 * x2 - 3.0 * x4 * x4;
-         z1  =  3.0 *  (a1 * a1 + a2 * a2) + z31 * emsq;
-         z2  =  6.0 *  (a1 * a3 + a2 * a4) + z32 * emsq;
-         z3  =  3.0 *  (a3 * a3 + a4 * a4) + z33 * emsq;
-         z11 = -6.0 * a1 * a5 + emsq *  (-24.0 * x1 * x7-6.0 * x3 * x5);
-         z12 = -6.0 *  (a1 * a6 + a3 * a5) + emsq *
-                (-24.0 * (x2 * x7 + x1 * x8) - 6.0 * (x3 * x6 + x4 * x5));
-         z13 = -6.0 * a3 * a6 + emsq * (-24.0 * x2 * x8 - 6.0 * x4 * x6);
-         z21 =  6.0 * a2 * a5 + emsq * (24.0 * x1 * x5 - 6.0 * x3 * x7);
-         z22 =  6.0 *  (a4 * a5 + a2 * a6) + emsq *
-                (24.0 * (x2 * x5 + x1 * x6) - 6.0 * (x4 * x7 + x3 * x8));
-         z23 =  6.0 * a4 * a6 + emsq * (24.0 * x2 * x6 - 6.0 * x4 * x8);
-         z1  = z1 + z1 + betasq * z31;
-         z2  = z2 + z2 + betasq * z32;
-         z3  = z3 + z3 + betasq * z33;
-         s3  = cc * xnoi;
-         s2  = -0.5 * s3 / rtemsq;
-         s4  = s3 * rtemsq;
-         s1  = -15.0 * em * s4;
-         s5  = x1 * x3 + x2 * x4;
-         s6  = x2 * x3 + x1 * x4;
-         s7  = x2 * x4 - x1 * x3;
-
-         /* ----------------------- do lunar terms ------------------- */
-         if (lsflg == 1)
-           {
-             ss1   = s1;
-             ss2   = s2;
-             ss3   = s3;
-             ss4   = s4;
-             ss5   = s5;
-             ss6   = s6;
-             ss7   = s7;
-             sz1   = z1;
-             sz2   = z2;
-             sz3   = z3;
-             sz11  = z11;
-             sz12  = z12;
-             sz13  = z13;
-             sz21  = z21;
-             sz22  = z22;
-             sz23  = z23;
-             sz31  = z31;
-             sz32  = z32;
-             sz33  = z33;
-             zcosg = zcosgl;
-             zsing = zsingl;
-             zcosi = zcosil;
-             zsini = zsinil;
-             zcosh = zcoshl * cnodm + zsinhl * snodm;
-             zsinh = snodm * zcoshl - cnodm * zsinhl;
-             cc    = c1l;
-          }
-       }
-
-     zmol = fmod(4.7199672 + 0.22997150  * day - gam, twopi);
-     zmos = fmod(6.2565837 + 0.017201977 * day, twopi);
-
-     /* ------------------------ do solar terms ---------------------- */
-     se2  =   2.0 * ss1 * ss6;
-     se3  =   2.0 * ss1 * ss7;
-     si2  =   2.0 * ss2 * sz12;
-     si3  =   2.0 * ss2 * (sz13 - sz11);
-     sl2  =  -2.0 * ss3 * sz2;
-     sl3  =  -2.0 * ss3 * (sz3 - sz1);
-     sl4  =  -2.0 * ss3 * (-21.0 - 9.0 * emsq) * zes;
-     sgh2 =   2.0 * ss4 * sz32;
-     sgh3 =   2.0 * ss4 * (sz33 - sz31);
-     sgh4 = -18.0 * ss4 * zes;
-     sh2  =  -2.0 * ss2 * sz22;
-     sh3  =  -2.0 * ss2 * (sz23 - sz21);
-
-     /* ------------------------ do lunar terms ---------------------- */
-     ee2  =   2.0 * s1 * s6;
-     e3   =   2.0 * s1 * s7;
-     xi2  =   2.0 * s2 * z12;
-     xi3  =   2.0 * s2 * (z13 - z11);
-     xl2  =  -2.0 * s3 * z2;
-     xl3  =  -2.0 * s3 * (z3 - z1);
-     xl4  =  -2.0 * s3 * (-21.0 - 9.0 * emsq) * zel;
-     xgh2 =   2.0 * s4 * z32;
-     xgh3 =   2.0 * s4 * (z33 - z31);
-     xgh4 = -18.0 * s4 * zel;
-     xh2  =  -2.0 * s2 * z22;
-     xh3  =  -2.0 * s2 * (z23 - z21);
-
-//#include "debug2.cpp"
-}  // end dscom
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure dsinit
-*
-*  this procedure provides deep space contributions to mean motion dot due
-*    to geopotential resonance with half day and one day orbits.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    cosim, sinim-
-*    emsq        - eccentricity squared
-*    argpo       - argument of perigee
-*    s1, s2, s3, s4, s5      -
-*    ss1, ss2, ss3, ss4, ss5 -
-*    sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33 -
-*    t           - time
-*    tc          -
-*    gsto        - greenwich sidereal time                   rad
-*    mo          - mean anomaly
-*    mdot        - mean anomaly dot (rate)
-*    no          - mean motion
-*    nodeo       - right ascension of ascending node
-*    nodedot     - right ascension of ascending node dot (rate)
-*    xpidot      -
-*    z1, z3, z11, z13, z21, z23, z31, z33 -
-*    eccm        - eccentricity
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    xn          - mean motion
-*    nodem       - right ascension of ascending node
-*
-*  outputs       :
-*    em          - eccentricity
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    nm          - mean motion
-*    nodem       - right ascension of ascending node
-*    irez        - flag for resonance           0-none, 1-one day, 2-half day
-*    atime       -
-*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433    -
-*    dedt        -
-*    didt        -
-*    dmdt        -
-*    dndt        -
-*    dnodt       -
-*    domdt       -
-*    del1, del2, del3        -
-*    ses  , sghl , sghs , sgs  , shl  , shs  , sis  , sls
-*    theta       -
-*    xfact       -
-*    xlamo       -
-*    xli         -
-*    xni
-*
-*  locals        :
-*    ainv2       -
-*    aonv        -
-*    cosisq      -
-*    eoc         -
-*    f220, f221, f311, f321, f322, f330, f441, f442, f522, f523, f542, f543  -
-*    g200, g201, g211, g300, g310, g322, g410, g422, g520, g521, g532, g533  -
-*    sini2       -
-*    temp        -
-*    temp1       -
-*    theta       -
-*    xno2        -
-*
-*  coupling      :
-*    getgravconst
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dsinit
-     (
-       gravconsttype whichconst,
-       double cosim,  double emsq,   double argpo,   double s1,     double s2,
-       double s3,     double s4,     double s5,      double sinim,  double ss1,
-       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
-       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
-       double sz31,   double sz33,   double t,       double tc,     double gsto,
-       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
-       double xpidot, double z1,     double z3,      double z11,    double z13,
-       double z21,    double z23,    double z31,     double z33,    double ecco,
-       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
-       double& nm,    double& nodem,
-       int& irez,
-       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
-       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
-       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
-       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
-       double& xfact, double& xlamo, double& xli,    double& xni
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     const double twopi = 2.0 * pi;
-
-     double ainv2 , aonv=0.0, cosisq, eoc, f220 , f221  , f311  ,
-          f321  , f322  , f330  , f441  , f442  , f522  , f523  ,
-          f542  , f543  , g200  , g201  , g211  , g300  , g310  ,
-          g322  , g410  , g422  , g520  , g521  , g532  , g533  ,
-          ses   , sgs   , sghl  , sghs  , shs   , shll  , sis   ,
-          sini2 , sls   , temp  , temp1 , theta , xno2  , q22   ,
-          q31   , q33   , root22, root44, root54, rptim , root32,
-          root52, x2o3  , xke   , znl   , emo   , zns   , emsqo,
-          tumin, mu, radiusearthkm, j2, j3, j4, j3oj2;
-
-     q22    = 1.7891679e-6;
-     q31    = 2.1460748e-6;
-     q33    = 2.2123015e-7;
-     root22 = 1.7891679e-6;
-     root44 = 7.3636953e-9;
-     root54 = 2.1765803e-9;
-     rptim  = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
-     root32 = 3.7393792e-7;
-     root52 = 1.1428639e-7;
-     x2o3   = 2.0 / 3.0;
-     znl    = 1.5835218e-4;
-     zns    = 1.19459e-5;
-
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-
-     /* -------------------- deep space initialization ------------ */
-     irez = 0;
-     if ((nm < 0.0052359877) && (nm > 0.0034906585))
-         irez = 1;
-     if ((nm >= 8.26e-3) && (nm <= 9.24e-3) && (em >= 0.5))
-         irez = 2;
-
-     /* ------------------------ do solar terms ------------------- */
-     ses  =  ss1 * zns * ss5;
-     sis  =  ss2 * zns * (sz11 + sz13);
-     sls  = -zns * ss3 * (sz1 + sz3 - 14.0 - 6.0 * emsq);
-     sghs =  ss4 * zns * (sz31 + sz33 - 6.0);
-     shs  = -zns * ss2 * (sz21 + sz23);
-     // sgp4fix for 180 deg incl
-     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
-       shs = 0.0;
-     if (sinim != 0.0)
-       shs = shs / sinim;
-     sgs  = sghs - cosim * shs;
-
-     /* ------------------------- do lunar terms ------------------ */
-     dedt = ses + s1 * znl * s5;
-     didt = sis + s2 * znl * (z11 + z13);
-     dmdt = sls - znl * s3 * (z1 + z3 - 14.0 - 6.0 * emsq);
-     sghl = s4 * znl * (z31 + z33 - 6.0);
-     shll = -znl * s2 * (z21 + z23);
-     // sgp4fix for 180 deg incl
-     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
-         shll = 0.0;
-     domdt = sgs + sghl;
-     dnodt = shs;
-     if (sinim != 0.0)
-       {
-         domdt = domdt - cosim / sinim * shll;
-         dnodt = dnodt + shll / sinim;
-       }
-
-     /* ----------- calculate deep space resonance effects -------- */
-     dndt   = 0.0;
-     theta  = fmod(gsto + tc * rptim, twopi);
-     em     = em + dedt * t;
-     inclm  = inclm + didt * t;
-     argpm  = argpm + domdt * t;
-     nodem  = nodem + dnodt * t;
-     mm     = mm + dmdt * t;
-     //   sgp4fix for negative inclinations
-     //   the following if statement should be commented out
-     //if (inclm < 0.0)
-     //  {
-     //    inclm  = -inclm;
-     //    argpm  = argpm - pi;
-     //    nodem = nodem + pi;
-     //  }
-
-     /* -------------- initialize the resonance terms ------------- */
-     if (irez != 0)
-       {
-         aonv = pow(nm / xke, x2o3);
-
-         /* ---------- geopotential resonance for 12 hour orbits ------ */
-         if (irez == 2)
-           {
-             cosisq = cosim * cosim;
-             emo    = em;
-             em     = ecco;
-             emsqo  = emsq;
-             emsq   = eccsq;
-             eoc    = em * emsq;
-             g201   = -0.306 - (em - 0.64) * 0.440;
-
-             if (em <= 0.65)
-               {
-                 g211 =    3.616  -  13.2470 * em +  16.2900 * emsq;
-                 g310 =  -19.302  + 117.3900 * em - 228.4190 * emsq +  156.5910 * eoc;
-                 g322 =  -18.9068 + 109.7927 * em - 214.6334 * emsq +  146.5816 * eoc;
-                 g410 =  -41.122  + 242.6940 * em - 471.0940 * emsq +  313.9530 * eoc;
-                 g422 = -146.407  + 841.8800 * em - 1629.014 * emsq + 1083.4350 * eoc;
-                 g520 = -532.114  + 3017.977 * em - 5740.032 * emsq + 3708.2760 * eoc;
-               }
-               else
-               {
-                 g211 =   -72.099 +   331.819 * em -   508.738 * emsq +   266.724 * eoc;
-                 g310 =  -346.844 +  1582.851 * em -  2415.925 * emsq +  1246.113 * eoc;
-                 g322 =  -342.585 +  1554.908 * em -  2366.899 * emsq +  1215.972 * eoc;
-                 g410 = -1052.797 +  4758.686 * em -  7193.992 * emsq +  3651.957 * eoc;
-                 g422 = -3581.690 + 16178.110 * em - 24462.770 * emsq + 12422.520 * eoc;
-                 if (em > 0.715)
-                     g520 =-5149.66 + 29936.92 * em - 54087.36 * emsq + 31324.56 * eoc;
-                   else
-                     g520 = 1464.74 -  4664.75 * em +  3763.64 * emsq;
-               }
-             if (em < 0.7)
-               {
-                 g533 = -919.22770 + 4988.6100 * em - 9064.7700 * emsq + 5542.21  * eoc;
-                 g521 = -822.71072 + 4568.6173 * em - 8491.4146 * emsq + 5337.524 * eoc;
-                 g532 = -853.66600 + 4690.2500 * em - 8624.7700 * emsq + 5341.4  * eoc;
-               }
-               else
-               {
-                 g533 =-37995.780 + 161616.52 * em - 229838.20 * emsq + 109377.94 * eoc;
-                 g521 =-51752.104 + 218913.95 * em - 309468.16 * emsq + 146349.42 * eoc;
-                 g532 =-40023.880 + 170470.89 * em - 242699.48 * emsq + 115605.82 * eoc;
-               }
-
-             sini2=  sinim * sinim;
-             f220 =  0.75 * (1.0 + 2.0 * cosim+cosisq);
-             f221 =  1.5 * sini2;
-             f321 =  1.875 * sinim  *  (1.0 - 2.0 * cosim - 3.0 * cosisq);
-             f322 = -1.875 * sinim  *  (1.0 + 2.0 * cosim - 3.0 * cosisq);
-             f441 = 35.0 * sini2 * f220;
-             f442 = 39.3750 * sini2 * sini2;
-             f522 =  9.84375 * sinim * (sini2 * (1.0 - 2.0 * cosim- 5.0 * cosisq) +
-                     0.33333333 * (-2.0 + 4.0 * cosim + 6.0 * cosisq) );
-             f523 = sinim * (4.92187512 * sini2 * (-2.0 - 4.0 * cosim +
-                    10.0 * cosisq) + 6.56250012 * (1.0+2.0 * cosim - 3.0 * cosisq));
-             f542 = 29.53125 * sinim * (2.0 - 8.0 * cosim+cosisq *
-                    (-12.0 + 8.0 * cosim + 10.0 * cosisq));
-             f543 = 29.53125 * sinim * (-2.0 - 8.0 * cosim+cosisq *
-                    (12.0 + 8.0 * cosim - 10.0 * cosisq));
-             xno2  =  nm * nm;
-             ainv2 =  aonv * aonv;
-             temp1 =  3.0 * xno2 * ainv2;
-             temp  =  temp1 * root22;
-             d2201 =  temp * f220 * g201;
-             d2211 =  temp * f221 * g211;
-             temp1 =  temp1 * aonv;
-             temp  =  temp1 * root32;
-             d3210 =  temp * f321 * g310;
-             d3222 =  temp * f322 * g322;
-             temp1 =  temp1 * aonv;
-             temp  =  2.0 * temp1 * root44;
-             d4410 =  temp * f441 * g410;
-             d4422 =  temp * f442 * g422;
-             temp1 =  temp1 * aonv;
-             temp  =  temp1 * root52;
-             d5220 =  temp * f522 * g520;
-             d5232 =  temp * f523 * g532;
-             temp  =  2.0 * temp1 * root54;
-             d5421 =  temp * f542 * g521;
-             d5433 =  temp * f543 * g533;
-             xlamo =  fmod(mo + nodeo + nodeo-theta - theta, twopi);
-             xfact =  mdot + dmdt + 2.0 * (nodedot + dnodt - rptim) - no;
-             em    = emo;
-             emsq  = emsqo;
-           }
-
-         /* ---------------- synchronous resonance terms -------------- */
-         if (irez == 1)
-           {
-             g200  = 1.0 + emsq * (-2.5 + 0.8125 * emsq);
-             g310  = 1.0 + 2.0 * emsq;
-             g300  = 1.0 + emsq * (-6.0 + 6.60937 * emsq);
-             f220  = 0.75 * (1.0 + cosim) * (1.0 + cosim);
-             f311  = 0.9375 * sinim * sinim * (1.0 + 3.0 * cosim) - 0.75 * (1.0 + cosim);
-             f330  = 1.0 + cosim;
-             f330  = 1.875 * f330 * f330 * f330;
-             del1  = 3.0 * nm * nm * aonv * aonv;
-             del2  = 2.0 * del1 * f220 * g200 * q22;
-             del3  = 3.0 * del1 * f330 * g300 * q33 * aonv;
-             del1  = del1 * f311 * g310 * q31 * aonv;
-             xlamo = fmod(mo + nodeo + argpo - theta, twopi);
-             xfact = mdot + xpidot - rptim + dmdt + domdt + dnodt - no;
-           }
-
-         /* ------------ for sgp4, initialize the integrator ---------- */
-         xli   = xlamo;
-         xni   = no;
-         atime = 0.0;
-         nm    = no + dndt;
-       }
-
-//#include "debug3.cpp"
-}  // end dsinit
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure dspace
-*
-*  this procedure provides deep space contributions to mean elements for
-*    perturbing third body.  these effects have been averaged over one
-*    revolution of the sun and moon.  for earth resonance effects, the
-*    effects have been averaged over no revolutions of the satellite.
-*    (mean motion)
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433 -
-*    dedt        -
-*    del1, del2, del3  -
-*    didt        -
-*    dmdt        -
-*    dnodt       -
-*    domdt       -
-*    irez        - flag for resonance           0-none, 1-one day, 2-half day
-*    argpo       - argument of perigee
-*    argpdot     - argument of perigee dot (rate)
-*    t           - time
-*    tc          -
-*    gsto        - gst
-*    xfact       -
-*    xlamo       -
-*    no          - mean motion
-*    atime       -
-*    em          - eccentricity
-*    ft          -
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    xli         -
-*    mm          - mean anomaly
-*    xni         - mean motion
-*    nodem       - right ascension of ascending node
-*
-*  outputs       :
-*    atime       -
-*    em          - eccentricity
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    xli         -
-*    mm          - mean anomaly
-*    xni         -
-*    nodem       - right ascension of ascending node
-*    dndt        -
-*    nm          - mean motion
-*
-*  locals        :
-*    delt        -
-*    ft          -
-*    theta       -
-*    x2li        -
-*    x2omi       -
-*    xl          -
-*    xldot       -
-*    xnddt       -
-*    xndt        -
-*    xomi        -
-*
-*  coupling      :
-*    none        -
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dspace
-     (
-       int irez,
-       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
-       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
-       double dedt,   double del1,   double del2,    double del3,   double didt,
-       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
-       double t,      double tc,     double gsto,    double xfact,  double xlamo,
-       double no,
-       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
-       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
-     )
-{
-     const double twopi = 2.0 * pi;
-     int iretn , iret;
-     double delt, ft, theta, x2li, x2omi, xl, xldot , xnddt, xndt, xomi, g22, g32,
-          g44, g52, g54, fasx2, fasx4, fasx6, rptim , step2, stepn , stepp;
-
-     ft    = 0.0;
-     fasx2 = 0.13130908;
-     fasx4 = 2.8843198;
-     fasx6 = 0.37448087;
-     g22   = 5.7686396;
-     g32   = 0.95240898;
-     g44   = 1.8014998;
-     g52   = 1.0508330;
-     g54   = 4.4108898;
-     rptim = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
-     stepp =    720.0;
-     stepn =   -720.0;
-     step2 = 259200.0;
-
-     /* ----------- calculate deep space resonance effects ----------- */
-     dndt   = 0.0;
-     theta  = fmod(gsto + tc * rptim, twopi);
-     em     = em + dedt * t;
-
-     inclm  = inclm + didt * t;
-     argpm  = argpm + domdt * t;
-     nodem  = nodem + dnodt * t;
-     mm     = mm + dmdt * t;
-
-     //   sgp4fix for negative inclinations
-     //   the following if statement should be commented out
-     //  if (inclm < 0.0)
-     // {
-     //    inclm = -inclm;
-     //    argpm = argpm - pi;
-     //    nodem = nodem + pi;
-     //  }
-
-     /* - update resonances : numerical (euler-maclaurin) integration - */
-     /* ------------------------- epoch restart ----------------------  */
-     //   sgp4fix for propagator problems
-     //   the following integration works for negative time steps and periods
-     //   the specific changes are unknown because the original code was so convoluted
-
-     ft    = 0.0;
-     atime = 0.0;
-     if (irez != 0)
-       {
-         if ((atime == 0.0) || ((t >= 0.0) && (atime < 0.0)) ||
-             ((t < 0.0) && (atime >= 0.0)))
-           {
-             if (t >= 0.0)
-                 delt = stepp;
-               else
-                 delt = stepn;
-             atime  = 0.0;
-             xni    = no;
-             xli    = xlamo;
-           }
-         iretn = 381; // added for do loop
-         iret  =   0; // added for loop
-         while (iretn == 381)
-           {
-             if ((fabs(t) < fabs(atime)) || (iret == 351))
-               {
-                 if (t >= 0.0)
-                     delt = stepn;
-                   else
-                     delt = stepp;
-                 iret  = 351;
-                 iretn = 381;
-               }
-               else
-               {
-                 if (t > 0.0)  // error if prev if has atime:=0.0 and t:=0.0 (ge)
-                     delt = stepp;
-                   else
-                     delt = stepn;
-                 if (fabs(t - atime) >= stepp)
-                   {
-                     iret  = 0;
-                     iretn = 381;
-                   }
-                   else
-                   {
-                     ft    = t - atime;
-                     iretn = 0;
-                   }
-               }
-
-             /* ------------------- dot terms calculated ------------- */
-             /* ----------- near - synchronous resonance terms ------- */
-             if (irez != 2)
-               {
-                 xndt  = del1 * sin(xli - fasx2) + del2 * sin(2.0 * (xli - fasx4)) +
-                         del3 * sin(3.0 * (xli - fasx6));
-                 xldot = xni + xfact;
-                 xnddt = del1 * cos(xli - fasx2) +
-                         2.0 * del2 * cos(2.0 * (xli - fasx4)) +
-                         3.0 * del3 * cos(3.0 * (xli - fasx6));
-                 xnddt = xnddt * xldot;
-               }
-               else
-               {
-                 /* --------- near - half-day resonance terms -------- */
-                 xomi  = argpo + argpdot * atime;
-                 x2omi = xomi + xomi;
-                 x2li  = xli + xli;
-                 xndt  = d2201 * sin(x2omi + xli - g22) + d2211 * sin(xli - g22) +
-                       d3210 * sin(xomi + xli - g32)  + d3222 * sin(-xomi + xli - g32)+
-                       d4410 * sin(x2omi + x2li - g44)+ d4422 * sin(x2li - g44) +
-                       d5220 * sin(xomi + xli - g52)  + d5232 * sin(-xomi + xli - g52)+
-                       d5421 * sin(xomi + x2li - g54) + d5433 * sin(-xomi + x2li - g54);
-                 xldot = xni + xfact;
-                 xnddt = d2201 * cos(x2omi + xli - g22) + d2211 * cos(xli - g22) +
-                       d3210 * cos(xomi + xli - g32) + d3222 * cos(-xomi + xli - g32) +
-                       d5220 * cos(xomi + xli - g52) + d5232 * cos(-xomi + xli - g52) +
-                       2.0 * (d4410 * cos(x2omi + x2li - g44) +
-                       d4422 * cos(x2li - g44) + d5421 * cos(xomi + x2li - g54) +
-                       d5433 * cos(-xomi + x2li - g54));
-                 xnddt = xnddt * xldot;
-               }
-
-             /* ----------------------- integrator ------------------- */
-             if (iretn == 381)
-               {
-                 xli   = xli + xldot * delt + xndt * step2;
-                 xni   = xni + xndt * delt + xnddt * step2;
-                 atime = atime + delt;
-               }
-           }  // while iretn = 381
-
-         nm = xni + xndt * ft + xnddt * ft * ft * 0.5;
-         xl = xli + xldot * ft + xndt * ft * ft * 0.5;
-         if (irez != 1)
-           {
-             mm   = xl - 2.0 * nodem + 2.0 * theta;
-             dndt = nm - no;
-           }
-           else
-           {
-             mm   = xl - nodem - argpm + theta;
-             dndt = nm - no;
-           }
-         nm = no + dndt;
-       }
-
-//#include "debug4.cpp"
-}  // end dsspace
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure initl
-*
-*  this procedure initializes the spg4 propagator. all the initialization is
-*    consolidated here instead of having multiple loops inside other routines.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    ecco        - eccentricity                           0.0 - 1.0
-*    epoch       - epoch time in days from jan 0, 1950. 0 hr
-*    inclo       - inclination of satellite
-*    no          - mean motion of satellite
-*    satn        - satellite number
-*
-*  outputs       :
-*    ainv        - 1.0 / a
-*    ao          - semi major axis
-*    con41       -
-*    con42       - 1.0 - 5.0 cos(i)
-*    cosio       - cosine of inclination
-*    cosio2      - cosio squared
-*    eccsq       - eccentricity squared
-*    method      - flag for deep space                    'd', 'n'
-*    omeosq      - 1.0 - ecco * ecco
-*    posq        - semi-parameter squared
-*    rp          - radius of perigee
-*    rteosq      - square root of (1.0 - ecco*ecco)
-*    sinio       - sine of inclination
-*    gsto        - gst at time of observation               rad
-*    no          - mean motion of satellite
-*
-*  locals        :
-*    ak          -
-*    d1          -
-*    del         -
-*    adel        -
-*    po          -
-*
-*  coupling      :
-*    getgravconst
-*    gstime      - find greenwich sidereal time from the julian date
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void initl
-     (
-       int satn,      gravconsttype whichconst,
-       double ecco,   double epoch,  double inclo,   double& no,
-       char& method,
-       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
-       double& cosio2,double& eccsq, double& omeosq, double& posq,
-       double& rp,    double& rteosq,double& sinio , double& gsto
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     double ak, d1, del, adel, po, x2o3, j2, xke,
-            tumin, mu, radiusearthkm, j3, j4, j3oj2;
-
-     // sgp4fix use old way of finding gst
-     int ids70;
-     double ts70, ds70, tfrac, c1, thgr70, fk5r, c1p2p;
-     const double twopi = 2.0 * pi;
-
-     /* ----------------------- earth constants ---------------------- */
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-     x2o3   = 2.0 / 3.0;
-
-     /* ------------- calculate auxillary epoch quantities ---------- */
-     eccsq  = ecco * ecco;
-     omeosq = 1.0 - eccsq;
-     rteosq = sqrt(omeosq);
-     cosio  = cos(inclo);
-     cosio2 = cosio * cosio;
-
-     /* ------------------ un-kozai the mean motion ----------------- */
-     ak    = pow(xke / no, x2o3);
-     d1    = 0.75 * j2 * (3.0 * cosio2 - 1.0) / (rteosq * omeosq);
-     del   = d1 / (ak * ak);
-     adel  = ak * (1.0 - del * del - del *
-             (1.0 / 3.0 + 134.0 * del * del / 81.0));
-     del   = d1/(adel * adel);
-     no    = no / (1.0 + del);
-
-     ao    = pow(xke / no, x2o3);
-     sinio = sin(inclo);
-     po    = ao * omeosq;
-     con42 = 1.0 - 5.0 * cosio2;
-     con41 = -con42-cosio2-cosio2;
-     ainv  = 1.0 / ao;
-     posq  = po * po;
-     rp    = ao * (1.0 - ecco);
-     method = 'n';
-
-     // sgp4fix modern approach to finding sidereal timew
-     // gsto = gstime(epoch + 2433281.5);
-
-     // sgp4fix use old way of finding gst
-     // count integer number of days from 0 jan 1970
-     ts70  = epoch - 7305.0;
-     ids70 = floor(ts70 + 1.0e-8);
-     ds70  = ids70;
-     tfrac = ts70 - ds70;
-     // find greenwich location at epoch
-     c1    = 1.72027916940703639e-2;
-     thgr70= 1.7321343856509374;
-     fk5r  = 5.07551419432269442e-15;
-     c1p2p = c1 + twopi;
-     gsto  = fmod( thgr70 + c1*ds70 + c1p2p*tfrac + ts70*ts70*fk5r, twopi);
-     if ( gsto < 0.0 )
-         gsto = gsto + twopi;
-
-//#include "debug5.cpp"
-}  // end initl
-
-/*-----------------------------------------------------------------------------
-*
-*                             procedure sgp4init
-*
-*  this procedure initializes variables for sgp4.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    satn        - satellite number
-*    bstar       - sgp4 type drag coefficient              kg/m2er
-*    ecco        - eccentricity
-*    epoch       - epoch time in days from jan 0, 1950. 0 hr
-*    argpo       - argument of perigee (output if ds)
-*    inclo       - inclination
-*    mo          - mean anomaly (output if ds)
-*    no          - mean motion
-*    nodeo       - right ascension of ascending node
-*
-*  outputs       :
-*    satrec      - common values for subsequent calls
-*    return code - non-zero on error.
-*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
-*                   2 - mean motion less than 0.0
-*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
-*                   4 - semi-latus rectum < 0.0
-*                   5 - epoch elements are sub-orbital
-*                   6 - satellite has decayed
-*
-*  locals        :
-*    cnodm  , snodm  , cosim  , sinim  , cosomm , sinomm
-*    cc1sq  , cc2    , cc3
-*    coef   , coef1
-*    cosio4      -
-*    day         -
-*    dndt        -
-*    em          - eccentricity
-*    emsq        - eccentricity squared
-*    eeta        -
-*    etasq       -
-*    gam         -
-*    argpm       - argument of perigee
-*    nodem       -
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    nm          - mean motion
-*    perige      - perigee
-*    pinvsq      -
-*    psisq       -
-*    qzms24      -
-*    rtemsq      -
-*    s1, s2, s3, s4, s5, s6, s7          -
-*    sfour       -
-*    ss1, ss2, ss3, ss4, ss5, ss6, ss7         -
-*    sz1, sz2, sz3
-*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
-*    tc          -
-*    temp        -
-*    temp1, temp2, temp3       -
-*    tsi         -
-*    xpidot      -
-*    xhdot1      -
-*    z1, z2, z3          -
-*    z11, z12, z13, z21, z22, z23, z31, z32, z33         -
-*
-*  coupling      :
-*    getgravconst-
-*    initl       -
-*    dscom       -
-*    dpper       -
-*    dsinit      -
-*    sgp4        -
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-int sgp4init
-     (
-       gravconsttype whichconst,       const int satn,     const double epoch,
-       const double xbstar,  const double xecco, const double xargpo,
-       const double xinclo,  const double xmo,   const double xno,
-       const double xnodeo,  elsetrec& satrec
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     double ao, ainv,   con42, cosio, sinio, cosio2, eccsq,
-          omeosq, posq,   rp,     rteosq,
-          cnodm , snodm , cosim , sinim , cosomm, sinomm, cc1sq ,
-          cc2   , cc3   , coef  , coef1 , cosio4, day   , dndt  ,
-          em    , emsq  , eeta  , etasq , gam   , argpm , nodem ,
-          inclm , mm    , nm    , perige, pinvsq, psisq , qzms24,
-          rtemsq, s1    , s2    , s3    , s4    , s5    , s6    ,
-          s7    , sfour , ss1 = 0   , ss2 = 0   , ss3 = 0   , ss4 = 0   , ss5 = 0   ,
-          ss6 = 0   , ss7 = 0   , sz1 = 0   , sz2 = 0   , sz3 = 0   , sz11 = 0  , sz12 = 0  ,
-          sz13 = 0  , sz21 = 0  , sz22 = 0  , sz23 = 0  , sz31 = 0  , sz32 = 0  , sz33 = 0  ,
-          tc    , temp  , temp1 , temp2 , temp3 , tsi   , xpidot,
-          xhdot1, z1    , z2    , z3    , z11   , z12   , z13   ,
-          z21   , z22   , z23   , z31   , z32   , z33,
-          qzms2t, ss, j2, j3oj2, j4, x2o3, r[3], v[3],
-          tumin, mu, radiusearthkm, xke, j3;
-
-     /* ------------------------ initialization --------------------- */
-     // sgp4fix divisor for divide by zero check on inclination
-     const double temp4    =   1.0 + cos(pi-1.0e-9);
-
-     /* ----------- set all near earth variables to zero ------------ */
-     satrec.isimp   = 0;   satrec.method = 'n'; satrec.aycof    = 0.0;
-     satrec.con41   = 0.0; satrec.cc1    = 0.0; satrec.cc4      = 0.0;
-     satrec.cc5     = 0.0; satrec.d2     = 0.0; satrec.d3       = 0.0;
-     satrec.d4      = 0.0; satrec.delmo  = 0.0; satrec.eta      = 0.0;
-     satrec.argpdot = 0.0; satrec.omgcof = 0.0; satrec.sinmao   = 0.0;
-     satrec.t       = 0.0; satrec.t2cof  = 0.0; satrec.t3cof    = 0.0;
-     satrec.t4cof   = 0.0; satrec.t5cof  = 0.0; satrec.x1mth2   = 0.0;
-     satrec.x7thm1  = 0.0; satrec.mdot   = 0.0; satrec.nodedot  = 0.0;
-     satrec.xlcof   = 0.0; satrec.xmcof  = 0.0; satrec.nodecf   = 0.0;
-
-     /* ----------- set all deep space variables to zero ------------ */
-     satrec.irez  = 0;   satrec.d2201 = 0.0; satrec.d2211 = 0.0;
-     satrec.d3210 = 0.0; satrec.d3222 = 0.0; satrec.d4410 = 0.0;
-     satrec.d4422 = 0.0; satrec.d5220 = 0.0; satrec.d5232 = 0.0;
-     satrec.d5421 = 0.0; satrec.d5433 = 0.0; satrec.dedt  = 0.0;
-     satrec.del1  = 0.0; satrec.del2  = 0.0; satrec.del3  = 0.0;
-     satrec.didt  = 0.0; satrec.dmdt  = 0.0; satrec.dnodt = 0.0;
-     satrec.domdt = 0.0; satrec.e3    = 0.0; satrec.ee2   = 0.0;
-     satrec.peo   = 0.0; satrec.pgho  = 0.0; satrec.pho   = 0.0;
-     satrec.pinco = 0.0; satrec.plo   = 0.0; satrec.se2   = 0.0;
-     satrec.se3   = 0.0; satrec.sgh2  = 0.0; satrec.sgh3  = 0.0;
-     satrec.sgh4  = 0.0; satrec.sh2   = 0.0; satrec.sh3   = 0.0;
-     satrec.si2   = 0.0; satrec.si3   = 0.0; satrec.sl2   = 0.0;
-     satrec.sl3   = 0.0; satrec.sl4   = 0.0; satrec.gsto  = 0.0;
-     satrec.xfact = 0.0; satrec.xgh2  = 0.0; satrec.xgh3  = 0.0;
-     satrec.xgh4  = 0.0; satrec.xh2   = 0.0; satrec.xh3   = 0.0;
-     satrec.xi2   = 0.0; satrec.xi3   = 0.0; satrec.xl2   = 0.0;
-     satrec.xl3   = 0.0; satrec.xl4   = 0.0; satrec.xlamo = 0.0;
-     satrec.zmol  = 0.0; satrec.zmos  = 0.0; satrec.atime = 0.0;
-     satrec.xli   = 0.0; satrec.xni   = 0.0;
-
-     // sgp4fix - note the following variables are also passed directly via satrec.
-     // it is possible to streamline the sgp4init call by deleting the "x"
-     // variables, but the user would need to set the satrec.* values first. we
-     // include the additional assignments in case twoline2rv is not used.
-     satrec.bstar   = xbstar;
-     satrec.ecco    = xecco;
-     satrec.argpo   = xargpo;
-     satrec.inclo   = xinclo;
-     satrec.mo	    = xmo;
-     satrec.no	    = xno;
-     satrec.nodeo   = xnodeo;
-
-     /* ------------------------ earth constants ----------------------- */
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-     ss     = 78.0 / radiusearthkm + 1.0;
-     qzms2t = pow(((120.0 - 78.0) / radiusearthkm), 4);
-     x2o3   =  2.0 / 3.0;
-
-     satrec.init = 'y';
-     satrec.t	 = 0.0;
-
-     initl
-         (
-           satn, whichconst, satrec.ecco, epoch, satrec.inclo, satrec.no, satrec.method,
-           ainv, ao, satrec.con41, con42, cosio, cosio2, eccsq, omeosq,
-           posq, rp, rteosq, sinio, satrec.gsto
-         );
-     satrec.error = 0;
-
-     if (rp < 1.0)
-       {
-//         printf("# *** satn%d epoch elts sub-orbital ***\n", satn);
-         satrec.error = 5;
-       }
-
-     if ((omeosq >= 0.0 ) || ( satrec.no >= 0.0))
-       {
-         satrec.isimp = 0;
-         if (rp < (220.0 / radiusearthkm + 1.0))
-             satrec.isimp = 1;
-         sfour  = ss;
-         qzms24 = qzms2t;
-         perige = (rp - 1.0) * radiusearthkm;
-
-         /* - for perigees below 156 km, s and qoms2t are altered - */
-         if (perige < 156.0)
-           {
-             sfour = perige - 78.0;
-             if (perige < 98.0)
-                 sfour = 20.0;
-             qzms24 = pow(((120.0 - sfour) / radiusearthkm), 4.0);
-             sfour  = sfour / radiusearthkm + 1.0;
-           }
-         pinvsq = 1.0 / posq;
-
-         tsi  = 1.0 / (ao - sfour);
-         satrec.eta  = ao * satrec.ecco * tsi;
-         etasq = satrec.eta * satrec.eta;
-         eeta  = satrec.ecco * satrec.eta;
-         psisq = fabs(1.0 - etasq);
-         coef  = qzms24 * pow(tsi, 4.0);
-         coef1 = coef / pow(psisq, 3.5);
-         cc2   = coef1 * satrec.no * (ao * (1.0 + 1.5 * etasq + eeta *
-                        (4.0 + etasq)) + 0.375 * j2 * tsi / psisq * satrec.con41 *
-                        (8.0 + 3.0 * etasq * (8.0 + etasq)));
-         satrec.cc1   = satrec.bstar * cc2;
-         cc3   = 0.0;
-         if (satrec.ecco > 1.0e-4)
-             cc3 = -2.0 * coef * tsi * j3oj2 * satrec.no * sinio / satrec.ecco;
-         satrec.x1mth2 = 1.0 - cosio2;
-         satrec.cc4    = 2.0* satrec.no * coef1 * ao * omeosq *
-                           (satrec.eta * (2.0 + 0.5 * etasq) + satrec.ecco *
-                           (0.5 + 2.0 * etasq) - j2 * tsi / (ao * psisq) *
-                           (-3.0 * satrec.con41 * (1.0 - 2.0 * eeta + etasq *
-                           (1.5 - 0.5 * eeta)) + 0.75 * satrec.x1mth2 *
-                           (2.0 * etasq - eeta * (1.0 + etasq)) * cos(2.0 * satrec.argpo)));
-         satrec.cc5 = 2.0 * coef1 * ao * omeosq * (1.0 + 2.75 *
-                        (etasq + eeta) + eeta * etasq);
-         cosio4 = cosio2 * cosio2;
-         temp1  = 1.5 * j2 * pinvsq * satrec.no;
-         temp2  = 0.5 * temp1 * j2 * pinvsq;
-         temp3  = -0.46875 * j4 * pinvsq * pinvsq * satrec.no;
-         satrec.mdot     = satrec.no + 0.5 * temp1 * rteosq * satrec.con41 + 0.0625 *
-                            temp2 * rteosq * (13.0 - 78.0 * cosio2 + 137.0 * cosio4);
-         satrec.argpdot  = -0.5 * temp1 * con42 + 0.0625 * temp2 *
-                             (7.0 - 114.0 * cosio2 + 395.0 * cosio4) +
-                             temp3 * (3.0 - 36.0 * cosio2 + 49.0 * cosio4);
-         xhdot1            = -temp1 * cosio;
-         satrec.nodedot = xhdot1 + (0.5 * temp2 * (4.0 - 19.0 * cosio2) +
-                              2.0 * temp3 * (3.0 - 7.0 * cosio2)) * cosio;
-         xpidot            =  satrec.argpdot+ satrec.nodedot;
-         satrec.omgcof   = satrec.bstar * cc3 * cos(satrec.argpo);
-         satrec.xmcof    = 0.0;
-         if (satrec.ecco > 1.0e-4)
-             satrec.xmcof = -x2o3 * coef * satrec.bstar / eeta;
-         satrec.nodecf = 3.5 * omeosq * xhdot1 * satrec.cc1;
-         satrec.t2cof   = 1.5 * satrec.cc1;
-         // sgp4fix for divide by zero with xinco = 180 deg
-         if (fabs(cosio+1.0) > 1.5e-12)
-             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / (1.0 + cosio);
-           else
-             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / temp4;
-         satrec.aycof   = -0.5 * j3oj2 * sinio;
-         satrec.delmo   = pow((1.0 + satrec.eta * cos(satrec.mo)), 3);
-         satrec.sinmao  = sin(satrec.mo);
-         satrec.x7thm1  = 7.0 * cosio2 - 1.0;
-
-         /* --------------- deep space initialization ------------- */
-         if ((2*pi / satrec.no) >= 225.0)
-           {
-             satrec.method = 'd';
-             satrec.isimp  = 1;
-             tc    =  0.0;
-             inclm = satrec.inclo;
-
-             dscom
-                 (
-                   epoch, satrec.ecco, satrec.argpo, tc, satrec.inclo, satrec.nodeo,
-                   satrec.no, snodm, cnodm,  sinim, cosim,sinomm,     cosomm,
-                   day, satrec.e3, satrec.ee2, em,         emsq, gam,
-                   satrec.peo,  satrec.pgho,   satrec.pho, satrec.pinco,
-                   satrec.plo,  rtemsq,        satrec.se2, satrec.se3,
-                   satrec.sgh2, satrec.sgh3,   satrec.sgh4,
-                   satrec.sh2,  satrec.sh3,    satrec.si2, satrec.si3,
-                   satrec.sl2,  satrec.sl3,    satrec.sl4, s1, s2, s3, s4, s5,
-                   s6,   s7,   ss1,  ss2,  ss3,  ss4,  ss5,  ss6,  ss7, sz1, sz2, sz3,
-                   sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33,
-                   satrec.xgh2, satrec.xgh3,   satrec.xgh4, satrec.xh2,
-                   satrec.xh3,  satrec.xi2,    satrec.xi3,  satrec.xl2,
-                   satrec.xl3,  satrec.xl4,    nm, z1, z2, z3, z11,
-                   z12, z13, z21, z22, z23, z31, z32, z33,
-                   satrec.zmol, satrec.zmos
-                 );
-             dpper
-                 (
-                   satrec.e3, satrec.ee2, satrec.peo, satrec.pgho,
-                   satrec.pho, satrec.pinco, satrec.plo, satrec.se2,
-                   satrec.se3, satrec.sgh2, satrec.sgh3, satrec.sgh4,
-                   satrec.sh2, satrec.sh3, satrec.si2,  satrec.si3,
-                   satrec.sl2, satrec.sl3, satrec.sl4,  satrec.t,
-                   satrec.xgh2,satrec.xgh3,satrec.xgh4, satrec.xh2,
-                   satrec.xh3, satrec.xi2, satrec.xi3,  satrec.xl2,
-                   satrec.xl3, satrec.xl4, satrec.zmol, satrec.zmos, inclm, satrec.init,
-                   satrec.ecco, satrec.inclo, satrec.nodeo, satrec.argpo, satrec.mo
-                 );
-
-             argpm  = 0.0;
-             nodem  = 0.0;
-             mm     = 0.0;
-
-             dsinit
-                 (
-                   whichconst,
-                   cosim, emsq, satrec.argpo, s1, s2, s3, s4, s5, sinim, ss1, ss2, ss3, ss4,
-                   ss5, sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33, satrec.t, tc,
-                   satrec.gsto, satrec.mo, satrec.mdot, satrec.no, satrec.nodeo,
-                   satrec.nodedot, xpidot, z1, z3, z11, z13, z21, z23, z31, z33,
-                   satrec.ecco, eccsq, em, argpm, inclm, mm, nm, nodem,
-                   satrec.irez,  satrec.atime,
-                   satrec.d2201, satrec.d2211, satrec.d3210, satrec.d3222 ,
-                   satrec.d4410, satrec.d4422, satrec.d5220, satrec.d5232,
-                   satrec.d5421, satrec.d5433, satrec.dedt,  satrec.didt,
-                   satrec.dmdt,  dndt,         satrec.dnodt, satrec.domdt ,
-                   satrec.del1,  satrec.del2,  satrec.del3,  satrec.xfact,
-                   satrec.xlamo, satrec.xli,   satrec.xni
-                 );
-           }
-
-       /* ----------- set variables if not deep space ----------- */
-       if (satrec.isimp != 1)
-         {
-           cc1sq          = satrec.cc1 * satrec.cc1;
-           satrec.d2    = 4.0 * ao * tsi * cc1sq;
-           temp           = satrec.d2 * tsi * satrec.cc1 / 3.0;
-           satrec.d3    = (17.0 * ao + sfour) * temp;
-           satrec.d4    = 0.5 * temp * ao * tsi * (221.0 * ao + 31.0 * sfour) *
-                            satrec.cc1;
-           satrec.t3cof = satrec.d2 + 2.0 * cc1sq;
-           satrec.t4cof = 0.25 * (3.0 * satrec.d3 + satrec.cc1 *
-                            (12.0 * satrec.d2 + 10.0 * cc1sq));
-           satrec.t5cof = 0.2 * (3.0 * satrec.d4 +
-                            12.0 * satrec.cc1 * satrec.d3 +
-                            6.0 * satrec.d2 * satrec.d2 +
-                            15.0 * cc1sq * (2.0 * satrec.d2 + cc1sq));
-         }
-       } // if omeosq = 0 ...
-
-       /* finally propogate to zero epoch to initialise all others. */
-       if(satrec.error == 0)
-           sgp4(whichconst, satrec, 0.0, r, v);
-
-       satrec.init = 'n';
-
-//#include "debug6.cpp"
-       return satrec.error;
-}  // end sgp4init
-
-/*-----------------------------------------------------------------------------
-*
-*                             procedure sgp4
-*
-*  this procedure is the sgp4 prediction model from space command. this is an
-*    updated and combined version of sgp4 and sdp4, which were originally
-*    published separately in spacetrack report #3. this version follows the
-*    methodology from the aiaa paper (2006) describing the history and
-*    development of the code.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    satrec	 - initialised structure from sgp4init() call.
-*    tsince	 - time eince epoch (minutes)
-*
-*  outputs       :
-*    r           - position vector                     km
-*    v           - velocity                            km/sec
-*  return code - non-zero on error.
-*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
-*                   2 - mean motion less than 0.0
-*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
-*                   4 - semi-latus rectum < 0.0
-*                   5 - epoch elements are sub-orbital
-*                   6 - satellite has decayed
-*
-*  locals        :
-*    am          -
-*    axnl, aynl        -
-*    betal       -
-*    cosim   , sinim   , cosomm  , sinomm  , cnod    , snod    , cos2u   ,
-*    sin2u   , coseo1  , sineo1  , cosi    , sini    , cosip   , sinip   ,
-*    cosisq  , cossu   , sinsu   , cosu    , sinu
-*    delm        -
-*    delomg      -
-*    dndt        -
-*    eccm        -
-*    emsq        -
-*    ecose       -
-*    el2         -
-*    eo1         -
-*    eccp        -
-*    esine       -
-*    argpm       -
-*    argpp       -
-*    omgadf      -
-*    pl          -
-*    r           -
-*    rtemsq      -
-*    rdotl       -
-*    rl          -
-*    rvdot       -
-*    rvdotl      -
-*    su          -
-*    t2  , t3   , t4    , tc
-*    tem5, temp , temp1 , temp2  , tempa  , tempe  , templ
-*    u   , ux   , uy    , uz     , vx     , vy     , vz
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    nm          - mean motion
-*    nodem       - right asc of ascending node
-*    xinc        -
-*    xincp       -
-*    xl          -
-*    xlm         -
-*    mp          -
-*    xmdf        -
-*    xmx         -
-*    xmy         -
-*    nodedf      -
-*    xnode       -
-*    nodep       -
-*    np          -
-*
-*  coupling      :
-*    getgravconst-
-*    dpper
-*    dpspace
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-int sgp4
-     (
-       gravconsttype whichconst, elsetrec& satrec,  double tsince,
-       double r[3],  double v[3]
-     )
-{
-     double am   , axnl  , aynl , betal ,  cosim , cnod  ,
-         cos2u, coseo1, cosi , cosip ,  cosisq, cossu , cosu,
-         delm , delomg, em   , emsq  ,  ecose , el2   , eo1 ,
-         ep   , esine , argpm, argpp ,  argpdf, pl,     mrt = 0.0,
-         mvt  , rdotl , rl   , rvdot ,  rvdotl, sinim ,
-         sin2u, sineo1, sini , sinip ,  sinsu , sinu  ,
-         snod , su    , t2   , t3    ,  t4    , tem5  , temp,
-         temp1, temp2 , tempa, tempe ,  templ , u     , ux  ,
-         uy   , uz    , vx   , vy    ,  vz    , inclm , mm  ,
-         nm   , nodem, xinc , xincp ,  xl    , xlm   , mp  ,
-         xmdf , xmx   , xmy  , nodedf, xnode , nodep, tc  , dndt,
-         twopi, x2o3  , j2   , j3    , tumin, j4 , xke   , j3oj2, radiusearthkm,
-         mu, vkmpersec;
-     int ktr;
-
-     /* ------------------ set mathematical constants --------------- */
-     // sgp4fix divisor for divide by zero check on inclination
-     const double temp4    =   1.0 + cos(pi-1.0e-9);
-     twopi = 2.0 * pi;
-     x2o3  = 2.0 / 3.0;
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-     vkmpersec     = radiusearthkm * xke/60.0;
-
-     /* --------------------- clear sgp4 error flag ----------------- */
-     satrec.t     = tsince;
-     satrec.error = 0;
-
-     /* ------- update for secular gravity and atmospheric drag ----- */
-     xmdf    = satrec.mo + satrec.mdot * satrec.t;
-     argpdf  = satrec.argpo + satrec.argpdot * satrec.t;
-     nodedf  = satrec.nodeo + satrec.nodedot * satrec.t;
-     argpm   = argpdf;
-     mm      = xmdf;
-     t2      = satrec.t * satrec.t;
-     nodem   = nodedf + satrec.nodecf * t2;
-     tempa   = 1.0 - satrec.cc1 * satrec.t;
-     tempe   = satrec.bstar * satrec.cc4 * satrec.t;
-     templ   = satrec.t2cof * t2;
-
-     if (satrec.isimp != 1)
-       {
-         delomg = satrec.omgcof * satrec.t;
-         delm   = satrec.xmcof *
-                  (pow((1.0 + satrec.eta * cos(xmdf)), 3) -
-                  satrec.delmo);
-         temp   = delomg + delm;
-         mm     = xmdf + temp;
-         argpm  = argpdf - temp;
-         t3     = t2 * satrec.t;
-         t4     = t3 * satrec.t;
-         tempa  = tempa - satrec.d2 * t2 - satrec.d3 * t3 -
-                          satrec.d4 * t4;
-         tempe  = tempe + satrec.bstar * satrec.cc5 * (sin(mm) -
-                          satrec.sinmao);
-         templ  = templ + satrec.t3cof * t3 + t4 * (satrec.t4cof +
-                          satrec.t * satrec.t5cof);
-       }
-
-     nm    = satrec.no;
-     em    = satrec.ecco;
-     inclm = satrec.inclo;
-     if (satrec.method == 'd')
-       {
-         tc = satrec.t;
-         dspace
-             (
-               satrec.irez,
-               satrec.d2201, satrec.d2211, satrec.d3210,
-               satrec.d3222, satrec.d4410, satrec.d4422,
-               satrec.d5220, satrec.d5232, satrec.d5421,
-               satrec.d5433, satrec.dedt,  satrec.del1,
-               satrec.del2,  satrec.del3,  satrec.didt,
-               satrec.dmdt,  satrec.dnodt, satrec.domdt,
-               satrec.argpo, satrec.argpdot, satrec.t, tc,
-               satrec.gsto, satrec.xfact, satrec.xlamo,
-               satrec.no, satrec.atime,
-               em, argpm, inclm, satrec.xli, mm, satrec.xni,
-               nodem, dndt, nm
-             );
-       } // if method = d
-
-     if (nm <= 0.0)
-       {
-//         printf("# error nm %f\n", nm);
-         satrec.error = 2;
-       }
-     am = pow((xke / nm),x2o3) * tempa * tempa;
-     nm = xke / pow(am, 1.5);
-     em = em - tempe;
-
-     // fix tolerance for error recognition
-     if ((em >= 1.0) || (em < -0.001) || (am < 0.95))
-       {
-//         printf("# error em %f\n", em);
-         satrec.error = 1;
-       }
-     if (em < 0.0)
-         em  = 1.0e-6;
-     mm     = mm + satrec.no * templ;
-     xlm    = mm + argpm + nodem;
-     emsq   = em * em;
-     temp   = 1.0 - emsq;
-
-     nodem  = fmod(nodem, twopi);
-     argpm  = fmod(argpm, twopi);
-     xlm    = fmod(xlm, twopi);
-     mm     = fmod(xlm - argpm - nodem, twopi);
-
-     /* ----------------- compute extra mean quantities ------------- */
-     sinim = sin(inclm);
-     cosim = cos(inclm);
-
-     /* -------------------- add lunar-solar periodics -------------- */
-     ep     = em;
-     xincp  = inclm;
-     argpp  = argpm;
-     nodep  = nodem;
-     mp     = mm;
-     sinip  = sinim;
-     cosip  = cosim;
-     if (satrec.method == 'd')
-       {
-         dpper
-             (
-               satrec.e3,   satrec.ee2,  satrec.peo,
-               satrec.pgho, satrec.pho,  satrec.pinco,
-               satrec.plo,  satrec.se2,  satrec.se3,
-               satrec.sgh2, satrec.sgh3, satrec.sgh4,
-               satrec.sh2,  satrec.sh3,  satrec.si2,
-               satrec.si3,  satrec.sl2,  satrec.sl3,
-               satrec.sl4,  satrec.t,    satrec.xgh2,
-               satrec.xgh3, satrec.xgh4, satrec.xh2,
-               satrec.xh3,  satrec.xi2,  satrec.xi3,
-               satrec.xl2,  satrec.xl3,  satrec.xl4,
-               satrec.zmol, satrec.zmos, satrec.inclo,
-               'n', ep, xincp, nodep, argpp, mp
-             );
-         if (xincp < 0.0)
-           {
-             xincp  = -xincp;
-             nodep = nodep + pi;
-             argpp  = argpp - pi;
-           }
-         if ((ep < 0.0 ) || ( ep > 1.0))
-           {
- //            printf("# error ep %f\n", ep);
-             satrec.error = 3;
-           }
-       } // if method = d
-
-     /* -------------------- long period periodics ------------------ */
-     if (satrec.method == 'd')
-       {
-         sinip =  sin(xincp);
-         cosip =  cos(xincp);
-         satrec.aycof = -0.5*j3oj2*sinip;
-         // sgp4fix for divide by zero for xincp = 180 deg
-         if (fabs(cosip+1.0) > 1.5e-12)
-             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / (1.0 + cosip);
-           else
-             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / temp4;
-       }
-     axnl = ep * cos(argpp);
-     temp = 1.0 / (am * (1.0 - ep * ep));
-     aynl = ep* sin(argpp) + temp * satrec.aycof;
-     xl   = mp + argpp + nodep + temp * satrec.xlcof * axnl;
-
-     /* --------------------- solve kepler's equation --------------- */
-     u    = fmod(xl - nodep, twopi);
-     eo1  = u;
-     tem5 = 9999.9;
-     ktr = 1;
-     //   sgp4fix for kepler iteration
-     //   the following iteration needs better limits on corrections
-     while (( fabs(tem5) >= 1.0e-12) && (ktr <= 10) )
-       {
-         sineo1 = sin(eo1);
-         coseo1 = cos(eo1);
-         tem5   = 1.0 - coseo1 * axnl - sineo1 * aynl;
-         tem5   = (u - aynl * coseo1 + axnl * sineo1 - eo1) / tem5;
-         if(fabs(tem5) >= 0.95)
-             tem5 = tem5 > 0.0 ? 0.95 : -0.95;
-         eo1    = eo1 + tem5;
-         ktr = ktr + 1;
-       }
-
-     /* ------------- short period preliminary quantities ----------- */
-     ecose = axnl*coseo1 + aynl*sineo1;
-     esine = axnl*sineo1 - aynl*coseo1;
-     el2   = axnl*axnl + aynl*aynl;
-     pl    = am*(1.0-el2);
-     if (pl < 0.0)
-       {
-//         printf("# error pl %f\n", pl);
-         satrec.error = 4;
-       }
-       else
-       {
-         rl     = am * (1.0 - ecose);
-         rdotl  = sqrt(am) * esine/rl;
-         rvdotl = sqrt(pl) / rl;
-         betal  = sqrt(1.0 - el2);
-         temp   = esine / (1.0 + betal);
-         sinu   = am / rl * (sineo1 - aynl - axnl * temp);
-         cosu   = am / rl * (coseo1 - axnl + aynl * temp);
-         su     = atan2(sinu, cosu);
-         sin2u  = (cosu + cosu) * sinu;
-         cos2u  = 1.0 - 2.0 * sinu * sinu;
-         temp   = 1.0 / pl;
-         temp1  = 0.5 * j2 * temp;
-         temp2  = temp1 * temp;
-
-         /* -------------- update for short period periodics ------------ */
-         if (satrec.method == 'd')
-           {
-             cosisq                 = cosip * cosip;
-             satrec.con41  = 3.0*cosisq - 1.0;
-             satrec.x1mth2 = 1.0 - cosisq;
-             satrec.x7thm1 = 7.0*cosisq - 1.0;
-           }
-         mrt   = rl * (1.0 - 1.5 * temp2 * betal * satrec.con41) +
-                 0.5 * temp1 * satrec.x1mth2 * cos2u;
-         su    = su - 0.25 * temp2 * satrec.x7thm1 * sin2u;
-         xnode = nodep + 1.5 * temp2 * cosip * sin2u;
-         xinc  = xincp + 1.5 * temp2 * cosip * sinip * cos2u;
-         mvt   = rdotl - nm * temp1 * satrec.x1mth2 * sin2u / xke;
-         rvdot = rvdotl + nm * temp1 * (satrec.x1mth2 * cos2u +
-                 1.5 * satrec.con41) / xke;
-
-         /* --------------------- orientation vectors ------------------- */
-         sinsu =  sin(su);
-         cossu =  cos(su);
-         snod  =  sin(xnode);
-         cnod  =  cos(xnode);
-         sini  =  sin(xinc);
-         cosi  =  cos(xinc);
-         xmx   = -snod * cosi;
-         xmy   =  cnod * cosi;
-         ux    =  xmx * sinsu + cnod * cossu;
-         uy    =  xmy * sinsu + snod * cossu;
-         uz    =  sini * sinsu;
-         vx    =  xmx * cossu - cnod * sinsu;
-         vy    =  xmy * cossu - snod * sinsu;
-         vz    =  sini * cossu;
-
-         /* --------- position and velocity (in km and km/sec) ---------- */
-         r[0] = (mrt * ux)* radiusearthkm;
-         r[1] = (mrt * uy)* radiusearthkm;
-         r[2] = (mrt * uz)* radiusearthkm;
-         v[0] = (mvt * ux + rvdot * vx) * vkmpersec;
-         v[1] = (mvt * uy + rvdot * vy) * vkmpersec;
-         v[2] = (mvt * uz + rvdot * vz) * vkmpersec;
-       }  // if pl > 0
-
-     // sgp4fix for decaying satellites
-     if (mrt < 1.0)
-       {
-//         printf("# decay condition %11.6f \n",mrt);
-         satrec.error = 6;
-       }
-
-
-//#include "debug7.cpp"
-     return satrec.error;
-}  // end sgp4
-
-
-/* -----------------------------------------------------------------------------
-*
-*                           function gstime
-*
-*  this function finds the greenwich sidereal time.
-*
-*  author        : david vallado                  719-573-2600    1 mar 2001
-*
-*  inputs          description                    range / units
-*    jdut1       - julian date in ut1             days from 4713 bc
-*
-*  outputs       :
-*    gstime      - greenwich sidereal time        0 to 2pi rad
-*
-*  locals        :
-*    temp        - temporary variable for doubles   rad
-*    tut1        - julian centuries from the
-*                  jan 1, 2000 12 h epoch (ut1)
-*
-*  coupling      :
-*    none
-*
-*  references    :
-*    vallado       2004, 191, eq 3-45
-* --------------------------------------------------------------------------- */
-
-double  gstime
-        (
-          double jdut1
-        )
-   {
-     const double twopi = 2.0 * pi;
-     const double deg2rad = pi / 180.0;
-     double       temp, tut1;
-
-     tut1 = (jdut1 - 2451545.0) / 36525.0;
-     temp = -6.2e-6* tut1 * tut1 * tut1 + 0.093104 * tut1 * tut1 +
-             (876600.0*3600 + 8640184.812866) * tut1 + 67310.54841;  // sec
-     temp = fmod(temp * deg2rad / 240.0, twopi); //360/86400 = 1/240, to deg, to rad
-
-     // ------------------------ check quadrants ---------------------
-     if (temp < 0.0)
-         temp += twopi;
-
-     return temp;
-   }  // end gstime
-
-/* -----------------------------------------------------------------------------
-*
-*                           function getgravconst
-*
-*  this function gets constants for the propagator. note that mu is identified to
-*    facilitiate comparisons with newer models. the common useage is wgs72.
-*
-*  author        : david vallado                  719-573-2600   21 jul 2006
-*
-*  inputs        :
-*    whichconst  - which set of constants to use  wgs72old, wgs72, wgs84
-*
-*  outputs       :
-*    tumin       - minutes in one time unit
-*    mu          - earth gravitational parameter
-*    radiusearthkm - radius of the earth in km
-*    xke         - reciprocal of tumin
-*    j2, j3, j4  - un-normalized zonal harmonic values
-*    j3oj2       - j3 divided by j2
-*
-*  locals        :
-*
-*  coupling      :
-*    none
-*
-*  references    :
-*    norad spacetrack report #3
-*    vallado, crawford, hujsak, kelso  2006
-  --------------------------------------------------------------------------- */
-
-void getgravconst
-     (
-      gravconsttype whichconst,
-      double& tumin,
-      double& mu,
-      double& radiusearthkm,
-      double& xke,
-      double& j2,
-      double& j3,
-      double& j4,
-      double& j3oj2
-     )
-     {
-
-       switch (whichconst)
-         {
-           // -- wgs-72 low precision str#3 constants --
-           case wgs72old:
-           mu     = 398600.79964;        // in km3 / s2
-           radiusearthkm = 6378.135;     // km
-           xke    = 0.0743669161;
-           tumin  = 1.0 / xke;
-           j2     =   0.001082616;
-           j3     =  -0.00000253881;
-           j4     =  -0.00000165597;
-           j3oj2  =  j3 / j2;
-         break;
-           // ------------ wgs-72 constants ------------
-           case wgs72:
-           mu     = 398600.8;            // in km3 / s2
-           radiusearthkm = 6378.135;     // km
-           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
-           tumin  = 1.0 / xke;
-           j2     =   0.001082616;
-           j3     =  -0.00000253881;
-           j4     =  -0.00000165597;
-           j3oj2  =  j3 / j2;
-         break;
-           case wgs84:
-           // ------------ wgs-84 constants ------------
-           mu     = 398600.5;            // in km3 / s2
-           radiusearthkm = 6378.137;     // km
-           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
-           tumin  = 1.0 / xke;
-           j2     =   0.00108262998905;
-           j3     =  -0.00000253215306;
-           j4     =  -0.00000161098761;
-           j3oj2  =  j3 / j2;
-         break;
-         default:
-           fprintf(stderr,"unknown gravity option (%d)\n",whichconst);
-         break;
-         }
-
-     }   // end getgravconst
-
-
-
-
-
+/*     ----------------------------------------------------------------
+*
+*                               sgp4unit.cpp
+*
+*    this file contains the sgp4 procedures for analytical propagation
+*    of a satellite. the code was originally released in the 1980 and 1986
+*    spacetrack papers. a detailed discussion of the theory and history
+*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
+*    and kelso.
+*
+*                            companion code for
+*               fundamentals of astrodynamics and applications
+*                                    2007
+*                              by david vallado
+*
+*       (w) 719-573-2600, email dvallado@agi.com
+*
+*    current :
+*              16 nov 07  david vallado
+*                           misc fixes for better compliance
+*    changes :
+*              20 apr 07  david vallado
+*                           misc fixes for constants
+*              11 aug 06  david vallado
+*                           chg lyddane choice back to strn3, constants, misc doc
+*              15 dec 05  david vallado
+*                           misc fixes
+*              26 jul 05  david vallado
+*                           fixes for paper
+*                           note that each fix is preceded by a
+*                           comment with "sgp4fix" and an explanation of
+*                           what was changed
+*              10 aug 04  david vallado
+*                           2nd printing baseline working
+*              14 may 01  david vallado
+*                           2nd edition baseline
+*                     80  norad
+*                           original baseline
+*       ----------------------------------------------------------------      */
+
+#include "sgp4unit.h"
+
+const char help = 'n';
+FILE *dbgfile;
+
+#define pi 3.14159265358979323846
+
+
+/* ----------- local functions - only ever used internally by sgp4 ---------- */
+static void dpper
+     (
+       double e3,     double ee2,    double peo,     double pgho,   double pho,
+       double pinco,  double plo,    double se2,     double se3,    double sgh2,
+       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
+       double si3,    double sl2,    double sl3,     double sl4,    double t,
+       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
+       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
+       double zmol,   double zmos,   double inclo,
+       char init,
+       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
+     );
+
+static void dscom
+     (
+       double epoch,  double ep,     double argpp,   double tc,     double inclp,
+       double nodep,  double np,
+       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
+       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
+       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
+       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
+       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
+       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
+       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
+       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
+       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
+       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
+       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
+       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
+       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
+       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
+       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
+       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
+       double& zmos
+     );
+
+static void dsinit
+     (
+       gravconsttype whichconst,
+       double cosim,  double emsq,   double argpo,   double s1,     double s2,
+       double s3,     double s4,     double s5,      double sinim,  double ss1,
+       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
+       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
+       double sz31,   double sz33,   double t,       double tc,     double gsto,
+       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
+       double xpidot, double z1,     double z3,      double z11,    double z13,
+       double z21,    double z23,    double z31,     double z33,    double ecco,
+       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
+       double& nm,    double& nodem,
+       int& irez,
+       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
+       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
+       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
+       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
+       double& xfact, double& xlamo, double& xli,    double& xni
+     );
+
+static void dspace
+     (
+       int irez,
+       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
+       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
+       double dedt,   double del1,   double del2,    double del3,   double didt,
+       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
+       double t,      double tc,     double gsto,    double xfact,  double xlamo,
+       double no,
+       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
+       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
+     );
+
+static void initl
+     (
+       int satn,      gravconsttype whichconst,
+       double ecco,   double epoch,  double inclo,   double& no,
+       char& method,
+       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
+       double& cosio2,double& eccsq, double& omeosq, double& posq,
+       double& rp,    double& rteosq,double& sinio , double& gsto
+     );
+
+/* -----------------------------------------------------------------------------
+*
+*                           procedure dpper
+*
+*  this procedure provides deep space long period periodic contributions
+*    to the mean elements.  by design, these periodics are zero at epoch.
+*    this used to be dscom which included initialization, but it's really a
+*    recurring function.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    e3          -
+*    ee2         -
+*    peo         -
+*    pgho        -
+*    pho         -
+*    pinco       -
+*    plo         -
+*    se2 , se3 , sgh2, sgh3, sgh4, sh2, sh3, si2, si3, sl2, sl3, sl4 -
+*    t           -
+*    xh2, xh3, xi2, xi3, xl2, xl3, xl4 -
+*    zmol        -
+*    zmos        -
+*    ep          - eccentricity                           0.0 - 1.0
+*    inclo       - inclination - needed for lyddane modification
+*    nodep       - right ascension of ascending node
+*    argpp       - argument of perigee
+*    mp          - mean anomaly
+*
+*  outputs       :
+*    ep          - eccentricity                           0.0 - 1.0
+*    inclp       - inclination
+*    nodep        - right ascension of ascending node
+*    argpp       - argument of perigee
+*    mp          - mean anomaly
+*
+*  locals        :
+*    alfdp       -
+*    betdp       -
+*    cosip  , sinip  , cosop  , sinop  ,
+*    dalf        -
+*    dbet        -
+*    dls         -
+*    f2, f3      -
+*    pe          -
+*    pgh         -
+*    ph          -
+*    pinc        -
+*    pl          -
+*    sel   , ses   , sghl  , sghs  , shl   , shs   , sil   , sinzf , sis   ,
+*    sll   , sls
+*    xls         -
+*    xnoh        -
+*    zf          -
+*    zm          -
+*
+*  coupling      :
+*    none.
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dpper
+     (
+       double e3,     double ee2,    double peo,     double pgho,   double pho,
+       double pinco,  double plo,    double se2,     double se3,    double sgh2,
+       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
+       double si3,    double sl2,    double sl3,     double sl4,    double t,
+       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
+       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
+       double zmol,   double zmos,   double inclo,
+       char init,
+       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     const double twopi = 2.0 * pi;
+     double alfdp, betdp, cosip, cosop, dalf, dbet, dls,
+          f2,    f3,    pe,    pgh,   ph,   pinc, pl ,
+          sel,   ses,   sghl,  sghs,  shll, shs,  sil,
+          sinip, sinop, sinzf, sis,   sll,  sls,  xls,
+          xnoh,  zf,    zm,    zel,   zes,  znl,  zns;
+
+     /* ---------------------- constants ----------------------------- */
+     zns   = 1.19459e-5;
+     zes   = 0.01675;
+     znl   = 1.5835218e-4;
+     zel   = 0.05490;
+
+     /* --------------- calculate time varying periodics ----------- */
+     zm    = zmos + zns * t;
+     // be sure that the initial call has time set to zero
+     if (init == 'y')
+         zm = zmos;
+     zf    = zm + 2.0 * zes * sin(zm);
+     sinzf = sin(zf);
+     f2    =  0.5 * sinzf * sinzf - 0.25;
+     f3    = -0.5 * sinzf * cos(zf);
+     ses   = se2* f2 + se3 * f3;
+     sis   = si2 * f2 + si3 * f3;
+     sls   = sl2 * f2 + sl3 * f3 + sl4 * sinzf;
+     sghs  = sgh2 * f2 + sgh3 * f3 + sgh4 * sinzf;
+     shs   = sh2 * f2 + sh3 * f3;
+     zm    = zmol + znl * t;
+     if (init == 'y')
+         zm = zmol;
+     zf    = zm + 2.0 * zel * sin(zm);
+     sinzf = sin(zf);
+     f2    =  0.5 * sinzf * sinzf - 0.25;
+     f3    = -0.5 * sinzf * cos(zf);
+     sel   = ee2 * f2 + e3 * f3;
+     sil   = xi2 * f2 + xi3 * f3;
+     sll   = xl2 * f2 + xl3 * f3 + xl4 * sinzf;
+     sghl  = xgh2 * f2 + xgh3 * f3 + xgh4 * sinzf;
+     shll  = xh2 * f2 + xh3 * f3;
+     pe    = ses + sel;
+     pinc  = sis + sil;
+     pl    = sls + sll;
+     pgh   = sghs + sghl;
+     ph    = shs + shll;
+
+     if (init == 'n')
+       {
+       pe    = pe - peo;
+       pinc  = pinc - pinco;
+       pl    = pl - plo;
+       pgh   = pgh - pgho;
+       ph    = ph - pho;
+       inclp = inclp + pinc;
+       ep    = ep + pe;
+       sinip = sin(inclp);
+       cosip = cos(inclp);
+
+       /* ----------------- apply periodics directly ------------ */
+       //  sgp4fix for lyddane choice
+       //  strn3 used original inclination - this is technically feasible
+       //  gsfc used perturbed inclination - also technically feasible
+       //  probably best to readjust the 0.2 limit value and limit discontinuity
+       //  0.2 rad = 11.45916 deg
+       //  use next line for original strn3 approach and original inclination
+       //  if (inclo >= 0.2)
+       //  use next line for gsfc version and perturbed inclination
+       if (inclp >= 0.2)
+         {
+           ph     = ph / sinip;
+           pgh    = pgh - cosip * ph;
+           argpp  = argpp + pgh;
+           nodep  = nodep + ph;
+           mp     = mp + pl;
+         }
+         else
+         {
+           /* ---- apply periodics with lyddane modification ---- */
+           sinop  = sin(nodep);
+           cosop  = cos(nodep);
+           alfdp  = sinip * sinop;
+           betdp  = sinip * cosop;
+           dalf   =  ph * cosop + pinc * cosip * sinop;
+           dbet   = -ph * sinop + pinc * cosip * cosop;
+           alfdp  = alfdp + dalf;
+           betdp  = betdp + dbet;
+           nodep  = fmod(nodep, twopi);
+           //  sgp4fix for afspc written intrinsic functions
+           // nodep used without a trigonometric function ahead
+           if (nodep < 0.0)
+               nodep = nodep + twopi;
+           xls    = mp + argpp + cosip * nodep;
+           dls    = pl + pgh - pinc * nodep * sinip;
+           xls    = xls + dls;
+           xnoh   = nodep;
+           nodep  = atan2(alfdp, betdp);
+           //  sgp4fix for afspc written intrinsic functions
+           // nodep used without a trigonometric function ahead
+           if (nodep < 0.0)
+               nodep = nodep + twopi;
+           if (fabs(xnoh - nodep) > pi){
+             if (nodep < xnoh)
+                nodep = nodep + twopi;
+               else
+                nodep = nodep - twopi;
+           }
+           mp    = mp + pl;
+           argpp = xls - mp - cosip * nodep;
+         }
+       }   // if init == 'n'
+
+//#include "debug1.cpp"
+}  // end dpper
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure dscom
+*
+*  this procedure provides deep space common items used by both the secular
+*    and periodics subroutines.  input is provided as shown. this routine
+*    used to be called dpper, but the functions inside weren't well organized.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    epoch       -
+*    ep          - eccentricity
+*    argpp       - argument of perigee
+*    tc          -
+*    inclp       - inclination
+*    nodep       - right ascension of ascending node
+*    np          - mean motion
+*
+*  outputs       :
+*    sinim  , cosim  , sinomm , cosomm , snodm  , cnodm
+*    day         -
+*    e3          -
+*    ee2         -
+*    em          - eccentricity
+*    emsq        - eccentricity squared
+*    gam         -
+*    peo         -
+*    pgho        -
+*    pho         -
+*    pinco       -
+*    plo         -
+*    rtemsq      -
+*    se2, se3         -
+*    sgh2, sgh3, sgh4        -
+*    sh2, sh3, si2, si3, sl2, sl3, sl4         -
+*    s1, s2, s3, s4, s5, s6, s7          -
+*    ss1, ss2, ss3, ss4, ss5, ss6, ss7, sz1, sz2, sz3         -
+*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
+*    xgh2, xgh3, xgh4, xh2, xh3, xi2, xi3, xl2, xl3, xl4         -
+*    nm          - mean motion
+*    z1, z2, z3, z11, z12, z13, z21, z22, z23, z31, z32, z33         -
+*    zmol        -
+*    zmos        -
+*
+*  locals        :
+*    a1, a2, a3, a4, a5, a6, a7, a8, a9, a10         -
+*    betasq      -
+*    cc          -
+*    ctem, stem        -
+*    x1, x2, x3, x4, x5, x6, x7, x8          -
+*    xnodce      -
+*    xnoi        -
+*    zcosg  , zsing  , zcosgl , zsingl , zcosh  , zsinh  , zcoshl , zsinhl ,
+*    zcosi  , zsini  , zcosil , zsinil ,
+*    zx          -
+*    zy          -
+*
+*  coupling      :
+*    none.
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dscom
+     (
+       double epoch,  double ep,     double argpp,   double tc,     double inclp,
+       double nodep,  double np,
+       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
+       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
+       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
+       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
+       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
+       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
+       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
+       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
+       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
+       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
+       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
+       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
+       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
+       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
+       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
+       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
+       double& zmos
+     )
+{
+     /* -------------------------- constants ------------------------- */
+     const double zes     =  0.01675;
+     const double zel     =  0.05490;
+     const double c1ss    =  2.9864797e-6;
+     const double c1l     =  4.7968065e-7;
+     const double zsinis  =  0.39785416;
+     const double zcosis  =  0.91744867;
+     const double zcosgs  =  0.1945905;
+     const double zsings  = -0.98088458;
+     const double twopi   =  2.0 * pi;
+
+     /* --------------------- local variables ------------------------ */
+     int lsflg;
+     double a1    , a2    , a3    , a4    , a5    , a6    , a7    ,
+        a8    , a9    , a10   , betasq, cc    , ctem  , stem  ,
+        x1    , x2    , x3    , x4    , x5    , x6    , x7    ,
+        x8    , xnodce, xnoi  , zcosg , zcosgl, zcosh , zcoshl,
+        zcosi , zcosil, zsing , zsingl, zsinh , zsinhl, zsini ,
+        zsinil, zx    , zy;
+
+     nm     = np;
+     em     = ep;
+     snodm  = sin(nodep);
+     cnodm  = cos(nodep);
+     sinomm = sin(argpp);
+     cosomm = cos(argpp);
+     sinim  = sin(inclp);
+     cosim  = cos(inclp);
+     emsq   = em * em;
+     betasq = 1.0 - emsq;
+     rtemsq = sqrt(betasq);
+
+     /* ----------------- initialize lunar solar terms --------------- */
+     peo    = 0.0;
+     pinco  = 0.0;
+     plo    = 0.0;
+     pgho   = 0.0;
+     pho    = 0.0;
+     day    = epoch + 18261.5 + tc / 1440.0;
+     xnodce = fmod(4.5236020 - 9.2422029e-4 * day, twopi);
+     stem   = sin(xnodce);
+     ctem   = cos(xnodce);
+     zcosil = 0.91375164 - 0.03568096 * ctem;
+     zsinil = sqrt(1.0 - zcosil * zcosil);
+     zsinhl = 0.089683511 * stem / zsinil;
+     zcoshl = sqrt(1.0 - zsinhl * zsinhl);
+     gam    = 5.8351514 + 0.0019443680 * day;
+     zx     = 0.39785416 * stem / zsinil;
+     zy     = zcoshl * ctem + 0.91744867 * zsinhl * stem;
+     zx     = atan2(zx, zy);
+     zx     = gam + zx - xnodce;
+     zcosgl = cos(zx);
+     zsingl = sin(zx);
+
+     /* ------------------------- do solar terms --------------------- */
+     zcosg = zcosgs;
+     zsing = zsings;
+     zcosi = zcosis;
+     zsini = zsinis;
+     zcosh = cnodm;
+     zsinh = snodm;
+     cc    = c1ss;
+     xnoi  = 1.0 / nm;
+
+     for (lsflg = 1; lsflg <= 2; lsflg++)
+       {
+         a1  =   zcosg * zcosh + zsing * zcosi * zsinh;
+         a3  =  -zsing * zcosh + zcosg * zcosi * zsinh;
+         a7  =  -zcosg * zsinh + zsing * zcosi * zcosh;
+         a8  =   zsing * zsini;
+         a9  =   zsing * zsinh + zcosg * zcosi * zcosh;
+         a10 =   zcosg * zsini;
+         a2  =   cosim * a7 + sinim * a8;
+         a4  =   cosim * a9 + sinim * a10;
+         a5  =  -sinim * a7 + cosim * a8;
+         a6  =  -sinim * a9 + cosim * a10;
+
+         x1  =  a1 * cosomm + a2 * sinomm;
+         x2  =  a3 * cosomm + a4 * sinomm;
+         x3  = -a1 * sinomm + a2 * cosomm;
+         x4  = -a3 * sinomm + a4 * cosomm;
+         x5  =  a5 * sinomm;
+         x6  =  a6 * sinomm;
+         x7  =  a5 * cosomm;
+         x8  =  a6 * cosomm;
+
+         z31 = 12.0 * x1 * x1 - 3.0 * x3 * x3;
+         z32 = 24.0 * x1 * x2 - 6.0 * x3 * x4;
+         z33 = 12.0 * x2 * x2 - 3.0 * x4 * x4;
+         z1  =  3.0 *  (a1 * a1 + a2 * a2) + z31 * emsq;
+         z2  =  6.0 *  (a1 * a3 + a2 * a4) + z32 * emsq;
+         z3  =  3.0 *  (a3 * a3 + a4 * a4) + z33 * emsq;
+         z11 = -6.0 * a1 * a5 + emsq *  (-24.0 * x1 * x7-6.0 * x3 * x5);
+         z12 = -6.0 *  (a1 * a6 + a3 * a5) + emsq *
+                (-24.0 * (x2 * x7 + x1 * x8) - 6.0 * (x3 * x6 + x4 * x5));
+         z13 = -6.0 * a3 * a6 + emsq * (-24.0 * x2 * x8 - 6.0 * x4 * x6);
+         z21 =  6.0 * a2 * a5 + emsq * (24.0 * x1 * x5 - 6.0 * x3 * x7);
+         z22 =  6.0 *  (a4 * a5 + a2 * a6) + emsq *
+                (24.0 * (x2 * x5 + x1 * x6) - 6.0 * (x4 * x7 + x3 * x8));
+         z23 =  6.0 * a4 * a6 + emsq * (24.0 * x2 * x6 - 6.0 * x4 * x8);
+         z1  = z1 + z1 + betasq * z31;
+         z2  = z2 + z2 + betasq * z32;
+         z3  = z3 + z3 + betasq * z33;
+         s3  = cc * xnoi;
+         s2  = -0.5 * s3 / rtemsq;
+         s4  = s3 * rtemsq;
+         s1  = -15.0 * em * s4;
+         s5  = x1 * x3 + x2 * x4;
+         s6  = x2 * x3 + x1 * x4;
+         s7  = x2 * x4 - x1 * x3;
+
+         /* ----------------------- do lunar terms ------------------- */
+         if (lsflg == 1)
+           {
+             ss1   = s1;
+             ss2   = s2;
+             ss3   = s3;
+             ss4   = s4;
+             ss5   = s5;
+             ss6   = s6;
+             ss7   = s7;
+             sz1   = z1;
+             sz2   = z2;
+             sz3   = z3;
+             sz11  = z11;
+             sz12  = z12;
+             sz13  = z13;
+             sz21  = z21;
+             sz22  = z22;
+             sz23  = z23;
+             sz31  = z31;
+             sz32  = z32;
+             sz33  = z33;
+             zcosg = zcosgl;
+             zsing = zsingl;
+             zcosi = zcosil;
+             zsini = zsinil;
+             zcosh = zcoshl * cnodm + zsinhl * snodm;
+             zsinh = snodm * zcoshl - cnodm * zsinhl;
+             cc    = c1l;
+          }
+       }
+
+     zmol = fmod(4.7199672 + 0.22997150  * day - gam, twopi);
+     zmos = fmod(6.2565837 + 0.017201977 * day, twopi);
+
+     /* ------------------------ do solar terms ---------------------- */
+     se2  =   2.0 * ss1 * ss6;
+     se3  =   2.0 * ss1 * ss7;
+     si2  =   2.0 * ss2 * sz12;
+     si3  =   2.0 * ss2 * (sz13 - sz11);
+     sl2  =  -2.0 * ss3 * sz2;
+     sl3  =  -2.0 * ss3 * (sz3 - sz1);
+     sl4  =  -2.0 * ss3 * (-21.0 - 9.0 * emsq) * zes;
+     sgh2 =   2.0 * ss4 * sz32;
+     sgh3 =   2.0 * ss4 * (sz33 - sz31);
+     sgh4 = -18.0 * ss4 * zes;
+     sh2  =  -2.0 * ss2 * sz22;
+     sh3  =  -2.0 * ss2 * (sz23 - sz21);
+
+     /* ------------------------ do lunar terms ---------------------- */
+     ee2  =   2.0 * s1 * s6;
+     e3   =   2.0 * s1 * s7;
+     xi2  =   2.0 * s2 * z12;
+     xi3  =   2.0 * s2 * (z13 - z11);
+     xl2  =  -2.0 * s3 * z2;
+     xl3  =  -2.0 * s3 * (z3 - z1);
+     xl4  =  -2.0 * s3 * (-21.0 - 9.0 * emsq) * zel;
+     xgh2 =   2.0 * s4 * z32;
+     xgh3 =   2.0 * s4 * (z33 - z31);
+     xgh4 = -18.0 * s4 * zel;
+     xh2  =  -2.0 * s2 * z22;
+     xh3  =  -2.0 * s2 * (z23 - z21);
+
+//#include "debug2.cpp"
+}  // end dscom
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure dsinit
+*
+*  this procedure provides deep space contributions to mean motion dot due
+*    to geopotential resonance with half day and one day orbits.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    cosim, sinim-
+*    emsq        - eccentricity squared
+*    argpo       - argument of perigee
+*    s1, s2, s3, s4, s5      -
+*    ss1, ss2, ss3, ss4, ss5 -
+*    sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33 -
+*    t           - time
+*    tc          -
+*    gsto        - greenwich sidereal time                   rad
+*    mo          - mean anomaly
+*    mdot        - mean anomaly dot (rate)
+*    no          - mean motion
+*    nodeo       - right ascension of ascending node
+*    nodedot     - right ascension of ascending node dot (rate)
+*    xpidot      -
+*    z1, z3, z11, z13, z21, z23, z31, z33 -
+*    eccm        - eccentricity
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    xn          - mean motion
+*    nodem       - right ascension of ascending node
+*
+*  outputs       :
+*    em          - eccentricity
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    nm          - mean motion
+*    nodem       - right ascension of ascending node
+*    irez        - flag for resonance           0-none, 1-one day, 2-half day
+*    atime       -
+*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433    -
+*    dedt        -
+*    didt        -
+*    dmdt        -
+*    dndt        -
+*    dnodt       -
+*    domdt       -
+*    del1, del2, del3        -
+*    ses  , sghl , sghs , sgs  , shl  , shs  , sis  , sls
+*    theta       -
+*    xfact       -
+*    xlamo       -
+*    xli         -
+*    xni
+*
+*  locals        :
+*    ainv2       -
+*    aonv        -
+*    cosisq      -
+*    eoc         -
+*    f220, f221, f311, f321, f322, f330, f441, f442, f522, f523, f542, f543  -
+*    g200, g201, g211, g300, g310, g322, g410, g422, g520, g521, g532, g533  -
+*    sini2       -
+*    temp        -
+*    temp1       -
+*    theta       -
+*    xno2        -
+*
+*  coupling      :
+*    getgravconst
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dsinit
+     (
+       gravconsttype whichconst,
+       double cosim,  double emsq,   double argpo,   double s1,     double s2,
+       double s3,     double s4,     double s5,      double sinim,  double ss1,
+       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
+       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
+       double sz31,   double sz33,   double t,       double tc,     double gsto,
+       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
+       double xpidot, double z1,     double z3,      double z11,    double z13,
+       double z21,    double z23,    double z31,     double z33,    double ecco,
+       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
+       double& nm,    double& nodem,
+       int& irez,
+       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
+       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
+       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
+       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
+       double& xfact, double& xlamo, double& xli,    double& xni
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     const double twopi = 2.0 * pi;
+
+     double ainv2 , aonv=0.0, cosisq, eoc, f220 , f221  , f311  ,
+          f321  , f322  , f330  , f441  , f442  , f522  , f523  ,
+          f542  , f543  , g200  , g201  , g211  , g300  , g310  ,
+          g322  , g410  , g422  , g520  , g521  , g532  , g533  ,
+          ses   , sgs   , sghl  , sghs  , shs   , shll  , sis   ,
+          sini2 , sls   , temp  , temp1 , theta , xno2  , q22   ,
+          q31   , q33   , root22, root44, root54, rptim , root32,
+          root52, x2o3  , xke   , znl   , emo   , zns   , emsqo,
+          tumin, mu, radiusearthkm, j2, j3, j4, j3oj2;
+
+     q22    = 1.7891679e-6;
+     q31    = 2.1460748e-6;
+     q33    = 2.2123015e-7;
+     root22 = 1.7891679e-6;
+     root44 = 7.3636953e-9;
+     root54 = 2.1765803e-9;
+     rptim  = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
+     root32 = 3.7393792e-7;
+     root52 = 1.1428639e-7;
+     x2o3   = 2.0 / 3.0;
+     znl    = 1.5835218e-4;
+     zns    = 1.19459e-5;
+
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+
+     /* -------------------- deep space initialization ------------ */
+     irez = 0;
+     if ((nm < 0.0052359877) && (nm > 0.0034906585))
+         irez = 1;
+     if ((nm >= 8.26e-3) && (nm <= 9.24e-3) && (em >= 0.5))
+         irez = 2;
+
+     /* ------------------------ do solar terms ------------------- */
+     ses  =  ss1 * zns * ss5;
+     sis  =  ss2 * zns * (sz11 + sz13);
+     sls  = -zns * ss3 * (sz1 + sz3 - 14.0 - 6.0 * emsq);
+     sghs =  ss4 * zns * (sz31 + sz33 - 6.0);
+     shs  = -zns * ss2 * (sz21 + sz23);
+     // sgp4fix for 180 deg incl
+     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
+       shs = 0.0;
+     if (sinim != 0.0)
+       shs = shs / sinim;
+     sgs  = sghs - cosim * shs;
+
+     /* ------------------------- do lunar terms ------------------ */
+     dedt = ses + s1 * znl * s5;
+     didt = sis + s2 * znl * (z11 + z13);
+     dmdt = sls - znl * s3 * (z1 + z3 - 14.0 - 6.0 * emsq);
+     sghl = s4 * znl * (z31 + z33 - 6.0);
+     shll = -znl * s2 * (z21 + z23);
+     // sgp4fix for 180 deg incl
+     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
+         shll = 0.0;
+     domdt = sgs + sghl;
+     dnodt = shs;
+     if (sinim != 0.0)
+       {
+         domdt = domdt - cosim / sinim * shll;
+         dnodt = dnodt + shll / sinim;
+       }
+
+     /* ----------- calculate deep space resonance effects -------- */
+     dndt   = 0.0;
+     theta  = fmod(gsto + tc * rptim, twopi);
+     em     = em + dedt * t;
+     inclm  = inclm + didt * t;
+     argpm  = argpm + domdt * t;
+     nodem  = nodem + dnodt * t;
+     mm     = mm + dmdt * t;
+     //   sgp4fix for negative inclinations
+     //   the following if statement should be commented out
+     //if (inclm < 0.0)
+     //  {
+     //    inclm  = -inclm;
+     //    argpm  = argpm - pi;
+     //    nodem = nodem + pi;
+     //  }
+
+     /* -------------- initialize the resonance terms ------------- */
+     if (irez != 0)
+       {
+         aonv = pow(nm / xke, x2o3);
+
+         /* ---------- geopotential resonance for 12 hour orbits ------ */
+         if (irez == 2)
+           {
+             cosisq = cosim * cosim;
+             emo    = em;
+             em     = ecco;
+             emsqo  = emsq;
+             emsq   = eccsq;
+             eoc    = em * emsq;
+             g201   = -0.306 - (em - 0.64) * 0.440;
+
+             if (em <= 0.65)
+               {
+                 g211 =    3.616  -  13.2470 * em +  16.2900 * emsq;
+                 g310 =  -19.302  + 117.3900 * em - 228.4190 * emsq +  156.5910 * eoc;
+                 g322 =  -18.9068 + 109.7927 * em - 214.6334 * emsq +  146.5816 * eoc;
+                 g410 =  -41.122  + 242.6940 * em - 471.0940 * emsq +  313.9530 * eoc;
+                 g422 = -146.407  + 841.8800 * em - 1629.014 * emsq + 1083.4350 * eoc;
+                 g520 = -532.114  + 3017.977 * em - 5740.032 * emsq + 3708.2760 * eoc;
+               }
+               else
+               {
+                 g211 =   -72.099 +   331.819 * em -   508.738 * emsq +   266.724 * eoc;
+                 g310 =  -346.844 +  1582.851 * em -  2415.925 * emsq +  1246.113 * eoc;
+                 g322 =  -342.585 +  1554.908 * em -  2366.899 * emsq +  1215.972 * eoc;
+                 g410 = -1052.797 +  4758.686 * em -  7193.992 * emsq +  3651.957 * eoc;
+                 g422 = -3581.690 + 16178.110 * em - 24462.770 * emsq + 12422.520 * eoc;
+                 if (em > 0.715)
+                     g520 =-5149.66 + 29936.92 * em - 54087.36 * emsq + 31324.56 * eoc;
+                   else
+                     g520 = 1464.74 -  4664.75 * em +  3763.64 * emsq;
+               }
+             if (em < 0.7)
+               {
+                 g533 = -919.22770 + 4988.6100 * em - 9064.7700 * emsq + 5542.21  * eoc;
+                 g521 = -822.71072 + 4568.6173 * em - 8491.4146 * emsq + 5337.524 * eoc;
+                 g532 = -853.66600 + 4690.2500 * em - 8624.7700 * emsq + 5341.4  * eoc;
+               }
+               else
+               {
+                 g533 =-37995.780 + 161616.52 * em - 229838.20 * emsq + 109377.94 * eoc;
+                 g521 =-51752.104 + 218913.95 * em - 309468.16 * emsq + 146349.42 * eoc;
+                 g532 =-40023.880 + 170470.89 * em - 242699.48 * emsq + 115605.82 * eoc;
+               }
+
+             sini2=  sinim * sinim;
+             f220 =  0.75 * (1.0 + 2.0 * cosim+cosisq);
+             f221 =  1.5 * sini2;
+             f321 =  1.875 * sinim  *  (1.0 - 2.0 * cosim - 3.0 * cosisq);
+             f322 = -1.875 * sinim  *  (1.0 + 2.0 * cosim - 3.0 * cosisq);
+             f441 = 35.0 * sini2 * f220;
+             f442 = 39.3750 * sini2 * sini2;
+             f522 =  9.84375 * sinim * (sini2 * (1.0 - 2.0 * cosim- 5.0 * cosisq) +
+                     0.33333333 * (-2.0 + 4.0 * cosim + 6.0 * cosisq) );
+             f523 = sinim * (4.92187512 * sini2 * (-2.0 - 4.0 * cosim +
+                    10.0 * cosisq) + 6.56250012 * (1.0+2.0 * cosim - 3.0 * cosisq));
+             f542 = 29.53125 * sinim * (2.0 - 8.0 * cosim+cosisq *
+                    (-12.0 + 8.0 * cosim + 10.0 * cosisq));
+             f543 = 29.53125 * sinim * (-2.0 - 8.0 * cosim+cosisq *
+                    (12.0 + 8.0 * cosim - 10.0 * cosisq));
+             xno2  =  nm * nm;
+             ainv2 =  aonv * aonv;
+             temp1 =  3.0 * xno2 * ainv2;
+             temp  =  temp1 * root22;
+             d2201 =  temp * f220 * g201;
+             d2211 =  temp * f221 * g211;
+             temp1 =  temp1 * aonv;
+             temp  =  temp1 * root32;
+             d3210 =  temp * f321 * g310;
+             d3222 =  temp * f322 * g322;
+             temp1 =  temp1 * aonv;
+             temp  =  2.0 * temp1 * root44;
+             d4410 =  temp * f441 * g410;
+             d4422 =  temp * f442 * g422;
+             temp1 =  temp1 * aonv;
+             temp  =  temp1 * root52;
+             d5220 =  temp * f522 * g520;
+             d5232 =  temp * f523 * g532;
+             temp  =  2.0 * temp1 * root54;
+             d5421 =  temp * f542 * g521;
+             d5433 =  temp * f543 * g533;
+             xlamo =  fmod(mo + nodeo + nodeo-theta - theta, twopi);
+             xfact =  mdot + dmdt + 2.0 * (nodedot + dnodt - rptim) - no;
+             em    = emo;
+             emsq  = emsqo;
+           }
+
+         /* ---------------- synchronous resonance terms -------------- */
+         if (irez == 1)
+           {
+             g200  = 1.0 + emsq * (-2.5 + 0.8125 * emsq);
+             g310  = 1.0 + 2.0 * emsq;
+             g300  = 1.0 + emsq * (-6.0 + 6.60937 * emsq);
+             f220  = 0.75 * (1.0 + cosim) * (1.0 + cosim);
+             f311  = 0.9375 * sinim * sinim * (1.0 + 3.0 * cosim) - 0.75 * (1.0 + cosim);
+             f330  = 1.0 + cosim;
+             f330  = 1.875 * f330 * f330 * f330;
+             del1  = 3.0 * nm * nm * aonv * aonv;
+             del2  = 2.0 * del1 * f220 * g200 * q22;
+             del3  = 3.0 * del1 * f330 * g300 * q33 * aonv;
+             del1  = del1 * f311 * g310 * q31 * aonv;
+             xlamo = fmod(mo + nodeo + argpo - theta, twopi);
+             xfact = mdot + xpidot - rptim + dmdt + domdt + dnodt - no;
+           }
+
+         /* ------------ for sgp4, initialize the integrator ---------- */
+         xli   = xlamo;
+         xni   = no;
+         atime = 0.0;
+         nm    = no + dndt;
+       }
+
+//#include "debug3.cpp"
+}  // end dsinit
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure dspace
+*
+*  this procedure provides deep space contributions to mean elements for
+*    perturbing third body.  these effects have been averaged over one
+*    revolution of the sun and moon.  for earth resonance effects, the
+*    effects have been averaged over no revolutions of the satellite.
+*    (mean motion)
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433 -
+*    dedt        -
+*    del1, del2, del3  -
+*    didt        -
+*    dmdt        -
+*    dnodt       -
+*    domdt       -
+*    irez        - flag for resonance           0-none, 1-one day, 2-half day
+*    argpo       - argument of perigee
+*    argpdot     - argument of perigee dot (rate)
+*    t           - time
+*    tc          -
+*    gsto        - gst
+*    xfact       -
+*    xlamo       -
+*    no          - mean motion
+*    atime       -
+*    em          - eccentricity
+*    ft          -
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    xli         -
+*    mm          - mean anomaly
+*    xni         - mean motion
+*    nodem       - right ascension of ascending node
+*
+*  outputs       :
+*    atime       -
+*    em          - eccentricity
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    xli         -
+*    mm          - mean anomaly
+*    xni         -
+*    nodem       - right ascension of ascending node
+*    dndt        -
+*    nm          - mean motion
+*
+*  locals        :
+*    delt        -
+*    ft          -
+*    theta       -
+*    x2li        -
+*    x2omi       -
+*    xl          -
+*    xldot       -
+*    xnddt       -
+*    xndt        -
+*    xomi        -
+*
+*  coupling      :
+*    none        -
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dspace
+     (
+       int irez,
+       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
+       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
+       double dedt,   double del1,   double del2,    double del3,   double didt,
+       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
+       double t,      double tc,     double gsto,    double xfact,  double xlamo,
+       double no,
+       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
+       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
+     )
+{
+     const double twopi = 2.0 * pi;
+     int iretn , iret;
+     double delt, ft, theta, x2li, x2omi, xl, xldot , xnddt, xndt, xomi, g22, g32,
+          g44, g52, g54, fasx2, fasx4, fasx6, rptim , step2, stepn , stepp;
+
+     ft    = 0.0;
+     fasx2 = 0.13130908;
+     fasx4 = 2.8843198;
+     fasx6 = 0.37448087;
+     g22   = 5.7686396;
+     g32   = 0.95240898;
+     g44   = 1.8014998;
+     g52   = 1.0508330;
+     g54   = 4.4108898;
+     rptim = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
+     stepp =    720.0;
+     stepn =   -720.0;
+     step2 = 259200.0;
+
+     /* ----------- calculate deep space resonance effects ----------- */
+     dndt   = 0.0;
+     theta  = fmod(gsto + tc * rptim, twopi);
+     em     = em + dedt * t;
+
+     inclm  = inclm + didt * t;
+     argpm  = argpm + domdt * t;
+     nodem  = nodem + dnodt * t;
+     mm     = mm + dmdt * t;
+
+     //   sgp4fix for negative inclinations
+     //   the following if statement should be commented out
+     //  if (inclm < 0.0)
+     // {
+     //    inclm = -inclm;
+     //    argpm = argpm - pi;
+     //    nodem = nodem + pi;
+     //  }
+
+     /* - update resonances : numerical (euler-maclaurin) integration - */
+     /* ------------------------- epoch restart ----------------------  */
+     //   sgp4fix for propagator problems
+     //   the following integration works for negative time steps and periods
+     //   the specific changes are unknown because the original code was so convoluted
+
+     ft    = 0.0;
+     atime = 0.0;
+     if (irez != 0)
+       {
+         if ((atime == 0.0) || ((t >= 0.0) && (atime < 0.0)) ||
+             ((t < 0.0) && (atime >= 0.0)))
+           {
+             if (t >= 0.0)
+                 delt = stepp;
+               else
+                 delt = stepn;
+             atime  = 0.0;
+             xni    = no;
+             xli    = xlamo;
+           }
+         iretn = 381; // added for do loop
+         iret  =   0; // added for loop
+         while (iretn == 381)
+           {
+             if ((fabs(t) < fabs(atime)) || (iret == 351))
+               {
+                 if (t >= 0.0)
+                     delt = stepn;
+                   else
+                     delt = stepp;
+                 iret  = 351;
+                 iretn = 381;
+               }
+               else
+               {
+                 if (t > 0.0)  // error if prev if has atime:=0.0 and t:=0.0 (ge)
+                     delt = stepp;
+                   else
+                     delt = stepn;
+                 if (fabs(t - atime) >= stepp)
+                   {
+                     iret  = 0;
+                     iretn = 381;
+                   }
+                   else
+                   {
+                     ft    = t - atime;
+                     iretn = 0;
+                   }
+               }
+
+             /* ------------------- dot terms calculated ------------- */
+             /* ----------- near - synchronous resonance terms ------- */
+             if (irez != 2)
+               {
+                 xndt  = del1 * sin(xli - fasx2) + del2 * sin(2.0 * (xli - fasx4)) +
+                         del3 * sin(3.0 * (xli - fasx6));
+                 xldot = xni + xfact;
+                 xnddt = del1 * cos(xli - fasx2) +
+                         2.0 * del2 * cos(2.0 * (xli - fasx4)) +
+                         3.0 * del3 * cos(3.0 * (xli - fasx6));
+                 xnddt = xnddt * xldot;
+               }
+               else
+               {
+                 /* --------- near - half-day resonance terms -------- */
+                 xomi  = argpo + argpdot * atime;
+                 x2omi = xomi + xomi;
+                 x2li  = xli + xli;
+                 xndt  = d2201 * sin(x2omi + xli - g22) + d2211 * sin(xli - g22) +
+                       d3210 * sin(xomi + xli - g32)  + d3222 * sin(-xomi + xli - g32)+
+                       d4410 * sin(x2omi + x2li - g44)+ d4422 * sin(x2li - g44) +
+                       d5220 * sin(xomi + xli - g52)  + d5232 * sin(-xomi + xli - g52)+
+                       d5421 * sin(xomi + x2li - g54) + d5433 * sin(-xomi + x2li - g54);
+                 xldot = xni + xfact;
+                 xnddt = d2201 * cos(x2omi + xli - g22) + d2211 * cos(xli - g22) +
+                       d3210 * cos(xomi + xli - g32) + d3222 * cos(-xomi + xli - g32) +
+                       d5220 * cos(xomi + xli - g52) + d5232 * cos(-xomi + xli - g52) +
+                       2.0 * (d4410 * cos(x2omi + x2li - g44) +
+                       d4422 * cos(x2li - g44) + d5421 * cos(xomi + x2li - g54) +
+                       d5433 * cos(-xomi + x2li - g54));
+                 xnddt = xnddt * xldot;
+               }
+
+             /* ----------------------- integrator ------------------- */
+             if (iretn == 381)
+               {
+                 xli   = xli + xldot * delt + xndt * step2;
+                 xni   = xni + xndt * delt + xnddt * step2;
+                 atime = atime + delt;
+               }
+           }  // while iretn = 381
+
+         nm = xni + xndt * ft + xnddt * ft * ft * 0.5;
+         xl = xli + xldot * ft + xndt * ft * ft * 0.5;
+         if (irez != 1)
+           {
+             mm   = xl - 2.0 * nodem + 2.0 * theta;
+             dndt = nm - no;
+           }
+           else
+           {
+             mm   = xl - nodem - argpm + theta;
+             dndt = nm - no;
+           }
+         nm = no + dndt;
+       }
+
+//#include "debug4.cpp"
+}  // end dsspace
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure initl
+*
+*  this procedure initializes the spg4 propagator. all the initialization is
+*    consolidated here instead of having multiple loops inside other routines.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    ecco        - eccentricity                           0.0 - 1.0
+*    epoch       - epoch time in days from jan 0, 1950. 0 hr
+*    inclo       - inclination of satellite
+*    no          - mean motion of satellite
+*    satn        - satellite number
+*
+*  outputs       :
+*    ainv        - 1.0 / a
+*    ao          - semi major axis
+*    con41       -
+*    con42       - 1.0 - 5.0 cos(i)
+*    cosio       - cosine of inclination
+*    cosio2      - cosio squared
+*    eccsq       - eccentricity squared
+*    method      - flag for deep space                    'd', 'n'
+*    omeosq      - 1.0 - ecco * ecco
+*    posq        - semi-parameter squared
+*    rp          - radius of perigee
+*    rteosq      - square root of (1.0 - ecco*ecco)
+*    sinio       - sine of inclination
+*    gsto        - gst at time of observation               rad
+*    no          - mean motion of satellite
+*
+*  locals        :
+*    ak          -
+*    d1          -
+*    del         -
+*    adel        -
+*    po          -
+*
+*  coupling      :
+*    getgravconst
+*    gstime      - find greenwich sidereal time from the julian date
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void initl
+     (
+       int satn,      gravconsttype whichconst,
+       double ecco,   double epoch,  double inclo,   double& no,
+       char& method,
+       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
+       double& cosio2,double& eccsq, double& omeosq, double& posq,
+       double& rp,    double& rteosq,double& sinio , double& gsto
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     double ak, d1, del, adel, po, x2o3, j2, xke,
+            tumin, mu, radiusearthkm, j3, j4, j3oj2;
+
+     // sgp4fix use old way of finding gst
+     int ids70;
+     double ts70, ds70, tfrac, c1, thgr70, fk5r, c1p2p;
+     const double twopi = 2.0 * pi;
+
+     /* ----------------------- earth constants ---------------------- */
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+     x2o3   = 2.0 / 3.0;
+
+     /* ------------- calculate auxillary epoch quantities ---------- */
+     eccsq  = ecco * ecco;
+     omeosq = 1.0 - eccsq;
+     rteosq = sqrt(omeosq);
+     cosio  = cos(inclo);
+     cosio2 = cosio * cosio;
+
+     /* ------------------ un-kozai the mean motion ----------------- */
+     ak    = pow(xke / no, x2o3);
+     d1    = 0.75 * j2 * (3.0 * cosio2 - 1.0) / (rteosq * omeosq);
+     del   = d1 / (ak * ak);
+     adel  = ak * (1.0 - del * del - del *
+             (1.0 / 3.0 + 134.0 * del * del / 81.0));
+     del   = d1/(adel * adel);
+     no    = no / (1.0 + del);
+
+     ao    = pow(xke / no, x2o3);
+     sinio = sin(inclo);
+     po    = ao * omeosq;
+     con42 = 1.0 - 5.0 * cosio2;
+     con41 = -con42-cosio2-cosio2;
+     ainv  = 1.0 / ao;
+     posq  = po * po;
+     rp    = ao * (1.0 - ecco);
+     method = 'n';
+
+     // sgp4fix modern approach to finding sidereal timew
+     // gsto = gstime(epoch + 2433281.5);
+
+     // sgp4fix use old way of finding gst
+     // count integer number of days from 0 jan 1970
+     ts70  = epoch - 7305.0;
+     ids70 = floor(ts70 + 1.0e-8);
+     ds70  = ids70;
+     tfrac = ts70 - ds70;
+     // find greenwich location at epoch
+     c1    = 1.72027916940703639e-2;
+     thgr70= 1.7321343856509374;
+     fk5r  = 5.07551419432269442e-15;
+     c1p2p = c1 + twopi;
+     gsto  = fmod( thgr70 + c1*ds70 + c1p2p*tfrac + ts70*ts70*fk5r, twopi);
+     if ( gsto < 0.0 )
+         gsto = gsto + twopi;
+
+//#include "debug5.cpp"
+}  // end initl
+
+/*-----------------------------------------------------------------------------
+*
+*                             procedure sgp4init
+*
+*  this procedure initializes variables for sgp4.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    satn        - satellite number
+*    bstar       - sgp4 type drag coefficient              kg/m2er
+*    ecco        - eccentricity
+*    epoch       - epoch time in days from jan 0, 1950. 0 hr
+*    argpo       - argument of perigee (output if ds)
+*    inclo       - inclination
+*    mo          - mean anomaly (output if ds)
+*    no          - mean motion
+*    nodeo       - right ascension of ascending node
+*
+*  outputs       :
+*    satrec      - common values for subsequent calls
+*    return code - non-zero on error.
+*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
+*                   2 - mean motion less than 0.0
+*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
+*                   4 - semi-latus rectum < 0.0
+*                   5 - epoch elements are sub-orbital
+*                   6 - satellite has decayed
+*
+*  locals        :
+*    cnodm  , snodm  , cosim  , sinim  , cosomm , sinomm
+*    cc1sq  , cc2    , cc3
+*    coef   , coef1
+*    cosio4      -
+*    day         -
+*    dndt        -
+*    em          - eccentricity
+*    emsq        - eccentricity squared
+*    eeta        -
+*    etasq       -
+*    gam         -
+*    argpm       - argument of perigee
+*    nodem       -
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    nm          - mean motion
+*    perige      - perigee
+*    pinvsq      -
+*    psisq       -
+*    qzms24      -
+*    rtemsq      -
+*    s1, s2, s3, s4, s5, s6, s7          -
+*    sfour       -
+*    ss1, ss2, ss3, ss4, ss5, ss6, ss7         -
+*    sz1, sz2, sz3
+*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
+*    tc          -
+*    temp        -
+*    temp1, temp2, temp3       -
+*    tsi         -
+*    xpidot      -
+*    xhdot1      -
+*    z1, z2, z3          -
+*    z11, z12, z13, z21, z22, z23, z31, z32, z33         -
+*
+*  coupling      :
+*    getgravconst-
+*    initl       -
+*    dscom       -
+*    dpper       -
+*    dsinit      -
+*    sgp4        -
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+int sgp4init
+     (
+       gravconsttype whichconst,       const int satn,     const double epoch,
+       const double xbstar,  const double xecco, const double xargpo,
+       const double xinclo,  const double xmo,   const double xno,
+       const double xnodeo,  elsetrec& satrec
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     double ao, ainv,   con42, cosio, sinio, cosio2, eccsq,
+          omeosq, posq,   rp,     rteosq,
+          cnodm , snodm , cosim , sinim , cosomm, sinomm, cc1sq ,
+          cc2   , cc3   , coef  , coef1 , cosio4, day   , dndt  ,
+          em    , emsq  , eeta  , etasq , gam   , argpm , nodem ,
+          inclm , mm    , nm    , perige, pinvsq, psisq , qzms24,
+          rtemsq, s1    , s2    , s3    , s4    , s5    , s6    ,
+          s7    , sfour , ss1 = 0   , ss2 = 0   , ss3 = 0   , ss4 = 0   , ss5 = 0   ,
+          ss6 = 0   , ss7 = 0   , sz1 = 0   , sz2 = 0   , sz3 = 0   , sz11 = 0  , sz12 = 0  ,
+          sz13 = 0  , sz21 = 0  , sz22 = 0  , sz23 = 0  , sz31 = 0  , sz32 = 0  , sz33 = 0  ,
+          tc    , temp  , temp1 , temp2 , temp3 , tsi   , xpidot,
+          xhdot1, z1    , z2    , z3    , z11   , z12   , z13   ,
+          z21   , z22   , z23   , z31   , z32   , z33,
+          qzms2t, ss, j2, j3oj2, j4, x2o3, r[3], v[3],
+          tumin, mu, radiusearthkm, xke, j3;
+
+     /* ------------------------ initialization --------------------- */
+     // sgp4fix divisor for divide by zero check on inclination
+     const double temp4    =   1.0 + cos(pi-1.0e-9);
+
+     /* ----------- set all near earth variables to zero ------------ */
+     satrec.isimp   = 0;   satrec.method = 'n'; satrec.aycof    = 0.0;
+     satrec.con41   = 0.0; satrec.cc1    = 0.0; satrec.cc4      = 0.0;
+     satrec.cc5     = 0.0; satrec.d2     = 0.0; satrec.d3       = 0.0;
+     satrec.d4      = 0.0; satrec.delmo  = 0.0; satrec.eta      = 0.0;
+     satrec.argpdot = 0.0; satrec.omgcof = 0.0; satrec.sinmao   = 0.0;
+     satrec.t       = 0.0; satrec.t2cof  = 0.0; satrec.t3cof    = 0.0;
+     satrec.t4cof   = 0.0; satrec.t5cof  = 0.0; satrec.x1mth2   = 0.0;
+     satrec.x7thm1  = 0.0; satrec.mdot   = 0.0; satrec.nodedot  = 0.0;
+     satrec.xlcof   = 0.0; satrec.xmcof  = 0.0; satrec.nodecf   = 0.0;
+
+     /* ----------- set all deep space variables to zero ------------ */
+     satrec.irez  = 0;   satrec.d2201 = 0.0; satrec.d2211 = 0.0;
+     satrec.d3210 = 0.0; satrec.d3222 = 0.0; satrec.d4410 = 0.0;
+     satrec.d4422 = 0.0; satrec.d5220 = 0.0; satrec.d5232 = 0.0;
+     satrec.d5421 = 0.0; satrec.d5433 = 0.0; satrec.dedt  = 0.0;
+     satrec.del1  = 0.0; satrec.del2  = 0.0; satrec.del3  = 0.0;
+     satrec.didt  = 0.0; satrec.dmdt  = 0.0; satrec.dnodt = 0.0;
+     satrec.domdt = 0.0; satrec.e3    = 0.0; satrec.ee2   = 0.0;
+     satrec.peo   = 0.0; satrec.pgho  = 0.0; satrec.pho   = 0.0;
+     satrec.pinco = 0.0; satrec.plo   = 0.0; satrec.se2   = 0.0;
+     satrec.se3   = 0.0; satrec.sgh2  = 0.0; satrec.sgh3  = 0.0;
+     satrec.sgh4  = 0.0; satrec.sh2   = 0.0; satrec.sh3   = 0.0;
+     satrec.si2   = 0.0; satrec.si3   = 0.0; satrec.sl2   = 0.0;
+     satrec.sl3   = 0.0; satrec.sl4   = 0.0; satrec.gsto  = 0.0;
+     satrec.xfact = 0.0; satrec.xgh2  = 0.0; satrec.xgh3  = 0.0;
+     satrec.xgh4  = 0.0; satrec.xh2   = 0.0; satrec.xh3   = 0.0;
+     satrec.xi2   = 0.0; satrec.xi3   = 0.0; satrec.xl2   = 0.0;
+     satrec.xl3   = 0.0; satrec.xl4   = 0.0; satrec.xlamo = 0.0;
+     satrec.zmol  = 0.0; satrec.zmos  = 0.0; satrec.atime = 0.0;
+     satrec.xli   = 0.0; satrec.xni   = 0.0;
+
+     // sgp4fix - note the following variables are also passed directly via satrec.
+     // it is possible to streamline the sgp4init call by deleting the "x"
+     // variables, but the user would need to set the satrec.* values first. we
+     // include the additional assignments in case twoline2rv is not used.
+     satrec.bstar   = xbstar;
+     satrec.ecco    = xecco;
+     satrec.argpo   = xargpo;
+     satrec.inclo   = xinclo;
+     satrec.mo	    = xmo;
+     satrec.no	    = xno;
+     satrec.nodeo   = xnodeo;
+
+     /* ------------------------ earth constants ----------------------- */
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+     ss     = 78.0 / radiusearthkm + 1.0;
+     qzms2t = pow(((120.0 - 78.0) / radiusearthkm), 4);
+     x2o3   =  2.0 / 3.0;
+
+     satrec.init = 'y';
+     satrec.t	 = 0.0;
+
+     initl
+         (
+           satn, whichconst, satrec.ecco, epoch, satrec.inclo, satrec.no, satrec.method,
+           ainv, ao, satrec.con41, con42, cosio, cosio2, eccsq, omeosq,
+           posq, rp, rteosq, sinio, satrec.gsto
+         );
+     satrec.error = 0;
+
+     if (rp < 1.0)
+       {
+//         printf("# *** satn%d epoch elts sub-orbital ***\n", satn);
+         satrec.error = 5;
+       }
+
+     if ((omeosq >= 0.0 ) || ( satrec.no >= 0.0))
+       {
+         satrec.isimp = 0;
+         if (rp < (220.0 / radiusearthkm + 1.0))
+             satrec.isimp = 1;
+         sfour  = ss;
+         qzms24 = qzms2t;
+         perige = (rp - 1.0) * radiusearthkm;
+
+         /* - for perigees below 156 km, s and qoms2t are altered - */
+         if (perige < 156.0)
+           {
+             sfour = perige - 78.0;
+             if (perige < 98.0)
+                 sfour = 20.0;
+             qzms24 = pow(((120.0 - sfour) / radiusearthkm), 4.0);
+             sfour  = sfour / radiusearthkm + 1.0;
+           }
+         pinvsq = 1.0 / posq;
+
+         tsi  = 1.0 / (ao - sfour);
+         satrec.eta  = ao * satrec.ecco * tsi;
+         etasq = satrec.eta * satrec.eta;
+         eeta  = satrec.ecco * satrec.eta;
+         psisq = fabs(1.0 - etasq);
+         coef  = qzms24 * pow(tsi, 4.0);
+         coef1 = coef / pow(psisq, 3.5);
+         cc2   = coef1 * satrec.no * (ao * (1.0 + 1.5 * etasq + eeta *
+                        (4.0 + etasq)) + 0.375 * j2 * tsi / psisq * satrec.con41 *
+                        (8.0 + 3.0 * etasq * (8.0 + etasq)));
+         satrec.cc1   = satrec.bstar * cc2;
+         cc3   = 0.0;
+         if (satrec.ecco > 1.0e-4)
+             cc3 = -2.0 * coef * tsi * j3oj2 * satrec.no * sinio / satrec.ecco;
+         satrec.x1mth2 = 1.0 - cosio2;
+         satrec.cc4    = 2.0* satrec.no * coef1 * ao * omeosq *
+                           (satrec.eta * (2.0 + 0.5 * etasq) + satrec.ecco *
+                           (0.5 + 2.0 * etasq) - j2 * tsi / (ao * psisq) *
+                           (-3.0 * satrec.con41 * (1.0 - 2.0 * eeta + etasq *
+                           (1.5 - 0.5 * eeta)) + 0.75 * satrec.x1mth2 *
+                           (2.0 * etasq - eeta * (1.0 + etasq)) * cos(2.0 * satrec.argpo)));
+         satrec.cc5 = 2.0 * coef1 * ao * omeosq * (1.0 + 2.75 *
+                        (etasq + eeta) + eeta * etasq);
+         cosio4 = cosio2 * cosio2;
+         temp1  = 1.5 * j2 * pinvsq * satrec.no;
+         temp2  = 0.5 * temp1 * j2 * pinvsq;
+         temp3  = -0.46875 * j4 * pinvsq * pinvsq * satrec.no;
+         satrec.mdot     = satrec.no + 0.5 * temp1 * rteosq * satrec.con41 + 0.0625 *
+                            temp2 * rteosq * (13.0 - 78.0 * cosio2 + 137.0 * cosio4);
+         satrec.argpdot  = -0.5 * temp1 * con42 + 0.0625 * temp2 *
+                             (7.0 - 114.0 * cosio2 + 395.0 * cosio4) +
+                             temp3 * (3.0 - 36.0 * cosio2 + 49.0 * cosio4);
+         xhdot1            = -temp1 * cosio;
+         satrec.nodedot = xhdot1 + (0.5 * temp2 * (4.0 - 19.0 * cosio2) +
+                              2.0 * temp3 * (3.0 - 7.0 * cosio2)) * cosio;
+         xpidot            =  satrec.argpdot+ satrec.nodedot;
+         satrec.omgcof   = satrec.bstar * cc3 * cos(satrec.argpo);
+         satrec.xmcof    = 0.0;
+         if (satrec.ecco > 1.0e-4)
+             satrec.xmcof = -x2o3 * coef * satrec.bstar / eeta;
+         satrec.nodecf = 3.5 * omeosq * xhdot1 * satrec.cc1;
+         satrec.t2cof   = 1.5 * satrec.cc1;
+         // sgp4fix for divide by zero with xinco = 180 deg
+         if (fabs(cosio+1.0) > 1.5e-12)
+             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / (1.0 + cosio);
+           else
+             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / temp4;
+         satrec.aycof   = -0.5 * j3oj2 * sinio;
+         satrec.delmo   = pow((1.0 + satrec.eta * cos(satrec.mo)), 3);
+         satrec.sinmao  = sin(satrec.mo);
+         satrec.x7thm1  = 7.0 * cosio2 - 1.0;
+
+         /* --------------- deep space initialization ------------- */
+         if ((2*pi / satrec.no) >= 225.0)
+           {
+             satrec.method = 'd';
+             satrec.isimp  = 1;
+             tc    =  0.0;
+             inclm = satrec.inclo;
+
+             dscom
+                 (
+                   epoch, satrec.ecco, satrec.argpo, tc, satrec.inclo, satrec.nodeo,
+                   satrec.no, snodm, cnodm,  sinim, cosim,sinomm,     cosomm,
+                   day, satrec.e3, satrec.ee2, em,         emsq, gam,
+                   satrec.peo,  satrec.pgho,   satrec.pho, satrec.pinco,
+                   satrec.plo,  rtemsq,        satrec.se2, satrec.se3,
+                   satrec.sgh2, satrec.sgh3,   satrec.sgh4,
+                   satrec.sh2,  satrec.sh3,    satrec.si2, satrec.si3,
+                   satrec.sl2,  satrec.sl3,    satrec.sl4, s1, s2, s3, s4, s5,
+                   s6,   s7,   ss1,  ss2,  ss3,  ss4,  ss5,  ss6,  ss7, sz1, sz2, sz3,
+                   sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33,
+                   satrec.xgh2, satrec.xgh3,   satrec.xgh4, satrec.xh2,
+                   satrec.xh3,  satrec.xi2,    satrec.xi3,  satrec.xl2,
+                   satrec.xl3,  satrec.xl4,    nm, z1, z2, z3, z11,
+                   z12, z13, z21, z22, z23, z31, z32, z33,
+                   satrec.zmol, satrec.zmos
+                 );
+             dpper
+                 (
+                   satrec.e3, satrec.ee2, satrec.peo, satrec.pgho,
+                   satrec.pho, satrec.pinco, satrec.plo, satrec.se2,
+                   satrec.se3, satrec.sgh2, satrec.sgh3, satrec.sgh4,
+                   satrec.sh2, satrec.sh3, satrec.si2,  satrec.si3,
+                   satrec.sl2, satrec.sl3, satrec.sl4,  satrec.t,
+                   satrec.xgh2,satrec.xgh3,satrec.xgh4, satrec.xh2,
+                   satrec.xh3, satrec.xi2, satrec.xi3,  satrec.xl2,
+                   satrec.xl3, satrec.xl4, satrec.zmol, satrec.zmos, inclm, satrec.init,
+                   satrec.ecco, satrec.inclo, satrec.nodeo, satrec.argpo, satrec.mo
+                 );
+
+             argpm  = 0.0;
+             nodem  = 0.0;
+             mm     = 0.0;
+
+             dsinit
+                 (
+                   whichconst,
+                   cosim, emsq, satrec.argpo, s1, s2, s3, s4, s5, sinim, ss1, ss2, ss3, ss4,
+                   ss5, sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33, satrec.t, tc,
+                   satrec.gsto, satrec.mo, satrec.mdot, satrec.no, satrec.nodeo,
+                   satrec.nodedot, xpidot, z1, z3, z11, z13, z21, z23, z31, z33,
+                   satrec.ecco, eccsq, em, argpm, inclm, mm, nm, nodem,
+                   satrec.irez,  satrec.atime,
+                   satrec.d2201, satrec.d2211, satrec.d3210, satrec.d3222 ,
+                   satrec.d4410, satrec.d4422, satrec.d5220, satrec.d5232,
+                   satrec.d5421, satrec.d5433, satrec.dedt,  satrec.didt,
+                   satrec.dmdt,  dndt,         satrec.dnodt, satrec.domdt ,
+                   satrec.del1,  satrec.del2,  satrec.del3,  satrec.xfact,
+                   satrec.xlamo, satrec.xli,   satrec.xni
+                 );
+           }
+
+       /* ----------- set variables if not deep space ----------- */
+       if (satrec.isimp != 1)
+         {
+           cc1sq          = satrec.cc1 * satrec.cc1;
+           satrec.d2    = 4.0 * ao * tsi * cc1sq;
+           temp           = satrec.d2 * tsi * satrec.cc1 / 3.0;
+           satrec.d3    = (17.0 * ao + sfour) * temp;
+           satrec.d4    = 0.5 * temp * ao * tsi * (221.0 * ao + 31.0 * sfour) *
+                            satrec.cc1;
+           satrec.t3cof = satrec.d2 + 2.0 * cc1sq;
+           satrec.t4cof = 0.25 * (3.0 * satrec.d3 + satrec.cc1 *
+                            (12.0 * satrec.d2 + 10.0 * cc1sq));
+           satrec.t5cof = 0.2 * (3.0 * satrec.d4 +
+                            12.0 * satrec.cc1 * satrec.d3 +
+                            6.0 * satrec.d2 * satrec.d2 +
+                            15.0 * cc1sq * (2.0 * satrec.d2 + cc1sq));
+         }
+       } // if omeosq = 0 ...
+
+       /* finally propogate to zero epoch to initialise all others. */
+       if(satrec.error == 0)
+           sgp4(whichconst, satrec, 0.0, r, v);
+
+       satrec.init = 'n';
+
+//#include "debug6.cpp"
+       return satrec.error;
+}  // end sgp4init
+
+/*-----------------------------------------------------------------------------
+*
+*                             procedure sgp4
+*
+*  this procedure is the sgp4 prediction model from space command. this is an
+*    updated and combined version of sgp4 and sdp4, which were originally
+*    published separately in spacetrack report #3. this version follows the
+*    methodology from the aiaa paper (2006) describing the history and
+*    development of the code.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    satrec	 - initialised structure from sgp4init() call.
+*    tsince	 - time eince epoch (minutes)
+*
+*  outputs       :
+*    r           - position vector                     km
+*    v           - velocity                            km/sec
+*  return code - non-zero on error.
+*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
+*                   2 - mean motion less than 0.0
+*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
+*                   4 - semi-latus rectum < 0.0
+*                   5 - epoch elements are sub-orbital
+*                   6 - satellite has decayed
+*
+*  locals        :
+*    am          -
+*    axnl, aynl        -
+*    betal       -
+*    cosim   , sinim   , cosomm  , sinomm  , cnod    , snod    , cos2u   ,
+*    sin2u   , coseo1  , sineo1  , cosi    , sini    , cosip   , sinip   ,
+*    cosisq  , cossu   , sinsu   , cosu    , sinu
+*    delm        -
+*    delomg      -
+*    dndt        -
+*    eccm        -
+*    emsq        -
+*    ecose       -
+*    el2         -
+*    eo1         -
+*    eccp        -
+*    esine       -
+*    argpm       -
+*    argpp       -
+*    omgadf      -
+*    pl          -
+*    r           -
+*    rtemsq      -
+*    rdotl       -
+*    rl          -
+*    rvdot       -
+*    rvdotl      -
+*    su          -
+*    t2  , t3   , t4    , tc
+*    tem5, temp , temp1 , temp2  , tempa  , tempe  , templ
+*    u   , ux   , uy    , uz     , vx     , vy     , vz
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    nm          - mean motion
+*    nodem       - right asc of ascending node
+*    xinc        -
+*    xincp       -
+*    xl          -
+*    xlm         -
+*    mp          -
+*    xmdf        -
+*    xmx         -
+*    xmy         -
+*    nodedf      -
+*    xnode       -
+*    nodep       -
+*    np          -
+*
+*  coupling      :
+*    getgravconst-
+*    dpper
+*    dpspace
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+int sgp4
+     (
+       gravconsttype whichconst, elsetrec& satrec,  double tsince,
+       double r[3],  double v[3]
+     )
+{
+     double am   , axnl  , aynl , betal ,  cosim , cnod  ,
+         cos2u, coseo1, cosi , cosip ,  cosisq, cossu , cosu,
+         delm , delomg, em   , emsq  ,  ecose , el2   , eo1 ,
+         ep   , esine , argpm, argpp ,  argpdf, pl,     mrt = 0.0,
+         mvt  , rdotl , rl   , rvdot ,  rvdotl, sinim ,
+         sin2u, sineo1, sini , sinip ,  sinsu , sinu  ,
+         snod , su    , t2   , t3    ,  t4    , tem5  , temp,
+         temp1, temp2 , tempa, tempe ,  templ , u     , ux  ,
+         uy   , uz    , vx   , vy    ,  vz    , inclm , mm  ,
+         nm   , nodem, xinc , xincp ,  xl    , xlm   , mp  ,
+         xmdf , xmx   , xmy  , nodedf, xnode , nodep, tc  , dndt,
+         twopi, x2o3  , j2   , j3    , tumin, j4 , xke   , j3oj2, radiusearthkm,
+         mu, vkmpersec;
+     int ktr;
+
+     /* ------------------ set mathematical constants --------------- */
+     // sgp4fix divisor for divide by zero check on inclination
+     const double temp4    =   1.0 + cos(pi-1.0e-9);
+     twopi = 2.0 * pi;
+     x2o3  = 2.0 / 3.0;
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+     vkmpersec     = radiusearthkm * xke/60.0;
+
+     /* --------------------- clear sgp4 error flag ----------------- */
+     satrec.t     = tsince;
+     satrec.error = 0;
+
+     /* ------- update for secular gravity and atmospheric drag ----- */
+     xmdf    = satrec.mo + satrec.mdot * satrec.t;
+     argpdf  = satrec.argpo + satrec.argpdot * satrec.t;
+     nodedf  = satrec.nodeo + satrec.nodedot * satrec.t;
+     argpm   = argpdf;
+     mm      = xmdf;
+     t2      = satrec.t * satrec.t;
+     nodem   = nodedf + satrec.nodecf * t2;
+     tempa   = 1.0 - satrec.cc1 * satrec.t;
+     tempe   = satrec.bstar * satrec.cc4 * satrec.t;
+     templ   = satrec.t2cof * t2;
+
+     if (satrec.isimp != 1)
+       {
+         delomg = satrec.omgcof * satrec.t;
+         delm   = satrec.xmcof *
+                  (pow((1.0 + satrec.eta * cos(xmdf)), 3) -
+                  satrec.delmo);
+         temp   = delomg + delm;
+         mm     = xmdf + temp;
+         argpm  = argpdf - temp;
+         t3     = t2 * satrec.t;
+         t4     = t3 * satrec.t;
+         tempa  = tempa - satrec.d2 * t2 - satrec.d3 * t3 -
+                          satrec.d4 * t4;
+         tempe  = tempe + satrec.bstar * satrec.cc5 * (sin(mm) -
+                          satrec.sinmao);
+         templ  = templ + satrec.t3cof * t3 + t4 * (satrec.t4cof +
+                          satrec.t * satrec.t5cof);
+       }
+
+     nm    = satrec.no;
+     em    = satrec.ecco;
+     inclm = satrec.inclo;
+     if (satrec.method == 'd')
+       {
+         tc = satrec.t;
+         dspace
+             (
+               satrec.irez,
+               satrec.d2201, satrec.d2211, satrec.d3210,
+               satrec.d3222, satrec.d4410, satrec.d4422,
+               satrec.d5220, satrec.d5232, satrec.d5421,
+               satrec.d5433, satrec.dedt,  satrec.del1,
+               satrec.del2,  satrec.del3,  satrec.didt,
+               satrec.dmdt,  satrec.dnodt, satrec.domdt,
+               satrec.argpo, satrec.argpdot, satrec.t, tc,
+               satrec.gsto, satrec.xfact, satrec.xlamo,
+               satrec.no, satrec.atime,
+               em, argpm, inclm, satrec.xli, mm, satrec.xni,
+               nodem, dndt, nm
+             );
+       } // if method = d
+
+     if (nm <= 0.0)
+       {
+//         printf("# error nm %f\n", nm);
+         satrec.error = 2;
+       }
+     am = pow((xke / nm),x2o3) * tempa * tempa;
+     nm = xke / pow(am, 1.5);
+     em = em - tempe;
+
+     // fix tolerance for error recognition
+     if ((em >= 1.0) || (em < -0.001) || (am < 0.95))
+       {
+//         printf("# error em %f\n", em);
+         satrec.error = 1;
+       }
+     if (em < 0.0)
+         em  = 1.0e-6;
+     mm     = mm + satrec.no * templ;
+     xlm    = mm + argpm + nodem;
+     emsq   = em * em;
+     temp   = 1.0 - emsq;
+
+     nodem  = fmod(nodem, twopi);
+     argpm  = fmod(argpm, twopi);
+     xlm    = fmod(xlm, twopi);
+     mm     = fmod(xlm - argpm - nodem, twopi);
+
+     /* ----------------- compute extra mean quantities ------------- */
+     sinim = sin(inclm);
+     cosim = cos(inclm);
+
+     /* -------------------- add lunar-solar periodics -------------- */
+     ep     = em;
+     xincp  = inclm;
+     argpp  = argpm;
+     nodep  = nodem;
+     mp     = mm;
+     sinip  = sinim;
+     cosip  = cosim;
+     if (satrec.method == 'd')
+       {
+         dpper
+             (
+               satrec.e3,   satrec.ee2,  satrec.peo,
+               satrec.pgho, satrec.pho,  satrec.pinco,
+               satrec.plo,  satrec.se2,  satrec.se3,
+               satrec.sgh2, satrec.sgh3, satrec.sgh4,
+               satrec.sh2,  satrec.sh3,  satrec.si2,
+               satrec.si3,  satrec.sl2,  satrec.sl3,
+               satrec.sl4,  satrec.t,    satrec.xgh2,
+               satrec.xgh3, satrec.xgh4, satrec.xh2,
+               satrec.xh3,  satrec.xi2,  satrec.xi3,
+               satrec.xl2,  satrec.xl3,  satrec.xl4,
+               satrec.zmol, satrec.zmos, satrec.inclo,
+               'n', ep, xincp, nodep, argpp, mp
+             );
+         if (xincp < 0.0)
+           {
+             xincp  = -xincp;
+             nodep = nodep + pi;
+             argpp  = argpp - pi;
+           }
+         if ((ep < 0.0 ) || ( ep > 1.0))
+           {
+ //            printf("# error ep %f\n", ep);
+             satrec.error = 3;
+           }
+       } // if method = d
+
+     /* -------------------- long period periodics ------------------ */
+     if (satrec.method == 'd')
+       {
+         sinip =  sin(xincp);
+         cosip =  cos(xincp);
+         satrec.aycof = -0.5*j3oj2*sinip;
+         // sgp4fix for divide by zero for xincp = 180 deg
+         if (fabs(cosip+1.0) > 1.5e-12)
+             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / (1.0 + cosip);
+           else
+             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / temp4;
+       }
+     axnl = ep * cos(argpp);
+     temp = 1.0 / (am * (1.0 - ep * ep));
+     aynl = ep* sin(argpp) + temp * satrec.aycof;
+     xl   = mp + argpp + nodep + temp * satrec.xlcof * axnl;
+
+     /* --------------------- solve kepler's equation --------------- */
+     u    = fmod(xl - nodep, twopi);
+     eo1  = u;
+     tem5 = 9999.9;
+     ktr = 1;
+     //   sgp4fix for kepler iteration
+     //   the following iteration needs better limits on corrections
+     while (( fabs(tem5) >= 1.0e-12) && (ktr <= 10) )
+       {
+         sineo1 = sin(eo1);
+         coseo1 = cos(eo1);
+         tem5   = 1.0 - coseo1 * axnl - sineo1 * aynl;
+         tem5   = (u - aynl * coseo1 + axnl * sineo1 - eo1) / tem5;
+         if(fabs(tem5) >= 0.95)
+             tem5 = tem5 > 0.0 ? 0.95 : -0.95;
+         eo1    = eo1 + tem5;
+         ktr = ktr + 1;
+       }
+
+     /* ------------- short period preliminary quantities ----------- */
+     ecose = axnl*coseo1 + aynl*sineo1;
+     esine = axnl*sineo1 - aynl*coseo1;
+     el2   = axnl*axnl + aynl*aynl;
+     pl    = am*(1.0-el2);
+     if (pl < 0.0)
+       {
+//         printf("# error pl %f\n", pl);
+         satrec.error = 4;
+       }
+       else
+       {
+         rl     = am * (1.0 - ecose);
+         rdotl  = sqrt(am) * esine/rl;
+         rvdotl = sqrt(pl) / rl;
+         betal  = sqrt(1.0 - el2);
+         temp   = esine / (1.0 + betal);
+         sinu   = am / rl * (sineo1 - aynl - axnl * temp);
+         cosu   = am / rl * (coseo1 - axnl + aynl * temp);
+         su     = atan2(sinu, cosu);
+         sin2u  = (cosu + cosu) * sinu;
+         cos2u  = 1.0 - 2.0 * sinu * sinu;
+         temp   = 1.0 / pl;
+         temp1  = 0.5 * j2 * temp;
+         temp2  = temp1 * temp;
+
+         /* -------------- update for short period periodics ------------ */
+         if (satrec.method == 'd')
+           {
+             cosisq                 = cosip * cosip;
+             satrec.con41  = 3.0*cosisq - 1.0;
+             satrec.x1mth2 = 1.0 - cosisq;
+             satrec.x7thm1 = 7.0*cosisq - 1.0;
+           }
+         mrt   = rl * (1.0 - 1.5 * temp2 * betal * satrec.con41) +
+                 0.5 * temp1 * satrec.x1mth2 * cos2u;
+         su    = su - 0.25 * temp2 * satrec.x7thm1 * sin2u;
+         xnode = nodep + 1.5 * temp2 * cosip * sin2u;
+         xinc  = xincp + 1.5 * temp2 * cosip * sinip * cos2u;
+         mvt   = rdotl - nm * temp1 * satrec.x1mth2 * sin2u / xke;
+         rvdot = rvdotl + nm * temp1 * (satrec.x1mth2 * cos2u +
+                 1.5 * satrec.con41) / xke;
+
+         /* --------------------- orientation vectors ------------------- */
+         sinsu =  sin(su);
+         cossu =  cos(su);
+         snod  =  sin(xnode);
+         cnod  =  cos(xnode);
+         sini  =  sin(xinc);
+         cosi  =  cos(xinc);
+         xmx   = -snod * cosi;
+         xmy   =  cnod * cosi;
+         ux    =  xmx * sinsu + cnod * cossu;
+         uy    =  xmy * sinsu + snod * cossu;
+         uz    =  sini * sinsu;
+         vx    =  xmx * cossu - cnod * sinsu;
+         vy    =  xmy * cossu - snod * sinsu;
+         vz    =  sini * cossu;
+
+         /* --------- position and velocity (in km and km/sec) ---------- */
+         r[0] = (mrt * ux)* radiusearthkm;
+         r[1] = (mrt * uy)* radiusearthkm;
+         r[2] = (mrt * uz)* radiusearthkm;
+         v[0] = (mvt * ux + rvdot * vx) * vkmpersec;
+         v[1] = (mvt * uy + rvdot * vy) * vkmpersec;
+         v[2] = (mvt * uz + rvdot * vz) * vkmpersec;
+       }  // if pl > 0
+
+     // sgp4fix for decaying satellites
+     if (mrt < 1.0)
+       {
+//         printf("# decay condition %11.6f \n",mrt);
+         satrec.error = 6;
+       }
+
+
+//#include "debug7.cpp"
+     return satrec.error;
+}  // end sgp4
+
+
+/* -----------------------------------------------------------------------------
+*
+*                           function gstime
+*
+*  this function finds the greenwich sidereal time.
+*
+*  author        : david vallado                  719-573-2600    1 mar 2001
+*
+*  inputs          description                    range / units
+*    jdut1       - julian date in ut1             days from 4713 bc
+*
+*  outputs       :
+*    gstime      - greenwich sidereal time        0 to 2pi rad
+*
+*  locals        :
+*    temp        - temporary variable for doubles   rad
+*    tut1        - julian centuries from the
+*                  jan 1, 2000 12 h epoch (ut1)
+*
+*  coupling      :
+*    none
+*
+*  references    :
+*    vallado       2004, 191, eq 3-45
+* --------------------------------------------------------------------------- */
+
+double  gstime
+        (
+          double jdut1
+        )
+   {
+     const double twopi = 2.0 * pi;
+     const double deg2rad = pi / 180.0;
+     double       temp, tut1;
+
+     tut1 = (jdut1 - 2451545.0) / 36525.0;
+     temp = -6.2e-6* tut1 * tut1 * tut1 + 0.093104 * tut1 * tut1 +
+             (876600.0*3600 + 8640184.812866) * tut1 + 67310.54841;  // sec
+     temp = fmod(temp * deg2rad / 240.0, twopi); //360/86400 = 1/240, to deg, to rad
+
+     // ------------------------ check quadrants ---------------------
+     if (temp < 0.0)
+         temp += twopi;
+
+     return temp;
+   }  // end gstime
+
+/* -----------------------------------------------------------------------------
+*
+*                           function getgravconst
+*
+*  this function gets constants for the propagator. note that mu is identified to
+*    facilitiate comparisons with newer models. the common useage is wgs72.
+*
+*  author        : david vallado                  719-573-2600   21 jul 2006
+*
+*  inputs        :
+*    whichconst  - which set of constants to use  wgs72old, wgs72, wgs84
+*
+*  outputs       :
+*    tumin       - minutes in one time unit
+*    mu          - earth gravitational parameter
+*    radiusearthkm - radius of the earth in km
+*    xke         - reciprocal of tumin
+*    j2, j3, j4  - un-normalized zonal harmonic values
+*    j3oj2       - j3 divided by j2
+*
+*  locals        :
+*
+*  coupling      :
+*    none
+*
+*  references    :
+*    norad spacetrack report #3
+*    vallado, crawford, hujsak, kelso  2006
+  --------------------------------------------------------------------------- */
+
+void getgravconst
+     (
+      gravconsttype whichconst,
+      double& tumin,
+      double& mu,
+      double& radiusearthkm,
+      double& xke,
+      double& j2,
+      double& j3,
+      double& j4,
+      double& j3oj2
+     )
+     {
+
+       switch (whichconst)
+         {
+           // -- wgs-72 low precision str#3 constants --
+           case wgs72old:
+           mu     = 398600.79964;        // in km3 / s2
+           radiusearthkm = 6378.135;     // km
+           xke    = 0.0743669161;
+           tumin  = 1.0 / xke;
+           j2     =   0.001082616;
+           j3     =  -0.00000253881;
+           j4     =  -0.00000165597;
+           j3oj2  =  j3 / j2;
+         break;
+           // ------------ wgs-72 constants ------------
+           case wgs72:
+           mu     = 398600.8;            // in km3 / s2
+           radiusearthkm = 6378.135;     // km
+           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
+           tumin  = 1.0 / xke;
+           j2     =   0.001082616;
+           j3     =  -0.00000253881;
+           j4     =  -0.00000165597;
+           j3oj2  =  j3 / j2;
+         break;
+           case wgs84:
+           // ------------ wgs-84 constants ------------
+           mu     = 398600.5;            // in km3 / s2
+           radiusearthkm = 6378.137;     // km
+           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
+           tumin  = 1.0 / xke;
+           j2     =   0.00108262998905;
+           j3     =  -0.00000253215306;
+           j4     =  -0.00000161098761;
+           j3oj2  =  j3 / j2;
+         break;
+         default:
+           fprintf(stderr,"unknown gravity option (%d)\n",whichconst);
+         break;
+         }
+
+     }   // end getgravconst
+
+
+
+
+
diff --git a/contrib/sgp4/sgp4unit.h b/contrib/sgp4/sgp4unit.h
index 48c113d7..f16acbd9 100644
--- a/contrib/sgp4/sgp4unit.h
+++ b/contrib/sgp4/sgp4unit.h
@@ -1,117 +1,117 @@
-#ifndef _sgp4unit_
-#define _sgp4unit_
-/*     ----------------------------------------------------------------
-*
-*                                 sgp4unit.h
-*
-*    this file contains the sgp4 procedures for analytical propagation
-*    of a satellite. the code was originally released in the 1980 and 1986
-*    spacetrack papers. a detailed discussion of the theory and history
-*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
-*    and kelso.
-*
-*                            companion code for
-*               fundamentals of astrodynamics and applications
-*                                    2007
-*                              by david vallado
-*
-*       (w) 719-573-2600, email dvallado@agi.com
-*
-*    current :
-*              20 apr 07  david vallado
-*                           misc fixes for constants
-*    changes :
-*              11 aug 06  david vallado
-*                           chg lyddane choice back to strn3, constants, misc doc
-*              15 dec 05  david vallado
-*                           misc fixes
-*              26 jul 05  david vallado
-*                           fixes for paper
-*                           note that each fix is preceded by a
-*                           comment with "sgp4fix" and an explanation of
-*                           what was changed
-*              10 aug 04  david vallado
-*                           2nd printing baseline working
-*              14 may 01  david vallado
-*                           2nd edition baseline
-*                     80  norad
-*                           original baseline
-*       ----------------------------------------------------------------      */
-
-#include <math.h>
-#include <stdio.h>
-
-// -------------------------- structure declarations ----------------------------
-typedef enum
-{
-  wgs72old,
-  wgs72,
-  wgs84
-} gravconsttype;
-
-typedef struct elsetrec
-{
-  long int  satnum;
-  int       epochyr, epochtynumrev;
-  int       error;
-  char      init, method;
-
-  /* Near Earth */
-  int    isimp;
-  double aycof  , con41  , cc1    , cc4      , cc5    , d2      , d3   , d4    ,
-         delmo  , eta    , argpdot, omgcof   , sinmao , t       , t2cof, t3cof ,
-         t4cof  , t5cof  , x1mth2 , x7thm1   , mdot   , nodedot, xlcof , xmcof ,
-         nodecf;
-
-  /* Deep Space */
-  int    irez;
-  double d2201  , d2211  , d3210  , d3222    , d4410  , d4422   , d5220 , d5232 ,
-         d5421  , d5433  , dedt   , del1     , del2   , del3    , didt  , dmdt  ,
-         dnodt  , domdt  , e3     , ee2      , peo    , pgho    , pho   , pinco ,
-         plo    , se2    , se3    , sgh2     , sgh3   , sgh4    , sh2   , sh3   ,
-         si2    , si3    , sl2    , sl3      , sl4    , gsto    , xfact , xgh2  ,
-         xgh3   , xgh4   , xh2    , xh3      , xi2    , xi3     , xl2   , xl3   ,
-         xl4    , xlamo  , zmol   , zmos     , atime  , xli     , xni;
-
-  double a      , altp   , alta   , epochdays, jdsatepoch       , nddot , ndot  ,
-         bstar  , rcse   , inclo  , nodeo    , ecco             , argpo , mo    ,
-         no;
-} elsetrec;
-
-// --------------------------- function declarations ----------------------------
-int sgp4init
-       (
-         gravconsttype whichconst,      const int satn,     const double epoch,
-         const double xbstar, const double xecco, const double xargpo,
-         const double xinclo, const double xmo,   const double xno,
-         const double xnodeo,
-         elsetrec& satrec
-       );
-
-int sgp4
-       (
-         gravconsttype whichconst,
-         elsetrec& satrec, double tsince,
-         double r[], double v[]
-       );
-
-double  gstime
-       (
-         double
-       );
-
-void getgravconst
-      (
-       gravconsttype,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&
-      );
-
-#endif
-
+#ifndef _sgp4unit_
+#define _sgp4unit_
+/*     ----------------------------------------------------------------
+*
+*                                 sgp4unit.h
+*
+*    this file contains the sgp4 procedures for analytical propagation
+*    of a satellite. the code was originally released in the 1980 and 1986
+*    spacetrack papers. a detailed discussion of the theory and history
+*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
+*    and kelso.
+*
+*                            companion code for
+*               fundamentals of astrodynamics and applications
+*                                    2007
+*                              by david vallado
+*
+*       (w) 719-573-2600, email dvallado@agi.com
+*
+*    current :
+*              20 apr 07  david vallado
+*                           misc fixes for constants
+*    changes :
+*              11 aug 06  david vallado
+*                           chg lyddane choice back to strn3, constants, misc doc
+*              15 dec 05  david vallado
+*                           misc fixes
+*              26 jul 05  david vallado
+*                           fixes for paper
+*                           note that each fix is preceded by a
+*                           comment with "sgp4fix" and an explanation of
+*                           what was changed
+*              10 aug 04  david vallado
+*                           2nd printing baseline working
+*              14 may 01  david vallado
+*                           2nd edition baseline
+*                     80  norad
+*                           original baseline
+*       ----------------------------------------------------------------      */
+
+#include <math.h>
+#include <stdio.h>
+
+// -------------------------- structure declarations ----------------------------
+typedef enum
+{
+  wgs72old,
+  wgs72,
+  wgs84
+} gravconsttype;
+
+typedef struct elsetrec
+{
+  long int  satnum;
+  int       epochyr, epochtynumrev;
+  int       error;
+  char      init, method;
+
+  /* Near Earth */
+  int    isimp;
+  double aycof  , con41  , cc1    , cc4      , cc5    , d2      , d3   , d4    ,
+         delmo  , eta    , argpdot, omgcof   , sinmao , t       , t2cof, t3cof ,
+         t4cof  , t5cof  , x1mth2 , x7thm1   , mdot   , nodedot, xlcof , xmcof ,
+         nodecf;
+
+  /* Deep Space */
+  int    irez;
+  double d2201  , d2211  , d3210  , d3222    , d4410  , d4422   , d5220 , d5232 ,
+         d5421  , d5433  , dedt   , del1     , del2   , del3    , didt  , dmdt  ,
+         dnodt  , domdt  , e3     , ee2      , peo    , pgho    , pho   , pinco ,
+         plo    , se2    , se3    , sgh2     , sgh3   , sgh4    , sh2   , sh3   ,
+         si2    , si3    , sl2    , sl3      , sl4    , gsto    , xfact , xgh2  ,
+         xgh3   , xgh4   , xh2    , xh3      , xi2    , xi3     , xl2   , xl3   ,
+         xl4    , xlamo  , zmol   , zmos     , atime  , xli     , xni;
+
+  double a      , altp   , alta   , epochdays, jdsatepoch       , nddot , ndot  ,
+         bstar  , rcse   , inclo  , nodeo    , ecco             , argpo , mo    ,
+         no;
+} elsetrec;
+
+// --------------------------- function declarations ----------------------------
+int sgp4init
+       (
+         gravconsttype whichconst,      const int satn,     const double epoch,
+         const double xbstar, const double xecco, const double xargpo,
+         const double xinclo, const double xmo,   const double xno,
+         const double xnodeo,
+         elsetrec& satrec
+       );
+
+int sgp4
+       (
+         gravconsttype whichconst,
+         elsetrec& satrec, double tsince,
+         double r[], double v[]
+       );
+
+double  gstime
+       (
+         double
+       );
+
+void getgravconst
+      (
+       gravconsttype,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&
+      );
+
+#endif
+
diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index f18c3812..e800cd56 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -1,45 +1,45 @@
-#include "../subsystem/SubsystemBase.h"
-#include "../devicehandlers/ChildHandlerBase.h"
-#include "../subsystem/SubsystemBase.h"
-
-ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
-		object_id_t deviceCommunication, CookieIF * cookie,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		object_id_t parent, FailureIsolationBase* customFdir,
-		size_t cmdQueueSize) :
-		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
-			(customFdir == nullptr? &childHandlerFdir : customFdir),
-			cmdQueueSize),
-		parentId(parent), childHandlerFdir(setObjectId) {
-	this->setThermalStateRequestPoolIds(thermalStatePoolId,
-			thermalRequestPoolId);
-
-}
-
-ChildHandlerBase::~ChildHandlerBase() {
-}
-
-ReturnValue_t ChildHandlerBase::initialize() {
-	ReturnValue_t result = DeviceHandlerBase::initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	MessageQueueId_t parentQueue = 0;
-
-	if (parentId != objects::NO_OBJECT) {
-		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
-			return RETURN_FAILED;
-		}
-		parentQueue = parent->getCommandQueue();
-
-		parent->registerChild(getObjectId());
-	}
-
-	healthHelper.setParentQueue(parentQueue);
-
-	modeHelper.setParentQueue(parentQueue);
-
-	return RETURN_OK;
-}
+#include "../subsystem/SubsystemBase.h"
+#include "../devicehandlers/ChildHandlerBase.h"
+#include "../subsystem/SubsystemBase.h"
+
+ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
+		object_id_t deviceCommunication, CookieIF * cookie,
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		object_id_t parent, FailureIsolationBase* customFdir,
+		size_t cmdQueueSize) :
+		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
+			(customFdir == nullptr? &childHandlerFdir : customFdir),
+			cmdQueueSize),
+		parentId(parent), childHandlerFdir(setObjectId) {
+	this->setThermalStateRequestPoolIds(thermalStatePoolId,
+			thermalRequestPoolId);
+
+}
+
+ChildHandlerBase::~ChildHandlerBase() {
+}
+
+ReturnValue_t ChildHandlerBase::initialize() {
+	ReturnValue_t result = DeviceHandlerBase::initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	MessageQueueId_t parentQueue = 0;
+
+	if (parentId != objects::NO_OBJECT) {
+		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
+		if (parent == NULL) {
+			return RETURN_FAILED;
+		}
+		parentQueue = parent->getCommandQueue();
+
+		parent->registerChild(getObjectId());
+	}
+
+	healthHelper.setParentQueue(parentQueue);
+
+	modeHelper.setParentQueue(parentQueue);
+
+	return RETURN_OK;
+}
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index 3e9652a3..f6bf318a 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -1,26 +1,26 @@
 #ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
-#define FSFW_DEVICES_CHILDHANDLERBASE_H_
-
-#include "ChildHandlerFDIR.h"
-#include "DeviceHandlerBase.h"
-
-class ChildHandlerBase: public DeviceHandlerBase {
-public:
-	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * cookie, uint32_t thermalStatePoolId,
-			uint32_t thermalRequestPoolId,
-			object_id_t parent = objects::NO_OBJECT,
-			FailureIsolationBase* customFdir = nullptr,
-			size_t cmdQueueSize = 20);
-	virtual ~ChildHandlerBase();
-
-	virtual ReturnValue_t initialize();
-
-protected:
-	const uint32_t parentId;
-	ChildHandlerFDIR childHandlerFdir;
-
-};
-
-#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
+#define FSFW_DEVICES_CHILDHANDLERBASE_H_
+
+#include "ChildHandlerFDIR.h"
+#include "DeviceHandlerBase.h"
+
+class ChildHandlerBase: public DeviceHandlerBase {
+public:
+	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
+			CookieIF * cookie, uint32_t thermalStatePoolId,
+			uint32_t thermalRequestPoolId,
+			object_id_t parent = objects::NO_OBJECT,
+			FailureIsolationBase* customFdir = nullptr,
+			size_t cmdQueueSize = 20);
+	virtual ~ChildHandlerBase();
+
+	virtual ReturnValue_t initialize();
+
+protected:
+	const uint32_t parentId;
+	ChildHandlerFDIR childHandlerFdir;
+
+};
+
+#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
 
diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index 16682d36..b77f12a9 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -1,24 +1,24 @@
-#include "../../osal/FreeRTOS/TaskManagement.h"
-
-void TaskManagement::vRequestContextSwitchFromTask() {
-	vTaskDelay(0);
-}
-
-void TaskManagement::requestContextSwitch(
-		CallContext callContext = CallContext::TASK) {
-	if(callContext == CallContext::ISR) {
-		// This function depends on the partmacro.h definition for the specific device
-		vRequestContextSwitchFromISR();
-	} else {
-		vRequestContextSwitchFromTask();
-	}
-}
-
-TaskHandle_t TaskManagement::getCurrentTaskHandle() {
-	return xTaskGetCurrentTaskHandle();
-}
-
-size_t TaskManagement::getTaskStackHighWatermark(
-        TaskHandle_t task) {
-	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+void TaskManagement::vRequestContextSwitchFromTask() {
+	vTaskDelay(0);
+}
+
+void TaskManagement::requestContextSwitch(
+		CallContext callContext = CallContext::TASK) {
+	if(callContext == CallContext::ISR) {
+		// This function depends on the partmacro.h definition for the specific device
+		vRequestContextSwitchFromISR();
+	} else {
+		vRequestContextSwitchFromTask();
+	}
+}
+
+TaskHandle_t TaskManagement::getCurrentTaskHandle() {
+	return xTaskGetCurrentTaskHandle();
+}
+
+size_t TaskManagement::getTaskStackHighWatermark(
+        TaskHandle_t task) {
+	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 43003d76..4b7fe3eb 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -1,64 +1,64 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
-#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
-
-#include "../../returnvalues/HasReturnvaluesIF.h"
-
-extern "C" {
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-}
-#include <cstdint>
-
-/**
- * Architecture dependant portmacro.h function call.
- * Should be implemented in bsp.
- */
-extern void vRequestContextSwitchFromISR();
-
-/*!
- * Used by functions to tell if they are being called from
- * within an ISR or from a regular task. This is required because FreeRTOS
- * has different functions for handling semaphores and messages from within
- * an ISR and task.
- */
-enum class CallContext {
-	TASK = 0x00,//!< task_context
-	ISR = 0xFF  //!< isr_context
-};
-
-
-class TaskManagement {
-public:
-	/**
-	 * @brief	In this function, a function dependant on the portmacro.h header
-	 * 			function calls to request a context switch can be specified.
-	 * This can be used if sending to the queue from an ISR caused a task
-	 * to unblock and a context switch is required.
-	 */
-	static void requestContextSwitch(CallContext callContext);
-
-	/**
-	 * If task preemption in FreeRTOS is disabled, a context switch
-	 * can be requested manually by calling this function.
-	 */
-	static void vRequestContextSwitchFromTask(void);
-
-	/**
-	 * @return The current task handle
-	 */
-	static TaskHandle_t getCurrentTaskHandle();
-
-	/**
-	 * Get returns the minimum amount of remaining stack space in words
-	 * that was a available to the task since the task started executing.
-	 * Please note that the actual value in bytes depends
-	 * on the stack depth type.
-	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
-	 * @return Smallest value of stack remaining since the task was started in
-	 * 		   words.
-	 */
-	static size_t getTaskStackHighWatermark(
-	        TaskHandle_t task = nullptr);
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+#include <cstdint>
+
+/**
+ * Architecture dependant portmacro.h function call.
+ * Should be implemented in bsp.
+ */
+extern void vRequestContextSwitchFromISR();
+
+/*!
+ * Used by functions to tell if they are being called from
+ * within an ISR or from a regular task. This is required because FreeRTOS
+ * has different functions for handling semaphores and messages from within
+ * an ISR and task.
+ */
+enum class CallContext {
+	TASK = 0x00,//!< task_context
+	ISR = 0xFF  //!< isr_context
+};
+
+
+class TaskManagement {
+public:
+	/**
+	 * @brief	In this function, a function dependant on the portmacro.h header
+	 * 			function calls to request a context switch can be specified.
+	 * This can be used if sending to the queue from an ISR caused a task
+	 * to unblock and a context switch is required.
+	 */
+	static void requestContextSwitch(CallContext callContext);
+
+	/**
+	 * If task preemption in FreeRTOS is disabled, a context switch
+	 * can be requested manually by calling this function.
+	 */
+	static void vRequestContextSwitchFromTask(void);
+
+	/**
+	 * @return The current task handle
+	 */
+	static TaskHandle_t getCurrentTaskHandle();
+
+	/**
+	 * Get returns the minimum amount of remaining stack space in words
+	 * that was a available to the task since the task started executing.
+	 * Please note that the actual value in bytes depends
+	 * on the stack depth type.
+	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+	 * @return Smallest value of stack remaining since the task was started in
+	 * 		   words.
+	 */
+	static size_t getTaskStackHighWatermark(
+	        TaskHandle_t task = nullptr);
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 812cd34b..1c11afd4 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -1,129 +1,129 @@
-#include "../serialize/SerialBufferAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include <cstring>
-
-template<typename count_t>
-SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
-		count_t bufferLength, bool serializeLength) :
-		serializeLength(serializeLength),
-		constBuffer(buffer), buffer(nullptr),
-		bufferLength(bufferLength) {}
-
-template<typename count_t>
-SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
-		count_t bufferLength, bool serializeLength) :
-		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
-		bufferLength(bufferLength) {}
-
-
-template<typename count_t>
-SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
-}
-
-template<typename count_t>
-ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
-		size_t* size, size_t maxSize, Endianness streamEndianness) const {
-	if (serializeLength) {
-		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
-				buffer, size, maxSize, streamEndianness);
-		if(result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-	}
-
-	if (*size + bufferLength > maxSize) {
-		return BUFFER_TOO_SHORT;
-	}
-
-	if (this->constBuffer != nullptr) {
-		std::memcpy(*buffer, this->constBuffer, bufferLength);
-	}
-	else if (this->buffer != nullptr) {
-		// This will propably be never reached, constBuffer should always be
-		// set if non-const buffer is set.
-		std::memcpy(*buffer, this->buffer, bufferLength);
-	}
-	else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	*size += bufferLength;
-	(*buffer) += bufferLength;
-	return HasReturnvaluesIF::RETURN_OK;
-
-}
-
-template<typename count_t>
-size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
-	if (serializeLength) {
-		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
-	} else {
-		return bufferLength;
-	}
-}
-
-template<typename count_t>
-ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
-		size_t* size, Endianness streamEndianness) {
-	if (this->buffer == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	if(serializeLength){
-		count_t lengthField = 0;
-		ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
-				buffer, size, streamEndianness);
-		if(result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-		if(lengthField > bufferLength) {
-			return TOO_MANY_ELEMENTS;
-		}
-		bufferLength = lengthField;
-	}
-
-	if (bufferLength <= *size) {
-		*size -= bufferLength;
-		std::memcpy(this->buffer, *buffer, bufferLength);
-		(*buffer) += bufferLength;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return STREAM_TOO_SHORT;
-	}
-}
-
-template<typename count_t>
-uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
-	if(buffer == nullptr) {
-		sif::error << "Wrong access function for stored type !"
-				 " Use getConstBuffer()." << std::endl;
-		return nullptr;
-	}
-	return buffer;
-}
-
-template<typename count_t>
-const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
-	if(constBuffer == nullptr) {
-		sif::error << "SerialBufferAdapter::getConstBuffer:"
-				" Buffers are unitialized!" << std::endl;
-		return nullptr;
-	}
-	return constBuffer;
-}
-
-template<typename count_t>
-void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
-		count_t bufferLength) {
-	this->buffer = buffer;
-	this->constBuffer = buffer;
-	this->bufferLength = bufferLength;
-}
-
-
-//forward Template declaration for linker
-template class SerialBufferAdapter<uint8_t>;
-template class SerialBufferAdapter<uint16_t>;
-template class SerialBufferAdapter<uint32_t>;
-template class SerialBufferAdapter<uint64_t>;
-
+#include "../serialize/SerialBufferAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include <cstring>
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
+		count_t bufferLength, bool serializeLength) :
+		serializeLength(serializeLength),
+		constBuffer(buffer), buffer(nullptr),
+		bufferLength(bufferLength) {}
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
+		count_t bufferLength, bool serializeLength) :
+		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
+		bufferLength(bufferLength) {}
+
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
+}
+
+template<typename count_t>
+ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
+	if (serializeLength) {
+		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
+				buffer, size, maxSize, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+
+	if (*size + bufferLength > maxSize) {
+		return BUFFER_TOO_SHORT;
+	}
+
+	if (this->constBuffer != nullptr) {
+		std::memcpy(*buffer, this->constBuffer, bufferLength);
+	}
+	else if (this->buffer != nullptr) {
+		// This will propably be never reached, constBuffer should always be
+		// set if non-const buffer is set.
+		std::memcpy(*buffer, this->buffer, bufferLength);
+	}
+	else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	*size += bufferLength;
+	(*buffer) += bufferLength;
+	return HasReturnvaluesIF::RETURN_OK;
+
+}
+
+template<typename count_t>
+size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
+	if (serializeLength) {
+		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
+	} else {
+		return bufferLength;
+	}
+}
+
+template<typename count_t>
+ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
+		size_t* size, Endianness streamEndianness) {
+	if (this->buffer == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(serializeLength){
+		count_t lengthField = 0;
+		ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
+				buffer, size, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		if(lengthField > bufferLength) {
+			return TOO_MANY_ELEMENTS;
+		}
+		bufferLength = lengthField;
+	}
+
+	if (bufferLength <= *size) {
+		*size -= bufferLength;
+		std::memcpy(this->buffer, *buffer, bufferLength);
+		(*buffer) += bufferLength;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return STREAM_TOO_SHORT;
+	}
+}
+
+template<typename count_t>
+uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
+	if(buffer == nullptr) {
+		sif::error << "Wrong access function for stored type !"
+				 " Use getConstBuffer()." << std::endl;
+		return nullptr;
+	}
+	return buffer;
+}
+
+template<typename count_t>
+const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
+	if(constBuffer == nullptr) {
+		sif::error << "SerialBufferAdapter::getConstBuffer:"
+				" Buffers are unitialized!" << std::endl;
+		return nullptr;
+	}
+	return constBuffer;
+}
+
+template<typename count_t>
+void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
+		count_t bufferLength) {
+	this->buffer = buffer;
+	this->constBuffer = buffer;
+	this->bufferLength = bufferLength;
+}
+
+
+//forward Template declaration for linker
+template class SerialBufferAdapter<uint8_t>;
+template class SerialBufferAdapter<uint16_t>;
+template class SerialBufferAdapter<uint32_t>;
+template class SerialBufferAdapter<uint64_t>;
+
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index c3dfcd8f..9a89e18b 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -1,78 +1,78 @@
-#ifndef SERIALBUFFERADAPTER_H_
-#define SERIALBUFFERADAPTER_H_
-
-#include "../serialize/SerializeIF.h"
-#include "../serialize/SerializeAdapter.h"
-
-/**
- * This adapter provides an interface for SerializeIF to serialize or deserialize
- * buffers with no length header but a known size.
- *
- * Additionally, the buffer length can be serialized too and will be put in
- * front of the serialized buffer.
- *
- * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
- * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
- * Right now, the SerialBufferAdapter must always
- * be initialized with the buffer and size !
- *
- * \ingroup serialize
- */
-template<typename count_t>
-class SerialBufferAdapter: public SerializeIF {
-public:
-
-    /**
-     * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
-     * Type of length can be supplied as template type.
-     * @param buffer
-     * @param bufferLength
-     * @param serializeLength
-     */
-    SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
-            bool serializeLength = false);
-
-    /**
-     * Constructor for non-constant uint8_t buffer.
-     * Length field can be serialized optionally.
-     * Type of length can be supplied as template type.
-     * @param buffer
-     * @param bufferLength
-     * @param serializeLength Length field will be serialized with size count_t
-     */
-    SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
-            bool serializeLength = false);
-
-    virtual ~SerialBufferAdapter();
-
-    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-            size_t maxSize, Endianness streamEndianness) const override;
-
-    virtual size_t getSerializedSize() const override;
-
-    /**
-     * @brief This function deserializes a buffer into the member buffer.
-     * @details
-     * If a length field is present, it is ignored, as the size should have
-     * been set in the constructor. If the size is not known beforehand,
-     * consider using SerialFixedArrayListAdapter instead.
-     * @param buffer [out] Resulting buffer
-     * @param size remaining size to deserialize, should be larger than buffer
-     *        + size field size
-     * @param bigEndian
-     * @return
-     */
-    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-            Endianness streamEndianness) override;
-
-    uint8_t * getBuffer();
-    const uint8_t * getConstBuffer();
-    void setBuffer(uint8_t* buffer, count_t bufferLength);
-private:
-	bool serializeLength = false;
-	const uint8_t *constBuffer = nullptr;
-	uint8_t *buffer = nullptr;
-	count_t bufferLength = 0;
-};
-
-#endif /* SERIALBUFFERADAPTER_H_ */
+#ifndef SERIALBUFFERADAPTER_H_
+#define SERIALBUFFERADAPTER_H_
+
+#include "../serialize/SerializeIF.h"
+#include "../serialize/SerializeAdapter.h"
+
+/**
+ * This adapter provides an interface for SerializeIF to serialize or deserialize
+ * buffers with no length header but a known size.
+ *
+ * Additionally, the buffer length can be serialized too and will be put in
+ * front of the serialized buffer.
+ *
+ * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
+ * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
+ * Right now, the SerialBufferAdapter must always
+ * be initialized with the buffer and size !
+ *
+ * \ingroup serialize
+ */
+template<typename count_t>
+class SerialBufferAdapter: public SerializeIF {
+public:
+
+    /**
+     * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
+     * Type of length can be supplied as template type.
+     * @param buffer
+     * @param bufferLength
+     * @param serializeLength
+     */
+    SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
+            bool serializeLength = false);
+
+    /**
+     * Constructor for non-constant uint8_t buffer.
+     * Length field can be serialized optionally.
+     * Type of length can be supplied as template type.
+     * @param buffer
+     * @param bufferLength
+     * @param serializeLength Length field will be serialized with size count_t
+     */
+    SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
+            bool serializeLength = false);
+
+    virtual ~SerialBufferAdapter();
+
+    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+            size_t maxSize, Endianness streamEndianness) const override;
+
+    virtual size_t getSerializedSize() const override;
+
+    /**
+     * @brief This function deserializes a buffer into the member buffer.
+     * @details
+     * If a length field is present, it is ignored, as the size should have
+     * been set in the constructor. If the size is not known beforehand,
+     * consider using SerialFixedArrayListAdapter instead.
+     * @param buffer [out] Resulting buffer
+     * @param size remaining size to deserialize, should be larger than buffer
+     *        + size field size
+     * @param bigEndian
+     * @return
+     */
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            Endianness streamEndianness) override;
+
+    uint8_t * getBuffer();
+    const uint8_t * getConstBuffer();
+    void setBuffer(uint8_t* buffer, count_t bufferLength);
+private:
+	bool serializeLength = false;
+	const uint8_t *constBuffer = nullptr;
+	uint8_t *buffer = nullptr;
+	count_t bufferLength = 0;
+};
+
+#endif /* SERIALBUFFERADAPTER_H_ */

From 4abdc436fbd995ada2090bbb4ce4cc2b09c147bf Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Sep 2020 11:51:43 +0200
Subject: [PATCH 283/653] Revert "renormalize CHB"

This reverts commit a4d9c761a78831a963c06c5969410daedd48e4dd.
---
 contrib/sgp4/sgp4unit.cpp           | 4180 +++++++++++++--------------
 contrib/sgp4/sgp4unit.h             |  234 +-
 devicehandlers/ChildHandlerBase.cpp |   90 +-
 devicehandlers/ChildHandlerBase.h   |   44 +-
 osal/FreeRTOS/TaskManagement.cpp    |   48 +-
 osal/FreeRTOS/TaskManagement.h      |  128 +-
 serialize/SerialBufferAdapter.cpp   |  258 +-
 serialize/SerialBufferAdapter.h     |  156 +-
 8 files changed, 2569 insertions(+), 2569 deletions(-)

diff --git a/contrib/sgp4/sgp4unit.cpp b/contrib/sgp4/sgp4unit.cpp
index b707a7a2..24d63aa9 100644
--- a/contrib/sgp4/sgp4unit.cpp
+++ b/contrib/sgp4/sgp4unit.cpp
@@ -1,2090 +1,2090 @@
-/*     ----------------------------------------------------------------
-*
-*                               sgp4unit.cpp
-*
-*    this file contains the sgp4 procedures for analytical propagation
-*    of a satellite. the code was originally released in the 1980 and 1986
-*    spacetrack papers. a detailed discussion of the theory and history
-*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
-*    and kelso.
-*
-*                            companion code for
-*               fundamentals of astrodynamics and applications
-*                                    2007
-*                              by david vallado
-*
-*       (w) 719-573-2600, email dvallado@agi.com
-*
-*    current :
-*              16 nov 07  david vallado
-*                           misc fixes for better compliance
-*    changes :
-*              20 apr 07  david vallado
-*                           misc fixes for constants
-*              11 aug 06  david vallado
-*                           chg lyddane choice back to strn3, constants, misc doc
-*              15 dec 05  david vallado
-*                           misc fixes
-*              26 jul 05  david vallado
-*                           fixes for paper
-*                           note that each fix is preceded by a
-*                           comment with "sgp4fix" and an explanation of
-*                           what was changed
-*              10 aug 04  david vallado
-*                           2nd printing baseline working
-*              14 may 01  david vallado
-*                           2nd edition baseline
-*                     80  norad
-*                           original baseline
-*       ----------------------------------------------------------------      */
-
-#include "sgp4unit.h"
-
-const char help = 'n';
-FILE *dbgfile;
-
-#define pi 3.14159265358979323846
-
-
-/* ----------- local functions - only ever used internally by sgp4 ---------- */
-static void dpper
-     (
-       double e3,     double ee2,    double peo,     double pgho,   double pho,
-       double pinco,  double plo,    double se2,     double se3,    double sgh2,
-       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
-       double si3,    double sl2,    double sl3,     double sl4,    double t,
-       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
-       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
-       double zmol,   double zmos,   double inclo,
-       char init,
-       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
-     );
-
-static void dscom
-     (
-       double epoch,  double ep,     double argpp,   double tc,     double inclp,
-       double nodep,  double np,
-       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
-       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
-       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
-       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
-       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
-       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
-       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
-       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
-       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
-       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
-       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
-       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
-       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
-       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
-       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
-       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
-       double& zmos
-     );
-
-static void dsinit
-     (
-       gravconsttype whichconst,
-       double cosim,  double emsq,   double argpo,   double s1,     double s2,
-       double s3,     double s4,     double s5,      double sinim,  double ss1,
-       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
-       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
-       double sz31,   double sz33,   double t,       double tc,     double gsto,
-       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
-       double xpidot, double z1,     double z3,      double z11,    double z13,
-       double z21,    double z23,    double z31,     double z33,    double ecco,
-       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
-       double& nm,    double& nodem,
-       int& irez,
-       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
-       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
-       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
-       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
-       double& xfact, double& xlamo, double& xli,    double& xni
-     );
-
-static void dspace
-     (
-       int irez,
-       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
-       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
-       double dedt,   double del1,   double del2,    double del3,   double didt,
-       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
-       double t,      double tc,     double gsto,    double xfact,  double xlamo,
-       double no,
-       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
-       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
-     );
-
-static void initl
-     (
-       int satn,      gravconsttype whichconst,
-       double ecco,   double epoch,  double inclo,   double& no,
-       char& method,
-       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
-       double& cosio2,double& eccsq, double& omeosq, double& posq,
-       double& rp,    double& rteosq,double& sinio , double& gsto
-     );
-
-/* -----------------------------------------------------------------------------
-*
-*                           procedure dpper
-*
-*  this procedure provides deep space long period periodic contributions
-*    to the mean elements.  by design, these periodics are zero at epoch.
-*    this used to be dscom which included initialization, but it's really a
-*    recurring function.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    e3          -
-*    ee2         -
-*    peo         -
-*    pgho        -
-*    pho         -
-*    pinco       -
-*    plo         -
-*    se2 , se3 , sgh2, sgh3, sgh4, sh2, sh3, si2, si3, sl2, sl3, sl4 -
-*    t           -
-*    xh2, xh3, xi2, xi3, xl2, xl3, xl4 -
-*    zmol        -
-*    zmos        -
-*    ep          - eccentricity                           0.0 - 1.0
-*    inclo       - inclination - needed for lyddane modification
-*    nodep       - right ascension of ascending node
-*    argpp       - argument of perigee
-*    mp          - mean anomaly
-*
-*  outputs       :
-*    ep          - eccentricity                           0.0 - 1.0
-*    inclp       - inclination
-*    nodep        - right ascension of ascending node
-*    argpp       - argument of perigee
-*    mp          - mean anomaly
-*
-*  locals        :
-*    alfdp       -
-*    betdp       -
-*    cosip  , sinip  , cosop  , sinop  ,
-*    dalf        -
-*    dbet        -
-*    dls         -
-*    f2, f3      -
-*    pe          -
-*    pgh         -
-*    ph          -
-*    pinc        -
-*    pl          -
-*    sel   , ses   , sghl  , sghs  , shl   , shs   , sil   , sinzf , sis   ,
-*    sll   , sls
-*    xls         -
-*    xnoh        -
-*    zf          -
-*    zm          -
-*
-*  coupling      :
-*    none.
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dpper
-     (
-       double e3,     double ee2,    double peo,     double pgho,   double pho,
-       double pinco,  double plo,    double se2,     double se3,    double sgh2,
-       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
-       double si3,    double sl2,    double sl3,     double sl4,    double t,
-       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
-       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
-       double zmol,   double zmos,   double inclo,
-       char init,
-       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     const double twopi = 2.0 * pi;
-     double alfdp, betdp, cosip, cosop, dalf, dbet, dls,
-          f2,    f3,    pe,    pgh,   ph,   pinc, pl ,
-          sel,   ses,   sghl,  sghs,  shll, shs,  sil,
-          sinip, sinop, sinzf, sis,   sll,  sls,  xls,
-          xnoh,  zf,    zm,    zel,   zes,  znl,  zns;
-
-     /* ---------------------- constants ----------------------------- */
-     zns   = 1.19459e-5;
-     zes   = 0.01675;
-     znl   = 1.5835218e-4;
-     zel   = 0.05490;
-
-     /* --------------- calculate time varying periodics ----------- */
-     zm    = zmos + zns * t;
-     // be sure that the initial call has time set to zero
-     if (init == 'y')
-         zm = zmos;
-     zf    = zm + 2.0 * zes * sin(zm);
-     sinzf = sin(zf);
-     f2    =  0.5 * sinzf * sinzf - 0.25;
-     f3    = -0.5 * sinzf * cos(zf);
-     ses   = se2* f2 + se3 * f3;
-     sis   = si2 * f2 + si3 * f3;
-     sls   = sl2 * f2 + sl3 * f3 + sl4 * sinzf;
-     sghs  = sgh2 * f2 + sgh3 * f3 + sgh4 * sinzf;
-     shs   = sh2 * f2 + sh3 * f3;
-     zm    = zmol + znl * t;
-     if (init == 'y')
-         zm = zmol;
-     zf    = zm + 2.0 * zel * sin(zm);
-     sinzf = sin(zf);
-     f2    =  0.5 * sinzf * sinzf - 0.25;
-     f3    = -0.5 * sinzf * cos(zf);
-     sel   = ee2 * f2 + e3 * f3;
-     sil   = xi2 * f2 + xi3 * f3;
-     sll   = xl2 * f2 + xl3 * f3 + xl4 * sinzf;
-     sghl  = xgh2 * f2 + xgh3 * f3 + xgh4 * sinzf;
-     shll  = xh2 * f2 + xh3 * f3;
-     pe    = ses + sel;
-     pinc  = sis + sil;
-     pl    = sls + sll;
-     pgh   = sghs + sghl;
-     ph    = shs + shll;
-
-     if (init == 'n')
-       {
-       pe    = pe - peo;
-       pinc  = pinc - pinco;
-       pl    = pl - plo;
-       pgh   = pgh - pgho;
-       ph    = ph - pho;
-       inclp = inclp + pinc;
-       ep    = ep + pe;
-       sinip = sin(inclp);
-       cosip = cos(inclp);
-
-       /* ----------------- apply periodics directly ------------ */
-       //  sgp4fix for lyddane choice
-       //  strn3 used original inclination - this is technically feasible
-       //  gsfc used perturbed inclination - also technically feasible
-       //  probably best to readjust the 0.2 limit value and limit discontinuity
-       //  0.2 rad = 11.45916 deg
-       //  use next line for original strn3 approach and original inclination
-       //  if (inclo >= 0.2)
-       //  use next line for gsfc version and perturbed inclination
-       if (inclp >= 0.2)
-         {
-           ph     = ph / sinip;
-           pgh    = pgh - cosip * ph;
-           argpp  = argpp + pgh;
-           nodep  = nodep + ph;
-           mp     = mp + pl;
-         }
-         else
-         {
-           /* ---- apply periodics with lyddane modification ---- */
-           sinop  = sin(nodep);
-           cosop  = cos(nodep);
-           alfdp  = sinip * sinop;
-           betdp  = sinip * cosop;
-           dalf   =  ph * cosop + pinc * cosip * sinop;
-           dbet   = -ph * sinop + pinc * cosip * cosop;
-           alfdp  = alfdp + dalf;
-           betdp  = betdp + dbet;
-           nodep  = fmod(nodep, twopi);
-           //  sgp4fix for afspc written intrinsic functions
-           // nodep used without a trigonometric function ahead
-           if (nodep < 0.0)
-               nodep = nodep + twopi;
-           xls    = mp + argpp + cosip * nodep;
-           dls    = pl + pgh - pinc * nodep * sinip;
-           xls    = xls + dls;
-           xnoh   = nodep;
-           nodep  = atan2(alfdp, betdp);
-           //  sgp4fix for afspc written intrinsic functions
-           // nodep used without a trigonometric function ahead
-           if (nodep < 0.0)
-               nodep = nodep + twopi;
-           if (fabs(xnoh - nodep) > pi){
-             if (nodep < xnoh)
-                nodep = nodep + twopi;
-               else
-                nodep = nodep - twopi;
-           }
-           mp    = mp + pl;
-           argpp = xls - mp - cosip * nodep;
-         }
-       }   // if init == 'n'
-
-//#include "debug1.cpp"
-}  // end dpper
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure dscom
-*
-*  this procedure provides deep space common items used by both the secular
-*    and periodics subroutines.  input is provided as shown. this routine
-*    used to be called dpper, but the functions inside weren't well organized.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    epoch       -
-*    ep          - eccentricity
-*    argpp       - argument of perigee
-*    tc          -
-*    inclp       - inclination
-*    nodep       - right ascension of ascending node
-*    np          - mean motion
-*
-*  outputs       :
-*    sinim  , cosim  , sinomm , cosomm , snodm  , cnodm
-*    day         -
-*    e3          -
-*    ee2         -
-*    em          - eccentricity
-*    emsq        - eccentricity squared
-*    gam         -
-*    peo         -
-*    pgho        -
-*    pho         -
-*    pinco       -
-*    plo         -
-*    rtemsq      -
-*    se2, se3         -
-*    sgh2, sgh3, sgh4        -
-*    sh2, sh3, si2, si3, sl2, sl3, sl4         -
-*    s1, s2, s3, s4, s5, s6, s7          -
-*    ss1, ss2, ss3, ss4, ss5, ss6, ss7, sz1, sz2, sz3         -
-*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
-*    xgh2, xgh3, xgh4, xh2, xh3, xi2, xi3, xl2, xl3, xl4         -
-*    nm          - mean motion
-*    z1, z2, z3, z11, z12, z13, z21, z22, z23, z31, z32, z33         -
-*    zmol        -
-*    zmos        -
-*
-*  locals        :
-*    a1, a2, a3, a4, a5, a6, a7, a8, a9, a10         -
-*    betasq      -
-*    cc          -
-*    ctem, stem        -
-*    x1, x2, x3, x4, x5, x6, x7, x8          -
-*    xnodce      -
-*    xnoi        -
-*    zcosg  , zsing  , zcosgl , zsingl , zcosh  , zsinh  , zcoshl , zsinhl ,
-*    zcosi  , zsini  , zcosil , zsinil ,
-*    zx          -
-*    zy          -
-*
-*  coupling      :
-*    none.
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dscom
-     (
-       double epoch,  double ep,     double argpp,   double tc,     double inclp,
-       double nodep,  double np,
-       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
-       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
-       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
-       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
-       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
-       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
-       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
-       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
-       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
-       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
-       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
-       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
-       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
-       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
-       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
-       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
-       double& zmos
-     )
-{
-     /* -------------------------- constants ------------------------- */
-     const double zes     =  0.01675;
-     const double zel     =  0.05490;
-     const double c1ss    =  2.9864797e-6;
-     const double c1l     =  4.7968065e-7;
-     const double zsinis  =  0.39785416;
-     const double zcosis  =  0.91744867;
-     const double zcosgs  =  0.1945905;
-     const double zsings  = -0.98088458;
-     const double twopi   =  2.0 * pi;
-
-     /* --------------------- local variables ------------------------ */
-     int lsflg;
-     double a1    , a2    , a3    , a4    , a5    , a6    , a7    ,
-        a8    , a9    , a10   , betasq, cc    , ctem  , stem  ,
-        x1    , x2    , x3    , x4    , x5    , x6    , x7    ,
-        x8    , xnodce, xnoi  , zcosg , zcosgl, zcosh , zcoshl,
-        zcosi , zcosil, zsing , zsingl, zsinh , zsinhl, zsini ,
-        zsinil, zx    , zy;
-
-     nm     = np;
-     em     = ep;
-     snodm  = sin(nodep);
-     cnodm  = cos(nodep);
-     sinomm = sin(argpp);
-     cosomm = cos(argpp);
-     sinim  = sin(inclp);
-     cosim  = cos(inclp);
-     emsq   = em * em;
-     betasq = 1.0 - emsq;
-     rtemsq = sqrt(betasq);
-
-     /* ----------------- initialize lunar solar terms --------------- */
-     peo    = 0.0;
-     pinco  = 0.0;
-     plo    = 0.0;
-     pgho   = 0.0;
-     pho    = 0.0;
-     day    = epoch + 18261.5 + tc / 1440.0;
-     xnodce = fmod(4.5236020 - 9.2422029e-4 * day, twopi);
-     stem   = sin(xnodce);
-     ctem   = cos(xnodce);
-     zcosil = 0.91375164 - 0.03568096 * ctem;
-     zsinil = sqrt(1.0 - zcosil * zcosil);
-     zsinhl = 0.089683511 * stem / zsinil;
-     zcoshl = sqrt(1.0 - zsinhl * zsinhl);
-     gam    = 5.8351514 + 0.0019443680 * day;
-     zx     = 0.39785416 * stem / zsinil;
-     zy     = zcoshl * ctem + 0.91744867 * zsinhl * stem;
-     zx     = atan2(zx, zy);
-     zx     = gam + zx - xnodce;
-     zcosgl = cos(zx);
-     zsingl = sin(zx);
-
-     /* ------------------------- do solar terms --------------------- */
-     zcosg = zcosgs;
-     zsing = zsings;
-     zcosi = zcosis;
-     zsini = zsinis;
-     zcosh = cnodm;
-     zsinh = snodm;
-     cc    = c1ss;
-     xnoi  = 1.0 / nm;
-
-     for (lsflg = 1; lsflg <= 2; lsflg++)
-       {
-         a1  =   zcosg * zcosh + zsing * zcosi * zsinh;
-         a3  =  -zsing * zcosh + zcosg * zcosi * zsinh;
-         a7  =  -zcosg * zsinh + zsing * zcosi * zcosh;
-         a8  =   zsing * zsini;
-         a9  =   zsing * zsinh + zcosg * zcosi * zcosh;
-         a10 =   zcosg * zsini;
-         a2  =   cosim * a7 + sinim * a8;
-         a4  =   cosim * a9 + sinim * a10;
-         a5  =  -sinim * a7 + cosim * a8;
-         a6  =  -sinim * a9 + cosim * a10;
-
-         x1  =  a1 * cosomm + a2 * sinomm;
-         x2  =  a3 * cosomm + a4 * sinomm;
-         x3  = -a1 * sinomm + a2 * cosomm;
-         x4  = -a3 * sinomm + a4 * cosomm;
-         x5  =  a5 * sinomm;
-         x6  =  a6 * sinomm;
-         x7  =  a5 * cosomm;
-         x8  =  a6 * cosomm;
-
-         z31 = 12.0 * x1 * x1 - 3.0 * x3 * x3;
-         z32 = 24.0 * x1 * x2 - 6.0 * x3 * x4;
-         z33 = 12.0 * x2 * x2 - 3.0 * x4 * x4;
-         z1  =  3.0 *  (a1 * a1 + a2 * a2) + z31 * emsq;
-         z2  =  6.0 *  (a1 * a3 + a2 * a4) + z32 * emsq;
-         z3  =  3.0 *  (a3 * a3 + a4 * a4) + z33 * emsq;
-         z11 = -6.0 * a1 * a5 + emsq *  (-24.0 * x1 * x7-6.0 * x3 * x5);
-         z12 = -6.0 *  (a1 * a6 + a3 * a5) + emsq *
-                (-24.0 * (x2 * x7 + x1 * x8) - 6.0 * (x3 * x6 + x4 * x5));
-         z13 = -6.0 * a3 * a6 + emsq * (-24.0 * x2 * x8 - 6.0 * x4 * x6);
-         z21 =  6.0 * a2 * a5 + emsq * (24.0 * x1 * x5 - 6.0 * x3 * x7);
-         z22 =  6.0 *  (a4 * a5 + a2 * a6) + emsq *
-                (24.0 * (x2 * x5 + x1 * x6) - 6.0 * (x4 * x7 + x3 * x8));
-         z23 =  6.0 * a4 * a6 + emsq * (24.0 * x2 * x6 - 6.0 * x4 * x8);
-         z1  = z1 + z1 + betasq * z31;
-         z2  = z2 + z2 + betasq * z32;
-         z3  = z3 + z3 + betasq * z33;
-         s3  = cc * xnoi;
-         s2  = -0.5 * s3 / rtemsq;
-         s4  = s3 * rtemsq;
-         s1  = -15.0 * em * s4;
-         s5  = x1 * x3 + x2 * x4;
-         s6  = x2 * x3 + x1 * x4;
-         s7  = x2 * x4 - x1 * x3;
-
-         /* ----------------------- do lunar terms ------------------- */
-         if (lsflg == 1)
-           {
-             ss1   = s1;
-             ss2   = s2;
-             ss3   = s3;
-             ss4   = s4;
-             ss5   = s5;
-             ss6   = s6;
-             ss7   = s7;
-             sz1   = z1;
-             sz2   = z2;
-             sz3   = z3;
-             sz11  = z11;
-             sz12  = z12;
-             sz13  = z13;
-             sz21  = z21;
-             sz22  = z22;
-             sz23  = z23;
-             sz31  = z31;
-             sz32  = z32;
-             sz33  = z33;
-             zcosg = zcosgl;
-             zsing = zsingl;
-             zcosi = zcosil;
-             zsini = zsinil;
-             zcosh = zcoshl * cnodm + zsinhl * snodm;
-             zsinh = snodm * zcoshl - cnodm * zsinhl;
-             cc    = c1l;
-          }
-       }
-
-     zmol = fmod(4.7199672 + 0.22997150  * day - gam, twopi);
-     zmos = fmod(6.2565837 + 0.017201977 * day, twopi);
-
-     /* ------------------------ do solar terms ---------------------- */
-     se2  =   2.0 * ss1 * ss6;
-     se3  =   2.0 * ss1 * ss7;
-     si2  =   2.0 * ss2 * sz12;
-     si3  =   2.0 * ss2 * (sz13 - sz11);
-     sl2  =  -2.0 * ss3 * sz2;
-     sl3  =  -2.0 * ss3 * (sz3 - sz1);
-     sl4  =  -2.0 * ss3 * (-21.0 - 9.0 * emsq) * zes;
-     sgh2 =   2.0 * ss4 * sz32;
-     sgh3 =   2.0 * ss4 * (sz33 - sz31);
-     sgh4 = -18.0 * ss4 * zes;
-     sh2  =  -2.0 * ss2 * sz22;
-     sh3  =  -2.0 * ss2 * (sz23 - sz21);
-
-     /* ------------------------ do lunar terms ---------------------- */
-     ee2  =   2.0 * s1 * s6;
-     e3   =   2.0 * s1 * s7;
-     xi2  =   2.0 * s2 * z12;
-     xi3  =   2.0 * s2 * (z13 - z11);
-     xl2  =  -2.0 * s3 * z2;
-     xl3  =  -2.0 * s3 * (z3 - z1);
-     xl4  =  -2.0 * s3 * (-21.0 - 9.0 * emsq) * zel;
-     xgh2 =   2.0 * s4 * z32;
-     xgh3 =   2.0 * s4 * (z33 - z31);
-     xgh4 = -18.0 * s4 * zel;
-     xh2  =  -2.0 * s2 * z22;
-     xh3  =  -2.0 * s2 * (z23 - z21);
-
-//#include "debug2.cpp"
-}  // end dscom
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure dsinit
-*
-*  this procedure provides deep space contributions to mean motion dot due
-*    to geopotential resonance with half day and one day orbits.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    cosim, sinim-
-*    emsq        - eccentricity squared
-*    argpo       - argument of perigee
-*    s1, s2, s3, s4, s5      -
-*    ss1, ss2, ss3, ss4, ss5 -
-*    sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33 -
-*    t           - time
-*    tc          -
-*    gsto        - greenwich sidereal time                   rad
-*    mo          - mean anomaly
-*    mdot        - mean anomaly dot (rate)
-*    no          - mean motion
-*    nodeo       - right ascension of ascending node
-*    nodedot     - right ascension of ascending node dot (rate)
-*    xpidot      -
-*    z1, z3, z11, z13, z21, z23, z31, z33 -
-*    eccm        - eccentricity
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    xn          - mean motion
-*    nodem       - right ascension of ascending node
-*
-*  outputs       :
-*    em          - eccentricity
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    nm          - mean motion
-*    nodem       - right ascension of ascending node
-*    irez        - flag for resonance           0-none, 1-one day, 2-half day
-*    atime       -
-*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433    -
-*    dedt        -
-*    didt        -
-*    dmdt        -
-*    dndt        -
-*    dnodt       -
-*    domdt       -
-*    del1, del2, del3        -
-*    ses  , sghl , sghs , sgs  , shl  , shs  , sis  , sls
-*    theta       -
-*    xfact       -
-*    xlamo       -
-*    xli         -
-*    xni
-*
-*  locals        :
-*    ainv2       -
-*    aonv        -
-*    cosisq      -
-*    eoc         -
-*    f220, f221, f311, f321, f322, f330, f441, f442, f522, f523, f542, f543  -
-*    g200, g201, g211, g300, g310, g322, g410, g422, g520, g521, g532, g533  -
-*    sini2       -
-*    temp        -
-*    temp1       -
-*    theta       -
-*    xno2        -
-*
-*  coupling      :
-*    getgravconst
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dsinit
-     (
-       gravconsttype whichconst,
-       double cosim,  double emsq,   double argpo,   double s1,     double s2,
-       double s3,     double s4,     double s5,      double sinim,  double ss1,
-       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
-       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
-       double sz31,   double sz33,   double t,       double tc,     double gsto,
-       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
-       double xpidot, double z1,     double z3,      double z11,    double z13,
-       double z21,    double z23,    double z31,     double z33,    double ecco,
-       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
-       double& nm,    double& nodem,
-       int& irez,
-       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
-       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
-       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
-       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
-       double& xfact, double& xlamo, double& xli,    double& xni
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     const double twopi = 2.0 * pi;
-
-     double ainv2 , aonv=0.0, cosisq, eoc, f220 , f221  , f311  ,
-          f321  , f322  , f330  , f441  , f442  , f522  , f523  ,
-          f542  , f543  , g200  , g201  , g211  , g300  , g310  ,
-          g322  , g410  , g422  , g520  , g521  , g532  , g533  ,
-          ses   , sgs   , sghl  , sghs  , shs   , shll  , sis   ,
-          sini2 , sls   , temp  , temp1 , theta , xno2  , q22   ,
-          q31   , q33   , root22, root44, root54, rptim , root32,
-          root52, x2o3  , xke   , znl   , emo   , zns   , emsqo,
-          tumin, mu, radiusearthkm, j2, j3, j4, j3oj2;
-
-     q22    = 1.7891679e-6;
-     q31    = 2.1460748e-6;
-     q33    = 2.2123015e-7;
-     root22 = 1.7891679e-6;
-     root44 = 7.3636953e-9;
-     root54 = 2.1765803e-9;
-     rptim  = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
-     root32 = 3.7393792e-7;
-     root52 = 1.1428639e-7;
-     x2o3   = 2.0 / 3.0;
-     znl    = 1.5835218e-4;
-     zns    = 1.19459e-5;
-
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-
-     /* -------------------- deep space initialization ------------ */
-     irez = 0;
-     if ((nm < 0.0052359877) && (nm > 0.0034906585))
-         irez = 1;
-     if ((nm >= 8.26e-3) && (nm <= 9.24e-3) && (em >= 0.5))
-         irez = 2;
-
-     /* ------------------------ do solar terms ------------------- */
-     ses  =  ss1 * zns * ss5;
-     sis  =  ss2 * zns * (sz11 + sz13);
-     sls  = -zns * ss3 * (sz1 + sz3 - 14.0 - 6.0 * emsq);
-     sghs =  ss4 * zns * (sz31 + sz33 - 6.0);
-     shs  = -zns * ss2 * (sz21 + sz23);
-     // sgp4fix for 180 deg incl
-     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
-       shs = 0.0;
-     if (sinim != 0.0)
-       shs = shs / sinim;
-     sgs  = sghs - cosim * shs;
-
-     /* ------------------------- do lunar terms ------------------ */
-     dedt = ses + s1 * znl * s5;
-     didt = sis + s2 * znl * (z11 + z13);
-     dmdt = sls - znl * s3 * (z1 + z3 - 14.0 - 6.0 * emsq);
-     sghl = s4 * znl * (z31 + z33 - 6.0);
-     shll = -znl * s2 * (z21 + z23);
-     // sgp4fix for 180 deg incl
-     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
-         shll = 0.0;
-     domdt = sgs + sghl;
-     dnodt = shs;
-     if (sinim != 0.0)
-       {
-         domdt = domdt - cosim / sinim * shll;
-         dnodt = dnodt + shll / sinim;
-       }
-
-     /* ----------- calculate deep space resonance effects -------- */
-     dndt   = 0.0;
-     theta  = fmod(gsto + tc * rptim, twopi);
-     em     = em + dedt * t;
-     inclm  = inclm + didt * t;
-     argpm  = argpm + domdt * t;
-     nodem  = nodem + dnodt * t;
-     mm     = mm + dmdt * t;
-     //   sgp4fix for negative inclinations
-     //   the following if statement should be commented out
-     //if (inclm < 0.0)
-     //  {
-     //    inclm  = -inclm;
-     //    argpm  = argpm - pi;
-     //    nodem = nodem + pi;
-     //  }
-
-     /* -------------- initialize the resonance terms ------------- */
-     if (irez != 0)
-       {
-         aonv = pow(nm / xke, x2o3);
-
-         /* ---------- geopotential resonance for 12 hour orbits ------ */
-         if (irez == 2)
-           {
-             cosisq = cosim * cosim;
-             emo    = em;
-             em     = ecco;
-             emsqo  = emsq;
-             emsq   = eccsq;
-             eoc    = em * emsq;
-             g201   = -0.306 - (em - 0.64) * 0.440;
-
-             if (em <= 0.65)
-               {
-                 g211 =    3.616  -  13.2470 * em +  16.2900 * emsq;
-                 g310 =  -19.302  + 117.3900 * em - 228.4190 * emsq +  156.5910 * eoc;
-                 g322 =  -18.9068 + 109.7927 * em - 214.6334 * emsq +  146.5816 * eoc;
-                 g410 =  -41.122  + 242.6940 * em - 471.0940 * emsq +  313.9530 * eoc;
-                 g422 = -146.407  + 841.8800 * em - 1629.014 * emsq + 1083.4350 * eoc;
-                 g520 = -532.114  + 3017.977 * em - 5740.032 * emsq + 3708.2760 * eoc;
-               }
-               else
-               {
-                 g211 =   -72.099 +   331.819 * em -   508.738 * emsq +   266.724 * eoc;
-                 g310 =  -346.844 +  1582.851 * em -  2415.925 * emsq +  1246.113 * eoc;
-                 g322 =  -342.585 +  1554.908 * em -  2366.899 * emsq +  1215.972 * eoc;
-                 g410 = -1052.797 +  4758.686 * em -  7193.992 * emsq +  3651.957 * eoc;
-                 g422 = -3581.690 + 16178.110 * em - 24462.770 * emsq + 12422.520 * eoc;
-                 if (em > 0.715)
-                     g520 =-5149.66 + 29936.92 * em - 54087.36 * emsq + 31324.56 * eoc;
-                   else
-                     g520 = 1464.74 -  4664.75 * em +  3763.64 * emsq;
-               }
-             if (em < 0.7)
-               {
-                 g533 = -919.22770 + 4988.6100 * em - 9064.7700 * emsq + 5542.21  * eoc;
-                 g521 = -822.71072 + 4568.6173 * em - 8491.4146 * emsq + 5337.524 * eoc;
-                 g532 = -853.66600 + 4690.2500 * em - 8624.7700 * emsq + 5341.4  * eoc;
-               }
-               else
-               {
-                 g533 =-37995.780 + 161616.52 * em - 229838.20 * emsq + 109377.94 * eoc;
-                 g521 =-51752.104 + 218913.95 * em - 309468.16 * emsq + 146349.42 * eoc;
-                 g532 =-40023.880 + 170470.89 * em - 242699.48 * emsq + 115605.82 * eoc;
-               }
-
-             sini2=  sinim * sinim;
-             f220 =  0.75 * (1.0 + 2.0 * cosim+cosisq);
-             f221 =  1.5 * sini2;
-             f321 =  1.875 * sinim  *  (1.0 - 2.0 * cosim - 3.0 * cosisq);
-             f322 = -1.875 * sinim  *  (1.0 + 2.0 * cosim - 3.0 * cosisq);
-             f441 = 35.0 * sini2 * f220;
-             f442 = 39.3750 * sini2 * sini2;
-             f522 =  9.84375 * sinim * (sini2 * (1.0 - 2.0 * cosim- 5.0 * cosisq) +
-                     0.33333333 * (-2.0 + 4.0 * cosim + 6.0 * cosisq) );
-             f523 = sinim * (4.92187512 * sini2 * (-2.0 - 4.0 * cosim +
-                    10.0 * cosisq) + 6.56250012 * (1.0+2.0 * cosim - 3.0 * cosisq));
-             f542 = 29.53125 * sinim * (2.0 - 8.0 * cosim+cosisq *
-                    (-12.0 + 8.0 * cosim + 10.0 * cosisq));
-             f543 = 29.53125 * sinim * (-2.0 - 8.0 * cosim+cosisq *
-                    (12.0 + 8.0 * cosim - 10.0 * cosisq));
-             xno2  =  nm * nm;
-             ainv2 =  aonv * aonv;
-             temp1 =  3.0 * xno2 * ainv2;
-             temp  =  temp1 * root22;
-             d2201 =  temp * f220 * g201;
-             d2211 =  temp * f221 * g211;
-             temp1 =  temp1 * aonv;
-             temp  =  temp1 * root32;
-             d3210 =  temp * f321 * g310;
-             d3222 =  temp * f322 * g322;
-             temp1 =  temp1 * aonv;
-             temp  =  2.0 * temp1 * root44;
-             d4410 =  temp * f441 * g410;
-             d4422 =  temp * f442 * g422;
-             temp1 =  temp1 * aonv;
-             temp  =  temp1 * root52;
-             d5220 =  temp * f522 * g520;
-             d5232 =  temp * f523 * g532;
-             temp  =  2.0 * temp1 * root54;
-             d5421 =  temp * f542 * g521;
-             d5433 =  temp * f543 * g533;
-             xlamo =  fmod(mo + nodeo + nodeo-theta - theta, twopi);
-             xfact =  mdot + dmdt + 2.0 * (nodedot + dnodt - rptim) - no;
-             em    = emo;
-             emsq  = emsqo;
-           }
-
-         /* ---------------- synchronous resonance terms -------------- */
-         if (irez == 1)
-           {
-             g200  = 1.0 + emsq * (-2.5 + 0.8125 * emsq);
-             g310  = 1.0 + 2.0 * emsq;
-             g300  = 1.0 + emsq * (-6.0 + 6.60937 * emsq);
-             f220  = 0.75 * (1.0 + cosim) * (1.0 + cosim);
-             f311  = 0.9375 * sinim * sinim * (1.0 + 3.0 * cosim) - 0.75 * (1.0 + cosim);
-             f330  = 1.0 + cosim;
-             f330  = 1.875 * f330 * f330 * f330;
-             del1  = 3.0 * nm * nm * aonv * aonv;
-             del2  = 2.0 * del1 * f220 * g200 * q22;
-             del3  = 3.0 * del1 * f330 * g300 * q33 * aonv;
-             del1  = del1 * f311 * g310 * q31 * aonv;
-             xlamo = fmod(mo + nodeo + argpo - theta, twopi);
-             xfact = mdot + xpidot - rptim + dmdt + domdt + dnodt - no;
-           }
-
-         /* ------------ for sgp4, initialize the integrator ---------- */
-         xli   = xlamo;
-         xni   = no;
-         atime = 0.0;
-         nm    = no + dndt;
-       }
-
-//#include "debug3.cpp"
-}  // end dsinit
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure dspace
-*
-*  this procedure provides deep space contributions to mean elements for
-*    perturbing third body.  these effects have been averaged over one
-*    revolution of the sun and moon.  for earth resonance effects, the
-*    effects have been averaged over no revolutions of the satellite.
-*    (mean motion)
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433 -
-*    dedt        -
-*    del1, del2, del3  -
-*    didt        -
-*    dmdt        -
-*    dnodt       -
-*    domdt       -
-*    irez        - flag for resonance           0-none, 1-one day, 2-half day
-*    argpo       - argument of perigee
-*    argpdot     - argument of perigee dot (rate)
-*    t           - time
-*    tc          -
-*    gsto        - gst
-*    xfact       -
-*    xlamo       -
-*    no          - mean motion
-*    atime       -
-*    em          - eccentricity
-*    ft          -
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    xli         -
-*    mm          - mean anomaly
-*    xni         - mean motion
-*    nodem       - right ascension of ascending node
-*
-*  outputs       :
-*    atime       -
-*    em          - eccentricity
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    xli         -
-*    mm          - mean anomaly
-*    xni         -
-*    nodem       - right ascension of ascending node
-*    dndt        -
-*    nm          - mean motion
-*
-*  locals        :
-*    delt        -
-*    ft          -
-*    theta       -
-*    x2li        -
-*    x2omi       -
-*    xl          -
-*    xldot       -
-*    xnddt       -
-*    xndt        -
-*    xomi        -
-*
-*  coupling      :
-*    none        -
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dspace
-     (
-       int irez,
-       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
-       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
-       double dedt,   double del1,   double del2,    double del3,   double didt,
-       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
-       double t,      double tc,     double gsto,    double xfact,  double xlamo,
-       double no,
-       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
-       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
-     )
-{
-     const double twopi = 2.0 * pi;
-     int iretn , iret;
-     double delt, ft, theta, x2li, x2omi, xl, xldot , xnddt, xndt, xomi, g22, g32,
-          g44, g52, g54, fasx2, fasx4, fasx6, rptim , step2, stepn , stepp;
-
-     ft    = 0.0;
-     fasx2 = 0.13130908;
-     fasx4 = 2.8843198;
-     fasx6 = 0.37448087;
-     g22   = 5.7686396;
-     g32   = 0.95240898;
-     g44   = 1.8014998;
-     g52   = 1.0508330;
-     g54   = 4.4108898;
-     rptim = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
-     stepp =    720.0;
-     stepn =   -720.0;
-     step2 = 259200.0;
-
-     /* ----------- calculate deep space resonance effects ----------- */
-     dndt   = 0.0;
-     theta  = fmod(gsto + tc * rptim, twopi);
-     em     = em + dedt * t;
-
-     inclm  = inclm + didt * t;
-     argpm  = argpm + domdt * t;
-     nodem  = nodem + dnodt * t;
-     mm     = mm + dmdt * t;
-
-     //   sgp4fix for negative inclinations
-     //   the following if statement should be commented out
-     //  if (inclm < 0.0)
-     // {
-     //    inclm = -inclm;
-     //    argpm = argpm - pi;
-     //    nodem = nodem + pi;
-     //  }
-
-     /* - update resonances : numerical (euler-maclaurin) integration - */
-     /* ------------------------- epoch restart ----------------------  */
-     //   sgp4fix for propagator problems
-     //   the following integration works for negative time steps and periods
-     //   the specific changes are unknown because the original code was so convoluted
-
-     ft    = 0.0;
-     atime = 0.0;
-     if (irez != 0)
-       {
-         if ((atime == 0.0) || ((t >= 0.0) && (atime < 0.0)) ||
-             ((t < 0.0) && (atime >= 0.0)))
-           {
-             if (t >= 0.0)
-                 delt = stepp;
-               else
-                 delt = stepn;
-             atime  = 0.0;
-             xni    = no;
-             xli    = xlamo;
-           }
-         iretn = 381; // added for do loop
-         iret  =   0; // added for loop
-         while (iretn == 381)
-           {
-             if ((fabs(t) < fabs(atime)) || (iret == 351))
-               {
-                 if (t >= 0.0)
-                     delt = stepn;
-                   else
-                     delt = stepp;
-                 iret  = 351;
-                 iretn = 381;
-               }
-               else
-               {
-                 if (t > 0.0)  // error if prev if has atime:=0.0 and t:=0.0 (ge)
-                     delt = stepp;
-                   else
-                     delt = stepn;
-                 if (fabs(t - atime) >= stepp)
-                   {
-                     iret  = 0;
-                     iretn = 381;
-                   }
-                   else
-                   {
-                     ft    = t - atime;
-                     iretn = 0;
-                   }
-               }
-
-             /* ------------------- dot terms calculated ------------- */
-             /* ----------- near - synchronous resonance terms ------- */
-             if (irez != 2)
-               {
-                 xndt  = del1 * sin(xli - fasx2) + del2 * sin(2.0 * (xli - fasx4)) +
-                         del3 * sin(3.0 * (xli - fasx6));
-                 xldot = xni + xfact;
-                 xnddt = del1 * cos(xli - fasx2) +
-                         2.0 * del2 * cos(2.0 * (xli - fasx4)) +
-                         3.0 * del3 * cos(3.0 * (xli - fasx6));
-                 xnddt = xnddt * xldot;
-               }
-               else
-               {
-                 /* --------- near - half-day resonance terms -------- */
-                 xomi  = argpo + argpdot * atime;
-                 x2omi = xomi + xomi;
-                 x2li  = xli + xli;
-                 xndt  = d2201 * sin(x2omi + xli - g22) + d2211 * sin(xli - g22) +
-                       d3210 * sin(xomi + xli - g32)  + d3222 * sin(-xomi + xli - g32)+
-                       d4410 * sin(x2omi + x2li - g44)+ d4422 * sin(x2li - g44) +
-                       d5220 * sin(xomi + xli - g52)  + d5232 * sin(-xomi + xli - g52)+
-                       d5421 * sin(xomi + x2li - g54) + d5433 * sin(-xomi + x2li - g54);
-                 xldot = xni + xfact;
-                 xnddt = d2201 * cos(x2omi + xli - g22) + d2211 * cos(xli - g22) +
-                       d3210 * cos(xomi + xli - g32) + d3222 * cos(-xomi + xli - g32) +
-                       d5220 * cos(xomi + xli - g52) + d5232 * cos(-xomi + xli - g52) +
-                       2.0 * (d4410 * cos(x2omi + x2li - g44) +
-                       d4422 * cos(x2li - g44) + d5421 * cos(xomi + x2li - g54) +
-                       d5433 * cos(-xomi + x2li - g54));
-                 xnddt = xnddt * xldot;
-               }
-
-             /* ----------------------- integrator ------------------- */
-             if (iretn == 381)
-               {
-                 xli   = xli + xldot * delt + xndt * step2;
-                 xni   = xni + xndt * delt + xnddt * step2;
-                 atime = atime + delt;
-               }
-           }  // while iretn = 381
-
-         nm = xni + xndt * ft + xnddt * ft * ft * 0.5;
-         xl = xli + xldot * ft + xndt * ft * ft * 0.5;
-         if (irez != 1)
-           {
-             mm   = xl - 2.0 * nodem + 2.0 * theta;
-             dndt = nm - no;
-           }
-           else
-           {
-             mm   = xl - nodem - argpm + theta;
-             dndt = nm - no;
-           }
-         nm = no + dndt;
-       }
-
-//#include "debug4.cpp"
-}  // end dsspace
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure initl
-*
-*  this procedure initializes the spg4 propagator. all the initialization is
-*    consolidated here instead of having multiple loops inside other routines.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    ecco        - eccentricity                           0.0 - 1.0
-*    epoch       - epoch time in days from jan 0, 1950. 0 hr
-*    inclo       - inclination of satellite
-*    no          - mean motion of satellite
-*    satn        - satellite number
-*
-*  outputs       :
-*    ainv        - 1.0 / a
-*    ao          - semi major axis
-*    con41       -
-*    con42       - 1.0 - 5.0 cos(i)
-*    cosio       - cosine of inclination
-*    cosio2      - cosio squared
-*    eccsq       - eccentricity squared
-*    method      - flag for deep space                    'd', 'n'
-*    omeosq      - 1.0 - ecco * ecco
-*    posq        - semi-parameter squared
-*    rp          - radius of perigee
-*    rteosq      - square root of (1.0 - ecco*ecco)
-*    sinio       - sine of inclination
-*    gsto        - gst at time of observation               rad
-*    no          - mean motion of satellite
-*
-*  locals        :
-*    ak          -
-*    d1          -
-*    del         -
-*    adel        -
-*    po          -
-*
-*  coupling      :
-*    getgravconst
-*    gstime      - find greenwich sidereal time from the julian date
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void initl
-     (
-       int satn,      gravconsttype whichconst,
-       double ecco,   double epoch,  double inclo,   double& no,
-       char& method,
-       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
-       double& cosio2,double& eccsq, double& omeosq, double& posq,
-       double& rp,    double& rteosq,double& sinio , double& gsto
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     double ak, d1, del, adel, po, x2o3, j2, xke,
-            tumin, mu, radiusearthkm, j3, j4, j3oj2;
-
-     // sgp4fix use old way of finding gst
-     int ids70;
-     double ts70, ds70, tfrac, c1, thgr70, fk5r, c1p2p;
-     const double twopi = 2.0 * pi;
-
-     /* ----------------------- earth constants ---------------------- */
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-     x2o3   = 2.0 / 3.0;
-
-     /* ------------- calculate auxillary epoch quantities ---------- */
-     eccsq  = ecco * ecco;
-     omeosq = 1.0 - eccsq;
-     rteosq = sqrt(omeosq);
-     cosio  = cos(inclo);
-     cosio2 = cosio * cosio;
-
-     /* ------------------ un-kozai the mean motion ----------------- */
-     ak    = pow(xke / no, x2o3);
-     d1    = 0.75 * j2 * (3.0 * cosio2 - 1.0) / (rteosq * omeosq);
-     del   = d1 / (ak * ak);
-     adel  = ak * (1.0 - del * del - del *
-             (1.0 / 3.0 + 134.0 * del * del / 81.0));
-     del   = d1/(adel * adel);
-     no    = no / (1.0 + del);
-
-     ao    = pow(xke / no, x2o3);
-     sinio = sin(inclo);
-     po    = ao * omeosq;
-     con42 = 1.0 - 5.0 * cosio2;
-     con41 = -con42-cosio2-cosio2;
-     ainv  = 1.0 / ao;
-     posq  = po * po;
-     rp    = ao * (1.0 - ecco);
-     method = 'n';
-
-     // sgp4fix modern approach to finding sidereal timew
-     // gsto = gstime(epoch + 2433281.5);
-
-     // sgp4fix use old way of finding gst
-     // count integer number of days from 0 jan 1970
-     ts70  = epoch - 7305.0;
-     ids70 = floor(ts70 + 1.0e-8);
-     ds70  = ids70;
-     tfrac = ts70 - ds70;
-     // find greenwich location at epoch
-     c1    = 1.72027916940703639e-2;
-     thgr70= 1.7321343856509374;
-     fk5r  = 5.07551419432269442e-15;
-     c1p2p = c1 + twopi;
-     gsto  = fmod( thgr70 + c1*ds70 + c1p2p*tfrac + ts70*ts70*fk5r, twopi);
-     if ( gsto < 0.0 )
-         gsto = gsto + twopi;
-
-//#include "debug5.cpp"
-}  // end initl
-
-/*-----------------------------------------------------------------------------
-*
-*                             procedure sgp4init
-*
-*  this procedure initializes variables for sgp4.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    satn        - satellite number
-*    bstar       - sgp4 type drag coefficient              kg/m2er
-*    ecco        - eccentricity
-*    epoch       - epoch time in days from jan 0, 1950. 0 hr
-*    argpo       - argument of perigee (output if ds)
-*    inclo       - inclination
-*    mo          - mean anomaly (output if ds)
-*    no          - mean motion
-*    nodeo       - right ascension of ascending node
-*
-*  outputs       :
-*    satrec      - common values for subsequent calls
-*    return code - non-zero on error.
-*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
-*                   2 - mean motion less than 0.0
-*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
-*                   4 - semi-latus rectum < 0.0
-*                   5 - epoch elements are sub-orbital
-*                   6 - satellite has decayed
-*
-*  locals        :
-*    cnodm  , snodm  , cosim  , sinim  , cosomm , sinomm
-*    cc1sq  , cc2    , cc3
-*    coef   , coef1
-*    cosio4      -
-*    day         -
-*    dndt        -
-*    em          - eccentricity
-*    emsq        - eccentricity squared
-*    eeta        -
-*    etasq       -
-*    gam         -
-*    argpm       - argument of perigee
-*    nodem       -
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    nm          - mean motion
-*    perige      - perigee
-*    pinvsq      -
-*    psisq       -
-*    qzms24      -
-*    rtemsq      -
-*    s1, s2, s3, s4, s5, s6, s7          -
-*    sfour       -
-*    ss1, ss2, ss3, ss4, ss5, ss6, ss7         -
-*    sz1, sz2, sz3
-*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
-*    tc          -
-*    temp        -
-*    temp1, temp2, temp3       -
-*    tsi         -
-*    xpidot      -
-*    xhdot1      -
-*    z1, z2, z3          -
-*    z11, z12, z13, z21, z22, z23, z31, z32, z33         -
-*
-*  coupling      :
-*    getgravconst-
-*    initl       -
-*    dscom       -
-*    dpper       -
-*    dsinit      -
-*    sgp4        -
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-int sgp4init
-     (
-       gravconsttype whichconst,       const int satn,     const double epoch,
-       const double xbstar,  const double xecco, const double xargpo,
-       const double xinclo,  const double xmo,   const double xno,
-       const double xnodeo,  elsetrec& satrec
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     double ao, ainv,   con42, cosio, sinio, cosio2, eccsq,
-          omeosq, posq,   rp,     rteosq,
-          cnodm , snodm , cosim , sinim , cosomm, sinomm, cc1sq ,
-          cc2   , cc3   , coef  , coef1 , cosio4, day   , dndt  ,
-          em    , emsq  , eeta  , etasq , gam   , argpm , nodem ,
-          inclm , mm    , nm    , perige, pinvsq, psisq , qzms24,
-          rtemsq, s1    , s2    , s3    , s4    , s5    , s6    ,
-          s7    , sfour , ss1 = 0   , ss2 = 0   , ss3 = 0   , ss4 = 0   , ss5 = 0   ,
-          ss6 = 0   , ss7 = 0   , sz1 = 0   , sz2 = 0   , sz3 = 0   , sz11 = 0  , sz12 = 0  ,
-          sz13 = 0  , sz21 = 0  , sz22 = 0  , sz23 = 0  , sz31 = 0  , sz32 = 0  , sz33 = 0  ,
-          tc    , temp  , temp1 , temp2 , temp3 , tsi   , xpidot,
-          xhdot1, z1    , z2    , z3    , z11   , z12   , z13   ,
-          z21   , z22   , z23   , z31   , z32   , z33,
-          qzms2t, ss, j2, j3oj2, j4, x2o3, r[3], v[3],
-          tumin, mu, radiusearthkm, xke, j3;
-
-     /* ------------------------ initialization --------------------- */
-     // sgp4fix divisor for divide by zero check on inclination
-     const double temp4    =   1.0 + cos(pi-1.0e-9);
-
-     /* ----------- set all near earth variables to zero ------------ */
-     satrec.isimp   = 0;   satrec.method = 'n'; satrec.aycof    = 0.0;
-     satrec.con41   = 0.0; satrec.cc1    = 0.0; satrec.cc4      = 0.0;
-     satrec.cc5     = 0.0; satrec.d2     = 0.0; satrec.d3       = 0.0;
-     satrec.d4      = 0.0; satrec.delmo  = 0.0; satrec.eta      = 0.0;
-     satrec.argpdot = 0.0; satrec.omgcof = 0.0; satrec.sinmao   = 0.0;
-     satrec.t       = 0.0; satrec.t2cof  = 0.0; satrec.t3cof    = 0.0;
-     satrec.t4cof   = 0.0; satrec.t5cof  = 0.0; satrec.x1mth2   = 0.0;
-     satrec.x7thm1  = 0.0; satrec.mdot   = 0.0; satrec.nodedot  = 0.0;
-     satrec.xlcof   = 0.0; satrec.xmcof  = 0.0; satrec.nodecf   = 0.0;
-
-     /* ----------- set all deep space variables to zero ------------ */
-     satrec.irez  = 0;   satrec.d2201 = 0.0; satrec.d2211 = 0.0;
-     satrec.d3210 = 0.0; satrec.d3222 = 0.0; satrec.d4410 = 0.0;
-     satrec.d4422 = 0.0; satrec.d5220 = 0.0; satrec.d5232 = 0.0;
-     satrec.d5421 = 0.0; satrec.d5433 = 0.0; satrec.dedt  = 0.0;
-     satrec.del1  = 0.0; satrec.del2  = 0.0; satrec.del3  = 0.0;
-     satrec.didt  = 0.0; satrec.dmdt  = 0.0; satrec.dnodt = 0.0;
-     satrec.domdt = 0.0; satrec.e3    = 0.0; satrec.ee2   = 0.0;
-     satrec.peo   = 0.0; satrec.pgho  = 0.0; satrec.pho   = 0.0;
-     satrec.pinco = 0.0; satrec.plo   = 0.0; satrec.se2   = 0.0;
-     satrec.se3   = 0.0; satrec.sgh2  = 0.0; satrec.sgh3  = 0.0;
-     satrec.sgh4  = 0.0; satrec.sh2   = 0.0; satrec.sh3   = 0.0;
-     satrec.si2   = 0.0; satrec.si3   = 0.0; satrec.sl2   = 0.0;
-     satrec.sl3   = 0.0; satrec.sl4   = 0.0; satrec.gsto  = 0.0;
-     satrec.xfact = 0.0; satrec.xgh2  = 0.0; satrec.xgh3  = 0.0;
-     satrec.xgh4  = 0.0; satrec.xh2   = 0.0; satrec.xh3   = 0.0;
-     satrec.xi2   = 0.0; satrec.xi3   = 0.0; satrec.xl2   = 0.0;
-     satrec.xl3   = 0.0; satrec.xl4   = 0.0; satrec.xlamo = 0.0;
-     satrec.zmol  = 0.0; satrec.zmos  = 0.0; satrec.atime = 0.0;
-     satrec.xli   = 0.0; satrec.xni   = 0.0;
-
-     // sgp4fix - note the following variables are also passed directly via satrec.
-     // it is possible to streamline the sgp4init call by deleting the "x"
-     // variables, but the user would need to set the satrec.* values first. we
-     // include the additional assignments in case twoline2rv is not used.
-     satrec.bstar   = xbstar;
-     satrec.ecco    = xecco;
-     satrec.argpo   = xargpo;
-     satrec.inclo   = xinclo;
-     satrec.mo	    = xmo;
-     satrec.no	    = xno;
-     satrec.nodeo   = xnodeo;
-
-     /* ------------------------ earth constants ----------------------- */
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-     ss     = 78.0 / radiusearthkm + 1.0;
-     qzms2t = pow(((120.0 - 78.0) / radiusearthkm), 4);
-     x2o3   =  2.0 / 3.0;
-
-     satrec.init = 'y';
-     satrec.t	 = 0.0;
-
-     initl
-         (
-           satn, whichconst, satrec.ecco, epoch, satrec.inclo, satrec.no, satrec.method,
-           ainv, ao, satrec.con41, con42, cosio, cosio2, eccsq, omeosq,
-           posq, rp, rteosq, sinio, satrec.gsto
-         );
-     satrec.error = 0;
-
-     if (rp < 1.0)
-       {
-//         printf("# *** satn%d epoch elts sub-orbital ***\n", satn);
-         satrec.error = 5;
-       }
-
-     if ((omeosq >= 0.0 ) || ( satrec.no >= 0.0))
-       {
-         satrec.isimp = 0;
-         if (rp < (220.0 / radiusearthkm + 1.0))
-             satrec.isimp = 1;
-         sfour  = ss;
-         qzms24 = qzms2t;
-         perige = (rp - 1.0) * radiusearthkm;
-
-         /* - for perigees below 156 km, s and qoms2t are altered - */
-         if (perige < 156.0)
-           {
-             sfour = perige - 78.0;
-             if (perige < 98.0)
-                 sfour = 20.0;
-             qzms24 = pow(((120.0 - sfour) / radiusearthkm), 4.0);
-             sfour  = sfour / radiusearthkm + 1.0;
-           }
-         pinvsq = 1.0 / posq;
-
-         tsi  = 1.0 / (ao - sfour);
-         satrec.eta  = ao * satrec.ecco * tsi;
-         etasq = satrec.eta * satrec.eta;
-         eeta  = satrec.ecco * satrec.eta;
-         psisq = fabs(1.0 - etasq);
-         coef  = qzms24 * pow(tsi, 4.0);
-         coef1 = coef / pow(psisq, 3.5);
-         cc2   = coef1 * satrec.no * (ao * (1.0 + 1.5 * etasq + eeta *
-                        (4.0 + etasq)) + 0.375 * j2 * tsi / psisq * satrec.con41 *
-                        (8.0 + 3.0 * etasq * (8.0 + etasq)));
-         satrec.cc1   = satrec.bstar * cc2;
-         cc3   = 0.0;
-         if (satrec.ecco > 1.0e-4)
-             cc3 = -2.0 * coef * tsi * j3oj2 * satrec.no * sinio / satrec.ecco;
-         satrec.x1mth2 = 1.0 - cosio2;
-         satrec.cc4    = 2.0* satrec.no * coef1 * ao * omeosq *
-                           (satrec.eta * (2.0 + 0.5 * etasq) + satrec.ecco *
-                           (0.5 + 2.0 * etasq) - j2 * tsi / (ao * psisq) *
-                           (-3.0 * satrec.con41 * (1.0 - 2.0 * eeta + etasq *
-                           (1.5 - 0.5 * eeta)) + 0.75 * satrec.x1mth2 *
-                           (2.0 * etasq - eeta * (1.0 + etasq)) * cos(2.0 * satrec.argpo)));
-         satrec.cc5 = 2.0 * coef1 * ao * omeosq * (1.0 + 2.75 *
-                        (etasq + eeta) + eeta * etasq);
-         cosio4 = cosio2 * cosio2;
-         temp1  = 1.5 * j2 * pinvsq * satrec.no;
-         temp2  = 0.5 * temp1 * j2 * pinvsq;
-         temp3  = -0.46875 * j4 * pinvsq * pinvsq * satrec.no;
-         satrec.mdot     = satrec.no + 0.5 * temp1 * rteosq * satrec.con41 + 0.0625 *
-                            temp2 * rteosq * (13.0 - 78.0 * cosio2 + 137.0 * cosio4);
-         satrec.argpdot  = -0.5 * temp1 * con42 + 0.0625 * temp2 *
-                             (7.0 - 114.0 * cosio2 + 395.0 * cosio4) +
-                             temp3 * (3.0 - 36.0 * cosio2 + 49.0 * cosio4);
-         xhdot1            = -temp1 * cosio;
-         satrec.nodedot = xhdot1 + (0.5 * temp2 * (4.0 - 19.0 * cosio2) +
-                              2.0 * temp3 * (3.0 - 7.0 * cosio2)) * cosio;
-         xpidot            =  satrec.argpdot+ satrec.nodedot;
-         satrec.omgcof   = satrec.bstar * cc3 * cos(satrec.argpo);
-         satrec.xmcof    = 0.0;
-         if (satrec.ecco > 1.0e-4)
-             satrec.xmcof = -x2o3 * coef * satrec.bstar / eeta;
-         satrec.nodecf = 3.5 * omeosq * xhdot1 * satrec.cc1;
-         satrec.t2cof   = 1.5 * satrec.cc1;
-         // sgp4fix for divide by zero with xinco = 180 deg
-         if (fabs(cosio+1.0) > 1.5e-12)
-             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / (1.0 + cosio);
-           else
-             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / temp4;
-         satrec.aycof   = -0.5 * j3oj2 * sinio;
-         satrec.delmo   = pow((1.0 + satrec.eta * cos(satrec.mo)), 3);
-         satrec.sinmao  = sin(satrec.mo);
-         satrec.x7thm1  = 7.0 * cosio2 - 1.0;
-
-         /* --------------- deep space initialization ------------- */
-         if ((2*pi / satrec.no) >= 225.0)
-           {
-             satrec.method = 'd';
-             satrec.isimp  = 1;
-             tc    =  0.0;
-             inclm = satrec.inclo;
-
-             dscom
-                 (
-                   epoch, satrec.ecco, satrec.argpo, tc, satrec.inclo, satrec.nodeo,
-                   satrec.no, snodm, cnodm,  sinim, cosim,sinomm,     cosomm,
-                   day, satrec.e3, satrec.ee2, em,         emsq, gam,
-                   satrec.peo,  satrec.pgho,   satrec.pho, satrec.pinco,
-                   satrec.plo,  rtemsq,        satrec.se2, satrec.se3,
-                   satrec.sgh2, satrec.sgh3,   satrec.sgh4,
-                   satrec.sh2,  satrec.sh3,    satrec.si2, satrec.si3,
-                   satrec.sl2,  satrec.sl3,    satrec.sl4, s1, s2, s3, s4, s5,
-                   s6,   s7,   ss1,  ss2,  ss3,  ss4,  ss5,  ss6,  ss7, sz1, sz2, sz3,
-                   sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33,
-                   satrec.xgh2, satrec.xgh3,   satrec.xgh4, satrec.xh2,
-                   satrec.xh3,  satrec.xi2,    satrec.xi3,  satrec.xl2,
-                   satrec.xl3,  satrec.xl4,    nm, z1, z2, z3, z11,
-                   z12, z13, z21, z22, z23, z31, z32, z33,
-                   satrec.zmol, satrec.zmos
-                 );
-             dpper
-                 (
-                   satrec.e3, satrec.ee2, satrec.peo, satrec.pgho,
-                   satrec.pho, satrec.pinco, satrec.plo, satrec.se2,
-                   satrec.se3, satrec.sgh2, satrec.sgh3, satrec.sgh4,
-                   satrec.sh2, satrec.sh3, satrec.si2,  satrec.si3,
-                   satrec.sl2, satrec.sl3, satrec.sl4,  satrec.t,
-                   satrec.xgh2,satrec.xgh3,satrec.xgh4, satrec.xh2,
-                   satrec.xh3, satrec.xi2, satrec.xi3,  satrec.xl2,
-                   satrec.xl3, satrec.xl4, satrec.zmol, satrec.zmos, inclm, satrec.init,
-                   satrec.ecco, satrec.inclo, satrec.nodeo, satrec.argpo, satrec.mo
-                 );
-
-             argpm  = 0.0;
-             nodem  = 0.0;
-             mm     = 0.0;
-
-             dsinit
-                 (
-                   whichconst,
-                   cosim, emsq, satrec.argpo, s1, s2, s3, s4, s5, sinim, ss1, ss2, ss3, ss4,
-                   ss5, sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33, satrec.t, tc,
-                   satrec.gsto, satrec.mo, satrec.mdot, satrec.no, satrec.nodeo,
-                   satrec.nodedot, xpidot, z1, z3, z11, z13, z21, z23, z31, z33,
-                   satrec.ecco, eccsq, em, argpm, inclm, mm, nm, nodem,
-                   satrec.irez,  satrec.atime,
-                   satrec.d2201, satrec.d2211, satrec.d3210, satrec.d3222 ,
-                   satrec.d4410, satrec.d4422, satrec.d5220, satrec.d5232,
-                   satrec.d5421, satrec.d5433, satrec.dedt,  satrec.didt,
-                   satrec.dmdt,  dndt,         satrec.dnodt, satrec.domdt ,
-                   satrec.del1,  satrec.del2,  satrec.del3,  satrec.xfact,
-                   satrec.xlamo, satrec.xli,   satrec.xni
-                 );
-           }
-
-       /* ----------- set variables if not deep space ----------- */
-       if (satrec.isimp != 1)
-         {
-           cc1sq          = satrec.cc1 * satrec.cc1;
-           satrec.d2    = 4.0 * ao * tsi * cc1sq;
-           temp           = satrec.d2 * tsi * satrec.cc1 / 3.0;
-           satrec.d3    = (17.0 * ao + sfour) * temp;
-           satrec.d4    = 0.5 * temp * ao * tsi * (221.0 * ao + 31.0 * sfour) *
-                            satrec.cc1;
-           satrec.t3cof = satrec.d2 + 2.0 * cc1sq;
-           satrec.t4cof = 0.25 * (3.0 * satrec.d3 + satrec.cc1 *
-                            (12.0 * satrec.d2 + 10.0 * cc1sq));
-           satrec.t5cof = 0.2 * (3.0 * satrec.d4 +
-                            12.0 * satrec.cc1 * satrec.d3 +
-                            6.0 * satrec.d2 * satrec.d2 +
-                            15.0 * cc1sq * (2.0 * satrec.d2 + cc1sq));
-         }
-       } // if omeosq = 0 ...
-
-       /* finally propogate to zero epoch to initialise all others. */
-       if(satrec.error == 0)
-           sgp4(whichconst, satrec, 0.0, r, v);
-
-       satrec.init = 'n';
-
-//#include "debug6.cpp"
-       return satrec.error;
-}  // end sgp4init
-
-/*-----------------------------------------------------------------------------
-*
-*                             procedure sgp4
-*
-*  this procedure is the sgp4 prediction model from space command. this is an
-*    updated and combined version of sgp4 and sdp4, which were originally
-*    published separately in spacetrack report #3. this version follows the
-*    methodology from the aiaa paper (2006) describing the history and
-*    development of the code.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    satrec	 - initialised structure from sgp4init() call.
-*    tsince	 - time eince epoch (minutes)
-*
-*  outputs       :
-*    r           - position vector                     km
-*    v           - velocity                            km/sec
-*  return code - non-zero on error.
-*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
-*                   2 - mean motion less than 0.0
-*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
-*                   4 - semi-latus rectum < 0.0
-*                   5 - epoch elements are sub-orbital
-*                   6 - satellite has decayed
-*
-*  locals        :
-*    am          -
-*    axnl, aynl        -
-*    betal       -
-*    cosim   , sinim   , cosomm  , sinomm  , cnod    , snod    , cos2u   ,
-*    sin2u   , coseo1  , sineo1  , cosi    , sini    , cosip   , sinip   ,
-*    cosisq  , cossu   , sinsu   , cosu    , sinu
-*    delm        -
-*    delomg      -
-*    dndt        -
-*    eccm        -
-*    emsq        -
-*    ecose       -
-*    el2         -
-*    eo1         -
-*    eccp        -
-*    esine       -
-*    argpm       -
-*    argpp       -
-*    omgadf      -
-*    pl          -
-*    r           -
-*    rtemsq      -
-*    rdotl       -
-*    rl          -
-*    rvdot       -
-*    rvdotl      -
-*    su          -
-*    t2  , t3   , t4    , tc
-*    tem5, temp , temp1 , temp2  , tempa  , tempe  , templ
-*    u   , ux   , uy    , uz     , vx     , vy     , vz
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    nm          - mean motion
-*    nodem       - right asc of ascending node
-*    xinc        -
-*    xincp       -
-*    xl          -
-*    xlm         -
-*    mp          -
-*    xmdf        -
-*    xmx         -
-*    xmy         -
-*    nodedf      -
-*    xnode       -
-*    nodep       -
-*    np          -
-*
-*  coupling      :
-*    getgravconst-
-*    dpper
-*    dpspace
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-int sgp4
-     (
-       gravconsttype whichconst, elsetrec& satrec,  double tsince,
-       double r[3],  double v[3]
-     )
-{
-     double am   , axnl  , aynl , betal ,  cosim , cnod  ,
-         cos2u, coseo1, cosi , cosip ,  cosisq, cossu , cosu,
-         delm , delomg, em   , emsq  ,  ecose , el2   , eo1 ,
-         ep   , esine , argpm, argpp ,  argpdf, pl,     mrt = 0.0,
-         mvt  , rdotl , rl   , rvdot ,  rvdotl, sinim ,
-         sin2u, sineo1, sini , sinip ,  sinsu , sinu  ,
-         snod , su    , t2   , t3    ,  t4    , tem5  , temp,
-         temp1, temp2 , tempa, tempe ,  templ , u     , ux  ,
-         uy   , uz    , vx   , vy    ,  vz    , inclm , mm  ,
-         nm   , nodem, xinc , xincp ,  xl    , xlm   , mp  ,
-         xmdf , xmx   , xmy  , nodedf, xnode , nodep, tc  , dndt,
-         twopi, x2o3  , j2   , j3    , tumin, j4 , xke   , j3oj2, radiusearthkm,
-         mu, vkmpersec;
-     int ktr;
-
-     /* ------------------ set mathematical constants --------------- */
-     // sgp4fix divisor for divide by zero check on inclination
-     const double temp4    =   1.0 + cos(pi-1.0e-9);
-     twopi = 2.0 * pi;
-     x2o3  = 2.0 / 3.0;
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-     vkmpersec     = radiusearthkm * xke/60.0;
-
-     /* --------------------- clear sgp4 error flag ----------------- */
-     satrec.t     = tsince;
-     satrec.error = 0;
-
-     /* ------- update for secular gravity and atmospheric drag ----- */
-     xmdf    = satrec.mo + satrec.mdot * satrec.t;
-     argpdf  = satrec.argpo + satrec.argpdot * satrec.t;
-     nodedf  = satrec.nodeo + satrec.nodedot * satrec.t;
-     argpm   = argpdf;
-     mm      = xmdf;
-     t2      = satrec.t * satrec.t;
-     nodem   = nodedf + satrec.nodecf * t2;
-     tempa   = 1.0 - satrec.cc1 * satrec.t;
-     tempe   = satrec.bstar * satrec.cc4 * satrec.t;
-     templ   = satrec.t2cof * t2;
-
-     if (satrec.isimp != 1)
-       {
-         delomg = satrec.omgcof * satrec.t;
-         delm   = satrec.xmcof *
-                  (pow((1.0 + satrec.eta * cos(xmdf)), 3) -
-                  satrec.delmo);
-         temp   = delomg + delm;
-         mm     = xmdf + temp;
-         argpm  = argpdf - temp;
-         t3     = t2 * satrec.t;
-         t4     = t3 * satrec.t;
-         tempa  = tempa - satrec.d2 * t2 - satrec.d3 * t3 -
-                          satrec.d4 * t4;
-         tempe  = tempe + satrec.bstar * satrec.cc5 * (sin(mm) -
-                          satrec.sinmao);
-         templ  = templ + satrec.t3cof * t3 + t4 * (satrec.t4cof +
-                          satrec.t * satrec.t5cof);
-       }
-
-     nm    = satrec.no;
-     em    = satrec.ecco;
-     inclm = satrec.inclo;
-     if (satrec.method == 'd')
-       {
-         tc = satrec.t;
-         dspace
-             (
-               satrec.irez,
-               satrec.d2201, satrec.d2211, satrec.d3210,
-               satrec.d3222, satrec.d4410, satrec.d4422,
-               satrec.d5220, satrec.d5232, satrec.d5421,
-               satrec.d5433, satrec.dedt,  satrec.del1,
-               satrec.del2,  satrec.del3,  satrec.didt,
-               satrec.dmdt,  satrec.dnodt, satrec.domdt,
-               satrec.argpo, satrec.argpdot, satrec.t, tc,
-               satrec.gsto, satrec.xfact, satrec.xlamo,
-               satrec.no, satrec.atime,
-               em, argpm, inclm, satrec.xli, mm, satrec.xni,
-               nodem, dndt, nm
-             );
-       } // if method = d
-
-     if (nm <= 0.0)
-       {
-//         printf("# error nm %f\n", nm);
-         satrec.error = 2;
-       }
-     am = pow((xke / nm),x2o3) * tempa * tempa;
-     nm = xke / pow(am, 1.5);
-     em = em - tempe;
-
-     // fix tolerance for error recognition
-     if ((em >= 1.0) || (em < -0.001) || (am < 0.95))
-       {
-//         printf("# error em %f\n", em);
-         satrec.error = 1;
-       }
-     if (em < 0.0)
-         em  = 1.0e-6;
-     mm     = mm + satrec.no * templ;
-     xlm    = mm + argpm + nodem;
-     emsq   = em * em;
-     temp   = 1.0 - emsq;
-
-     nodem  = fmod(nodem, twopi);
-     argpm  = fmod(argpm, twopi);
-     xlm    = fmod(xlm, twopi);
-     mm     = fmod(xlm - argpm - nodem, twopi);
-
-     /* ----------------- compute extra mean quantities ------------- */
-     sinim = sin(inclm);
-     cosim = cos(inclm);
-
-     /* -------------------- add lunar-solar periodics -------------- */
-     ep     = em;
-     xincp  = inclm;
-     argpp  = argpm;
-     nodep  = nodem;
-     mp     = mm;
-     sinip  = sinim;
-     cosip  = cosim;
-     if (satrec.method == 'd')
-       {
-         dpper
-             (
-               satrec.e3,   satrec.ee2,  satrec.peo,
-               satrec.pgho, satrec.pho,  satrec.pinco,
-               satrec.plo,  satrec.se2,  satrec.se3,
-               satrec.sgh2, satrec.sgh3, satrec.sgh4,
-               satrec.sh2,  satrec.sh3,  satrec.si2,
-               satrec.si3,  satrec.sl2,  satrec.sl3,
-               satrec.sl4,  satrec.t,    satrec.xgh2,
-               satrec.xgh3, satrec.xgh4, satrec.xh2,
-               satrec.xh3,  satrec.xi2,  satrec.xi3,
-               satrec.xl2,  satrec.xl3,  satrec.xl4,
-               satrec.zmol, satrec.zmos, satrec.inclo,
-               'n', ep, xincp, nodep, argpp, mp
-             );
-         if (xincp < 0.0)
-           {
-             xincp  = -xincp;
-             nodep = nodep + pi;
-             argpp  = argpp - pi;
-           }
-         if ((ep < 0.0 ) || ( ep > 1.0))
-           {
- //            printf("# error ep %f\n", ep);
-             satrec.error = 3;
-           }
-       } // if method = d
-
-     /* -------------------- long period periodics ------------------ */
-     if (satrec.method == 'd')
-       {
-         sinip =  sin(xincp);
-         cosip =  cos(xincp);
-         satrec.aycof = -0.5*j3oj2*sinip;
-         // sgp4fix for divide by zero for xincp = 180 deg
-         if (fabs(cosip+1.0) > 1.5e-12)
-             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / (1.0 + cosip);
-           else
-             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / temp4;
-       }
-     axnl = ep * cos(argpp);
-     temp = 1.0 / (am * (1.0 - ep * ep));
-     aynl = ep* sin(argpp) + temp * satrec.aycof;
-     xl   = mp + argpp + nodep + temp * satrec.xlcof * axnl;
-
-     /* --------------------- solve kepler's equation --------------- */
-     u    = fmod(xl - nodep, twopi);
-     eo1  = u;
-     tem5 = 9999.9;
-     ktr = 1;
-     //   sgp4fix for kepler iteration
-     //   the following iteration needs better limits on corrections
-     while (( fabs(tem5) >= 1.0e-12) && (ktr <= 10) )
-       {
-         sineo1 = sin(eo1);
-         coseo1 = cos(eo1);
-         tem5   = 1.0 - coseo1 * axnl - sineo1 * aynl;
-         tem5   = (u - aynl * coseo1 + axnl * sineo1 - eo1) / tem5;
-         if(fabs(tem5) >= 0.95)
-             tem5 = tem5 > 0.0 ? 0.95 : -0.95;
-         eo1    = eo1 + tem5;
-         ktr = ktr + 1;
-       }
-
-     /* ------------- short period preliminary quantities ----------- */
-     ecose = axnl*coseo1 + aynl*sineo1;
-     esine = axnl*sineo1 - aynl*coseo1;
-     el2   = axnl*axnl + aynl*aynl;
-     pl    = am*(1.0-el2);
-     if (pl < 0.0)
-       {
-//         printf("# error pl %f\n", pl);
-         satrec.error = 4;
-       }
-       else
-       {
-         rl     = am * (1.0 - ecose);
-         rdotl  = sqrt(am) * esine/rl;
-         rvdotl = sqrt(pl) / rl;
-         betal  = sqrt(1.0 - el2);
-         temp   = esine / (1.0 + betal);
-         sinu   = am / rl * (sineo1 - aynl - axnl * temp);
-         cosu   = am / rl * (coseo1 - axnl + aynl * temp);
-         su     = atan2(sinu, cosu);
-         sin2u  = (cosu + cosu) * sinu;
-         cos2u  = 1.0 - 2.0 * sinu * sinu;
-         temp   = 1.0 / pl;
-         temp1  = 0.5 * j2 * temp;
-         temp2  = temp1 * temp;
-
-         /* -------------- update for short period periodics ------------ */
-         if (satrec.method == 'd')
-           {
-             cosisq                 = cosip * cosip;
-             satrec.con41  = 3.0*cosisq - 1.0;
-             satrec.x1mth2 = 1.0 - cosisq;
-             satrec.x7thm1 = 7.0*cosisq - 1.0;
-           }
-         mrt   = rl * (1.0 - 1.5 * temp2 * betal * satrec.con41) +
-                 0.5 * temp1 * satrec.x1mth2 * cos2u;
-         su    = su - 0.25 * temp2 * satrec.x7thm1 * sin2u;
-         xnode = nodep + 1.5 * temp2 * cosip * sin2u;
-         xinc  = xincp + 1.5 * temp2 * cosip * sinip * cos2u;
-         mvt   = rdotl - nm * temp1 * satrec.x1mth2 * sin2u / xke;
-         rvdot = rvdotl + nm * temp1 * (satrec.x1mth2 * cos2u +
-                 1.5 * satrec.con41) / xke;
-
-         /* --------------------- orientation vectors ------------------- */
-         sinsu =  sin(su);
-         cossu =  cos(su);
-         snod  =  sin(xnode);
-         cnod  =  cos(xnode);
-         sini  =  sin(xinc);
-         cosi  =  cos(xinc);
-         xmx   = -snod * cosi;
-         xmy   =  cnod * cosi;
-         ux    =  xmx * sinsu + cnod * cossu;
-         uy    =  xmy * sinsu + snod * cossu;
-         uz    =  sini * sinsu;
-         vx    =  xmx * cossu - cnod * sinsu;
-         vy    =  xmy * cossu - snod * sinsu;
-         vz    =  sini * cossu;
-
-         /* --------- position and velocity (in km and km/sec) ---------- */
-         r[0] = (mrt * ux)* radiusearthkm;
-         r[1] = (mrt * uy)* radiusearthkm;
-         r[2] = (mrt * uz)* radiusearthkm;
-         v[0] = (mvt * ux + rvdot * vx) * vkmpersec;
-         v[1] = (mvt * uy + rvdot * vy) * vkmpersec;
-         v[2] = (mvt * uz + rvdot * vz) * vkmpersec;
-       }  // if pl > 0
-
-     // sgp4fix for decaying satellites
-     if (mrt < 1.0)
-       {
-//         printf("# decay condition %11.6f \n",mrt);
-         satrec.error = 6;
-       }
-
-
-//#include "debug7.cpp"
-     return satrec.error;
-}  // end sgp4
-
-
-/* -----------------------------------------------------------------------------
-*
-*                           function gstime
-*
-*  this function finds the greenwich sidereal time.
-*
-*  author        : david vallado                  719-573-2600    1 mar 2001
-*
-*  inputs          description                    range / units
-*    jdut1       - julian date in ut1             days from 4713 bc
-*
-*  outputs       :
-*    gstime      - greenwich sidereal time        0 to 2pi rad
-*
-*  locals        :
-*    temp        - temporary variable for doubles   rad
-*    tut1        - julian centuries from the
-*                  jan 1, 2000 12 h epoch (ut1)
-*
-*  coupling      :
-*    none
-*
-*  references    :
-*    vallado       2004, 191, eq 3-45
-* --------------------------------------------------------------------------- */
-
-double  gstime
-        (
-          double jdut1
-        )
-   {
-     const double twopi = 2.0 * pi;
-     const double deg2rad = pi / 180.0;
-     double       temp, tut1;
-
-     tut1 = (jdut1 - 2451545.0) / 36525.0;
-     temp = -6.2e-6* tut1 * tut1 * tut1 + 0.093104 * tut1 * tut1 +
-             (876600.0*3600 + 8640184.812866) * tut1 + 67310.54841;  // sec
-     temp = fmod(temp * deg2rad / 240.0, twopi); //360/86400 = 1/240, to deg, to rad
-
-     // ------------------------ check quadrants ---------------------
-     if (temp < 0.0)
-         temp += twopi;
-
-     return temp;
-   }  // end gstime
-
-/* -----------------------------------------------------------------------------
-*
-*                           function getgravconst
-*
-*  this function gets constants for the propagator. note that mu is identified to
-*    facilitiate comparisons with newer models. the common useage is wgs72.
-*
-*  author        : david vallado                  719-573-2600   21 jul 2006
-*
-*  inputs        :
-*    whichconst  - which set of constants to use  wgs72old, wgs72, wgs84
-*
-*  outputs       :
-*    tumin       - minutes in one time unit
-*    mu          - earth gravitational parameter
-*    radiusearthkm - radius of the earth in km
-*    xke         - reciprocal of tumin
-*    j2, j3, j4  - un-normalized zonal harmonic values
-*    j3oj2       - j3 divided by j2
-*
-*  locals        :
-*
-*  coupling      :
-*    none
-*
-*  references    :
-*    norad spacetrack report #3
-*    vallado, crawford, hujsak, kelso  2006
-  --------------------------------------------------------------------------- */
-
-void getgravconst
-     (
-      gravconsttype whichconst,
-      double& tumin,
-      double& mu,
-      double& radiusearthkm,
-      double& xke,
-      double& j2,
-      double& j3,
-      double& j4,
-      double& j3oj2
-     )
-     {
-
-       switch (whichconst)
-         {
-           // -- wgs-72 low precision str#3 constants --
-           case wgs72old:
-           mu     = 398600.79964;        // in km3 / s2
-           radiusearthkm = 6378.135;     // km
-           xke    = 0.0743669161;
-           tumin  = 1.0 / xke;
-           j2     =   0.001082616;
-           j3     =  -0.00000253881;
-           j4     =  -0.00000165597;
-           j3oj2  =  j3 / j2;
-         break;
-           // ------------ wgs-72 constants ------------
-           case wgs72:
-           mu     = 398600.8;            // in km3 / s2
-           radiusearthkm = 6378.135;     // km
-           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
-           tumin  = 1.0 / xke;
-           j2     =   0.001082616;
-           j3     =  -0.00000253881;
-           j4     =  -0.00000165597;
-           j3oj2  =  j3 / j2;
-         break;
-           case wgs84:
-           // ------------ wgs-84 constants ------------
-           mu     = 398600.5;            // in km3 / s2
-           radiusearthkm = 6378.137;     // km
-           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
-           tumin  = 1.0 / xke;
-           j2     =   0.00108262998905;
-           j3     =  -0.00000253215306;
-           j4     =  -0.00000161098761;
-           j3oj2  =  j3 / j2;
-         break;
-         default:
-           fprintf(stderr,"unknown gravity option (%d)\n",whichconst);
-         break;
-         }
-
-     }   // end getgravconst
-
-
-
-
-
+/*     ----------------------------------------------------------------
+*
+*                               sgp4unit.cpp
+*
+*    this file contains the sgp4 procedures for analytical propagation
+*    of a satellite. the code was originally released in the 1980 and 1986
+*    spacetrack papers. a detailed discussion of the theory and history
+*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
+*    and kelso.
+*
+*                            companion code for
+*               fundamentals of astrodynamics and applications
+*                                    2007
+*                              by david vallado
+*
+*       (w) 719-573-2600, email dvallado@agi.com
+*
+*    current :
+*              16 nov 07  david vallado
+*                           misc fixes for better compliance
+*    changes :
+*              20 apr 07  david vallado
+*                           misc fixes for constants
+*              11 aug 06  david vallado
+*                           chg lyddane choice back to strn3, constants, misc doc
+*              15 dec 05  david vallado
+*                           misc fixes
+*              26 jul 05  david vallado
+*                           fixes for paper
+*                           note that each fix is preceded by a
+*                           comment with "sgp4fix" and an explanation of
+*                           what was changed
+*              10 aug 04  david vallado
+*                           2nd printing baseline working
+*              14 may 01  david vallado
+*                           2nd edition baseline
+*                     80  norad
+*                           original baseline
+*       ----------------------------------------------------------------      */
+
+#include "sgp4unit.h"
+
+const char help = 'n';
+FILE *dbgfile;
+
+#define pi 3.14159265358979323846
+
+
+/* ----------- local functions - only ever used internally by sgp4 ---------- */
+static void dpper
+     (
+       double e3,     double ee2,    double peo,     double pgho,   double pho,
+       double pinco,  double plo,    double se2,     double se3,    double sgh2,
+       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
+       double si3,    double sl2,    double sl3,     double sl4,    double t,
+       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
+       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
+       double zmol,   double zmos,   double inclo,
+       char init,
+       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
+     );
+
+static void dscom
+     (
+       double epoch,  double ep,     double argpp,   double tc,     double inclp,
+       double nodep,  double np,
+       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
+       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
+       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
+       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
+       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
+       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
+       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
+       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
+       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
+       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
+       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
+       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
+       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
+       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
+       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
+       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
+       double& zmos
+     );
+
+static void dsinit
+     (
+       gravconsttype whichconst,
+       double cosim,  double emsq,   double argpo,   double s1,     double s2,
+       double s3,     double s4,     double s5,      double sinim,  double ss1,
+       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
+       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
+       double sz31,   double sz33,   double t,       double tc,     double gsto,
+       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
+       double xpidot, double z1,     double z3,      double z11,    double z13,
+       double z21,    double z23,    double z31,     double z33,    double ecco,
+       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
+       double& nm,    double& nodem,
+       int& irez,
+       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
+       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
+       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
+       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
+       double& xfact, double& xlamo, double& xli,    double& xni
+     );
+
+static void dspace
+     (
+       int irez,
+       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
+       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
+       double dedt,   double del1,   double del2,    double del3,   double didt,
+       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
+       double t,      double tc,     double gsto,    double xfact,  double xlamo,
+       double no,
+       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
+       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
+     );
+
+static void initl
+     (
+       int satn,      gravconsttype whichconst,
+       double ecco,   double epoch,  double inclo,   double& no,
+       char& method,
+       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
+       double& cosio2,double& eccsq, double& omeosq, double& posq,
+       double& rp,    double& rteosq,double& sinio , double& gsto
+     );
+
+/* -----------------------------------------------------------------------------
+*
+*                           procedure dpper
+*
+*  this procedure provides deep space long period periodic contributions
+*    to the mean elements.  by design, these periodics are zero at epoch.
+*    this used to be dscom which included initialization, but it's really a
+*    recurring function.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    e3          -
+*    ee2         -
+*    peo         -
+*    pgho        -
+*    pho         -
+*    pinco       -
+*    plo         -
+*    se2 , se3 , sgh2, sgh3, sgh4, sh2, sh3, si2, si3, sl2, sl3, sl4 -
+*    t           -
+*    xh2, xh3, xi2, xi3, xl2, xl3, xl4 -
+*    zmol        -
+*    zmos        -
+*    ep          - eccentricity                           0.0 - 1.0
+*    inclo       - inclination - needed for lyddane modification
+*    nodep       - right ascension of ascending node
+*    argpp       - argument of perigee
+*    mp          - mean anomaly
+*
+*  outputs       :
+*    ep          - eccentricity                           0.0 - 1.0
+*    inclp       - inclination
+*    nodep        - right ascension of ascending node
+*    argpp       - argument of perigee
+*    mp          - mean anomaly
+*
+*  locals        :
+*    alfdp       -
+*    betdp       -
+*    cosip  , sinip  , cosop  , sinop  ,
+*    dalf        -
+*    dbet        -
+*    dls         -
+*    f2, f3      -
+*    pe          -
+*    pgh         -
+*    ph          -
+*    pinc        -
+*    pl          -
+*    sel   , ses   , sghl  , sghs  , shl   , shs   , sil   , sinzf , sis   ,
+*    sll   , sls
+*    xls         -
+*    xnoh        -
+*    zf          -
+*    zm          -
+*
+*  coupling      :
+*    none.
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dpper
+     (
+       double e3,     double ee2,    double peo,     double pgho,   double pho,
+       double pinco,  double plo,    double se2,     double se3,    double sgh2,
+       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
+       double si3,    double sl2,    double sl3,     double sl4,    double t,
+       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
+       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
+       double zmol,   double zmos,   double inclo,
+       char init,
+       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     const double twopi = 2.0 * pi;
+     double alfdp, betdp, cosip, cosop, dalf, dbet, dls,
+          f2,    f3,    pe,    pgh,   ph,   pinc, pl ,
+          sel,   ses,   sghl,  sghs,  shll, shs,  sil,
+          sinip, sinop, sinzf, sis,   sll,  sls,  xls,
+          xnoh,  zf,    zm,    zel,   zes,  znl,  zns;
+
+     /* ---------------------- constants ----------------------------- */
+     zns   = 1.19459e-5;
+     zes   = 0.01675;
+     znl   = 1.5835218e-4;
+     zel   = 0.05490;
+
+     /* --------------- calculate time varying periodics ----------- */
+     zm    = zmos + zns * t;
+     // be sure that the initial call has time set to zero
+     if (init == 'y')
+         zm = zmos;
+     zf    = zm + 2.0 * zes * sin(zm);
+     sinzf = sin(zf);
+     f2    =  0.5 * sinzf * sinzf - 0.25;
+     f3    = -0.5 * sinzf * cos(zf);
+     ses   = se2* f2 + se3 * f3;
+     sis   = si2 * f2 + si3 * f3;
+     sls   = sl2 * f2 + sl3 * f3 + sl4 * sinzf;
+     sghs  = sgh2 * f2 + sgh3 * f3 + sgh4 * sinzf;
+     shs   = sh2 * f2 + sh3 * f3;
+     zm    = zmol + znl * t;
+     if (init == 'y')
+         zm = zmol;
+     zf    = zm + 2.0 * zel * sin(zm);
+     sinzf = sin(zf);
+     f2    =  0.5 * sinzf * sinzf - 0.25;
+     f3    = -0.5 * sinzf * cos(zf);
+     sel   = ee2 * f2 + e3 * f3;
+     sil   = xi2 * f2 + xi3 * f3;
+     sll   = xl2 * f2 + xl3 * f3 + xl4 * sinzf;
+     sghl  = xgh2 * f2 + xgh3 * f3 + xgh4 * sinzf;
+     shll  = xh2 * f2 + xh3 * f3;
+     pe    = ses + sel;
+     pinc  = sis + sil;
+     pl    = sls + sll;
+     pgh   = sghs + sghl;
+     ph    = shs + shll;
+
+     if (init == 'n')
+       {
+       pe    = pe - peo;
+       pinc  = pinc - pinco;
+       pl    = pl - plo;
+       pgh   = pgh - pgho;
+       ph    = ph - pho;
+       inclp = inclp + pinc;
+       ep    = ep + pe;
+       sinip = sin(inclp);
+       cosip = cos(inclp);
+
+       /* ----------------- apply periodics directly ------------ */
+       //  sgp4fix for lyddane choice
+       //  strn3 used original inclination - this is technically feasible
+       //  gsfc used perturbed inclination - also technically feasible
+       //  probably best to readjust the 0.2 limit value and limit discontinuity
+       //  0.2 rad = 11.45916 deg
+       //  use next line for original strn3 approach and original inclination
+       //  if (inclo >= 0.2)
+       //  use next line for gsfc version and perturbed inclination
+       if (inclp >= 0.2)
+         {
+           ph     = ph / sinip;
+           pgh    = pgh - cosip * ph;
+           argpp  = argpp + pgh;
+           nodep  = nodep + ph;
+           mp     = mp + pl;
+         }
+         else
+         {
+           /* ---- apply periodics with lyddane modification ---- */
+           sinop  = sin(nodep);
+           cosop  = cos(nodep);
+           alfdp  = sinip * sinop;
+           betdp  = sinip * cosop;
+           dalf   =  ph * cosop + pinc * cosip * sinop;
+           dbet   = -ph * sinop + pinc * cosip * cosop;
+           alfdp  = alfdp + dalf;
+           betdp  = betdp + dbet;
+           nodep  = fmod(nodep, twopi);
+           //  sgp4fix for afspc written intrinsic functions
+           // nodep used without a trigonometric function ahead
+           if (nodep < 0.0)
+               nodep = nodep + twopi;
+           xls    = mp + argpp + cosip * nodep;
+           dls    = pl + pgh - pinc * nodep * sinip;
+           xls    = xls + dls;
+           xnoh   = nodep;
+           nodep  = atan2(alfdp, betdp);
+           //  sgp4fix for afspc written intrinsic functions
+           // nodep used without a trigonometric function ahead
+           if (nodep < 0.0)
+               nodep = nodep + twopi;
+           if (fabs(xnoh - nodep) > pi){
+             if (nodep < xnoh)
+                nodep = nodep + twopi;
+               else
+                nodep = nodep - twopi;
+           }
+           mp    = mp + pl;
+           argpp = xls - mp - cosip * nodep;
+         }
+       }   // if init == 'n'
+
+//#include "debug1.cpp"
+}  // end dpper
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure dscom
+*
+*  this procedure provides deep space common items used by both the secular
+*    and periodics subroutines.  input is provided as shown. this routine
+*    used to be called dpper, but the functions inside weren't well organized.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    epoch       -
+*    ep          - eccentricity
+*    argpp       - argument of perigee
+*    tc          -
+*    inclp       - inclination
+*    nodep       - right ascension of ascending node
+*    np          - mean motion
+*
+*  outputs       :
+*    sinim  , cosim  , sinomm , cosomm , snodm  , cnodm
+*    day         -
+*    e3          -
+*    ee2         -
+*    em          - eccentricity
+*    emsq        - eccentricity squared
+*    gam         -
+*    peo         -
+*    pgho        -
+*    pho         -
+*    pinco       -
+*    plo         -
+*    rtemsq      -
+*    se2, se3         -
+*    sgh2, sgh3, sgh4        -
+*    sh2, sh3, si2, si3, sl2, sl3, sl4         -
+*    s1, s2, s3, s4, s5, s6, s7          -
+*    ss1, ss2, ss3, ss4, ss5, ss6, ss7, sz1, sz2, sz3         -
+*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
+*    xgh2, xgh3, xgh4, xh2, xh3, xi2, xi3, xl2, xl3, xl4         -
+*    nm          - mean motion
+*    z1, z2, z3, z11, z12, z13, z21, z22, z23, z31, z32, z33         -
+*    zmol        -
+*    zmos        -
+*
+*  locals        :
+*    a1, a2, a3, a4, a5, a6, a7, a8, a9, a10         -
+*    betasq      -
+*    cc          -
+*    ctem, stem        -
+*    x1, x2, x3, x4, x5, x6, x7, x8          -
+*    xnodce      -
+*    xnoi        -
+*    zcosg  , zsing  , zcosgl , zsingl , zcosh  , zsinh  , zcoshl , zsinhl ,
+*    zcosi  , zsini  , zcosil , zsinil ,
+*    zx          -
+*    zy          -
+*
+*  coupling      :
+*    none.
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dscom
+     (
+       double epoch,  double ep,     double argpp,   double tc,     double inclp,
+       double nodep,  double np,
+       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
+       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
+       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
+       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
+       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
+       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
+       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
+       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
+       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
+       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
+       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
+       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
+       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
+       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
+       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
+       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
+       double& zmos
+     )
+{
+     /* -------------------------- constants ------------------------- */
+     const double zes     =  0.01675;
+     const double zel     =  0.05490;
+     const double c1ss    =  2.9864797e-6;
+     const double c1l     =  4.7968065e-7;
+     const double zsinis  =  0.39785416;
+     const double zcosis  =  0.91744867;
+     const double zcosgs  =  0.1945905;
+     const double zsings  = -0.98088458;
+     const double twopi   =  2.0 * pi;
+
+     /* --------------------- local variables ------------------------ */
+     int lsflg;
+     double a1    , a2    , a3    , a4    , a5    , a6    , a7    ,
+        a8    , a9    , a10   , betasq, cc    , ctem  , stem  ,
+        x1    , x2    , x3    , x4    , x5    , x6    , x7    ,
+        x8    , xnodce, xnoi  , zcosg , zcosgl, zcosh , zcoshl,
+        zcosi , zcosil, zsing , zsingl, zsinh , zsinhl, zsini ,
+        zsinil, zx    , zy;
+
+     nm     = np;
+     em     = ep;
+     snodm  = sin(nodep);
+     cnodm  = cos(nodep);
+     sinomm = sin(argpp);
+     cosomm = cos(argpp);
+     sinim  = sin(inclp);
+     cosim  = cos(inclp);
+     emsq   = em * em;
+     betasq = 1.0 - emsq;
+     rtemsq = sqrt(betasq);
+
+     /* ----------------- initialize lunar solar terms --------------- */
+     peo    = 0.0;
+     pinco  = 0.0;
+     plo    = 0.0;
+     pgho   = 0.0;
+     pho    = 0.0;
+     day    = epoch + 18261.5 + tc / 1440.0;
+     xnodce = fmod(4.5236020 - 9.2422029e-4 * day, twopi);
+     stem   = sin(xnodce);
+     ctem   = cos(xnodce);
+     zcosil = 0.91375164 - 0.03568096 * ctem;
+     zsinil = sqrt(1.0 - zcosil * zcosil);
+     zsinhl = 0.089683511 * stem / zsinil;
+     zcoshl = sqrt(1.0 - zsinhl * zsinhl);
+     gam    = 5.8351514 + 0.0019443680 * day;
+     zx     = 0.39785416 * stem / zsinil;
+     zy     = zcoshl * ctem + 0.91744867 * zsinhl * stem;
+     zx     = atan2(zx, zy);
+     zx     = gam + zx - xnodce;
+     zcosgl = cos(zx);
+     zsingl = sin(zx);
+
+     /* ------------------------- do solar terms --------------------- */
+     zcosg = zcosgs;
+     zsing = zsings;
+     zcosi = zcosis;
+     zsini = zsinis;
+     zcosh = cnodm;
+     zsinh = snodm;
+     cc    = c1ss;
+     xnoi  = 1.0 / nm;
+
+     for (lsflg = 1; lsflg <= 2; lsflg++)
+       {
+         a1  =   zcosg * zcosh + zsing * zcosi * zsinh;
+         a3  =  -zsing * zcosh + zcosg * zcosi * zsinh;
+         a7  =  -zcosg * zsinh + zsing * zcosi * zcosh;
+         a8  =   zsing * zsini;
+         a9  =   zsing * zsinh + zcosg * zcosi * zcosh;
+         a10 =   zcosg * zsini;
+         a2  =   cosim * a7 + sinim * a8;
+         a4  =   cosim * a9 + sinim * a10;
+         a5  =  -sinim * a7 + cosim * a8;
+         a6  =  -sinim * a9 + cosim * a10;
+
+         x1  =  a1 * cosomm + a2 * sinomm;
+         x2  =  a3 * cosomm + a4 * sinomm;
+         x3  = -a1 * sinomm + a2 * cosomm;
+         x4  = -a3 * sinomm + a4 * cosomm;
+         x5  =  a5 * sinomm;
+         x6  =  a6 * sinomm;
+         x7  =  a5 * cosomm;
+         x8  =  a6 * cosomm;
+
+         z31 = 12.0 * x1 * x1 - 3.0 * x3 * x3;
+         z32 = 24.0 * x1 * x2 - 6.0 * x3 * x4;
+         z33 = 12.0 * x2 * x2 - 3.0 * x4 * x4;
+         z1  =  3.0 *  (a1 * a1 + a2 * a2) + z31 * emsq;
+         z2  =  6.0 *  (a1 * a3 + a2 * a4) + z32 * emsq;
+         z3  =  3.0 *  (a3 * a3 + a4 * a4) + z33 * emsq;
+         z11 = -6.0 * a1 * a5 + emsq *  (-24.0 * x1 * x7-6.0 * x3 * x5);
+         z12 = -6.0 *  (a1 * a6 + a3 * a5) + emsq *
+                (-24.0 * (x2 * x7 + x1 * x8) - 6.0 * (x3 * x6 + x4 * x5));
+         z13 = -6.0 * a3 * a6 + emsq * (-24.0 * x2 * x8 - 6.0 * x4 * x6);
+         z21 =  6.0 * a2 * a5 + emsq * (24.0 * x1 * x5 - 6.0 * x3 * x7);
+         z22 =  6.0 *  (a4 * a5 + a2 * a6) + emsq *
+                (24.0 * (x2 * x5 + x1 * x6) - 6.0 * (x4 * x7 + x3 * x8));
+         z23 =  6.0 * a4 * a6 + emsq * (24.0 * x2 * x6 - 6.0 * x4 * x8);
+         z1  = z1 + z1 + betasq * z31;
+         z2  = z2 + z2 + betasq * z32;
+         z3  = z3 + z3 + betasq * z33;
+         s3  = cc * xnoi;
+         s2  = -0.5 * s3 / rtemsq;
+         s4  = s3 * rtemsq;
+         s1  = -15.0 * em * s4;
+         s5  = x1 * x3 + x2 * x4;
+         s6  = x2 * x3 + x1 * x4;
+         s7  = x2 * x4 - x1 * x3;
+
+         /* ----------------------- do lunar terms ------------------- */
+         if (lsflg == 1)
+           {
+             ss1   = s1;
+             ss2   = s2;
+             ss3   = s3;
+             ss4   = s4;
+             ss5   = s5;
+             ss6   = s6;
+             ss7   = s7;
+             sz1   = z1;
+             sz2   = z2;
+             sz3   = z3;
+             sz11  = z11;
+             sz12  = z12;
+             sz13  = z13;
+             sz21  = z21;
+             sz22  = z22;
+             sz23  = z23;
+             sz31  = z31;
+             sz32  = z32;
+             sz33  = z33;
+             zcosg = zcosgl;
+             zsing = zsingl;
+             zcosi = zcosil;
+             zsini = zsinil;
+             zcosh = zcoshl * cnodm + zsinhl * snodm;
+             zsinh = snodm * zcoshl - cnodm * zsinhl;
+             cc    = c1l;
+          }
+       }
+
+     zmol = fmod(4.7199672 + 0.22997150  * day - gam, twopi);
+     zmos = fmod(6.2565837 + 0.017201977 * day, twopi);
+
+     /* ------------------------ do solar terms ---------------------- */
+     se2  =   2.0 * ss1 * ss6;
+     se3  =   2.0 * ss1 * ss7;
+     si2  =   2.0 * ss2 * sz12;
+     si3  =   2.0 * ss2 * (sz13 - sz11);
+     sl2  =  -2.0 * ss3 * sz2;
+     sl3  =  -2.0 * ss3 * (sz3 - sz1);
+     sl4  =  -2.0 * ss3 * (-21.0 - 9.0 * emsq) * zes;
+     sgh2 =   2.0 * ss4 * sz32;
+     sgh3 =   2.0 * ss4 * (sz33 - sz31);
+     sgh4 = -18.0 * ss4 * zes;
+     sh2  =  -2.0 * ss2 * sz22;
+     sh3  =  -2.0 * ss2 * (sz23 - sz21);
+
+     /* ------------------------ do lunar terms ---------------------- */
+     ee2  =   2.0 * s1 * s6;
+     e3   =   2.0 * s1 * s7;
+     xi2  =   2.0 * s2 * z12;
+     xi3  =   2.0 * s2 * (z13 - z11);
+     xl2  =  -2.0 * s3 * z2;
+     xl3  =  -2.0 * s3 * (z3 - z1);
+     xl4  =  -2.0 * s3 * (-21.0 - 9.0 * emsq) * zel;
+     xgh2 =   2.0 * s4 * z32;
+     xgh3 =   2.0 * s4 * (z33 - z31);
+     xgh4 = -18.0 * s4 * zel;
+     xh2  =  -2.0 * s2 * z22;
+     xh3  =  -2.0 * s2 * (z23 - z21);
+
+//#include "debug2.cpp"
+}  // end dscom
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure dsinit
+*
+*  this procedure provides deep space contributions to mean motion dot due
+*    to geopotential resonance with half day and one day orbits.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    cosim, sinim-
+*    emsq        - eccentricity squared
+*    argpo       - argument of perigee
+*    s1, s2, s3, s4, s5      -
+*    ss1, ss2, ss3, ss4, ss5 -
+*    sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33 -
+*    t           - time
+*    tc          -
+*    gsto        - greenwich sidereal time                   rad
+*    mo          - mean anomaly
+*    mdot        - mean anomaly dot (rate)
+*    no          - mean motion
+*    nodeo       - right ascension of ascending node
+*    nodedot     - right ascension of ascending node dot (rate)
+*    xpidot      -
+*    z1, z3, z11, z13, z21, z23, z31, z33 -
+*    eccm        - eccentricity
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    xn          - mean motion
+*    nodem       - right ascension of ascending node
+*
+*  outputs       :
+*    em          - eccentricity
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    nm          - mean motion
+*    nodem       - right ascension of ascending node
+*    irez        - flag for resonance           0-none, 1-one day, 2-half day
+*    atime       -
+*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433    -
+*    dedt        -
+*    didt        -
+*    dmdt        -
+*    dndt        -
+*    dnodt       -
+*    domdt       -
+*    del1, del2, del3        -
+*    ses  , sghl , sghs , sgs  , shl  , shs  , sis  , sls
+*    theta       -
+*    xfact       -
+*    xlamo       -
+*    xli         -
+*    xni
+*
+*  locals        :
+*    ainv2       -
+*    aonv        -
+*    cosisq      -
+*    eoc         -
+*    f220, f221, f311, f321, f322, f330, f441, f442, f522, f523, f542, f543  -
+*    g200, g201, g211, g300, g310, g322, g410, g422, g520, g521, g532, g533  -
+*    sini2       -
+*    temp        -
+*    temp1       -
+*    theta       -
+*    xno2        -
+*
+*  coupling      :
+*    getgravconst
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dsinit
+     (
+       gravconsttype whichconst,
+       double cosim,  double emsq,   double argpo,   double s1,     double s2,
+       double s3,     double s4,     double s5,      double sinim,  double ss1,
+       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
+       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
+       double sz31,   double sz33,   double t,       double tc,     double gsto,
+       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
+       double xpidot, double z1,     double z3,      double z11,    double z13,
+       double z21,    double z23,    double z31,     double z33,    double ecco,
+       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
+       double& nm,    double& nodem,
+       int& irez,
+       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
+       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
+       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
+       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
+       double& xfact, double& xlamo, double& xli,    double& xni
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     const double twopi = 2.0 * pi;
+
+     double ainv2 , aonv=0.0, cosisq, eoc, f220 , f221  , f311  ,
+          f321  , f322  , f330  , f441  , f442  , f522  , f523  ,
+          f542  , f543  , g200  , g201  , g211  , g300  , g310  ,
+          g322  , g410  , g422  , g520  , g521  , g532  , g533  ,
+          ses   , sgs   , sghl  , sghs  , shs   , shll  , sis   ,
+          sini2 , sls   , temp  , temp1 , theta , xno2  , q22   ,
+          q31   , q33   , root22, root44, root54, rptim , root32,
+          root52, x2o3  , xke   , znl   , emo   , zns   , emsqo,
+          tumin, mu, radiusearthkm, j2, j3, j4, j3oj2;
+
+     q22    = 1.7891679e-6;
+     q31    = 2.1460748e-6;
+     q33    = 2.2123015e-7;
+     root22 = 1.7891679e-6;
+     root44 = 7.3636953e-9;
+     root54 = 2.1765803e-9;
+     rptim  = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
+     root32 = 3.7393792e-7;
+     root52 = 1.1428639e-7;
+     x2o3   = 2.0 / 3.0;
+     znl    = 1.5835218e-4;
+     zns    = 1.19459e-5;
+
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+
+     /* -------------------- deep space initialization ------------ */
+     irez = 0;
+     if ((nm < 0.0052359877) && (nm > 0.0034906585))
+         irez = 1;
+     if ((nm >= 8.26e-3) && (nm <= 9.24e-3) && (em >= 0.5))
+         irez = 2;
+
+     /* ------------------------ do solar terms ------------------- */
+     ses  =  ss1 * zns * ss5;
+     sis  =  ss2 * zns * (sz11 + sz13);
+     sls  = -zns * ss3 * (sz1 + sz3 - 14.0 - 6.0 * emsq);
+     sghs =  ss4 * zns * (sz31 + sz33 - 6.0);
+     shs  = -zns * ss2 * (sz21 + sz23);
+     // sgp4fix for 180 deg incl
+     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
+       shs = 0.0;
+     if (sinim != 0.0)
+       shs = shs / sinim;
+     sgs  = sghs - cosim * shs;
+
+     /* ------------------------- do lunar terms ------------------ */
+     dedt = ses + s1 * znl * s5;
+     didt = sis + s2 * znl * (z11 + z13);
+     dmdt = sls - znl * s3 * (z1 + z3 - 14.0 - 6.0 * emsq);
+     sghl = s4 * znl * (z31 + z33 - 6.0);
+     shll = -znl * s2 * (z21 + z23);
+     // sgp4fix for 180 deg incl
+     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
+         shll = 0.0;
+     domdt = sgs + sghl;
+     dnodt = shs;
+     if (sinim != 0.0)
+       {
+         domdt = domdt - cosim / sinim * shll;
+         dnodt = dnodt + shll / sinim;
+       }
+
+     /* ----------- calculate deep space resonance effects -------- */
+     dndt   = 0.0;
+     theta  = fmod(gsto + tc * rptim, twopi);
+     em     = em + dedt * t;
+     inclm  = inclm + didt * t;
+     argpm  = argpm + domdt * t;
+     nodem  = nodem + dnodt * t;
+     mm     = mm + dmdt * t;
+     //   sgp4fix for negative inclinations
+     //   the following if statement should be commented out
+     //if (inclm < 0.0)
+     //  {
+     //    inclm  = -inclm;
+     //    argpm  = argpm - pi;
+     //    nodem = nodem + pi;
+     //  }
+
+     /* -------------- initialize the resonance terms ------------- */
+     if (irez != 0)
+       {
+         aonv = pow(nm / xke, x2o3);
+
+         /* ---------- geopotential resonance for 12 hour orbits ------ */
+         if (irez == 2)
+           {
+             cosisq = cosim * cosim;
+             emo    = em;
+             em     = ecco;
+             emsqo  = emsq;
+             emsq   = eccsq;
+             eoc    = em * emsq;
+             g201   = -0.306 - (em - 0.64) * 0.440;
+
+             if (em <= 0.65)
+               {
+                 g211 =    3.616  -  13.2470 * em +  16.2900 * emsq;
+                 g310 =  -19.302  + 117.3900 * em - 228.4190 * emsq +  156.5910 * eoc;
+                 g322 =  -18.9068 + 109.7927 * em - 214.6334 * emsq +  146.5816 * eoc;
+                 g410 =  -41.122  + 242.6940 * em - 471.0940 * emsq +  313.9530 * eoc;
+                 g422 = -146.407  + 841.8800 * em - 1629.014 * emsq + 1083.4350 * eoc;
+                 g520 = -532.114  + 3017.977 * em - 5740.032 * emsq + 3708.2760 * eoc;
+               }
+               else
+               {
+                 g211 =   -72.099 +   331.819 * em -   508.738 * emsq +   266.724 * eoc;
+                 g310 =  -346.844 +  1582.851 * em -  2415.925 * emsq +  1246.113 * eoc;
+                 g322 =  -342.585 +  1554.908 * em -  2366.899 * emsq +  1215.972 * eoc;
+                 g410 = -1052.797 +  4758.686 * em -  7193.992 * emsq +  3651.957 * eoc;
+                 g422 = -3581.690 + 16178.110 * em - 24462.770 * emsq + 12422.520 * eoc;
+                 if (em > 0.715)
+                     g520 =-5149.66 + 29936.92 * em - 54087.36 * emsq + 31324.56 * eoc;
+                   else
+                     g520 = 1464.74 -  4664.75 * em +  3763.64 * emsq;
+               }
+             if (em < 0.7)
+               {
+                 g533 = -919.22770 + 4988.6100 * em - 9064.7700 * emsq + 5542.21  * eoc;
+                 g521 = -822.71072 + 4568.6173 * em - 8491.4146 * emsq + 5337.524 * eoc;
+                 g532 = -853.66600 + 4690.2500 * em - 8624.7700 * emsq + 5341.4  * eoc;
+               }
+               else
+               {
+                 g533 =-37995.780 + 161616.52 * em - 229838.20 * emsq + 109377.94 * eoc;
+                 g521 =-51752.104 + 218913.95 * em - 309468.16 * emsq + 146349.42 * eoc;
+                 g532 =-40023.880 + 170470.89 * em - 242699.48 * emsq + 115605.82 * eoc;
+               }
+
+             sini2=  sinim * sinim;
+             f220 =  0.75 * (1.0 + 2.0 * cosim+cosisq);
+             f221 =  1.5 * sini2;
+             f321 =  1.875 * sinim  *  (1.0 - 2.0 * cosim - 3.0 * cosisq);
+             f322 = -1.875 * sinim  *  (1.0 + 2.0 * cosim - 3.0 * cosisq);
+             f441 = 35.0 * sini2 * f220;
+             f442 = 39.3750 * sini2 * sini2;
+             f522 =  9.84375 * sinim * (sini2 * (1.0 - 2.0 * cosim- 5.0 * cosisq) +
+                     0.33333333 * (-2.0 + 4.0 * cosim + 6.0 * cosisq) );
+             f523 = sinim * (4.92187512 * sini2 * (-2.0 - 4.0 * cosim +
+                    10.0 * cosisq) + 6.56250012 * (1.0+2.0 * cosim - 3.0 * cosisq));
+             f542 = 29.53125 * sinim * (2.0 - 8.0 * cosim+cosisq *
+                    (-12.0 + 8.0 * cosim + 10.0 * cosisq));
+             f543 = 29.53125 * sinim * (-2.0 - 8.0 * cosim+cosisq *
+                    (12.0 + 8.0 * cosim - 10.0 * cosisq));
+             xno2  =  nm * nm;
+             ainv2 =  aonv * aonv;
+             temp1 =  3.0 * xno2 * ainv2;
+             temp  =  temp1 * root22;
+             d2201 =  temp * f220 * g201;
+             d2211 =  temp * f221 * g211;
+             temp1 =  temp1 * aonv;
+             temp  =  temp1 * root32;
+             d3210 =  temp * f321 * g310;
+             d3222 =  temp * f322 * g322;
+             temp1 =  temp1 * aonv;
+             temp  =  2.0 * temp1 * root44;
+             d4410 =  temp * f441 * g410;
+             d4422 =  temp * f442 * g422;
+             temp1 =  temp1 * aonv;
+             temp  =  temp1 * root52;
+             d5220 =  temp * f522 * g520;
+             d5232 =  temp * f523 * g532;
+             temp  =  2.0 * temp1 * root54;
+             d5421 =  temp * f542 * g521;
+             d5433 =  temp * f543 * g533;
+             xlamo =  fmod(mo + nodeo + nodeo-theta - theta, twopi);
+             xfact =  mdot + dmdt + 2.0 * (nodedot + dnodt - rptim) - no;
+             em    = emo;
+             emsq  = emsqo;
+           }
+
+         /* ---------------- synchronous resonance terms -------------- */
+         if (irez == 1)
+           {
+             g200  = 1.0 + emsq * (-2.5 + 0.8125 * emsq);
+             g310  = 1.0 + 2.0 * emsq;
+             g300  = 1.0 + emsq * (-6.0 + 6.60937 * emsq);
+             f220  = 0.75 * (1.0 + cosim) * (1.0 + cosim);
+             f311  = 0.9375 * sinim * sinim * (1.0 + 3.0 * cosim) - 0.75 * (1.0 + cosim);
+             f330  = 1.0 + cosim;
+             f330  = 1.875 * f330 * f330 * f330;
+             del1  = 3.0 * nm * nm * aonv * aonv;
+             del2  = 2.0 * del1 * f220 * g200 * q22;
+             del3  = 3.0 * del1 * f330 * g300 * q33 * aonv;
+             del1  = del1 * f311 * g310 * q31 * aonv;
+             xlamo = fmod(mo + nodeo + argpo - theta, twopi);
+             xfact = mdot + xpidot - rptim + dmdt + domdt + dnodt - no;
+           }
+
+         /* ------------ for sgp4, initialize the integrator ---------- */
+         xli   = xlamo;
+         xni   = no;
+         atime = 0.0;
+         nm    = no + dndt;
+       }
+
+//#include "debug3.cpp"
+}  // end dsinit
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure dspace
+*
+*  this procedure provides deep space contributions to mean elements for
+*    perturbing third body.  these effects have been averaged over one
+*    revolution of the sun and moon.  for earth resonance effects, the
+*    effects have been averaged over no revolutions of the satellite.
+*    (mean motion)
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433 -
+*    dedt        -
+*    del1, del2, del3  -
+*    didt        -
+*    dmdt        -
+*    dnodt       -
+*    domdt       -
+*    irez        - flag for resonance           0-none, 1-one day, 2-half day
+*    argpo       - argument of perigee
+*    argpdot     - argument of perigee dot (rate)
+*    t           - time
+*    tc          -
+*    gsto        - gst
+*    xfact       -
+*    xlamo       -
+*    no          - mean motion
+*    atime       -
+*    em          - eccentricity
+*    ft          -
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    xli         -
+*    mm          - mean anomaly
+*    xni         - mean motion
+*    nodem       - right ascension of ascending node
+*
+*  outputs       :
+*    atime       -
+*    em          - eccentricity
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    xli         -
+*    mm          - mean anomaly
+*    xni         -
+*    nodem       - right ascension of ascending node
+*    dndt        -
+*    nm          - mean motion
+*
+*  locals        :
+*    delt        -
+*    ft          -
+*    theta       -
+*    x2li        -
+*    x2omi       -
+*    xl          -
+*    xldot       -
+*    xnddt       -
+*    xndt        -
+*    xomi        -
+*
+*  coupling      :
+*    none        -
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dspace
+     (
+       int irez,
+       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
+       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
+       double dedt,   double del1,   double del2,    double del3,   double didt,
+       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
+       double t,      double tc,     double gsto,    double xfact,  double xlamo,
+       double no,
+       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
+       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
+     )
+{
+     const double twopi = 2.0 * pi;
+     int iretn , iret;
+     double delt, ft, theta, x2li, x2omi, xl, xldot , xnddt, xndt, xomi, g22, g32,
+          g44, g52, g54, fasx2, fasx4, fasx6, rptim , step2, stepn , stepp;
+
+     ft    = 0.0;
+     fasx2 = 0.13130908;
+     fasx4 = 2.8843198;
+     fasx6 = 0.37448087;
+     g22   = 5.7686396;
+     g32   = 0.95240898;
+     g44   = 1.8014998;
+     g52   = 1.0508330;
+     g54   = 4.4108898;
+     rptim = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
+     stepp =    720.0;
+     stepn =   -720.0;
+     step2 = 259200.0;
+
+     /* ----------- calculate deep space resonance effects ----------- */
+     dndt   = 0.0;
+     theta  = fmod(gsto + tc * rptim, twopi);
+     em     = em + dedt * t;
+
+     inclm  = inclm + didt * t;
+     argpm  = argpm + domdt * t;
+     nodem  = nodem + dnodt * t;
+     mm     = mm + dmdt * t;
+
+     //   sgp4fix for negative inclinations
+     //   the following if statement should be commented out
+     //  if (inclm < 0.0)
+     // {
+     //    inclm = -inclm;
+     //    argpm = argpm - pi;
+     //    nodem = nodem + pi;
+     //  }
+
+     /* - update resonances : numerical (euler-maclaurin) integration - */
+     /* ------------------------- epoch restart ----------------------  */
+     //   sgp4fix for propagator problems
+     //   the following integration works for negative time steps and periods
+     //   the specific changes are unknown because the original code was so convoluted
+
+     ft    = 0.0;
+     atime = 0.0;
+     if (irez != 0)
+       {
+         if ((atime == 0.0) || ((t >= 0.0) && (atime < 0.0)) ||
+             ((t < 0.0) && (atime >= 0.0)))
+           {
+             if (t >= 0.0)
+                 delt = stepp;
+               else
+                 delt = stepn;
+             atime  = 0.0;
+             xni    = no;
+             xli    = xlamo;
+           }
+         iretn = 381; // added for do loop
+         iret  =   0; // added for loop
+         while (iretn == 381)
+           {
+             if ((fabs(t) < fabs(atime)) || (iret == 351))
+               {
+                 if (t >= 0.0)
+                     delt = stepn;
+                   else
+                     delt = stepp;
+                 iret  = 351;
+                 iretn = 381;
+               }
+               else
+               {
+                 if (t > 0.0)  // error if prev if has atime:=0.0 and t:=0.0 (ge)
+                     delt = stepp;
+                   else
+                     delt = stepn;
+                 if (fabs(t - atime) >= stepp)
+                   {
+                     iret  = 0;
+                     iretn = 381;
+                   }
+                   else
+                   {
+                     ft    = t - atime;
+                     iretn = 0;
+                   }
+               }
+
+             /* ------------------- dot terms calculated ------------- */
+             /* ----------- near - synchronous resonance terms ------- */
+             if (irez != 2)
+               {
+                 xndt  = del1 * sin(xli - fasx2) + del2 * sin(2.0 * (xli - fasx4)) +
+                         del3 * sin(3.0 * (xli - fasx6));
+                 xldot = xni + xfact;
+                 xnddt = del1 * cos(xli - fasx2) +
+                         2.0 * del2 * cos(2.0 * (xli - fasx4)) +
+                         3.0 * del3 * cos(3.0 * (xli - fasx6));
+                 xnddt = xnddt * xldot;
+               }
+               else
+               {
+                 /* --------- near - half-day resonance terms -------- */
+                 xomi  = argpo + argpdot * atime;
+                 x2omi = xomi + xomi;
+                 x2li  = xli + xli;
+                 xndt  = d2201 * sin(x2omi + xli - g22) + d2211 * sin(xli - g22) +
+                       d3210 * sin(xomi + xli - g32)  + d3222 * sin(-xomi + xli - g32)+
+                       d4410 * sin(x2omi + x2li - g44)+ d4422 * sin(x2li - g44) +
+                       d5220 * sin(xomi + xli - g52)  + d5232 * sin(-xomi + xli - g52)+
+                       d5421 * sin(xomi + x2li - g54) + d5433 * sin(-xomi + x2li - g54);
+                 xldot = xni + xfact;
+                 xnddt = d2201 * cos(x2omi + xli - g22) + d2211 * cos(xli - g22) +
+                       d3210 * cos(xomi + xli - g32) + d3222 * cos(-xomi + xli - g32) +
+                       d5220 * cos(xomi + xli - g52) + d5232 * cos(-xomi + xli - g52) +
+                       2.0 * (d4410 * cos(x2omi + x2li - g44) +
+                       d4422 * cos(x2li - g44) + d5421 * cos(xomi + x2li - g54) +
+                       d5433 * cos(-xomi + x2li - g54));
+                 xnddt = xnddt * xldot;
+               }
+
+             /* ----------------------- integrator ------------------- */
+             if (iretn == 381)
+               {
+                 xli   = xli + xldot * delt + xndt * step2;
+                 xni   = xni + xndt * delt + xnddt * step2;
+                 atime = atime + delt;
+               }
+           }  // while iretn = 381
+
+         nm = xni + xndt * ft + xnddt * ft * ft * 0.5;
+         xl = xli + xldot * ft + xndt * ft * ft * 0.5;
+         if (irez != 1)
+           {
+             mm   = xl - 2.0 * nodem + 2.0 * theta;
+             dndt = nm - no;
+           }
+           else
+           {
+             mm   = xl - nodem - argpm + theta;
+             dndt = nm - no;
+           }
+         nm = no + dndt;
+       }
+
+//#include "debug4.cpp"
+}  // end dsspace
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure initl
+*
+*  this procedure initializes the spg4 propagator. all the initialization is
+*    consolidated here instead of having multiple loops inside other routines.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    ecco        - eccentricity                           0.0 - 1.0
+*    epoch       - epoch time in days from jan 0, 1950. 0 hr
+*    inclo       - inclination of satellite
+*    no          - mean motion of satellite
+*    satn        - satellite number
+*
+*  outputs       :
+*    ainv        - 1.0 / a
+*    ao          - semi major axis
+*    con41       -
+*    con42       - 1.0 - 5.0 cos(i)
+*    cosio       - cosine of inclination
+*    cosio2      - cosio squared
+*    eccsq       - eccentricity squared
+*    method      - flag for deep space                    'd', 'n'
+*    omeosq      - 1.0 - ecco * ecco
+*    posq        - semi-parameter squared
+*    rp          - radius of perigee
+*    rteosq      - square root of (1.0 - ecco*ecco)
+*    sinio       - sine of inclination
+*    gsto        - gst at time of observation               rad
+*    no          - mean motion of satellite
+*
+*  locals        :
+*    ak          -
+*    d1          -
+*    del         -
+*    adel        -
+*    po          -
+*
+*  coupling      :
+*    getgravconst
+*    gstime      - find greenwich sidereal time from the julian date
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void initl
+     (
+       int satn,      gravconsttype whichconst,
+       double ecco,   double epoch,  double inclo,   double& no,
+       char& method,
+       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
+       double& cosio2,double& eccsq, double& omeosq, double& posq,
+       double& rp,    double& rteosq,double& sinio , double& gsto
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     double ak, d1, del, adel, po, x2o3, j2, xke,
+            tumin, mu, radiusearthkm, j3, j4, j3oj2;
+
+     // sgp4fix use old way of finding gst
+     int ids70;
+     double ts70, ds70, tfrac, c1, thgr70, fk5r, c1p2p;
+     const double twopi = 2.0 * pi;
+
+     /* ----------------------- earth constants ---------------------- */
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+     x2o3   = 2.0 / 3.0;
+
+     /* ------------- calculate auxillary epoch quantities ---------- */
+     eccsq  = ecco * ecco;
+     omeosq = 1.0 - eccsq;
+     rteosq = sqrt(omeosq);
+     cosio  = cos(inclo);
+     cosio2 = cosio * cosio;
+
+     /* ------------------ un-kozai the mean motion ----------------- */
+     ak    = pow(xke / no, x2o3);
+     d1    = 0.75 * j2 * (3.0 * cosio2 - 1.0) / (rteosq * omeosq);
+     del   = d1 / (ak * ak);
+     adel  = ak * (1.0 - del * del - del *
+             (1.0 / 3.0 + 134.0 * del * del / 81.0));
+     del   = d1/(adel * adel);
+     no    = no / (1.0 + del);
+
+     ao    = pow(xke / no, x2o3);
+     sinio = sin(inclo);
+     po    = ao * omeosq;
+     con42 = 1.0 - 5.0 * cosio2;
+     con41 = -con42-cosio2-cosio2;
+     ainv  = 1.0 / ao;
+     posq  = po * po;
+     rp    = ao * (1.0 - ecco);
+     method = 'n';
+
+     // sgp4fix modern approach to finding sidereal timew
+     // gsto = gstime(epoch + 2433281.5);
+
+     // sgp4fix use old way of finding gst
+     // count integer number of days from 0 jan 1970
+     ts70  = epoch - 7305.0;
+     ids70 = floor(ts70 + 1.0e-8);
+     ds70  = ids70;
+     tfrac = ts70 - ds70;
+     // find greenwich location at epoch
+     c1    = 1.72027916940703639e-2;
+     thgr70= 1.7321343856509374;
+     fk5r  = 5.07551419432269442e-15;
+     c1p2p = c1 + twopi;
+     gsto  = fmod( thgr70 + c1*ds70 + c1p2p*tfrac + ts70*ts70*fk5r, twopi);
+     if ( gsto < 0.0 )
+         gsto = gsto + twopi;
+
+//#include "debug5.cpp"
+}  // end initl
+
+/*-----------------------------------------------------------------------------
+*
+*                             procedure sgp4init
+*
+*  this procedure initializes variables for sgp4.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    satn        - satellite number
+*    bstar       - sgp4 type drag coefficient              kg/m2er
+*    ecco        - eccentricity
+*    epoch       - epoch time in days from jan 0, 1950. 0 hr
+*    argpo       - argument of perigee (output if ds)
+*    inclo       - inclination
+*    mo          - mean anomaly (output if ds)
+*    no          - mean motion
+*    nodeo       - right ascension of ascending node
+*
+*  outputs       :
+*    satrec      - common values for subsequent calls
+*    return code - non-zero on error.
+*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
+*                   2 - mean motion less than 0.0
+*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
+*                   4 - semi-latus rectum < 0.0
+*                   5 - epoch elements are sub-orbital
+*                   6 - satellite has decayed
+*
+*  locals        :
+*    cnodm  , snodm  , cosim  , sinim  , cosomm , sinomm
+*    cc1sq  , cc2    , cc3
+*    coef   , coef1
+*    cosio4      -
+*    day         -
+*    dndt        -
+*    em          - eccentricity
+*    emsq        - eccentricity squared
+*    eeta        -
+*    etasq       -
+*    gam         -
+*    argpm       - argument of perigee
+*    nodem       -
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    nm          - mean motion
+*    perige      - perigee
+*    pinvsq      -
+*    psisq       -
+*    qzms24      -
+*    rtemsq      -
+*    s1, s2, s3, s4, s5, s6, s7          -
+*    sfour       -
+*    ss1, ss2, ss3, ss4, ss5, ss6, ss7         -
+*    sz1, sz2, sz3
+*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
+*    tc          -
+*    temp        -
+*    temp1, temp2, temp3       -
+*    tsi         -
+*    xpidot      -
+*    xhdot1      -
+*    z1, z2, z3          -
+*    z11, z12, z13, z21, z22, z23, z31, z32, z33         -
+*
+*  coupling      :
+*    getgravconst-
+*    initl       -
+*    dscom       -
+*    dpper       -
+*    dsinit      -
+*    sgp4        -
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+int sgp4init
+     (
+       gravconsttype whichconst,       const int satn,     const double epoch,
+       const double xbstar,  const double xecco, const double xargpo,
+       const double xinclo,  const double xmo,   const double xno,
+       const double xnodeo,  elsetrec& satrec
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     double ao, ainv,   con42, cosio, sinio, cosio2, eccsq,
+          omeosq, posq,   rp,     rteosq,
+          cnodm , snodm , cosim , sinim , cosomm, sinomm, cc1sq ,
+          cc2   , cc3   , coef  , coef1 , cosio4, day   , dndt  ,
+          em    , emsq  , eeta  , etasq , gam   , argpm , nodem ,
+          inclm , mm    , nm    , perige, pinvsq, psisq , qzms24,
+          rtemsq, s1    , s2    , s3    , s4    , s5    , s6    ,
+          s7    , sfour , ss1 = 0   , ss2 = 0   , ss3 = 0   , ss4 = 0   , ss5 = 0   ,
+          ss6 = 0   , ss7 = 0   , sz1 = 0   , sz2 = 0   , sz3 = 0   , sz11 = 0  , sz12 = 0  ,
+          sz13 = 0  , sz21 = 0  , sz22 = 0  , sz23 = 0  , sz31 = 0  , sz32 = 0  , sz33 = 0  ,
+          tc    , temp  , temp1 , temp2 , temp3 , tsi   , xpidot,
+          xhdot1, z1    , z2    , z3    , z11   , z12   , z13   ,
+          z21   , z22   , z23   , z31   , z32   , z33,
+          qzms2t, ss, j2, j3oj2, j4, x2o3, r[3], v[3],
+          tumin, mu, radiusearthkm, xke, j3;
+
+     /* ------------------------ initialization --------------------- */
+     // sgp4fix divisor for divide by zero check on inclination
+     const double temp4    =   1.0 + cos(pi-1.0e-9);
+
+     /* ----------- set all near earth variables to zero ------------ */
+     satrec.isimp   = 0;   satrec.method = 'n'; satrec.aycof    = 0.0;
+     satrec.con41   = 0.0; satrec.cc1    = 0.0; satrec.cc4      = 0.0;
+     satrec.cc5     = 0.0; satrec.d2     = 0.0; satrec.d3       = 0.0;
+     satrec.d4      = 0.0; satrec.delmo  = 0.0; satrec.eta      = 0.0;
+     satrec.argpdot = 0.0; satrec.omgcof = 0.0; satrec.sinmao   = 0.0;
+     satrec.t       = 0.0; satrec.t2cof  = 0.0; satrec.t3cof    = 0.0;
+     satrec.t4cof   = 0.0; satrec.t5cof  = 0.0; satrec.x1mth2   = 0.0;
+     satrec.x7thm1  = 0.0; satrec.mdot   = 0.0; satrec.nodedot  = 0.0;
+     satrec.xlcof   = 0.0; satrec.xmcof  = 0.0; satrec.nodecf   = 0.0;
+
+     /* ----------- set all deep space variables to zero ------------ */
+     satrec.irez  = 0;   satrec.d2201 = 0.0; satrec.d2211 = 0.0;
+     satrec.d3210 = 0.0; satrec.d3222 = 0.0; satrec.d4410 = 0.0;
+     satrec.d4422 = 0.0; satrec.d5220 = 0.0; satrec.d5232 = 0.0;
+     satrec.d5421 = 0.0; satrec.d5433 = 0.0; satrec.dedt  = 0.0;
+     satrec.del1  = 0.0; satrec.del2  = 0.0; satrec.del3  = 0.0;
+     satrec.didt  = 0.0; satrec.dmdt  = 0.0; satrec.dnodt = 0.0;
+     satrec.domdt = 0.0; satrec.e3    = 0.0; satrec.ee2   = 0.0;
+     satrec.peo   = 0.0; satrec.pgho  = 0.0; satrec.pho   = 0.0;
+     satrec.pinco = 0.0; satrec.plo   = 0.0; satrec.se2   = 0.0;
+     satrec.se3   = 0.0; satrec.sgh2  = 0.0; satrec.sgh3  = 0.0;
+     satrec.sgh4  = 0.0; satrec.sh2   = 0.0; satrec.sh3   = 0.0;
+     satrec.si2   = 0.0; satrec.si3   = 0.0; satrec.sl2   = 0.0;
+     satrec.sl3   = 0.0; satrec.sl4   = 0.0; satrec.gsto  = 0.0;
+     satrec.xfact = 0.0; satrec.xgh2  = 0.0; satrec.xgh3  = 0.0;
+     satrec.xgh4  = 0.0; satrec.xh2   = 0.0; satrec.xh3   = 0.0;
+     satrec.xi2   = 0.0; satrec.xi3   = 0.0; satrec.xl2   = 0.0;
+     satrec.xl3   = 0.0; satrec.xl4   = 0.0; satrec.xlamo = 0.0;
+     satrec.zmol  = 0.0; satrec.zmos  = 0.0; satrec.atime = 0.0;
+     satrec.xli   = 0.0; satrec.xni   = 0.0;
+
+     // sgp4fix - note the following variables are also passed directly via satrec.
+     // it is possible to streamline the sgp4init call by deleting the "x"
+     // variables, but the user would need to set the satrec.* values first. we
+     // include the additional assignments in case twoline2rv is not used.
+     satrec.bstar   = xbstar;
+     satrec.ecco    = xecco;
+     satrec.argpo   = xargpo;
+     satrec.inclo   = xinclo;
+     satrec.mo	    = xmo;
+     satrec.no	    = xno;
+     satrec.nodeo   = xnodeo;
+
+     /* ------------------------ earth constants ----------------------- */
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+     ss     = 78.0 / radiusearthkm + 1.0;
+     qzms2t = pow(((120.0 - 78.0) / radiusearthkm), 4);
+     x2o3   =  2.0 / 3.0;
+
+     satrec.init = 'y';
+     satrec.t	 = 0.0;
+
+     initl
+         (
+           satn, whichconst, satrec.ecco, epoch, satrec.inclo, satrec.no, satrec.method,
+           ainv, ao, satrec.con41, con42, cosio, cosio2, eccsq, omeosq,
+           posq, rp, rteosq, sinio, satrec.gsto
+         );
+     satrec.error = 0;
+
+     if (rp < 1.0)
+       {
+//         printf("# *** satn%d epoch elts sub-orbital ***\n", satn);
+         satrec.error = 5;
+       }
+
+     if ((omeosq >= 0.0 ) || ( satrec.no >= 0.0))
+       {
+         satrec.isimp = 0;
+         if (rp < (220.0 / radiusearthkm + 1.0))
+             satrec.isimp = 1;
+         sfour  = ss;
+         qzms24 = qzms2t;
+         perige = (rp - 1.0) * radiusearthkm;
+
+         /* - for perigees below 156 km, s and qoms2t are altered - */
+         if (perige < 156.0)
+           {
+             sfour = perige - 78.0;
+             if (perige < 98.0)
+                 sfour = 20.0;
+             qzms24 = pow(((120.0 - sfour) / radiusearthkm), 4.0);
+             sfour  = sfour / radiusearthkm + 1.0;
+           }
+         pinvsq = 1.0 / posq;
+
+         tsi  = 1.0 / (ao - sfour);
+         satrec.eta  = ao * satrec.ecco * tsi;
+         etasq = satrec.eta * satrec.eta;
+         eeta  = satrec.ecco * satrec.eta;
+         psisq = fabs(1.0 - etasq);
+         coef  = qzms24 * pow(tsi, 4.0);
+         coef1 = coef / pow(psisq, 3.5);
+         cc2   = coef1 * satrec.no * (ao * (1.0 + 1.5 * etasq + eeta *
+                        (4.0 + etasq)) + 0.375 * j2 * tsi / psisq * satrec.con41 *
+                        (8.0 + 3.0 * etasq * (8.0 + etasq)));
+         satrec.cc1   = satrec.bstar * cc2;
+         cc3   = 0.0;
+         if (satrec.ecco > 1.0e-4)
+             cc3 = -2.0 * coef * tsi * j3oj2 * satrec.no * sinio / satrec.ecco;
+         satrec.x1mth2 = 1.0 - cosio2;
+         satrec.cc4    = 2.0* satrec.no * coef1 * ao * omeosq *
+                           (satrec.eta * (2.0 + 0.5 * etasq) + satrec.ecco *
+                           (0.5 + 2.0 * etasq) - j2 * tsi / (ao * psisq) *
+                           (-3.0 * satrec.con41 * (1.0 - 2.0 * eeta + etasq *
+                           (1.5 - 0.5 * eeta)) + 0.75 * satrec.x1mth2 *
+                           (2.0 * etasq - eeta * (1.0 + etasq)) * cos(2.0 * satrec.argpo)));
+         satrec.cc5 = 2.0 * coef1 * ao * omeosq * (1.0 + 2.75 *
+                        (etasq + eeta) + eeta * etasq);
+         cosio4 = cosio2 * cosio2;
+         temp1  = 1.5 * j2 * pinvsq * satrec.no;
+         temp2  = 0.5 * temp1 * j2 * pinvsq;
+         temp3  = -0.46875 * j4 * pinvsq * pinvsq * satrec.no;
+         satrec.mdot     = satrec.no + 0.5 * temp1 * rteosq * satrec.con41 + 0.0625 *
+                            temp2 * rteosq * (13.0 - 78.0 * cosio2 + 137.0 * cosio4);
+         satrec.argpdot  = -0.5 * temp1 * con42 + 0.0625 * temp2 *
+                             (7.0 - 114.0 * cosio2 + 395.0 * cosio4) +
+                             temp3 * (3.0 - 36.0 * cosio2 + 49.0 * cosio4);
+         xhdot1            = -temp1 * cosio;
+         satrec.nodedot = xhdot1 + (0.5 * temp2 * (4.0 - 19.0 * cosio2) +
+                              2.0 * temp3 * (3.0 - 7.0 * cosio2)) * cosio;
+         xpidot            =  satrec.argpdot+ satrec.nodedot;
+         satrec.omgcof   = satrec.bstar * cc3 * cos(satrec.argpo);
+         satrec.xmcof    = 0.0;
+         if (satrec.ecco > 1.0e-4)
+             satrec.xmcof = -x2o3 * coef * satrec.bstar / eeta;
+         satrec.nodecf = 3.5 * omeosq * xhdot1 * satrec.cc1;
+         satrec.t2cof   = 1.5 * satrec.cc1;
+         // sgp4fix for divide by zero with xinco = 180 deg
+         if (fabs(cosio+1.0) > 1.5e-12)
+             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / (1.0 + cosio);
+           else
+             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / temp4;
+         satrec.aycof   = -0.5 * j3oj2 * sinio;
+         satrec.delmo   = pow((1.0 + satrec.eta * cos(satrec.mo)), 3);
+         satrec.sinmao  = sin(satrec.mo);
+         satrec.x7thm1  = 7.0 * cosio2 - 1.0;
+
+         /* --------------- deep space initialization ------------- */
+         if ((2*pi / satrec.no) >= 225.0)
+           {
+             satrec.method = 'd';
+             satrec.isimp  = 1;
+             tc    =  0.0;
+             inclm = satrec.inclo;
+
+             dscom
+                 (
+                   epoch, satrec.ecco, satrec.argpo, tc, satrec.inclo, satrec.nodeo,
+                   satrec.no, snodm, cnodm,  sinim, cosim,sinomm,     cosomm,
+                   day, satrec.e3, satrec.ee2, em,         emsq, gam,
+                   satrec.peo,  satrec.pgho,   satrec.pho, satrec.pinco,
+                   satrec.plo,  rtemsq,        satrec.se2, satrec.se3,
+                   satrec.sgh2, satrec.sgh3,   satrec.sgh4,
+                   satrec.sh2,  satrec.sh3,    satrec.si2, satrec.si3,
+                   satrec.sl2,  satrec.sl3,    satrec.sl4, s1, s2, s3, s4, s5,
+                   s6,   s7,   ss1,  ss2,  ss3,  ss4,  ss5,  ss6,  ss7, sz1, sz2, sz3,
+                   sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33,
+                   satrec.xgh2, satrec.xgh3,   satrec.xgh4, satrec.xh2,
+                   satrec.xh3,  satrec.xi2,    satrec.xi3,  satrec.xl2,
+                   satrec.xl3,  satrec.xl4,    nm, z1, z2, z3, z11,
+                   z12, z13, z21, z22, z23, z31, z32, z33,
+                   satrec.zmol, satrec.zmos
+                 );
+             dpper
+                 (
+                   satrec.e3, satrec.ee2, satrec.peo, satrec.pgho,
+                   satrec.pho, satrec.pinco, satrec.plo, satrec.se2,
+                   satrec.se3, satrec.sgh2, satrec.sgh3, satrec.sgh4,
+                   satrec.sh2, satrec.sh3, satrec.si2,  satrec.si3,
+                   satrec.sl2, satrec.sl3, satrec.sl4,  satrec.t,
+                   satrec.xgh2,satrec.xgh3,satrec.xgh4, satrec.xh2,
+                   satrec.xh3, satrec.xi2, satrec.xi3,  satrec.xl2,
+                   satrec.xl3, satrec.xl4, satrec.zmol, satrec.zmos, inclm, satrec.init,
+                   satrec.ecco, satrec.inclo, satrec.nodeo, satrec.argpo, satrec.mo
+                 );
+
+             argpm  = 0.0;
+             nodem  = 0.0;
+             mm     = 0.0;
+
+             dsinit
+                 (
+                   whichconst,
+                   cosim, emsq, satrec.argpo, s1, s2, s3, s4, s5, sinim, ss1, ss2, ss3, ss4,
+                   ss5, sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33, satrec.t, tc,
+                   satrec.gsto, satrec.mo, satrec.mdot, satrec.no, satrec.nodeo,
+                   satrec.nodedot, xpidot, z1, z3, z11, z13, z21, z23, z31, z33,
+                   satrec.ecco, eccsq, em, argpm, inclm, mm, nm, nodem,
+                   satrec.irez,  satrec.atime,
+                   satrec.d2201, satrec.d2211, satrec.d3210, satrec.d3222 ,
+                   satrec.d4410, satrec.d4422, satrec.d5220, satrec.d5232,
+                   satrec.d5421, satrec.d5433, satrec.dedt,  satrec.didt,
+                   satrec.dmdt,  dndt,         satrec.dnodt, satrec.domdt ,
+                   satrec.del1,  satrec.del2,  satrec.del3,  satrec.xfact,
+                   satrec.xlamo, satrec.xli,   satrec.xni
+                 );
+           }
+
+       /* ----------- set variables if not deep space ----------- */
+       if (satrec.isimp != 1)
+         {
+           cc1sq          = satrec.cc1 * satrec.cc1;
+           satrec.d2    = 4.0 * ao * tsi * cc1sq;
+           temp           = satrec.d2 * tsi * satrec.cc1 / 3.0;
+           satrec.d3    = (17.0 * ao + sfour) * temp;
+           satrec.d4    = 0.5 * temp * ao * tsi * (221.0 * ao + 31.0 * sfour) *
+                            satrec.cc1;
+           satrec.t3cof = satrec.d2 + 2.0 * cc1sq;
+           satrec.t4cof = 0.25 * (3.0 * satrec.d3 + satrec.cc1 *
+                            (12.0 * satrec.d2 + 10.0 * cc1sq));
+           satrec.t5cof = 0.2 * (3.0 * satrec.d4 +
+                            12.0 * satrec.cc1 * satrec.d3 +
+                            6.0 * satrec.d2 * satrec.d2 +
+                            15.0 * cc1sq * (2.0 * satrec.d2 + cc1sq));
+         }
+       } // if omeosq = 0 ...
+
+       /* finally propogate to zero epoch to initialise all others. */
+       if(satrec.error == 0)
+           sgp4(whichconst, satrec, 0.0, r, v);
+
+       satrec.init = 'n';
+
+//#include "debug6.cpp"
+       return satrec.error;
+}  // end sgp4init
+
+/*-----------------------------------------------------------------------------
+*
+*                             procedure sgp4
+*
+*  this procedure is the sgp4 prediction model from space command. this is an
+*    updated and combined version of sgp4 and sdp4, which were originally
+*    published separately in spacetrack report #3. this version follows the
+*    methodology from the aiaa paper (2006) describing the history and
+*    development of the code.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    satrec	 - initialised structure from sgp4init() call.
+*    tsince	 - time eince epoch (minutes)
+*
+*  outputs       :
+*    r           - position vector                     km
+*    v           - velocity                            km/sec
+*  return code - non-zero on error.
+*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
+*                   2 - mean motion less than 0.0
+*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
+*                   4 - semi-latus rectum < 0.0
+*                   5 - epoch elements are sub-orbital
+*                   6 - satellite has decayed
+*
+*  locals        :
+*    am          -
+*    axnl, aynl        -
+*    betal       -
+*    cosim   , sinim   , cosomm  , sinomm  , cnod    , snod    , cos2u   ,
+*    sin2u   , coseo1  , sineo1  , cosi    , sini    , cosip   , sinip   ,
+*    cosisq  , cossu   , sinsu   , cosu    , sinu
+*    delm        -
+*    delomg      -
+*    dndt        -
+*    eccm        -
+*    emsq        -
+*    ecose       -
+*    el2         -
+*    eo1         -
+*    eccp        -
+*    esine       -
+*    argpm       -
+*    argpp       -
+*    omgadf      -
+*    pl          -
+*    r           -
+*    rtemsq      -
+*    rdotl       -
+*    rl          -
+*    rvdot       -
+*    rvdotl      -
+*    su          -
+*    t2  , t3   , t4    , tc
+*    tem5, temp , temp1 , temp2  , tempa  , tempe  , templ
+*    u   , ux   , uy    , uz     , vx     , vy     , vz
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    nm          - mean motion
+*    nodem       - right asc of ascending node
+*    xinc        -
+*    xincp       -
+*    xl          -
+*    xlm         -
+*    mp          -
+*    xmdf        -
+*    xmx         -
+*    xmy         -
+*    nodedf      -
+*    xnode       -
+*    nodep       -
+*    np          -
+*
+*  coupling      :
+*    getgravconst-
+*    dpper
+*    dpspace
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+int sgp4
+     (
+       gravconsttype whichconst, elsetrec& satrec,  double tsince,
+       double r[3],  double v[3]
+     )
+{
+     double am   , axnl  , aynl , betal ,  cosim , cnod  ,
+         cos2u, coseo1, cosi , cosip ,  cosisq, cossu , cosu,
+         delm , delomg, em   , emsq  ,  ecose , el2   , eo1 ,
+         ep   , esine , argpm, argpp ,  argpdf, pl,     mrt = 0.0,
+         mvt  , rdotl , rl   , rvdot ,  rvdotl, sinim ,
+         sin2u, sineo1, sini , sinip ,  sinsu , sinu  ,
+         snod , su    , t2   , t3    ,  t4    , tem5  , temp,
+         temp1, temp2 , tempa, tempe ,  templ , u     , ux  ,
+         uy   , uz    , vx   , vy    ,  vz    , inclm , mm  ,
+         nm   , nodem, xinc , xincp ,  xl    , xlm   , mp  ,
+         xmdf , xmx   , xmy  , nodedf, xnode , nodep, tc  , dndt,
+         twopi, x2o3  , j2   , j3    , tumin, j4 , xke   , j3oj2, radiusearthkm,
+         mu, vkmpersec;
+     int ktr;
+
+     /* ------------------ set mathematical constants --------------- */
+     // sgp4fix divisor for divide by zero check on inclination
+     const double temp4    =   1.0 + cos(pi-1.0e-9);
+     twopi = 2.0 * pi;
+     x2o3  = 2.0 / 3.0;
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+     vkmpersec     = radiusearthkm * xke/60.0;
+
+     /* --------------------- clear sgp4 error flag ----------------- */
+     satrec.t     = tsince;
+     satrec.error = 0;
+
+     /* ------- update for secular gravity and atmospheric drag ----- */
+     xmdf    = satrec.mo + satrec.mdot * satrec.t;
+     argpdf  = satrec.argpo + satrec.argpdot * satrec.t;
+     nodedf  = satrec.nodeo + satrec.nodedot * satrec.t;
+     argpm   = argpdf;
+     mm      = xmdf;
+     t2      = satrec.t * satrec.t;
+     nodem   = nodedf + satrec.nodecf * t2;
+     tempa   = 1.0 - satrec.cc1 * satrec.t;
+     tempe   = satrec.bstar * satrec.cc4 * satrec.t;
+     templ   = satrec.t2cof * t2;
+
+     if (satrec.isimp != 1)
+       {
+         delomg = satrec.omgcof * satrec.t;
+         delm   = satrec.xmcof *
+                  (pow((1.0 + satrec.eta * cos(xmdf)), 3) -
+                  satrec.delmo);
+         temp   = delomg + delm;
+         mm     = xmdf + temp;
+         argpm  = argpdf - temp;
+         t3     = t2 * satrec.t;
+         t4     = t3 * satrec.t;
+         tempa  = tempa - satrec.d2 * t2 - satrec.d3 * t3 -
+                          satrec.d4 * t4;
+         tempe  = tempe + satrec.bstar * satrec.cc5 * (sin(mm) -
+                          satrec.sinmao);
+         templ  = templ + satrec.t3cof * t3 + t4 * (satrec.t4cof +
+                          satrec.t * satrec.t5cof);
+       }
+
+     nm    = satrec.no;
+     em    = satrec.ecco;
+     inclm = satrec.inclo;
+     if (satrec.method == 'd')
+       {
+         tc = satrec.t;
+         dspace
+             (
+               satrec.irez,
+               satrec.d2201, satrec.d2211, satrec.d3210,
+               satrec.d3222, satrec.d4410, satrec.d4422,
+               satrec.d5220, satrec.d5232, satrec.d5421,
+               satrec.d5433, satrec.dedt,  satrec.del1,
+               satrec.del2,  satrec.del3,  satrec.didt,
+               satrec.dmdt,  satrec.dnodt, satrec.domdt,
+               satrec.argpo, satrec.argpdot, satrec.t, tc,
+               satrec.gsto, satrec.xfact, satrec.xlamo,
+               satrec.no, satrec.atime,
+               em, argpm, inclm, satrec.xli, mm, satrec.xni,
+               nodem, dndt, nm
+             );
+       } // if method = d
+
+     if (nm <= 0.0)
+       {
+//         printf("# error nm %f\n", nm);
+         satrec.error = 2;
+       }
+     am = pow((xke / nm),x2o3) * tempa * tempa;
+     nm = xke / pow(am, 1.5);
+     em = em - tempe;
+
+     // fix tolerance for error recognition
+     if ((em >= 1.0) || (em < -0.001) || (am < 0.95))
+       {
+//         printf("# error em %f\n", em);
+         satrec.error = 1;
+       }
+     if (em < 0.0)
+         em  = 1.0e-6;
+     mm     = mm + satrec.no * templ;
+     xlm    = mm + argpm + nodem;
+     emsq   = em * em;
+     temp   = 1.0 - emsq;
+
+     nodem  = fmod(nodem, twopi);
+     argpm  = fmod(argpm, twopi);
+     xlm    = fmod(xlm, twopi);
+     mm     = fmod(xlm - argpm - nodem, twopi);
+
+     /* ----------------- compute extra mean quantities ------------- */
+     sinim = sin(inclm);
+     cosim = cos(inclm);
+
+     /* -------------------- add lunar-solar periodics -------------- */
+     ep     = em;
+     xincp  = inclm;
+     argpp  = argpm;
+     nodep  = nodem;
+     mp     = mm;
+     sinip  = sinim;
+     cosip  = cosim;
+     if (satrec.method == 'd')
+       {
+         dpper
+             (
+               satrec.e3,   satrec.ee2,  satrec.peo,
+               satrec.pgho, satrec.pho,  satrec.pinco,
+               satrec.plo,  satrec.se2,  satrec.se3,
+               satrec.sgh2, satrec.sgh3, satrec.sgh4,
+               satrec.sh2,  satrec.sh3,  satrec.si2,
+               satrec.si3,  satrec.sl2,  satrec.sl3,
+               satrec.sl4,  satrec.t,    satrec.xgh2,
+               satrec.xgh3, satrec.xgh4, satrec.xh2,
+               satrec.xh3,  satrec.xi2,  satrec.xi3,
+               satrec.xl2,  satrec.xl3,  satrec.xl4,
+               satrec.zmol, satrec.zmos, satrec.inclo,
+               'n', ep, xincp, nodep, argpp, mp
+             );
+         if (xincp < 0.0)
+           {
+             xincp  = -xincp;
+             nodep = nodep + pi;
+             argpp  = argpp - pi;
+           }
+         if ((ep < 0.0 ) || ( ep > 1.0))
+           {
+ //            printf("# error ep %f\n", ep);
+             satrec.error = 3;
+           }
+       } // if method = d
+
+     /* -------------------- long period periodics ------------------ */
+     if (satrec.method == 'd')
+       {
+         sinip =  sin(xincp);
+         cosip =  cos(xincp);
+         satrec.aycof = -0.5*j3oj2*sinip;
+         // sgp4fix for divide by zero for xincp = 180 deg
+         if (fabs(cosip+1.0) > 1.5e-12)
+             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / (1.0 + cosip);
+           else
+             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / temp4;
+       }
+     axnl = ep * cos(argpp);
+     temp = 1.0 / (am * (1.0 - ep * ep));
+     aynl = ep* sin(argpp) + temp * satrec.aycof;
+     xl   = mp + argpp + nodep + temp * satrec.xlcof * axnl;
+
+     /* --------------------- solve kepler's equation --------------- */
+     u    = fmod(xl - nodep, twopi);
+     eo1  = u;
+     tem5 = 9999.9;
+     ktr = 1;
+     //   sgp4fix for kepler iteration
+     //   the following iteration needs better limits on corrections
+     while (( fabs(tem5) >= 1.0e-12) && (ktr <= 10) )
+       {
+         sineo1 = sin(eo1);
+         coseo1 = cos(eo1);
+         tem5   = 1.0 - coseo1 * axnl - sineo1 * aynl;
+         tem5   = (u - aynl * coseo1 + axnl * sineo1 - eo1) / tem5;
+         if(fabs(tem5) >= 0.95)
+             tem5 = tem5 > 0.0 ? 0.95 : -0.95;
+         eo1    = eo1 + tem5;
+         ktr = ktr + 1;
+       }
+
+     /* ------------- short period preliminary quantities ----------- */
+     ecose = axnl*coseo1 + aynl*sineo1;
+     esine = axnl*sineo1 - aynl*coseo1;
+     el2   = axnl*axnl + aynl*aynl;
+     pl    = am*(1.0-el2);
+     if (pl < 0.0)
+       {
+//         printf("# error pl %f\n", pl);
+         satrec.error = 4;
+       }
+       else
+       {
+         rl     = am * (1.0 - ecose);
+         rdotl  = sqrt(am) * esine/rl;
+         rvdotl = sqrt(pl) / rl;
+         betal  = sqrt(1.0 - el2);
+         temp   = esine / (1.0 + betal);
+         sinu   = am / rl * (sineo1 - aynl - axnl * temp);
+         cosu   = am / rl * (coseo1 - axnl + aynl * temp);
+         su     = atan2(sinu, cosu);
+         sin2u  = (cosu + cosu) * sinu;
+         cos2u  = 1.0 - 2.0 * sinu * sinu;
+         temp   = 1.0 / pl;
+         temp1  = 0.5 * j2 * temp;
+         temp2  = temp1 * temp;
+
+         /* -------------- update for short period periodics ------------ */
+         if (satrec.method == 'd')
+           {
+             cosisq                 = cosip * cosip;
+             satrec.con41  = 3.0*cosisq - 1.0;
+             satrec.x1mth2 = 1.0 - cosisq;
+             satrec.x7thm1 = 7.0*cosisq - 1.0;
+           }
+         mrt   = rl * (1.0 - 1.5 * temp2 * betal * satrec.con41) +
+                 0.5 * temp1 * satrec.x1mth2 * cos2u;
+         su    = su - 0.25 * temp2 * satrec.x7thm1 * sin2u;
+         xnode = nodep + 1.5 * temp2 * cosip * sin2u;
+         xinc  = xincp + 1.5 * temp2 * cosip * sinip * cos2u;
+         mvt   = rdotl - nm * temp1 * satrec.x1mth2 * sin2u / xke;
+         rvdot = rvdotl + nm * temp1 * (satrec.x1mth2 * cos2u +
+                 1.5 * satrec.con41) / xke;
+
+         /* --------------------- orientation vectors ------------------- */
+         sinsu =  sin(su);
+         cossu =  cos(su);
+         snod  =  sin(xnode);
+         cnod  =  cos(xnode);
+         sini  =  sin(xinc);
+         cosi  =  cos(xinc);
+         xmx   = -snod * cosi;
+         xmy   =  cnod * cosi;
+         ux    =  xmx * sinsu + cnod * cossu;
+         uy    =  xmy * sinsu + snod * cossu;
+         uz    =  sini * sinsu;
+         vx    =  xmx * cossu - cnod * sinsu;
+         vy    =  xmy * cossu - snod * sinsu;
+         vz    =  sini * cossu;
+
+         /* --------- position and velocity (in km and km/sec) ---------- */
+         r[0] = (mrt * ux)* radiusearthkm;
+         r[1] = (mrt * uy)* radiusearthkm;
+         r[2] = (mrt * uz)* radiusearthkm;
+         v[0] = (mvt * ux + rvdot * vx) * vkmpersec;
+         v[1] = (mvt * uy + rvdot * vy) * vkmpersec;
+         v[2] = (mvt * uz + rvdot * vz) * vkmpersec;
+       }  // if pl > 0
+
+     // sgp4fix for decaying satellites
+     if (mrt < 1.0)
+       {
+//         printf("# decay condition %11.6f \n",mrt);
+         satrec.error = 6;
+       }
+
+
+//#include "debug7.cpp"
+     return satrec.error;
+}  // end sgp4
+
+
+/* -----------------------------------------------------------------------------
+*
+*                           function gstime
+*
+*  this function finds the greenwich sidereal time.
+*
+*  author        : david vallado                  719-573-2600    1 mar 2001
+*
+*  inputs          description                    range / units
+*    jdut1       - julian date in ut1             days from 4713 bc
+*
+*  outputs       :
+*    gstime      - greenwich sidereal time        0 to 2pi rad
+*
+*  locals        :
+*    temp        - temporary variable for doubles   rad
+*    tut1        - julian centuries from the
+*                  jan 1, 2000 12 h epoch (ut1)
+*
+*  coupling      :
+*    none
+*
+*  references    :
+*    vallado       2004, 191, eq 3-45
+* --------------------------------------------------------------------------- */
+
+double  gstime
+        (
+          double jdut1
+        )
+   {
+     const double twopi = 2.0 * pi;
+     const double deg2rad = pi / 180.0;
+     double       temp, tut1;
+
+     tut1 = (jdut1 - 2451545.0) / 36525.0;
+     temp = -6.2e-6* tut1 * tut1 * tut1 + 0.093104 * tut1 * tut1 +
+             (876600.0*3600 + 8640184.812866) * tut1 + 67310.54841;  // sec
+     temp = fmod(temp * deg2rad / 240.0, twopi); //360/86400 = 1/240, to deg, to rad
+
+     // ------------------------ check quadrants ---------------------
+     if (temp < 0.0)
+         temp += twopi;
+
+     return temp;
+   }  // end gstime
+
+/* -----------------------------------------------------------------------------
+*
+*                           function getgravconst
+*
+*  this function gets constants for the propagator. note that mu is identified to
+*    facilitiate comparisons with newer models. the common useage is wgs72.
+*
+*  author        : david vallado                  719-573-2600   21 jul 2006
+*
+*  inputs        :
+*    whichconst  - which set of constants to use  wgs72old, wgs72, wgs84
+*
+*  outputs       :
+*    tumin       - minutes in one time unit
+*    mu          - earth gravitational parameter
+*    radiusearthkm - radius of the earth in km
+*    xke         - reciprocal of tumin
+*    j2, j3, j4  - un-normalized zonal harmonic values
+*    j3oj2       - j3 divided by j2
+*
+*  locals        :
+*
+*  coupling      :
+*    none
+*
+*  references    :
+*    norad spacetrack report #3
+*    vallado, crawford, hujsak, kelso  2006
+  --------------------------------------------------------------------------- */
+
+void getgravconst
+     (
+      gravconsttype whichconst,
+      double& tumin,
+      double& mu,
+      double& radiusearthkm,
+      double& xke,
+      double& j2,
+      double& j3,
+      double& j4,
+      double& j3oj2
+     )
+     {
+
+       switch (whichconst)
+         {
+           // -- wgs-72 low precision str#3 constants --
+           case wgs72old:
+           mu     = 398600.79964;        // in km3 / s2
+           radiusearthkm = 6378.135;     // km
+           xke    = 0.0743669161;
+           tumin  = 1.0 / xke;
+           j2     =   0.001082616;
+           j3     =  -0.00000253881;
+           j4     =  -0.00000165597;
+           j3oj2  =  j3 / j2;
+         break;
+           // ------------ wgs-72 constants ------------
+           case wgs72:
+           mu     = 398600.8;            // in km3 / s2
+           radiusearthkm = 6378.135;     // km
+           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
+           tumin  = 1.0 / xke;
+           j2     =   0.001082616;
+           j3     =  -0.00000253881;
+           j4     =  -0.00000165597;
+           j3oj2  =  j3 / j2;
+         break;
+           case wgs84:
+           // ------------ wgs-84 constants ------------
+           mu     = 398600.5;            // in km3 / s2
+           radiusearthkm = 6378.137;     // km
+           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
+           tumin  = 1.0 / xke;
+           j2     =   0.00108262998905;
+           j3     =  -0.00000253215306;
+           j4     =  -0.00000161098761;
+           j3oj2  =  j3 / j2;
+         break;
+         default:
+           fprintf(stderr,"unknown gravity option (%d)\n",whichconst);
+         break;
+         }
+
+     }   // end getgravconst
+
+
+
+
+
diff --git a/contrib/sgp4/sgp4unit.h b/contrib/sgp4/sgp4unit.h
index f16acbd9..48c113d7 100644
--- a/contrib/sgp4/sgp4unit.h
+++ b/contrib/sgp4/sgp4unit.h
@@ -1,117 +1,117 @@
-#ifndef _sgp4unit_
-#define _sgp4unit_
-/*     ----------------------------------------------------------------
-*
-*                                 sgp4unit.h
-*
-*    this file contains the sgp4 procedures for analytical propagation
-*    of a satellite. the code was originally released in the 1980 and 1986
-*    spacetrack papers. a detailed discussion of the theory and history
-*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
-*    and kelso.
-*
-*                            companion code for
-*               fundamentals of astrodynamics and applications
-*                                    2007
-*                              by david vallado
-*
-*       (w) 719-573-2600, email dvallado@agi.com
-*
-*    current :
-*              20 apr 07  david vallado
-*                           misc fixes for constants
-*    changes :
-*              11 aug 06  david vallado
-*                           chg lyddane choice back to strn3, constants, misc doc
-*              15 dec 05  david vallado
-*                           misc fixes
-*              26 jul 05  david vallado
-*                           fixes for paper
-*                           note that each fix is preceded by a
-*                           comment with "sgp4fix" and an explanation of
-*                           what was changed
-*              10 aug 04  david vallado
-*                           2nd printing baseline working
-*              14 may 01  david vallado
-*                           2nd edition baseline
-*                     80  norad
-*                           original baseline
-*       ----------------------------------------------------------------      */
-
-#include <math.h>
-#include <stdio.h>
-
-// -------------------------- structure declarations ----------------------------
-typedef enum
-{
-  wgs72old,
-  wgs72,
-  wgs84
-} gravconsttype;
-
-typedef struct elsetrec
-{
-  long int  satnum;
-  int       epochyr, epochtynumrev;
-  int       error;
-  char      init, method;
-
-  /* Near Earth */
-  int    isimp;
-  double aycof  , con41  , cc1    , cc4      , cc5    , d2      , d3   , d4    ,
-         delmo  , eta    , argpdot, omgcof   , sinmao , t       , t2cof, t3cof ,
-         t4cof  , t5cof  , x1mth2 , x7thm1   , mdot   , nodedot, xlcof , xmcof ,
-         nodecf;
-
-  /* Deep Space */
-  int    irez;
-  double d2201  , d2211  , d3210  , d3222    , d4410  , d4422   , d5220 , d5232 ,
-         d5421  , d5433  , dedt   , del1     , del2   , del3    , didt  , dmdt  ,
-         dnodt  , domdt  , e3     , ee2      , peo    , pgho    , pho   , pinco ,
-         plo    , se2    , se3    , sgh2     , sgh3   , sgh4    , sh2   , sh3   ,
-         si2    , si3    , sl2    , sl3      , sl4    , gsto    , xfact , xgh2  ,
-         xgh3   , xgh4   , xh2    , xh3      , xi2    , xi3     , xl2   , xl3   ,
-         xl4    , xlamo  , zmol   , zmos     , atime  , xli     , xni;
-
-  double a      , altp   , alta   , epochdays, jdsatepoch       , nddot , ndot  ,
-         bstar  , rcse   , inclo  , nodeo    , ecco             , argpo , mo    ,
-         no;
-} elsetrec;
-
-// --------------------------- function declarations ----------------------------
-int sgp4init
-       (
-         gravconsttype whichconst,      const int satn,     const double epoch,
-         const double xbstar, const double xecco, const double xargpo,
-         const double xinclo, const double xmo,   const double xno,
-         const double xnodeo,
-         elsetrec& satrec
-       );
-
-int sgp4
-       (
-         gravconsttype whichconst,
-         elsetrec& satrec, double tsince,
-         double r[], double v[]
-       );
-
-double  gstime
-       (
-         double
-       );
-
-void getgravconst
-      (
-       gravconsttype,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&
-      );
-
-#endif
-
+#ifndef _sgp4unit_
+#define _sgp4unit_
+/*     ----------------------------------------------------------------
+*
+*                                 sgp4unit.h
+*
+*    this file contains the sgp4 procedures for analytical propagation
+*    of a satellite. the code was originally released in the 1980 and 1986
+*    spacetrack papers. a detailed discussion of the theory and history
+*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
+*    and kelso.
+*
+*                            companion code for
+*               fundamentals of astrodynamics and applications
+*                                    2007
+*                              by david vallado
+*
+*       (w) 719-573-2600, email dvallado@agi.com
+*
+*    current :
+*              20 apr 07  david vallado
+*                           misc fixes for constants
+*    changes :
+*              11 aug 06  david vallado
+*                           chg lyddane choice back to strn3, constants, misc doc
+*              15 dec 05  david vallado
+*                           misc fixes
+*              26 jul 05  david vallado
+*                           fixes for paper
+*                           note that each fix is preceded by a
+*                           comment with "sgp4fix" and an explanation of
+*                           what was changed
+*              10 aug 04  david vallado
+*                           2nd printing baseline working
+*              14 may 01  david vallado
+*                           2nd edition baseline
+*                     80  norad
+*                           original baseline
+*       ----------------------------------------------------------------      */
+
+#include <math.h>
+#include <stdio.h>
+
+// -------------------------- structure declarations ----------------------------
+typedef enum
+{
+  wgs72old,
+  wgs72,
+  wgs84
+} gravconsttype;
+
+typedef struct elsetrec
+{
+  long int  satnum;
+  int       epochyr, epochtynumrev;
+  int       error;
+  char      init, method;
+
+  /* Near Earth */
+  int    isimp;
+  double aycof  , con41  , cc1    , cc4      , cc5    , d2      , d3   , d4    ,
+         delmo  , eta    , argpdot, omgcof   , sinmao , t       , t2cof, t3cof ,
+         t4cof  , t5cof  , x1mth2 , x7thm1   , mdot   , nodedot, xlcof , xmcof ,
+         nodecf;
+
+  /* Deep Space */
+  int    irez;
+  double d2201  , d2211  , d3210  , d3222    , d4410  , d4422   , d5220 , d5232 ,
+         d5421  , d5433  , dedt   , del1     , del2   , del3    , didt  , dmdt  ,
+         dnodt  , domdt  , e3     , ee2      , peo    , pgho    , pho   , pinco ,
+         plo    , se2    , se3    , sgh2     , sgh3   , sgh4    , sh2   , sh3   ,
+         si2    , si3    , sl2    , sl3      , sl4    , gsto    , xfact , xgh2  ,
+         xgh3   , xgh4   , xh2    , xh3      , xi2    , xi3     , xl2   , xl3   ,
+         xl4    , xlamo  , zmol   , zmos     , atime  , xli     , xni;
+
+  double a      , altp   , alta   , epochdays, jdsatepoch       , nddot , ndot  ,
+         bstar  , rcse   , inclo  , nodeo    , ecco             , argpo , mo    ,
+         no;
+} elsetrec;
+
+// --------------------------- function declarations ----------------------------
+int sgp4init
+       (
+         gravconsttype whichconst,      const int satn,     const double epoch,
+         const double xbstar, const double xecco, const double xargpo,
+         const double xinclo, const double xmo,   const double xno,
+         const double xnodeo,
+         elsetrec& satrec
+       );
+
+int sgp4
+       (
+         gravconsttype whichconst,
+         elsetrec& satrec, double tsince,
+         double r[], double v[]
+       );
+
+double  gstime
+       (
+         double
+       );
+
+void getgravconst
+      (
+       gravconsttype,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&
+      );
+
+#endif
+
diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index e800cd56..f18c3812 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -1,45 +1,45 @@
-#include "../subsystem/SubsystemBase.h"
-#include "../devicehandlers/ChildHandlerBase.h"
-#include "../subsystem/SubsystemBase.h"
-
-ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
-		object_id_t deviceCommunication, CookieIF * cookie,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		object_id_t parent, FailureIsolationBase* customFdir,
-		size_t cmdQueueSize) :
-		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
-			(customFdir == nullptr? &childHandlerFdir : customFdir),
-			cmdQueueSize),
-		parentId(parent), childHandlerFdir(setObjectId) {
-	this->setThermalStateRequestPoolIds(thermalStatePoolId,
-			thermalRequestPoolId);
-
-}
-
-ChildHandlerBase::~ChildHandlerBase() {
-}
-
-ReturnValue_t ChildHandlerBase::initialize() {
-	ReturnValue_t result = DeviceHandlerBase::initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	MessageQueueId_t parentQueue = 0;
-
-	if (parentId != objects::NO_OBJECT) {
-		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
-			return RETURN_FAILED;
-		}
-		parentQueue = parent->getCommandQueue();
-
-		parent->registerChild(getObjectId());
-	}
-
-	healthHelper.setParentQueue(parentQueue);
-
-	modeHelper.setParentQueue(parentQueue);
-
-	return RETURN_OK;
-}
+#include "../subsystem/SubsystemBase.h"
+#include "../devicehandlers/ChildHandlerBase.h"
+#include "../subsystem/SubsystemBase.h"
+
+ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
+		object_id_t deviceCommunication, CookieIF * cookie,
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		object_id_t parent, FailureIsolationBase* customFdir,
+		size_t cmdQueueSize) :
+		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
+			(customFdir == nullptr? &childHandlerFdir : customFdir),
+			cmdQueueSize),
+		parentId(parent), childHandlerFdir(setObjectId) {
+	this->setThermalStateRequestPoolIds(thermalStatePoolId,
+			thermalRequestPoolId);
+
+}
+
+ChildHandlerBase::~ChildHandlerBase() {
+}
+
+ReturnValue_t ChildHandlerBase::initialize() {
+	ReturnValue_t result = DeviceHandlerBase::initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	MessageQueueId_t parentQueue = 0;
+
+	if (parentId != objects::NO_OBJECT) {
+		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
+		if (parent == NULL) {
+			return RETURN_FAILED;
+		}
+		parentQueue = parent->getCommandQueue();
+
+		parent->registerChild(getObjectId());
+	}
+
+	healthHelper.setParentQueue(parentQueue);
+
+	modeHelper.setParentQueue(parentQueue);
+
+	return RETURN_OK;
+}
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index f6bf318a..3e9652a3 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -1,26 +1,26 @@
 #ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
-#define FSFW_DEVICES_CHILDHANDLERBASE_H_
-
-#include "ChildHandlerFDIR.h"
-#include "DeviceHandlerBase.h"
-
-class ChildHandlerBase: public DeviceHandlerBase {
-public:
-	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * cookie, uint32_t thermalStatePoolId,
+#define FSFW_DEVICES_CHILDHANDLERBASE_H_
+
+#include "ChildHandlerFDIR.h"
+#include "DeviceHandlerBase.h"
+
+class ChildHandlerBase: public DeviceHandlerBase {
+public:
+	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
+			CookieIF * cookie, uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId,
-			object_id_t parent = objects::NO_OBJECT,
+			object_id_t parent = objects::NO_OBJECT,
 			FailureIsolationBase* customFdir = nullptr,
-			size_t cmdQueueSize = 20);
-	virtual ~ChildHandlerBase();
-
-	virtual ReturnValue_t initialize();
-
-protected:
-	const uint32_t parentId;
-	ChildHandlerFDIR childHandlerFdir;
-
-};
-
-#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
+			size_t cmdQueueSize = 20);
+	virtual ~ChildHandlerBase();
+
+	virtual ReturnValue_t initialize();
+
+protected:
+	const uint32_t parentId;
+	ChildHandlerFDIR childHandlerFdir;
+
+};
+
+#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
 
diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index b77f12a9..16682d36 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -1,24 +1,24 @@
-#include "../../osal/FreeRTOS/TaskManagement.h"
-
-void TaskManagement::vRequestContextSwitchFromTask() {
-	vTaskDelay(0);
-}
-
-void TaskManagement::requestContextSwitch(
-		CallContext callContext = CallContext::TASK) {
-	if(callContext == CallContext::ISR) {
-		// This function depends on the partmacro.h definition for the specific device
-		vRequestContextSwitchFromISR();
-	} else {
-		vRequestContextSwitchFromTask();
-	}
-}
-
-TaskHandle_t TaskManagement::getCurrentTaskHandle() {
-	return xTaskGetCurrentTaskHandle();
-}
-
-size_t TaskManagement::getTaskStackHighWatermark(
-        TaskHandle_t task) {
-	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+void TaskManagement::vRequestContextSwitchFromTask() {
+	vTaskDelay(0);
+}
+
+void TaskManagement::requestContextSwitch(
+		CallContext callContext = CallContext::TASK) {
+	if(callContext == CallContext::ISR) {
+		// This function depends on the partmacro.h definition for the specific device
+		vRequestContextSwitchFromISR();
+	} else {
+		vRequestContextSwitchFromTask();
+	}
+}
+
+TaskHandle_t TaskManagement::getCurrentTaskHandle() {
+	return xTaskGetCurrentTaskHandle();
+}
+
+size_t TaskManagement::getTaskStackHighWatermark(
+        TaskHandle_t task) {
+	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 4b7fe3eb..43003d76 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -1,64 +1,64 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
-#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
-
-#include "../../returnvalues/HasReturnvaluesIF.h"
-
-extern "C" {
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-}
-#include <cstdint>
-
-/**
- * Architecture dependant portmacro.h function call.
- * Should be implemented in bsp.
- */
-extern void vRequestContextSwitchFromISR();
-
-/*!
- * Used by functions to tell if they are being called from
- * within an ISR or from a regular task. This is required because FreeRTOS
- * has different functions for handling semaphores and messages from within
- * an ISR and task.
- */
-enum class CallContext {
-	TASK = 0x00,//!< task_context
-	ISR = 0xFF  //!< isr_context
-};
-
-
-class TaskManagement {
-public:
-	/**
-	 * @brief	In this function, a function dependant on the portmacro.h header
-	 * 			function calls to request a context switch can be specified.
-	 * This can be used if sending to the queue from an ISR caused a task
-	 * to unblock and a context switch is required.
-	 */
-	static void requestContextSwitch(CallContext callContext);
-
-	/**
-	 * If task preemption in FreeRTOS is disabled, a context switch
-	 * can be requested manually by calling this function.
-	 */
-	static void vRequestContextSwitchFromTask(void);
-
-	/**
-	 * @return The current task handle
-	 */
-	static TaskHandle_t getCurrentTaskHandle();
-
-	/**
-	 * Get returns the minimum amount of remaining stack space in words
-	 * that was a available to the task since the task started executing.
-	 * Please note that the actual value in bytes depends
-	 * on the stack depth type.
-	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
-	 * @return Smallest value of stack remaining since the task was started in
-	 * 		   words.
-	 */
-	static size_t getTaskStackHighWatermark(
-	        TaskHandle_t task = nullptr);
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+#include <cstdint>
+
+/**
+ * Architecture dependant portmacro.h function call.
+ * Should be implemented in bsp.
+ */
+extern void vRequestContextSwitchFromISR();
+
+/*!
+ * Used by functions to tell if they are being called from
+ * within an ISR or from a regular task. This is required because FreeRTOS
+ * has different functions for handling semaphores and messages from within
+ * an ISR and task.
+ */
+enum class CallContext {
+	TASK = 0x00,//!< task_context
+	ISR = 0xFF  //!< isr_context
+};
+
+
+class TaskManagement {
+public:
+	/**
+	 * @brief	In this function, a function dependant on the portmacro.h header
+	 * 			function calls to request a context switch can be specified.
+	 * This can be used if sending to the queue from an ISR caused a task
+	 * to unblock and a context switch is required.
+	 */
+	static void requestContextSwitch(CallContext callContext);
+
+	/**
+	 * If task preemption in FreeRTOS is disabled, a context switch
+	 * can be requested manually by calling this function.
+	 */
+	static void vRequestContextSwitchFromTask(void);
+
+	/**
+	 * @return The current task handle
+	 */
+	static TaskHandle_t getCurrentTaskHandle();
+
+	/**
+	 * Get returns the minimum amount of remaining stack space in words
+	 * that was a available to the task since the task started executing.
+	 * Please note that the actual value in bytes depends
+	 * on the stack depth type.
+	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+	 * @return Smallest value of stack remaining since the task was started in
+	 * 		   words.
+	 */
+	static size_t getTaskStackHighWatermark(
+	        TaskHandle_t task = nullptr);
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 1c11afd4..812cd34b 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -1,129 +1,129 @@
-#include "../serialize/SerialBufferAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include <cstring>
-
-template<typename count_t>
-SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
-		count_t bufferLength, bool serializeLength) :
-		serializeLength(serializeLength),
-		constBuffer(buffer), buffer(nullptr),
-		bufferLength(bufferLength) {}
-
-template<typename count_t>
-SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
-		count_t bufferLength, bool serializeLength) :
-		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
-		bufferLength(bufferLength) {}
-
-
-template<typename count_t>
-SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
-}
-
-template<typename count_t>
-ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
-		size_t* size, size_t maxSize, Endianness streamEndianness) const {
-	if (serializeLength) {
-		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
-				buffer, size, maxSize, streamEndianness);
-		if(result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-	}
-
-	if (*size + bufferLength > maxSize) {
-		return BUFFER_TOO_SHORT;
-	}
-
-	if (this->constBuffer != nullptr) {
-		std::memcpy(*buffer, this->constBuffer, bufferLength);
-	}
-	else if (this->buffer != nullptr) {
-		// This will propably be never reached, constBuffer should always be
-		// set if non-const buffer is set.
-		std::memcpy(*buffer, this->buffer, bufferLength);
-	}
-	else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	*size += bufferLength;
-	(*buffer) += bufferLength;
-	return HasReturnvaluesIF::RETURN_OK;
-
-}
-
-template<typename count_t>
-size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
-	if (serializeLength) {
-		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
-	} else {
-		return bufferLength;
-	}
-}
-
-template<typename count_t>
-ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
-		size_t* size, Endianness streamEndianness) {
-	if (this->buffer == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	if(serializeLength){
-		count_t lengthField = 0;
-		ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
-				buffer, size, streamEndianness);
-		if(result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-		if(lengthField > bufferLength) {
-			return TOO_MANY_ELEMENTS;
-		}
-		bufferLength = lengthField;
-	}
-
-	if (bufferLength <= *size) {
-		*size -= bufferLength;
-		std::memcpy(this->buffer, *buffer, bufferLength);
-		(*buffer) += bufferLength;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return STREAM_TOO_SHORT;
-	}
-}
-
-template<typename count_t>
-uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
-	if(buffer == nullptr) {
-		sif::error << "Wrong access function for stored type !"
-				 " Use getConstBuffer()." << std::endl;
-		return nullptr;
-	}
-	return buffer;
-}
-
-template<typename count_t>
-const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
-	if(constBuffer == nullptr) {
-		sif::error << "SerialBufferAdapter::getConstBuffer:"
-				" Buffers are unitialized!" << std::endl;
-		return nullptr;
-	}
-	return constBuffer;
-}
-
-template<typename count_t>
-void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
-		count_t bufferLength) {
-	this->buffer = buffer;
-	this->constBuffer = buffer;
-	this->bufferLength = bufferLength;
-}
-
-
-//forward Template declaration for linker
-template class SerialBufferAdapter<uint8_t>;
-template class SerialBufferAdapter<uint16_t>;
-template class SerialBufferAdapter<uint32_t>;
-template class SerialBufferAdapter<uint64_t>;
-
+#include "../serialize/SerialBufferAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include <cstring>
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
+		count_t bufferLength, bool serializeLength) :
+		serializeLength(serializeLength),
+		constBuffer(buffer), buffer(nullptr),
+		bufferLength(bufferLength) {}
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
+		count_t bufferLength, bool serializeLength) :
+		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
+		bufferLength(bufferLength) {}
+
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
+}
+
+template<typename count_t>
+ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
+	if (serializeLength) {
+		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
+				buffer, size, maxSize, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+
+	if (*size + bufferLength > maxSize) {
+		return BUFFER_TOO_SHORT;
+	}
+
+	if (this->constBuffer != nullptr) {
+		std::memcpy(*buffer, this->constBuffer, bufferLength);
+	}
+	else if (this->buffer != nullptr) {
+		// This will propably be never reached, constBuffer should always be
+		// set if non-const buffer is set.
+		std::memcpy(*buffer, this->buffer, bufferLength);
+	}
+	else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	*size += bufferLength;
+	(*buffer) += bufferLength;
+	return HasReturnvaluesIF::RETURN_OK;
+
+}
+
+template<typename count_t>
+size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
+	if (serializeLength) {
+		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
+	} else {
+		return bufferLength;
+	}
+}
+
+template<typename count_t>
+ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
+		size_t* size, Endianness streamEndianness) {
+	if (this->buffer == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(serializeLength){
+		count_t lengthField = 0;
+		ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
+				buffer, size, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		if(lengthField > bufferLength) {
+			return TOO_MANY_ELEMENTS;
+		}
+		bufferLength = lengthField;
+	}
+
+	if (bufferLength <= *size) {
+		*size -= bufferLength;
+		std::memcpy(this->buffer, *buffer, bufferLength);
+		(*buffer) += bufferLength;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return STREAM_TOO_SHORT;
+	}
+}
+
+template<typename count_t>
+uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
+	if(buffer == nullptr) {
+		sif::error << "Wrong access function for stored type !"
+				 " Use getConstBuffer()." << std::endl;
+		return nullptr;
+	}
+	return buffer;
+}
+
+template<typename count_t>
+const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
+	if(constBuffer == nullptr) {
+		sif::error << "SerialBufferAdapter::getConstBuffer:"
+				" Buffers are unitialized!" << std::endl;
+		return nullptr;
+	}
+	return constBuffer;
+}
+
+template<typename count_t>
+void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
+		count_t bufferLength) {
+	this->buffer = buffer;
+	this->constBuffer = buffer;
+	this->bufferLength = bufferLength;
+}
+
+
+//forward Template declaration for linker
+template class SerialBufferAdapter<uint8_t>;
+template class SerialBufferAdapter<uint16_t>;
+template class SerialBufferAdapter<uint32_t>;
+template class SerialBufferAdapter<uint64_t>;
+
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index 9a89e18b..c3dfcd8f 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -1,78 +1,78 @@
-#ifndef SERIALBUFFERADAPTER_H_
-#define SERIALBUFFERADAPTER_H_
-
-#include "../serialize/SerializeIF.h"
-#include "../serialize/SerializeAdapter.h"
-
-/**
- * This adapter provides an interface for SerializeIF to serialize or deserialize
- * buffers with no length header but a known size.
- *
- * Additionally, the buffer length can be serialized too and will be put in
- * front of the serialized buffer.
- *
- * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
- * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
- * Right now, the SerialBufferAdapter must always
- * be initialized with the buffer and size !
- *
- * \ingroup serialize
- */
-template<typename count_t>
-class SerialBufferAdapter: public SerializeIF {
-public:
-
-    /**
-     * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
-     * Type of length can be supplied as template type.
-     * @param buffer
-     * @param bufferLength
-     * @param serializeLength
-     */
-    SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
-            bool serializeLength = false);
-
-    /**
-     * Constructor for non-constant uint8_t buffer.
-     * Length field can be serialized optionally.
-     * Type of length can be supplied as template type.
-     * @param buffer
-     * @param bufferLength
-     * @param serializeLength Length field will be serialized with size count_t
-     */
-    SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
-            bool serializeLength = false);
-
-    virtual ~SerialBufferAdapter();
-
-    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-            size_t maxSize, Endianness streamEndianness) const override;
-
-    virtual size_t getSerializedSize() const override;
-
-    /**
-     * @brief This function deserializes a buffer into the member buffer.
-     * @details
-     * If a length field is present, it is ignored, as the size should have
-     * been set in the constructor. If the size is not known beforehand,
-     * consider using SerialFixedArrayListAdapter instead.
-     * @param buffer [out] Resulting buffer
-     * @param size remaining size to deserialize, should be larger than buffer
-     *        + size field size
-     * @param bigEndian
-     * @return
-     */
-    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-            Endianness streamEndianness) override;
-
-    uint8_t * getBuffer();
-    const uint8_t * getConstBuffer();
-    void setBuffer(uint8_t* buffer, count_t bufferLength);
-private:
-	bool serializeLength = false;
-	const uint8_t *constBuffer = nullptr;
-	uint8_t *buffer = nullptr;
-	count_t bufferLength = 0;
-};
-
-#endif /* SERIALBUFFERADAPTER_H_ */
+#ifndef SERIALBUFFERADAPTER_H_
+#define SERIALBUFFERADAPTER_H_
+
+#include "../serialize/SerializeIF.h"
+#include "../serialize/SerializeAdapter.h"
+
+/**
+ * This adapter provides an interface for SerializeIF to serialize or deserialize
+ * buffers with no length header but a known size.
+ *
+ * Additionally, the buffer length can be serialized too and will be put in
+ * front of the serialized buffer.
+ *
+ * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
+ * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
+ * Right now, the SerialBufferAdapter must always
+ * be initialized with the buffer and size !
+ *
+ * \ingroup serialize
+ */
+template<typename count_t>
+class SerialBufferAdapter: public SerializeIF {
+public:
+
+    /**
+     * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
+     * Type of length can be supplied as template type.
+     * @param buffer
+     * @param bufferLength
+     * @param serializeLength
+     */
+    SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
+            bool serializeLength = false);
+
+    /**
+     * Constructor for non-constant uint8_t buffer.
+     * Length field can be serialized optionally.
+     * Type of length can be supplied as template type.
+     * @param buffer
+     * @param bufferLength
+     * @param serializeLength Length field will be serialized with size count_t
+     */
+    SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
+            bool serializeLength = false);
+
+    virtual ~SerialBufferAdapter();
+
+    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+            size_t maxSize, Endianness streamEndianness) const override;
+
+    virtual size_t getSerializedSize() const override;
+
+    /**
+     * @brief This function deserializes a buffer into the member buffer.
+     * @details
+     * If a length field is present, it is ignored, as the size should have
+     * been set in the constructor. If the size is not known beforehand,
+     * consider using SerialFixedArrayListAdapter instead.
+     * @param buffer [out] Resulting buffer
+     * @param size remaining size to deserialize, should be larger than buffer
+     *        + size field size
+     * @param bigEndian
+     * @return
+     */
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            Endianness streamEndianness) override;
+
+    uint8_t * getBuffer();
+    const uint8_t * getConstBuffer();
+    void setBuffer(uint8_t* buffer, count_t bufferLength);
+private:
+	bool serializeLength = false;
+	const uint8_t *constBuffer = nullptr;
+	uint8_t *buffer = nullptr;
+	count_t bufferLength = 0;
+};
+
+#endif /* SERIALBUFFERADAPTER_H_ */

From b07b19327cf1be8059e2c7635a22118ef2e1fd90 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Sep 2020 11:52:18 +0200
Subject: [PATCH 284/653] renormalize CHB

---
 devicehandlers/ChildHandlerBase.cpp | 90 ++++++++++++++---------------
 devicehandlers/ChildHandlerBase.h   | 48 +++++++--------
 2 files changed, 69 insertions(+), 69 deletions(-)

diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index f18c3812..e800cd56 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -1,45 +1,45 @@
-#include "../subsystem/SubsystemBase.h"
-#include "../devicehandlers/ChildHandlerBase.h"
-#include "../subsystem/SubsystemBase.h"
-
-ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
-		object_id_t deviceCommunication, CookieIF * cookie,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		object_id_t parent, FailureIsolationBase* customFdir,
-		size_t cmdQueueSize) :
-		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
-			(customFdir == nullptr? &childHandlerFdir : customFdir),
-			cmdQueueSize),
-		parentId(parent), childHandlerFdir(setObjectId) {
-	this->setThermalStateRequestPoolIds(thermalStatePoolId,
-			thermalRequestPoolId);
-
-}
-
-ChildHandlerBase::~ChildHandlerBase() {
-}
-
-ReturnValue_t ChildHandlerBase::initialize() {
-	ReturnValue_t result = DeviceHandlerBase::initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	MessageQueueId_t parentQueue = 0;
-
-	if (parentId != objects::NO_OBJECT) {
-		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
-			return RETURN_FAILED;
-		}
-		parentQueue = parent->getCommandQueue();
-
-		parent->registerChild(getObjectId());
-	}
-
-	healthHelper.setParentQueue(parentQueue);
-
-	modeHelper.setParentQueue(parentQueue);
-
-	return RETURN_OK;
-}
+#include "../subsystem/SubsystemBase.h"
+#include "../devicehandlers/ChildHandlerBase.h"
+#include "../subsystem/SubsystemBase.h"
+
+ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
+		object_id_t deviceCommunication, CookieIF * cookie,
+		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		object_id_t parent, FailureIsolationBase* customFdir,
+		size_t cmdQueueSize) :
+		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
+			(customFdir == nullptr? &childHandlerFdir : customFdir),
+			cmdQueueSize),
+		parentId(parent), childHandlerFdir(setObjectId) {
+	this->setThermalStateRequestPoolIds(thermalStatePoolId,
+			thermalRequestPoolId);
+
+}
+
+ChildHandlerBase::~ChildHandlerBase() {
+}
+
+ReturnValue_t ChildHandlerBase::initialize() {
+	ReturnValue_t result = DeviceHandlerBase::initialize();
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	MessageQueueId_t parentQueue = 0;
+
+	if (parentId != objects::NO_OBJECT) {
+		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
+		if (parent == NULL) {
+			return RETURN_FAILED;
+		}
+		parentQueue = parent->getCommandQueue();
+
+		parent->registerChild(getObjectId());
+	}
+
+	healthHelper.setParentQueue(parentQueue);
+
+	modeHelper.setParentQueue(parentQueue);
+
+	return RETURN_OK;
+}
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index 3e9652a3..f6bf318a 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -1,26 +1,26 @@
 #ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
-#define FSFW_DEVICES_CHILDHANDLERBASE_H_
-
-#include "ChildHandlerFDIR.h"
-#include "DeviceHandlerBase.h"
-
-class ChildHandlerBase: public DeviceHandlerBase {
-public:
-	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * cookie, uint32_t thermalStatePoolId,
-			uint32_t thermalRequestPoolId,
-			object_id_t parent = objects::NO_OBJECT,
-			FailureIsolationBase* customFdir = nullptr,
-			size_t cmdQueueSize = 20);
-	virtual ~ChildHandlerBase();
-
-	virtual ReturnValue_t initialize();
-
-protected:
-	const uint32_t parentId;
-	ChildHandlerFDIR childHandlerFdir;
-
-};
-
-#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
+#define FSFW_DEVICES_CHILDHANDLERBASE_H_
+
+#include "ChildHandlerFDIR.h"
+#include "DeviceHandlerBase.h"
+
+class ChildHandlerBase: public DeviceHandlerBase {
+public:
+	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
+			CookieIF * cookie, uint32_t thermalStatePoolId,
+			uint32_t thermalRequestPoolId,
+			object_id_t parent = objects::NO_OBJECT,
+			FailureIsolationBase* customFdir = nullptr,
+			size_t cmdQueueSize = 20);
+	virtual ~ChildHandlerBase();
+
+	virtual ReturnValue_t initialize();
+
+protected:
+	const uint32_t parentId;
+	ChildHandlerFDIR childHandlerFdir;
+
+};
+
+#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
 

From 695a4e7842f367d35c532f921cea1ad5ffb41dba Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Sep 2020 12:42:52 +0200
Subject: [PATCH 285/653] offset is size_t now

---
 parameters/ParameterWrapper.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index d020da33..6adc6857 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -270,7 +270,8 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 		//need a type to do arithmetic
 		uint8_t* typedData = static_cast<uint8_t*>(data);
 		for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
-			uint8_t offset = (((startingRow + fromRow) * columns) + startingColumn) * typeSize;
+			size_t offset = (((startingRow + fromRow) * columns) +
+					startingColumn) * typeSize;
 			std::memcpy(typedData +  offset, from->readonlyData,
 					typeSize * from->columns);
 		}

From b522b3c29c5d1490c8b8d0fd2dc4209fd92cd9b9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Sep 2020 12:53:53 +0200
Subject: [PATCH 286/653] fifo updates

---
 container/DynamicFIFO.h |  4 ++--
 container/FIFO.h        | 12 +++++++-----
 container/FIFOBase.h    |  2 +-
 container/FIFOBase.tpp  |  2 +-
 4 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h
index 7fa0c32c..abb53330 100644
--- a/container/DynamicFIFO.h
+++ b/container/DynamicFIFO.h
@@ -22,7 +22,7 @@ public:
 		// trying to pass the pointer of the uninitialized vector
 		// to the FIFOBase constructor directly lead to a super evil bug.
 		// So we do it like this now.
-		this->setData(fifoVector.data());
+		this->setContainer(fifoVector.data());
 	};
 
 	/**
@@ -31,7 +31,7 @@ public:
 	 */
 	DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
 			fifoVector(other.maxCapacity) {
-		this->setData(fifoVector.data());
+		this->setContainer(fifoVector.data());
 	}
 
 
diff --git a/container/FIFO.h b/container/FIFO.h
index e60a4979..19f763fc 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_CONTAINER_FIFO_H_
-#define FRAMEWORK_CONTAINER_FIFO_H_
+#ifndef FSFW_CONTAINER_FIFO_H_
+#define FSFW_CONTAINER_FIFO_H_
 
 #include "FIFOBase.h"
 #include <array>
@@ -16,18 +16,20 @@
 template<typename T, size_t capacity>
 class FIFO: public FIFOBase<T> {
 public:
-	FIFO(): FIFOBase<T>(fifoArray.data(), capacity) {};
+	FIFO(): FIFOBase<T>(nullptr, capacity) {
+		this->setContainer(fifoArray.data());
+	};
 
 	/**
 	 * @brief 	Custom copy constructor to set pointer correctly.
 	 * @param other
 	 */
 	FIFO(const FIFO& other): FIFOBase<T>(other) {
-		this->setData(fifoArray.data());
+		this->setContainer(fifoArray.data());
 	}
 
 private:
 	std::array<T, capacity> fifoArray;
 };
 
-#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */
+#endif /* FSFW_CONTAINER_FIFO_H_ */
diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index bbabd67c..b744706d 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -48,7 +48,7 @@ public:
 	size_t getMaxCapacity() const;
 
 protected:
-	void setData(T* data);
+	void setContainer(T* data);
 	size_t maxCapacity = 0;
 
 	T* values;
diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp
index e1287dcf..d54b3f8f 100644
--- a/container/FIFOBase.tpp
+++ b/container/FIFOBase.tpp
@@ -80,7 +80,7 @@ inline size_t FIFOBase<T>::getMaxCapacity() const {
 
 
 template<typename T>
-inline void FIFOBase<T>::setData(T *data) {
+inline void FIFOBase<T>::setContainer(T *data) {
 	this->values = data;
 }
 

From 03b2ca679d81d15d0c449e9c44b515647c6623c2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Sep 2020 12:58:29 +0200
Subject: [PATCH 287/653] include guard correction

---
 tmtcservices/CommandingServiceBase.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index a774e7ae..864a0614 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
-#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
+#ifndef FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
+#define FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
 #include "../objectmanager/SystemObject.h"
 #include "../storagemanager/StorageManagerIF.h"
@@ -345,4 +345,4 @@ private:
 	void checkTimeout();
 };
 
-#endif /* FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ */
+#endif /* FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ */

From 5eaf6cfd1f3afa8a02f7ce30c0e84f6a648f7193 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 13:52:02 +0200
Subject: [PATCH 288/653] renormalizing pull request step1

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 337 ++++++++++++++--------------
 osal/FreeRTOS/FixedTimeslotTask.h   | 202 ++++++++---------
 2 files changed, 272 insertions(+), 267 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 772c4bca..309574eb 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -1,166 +1,171 @@
-#include "FixedTimeslotTask.h"
-
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
-const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
-
-FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
-		TaskStackSize setStack, TaskPeriod overallPeriod,
-		void (*setDeadlineMissedFunc)()) :
-		started(false), handle(nullptr), pst(overallPeriod * 1000) {
-	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
-	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
-	// All additional attributes are applied to the object.
-	this->deadlineMissedFunc = setDeadlineMissedFunc;
-}
-
-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(reinterpret_cast<FixedTimeslotTask*>(argument));
-	/* Task should not start until explicitly requested,
-	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
-	 * is running but not if the scheduler is not running.
-	 * To be able to accommodate both cases we check a member which is set in
-	 * #startTask(). If it is not set and we get here, the scheduler was started
-	 * before #startTask() was called and we need to suspend if it is set,
-	 * the scheduler was not running before #startTask() was called and we
-	 * can continue */
-
-	if (not originalTask->started) {
-		vTaskSuspend(NULL);
-	}
-
-	originalTask->taskFunctionality();
-	sif::debug << "Polling task " << originalTask->handle
-			<< " returned from taskFunctionality." << std::endl;
-}
-
-void FixedTimeslotTask::missedDeadlineCounter() {
-	FixedTimeslotTask::deadlineMissedCount++;
-	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
-		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
-				<< " deadlines." << std::endl;
-	}
-}
-
-ReturnValue_t FixedTimeslotTask::startTask() {
-	started = true;
-
-	// We must not call resume if scheduler is not started yet
-	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
-		vTaskResume(handle);
-	}
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
-		uint32_t slotTimeMs, int8_t executionStep) {
-    ExecutableObjectIF* handler =
-            objectManager->get<ExecutableObjectIF>(componentId);
-	if (handler != nullptr) {
-		pst.addSlot(componentId, slotTimeMs, executionStep, handler, 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();
-}
-
-ReturnValue_t FixedTimeslotTask::checkSequence() const {
-	return pst.checkSequence();
-}
-
-void FixedTimeslotTask::taskFunctionality() {
-	// A local iterator for the Polling Sequence Table is created to find the
-    // start time for the first entry.
-	auto slotListIter = pst.current;
-
-	pst.intializeSequenceAfterTaskCreation();
-
-	//The start time for the first entry is read.
-	uint32_t intervalMs = slotListIter->pollingTimeMs;
-	TickType_t interval = pdMS_TO_TICKS(intervalMs);
-
-	TickType_t xLastWakeTime;
-	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to
-	 explicitly. After this assignment, xLastWakeTime is updated automatically
-	 internally within vTaskDelayUntil(). */
-	xLastWakeTime = xTaskGetTickCount();
-
-	// wait for first entry's start time
-	if(interval > 0) {
-	    vTaskDelayUntil(&xLastWakeTime, interval);
-	}
-
-	/* Enter the loop that defines the task behavior. */
-	for (;;) {
-		//The component for this slot is executed and the next one is chosen.
-	    this->pst.executeAndAdvance();
-	    if (not pst.slotFollowsImmediately()) {
-	        // Get the interval till execution of the next slot.
-	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
-	        interval = pdMS_TO_TICKS(intervalMs);
-
-	        checkMissedDeadline(xLastWakeTime, interval);
-
-	        // Wait for the interval. This exits immediately if a deadline was
-	        // missed while also updating the last wake time.
-	        vTaskDelayUntil(&xLastWakeTime, interval);
-	    }
-	}
-}
-
-void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
-        const TickType_t interval) {
-    /* Check whether deadline was missed while also taking overflows
-     * into account. Drawing this on paper with a timeline helps to understand
-     * it. */
-    TickType_t currentTickCount = xTaskGetTickCount();
-    TickType_t timeToWake = xLastWakeTime + interval;
-    // Time to wake has not overflown.
-    if(timeToWake > xLastWakeTime) {
-        /* If the current time has overflown exclusively or the current
-         * tick count is simply larger than the time to wake, a deadline was
-         * missed */
-        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
-            handleMissedDeadline();
-        }
-    }
-    /* Time to wake has overflown. A deadline was missed if the current time
-     * is larger than the time to wake */
-    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-        handleMissedDeadline();
-    }
-}
-
-void FixedTimeslotTask::handleMissedDeadline() {
-#ifdef DEBUG
-    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
-            " missed deadline!\n" << std::flush;
-#endif
-    if(deadlineMissedFunc != nullptr) {
-        this->deadlineMissedFunc();
-    }
-}
-
-ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
-	vTaskDelay(pdMS_TO_TICKS(ms));
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-TaskHandle_t FixedTimeslotTask::getTaskHandle() {
-    return handle;
-}
+#include "FixedTimeslotTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
+
+FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod overallPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		started(false), handle(nullptr), pst(overallPeriod * 1000) {
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
+	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
+	// All additional attributes are applied to the object.
+	this->deadlineMissedFunc = setDeadlineMissedFunc;
+}
+
+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(reinterpret_cast<FixedTimeslotTask*>(argument));
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
+
+	if (not originalTask->started) {
+		vTaskSuspend(NULL);
+	}
+
+	originalTask->taskFunctionality();
+	sif::debug << "Polling task " << originalTask->handle
+			<< " returned from taskFunctionality." << std::endl;
+}
+
+void FixedTimeslotTask::missedDeadlineCounter() {
+	FixedTimeslotTask::deadlineMissedCount++;
+	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
+		sif::error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
+				<< " deadlines." << std::endl;
+	}
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+	started = true;
+
+	// We must not call resume if scheduler is not started yet
+	if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
+		vTaskResume(handle);
+	}
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+		uint32_t slotTimeMs, int8_t executionStep) {
+    ExecutableObjectIF* handler =
+            objectManager->get<ExecutableObjectIF>(componentId);
+	if (handler != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, handler, 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();
+}
+
+ReturnValue_t FixedTimeslotTask::checkSequence() const {
+	return pst.checkSequence();
+}
+
+void FixedTimeslotTask::taskFunctionality() {
+	// A local iterator for the Polling Sequence Table is created to find the
+    // start time for the first entry.
+	auto slotListIter = pst.current;
+
+	pst.intializeSequenceAfterTaskCreation();
+
+	//The start time for the first entry is read.
+	uint32_t intervalMs = slotListIter->pollingTimeMs;
+	TickType_t interval = pdMS_TO_TICKS(intervalMs);
+
+	TickType_t xLastWakeTime;
+	/* The xLastWakeTime variable needs to be initialized with the current tick
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
+	xLastWakeTime = xTaskGetTickCount();
+
+	// wait for first entry's start time
+	if(interval > 0) {
+	    vTaskDelayUntil(&xLastWakeTime, interval);
+	}
+
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		//The component for this slot is executed and the next one is chosen.
+	    this->pst.executeAndAdvance();
+	    if (not pst.slotFollowsImmediately()) {
+	        // Get the interval till execution of the next slot.
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+
+	        checkMissedDeadline(xLastWakeTime, interval);
+
+	        // Wait for the interval. This exits immediately if a deadline was
+	        // missed while also updating the last wake time.
+	        vTaskDelayUntil(&xLastWakeTime, interval);
+	    }
+	}
+}
+
+void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
+            handleMissedDeadline();
+        }
+    }
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
+        handleMissedDeadline();
+    }
+}
+
+void FixedTimeslotTask::handleMissedDeadline() {
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+
+#ifdef DEBUG
+    object_id_t handlerId = pst.current->handlerId;
+    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << " with"
+            << " object ID 0x" << std::setfill('0') << std::setw(8) << std::hex
+            << handlerId <<  " missed deadline!" << std::setfill(' ')
+            << std::dec << std::endl;
+#endif
+
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
+	vTaskDelay(pdMS_TO_TICKS(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+TaskHandle_t FixedTimeslotTask::getTaskHandle() {
+    return handle;
+}
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 42af14b8..c46de5b7 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,101 +1,101 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
-
-#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
-#include "../../tasks/Typedef.h"
-
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-
-class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
-public:
-
-	/**
-	 * Keep in mind that you need to call before vTaskStartScheduler()!
-	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
-	 * @param setPriority Number of priorities specified by
-	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
-	 * @param setStack	Stack size in words (not bytes!).
-	 * Lower limit specified by configMINIMAL_STACK_SIZE
-	 * @param overallPeriod		Period in seconds.
-	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
-	 * @return Pointer to the newly created task.
-	 */
-	FixedTimeslotTask(TaskName name, TaskPriority setPriority,
-			TaskStackSize setStack, TaskPeriod overallPeriod,
-			void (*setDeadlineMissedFunc)());
-
-	/**
-	 * @brief	The destructor of the class.
-	 * @details
-	 * The destructor frees all heap memory that was allocated on thread
-	 * initialization for the PST and the device handlers. This is done by
-	 * calling the PST's destructor.
-	 */
-	virtual ~FixedTimeslotTask(void);
-
-	ReturnValue_t startTask(void);
-	/**
-	 * This static function can be used as #deadlineMissedFunc.
-	 * It counts missedDeadlines and prints the number of missed deadlines
-	 * every 10th time.
-	 */
-	static void missedDeadlineCounter();
-	/**
-	 * A helper variable to count missed deadlines.
-	 */
-	static uint32_t deadlineMissedCount;
-
-	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-			int8_t executionStep) override;
-
-	uint32_t getPeriodMs() const override;
-
-	ReturnValue_t checkSequence() const override;
-
-	ReturnValue_t sleepFor(uint32_t ms) override;
-
-	TaskHandle_t getTaskHandle() override;
-
-protected:
-	bool started;
-	TaskHandle_t handle;
-
-	FixedSlotSequence pst;
-
-	/**
-	 * @brief	This attribute holds a function pointer that is executed when
-	 *          a deadline was missed.
-	 * @details
-	 * Another function may be announced to determine the actions to perform
-	 * when a deadline was missed. Currently, only one function for missing
-	 * any deadline is allowed. If not used, it shall be declared NULL.
-	 */
-	void (*deadlineMissedFunc)(void);
-	/**
-	 * @brief	This is the entry point for a new task.
-	 * @details
-	 * This method starts the task by calling taskFunctionality(), as soon as
-	 * all requirements (task scheduler has started and startTask()
-	 * has been called) are met.
-	 */
-	static void taskEntryPoint(void* argument);
-
-	/**
-	 * @brief	This function holds the main functionality of the thread.
-	 * @details
-	 * Core function holding the main functionality of the task
-	 * It links the functionalities provided by FixedSlotSequence with the
-	 * OS's System Calls to keep the timing of the periods.
-	 */
-	void taskFunctionality(void);
-
-	void checkMissedDeadline(const TickType_t xLastWakeTime,
-	        const TickType_t interval);
-	void handleMissedDeadline();
-};
-
-#endif /* POLLINGTASK_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+
+#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
+#include "../../tasks/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
+public:
+
+	/**
+	 * Keep in mind that you need to call before vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
+	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
+	 * @param setPriority Number of priorities specified by
+	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
+	 * @param setStack	Stack size in words (not bytes!).
+	 * Lower limit specified by configMINIMAL_STACK_SIZE
+	 * @param overallPeriod		Period in seconds.
+	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
+	 * @return Pointer to the newly created task.
+	 */
+	FixedTimeslotTask(TaskName name, TaskPriority setPriority,
+			TaskStackSize setStack, TaskPeriod overallPeriod,
+			void (*setDeadlineMissedFunc)());
+
+	/**
+	 * @brief	The destructor of the class.
+	 * @details
+	 * The destructor frees all heap memory that was allocated on thread
+	 * initialization for the PST and the device handlers. This is done by
+	 * calling the PST's destructor.
+	 */
+	virtual ~FixedTimeslotTask(void);
+
+	ReturnValue_t startTask(void);
+	/**
+	 * This static function can be used as #deadlineMissedFunc.
+	 * It counts missedDeadlines and prints the number of missed deadlines
+	 * every 10th time.
+	 */
+	static void missedDeadlineCounter();
+	/**
+	 * A helper variable to count missed deadlines.
+	 */
+	static uint32_t deadlineMissedCount;
+
+	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+			int8_t executionStep) override;
+
+	uint32_t getPeriodMs() const override;
+
+	ReturnValue_t checkSequence() const override;
+
+	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() override;
+
+protected:
+	bool started;
+	TaskHandle_t handle;
+
+	FixedSlotSequence pst;
+
+	/**
+	 * @brief	This attribute holds a function pointer that is executed when
+	 *          a deadline was missed.
+	 * @details
+	 * Another function may be announced to determine the actions to perform
+	 * when a deadline was missed. Currently, only one function for missing
+	 * any deadline is allowed. If not used, it shall be declared NULL.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the entry point for a new task.
+	 * @details
+	 * This method starts the task by calling taskFunctionality(), as soon as
+	 * all requirements (task scheduler has started and startTask()
+	 * has been called) are met.
+	 */
+	static void taskEntryPoint(void* argument);
+
+	/**
+	 * @brief	This function holds the main functionality of the thread.
+	 * @details
+	 * Core function holding the main functionality of the task
+	 * It links the functionalities provided by FixedSlotSequence with the
+	 * OS's System Calls to keep the timing of the periods.
+	 */
+	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
+};
+
+#endif /* POLLINGTASK_H_ */

From 04532b8f6b4bbd661e53ac4b19e37824c73bd2fa Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 13:52:54 +0200
Subject: [PATCH 289/653] renormalizing pull request step2

---
 tasks/FixedSequenceSlot.cpp |  34 ++--
 tasks/FixedSequenceSlot.h   | 116 ++++++-------
 tasks/FixedSlotSequence.cpp | 294 ++++++++++++++++-----------------
 tasks/FixedSlotSequence.h   | 316 ++++++++++++++++++------------------
 4 files changed, 382 insertions(+), 378 deletions(-)

diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp
index 5fe49523..d7aeff0a 100644
--- a/tasks/FixedSequenceSlot.cpp
+++ b/tasks/FixedSequenceSlot.cpp
@@ -1,17 +1,17 @@
-#include "FixedSequenceSlot.h"
-#include "../objectmanager/SystemObjectIF.h"
-#include <cstddef>
-
-FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
-		int8_t setSequenceId, ExecutableObjectIF* executableObject,
-		PeriodicTaskIF* executingTask) :
-		pollingTimeMs(setTime), opcode(setSequenceId) {
-    if(executableObject == nullptr) {
-        return;
-    }
-    this->executableObject = executableObject;
-    this->executableObject->setTaskIF(executingTask);
-}
-
-FixedSequenceSlot::~FixedSequenceSlot() {}
-
+#include "../objectmanager/SystemObjectIF.h"
+#include "../tasks/FixedSequenceSlot.h"
+#include <cstddef>
+
+FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
+		int8_t setSequenceId, ExecutableObjectIF* executableObject,
+		PeriodicTaskIF* executingTask) : handlerId(handlerId),
+		pollingTimeMs(setTime), opcode(setSequenceId) {
+    if(executableObject == nullptr) {
+        return;
+    }
+    this->executableObject = executableObject;
+    this->executableObject->setTaskIF(executingTask);
+}
+
+FixedSequenceSlot::~FixedSequenceSlot() {}
+
diff --git a/tasks/FixedSequenceSlot.h b/tasks/FixedSequenceSlot.h
index 9cf5894c..151173e9 100644
--- a/tasks/FixedSequenceSlot.h
+++ b/tasks/FixedSequenceSlot.h
@@ -1,57 +1,59 @@
-#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
-#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
-
-#include "../objectmanager/ObjectManagerIF.h"
-#include "../tasks/ExecutableObjectIF.h"
-class PeriodicTaskIF;
-
-/**
- * @brief	This class is the representation of a single polling sequence
- *          table entry.
- * @details
- * The PollingSlot class is the representation of a single polling
- * sequence table entry.
- * @author  baetz
- */
-class FixedSequenceSlot {
-public:
-	FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
-			int8_t setSequenceId, ExecutableObjectIF* executableObject,
-			PeriodicTaskIF* executingTask);
-	virtual ~FixedSequenceSlot();
-
-	/**
-	 * @brief	Handler identifies which object is executed in this slot.
-	 */
-	ExecutableObjectIF*	executableObject = nullptr;
-
-	/**
-	 * @brief	This attribute defines when a device handler object is executed.
-	 * @details
-	 * The pollingTime attribute identifies the time the handler is
-	 * executed in ms. It must be smaller than the period length of the
-	 * polling sequence.
-	 */
-	uint32_t pollingTimeMs;
-
-	/**
-	 * @brief	This value defines the type of device communication.
-	 *
-	 * @details	The state of this value decides what communication routine is
-	 * 			called in the PST executable or the device handler object.
-	 */
-	uint8_t	opcode;
-
-	/**
-	 * @brief 	Operator overload for the comparison operator to
-	 * 			allow sorting by polling time.
-	 * @param fixedSequenceSlot
-	 * @return
-	 */
-	bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const {
-		return pollingTimeMs < fixedSequenceSlot.pollingTimeMs;
-	}
-};
-
-
-#endif /* FIXEDSEQUENCESLOT_H_ */
+#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
+#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
+
+#include "../objectmanager/ObjectManagerIF.h"
+#include "../tasks/ExecutableObjectIF.h"
+class PeriodicTaskIF;
+
+/**
+ * @brief	This class is the representation of a single polling sequence
+ *          table entry.
+ * @details
+ * The PollingSlot class is the representation of a single polling
+ * sequence table entry.
+ * @author  baetz
+ */
+class FixedSequenceSlot {
+public:
+	FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
+			int8_t setSequenceId, ExecutableObjectIF* executableObject,
+			PeriodicTaskIF* executingTask);
+	virtual ~FixedSequenceSlot();
+
+	object_id_t handlerId;
+
+	/**
+	 * @brief	Handler identifies which object is executed in this slot.
+	 */
+	ExecutableObjectIF*	executableObject = nullptr;
+
+	/**
+	 * @brief	This attribute defines when a device handler object is executed.
+	 * @details
+	 * The pollingTime attribute identifies the time the handler is
+	 * executed in ms. It must be smaller than the period length of the
+	 * polling sequence.
+	 */
+	uint32_t pollingTimeMs;
+
+	/**
+	 * @brief	This value defines the type of device communication.
+	 *
+	 * @details	The state of this value decides what communication routine is
+	 * 			called in the PST executable or the device handler object.
+	 */
+	uint8_t	opcode;
+
+	/**
+	 * @brief 	Operator overload for the comparison operator to
+	 * 			allow sorting by polling time.
+	 * @param fixedSequenceSlot
+	 * @return
+	 */
+	bool operator <(const FixedSequenceSlot & fixedSequenceSlot) const {
+		return pollingTimeMs < fixedSequenceSlot.pollingTimeMs;
+	}
+};
+
+
+#endif /* FIXEDSEQUENCESLOT_H_ */
diff --git a/tasks/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp
index 78f512ca..59859ce5 100644
--- a/tasks/FixedSlotSequence.cpp
+++ b/tasks/FixedSlotSequence.cpp
@@ -1,147 +1,147 @@
-#include "FixedSlotSequence.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include <cstdlib>
-
-FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
-		lengthMs(setLengthMs) {
-	current = slotList.begin();
-}
-
-FixedSlotSequence::~FixedSlotSequence() {
-	// Call the destructor on each list entry.
-	slotList.clear();
-}
-
-void FixedSlotSequence::executeAndAdvance() {
-	current->executableObject->performOperation(current->opcode);
-//	if (returnValue != RETURN_OK) {
-//		this->sendErrorMessage( returnValue );
-//	}
-	//Increment the polling Sequence iterator
-	this->current++;
-	//Set it to the beginning, if the list's end is reached.
-	if (this->current == this->slotList.end()) {
-		this->current = this->slotList.begin();
-	}
-}
-
-uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
-	uint32_t oldTime;
-	SlotListIter slotListIter = current;
-	// Get the pollingTimeMs of the current slot object.
-	oldTime = slotListIter->pollingTimeMs;
-	// Advance to the next object.
-	slotListIter++;
-	// Find the next interval which is not 0.
-	while (slotListIter != slotList.end()) {
-		if (oldTime != slotListIter->pollingTimeMs) {
-			return slotListIter->pollingTimeMs - oldTime;
-		} else {
-			slotListIter++;
-		}
-	}
-	// If the list end is reached (this is definitely an interval != 0),
-	// the interval is calculated by subtracting the remaining time of the PST
-	// and adding the start time of the first handler in the list.
-	slotListIter = slotList.begin();
-	return lengthMs - oldTime + slotListIter->pollingTimeMs;
-}
-
-uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
-	uint32_t currentTime;
-	SlotListIter slotListIter = current;
-	// Get the pollingTimeMs of the current slot object.
-	currentTime = slotListIter->pollingTimeMs;
-
-	//if it is the first slot, calculate difference to last slot
-	if (slotListIter == slotList.begin()){
-		return lengthMs - (--slotList.end())->pollingTimeMs + currentTime;
-	}
-	// get previous slot
-	slotListIter--;
-
-	return currentTime - slotListIter->pollingTimeMs;
-}
-
-bool FixedSlotSequence::slotFollowsImmediately() {
-	uint32_t currentTime = current->pollingTimeMs;
-	SlotListIter fixedSequenceIter = this->current;
-	// Get the pollingTimeMs of the current slot object.
-	if (fixedSequenceIter == slotList.begin())
-		return false;
-	fixedSequenceIter--;
-	if (fixedSequenceIter->pollingTimeMs == currentTime) {
-		return true;
-	} else {
-		return false;
-	}
-}
-
-uint32_t FixedSlotSequence::getLengthMs() const {
-	return this->lengthMs;
-}
-
-void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
-        int8_t executionStep, ExecutableObjectIF* executableObject,
-        PeriodicTaskIF* executingTask) {
-    this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
-            executionStep, executableObject, executingTask));
-   this->current = slotList.begin();
-}
-
-ReturnValue_t FixedSlotSequence::checkSequence() const {
-	if(slotList.empty()) {
-		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	uint32_t count = 0;
-	uint32_t time = 0;
-	for(const auto& slot: slotList) {
-		if (slot.executableObject == nullptr) {
-			count++;
-		}
-		else if (slot.pollingTimeMs < time) {
-			sif::error << "FixedSlotSequence::initialize: Time: "
-					<< slot.pollingTimeMs << " is smaller than previous with "
-					<< time << std::endl;
-			count++;
-		}
-		else {
-			// All ok, print slot.
-			//sif::info << "Current slot polling time: " << std::endl;
-			//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
-		}
-		time = slot.pollingTimeMs;
-
-	}
-	//sif::info << "Number of elements in slot list: "
-	//	   << slotList.size() << std::endl;
-	if (count > 0) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
-    std::set<ExecutableObjectIF*> uniqueObjects;
-    uint32_t count = 0;
-    for(const auto& slot: slotList) {
-        // Ensure that each unique object is initialized once.
-        if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
-            ReturnValue_t result =
-                    slot.executableObject->initializeAfterTaskCreation();
-            if(result != HasReturnvaluesIF::RETURN_OK) {
-                count++;
-            }
-            uniqueObjects.emplace(slot.executableObject);
-        }
-    }
-    if (count > 0) {
-        sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:"
-                "Counted " << count << " failed initializations!"  << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-    return HasReturnvaluesIF::RETURN_OK;
-}
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../tasks/FixedSlotSequence.h"
+#include <cstdlib>
+
+FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
+		lengthMs(setLengthMs) {
+	current = slotList.begin();
+}
+
+FixedSlotSequence::~FixedSlotSequence() {
+	// Call the destructor on each list entry.
+	slotList.clear();
+}
+
+void FixedSlotSequence::executeAndAdvance() {
+	current->executableObject->performOperation(current->opcode);
+//	if (returnValue != RETURN_OK) {
+//		this->sendErrorMessage( returnValue );
+//	}
+	//Increment the polling Sequence iterator
+	this->current++;
+	//Set it to the beginning, if the list's end is reached.
+	if (this->current == this->slotList.end()) {
+		this->current = this->slotList.begin();
+	}
+}
+
+uint32_t FixedSlotSequence::getIntervalToNextSlotMs() {
+	uint32_t oldTime;
+	SlotListIter slotListIter = current;
+	// Get the pollingTimeMs of the current slot object.
+	oldTime = slotListIter->pollingTimeMs;
+	// Advance to the next object.
+	slotListIter++;
+	// Find the next interval which is not 0.
+	while (slotListIter != slotList.end()) {
+		if (oldTime != slotListIter->pollingTimeMs) {
+			return slotListIter->pollingTimeMs - oldTime;
+		} else {
+			slotListIter++;
+		}
+	}
+	// If the list end is reached (this is definitely an interval != 0),
+	// the interval is calculated by subtracting the remaining time of the PST
+	// and adding the start time of the first handler in the list.
+	slotListIter = slotList.begin();
+	return lengthMs - oldTime + slotListIter->pollingTimeMs;
+}
+
+uint32_t FixedSlotSequence::getIntervalToPreviousSlotMs() {
+	uint32_t currentTime;
+	SlotListIter slotListIter = current;
+	// Get the pollingTimeMs of the current slot object.
+	currentTime = slotListIter->pollingTimeMs;
+
+	//if it is the first slot, calculate difference to last slot
+	if (slotListIter == slotList.begin()){
+		return lengthMs - (--slotList.end())->pollingTimeMs + currentTime;
+	}
+	// get previous slot
+	slotListIter--;
+
+	return currentTime - slotListIter->pollingTimeMs;
+}
+
+bool FixedSlotSequence::slotFollowsImmediately() {
+	uint32_t currentTime = current->pollingTimeMs;
+	SlotListIter fixedSequenceIter = this->current;
+	// Get the pollingTimeMs of the current slot object.
+	if (fixedSequenceIter == slotList.begin())
+		return false;
+	fixedSequenceIter--;
+	if (fixedSequenceIter->pollingTimeMs == currentTime) {
+		return true;
+	} else {
+		return false;
+	}
+}
+
+uint32_t FixedSlotSequence::getLengthMs() const {
+	return this->lengthMs;
+}
+
+void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+        int8_t executionStep, ExecutableObjectIF* executableObject,
+        PeriodicTaskIF* executingTask) {
+    this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
+            executionStep, executableObject, executingTask));
+   this->current = slotList.begin();
+}
+
+ReturnValue_t FixedSlotSequence::checkSequence() const {
+	if(slotList.empty()) {
+		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	uint32_t count = 0;
+	uint32_t time = 0;
+	for(const auto& slot: slotList) {
+		if (slot.executableObject == nullptr) {
+			count++;
+		}
+		else if (slot.pollingTimeMs < time) {
+			sif::error << "FixedSlotSequence::initialize: Time: "
+					<< slot.pollingTimeMs << " is smaller than previous with "
+					<< time << std::endl;
+			count++;
+		}
+		else {
+			// All ok, print slot.
+			//sif::info << "Current slot polling time: " << std::endl;
+			//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
+		}
+		time = slot.pollingTimeMs;
+
+	}
+	//sif::info << "Number of elements in slot list: "
+	//	   << slotList.size() << std::endl;
+	if (count > 0) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
+    std::set<ExecutableObjectIF*> uniqueObjects;
+    uint32_t count = 0;
+    for(const auto& slot: slotList) {
+        // Ensure that each unique object is initialized once.
+        if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
+            ReturnValue_t result =
+                    slot.executableObject->initializeAfterTaskCreation();
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                count++;
+            }
+            uniqueObjects.emplace(slot.executableObject);
+        }
+    }
+    if (count > 0) {
+        sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:"
+                "Counted " << count << " failed initializations!"  << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h
index 026d5a3d..1140dd25 100644
--- a/tasks/FixedSlotSequence.h
+++ b/tasks/FixedSlotSequence.h
@@ -1,157 +1,159 @@
-#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
-#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
-
-#include "FixedSequenceSlot.h"
-#include "../objectmanager/SystemObject.h"
-
-#include <set>
-
-/**
- * @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.
- *
- * The main idea is to create a list of device handlers, to announce all
- * handlers to thepolling sequence and to maintain a list of
- * polling slot objects. This slot list represents the Polling Sequence Table
- * in software.
- *
- * Each polling slot contains information to indicate when and
- * which device handler shall be executed within a given polling period.
- * The sequence is then executed by iterating through this slot list.
- * Handlers are invoking by calling a certain function stored in the handler list.
- */
-class FixedSlotSequence {
-public:
-	using SlotList = std::multiset<FixedSequenceSlot>;
-	using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
-
-	/**
-	 * @brief	The constructor of the FixedSlotSequence object.
-	 *
-	 * @details	The constructor takes two arguments, the period length and the init function.
-	 *
-	 * @param	setLength	The period length, expressed in ms.
-	 */
-	FixedSlotSequence(uint32_t setLengthMs);
-
-	/**
-	 * @brief	The destructor of the FixedSlotSequence object.
-	 *
-	 * @details	The destructor frees all allocated memory by iterating through the slotList
-	 *  		and deleting all allocated resources.
-	 */
-	virtual ~FixedSlotSequence();
-
-	/**
-	 * @brief	This is a method to add an PollingSlot object to slotList.
-	 *
-	 * @details	Here, a polling slot object is added to the slot list. It is appended
-	 * 			to the end of the list. The list is currently NOT reordered.
-	 * 			Afterwards, the iterator current is set to the beginning of the list.
-	 * 	@param Object ID of the object to add
-	 * 	@param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
-	 * 				   will be called inside the slot period.
-	 * 	@param setSequenceId ID which can be used to distinguish
-	 * 	                     different task operations
-	 * 	@param
-	 * 	@param
-	 */
-	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
-			ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask);
-
-	/**
-	 * Checks if the current slot shall be executed immediately after the one before.
-	 * This allows to distinguish between grouped and not grouped handlers.
-	 * @return 	- @c true if the slot has the same polling time as the previous
-	 * 			- @c false else
-	 */
-	bool slotFollowsImmediately();
-
-	/**
-	 * @brief	This method returns the time until the next software
-	 * 			component is invoked.
-	 *
-	 * @details
-	 * This method is vitally important for the operation of the PST.
-	 * By fetching the polling time of the current slot and that of the
-	 * next one (or the first one, if the list end is reached)
-	 * it calculates and returns the interval in milliseconds within
-	 * which the handler execution shall take place.
-	 * If the next slot has the same time as the current one, it is ignored
-	 * until a slot with different time or the end of the PST is found.
-	 */
-	uint32_t getIntervalToNextSlotMs();
-
-	/**
-	 * @brief	This method returns the time difference between the current
-	 * 			slot and the previous slot
-	 *
-	 * @details
-	 * This method is vitally important for the operation of the PST.
-	 * By fetching the polling time of the current slot and that of the previous
-	 * one (or the last one, if the slot is the first one) it calculates and
-	 * returns the interval in milliseconds that the handler execution shall
-	 * be delayed.
-	 */
-	uint32_t getIntervalToPreviousSlotMs();
-
-	/**
-	 * @brief	This method returns the length of this FixedSlotSequence instance.
-	 */
-	uint32_t getLengthMs() const;
-
-	/**
-	 * @brief	The method to execute the device handler entered in the current
-	 * 			PollingSlot object.
-	 *
-	 * @details
-	 * Within this method the device handler object to be executed is chosen by
-	 * looking up the handler address of the current slot in the handlerMap.
-	 * Either the device handler's talkToInterface or its listenToInterface
-	 * method is invoked, depending on the isTalking flag of the polling slot.
-	 * After execution the iterator current is increased or, by reaching the
-	 * end of slotList, reset to the beginning.
-	 */
-	void executeAndAdvance();
-
-	/**
-	 * @brief	An iterator that indicates the current polling slot to execute.
-	 *
-	 * @details	This is an iterator for slotList and always points to the
-	 * 			polling slot which is executed next.
-	 */
-	SlotListIter current;
-
-	/**
-	 * @brief   Check and initialize slot list.
-	 * @details
-	 * Checks if timing is ok (must be ascending) and if all handlers were found.
-	 * Also calls any initialization steps which are required after task
-	 * creation.
-	 * @return
-	 */
-	ReturnValue_t checkSequence() const;
-
-	ReturnValue_t intializeSequenceAfterTaskCreation() const;
-
-protected:
-
-	/**
-	 * @brief	This list contains all PollingSlot objects, defining order and
-	 * 			execution time of the device handler objects.
-	 *
-	 * @details
-	 * The slot list is a std:list object that contains all created
-	 * PollingSlot instances. They are NOT ordered automatically, so by
-	 * adding entries, the correct order needs to be ensured. By iterating
-	 * through this list the polling sequence is executed. Two entries with
-	 * identical polling times are executed immediately one after another.
-	 */
-	SlotList slotList;
-
-	uint32_t lengthMs;
-};
-
-#endif /* FIXEDSLOTSEQUENCE_H_ */
+#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
+#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
+
+#include "../objectmanager/SystemObject.h"
+#include "../tasks/FixedSequenceSlot.h"
+
+#include <set>
+
+/**
+ * @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.
+ *
+ * The main idea is to create a list of device handlers, to announce all
+ * handlers to thepolling sequence and to maintain a list of
+ * polling slot objects. This slot list represents the Polling Sequence Table
+ * in software.
+ *
+ * Each polling slot contains information to indicate when and
+ * which device handler shall be executed within a given polling period.
+ * The sequence is then executed by iterating through this slot list.
+ * Handlers are invoking by calling a certain function stored in the handler list.
+ */
+class FixedSlotSequence {
+public:
+	using SlotList = std::multiset<FixedSequenceSlot>;
+	using SlotListIter = std::multiset<FixedSequenceSlot>::iterator;
+
+	/**
+	 * @brief	The constructor of the FixedSlotSequence object.
+	 *
+	 * @details	The constructor takes two arguments, the period length and the init function.
+	 *
+	 * @param	setLength	The period length, expressed in ms.
+	 */
+	FixedSlotSequence(uint32_t setLengthMs);
+
+	/**
+	 * @brief	The destructor of the FixedSlotSequence object.
+	 *
+	 * @details	The destructor frees all allocated memory by iterating through the slotList
+	 *  		and deleting all allocated resources.
+	 */
+	virtual ~FixedSlotSequence();
+
+	/**
+	 * @brief	This is a method to add an PollingSlot object to slotList.
+	 *
+	 * @details	Here, a polling slot object is added to the slot list. It is appended
+	 * 			to the end of the list. The list is currently NOT reordered.
+	 * 			Afterwards, the iterator current is set to the beginning of the list.
+	 * 	@param Object ID of the object to add
+	 * 	@param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
+	 * 				   will be called inside the slot period.
+	 * 	@param setSequenceId ID which can be used to distinguish
+	 * 	                     different task operations
+	 * 	@param
+	 * 	@param
+	 */
+	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
+			ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask);
+
+	/**
+	 * Checks if the current slot shall be executed immediately after the one before.
+	 * This allows to distinguish between grouped and not grouped handlers.
+	 * @return 	- @c true if the slot has the same polling time as the previous
+	 * 			- @c false else
+	 */
+	bool slotFollowsImmediately();
+
+	/**
+	 * @brief	This method returns the time until the next software
+	 * 			component is invoked.
+	 *
+	 * @details
+	 * This method is vitally important for the operation of the PST.
+	 * By fetching the polling time of the current slot and that of the
+	 * next one (or the first one, if the list end is reached)
+	 * it calculates and returns the interval in milliseconds within
+	 * which the handler execution shall take place.
+	 * If the next slot has the same time as the current one, it is ignored
+	 * until a slot with different time or the end of the PST is found.
+	 */
+	uint32_t getIntervalToNextSlotMs();
+
+	/**
+	 * @brief	This method returns the time difference between the current
+	 * 			slot and the previous slot
+	 *
+	 * @details
+	 * This method is vitally important for the operation of the PST.
+	 * By fetching the polling time of the current slot and that of the previous
+	 * one (or the last one, if the slot is the first one) it calculates and
+	 * returns the interval in milliseconds that the handler execution shall
+	 * be delayed.
+	 */
+	uint32_t getIntervalToPreviousSlotMs();
+
+	/**
+	 * @brief	This method returns the length of this FixedSlotSequence instance.
+	 */
+	uint32_t getLengthMs() const;
+
+	/**
+	 * @brief	The method to execute the device handler entered in the current
+	 * 			PollingSlot object.
+	 *
+	 * @details
+	 * Within this method the device handler object to be executed is chosen by
+	 * looking up the handler address of the current slot in the handlerMap.
+	 * Either the device handler's talkToInterface or its listenToInterface
+	 * method is invoked, depending on the isTalking flag of the polling slot.
+	 * After execution the iterator current is increased or, by reaching the
+	 * end of slotList, reset to the beginning.
+	 */
+	void executeAndAdvance();
+
+	/**
+	 * @brief	An iterator that indicates the current polling slot to execute.
+	 *
+	 * @details	This is an iterator for slotList and always points to the
+	 * 			polling slot which is executed next.
+	 */
+	SlotListIter current;
+
+	/**
+	 * @brief   Check and initialize slot list.
+	 * @details
+	 * Checks if timing is ok (must be ascending) and if all handlers were found.
+	 * Also calls any initialization steps which are required after task
+	 * creation.
+	 * @return
+	 */
+	ReturnValue_t checkSequence() const;
+
+	ReturnValue_t intializeSequenceAfterTaskCreation() const;
+
+protected:
+
+	/**
+	 * @brief	This list contains all PollingSlot objects, defining order and
+	 * 			execution time of the device handler objects.
+	 *
+	 * @details
+	 * The slot list is a std:list object that contains all created
+	 * PollingSlot instances. They are NOT ordered automatically, so by
+	 * adding entries, the correct order needs to be ensured. By iterating
+	 * through this list the polling sequence is executed. Two entries with
+	 * identical polling times are executed immediately one after another.
+	 */
+	SlotList slotList;
+
+	uint32_t lengthMs;
+
+	bool isEmpty = false;
+};
+
+#endif /* FIXEDSLOTSEQUENCE_H_ */

From 92c736927610847f18e1899f4e9fbf577d302bda Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 13:56:12 +0200
Subject: [PATCH 290/653] include guard fix

---
 osal/FreeRTOS/FixedTimeslotTask.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index c46de5b7..7d2cdb70 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,7 +1,7 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#ifndef FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
-#include "../../osal/FreeRTOS/FreeRTOSTaskIF.h"
+#include "FreeRTOSTaskIF.h"
 #include "../../tasks/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "../../tasks/Typedef.h"
@@ -98,4 +98,4 @@ protected:
 	void handleMissedDeadline();
 };
 
-#endif /* POLLINGTASK_H_ */
+#endif /* FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */

From b8754fbc1609b05ea962133a7c5fbfbeb9e17535 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:11:59 +0200
Subject: [PATCH 291/653] made fixed sequence slot doc generic

---
 tasks/FixedSequenceSlot.cpp |  4 +-
 tasks/FixedSequenceSlot.h   |  9 +++--
 tasks/FixedSlotSequence.cpp |  2 +-
 tasks/FixedSlotSequence.h   | 77 +++++++++++++++++++++----------------
 4 files changed, 51 insertions(+), 41 deletions(-)

diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp
index d7aeff0a..f5d82178 100644
--- a/tasks/FixedSequenceSlot.cpp
+++ b/tasks/FixedSequenceSlot.cpp
@@ -1,5 +1,5 @@
-#include "../objectmanager/SystemObjectIF.h"
-#include "../tasks/FixedSequenceSlot.h"
+#include "FixedSequenceSlot.h"
+#include "PeriodicTaskIF.h"
 #include <cstddef>
 
 FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
diff --git a/tasks/FixedSequenceSlot.h b/tasks/FixedSequenceSlot.h
index 151173e9..1744ec19 100644
--- a/tasks/FixedSequenceSlot.h
+++ b/tasks/FixedSequenceSlot.h
@@ -1,8 +1,9 @@
-#ifndef FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
-#define FRAMEWORK_TASKS_FIXEDSEQUENCESLOT_H_
+#ifndef FSFW_TASKS_FIXEDSEQUENCESLOT_H_
+#define FSFW_TASKS_FIXEDSEQUENCESLOT_H_
 
+#include "ExecutableObjectIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
-#include "../tasks/ExecutableObjectIF.h"
+
 class PeriodicTaskIF;
 
 /**
@@ -56,4 +57,4 @@ public:
 };
 
 
-#endif /* FIXEDSEQUENCESLOT_H_ */
+#endif /* FSFW_TASKS_FIXEDSEQUENCESLOT_H_ */
diff --git a/tasks/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp
index 59859ce5..2467671b 100644
--- a/tasks/FixedSlotSequence.cpp
+++ b/tasks/FixedSlotSequence.cpp
@@ -1,5 +1,5 @@
+#include "FixedSlotSequence.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../tasks/FixedSlotSequence.h"
 #include <cstdlib>
 
 FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h
index 1140dd25..056e0bb5 100644
--- a/tasks/FixedSlotSequence.h
+++ b/tasks/FixedSlotSequence.h
@@ -1,26 +1,30 @@
-#ifndef FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
-#define FRAMEWORK_TASKS_FIXEDSLOTSEQUENCE_H_
+#ifndef FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
+#define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
 
+#include "FixedSequenceSlot.h"
 #include "../objectmanager/SystemObject.h"
-#include "../tasks/FixedSequenceSlot.h"
 
 #include <set>
 
 /**
- * @brief	This class is the representation of a Polling Sequence Table in software.
+ * @brief	This class is the representation of a
+ * 			Polling Sequence Table in software.
  * @details
  * The FixedSlotSequence object maintains the dynamic execution of
- * device handler objects.
+ * objects with stricter timing requirements for the FixedTimeslotTask.
  *
- * 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.
+ * The main idea is to create a list of executable objects (for example
+ * device handlers), to announce all handlers to the polling 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.
+ * which executable object shall be executed within a given polling period.
+ * When adding a slot, a pointer to the executing task, a pointer to the
+ * executable object and a step number can be passed. The step number will be
+ * passed to the periodic handler.
+ * The sequence is executed by iterating through the slot sequence and
+ * executing the executable object in the correct timeslot.
  */
 class FixedSlotSequence {
 public:
@@ -29,41 +33,44 @@ public:
 
 	/**
 	 * @brief	The constructor of the FixedSlotSequence object.
-	 *
-	 * @details	The constructor takes two arguments, the period length and the init function.
-	 *
 	 * @param	setLength	The period length, expressed in ms.
 	 */
 	FixedSlotSequence(uint32_t setLengthMs);
 
 	/**
 	 * @brief	The destructor of the FixedSlotSequence object.
-	 *
-	 * @details	The destructor frees all allocated memory by iterating through the slotList
-	 *  		and deleting all allocated resources.
+	 * @details
+	 * The destructor frees all allocated memory by iterating through the
+	 * slotList and deleting all allocated resources.
 	 */
 	virtual ~FixedSlotSequence();
 
 	/**
 	 * @brief	This is a method to add an PollingSlot object to slotList.
 	 *
-	 * @details	Here, a polling slot object is added to the slot list. It is appended
-	 * 			to the end of the list. The list is currently NOT reordered.
-	 * 			Afterwards, the iterator current is set to the beginning of the list.
-	 * 	@param Object ID of the object to add
-	 * 	@param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
-	 * 				   will be called inside the slot period.
-	 * 	@param setSequenceId ID which can be used to distinguish
-	 * 	                     different task operations
+	 * @details
+	 * Here, a polling slot object is added to the slot list. It is appended
+	 * to the end of the list. The list is currently NOT reordered.
+	 * Afterwards, the iterator current is set to the beginning of the list.
+	 * 	@param handlerId ID of the object to add
+	 * 	@param setTime
+	 * 	Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
+	 * 	will be called inside the slot period.
+	 * 	@param setSequenceId
+	 * 	ID which can be used to distinguish different task operations. This
+	 * 	value will be passed to the executable function.
 	 * 	@param
 	 * 	@param
 	 */
 	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
-			ExecutableObjectIF* executableObject, PeriodicTaskIF* executingTask);
+			ExecutableObjectIF* executableObject,
+			PeriodicTaskIF* executingTask);
 
 	/**
-	 * Checks if the current slot shall be executed immediately after the one before.
-	 * This allows to distinguish between grouped and not grouped handlers.
+	 * @brief	Checks if the current slot shall be executed immediately
+	 * 			after the one before.
+	 * @details
+	 * This allows to distinguish between grouped and separated handlers.
 	 * @return 	- @c true if the slot has the same polling time as the previous
 	 * 			- @c false else
 	 */
@@ -128,12 +135,16 @@ public:
 	 * @brief   Check and initialize slot list.
 	 * @details
 	 * Checks if timing is ok (must be ascending) and if all handlers were found.
-	 * Also calls any initialization steps which are required after task
-	 * creation.
 	 * @return
 	 */
 	ReturnValue_t checkSequence() const;
 
+	/**
+	 * @brief 	Perform any initialization steps required after the executing
+	 * 			task has been created. This function should be called from the
+	 * 			executing task!
+	 * @return
+	 */
 	ReturnValue_t intializeSequenceAfterTaskCreation() const;
 
 protected:
@@ -152,8 +163,6 @@ protected:
 	SlotList slotList;
 
 	uint32_t lengthMs;
-
-	bool isEmpty = false;
 };
 
-#endif /* FIXEDSLOTSEQUENCE_H_ */
+#endif /* FSFW_TASKS_FIXEDSLOTSEQUENCE_H_ */

From 4d7d48e8ca5206e384cf8bcd4241c0ac39f4104c Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:24:34 +0200
Subject: [PATCH 292/653] added a generic way to add a custom check

---
 tasks/FixedSlotSequence.cpp | 27 +++++++++++++++++++++------
 tasks/FixedSlotSequence.h   |  4 ++++
 2 files changed, 25 insertions(+), 6 deletions(-)

diff --git a/tasks/FixedSlotSequence.cpp b/tasks/FixedSlotSequence.cpp
index 2467671b..e5db4301 100644
--- a/tasks/FixedSlotSequence.cpp
+++ b/tasks/FixedSlotSequence.cpp
@@ -91,21 +91,31 @@ void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
 
 ReturnValue_t FixedSlotSequence::checkSequence() const {
 	if(slotList.empty()) {
-		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
+		sif::error << "FixedSlotSequence::checkSequence:"
+				<< " Slot list is empty!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-	uint32_t count = 0;
+	if(customCheckFunction != nullptr) {
+		ReturnValue_t result = customCheckFunction(slotList);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			// Continue for now but print error output.
+			sif::error << "FixedSlotSequence::checkSequence:"
+					<< " Custom check failed!" << std::endl;
+		}
+	}
+
+	uint32_t errorCount = 0;
 	uint32_t time = 0;
 	for(const auto& slot: slotList) {
 		if (slot.executableObject == nullptr) {
-			count++;
+			errorCount++;
 		}
 		else if (slot.pollingTimeMs < time) {
-			sif::error << "FixedSlotSequence::initialize: Time: "
+			sif::error << "FixedSlotSequence::checkSequence: Time: "
 					<< slot.pollingTimeMs << " is smaller than previous with "
 					<< time << std::endl;
-			count++;
+			errorCount++;
 		}
 		else {
 			// All ok, print slot.
@@ -117,7 +127,7 @@ ReturnValue_t FixedSlotSequence::checkSequence() const {
 	}
 	//sif::info << "Number of elements in slot list: "
 	//	   << slotList.size() << std::endl;
-	if (count > 0) {
+	if (errorCount > 0) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
@@ -145,3 +155,8 @@ ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+void FixedSlotSequence::addCustomCheck(ReturnValue_t
+		(*customCheckFunction)(const SlotList&)) {
+	this->customCheckFunction = customCheckFunction;
+}
diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h
index 056e0bb5..19a05f21 100644
--- a/tasks/FixedSlotSequence.h
+++ b/tasks/FixedSlotSequence.h
@@ -139,6 +139,8 @@ public:
 	 */
 	ReturnValue_t checkSequence() const;
 
+	void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
+
 	/**
 	 * @brief 	Perform any initialization steps required after the executing
 	 * 			task has been created. This function should be called from the
@@ -162,6 +164,8 @@ protected:
 	 */
 	SlotList slotList;
 
+	ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
+
 	uint32_t lengthMs;
 };
 

From 0eb4c3817edb8abe0cfcf979d6fd5db9ff2a5c9d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:31:39 +0200
Subject: [PATCH 293/653] added initialize after taks creation for linux

---
 osal/linux/FixedTimeslotTask.cpp | 14 ++++++++++----
 osal/linux/FixedTimeslotTask.h   | 10 +++++-----
 2 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/osal/linux/FixedTimeslotTask.cpp b/osal/linux/FixedTimeslotTask.cpp
index 858a39a7..247a34ed 100644
--- a/osal/linux/FixedTimeslotTask.cpp
+++ b/osal/linux/FixedTimeslotTask.cpp
@@ -1,5 +1,5 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "FixedTimeslotTask.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 #include <limits.h>
 
@@ -39,13 +39,16 @@ 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);
+	ExecutableObjectIF* executableObject =
+			objectManager->get<ExecutableObjectIF>(componentId);
+	if (executableObject != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep,
+				executableObject,this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
 	sif::error << "Component " << std::hex << componentId <<
-			" not found, not adding it to pst" << std::endl;
+			" not found, not adding it to pst" << std::dec << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
@@ -58,6 +61,9 @@ void FixedTimeslotTask::taskFunctionality() {
 	if (!started) {
 		suspend();
 	}
+
+	pst.intializeSequenceAfterTaskCreation();
+
 	//The start time for the first entry is read.
 	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
 	uint64_t interval = pst.getIntervalToNextSlotMs();
diff --git a/osal/linux/FixedTimeslotTask.h b/osal/linux/FixedTimeslotTask.h
index 42802b1d..5c5c1814 100644
--- a/osal/linux/FixedTimeslotTask.h
+++ b/osal/linux/FixedTimeslotTask.h
@@ -1,9 +1,9 @@
-#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
-#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
+#ifndef FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
+#define FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
 
-#include "../../tasks/FixedTimeslotTaskIF.h"
-#include "../../devicehandlers/FixedSlotSequence.h"
 #include "PosixThread.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/FixedSlotSequence.h"
 #include <pthread.h>
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
@@ -74,4 +74,4 @@ private:
 	bool started;
 };
 
-#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
+#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

From 381914886dd445b9af9669af658ac1b00c035e86 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:43:53 +0200
Subject: [PATCH 294/653] initAfterTaskCreation added for linux

---
 osal/linux/PeriodicPosixTask.cpp | 24 +++++++++++++++---------
 1 file changed, 15 insertions(+), 9 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index df3694ef..69dbb619 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -46,27 +46,33 @@ ReturnValue_t PeriodicPosixTask::startTask(void){
 }
 
 void PeriodicPosixTask::taskFunctionality(void){
-	if(!started){
+	if(not started){
 		suspend();
 	}
+
+	for (auto const &object: objectList) {
+		object->initializeAfterTaskCreation();
+	}
+
 	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
 	//The task's "infinite" inner loop is entered.
 	while (1) {
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (auto const &object: objectList) {
+			object->performOperation();
 		}
-		if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
+
+		if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){
 			char name[20] = {0};
-			int status = pthread_getname_np(pthread_self(),name,sizeof(name));
-			if(status==0){
+			int status = pthread_getname_np(pthread_self(), name, sizeof(name));
+			if(status == 0) {
 				sif::error << "PeriodicPosixTask " << name << ": Deadline "
 						"missed." << std::endl;
-			}else{
+			}
+			else {
 				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
 						status << std::endl;
 			}
-			if (this->deadlineMissedFunc != NULL) {
+			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}

From 4bdac1e0179191c67f559233d8fdebcfedada654 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:49:59 +0200
Subject: [PATCH 295/653] changed from mueller/master taken over

---
 osal/linux/PeriodicPosixTask.cpp | 12 +++++++-----
 osal/linux/PeriodicPosixTask.h   |  2 +-
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index 69dbb619..3c1df6bb 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -5,8 +5,8 @@
 
 PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_,
 		size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):
-		PosixThread(name_,priority_,stackSize_),objectList(),started(false),
-		periodMs(period_),deadlineMissedFunc(deadlineMissedFunc_) {
+		PosixThread(name_, priority_, stackSize_), objectList(), started(false),
+		periodMs(period_), deadlineMissedFunc(deadlineMissedFunc_) {
 }
 
 PeriodicPosixTask::~PeriodicPosixTask() {
@@ -25,6 +25,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
+		sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+				<< " it implements ExecutableObjectIF!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
@@ -38,15 +40,15 @@ ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
 }
 
 
-ReturnValue_t PeriodicPosixTask::startTask(void){
+ReturnValue_t PeriodicPosixTask::startTask(void) {
 	started = true;
 	//sif::info << stackSize << std::endl;
 	PosixThread::createTask(&taskEntryPoint,this);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void PeriodicPosixTask::taskFunctionality(void){
-	if(not started){
+void PeriodicPosixTask::taskFunctionality(void) {
+	if(not started) {
 		suspend();
 	}
 
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index f23adf4d..ffee236b 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -32,7 +32,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.

From 975fb9832b27372ab2e6c59af2d3642dae5dc7b1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:52:17 +0200
Subject: [PATCH 296/653] added interface ID

---
 returnvalues/FwClassIds.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index ddee539e..9ab0bfeb 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -63,7 +63,8 @@ enum {
 	SEMAPHORE_IF, //SPH 57
 	LOCAL_POOL_OWNER_IF, //LPIF 58
 	POOL_VARIABLE_IF, //PVA 59
-	HOUSEKEEPING_MANAGER, //HKM 60
+	DLE_ENCODER, //DLEE 60
+	HOUSEKEEPING_MANAGER, //HKM 61
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

From 91d5277a94d8bd3e962b23ce22d9ca34d989c811 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:54:08 +0200
Subject: [PATCH 297/653] added new returnvalues

---
 returnvalues/FwClassIds.h | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index 9ab0bfeb..781320e3 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -63,8 +63,11 @@ enum {
 	SEMAPHORE_IF, //SPH 57
 	LOCAL_POOL_OWNER_IF, //LPIF 58
 	POOL_VARIABLE_IF, //PVA 59
-	DLE_ENCODER, //DLEE 60
-	HOUSEKEEPING_MANAGER, //HKM 61
+	HOUSEKEEPING_MANAGER, //HKM 60
+	DLE_ENCODER, //DLEE 61
+	PUS_PARSER, //PUSP 62
+	SERIAL_ANALYZER, //SERA 63
+	PUS_SERVICE_9, // PUS9 64
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

From a6b2b4dd934f3268c6867b450d8218ca8dcc6aba Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:58:36 +0200
Subject: [PATCH 298/653] renormalization

---
 ipc/CommandMessage.cpp | 222 ++++++++++++++++++++---------------------
 1 file changed, 111 insertions(+), 111 deletions(-)

diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 16293608..513debd3 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -1,111 +1,111 @@
-#include "CommandMessage.h"
-#include "CommandMessageCleaner.h"
-#include <cstring>
-
-CommandMessage::CommandMessage() {
-    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
-    setCommand(CMD_NONE);
-}
-
-CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
-        uint32_t parameter2) {
-    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
-    setCommand(command);
-    setParameter(parameter1);
-    setParameter2(parameter2);
-}
-
-Command_t CommandMessage::getCommand() const {
-    Command_t command;
-    std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
-    return command;
-}
-
-void CommandMessage::setCommand(Command_t command) {
-    std::memcpy(MessageQueueMessage::getData(), &command, sizeof(Command_t));
-}
-
-uint8_t CommandMessage::getMessageType() const {
-    // first byte of command ID.
-    return getCommand() >> 8 & 0xff;
-}
-
-uint32_t CommandMessage::getParameter() const {
-    uint32_t parameter1;
-    std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
-    return parameter1;
-}
-
-void CommandMessage::setParameter(uint32_t parameter1) {
-    std::memcpy(this->getData(), &parameter1, sizeof(parameter1));
-}
-
-uint32_t CommandMessage::getParameter2() const {
-    uint32_t parameter2;
-    std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
-            sizeof(parameter2));
-    return parameter2;
-}
-
-void CommandMessage::setParameter2(uint32_t parameter2) {
-    std::memcpy(this->getData()  + sizeof(uint32_t), &parameter2,
-            sizeof(parameter2));
-}
-
-uint32_t CommandMessage::getParameter3() const {
-    uint32_t parameter3;
-    std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
-            sizeof(parameter3));
-    return parameter3;
-}
-
-void CommandMessage::setParameter3(uint32_t parameter3) {
-    std::memcpy(this->getData()  + 2 * sizeof(uint32_t), &parameter3,
-            sizeof(parameter3));
-}
-
-size_t CommandMessage::getMinimumMessageSize() const {
-    return MINIMUM_COMMAND_MESSAGE_SIZE;
-}
-
-void CommandMessage::clearCommandMessage() {
-    clear();
-}
-
-void CommandMessage::clear() {
-    CommandMessageCleaner::clearCommandMessage(this);
-}
-
-bool CommandMessage::isClearedCommandMessage() {
-    return getCommand() == CMD_NONE;
-}
-
-void CommandMessage::setToUnknownCommand() {
-    Command_t initialCommand = getCommand();
-    this->clear();
-    setReplyRejected(UNKNOWN_COMMAND, initialCommand);
-}
-
-void CommandMessage::setReplyRejected(ReturnValue_t reason,
-        Command_t initialCommand) {
-	setCommand(REPLY_REJECTED);
-    setParameter(reason);
-    setParameter2(initialCommand);
-}
-
-ReturnValue_t CommandMessage::getReplyRejectedReason(
-        Command_t *initialCommand) const {
-    ReturnValue_t reason = getParameter();
-    if(initialCommand != nullptr) {
-        *initialCommand = getParameter2();
-    }
-    return reason;
-}
-
-uint8_t* CommandMessage::getData() {
-    return MessageQueueMessage::getData() + sizeof(Command_t);
-}
-
-const uint8_t* CommandMessage::getData() const {
-    return MessageQueueMessage::getData() + sizeof(Command_t);
-}
+#include "CommandMessage.h"
+#include "CommandMessageCleaner.h"
+#include <cstring>
+
+CommandMessage::CommandMessage() {
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
+    setCommand(CMD_NONE);
+}
+
+CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
+        uint32_t parameter2) {
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
+    setCommand(command);
+    setParameter(parameter1);
+    setParameter2(parameter2);
+}
+
+Command_t CommandMessage::getCommand() const {
+    Command_t command;
+    std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
+    return command;
+}
+
+void CommandMessage::setCommand(Command_t command) {
+    std::memcpy(MessageQueueMessage::getData(), &command, sizeof(Command_t));
+}
+
+uint8_t CommandMessage::getMessageType() const {
+    // first byte of command ID.
+    return getCommand() >> 8 & 0xff;
+}
+
+uint32_t CommandMessage::getParameter() const {
+    uint32_t parameter1;
+    std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
+    return parameter1;
+}
+
+void CommandMessage::setParameter(uint32_t parameter1) {
+    std::memcpy(this->getData(), &parameter1, sizeof(parameter1));
+}
+
+uint32_t CommandMessage::getParameter2() const {
+    uint32_t parameter2;
+    std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
+            sizeof(parameter2));
+    return parameter2;
+}
+
+void CommandMessage::setParameter2(uint32_t parameter2) {
+    std::memcpy(this->getData()  + sizeof(uint32_t), &parameter2,
+            sizeof(parameter2));
+}
+
+uint32_t CommandMessage::getParameter3() const {
+    uint32_t parameter3;
+    std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
+            sizeof(parameter3));
+    return parameter3;
+}
+
+void CommandMessage::setParameter3(uint32_t parameter3) {
+    std::memcpy(this->getData()  + 2 * sizeof(uint32_t), &parameter3,
+            sizeof(parameter3));
+}
+
+size_t CommandMessage::getMinimumMessageSize() const {
+    return MINIMUM_COMMAND_MESSAGE_SIZE;
+}
+
+void CommandMessage::clearCommandMessage() {
+    clear();
+}
+
+void CommandMessage::clear() {
+    CommandMessageCleaner::clearCommandMessage(this);
+}
+
+bool CommandMessage::isClearedCommandMessage() {
+    return getCommand() == CMD_NONE;
+}
+
+void CommandMessage::setToUnknownCommand() {
+    Command_t initialCommand = getCommand();
+    this->clear();
+    setReplyRejected(UNKNOWN_COMMAND, initialCommand);
+}
+
+void CommandMessage::setReplyRejected(ReturnValue_t reason,
+        Command_t initialCommand) {
+	setCommand(REPLY_REJECTED);
+    setParameter(reason);
+    setParameter2(initialCommand);
+}
+
+ReturnValue_t CommandMessage::getReplyRejectedReason(
+        Command_t *initialCommand) const {
+    ReturnValue_t reason = getParameter();
+    if(initialCommand != nullptr) {
+        *initialCommand = getParameter2();
+    }
+    return reason;
+}
+
+uint8_t* CommandMessage::getData() {
+    return MessageQueueMessage::getData() + sizeof(Command_t);
+}
+
+const uint8_t* CommandMessage::getData() const {
+    return MessageQueueMessage::getData() + sizeof(Command_t);
+}

From a53b9dc3dbfd5339c81c611123341cb3fcb63eea Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 14:59:59 +0200
Subject: [PATCH 299/653] renormalization

---
 ipc/CommandMessage.h          | 258 ++++++++++++++---------------
 ipc/CommandMessageCleaner.cpp |  90 +++++-----
 ipc/CommandMessageCleaner.h   |  32 ++--
 ipc/CommandMessageIF.h        | 146 ++++++++---------
 ipc/MessageQueueMessage.cpp   | 168 +++++++++----------
 ipc/MessageQueueMessage.h     | 300 +++++++++++++++++-----------------
 6 files changed, 497 insertions(+), 497 deletions(-)

diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 3be9a120..ca7b817f 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -1,129 +1,129 @@
-#ifndef FSFW_IPC_COMMANDMESSAGE_H_
-#define FSFW_IPC_COMMANDMESSAGE_H_
-
-#include "CommandMessageIF.h"
-#include "MessageQueueMessage.h"
-#include "FwMessageTypes.h"
-
-/**
- * @brief 	Default command message used to pass command messages between tasks.
- * 			Primary message type for IPC. Contains sender, 2-byte command ID
- * 			field, and 2 4-byte parameters.
- * @details
- * It operates on an external memory which is contained inside a
- * class implementing MessageQueueMessageIF by taking its address.
- * This allows for a more flexible designs of message implementations.
- * The pointer can be passed to different message implementations without
- * the need of unnecessary copying.
- *
- * The command message is based of the generic MessageQueueMessage which
- * currently has an internal message size of 28 bytes.
- * @author	Bastian Baetz
- */
-class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
-public:
-    /**
-     * Default size can accomodate 2 4-byte parameters.
-     */
-    static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
-            CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);
-
-	/**
-	 * @brief   Default Constructor, does not initialize anything.
-	 * @details
-	 * This constructor should be used when receiving a Message, as the
-	 * content is filled by the MessageQueue.
-	 */
-	CommandMessage();
-	/**
-	 * This constructor creates a new message with all message content
-	 * initialized
-	 *
-	 * @param command	The DeviceHandlerCommand_t that will be sent
-	 * @param parameter1	The first parameter
-	 * @param parameter2	The second parameter
-	 */
-	CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
-
-	/**
-	 * @brief 	Default Destructor
-	 */
-	virtual ~CommandMessage() {}
-
-    /**
-     * Read the DeviceHandlerCommand_t that is stored in the message,
-     * usually used after receiving.
-     *
-     * @return the Command stored in the Message
-     */
-    virtual Command_t getCommand() const override;
-    /**
-     * Set the command type of the message. Default implementation also
-     * sets the message type, which will be the first byte of the command ID.
-     * @param the Command to be sent
-     */
-    virtual void setCommand(Command_t command);
-
-    virtual uint8_t* getData() override;
-    virtual const uint8_t* getData() const override;
-
-	/**
-	 * Get the first parameter of the message
-	 * @return the first Parameter of the message
-	 */
-	uint32_t getParameter() const;
-	/**
-	 * Set the first parameter of the message
-	 * @param the first parameter of the message
-	 */
-	void setParameter(uint32_t parameter1);
-	uint32_t getParameter2() const;
-	void setParameter2(uint32_t parameter2);
-	uint32_t getParameter3() const;
-	void setParameter3(uint32_t parameter3);
-
-	/**
-	 * check if a message was cleared
-	 *
-	 * @return if the command is CMD_NONE
-	 */
-	bool isClearedCommandMessage();
-
-	/**
-	 * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
-	 * Is needed quite often, so we better code it once only.
-	 */
-	void setToUnknownCommand() override;
-
-    /**
-     * A command message can be rejected and needs to offer a function
-     * to set a rejected reply
-     * @param reason
-     * @param initialCommand
-     */
-    void setReplyRejected(ReturnValue_t reason,
-            Command_t initialCommand) override;
-    /**
-     * Corrensonding getter function.
-     * @param initialCommand
-     * @return
-     */
-    ReturnValue_t getReplyRejectedReason(
-            Command_t* initialCommand = nullptr) const override;
-
-
-    virtual void clear() override;
-    void clearCommandMessage();
-
-    /**
-     * Extract message ID, which is the first byte of the command ID for the
-     * default implementation.
-     * @return
-     */
-    virtual uint8_t getMessageType() const override;
-
-    /** MessageQueueMessageIF functions used for minimum size check. */
-    size_t getMinimumMessageSize() const override;
-};
-
-#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */
+#ifndef FSFW_IPC_COMMANDMESSAGE_H_
+#define FSFW_IPC_COMMANDMESSAGE_H_
+
+#include "CommandMessageIF.h"
+#include "MessageQueueMessage.h"
+#include "FwMessageTypes.h"
+
+/**
+ * @brief 	Default command message used to pass command messages between tasks.
+ * 			Primary message type for IPC. Contains sender, 2-byte command ID
+ * 			field, and 2 4-byte parameters.
+ * @details
+ * It operates on an external memory which is contained inside a
+ * class implementing MessageQueueMessageIF by taking its address.
+ * This allows for a more flexible designs of message implementations.
+ * The pointer can be passed to different message implementations without
+ * the need of unnecessary copying.
+ *
+ * The command message is based of the generic MessageQueueMessage which
+ * currently has an internal message size of 28 bytes.
+ * @author	Bastian Baetz
+ */
+class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
+public:
+    /**
+     * Default size can accomodate 2 4-byte parameters.
+     */
+    static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
+            CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);
+
+	/**
+	 * @brief   Default Constructor, does not initialize anything.
+	 * @details
+	 * This constructor should be used when receiving a Message, as the
+	 * content is filled by the MessageQueue.
+	 */
+	CommandMessage();
+	/**
+	 * This constructor creates a new message with all message content
+	 * initialized
+	 *
+	 * @param command	The DeviceHandlerCommand_t that will be sent
+	 * @param parameter1	The first parameter
+	 * @param parameter2	The second parameter
+	 */
+	CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
+
+	/**
+	 * @brief 	Default Destructor
+	 */
+	virtual ~CommandMessage() {}
+
+    /**
+     * Read the DeviceHandlerCommand_t that is stored in the message,
+     * usually used after receiving.
+     *
+     * @return the Command stored in the Message
+     */
+    virtual Command_t getCommand() const override;
+    /**
+     * Set the command type of the message. Default implementation also
+     * sets the message type, which will be the first byte of the command ID.
+     * @param the Command to be sent
+     */
+    virtual void setCommand(Command_t command);
+
+    virtual uint8_t* getData() override;
+    virtual const uint8_t* getData() const override;
+
+	/**
+	 * Get the first parameter of the message
+	 * @return the first Parameter of the message
+	 */
+	uint32_t getParameter() const;
+	/**
+	 * Set the first parameter of the message
+	 * @param the first parameter of the message
+	 */
+	void setParameter(uint32_t parameter1);
+	uint32_t getParameter2() const;
+	void setParameter2(uint32_t parameter2);
+	uint32_t getParameter3() const;
+	void setParameter3(uint32_t parameter3);
+
+	/**
+	 * check if a message was cleared
+	 *
+	 * @return if the command is CMD_NONE
+	 */
+	bool isClearedCommandMessage();
+
+	/**
+	 * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
+	 * Is needed quite often, so we better code it once only.
+	 */
+	void setToUnknownCommand() override;
+
+    /**
+     * A command message can be rejected and needs to offer a function
+     * to set a rejected reply
+     * @param reason
+     * @param initialCommand
+     */
+    void setReplyRejected(ReturnValue_t reason,
+            Command_t initialCommand) override;
+    /**
+     * Corrensonding getter function.
+     * @param initialCommand
+     * @return
+     */
+    ReturnValue_t getReplyRejectedReason(
+            Command_t* initialCommand = nullptr) const override;
+
+
+    virtual void clear() override;
+    void clearCommandMessage();
+
+    /**
+     * Extract message ID, which is the first byte of the command ID for the
+     * default implementation.
+     * @return
+     */
+    virtual uint8_t getMessageType() const override;
+
+    /** MessageQueueMessageIF functions used for minimum size check. */
+    size_t getMinimumMessageSize() const override;
+};
+
+#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */
diff --git a/ipc/CommandMessageCleaner.cpp b/ipc/CommandMessageCleaner.cpp
index a4dec78d..6a99b4d2 100644
--- a/ipc/CommandMessageCleaner.cpp
+++ b/ipc/CommandMessageCleaner.cpp
@@ -1,45 +1,45 @@
-#include "../ipc/CommandMessageCleaner.h"
-
-#include "../devicehandlers/DeviceHandlerMessage.h"
-#include "../health/HealthMessage.h"
-#include "../memory/MemoryMessage.h"
-#include "../modes/ModeMessage.h"
-#include "../monitoring/MonitoringMessage.h"
-#include "../subsystem/modes/ModeSequenceMessage.h"
-#include "../tmstorage/TmStoreMessage.h"
-#include "../parameters/ParameterMessage.h"
-
-void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
-	switch(message->getMessageType()){
-	case  messagetypes::MODE_COMMAND:
-		ModeMessage::clear(message);
-		break;
-	case messagetypes::HEALTH_COMMAND:
-		HealthMessage::clear(message);
-		break;
-	case messagetypes::MODE_SEQUENCE:
-		ModeSequenceMessage::clear(message);
-		break;
-	case messagetypes::ACTION:
-		ActionMessage::clear(message);
-		break;
-	case messagetypes::DEVICE_HANDLER_COMMAND:
-		DeviceHandlerMessage::clear(message);
-		break;
-	case messagetypes::MEMORY:
-		MemoryMessage::clear(message);
-		break;
-	case messagetypes::MONITORING:
-		MonitoringMessage::clear(message);
-		break;
-	case messagetypes::TM_STORE:
-		TmStoreMessage::clear(message);
-		break;
-	case messagetypes::PARAMETER:
-		ParameterMessage::clear(message);
-		break;
-	default:
-		messagetypes::clearMissionMessage(message);
-		break;
-	}
-}
+#include "../ipc/CommandMessageCleaner.h"
+
+#include "../devicehandlers/DeviceHandlerMessage.h"
+#include "../health/HealthMessage.h"
+#include "../memory/MemoryMessage.h"
+#include "../modes/ModeMessage.h"
+#include "../monitoring/MonitoringMessage.h"
+#include "../subsystem/modes/ModeSequenceMessage.h"
+#include "../tmstorage/TmStoreMessage.h"
+#include "../parameters/ParameterMessage.h"
+
+void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
+	switch(message->getMessageType()){
+	case  messagetypes::MODE_COMMAND:
+		ModeMessage::clear(message);
+		break;
+	case messagetypes::HEALTH_COMMAND:
+		HealthMessage::clear(message);
+		break;
+	case messagetypes::MODE_SEQUENCE:
+		ModeSequenceMessage::clear(message);
+		break;
+	case messagetypes::ACTION:
+		ActionMessage::clear(message);
+		break;
+	case messagetypes::DEVICE_HANDLER_COMMAND:
+		DeviceHandlerMessage::clear(message);
+		break;
+	case messagetypes::MEMORY:
+		MemoryMessage::clear(message);
+		break;
+	case messagetypes::MONITORING:
+		MonitoringMessage::clear(message);
+		break;
+	case messagetypes::TM_STORE:
+		TmStoreMessage::clear(message);
+		break;
+	case messagetypes::PARAMETER:
+		ParameterMessage::clear(message);
+		break;
+	default:
+		messagetypes::clearMissionMessage(message);
+		break;
+	}
+}
diff --git a/ipc/CommandMessageCleaner.h b/ipc/CommandMessageCleaner.h
index f17bf282..2bf4a193 100644
--- a/ipc/CommandMessageCleaner.h
+++ b/ipc/CommandMessageCleaner.h
@@ -1,16 +1,16 @@
-#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
-#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
-#include "../ipc/CommandMessage.h"
-
-namespace messagetypes {
-// Implemented in config.
-void clearMissionMessage(CommandMessage* message);
-}
-
-class CommandMessageCleaner {
-public:
-	static void clearCommandMessage(CommandMessage* message);
-};
-
-
-#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */
+#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
+#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
+#include "../ipc/CommandMessage.h"
+
+namespace messagetypes {
+// Implemented in config.
+void clearMissionMessage(CommandMessage* message);
+}
+
+class CommandMessageCleaner {
+public:
+	static void clearCommandMessage(CommandMessage* message);
+};
+
+
+#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */
diff --git a/ipc/CommandMessageIF.h b/ipc/CommandMessageIF.h
index 68a8d956..aafa40ef 100644
--- a/ipc/CommandMessageIF.h
+++ b/ipc/CommandMessageIF.h
@@ -1,73 +1,73 @@
-#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
-#define FSFW_IPC_COMMANDMESSAGEIF_H_
-
-#include "MessageQueueMessageIF.h"
-#include "FwMessageTypes.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
-
-#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
-typedef uint16_t Command_t;
-
-class CommandMessageIF {
-public:
-    /**
-     * Header consists of sender ID and command ID.
-     */
-	static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
-			sizeof(Command_t);
-	/**
-	 * This minimum size is derived from the interface requirement to be able
-     * to set a rejected reply, which contains a returnvalue and the initial
-     * command.
-	 */
-	static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
-	        CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
-	        sizeof(Command_t);
-
-	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
-	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
-
-	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
-	//! Used internally, shall be ignored
-	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
-	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
-	//! Reply indicating that the current command was rejected,
-	//! par1 should contain the error code
-	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
-
-	virtual ~CommandMessageIF() {};
-
-	/**
-	 * A command message shall have a uint16_t command ID field.
-	 * @return
-	 */
-	virtual Command_t getCommand() const = 0;
-	/**
-	 * A command message shall have a uint8_t message type ID field.
-	 * @return
-	 */
-	virtual uint8_t getMessageType() const = 0;
-
-	/**
-	 * A command message can be rejected and needs to offer a function
-	 * to set a rejected reply
-	 * @param reason
-	 * @param initialCommand
-	 */
-	virtual void setReplyRejected(ReturnValue_t reason,
-			Command_t initialCommand) = 0;
-	/**
-	 * Corrensonding getter function.
-	 * @param initialCommand
-	 * @return
-	 */
-	virtual ReturnValue_t getReplyRejectedReason(
-			Command_t* initialCommand = nullptr) const  = 0;
-
-	virtual void setToUnknownCommand() = 0;
-
-	virtual void clear() = 0;
-
-};
-
-#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */
+#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
+#define FSFW_IPC_COMMANDMESSAGEIF_H_
+
+#include "MessageQueueMessageIF.h"
+#include "FwMessageTypes.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+
+#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
+typedef uint16_t Command_t;
+
+class CommandMessageIF {
+public:
+    /**
+     * Header consists of sender ID and command ID.
+     */
+	static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
+			sizeof(Command_t);
+	/**
+	 * This minimum size is derived from the interface requirement to be able
+     * to set a rejected reply, which contains a returnvalue and the initial
+     * command.
+	 */
+	static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
+	        CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
+	        sizeof(Command_t);
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
+	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
+
+	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
+	//! Used internally, shall be ignored
+	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
+	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
+	//! Reply indicating that the current command was rejected,
+	//! par1 should contain the error code
+	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
+
+	virtual ~CommandMessageIF() {};
+
+	/**
+	 * A command message shall have a uint16_t command ID field.
+	 * @return
+	 */
+	virtual Command_t getCommand() const = 0;
+	/**
+	 * A command message shall have a uint8_t message type ID field.
+	 * @return
+	 */
+	virtual uint8_t getMessageType() const = 0;
+
+	/**
+	 * A command message can be rejected and needs to offer a function
+	 * to set a rejected reply
+	 * @param reason
+	 * @param initialCommand
+	 */
+	virtual void setReplyRejected(ReturnValue_t reason,
+			Command_t initialCommand) = 0;
+	/**
+	 * Corrensonding getter function.
+	 * @param initialCommand
+	 * @return
+	 */
+	virtual ReturnValue_t getReplyRejectedReason(
+			Command_t* initialCommand = nullptr) const  = 0;
+
+	virtual void setToUnknownCommand() = 0;
+
+	virtual void clear() = 0;
+
+};
+
+#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */
diff --git a/ipc/MessageQueueMessage.cpp b/ipc/MessageQueueMessage.cpp
index 2f79cb3b..dcd4def3 100644
--- a/ipc/MessageQueueMessage.cpp
+++ b/ipc/MessageQueueMessage.cpp
@@ -1,84 +1,84 @@
-#include "MessageQueueMessage.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../globalfunctions/arrayprinter.h"
-#include <cstring>
-
-MessageQueueMessage::MessageQueueMessage() :
-		messageSize(getMinimumMessageSize()) {
-	memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
-}
-
-MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
-		messageSize(this->HEADER_SIZE + size) {
-	if (size <= this->MAX_DATA_SIZE) {
-		memcpy(this->getData(), data, size);
-		this->messageSize = this->HEADER_SIZE + size;
-	}
-	else {
-		sif::warning << "MessageQueueMessage: Passed size larger than maximum"
-				"allowed size! Setting content to 0" << std::endl;
-		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
-		this->messageSize = this->HEADER_SIZE;
-	}
-}
-
-MessageQueueMessage::~MessageQueueMessage() {
-}
-
-const uint8_t* MessageQueueMessage::getBuffer() const {
-	return this->internalBuffer;
-}
-
-uint8_t* MessageQueueMessage::getBuffer() {
-	return this->internalBuffer;
-}
-
-const uint8_t* MessageQueueMessage::getData() const {
-	return this->internalBuffer + this->HEADER_SIZE;
-}
-
-uint8_t* MessageQueueMessage::getData() {
-	return this->internalBuffer + this->HEADER_SIZE;
-}
-
-MessageQueueId_t MessageQueueMessage::getSender() const {
-	MessageQueueId_t temp_id;
-	memcpy(&temp_id, this->internalBuffer, sizeof(MessageQueueId_t));
-	return temp_id;
-}
-
-void MessageQueueMessage::setSender(MessageQueueId_t setId) {
-	memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
-}
-
-void MessageQueueMessage::print(bool printWholeMessage) {
-	sif::debug << "MessageQueueMessage content: " << std::endl;
-	if(printWholeMessage) {
-	    arrayprinter::print(getData(), getMaximumMessageSize());
-	}
-	else {
-	    arrayprinter::print(getData(), getMessageSize());
-	}
-
-}
-
-void MessageQueueMessage::clear() {
-	memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
-}
-
-size_t MessageQueueMessage::getMessageSize() const {
-	return this->messageSize;
-}
-
-void MessageQueueMessage::setMessageSize(size_t messageSize) {
-	this->messageSize = messageSize;
-}
-
-size_t MessageQueueMessage::getMinimumMessageSize() const {
-    return this->MIN_MESSAGE_SIZE;
-}
-
-size_t MessageQueueMessage::getMaximumMessageSize() const {
-    return this->MAX_MESSAGE_SIZE;
-}
-
+#include "MessageQueueMessage.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../globalfunctions/arrayprinter.h"
+#include <cstring>
+
+MessageQueueMessage::MessageQueueMessage() :
+		messageSize(getMinimumMessageSize()) {
+	memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
+}
+
+MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
+		messageSize(this->HEADER_SIZE + size) {
+	if (size <= this->MAX_DATA_SIZE) {
+		memcpy(this->getData(), data, size);
+		this->messageSize = this->HEADER_SIZE + size;
+	}
+	else {
+		sif::warning << "MessageQueueMessage: Passed size larger than maximum"
+				"allowed size! Setting content to 0" << std::endl;
+		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
+		this->messageSize = this->HEADER_SIZE;
+	}
+}
+
+MessageQueueMessage::~MessageQueueMessage() {
+}
+
+const uint8_t* MessageQueueMessage::getBuffer() const {
+	return this->internalBuffer;
+}
+
+uint8_t* MessageQueueMessage::getBuffer() {
+	return this->internalBuffer;
+}
+
+const uint8_t* MessageQueueMessage::getData() const {
+	return this->internalBuffer + this->HEADER_SIZE;
+}
+
+uint8_t* MessageQueueMessage::getData() {
+	return this->internalBuffer + this->HEADER_SIZE;
+}
+
+MessageQueueId_t MessageQueueMessage::getSender() const {
+	MessageQueueId_t temp_id;
+	memcpy(&temp_id, this->internalBuffer, sizeof(MessageQueueId_t));
+	return temp_id;
+}
+
+void MessageQueueMessage::setSender(MessageQueueId_t setId) {
+	memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
+}
+
+void MessageQueueMessage::print(bool printWholeMessage) {
+	sif::debug << "MessageQueueMessage content: " << std::endl;
+	if(printWholeMessage) {
+	    arrayprinter::print(getData(), getMaximumMessageSize());
+	}
+	else {
+	    arrayprinter::print(getData(), getMessageSize());
+	}
+
+}
+
+void MessageQueueMessage::clear() {
+	memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
+}
+
+size_t MessageQueueMessage::getMessageSize() const {
+	return this->messageSize;
+}
+
+void MessageQueueMessage::setMessageSize(size_t messageSize) {
+	this->messageSize = messageSize;
+}
+
+size_t MessageQueueMessage::getMinimumMessageSize() const {
+    return this->MIN_MESSAGE_SIZE;
+}
+
+size_t MessageQueueMessage::getMaximumMessageSize() const {
+    return this->MAX_MESSAGE_SIZE;
+}
+
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index da5c78cb..f68e9b9f 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -1,150 +1,150 @@
-#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
-#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
-
-#include "../ipc/MessageQueueMessageIF.h"
-#include "../ipc/MessageQueueSenderIF.h"
-#include <cstddef>
-
-/**
- *	@brief		This class is the representation and data organizer
- *				for interprocess messages.
- *	@details
- *	To facilitate and standardize interprocess communication, this class was
- *	created to handle a lightweight "interprocess message protocol".
- *
- *	It adds a header with the sender's queue id to every sent message and
- *	defines the maximum total message size. Specialized messages, such as
- *	device commanding messages, can be created by inheriting from this class
- *	and filling the buffer provided by getData with additional content.
- *
- *	If larger amounts of data must be sent between processes, the data shall
- *	be stored in the IPC Store object and only the storage id is passed in a
- *	queue message.The class is used both to generate and send messages and to
- *	receive messages from other tasks.
- *	@ingroup message_queue
- */
-class MessageQueueMessage: public MessageQueueMessageIF {
-public:
-	/**
-	 * @brief	The class is initialized empty with this constructor.
-	 * @details
-	 * The messageSize attribute is set to the header's size and the whole
-	 * content is set to zero.
-	 */
-	MessageQueueMessage();
-	/**
-	 * @brief	With this constructor the class is initialized with
-	 * 			the given content.
-	 * @details
-	 * If the passed message size fits into the buffer, the passed data is
-	 * copied to the internal buffer and the messageSize information is set.
-	 * Otherwise, messageSize is set to the header's size and the whole
-	 * content is set to zero.
-	 * @param data	The data to be put in the message.
-	 * @param size	Size of the data to be copied. Must be smaller than
-	 * 				MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
-	 */
-	MessageQueueMessage(uint8_t* data, size_t size);
-
-	/**
-	 * @brief	As no memory is allocated in this class,
-	 * 		    the destructor is empty.
-	 */
-	virtual ~MessageQueueMessage();
-
-	/**
-	 * @brief	The size information of each message is stored in
-	 *  			this attribute.
-	 * @details
-	 * It is public to simplify usage and to allow for passing the size
-	 * address as a pointer. Care must be taken when inheriting from this class,
-	 * as every child class is responsible for managing the size information by
-	 * itself. When using the class to receive a message, the size information
-	 * is updated automatically.
-	 *
-	 * Please note that the minimum size is limited by the size of the header
-	 * while the maximum size is limited by the maximum allowed message size.
-	 */
-	size_t messageSize;
-	/**
-	 * @brief	This constant defines the maximum size of the data content,
-	 * 			excluding the header.
-	 * @details
-	 * It may be changed if necessary, but in general should be kept
-	 * as small as possible.
-	 */
-	static const size_t MAX_DATA_SIZE = 24;
-
-	/**
-	 * @brief	This constant defines the maximum total size in bytes
-	 * 			of a sent message.
-	 * @details
-	 * It is the sum of the maximum data and the header size. Be aware that
-	 * this constant is used to define the buffer sizes for every message
-	 * queue in the system. So, a change here may have significant impact on
-	 * the required resources.
-	 */
-	static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
-	/**
-	 * @brief Defines the minimum size of a message where only the
-	 * 		  header is included
-	 */
-	static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
-private:
-	/**
-	 * @brief	This is the internal buffer that contains the
-	 * 			actual message data.
-	 */
-	uint8_t internalBuffer[MAX_MESSAGE_SIZE];
-public:
-	/**
-	 * @brief	This method is used to get the complete data of the message.
-	 */
-	const uint8_t* getBuffer() const override;
-	/**
-	 * @brief	This method is used to get the complete data of the message.
-	 */
-	uint8_t* getBuffer() override;
-	/**
-	 * @brief	This method is used to fetch the data content of the message.
-	 * @details
-	 * It shall be used by child classes to add data at the right position.
-	 */
-	const uint8_t* getData() const override;
-	/**
-	 * @brief	This method is used to fetch the data content of the message.
-	 * @details
-	 * It shall be used by child classes to add data at the right position.
-	 */
-	uint8_t* getData() override;
-	/**
-	 * @brief	This method is used to extract the sender's message
-	 * 			queue id information from a received message.
-	 */
-	MessageQueueId_t getSender() const override;
-	/**
-	 * @brief	With this method, the whole content
-	 * 			and the message size is set to zero.
-	 */
-	void clear() override;
-
-	/**
-	 * @brief	This method is used to set the sender's message queue id
-	 * 			information prior to ing the message.
-	 * @param setId
-	 * The message queue id that identifies the sending message queue.
-	 */
-	void setSender(MessageQueueId_t setId) override;
-
-	virtual size_t getMessageSize() const override;
-	virtual void setMessageSize(size_t messageSize) override;
-	virtual size_t getMinimumMessageSize() const override;
-	virtual size_t getMaximumMessageSize() const override;
-
-	/**
-	 * @brief	This is a debug method that prints the content.
-	 */
-	void print(bool printWholeMessage);
-};
-
-#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */
+#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
+#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
+
+#include "../ipc/MessageQueueMessageIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
+#include <cstddef>
+
+/**
+ *	@brief		This class is the representation and data organizer
+ *				for interprocess messages.
+ *	@details
+ *	To facilitate and standardize interprocess communication, this class was
+ *	created to handle a lightweight "interprocess message protocol".
+ *
+ *	It adds a header with the sender's queue id to every sent message and
+ *	defines the maximum total message size. Specialized messages, such as
+ *	device commanding messages, can be created by inheriting from this class
+ *	and filling the buffer provided by getData with additional content.
+ *
+ *	If larger amounts of data must be sent between processes, the data shall
+ *	be stored in the IPC Store object and only the storage id is passed in a
+ *	queue message.The class is used both to generate and send messages and to
+ *	receive messages from other tasks.
+ *	@ingroup message_queue
+ */
+class MessageQueueMessage: public MessageQueueMessageIF {
+public:
+	/**
+	 * @brief	The class is initialized empty with this constructor.
+	 * @details
+	 * The messageSize attribute is set to the header's size and the whole
+	 * content is set to zero.
+	 */
+	MessageQueueMessage();
+	/**
+	 * @brief	With this constructor the class is initialized with
+	 * 			the given content.
+	 * @details
+	 * If the passed message size fits into the buffer, the passed data is
+	 * copied to the internal buffer and the messageSize information is set.
+	 * Otherwise, messageSize is set to the header's size and the whole
+	 * content is set to zero.
+	 * @param data	The data to be put in the message.
+	 * @param size	Size of the data to be copied. Must be smaller than
+	 * 				MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
+	 */
+	MessageQueueMessage(uint8_t* data, size_t size);
+
+	/**
+	 * @brief	As no memory is allocated in this class,
+	 * 		    the destructor is empty.
+	 */
+	virtual ~MessageQueueMessage();
+
+	/**
+	 * @brief	The size information of each message is stored in
+	 *  			this attribute.
+	 * @details
+	 * It is public to simplify usage and to allow for passing the size
+	 * address as a pointer. Care must be taken when inheriting from this class,
+	 * as every child class is responsible for managing the size information by
+	 * itself. When using the class to receive a message, the size information
+	 * is updated automatically.
+	 *
+	 * Please note that the minimum size is limited by the size of the header
+	 * while the maximum size is limited by the maximum allowed message size.
+	 */
+	size_t messageSize;
+	/**
+	 * @brief	This constant defines the maximum size of the data content,
+	 * 			excluding the header.
+	 * @details
+	 * It may be changed if necessary, but in general should be kept
+	 * as small as possible.
+	 */
+	static const size_t MAX_DATA_SIZE = 24;
+
+	/**
+	 * @brief	This constant defines the maximum total size in bytes
+	 * 			of a sent message.
+	 * @details
+	 * It is the sum of the maximum data and the header size. Be aware that
+	 * this constant is used to define the buffer sizes for every message
+	 * queue in the system. So, a change here may have significant impact on
+	 * the required resources.
+	 */
+	static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
+	/**
+	 * @brief Defines the minimum size of a message where only the
+	 * 		  header is included
+	 */
+	static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
+private:
+	/**
+	 * @brief	This is the internal buffer that contains the
+	 * 			actual message data.
+	 */
+	uint8_t internalBuffer[MAX_MESSAGE_SIZE];
+public:
+	/**
+	 * @brief	This method is used to get the complete data of the message.
+	 */
+	const uint8_t* getBuffer() const override;
+	/**
+	 * @brief	This method is used to get the complete data of the message.
+	 */
+	uint8_t* getBuffer() override;
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	const uint8_t* getData() const override;
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	uint8_t* getData() override;
+	/**
+	 * @brief	This method is used to extract the sender's message
+	 * 			queue id information from a received message.
+	 */
+	MessageQueueId_t getSender() const override;
+	/**
+	 * @brief	With this method, the whole content
+	 * 			and the message size is set to zero.
+	 */
+	void clear() override;
+
+	/**
+	 * @brief	This method is used to set the sender's message queue id
+	 * 			information prior to ing the message.
+	 * @param setId
+	 * The message queue id that identifies the sending message queue.
+	 */
+	void setSender(MessageQueueId_t setId) override;
+
+	virtual size_t getMessageSize() const override;
+	virtual void setMessageSize(size_t messageSize) override;
+	virtual size_t getMinimumMessageSize() const override;
+	virtual size_t getMaximumMessageSize() const override;
+
+	/**
+	 * @brief	This is a debug method that prints the content.
+	 */
+	void print(bool printWholeMessage);
+};
+
+#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */

From d885dddee8c8f053207c5c652f5acc81d66efff8 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 15:04:53 +0200
Subject: [PATCH 300/653] renormalize files

---
 container/SimpleRingBuffer.cpp | 270 ++++++++++++++++-----------------
 container/SimpleRingBuffer.h   | 256 +++++++++++++++----------------
 2 files changed, 263 insertions(+), 263 deletions(-)

diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index 2a19d619..d6b6f5af 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -1,135 +1,135 @@
-#include "../container/SimpleRingBuffer.h"
-#include <cstring>
-
-SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
-		size_t maxExcessBytes) :
-		RingBufferBase<>(0, size, overwriteOld),
-		maxExcessBytes(maxExcessBytes) {
-	if(maxExcessBytes > size) {
-		this->maxExcessBytes = size;
-	}
-	else {
-		this->maxExcessBytes = maxExcessBytes;
-	}
-	buffer = new uint8_t[size + maxExcessBytes];
-}
-
-SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
-		bool overwriteOld, size_t maxExcessBytes):
-        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
-	if(maxExcessBytes > size) {
-		this->maxExcessBytes = size;
-	}
-	else {
-		this->maxExcessBytes = maxExcessBytes;
-	}
-}
-
-
-SimpleRingBuffer::~SimpleRingBuffer() {
-	delete[] buffer;
-}
-
-
-ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
-        size_t amount) {
-    if ((availableWriteSpace() >= amount) or overwriteOld) {
-        size_t amountTillWrap = writeTillWrap();
-        if (amountTillWrap < amount) {
-            if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
-                return HasReturnvaluesIF::RETURN_FAILED;
-            }
-            excessBytes = amount - amountTillWrap;
-        }
-        *writePointer = &buffer[write];
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    else {
-        return HasReturnvaluesIF::RETURN_FAILED;
-    }
-}
-
-void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
-	if(getExcessBytes() > 0) {
-		moveExcessBytesToStart();
-	}
-	incrementWrite(amount);
-
-}
-
-ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
-		size_t amount) {
-	if ((availableWriteSpace() >= amount) or overwriteOld) {
-		size_t amountTillWrap = writeTillWrap();
-		if (amountTillWrap >= amount) {
-			// remaining size in buffer is sufficient to fit full amount.
-			memcpy(&buffer[write], data, amount);
-		}
-		else {
-			memcpy(&buffer[write], data, amountTillWrap);
-			memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
-		}
-		incrementWrite(amount);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
-		bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
-	size_t availableData = getAvailableReadData(READ_PTR);
-	size_t amountTillWrap = readTillWrap(READ_PTR);
-	if (availableData < amount) {
-		if (readRemaining) {
-			// more data available than amount specified.
-			amount = availableData;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	if (trueAmount != nullptr) {
-		*trueAmount = amount;
-	}
-	if (amountTillWrap >= amount) {
-		memcpy(data, &buffer[read[READ_PTR]], amount);
-	} else {
-		memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
-		memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
-	}
-
-	if(incrementReadPtr) {
-		deleteData(amount, readRemaining);
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-size_t SimpleRingBuffer::getExcessBytes() const {
-    return excessBytes;
-}
-
-void SimpleRingBuffer::moveExcessBytesToStart() {
-    if(excessBytes > 0) {
-        std::memcpy(buffer, &buffer[size], excessBytes);
-        excessBytes = 0;
-    }
-}
-
-ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
-		bool deleteRemaining, size_t* trueAmount) {
-	size_t availableData = getAvailableReadData(READ_PTR);
-	if (availableData < amount) {
-		if (deleteRemaining) {
-			amount = availableData;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	if (trueAmount != nullptr) {
-		*trueAmount = amount;
-	}
-	incrementRead(amount, READ_PTR);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
+#include "../container/SimpleRingBuffer.h"
+#include <cstring>
+
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
+		size_t maxExcessBytes) :
+		RingBufferBase<>(0, size, overwriteOld),
+		maxExcessBytes(maxExcessBytes) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+	buffer = new uint8_t[size + maxExcessBytes];
+}
+
+SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
+		bool overwriteOld, size_t maxExcessBytes):
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+}
+
+
+SimpleRingBuffer::~SimpleRingBuffer() {
+	delete[] buffer;
+}
+
+
+ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
+        size_t amount) {
+    if (availableWriteSpace() >= amount or overwriteOld) {
+        size_t amountTillWrap = writeTillWrap();
+        if (amountTillWrap < amount) {
+            if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            excessBytes = amount - amountTillWrap;
+        }
+        *writePointer = &buffer[write];
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
+	if(getExcessBytes() > 0) {
+		moveExcessBytesToStart();
+	}
+	incrementWrite(amount);
+
+}
+
+ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
+		size_t amount) {
+	if (availableWriteSpace() >= amount or overwriteOld) {
+		size_t amountTillWrap = writeTillWrap();
+		if (amountTillWrap >= amount) {
+			// remaining size in buffer is sufficient to fit full amount.
+			memcpy(&buffer[write], data, amount);
+		}
+		else {
+			memcpy(&buffer[write], data, amountTillWrap);
+			memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
+		}
+		incrementWrite(amount);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
+		bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
+	size_t availableData = getAvailableReadData(READ_PTR);
+	size_t amountTillWrap = readTillWrap(READ_PTR);
+	if (availableData < amount) {
+		if (readRemaining) {
+			// more data available than amount specified.
+			amount = availableData;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	if (trueAmount != nullptr) {
+		*trueAmount = amount;
+	}
+	if (amountTillWrap >= amount) {
+		memcpy(data, &buffer[read[READ_PTR]], amount);
+	} else {
+		memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
+		memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
+	}
+
+	if(incrementReadPtr) {
+		deleteData(amount, readRemaining);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+size_t SimpleRingBuffer::getExcessBytes() const {
+    return excessBytes;
+}
+
+void SimpleRingBuffer::moveExcessBytesToStart() {
+    if(excessBytes > 0) {
+        std::memcpy(buffer, &buffer[size], excessBytes);
+        excessBytes = 0;
+    }
+}
+
+ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
+		bool deleteRemaining, size_t* trueAmount) {
+	size_t availableData = getAvailableReadData(READ_PTR);
+	if (availableData < amount) {
+		if (deleteRemaining) {
+			amount = availableData;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	if (trueAmount != nullptr) {
+		*trueAmount = amount;
+	}
+	incrementRead(amount, READ_PTR);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index b13e9f2a..dcf2684b 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -1,128 +1,128 @@
-#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
-#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
-
-#include "../container/RingBufferBase.h"
-#include <cstddef>
-
-/**
- * @brief 	Circular buffer implementation, useful for buffering
- *          into data streams.
- * @details
- * Note that the deleteData() has to be called to increment the read pointer.
- * This class allocated dynamically, so
- * @ingroup containers
- */
-class SimpleRingBuffer: public RingBufferBase<> {
-public:
-    /**
-     * This constructor allocates a new internal buffer with the supplied size.
-     *
-     * @param size
-     * @param overwriteOld If the ring buffer is overflowing at a write
-     * operation, the oldest data will be overwritten.
-     * @param maxExcessBytes These additional bytes will be allocated in addtion
-     * to the specified size to accomodate contiguous write operations
-     * with getFreeElement.
-     *
-     */
-	SimpleRingBuffer(const size_t size, bool overwriteOld,
-	        size_t maxExcessBytes = 0);
-	/**
-	 * This constructor takes an external buffer with the specified size.
-	 * @param buffer
-	 * @param size
-	 * @param overwriteOld
-	 * If the ring buffer is overflowing at a write operartion, the oldest data
-     * will be overwritten.
-	 * @param maxExcessBytes
-	 * If the buffer can accomodate additional bytes for contigous write
-	 * operations with getFreeElement, this is the maximum allowed additional
-	 * size
-	 */
-	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
-	        size_t maxExcessBytes = 0);
-
-	virtual ~SimpleRingBuffer();
-
-	/**
-	 * Write to circular buffer and increment write pointer by amount.
-	 * @param data
-	 * @param amount
-	 * @return -@c RETURN_OK if write operation was successfull
-	 * -@c RETURN_FAILED if
-	 */
-	ReturnValue_t writeData(const uint8_t* data, size_t amount);
-
-	/**
-	 * Returns a pointer to a free element. If the remaining buffer is
-	 * not large enough, the data will be written past the actual size
-	 * and the amount of excess bytes will be cached. This function
-	 * does not increment the write pointer!
-	 * @param writePointer Pointer to a pointer which can be used to write
-	 * contiguous blocks into the ring buffer
-	 * @param amount
-	 * @return
-	 */
-	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
-
-	/**
-	 * This increments the write pointer and also copies the excess bytes
-	 * to the beginning. It should be called if the write operation
-	 * conducted after calling getFreeElement() was performed.
-	 * @return
-	 */
-	void confirmBytesWritten(size_t amount);
-
-	virtual size_t getExcessBytes() const;
-	/**
-	 * Helper functions which moves any excess bytes to the start
-	 * of the ring buffer.
-	 * @return
-	 */
-	virtual void moveExcessBytesToStart();
-
-	/**
-	 * Read from circular buffer at read pointer.
-	 * @param data
-	 * @param amount
-	 * @param incrementReadPtr
-	 * If this is set to true, the read pointer will be incremented.
-	 * If readRemaining is set to true, the read pointer will be incremented
-	 * accordingly.
-	 * @param readRemaining
-	 * If this is set to true, the data will be read even if the amount
-	 * specified exceeds the read data available.
-	 * @param trueAmount [out]
-	 * If readRemaining was set to true, the true amount read will be assigned
-	 * to the passed value.
-	 * @return
-	 * - @c RETURN_OK if data was read successfully
-	 * - @c RETURN_FAILED if not enough data was available and readRemaining
-	 *      was set to false.
-	 */
-	ReturnValue_t readData(uint8_t* data, size_t amount,
-			bool incrementReadPtr = false, bool readRemaining = false,
-			size_t* trueAmount = nullptr);
-
-	/**
-	 * Delete data by incrementing read pointer.
-	 * @param amount
-	 * @param deleteRemaining
-	 * If the amount specified is larger than the remaing size to read and this
-	 * is set to true, the remaining amount will be deleted as well
-	 * @param trueAmount [out]
-	 * If deleteRemaining was set to true, the amount deleted will be assigned
-	 * to the passed value.
-	 * @return
-	 */
-	ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
-	        size_t* trueAmount = nullptr);
-private:
-	static const uint8_t READ_PTR = 0;
-	uint8_t* buffer = nullptr;
-	size_t maxExcessBytes;
-	size_t excessBytes = 0;
-};
-
-#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
-
+#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+
+#include "../container/RingBufferBase.h"
+#include <cstddef>
+
+/**
+ * @brief 	Circular buffer implementation, useful for buffering
+ *          into data streams.
+ * @details
+ * Note that the deleteData() has to be called to increment the read pointer.
+ * This class allocated dynamically, so
+ * @ingroup containers
+ */
+class SimpleRingBuffer: public RingBufferBase<> {
+public:
+    /**
+     * This constructor allocates a new internal buffer with the supplied size.
+     *
+     * @param size
+     * @param overwriteOld If the ring buffer is overflowing at a write
+     * operation, the oldest data will be overwritten.
+     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * to the specified size to accomodate contiguous write operations
+     * with getFreeElement.
+     *
+     */
+	SimpleRingBuffer(const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
+	 * @param maxExcessBytes
+	 * If the buffer can accomodate additional bytes for contigous write
+	 * operations with getFreeElement, this is the maximum allowed additional
+	 * size
+	 */
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
+
+	virtual ~SimpleRingBuffer();
+
+	/**
+	 * Write to circular buffer and increment write pointer by amount.
+	 * @param data
+	 * @param amount
+	 * @return -@c RETURN_OK if write operation was successfull
+	 * -@c RETURN_FAILED if
+	 */
+	ReturnValue_t writeData(const uint8_t* data, size_t amount);
+
+	/**
+	 * Returns a pointer to a free element. If the remaining buffer is
+	 * not large enough, the data will be written past the actual size
+	 * and the amount of excess bytes will be cached. This function
+	 * does not increment the write pointer!
+	 * @param writePointer Pointer to a pointer which can be used to write
+	 * contiguous blocks into the ring buffer
+	 * @param amount
+	 * @return
+	 */
+	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
+
+	/**
+	 * This increments the write pointer and also copies the excess bytes
+	 * to the beginning. It should be called if the write operation
+	 * conducted after calling getFreeElement() was performed.
+	 * @return
+	 */
+	void confirmBytesWritten(size_t amount);
+
+	virtual size_t getExcessBytes() const;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	virtual void moveExcessBytesToStart();
+
+	/**
+	 * Read from circular buffer at read pointer.
+	 * @param data
+	 * @param amount
+	 * @param incrementReadPtr
+	 * If this is set to true, the read pointer will be incremented.
+	 * If readRemaining is set to true, the read pointer will be incremented
+	 * accordingly.
+	 * @param readRemaining
+	 * If this is set to true, the data will be read even if the amount
+	 * specified exceeds the read data available.
+	 * @param trueAmount [out]
+	 * If readRemaining was set to true, the true amount read will be assigned
+	 * to the passed value.
+	 * @return
+	 * - @c RETURN_OK if data was read successfully
+	 * - @c RETURN_FAILED if not enough data was available and readRemaining
+	 *      was set to false.
+	 */
+	ReturnValue_t readData(uint8_t* data, size_t amount,
+			bool incrementReadPtr = false, bool readRemaining = false,
+			size_t* trueAmount = nullptr);
+
+	/**
+	 * Delete data by incrementing read pointer.
+	 * @param amount
+	 * @param deleteRemaining
+	 * If the amount specified is larger than the remaing size to read and this
+	 * is set to true, the remaining amount will be deleted as well
+	 * @param trueAmount [out]
+	 * If deleteRemaining was set to true, the amount deleted will be assigned
+	 * to the passed value.
+	 * @return
+	 */
+	ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
+	        size_t* trueAmount = nullptr);
+private:
+	static const uint8_t READ_PTR = 0;
+	uint8_t* buffer = nullptr;
+	size_t maxExcessBytes;
+	size_t excessBytes = 0;
+};
+
+#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
+

From e105be229a075bb83e867cf00baa9f392d9d5468 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 15:06:48 +0200
Subject: [PATCH 301/653] include guards fand include improvements

---
 container/SimpleRingBuffer.cpp | 2 +-
 container/SimpleRingBuffer.h   | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/container/SimpleRingBuffer.cpp b/container/SimpleRingBuffer.cpp
index d6b6f5af..01c22463 100644
--- a/container/SimpleRingBuffer.cpp
+++ b/container/SimpleRingBuffer.cpp
@@ -1,4 +1,4 @@
-#include "../container/SimpleRingBuffer.h"
+#include "SimpleRingBuffer.h"
 #include <cstring>
 
 SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
diff --git a/container/SimpleRingBuffer.h b/container/SimpleRingBuffer.h
index dcf2684b..a790712f 100644
--- a/container/SimpleRingBuffer.h
+++ b/container/SimpleRingBuffer.h
@@ -1,7 +1,7 @@
-#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
-#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+#ifndef FSFW_CONTAINER_SIMPLERINGBUFFER_H_
+#define FSFW_CONTAINER_SIMPLERINGBUFFER_H_
 
-#include "../container/RingBufferBase.h"
+#include "RingBufferBase.h"
 #include <cstddef>
 
 /**
@@ -124,5 +124,5 @@ private:
 	size_t excessBytes = 0;
 };
 
-#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
+#endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */
 

From 3e67701933e6e64ac998691cd4e2e043e7786427 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 15:09:24 +0200
Subject: [PATCH 302/653] taken over ring buffer base changes

---
 container/RingBufferBase.h | 125 +++++++++++++++++++++----------------
 1 file changed, 71 insertions(+), 54 deletions(-)

diff --git a/container/RingBufferBase.h b/container/RingBufferBase.h
index e3a87d9d..886b9fab 100644
--- a/container/RingBufferBase.h
+++ b/container/RingBufferBase.h
@@ -1,96 +1,113 @@
-#ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
-#define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
+#ifndef FSFW_CONTAINER_RINGBUFFERBASE_H_
+#define FSFW_CONTAINER_RINGBUFFERBASE_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
 
 template<uint8_t N_READ_PTRS = 1>
 class RingBufferBase {
 public:
-	RingBufferBase(uint32_t startAddress, uint32_t size, bool overwriteOld) :
-			start(startAddress), write(startAddress), size(size), overwriteOld(overwriteOld) {
+	RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
+			start(startAddress), write(startAddress), size(size),
+			overwriteOld(overwriteOld) {
 		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
 			read[count] = startAddress;
 		}
 	}
-	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
-		if (availableReadData(n) >= amount) {
-			incrementRead(amount, n);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	ReturnValue_t writeData(uint32_t amount) {
-		if (availableWriteSpace() >= amount || overwriteOld) {
-			incrementWrite(amount);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	uint32_t availableReadData(uint8_t n = 0) const {
-		return ((write + size) - read[n]) % size;
-	}
-	uint32_t availableWriteSpace(uint8_t n = 0) const  {
-		//One less to avoid ambiguous full/empty problem.
-		return (((read[n] + size) - write - 1) % size);
-	}
+
+	virtual ~RingBufferBase() {}
+
 	bool isFull(uint8_t n = 0) {
 		return (availableWriteSpace(n) == 0);
 	}
 	bool isEmpty(uint8_t n = 0) {
-		return (availableReadData(n) == 0);
+		return (getAvailableReadData(n) == 0);
 	}
-	virtual ~RingBufferBase() {
 
+	size_t getAvailableReadData(uint8_t n = 0) const {
+		return ((write + size) - read[n]) % size;
 	}
-	uint32_t getRead(uint8_t n = 0) const {
-		return read[n];
+	size_t availableWriteSpace(uint8_t n = 0) const  {
+		//One less to avoid ambiguous full/empty problem.
+		return (((read[n] + size) - write - 1) % size);
 	}
-	void setRead(uint32_t read, uint8_t n = 0) {
-		if (read >= start && read < (start+size)) {
-			this->read[n] = read;
-		}
+
+	bool overwritesOld() const {
+		return overwriteOld;
 	}
-	uint32_t getWrite() const {
-		return write;
-	}
-	void setWrite(uint32_t write) {
-		this->write = write;
+
+	size_t getMaxSize() const {
+		return size - 1;
 	}
+
 	void clear() {
 		write = start;
 		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
 			read[count] = start;
 		}
 	}
-	uint32_t writeTillWrap() {
+
+	size_t writeTillWrap() {
 		return (start + size) - write;
 	}
-	uint32_t readTillWrap(uint8_t n = 0) {
+
+	size_t readTillWrap(uint8_t n = 0) {
 		return (start + size) - read[n];
 	}
-	uint32_t getStart() const {
+
+	size_t getStart() const {
 		return start;
 	}
-	bool overwritesOld() const {
-		return overwriteOld;
-	}
-	uint32_t maxSize() const {
-		return size - 1;
-	}
+
 protected:
-	const uint32_t start;
-	uint32_t write;
-	uint32_t read[N_READ_PTRS];
-	const uint32_t size;
+	const size_t start;
+	size_t write;
+	size_t read[N_READ_PTRS];
+	const size_t size;
 	const bool overwriteOld;
+
 	void incrementWrite(uint32_t amount) {
 		write = ((write + amount - start) % size) + start;
 	}
 	void incrementRead(uint32_t amount, uint8_t n = 0) {
 		read[n] = ((read[n] + amount - start) % size) + start;
 	}
+
+	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
+		if (getAvailableReadData(n) >= amount) {
+			incrementRead(amount, n);
+			return HasReturnvaluesIF::RETURN_OK;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+
+	ReturnValue_t writeData(uint32_t amount) {
+		if (availableWriteSpace() >= amount or overwriteOld) {
+			incrementWrite(amount);
+			return HasReturnvaluesIF::RETURN_OK;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+
+	size_t getRead(uint8_t n = 0) const {
+		return read[n];
+	}
+
+	void setRead(uint32_t read, uint8_t n = 0) {
+		if (read >= start && read < (start+size)) {
+			this->read[n] = read;
+		}
+	}
+
+	uint32_t getWrite() const {
+		return write;
+	}
+
+	void setWrite(uint32_t write) {
+		this->write = write;
+	}
 };
 
-#endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */
+#endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */

From 06400fa7bbd89792bc1e508aa6ecf424981ab453 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 15:10:44 +0200
Subject: [PATCH 303/653] share dring buffer update

---
 container/SharedRingBuffer.cpp | 6 +++---
 container/SharedRingBuffer.h   | 8 ++++----
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp
index 001a21ed..490988e5 100644
--- a/container/SharedRingBuffer.cpp
+++ b/container/SharedRingBuffer.cpp
@@ -1,6 +1,6 @@
-#include <framework/container/SharedRingBuffer.h>
-#include <framework/ipc/MutexFactory.h>
-#include <framework/ipc/MutexHelper.h>
+#include "../container/SharedRingBuffer.h"
+#include "../ipc/MutexFactory.h"
+#include "../ipc/MutexHelper.h"
 
 SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
 		bool overwriteOld, size_t maxExcessBytes):
diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
index 0b5be052..394dcaaa 100644
--- a/container/SharedRingBuffer.h
+++ b/container/SharedRingBuffer.h
@@ -1,10 +1,10 @@
 #ifndef FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
 #define FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
 
-#include <framework/container/SimpleRingBuffer.h>
-#include <framework/ipc/MutexIF.h>
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/timemanager/Clock.h>
+#include "../container/SimpleRingBuffer.h"
+#include "../ipc/MutexIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../timemanager/Clock.h"
 
 /**
  * @brief   Ring buffer which can be shared among multiple objects

From dbac6e139b6e7991d5f0997d7b2a9f7daebbbe44 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 15:11:53 +0200
Subject: [PATCH 304/653] shared ring buffer update

---
 container/SharedRingBuffer.cpp | 2 +-
 container/SharedRingBuffer.h   | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp
index 490988e5..800e75d3 100644
--- a/container/SharedRingBuffer.cpp
+++ b/container/SharedRingBuffer.cpp
@@ -1,4 +1,4 @@
-#include "../container/SharedRingBuffer.h"
+#include "SharedRingBuffer.h"
 #include "../ipc/MutexFactory.h"
 #include "../ipc/MutexHelper.h"
 
diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
index 394dcaaa..80c068b3 100644
--- a/container/SharedRingBuffer.h
+++ b/container/SharedRingBuffer.h
@@ -1,7 +1,7 @@
-#ifndef FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
-#define FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
+#ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_
+#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
 
-#include "../container/SimpleRingBuffer.h"
+#include "SimpleRingBuffer.h"
 #include "../ipc/MutexIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../timemanager/Clock.h"
@@ -65,4 +65,4 @@ private:
 
 
 
-#endif /* FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_ */
+#endif /* FSFW_CONTAINER_SHAREDRINGBUFFER_H_ */

From 62eb327df6f86c8e5232cad04b3193bf22759a4b Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 15:19:33 +0200
Subject: [PATCH 305/653] health helper update

---
 health/HealthHelper.cpp | 47 ++++++++++++++++++++++++-----------------
 health/HealthHelper.h   | 20 ++++++++++--------
 2 files changed, 39 insertions(+), 28 deletions(-)

diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index 1cc7d858..cced11d9 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -1,9 +1,8 @@
 #include "HealthHelper.h"
-#include "../ipc/MessageQueueSenderIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
+
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) :
-		healthTable(NULL), eventSender(NULL), objectId(objectId), parentQueue(
-				0), owner(owner) {
+		objectId(objectId), owner(owner) {
 }
 
 HealthHelper::~HealthHelper() {
@@ -40,9 +39,19 @@ void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
 ReturnValue_t HealthHelper::initialize() {
 	healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
 	eventSender = objectManager->get<EventReportingProxyIF>(objectId);
-	if ((healthTable == NULL) || eventSender == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
+
+	if (healthTable == nullptr) {
+	    sif::error << "HealthHelper::initialize: Health table object needs"
+	            "to be created in factory." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
+
+	if(eventSender == nullptr) {
+	    sif::error << "HealthHelper::initialize: Owner has to implement "
+	            "ReportingProxyIF." << std::endl;
+	    return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
 	ReturnValue_t result = healthTable->registerObject(objectId,
 			HasHealthIF::HEALTHY);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -62,22 +71,22 @@ void HealthHelper::setHealth(HasHealthIF::HealthState health) {
 
 void HealthHelper::informParent(HasHealthIF::HealthState health,
 		HasHealthIF::HealthState oldHealth) {
-	if (parentQueue == 0) {
+	if (parentQueue == MessageQueueMessageIF::NO_QUEUE) {
 		return;
 	}
-	CommandMessage message;
-	HealthMessage::setHealthMessage(&message, HealthMessage::HEALTH_INFO,
+	CommandMessage information;
+	HealthMessage::setHealthMessage(&information, HealthMessage::HEALTH_INFO,
 			health, oldHealth);
-	if (MessageQueueSenderIF::sendMessage(parentQueue, &message,
-			owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
+	if (MessageQueueSenderIF::sendMessage(parentQueue, &information,
+	        owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
 		sif::debug << "HealthHelper::informParent: sending health reply failed."
 				<< std::endl;
 	}
 }
 
-void HealthHelper::handleSetHealthCommand(CommandMessage* message) {
-	ReturnValue_t result = owner->setHealth(HealthMessage::getHealth(message));
-	if (message->getSender() == 0) {
+void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
+	ReturnValue_t result = owner->setHealth(HealthMessage::getHealth(command));
+	if (command->getSender() == MessageQueueMessageIF::NO_QUEUE) {
 		return;
 	}
 	CommandMessage reply;
@@ -85,12 +94,12 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* message) {
 		HealthMessage::setHealthMessage(&reply,
 				HealthMessage::REPLY_HEALTH_SET);
 	} else {
-		reply.setReplyRejected(result, message->getCommand());
+		reply.setReplyRejected(result, command->getCommand());
 	}
-	if (MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
-			owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
-		sif::debug
-				<< "HealthHelper::handleHealthCommand: sending health reply failed."
-				<< std::endl;
+	if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
+	        owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
+		sif::debug << "HealthHelper::handleHealthCommand: sending health "
+		        "reply failed." << std::endl;
+
 	}
 }
diff --git a/health/HealthHelper.h b/health/HealthHelper.h
index 90155ad4..d1f1945c 100644
--- a/health/HealthHelper.h
+++ b/health/HealthHelper.h
@@ -1,11 +1,13 @@
-#ifndef HEALTHHELPER_H_
-#define HEALTHHELPER_H_
+#ifndef FSFW_HEALTH_HEALTHHELPER_H_
+#define FSFW_HEALTH_HEALTHHELPER_H_
 
-#include "../events/EventManagerIF.h"
-#include "../events/EventReportingProxyIF.h"
 #include "HasHealthIF.h"
 #include "HealthMessage.h"
 #include "HealthTableIF.h"
+
+#include "../events/EventManagerIF.h"
+#include "../events/EventReportingProxyIF.h"
+#include "../ipc/MessageQueueIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 
@@ -27,8 +29,8 @@ public:
 	/**
 	 * ctor
 	 *
+	 * @param owner
 	 * @param objectId the object Id to use when communication with the HealthTable
-	 * @param useAsFrom id to use as from id when sending replies, can be set to 0
 	 */
 	HealthHelper(HasHealthIF* owner, object_id_t objectId);
 
@@ -39,12 +41,12 @@ public:
 	 *
 	 * only valid after initialize() has been called
 	 */
-	HealthTableIF *healthTable;
+	HealthTableIF *healthTable = nullptr;
 
 	/**
 	 * Proxy to forward events.
 	 */
-	EventReportingProxyIF* eventSender;
+	EventReportingProxyIF* eventSender = nullptr;
 
 	/**
 	 * Try to handle the message.
@@ -100,7 +102,7 @@ private:
 	/**
 	 * The Queue of the parent
 	 */
-	MessageQueueId_t parentQueue;
+	MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
 
 	/**
 	 * The one using the healthHelper.
@@ -117,4 +119,4 @@ private:
 	void handleSetHealthCommand(CommandMessage *message);
 };
 
-#endif /* HEALTHHELPER_H_ */
+#endif /* FSFW_HEALTH_HEALTHHELPER_H_ */

From e83de8248129398c1c0ed6ed1e7a500ef41ac4cc Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 15:40:42 +0200
Subject: [PATCH 306/653] gathering remaining differences..

---
 serialize/EndianConverter.h | 10 ++++------
 serialize/SerializeIF.h     |  7 +++++--
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/serialize/EndianConverter.h b/serialize/EndianConverter.h
index 7461576d..c888a905 100644
--- a/serialize/EndianConverter.h
+++ b/serialize/EndianConverter.h
@@ -1,5 +1,5 @@
-#ifndef ENDIANSWAPPER_H_
-#define ENDIANSWAPPER_H_
+#ifndef FSFW_SERIALIZE_ENDIANCONVERTER_H_
+#define FSFW_SERIALIZE_ENDIANCONVERTER_H_
 
 #include "../osal/Endiness.h"
 #include <cstring>
@@ -35,9 +35,7 @@
  */
 class EndianConverter {
 private:
-	EndianConverter() {
-	}
-	;
+	EndianConverter() {};
 public:
 	/**
 	 * Convert a typed variable between big endian and machine endian.
@@ -123,4 +121,4 @@ public:
 	}
 };
 
-#endif /* ENDIANSWAPPER_H_ */
+#endif /* FSFW_SERIALIZE_ENDIANCONVERTER_H_ */
diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 7f9ea9df..3c0540f9 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -2,7 +2,7 @@
 #define FSFW_SERIALIZE_SERIALIZEIF_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stddef.h>
+#include <cstddef>
 
 /**
  * @defgroup serialize Serialization
@@ -10,7 +10,10 @@
  */
 
 /**
- * Translation of objects into data streams and from data streams.
+ * @brief 	Translation of objects into data streams and from data streams.
+ * @details
+ * Also provides options to convert from/to data with different endianness.
+ * variables.
  * @ingroup serialize
  */
 class SerializeIF {

From d4d96a128e07f9158a202f2667bb265b25886cd6 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 15:47:08 +0200
Subject: [PATCH 307/653] adapted doc

---
 serialize/SerialFixedArrayListAdapter.h | 70 +++++++++++++++++--------
 1 file changed, 48 insertions(+), 22 deletions(-)

diff --git a/serialize/SerialFixedArrayListAdapter.h b/serialize/SerialFixedArrayListAdapter.h
index 38e0d438..70ca987a 100644
--- a/serialize/SerialFixedArrayListAdapter.h
+++ b/serialize/SerialFixedArrayListAdapter.h
@@ -1,31 +1,57 @@
-#ifndef SERIALFIXEDARRAYLISTADAPTER_H_
-#define SERIALFIXEDARRAYLISTADAPTER_H_
+#ifndef FSFW_SERIALIZE_SERIALFIXEDARRAYLISTADAPTER_H_
+#define FSFW_SERIALIZE_SERIALFIXEDARRAYLISTADAPTER_H_
 
-#include "../container/FixedArrayList.h"
 #include "SerialArrayListAdapter.h"
+#include "../container/FixedArrayList.h"
 
 /**
- * \ingroup serialize
+ * @brief 	This adapter provides an interface for SerializeIF to serialize and
+ * 			deserialize buffers with a header containing the buffer length.
+ * @details
+ * Can be used by SerialLinkedListAdapter by declaring
+ * as a linked element with SerializeElement<SerialFixedArrayListAdapter<...>>.
+ * The sequence of objects is defined in the constructor by
+ * using the setStart and setNext functions.
+ *
+ * @tparam BUFFER_TYPE: Specifies the data type of the buffer
+ * @tparam MAX_SIZE: Specifies the maximum allowed number of elements
+ * 					 (not bytes!)
+ * @tparam count_t: specifies the type/size of the length field which defaults
+ * 					to one byte.
+ * @ingroup serialize
  */
-template<typename T, uint32_t MAX_SIZE, typename count_t = uint8_t>
-class SerialFixedArrayListAdapter : public FixedArrayList<T, MAX_SIZE, count_t>, public SerializeIF {
+template<typename BUFFER_TYPE, uint32_t MAX_SIZE, typename count_t = uint8_t>
+class SerialFixedArrayListAdapter :
+		public FixedArrayList<BUFFER_TYPE, MAX_SIZE, count_t>,
+		public SerializeIF {
 public:
+	/**
+	 * Constructor arguments are forwarded to FixedArrayList constructor.
+	 * Refer to the fixed array list constructors for different options.
+	 * @param args
+	 */
 	template<typename... Args>
-	SerialFixedArrayListAdapter(Args... args) : FixedArrayList<T, MAX_SIZE, count_t>(std::forward<Args>(args)...) {
-	}
-	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) const {
-		return SerialArrayListAdapter<T, count_t>::serialize(this, buffer, size, maxSize, streamEndianness);
-	}
-	size_t getSerializedSize() const {
-		return SerialArrayListAdapter<T, count_t>::getSerializedSize(this);
-	}
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) {
-		return SerialArrayListAdapter<T, count_t>::deSerialize(this, buffer, size, streamEndianness);
-	}
+	SerialFixedArrayListAdapter(Args... args) :
+	        FixedArrayList<BUFFER_TYPE, MAX_SIZE, count_t>(
+	        std::forward<Args>(args)...){}
+
+    ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+            size_t maxSize, Endianness streamEndianness) const {
+        return SerialArrayListAdapter<BUFFER_TYPE, count_t>::serialize(this,
+                buffer, size, maxSize, streamEndianness);
+    }
+
+    size_t getSerializedSize() const {
+        return SerialArrayListAdapter<BUFFER_TYPE, count_t>::
+        		getSerializedSize(this);
+    }
+
+    ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            Endianness streamEndianness) {
+        return SerialArrayListAdapter<BUFFER_TYPE, count_t>::deSerialize(this,
+                buffer, size, streamEndianness);
+    }
+
 };
 
-
-
-#endif /* SERIALFIXEDARRAYLISTADAPTER_H_ */
+#endif /* FSFW_SERIALIZE_SERIALFIXEDARRAYLISTADAPTER_H_ */

From 84308c74d91b2082e458c4d39aa054060e6a2b06 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 15:56:08 +0200
Subject: [PATCH 308/653] taken over some changes

---
 serialize/SerializeAdapter.h | 35 ++++++++++++++++++++++-------------
 1 file changed, 22 insertions(+), 13 deletions(-)

diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index af5ec116..24f6111e 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -1,16 +1,24 @@
-#ifndef SERIALIZEADAPTER_H_
-#define SERIALIZEADAPTER_H_
+#ifndef FSFW_SERIALIZE_SERIALIZEADAPTER_H_
+#define FSFW_SERIALIZE_SERIALIZEADAPTER_H_
+
+#include "EndianConverter.h"
+#include "SerializeIF.h"
 
 #include "../container/IsDerivedFrom.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "EndianConverter.h"
-#include "SerializeIF.h"
-#include <string.h>
+#include <cstring>
 
-/**
- * \ingroup serialize
+ /**
+ * @brief These adapters provides an interface to use the SerializeIF functions
+ * 		  with arbitrary template objects to facilitate and simplify the
+ * 		  serialization of classes with different multiple different data types
+ * 		  into buffers and vice-versa.
+ * @details
+ * The correct serialization or deserialization function is chosen at
+ * compile time with template type deduction.
+ *
+ * @ingroup serialize
  */
-
 class SerializeAdapter {
 public:
 	template<typename T>
@@ -36,9 +44,10 @@ private:
 	class InternalSerializeAdapter {
 	public:
 		static ReturnValue_t serialize(const T *object, uint8_t **buffer,
-				size_t *size, size_t max_size, SerializeIF::Endianness streamEndianness) {
+				size_t *size, size_t max_size,
+				SerializeIF::Endianness streamEndianness) {
 			size_t ignoredSize = 0;
-			if (size == NULL) {
+			if (size == nullptr) {
 				size = &ignoredSize;
 			}
 			//TODO check integer overflow of *size
@@ -56,7 +65,7 @@ private:
 					tmp = *object;
 					break;
 				}
-				memcpy(*buffer, &tmp, sizeof(T));
+				std::memcpy(*buffer, &tmp, sizeof(T));
 				*size += sizeof(T);
 				(*buffer) += sizeof(T);
 				return HasReturnvaluesIF::RETURN_OK;
@@ -70,7 +79,7 @@ private:
 			T tmp;
 			if (*size >= sizeof(T)) {
 				*size -= sizeof(T);
-				memcpy(&tmp, *buffer, sizeof(T));
+				std::memcpy(&tmp, *buffer, sizeof(T));
 				switch (streamEndianness) {
 				case SerializeIF::Endianness::BIG:
 					*object = EndianConverter::convertBigEndian<T>(tmp);
@@ -104,7 +113,7 @@ private:
 				size_t *size, size_t max_size,
 				SerializeIF::Endianness streamEndianness) const {
 			size_t ignoredSize = 0;
-			if (size == NULL) {
+			if (size == nullptr) {
 				size = &ignoredSize;
 			}
 			return object->serialize(buffer, size, max_size, streamEndianness);

From ed21ec6c78bc722538ae16f5b3fb8a078c97300d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 16:00:45 +0200
Subject: [PATCH 309/653] changes taken over for serial linked list adapter

---
 serialize/SerialLinkedListAdapter.h | 67 +++++++++++++++++++++--------
 1 file changed, 50 insertions(+), 17 deletions(-)

diff --git a/serialize/SerialLinkedListAdapter.h b/serialize/SerialLinkedListAdapter.h
index 5de8c242..430a21ac 100644
--- a/serialize/SerialLinkedListAdapter.h
+++ b/serialize/SerialLinkedListAdapter.h
@@ -1,32 +1,52 @@
-/**
- * @file	SerialLinkedListAdapter.h
- * @brief	This file defines the SerialLinkedListAdapter class.
- * @date	22.07.2014
- * @author	baetz
- */
-#ifndef SERIALLINKEDLISTADAPTER_H_
-#define SERIALLINKEDLISTADAPTER_H_
+#ifndef FSFW_SERIALIZE_SERIALLINKEDLISTADAPTER_H_
+#define FSFW_SERIALIZE_SERIALLINKEDLISTADAPTER_H_
 
 #include "../container/SinglyLinkedList.h"
 #include "SerializeAdapter.h"
 #include "SerializeElement.h"
 #include "SerializeIF.h"
-//This is where we need the SerializeAdapter!
 
-/**
- * \ingroup serialize
+ /**
+ * @brief  	Implement the conversion of object data to data streams
+ * 		   	or vice-versa, using linked lists.
+ * @details
+ * An alternative to the AutoSerializeAdapter functions
+ *   - All object members with a datatype are declared as
+ *     SerializeElement<element_type> members inside the class
+ *     implementing this adapter.
+ *   - The element type can also be a SerialBufferAdapter to
+ *     de-/serialize buffers.
+ *   - The element type can also be a SerialFixedArrayListAdapter to
+ *     de-/serialize buffers with a size header, which is scanned automatically.
+ *
+ * The sequence of objects is defined in the constructor by using
+ * the setStart and setNext functions.
+ *
+ * 1. The serialization process is done by instantiating the class and
+ *    calling serialize after all SerializeElement entries have been set by
+ *    using the constructor or setter functions. An additional size variable
+ *    can be supplied which is calculated/incremented automatically.
+ * 2. The deserialization process is done by instantiating the class and
+ *    supplying a buffer with the data which is converted into an object.
+ *    The size of data to serialize can be supplied and is
+ *    decremented in the function. Range checking is done internally.
+ * @author baetz
+ * @ingroup serialize
  */
 template<typename T, typename count_t = uint8_t>
 class SerialLinkedListAdapter: public SinglyLinkedList<T>, public SerializeIF {
 public:
+
 	SerialLinkedListAdapter(typename LinkedElement<T>::Iterator start,
 			bool printCount = false) :
 			SinglyLinkedList<T>(start), printCount(printCount) {
 	}
+
 	SerialLinkedListAdapter(LinkedElement<T>* first, bool printCount = false) :
 			SinglyLinkedList<T>(first), printCount(printCount) {
 
 	}
+
 	SerialLinkedListAdapter(bool printCount = false) :
 			SinglyLinkedList<T>(), printCount(printCount) {
 	}
@@ -49,13 +69,14 @@ public:
 			uint8_t** buffer, size_t* size, size_t maxSize,
 			Endianness streamEndianness) {
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-		while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
+		while ((result == HasReturnvaluesIF::RETURN_OK) and (element != nullptr)) {
 			result = element->value->serialize(buffer, size, maxSize,
 					streamEndianness);
 			element = element->getNext();
 		}
 		return result;
 	}
+
 	virtual size_t getSerializedSize() const override {
 		if (printCount) {
 			return SerialLinkedListAdapter<T>::getSerializedSize()
@@ -64,32 +85,44 @@ public:
 			return getSerializedSize(SinglyLinkedList<T>::start);
 		}
 	}
+
 	static size_t getSerializedSize(const LinkedElement<T> *element) {
 		size_t size = 0;
-		while (element != NULL) {
+		while (element != nullptr) {
 			size += element->value->getSerializedSize();
 			element = element->getNext();
 		}
 		return size;
 	}
 
+
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness) override {
-		return deSerialize(SinglyLinkedList<T>::start, buffer, size, streamEndianness);
+		return deSerialize(SinglyLinkedList<T>::start, buffer, size,
+				streamEndianness);
 	}
 
 	static ReturnValue_t deSerialize(LinkedElement<T>* element,
 			const uint8_t** buffer, size_t* size, Endianness streamEndianness) {
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-		while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
+		while ((result == HasReturnvaluesIF::RETURN_OK) and (element != nullptr)) {
 			result = element->value->deSerialize(buffer, size, streamEndianness);
 			element = element->getNext();
 		}
 		return result;
 	}
 
-	bool printCount;
+	/**
+	 * Copying is forbidden by deleting the copy constructor and the copy
+	 * assignment operator because of the pointers to the linked list members.
+	 * Unless the child class implements an own copy constructor or
+	 * copy assignment operator, these operation will throw a compiler error.
+	 * @param
+	 */
+	SerialLinkedListAdapter(const SerialLinkedListAdapter &) = delete;
+	SerialLinkedListAdapter& operator=(const SerialLinkedListAdapter&) = delete;
 
+	bool printCount;
 };
 
-#endif /* SERIALLINKEDLISTADAPTER_H_ */
+#endif /* FSFW_SERIALIZE_SERIALLINKEDLISTADAPTER_H_ */

From 328c1b71957eedb0277a3815da8880c3a60391e3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 16:03:36 +0200
Subject: [PATCH 310/653] takne over serialize element changes

---
 serialize/SerializeElement.h | 24 ++++++++++++++++++------
 1 file changed, 18 insertions(+), 6 deletions(-)

diff --git a/serialize/SerializeElement.h b/serialize/SerializeElement.h
index ffedeff9..47080292 100644
--- a/serialize/SerializeElement.h
+++ b/serialize/SerializeElement.h
@@ -1,12 +1,20 @@
-#ifndef SERIALIZEELEMENT_H_
-#define SERIALIZEELEMENT_H_
+#ifndef FSFW_SERIALIZE_SERIALIZEELEMENT_H_
+#define FSFW_SERIALIZE_SERIALIZEELEMENT_H_
 
-#include "../container/SinglyLinkedList.h"
 #include "SerializeAdapter.h"
+#include "../container/SinglyLinkedList.h"
 #include <utility>
 
 /**
- * \ingroup serialize
+ * @brief This class is used to mark datatypes for serialization with the
+ *        SerialLinkedListAdapter
+ * @details
+ * Used by declaring any arbitrary datatype with SerializeElement<T> myVariable,
+ * inside a SerialLinkedListAdapter implementation and setting the sequence
+ * of objects with setNext() and setStart().
+ * Serialization and Deserialization is then performed automatically in
+ * specified sequence order.
+ * @ingroup serialize
  */
 template<typename T>
 class SerializeElement: public SerializeIF, public LinkedElement<SerializeIF> {
@@ -19,7 +27,7 @@ public:
 	SerializeElement() :
 			LinkedElement<SerializeIF>(this) {
 	}
-	T entry;
+
 	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
 			Endianness streamEndianness) const override {
 		return SerializeAdapter::serialize(&entry, buffer, size, maxSize,
@@ -35,6 +43,7 @@ public:
 		return SerializeAdapter::deSerialize(&entry, buffer, size,
 				streamEndianness);
 	}
+
 	operator T() {
 		return entry;
 	}
@@ -43,9 +52,12 @@ public:
 		entry = newValue;
 		return *this;
 	}
+
 	T* operator->() {
 		return &entry;
 	}
+
+	T entry;
 };
 
-#endif /* SERIALIZEELEMENT_H_ */
+#endif /* FSFW_SERIALIZE_SERIALIZEELEMENT_H_ */

From 1a62158f330d0d5dc21df9a14c6c3a791a40cd7a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 4 Sep 2020 16:07:11 +0200
Subject: [PATCH 311/653] took over serial array list adapter changes

---
 serialize/SerialArrayListAdapter.h | 27 ++++++++++++++-------------
 1 file changed, 14 insertions(+), 13 deletions(-)

diff --git a/serialize/SerialArrayListAdapter.h b/serialize/SerialArrayListAdapter.h
index 7576505a..daa3fe7f 100644
--- a/serialize/SerialArrayListAdapter.h
+++ b/serialize/SerialArrayListAdapter.h
@@ -1,13 +1,14 @@
-#ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
-#define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
+#ifndef FSFW_SERIALIZE_SERIALARRAYLISTADAPTER_H_
+#define FSFW_SERIALIZE_SERIALARRAYLISTADAPTER_H_
 
-#include "../container/ArrayList.h"
 #include "SerializeIF.h"
+#include "../container/ArrayList.h"
 #include <utility>
 
 /**
+ * Also serializes length field !
+ * @author 	baetz
  * @ingroup serialize
- * @author  baetz
  */
 template<typename T, typename count_t = uint8_t>
 class SerialArrayListAdapter : public SerializeIF {
@@ -21,14 +22,14 @@ public:
 	}
 
 	static ReturnValue_t serialize(const ArrayList<T, count_t>* list,
-	        uint8_t** buffer, size_t* size, size_t maxSize,
-	        Endianness streamEndianness) {
+			uint8_t** buffer, size_t* size, size_t maxSize,
+			Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::serialize(&list->size,
 				buffer, size, maxSize, streamEndianness);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter::serialize(&list->entries[i], buffer,
-			        size, maxSize, streamEndianness);
+			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
+					maxSize, streamEndianness);
 			++i;
 		}
 		return result;
@@ -55,17 +56,18 @@ public:
 	}
 
 	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list,
-	        const uint8_t** buffer, size_t* size,
+			const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness) {
 		count_t tempSize = 0;
 		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
 				buffer, size, streamEndianness);
 		if(result != HasReturnvaluesIF::RETURN_OK) {
-		    return result;
+			return result;
 		}
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
+
 		list->size = tempSize;
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
@@ -76,10 +78,9 @@ public:
 		}
 		return result;
 	}
+
 private:
 	ArrayList<T, count_t> *adaptee;
 };
 
-
-
-#endif /* FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */
+#endif /* FSFW_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */

From a1155686c5dbb1b844c13ee078ff13579e4de4fb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 5 Sep 2020 20:18:52 +0200
Subject: [PATCH 312/653] updated host osal

---
 osal/host/Clock.cpp             | 454 +++++++++++++++----------------
 osal/host/FixedTimeslotTask.cpp | 382 +++++++++++++-------------
 osal/host/FixedTimeslotTask.h   | 260 +++++++++---------
 osal/host/MessageQueue.cpp      | 310 ++++++++++-----------
 osal/host/MessageQueue.h        | 460 ++++++++++++++++----------------
 osal/host/Mutex.cpp             |  80 +++---
 osal/host/Mutex.h               |  56 ++--
 osal/host/MutexFactory.cpp      |  56 ++--
 osal/host/PeriodicTask.cpp      | 352 ++++++++++++------------
 osal/host/PeriodicTask.h        | 246 ++++++++---------
 osal/host/QueueFactory.cpp      |  82 +++---
 osal/host/QueueMapManager.cpp   | 102 +++----
 osal/host/QueueMapManager.h     |  94 +++----
 osal/host/SemaphoreFactory.cpp  |  84 +++---
 osal/host/TaskFactory.cpp       | 110 ++++----
 15 files changed, 1564 insertions(+), 1564 deletions(-)

diff --git a/osal/host/Clock.cpp b/osal/host/Clock.cpp
index 52d0d5f0..41321eeb 100644
--- a/osal/host/Clock.cpp
+++ b/osal/host/Clock.cpp
@@ -1,227 +1,227 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../timemanager/Clock.h"
-
-#include <chrono>
-#if defined(WIN32)
-#include <windows.h>
-#elif defined(LINUX)
-#include <fstream>
-#endif
-
-uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
-
-using SystemClock = std::chrono::system_clock;
-
-uint32_t Clock::getTicksPerSecond(void){
-	sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
-	return 0;
-	//return CLOCKS_PER_SEC;
-	//uint32_t ticks = sysconf(_SC_CLK_TCK);
-	//return ticks;
-}
-
-ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-	// do some magic with chrono
-	sif::warning << "Clock::setClock: not implemented yet" << std::endl;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::setClock(const timeval* time) {
-	// do some magic with chrono
-#if defined(WIN32)
-	return HasReturnvaluesIF::RETURN_OK;
-#elif defined(LINUX)
-	return HasReturnvaluesIF::RETURN_OK;
-#else
-
-#endif
-	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t Clock::getClock_timeval(timeval* time) {
-#if defined(WIN32)
-	auto now  = std::chrono::system_clock::now();
-	auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
-	auto epoch = now.time_since_epoch();
-	time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
-	auto fraction = now - secondsChrono;
-	time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
-	        fraction).count();
-	return HasReturnvaluesIF::RETURN_OK;
-#elif defined(LINUX)
-	timespec timeUnix;
-	int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
-	if(status!=0){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	time->tv_sec = timeUnix.tv_sec;
-	time->tv_usec = timeUnix.tv_nsec / 1000.0;
-	return HasReturnvaluesIF::RETURN_OK;
-#else
-	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
-	return HasReturnvaluesIF::RETURN_FAILED;
-#endif
-
-}
-
-ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
-	// do some magic with chrono
-	sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-timeval Clock::getUptime() {
-	timeval timeval;
-#if defined(WIN32)
-	auto uptime  = std::chrono::milliseconds(GetTickCount64());
-	auto secondsChrono = std::chrono::duration_cast<std::chrono::seconds>(uptime);
-	timeval.tv_sec = secondsChrono.count();
-	auto fraction = uptime - secondsChrono;
-	timeval.tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
-	            fraction).count();
-#elif defined(LINUX)
-	double uptimeSeconds;
-	if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds)
-	{
-		// value is rounded down automatically
-		timeval.tv_sec = uptimeSeconds;
-		timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
-	}
-#else
-	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
-#endif
-	return timeval;
-}
-
-ReturnValue_t Clock::getUptime(timeval* uptime) {
-	*uptime = getUptime();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
-	timeval uptime = getUptime();
-	*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
-	// do some magic with chrono (C++20!)
-	// Right now, the library doesn't have the new features yet.
-	// so we work around that for now.
-	auto now = SystemClock::now();
-	auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
-	auto fraction = now - seconds;
-	time_t tt = SystemClock::to_time_t(now);
-	struct tm* timeInfo;
-	timeInfo = gmtime(&tt);
-	time->year = timeInfo->tm_year + 1900;
-	time->month = timeInfo->tm_mon+1;
-	time->day = timeInfo->tm_mday;
-	time->hour = timeInfo->tm_hour;
-	time->minute = timeInfo->tm_min;
-	time->second = timeInfo->tm_sec;
-	auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
-	time->usecond = usecond.count();
-
-	//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
-		timeval* to) {
-	struct tm time_tm;
-
-	time_tm.tm_year = from->year - 1900;
-	time_tm.tm_mon = from->month - 1;
-	time_tm.tm_mday = from->day;
-
-	time_tm.tm_hour = from->hour;
-	time_tm.tm_min = from->minute;
-	time_tm.tm_sec = from->second;
-
-	time_t seconds = mktime(&time_tm);
-
-	to->tv_sec = seconds;
-	to->tv_usec = from->usecond;
-	//Fails in 2038..
-	return HasReturnvaluesIF::RETURN_OK;
-	sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-	*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
-			/ 3600.;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
-	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	uint16_t leapSeconds;
-	ReturnValue_t result = getLeapSeconds(&leapSeconds);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	timeval leapSeconds_timeval = { 0, 0 };
-	leapSeconds_timeval.tv_sec = leapSeconds;
-
-	//initial offset between UTC and TAI
-	timeval UTCtoTAI1972 = { 10, 0 };
-
-	timeval TAItoTT = { 32, 184000 };
-
-	*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
-	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	leapSeconds = leapSeconds_;
-
-	result = timeMutex->unlockMutex();
-	return result;
-}
-
-ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-	if(timeMutex == nullptr){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	*leapSeconds_ = leapSeconds;
-
-	result = timeMutex->unlockMutex();
-	return result;
-}
-
-ReturnValue_t Clock::checkOrCreateClockMutex(){
-	if(timeMutex == nullptr){
-		MutexFactory* mutexFactory = MutexFactory::instance();
-		if (mutexFactory == nullptr) {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		timeMutex = mutexFactory->createMutex();
-		if (timeMutex == nullptr) {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/Clock.h"
+
+#include <chrono>
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <fstream>
+#endif
+
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = NULL;
+
+using SystemClock = std::chrono::system_clock;
+
+uint32_t Clock::getTicksPerSecond(void){
+	sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
+	return 0;
+	//return CLOCKS_PER_SEC;
+	//uint32_t ticks = sysconf(_SC_CLK_TCK);
+	//return ticks;
+}
+
+ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+	// do some magic with chrono
+	sif::warning << "Clock::setClock: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::setClock(const timeval* time) {
+	// do some magic with chrono
+#if defined(WIN32)
+	return HasReturnvaluesIF::RETURN_OK;
+#elif defined(LINUX)
+	return HasReturnvaluesIF::RETURN_OK;
+#else
+
+#endif
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t Clock::getClock_timeval(timeval* time) {
+#if defined(WIN32)
+	auto now  = std::chrono::system_clock::now();
+	auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
+	auto epoch = now.time_since_epoch();
+	time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
+	auto fraction = now - secondsChrono;
+	time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+	        fraction).count();
+	return HasReturnvaluesIF::RETURN_OK;
+#elif defined(LINUX)
+	timespec timeUnix;
+	int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
+	if(status!=0){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	time->tv_sec = timeUnix.tv_sec;
+	time->tv_usec = timeUnix.tv_nsec / 1000.0;
+	return HasReturnvaluesIF::RETURN_OK;
+#else
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+
+}
+
+ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
+	// do some magic with chrono
+	sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+timeval Clock::getUptime() {
+	timeval timeval;
+#if defined(WIN32)
+	auto uptime  = std::chrono::milliseconds(GetTickCount64());
+	auto secondsChrono = std::chrono::duration_cast<std::chrono::seconds>(uptime);
+	timeval.tv_sec = secondsChrono.count();
+	auto fraction = uptime - secondsChrono;
+	timeval.tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+	            fraction).count();
+#elif defined(LINUX)
+	double uptimeSeconds;
+	if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds)
+	{
+		// value is rounded down automatically
+		timeval.tv_sec = uptimeSeconds;
+		timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
+	}
+#else
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+#endif
+	return timeval;
+}
+
+ReturnValue_t Clock::getUptime(timeval* uptime) {
+	*uptime = getUptime();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
+	timeval uptime = getUptime();
+	*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
+	// do some magic with chrono (C++20!)
+	// Right now, the library doesn't have the new features yet.
+	// so we work around that for now.
+	auto now = SystemClock::now();
+	auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
+	auto fraction = now - seconds;
+	time_t tt = SystemClock::to_time_t(now);
+	struct tm* timeInfo;
+	timeInfo = gmtime(&tt);
+	time->year = timeInfo->tm_year + 1900;
+	time->month = timeInfo->tm_mon+1;
+	time->day = timeInfo->tm_mday;
+	time->hour = timeInfo->tm_hour;
+	time->minute = timeInfo->tm_min;
+	time->second = timeInfo->tm_sec;
+	auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
+	time->usecond = usecond.count();
+
+	//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
+		timeval* to) {
+	struct tm time_tm;
+
+	time_tm.tm_year = from->year - 1900;
+	time_tm.tm_mon = from->month - 1;
+	time_tm.tm_mday = from->day;
+
+	time_tm.tm_hour = from->hour;
+	time_tm.tm_min = from->minute;
+	time_tm.tm_sec = from->second;
+
+	time_t seconds = mktime(&time_tm);
+
+	to->tv_sec = seconds;
+	to->tv_usec = from->usecond;
+	//Fails in 2038..
+	return HasReturnvaluesIF::RETURN_OK;
+	sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
+	*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
+			/ 3600.;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
+	//SHOULDDO: works not for dates in the past (might have less leap seconds)
+	if (timeMutex == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	uint16_t leapSeconds;
+	ReturnValue_t result = getLeapSeconds(&leapSeconds);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	timeval leapSeconds_timeval = { 0, 0 };
+	leapSeconds_timeval.tv_sec = leapSeconds;
+
+	//initial offset between UTC and TAI
+	timeval UTCtoTAI1972 = { 10, 0 };
+
+	timeval TAItoTT = { 32, 184000 };
+
+	*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
+	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	leapSeconds = leapSeconds_;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
+	if(timeMutex == nullptr){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	*leapSeconds_ = leapSeconds;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::checkOrCreateClockMutex(){
+	if(timeMutex == nullptr){
+		MutexFactory* mutexFactory = MutexFactory::instance();
+		if (mutexFactory == nullptr) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		timeMutex = mutexFactory->createMutex();
+		if (timeMutex == nullptr) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
index 1999c9e6..1139badb 100644
--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -1,191 +1,191 @@
-#include "../../osal/host/FixedTimeslotTask.h"
-
-#include "../../ipc/MutexFactory.h"
-#include "../../osal/host/Mutex.h"
-#include "../../osal/host/FixedTimeslotTask.h"
-
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../tasks/ExecutableObjectIF.h"
-
-#include <thread>
-#include <chrono>
-
-#if defined(WIN32)
-#include <windows.h>
-#elif defined(LINUX)
-#include <pthread.h>
-#endif
-
-FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
-        TaskStackSize setStack, TaskPeriod setPeriod,
-        void (*setDeadlineMissedFunc)()) :
-        started(false), pollingSeqTable(setPeriod*1000), taskName(name),
-        period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
-    // It is propably possible to set task priorities by using the native
-    // task handles for Windows / Linux
-    mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
-#if defined(WIN32)
-    /* List of possible priority classes:
-     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
-     * nf-processthreadsapi-setpriorityclass
-     * And respective thread priority numbers:
-     * https://docs.microsoft.com/en-us/windows/
-     * win32/procthread/scheduling-priorities */
-    int result = SetPriorityClass(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            ABOVE_NORMAL_PRIORITY_CLASS);
-    if(result != 0) {
-        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-    }
-    result = SetThreadPriority(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            THREAD_PRIORITY_NORMAL);
-    if(result != 0) {
-        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-    }
-#elif defined(LINUX)
-    // we can just copy and paste the code from linux here.
-#endif
-}
-
-FixedTimeslotTask::~FixedTimeslotTask(void) {
-    //Do not delete objects, we were responsible for ptrs only.
-    terminateThread = true;
-    if(mainThread.joinable()) {
-        mainThread.join();
-    }
-    delete this;
-}
-
-void FixedTimeslotTask::taskEntryPoint(void* argument) {
-    FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-
-    if (not originalTask->started) {
-        // we have to suspend/block here until the task is started.
-        // if semaphores are implemented, use them here.
-        std::unique_lock<std::mutex> lock(initMutex);
-        initCondition.wait(lock);
-    }
-
-    this->taskFunctionality();
-    sif::debug << "FixedTimeslotTask::taskEntryPoint: "
-            "Returned from taskFunctionality." << std::endl;
-}
-
-ReturnValue_t FixedTimeslotTask::startTask() {
-    started = true;
-
-    // Notify task to start.
-    std::lock_guard<std::mutex> lock(initMutex);
-    initCondition.notify_one();
-
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
-    std::this_thread::sleep_for(std::chrono::milliseconds(ms));
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-void FixedTimeslotTask::taskFunctionality() {
-    // A local iterator for the Polling Sequence Table is created to
-    // find the start time for the first entry.
-    FixedSlotSequence::SlotListIter slotListIter = pollingSeqTable.current;
-    // Get start time for first entry.
-    chron_ms interval(slotListIter->pollingTimeMs);
-    auto currentStartTime {
-            std::chrono::duration_cast<chron_ms>(
-            std::chrono::system_clock::now().time_since_epoch())
-    };
-    if(interval.count() > 0) {
-        delayForInterval(&currentStartTime, interval);
-    }
-
-    /* Enter the loop that defines the task behavior. */
-    for (;;) {
-        if(terminateThread.load()) {
-            break;
-        }
-        //The component for this slot is executed and the next one is chosen.
-        this->pollingSeqTable.executeAndAdvance();
-        if (not pollingSeqTable.slotFollowsImmediately()) {
-            // we need to wait before executing the current slot
-            //this gives us the time to wait:
-            interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
-            delayForInterval(&currentStartTime, interval);
-            //TODO deadline missed check
-        }
-    }
-}
-
-ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
-        uint32_t slotTimeMs, int8_t executionStep) {
-    if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-        pollingSeqTable.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 pollingSeqTable.checkSequence();
-}
-
-uint32_t FixedTimeslotTask::getPeriodMs() const {
-    return period * 1000;
-}
-
-bool FixedTimeslotTask::delayForInterval(chron_ms * previousWakeTimeMs,
-        const chron_ms interval) {
-    bool shouldDelay = false;
-    //Get current wakeup time
-    auto currentStartTime =
-            std::chrono::duration_cast<chron_ms>(
-            std::chrono::system_clock::now().time_since_epoch());
-    /* Generate the tick time at which the task wants to wake. */
-    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
-
-    if (currentStartTime < *previousWakeTimeMs) {
-        /* The tick count has overflowed since this function was
-         lasted called.  In this case the only time we should ever
-         actually delay is if the wake time has also    overflowed,
-         and the wake time is greater than the tick time.  When this
-         is the case it is as if neither time had overflowed. */
-        if ((nextTimeToWake_ms < *previousWakeTimeMs)
-                && (nextTimeToWake_ms > currentStartTime)) {
-            shouldDelay = true;
-        }
-    } else {
-        /* The tick time has not overflowed.  In this case we will
-         delay if either the wake time has overflowed, and/or the
-         tick time is less than the wake time. */
-        if ((nextTimeToWake_ms < *previousWakeTimeMs)
-                || (nextTimeToWake_ms >  currentStartTime)) {
-            shouldDelay = true;
-        }
-    }
-
-    /* Update the wake time ready for the next call. */
-
-    (*previousWakeTimeMs) =  nextTimeToWake_ms;
-
-    if (shouldDelay) {
-        auto sleepTime = std::chrono::duration_cast<chron_ms>(
-                nextTimeToWake_ms - currentStartTime);
-        std::this_thread::sleep_for(sleepTime);
-        return true;
-    }
-    //We are shifting the time in case the deadline was missed like rtems
-    (*previousWakeTimeMs) = currentStartTime;
-    return false;
-
-}
-
-
-
-
+#include "../../osal/host/FixedTimeslotTask.h"
+
+#include "../../ipc/MutexFactory.h"
+#include "../../osal/host/Mutex.h"
+#include "../../osal/host/FixedTimeslotTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
+        TaskStackSize setStack, TaskPeriod setPeriod,
+        void (*setDeadlineMissedFunc)()) :
+        started(false), pollingSeqTable(setPeriod*1000), taskName(name),
+        period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+    mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+FixedTimeslotTask::~FixedTimeslotTask(void) {
+    //Do not delete objects, we were responsible for ptrs only.
+    terminateThread = true;
+    if(mainThread.joinable()) {
+        mainThread.join();
+    }
+    delete this;
+}
+
+void FixedTimeslotTask::taskEntryPoint(void* argument) {
+    FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+
+    if (not originalTask->started) {
+        // we have to suspend/block here until the task is started.
+        // if semaphores are implemented, use them here.
+        std::unique_lock<std::mutex> lock(initMutex);
+        initCondition.wait(lock);
+    }
+
+    this->taskFunctionality();
+    sif::debug << "FixedTimeslotTask::taskEntryPoint: "
+            "Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+    started = true;
+
+    // Notify task to start.
+    std::lock_guard<std::mutex> lock(initMutex);
+    initCondition.notify_one();
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void FixedTimeslotTask::taskFunctionality() {
+    // A local iterator for the Polling Sequence Table is created to
+    // find the start time for the first entry.
+    FixedSlotSequence::SlotListIter slotListIter = pollingSeqTable.current;
+    // Get start time for first entry.
+    chron_ms interval(slotListIter->pollingTimeMs);
+    auto currentStartTime {
+            std::chrono::duration_cast<chron_ms>(
+            std::chrono::system_clock::now().time_since_epoch())
+    };
+    if(interval.count() > 0) {
+        delayForInterval(&currentStartTime, interval);
+    }
+
+    /* Enter the loop that defines the task behavior. */
+    for (;;) {
+        if(terminateThread.load()) {
+            break;
+        }
+        //The component for this slot is executed and the next one is chosen.
+        this->pollingSeqTable.executeAndAdvance();
+        if (not pollingSeqTable.slotFollowsImmediately()) {
+            // we need to wait before executing the current slot
+            //this gives us the time to wait:
+            interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
+            delayForInterval(&currentStartTime, interval);
+            //TODO deadline missed check
+        }
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+        uint32_t slotTimeMs, int8_t executionStep) {
+    if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+        pollingSeqTable.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::checkAndInitializeSequence() const {
+    return pollingSeqTable.checkSequence();
+}
+
+uint32_t FixedTimeslotTask::getPeriodMs() const {
+    return period * 1000;
+}
+
+bool FixedTimeslotTask::delayForInterval(chron_ms * previousWakeTimeMs,
+        const chron_ms interval) {
+    bool shouldDelay = false;
+    //Get current wakeup time
+    auto currentStartTime =
+            std::chrono::duration_cast<chron_ms>(
+            std::chrono::system_clock::now().time_since_epoch());
+    /* Generate the tick time at which the task wants to wake. */
+    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
+
+    if (currentStartTime < *previousWakeTimeMs) {
+        /* The tick count has overflowed since this function was
+         lasted called.  In this case the only time we should ever
+         actually delay is if the wake time has also    overflowed,
+         and the wake time is greater than the tick time.  When this
+         is the case it is as if neither time had overflowed. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                && (nextTimeToWake_ms > currentStartTime)) {
+            shouldDelay = true;
+        }
+    } else {
+        /* The tick time has not overflowed.  In this case we will
+         delay if either the wake time has overflowed, and/or the
+         tick time is less than the wake time. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                || (nextTimeToWake_ms >  currentStartTime)) {
+            shouldDelay = true;
+        }
+    }
+
+    /* Update the wake time ready for the next call. */
+
+    (*previousWakeTimeMs) =  nextTimeToWake_ms;
+
+    if (shouldDelay) {
+        auto sleepTime = std::chrono::duration_cast<chron_ms>(
+                nextTimeToWake_ms - currentStartTime);
+        std::this_thread::sleep_for(sleepTime);
+        return true;
+    }
+    //We are shifting the time in case the deadline was missed like rtems
+    (*previousWakeTimeMs) = currentStartTime;
+    return false;
+
+}
+
+
+
+
diff --git a/osal/host/FixedTimeslotTask.h b/osal/host/FixedTimeslotTask.h
index bbee94a6..3ea97b97 100644
--- a/osal/host/FixedTimeslotTask.h
+++ b/osal/host/FixedTimeslotTask.h
@@ -1,130 +1,130 @@
-#ifndef FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
-#define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
-
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/FixedSlotSequence.h"
-#include "../../tasks/FixedTimeslotTaskIF.h"
-#include "../../tasks/Typedef.h"
-
-#include <vector>
-#include <thread>
-#include <condition_variable>
-#include <atomic>
-
-class ExecutableObjectIF;
-
-/**
- * @brief   This class represents a task for periodic activities with multiple
- *          steps and strict timeslot requirements for these steps.
- * @details
- * @ingroup task_handling
- */
-class FixedTimeslotTask: public FixedTimeslotTaskIF {
-public:
-    /**
-     * @brief   Standard constructor of the class.
-     * @details
-     * The class is initialized without allocated objects. These need to be
-     * added with #addComponent.
-     * @param priority
-     * @param stack_size
-     * @param setPeriod
-     * @param setDeadlineMissedFunc
-     * The function pointer to the deadline missed function that shall be
-     * assigned.
-     */
-    FixedTimeslotTask(const char *name, TaskPriority setPriority,
-            TaskStackSize setStack, TaskPeriod setPeriod,
-            void (*setDeadlineMissedFunc)());
-    /**
-     * @brief   Currently, the executed object's lifetime is not coupled with
-     *          the task object's lifetime, so the destructor is empty.
-     */
-    virtual ~FixedTimeslotTask(void);
-
-    /**
-     * @brief   The method to start the task.
-     * @details The method starts the task with the respective system call.
-     *          Entry point is the taskEntryPoint method described below.
-     *          The address of the task object is passed as an argument
-     *          to the system call.
-     */
-    ReturnValue_t startTask(void);
-
-    /**
-     * Add timeslot to the polling sequence table.
-     * @param componentId
-     * @param slotTimeMs
-     * @param executionStep
-     * @return
-     */
-    ReturnValue_t addSlot(object_id_t componentId,
-                   uint32_t slotTimeMs, int8_t executionStep);
-
-    ReturnValue_t checkSequence() const;
-
-    uint32_t getPeriodMs() const;
-
-    ReturnValue_t sleepFor(uint32_t ms);
-
-protected:
-    using chron_ms = std::chrono::milliseconds;
-
-    bool started;
-    //!< Typedef for the List of objects.
-    typedef std::vector<ExecutableObjectIF*> ObjectList;
-    std::thread mainThread;
-    std::atomic<bool> terminateThread = false;
-
-    //! Polling sequence table which contains the object to execute
-    //! and information like the timeslots and the passed execution step.
-    FixedSlotSequence pollingSeqTable;
-
-    std::condition_variable initCondition;
-    std::mutex initMutex;
-    std::string taskName;
-    /**
-     * @brief   The period of the task.
-     * @details
-     * The period determines the frequency of the task's execution.
-     * It is expressed in clock ticks.
-     */
-    TaskPeriod period;
-
-    /**
-     * @brief   The pointer to the deadline-missed function.
-     * @details
-     * This pointer stores the function that is executed if the task's deadline
-     * is missed. So, each may react individually on a timing failure.
-     * The pointer may be NULL, then nothing happens on missing the deadline.
-     * The deadline is equal to the next execution of the periodic task.
-     */
-    void (*deadlineMissedFunc)(void);
-    /**
-     * @brief   This is the function executed in the new task's context.
-     * @details
-     * It converts the argument back to the thread object type and copies the
-     * class instance to the task context.
-     * The taskFunctionality method is called afterwards.
-     * @param   A pointer to the task object itself is passed as argument.
-     */
-
-    void taskEntryPoint(void* argument);
-    /**
-     * @brief   The function containing the actual functionality of the task.
-     * @details
-     * The method sets and starts the task's period, then enters a loop that is
-     * repeated as long as the isRunning attribute is true. Within the loop,
-     * all performOperation methods of the added objects are called. Afterwards
-     * the checkAndRestartPeriod system call blocks the task until the next
-     *  period. On missing the deadline, the deadlineMissedFunction is executed.
-     */
-    void taskFunctionality(void);
-
-    bool delayForInterval(chron_ms * previousWakeTimeMs,
-            const chron_ms interval);
-};
-
-
-
-#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */
+#ifndef FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
+
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief   This class represents a task for periodic activities with multiple
+ *          steps and strict timeslot requirements for these steps.
+ * @details
+ * @ingroup task_handling
+ */
+class FixedTimeslotTask: public FixedTimeslotTaskIF {
+public:
+    /**
+     * @brief   Standard constructor of the class.
+     * @details
+     * The class is initialized without allocated objects. These need to be
+     * added with #addComponent.
+     * @param priority
+     * @param stack_size
+     * @param setPeriod
+     * @param setDeadlineMissedFunc
+     * The function pointer to the deadline missed function that shall be
+     * assigned.
+     */
+    FixedTimeslotTask(const char *name, TaskPriority setPriority,
+            TaskStackSize setStack, TaskPeriod setPeriod,
+            void (*setDeadlineMissedFunc)());
+    /**
+     * @brief   Currently, the executed object's lifetime is not coupled with
+     *          the task object's lifetime, so the destructor is empty.
+     */
+    virtual ~FixedTimeslotTask(void);
+
+    /**
+     * @brief   The method to start the task.
+     * @details The method starts the task with the respective system call.
+     *          Entry point is the taskEntryPoint method described below.
+     *          The address of the task object is passed as an argument
+     *          to the system call.
+     */
+    ReturnValue_t startTask(void);
+
+    /**
+     * Add timeslot to the polling sequence table.
+     * @param componentId
+     * @param slotTimeMs
+     * @param executionStep
+     * @return
+     */
+    ReturnValue_t addSlot(object_id_t componentId,
+                   uint32_t slotTimeMs, int8_t executionStep);
+
+    ReturnValue_t checkAndInitializeSequence() const;
+
+    uint32_t getPeriodMs() const;
+
+    ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+    using chron_ms = std::chrono::milliseconds;
+
+    bool started;
+    //!< Typedef for the List of objects.
+    typedef std::vector<ExecutableObjectIF*> ObjectList;
+    std::thread mainThread;
+    std::atomic<bool> terminateThread = false;
+
+    //! Polling sequence table which contains the object to execute
+    //! and information like the timeslots and the passed execution step.
+    FixedSlotSequence pollingSeqTable;
+
+    std::condition_variable initCondition;
+    std::mutex initMutex;
+    std::string taskName;
+    /**
+     * @brief   The period of the task.
+     * @details
+     * The period determines the frequency of the task's execution.
+     * It is expressed in clock ticks.
+     */
+    TaskPeriod period;
+
+    /**
+     * @brief   The pointer to the deadline-missed function.
+     * @details
+     * This pointer stores the function that is executed if the task's deadline
+     * is missed. So, each may react individually on a timing failure.
+     * The pointer may be NULL, then nothing happens on missing the deadline.
+     * The deadline is equal to the next execution of the periodic task.
+     */
+    void (*deadlineMissedFunc)(void);
+    /**
+     * @brief   This is the function executed in the new task's context.
+     * @details
+     * It converts the argument back to the thread object type and copies the
+     * class instance to the task context.
+     * The taskFunctionality method is called afterwards.
+     * @param   A pointer to the task object itself is passed as argument.
+     */
+
+    void taskEntryPoint(void* argument);
+    /**
+     * @brief   The function containing the actual functionality of the task.
+     * @details
+     * The method sets and starts the task's period, then enters a loop that is
+     * repeated as long as the isRunning attribute is true. Within the loop,
+     * all performOperation methods of the added objects are called. Afterwards
+     * the checkAndRestartPeriod system call blocks the task until the next
+     *  period. On missing the deadline, the deadlineMissedFunction is executed.
+     */
+    void taskFunctionality(void);
+
+    bool delayForInterval(chron_ms * previousWakeTimeMs,
+            const chron_ms interval);
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */
diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
index 6fd42849..8a34282c 100644
--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@@ -1,155 +1,155 @@
-#include "../../osal/host/MessageQueue.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../osal/host/QueueMapManager.h"
-#include "../../ipc/MutexFactory.h"
-#include "../../ipc/MutexHelper.h"
-
-MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
-		messageSize(maxMessageSize), messageDepth(messageDepth) {
-	queueLock = MutexFactory::instance()->createMutex();
-	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "MessageQueue: Could not be created" << std::endl;
-	}
-}
-
-MessageQueue::~MessageQueue() {
-	MutexFactory::instance()->deleteMutex(queueLock);
-}
-
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessageIF* message, bool ignoreFault) {
-	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
-	return sendToDefaultFrom(message, this->getId());
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
-		MessageQueueId_t sentFrom, bool ignoreFault) {
-	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
-}
-
-ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-	if (this->lastPartner != 0) {
-		return sendMessageFrom(this->lastPartner, message, this->getId());
-	} else {
-		return MessageQueueIF::NO_REPLY_PARTNER;
-	}
-}
-
-ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
-	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
-			ignoreFault);
-}
-
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
-		MessageQueueId_t* receivedFrom) {
-	ReturnValue_t status = this->receiveMessage(message);
-	if(status == HasReturnvaluesIF::RETURN_OK) {
-		*receivedFrom = this->lastPartner;
-	}
-	return status;
-}
-
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
-	if(messageQueue.empty()) {
-		return MessageQueueIF::EMPTY;
-	}
-	// not sure this will work..
-	//*message = std::move(messageQueue.front());
-	MutexHelper mutexLock(queueLock, 20);
-	MessageQueueMessage* currentMessage = &messageQueue.front();
-	std::copy(currentMessage->getBuffer(),
-			currentMessage->getBuffer() + messageSize, message->getBuffer());
-	messageQueue.pop();
-	// The last partner is the first uint32_t field in the message
-	this->lastPartner = message->getSender();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-MessageQueueId_t MessageQueue::getLastPartner() const {
-	return lastPartner;
-}
-
-ReturnValue_t MessageQueue::flush(uint32_t* count) {
-	*count = messageQueue.size();
-	// Clears the queue.
-	messageQueue = std::queue<MessageQueueMessage>();
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-MessageQueueId_t MessageQueue::getId() const {
-	return mqId;
-}
-
-void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
-	defaultDestinationSet = true;
-	this->defaultDestination = defaultDestination;
-}
-
-MessageQueueId_t MessageQueue::getDefaultDestination() const {
-	return defaultDestination;
-}
-
-bool MessageQueue::isDefaultDestinationSet() const {
-	return defaultDestinationSet;
-}
-
-
-// static core function to send messages.
-ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-        bool ignoreFault) {
-	if(message->getMessageSize() > message->getMaximumMessageSize()) {
-		// Actually, this should never happen or an error will be emitted
-		// in MessageQueueMessage.
-		// But I will still return a failure here.
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	MessageQueue* targetQueue = dynamic_cast<MessageQueue*>(
-			QueueMapManager::instance()->getMessageQueue(sendTo));
-	if(targetQueue == nullptr) {
-		if(not ignoreFault) {
-			InternalErrorReporterIF* internalErrorReporter =
-					objectManager->get<InternalErrorReporterIF>(
-							objects::INTERNAL_ERROR_REPORTER);
-			if (internalErrorReporter != nullptr) {
-				internalErrorReporter->queueMessageNotSent();
-			}
-		}
-		// TODO: Better returnvalue
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
-		MutexHelper mutexLock(targetQueue->queueLock, 20);
-		// not ideal, works for now though.
-		MessageQueueMessage* mqmMessage =
-				dynamic_cast<MessageQueueMessage*>(message);
-		if(message != nullptr) {
-			targetQueue->messageQueue.push(*mqmMessage);
-		}
-		else {
-			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
-					"is not MessageQueueMessage!" << std::endl;
-		}
-
-	}
-	else {
-		return MessageQueueIF::FULL;
-	}
-    message->setSender(sentFrom);
-    return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t MessageQueue::lockQueue(dur_millis_t lockTimeout) {
-	return queueLock->lockMutex(lockTimeout);
-}
-
-ReturnValue_t MessageQueue::unlockQueue() {
-	return queueLock->unlockMutex();
-}
+#include "../../osal/host/MessageQueue.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../osal/host/QueueMapManager.h"
+#include "../../ipc/MutexFactory.h"
+#include "../../ipc/MutexHelper.h"
+
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
+		messageSize(maxMessageSize), messageDepth(messageDepth) {
+	queueLock = MutexFactory::instance()->createMutex();
+	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "MessageQueue: Could not be created" << std::endl;
+	}
+}
+
+MessageQueue::~MessageQueue() {
+	MutexFactory::instance()->deleteMutex(queueLock);
+}
+
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, bool ignoreFault) {
+	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
+	return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+	if (this->lastPartner != 0) {
+		return sendMessageFrom(this->lastPartner, message, this->getId());
+	} else {
+		return MessageQueueIF::NO_REPLY_PARTNER;
+	}
+}
+
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
+			ignoreFault);
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
+		MessageQueueId_t* receivedFrom) {
+	ReturnValue_t status = this->receiveMessage(message);
+	if(status == HasReturnvaluesIF::RETURN_OK) {
+		*receivedFrom = this->lastPartner;
+	}
+	return status;
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	if(messageQueue.empty()) {
+		return MessageQueueIF::EMPTY;
+	}
+	// not sure this will work..
+	//*message = std::move(messageQueue.front());
+	MutexHelper mutexLock(queueLock, 20);
+	MessageQueueMessage* currentMessage = &messageQueue.front();
+	std::copy(currentMessage->getBuffer(),
+			currentMessage->getBuffer() + messageSize, message->getBuffer());
+	messageQueue.pop();
+	// The last partner is the first uint32_t field in the message
+	this->lastPartner = message->getSender();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getLastPartner() const {
+	return lastPartner;
+}
+
+ReturnValue_t MessageQueue::flush(uint32_t* count) {
+	*count = messageQueue.size();
+	// Clears the queue.
+	messageQueue = std::queue<MessageQueueMessage>();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getId() const {
+	return mqId;
+}
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+	defaultDestinationSet = true;
+	this->defaultDestination = defaultDestination;
+}
+
+MessageQueueId_t MessageQueue::getDefaultDestination() const {
+	return defaultDestination;
+}
+
+bool MessageQueue::isDefaultDestinationSet() const {
+	return defaultDestinationSet;
+}
+
+
+// static core function to send messages.
+ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+        bool ignoreFault) {
+	if(message->getMessageSize() > message->getMaximumMessageSize()) {
+		// Actually, this should never happen or an error will be emitted
+		// in MessageQueueMessage.
+		// But I will still return a failure here.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	MessageQueue* targetQueue = dynamic_cast<MessageQueue*>(
+			QueueMapManager::instance()->getMessageQueue(sendTo));
+	if(targetQueue == nullptr) {
+		if(not ignoreFault) {
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
+							objects::INTERNAL_ERROR_REPORTER);
+			if (internalErrorReporter != nullptr) {
+				internalErrorReporter->queueMessageNotSent();
+			}
+		}
+		// TODO: Better returnvalue
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
+		MutexHelper mutexLock(targetQueue->queueLock, 20);
+		// not ideal, works for now though.
+		MessageQueueMessage* mqmMessage =
+				dynamic_cast<MessageQueueMessage*>(message);
+		if(message != nullptr) {
+			targetQueue->messageQueue.push(*mqmMessage);
+		}
+		else {
+			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
+					"is not MessageQueueMessage!" << std::endl;
+		}
+
+	}
+	else {
+		return MessageQueueIF::FULL;
+	}
+    message->setSender(sentFrom);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MessageQueue::lockQueue(dur_millis_t lockTimeout) {
+	return queueLock->lockMutex(lockTimeout);
+}
+
+ReturnValue_t MessageQueue::unlockQueue() {
+	return queueLock->unlockMutex();
+}
diff --git a/osal/host/MessageQueue.h b/osal/host/MessageQueue.h
index d2da2402..21a01663 100644
--- a/osal/host/MessageQueue.h
+++ b/osal/host/MessageQueue.h
@@ -1,230 +1,230 @@
-#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
-#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
-
-#include "../../internalError/InternalErrorReporterIF.h"
-#include "../../ipc/MessageQueueIF.h"
-#include "../../ipc/MessageQueueMessage.h"
-#include "../../ipc/MutexIF.h"
-#include "../../timemanager/Clock.h"
-
-#include <queue>
-#include <memory>
-
-/**
- * @brief		This class manages sending and receiving of
- * 				message queue messages.
- * @details
- * Message queues are used to pass asynchronous messages between processes.
- * They work like post boxes, where all incoming messages are stored in FIFO
- * order. This class creates a new receiving queue and provides methods to fetch
- * received messages. Being a child of MessageQueueSender, this class also
- * provides methods to send a message to a user-defined or a default destination.
- * In addition it also provides a reply method to answer to the queue it
- * received its last message from.
- *
- * The MessageQueue should be used as "post box" for a single owning object.
- * So all message queue communication is "n-to-one".
- * For creating the queue, as well as sending and receiving messages, the class
- * makes use of the operating system calls provided.
- *
- * Please keep in mind that FreeRTOS offers different calls for message queue
- * operations if called from an ISR.
- * For now, the system context needs to be switched manually.
- * @ingroup osal
- * @ingroup message_queue
- */
-class MessageQueue : public MessageQueueIF {
-	friend class MessageQueueSenderIF;
-public:
-	/**
-	 * @brief	The constructor initializes and configures the message queue.
-	 * @details
-	 * By making use of the according operating system call, a message queue is
-	 * created and initialized. The message depth - the maximum number of
-	 * messages to be buffered - may be set with the help of a parameter,
-	 * whereas the message size is automatically set to the maximum message
-	 * queue message size. The operating system sets the message queue id, or
-	 * in case of failure, it is set to zero.
-	 * @param message_depth
-	 * The number of messages to be buffered before passing an error to the
-	 * sender. Default is three.
-	 * @param max_message_size
-	 * With this parameter, the maximum message size can be adjusted.
-	 * This should be left default.
-	 */
-	MessageQueue(size_t messageDepth = 3,
-			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
-
-	/** Copying message queues forbidden */
-	MessageQueue(const MessageQueue&) = delete;
-	MessageQueue& operator=(const MessageQueue&) = delete;
-
-	/**
-	 * @brief	The destructor deletes the formerly created message queue.
-	 * @details	This is accomplished by using the delete call provided
-	 * 			by the operating system.
-	 */
-	virtual ~MessageQueue();
-
-	/**
-	 * @brief	This operation sends a message to the given destination.
-	 * @details	It directly uses the sendMessage call of the MessageQueueSender
-	 * parent, but passes its queue id as "sentFrom" parameter.
-	 * @param sendTo	This parameter specifies the message queue id of the
-	 *  destination message queue.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 * @param ignoreFault If set to true, the internal software fault counter
-	 * is not incremented if queue is full.
-	 */
-	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, bool ignoreFault = false) override;
-	/**
-	 * @brief	This operation sends a message to the default destination.
-	 * @details	As in the sendMessage method, this function uses the
-	 * sendToDefault call of the MessageQueueSender parent class and adds its
-	 * queue id as "sentFrom" information.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 */
-	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
-	/**
-	 * @brief	This operation sends a message to the last communication partner.
-	 * @details	This operation simplifies answering an incoming message by using
-	 * the stored lastPartner information as destination. If there was no
-	 * message received yet (i.e. lastPartner is zero), an error code is returned.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 */
-	ReturnValue_t reply(MessageQueueMessageIF* message) override;
-
-	/**
-	 * @brief	With the sendMessage call, a queue message is sent to a
-	 * 			receiving queue.
-	 * @details
-	 * This method takes the message provided, adds the sentFrom information and
-	 * passes it on to the destination provided with an operating system call.
-	 *  The OS's return value is returned.
-	 * @param sendTo	This parameter specifies the message queue id to send
-	 * the message to.
-	 * @param message	This is a pointer to a previously created message,
-	 * which is sent.
-	 * @param sentFrom	The sentFrom information can be set to inject the
-	 * sender's queue id into the message. This variable is set to zero by
-	 * default.
-	 * @param ignoreFault If set to true, the internal software fault counter
-	 * is not incremented if queue is full.
-	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
-			bool ignoreFault = false) override;
-
-	/**
-	 * @brief	The sendToDefault method sends a queue message to the default
-	 * 			destination.
-	 * @details
-	 * In all other aspects, it works identical to the sendMessage method.
-	 * @param message	This is a pointer to a previously created message,
-	 * which is sent.
-	 * @param sentFrom	The sentFrom information can be set to inject the
-	 * sender's queue id into the message. This variable is set to zero by
-	 * default.
-	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
-			MessageQueueId_t sentFrom = NO_QUEUE,
-			bool ignoreFault = false) override;
-
-	/**
-	 * @brief	This function reads available messages from the message queue
-	 * 			and returns the sender.
-	 * @details
-	 * It works identically to the other receiveMessage call, but in  addition
-	 * returns the sender's queue id.
-	 * @param message	A pointer to a message in which the received data is stored.
-	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-	 */
-	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
-			MessageQueueId_t *receivedFrom) override;
-
-	/**
-	 * @brief	This function reads available messages from the message queue.
-	 * @details
-	 * If data is available it is stored in the passed message pointer.
-	 * The message's original content is overwritten and the sendFrom
-	 * information is stored in the lastPartner attribute. Else, the lastPartner
-	 * information remains untouched, the message's content is cleared and the
-	 * function returns immediately.
-	 * @param message	A pointer to a message in which the received data is stored.
-	 */
-	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
-	/**
-	 * Deletes all pending messages in the queue.
-	 * @param count The number of flushed messages.
-	 * @return RETURN_OK on success.
-	 */
-	ReturnValue_t flush(uint32_t* count) override;
-	/**
-	 * @brief	This method returns the message queue id of the last
-	 * 			communication partner.
-	 */
-	MessageQueueId_t getLastPartner() const override;
-	/**
-	 * @brief	This method returns the message queue id of this class's
-	 * 			message queue.
-	 */
-	MessageQueueId_t getId() const override;
-
-	/**
-	 * @brief	This method is a simple setter for the default destination.
-	 */
-	void setDefaultDestination(MessageQueueId_t defaultDestination) override;
-	/**
-	 * @brief	This method is a simple getter for the default destination.
-	 */
-	MessageQueueId_t getDefaultDestination() const override;
-
-	bool isDefaultDestinationSet() const override;
-
-	ReturnValue_t lockQueue(dur_millis_t lockTimeout);
-	ReturnValue_t unlockQueue();
-protected:
-	/**
-	 * @brief 	Implementation to be called from any send Call within
-	 * 			MessageQueue and MessageQueueSenderIF.
-	 * @details
-	 * This method takes the message provided, adds the sentFrom information and
-	 * passes it on to the destination provided with an operating system call.
-	 * The OS's return value is returned.
-	 * @param sendTo
-	 * This parameter specifies the message queue id to send the message to.
-	 * @param message
-	 * This is a pointer to a previously created message, which is sent.
-	 * @param sentFrom
-	 * The sentFrom information can be set to inject the sender's queue id into
-	 * the message. This variable is set to zero by default.
-	 * @param ignoreFault
-	 * If set to true, the internal software fault counter  is not incremented
-	 * if queue is full.
-	 * @param context Specify whether call is made from task or from an ISR.
-	 */
-	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
-			bool ignoreFault=false);
-
-	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
-
-private:
-	std::queue<MessageQueueMessage> messageQueue;
-	/**
-	 * @brief	The class stores the queue id it got assigned.
-	 * 			If initialization fails, the queue id is set to zero.
-	 */
-	MessageQueueId_t mqId = 0;
-	size_t messageSize = 0;
-	size_t messageDepth = 0;
-
-	MutexIF* queueLock;
-
-	bool defaultDestinationSet = false;
-	MessageQueueId_t defaultDestination = 0;
-	MessageQueueId_t lastPartner = 0;
-};
-
-#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */
+#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/MessageQueueMessage.h"
+#include "../../ipc/MutexIF.h"
+#include "../../timemanager/Clock.h"
+
+#include <queue>
+#include <memory>
+
+/**
+ * @brief		This class manages sending and receiving of
+ * 				message queue messages.
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
+ * They work like post boxes, where all incoming messages are stored in FIFO
+ * order. This class creates a new receiving queue and provides methods to fetch
+ * received messages. Being a child of MessageQueueSender, this class also
+ * provides methods to send a message to a user-defined or a default destination.
+ * In addition it also provides a reply method to answer to the queue it
+ * received its last message from.
+ *
+ * The MessageQueue should be used as "post box" for a single owning object.
+ * So all message queue communication is "n-to-one".
+ * For creating the queue, as well as sending and receiving messages, the class
+ * makes use of the operating system calls provided.
+ *
+ * Please keep in mind that FreeRTOS offers different calls for message queue
+ * operations if called from an ISR.
+ * For now, the system context needs to be switched manually.
+ * @ingroup osal
+ * @ingroup message_queue
+ */
+class MessageQueue : public MessageQueueIF {
+	friend class MessageQueueSenderIF;
+public:
+	/**
+	 * @brief	The constructor initializes and configures the message queue.
+	 * @details
+	 * By making use of the according operating system call, a message queue is
+	 * created and initialized. The message depth - the maximum number of
+	 * messages to be buffered - may be set with the help of a parameter,
+	 * whereas the message size is automatically set to the maximum message
+	 * queue message size. The operating system sets the message queue id, or
+	 * in case of failure, it is set to zero.
+	 * @param message_depth
+	 * The number of messages to be buffered before passing an error to the
+	 * sender. Default is three.
+	 * @param max_message_size
+	 * With this parameter, the maximum message size can be adjusted.
+	 * This should be left default.
+	 */
+	MessageQueue(size_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+
+	/** Copying message queues forbidden */
+	MessageQueue(const MessageQueue&) = delete;
+	MessageQueue& operator=(const MessageQueue&) = delete;
+
+	/**
+	 * @brief	The destructor deletes the formerly created message queue.
+	 * @details	This is accomplished by using the delete call provided
+	 * 			by the operating system.
+	 */
+	virtual ~MessageQueue();
+
+	/**
+	 * @brief	This operation sends a message to the given destination.
+	 * @details	It directly uses the sendMessage call of the MessageQueueSender
+	 * parent, but passes its queue id as "sentFrom" parameter.
+	 * @param sendTo	This parameter specifies the message queue id of the
+	 *  destination message queue.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 * @param ignoreFault If set to true, the internal software fault counter
+	 * is not incremented if queue is full.
+	 */
+	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, bool ignoreFault = false) override;
+	/**
+	 * @brief	This operation sends a message to the default destination.
+	 * @details	As in the sendMessage method, this function uses the
+	 * sendToDefault call of the MessageQueueSender parent class and adds its
+	 * queue id as "sentFrom" information.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+	/**
+	 * @brief	This operation sends a message to the last communication partner.
+	 * @details	This operation simplifies answering an incoming message by using
+	 * the stored lastPartner information as destination. If there was no
+	 * message received yet (i.e. lastPartner is zero), an error code is returned.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	ReturnValue_t reply(MessageQueueMessageIF* message) override;
+
+	/**
+	 * @brief	With the sendMessage call, a queue message is sent to a
+	 * 			receiving queue.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 *  The OS's return value is returned.
+	 * @param sendTo	This parameter specifies the message queue id to send
+	 * the message to.
+	 * @param message	This is a pointer to a previously created message,
+	 * which is sent.
+	 * @param sentFrom	The sentFrom information can be set to inject the
+	 * sender's queue id into the message. This variable is set to zero by
+	 * default.
+	 * @param ignoreFault If set to true, the internal software fault counter
+	 * is not incremented if queue is full.
+	 */
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	/**
+	 * @brief	The sendToDefault method sends a queue message to the default
+	 * 			destination.
+	 * @details
+	 * In all other aspects, it works identical to the sendMessage method.
+	 * @param message	This is a pointer to a previously created message,
+	 * which is sent.
+	 * @param sentFrom	The sentFrom information can be set to inject the
+	 * sender's queue id into the message. This variable is set to zero by
+	 * default.
+	 */
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	/**
+	 * @brief	This function reads available messages from the message queue
+	 * 			and returns the sender.
+	 * @details
+	 * It works identically to the other receiveMessage call, but in  addition
+	 * returns the sender's queue id.
+	 * @param message	A pointer to a message in which the received data is stored.
+	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
+	 */
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+			MessageQueueId_t *receivedFrom) override;
+
+	/**
+	 * @brief	This function reads available messages from the message queue.
+	 * @details
+	 * If data is available it is stored in the passed message pointer.
+	 * The message's original content is overwritten and the sendFrom
+	 * information is stored in the lastPartner attribute. Else, the lastPartner
+	 * information remains untouched, the message's content is cleared and the
+	 * function returns immediately.
+	 * @param message	A pointer to a message in which the received data is stored.
+	 */
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+	/**
+	 * Deletes all pending messages in the queue.
+	 * @param count The number of flushed messages.
+	 * @return RETURN_OK on success.
+	 */
+	ReturnValue_t flush(uint32_t* count) override;
+	/**
+	 * @brief	This method returns the message queue id of the last
+	 * 			communication partner.
+	 */
+	MessageQueueId_t getLastPartner() const override;
+	/**
+	 * @brief	This method returns the message queue id of this class's
+	 * 			message queue.
+	 */
+	MessageQueueId_t getId() const override;
+
+	/**
+	 * @brief	This method is a simple setter for the default destination.
+	 */
+	void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+	/**
+	 * @brief	This method is a simple getter for the default destination.
+	 */
+	MessageQueueId_t getDefaultDestination() const override;
+
+	bool isDefaultDestinationSet() const override;
+
+	ReturnValue_t lockQueue(dur_millis_t lockTimeout);
+	ReturnValue_t unlockQueue();
+protected:
+	/**
+	 * @brief 	Implementation to be called from any send Call within
+	 * 			MessageQueue and MessageQueueSenderIF.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 * The OS's return value is returned.
+	 * @param sendTo
+	 * This parameter specifies the message queue id to send the message to.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @param sentFrom
+	 * The sentFrom information can be set to inject the sender's queue id into
+	 * the message. This variable is set to zero by default.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter  is not incremented
+	 * if queue is full.
+	 * @param context Specify whether call is made from task or from an ISR.
+	 */
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false);
+
+	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
+
+private:
+	std::queue<MessageQueueMessage> messageQueue;
+	/**
+	 * @brief	The class stores the queue id it got assigned.
+	 * 			If initialization fails, the queue id is set to zero.
+	 */
+	MessageQueueId_t mqId = 0;
+	size_t messageSize = 0;
+	size_t messageDepth = 0;
+
+	MutexIF* queueLock;
+
+	bool defaultDestinationSet = false;
+	MessageQueueId_t defaultDestination = 0;
+	MessageQueueId_t lastPartner = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */
diff --git a/osal/host/Mutex.cpp b/osal/host/Mutex.cpp
index 28768507..2718f2b9 100644
--- a/osal/host/Mutex.cpp
+++ b/osal/host/Mutex.cpp
@@ -1,40 +1,40 @@
-#include "../../osal/host/Mutex.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-const uint32_t MutexIF::POLLING = 0;
-const uint32_t MutexIF::BLOCKING = 0xffffffff;
-
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	if(timeoutMs == MutexIF::BLOCKING) {
-		mutex.lock();
-		locked = true;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else if(timeoutMs == MutexIF::POLLING) {
-		if(mutex.try_lock()) {
-			locked = true;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-	else if(timeoutMs > MutexIF::POLLING){
-		auto chronoMs = std::chrono::milliseconds(timeoutMs);
-		if(mutex.try_lock_for(chronoMs)) {
-			locked = true;
-			return HasReturnvaluesIF::RETURN_OK;
-		}
-	}
-	return MutexIF::MUTEX_TIMEOUT;
-}
-
-ReturnValue_t Mutex::unlockMutex() {
-	if(not locked) {
-		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
-	}
-	mutex.unlock();
-	locked = false;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-std::timed_mutex* Mutex::getMutexHandle() {
-	return &mutex;
-}
+#include "../../osal/host/Mutex.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+const uint32_t MutexIF::POLLING = 0;
+const uint32_t MutexIF::BLOCKING = 0xffffffff;
+
+ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::BLOCKING) {
+		mutex.lock();
+		locked = true;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else if(timeoutMs == MutexIF::POLLING) {
+		if(mutex.try_lock()) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	else if(timeoutMs > MutexIF::POLLING){
+		auto chronoMs = std::chrono::milliseconds(timeoutMs);
+		if(mutex.try_lock_for(chronoMs)) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	return MutexIF::MUTEX_TIMEOUT;
+}
+
+ReturnValue_t Mutex::unlockMutex() {
+	if(not locked) {
+		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
+	}
+	mutex.unlock();
+	locked = false;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+std::timed_mutex* Mutex::getMutexHandle() {
+	return &mutex;
+}
diff --git a/osal/host/Mutex.h b/osal/host/Mutex.h
index 4d49bac7..4461e5f2 100644
--- a/osal/host/Mutex.h
+++ b/osal/host/Mutex.h
@@ -1,28 +1,28 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
-#define FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
-
-#include "../../ipc/MutexIF.h"
-
-#include <mutex>
-
-/**
- * @brief OS component to implement MUTual EXclusion
- *
- * @details
- * Mutexes are binary semaphores which include a priority inheritance mechanism.
- * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
- * @ingroup osal
- */
-class Mutex : public MutexIF {
-public:
-	Mutex() = default;
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
-	ReturnValue_t unlockMutex() override;
-
-	std::timed_mutex* getMutexHandle();
-private:
-	bool locked = false;
-	std::timed_mutex mutex;
-};
-
-#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+#define FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+
+#include "../../ipc/MutexIF.h"
+
+#include <mutex>
+
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
+class Mutex : public MutexIF {
+public:
+	Mutex() = default;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
+	ReturnValue_t unlockMutex() override;
+
+	std::timed_mutex* getMutexHandle();
+private:
+	bool locked = false;
+	std::timed_mutex mutex;
+};
+
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */
diff --git a/osal/host/MutexFactory.cpp b/osal/host/MutexFactory.cpp
index 284ce59f..bf7707d1 100644
--- a/osal/host/MutexFactory.cpp
+++ b/osal/host/MutexFactory.cpp
@@ -1,28 +1,28 @@
-#include "../../ipc/MutexFactory.h"
-#include "../../osal/host/Mutex.h"
-
-//TODO: Different variant than the lazy loading in QueueFactory.
-//What's better and why? -> one is on heap the other on bss/data
-//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
-MutexFactory* MutexFactory::factoryInstance = nullptr;
-
-MutexFactory::MutexFactory() {
-}
-
-MutexFactory::~MutexFactory() {
-}
-
-MutexFactory* MutexFactory::instance() {
-	if (factoryInstance == nullptr){
-		factoryInstance = new MutexFactory();
-	}
-	return MutexFactory::factoryInstance;
-}
-
-MutexIF* MutexFactory::createMutex() {
-	return new Mutex();
-}
-
-void MutexFactory::deleteMutex(MutexIF* mutex) {
-	delete mutex;
-}
+#include "../../ipc/MutexFactory.h"
+#include "../../osal/host/Mutex.h"
+
+//TODO: Different variant than the lazy loading in QueueFactory.
+//What's better and why? -> one is on heap the other on bss/data
+//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
+MutexFactory* MutexFactory::factoryInstance = nullptr;
+
+MutexFactory::MutexFactory() {
+}
+
+MutexFactory::~MutexFactory() {
+}
+
+MutexFactory* MutexFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new MutexFactory();
+	}
+	return MutexFactory::factoryInstance;
+}
+
+MutexIF* MutexFactory::createMutex() {
+	return new Mutex();
+}
+
+void MutexFactory::deleteMutex(MutexIF* mutex) {
+	delete mutex;
+}
diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index c4cf9f56..0b5f8bbe 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -1,176 +1,176 @@
-#include "../../ipc/MutexFactory.h"
-#include "../../osal/host/Mutex.h"
-#include "../../osal/host/PeriodicTask.h"
-
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../tasks/ExecutableObjectIF.h"
-
-#include <thread>
-#include <chrono>
-
-#if defined(WIN32)
-#include <windows.h>
-#elif defined(LINUX)
-#include <pthread.h>
-#endif
-
-PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
-		TaskStackSize setStack, TaskPeriod setPeriod,
-		void (*setDeadlineMissedFunc)()) :
-		started(false), taskName(name), period(setPeriod),
-		deadlineMissedFunc(setDeadlineMissedFunc) {
-    // It is propably possible to set task priorities by using the native
-    // task handles for Windows / Linux
-	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
-#if defined(WIN32)
-    /* List of possible priority classes:
-     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
-     * nf-processthreadsapi-setpriorityclass
-     * And respective thread priority numbers:
-     * https://docs.microsoft.com/en-us/windows/
-     * win32/procthread/scheduling-priorities */
-    int result = SetPriorityClass(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            ABOVE_NORMAL_PRIORITY_CLASS);
-    if(result != 0) {
-        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-    }
-    result = SetThreadPriority(
-            reinterpret_cast<HANDLE>(mainThread.native_handle()),
-            THREAD_PRIORITY_NORMAL);
-    if(result != 0) {
-        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
-                << GetLastError() << std::endl;
-    }
-#elif defined(LINUX)
-    // we can just copy and paste the code from linux here.
-#endif
-}
-
-PeriodicTask::~PeriodicTask(void) {
-	//Do not delete objects, we were responsible for ptrs only.
-	terminateThread = true;
-	if(mainThread.joinable()) {
-		mainThread.join();
-	}
-	delete this;
-}
-
-void PeriodicTask::taskEntryPoint(void* argument) {
-	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
-
-
-	if (not originalTask->started) {
-		// we have to suspend/block here until the task is started.
-		// if semaphores are implemented, use them here.
-		std::unique_lock<std::mutex> lock(initMutex);
-		initCondition.wait(lock);
-	}
-
-	this->taskFunctionality();
-	sif::debug << "PeriodicTask::taskEntryPoint: "
-			"Returned from taskFunctionality." << std::endl;
-}
-
-ReturnValue_t PeriodicTask::startTask() {
-	started = true;
-
-	// Notify task to start.
-	std::lock_guard<std::mutex> lock(initMutex);
-	initCondition.notify_one();
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
-	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void PeriodicTask::taskFunctionality() {
-	std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
-	auto currentStartTime {
-	    std::chrono::duration_cast<std::chrono::milliseconds>(
-	    std::chrono::system_clock::now().time_since_epoch())
-	};
-	auto nextStartTime{ currentStartTime };
-
-	/* Enter the loop that defines the task behavior. */
-	for (;;) {
-		if(terminateThread.load()) {
-			break;
-		}
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
-		}
-		if(not delayForInterval(&currentStartTime, periodChrono)) {
-			sif::warning << "PeriodicTask: " << taskName <<
-					" missed deadline!\n" << std::flush;
-			if(deadlineMissedFunc != nullptr) {
-				this->deadlineMissedFunc();
-			}
-		}
-	}
-}
-
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
-	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
-			object);
-	if (newObject == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	objectList.push_back(newObject);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t PeriodicTask::getPeriodMs() const {
-	return period * 1000;
-}
-
-bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs,
-        const chron_ms interval) {
-    bool shouldDelay = false;
-    //Get current wakeup time
-    auto currentStartTime =
-            std::chrono::duration_cast<std::chrono::milliseconds>(
-            std::chrono::system_clock::now().time_since_epoch());
-    /* Generate the tick time at which the task wants to wake. */
-    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
-
-    if (currentStartTime < *previousWakeTimeMs) {
-        /* The tick count has overflowed since this function was
-         lasted called.  In this case the only time we should ever
-         actually delay is if the wake time has also    overflowed,
-         and the wake time is greater than the tick time.  When this
-         is the case it is as if neither time had overflowed. */
-        if ((nextTimeToWake_ms < *previousWakeTimeMs)
-                && (nextTimeToWake_ms > currentStartTime)) {
-            shouldDelay = true;
-        }
-    } else {
-        /* The tick time has not overflowed.  In this case we will
-         delay if either the wake time has overflowed, and/or the
-         tick time is less than the wake time. */
-        if ((nextTimeToWake_ms < *previousWakeTimeMs)
-                || (nextTimeToWake_ms >  currentStartTime)) {
-            shouldDelay = true;
-        }
-    }
-
-    /* Update the wake time ready for the next call. */
-
-    (*previousWakeTimeMs) =  nextTimeToWake_ms;
-
-    if (shouldDelay) {
-        auto sleepTime = std::chrono::duration_cast<std::chrono::milliseconds>(
-                nextTimeToWake_ms - currentStartTime);
-        std::this_thread::sleep_for(sleepTime);
-        return true;
-    }
-    //We are shifting the time in case the deadline was missed like rtems
-    (*previousWakeTimeMs) = currentStartTime;
-    return false;
-
-}
+#include "../../ipc/MutexFactory.h"
+#include "../../osal/host/Mutex.h"
+#include "../../osal/host/PeriodicTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod setPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		started(false), taskName(name), period(setPeriod),
+		deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+PeriodicTask::~PeriodicTask(void) {
+	//Do not delete objects, we were responsible for ptrs only.
+	terminateThread = true;
+	if(mainThread.joinable()) {
+		mainThread.join();
+	}
+	delete this;
+}
+
+void PeriodicTask::taskEntryPoint(void* argument) {
+	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
+
+
+	if (not originalTask->started) {
+		// we have to suspend/block here until the task is started.
+		// if semaphores are implemented, use them here.
+		std::unique_lock<std::mutex> lock(initMutex);
+		initCondition.wait(lock);
+	}
+
+	this->taskFunctionality();
+	sif::debug << "PeriodicTask::taskEntryPoint: "
+			"Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	started = true;
+
+	// Notify task to start.
+	std::lock_guard<std::mutex> lock(initMutex);
+	initCondition.notify_one();
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PeriodicTask::taskFunctionality() {
+	std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
+	auto currentStartTime {
+	    std::chrono::duration_cast<std::chrono::milliseconds>(
+	    std::chrono::system_clock::now().time_since_epoch())
+	};
+	auto nextStartTime{ currentStartTime };
+
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		if(terminateThread.load()) {
+			break;
+		}
+		for (ObjectList::iterator it = objectList.begin();
+				it != objectList.end(); ++it) {
+			(*it)->performOperation();
+		}
+		if(not delayForInterval(&currentStartTime, periodChrono)) {
+			sif::warning << "PeriodicTask: " << taskName <<
+					" missed deadline!\n" << std::flush;
+			if(deadlineMissedFunc != nullptr) {
+				this->deadlineMissedFunc();
+			}
+		}
+	}
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+	return period * 1000;
+}
+
+bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs,
+        const chron_ms interval) {
+    bool shouldDelay = false;
+    //Get current wakeup time
+    auto currentStartTime =
+            std::chrono::duration_cast<std::chrono::milliseconds>(
+            std::chrono::system_clock::now().time_since_epoch());
+    /* Generate the tick time at which the task wants to wake. */
+    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
+
+    if (currentStartTime < *previousWakeTimeMs) {
+        /* The tick count has overflowed since this function was
+         lasted called.  In this case the only time we should ever
+         actually delay is if the wake time has also    overflowed,
+         and the wake time is greater than the tick time.  When this
+         is the case it is as if neither time had overflowed. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                && (nextTimeToWake_ms > currentStartTime)) {
+            shouldDelay = true;
+        }
+    } else {
+        /* The tick time has not overflowed.  In this case we will
+         delay if either the wake time has overflowed, and/or the
+         tick time is less than the wake time. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                || (nextTimeToWake_ms >  currentStartTime)) {
+            shouldDelay = true;
+        }
+    }
+
+    /* Update the wake time ready for the next call. */
+
+    (*previousWakeTimeMs) =  nextTimeToWake_ms;
+
+    if (shouldDelay) {
+        auto sleepTime = std::chrono::duration_cast<std::chrono::milliseconds>(
+                nextTimeToWake_ms - currentStartTime);
+        std::this_thread::sleep_for(sleepTime);
+        return true;
+    }
+    //We are shifting the time in case the deadline was missed like rtems
+    (*previousWakeTimeMs) = currentStartTime;
+    return false;
+
+}
diff --git a/osal/host/PeriodicTask.h b/osal/host/PeriodicTask.h
index 7eb768cb..7689788a 100644
--- a/osal/host/PeriodicTask.h
+++ b/osal/host/PeriodicTask.h
@@ -1,123 +1,123 @@
-#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
-#define FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
-
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
-#include "../../tasks/Typedef.h"
-
-#include <vector>
-#include <thread>
-#include <condition_variable>
-#include <atomic>
-
-class ExecutableObjectIF;
-
-/**
- * @brief 	This class represents a specialized task for
- * 			periodic activities of multiple objects.
- * @details
- *
- * @ingroup task_handling
- */
-class PeriodicTask: public PeriodicTaskIF {
-public:
-	/**
-	 * @brief	Standard constructor of the class.
-	 * @details
-	 * The class is initialized without allocated objects. These need to be
-	 * added with #addComponent.
-	 * @param priority
-	 * @param stack_size
-	 * @param setPeriod
-	 * @param setDeadlineMissedFunc
-	 * The function pointer to the deadline missed function that shall be
-	 * assigned.
-	 */
-	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
-			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
-	/**
-	 * @brief	Currently, the executed object's lifetime is not coupled with
-	 * 			the task object's lifetime, so the destructor is empty.
-	 */
-	virtual ~PeriodicTask(void);
-
-	/**
-	 * @brief	The method to start the task.
-	 * @details	The method starts the task with the respective system call.
-	 * 			Entry point is the taskEntryPoint method described below.
-	 * 			The address of the task object is passed as an argument
-	 * 			to the system call.
-	 */
-	ReturnValue_t startTask(void);
-	/**
-	 * Adds an object to the list of objects to be executed.
-	 * The objects are executed in the order added.
-	 * @param object Id of the object to add.
-	 * @return
-	 *  -@c RETURN_OK on success
-	 *  -@c RETURN_FAILED if the object could not be added.
-	 */
-	ReturnValue_t addComponent(object_id_t object);
-
-	uint32_t getPeriodMs() const;
-
-	ReturnValue_t sleepFor(uint32_t ms);
-
-protected:
-	using chron_ms = std::chrono::milliseconds;
-	bool started;
-	//!< Typedef for the List of objects.
-	typedef std::vector<ExecutableObjectIF*> ObjectList;
-	std::thread mainThread;
-	std::atomic<bool> terminateThread = false;
-
-	/**
-	 * @brief	This attribute holds a list of objects to be executed.
-	 */
-	ObjectList objectList;
-
-	std::condition_variable initCondition;
-	std::mutex initMutex;
-	std::string taskName;
-	/**
-	 * @brief	The period of the task.
-	 * @details
-	 * The period determines the frequency of the task's execution.
-	 * It is expressed in clock ticks.
-	 */
-	TaskPeriod period;
-	/**
-	 * @brief	The pointer to the deadline-missed function.
-	 * @details
-	 * This pointer stores the function that is executed if the task's deadline
-	 * is missed. So, each may react individually on a timing failure.
-	 * The pointer may be NULL, then nothing happens on missing the deadline.
-	 * The deadline is equal to the next execution of the periodic task.
-	 */
-	void (*deadlineMissedFunc)(void);
-	/**
-	 * @brief	This is the function executed in the new task's context.
-	 * @details
-	 * It converts the argument back to the thread object type and copies the
-	 * class instance to the task context.
-	 * The taskFunctionality method is called afterwards.
-	 * @param	A pointer to the task object itself is passed as argument.
-	 */
-
-	void taskEntryPoint(void* argument);
-	/**
-	 * @brief	The function containing the actual functionality of the task.
-	 * @details
-	 * The method sets and starts the task's period, then enters a loop that is
-	 * repeated as long as the isRunning attribute is true. Within the loop,
-	 * all performOperation methods of the added objects are called. Afterwards
-	 * the checkAndRestartPeriod system call blocks the task until the next
-	 *  period. On missing the deadline, the deadlineMissedFunction is executed.
-	 */
-	void taskFunctionality(void);
-
-	bool delayForInterval(chron_ms * previousWakeTimeMs,
-	        const chron_ms interval);
-};
-
-#endif /* PERIODICTASK_H_ */
+#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
+ * @details
+ *
+ * @ingroup task_handling
+ */
+class PeriodicTask: public PeriodicTaskIF {
+public:
+	/**
+	 * @brief	Standard constructor of the class.
+	 * @details
+	 * The class is initialized without allocated objects. These need to be
+	 * added with #addComponent.
+	 * @param priority
+	 * @param stack_size
+	 * @param setPeriod
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall be
+	 * assigned.
+	 */
+	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
+			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
+	/**
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
+	 */
+	virtual ~PeriodicTask(void);
+
+	/**
+	 * @brief	The method to start the task.
+	 * @details	The method starts the task with the respective system call.
+	 * 			Entry point is the taskEntryPoint method described below.
+	 * 			The address of the task object is passed as an argument
+	 * 			to the system call.
+	 */
+	ReturnValue_t startTask(void);
+	/**
+	 * Adds an object to the list of objects to be executed.
+	 * The objects are executed in the order added.
+	 * @param object Id of the object to add.
+	 * @return
+	 *  -@c RETURN_OK on success
+	 *  -@c RETURN_FAILED if the object could not be added.
+	 */
+	ReturnValue_t addComponent(object_id_t object);
+
+	uint32_t getPeriodMs() const;
+
+	ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+	using chron_ms = std::chrono::milliseconds;
+	bool started;
+	//!< Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
+	std::thread mainThread;
+	std::atomic<bool> terminateThread = false;
+
+	/**
+	 * @brief	This attribute holds a list of objects to be executed.
+	 */
+	ObjectList objectList;
+
+	std::condition_variable initCondition;
+	std::mutex initMutex;
+	std::string taskName;
+	/**
+	 * @brief	The period of the task.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
+	 */
+	TaskPeriod period;
+	/**
+	 * @brief	The pointer to the deadline-missed function.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed. So, each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the function executed in the new task's context.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context.
+	 * The taskFunctionality method is called afterwards.
+	 * @param	A pointer to the task object itself is passed as argument.
+	 */
+
+	void taskEntryPoint(void* argument);
+	/**
+	 * @brief	The function containing the actual functionality of the task.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called. Afterwards
+	 * the checkAndRestartPeriod system call blocks the task until the next
+	 *  period. On missing the deadline, the deadlineMissedFunction is executed.
+	 */
+	void taskFunctionality(void);
+
+	bool delayForInterval(chron_ms * previousWakeTimeMs,
+	        const chron_ms interval);
+};
+
+#endif /* PERIODICTASK_H_ */
diff --git a/osal/host/QueueFactory.cpp b/osal/host/QueueFactory.cpp
index 052671ca..da3fea55 100644
--- a/osal/host/QueueFactory.cpp
+++ b/osal/host/QueueFactory.cpp
@@ -1,41 +1,41 @@
-#include "../../ipc/QueueFactory.h"
-#include "../../osal/host/MessageQueue.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include <cstring>
-
-QueueFactory* QueueFactory::factoryInstance = nullptr;
-
-
-ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
-			bool ignoreFault) {
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
-			sentFrom,ignoreFault);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == nullptr) {
-		factoryInstance = new QueueFactory;
-	}
-	return factoryInstance;
-}
-
-QueueFactory::QueueFactory() {
-}
-
-QueueFactory::~QueueFactory() {
-}
-
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
-		size_t maxMessageSize) {
-	// A thread-safe queue can be implemented  by using a combination
-	// of std::queue and std::mutex. This uses dynamic memory allocation
-	// which could be alleviated by using a custom allocator, external library
-	// (etl::queue) or simply using std::queue, we're on a host machine anyway.
-	return new MessageQueue(messageDepth, maxMessageSize);
-}
-
-void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
-	delete queue;
-}
+#include "../../ipc/QueueFactory.h"
+#include "../../osal/host/MessageQueue.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include <cstring>
+
+QueueFactory* QueueFactory::factoryInstance = nullptr;
+
+
+ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+QueueFactory* QueueFactory::instance() {
+	if (factoryInstance == nullptr) {
+		factoryInstance = new QueueFactory;
+	}
+	return factoryInstance;
+}
+
+QueueFactory::QueueFactory() {
+}
+
+QueueFactory::~QueueFactory() {
+}
+
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
+		size_t maxMessageSize) {
+	// A thread-safe queue can be implemented  by using a combination
+	// of std::queue and std::mutex. This uses dynamic memory allocation
+	// which could be alleviated by using a custom allocator, external library
+	// (etl::queue) or simply using std::queue, we're on a host machine anyway.
+	return new MessageQueue(messageDepth, maxMessageSize);
+}
+
+void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
+	delete queue;
+}
diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp
index 35db204e..47687bc1 100644
--- a/osal/host/QueueMapManager.cpp
+++ b/osal/host/QueueMapManager.cpp
@@ -1,51 +1,51 @@
-#include "../../ipc/MutexFactory.h"
-#include "../../ipc/MutexHelper.h"
-#include "../../osal/host/QueueMapManager.h"
-
-QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
-
-QueueMapManager::QueueMapManager() {
-    mapLock = MutexFactory::instance()->createMutex();
-}
-
-QueueMapManager* QueueMapManager::instance() {
-	if (mqManagerInstance == nullptr){
-		mqManagerInstance = new QueueMapManager();
-	}
-	return QueueMapManager::mqManagerInstance;
-}
-
-ReturnValue_t QueueMapManager::addMessageQueue(
-		MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
-	// Not thread-safe, but it is assumed all message queues are created
-	// at software initialization now. If this is to be made thread-safe in
-	// the future, it propably would be sufficient to lock the increment
-	// operation here
-	uint32_t currentId = queueCounter++;
-	auto returnPair = queueMap.emplace(currentId, queueToInsert);
-	if(not returnPair.second) {
-		// this should never happen for the atomic variable.
-		sif::error << "QueueMapManager: This ID is already inside the map!"
-				<< std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if (id != nullptr) {
-		*id = currentId;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-MessageQueueIF* QueueMapManager::getMessageQueue(
-		MessageQueueId_t messageQueueId) const {
-	MutexHelper(mapLock, 50);
-	auto queueIter = queueMap.find(messageQueueId);
-	if(queueIter != queueMap.end()) {
-		return queueIter->second;
-	}
-	else {
-		sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
-				messageQueueId << " does not exists in the map" << std::endl;
-		return nullptr;
-	}
-}
-
+#include "../../ipc/MutexFactory.h"
+#include "../../ipc/MutexHelper.h"
+#include "../../osal/host/QueueMapManager.h"
+
+QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
+
+QueueMapManager::QueueMapManager() {
+    mapLock = MutexFactory::instance()->createMutex();
+}
+
+QueueMapManager* QueueMapManager::instance() {
+	if (mqManagerInstance == nullptr){
+		mqManagerInstance = new QueueMapManager();
+	}
+	return QueueMapManager::mqManagerInstance;
+}
+
+ReturnValue_t QueueMapManager::addMessageQueue(
+		MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
+	// Not thread-safe, but it is assumed all message queues are created
+	// at software initialization now. If this is to be made thread-safe in
+	// the future, it propably would be sufficient to lock the increment
+	// operation here
+	uint32_t currentId = queueCounter++;
+	auto returnPair = queueMap.emplace(currentId, queueToInsert);
+	if(not returnPair.second) {
+		// this should never happen for the atomic variable.
+		sif::error << "QueueMapManager: This ID is already inside the map!"
+				<< std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if (id != nullptr) {
+		*id = currentId;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueIF* QueueMapManager::getMessageQueue(
+		MessageQueueId_t messageQueueId) const {
+	MutexHelper(mapLock, 50);
+	auto queueIter = queueMap.find(messageQueueId);
+	if(queueIter != queueMap.end()) {
+		return queueIter->second;
+	}
+	else {
+		sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
+				messageQueueId << " does not exists in the map" << std::endl;
+		return nullptr;
+	}
+}
+
diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h
index acf20389..823fd4c2 100644
--- a/osal/host/QueueMapManager.h
+++ b/osal/host/QueueMapManager.h
@@ -1,47 +1,47 @@
-#ifndef FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
-#define FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
-
-#include "../../ipc/MessageQueueSenderIF.h"
-#include "../../osal/host/MessageQueue.h"
-#include <unordered_map>
-#include <atomic>
-
-using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
-
-
-/**
- * An internal map to map message queue IDs to message queues.
- * This propably should be a singleton..
- */
-class QueueMapManager {
-public:
-	//! Returns the single instance of SemaphoreFactory.
-	static QueueMapManager* instance();
-
-	/**
-	 * Insert a message queue into the map and returns a message queue ID
-	 * @param queue The message queue to insert.
-	 * @param id The passed value will be set unless a nullptr is passed
-	 * @return
-	 */
-	ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
-			id = nullptr);
-	/**
-	 * Get the message queue handle by providing a message queue ID.
-	 * @param messageQueueId
-	 * @return
-	 */
-	MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
-
-private:
-	//! External instantiation is forbidden.
-	QueueMapManager();
-	uint32_t queueCounter = 1;
-	MutexIF* mapLock;
-	QueueMap queueMap;
-	static QueueMapManager* mqManagerInstance;
-};
-
-
-
-#endif /* FRAMEWORK_OSAL_HOST_QUEUEMAP_H_ */
+#ifndef FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
+#define FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
+
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../osal/host/MessageQueue.h"
+#include <unordered_map>
+#include <atomic>
+
+using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
+
+
+/**
+ * An internal map to map message queue IDs to message queues.
+ * This propably should be a singleton..
+ */
+class QueueMapManager {
+public:
+	//! Returns the single instance of SemaphoreFactory.
+	static QueueMapManager* instance();
+
+	/**
+	 * Insert a message queue into the map and returns a message queue ID
+	 * @param queue The message queue to insert.
+	 * @param id The passed value will be set unless a nullptr is passed
+	 * @return
+	 */
+	ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
+			id = nullptr);
+	/**
+	 * Get the message queue handle by providing a message queue ID.
+	 * @param messageQueueId
+	 * @return
+	 */
+	MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
+
+private:
+	//! External instantiation is forbidden.
+	QueueMapManager();
+	uint32_t queueCounter = 1;
+	MutexIF* mapLock;
+	QueueMap queueMap;
+	static QueueMapManager* mqManagerInstance;
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_HOST_QUEUEMAP_H_ */
diff --git a/osal/host/SemaphoreFactory.cpp b/osal/host/SemaphoreFactory.cpp
index 58040428..c354c47c 100644
--- a/osal/host/SemaphoreFactory.cpp
+++ b/osal/host/SemaphoreFactory.cpp
@@ -1,42 +1,42 @@
-#include "../../tasks/SemaphoreFactory.h"
-#include "../../osal/linux/BinarySemaphore.h"
-#include "../../osal/linux/CountingSemaphore.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-const uint32_t SemaphoreIF::POLLING = 0;
-const uint32_t SemaphoreIF::BLOCKING = 0xFFFFFFFF;
-
-SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-
-SemaphoreFactory::SemaphoreFactory() {
-}
-
-SemaphoreFactory::~SemaphoreFactory() {
-	delete factoryInstance;
-}
-
-SemaphoreFactory* SemaphoreFactory::instance() {
-	if (factoryInstance == nullptr){
-		factoryInstance = new SemaphoreFactory();
-	}
-	return SemaphoreFactory::factoryInstance;
-}
-
-SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
-	// Just gonna wait for full C++20 for now.
-	sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
-			" Returning nullptr!\n" << std::flush;
-	return nullptr;
-}
-
-SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
-		uint8_t initCount, uint32_t arguments) {
-	// Just gonna wait for full C++20 for now.
-	sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
-				" Returning nullptr!\n" << std::flush;
-	return nullptr;
-}
-
-void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
-	delete semaphore;
-}
+#include "../../tasks/SemaphoreFactory.h"
+#include "../../osal/linux/BinarySemaphore.h"
+#include "../../osal/linux/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+const uint32_t SemaphoreIF::POLLING = 0;
+const uint32_t SemaphoreIF::BLOCKING = 0xFFFFFFFF;
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	// Just gonna wait for full C++20 for now.
+	sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
+			" Returning nullptr!\n" << std::flush;
+	return nullptr;
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
+		uint8_t initCount, uint32_t arguments) {
+	// Just gonna wait for full C++20 for now.
+	sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
+				" Returning nullptr!\n" << std::flush;
+	return nullptr;
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}
diff --git a/osal/host/TaskFactory.cpp b/osal/host/TaskFactory.cpp
index 3f527130..37df981a 100644
--- a/osal/host/TaskFactory.cpp
+++ b/osal/host/TaskFactory.cpp
@@ -1,55 +1,55 @@
-#include "../../osal/host/FixedTimeslotTask.h"
-#include "../../osal/host/PeriodicTask.h"
-#include "../../tasks/TaskFactory.h"
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../tasks/PeriodicTaskIF.h"
-
-#include <chrono>
-
-TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
-
-// Will propably not be used for hosted implementation
-const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
-
-TaskFactory::TaskFactory() {
-}
-
-TaskFactory::~TaskFactory() {
-}
-
-TaskFactory* TaskFactory::instance() {
-	return TaskFactory::factoryInstance;
-}
-
-PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
-		TaskPriority taskPriority_,TaskStackSize stackSize_,
-		TaskPeriod periodInSeconds_,
-		TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	// This is going to be interesting. Time now learn the C++ threading library
-	// :-)
-	return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
-			deadLineMissedFunction_);
-}
-
-FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
-		TaskPriority taskPriority_,TaskStackSize stackSize_,
-		TaskPeriod periodInSeconds_,
-		TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	// This is going to be interesting. Time now learn the C++ threading library
-	// :-)
-	return new FixedTimeslotTask(name_, taskPriority_, stackSize_,
-	        periodInSeconds_, deadLineMissedFunction_);
-}
-
-ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
-	// This might block for some time!
-	delete task;
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
-	std::this_thread::sleep_for(std::chrono::milliseconds(delayMs));
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
+#include "../../osal/host/FixedTimeslotTask.h"
+#include "../../osal/host/PeriodicTask.h"
+#include "../../tasks/TaskFactory.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+
+#include <chrono>
+
+TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
+
+// Will propably not be used for hosted implementation
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
+
+TaskFactory::TaskFactory() {
+}
+
+TaskFactory::~TaskFactory() {
+}
+
+TaskFactory* TaskFactory::instance() {
+	return TaskFactory::factoryInstance;
+}
+
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	// This is going to be interesting. Time now learn the C++ threading library
+	// :-)
+	return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
+			deadLineMissedFunction_);
+}
+
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	// This is going to be interesting. Time now learn the C++ threading library
+	// :-)
+	return new FixedTimeslotTask(name_, taskPriority_, stackSize_,
+	        periodInSeconds_, deadLineMissedFunction_);
+}
+
+ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
+	// This might block for some time!
+	delete task;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
+	std::this_thread::sleep_for(std::chrono::milliseconds(delayMs));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+

From 902cd4d2101368140df6df6424b0eeb50a99faf8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 5 Sep 2020 21:19:53 +0200
Subject: [PATCH 313/653] host osal update

---
 osal/host/FixedTimeslotTask.cpp | 14 ++++++++++----
 osal/host/FixedTimeslotTask.h   |  2 +-
 osal/host/MessageQueue.cpp      | 18 +++++++++++-------
 osal/host/MessageQueue.h        |  3 ++-
 osal/host/Mutex.cpp             |  7 +++----
 osal/host/Mutex.h               | 11 ++++++-----
 osal/host/PeriodicTask.cpp      |  6 +++---
 osal/host/QueueMapManager.cpp   |  5 +++--
 osal/host/QueueMapManager.h     |  6 +++---
 osal/host/SemaphoreFactory.cpp  |  3 ---
 osal/host/TaskFactory.cpp       |  4 ----
 11 files changed, 42 insertions(+), 37 deletions(-)

diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
index 1139badb..e78c974a 100644
--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -90,9 +90,12 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 }
 
 void FixedTimeslotTask::taskFunctionality() {
+    pollingSeqTable.intializeSequenceAfterTaskCreation();
+
     // A local iterator for the Polling Sequence Table is created to
     // find the start time for the first entry.
-    FixedSlotSequence::SlotListIter slotListIter = pollingSeqTable.current;
+    auto slotListIter = pollingSeqTable.current;
+
     // Get start time for first entry.
     chron_ms interval(slotListIter->pollingTimeMs);
     auto currentStartTime {
@@ -122,8 +125,11 @@ void FixedTimeslotTask::taskFunctionality() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
         uint32_t slotTimeMs, int8_t executionStep) {
-    if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-        pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep, this);
+    ExecutableObjectIF* executableObject = objectManager->
+            get<ExecutableObjectIF>(componentId);
+    if (executableObject != nullptr) {
+        pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep,
+                executableObject, this);
         return HasReturnvaluesIF::RETURN_OK;
     }
 
@@ -132,7 +138,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
     return HasReturnvaluesIF::RETURN_FAILED;
 }
 
-ReturnValue_t FixedTimeslotTask::checkAndInitializeSequence() const {
+ReturnValue_t FixedTimeslotTask::checkSequence() const {
     return pollingSeqTable.checkSequence();
 }
 
diff --git a/osal/host/FixedTimeslotTask.h b/osal/host/FixedTimeslotTask.h
index 3ea97b97..9985e2ee 100644
--- a/osal/host/FixedTimeslotTask.h
+++ b/osal/host/FixedTimeslotTask.h
@@ -61,7 +61,7 @@ public:
     ReturnValue_t addSlot(object_id_t componentId,
                    uint32_t slotTimeMs, int8_t executionStep);
 
-    ReturnValue_t checkAndInitializeSequence() const;
+    ReturnValue_t checkSequence() const override;
 
     uint32_t getPeriodMs() const;
 
diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
index 8a34282c..bced3713 100644
--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@@ -1,6 +1,7 @@
-#include "../../osal/host/MessageQueue.h"
+#include "MessageQueue.h"
+#include "QueueMapManager.h"
+
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../osal/host/QueueMapManager.h"
 #include "../../ipc/MutexFactory.h"
 #include "../../ipc/MutexHelper.h"
 
@@ -9,7 +10,8 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
 	queueLock = MutexFactory::instance()->createMutex();
 	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "MessageQueue: Could not be created" << std::endl;
+		sif::error << "MessageQueue::MessageQueue:"
+		        << " Could not be created" << std::endl;
 	}
 }
 
@@ -61,7 +63,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
 	}
 	// not sure this will work..
 	//*message = std::move(messageQueue.front());
-	MutexHelper mutexLock(queueLock, 20);
+	MutexHelper mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
 	MessageQueueMessage* currentMessage = &messageQueue.front();
 	std::copy(currentMessage->getBuffer(),
 			currentMessage->getBuffer() + messageSize, message->getBuffer());
@@ -126,7 +128,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	}
 
 	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
-		MutexHelper mutexLock(targetQueue->queueLock, 20);
+		MutexHelper mutexLock(targetQueue->queueLock,
+		        MutexIF::TimeoutType::WAITING, 20);
 		// not ideal, works for now though.
 		MessageQueueMessage* mqmMessage =
 				dynamic_cast<MessageQueueMessage*>(message);
@@ -146,8 +149,9 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MessageQueue::lockQueue(dur_millis_t lockTimeout) {
-	return queueLock->lockMutex(lockTimeout);
+ReturnValue_t MessageQueue::lockQueue(MutexIF::TimeoutType timeoutType,
+        dur_millis_t lockTimeout) {
+	return queueLock->lockMutex(timeoutType, lockTimeout);
 }
 
 ReturnValue_t MessageQueue::unlockQueue() {
diff --git a/osal/host/MessageQueue.h b/osal/host/MessageQueue.h
index 21a01663..97a9e491 100644
--- a/osal/host/MessageQueue.h
+++ b/osal/host/MessageQueue.h
@@ -182,7 +182,8 @@ public:
 
 	bool isDefaultDestinationSet() const override;
 
-	ReturnValue_t lockQueue(dur_millis_t lockTimeout);
+	ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType,
+	        dur_millis_t lockTimeout);
 	ReturnValue_t unlockQueue();
 protected:
 	/**
diff --git a/osal/host/Mutex.cpp b/osal/host/Mutex.cpp
index 2718f2b9..8471cab8 100644
--- a/osal/host/Mutex.cpp
+++ b/osal/host/Mutex.cpp
@@ -1,10 +1,9 @@
-#include "../../osal/host/Mutex.h"
+#include "Mutex.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-const uint32_t MutexIF::POLLING = 0;
-const uint32_t MutexIF::BLOCKING = 0xffffffff;
+Mutex::Mutex() {}
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
 	if(timeoutMs == MutexIF::BLOCKING) {
 		mutex.lock();
 		locked = true;
diff --git a/osal/host/Mutex.h b/osal/host/Mutex.h
index 4461e5f2..24dafbbd 100644
--- a/osal/host/Mutex.h
+++ b/osal/host/Mutex.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
-#define FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+#ifndef FSFW_OSAL_HOSTED_MUTEX_H_
+#define FSFW_OSAL_HOSTED_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 
@@ -15,8 +15,9 @@
  */
 class Mutex : public MutexIF {
 public:
-	Mutex() = default;
-	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::BLOCKING) override;
+	Mutex();
+	ReturnValue_t lockMutex(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) override;
 	ReturnValue_t unlockMutex() override;
 
 	std::timed_mutex* getMutexHandle();
@@ -25,4 +26,4 @@ private:
 	std::timed_mutex mutex;
 };
 
-#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */
+#endif /* FSFW_OSAL_HOSTED_MUTEX_H_ */
diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index 0b5f8bbe..f4ee079b 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -1,7 +1,7 @@
-#include "../../ipc/MutexFactory.h"
-#include "../../osal/host/Mutex.h"
-#include "../../osal/host/PeriodicTask.h"
+#include "Mutex.h"
+#include "PeriodicTask.h"
 
+#include "../../ipc/MutexFactory.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "../../tasks/ExecutableObjectIF.h"
 
diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp
index 47687bc1..1b2094e9 100644
--- a/osal/host/QueueMapManager.cpp
+++ b/osal/host/QueueMapManager.cpp
@@ -1,6 +1,7 @@
+#include "QueueMapManager.h"
+
 #include "../../ipc/MutexFactory.h"
 #include "../../ipc/MutexHelper.h"
-#include "../../osal/host/QueueMapManager.h"
 
 QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
 
@@ -37,7 +38,7 @@ ReturnValue_t QueueMapManager::addMessageQueue(
 
 MessageQueueIF* QueueMapManager::getMessageQueue(
 		MessageQueueId_t messageQueueId) const {
-	MutexHelper(mapLock, 50);
+	MutexHelper(mapLock, MutexIF::TimeoutType::WAITING, 50);
 	auto queueIter = queueMap.find(messageQueueId);
 	if(queueIter != queueMap.end()) {
 		return queueIter->second;
diff --git a/osal/host/QueueMapManager.h b/osal/host/QueueMapManager.h
index 823fd4c2..d7d5c915 100644
--- a/osal/host/QueueMapManager.h
+++ b/osal/host/QueueMapManager.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
-#define FRAMEWORK_OSAL_HOST_QUEUEMAP_H_
+#ifndef FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_
+#define FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_
 
 #include "../../ipc/MessageQueueSenderIF.h"
 #include "../../osal/host/MessageQueue.h"
@@ -44,4 +44,4 @@ private:
 
 
 
-#endif /* FRAMEWORK_OSAL_HOST_QUEUEMAP_H_ */
+#endif /* FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_ */
diff --git a/osal/host/SemaphoreFactory.cpp b/osal/host/SemaphoreFactory.cpp
index c354c47c..b19b2c75 100644
--- a/osal/host/SemaphoreFactory.cpp
+++ b/osal/host/SemaphoreFactory.cpp
@@ -3,9 +3,6 @@
 #include "../../osal/linux/CountingSemaphore.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-const uint32_t SemaphoreIF::POLLING = 0;
-const uint32_t SemaphoreIF::BLOCKING = 0xFFFFFFFF;
-
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
 
 SemaphoreFactory::SemaphoreFactory() {
diff --git a/osal/host/TaskFactory.cpp b/osal/host/TaskFactory.cpp
index 37df981a..bc65504c 100644
--- a/osal/host/TaskFactory.cpp
+++ b/osal/host/TaskFactory.cpp
@@ -25,8 +25,6 @@ PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
 		TaskPriority taskPriority_,TaskStackSize stackSize_,
 		TaskPeriod periodInSeconds_,
 		TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	// This is going to be interesting. Time now learn the C++ threading library
-	// :-)
 	return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
 			deadLineMissedFunction_);
 }
@@ -35,8 +33,6 @@ FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
 		TaskPriority taskPriority_,TaskStackSize stackSize_,
 		TaskPeriod periodInSeconds_,
 		TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	// This is going to be interesting. Time now learn the C++ threading library
-	// :-)
 	return new FixedTimeslotTask(name_, taskPriority_, stackSize_,
 	        periodInSeconds_, deadLineMissedFunction_);
 }

From f7223abaa39a1ac10107f91cd16f18e40932d3fd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 5 Sep 2020 21:20:10 +0200
Subject: [PATCH 314/653] added define necessary for minGW

---
 timemanager/CCSDSTime.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index a5a38e27..12ecf34a 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -1,8 +1,12 @@
-#include "CCSDSTime.h"
+#include "../timemanager/CCSDSTime.h"
 #include <stdio.h>
 #include <inttypes.h>
 #include <math.h>
 
+#ifndef SCNu8
+  #define SCNu8 "hhu"
+#endif
+
 CCSDSTime::CCSDSTime() {
 }
 

From 234fbcbf417d201922e13e98c0a6fe7bda37a967 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 6 Sep 2020 09:34:06 +0200
Subject: [PATCH 315/653] small bugfix in error checking

---
 osal/linux/TmTcUnixUdpBridge.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 46b26254..80d02b25 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -24,7 +24,7 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 	// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
 	//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
 	serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
-	if(socket < 0) {
+	if(serverSocket < 0) {
 		sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
 				" UDP socket!" << std::endl;
 		handleSocketError();

From e9b86e51df95c5880ace312ed978933f98abde68 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 6 Sep 2020 15:23:38 +0200
Subject: [PATCH 316/653] init commit

---
 datapool/ControllerSet.h                      |  15 -
 datapool/DataPool.cpp                         | 131 --------
 datapool/DataPool.h                           | 135 --------
 datapool/DataSet.cpp                          | 150 ---------
 datapool/DataSet.h                            | 159 ----------
 datapool/DataSetIF.h                          |  56 ++--
 datapool/HkSwitchHelper.cpp                   |  13 +-
 datapool/PoolDataSetBase.cpp                  | 169 ++++++++++
 datapool/PoolDataSetBase.h                    | 152 +++++++++
 datapool/PoolDataSetIF.h                      |  33 ++
 datapool/PoolEntry.cpp                        |   1 +
 datapool/PoolEntry.h                          |   6 +-
 datapool/PoolEntryIF.h                        |   6 +-
 datapool/PoolRawAccess.cpp                    | 187 -----------
 datapool/PoolRawAccess.h                      | 152 ---------
 datapool/PoolVarList.h                        |  17 +-
 datapool/PoolVariable.h                       | 295 ------------------
 datapool/PoolVariableIF.h                     | 114 ++++---
 datapool/PoolVector.h                         | 233 --------------
 datapool/SharedDataSetIF.h                    |  14 +
 {datapool => datapoolglob}/ControllerSet.cpp  |   2 +-
 datapoolglob/ControllerSet.h                  |  15 +
 {datapool => datapoolglob}/DataPoolAdmin.cpp  |  25 +-
 {datapool => datapoolglob}/DataPoolAdmin.h    |  18 +-
 .../DataPoolParameterWrapper.cpp              |  14 +-
 .../DataPoolParameterWrapper.h                |   0
 datapoolglob/GlobalDataPool.cpp               | 133 ++++++++
 datapoolglob/GlobalDataPool.h                 | 149 +++++++++
 datapoolglob/GlobalDataSet.cpp                |  48 +++
 datapoolglob/GlobalDataSet.h                  |  98 ++++++
 datapoolglob/GlobalPoolVariable.h             | 213 +++++++++++++
 datapoolglob/GlobalPoolVariable.tpp           | 117 +++++++
 datapoolglob/GlobalPoolVector.h               | 185 +++++++++++
 datapoolglob/GlobalPoolVector.tpp             | 117 +++++++
 {datapool => datapoolglob}/PIDReader.h        |  39 ++-
 {datapool => datapoolglob}/PIDReaderList.h    |  10 +-
 datapoolglob/PoolRawAccess.cpp                | 239 ++++++++++++++
 datapoolglob/PoolRawAccess.h                  | 220 +++++++++++++
 38 files changed, 2090 insertions(+), 1590 deletions(-)
 delete mode 100644 datapool/ControllerSet.h
 delete mode 100644 datapool/DataPool.cpp
 delete mode 100644 datapool/DataPool.h
 delete mode 100644 datapool/DataSet.cpp
 delete mode 100644 datapool/DataSet.h
 create mode 100644 datapool/PoolDataSetBase.cpp
 create mode 100644 datapool/PoolDataSetBase.h
 create mode 100644 datapool/PoolDataSetIF.h
 delete mode 100644 datapool/PoolRawAccess.cpp
 delete mode 100644 datapool/PoolRawAccess.h
 delete mode 100644 datapool/PoolVariable.h
 delete mode 100644 datapool/PoolVector.h
 create mode 100644 datapool/SharedDataSetIF.h
 rename {datapool => datapoolglob}/ControllerSet.cpp (79%)
 create mode 100644 datapoolglob/ControllerSet.h
 rename {datapool => datapoolglob}/DataPoolAdmin.cpp (94%)
 rename {datapool => datapoolglob}/DataPoolAdmin.h (92%)
 rename {datapool => datapoolglob}/DataPoolParameterWrapper.cpp (95%)
 rename {datapool => datapoolglob}/DataPoolParameterWrapper.h (100%)
 create mode 100644 datapoolglob/GlobalDataPool.cpp
 create mode 100644 datapoolglob/GlobalDataPool.h
 create mode 100644 datapoolglob/GlobalDataSet.cpp
 create mode 100644 datapoolglob/GlobalDataSet.h
 create mode 100644 datapoolglob/GlobalPoolVariable.h
 create mode 100644 datapoolglob/GlobalPoolVariable.tpp
 create mode 100644 datapoolglob/GlobalPoolVector.h
 create mode 100644 datapoolglob/GlobalPoolVector.tpp
 rename {datapool => datapoolglob}/PIDReader.h (77%)
 rename {datapool => datapoolglob}/PIDReaderList.h (68%)
 create mode 100644 datapoolglob/PoolRawAccess.cpp
 create mode 100644 datapoolglob/PoolRawAccess.h

diff --git a/datapool/ControllerSet.h b/datapool/ControllerSet.h
deleted file mode 100644
index e27debff..00000000
--- a/datapool/ControllerSet.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#ifndef CONTROLLERSET_H_
-#define CONTROLLERSET_H_
-
-#include "DataSet.h"
-
-class ControllerSet :public DataSet {
-public:
-	ControllerSet();
-	virtual ~ControllerSet();
-
-	virtual void setToDefault() = 0;
-	void setInvalid();
-};
-
-#endif /* CONTROLLERSET_H_ */
diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp
deleted file mode 100644
index 1b6cb7a1..00000000
--- a/datapool/DataPool.cpp
+++ /dev/null
@@ -1,131 +0,0 @@
-#include "DataPool.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../ipc/MutexFactory.h"
-
-DataPool::DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) ) {
-	mutex = MutexFactory::instance()->createMutex();
-	if (initFunction != NULL ) {
-		initFunction( &this->data_pool );
-	}
-}
-
-DataPool::~DataPool() {
-	MutexFactory::instance()->deleteMutex(mutex);
-	for ( std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.begin(); it != this->data_pool.end(); ++it ) {
-		delete it->second;
-	}
-}
-
-//The function checks PID, type and array length before returning a copy of the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
-template <typename T> PoolEntry<T>* DataPool::getData( uint32_t data_pool_id,  uint8_t sizeOrPosition ) {
-	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
-	if ( it != this->data_pool.end() ) {
-		PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
-		if (entry != NULL ) {
-			if ( sizeOrPosition <= entry->length ) {
-				return entry;
-			}
-		}
-	}
-	return NULL;
-}
-
-PoolEntryIF* DataPool::getRawData( uint32_t data_pool_id ) {
-	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
-	if ( it != this->data_pool.end() ) {
-		return it->second;
-	} else {
-		return NULL;
-	}
-}
-
-//uint8_t DataPool::getRawData( uint32_t data_pool_id, uint8_t* address, uint16_t* size, uint32_t maxSize ) {
-//	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( data_pool_id );
-//	if ( it != this->data_pool.end() ) {
-//		if ( it->second->getByteSize() <= maxSize ) {
-//			*size = it->second->getByteSize();
-//			memcpy( address, it->second->getRawData(), *size );
-//			return DP_SUCCESSFUL;
-//		}
-//	}
-//	*size = 0;
-//	return DP_FAILURE;
-//}
-
-ReturnValue_t DataPool::freeDataPoolLock() {
-	ReturnValue_t status = mutex->unlockMutex();
-	if ( status != RETURN_OK ) {
-		sif::error << "DataPool::DataPool: unlock of mutex failed with error code: " << status << std::endl;
-	}
-	return status;
-}
-
-ReturnValue_t DataPool::lockDataPool() {
-	ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
-	if ( status != RETURN_OK ) {
-		sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
-	}
-	return status;
-}
-
-void DataPool::print() {
-	sif::debug << "DataPool contains: " << std::endl;
-	std::map<uint32_t, PoolEntryIF*>::iterator	dataPoolIt;
-	dataPoolIt = this->data_pool.begin();
-	while( dataPoolIt != this->data_pool.end() ) {
-		sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
-		dataPoolIt->second->print();
-		dataPoolIt++;
-	}
-}
-
-template PoolEntry<uint8_t>* DataPool::getData<uint8_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<uint16_t>* DataPool::getData<uint16_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<uint32_t>* DataPool::getData<uint32_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<uint64_t>* DataPool::getData<uint64_t>(uint32_t data_pool_id,
-		uint8_t size);
-template PoolEntry<int8_t>* DataPool::getData<int8_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<int16_t>* DataPool::getData<int16_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<int32_t>* DataPool::getData<int32_t>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<float>* DataPool::getData<float>( uint32_t data_pool_id,  uint8_t size );
-template PoolEntry<double>* DataPool::getData<double>(uint32_t data_pool_id,
-		uint8_t size);
-
-
-uint32_t DataPool::PIDToDataPoolId(uint32_t parameter_id) {
-	return (parameter_id >> 8) & 0x00FFFFFF;
-}
-
-uint8_t DataPool::PIDToArrayIndex(uint32_t parameter_id) {
-	return (parameter_id & 0x000000FF);
-}
-
-uint32_t DataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
-	return (poolId << 8) + index;
-}
-
-
-//SHOULDDO: Do we need a mutex lock here... I don't think so, as we only check static const values of elements in a list that do not change.
-//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
-ReturnValue_t DataPool::getType(uint32_t parameter_id, Type* type) {
-	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( PIDToDataPoolId(parameter_id));
-	if ( it != this->data_pool.end() ) {
-		*type = it->second->getType();
-		return RETURN_OK;
-	} else {
-		*type = Type::UNKNOWN_TYPE;
-		return RETURN_FAILED;
-	}
-}
-
-bool DataPool::exists(uint32_t parameterId) {
-	uint32_t poolId = PIDToDataPoolId(parameterId);
-	uint32_t index = PIDToArrayIndex(parameterId);
-	std::map<uint32_t, PoolEntryIF*>::iterator it = this->data_pool.find( poolId );
-	if (it != data_pool.end()) {
-		if (it->second->getSize() >= index) {
-			return true;
-		}
-	}
-	return false;
-}
diff --git a/datapool/DataPool.h b/datapool/DataPool.h
deleted file mode 100644
index 7abf2898..00000000
--- a/datapool/DataPool.h
+++ /dev/null
@@ -1,135 +0,0 @@
-/**
- *	\file	DataPool.h
- *
- *  \date	10/17/2012
- *	\author	Bastian Baetz
- *
- *	\brief	This file contains the definition of the DataPool class and (temporarily)
- *			the "extern" definition of the global dataPool instance.
- */
-
-#ifndef DATAPOOL_H_
-#define DATAPOOL_H_
-
-#include "PoolEntry.h"
-#include "../globalfunctions/Type.h"
-#include "../ipc/MutexIF.h"
-#include <map>
-
-/**
- * \defgroup data_pool Data Pool
- * This is the group, where all classes associated with Data Pool Handling belong to.
- * This includes classes to access Data Pool variables.
- */
-
-#define DP_SUCCESSFUL	0
-#define DP_FAILURE		1
-
-/**
- *	\brief		This class represents the OBSW global data-pool.
- *
- *	\details	All variables are registered and space is allocated in an initialization
- *				function, which is passed do the constructor.
- *				Space for the variables is allocated on the heap (with a new call).
- *				The data is found by a data pool id, which uniquely represents a variable.
- *				Data pool variables should be used with a blackboard logic in mind,
- *				which means read data is valid (if flagged so), but not necessarily up-to-date.
- *				Variables are either single values or arrays.
- *	\ingroup data_pool
- */
-class DataPool : public HasReturnvaluesIF {
-private:
-	/**
-	 * \brief	This is the actual data pool itself.
-	 * \details	It is represented by a map
-	 * 			with the data pool id as index and a pointer to a single PoolEntry as value.
-	 */
-	std::map<uint32_t, PoolEntryIF*> data_pool;
-public:
-	/**
-	 * \brief	The mutex is created in the constructor and makes access mutual exclusive.
-	 * \details	Locking and unlocking the pool is only done by the DataSet class.
-	 */
-	MutexIF*	mutex;
-	/**
-	 * \brief	In the classes constructor, the passed initialization function is called.
-	 * \details	To enable filling the pool,
-	 * 			a pointer to the map is passed, allowing direct access to the pool's content.
-	 * 			On runtime, adding or removing variables is forbidden.
-	 */
-	DataPool( void ( *initFunction )( std::map<uint32_t, PoolEntryIF*>* pool_map ) );
-	/**
-	 * 	\brief	The destructor iterates through the data_pool map and calls all Entries destructors to clean up the heap.
-	 */
-	~DataPool();
-	/**
-	 * \brief	This is the default call to access the pool.
-	 * \details	A pointer to the PoolEntry object is returned.
-	 *  		The call checks data pool id, type and array size. Returns NULL in case of failure.
-	 * \param data_pool_id	The data pool id to search.
-	 * \param sizeOrPosition The array size (not byte size!) of the pool entry, or the position the user wants to read.
-	 * 			If smaller than the entry size, everything's ok.
-	 */
-	template <typename T> PoolEntry<T>* getData( uint32_t data_pool_id, uint8_t sizeOrPosition );
-	/**
-	 * \brief	An alternative call to get a data pool entry in case the type is not implicitly known
-	 * 			(i.e. in Housekeeping Telemetry).
-	 * \details	It returns a basic interface and does NOT perform
-	 * 			a size check. The caller has to assure he does not copy too much data.
-	 * 			Returns NULL in case the entry is not found.
-	 * \param data_pool_id	The data pool id to search.
-	 */
-	PoolEntryIF* getRawData( uint32_t data_pool_id );
-	/**
-	 * \brief	This is a small helper function to facilitate locking the global data pool.
-	 * \details	It fetches the pool's mutex id and tries to acquire the mutex.
-	 */
-	ReturnValue_t lockDataPool();
-	/**
-	 * \brief	This is a small helper function to facilitate unlocking the global data pool.
-	 * \details	It fetches the pool's mutex id and tries to free the mutex.
-	 */
-	ReturnValue_t freeDataPoolLock();
-	/**
-	 * \brief	The print call is a simple debug method.
-	 * \details	It prints the current content of the data pool.
-	 *  		It iterates through the data_pool map and calls each entry's print() method.
-	 */
-	void print();
-	/**
-	 * Extracts the data pool id from a SCOS 2000 PID.
-	 * @param parameter_id The passed Parameter ID.
-	 * @return The data pool id as used within the OBSW.
-	 */
-	static uint32_t PIDToDataPoolId( uint32_t parameter_id );
-	/**
-	 * Extracts an array index out of a SCOS 2000 PID.
-	 * @param parameter_id The passed Parameter ID.
-	 * @return The index of the corresponding data pool entry.
-	 */
-	static uint8_t PIDToArrayIndex( uint32_t parameter_id );
-	/**
-	 * Retransforms a data pool id and an array index to a SCOS 2000 PID.
-	 */
-	static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index );
-
-	/**
-	 * Method to return the type of a pool variable.
-	 * @param parameter_id A parameterID (not pool id) of a DP member.
-	 * @param type Returns the type or TYPE::UNKNOWN_TYPE
-	 * @return RETURN_OK if parameter exists, RETURN_FAILED else.
-	 */
-	ReturnValue_t getType( uint32_t parameter_id, Type* type );
-
-	/**
-	 * Method to check if a PID exists.
-	 * Does not lock, as there's no possibility to alter the list that is checked during run-time.
-	 * @param parameterId The PID (not pool id!) of a parameter.
-	 * @return	true if exists, false else.
-	 */
-	bool exists(uint32_t parameterId);
-};
-
-//We assume someone globally instantiates a DataPool.
-extern DataPool dataPool;
-#endif /* DATAPOOL_H_ */
diff --git a/datapool/DataSet.cpp b/datapool/DataSet.cpp
deleted file mode 100644
index e41489bd..00000000
--- a/datapool/DataSet.cpp
+++ /dev/null
@@ -1,150 +0,0 @@
-#include "DataSet.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-DataSet::DataSet() :
-		fill_count(0), state(DATA_SET_UNINITIALISED) {
-	for (unsigned count = 0; count < DATA_SET_MAX_SIZE; count++) {
-		registeredVariables[count] = NULL;
-	}
-}
-
-DataSet::~DataSet() {
-	//Don't do anything with your variables, they are dead already! (Destructor is already called)
-}
-
-ReturnValue_t DataSet::read() {
-	ReturnValue_t result = RETURN_OK;
-	if (state == DATA_SET_UNINITIALISED) {
-		lockDataPool();
-		for (uint16_t count = 0; count < fill_count; count++) {
-			if (registeredVariables[count]->getReadWriteMode()
-					!= PoolVariableIF::VAR_WRITE
-					&& registeredVariables[count]->getDataPoolId()
-							!= PoolVariableIF::NO_PARAMETER) {
-				ReturnValue_t status = registeredVariables[count]->read();
-				if (status != RETURN_OK) {
-					result = INVALID_PARAMETER_DEFINITION;
-					break;
-				}
-			}
-		}
-		state = DATA_SET_WAS_READ;
-		freeDataPoolLock();
-	} else {
-		sif::error << "DataSet::read(): Call made in wrong position." << std::endl;
-		result = SET_WAS_ALREADY_READ;
-	}
-	return result;
-}
-
-ReturnValue_t DataSet::commit(uint8_t valid) {
-	setValid(valid);
-	return commit();
-}
-
-ReturnValue_t DataSet::commit() {
-	if (state == DATA_SET_WAS_READ) {
-		lockDataPool();
-		for (uint16_t count = 0; count < fill_count; count++) {
-			if (registeredVariables[count]->getReadWriteMode()
-					!= PoolVariableIF::VAR_READ
-					&& registeredVariables[count]->getDataPoolId()
-							!= PoolVariableIF::NO_PARAMETER) {
-				registeredVariables[count]->commit();
-			}
-		}
-		state = DATA_SET_UNINITIALISED;
-		freeDataPoolLock();
-		return RETURN_OK;
-	} else {
-		ReturnValue_t result = RETURN_OK;
-		lockDataPool();
-		for (uint16_t count = 0; count < fill_count; count++) {
-			if (registeredVariables[count]->getReadWriteMode()
-					== PoolVariableIF::VAR_WRITE
-					&& registeredVariables[count]->getDataPoolId()
-							!= PoolVariableIF::NO_PARAMETER) {
-				registeredVariables[count]->commit();
-			} else if (registeredVariables[count]->getDataPoolId()
-					!= PoolVariableIF::NO_PARAMETER) {
-				if (result != COMMITING_WITHOUT_READING) {
-					sif::error <<
-					        "DataSet::commit(): commit-without-read "
-					        "call made with non write-only variable." << std::endl;
-					result = COMMITING_WITHOUT_READING;
-				}
-			}
-		}
-		state = DATA_SET_UNINITIALISED;
-		freeDataPoolLock();
-		return result;
-	}
-
-}
-
-void DataSet::registerVariable(PoolVariableIF* variable) {
-	if (state == DATA_SET_UNINITIALISED) {
-		if (variable != NULL) {
-			if (fill_count < DATA_SET_MAX_SIZE) {
-				registeredVariables[fill_count] = variable;
-				fill_count++;
-				return;
-			}
-		}
-	}
-	sif::error
-			<< "DataSet::registerVariable: failed. Either NULL, or set is full, or call made in wrong position."
-			<< std::endl;
-	return;
-}
-
-uint8_t DataSet::freeDataPoolLock() {
-	return ::dataPool.freeDataPoolLock();
-}
-
-uint8_t DataSet::lockDataPool() {
-	return ::dataPool.lockDataPool();
-}
-
-ReturnValue_t DataSet::serialize(uint8_t** buffer, size_t* size,
-		size_t maxSize, Endianness streamEndianness) const {
-	ReturnValue_t result = RETURN_FAILED;
-	for (uint16_t count = 0; count < fill_count; count++) {
-		result = registeredVariables[count]->serialize(buffer, size, maxSize,
-				streamEndianness);
-		if (result != RETURN_OK) {
-			return result;
-		}
-	}
-	return result;
-}
-
-size_t DataSet::getSerializedSize() const {
-	size_t size = 0;
-	for (uint16_t count = 0; count < fill_count; count++) {
-		size += registeredVariables[count]->getSerializedSize();
-	}
-	return size;
-}
-
-void DataSet::setValid(uint8_t valid) {
-	for (uint16_t count = 0; count < fill_count; count++) {
-		if (registeredVariables[count]->getReadWriteMode()
-				!= PoolVariableIF::VAR_READ) {
-			registeredVariables[count]->setValid(valid);
-		}
-	}
-}
-
-ReturnValue_t DataSet::deSerialize(const uint8_t** buffer, size_t* size,
-		Endianness streamEndianness) {
-	ReturnValue_t result = RETURN_FAILED;
-	for (uint16_t count = 0; count < fill_count; count++) {
-		result = registeredVariables[count]->deSerialize(buffer, size,
-				streamEndianness);
-		if (result != RETURN_OK) {
-			return result;
-		}
-	}
-	return result;
-}
diff --git a/datapool/DataSet.h b/datapool/DataSet.h
deleted file mode 100644
index 04044bfe..00000000
--- a/datapool/DataSet.h
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
- * \file	DataSet.h
- *
- * \brief	This file contains the DataSet class and a small structure called DataSetContent.
- *
- * \date	10/17/2012
- *
- * \author	Bastian Baetz
- *
- */
-
-#ifndef DATASET_H_
-#define DATASET_H_
-
-#include "DataPool.h"
-#include "DataSetIF.h"
-#include "PoolRawAccess.h"
-#include "PoolVariable.h"
-#include "PoolVarList.h"
-#include "PoolVector.h"
-#include "../serialize/SerializeAdapter.h"
-/**
- * \brief	The DataSet class manages a set of locally checked out variables.
- *
- * \details	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 data pool, to ensure that all values
- * 			are read and written back at once.
- * 			An internal state manages usage of this class. Variables may only be registered before
- * 			the read call is made, and the commit call only 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 DataSet: public DataSetIF, public HasReturnvaluesIF, public SerializeIF {
-private:
-	//SHOULDDO we could use a linked list of datapool variables
-	static const uint8_t DATA_SET_MAX_SIZE = 63; //!< This definition sets the maximum number of variables to register in one DataSet.
-
-	/**
-	 * \brief	This array represents all pool variables registered in this set.
-	 * \details	It has a maximum size of DATA_SET_MAX_SIZE.
-	 */
-	PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
-	/**
-	 * \brief	The fill_count attribute ensures that the variables register in the correct array
-	 * 			position and that the maximum number of variables is not exceeded.
-	 */
-	uint16_t fill_count;
-	/**
-	 * States of the seet.
-	 */
-	enum States {
-		DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
-		DATA_SET_WAS_READ     //!< DATA_SET_WAS_READ
-	};
-	/**
-	 * \brief	state manages the internal state of the data set, which is important e.g. for the
-	 * 			behavior on destruction.
-	 */
-	States state;
-	/**
-	 * \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.
-	 */
-	uint8_t lockDataPool();
-	/**
-	 * \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.
-	 */
-	uint8_t freeDataPoolLock();
-
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
-	static const ReturnValue_t INVALID_PARAMETER_DEFINITION =
-			MAKE_RETURN_CODE( 0x01 );
-	static const ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
-	static const ReturnValue_t COMMITING_WITHOUT_READING =
-			MAKE_RETURN_CODE(0x03);
-
-	/**
-	 * \brief	The constructor simply sets the fill_count to zero and sets the state to "uninitialized".
-	 */
-	DataSet();
-	/**
-	 * \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".
-	 */
-	~DataSet();
-	/**
-	 * \brief	The read call initializes reading out all registered variables.
-	 * \details	It iterates through the list of registered variables and calls all read()
-	 * 			functions of the registered pool variables (which read out their values from the
-	 * 			data pool) which are not write-only. In case of an error (e.g. a wrong data type,
-	 * 			or an invalid data pool id), the operation is aborted and
-	 * 			\c INVALID_PARAMETER_DEFINITION returned.
-	 * 			The data pool is locked during the whole read operation and freed afterwards.
-	 * 			The state changes to "was written" after this operation.
-	 * \return	- \c RETURN_OK if all variables were read successfully.
-	 * 			- \c INVALID_PARAMETER_DEFINITION if PID, size or type of the
-	 * 					requested variable is invalid.
-	 * 			- \c SET_WAS_ALREADY_READ if read() is called twice without calling
-	 * 					commit() in between
-	 */
-	ReturnValue_t read();
-	/**
-	 * \brief	The commit call initializes writing back the registered variables.
-	 * \details	It iterates through the list of registered variables and calls
-	 * 			the commit() method of the remaining registered variables (which write back
-	 * 			their values to the pool).
-	 * 			The data pool is locked during the whole commit operation and freed afterwards.
-	 * 			The state changes to "was committed" after this operation.
-	 * 			If the set does contain at least one variable which is not write-only commit()
-	 * 			can only be called after read(). If the set only contains variables which are
-	 * 			write only, commit() can be called without a preceding read() call.
-	 * \return	- \c RETURN_OK if all variables were read successfully.
-	 * 			- \c COMMITING_WITHOUT_READING if set was not read yet and contains non write-only
-	 * 				variables
-	 */
-	ReturnValue_t commit(void);
-	/**
-	 * Variant of method above which sets validity of all elements of the set.
-	 * @param valid Validity information from PoolVariableIF.
-	 * \return	- \c RETURN_OK if all variables were read successfully.
-	 * 			- \c COMMITING_WITHOUT_READING if set was not read yet and contains non write-only
-	 * 				variables
-	 */
-	ReturnValue_t commit(uint8_t valid);
-	/**
-	 * \brief	This operation is used to register the local variables in the set.
-	 * \details	It copies all required information to the currently
-	 * 			free space in the registeredVariables list.
-	 */
-	void registerVariable(PoolVariableIF* variable);
-
-	/**
-	 * Set the valid information of all variables contained in the set which are not readonly
-	 *
-	 * @param valid Validity information from PoolVariableIF.
-	 */
-	void setValid(uint8_t valid);
-
-	ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) const override;
-
-	size_t getSerializedSize() const override;
-
-	ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) override;
-
-};
-
-#endif /* DATASET_H_ */
diff --git a/datapool/DataSetIF.h b/datapool/DataSetIF.h
index 7741477d..a6634a5c 100644
--- a/datapool/DataSetIF.h
+++ b/datapool/DataSetIF.h
@@ -1,39 +1,47 @@
-/**
- * \file	DataSetIF.h
- *
- * \brief	This file contains the small interface to access the DataSet class.
- *
- * \date	10/23/2012
- *
- * \author	Bastian Baetz
- *
- */
-
-#ifndef DATASETIF_H_
-#define DATASETIF_H_
+#ifndef FSFW_DATAPOOL_DATASETIF_H_
+#define FSFW_DATAPOOL_DATASETIF_H_
 
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../timemanager/Clock.h"
 class PoolVariableIF;
 
 /**
- * \brief	This class defines a small interface to register on a DataSet.
+ * @brief	This class defines a small interface to register on a DataSet.
  *
- * \details	Currently, the only purpose of this interface is to provide a method for locally
- * 			checked-out variables to register on a data set. Still, it may become useful for
- * 			other purposes as well.
- *
- *	\ingroup data_pool
+ * @details
+ * Currently, the only purpose of this interface is to provide a
+ * method for locally checked-out variables to register on a data set.
+ * Still, it may become useful for other purposes as well.
+ * @author 	Bastian Baetz
+ * @ingroup data_pool
  */
 class DataSetIF {
 public:
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
+	static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION =
+			MAKE_RETURN_CODE( 0x01 );
+	static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
+	static constexpr ReturnValue_t COMMITING_WITHOUT_READING =
+			MAKE_RETURN_CODE(0x03);
+
+	static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE( 0x04 );
+	static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE( 0x05 );
+	static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE( 0x06 );
+
 	/**
-	 * \brief	This is an empty virtual destructor, as it is proposed for C++ interfaces.
+	 * @brief	This is an empty virtual destructor,
+	 * 			as it is proposed for C++ interfaces.
 	 */
 	virtual ~DataSetIF() {}
+
 	/**
-	 * \brief	This operation provides a method to register local data pool variables
-	 * 			to register in a data set by passing itself to this DataSet operation.
+	 * @brief	This operation provides a method to register local data pool
+	 * 			variables to register in a data set by passing itself
+	 * 			to this DataSet operation.
 	 */
-	virtual void registerVariable( PoolVariableIF* variable ) = 0;
+	virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
+
+	virtual uint16_t getFillCount() const = 0;
 };
 
-#endif /* DATASETIF_H_ */
+#endif /* FSFW_DATAPOOL_DATASETIF_H_ */
diff --git a/datapool/HkSwitchHelper.cpp b/datapool/HkSwitchHelper.cpp
index 04096aca..1a2a25eb 100644
--- a/datapool/HkSwitchHelper.cpp
+++ b/datapool/HkSwitchHelper.cpp
@@ -1,5 +1,4 @@
-#include "HkSwitchHelper.h"
-//#include <mission/tmtcservices/HKService_03.h>
+#include "../datapool/HkSwitchHelper.h"
 #include "../ipc/QueueFactory.h"
 
 HkSwitchHelper::HkSwitchHelper(EventReportingProxyIF* eventProxy) :
@@ -22,14 +21,14 @@ ReturnValue_t HkSwitchHelper::initialize() {
 }
 
 ReturnValue_t HkSwitchHelper::performOperation(uint8_t operationCode) {
-	CommandMessage message;
-	while (actionQueue->receiveMessage(&message) == HasReturnvaluesIF::RETURN_OK) {
-		ReturnValue_t result = commandActionHelper.handleReply(&message);
+	CommandMessage command;
+	while (actionQueue->receiveMessage(&command) == HasReturnvaluesIF::RETURN_OK) {
+		ReturnValue_t result = commandActionHelper.handleReply(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			continue;
 		}
-		message.setToUnknownCommand();
-		actionQueue->reply(&message);
+		command.setToUnknownCommand();
+		actionQueue->reply(&command);
 	}
 
 	return HasReturnvaluesIF::RETURN_OK;
diff --git a/datapool/PoolDataSetBase.cpp b/datapool/PoolDataSetBase.cpp
new file mode 100644
index 00000000..1acd3fd3
--- /dev/null
+++ b/datapool/PoolDataSetBase.cpp
@@ -0,0 +1,169 @@
+#include "PoolDataSetBase.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
+        const size_t maxFillCount):
+        registeredVariables(registeredVariablesArray),
+        maxFillCount(maxFillCount) {
+}
+
+PoolDataSetBase::~PoolDataSetBase() {}
+
+ReturnValue_t PoolDataSetBase::registerVariable(
+		PoolVariableIF *variable) {
+	if (state != States::DATA_SET_UNINITIALISED) {
+		sif::error << "DataSet::registerVariable: "
+				"Call made in wrong position." << std::endl;
+		return DataSetIF::DATA_SET_UNINITIALISED;
+	}
+	if (variable == nullptr) {
+		sif::error << "DataSet::registerVariable: "
+				"Pool variable is nullptr." << std::endl;
+		return DataSetIF::POOL_VAR_NULL;
+	}
+	if (fillCount >= maxFillCount) {
+		sif::error << "DataSet::registerVariable: "
+				"DataSet is full." << std::endl;
+		return DataSetIF::DATA_SET_FULL;
+	}
+	registeredVariables[fillCount] = variable;
+	fillCount++;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PoolDataSetBase::read(uint32_t lockTimeout) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	if (state == States::DATA_SET_UNINITIALISED) {
+		lockDataPool(lockTimeout);
+		for (uint16_t count = 0; count < fillCount; count++) {
+			result = readVariable(count);
+			if(result != RETURN_OK) {
+				break;
+			}
+		}
+		state = States::DATA_SET_WAS_READ;
+		unlockDataPool();
+	}
+	else {
+		sif::error << "DataSet::read(): "
+				"Call made in wrong position. Don't forget to commit"
+				" member datasets!" << std::endl;
+		result = SET_WAS_ALREADY_READ;
+	}
+	return result;
+}
+
+uint16_t PoolDataSetBase::getFillCount() const {
+    return fillCount;
+}
+
+ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	// These checks are often performed by the respective
+	// variable implementation too, but I guess a double check does not hurt.
+	if (registeredVariables[count]->getReadWriteMode() !=
+				PoolVariableIF::VAR_WRITE and
+		registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER)
+	{
+		result = registeredVariables[count]->readWithoutLock();
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			result = INVALID_PARAMETER_DEFINITION;
+		}
+	}
+	return result;
+}
+
+ReturnValue_t PoolDataSetBase::commit(uint32_t lockTimeout) {
+	if (state == States::DATA_SET_WAS_READ) {
+		handleAlreadyReadDatasetCommit(lockTimeout);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return handleUnreadDatasetCommit(lockTimeout);
+	}
+}
+
+void PoolDataSetBase::handleAlreadyReadDatasetCommit(uint32_t lockTimeout) {
+	lockDataPool(lockTimeout);
+	for (uint16_t count = 0; count < fillCount; count++) {
+		if (registeredVariables[count]->getReadWriteMode()
+				!= PoolVariableIF::VAR_READ
+				&& registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER) {
+			registeredVariables[count]->commitWithoutLock();
+		}
+	}
+	state = States::DATA_SET_UNINITIALISED;
+	unlockDataPool();
+}
+
+ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(uint32_t lockTimeout) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	lockDataPool(lockTimeout);
+	for (uint16_t count = 0; count < fillCount; count++) {
+		if (registeredVariables[count]->getReadWriteMode()
+				== PoolVariableIF::VAR_WRITE
+				&& registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER) {
+			registeredVariables[count]->commitWithoutLock();
+		} else if (registeredVariables[count]->getDataPoolId()
+				!= PoolVariableIF::NO_PARAMETER) {
+			if (result != COMMITING_WITHOUT_READING) {
+				sif::error << "DataSet::commit(): commit-without-read call made "
+						"with non write-only variable." << std::endl;
+				result = COMMITING_WITHOUT_READING;
+			}
+		}
+	}
+	state = States::DATA_SET_UNINITIALISED;
+	unlockDataPool();
+	return result;
+}
+
+
+ReturnValue_t PoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PoolDataSetBase::unlockDataPool() {
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PoolDataSetBase::serialize(uint8_t** buffer, size_t* size,
+		const size_t maxSize, SerializeIF::Endianness streamEndianness) const {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	for (uint16_t count = 0; count < fillCount; count++) {
+		result = registeredVariables[count]->serialize(buffer, size, maxSize,
+		        streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+	return result;
+}
+
+ReturnValue_t PoolDataSetBase::deSerialize(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;
+		}
+	}
+	return result;
+}
+
+size_t PoolDataSetBase::getSerializedSize() const {
+	uint32_t size = 0;
+	for (uint16_t count = 0; count < fillCount; count++) {
+		size += registeredVariables[count]->getSerializedSize();
+	}
+	return size;
+}
+
+void PoolDataSetBase::setContainer(PoolVariableIF **variablesContainer) {
+    this->registeredVariables = variablesContainer;
+}
diff --git a/datapool/PoolDataSetBase.h b/datapool/PoolDataSetBase.h
new file mode 100644
index 00000000..a8931d62
--- /dev/null
+++ b/datapool/PoolDataSetBase.h
@@ -0,0 +1,152 @@
+#ifndef FSFW_DATAPOOL_POOLDATASETBASE_H_
+#define FSFW_DATAPOOL_POOLDATASETBASE_H_
+
+#include "PoolDataSetIF.h"
+#include "PoolVariableIF.h"
+#include "../ipc/MutexIF.h"
+
+/**
+ * @brief	The DataSetBase class manages a set of locally checked out variables.
+ * @details
+ * 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 data pool,
+ * to ensure that all values are read and written back at once.
+ *
+ * An internal state manages usage of this class. Variables may only be
+ * registered before the read call is made, and the commit call only
+ * 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.
+ *
+ * The base class lockDataPool und unlockDataPool implementation are empty
+ * and should be implemented to protect the underlying pool type.
+ * @author	Bastian Baetz
+ * @ingroup data_pool
+ */
+class PoolDataSetBase: public PoolDataSetIF,
+		public SerializeIF,
+		public HasReturnvaluesIF {
+public:
+
+	/**
+	 * @brief	Creates an empty dataset. Use registerVariable or
+	 * 			supply a pointer to this dataset to PoolVariable
+	 * 			initializations to register pool variables.
+	 */
+	PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
+	        const size_t maxFillCount);
+	virtual~ PoolDataSetBase();
+
+	/**
+	 * @brief	The read call initializes reading out all registered variables.
+	 * @details
+	 * It iterates through the list of registered variables and calls all read()
+	 * functions of the registered pool variables (which read out their values
+	 * from the data pool) which are not write-only.
+	 * In case of an error (e.g. a wrong data type, or an invalid data pool id),
+	 * the operation is aborted and @c INVALID_PARAMETER_DEFINITION returned.
+	 *
+	 * The data pool is locked during the whole read operation and
+	 * freed afterwards.The state changes to "was written" after this operation.
+	 * @return
+	 * - @c RETURN_OK if all variables were read successfully.
+	 * - @c INVALID_PARAMETER_DEFINITION if PID, size or type of the
+	 * requested variable is invalid.
+	 * - @c SET_WAS_ALREADY_READ if read() is called twice without calling
+	 * commit() in between
+	 */
+	virtual ReturnValue_t read(uint32_t lockTimeout =
+			MutexIF::BLOCKING) override;
+	/**
+	 * @brief	The commit call initializes writing back the registered variables.
+	 * @details
+	 * It iterates through the list of registered variables and calls the
+	 * commit() method of the remaining registered variables (which write back
+	 * their values to the pool).
+	 *
+	 * The data pool is locked during the whole commit operation and
+	 * freed afterwards. The state changes to "was committed" after this operation.
+	 *
+	 * If the set does contain at least one variable which is not write-only
+	 * commit() can only be called after read(). If the set only contains
+	 * variables which are write only, commit() can be called without a
+	 * preceding read() call.
+	 * @return	- @c RETURN_OK if all variables were read successfully.
+	 * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
+	 * 			  contains non write-only variables
+	 */
+	virtual ReturnValue_t commit(uint32_t lockTimeout =
+			MutexIF::BLOCKING) override;
+
+	/**
+	 * Register the passed pool variable instance into the data set.
+	 * @param variable
+	 * @return
+	 */
+	virtual ReturnValue_t registerVariable( PoolVariableIF* variable) override;
+	/**
+	 * Provides the means to lock the underlying data structure to ensure
+	 * thread-safety. Default implementation is empty
+	 * @return Always returns -@c RETURN_OK
+	 */
+	virtual ReturnValue_t lockDataPool(uint32_t timeoutMs =
+			MutexIF::BLOCKING) override;
+	/**
+	 * Provides the means to unlock the underlying data structure to ensure
+	 * thread-safety. Default implementation is empty
+	 * @return Always returns -@c RETURN_OK
+	 */
+	virtual ReturnValue_t unlockDataPool() override;
+
+	virtual uint16_t getFillCount() const;
+
+	/* SerializeIF implementations */
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+				const 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;
+
+protected:
+	/**
+	 * @brief	The fill_count attribute ensures that the variables
+	 * 			register in the correct array position and that the maximum
+	 * 			number of variables is not exceeded.
+	 */
+	uint16_t fillCount = 0;
+	/**
+	 * States of the seet.
+	 */
+	enum class States {
+		DATA_SET_UNINITIALISED, //!< DATA_SET_UNINITIALISED
+		DATA_SET_WAS_READ     //!< DATA_SET_WAS_READ
+	};
+	/**
+	 * @brief	state manages the internal state of the data set,
+	 *          which is important e.g. for the behavior on destruction.
+	 */
+	States state = States::DATA_SET_UNINITIALISED;
+
+	/**
+	 * @brief	This array represents all pool variables registered in this set.
+	 * Child classes can use a static or dynamic container to create
+	 * an array of registered variables and assign the first entry here.
+	 */
+	PoolVariableIF** registeredVariables = nullptr;
+	const size_t maxFillCount = 0;
+
+	void setContainer(PoolVariableIF** variablesContainer);
+
+private:
+	ReturnValue_t readVariable(uint16_t count);
+	void handleAlreadyReadDatasetCommit(uint32_t lockTimeout);
+	ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
+};
+
+#endif /* FSFW_DATAPOOL_POOLDATASETBASE_H_ */
diff --git a/datapool/PoolDataSetIF.h b/datapool/PoolDataSetIF.h
new file mode 100644
index 00000000..aa45fa54
--- /dev/null
+++ b/datapool/PoolDataSetIF.h
@@ -0,0 +1,33 @@
+#ifndef FSFW_DATAPOOL_POOLDATASETIF_H_
+#define FSFW_DATAPOOL_POOLDATASETIF_H_
+
+#include "DataSetIF.h"
+
+/**
+ * @brief   Extendes the DataSetIF by adding abstract functions to lock
+ *          and unlock a data pool and read/commit semantics.
+ */
+class PoolDataSetIF: public DataSetIF {
+public:
+    virtual~ PoolDataSetIF() {};
+
+    virtual ReturnValue_t read(dur_millis_t lockTimeout) = 0;
+    virtual ReturnValue_t commit(dur_millis_t lockTimeout) = 0;
+
+    /**
+     * @brief   Most underlying data structures will have a pool like structure
+     *          and will require a lock and unlock mechanism to ensure
+     *          thread-safety
+     * @return Lock operation result
+     */
+    virtual ReturnValue_t lockDataPool(dur_millis_t timeoutMs) = 0;
+    /**
+     * @brief   Unlock call corresponding to the lock call.
+     * @return Unlock operation result
+     */
+    virtual ReturnValue_t unlockDataPool() = 0;
+
+    virtual bool isValid() const = 0;
+};
+
+#endif /* FSFW_DATAPOOL_POOLDATASETIF_H_ */
diff --git a/datapool/PoolEntry.cpp b/datapool/PoolEntry.cpp
index 56e489a5..fb73328c 100644
--- a/datapool/PoolEntry.cpp
+++ b/datapool/PoolEntry.cpp
@@ -1,4 +1,5 @@
 #include "PoolEntry.h"
+
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../globalfunctions/arrayprinter.h"
 #include <cstring>
diff --git a/datapool/PoolEntry.h b/datapool/PoolEntry.h
index 7b47c673..033db40d 100644
--- a/datapool/PoolEntry.h
+++ b/datapool/PoolEntry.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
-#define FRAMEWORK_DATAPOOL_POOLENTRY_H_
+#ifndef FSFW_DATAPOOL_POOLENTRY_H_
+#define FSFW_DATAPOOL_POOLENTRY_H_
 
 #include "PoolEntryIF.h"
 
@@ -127,4 +127,4 @@ public:
 	Type getType();
 };
 
-#endif /* POOLENTRY_H_ */
+#endif /* FSFW_DATAPOOL_POOLENTRY_H_ */
diff --git a/datapool/PoolEntryIF.h b/datapool/PoolEntryIF.h
index 462de18b..d9db5237 100644
--- a/datapool/PoolEntryIF.h
+++ b/datapool/PoolEntryIF.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
-#define FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
+#ifndef FSFW_DATAPOOL_POOLENTRYIF_H_
+#define FSFW_DATAPOOL_POOLENTRYIF_H_
 
 #include "../globalfunctions/Type.h"
 #include <cstdint>
@@ -60,4 +60,4 @@ public:
 	virtual Type getType() = 0;
 };
 
-#endif /* POOLENTRYIF_H_ */
+#endif /* FSFW_DATAPOOL_POOLENTRYIF_H_ */
diff --git a/datapool/PoolRawAccess.cpp b/datapool/PoolRawAccess.cpp
deleted file mode 100644
index f9264081..00000000
--- a/datapool/PoolRawAccess.cpp
+++ /dev/null
@@ -1,187 +0,0 @@
-#include "DataPool.h"
-#include "PoolEntryIF.h"
-#include "PoolRawAccess.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../serialize/EndianConverter.h"
-
-#include <cstring>
-
-PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
-		DataSetIF *data_set, ReadWriteMode_t setReadWriteMode) :
-		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false), type(
-				Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0), readWriteMode(
-				setReadWriteMode) {
-	memset(value, 0, sizeof(value));
-	if (data_set != NULL) {
-		data_set->registerVariable(this);
-	}
-}
-
-PoolRawAccess::~PoolRawAccess() {
-
-}
-
-ReturnValue_t PoolRawAccess::read() {
-	PoolEntryIF *read_out = ::dataPool.getRawData(dataPoolId);
-	if (read_out != NULL) {
-		valid = read_out->getValid();
-		if (read_out->getSize() > arrayEntry) {
-			arraySize = read_out->getSize();
-			typeSize = read_out->getByteSize() / read_out->getSize();
-			type = read_out->getType();
-			if (typeSize <= sizeof(value)) {
-				uint16_t arrayPosition = arrayEntry * typeSize;
-				sizeTillEnd = read_out->getByteSize() - arrayPosition;
-				uint8_t *ptr =
-						&((uint8_t*) read_out->getRawData())[arrayPosition];
-				memcpy(value, ptr, typeSize);
-				return HasReturnvaluesIF::RETURN_OK;
-			} else {
-				//Error value type too large.
-			}
-		} else {
-			//Error index requested too large
-		}
-	} else {
-		//Error entry does not exist.
-	}
-	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex
-			<< dataPoolId << std::dec << " failed." << std::endl;
-	valid = INVALID;
-	typeSize = 0;
-	sizeTillEnd = 0;
-	memset(value, 0, sizeof(value));
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-ReturnValue_t PoolRawAccess::commit() {
-	PoolEntryIF *write_back = ::dataPool.getRawData(dataPoolId);
-	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
-		write_back->setValid(valid);
-		uint8_t array_position = arrayEntry * typeSize;
-		uint8_t *ptr = &((uint8_t*) write_back->getRawData())[array_position];
-		memcpy(ptr, value, typeSize);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-uint8_t* PoolRawAccess::getEntry() {
-	return value;
-}
-
-ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t *buffer,
-		size_t *writtenBytes, size_t maxSize) {
-	uint8_t *data_ptr = getEntry();
-//	debug << "PoolRawAccess::getEntry: Array position: " << index * size_of_type << " Size of T: " << (int)size_of_type << " ByteSize: " << byte_size << " Position: " << *size << std::endl;
-	if (typeSize == 0) {
-		return DATA_POOL_ACCESS_FAILED;
-	}
-	if (typeSize > maxSize) {
-		return INCORRECT_SIZE;
-	}
-	EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
-	*writtenBytes = typeSize;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-Type PoolRawAccess::getType() {
-	return type;
-}
-
-size_t PoolRawAccess::getSizeOfType() {
-	return typeSize;
-}
-
-size_t PoolRawAccess::getArraySize() {
-	return arraySize;
-}
-
-uint32_t PoolRawAccess::getDataPoolId() const {
-	return dataPoolId;
-}
-
-PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
-	return readWriteMode;
-}
-
-ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
-		size_t setSize) {
-	if (typeSize == setSize) {
-		EndianConverter::convertBigEndian(value, buffer, typeSize);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		sif::error
-				<< "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: Internal"
-				<< (uint32_t) typeSize << ", Requested: " << setSize
-				<< std::endl;
-		return INCORRECT_SIZE;
-	}
-}
-
-bool PoolRawAccess::isValid() const {
-	if (valid != INVALID)
-		return true;
-	else
-		return false;
-}
-
-void PoolRawAccess::setValid(uint8_t valid) {
-	this->valid = valid;
-}
-
-size_t PoolRawAccess::getSizeTillEnd() const {
-	return sizeTillEnd;
-}
-
-ReturnValue_t PoolRawAccess::serialize(uint8_t **buffer, size_t *size,
-		size_t maxSize, Endianness streamEndianness) const {
-	if (typeSize + *size <= maxSize) {
-		switch (streamEndianness) {
-		case (Endianness::BIG):
-			EndianConverter::convertBigEndian(*buffer, value, typeSize);
-			break;
-		case (Endianness::LITTLE):
-			EndianConverter::convertLittleEndian(*buffer, value, typeSize);
-			break;
-		default:
-		case (Endianness::MACHINE):
-			memcpy(*buffer, value, typeSize);
-			break;
-		}
-		*size += typeSize;
-		(*buffer) += typeSize;
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return SerializeIF::BUFFER_TOO_SHORT;
-	}
-}
-
-size_t PoolRawAccess::getSerializedSize() const {
-	return typeSize;
-}
-
-ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
-		Endianness streamEndianness) {
-
-	if (*size >= typeSize) {
-		switch (streamEndianness) {
-		case (Endianness::BIG):
-			EndianConverter::convertBigEndian(value, *buffer, typeSize);
-			break;
-		case (Endianness::LITTLE):
-			EndianConverter::convertLittleEndian(value, *buffer, typeSize);
-			break;
-		default:
-		case (Endianness::MACHINE):
-			memcpy(value, *buffer, typeSize);
-			break;
-		}
-		*size -= typeSize;
-		*buffer += typeSize;
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return SerializeIF::STREAM_TOO_SHORT;
-	}
-}
diff --git a/datapool/PoolRawAccess.h b/datapool/PoolRawAccess.h
deleted file mode 100644
index 0c7a06bf..00000000
--- a/datapool/PoolRawAccess.h
+++ /dev/null
@@ -1,152 +0,0 @@
-#ifndef POOLRAWACCESS_H_
-#define POOLRAWACCESS_H_
-
-#include "DataSetIF.h"
-#include "PoolVariableIF.h"
-
-/**
- * This class allows accessing Data Pool variables as raw bytes.
- * This is necessary to have an access method for HK data, as the PID's alone do not
- * provide a type information.
- *	\ingroup data_pool
- */
-class PoolRawAccess: public PoolVariableIF {
-private:
-	/**
-	 * \brief	To access the correct data pool entry on read and commit calls, the data pool id
-	 * 			is stored.
-	 */
-	uint32_t dataPoolId;
-	/**
-	 * \brief	The array entry that is fetched from the data pool.
-	 */
-	uint8_t arrayEntry;
-	/**
-	 * \brief	The valid information as it was stored in the data pool is copied to this attribute.
-	 */
-	uint8_t valid;
-	/**
-	 *  \brief	This value contains the type of the data pool entry.
-	 */
-	Type type;
-	/**
-	 * \brief	This value contains the size of the data pool entry in bytes.
-	 */
-	size_t typeSize;
-	/**
-	 * The size of the DP array (single values return 1)
-	 */
-	size_t arraySize;
-	/**
-	 * The size (in bytes) from the selected entry till the end of this DataPool variable.
-	 */
-	size_t sizeTillEnd;
-	/**
-	 * \brief	The information whether the class is read-write or read-only is stored here.
-	 */
-	ReadWriteMode_t readWriteMode;
-	static const uint8_t RAW_MAX_SIZE = sizeof(double);
-protected:
-	/**
-	 * \brief	This is a call to read the value from the global data pool.
-	 * \details	When executed, this operation tries to fetch the pool entry with matching
-	 * 			data pool id from the global data pool and copies the value and the valid
-	 * 			information to its local attributes. In case of a failure (wrong type or
-	 * 			pool id not found), the variable is set to zero and invalid.
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 */
-	ReturnValue_t read();
-	/**
-	 * \brief	The commit call writes back the variable's value 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 valid flag is automatically set to "valid".
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 *
-	 */
-	ReturnValue_t commit();
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::POOL_RAW_ACCESS_CLASS;
-	static const ReturnValue_t INCORRECT_SIZE = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
-	uint8_t value[RAW_MAX_SIZE];
-	PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
-			DataSetIF *data_set, ReadWriteMode_t setReadWriteMode =
-					PoolVariableIF::VAR_READ);
-	/**
-	 * \brief	The classes destructor is empty. If commit() was not called, the local value is
-	 * 			discarded and not written back to the data pool.
-	 */
-	~PoolRawAccess();
-	/**
-	 * \brief	This operation returns a pointer to the entry fetched.
-	 * \details	This means, it does not return a pointer to byte "index", but to the start byte of
-	 * 			array entry "index". Example: If the original data pool array consists of an double
-	 * 			array of size four, getEntry(1) returns &(this->value[8]).
-	 */
-	uint8_t* getEntry();
-	/**
-	 * \brief 	This operation returns the fetched entry from the data pool and
-	 * 			flips the bytes, if necessary.
-	 * \details	It makes use of the getEntry call of this function, but additionally flips the
-	 * 			bytes to big endian, which is the default for external communication (as House-
-	 * 			keeping telemetry). To achieve this, the data is copied directly to the passed
-	 * 			buffer, if it fits in the given maxSize.
-	 * \param buffer	A pointer to a buffer to write to
-	 * \param writtenBytes	The number of bytes written is returned with this value.
-	 * \param maxSize	The maximum size that the function may write to buffer.
-	 * \return	- \c RETURN_OK if entry could be acquired
-	 * 			- \c RETURN_FAILED else.
-	 */
-	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
-			size_t maxSize);
-	/**
-	 * With this method, the content can be set from a big endian buffer safely.
-	 * @param buffer	Pointer to the data to set
-	 * @param size		Size of the data to write. Must fit this->size.
-	 * @return	- \c RETURN_OK on success
-	 * 			- \c RETURN_FAILED on failure
-	 */
-	ReturnValue_t setEntryFromBigEndian(const uint8_t *buffer,
-			size_t setSize);
-	/**
-	 *  \brief This operation returns the type of the entry currently stored.
-	 */
-	Type getType();
-	/**
-	 *  \brief This operation returns the size of the entry currently stored.
-	 */
-	size_t getSizeOfType();
-	/**
-	 *
-	 * @return the size of the datapool array
-	 */
-	size_t getArraySize();
-	/**
-	 * \brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const;
-	/**
-	 * This method returns if the variable is read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const;
-	/**
-	 * \brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const;
-
-	void setValid(uint8_t valid);
-	/**
-	 * Getter for the remaining size.
-	 */
-	size_t getSizeTillEnd() const;
-
-	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
-			 Endianness streamEndianness) const override;
-
-	size_t getSerializedSize() const override;
-
-	ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-			 Endianness streamEndianness) override;
-};
-
-#endif /* POOLRAWACCESS_H_ */
diff --git a/datapool/PoolVarList.h b/datapool/PoolVarList.h
index 035ff2ac..0b2b0f06 100644
--- a/datapool/PoolVarList.h
+++ b/datapool/PoolVarList.h
@@ -1,14 +1,15 @@
-#ifndef POOLVARLIST_H_
-#define POOLVARLIST_H_
+#ifndef FSFW_DATAPOOL_POOLVARLIST_H_
+#define FSFW_DATAPOOL_POOLVARLIST_H_
 
-#include "PoolVariable.h"
-#include "PoolVariableIF.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 template <class T, uint8_t n_var>
 class PoolVarList {
 private:
-	PoolVariable<T> variables[n_var];
+	GlobPoolVar<T> variables[n_var];
 public:
-	PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet, PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
+	PoolVarList( const uint32_t set_id[n_var], DataSetIF* dataSet,
+	        PoolVariableIF::ReadWriteMode_t setReadWriteMode ) {
 		//I really should have a look at the new init list c++ syntax.
 		if (dataSet == NULL) {
 			return;
@@ -20,9 +21,9 @@ public:
 		}
 	}
 
-	PoolVariable<T> &operator [](int i) { return variables[i]; }
+	GlobPoolVar<T> &operator [](int i) { return variables[i]; }
 };
 
 
 
-#endif /* POOLVARLIST_H_ */
+#endif /* FSFW_DATAPOOL_POOLVARLIST_H_ */
diff --git a/datapool/PoolVariable.h b/datapool/PoolVariable.h
deleted file mode 100644
index a9d3407d..00000000
--- a/datapool/PoolVariable.h
+++ /dev/null
@@ -1,295 +0,0 @@
-/*
- * \file	PoolVariable.h
- *
- * \brief	This file contains the PoolVariable class, which locally represents a non-array data pool variable.
- *
- * \date	10/17/2012
- *
- * \author	Bastian Baetz
- */
-
-#ifndef POOLVARIABLE_H_
-#define POOLVARIABLE_H_
-
-#include "DataSetIF.h"
-#include "PoolEntry.h"
-#include "PoolVariableIF.h"
-#include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-template<typename T, uint8_t n_var> class PoolVarList;
-
-/**
- * \brief	This is the access class for non-array 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-safe access to single
- * 			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 the variable's value in
- * 			the data pool is not changed until the commit call is executed.
- * 	\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 PoolVariable: public PoolVariableIF {
-	template<typename U, uint8_t n_var> friend class PoolVarList;
-protected:
-	/**
-	 * \brief	To access the correct data pool entry on read and commit calls, the data pool id
-	 * 			is stored.
-	 */
-	uint32_t dataPoolId;
-	/**
-	 * \brief	The valid information as it was stored in the data pool is copied to this attribute.
-	 */
-	uint8_t valid;
-	/**
-	 * \brief	The information whether the class is read-write or read-only is stored here.
-	 */
-	ReadWriteMode_t readWriteMode;
-	/**
-	 * \brief	This is a call to read the value from the global data pool.
-	 * \details	When executed, this operation tries to fetch the pool entry with matching
-	 * 			data pool id from the global data pool and copies the value and the valid
-	 * 			information to its local attributes. In case of a failure (wrong type or
-	 * 			pool id not found), the variable is set to zero and invalid.
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 */
-	ReturnValue_t read() {
-		PoolEntry<T> *read_out = ::dataPool.getData < T > (dataPoolId, 1);
-		if (read_out != NULL) {
-			valid = read_out->valid;
-			value = *(read_out->address);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			value = 0;
-			valid = false;
-			sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
-					<< dataPoolId << std::dec << " failed." << std::endl;
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	/**
-	 * \brief	The commit call writes back the variable's value 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 valid flag is automatically set to "valid".
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 *
-	 */
-	ReturnValue_t commit() {
-		PoolEntry<T> *write_back = ::dataPool.getData < T > (dataPoolId, 1);
-		if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
-			write_back->valid = valid;
-			*(write_back->address) = value;
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	/**
-	 * Empty ctor for List initialization
-	 */
-	PoolVariable() :
-			dataPoolId(PoolVariableIF::NO_PARAMETER), valid(
-					PoolVariableIF::INVALID), readWriteMode(VAR_READ), value(0) {
-
-	}
-public:
-	/**
-	 * \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;
-	/**
-	 * \brief	In the constructor, the variable can register itself in a DataSet (if not NULL is
-	 * 			passed).
-	 * \details	It DOES NOT fetch the current value from the data pool, but sets the value
-	 * 			attribute to default (0). The value is fetched within the read() operation.
-	 * \param set_id	This is the id in the global data pool this instance of the access class
-	 * 					corresponds to.
-	 * \param dataSet	The data set in which the variable shall register itself. If NULL,
-	 * 					the variable is not registered.
-	 * \param setWritable If this flag is set to true, changes in the value attribute can be
-	 * 					written back to the data pool, otherwise not.
-	 */
-	PoolVariable(uint32_t set_id, DataSetIF *dataSet,
-			ReadWriteMode_t setReadWriteMode) :
-			dataPoolId(set_id), valid(PoolVariableIF::INVALID), readWriteMode(
-					setReadWriteMode), value(0) {
-		if (dataSet != NULL) {
-			dataSet->registerVariable(this);
-		}
-	}
-	/**
-	 * Copy ctor to copy classes containing Pool Variables.
-	 */
-	PoolVariable(const PoolVariable &rhs) :
-			dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
-					rhs.readWriteMode), value(rhs.value) {
-	}
-
-	/**
-	 * \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.
-	 */
-	~PoolVariable() {
-
-	}
-	/**
-	 * \brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const {
-		return dataPoolId;
-	}
-	/**
-	 * This operation sets the data pool id of the variable.
-	 * The method is necessary to set id's of data pool member variables with bad initialization.
-	 */
-	void setDataPoolId(uint32_t poolId) {
-		dataPoolId = poolId;
-	}
-	/**
-	 * This method returns if the variable is write-only, read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const {
-		return readWriteMode;
-	}
-	/**
-	 * \brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const {
-		if (valid)
-			return true;
-		else
-			return false;
-	}
-
-	uint8_t getValid() {
-		return valid;
-	}
-
-	void setValid(uint8_t valid) {
-		this->valid = valid;
-	}
-
-	operator T() {
-		return value;
-	}
-
-	operator T() const {
-		return value;
-	}
-
-	PoolVariable<T>& operator=(T newValue) {
-		value = newValue;
-		return *this;
-	}
-
-	PoolVariable<T>& operator=(PoolVariable<T> newPoolVariable) {
-		value = newPoolVariable.value;
-		return *this;
-	}
-
-	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-			size_t maxSize, Endianness streamEndianness) const override {
-		return SerializeAdapter::serialize<T>(&value, buffer, size, maxSize,
-				streamEndianness);
-	}
-
-	virtual size_t getSerializedSize() const override {
-		return SerializeAdapter::getSerializedSize(&value);
-	}
-
-	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-			Endianness streamEndianness) override {
-		return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
-	}
-};
-
-typedef PoolVariable<uint8_t> db_uint8_t;
-typedef PoolVariable<uint16_t> db_uint16_t;
-typedef PoolVariable<uint32_t> db_uint32_t;
-typedef PoolVariable<int8_t> db_int8_t;
-typedef PoolVariable<int16_t> db_int16_t;
-typedef PoolVariable<int32_t> db_int32_t;
-typedef PoolVariable<uint8_t> db_bool_t;
-typedef PoolVariable<float> db_float_t;
-typedef PoolVariable<double> db_double_t;
-//Alternative (but I thing this is not as useful: code duplication, differences too small):
-
-//template <typename T>
-//class PoolReader : public PoolVariableIF {
-//private:
-//	uint32_t parameter_id;
-//	uint8_t valid;
-//public:
-//	T value;
-//	PoolReader( uint32_t set_id, DataSetIF* set ) : parameter_id(set_id), valid(false), value(0) {
-//		set->registerVariable( this );
-//	}
-//
-//	~PoolReader() {};
-//
-//	uint8_t commit() {
-//			return HasReturnvaluesIF::RETURN_OK;
-//	}
-//
-//	uint8_t read() {
-//		PoolEntry<T>* read_out = ::dataPool.getData<T>( parameter_id, 1 );
-//		if ( read_out != NULL ) {
-//			valid = read_out->valid;
-//			value = *(read_out->address);
-//			return HasReturnvaluesIF::RETURN_OK;
-//		} else {
-//			value = 0;
-//			valid = false;
-//			return CHECKOUT_FAILED;
-//		}
-//	}
-//	uint32_t getParameterId() { return parameter_id; }
-//	bool isWritable() { return false; };
-//	bool isValid() { if (valid) return true; else return false; }
-//};
-//
-//template <typename T>
-//class PoolWriter : public PoolVariableIF {
-//private:
-//	uint32_t parameter_id;
-//public:
-//	T value;
-//	PoolWriter( uint32_t set_id, DataSetIF* set ) : parameter_id(set_id), value(0) {
-//		set->registerVariable( this );
-//	}
-//
-//	~PoolWriter() {};
-//
-//	uint8_t commit() {
-//		PoolEntry<T>* write_back = ::dataPool.getData<T>( parameter_id, 1 );
-//		if ( write_back != NULL ) {
-//			write_back->valid = true;
-//			*(write_back->address) = value;
-//			return HasReturnvaluesIF::RETURN_OK;
-//		} else {
-//			return CHECKOUT_FAILED;
-//		}
-//	}
-//	uint8_t read() {
-//		PoolEntry<T>* read_out = ::dataPool.getData<T>( parameter_id, 1 );
-//		if ( read_out != NULL ) {
-//			value = *(read_out->address);
-//			return HasReturnvaluesIF::RETURN_OK;
-//		} else {
-//			value = 0;
-//			return CHECKOUT_FAILED;
-//		}
-//	}
-//	uint32_t getParameterId() { return parameter_id; }
-//	bool isWritable() { return true; };
-//	bool isValid() { return false; }
-//};
-
-#endif /* POOLVARIABLE_H_ */
diff --git a/datapool/PoolVariableIF.h b/datapool/PoolVariableIF.h
index f47173df..cd15f744 100644
--- a/datapool/PoolVariableIF.h
+++ b/datapool/PoolVariableIF.h
@@ -1,71 +1,99 @@
-/*
- * \file	PoolVariableIF.h
- *
- * \brief	This file contains the interface definition for pool variables.
- *
- * \date	10/17/2012
- *
- * \author	Bastian Baetz
- */
-
-#ifndef POOLVARIABLEIF_H_
-#define POOLVARIABLEIF_H_
+#ifndef FSFW_DATAPOOL_POOLVARIABLEIF_H_
+#define FSFW_DATAPOOL_POOLVARIABLEIF_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeIF.h"
 
 /**
- * \brief	This interface is used to control local data pool variable representations.
- *
- * \details	To securely handle data pool variables, all pool entries are locally managed by
- * 			data pool variable access classes, which are called pool variables. To ensure a
- * 			common state of a set of variables needed in a function, these local pool variables
- * 			again are managed by other classes, e.g. the DataSet. This interface provides unified
- * 			access to local pool variables for such manager classes.
- *	\ingroup data_pool
+ * @brief	This interface is used to control data pool
+ * 			variable representations.
+ * @details
+ * To securely handle data pool variables, all pool entries are locally
+ * managed by data pool variable access classes, which are called pool
+ * variables. To ensure a common state of a set of variables needed in a
+ * function, these local pool variables again are managed by other classes,
+ * like the DataSet classes. This interface provides unified access to
+ * local pool variables for such manager classes.
+ * @author 	Bastian Baetz
+ * @ingroup data_pool
  */
 class PoolVariableIF : public SerializeIF {
-	friend class DataSet;
-protected:
-	/**
-	 * \brief	The commit call shall write back a newly calculated local value to the data pool.
-	 */
-	virtual ReturnValue_t commit() = 0;
-	/**
-	 * \brief	The read call shall read the value of this parameter from the data pool and store
-	 * 			the content locally.
-	 */
-	virtual ReturnValue_t read() = 0;
+	friend class PoolDataSetBase;
+	friend class GlobDataSet;
+	friend class LocalPoolDataSetBase;
 public:
-	static const uint8_t VALID = 1;
-	static const uint8_t INVALID = 0;
-	static const uint32_t NO_PARAMETER = 0;
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
+	static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
+
+	static constexpr bool VALID = 1;
+	static constexpr bool INVALID = 0;
+	static constexpr uint32_t NO_PARAMETER = 0xffffffff;
+
 	enum ReadWriteMode_t {
 		VAR_READ, VAR_WRITE, VAR_READ_WRITE
 	};
 
 	/**
-	 * \brief	This is an empty virtual destructor, as it is proposed for C++ interfaces.
+	 * @brief	This is an empty virtual destructor,
+	 * 			as it is proposed for C++ interfaces.
 	 */
-	virtual ~PoolVariableIF() {
-	}
+	virtual ~PoolVariableIF() {}
 	/**
-	 * \brief	This method returns if the variable is write-only, read-write or read-only.
+	 * @brief	This method returns if the variable is write-only,
+	 * 			read-write or read-only.
 	 */
 	virtual ReadWriteMode_t getReadWriteMode() const = 0;
 	/**
-	 * \brief	This operation shall return the data pool id of the variable.
+	 * @brief	This operation shall return the data pool id of the variable.
 	 */
 	virtual uint32_t getDataPoolId() const = 0;
 	/**
-	 * \brief	With this call, the valid information of the variable is returned.
+	 * @brief	With this call, the valid information of the
+	 * 			variable is returned.
 	 */
 	virtual bool isValid() const = 0;
 	/**
-	 * \brief	With this call, the valid information of the variable is set.
+	 * @brief	With this call, the valid information of the variable is set.
 	 */
-	virtual void setValid(uint8_t validity) = 0;
+	virtual void setValid(bool validity) = 0;
 
+	/**
+	 * @brief	The commit call shall write back a newly calculated local
+	 * 			value to the data pool.
+	 * @details
+	 * It is assumed that these calls are implemented in a thread-safe manner!
+	 */
+	virtual ReturnValue_t commit(uint32_t lockTimeout) = 0;
+	/**
+	 * @brief	The read call shall read the value of this parameter from
+	 * 			the data pool and store the content locally.
+	 * @details
+	 * It is assumbed that these calls are implemented in a thread-safe manner!
+	 */
+	virtual ReturnValue_t read(uint32_t lockTimeout) = 0;
+
+protected:
+
+	/**
+	 * @brief 	Same as commit with the difference that comitting will be
+	 * 			performed without a lock
+	 * @return
+	 * This can be used if the lock protection is handled externally
+	 * to avoid the overhead of locking and unlocking consecutively.
+	 * Declared protected to avoid free public usage.
+	 */
+	virtual ReturnValue_t readWithoutLock() = 0;
+	/**
+	 * @brief 	Same as commit with the difference that comitting will be
+	 * 			performed without a lock
+	 * @return
+	 * This can be used if the lock protection is handled externally
+	 * to avoid the overhead of locking and unlocking consecutively.
+	 * Declared protected to avoid free public usage.
+	 */
+	virtual ReturnValue_t commitWithoutLock() = 0;
 };
 
-#endif /* POOLVARIABLEIF_H_ */
+using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;
+
+#endif /* FSFW_DATAPOOL_POOLVARIABLEIF_H_ */
diff --git a/datapool/PoolVector.h b/datapool/PoolVector.h
deleted file mode 100644
index d4ca0842..00000000
--- a/datapool/PoolVector.h
+++ /dev/null
@@ -1,233 +0,0 @@
-/*
- * \file	PoolVector.h
- *
- * \brief	This file contains the PoolVector class, the header only class to handle data pool vectors.
- *
- * \date	10/23/2012
- *
- * \author	Bastian Baetz
- */
-
-#ifndef POOLVECTOR_H_
-#define POOLVECTOR_H_
-
-#include "DataSetIF.h"
-#include "PoolEntry.h"
-#include "PoolVariableIF.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 vector_size>
-class PoolVector: public PoolVariableIF {
-private:
-	/**
-	 * \brief	To access the correct data pool entry on read and commit calls, the data pool id
-	 * 			is stored.
-	 */
-	uint32_t dataPoolId;
-	/**
-	 * \brief	The valid information as it was stored in the data pool is copied to this attribute.
-	 */
-	uint8_t valid;
-	/**
-	 * \brief	The information whether the class is read-write or read-only is stored here.
-	 */
-	ReadWriteMode_t readWriteMode;
-
-protected:
-	/**
-	 * \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 global 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 operation does NOT provide any mutual exclusive protection by itself.
-	 */
-	ReturnValue_t read() {
-		PoolEntry<T>* read_out = ::dataPool.getData<T>(this->dataPoolId,
-				vector_size);
-		if (read_out != NULL) {
-			this->valid = read_out->valid;
-			memcpy(this->value, read_out->address, read_out->getByteSize());
-
-			return HasReturnvaluesIF::RETURN_OK;
-
-		} else {
-			memset(this->value, 0, vector_size * sizeof(T));
-			sif::error << "PoolVector: read of DP Variable 0x" << std::hex
-					<< dataPoolId << std::dec << " failed." << std::endl;
-			this->valid = INVALID;
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	/**
-	 * \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 valid flag is automatically set to "valid".
-	 * 			The operation does NOT provide any mutual exclusive protection by itself.
-	 *
-	 */
-	ReturnValue_t commit() {
-		PoolEntry<T>* write_back = ::dataPool.getData<T>(this->dataPoolId,
-				vector_size);
-		if ((write_back != NULL) && (this->readWriteMode != VAR_READ)) {
-			write_back->valid = valid;
-			memcpy(write_back->address, this->value, write_back->getByteSize());
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-public:
-	/**
-	 * \brief	This is the local copy of the data pool entry.
-	 * \detials	The user can work on this attribute
-	 * 			just like he would on a local array of this type.
-	 */
-	T value[vector_size];
-	/**
-	 * \brief	In the constructor, the variable can register itself in a DataSet (if not NULL is
-	 * 			passed).
-	 * \details	It DOES NOT fetch the current value from the data pool, but sets the value
-	 * 			attribute to default (0). The value is fetched within the read() operation.
-	 * \param set_id	This is the id in the global data pool this instance of the access class
-	 * 					corresponds to.
-	 * \param dataSet	The data set in which the variable shall register itself. If NULL,
-	 * 					the variable is not registered.
-	 * \param setWritable If this flag is set to true, changes in the value attribute can be
-	 * 					written back to the data pool, otherwise not.
-	 */
-	PoolVector(uint32_t set_id, DataSetIF* set,
-			ReadWriteMode_t setReadWriteMode) :
-			dataPoolId(set_id), valid(false), readWriteMode(setReadWriteMode) {
-		memset(this->value, 0, vector_size * sizeof(T));
-		if (set != NULL) {
-			set->registerVariable(this);
-		}
-	}
-	/**
-	 * Copy ctor to copy classes containing Pool Variables.
-	 */
-//	PoolVector(const PoolVector& rhs) {
-//		PoolVector<T, vector_size> temp(rhs.dataPoolId, rhs.)
-//		memcpy(value, rhs.value, sizeof(T)*vector_size);
-//	}
-	/**
-	 * \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.
-	 */
-	~PoolVector() {
-	}
-	;
-	/**
-	 * \brief	The operation returns the number of array entries in this variable.
-	 */
-	uint8_t getSize() {
-		return vector_size;
-	}
-	/**
-	 * \brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const {
-		return dataPoolId;
-	}
-	/**
-	 * This operation sets the data pool id of the variable.
-	 * The method is necessary to set id's of data pool member variables with bad initialization.
-	 */
-	void setDataPoolId(uint32_t poolId) {
-		dataPoolId = poolId;
-	}
-	/**
-	 * This method returns if the variable is write-only, read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const {
-		return readWriteMode;
-	}
-	;
-	/**
-	 * \brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const {
-		if (valid != INVALID)
-			return true;
-		else
-			return false;
-	}
-
-	void setValid(uint8_t valid) {
-		this->valid = valid;
-	}
-
-	uint8_t getValid() {
-		return valid;
-	}
-
-	T &operator [](int i) {
-		return value[i];
-	}
-
-	const T &operator [](int i) const {
-		return value[i];
-	}
-
-	PoolVector<T, vector_size> &operator=(
-			PoolVector<T, vector_size> newPoolVector) {
-
-		for (uint16_t i = 0; i < vector_size; i++) {
-			this->value[i] = newPoolVector.value[i];
-		}
-		return *this;
-	}
-
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) const {
-		uint16_t i;
-		ReturnValue_t result;
-		for (i = 0; i < vector_size; i++) {
-			result = SerializeAdapter::serialize(&(value[i]), buffer, size,
-					maxSize, streamEndianness);
-			if (result != HasReturnvaluesIF::RETURN_OK) {
-				return result;
-			}
-		}
-		return result;
-	}
-
-	virtual size_t getSerializedSize() const {
-		return vector_size * SerializeAdapter::getSerializedSize(value);
-	}
-
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) {
-		uint16_t i;
-		ReturnValue_t result;
-		for (i = 0; i < vector_size; i++) {
-			result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
-					streamEndianness);
-			if (result != HasReturnvaluesIF::RETURN_OK) {
-				return result;
-			}
-		}
-		return result;
-	}
-};
-
-#endif /* POOLVECTOR_H_ */
diff --git a/datapool/SharedDataSetIF.h b/datapool/SharedDataSetIF.h
new file mode 100644
index 00000000..b8d98794
--- /dev/null
+++ b/datapool/SharedDataSetIF.h
@@ -0,0 +1,14 @@
+#ifndef FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
+#define FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_
+#include "PoolDataSetIF.h"
+
+class SharedDataSetIF: public PoolDataSetIF {
+public:
+    virtual ~SharedDataSetIF() {};
+
+private:
+    virtual ReturnValue_t lockDataset(dur_millis_t mutexTimeout) = 0;
+    virtual ReturnValue_t unlockDataset() = 0;
+};
+
+#endif /* FRAMEWORK_DATAPOOL_SHAREDDATASETIF_H_ */
diff --git a/datapool/ControllerSet.cpp b/datapoolglob/ControllerSet.cpp
similarity index 79%
rename from datapool/ControllerSet.cpp
rename to datapoolglob/ControllerSet.cpp
index 6339034c..54fc6e8c 100644
--- a/datapool/ControllerSet.cpp
+++ b/datapoolglob/ControllerSet.cpp
@@ -1,4 +1,4 @@
-#include "ControllerSet.h"
+#include <fsfw/datapoolglob/ControllerSet.h>
 
 ControllerSet::ControllerSet() {
 
diff --git a/datapoolglob/ControllerSet.h b/datapoolglob/ControllerSet.h
new file mode 100644
index 00000000..5da11397
--- /dev/null
+++ b/datapoolglob/ControllerSet.h
@@ -0,0 +1,15 @@
+#ifndef FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
+#define FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
+
+#include "../datapoolglob/GlobalDataSet.h"
+
+class ControllerSet :public GlobDataSet {
+public:
+	ControllerSet();
+	virtual ~ControllerSet();
+
+	virtual void setToDefault() = 0;
+	void setInvalid();
+};
+
+#endif /*  FSFW_DATAPOOLGLOB_CONTROLLERSET_H_ */
diff --git a/datapool/DataPoolAdmin.cpp b/datapoolglob/DataPoolAdmin.cpp
similarity index 94%
rename from datapool/DataPoolAdmin.cpp
rename to datapoolglob/DataPoolAdmin.cpp
index f298d530..6ede0841 100644
--- a/datapool/DataPoolAdmin.cpp
+++ b/datapoolglob/DataPoolAdmin.cpp
@@ -1,7 +1,8 @@
-#include "DataPool.h"
 #include "DataPoolAdmin.h"
-#include "DataSet.h"
+#include "GlobalDataSet.h"
+#include "GlobalDataPool.h"
 #include "PoolRawAccess.h"
+
 #include "../ipc/CommandMessage.h"
 #include "../ipc/QueueFactory.h"
 #include "../parameters/ParameterMessage.h"
@@ -40,9 +41,9 @@ ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
 
 	uint8_t valid = data[4];
 
-	uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
+	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
 
-	DataSet mySet;
+	GlobDataSet mySet;
 	PoolRawAccess variable(poolId, 0, &mySet, PoolVariableIF::VAR_READ_WRITE);
 	ReturnValue_t status = mySet.read();
 	if (status != RETURN_OK) {
@@ -92,9 +93,9 @@ void DataPoolAdmin::handleCommand() {
 
 ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
 		const uint8_t* data, size_t size, uint8_t** dataPointer) {
-	uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
-	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
-	DataSet testSet;
+	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
+	uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
+	GlobDataSet testSet;
 	PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
 			PoolVariableIF::VAR_READ);
 	ReturnValue_t status = testSet.read();
@@ -113,7 +114,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
 	const uint8_t* readPosition = data;
 
 	for (; size > 0; size -= typeSize) {
-		DataSet rawSet;
+		GlobDataSet rawSet;
 		PoolRawAccess variable(poolId, arrayIndex, &rawSet,
 				PoolVariableIF::VAR_READ_WRITE);
 		status = rawSet.read();
@@ -131,9 +132,9 @@ ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
 
 ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
 		uint8_t** dataPointer, uint8_t* copyHere) {
-	uint32_t poolId = ::dataPool.PIDToDataPoolId(address);
-	uint8_t arrayIndex = ::dataPool.PIDToArrayIndex(address);
-	DataSet testSet;
+	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
+	uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
+	GlobDataSet testSet;
 	PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
 			PoolVariableIF::VAR_READ);
 	ReturnValue_t status = testSet.read();
@@ -146,7 +147,7 @@ ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
 	}
 	uint8_t* ptrToCopy = copyHere;
 	for (; size > 0; size -= typeSize) {
-		DataSet rawSet;
+		GlobDataSet rawSet;
 		PoolRawAccess variable(poolId, arrayIndex, &rawSet,
 				PoolVariableIF::VAR_READ);
 		status = rawSet.read();
diff --git a/datapool/DataPoolAdmin.h b/datapoolglob/DataPoolAdmin.h
similarity index 92%
rename from datapool/DataPoolAdmin.h
rename to datapoolglob/DataPoolAdmin.h
index e2d1e9e1..d8871b65 100644
--- a/datapool/DataPoolAdmin.h
+++ b/datapoolglob/DataPoolAdmin.h
@@ -1,15 +1,17 @@
-#ifndef DATAPOOLADMIN_H_
-#define DATAPOOLADMIN_H_
+#ifndef FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
+#define FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
+
+#include "DataPoolParameterWrapper.h"
 
-#include "../memory/MemoryHelper.h"
-#include "../action/HasActionsIF.h"
-#include "../action/SimpleActionHelper.h"
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../tasks/ExecutableObjectIF.h"
-#include "../parameters/ReceivesParameterMessagesIF.h"
-#include "DataPoolParameterWrapper.h"
+#include "../action/HasActionsIF.h"
 #include "../ipc/MessageQueueIF.h"
+#include "../parameters/ReceivesParameterMessagesIF.h"
+#include "../action/SimpleActionHelper.h"
+#include "../memory/MemoryHelper.h"
+
 
 class DataPoolAdmin: public HasActionsIF,
 		public ExecutableObjectIF,
@@ -55,4 +57,4 @@ private:
 			Command_t initialCommand);
 };
 
-#endif /* DATAPOOLADMIN_H_ */
+#endif /* FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_ */
diff --git a/datapool/DataPoolParameterWrapper.cpp b/datapoolglob/DataPoolParameterWrapper.cpp
similarity index 95%
rename from datapool/DataPoolParameterWrapper.cpp
rename to datapoolglob/DataPoolParameterWrapper.cpp
index 79367405..3a57d90d 100644
--- a/datapool/DataPoolParameterWrapper.cpp
+++ b/datapoolglob/DataPoolParameterWrapper.cpp
@@ -1,10 +1,8 @@
-#include "DataPoolParameterWrapper.h"
-
-//for returncodes
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/DataPoolParameterWrapper.h"
+#include "../datapoolglob/PoolRawAccess.h"
 #include "../parameters/HasParametersIF.h"
 
-#include "DataSet.h"
-#include "PoolRawAccess.h"
 
 DataPoolParameterWrapper::DataPoolParameterWrapper() :
 		type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId(
@@ -20,7 +18,7 @@ ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
 		uint16_t parameterId) {
 	poolId = (domainId << 16) + parameterId;
 
-	DataSet mySet;
+	GlobDataSet mySet;
 	PoolRawAccess raw(poolId, 0, &mySet, PoolVariableIF::VAR_READ);
 	ReturnValue_t status = mySet.read();
 	if (status != HasReturnvaluesIF::RETURN_OK) {
@@ -57,7 +55,7 @@ ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
 	}
 
 	for (uint8_t index = 0; index < rows; index++){
-		DataSet mySet;
+		GlobDataSet mySet;
 		PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
 		mySet.read();
 		result = raw.serialize(buffer,size,maxSize,streamEndianness);
@@ -94,7 +92,7 @@ ReturnValue_t DataPoolParameterWrapper::deSerializeData(uint8_t startingRow,
 
 	for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
 
-		DataSet mySet;
+		GlobDataSet mySet;
 		PoolRawAccess raw(poolId, startingRow + fromRow, &mySet,
 				PoolVariableIF::VAR_READ_WRITE);
 		mySet.read();
diff --git a/datapool/DataPoolParameterWrapper.h b/datapoolglob/DataPoolParameterWrapper.h
similarity index 100%
rename from datapool/DataPoolParameterWrapper.h
rename to datapoolglob/DataPoolParameterWrapper.h
diff --git a/datapoolglob/GlobalDataPool.cpp b/datapoolglob/GlobalDataPool.cpp
new file mode 100644
index 00000000..afb27b77
--- /dev/null
+++ b/datapoolglob/GlobalDataPool.cpp
@@ -0,0 +1,133 @@
+#include "../datapoolglob/GlobalDataPool.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../ipc/MutexFactory.h"
+
+GlobalDataPool::GlobalDataPool(
+		void(*initFunction)(GlobPoolMap* pool_map)) {
+	mutex = MutexFactory::instance()->createMutex();
+	if (initFunction != NULL ) {
+		initFunction( &this->globDataPool );
+	}
+}
+
+GlobalDataPool::~GlobalDataPool() {
+	MutexFactory::instance()->deleteMutex(mutex);
+	for(GlobPoolMapIter it = this->globDataPool.begin();
+	    it != this->globDataPool.end(); ++it )
+	{
+		delete it->second;
+	}
+}
+
+// The function checks PID, type and array length before returning a copy of
+// the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
+template <typename T> PoolEntry<T>* GlobalDataPool::getData( uint32_t data_pool_id,
+		uint8_t sizeOrPosition ) {
+	GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
+	if ( it != this->globDataPool.end() ) {
+		PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
+		if (entry != nullptr ) {
+			if ( sizeOrPosition <= entry->length ) {
+				return entry;
+			}
+		}
+	}
+	return nullptr;
+}
+
+PoolEntryIF* GlobalDataPool::getRawData( uint32_t data_pool_id ) {
+	GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
+	if ( it != this->globDataPool.end() ) {
+		return it->second;
+	} else {
+		return nullptr;
+	}
+}
+
+ReturnValue_t GlobalDataPool::unlockDataPool() {
+	ReturnValue_t status = mutex->unlockMutex();
+	if(status != RETURN_OK) {
+		sif::error << "DataPool::DataPool: unlock of mutex failed with"
+				" error code: " << status << std::endl;
+	}
+	return status;
+}
+
+ReturnValue_t GlobalDataPool::lockDataPool(uint32_t timeoutMs) {
+	ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
+	        timeoutMs);
+	if(status != RETURN_OK) {
+		sif::error << "DataPool::DataPool: lock of mutex failed "
+				"with error code: " << status << std::endl;
+	}
+	return status;
+}
+
+void GlobalDataPool::print() {
+	sif::debug << "DataPool contains: " << std::endl;
+	std::map<uint32_t, PoolEntryIF*>::iterator	dataPoolIt;
+	dataPoolIt = this->globDataPool.begin();
+	while( dataPoolIt != this->globDataPool.end() ) {
+		sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
+		dataPoolIt->second->print();
+		dataPoolIt++;
+	}
+}
+
+uint32_t GlobalDataPool::PIDToDataPoolId(uint32_t parameter_id) {
+	return (parameter_id >> 8) & 0x00FFFFFF;
+}
+
+uint8_t GlobalDataPool::PIDToArrayIndex(uint32_t parameter_id) {
+	return (parameter_id & 0x000000FF);
+}
+
+uint32_t GlobalDataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
+	return (poolId << 8) + index;
+}
+
+
+//SHOULDDO: Do we need a mutex lock here... I don't think so,
+//as we only check static const values of elements in a list that do not change.
+//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
+ReturnValue_t GlobalDataPool::getType(uint32_t parameter_id, Type* type) {
+	GlobPoolMapIter it = this->globDataPool.find( PIDToDataPoolId(parameter_id));
+	if ( it != this->globDataPool.end() ) {
+		*type = it->second->getType();
+		return RETURN_OK;
+	} else {
+		*type = Type::UNKNOWN_TYPE;
+		return RETURN_FAILED;
+	}
+}
+
+bool GlobalDataPool::exists(uint32_t parameterId) {
+	uint32_t poolId = PIDToDataPoolId(parameterId);
+	uint32_t index = PIDToArrayIndex(parameterId);
+	GlobPoolMapIter it = this->globDataPool.find( poolId );
+	if (it != globDataPool.end()) {
+		if (it->second->getSize() >= index) {
+			return true;
+		}
+	}
+	return false;
+}
+
+template PoolEntry<uint8_t>* GlobalDataPool::getData<uint8_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<uint16_t>* GlobalDataPool::getData<uint16_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<uint32_t>* GlobalDataPool::getData<uint32_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<uint64_t>* GlobalDataPool::getData<uint64_t>(
+		uint32_t data_pool_id, uint8_t size);
+template PoolEntry<int8_t>* GlobalDataPool::getData<int8_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<int16_t>* GlobalDataPool::getData<int16_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<int32_t>* GlobalDataPool::getData<int32_t>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<float>* GlobalDataPool::getData<float>(
+		uint32_t data_pool_id, uint8_t size );
+template PoolEntry<double>* GlobalDataPool::getData<double>(
+		uint32_t data_pool_id, uint8_t size);
diff --git a/datapoolglob/GlobalDataPool.h b/datapoolglob/GlobalDataPool.h
new file mode 100644
index 00000000..ce5b132c
--- /dev/null
+++ b/datapoolglob/GlobalDataPool.h
@@ -0,0 +1,149 @@
+#ifndef GLOBALDATAPOOL_H_
+#define GLOBALDATAPOOL_H_
+
+#include "../datapool/PoolEntry.h"
+#include "../globalfunctions/Type.h"
+#include "../ipc/MutexIF.h"
+#include <map>
+
+/**
+ * @defgroup data_pool Global data pool
+ * This is the group, where all classes associated with global
+ * data pool handling belong to.
+ * This includes classes to access Data Pool variables.
+ */
+
+/**
+ * Typedefs for the global pool representations
+ */
+using GlobPoolMap = std::map<uint32_t, PoolEntryIF*>;
+using GlobPoolMapIter = GlobPoolMap::iterator;
+
+/**
+ * @brief		This class represents the OBSW global data-pool.
+ *
+ * @details
+ * All variables are registered and space is allocated in an initialization
+ * function, which is passed do the constructor. Space for the variables is
+ * allocated on the heap (with a new call).
+ *
+ * The data is found by a data pool id, which uniquely represents a variable.
+ * Data pool variables should be used with a blackboard logic in mind,
+ * which means read data is valid (if flagged so),
+ * but not necessarily up-to-date.
+ *
+ * Variables are either single values or arrays.
+ * @author	Bastian Baetz
+ * @ingroup data_pool
+ */
+class GlobalDataPool : public HasReturnvaluesIF {
+private:
+	/**
+	 * @brief	This is the actual data pool itself.
+	 * @details	It is represented by a map with the data pool id as index
+	 * 			and a pointer to a single PoolEntry as value.
+	 */
+	GlobPoolMap globDataPool;
+
+	/**
+	 * @brief	The mutex is created in the constructor and makes
+	 * 			access mutual exclusive.
+	 * @details	Locking and unlocking the pool is only done by the DataSet class.
+	 */
+	MutexIF*	mutex;
+public:
+	/**
+	 * @brief	In the classes constructor,
+	 * 			the passed initialization function is called.
+	 * @details
+	 * To enable filling the pool, a pointer to the map is passed,
+	 * allowing direct access to the pool's content.
+	 * On runtime, adding or removing variables is forbidden.
+	 */
+	GlobalDataPool( void ( *initFunction )( GlobPoolMap* pool_map ) );
+
+	/**
+	 * 	@brief	The destructor iterates through the data_pool map and
+	 * 			calls all entries destructors to clean up the heap.
+	 */
+	~GlobalDataPool();
+
+	/**
+	 * @brief	This is the default call to access the pool.
+	 * @details
+	 * A pointer to the PoolEntry object is returned.
+	 * The call checks data pool id, type and array size.
+	 * Returns NULL in case of failure.
+	 * @param data_pool_id	The data pool id to search.
+	 * @param sizeOrPosition The array size (not byte size!) of the pool entry,
+	 * or the position the user wants to read.
+	 * 			If smaller than the entry size, everything's ok.
+	 */
+	template <typename T> PoolEntry<T>* getData( uint32_t data_pool_id,
+			uint8_t sizeOrPosition );
+
+	/**
+	 * @brief	An alternative call to get a data pool entry in case the type is not implicitly known
+	 * 			(i.e. in Housekeeping Telemetry).
+	 * @details	It returns a basic interface and does NOT perform
+	 * 			a size check. The caller has to assure he does not copy too much data.
+	 * 			Returns NULL in case the entry is not found.
+	 * @param data_pool_id	The data pool id to search.
+	 */
+	PoolEntryIF* getRawData( uint32_t data_pool_id );
+	/**
+	 * @brief	This is a small helper function to facilitate locking the global data pool.
+	 * @details	It fetches the pool's mutex id and tries to acquire the mutex.
+	 */
+	ReturnValue_t lockDataPool(uint32_t timeoutMs = MutexIF::BLOCKING);
+	/**
+	 * @brief	This is a small helper function to facilitate unlocking the global data pool.
+	 * @details	It fetches the pool's mutex id and tries to free the mutex.
+	 */
+	ReturnValue_t unlockDataPool();
+	/**
+	 * @brief	The print call is a simple debug method.
+	 * @details	It prints the current content of the data pool.
+	 *  		It iterates through the data_pool map and calls each entry's print() method.
+	 */
+	void print();
+	/**
+	 * Extracts the data pool id from a SCOS 2000 PID.
+	 * @param parameter_id The passed Parameter ID.
+	 * @return The data pool id as used within the OBSW.
+	 */
+	static uint32_t PIDToDataPoolId( uint32_t parameter_id );
+	/**
+	 * Extracts an array index out of a SCOS 2000 PID.
+	 * @param parameter_id The passed Parameter ID.
+	 * @return The index of the corresponding data pool entry.
+	 */
+	static uint8_t PIDToArrayIndex( uint32_t parameter_id );
+	/**
+	 * Retransforms a data pool id and an array index to a SCOS 2000 PID.
+	 */
+	static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index );
+
+	/**
+	 * Method to return the type of a pool variable.
+	 * @param parameter_id A parameterID (not pool id) of a DP member.
+	 * @param type Returns the type or TYPE::UNKNOWN_TYPE
+	 * @return RETURN_OK if parameter exists, RETURN_FAILED else.
+	 */
+	ReturnValue_t getType( uint32_t parameter_id, Type* type );
+
+	/**
+	 * Method to check if a PID exists. Does not lock, as there's no
+	 * possibility to alter the list that is checked during run-time.
+	 * @param parameterId The PID (not pool id!) of a parameter.
+	 * @return	true if exists, false else.
+	 */
+	bool exists(uint32_t parameterId);
+};
+
+//We assume someone globally instantiates a DataPool.
+namespace glob {
+extern GlobalDataPool dataPool;
+}
+
+#endif /* DATAPOOL_H_ */
diff --git a/datapoolglob/GlobalDataSet.cpp b/datapoolglob/GlobalDataSet.cpp
new file mode 100644
index 00000000..1e99f805
--- /dev/null
+++ b/datapoolglob/GlobalDataSet.cpp
@@ -0,0 +1,48 @@
+#include "../datapoolglob/GlobalDataPool.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+GlobDataSet::GlobDataSet(): PoolDataSetBase(
+        reinterpret_cast<PoolVariableIF**>(&registeredVariables),
+        DATA_SET_MAX_SIZE) {}
+
+// Don't do anything with your variables, they are dead already!
+// (Destructor is already called)
+GlobDataSet::~GlobDataSet() {}
+
+ReturnValue_t GlobDataSet::commit(bool valid, uint32_t lockTimeout) {
+	setEntriesValid(valid);
+	setSetValid(valid);
+	return commit(lockTimeout);
+}
+
+ReturnValue_t GlobDataSet::commit(uint32_t lockTimeout) {
+	return PoolDataSetBase::commit(lockTimeout);
+}
+
+bool GlobDataSet::isValid() const {
+    return this->valid;
+}
+
+ReturnValue_t GlobDataSet::unlockDataPool() {
+	return glob::dataPool.unlockDataPool();
+}
+
+ReturnValue_t GlobDataSet::lockDataPool(uint32_t timeoutMs) {
+	return glob::dataPool.lockDataPool(timeoutMs);
+}
+
+void GlobDataSet::setEntriesValid(bool valid) {
+	for (uint16_t count = 0; count < fillCount; count++) {
+		if (registeredVariables[count]->getReadWriteMode()
+				!= PoolVariableIF::VAR_READ) {
+			registeredVariables[count]->setValid(valid);
+		}
+	}
+}
+
+void GlobDataSet::setSetValid(bool valid) {
+	this->valid = valid;
+}
+
+
diff --git a/datapoolglob/GlobalDataSet.h b/datapoolglob/GlobalDataSet.h
new file mode 100644
index 00000000..2f0edbd5
--- /dev/null
+++ b/datapoolglob/GlobalDataSet.h
@@ -0,0 +1,98 @@
+#ifndef FRAMEWORK_DATAPOOLGLOB_DATASET_H_
+#define FRAMEWORK_DATAPOOLGLOB_DATASET_H_
+
+#include "../datapool/PoolDataSetBase.h"
+
+/**
+ * @brief	The DataSet class manages a set of locally checked out variables
+ * 			for the global data pool.
+ * @details
+ * This class uses the read-commit() semantic provided by the DataSetBase class.
+ * It extends the base class by using the global data pool,
+ * having a valid state and implementing lock und unlock calls for the global
+ * datapool.
+ *
+ * For more information on how this class works, see the DataSetBase
+ * documentation.
+ * @author	Bastian Baetz
+ * @ingroup data_pool
+ */
+class GlobDataSet: public PoolDataSetBase {
+public:
+
+	/**
+	 * @brief	Creates an empty GlobDataSet. Use registerVariable or
+	 * 			supply a pointer to this dataset to PoolVariable
+	 * 			initializations to register pool variables.
+	 */
+	GlobDataSet();
+
+	/**
+	 * @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".
+	 */
+	~GlobDataSet();
+
+	/**
+	 * Variant of method above which sets validity of all elements of the set.
+	 * @param valid Validity information from PoolVariableIF.
+	 * @return	- @c RETURN_OK if all variables were read successfully.
+	 * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
+	 * 			     contains non write-only variables
+	 */
+	ReturnValue_t commit(bool valid, uint32_t lockTimeout = MutexIF::BLOCKING);
+	ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+
+	/**
+	 * Set all entries
+	 * @param valid
+	 */
+	void setSetValid(bool valid);
+
+	bool isValid() const override;
+
+	/**
+	 * Set the valid information of all variables contained in the set which
+	 * are not read-only
+	 *
+	 * @param valid Validity information from PoolVariableIF.
+	 */
+	void setEntriesValid(bool valid);
+
+	//!< This definition sets the maximum number of variables to
+	//! register in one DataSet.
+	static const uint8_t DATA_SET_MAX_SIZE = 63;
+
+private:
+	/**
+	 * If the valid state of a dataset is always relevant to the whole
+	 * data set we can use this flag.
+	 */
+	bool valid = false;
+
+	/**
+	 * @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;
+
+	void handleAlreadyReadDatasetCommit();
+	ReturnValue_t handleUnreadDatasetCommit();
+
+	PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
+};
+
+#endif /* FRAMEWORK_DATAPOOLGLOB_DATASET_H_ */
diff --git a/datapoolglob/GlobalPoolVariable.h b/datapoolglob/GlobalPoolVariable.h
new file mode 100644
index 00000000..a995bfaf
--- /dev/null
+++ b/datapoolglob/GlobalPoolVariable.h
@@ -0,0 +1,213 @@
+#ifndef GLOBALPOOLVARIABLE_H_
+#define GLOBALPOOLVARIABLE_H_
+
+#include "../datapool/DataSetIF.h"
+#include "../datapoolglob/GlobalDataPool.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../datapool/PoolEntry.h"
+#include "../serialize/SerializeAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+template<typename T, uint8_t n_var> class PoolVarList;
+
+
+/**
+ * @brief	This is the access class for non-array 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-safe access to single 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 the
+ * variable's value in the data pool is not changed until the
+ * commit call is executed.
+ * 	@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 GlobPoolVar: public PoolVariableIF {
+	template<typename U, uint8_t n_var> friend class PoolVarList;
+	static_assert(not std::is_same<T, bool>::value,
+			"Do not use boolean for the PoolEntry type, use uint8_t instead!"
+			"There is no boolean type in CCSDS.");
+public:
+	/**
+	 * @brief	In the constructor, the variable can register itself in a
+	 * 			DataSet (if nullptr is not passed).
+	 * @details
+	 * It DOES NOT fetch the current value from the data pool, but
+	 * sets the value attribute to default (0).
+	 * The value is fetched within the read() operation.
+	 * @param set_id	This is the id in the global data pool
+	 * 					this instance of the access class corresponds to.
+	 * @param dataSet	The data set in which the variable shall register
+	 * 					itself. If NULL, the variable is not registered.
+	 * @param setWritable If this flag is set to true, changes in the value
+	 * 			attribute can be written back to the data pool, otherwise not.
+	 */
+	GlobPoolVar(uint32_t set_id, DataSetIF* dataSet,
+			ReadWriteMode_t setReadWriteMode);
+
+	/**
+	 * @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;
+
+	/**
+	 * @brief 	Copy ctor to copy classes containing Pool Variables.
+	 * 			(Robin): This only copies member variables, which is done
+	 * 			by the default copy ctor. maybe we can ommit this ctor?
+	 */
+	GlobPoolVar(const GlobPoolVar& rhs);
+
+	/**
+	 * @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.
+	 */
+	~GlobPoolVar() {}
+
+	/**
+	 * @brief	This is a call to read the value from the global data pool.
+	 * @details
+	 * When executed, this operation tries to fetch the pool entry with matching
+	 * data pool id from the global data pool and copies the value and the valid
+	 * information to its local attributes. In case of a failure (wrong type 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) override;
+	/**
+	 * @brief	The commit call writes back the variable's value 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 valid flag is automatically set to "valid".
+	 * The operation does NOT provide any mutual exclusive protection by itself.
+	 * The commit 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) 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;
+	/**
+	 * @brief	To access the correct data pool entry on read and commit calls,
+	 * 			the data pool is stored.
+	 */
+	uint32_t dataPoolId;
+
+	/**
+	 * @brief	The valid information as it was stored in the data pool is
+	 * 			copied to this attribute.
+	 */
+	uint8_t valid;
+
+	/**
+	 * @brief	The information whether the class is read-write or read-only
+	 * 			is stored here.
+	 */
+	pool_rwm_t readWriteMode;
+
+	/**
+	 * Empty ctor for List initialization
+	 */
+	GlobPoolVar();
+public:
+	/**
+	 * \brief	This operation returns the data pool id of the variable.
+	 */
+	uint32_t getDataPoolId() const override;
+
+	/**
+	 * This method returns if the variable is write-only, read-write or read-only.
+	 */
+	ReadWriteMode_t getReadWriteMode() const override;
+	/**
+	 * This operation sets the data pool id of the variable.
+	 * The method is necessary to set id's of data pool member variables with bad initialization.
+	 */
+	void setDataPoolId(uint32_t poolId);
+
+	/**
+	 * \brief	With this call, the valid information of the variable is returned.
+	 */
+	bool isValid() const override;
+
+	uint8_t getValid();
+
+	void setValid(bool valid) override;
+
+	operator T() {
+		return value;
+	}
+
+	operator T() const {
+		return value;
+	}
+
+	GlobPoolVar<T> &operator=(T newValue) {
+		value = newValue;
+		return *this;
+	}
+
+	GlobPoolVar<T> &operator=(GlobPoolVar<T> newPoolVariable) {
+		value = newPoolVariable.value;
+		return *this;
+	}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			const size_t max_size,
+			SerializeIF::Endianness streamEndianness) const override {
+		return SerializeAdapter::serialize(&value, buffer, size, max_size,
+				streamEndianness);
+	}
+
+	virtual size_t getSerializedSize() const {
+		return SerializeAdapter::getSerializedSize(&value);
+	}
+
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        SerializeIF::Endianness streamEndianness) {
+		return SerializeAdapter::deSerialize(&value, buffer, size,
+		        streamEndianness);
+	}
+};
+
+#include "../datapoolglob/GlobalPoolVariable.tpp"
+
+typedef GlobPoolVar<uint8_t> gp_bool_t;
+typedef GlobPoolVar<uint8_t> gp_uint8_t;
+typedef GlobPoolVar<uint16_t> gp_uint16_t;
+typedef GlobPoolVar<uint32_t> gp_uint32_t;
+typedef GlobPoolVar<int8_t> gp_int8_t;
+typedef GlobPoolVar<int16_t> gp_int16_t;
+typedef GlobPoolVar<int32_t> gp_int32_t;
+typedef GlobPoolVar<float> gp_float_t;
+typedef GlobPoolVar<double> gp_double_t;
+
+#endif /* POOLVARIABLE_H_ */
diff --git a/datapoolglob/GlobalPoolVariable.tpp b/datapoolglob/GlobalPoolVariable.tpp
new file mode 100644
index 00000000..d61d605d
--- /dev/null
+++ b/datapoolglob/GlobalPoolVariable.tpp
@@ -0,0 +1,117 @@
+#ifndef GLOBALPOOLVARIABLE_TPP_
+#define GLOBALPOOLVARIABLE_TPP_
+
+template <class T>
+inline GlobPoolVar<T>::GlobPoolVar(uint32_t set_id,
+		DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode):
+		dataPoolId(set_id), valid(PoolVariableIF::INVALID),
+		readWriteMode(setReadWriteMode)
+{
+	if (dataSet != nullptr) {
+		dataSet->registerVariable(this);
+	}
+}
+
+template<typename T>
+inline ReturnValue_t GlobPoolVar<T>::read(uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = readWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+template<typename T>
+inline ReturnValue_t GlobPoolVar<T>::commit(uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = commitWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+template <class T>
+inline ReturnValue_t GlobPoolVar<T>::readWithoutLock() {
+	PoolEntry<T>* read_out = glob::dataPool.getData<T>(dataPoolId, 1);
+	if (read_out != NULL) {
+		valid = read_out->valid;
+		value = *(read_out->address);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		value = 0;
+		valid = false;
+		sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
+				<< dataPoolId << std::dec << " failed." << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+template <class T>
+inline ReturnValue_t GlobPoolVar<T>::commitWithoutLock() {
+	PoolEntry<T>* write_back = glob::dataPool.getData<T>(dataPoolId, 1);
+	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
+		write_back->valid = valid;
+		*(write_back->address) = value;
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+template <class T>
+inline GlobPoolVar<T>::GlobPoolVar():
+		dataPoolId(PoolVariableIF::NO_PARAMETER),
+		valid(PoolVariableIF::INVALID),
+		readWriteMode(VAR_READ), value(0) {}
+
+template <class T>
+inline GlobPoolVar<T>::GlobPoolVar(const GlobPoolVar& rhs) :
+		dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
+		rhs.readWriteMode), value(rhs.value) {}
+
+template <class T>
+inline pool_rwm_t GlobPoolVar<T>::getReadWriteMode() const  {
+	return readWriteMode;
+}
+
+template <class T>
+inline uint32_t GlobPoolVar<T>::getDataPoolId() const {
+	return dataPoolId;
+}
+
+template <class T>
+inline void GlobPoolVar<T>::setDataPoolId(uint32_t poolId) {
+	dataPoolId = poolId;
+}
+
+template <class T>
+inline bool GlobPoolVar<T>::isValid() const {
+	if (valid)
+		return true;
+	else
+		return false;
+}
+
+template <class T>
+inline uint8_t GlobPoolVar<T>::getValid() {
+	return valid;
+}
+
+template <class T>
+inline void GlobPoolVar<T>::setValid(bool valid) {
+	this->valid = valid;
+}
+
+#endif
diff --git a/datapoolglob/GlobalPoolVector.h b/datapoolglob/GlobalPoolVector.h
new file mode 100644
index 00000000..0f5daacd
--- /dev/null
+++ b/datapoolglob/GlobalPoolVector.h
@@ -0,0 +1,185 @@
+#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
+#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
+
+#include "../datapool/DataSetIF.h"
+#include "../datapool/PoolEntry.h"
+#include "../datapool/PoolVariableIF.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 GlobPoolVector: public PoolVariableIF {
+public:
+	/**
+	 * @brief	In the constructor, the variable can register itself in a
+	 * 			DataSet (if no nullptr is passed).
+	 * @details
+	 * It DOES NOT fetch the current value from the data pool, but sets the
+	 * value attribute to default (0). The value is fetched within the
+	 * read() operation.
+	 * @param set_id
+	 * This is the id in the global data pool this instance of the access
+	 * class corresponds to.
+	 * @param dataSet
+	 * The data set in which the variable shall register itself. If nullptr,
+	 * the variable is not registered.
+	 * @param setWritable
+	 * If this flag is set to true, changes in the value attribute can be
+	 * written back to the data pool, otherwise not.
+	 */
+	GlobPoolVector(uint32_t set_id, DataSetIF* set,
+			ReadWriteMode_t setReadWriteMode);
+
+	/**
+	 * @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.
+	 */
+	~GlobPoolVector() {};
+	/**
+	 * @brief	The operation returns the number of array entries
+	 * 			in this variable.
+	 */
+	uint8_t getSize() {
+		return vectorSize;
+	}
+	/**
+	 * @brief	This operation returns the data pool id of the variable.
+	 */
+	uint32_t getDataPoolId() const {
+		return dataPoolId;
+	}
+	/**
+	 * @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) {
+		dataPoolId = poolId;
+	}
+	/**
+	 * This method returns if the variable is write-only, read-write or read-only.
+	 */
+	ReadWriteMode_t getReadWriteMode() const {
+		return readWriteMode;
+	}
+
+
+	/**
+	 * @brief	With this call, the valid information of the variable is returned.
+	 */
+	bool isValid() const {
+		if (valid != INVALID)
+			return true;
+		else
+			return false;
+	}
+	void setValid(bool valid) {this->valid = valid;}
+	uint8_t getValid() {return valid;}
+
+	T &operator [](int i) {return value[i];}
+	const T &operator [](int i) const {return value[i];}
+
+	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+			size_t max_size, Endianness streamEndianness) const override;
+	virtual size_t getSerializedSize() const override;
+	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+	        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 global 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 by a lock of the global data pool.
+	 * 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 valid flag is automatically set to "valid".
+	 * The commit call is protected by a lock of the global data pool.
+	 * 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 dataPoolId;
+	/**
+	 * @brief	The valid information as it was stored in the data pool
+	 * 			is copied to this attribute.
+	 */
+	uint8_t valid;
+	/**
+	 * @brief	The information whether the class is read-write or
+	 * 			read-only is stored here.
+	 */
+	ReadWriteMode_t readWriteMode;
+};
+
+#include "../datapoolglob/GlobalPoolVector.tpp"
+
+template<typename T, uint16_t vectorSize>
+using gp_vec_t = GlobPoolVector<T, vectorSize>;
+
+#endif /* FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_ */
diff --git a/datapoolglob/GlobalPoolVector.tpp b/datapoolglob/GlobalPoolVector.tpp
new file mode 100644
index 00000000..013a682a
--- /dev/null
+++ b/datapoolglob/GlobalPoolVector.tpp
@@ -0,0 +1,117 @@
+#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
+#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
+
+
+template<typename T, uint16_t vectorSize>
+inline GlobPoolVector<T, vectorSize>::GlobPoolVector(uint32_t set_id,
+		DataSetIF* set, ReadWriteMode_t setReadWriteMode) :
+		dataPoolId(set_id), valid(false), readWriteMode(setReadWriteMode) {
+	memset(this->value, 0, vectorSize * sizeof(T));
+	if (set != nullptr) {
+		set->registerVariable(this);
+	}
+}
+
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = readWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::commit(
+		uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = commitWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::readWithoutLock() {
+	PoolEntry<T>* read_out = glob::dataPool.getData<T>(this->dataPoolId,
+			vectorSize);
+	if (read_out != nullptr) {
+		this->valid = read_out->valid;
+		memcpy(this->value, read_out->address, read_out->getByteSize());
+
+		return HasReturnvaluesIF::RETURN_OK;
+
+	} else {
+		memset(this->value, 0, vectorSize * sizeof(T));
+		sif::error << "PoolVector: Read of DP Variable 0x" << std::hex
+				<< std::setw(8) << std::setfill('0') << dataPoolId <<
+				std::dec << " failed." << std::endl;
+		this->valid = INVALID;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::commitWithoutLock() {
+	PoolEntry<T>* writeBack = glob::dataPool.getData<T>(this->dataPoolId,
+			vectorSize);
+	if ((writeBack != nullptr) && (this->readWriteMode != VAR_READ)) {
+		writeBack->valid = valid;
+		memcpy(writeBack->address, this->value, writeBack->getByteSize());
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
+		size_t* size, size_t max_size,
+		SerializeIF::Endianness streamEndianness) const {
+	uint16_t i;
+	ReturnValue_t result;
+	for (i = 0; i < vectorSize; i++) {
+		result = SerializeAdapter::serialize(&(value[i]), buffer, size,
+				max_size, streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+	return result;
+}
+
+template<typename T, uint16_t vectorSize>
+inline size_t GlobPoolVector<T, vectorSize>::getSerializedSize() const {
+	return vectorSize * SerializeAdapter::getSerializedSize(value);
+}
+
+template<typename T, uint16_t vectorSize>
+inline ReturnValue_t GlobPoolVector<T, vectorSize>::deSerialize(
+		const uint8_t** buffer, size_t* size,
+		SerializeIF::Endianness streamEndianness) {
+	uint16_t i;
+	ReturnValue_t result;
+	for (i = 0; i < vectorSize; i++) {
+		result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
+		        streamEndianness);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+	return result;
+}
+
+#endif
diff --git a/datapool/PIDReader.h b/datapoolglob/PIDReader.h
similarity index 77%
rename from datapool/PIDReader.h
rename to datapoolglob/PIDReader.h
index 3b38b51d..9431e1d4 100644
--- a/datapool/PIDReader.h
+++ b/datapoolglob/PIDReader.h
@@ -1,9 +1,9 @@
 #ifndef PIDREADER_H_
 #define PIDREADER_H_
-#include "DataPool.h"
-#include "DataSetIF.h"
-#include "PoolEntry.h"
-#include "PoolVariableIF.h"
+#include "../datapool/DataSetIF.h"
+#include "../datapoolglob/GlobalDataPool.h"
+#include "../datapool/PoolEntry.h"
+#include "../datapool/PoolVariableIF.h"
 #include "../serialize/SerializeAdapter.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
@@ -15,10 +15,10 @@ class PIDReader: public PoolVariableIF {
 protected:
 	uint32_t parameterId;
 	uint8_t valid;
-	ReturnValue_t read() {
-		uint8_t arrayIndex = DataPool::PIDToArrayIndex(parameterId);
-		PoolEntry<T> *read_out = ::dataPool.getData<T>(
-				DataPool::PIDToDataPoolId(parameterId), arrayIndex);
+	ReturnValue_t readWithoutLock() {
+		uint8_t arrayIndex = GlobalDataPool::PIDToArrayIndex(parameterId);
+		PoolEntry<T> *read_out = glob::dataPool.getData<T>(
+				GlobalDataPool::PIDToDataPoolId(parameterId), arrayIndex);
 		if (read_out != NULL) {
 			valid = read_out->valid;
 			value = read_out->address[arrayIndex];
@@ -36,9 +36,13 @@ protected:
 	 * Reason is the possibility to access a single DP vector element, but if we commit,
 	 * we set validity of the whole vector.
 	 */
-	ReturnValue_t commit() {
+	ReturnValue_t commit(uint32_t lockTimeout) override {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	ReturnValue_t commitWithoutLock() override {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
 	/**
 	 * Empty ctor for List initialization
 	 */
@@ -72,6 +76,19 @@ public:
 		}
 	}
 
+	ReturnValue_t read(uint32_t lockTimeout) override {
+		ReturnValue_t result = glob::dataPool.lockDataPool();
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		result = readWithoutLock();
+		ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+		if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+			sif::error << "PIDReader::read: Could not unlock data pool!"
+					<< std::endl;
+		}
+		return result;
+	}
 	/**
 	 * Copy ctor to copy classes containing Pool Variables.
 	 */
@@ -89,7 +106,7 @@ public:
 	 * \brief	This operation returns the data pool id of the variable.
 	 */
 	uint32_t getDataPoolId() const {
-		return DataPool::PIDToDataPoolId(parameterId);
+		return GlobalDataPool::PIDToDataPoolId(parameterId);
 	}
 	uint32_t getParameterId() const {
 		return parameterId;
@@ -114,7 +131,7 @@ public:
 		return valid;
 	}
 
-	void setValid(uint8_t valid) {
+	void setValid(bool valid) {
 		this->valid = valid;
 	}
 
diff --git a/datapool/PIDReaderList.h b/datapoolglob/PIDReaderList.h
similarity index 68%
rename from datapool/PIDReaderList.h
rename to datapoolglob/PIDReaderList.h
index 1f6aa99c..ae99f3aa 100644
--- a/datapool/PIDReaderList.h
+++ b/datapoolglob/PIDReaderList.h
@@ -1,8 +1,8 @@
-#ifndef FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
-#define FRAMEWORK_DATAPOOL_PIDREADERLIST_H_
+#ifndef FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_
+#define FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_
 
-#include "PIDReader.h"
-#include "PoolVariableIF.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../datapoolglob/PIDReader.h"
 template <class T, uint8_t n_var>
 class PIDReaderList {
 private:
@@ -24,4 +24,4 @@ public:
 
 
 
-#endif /* FRAMEWORK_DATAPOOL_PIDREADERLIST_H_ */
+#endif /* FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_ */
diff --git a/datapoolglob/PoolRawAccess.cpp b/datapoolglob/PoolRawAccess.cpp
new file mode 100644
index 00000000..53706c6d
--- /dev/null
+++ b/datapoolglob/PoolRawAccess.cpp
@@ -0,0 +1,239 @@
+#include "../datapoolglob/GlobalDataPool.h"
+#include "../datapoolglob/PoolRawAccess.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serialize/EndianConverter.h"
+
+#include <cstring>
+
+PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
+		DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode) :
+		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false),
+		type(Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0),
+		readWriteMode(setReadWriteMode) {
+	memset(value, 0, sizeof(value));
+	if (dataSet != nullptr) {
+		dataSet->registerVariable(this);
+	}
+}
+
+PoolRawAccess::~PoolRawAccess() {}
+
+ReturnValue_t PoolRawAccess::read(uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = readWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t PoolRawAccess::readWithoutLock() {
+	ReturnValue_t result = RETURN_FAILED;
+	PoolEntryIF* readOut = glob::dataPool.getRawData(dataPoolId);
+	if (readOut != nullptr) {
+		result = handleReadOut(readOut);
+		if(result == RETURN_OK) {
+			return result;
+		}
+	} else {
+		result = READ_ENTRY_NON_EXISTENT;
+	}
+	handleReadError(result);
+	return result;
+}
+
+ReturnValue_t PoolRawAccess::handleReadOut(PoolEntryIF* readOut) {
+	ReturnValue_t result = RETURN_FAILED;
+	valid = readOut->getValid();
+	if (readOut->getSize() > arrayEntry) {
+		arraySize = readOut->getSize();
+		typeSize = readOut->getByteSize() / readOut->getSize();
+		type = readOut->getType();
+		if (typeSize <= sizeof(value)) {
+			uint16_t arrayPosition = arrayEntry * typeSize;
+			sizeTillEnd = readOut->getByteSize() - arrayPosition;
+			uint8_t* ptr = &((uint8_t*) readOut->getRawData())[arrayPosition];
+			memcpy(value, ptr, typeSize);
+			return RETURN_OK;
+		} else {
+			result = READ_TYPE_TOO_LARGE;
+		}
+	} else {
+		//debug << "PoolRawAccess: Size: " << (int)read_out->getSize() << std::endl;
+		result = READ_INDEX_TOO_LARGE;
+	}
+	return result;
+}
+
+void PoolRawAccess::handleReadError(ReturnValue_t result) {
+	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
+			<< std::dec << " failed, ";
+	if(result == READ_TYPE_TOO_LARGE) {
+		sif::error << "type too large." << std::endl;
+	}
+	else if(result == READ_INDEX_TOO_LARGE) {
+		sif::error << "index too large." << std::endl;
+	}
+	else if(result == READ_ENTRY_NON_EXISTENT) {
+		sif::error << "entry does not exist." << std::endl;
+	}
+
+	valid = INVALID;
+	typeSize = 0;
+	sizeTillEnd = 0;
+	memset(value, 0, sizeof(value));
+}
+
+ReturnValue_t PoolRawAccess::commit(uint32_t lockTimeout) {
+	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	result = commitWithoutLock();
+	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
+	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
+				<< std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t PoolRawAccess::commitWithoutLock() {
+	PoolEntryIF* write_back = glob::dataPool.getRawData(dataPoolId);
+	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
+		write_back->setValid(valid);
+		uint8_t array_position = arrayEntry * typeSize;
+		uint8_t* ptr = &((uint8_t*) write_back->getRawData())[array_position];
+		memcpy(ptr, value, typeSize);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+uint8_t* PoolRawAccess::getEntry() {
+	return value;
+}
+
+ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
+		size_t* writtenBytes, size_t max_size) {
+	uint8_t* data_ptr = getEntry();
+	// debug << "PoolRawAccess::getEntry: Array position: " <<
+	// 	      index * size_of_type << " Size of T: " << (int)size_of_type <<
+	//		  " ByteSize: " << byte_size << " Position: " << *size << std::endl;
+	if (typeSize == 0)
+		return DATA_POOL_ACCESS_FAILED;
+	if (typeSize > max_size)
+		return INCORRECT_SIZE;
+	EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
+	*writtenBytes = typeSize;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
+        size_t maxSize, Endianness streamEndianness) const {
+    if (typeSize + *size <= maxSize) {
+    	switch(streamEndianness) {
+    	case(Endianness::BIG):
+    		EndianConverter::convertBigEndian(*buffer, value, typeSize);
+    		break;
+    	case(Endianness::LITTLE):
+			EndianConverter::convertLittleEndian(*buffer, value, typeSize);
+    		break;
+    	case(Endianness::MACHINE):
+    	default:
+            memcpy(*buffer, value, typeSize);
+            break;
+        }
+        *size += typeSize;
+        (*buffer) += typeSize;
+        return HasReturnvaluesIF::RETURN_OK;
+    } else {
+        return SerializeIF::BUFFER_TOO_SHORT;
+    }
+}
+
+
+Type PoolRawAccess::getType() {
+	return type;
+}
+
+size_t PoolRawAccess::getSizeOfType() {
+	return typeSize;
+}
+
+size_t PoolRawAccess::getArraySize(){
+	return arraySize;
+}
+
+uint32_t PoolRawAccess::getDataPoolId() const {
+	return dataPoolId;
+}
+
+PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
+	return readWriteMode;
+}
+
+ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
+		size_t setSize) {
+	if (typeSize == setSize) {
+		EndianConverter::convertBigEndian(value, buffer, typeSize);
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: "
+				"Internal" << (uint32_t) typeSize << ", Requested: " << setSize
+				<< std::endl;
+		return INCORRECT_SIZE;
+	}
+}
+
+bool PoolRawAccess::isValid() const {
+	if (valid != INVALID)
+		return true;
+	else
+		return false;
+}
+
+void PoolRawAccess::setValid(bool valid) {
+	this->valid = valid;
+}
+
+size_t PoolRawAccess::getSizeTillEnd() const {
+	return sizeTillEnd;
+}
+
+
+size_t PoolRawAccess::getSerializedSize() const {
+	return typeSize;
+}
+
+ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
+        Endianness streamEndianness) {
+
+    if (*size >= typeSize) {
+        switch(streamEndianness) {
+        case(Endianness::BIG):
+			EndianConverter::convertBigEndian(value, *buffer, typeSize);
+		    break;
+        case(Endianness::LITTLE):
+			EndianConverter::convertLittleEndian(value, *buffer, typeSize);
+		   	break;
+        case(Endianness::MACHINE):
+        default:
+            memcpy(value, *buffer, typeSize);
+            break;
+        }
+    	*size -= typeSize;
+        *buffer += typeSize;
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+    	return SerializeIF::STREAM_TOO_SHORT;
+    }
+}
diff --git a/datapoolglob/PoolRawAccess.h b/datapoolglob/PoolRawAccess.h
new file mode 100644
index 00000000..15643a41
--- /dev/null
+++ b/datapoolglob/PoolRawAccess.h
@@ -0,0 +1,220 @@
+#ifndef POOLRAWACCESS_H_
+#define POOLRAWACCESS_H_
+
+#include "../datapool/DataSetIF.h"
+#include "../datapool/PoolEntryIF.h"
+#include "../datapool/PoolVariableIF.h"
+#include "../globalfunctions/Type.h"
+
+/**
+ * @brief This class allows accessing Data Pool variables as raw bytes.
+ * @details
+ * This is necessary to have an access method for HK data, as the PID's alone
+ * do not provide type information. Please note that the the raw pool access
+ * read() and commit() calls are not thread-safe.
+ *
+ * Please supply a data set and use the data set read(), commit() calls for
+ * thread-safe data pool access.
+ * @ingroup data_pool
+ */
+class PoolRawAccess: public PoolVariableIF, HasReturnvaluesIF {
+public:
+	/**
+	 * This constructor is used to access a data pool entry with a
+	 * given ID if the target type is not known. A DataSet object is supplied
+	 * and the data pool entry with the given ID is registered to that data set.
+	 * Please note that a pool raw access buffer only has a buffer
+	 * with a size of double. As such, for vector entries which have
+	 * @param data_pool_id Target data pool entry ID
+	 * @param arrayEntry
+	 * @param data_set Dataset to register data pool entry to
+	 * @param setReadWriteMode
+	 * @param registerVectors If set to true, the constructor checks if
+	 *                        there are multiple vector entries to registers
+	 *                        and registers all of them recursively into the data_set
+	 *
+	 */
+	PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
+			DataSetIF* data_set, ReadWriteMode_t setReadWriteMode =
+					PoolVariableIF::VAR_READ);
+
+	/**
+	 * @brief	This operation returns a pointer to the entry fetched.
+	 * @details	Return pointer to the buffer containing the raw data
+	 *          Size and number of data can be retrieved by other means.
+	 */
+	uint8_t* getEntry();
+	/**
+	 * @brief 	This operation returns the fetched entry from the data pool and
+	 * 			flips the bytes, if necessary.
+	 * @details	It makes use of the getEntry call of this function, but additionally flips the
+	 * 			bytes to big endian, which is the default for external communication (as House-
+	 * 			keeping telemetry). To achieve this, the data is copied directly to the passed
+	 * 			buffer, if it fits in the given max_size.
+	 * @param buffer	A pointer to a buffer to write to
+	 * @param writtenBytes	The number of bytes written is returned with this value.
+	 * @param max_size	The maximum size that the function may write to buffer.
+	 * @return	- @c RETURN_OK if entry could be acquired
+	 * 			- @c RETURN_FAILED else.
+	 */
+	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
+			size_t maxSize);
+
+	/**
+	 * @brief 	Serialize raw pool entry into provided buffer directly
+	 * @param buffer Provided buffer. Raw pool data will be copied here
+	 * @param size [out] Increment provided size value by serialized size
+	 * @param max_size Maximum allowed serialization size
+	 * @param bigEndian Specify endianess
+	 * @return - @c RETURN_OK if serialization was successfull
+	 *         - @c SerializeIF::BUFFER_TOO_SHORT if range check failed
+	 */
+	ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+	        size_t maxSize, Endianness streamEndianness) const override;
+
+    size_t getSerializedSize() const override;
+
+    ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+            Endianness streamEndianness) override;
+
+	/**
+	 * With this method, the content can be set from a big endian buffer safely.
+	 * @param buffer	Pointer to the data to set
+	 * @param size		Size of the data to write. Must fit this->size.
+	 * @return	- @c RETURN_OK on success
+	 * 			- @c RETURN_FAILED on failure
+	 */
+	ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer,
+			size_t setSize);
+	/**
+	 *  @brief This operation returns the type of the entry currently stored.
+	 */
+	Type getType();
+	/**
+	 *  @brief This operation returns the size of the entry currently stored.
+	 */
+	size_t getSizeOfType();
+	/**
+	 *
+	 * @return the size of the datapool array
+	 */
+	size_t getArraySize();
+	/**
+	 * @brief	This operation returns the data pool id of the variable.
+	 */
+	uint32_t getDataPoolId() const;
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::POOL_RAW_ACCESS_CLASS;
+	static const ReturnValue_t INCORRECT_SIZE = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
+	static const ReturnValue_t READ_TYPE_TOO_LARGE = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t READ_INDEX_TOO_LARGE = MAKE_RETURN_CODE(0x04);
+	static const ReturnValue_t READ_ENTRY_NON_EXISTENT =  MAKE_RETURN_CODE(0x05);
+	static const uint8_t RAW_MAX_SIZE = sizeof(double);
+	uint8_t value[RAW_MAX_SIZE];
+
+
+	/**
+	 * @brief	The classes destructor is empty. If commit() was not called, the local value is
+	 * 			discarded and not written back to the data pool.
+	 */
+	~PoolRawAccess();
+
+	/**
+	 * This method returns if the variable is read-write or read-only.
+	 */
+	ReadWriteMode_t getReadWriteMode() const;
+	/**
+	 * @brief	With this call, the valid information of the variable is returned.
+	 */
+	bool isValid() const;
+
+	void setValid(bool valid);
+	/**
+	 * Getter for the remaining size.
+	 */
+	size_t getSizeTillEnd() const;
+
+	/**
+	 * @brief	This is a call to read the value from the global data pool.
+	 * @details
+	 * When executed, this operation tries to fetch the pool entry with matching
+	 * data pool id from the global data pool and copies the value and the valid
+	 * information to its local attributes. In case of a failure (wrong type or
+	 * pool id not found), the variable is set to zero and invalid.
+	 * The call is protected by a lock of the global data pool.
+	 * @return -@c RETURN_OK Read successfull
+	 * 		   -@c READ_TYPE_TOO_LARGE
+	 * 		   -@c READ_INDEX_TOO_LARGE
+	 * 		   -@c READ_ENTRY_NON_EXISTENT
+	 */
+	ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
+	/**
+	 * @brief	The commit call writes back the variable's value 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 valid flag is automatically set to "valid".
+	 * The call is protected by a lock of the global data pool.
+	 *
+	 */
+	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;
+
+	ReturnValue_t handleReadOut(PoolEntryIF* read_out);
+	void handleReadError(ReturnValue_t result);
+private:
+	/**
+	 * @brief	To access the correct data pool entry on read and commit calls, the data pool id
+	 * 			is stored.
+	 */
+	uint32_t dataPoolId;
+	/**
+	 * @brief	The array entry that is fetched from the data pool.
+	 */
+	uint8_t arrayEntry;
+	/**
+	 * @brief	The valid information as it was stored in the data pool is copied to this attribute.
+	 */
+	uint8_t valid;
+	/**
+	 * @brief	This value contains the type of the data pool entry.
+	 */
+	Type type;
+	/**
+	 * @brief	This value contains the size of the data pool entry type in bytes.
+	 */
+	size_t typeSize;
+	/**
+	 * The size of the DP array (single values return 1)
+	 */
+	size_t arraySize;
+	/**
+	 * The size (in bytes) from the selected entry till the end of this DataPool variable.
+	 */
+	size_t sizeTillEnd;
+	/**
+	 * @brief	The information whether the class is read-write or read-only is stored here.
+	 */
+	ReadWriteMode_t readWriteMode;
+};
+
+#endif /* POOLRAWACCESS_H_ */

From 790d3f14654cf1b7f937c36f9b1d02289dc596ce Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 6 Sep 2020 15:25:56 +0200
Subject: [PATCH 317/653] taken over all changes

---
 fsfw.mk                                 | 16 ++++++++++++++
 internalError/InternalErrorReporter.cpp | 19 ++++++++---------
 monitoring/MonitorBase.h                | 14 ++++++-------
 power/Fuse.cpp                          |  6 +++---
 power/Fuse.h                            | 15 ++++++-------
 power/PowerSensor.h                     | 10 ++++-----
 thermal/CoreComponent.cpp               | 12 +++++------
 thermal/CoreComponent.h                 | 23 ++++++++++----------
 thermal/ThermalComponent.cpp            | 18 +++++++---------
 thermal/ThermalComponent.h              | 28 +++++++++++++++++++++++--
 thermal/ThermalModule.cpp               |  8 +++----
 thermal/ThermalModule.h                 | 17 ++++++++-------
 12 files changed, 114 insertions(+), 72 deletions(-)

diff --git a/fsfw.mk b/fsfw.mk
index c2c6e747..c5847554 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -9,6 +9,9 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
@@ -28,12 +31,25 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
 # select the OS
 ifeq ($(OS_FSFW),rtems)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
+
 else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
+
 else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+
 else ifeq ($(OS_FSFW),host)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
+ifeq ($(OS),Windows_NT)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp)
+else
+# For now, the linux UDP bridge sources needs to be included manually by upper makefile
+# for host OS because we can't be sure the OS is linux.
+# Following lines can be used to do this:
+# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
+# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
+endif
+
 else
 $(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif
diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp
index 861e1595..3424266b 100644
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@@ -1,17 +1,16 @@
+#include "../datapoolglob/GlobalDataSet.h"
 #include "InternalErrorReporter.h"
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PoolVariable.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../ipc/MutexFactory.h"
 
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId,
 		uint32_t queuePoolId, uint32_t tmPoolId, uint32_t storePoolId) :
-		SystemObject(setObjectId), mutex(NULL), queuePoolId(queuePoolId), tmPoolId(
-				tmPoolId), storePoolId(
-				storePoolId), queueHits(0), tmHits(0), storeHits(
-				0) {
+		SystemObject(setObjectId), mutex(NULL), queuePoolId(queuePoolId),
+		tmPoolId(tmPoolId),storePoolId(storePoolId), queueHits(0), tmHits(0),
+		storeHits(0) {
 	mutex = MutexFactory::instance()->createMutex();
 }
 
@@ -21,13 +20,13 @@ InternalErrorReporter::~InternalErrorReporter() {
 
 ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
 
-	DataSet mySet;
-	PoolVariable<uint32_t> queueHitsInPool(queuePoolId, &mySet,
+	GlobDataSet mySet;
+	gp_uint32_t queueHitsInPool(queuePoolId, &mySet,
 			PoolVariableIF::VAR_READ_WRITE);
-	PoolVariable<uint32_t> tmHitsInPool(tmPoolId, &mySet,
+	gp_uint32_t tmHitsInPool(tmPoolId, &mySet,
 			PoolVariableIF::VAR_READ_WRITE);
 
-	PoolVariable<uint32_t> storeHitsInPool(storePoolId, &mySet,
+	gp_uint32_t storeHitsInPool(storePoolId, &mySet,
 			PoolVariableIF::VAR_READ_WRITE);
 	mySet.read();
 
diff --git a/monitoring/MonitorBase.h b/monitoring/MonitorBase.h
index b2d0e6cb..5173c479 100644
--- a/monitoring/MonitorBase.h
+++ b/monitoring/MonitorBase.h
@@ -1,12 +1,12 @@
 #ifndef MONITORBASE_H_
 #define MONITORBASE_H_
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PIDReader.h"
-#include "LimitViolationReporter.h"
-#include "MonitoringIF.h"
-#include "MonitoringMessageContent.h"
-#include "MonitorReporter.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/PIDReader.h"
+#include "../monitoring/LimitViolationReporter.h"
+#include "../monitoring/MonitoringIF.h"
+#include "../monitoring/MonitoringMessageContent.h"
+#include "../monitoring/MonitorReporter.h"
 
 /**
  * Base class for monitoring of parameters.
@@ -48,7 +48,7 @@ public:
 
 protected:
 	virtual ReturnValue_t fetchSample(T* sample) {
-		DataSet mySet;
+		GlobDataSet mySet;
 		PIDReader<T> parameter(this->parameterId, &mySet);
 		mySet.read();
 		if (!parameter.isValid()) {
diff --git a/power/Fuse.cpp b/power/Fuse.cpp
index 9986ab6b..3ea0b18c 100644
--- a/power/Fuse.cpp
+++ b/power/Fuse.cpp
@@ -1,7 +1,7 @@
 #include "../monitoring/LimitViolationReporter.h"
 #include "../monitoring/MonitoringMessageContent.h"
 #include "../objectmanager/ObjectManagerIF.h"
-#include "Fuse.h"
+#include "../power/Fuse.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../ipc/QueueFactory.h"
 
@@ -12,7 +12,7 @@ Fuse::Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
 		SystemObject(fuseObjectId), oldFuseState(0), fuseId(fuseId), powerIF(
 		NULL), currentLimit(fuseObjectId, 1, ids.pidCurrent, confirmationCount,
 				maxCurrent, FUSE_CURRENT_HIGH), powerMonitor(fuseObjectId, 2,
-				DataPool::poolIdAndPositionToPid(ids.poolIdPower, 0),
+				GlobalDataPool::poolIdAndPositionToPid(ids.poolIdPower, 0),
 				confirmationCount), set(), voltage(ids.pidVoltage, &set), current(
 				ids.pidCurrent, &set), state(ids.pidState, &set), power(
 				ids.poolIdPower, &set, PoolVariableIF::VAR_READ_WRITE), commandQueue(
@@ -109,7 +109,7 @@ size_t Fuse::getSerializedSize() const {
 }
 
 ReturnValue_t Fuse::deSerialize(const uint8_t** buffer, size_t* size,
-Endianness streamEndianness) {
+        Endianness streamEndianness) {
 	ReturnValue_t result = RETURN_FAILED;
 	for (DeviceList::iterator iter = devices.begin(); iter != devices.end();
 			iter++) {
diff --git a/power/Fuse.h b/power/Fuse.h
index 279642be..dd8759f4 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -1,12 +1,13 @@
 #ifndef FUSE_H_
 #define FUSE_H_
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PIDReader.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
+#include "../datapoolglob/PIDReader.h"
 #include "../devicehandlers/HealthDevice.h"
 #include "../monitoring/AbsLimitMonitor.h"
-#include "PowerComponentIF.h"
-#include "PowerSwitchIF.h"
+#include "../power/PowerComponentIF.h"
+#include "../power/PowerSwitchIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../parameters/ParameterHelper.h"
 #include <list>
@@ -84,12 +85,12 @@ private:
 
 	};
 	PowerMonitor powerMonitor;
-	DataSet set;
+	GlobDataSet set;
 	PIDReader<float> voltage;
 	PIDReader<float> current;
 	PIDReader<uint8_t> state;
-	db_float_t power;
-	MessageQueueIF *commandQueue;
+	gp_float_t power;
+	MessageQueueIF* commandQueue;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
 	static object_id_t powerSwitchId;
diff --git a/power/PowerSensor.h b/power/PowerSensor.h
index 0f973e45..da0bd8c7 100644
--- a/power/PowerSensor.h
+++ b/power/PowerSensor.h
@@ -1,9 +1,9 @@
 #ifndef POWERSENSOR_H_
 #define POWERSENSOR_H_
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PIDReader.h"
-#include "../datapool/PoolVariable.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
+#include "../datapoolglob/PIDReader.h"
 #include "../devicehandlers/HealthDevice.h"
 #include "../monitoring/LimitMonitor.h"
 #include "../parameters/ParameterHelper.h"
@@ -53,12 +53,12 @@ private:
 	MessageQueueIF* commandQueue;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
-	DataSet set;
+	GlobDataSet set;
 	//Variables in
 	PIDReader<float> current;
 	PIDReader<float> voltage;
 	//Variables out
-	db_float_t power;
+	gp_float_t power;
 
 	static const uint8_t MODULE_ID_CURRENT = 1;
 	static const uint8_t MODULE_ID_VOLTAGE = 2;
diff --git a/thermal/CoreComponent.cpp b/thermal/CoreComponent.cpp
index 304712ef..657e79cb 100644
--- a/thermal/CoreComponent.cpp
+++ b/thermal/CoreComponent.cpp
@@ -2,7 +2,7 @@
 
 CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId,
 		uint32_t temperaturePoolId, uint32_t targetStatePoolId,
-		uint32_t currentStatePoolId, uint32_t requestPoolId, DataSet* dataSet,
+		uint32_t currentStatePoolId, uint32_t requestPoolId, GlobDataSet* dataSet,
 		AbstractTemperatureSensor* sensor,
 		AbstractTemperatureSensor* firstRedundantSensor,
 		AbstractTemperatureSensor* secondRedundantSensor,
@@ -18,14 +18,14 @@ CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId,
 				AbstractTemperatureSensor::ZERO_KELVIN_C), parameters(
 				parameters), temperatureMonitor(reportingObjectId,
 				domainId + 1,
-				DataPool::poolIdAndPositionToPid(temperaturePoolId, 0),
+				GlobalDataPool::poolIdAndPositionToPid(temperaturePoolId, 0),
 				COMPONENT_TEMP_CONFIRMATION), domainId(domainId) {
 	if (thermalModule != NULL) {
 		thermalModule->registerComponent(this, priority);
 	}
 	//Set thermal state once, then leave to operator.
-	DataSet mySet;
-	PoolVariable<int8_t> writableTargetState(targetStatePoolId, &mySet,
+	GlobDataSet mySet;
+	gp_uint8_t writableTargetState(targetStatePoolId, &mySet,
 			PoolVariableIF::VAR_WRITE);
 	writableTargetState = initialTargetState;
 	mySet.commit(PoolVariableIF::VALID);
@@ -70,8 +70,8 @@ float CoreComponent::getLowerOpLimit() {
 }
 
 ReturnValue_t CoreComponent::setTargetState(int8_t newState) {
-	DataSet mySet;
-	PoolVariable<int8_t> writableTargetState(targetState.getDataPoolId(),
+	GlobDataSet mySet;
+	gp_uint8_t writableTargetState(targetState.getDataPoolId(),
 			&mySet, PoolVariableIF::VAR_READ_WRITE);
 	mySet.read();
 	if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
diff --git a/thermal/CoreComponent.h b/thermal/CoreComponent.h
index 48a49f7d..8093711d 100644
--- a/thermal/CoreComponent.h
+++ b/thermal/CoreComponent.h
@@ -1,13 +1,14 @@
 #ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
 #define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PoolVariable.h"
-#include "ThermalComponentIF.h"
-#include "AbstractTemperatureSensor.h"
-#include "ThermalModule.h"
-#include "ThermalMonitor.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
+#include "../thermal/ThermalComponentIF.h"
+#include "../thermal/AbstractTemperatureSensor.h"
+#include "../thermal/ThermalModule.h"
+#include "../thermal/ThermalMonitor.h"
 
+// TODO: Documentaiton, how to use this? only use Thermal Component, which inherits core component?
 class CoreComponent: public ThermalComponentIF {
 public:
 	struct Parameters {
@@ -22,7 +23,7 @@ public:
 
 	CoreComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
 			uint32_t targetStatePoolId, uint32_t currentStatePoolId,
-			uint32_t requestPoolId, DataSet *dataSet,
+			uint32_t requestPoolId, GlobDataSet *dataSet,
 			AbstractTemperatureSensor *sensor,
 			AbstractTemperatureSensor *firstRedundantSensor,
 			AbstractTemperatureSensor *secondRedundantSensor,
@@ -57,10 +58,10 @@ protected:
 	AbstractTemperatureSensor *secondRedundantSensor;
 	ThermalModuleIF *thermalModule;
 
-	db_float_t temperature;
-	db_int8_t targetState;
-	db_int8_t currentState;
-	db_uint8_t heaterRequest;
+	gp_float_t temperature;
+	gp_int8_t targetState;
+	gp_int8_t currentState;
+	gp_uint8_t heaterRequest;
 
 	bool isHeating;
 
diff --git a/thermal/ThermalComponent.cpp b/thermal/ThermalComponent.cpp
index 5dcd0bc6..50786654 100644
--- a/thermal/ThermalComponent.cpp
+++ b/thermal/ThermalComponent.cpp
@@ -3,7 +3,7 @@
 ThermalComponent::ThermalComponent(object_id_t reportingObjectId,
 		uint8_t domainId, uint32_t temperaturePoolId,
 		uint32_t targetStatePoolId, uint32_t currentStatePoolId,
-		uint32_t requestPoolId, DataSet* dataSet,
+		uint32_t requestPoolId, GlobDataSet* dataSet,
 		AbstractTemperatureSensor* sensor,
 		AbstractTemperatureSensor* firstRedundantSensor,
 		AbstractTemperatureSensor* secondRedundantSensor,
@@ -12,20 +12,18 @@ ThermalComponent::ThermalComponent(object_id_t reportingObjectId,
 		CoreComponent(reportingObjectId, domainId, temperaturePoolId,
 				targetStatePoolId, currentStatePoolId, requestPoolId, dataSet,
 				sensor, firstRedundantSensor, secondRedundantSensor,
-				thermalModule,
-				{ parameters.lowerOpLimit, parameters.upperOpLimit,
-						parameters.heaterOn, parameters.hysteresis,
-						parameters.heaterSwitchoff }, priority,
-				ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL), nopParameters(
-				{ parameters.lowerNopLimit, parameters.upperNopLimit }) {
+				thermalModule,{ parameters.lowerOpLimit, parameters.upperOpLimit,
+				parameters.heaterOn, parameters.hysteresis, parameters.heaterSwitchoff },
+				priority, ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
+		nopParameters({ parameters.lowerNopLimit, parameters.upperNopLimit }) {
 }
 
 ThermalComponent::~ThermalComponent() {
 }
 
 ReturnValue_t ThermalComponent::setTargetState(int8_t newState) {
-	DataSet mySet;
-	PoolVariable<int8_t> writableTargetState(targetState.getDataPoolId(),
+	GlobDataSet mySet;
+	gp_int8_t writableTargetState(targetState.getDataPoolId(),
 			&mySet, PoolVariableIF::VAR_READ_WRITE);
 	mySet.read();
 	if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
@@ -42,7 +40,7 @@ ReturnValue_t ThermalComponent::setTargetState(int8_t newState) {
 	}
 }
 
-ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) {
+ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
 	if (size != 4 * sizeof(parameters.lowerOpLimit)) {
 		return MonitoringIF::INVALID_SIZE;
 	}
diff --git a/thermal/ThermalComponent.h b/thermal/ThermalComponent.h
index 93243868..195f03b1 100644
--- a/thermal/ThermalComponent.h
+++ b/thermal/ThermalComponent.h
@@ -3,6 +3,9 @@
 
 #include "CoreComponent.h"
 
+/**
+ * What is it. How to use
+ */
 class ThermalComponent: public CoreComponent {
 public:
 	struct Parameters {
@@ -14,13 +17,34 @@ public:
 		float hysteresis;
 		float heaterSwitchoff;
 	};
+
+	/**
+	 * Non-Operational Temperatures
+	 */
 	struct NopParameters {
 		float lowerNopLimit;
 		float upperNopLimit;
 	};
+
+	/**
+	 * How to use.
+	 * @param reportingObjectId
+	 * @param domainId
+	 * @param temperaturePoolId
+	 * @param targetStatePoolId
+	 * @param currentStatePoolId
+	 * @param requestPoolId
+	 * @param dataSet
+	 * @param sensor
+	 * @param firstRedundantSensor
+	 * @param secondRedundantSensor
+	 * @param thermalModule
+	 * @param parameters
+	 * @param priority
+	 */
 	ThermalComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
 			uint32_t targetStatePoolId, uint32_t currentStatePoolId, uint32_t requestPoolId,
-			DataSet *dataSet, AbstractTemperatureSensor *sensor,
+			GlobDataSet *dataSet, AbstractTemperatureSensor *sensor,
 			AbstractTemperatureSensor *firstRedundantSensor,
 			AbstractTemperatureSensor *secondRedundantSensor,
 			ThermalModuleIF *thermalModule, Parameters parameters,
@@ -29,7 +53,7 @@ public:
 
 	ReturnValue_t setTargetState(int8_t newState);
 
-	virtual ReturnValue_t setLimits( const uint8_t* data, uint32_t size);
+	virtual ReturnValue_t setLimits( const uint8_t* data, size_t size);
 
 	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 				ParameterWrapper *parameterWrapper,
diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp
index c573008e..fbd6939e 100644
--- a/thermal/ThermalModule.cpp
+++ b/thermal/ThermalModule.cpp
@@ -6,7 +6,7 @@
 
 ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
 		uint32_t currentStatePoolId, uint32_t targetStatePoolId,
-		DataSet *dataSet, Parameters parameters,
+		GlobDataSet *dataSet, Parameters parameters,
 		RedundantHeater::Parameters heaterParameters) :
 		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
 				false), parameters(parameters), moduleTemperature(
@@ -16,7 +16,7 @@ ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
 	heater = new RedundantHeater(heaterParameters);
 }
 
-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, DataSet* dataSet) :
+ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet* dataSet) :
 		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
 				false), parameters( { 0, 0 }), moduleTemperature(
 				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), heater(
@@ -250,8 +250,8 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 }
 
 void ThermalModule::setHeating(bool on) {
-	DataSet mySet;
-	PoolVariable<int8_t> writableTargetState(targetState.getDataPoolId(),
+	GlobDataSet mySet;
+	gp_int8_t writableTargetState(targetState.getDataPoolId(),
 			&mySet, PoolVariableIF::VAR_WRITE);
 	if (on) {
 		writableTargetState = STATE_REQUEST_HEATING;
diff --git a/thermal/ThermalModule.h b/thermal/ThermalModule.h
index 19ab9a54..41be6baa 100644
--- a/thermal/ThermalModule.h
+++ b/thermal/ThermalModule.h
@@ -1,8 +1,8 @@
 #ifndef THERMALMODULE_H_
 #define THERMALMODULE_H_
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PoolVariable.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../devicehandlers/HealthDevice.h"
 #include "../events/EventReportingProxyIF.h"
 #include "ThermalModuleIF.h"
@@ -11,6 +11,9 @@
 #include "RedundantHeater.h"
 class PowerSwitchIF;
 
+/**
+ * @brief Allows creation of different thermal control domains within a system.
+ */
 class ThermalModule: public ThermalModuleIF {
 	friend class ThermalController;
 public:
@@ -20,10 +23,10 @@ public:
 	};
 
 	ThermalModule(uint32_t moduleTemperaturePoolId, uint32_t currentStatePoolId,
-			uint32_t targetStatePoolId, DataSet *dataSet, Parameters parameters,
+			uint32_t targetStatePoolId, GlobDataSet *dataSet, Parameters parameters,
 			RedundantHeater::Parameters heaterParameters);
 
-	ThermalModule(uint32_t moduleTemperaturePoolId, DataSet *dataSet);
+	ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet *dataSet);
 
 	virtual ~ThermalModule();
 
@@ -67,12 +70,12 @@ protected:
 
 	Parameters parameters;
 
-	db_float_t moduleTemperature;
+	gp_float_t moduleTemperature;
 
 	RedundantHeater *heater;
 
-	db_int8_t currentState;
-	db_int8_t targetState;
+	gp_int8_t currentState;
+	gp_int8_t targetState;
 
 	std::list<AbstractTemperatureSensor *> sensors;
 	std::list<ComponentData> components;

From f61056eeb7213cf111c35dde65827e55b2cd8d0a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 6 Sep 2020 15:30:56 +0200
Subject: [PATCH 318/653] adapted DHB to renaming

---
 devicehandlers/DeviceHandlerBase.cpp | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 017ea8d2..6fcba64b 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -5,8 +5,8 @@
 #include "../objectmanager/ObjectManager.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../thermal/ThermalComponentIF.h"
-#include "../datapool/DataSet.h"
-#include "../datapool/PoolVariable.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../globalfunctions/CRC.h"
 #include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
@@ -186,8 +186,8 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	fillCommandAndReplyMap();
 
 	//Set temperature target state to NON_OP.
-	DataSet mySet;
-	db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+	GlobDataSet mySet;
+	gp_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 			PoolVariableIF::VAR_WRITE);
 	mySet.read();
 	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
@@ -469,8 +469,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
 	Clock::getUptime(&timeoutStart);
 
 	if (mode == MODE_OFF) {
-		DataSet mySet;
-		db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+		GlobDataSet mySet;
+		gp_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ_WRITE);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -926,10 +926,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
 
 	if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
 			&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
-		DataSet mySet;
-		db_int8_t thermalState(deviceThermalStatePoolId, &mySet,
+		GlobDataSet mySet;
+		gp_int8_t thermalState(deviceThermalStatePoolId, &mySet,
 				PoolVariableIF::VAR_READ);
-		db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+		gp_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -956,8 +956,8 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
 			childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
 					MODE_ON);
 			triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
-			DataSet mySet;
-			db_int8_t thermalRequest(deviceThermalRequestPoolId,
+			GlobDataSet mySet;
+			gp_int8_t thermalRequest(deviceThermalRequestPoolId,
 					&mySet, PoolVariableIF::VAR_READ_WRITE);
 			mySet.read();
 			if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -1185,7 +1185,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 	}
 	//Try to cast to GlobDataSet and commit data.
 	if (!neverInDataPool) {
-		DataSet* dataSet = dynamic_cast<DataSet*>(data);
+		GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
 		if (dataSet != NULL) {
 			dataSet->commit(PoolVariableIF::VALID);
 		}

From a9975f5aefe3698149b5f9b47e0b193007fb399a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 6 Sep 2020 15:46:49 +0200
Subject: [PATCH 319/653] added new windows udp bridge

---
 fsfw.mk                              |  16 +++
 osal/windows/TcWinUdpPollingTask.cpp | 148 ++++++++++++++++++++++
 osal/windows/TcWinUdpPollingTask.h   |  67 ++++++++++
 osal/windows/TmTcWinUdpBridge.cpp    | 176 +++++++++++++++++++++++++++
 osal/windows/TmTcWinUdpBridge.h      |  49 ++++++++
 5 files changed, 456 insertions(+)
 create mode 100644 osal/windows/TcWinUdpPollingTask.cpp
 create mode 100644 osal/windows/TcWinUdpPollingTask.h
 create mode 100644 osal/windows/TmTcWinUdpBridge.cpp
 create mode 100644 osal/windows/TmTcWinUdpBridge.h

diff --git a/fsfw.mk b/fsfw.mk
index c2c6e747..c5847554 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -9,6 +9,9 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
@@ -28,12 +31,25 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
 # select the OS
 ifeq ($(OS_FSFW),rtems)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
+
 else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
+
 else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+
 else ifeq ($(OS_FSFW),host)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
+ifeq ($(OS),Windows_NT)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp)
+else
+# For now, the linux UDP bridge sources needs to be included manually by upper makefile
+# for host OS because we can't be sure the OS is linux.
+# Following lines can be used to do this:
+# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
+# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
+endif
+
 else
 $(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif
diff --git a/osal/windows/TcWinUdpPollingTask.cpp b/osal/windows/TcWinUdpPollingTask.cpp
new file mode 100644
index 00000000..7b54bb2c
--- /dev/null
+++ b/osal/windows/TcWinUdpPollingTask.cpp
@@ -0,0 +1,148 @@
+#include "TcWinUdpPollingTask.h"
+#include "../../globalfunctions/arrayprinter.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+#include <winsock2.h>
+#include <windows.h>
+
+TcWinUdpPollingTask::TcWinUdpPollingTask(object_id_t objectId,
+		object_id_t tmtcUnixUdpBridge, size_t frameSize,
+		double timeoutSeconds): SystemObject(objectId),
+		tmtcBridgeId(tmtcUnixUdpBridge) {
+	if(frameSize > 0) {
+		this->frameSize = frameSize;
+	}
+	else {
+		this->frameSize = DEFAULT_MAX_FRAME_SIZE;
+	}
+
+	// Set up reception buffer with specified frame size.
+	// For now, it is assumed that only one frame is held in the buffer!
+	receptionBuffer.reserve(this->frameSize);
+	receptionBuffer.resize(this->frameSize);
+
+	if(timeoutSeconds == -1) {
+		receptionTimeout = DEFAULT_TIMEOUT;
+	}
+	else {
+		receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
+	}
+}
+
+TcWinUdpPollingTask::~TcWinUdpPollingTask() {}
+
+ReturnValue_t TcWinUdpPollingTask::performOperation(uint8_t opCode) {
+	// Poll for new UDP datagrams in permanent loop.
+	while(true) {
+		//! Sender Address is cached here.
+		struct sockaddr_in senderAddress;
+		int senderAddressSize = sizeof(senderAddress);
+		ssize_t bytesReceived = recvfrom(serverUdpSocket,
+				reinterpret_cast<char*>(receptionBuffer.data()), frameSize,
+				receptionFlags, reinterpret_cast<sockaddr*>(&senderAddress),
+				&senderAddressSize);
+		if(bytesReceived == SOCKET_ERROR) {
+			// handle error
+			sif::error << "TcWinUdpPollingTask::performOperation: Reception"
+					" error." << std::endl;
+			handleReadError();
+			continue;
+		}
+		//sif::debug << "TcWinUdpPollingTask::performOperation: " << bytesReceived
+		//		<< " bytes received" << std::endl;
+
+		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
+		if(result != HasReturnvaluesIF::RETURN_FAILED) {
+
+		}
+		tmtcBridge->registerCommConnect();
+		tmtcBridge->checkAndSetClientAddress(senderAddress);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t TcWinUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
+	store_address_t storeId;
+	ReturnValue_t result = tcStore->addData(&storeId,
+			receptionBuffer.data(), bytesRead);
+	// arrayprinter::print(receptionBuffer.data(), bytesRead);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
+				"storage failed" << std::endl;
+		sif::error << "Packet size: " << bytesRead << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	TmTcMessage message(storeId);
+
+	result  = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "Serial Polling: Sending message to queue failed"
+				<< std::endl;
+		tcStore->deleteData(storeId);
+	}
+	return result;
+}
+
+ReturnValue_t TcWinUdpPollingTask::initialize() {
+	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+	if (tcStore == nullptr) {
+		sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	tmtcBridge = objectManager->get<TmTcWinUdpBridge>(tmtcBridgeId);
+	if(tmtcBridge == nullptr) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
+				" TMTC bridge object!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
+	serverUdpSocket = tmtcBridge->serverSocket;
+	//sif::info << "TcWinUdpPollingTask::initialize: Server UDP socket "
+	//        << serverUdpSocket << std::endl;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t TcWinUdpPollingTask::initializeAfterTaskCreation() {
+	// Initialize the destination after task creation. This ensures
+	// that the destination has already been set in the TMTC bridge.
+	targetTcDestination = tmtcBridge->getRequestQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
+	DWORD timeoutMs = timeoutSeconds * 1000.0;
+	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
+			reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
+	if(result == -1) {
+		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
+				"receive timeout failed with " << strerror(errno) << std::endl;
+	}
+}
+
+void TcWinUdpPollingTask::handleReadError() {
+    int error = WSAGetLastError();
+    switch(error) {
+    case(WSANOTINITIALISED): {
+        sif::info << "TmTcWinUdpBridge::handleReadError: WSANOTINITIALISED: "
+                << "WSAStartup(...) call " << "necessary" << std::endl;
+        break;
+    }
+    case(WSAEFAULT): {
+        sif::info << "TmTcWinUdpBridge::handleReadError: WSADEFAULT: "
+                << "Bad address " << std::endl;
+        break;
+    }
+    default: {
+        sif::info << "TmTcWinUdpBridge::handleReadError: Error code: "
+                << error << std::endl;
+        break;
+    }
+    }
+    // to prevent spam.
+    Sleep(1000);
+}
diff --git a/osal/windows/TcWinUdpPollingTask.h b/osal/windows/TcWinUdpPollingTask.h
new file mode 100644
index 00000000..50d39d25
--- /dev/null
+++ b/osal/windows/TcWinUdpPollingTask.h
@@ -0,0 +1,67 @@
+#ifndef FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
+#define FSFW_OSAL_WINDOWS_TCSOCKETPOLLINGTASK_H_
+
+#include "TmTcWinUdpBridge.h"
+#include "../../objectmanager/SystemObject.h"
+#include "../../tasks/ExecutableObjectIF.h"
+#include "../../storagemanager/StorageManagerIF.h"
+
+#include <vector>
+
+/**
+ * @brief 	This class can be used to implement the polling of a Unix socket,
+ * 			using UDP for now.
+ * @details
+ * The task will be blocked while the specified number of bytes has not been
+ * received, so TC reception is handled inside a separate task.
+ * This class caches the IP address of the sender. It is assumed there
+ * is only one sender for now.
+ */
+class TcWinUdpPollingTask: public SystemObject,
+		public ExecutableObjectIF {
+	friend class TmTcWinUdpBridge;
+public:
+	static constexpr size_t DEFAULT_MAX_FRAME_SIZE = 2048;
+	//! 0.5  default milliseconds timeout for now.
+	static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
+
+	TcWinUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
+			size_t frameSize = 0, double timeoutSeconds = -1);
+	virtual~ TcWinUdpPollingTask();
+
+	/**
+	 * Turn on optional timeout for UDP polling. In the default mode,
+	 * the receive function will block until a packet is received.
+	 * @param timeoutSeconds
+	 */
+	void setTimeout(double timeoutSeconds);
+
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual ReturnValue_t initialize() override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
+
+protected:
+	StorageManagerIF* tcStore = nullptr;
+
+private:
+	//! TMTC bridge is cached.
+	object_id_t tmtcBridgeId = objects::NO_OBJECT;
+	TmTcWinUdpBridge* tmtcBridge = nullptr;
+	MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
+	//! Reception flags: https://linux.die.net/man/2/recvfrom.
+	int receptionFlags = 0;
+
+	//! Server socket, which is member of TMTC bridge and is assigned in
+	//! constructor
+	SOCKET serverUdpSocket = 0;
+
+	std::vector<uint8_t> receptionBuffer;
+
+	size_t frameSize = 0;
+	timeval receptionTimeout;
+
+	ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
+	void handleReadError();
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */
diff --git a/osal/windows/TmTcWinUdpBridge.cpp b/osal/windows/TmTcWinUdpBridge.cpp
new file mode 100644
index 00000000..7e283c2a
--- /dev/null
+++ b/osal/windows/TmTcWinUdpBridge.cpp
@@ -0,0 +1,176 @@
+#include <fsfw/ipc/MutexHelper.h>
+#include "TmTcWinUdpBridge.h"
+
+TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
+        object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
+        uint16_t serverPort, uint16_t clientPort):
+        TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
+    mutex = MutexFactory::instance()->createMutex();
+
+    // Initiates Winsock DLL.
+    WSAData wsaData;
+    WORD wVersionRequested = MAKEWORD(2, 2);
+    int err = WSAStartup(wVersionRequested, &wsaData);
+    if (err != 0) {
+        /* Tell the user that we could not find a usable */
+        /* Winsock DLL.                                  */
+        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge:"
+                "WSAStartup failed with error: " << err << std::endl;
+        return;
+    }
+
+    uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
+    if(serverPort != 0xFFFF) {
+        setServerPort = serverPort;
+    }
+
+    uint16_t setClientPort = DEFAULT_UDP_CLIENT_PORT;
+    if(clientPort != 0xFFFF) {
+        setClientPort = clientPort;
+    }
+
+    // Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
+    //clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
+    serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+    if(serverSocket == INVALID_SOCKET) {
+        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not open"
+                " UDP socket!" << std::endl;
+        handleSocketError();
+        return;
+    }
+
+    serverAddress.sin_family = AF_INET;
+
+    // Accept packets from any interface. (potentially insecure).
+    serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+    serverAddress.sin_port = htons(setServerPort);
+    serverAddressLen = sizeof(serverAddress);
+    setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR,
+            reinterpret_cast<const char*>(&serverSocketOptions),
+            sizeof(serverSocketOptions));
+
+    clientAddress.sin_family = AF_INET;
+    clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
+    clientAddress.sin_port = htons(setClientPort);
+    clientAddressLen = sizeof(clientAddress);
+
+    int result = bind(serverSocket,
+            reinterpret_cast<struct sockaddr*>(&serverAddress),
+            serverAddressLen);
+    if(result != 0) {
+        sif::error << "TmTcWinUdpBridge::TmTcWinUdpBridge: Could not bind "
+                "local port " << setServerPort << " to server socket!"
+                << std::endl;
+        handleBindError();
+    }
+}
+
+TmTcWinUdpBridge::~TmTcWinUdpBridge() {
+    WSACleanup();
+}
+
+ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
+    int flags = 0;
+
+    //clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
+    //clientAddressLen = sizeof(serverAddress);
+
+//  char ipAddress [15];
+//  sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+//                  &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+
+    ssize_t bytesSent = sendto(serverSocket,
+            reinterpret_cast<const char*>(data), dataLen, flags,
+            reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
+    if(bytesSent == SOCKET_ERROR) {
+        sif::error << "TmTcWinUdpBridge::sendTm: Send operation failed."
+                << std::endl;
+        handleSendError();
+    }
+//  sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
+//          " sent." << std::endl;
+    return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+    MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
+
+//  char ipAddress [15];
+//  sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+//          &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+//  sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
+//          &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+
+    // Set new IP address if it has changed.
+    if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
+        clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
+        clientAddressLen = sizeof(clientAddress);
+    }
+}
+
+void TmTcWinUdpBridge::handleSocketError() {
+    int errCode = WSAGetLastError();
+    switch(errCode) {
+    case(WSANOTINITIALISED): {
+        sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: "
+                << "WSAStartup(...) call " << "necessary" << std::endl;
+        break;
+    }
+    default: {
+        /*
+        https://docs.microsoft.com/en-us/windows/win32/winsock/
+        windows-sockets-error-codes-2
+         */
+        sif::info << "TmTcWinUdpBridge::handleSocketError: Error code: "
+                << errCode << std::endl;
+        break;
+    }
+    }
+}
+
+void TmTcWinUdpBridge::handleBindError() {
+    int errCode = WSAGetLastError();
+    switch(errCode) {
+    case(WSANOTINITIALISED): {
+        sif::info << "TmTcWinUdpBridge::handleBindError: WSANOTINITIALISED: "
+                << "WSAStartup(...) call " << "necessary" << std::endl;
+        break;
+    }
+    default: {
+        /*
+        https://docs.microsoft.com/en-us/windows/win32/winsock/
+        windows-sockets-error-codes-2
+        */
+        sif::info << "TmTcWinUdpBridge::handleBindError: Error code: "
+                << errCode << std::endl;
+        break;
+    }
+    }
+}
+
+void TmTcWinUdpBridge::handleSendError() {
+    int errCode = WSAGetLastError();
+    switch(errCode) {
+    case(WSANOTINITIALISED): {
+        sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: "
+                << "WSAStartup(...) call " << "necessary" << std::endl;
+        break;
+    }
+    case(WSAEADDRNOTAVAIL): {
+        sif::info << "TmTcWinUdpBridge::handleReadError: WSAEADDRNOTAVAIL: "
+                << "Check target address. " << std::endl;
+        break;
+    }
+    default: {
+        /*
+        https://docs.microsoft.com/en-us/windows/win32/winsock/
+        windows-sockets-error-codes-2
+        */
+        sif::info << "TmTcWinUdpBridge::handleSendError: Error code: "
+                << errCode << std::endl;
+        break;
+    }
+    }
+}
+
diff --git a/osal/windows/TmTcWinUdpBridge.h b/osal/windows/TmTcWinUdpBridge.h
new file mode 100644
index 00000000..8188039c
--- /dev/null
+++ b/osal/windows/TmTcWinUdpBridge.h
@@ -0,0 +1,49 @@
+#ifndef FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
+#define FSFW_OSAL_WINDOWS_TMTCWINUDPBRIDGE_H_
+
+#include "../../tmtcservices/TmTcBridge.h"
+
+#include <winsock2.h>
+#include <windows.h>
+
+class TmTcWinUdpBridge: public TmTcBridge {
+    friend class TcWinUdpPollingTask;
+public:
+    // The ports chosen here should not be used by any other process.
+    static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
+    static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
+
+    TmTcWinUdpBridge(object_id_t objectId, object_id_t tcDestination,
+            object_id_t tmStoreId, object_id_t tcStoreId,
+            uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
+    virtual~ TmTcWinUdpBridge();
+
+    void checkAndSetClientAddress(sockaddr_in clientAddress);
+
+protected:
+    virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
+
+private:
+    SOCKET serverSocket = 0;
+
+    const int serverSocketOptions = 0;
+
+    struct sockaddr_in clientAddress;
+    int clientAddressLen = 0;
+
+    struct sockaddr_in serverAddress;
+    int serverAddressLen = 0;
+
+    //! Access to the client address is mutex protected as it is set
+    //! by another task.
+    MutexIF* mutex;
+
+    void handleSocketError();
+    void handleBindError();
+    void handleSendError();
+};
+
+
+
+#endif /* FSFW_OSAL_HOST_TMTCWINUDPBRIDGE_H_ */
+

From 2439ac455be631938c69fe6400ed025f7eaaaaa5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 6 Sep 2020 15:48:30 +0200
Subject: [PATCH 320/653] tmtc bridge update, uses dynamic FIFO now

---
 tmtcservices/TmTcBridge.cpp | 108 ++++++++++++++++++++++--------------
 tmtcservices/TmTcBridge.h   |  20 +++++--
 2 files changed, 81 insertions(+), 47 deletions(-)

diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 021b0d7b..8c2f15e5 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -1,7 +1,7 @@
-#include "TmTcBridge.h"
+#include "../tmtcservices/TmTcBridge.h"
 
 #include "../ipc/QueueFactory.h"
-#include "AcceptsTelecommandsIF.h"
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../globalfunctions/arrayprinter.h"
 
@@ -66,6 +66,8 @@ ReturnValue_t TmTcBridge::initialize() {
 		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
+	tmFifo = new DynamicFIFO<store_address_t>(maxNumberOfPacketsStored);
+
 	tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
 	return RETURN_OK;
 }
@@ -90,102 +92,122 @@ ReturnValue_t TmTcBridge::handleTc() {
 }
 
 ReturnValue_t TmTcBridge::handleTm() {
+    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
 	ReturnValue_t result = handleTmQueue();
 	if(result != RETURN_OK) {
-		sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
-		return RETURN_FAILED;
+		sif::error << "TmTcBridge::handleTm: Error handling TM queue!"
+		        << std::endl;
+		status = result;
 	}
 
-	if(tmStored and communicationLinkUp) {
-		result = handleStoredTm();
+	if(tmStored and communicationLinkUp and
+	        (packetSentCounter < sentPacketsPerCycle)) {
+	    result = handleStoredTm();
+	    if(result != RETURN_OK) {
+	        sif::error << "TmTcBridge::handleTm: Error handling stored TMs!"
+	                << std::endl;
+	        status = result;
+	    }
 	}
-	return result;
-
+	packetSentCounter = 0;
+	return status;
 }
 
 ReturnValue_t TmTcBridge::handleTmQueue() {
 	TmTcMessage message;
 	const uint8_t* data = nullptr;
 	size_t size = 0;
+	ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
 	for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
-		 result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
+		 result == HasReturnvaluesIF::RETURN_OK;
+		 result = tmTcReceptionQueue->receiveMessage(&message))
 	{
-		if(communicationLinkUp == false) {
-			result = storeDownlinkData(&message);
-			return result;
+	    //sif::info << (int) packetSentCounter << std::endl;
+		if(communicationLinkUp == false or
+		        packetSentCounter >= sentPacketsPerCycle) {
+			storeDownlinkData(&message);
+			continue;
 		}
 
 		result = tmStore->getData(message.getStorageId(), &data, &size);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
+			status = result;
 			continue;
 		}
 
 		result = sendTm(data, size);
-		if (result != RETURN_OK) {
-			sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
-			tmStore->deleteData(message.getStorageId());
-			return result;
-
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			status = result;
+		}
+		else {
+		    tmStore->deleteData(message.getStorageId());
+		    packetSentCounter++;
 		}
-		tmStore->deleteData(message.getStorageId());
 	}
-	return RETURN_OK;
+	return status;
 }
 
 ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
 	store_address_t storeId = 0;
 
-	if(tmFifo.full()) {
-		sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-		        << "of stored packet IDs reached! "
-		        << "Overwriting old data" << std::endl;
-		tmFifo.retrieve(&storeId);
-		tmStore->deleteData(storeId);
+	if(tmFifo->full()) {
+	    sif::debug << "TmTcBridge::storeDownlinkData: TM downlink max. number "
+	                    << "of stored packet IDs reached! " << std::endl;
+	    if(overwriteOld) {
+	        tmFifo->retrieve(&storeId);
+	        tmStore->deleteData(storeId);
+	    }
+	    else {
+	        return HasReturnvaluesIF::RETURN_FAILED;
+	    }
 	}
+
 	storeId = message->getStorageId();
-	tmFifo.insert(storeId);
+	tmFifo->insert(storeId);
 	tmStored = true;
 	return RETURN_OK;
 }
 
 ReturnValue_t TmTcBridge::handleStoredTm() {
-	uint8_t counter = 0;
-	ReturnValue_t result = RETURN_OK;
-	while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
-		//info << "TMTC Bridge: Sending stored TM data. There are "
-		//     << (int) fifo.size() << " left to send\r\n" << std::flush;
+    ReturnValue_t status = RETURN_OK;
+	while(not tmFifo->empty() and packetSentCounter < sentPacketsPerCycle) {
+		//sif::info << "TMTC Bridge: Sending stored TM data. There are "
+		//     << (int) tmFifo->size() << " left to send\r\n" << std::flush;
+
 		store_address_t storeId;
 		const uint8_t* data = nullptr;
 		size_t size = 0;
-		tmFifo.retrieve(&storeId);
-		result = tmStore->getData(storeId, &data, &size);
-
-		sendTm(data,size);
+		tmFifo->retrieve(&storeId);
+		ReturnValue_t result = tmStore->getData(storeId, &data, &size);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    status = result;
+		}
 
+		result = sendTm(data,size);
 		if(result != RETURN_OK) {
 			sif::error << "TMTC Bridge: Could not send stored downlink data"
 			      << std::endl;
-			result = RETURN_FAILED;
+			status = result;
 		}
-		counter ++;
+		packetSentCounter ++;
 
-		if(tmFifo.empty()) {
+		if(tmFifo->empty()) {
 			tmStored = false;
 		}
 		tmStore->deleteData(storeId);
 	}
-	return result;
+	return status;
 }
 
 void TmTcBridge::registerCommConnect() {
 	if(not communicationLinkUp) {
-		//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
+		//sif::info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
 		communicationLinkUp = true;
 	}
 }
 
 void TmTcBridge::registerCommDisconnect() {
-	//info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
+	//sif::info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
 	if(communicationLinkUp) {
 		communicationLinkUp = false;
 	}
@@ -209,3 +231,7 @@ MessageQueueId_t TmTcBridge::getRequestQueue() {
 	// Default implementation: Relay TC messages to TC distributor directly.
 	return tmTcReceptionQueue->getDefaultDestination();
 }
+
+void TmTcBridge::setFifoToOverwriteOldData(bool overwriteOld) {
+    this->overwriteOld = overwriteOld;
+}
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 32eaf7f2..62cfdaac 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -1,15 +1,15 @@
 #ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 #define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 
+
 #include "../objectmanager/SystemObject.h"
-#include "AcceptsTelemetryIF.h"
+#include "../tmtcservices/AcceptsTelemetryIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../storagemanager/StorageManagerIF.h"
-#include "AcceptsTelecommandsIF.h"
-
-#include "../container/FIFO.h"
-#include "TmTcMessage.h"
+#include "../tmtcservices/AcceptsTelecommandsIF.h"
+#include "../container/DynamicFIFO.h"
+#include "../tmtcservices/TmTcMessage.h"
 
 class TmTcBridge : public AcceptsTelemetryIF,
 		public AcceptsTelecommandsIF,
@@ -46,6 +46,12 @@ public:
 	 */
 	ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
 
+	/**
+	 * This will set up the bridge to overwrite old data in the FIFO.
+	 * @param overwriteOld
+	 */
+	void setFifoToOverwriteOldData(bool overwriteOld);
+
 	virtual void registerCommConnect();
 	virtual void registerCommDisconnect();
 
@@ -86,6 +92,8 @@ protected:
 	//! by default, so telemetry will be handled immediately.
 	bool communicationLinkUp = true;
 	bool tmStored = false;
+	bool overwriteOld = true;
+	uint8_t packetSentCounter = 0;
 
 	/**
 	 * @brief 	Handle TC reception
@@ -145,7 +153,7 @@ protected:
 	 * This fifo can be used to store downlink data
 	 * which can not be sent at the moment.
 	 */
-	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
+	DynamicFIFO<store_address_t>* tmFifo = nullptr;
     uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
     uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
 };

From 6c42189371dd76082fe93e7f832c509e8967b402 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 6 Sep 2020 15:49:32 +0200
Subject: [PATCH 321/653] some minor improvements

---
 osal/linux/TcUnixUdpPollingTask.cpp | 1 +
 osal/linux/TmTcUnixUdpBridge.cpp    | 6 ++++--
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index 95910b02..670ba804 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -120,6 +120,7 @@ void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
 	}
 }
 
+// TODO: sleep after error detection to prevent spam
 void TcUnixUdpPollingTask::handleReadError() {
 	switch(errno) {
 	case(EAGAIN): {
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 80d02b25..b55291b3 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -5,6 +5,7 @@
 #include <errno.h>
 #include <arpa/inet.h>
 
+
 TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
 		object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
 		uint16_t serverPort, uint16_t clientPort):
@@ -100,8 +101,8 @@ void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
 	}
 }
 
-void TmTcUnixUdpBridge::handleSocketError() {
 
+void TmTcUnixUdpBridge::handleSocketError() {
 	// See: https://man7.org/linux/man-pages/man2/socket.2.html
 	switch(errno) {
 	case(EACCES):
@@ -162,7 +163,8 @@ void TmTcUnixUdpBridge::handleBindError() {
 void TmTcUnixUdpBridge::handleSendError() {
 	switch(errno) {
 	default:
-		sif::error << "Error: " << strerror(errno) << std::endl;
+		sif::error << "TmTcUnixBridge::handleSendError: "
+		        << strerror(errno) << std::endl;
 	}
 }
 

From 2a28114b49fc48d01e95bb350d8c52d299bcab5c Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Mon, 7 Sep 2020 15:43:48 +0200
Subject: [PATCH 322/653] Fixes for #190 and #189

---
 container/DynamicFIFO.h              | 16 ++++++++++++++--
 container/FIFO.h                     | 12 ++++++++++++
 container/FixedMap.h                 |  3 +++
 tmtcservices/CommandingServiceBase.h | 17 +++++++++++++++--
 4 files changed, 44 insertions(+), 4 deletions(-)

diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h
index abb53330..8f5c5e40 100644
--- a/container/DynamicFIFO.h
+++ b/container/DynamicFIFO.h
@@ -27,14 +27,26 @@ public:
 
 	/**
 	 * @brief	Custom copy constructor which prevents setting the
-	 * 	        underlying pointer wrong.
+	 * 	        underlying pointer wrong. This function allocates memory!
+	 * @details This is a very heavy operation so try to avoid this!
+	 *
 	 */
 	DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
 			fifoVector(other.maxCapacity) {
 		this->setContainer(fifoVector.data());
 	}
 
-
+	/**
+	 * @brief Custom assignment operator
+	 * @details This is a very heavy operation so try to avoid this!
+	 * @param other DyamicFIFO to copy from
+	 */
+	DynamicFIFO& operator=(const DynamicFIFO& other){
+		FIFOBase<T>::operator=(other);
+		this->fifoVector = other.fifoVector;
+		this->setContainer(fifoVector.data());
+		return *this;
+	}
 private:
 	std::vector<T> fifoVector;
 };
diff --git a/container/FIFO.h b/container/FIFO.h
index 19f763fc..70113852 100644
--- a/container/FIFO.h
+++ b/container/FIFO.h
@@ -25,9 +25,21 @@ public:
 	 * @param other
 	 */
 	FIFO(const FIFO& other): FIFOBase<T>(other) {
+		this->fifoArray = other.fifoArray;
 		this->setContainer(fifoArray.data());
 	}
 
+	/**
+	 * @brief Custom assignment operator
+	 * @param other
+	 */
+	FIFO& operator=(const FIFO& other){
+		FIFOBase<T>::operator=(other);
+		this->fifoArray = other.fifoArray;
+		this->setContainer(fifoArray.data());
+		return *this;
+	}
+
 private:
 	std::array<T, capacity> fifoArray;
 };
diff --git a/container/FixedMap.h b/container/FixedMap.h
index dc19ce53..65459631 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -4,12 +4,15 @@
 #include "ArrayList.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <utility>
+#include <type_traits>
 
 /**
  * \ingroup container
  */
 template<typename key_t, typename T>
 class FixedMap: public SerializeIF {
+	static_assert (std::is_trivially_copyable<T>::value or std::is_base_of<SerializeIF, T>::value,
+			"Types used in FixedMap must either be trivial copy-able or a derived Class from SerializeIF to be serialize-able");
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
 	static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 864a0614..23b08acf 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -211,8 +211,7 @@ protected:
 
 	virtual void doPeriodicOperation();
 
-
-	struct CommandInfo {
+	struct CommandInfo: public SerializeIF{
 		struct tcInfo {
 			uint8_t ackFlags;
 			uint16_t tcPacketId;
@@ -225,6 +224,20 @@ protected:
 		Command_t command;
 		object_id_t objectId;
 		FIFO<store_address_t, 3> fifo;
+
+		virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
+					size_t maxSize, Endianness streamEndianness) const override{
+			return HasReturnvaluesIF::RETURN_FAILED;
+		};
+
+		virtual size_t getSerializedSize() const override {
+			return 0;
+		};
+
+		virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+				Endianness streamEndianness) override{
+			return HasReturnvaluesIF::RETURN_FAILED;
+		};
 	};
 
 	using CommandMapIter = FixedMap<MessageQueueId_t,

From 278053a3423f786d4f37dbe2d9e0baadc006ed85 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Mon, 7 Sep 2020 15:49:28 +0200
Subject: [PATCH 323/653] Another fix in DynamicFIFO

---
 container/DynamicFIFO.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/container/DynamicFIFO.h b/container/DynamicFIFO.h
index 8f5c5e40..86d43f7d 100644
--- a/container/DynamicFIFO.h
+++ b/container/DynamicFIFO.h
@@ -33,6 +33,7 @@ public:
 	 */
 	DynamicFIFO(const DynamicFIFO& other): FIFOBase<T>(other),
 			fifoVector(other.maxCapacity) {
+		this->fifoVector = other.fifoVector;
 		this->setContainer(fifoVector.data());
 	}
 

From b65789824cc103d8fbc46479e6eff0f09c6346d6 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Mon, 7 Sep 2020 18:06:08 +0200
Subject: [PATCH 324/653] Removed old hacks and replaced by standard c++

Added overflow check in SerializeAdapter
---
 container/IsDerivedFrom.h    | 41 ------------------------------------
 serialize/SerializeAdapter.h | 32 ++++++++++++++++------------
 2 files changed, 18 insertions(+), 55 deletions(-)
 delete mode 100644 container/IsDerivedFrom.h

diff --git a/container/IsDerivedFrom.h b/container/IsDerivedFrom.h
deleted file mode 100644
index 520033db..00000000
--- a/container/IsDerivedFrom.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#ifndef ISDERIVEDFROM_H_
-#define ISDERIVEDFROM_H_
-
-template<typename D, typename B>
-class IsDerivedFrom {
-	class No {
-	};
-	class Yes {
-		No no[3];
-	};
-
-	static Yes Test(B*); // declared, but not defined
-	static No Test(... ); // declared, but not defined
-
-public:
-	enum {
-		Is = sizeof(Test(static_cast<D*>(0))) == sizeof(Yes)
-	};
-};
-
-template<typename, typename>
-struct is_same {
-    static bool const value = false;
-};
-
-template<typename A>
-struct is_same<A, A> {
-    static bool const value = true;
-};
-
-
-template<bool C, typename T = void>
-struct enable_if {
-  typedef T type;
-};
-
-template<typename T>
-struct enable_if<false, T> { };
-
-
-#endif /* ISDERIVEDFROM_H_ */
diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index af5ec116..cd6b6b06 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -1,11 +1,11 @@
 #ifndef SERIALIZEADAPTER_H_
 #define SERIALIZEADAPTER_H_
 
-#include "../container/IsDerivedFrom.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "EndianConverter.h"
 #include "SerializeIF.h"
 #include <string.h>
+#include <type_traits>
 
 /**
  * \ingroup serialize
@@ -15,34 +15,39 @@ class SerializeAdapter {
 public:
 	template<typename T>
 	static ReturnValue_t serialize(const T *object, uint8_t **buffer,
-			size_t *size, size_t maxSize, SerializeIF::Endianness streamEndianness) {
-		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+			size_t *size, size_t maxSize,
+			SerializeIF::Endianness streamEndianness) {
+		InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
 		return adapter.serialize(object, buffer, size, maxSize,
 				streamEndianness);
 	}
 	template<typename T>
 	static uint32_t getSerializedSize(const T *object) {
-		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+		InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
 		return adapter.getSerializedSize(object);
 	}
 	template<typename T>
 	static ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
 			size_t *size, SerializeIF::Endianness streamEndianness) {
-		InternalSerializeAdapter<T, IsDerivedFrom<T, SerializeIF>::Is> adapter;
+		InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
 		return adapter.deSerialize(object, buffer, size, streamEndianness);
 	}
 private:
-	template<typename T, int>
-	class InternalSerializeAdapter {
+	template<typename T, bool> class InternalSerializeAdapter;
+
+	template<typename T>
+	class InternalSerializeAdapter<T, false> {
 	public:
 		static ReturnValue_t serialize(const T *object, uint8_t **buffer,
-				size_t *size, size_t max_size, SerializeIF::Endianness streamEndianness) {
+				size_t *size, size_t max_size,
+				SerializeIF::Endianness streamEndianness) {
 			size_t ignoredSize = 0;
 			if (size == NULL) {
 				size = &ignoredSize;
 			}
-			//TODO check integer overflow of *size
-			if (sizeof(T) + *size <= max_size) {
+			//Check remaining size is large enough and check integer overflow of *size
+			size_t newSize = sizeof(T) + *size;
+			if ((newSize <= max_size) and (newSize > *size)) {
 				T tmp;
 				switch (streamEndianness) {
 				case SerializeIF::Endianness::BIG:
@@ -94,14 +99,13 @@ private:
 		uint32_t getSerializedSize(const T *object) {
 			return sizeof(T);
 		}
-
 	};
 
 	template<typename T>
-	class InternalSerializeAdapter<T, 1> {
+	class InternalSerializeAdapter<T, true> {
 	public:
-		ReturnValue_t serialize(const T *object, uint8_t **buffer,
-				size_t *size, size_t max_size,
+		ReturnValue_t serialize(const T *object, uint8_t **buffer, size_t *size,
+				size_t max_size,
 				SerializeIF::Endianness streamEndianness) const {
 			size_t ignoredSize = 0;
 			if (size == NULL) {

From 0258ce62f0ccb64be8f87e17321627171601f348 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Mon, 7 Sep 2020 18:35:25 +0200
Subject: [PATCH 325/653] Added documentation

---
 serialize/SerializeAdapter.h | 71 ++++++++++++++++++++++++++++++++----
 serialize/SerializeIF.h      |  2 +-
 2 files changed, 64 insertions(+), 9 deletions(-)

diff --git a/serialize/SerializeAdapter.h b/serialize/SerializeAdapter.h
index cd6b6b06..a05b1791 100644
--- a/serialize/SerializeAdapter.h
+++ b/serialize/SerializeAdapter.h
@@ -1,10 +1,10 @@
-#ifndef SERIALIZEADAPTER_H_
-#define SERIALIZEADAPTER_H_
+#ifndef _FSFW_SERIALIZE_SERIALIZEADAPTER_H_
+#define _FSFW_SERIALIZE_SERIALIZEADAPTER_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "EndianConverter.h"
 #include "SerializeIF.h"
-#include <string.h>
+#include <cstddef>
 #include <type_traits>
 
 /**
@@ -13,6 +13,22 @@
 
 class SerializeAdapter {
 public:
+	/***
+	 * This function can be used to serialize a trivial copy-able type or a child of SerializeIF.
+	 * The right template to be called is determined in the function itself.
+	 * For objects of non trivial copy-able type this function is almost never called by the user directly.
+	 * Instead helpers for specific types like SerialArrayListAdapter or SerialLinkedListAdapter is the right choice here.
+	 *
+	 * @param[in] object Object to serialize, the used type is deduced from this pointer
+	 * @param[in/out] buffer Buffer to serialize into. Will be moved by the function.
+	 * @param[in/out] size Size of current written buffer. Will be incremented by the function.
+	 * @param[in] maxSize Max size of Buffer
+	 * @param[in] streamEndianness Endianness of serialized element as in according to SerializeIF::Endianness
+	 * @return
+	 * 		- @c BUFFER_TOO_SHORT The given buffer in is too short
+	 * 		- @c RETURN_FAILED Generic Error
+	 * 		- @c RETURN_OK Successful serialization
+	 */
 	template<typename T>
 	static ReturnValue_t serialize(const T *object, uint8_t **buffer,
 			size_t *size, size_t maxSize,
@@ -21,11 +37,35 @@ public:
 		return adapter.serialize(object, buffer, size, maxSize,
 				streamEndianness);
 	}
+	/**
+	 * Function to return the serialized size of the object in the pointer.
+	 * May be a trivially copy-able object or a Child of SerializeIF
+	 *
+	 * @param object Pointer to Object
+	 * @return Serialized size of object
+	 */
 	template<typename T>
-	static uint32_t getSerializedSize(const T *object) {
+	static size_t getSerializedSize(const T *object){
 		InternalSerializeAdapter<T, std::is_base_of<SerializeIF, T>::value> adapter;
 		return adapter.getSerializedSize(object);
 	}
+	/**
+	 * @brief
+	 * Deserializes a object from a given buffer of given size.
+	 * Object Must be trivially copy-able or a child of SerializeIF.
+	 *
+	 * @details
+	 * Buffer will be moved to the current read location. Size will be decreased by the function.
+	 *
+	 * @param[in/out] buffer Buffer to deSerialize from. Will be moved by the function.
+	 * @param[in/out] size Remaining size of the buffer to read from. Will be decreased by function.
+	 * @param[in] streamEndianness Endianness as in according to SerializeIF::Endianness
+	 * @return
+	 * 	- @c STREAM_TOO_SHORT The input stream is too short to deSerialize the object
+	 * 	- @c TOO_MANY_ELEMENTS The buffer has more inputs than expected
+	 * 	- @c RETURN_FAILED Generic Error
+	 * 	- @c RETURN_OK Successful deserialization
+	 */
 	template<typename T>
 	static ReturnValue_t deSerialize(T *object, const uint8_t **buffer,
 			size_t *size, SerializeIF::Endianness streamEndianness) {
@@ -33,16 +73,26 @@ public:
 		return adapter.deSerialize(object, buffer, size, streamEndianness);
 	}
 private:
+	/**
+	 * Internal template to deduce the right function calls at compile time
+	 */
 	template<typename T, bool> class InternalSerializeAdapter;
 
+	/**
+	 * Template to be used if T is not a child of SerializeIF
+	 *
+	 * @tparam T T must be trivially_copyable
+	 */
 	template<typename T>
 	class InternalSerializeAdapter<T, false> {
+		static_assert (std::is_trivially_copyable<T>::value,
+				"If a type needs to be serialized it must be a child of SerializeIF or trivially copy-able");
 	public:
 		static ReturnValue_t serialize(const T *object, uint8_t **buffer,
 				size_t *size, size_t max_size,
 				SerializeIF::Endianness streamEndianness) {
 			size_t ignoredSize = 0;
-			if (size == NULL) {
+			if (size == nullptr) {
 				size = &ignoredSize;
 			}
 			//Check remaining size is large enough and check integer overflow of *size
@@ -101,6 +151,11 @@ private:
 		}
 	};
 
+	/**
+	 * Template for objects that inherit from SerializeIF
+	 *
+	 * @tparam T A child of SerializeIF
+	 */
 	template<typename T>
 	class InternalSerializeAdapter<T, true> {
 	public:
@@ -108,12 +163,12 @@ private:
 				size_t max_size,
 				SerializeIF::Endianness streamEndianness) const {
 			size_t ignoredSize = 0;
-			if (size == NULL) {
+			if (size == nullptr) {
 				size = &ignoredSize;
 			}
 			return object->serialize(buffer, size, max_size, streamEndianness);
 		}
-		uint32_t getSerializedSize(const T *object) const {
+		size_t getSerializedSize(const T *object) const {
 			return object->getSerializedSize();
 		}
 
@@ -124,4 +179,4 @@ private:
 	};
 };
 
-#endif /* SERIALIZEADAPTER_H_ */
+#endif /* _FSFW_SERIALIZE_SERIALIZEADAPTER_H_ */
diff --git a/serialize/SerializeIF.h b/serialize/SerializeIF.h
index 7f9ea9df..a701fe53 100644
--- a/serialize/SerializeIF.h
+++ b/serialize/SerializeIF.h
@@ -43,7 +43,7 @@ public:
 	 * @param[in] maxSize The size of the buffer that is allowed to be used for serialize.
 	 * @param[in] streamEndianness Endianness of the serialized data according to SerializeIF::Endianness
 	 * @return
-	 * 		- @¢ BUFFER_TOO_SHORT The given buffer in is too short
+	 * 		- @c BUFFER_TOO_SHORT The given buffer in is too short
 	 * 		- @c RETURN_FAILED Generic error
 	 * 		- @c RETURN_OK Successful serialization
 	 */

From 1635f16bc03d13edb09144eb5ed5e4575cbe88ac Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 10 Sep 2020 15:26:33 +0200
Subject: [PATCH 326/653] removed changes from datapool separation

---
 fsfw.mk | 2 --
 1 file changed, 2 deletions(-)

diff --git a/fsfw.mk b/fsfw.mk
index c5847554..bf95727c 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -9,8 +9,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)

From e7444912d5eb69dc701b12f7de5f94d730d2992d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Robin=20M=C3=BCller?= <robin.mueller.m@gmail.com>
Date: Thu, 10 Sep 2020 15:29:19 +0200
Subject: [PATCH 327/653] corrected include guard

---
 container/FixedMap.h | 14 ++++++--------
 1 file changed, 6 insertions(+), 8 deletions(-)

diff --git a/container/FixedMap.h b/container/FixedMap.h
index 56a6140a..d1cc31ff 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_CONTAINER_FIXEDMAP_H_
-#define FRAMEWORK_CONTAINER_FIXEDMAP_H_
+#ifndef FSFW_CONTAINER_FIXEDMAP_H_
+#define FSFW_CONTAINER_FIXEDMAP_H_
 
 #include "ArrayList.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -7,11 +7,9 @@
 #include <type_traits>
 
 /**
- * \ingroup container
- *
- *
- *  \warning Iterators return a non-const key_t in the pair.
- *  \warning A User is not allowed to change the key, otherwise the map is corrupted.
+ * @warning Iterators return a non-const key_t in the pair.
+ * @warning A User is not allowed to change the key, otherwise the map is corrupted.
+ * @ingroup container
  */
 template<typename key_t, typename T>
 class FixedMap: public SerializeIF {
@@ -194,4 +192,4 @@ public:
 
 };
 
-#endif /* FIXEDMAP_H_ */
+#endif /* FSFW_CONTAINER_FIXEDMAP_H_ */

From d807ea3afe15a69efbc87a8da59d37052e277238 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 10 Sep 2020 16:42:11 +0200
Subject: [PATCH 328/653] using MessageQueueIF::NO_QUEUE now

---
 health/HealthHelper.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/health/HealthHelper.cpp b/health/HealthHelper.cpp
index cced11d9..d574634d 100644
--- a/health/HealthHelper.cpp
+++ b/health/HealthHelper.cpp
@@ -71,7 +71,7 @@ void HealthHelper::setHealth(HasHealthIF::HealthState health) {
 
 void HealthHelper::informParent(HasHealthIF::HealthState health,
 		HasHealthIF::HealthState oldHealth) {
-	if (parentQueue == MessageQueueMessageIF::NO_QUEUE) {
+	if (parentQueue == MessageQueueIF::NO_QUEUE) {
 		return;
 	}
 	CommandMessage information;
@@ -86,7 +86,7 @@ void HealthHelper::informParent(HasHealthIF::HealthState health,
 
 void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
 	ReturnValue_t result = owner->setHealth(HealthMessage::getHealth(command));
-	if (command->getSender() == MessageQueueMessageIF::NO_QUEUE) {
+	if (command->getSender() == MessageQueueIF::NO_QUEUE) {
 		return;
 	}
 	CommandMessage reply;

From d83573cefc14ea6ff6f45e694a3f29d533117797 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 10 Sep 2020 16:47:01 +0200
Subject: [PATCH 329/653] additional IDs removed

---
 returnvalues/FwClassIds.h | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index 781320e3..80df5741 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -65,9 +65,6 @@ enum {
 	POOL_VARIABLE_IF, //PVA 59
 	HOUSEKEEPING_MANAGER, //HKM 60
 	DLE_ENCODER, //DLEE 61
-	PUS_PARSER, //PUSP 62
-	SERIAL_ANALYZER, //SERA 63
-	PUS_SERVICE_9, // PUS9 64
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

From 4f48ed9756a520520277d2efe2ebc46ed881eefd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 10 Sep 2020 19:53:52 +0200
Subject: [PATCH 330/653] added new periodic op divider

---
 globalfunctions/PeriodicOperationDivider.cpp | 34 ++++++++++++
 globalfunctions/PeriodicOperationDivider.h   | 55 ++++++++++++++++++++
 2 files changed, 89 insertions(+)
 create mode 100644 globalfunctions/PeriodicOperationDivider.cpp
 create mode 100644 globalfunctions/PeriodicOperationDivider.h

diff --git a/globalfunctions/PeriodicOperationDivider.cpp b/globalfunctions/PeriodicOperationDivider.cpp
new file mode 100644
index 00000000..ad3b8bbd
--- /dev/null
+++ b/globalfunctions/PeriodicOperationDivider.cpp
@@ -0,0 +1,34 @@
+#include "PeriodicOperationDivider.h"
+
+
+PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
+		bool resetAutomatically): resetAutomatically(resetAutomatically),
+		counter(divider), divider(divider) {
+}
+
+bool PeriodicOperationDivider::checkAndIncrement() {
+	if(counter >= divider) {
+		if(resetAutomatically) {
+			counter = 0;
+		}
+		return true;
+	}
+	counter ++;
+	return false;
+}
+
+void PeriodicOperationDivider::resetCounter() {
+	counter = 0;
+}
+
+void PeriodicOperationDivider::setDivider(uint32_t newDivider) {
+	divider = newDivider;
+}
+
+uint32_t PeriodicOperationDivider::getCounter() const {
+	return counter;
+}
+
+uint32_t PeriodicOperationDivider::getDivider() const {
+	return divider;
+}
diff --git a/globalfunctions/PeriodicOperationDivider.h b/globalfunctions/PeriodicOperationDivider.h
new file mode 100644
index 00000000..dd970fb8
--- /dev/null
+++ b/globalfunctions/PeriodicOperationDivider.h
@@ -0,0 +1,55 @@
+#ifndef FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_
+#define FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_
+
+#include <cstdint>
+
+/**
+ * @brief	Lightweight helper class to facilitate periodic operation with
+ * 			decreased frequencies.
+ * @details
+ * This class is useful to perform operations which have to be performed
+ * with a reduced frequency, like debugging printouts in high periodic tasks
+ * or low priority operations.
+ */
+class PeriodicOperationDivider {
+public:
+	/**
+	 * Initialize with the desired divider and specify whether the internal
+	 * counter will be reset automatically.
+	 * @param divider
+	 * @param resetAutomatically
+	 */
+	PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
+
+	/**
+	 * Check whether operation is necessary.
+	 * If an operation is necessary and the class has been
+	 * configured to be reset automatically, the counter will be reset.
+	 * If not, the counter will be incremented.
+	 * @return
+	 * -@c true if the counter is larger or equal to the divider
+	 * -@c false otherwise
+	 */
+	bool checkAndIncrement();
+
+	/**
+	 * Can be used to reset the counter to 0 manually.
+	 */
+	void resetCounter();
+	uint32_t getCounter() const;
+
+	/**
+	 * Can be used to set a new divider value.
+	 * @param newDivider
+	 */
+	void setDivider(uint32_t newDivider);
+	uint32_t getDivider() const;
+private:
+	bool resetAutomatically = true;
+	uint32_t counter = 0;
+	uint32_t divider = 0;
+};
+
+
+
+#endif /* FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_ */

From b4ca42f1fb080951b0df65669759e985328c2284 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 15 Sep 2020 15:28:05 +0200
Subject: [PATCH 331/653] ccsds time update

---
 timemanager/CCSDSTime.cpp | 9 +++------
 timemanager/CCSDSTime.h   | 2 +-
 2 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index 12ecf34a..f99f8fbb 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -1,11 +1,8 @@
 #include "../timemanager/CCSDSTime.h"
-#include <stdio.h>
-#include <inttypes.h>
-#include <math.h>
+#include <cstdio>
+#include <cinttypes>
+#include <cmath>
 
-#ifndef SCNu8
-  #define SCNu8 "hhu"
-#endif
 
 CCSDSTime::CCSDSTime() {
 }
diff --git a/timemanager/CCSDSTime.h b/timemanager/CCSDSTime.h
index 8563cf0f..89fcff92 100644
--- a/timemanager/CCSDSTime.h
+++ b/timemanager/CCSDSTime.h
@@ -5,7 +5,7 @@
 
 #include "Clock.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stdint.h>
+#include <cstdint>
 
 bool operator<(const timeval& lhs, const timeval& rhs);
 bool operator<=(const timeval& lhs, const timeval& rhs);

From e96ab123121d5d0039e60f3069b4a8b226fa7751 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 15 Sep 2020 15:55:35 +0200
Subject: [PATCH 332/653] comment and calculation fix

---
 ipc/CommandMessage.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index ca7b817f..8f5daa04 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -8,7 +8,7 @@
 /**
  * @brief 	Default command message used to pass command messages between tasks.
  * 			Primary message type for IPC. Contains sender, 2-byte command ID
- * 			field, and 2 4-byte parameters.
+ * 			field, and 3 4-byte parameter
  * @details
  * It operates on an external memory which is contained inside a
  * class implementing MessageQueueMessageIF by taking its address.
@@ -23,10 +23,11 @@
 class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
 public:
     /**
-     * Default size can accomodate 2 4-byte parameters.
+     * Default size can accomodate 3 4-byte parameters.
      */
     static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
-            CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);
+            CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE +
+			3 * sizeof(uint32_t);
 
 	/**
 	 * @brief   Default Constructor, does not initialize anything.

From 3fcbb988ae0c299b48ed632761d690467426ca23 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 15 Sep 2020 16:47:01 +0200
Subject: [PATCH 333/653] new file for typedef to avoid circular include

---
 ipc/MessageQueueMessageIF.h   | 17 +++--------------
 ipc/MessageQueueSenderIF.h    | 23 ++++++-----------------
 ipc/messageQueueDefinitions.h | 18 ++++++++++++++++++
 3 files changed, 27 insertions(+), 31 deletions(-)
 create mode 100644 ipc/messageQueueDefinitions.h

diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
index 91753ced..b5a30c08 100644
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@@ -1,24 +1,13 @@
 #ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
 #define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
+
+#include <fsfw/ipc/messageQueueDefinitions.h>
 #include <cstddef>
 #include <cstdint>
 
-/*
- * TODO: Actually, the definition of this ID to be a uint32_t is not  ideal and
- * breaks layering. However, it is difficult to keep layering, as the ID is
- * stored in many places and sent around in MessageQueueMessage.
- * Ideally, one would use the (current) object_id_t only, however, doing a
- * lookup of queueIDs for every call does not sound ideal.
- * In a first step, I'll circumvent the issue by not touching it,
- * maybe in a second step. This also influences Interface design
- * (getCommandQueue) and some other issues..
- */
-
-typedef uint32_t MessageQueueId_t;
-
 class MessageQueueMessageIF {
 public:
-	static const MessageQueueId_t NO_QUEUE = -1;
+
     /**
      * @brief   This constants defines the size of the header,
      *          which is added to every message.
diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index d9692f54..beb27f50 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -1,37 +1,26 @@
 #ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
 #define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
 
+#include "../ipc/MessageQueueIF.h"
+#include "../ipc/MessageQueueMessageIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
-class MessageQueueMessage;
-
-
-//TODO: Actually, the definition of this ID to be a uint32_t is not ideal and breaks layering.
-//However, it is difficult to keep layering, as the ID is stored in many places and sent around in
-//MessageQueueMessage.
-//Ideally, one would use the (current) object_id_t only, however, doing a lookup of queueIDs for every
-//call does not sound ideal.
-//In a first step, I'll circumvent the issue by not touching it, maybe in a second step.
-//This also influences Interface design (getCommandQueue) and some other issues..
-typedef uint32_t MessageQueueId_t;
 
 class MessageQueueSenderIF {
 public:
-	static const MessageQueueId_t NO_QUEUE = 0;
 
 	virtual ~MessageQueueSenderIF() {}
 
 	/**
-	 * Allows sending messages without actually "owing" a message queue.
+	 * Allows sending messages without actually "owning" a message queue.
 	 * Not sure whether this is actually a good idea.
-	 * Must be implemented by a subclass.
 	 */
 	static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom =
-					MessageQueueSenderIF::NO_QUEUE, bool ignoreFault=false);
+			MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
+			bool ignoreFault = false);
 private:
 	MessageQueueSenderIF() {}
 };
 
 
-
 #endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */
diff --git a/ipc/messageQueueDefinitions.h b/ipc/messageQueueDefinitions.h
new file mode 100644
index 00000000..d30e6984
--- /dev/null
+++ b/ipc/messageQueueDefinitions.h
@@ -0,0 +1,18 @@
+#ifndef FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
+#define FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
+
+#include <cstdint>
+
+/*
+ * TODO: Actually, the definition of this ID to be a uint32_t is not  ideal and
+ * breaks layering. However, it is difficult to keep layering, as the ID is
+ * stored in many places and sent around in MessageQueueMessage.
+ * Ideally, one would use the (current) object_id_t only, however, doing a
+ * lookup of queueIDs for every call does not sound ideal.
+ * In a first step, I'll circumvent the issue by not touching it,
+ * maybe in a second step. This also influences Interface design
+ * (getCommandQueue) and some other issues..
+ */
+using MessageQueueId_t = uint32_t;
+
+#endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */

From 21346e40a54e93a3753042fd4259ddc4154d9622 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 15 Sep 2020 16:58:38 +0200
Subject: [PATCH 334/653] some improvements

---
 action/ActionHelper.cpp               |  1 +
 datalinklayer/MapPacketExtraction.cpp |  2 +-
 ipc/MessageQueueIF.h                  | 10 +++++-----
 ipc/MessageQueueMessage.h             |  1 -
 ipc/MessageQueueSenderIF.h            |  8 ++++----
 ipc/messageQueueDefinitions.h         |  1 +
 modes/ModeHelper.cpp                  |  8 ++++----
 osal/FreeRTOS/MessageQueue.cpp        |  4 +++-
 osal/FreeRTOS/QueueFactory.cpp        |  7 +++++--
 9 files changed, 24 insertions(+), 18 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index b43c676d..361f7dc3 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -1,5 +1,6 @@
 #include "ActionHelper.h"
 #include "HasActionsIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp
index cb12b321..d64348e1 100644
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@@ -18,7 +18,7 @@ MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
 		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
 				packetBuffer), packetDestination(setPacketDestination), packetStore(
-				NULL), tcQueueId(MessageQueueSenderIF::NO_QUEUE) {
+				NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
 	memset(packetBuffer, 0, sizeof(packetBuffer));
 }
 
diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h
index 9fff5287..b0347db9 100644
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@@ -1,15 +1,15 @@
-#ifndef FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
-#define FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
+#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
+#define FSFW_IPC_MESSAGEQUEUEIF_H_
 
 // COULDDO: We could support blocking calls
 
+#include "messageQueueDefinitions.h"
 #include "MessageQueueMessage.h"
-#include "MessageQueueSenderIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
+
 class MessageQueueIF {
 public:
-
-	static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
+	static const MessageQueueId_t NO_QUEUE = 0;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
 	/**
diff --git a/ipc/MessageQueueMessage.h b/ipc/MessageQueueMessage.h
index f68e9b9f..5234f64f 100644
--- a/ipc/MessageQueueMessage.h
+++ b/ipc/MessageQueueMessage.h
@@ -2,7 +2,6 @@
 #define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
 
 #include "../ipc/MessageQueueMessageIF.h"
-#include "../ipc/MessageQueueSenderIF.h"
 #include <cstddef>
 
 /**
diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index beb27f50..7eea5146 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
-#define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
+#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
+#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MessageQueueMessageIF.h"
@@ -15,7 +15,7 @@ public:
 	 * Not sure whether this is actually a good idea.
 	 */
 	static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message,
+			MessageQueueMessage* message,
 			MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
 			bool ignoreFault = false);
 private:
@@ -23,4 +23,4 @@ private:
 };
 
 
-#endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */
+#endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */
diff --git a/ipc/messageQueueDefinitions.h b/ipc/messageQueueDefinitions.h
index d30e6984..60c09b05 100644
--- a/ipc/messageQueueDefinitions.h
+++ b/ipc/messageQueueDefinitions.h
@@ -15,4 +15,5 @@
  */
 using MessageQueueId_t = uint32_t;
 
+
 #endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */
diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp
index cb62c468..f464a743 100644
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@@ -36,7 +36,7 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
 		commandedMode = mode;
 		commandedSubmode = submode;
 
-		if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
+		if ((parentQueueId != MessageQueueIF::NO_QUEUE)
 				&& (theOneWhoCommandedAMode != parentQueueId)) {
 			owner->setToExternalControl();
 		}
@@ -74,7 +74,7 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
 void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
 	forced = false;
 	CommandMessage reply;
-	if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
+	if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE) {
 		if ((mode != commandedMode) || (submode != commandedSubmode)) {
 			ModeMessage::setModeMessage(&reply,
 					ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
@@ -86,12 +86,12 @@ void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
 				owner->getCommandQueue());
 	}
 	if (theOneWhoCommandedAMode != parentQueueId
-			&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
+			&& parentQueueId != MessageQueueIF::NO_QUEUE) {
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
 				submode);
 		MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
 	}
-	theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
+	theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
 }
 
 void ModeHelper::startTimer(uint32_t timeoutMs) {
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index 3bbd4d9d..6c8e1de9 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -1,5 +1,6 @@
 #include "MessageQueue.h"
 
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 // TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
@@ -101,7 +102,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			reinterpret_cast<const void*>(message->getBuffer()), 0);
 	if (result != pdPASS) {
 		if (!ignoreFault) {
-			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
 					objects::INTERNAL_ERROR_REPORTER);
 			if (internalErrorReporter != NULL) {
 				internalErrorReporter->queueMessageNotSent();
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index e639179a..0de6ad4f 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -1,3 +1,4 @@
+#include "../../ipc/MessageQueueSenderIF.h"
 #include "../../ipc/QueueFactory.h"
 
 #include "MessageQueue.h"
@@ -7,8 +8,10 @@ QueueFactory* QueueFactory::factoryInstance = NULL;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo, message,
+			sentFrom, ignoreFault);
 }
 
 QueueFactory* QueueFactory::instance() {

From a5c6be9dd94cc213c752936634a991545a5ffa7e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 16 Sep 2020 19:05:25 +0200
Subject: [PATCH 335/653] added srv17

---
 events/fwSubsystemIdRanges.h |  7 +++---
 pus/Service17Test.cpp        | 41 +++++++++++++++++++++++++++++++++
 pus/Service17Test.h          | 44 ++++++++++++++++++++++++++++++++++++
 3 files changed, 89 insertions(+), 3 deletions(-)
 create mode 100644 pus/Service17Test.cpp
 create mode 100644 pus/Service17Test.h

diff --git a/events/fwSubsystemIdRanges.h b/events/fwSubsystemIdRanges.h
index a05652c2..e21d16b8 100644
--- a/events/fwSubsystemIdRanges.h
+++ b/events/fwSubsystemIdRanges.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
-#define FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
+#ifndef FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
+#define FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
 
 namespace SUBSYSTEM_ID {
 enum {
@@ -19,10 +19,11 @@ enum {
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
 	PUS_SERVICE_1 = 80,
+    PUS_SERVICE_17 = 97,
 	FW_SUBSYSTEM_ID_RANGE
 };
 }
 
 
 
-#endif /* FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_ */
+#endif /* FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ */
diff --git a/pus/Service17Test.cpp b/pus/Service17Test.cpp
new file mode 100644
index 00000000..2ef44490
--- /dev/null
+++ b/pus/Service17Test.cpp
@@ -0,0 +1,41 @@
+#include "Service17Test.h"
+
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../objectmanager/SystemObject.h"
+#include "../tmtcpacket/pus/TmPacketStored.h"
+
+
+Service17Test::Service17Test(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId):
+    PusServiceBase(objectId, apid, serviceId),
+    packetSubCounter(0) {
+}
+
+Service17Test::~Service17Test() {
+}
+
+ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
+	switch(subservice){
+	case Subservice::CONNECTION_TEST: {
+		TmPacketStored connectionPacket(apid, serviceId,
+		        Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+		connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
+				requestQueue->getId());
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+    case Subservice::EVENT_TRIGGER_TEST: {
+        TmPacketStored connectionPacket(apid, serviceId,
+                Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+        connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
+                requestQueue->getId());
+        triggerEvent(TEST, 1234, 5678);
+        return RETURN_OK;
+    }
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service17Test::performService() {
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/pus/Service17Test.h b/pus/Service17Test.h
new file mode 100644
index 00000000..e2681865
--- /dev/null
+++ b/pus/Service17Test.h
@@ -0,0 +1,44 @@
+#ifndef FSFW_PUS_SERVICE17TEST_H_
+#define FSFW_PUS_SERVICE17TEST_H_
+
+#include "../tmtcservices/PusServiceBase.h"
+#include "../objectmanager/SystemObject.h"
+
+/**
+ * @brief Test Service
+ * Full Documentation: ECSS-E70-41A p.167
+ *
+ * The test service provides the capability to activate test functions
+ * implemented on-board and to report the results of such tests.
+ * Service capability:
+ *   - TC[17,1]: Perform connection test
+ *   - TM[17,2]: Send Connection Test Report
+ *   - TC[17,128]: Perform connection test and trigger event
+ *
+ * @ingroup pus_services
+ */
+class Service17Test: public PusServiceBase {
+public:
+	// Custom events which can be triggered
+	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_17;
+	static constexpr Event TEST = MAKE_EVENT(0, SEVERITY::INFO);
+
+	enum Subservice: uint8_t {
+		//! [EXPORT] : [COMMAND] Perform connection test
+	    CONNECTION_TEST = 1,
+	    //! [EXPORT] : [REPLY] Connection test reply
+	    CONNECTION_TEST_REPORT = 2,
+		//!  [EXPORT] : [COMMAND] Trigger test reply and test event
+	    EVENT_TRIGGER_TEST = 128,
+	};
+
+	Service17Test(object_id_t objectId, uint16_t apid, uint8_t serviceId);
+	virtual ~Service17Test();
+	virtual ReturnValue_t handleRequest(uint8_t subservice) override;
+	virtual ReturnValue_t performService() override;
+
+protected:
+	uint16_t packetSubCounter = 0;
+};
+
+#endif /* FSFW_PUS_SERVICE17TEST_H_ */

From ae426c50baf54d7c8f6b022da434dbc510fcef0c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 16 Sep 2020 19:09:51 +0200
Subject: [PATCH 336/653] space replaced by tab

---
 events/fwSubsystemIdRanges.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/events/fwSubsystemIdRanges.h b/events/fwSubsystemIdRanges.h
index e21d16b8..5e086f0e 100644
--- a/events/fwSubsystemIdRanges.h
+++ b/events/fwSubsystemIdRanges.h
@@ -19,7 +19,7 @@ enum {
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
 	PUS_SERVICE_1 = 80,
-    PUS_SERVICE_17 = 97,
+	PUS_SERVICE_17 = 97,
 	FW_SUBSYSTEM_ID_RANGE
 };
 }

From b31bee4fdac61bc103b62fb881b617b808840129 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 16 Sep 2020 19:11:50 +0200
Subject: [PATCH 337/653] added srv9

---
 pus/Service9TimeManagement.cpp       | 58 ++++++++++++++++++++++++++++
 pus/Service9TimeManagement.h         | 42 ++++++++++++++++++++
 pus/servicepackets/Service9Packets.h | 32 +++++++++++++++
 3 files changed, 132 insertions(+)
 create mode 100644 pus/Service9TimeManagement.cpp
 create mode 100644 pus/Service9TimeManagement.h
 create mode 100644 pus/servicepackets/Service9Packets.h

diff --git a/pus/Service9TimeManagement.cpp b/pus/Service9TimeManagement.cpp
new file mode 100644
index 00000000..5625bdd8
--- /dev/null
+++ b/pus/Service9TimeManagement.cpp
@@ -0,0 +1,58 @@
+#include "Service9TimeManagement.h"
+#include "servicepackets/Service9Packets.h"
+
+#include "../timemanager/CCSDSTime.h"
+#include "../events/EventManagerIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+
+Service9TimeManagement::Service9TimeManagement(object_id_t objectId,
+		uint16_t apid, uint8_t serviceId) :
+	PusServiceBase(objectId, apid , serviceId) {
+}
+
+Service9TimeManagement::~Service9TimeManagement() {}
+
+ReturnValue_t Service9TimeManagement::performService() {
+	return RETURN_OK;
+}
+
+ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
+	switch(subservice){
+		case SUBSERVICE::SET_TIME:{
+			return setTime();
+		}
+		default:
+			return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+		}
+}
+
+ReturnValue_t Service9TimeManagement::setTime() {
+	Clock::TimeOfDay_t timeToSet;
+	TimePacket timePacket(currentPacket.getApplicationData(),
+			currentPacket.getApplicationDataSize());
+	ReturnValue_t result = CCSDSTime::convertFromCcsds(&timeToSet,
+			timePacket.getTime(), timePacket.getTimeSize());
+	if(result != RETURN_OK) {
+		triggerEvent(CLOCK_SET_FAILURE, result, 0);
+		return result;
+	}
+
+	uint32_t formerUptime;
+	Clock::getUptime(&formerUptime);
+	result = Clock::setClock(&timeToSet);
+
+	if(result == RETURN_OK) {
+		uint32_t newUptime;
+		Clock::getUptime(&newUptime);
+		triggerEvent(CLOCK_SET,newUptime,formerUptime);
+		return RETURN_OK;
+	}
+	else {
+		triggerEvent(CLOCK_SET_FAILURE, result, 0);
+		return RETURN_FAILED;
+	}
+}
+
+
+
diff --git a/pus/Service9TimeManagement.h b/pus/Service9TimeManagement.h
new file mode 100644
index 00000000..4ad6be6e
--- /dev/null
+++ b/pus/Service9TimeManagement.h
@@ -0,0 +1,42 @@
+#ifndef FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
+#define FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
+
+#include <fsfw/tmtcservices/PusServiceBase.h>
+
+class Service9TimeManagement: public PusServiceBase {
+public:
+
+	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
+	static constexpr Event CLOCK_SET = MAKE_EVENT(0, SEVERITY::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+	static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, SEVERITY::LOW); //!< Clock could not be set. P1: Returncode.
+
+	static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
+
+	/**
+	 * 	@brief This service provides the capability to set the on-board time.
+	 */
+	Service9TimeManagement(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId);
+
+	virtual ~Service9TimeManagement();
+
+	virtual ReturnValue_t performService() override;
+
+	/**
+	 * 	@brief Sets the onboard-time by retrieving the time to set from TC[9,128].
+	 */
+	virtual ReturnValue_t handleRequest(uint8_t subservice) override;
+
+	virtual ReturnValue_t setTime();
+private:
+
+	enum SUBSERVICE {
+		SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+	};
+
+	void setIsisClock(Clock::TimeOfDay_t& timeOfDay);
+};
+
+
+
+#endif /* FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_ */
diff --git a/pus/servicepackets/Service9Packets.h b/pus/servicepackets/Service9Packets.h
new file mode 100644
index 00000000..11bd2600
--- /dev/null
+++ b/pus/servicepackets/Service9Packets.h
@@ -0,0 +1,32 @@
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
+
+#include "../../serialize/SerialLinkedListAdapter.h"
+
+/**
+ * @brief Subservice 128
+ * @details
+ * It only contains the time encoded as ASCII, CRC, CUC or CDS
+ * @ingroup spacepackets
+ */
+class TimePacket : SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	TimePacket(const uint8_t * timeBuffer_, uint32_t timeSize_) {
+		timeBuffer = timeBuffer_;
+		timeSize = timeSize_;
+	}
+	const uint8_t*  getTime() {
+		return timeBuffer;
+	}
+
+	uint32_t getTimeSize() const {
+		return timeSize;
+	}
+
+private:
+	TimePacket(const TimePacket &command);
+	const uint8_t * timeBuffer;
+	uint32_t timeSize; //!< [EXPORT] : [IGNORE]
+};
+
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_ */

From 85d6e81881f22037176c2f3e457bbd35733d9035 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 16 Sep 2020 19:17:00 +0200
Subject: [PATCH 338/653] added srv9 to class IDs

---
 returnvalues/FwClassIds.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index 80df5741..e547025b 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_
-#define FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_
+#ifndef FSFW_RETURNVALUES_FWCLASSIDS_H_
+#define FSFW_RETURNVALUES_FWCLASSIDS_H_
 
 namespace CLASS_ID {
 enum {
@@ -65,9 +65,10 @@ enum {
 	POOL_VARIABLE_IF, //PVA 59
 	HOUSEKEEPING_MANAGER, //HKM 60
 	DLE_ENCODER, //DLEE 61
+	PUS_SERVICE_9, //PUS9 62
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };
 }
 
-#endif /* FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_ */
+#endif /* FSFW_RETURNVALUES_FWCLASSIDS_H_ */

From 963015513f8e8825deaa95a7cabafd878d4811f4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 16 Sep 2020 19:36:15 +0200
Subject: [PATCH 339/653] added time stamper to framework

---
 timemanager/TimeStamper.cpp | 23 +++++++++++++++++++++++
 timemanager/TimeStamper.h   | 36 ++++++++++++++++++++++++++++++++++++
 2 files changed, 59 insertions(+)
 create mode 100644 timemanager/TimeStamper.cpp
 create mode 100644 timemanager/TimeStamper.h

diff --git a/timemanager/TimeStamper.cpp b/timemanager/TimeStamper.cpp
new file mode 100644
index 00000000..07c3530c
--- /dev/null
+++ b/timemanager/TimeStamper.cpp
@@ -0,0 +1,23 @@
+#include <fsfw/timemanager/Clock.h>
+#include <fsfw/timemanager/TimeStamper.h>
+#include <cstring>
+
+TimeStamper::TimeStamper(object_id_t objectId): SystemObject(objectId) {}
+
+
+ReturnValue_t TimeStamper::addTimeStamp(uint8_t* buffer,
+		const uint8_t maxSize) {
+	if(maxSize < TimeStamperIF::MISSION_TIMESTAMP_SIZE){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	timeval now;
+	Clock::getClock_timeval(&now);
+	CCSDSTime::CDS_short cds;
+	ReturnValue_t result = CCSDSTime::convertToCcsds(&cds,&now);
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		return result;
+	}
+	memcpy(buffer,&cds,sizeof(cds));
+	return result;
+}
diff --git a/timemanager/TimeStamper.h b/timemanager/TimeStamper.h
new file mode 100644
index 00000000..80139c50
--- /dev/null
+++ b/timemanager/TimeStamper.h
@@ -0,0 +1,36 @@
+#ifndef FSFW_TIMEMANAGER_TIMESTAMPER_H_
+#define FSFW_TIMEMANAGER_TIMESTAMPER_H_
+
+#include <fsfw/timemanager/TimeStamperIF.h>
+#include <fsfw/timemanager/CCSDSTime.h>
+#include <fsfw/objectmanager/SystemObject.h>
+
+/**
+ * @brief   Time stamper which can be used to add any timestamp to a
+ *          given buffer.
+ * @details
+ * This time stamper uses the CCSDS CDC short timestamp as a fault timestamp.
+ * This timestamp has a size of 8 bytes. A custom timestamp can be used by
+ * overriding the #addTimeStamp function.
+ * @ingroup utility
+ */
+class TimeStamper: public TimeStamperIF, public SystemObject {
+public:
+    /**
+     * @brief   Default constructor which also registers the time stamper as a
+     *          system object so it can be found with the #objectManager.
+     * @param objectId
+     */
+	TimeStamper(object_id_t objectId);
+
+	/**
+	 * Adds a CCSDS CDC short 8 byte timestamp to the given buffer.
+	 * This function can be overriden to use a custom timestamp.
+	 * @param buffer
+	 * @param maxSize
+	 * @return
+	 */
+	virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize);
+};
+
+#endif /* FSFW_TIMEMANAGER_TIMESTAMPER_H_ */

From b0a816490e89c639e34849587eb4bc11d619b99f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 16 Sep 2020 19:37:17 +0200
Subject: [PATCH 340/653] fixed includes

---
 timemanager/TimeStamper.cpp | 6 +++---
 timemanager/TimeStamper.h   | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/timemanager/TimeStamper.cpp b/timemanager/TimeStamper.cpp
index 07c3530c..d9f0f2f3 100644
--- a/timemanager/TimeStamper.cpp
+++ b/timemanager/TimeStamper.cpp
@@ -1,5 +1,5 @@
-#include <fsfw/timemanager/Clock.h>
-#include <fsfw/timemanager/TimeStamper.h>
+#include "TimeStamper.h"
+#include "Clock.h"
 #include <cstring>
 
 TimeStamper::TimeStamper(object_id_t objectId): SystemObject(objectId) {}
@@ -18,6 +18,6 @@ ReturnValue_t TimeStamper::addTimeStamp(uint8_t* buffer,
 	if(result != HasReturnvaluesIF::RETURN_OK){
 		return result;
 	}
-	memcpy(buffer,&cds,sizeof(cds));
+	std::memcpy(buffer,&cds,sizeof(cds));
 	return result;
 }
diff --git a/timemanager/TimeStamper.h b/timemanager/TimeStamper.h
index 80139c50..6895c14b 100644
--- a/timemanager/TimeStamper.h
+++ b/timemanager/TimeStamper.h
@@ -1,9 +1,9 @@
 #ifndef FSFW_TIMEMANAGER_TIMESTAMPER_H_
 #define FSFW_TIMEMANAGER_TIMESTAMPER_H_
 
-#include <fsfw/timemanager/TimeStamperIF.h>
-#include <fsfw/timemanager/CCSDSTime.h>
-#include <fsfw/objectmanager/SystemObject.h>
+#include "TimeStamperIF.h"
+#include "CCSDSTime.h"
+#include "../objectmanager/SystemObject.h"
 
 /**
  * @brief   Time stamper which can be used to add any timestamp to a

From 53723b0795f703cc1c2e004df37882d2a6da5424 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 16 Sep 2020 19:38:43 +0200
Subject: [PATCH 341/653] include fix

---
 pus/Service9TimeManagement.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pus/Service9TimeManagement.h b/pus/Service9TimeManagement.h
index 4ad6be6e..9eed12ca 100644
--- a/pus/Service9TimeManagement.h
+++ b/pus/Service9TimeManagement.h
@@ -1,7 +1,7 @@
 #ifndef FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
 #define FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
 
-#include <fsfw/tmtcservices/PusServiceBase.h>
+#include "../tmtcservices/PusServiceBase.h"
 
 class Service9TimeManagement: public PusServiceBase {
 public:

From 0f0ddfc37553fa2b922696ba373c2450d7cbb45d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 18 Sep 2020 12:27:40 +0200
Subject: [PATCH 342/653] stopwatch update

---
 osal/linux/Clock.cpp      | 27 +++++++++------------------
 timemanager/Clock.h       |  3 +--
 timemanager/Stopwatch.cpp | 15 +++++++++------
 timemanager/Stopwatch.h   | 13 ++++++-------
 4 files changed, 25 insertions(+), 33 deletions(-)

diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index 5f764a6f..b3b09923 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -75,24 +75,15 @@ timeval Clock::getUptime() {
 }
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
-	//TODO This is not posix compatible and delivers only seconds precision
-	struct sysinfo sysInfo;
-	int result = sysinfo(&sysInfo);
-	if(result != 0){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	uptime->tv_sec = sysInfo.uptime;
-	uptime->tv_usec = 0;
-
-
-	//Linux specific file read but more precise
-//	double uptimeSeconds;
-//	if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
-//		uptime->tv_sec = uptimeSeconds;
-//		uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
-//	}
-
-	return HasReturnvaluesIF::RETURN_OK;
+    //TODO This is not posix compatible and delivers only seconds precision
+    // is the OS not called Linux?
+    //Linux specific file read but more precise
+    double uptimeSeconds;
+    if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
+        uptime->tv_sec = uptimeSeconds;
+        uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 6f6a97da..acb68e2e 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -9,8 +9,7 @@
 #include <sys/time.h>
 
 //! Don't use these for time points, type is not large enough for UNIX epoch.
-typedef uint32_t dur_millis_t;
-typedef double dur_seconds_t;
+using dur_millis_t = uint32_t;
 
 class Clock {
 public:
diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 00373bd7..2cd31969 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -1,4 +1,4 @@
-#include "Stopwatch.h"
+#include "../timemanager/Stopwatch.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include <iomanip>
 
@@ -6,19 +6,22 @@ Stopwatch::Stopwatch(bool displayOnDestruction,
         StopwatchDisplayMode displayMode): displayOnDestruction(
         displayOnDestruction), displayMode(displayMode) {
     // Measures start time on initialization.
-    Clock::getClock_timeval(&startTime);
+    Clock::getUptime(&startTime);
 }
 
 void Stopwatch::start() {
-    Clock::getClock_timeval(&startTime);
+    Clock::getUptime(&startTime);
 }
 
-dur_millis_t Stopwatch::stop() {
+dur_millis_t Stopwatch::stop(bool display) {
     stopInternal();
+    if(display) {
+        this->display();
+    }
     return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
 }
 
-dur_seconds_t Stopwatch::stopSeconds() {
+double Stopwatch::stopSeconds() {
     stopInternal();
     return timevalOperations::toDouble(elapsedTime);
 }
@@ -52,6 +55,6 @@ StopwatchDisplayMode Stopwatch::getDisplayMode() const {
 
 void Stopwatch::stopInternal() {
 	timeval endTime;
-	Clock::getClock_timeval(&endTime);
+	Clock::getUptime(&endTime);
     elapsedTime = endTime - startTime;
 }
diff --git a/timemanager/Stopwatch.h b/timemanager/Stopwatch.h
index f216b7e1..ea72c66e 100644
--- a/timemanager/Stopwatch.h
+++ b/timemanager/Stopwatch.h
@@ -1,5 +1,6 @@
-#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
-#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#ifndef FSFW_TIMEMANAGER_STOPWATCH_H_
+#define FSFW_TIMEMANAGER_STOPWATCH_H_
+
 #include "Clock.h"
 
 enum class StopwatchDisplayMode {
@@ -40,12 +41,12 @@ public:
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in milliseconds (rounded)
      */
-    dur_millis_t stop();
+    dur_millis_t stop(bool display = false);
     /**
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in seconds (double precision)
      */
-    dur_seconds_t stopSeconds();
+    double stopSeconds();
 
     /**
      * Displays the elapsed times on the osstream, depending on internal display
@@ -66,6 +67,4 @@ private:
 };
 
 
-
-
-#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */
+#endif /* FSFW_TIMEMANAGER_STOPWATCH_H_ */

From ad8c6f3528a27dcc1153264e9e1fb7fd8d687c04 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 18 Sep 2020 12:58:38 +0200
Subject: [PATCH 343/653] commented out code added back

---
 osal/linux/Clock.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index b3b09923..b14f2a97 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -83,6 +83,16 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
         uptime->tv_sec = uptimeSeconds;
         uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
     }
+
+	//TODO This is not posix compatible and delivers only seconds precision
+    // I suggest this is moved into another clock function which will
+    // deliver second precision later.
+//	struct sysinfo sysInfo;
+//	int result = sysinfo(&sysInfo);
+//	if(result != 0){
+//		return HasReturnvaluesIF::RETURN_FAILED;
+//	}
+//	return sysInfo.uptime;
     return HasReturnvaluesIF::RETURN_OK;
 }
 

From 56ff2aef26209d7c5db76ab2794df4517b0ca35d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 18 Sep 2020 13:03:48 +0200
Subject: [PATCH 344/653] include replacement

---
 timemanager/Stopwatch.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/timemanager/Stopwatch.cpp b/timemanager/Stopwatch.cpp
index 2cd31969..302e2ac0 100644
--- a/timemanager/Stopwatch.cpp
+++ b/timemanager/Stopwatch.cpp
@@ -1,4 +1,4 @@
-#include "../timemanager/Stopwatch.h"
+#include "Stopwatch.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include <iomanip>
 

From 386f3475741bd07af46a313b78dd77882a697f76 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 18 Sep 2020 13:15:14 +0200
Subject: [PATCH 345/653] renormalized files

---
 contrib/sgp4/sgp4unit.cpp                 | 4180 ++++++++++-----------
 contrib/sgp4/sgp4unit.h                   |  234 +-
 globalfunctions/timevalOperations.cpp     |  198 +-
 osal/FreeRTOS/BinSemaphUsingTask.cpp      |  190 +-
 osal/FreeRTOS/BinSemaphUsingTask.h        |  152 +-
 osal/FreeRTOS/BinarySemaphore.cpp         |  216 +-
 osal/FreeRTOS/BinarySemaphore.h           |  214 +-
 osal/FreeRTOS/CountingSemaphUsingTask.cpp |  228 +-
 osal/FreeRTOS/CountingSemaphUsingTask.h   |  204 +-
 osal/FreeRTOS/CountingSemaphore.cpp       |   86 +-
 osal/FreeRTOS/CountingSemaphore.h         |   68 +-
 osal/FreeRTOS/SemaphoreFactory.cpp        |  118 +-
 osal/FreeRTOS/TaskManagement.cpp          |   48 +-
 osal/FreeRTOS/TaskManagement.h            |  128 +-
 osal/linux/BinarySemaphore.cpp            |  298 +-
 osal/linux/BinarySemaphore.h              |  162 +-
 osal/linux/CountingSemaphore.cpp          |  108 +-
 osal/linux/CountingSemaphore.h            |   74 +-
 osal/linux/SemaphoreFactory.cpp           |   66 +-
 serialize/SerialBufferAdapter.cpp         |  258 +-
 serialize/SerialBufferAdapter.h           |  156 +-
 tasks/SemaphoreFactory.h                  |  100 +-
 tasks/SemaphoreIF.h                       |  136 +-
 23 files changed, 3811 insertions(+), 3811 deletions(-)

diff --git a/contrib/sgp4/sgp4unit.cpp b/contrib/sgp4/sgp4unit.cpp
index 24d63aa9..b707a7a2 100644
--- a/contrib/sgp4/sgp4unit.cpp
+++ b/contrib/sgp4/sgp4unit.cpp
@@ -1,2090 +1,2090 @@
-/*     ----------------------------------------------------------------
-*
-*                               sgp4unit.cpp
-*
-*    this file contains the sgp4 procedures for analytical propagation
-*    of a satellite. the code was originally released in the 1980 and 1986
-*    spacetrack papers. a detailed discussion of the theory and history
-*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
-*    and kelso.
-*
-*                            companion code for
-*               fundamentals of astrodynamics and applications
-*                                    2007
-*                              by david vallado
-*
-*       (w) 719-573-2600, email dvallado@agi.com
-*
-*    current :
-*              16 nov 07  david vallado
-*                           misc fixes for better compliance
-*    changes :
-*              20 apr 07  david vallado
-*                           misc fixes for constants
-*              11 aug 06  david vallado
-*                           chg lyddane choice back to strn3, constants, misc doc
-*              15 dec 05  david vallado
-*                           misc fixes
-*              26 jul 05  david vallado
-*                           fixes for paper
-*                           note that each fix is preceded by a
-*                           comment with "sgp4fix" and an explanation of
-*                           what was changed
-*              10 aug 04  david vallado
-*                           2nd printing baseline working
-*              14 may 01  david vallado
-*                           2nd edition baseline
-*                     80  norad
-*                           original baseline
-*       ----------------------------------------------------------------      */
-
-#include "sgp4unit.h"
-
-const char help = 'n';
-FILE *dbgfile;
-
-#define pi 3.14159265358979323846
-
-
-/* ----------- local functions - only ever used internally by sgp4 ---------- */
-static void dpper
-     (
-       double e3,     double ee2,    double peo,     double pgho,   double pho,
-       double pinco,  double plo,    double se2,     double se3,    double sgh2,
-       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
-       double si3,    double sl2,    double sl3,     double sl4,    double t,
-       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
-       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
-       double zmol,   double zmos,   double inclo,
-       char init,
-       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
-     );
-
-static void dscom
-     (
-       double epoch,  double ep,     double argpp,   double tc,     double inclp,
-       double nodep,  double np,
-       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
-       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
-       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
-       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
-       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
-       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
-       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
-       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
-       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
-       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
-       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
-       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
-       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
-       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
-       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
-       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
-       double& zmos
-     );
-
-static void dsinit
-     (
-       gravconsttype whichconst,
-       double cosim,  double emsq,   double argpo,   double s1,     double s2,
-       double s3,     double s4,     double s5,      double sinim,  double ss1,
-       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
-       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
-       double sz31,   double sz33,   double t,       double tc,     double gsto,
-       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
-       double xpidot, double z1,     double z3,      double z11,    double z13,
-       double z21,    double z23,    double z31,     double z33,    double ecco,
-       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
-       double& nm,    double& nodem,
-       int& irez,
-       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
-       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
-       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
-       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
-       double& xfact, double& xlamo, double& xli,    double& xni
-     );
-
-static void dspace
-     (
-       int irez,
-       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
-       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
-       double dedt,   double del1,   double del2,    double del3,   double didt,
-       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
-       double t,      double tc,     double gsto,    double xfact,  double xlamo,
-       double no,
-       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
-       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
-     );
-
-static void initl
-     (
-       int satn,      gravconsttype whichconst,
-       double ecco,   double epoch,  double inclo,   double& no,
-       char& method,
-       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
-       double& cosio2,double& eccsq, double& omeosq, double& posq,
-       double& rp,    double& rteosq,double& sinio , double& gsto
-     );
-
-/* -----------------------------------------------------------------------------
-*
-*                           procedure dpper
-*
-*  this procedure provides deep space long period periodic contributions
-*    to the mean elements.  by design, these periodics are zero at epoch.
-*    this used to be dscom which included initialization, but it's really a
-*    recurring function.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    e3          -
-*    ee2         -
-*    peo         -
-*    pgho        -
-*    pho         -
-*    pinco       -
-*    plo         -
-*    se2 , se3 , sgh2, sgh3, sgh4, sh2, sh3, si2, si3, sl2, sl3, sl4 -
-*    t           -
-*    xh2, xh3, xi2, xi3, xl2, xl3, xl4 -
-*    zmol        -
-*    zmos        -
-*    ep          - eccentricity                           0.0 - 1.0
-*    inclo       - inclination - needed for lyddane modification
-*    nodep       - right ascension of ascending node
-*    argpp       - argument of perigee
-*    mp          - mean anomaly
-*
-*  outputs       :
-*    ep          - eccentricity                           0.0 - 1.0
-*    inclp       - inclination
-*    nodep        - right ascension of ascending node
-*    argpp       - argument of perigee
-*    mp          - mean anomaly
-*
-*  locals        :
-*    alfdp       -
-*    betdp       -
-*    cosip  , sinip  , cosop  , sinop  ,
-*    dalf        -
-*    dbet        -
-*    dls         -
-*    f2, f3      -
-*    pe          -
-*    pgh         -
-*    ph          -
-*    pinc        -
-*    pl          -
-*    sel   , ses   , sghl  , sghs  , shl   , shs   , sil   , sinzf , sis   ,
-*    sll   , sls
-*    xls         -
-*    xnoh        -
-*    zf          -
-*    zm          -
-*
-*  coupling      :
-*    none.
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dpper
-     (
-       double e3,     double ee2,    double peo,     double pgho,   double pho,
-       double pinco,  double plo,    double se2,     double se3,    double sgh2,
-       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
-       double si3,    double sl2,    double sl3,     double sl4,    double t,
-       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
-       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
-       double zmol,   double zmos,   double inclo,
-       char init,
-       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     const double twopi = 2.0 * pi;
-     double alfdp, betdp, cosip, cosop, dalf, dbet, dls,
-          f2,    f3,    pe,    pgh,   ph,   pinc, pl ,
-          sel,   ses,   sghl,  sghs,  shll, shs,  sil,
-          sinip, sinop, sinzf, sis,   sll,  sls,  xls,
-          xnoh,  zf,    zm,    zel,   zes,  znl,  zns;
-
-     /* ---------------------- constants ----------------------------- */
-     zns   = 1.19459e-5;
-     zes   = 0.01675;
-     znl   = 1.5835218e-4;
-     zel   = 0.05490;
-
-     /* --------------- calculate time varying periodics ----------- */
-     zm    = zmos + zns * t;
-     // be sure that the initial call has time set to zero
-     if (init == 'y')
-         zm = zmos;
-     zf    = zm + 2.0 * zes * sin(zm);
-     sinzf = sin(zf);
-     f2    =  0.5 * sinzf * sinzf - 0.25;
-     f3    = -0.5 * sinzf * cos(zf);
-     ses   = se2* f2 + se3 * f3;
-     sis   = si2 * f2 + si3 * f3;
-     sls   = sl2 * f2 + sl3 * f3 + sl4 * sinzf;
-     sghs  = sgh2 * f2 + sgh3 * f3 + sgh4 * sinzf;
-     shs   = sh2 * f2 + sh3 * f3;
-     zm    = zmol + znl * t;
-     if (init == 'y')
-         zm = zmol;
-     zf    = zm + 2.0 * zel * sin(zm);
-     sinzf = sin(zf);
-     f2    =  0.5 * sinzf * sinzf - 0.25;
-     f3    = -0.5 * sinzf * cos(zf);
-     sel   = ee2 * f2 + e3 * f3;
-     sil   = xi2 * f2 + xi3 * f3;
-     sll   = xl2 * f2 + xl3 * f3 + xl4 * sinzf;
-     sghl  = xgh2 * f2 + xgh3 * f3 + xgh4 * sinzf;
-     shll  = xh2 * f2 + xh3 * f3;
-     pe    = ses + sel;
-     pinc  = sis + sil;
-     pl    = sls + sll;
-     pgh   = sghs + sghl;
-     ph    = shs + shll;
-
-     if (init == 'n')
-       {
-       pe    = pe - peo;
-       pinc  = pinc - pinco;
-       pl    = pl - plo;
-       pgh   = pgh - pgho;
-       ph    = ph - pho;
-       inclp = inclp + pinc;
-       ep    = ep + pe;
-       sinip = sin(inclp);
-       cosip = cos(inclp);
-
-       /* ----------------- apply periodics directly ------------ */
-       //  sgp4fix for lyddane choice
-       //  strn3 used original inclination - this is technically feasible
-       //  gsfc used perturbed inclination - also technically feasible
-       //  probably best to readjust the 0.2 limit value and limit discontinuity
-       //  0.2 rad = 11.45916 deg
-       //  use next line for original strn3 approach and original inclination
-       //  if (inclo >= 0.2)
-       //  use next line for gsfc version and perturbed inclination
-       if (inclp >= 0.2)
-         {
-           ph     = ph / sinip;
-           pgh    = pgh - cosip * ph;
-           argpp  = argpp + pgh;
-           nodep  = nodep + ph;
-           mp     = mp + pl;
-         }
-         else
-         {
-           /* ---- apply periodics with lyddane modification ---- */
-           sinop  = sin(nodep);
-           cosop  = cos(nodep);
-           alfdp  = sinip * sinop;
-           betdp  = sinip * cosop;
-           dalf   =  ph * cosop + pinc * cosip * sinop;
-           dbet   = -ph * sinop + pinc * cosip * cosop;
-           alfdp  = alfdp + dalf;
-           betdp  = betdp + dbet;
-           nodep  = fmod(nodep, twopi);
-           //  sgp4fix for afspc written intrinsic functions
-           // nodep used without a trigonometric function ahead
-           if (nodep < 0.0)
-               nodep = nodep + twopi;
-           xls    = mp + argpp + cosip * nodep;
-           dls    = pl + pgh - pinc * nodep * sinip;
-           xls    = xls + dls;
-           xnoh   = nodep;
-           nodep  = atan2(alfdp, betdp);
-           //  sgp4fix for afspc written intrinsic functions
-           // nodep used without a trigonometric function ahead
-           if (nodep < 0.0)
-               nodep = nodep + twopi;
-           if (fabs(xnoh - nodep) > pi){
-             if (nodep < xnoh)
-                nodep = nodep + twopi;
-               else
-                nodep = nodep - twopi;
-           }
-           mp    = mp + pl;
-           argpp = xls - mp - cosip * nodep;
-         }
-       }   // if init == 'n'
-
-//#include "debug1.cpp"
-}  // end dpper
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure dscom
-*
-*  this procedure provides deep space common items used by both the secular
-*    and periodics subroutines.  input is provided as shown. this routine
-*    used to be called dpper, but the functions inside weren't well organized.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    epoch       -
-*    ep          - eccentricity
-*    argpp       - argument of perigee
-*    tc          -
-*    inclp       - inclination
-*    nodep       - right ascension of ascending node
-*    np          - mean motion
-*
-*  outputs       :
-*    sinim  , cosim  , sinomm , cosomm , snodm  , cnodm
-*    day         -
-*    e3          -
-*    ee2         -
-*    em          - eccentricity
-*    emsq        - eccentricity squared
-*    gam         -
-*    peo         -
-*    pgho        -
-*    pho         -
-*    pinco       -
-*    plo         -
-*    rtemsq      -
-*    se2, se3         -
-*    sgh2, sgh3, sgh4        -
-*    sh2, sh3, si2, si3, sl2, sl3, sl4         -
-*    s1, s2, s3, s4, s5, s6, s7          -
-*    ss1, ss2, ss3, ss4, ss5, ss6, ss7, sz1, sz2, sz3         -
-*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
-*    xgh2, xgh3, xgh4, xh2, xh3, xi2, xi3, xl2, xl3, xl4         -
-*    nm          - mean motion
-*    z1, z2, z3, z11, z12, z13, z21, z22, z23, z31, z32, z33         -
-*    zmol        -
-*    zmos        -
-*
-*  locals        :
-*    a1, a2, a3, a4, a5, a6, a7, a8, a9, a10         -
-*    betasq      -
-*    cc          -
-*    ctem, stem        -
-*    x1, x2, x3, x4, x5, x6, x7, x8          -
-*    xnodce      -
-*    xnoi        -
-*    zcosg  , zsing  , zcosgl , zsingl , zcosh  , zsinh  , zcoshl , zsinhl ,
-*    zcosi  , zsini  , zcosil , zsinil ,
-*    zx          -
-*    zy          -
-*
-*  coupling      :
-*    none.
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dscom
-     (
-       double epoch,  double ep,     double argpp,   double tc,     double inclp,
-       double nodep,  double np,
-       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
-       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
-       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
-       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
-       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
-       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
-       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
-       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
-       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
-       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
-       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
-       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
-       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
-       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
-       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
-       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
-       double& zmos
-     )
-{
-     /* -------------------------- constants ------------------------- */
-     const double zes     =  0.01675;
-     const double zel     =  0.05490;
-     const double c1ss    =  2.9864797e-6;
-     const double c1l     =  4.7968065e-7;
-     const double zsinis  =  0.39785416;
-     const double zcosis  =  0.91744867;
-     const double zcosgs  =  0.1945905;
-     const double zsings  = -0.98088458;
-     const double twopi   =  2.0 * pi;
-
-     /* --------------------- local variables ------------------------ */
-     int lsflg;
-     double a1    , a2    , a3    , a4    , a5    , a6    , a7    ,
-        a8    , a9    , a10   , betasq, cc    , ctem  , stem  ,
-        x1    , x2    , x3    , x4    , x5    , x6    , x7    ,
-        x8    , xnodce, xnoi  , zcosg , zcosgl, zcosh , zcoshl,
-        zcosi , zcosil, zsing , zsingl, zsinh , zsinhl, zsini ,
-        zsinil, zx    , zy;
-
-     nm     = np;
-     em     = ep;
-     snodm  = sin(nodep);
-     cnodm  = cos(nodep);
-     sinomm = sin(argpp);
-     cosomm = cos(argpp);
-     sinim  = sin(inclp);
-     cosim  = cos(inclp);
-     emsq   = em * em;
-     betasq = 1.0 - emsq;
-     rtemsq = sqrt(betasq);
-
-     /* ----------------- initialize lunar solar terms --------------- */
-     peo    = 0.0;
-     pinco  = 0.0;
-     plo    = 0.0;
-     pgho   = 0.0;
-     pho    = 0.0;
-     day    = epoch + 18261.5 + tc / 1440.0;
-     xnodce = fmod(4.5236020 - 9.2422029e-4 * day, twopi);
-     stem   = sin(xnodce);
-     ctem   = cos(xnodce);
-     zcosil = 0.91375164 - 0.03568096 * ctem;
-     zsinil = sqrt(1.0 - zcosil * zcosil);
-     zsinhl = 0.089683511 * stem / zsinil;
-     zcoshl = sqrt(1.0 - zsinhl * zsinhl);
-     gam    = 5.8351514 + 0.0019443680 * day;
-     zx     = 0.39785416 * stem / zsinil;
-     zy     = zcoshl * ctem + 0.91744867 * zsinhl * stem;
-     zx     = atan2(zx, zy);
-     zx     = gam + zx - xnodce;
-     zcosgl = cos(zx);
-     zsingl = sin(zx);
-
-     /* ------------------------- do solar terms --------------------- */
-     zcosg = zcosgs;
-     zsing = zsings;
-     zcosi = zcosis;
-     zsini = zsinis;
-     zcosh = cnodm;
-     zsinh = snodm;
-     cc    = c1ss;
-     xnoi  = 1.0 / nm;
-
-     for (lsflg = 1; lsflg <= 2; lsflg++)
-       {
-         a1  =   zcosg * zcosh + zsing * zcosi * zsinh;
-         a3  =  -zsing * zcosh + zcosg * zcosi * zsinh;
-         a7  =  -zcosg * zsinh + zsing * zcosi * zcosh;
-         a8  =   zsing * zsini;
-         a9  =   zsing * zsinh + zcosg * zcosi * zcosh;
-         a10 =   zcosg * zsini;
-         a2  =   cosim * a7 + sinim * a8;
-         a4  =   cosim * a9 + sinim * a10;
-         a5  =  -sinim * a7 + cosim * a8;
-         a6  =  -sinim * a9 + cosim * a10;
-
-         x1  =  a1 * cosomm + a2 * sinomm;
-         x2  =  a3 * cosomm + a4 * sinomm;
-         x3  = -a1 * sinomm + a2 * cosomm;
-         x4  = -a3 * sinomm + a4 * cosomm;
-         x5  =  a5 * sinomm;
-         x6  =  a6 * sinomm;
-         x7  =  a5 * cosomm;
-         x8  =  a6 * cosomm;
-
-         z31 = 12.0 * x1 * x1 - 3.0 * x3 * x3;
-         z32 = 24.0 * x1 * x2 - 6.0 * x3 * x4;
-         z33 = 12.0 * x2 * x2 - 3.0 * x4 * x4;
-         z1  =  3.0 *  (a1 * a1 + a2 * a2) + z31 * emsq;
-         z2  =  6.0 *  (a1 * a3 + a2 * a4) + z32 * emsq;
-         z3  =  3.0 *  (a3 * a3 + a4 * a4) + z33 * emsq;
-         z11 = -6.0 * a1 * a5 + emsq *  (-24.0 * x1 * x7-6.0 * x3 * x5);
-         z12 = -6.0 *  (a1 * a6 + a3 * a5) + emsq *
-                (-24.0 * (x2 * x7 + x1 * x8) - 6.0 * (x3 * x6 + x4 * x5));
-         z13 = -6.0 * a3 * a6 + emsq * (-24.0 * x2 * x8 - 6.0 * x4 * x6);
-         z21 =  6.0 * a2 * a5 + emsq * (24.0 * x1 * x5 - 6.0 * x3 * x7);
-         z22 =  6.0 *  (a4 * a5 + a2 * a6) + emsq *
-                (24.0 * (x2 * x5 + x1 * x6) - 6.0 * (x4 * x7 + x3 * x8));
-         z23 =  6.0 * a4 * a6 + emsq * (24.0 * x2 * x6 - 6.0 * x4 * x8);
-         z1  = z1 + z1 + betasq * z31;
-         z2  = z2 + z2 + betasq * z32;
-         z3  = z3 + z3 + betasq * z33;
-         s3  = cc * xnoi;
-         s2  = -0.5 * s3 / rtemsq;
-         s4  = s3 * rtemsq;
-         s1  = -15.0 * em * s4;
-         s5  = x1 * x3 + x2 * x4;
-         s6  = x2 * x3 + x1 * x4;
-         s7  = x2 * x4 - x1 * x3;
-
-         /* ----------------------- do lunar terms ------------------- */
-         if (lsflg == 1)
-           {
-             ss1   = s1;
-             ss2   = s2;
-             ss3   = s3;
-             ss4   = s4;
-             ss5   = s5;
-             ss6   = s6;
-             ss7   = s7;
-             sz1   = z1;
-             sz2   = z2;
-             sz3   = z3;
-             sz11  = z11;
-             sz12  = z12;
-             sz13  = z13;
-             sz21  = z21;
-             sz22  = z22;
-             sz23  = z23;
-             sz31  = z31;
-             sz32  = z32;
-             sz33  = z33;
-             zcosg = zcosgl;
-             zsing = zsingl;
-             zcosi = zcosil;
-             zsini = zsinil;
-             zcosh = zcoshl * cnodm + zsinhl * snodm;
-             zsinh = snodm * zcoshl - cnodm * zsinhl;
-             cc    = c1l;
-          }
-       }
-
-     zmol = fmod(4.7199672 + 0.22997150  * day - gam, twopi);
-     zmos = fmod(6.2565837 + 0.017201977 * day, twopi);
-
-     /* ------------------------ do solar terms ---------------------- */
-     se2  =   2.0 * ss1 * ss6;
-     se3  =   2.0 * ss1 * ss7;
-     si2  =   2.0 * ss2 * sz12;
-     si3  =   2.0 * ss2 * (sz13 - sz11);
-     sl2  =  -2.0 * ss3 * sz2;
-     sl3  =  -2.0 * ss3 * (sz3 - sz1);
-     sl4  =  -2.0 * ss3 * (-21.0 - 9.0 * emsq) * zes;
-     sgh2 =   2.0 * ss4 * sz32;
-     sgh3 =   2.0 * ss4 * (sz33 - sz31);
-     sgh4 = -18.0 * ss4 * zes;
-     sh2  =  -2.0 * ss2 * sz22;
-     sh3  =  -2.0 * ss2 * (sz23 - sz21);
-
-     /* ------------------------ do lunar terms ---------------------- */
-     ee2  =   2.0 * s1 * s6;
-     e3   =   2.0 * s1 * s7;
-     xi2  =   2.0 * s2 * z12;
-     xi3  =   2.0 * s2 * (z13 - z11);
-     xl2  =  -2.0 * s3 * z2;
-     xl3  =  -2.0 * s3 * (z3 - z1);
-     xl4  =  -2.0 * s3 * (-21.0 - 9.0 * emsq) * zel;
-     xgh2 =   2.0 * s4 * z32;
-     xgh3 =   2.0 * s4 * (z33 - z31);
-     xgh4 = -18.0 * s4 * zel;
-     xh2  =  -2.0 * s2 * z22;
-     xh3  =  -2.0 * s2 * (z23 - z21);
-
-//#include "debug2.cpp"
-}  // end dscom
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure dsinit
-*
-*  this procedure provides deep space contributions to mean motion dot due
-*    to geopotential resonance with half day and one day orbits.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    cosim, sinim-
-*    emsq        - eccentricity squared
-*    argpo       - argument of perigee
-*    s1, s2, s3, s4, s5      -
-*    ss1, ss2, ss3, ss4, ss5 -
-*    sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33 -
-*    t           - time
-*    tc          -
-*    gsto        - greenwich sidereal time                   rad
-*    mo          - mean anomaly
-*    mdot        - mean anomaly dot (rate)
-*    no          - mean motion
-*    nodeo       - right ascension of ascending node
-*    nodedot     - right ascension of ascending node dot (rate)
-*    xpidot      -
-*    z1, z3, z11, z13, z21, z23, z31, z33 -
-*    eccm        - eccentricity
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    xn          - mean motion
-*    nodem       - right ascension of ascending node
-*
-*  outputs       :
-*    em          - eccentricity
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    nm          - mean motion
-*    nodem       - right ascension of ascending node
-*    irez        - flag for resonance           0-none, 1-one day, 2-half day
-*    atime       -
-*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433    -
-*    dedt        -
-*    didt        -
-*    dmdt        -
-*    dndt        -
-*    dnodt       -
-*    domdt       -
-*    del1, del2, del3        -
-*    ses  , sghl , sghs , sgs  , shl  , shs  , sis  , sls
-*    theta       -
-*    xfact       -
-*    xlamo       -
-*    xli         -
-*    xni
-*
-*  locals        :
-*    ainv2       -
-*    aonv        -
-*    cosisq      -
-*    eoc         -
-*    f220, f221, f311, f321, f322, f330, f441, f442, f522, f523, f542, f543  -
-*    g200, g201, g211, g300, g310, g322, g410, g422, g520, g521, g532, g533  -
-*    sini2       -
-*    temp        -
-*    temp1       -
-*    theta       -
-*    xno2        -
-*
-*  coupling      :
-*    getgravconst
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dsinit
-     (
-       gravconsttype whichconst,
-       double cosim,  double emsq,   double argpo,   double s1,     double s2,
-       double s3,     double s4,     double s5,      double sinim,  double ss1,
-       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
-       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
-       double sz31,   double sz33,   double t,       double tc,     double gsto,
-       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
-       double xpidot, double z1,     double z3,      double z11,    double z13,
-       double z21,    double z23,    double z31,     double z33,    double ecco,
-       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
-       double& nm,    double& nodem,
-       int& irez,
-       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
-       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
-       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
-       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
-       double& xfact, double& xlamo, double& xli,    double& xni
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     const double twopi = 2.0 * pi;
-
-     double ainv2 , aonv=0.0, cosisq, eoc, f220 , f221  , f311  ,
-          f321  , f322  , f330  , f441  , f442  , f522  , f523  ,
-          f542  , f543  , g200  , g201  , g211  , g300  , g310  ,
-          g322  , g410  , g422  , g520  , g521  , g532  , g533  ,
-          ses   , sgs   , sghl  , sghs  , shs   , shll  , sis   ,
-          sini2 , sls   , temp  , temp1 , theta , xno2  , q22   ,
-          q31   , q33   , root22, root44, root54, rptim , root32,
-          root52, x2o3  , xke   , znl   , emo   , zns   , emsqo,
-          tumin, mu, radiusearthkm, j2, j3, j4, j3oj2;
-
-     q22    = 1.7891679e-6;
-     q31    = 2.1460748e-6;
-     q33    = 2.2123015e-7;
-     root22 = 1.7891679e-6;
-     root44 = 7.3636953e-9;
-     root54 = 2.1765803e-9;
-     rptim  = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
-     root32 = 3.7393792e-7;
-     root52 = 1.1428639e-7;
-     x2o3   = 2.0 / 3.0;
-     znl    = 1.5835218e-4;
-     zns    = 1.19459e-5;
-
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-
-     /* -------------------- deep space initialization ------------ */
-     irez = 0;
-     if ((nm < 0.0052359877) && (nm > 0.0034906585))
-         irez = 1;
-     if ((nm >= 8.26e-3) && (nm <= 9.24e-3) && (em >= 0.5))
-         irez = 2;
-
-     /* ------------------------ do solar terms ------------------- */
-     ses  =  ss1 * zns * ss5;
-     sis  =  ss2 * zns * (sz11 + sz13);
-     sls  = -zns * ss3 * (sz1 + sz3 - 14.0 - 6.0 * emsq);
-     sghs =  ss4 * zns * (sz31 + sz33 - 6.0);
-     shs  = -zns * ss2 * (sz21 + sz23);
-     // sgp4fix for 180 deg incl
-     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
-       shs = 0.0;
-     if (sinim != 0.0)
-       shs = shs / sinim;
-     sgs  = sghs - cosim * shs;
-
-     /* ------------------------- do lunar terms ------------------ */
-     dedt = ses + s1 * znl * s5;
-     didt = sis + s2 * znl * (z11 + z13);
-     dmdt = sls - znl * s3 * (z1 + z3 - 14.0 - 6.0 * emsq);
-     sghl = s4 * znl * (z31 + z33 - 6.0);
-     shll = -znl * s2 * (z21 + z23);
-     // sgp4fix for 180 deg incl
-     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
-         shll = 0.0;
-     domdt = sgs + sghl;
-     dnodt = shs;
-     if (sinim != 0.0)
-       {
-         domdt = domdt - cosim / sinim * shll;
-         dnodt = dnodt + shll / sinim;
-       }
-
-     /* ----------- calculate deep space resonance effects -------- */
-     dndt   = 0.0;
-     theta  = fmod(gsto + tc * rptim, twopi);
-     em     = em + dedt * t;
-     inclm  = inclm + didt * t;
-     argpm  = argpm + domdt * t;
-     nodem  = nodem + dnodt * t;
-     mm     = mm + dmdt * t;
-     //   sgp4fix for negative inclinations
-     //   the following if statement should be commented out
-     //if (inclm < 0.0)
-     //  {
-     //    inclm  = -inclm;
-     //    argpm  = argpm - pi;
-     //    nodem = nodem + pi;
-     //  }
-
-     /* -------------- initialize the resonance terms ------------- */
-     if (irez != 0)
-       {
-         aonv = pow(nm / xke, x2o3);
-
-         /* ---------- geopotential resonance for 12 hour orbits ------ */
-         if (irez == 2)
-           {
-             cosisq = cosim * cosim;
-             emo    = em;
-             em     = ecco;
-             emsqo  = emsq;
-             emsq   = eccsq;
-             eoc    = em * emsq;
-             g201   = -0.306 - (em - 0.64) * 0.440;
-
-             if (em <= 0.65)
-               {
-                 g211 =    3.616  -  13.2470 * em +  16.2900 * emsq;
-                 g310 =  -19.302  + 117.3900 * em - 228.4190 * emsq +  156.5910 * eoc;
-                 g322 =  -18.9068 + 109.7927 * em - 214.6334 * emsq +  146.5816 * eoc;
-                 g410 =  -41.122  + 242.6940 * em - 471.0940 * emsq +  313.9530 * eoc;
-                 g422 = -146.407  + 841.8800 * em - 1629.014 * emsq + 1083.4350 * eoc;
-                 g520 = -532.114  + 3017.977 * em - 5740.032 * emsq + 3708.2760 * eoc;
-               }
-               else
-               {
-                 g211 =   -72.099 +   331.819 * em -   508.738 * emsq +   266.724 * eoc;
-                 g310 =  -346.844 +  1582.851 * em -  2415.925 * emsq +  1246.113 * eoc;
-                 g322 =  -342.585 +  1554.908 * em -  2366.899 * emsq +  1215.972 * eoc;
-                 g410 = -1052.797 +  4758.686 * em -  7193.992 * emsq +  3651.957 * eoc;
-                 g422 = -3581.690 + 16178.110 * em - 24462.770 * emsq + 12422.520 * eoc;
-                 if (em > 0.715)
-                     g520 =-5149.66 + 29936.92 * em - 54087.36 * emsq + 31324.56 * eoc;
-                   else
-                     g520 = 1464.74 -  4664.75 * em +  3763.64 * emsq;
-               }
-             if (em < 0.7)
-               {
-                 g533 = -919.22770 + 4988.6100 * em - 9064.7700 * emsq + 5542.21  * eoc;
-                 g521 = -822.71072 + 4568.6173 * em - 8491.4146 * emsq + 5337.524 * eoc;
-                 g532 = -853.66600 + 4690.2500 * em - 8624.7700 * emsq + 5341.4  * eoc;
-               }
-               else
-               {
-                 g533 =-37995.780 + 161616.52 * em - 229838.20 * emsq + 109377.94 * eoc;
-                 g521 =-51752.104 + 218913.95 * em - 309468.16 * emsq + 146349.42 * eoc;
-                 g532 =-40023.880 + 170470.89 * em - 242699.48 * emsq + 115605.82 * eoc;
-               }
-
-             sini2=  sinim * sinim;
-             f220 =  0.75 * (1.0 + 2.0 * cosim+cosisq);
-             f221 =  1.5 * sini2;
-             f321 =  1.875 * sinim  *  (1.0 - 2.0 * cosim - 3.0 * cosisq);
-             f322 = -1.875 * sinim  *  (1.0 + 2.0 * cosim - 3.0 * cosisq);
-             f441 = 35.0 * sini2 * f220;
-             f442 = 39.3750 * sini2 * sini2;
-             f522 =  9.84375 * sinim * (sini2 * (1.0 - 2.0 * cosim- 5.0 * cosisq) +
-                     0.33333333 * (-2.0 + 4.0 * cosim + 6.0 * cosisq) );
-             f523 = sinim * (4.92187512 * sini2 * (-2.0 - 4.0 * cosim +
-                    10.0 * cosisq) + 6.56250012 * (1.0+2.0 * cosim - 3.0 * cosisq));
-             f542 = 29.53125 * sinim * (2.0 - 8.0 * cosim+cosisq *
-                    (-12.0 + 8.0 * cosim + 10.0 * cosisq));
-             f543 = 29.53125 * sinim * (-2.0 - 8.0 * cosim+cosisq *
-                    (12.0 + 8.0 * cosim - 10.0 * cosisq));
-             xno2  =  nm * nm;
-             ainv2 =  aonv * aonv;
-             temp1 =  3.0 * xno2 * ainv2;
-             temp  =  temp1 * root22;
-             d2201 =  temp * f220 * g201;
-             d2211 =  temp * f221 * g211;
-             temp1 =  temp1 * aonv;
-             temp  =  temp1 * root32;
-             d3210 =  temp * f321 * g310;
-             d3222 =  temp * f322 * g322;
-             temp1 =  temp1 * aonv;
-             temp  =  2.0 * temp1 * root44;
-             d4410 =  temp * f441 * g410;
-             d4422 =  temp * f442 * g422;
-             temp1 =  temp1 * aonv;
-             temp  =  temp1 * root52;
-             d5220 =  temp * f522 * g520;
-             d5232 =  temp * f523 * g532;
-             temp  =  2.0 * temp1 * root54;
-             d5421 =  temp * f542 * g521;
-             d5433 =  temp * f543 * g533;
-             xlamo =  fmod(mo + nodeo + nodeo-theta - theta, twopi);
-             xfact =  mdot + dmdt + 2.0 * (nodedot + dnodt - rptim) - no;
-             em    = emo;
-             emsq  = emsqo;
-           }
-
-         /* ---------------- synchronous resonance terms -------------- */
-         if (irez == 1)
-           {
-             g200  = 1.0 + emsq * (-2.5 + 0.8125 * emsq);
-             g310  = 1.0 + 2.0 * emsq;
-             g300  = 1.0 + emsq * (-6.0 + 6.60937 * emsq);
-             f220  = 0.75 * (1.0 + cosim) * (1.0 + cosim);
-             f311  = 0.9375 * sinim * sinim * (1.0 + 3.0 * cosim) - 0.75 * (1.0 + cosim);
-             f330  = 1.0 + cosim;
-             f330  = 1.875 * f330 * f330 * f330;
-             del1  = 3.0 * nm * nm * aonv * aonv;
-             del2  = 2.0 * del1 * f220 * g200 * q22;
-             del3  = 3.0 * del1 * f330 * g300 * q33 * aonv;
-             del1  = del1 * f311 * g310 * q31 * aonv;
-             xlamo = fmod(mo + nodeo + argpo - theta, twopi);
-             xfact = mdot + xpidot - rptim + dmdt + domdt + dnodt - no;
-           }
-
-         /* ------------ for sgp4, initialize the integrator ---------- */
-         xli   = xlamo;
-         xni   = no;
-         atime = 0.0;
-         nm    = no + dndt;
-       }
-
-//#include "debug3.cpp"
-}  // end dsinit
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure dspace
-*
-*  this procedure provides deep space contributions to mean elements for
-*    perturbing third body.  these effects have been averaged over one
-*    revolution of the sun and moon.  for earth resonance effects, the
-*    effects have been averaged over no revolutions of the satellite.
-*    (mean motion)
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433 -
-*    dedt        -
-*    del1, del2, del3  -
-*    didt        -
-*    dmdt        -
-*    dnodt       -
-*    domdt       -
-*    irez        - flag for resonance           0-none, 1-one day, 2-half day
-*    argpo       - argument of perigee
-*    argpdot     - argument of perigee dot (rate)
-*    t           - time
-*    tc          -
-*    gsto        - gst
-*    xfact       -
-*    xlamo       -
-*    no          - mean motion
-*    atime       -
-*    em          - eccentricity
-*    ft          -
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    xli         -
-*    mm          - mean anomaly
-*    xni         - mean motion
-*    nodem       - right ascension of ascending node
-*
-*  outputs       :
-*    atime       -
-*    em          - eccentricity
-*    argpm       - argument of perigee
-*    inclm       - inclination
-*    xli         -
-*    mm          - mean anomaly
-*    xni         -
-*    nodem       - right ascension of ascending node
-*    dndt        -
-*    nm          - mean motion
-*
-*  locals        :
-*    delt        -
-*    ft          -
-*    theta       -
-*    x2li        -
-*    x2omi       -
-*    xl          -
-*    xldot       -
-*    xnddt       -
-*    xndt        -
-*    xomi        -
-*
-*  coupling      :
-*    none        -
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void dspace
-     (
-       int irez,
-       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
-       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
-       double dedt,   double del1,   double del2,    double del3,   double didt,
-       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
-       double t,      double tc,     double gsto,    double xfact,  double xlamo,
-       double no,
-       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
-       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
-     )
-{
-     const double twopi = 2.0 * pi;
-     int iretn , iret;
-     double delt, ft, theta, x2li, x2omi, xl, xldot , xnddt, xndt, xomi, g22, g32,
-          g44, g52, g54, fasx2, fasx4, fasx6, rptim , step2, stepn , stepp;
-
-     ft    = 0.0;
-     fasx2 = 0.13130908;
-     fasx4 = 2.8843198;
-     fasx6 = 0.37448087;
-     g22   = 5.7686396;
-     g32   = 0.95240898;
-     g44   = 1.8014998;
-     g52   = 1.0508330;
-     g54   = 4.4108898;
-     rptim = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
-     stepp =    720.0;
-     stepn =   -720.0;
-     step2 = 259200.0;
-
-     /* ----------- calculate deep space resonance effects ----------- */
-     dndt   = 0.0;
-     theta  = fmod(gsto + tc * rptim, twopi);
-     em     = em + dedt * t;
-
-     inclm  = inclm + didt * t;
-     argpm  = argpm + domdt * t;
-     nodem  = nodem + dnodt * t;
-     mm     = mm + dmdt * t;
-
-     //   sgp4fix for negative inclinations
-     //   the following if statement should be commented out
-     //  if (inclm < 0.0)
-     // {
-     //    inclm = -inclm;
-     //    argpm = argpm - pi;
-     //    nodem = nodem + pi;
-     //  }
-
-     /* - update resonances : numerical (euler-maclaurin) integration - */
-     /* ------------------------- epoch restart ----------------------  */
-     //   sgp4fix for propagator problems
-     //   the following integration works for negative time steps and periods
-     //   the specific changes are unknown because the original code was so convoluted
-
-     ft    = 0.0;
-     atime = 0.0;
-     if (irez != 0)
-       {
-         if ((atime == 0.0) || ((t >= 0.0) && (atime < 0.0)) ||
-             ((t < 0.0) && (atime >= 0.0)))
-           {
-             if (t >= 0.0)
-                 delt = stepp;
-               else
-                 delt = stepn;
-             atime  = 0.0;
-             xni    = no;
-             xli    = xlamo;
-           }
-         iretn = 381; // added for do loop
-         iret  =   0; // added for loop
-         while (iretn == 381)
-           {
-             if ((fabs(t) < fabs(atime)) || (iret == 351))
-               {
-                 if (t >= 0.0)
-                     delt = stepn;
-                   else
-                     delt = stepp;
-                 iret  = 351;
-                 iretn = 381;
-               }
-               else
-               {
-                 if (t > 0.0)  // error if prev if has atime:=0.0 and t:=0.0 (ge)
-                     delt = stepp;
-                   else
-                     delt = stepn;
-                 if (fabs(t - atime) >= stepp)
-                   {
-                     iret  = 0;
-                     iretn = 381;
-                   }
-                   else
-                   {
-                     ft    = t - atime;
-                     iretn = 0;
-                   }
-               }
-
-             /* ------------------- dot terms calculated ------------- */
-             /* ----------- near - synchronous resonance terms ------- */
-             if (irez != 2)
-               {
-                 xndt  = del1 * sin(xli - fasx2) + del2 * sin(2.0 * (xli - fasx4)) +
-                         del3 * sin(3.0 * (xli - fasx6));
-                 xldot = xni + xfact;
-                 xnddt = del1 * cos(xli - fasx2) +
-                         2.0 * del2 * cos(2.0 * (xli - fasx4)) +
-                         3.0 * del3 * cos(3.0 * (xli - fasx6));
-                 xnddt = xnddt * xldot;
-               }
-               else
-               {
-                 /* --------- near - half-day resonance terms -------- */
-                 xomi  = argpo + argpdot * atime;
-                 x2omi = xomi + xomi;
-                 x2li  = xli + xli;
-                 xndt  = d2201 * sin(x2omi + xli - g22) + d2211 * sin(xli - g22) +
-                       d3210 * sin(xomi + xli - g32)  + d3222 * sin(-xomi + xli - g32)+
-                       d4410 * sin(x2omi + x2li - g44)+ d4422 * sin(x2li - g44) +
-                       d5220 * sin(xomi + xli - g52)  + d5232 * sin(-xomi + xli - g52)+
-                       d5421 * sin(xomi + x2li - g54) + d5433 * sin(-xomi + x2li - g54);
-                 xldot = xni + xfact;
-                 xnddt = d2201 * cos(x2omi + xli - g22) + d2211 * cos(xli - g22) +
-                       d3210 * cos(xomi + xli - g32) + d3222 * cos(-xomi + xli - g32) +
-                       d5220 * cos(xomi + xli - g52) + d5232 * cos(-xomi + xli - g52) +
-                       2.0 * (d4410 * cos(x2omi + x2li - g44) +
-                       d4422 * cos(x2li - g44) + d5421 * cos(xomi + x2li - g54) +
-                       d5433 * cos(-xomi + x2li - g54));
-                 xnddt = xnddt * xldot;
-               }
-
-             /* ----------------------- integrator ------------------- */
-             if (iretn == 381)
-               {
-                 xli   = xli + xldot * delt + xndt * step2;
-                 xni   = xni + xndt * delt + xnddt * step2;
-                 atime = atime + delt;
-               }
-           }  // while iretn = 381
-
-         nm = xni + xndt * ft + xnddt * ft * ft * 0.5;
-         xl = xli + xldot * ft + xndt * ft * ft * 0.5;
-         if (irez != 1)
-           {
-             mm   = xl - 2.0 * nodem + 2.0 * theta;
-             dndt = nm - no;
-           }
-           else
-           {
-             mm   = xl - nodem - argpm + theta;
-             dndt = nm - no;
-           }
-         nm = no + dndt;
-       }
-
-//#include "debug4.cpp"
-}  // end dsspace
-
-/*-----------------------------------------------------------------------------
-*
-*                           procedure initl
-*
-*  this procedure initializes the spg4 propagator. all the initialization is
-*    consolidated here instead of having multiple loops inside other routines.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    ecco        - eccentricity                           0.0 - 1.0
-*    epoch       - epoch time in days from jan 0, 1950. 0 hr
-*    inclo       - inclination of satellite
-*    no          - mean motion of satellite
-*    satn        - satellite number
-*
-*  outputs       :
-*    ainv        - 1.0 / a
-*    ao          - semi major axis
-*    con41       -
-*    con42       - 1.0 - 5.0 cos(i)
-*    cosio       - cosine of inclination
-*    cosio2      - cosio squared
-*    eccsq       - eccentricity squared
-*    method      - flag for deep space                    'd', 'n'
-*    omeosq      - 1.0 - ecco * ecco
-*    posq        - semi-parameter squared
-*    rp          - radius of perigee
-*    rteosq      - square root of (1.0 - ecco*ecco)
-*    sinio       - sine of inclination
-*    gsto        - gst at time of observation               rad
-*    no          - mean motion of satellite
-*
-*  locals        :
-*    ak          -
-*    d1          -
-*    del         -
-*    adel        -
-*    po          -
-*
-*  coupling      :
-*    getgravconst
-*    gstime      - find greenwich sidereal time from the julian date
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-static void initl
-     (
-       int satn,      gravconsttype whichconst,
-       double ecco,   double epoch,  double inclo,   double& no,
-       char& method,
-       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
-       double& cosio2,double& eccsq, double& omeosq, double& posq,
-       double& rp,    double& rteosq,double& sinio , double& gsto
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     double ak, d1, del, adel, po, x2o3, j2, xke,
-            tumin, mu, radiusearthkm, j3, j4, j3oj2;
-
-     // sgp4fix use old way of finding gst
-     int ids70;
-     double ts70, ds70, tfrac, c1, thgr70, fk5r, c1p2p;
-     const double twopi = 2.0 * pi;
-
-     /* ----------------------- earth constants ---------------------- */
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-     x2o3   = 2.0 / 3.0;
-
-     /* ------------- calculate auxillary epoch quantities ---------- */
-     eccsq  = ecco * ecco;
-     omeosq = 1.0 - eccsq;
-     rteosq = sqrt(omeosq);
-     cosio  = cos(inclo);
-     cosio2 = cosio * cosio;
-
-     /* ------------------ un-kozai the mean motion ----------------- */
-     ak    = pow(xke / no, x2o3);
-     d1    = 0.75 * j2 * (3.0 * cosio2 - 1.0) / (rteosq * omeosq);
-     del   = d1 / (ak * ak);
-     adel  = ak * (1.0 - del * del - del *
-             (1.0 / 3.0 + 134.0 * del * del / 81.0));
-     del   = d1/(adel * adel);
-     no    = no / (1.0 + del);
-
-     ao    = pow(xke / no, x2o3);
-     sinio = sin(inclo);
-     po    = ao * omeosq;
-     con42 = 1.0 - 5.0 * cosio2;
-     con41 = -con42-cosio2-cosio2;
-     ainv  = 1.0 / ao;
-     posq  = po * po;
-     rp    = ao * (1.0 - ecco);
-     method = 'n';
-
-     // sgp4fix modern approach to finding sidereal timew
-     // gsto = gstime(epoch + 2433281.5);
-
-     // sgp4fix use old way of finding gst
-     // count integer number of days from 0 jan 1970
-     ts70  = epoch - 7305.0;
-     ids70 = floor(ts70 + 1.0e-8);
-     ds70  = ids70;
-     tfrac = ts70 - ds70;
-     // find greenwich location at epoch
-     c1    = 1.72027916940703639e-2;
-     thgr70= 1.7321343856509374;
-     fk5r  = 5.07551419432269442e-15;
-     c1p2p = c1 + twopi;
-     gsto  = fmod( thgr70 + c1*ds70 + c1p2p*tfrac + ts70*ts70*fk5r, twopi);
-     if ( gsto < 0.0 )
-         gsto = gsto + twopi;
-
-//#include "debug5.cpp"
-}  // end initl
-
-/*-----------------------------------------------------------------------------
-*
-*                             procedure sgp4init
-*
-*  this procedure initializes variables for sgp4.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    satn        - satellite number
-*    bstar       - sgp4 type drag coefficient              kg/m2er
-*    ecco        - eccentricity
-*    epoch       - epoch time in days from jan 0, 1950. 0 hr
-*    argpo       - argument of perigee (output if ds)
-*    inclo       - inclination
-*    mo          - mean anomaly (output if ds)
-*    no          - mean motion
-*    nodeo       - right ascension of ascending node
-*
-*  outputs       :
-*    satrec      - common values for subsequent calls
-*    return code - non-zero on error.
-*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
-*                   2 - mean motion less than 0.0
-*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
-*                   4 - semi-latus rectum < 0.0
-*                   5 - epoch elements are sub-orbital
-*                   6 - satellite has decayed
-*
-*  locals        :
-*    cnodm  , snodm  , cosim  , sinim  , cosomm , sinomm
-*    cc1sq  , cc2    , cc3
-*    coef   , coef1
-*    cosio4      -
-*    day         -
-*    dndt        -
-*    em          - eccentricity
-*    emsq        - eccentricity squared
-*    eeta        -
-*    etasq       -
-*    gam         -
-*    argpm       - argument of perigee
-*    nodem       -
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    nm          - mean motion
-*    perige      - perigee
-*    pinvsq      -
-*    psisq       -
-*    qzms24      -
-*    rtemsq      -
-*    s1, s2, s3, s4, s5, s6, s7          -
-*    sfour       -
-*    ss1, ss2, ss3, ss4, ss5, ss6, ss7         -
-*    sz1, sz2, sz3
-*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
-*    tc          -
-*    temp        -
-*    temp1, temp2, temp3       -
-*    tsi         -
-*    xpidot      -
-*    xhdot1      -
-*    z1, z2, z3          -
-*    z11, z12, z13, z21, z22, z23, z31, z32, z33         -
-*
-*  coupling      :
-*    getgravconst-
-*    initl       -
-*    dscom       -
-*    dpper       -
-*    dsinit      -
-*    sgp4        -
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-int sgp4init
-     (
-       gravconsttype whichconst,       const int satn,     const double epoch,
-       const double xbstar,  const double xecco, const double xargpo,
-       const double xinclo,  const double xmo,   const double xno,
-       const double xnodeo,  elsetrec& satrec
-     )
-{
-     /* --------------------- local variables ------------------------ */
-     double ao, ainv,   con42, cosio, sinio, cosio2, eccsq,
-          omeosq, posq,   rp,     rteosq,
-          cnodm , snodm , cosim , sinim , cosomm, sinomm, cc1sq ,
-          cc2   , cc3   , coef  , coef1 , cosio4, day   , dndt  ,
-          em    , emsq  , eeta  , etasq , gam   , argpm , nodem ,
-          inclm , mm    , nm    , perige, pinvsq, psisq , qzms24,
-          rtemsq, s1    , s2    , s3    , s4    , s5    , s6    ,
-          s7    , sfour , ss1 = 0   , ss2 = 0   , ss3 = 0   , ss4 = 0   , ss5 = 0   ,
-          ss6 = 0   , ss7 = 0   , sz1 = 0   , sz2 = 0   , sz3 = 0   , sz11 = 0  , sz12 = 0  ,
-          sz13 = 0  , sz21 = 0  , sz22 = 0  , sz23 = 0  , sz31 = 0  , sz32 = 0  , sz33 = 0  ,
-          tc    , temp  , temp1 , temp2 , temp3 , tsi   , xpidot,
-          xhdot1, z1    , z2    , z3    , z11   , z12   , z13   ,
-          z21   , z22   , z23   , z31   , z32   , z33,
-          qzms2t, ss, j2, j3oj2, j4, x2o3, r[3], v[3],
-          tumin, mu, radiusearthkm, xke, j3;
-
-     /* ------------------------ initialization --------------------- */
-     // sgp4fix divisor for divide by zero check on inclination
-     const double temp4    =   1.0 + cos(pi-1.0e-9);
-
-     /* ----------- set all near earth variables to zero ------------ */
-     satrec.isimp   = 0;   satrec.method = 'n'; satrec.aycof    = 0.0;
-     satrec.con41   = 0.0; satrec.cc1    = 0.0; satrec.cc4      = 0.0;
-     satrec.cc5     = 0.0; satrec.d2     = 0.0; satrec.d3       = 0.0;
-     satrec.d4      = 0.0; satrec.delmo  = 0.0; satrec.eta      = 0.0;
-     satrec.argpdot = 0.0; satrec.omgcof = 0.0; satrec.sinmao   = 0.0;
-     satrec.t       = 0.0; satrec.t2cof  = 0.0; satrec.t3cof    = 0.0;
-     satrec.t4cof   = 0.0; satrec.t5cof  = 0.0; satrec.x1mth2   = 0.0;
-     satrec.x7thm1  = 0.0; satrec.mdot   = 0.0; satrec.nodedot  = 0.0;
-     satrec.xlcof   = 0.0; satrec.xmcof  = 0.0; satrec.nodecf   = 0.0;
-
-     /* ----------- set all deep space variables to zero ------------ */
-     satrec.irez  = 0;   satrec.d2201 = 0.0; satrec.d2211 = 0.0;
-     satrec.d3210 = 0.0; satrec.d3222 = 0.0; satrec.d4410 = 0.0;
-     satrec.d4422 = 0.0; satrec.d5220 = 0.0; satrec.d5232 = 0.0;
-     satrec.d5421 = 0.0; satrec.d5433 = 0.0; satrec.dedt  = 0.0;
-     satrec.del1  = 0.0; satrec.del2  = 0.0; satrec.del3  = 0.0;
-     satrec.didt  = 0.0; satrec.dmdt  = 0.0; satrec.dnodt = 0.0;
-     satrec.domdt = 0.0; satrec.e3    = 0.0; satrec.ee2   = 0.0;
-     satrec.peo   = 0.0; satrec.pgho  = 0.0; satrec.pho   = 0.0;
-     satrec.pinco = 0.0; satrec.plo   = 0.0; satrec.se2   = 0.0;
-     satrec.se3   = 0.0; satrec.sgh2  = 0.0; satrec.sgh3  = 0.0;
-     satrec.sgh4  = 0.0; satrec.sh2   = 0.0; satrec.sh3   = 0.0;
-     satrec.si2   = 0.0; satrec.si3   = 0.0; satrec.sl2   = 0.0;
-     satrec.sl3   = 0.0; satrec.sl4   = 0.0; satrec.gsto  = 0.0;
-     satrec.xfact = 0.0; satrec.xgh2  = 0.0; satrec.xgh3  = 0.0;
-     satrec.xgh4  = 0.0; satrec.xh2   = 0.0; satrec.xh3   = 0.0;
-     satrec.xi2   = 0.0; satrec.xi3   = 0.0; satrec.xl2   = 0.0;
-     satrec.xl3   = 0.0; satrec.xl4   = 0.0; satrec.xlamo = 0.0;
-     satrec.zmol  = 0.0; satrec.zmos  = 0.0; satrec.atime = 0.0;
-     satrec.xli   = 0.0; satrec.xni   = 0.0;
-
-     // sgp4fix - note the following variables are also passed directly via satrec.
-     // it is possible to streamline the sgp4init call by deleting the "x"
-     // variables, but the user would need to set the satrec.* values first. we
-     // include the additional assignments in case twoline2rv is not used.
-     satrec.bstar   = xbstar;
-     satrec.ecco    = xecco;
-     satrec.argpo   = xargpo;
-     satrec.inclo   = xinclo;
-     satrec.mo	    = xmo;
-     satrec.no	    = xno;
-     satrec.nodeo   = xnodeo;
-
-     /* ------------------------ earth constants ----------------------- */
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-     ss     = 78.0 / radiusearthkm + 1.0;
-     qzms2t = pow(((120.0 - 78.0) / radiusearthkm), 4);
-     x2o3   =  2.0 / 3.0;
-
-     satrec.init = 'y';
-     satrec.t	 = 0.0;
-
-     initl
-         (
-           satn, whichconst, satrec.ecco, epoch, satrec.inclo, satrec.no, satrec.method,
-           ainv, ao, satrec.con41, con42, cosio, cosio2, eccsq, omeosq,
-           posq, rp, rteosq, sinio, satrec.gsto
-         );
-     satrec.error = 0;
-
-     if (rp < 1.0)
-       {
-//         printf("# *** satn%d epoch elts sub-orbital ***\n", satn);
-         satrec.error = 5;
-       }
-
-     if ((omeosq >= 0.0 ) || ( satrec.no >= 0.0))
-       {
-         satrec.isimp = 0;
-         if (rp < (220.0 / radiusearthkm + 1.0))
-             satrec.isimp = 1;
-         sfour  = ss;
-         qzms24 = qzms2t;
-         perige = (rp - 1.0) * radiusearthkm;
-
-         /* - for perigees below 156 km, s and qoms2t are altered - */
-         if (perige < 156.0)
-           {
-             sfour = perige - 78.0;
-             if (perige < 98.0)
-                 sfour = 20.0;
-             qzms24 = pow(((120.0 - sfour) / radiusearthkm), 4.0);
-             sfour  = sfour / radiusearthkm + 1.0;
-           }
-         pinvsq = 1.0 / posq;
-
-         tsi  = 1.0 / (ao - sfour);
-         satrec.eta  = ao * satrec.ecco * tsi;
-         etasq = satrec.eta * satrec.eta;
-         eeta  = satrec.ecco * satrec.eta;
-         psisq = fabs(1.0 - etasq);
-         coef  = qzms24 * pow(tsi, 4.0);
-         coef1 = coef / pow(psisq, 3.5);
-         cc2   = coef1 * satrec.no * (ao * (1.0 + 1.5 * etasq + eeta *
-                        (4.0 + etasq)) + 0.375 * j2 * tsi / psisq * satrec.con41 *
-                        (8.0 + 3.0 * etasq * (8.0 + etasq)));
-         satrec.cc1   = satrec.bstar * cc2;
-         cc3   = 0.0;
-         if (satrec.ecco > 1.0e-4)
-             cc3 = -2.0 * coef * tsi * j3oj2 * satrec.no * sinio / satrec.ecco;
-         satrec.x1mth2 = 1.0 - cosio2;
-         satrec.cc4    = 2.0* satrec.no * coef1 * ao * omeosq *
-                           (satrec.eta * (2.0 + 0.5 * etasq) + satrec.ecco *
-                           (0.5 + 2.0 * etasq) - j2 * tsi / (ao * psisq) *
-                           (-3.0 * satrec.con41 * (1.0 - 2.0 * eeta + etasq *
-                           (1.5 - 0.5 * eeta)) + 0.75 * satrec.x1mth2 *
-                           (2.0 * etasq - eeta * (1.0 + etasq)) * cos(2.0 * satrec.argpo)));
-         satrec.cc5 = 2.0 * coef1 * ao * omeosq * (1.0 + 2.75 *
-                        (etasq + eeta) + eeta * etasq);
-         cosio4 = cosio2 * cosio2;
-         temp1  = 1.5 * j2 * pinvsq * satrec.no;
-         temp2  = 0.5 * temp1 * j2 * pinvsq;
-         temp3  = -0.46875 * j4 * pinvsq * pinvsq * satrec.no;
-         satrec.mdot     = satrec.no + 0.5 * temp1 * rteosq * satrec.con41 + 0.0625 *
-                            temp2 * rteosq * (13.0 - 78.0 * cosio2 + 137.0 * cosio4);
-         satrec.argpdot  = -0.5 * temp1 * con42 + 0.0625 * temp2 *
-                             (7.0 - 114.0 * cosio2 + 395.0 * cosio4) +
-                             temp3 * (3.0 - 36.0 * cosio2 + 49.0 * cosio4);
-         xhdot1            = -temp1 * cosio;
-         satrec.nodedot = xhdot1 + (0.5 * temp2 * (4.0 - 19.0 * cosio2) +
-                              2.0 * temp3 * (3.0 - 7.0 * cosio2)) * cosio;
-         xpidot            =  satrec.argpdot+ satrec.nodedot;
-         satrec.omgcof   = satrec.bstar * cc3 * cos(satrec.argpo);
-         satrec.xmcof    = 0.0;
-         if (satrec.ecco > 1.0e-4)
-             satrec.xmcof = -x2o3 * coef * satrec.bstar / eeta;
-         satrec.nodecf = 3.5 * omeosq * xhdot1 * satrec.cc1;
-         satrec.t2cof   = 1.5 * satrec.cc1;
-         // sgp4fix for divide by zero with xinco = 180 deg
-         if (fabs(cosio+1.0) > 1.5e-12)
-             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / (1.0 + cosio);
-           else
-             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / temp4;
-         satrec.aycof   = -0.5 * j3oj2 * sinio;
-         satrec.delmo   = pow((1.0 + satrec.eta * cos(satrec.mo)), 3);
-         satrec.sinmao  = sin(satrec.mo);
-         satrec.x7thm1  = 7.0 * cosio2 - 1.0;
-
-         /* --------------- deep space initialization ------------- */
-         if ((2*pi / satrec.no) >= 225.0)
-           {
-             satrec.method = 'd';
-             satrec.isimp  = 1;
-             tc    =  0.0;
-             inclm = satrec.inclo;
-
-             dscom
-                 (
-                   epoch, satrec.ecco, satrec.argpo, tc, satrec.inclo, satrec.nodeo,
-                   satrec.no, snodm, cnodm,  sinim, cosim,sinomm,     cosomm,
-                   day, satrec.e3, satrec.ee2, em,         emsq, gam,
-                   satrec.peo,  satrec.pgho,   satrec.pho, satrec.pinco,
-                   satrec.plo,  rtemsq,        satrec.se2, satrec.se3,
-                   satrec.sgh2, satrec.sgh3,   satrec.sgh4,
-                   satrec.sh2,  satrec.sh3,    satrec.si2, satrec.si3,
-                   satrec.sl2,  satrec.sl3,    satrec.sl4, s1, s2, s3, s4, s5,
-                   s6,   s7,   ss1,  ss2,  ss3,  ss4,  ss5,  ss6,  ss7, sz1, sz2, sz3,
-                   sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33,
-                   satrec.xgh2, satrec.xgh3,   satrec.xgh4, satrec.xh2,
-                   satrec.xh3,  satrec.xi2,    satrec.xi3,  satrec.xl2,
-                   satrec.xl3,  satrec.xl4,    nm, z1, z2, z3, z11,
-                   z12, z13, z21, z22, z23, z31, z32, z33,
-                   satrec.zmol, satrec.zmos
-                 );
-             dpper
-                 (
-                   satrec.e3, satrec.ee2, satrec.peo, satrec.pgho,
-                   satrec.pho, satrec.pinco, satrec.plo, satrec.se2,
-                   satrec.se3, satrec.sgh2, satrec.sgh3, satrec.sgh4,
-                   satrec.sh2, satrec.sh3, satrec.si2,  satrec.si3,
-                   satrec.sl2, satrec.sl3, satrec.sl4,  satrec.t,
-                   satrec.xgh2,satrec.xgh3,satrec.xgh4, satrec.xh2,
-                   satrec.xh3, satrec.xi2, satrec.xi3,  satrec.xl2,
-                   satrec.xl3, satrec.xl4, satrec.zmol, satrec.zmos, inclm, satrec.init,
-                   satrec.ecco, satrec.inclo, satrec.nodeo, satrec.argpo, satrec.mo
-                 );
-
-             argpm  = 0.0;
-             nodem  = 0.0;
-             mm     = 0.0;
-
-             dsinit
-                 (
-                   whichconst,
-                   cosim, emsq, satrec.argpo, s1, s2, s3, s4, s5, sinim, ss1, ss2, ss3, ss4,
-                   ss5, sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33, satrec.t, tc,
-                   satrec.gsto, satrec.mo, satrec.mdot, satrec.no, satrec.nodeo,
-                   satrec.nodedot, xpidot, z1, z3, z11, z13, z21, z23, z31, z33,
-                   satrec.ecco, eccsq, em, argpm, inclm, mm, nm, nodem,
-                   satrec.irez,  satrec.atime,
-                   satrec.d2201, satrec.d2211, satrec.d3210, satrec.d3222 ,
-                   satrec.d4410, satrec.d4422, satrec.d5220, satrec.d5232,
-                   satrec.d5421, satrec.d5433, satrec.dedt,  satrec.didt,
-                   satrec.dmdt,  dndt,         satrec.dnodt, satrec.domdt ,
-                   satrec.del1,  satrec.del2,  satrec.del3,  satrec.xfact,
-                   satrec.xlamo, satrec.xli,   satrec.xni
-                 );
-           }
-
-       /* ----------- set variables if not deep space ----------- */
-       if (satrec.isimp != 1)
-         {
-           cc1sq          = satrec.cc1 * satrec.cc1;
-           satrec.d2    = 4.0 * ao * tsi * cc1sq;
-           temp           = satrec.d2 * tsi * satrec.cc1 / 3.0;
-           satrec.d3    = (17.0 * ao + sfour) * temp;
-           satrec.d4    = 0.5 * temp * ao * tsi * (221.0 * ao + 31.0 * sfour) *
-                            satrec.cc1;
-           satrec.t3cof = satrec.d2 + 2.0 * cc1sq;
-           satrec.t4cof = 0.25 * (3.0 * satrec.d3 + satrec.cc1 *
-                            (12.0 * satrec.d2 + 10.0 * cc1sq));
-           satrec.t5cof = 0.2 * (3.0 * satrec.d4 +
-                            12.0 * satrec.cc1 * satrec.d3 +
-                            6.0 * satrec.d2 * satrec.d2 +
-                            15.0 * cc1sq * (2.0 * satrec.d2 + cc1sq));
-         }
-       } // if omeosq = 0 ...
-
-       /* finally propogate to zero epoch to initialise all others. */
-       if(satrec.error == 0)
-           sgp4(whichconst, satrec, 0.0, r, v);
-
-       satrec.init = 'n';
-
-//#include "debug6.cpp"
-       return satrec.error;
-}  // end sgp4init
-
-/*-----------------------------------------------------------------------------
-*
-*                             procedure sgp4
-*
-*  this procedure is the sgp4 prediction model from space command. this is an
-*    updated and combined version of sgp4 and sdp4, which were originally
-*    published separately in spacetrack report #3. this version follows the
-*    methodology from the aiaa paper (2006) describing the history and
-*    development of the code.
-*
-*  author        : david vallado                  719-573-2600   28 jun 2005
-*
-*  inputs        :
-*    satrec	 - initialised structure from sgp4init() call.
-*    tsince	 - time eince epoch (minutes)
-*
-*  outputs       :
-*    r           - position vector                     km
-*    v           - velocity                            km/sec
-*  return code - non-zero on error.
-*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
-*                   2 - mean motion less than 0.0
-*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
-*                   4 - semi-latus rectum < 0.0
-*                   5 - epoch elements are sub-orbital
-*                   6 - satellite has decayed
-*
-*  locals        :
-*    am          -
-*    axnl, aynl        -
-*    betal       -
-*    cosim   , sinim   , cosomm  , sinomm  , cnod    , snod    , cos2u   ,
-*    sin2u   , coseo1  , sineo1  , cosi    , sini    , cosip   , sinip   ,
-*    cosisq  , cossu   , sinsu   , cosu    , sinu
-*    delm        -
-*    delomg      -
-*    dndt        -
-*    eccm        -
-*    emsq        -
-*    ecose       -
-*    el2         -
-*    eo1         -
-*    eccp        -
-*    esine       -
-*    argpm       -
-*    argpp       -
-*    omgadf      -
-*    pl          -
-*    r           -
-*    rtemsq      -
-*    rdotl       -
-*    rl          -
-*    rvdot       -
-*    rvdotl      -
-*    su          -
-*    t2  , t3   , t4    , tc
-*    tem5, temp , temp1 , temp2  , tempa  , tempe  , templ
-*    u   , ux   , uy    , uz     , vx     , vy     , vz
-*    inclm       - inclination
-*    mm          - mean anomaly
-*    nm          - mean motion
-*    nodem       - right asc of ascending node
-*    xinc        -
-*    xincp       -
-*    xl          -
-*    xlm         -
-*    mp          -
-*    xmdf        -
-*    xmx         -
-*    xmy         -
-*    nodedf      -
-*    xnode       -
-*    nodep       -
-*    np          -
-*
-*  coupling      :
-*    getgravconst-
-*    dpper
-*    dpspace
-*
-*  references    :
-*    hoots, roehrich, norad spacetrack report #3 1980
-*    hoots, norad spacetrack report #6 1986
-*    hoots, schumacher and glover 2004
-*    vallado, crawford, hujsak, kelso  2006
-  ----------------------------------------------------------------------------*/
-
-int sgp4
-     (
-       gravconsttype whichconst, elsetrec& satrec,  double tsince,
-       double r[3],  double v[3]
-     )
-{
-     double am   , axnl  , aynl , betal ,  cosim , cnod  ,
-         cos2u, coseo1, cosi , cosip ,  cosisq, cossu , cosu,
-         delm , delomg, em   , emsq  ,  ecose , el2   , eo1 ,
-         ep   , esine , argpm, argpp ,  argpdf, pl,     mrt = 0.0,
-         mvt  , rdotl , rl   , rvdot ,  rvdotl, sinim ,
-         sin2u, sineo1, sini , sinip ,  sinsu , sinu  ,
-         snod , su    , t2   , t3    ,  t4    , tem5  , temp,
-         temp1, temp2 , tempa, tempe ,  templ , u     , ux  ,
-         uy   , uz    , vx   , vy    ,  vz    , inclm , mm  ,
-         nm   , nodem, xinc , xincp ,  xl    , xlm   , mp  ,
-         xmdf , xmx   , xmy  , nodedf, xnode , nodep, tc  , dndt,
-         twopi, x2o3  , j2   , j3    , tumin, j4 , xke   , j3oj2, radiusearthkm,
-         mu, vkmpersec;
-     int ktr;
-
-     /* ------------------ set mathematical constants --------------- */
-     // sgp4fix divisor for divide by zero check on inclination
-     const double temp4    =   1.0 + cos(pi-1.0e-9);
-     twopi = 2.0 * pi;
-     x2o3  = 2.0 / 3.0;
-     // sgp4fix identify constants and allow alternate values
-     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
-     vkmpersec     = radiusearthkm * xke/60.0;
-
-     /* --------------------- clear sgp4 error flag ----------------- */
-     satrec.t     = tsince;
-     satrec.error = 0;
-
-     /* ------- update for secular gravity and atmospheric drag ----- */
-     xmdf    = satrec.mo + satrec.mdot * satrec.t;
-     argpdf  = satrec.argpo + satrec.argpdot * satrec.t;
-     nodedf  = satrec.nodeo + satrec.nodedot * satrec.t;
-     argpm   = argpdf;
-     mm      = xmdf;
-     t2      = satrec.t * satrec.t;
-     nodem   = nodedf + satrec.nodecf * t2;
-     tempa   = 1.0 - satrec.cc1 * satrec.t;
-     tempe   = satrec.bstar * satrec.cc4 * satrec.t;
-     templ   = satrec.t2cof * t2;
-
-     if (satrec.isimp != 1)
-       {
-         delomg = satrec.omgcof * satrec.t;
-         delm   = satrec.xmcof *
-                  (pow((1.0 + satrec.eta * cos(xmdf)), 3) -
-                  satrec.delmo);
-         temp   = delomg + delm;
-         mm     = xmdf + temp;
-         argpm  = argpdf - temp;
-         t3     = t2 * satrec.t;
-         t4     = t3 * satrec.t;
-         tempa  = tempa - satrec.d2 * t2 - satrec.d3 * t3 -
-                          satrec.d4 * t4;
-         tempe  = tempe + satrec.bstar * satrec.cc5 * (sin(mm) -
-                          satrec.sinmao);
-         templ  = templ + satrec.t3cof * t3 + t4 * (satrec.t4cof +
-                          satrec.t * satrec.t5cof);
-       }
-
-     nm    = satrec.no;
-     em    = satrec.ecco;
-     inclm = satrec.inclo;
-     if (satrec.method == 'd')
-       {
-         tc = satrec.t;
-         dspace
-             (
-               satrec.irez,
-               satrec.d2201, satrec.d2211, satrec.d3210,
-               satrec.d3222, satrec.d4410, satrec.d4422,
-               satrec.d5220, satrec.d5232, satrec.d5421,
-               satrec.d5433, satrec.dedt,  satrec.del1,
-               satrec.del2,  satrec.del3,  satrec.didt,
-               satrec.dmdt,  satrec.dnodt, satrec.domdt,
-               satrec.argpo, satrec.argpdot, satrec.t, tc,
-               satrec.gsto, satrec.xfact, satrec.xlamo,
-               satrec.no, satrec.atime,
-               em, argpm, inclm, satrec.xli, mm, satrec.xni,
-               nodem, dndt, nm
-             );
-       } // if method = d
-
-     if (nm <= 0.0)
-       {
-//         printf("# error nm %f\n", nm);
-         satrec.error = 2;
-       }
-     am = pow((xke / nm),x2o3) * tempa * tempa;
-     nm = xke / pow(am, 1.5);
-     em = em - tempe;
-
-     // fix tolerance for error recognition
-     if ((em >= 1.0) || (em < -0.001) || (am < 0.95))
-       {
-//         printf("# error em %f\n", em);
-         satrec.error = 1;
-       }
-     if (em < 0.0)
-         em  = 1.0e-6;
-     mm     = mm + satrec.no * templ;
-     xlm    = mm + argpm + nodem;
-     emsq   = em * em;
-     temp   = 1.0 - emsq;
-
-     nodem  = fmod(nodem, twopi);
-     argpm  = fmod(argpm, twopi);
-     xlm    = fmod(xlm, twopi);
-     mm     = fmod(xlm - argpm - nodem, twopi);
-
-     /* ----------------- compute extra mean quantities ------------- */
-     sinim = sin(inclm);
-     cosim = cos(inclm);
-
-     /* -------------------- add lunar-solar periodics -------------- */
-     ep     = em;
-     xincp  = inclm;
-     argpp  = argpm;
-     nodep  = nodem;
-     mp     = mm;
-     sinip  = sinim;
-     cosip  = cosim;
-     if (satrec.method == 'd')
-       {
-         dpper
-             (
-               satrec.e3,   satrec.ee2,  satrec.peo,
-               satrec.pgho, satrec.pho,  satrec.pinco,
-               satrec.plo,  satrec.se2,  satrec.se3,
-               satrec.sgh2, satrec.sgh3, satrec.sgh4,
-               satrec.sh2,  satrec.sh3,  satrec.si2,
-               satrec.si3,  satrec.sl2,  satrec.sl3,
-               satrec.sl4,  satrec.t,    satrec.xgh2,
-               satrec.xgh3, satrec.xgh4, satrec.xh2,
-               satrec.xh3,  satrec.xi2,  satrec.xi3,
-               satrec.xl2,  satrec.xl3,  satrec.xl4,
-               satrec.zmol, satrec.zmos, satrec.inclo,
-               'n', ep, xincp, nodep, argpp, mp
-             );
-         if (xincp < 0.0)
-           {
-             xincp  = -xincp;
-             nodep = nodep + pi;
-             argpp  = argpp - pi;
-           }
-         if ((ep < 0.0 ) || ( ep > 1.0))
-           {
- //            printf("# error ep %f\n", ep);
-             satrec.error = 3;
-           }
-       } // if method = d
-
-     /* -------------------- long period periodics ------------------ */
-     if (satrec.method == 'd')
-       {
-         sinip =  sin(xincp);
-         cosip =  cos(xincp);
-         satrec.aycof = -0.5*j3oj2*sinip;
-         // sgp4fix for divide by zero for xincp = 180 deg
-         if (fabs(cosip+1.0) > 1.5e-12)
-             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / (1.0 + cosip);
-           else
-             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / temp4;
-       }
-     axnl = ep * cos(argpp);
-     temp = 1.0 / (am * (1.0 - ep * ep));
-     aynl = ep* sin(argpp) + temp * satrec.aycof;
-     xl   = mp + argpp + nodep + temp * satrec.xlcof * axnl;
-
-     /* --------------------- solve kepler's equation --------------- */
-     u    = fmod(xl - nodep, twopi);
-     eo1  = u;
-     tem5 = 9999.9;
-     ktr = 1;
-     //   sgp4fix for kepler iteration
-     //   the following iteration needs better limits on corrections
-     while (( fabs(tem5) >= 1.0e-12) && (ktr <= 10) )
-       {
-         sineo1 = sin(eo1);
-         coseo1 = cos(eo1);
-         tem5   = 1.0 - coseo1 * axnl - sineo1 * aynl;
-         tem5   = (u - aynl * coseo1 + axnl * sineo1 - eo1) / tem5;
-         if(fabs(tem5) >= 0.95)
-             tem5 = tem5 > 0.0 ? 0.95 : -0.95;
-         eo1    = eo1 + tem5;
-         ktr = ktr + 1;
-       }
-
-     /* ------------- short period preliminary quantities ----------- */
-     ecose = axnl*coseo1 + aynl*sineo1;
-     esine = axnl*sineo1 - aynl*coseo1;
-     el2   = axnl*axnl + aynl*aynl;
-     pl    = am*(1.0-el2);
-     if (pl < 0.0)
-       {
-//         printf("# error pl %f\n", pl);
-         satrec.error = 4;
-       }
-       else
-       {
-         rl     = am * (1.0 - ecose);
-         rdotl  = sqrt(am) * esine/rl;
-         rvdotl = sqrt(pl) / rl;
-         betal  = sqrt(1.0 - el2);
-         temp   = esine / (1.0 + betal);
-         sinu   = am / rl * (sineo1 - aynl - axnl * temp);
-         cosu   = am / rl * (coseo1 - axnl + aynl * temp);
-         su     = atan2(sinu, cosu);
-         sin2u  = (cosu + cosu) * sinu;
-         cos2u  = 1.0 - 2.0 * sinu * sinu;
-         temp   = 1.0 / pl;
-         temp1  = 0.5 * j2 * temp;
-         temp2  = temp1 * temp;
-
-         /* -------------- update for short period periodics ------------ */
-         if (satrec.method == 'd')
-           {
-             cosisq                 = cosip * cosip;
-             satrec.con41  = 3.0*cosisq - 1.0;
-             satrec.x1mth2 = 1.0 - cosisq;
-             satrec.x7thm1 = 7.0*cosisq - 1.0;
-           }
-         mrt   = rl * (1.0 - 1.5 * temp2 * betal * satrec.con41) +
-                 0.5 * temp1 * satrec.x1mth2 * cos2u;
-         su    = su - 0.25 * temp2 * satrec.x7thm1 * sin2u;
-         xnode = nodep + 1.5 * temp2 * cosip * sin2u;
-         xinc  = xincp + 1.5 * temp2 * cosip * sinip * cos2u;
-         mvt   = rdotl - nm * temp1 * satrec.x1mth2 * sin2u / xke;
-         rvdot = rvdotl + nm * temp1 * (satrec.x1mth2 * cos2u +
-                 1.5 * satrec.con41) / xke;
-
-         /* --------------------- orientation vectors ------------------- */
-         sinsu =  sin(su);
-         cossu =  cos(su);
-         snod  =  sin(xnode);
-         cnod  =  cos(xnode);
-         sini  =  sin(xinc);
-         cosi  =  cos(xinc);
-         xmx   = -snod * cosi;
-         xmy   =  cnod * cosi;
-         ux    =  xmx * sinsu + cnod * cossu;
-         uy    =  xmy * sinsu + snod * cossu;
-         uz    =  sini * sinsu;
-         vx    =  xmx * cossu - cnod * sinsu;
-         vy    =  xmy * cossu - snod * sinsu;
-         vz    =  sini * cossu;
-
-         /* --------- position and velocity (in km and km/sec) ---------- */
-         r[0] = (mrt * ux)* radiusearthkm;
-         r[1] = (mrt * uy)* radiusearthkm;
-         r[2] = (mrt * uz)* radiusearthkm;
-         v[0] = (mvt * ux + rvdot * vx) * vkmpersec;
-         v[1] = (mvt * uy + rvdot * vy) * vkmpersec;
-         v[2] = (mvt * uz + rvdot * vz) * vkmpersec;
-       }  // if pl > 0
-
-     // sgp4fix for decaying satellites
-     if (mrt < 1.0)
-       {
-//         printf("# decay condition %11.6f \n",mrt);
-         satrec.error = 6;
-       }
-
-
-//#include "debug7.cpp"
-     return satrec.error;
-}  // end sgp4
-
-
-/* -----------------------------------------------------------------------------
-*
-*                           function gstime
-*
-*  this function finds the greenwich sidereal time.
-*
-*  author        : david vallado                  719-573-2600    1 mar 2001
-*
-*  inputs          description                    range / units
-*    jdut1       - julian date in ut1             days from 4713 bc
-*
-*  outputs       :
-*    gstime      - greenwich sidereal time        0 to 2pi rad
-*
-*  locals        :
-*    temp        - temporary variable for doubles   rad
-*    tut1        - julian centuries from the
-*                  jan 1, 2000 12 h epoch (ut1)
-*
-*  coupling      :
-*    none
-*
-*  references    :
-*    vallado       2004, 191, eq 3-45
-* --------------------------------------------------------------------------- */
-
-double  gstime
-        (
-          double jdut1
-        )
-   {
-     const double twopi = 2.0 * pi;
-     const double deg2rad = pi / 180.0;
-     double       temp, tut1;
-
-     tut1 = (jdut1 - 2451545.0) / 36525.0;
-     temp = -6.2e-6* tut1 * tut1 * tut1 + 0.093104 * tut1 * tut1 +
-             (876600.0*3600 + 8640184.812866) * tut1 + 67310.54841;  // sec
-     temp = fmod(temp * deg2rad / 240.0, twopi); //360/86400 = 1/240, to deg, to rad
-
-     // ------------------------ check quadrants ---------------------
-     if (temp < 0.0)
-         temp += twopi;
-
-     return temp;
-   }  // end gstime
-
-/* -----------------------------------------------------------------------------
-*
-*                           function getgravconst
-*
-*  this function gets constants for the propagator. note that mu is identified to
-*    facilitiate comparisons with newer models. the common useage is wgs72.
-*
-*  author        : david vallado                  719-573-2600   21 jul 2006
-*
-*  inputs        :
-*    whichconst  - which set of constants to use  wgs72old, wgs72, wgs84
-*
-*  outputs       :
-*    tumin       - minutes in one time unit
-*    mu          - earth gravitational parameter
-*    radiusearthkm - radius of the earth in km
-*    xke         - reciprocal of tumin
-*    j2, j3, j4  - un-normalized zonal harmonic values
-*    j3oj2       - j3 divided by j2
-*
-*  locals        :
-*
-*  coupling      :
-*    none
-*
-*  references    :
-*    norad spacetrack report #3
-*    vallado, crawford, hujsak, kelso  2006
-  --------------------------------------------------------------------------- */
-
-void getgravconst
-     (
-      gravconsttype whichconst,
-      double& tumin,
-      double& mu,
-      double& radiusearthkm,
-      double& xke,
-      double& j2,
-      double& j3,
-      double& j4,
-      double& j3oj2
-     )
-     {
-
-       switch (whichconst)
-         {
-           // -- wgs-72 low precision str#3 constants --
-           case wgs72old:
-           mu     = 398600.79964;        // in km3 / s2
-           radiusearthkm = 6378.135;     // km
-           xke    = 0.0743669161;
-           tumin  = 1.0 / xke;
-           j2     =   0.001082616;
-           j3     =  -0.00000253881;
-           j4     =  -0.00000165597;
-           j3oj2  =  j3 / j2;
-         break;
-           // ------------ wgs-72 constants ------------
-           case wgs72:
-           mu     = 398600.8;            // in km3 / s2
-           radiusearthkm = 6378.135;     // km
-           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
-           tumin  = 1.0 / xke;
-           j2     =   0.001082616;
-           j3     =  -0.00000253881;
-           j4     =  -0.00000165597;
-           j3oj2  =  j3 / j2;
-         break;
-           case wgs84:
-           // ------------ wgs-84 constants ------------
-           mu     = 398600.5;            // in km3 / s2
-           radiusearthkm = 6378.137;     // km
-           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
-           tumin  = 1.0 / xke;
-           j2     =   0.00108262998905;
-           j3     =  -0.00000253215306;
-           j4     =  -0.00000161098761;
-           j3oj2  =  j3 / j2;
-         break;
-         default:
-           fprintf(stderr,"unknown gravity option (%d)\n",whichconst);
-         break;
-         }
-
-     }   // end getgravconst
-
-
-
-
-
+/*     ----------------------------------------------------------------
+*
+*                               sgp4unit.cpp
+*
+*    this file contains the sgp4 procedures for analytical propagation
+*    of a satellite. the code was originally released in the 1980 and 1986
+*    spacetrack papers. a detailed discussion of the theory and history
+*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
+*    and kelso.
+*
+*                            companion code for
+*               fundamentals of astrodynamics and applications
+*                                    2007
+*                              by david vallado
+*
+*       (w) 719-573-2600, email dvallado@agi.com
+*
+*    current :
+*              16 nov 07  david vallado
+*                           misc fixes for better compliance
+*    changes :
+*              20 apr 07  david vallado
+*                           misc fixes for constants
+*              11 aug 06  david vallado
+*                           chg lyddane choice back to strn3, constants, misc doc
+*              15 dec 05  david vallado
+*                           misc fixes
+*              26 jul 05  david vallado
+*                           fixes for paper
+*                           note that each fix is preceded by a
+*                           comment with "sgp4fix" and an explanation of
+*                           what was changed
+*              10 aug 04  david vallado
+*                           2nd printing baseline working
+*              14 may 01  david vallado
+*                           2nd edition baseline
+*                     80  norad
+*                           original baseline
+*       ----------------------------------------------------------------      */
+
+#include "sgp4unit.h"
+
+const char help = 'n';
+FILE *dbgfile;
+
+#define pi 3.14159265358979323846
+
+
+/* ----------- local functions - only ever used internally by sgp4 ---------- */
+static void dpper
+     (
+       double e3,     double ee2,    double peo,     double pgho,   double pho,
+       double pinco,  double plo,    double se2,     double se3,    double sgh2,
+       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
+       double si3,    double sl2,    double sl3,     double sl4,    double t,
+       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
+       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
+       double zmol,   double zmos,   double inclo,
+       char init,
+       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
+     );
+
+static void dscom
+     (
+       double epoch,  double ep,     double argpp,   double tc,     double inclp,
+       double nodep,  double np,
+       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
+       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
+       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
+       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
+       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
+       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
+       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
+       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
+       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
+       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
+       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
+       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
+       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
+       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
+       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
+       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
+       double& zmos
+     );
+
+static void dsinit
+     (
+       gravconsttype whichconst,
+       double cosim,  double emsq,   double argpo,   double s1,     double s2,
+       double s3,     double s4,     double s5,      double sinim,  double ss1,
+       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
+       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
+       double sz31,   double sz33,   double t,       double tc,     double gsto,
+       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
+       double xpidot, double z1,     double z3,      double z11,    double z13,
+       double z21,    double z23,    double z31,     double z33,    double ecco,
+       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
+       double& nm,    double& nodem,
+       int& irez,
+       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
+       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
+       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
+       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
+       double& xfact, double& xlamo, double& xli,    double& xni
+     );
+
+static void dspace
+     (
+       int irez,
+       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
+       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
+       double dedt,   double del1,   double del2,    double del3,   double didt,
+       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
+       double t,      double tc,     double gsto,    double xfact,  double xlamo,
+       double no,
+       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
+       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
+     );
+
+static void initl
+     (
+       int satn,      gravconsttype whichconst,
+       double ecco,   double epoch,  double inclo,   double& no,
+       char& method,
+       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
+       double& cosio2,double& eccsq, double& omeosq, double& posq,
+       double& rp,    double& rteosq,double& sinio , double& gsto
+     );
+
+/* -----------------------------------------------------------------------------
+*
+*                           procedure dpper
+*
+*  this procedure provides deep space long period periodic contributions
+*    to the mean elements.  by design, these periodics are zero at epoch.
+*    this used to be dscom which included initialization, but it's really a
+*    recurring function.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    e3          -
+*    ee2         -
+*    peo         -
+*    pgho        -
+*    pho         -
+*    pinco       -
+*    plo         -
+*    se2 , se3 , sgh2, sgh3, sgh4, sh2, sh3, si2, si3, sl2, sl3, sl4 -
+*    t           -
+*    xh2, xh3, xi2, xi3, xl2, xl3, xl4 -
+*    zmol        -
+*    zmos        -
+*    ep          - eccentricity                           0.0 - 1.0
+*    inclo       - inclination - needed for lyddane modification
+*    nodep       - right ascension of ascending node
+*    argpp       - argument of perigee
+*    mp          - mean anomaly
+*
+*  outputs       :
+*    ep          - eccentricity                           0.0 - 1.0
+*    inclp       - inclination
+*    nodep        - right ascension of ascending node
+*    argpp       - argument of perigee
+*    mp          - mean anomaly
+*
+*  locals        :
+*    alfdp       -
+*    betdp       -
+*    cosip  , sinip  , cosop  , sinop  ,
+*    dalf        -
+*    dbet        -
+*    dls         -
+*    f2, f3      -
+*    pe          -
+*    pgh         -
+*    ph          -
+*    pinc        -
+*    pl          -
+*    sel   , ses   , sghl  , sghs  , shl   , shs   , sil   , sinzf , sis   ,
+*    sll   , sls
+*    xls         -
+*    xnoh        -
+*    zf          -
+*    zm          -
+*
+*  coupling      :
+*    none.
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dpper
+     (
+       double e3,     double ee2,    double peo,     double pgho,   double pho,
+       double pinco,  double plo,    double se2,     double se3,    double sgh2,
+       double sgh3,   double sgh4,   double sh2,     double sh3,    double si2,
+       double si3,    double sl2,    double sl3,     double sl4,    double t,
+       double xgh2,   double xgh3,   double xgh4,    double xh2,    double xh3,
+       double xi2,    double xi3,    double xl2,     double xl3,    double xl4,
+       double zmol,   double zmos,   double inclo,
+       char init,
+       double& ep,    double& inclp, double& nodep,  double& argpp, double& mp
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     const double twopi = 2.0 * pi;
+     double alfdp, betdp, cosip, cosop, dalf, dbet, dls,
+          f2,    f3,    pe,    pgh,   ph,   pinc, pl ,
+          sel,   ses,   sghl,  sghs,  shll, shs,  sil,
+          sinip, sinop, sinzf, sis,   sll,  sls,  xls,
+          xnoh,  zf,    zm,    zel,   zes,  znl,  zns;
+
+     /* ---------------------- constants ----------------------------- */
+     zns   = 1.19459e-5;
+     zes   = 0.01675;
+     znl   = 1.5835218e-4;
+     zel   = 0.05490;
+
+     /* --------------- calculate time varying periodics ----------- */
+     zm    = zmos + zns * t;
+     // be sure that the initial call has time set to zero
+     if (init == 'y')
+         zm = zmos;
+     zf    = zm + 2.0 * zes * sin(zm);
+     sinzf = sin(zf);
+     f2    =  0.5 * sinzf * sinzf - 0.25;
+     f3    = -0.5 * sinzf * cos(zf);
+     ses   = se2* f2 + se3 * f3;
+     sis   = si2 * f2 + si3 * f3;
+     sls   = sl2 * f2 + sl3 * f3 + sl4 * sinzf;
+     sghs  = sgh2 * f2 + sgh3 * f3 + sgh4 * sinzf;
+     shs   = sh2 * f2 + sh3 * f3;
+     zm    = zmol + znl * t;
+     if (init == 'y')
+         zm = zmol;
+     zf    = zm + 2.0 * zel * sin(zm);
+     sinzf = sin(zf);
+     f2    =  0.5 * sinzf * sinzf - 0.25;
+     f3    = -0.5 * sinzf * cos(zf);
+     sel   = ee2 * f2 + e3 * f3;
+     sil   = xi2 * f2 + xi3 * f3;
+     sll   = xl2 * f2 + xl3 * f3 + xl4 * sinzf;
+     sghl  = xgh2 * f2 + xgh3 * f3 + xgh4 * sinzf;
+     shll  = xh2 * f2 + xh3 * f3;
+     pe    = ses + sel;
+     pinc  = sis + sil;
+     pl    = sls + sll;
+     pgh   = sghs + sghl;
+     ph    = shs + shll;
+
+     if (init == 'n')
+       {
+       pe    = pe - peo;
+       pinc  = pinc - pinco;
+       pl    = pl - plo;
+       pgh   = pgh - pgho;
+       ph    = ph - pho;
+       inclp = inclp + pinc;
+       ep    = ep + pe;
+       sinip = sin(inclp);
+       cosip = cos(inclp);
+
+       /* ----------------- apply periodics directly ------------ */
+       //  sgp4fix for lyddane choice
+       //  strn3 used original inclination - this is technically feasible
+       //  gsfc used perturbed inclination - also technically feasible
+       //  probably best to readjust the 0.2 limit value and limit discontinuity
+       //  0.2 rad = 11.45916 deg
+       //  use next line for original strn3 approach and original inclination
+       //  if (inclo >= 0.2)
+       //  use next line for gsfc version and perturbed inclination
+       if (inclp >= 0.2)
+         {
+           ph     = ph / sinip;
+           pgh    = pgh - cosip * ph;
+           argpp  = argpp + pgh;
+           nodep  = nodep + ph;
+           mp     = mp + pl;
+         }
+         else
+         {
+           /* ---- apply periodics with lyddane modification ---- */
+           sinop  = sin(nodep);
+           cosop  = cos(nodep);
+           alfdp  = sinip * sinop;
+           betdp  = sinip * cosop;
+           dalf   =  ph * cosop + pinc * cosip * sinop;
+           dbet   = -ph * sinop + pinc * cosip * cosop;
+           alfdp  = alfdp + dalf;
+           betdp  = betdp + dbet;
+           nodep  = fmod(nodep, twopi);
+           //  sgp4fix for afspc written intrinsic functions
+           // nodep used without a trigonometric function ahead
+           if (nodep < 0.0)
+               nodep = nodep + twopi;
+           xls    = mp + argpp + cosip * nodep;
+           dls    = pl + pgh - pinc * nodep * sinip;
+           xls    = xls + dls;
+           xnoh   = nodep;
+           nodep  = atan2(alfdp, betdp);
+           //  sgp4fix for afspc written intrinsic functions
+           // nodep used without a trigonometric function ahead
+           if (nodep < 0.0)
+               nodep = nodep + twopi;
+           if (fabs(xnoh - nodep) > pi){
+             if (nodep < xnoh)
+                nodep = nodep + twopi;
+               else
+                nodep = nodep - twopi;
+           }
+           mp    = mp + pl;
+           argpp = xls - mp - cosip * nodep;
+         }
+       }   // if init == 'n'
+
+//#include "debug1.cpp"
+}  // end dpper
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure dscom
+*
+*  this procedure provides deep space common items used by both the secular
+*    and periodics subroutines.  input is provided as shown. this routine
+*    used to be called dpper, but the functions inside weren't well organized.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    epoch       -
+*    ep          - eccentricity
+*    argpp       - argument of perigee
+*    tc          -
+*    inclp       - inclination
+*    nodep       - right ascension of ascending node
+*    np          - mean motion
+*
+*  outputs       :
+*    sinim  , cosim  , sinomm , cosomm , snodm  , cnodm
+*    day         -
+*    e3          -
+*    ee2         -
+*    em          - eccentricity
+*    emsq        - eccentricity squared
+*    gam         -
+*    peo         -
+*    pgho        -
+*    pho         -
+*    pinco       -
+*    plo         -
+*    rtemsq      -
+*    se2, se3         -
+*    sgh2, sgh3, sgh4        -
+*    sh2, sh3, si2, si3, sl2, sl3, sl4         -
+*    s1, s2, s3, s4, s5, s6, s7          -
+*    ss1, ss2, ss3, ss4, ss5, ss6, ss7, sz1, sz2, sz3         -
+*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
+*    xgh2, xgh3, xgh4, xh2, xh3, xi2, xi3, xl2, xl3, xl4         -
+*    nm          - mean motion
+*    z1, z2, z3, z11, z12, z13, z21, z22, z23, z31, z32, z33         -
+*    zmol        -
+*    zmos        -
+*
+*  locals        :
+*    a1, a2, a3, a4, a5, a6, a7, a8, a9, a10         -
+*    betasq      -
+*    cc          -
+*    ctem, stem        -
+*    x1, x2, x3, x4, x5, x6, x7, x8          -
+*    xnodce      -
+*    xnoi        -
+*    zcosg  , zsing  , zcosgl , zsingl , zcosh  , zsinh  , zcoshl , zsinhl ,
+*    zcosi  , zsini  , zcosil , zsinil ,
+*    zx          -
+*    zy          -
+*
+*  coupling      :
+*    none.
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dscom
+     (
+       double epoch,  double ep,     double argpp,   double tc,     double inclp,
+       double nodep,  double np,
+       double& snodm, double& cnodm, double& sinim,  double& cosim, double& sinomm,
+       double& cosomm,double& day,   double& e3,     double& ee2,   double& em,
+       double& emsq,  double& gam,   double& peo,    double& pgho,  double& pho,
+       double& pinco, double& plo,   double& rtemsq, double& se2,   double& se3,
+       double& sgh2,  double& sgh3,  double& sgh4,   double& sh2,   double& sh3,
+       double& si2,   double& si3,   double& sl2,    double& sl3,   double& sl4,
+       double& s1,    double& s2,    double& s3,     double& s4,    double& s5,
+       double& s6,    double& s7,    double& ss1,    double& ss2,   double& ss3,
+       double& ss4,   double& ss5,   double& ss6,    double& ss7,   double& sz1,
+       double& sz2,   double& sz3,   double& sz11,   double& sz12,  double& sz13,
+       double& sz21,  double& sz22,  double& sz23,   double& sz31,  double& sz32,
+       double& sz33,  double& xgh2,  double& xgh3,   double& xgh4,  double& xh2,
+       double& xh3,   double& xi2,   double& xi3,    double& xl2,   double& xl3,
+       double& xl4,   double& nm,    double& z1,     double& z2,    double& z3,
+       double& z11,   double& z12,   double& z13,    double& z21,   double& z22,
+       double& z23,   double& z31,   double& z32,    double& z33,   double& zmol,
+       double& zmos
+     )
+{
+     /* -------------------------- constants ------------------------- */
+     const double zes     =  0.01675;
+     const double zel     =  0.05490;
+     const double c1ss    =  2.9864797e-6;
+     const double c1l     =  4.7968065e-7;
+     const double zsinis  =  0.39785416;
+     const double zcosis  =  0.91744867;
+     const double zcosgs  =  0.1945905;
+     const double zsings  = -0.98088458;
+     const double twopi   =  2.0 * pi;
+
+     /* --------------------- local variables ------------------------ */
+     int lsflg;
+     double a1    , a2    , a3    , a4    , a5    , a6    , a7    ,
+        a8    , a9    , a10   , betasq, cc    , ctem  , stem  ,
+        x1    , x2    , x3    , x4    , x5    , x6    , x7    ,
+        x8    , xnodce, xnoi  , zcosg , zcosgl, zcosh , zcoshl,
+        zcosi , zcosil, zsing , zsingl, zsinh , zsinhl, zsini ,
+        zsinil, zx    , zy;
+
+     nm     = np;
+     em     = ep;
+     snodm  = sin(nodep);
+     cnodm  = cos(nodep);
+     sinomm = sin(argpp);
+     cosomm = cos(argpp);
+     sinim  = sin(inclp);
+     cosim  = cos(inclp);
+     emsq   = em * em;
+     betasq = 1.0 - emsq;
+     rtemsq = sqrt(betasq);
+
+     /* ----------------- initialize lunar solar terms --------------- */
+     peo    = 0.0;
+     pinco  = 0.0;
+     plo    = 0.0;
+     pgho   = 0.0;
+     pho    = 0.0;
+     day    = epoch + 18261.5 + tc / 1440.0;
+     xnodce = fmod(4.5236020 - 9.2422029e-4 * day, twopi);
+     stem   = sin(xnodce);
+     ctem   = cos(xnodce);
+     zcosil = 0.91375164 - 0.03568096 * ctem;
+     zsinil = sqrt(1.0 - zcosil * zcosil);
+     zsinhl = 0.089683511 * stem / zsinil;
+     zcoshl = sqrt(1.0 - zsinhl * zsinhl);
+     gam    = 5.8351514 + 0.0019443680 * day;
+     zx     = 0.39785416 * stem / zsinil;
+     zy     = zcoshl * ctem + 0.91744867 * zsinhl * stem;
+     zx     = atan2(zx, zy);
+     zx     = gam + zx - xnodce;
+     zcosgl = cos(zx);
+     zsingl = sin(zx);
+
+     /* ------------------------- do solar terms --------------------- */
+     zcosg = zcosgs;
+     zsing = zsings;
+     zcosi = zcosis;
+     zsini = zsinis;
+     zcosh = cnodm;
+     zsinh = snodm;
+     cc    = c1ss;
+     xnoi  = 1.0 / nm;
+
+     for (lsflg = 1; lsflg <= 2; lsflg++)
+       {
+         a1  =   zcosg * zcosh + zsing * zcosi * zsinh;
+         a3  =  -zsing * zcosh + zcosg * zcosi * zsinh;
+         a7  =  -zcosg * zsinh + zsing * zcosi * zcosh;
+         a8  =   zsing * zsini;
+         a9  =   zsing * zsinh + zcosg * zcosi * zcosh;
+         a10 =   zcosg * zsini;
+         a2  =   cosim * a7 + sinim * a8;
+         a4  =   cosim * a9 + sinim * a10;
+         a5  =  -sinim * a7 + cosim * a8;
+         a6  =  -sinim * a9 + cosim * a10;
+
+         x1  =  a1 * cosomm + a2 * sinomm;
+         x2  =  a3 * cosomm + a4 * sinomm;
+         x3  = -a1 * sinomm + a2 * cosomm;
+         x4  = -a3 * sinomm + a4 * cosomm;
+         x5  =  a5 * sinomm;
+         x6  =  a6 * sinomm;
+         x7  =  a5 * cosomm;
+         x8  =  a6 * cosomm;
+
+         z31 = 12.0 * x1 * x1 - 3.0 * x3 * x3;
+         z32 = 24.0 * x1 * x2 - 6.0 * x3 * x4;
+         z33 = 12.0 * x2 * x2 - 3.0 * x4 * x4;
+         z1  =  3.0 *  (a1 * a1 + a2 * a2) + z31 * emsq;
+         z2  =  6.0 *  (a1 * a3 + a2 * a4) + z32 * emsq;
+         z3  =  3.0 *  (a3 * a3 + a4 * a4) + z33 * emsq;
+         z11 = -6.0 * a1 * a5 + emsq *  (-24.0 * x1 * x7-6.0 * x3 * x5);
+         z12 = -6.0 *  (a1 * a6 + a3 * a5) + emsq *
+                (-24.0 * (x2 * x7 + x1 * x8) - 6.0 * (x3 * x6 + x4 * x5));
+         z13 = -6.0 * a3 * a6 + emsq * (-24.0 * x2 * x8 - 6.0 * x4 * x6);
+         z21 =  6.0 * a2 * a5 + emsq * (24.0 * x1 * x5 - 6.0 * x3 * x7);
+         z22 =  6.0 *  (a4 * a5 + a2 * a6) + emsq *
+                (24.0 * (x2 * x5 + x1 * x6) - 6.0 * (x4 * x7 + x3 * x8));
+         z23 =  6.0 * a4 * a6 + emsq * (24.0 * x2 * x6 - 6.0 * x4 * x8);
+         z1  = z1 + z1 + betasq * z31;
+         z2  = z2 + z2 + betasq * z32;
+         z3  = z3 + z3 + betasq * z33;
+         s3  = cc * xnoi;
+         s2  = -0.5 * s3 / rtemsq;
+         s4  = s3 * rtemsq;
+         s1  = -15.0 * em * s4;
+         s5  = x1 * x3 + x2 * x4;
+         s6  = x2 * x3 + x1 * x4;
+         s7  = x2 * x4 - x1 * x3;
+
+         /* ----------------------- do lunar terms ------------------- */
+         if (lsflg == 1)
+           {
+             ss1   = s1;
+             ss2   = s2;
+             ss3   = s3;
+             ss4   = s4;
+             ss5   = s5;
+             ss6   = s6;
+             ss7   = s7;
+             sz1   = z1;
+             sz2   = z2;
+             sz3   = z3;
+             sz11  = z11;
+             sz12  = z12;
+             sz13  = z13;
+             sz21  = z21;
+             sz22  = z22;
+             sz23  = z23;
+             sz31  = z31;
+             sz32  = z32;
+             sz33  = z33;
+             zcosg = zcosgl;
+             zsing = zsingl;
+             zcosi = zcosil;
+             zsini = zsinil;
+             zcosh = zcoshl * cnodm + zsinhl * snodm;
+             zsinh = snodm * zcoshl - cnodm * zsinhl;
+             cc    = c1l;
+          }
+       }
+
+     zmol = fmod(4.7199672 + 0.22997150  * day - gam, twopi);
+     zmos = fmod(6.2565837 + 0.017201977 * day, twopi);
+
+     /* ------------------------ do solar terms ---------------------- */
+     se2  =   2.0 * ss1 * ss6;
+     se3  =   2.0 * ss1 * ss7;
+     si2  =   2.0 * ss2 * sz12;
+     si3  =   2.0 * ss2 * (sz13 - sz11);
+     sl2  =  -2.0 * ss3 * sz2;
+     sl3  =  -2.0 * ss3 * (sz3 - sz1);
+     sl4  =  -2.0 * ss3 * (-21.0 - 9.0 * emsq) * zes;
+     sgh2 =   2.0 * ss4 * sz32;
+     sgh3 =   2.0 * ss4 * (sz33 - sz31);
+     sgh4 = -18.0 * ss4 * zes;
+     sh2  =  -2.0 * ss2 * sz22;
+     sh3  =  -2.0 * ss2 * (sz23 - sz21);
+
+     /* ------------------------ do lunar terms ---------------------- */
+     ee2  =   2.0 * s1 * s6;
+     e3   =   2.0 * s1 * s7;
+     xi2  =   2.0 * s2 * z12;
+     xi3  =   2.0 * s2 * (z13 - z11);
+     xl2  =  -2.0 * s3 * z2;
+     xl3  =  -2.0 * s3 * (z3 - z1);
+     xl4  =  -2.0 * s3 * (-21.0 - 9.0 * emsq) * zel;
+     xgh2 =   2.0 * s4 * z32;
+     xgh3 =   2.0 * s4 * (z33 - z31);
+     xgh4 = -18.0 * s4 * zel;
+     xh2  =  -2.0 * s2 * z22;
+     xh3  =  -2.0 * s2 * (z23 - z21);
+
+//#include "debug2.cpp"
+}  // end dscom
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure dsinit
+*
+*  this procedure provides deep space contributions to mean motion dot due
+*    to geopotential resonance with half day and one day orbits.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    cosim, sinim-
+*    emsq        - eccentricity squared
+*    argpo       - argument of perigee
+*    s1, s2, s3, s4, s5      -
+*    ss1, ss2, ss3, ss4, ss5 -
+*    sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33 -
+*    t           - time
+*    tc          -
+*    gsto        - greenwich sidereal time                   rad
+*    mo          - mean anomaly
+*    mdot        - mean anomaly dot (rate)
+*    no          - mean motion
+*    nodeo       - right ascension of ascending node
+*    nodedot     - right ascension of ascending node dot (rate)
+*    xpidot      -
+*    z1, z3, z11, z13, z21, z23, z31, z33 -
+*    eccm        - eccentricity
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    xn          - mean motion
+*    nodem       - right ascension of ascending node
+*
+*  outputs       :
+*    em          - eccentricity
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    nm          - mean motion
+*    nodem       - right ascension of ascending node
+*    irez        - flag for resonance           0-none, 1-one day, 2-half day
+*    atime       -
+*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433    -
+*    dedt        -
+*    didt        -
+*    dmdt        -
+*    dndt        -
+*    dnodt       -
+*    domdt       -
+*    del1, del2, del3        -
+*    ses  , sghl , sghs , sgs  , shl  , shs  , sis  , sls
+*    theta       -
+*    xfact       -
+*    xlamo       -
+*    xli         -
+*    xni
+*
+*  locals        :
+*    ainv2       -
+*    aonv        -
+*    cosisq      -
+*    eoc         -
+*    f220, f221, f311, f321, f322, f330, f441, f442, f522, f523, f542, f543  -
+*    g200, g201, g211, g300, g310, g322, g410, g422, g520, g521, g532, g533  -
+*    sini2       -
+*    temp        -
+*    temp1       -
+*    theta       -
+*    xno2        -
+*
+*  coupling      :
+*    getgravconst
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dsinit
+     (
+       gravconsttype whichconst,
+       double cosim,  double emsq,   double argpo,   double s1,     double s2,
+       double s3,     double s4,     double s5,      double sinim,  double ss1,
+       double ss2,    double ss3,    double ss4,     double ss5,    double sz1,
+       double sz3,    double sz11,   double sz13,    double sz21,   double sz23,
+       double sz31,   double sz33,   double t,       double tc,     double gsto,
+       double mo,     double mdot,   double no,      double nodeo,  double nodedot,
+       double xpidot, double z1,     double z3,      double z11,    double z13,
+       double z21,    double z23,    double z31,     double z33,    double ecco,
+       double eccsq,  double& em,    double& argpm,  double& inclm, double& mm,
+       double& nm,    double& nodem,
+       int& irez,
+       double& atime, double& d2201, double& d2211,  double& d3210, double& d3222,
+       double& d4410, double& d4422, double& d5220,  double& d5232, double& d5421,
+       double& d5433, double& dedt,  double& didt,   double& dmdt,  double& dndt,
+       double& dnodt, double& domdt, double& del1,   double& del2,  double& del3,
+       double& xfact, double& xlamo, double& xli,    double& xni
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     const double twopi = 2.0 * pi;
+
+     double ainv2 , aonv=0.0, cosisq, eoc, f220 , f221  , f311  ,
+          f321  , f322  , f330  , f441  , f442  , f522  , f523  ,
+          f542  , f543  , g200  , g201  , g211  , g300  , g310  ,
+          g322  , g410  , g422  , g520  , g521  , g532  , g533  ,
+          ses   , sgs   , sghl  , sghs  , shs   , shll  , sis   ,
+          sini2 , sls   , temp  , temp1 , theta , xno2  , q22   ,
+          q31   , q33   , root22, root44, root54, rptim , root32,
+          root52, x2o3  , xke   , znl   , emo   , zns   , emsqo,
+          tumin, mu, radiusearthkm, j2, j3, j4, j3oj2;
+
+     q22    = 1.7891679e-6;
+     q31    = 2.1460748e-6;
+     q33    = 2.2123015e-7;
+     root22 = 1.7891679e-6;
+     root44 = 7.3636953e-9;
+     root54 = 2.1765803e-9;
+     rptim  = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
+     root32 = 3.7393792e-7;
+     root52 = 1.1428639e-7;
+     x2o3   = 2.0 / 3.0;
+     znl    = 1.5835218e-4;
+     zns    = 1.19459e-5;
+
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+
+     /* -------------------- deep space initialization ------------ */
+     irez = 0;
+     if ((nm < 0.0052359877) && (nm > 0.0034906585))
+         irez = 1;
+     if ((nm >= 8.26e-3) && (nm <= 9.24e-3) && (em >= 0.5))
+         irez = 2;
+
+     /* ------------------------ do solar terms ------------------- */
+     ses  =  ss1 * zns * ss5;
+     sis  =  ss2 * zns * (sz11 + sz13);
+     sls  = -zns * ss3 * (sz1 + sz3 - 14.0 - 6.0 * emsq);
+     sghs =  ss4 * zns * (sz31 + sz33 - 6.0);
+     shs  = -zns * ss2 * (sz21 + sz23);
+     // sgp4fix for 180 deg incl
+     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
+       shs = 0.0;
+     if (sinim != 0.0)
+       shs = shs / sinim;
+     sgs  = sghs - cosim * shs;
+
+     /* ------------------------- do lunar terms ------------------ */
+     dedt = ses + s1 * znl * s5;
+     didt = sis + s2 * znl * (z11 + z13);
+     dmdt = sls - znl * s3 * (z1 + z3 - 14.0 - 6.0 * emsq);
+     sghl = s4 * znl * (z31 + z33 - 6.0);
+     shll = -znl * s2 * (z21 + z23);
+     // sgp4fix for 180 deg incl
+     if ((inclm < 5.2359877e-2) || (inclm > pi - 5.2359877e-2))
+         shll = 0.0;
+     domdt = sgs + sghl;
+     dnodt = shs;
+     if (sinim != 0.0)
+       {
+         domdt = domdt - cosim / sinim * shll;
+         dnodt = dnodt + shll / sinim;
+       }
+
+     /* ----------- calculate deep space resonance effects -------- */
+     dndt   = 0.0;
+     theta  = fmod(gsto + tc * rptim, twopi);
+     em     = em + dedt * t;
+     inclm  = inclm + didt * t;
+     argpm  = argpm + domdt * t;
+     nodem  = nodem + dnodt * t;
+     mm     = mm + dmdt * t;
+     //   sgp4fix for negative inclinations
+     //   the following if statement should be commented out
+     //if (inclm < 0.0)
+     //  {
+     //    inclm  = -inclm;
+     //    argpm  = argpm - pi;
+     //    nodem = nodem + pi;
+     //  }
+
+     /* -------------- initialize the resonance terms ------------- */
+     if (irez != 0)
+       {
+         aonv = pow(nm / xke, x2o3);
+
+         /* ---------- geopotential resonance for 12 hour orbits ------ */
+         if (irez == 2)
+           {
+             cosisq = cosim * cosim;
+             emo    = em;
+             em     = ecco;
+             emsqo  = emsq;
+             emsq   = eccsq;
+             eoc    = em * emsq;
+             g201   = -0.306 - (em - 0.64) * 0.440;
+
+             if (em <= 0.65)
+               {
+                 g211 =    3.616  -  13.2470 * em +  16.2900 * emsq;
+                 g310 =  -19.302  + 117.3900 * em - 228.4190 * emsq +  156.5910 * eoc;
+                 g322 =  -18.9068 + 109.7927 * em - 214.6334 * emsq +  146.5816 * eoc;
+                 g410 =  -41.122  + 242.6940 * em - 471.0940 * emsq +  313.9530 * eoc;
+                 g422 = -146.407  + 841.8800 * em - 1629.014 * emsq + 1083.4350 * eoc;
+                 g520 = -532.114  + 3017.977 * em - 5740.032 * emsq + 3708.2760 * eoc;
+               }
+               else
+               {
+                 g211 =   -72.099 +   331.819 * em -   508.738 * emsq +   266.724 * eoc;
+                 g310 =  -346.844 +  1582.851 * em -  2415.925 * emsq +  1246.113 * eoc;
+                 g322 =  -342.585 +  1554.908 * em -  2366.899 * emsq +  1215.972 * eoc;
+                 g410 = -1052.797 +  4758.686 * em -  7193.992 * emsq +  3651.957 * eoc;
+                 g422 = -3581.690 + 16178.110 * em - 24462.770 * emsq + 12422.520 * eoc;
+                 if (em > 0.715)
+                     g520 =-5149.66 + 29936.92 * em - 54087.36 * emsq + 31324.56 * eoc;
+                   else
+                     g520 = 1464.74 -  4664.75 * em +  3763.64 * emsq;
+               }
+             if (em < 0.7)
+               {
+                 g533 = -919.22770 + 4988.6100 * em - 9064.7700 * emsq + 5542.21  * eoc;
+                 g521 = -822.71072 + 4568.6173 * em - 8491.4146 * emsq + 5337.524 * eoc;
+                 g532 = -853.66600 + 4690.2500 * em - 8624.7700 * emsq + 5341.4  * eoc;
+               }
+               else
+               {
+                 g533 =-37995.780 + 161616.52 * em - 229838.20 * emsq + 109377.94 * eoc;
+                 g521 =-51752.104 + 218913.95 * em - 309468.16 * emsq + 146349.42 * eoc;
+                 g532 =-40023.880 + 170470.89 * em - 242699.48 * emsq + 115605.82 * eoc;
+               }
+
+             sini2=  sinim * sinim;
+             f220 =  0.75 * (1.0 + 2.0 * cosim+cosisq);
+             f221 =  1.5 * sini2;
+             f321 =  1.875 * sinim  *  (1.0 - 2.0 * cosim - 3.0 * cosisq);
+             f322 = -1.875 * sinim  *  (1.0 + 2.0 * cosim - 3.0 * cosisq);
+             f441 = 35.0 * sini2 * f220;
+             f442 = 39.3750 * sini2 * sini2;
+             f522 =  9.84375 * sinim * (sini2 * (1.0 - 2.0 * cosim- 5.0 * cosisq) +
+                     0.33333333 * (-2.0 + 4.0 * cosim + 6.0 * cosisq) );
+             f523 = sinim * (4.92187512 * sini2 * (-2.0 - 4.0 * cosim +
+                    10.0 * cosisq) + 6.56250012 * (1.0+2.0 * cosim - 3.0 * cosisq));
+             f542 = 29.53125 * sinim * (2.0 - 8.0 * cosim+cosisq *
+                    (-12.0 + 8.0 * cosim + 10.0 * cosisq));
+             f543 = 29.53125 * sinim * (-2.0 - 8.0 * cosim+cosisq *
+                    (12.0 + 8.0 * cosim - 10.0 * cosisq));
+             xno2  =  nm * nm;
+             ainv2 =  aonv * aonv;
+             temp1 =  3.0 * xno2 * ainv2;
+             temp  =  temp1 * root22;
+             d2201 =  temp * f220 * g201;
+             d2211 =  temp * f221 * g211;
+             temp1 =  temp1 * aonv;
+             temp  =  temp1 * root32;
+             d3210 =  temp * f321 * g310;
+             d3222 =  temp * f322 * g322;
+             temp1 =  temp1 * aonv;
+             temp  =  2.0 * temp1 * root44;
+             d4410 =  temp * f441 * g410;
+             d4422 =  temp * f442 * g422;
+             temp1 =  temp1 * aonv;
+             temp  =  temp1 * root52;
+             d5220 =  temp * f522 * g520;
+             d5232 =  temp * f523 * g532;
+             temp  =  2.0 * temp1 * root54;
+             d5421 =  temp * f542 * g521;
+             d5433 =  temp * f543 * g533;
+             xlamo =  fmod(mo + nodeo + nodeo-theta - theta, twopi);
+             xfact =  mdot + dmdt + 2.0 * (nodedot + dnodt - rptim) - no;
+             em    = emo;
+             emsq  = emsqo;
+           }
+
+         /* ---------------- synchronous resonance terms -------------- */
+         if (irez == 1)
+           {
+             g200  = 1.0 + emsq * (-2.5 + 0.8125 * emsq);
+             g310  = 1.0 + 2.0 * emsq;
+             g300  = 1.0 + emsq * (-6.0 + 6.60937 * emsq);
+             f220  = 0.75 * (1.0 + cosim) * (1.0 + cosim);
+             f311  = 0.9375 * sinim * sinim * (1.0 + 3.0 * cosim) - 0.75 * (1.0 + cosim);
+             f330  = 1.0 + cosim;
+             f330  = 1.875 * f330 * f330 * f330;
+             del1  = 3.0 * nm * nm * aonv * aonv;
+             del2  = 2.0 * del1 * f220 * g200 * q22;
+             del3  = 3.0 * del1 * f330 * g300 * q33 * aonv;
+             del1  = del1 * f311 * g310 * q31 * aonv;
+             xlamo = fmod(mo + nodeo + argpo - theta, twopi);
+             xfact = mdot + xpidot - rptim + dmdt + domdt + dnodt - no;
+           }
+
+         /* ------------ for sgp4, initialize the integrator ---------- */
+         xli   = xlamo;
+         xni   = no;
+         atime = 0.0;
+         nm    = no + dndt;
+       }
+
+//#include "debug3.cpp"
+}  // end dsinit
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure dspace
+*
+*  this procedure provides deep space contributions to mean elements for
+*    perturbing third body.  these effects have been averaged over one
+*    revolution of the sun and moon.  for earth resonance effects, the
+*    effects have been averaged over no revolutions of the satellite.
+*    (mean motion)
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    d2201, d2211, d3210, d3222, d4410, d4422, d5220, d5232, d5421, d5433 -
+*    dedt        -
+*    del1, del2, del3  -
+*    didt        -
+*    dmdt        -
+*    dnodt       -
+*    domdt       -
+*    irez        - flag for resonance           0-none, 1-one day, 2-half day
+*    argpo       - argument of perigee
+*    argpdot     - argument of perigee dot (rate)
+*    t           - time
+*    tc          -
+*    gsto        - gst
+*    xfact       -
+*    xlamo       -
+*    no          - mean motion
+*    atime       -
+*    em          - eccentricity
+*    ft          -
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    xli         -
+*    mm          - mean anomaly
+*    xni         - mean motion
+*    nodem       - right ascension of ascending node
+*
+*  outputs       :
+*    atime       -
+*    em          - eccentricity
+*    argpm       - argument of perigee
+*    inclm       - inclination
+*    xli         -
+*    mm          - mean anomaly
+*    xni         -
+*    nodem       - right ascension of ascending node
+*    dndt        -
+*    nm          - mean motion
+*
+*  locals        :
+*    delt        -
+*    ft          -
+*    theta       -
+*    x2li        -
+*    x2omi       -
+*    xl          -
+*    xldot       -
+*    xnddt       -
+*    xndt        -
+*    xomi        -
+*
+*  coupling      :
+*    none        -
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void dspace
+     (
+       int irez,
+       double d2201,  double d2211,  double d3210,   double d3222,  double d4410,
+       double d4422,  double d5220,  double d5232,   double d5421,  double d5433,
+       double dedt,   double del1,   double del2,    double del3,   double didt,
+       double dmdt,   double dnodt,  double domdt,   double argpo,  double argpdot,
+       double t,      double tc,     double gsto,    double xfact,  double xlamo,
+       double no,
+       double& atime, double& em,    double& argpm,  double& inclm, double& xli,
+       double& mm,    double& xni,   double& nodem,  double& dndt,  double& nm
+     )
+{
+     const double twopi = 2.0 * pi;
+     int iretn , iret;
+     double delt, ft, theta, x2li, x2omi, xl, xldot , xnddt, xndt, xomi, g22, g32,
+          g44, g52, g54, fasx2, fasx4, fasx6, rptim , step2, stepn , stepp;
+
+     ft    = 0.0;
+     fasx2 = 0.13130908;
+     fasx4 = 2.8843198;
+     fasx6 = 0.37448087;
+     g22   = 5.7686396;
+     g32   = 0.95240898;
+     g44   = 1.8014998;
+     g52   = 1.0508330;
+     g54   = 4.4108898;
+     rptim = 4.37526908801129966e-3; // this equates to 7.29211514668855e-5 rad/sec
+     stepp =    720.0;
+     stepn =   -720.0;
+     step2 = 259200.0;
+
+     /* ----------- calculate deep space resonance effects ----------- */
+     dndt   = 0.0;
+     theta  = fmod(gsto + tc * rptim, twopi);
+     em     = em + dedt * t;
+
+     inclm  = inclm + didt * t;
+     argpm  = argpm + domdt * t;
+     nodem  = nodem + dnodt * t;
+     mm     = mm + dmdt * t;
+
+     //   sgp4fix for negative inclinations
+     //   the following if statement should be commented out
+     //  if (inclm < 0.0)
+     // {
+     //    inclm = -inclm;
+     //    argpm = argpm - pi;
+     //    nodem = nodem + pi;
+     //  }
+
+     /* - update resonances : numerical (euler-maclaurin) integration - */
+     /* ------------------------- epoch restart ----------------------  */
+     //   sgp4fix for propagator problems
+     //   the following integration works for negative time steps and periods
+     //   the specific changes are unknown because the original code was so convoluted
+
+     ft    = 0.0;
+     atime = 0.0;
+     if (irez != 0)
+       {
+         if ((atime == 0.0) || ((t >= 0.0) && (atime < 0.0)) ||
+             ((t < 0.0) && (atime >= 0.0)))
+           {
+             if (t >= 0.0)
+                 delt = stepp;
+               else
+                 delt = stepn;
+             atime  = 0.0;
+             xni    = no;
+             xli    = xlamo;
+           }
+         iretn = 381; // added for do loop
+         iret  =   0; // added for loop
+         while (iretn == 381)
+           {
+             if ((fabs(t) < fabs(atime)) || (iret == 351))
+               {
+                 if (t >= 0.0)
+                     delt = stepn;
+                   else
+                     delt = stepp;
+                 iret  = 351;
+                 iretn = 381;
+               }
+               else
+               {
+                 if (t > 0.0)  // error if prev if has atime:=0.0 and t:=0.0 (ge)
+                     delt = stepp;
+                   else
+                     delt = stepn;
+                 if (fabs(t - atime) >= stepp)
+                   {
+                     iret  = 0;
+                     iretn = 381;
+                   }
+                   else
+                   {
+                     ft    = t - atime;
+                     iretn = 0;
+                   }
+               }
+
+             /* ------------------- dot terms calculated ------------- */
+             /* ----------- near - synchronous resonance terms ------- */
+             if (irez != 2)
+               {
+                 xndt  = del1 * sin(xli - fasx2) + del2 * sin(2.0 * (xli - fasx4)) +
+                         del3 * sin(3.0 * (xli - fasx6));
+                 xldot = xni + xfact;
+                 xnddt = del1 * cos(xli - fasx2) +
+                         2.0 * del2 * cos(2.0 * (xli - fasx4)) +
+                         3.0 * del3 * cos(3.0 * (xli - fasx6));
+                 xnddt = xnddt * xldot;
+               }
+               else
+               {
+                 /* --------- near - half-day resonance terms -------- */
+                 xomi  = argpo + argpdot * atime;
+                 x2omi = xomi + xomi;
+                 x2li  = xli + xli;
+                 xndt  = d2201 * sin(x2omi + xli - g22) + d2211 * sin(xli - g22) +
+                       d3210 * sin(xomi + xli - g32)  + d3222 * sin(-xomi + xli - g32)+
+                       d4410 * sin(x2omi + x2li - g44)+ d4422 * sin(x2li - g44) +
+                       d5220 * sin(xomi + xli - g52)  + d5232 * sin(-xomi + xli - g52)+
+                       d5421 * sin(xomi + x2li - g54) + d5433 * sin(-xomi + x2li - g54);
+                 xldot = xni + xfact;
+                 xnddt = d2201 * cos(x2omi + xli - g22) + d2211 * cos(xli - g22) +
+                       d3210 * cos(xomi + xli - g32) + d3222 * cos(-xomi + xli - g32) +
+                       d5220 * cos(xomi + xli - g52) + d5232 * cos(-xomi + xli - g52) +
+                       2.0 * (d4410 * cos(x2omi + x2li - g44) +
+                       d4422 * cos(x2li - g44) + d5421 * cos(xomi + x2li - g54) +
+                       d5433 * cos(-xomi + x2li - g54));
+                 xnddt = xnddt * xldot;
+               }
+
+             /* ----------------------- integrator ------------------- */
+             if (iretn == 381)
+               {
+                 xli   = xli + xldot * delt + xndt * step2;
+                 xni   = xni + xndt * delt + xnddt * step2;
+                 atime = atime + delt;
+               }
+           }  // while iretn = 381
+
+         nm = xni + xndt * ft + xnddt * ft * ft * 0.5;
+         xl = xli + xldot * ft + xndt * ft * ft * 0.5;
+         if (irez != 1)
+           {
+             mm   = xl - 2.0 * nodem + 2.0 * theta;
+             dndt = nm - no;
+           }
+           else
+           {
+             mm   = xl - nodem - argpm + theta;
+             dndt = nm - no;
+           }
+         nm = no + dndt;
+       }
+
+//#include "debug4.cpp"
+}  // end dsspace
+
+/*-----------------------------------------------------------------------------
+*
+*                           procedure initl
+*
+*  this procedure initializes the spg4 propagator. all the initialization is
+*    consolidated here instead of having multiple loops inside other routines.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    ecco        - eccentricity                           0.0 - 1.0
+*    epoch       - epoch time in days from jan 0, 1950. 0 hr
+*    inclo       - inclination of satellite
+*    no          - mean motion of satellite
+*    satn        - satellite number
+*
+*  outputs       :
+*    ainv        - 1.0 / a
+*    ao          - semi major axis
+*    con41       -
+*    con42       - 1.0 - 5.0 cos(i)
+*    cosio       - cosine of inclination
+*    cosio2      - cosio squared
+*    eccsq       - eccentricity squared
+*    method      - flag for deep space                    'd', 'n'
+*    omeosq      - 1.0 - ecco * ecco
+*    posq        - semi-parameter squared
+*    rp          - radius of perigee
+*    rteosq      - square root of (1.0 - ecco*ecco)
+*    sinio       - sine of inclination
+*    gsto        - gst at time of observation               rad
+*    no          - mean motion of satellite
+*
+*  locals        :
+*    ak          -
+*    d1          -
+*    del         -
+*    adel        -
+*    po          -
+*
+*  coupling      :
+*    getgravconst
+*    gstime      - find greenwich sidereal time from the julian date
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+static void initl
+     (
+       int satn,      gravconsttype whichconst,
+       double ecco,   double epoch,  double inclo,   double& no,
+       char& method,
+       double& ainv,  double& ao,    double& con41,  double& con42, double& cosio,
+       double& cosio2,double& eccsq, double& omeosq, double& posq,
+       double& rp,    double& rteosq,double& sinio , double& gsto
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     double ak, d1, del, adel, po, x2o3, j2, xke,
+            tumin, mu, radiusearthkm, j3, j4, j3oj2;
+
+     // sgp4fix use old way of finding gst
+     int ids70;
+     double ts70, ds70, tfrac, c1, thgr70, fk5r, c1p2p;
+     const double twopi = 2.0 * pi;
+
+     /* ----------------------- earth constants ---------------------- */
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+     x2o3   = 2.0 / 3.0;
+
+     /* ------------- calculate auxillary epoch quantities ---------- */
+     eccsq  = ecco * ecco;
+     omeosq = 1.0 - eccsq;
+     rteosq = sqrt(omeosq);
+     cosio  = cos(inclo);
+     cosio2 = cosio * cosio;
+
+     /* ------------------ un-kozai the mean motion ----------------- */
+     ak    = pow(xke / no, x2o3);
+     d1    = 0.75 * j2 * (3.0 * cosio2 - 1.0) / (rteosq * omeosq);
+     del   = d1 / (ak * ak);
+     adel  = ak * (1.0 - del * del - del *
+             (1.0 / 3.0 + 134.0 * del * del / 81.0));
+     del   = d1/(adel * adel);
+     no    = no / (1.0 + del);
+
+     ao    = pow(xke / no, x2o3);
+     sinio = sin(inclo);
+     po    = ao * omeosq;
+     con42 = 1.0 - 5.0 * cosio2;
+     con41 = -con42-cosio2-cosio2;
+     ainv  = 1.0 / ao;
+     posq  = po * po;
+     rp    = ao * (1.0 - ecco);
+     method = 'n';
+
+     // sgp4fix modern approach to finding sidereal timew
+     // gsto = gstime(epoch + 2433281.5);
+
+     // sgp4fix use old way of finding gst
+     // count integer number of days from 0 jan 1970
+     ts70  = epoch - 7305.0;
+     ids70 = floor(ts70 + 1.0e-8);
+     ds70  = ids70;
+     tfrac = ts70 - ds70;
+     // find greenwich location at epoch
+     c1    = 1.72027916940703639e-2;
+     thgr70= 1.7321343856509374;
+     fk5r  = 5.07551419432269442e-15;
+     c1p2p = c1 + twopi;
+     gsto  = fmod( thgr70 + c1*ds70 + c1p2p*tfrac + ts70*ts70*fk5r, twopi);
+     if ( gsto < 0.0 )
+         gsto = gsto + twopi;
+
+//#include "debug5.cpp"
+}  // end initl
+
+/*-----------------------------------------------------------------------------
+*
+*                             procedure sgp4init
+*
+*  this procedure initializes variables for sgp4.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    satn        - satellite number
+*    bstar       - sgp4 type drag coefficient              kg/m2er
+*    ecco        - eccentricity
+*    epoch       - epoch time in days from jan 0, 1950. 0 hr
+*    argpo       - argument of perigee (output if ds)
+*    inclo       - inclination
+*    mo          - mean anomaly (output if ds)
+*    no          - mean motion
+*    nodeo       - right ascension of ascending node
+*
+*  outputs       :
+*    satrec      - common values for subsequent calls
+*    return code - non-zero on error.
+*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
+*                   2 - mean motion less than 0.0
+*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
+*                   4 - semi-latus rectum < 0.0
+*                   5 - epoch elements are sub-orbital
+*                   6 - satellite has decayed
+*
+*  locals        :
+*    cnodm  , snodm  , cosim  , sinim  , cosomm , sinomm
+*    cc1sq  , cc2    , cc3
+*    coef   , coef1
+*    cosio4      -
+*    day         -
+*    dndt        -
+*    em          - eccentricity
+*    emsq        - eccentricity squared
+*    eeta        -
+*    etasq       -
+*    gam         -
+*    argpm       - argument of perigee
+*    nodem       -
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    nm          - mean motion
+*    perige      - perigee
+*    pinvsq      -
+*    psisq       -
+*    qzms24      -
+*    rtemsq      -
+*    s1, s2, s3, s4, s5, s6, s7          -
+*    sfour       -
+*    ss1, ss2, ss3, ss4, ss5, ss6, ss7         -
+*    sz1, sz2, sz3
+*    sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33        -
+*    tc          -
+*    temp        -
+*    temp1, temp2, temp3       -
+*    tsi         -
+*    xpidot      -
+*    xhdot1      -
+*    z1, z2, z3          -
+*    z11, z12, z13, z21, z22, z23, z31, z32, z33         -
+*
+*  coupling      :
+*    getgravconst-
+*    initl       -
+*    dscom       -
+*    dpper       -
+*    dsinit      -
+*    sgp4        -
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+int sgp4init
+     (
+       gravconsttype whichconst,       const int satn,     const double epoch,
+       const double xbstar,  const double xecco, const double xargpo,
+       const double xinclo,  const double xmo,   const double xno,
+       const double xnodeo,  elsetrec& satrec
+     )
+{
+     /* --------------------- local variables ------------------------ */
+     double ao, ainv,   con42, cosio, sinio, cosio2, eccsq,
+          omeosq, posq,   rp,     rteosq,
+          cnodm , snodm , cosim , sinim , cosomm, sinomm, cc1sq ,
+          cc2   , cc3   , coef  , coef1 , cosio4, day   , dndt  ,
+          em    , emsq  , eeta  , etasq , gam   , argpm , nodem ,
+          inclm , mm    , nm    , perige, pinvsq, psisq , qzms24,
+          rtemsq, s1    , s2    , s3    , s4    , s5    , s6    ,
+          s7    , sfour , ss1 = 0   , ss2 = 0   , ss3 = 0   , ss4 = 0   , ss5 = 0   ,
+          ss6 = 0   , ss7 = 0   , sz1 = 0   , sz2 = 0   , sz3 = 0   , sz11 = 0  , sz12 = 0  ,
+          sz13 = 0  , sz21 = 0  , sz22 = 0  , sz23 = 0  , sz31 = 0  , sz32 = 0  , sz33 = 0  ,
+          tc    , temp  , temp1 , temp2 , temp3 , tsi   , xpidot,
+          xhdot1, z1    , z2    , z3    , z11   , z12   , z13   ,
+          z21   , z22   , z23   , z31   , z32   , z33,
+          qzms2t, ss, j2, j3oj2, j4, x2o3, r[3], v[3],
+          tumin, mu, radiusearthkm, xke, j3;
+
+     /* ------------------------ initialization --------------------- */
+     // sgp4fix divisor for divide by zero check on inclination
+     const double temp4    =   1.0 + cos(pi-1.0e-9);
+
+     /* ----------- set all near earth variables to zero ------------ */
+     satrec.isimp   = 0;   satrec.method = 'n'; satrec.aycof    = 0.0;
+     satrec.con41   = 0.0; satrec.cc1    = 0.0; satrec.cc4      = 0.0;
+     satrec.cc5     = 0.0; satrec.d2     = 0.0; satrec.d3       = 0.0;
+     satrec.d4      = 0.0; satrec.delmo  = 0.0; satrec.eta      = 0.0;
+     satrec.argpdot = 0.0; satrec.omgcof = 0.0; satrec.sinmao   = 0.0;
+     satrec.t       = 0.0; satrec.t2cof  = 0.0; satrec.t3cof    = 0.0;
+     satrec.t4cof   = 0.0; satrec.t5cof  = 0.0; satrec.x1mth2   = 0.0;
+     satrec.x7thm1  = 0.0; satrec.mdot   = 0.0; satrec.nodedot  = 0.0;
+     satrec.xlcof   = 0.0; satrec.xmcof  = 0.0; satrec.nodecf   = 0.0;
+
+     /* ----------- set all deep space variables to zero ------------ */
+     satrec.irez  = 0;   satrec.d2201 = 0.0; satrec.d2211 = 0.0;
+     satrec.d3210 = 0.0; satrec.d3222 = 0.0; satrec.d4410 = 0.0;
+     satrec.d4422 = 0.0; satrec.d5220 = 0.0; satrec.d5232 = 0.0;
+     satrec.d5421 = 0.0; satrec.d5433 = 0.0; satrec.dedt  = 0.0;
+     satrec.del1  = 0.0; satrec.del2  = 0.0; satrec.del3  = 0.0;
+     satrec.didt  = 0.0; satrec.dmdt  = 0.0; satrec.dnodt = 0.0;
+     satrec.domdt = 0.0; satrec.e3    = 0.0; satrec.ee2   = 0.0;
+     satrec.peo   = 0.0; satrec.pgho  = 0.0; satrec.pho   = 0.0;
+     satrec.pinco = 0.0; satrec.plo   = 0.0; satrec.se2   = 0.0;
+     satrec.se3   = 0.0; satrec.sgh2  = 0.0; satrec.sgh3  = 0.0;
+     satrec.sgh4  = 0.0; satrec.sh2   = 0.0; satrec.sh3   = 0.0;
+     satrec.si2   = 0.0; satrec.si3   = 0.0; satrec.sl2   = 0.0;
+     satrec.sl3   = 0.0; satrec.sl4   = 0.0; satrec.gsto  = 0.0;
+     satrec.xfact = 0.0; satrec.xgh2  = 0.0; satrec.xgh3  = 0.0;
+     satrec.xgh4  = 0.0; satrec.xh2   = 0.0; satrec.xh3   = 0.0;
+     satrec.xi2   = 0.0; satrec.xi3   = 0.0; satrec.xl2   = 0.0;
+     satrec.xl3   = 0.0; satrec.xl4   = 0.0; satrec.xlamo = 0.0;
+     satrec.zmol  = 0.0; satrec.zmos  = 0.0; satrec.atime = 0.0;
+     satrec.xli   = 0.0; satrec.xni   = 0.0;
+
+     // sgp4fix - note the following variables are also passed directly via satrec.
+     // it is possible to streamline the sgp4init call by deleting the "x"
+     // variables, but the user would need to set the satrec.* values first. we
+     // include the additional assignments in case twoline2rv is not used.
+     satrec.bstar   = xbstar;
+     satrec.ecco    = xecco;
+     satrec.argpo   = xargpo;
+     satrec.inclo   = xinclo;
+     satrec.mo	    = xmo;
+     satrec.no	    = xno;
+     satrec.nodeo   = xnodeo;
+
+     /* ------------------------ earth constants ----------------------- */
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+     ss     = 78.0 / radiusearthkm + 1.0;
+     qzms2t = pow(((120.0 - 78.0) / radiusearthkm), 4);
+     x2o3   =  2.0 / 3.0;
+
+     satrec.init = 'y';
+     satrec.t	 = 0.0;
+
+     initl
+         (
+           satn, whichconst, satrec.ecco, epoch, satrec.inclo, satrec.no, satrec.method,
+           ainv, ao, satrec.con41, con42, cosio, cosio2, eccsq, omeosq,
+           posq, rp, rteosq, sinio, satrec.gsto
+         );
+     satrec.error = 0;
+
+     if (rp < 1.0)
+       {
+//         printf("# *** satn%d epoch elts sub-orbital ***\n", satn);
+         satrec.error = 5;
+       }
+
+     if ((omeosq >= 0.0 ) || ( satrec.no >= 0.0))
+       {
+         satrec.isimp = 0;
+         if (rp < (220.0 / radiusearthkm + 1.0))
+             satrec.isimp = 1;
+         sfour  = ss;
+         qzms24 = qzms2t;
+         perige = (rp - 1.0) * radiusearthkm;
+
+         /* - for perigees below 156 km, s and qoms2t are altered - */
+         if (perige < 156.0)
+           {
+             sfour = perige - 78.0;
+             if (perige < 98.0)
+                 sfour = 20.0;
+             qzms24 = pow(((120.0 - sfour) / radiusearthkm), 4.0);
+             sfour  = sfour / radiusearthkm + 1.0;
+           }
+         pinvsq = 1.0 / posq;
+
+         tsi  = 1.0 / (ao - sfour);
+         satrec.eta  = ao * satrec.ecco * tsi;
+         etasq = satrec.eta * satrec.eta;
+         eeta  = satrec.ecco * satrec.eta;
+         psisq = fabs(1.0 - etasq);
+         coef  = qzms24 * pow(tsi, 4.0);
+         coef1 = coef / pow(psisq, 3.5);
+         cc2   = coef1 * satrec.no * (ao * (1.0 + 1.5 * etasq + eeta *
+                        (4.0 + etasq)) + 0.375 * j2 * tsi / psisq * satrec.con41 *
+                        (8.0 + 3.0 * etasq * (8.0 + etasq)));
+         satrec.cc1   = satrec.bstar * cc2;
+         cc3   = 0.0;
+         if (satrec.ecco > 1.0e-4)
+             cc3 = -2.0 * coef * tsi * j3oj2 * satrec.no * sinio / satrec.ecco;
+         satrec.x1mth2 = 1.0 - cosio2;
+         satrec.cc4    = 2.0* satrec.no * coef1 * ao * omeosq *
+                           (satrec.eta * (2.0 + 0.5 * etasq) + satrec.ecco *
+                           (0.5 + 2.0 * etasq) - j2 * tsi / (ao * psisq) *
+                           (-3.0 * satrec.con41 * (1.0 - 2.0 * eeta + etasq *
+                           (1.5 - 0.5 * eeta)) + 0.75 * satrec.x1mth2 *
+                           (2.0 * etasq - eeta * (1.0 + etasq)) * cos(2.0 * satrec.argpo)));
+         satrec.cc5 = 2.0 * coef1 * ao * omeosq * (1.0 + 2.75 *
+                        (etasq + eeta) + eeta * etasq);
+         cosio4 = cosio2 * cosio2;
+         temp1  = 1.5 * j2 * pinvsq * satrec.no;
+         temp2  = 0.5 * temp1 * j2 * pinvsq;
+         temp3  = -0.46875 * j4 * pinvsq * pinvsq * satrec.no;
+         satrec.mdot     = satrec.no + 0.5 * temp1 * rteosq * satrec.con41 + 0.0625 *
+                            temp2 * rteosq * (13.0 - 78.0 * cosio2 + 137.0 * cosio4);
+         satrec.argpdot  = -0.5 * temp1 * con42 + 0.0625 * temp2 *
+                             (7.0 - 114.0 * cosio2 + 395.0 * cosio4) +
+                             temp3 * (3.0 - 36.0 * cosio2 + 49.0 * cosio4);
+         xhdot1            = -temp1 * cosio;
+         satrec.nodedot = xhdot1 + (0.5 * temp2 * (4.0 - 19.0 * cosio2) +
+                              2.0 * temp3 * (3.0 - 7.0 * cosio2)) * cosio;
+         xpidot            =  satrec.argpdot+ satrec.nodedot;
+         satrec.omgcof   = satrec.bstar * cc3 * cos(satrec.argpo);
+         satrec.xmcof    = 0.0;
+         if (satrec.ecco > 1.0e-4)
+             satrec.xmcof = -x2o3 * coef * satrec.bstar / eeta;
+         satrec.nodecf = 3.5 * omeosq * xhdot1 * satrec.cc1;
+         satrec.t2cof   = 1.5 * satrec.cc1;
+         // sgp4fix for divide by zero with xinco = 180 deg
+         if (fabs(cosio+1.0) > 1.5e-12)
+             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / (1.0 + cosio);
+           else
+             satrec.xlcof = -0.25 * j3oj2 * sinio * (3.0 + 5.0 * cosio) / temp4;
+         satrec.aycof   = -0.5 * j3oj2 * sinio;
+         satrec.delmo   = pow((1.0 + satrec.eta * cos(satrec.mo)), 3);
+         satrec.sinmao  = sin(satrec.mo);
+         satrec.x7thm1  = 7.0 * cosio2 - 1.0;
+
+         /* --------------- deep space initialization ------------- */
+         if ((2*pi / satrec.no) >= 225.0)
+           {
+             satrec.method = 'd';
+             satrec.isimp  = 1;
+             tc    =  0.0;
+             inclm = satrec.inclo;
+
+             dscom
+                 (
+                   epoch, satrec.ecco, satrec.argpo, tc, satrec.inclo, satrec.nodeo,
+                   satrec.no, snodm, cnodm,  sinim, cosim,sinomm,     cosomm,
+                   day, satrec.e3, satrec.ee2, em,         emsq, gam,
+                   satrec.peo,  satrec.pgho,   satrec.pho, satrec.pinco,
+                   satrec.plo,  rtemsq,        satrec.se2, satrec.se3,
+                   satrec.sgh2, satrec.sgh3,   satrec.sgh4,
+                   satrec.sh2,  satrec.sh3,    satrec.si2, satrec.si3,
+                   satrec.sl2,  satrec.sl3,    satrec.sl4, s1, s2, s3, s4, s5,
+                   s6,   s7,   ss1,  ss2,  ss3,  ss4,  ss5,  ss6,  ss7, sz1, sz2, sz3,
+                   sz11, sz12, sz13, sz21, sz22, sz23, sz31, sz32, sz33,
+                   satrec.xgh2, satrec.xgh3,   satrec.xgh4, satrec.xh2,
+                   satrec.xh3,  satrec.xi2,    satrec.xi3,  satrec.xl2,
+                   satrec.xl3,  satrec.xl4,    nm, z1, z2, z3, z11,
+                   z12, z13, z21, z22, z23, z31, z32, z33,
+                   satrec.zmol, satrec.zmos
+                 );
+             dpper
+                 (
+                   satrec.e3, satrec.ee2, satrec.peo, satrec.pgho,
+                   satrec.pho, satrec.pinco, satrec.plo, satrec.se2,
+                   satrec.se3, satrec.sgh2, satrec.sgh3, satrec.sgh4,
+                   satrec.sh2, satrec.sh3, satrec.si2,  satrec.si3,
+                   satrec.sl2, satrec.sl3, satrec.sl4,  satrec.t,
+                   satrec.xgh2,satrec.xgh3,satrec.xgh4, satrec.xh2,
+                   satrec.xh3, satrec.xi2, satrec.xi3,  satrec.xl2,
+                   satrec.xl3, satrec.xl4, satrec.zmol, satrec.zmos, inclm, satrec.init,
+                   satrec.ecco, satrec.inclo, satrec.nodeo, satrec.argpo, satrec.mo
+                 );
+
+             argpm  = 0.0;
+             nodem  = 0.0;
+             mm     = 0.0;
+
+             dsinit
+                 (
+                   whichconst,
+                   cosim, emsq, satrec.argpo, s1, s2, s3, s4, s5, sinim, ss1, ss2, ss3, ss4,
+                   ss5, sz1, sz3, sz11, sz13, sz21, sz23, sz31, sz33, satrec.t, tc,
+                   satrec.gsto, satrec.mo, satrec.mdot, satrec.no, satrec.nodeo,
+                   satrec.nodedot, xpidot, z1, z3, z11, z13, z21, z23, z31, z33,
+                   satrec.ecco, eccsq, em, argpm, inclm, mm, nm, nodem,
+                   satrec.irez,  satrec.atime,
+                   satrec.d2201, satrec.d2211, satrec.d3210, satrec.d3222 ,
+                   satrec.d4410, satrec.d4422, satrec.d5220, satrec.d5232,
+                   satrec.d5421, satrec.d5433, satrec.dedt,  satrec.didt,
+                   satrec.dmdt,  dndt,         satrec.dnodt, satrec.domdt ,
+                   satrec.del1,  satrec.del2,  satrec.del3,  satrec.xfact,
+                   satrec.xlamo, satrec.xli,   satrec.xni
+                 );
+           }
+
+       /* ----------- set variables if not deep space ----------- */
+       if (satrec.isimp != 1)
+         {
+           cc1sq          = satrec.cc1 * satrec.cc1;
+           satrec.d2    = 4.0 * ao * tsi * cc1sq;
+           temp           = satrec.d2 * tsi * satrec.cc1 / 3.0;
+           satrec.d3    = (17.0 * ao + sfour) * temp;
+           satrec.d4    = 0.5 * temp * ao * tsi * (221.0 * ao + 31.0 * sfour) *
+                            satrec.cc1;
+           satrec.t3cof = satrec.d2 + 2.0 * cc1sq;
+           satrec.t4cof = 0.25 * (3.0 * satrec.d3 + satrec.cc1 *
+                            (12.0 * satrec.d2 + 10.0 * cc1sq));
+           satrec.t5cof = 0.2 * (3.0 * satrec.d4 +
+                            12.0 * satrec.cc1 * satrec.d3 +
+                            6.0 * satrec.d2 * satrec.d2 +
+                            15.0 * cc1sq * (2.0 * satrec.d2 + cc1sq));
+         }
+       } // if omeosq = 0 ...
+
+       /* finally propogate to zero epoch to initialise all others. */
+       if(satrec.error == 0)
+           sgp4(whichconst, satrec, 0.0, r, v);
+
+       satrec.init = 'n';
+
+//#include "debug6.cpp"
+       return satrec.error;
+}  // end sgp4init
+
+/*-----------------------------------------------------------------------------
+*
+*                             procedure sgp4
+*
+*  this procedure is the sgp4 prediction model from space command. this is an
+*    updated and combined version of sgp4 and sdp4, which were originally
+*    published separately in spacetrack report #3. this version follows the
+*    methodology from the aiaa paper (2006) describing the history and
+*    development of the code.
+*
+*  author        : david vallado                  719-573-2600   28 jun 2005
+*
+*  inputs        :
+*    satrec	 - initialised structure from sgp4init() call.
+*    tsince	 - time eince epoch (minutes)
+*
+*  outputs       :
+*    r           - position vector                     km
+*    v           - velocity                            km/sec
+*  return code - non-zero on error.
+*                   1 - mean elements, ecc >= 1.0 or ecc < -0.001 or a < 0.95 er
+*                   2 - mean motion less than 0.0
+*                   3 - pert elements, ecc < 0.0  or  ecc > 1.0
+*                   4 - semi-latus rectum < 0.0
+*                   5 - epoch elements are sub-orbital
+*                   6 - satellite has decayed
+*
+*  locals        :
+*    am          -
+*    axnl, aynl        -
+*    betal       -
+*    cosim   , sinim   , cosomm  , sinomm  , cnod    , snod    , cos2u   ,
+*    sin2u   , coseo1  , sineo1  , cosi    , sini    , cosip   , sinip   ,
+*    cosisq  , cossu   , sinsu   , cosu    , sinu
+*    delm        -
+*    delomg      -
+*    dndt        -
+*    eccm        -
+*    emsq        -
+*    ecose       -
+*    el2         -
+*    eo1         -
+*    eccp        -
+*    esine       -
+*    argpm       -
+*    argpp       -
+*    omgadf      -
+*    pl          -
+*    r           -
+*    rtemsq      -
+*    rdotl       -
+*    rl          -
+*    rvdot       -
+*    rvdotl      -
+*    su          -
+*    t2  , t3   , t4    , tc
+*    tem5, temp , temp1 , temp2  , tempa  , tempe  , templ
+*    u   , ux   , uy    , uz     , vx     , vy     , vz
+*    inclm       - inclination
+*    mm          - mean anomaly
+*    nm          - mean motion
+*    nodem       - right asc of ascending node
+*    xinc        -
+*    xincp       -
+*    xl          -
+*    xlm         -
+*    mp          -
+*    xmdf        -
+*    xmx         -
+*    xmy         -
+*    nodedf      -
+*    xnode       -
+*    nodep       -
+*    np          -
+*
+*  coupling      :
+*    getgravconst-
+*    dpper
+*    dpspace
+*
+*  references    :
+*    hoots, roehrich, norad spacetrack report #3 1980
+*    hoots, norad spacetrack report #6 1986
+*    hoots, schumacher and glover 2004
+*    vallado, crawford, hujsak, kelso  2006
+  ----------------------------------------------------------------------------*/
+
+int sgp4
+     (
+       gravconsttype whichconst, elsetrec& satrec,  double tsince,
+       double r[3],  double v[3]
+     )
+{
+     double am   , axnl  , aynl , betal ,  cosim , cnod  ,
+         cos2u, coseo1, cosi , cosip ,  cosisq, cossu , cosu,
+         delm , delomg, em   , emsq  ,  ecose , el2   , eo1 ,
+         ep   , esine , argpm, argpp ,  argpdf, pl,     mrt = 0.0,
+         mvt  , rdotl , rl   , rvdot ,  rvdotl, sinim ,
+         sin2u, sineo1, sini , sinip ,  sinsu , sinu  ,
+         snod , su    , t2   , t3    ,  t4    , tem5  , temp,
+         temp1, temp2 , tempa, tempe ,  templ , u     , ux  ,
+         uy   , uz    , vx   , vy    ,  vz    , inclm , mm  ,
+         nm   , nodem, xinc , xincp ,  xl    , xlm   , mp  ,
+         xmdf , xmx   , xmy  , nodedf, xnode , nodep, tc  , dndt,
+         twopi, x2o3  , j2   , j3    , tumin, j4 , xke   , j3oj2, radiusearthkm,
+         mu, vkmpersec;
+     int ktr;
+
+     /* ------------------ set mathematical constants --------------- */
+     // sgp4fix divisor for divide by zero check on inclination
+     const double temp4    =   1.0 + cos(pi-1.0e-9);
+     twopi = 2.0 * pi;
+     x2o3  = 2.0 / 3.0;
+     // sgp4fix identify constants and allow alternate values
+     getgravconst( whichconst, tumin, mu, radiusearthkm, xke, j2, j3, j4, j3oj2 );
+     vkmpersec     = radiusearthkm * xke/60.0;
+
+     /* --------------------- clear sgp4 error flag ----------------- */
+     satrec.t     = tsince;
+     satrec.error = 0;
+
+     /* ------- update for secular gravity and atmospheric drag ----- */
+     xmdf    = satrec.mo + satrec.mdot * satrec.t;
+     argpdf  = satrec.argpo + satrec.argpdot * satrec.t;
+     nodedf  = satrec.nodeo + satrec.nodedot * satrec.t;
+     argpm   = argpdf;
+     mm      = xmdf;
+     t2      = satrec.t * satrec.t;
+     nodem   = nodedf + satrec.nodecf * t2;
+     tempa   = 1.0 - satrec.cc1 * satrec.t;
+     tempe   = satrec.bstar * satrec.cc4 * satrec.t;
+     templ   = satrec.t2cof * t2;
+
+     if (satrec.isimp != 1)
+       {
+         delomg = satrec.omgcof * satrec.t;
+         delm   = satrec.xmcof *
+                  (pow((1.0 + satrec.eta * cos(xmdf)), 3) -
+                  satrec.delmo);
+         temp   = delomg + delm;
+         mm     = xmdf + temp;
+         argpm  = argpdf - temp;
+         t3     = t2 * satrec.t;
+         t4     = t3 * satrec.t;
+         tempa  = tempa - satrec.d2 * t2 - satrec.d3 * t3 -
+                          satrec.d4 * t4;
+         tempe  = tempe + satrec.bstar * satrec.cc5 * (sin(mm) -
+                          satrec.sinmao);
+         templ  = templ + satrec.t3cof * t3 + t4 * (satrec.t4cof +
+                          satrec.t * satrec.t5cof);
+       }
+
+     nm    = satrec.no;
+     em    = satrec.ecco;
+     inclm = satrec.inclo;
+     if (satrec.method == 'd')
+       {
+         tc = satrec.t;
+         dspace
+             (
+               satrec.irez,
+               satrec.d2201, satrec.d2211, satrec.d3210,
+               satrec.d3222, satrec.d4410, satrec.d4422,
+               satrec.d5220, satrec.d5232, satrec.d5421,
+               satrec.d5433, satrec.dedt,  satrec.del1,
+               satrec.del2,  satrec.del3,  satrec.didt,
+               satrec.dmdt,  satrec.dnodt, satrec.domdt,
+               satrec.argpo, satrec.argpdot, satrec.t, tc,
+               satrec.gsto, satrec.xfact, satrec.xlamo,
+               satrec.no, satrec.atime,
+               em, argpm, inclm, satrec.xli, mm, satrec.xni,
+               nodem, dndt, nm
+             );
+       } // if method = d
+
+     if (nm <= 0.0)
+       {
+//         printf("# error nm %f\n", nm);
+         satrec.error = 2;
+       }
+     am = pow((xke / nm),x2o3) * tempa * tempa;
+     nm = xke / pow(am, 1.5);
+     em = em - tempe;
+
+     // fix tolerance for error recognition
+     if ((em >= 1.0) || (em < -0.001) || (am < 0.95))
+       {
+//         printf("# error em %f\n", em);
+         satrec.error = 1;
+       }
+     if (em < 0.0)
+         em  = 1.0e-6;
+     mm     = mm + satrec.no * templ;
+     xlm    = mm + argpm + nodem;
+     emsq   = em * em;
+     temp   = 1.0 - emsq;
+
+     nodem  = fmod(nodem, twopi);
+     argpm  = fmod(argpm, twopi);
+     xlm    = fmod(xlm, twopi);
+     mm     = fmod(xlm - argpm - nodem, twopi);
+
+     /* ----------------- compute extra mean quantities ------------- */
+     sinim = sin(inclm);
+     cosim = cos(inclm);
+
+     /* -------------------- add lunar-solar periodics -------------- */
+     ep     = em;
+     xincp  = inclm;
+     argpp  = argpm;
+     nodep  = nodem;
+     mp     = mm;
+     sinip  = sinim;
+     cosip  = cosim;
+     if (satrec.method == 'd')
+       {
+         dpper
+             (
+               satrec.e3,   satrec.ee2,  satrec.peo,
+               satrec.pgho, satrec.pho,  satrec.pinco,
+               satrec.plo,  satrec.se2,  satrec.se3,
+               satrec.sgh2, satrec.sgh3, satrec.sgh4,
+               satrec.sh2,  satrec.sh3,  satrec.si2,
+               satrec.si3,  satrec.sl2,  satrec.sl3,
+               satrec.sl4,  satrec.t,    satrec.xgh2,
+               satrec.xgh3, satrec.xgh4, satrec.xh2,
+               satrec.xh3,  satrec.xi2,  satrec.xi3,
+               satrec.xl2,  satrec.xl3,  satrec.xl4,
+               satrec.zmol, satrec.zmos, satrec.inclo,
+               'n', ep, xincp, nodep, argpp, mp
+             );
+         if (xincp < 0.0)
+           {
+             xincp  = -xincp;
+             nodep = nodep + pi;
+             argpp  = argpp - pi;
+           }
+         if ((ep < 0.0 ) || ( ep > 1.0))
+           {
+ //            printf("# error ep %f\n", ep);
+             satrec.error = 3;
+           }
+       } // if method = d
+
+     /* -------------------- long period periodics ------------------ */
+     if (satrec.method == 'd')
+       {
+         sinip =  sin(xincp);
+         cosip =  cos(xincp);
+         satrec.aycof = -0.5*j3oj2*sinip;
+         // sgp4fix for divide by zero for xincp = 180 deg
+         if (fabs(cosip+1.0) > 1.5e-12)
+             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / (1.0 + cosip);
+           else
+             satrec.xlcof = -0.25 * j3oj2 * sinip * (3.0 + 5.0 * cosip) / temp4;
+       }
+     axnl = ep * cos(argpp);
+     temp = 1.0 / (am * (1.0 - ep * ep));
+     aynl = ep* sin(argpp) + temp * satrec.aycof;
+     xl   = mp + argpp + nodep + temp * satrec.xlcof * axnl;
+
+     /* --------------------- solve kepler's equation --------------- */
+     u    = fmod(xl - nodep, twopi);
+     eo1  = u;
+     tem5 = 9999.9;
+     ktr = 1;
+     //   sgp4fix for kepler iteration
+     //   the following iteration needs better limits on corrections
+     while (( fabs(tem5) >= 1.0e-12) && (ktr <= 10) )
+       {
+         sineo1 = sin(eo1);
+         coseo1 = cos(eo1);
+         tem5   = 1.0 - coseo1 * axnl - sineo1 * aynl;
+         tem5   = (u - aynl * coseo1 + axnl * sineo1 - eo1) / tem5;
+         if(fabs(tem5) >= 0.95)
+             tem5 = tem5 > 0.0 ? 0.95 : -0.95;
+         eo1    = eo1 + tem5;
+         ktr = ktr + 1;
+       }
+
+     /* ------------- short period preliminary quantities ----------- */
+     ecose = axnl*coseo1 + aynl*sineo1;
+     esine = axnl*sineo1 - aynl*coseo1;
+     el2   = axnl*axnl + aynl*aynl;
+     pl    = am*(1.0-el2);
+     if (pl < 0.0)
+       {
+//         printf("# error pl %f\n", pl);
+         satrec.error = 4;
+       }
+       else
+       {
+         rl     = am * (1.0 - ecose);
+         rdotl  = sqrt(am) * esine/rl;
+         rvdotl = sqrt(pl) / rl;
+         betal  = sqrt(1.0 - el2);
+         temp   = esine / (1.0 + betal);
+         sinu   = am / rl * (sineo1 - aynl - axnl * temp);
+         cosu   = am / rl * (coseo1 - axnl + aynl * temp);
+         su     = atan2(sinu, cosu);
+         sin2u  = (cosu + cosu) * sinu;
+         cos2u  = 1.0 - 2.0 * sinu * sinu;
+         temp   = 1.0 / pl;
+         temp1  = 0.5 * j2 * temp;
+         temp2  = temp1 * temp;
+
+         /* -------------- update for short period periodics ------------ */
+         if (satrec.method == 'd')
+           {
+             cosisq                 = cosip * cosip;
+             satrec.con41  = 3.0*cosisq - 1.0;
+             satrec.x1mth2 = 1.0 - cosisq;
+             satrec.x7thm1 = 7.0*cosisq - 1.0;
+           }
+         mrt   = rl * (1.0 - 1.5 * temp2 * betal * satrec.con41) +
+                 0.5 * temp1 * satrec.x1mth2 * cos2u;
+         su    = su - 0.25 * temp2 * satrec.x7thm1 * sin2u;
+         xnode = nodep + 1.5 * temp2 * cosip * sin2u;
+         xinc  = xincp + 1.5 * temp2 * cosip * sinip * cos2u;
+         mvt   = rdotl - nm * temp1 * satrec.x1mth2 * sin2u / xke;
+         rvdot = rvdotl + nm * temp1 * (satrec.x1mth2 * cos2u +
+                 1.5 * satrec.con41) / xke;
+
+         /* --------------------- orientation vectors ------------------- */
+         sinsu =  sin(su);
+         cossu =  cos(su);
+         snod  =  sin(xnode);
+         cnod  =  cos(xnode);
+         sini  =  sin(xinc);
+         cosi  =  cos(xinc);
+         xmx   = -snod * cosi;
+         xmy   =  cnod * cosi;
+         ux    =  xmx * sinsu + cnod * cossu;
+         uy    =  xmy * sinsu + snod * cossu;
+         uz    =  sini * sinsu;
+         vx    =  xmx * cossu - cnod * sinsu;
+         vy    =  xmy * cossu - snod * sinsu;
+         vz    =  sini * cossu;
+
+         /* --------- position and velocity (in km and km/sec) ---------- */
+         r[0] = (mrt * ux)* radiusearthkm;
+         r[1] = (mrt * uy)* radiusearthkm;
+         r[2] = (mrt * uz)* radiusearthkm;
+         v[0] = (mvt * ux + rvdot * vx) * vkmpersec;
+         v[1] = (mvt * uy + rvdot * vy) * vkmpersec;
+         v[2] = (mvt * uz + rvdot * vz) * vkmpersec;
+       }  // if pl > 0
+
+     // sgp4fix for decaying satellites
+     if (mrt < 1.0)
+       {
+//         printf("# decay condition %11.6f \n",mrt);
+         satrec.error = 6;
+       }
+
+
+//#include "debug7.cpp"
+     return satrec.error;
+}  // end sgp4
+
+
+/* -----------------------------------------------------------------------------
+*
+*                           function gstime
+*
+*  this function finds the greenwich sidereal time.
+*
+*  author        : david vallado                  719-573-2600    1 mar 2001
+*
+*  inputs          description                    range / units
+*    jdut1       - julian date in ut1             days from 4713 bc
+*
+*  outputs       :
+*    gstime      - greenwich sidereal time        0 to 2pi rad
+*
+*  locals        :
+*    temp        - temporary variable for doubles   rad
+*    tut1        - julian centuries from the
+*                  jan 1, 2000 12 h epoch (ut1)
+*
+*  coupling      :
+*    none
+*
+*  references    :
+*    vallado       2004, 191, eq 3-45
+* --------------------------------------------------------------------------- */
+
+double  gstime
+        (
+          double jdut1
+        )
+   {
+     const double twopi = 2.0 * pi;
+     const double deg2rad = pi / 180.0;
+     double       temp, tut1;
+
+     tut1 = (jdut1 - 2451545.0) / 36525.0;
+     temp = -6.2e-6* tut1 * tut1 * tut1 + 0.093104 * tut1 * tut1 +
+             (876600.0*3600 + 8640184.812866) * tut1 + 67310.54841;  // sec
+     temp = fmod(temp * deg2rad / 240.0, twopi); //360/86400 = 1/240, to deg, to rad
+
+     // ------------------------ check quadrants ---------------------
+     if (temp < 0.0)
+         temp += twopi;
+
+     return temp;
+   }  // end gstime
+
+/* -----------------------------------------------------------------------------
+*
+*                           function getgravconst
+*
+*  this function gets constants for the propagator. note that mu is identified to
+*    facilitiate comparisons with newer models. the common useage is wgs72.
+*
+*  author        : david vallado                  719-573-2600   21 jul 2006
+*
+*  inputs        :
+*    whichconst  - which set of constants to use  wgs72old, wgs72, wgs84
+*
+*  outputs       :
+*    tumin       - minutes in one time unit
+*    mu          - earth gravitational parameter
+*    radiusearthkm - radius of the earth in km
+*    xke         - reciprocal of tumin
+*    j2, j3, j4  - un-normalized zonal harmonic values
+*    j3oj2       - j3 divided by j2
+*
+*  locals        :
+*
+*  coupling      :
+*    none
+*
+*  references    :
+*    norad spacetrack report #3
+*    vallado, crawford, hujsak, kelso  2006
+  --------------------------------------------------------------------------- */
+
+void getgravconst
+     (
+      gravconsttype whichconst,
+      double& tumin,
+      double& mu,
+      double& radiusearthkm,
+      double& xke,
+      double& j2,
+      double& j3,
+      double& j4,
+      double& j3oj2
+     )
+     {
+
+       switch (whichconst)
+         {
+           // -- wgs-72 low precision str#3 constants --
+           case wgs72old:
+           mu     = 398600.79964;        // in km3 / s2
+           radiusearthkm = 6378.135;     // km
+           xke    = 0.0743669161;
+           tumin  = 1.0 / xke;
+           j2     =   0.001082616;
+           j3     =  -0.00000253881;
+           j4     =  -0.00000165597;
+           j3oj2  =  j3 / j2;
+         break;
+           // ------------ wgs-72 constants ------------
+           case wgs72:
+           mu     = 398600.8;            // in km3 / s2
+           radiusearthkm = 6378.135;     // km
+           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
+           tumin  = 1.0 / xke;
+           j2     =   0.001082616;
+           j3     =  -0.00000253881;
+           j4     =  -0.00000165597;
+           j3oj2  =  j3 / j2;
+         break;
+           case wgs84:
+           // ------------ wgs-84 constants ------------
+           mu     = 398600.5;            // in km3 / s2
+           radiusearthkm = 6378.137;     // km
+           xke    = 60.0 / sqrt(radiusearthkm*radiusearthkm*radiusearthkm/mu);
+           tumin  = 1.0 / xke;
+           j2     =   0.00108262998905;
+           j3     =  -0.00000253215306;
+           j4     =  -0.00000161098761;
+           j3oj2  =  j3 / j2;
+         break;
+         default:
+           fprintf(stderr,"unknown gravity option (%d)\n",whichconst);
+         break;
+         }
+
+     }   // end getgravconst
+
+
+
+
+
diff --git a/contrib/sgp4/sgp4unit.h b/contrib/sgp4/sgp4unit.h
index 48c113d7..f16acbd9 100644
--- a/contrib/sgp4/sgp4unit.h
+++ b/contrib/sgp4/sgp4unit.h
@@ -1,117 +1,117 @@
-#ifndef _sgp4unit_
-#define _sgp4unit_
-/*     ----------------------------------------------------------------
-*
-*                                 sgp4unit.h
-*
-*    this file contains the sgp4 procedures for analytical propagation
-*    of a satellite. the code was originally released in the 1980 and 1986
-*    spacetrack papers. a detailed discussion of the theory and history
-*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
-*    and kelso.
-*
-*                            companion code for
-*               fundamentals of astrodynamics and applications
-*                                    2007
-*                              by david vallado
-*
-*       (w) 719-573-2600, email dvallado@agi.com
-*
-*    current :
-*              20 apr 07  david vallado
-*                           misc fixes for constants
-*    changes :
-*              11 aug 06  david vallado
-*                           chg lyddane choice back to strn3, constants, misc doc
-*              15 dec 05  david vallado
-*                           misc fixes
-*              26 jul 05  david vallado
-*                           fixes for paper
-*                           note that each fix is preceded by a
-*                           comment with "sgp4fix" and an explanation of
-*                           what was changed
-*              10 aug 04  david vallado
-*                           2nd printing baseline working
-*              14 may 01  david vallado
-*                           2nd edition baseline
-*                     80  norad
-*                           original baseline
-*       ----------------------------------------------------------------      */
-
-#include <math.h>
-#include <stdio.h>
-
-// -------------------------- structure declarations ----------------------------
-typedef enum
-{
-  wgs72old,
-  wgs72,
-  wgs84
-} gravconsttype;
-
-typedef struct elsetrec
-{
-  long int  satnum;
-  int       epochyr, epochtynumrev;
-  int       error;
-  char      init, method;
-
-  /* Near Earth */
-  int    isimp;
-  double aycof  , con41  , cc1    , cc4      , cc5    , d2      , d3   , d4    ,
-         delmo  , eta    , argpdot, omgcof   , sinmao , t       , t2cof, t3cof ,
-         t4cof  , t5cof  , x1mth2 , x7thm1   , mdot   , nodedot, xlcof , xmcof ,
-         nodecf;
-
-  /* Deep Space */
-  int    irez;
-  double d2201  , d2211  , d3210  , d3222    , d4410  , d4422   , d5220 , d5232 ,
-         d5421  , d5433  , dedt   , del1     , del2   , del3    , didt  , dmdt  ,
-         dnodt  , domdt  , e3     , ee2      , peo    , pgho    , pho   , pinco ,
-         plo    , se2    , se3    , sgh2     , sgh3   , sgh4    , sh2   , sh3   ,
-         si2    , si3    , sl2    , sl3      , sl4    , gsto    , xfact , xgh2  ,
-         xgh3   , xgh4   , xh2    , xh3      , xi2    , xi3     , xl2   , xl3   ,
-         xl4    , xlamo  , zmol   , zmos     , atime  , xli     , xni;
-
-  double a      , altp   , alta   , epochdays, jdsatepoch       , nddot , ndot  ,
-         bstar  , rcse   , inclo  , nodeo    , ecco             , argpo , mo    ,
-         no;
-} elsetrec;
-
-// --------------------------- function declarations ----------------------------
-int sgp4init
-       (
-         gravconsttype whichconst,      const int satn,     const double epoch,
-         const double xbstar, const double xecco, const double xargpo,
-         const double xinclo, const double xmo,   const double xno,
-         const double xnodeo,
-         elsetrec& satrec
-       );
-
-int sgp4
-       (
-         gravconsttype whichconst,
-         elsetrec& satrec, double tsince,
-         double r[], double v[]
-       );
-
-double  gstime
-       (
-         double
-       );
-
-void getgravconst
-      (
-       gravconsttype,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&,
-       double&
-      );
-
-#endif
-
+#ifndef _sgp4unit_
+#define _sgp4unit_
+/*     ----------------------------------------------------------------
+*
+*                                 sgp4unit.h
+*
+*    this file contains the sgp4 procedures for analytical propagation
+*    of a satellite. the code was originally released in the 1980 and 1986
+*    spacetrack papers. a detailed discussion of the theory and history
+*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
+*    and kelso.
+*
+*                            companion code for
+*               fundamentals of astrodynamics and applications
+*                                    2007
+*                              by david vallado
+*
+*       (w) 719-573-2600, email dvallado@agi.com
+*
+*    current :
+*              20 apr 07  david vallado
+*                           misc fixes for constants
+*    changes :
+*              11 aug 06  david vallado
+*                           chg lyddane choice back to strn3, constants, misc doc
+*              15 dec 05  david vallado
+*                           misc fixes
+*              26 jul 05  david vallado
+*                           fixes for paper
+*                           note that each fix is preceded by a
+*                           comment with "sgp4fix" and an explanation of
+*                           what was changed
+*              10 aug 04  david vallado
+*                           2nd printing baseline working
+*              14 may 01  david vallado
+*                           2nd edition baseline
+*                     80  norad
+*                           original baseline
+*       ----------------------------------------------------------------      */
+
+#include <math.h>
+#include <stdio.h>
+
+// -------------------------- structure declarations ----------------------------
+typedef enum
+{
+  wgs72old,
+  wgs72,
+  wgs84
+} gravconsttype;
+
+typedef struct elsetrec
+{
+  long int  satnum;
+  int       epochyr, epochtynumrev;
+  int       error;
+  char      init, method;
+
+  /* Near Earth */
+  int    isimp;
+  double aycof  , con41  , cc1    , cc4      , cc5    , d2      , d3   , d4    ,
+         delmo  , eta    , argpdot, omgcof   , sinmao , t       , t2cof, t3cof ,
+         t4cof  , t5cof  , x1mth2 , x7thm1   , mdot   , nodedot, xlcof , xmcof ,
+         nodecf;
+
+  /* Deep Space */
+  int    irez;
+  double d2201  , d2211  , d3210  , d3222    , d4410  , d4422   , d5220 , d5232 ,
+         d5421  , d5433  , dedt   , del1     , del2   , del3    , didt  , dmdt  ,
+         dnodt  , domdt  , e3     , ee2      , peo    , pgho    , pho   , pinco ,
+         plo    , se2    , se3    , sgh2     , sgh3   , sgh4    , sh2   , sh3   ,
+         si2    , si3    , sl2    , sl3      , sl4    , gsto    , xfact , xgh2  ,
+         xgh3   , xgh4   , xh2    , xh3      , xi2    , xi3     , xl2   , xl3   ,
+         xl4    , xlamo  , zmol   , zmos     , atime  , xli     , xni;
+
+  double a      , altp   , alta   , epochdays, jdsatepoch       , nddot , ndot  ,
+         bstar  , rcse   , inclo  , nodeo    , ecco             , argpo , mo    ,
+         no;
+} elsetrec;
+
+// --------------------------- function declarations ----------------------------
+int sgp4init
+       (
+         gravconsttype whichconst,      const int satn,     const double epoch,
+         const double xbstar, const double xecco, const double xargpo,
+         const double xinclo, const double xmo,   const double xno,
+         const double xnodeo,
+         elsetrec& satrec
+       );
+
+int sgp4
+       (
+         gravconsttype whichconst,
+         elsetrec& satrec, double tsince,
+         double r[], double v[]
+       );
+
+double  gstime
+       (
+         double
+       );
+
+void getgravconst
+      (
+       gravconsttype,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&,
+       double&
+      );
+
+#endif
+
diff --git a/globalfunctions/timevalOperations.cpp b/globalfunctions/timevalOperations.cpp
index ae49ef21..1228da04 100644
--- a/globalfunctions/timevalOperations.cpp
+++ b/globalfunctions/timevalOperations.cpp
@@ -1,99 +1,99 @@
-#include "timevalOperations.h"
-
-timeval& operator+=(timeval& lhs, const timeval& rhs) {
-	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
-	lhs.tv_sec = sum / 1000000;
-	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
-	return lhs;
-}
-
-timeval operator+(timeval lhs, const timeval& rhs) {
-	lhs += rhs;
-	return lhs;
-}
-
-timeval& operator-=(timeval& lhs, const timeval& rhs) {
-	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	sum -= rhs.tv_sec * 1000000. + rhs.tv_usec;
-	lhs.tv_sec = sum / 1000000;
-	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
-	return lhs;
-}
-
-timeval operator-(timeval lhs, const timeval& rhs) {
-	lhs -= rhs;
-	return lhs;
-}
-
-double operator/(const timeval& lhs, const timeval& rhs) {
-	double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
-	return lhs64 / rhs64;
-}
-
-timeval& operator/=(timeval& lhs, double scalar) {
-	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	product /= scalar;
-	lhs.tv_sec = product / 1000000;
-	lhs.tv_usec = product - lhs.tv_sec * 1000000;
-	return lhs;
-}
-
-timeval operator/(timeval lhs, double scalar) {
-	lhs /= scalar;
-	return lhs;
-}
-
-timeval& operator*=(timeval& lhs, double scalar) {
-	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	product *= scalar;
-	lhs.tv_sec = product / 1000000;
-	lhs.tv_usec = product - lhs.tv_sec * 1000000;
-	return lhs;
-}
-
-timeval operator*(timeval lhs, double scalar) {
-	lhs *= scalar;
-	return lhs;
-}
-
-timeval operator*(double scalar, timeval rhs) {
-	rhs *= scalar;
-	return rhs;
-}
-
-bool operator==(const timeval& lhs, const timeval& rhs) {
-	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
-	return lhs64 == rhs64;
-}
-bool operator!=(const timeval& lhs, const timeval& rhs) {
-	return !operator==(lhs, rhs);
-}
-bool operator<(const timeval& lhs, const timeval& rhs) {
-	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
-	return lhs64 < rhs64;
-}
-bool operator>(const timeval& lhs, const timeval& rhs) {
-	return operator<(rhs, lhs);
-}
-bool operator<=(const timeval& lhs, const timeval& rhs) {
-	return !operator>(lhs, rhs);
-}
-bool operator>=(const timeval& lhs, const timeval& rhs) {
-	return !operator<(lhs, rhs);
-}
-
-double timevalOperations::toDouble(const timeval timeval) {
-	double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
-	return result / 1000000.;
-}
-
-timeval timevalOperations::toTimeval(const double seconds) {
-	timeval tval;
-	tval.tv_sec = seconds;
-	tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
-	return tval;
-}
+#include "timevalOperations.h"
+
+timeval& operator+=(timeval& lhs, const timeval& rhs) {
+	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
+	lhs.tv_sec = sum / 1000000;
+	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
+	return lhs;
+}
+
+timeval operator+(timeval lhs, const timeval& rhs) {
+	lhs += rhs;
+	return lhs;
+}
+
+timeval& operator-=(timeval& lhs, const timeval& rhs) {
+	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	sum -= rhs.tv_sec * 1000000. + rhs.tv_usec;
+	lhs.tv_sec = sum / 1000000;
+	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
+	return lhs;
+}
+
+timeval operator-(timeval lhs, const timeval& rhs) {
+	lhs -= rhs;
+	return lhs;
+}
+
+double operator/(const timeval& lhs, const timeval& rhs) {
+	double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
+	return lhs64 / rhs64;
+}
+
+timeval& operator/=(timeval& lhs, double scalar) {
+	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	product /= scalar;
+	lhs.tv_sec = product / 1000000;
+	lhs.tv_usec = product - lhs.tv_sec * 1000000;
+	return lhs;
+}
+
+timeval operator/(timeval lhs, double scalar) {
+	lhs /= scalar;
+	return lhs;
+}
+
+timeval& operator*=(timeval& lhs, double scalar) {
+	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	product *= scalar;
+	lhs.tv_sec = product / 1000000;
+	lhs.tv_usec = product - lhs.tv_sec * 1000000;
+	return lhs;
+}
+
+timeval operator*(timeval lhs, double scalar) {
+	lhs *= scalar;
+	return lhs;
+}
+
+timeval operator*(double scalar, timeval rhs) {
+	rhs *= scalar;
+	return rhs;
+}
+
+bool operator==(const timeval& lhs, const timeval& rhs) {
+	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
+	return lhs64 == rhs64;
+}
+bool operator!=(const timeval& lhs, const timeval& rhs) {
+	return !operator==(lhs, rhs);
+}
+bool operator<(const timeval& lhs, const timeval& rhs) {
+	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
+	return lhs64 < rhs64;
+}
+bool operator>(const timeval& lhs, const timeval& rhs) {
+	return operator<(rhs, lhs);
+}
+bool operator<=(const timeval& lhs, const timeval& rhs) {
+	return !operator>(lhs, rhs);
+}
+bool operator>=(const timeval& lhs, const timeval& rhs) {
+	return !operator<(lhs, rhs);
+}
+
+double timevalOperations::toDouble(const timeval timeval) {
+	double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
+	return result / 1000000.;
+}
+
+timeval timevalOperations::toTimeval(const double seconds) {
+	timeval tval;
+	tval.tv_sec = seconds;
+	tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
+	return tval;
+}
diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp
index 8c831bbe..dd1e48ca 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp
@@ -1,95 +1,95 @@
-#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
-	handle = TaskManagement::getCurrentTaskHandle();
-	if(handle == nullptr) {
-		sif::error << "Could not retrieve task handle. Please ensure the"
-				"constructor was called inside a task." << std::endl;
-	}
-	xTaskNotifyGive(handle);
-}
-
-BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
-	// Clear notification value on destruction.
-	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
-}
-
-ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
-        uint32_t timeoutMs) {
-    TickType_t timeout = 0;
-    if(timeoutType == TimeoutType::POLLING) {
-        timeout = 0;
-    }
-    else if(timeoutType == TimeoutType::WAITING){
-        timeout = pdMS_TO_TICKS(timeoutMs);
-    }
-    else {
-        timeout = portMAX_DELAY;
-    }
-	return acquireWithTickTimeout(timeoutType, timeout);
-}
-
-ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
-        TimeoutType timeoutType, TickType_t timeoutTicks) {
-	BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
-	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	}
-}
-
-ReturnValue_t BinarySemaphoreUsingTask::release() {
-	return release(this->handle);
-}
-
-ReturnValue_t BinarySemaphoreUsingTask::release(
-		TaskHandle_t taskHandle) {
-	if(getSemaphoreCounter(taskHandle) == 1) {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
-	BaseType_t returncode = xTaskNotifyGive(taskHandle);
-	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		// This should never happen.
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
-	return handle;
-}
-
-uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
-	return getSemaphoreCounter(this->handle);
-}
-
-uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
-		TaskHandle_t taskHandle) {
-	uint32_t notificationValue;
-	xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
-	return notificationValue;
-}
-
-// Be careful with the stack size here. This is called from an ISR!
-ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
-		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
-	if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
-	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
-		TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
-	uint32_t notificationValue = 0;
-	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
-			higherPriorityTaskWoken);
-	return notificationValue;
-}
+#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
+	handle = TaskManagement::getCurrentTaskHandle();
+	if(handle == nullptr) {
+		sif::error << "Could not retrieve task handle. Please ensure the"
+				"constructor was called inside a task." << std::endl;
+	}
+	xTaskNotifyGive(handle);
+}
+
+BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
+	// Clear notification value on destruction.
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+    if(timeoutType == TimeoutType::POLLING) {
+        timeout = 0;
+    }
+    else if(timeoutType == TimeoutType::WAITING){
+        timeout = pdMS_TO_TICKS(timeoutMs);
+    }
+    else {
+        timeout = portMAX_DELAY;
+    }
+	return acquireWithTickTimeout(timeoutType, timeout);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
+        TimeoutType timeoutType, TickType_t timeoutTicks) {
+	BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::release() {
+	return release(this->handle);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::release(
+		TaskHandle_t taskHandle) {
+	if(getSemaphoreCounter(taskHandle) == 1) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	BaseType_t returncode = xTaskNotifyGive(taskHandle);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		// This should never happen.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
+	return handle;
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
+	return getSemaphoreCounter(this->handle);
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
+		TaskHandle_t taskHandle) {
+	uint32_t notificationValue;
+	xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+// Be careful with the stack size here. This is called from an ISR!
+ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
+		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
+	if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
+		TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue = 0;
+	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
+			higherPriorityTaskWoken);
+	return notificationValue;
+}
diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index 2d2cf159..f3c0b0ea 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -1,76 +1,76 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
-
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../tasks/SemaphoreIF.h"
-
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-
-/**
- * @brief 	Binary Semaphore implementation using the task notification value.
- * 			The notification value should therefore not be used
- * 			for other purposes.
- * @details
- * Additional information: https://www.freertos.org/RTOS-task-notifications.html
- * and general semaphore documentation.
- */
-class BinarySemaphoreUsingTask: public SemaphoreIF,
-		public HasReturnvaluesIF {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
-
-	//! @brief Default ctor
-	BinarySemaphoreUsingTask();
-	//! @brief Default dtor
-	virtual~ BinarySemaphoreUsingTask();
-
-	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-	        uint32_t timeoutMs = portMAX_DELAY) override;
-	ReturnValue_t release() override;
-	uint8_t getSemaphoreCounter() const override;
-	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
-	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
-			BaseType_t* higherPriorityTaskWoken);
-
-	/**
-	 * Same as acquire() with timeout in FreeRTOS ticks.
-	 * @param timeoutTicks
-	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED on failure
-	 */
-	ReturnValue_t acquireWithTickTimeout(
-	        TimeoutType timeoutType = TimeoutType::BLOCKING,
-	        TickType_t timeoutTicks = portMAX_DELAY);
-
-	/**
-	 * Get handle to the task related to the semaphore.
-	 * @return
-	 */
-	TaskHandle_t getTaskHandle();
-
-	 /**
-	 * Wrapper function to give back semaphore from handle
-	 * @param semaphore
-	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED on failure
-	 */
-	static ReturnValue_t release(TaskHandle_t taskToNotify);
-
-	/**
-	 * Wrapper function to give back semaphore from handle when called from an ISR
-	 * @param semaphore
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch should be requested
-	 * from an ISR if this is the case (see TaskManagement functions)
-	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED on failure
-	 */
-	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
-				BaseType_t * higherPriorityTaskWoken);
-
-protected:
-	TaskHandle_t handle;
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+/**
+ * @brief 	Binary Semaphore implementation using the task notification value.
+ * 			The notification value should therefore not be used
+ * 			for other purposes.
+ * @details
+ * Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ * and general semaphore documentation.
+ */
+class BinarySemaphoreUsingTask: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphoreUsingTask();
+	//! @brief Default dtor
+	virtual~ BinarySemaphoreUsingTask();
+
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        uint32_t timeoutMs = portMAX_DELAY) override;
+	ReturnValue_t release() override;
+	uint8_t getSemaphoreCounter() const override;
+	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
+			BaseType_t* higherPriorityTaskWoken);
+
+	/**
+	 * Same as acquire() with timeout in FreeRTOS ticks.
+	 * @param timeoutTicks
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	ReturnValue_t acquireWithTickTimeout(
+	        TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Get handle to the task related to the semaphore.
+	 * @return
+	 */
+	TaskHandle_t getTaskHandle();
+
+	 /**
+	 * Wrapper function to give back semaphore from handle
+	 * @param semaphore
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
+
+	/**
+	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * @param semaphore
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+				BaseType_t * higherPriorityTaskWoken);
+
+protected:
+	TaskHandle_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp
index f1c78473..8cc3c495 100644
--- a/osal/FreeRTOS/BinarySemaphore.cpp
+++ b/osal/FreeRTOS/BinarySemaphore.cpp
@@ -1,108 +1,108 @@
-#include "../../osal/FreeRTOS/BinarySemaphore.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-BinarySemaphore::BinarySemaphore() {
-	handle = xSemaphoreCreateBinary();
-	if(handle == nullptr) {
-		sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
-	}
-	// Initiated semaphore must be given before it can be taken.
-	xSemaphoreGive(handle);
-}
-
-BinarySemaphore::~BinarySemaphore() {
-	vSemaphoreDelete(handle);
-}
-
-BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
-    handle = xSemaphoreCreateBinary();
-    if(handle == nullptr) {
-        sif::error << "Binary semaphore creation failure" << std::endl;
-    }
-    xSemaphoreGive(handle);
-}
-
-BinarySemaphore& BinarySemaphore::operator =(
-        BinarySemaphore&& s) {
-    if(&s != this) {
-        handle = xSemaphoreCreateBinary();
-        if(handle == nullptr) {
-            sif::error << "Binary semaphore creation failure" << std::endl;
-        }
-        xSemaphoreGive(handle);
-    }
-    return *this;
-}
-
-ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
-        uint32_t timeoutMs) {
-    TickType_t timeout = 0;
-	if(timeoutType == TimeoutType::POLLING) {
-	    timeout = 0;
-	}
-	else if(timeoutType == TimeoutType::WAITING){
-	    timeout = pdMS_TO_TICKS(timeoutMs);
-	}
-	else {
-	    timeout = portMAX_DELAY;
-	}
-	return acquireWithTickTimeout(timeoutType, timeout);
-}
-
-ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
-        TickType_t timeoutTicks) {
-	if(handle == nullptr) {
-		return SemaphoreIF::SEMAPHORE_INVALID;
-	}
-
-	BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
-	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	}
-}
-
-ReturnValue_t BinarySemaphore::release() {
-	return release(handle);
-}
-
-ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
-	if (semaphore == nullptr) {
-		return SemaphoreIF::SEMAPHORE_INVALID;
-	}
-	BaseType_t returncode = xSemaphoreGive(semaphore);
-	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
-}
-
-uint8_t BinarySemaphore::getSemaphoreCounter() const {
-	return uxSemaphoreGetCount(handle);
-}
-
-SemaphoreHandle_t BinarySemaphore::getSemaphore() {
-	return handle;
-}
-
-
-// Be careful with the stack size here. This is called from an ISR!
-ReturnValue_t BinarySemaphore::releaseFromISR(
-		SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
-	if (semaphore == nullptr) {
-		return SemaphoreIF::SEMAPHORE_INVALID;
-	}
-	BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
-			higherPriorityTaskWoken);
-	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
-}
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+BinarySemaphore::BinarySemaphore() {
+	handle = xSemaphoreCreateBinary();
+	if(handle == nullptr) {
+		sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
+	}
+	// Initiated semaphore must be given before it can be taken.
+	xSemaphoreGive(handle);
+}
+
+BinarySemaphore::~BinarySemaphore() {
+	vSemaphoreDelete(handle);
+}
+
+BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
+    handle = xSemaphoreCreateBinary();
+    if(handle == nullptr) {
+        sif::error << "Binary semaphore creation failure" << std::endl;
+    }
+    xSemaphoreGive(handle);
+}
+
+BinarySemaphore& BinarySemaphore::operator =(
+        BinarySemaphore&& s) {
+    if(&s != this) {
+        handle = xSemaphoreCreateBinary();
+        if(handle == nullptr) {
+            sif::error << "Binary semaphore creation failure" << std::endl;
+        }
+        xSemaphoreGive(handle);
+    }
+    return *this;
+}
+
+ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+	if(timeoutType == TimeoutType::POLLING) {
+	    timeout = 0;
+	}
+	else if(timeoutType == TimeoutType::WAITING){
+	    timeout = pdMS_TO_TICKS(timeoutMs);
+	}
+	else {
+	    timeout = portMAX_DELAY;
+	}
+	return acquireWithTickTimeout(timeoutType, timeout);
+}
+
+ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
+        TickType_t timeoutTicks) {
+	if(handle == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+
+	BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t BinarySemaphore::release() {
+	return release(handle);
+}
+
+ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
+	if (semaphore == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+	BaseType_t returncode = xSemaphoreGive(semaphore);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter() const {
+	return uxSemaphoreGetCount(handle);
+}
+
+SemaphoreHandle_t BinarySemaphore::getSemaphore() {
+	return handle;
+}
+
+
+// Be careful with the stack size here. This is called from an ISR!
+ReturnValue_t BinarySemaphore::releaseFromISR(
+		SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
+	if (semaphore == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+	BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
+			higherPriorityTaskWoken);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+}
diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h
index 5a32088a..c6cedc53 100644
--- a/osal/FreeRTOS/BinarySemaphore.h
+++ b/osal/FreeRTOS/BinarySemaphore.h
@@ -1,107 +1,107 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
-#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
-
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../tasks/SemaphoreIF.h"
-
-#include <freertos/FreeRTOS.h>
-#include <freertos/semphr.h>
-
-/**
- * @brief 	OS Tool to achieve synchronization of between tasks or between
- * 			task and ISR. The default semaphore implementation creates a
- * 			binary semaphore, which can only be taken once.
- * @details
- * Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
- *
- * Please note that if the semaphore implementation is only related to
- * the synchronization of one task, the new task notifications can be used,
- * also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
- * These use the task notification value instead of a queue and are
- * faster and more efficient.
- *
- * @author 	R. Mueller
- * @ingroup osal
- */
-class BinarySemaphore: public SemaphoreIF,
-		public HasReturnvaluesIF {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
-
-	//! @brief Default ctor
-	BinarySemaphore();
-	//! @brief Copy ctor, deleted explicitely.
-	BinarySemaphore(const BinarySemaphore&) = delete;
-	//! @brief Copy assignment, deleted explicitely.
-	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
-	//! @brief Move ctor
-	BinarySemaphore (BinarySemaphore &&);
-	//! @brief Move assignment
-	BinarySemaphore & operator=(BinarySemaphore &&);
-	//! @brief Destructor
-	virtual ~BinarySemaphore();
-
-	uint8_t getSemaphoreCounter() const override;
-
-	/**
-	 * Take the binary semaphore.
-	 * If the semaphore has already been taken, the task will be blocked
-	 * for a maximum of #timeoutMs or until the semaphore is given back,
-	 * for example by an ISR or another task.
-	 * @param timeoutMs
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
-	ReturnValue_t acquire(TimeoutType timeoutType =
-            TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
-
-	/**
-	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
-	 * @param timeoutTicks
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
-	ReturnValue_t  acquireWithTickTimeout(TimeoutType timeoutType =
-            TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
-
-	/**
-	 * Release the binary semaphore.
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
-	 *         	already available.
-	 */
-	ReturnValue_t release() override;
-
-	/**
-	 * Get Handle to the semaphore.
-	 * @return
-	 */
-	SemaphoreHandle_t getSemaphore();
-
-	 /**
-	 * Wrapper function to give back semaphore from handle
-	 * @param semaphore
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
-	 *         	already available.
-	 */
-	static ReturnValue_t release(SemaphoreHandle_t semaphore);
-
-	/**
-	 * Wrapper function to give back semaphore from handle when called from an ISR
-	 * @param semaphore
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch from an ISR should
-	 * then be requested (see TaskManagement functions)
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
-	 *         	already available.
-	 */
-	static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
-				BaseType_t * higherPriorityTaskWoken);
-
-protected:
-	SemaphoreHandle_t handle;
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+
+/**
+ * @brief 	OS Tool to achieve synchronization of between tasks or between
+ * 			task and ISR. The default semaphore implementation creates a
+ * 			binary semaphore, which can only be taken once.
+ * @details
+ * Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
+ *
+ * Please note that if the semaphore implementation is only related to
+ * the synchronization of one task, the new task notifications can be used,
+ * also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
+ * These use the task notification value instead of a queue and are
+ * faster and more efficient.
+ *
+ * @author 	R. Mueller
+ * @ingroup osal
+ */
+class BinarySemaphore: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphore();
+	//! @brief Copy ctor, deleted explicitely.
+	BinarySemaphore(const BinarySemaphore&) = delete;
+	//! @brief Copy assignment, deleted explicitely.
+	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
+	//! @brief Move ctor
+	BinarySemaphore (BinarySemaphore &&);
+	//! @brief Move assignment
+	BinarySemaphore & operator=(BinarySemaphore &&);
+	//! @brief Destructor
+	virtual ~BinarySemaphore();
+
+	uint8_t getSemaphoreCounter() const override;
+
+	/**
+	 * Take the binary semaphore.
+	 * If the semaphore has already been taken, the task will be blocked
+	 * for a maximum of #timeoutMs or until the semaphore is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
+
+	/**
+	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
+	 * @param timeoutTicks
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t  acquireWithTickTimeout(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Release the binary semaphore.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	ReturnValue_t release() override;
+
+	/**
+	 * Get Handle to the semaphore.
+	 * @return
+	 */
+	SemaphoreHandle_t getSemaphore();
+
+	 /**
+	 * Wrapper function to give back semaphore from handle
+	 * @param semaphore
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	static ReturnValue_t release(SemaphoreHandle_t semaphore);
+
+	/**
+	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * @param semaphore
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch from an ISR should
+	 * then be requested (see TaskManagement functions)
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
+				BaseType_t * higherPriorityTaskWoken);
+
+protected:
+	SemaphoreHandle_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
index e66671ac..a47341bc 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
@@ -1,114 +1,114 @@
-#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
-		uint8_t initCount): maxCount(maxCount) {
-	if(initCount > maxCount) {
-		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
-				"intial cout. Setting initial count to max count." << std::endl;
-		initCount = maxCount;
-	}
-
-	handle = TaskManagement::getCurrentTaskHandle();
-	if(handle == nullptr) {
-		sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
-				"handle. Please ensure the constructor was called inside a "
-				"task." << std::endl;
-	}
-
-	uint32_t oldNotificationValue;
-	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
-			&oldNotificationValue);
-	if(oldNotificationValue != 0) {
-		sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
-				"current notification value is not 0. Please ensure the "
-				"notification value is not used for other purposes!" << std::endl;
-	}
-	for(int i = 0; i < initCount; i++) {
-		xTaskNotifyGive(handle);
-	}
-}
-
-CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
-	// Clear notification value on destruction.
-	// If this is not desired, don't call the destructor
-	// (or implement a boolean which disables the reset)
-	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
-}
-
-ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
-        uint32_t timeoutMs) {
-    TickType_t timeout = 0;
-    if(timeoutType == TimeoutType::POLLING) {
-        timeout = 0;
-    }
-    else if(timeoutType == TimeoutType::WAITING){
-        timeout = pdMS_TO_TICKS(timeoutMs);
-    }
-    else {
-        timeout = portMAX_DELAY;
-    }
-    return acquireWithTickTimeout(timeoutType, timeout);
-
-}
-
-ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
-        TimeoutType timeoutType, TickType_t timeoutTicks) {
-	// Decrement notfication value without resetting it.
-	BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
-	if (getSemaphoreCounter() == oldCount - 1) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	}
-}
-
-ReturnValue_t CountingSemaphoreUsingTask::release() {
-	if(getSemaphoreCounter() == maxCount) {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
-	return release(handle);
-}
-
-ReturnValue_t CountingSemaphoreUsingTask::release(
-		TaskHandle_t taskToNotify) {
-	BaseType_t returncode = xTaskNotifyGive(taskToNotify);
-	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		// This should never happen.
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-
-uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
-	uint32_t notificationValue = 0;
-	xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
-	return notificationValue;
-}
-
-TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
-	return handle;
-}
-
-ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
-		TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
-	vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
-		TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
-	uint32_t notificationValue;
-	xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
-			higherPriorityTaskWoken);
-	return notificationValue;
-}
-
-uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
-	return maxCount;
-}
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
+		uint8_t initCount): maxCount(maxCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	handle = TaskManagement::getCurrentTaskHandle();
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
+				"handle. Please ensure the constructor was called inside a "
+				"task." << std::endl;
+	}
+
+	uint32_t oldNotificationValue;
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
+			&oldNotificationValue);
+	if(oldNotificationValue != 0) {
+		sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
+				"current notification value is not 0. Please ensure the "
+				"notification value is not used for other purposes!" << std::endl;
+	}
+	for(int i = 0; i < initCount; i++) {
+		xTaskNotifyGive(handle);
+	}
+}
+
+CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
+	// Clear notification value on destruction.
+	// If this is not desired, don't call the destructor
+	// (or implement a boolean which disables the reset)
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+    if(timeoutType == TimeoutType::POLLING) {
+        timeout = 0;
+    }
+    else if(timeoutType == TimeoutType::WAITING){
+        timeout = pdMS_TO_TICKS(timeoutMs);
+    }
+    else {
+        timeout = portMAX_DELAY;
+    }
+    return acquireWithTickTimeout(timeoutType, timeout);
+
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
+        TimeoutType timeoutType, TickType_t timeoutTicks) {
+	// Decrement notfication value without resetting it.
+	BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
+	if (getSemaphoreCounter() == oldCount - 1) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::release() {
+	if(getSemaphoreCounter() == maxCount) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	return release(handle);
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::release(
+		TaskHandle_t taskToNotify) {
+	BaseType_t returncode = xTaskNotifyGive(taskToNotify);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		// This should never happen.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
+	uint32_t notificationValue = 0;
+	xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
+	return handle;
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
+		TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
+	vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
+		TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue;
+	xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
+			higherPriorityTaskWoken);
+	return notificationValue;
+}
+
+uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
+	return maxCount;
+}
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h
index e3733382..8977258c 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.h
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.h
@@ -1,102 +1,102 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
-
-#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
-#include "../../tasks/SemaphoreIF.h"
-
-extern "C" {
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-}
-
-/**
- * @brief 	Couting Semaphore implementation which uses the notification value
- * 			of the task. The notification value should therefore not be used
- * 			for other purposes.
- * @details
- *  Additional information: https://www.freertos.org/RTOS-task-notifications.html
- *  and general semaphore documentation.
- */
-class CountingSemaphoreUsingTask: public SemaphoreIF {
-public:
-	CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
-	virtual ~CountingSemaphoreUsingTask();
-
-	/**
-	 * Acquire the counting semaphore.
-	 * If no semaphores are available, the task will be blocked
-	 * for a maximum of #timeoutMs or until one is given back,
-	 * for example by an ISR or another task.
-	 * @param timeoutMs
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
-	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-	        uint32_t timeoutMs = portMAX_DELAY) override;
-
-	/**
-	 * Release a semaphore, increasing the number of available counting
-	 * semaphores up to the #maxCount value.
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
-	 *         	already available.
-	 */
-	ReturnValue_t release() override;
-
-	uint8_t getSemaphoreCounter() const override;
-	/**
-	 * Get the semaphore counter from an ISR.
-	 * @param task
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch should be requested
-	 * from an ISR if this is the case (see TaskManagement functions)
-	 * @return
-	 */
-	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
-			BaseType_t* higherPriorityTaskWoken);
-
-	/**
-	 * Acquire with a timeout value in ticks
-	 * @param timeoutTicks
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
-	ReturnValue_t acquireWithTickTimeout(
-	        TimeoutType timeoutType = TimeoutType::BLOCKING,
-			TickType_t timeoutTicks = portMAX_DELAY);
-
-	/**
-	 * Get handle to the task related to the semaphore.
-	 * @return
-	 */
-	TaskHandle_t getTaskHandle();
-
-	/**
-	 * Release semaphore of task by supplying task handle
-	 * @param taskToNotify
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
-	 *         	already available.
-	 */
-	static ReturnValue_t release(TaskHandle_t taskToNotify);
-	/**
-	 * Release seamphore of a task from an ISR.
-	 * @param taskToNotify
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch should be requested
-	 * from an ISR if this is the case (see TaskManagement functions)
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
-	 *         	already available.
-	 */
-	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
-			BaseType_t* higherPriorityTaskWoken);
-
-	uint8_t getMaxCount() const;
-
-private:
-	TaskHandle_t handle;
-	const uint8_t maxCount;
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../tasks/SemaphoreIF.h"
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+
+/**
+ * @brief 	Couting Semaphore implementation which uses the notification value
+ * 			of the task. The notification value should therefore not be used
+ * 			for other purposes.
+ * @details
+ *  Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ *  and general semaphore documentation.
+ */
+class CountingSemaphoreUsingTask: public SemaphoreIF {
+public:
+	CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
+	virtual ~CountingSemaphoreUsingTask();
+
+	/**
+	 * Acquire the counting semaphore.
+	 * If no semaphores are available, the task will be blocked
+	 * for a maximum of #timeoutMs or until one is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        uint32_t timeoutMs = portMAX_DELAY) override;
+
+	/**
+	 * Release a semaphore, increasing the number of available counting
+	 * semaphores up to the #maxCount value.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	ReturnValue_t release() override;
+
+	uint8_t getSemaphoreCounter() const override;
+	/**
+	 * Get the semaphore counter from an ISR.
+	 * @param task
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return
+	 */
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
+			BaseType_t* higherPriorityTaskWoken);
+
+	/**
+	 * Acquire with a timeout value in ticks
+	 * @param timeoutTicks
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquireWithTickTimeout(
+	        TimeoutType timeoutType = TimeoutType::BLOCKING,
+			TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Get handle to the task related to the semaphore.
+	 * @return
+	 */
+	TaskHandle_t getTaskHandle();
+
+	/**
+	 * Release semaphore of task by supplying task handle
+	 * @param taskToNotify
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
+	/**
+	 * Release seamphore of a task from an ISR.
+	 * @param taskToNotify
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+			BaseType_t* higherPriorityTaskWoken);
+
+	uint8_t getMaxCount() const;
+
+private:
+	TaskHandle_t handle;
+	const uint8_t maxCount;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/CountingSemaphore.cpp b/osal/FreeRTOS/CountingSemaphore.cpp
index 0b218e54..d1310a6a 100644
--- a/osal/FreeRTOS/CountingSemaphore.cpp
+++ b/osal/FreeRTOS/CountingSemaphore.cpp
@@ -1,43 +1,43 @@
-#include "../../osal/FreeRTOS/CountingSemaphore.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
-
-#include <freertos/semphr.h>
-
-// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
-// free FreeRTOSConfig.h file.
-CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
-		maxCount(maxCount), initCount(initCount) {
-	if(initCount > maxCount) {
-		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
-				"intial cout. Setting initial count to max count." << std::endl;
-		initCount = maxCount;
-	}
-
-	handle = xSemaphoreCreateCounting(maxCount, initCount);
-	if(handle == nullptr) {
-		sif::error << "CountingSemaphore: Creation failure" << std::endl;
-	}
-}
-
-CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
-		maxCount(other.maxCount), initCount(other.initCount) {
-	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
-	if(handle == nullptr) {
-		sif::error << "CountingSemaphore: Creation failure" << std::endl;
-	}
-}
-
-CountingSemaphore& CountingSemaphore::operator =(
-		CountingSemaphore&& other) {
-	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
-	if(handle == nullptr) {
-		sif::error << "CountingSemaphore: Creation failure" << std::endl;
-	}
-	return * this;
-}
-
-
-uint8_t CountingSemaphore::getMaxCount() const {
-	return maxCount;
-}
+#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+#include <freertos/semphr.h>
+
+// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
+// free FreeRTOSConfig.h file.
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+		maxCount(maxCount), initCount(initCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	handle = xSemaphoreCreateCounting(maxCount, initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+}
+
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+		maxCount(other.maxCount), initCount(other.initCount) {
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+}
+
+CountingSemaphore& CountingSemaphore::operator =(
+		CountingSemaphore&& other) {
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+	return * this;
+}
+
+
+uint8_t CountingSemaphore::getMaxCount() const {
+	return maxCount;
+}
diff --git a/osal/FreeRTOS/CountingSemaphore.h b/osal/FreeRTOS/CountingSemaphore.h
index 9432ed81..ae2f62ae 100644
--- a/osal/FreeRTOS/CountingSemaphore.h
+++ b/osal/FreeRTOS/CountingSemaphore.h
@@ -1,34 +1,34 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
-#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
-#include "../../osal/FreeRTOS/BinarySemaphore.h"
-
-/**
- * @brief 	Counting semaphores, which can be acquire more than once.
- * @details
- * See: https://www.freertos.org/CreateCounting.html
- * API of counting semaphores is almost identical to binary semaphores,
- * so we just inherit from binary semaphore and provide the respective
- * constructors.
- */
-class CountingSemaphore: public BinarySemaphore {
-public:
-	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
-	//! @brief Copy ctor, disabled
-	CountingSemaphore(const CountingSemaphore&) = delete;
-	//! @brief Copy assignment, disabled
-	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
-	//! @brief Move ctor
-	CountingSemaphore (CountingSemaphore &&);
-	//! @brief Move assignment
-	CountingSemaphore & operator=(CountingSemaphore &&);
-
-	/* Same API as binary semaphore otherwise. acquire() can be called
-	 * until there are not semaphores left and release() can be called
-	 * until maxCount is reached. */
-	uint8_t getMaxCount() const;
-private:
-	const uint8_t maxCount;
-	uint8_t initCount = 0;
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+
+/**
+ * @brief 	Counting semaphores, which can be acquire more than once.
+ * @details
+ * See: https://www.freertos.org/CreateCounting.html
+ * API of counting semaphores is almost identical to binary semaphores,
+ * so we just inherit from binary semaphore and provide the respective
+ * constructors.
+ */
+class CountingSemaphore: public BinarySemaphore {
+public:
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	//! @brief Copy ctor, disabled
+	CountingSemaphore(const CountingSemaphore&) = delete;
+	//! @brief Copy assignment, disabled
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	//! @brief Move ctor
+	CountingSemaphore (CountingSemaphore &&);
+	//! @brief Move assignment
+	CountingSemaphore & operator=(CountingSemaphore &&);
+
+	/* Same API as binary semaphore otherwise. acquire() can be called
+	 * until there are not semaphores left and release() can be called
+	 * until maxCount is reached. */
+	uint8_t getMaxCount() const;
+private:
+	const uint8_t maxCount;
+	uint8_t initCount = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
diff --git a/osal/FreeRTOS/SemaphoreFactory.cpp b/osal/FreeRTOS/SemaphoreFactory.cpp
index 8575cf4a..beb0d096 100644
--- a/osal/FreeRTOS/SemaphoreFactory.cpp
+++ b/osal/FreeRTOS/SemaphoreFactory.cpp
@@ -1,59 +1,59 @@
-#include "../../osal/FreeRTOS/BinarySemaphore.h"
-#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
-#include "../../osal/FreeRTOS/CountingSemaphore.h"
-#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
-#include "../../tasks/SemaphoreFactory.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-
-static const uint32_t USE_REGULAR_SEMAPHORES = 0;
-static const uint32_t USE_TASK_NOTIFICATIONS = 1;
-
-SemaphoreFactory::SemaphoreFactory() {
-}
-
-SemaphoreFactory::~SemaphoreFactory() {
-	delete factoryInstance;
-}
-
-SemaphoreFactory* SemaphoreFactory::instance() {
-	if (factoryInstance == nullptr){
-		factoryInstance = new SemaphoreFactory();
-	}
-	return SemaphoreFactory::factoryInstance;
-}
-
-SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
-	if(argument == USE_REGULAR_SEMAPHORES) {
-		return new BinarySemaphore();
-	}
-	else if(argument == USE_TASK_NOTIFICATIONS) {
-		return new BinarySemaphoreUsingTask();
-	}
-	else {
-		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
-				"binary semaphore" << std::endl;
-		return new BinarySemaphore();
-	}
-}
-
-SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
-		uint8_t initCount, uint32_t argument) {
-	if(argument == USE_REGULAR_SEMAPHORES) {
-		return new CountingSemaphore(maxCount, initCount);
-	}
-	else if(argument == USE_TASK_NOTIFICATIONS) {
-		return new CountingSemaphoreUsingTask(maxCount, initCount);
-	}
-	else {
-		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
-						"binary semaphore" << std::endl;
-		return new CountingSemaphore(maxCount, initCount);
-	}
-
-}
-
-void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
-	delete semaphore;
-}
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../tasks/SemaphoreFactory.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+static const uint32_t USE_REGULAR_SEMAPHORES = 0;
+static const uint32_t USE_TASK_NOTIFICATIONS = 1;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
+		return new BinarySemaphore();
+	}
+	else if(argument == USE_TASK_NOTIFICATIONS) {
+		return new BinarySemaphoreUsingTask();
+	}
+	else {
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+				"binary semaphore" << std::endl;
+		return new BinarySemaphore();
+	}
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
+		uint8_t initCount, uint32_t argument) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
+		return new CountingSemaphore(maxCount, initCount);
+	}
+	else if(argument == USE_TASK_NOTIFICATIONS) {
+		return new CountingSemaphoreUsingTask(maxCount, initCount);
+	}
+	else {
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+						"binary semaphore" << std::endl;
+		return new CountingSemaphore(maxCount, initCount);
+	}
+
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}
diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index 16682d36..b77f12a9 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -1,24 +1,24 @@
-#include "../../osal/FreeRTOS/TaskManagement.h"
-
-void TaskManagement::vRequestContextSwitchFromTask() {
-	vTaskDelay(0);
-}
-
-void TaskManagement::requestContextSwitch(
-		CallContext callContext = CallContext::TASK) {
-	if(callContext == CallContext::ISR) {
-		// This function depends on the partmacro.h definition for the specific device
-		vRequestContextSwitchFromISR();
-	} else {
-		vRequestContextSwitchFromTask();
-	}
-}
-
-TaskHandle_t TaskManagement::getCurrentTaskHandle() {
-	return xTaskGetCurrentTaskHandle();
-}
-
-size_t TaskManagement::getTaskStackHighWatermark(
-        TaskHandle_t task) {
-	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+void TaskManagement::vRequestContextSwitchFromTask() {
+	vTaskDelay(0);
+}
+
+void TaskManagement::requestContextSwitch(
+		CallContext callContext = CallContext::TASK) {
+	if(callContext == CallContext::ISR) {
+		// This function depends on the partmacro.h definition for the specific device
+		vRequestContextSwitchFromISR();
+	} else {
+		vRequestContextSwitchFromTask();
+	}
+}
+
+TaskHandle_t TaskManagement::getCurrentTaskHandle() {
+	return xTaskGetCurrentTaskHandle();
+}
+
+size_t TaskManagement::getTaskStackHighWatermark(
+        TaskHandle_t task) {
+	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 43003d76..4b7fe3eb 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -1,64 +1,64 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
-#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
-
-#include "../../returnvalues/HasReturnvaluesIF.h"
-
-extern "C" {
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-}
-#include <cstdint>
-
-/**
- * Architecture dependant portmacro.h function call.
- * Should be implemented in bsp.
- */
-extern void vRequestContextSwitchFromISR();
-
-/*!
- * Used by functions to tell if they are being called from
- * within an ISR or from a regular task. This is required because FreeRTOS
- * has different functions for handling semaphores and messages from within
- * an ISR and task.
- */
-enum class CallContext {
-	TASK = 0x00,//!< task_context
-	ISR = 0xFF  //!< isr_context
-};
-
-
-class TaskManagement {
-public:
-	/**
-	 * @brief	In this function, a function dependant on the portmacro.h header
-	 * 			function calls to request a context switch can be specified.
-	 * This can be used if sending to the queue from an ISR caused a task
-	 * to unblock and a context switch is required.
-	 */
-	static void requestContextSwitch(CallContext callContext);
-
-	/**
-	 * If task preemption in FreeRTOS is disabled, a context switch
-	 * can be requested manually by calling this function.
-	 */
-	static void vRequestContextSwitchFromTask(void);
-
-	/**
-	 * @return The current task handle
-	 */
-	static TaskHandle_t getCurrentTaskHandle();
-
-	/**
-	 * Get returns the minimum amount of remaining stack space in words
-	 * that was a available to the task since the task started executing.
-	 * Please note that the actual value in bytes depends
-	 * on the stack depth type.
-	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
-	 * @return Smallest value of stack remaining since the task was started in
-	 * 		   words.
-	 */
-	static size_t getTaskStackHighWatermark(
-	        TaskHandle_t task = nullptr);
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+#include <cstdint>
+
+/**
+ * Architecture dependant portmacro.h function call.
+ * Should be implemented in bsp.
+ */
+extern void vRequestContextSwitchFromISR();
+
+/*!
+ * Used by functions to tell if they are being called from
+ * within an ISR or from a regular task. This is required because FreeRTOS
+ * has different functions for handling semaphores and messages from within
+ * an ISR and task.
+ */
+enum class CallContext {
+	TASK = 0x00,//!< task_context
+	ISR = 0xFF  //!< isr_context
+};
+
+
+class TaskManagement {
+public:
+	/**
+	 * @brief	In this function, a function dependant on the portmacro.h header
+	 * 			function calls to request a context switch can be specified.
+	 * This can be used if sending to the queue from an ISR caused a task
+	 * to unblock and a context switch is required.
+	 */
+	static void requestContextSwitch(CallContext callContext);
+
+	/**
+	 * If task preemption in FreeRTOS is disabled, a context switch
+	 * can be requested manually by calling this function.
+	 */
+	static void vRequestContextSwitchFromTask(void);
+
+	/**
+	 * @return The current task handle
+	 */
+	static TaskHandle_t getCurrentTaskHandle();
+
+	/**
+	 * Get returns the minimum amount of remaining stack space in words
+	 * that was a available to the task since the task started executing.
+	 * Please note that the actual value in bytes depends
+	 * on the stack depth type.
+	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+	 * @return Smallest value of stack remaining since the task was started in
+	 * 		   words.
+	 */
+	static size_t getTaskStackHighWatermark(
+	        TaskHandle_t task = nullptr);
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */
diff --git a/osal/linux/BinarySemaphore.cpp b/osal/linux/BinarySemaphore.cpp
index 5216ff37..8c0eeae7 100644
--- a/osal/linux/BinarySemaphore.cpp
+++ b/osal/linux/BinarySemaphore.cpp
@@ -1,149 +1,149 @@
-#include "../../osal/linux/BinarySemaphore.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-extern "C" {
-#include <errno.h>
-#include <string.h>
-}
-
-BinarySemaphore::BinarySemaphore() {
-	// Using unnamed semaphores for now
-	initSemaphore();
-}
-
-BinarySemaphore::~BinarySemaphore() {
-	sem_destroy(&handle);
-}
-
-BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
-	initSemaphore();
-}
-
-BinarySemaphore& BinarySemaphore::operator =(
-        BinarySemaphore&& s) {
-	initSemaphore();
-	return * this;
-}
-
-ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
-		 uint32_t timeoutMs) {
-	int result = 0;
-	if(timeoutType == TimeoutType::POLLING) {
-		result = sem_trywait(&handle);
-	}
-	else if(timeoutType == TimeoutType::BLOCKING) {
-	    result = sem_wait(&handle);
-	}
-	else if(timeoutType == TimeoutType::WAITING){
-		timespec timeOut;
-		clock_gettime(CLOCK_REALTIME, &timeOut);
-		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
-		nseconds += timeoutMs * 1000000;
-		timeOut.tv_sec = nseconds / 1000000000;
-		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
-	    result = sem_timedwait(&handle, &timeOut);
-	    if(result != 0 and errno == EINVAL) {
-	    	sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
-	    			<< std::endl;
-	    }
-	}
-	if(result == 0) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	switch(errno) {
-	case(EAGAIN):
-		// Operation could not be performed without blocking (for sem_trywait)
-	case(ETIMEDOUT):
-		// Semaphore is 0
-		return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	case(EINVAL):
-		// Semaphore invalid
-		return SemaphoreIF::SEMAPHORE_INVALID;
-	case(EINTR):
-		// Call was interrupted by signal handler
-		sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
-				"Code " << strerror(errno) << std::endl;
-		/* No break */
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t BinarySemaphore::release() {
-	return BinarySemaphore::release(&this->handle);
-}
-
-ReturnValue_t BinarySemaphore::release(sem_t *handle) {
-	ReturnValue_t countResult = checkCount(handle, 1);
-	if(countResult != HasReturnvaluesIF::RETURN_OK) {
-		return countResult;
-	}
-
-	int result = sem_post(handle);
-	if(result == 0) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	switch(errno) {
-	case(EINVAL):
-		// Semaphore invalid
-		return SemaphoreIF::SEMAPHORE_INVALID;
-	case(EOVERFLOW):
-		// SEM_MAX_VALUE overflow. This should never happen
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-uint8_t BinarySemaphore::getSemaphoreCounter() const {
-	// And another ugly cast :-D
-	return getSemaphoreCounter(const_cast<sem_t*>(&this->handle));
-}
-
-uint8_t BinarySemaphore::getSemaphoreCounter(sem_t *handle) {
-	int value = 0;
-	int result = sem_getvalue(handle, &value);
-	if (result == 0) {
-		return value;
-	}
-	else if(result != 0 and errno == EINVAL) {
-		// Could be called from interrupt, use lightweight printf
-		printf("BinarySemaphore::getSemaphoreCounter: Invalid semaphore\n");
-		return 0;
-	}
-	else {
-		// This should never happen.
-		return 0;
-	}
-}
-
-void BinarySemaphore::initSemaphore(uint8_t initCount) {
-	auto result = sem_init(&handle, true, initCount);
-	if(result == -1) {
-		switch(errno) {
-		case(EINVAL):
-			// Value exceeds SEM_VALUE_MAX
-		case(ENOSYS):
-		// System does not support process-shared semaphores
-		sif::error << "BinarySemaphore: Init failed with" << strerror(errno)
-				<< std::endl;
-		}
-	}
-}
-
-ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
-	int value = getSemaphoreCounter(handle);
-	if(value >= maxCount) {
-		if(maxCount == 1 and value > 1) {
-			// Binary Semaphore special case.
-			// This is a config error use lightweight printf is this is called
-			// from an interrupt
-			printf("BinarySemaphore::release: Value of binary semaphore greater"
-					" than 1!\n");
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
+#include "../../osal/linux/BinarySemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+extern "C" {
+#include <errno.h>
+#include <string.h>
+}
+
+BinarySemaphore::BinarySemaphore() {
+	// Using unnamed semaphores for now
+	initSemaphore();
+}
+
+BinarySemaphore::~BinarySemaphore() {
+	sem_destroy(&handle);
+}
+
+BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
+	initSemaphore();
+}
+
+BinarySemaphore& BinarySemaphore::operator =(
+        BinarySemaphore&& s) {
+	initSemaphore();
+	return * this;
+}
+
+ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
+		 uint32_t timeoutMs) {
+	int result = 0;
+	if(timeoutType == TimeoutType::POLLING) {
+		result = sem_trywait(&handle);
+	}
+	else if(timeoutType == TimeoutType::BLOCKING) {
+	    result = sem_wait(&handle);
+	}
+	else if(timeoutType == TimeoutType::WAITING){
+		timespec timeOut;
+		clock_gettime(CLOCK_REALTIME, &timeOut);
+		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
+		nseconds += timeoutMs * 1000000;
+		timeOut.tv_sec = nseconds / 1000000000;
+		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
+	    result = sem_timedwait(&handle, &timeOut);
+	    if(result != 0 and errno == EINVAL) {
+	    	sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
+	    			<< std::endl;
+	    }
+	}
+	if(result == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	switch(errno) {
+	case(EAGAIN):
+		// Operation could not be performed without blocking (for sem_trywait)
+	case(ETIMEDOUT):
+		// Semaphore is 0
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	case(EINVAL):
+		// Semaphore invalid
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	case(EINTR):
+		// Call was interrupted by signal handler
+		sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
+				"Code " << strerror(errno) << std::endl;
+		/* No break */
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t BinarySemaphore::release() {
+	return BinarySemaphore::release(&this->handle);
+}
+
+ReturnValue_t BinarySemaphore::release(sem_t *handle) {
+	ReturnValue_t countResult = checkCount(handle, 1);
+	if(countResult != HasReturnvaluesIF::RETURN_OK) {
+		return countResult;
+	}
+
+	int result = sem_post(handle);
+	if(result == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	switch(errno) {
+	case(EINVAL):
+		// Semaphore invalid
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	case(EOVERFLOW):
+		// SEM_MAX_VALUE overflow. This should never happen
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter() const {
+	// And another ugly cast :-D
+	return getSemaphoreCounter(const_cast<sem_t*>(&this->handle));
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter(sem_t *handle) {
+	int value = 0;
+	int result = sem_getvalue(handle, &value);
+	if (result == 0) {
+		return value;
+	}
+	else if(result != 0 and errno == EINVAL) {
+		// Could be called from interrupt, use lightweight printf
+		printf("BinarySemaphore::getSemaphoreCounter: Invalid semaphore\n");
+		return 0;
+	}
+	else {
+		// This should never happen.
+		return 0;
+	}
+}
+
+void BinarySemaphore::initSemaphore(uint8_t initCount) {
+	auto result = sem_init(&handle, true, initCount);
+	if(result == -1) {
+		switch(errno) {
+		case(EINVAL):
+			// Value exceeds SEM_VALUE_MAX
+		case(ENOSYS):
+		// System does not support process-shared semaphores
+		sif::error << "BinarySemaphore: Init failed with" << strerror(errno)
+				<< std::endl;
+		}
+	}
+}
+
+ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
+	int value = getSemaphoreCounter(handle);
+	if(value >= maxCount) {
+		if(maxCount == 1 and value > 1) {
+			// Binary Semaphore special case.
+			// This is a config error use lightweight printf is this is called
+			// from an interrupt
+			printf("BinarySemaphore::release: Value of binary semaphore greater"
+					" than 1!\n");
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/osal/linux/BinarySemaphore.h b/osal/linux/BinarySemaphore.h
index 4181de85..e9bb8bb6 100644
--- a/osal/linux/BinarySemaphore.h
+++ b/osal/linux/BinarySemaphore.h
@@ -1,81 +1,81 @@
-#ifndef FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
-#define FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
-
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../tasks/SemaphoreIF.h"
-
-extern "C" {
-#include <semaphore.h>
-}
-
-/**
- * @brief 	OS Tool to achieve synchronization of between tasks or between
- * 			task and ISR. The default semaphore implementation creates a
- * 			binary semaphore, which can only be taken once.
- * @details
- * See: http://www.man7.org/linux/man-pages/man7/sem_overview.7.html
- * @author 	R. Mueller
- * @ingroup osal
- */
-class BinarySemaphore: public SemaphoreIF,
-		public HasReturnvaluesIF {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
-
-	//! @brief Default ctor
-	BinarySemaphore();
-	//! @brief Copy ctor, deleted explicitely.
-	BinarySemaphore(const BinarySemaphore&) = delete;
-	//! @brief Copy assignment, deleted explicitely.
-	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
-	//! @brief Move ctor
-	BinarySemaphore (BinarySemaphore &&);
-	//! @brief Move assignment
-	BinarySemaphore & operator=(BinarySemaphore &&);
-	//! @brief Destructor
-	virtual ~BinarySemaphore();
-
-	void initSemaphore(uint8_t initCount = 1);
-
-	uint8_t getSemaphoreCounter() const override;
-	static uint8_t getSemaphoreCounter(sem_t* handle);
-
-	/**
-	 * Take the binary semaphore.
-	 * If the semaphore has already been taken, the task will be blocked
-	 * for a maximum of #timeoutMs or until the semaphore is given back,
-	 * for example by an ISR or another task.
-	 * @param timeoutMs
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
-	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-			uint32_t timeoutMs = 0) override;
-
-	/**
-	 * Release the binary semaphore.
-	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
-	 *         	already available.
-	 */
-	virtual ReturnValue_t release() override;
-	/**
-	 * This static function can be used to release a semaphore  by providing
-	 * its handle.
-	 * @param handle
-	 * @return
-	 */
-	static ReturnValue_t release(sem_t* handle);
-
-	/** Checks the validity of the semaphore count against a specified
-	 * known maxCount
-	 * @param handle
-	 * @param maxCount
-	 * @return
-	 */
-	static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
-protected:
-	sem_t handle;
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
+#ifndef FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
+
+extern "C" {
+#include <semaphore.h>
+}
+
+/**
+ * @brief 	OS Tool to achieve synchronization of between tasks or between
+ * 			task and ISR. The default semaphore implementation creates a
+ * 			binary semaphore, which can only be taken once.
+ * @details
+ * See: http://www.man7.org/linux/man-pages/man7/sem_overview.7.html
+ * @author 	R. Mueller
+ * @ingroup osal
+ */
+class BinarySemaphore: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphore();
+	//! @brief Copy ctor, deleted explicitely.
+	BinarySemaphore(const BinarySemaphore&) = delete;
+	//! @brief Copy assignment, deleted explicitely.
+	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
+	//! @brief Move ctor
+	BinarySemaphore (BinarySemaphore &&);
+	//! @brief Move assignment
+	BinarySemaphore & operator=(BinarySemaphore &&);
+	//! @brief Destructor
+	virtual ~BinarySemaphore();
+
+	void initSemaphore(uint8_t initCount = 1);
+
+	uint8_t getSemaphoreCounter() const override;
+	static uint8_t getSemaphoreCounter(sem_t* handle);
+
+	/**
+	 * Take the binary semaphore.
+	 * If the semaphore has already been taken, the task will be blocked
+	 * for a maximum of #timeoutMs or until the semaphore is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+			uint32_t timeoutMs = 0) override;
+
+	/**
+	 * Release the binary semaphore.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	virtual ReturnValue_t release() override;
+	/**
+	 * This static function can be used to release a semaphore  by providing
+	 * its handle.
+	 * @param handle
+	 * @return
+	 */
+	static ReturnValue_t release(sem_t* handle);
+
+	/** Checks the validity of the semaphore count against a specified
+	 * known maxCount
+	 * @param handle
+	 * @param maxCount
+	 * @return
+	 */
+	static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
+protected:
+	sem_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
diff --git a/osal/linux/CountingSemaphore.cpp b/osal/linux/CountingSemaphore.cpp
index ef32539b..18339399 100644
--- a/osal/linux/CountingSemaphore.cpp
+++ b/osal/linux/CountingSemaphore.cpp
@@ -1,54 +1,54 @@
-#include "../../osal/linux/CountingSemaphore.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
-		maxCount(maxCount), initCount(initCount) {
-	if(initCount > maxCount) {
-		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
-				"intial cout. Setting initial count to max count." << std::endl;
-		initCount = maxCount;
-	}
-
-	initSemaphore(initCount);
-}
-
-CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
-		maxCount(other.maxCount), initCount(other.initCount) {
-	initSemaphore(initCount);
-}
-
-CountingSemaphore& CountingSemaphore::operator =(
-		CountingSemaphore&& other) {
-	initSemaphore(other.initCount);
-	return * this;
-}
-
-ReturnValue_t CountingSemaphore::release() {
-	ReturnValue_t result = checkCount(&handle, maxCount);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	return CountingSemaphore::release(&this->handle);
-}
-
-ReturnValue_t CountingSemaphore::release(sem_t* handle) {
-	int result = sem_post(handle);
-	if(result == 0) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	switch(errno) {
-	case(EINVAL):
-		// Semaphore invalid
-		return SemaphoreIF::SEMAPHORE_INVALID;
-	case(EOVERFLOW):
-		// SEM_MAX_VALUE overflow. This should never happen
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-uint8_t CountingSemaphore::getMaxCount() const {
-	return maxCount;
-}
-
+#include "../../osal/linux/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+		maxCount(maxCount), initCount(initCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	initSemaphore(initCount);
+}
+
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+		maxCount(other.maxCount), initCount(other.initCount) {
+	initSemaphore(initCount);
+}
+
+CountingSemaphore& CountingSemaphore::operator =(
+		CountingSemaphore&& other) {
+	initSemaphore(other.initCount);
+	return * this;
+}
+
+ReturnValue_t CountingSemaphore::release() {
+	ReturnValue_t result = checkCount(&handle, maxCount);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	return CountingSemaphore::release(&this->handle);
+}
+
+ReturnValue_t CountingSemaphore::release(sem_t* handle) {
+	int result = sem_post(handle);
+	if(result == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	switch(errno) {
+	case(EINVAL):
+		// Semaphore invalid
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	case(EOVERFLOW):
+		// SEM_MAX_VALUE overflow. This should never happen
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+uint8_t CountingSemaphore::getMaxCount() const {
+	return maxCount;
+}
+
diff --git a/osal/linux/CountingSemaphore.h b/osal/linux/CountingSemaphore.h
index afe21a61..e0fbb992 100644
--- a/osal/linux/CountingSemaphore.h
+++ b/osal/linux/CountingSemaphore.h
@@ -1,37 +1,37 @@
-#ifndef FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
-#define FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
-#include "../../osal/linux/BinarySemaphore.h"
-
-/**
- * @brief 	Counting semaphores, which can be acquired more than once.
- * @details
- * See: https://www.freertos.org/CreateCounting.html
- * API of counting semaphores is almost identical to binary semaphores,
- * so we just inherit from binary semaphore and provide the respective
- * constructors.
- */
-class CountingSemaphore: public BinarySemaphore {
-public:
-	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
-	//! @brief Copy ctor, disabled
-	CountingSemaphore(const CountingSemaphore&) = delete;
-	//! @brief Copy assignment, disabled
-	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
-	//! @brief Move ctor
-	CountingSemaphore (CountingSemaphore &&);
-	//! @brief Move assignment
-	CountingSemaphore & operator=(CountingSemaphore &&);
-
-	ReturnValue_t release() override;
-	static ReturnValue_t release(sem_t* sem);
-	/* Same API as binary semaphore otherwise. acquire() can be called
-	 * until there are not semaphores left and release() can be called
-	 * until maxCount is reached. */
-
-	uint8_t getMaxCount() const;
-private:
-	const uint8_t maxCount;
-	uint8_t initCount = 0;
-};
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
+#ifndef FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
+#include "../../osal/linux/BinarySemaphore.h"
+
+/**
+ * @brief 	Counting semaphores, which can be acquired more than once.
+ * @details
+ * See: https://www.freertos.org/CreateCounting.html
+ * API of counting semaphores is almost identical to binary semaphores,
+ * so we just inherit from binary semaphore and provide the respective
+ * constructors.
+ */
+class CountingSemaphore: public BinarySemaphore {
+public:
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	//! @brief Copy ctor, disabled
+	CountingSemaphore(const CountingSemaphore&) = delete;
+	//! @brief Copy assignment, disabled
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	//! @brief Move ctor
+	CountingSemaphore (CountingSemaphore &&);
+	//! @brief Move assignment
+	CountingSemaphore & operator=(CountingSemaphore &&);
+
+	ReturnValue_t release() override;
+	static ReturnValue_t release(sem_t* sem);
+	/* Same API as binary semaphore otherwise. acquire() can be called
+	 * until there are not semaphores left and release() can be called
+	 * until maxCount is reached. */
+
+	uint8_t getMaxCount() const;
+private:
+	const uint8_t maxCount;
+	uint8_t initCount = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
diff --git a/osal/linux/SemaphoreFactory.cpp b/osal/linux/SemaphoreFactory.cpp
index bcb5d16f..e4710933 100644
--- a/osal/linux/SemaphoreFactory.cpp
+++ b/osal/linux/SemaphoreFactory.cpp
@@ -1,33 +1,33 @@
-#include "../../tasks/SemaphoreFactory.h"
-#include "BinarySemaphore.h"
-#include "CountingSemaphore.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-
-SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-
-SemaphoreFactory::SemaphoreFactory() {
-}
-
-SemaphoreFactory::~SemaphoreFactory() {
-	delete factoryInstance;
-}
-
-SemaphoreFactory* SemaphoreFactory::instance() {
-	if (factoryInstance == nullptr){
-		factoryInstance = new SemaphoreFactory();
-	}
-	return SemaphoreFactory::factoryInstance;
-}
-
-SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
-	return new BinarySemaphore();
-}
-
-SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
-		uint8_t initCount, uint32_t arguments) {
-	return new CountingSemaphore(maxCount, initCount);
-}
-
-void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
-	delete semaphore;
-}
+#include "../../tasks/SemaphoreFactory.h"
+#include "BinarySemaphore.h"
+#include "CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	return new BinarySemaphore();
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
+		uint8_t initCount, uint32_t arguments) {
+	return new CountingSemaphore(maxCount, initCount);
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 812cd34b..1c11afd4 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -1,129 +1,129 @@
-#include "../serialize/SerialBufferAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include <cstring>
-
-template<typename count_t>
-SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
-		count_t bufferLength, bool serializeLength) :
-		serializeLength(serializeLength),
-		constBuffer(buffer), buffer(nullptr),
-		bufferLength(bufferLength) {}
-
-template<typename count_t>
-SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
-		count_t bufferLength, bool serializeLength) :
-		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
-		bufferLength(bufferLength) {}
-
-
-template<typename count_t>
-SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
-}
-
-template<typename count_t>
-ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
-		size_t* size, size_t maxSize, Endianness streamEndianness) const {
-	if (serializeLength) {
-		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
-				buffer, size, maxSize, streamEndianness);
-		if(result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-	}
-
-	if (*size + bufferLength > maxSize) {
-		return BUFFER_TOO_SHORT;
-	}
-
-	if (this->constBuffer != nullptr) {
-		std::memcpy(*buffer, this->constBuffer, bufferLength);
-	}
-	else if (this->buffer != nullptr) {
-		// This will propably be never reached, constBuffer should always be
-		// set if non-const buffer is set.
-		std::memcpy(*buffer, this->buffer, bufferLength);
-	}
-	else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	*size += bufferLength;
-	(*buffer) += bufferLength;
-	return HasReturnvaluesIF::RETURN_OK;
-
-}
-
-template<typename count_t>
-size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
-	if (serializeLength) {
-		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
-	} else {
-		return bufferLength;
-	}
-}
-
-template<typename count_t>
-ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
-		size_t* size, Endianness streamEndianness) {
-	if (this->buffer == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	if(serializeLength){
-		count_t lengthField = 0;
-		ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
-				buffer, size, streamEndianness);
-		if(result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-		if(lengthField > bufferLength) {
-			return TOO_MANY_ELEMENTS;
-		}
-		bufferLength = lengthField;
-	}
-
-	if (bufferLength <= *size) {
-		*size -= bufferLength;
-		std::memcpy(this->buffer, *buffer, bufferLength);
-		(*buffer) += bufferLength;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		return STREAM_TOO_SHORT;
-	}
-}
-
-template<typename count_t>
-uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
-	if(buffer == nullptr) {
-		sif::error << "Wrong access function for stored type !"
-				 " Use getConstBuffer()." << std::endl;
-		return nullptr;
-	}
-	return buffer;
-}
-
-template<typename count_t>
-const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
-	if(constBuffer == nullptr) {
-		sif::error << "SerialBufferAdapter::getConstBuffer:"
-				" Buffers are unitialized!" << std::endl;
-		return nullptr;
-	}
-	return constBuffer;
-}
-
-template<typename count_t>
-void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
-		count_t bufferLength) {
-	this->buffer = buffer;
-	this->constBuffer = buffer;
-	this->bufferLength = bufferLength;
-}
-
-
-//forward Template declaration for linker
-template class SerialBufferAdapter<uint8_t>;
-template class SerialBufferAdapter<uint16_t>;
-template class SerialBufferAdapter<uint32_t>;
-template class SerialBufferAdapter<uint64_t>;
-
+#include "../serialize/SerialBufferAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include <cstring>
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
+		count_t bufferLength, bool serializeLength) :
+		serializeLength(serializeLength),
+		constBuffer(buffer), buffer(nullptr),
+		bufferLength(bufferLength) {}
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
+		count_t bufferLength, bool serializeLength) :
+		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
+		bufferLength(bufferLength) {}
+
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
+}
+
+template<typename count_t>
+ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
+	if (serializeLength) {
+		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
+				buffer, size, maxSize, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+
+	if (*size + bufferLength > maxSize) {
+		return BUFFER_TOO_SHORT;
+	}
+
+	if (this->constBuffer != nullptr) {
+		std::memcpy(*buffer, this->constBuffer, bufferLength);
+	}
+	else if (this->buffer != nullptr) {
+		// This will propably be never reached, constBuffer should always be
+		// set if non-const buffer is set.
+		std::memcpy(*buffer, this->buffer, bufferLength);
+	}
+	else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	*size += bufferLength;
+	(*buffer) += bufferLength;
+	return HasReturnvaluesIF::RETURN_OK;
+
+}
+
+template<typename count_t>
+size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
+	if (serializeLength) {
+		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
+	} else {
+		return bufferLength;
+	}
+}
+
+template<typename count_t>
+ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
+		size_t* size, Endianness streamEndianness) {
+	if (this->buffer == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(serializeLength){
+		count_t lengthField = 0;
+		ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
+				buffer, size, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		if(lengthField > bufferLength) {
+			return TOO_MANY_ELEMENTS;
+		}
+		bufferLength = lengthField;
+	}
+
+	if (bufferLength <= *size) {
+		*size -= bufferLength;
+		std::memcpy(this->buffer, *buffer, bufferLength);
+		(*buffer) += bufferLength;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return STREAM_TOO_SHORT;
+	}
+}
+
+template<typename count_t>
+uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
+	if(buffer == nullptr) {
+		sif::error << "Wrong access function for stored type !"
+				 " Use getConstBuffer()." << std::endl;
+		return nullptr;
+	}
+	return buffer;
+}
+
+template<typename count_t>
+const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
+	if(constBuffer == nullptr) {
+		sif::error << "SerialBufferAdapter::getConstBuffer:"
+				" Buffers are unitialized!" << std::endl;
+		return nullptr;
+	}
+	return constBuffer;
+}
+
+template<typename count_t>
+void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
+		count_t bufferLength) {
+	this->buffer = buffer;
+	this->constBuffer = buffer;
+	this->bufferLength = bufferLength;
+}
+
+
+//forward Template declaration for linker
+template class SerialBufferAdapter<uint8_t>;
+template class SerialBufferAdapter<uint16_t>;
+template class SerialBufferAdapter<uint32_t>;
+template class SerialBufferAdapter<uint64_t>;
+
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index c3dfcd8f..9a89e18b 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -1,78 +1,78 @@
-#ifndef SERIALBUFFERADAPTER_H_
-#define SERIALBUFFERADAPTER_H_
-
-#include "../serialize/SerializeIF.h"
-#include "../serialize/SerializeAdapter.h"
-
-/**
- * This adapter provides an interface for SerializeIF to serialize or deserialize
- * buffers with no length header but a known size.
- *
- * Additionally, the buffer length can be serialized too and will be put in
- * front of the serialized buffer.
- *
- * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
- * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
- * Right now, the SerialBufferAdapter must always
- * be initialized with the buffer and size !
- *
- * \ingroup serialize
- */
-template<typename count_t>
-class SerialBufferAdapter: public SerializeIF {
-public:
-
-    /**
-     * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
-     * Type of length can be supplied as template type.
-     * @param buffer
-     * @param bufferLength
-     * @param serializeLength
-     */
-    SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
-            bool serializeLength = false);
-
-    /**
-     * Constructor for non-constant uint8_t buffer.
-     * Length field can be serialized optionally.
-     * Type of length can be supplied as template type.
-     * @param buffer
-     * @param bufferLength
-     * @param serializeLength Length field will be serialized with size count_t
-     */
-    SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
-            bool serializeLength = false);
-
-    virtual ~SerialBufferAdapter();
-
-    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-            size_t maxSize, Endianness streamEndianness) const override;
-
-    virtual size_t getSerializedSize() const override;
-
-    /**
-     * @brief This function deserializes a buffer into the member buffer.
-     * @details
-     * If a length field is present, it is ignored, as the size should have
-     * been set in the constructor. If the size is not known beforehand,
-     * consider using SerialFixedArrayListAdapter instead.
-     * @param buffer [out] Resulting buffer
-     * @param size remaining size to deserialize, should be larger than buffer
-     *        + size field size
-     * @param bigEndian
-     * @return
-     */
-    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-            Endianness streamEndianness) override;
-
-    uint8_t * getBuffer();
-    const uint8_t * getConstBuffer();
-    void setBuffer(uint8_t* buffer, count_t bufferLength);
-private:
-	bool serializeLength = false;
-	const uint8_t *constBuffer = nullptr;
-	uint8_t *buffer = nullptr;
-	count_t bufferLength = 0;
-};
-
-#endif /* SERIALBUFFERADAPTER_H_ */
+#ifndef SERIALBUFFERADAPTER_H_
+#define SERIALBUFFERADAPTER_H_
+
+#include "../serialize/SerializeIF.h"
+#include "../serialize/SerializeAdapter.h"
+
+/**
+ * This adapter provides an interface for SerializeIF to serialize or deserialize
+ * buffers with no length header but a known size.
+ *
+ * Additionally, the buffer length can be serialized too and will be put in
+ * front of the serialized buffer.
+ *
+ * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
+ * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
+ * Right now, the SerialBufferAdapter must always
+ * be initialized with the buffer and size !
+ *
+ * \ingroup serialize
+ */
+template<typename count_t>
+class SerialBufferAdapter: public SerializeIF {
+public:
+
+    /**
+     * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
+     * Type of length can be supplied as template type.
+     * @param buffer
+     * @param bufferLength
+     * @param serializeLength
+     */
+    SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
+            bool serializeLength = false);
+
+    /**
+     * Constructor for non-constant uint8_t buffer.
+     * Length field can be serialized optionally.
+     * Type of length can be supplied as template type.
+     * @param buffer
+     * @param bufferLength
+     * @param serializeLength Length field will be serialized with size count_t
+     */
+    SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
+            bool serializeLength = false);
+
+    virtual ~SerialBufferAdapter();
+
+    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+            size_t maxSize, Endianness streamEndianness) const override;
+
+    virtual size_t getSerializedSize() const override;
+
+    /**
+     * @brief This function deserializes a buffer into the member buffer.
+     * @details
+     * If a length field is present, it is ignored, as the size should have
+     * been set in the constructor. If the size is not known beforehand,
+     * consider using SerialFixedArrayListAdapter instead.
+     * @param buffer [out] Resulting buffer
+     * @param size remaining size to deserialize, should be larger than buffer
+     *        + size field size
+     * @param bigEndian
+     * @return
+     */
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            Endianness streamEndianness) override;
+
+    uint8_t * getBuffer();
+    const uint8_t * getConstBuffer();
+    void setBuffer(uint8_t* buffer, count_t bufferLength);
+private:
+	bool serializeLength = false;
+	const uint8_t *constBuffer = nullptr;
+	uint8_t *buffer = nullptr;
+	count_t bufferLength = 0;
+};
+
+#endif /* SERIALBUFFERADAPTER_H_ */
diff --git a/tasks/SemaphoreFactory.h b/tasks/SemaphoreFactory.h
index 2c41a135..01c09d1b 100644
--- a/tasks/SemaphoreFactory.h
+++ b/tasks/SemaphoreFactory.h
@@ -1,50 +1,50 @@
-#ifndef FSFW_TASKS_SEMAPHOREFACTORY_H_
-#define FSFW_TASKS_SEMAPHOREFACTORY_H_
-
-#include "../tasks/SemaphoreIF.h"
-
-/**
- * Creates Semaphore.
- * This class is a "singleton" interface, i.e. it provides an
- * interface, but also is the base class for a singleton.
- */
-class SemaphoreFactory {
-public:
-	virtual ~SemaphoreFactory();
-	/**
-	 * Returns the single instance of SemaphoreFactory.
-	 * The implementation of #instance is found in its subclasses.
-	 * Thus, we choose link-time variability of the  instance.
-	 */
-	static SemaphoreFactory* instance();
-
-	/**
-	 * Create a binary semaphore.
-	 * Creator function for a binary semaphore which may only be acquired once
-	 * @param argument Can be used to pass implementation specific information.
-	 * @return Pointer to newly created semaphore class instance.
-	 */
-	SemaphoreIF* createBinarySemaphore(uint32_t arguments = 0);
-	/**
-	 * Create a counting semaphore.
-	 * Creator functons for a counting semaphore which may be acquired multiple
-	 * times.
-	 * @param count Semaphore can be taken count times.
-	 * @param initCount Initial count value.
-	 * @param argument Can be used to pass implementation specific information.
-	 * @return
-	 */
-	SemaphoreIF* createCountingSemaphore(const uint8_t maxCount,
-			uint8_t initCount, uint32_t arguments = 0);
-
-	void deleteSemaphore(SemaphoreIF* semaphore);
-
-private:
-	/**
-	 * External instantiation is not allowed.
-	 */
-	SemaphoreFactory();
-	static SemaphoreFactory* factoryInstance;
-};
-
-#endif /* FSFW_TASKS_SEMAPHOREFACTORY_H_ */
+#ifndef FSFW_TASKS_SEMAPHOREFACTORY_H_
+#define FSFW_TASKS_SEMAPHOREFACTORY_H_
+
+#include "../tasks/SemaphoreIF.h"
+
+/**
+ * Creates Semaphore.
+ * This class is a "singleton" interface, i.e. it provides an
+ * interface, but also is the base class for a singleton.
+ */
+class SemaphoreFactory {
+public:
+	virtual ~SemaphoreFactory();
+	/**
+	 * Returns the single instance of SemaphoreFactory.
+	 * The implementation of #instance is found in its subclasses.
+	 * Thus, we choose link-time variability of the  instance.
+	 */
+	static SemaphoreFactory* instance();
+
+	/**
+	 * Create a binary semaphore.
+	 * Creator function for a binary semaphore which may only be acquired once
+	 * @param argument Can be used to pass implementation specific information.
+	 * @return Pointer to newly created semaphore class instance.
+	 */
+	SemaphoreIF* createBinarySemaphore(uint32_t arguments = 0);
+	/**
+	 * Create a counting semaphore.
+	 * Creator functons for a counting semaphore which may be acquired multiple
+	 * times.
+	 * @param count Semaphore can be taken count times.
+	 * @param initCount Initial count value.
+	 * @param argument Can be used to pass implementation specific information.
+	 * @return
+	 */
+	SemaphoreIF* createCountingSemaphore(const uint8_t maxCount,
+			uint8_t initCount, uint32_t arguments = 0);
+
+	void deleteSemaphore(SemaphoreIF* semaphore);
+
+private:
+	/**
+	 * External instantiation is not allowed.
+	 */
+	SemaphoreFactory();
+	static SemaphoreFactory* factoryInstance;
+};
+
+#endif /* FSFW_TASKS_SEMAPHOREFACTORY_H_ */
diff --git a/tasks/SemaphoreIF.h b/tasks/SemaphoreIF.h
index 30d4ed88..dd327e23 100644
--- a/tasks/SemaphoreIF.h
+++ b/tasks/SemaphoreIF.h
@@ -1,68 +1,68 @@
-#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
-#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
-#include "../returnvalues/FwClassIds.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include <cstdint>
-
-/**
- * @brief 	Generic interface for semaphores, which can be used to achieve
- * 			task synchronization. This is a generic interface which can be
- * 			used for both binary semaphores and counting semaphores.
- * @details
- * A semaphore is a synchronization primitive.
- * See: https://en.wikipedia.org/wiki/Semaphore_(programming)
- * A semaphore can be used to achieve task synchonization and track the
- * availability of resources by using either the binary or the counting
- * semaphore types.
- *
- * If mutual exlcusion of a resource is desired, a mutex should be used,
- * which is a special form of a semaphore and has an own interface.
- */
-class SemaphoreIF {
-public:
-    /**
-     * Different types of timeout for the mutex lock.
-     */
-    enum TimeoutType {
-        POLLING, //!< If mutex is not available, return immediately
-        WAITING, //!< Wait a specified time for the mutex to become available
-        BLOCKING //!< Block indefinitely until the mutex becomes available.
-    };
-
-	virtual~ SemaphoreIF() {};
-
-	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
-	//! Semaphore timeout
-	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
-	//! The current semaphore can not be given, because it is not owned
-	static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
-	static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
-
-	/**
-	 * Generic call to acquire a semaphore.
-	 * If there are no more semaphores to be taken (for a counting semaphore,
-	 * a semaphore may be taken more than once), the taks will block
-	 * for a maximum of timeoutMs while trying to acquire the semaphore.
-	 * This can be used to achieve task synchrnization.
-	 * @param timeoutMs
-	 * @return - c RETURN_OK for successfull acquisition
-	 */
-	virtual ReturnValue_t acquire(TimeoutType timeoutType =
-            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
-
-	/**
-	 * Corrensponding call to release a semaphore.
-	 * @return -@c RETURN_OK for successfull release
-	 */
-	virtual ReturnValue_t release() = 0;
-
-	/**
-	 * If the semaphore is a counting semaphore then the semaphores current
-	 * count value is returned. If the semaphore is a binary semaphore then 1
-	 * is returned if the semaphore is available, and 0 is returned if the
-	 * semaphore is not available.
-	 */
-	virtual uint8_t getSemaphoreCounter() const = 0;
-};
-
-#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */
+#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
+#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
+#include "../returnvalues/FwClassIds.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstdint>
+
+/**
+ * @brief 	Generic interface for semaphores, which can be used to achieve
+ * 			task synchronization. This is a generic interface which can be
+ * 			used for both binary semaphores and counting semaphores.
+ * @details
+ * A semaphore is a synchronization primitive.
+ * See: https://en.wikipedia.org/wiki/Semaphore_(programming)
+ * A semaphore can be used to achieve task synchonization and track the
+ * availability of resources by using either the binary or the counting
+ * semaphore types.
+ *
+ * If mutual exlcusion of a resource is desired, a mutex should be used,
+ * which is a special form of a semaphore and has an own interface.
+ */
+class SemaphoreIF {
+public:
+    /**
+     * Different types of timeout for the mutex lock.
+     */
+    enum TimeoutType {
+        POLLING, //!< If mutex is not available, return immediately
+        WAITING, //!< Wait a specified time for the mutex to become available
+        BLOCKING //!< Block indefinitely until the mutex becomes available.
+    };
+
+	virtual~ SemaphoreIF() {};
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+	//! Semaphore timeout
+	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
+	//! The current semaphore can not be given, because it is not owned
+	static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
+	static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
+
+	/**
+	 * Generic call to acquire a semaphore.
+	 * If there are no more semaphores to be taken (for a counting semaphore,
+	 * a semaphore may be taken more than once), the taks will block
+	 * for a maximum of timeoutMs while trying to acquire the semaphore.
+	 * This can be used to achieve task synchrnization.
+	 * @param timeoutMs
+	 * @return - c RETURN_OK for successfull acquisition
+	 */
+	virtual ReturnValue_t acquire(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
+
+	/**
+	 * Corrensponding call to release a semaphore.
+	 * @return -@c RETURN_OK for successfull release
+	 */
+	virtual ReturnValue_t release() = 0;
+
+	/**
+	 * If the semaphore is a counting semaphore then the semaphores current
+	 * count value is returned. If the semaphore is a binary semaphore then 1
+	 * is returned if the semaphore is available, and 0 is returned if the
+	 * semaphore is not available.
+	 */
+	virtual uint8_t getSemaphoreCounter() const = 0;
+};
+
+#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */

From 85f21b05165efeabb626fcb5f7d8c7d3bc8a18ea Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 18 Sep 2020 13:32:53 +0200
Subject: [PATCH 346/653] object manager convergence

---
 objectmanager/ObjectManager.h    | 23 +++++--------
 objectmanager/ObjectManagerIF.h  |  8 ++---
 objectmanager/SystemObject.cpp   |  2 +-
 objectmanager/SystemObject.h     | 30 ++++++++---------
 objectmanager/SystemObjectIF.h   | 56 +++++++++++++++-----------------
 objectmanager/frameworkObjects.h | 14 ++++++--
 6 files changed, 65 insertions(+), 68 deletions(-)

diff --git a/objectmanager/ObjectManager.h b/objectmanager/ObjectManager.h
index 0d2b3c4a..69a74f73 100644
--- a/objectmanager/ObjectManager.h
+++ b/objectmanager/ObjectManager.h
@@ -1,12 +1,5 @@
-/**
- * @file	ObjectManager.h
- * @brief	This file contains the implementation of the ObjectManager class
- * @date	18.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef OBJECTMANAGER_H_
-#define OBJECTMANAGER_H_
+#ifndef FSFW_OBJECTMANAGER_OBJECTMANAGER_H_
+#define FSFW_OBJECTMANAGER_OBJECTMANAGER_H_
 
 #include "ObjectManagerIF.h"
 #include "SystemObjectIF.h"
@@ -22,14 +15,15 @@
  * 			most of the system initialization.
  * 			As the system is static after initialization, no new objects are
  * 			created or inserted into the list after startup.
- * \ingroup system_objects
+ * @ingroup system_objects
+ * @author	Bastian Baetz
  */
 class ObjectManager : public ObjectManagerIF {
 private:
 	//comparison?
 	/**
-	 * \brief	This is the map of all initialized objects in the manager.
-	 * \details	Objects in the List must inherit the SystemObjectIF.
+	 * @brief	This is the map of all initialized objects in the manager.
+	 * @details	Objects in the List must inherit the SystemObjectIF.
 	 */
 	std::map<object_id_t, SystemObjectIF*> objectList;
 protected:
@@ -54,7 +48,8 @@ public:
 	/**
 	 *	@brief	In the class's destructor, all objects in the list are deleted.
 	 */
-	//SHOULDDO: If, for some reason, deleting an ObjectManager instance is required, check if this works.
+	// SHOULDDO: If, for some reason, deleting an ObjectManager instance is
+	// required, check if this works.
 	virtual ~ObjectManager( void );
 	ReturnValue_t insert( object_id_t id, SystemObjectIF* object );
 	ReturnValue_t remove( object_id_t id );
@@ -64,4 +59,4 @@ public:
 
 
 
-#endif /* OBJECTMANAGER_H_ */
+#endif /* FSFW_OBJECTMANAGER_OBJECTMANAGER_H_ */
diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index e0162af9..1f462509 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
-#define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#ifndef FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#define FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
 #include "frameworkObjects.h"
 #include "SystemObjectIF.h"
@@ -21,8 +21,7 @@ public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
 	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
 	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-
-	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
+	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
 protected:
@@ -80,6 +79,7 @@ public:
 /**
  * @brief	This is the forward declaration of the global objectManager instance.
  */
+// maybe but this in the glob namespace to explicitely mark it global?
 extern ObjectManagerIF *objectManager;
 
 /*Documentation can be found in the class method declaration above.*/
diff --git a/objectmanager/SystemObject.cpp b/objectmanager/SystemObject.cpp
index 53aac599..64330fbc 100644
--- a/objectmanager/SystemObject.cpp
+++ b/objectmanager/SystemObject.cpp
@@ -1,6 +1,6 @@
-#include "../events/EventManagerIF.h"
 #include "ObjectManager.h"
 #include "SystemObject.h"
+#include "../events/EventManagerIF.h"
 
 SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
 		objectId(setObjectId), registered(doRegister) {
diff --git a/objectmanager/SystemObject.h b/objectmanager/SystemObject.h
index 8e9f20d5..9188693e 100644
--- a/objectmanager/SystemObject.h
+++ b/objectmanager/SystemObject.h
@@ -1,16 +1,9 @@
-/**
- * @file	SystemObject.h
- * @brief	This file contains the definition of the SystemObject class.
- * @date	07.11.2012
- * @author	Ulrich Mohr
- */
-
-#ifndef SYSTEMOBJECT_H_
-#define SYSTEMOBJECT_H_
+#ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_
+#define FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_
 
+#include "SystemObjectIF.h"
 #include "../events/Event.h"
 #include "../events/EventReportingProxyIF.h"
-#include "SystemObjectIF.h"
 #include "../timemanager/Clock.h"
 
 /**
@@ -20,7 +13,7 @@
  * 			class that is announced to ObjectManager. It automatically includes
  * 			itself (and therefore the inheriting class) in the object manager's
  * 			list.
- * \ingroup system_objects
+ * @ingroup system_objects
  */
 class SystemObject: public SystemObjectIF {
 private:
@@ -37,25 +30,28 @@ public:
 	 * @param parameter1
 	 * @param parameter2
 	 */
-	virtual void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
+	virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0);
 
 	/**
 	 * @brief	The class's constructor.
 	 * @details	In the constructor, the object id is set and the class is
 	 * 			inserted in the object manager.
 	 * @param setObjectId	The id the object shall have.
-	 * @param doRegister	Determines if the object is registered in the global object manager.
+	 * @param doRegister	Determines if the object is registered in
+	 * 						the global object manager.
 	 */
 	SystemObject(object_id_t setObjectId, bool doRegister = true);
 	/**
 	 * @brief	On destruction, the object removes itself from the list.
 	 */
 	virtual ~SystemObject();
-	object_id_t getObjectId() const;
-	virtual ReturnValue_t initialize();
+	object_id_t getObjectId() const override;
+	virtual ReturnValue_t initialize() override;
 	virtual ReturnValue_t checkObjectConnections();
 
-	virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
+	virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0) const;
 };
 
-#endif /* SYSTEMOBJECT_H_ */
+#endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */
diff --git a/objectmanager/SystemObjectIF.h b/objectmanager/SystemObjectIF.h
index c5a92196..315fde9b 100644
--- a/objectmanager/SystemObjectIF.h
+++ b/objectmanager/SystemObjectIF.h
@@ -1,26 +1,19 @@
-/**
- * @file	SystemObjectIF.h
- * @brief	This file contains the definition of the SystemObjectIF interface.
- * @date	18.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef SYSTEMOBJECTIF_H_
-#define SYSTEMOBJECTIF_H_
+#ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_
+#define FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_
 
 #include "../events/EventReportingProxyIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stdint.h>
+#include <cstdint>
 /**
- * \defgroup system_objects Software System Object Management
- * The classes to create System Objects and classes to manage these are contained in this group.
- * System Objects are software elements that can be controlled externally. They all have a unique
- * object identifier.
+ * @defgroup system_objects Software System Object Management
+ * The classes to create System Objects and classes to manage these are
+ * contained in this group. System Objects are software elements that can be
+ * controlled externally. They all have a unique object identifier.
  */
 
 /**
  * This is the typedef for object identifiers.
- * \ingroup system_objects
+ * @ingroup system_objects
  */
 typedef uint32_t object_id_t;
 
@@ -29,7 +22,8 @@ typedef uint32_t object_id_t;
  * list.
  * It does not provide any method definitions, still it is required to
  * perform a type check with dynamic_cast.
- * \ingroup system_objects
+ * @author  Bastian Baetz
+ * @ingroup system_objects
  */
 class SystemObjectIF : public EventReportingProxyIF {
 public:
@@ -41,24 +35,28 @@ public:
 	/**
 	 * The empty virtual destructor as required for C++ interfaces.
 	 */
-	virtual ~SystemObjectIF() {
-	}
+	virtual ~SystemObjectIF() {}
 	/**
-	 * Initializes all inter-object dependencies.
-	 * This is necessary to avoid circular dependencies of not-fully
-	 * initialized objects on start up.
-	 * @return	- \c RETURN_OK in case the initialization was successful
-	 * 			- \c RETURN_FAILED otherwise
+	 * @brief   Initializes the object.
+	 * There are initialization steps which can also be done in the constructor.
+	 * However, there is no clean way to get a returnvalue from a constructor.
+	 * Furthermore some components require other system object to be created
+	 * which might not have been built yet.
+	 * Therefore, a two-step initialization resolves this problem and prevents
+	 * circular dependencies of not-fully initialized objects on start up.
+	 * @return	- @c RETURN_OK in case the initialization was successful
+	 * 			- @c RETURN_FAILED otherwise
 	 */
 	virtual ReturnValue_t initialize() = 0;
 	/**
-	 * Checks, if all object-object interconnections are satisfying for operation.
-	 * Some objects need certain other objects (or a certain number), to be registered as children.
-	 * These checks can be done in this method.
-	 * @return	- \c RETURN_OK in case the check was successful
-	 * 			- \c any other code otherwise
+	 * @brief   Checks if all object-object interconnections are satisfying
+	 *          for operation.
+	 * Some objects need certain other objects (or a certain number), to be
+	 * registered as children. These checks can be done in this method.
+	 * @return	- @c RETURN_OK in case the check was successful
+	 * 			- @c any other code otherwise
 	 */
 	virtual ReturnValue_t checkObjectConnections() = 0;
 };
 
-#endif /* SYSTEMOBJECTIF_H_ */
+#endif /* #ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_ */
diff --git a/objectmanager/frameworkObjects.h b/objectmanager/frameworkObjects.h
index c3deafc4..4a30e70a 100644
--- a/objectmanager/frameworkObjects.h
+++ b/objectmanager/frameworkObjects.h
@@ -1,8 +1,15 @@
-#ifndef FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
-#define FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
+#ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
+#define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
 
 namespace objects {
 enum framework_objects {
+	// Default verification reporter.
+	PUS_SERVICE_1 = 0x53000001,
+	PUS_SERVICE_2 = 0x53000002,
+	PUS_SERVICE_5 = 0x53000005,
+	PUS_SERVICE_8 = 0x53000008,
+	PUS_SERVICE_200 = 0x53000200,
+
 	//Generic IDs for IPC, modes, health, events
 	HEALTH_TABLE = 0x53010000,
 //	MODE_STORE = 0x53010100,
@@ -12,10 +19,11 @@ enum framework_objects {
 	//IDs for PUS Packet Communication
 	TC_STORE = 0x534f0100,
 	TM_STORE = 0x534f0200,
+
 	NO_OBJECT = 0xFFFFFFFF
 };
 }
 
 
 
-#endif /* FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ */
+#endif /* FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ */

From 6062192bf0a5865fe3c1edb23aa2bc1e1b19d122 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 18 Sep 2020 13:37:06 +0200
Subject: [PATCH 347/653] dded back retval expalanation

---
 objectmanager/ObjectManagerIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index 1f462509..8bae800b 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -21,7 +21,7 @@ public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
 	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
 	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
+	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
 protected:

From 8ea0a38658b1322a6bee67b7c656544d1f4d3467 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 18 Sep 2020 13:37:38 +0200
Subject: [PATCH 348/653] shoulddo fix

---
 objectmanager/ObjectManagerIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/objectmanager/ObjectManagerIF.h b/objectmanager/ObjectManagerIF.h
index 8bae800b..4bd1d915 100644
--- a/objectmanager/ObjectManagerIF.h
+++ b/objectmanager/ObjectManagerIF.h
@@ -79,7 +79,7 @@ public:
 /**
  * @brief	This is the forward declaration of the global objectManager instance.
  */
-// maybe but this in the glob namespace to explicitely mark it global?
+// SHOULDDO: maybe put this in the glob namespace to explicitely mark it global?
 extern ObjectManagerIF *objectManager;
 
 /*Documentation can be found in the class method declaration above.*/

From 721793a0582174e2edfa1e624bcf67377c8ce981 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 18 Sep 2020 13:38:53 +0200
Subject: [PATCH 349/653] added author tag back

---
 objectmanager/SystemObject.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/objectmanager/SystemObject.h b/objectmanager/SystemObject.h
index 9188693e..d9c4236d 100644
--- a/objectmanager/SystemObject.h
+++ b/objectmanager/SystemObject.h
@@ -13,6 +13,7 @@
  * 			class that is announced to ObjectManager. It automatically includes
  * 			itself (and therefore the inheriting class) in the object manager's
  * 			list.
+ * @author	Ulrich Mohr
  * @ingroup system_objects
  */
 class SystemObject: public SystemObjectIF {

From 7851a71a8eb96931fbdc5f24ef40b5326665a892 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 14:00:18 +0200
Subject: [PATCH 350/653] commanding service base hotfix

---
 tmtcservices/CommandingServiceBase.cpp |  2 +-
 tmtcservices/CommandingServiceBase.h   | 10 +++++++---
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 4cead0e9..0ebc3944 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -384,7 +384,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 }
 
 
-void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
+void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) {
 	store_address_t address;
 	if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
 		commandMap.erase(&iter);
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 23b08acf..252b6943 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -39,7 +39,11 @@ class CommandingServiceBase: public SystemObject,
 		public HasReturnvaluesIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
+	// We could make this configurable via preprocessor and the FSFWConfig file.
+	static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH = 3;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
+
 	static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t NO_STEP_MESSAGE = MAKE_RETURN_CODE(2);
 	static const ReturnValue_t OBJECT_BUSY = MAKE_RETURN_CODE(3);
@@ -223,7 +227,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		FIFO<store_address_t, 3> fifo;
+		FIFO<store_address_t, COMMAND_INFO_FIFO_DEPTH> fifo;
 
 		virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
 					size_t maxSize, Endianness streamEndianness) const override{
@@ -235,7 +239,7 @@ protected:
 		};
 
 		virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-				Endianness streamEndianness) override{
+				Endianness streamEndianness) override {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		};
 	};
@@ -312,7 +316,7 @@ protected:
 	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = nullptr);
 
-	void checkAndExecuteFifo(CommandMapIter iter);
+	void checkAndExecuteFifo(CommandMapIter& iter);
 
 private:
 	/**

From 4587fbb76d1bc356227229dcb1ad44d389d4a5c0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 14:52:24 +0200
Subject: [PATCH 351/653] srv9 func removed

---
 pus/Service9TimeManagement.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/pus/Service9TimeManagement.h b/pus/Service9TimeManagement.h
index 9eed12ca..4802cdec 100644
--- a/pus/Service9TimeManagement.h
+++ b/pus/Service9TimeManagement.h
@@ -34,7 +34,6 @@ private:
 		SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
 	};
 
-	void setIsisClock(Clock::TimeOfDay_t& timeOfDay);
 };
 
 

From b2777faf66885ee6dc440cf1633e7e34c39c4e1a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 15:29:28 +0200
Subject: [PATCH 352/653] queueue factory update

---
 osal/linux/QueueFactory.cpp | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp
index afeca547..44def48a 100644
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@@ -1,15 +1,21 @@
 #include "../../ipc/QueueFactory.h"
+#include "MessageQueue.h"
+
+#include "../../ipc/messageQueueDefinitions.h"
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
 #include <mqueue.h>
 #include <errno.h>
-#include "MessageQueue.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+
 #include <cstring>
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 			bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
 			sentFrom,ignoreFault);

From 7dc3a7ecbd79440c69cf28cec16950bdc8f44419 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 15:31:15 +0200
Subject: [PATCH 353/653] fix so it compiles

---
 osal/linux/QueueFactory.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp
index 44def48a..0860950c 100644
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@@ -15,7 +15,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
 			bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
 			sentFrom,ignoreFault);

From 74b9aef36b2dd920565ed119172cade85bcfd421 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 15:33:28 +0200
Subject: [PATCH 354/653] freeRTOS update

---
 osal/FreeRTOS/QueueFactory.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index 0de6ad4f..153d9b51 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -4,18 +4,18 @@
 #include "MessageQueue.h"
 
 
-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
 			MessageQueueMessage* message, MessageQueueId_t sentFrom,
 			bool ignoreFault) {
-	return MessageQueue::sendMessageFromMessageQueue(sendTo, message,
-			sentFrom, ignoreFault);
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
 }
 
 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
@@ -27,9 +27,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
 		size_t maxMessageSize) {
-	return new MessageQueue(message_depth, maxMessageSize);
+	return new MessageQueue(messageDepth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

From cea748676ea2f99343ec0f0dcbd5face9e114fe8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 15:47:29 +0200
Subject: [PATCH 355/653] linux message queue update

---
 osal/linux/MessageQueue.cpp | 106 +++++++++++++++++++++++-------------
 osal/linux/MessageQueue.h   |  30 ++++++----
 2 files changed, 87 insertions(+), 49 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index e5c61cae..cfadb793 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -1,5 +1,6 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "MessageQueue.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 
 #include <fstream>
 
@@ -9,9 +10,11 @@
 #include <errno.h>
 
 
+
 MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
 		id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
-		defaultDestination(MessageQueueIF::NO_QUEUE) {
+		defaultDestination(MessageQueueIF::NO_QUEUE),
+		maxMessageSize(maxMessageSize) {
 	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
 	mq_attr attributes;
 	this->id = 0;
@@ -46,7 +49,7 @@ MessageQueue::~MessageQueue() {
 	status = mq_unlink(name);
 	if(status != 0){
 		sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
-				   << strerror(errno) <<std::endl;
+				   << strerror(errno) << std::endl;
 	}
 }
 
@@ -61,22 +64,27 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 		// Just an additional helpful printout :-)
 		if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
 				defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
-			// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
-			// This happens if the msg_max value is not large enough
-			// It is ignored if the executable is run in privileged mode.
-			// Run the unlockRealtime script or grant the mode manually by using:
-			// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
+			/*
+			See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
+			This happens if the msg_max value is not large enough
+			It is ignored if the executable is run in privileged mode.
+		    Run the unlockRealtime script or grant the mode manually by using:
+			sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
 
-			// Persistent solution for session:
-			// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
+			Persistent solution for session:
+			echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
 
-			// Permanent solution:
-			// sudo nano /etc/sysctl.conf
-			// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
-			// Apply changes with: sudo sysctl -p
+			Permanent solution:
+			sudo nano /etc/sysctl.conf
+			Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
+			Apply changes with: sudo sysctl -p
+			*/
 			sif::error << "MessageQueue::MessageQueue: Default MQ size "
 					<< defaultMqMaxMsg << " is too small for requested size "
 					<< messageDepth << std::endl;
+			sif::error << "This error can be fixed by setting the maximum "
+					"allowed message size higher!" << std::endl;
+
 		}
 		break;
 	}
@@ -118,15 +126,15 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
 }
 
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, bool ignoreFault) {
+		MessageQueueMessageIF* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), false);
 }
 
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
 	return sendToDefaultFrom(message, this->getId());
 }
 
-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
 	if (this->lastPartner != 0) {
 		return sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
@@ -134,21 +142,34 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 	}
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
 	*receivedFrom = this->lastPartner;
 	return status;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	if(message == nullptr) {
+		sif::error << "MessageQueue::receiveMessage: Message is "
+				"nullptr!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(message->getMaximumMessageSize() < maxMessageSize) {
+		sif::error << "MessageQueue::receiveMessage: Message size "
+				<< message->getMaximumMessageSize()
+				<< " too small to receive data!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
 	unsigned int messagePriority = 0;
 	int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
-			message->MAX_MESSAGE_SIZE,&messagePriority);
+			message->getMaximumMessageSize(),&messagePriority);
 	if (status > 0) {
 		this->lastPartner = message->getSender();
 		//Check size of incoming message.
-		if (message->messageSize < message->getMinimumMessageSize()) {
+		if (message->getMessageSize() < message->getMinimumMessageSize()) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
@@ -158,7 +179,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 	} else {
 		//No message was received. Keep lastPartner anyway, I might send
 		//something later. But still, delete packet content.
-		memset(message->getData(), 0, message->MAX_DATA_SIZE);
+		memset(message->getData(), 0, message->getMaximumMessageSize());
 		switch(errno){
 		case EAGAIN:
 			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
@@ -258,18 +279,19 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
 	this->defaultDestination = defaultDestination;
 }
 
-ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
-	return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
-
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
 }
 
+
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+	return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault);
+
+}
+
 MessageQueueId_t MessageQueue::getDefaultDestination() const {
 	return this->defaultDestination;
 }
@@ -281,11 +303,18 @@ bool MessageQueue::isDefaultDestinationSet() const {
 uint16_t MessageQueue::queueCounter = 0;
 
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-		MessageQueueMessage *message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
+	if(message == nullptr) {
+		sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
+				"nullptr!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
 	message->setSender(sentFrom);
 	int result = mq_send(sendTo,
-			reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
+			reinterpret_cast<const char*>(message->getBuffer()),
+			message->getMessageSize(),0);
 
 	//TODO: Check if we're in ISR.
 	if (result != 0) {
@@ -303,13 +332,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			//MQ_NONBLOCK flag was set in its attributes, and the
 			//specified queue is full.
 			return MessageQueueIF::FULL;
-		case EBADF:
+		case EBADF: {
 			//mq_des doesn't represent a valid message queue descriptor,
 			//or mq_des wasn't opened for writing.
-			sif::error << "MessageQueue::sendMessage: Configuration error "
-			           << strerror(errno) << " in mq_send mqSendTo: " << sendTo
-					   << " sent from " << sentFrom << std::endl;
-			/*NO BREAK*/
+			sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
+					<< " destination invalid."  << std::endl;
+			sif::error << strerror(errno) << " in "
+					<<"mq_send to: " << sendTo << " sent from "
+					<< sentFrom << std::endl;
+			return DESTINVATION_INVALID;
+		}
 		case EINTR:
 			//The call was interrupted by a signal.
 		case EINVAL:
diff --git a/osal/linux/MessageQueue.h b/osal/linux/MessageQueue.h
index 31cdca11..239bbbdb 100644
--- a/osal/linux/MessageQueue.h
+++ b/osal/linux/MessageQueue.h
@@ -1,5 +1,5 @@
-#ifndef MESSAGEQUEUE_H_
-#define MESSAGEQUEUE_H_
+#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
+#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
 
 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueIF.h"
@@ -56,14 +56,14 @@ public:
 	 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
 	virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false );
+			MessageQueueMessageIF* message, bool ignoreFault = false );
 	/**
 	 * @brief	This operation sends a message to the default destination.
 	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
 	 * 			MessageQueueSender parent class and adds its queue id as "sentFrom" information.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message );
+	virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
 	 * @details	This operation simplifies answering an incoming message by using the stored
@@ -71,7 +71,7 @@ public:
 	 * 			(i.e. lastPartner is zero), an error code is returned.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t reply( MessageQueueMessage* message );
+	ReturnValue_t reply( MessageQueueMessageIF* message );
 
 	/**
 	 * @brief	This function reads available messages from the message queue and returns the sender.
@@ -80,7 +80,7 @@ public:
 	 * @param message	A pointer to a message in which the received data is stored.
 	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message,
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom);
 
 	/**
@@ -91,7 +91,7 @@ public:
 	 * 			message's content is cleared and the function returns immediately.
 	 * @param message	A pointer to a message in which the received data is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message);
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@@ -114,7 +114,9 @@ public:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false );
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault = false );
 	/**
 	 * \brief	The sendToDefault method sends a queue message to the default destination.
 	 * \details	In all other aspects, it works identical to the sendMessage method.
@@ -122,7 +124,8 @@ public:
 	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
 	 * 					This variable is set to zero by default.
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	This method is a simple setter for the default destination.
 	 */
@@ -145,7 +148,9 @@ protected:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
-	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false);
 private:
 	/**
 	 * @brief	The class stores the queue id it got assigned from the operating system in this attribute.
@@ -171,11 +176,12 @@ private:
 	/**
 	 * The name of the message queue, stored for unlinking
 	 */
-	char name[5];
+	char name[16];
 
 	static uint16_t queueCounter;
+	const size_t maxMessageSize;
 
 	ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
 };
 
-#endif /* MESSAGEQUEUE_H_ */
+#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */

From 8652f2f13f1ff7e358e6d0b803a04772b9b83e58 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 15:50:10 +0200
Subject: [PATCH 356/653] message queue IF update

---
 ipc/MessageQueueIF.h | 178 +++++++++++++++++++++++++++----------------
 1 file changed, 113 insertions(+), 65 deletions(-)

diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h
index b0347db9..44b6f4c0 100644
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@@ -1,61 +1,77 @@
 #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
 #define FSFW_IPC_MESSAGEQUEUEIF_H_
 
-// COULDDO: We could support blocking calls
-
-#include "messageQueueDefinitions.h"
-#include "MessageQueueMessage.h"
+#include <fsfw/ipc/messageQueueDefinitions.h>
+#include "MessageQueueMessageIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 
+#include <cstdint>
+
+
+// COULDDO: We could support blocking calls
+// semaphores are being implemented, which makes this idea even more iteresting.
+
+/**
+ * @defgroup message_queue Message Queue
+ * @brief Message Queue related software components
+ */
 class MessageQueueIF {
 public:
 	static const MessageQueueId_t NO_QUEUE = 0;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
-	/**
-	 * No new messages on the queue
-	 */
+	//! No new messages on the queue
 	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
-	/**
-	 * No space left for more messages
-	 */
+	//! No space left for more messages
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
-	/**
-	 * Returned if a reply method was called without partner
-	 */
+	//! Returned if a reply method was called without partner
 	static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
+	//! Returned if the target destination is invalid.
+	static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
 
 	virtual ~MessageQueueIF() {}
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
-	 * @details	This operation simplifies answering an incoming message by using the stored
-	 * 			lastParnter information as destination. If there was no message received yet
-	 * 			(i.e. lastPartner is zero), an error code is returned.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 * \return RETURN_OK if ok
-	 * \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
+	 * @details
+	 * This operation simplifies answering an incoming message by using the
+	 * stored lastParnter information as destination. If there was no message
+	 * received yet (i.e. lastPartner is zero), an error code is returned.
+	 * @param message
+	 * A pointer to a previously created message, which is sent.
+	 * @return
+	 * -@c RETURN_OK if ok
+	 * -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found.
 	 */
-	virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
+	virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
 
 	/**
-	 * @brief	This function reads available messages from the message queue and returns the sender.
-	 * @details	It works identically to the other receiveMessage call, but in addition returns the
-	 * 			sender's queue id.
-	 * @param message	A pointer to a message in which the received data is stored.
-	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
+	 * @brief	This function reads available messages from the message queue
+	 *          and returns the sender.
+	 * @details
+	 * It works identically to the other receiveMessage call, but in addition
+	 * returns the sender's queue id.
+	 * @param message
+	 * A pointer to a message in which the received data is stored.
+	 * @param receivedFrom
+	 * A pointer to a queue id in which the sender's id is stored.
 	 */
-	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
+	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom) = 0;
 
 	/**
 	 * @brief	This function reads available messages from the message queue.
-	 * @details	If data is available it is stored in the passed message pointer. The message's
-	 * 			original content is overwritten and the sendFrom information is stored in the
-	 * 			lastPartner attribute. Else, the lastPartner information remains untouched, the
-	 * 			message's content is cleared and the function returns immediately.
-	 * @param message	A pointer to a message in which the received data is stored.
+	 * @details
+	 * If data is available it is stored in the passed message pointer.
+	 * The message's original content is overwritten and the sendFrom
+	 * information is stored in theblastPartner attribute. Else, the lastPartner
+	 * information remains untouched, the message's content is cleared and the
+	 * function returns immediately.
+	 * @param message
+	 * A pointer to a message in which the received data is stored.
+	 * @return -@c RETURN_OK on success
+	 *         -@c MessageQueueIF::EMPTY if queue is empty
 	 */
-	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0;
+	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@@ -63,57 +79,89 @@ public:
 	 */
 	virtual ReturnValue_t flush(uint32_t* count) = 0;
 	/**
-	 * @brief	This method returns the message queue id of the last communication partner.
+	 * @brief	This method returns the message queue
+	 *          id of the last communication partner.
 	 */
 	virtual MessageQueueId_t getLastPartner() const = 0;
 	/**
-	 * @brief	This method returns the message queue id of this class's message queue.
+	 * @brief	This method returns the message queue
+	 *          id of this class's message queue.
 	 */
 	virtual MessageQueueId_t getId() const = 0;
 
 	/**
-	 * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
-	 * \details	This method takes the message provided, adds the sentFrom information and passes
-	 * 			it on to the destination provided with an operating system call. The OS's return
-	 * 			value is returned.
-	 * \param sendTo	This parameter specifies the message queue id to send the message to.
-	 * \param message	This is a pointer to a previously created message, which is sent.
-	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
-	 * 					This variable is set to zero by default.
-	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full (if implemented).
+	 * @brief	With the sendMessage call, a queue message
+	 *          is sent to a receiving queue.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information
+	 * and passes it on to the destination provided with an operating system
+	 * call. The OS's returnvalue is returned.
+	 * @param sendTo
+	 * This parameter specifies the message queue id to send the message to.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @param sentFrom
+	 * The sentFrom information can be set to inject the sender's queue id
+	 * into the message. This variable is set to zero by default.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter is not incremented
+	 * if queue is full (if implemented).
+	 * @return -@c RETURN_OK on success
+	 *         -@c MessageQueueIF::FULL if queue is full
 	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
-	/**
-		 * @brief	This operation sends a message to the given destination.
-		 * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
-		 * 			queue id as "sentFrom" parameter.
-		 * @param sendTo	This parameter specifies the message queue id of the destination message queue.
-		 * @param message	A pointer to a previously created message, which is sent.
-		 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
-		 */
-	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault = false ) = 0;
 
 	/**
-	 * \brief	The sendToDefaultFrom method sends a queue message to the default destination.
-	 * \details	In all other aspects, it works identical to the sendMessage method.
-	 * \param message	This is a pointer to a previously created message, which is sent.
-	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
-	 * 					This variable is set to zero by default.
+	 * @brief	This operation sends a message to the given destination.
+	 * @details
+	 * It directly uses the sendMessage call of the MessageQueueSender parent,
+	 * but passes its queue id as "sentFrom" parameter.
+	 * @param sendTo
+	 * This parameter specifies the message queue id of the destination
+	 * message queue.
+	 * @param message
+	 * A pointer to a previously created message, which is sent.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter is not incremented
+	 * if queue is full.
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, bool ignoreFault = false ) = 0;
+
+	/**
+	 * @brief	The sendToDefaultFrom method sends a queue message
+	 *          to the default destination.
+	 * @details
+	 * In all other aspects, it works identical to the sendMessage method.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @param sentFrom
+	 * The sentFrom information can be set to inject the sender's queue id
+	 * into the message. This variable is set to zero by default.
+	 * @return -@c RETURN_OK on success
+	 *         -@c MessageQueueIF::FULL if queue is full
+	 */
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
 	/**
 	 * @brief	This operation sends a message to the default destination.
-	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
-	 * 			Implementation class and adds its queue id as "sentFrom" information.
+	 * @details
+	 * As in the sendMessage method, this function uses the sendToDefault
+	 * call of the Implementation class and adds its queue id as
+	 * "sentFrom" information.
 	 * @param message	A pointer to a previously created message, which is sent.
+	 * @return -@c RETURN_OK on success
+	 *         -@c MessageQueueIF::FULL if queue is full
 	 */
-	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message )  = 0;
+	virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message )  = 0;
 	/**
-	 * \brief	This method is a simple setter for the default destination.
+	 * @brief	This method is a simple setter for the default destination.
 	 */
 	virtual void setDefaultDestination(MessageQueueId_t defaultDestination) = 0;
 	/**
-	 * \brief	This method is a simple getter for the default destination.
+	 * @brief	This method is a simple getter for the default destination.
 	 */
 	virtual MessageQueueId_t getDefaultDestination() const = 0;
 
@@ -122,4 +170,4 @@ public:
 
 
 
-#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */
+#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

From 87fb17f39a4320eb8b40517ae79e170950b1b3a5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 15:52:26 +0200
Subject: [PATCH 357/653] IF replacements

---
 ipc/MessageQueueSenderIF.h     | 2 +-
 osal/FreeRTOS/QueueFactory.cpp | 2 +-
 osal/linux/Clock.cpp           | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index 7eea5146..42d4078f 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -15,7 +15,7 @@ public:
 	 * Not sure whether this is actually a good idea.
 	 */
 	static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message,
+			MessageQueueMessageIF* message,
 			MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
 			bool ignoreFault = false);
 private:
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index 153d9b51..493ec925 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -8,7 +8,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 			bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
 			sentFrom,ignoreFault);
diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index b14f2a97..4de18f83 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -6,8 +6,8 @@
 #include <linux/sysinfo.h>
 #include <time.h>
 #include <unistd.h>
+#include <fstream>
 
-//#include <fstream>
 uint16_t Clock::leapSeconds = 0;
 MutexIF* Clock::timeMutex = NULL;
 

From 98333b92eff9389783a2b70c4979eed4b96d5e88 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 15:57:26 +0200
Subject: [PATCH 358/653] srv17 id added, include fix for linux

---
 objectmanager/frameworkObjects.h | 1 +
 osal/linux/Clock.cpp             | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/objectmanager/frameworkObjects.h b/objectmanager/frameworkObjects.h
index 4a30e70a..a7103018 100644
--- a/objectmanager/frameworkObjects.h
+++ b/objectmanager/frameworkObjects.h
@@ -8,6 +8,7 @@ enum framework_objects {
 	PUS_SERVICE_2 = 0x53000002,
 	PUS_SERVICE_5 = 0x53000005,
 	PUS_SERVICE_8 = 0x53000008,
+	PUS_SERVICE_17 = 0x53000017,
 	PUS_SERVICE_200 = 0x53000200,
 
 	//Generic IDs for IPC, modes, health, events
diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index b14f2a97..4de18f83 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -6,8 +6,8 @@
 #include <linux/sysinfo.h>
 #include <time.h>
 #include <unistd.h>
+#include <fstream>
 
-//#include <fstream>
 uint16_t Clock::leapSeconds = 0;
 MutexIF* Clock::timeMutex = NULL;
 

From ab0f4d8c87aedf5013debc6012da3aebb4389f8a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 16:01:34 +0200
Subject: [PATCH 359/653] service 9 ID added

---
 objectmanager/frameworkObjects.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/objectmanager/frameworkObjects.h b/objectmanager/frameworkObjects.h
index a7103018..87439c88 100644
--- a/objectmanager/frameworkObjects.h
+++ b/objectmanager/frameworkObjects.h
@@ -8,6 +8,7 @@ enum framework_objects {
 	PUS_SERVICE_2 = 0x53000002,
 	PUS_SERVICE_5 = 0x53000005,
 	PUS_SERVICE_8 = 0x53000008,
+	PUS_SERVICE_9 = 0x53000009,
 	PUS_SERVICE_17 = 0x53000017,
 	PUS_SERVICE_200 = 0x53000200,
 

From de840dcf8df69d5b734951fa7128257fa472cd46 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 16:10:43 +0200
Subject: [PATCH 360/653] last fixes for linux

---
 ipc/QueueFactory.h          | 8 +++++---
 osal/linux/QueueFactory.cpp | 2 +-
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h
index 4f4d72c7..0310e534 100644
--- a/ipc/QueueFactory.h
+++ b/ipc/QueueFactory.h
@@ -1,7 +1,9 @@
-#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_
-#define FRAMEWORK_IPC_QUEUEFACTORY_H_
+#ifndef FSFW_IPC_QUEUEFACTORY_H_
+#define FSFW_IPC_QUEUEFACTORY_H_
+
 
 #include "MessageQueueIF.h"
+#include "../ipc/MessageQueueMessage.h"
 #include <stdint.h>
 /**
  * Creates message queues.
@@ -30,4 +32,4 @@ private:
 	static QueueFactory* factoryInstance;
 };
 
-#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */
+#endif /* FSFW_IPC_QUEUEFACTORY_H_ */
diff --git a/osal/linux/QueueFactory.cpp b/osal/linux/QueueFactory.cpp
index 0860950c..44def48a 100644
--- a/osal/linux/QueueFactory.cpp
+++ b/osal/linux/QueueFactory.cpp
@@ -15,7 +15,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 			bool ignoreFault) {
 	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
 			sentFrom,ignoreFault);

From ed80768c66335e7404e905a94db33ae0e0cc2f78 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 22 Sep 2020 16:13:45 +0200
Subject: [PATCH 361/653] Fixes #194

---
 container/ArrayList.h            | 5 ++---
 container/FixedOrderedMultimap.h | 7 +++----
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/container/ArrayList.h b/container/ArrayList.h
index be89761e..37df6d54 100644
--- a/container/ArrayList.h
+++ b/container/ArrayList.h
@@ -95,10 +95,9 @@ public:
 
 		//SHOULDDO this should be implemented as non-member
 		bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
-			return !(*this == other);
+			return !(*this ==other);
 		}
-	}
-	;
+	};
 
 	/**
 	 * Number of Elements stored in this List
diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index 31282f80..c5fd2184 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -10,10 +10,9 @@
 template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
 class FixedOrderedMultimap {
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
-	static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
+	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
+	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
 
 private:
 	typedef KEY_COMPARE compare;

From 0bc3807c18d9ec2b254a53a4d62d8da22626ad10 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 16:22:37 +0200
Subject: [PATCH 362/653] added FIFO

---
 container/SharedRingBuffer.cpp | 25 +++++++++++++++++++++++++
 container/SharedRingBuffer.h   | 16 ++++++++++++++++
 2 files changed, 41 insertions(+)

diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp
index 800e75d3..48bdb9df 100644
--- a/container/SharedRingBuffer.cpp
+++ b/container/SharedRingBuffer.cpp
@@ -9,6 +9,7 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
 	mutex = MutexFactory::instance()->createMutex();
 }
 
+
 SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
 		const size_t size, bool overwriteOld, size_t maxExcessBytes):
 		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
@@ -16,6 +17,11 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
 	mutex = MutexFactory::instance()->createMutex();
 }
 
+
+void SharedRingBuffer::setToUseReceiveSizeFIFO(uint32_t fifoDepth) {
+	this->fifoDepth = fifoDepth;
+}
+
 ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
         MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
     return mutex->lockMutex(timeoutType, timeout);
@@ -25,6 +31,25 @@ ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
     return mutex->unlockMutex();
 }
 
+
+
 MutexIF* SharedRingBuffer::getMutexHandle() const {
     return mutex;
 }
+
+ReturnValue_t SharedRingBuffer::initialize() {
+	if(fifoDepth > 0) {
+		receiveSizesFIFO = new DynamicFIFO<size_t>(fifoDepth);
+	}
+	return SystemObject::initialize();
+}
+
+DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
+	if(receiveSizesFIFO == nullptr) {
+		// Configuration error.
+		sif::warning << "SharedRingBuffer::getReceiveSizesFIFO: Ring buffer"
+				<< " was not configured to have sizes FIFO, returning nullptr!"
+				<< std::endl;
+	}
+	return receiveSizesFIFO;
+}
diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
index 80c068b3..c9e0ae3f 100644
--- a/container/SharedRingBuffer.h
+++ b/container/SharedRingBuffer.h
@@ -1,6 +1,7 @@
 #ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_
 #define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
 
+#include <fsfw/container/DynamicFIFO.h>
 #include "SimpleRingBuffer.h"
 #include "../ipc/MutexIF.h"
 #include "../objectmanager/SystemObject.h"
@@ -26,6 +27,8 @@ public:
 	SharedRingBuffer(object_id_t objectId, const size_t size,
 			bool overwriteOld, size_t maxExcessBytes);
 
+	void setToUseReceiveSizeFIFO(uint32_t fifoDepth);
+
 	/**
 	 * This constructor takes an external buffer with the specified size.
 	 * @param buffer
@@ -59,8 +62,21 @@ public:
 	 * @return
 	 */
 	MutexIF* getMutexHandle() const;
+
+	ReturnValue_t initialize() override;
+
+	/**
+	 * If the shared ring buffer was configured to have a sizes FIFO, a handle
+	 * to that FIFO can be retrieved with this function.
+	 * Do not forget to protect access with a lock if required!
+	 * @return
+	 */
+	DynamicFIFO<size_t>* getReceiveSizesFIFO();
 private:
 	MutexIF* mutex = nullptr;
+
+	size_t fifoDepth = 0;
+	DynamicFIFO<size_t>* receiveSizesFIFO = nullptr;
 };
 
 

From 74a4c98ca73b25de31e2ec678aeb9aff5f900e96 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 22 Sep 2020 16:23:35 +0200
Subject: [PATCH 363/653] Small format stuff

---
 container/ArrayList.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/container/ArrayList.h b/container/ArrayList.h
index 37df6d54..19454777 100644
--- a/container/ArrayList.h
+++ b/container/ArrayList.h
@@ -95,7 +95,7 @@ public:
 
 		//SHOULDDO this should be implemented as non-member
 		bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
-			return !(*this ==other);
+			return !(*this == other);
 		}
 	};
 

From 2f73841580339d39d0e784b60a4bc49867eff112 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 16:24:40 +0200
Subject: [PATCH 364/653] include fix

---
 container/SharedRingBuffer.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
index c9e0ae3f..fdc9d626 100644
--- a/container/SharedRingBuffer.h
+++ b/container/SharedRingBuffer.h
@@ -1,8 +1,8 @@
 #ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_
 #define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
 
-#include <fsfw/container/DynamicFIFO.h>
 #include "SimpleRingBuffer.h"
+#include "DynamicFIFO.h"
 #include "../ipc/MutexIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../timemanager/Clock.h"

From 978d7514a486482869a31852c571ea0009f0ffa0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Sep 2020 16:32:59 +0200
Subject: [PATCH 365/653] added doc, changed type

---
 container/SharedRingBuffer.cpp |  2 +-
 container/SharedRingBuffer.h   | 10 +++++++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/container/SharedRingBuffer.cpp b/container/SharedRingBuffer.cpp
index 48bdb9df..6ddb3d3e 100644
--- a/container/SharedRingBuffer.cpp
+++ b/container/SharedRingBuffer.cpp
@@ -18,7 +18,7 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
 }
 
 
-void SharedRingBuffer::setToUseReceiveSizeFIFO(uint32_t fifoDepth) {
+void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) {
 	this->fifoDepth = fifoDepth;
 }
 
diff --git a/container/SharedRingBuffer.h b/container/SharedRingBuffer.h
index fdc9d626..64d7ee29 100644
--- a/container/SharedRingBuffer.h
+++ b/container/SharedRingBuffer.h
@@ -27,7 +27,15 @@ public:
 	SharedRingBuffer(object_id_t objectId, const size_t size,
 			bool overwriteOld, size_t maxExcessBytes);
 
-	void setToUseReceiveSizeFIFO(uint32_t fifoDepth);
+	/**
+	 * @brief	This function can be used to add an optional FIFO to the class
+	 * @details 
+	 * This FIFO will be allocated in the initialize function (and will
+	 * have a fixed maximum size after that). It can be used to store
+	 * values like packet sizes, for example for a shared ring buffer
+	 * used by producer/consumer tasks.
+	 */
+	void setToUseReceiveSizeFIFO(size_t fifoDepth);
 
 	/**
 	 * This constructor takes an external buffer with the specified size.

From 59f72d1031a20e403cd52d2e3922e28c293b6537 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 22 Sep 2020 16:59:13 +0200
Subject: [PATCH 366/653] Small fix with new pus services

---
 events/fwSubsystemIdRanges.h | 1 +
 returnvalues/FwClassIds.h    | 1 -
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/events/fwSubsystemIdRanges.h b/events/fwSubsystemIdRanges.h
index 5e086f0e..1b0b238e 100644
--- a/events/fwSubsystemIdRanges.h
+++ b/events/fwSubsystemIdRanges.h
@@ -19,6 +19,7 @@ enum {
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
 	PUS_SERVICE_1 = 80,
+	PUS_SERVICE_9 = 89,
 	PUS_SERVICE_17 = 97,
 	FW_SUBSYSTEM_ID_RANGE
 };
diff --git a/returnvalues/FwClassIds.h b/returnvalues/FwClassIds.h
index e547025b..53add6a0 100644
--- a/returnvalues/FwClassIds.h
+++ b/returnvalues/FwClassIds.h
@@ -56,7 +56,6 @@ enum {
 	DEVICE_COMMUNICATION_IF, //DC
 	BSP, //BSP
 	TIME_STAMPER_IF, //TSI 53
-	//TODO This will shift all IDs for FLP
 	SGP4PROPAGATOR_CLASS, //SGP4 54
 	MUTEX_IF, //MUX 55
 	MESSAGE_QUEUE_IF,//MQI 56

From 4d1492f130e64a4e8ec803814ca6f4bf9bcaccbc Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 26 Sep 2020 14:13:20 +0200
Subject: [PATCH 367/653] event cfg file loc not explicit anymore

---
 events/Event.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/events/Event.h b/events/Event.h
index e22c9db1..f8410f32 100644
--- a/events/Event.h
+++ b/events/Event.h
@@ -4,7 +4,7 @@
 #include <stdint.h>
 #include "fwSubsystemIdRanges.h"
 //could be move to more suitable location
-#include <config/tmtc/subsystemIdRanges.h>
+#include <subsystemIdRanges.h>
 
 typedef uint16_t EventId_t;
 typedef uint8_t EventSeverity_t;

From 22d9b771654aba5698c6e4f94d8eb7a925d159e2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 26 Sep 2020 14:19:51 +0200
Subject: [PATCH 368/653] added documentation

---
 tasks/FixedSlotSequence.h | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/tasks/FixedSlotSequence.h b/tasks/FixedSlotSequence.h
index 19a05f21..077dd10b 100644
--- a/tasks/FixedSlotSequence.h
+++ b/tasks/FixedSlotSequence.h
@@ -139,6 +139,15 @@ public:
 	 */
 	ReturnValue_t checkSequence() const;
 
+	/**
+	 * @brief   A custom check can be injected for the respective slot list.
+	 * @details
+	 * This can be used by the developer to check the validity of a certain
+	 * sequence. The function will be run in the #checkSequence function.
+	 * The general check will be continued for now if the custom check function
+	 * fails but a diagnostic debug output will be given.
+	 * @param customCheckFunction
+	 */
 	void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
 
 	/**

From 13b68f10a017adb82e5f9158af72a13eff3cf5cb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 26 Sep 2020 14:24:09 +0200
Subject: [PATCH 369/653] added usage of new interface

---
 osal/FreeRTOS/MessageQueue.cpp | 131 ++++++++++++------
 osal/FreeRTOS/MessageQueue.h   | 243 ++++++++++++++++-----------------
 osal/FreeRTOS/QueueFactory.cpp |  17 ++-
 3 files changed, 213 insertions(+), 178 deletions(-)

diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index 3bbd4d9d..2dfe5ab6 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -1,41 +1,76 @@
 #include "MessageQueue.h"
-
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
-
-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) {
-		sif::error << "MessageQueue creation failed" << std::endl;
+// TODO I guess we should have a way of checking if we are in an ISR and then
+// use the "fromISR" versions of all calls
+// As a first step towards this, introduces system context variable which needs
+// to be switched manually
+// Haven't found function to find system context.
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
+		maxMessageSize(maxMessageSize) {
+	handle = xQueueCreate(messageDepth, maxMessageSize);
+	if (handle == nullptr) {
+		sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
 	}
 }
 
 MessageQueue::~MessageQueue() {
-	if (handle != NULL) {
+	if (handle != nullptr) {
 		vQueueDelete(handle);
 	}
 }
 
+void MessageQueue::switchSystemContext(CallContext callContext) {
+	this->callContext = callContext;
+}
+
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, bool ignoreFault) {
+		MessageQueueMessageIF* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
 }
 
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
 	return sendToDefaultFrom(message, this->getId());
 }
 
-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
-	if (this->lastPartner != 0) {
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+	if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
 		return sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
 		return NO_REPLY_PARTNER;
 	}
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+	return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
+	        callContext);
+}
+
+
+ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
+	if (result != pdPASS) {
+		if (not ignoreFault) {
+			InternalErrorReporterIF* internalErrorReporter = objectManager->
+					get<InternalErrorReporterIF>(
+					objects::INTERNAL_ERROR_REPORTER);
+			if (internalErrorReporter != nullptr) {
+				internalErrorReporter->queueMessageNotSent();
+			}
+		}
+		return MessageQueueIF::FULL;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
 	if(status == HasReturnvaluesIF::RETURN_OK) {
@@ -44,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
 	return status;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
-	BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(message->getBuffer()), 0);
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
+			message->getBuffer()), 0);
 	if (result == pdPASS){
 		this->lastPartner = message->getSender();
 		return HasReturnvaluesIF::RETURN_OK;
@@ -66,50 +102,55 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
 }
 
 MessageQueueId_t MessageQueue::getId() const {
-	return (MessageQueueId_t) handle;
+	return reinterpret_cast<MessageQueueId_t>(handle);
 }
 
 void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+	defaultDestinationSet = true;
 	this->defaultDestination = defaultDestination;
 }
 
-ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
-	return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
-}
-
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
-		MessageQueueId_t sentFrom, bool ignoreFault) {
-	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
-}
-
 MessageQueueId_t MessageQueue::getDefaultDestination() const {
 	return defaultDestination;
 }
 
 bool MessageQueue::isDefaultDestinationSet() const {
-	return 0;
+	return defaultDestinationSet;
 }
 
+
+// static core function to send messages.
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
-		MessageQueueMessage *message, MessageQueueId_t sentFrom,
-		bool ignoreFault) {
-	message->setSender(sentFrom);
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+        bool ignoreFault, CallContext callContext) {
+	BaseType_t result = pdFALSE;
+	QueueHandle_t destination = nullptr;
 
-	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>(
-					objects::INTERNAL_ERROR_REPORTER);
-			if (internalErrorReporter != NULL) {
-				internalErrorReporter->queueMessageNotSent();
-			}
-		}
-		return MessageQueueIF::FULL;
+	if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
+		return MessageQueueIF::DESTINVATION_INVALID;
+	}
+	else  {
+		destination = reinterpret_cast<QueueHandle_t>(sendTo);
 	}
-	return HasReturnvaluesIF::RETURN_OK;
 
+    message->setSender(sentFrom);
+
+
+    if(callContext == CallContext::TASK) {
+        result = xQueueSendToBack(destination,
+                static_cast<const void*>(message->getBuffer()), 0);
+    }
+    else {
+        /* If the call context is from an interrupt,
+         * request a context switch if a higher priority task
+         * was blocked by the interrupt. */
+        BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+        result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
+                static_cast<const void*>(message->getBuffer()),
+                &xHigherPriorityTaskWoken);
+        if(xHigherPriorityTaskWoken == pdTRUE) {
+            TaskManagement::requestContextSwitch(callContext);
+        }
+    }
+    return handleSendResult(result, ignoreFault);
 }
-
diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h
index aa3d54c1..b99bf7c8 100644
--- a/osal/FreeRTOS/MessageQueue.h
+++ b/osal/FreeRTOS/MessageQueue.h
@@ -1,159 +1,150 @@
-#ifndef MESSAGEQUEUE_H_
-#define MESSAGEQUEUE_H_
+#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
+#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 
 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueIF.h"
-#include "../../ipc/MessageQueueMessage.h"
+#include "../../ipc/MessageQueueMessageIF.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
 
-#include <FreeRTOS.h>
-#include <queue.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
+#include <fsfw/ipc/MessageQueueMessage.h>
 
-//TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution
+// TODO: this class assumes that MessageQueueId_t is the same size as void*
+// (the FreeRTOS handle type), compiler will catch this but it might be nice
+// to have something checking or even an always working solution
 // https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
 
 /**
- *	@brief		This class manages sending and receiving of message queue messages.
+ * @brief		This class manages sending and receiving of
+ * 				message queue messages.
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
+ * They work like post boxes, where all incoming messages are stored in FIFO
+ * order. This class creates a new receiving queue and provides methods to fetch
+ * received messages. Being a child of MessageQueueSender, this class also
+ * provides methods to send a message to a user-defined or a default destination.
+ * In addition it also provides a reply method to answer to the queue it
+ * received its last message from.
  *
- *	@details	Message queues are used to pass asynchronous messages between processes.
- *				They work like post boxes, where all incoming messages are stored in FIFO
- *				order. This class creates a new receiving queue and provides methods to fetch
- *				received messages. Being a child of MessageQueueSender, this class also provides
- *				methods to send a message to a user-defined or a default destination. In addition
- *				it also provides a reply method to answer to the queue it received its last message
- *				from.
- *				The MessageQueue should be used as "post box" for a single owning object. So all
- *				message queue communication is "n-to-one".
- *				For creating the queue, as well as sending and receiving messages, the class makes
- *				use of the operating system calls provided.
- *	\ingroup message_queue
+ * The MessageQueue should be used as "post box" for a single owning object.
+ * So all message queue communication is "n-to-one".
+ * For creating the queue, as well as sending and receiving messages, the class
+ * makes use of the operating system calls provided.
+ *
+ * Please keep in mind that FreeRTOS offers different calls for message queue
+ * operations if called from an ISR.
+ * For now, the system context needs to be switched manually.
+ * @ingroup osal
+ * @ingroup message_queue
  */
 class MessageQueue : public MessageQueueIF {
 	friend class MessageQueueSenderIF;
 public:
 	/**
 	 * @brief	The constructor initializes and configures the message queue.
-	 * @details	By making use of the according operating system call, a message queue is created
-	 * 			and initialized. The message depth - the maximum number of messages to be
-	 * 			buffered - may be set with the help of a parameter, whereas the message size is
-	 * 			automatically set to the maximum message queue message size. The operating system
-	 * 			sets the message queue id, or i case of failure, it is set to zero.
-	 * @param message_depth	The number of messages to be buffered before passing an error to the
-	 * 						sender. Default is three.
-	 * @param max_message_size	With this parameter, the maximum message size can be adjusted.
-	 * 							This should be left default.
+	 * @details
+	 * By making use of the according operating system call, a message queue
+	 * is created and initialized. The message depth - the maximum number of
+	 * messages to be buffered - may be set with the help of a parameter,
+	 * whereas the message size is automatically set to the maximum message
+	 * queue message size. The operating system sets the message queue id, or
+	 * in case of failure, it is set to zero.
+	 * @param message_depth
+	 * The number of messages to be buffered before passing an error to the
+	 * sender. Default is three.
+	 * @param max_message_size
+	 * With this parameter, the maximum message size can be adjusted.
+	 * This should be left default.
 	 */
-	MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
+	MessageQueue( size_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
+
+	/** Copying message queues forbidden */
+	MessageQueue(const MessageQueue&) = delete;
+	MessageQueue& operator=(const MessageQueue&) = delete;
+
 	/**
 	 * @brief	The destructor deletes the formerly created message queue.
-	 * @details	This is accomplished by using the delete call provided by the operating system.
+	 * @details	This is accomplished by using the delete call provided
+	 * 			by the operating system.
 	 */
 	virtual ~MessageQueue();
+
 	/**
-	 * @brief	This operation sends a message to the given destination.
-	 * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
-	 * 			queue id as "sentFrom" parameter.
-	 * @param sendTo	This parameter specifies the message queue id of the destination message queue.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
+	 * This function is used to switch the call context. This has to be called
+	 * if a message is sent or received from an ISR!
+	 * @param callContext
 	 */
+	void switchSystemContext(CallContext callContext);
+
+	/** MessageQueueIF implementation */
 	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false );
-	/**
-	 * @brief	This operation sends a message to the default destination.
-	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
-	 * 			MessageQueueSender parent class and adds its queue id as "sentFrom" information.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 */
-	ReturnValue_t sendToDefault( MessageQueueMessage* message );
-	/**
-	 * @brief	This operation sends a message to the last communication partner.
-	 * @details	This operation simplifies answering an incoming message by using the stored
-	 * 			lastParnter information as destination. If there was no message received yet
-	 * 			(i.e. lastPartner is zero), an error code is returned.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 */
-	ReturnValue_t reply( MessageQueueMessage* message );
+			MessageQueueMessageIF* message, bool ignoreFault = false) override;
 
-	/**
-	 * @brief	This function reads available messages from the message queue and returns the sender.
-	 * @details	It works identically to the other receiveMessage call, but in addition returns the
-	 * 			sender's queue id.
-	 * @param message	A pointer to a message in which the received data is stored.
-	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
-	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message,
-			MessageQueueId_t *receivedFrom);
+	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
 
-	/**
-	 * @brief	This function reads available messages from the message queue.
-	 * @details	If data is available it is stored in the passed message pointer. The message's
-	 * 			original content is overwritten and the sendFrom information is stored in the
-	 * 			lastPartner attribute. Else, the lastPartner information remains untouched, the
-	 * 			message's content is cleared and the function returns immediately.
-	 * @param message	A pointer to a message in which the received data is stored.
-	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message);
-	/**
-	 * Deletes all pending messages in the queue.
-	 * @param count The number of flushed messages.
-	 * @return RETURN_OK on success.
-	 */
-	ReturnValue_t flush(uint32_t* count);
-	/**
-	 * @brief	This method returns the message queue id of the last communication partner.
-	 */
-	MessageQueueId_t getLastPartner() const;
-	/**
-	 * @brief	This method returns the message queue id of this class's message queue.
-	 */
-	MessageQueueId_t getId() const;
-	/**
-	 * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
-	 * \details	This method takes the message provided, adds the sentFrom information and passes
-	 * 			it on to the destination provided with an operating system call. The OS's return
-	 * 			value is returned.
-	 * \param sendTo	This parameter specifies the message queue id to send the message to.
-	 * \param message	This is a pointer to a previously created message, which is sent.
-	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
-	 * 					This variable is set to zero by default.
-	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
-	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
-	/**
-	 * \brief	The sendToDefault method sends a queue message to the default destination.
-	 * \details	In all other aspects, it works identical to the sendMessage method.
-	 * \param message	This is a pointer to a previously created message, which is sent.
-	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
-	 * 					This variable is set to zero by default.
-	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
-	/**
-	 * \brief	This method is a simple setter for the default destination.
-	 */
-	void setDefaultDestination(MessageQueueId_t defaultDestination);
-	/**
-	 * \brief	This method is a simple getter for the default destination.
-	 */
-	MessageQueueId_t getDefaultDestination() const;
+	ReturnValue_t reply(MessageQueueMessageIF* message) override;
+	virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+			MessageQueueId_t *receivedFrom) override;
+
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+
+	ReturnValue_t flush(uint32_t* count) override;
+
+	MessageQueueId_t getLastPartner() const override;
+
+	MessageQueueId_t getId() const override;
+
+	void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+
+	MessageQueueId_t getDefaultDestination() const override;
+
+	bool isDefaultDestinationSet() const override;
 
-	bool isDefaultDestinationSet() const;
 protected:
 	/**
-	 * Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
-	 * 	 \details	This method takes the message provided, adds the sentFrom information and passes
-	 * 			it on to the destination provided with an operating system call. The OS's return
-	 * 			value is returned.
-	 * \param sendTo	This parameter specifies the message queue id to send the message to.
-	 * \param message	This is a pointer to a previously created message, which is sent.
-	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
-	 * 					This variable is set to zero by default.
-	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
+	 * @brief 	Implementation to be called from any send Call within
+	 * 			MessageQueue and MessageQueueSenderIF.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 * The OS's return value is returned.
+	 * @param sendTo
+	 * This parameter specifies the message queue id to send the message to.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @param sentFrom
+	 * The sentFrom information can be set to inject the sender's queue id into
+	 * the message. This variable is set to zero by default.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter  is not incremented
+	 * if queue is full.
+	 * @param context Specify whether call is made from task or from an ISR.
 	 */
-	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false, CallContext callContext = CallContext::TASK);
+
+	static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
+
 private:
+	bool defaultDestinationSet = false;
 	QueueHandle_t handle;
-	MessageQueueId_t defaultDestination;
-	MessageQueueId_t lastPartner;
+	MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
+	MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
+	const size_t maxMessageSize;
+	//! Stores the current system context
+	CallContext callContext =  CallContext::TASK;
 };
 
-#endif /* MESSAGEQUEUE_H_ */
+#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index e639179a..5b3c73dc 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -1,18 +1,21 @@
+#include "../../ipc/MessageQueueSenderIF.h"
 #include "../../ipc/QueueFactory.h"
 
-#include "MessageQueue.h"
+#include "../../osal/FreeRTOS/MessageQueue.h"
 
 
-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
 }
 
 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
@@ -24,9 +27,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
 		size_t maxMessageSize) {
-	return new MessageQueue(message_depth, maxMessageSize);
+	return new MessageQueue(messageDepth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

From a0bc6b3c1fb3a5f8ef268b2b71d731786d51b3c2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 26 Sep 2020 14:34:49 +0200
Subject: [PATCH 370/653] MQM IF update

---
 ipc/MessageQueueIF.h | 176 +++++++++++++++++++++++++++----------------
 1 file changed, 112 insertions(+), 64 deletions(-)

diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h
index b0347db9..1c06521c 100644
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@@ -1,61 +1,77 @@
 #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
 #define FSFW_IPC_MESSAGEQUEUEIF_H_
 
-// COULDDO: We could support blocking calls
-
 #include "messageQueueDefinitions.h"
-#include "MessageQueueMessage.h"
+#include "MessageQueueMessageIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 
+#include <cstdint>
+
+
+// COULDDO: We could support blocking calls
+// semaphores are being implemented, which makes this idea even more iteresting.
+
+/**
+ * @defgroup message_queue Message Queue
+ * @brief Message Queue related software components
+ */
 class MessageQueueIF {
 public:
 	static const MessageQueueId_t NO_QUEUE = 0;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
-	/**
-	 * No new messages on the queue
-	 */
+	//! No new messages on the queue
 	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
-	/**
-	 * No space left for more messages
-	 */
+	//! No space left for more messages
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
-	/**
-	 * Returned if a reply method was called without partner
-	 */
+	//! Returned if a reply method was called without partner
 	static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
+	//! Returned if the target destination is invalid.
+	static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
 
 	virtual ~MessageQueueIF() {}
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
-	 * @details	This operation simplifies answering an incoming message by using the stored
-	 * 			lastParnter information as destination. If there was no message received yet
-	 * 			(i.e. lastPartner is zero), an error code is returned.
-	 * @param message	A pointer to a previously created message, which is sent.
-	 * \return RETURN_OK if ok
-	 * \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
+	 * @details
+	 * This operation simplifies answering an incoming message by using the
+	 * stored lastParnter information as destination. If there was no message
+	 * received yet (i.e. lastPartner is zero), an error code is returned.
+	 * @param message
+	 * A pointer to a previously created message, which is sent.
+	 * @return
+	 * -@c RETURN_OK if ok
+	 * -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found.
 	 */
-	virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
+	virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
 
 	/**
-	 * @brief	This function reads available messages from the message queue and returns the sender.
-	 * @details	It works identically to the other receiveMessage call, but in addition returns the
-	 * 			sender's queue id.
-	 * @param message	A pointer to a message in which the received data is stored.
-	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
+	 * @brief	This function reads available messages from the message queue
+	 *          and returns the sender.
+	 * @details
+	 * It works identically to the other receiveMessage call, but in addition
+	 * returns the sender's queue id.
+	 * @param message
+	 * A pointer to a message in which the received data is stored.
+	 * @param receivedFrom
+	 * A pointer to a queue id in which the sender's id is stored.
 	 */
-	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
+	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom) = 0;
 
 	/**
 	 * @brief	This function reads available messages from the message queue.
-	 * @details	If data is available it is stored in the passed message pointer. The message's
-	 * 			original content is overwritten and the sendFrom information is stored in the
-	 * 			lastPartner attribute. Else, the lastPartner information remains untouched, the
-	 * 			message's content is cleared and the function returns immediately.
-	 * @param message	A pointer to a message in which the received data is stored.
+	 * @details
+	 * If data is available it is stored in the passed message pointer.
+	 * The message's original content is overwritten and the sendFrom
+	 * information is stored in theblastPartner attribute. Else, the lastPartner
+	 * information remains untouched, the message's content is cleared and the
+	 * function returns immediately.
+	 * @param message
+	 * A pointer to a message in which the received data is stored.
+	 * @return -@c RETURN_OK on success
+	 *         -@c MessageQueueIF::EMPTY if queue is empty
 	 */
-	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0;
+	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@@ -63,57 +79,89 @@ public:
 	 */
 	virtual ReturnValue_t flush(uint32_t* count) = 0;
 	/**
-	 * @brief	This method returns the message queue id of the last communication partner.
+	 * @brief	This method returns the message queue
+	 *          id of the last communication partner.
 	 */
 	virtual MessageQueueId_t getLastPartner() const = 0;
 	/**
-	 * @brief	This method returns the message queue id of this class's message queue.
+	 * @brief	This method returns the message queue
+	 *          id of this class's message queue.
 	 */
 	virtual MessageQueueId_t getId() const = 0;
 
 	/**
-	 * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
-	 * \details	This method takes the message provided, adds the sentFrom information and passes
-	 * 			it on to the destination provided with an operating system call. The OS's return
-	 * 			value is returned.
-	 * \param sendTo	This parameter specifies the message queue id to send the message to.
-	 * \param message	This is a pointer to a previously created message, which is sent.
-	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
-	 * 					This variable is set to zero by default.
-	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full (if implemented).
+	 * @brief	With the sendMessage call, a queue message
+	 *          is sent to a receiving queue.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information
+	 * and passes it on to the destination provided with an operating system
+	 * call. The OS's returnvalue is returned.
+	 * @param sendTo
+	 * This parameter specifies the message queue id to send the message to.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @param sentFrom
+	 * The sentFrom information can be set to inject the sender's queue id
+	 * into the message. This variable is set to zero by default.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter is not incremented
+	 * if queue is full (if implemented).
+	 * @return -@c RETURN_OK on success
+	 *         -@c MessageQueueIF::FULL if queue is full
 	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
-	/**
-		 * @brief	This operation sends a message to the given destination.
-		 * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
-		 * 			queue id as "sentFrom" parameter.
-		 * @param sendTo	This parameter specifies the message queue id of the destination message queue.
-		 * @param message	A pointer to a previously created message, which is sent.
-		 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
-		 */
-	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault = false ) = 0;
 
 	/**
-	 * \brief	The sendToDefaultFrom method sends a queue message to the default destination.
-	 * \details	In all other aspects, it works identical to the sendMessage method.
-	 * \param message	This is a pointer to a previously created message, which is sent.
-	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
-	 * 					This variable is set to zero by default.
+	 * @brief	This operation sends a message to the given destination.
+	 * @details
+	 * It directly uses the sendMessage call of the MessageQueueSender parent,
+	 * but passes its queue id as "sentFrom" parameter.
+	 * @param sendTo
+	 * This parameter specifies the message queue id of the destination
+	 * message queue.
+	 * @param message
+	 * A pointer to a previously created message, which is sent.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter is not incremented
+	 * if queue is full.
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, bool ignoreFault = false ) = 0;
+
+	/**
+	 * @brief	The sendToDefaultFrom method sends a queue message
+	 *          to the default destination.
+	 * @details
+	 * In all other aspects, it works identical to the sendMessage method.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @param sentFrom
+	 * The sentFrom information can be set to inject the sender's queue id
+	 * into the message. This variable is set to zero by default.
+	 * @return -@c RETURN_OK on success
+	 *         -@c MessageQueueIF::FULL if queue is full
+	 */
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
 	/**
 	 * @brief	This operation sends a message to the default destination.
-	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
-	 * 			Implementation class and adds its queue id as "sentFrom" information.
+	 * @details
+	 * As in the sendMessage method, this function uses the sendToDefault
+	 * call of the Implementation class and adds its queue id as
+	 * "sentFrom" information.
 	 * @param message	A pointer to a previously created message, which is sent.
+	 * @return -@c RETURN_OK on success
+	 *         -@c MessageQueueIF::FULL if queue is full
 	 */
-	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message )  = 0;
+	virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message )  = 0;
 	/**
-	 * \brief	This method is a simple setter for the default destination.
+	 * @brief	This method is a simple setter for the default destination.
 	 */
 	virtual void setDefaultDestination(MessageQueueId_t defaultDestination) = 0;
 	/**
-	 * \brief	This method is a simple getter for the default destination.
+	 * @brief	This method is a simple getter for the default destination.
 	 */
 	virtual MessageQueueId_t getDefaultDestination() const = 0;
 
@@ -122,4 +170,4 @@ public:
 
 
 
-#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */
+#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */

From bf5688c8d8399817d276b58ff22768c54d311df9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 26 Sep 2020 14:36:56 +0200
Subject: [PATCH 371/653] last fixes

---
 ipc/MessageQueueSenderIF.h |  6 +++---
 ipc/QueueFactory.h         | 10 ++++++----
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/ipc/MessageQueueSenderIF.h b/ipc/MessageQueueSenderIF.h
index 7eea5146..683c2908 100644
--- a/ipc/MessageQueueSenderIF.h
+++ b/ipc/MessageQueueSenderIF.h
@@ -1,8 +1,8 @@
 #ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 #define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../ipc/MessageQueueMessageIF.h"
+#include "MessageQueueIF.h"
+#include "MessageQueueMessageIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
 class MessageQueueSenderIF {
@@ -15,7 +15,7 @@ public:
 	 * Not sure whether this is actually a good idea.
 	 */
 	static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message,
+			MessageQueueMessageIF* message,
 			MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
 			bool ignoreFault = false);
 private:
diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h
index 4f4d72c7..9853d256 100644
--- a/ipc/QueueFactory.h
+++ b/ipc/QueueFactory.h
@@ -1,8 +1,10 @@
-#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_
-#define FRAMEWORK_IPC_QUEUEFACTORY_H_
+#ifndef FSFW_IPC_QUEUEFACTORY_H_
+#define FSFW_IPC_QUEUEFACTORY_H_
 
 #include "MessageQueueIF.h"
-#include <stdint.h>
+#include "MessageQueueMessage.h"
+#include <cstdint>
+
 /**
  * Creates message queues.
  * This class is a "singleton" interface, i.e. it provides an
@@ -30,4 +32,4 @@ private:
 	static QueueFactory* factoryInstance;
 };
 
-#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */
+#endif /* FSFW_IPC_QUEUEFACTORY_H_ */

From 7b57f372bfa3347eb01d22d6e666446f468a3bb2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 26 Sep 2020 14:51:00 +0200
Subject: [PATCH 372/653] starting convergence

---
 memory/AcceptsMemoryMessagesIF.h | 13 ++----
 memory/MemoryHelper.cpp          | 47 ++++++++++----------
 memory/MemoryHelper.h            | 42 +++++++++++-------
 memory/MemoryMessage.cpp         | 13 +++---
 memory/MemoryMessage.h           | 43 ++++++++++--------
 memory/MemoryProxyIF.h           |  2 +-
 modes/HasModesIF.h               | 16 +++----
 modes/ModeHelper.cpp             | 75 ++++++++++++++++++++------------
 modes/ModeHelper.h               | 10 +++--
 modes/ModeMessage.cpp            |  2 +-
 10 files changed, 147 insertions(+), 116 deletions(-)

diff --git a/memory/AcceptsMemoryMessagesIF.h b/memory/AcceptsMemoryMessagesIF.h
index a1cbddf8..cf8aa5ec 100644
--- a/memory/AcceptsMemoryMessagesIF.h
+++ b/memory/AcceptsMemoryMessagesIF.h
@@ -1,12 +1,5 @@
-/**
- * @file	AcceptsMemoryMessagesIF.h
- * @brief	This file defines the AcceptsMemoryMessagesIF class.
- * @date	11.07.2013
- * @author	baetz
- */
-
-#ifndef ACCEPTSMEMORYMESSAGESIF_H_
-#define ACCEPTSMEMORYMESSAGESIF_H_
+#ifndef FSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_
+#define FSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_
 
 #include "HasMemoryIF.h"
 #include "MemoryMessage.h"
@@ -18,4 +11,4 @@ public:
 };
 
 
-#endif /* ACCEPTSMEMORYMESSAGESIF_H_ */
+#endif /* AFSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_ */
diff --git a/memory/MemoryHelper.cpp b/memory/MemoryHelper.cpp
index 48a605be..6b11882f 100644
--- a/memory/MemoryHelper.cpp
+++ b/memory/MemoryHelper.cpp
@@ -1,14 +1,15 @@
-#include "../globalfunctions/CRC.h"
 #include "MemoryHelper.h"
 #include "MemoryMessage.h"
+
+#include "../globalfunctions/CRC.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/EndianConverter.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
-MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue) :
-		workOnThis(workOnThis), queueToUse(useThisQueue), ipcStore(NULL), ipcAddress(), lastCommand(
-				CommandMessage::CMD_NONE), lastSender(0), reservedSpaceInIPC(
-				NULL), busy(false) {
+MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis,
+		MessageQueueIF* useThisQueue):
+		workOnThis(workOnThis), queueToUse(useThisQueue), ipcAddress(),
+		lastCommand(CommandMessage::CMD_NONE), busy(false) {
 }
 
 ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
@@ -33,17 +34,8 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
 	}
 }
 
-ReturnValue_t MemoryHelper::initialize() {
-	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (ipcStore != NULL) {
-		return RETURN_OK;
-	} else {
-		return RETURN_FAILED;
-	}
-}
-
 void MemoryHelper::completeLoad(ReturnValue_t errorCode,
-		const uint8_t* dataToCopy, const uint32_t size, uint8_t* copyHere) {
+		const uint8_t* dataToCopy, const size_t size, uint8_t* copyHere) {
 	busy = false;
 	switch (errorCode) {
 	case HasMemoryIF::DO_IT_MYSELF:
@@ -67,13 +59,13 @@ void MemoryHelper::completeLoad(ReturnValue_t errorCode,
 		return;
 	}
 	//Only reached on success
-	CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, 0);
+	CommandMessage reply( CommandMessage::REPLY_COMMAND_OK, 0, 0);
 	queueToUse->sendMessage(lastSender, &reply);
 	ipcStore->deleteData(ipcAddress);
 }
 
 void MemoryHelper::completeDump(ReturnValue_t errorCode,
-		const uint8_t* dataToCopy, const uint32_t size) {
+		const uint8_t* dataToCopy, const size_t size) {
 	busy = false;
 	CommandMessage reply;
 	MemoryMessage::setMemoryReplyFailed(&reply, errorCode, lastCommand);
@@ -125,12 +117,12 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
 		break;
 	}
 	if (queueToUse->sendMessage(lastSender, &reply) != RETURN_OK) {
-		reply.clearCommandMessage();
+		reply.clear();
 	}
 }
 
 void MemoryHelper::swapMatrixCopy(uint8_t* out, const uint8_t *in,
-		uint32_t totalSize, uint8_t datatypeSize) {
+		size_t totalSize, uint8_t datatypeSize) {
 	if (totalSize % datatypeSize != 0){
 		return;
 	}
@@ -185,11 +177,18 @@ void MemoryHelper::handleMemoryCheckOrDump(CommandMessage* message) {
 }
 
 ReturnValue_t MemoryHelper::initialize(MessageQueueIF* queueToUse_) {
-	if(queueToUse_!=NULL){
-		this->queueToUse = queueToUse_;
-	}else{
-		return MessageQueueIF::NO_QUEUE;
+	if(queueToUse_ == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-
+	this->queueToUse = queueToUse_;
 	return initialize();
 }
+
+ReturnValue_t MemoryHelper::initialize() {
+	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (ipcStore != nullptr) {
+		return RETURN_OK;
+	} else {
+		return RETURN_FAILED;
+	}
+}
diff --git a/memory/MemoryHelper.h b/memory/MemoryHelper.h
index 5e1a99b6..a651861c 100644
--- a/memory/MemoryHelper.h
+++ b/memory/MemoryHelper.h
@@ -1,11 +1,16 @@
-#ifndef MEMORYHELPER_H_
-#define MEMORYHELPER_H_
-#include "../ipc/CommandMessage.h"
+#ifndef FSFW_MEMORY_MEMORYHELPER_H_
+#define FSFW_MEMORY_MEMORYHELPER_H_
+
 #include "AcceptsMemoryMessagesIF.h"
+
+#include "../ipc/CommandMessage.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../ipc/MessageQueueIF.h"
 
+/**
+ * @brief   TODO: documentation.
+ */
 class MemoryHelper : public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::MEMORY_HELPER;
@@ -13,25 +18,32 @@ public:
 	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0xE1);
 	static const ReturnValue_t INVALID_SIZE = MAKE_RETURN_CODE(0xE2);
 	static const ReturnValue_t STATE_MISMATCH = MAKE_RETURN_CODE(0xE3);
+
+    MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue);
+    ~MemoryHelper();
+
+    ReturnValue_t handleMemoryCommand(CommandMessage* message);
+    void completeLoad(ReturnValue_t errorCode,
+            const uint8_t* dataToCopy = nullptr, const size_t size = 0,
+            uint8_t* copyHere = nullptr);
+    void completeDump(ReturnValue_t errorCode,
+            const uint8_t* dataToCopy = nullptr, const size_t size = 0);
+    void swapMatrixCopy(uint8_t *out, const uint8_t *in, size_t totalSize,
+            uint8_t datatypeSize);
+    ReturnValue_t initialize(MessageQueueIF* queueToUse_);
+
 private:
 	HasMemoryIF* workOnThis;
 	MessageQueueIF* queueToUse;
-	StorageManagerIF* ipcStore;
+	StorageManagerIF* ipcStore = nullptr;
 	store_address_t ipcAddress;
 	Command_t lastCommand;
-	MessageQueueId_t lastSender;
-	uint8_t* reservedSpaceInIPC;
+	MessageQueueId_t lastSender = MessageQueueIF::NO_QUEUE;
+	uint8_t* reservedSpaceInIPC = nullptr;
 	bool busy;
 	void handleMemoryLoad(CommandMessage* message);
 	void handleMemoryCheckOrDump(CommandMessage* message);
 	ReturnValue_t initialize();
-public:
-	ReturnValue_t handleMemoryCommand(CommandMessage* message);
-	void completeLoad( ReturnValue_t errorCode, const uint8_t* dataToCopy = NULL, const uint32_t size = 0, uint8_t* copyHere = NULL );
-	void completeDump(  ReturnValue_t errorCode, const uint8_t* dataToCopy = NULL, const uint32_t size = 0);
-	void swapMatrixCopy( uint8_t *out, const uint8_t *in, uint32_t totalSize, uint8_t datatypeSize);
-	ReturnValue_t initialize(MessageQueueIF* queueToUse_);
-	MemoryHelper( HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue );
-	~MemoryHelper();
+
 };
-#endif /* MEMORYHELPER_H_ */
+#endif /* FSFW_MEMORY_MEMORYHELPER_H_ */
diff --git a/memory/MemoryMessage.cpp b/memory/MemoryMessage.cpp
index 741565fc..e1db004a 100644
--- a/memory/MemoryMessage.cpp
+++ b/memory/MemoryMessage.cpp
@@ -1,7 +1,6 @@
 #include "MemoryMessage.h"
+
 #include "../objectmanager/ObjectManagerIF.h"
-MemoryMessage::MemoryMessage() {
-}
 
 uint32_t MemoryMessage::getAddress(const CommandMessage* message) {
 	return message->getParameter();
@@ -17,26 +16,24 @@ uint32_t MemoryMessage::getLength(const CommandMessage* message) {
 	return message->getParameter2();
 }
 
-ReturnValue_t MemoryMessage::setMemoryDumpCommand(CommandMessage* message,
+void MemoryMessage::setMemoryDumpCommand(CommandMessage* message,
 		uint32_t address, uint32_t length) {
 	message->setCommand(CMD_MEMORY_DUMP);
 	message->setParameter( address );
 	message->setParameter2( length );
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MemoryMessage::setMemoryDumpReply(CommandMessage* message, store_address_t storageID) {
+void MemoryMessage::setMemoryDumpReply(CommandMessage* message,
+        store_address_t storageID) {
 	message->setCommand(REPLY_MEMORY_DUMP);
 	message->setParameter2( storageID.raw );
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MemoryMessage::setMemoryLoadCommand(CommandMessage* message,
+void MemoryMessage::setMemoryLoadCommand(CommandMessage* message,
 		uint32_t address, store_address_t storageID) {
 	message->setCommand(CMD_MEMORY_LOAD);
 	message->setParameter( address );
 	message->setParameter2( storageID.raw );
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t MemoryMessage::getErrorCode(const CommandMessage* message) {
diff --git a/memory/MemoryMessage.h b/memory/MemoryMessage.h
index a4c2de63..207e539f 100644
--- a/memory/MemoryMessage.h
+++ b/memory/MemoryMessage.h
@@ -1,14 +1,15 @@
-#ifndef MEMORYMESSAGE_H_
-#define MEMORYMESSAGE_H_
+#ifndef FSFW_MEMORY_MEMORYMESSAGE_H_
+#define FSFW_MEMORY_MEMORYMESSAGE_H_
 
 #include "../ipc/CommandMessage.h"
 #include "../storagemanager/StorageManagerIF.h"
 
 
 class MemoryMessage {
-private:
-	MemoryMessage(); //A private ctor inhibits instantiation
 public:
+    // Instantiation forbidden.
+	MemoryMessage() = delete;
+
 	static const uint8_t MESSAGE_ID = messagetypes::MEMORY;
 	static const Command_t CMD_MEMORY_LOAD = MAKE_COMMAND_ID( 0x01 );
 	static const Command_t CMD_MEMORY_DUMP = MAKE_COMMAND_ID( 0x02 );
@@ -19,21 +20,29 @@ public:
 	static const Command_t END_OF_MEMORY_COPY = MAKE_COMMAND_ID(0xF0);
 
 	static uint32_t getAddress( const CommandMessage* message );
-	static store_address_t getStoreID( const CommandMessage* message );
+	static store_address_t getStoreID(const CommandMessage* message);
 	static uint32_t getLength( const CommandMessage* message );
-	static ReturnValue_t getErrorCode( const CommandMessage* message );
-	static ReturnValue_t setMemoryDumpCommand( CommandMessage* message, uint32_t address, uint32_t length );
-	static ReturnValue_t setMemoryDumpReply( CommandMessage* message, store_address_t storageID );
-	static ReturnValue_t setMemoryLoadCommand( CommandMessage* message, uint32_t address, store_address_t storageID );
-	static ReturnValue_t setMemoryCheckCommand( CommandMessage* message, uint32_t address, uint32_t length );
-	static ReturnValue_t setMemoryCheckReply(  CommandMessage* message, uint16_t crc );
-	static ReturnValue_t setMemoryReplyFailed(  CommandMessage* message, ReturnValue_t errorCode, Command_t initialCommand );
-	static ReturnValue_t setMemoryCopyEnd( CommandMessage* message);
+	static ReturnValue_t getErrorCode(const CommandMessage* message);
+    static uint16_t getCrc(const CommandMessage* message );
+    static ReturnValue_t getCrcReturnValue(const CommandMessage* message);
+    static Command_t getInitialCommand(const CommandMessage* message);
+
+	static void setMemoryDumpCommand(CommandMessage* message,
+	        uint32_t address, uint32_t length );
+	static void setMemoryDumpReply(CommandMessage* message,
+	        store_address_t storageID);
+	static void setMemoryLoadCommand(CommandMessage* message,
+	        uint32_t address, store_address_t storageID );
+	static ReturnValue_t setMemoryCheckCommand(CommandMessage* message,
+	        uint32_t address, uint32_t length);
+	static ReturnValue_t setMemoryCheckReply(CommandMessage* message,
+	        uint16_t crc);
+	static ReturnValue_t setMemoryReplyFailed(CommandMessage* message,
+	        ReturnValue_t errorCode, Command_t initialCommand);
+	static ReturnValue_t setMemoryCopyEnd(CommandMessage* message);
 	static void setCrcReturnValue(CommandMessage*, ReturnValue_t returnValue);
-	static uint16_t getCrc( const CommandMessage* message );
-	static ReturnValue_t getCrcReturnValue(const CommandMessage* message);
-	static Command_t getInitialCommand( const CommandMessage* message );
+
 	static void clear(CommandMessage* message);
 };
 
-#endif /* MEMORYMESSAGE_H_ */
+#endif /* FSFW_MEMORY_MEMORYMESSAGE_H_ */
diff --git a/memory/MemoryProxyIF.h b/memory/MemoryProxyIF.h
index 1494d523..31045d3f 100644
--- a/memory/MemoryProxyIF.h
+++ b/memory/MemoryProxyIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
 #define FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
 
-#include "AcceptsMemoryMessagesIF.h"
+#include "../memory/AcceptsMemoryMessagesIF.h"
 
 /**
  * This was a nice idea to transparently forward incoming messages to another object.
diff --git a/modes/HasModesIF.h b/modes/HasModesIF.h
index 4381046c..39a50c2a 100644
--- a/modes/HasModesIF.h
+++ b/modes/HasModesIF.h
@@ -9,8 +9,8 @@
 #define HASMODESIF_H_
 
 #include "../events/Event.h"
-#include "ModeHelper.h"
-#include "ModeMessage.h"
+#include "../modes/ModeHelper.h"
+#include "../modes/ModeMessage.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 
@@ -46,12 +46,12 @@ protected:
 			uint32_t *msToReachTheMode) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	virtual void startTransition(Mode_t mode, Submode_t submode) {
-	}
-	virtual void setToExternalControl() {
-	}
-	virtual void announceMode(bool recursive) {
-	}
+
+	virtual void startTransition(Mode_t mode, Submode_t submode) {}
+
+	virtual void setToExternalControl() {}
+
+	virtual void announceMode(bool recursive) {}
 };
 
 #endif /* HASMODESIF_H_ */
diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp
index cb62c468..68f009e7 100644
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@@ -1,48 +1,47 @@
-#include "HasModesIF.h"
-#include "ModeHelper.h"
 #include "../ipc/MessageQueueSenderIF.h"
+#include "../modes/HasModesIF.h"
+#include "../modes/ModeHelper.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 ModeHelper::ModeHelper(HasModesIF *owner) :
-		theOneWhoCommandedAMode(0), commandedMode(HasModesIF::MODE_OFF), commandedSubmode(
-				HasModesIF::SUBMODE_NONE), owner(owner), parentQueueId(0), forced(
-				false) {
-}
+		commandedMode(HasModesIF::MODE_OFF),
+		commandedSubmode(HasModesIF::SUBMODE_NONE),
+		owner(owner), forced(false) {}
 
 ModeHelper::~ModeHelper() {
 
 }
 
-ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
+ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
 	CommandMessage reply;
 	Mode_t mode;
 	Submode_t submode;
-	switch (message->getCommand()) {
+	switch (command->getCommand()) {
 	case ModeMessage::CMD_MODE_COMMAND_FORCED:
 		forced = true;
 		/* NO BREAK falls through*/
 	case ModeMessage::CMD_MODE_COMMAND: {
-		mode = ModeMessage::getMode(message);
-		submode = ModeMessage::getSubmode(message);
+		mode = ModeMessage::getMode(command);
+		submode = ModeMessage::getSubmode(command);
 		uint32_t timeout;
 		ReturnValue_t result = owner->checkModeCommand(mode, submode, &timeout);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			ModeMessage::cantReachMode(&reply, result);
-			MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
-					owner->getCommandQueue());
+			MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
+			        owner->getCommandQueue());
 			break;
 		}
 		//Free to start transition
-		theOneWhoCommandedAMode = message->getSender();
+		theOneWhoCommandedAMode = command->getSender();
 		commandedMode = mode;
 		commandedSubmode = submode;
 
-		if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
+		if ((parentQueueId != MessageQueueIF::NO_QUEUE)
 				&& (theOneWhoCommandedAMode != parentQueueId)) {
 			owner->setToExternalControl();
 		}
 
 		countdown.setTimeout(timeout);
-
 		owner->startTransition(mode, submode);
 	}
 		break;
@@ -50,8 +49,8 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
 		owner->getMode(&mode, &submode);
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY, mode,
 				submode);
-		MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
-				owner->getCommandQueue());
+		MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
+		       owner->getCommandQueue());
 	}
 		break;
 	case ModeMessage::CMD_MODE_ANNOUNCE:
@@ -71,27 +70,45 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
 	return initialize();
 }
 
-void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
+void ModeHelper::modeChanged(Mode_t ownerMode, Submode_t ownerSubmode) {
 	forced = false;
+	sendModeReplyMessage(ownerMode, ownerSubmode);
+	sendModeInfoMessage(ownerMode, ownerSubmode);
+	theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
+}
+
+void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
+		Submode_t ownerSubmode) {
 	CommandMessage reply;
-	if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
-		if ((mode != commandedMode) || (submode != commandedSubmode)) {
+	if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE)
+	{
+		if (ownerMode != commandedMode or ownerSubmode != commandedSubmode)
+		{
 			ModeMessage::setModeMessage(&reply,
-					ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
-		} else {
+					ModeMessage::REPLY_WRONG_MODE_REPLY, ownerMode,
+					ownerSubmode);
+		}
+		else
+		{
 			ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY,
-					mode, submode);
+					ownerMode, ownerSubmode);
 		}
 		MessageQueueSenderIF::sendMessage(theOneWhoCommandedAMode, &reply,
-				owner->getCommandQueue());
+		        owner->getCommandQueue());
 	}
+}
+
+void ModeHelper::sendModeInfoMessage(Mode_t ownerMode,
+		Submode_t ownerSubmode) {
+	CommandMessage reply;
 	if (theOneWhoCommandedAMode != parentQueueId
-			&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
-		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
-				submode);
-		MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
+			and parentQueueId != MessageQueueIF::NO_QUEUE)
+	{
+		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO,
+				ownerMode, ownerSubmode);
+		MessageQueueSenderIF::sendMessage(parentQueueId, &reply,
+		        owner->getCommandQueue());
 	}
-	theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
 }
 
 void ModeHelper::startTimer(uint32_t timeoutMs) {
diff --git a/modes/ModeHelper.h b/modes/ModeHelper.h
index 542fe780..02cf5799 100644
--- a/modes/ModeHelper.h
+++ b/modes/ModeHelper.h
@@ -1,7 +1,8 @@
 #ifndef MODEHELPER_H_
 #define MODEHELPER_H_
 
-#include "ModeMessage.h"
+#include "../ipc/MessageQueueIF.h"
+#include "../modes/ModeMessage.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../timemanager/Countdown.h"
 
@@ -9,7 +10,7 @@ class HasModesIF;
 
 class ModeHelper {
 public:
-	MessageQueueId_t theOneWhoCommandedAMode;
+	MessageQueueId_t theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
 	Mode_t commandedMode;
 	Submode_t commandedSubmode;
 
@@ -39,11 +40,14 @@ public:
 	void setForced(bool forced);
 protected:
 	HasModesIF *owner;
-	MessageQueueId_t parentQueueId;
+	MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
 
 	Countdown countdown;
 
 	bool forced;
+private:
+	void sendModeReplyMessage(Mode_t ownerMode, Submode_t ownerSubmode);
+	void sendModeInfoMessage(Mode_t ownerMode, Submode_t ownerSubmode);
 };
 
 #endif /* MODEHELPER_H_ */
diff --git a/modes/ModeMessage.cpp b/modes/ModeMessage.cpp
index 14dbbb31..7ad7d06f 100644
--- a/modes/ModeMessage.cpp
+++ b/modes/ModeMessage.cpp
@@ -1,4 +1,4 @@
-#include "ModeMessage.h"
+#include "../modes/ModeMessage.h"
 
 Mode_t ModeMessage::getMode(const CommandMessage* message) {
 	return message->getParameter();

From 9d4c2b90f375ed5b5940b33a6087067294388179 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 26 Sep 2020 14:54:23 +0200
Subject: [PATCH 373/653] removed proxy/ not used&working?

---
 memory/MemoryMessage.cpp | 15 ++++++---------
 memory/MemoryMessage.h   |  8 ++++----
 memory/MemoryProxyIF.h   | 22 ----------------------
 3 files changed, 10 insertions(+), 35 deletions(-)
 delete mode 100644 memory/MemoryProxyIF.h

diff --git a/memory/MemoryMessage.cpp b/memory/MemoryMessage.cpp
index e1db004a..94fa4691 100644
--- a/memory/MemoryMessage.cpp
+++ b/memory/MemoryMessage.cpp
@@ -62,22 +62,21 @@ void MemoryMessage::clear(CommandMessage* message) {
 		}
 }
 
-ReturnValue_t MemoryMessage::setMemoryCheckCommand(CommandMessage* message,
+void MemoryMessage::setMemoryCheckCommand(CommandMessage* message,
 		uint32_t address, uint32_t length) {
 	message->setCommand(CMD_MEMORY_CHECK);
 	message->setParameter( address );
 	message->setParameter2( length );
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MemoryMessage::setMemoryCheckReply(CommandMessage* message,
+void MemoryMessage::setMemoryCheckReply(CommandMessage* message,
 		uint16_t crc) {
 	message->setCommand(REPLY_MEMORY_CHECK);
 	message->setParameter( crc );
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void MemoryMessage::setCrcReturnValue(CommandMessage* message, ReturnValue_t returnValue){
+void MemoryMessage::setCrcReturnValue(CommandMessage* message,
+        ReturnValue_t returnValue){
 	message->setParameter(returnValue<<16);
 };
 
@@ -93,18 +92,16 @@ Command_t MemoryMessage::getInitialCommand(const CommandMessage* message) {
 	return message->getParameter2();
 }
 
-ReturnValue_t MemoryMessage::setMemoryReplyFailed(CommandMessage* message,
+void MemoryMessage::setMemoryReplyFailed(CommandMessage* message,
 		ReturnValue_t errorCode, Command_t initialCommand) {
 	message->setCommand(REPLY_MEMORY_FAILED);
 	message->setParameter(errorCode);
 	message->setParameter2(initialCommand);
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MemoryMessage::setMemoryCopyEnd(CommandMessage* message) {
+void MemoryMessage::setMemoryCopyEnd(CommandMessage* message) {
 	message->setCommand(END_OF_MEMORY_COPY);
 	message->setParameter(0);
 	message->setParameter2(0);
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/memory/MemoryMessage.h b/memory/MemoryMessage.h
index 207e539f..05b9926d 100644
--- a/memory/MemoryMessage.h
+++ b/memory/MemoryMessage.h
@@ -33,13 +33,13 @@ public:
 	        store_address_t storageID);
 	static void setMemoryLoadCommand(CommandMessage* message,
 	        uint32_t address, store_address_t storageID );
-	static ReturnValue_t setMemoryCheckCommand(CommandMessage* message,
+	static void setMemoryCheckCommand(CommandMessage* message,
 	        uint32_t address, uint32_t length);
-	static ReturnValue_t setMemoryCheckReply(CommandMessage* message,
+	static void setMemoryCheckReply(CommandMessage* message,
 	        uint16_t crc);
-	static ReturnValue_t setMemoryReplyFailed(CommandMessage* message,
+	static void setMemoryReplyFailed(CommandMessage* message,
 	        ReturnValue_t errorCode, Command_t initialCommand);
-	static ReturnValue_t setMemoryCopyEnd(CommandMessage* message);
+	static void setMemoryCopyEnd(CommandMessage* message);
 	static void setCrcReturnValue(CommandMessage*, ReturnValue_t returnValue);
 
 	static void clear(CommandMessage* message);
diff --git a/memory/MemoryProxyIF.h b/memory/MemoryProxyIF.h
deleted file mode 100644
index 31045d3f..00000000
--- a/memory/MemoryProxyIF.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
-#define FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
-
-#include "../memory/AcceptsMemoryMessagesIF.h"
-
-/**
- * This was a nice idea to transparently forward incoming messages to another object.
- * But it doesn't work like that.
- */
-class MemoryProxyIF : public AcceptsMemoryMessagesIF {
-public:
-	virtual MessageQueueId_t getProxyQueue() const = 0;
-	MessageQueueId_t getCommandQueue() const {
-		return getProxyQueue();
-	}
-	virtual ~MemoryProxyIF() {}
-
-};
-
-
-
-#endif /* FRAMEWORK_MEMORY_MEMORYPROXYIF_H_ */

From 6d2266f7d0c9b4c8e219e00afebb6bff41b16d9f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 26 Sep 2020 14:58:53 +0200
Subject: [PATCH 374/653] equalization complete

---
 modes/HasModesIF.h    | 24 +++++++++---------------
 modes/ModeHelper.cpp  |  7 ++++---
 modes/ModeHelper.h    | 14 +++++++-------
 modes/ModeMessage.cpp | 10 +++++-----
 modes/ModeMessage.h   | 20 +++++++-------------
 5 files changed, 32 insertions(+), 43 deletions(-)

diff --git a/modes/HasModesIF.h b/modes/HasModesIF.h
index 39a50c2a..34a15937 100644
--- a/modes/HasModesIF.h
+++ b/modes/HasModesIF.h
@@ -1,18 +1,11 @@
-/**
- * @file	HasModesIF.h
- * @brief	This file defines the HasModesIF class.
- * @date	20.06.2013
- * @author	baetz
- */
-
-#ifndef HASMODESIF_H_
-#define HASMODESIF_H_
+#ifndef FSFW_MODES_HASMODESIF_H_
+#define FSFW_MODES_HASMODESIF_H_
 
+#include "ModeHelper.h"
+#include "ModeMessage.h"
 #include "../events/Event.h"
-#include "../modes/ModeHelper.h"
-#include "../modes/ModeMessage.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stdint.h>
+#include <cstdint>
 
 
 class HasModesIF {
@@ -37,10 +30,11 @@ public:
 	static const Mode_t MODE_ON = 1; //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
 	static const Mode_t MODE_OFF = 0; //!< The device is powered off. The only command accepted in this mode is a mode change to on.
 	static const Submode_t SUBMODE_NONE = 0; //!< To avoid checks against magic number "0".
-	virtual ~HasModesIF() {
-	}
+
+	virtual ~HasModesIF() {}
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	virtual void getMode(Mode_t *mode, Submode_t *submode) = 0;
+
 protected:
 	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
 			uint32_t *msToReachTheMode) {
@@ -54,4 +48,4 @@ protected:
 	virtual void announceMode(bool recursive) {}
 };
 
-#endif /* HASMODESIF_H_ */
+#endif /*FSFW_MODES_HASMODESIF_H_ */
diff --git a/modes/ModeHelper.cpp b/modes/ModeHelper.cpp
index 68f009e7..6be4f776 100644
--- a/modes/ModeHelper.cpp
+++ b/modes/ModeHelper.cpp
@@ -1,6 +1,7 @@
+#include "HasModesIF.h"
+#include "ModeHelper.h"
+
 #include "../ipc/MessageQueueSenderIF.h"
-#include "../modes/HasModesIF.h"
-#include "../modes/ModeHelper.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
 ModeHelper::ModeHelper(HasModesIF *owner) :
@@ -26,7 +27,7 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
 		uint32_t timeout;
 		ReturnValue_t result = owner->checkModeCommand(mode, submode, &timeout);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
-			ModeMessage::cantReachMode(&reply, result);
+			ModeMessage::setCantReachMode(&reply, result);
 			MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
 			        owner->getCommandQueue());
 			break;
diff --git a/modes/ModeHelper.h b/modes/ModeHelper.h
index 02cf5799..c2f089ec 100644
--- a/modes/ModeHelper.h
+++ b/modes/ModeHelper.h
@@ -1,8 +1,8 @@
-#ifndef MODEHELPER_H_
-#define MODEHELPER_H_
+#ifndef FSFW_MODES_MODEHELPER_H_
+#define FSFW_MODES_MODEHELPER_H_
 
+#include "ModeMessage.h"
 #include "../ipc/MessageQueueIF.h"
-#include "../modes/ModeMessage.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../timemanager/Countdown.h"
 
@@ -20,14 +20,14 @@ public:
 	ReturnValue_t handleModeCommand(CommandMessage *message);
 
 	/**
-	 *
-	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
+	 * @param parentQueue the Queue id of the parent object.
+	 * Set to 0 if no parent present
 	 */
 	void setParentQueue(MessageQueueId_t parentQueueId);
 
 	ReturnValue_t initialize(MessageQueueId_t parentQueueId);
 
-	ReturnValue_t initialize(void); //void is there to stop eclipse CODAN from falsely reporting an error
+	ReturnValue_t initialize(void);
 
 	void modeChanged(Mode_t mode, Submode_t submode);
 
@@ -50,4 +50,4 @@ private:
 	void sendModeInfoMessage(Mode_t ownerMode, Submode_t ownerSubmode);
 };
 
-#endif /* MODEHELPER_H_ */
+#endif /* FSFW_MODES_MODEHELPER_H_ */
diff --git a/modes/ModeMessage.cpp b/modes/ModeMessage.cpp
index 7ad7d06f..b33bba60 100644
--- a/modes/ModeMessage.cpp
+++ b/modes/ModeMessage.cpp
@@ -1,4 +1,4 @@
-#include "../modes/ModeMessage.h"
+#include "ModeMessage.h"
 
 Mode_t ModeMessage::getMode(const CommandMessage* message) {
 	return message->getParameter();
@@ -8,12 +8,11 @@ Submode_t ModeMessage::getSubmode(const CommandMessage* message) {
 	return message->getParameter2();
 }
 
-ReturnValue_t ModeMessage::setModeMessage(CommandMessage* message, Command_t command,
-		Mode_t mode, Submode_t submode) {
+void ModeMessage::setModeMessage(CommandMessage* message,
+        Command_t command, Mode_t mode, Submode_t submode) {
 	message->setCommand( command );
 	message->setParameter( mode );
 	message->setParameter2( submode );
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t ModeMessage::getCantReachModeReason(const CommandMessage* message) {
@@ -24,7 +23,8 @@ void ModeMessage::clear(CommandMessage* message) {
 	message->setCommand(CommandMessage::CMD_NONE);
 }
 
-void ModeMessage::cantReachMode(CommandMessage* message, ReturnValue_t reason) {
+void ModeMessage::setCantReachMode(CommandMessage* message,
+        ReturnValue_t reason) {
 	message->setCommand(REPLY_CANT_REACH_MODE);
 	message->setParameter(reason);
 	message->setParameter2(0);
diff --git a/modes/ModeMessage.h b/modes/ModeMessage.h
index 925f3fc1..856996cf 100644
--- a/modes/ModeMessage.h
+++ b/modes/ModeMessage.h
@@ -1,12 +1,5 @@
-/**
- * @file	ModeMessage.h
- * @brief	This file defines the ModeMessage class.
- * @date	17.07.2013
- * @author	baetz
- */
-
-#ifndef MODEMESSAGE_H_
-#define MODEMESSAGE_H_
+#ifndef FSFW_MODES_MODEMESSAGE_H_
+#define FSFW_MODES_MODEMESSAGE_H_
 
 #include "../ipc/CommandMessage.h"
 
@@ -30,11 +23,12 @@ public:
 
 	static Mode_t getMode(const CommandMessage* message);
 	static Submode_t getSubmode(const CommandMessage* message);
-	static ReturnValue_t setModeMessage(CommandMessage* message,
+    static ReturnValue_t getCantReachModeReason(const CommandMessage* message);
+
+	static void 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 setCantReachMode(CommandMessage* message, ReturnValue_t reason);
 	static void clear(CommandMessage* message);
 };
 
-#endif /* MODEMESSAGE_H_ */
+#endif /* FSFW_MODES_MODEMESSAGE_H_ */

From 183b6a419338dbc2680526ab02314b62b1f3fa1d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 13:34:27 +0200
Subject: [PATCH 375/653] small bugfix

---
 objectmanager/frameworkObjects.h      | 14 ++---
 tmtcservices/VerificationReporter.cpp | 77 +++++++++++++++------------
 tmtcservices/VerificationReporter.h   | 41 ++++++++++----
 3 files changed, 81 insertions(+), 51 deletions(-)

diff --git a/objectmanager/frameworkObjects.h b/objectmanager/frameworkObjects.h
index 87439c88..4d08f084 100644
--- a/objectmanager/frameworkObjects.h
+++ b/objectmanager/frameworkObjects.h
@@ -4,13 +4,13 @@
 namespace objects {
 enum framework_objects {
 	// Default verification reporter.
-	PUS_SERVICE_1 = 0x53000001,
-	PUS_SERVICE_2 = 0x53000002,
-	PUS_SERVICE_5 = 0x53000005,
-	PUS_SERVICE_8 = 0x53000008,
-	PUS_SERVICE_9 = 0x53000009,
-	PUS_SERVICE_17 = 0x53000017,
-	PUS_SERVICE_200 = 0x53000200,
+	PUS_SERVICE_1_VERIFICATION = 0x53000001,
+	PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
+	PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
+	PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
+	PUS_SERVICE_9_TIME_MGMT = 0x53000009,
+	PUS_SERVICE_17_TEST = 0x53000017,
+	PUS_SERVICE_200_MODE_MGMT = 0x53000200,
 
 	//Generic IDs for IPC, modes, health, events
 	HEALTH_TABLE = 0x53010000,
diff --git a/tmtcservices/VerificationReporter.cpp b/tmtcservices/VerificationReporter.cpp
index 43e712a2..7e40bd27 100644
--- a/tmtcservices/VerificationReporter.cpp
+++ b/tmtcservices/VerificationReporter.cpp
@@ -1,55 +1,59 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "VerificationReporter.h"
 #include "AcceptsVerifyMessageIF.h"
 #include "PusVerificationReport.h"
-#include "VerificationReporter.h"
 
-object_id_t VerificationReporter::messageReceiver = 0;
+#include "../ipc/MessageQueueIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../objectmanager/frameworkObjects.h"
+
+object_id_t VerificationReporter::messageReceiver =
+		objects::PUS_SERVICE_1_VERIFICATION;
 
 VerificationReporter::VerificationReporter() :
-		acknowledgeQueue() {
+		acknowledgeQueue(MessageQueueIF::NO_QUEUE) {
 }
 
-VerificationReporter::~VerificationReporter() {
-	//Default, empty
-}
+VerificationReporter::~VerificationReporter() {}
 
 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 		TcPacketBase* current_packet, uint8_t set_step) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(set_report_id,
 			current_packet->getAcknowledgeFlags(),
 			current_packet->getPacketId(),
 			current_packet->getPacketSequenceControl(), 0, set_step);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }
 
 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		uint8_t set_step) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE)  {
 		this->initialize();
 	}
 	PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
 			tcSequenceControl, 0, set_step);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }
 
 void VerificationReporter::sendFailureReport(uint8_t report_id,
 		TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step,
 		uint32_t parameter1, uint32_t parameter2) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(report_id,
@@ -57,11 +61,12 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 			current_packet->getPacketId(),
 			current_packet->getPacketSequenceControl(), error_code, step,
 			parameter1, parameter2);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendFailureReport: Error writing "
+				<< "to queue. Code: " << std::hex  << "0x" << status << std::dec
+				<< std::endl;
 	}
 }
 
@@ -69,27 +74,33 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		ReturnValue_t error_code, uint8_t step, uint32_t parameter1,
 		uint32_t parameter2) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(report_id, ackFlags, tcPacketId,
 			tcSequenceControl, error_code, step, parameter1, parameter2);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendFailureReport: Error writing "
+				<< "to queue. Code: " << std::hex << "0x" << status << std::dec
+				<< std::endl;
 	}
 }
 
 void VerificationReporter::initialize() {
+	if(messageReceiver == objects::NO_OBJECT) {
+		sif::warning << "VerificationReporter::initialize: Verification message"
+				" receiver object ID not set yet in Factory!" << std::endl;
+		return;
+	}
 	AcceptsVerifyMessageIF* temp = objectManager->get<AcceptsVerifyMessageIF>(
 			messageReceiver);
-	if (temp != NULL) {
-		this->acknowledgeQueue = temp->getVerificationQueue();
-	} else {
-		sif::error
-				<< "VerificationReporter::VerificationReporter: Configuration error."
-				<< std::endl;
+	if (temp == nullptr) {
+		sif::error << "VerificationReporter::initialize: Message "
+				<< "receiver invalid. Make sure it is set up properly and "
+				<< "implementsAcceptsVerifyMessageIF" << std::endl;
+		return;
 	}
+	this->acknowledgeQueue = temp->getVerificationQueue();
 }
diff --git a/tmtcservices/VerificationReporter.h b/tmtcservices/VerificationReporter.h
index 29a273c5..f26fa54f 100644
--- a/tmtcservices/VerificationReporter.h
+++ b/tmtcservices/VerificationReporter.h
@@ -1,31 +1,50 @@
-#ifndef VERIFICATIONREPORTER_H_
-#define VERIFICATIONREPORTER_H_
+#ifndef FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
+#define FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
 
-#include "../objectmanager/ObjectManagerIF.h"
 #include "PusVerificationReport.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
 }
 
+/**
+ * @brief 	This helper object is used to forward verification messages
+ * 			which are generated by the Flight Software Framework.
+ * @details
+ * The messages can be relayed to an arbitrary object, for example a dedicated
+ * Verification Reporter. The destination is set by setting the static framework
+ * Id VerificationReporter::messageReceiver. The default verification reporter
+ * will be the PUS service 1, which sends verification messages according
+ * to the PUS standard.
+ *
+ */
 class VerificationReporter {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	VerificationReporter();
 	virtual ~VerificationReporter();
-	void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet, uint8_t set_step = 0 );
-	void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, uint8_t set_step = 0);
-	void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet, ReturnValue_t error_code = 0,
-			uint8_t step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 0 );
+
+	void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet,
+			uint8_t set_step = 0 );
+	void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags,
+			uint16_t tcPacketId, uint16_t tcSequenceControl,
+			uint8_t set_step = 0);
+
+	void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet,
+			ReturnValue_t error_code = 0,
+			uint8_t step = 0, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0 );
 	void sendFailureReport(uint8_t report_id,
-			uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, ReturnValue_t error_code = 0, uint8_t step = 0,
+			uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
+			ReturnValue_t error_code = 0, uint8_t step = 0,
 			uint32_t parameter1 = 0, uint32_t parameter2 = 0);
+
 	void initialize();
+
 private:
 	static object_id_t messageReceiver;
 	MessageQueueId_t acknowledgeQueue;
-
-
 };
 
-#endif /* VERIFICATIONREPORTER_H_ */
+#endif /* FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_ */

From 7dbb73b7d8e7cb9e655327e7341aeb5a23c1b046 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 14:29:57 +0200
Subject: [PATCH 376/653] removed dbeug printout

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 9 ---------
 osal/FreeRTOS/PeriodicTask.cpp      | 4 ----
 2 files changed, 13 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 309574eb..062686e2 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -150,15 +150,6 @@ void FixedTimeslotTask::handleMissedDeadline() {
     if(deadlineMissedFunc != nullptr) {
         this->deadlineMissedFunc();
     }
-
-#ifdef DEBUG
-    object_id_t handlerId = pst.current->handlerId;
-    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << " with"
-            << " object ID 0x" << std::setfill('0') << std::setw(8) << std::hex
-            << handlerId <<  " missed deadline!" << std::setfill(' ')
-            << std::dec << std::endl;
-#endif
-
 }
 
 ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 990d38d6..5c0a840d 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -133,10 +133,6 @@ TaskHandle_t PeriodicTask::getTaskHandle() {
 }
 
 void PeriodicTask::handleMissedDeadline() {
-#ifdef DEBUG
-    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
-            " missed deadline!\n" << std::flush;
-#endif
     if(deadlineMissedFunc != nullptr) {
         this->deadlineMissedFunc();
     }

From cef84b13d923524e10e497602b6b6c27a62a34d0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 14:35:05 +0200
Subject: [PATCH 377/653] renormalization

---
 ipc/messageQueueDefinitions.h           |  38 +--
 storagemanager/ConstStorageAccessor.cpp | 174 ++++++------
 storagemanager/ConstStorageAccessor.h   | 232 ++++++++--------
 storagemanager/StorageAccessor.cpp      | 134 +++++-----
 storagemanager/StorageAccessor.h        |  90 +++----
 storagemanager/StorageManagerIF.h       | 334 ++++++++++++------------
 6 files changed, 501 insertions(+), 501 deletions(-)

diff --git a/ipc/messageQueueDefinitions.h b/ipc/messageQueueDefinitions.h
index 60c09b05..b4f861b8 100644
--- a/ipc/messageQueueDefinitions.h
+++ b/ipc/messageQueueDefinitions.h
@@ -1,19 +1,19 @@
-#ifndef FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
-#define FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
-
-#include <cstdint>
-
-/*
- * TODO: Actually, the definition of this ID to be a uint32_t is not  ideal and
- * breaks layering. However, it is difficult to keep layering, as the ID is
- * stored in many places and sent around in MessageQueueMessage.
- * Ideally, one would use the (current) object_id_t only, however, doing a
- * lookup of queueIDs for every call does not sound ideal.
- * In a first step, I'll circumvent the issue by not touching it,
- * maybe in a second step. This also influences Interface design
- * (getCommandQueue) and some other issues..
- */
-using MessageQueueId_t = uint32_t;
-
-
-#endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */
+#ifndef FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
+#define FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
+
+#include <cstdint>
+
+/*
+ * TODO: Actually, the definition of this ID to be a uint32_t is not  ideal and
+ * breaks layering. However, it is difficult to keep layering, as the ID is
+ * stored in many places and sent around in MessageQueueMessage.
+ * Ideally, one would use the (current) object_id_t only, however, doing a
+ * lookup of queueIDs for every call does not sound ideal.
+ * In a first step, I'll circumvent the issue by not touching it,
+ * maybe in a second step. This also influences Interface design
+ * (getCommandQueue) and some other issues..
+ */
+using MessageQueueId_t = uint32_t;
+
+
+#endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */
diff --git a/storagemanager/ConstStorageAccessor.cpp b/storagemanager/ConstStorageAccessor.cpp
index ea9f2e44..4ada7f80 100644
--- a/storagemanager/ConstStorageAccessor.cpp
+++ b/storagemanager/ConstStorageAccessor.cpp
@@ -1,87 +1,87 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../storagemanager/ConstStorageAccessor.h"
-#include "../storagemanager/StorageManagerIF.h"
-#include "../globalfunctions/arrayprinter.h"
-
-ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
-		storeId(storeId) {}
-
-ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
-		StorageManagerIF* store):
-		storeId(storeId), store(store) {
-	internalState = AccessState::ASSIGNED;
-}
-
-ConstStorageAccessor::~ConstStorageAccessor() {
-	if(deleteData and store != nullptr) {
-		sif::debug << "deleting store data" << std::endl;
-		store->deleteData(storeId);
-	}
-}
-
-ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
-		constDataPointer(other.constDataPointer), storeId(other.storeId),
-		size_(other.size_), store(other.store), deleteData(other.deleteData),
-		internalState(other.internalState) {
-	// This prevent premature deletion
-	other.store = nullptr;
-}
-
-ConstStorageAccessor& ConstStorageAccessor::operator=(
-		ConstStorageAccessor&& other) {
-	constDataPointer = other.constDataPointer;
-	storeId = other.storeId;
-	store = other.store;
-	size_ = other.size_;
-	deleteData = other.deleteData;
-	this->store = other.store;
-	// This prevents premature deletion
-	other.store = nullptr;
-	return *this;
-}
-
-const uint8_t* ConstStorageAccessor::data() const {
-	return constDataPointer;
-}
-
-size_t ConstStorageAccessor::size() const {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-	}
-	return size_;
-}
-
-ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
-		size_t maxSize) {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if(size_ > maxSize) {
-		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	std::copy(constDataPointer, constDataPointer + size_, pointer);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void ConstStorageAccessor::release() {
-	deleteData = false;
-}
-
-store_address_t ConstStorageAccessor::getId() const {
-	return storeId;
-}
-
-void ConstStorageAccessor::print() const {
-	if(internalState == AccessState::UNINIT or constDataPointer == nullptr) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return;
-	}
-	arrayprinter::print(constDataPointer, size_);
-}
-
-void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
-	internalState = AccessState::ASSIGNED;
-	this->store = store;
-}
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../storagemanager/ConstStorageAccessor.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../globalfunctions/arrayprinter.h"
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
+		storeId(storeId) {}
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
+		StorageManagerIF* store):
+		storeId(storeId), store(store) {
+	internalState = AccessState::ASSIGNED;
+}
+
+ConstStorageAccessor::~ConstStorageAccessor() {
+	if(deleteData and store != nullptr) {
+		sif::debug << "deleting store data" << std::endl;
+		store->deleteData(storeId);
+	}
+}
+
+ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
+		constDataPointer(other.constDataPointer), storeId(other.storeId),
+		size_(other.size_), store(other.store), deleteData(other.deleteData),
+		internalState(other.internalState) {
+	// This prevent premature deletion
+	other.store = nullptr;
+}
+
+ConstStorageAccessor& ConstStorageAccessor::operator=(
+		ConstStorageAccessor&& other) {
+	constDataPointer = other.constDataPointer;
+	storeId = other.storeId;
+	store = other.store;
+	size_ = other.size_;
+	deleteData = other.deleteData;
+	this->store = other.store;
+	// This prevents premature deletion
+	other.store = nullptr;
+	return *this;
+}
+
+const uint8_t* ConstStorageAccessor::data() const {
+	return constDataPointer;
+}
+
+size_t ConstStorageAccessor::size() const {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+	}
+	return size_;
+}
+
+ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
+		size_t maxSize) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(size_ > maxSize) {
+		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(constDataPointer, constDataPointer + size_, pointer);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void ConstStorageAccessor::release() {
+	deleteData = false;
+}
+
+store_address_t ConstStorageAccessor::getId() const {
+	return storeId;
+}
+
+void ConstStorageAccessor::print() const {
+	if(internalState == AccessState::UNINIT or constDataPointer == nullptr) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return;
+	}
+	arrayprinter::print(constDataPointer, size_);
+}
+
+void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
+	internalState = AccessState::ASSIGNED;
+	this->store = store;
+}
diff --git a/storagemanager/ConstStorageAccessor.h b/storagemanager/ConstStorageAccessor.h
index ec2da8ce..573892da 100644
--- a/storagemanager/ConstStorageAccessor.h
+++ b/storagemanager/ConstStorageAccessor.h
@@ -1,116 +1,116 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
-#define FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
-
-#include "../storagemanager/storeAddress.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include <cstddef>
-
-class StorageManagerIF;
-
-/**
- * @brief 	Helper classes to facilitate safe access to storages which is also
- * 			conforming to RAII principles
- * @details
- * Accessor class which can be returned by pool manager or passed and set by
- * pool managers to have safe access to the pool resources.
- *
- * These helper can be used together with the StorageManager classes to manage
- * access to a storage. It can take care of thread-safety while also providing
- * mechanisms to automatically clear storage data.
- */
-class ConstStorageAccessor {
-	//! StorageManager classes have exclusive access to private variables.
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class PoolManager;
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class LocalPool;
-public:
-	/**
-	 * @brief	Simple constructor which takes the store ID of the storage
-	 * 			entry to access.
-	 * @param storeId
-	 */
-	ConstStorageAccessor(store_address_t storeId);
-	ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
-
-	/**
-	 * @brief 	The destructor in default configuration takes care of
-	 * 			deleting the accessed pool entry and unlocking the mutex
-	 */
-	virtual ~ConstStorageAccessor();
-
-	/**
-	 * @brief	Returns a pointer to the read-only data
-	 * @return
-	 */
-	const uint8_t* data() const;
-
-	/**
-	 * @brief	Copies the read-only data to the supplied pointer
-	 * @param pointer
-	 */
-	virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
-
-	/**
-	 * @brief   Calling this will prevent the Accessor from deleting the data
-	 *          when the destructor is called.
-	 */
-	void release();
-
-	/**
-	 * Get the size of the data
-	 * @return
-	 */
-	size_t size() const;
-
-	/**
-	 * Get the storage ID.
-	 * @return
-	 */
-	store_address_t getId() const;
-
-	void print() const;
-
-	/**
-	 * @brief	Move ctor and move assignment allow returning accessors as
-	 * 			a returnvalue. They prevent resource being free prematurely.
-	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
-	 * move-constructors-and-move-assignment-operators-cpp.md
-	 * @param
-	 * @return
-	 */
-	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
-	ConstStorageAccessor(ConstStorageAccessor&&);
-
-	//! The copy ctor and copy assignemnt should be deleted implicitely
-	//! according to https://foonathan.net/2019/02/special-member-functions/
-	//! but I still deleted them to make it more explicit. (remember rule of 5).
-	ConstStorageAccessor& operator=(const ConstStorageAccessor&) = delete;
-	ConstStorageAccessor(const ConstStorageAccessor&) = delete;
-protected:
-	const uint8_t* constDataPointer = nullptr;
-	store_address_t storeId;
-	size_t size_ = 0;
-	//! Managing pool, has to assign itself.
-	StorageManagerIF* store = nullptr;
-	bool deleteData = true;
-
-	enum class AccessState {
-		UNINIT,
-		ASSIGNED
-	};
-	//! Internal state for safety reasons.
-	AccessState internalState = AccessState::UNINIT;
-	/**
-	 * Used by the pool manager instances to assign themselves to the
-	 * accessor. This is necessary to delete the data when the acessor
-	 * exits the scope ! The internal state will be considered read
-	 * when this function is called, so take care all data is set properly as
-	 * well.
-	 * @param
-	 */
-	void assignStore(StorageManagerIF*);
-};
-
-
-#endif /* FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */
+#ifndef FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+#define FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+
+#include "../storagemanager/storeAddress.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
+
+class StorageManagerIF;
+
+/**
+ * @brief 	Helper classes to facilitate safe access to storages which is also
+ * 			conforming to RAII principles
+ * @details
+ * Accessor class which can be returned by pool manager or passed and set by
+ * pool managers to have safe access to the pool resources.
+ *
+ * These helper can be used together with the StorageManager classes to manage
+ * access to a storage. It can take care of thread-safety while also providing
+ * mechanisms to automatically clear storage data.
+ */
+class ConstStorageAccessor {
+	//! StorageManager classes have exclusive access to private variables.
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class PoolManager;
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class LocalPool;
+public:
+	/**
+	 * @brief	Simple constructor which takes the store ID of the storage
+	 * 			entry to access.
+	 * @param storeId
+	 */
+	ConstStorageAccessor(store_address_t storeId);
+	ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
+
+	/**
+	 * @brief 	The destructor in default configuration takes care of
+	 * 			deleting the accessed pool entry and unlocking the mutex
+	 */
+	virtual ~ConstStorageAccessor();
+
+	/**
+	 * @brief	Returns a pointer to the read-only data
+	 * @return
+	 */
+	const uint8_t* data() const;
+
+	/**
+	 * @brief	Copies the read-only data to the supplied pointer
+	 * @param pointer
+	 */
+	virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
+
+	/**
+	 * @brief   Calling this will prevent the Accessor from deleting the data
+	 *          when the destructor is called.
+	 */
+	void release();
+
+	/**
+	 * Get the size of the data
+	 * @return
+	 */
+	size_t size() const;
+
+	/**
+	 * Get the storage ID.
+	 * @return
+	 */
+	store_address_t getId() const;
+
+	void print() const;
+
+	/**
+	 * @brief	Move ctor and move assignment allow returning accessors as
+	 * 			a returnvalue. They prevent resource being free prematurely.
+	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * move-constructors-and-move-assignment-operators-cpp.md
+	 * @param
+	 * @return
+	 */
+	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
+	ConstStorageAccessor(ConstStorageAccessor&&);
+
+	//! The copy ctor and copy assignemnt should be deleted implicitely
+	//! according to https://foonathan.net/2019/02/special-member-functions/
+	//! but I still deleted them to make it more explicit. (remember rule of 5).
+	ConstStorageAccessor& operator=(const ConstStorageAccessor&) = delete;
+	ConstStorageAccessor(const ConstStorageAccessor&) = delete;
+protected:
+	const uint8_t* constDataPointer = nullptr;
+	store_address_t storeId;
+	size_t size_ = 0;
+	//! Managing pool, has to assign itself.
+	StorageManagerIF* store = nullptr;
+	bool deleteData = true;
+
+	enum class AccessState {
+		UNINIT,
+		ASSIGNED
+	};
+	//! Internal state for safety reasons.
+	AccessState internalState = AccessState::UNINIT;
+	/**
+	 * Used by the pool manager instances to assign themselves to the
+	 * accessor. This is necessary to delete the data when the acessor
+	 * exits the scope ! The internal state will be considered read
+	 * when this function is called, so take care all data is set properly as
+	 * well.
+	 * @param
+	 */
+	void assignStore(StorageManagerIF*);
+};
+
+
+#endif /* FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */
diff --git a/storagemanager/StorageAccessor.cpp b/storagemanager/StorageAccessor.cpp
index d4d2a54d..60bd4130 100644
--- a/storagemanager/StorageAccessor.cpp
+++ b/storagemanager/StorageAccessor.cpp
@@ -1,67 +1,67 @@
-#include "../storagemanager/StorageAccessor.h"
-#include "../storagemanager/StorageManagerIF.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-StorageAccessor::StorageAccessor(store_address_t storeId):
-		ConstStorageAccessor(storeId) {
-}
-
-StorageAccessor::StorageAccessor(store_address_t storeId,
-		StorageManagerIF* store):
-		ConstStorageAccessor(storeId, store) {
-}
-
-StorageAccessor& StorageAccessor::operator =(
-		StorageAccessor&& other) {
-	// Call the parent move assignment and also assign own member.
-	dataPointer = other.dataPointer;
-	StorageAccessor::operator=(std::move(other));
-	return * this;
-}
-
-// Call the parent move ctor and also transfer own member.
-StorageAccessor::StorageAccessor(StorageAccessor&& other):
-		ConstStorageAccessor(std::move(other)), dataPointer(other.dataPointer) {
-}
-
-ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if(size_ > maxSize) {
-		sif::error << "StorageAccessor: Supplied buffer not large "
-				"enough" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	std::copy(dataPointer, dataPointer + size_, pointer);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint8_t* StorageAccessor::data() {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-	}
-	return dataPointer;
-}
-
-ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size,
-		uint16_t offset) {
-	if(internalState == AccessState::UNINIT) {
-		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	if(offset + size > size_) {
-		sif::error << "StorageAccessor: Data too large for pool "
-				"entry!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	std::copy(data, data + size, dataPointer + offset);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void StorageAccessor::assignConstPointer() {
-	constDataPointer = dataPointer;
-}
-
-
+#include "../storagemanager/StorageAccessor.h"
+#include "../storagemanager/StorageManagerIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+StorageAccessor::StorageAccessor(store_address_t storeId):
+		ConstStorageAccessor(storeId) {
+}
+
+StorageAccessor::StorageAccessor(store_address_t storeId,
+		StorageManagerIF* store):
+		ConstStorageAccessor(storeId, store) {
+}
+
+StorageAccessor& StorageAccessor::operator =(
+		StorageAccessor&& other) {
+	// Call the parent move assignment and also assign own member.
+	dataPointer = other.dataPointer;
+	StorageAccessor::operator=(std::move(other));
+	return * this;
+}
+
+// Call the parent move ctor and also transfer own member.
+StorageAccessor::StorageAccessor(StorageAccessor&& other):
+		ConstStorageAccessor(std::move(other)), dataPointer(other.dataPointer) {
+}
+
+ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(size_ > maxSize) {
+		sif::error << "StorageAccessor: Supplied buffer not large "
+				"enough" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(dataPointer, dataPointer + size_, pointer);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t* StorageAccessor::data() {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+	}
+	return dataPointer;
+}
+
+ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size,
+		uint16_t offset) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(offset + size > size_) {
+		sif::error << "StorageAccessor: Data too large for pool "
+				"entry!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(data, data + size, dataPointer + offset);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void StorageAccessor::assignConstPointer() {
+	constDataPointer = dataPointer;
+}
+
+
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index 1ca5f7dd..a65427b8 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -1,45 +1,45 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
-#define FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
-
-#include "../storagemanager/ConstStorageAccessor.h"
-
-class StorageManagerIF;
-
-/**
- * @brief   Child class for modifyable data. Also has a normal pointer member.
- */
-class StorageAccessor: public ConstStorageAccessor {
-	//! StorageManager classes have exclusive access to private variables.
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class PoolManager;
-	template<uint8_t NUMBER_OF_POOLS>
-	friend class LocalPool;
-public:
-	StorageAccessor(store_address_t storeId);
-	StorageAccessor(store_address_t storeId, StorageManagerIF* store);
-
-	/**
-	 * @brief	Move ctor and move assignment allow returning accessors as
-	 * 			a returnvalue. They prevent resource being freed prematurely.
-	 * See: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
-	 * 		move-constructors-and-move-assignment-operators-cpp.md
-	 * @param
-	 * @return
-	 */
-	StorageAccessor& operator=(StorageAccessor&&);
-	StorageAccessor(StorageAccessor&&);
-
-	ReturnValue_t write(uint8_t *data, size_t size,
-		uint16_t offset = 0);
-	uint8_t* data();
-	ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize) override;
-
-private:
-	//! Non-const pointer for modifyable data.
-	uint8_t* dataPointer = nullptr;
-	//! For modifyable data, the const pointer is assigned to the normal
-	//! pointer by the pool manager so both access functions can be used safely
-	void assignConstPointer();
-};
-
-#endif /* TEST_PROTOTYPES_STORAGEACCESSOR_H_ */
+#ifndef FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
+#define FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
+
+#include "../storagemanager/ConstStorageAccessor.h"
+
+class StorageManagerIF;
+
+/**
+ * @brief   Child class for modifyable data. Also has a normal pointer member.
+ */
+class StorageAccessor: public ConstStorageAccessor {
+	//! StorageManager classes have exclusive access to private variables.
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class PoolManager;
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class LocalPool;
+public:
+	StorageAccessor(store_address_t storeId);
+	StorageAccessor(store_address_t storeId, StorageManagerIF* store);
+
+	/**
+	 * @brief	Move ctor and move assignment allow returning accessors as
+	 * 			a returnvalue. They prevent resource being freed prematurely.
+	 * See: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * 		move-constructors-and-move-assignment-operators-cpp.md
+	 * @param
+	 * @return
+	 */
+	StorageAccessor& operator=(StorageAccessor&&);
+	StorageAccessor(StorageAccessor&&);
+
+	ReturnValue_t write(uint8_t *data, size_t size,
+		uint16_t offset = 0);
+	uint8_t* data();
+	ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize) override;
+
+private:
+	//! Non-const pointer for modifyable data.
+	uint8_t* dataPointer = nullptr;
+	//! For modifyable data, the const pointer is assigned to the normal
+	//! pointer by the pool manager so both access functions can be used safely
+	void assignConstPointer();
+};
+
+#endif /* TEST_PROTOTYPES_STORAGEACCESSOR_H_ */
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index 85341f2e..2229cdf8 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -1,167 +1,167 @@
-#ifndef STORAGEMANAGERIF_H_H
-#define STORAGEMANAGERIF_H_H
-
-#include "../events/Event.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include "../storagemanager/StorageAccessor.h"
-#include "../storagemanager/storeAddress.h"
-#include <utility>
-#include <cstddef>
-
-using AccessorPair = std::pair<ReturnValue_t, StorageAccessor>;
-using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
-
-/**
- * @brief	This class provides an interface for intermediate data storage.
- * @details	The Storage manager classes shall be used to store larger chunks of
- * 			data in RAM for exchange between tasks. This interface expects the
- * 			data to be stored in one consecutive block of memory, so tasks can
- * 			write directly to the destination pointer.
- * 			For interprocess communication, the stores must be locked during
- * 			insertion and deletion. If the receiving storage identifier is
- * 			passed token-like between tasks, a lock during read and write
- * 			operations is not necessary.
- * @author	Bastian Baetz
- * @date	18.09.2012
- */
-class StorageManagerIF : public HasReturnvaluesIF {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::STORAGE_MANAGER_IF; //!< The unique ID for return codes for this interface.
-	static const ReturnValue_t DATA_TOO_LARGE = MAKE_RETURN_CODE(1); //!< This return code indicates that the data to be stored is too large for the store.
-	static const ReturnValue_t DATA_STORAGE_FULL = MAKE_RETURN_CODE(2); //!< This return code indicates that a data storage is full.
-	static const ReturnValue_t ILLEGAL_STORAGE_ID = MAKE_RETURN_CODE(3); //!< This return code indicates that data was requested with an illegal storage ID.
-	static const ReturnValue_t DATA_DOES_NOT_EXIST = MAKE_RETURN_CODE(4); //!< This return code indicates that the requested ID was valid, but no data is stored there.
-	static const ReturnValue_t ILLEGAL_ADDRESS = MAKE_RETURN_CODE(5);
-	static const ReturnValue_t POOL_TOO_LARGE = MAKE_RETURN_CODE(6); //!< Pool size too large on initialization.
-
-	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW;
-	static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
-	static const Event STORE_DATA_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
-
-	static const uint32_t INVALID_ADDRESS = 0xFFFFFFFF; //!< Indicates an invalid (i.e unused) storage address.
-	/**
-	 * @brief This is the empty virtual destructor as required for C++ interfaces.
-	 */
-	virtual ~StorageManagerIF() {
-	}
-	;
-	/**
-	 * @brief	With addData, a free storage position is allocated and data
-	 * 			stored there.
-	 * @details	During the allocation, the StorageManager is blocked.
-	 * @param storageId A pointer to the storageId to retrieve.
-	 * @param data	The data to be stored in the StorageManager.
-	 * @param size	The amount of data to be stored.
-	 * @return	Returns @li RETURN_OK if data was added.
-	 * 					@li	RETURN_FAILED if data could not be added.
-	 * 						storageId is unchanged then.
-	 */
-	virtual ReturnValue_t addData(store_address_t* storageId,
-			const uint8_t * data, size_t size, bool ignoreFault = false) = 0;
-	/**
-	 * @brief	With deleteData, the storageManager frees the memory region
-	 * 			identified by packet_id.
-	 * @param packet_id	The identifier of the memory region to be freed.
-	 * @return	@li RETURN_OK on success.
-	 * 			@li	RETURN_FAILED if deletion did not work
-	 * 				(e.g. an illegal packet_id was passed).
-	 */
-	virtual ReturnValue_t deleteData(store_address_t packet_id) = 0;
-	/**
-	 * @brief	Another deleteData which uses the pointer and size of the
-	 * 			stored data to delete the content.
-	 * @param buffer	Pointer to the data.
-	 * @param size		Size of data to be stored.
-	 * @param storeId	Store id of the deleted element (optional)
-	 * @return	@li RETURN_OK on success.
-	 * 			@li	failure code if deletion did not work
-	 */
-	virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
-			store_address_t* storeId = nullptr) = 0;
-
-
-	/**
-	 * @brief 	Access the data by supplying a store ID.
-	 * @details
-	 * A pair consisting of the retrieval result and an instance of a
-	 * ConstStorageAccessor class is returned
-	 * @param storeId
-	 * @return Pair of return value and a ConstStorageAccessor instance
-	 */
-	virtual ConstAccessorPair getData(store_address_t storeId) = 0;
-
-	/**
-	 * @brief 	Access the data by supplying a store ID and a helper
-	 * 			instance
-	 * @param storeId
-	 * @param constAccessor Wrapper function to access store data.
-	 * @return
-	 */
-	virtual ReturnValue_t getData(store_address_t storeId,
-			ConstStorageAccessor& constAccessor) = 0;
-
-
-	/**
-	 * @brief	getData returns an address to data and the size of the data
-	 * 			for a given packet_id.
-	 * @param packet_id		The id of the data to be returned
-	 * @param packet_ptr	The passed pointer address is set to the the memory
-	 * 						position
-	 * @param size			The exact size of the stored data is returned here.
-	 * @return	@li RETURN_OK on success.
-	 * 			@li	RETURN_FAILED if fetching data did not work
-	 * 				(e.g. an illegal packet_id was passed).
-	 */
-	virtual ReturnValue_t getData(store_address_t packet_id,
-			const uint8_t** packet_ptr, size_t* size) = 0;
-
-
-	/**
-	 * Modify data by supplying a store ID
-	 * @param storeId
-	 * @return Pair of return value and StorageAccessor helper
-	 */
-	virtual AccessorPair modifyData(store_address_t storeId) = 0;
-
-	/**
-	 * Modify data by supplying a store ID and a StorageAccessor helper instance.
-	 * @param storeId
-	 * @param accessor Helper class to access the modifiable data.
-	 * @return
-	 */
-	virtual ReturnValue_t modifyData(store_address_t storeId,
-				StorageAccessor& accessor) = 0;
-
-	/**
-	 * Get pointer and size of modifiable data by supplying the storeId
-	 * @param packet_id
-	 * @param packet_ptr [out] Pointer to pointer of data to set
-	 * @param size [out] Pointer to size to set
-	 * @return
-	 */
-	virtual ReturnValue_t modifyData(store_address_t packet_id,
-			uint8_t** packet_ptr, size_t* size) = 0;
-	/**
-	 * This method reserves an element of \c size.
-	 *
-	 * It returns the packet id of this element as well as a direct pointer to the
-	 * data of the element. It must be assured that exactly \c size data is
-	 * written to p_data!
-	 * @param storageId A pointer to the storageId to retrieve.
-	 * @param size		The size of the space to be reserved.
-	 * @param p_data	A pointer to the element data is returned here.
-	 * @return	Returns @li RETURN_OK if data was added.
-	 * 					@li	RETURN_FAILED if data could not be added.
-	 * 						storageId is unchanged then.
-	 */
-	virtual ReturnValue_t getFreeElement(store_address_t* storageId,
-			const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
-
-	/**
-	 * Clears the whole store.
-	 * Use with care!
-	 */
-	virtual void clearStore() = 0;
-};
-
-#endif /* STORAGEMANAGERIF_H_ */
+#ifndef STORAGEMANAGERIF_H_H
+#define STORAGEMANAGERIF_H_H
+
+#include "../events/Event.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../storagemanager/StorageAccessor.h"
+#include "../storagemanager/storeAddress.h"
+#include <utility>
+#include <cstddef>
+
+using AccessorPair = std::pair<ReturnValue_t, StorageAccessor>;
+using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
+
+/**
+ * @brief	This class provides an interface for intermediate data storage.
+ * @details	The Storage manager classes shall be used to store larger chunks of
+ * 			data in RAM for exchange between tasks. This interface expects the
+ * 			data to be stored in one consecutive block of memory, so tasks can
+ * 			write directly to the destination pointer.
+ * 			For interprocess communication, the stores must be locked during
+ * 			insertion and deletion. If the receiving storage identifier is
+ * 			passed token-like between tasks, a lock during read and write
+ * 			operations is not necessary.
+ * @author	Bastian Baetz
+ * @date	18.09.2012
+ */
+class StorageManagerIF : public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::STORAGE_MANAGER_IF; //!< The unique ID for return codes for this interface.
+	static const ReturnValue_t DATA_TOO_LARGE = MAKE_RETURN_CODE(1); //!< This return code indicates that the data to be stored is too large for the store.
+	static const ReturnValue_t DATA_STORAGE_FULL = MAKE_RETURN_CODE(2); //!< This return code indicates that a data storage is full.
+	static const ReturnValue_t ILLEGAL_STORAGE_ID = MAKE_RETURN_CODE(3); //!< This return code indicates that data was requested with an illegal storage ID.
+	static const ReturnValue_t DATA_DOES_NOT_EXIST = MAKE_RETURN_CODE(4); //!< This return code indicates that the requested ID was valid, but no data is stored there.
+	static const ReturnValue_t ILLEGAL_ADDRESS = MAKE_RETURN_CODE(5);
+	static const ReturnValue_t POOL_TOO_LARGE = MAKE_RETURN_CODE(6); //!< Pool size too large on initialization.
+
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW;
+	static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
+	static const Event STORE_DATA_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
+
+	static const uint32_t INVALID_ADDRESS = 0xFFFFFFFF; //!< Indicates an invalid (i.e unused) storage address.
+	/**
+	 * @brief This is the empty virtual destructor as required for C++ interfaces.
+	 */
+	virtual ~StorageManagerIF() {
+	}
+	;
+	/**
+	 * @brief	With addData, a free storage position is allocated and data
+	 * 			stored there.
+	 * @details	During the allocation, the StorageManager is blocked.
+	 * @param storageId A pointer to the storageId to retrieve.
+	 * @param data	The data to be stored in the StorageManager.
+	 * @param size	The amount of data to be stored.
+	 * @return	Returns @li RETURN_OK if data was added.
+	 * 					@li	RETURN_FAILED if data could not be added.
+	 * 						storageId is unchanged then.
+	 */
+	virtual ReturnValue_t addData(store_address_t* storageId,
+			const uint8_t * data, size_t size, bool ignoreFault = false) = 0;
+	/**
+	 * @brief	With deleteData, the storageManager frees the memory region
+	 * 			identified by packet_id.
+	 * @param packet_id	The identifier of the memory region to be freed.
+	 * @return	@li RETURN_OK on success.
+	 * 			@li	RETURN_FAILED if deletion did not work
+	 * 				(e.g. an illegal packet_id was passed).
+	 */
+	virtual ReturnValue_t deleteData(store_address_t packet_id) = 0;
+	/**
+	 * @brief	Another deleteData which uses the pointer and size of the
+	 * 			stored data to delete the content.
+	 * @param buffer	Pointer to the data.
+	 * @param size		Size of data to be stored.
+	 * @param storeId	Store id of the deleted element (optional)
+	 * @return	@li RETURN_OK on success.
+	 * 			@li	failure code if deletion did not work
+	 */
+	virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
+			store_address_t* storeId = nullptr) = 0;
+
+
+	/**
+	 * @brief 	Access the data by supplying a store ID.
+	 * @details
+	 * A pair consisting of the retrieval result and an instance of a
+	 * ConstStorageAccessor class is returned
+	 * @param storeId
+	 * @return Pair of return value and a ConstStorageAccessor instance
+	 */
+	virtual ConstAccessorPair getData(store_address_t storeId) = 0;
+
+	/**
+	 * @brief 	Access the data by supplying a store ID and a helper
+	 * 			instance
+	 * @param storeId
+	 * @param constAccessor Wrapper function to access store data.
+	 * @return
+	 */
+	virtual ReturnValue_t getData(store_address_t storeId,
+			ConstStorageAccessor& constAccessor) = 0;
+
+
+	/**
+	 * @brief	getData returns an address to data and the size of the data
+	 * 			for a given packet_id.
+	 * @param packet_id		The id of the data to be returned
+	 * @param packet_ptr	The passed pointer address is set to the the memory
+	 * 						position
+	 * @param size			The exact size of the stored data is returned here.
+	 * @return	@li RETURN_OK on success.
+	 * 			@li	RETURN_FAILED if fetching data did not work
+	 * 				(e.g. an illegal packet_id was passed).
+	 */
+	virtual ReturnValue_t getData(store_address_t packet_id,
+			const uint8_t** packet_ptr, size_t* size) = 0;
+
+
+	/**
+	 * Modify data by supplying a store ID
+	 * @param storeId
+	 * @return Pair of return value and StorageAccessor helper
+	 */
+	virtual AccessorPair modifyData(store_address_t storeId) = 0;
+
+	/**
+	 * Modify data by supplying a store ID and a StorageAccessor helper instance.
+	 * @param storeId
+	 * @param accessor Helper class to access the modifiable data.
+	 * @return
+	 */
+	virtual ReturnValue_t modifyData(store_address_t storeId,
+				StorageAccessor& accessor) = 0;
+
+	/**
+	 * Get pointer and size of modifiable data by supplying the storeId
+	 * @param packet_id
+	 * @param packet_ptr [out] Pointer to pointer of data to set
+	 * @param size [out] Pointer to size to set
+	 * @return
+	 */
+	virtual ReturnValue_t modifyData(store_address_t packet_id,
+			uint8_t** packet_ptr, size_t* size) = 0;
+	/**
+	 * This method reserves an element of \c size.
+	 *
+	 * It returns the packet id of this element as well as a direct pointer to the
+	 * data of the element. It must be assured that exactly \c size data is
+	 * written to p_data!
+	 * @param storageId A pointer to the storageId to retrieve.
+	 * @param size		The size of the space to be reserved.
+	 * @param p_data	A pointer to the element data is returned here.
+	 * @return	Returns @li RETURN_OK if data was added.
+	 * 					@li	RETURN_FAILED if data could not be added.
+	 * 						storageId is unchanged then.
+	 */
+	virtual ReturnValue_t getFreeElement(store_address_t* storageId,
+			const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
+
+	/**
+	 * Clears the whole store.
+	 * Use with care!
+	 */
+	virtual void clearStore() = 0;
+};
+
+#endif /* STORAGEMANAGERIF_H_ */

From 1ff85c88b2e05749050aabea2dcb91ed544f9ab3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 14:42:48 +0200
Subject: [PATCH 378/653] store accessor small changes

---
 storagemanager/ConstStorageAccessor.cpp |  5 +++--
 storagemanager/ConstStorageAccessor.h   |  8 ++++----
 storagemanager/LocalPool.h              |  6 +++---
 storagemanager/LocalPool.tpp            |  8 ++++----
 storagemanager/PoolManager.h            | 19 ++++++++++++-------
 storagemanager/PoolManager.tpp          |  4 ++--
 storagemanager/StorageAccessor.cpp      |  4 ++--
 storagemanager/StorageAccessor.h        |  8 ++++----
 storagemanager/StorageManagerIF.h       | 12 +++++++-----
 9 files changed, 41 insertions(+), 33 deletions(-)

diff --git a/storagemanager/ConstStorageAccessor.cpp b/storagemanager/ConstStorageAccessor.cpp
index 4ada7f80..71d732bf 100644
--- a/storagemanager/ConstStorageAccessor.cpp
+++ b/storagemanager/ConstStorageAccessor.cpp
@@ -1,6 +1,7 @@
+#include "ConstStorageAccessor.h"
+#include "StorageManagerIF.h"
+
 #include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../storagemanager/ConstStorageAccessor.h"
-#include "../storagemanager/StorageManagerIF.h"
 #include "../globalfunctions/arrayprinter.h"
 
 ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
diff --git a/storagemanager/ConstStorageAccessor.h b/storagemanager/ConstStorageAccessor.h
index 573892da..96d2dca2 100644
--- a/storagemanager/ConstStorageAccessor.h
+++ b/storagemanager/ConstStorageAccessor.h
@@ -1,7 +1,7 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
-#define FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+#ifndef FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+#define FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
 
-#include "../storagemanager/storeAddress.h"
+#include "storeAddress.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <cstddef>
 
@@ -113,4 +113,4 @@ protected:
 };
 
 
-#endif /* FRAMEWORK_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */
+#endif /* FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */
diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index 8d300f8f..3a94c03d 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
-#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
+#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_H_
+#define FSFW_STORAGEMANAGER_LOCALPOOL_H_
 
 #include "StorageManagerIF.h"
 #include "../objectmanager/SystemObject.h"
@@ -187,4 +187,4 @@ private:
 
 #include "LocalPool.tpp"
 
-#endif /* FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ */
+#endif /* FSFW_STORAGEMANAGER_LOCALPOOL_H_ */
diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
index 764bd7be..83c7a718 100644
--- a/storagemanager/LocalPool.tpp
+++ b/storagemanager/LocalPool.tpp
@@ -1,7 +1,7 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
-#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
+#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
+#define FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
 
-#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
+#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_H_
 #error Include LocalPool.h before LocalPool.tpp!
 #endif
 
@@ -301,4 +301,4 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
 	return RETURN_OK;
 }
 
-#endif
+#endif /* FSFW_STORAGEMANAGER_LOCALPOOL_TPP_ */
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index ae719e87..84c88682 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -1,9 +1,9 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_H_
-#define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_H_
+#ifndef FSFW_STORAGEMANAGER_POOLMANAGER_H_
+#define FSFW_STORAGEMANAGER_POOLMANAGER_H_
 
 #include "LocalPool.h"
+#include "StorageAccessor.h"
 #include "../ipc/MutexHelper.h"
-#include "../storagemanager/StorageAccessor.h"
 
 
 /**
@@ -20,11 +20,16 @@ public:
 			const uint16_t element_sizes[NUMBER_OF_POOLS],
 			const uint16_t n_elements[NUMBER_OF_POOLS]);
 
-	//! @brief	In the PoolManager's destructor all allocated memory is freed.
+	/**
+	 * @brief	In the PoolManager's destructor all allocated memory
+	 * 			is freed.
+	 */
 	virtual ~PoolManager();
 
-	//! @brief LocalPool overrides for thread-safety. Decorator function which
-	//! 	   wraps LocalPool calls with a mutex protection.
+	/**
+	 * @brief 	LocalPool overrides for thread-safety. Decorator function
+	 * 			which wraps LocalPool calls with a mutex protection.
+	 */
 	ReturnValue_t deleteData(store_address_t) override;
 	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = nullptr) override;
@@ -47,4 +52,4 @@ protected:
 
 #include "PoolManager.tpp"
 
-#endif /* POOLMANAGER_H_ */
+#endif /* FSFW_STORAGEMANAGER_POOLMANAGER_H_ */
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index d72346d3..ba7f63b7 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
 #define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
 
-#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_H_
+#ifndef FSFW_STORAGEMANAGER_POOLMANAGER_H_
 #error Include PoolManager.h before PoolManager.tpp!
 #endif
 
@@ -48,4 +48,4 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 }
 
 
-#endif
+#endif /* FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_ */
diff --git a/storagemanager/StorageAccessor.cpp b/storagemanager/StorageAccessor.cpp
index 60bd4130..9c2f936a 100644
--- a/storagemanager/StorageAccessor.cpp
+++ b/storagemanager/StorageAccessor.cpp
@@ -1,5 +1,5 @@
-#include "../storagemanager/StorageAccessor.h"
-#include "../storagemanager/StorageManagerIF.h"
+#include "StorageAccessor.h"
+#include "StorageManagerIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
 StorageAccessor::StorageAccessor(store_address_t storeId):
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index a65427b8..5cf15d50 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -1,7 +1,7 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
-#define FRAMEWORK_STORAGEMANAGER_STORAGEACCESSOR_H_
+#ifndef FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_
+#define FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_
 
-#include "../storagemanager/ConstStorageAccessor.h"
+#include "ConstStorageAccessor.h"
 
 class StorageManagerIF;
 
@@ -42,4 +42,4 @@ private:
 	void assignConstPointer();
 };
 
-#endif /* TEST_PROTOTYPES_STORAGEACCESSOR_H_ */
+#endif /* FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_ */
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index 2229cdf8..834e7563 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -1,10 +1,12 @@
-#ifndef STORAGEMANAGERIF_H_H
-#define STORAGEMANAGERIF_H_H
+#ifndef FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_
+#define FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_
+
+#include "StorageAccessor.h"
+#include "storeAddress.h"
 
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../storagemanager/StorageAccessor.h"
-#include "../storagemanager/storeAddress.h"
+
 #include <utility>
 #include <cstddef>
 
@@ -164,4 +166,4 @@ public:
 	virtual void clearStore() = 0;
 };
 
-#endif /* STORAGEMANAGERIF_H_ */
+#endif /* FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_ */

From bed4e7affa0b0a832f877768b18a57a463a89b0a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 14:43:23 +0200
Subject: [PATCH 379/653] nullptr replacement

---
 storagemanager/LocalPool.tpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
index 83c7a718..7a6c5c9c 100644
--- a/storagemanager/LocalPool.tpp
+++ b/storagemanager/LocalPool.tpp
@@ -171,7 +171,7 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(store_address_t storeId
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
 		store_address_t packet_id, const uint8_t** packet_ptr, size_t* size) {
-	uint8_t* tempData = NULL;
+	uint8_t* tempData = nullptr;
 	ReturnValue_t status = modifyData(packet_id, &tempData, size);
 	*packet_ptr = tempData;
 	return status;

From 622c7a5a0d5db90cf27a8b06a21888dd3ffd0eb8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 14:45:23 +0200
Subject: [PATCH 380/653] debug output removed

---
 storagemanager/ConstStorageAccessor.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/storagemanager/ConstStorageAccessor.cpp b/storagemanager/ConstStorageAccessor.cpp
index 71d732bf..842f1ce8 100644
--- a/storagemanager/ConstStorageAccessor.cpp
+++ b/storagemanager/ConstStorageAccessor.cpp
@@ -15,7 +15,6 @@ ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
 
 ConstStorageAccessor::~ConstStorageAccessor() {
 	if(deleteData and store != nullptr) {
-		sif::debug << "deleting store data" << std::endl;
 		store->deleteData(storeId);
 	}
 }
@@ -59,7 +58,8 @@ ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	if(size_ > maxSize) {
-		sif::error << "StorageAccessor: Supplied buffer not large enough" << std::endl;
+		sif::error << "StorageAccessor: Supplied buffer not large enough"
+				<< std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	std::copy(constDataPointer, constDataPointer + size_, pointer);

From a58e47623f7bfec389da6d05d35fe1e9831cb462 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 14:50:16 +0200
Subject: [PATCH 381/653] update

---
 storagemanager/LocalPool.tpp   |  7 ++++---
 storagemanager/PoolManager.h   |  3 ++-
 storagemanager/PoolManager.tpp | 11 ++++++++---
 3 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
index 7a6c5c9c..5e61efe4 100644
--- a/storagemanager/LocalPool.tpp
+++ b/storagemanager/LocalPool.tpp
@@ -125,9 +125,10 @@ inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
 	}
 }
 
-template<uint8_t NUMBER_OF_POOLS> inline
-ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(store_address_t* storageId,
-		const uint8_t* data, size_t size, bool ignoreFault) {
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(
+		store_address_t* storageId, const uint8_t* data, size_t size,
+		bool ignoreFault) {
 	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
 	if (status == RETURN_OK) {
 		write(*storageId, data, size);
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 84c88682..8cc6c065 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -34,9 +34,10 @@ public:
 	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = nullptr) override;
 
+	void setMutexTimeout(uint32_t mutexTimeoutMs);
 protected:
 	//! Default mutex timeout value to prevent permanent blocking.
-	static constexpr uint32_t mutexTimeout = 50;
+	uint32_t mutexTimeoutMs = 20;
 
 	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
 			bool ignoreFault) override;
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index ba7f63b7..2be44ece 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -21,7 +21,7 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
 		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
+	MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
 			address,ignoreFault);
 	return status;
@@ -33,7 +33,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 	// debug << "PoolManager( " << translateObject(getObjectId()) <<
 	//       " )::deleteData from store " << packet_id.pool_index <<
 	//       ". id is "<< packet_id.packet_index << std::endl;
-	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
+	MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
 	return status;
 }
@@ -41,11 +41,16 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 		size_t size, store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
+	MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
 			size, storeId);
 	return status;
 }
 
+template<uint8_t NUMBER_OF_POOLS>
+inline void PoolManager<NUMBER_OF_POOLS>::setMutexTimeout(
+		uint32_t mutexTimeoutMs) {
+	this->mutexTimeout = mutexTimeoutMs;
+}
 
 #endif /* FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_ */

From 1ed1b7ea06fca6199ea5957e0b91affb4dfce47f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 14:51:08 +0200
Subject: [PATCH 382/653] include guard fix

---
 storagemanager/storeAddress.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/storagemanager/storeAddress.h b/storagemanager/storeAddress.h
index 5dd785a3..044c0790 100644
--- a/storagemanager/storeAddress.h
+++ b/storagemanager/storeAddress.h
@@ -1,5 +1,6 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_STOREADDRESS_H_
-#define FRAMEWORK_STORAGEMANAGER_STOREADDRESS_H_
+#ifndef FSFW_STORAGEMANAGER_STOREADDRESS_H_
+#define FSFW_STORAGEMANAGER_STOREADDRESS_H_
+
 #include <cstdint>
 
 /**
@@ -51,4 +52,4 @@ union store_address_t {
 	}
 };
 
-#endif /* FRAMEWORK_STORAGEMANAGER_STOREADDRESS_H_ */
+#endif /* FSFW_STORAGEMANAGER_STOREADDRESS_H_ */

From 352ce13fb391d13b3b4ccfd94437e9b3a189bc03 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 14:55:17 +0200
Subject: [PATCH 383/653] removed line break

---
 ipc/messageQueueDefinitions.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ipc/messageQueueDefinitions.h b/ipc/messageQueueDefinitions.h
index b4f861b8..d250da8a 100644
--- a/ipc/messageQueueDefinitions.h
+++ b/ipc/messageQueueDefinitions.h
@@ -15,5 +15,4 @@
  */
 using MessageQueueId_t = uint32_t;
 
-
 #endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */

From 6a5268f5b0439ed1b368c311dd45b4e2fb7012d9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 15:05:18 +0200
Subject: [PATCH 384/653] typo fix

---
 memory/AcceptsMemoryMessagesIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/memory/AcceptsMemoryMessagesIF.h b/memory/AcceptsMemoryMessagesIF.h
index cf8aa5ec..7491f47d 100644
--- a/memory/AcceptsMemoryMessagesIF.h
+++ b/memory/AcceptsMemoryMessagesIF.h
@@ -11,4 +11,4 @@ public:
 };
 
 
-#endif /* AFSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_ */
+#endif /* FSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_ */

From a71528551ae4f821d029994d13000942e592a215 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 15:10:08 +0200
Subject: [PATCH 385/653] include added

---
 tmtcservices/PusVerificationReport.h | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/tmtcservices/PusVerificationReport.h b/tmtcservices/PusVerificationReport.h
index b4739577..9dce95ac 100644
--- a/tmtcservices/PusVerificationReport.h
+++ b/tmtcservices/PusVerificationReport.h
@@ -1,9 +1,11 @@
-#ifndef PUSVERIFICATIONREPORT_H_
-#define PUSVERIFICATIONREPORT_H_
+#ifndef FSFW_TMTCSERVICES_PUSVERIFICATIONREPORT_H_
+#define FSFW_TMTCSERVICES_PUSVERIFICATIONREPORT_H_
+
+#include "VerificationCodes.h"
 
 #include "../ipc/MessageQueueMessage.h"
 #include "../tmtcpacket/pus/TcPacketBase.h"
-#include "VerificationCodes.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 
 class PusVerificationMessage: public MessageQueueMessage {
 private:
@@ -30,7 +32,7 @@ private:
 public:
 	static const uint8_t VERIFICATION_MIN_SIZE = 6;
 	PusVerificationMessage();
-//	PusVerificationMessage( uint8_t set_report_id, TcPacketBase* current_packet, ReturnValue_t set_error_code = 0, uint8_t set_step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 0 );
+
 	PusVerificationMessage(uint8_t set_report_id, uint8_t ackFlags,
 			uint16_t tcPacketId, uint16_t tcSequenceControl,
 			ReturnValue_t set_error_code = 0, uint8_t set_step = 0,
@@ -74,4 +76,4 @@ public:
 	uint8_t* getReport();
 };
 
-#endif /* PUSVERIFICATIONREPORT_H_ */
+#endif /* FSFW_TMTCSERVICES_PUSVERIFICATIONREPORT_H_ */

From 6879045ef3866e5631e617b2400ce1e8ce381573 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 15:21:33 +0200
Subject: [PATCH 386/653] include fix

---
 ipc/MessageQueueIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ipc/MessageQueueIF.h b/ipc/MessageQueueIF.h
index 44b6f4c0..1c06521c 100644
--- a/ipc/MessageQueueIF.h
+++ b/ipc/MessageQueueIF.h
@@ -1,7 +1,7 @@
 #ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
 #define FSFW_IPC_MESSAGEQUEUEIF_H_
 
-#include <fsfw/ipc/messageQueueDefinitions.h>
+#include "messageQueueDefinitions.h"
 #include "MessageQueueMessageIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 

From 47c21cfc6c693614c1ed0627d94643d08aeeba0a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 15:22:38 +0200
Subject: [PATCH 387/653] include fix

---
 ipc/QueueFactory.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h
index 0310e534..9853d256 100644
--- a/ipc/QueueFactory.h
+++ b/ipc/QueueFactory.h
@@ -1,10 +1,10 @@
 #ifndef FSFW_IPC_QUEUEFACTORY_H_
 #define FSFW_IPC_QUEUEFACTORY_H_
 
-
 #include "MessageQueueIF.h"
-#include "../ipc/MessageQueueMessage.h"
-#include <stdint.h>
+#include "MessageQueueMessage.h"
+#include <cstdint>
+
 /**
  * Creates message queues.
  * This class is a "singleton" interface, i.e. it provides an

From e71020d631c6875427aa590ed7c2e68a77b50af1 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 29 Sep 2020 15:24:29 +0200
Subject: [PATCH 388/653] Removed comments and added include

---
 tmtcservices/PusVerificationReport.cpp | 25 -------------------------
 tmtcservices/PusVerificationReport.h   |  2 ++
 2 files changed, 2 insertions(+), 25 deletions(-)

diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index b047576b..bfad9ec5 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -4,31 +4,6 @@
 PusVerificationMessage::PusVerificationMessage() {
 }
 
-//PusVerificationMessage::PusVerificationMessage(uint8_t set_report_id,
-//		TcPacketBase* current_packet, ReturnValue_t set_error_code,
-//		uint8_t set_step, uint32_t parameter1, uint32_t parameter2) {
-//	uint8_t ackFlags = current_packet->getAcknowledgeFlags();
-//	uint16_t tcPacketId = current_packet->getPacketId();
-//	uint16_t tcSequenceControl = current_packet->getPacketSequenceControl();
-//	uint8_t* data = this->getBuffer();
-//	data[messageSize] = set_report_id;
-//	messageSize += sizeof(set_report_id);
-//	data[messageSize] = ackFlags;
-//	messageSize += sizeof(ackFlags);
-//	memcpy(&data[messageSize], &tcPacketId, sizeof(tcPacketId));
-//	messageSize += sizeof(tcPacketId);
-//	memcpy(&data[messageSize], &tcSequenceControl, sizeof(tcSequenceControl));
-//	messageSize += sizeof(tcSequenceControl);
-//	data[messageSize] = set_step;
-//	messageSize += sizeof(set_step);
-//	memcpy(&data[messageSize], &set_error_code, sizeof(set_error_code));
-//	messageSize += sizeof(set_error_code);
-//	memcpy(&data[messageSize], &parameter1, sizeof(parameter1));
-//	messageSize += sizeof(parameter1);
-//	memcpy(&data[messageSize], &parameter2, sizeof(parameter2));
-//	messageSize += sizeof(parameter2);
-//}
-
 PusVerificationMessage::PusVerificationMessage(uint8_t set_report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		ReturnValue_t set_error_code, uint8_t set_step, uint32_t parameter1,
diff --git a/tmtcservices/PusVerificationReport.h b/tmtcservices/PusVerificationReport.h
index 9dce95ac..88954cfd 100644
--- a/tmtcservices/PusVerificationReport.h
+++ b/tmtcservices/PusVerificationReport.h
@@ -7,6 +7,8 @@
 #include "../tmtcpacket/pus/TcPacketBase.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 
+#include <cstdint>
+
 class PusVerificationMessage: public MessageQueueMessage {
 private:
 	struct verifciationMessageContent {

From 72f924813d337bc60d415b2a641afdf132a57f80 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 15:36:54 +0200
Subject: [PATCH 389/653] .mk fix

---
 fsfw.mk | 1 -
 1 file changed, 1 deletion(-)

diff --git a/fsfw.mk b/fsfw.mk
index bf95727c..3639717b 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -9,7 +9,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)

From 1bdccedabe963f93d14fe58ae162bccc7f26360b Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 29 Sep 2020 15:39:24 +0200
Subject: [PATCH 390/653] Fixes #86

---
 pus/CService200ModeCommanding.cpp | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp
index 32f7e5a7..c63b47a6 100644
--- a/pus/CService200ModeCommanding.cpp
+++ b/pus/CService200ModeCommanding.cpp
@@ -107,13 +107,23 @@ ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(
 		const CommandMessage *reply, object_id_t objectId) {
 	ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply),
 			ModeMessage::getSubmode(reply));
-	return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
+	ReturnValue_t result = sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
+	if(result == RETURN_OK){
+		// We want to produce an error here in any case because the mode was not correct
+		return RETURN_FAILED;
+	}
+	return result;
 }
 
 ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
 		const CommandMessage *reply, object_id_t objectId) {
 	CantReachModePacket cantReachModePacket(objectId,
 	        ModeMessage::getCantReachModeReason(reply));
-	return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
+	ReturnValue_t result = sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
 	        &cantReachModePacket);
+	if(result == RETURN_OK){
+		// We want to produce an error here in any case because the mode was not reached
+		return RETURN_FAILED;
+	}
+	return result;
 }

From 17d5de15c990be42ad98da412059d7588ded15bd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 16:10:35 +0200
Subject: [PATCH 391/653] slight changes ,size t replacement

---
 container/ArrayList.h | 218 +++++++++++++++++++++---------------------
 1 file changed, 107 insertions(+), 111 deletions(-)

diff --git a/container/ArrayList.h b/container/ArrayList.h
index 19454777..f347da8e 100644
--- a/container/ArrayList.h
+++ b/container/ArrayList.h
@@ -1,15 +1,15 @@
-#ifndef ARRAYLIST_H_
-#define ARRAYLIST_H_
+#ifndef FSFW_CONTAINER_ARRAYLIST_H_
+#define FSFW_CONTAINER_ARRAYLIST_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeAdapter.h"
 #include "../serialize/SerializeIF.h"
 
 /**
- * A List that stores its values in an array.
- *
- * The backend is an array that can be allocated by the class itself or supplied via ctor.
- *
+ * @brief 	A List that stores its values in an array.
+ * @details
+ * The underlying storage is an array that can be allocated by the class
+ * itself or supplied via ctor.
  *
  * @ingroup container
  */
@@ -21,94 +21,8 @@ public:
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
 
 	/**
-	 * An Iterator to go trough an ArrayList
-	 *
-	 * It stores a pointer to an element and increments the
-	 * pointer when incremented itself.
-	 */
-	class Iterator {
-	public:
-		/**
-		 * Empty ctor, points to NULL
-		 */
-		Iterator() :
-				value(0) {
-
-		}
-
-		/**
-		 * Initializes the Iterator to point to an element
-		 *
-		 * @param initialize
-		 */
-		Iterator(T *initialize) {
-			value = initialize;
-		}
-
-		/**
-		 * The current element the iterator points to
-		 */
-		T *value;
-
-		Iterator& operator++() {
-			value++;
-			return *this;
-		}
-
-		Iterator operator++(int) {
-			Iterator tmp(*this);
-			operator++();
-			return tmp;
-		}
-
-		Iterator& operator--() {
-			value--;
-			return *this;
-		}
-
-		Iterator operator--(int) {
-			Iterator tmp(*this);
-			operator--();
-			return tmp;
-		}
-
-		T& operator*(){
-			return *value;
-		}
-
-		const T& operator*() const{
-			return *value;
-		}
-
-		T *operator->(){
-			return value;
-		}
-
-		const T *operator->() const{
-			return value;
-		}
-
-		//SHOULDDO this should be implemented as non-member
-		bool operator==(const typename ArrayList<T, count_t>::Iterator& other) const{
-			return (value == other.value);
-		}
-
-		//SHOULDDO this should be implemented as non-member
-		bool operator!=(const typename ArrayList<T, count_t>::Iterator& other) const {
-			return !(*this == other);
-		}
-	};
-
-	/**
-	 * Number of Elements stored in this List
-	 */
-	count_t size;
-
-	/**
-	 * This is the allocating constructor;
-	 *
+	 * This is the allocating constructor.
 	 * It allocates an array of the specified size.
-	 *
 	 * @param maxSize
 	 */
 	ArrayList(count_t maxSize) :
@@ -119,7 +33,8 @@ public:
 	/**
 	 * This is the non-allocating constructor
 	 *
-	 * It expects a pointer to an array of a certain size and initializes itself to it.
+	 * It expects a pointer to an array of a certain size and initializes
+	 * itself to it.
 	 *
 	 * @param storage the array to use as backend
 	 * @param maxSize size of storage
@@ -129,6 +44,20 @@ public:
 			size(size), entries(storage), maxSize_(maxSize), allocated(false) {
 	}
 
+    /**
+     * Copying is forbiden by declaring copy ctor and copy assignment deleted
+     * It is too ambigous in this case.
+     * (Allocate a new backend? Use the same? What to do in an modifying call?)
+     */
+	ArrayList(const ArrayList& other) = delete;
+	const ArrayList& operator=(const ArrayList& other) = delete;
+
+	/**
+	 * Number of Elements stored in this List
+	 */
+	count_t size;
+
+
 	/**
 	 * Destructor, if the allocating constructor was used, it deletes the array.
 	 */
@@ -138,6 +67,85 @@ public:
 		}
 	}
 
+    /**
+     * An Iterator to go trough an ArrayList
+     *
+     * It stores a pointer to an element and increments the
+     * pointer when incremented itself.
+     */
+    class Iterator {
+    public:
+        /**
+         * Empty ctor, points to NULL
+         */
+        Iterator(): value(0) {}
+
+        /**
+         * Initializes the Iterator to point to an element
+         *
+         * @param initialize
+         */
+        Iterator(T *initialize) {
+            value = initialize;
+        }
+
+        /**
+         * The current element the iterator points to
+         */
+        T *value;
+
+        Iterator& operator++() {
+            value++;
+            return *this;
+        }
+
+        Iterator operator++(int) {
+            Iterator tmp(*this);
+            operator++();
+            return tmp;
+        }
+
+        Iterator& operator--() {
+            value--;
+            return *this;
+        }
+
+        Iterator operator--(int) {
+            Iterator tmp(*this);
+            operator--();
+            return tmp;
+        }
+
+        T& operator*() {
+            return *value;
+        }
+
+        const T& operator*() const {
+            return *value;
+        }
+
+        T *operator->() {
+            return value;
+        }
+
+        const T *operator->() const {
+            return value;
+        }
+
+
+        //SHOULDDO this should be implemented as non-member
+        bool operator==(const typename
+        		ArrayList<T, count_t>::Iterator& other) const {
+            return (value == other.value);
+        }
+
+        //SHOULDDO this should be implemented as non-member
+        bool operator!=(const typename
+        		ArrayList<T, count_t>::Iterator& other) const {
+        	return !(*this == other);
+        }
+    };
+
 	/**
 	 * Iterator pointing to the first stored elmement
 	 *
@@ -191,7 +199,7 @@ public:
 	 *
 	 * @return maximum number of elements
 	 */
-	uint32_t maxSize() const {
+	size_t maxSize() const {
 		return this->maxSize_;
 	}
 
@@ -226,19 +234,7 @@ public:
 	count_t remaining() {
 		return (maxSize_ - size);
 	}
-private:
-	/**
-	 * This is the copy constructor
-	 *
-	 * It is private, as copying is too ambigous in this case. (Allocate a new backend? Use the same?
-	 * What to do in an modifying call?)
-	 *
-	 * @param other
-	 */
-	ArrayList(const ArrayList& other) :
-			size(other.size), entries(other.entries), maxSize_(other.maxSize_), allocated(
-					false) {
-	}
+
 protected:
 	/**
 	 * pointer to the array in which the entries are stored
@@ -247,12 +243,12 @@ protected:
 	/**
 	 * remembering the maximum size
 	 */
-	uint32_t maxSize_;
+	size_t maxSize_;
 
 	/**
 	 * true if the array was allocated and needs to be deleted in the destructor.
 	 */
 	bool allocated;
-
 };
-#endif /* ARRAYLIST_H_ */
+
+#endif /* FSFW_CONTAINER_ARRAYLIST_H_ */

From 4eef7bfc0133f56021914028818107cbe0e41b64 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 16:12:43 +0200
Subject: [PATCH 392/653] changes taken over

---
 container/ArrayList.h | 144 +++++++++++++++++++++---------------------
 1 file changed, 72 insertions(+), 72 deletions(-)

diff --git a/container/ArrayList.h b/container/ArrayList.h
index f347da8e..426e02b3 100644
--- a/container/ArrayList.h
+++ b/container/ArrayList.h
@@ -26,7 +26,7 @@ public:
 	 * @param maxSize
 	 */
 	ArrayList(count_t maxSize) :
-			size(0), maxSize_(maxSize), allocated(true) {
+		size(0), maxSize_(maxSize), allocated(true) {
 		entries = new T[maxSize];
 	}
 
@@ -41,14 +41,14 @@ public:
 	 * @param size size of data already present in storage
 	 */
 	ArrayList(T *storage, count_t maxSize, count_t size = 0) :
-			size(size), entries(storage), maxSize_(maxSize), allocated(false) {
+		size(size), entries(storage), maxSize_(maxSize), allocated(false) {
 	}
 
-    /**
-     * Copying is forbiden by declaring copy ctor and copy assignment deleted
-     * It is too ambigous in this case.
-     * (Allocate a new backend? Use the same? What to do in an modifying call?)
-     */
+	/**
+	 * Copying is forbiden by declaring copy ctor and copy assignment deleted
+	 * It is too ambigous in this case.
+	 * (Allocate a new backend? Use the same? What to do in an modifying call?)
+	 */
 	ArrayList(const ArrayList& other) = delete;
 	const ArrayList& operator=(const ArrayList& other) = delete;
 
@@ -67,84 +67,84 @@ public:
 		}
 	}
 
-    /**
-     * An Iterator to go trough an ArrayList
-     *
-     * It stores a pointer to an element and increments the
-     * pointer when incremented itself.
-     */
-    class Iterator {
-    public:
-        /**
-         * Empty ctor, points to NULL
-         */
-        Iterator(): value(0) {}
+	/**
+	 * An Iterator to go trough an ArrayList
+	 *
+	 * It stores a pointer to an element and increments the
+	 * pointer when incremented itself.
+	 */
+	class Iterator {
+	public:
+		/**
+		 * Empty ctor, points to NULL
+		 */
+		Iterator(): value(0) {}
 
-        /**
-         * Initializes the Iterator to point to an element
-         *
-         * @param initialize
-         */
-        Iterator(T *initialize) {
-            value = initialize;
-        }
+		/**
+		 * Initializes the Iterator to point to an element
+		 *
+		 * @param initialize
+		 */
+		Iterator(T *initialize) {
+			value = initialize;
+		}
 
-        /**
-         * The current element the iterator points to
-         */
-        T *value;
+		/**
+		 * The current element the iterator points to
+		 */
+		T *value;
 
-        Iterator& operator++() {
-            value++;
-            return *this;
-        }
+		Iterator& operator++() {
+			value++;
+			return *this;
+		}
 
-        Iterator operator++(int) {
-            Iterator tmp(*this);
-            operator++();
-            return tmp;
-        }
+		Iterator operator++(int) {
+			Iterator tmp(*this);
+			operator++();
+			return tmp;
+		}
 
-        Iterator& operator--() {
-            value--;
-            return *this;
-        }
+		Iterator& operator--() {
+			value--;
+			return *this;
+		}
 
-        Iterator operator--(int) {
-            Iterator tmp(*this);
-            operator--();
-            return tmp;
-        }
+		Iterator operator--(int) {
+			Iterator tmp(*this);
+			operator--();
+			return tmp;
+		}
 
-        T& operator*() {
-            return *value;
-        }
+		T& operator*() {
+			return *value;
+		}
 
-        const T& operator*() const {
-            return *value;
-        }
+		const T& operator*() const {
+			return *value;
+		}
 
-        T *operator->() {
-            return value;
-        }
+		T *operator->() {
+			return value;
+		}
 
-        const T *operator->() const {
-            return value;
-        }
+		const T *operator->() const {
+			return value;
+		}
 
 
-        //SHOULDDO this should be implemented as non-member
-        bool operator==(const typename
-        		ArrayList<T, count_t>::Iterator& other) const {
-            return (value == other.value);
-        }
+		//SHOULDDO this should be implemented as non-member
+		bool operator==(const typename
+				ArrayList<T, count_t>::Iterator& other) const {
+			return (value == other.value);
+		}
 
-        //SHOULDDO this should be implemented as non-member
-        bool operator!=(const typename
-        		ArrayList<T, count_t>::Iterator& other) const {
-        	return !(*this == other);
-        }
-    };
+		//SHOULDDO this should be implemented as non-member
+		bool operator!=(const typename
+				ArrayList<T, count_t>::Iterator& other) const {
+			return !(*this == other);
+		}
+	};
 
 	/**
 	 * Iterator pointing to the first stored elmement

From 4fce0377a951b1a2b27a128b09baf949f6b7415d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 17:28:02 +0200
Subject: [PATCH 393/653] missing include for linux

---
 osal/linux/MessageQueue.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index e5c61cae..f2e5a5ec 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -1,14 +1,16 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "MessageQueue.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 
 #include <fstream>
-
 #include <fcntl.h>           /* For O_* constants */
 #include <sys/stat.h>        /* For mode constants */
 #include <cstring>
 #include <errno.h>
 
 
+
+
 MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
 		id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
 		defaultDestination(MessageQueueIF::NO_QUEUE) {

From f73f798a4d606e2fe66d592494ad52e0ba4e50a3 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 17:28:37 +0200
Subject: [PATCH 394/653] lines removed

---
 osal/linux/MessageQueue.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index f2e5a5ec..cb5ffd04 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -9,8 +9,6 @@
 #include <errno.h>
 
 
-
-
 MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
 		id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
 		defaultDestination(MessageQueueIF::NO_QUEUE) {

From 303fcec9f656308ef4b50fb1da9f1dcbc2f13192 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 29 Sep 2020 17:49:04 +0200
Subject: [PATCH 395/653] Added a missing include

---
 osal/linux/MessageQueue.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index e5c61cae..76f66170 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -1,5 +1,6 @@
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "MessageQueue.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 
 #include <fstream>
 

From 6c0bb23ed6f24e84a52a2b37c3bf082a39b0c43d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 29 Sep 2020 17:51:16 +0200
Subject: [PATCH 396/653] non member bool operator

---
 container/ArrayList.h | 25 ++++++++++++-------------
 1 file changed, 12 insertions(+), 13 deletions(-)

diff --git a/container/ArrayList.h b/container/ArrayList.h
index 426e02b3..6bd5c1d5 100644
--- a/container/ArrayList.h
+++ b/container/ArrayList.h
@@ -131,21 +131,18 @@ public:
 		const T *operator->() const {
 			return value;
 		}
-
-
-		//SHOULDDO this should be implemented as non-member
-		bool operator==(const typename
-				ArrayList<T, count_t>::Iterator& other) const {
-			return (value == other.value);
-		}
-
-		//SHOULDDO this should be implemented as non-member
-		bool operator!=(const typename
-				ArrayList<T, count_t>::Iterator& other) const {
-			return !(*this == other);
-		}
 	};
 
+	friend bool operator==(const ArrayList::Iterator& lhs,
+			const ArrayList::Iterator& rhs) {
+		return (lhs.value == rhs.value);
+	}
+
+	friend bool operator!=(const ArrayList::Iterator& lhs,
+			const ArrayList::Iterator& rhs) {
+		return not (lhs.value == rhs.value);
+	}
+
 	/**
 	 * Iterator pointing to the first stored elmement
 	 *
@@ -251,4 +248,6 @@ protected:
 	bool allocated;
 };
 
+
+
 #endif /* FSFW_CONTAINER_ARRAYLIST_H_ */

From 5fc583117d1291976281ec40e448376257a94ba8 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 30 Sep 2020 10:55:34 +0200
Subject: [PATCH 397/653] Typo in FixedOrderedMultimap

---
 container/FixedOrderedMultimap.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index c5fd2184..717575d7 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -98,7 +98,7 @@ public:
 	}
 
 	ReturnValue_t insert(std::pair<key_t, T> pair) {
-		return insert(pair.fist, pair.second);
+		return insert(pair.first, pair.second);
 	}
 
 	ReturnValue_t exists(key_t key) const {

From ecc4bdf11a2144f37e20631c17f3d58132499398 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 30 Sep 2020 12:50:52 +0200
Subject: [PATCH 398/653] Added a compile time check for MAX_SIZE

Compiler may warn if MAX_SIZE value overflows by itself but this checks
gives a more verbose warning
---
 container/FixedArrayList.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/container/FixedArrayList.h b/container/FixedArrayList.h
index 42b59177..505097c9 100644
--- a/container/FixedArrayList.h
+++ b/container/FixedArrayList.h
@@ -2,11 +2,13 @@
 #define FIXEDARRAYLIST_H_
 
 #include "ArrayList.h"
+#include <cmath>
 /**
  * \ingroup container
  */
-template<typename T, uint32_t MAX_SIZE, typename count_t = uint8_t>
+template<typename T, size_t MAX_SIZE, typename count_t = uint8_t>
 class FixedArrayList: public ArrayList<T, count_t> {
+	static_assert(MAX_SIZE <= (pow(2,sizeof(count_t)*8)-1), "count_t is not large enough to hold MAX_SIZE");
 private:
 	T data[MAX_SIZE];
 public:

From 8d8e918aeb299ceb1b1279a93a289c37419cf325 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 30 Sep 2020 13:05:55 +0200
Subject: [PATCH 399/653] Fixed copying of FixedArrayList

---
 container/FixedArrayList.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/container/FixedArrayList.h b/container/FixedArrayList.h
index 505097c9..e9e127cf 100644
--- a/container/FixedArrayList.h
+++ b/container/FixedArrayList.h
@@ -20,11 +20,13 @@ public:
 			ArrayList<T, count_t>(data, MAX_SIZE) {
 		memcpy(this->data, other.data, sizeof(this->data));
 		this->entries = data;
+		this->size = other.size;
 	}
 
 	FixedArrayList& operator=(FixedArrayList other) {
 		memcpy(this->data, other.data, sizeof(this->data));
 		this->entries = data;
+		this->size = other.size;
 		return *this;
 	}
 

From aeeef53508627aa802d14ed9b45a93689171cac6 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 30 Sep 2020 14:34:02 +0200
Subject: [PATCH 400/653] Added Documentation to placement factory

---
 container/PlacementFactory.h | 42 +++++++++++++++++++++++++++++++++---
 1 file changed, 39 insertions(+), 3 deletions(-)

diff --git a/container/PlacementFactory.h b/container/PlacementFactory.h
index 05538478..529c7804 100644
--- a/container/PlacementFactory.h
+++ b/container/PlacementFactory.h
@@ -3,26 +3,62 @@
 
 #include "../storagemanager/StorageManagerIF.h"
 #include <utility>
-
+/**
+ * The Placement Factory is used to create objects at runtime in a specific pool.
+ * In general this should be avoided and is should only be used if you know what you are doing.
+ * You are not allowed to use this container with a type that allocates memory internally like ArrayList.
+ *
+ * You have to check the returned pointer against nullptr!
+ *
+ * A backend of Type StorageManagerIF must be given as a place to store the new objects.
+ * Objects must be destroyed by the user with "destroy"! Otherwise the pool will not be cleared.
+ *
+ *
+ *
+ * The concept is based on the placement new operator.
+ *
+ * @warning Do not use with any Type that allocates memory internally!
+ * @ingroup container
+ */
 class PlacementFactory {
 public:
 	PlacementFactory(StorageManagerIF* backend) :
 			dataBackend(backend) {
 	}
+
+	/***
+	 * Generates an object of type T in the backend storage.
+	 *
+	 * @warning Do not use with any Type that allocates memory internally!
+	 *
+	 * @tparam T Type of Object
+	 * @param args Constructor Arguments to be passed
+	 * @return A pointer to the new object or a nullptr in case of failure
+	 */
 	template<typename T, typename ... Args>
 	T* generate(Args&&... args) {
 		store_address_t tempId;
-		uint8_t* pData = NULL;
+		uint8_t* pData = nullptr;
 		ReturnValue_t result = dataBackend->getFreeElement(&tempId, sizeof(T),
 				&pData);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return NULL;
+			return nullptr;
 		}
 		T* temp = new (pData) T(std::forward<Args>(args)...);
 		return temp;
 	}
+	/***
+	 * Function to destroy the object allocated with generate and free space in backend.
+	 * This must be called by the user.
+	 *
+	 * @param thisElement Element to be destroyed
+	 * @return RETURN_OK if the element was destroyed, different errors on failure
+	 */
 	template<typename T>
 	ReturnValue_t destroy(T* thisElement) {
+		if (thisElement == nullptr){
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
 		//Need to call destructor first, in case something was allocated by the object (shouldn't do that, however).
 		thisElement->~T();
 		uint8_t* pointer = (uint8_t*) (thisElement);

From 2f61bd0a0f5ac7f9252e9d18b60253fbf39e53f5 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 30 Sep 2020 14:38:46 +0200
Subject: [PATCH 401/653] A few typos and more docu

---
 container/PlacementFactory.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/container/PlacementFactory.h b/container/PlacementFactory.h
index 529c7804..a0aebb7d 100644
--- a/container/PlacementFactory.h
+++ b/container/PlacementFactory.h
@@ -5,16 +5,16 @@
 #include <utility>
 /**
  * The Placement Factory is used to create objects at runtime in a specific pool.
- * In general this should be avoided and is should only be used if you know what you are doing.
+ * In general, this should be avoided and it should only be used if you know what you are doing.
  * You are not allowed to use this container with a type that allocates memory internally like ArrayList.
  *
- * You have to check the returned pointer against nullptr!
+ * Also, you have to check the returned pointer in generate against nullptr!
  *
  * A backend of Type StorageManagerIF must be given as a place to store the new objects.
+ * Therefore ThreadSafety is only provided by your StorageManager Implementation.
+ *
  * Objects must be destroyed by the user with "destroy"! Otherwise the pool will not be cleared.
  *
- *
- *
  * The concept is based on the placement new operator.
  *
  * @warning Do not use with any Type that allocates memory internally!

From 823bae1a2a993af3ff700c0d7eb4709c8176d87d Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 30 Sep 2020 16:06:17 +0200
Subject: [PATCH 402/653] Added null pointer checks for FIFO Base

---
 container/FIFOBase.tpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/container/FIFOBase.tpp b/container/FIFOBase.tpp
index d54b3f8f..763004b6 100644
--- a/container/FIFOBase.tpp
+++ b/container/FIFOBase.tpp
@@ -26,6 +26,9 @@ inline ReturnValue_t FIFOBase<T>::retrieve(T* value) {
 	if (empty()) {
 		return EMPTY;
 	} else {
+		if (value == nullptr){
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
 		*value = values[readIndex];
 		readIndex = next(readIndex);
 		--currentSize;
@@ -38,6 +41,9 @@ inline ReturnValue_t FIFOBase<T>::peek(T* value) {
 	if(empty()) {
 		return EMPTY;
 	} else {
+		if (value == nullptr){
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
 		*value = values[readIndex];
 		return HasReturnvaluesIF::RETURN_OK;
 	}

From ab9858b0c78fa6283b7218e7c9339444b91a5c39 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 30 Sep 2020 16:15:48 +0200
Subject: [PATCH 403/653] Added comments

---
 container/FIFOBase.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index b744706d..201d488d 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -19,24 +19,24 @@ public:
 	/**
 	 * Insert value into FIFO
 	 * @param value
-	 * @return
+	 * @return RETURN_OK on success, FULL if full
 	 */
 	ReturnValue_t insert(T value);
 	/**
 	 * Retrieve item from FIFO. This removes the item from the FIFO.
-	 * @param value
-	 * @return
+	 * @param value Must point to a valid T
+	 * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
 	 */
 	ReturnValue_t retrieve(T *value);
 	/**
 	 * Retrieve item from FIFO without removing it from FIFO.
-	 * @param value
-	 * @return
+	 * @param value Must point to a valid T
+	 * @return RETURN_OK on success, EMPTY if empty and FAILED if nullptr check failed
 	 */
 	ReturnValue_t peek(T * value);
 	/**
 	 * Remove item from FIFO.
-	 * @return
+	 * @return RETURN_OK on success, EMPTY if empty
 	 */
 	ReturnValue_t pop();
 

From fcabf93af33c61d989bf06555bf3a005e985ff7a Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 30 Sep 2020 16:27:18 +0200
Subject: [PATCH 404/653] Added a few comments

---
 container/FIFOBase.h | 18 ++++++++++++++++--
 1 file changed, 16 insertions(+), 2 deletions(-)

diff --git a/container/FIFOBase.h b/container/FIFOBase.h
index 201d488d..edd66d37 100644
--- a/container/FIFOBase.h
+++ b/container/FIFOBase.h
@@ -40,11 +40,25 @@ public:
 	 */
 	ReturnValue_t pop();
 
+	/***
+	 * Check if FIFO is empty
+	 * @return True if empty, False if not
+	 */
 	bool empty();
+	/***
+	 * Check if FIFO is Full
+	 * @return True if full, False if not
+	 */
 	bool full();
+	/***
+	 *  Current used size (elements) used
+	 * @return size_t in elements
+	 */
 	size_t size();
-
-
+	/***
+	 * Get maximal capacity of fifo
+	 * @return size_t with max capacity of this fifo
+	 */
 	size_t getMaxCapacity() const;
 
 protected:

From a0098e8b17e42d43e64d7d9ef7a78f8cc66b137b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 30 Sep 2020 18:57:30 +0200
Subject: [PATCH 405/653] non member comp operator for iterators

---
 container/FixedMap.h | 39 +++++++++++++++++++++++++++++++++++++--
 1 file changed, 37 insertions(+), 2 deletions(-)

diff --git a/container/FixedMap.h b/container/FixedMap.h
index d1cc31ff..7a5220fa 100644
--- a/container/FixedMap.h
+++ b/container/FixedMap.h
@@ -7,14 +7,21 @@
 #include <type_traits>
 
 /**
+ * @brief    Map implementation for maps with a pre-defined size.
+ * @details
+ * Can be initialized with desired maximum size.
+ * Iterator is used to access <key,value> pair and iterate through map entries.
+ * Complexity O(n).
  * @warning Iterators return a non-const key_t in the pair.
  * @warning A User is not allowed to change the key, otherwise the map is corrupted.
  * @ingroup container
  */
 template<typename key_t, typename T>
 class FixedMap: public SerializeIF {
-	static_assert (std::is_trivially_copyable<T>::value or std::is_base_of<SerializeIF, T>::value,
-			"Types used in FixedMap must either be trivial copy-able or a derived Class from SerializeIF to be serialize-able");
+	static_assert (std::is_trivially_copyable<T>::value or
+	        std::is_base_of<SerializeIF, T>::value,
+			"Types used in FixedMap must either be trivial copy-able or a "
+			"derived class from SerializeIF to be serialize-able");
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
 	static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
@@ -54,6 +61,16 @@ public:
 		}
 	};
 
+	friend bool operator==(const typename FixedMap::Iterator& lhs,
+			const typename FixedMap::Iterator& rhs) {
+		return (lhs.value == rhs.value);
+	}
+
+	friend bool operator!=(const typename FixedMap::Iterator& lhs,
+			const typename FixedMap::Iterator& rhs) {
+		return not (lhs.value == rhs.value);
+	}
+
 	Iterator begin() const {
 		return Iterator(&theMap[0]);
 	}
@@ -136,6 +153,24 @@ public:
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
+	bool empty() {
+	    if(_size == 0) {
+	        return true;
+	    }
+	    else {
+	        return false;
+	    }
+	}
+
+	bool full() {
+	    if(_size >= theMap.maxSize()) {
+	        return true;
+	    }
+	    else {
+	        return false;
+	    }
+	}
+
 	void clear() {
 		_size = 0;
 	}

From a14558ef1fd308ba23757916590af1376a663791 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Wed, 30 Sep 2020 20:25:02 +0200
Subject: [PATCH 406/653] Removed old test files

---
 container/RingBufferTest.cpp.ignore |  79 ------
 container/listTest.cpp.ignore       | 365 ----------------------------
 2 files changed, 444 deletions(-)
 delete mode 100644 container/RingBufferTest.cpp.ignore
 delete mode 100644 container/listTest.cpp.ignore

diff --git a/container/RingBufferTest.cpp.ignore b/container/RingBufferTest.cpp.ignore
deleted file mode 100644
index d660e29c..00000000
--- a/container/RingBufferTest.cpp.ignore
+++ /dev/null
@@ -1,79 +0,0 @@
-
-#include <iostream>
-#include "SimpleRingBuffer.h"
-
-
-int main() {
-	using namespace std;
-	SimpleRingBuffer buffer(64, false);
-	uint8_t data[8] = {'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h'};
-	ReturnValue_t result = buffer.writeData(data, 8);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		cout << "writeData failed." << endl;
-	}
-	result = buffer.writeData(data, 8);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		cout << "writeData failed." << endl;
-	}
-	uint8_t buffer2[47] = {0};
-	for (uint8_t count = 0; count<sizeof(buffer2); count++) {
-		buffer2[count] = count;
-	}
-	result = buffer.writeData(buffer2, sizeof(buffer2));
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		cout << "writeData failed." << endl;
-	}
-	result = buffer.writeData(buffer2, sizeof(buffer2));
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		cout << "writeData failed." << endl;
-	}
-	uint8_t readBuffer[64] = {0};
-	uint32_t writtenData = 0;
-	result = buffer.readData(readBuffer, 12, true, &writtenData);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		cout << "readData failed." << endl;
-	} else {
-		cout << "Read data: " << writtenData << endl;
-		for (uint32_t count = 0; count < writtenData; count++) {
-			cout << hex << (uint16_t)readBuffer[count] << " ";
-		}
-		cout << dec << endl;
-	}
-
-	result = buffer.readData(readBuffer, 60, true, &writtenData);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		cout << "readData failed." << endl;
-	} else {
-		cout << "Read data: " << writtenData << endl;
-		for (uint32_t count = 0; count < writtenData; count++) {
-			cout << hex << (uint16_t)readBuffer[count] << " ";
-		}
-		cout << dec << endl;
-	}
-	result = buffer.writeData(data, sizeof(data));
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		cout << "writeData failed." << endl;
-	}
-	result = buffer.readData(readBuffer, 60, true, &writtenData);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		cout << "readData failed." << endl;
-	} else {
-		cout << "Read data: " << writtenData << endl;
-		for (uint32_t count = 0; count < writtenData; count++) {
-			cout << hex << (uint16_t)readBuffer[count] << " ";
-		}
-		cout << dec << endl;
-	}
-	result = buffer.writeData(readBuffer, sizeof(readBuffer));
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		cout << "writeData failed." << endl;
-	}
-	result = buffer.writeData(readBuffer, sizeof(readBuffer)-1);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		cout << "writeData failed." << endl;
-	} else {
-		cout << "write done." << endl;
-	}
-}
-
-
diff --git a/container/listTest.cpp.ignore b/container/listTest.cpp.ignore
deleted file mode 100644
index 257b733f..00000000
--- a/container/listTest.cpp.ignore
+++ /dev/null
@@ -1,365 +0,0 @@
-#include "FixedArrayList.h"
-#include "SinglyLinkedList.h"
-#include "HybridIterator.h"
-
-#include "FixedMap.h"
-
-#include <stdio.h>
-
-/*
-
-class Packet: public SinglyLinkedList {
-public:
-	SinglyLinkedList::Element<uint32_t> element1;
-	SinglyLinkedList::Element<uint32_t> element2;
-
-	Packet() {
-		this->start = &element1;
-		element1.next = &element2;
-	}
-};
-
-class Packet2: public SinglyLinkedList {
-public:
-	SinglyLinkedList::Element<uint32_t> element1;
-	SinglyLinkedList::Element<FixedArrayList<FixedArrayList<uint8_t, 5>, 2>> element2;
-	SinglyLinkedList::Element<uint32_t> element3;
-
-	Packet2() {
-		this->start = &element1;
-		element1.next = &element2;
-		element2.next = &element3;
-	}
-};
-
-class Packet3: public SinglyLinkedList {
-public:
-	SinglyLinkedList::TypedElement<uint32_t> element1;
-	SinglyLinkedList::TypedElement<uint32_t> element2;
-
-	Packet3() {
-		this->start = &element1;
-		element1.next = &element2;
-	}
-};
-
-void arrayList() {
-	puts("** Array List **");
-	FixedArrayList<uint32_t, 10, uint32_t> list;
-	FixedArrayList<uint32_t, 10, uint32_t> list2;
-
-	list.size = 2;
-
-	list[0] = 0xcafecafe;
-
-	list[1] = 0x12345678;
-
-	uint8_t buffer[100];
-	uint8_t *pointer = buffer;
-	uint32_t size = 0;
-	uint32_t maxSize = 100;
-	uint32_t i;
-	int32_t size2;
-
-	printf("printsize: %i\n", list.getPrintSize());
-
-	list.print(&pointer, &size, 100, true);
-
-	printf("buffer(%i):", size);
-	for (i = 0; i < size; ++i) {
-		printf("%02x", buffer[i]);
-	}
-	printf("\n");
-
-	pointer = buffer;
-
-	size2 = size;
-
-	printf("list2 read: %x\n", list2.read(&pointer, &size2, true));
-
-	printf("list2(%i):", list2.size);
-	for (ArrayList<uint32_t, uint32_t>::Iterator iter = list2.begin();
-			iter != list2.end(); iter++) {
-		printf("0x%04x ", *iter);
-	}
-	printf("\n");
-
-	HybridIterator<uint32_t, uint32_t> hiter(list.begin(),list.end());
-
-	printf("hybrid1: 0x%04x\n", *(hiter++));
-	printf("hybrid2: 0x%04x\n", *hiter);
-
-}
-
-void allocatingList() {
-	puts("** Allocating List **");
-	ArrayList<uint8_t> myList(3), myList2(2);
-	myList[0] = 0xab;
-	myList[1] = 0xcd;
-	myList.size = 2;
-
-	uint8_t buffer[100];
-	uint8_t *pointer = buffer;
-	uint32_t size = 0;
-	uint32_t maxSize = 100;
-	uint32_t i;
-	int32_t size2;
-
-	myList.print(&pointer, &size, 100, true);
-
-	pointer = buffer;
-	size2 = size;
-
-	printf("Read %x\n", myList2.read(&pointer, &size2, true));
-
-	printf("%x,%x\n", myList2[0], myList2[1]);
-
-}
-
-void linkedList() {
-	puts("** Linked List **");
-	uint8_t buffer[100];
-	uint8_t *pointer = buffer;
-	uint32_t size = 0;
-	uint32_t maxSize = 100;
-	uint32_t i;
-	int32_t size2;
-
-	Packet myPacket;
-	myPacket.element1.entry = 0x12345678;
-	myPacket.element2.entry = 0x9abcdef0;
-
-	pointer = buffer;
-	size = 0;
-	ReturnValue_t result = myPacket.print(&pointer, &size, 100, true);
-
-	printf("result %02x\n", result);
-
-	printf("printsize: %i\n", myPacket.getPrintSize());
-
-	printf("buffer(%i):", size);
-	for (i = 0; i < size; ++i) {
-		printf("%02x", buffer[i]);
-	}
-	printf("\n");
-
-	Packet3 myPacket3;
-
-	myPacket3.element1.entry = 0x12345678;
-	myPacket3.element2.entry = 0xabcdeff;
-
-	SinglyLinkedList::TypedIterator<uint32_t> titer(&myPacket3.element1);
-
-	printf("0x%04x\n", *titer);
-
-	HybridIterator<uint32_t, uint32_t> hiter(&myPacket3.element1);
-
-	printf("hybrid1: 0x%04x\n", *hiter);
-	hiter++;
-	printf("hybrid2: 0x%04x\n", *hiter);
-}
-
-void complex() {
-	puts("** complex **");
-	uint8_t buffer[100];
-	uint8_t *pointer = buffer;
-	uint32_t size = 0;
-	uint32_t maxSize = 100;
-	uint32_t i;
-	int32_t size2 = size;
-
-	Packet myPacket2;
-
-	size2 = size;
-	pointer = buffer;
-
-	myPacket2.read(&pointer, &size2, true);
-
-	printf("packet: 0x%04x, 0x%04x\n", myPacket2.element1.entry,
-			myPacket2.element2.entry);
-
-	buffer[0] = 0x12;
-	buffer[1] = 0x34;
-	buffer[2] = 0x56;
-	buffer[3] = 0x78;
-	buffer[4] = 0x2;
-	buffer[5] = 0x3;
-	buffer[6] = 0xab;
-	buffer[7] = 0xcd;
-	buffer[8] = 0xef;
-	buffer[9] = 0x2;
-	buffer[10] = 0x11;
-	buffer[11] = 0x22;
-	buffer[12] = 0xca;
-	buffer[13] = 0xfe;
-	buffer[14] = 0x5a;
-	buffer[15] = 0xfe;
-
-	pointer = buffer;
-	size2 = 23;
-
-	Packet2 p2;
-
-	ReturnValue_t result = p2.read(&pointer, &size2, true);
-	printf("result is %02x\n", result);
-
-	printf("%04x; %i: %i: %x %x %x; %i: %x %x;; %04x\n", p2.element1.entry,
-			p2.element2.entry.size, p2.element2.entry[0].size,
-			p2.element2.entry[0][0], p2.element2.entry[0][1],
-			p2.element2.entry[0][2], p2.element2.entry[1].size,
-			p2.element2.entry[1][0], p2.element2.entry[1][1],
-			p2.element3.entry);
-
-}
-*/
-struct Test {
-	uint32_t a;
-	uint32_t b;
-};
-
-template<typename key_t, typename T>
-void printMap(FixedMap<key_t, T> *map) {
-	typename FixedMap<key_t, T>::Iterator iter;
-	printf("Map (%i): ", map->getSize());
-	for (iter = map->begin(); iter != map->end(); ++iter) {
-		printf("%x:%08x,%08x ", iter.value->first, (*iter).a, (*iter).b);
-	}
-	printf("\n");
-}
-
-template<typename T>
-void map() {
-	puts("** Map **");
-	typename FixedMap<T, Test>::Iterator iter;
-	ReturnValue_t result;
-	FixedMap<T, Test> myMap(5);
-
-	printMap<T, Test>(&myMap);
-
-	Test a;
-	a.a = 0x01234567;
-	a.b = 0xabcdef89;
-
-	myMap.insert(1, a);
-	printMap<T, Test>(&myMap);
-
-	a.a = 0;
-
-	myMap.insert(2, a);
-	printMap<T, Test>(&myMap);
-
-	printf("2 exists: %x\n", myMap.exists(0x02));
-
-	printf("ff exists: %x\n", myMap.exists(0xff));
-
-	a.a = 1;
-	printf("insert 0x2: %x\n", myMap.insert(2, a));
-
-	result = myMap.insert(0xff, a);
-	a.a = 0x44;
-	result = myMap.insert(0xab, a);
-	result = myMap.insert(0xa, a);
-
-	printMap<T, Test>(&myMap);
-
-	printf("insert 0x5: %x\n", myMap.insert(5, a));
-
-	printf("erase 0xfe: %x\n", myMap.erase(0xfe));
-
-	printf("erase 0x2: %x\n", myMap.erase(0x2));
-
-	printMap<T, Test>(&myMap);
-
-	printf("erase 0xab: %x\n", myMap.erase(0xab));
-	printMap<T, Test>(&myMap);
-
-	printf("insert 0x5: %x\n", myMap.insert(5, a));
-	printMap<T, Test>(&myMap);
-
-	iter = myMap.begin();
-	++iter;
-	++iter;
-	++iter;
-
-	printf("iter: %i: %x,%x\n",iter.value->first, iter->a, iter->b);
-
-	myMap.erase(&iter);
-
-	printf("iter: %i: %x,%x\n",iter.value->first, iter->a, iter->b);
-	printMap<T, Test>(&myMap);
-
-}
-
-/*
-void mapPrint() {
-	puts("** Map Print **");
-	FixedMap<uint16_t, Packet2> myMap(5);
-	Packet2 myPacket;
-	myPacket.element1.entry = 0x12345678;
-
-	myPacket.element2.entry[0][0] = 0xab;
-	myPacket.element2.entry[0][1] = 0xcd;
-	myPacket.element2.entry[0].size = 2;
-	myPacket.element2.entry.size = 1;
-
-	myPacket.element3.entry = 0xabcdef90;
-
-	myMap.insert(0x1234, myPacket);
-
-	uint8_t buffer[100];
-	uint32_t size = 0, i;
-	uint8_t *pointer = buffer;
-
-	printf("printsize: %i\n", myMap.getPrintSize());
-
-	SerializeAdapter<FixedMap<uint16_t, Packet2>>::print(&myMap, &pointer,
-			&size, 100, false);
-
-	printf("buffer(%i):", size);
-	for (i = 0; i < size; ++i) {
-		printf("%02x", buffer[i]);
-	}
-	printf("\n");
-
-	int32_t size2 = size;
-	pointer = buffer;
-
-	FixedMap<uint16_t, Packet2> myMap2(5);
-
-	ReturnValue_t result = SerializeAdapter<FixedMap<uint16_t, Packet2>>::read(
-			&myMap2, &pointer, &size2, false);
-
-	Packet2 *myPacket2 = myMap2.find(0x1234);
-
-	printf("Map (%i): Packet2: %x, Array (%i): Array (%i): %x, %x; %x\n",
-			myMap2.getSize(), myPacket2->element1.entry,
-			myPacket2->element2.entry.size, myPacket2->element2.entry[0].size,
-			myPacket2->element2.entry[0][0], myPacket2->element2.entry[0][1],
-			myPacket2->element3.entry);
-
-}
-
-void empty() {
-	puts("** Empty **");
-	ArrayList<uint32_t> list(0);
-	printf("%p %p\n", list.front(), list.back());
-}
-*/
-
-int main(void) {
-
-//	arrayList();
-//	linkedList();
-//	allocatingList();
-//	complex();
-
-	map<uint32_t>();
-//
-//	mapPrint();
-
-//	empty();
-
-
-
-	return 0;
-}

From adf528fce91412c43daf349c02cee9710bf54363 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 1 Oct 2020 11:01:52 +0200
Subject: [PATCH 407/653] DH IF and DH message  form improved

---
 devicehandlers/DeviceHandlerIF.h        | 20 +++++--
 devicehandlers/DeviceHandlerMessage.cpp | 19 +-----
 devicehandlers/DeviceHandlerMessage.h   | 78 ++++++++++---------------
 3 files changed, 48 insertions(+), 69 deletions(-)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 52a3be4d..9c8eb098 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -1,12 +1,19 @@
-#ifndef DEVICEHANDLERIF_H_
-#define DEVICEHANDLERIF_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
+
+#include "DeviceHandlerMessage.h"
 
 #include "../action/HasActionsIF.h"
-#include "DeviceHandlerMessage.h"
 #include "../events/Event.h"
 #include "../modes/HasModesIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 
+/**
+ * This is used to uniquely identify commands that are sent to a device
+ * The values are defined in the device-specific implementations
+ */
+using DeviceCommandId_t = uint32_t;
+
 /**
  * @brief 	This is the Interface used to communicate with a device handler.
  * @details Includes all expected return values, events and modes.
@@ -15,6 +22,7 @@
 class DeviceHandlerIF {
 public:
 
+
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
@@ -47,6 +55,8 @@ public:
 	//! This is a transitional state which can not be commanded.
 	//! The device handler performs all actions and commands to get the device
 	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
+	//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+	//! transition if available.
 	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
 	//! It is possible to set the mode to _MODE_TO_ON to use the to on
 	//! transition if available.
@@ -96,7 +106,7 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
 	// Standard codes used when building commands.
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
 	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
 	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
 	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
@@ -150,4 +160,4 @@ public:
 
 };
 
-#endif /* DEVICEHANDLERIF_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */
diff --git a/devicehandlers/DeviceHandlerMessage.cpp b/devicehandlers/DeviceHandlerMessage.cpp
index 564fae21..cb9043db 100644
--- a/devicehandlers/DeviceHandlerMessage.cpp
+++ b/devicehandlers/DeviceHandlerMessage.cpp
@@ -1,10 +1,6 @@
-#include "../objectmanager/ObjectManagerIF.h"
 #include "DeviceHandlerMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
-DeviceHandlerMessage::DeviceHandlerMessage() {
-}
-
 store_address_t DeviceHandlerMessage::getStoreAddress(
 		const CommandMessage* message) {
 	return store_address_t(message->getParameter2());
@@ -25,14 +21,6 @@ uint8_t DeviceHandlerMessage::getWiretappingMode(
 	return message->getParameter();
 }
 
-//void DeviceHandlerMessage::setDeviceHandlerDirectCommandMessage(
-//		CommandMessage* message, DeviceCommandId_t deviceCommand,
-//		store_address_t commandParametersStoreId) {
-//	message->setCommand(CMD_DIRECT);
-//	message->setParameter(deviceCommand);
-//	message->setParameter2(commandParametersStoreId.raw);
-//}
-
 void DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(
 		CommandMessage* message, store_address_t rawPacketStoreId) {
 	message->setCommand(CMD_RAW);
@@ -47,7 +35,7 @@ void DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(
 
 void DeviceHandlerMessage::setDeviceHandlerSwitchIoBoardMessage(
 		CommandMessage* message, uint32_t ioBoardIdentifier) {
-	message->setCommand(CMD_SWITCH_IOBOARD);
+	message->setCommand(CMD_SWITCH_ADDRESS);
 	message->setParameter(ioBoardIdentifier);
 }
 
@@ -79,18 +67,17 @@ void DeviceHandlerMessage::setDeviceHandlerDirectCommandReply(
 void DeviceHandlerMessage::clear(CommandMessage* message) {
 	switch (message->getCommand()) {
 	case CMD_RAW:
-//	case CMD_DIRECT:
 	case REPLY_RAW_COMMAND:
 	case REPLY_RAW_REPLY:
 	case REPLY_DIRECT_COMMAND_DATA: {
 		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
 				objects::IPC_STORE);
-		if (ipcStore != NULL) {
+		if (ipcStore != nullptr) {
 			ipcStore->deleteData(getStoreAddress(message));
 		}
 	}
 		/* NO BREAK falls through*/
-	case CMD_SWITCH_IOBOARD:
+	case CMD_SWITCH_ADDRESS:
 	case CMD_WIRETAPPING:
 		message->setCommand(CommandMessage::CMD_NONE);
 		message->setParameter(0);
diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h
index 8d1c94f4..e5da01c8 100644
--- a/devicehandlers/DeviceHandlerMessage.h
+++ b/devicehandlers/DeviceHandlerMessage.h
@@ -1,69 +1,56 @@
-#ifndef DEVICEHANDLERMESSAGE_H_
-#define DEVICEHANDLERMESSAGE_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
 
 #include "../action/ActionMessage.h"
 #include "../ipc/CommandMessage.h"
 #include "../objectmanager/SystemObjectIF.h"
 #include "../storagemanager/StorageManagerIF.h"
-//SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID.
+// SHOULDDO: rework the static constructors to name the type of command
+// they are building, maybe even hide setting the commandID.
+
 
 /**
- * This is used to uniquely identify commands that are sent to a device
- *
- * The values are defined in the device-specific implementations
- */
-typedef uint32_t DeviceCommandId_t;
-
-/**
- * The DeviceHandlerMessage is used to send Commands to a DeviceHandlerIF
+ * @brief   The DeviceHandlerMessage is used to send commands to classes
+ *          implementing DeviceHandlerIF
  */
 class DeviceHandlerMessage {
-private:
-	DeviceHandlerMessage();
 public:
+    /**
+     * Instantiation forbidden. Instead, use static functions to operate
+     * on messages.
+     */
+	DeviceHandlerMessage() = delete;
+	virtual ~DeviceHandlerMessage() {}
 
 	/**
 	 * These are the commands that can be sent to a DeviceHandlerBase
 	 */
 	static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
-	static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
-//	static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
-	static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
-	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID( 4 ); //!< (De)Activates the monitoring of all raw traffic in DeviceHandlers, setParameter is 0 to deactivate, 1 to activate
+	//! Sends a raw command, setParameter is a storeId containing the
+	//! raw packet to send
+	static const Command_t CMD_RAW = MAKE_COMMAND_ID(1);
+	//! Requests a IO-Board switch, setParameter() is the IO-Board identifier
+	static const Command_t CMD_SWITCH_ADDRESS = MAKE_COMMAND_ID(3);
+	//! (De)Activates the monitoring of all raw traffic in DeviceHandlers,
+	//! setParameter is 0 to deactivate, 1 to activate
+	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID(4);
 
-	/*static const Command_t REPLY_SWITCHED_IOBOARD = MAKE_COMMAND_ID(1 );//!< Reply to a @c CMD_SWITCH_IOBOARD, indicates switch was successful, getParameter() contains the board switched to (0: nominal, 1: redundant)
-	 static const Command_t REPLY_CANT_SWITCH_IOBOARD = MAKE_COMMAND_ID( 2);	//!< Reply to a @c CMD_SWITCH_IOBOARD, indicating the switch could not be performed, getParameter() contains the error message
-	 static const Command_t REPLY_WIRETAPPING = MAKE_COMMAND_ID( 3);	//!< Reply to a @c CMD_WIRETAPPING, getParameter() is the current state, 1 enabled, 0 disabled
-
-	 static const Command_t REPLY_COMMAND_WAS_SENT = MAKE_COMMAND_ID(4 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was successfully sent to the device, getParameter() contains the ::DeviceCommandId_t
-	 static const Command_t REPLY_COMMAND_NOT_SUPPORTED = MAKE_COMMAND_ID(5 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t is not supported, getParameter() contains the requested ::DeviceCommand_t, getParameter2() contains the ::DeviceCommandId_t
-	 static const Command_t REPLY_COMMAND_WAS_NOT_SENT = MAKE_COMMAND_ID(6 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was not sent, getParameter contains the RMAP Return code (@see rmap.h), getParameter2() contains the ::DeviceCommandId_t
-
-	 static const Command_t REPLY_COMMAND_ALREADY_SENT = MAKE_COMMAND_ID(7 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t has already been sent to the device and not ye been answered
-	 static const Command_t REPLY_WRONG_MODE_FOR_CMD = MAKE_COMMAND_ID(8 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates that the requested command can not be sent in the curent mode, getParameter() contains the DeviceHandlerCommand_t
-	 static const Command_t REPLY_NO_DATA = MAKE_COMMAND_ID(9 );	//!< Reply to a CMD_RAW or @c CMD_DIRECT, indicates that the ::store_id_t was invalid, getParameter() contains the ::DeviceCommandId_t, getPrameter2() contains the error code
-	 */
-	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS; //!< Signals that a direct command was sent
-	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11 ); //!< Contains a raw command sent to the Device
-	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID( 0x12); //!< Contains a raw reply from the Device, getParameter() is the ObjcetId of the sender, getParameter2() is a ::store_id_t containing the raw packet received
+	//! Signals that a direct command was sent
+	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS;
+	//! Contains a raw command sent to the Device
+	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11);
+	//! Contains a raw reply from the Device, getParameter() is the ObjcetId
+	//! of the sender, getParameter2() is a ::store_id_t containing the
+	//! raw packet received
+	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID(0x12);
 	static const Command_t REPLY_DIRECT_COMMAND_DATA = ActionMessage::DATA_REPLY;
 
-	/**
-	 * Default Destructor
-	 */
-	virtual ~DeviceHandlerMessage() {
-	}
-
 	static store_address_t getStoreAddress(const CommandMessage* message);
 	static uint32_t getDeviceCommandId(const CommandMessage* message);
 	static object_id_t getDeviceObjectId(const CommandMessage *message);
 	static object_id_t getIoBoardObjectId(const CommandMessage* message);
 	static uint8_t getWiretappingMode(const CommandMessage* message);
 
-//	static void setDeviceHandlerDirectCommandMessage(CommandMessage* message,
-//			DeviceCommandId_t deviceCommand,
-//			store_address_t commandParametersStoreId);
-
 	static void setDeviceHandlerDirectCommandReply(CommandMessage* message,
 			object_id_t deviceObjectid,
 			store_address_t commandParametersStoreId);
@@ -75,11 +62,6 @@ public:
 			object_id_t deviceObjectid, store_address_t rawPacketStoreId,
 			bool isCommand);
 
-//	static void setDeviceHandlerMessage(CommandMessage* message,
-//			Command_t command, DeviceCommandId_t deviceCommand,
-//			store_address_t commandParametersStoreId);
-//	static void setDeviceHandlerMessage(CommandMessage* message,
-//			Command_t command, store_address_t rawPacketStoreId);
 	static void setDeviceHandlerWiretappingMessage(CommandMessage* message,
 			uint8_t wiretappingMode);
 	static void setDeviceHandlerSwitchIoBoardMessage(CommandMessage* message,
@@ -88,4 +70,4 @@ public:
 	static void clear(CommandMessage* message);
 };
 
-#endif /* DEVICEHANDLERMESSAGE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_ */

From 7c3f99ed2d4beba650722e596a48abb9edb837c4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 1 Oct 2020 11:06:46 +0200
Subject: [PATCH 408/653] Revert "DH IF and DH message  form improved"

This reverts commit adf528fce91412c43daf349c02cee9710bf54363.
---
 devicehandlers/DeviceHandlerIF.h        | 20 ++-----
 devicehandlers/DeviceHandlerMessage.cpp | 19 +++++-
 devicehandlers/DeviceHandlerMessage.h   | 78 +++++++++++++++----------
 3 files changed, 69 insertions(+), 48 deletions(-)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 9c8eb098..52a3be4d 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -1,19 +1,12 @@
-#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
-#define FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
-
-#include "DeviceHandlerMessage.h"
+#ifndef DEVICEHANDLERIF_H_
+#define DEVICEHANDLERIF_H_
 
 #include "../action/HasActionsIF.h"
+#include "DeviceHandlerMessage.h"
 #include "../events/Event.h"
 #include "../modes/HasModesIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 
-/**
- * This is used to uniquely identify commands that are sent to a device
- * The values are defined in the device-specific implementations
- */
-using DeviceCommandId_t = uint32_t;
-
 /**
  * @brief 	This is the Interface used to communicate with a device handler.
  * @details Includes all expected return values, events and modes.
@@ -22,7 +15,6 @@ using DeviceCommandId_t = uint32_t;
 class DeviceHandlerIF {
 public:
 
-
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
@@ -55,8 +47,6 @@ public:
 	//! This is a transitional state which can not be commanded.
 	//! The device handler performs all actions and commands to get the device
 	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
-	//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
-	//! transition if available.
 	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
 	//! It is possible to set the mode to _MODE_TO_ON to use the to on
 	//! transition if available.
@@ -106,7 +96,7 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
 	// Standard codes used when building commands.
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
 	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
 	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
 	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
@@ -160,4 +150,4 @@ public:
 
 };
 
-#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */
+#endif /* DEVICEHANDLERIF_H_ */
diff --git a/devicehandlers/DeviceHandlerMessage.cpp b/devicehandlers/DeviceHandlerMessage.cpp
index cb9043db..564fae21 100644
--- a/devicehandlers/DeviceHandlerMessage.cpp
+++ b/devicehandlers/DeviceHandlerMessage.cpp
@@ -1,6 +1,10 @@
+#include "../objectmanager/ObjectManagerIF.h"
 #include "DeviceHandlerMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
+DeviceHandlerMessage::DeviceHandlerMessage() {
+}
+
 store_address_t DeviceHandlerMessage::getStoreAddress(
 		const CommandMessage* message) {
 	return store_address_t(message->getParameter2());
@@ -21,6 +25,14 @@ uint8_t DeviceHandlerMessage::getWiretappingMode(
 	return message->getParameter();
 }
 
+//void DeviceHandlerMessage::setDeviceHandlerDirectCommandMessage(
+//		CommandMessage* message, DeviceCommandId_t deviceCommand,
+//		store_address_t commandParametersStoreId) {
+//	message->setCommand(CMD_DIRECT);
+//	message->setParameter(deviceCommand);
+//	message->setParameter2(commandParametersStoreId.raw);
+//}
+
 void DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(
 		CommandMessage* message, store_address_t rawPacketStoreId) {
 	message->setCommand(CMD_RAW);
@@ -35,7 +47,7 @@ void DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(
 
 void DeviceHandlerMessage::setDeviceHandlerSwitchIoBoardMessage(
 		CommandMessage* message, uint32_t ioBoardIdentifier) {
-	message->setCommand(CMD_SWITCH_ADDRESS);
+	message->setCommand(CMD_SWITCH_IOBOARD);
 	message->setParameter(ioBoardIdentifier);
 }
 
@@ -67,17 +79,18 @@ void DeviceHandlerMessage::setDeviceHandlerDirectCommandReply(
 void DeviceHandlerMessage::clear(CommandMessage* message) {
 	switch (message->getCommand()) {
 	case CMD_RAW:
+//	case CMD_DIRECT:
 	case REPLY_RAW_COMMAND:
 	case REPLY_RAW_REPLY:
 	case REPLY_DIRECT_COMMAND_DATA: {
 		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
 				objects::IPC_STORE);
-		if (ipcStore != nullptr) {
+		if (ipcStore != NULL) {
 			ipcStore->deleteData(getStoreAddress(message));
 		}
 	}
 		/* NO BREAK falls through*/
-	case CMD_SWITCH_ADDRESS:
+	case CMD_SWITCH_IOBOARD:
 	case CMD_WIRETAPPING:
 		message->setCommand(CommandMessage::CMD_NONE);
 		message->setParameter(0);
diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h
index e5da01c8..8d1c94f4 100644
--- a/devicehandlers/DeviceHandlerMessage.h
+++ b/devicehandlers/DeviceHandlerMessage.h
@@ -1,56 +1,69 @@
-#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
-#define FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
+#ifndef DEVICEHANDLERMESSAGE_H_
+#define DEVICEHANDLERMESSAGE_H_
 
 #include "../action/ActionMessage.h"
 #include "../ipc/CommandMessage.h"
 #include "../objectmanager/SystemObjectIF.h"
 #include "../storagemanager/StorageManagerIF.h"
-// SHOULDDO: rework the static constructors to name the type of command
-// they are building, maybe even hide setting the commandID.
-
+//SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID.
 
 /**
- * @brief   The DeviceHandlerMessage is used to send commands to classes
- *          implementing DeviceHandlerIF
+ * This is used to uniquely identify commands that are sent to a device
+ *
+ * The values are defined in the device-specific implementations
+ */
+typedef uint32_t DeviceCommandId_t;
+
+/**
+ * The DeviceHandlerMessage is used to send Commands to a DeviceHandlerIF
  */
 class DeviceHandlerMessage {
+private:
+	DeviceHandlerMessage();
 public:
-    /**
-     * Instantiation forbidden. Instead, use static functions to operate
-     * on messages.
-     */
-	DeviceHandlerMessage() = delete;
-	virtual ~DeviceHandlerMessage() {}
 
 	/**
 	 * These are the commands that can be sent to a DeviceHandlerBase
 	 */
 	static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
-	//! Sends a raw command, setParameter is a storeId containing the
-	//! raw packet to send
-	static const Command_t CMD_RAW = MAKE_COMMAND_ID(1);
-	//! Requests a IO-Board switch, setParameter() is the IO-Board identifier
-	static const Command_t CMD_SWITCH_ADDRESS = MAKE_COMMAND_ID(3);
-	//! (De)Activates the monitoring of all raw traffic in DeviceHandlers,
-	//! setParameter is 0 to deactivate, 1 to activate
-	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID(4);
+	static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
+//	static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
+	static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
+	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID( 4 ); //!< (De)Activates the monitoring of all raw traffic in DeviceHandlers, setParameter is 0 to deactivate, 1 to activate
 
-	//! Signals that a direct command was sent
-	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS;
-	//! Contains a raw command sent to the Device
-	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11);
-	//! Contains a raw reply from the Device, getParameter() is the ObjcetId
-	//! of the sender, getParameter2() is a ::store_id_t containing the
-	//! raw packet received
-	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID(0x12);
+	/*static const Command_t REPLY_SWITCHED_IOBOARD = MAKE_COMMAND_ID(1 );//!< Reply to a @c CMD_SWITCH_IOBOARD, indicates switch was successful, getParameter() contains the board switched to (0: nominal, 1: redundant)
+	 static const Command_t REPLY_CANT_SWITCH_IOBOARD = MAKE_COMMAND_ID( 2);	//!< Reply to a @c CMD_SWITCH_IOBOARD, indicating the switch could not be performed, getParameter() contains the error message
+	 static const Command_t REPLY_WIRETAPPING = MAKE_COMMAND_ID( 3);	//!< Reply to a @c CMD_WIRETAPPING, getParameter() is the current state, 1 enabled, 0 disabled
+
+	 static const Command_t REPLY_COMMAND_WAS_SENT = MAKE_COMMAND_ID(4 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was successfully sent to the device, getParameter() contains the ::DeviceCommandId_t
+	 static const Command_t REPLY_COMMAND_NOT_SUPPORTED = MAKE_COMMAND_ID(5 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t is not supported, getParameter() contains the requested ::DeviceCommand_t, getParameter2() contains the ::DeviceCommandId_t
+	 static const Command_t REPLY_COMMAND_WAS_NOT_SENT = MAKE_COMMAND_ID(6 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was not sent, getParameter contains the RMAP Return code (@see rmap.h), getParameter2() contains the ::DeviceCommandId_t
+
+	 static const Command_t REPLY_COMMAND_ALREADY_SENT = MAKE_COMMAND_ID(7 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t has already been sent to the device and not ye been answered
+	 static const Command_t REPLY_WRONG_MODE_FOR_CMD = MAKE_COMMAND_ID(8 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates that the requested command can not be sent in the curent mode, getParameter() contains the DeviceHandlerCommand_t
+	 static const Command_t REPLY_NO_DATA = MAKE_COMMAND_ID(9 );	//!< Reply to a CMD_RAW or @c CMD_DIRECT, indicates that the ::store_id_t was invalid, getParameter() contains the ::DeviceCommandId_t, getPrameter2() contains the error code
+	 */
+	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS; //!< Signals that a direct command was sent
+	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11 ); //!< Contains a raw command sent to the Device
+	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID( 0x12); //!< Contains a raw reply from the Device, getParameter() is the ObjcetId of the sender, getParameter2() is a ::store_id_t containing the raw packet received
 	static const Command_t REPLY_DIRECT_COMMAND_DATA = ActionMessage::DATA_REPLY;
 
+	/**
+	 * Default Destructor
+	 */
+	virtual ~DeviceHandlerMessage() {
+	}
+
 	static store_address_t getStoreAddress(const CommandMessage* message);
 	static uint32_t getDeviceCommandId(const CommandMessage* message);
 	static object_id_t getDeviceObjectId(const CommandMessage *message);
 	static object_id_t getIoBoardObjectId(const CommandMessage* message);
 	static uint8_t getWiretappingMode(const CommandMessage* message);
 
+//	static void setDeviceHandlerDirectCommandMessage(CommandMessage* message,
+//			DeviceCommandId_t deviceCommand,
+//			store_address_t commandParametersStoreId);
+
 	static void setDeviceHandlerDirectCommandReply(CommandMessage* message,
 			object_id_t deviceObjectid,
 			store_address_t commandParametersStoreId);
@@ -62,6 +75,11 @@ public:
 			object_id_t deviceObjectid, store_address_t rawPacketStoreId,
 			bool isCommand);
 
+//	static void setDeviceHandlerMessage(CommandMessage* message,
+//			Command_t command, DeviceCommandId_t deviceCommand,
+//			store_address_t commandParametersStoreId);
+//	static void setDeviceHandlerMessage(CommandMessage* message,
+//			Command_t command, store_address_t rawPacketStoreId);
 	static void setDeviceHandlerWiretappingMessage(CommandMessage* message,
 			uint8_t wiretappingMode);
 	static void setDeviceHandlerSwitchIoBoardMessage(CommandMessage* message,
@@ -70,4 +88,4 @@ public:
 	static void clear(CommandMessage* message);
 };
 
-#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_ */
+#endif /* DEVICEHANDLERMESSAGE_H_ */

From b313043e4312af0f54a24a2b8e560ba22ce287c5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 1 Oct 2020 12:05:24 +0200
Subject: [PATCH 409/653] added new local data pool files

---
 datapoollocal/HasLocalDataPoolIF.h          |  95 +++++
 datapoollocal/LocalDataPoolManager.cpp      | 427 ++++++++++++++++++++
 datapoollocal/LocalDataPoolManager.h        | 291 +++++++++++++
 datapoollocal/LocalDataSet.cpp              |  22 +
 datapoollocal/LocalDataSet.h                |  21 +
 datapoollocal/LocalPoolDataSetBase.cpp      | 259 ++++++++++++
 datapoollocal/LocalPoolDataSetBase.h        | 190 +++++++++
 datapoollocal/LocalPoolVariable.h           | 177 ++++++++
 datapoollocal/LocalPoolVariable.tpp         | 169 ++++++++
 datapoollocal/LocalPoolVector.h             | 202 +++++++++
 datapoollocal/LocalPoolVector.tpp           | 209 ++++++++++
 datapoollocal/SharedLocalDataSet.cpp        |  16 +
 datapoollocal/SharedLocalDataSet.h          |  24 ++
 datapoollocal/StaticLocalDataSet.h          |  50 +++
 housekeeping/AcceptsHkPacketsIF.h           |  11 +
 housekeeping/HousekeepingMessage.cpp        | 162 ++++++++
 housekeeping/HousekeepingMessage.h          | 157 +++++++
 housekeeping/HousekeepingPacketDownlink.h   |  34 ++
 housekeeping/HousekeepingPacketUpdate.h     |  73 ++++
 housekeeping/HousekeepingSetPacket.h        |  59 +++
 housekeeping/PeriodicHousekeepingHelper.cpp |  48 +++
 housekeeping/PeriodicHousekeepingHelper.h   |  32 ++
 22 files changed, 2728 insertions(+)
 create mode 100644 datapoollocal/HasLocalDataPoolIF.h
 create mode 100644 datapoollocal/LocalDataPoolManager.cpp
 create mode 100644 datapoollocal/LocalDataPoolManager.h
 create mode 100644 datapoollocal/LocalDataSet.cpp
 create mode 100644 datapoollocal/LocalDataSet.h
 create mode 100644 datapoollocal/LocalPoolDataSetBase.cpp
 create mode 100644 datapoollocal/LocalPoolDataSetBase.h
 create mode 100644 datapoollocal/LocalPoolVariable.h
 create mode 100644 datapoollocal/LocalPoolVariable.tpp
 create mode 100644 datapoollocal/LocalPoolVector.h
 create mode 100644 datapoollocal/LocalPoolVector.tpp
 create mode 100644 datapoollocal/SharedLocalDataSet.cpp
 create mode 100644 datapoollocal/SharedLocalDataSet.h
 create mode 100644 datapoollocal/StaticLocalDataSet.h
 create mode 100644 housekeeping/AcceptsHkPacketsIF.h
 create mode 100644 housekeeping/HousekeepingMessage.cpp
 create mode 100644 housekeeping/HousekeepingMessage.h
 create mode 100644 housekeeping/HousekeepingPacketDownlink.h
 create mode 100644 housekeeping/HousekeepingPacketUpdate.h
 create mode 100644 housekeeping/HousekeepingSetPacket.h
 create mode 100644 housekeeping/PeriodicHousekeepingHelper.cpp
 create mode 100644 housekeeping/PeriodicHousekeepingHelper.h

diff --git a/datapoollocal/HasLocalDataPoolIF.h b/datapoollocal/HasLocalDataPoolIF.h
new file mode 100644
index 00000000..f8f4ef4c
--- /dev/null
+++ b/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_ */
diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
new file mode 100644
index 00000000..c23f183b
--- /dev/null
+++ b/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;
+}
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
new file mode 100644
index 00000000..779e3050
--- /dev/null
+++ b/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_ */
diff --git a/datapoollocal/LocalDataSet.cpp b/datapoollocal/LocalDataSet.cpp
new file mode 100644
index 00000000..394a9abe
--- /dev/null
+++ b/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() {}
+
diff --git a/datapoollocal/LocalDataSet.h b/datapoollocal/LocalDataSet.h
new file mode 100644
index 00000000..0368f26d
--- /dev/null
+++ b/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_ */
diff --git a/datapoollocal/LocalPoolDataSetBase.cpp b/datapoollocal/LocalPoolDataSetBase.cpp
new file mode 100644
index 00000000..da0a86b2
--- /dev/null
+++ b/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;
+}
diff --git a/datapoollocal/LocalPoolDataSetBase.h b/datapoollocal/LocalPoolDataSetBase.h
new file mode 100644
index 00000000..d00af992
--- /dev/null
+++ b/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_ */
diff --git a/datapoollocal/LocalPoolVariable.h b/datapoollocal/LocalPoolVariable.h
new file mode 100644
index 00000000..ec5c8cd1
--- /dev/null
+++ b/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_ */
diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp
new file mode 100644
index 00000000..b0bdd7b9
--- /dev/null
+++ b/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
diff --git a/datapoollocal/LocalPoolVector.h b/datapoollocal/LocalPoolVector.h
new file mode 100644
index 00000000..57c4b90b
--- /dev/null
+++ b/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_ */
diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp
new file mode 100644
index 00000000..2aa6fbb5
--- /dev/null
+++ b/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
diff --git a/datapoollocal/SharedLocalDataSet.cpp b/datapoollocal/SharedLocalDataSet.cpp
new file mode 100644
index 00000000..dd1bdcc4
--- /dev/null
+++ b/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();
+}
diff --git a/datapoollocal/SharedLocalDataSet.h b/datapoollocal/SharedLocalDataSet.h
new file mode 100644
index 00000000..2e5a76fa
--- /dev/null
+++ b/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_ */
diff --git a/datapoollocal/StaticLocalDataSet.h b/datapoollocal/StaticLocalDataSet.h
new file mode 100644
index 00000000..a637e360
--- /dev/null
+++ b/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_ */
diff --git a/housekeeping/AcceptsHkPacketsIF.h b/housekeeping/AcceptsHkPacketsIF.h
new file mode 100644
index 00000000..b3ba6e7c
--- /dev/null
+++ b/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_ */
diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
new file mode 100644
index 00000000..d2ab546b
--- /dev/null
+++ b/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);
+}
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
new file mode 100644
index 00000000..6dc95f54
--- /dev/null
+++ b/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_ */
diff --git a/housekeeping/HousekeepingPacketDownlink.h b/housekeeping/HousekeepingPacketDownlink.h
new file mode 100644
index 00000000..ae0cc988
--- /dev/null
+++ b/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_ */
diff --git a/housekeeping/HousekeepingPacketUpdate.h b/housekeeping/HousekeepingPacketUpdate.h
new file mode 100644
index 00000000..eebdc11c
--- /dev/null
+++ b/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_ */
diff --git a/housekeeping/HousekeepingSetPacket.h b/housekeeping/HousekeepingSetPacket.h
new file mode 100644
index 00000000..f94720d4
--- /dev/null
+++ b/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_ */
diff --git a/housekeeping/PeriodicHousekeepingHelper.cpp b/housekeeping/PeriodicHousekeepingHelper.cpp
new file mode 100644
index 00000000..37349f81
--- /dev/null
+++ b/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);
+}
diff --git a/housekeeping/PeriodicHousekeepingHelper.h b/housekeeping/PeriodicHousekeepingHelper.h
new file mode 100644
index 00000000..d96eae1d
--- /dev/null
+++ b/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_ */

From a43e8ea60333627ca085b54c127f0b0acdddd601 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 1 Oct 2020 12:27:28 +0200
Subject: [PATCH 410/653] added srv3 object ID

---
 objectmanager/frameworkObjects.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/objectmanager/frameworkObjects.h b/objectmanager/frameworkObjects.h
index 4d08f084..57783286 100644
--- a/objectmanager/frameworkObjects.h
+++ b/objectmanager/frameworkObjects.h
@@ -6,6 +6,7 @@ enum framework_objects {
 	// Default verification reporter.
 	PUS_SERVICE_1_VERIFICATION = 0x53000001,
 	PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
+	PUS_SERVICE_3_HOUSEKEEPING = 0x53000003,
 	PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
 	PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
 	PUS_SERVICE_9_TIME_MGMT = 0x53000009,

From 322ff54f58d1ce3c214e1b240f418d543e93a320 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 1 Oct 2020 12:28:25 +0200
Subject: [PATCH 411/653] added new message types

---
 ipc/FwMessageTypes.h | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/ipc/FwMessageTypes.h b/ipc/FwMessageTypes.h
index e820b1df..8b49c122 100644
--- a/ipc/FwMessageTypes.h
+++ b/ipc/FwMessageTypes.h
@@ -3,7 +3,7 @@
 
 namespace messagetypes {
 //Remember to add new Message Types to the clearCommandMessage function!
-enum FW_MESSAGE_TYPE {
+enum FsfwMessageTypes {
 	COMMAND = 0,
 	MODE_COMMAND,
 	HEALTH_COMMAND,
@@ -14,7 +14,10 @@ enum FW_MESSAGE_TYPE {
 	MONITORING,
 	MEMORY,
 	PARAMETER,
-	FW_MESSAGES_COUNT
+	FILE_SYSTEM_MESSAGE,
+	HOUSEKEEPING,
+
+	FW_MESSAGES_COUNT,
 };
 }
 

From 196cde4075e92bd1053c136720acb3a3c6cd62f2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 1 Oct 2020 12:30:53 +0200
Subject: [PATCH 412/653] DHB update

---
 devicehandlers/DeviceHandlerBase.cpp | 171 +++++++++++++++++++--------
 devicehandlers/DeviceHandlerBase.h   | 170 ++++++++++++++------------
 2 files changed, 214 insertions(+), 127 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 6fcba64b..227d5b6d 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -2,15 +2,17 @@
 #include "AcceptsDeviceResponsesIF.h"
 #include "DeviceTmReportingWrapper.h"
 
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../objectmanager/ObjectManager.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../thermal/ThermalComponentIF.h"
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../globalfunctions/CRC.h"
-#include "../subsystem/SubsystemBase.h"
+#include "../housekeeping/HousekeepingMessage.h"
+#include "../ipc/MessageQueueMessage.h"
 #include "../ipc/QueueFactory.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../subsystem/SubsystemBase.h"
 
 #include <iomanip>
 
@@ -25,10 +27,11 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
 		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
-		actionHelper(this, nullptr), childTransitionFailure(RETURN_OK),
-		fdirInstance(fdirInstance), hkSwitcher(this),
-		defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
-		childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
+		actionHelper(this, nullptr), hkManager(this, nullptr),
+		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
+		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
+		switchOffWasReported(false), childTransitionDelay(5000),
+		transitionSourceMode(_MODE_POWER_DOWN),
 		transitionSourceSubMode(SUBMODE_NONE) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			MessageQueueMessage::MAX_MESSAGE_SIZE);
@@ -48,6 +51,10 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 	}
 }
 
+void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
+	this->hkDestination = hkDestination;
+}
+
 void DeviceHandlerBase::setThermalStateRequestPoolIds(
 		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
 	this->deviceThermalRequestPoolId = thermalStatePoolId;
@@ -74,6 +81,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
+		hkManager.performHkOperation();
 		performOperationHook();
 	}
 	if (mode == MODE_OFF) {
@@ -120,7 +128,9 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	result = communicationInterface->initializeInterface(comCookie);
 	if (result != RETURN_OK) {
-		return result;
+	    sif::error << "DeviceHandlerBase::initialize: Initializing "
+	            "communication interface failed!" << std::endl;
+	    return result;
 	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
@@ -183,11 +193,16 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
+	result = hkManager.initialize(commandQueue);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
 	fillCommandAndReplyMap();
 
 	//Set temperature target state to NON_OP.
 	GlobDataSet mySet;
-	gp_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+	gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 			PoolVariableIF::VAR_WRITE);
 	mySet.read();
 	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
@@ -245,10 +260,10 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-//	result = hkManager.handleHousekeepingMessage(&command);
-//	if (result == RETURN_OK) {
-//		return;
-//	}
+	result = hkManager.handleHousekeepingMessage(&command);
+	if (result == RETURN_OK) {
+		return;
+	}
 
 	result = handleDeviceHandlerMessage(&command);
 	if (result == RETURN_OK) {
@@ -376,24 +391,28 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
 		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		size_t replyLen, bool periodic, bool hasDifferentReplyId,
-		DeviceCommandId_t replyId) {
+		LocalPoolDataSetBase* replyDataSet, size_t replyLen, bool periodic,
+		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
 	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
-		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles,
+		        replyDataSet, replyLen, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles,
+		        replyDataSet, replyLen, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
+		uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet,
+		size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
 	info.replyLen = replyLen;
+	info.dataSet = dataSet;
 	info.command = deviceCommandMap.end();
 	auto resultPair = deviceReplyMap.emplace(replyId, info);
 	if (resultPair.second) {
@@ -419,13 +438,12 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
 		uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
-	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
-			deviceReplyMap.find(deviceReply);
-	if (iter == deviceReplyMap.end()) {
+	auto replyIter = deviceReplyMap.find(deviceReply);
+	if (replyIter == deviceReplyMap.end()) {
 		triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
 		return RETURN_FAILED;
 	} else {
-		DeviceReplyInfo *info = &(iter->second);
+		DeviceReplyInfo *info = &(replyIter->second);
 		if (maxDelayCycles != 0) {
 			info->maxDelayCycles = maxDelayCycles;
 		}
@@ -435,6 +453,17 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
 	}
 }
 
+
+ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
+        LocalPoolDataSetBase *dataSet) {
+    auto replyIter = deviceReplyMap.find(replyId);
+    if(replyIter == deviceReplyMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    replyIter->second.dataSet = dataSet;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 void DeviceHandlerBase::callChildStatemachine() {
 	if (mode == _MODE_START_UP) {
 		doStartUp();
@@ -470,7 +499,7 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
 
 	if (mode == MODE_OFF) {
 		GlobDataSet mySet;
-		gp_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ_WRITE);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -649,7 +678,7 @@ void DeviceHandlerBase::doGetRead() {
 void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		size_t receivedDataLen) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	DeviceCommandId_t foundId = 0xFFFFFFFF;
+	DeviceCommandId_t foundId = 0xffffffff;
 	size_t foundLen = 0;
 	// The loop may not execute more often than the number of received bytes
 	// (worst case). This approach avoids infinite loops due to buggy
@@ -661,18 +690,26 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		switch (result) {
 		case RETURN_OK:
 			handleReply(receivedData, foundId, foundLen);
+			if(foundLen == 0) {
+			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+			            " Packet parsing will be stuck." << std::endl;
+			}
 			break;
 		case APERIODIC_REPLY: {
 			result = interpretDeviceReply(foundId, receivedData);
 			if (result != RETURN_OK) {
-				replyRawReplyIfnotWiretapped(receivedData, foundLen);
-				triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
-						foundId);
+			    replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			    triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
+			            foundId);
+			}
+			if(foundLen == 0) {
+			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+			            " Packet parsing will be stuck." << std::endl;
 			}
-		}
-		break;
-		case IGNORE_REPLY_DATA:
 			break;
+		}
+		case IGNORE_REPLY_DATA:
+			continue;
 		case IGNORE_FULL_PACKET:
 			return;
 		default:
@@ -704,16 +741,19 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 	DeviceReplyInfo *info = &(iter->second);
 
 	if (info->delayCycles != 0) {
+	    result = interpretDeviceReply(foundId, receivedData);
 
-		if (info->periodic != false) {
+	    if(result == IGNORE_REPLY_DATA) {
+	        return;
+	    }
+
+		if (info->periodic) {
 			info->delayCycles = info->maxDelayCycles;
 		}
 		else {
 			info->delayCycles = 0;
 		}
 
-		result = interpretDeviceReply(foundId, receivedData);
-
 		if (result != RETURN_OK) {
 			// Report failed interpretation to FDIR.
 			replyRawReplyIfnotWiretapped(receivedData, foundLen);
@@ -927,9 +967,9 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
 	if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
 			&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
 		GlobDataSet mySet;
-		gp_int8_t thermalState(deviceThermalStatePoolId, &mySet,
+		gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
 				PoolVariableIF::VAR_READ);
-		gp_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -1089,19 +1129,6 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		}
 		replyReturnvalueToCommand(RETURN_OK);
 		return RETURN_OK;
-//	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
-//		if (mode != MODE_OFF) {
-//			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
-//		} else {
-//			result = switchCookieChannel(
-//					DeviceHandlerMessage::getIoBoardObjectId(message));
-//			if (result == RETURN_OK) {
-//				replyReturnvalueToCommand(RETURN_OK);
-//			} else {
-//				replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
-//			}
-//		}
-//		return RETURN_OK;
 	case DeviceHandlerMessage::CMD_RAW:
 		if ((mode != MODE_RAW)) {
 			DeviceHandlerMessage::clear(message);
@@ -1248,10 +1275,14 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 		if (iter == deviceCommandMap.end()) {
 			result = COMMAND_NOT_SUPPORTED;
 		} else if (iter->second.isExecuting) {
+			//so we can track misconfigurations
 			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
+					<< deviceCommandId << " isExecuting" << std::dec
+					<< std::endl;
+			// 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
+			return;
 		} else {
 			iter->second.sendReplyTo = NO_COMMANDER;
 			iter->second.isExecuting = true;
@@ -1340,12 +1371,50 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 void DeviceHandlerBase::performOperationHook() {
 }
 
+ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
+		LocalDataPool &localDataPoolMap,
+        LocalDataPoolManager& poolManager) {
+	return RETURN_OK;
+}
+
+LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
+	return &hkManager;
+}
+
+
 ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
     // In this function, the task handle should be valid if the task
     // was implemented correctly. We still check to be 1000 % sure :-)
     if(executingTask != nullptr) {
         pstIntervalMs = executingTask->getPeriodMs();
     }
+    this->hkManager.initializeAfterTaskCreation();
+
+    if(setStartupImmediately) {
+        startTransition(MODE_ON, SUBMODE_NONE);
+    }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
+	auto iter = deviceReplyMap.find(sid.ownerSetId);
+	if(iter != deviceReplyMap.end()) {
+		return iter->second.dataSet;
+	}
+	else {
+		return nullptr;
+	}
+}
+
+object_id_t DeviceHandlerBase::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+void DeviceHandlerBase::setStartUpImmediately() {
+    this->setStartupImmediately = true;
+}
+
+dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
+    return pstIntervalMs;
+}
+
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 5666f35e..eda318cb 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -1,12 +1,11 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
-#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
 
 #include "DeviceHandlerIF.h"
 #include "DeviceCommunicationIF.h"
 #include "DeviceHandlerFailureIsolation.h"
 
 #include "../objectmanager/SystemObject.h"
-#include "../tasks/PeriodicTaskIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../action/HasActionsIF.h"
@@ -14,10 +13,13 @@
 #include "../modes/HasModesIF.h"
 #include "../power/PowerSwitchIF.h"
 #include "../ipc/MessageQueueIF.h"
+#include "../tasks/PeriodicTaskIF.h"
 #include "../action/ActionHelper.h"
 #include "../health/HealthHelper.h"
 #include "../parameters/ParameterHelper.h"
 #include "../datapool/HkSwitchHelper.h"
+#include "../datapoollocal/HasLocalDataPoolIF.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
 
 #include <map>
 
@@ -38,17 +40,16 @@ class StorageManagerIF;
  * Documentation: Dissertation Baetz p.138,139, p.141-149
  *
  * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink,
- * communication with physical devices, using the @link DeviceCommunicationIF @endlink,
- * and communication with commanding objects.
- * It inherits SystemObject and thus can be created by the ObjectManagerIF.
+ * communication with physical devices, using the
+ * @link DeviceCommunicationIF @endlink, and communication with commanding
+ * objects. It inherits SystemObject and thus can be created by the
+ * ObjectManagerIF.
  *
- * This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
- * For each step an RMAP action is selected and executed.
- * If data has been received (GET_READ), the data will be interpreted.
- * The action for each step can be defined by the child class but as most
- * device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
- * a default implementation is provided.
- * NOTE: RMAP is a standard which is used for FLP.
+ * This class uses the opcode of ExecutableObjectIF to perform a
+ * step-wise execution. For each step a different action is selected and
+ * executed. Currently, the device handler base performs a 4-step
+ * execution related to 4 communication steps (based on RMAP).
+ * NOTE: RMAP is a standard which is used for Flying Laptop.
  * RMAP communication is not mandatory for projects implementing the FSFW.
  * However, the communication principles are similar to RMAP as there are
  * two write and two send calls involved.
@@ -69,9 +70,6 @@ class StorageManagerIF;
  *
  * Other important virtual methods with a default implementation
  * are the getTransitionDelayMs() function and the getSwitches() function.
- * Please ensure that getSwitches() returns DeviceHandlerIF::NO_SWITCHES if
- * power switches are not implemented yet. Otherwise, the device handler will
- * not transition to MODE_ON, even if setMode(MODE_ON) is called.
  * If a transition to MODE_ON is desired without commanding, override the
  * intialize() function and call setMode(_MODE_START_UP) before calling
  * DeviceHandlerBase::initialize().
@@ -85,20 +83,18 @@ class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasModesIF,
 		public HasHealthIF,
 		public HasActionsIF,
-		public ReceivesParameterMessagesIF {
+		public ReceivesParameterMessagesIF,
+		public HasLocalDataPoolIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
 	 * The constructor passes the objectId to the SystemObject().
 	 *
 	 * @param setObjectId the ObjectId to pass to the SystemObject() Constructor
-	 * @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
-	 * @param setDeviceSwitch the switch the device is connected to,
-	 * for devices using two switches, overwrite getSwitches()
 	 * @param deviceCommuncation Communcation Interface object which is used
 	 * to implement communication functions
-	 * @param thermalStatePoolId
-	 * @param thermalRequestPoolId
+	 * @param comCookie This object will be passed to the communication inter-
+	 * face and can contain user-defined information about the communication.
 	 * @param fdirInstance
 	 * @param cmdQueueSize
 	 */
@@ -106,8 +102,21 @@ public:
 			CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
 			size_t cmdQueueSize = 20);
 
+	void setHkDestination(object_id_t hkDestination);
 	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId);
+	/**
+	 * @brief   Helper function to ease device handler development.
+	 * This will instruct the transition to MODE_ON immediately
+	 * (leading to doStartUp() being called for the transition to the ON mode),
+	 * so external mode commanding is not necessary anymore.
+	 *
+	 * This has to be called before the task is started!
+	 * (e.g. in the task factory). This is only a helper function for
+	 * development. Regular mode commanding should be performed by commanding
+	 * the AssemblyBase or Subsystem objects resposible for the device handler.
+	 */
+	void setStartUpImmediately();
 
 	/**
 	 * @brief 	This function is the device handler base core component and is
@@ -153,6 +162,14 @@ public:
 	 * @return
 	 */
 	virtual ReturnValue_t initialize();
+
+	/**
+	 * @brief   Intialization steps performed after all tasks have been created.
+	 *          This function will be called by the executing task.
+	 * @return
+	 */
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+
 	/** Destructor. */
 	virtual ~DeviceHandlerBase();
 
@@ -320,6 +337,8 @@ protected:
 	 * @param packet
 	 * @return
 	 *     - @c RETURN_OK when the reply was interpreted.
+	 *     - @c IGNORE_REPLY_DATA Ignore the reply and don't reset reply cycle
+	 *          counter.
 	 *     - @c RETURN_FAILED when the reply could not be interpreted,
 	 *     e.g. logical errors or range violations occurred
 	 */
@@ -347,22 +366,10 @@ protected:
 	 *    set to the maximum expected number of PST cycles between two replies
 	 *    (also a tolerance should be added, as an FDIR message will be
 	 *    generated if it is missed).
-	 *
-	 *    (Robin) This part confuses me. "must do as soon as" implies that
-	 *    the developer must do something somewhere else in the code. Is
-	 *    that really the case? If I understood correctly, DHB performs
-	 *    almost everything (e.g. in erirm function) as long as the commands
-	 *    are inserted correctly.
-	 *
-	 *    As soon as the replies are enabled, DeviceCommandInfo.periodic must
-	 *    be set to true, DeviceCommandInfo.delayCycles to
-	 *    DeviceCommandInfo.maxDelayCycles.
 	 *    From then on, the base class handles the reception.
 	 *    Then, scanForReply returns the id of the reply or the placeholder id
 	 *    and the base class will take care of checking that all replies are
 	 *    received and the interval is correct.
-	 *    When the replies are disabled, DeviceCommandInfo.periodic must be set
-	 *    to 0, DeviceCommandInfo.delayCycles to 0;
 	 *
 	 *  - Aperiodic, unrequested replies. These are replies that are sent
 	 *    by the device without any preceding command and not in a defined
@@ -376,13 +383,17 @@ protected:
 	 * @param deviceCommand	Identifier of the command to add.
 	 * @param maxDelayCycles The maximum number of delay cycles the command
 	 * waits until it times out.
+	 * @param replyLen Will be supplied to the requestReceiveMessage call of
+	 * the communication interface.
 	 * @param periodic	Indicates if the command is periodic (i.e. it is sent
 	 * by the device repeatedly without request) or not. Default is aperiodic (0)
 	 * @return	- @c RETURN_OK when the command was successfully inserted,
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false,
+			uint16_t maxDelayCycles,
+			LocalPoolDataSetBase* replyDataSet = nullptr,
+			size_t replyLen = 0, bool periodic = false,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 
 	/**
@@ -396,7 +407,8 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false);
+			uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
+			size_t replyLen = 0, bool periodic = false);
 
 	/**
 	 * @brief 	A simple command to add a command to the commandList.
@@ -424,6 +436,9 @@ protected:
 			uint16_t delayCycles, uint16_t maxDelayCycles,
 			bool periodic = false);
 
+	ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
+	        LocalPoolDataSetBase* dataset);
+
 	/**
 	 * @brief   Can be implemented by child handler to
 	 *          perform debugging
@@ -477,18 +492,22 @@ protected:
 	 * @param localDataPoolMap
 	 * @return
 	 */
-	//virtual ReturnValue_t initializePoolEntries(
-	//			LocalDataPool& localDataPoolMap) override;
+	virtual ReturnValue_t initializeLocalDataPool(LocalDataPool& localDataPoolMap,
+				LocalDataPoolManager& poolManager) override;
 
 	/** Get the HK manager object handle */
-	//virtual LocalDataPoolManager* getHkManagerHandle() override;
+	virtual LocalDataPoolManager* getHkManagerHandle() override;
 
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.
 	 */
 	virtual void performOperationHook();
+
 public:
+	/** Explicit interface implementation of getObjectId */
+	virtual object_id_t getObjectId() const override;
+
 	/**
 	 * @param parentQueueId
 	 */
@@ -608,7 +627,7 @@ protected:
 	/** Action helper for HasActionsIF */
 	ActionHelper actionHelper;
 	/** Housekeeping Manager */
-	//LocalDataPoolManager hkManager;
+	LocalDataPoolManager hkManager;
 
 	/**
 	 *  @brief Information about commands
@@ -647,7 +666,7 @@ protected:
 		//! The dataset used to access housekeeping data related to the
 		//! respective device reply. Will point to a dataset held by
 		//! the child handler (if one is specified)
-		// DataSetIF* dataSet = nullptr;
+		LocalPoolDataSetBase* dataSet;
 		//! The command that expects this reply.
 		DeviceCommandMap::iterator command;
 	};
@@ -689,14 +708,18 @@ protected:
 	uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
 
 	/**
-	 * Optional Error code
-	 * Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
+	 * Optional Error code. Can be set in doStartUp(), doShutDown() and
+	 * doTransition() to signal cause for Transition failure.
 	 */
 	ReturnValue_t childTransitionFailure;
 
-	uint32_t ignoreMissedRepliesCount = 0; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
+	/** Counts if communication channel lost a reply, so some missed
+	 * replys can be ignored. */
+	uint32_t ignoreMissedRepliesCount = 0;
 
-	FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
+	/** Pointer to the used FDIR instance. If not provided by child,
+	 * default class is instantiated. */
+	FailureIsolationBase* fdirInstance;
 
 	HkSwitchHelper hkSwitcher;
 
@@ -944,14 +967,17 @@ protected:
 
 	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
 			uint32_t *msToReachTheMode);
-	virtual void startTransition(Mode_t mode, Submode_t submode);
-	virtual void setToExternalControl();
-	virtual void announceMode(bool recursive);
+
+	/* HasModesIF overrides */
+	virtual void startTransition(Mode_t mode, Submode_t submode) override;
+	virtual void setToExternalControl() override;
+	virtual void announceMode(bool recursive) override;
 
 	virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
 
 	/**
-	 * Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper" faster about executed events.
+	 * Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper"
+	 * faster about executed events.
 	 * This is a bit sneaky, but improves responsiveness of the device FDIR.
 	 * @param event	The event to be thrown
 	 * @param parameter1	Optional parameter 1
@@ -1034,12 +1060,17 @@ private:
 	/** the object used to set power switches */
 	PowerSwitchIF *powerSwitcher = nullptr;
 
+	/** HK destination can also be set individually */
+	object_id_t hkDestination = objects::NO_OBJECT;
+
 	/**
 	 * @brief   Used for timing out mode transitions.
 	 * Set when setMode() is called.
 	 */
 	uint32_t timeoutStart = 0;
 
+	bool setStartupImmediately = false;
+
 	/**
 	 * Delay for the current mode transition, used for time out
 	 */
@@ -1080,11 +1111,6 @@ private:
 	void buildRawDeviceCommand(CommandMessage* message);
 	void buildInternalCommand(void);
 
-//	/**
-//	 * Send a reply with the current mode and submode.
-//	 */
-//	void announceMode(void);
-
 	/**
 	 * Decrement the counter for the timout of replies.
 	 *
@@ -1111,10 +1137,14 @@ private:
 	/**
 	 * Build and send a command to the device.
 	 *
-	 * This routine checks whether a raw or direct command has been received, checks the content of the received command and
-	 * calls buildCommandFromCommand() for direct commands or sets #rawpacket to the received raw packet.
-	 * If no external command is received or the received command is invalid and the current mode is @c MODE_NORMAL or a transitional mode,
-	 * it asks the child class to build a command (via getNormalDeviceCommand() or getTransitionalDeviceCommand() and buildCommand()) and
+	 * This routine checks whether a raw or direct command has been received,
+	 * checks the content of the received command and calls
+	 * buildCommandFromCommand() for direct commands or sets #rawpacket
+	 * to the received raw packet.
+	 * If no external command is received or the received command is invalid and
+	 * the current mode is @c MODE_NORMAL or a transitional mode, it asks the
+	 * child class to build a command (via getNormalDeviceCommand() or
+	 * getTransitionalDeviceCommand() and buildCommand()) and
 	 * sends the command via RMAP.
 	 */
 	void doSendWrite(void);
@@ -1159,7 +1189,6 @@ private:
 	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
 			uint32_t *len);
 
-
 	/**
 	 * @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
 	 */
@@ -1170,25 +1199,14 @@ private:
 	 */
 	void callChildStatemachine();
 
-	/**
-	 * Switches the channel of the cookie used for the communication
-	 *
-	 *
-	 * @param newChannel the object Id of the channel to switch to
-	 * @return
-	 *     - @c RETURN_OK when cookie was changed
-	 *     - @c RETURN_FAILED when cookies could not be changed, eg because the newChannel is not enabled
-	 *     - @c returnvalues of RMAPChannelIF::isActive()
-	 */
-	ReturnValue_t switchCookieChannel(object_id_t newChannelId);
-
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
 
-	virtual ReturnValue_t initializeAfterTaskCreation() override;
+	virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
-	void parseReply(const uint8_t* receivedData,
-	            size_t receivedDataLen);
+    virtual dur_millis_t getPeriodicOperationFrequency() const override;
+
+    void parseReply(const uint8_t* receivedData,
+                size_t receivedDataLen);
 };
 
-#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
-
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

From 89c4370d91859eed6e4f5513b9aa03c3864d77e7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 1 Oct 2020 13:23:06 +0200
Subject: [PATCH 413/653] tc distribution improvements

---
 tcdistribution/CCSDSDistributor.cpp |  59 +++++++-----
 tcdistribution/CCSDSDistributor.h   |  99 +++++++++++---------
 tcdistribution/CCSDSDistributorIF.h |  36 ++++----
 tcdistribution/PUSDistributor.cpp   | 118 +++++++++++++-----------
 tcdistribution/PUSDistributor.h     |  60 +++++++-----
 tcdistribution/PUSDistributorIF.h   |  13 +--
 tcdistribution/TcDistributor.cpp    |  28 +++---
 tcdistribution/TcDistributor.h      | 136 +++++++++++++++-------------
 tcdistribution/TcPacketCheck.cpp    |  24 ++---
 tcdistribution/TcPacketCheck.h      |  25 ++---
 10 files changed, 331 insertions(+), 267 deletions(-)

diff --git a/tcdistribution/CCSDSDistributor.cpp b/tcdistribution/CCSDSDistributor.cpp
index 1ebb3185..ddd63308 100644
--- a/tcdistribution/CCSDSDistributor.cpp
+++ b/tcdistribution/CCSDSDistributor.cpp
@@ -1,31 +1,39 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "CCSDSDistributor.h"
+
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../tmtcpacket/SpacePacketBase.h"
 
-CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) :
-		TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) {
+CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
+		object_id_t setObjectId):
+		TcDistributor(setObjectId), defaultApid( setDefaultApid ) {
 }
 
-CCSDSDistributor::~CCSDSDistributor() {
+CCSDSDistributor::~CCSDSDistributor() {}
 
-}
-
-iterator_t CCSDSDistributor::selectDestination() {
-//	debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl;
-	const uint8_t* p_packet = NULL;
+TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
+//	sif::debug << "CCSDSDistributor::selectDestination received: " <<
+//			this->currentMessage.getStorageId().pool_index << ", " <<
+//			this->currentMessage.getStorageId().packet_index << std::endl;
+	const uint8_t* packet = nullptr;
 	size_t size = 0;
-	//TODO check returncode?
-	this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size );
-	SpacePacketBase current_packet( p_packet );
-//	info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << current_packet.getAPID() << std::dec << std::endl;
-	iterator_t position = this->queueMap.find( current_packet.getAPID() );
+	ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(),
+			&packet, &size );
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "CCSDSDistributor::selectDestination: Getting data from"
+				" store failed!" << std::endl;
+	}
+	SpacePacketBase currentPacket(packet);
+
+//	sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
+//			<< std::hex << currentPacket.getAPID() << std::dec << std::endl;
+	TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
 	if ( position != this->queueMap.end() ) {
 		return position;
 	} else {
-		//The APID was not found. Forward packet to main SW-APID anyway to create acceptance failure report.
-		return this->queueMap.find( this->default_apid );
+		//The APID was not found. Forward packet to main SW-APID anyway to
+		// create acceptance failure report.
+		return this->queueMap.find( this->defaultApid );
 	}
-
 }
 
 MessageQueueId_t CCSDSDistributor::getRequestQueue() {
@@ -35,9 +43,9 @@ MessageQueueId_t CCSDSDistributor::getRequestQueue() {
 ReturnValue_t CCSDSDistributor::registerApplication(
 		AcceptsTelecommandsIF* application) {
 	ReturnValue_t returnValue = RETURN_OK;
-	bool errorCode = true;
-	errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( application->getIdentifier(), application->getRequestQueue() ) ).second;
-	if(  errorCode == false ) {
+	auto insertPair = this->queueMap.emplace(application->getIdentifier(),
+	        application->getRequestQueue());
+	if(not insertPair.second) {
 		returnValue = RETURN_FAILED;
 	}
 	return returnValue;
@@ -46,9 +54,8 @@ ReturnValue_t CCSDSDistributor::registerApplication(
 ReturnValue_t CCSDSDistributor::registerApplication(uint16_t apid,
 		MessageQueueId_t id) {
 	ReturnValue_t returnValue = RETURN_OK;
-	bool errorCode = true;
-	errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( apid, id ) ).second;
-	if(  errorCode == false ) {
+	auto insertPair = this->queueMap.emplace(apid, id);
+	if(not insertPair.second) {
 		returnValue = RETURN_FAILED;
 	}
 	return returnValue;
@@ -62,7 +69,11 @@ uint16_t CCSDSDistributor::getIdentifier() {
 ReturnValue_t CCSDSDistributor::initialize() {
 	ReturnValue_t status = this->TcDistributor::initialize();
 	this->tcStore = objectManager->get<StorageManagerIF>( objects::TC_STORE );
-	if (this->tcStore == NULL) status = RETURN_FAILED;
+	if (this->tcStore == nullptr) {
+	    sif::error << "CCSDSDistributor::initialize: Could not initialize"
+	            " TC store!" << std::endl;
+	    status = RETURN_FAILED;
+	}
 	return status;
 }
 
diff --git a/tcdistribution/CCSDSDistributor.h b/tcdistribution/CCSDSDistributor.h
index bff72092..e8d54c9c 100644
--- a/tcdistribution/CCSDSDistributor.h
+++ b/tcdistribution/CCSDSDistributor.h
@@ -1,58 +1,71 @@
-#ifndef CCSDSDISTRIBUTOR_H_
-#define CCSDSDISTRIBUTOR_H_
+#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
+#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
 
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../storagemanager/StorageManagerIF.h"
-#include "CCSDSDistributorIF.h"
-#include "TcDistributor.h"
+#include "../tcdistribution/CCSDSDistributorIF.h"
+#include "../tcdistribution/TcDistributor.h"
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
+
 /**
- * An instantiation of the CCSDSDistributorIF.
- * It receives Space Packets, and selects a destination depending on the APID of the telecommands.
+ * @brief 	An instantiation of the CCSDSDistributorIF.
+ * @details
+ * It receives Space Packets, and selects a destination depending on the
+ * APID of the telecommands.
  * The Secondary Header (with Service/Subservice) is ignored.
- * \ingroup tc_distribution
+ * @ingroup tc_distribution
  */
-class CCSDSDistributor : public TcDistributor, public CCSDSDistributorIF, public AcceptsTelecommandsIF {
-protected:
-	/**
-	 * This implementation checks if an Application with fitting APID has registered and forwards the
-	 * packet to the according message queue.
-	 * If the packet is not found, it returns the queue to \c default_apid, where a Acceptance Failure
-	 * message should be generated.
-	 * @return Iterator to map entry of found APID or iterator to default APID.
-	 */
-	iterator_t selectDestination();
-	/**
-	 * The default APID, where packets with unknown APID are sent to.
-	 */
-	uint16_t default_apid;
-	/**
-	 * A reference to the TC storage must be maintained, as this class handles pure Space Packets and there
-	 * exists no SpacePacketStored class.
-	 */
-	StorageManagerIF* tcStore;
-	/**
-	 * The callback here handles the generation of acceptance success/failure messages.
-	 */
-	ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
+class CCSDSDistributor : public TcDistributor,
+		public CCSDSDistributorIF,
+		public AcceptsTelecommandsIF {
 public:
 	/**
-	 * The constructor sets the default APID and calls the TcDistributor ctor with a certain object id.
-	 * \c tcStore is set in the \c initialize method.
-	 * @param set_default_apid The default APID, where packets with unknown destination are sent to.
+	 * @brief	The constructor sets the default APID and calls the
+	 * 			TcDistributor ctor with a certain object id.
+	 * @details
+	 * @c tcStore is set in the @c initialize method.
+	 * @param setDefaultApid The default APID, where packets with unknown
+	 * destination are sent to.
 	 */
-	CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId );
+	CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId);
 	/**
 	 * The destructor is empty.
 	 */
-	~CCSDSDistributor();
-	MessageQueueId_t getRequestQueue();
-	ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id );
-	ReturnValue_t registerApplication( AcceptsTelecommandsIF* application );
-	uint16_t getIdentifier();
-	ReturnValue_t initialize();
+	virtual ~CCSDSDistributor();
+
+	MessageQueueId_t getRequestQueue() override;
+	ReturnValue_t registerApplication( uint16_t apid,
+			MessageQueueId_t id) override;
+	ReturnValue_t registerApplication(
+			AcceptsTelecommandsIF* application) override;
+	uint16_t getIdentifier() override;
+	ReturnValue_t initialize() override;
+
+protected:
+	/**
+	 * This implementation checks if an application with fitting APID has
+	 * registered and forwards the packet to the according message queue.
+	 * If the packet is not found, it returns the queue to @c defaultApid,
+	 * where a Acceptance Failure message should be generated.
+	 * @return Iterator to map entry of found APID or iterator to default APID.
+	 */
+	TcMqMapIter selectDestination() override;
+    /**
+     * The callback here handles the generation of acceptance
+     * success/failure messages.
+     */
+    ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus ) override;
+
+	/**
+	 * The default APID, where packets with unknown APID are sent to.
+	 */
+	uint16_t defaultApid;
+	/**
+	 * A reference to the TC storage must be maintained, as this class handles
+	 * pure Space Packets and there exists no SpacePacketStored class.
+	 */
+	StorageManagerIF* tcStore = nullptr;
+
 };
 
-
-
-#endif /* CCSDSDISTRIBUTOR_H_ */
+#endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */
diff --git a/tcdistribution/CCSDSDistributorIF.h b/tcdistribution/CCSDSDistributorIF.h
index be3c2811..6334a35a 100644
--- a/tcdistribution/CCSDSDistributorIF.h
+++ b/tcdistribution/CCSDSDistributorIF.h
@@ -1,34 +1,38 @@
-#ifndef CCSDSDISTRIBUTORIF_H_
-#define CCSDSDISTRIBUTORIF_H_
+#ifndef FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
+#define FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
 
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 /**
  * This is the Interface to a CCSDS Distributor.
- * On a CCSDS Distributor, Applications (in terms of CCSDS) may register themselves,
- * either by passing a pointer to themselves (and implementing the CCSDSApplicationIF,
- * or by explicitly passing an APID and a MessageQueueId to route the TC's to.
- * \ingroup tc_distribution
+ * On a CCSDS Distributor, Applications (in terms of CCSDS) may register
+ * themselves, either by passing a pointer to themselves (and implementing the
+ * CCSDSApplicationIF),  or by explicitly passing an APID and a MessageQueueId
+ * to route the TC's to.
+ * @ingroup tc_distribution
  */
 class CCSDSDistributorIF {
 public:
 	/**
-	 * With this call, a class implementing the CCSDSApplicationIF can register at the
-	 * distributor.
+	 * With this call, a class implementing the CCSDSApplicationIF can register
+	 * at the distributor.
 	 * @param application A pointer to the Application to register.
-	 * @return	- \c RETURN_OK on success,
-	 * 			- \c RETURN_FAILED on failure.
+	 * @return	- @c RETURN_OK on success,
+	 * 			- @c RETURN_FAILED on failure.
 	 */
-	virtual ReturnValue_t registerApplication( AcceptsTelecommandsIF* application ) = 0;
+	virtual ReturnValue_t registerApplication(
+	        AcceptsTelecommandsIF* application) = 0;
 	/**
 	 * With this call, other Applications can register to the CCSDS distributor.
 	 * This is done by passing an APID and a MessageQueueId to the method.
 	 * @param apid	The APID to register.
-	 * @param id	The MessageQueueId of the message queue to send the TC Packets to.
-	 * @return	- \c RETURN_OK on success,
-	 * 			- \c RETURN_FAILED on failure.
+	 * @param id	The MessageQueueId of the message queue to send the
+	 *              TC Packets to.
+	 * @return	- @c RETURN_OK on success,
+	 * 			- @c RETURN_FAILED on failure.
 	 */
-	virtual ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id ) = 0;
+	virtual ReturnValue_t registerApplication( uint16_t apid,
+	        MessageQueueId_t id) = 0;
 	/**
 	 * The empty virtual destructor.
 	 */
@@ -37,4 +41,4 @@ public:
 };
 
 
-#endif /* CCSDSDISTRIBUTORIF_H_ */
+#endif /* FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_ */
diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index f77eb99d..3baef7d1 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -1,61 +1,68 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "CCSDSDistributorIF.h"
 #include "PUSDistributor.h"
+
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../tmtcpacket/pus/TcPacketStored.h"
 #include "../tmtcservices/PusVerificationReport.h"
 
-PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource) :
-		TcDistributor(setObjectId), checker(setApid), verifyChannel(), currentPacket(), tcStatus(
-				RETURN_FAILED), packetSource(setPacketSource) {
+PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
+		object_id_t setPacketSource) :
+		TcDistributor(setObjectId), checker(setApid), verifyChannel(),
+		tcStatus(RETURN_FAILED), packetSource(setPacketSource) {}
+
+PUSDistributor::~PUSDistributor() {}
+
+PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
+    // sif:: debug << "PUSDistributor::handlePacket received: "
+    //          << this->current_packet_id.store_index << ", "
+    //          << this->current_packet_id.packet_index << std::endl;
+    TcMqMapIter queueMapIt = this->queueMap.end();
+    this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
+    if (currentPacket->getWholeData() != NULL) {
+        tcStatus = checker.checkPacket(currentPacket);
+#ifdef DEBUG
+        if(tcStatus != HasReturnvaluesIF::RETURN_OK) {
+            sif::debug << "PUSDistributor::handlePacket: Packet format "
+                    << "invalid, code "<< static_cast<int>(tcStatus)
+                    << std::endl;
+        }
+#endif
+        uint32_t queue_id = currentPacket->getService();
+        queueMapIt = this->queueMap.find(queue_id);
+    }
+    else {
+        tcStatus = PACKET_LOST;
+    }
+
+    if (queueMapIt == this->queueMap.end()) {
+        tcStatus = DESTINATION_NOT_FOUND;
+#ifdef DEBUG
+        sif::debug << "PUSDistributor::handlePacket: Destination not found, "
+                << "code "<< static_cast<int>(tcStatus) << std::endl;
+#endif
+    }
+
+    if (tcStatus != RETURN_OK) {
+        return this->queueMap.end();
+    }
+    else {
+        return queueMapIt;
+    }
 
 }
 
-PUSDistributor::~PUSDistributor() {
-
-}
-
-iterator_t PUSDistributor::selectDestination() {
-//	debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
-	iterator_t queueMapIt = this->queueMap.end();
-	this->currentPacket.setStoreAddress(this->currentMessage.getStorageId());
-	if (currentPacket.getWholeData() != NULL) {
-		tcStatus = checker.checkPacket(&currentPacket);
-//		info << "PUSDistributor::handlePacket: packetCheck returned with " << (int)tc_status << std::endl;
-		uint32_t queue_id = currentPacket.getService();
-		queueMapIt = this->queueMap.find(queue_id);
-	} else {
-		tcStatus = PACKET_LOST;
-	}
-	if (queueMapIt == this->queueMap.end()) {
-		tcStatus = DESTINATION_NOT_FOUND;
-	}
-
-	if (tcStatus != RETURN_OK) {
-		sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
-				<< std::endl;
-		return this->queueMap.end();
-	} else {
-		return queueMapIt;
-	}
-
-}
-
-//uint16_t PUSDistributor::createDestination( uint8_t service_id, uint8_t subservice_id ) {
-//	return ( service_id << 8 ) + subservice_id;
-//}
 
 ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
-	ReturnValue_t returnValue = RETURN_OK;
-	bool errorCode = true;
 	uint16_t serviceId = service->getIdentifier();
+	// sif::info << "Service ID: " << (int)serviceId << std::endl;
 	MessageQueueId_t queue = service->getRequestQueue();
-	errorCode = this->queueMap.insert(
-			std::pair<uint32_t, MessageQueueId_t>(serviceId, queue)).second;
-	if (errorCode == false) {
-		//TODO Return Code
-		returnValue = MessageQueueIF::NO_QUEUE;
+	auto returnPair = queueMap.emplace(serviceId, queue);
+	if (not returnPair.second) {
+		sif::error << "PUSDistributor::registerService: Service ID already"
+				" exists in map." << std::endl;
+		return SERVICE_ID_ALREADY_EXISTS;
 	}
-	return returnValue;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 MessageQueueId_t PUSDistributor::getRequestQueue() {
@@ -68,13 +75,14 @@ ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
 	}
 	if (tcStatus != RETURN_OK) {
 		this->verifyChannel.sendFailureReport(TC_VERIFY::ACCEPTANCE_FAILURE,
-				&currentPacket, tcStatus);
-		//A failed packet is deleted immediately after reporting, otherwise it will block memory.
-		currentPacket.deletePacket();
+				currentPacket, tcStatus);
+		// A failed packet is deleted immediately after reporting,
+		// otherwise it will block memory.
+		currentPacket->deletePacket();
 		return RETURN_FAILED;
 	} else {
 		this->verifyChannel.sendSuccessReport(TC_VERIFY::ACCEPTANCE_SUCCESS,
-				&currentPacket);
+				currentPacket);
 		return RETURN_OK;
 	}
 }
@@ -86,9 +94,15 @@ uint16_t PUSDistributor::getIdentifier() {
 ReturnValue_t PUSDistributor::initialize() {
 	CCSDSDistributorIF* ccsdsDistributor =
 			objectManager->get<CCSDSDistributorIF>(packetSource);
-	if (ccsdsDistributor == NULL) {
-		return RETURN_FAILED;
-	} else {
+	if (ccsdsDistributor == nullptr) {
+		sif::error << "PUSDistributor::initialize: Packet source invalid."
+		        << " Make sure it exists and implements CCSDSDistributorIF!"
+		        << std::endl;
+	    return RETURN_FAILED;
+	}
+	else {
 		return ccsdsDistributor->registerApplication(this);
 	}
+
+	currentPacket = new TcPacketStored();
 }
diff --git a/tcdistribution/PUSDistributor.h b/tcdistribution/PUSDistributor.h
index e9d4be8c..be3804ef 100644
--- a/tcdistribution/PUSDistributor.h
+++ b/tcdistribution/PUSDistributor.h
@@ -1,67 +1,79 @@
-#ifndef PUSDISTRIBUTOR_H_
-#define PUSDISTRIBUTOR_H_
+#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
+#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
 
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "PUSDistributorIF.h"
 #include "TcDistributor.h"
 #include "TcPacketCheck.h"
+
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../tmtcservices/VerificationReporter.h"
 
 /**
- * This class accepts PUS Telecommands and forwards them to Application services.
- * In addition, the class performs a formal packet check and sends acceptance success
- * or failure messages.
- * \ingroup tc_distribution
+ * This class accepts PUS Telecommands and forwards them to Application
+ * services. In addition, the class performs a formal packet check and
+ * sends acceptance success or failure messages.
+ * @ingroup tc_distribution
  */
 class PUSDistributor: public TcDistributor,
 		public PUSDistributorIF,
 		public AcceptsTelecommandsIF {
 public:
 	/**
-	 * The ctor passes \c set_apid to the checker class and calls the TcDistribution ctor with a certain object id.
+	 * The ctor passes @c set_apid to the checker class and calls the
+	 * TcDistribution ctor with a certain object id.
 	 * @param setApid The APID of this receiving Application.
 	 * @param setObjectId Object ID of the distributor itself
-	 * @param setPacketSource Object ID of the source of TC packets. Must implement CCSDSDistributorIF.
+	 * @param setPacketSource Object ID of the source of TC packets.
+	 * Must implement CCSDSDistributorIF.
 	 */
-	PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource);
+	PUSDistributor(uint16_t setApid, object_id_t setObjectId,
+			object_id_t setPacketSource);
 	/**
 	 * The destructor is empty.
 	 */
 	virtual ~PUSDistributor();
-	ReturnValue_t registerService(AcceptsTelecommandsIF* service);
-	MessageQueueId_t getRequestQueue();
-	uint16_t getIdentifier();
-	ReturnValue_t initialize();
+	ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
+	MessageQueueId_t getRequestQueue() override;
+	ReturnValue_t initialize() override;
+	uint16_t getIdentifier() override;
+
 protected:
 	/**
 	 * This attribute contains the class, that performs a formal packet check.
 	 */
 	TcPacketCheck checker;
 	/**
-	 * With this class, verification messages are sent to the TC Verification service.
+	 * With this class, verification messages are sent to the
+	 * TC Verification service.
 	 */
 	VerificationReporter verifyChannel;
 	/**
 	 * The currently handled packet is stored here.
 	 */
-	TcPacketStored currentPacket;
+	TcPacketStored* currentPacket = nullptr;
 	/**
-	 * With this variable, the current check status is stored to generate acceptance messages later.
+	 * With this variable, the current check status is stored to generate
+	 * acceptance messages later.
 	 */
 	ReturnValue_t tcStatus;
 
 	const object_id_t packetSource;
+
 	/**
-	 * This method reads the packet service, checks if such a service is registered and forwards the packet to the destination.
-	 * It also initiates the formal packet check and sending of verification messages.
-	 * @return Iterator to map entry of found service id or iterator to \c map.end().
+	 * This method reads the packet service, checks if such a service is
+	 * registered and forwards the packet to the destination.
+	 * It also initiates the formal packet check and sending of verification
+	 * messages.
+	 * @return Iterator to map entry of found service id
+	 * or iterator to @c map.end().
 	 */
-	iterator_t selectDestination();
+	TcMqMapIter selectDestination() override;
 	/**
-	 * The callback here handles the generation of acceptance success/failure messages.
+	 * The callback here handles the generation of acceptance
+	 * success/failure messages.
 	 */
-	ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus);
+	ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override;
 };
 
-#endif /* PUSDISTRIBUTOR_H_ */
+#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */
diff --git a/tcdistribution/PUSDistributorIF.h b/tcdistribution/PUSDistributorIF.h
index 5e27b35c..0125c08f 100644
--- a/tcdistribution/PUSDistributorIF.h
+++ b/tcdistribution/PUSDistributorIF.h
@@ -1,11 +1,12 @@
-#ifndef PUSDISTRIBUTORIF_H_
-#define PUSDISTRIBUTORIF_H_
+#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
+#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
 
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
+
 /**
  * This interface allows PUS Services to register themselves at a PUS Distributor.
- * \ingroup tc_distribution
+ * @ingroup tc_distribution
  */
 class PUSDistributorIF {
 public:
@@ -17,10 +18,10 @@ public:
 /**
  * With this method, Services can register themselves at the PUS Distributor.
  * @param service A pointer to the registering Service.
- * @return	- \c RETURN_OK on success,
- * 			- \c RETURN_FAILED on failure.
+ * @return	- @c RETURN_OK on success,
+ * 			- @c RETURN_FAILED on failure.
  */
 	virtual ReturnValue_t registerService( AcceptsTelecommandsIF* service ) = 0;
 };
 
-#endif /* PUSDISTRIBUTORIF_H_ */
+#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ */
diff --git a/tcdistribution/TcDistributor.cpp b/tcdistribution/TcDistributor.cpp
index 49a996d9..06e1817f 100644
--- a/tcdistribution/TcDistributor.cpp
+++ b/tcdistribution/TcDistributor.cpp
@@ -1,12 +1,13 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "TcDistributor.h"
+
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../tmtcservices/TmTcMessage.h"
 #include "../ipc/QueueFactory.h"
 
-TcDistributor::TcDistributor(object_id_t set_object_id) :
-		SystemObject(set_object_id), tcQueue(NULL) {
-	tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
+TcDistributor::TcDistributor(object_id_t objectId) :
+		SystemObject(objectId) {
+	tcQueue = QueueFactory::instance()->
+	        createMessageQueue(DISTRIBUTER_MAX_PACKETS);
 }
 
 TcDistributor::~TcDistributor() {
@@ -15,7 +16,6 @@ TcDistributor::~TcDistributor() {
 
 ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
 	ReturnValue_t status = RETURN_OK;
-//	debug << "TcDistributor: performing Operation." << std::endl;
 	for (status = tcQueue->receiveMessage(&currentMessage); status == RETURN_OK;
 			status = tcQueue->receiveMessage(&currentMessage)) {
 		status = handlePacket();
@@ -29,7 +29,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
 
 ReturnValue_t TcDistributor::handlePacket() {
 
-	iterator_t queueMapIt = this->selectDestination();
+	TcMqMapIter queueMapIt = this->selectDestination();
 	ReturnValue_t returnValue = RETURN_FAILED;
 	if (queueMapIt != this->queueMap.end()) {
 		returnValue = this->tcQueue->sendMessage(queueMapIt->second,
@@ -39,14 +39,14 @@ ReturnValue_t TcDistributor::handlePacket() {
 }
 
 void TcDistributor::print() {
-	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++) {
-		sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
-				<< std::endl;
+	sif::debug << "Distributor content is: " << std::endl
+	        << "ID\t| Message Queue ID" << std::endl;
+	sif::debug << std::setfill('0') << std::setw(8) << std::hex;
+	for (const auto& queueMapIter: queueMap) {
+		sif::debug << queueMapIter.first << "\t| 0x"   << queueMapIter.second
+		         << std::endl;
 	}
-	sif::debug << std::dec;
+	sif::debug << std::setfill(' ') << std::dec;
 
 }
 
diff --git a/tcdistribution/TcDistributor.h b/tcdistribution/TcDistributor.h
index fed1cb3e..5d0ca45d 100644
--- a/tcdistribution/TcDistributor.h
+++ b/tcdistribution/TcDistributor.h
@@ -1,5 +1,6 @@
-#ifndef TCDISTRIBUTOR_H_
-#define TCDISTRIBUTOR_H_
+#ifndef FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
+#define FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
+
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -9,16 +10,12 @@
 #include "../ipc/MessageQueueIF.h"
 #include <map>
 
-
 /**
- * \defgroup tc_distribution Telecommand Distribution
- * All classes associated with Routing and Distribution of Telecommands belong to this group.
+ * @defgroup tc_distribution Telecommand Distribution
+ * All classes associated with Routing and Distribution of Telecommands
+ * belong to this group.
  */
 
-/**
- * This typedef simplifies writing down the \c map iterator.
- */
-typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
 
 /**
  * This is the base class to implement distributors for Space Packets.
@@ -28,62 +25,19 @@ typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
  * message queue ids to some identifier. The process of unpacking the
  * destination information from the packet is handled by the child class
  * implementations.
- * \ingroup tc_distribution
+ * @ingroup tc_distribution
  */
-class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
-private:
-	/**
-	 * This constant sets the maximum number of packets distributed per call.
-	 */
-	static const uint8_t DISTRIBUTER_MAX_PACKETS = 128;
-protected:
-	/**
-	 * This is the receiving queue for incoming Telecommands.
-	 * The child classes must make its queue id public.
-	 */
-	MessageQueueIF* tcQueue;
-	/**
-	 * The last received incoming packet information is stored in this
-	 * member.
-	 * As different child classes unpack the incoming packet differently
-	 * (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
-	 * is not tried to unpack the packet information within this class.
-	 */
-	TmTcMessage currentMessage;
-	/**
-	 * The map that links certain packet information to a destination.
-	 * The packet information may be the APID of the packet or the service
-	 * identifier. Filling of the map is under control of the different child
-	 * classes.
-	 */
-	std::map<uint32_t, MessageQueueId_t> queueMap;
-	/**
-	 * This method shall unpack the routing information from the incoming
-	 * packet and select the map entry which represents the packet's target.
-	 * @return	An iterator to the map element to forward to or queuMap.end().
-	 */
-	virtual iterator_t selectDestination() = 0;
-	/**
-	 * The handlePacket method calls the child class's selectDestination method
-	 * and forwards the packet to its destination, if found.
-	 * @return The message queue return value or \c RETURN_FAILED, in case no
-	 * 		destination was found.
-	 */
-	ReturnValue_t handlePacket();
-	/**
-	 * This method gives the child class a chance to perform some kind of operation
-	 * after the parent tried to forward the message.
-	 * A typically application would be sending success/failure messages.
-	 * The default implementation just returns \c RETURN_OK.
-	 * @param queueStatus	The status of the message queue after an attempt to send the TC.
-	 * @return	- \c RETURN_OK on success
-	 * 			- \c RETURN_FAILED on failure
-	 */
-	virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
+class TcDistributor : public SystemObject,
+		public ExecutableObjectIF,
+		public HasReturnvaluesIF {
 public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
-	static const ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
-	static const ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
+	using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
+	using TcMqMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
+
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
+	static constexpr ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
+	static constexpr ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
+	static constexpr ReturnValue_t SERVICE_ID_ALREADY_EXISTS = MAKE_RETURN_CODE(3);
 	/**
 	 * Within the default constructor, the SystemObject id is set and the
 	 * message queue is initialized.
@@ -91,7 +45,7 @@ public:
 	 * @param set_object_id	This id is assigned to the distributor
 	 * 		implementation.
 	 */
-	TcDistributor( object_id_t set_object_id );
+	TcDistributor(object_id_t objectId);
 	/**
 	 * The destructor is empty, the message queues are not in the vicinity of
 	 * this class.
@@ -110,7 +64,59 @@ public:
 	 * queueMap.
 	 */
 	void print();
+
+protected:
+	/**
+	 * This is the receiving queue for incoming Telecommands.
+	 * The child classes must make its queue id public.
+	 */
+	MessageQueueIF* tcQueue = nullptr;
+	/**
+	 * The last received incoming packet information is stored in this
+	 * member.
+	 * As different child classes unpack the incoming packet differently
+	 * (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
+	 * is not tried to unpack the packet information within this class.
+	 */
+	TmTcMessage currentMessage;
+	/**
+	 * The map that links certain packet information to a destination.
+	 * The packet information may be the APID of the packet or the service
+	 * identifier. Filling of the map is under control of the different child
+	 * classes.
+	 */
+	TcMessageQueueMap queueMap;
+	/**
+	 * This method shall unpack the routing information from the incoming
+	 * packet and select the map entry which represents the packet's target.
+	 * @return	An iterator to the map element to forward to or queuMap.end().
+	 */
+	virtual TcMqMapIter selectDestination() = 0;
+	/**
+	 * The handlePacket method calls the child class's selectDestination method
+	 * and forwards the packet to its destination, if found.
+	 * @return The message queue return value or @c RETURN_FAILED, in case no
+	 * 		destination was found.
+	 */
+	ReturnValue_t handlePacket();
+	/**
+	 * This method gives the child class a chance to perform some kind of
+	 * operation after the parent tried to forward the message.
+	 * A typically application would be sending success/failure messages.
+	 * The default implementation just returns @c RETURN_OK.
+	 * @param queueStatus	The status of the message queue after an attempt
+	 *                      to send the TC.
+	 * @return	- @c RETURN_OK on success
+	 * 			- @c RETURN_FAILED on failure
+	 */
+	virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
+
+private:
+	/**
+	 * This constant sets the maximum number of packets distributed per call.
+	 */
+	static constexpr uint8_t DISTRIBUTER_MAX_PACKETS = 128;
 };
 
 
-#endif /* TCDISTRIBUTOR_H_ */
+#endif /* FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_ */
diff --git a/tcdistribution/TcPacketCheck.cpp b/tcdistribution/TcPacketCheck.cpp
index b5881083..38ed04aa 100644
--- a/tcdistribution/TcPacketCheck.cpp
+++ b/tcdistribution/TcPacketCheck.cpp
@@ -1,31 +1,33 @@
+#include "TcPacketCheck.h"
+
 #include "../globalfunctions/CRC.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../storagemanager/StorageManagerIF.h"
-#include "TcPacketCheck.h"
 #include "../tmtcservices/VerificationCodes.h"
 
-TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
+TcPacketCheck::TcPacketCheck( uint16_t setApid ) : apid(setApid) {
 }
 
-ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) {
-	uint16_t calculated_crc = CRC::crc16ccitt( current_packet->getWholeData(), current_packet->getFullSize() );
+ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* currentPacket ) {
+	uint16_t calculated_crc = CRC::crc16ccitt( currentPacket->getWholeData(),
+	        currentPacket->getFullSize() );
 	if ( calculated_crc != 0 ) {
 		return INCORRECT_CHECKSUM;
 	}
-	bool condition = !(current_packet->hasSecondaryHeader()) ||
-			current_packet->getPacketVersionNumber() != CCSDS_VERSION_NUMBER ||
-			!(current_packet->isTelecommand());
+	bool condition = (not currentPacket->hasSecondaryHeader()) or
+			(currentPacket->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or
+			(not currentPacket->isTelecommand());
 	if ( condition ) {
 		return INCORRECT_PRIMARY_HEADER;
 	}
-	if ( current_packet->getAPID() != this->apid )
+	if ( currentPacket->getAPID() != this->apid )
 		return ILLEGAL_APID;
 
-	if ( !current_packet->isSizeCorrect() ) {
+	if ( not currentPacket->isSizeCorrect() ) {
 		return INCOMPLETE_PACKET;
 	}
-	condition = (current_packet->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
-			(current_packet->getPusVersionNumber() != PUS_VERSION_NUMBER);
+	condition = (currentPacket->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
+			(currentPacket->getPusVersionNumber() != PUS_VERSION_NUMBER);
 	if ( condition ) {
 		return INCORRECT_SECONDARY_HEADER;
 	}
diff --git a/tcdistribution/TcPacketCheck.h b/tcdistribution/TcPacketCheck.h
index 4ba269f5..703bb1bb 100644
--- a/tcdistribution/TcPacketCheck.h
+++ b/tcdistribution/TcPacketCheck.h
@@ -1,28 +1,29 @@
-#ifndef TCPACKETCHECK_H_
-#define TCPACKETCHECK_H_
+#ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
+#define FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../tmtcpacket/pus/TcPacketStored.h"
 #include "../tmtcservices/PusVerificationReport.h"
+
 /**
  * This class performs a formal packet check for incoming PUS Telecommand Packets.
  * Currently, it only checks if the APID and CRC are correct.
- * \ingroup tc_distribution
+ * @ingroup tc_distribution
  */
 class TcPacketCheck : public HasReturnvaluesIF {
 protected:
 	/**
 	 * Describes the version number a packet must have to pass.
 	 */
-	static const uint8_t CCSDS_VERSION_NUMBER = 0;
+	static constexpr uint8_t CCSDS_VERSION_NUMBER = 0;
 	/**
 	 * Describes the secondary header a packet must have to pass.
 	 */
-	static const uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
+	static constexpr uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
 	/**
 	 * Describes the TC Packet PUS Version Number a packet must have to pass.
 	 */
-	static const uint8_t PUS_VERSION_NUMBER = 1;
+	static constexpr uint8_t PUS_VERSION_NUMBER = 1;
 	/**
 	 * The packet id each correct packet should have.
 	 * It is composed of the APID and some static fields.
@@ -41,19 +42,19 @@ public:
 	 * The constructor only sets the APID attribute.
 	 * @param set_apid The APID to set.
 	 */
-	TcPacketCheck( uint16_t set_apid );
+	TcPacketCheck( uint16_t setApid );
 	/**
 	 * This is the actual method to formally check a certain Telecommand Packet.
 	 * The packet's Application Data can not be checked here.
 	 * @param current_packet The packt to check
-	 * @return	- \c RETURN_OK on success.
-	 * 			- \c INCORRECT_CHECKSUM if checksum is invalid.
-	 * 			- \c ILLEGAL_APID if APID does not match.
+	 * @return	- @c RETURN_OK on success.
+	 * 			- @c INCORRECT_CHECKSUM if checksum is invalid.
+	 * 			- @c ILLEGAL_APID if APID does not match.
 	 */
-	ReturnValue_t checkPacket( TcPacketStored* current_packet );
+	ReturnValue_t checkPacket( TcPacketStored* currentPacket );
 
 	uint16_t getApid() const;
 };
 
 
-#endif /* TCPACKETCHECK_H_ */
+#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ */

From 1f3a10b37554c1b8872a2dd82e0ebb4673e270f7 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 1 Oct 2020 13:30:28 +0200
Subject: [PATCH 414/653] Fixes and comments in FixedOrderedMultimap

---
 container/FixedOrderedMultimap.h | 208 +++++++++++++++++++++++--------
 1 file changed, 159 insertions(+), 49 deletions(-)

diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index 717575d7..a9f093d6 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -5,6 +5,24 @@
 #include <cstring>
 #include <set>
 /**
+ * @brief A "Map" which allows multiple entries of the same key.
+ * @details
+ * Same keys are ordered by KEY_COMPARE function which is std::less<key_t> > by default.
+ *
+ * It uses the ArrayList, so technically this is not a real map, it is an array of pairs
+ * of type key_t, T. It is ordered by key_t as FixedMap but allows same keys.
+ *
+ * Its of fixed size so no allocations are performed after the construction.
+ *
+ * The maximum size is given as first parameter of the constructor.
+ *
+ * It provides an iterator to do list iterations.
+ *
+ * The type T must have a copy constructor if it is not trivial copy-able.
+ *
+ * @warning Iterators return a non-const key_t in the pair.
+ * @warning A User is not allowed to change the key, otherwise the map is corrupted.
+ *
  * \ingroup container
  */
 template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
@@ -14,78 +32,84 @@ public:
 	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
 	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
 
-private:
-	typedef KEY_COMPARE compare;
-	compare myComp;
-	ArrayList<std::pair<key_t, T>, uint32_t> theMap;
-	uint32_t _size;
-
-	uint32_t findFirstIndex(key_t key, uint32_t startAt = 0) const {
-		if (startAt >= _size) {
-			return startAt + 1;
-		}
-		uint32_t i = startAt;
-		for (i = startAt; i < _size; ++i) {
-			if (theMap[i].first == key) {
-				return i;
-			}
-		}
-		return i;
-	}
-
-	uint32_t findNicePlace(key_t key) const {
-		uint32_t i = 0;
-		for (i = 0; i < _size; ++i) {
-			if (myComp(key, theMap[i].first)) {
-				return i;
-			}
-		}
-		return i;
-	}
-
-	void removeFromPosition(uint32_t position) {
-		if (_size <= position) {
-			return;
-		}
-		memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
-				(_size - position - 1) * sizeof(std::pair<key_t,T>));
-		--_size;
-	}
-public:
-	FixedOrderedMultimap(uint32_t maxSize) :
-			theMap(maxSize), _size(0) {
+	/***
+	 * Constructor which needs a size_t for the maximum allowed size
+	 *
+	 * Can not be resized during runtime
+	 *
+	 * Allocates memory at construction
+	 * @param maxSize size_t of Maximum allowed size
+	 */
+	FixedOrderedMultimap(size_t maxSize) :
+		theMap(maxSize), _size(0) {
 	}
+	/***
+	 * Virtual destructor frees Memory by deleting its member
+	 */
 	virtual ~FixedOrderedMultimap() {
 	}
 
-	class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
+	/***
+	 * Special iterator for FixedOrderedMultimap
+	 */
+	class Iterator: public ArrayList<std::pair<key_t, T>, size_t>::Iterator {
 	public:
 		Iterator() :
-				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
+			ArrayList<std::pair<key_t, T>, size_t>::Iterator() {
 		}
 
 		Iterator(std::pair<key_t, T> *pair) :
-				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
+			ArrayList<std::pair<key_t, T>, size_t>::Iterator(pair) {
 		}
 	};
 
+	friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs,
+			const typename FixedOrderedMultimap::Iterator& rhs) {
+		return (lhs.value == rhs.value);
+	}
+
+	friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs,
+			const typename FixedOrderedMultimap::Iterator& rhs) {
+		return not (lhs.value == rhs.value);
+	}
+
+	/***
+	 * Returns an iterator on the first element
+	 * @return Iterator pointing to first element
+	 */
 	Iterator begin() const {
 		return Iterator(&theMap[0]);
 	}
 
+	/**
+	 * Returns an iterator pointing to one element past the end
+	 * @return Iterator pointing to one element past the end
+	 */
 	Iterator end() const {
 		return Iterator(&theMap[_size]);
 	}
 
-	uint32_t size() const {
+	/***
+	 * Returns the current size of the map (not maximum size!)
+	 * @return Current size
+	 */
+	size_t size() const {
 		return _size;
 	}
 
+	/***
+	 * Used to insert a key and value separately.
+	 *
+	 * @param[in] key Key of the new element
+	 * @param[in] value Value of the new element
+	 * @param[in/out] (optional) storedValue On success this points to the new value, otherwise a nullptr
+	 * @return RETURN_OK if insert was successful, MAP_FULL if no space is available
+	 */
 	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
 		if (_size == theMap.maxSize()) {
 			return MAP_FULL;
 		}
-		uint32_t position = findNicePlace(key);
+		size_t position = findNicePlace(key);
 		memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
 				(_size - position) * sizeof(std::pair<key_t,T>));
 		theMap[position].first = key;
@@ -97,10 +121,21 @@ public:
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
+	/***
+	 * Used to insert new pair instead of single values
+	 *
+	 * @param pair Pair to be inserted
+	 * @return RETURN_OK if insert was successful, MAP_FULL if no space is available
+	 */
 	ReturnValue_t insert(std::pair<key_t, T> pair) {
 		return insert(pair.first, pair.second);
 	}
 
+	/***
+	 * Can be used to check if a certain key is in the map
+	 * @param key Key to be checked
+	 * @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise
+	 */
 	ReturnValue_t exists(key_t key) const {
 		ReturnValue_t result = KEY_DOES_NOT_EXIST;
 		if (findFirstIndex(key) < _size) {
@@ -109,8 +144,18 @@ public:
 		return result;
 	}
 
+	/***
+	 * Used to delete the element in the iterator
+	 *
+	 * The iterator will point to the element before or begin(),
+	 *  but never to one element in front of the map.
+	 *
+	 * @warning The iterator needs to be valid and dereferenceable
+	 * @param[in/out] iter Pointer to iterator to the element that needs to be ereased
+	 * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
+	 */
 	ReturnValue_t erase(Iterator *iter) {
-		uint32_t i;
+		size_t i;
 		if ((i = findFirstIndex((*iter).value->first)) >= _size) {
 			return KEY_DOES_NOT_EXIST;
 		}
@@ -123,8 +168,13 @@ public:
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
+	/***
+	 * Used to erase by key
+	 * @param key Key to be erased
+	 * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
+	 */
 	ReturnValue_t erase(key_t key) {
-		uint32_t i;
+		size_t i;
 		if ((i = findFirstIndex(key)) >= _size) {
 			return KEY_DOES_NOT_EXIST;
 		}
@@ -135,6 +185,14 @@ public:
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
+	/***
+	 * Find returns the first appearance of the key
+	 *
+	 * If the key does not exist, it points to end()
+	 *
+	 * @param key Key to search for
+	 * @return Iterator pointing to the first entry of key
+	 */
 	Iterator find(key_t key) const {
 		ReturnValue_t result = exists(key);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -143,6 +201,15 @@ public:
 		return Iterator(&theMap[findFirstIndex(key)]);
 	}
 
+	/***
+	 * Finds first entry of the given key and returns a
+	 * pointer to the value
+	 *
+	 * @param key Key to search for
+	 * @param value Found value
+	 * @return RETURN_OK if it points to the value,
+	 * KEY_DOES_NOT_EXIST if the key is not in the map
+	 */
 	ReturnValue_t find(key_t key, T **value) const {
 		ReturnValue_t result = exists(key);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -151,15 +218,58 @@ public:
 		*value = &theMap[findFirstIndex(key)].second;
 		return HasReturnvaluesIF::RETURN_OK;
 	}
-
+	/**
+	 * Clears the map, does not deallocate any memory
+	 */
 	void clear() {
 		_size = 0;
 	}
 
-	uint32_t maxSize() const {
+	/**
+	 * Returns the maximum size of the map
+	 * @return Maximum size of the map
+	 */
+	size_t maxSize() const {
 		return theMap.maxSize();
 	}
 
+private:
+	typedef KEY_COMPARE compare;
+	compare myComp;
+	ArrayList<std::pair<key_t, T>, size_t> theMap;
+	size_t _size;
+
+	size_t findFirstIndex(key_t key, size_t startAt = 0) const {
+		if (startAt >= _size) {
+			return startAt + 1;
+		}
+		size_t i = startAt;
+		for (i = startAt; i < _size; ++i) {
+			if (theMap[i].first == key) {
+				return i;
+			}
+		}
+		return i;
+	}
+
+	size_t findNicePlace(key_t key) const {
+		size_t i = 0;
+		for (i = 0; i < _size; ++i) {
+			if (myComp(key, theMap[i].first)) {
+				return i;
+			}
+		}
+		return i;
+	}
+
+	void removeFromPosition(size_t position) {
+		if (_size <= position) {
+			return;
+		}
+		memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
+				(_size - position - 1) * sizeof(std::pair<key_t,T>));
+		--_size;
+	}
 };
 
 #endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */

From c86d654fdfedfb3319e9ace45dc83874ce8d5c6a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 1 Oct 2020 13:58:20 +0200
Subject: [PATCH 415/653] tpp file added

---
 container/FixedOrderedMultimap.h   | 197 ++++++++++++-----------------
 container/FixedOrderedMultimap.tpp | 143 +++++++++++++++++++++
 2 files changed, 222 insertions(+), 118 deletions(-)
 create mode 100644 container/FixedOrderedMultimap.tpp

diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index 717575d7..cb8ab10f 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -1,24 +1,91 @@
-#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
-#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
+#ifndef FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
+#define FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
 
 #include "ArrayList.h"
 #include <cstring>
-#include <set>
+
 /**
- * \ingroup container
+ * @brief   Map implementation which allows entries with identical keys
+ * @details
+ * Performs no dynamic memory allocation except on initialization.
+ * Uses an ArrayList as the underlying container and thus has a linear
+ * complexity O(n). As long as the number of entries remains low, this
+ * should not be an issue.
+ * The number of insertion and deletion operation should be minimized
+ * as those incur exensive memory move operations (the underlying container
+ * is not node based).
+ * @ingroup container
  */
 template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
 class FixedOrderedMultimap {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
-	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x02);
+	static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t MAP_FULL = MAKE_RETURN_CODE(0x02);
+	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
+
+	/**
+	 * Initializes the ordered multimap with a fixed maximum size.
+	 * @param maxSize
+	 */
+    FixedOrderedMultimap(size_t maxSize);
+
+    virtual ~FixedOrderedMultimap() {}
+
+    class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
+    public:
+        /** Returns an iterator to nullptr */
+        Iterator();
+        /** Initializes iterator to given entry */
+        Iterator(std::pair<key_t, T> *pair);
+    };
+
+    /** Iterator to start of map */
+    Iterator begin() const;
+    /** Iterator to end of map */
+    Iterator end() const;
+    /** Current (variable) size of the map */
+    size_t size() const;
+
+    /**
+     * Insert a key/value pair inside the map. An iterator to the stored
+     * value might be returned optionally.
+     * @param key
+     * @param value
+     * @param storedValue
+     * @return
+     */
+    ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr);
+    /**
+     * Insert a given std::pair<key, value>
+     * @param pair
+     * @return
+     */
+    ReturnValue_t insert(std::pair<key_t, T> pair);
+    /**
+     * Checks existence of key in map.
+     * @param key
+     * @return
+     * - @c KEY_DOES_NOT_EXIST if key does not exists.
+     * - @c RETURN_OK otherwise.
+     */
+    ReturnValue_t exists(key_t key) const;
+
+    ReturnValue_t erase(Iterator *iter);
+    ReturnValue_t erase(key_t key);
+
+    Iterator find(key_t key) const;
+    ReturnValue_t find(key_t key, T **value) const;
+
+    void clear();
+
+    size_t maxSize() const;
 
 private:
 	typedef KEY_COMPARE compare;
 	compare myComp;
 	ArrayList<std::pair<key_t, T>, uint32_t> theMap;
-	uint32_t _size;
+	size_t _size;
 
 	uint32_t findFirstIndex(key_t key, uint32_t startAt = 0) const {
 		if (startAt >= _size) {
@@ -47,119 +114,13 @@ private:
 		if (_size <= position) {
 			return;
 		}
-		memmove(static_cast<void*>(&theMap[position]), static_cast<void*>(&theMap[position + 1]),
+		std::memmove(static_cast<void*>(&theMap[position]),
+		        static_cast<void*>(&theMap[position + 1]),
 				(_size - position - 1) * sizeof(std::pair<key_t,T>));
 		--_size;
 	}
-public:
-	FixedOrderedMultimap(uint32_t maxSize) :
-			theMap(maxSize), _size(0) {
-	}
-	virtual ~FixedOrderedMultimap() {
-	}
-
-	class Iterator: public ArrayList<std::pair<key_t, T>, uint32_t>::Iterator {
-	public:
-		Iterator() :
-				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator() {
-		}
-
-		Iterator(std::pair<key_t, T> *pair) :
-				ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair) {
-		}
-	};
-
-	Iterator begin() const {
-		return Iterator(&theMap[0]);
-	}
-
-	Iterator end() const {
-		return Iterator(&theMap[_size]);
-	}
-
-	uint32_t size() const {
-		return _size;
-	}
-
-	ReturnValue_t insert(key_t key, T value, Iterator *storedValue = nullptr) {
-		if (_size == theMap.maxSize()) {
-			return MAP_FULL;
-		}
-		uint32_t position = findNicePlace(key);
-		memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
-				(_size - position) * sizeof(std::pair<key_t,T>));
-		theMap[position].first = key;
-		theMap[position].second = value;
-		++_size;
-		if (storedValue != nullptr) {
-			*storedValue = Iterator(&theMap[position]);
-		}
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	ReturnValue_t insert(std::pair<key_t, T> pair) {
-		return insert(pair.first, pair.second);
-	}
-
-	ReturnValue_t exists(key_t key) const {
-		ReturnValue_t result = KEY_DOES_NOT_EXIST;
-		if (findFirstIndex(key) < _size) {
-			result = HasReturnvaluesIF::RETURN_OK;
-		}
-		return result;
-	}
-
-	ReturnValue_t erase(Iterator *iter) {
-		uint32_t i;
-		if ((i = findFirstIndex((*iter).value->first)) >= _size) {
-			return KEY_DOES_NOT_EXIST;
-		}
-		removeFromPosition(i);
-		if (*iter != begin()) {
-			(*iter)--;
-		} else {
-			*iter = begin();
-		}
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	ReturnValue_t erase(key_t key) {
-		uint32_t i;
-		if ((i = findFirstIndex(key)) >= _size) {
-			return KEY_DOES_NOT_EXIST;
-		}
-		do {
-			removeFromPosition(i);
-			i = findFirstIndex(key, i);
-		} while (i < _size);
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	Iterator find(key_t key) const {
-		ReturnValue_t result = exists(key);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return end();
-		}
-		return Iterator(&theMap[findFirstIndex(key)]);
-	}
-
-	ReturnValue_t find(key_t key, T **value) const {
-		ReturnValue_t result = exists(key);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-		*value = &theMap[findFirstIndex(key)].second;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	void clear() {
-		_size = 0;
-	}
-
-	uint32_t maxSize() const {
-		return theMap.maxSize();
-	}
-
 };
 
-#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */
+#include "FixedOrderedMultimap.tpp"
+
+#endif /* FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */
diff --git a/container/FixedOrderedMultimap.tpp b/container/FixedOrderedMultimap.tpp
new file mode 100644
index 00000000..bc76c594
--- /dev/null
+++ b/container/FixedOrderedMultimap.tpp
@@ -0,0 +1,143 @@
+#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
+#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline FixedOrderedMultimap<key_t, T, KEY_COMPARE>::Iterator::Iterator():
+        ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(){}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline FixedOrderedMultimap<key_t, T, KEY_COMPARE>::Iterator::Iterator(
+        std::pair<key_t, T> *pair):
+        ArrayList<std::pair<key_t, T>, uint32_t>::Iterator(pair){}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline typename FixedOrderedMultimap<key_t, T, KEY_COMPARE>::Iterator
+FixedOrderedMultimap<key_t, T, KEY_COMPARE>::begin() const {
+    return Iterator(&theMap[0]);
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline typename FixedOrderedMultimap<key_t, T, KEY_COMPARE>::Iterator
+FixedOrderedMultimap<key_t, T, KEY_COMPARE>::end() const {
+    return Iterator(&theMap[_size]);
+}
+
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::size() const {
+    return _size;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline FixedOrderedMultimap<key_t, T, KEY_COMPARE>::FixedOrderedMultimap(
+        size_t maxSize): theMap(maxSize), _size(0) {}
+
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(
+        key_t key, T value, Iterator *storedValue) {
+    if (_size == theMap.maxSize()) {
+        return MAP_FULL;
+    }
+    uint32_t position = findNicePlace(key);
+    // Compiler might emitt warning because std::pair is not a POD type (yet..)
+    // See: http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2342.htm#std::pair-example
+    // Circumvent warning by casting to void*
+    std::memmove(static_cast<void*>(&theMap[position + 1]),
+            static_cast<void*>(&theMap[position]),
+            (_size - position) * sizeof(std::pair<key_t,T>));
+    theMap[position].first = key;
+    theMap[position].second = value;
+    ++_size;
+    if (storedValue != nullptr) {
+        *storedValue = Iterator(&theMap[position]);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(
+        std::pair<key_t, T> pair) {
+    return insert(pair.fist, pair.second);
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(
+        key_t key) const {
+    ReturnValue_t result = KEY_DOES_NOT_EXIST;
+    if (findFirstIndex(key) < _size) {
+        result = HasReturnvaluesIF::RETURN_OK;
+    }
+    return result;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(
+        Iterator *iter)
+{
+    uint32_t i;
+    if ((i = findFirstIndex((*iter).value->first)) >= _size) {
+        return KEY_DOES_NOT_EXIST;
+    }
+    removeFromPosition(i);
+    if (*iter != begin()) {
+        (*iter)--;
+    } else {
+        *iter = begin();
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(
+        key_t key)
+{
+    uint32_t i;
+    if ((i = findFirstIndex(key)) >= _size) {
+        return KEY_DOES_NOT_EXIST;
+    }
+    do {
+        removeFromPosition(i);
+        i = findFirstIndex(key, i);
+    } while (i < _size);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(
+        key_t key, T **value) const
+{
+    ReturnValue_t result = exists(key);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    *value = &theMap[findFirstIndex(key)].second;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline typename FixedOrderedMultimap<key_t, T, KEY_COMPARE>::Iterator
+FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(
+        key_t key) const
+{
+    ReturnValue_t result = exists(key);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return end();
+    }
+    return Iterator(&theMap[findFirstIndex(key)]);
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::clear()
+{
+    _size = 0;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::maxSize() const
+{
+    return theMap.maxSize();
+}
+
+
+#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_ */

From 587f87d270b282726363f348467f130370d61f96 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 1 Oct 2020 17:27:24 +0200
Subject: [PATCH 416/653] Feedback from Robin

---
 container/FixedOrderedMultimap.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index 4bbea302..82d388c9 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -5,7 +5,7 @@
 #include <cstring>
 
 /**
- * @brief A "Map" which allows multiple entries of the same key.
+ * @brief  An associative container which allows multiple entries of the same key.
  * @details
  * Same keys are ordered by KEY_COMPARE function which is std::less<key_t> > by default.
  *

From f1bc9972f3217981b895a6e48e9aca816340512c Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 1 Oct 2020 17:36:46 +0200
Subject: [PATCH 417/653] Fixed bugs

---
 container/FixedOrderedMultimap.tpp | 24 ++++++++++++------------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/container/FixedOrderedMultimap.tpp b/container/FixedOrderedMultimap.tpp
index 715bf474..16a7124b 100644
--- a/container/FixedOrderedMultimap.tpp
+++ b/container/FixedOrderedMultimap.tpp
@@ -2,8 +2,8 @@
 #define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_TPP_
 
 
-template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
-ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue = nullptr) {
+template<typename key_t, typename T, typename KEY_COMPARE>
+ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
 	if (_size == theMap.maxSize()) {
 		return MAP_FULL;
 	}
@@ -18,12 +18,12 @@ ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T v
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
-template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
+template<typename key_t, typename T, typename KEY_COMPARE>
 ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
 	return insert(pair.first, pair.second);
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
+template<typename key_t, typename T, typename KEY_COMPARE>
 ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
 	ReturnValue_t result = KEY_DOES_NOT_EXIST;
 	if (findFirstIndex(key) < _size) {
@@ -32,7 +32,7 @@ ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) con
 	return result;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
+template<typename key_t, typename T, typename KEY_COMPARE>
 ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
 	size_t i;
 	if ((i = findFirstIndex((*iter).value->first)) >= _size) {
@@ -47,7 +47,7 @@ ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter)
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
+template<typename key_t, typename T, typename KEY_COMPARE>
 ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
 	size_t i;
 	if ((i = findFirstIndex(key)) >= _size) {
@@ -60,7 +60,7 @@ ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
+template<typename key_t, typename T, typename KEY_COMPARE>
 FixedOrderedMultimap<key_t, T, KEY_COMPARE>::Iterator FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key) const {
 	ReturnValue_t result = exists(key);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -69,7 +69,7 @@ FixedOrderedMultimap<key_t, T, KEY_COMPARE>::Iterator FixedOrderedMultimap<key_t
 	return Iterator(&theMap[findFirstIndex(key)]);
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
+template<typename key_t, typename T, typename KEY_COMPARE>
 ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
 	ReturnValue_t result = exists(key);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -79,8 +79,8 @@ ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **v
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
-size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt = 0) const {
+template<typename key_t, typename T, typename KEY_COMPARE>
+size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
 	if (startAt >= _size) {
 		return startAt + 1;
 	}
@@ -93,7 +93,7 @@ size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, si
 	return i;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
+template<typename key_t, typename T, typename KEY_COMPARE>
 size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
 	size_t i = 0;
 	for (i = 0; i < _size; ++i) {
@@ -104,7 +104,7 @@ size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) con
 	return i;
 }
 
-template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
+template<typename key_t, typename T, typename KEY_COMPARE>
 void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
 	if (_size <= position) {
 		return;

From 6776ca86eb0df44f2580139c48f6f394b5e6a727 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Thu, 1 Oct 2020 17:44:23 +0200
Subject: [PATCH 418/653] Made tpp file less cluttered and added inline
 qualifier

---
 container/FixedOrderedMultimap.h   |  8 +++++++-
 container/FixedOrderedMultimap.tpp | 27 +++++++++------------------
 2 files changed, 16 insertions(+), 19 deletions(-)

diff --git a/container/FixedOrderedMultimap.h b/container/FixedOrderedMultimap.h
index 82d388c9..96bc0073 100644
--- a/container/FixedOrderedMultimap.h
+++ b/container/FixedOrderedMultimap.h
@@ -159,7 +159,13 @@ public:
 	 * @param key Key to search for
 	 * @return Iterator pointing to the first entry of key
 	 */
-	Iterator find(key_t key) const;
+	Iterator find(key_t key) const{
+		ReturnValue_t result = exists(key);
+		if (result != HasReturnvaluesIF::RETURN_OK) {
+			return end();
+		}
+		return Iterator(&theMap[findFirstIndex(key)]);
+	};
 
 	/***
 	 * Finds first entry of the given key and returns a
diff --git a/container/FixedOrderedMultimap.tpp b/container/FixedOrderedMultimap.tpp
index 16a7124b..4aa85e97 100644
--- a/container/FixedOrderedMultimap.tpp
+++ b/container/FixedOrderedMultimap.tpp
@@ -3,7 +3,7 @@
 
 
 template<typename key_t, typename T, typename KEY_COMPARE>
-ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
 	if (_size == theMap.maxSize()) {
 		return MAP_FULL;
 	}
@@ -19,12 +19,12 @@ ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T v
 	return HasReturnvaluesIF::RETURN_OK;
 }
 template<typename key_t, typename T, typename KEY_COMPARE>
-ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
 	return insert(pair.first, pair.second);
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
-ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
 	ReturnValue_t result = KEY_DOES_NOT_EXIST;
 	if (findFirstIndex(key) < _size) {
 		result = HasReturnvaluesIF::RETURN_OK;
@@ -33,7 +33,7 @@ ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) con
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
-ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter) {
 	size_t i;
 	if ((i = findFirstIndex((*iter).value->first)) >= _size) {
 		return KEY_DOES_NOT_EXIST;
@@ -48,7 +48,7 @@ ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(Iterator *iter)
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
-ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
 	size_t i;
 	if ((i = findFirstIndex(key)) >= _size) {
 		return KEY_DOES_NOT_EXIST;
@@ -61,16 +61,7 @@ ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::erase(key_t key) {
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
-FixedOrderedMultimap<key_t, T, KEY_COMPARE>::Iterator FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key) const {
-	ReturnValue_t result = exists(key);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return end();
-	}
-	return Iterator(&theMap[findFirstIndex(key)]);
-}
-
-template<typename key_t, typename T, typename KEY_COMPARE>
-ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **value) const {
 	ReturnValue_t result = exists(key);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
@@ -80,7 +71,7 @@ ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::find(key_t key, T **v
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
-size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) const {
 	if (startAt >= _size) {
 		return startAt + 1;
 	}
@@ -94,7 +85,7 @@ size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, si
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
-size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
+inline size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) const {
 	size_t i = 0;
 	for (i = 0; i < _size; ++i) {
 		if (myComp(key, theMap[i].first)) {
@@ -105,7 +96,7 @@ size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findNicePlace(key_t key) con
 }
 
 template<typename key_t, typename T, typename KEY_COMPARE>
-void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
+inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::removeFromPosition(size_t position) {
 	if (_size <= position) {
 		return;
 	}

From ea8ef8b874248e8ef19667a25a20b63aa646af1e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 3 Oct 2020 14:19:42 +0200
Subject: [PATCH 419/653] important bugfix

---
 tcdistribution/PUSDistributor.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index 3baef7d1..63d1dcde 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -17,8 +17,11 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
     //          << this->current_packet_id.store_index << ", "
     //          << this->current_packet_id.packet_index << std::endl;
     TcMqMapIter queueMapIt = this->queueMap.end();
+    if(this->currentPacket == nullptr) {
+        return queueMapIt;
+    }
     this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
-    if (currentPacket->getWholeData() != NULL) {
+    if (currentPacket->getWholeData() != nullptr) {
         tcStatus = checker.checkPacket(currentPacket);
 #ifdef DEBUG
         if(tcStatus != HasReturnvaluesIF::RETURN_OK) {
@@ -94,6 +97,7 @@ uint16_t PUSDistributor::getIdentifier() {
 ReturnValue_t PUSDistributor::initialize() {
 	CCSDSDistributorIF* ccsdsDistributor =
 			objectManager->get<CCSDSDistributorIF>(packetSource);
+	currentPacket = new TcPacketStored();
 	if (ccsdsDistributor == nullptr) {
 		sif::error << "PUSDistributor::initialize: Packet source invalid."
 		        << " Make sure it exists and implements CCSDSDistributorIF!"
@@ -103,6 +107,4 @@ ReturnValue_t PUSDistributor::initialize() {
 	else {
 		return ccsdsDistributor->registerApplication(this);
 	}
-
-	currentPacket = new TcPacketStored();
 }

From 17ea3127a79f7c0d575cb857cd9197de741ff5ac Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 10 Oct 2020 17:04:43 +0200
Subject: [PATCH 420/653] minor form improvements, include guards

---
 action/ActionHelper.cpp | 15 +++++----
 action/ActionHelper.h   | 74 ++++++++++++++++++++++++++---------------
 2 files changed, 56 insertions(+), 33 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 361f7dc3..ab986c6c 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -3,8 +3,9 @@
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
-ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
-		owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
+ActionHelper::ActionHelper(HasActionsIF* setOwner,
+        MessageQueueIF* useThisQueue) :
+		owner(setOwner), queueToUse(useThisQueue) {
 }
 
 ActionHelper::~ActionHelper() {
@@ -33,13 +34,15 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
+void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
+        ActionId_t commandId, ReturnValue_t result) {
 	CommandMessage reply;
 	ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
 	queueToUse->sendMessage(reportTo, &reply);
 }
 
-void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
+void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
+        ReturnValue_t result) {
 	CommandMessage reply;
 	ActionMessage::setCompletionReply(&reply, commandId, result);
 	queueToUse->sendMessage(reportTo, &reply);
@@ -49,8 +52,8 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
 	queueToUse = queue;
 }
 
-void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-		store_address_t dataAddress) {
+void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
+        ActionId_t actionId, store_address_t dataAddress) {
 	const uint8_t* dataPtr = NULL;
 	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
diff --git a/action/ActionHelper.h b/action/ActionHelper.h
index bbc6d114..a20f286a 100644
--- a/action/ActionHelper.h
+++ b/action/ActionHelper.h
@@ -1,15 +1,18 @@
-#ifndef ACTIONHELPER_H_
-#define ACTIONHELPER_H_
+#ifndef FSFW_ACTION_ACTIONHELPER_H_
+#define FSFW_ACTION_ACTIONHELPER_H_
 
 #include "ActionMessage.h"
 #include "../serialize/SerializeIF.h"
 #include "../ipc/MessageQueueIF.h"
 /**
- * \brief Action Helper is a helper class which handles action messages
+ * @brief Action Helper is a helper class which handles action messages
  *
- * Components which use the HasActionIF this helper can be used to handle the action messages.
- * It does handle step messages as well as other answers to action calls. It uses the executeAction function
- * of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer!
+ * Components which use the HasActionIF this helper can be used to handle
+ * the action messages.
+ * It does handle step messages as well as other answers to action calls.
+ * It uses the executeAction function of its owner as callback.
+ * The call of the initialize function is mandatory and needs a
+ * valid MessageQueueIF pointer!
  */
 class HasActionsIF;
 
@@ -18,7 +21,8 @@ public:
 	/**
 	 * Constructor of the action helper
 	 * @param setOwner Pointer to the owner of the interface
-	 * @param useThisQueue messageQueue to be used, can be set during initialize function as well.
+	 * @param useThisQueue  messageQueue to be used, can be set during
+	 *                      initialize function as well.
 	 */
 	ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
 
@@ -26,28 +30,35 @@ public:
 	/**
 	 * Function to be called from the owner with a new command message
 	 *
-	 * If the message is a valid action message the helper will use the executeAction function from HasActionsIF.
-	 * If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically.
+	 * If the message is a valid action message the helper will use the
+	 * executeAction function from HasActionsIF.
+	 * If the message is invalid or the callback fails a message reply will be
+	 * send to the sender of the message automatically.
 	 *
 	 * @param command Pointer to a command message received by the owner
-	 * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, CommandMessage::UNKNOW_COMMAND if this message ID is unkown
+	 * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
+	 *         CommandMessage::UNKNOW_COMMAND if this message ID is unkown
 	 */
 	ReturnValue_t handleActionMessage(CommandMessage* command);
 	/**
-	 * Helper initialize function. Must be called before use of any other helper function
-	 * @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
+	 * Helper initialize function. Must be called before use of any other
+	 * helper function
+	 * @param queueToUse_   Pointer to the messageQueue to be used, optional
+	 *                      if queue was set in constructor
 	 * @return Returns RETURN_OK if successful
 	 */
 	ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
 	/**
-	 * Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
+	 * Function to be called from the owner to send a step message.
+	 * Success or failure will be determined by the result value.
 	 *
 	 * @param step Number of steps already done
 	 * @param reportTo The messageQueueId to report the step message to
 	 * @param commandId ID of the executed command
 	 * @param result Result of the execution
 	 */
-	void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
+	        ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	/**
 	 * Function to be called by the owner to send a action completion message
 	 *
@@ -55,39 +66,48 @@ public:
 	 * @param commandId ID of the executed command
 	 * @param result Result of the execution
 	 */
-	void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	void finish(MessageQueueId_t reportTo, ActionId_t commandId,
+	        ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	/**
 	 * Function to be called by the owner if an action does report data
 	 *
-	 * @param reportTo MessageQueueId_t to report the action completion message to
+	 * @param reportTo  MessageQueueId_t to report the action completion
+	 *                  message to
 	 * @param replyId ID of the executed command
 	 * @param data Pointer to the data
 	 * @return Returns RETURN_OK if successful, otherwise failure code
 	 */
-	ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false);
+	ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
+	        SerializeIF* data, bool hideSender = false);
 	/**
-	 * Function to setup the MessageQueueIF* of the helper. Can be used to set the messageQueueIF* if
-	 * message queue is unavailable at construction and initialize but must be setup before first call of other functions.
+	 * Function to setup the MessageQueueIF* of the helper. Can be used to
+	 * set the MessageQueueIF* if message queue is unavailable at construction
+	 * and initialize but must be setup before first call of other functions.
 	 * @param queue Queue to be used by the helper
 	 */
 	void setQueueToUse(MessageQueueIF *queue);
 protected:
-	static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step
+	//!< Increase of value of this per step
+	static const uint8_t STEP_OFFSET = 1;
 	HasActionsIF* owner;//!< Pointer to the owner
-	MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with
-	StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
+	//! Queue to be used as response sender, has to be set in ctor or with
+	//! setQueueToUse
+	MessageQueueIF* queueToUse;
+	//! Pointer to an IPC Store, initialized during construction or
+	StorageManagerIF* ipcStore = nullptr;
+
 	/**
-	 *Internal function called by handleActionMessage(CommandMessage* command)
-	 *
+	 * Internal function called by handleActionMessage
 	 * @param commandedBy MessageQueueID of Commander
 	 * @param actionId ID of action to be done
 	 * @param dataAddress Address of additional data in IPC Store
 	 */
-	virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
+	virtual void prepareExecution(MessageQueueId_t commandedBy,
+	        ActionId_t actionId, store_address_t dataAddress);
 	/**
-	 *
+	 * @brief Default implementation is empty.
 	 */
 	virtual void resetHelper();
 };
 
-#endif /* ACTIONHELPER_H_ */
+#endif /* FSFW_ACTION_ACTIONHELPER_H_ */

From b6a23727f2dcbe498276b3c86306d24a8e1462f8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 12 Oct 2020 15:40:27 +0200
Subject: [PATCH 421/653] added extended controller base

---
 controller/ExtendedControllerBase.cpp | 114 ++++++++++++++++++++++++++
 controller/ExtendedControllerBase.h   |  72 ++++++++++++++++
 2 files changed, 186 insertions(+)
 create mode 100644 controller/ExtendedControllerBase.cpp
 create mode 100644 controller/ExtendedControllerBase.h

diff --git a/controller/ExtendedControllerBase.cpp b/controller/ExtendedControllerBase.cpp
new file mode 100644
index 00000000..f69d2ea1
--- /dev/null
+++ b/controller/ExtendedControllerBase.cpp
@@ -0,0 +1,114 @@
+#include "ExtendedControllerBase.h"
+
+
+ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId,
+        object_id_t parentId, size_t commandQueueDepth):
+        ControllerBase(objectId, parentId, commandQueueDepth),
+        localPoolManager(this, commandQueue),
+        actionHelper(this, commandQueue) {
+}
+
+ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
+        MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
+    // needs to be overriden and implemented by child class.
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+
+ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
+        LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    // needs to be overriden and implemented by child class.
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+object_id_t ExtendedControllerBase::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() {
+    return &localPoolManager;
+}
+
+uint32_t ExtendedControllerBase::getPeriodicOperationFrequency() const {
+    return this->executingTask->getPeriodMs();
+}
+
+ReturnValue_t ExtendedControllerBase::handleCommandMessage(
+        CommandMessage *message) {
+    ReturnValue_t result = actionHelper.handleActionMessage(message);
+    if(result == HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    return localPoolManager.handleHousekeepingMessage(message);
+}
+
+void ExtendedControllerBase::handleQueue() {
+    CommandMessage command;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    for (result = commandQueue->receiveMessage(&command);
+            result == RETURN_OK;
+            result = commandQueue->receiveMessage(&command)) {
+        result = actionHelper.handleActionMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = modeHelper.handleModeCommand(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = healthHelper.handleHealthCommand(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = localPoolManager.handleHousekeepingMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = handleCommandMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+        command.setToUnknownCommand();
+        commandQueue->reply(&command);
+    }
+}
+
+ReturnValue_t ExtendedControllerBase::initialize() {
+    ReturnValue_t result = ControllerBase::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    result = actionHelper.initialize(commandQueue);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    return localPoolManager.initialize(commandQueue);
+}
+
+ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
+    return localPoolManager.initializeAfterTaskCreation();
+}
+
+ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
+    handleQueue();
+    hkSwitcher.performOperation();
+    localPoolManager.performHkOperation();
+    performControlOperation();
+    return RETURN_OK;
+}
+
+MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
+    return commandQueue->getId();
+}
+
+LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
+    sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
+            << " implementation provided, returning nullptr!" << std::endl;
+    return nullptr;
+}
diff --git a/controller/ExtendedControllerBase.h b/controller/ExtendedControllerBase.h
new file mode 100644
index 00000000..02c5728e
--- /dev/null
+++ b/controller/ExtendedControllerBase.h
@@ -0,0 +1,72 @@
+#ifndef FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
+#define FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
+
+#include "ControllerBase.h"
+
+#include "../action/HasActionsIF.h"
+#include "../datapoollocal/HasLocalDataPoolIF.h"
+#include "../action/ActionHelper.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+
+/**
+ * @brief   Extendes the basic ControllerBase with the common components
+ *          HasActionsIF for commandability and HasLocalDataPoolIF to keep
+ *          a pool of local data pool variables.
+ * @details
+ * Default implementations required for the interfaces will be empty and have
+ * to be implemented by child class.
+ */
+class ExtendedControllerBase: public ControllerBase,
+        public HasActionsIF,
+        public HasLocalDataPoolIF {
+public:
+    ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
+            size_t commandQueueDepth = 3);
+
+    /** SystemObjectIF overrides */
+    virtual ReturnValue_t initialize() override;
+
+    virtual MessageQueueId_t getCommandQueue() const override;
+
+    /** ExecutableObjectIF overrides */
+    virtual ReturnValue_t performOperation(uint8_t opCode) override;
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+
+protected:
+    LocalDataPoolManager localPoolManager;
+    ActionHelper actionHelper;
+
+    /**
+     * Implemented by child class. Handle all command messages which are
+     * not health, mode, action or housekeeping messages.
+     * @param message
+     * @return
+     */
+    virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
+
+    /**
+     * Periodic helper from ControllerBase, implemented by child class.
+     */
+    virtual void performControlOperation() = 0;
+
+    /** Handle the four messages mentioned above */
+    void handleQueue() override;
+
+    /** HasActionsIF overrides */
+    virtual ReturnValue_t executeAction(ActionId_t actionId,
+            MessageQueueId_t commandedBy, const uint8_t* data,
+            size_t size) override;
+
+    /** HasLocalDatapoolIF overrides */
+    virtual object_id_t getObjectId() const override;
+    virtual ReturnValue_t initializeLocalDataPool(
+            LocalDataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+    virtual LocalDataPoolManager* getHkManagerHandle() override;
+    virtual uint32_t getPeriodicOperationFrequency() const override;
+    virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+};
+
+
+
+#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */

From 829be0f08298c8aea79eccfff9403a2c23e381c8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 12 Oct 2020 16:58:04 +0200
Subject: [PATCH 422/653] doc correction, action helper new helper function

---
 action/ActionHelper.cpp | 56 +++++++++++++++++++++++++++++++++++------
 action/ActionHelper.h   | 15 +++++++++--
 action/HasActionsIF.h   |  7 +++---
 3 files changed, 65 insertions(+), 13 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index ab986c6c..8122885b 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -89,22 +89,28 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
-	result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
+	result = data->serialize(&dataPtr, &size, maxSize,
+	        SerializeIF::Endianness::BIG);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		ipcStore->deleteData(storeAddress);
 		return result;
 	}
-	//We don't need to report the objectId, as we receive REQUESTED data before the completion success message.
-	//True aperiodic replies need to be reported with another dedicated message.
+	// We don't need to report the objectId, as we receive REQUESTED data
+	// before the completion success message.
+	// True aperiodic replies need to be reported with
+	// another dedicated message.
 	ActionMessage::setDataReply(&reply, replyId, storeAddress);
 
-	//TODO Service Implementation sucks at the moment
-	if (hideSender){
+	// TODO: Service Implementation sucks at the moment
+	// TODO: why does it suck and why would someone need to hide the sender?
+	if (hideSender) {
 		result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
-	} else {
+	}
+	else {
 		result = queueToUse->sendMessage(reportTo, &reply);
 	}
-	if ( result != HasReturnvaluesIF::RETURN_OK){
+
+	if (result != HasReturnvaluesIF::RETURN_OK){
 		ipcStore->deleteData(storeAddress);
 	}
 	return result;
@@ -112,3 +118,39 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
 
 void ActionHelper::resetHelper() {
 }
+
+ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
+        ActionId_t replyId, const uint8_t *data, size_t dataSize,
+        bool hideSender) {
+    CommandMessage reply;
+    store_address_t storeAddress;
+    ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        ipcStore->deleteData(storeAddress);
+        return result;
+    }
+
+    // We don't need to report the objectId, as we receive REQUESTED data
+    // before the completion success message.
+    // True aperiodic replies need to be reported with
+    // another dedicated message.
+    ActionMessage::setDataReply(&reply, replyId, storeAddress);
+
+    // TODO: Service Implementation sucks at the moment
+    // TODO: why does it suck and why would someone need to hide the sender?
+    if (hideSender) {
+        result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
+    }
+    else {
+        result = queueToUse->sendMessage(reportTo, &reply);
+    }
+
+    if (result != HasReturnvaluesIF::RETURN_OK){
+        ipcStore->deleteData(storeAddress);
+    }
+    return result;
+}
diff --git a/action/ActionHelper.h b/action/ActionHelper.h
index a20f286a..17ca3ebd 100644
--- a/action/ActionHelper.h
+++ b/action/ActionHelper.h
@@ -69,8 +69,8 @@ public:
 	void finish(MessageQueueId_t reportTo, ActionId_t commandId,
 	        ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	/**
-	 * Function to be called by the owner if an action does report data
-	 *
+	 * Function to be called by the owner if an action does report data.
+	 * Takes a SerializeIF* pointer and serializes it into the IPC store.
 	 * @param reportTo  MessageQueueId_t to report the action completion
 	 *                  message to
 	 * @param replyId ID of the executed command
@@ -79,6 +79,17 @@ public:
 	 */
 	ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
 	        SerializeIF* data, bool hideSender = false);
+    /**
+     * Function to be called by the owner if an action does report data.
+     * Takes the raw data and writes it into the IPC store.
+     * @param reportTo  MessageQueueId_t to report the action completion
+     *                  message to
+     * @param replyId ID of the executed command
+     * @param data Pointer to the data
+     * @return Returns RETURN_OK if successful, otherwise failure code
+     */
+    ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
+            const uint8_t* data, size_t dataSize, bool hideSender = false);
 	/**
 	 * Function to setup the MessageQueueIF* of the helper. Can be used to
 	 * set the MessageQueueIF* if message queue is unavailable at construction
diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h
index 886d0837..a26ed588 100644
--- a/action/HasActionsIF.h
+++ b/action/HasActionsIF.h
@@ -47,10 +47,9 @@ public:
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	/**
 	 * Execute or initialize the execution of a certain function.
-	 * Returning #EXECUTION_FINISHED or a failure code, nothing else needs to
-	 * be done. When needing more steps, return RETURN_OK and issue steps and
-	 * completion manually.
-	 * One "step failed" or completion report must be issued!
+	 * When used in conjunction with the ActionHelper class, returning
+	 * a return code which is not equal to RETURN_OK will trigger a step reply
+	 * with step 0.
 	 */
 	virtual ReturnValue_t executeAction(ActionId_t actionId,
 			MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;

From 140aa3ab422cc220dbbcf16f1d24242a73b3c933 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 12 Oct 2020 18:18:41 +0200
Subject: [PATCH 423/653] form improvements DHB

---
 devicehandlers/AcceptsDeviceResponsesIF.h     |  22 +--
 devicehandlers/AssemblyBase.cpp               |  13 +-
 devicehandlers/AssemblyBase.h                 |  90 ++++++---
 devicehandlers/ChildHandlerBase.cpp           |  10 +-
 devicehandlers/ChildHandlerBase.h             |  14 +-
 devicehandlers/ChildHandlerFDIR.cpp           |   3 +-
 devicehandlers/ChildHandlerFDIR.h             |   4 +-
 devicehandlers/CookieIF.h                     |  10 +-
 devicehandlers/DeviceCommunicationIF.h        |  43 ++--
 devicehandlers/DeviceHandlerBase.cpp          | 183 ++++++++++++------
 devicehandlers/DeviceHandlerBase.h            | 170 ++++++++--------
 .../DeviceHandlerFailureIsolation.cpp         |   8 +
 devicehandlers/DeviceHandlerIF.h              |  20 +-
 devicehandlers/DeviceHandlerMessage.cpp       |  19 +-
 devicehandlers/DeviceHandlerMessage.h         |  78 +++-----
 devicehandlers/DeviceTmReportingWrapper.cpp   |   1 -
 devicehandlers/DeviceTmReportingWrapper.h     |   6 +-
 devicehandlers/HealthDevice.cpp               |   6 +-
 devicehandlers/HealthDevice.h                 |   6 +-
 19 files changed, 403 insertions(+), 303 deletions(-)

diff --git a/devicehandlers/AcceptsDeviceResponsesIF.h b/devicehandlers/AcceptsDeviceResponsesIF.h
index 8dc69de4..8e13ba0c 100644
--- a/devicehandlers/AcceptsDeviceResponsesIF.h
+++ b/devicehandlers/AcceptsDeviceResponsesIF.h
@@ -1,23 +1,19 @@
-/**
- * @file	AcceptsDeviceResponsesIF.h
- * @brief	This file defines the AcceptsDeviceResponsesIF class.
- * @date	15.05.2013
- * @author	baetz
- */
-
-#ifndef ACCEPTSDEVICERESPONSESIF_H_
-#define ACCEPTSDEVICERESPONSESIF_H_
+#ifndef FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
+#define FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
 
 #include "../ipc/MessageQueueSenderIF.h"
 
+/**
+ * This interface is used by the device handler to send a device response
+ * to the queue ID, which is returned in the implemented abstract method.
+ */
 class AcceptsDeviceResponsesIF {
 public:
 	/**
 	 * Default empty virtual destructor.
 	 */
-	virtual ~AcceptsDeviceResponsesIF() {
-}
-virtual MessageQueueId_t getDeviceQueue() = 0;
+	virtual ~AcceptsDeviceResponsesIF() {}
+	virtual MessageQueueId_t getDeviceQueue() = 0;
 };
 
-#endif /* ACCEPTSDEVICERESPONSESIF_H_ */
+#endif /* FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_ */
diff --git a/devicehandlers/AssemblyBase.cpp b/devicehandlers/AssemblyBase.cpp
index 8b3f7f4d..46b2211a 100644
--- a/devicehandlers/AssemblyBase.cpp
+++ b/devicehandlers/AssemblyBase.cpp
@@ -2,10 +2,10 @@
 
 AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId,
 		uint16_t commandQueueDepth) :
-		SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth), internalState(
-				STATE_NONE), recoveryState(RECOVERY_IDLE), recoveringDevice(
-				childrenMap.end()), targetMode(MODE_OFF), targetSubmode(
-				SUBMODE_NONE) {
+		SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
+		internalState(STATE_NONE), recoveryState(RECOVERY_IDLE),
+		recoveringDevice(childrenMap.end()), targetMode(MODE_OFF),
+		targetSubmode(SUBMODE_NONE) {
 	recoveryOffTimer.setTimeout(POWER_OFF_TIME_MS);
 }
 
@@ -165,9 +165,8 @@ ReturnValue_t AssemblyBase::checkChildrenState() {
 }
 
 ReturnValue_t AssemblyBase::checkChildrenStateOff() {
-	for (std::map<object_id_t, ChildInfo>::iterator iter = childrenMap.begin();
-			iter != childrenMap.end(); iter++) {
-		if (checkChildOff(iter->first) != RETURN_OK) {
+	for (const auto& childIter: childrenMap) {
+		if (checkChildOff(childIter.first) != RETURN_OK) {
 			return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
 		}
 	}
diff --git a/devicehandlers/AssemblyBase.h b/devicehandlers/AssemblyBase.h
index bd2e8fad..353d5f89 100644
--- a/devicehandlers/AssemblyBase.h
+++ b/devicehandlers/AssemblyBase.h
@@ -1,10 +1,30 @@
-#ifndef ASSEMBLYBASE_H_
-#define ASSEMBLYBASE_H_
+#ifndef FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_
+#define FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_
 
-#include "../container/FixedArrayList.h"
 #include "DeviceHandlerBase.h"
+#include "../container/FixedArrayList.h"
 #include "../subsystem/SubsystemBase.h"
 
+/**
+ * @brief   Base class to implement reconfiguration and failure handling for
+ *          redundant devices by monitoring their modes health states.
+ * @details
+ * Documentation: Dissertation Baetz p.156, 157.
+ *
+ * This class reduces the complexity of controller components which would
+ * otherwise be needed for the handling of redundant devices.
+ *
+ * The template class monitors mode and health state of its children
+ * and checks availability of devices on every detected change.
+ * AssemblyBase does not implement any redundancy logic by itself, but provides
+ * adaptation points for implementations to do so. Since most monitoring
+ * activities rely on mode and health state only and are therefore
+ * generic, it is sufficient for subclasses to provide:
+ *
+ * 1. check logic when active-> checkChildrenStateOn
+ * 2. transition logic to change the mode -> commandChildren
+ *
+ */
 class AssemblyBase: public SubsystemBase {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::ASSEMBLY_BASE;
@@ -16,10 +36,41 @@ public:
 	static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE =
 			MAKE_RETURN_CODE(0xa1);
 
-	AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
+	AssemblyBase(object_id_t objectId, object_id_t parentId,
+	        uint16_t commandQueueDepth = 8);
 	virtual ~AssemblyBase();
 
 protected:
+
+    // SHOULDDO: Change that OVERWRITE_HEALTH may be returned
+    // (or return internalState directly?)
+    /**
+     * Command children to reach [mode,submode] combination
+     * Can be done by setting #commandsOutstanding correctly,
+     * or using executeTable()
+     * @param mode
+     * @param submode
+     * @return
+     *    - @c RETURN_OK if ok
+     *    - @c NEED_SECOND_STEP if children need to be commanded again
+     */
+    virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
+
+    /**
+     * Check whether desired assembly mode was achieved by checking the modes
+     * or/and health states of child device handlers.
+     * The assembly template class will also call this function if a health
+     * or mode change of a child device handler was detected.
+     * @param wantedMode
+     * @param wantedSubmode
+     * @return
+     */
+    virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
+            Submode_t wantedSubmode) = 0;
+
+    virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
+            Submode_t submode) = 0;
+
 	enum InternalState {
 		STATE_NONE,
 		STATE_OVERWRITE_HEALTH,
@@ -36,6 +87,7 @@ protected:
 		RECOVERY_WAIT
 	} recoveryState; //!< Indicates if one of the children requested a recovery.
 	ChildrenMap::iterator recoveringDevice;
+
 	/**
 	 * the mode the current transition is trying to achieve.
 	 * Can be different from the modehelper.commandedMode!
@@ -61,8 +113,8 @@ protected:
 	bool handleChildrenChanged();
 
 	/**
-	 * This method is called if the children changed its mode in a way that the current
-	 * mode can't be kept.
+	 * This method is called if the children changed its mode in a way that
+	 * the current mode can't be kept.
 	 * Default behavior is to go to MODE_OFF.
 	 * @param result The failure code which was returned by checkChildrenState.
 	 */
@@ -75,9 +127,6 @@ protected:
 	ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
 			uint32_t *msToReachTheMode);
 
-	virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
-			Submode_t submode) = 0;
-
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 
 	virtual void doStartTransition(Mode_t mode, Submode_t submode);
@@ -90,24 +139,6 @@ protected:
 
 	void sendHealthCommand(MessageQueueId_t sendTo, HealthState health);
 
-	//SHOULDDO: Change that OVERWRITE_HEALTH may be returned (or return internalState directly?)
-	/**
-	 * command children to reach mode,submode
-	 *
-	 * set #commandsOutstanding correctly, or use executeTable()
-	 *
-	 * @param mode
-	 * @param submode
-	 * @return
-	 *    - @c RETURN_OK if ok
-	 *    - @c NEED_SECOND_STEP if children need to be commanded again
-	 */
-	virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
-
-	//SHOULDDO: Remove wantedMode, wantedSubmode, as targetMode/submode is available?
-	virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
-			Submode_t wantedSubmode) = 0;
-
 	virtual ReturnValue_t checkChildrenStateOff();
 
 	ReturnValue_t checkChildrenState();
@@ -125,8 +156,9 @@ protected:
 	 * Also sets state to STATE_OVERWRITE_HEATH.
 	 * @param objectId Must be a registered child.
 	 */
-	void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
+	void overwriteDeviceHealth(object_id_t objectId,
+	        HasHealthIF::HealthState oldHealth);
 
 };
 
-#endif /* ASSEMBLYBASE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */
diff --git a/devicehandlers/ChildHandlerBase.cpp b/devicehandlers/ChildHandlerBase.cpp
index e800cd56..d4ef67ad 100644
--- a/devicehandlers/ChildHandlerBase.cpp
+++ b/devicehandlers/ChildHandlerBase.cpp
@@ -1,16 +1,18 @@
+#include "ChildHandlerBase.h"
 #include "../subsystem/SubsystemBase.h"
-#include "../devicehandlers/ChildHandlerBase.h"
 #include "../subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * cookie,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
-		object_id_t parent, FailureIsolationBase* customFdir,
-		size_t cmdQueueSize) :
+		object_id_t hkDestination, uint32_t thermalStatePoolId,
+		uint32_t thermalRequestPoolId,
+		object_id_t parent,
+		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
 		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
 			(customFdir == nullptr? &childHandlerFdir : customFdir),
 			cmdQueueSize),
 		parentId(parent), childHandlerFdir(setObjectId) {
+	this->setHkDestination(hkDestination);
 	this->setThermalStateRequestPoolIds(thermalStatePoolId,
 			thermalRequestPoolId);
 
diff --git a/devicehandlers/ChildHandlerBase.h b/devicehandlers/ChildHandlerBase.h
index f6bf318a..eed4c95e 100644
--- a/devicehandlers/ChildHandlerBase.h
+++ b/devicehandlers/ChildHandlerBase.h
@@ -1,17 +1,18 @@
-#ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
-#define FSFW_DEVICES_CHILDHANDLERBASE_H_
+#ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
+#define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 
-#include "ChildHandlerFDIR.h"
 #include "DeviceHandlerBase.h"
+#include "ChildHandlerFDIR.h"
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
 	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * cookie, uint32_t thermalStatePoolId,
-			uint32_t thermalRequestPoolId,
+			CookieIF * cookie, object_id_t hkDestination,
+			uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
 			object_id_t parent = objects::NO_OBJECT,
 			FailureIsolationBase* customFdir = nullptr,
 			size_t cmdQueueSize = 20);
+
 	virtual ~ChildHandlerBase();
 
 	virtual ReturnValue_t initialize();
@@ -22,5 +23,4 @@ protected:
 
 };
 
-#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
-
+#endif /* FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_ */
diff --git a/devicehandlers/ChildHandlerFDIR.cpp b/devicehandlers/ChildHandlerFDIR.cpp
index 14043a77..cb4c75ea 100644
--- a/devicehandlers/ChildHandlerFDIR.cpp
+++ b/devicehandlers/ChildHandlerFDIR.cpp
@@ -1,6 +1,7 @@
 #include "ChildHandlerFDIR.h"
 
-ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner, object_id_t faultTreeParent, uint32_t recoveryCount) :
+ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner,
+        object_id_t faultTreeParent, uint32_t recoveryCount) :
 		DeviceHandlerFailureIsolation(owner, faultTreeParent) {
 	recoveryCounter.setFailureThreshold(recoveryCount);
 }
diff --git a/devicehandlers/ChildHandlerFDIR.h b/devicehandlers/ChildHandlerFDIR.h
index ce844518..13d1345c 100644
--- a/devicehandlers/ChildHandlerFDIR.h
+++ b/devicehandlers/ChildHandlerFDIR.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
-#define FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
+#ifndef FSFW_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
+#define FSFW_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
 
 #include "DeviceHandlerFailureIsolation.h"
 
diff --git a/devicehandlers/CookieIF.h b/devicehandlers/CookieIF.h
index 496cf0d2..5911bfdb 100644
--- a/devicehandlers/CookieIF.h
+++ b/devicehandlers/CookieIF.h
@@ -1,11 +1,12 @@
-#ifndef COOKIE_H_
-#define COOKIE_H_
+#ifndef FSFW_DEVICEHANDLER_COOKIE_H_
+#define FSFW_DEVICEHANDLER_COOKIE_H_
+
 #include <cstdint>
 
 /**
  * @brief Physical address type
  */
-typedef std::uint32_t address_t;
+using address_t = uint32_t;
 
 /**
  * @brief 	This datatype is used to identify different connection over a
@@ -16,7 +17,6 @@ typedef std::uint32_t address_t;
  * calling @code{.cpp} CookieIF* childCookie = new ChildCookie(...)
  * @endcode .
  *
- * [not implemented yet]
  * This cookie is then passed to the child device handlers, which stores the
  * pointer and passes it to the communication interface functions.
  *
@@ -31,4 +31,4 @@ public:
 	virtual ~CookieIF() {};
 };
 
-#endif /* COOKIE_H_ */
+#endif /* FSFW_DEVICEHANDLER_COOKIE_H_ */
diff --git a/devicehandlers/DeviceCommunicationIF.h b/devicehandlers/DeviceCommunicationIF.h
index 11960d8e..e0b473d3 100644
--- a/devicehandlers/DeviceCommunicationIF.h
+++ b/devicehandlers/DeviceCommunicationIF.h
@@ -1,9 +1,10 @@
-#ifndef DEVICECOMMUNICATIONIF_H_
-#define DEVICECOMMUNICATIONIF_H_
+#ifndef FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_
+#define FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_
 
 #include "CookieIF.h"
+#include "DeviceHandlerIF.h"
+
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <cstddef>
 /**
  * @defgroup interfaces Interfaces
  * @brief Interfaces for flight software objects
@@ -19,8 +20,8 @@
  * the device handler to allow reuse of these components.
  * @details
  * Documentation: Dissertation Baetz p.138.
- * It works with the assumption that received data
- * is polled by a component. There are four generic steps of device communication:
+ * It works with the assumption that received data  is polled by a component.
+ * There are four generic steps of device communication:
  *
  *   1. Send data to a device
  *   2. Get acknowledgement for sending
@@ -38,24 +39,20 @@ class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
-	//! Standard Error Codes
+	//! This is returned in readReceivedMessage() if no reply was reived.
+	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0x01);
+
 	//! General protocol error. Define more concrete errors in child handler
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x02);
 	//! If cookie is a null pointer
-	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x04);
 	// is this needed if there is no open/close call?
 	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
-	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x06);
-	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x07);
-	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x08);
-
-	//! Can be used in readReceivedMessage() if no reply was received.
-	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0xA1);
+	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
 
 	virtual ~DeviceCommunicationIF() {}
 
-
 	/**
 	 * @brief Device specific initialization, using the cookie.
 	 * @details
@@ -76,13 +73,13 @@ public:
 	 * by implementing and calling related drivers or wrapper functions.
 	 * @param cookie
 	 * @param data
-	 * @param len
+	 * @param len If this is 0, nothing shall be sent.
 	 * @return
 	 *  - @c RETURN_OK for successfull send
 	 *  - Everything else triggers failure event with returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
-			size_t sendLen) = 0;
+	virtual ReturnValue_t sendMessage(CookieIF *cookie,
+	        const uint8_t * sendData, size_t sendLen) = 0;
 
 	/**
 	 * Called by DHB in the GET_WRITE doGetWrite().
@@ -108,7 +105,7 @@ public:
 	 *           returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-			size_t requestLen) = 0;
+	        size_t requestLen) = 0;
 
 	/**
 	 * Called by DHB in the GET_WRITE doGetRead().
@@ -124,8 +121,8 @@ public:
 	 *         - Everything else triggers failure event with
 	 *           returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-			size_t *size) = 0;
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
+	        uint8_t **buffer, size_t *size) = 0;
 };
 
-#endif /* DEVICECOMMUNICATIONIF_H_ */
+#endif /* FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_ */
diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 017ea8d2..227d5b6d 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -2,15 +2,17 @@
 #include "AcceptsDeviceResponsesIF.h"
 #include "DeviceTmReportingWrapper.h"
 
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../objectmanager/ObjectManager.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../thermal/ThermalComponentIF.h"
-#include "../datapool/DataSet.h"
-#include "../datapool/PoolVariable.h"
 #include "../globalfunctions/CRC.h"
-#include "../subsystem/SubsystemBase.h"
+#include "../housekeeping/HousekeepingMessage.h"
+#include "../ipc/MessageQueueMessage.h"
 #include "../ipc/QueueFactory.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../subsystem/SubsystemBase.h"
 
 #include <iomanip>
 
@@ -25,10 +27,11 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
 		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
-		actionHelper(this, nullptr), childTransitionFailure(RETURN_OK),
-		fdirInstance(fdirInstance), hkSwitcher(this),
-		defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
-		childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
+		actionHelper(this, nullptr), hkManager(this, nullptr),
+		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
+		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
+		switchOffWasReported(false), childTransitionDelay(5000),
+		transitionSourceMode(_MODE_POWER_DOWN),
 		transitionSourceSubMode(SUBMODE_NONE) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			MessageQueueMessage::MAX_MESSAGE_SIZE);
@@ -48,6 +51,10 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 	}
 }
 
+void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
+	this->hkDestination = hkDestination;
+}
+
 void DeviceHandlerBase::setThermalStateRequestPoolIds(
 		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
 	this->deviceThermalRequestPoolId = thermalStatePoolId;
@@ -74,6 +81,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
+		hkManager.performHkOperation();
 		performOperationHook();
 	}
 	if (mode == MODE_OFF) {
@@ -120,7 +128,9 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	result = communicationInterface->initializeInterface(comCookie);
 	if (result != RETURN_OK) {
-		return result;
+	    sif::error << "DeviceHandlerBase::initialize: Initializing "
+	            "communication interface failed!" << std::endl;
+	    return result;
 	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
@@ -183,11 +193,16 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
+	result = hkManager.initialize(commandQueue);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
 	fillCommandAndReplyMap();
 
 	//Set temperature target state to NON_OP.
-	DataSet mySet;
-	db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+	GlobDataSet mySet;
+	gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 			PoolVariableIF::VAR_WRITE);
 	mySet.read();
 	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
@@ -245,10 +260,10 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-//	result = hkManager.handleHousekeepingMessage(&command);
-//	if (result == RETURN_OK) {
-//		return;
-//	}
+	result = hkManager.handleHousekeepingMessage(&command);
+	if (result == RETURN_OK) {
+		return;
+	}
 
 	result = handleDeviceHandlerMessage(&command);
 	if (result == RETURN_OK) {
@@ -376,24 +391,28 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
 		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		size_t replyLen, bool periodic, bool hasDifferentReplyId,
-		DeviceCommandId_t replyId) {
+		LocalPoolDataSetBase* replyDataSet, size_t replyLen, bool periodic,
+		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
 	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
-		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles,
+		        replyDataSet, replyLen, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles,
+		        replyDataSet, replyLen, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
+		uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet,
+		size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
 	info.replyLen = replyLen;
+	info.dataSet = dataSet;
 	info.command = deviceCommandMap.end();
 	auto resultPair = deviceReplyMap.emplace(replyId, info);
 	if (resultPair.second) {
@@ -419,13 +438,12 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
 		uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
-	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
-			deviceReplyMap.find(deviceReply);
-	if (iter == deviceReplyMap.end()) {
+	auto replyIter = deviceReplyMap.find(deviceReply);
+	if (replyIter == deviceReplyMap.end()) {
 		triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
 		return RETURN_FAILED;
 	} else {
-		DeviceReplyInfo *info = &(iter->second);
+		DeviceReplyInfo *info = &(replyIter->second);
 		if (maxDelayCycles != 0) {
 			info->maxDelayCycles = maxDelayCycles;
 		}
@@ -435,6 +453,17 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
 	}
 }
 
+
+ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
+        LocalPoolDataSetBase *dataSet) {
+    auto replyIter = deviceReplyMap.find(replyId);
+    if(replyIter == deviceReplyMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    replyIter->second.dataSet = dataSet;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 void DeviceHandlerBase::callChildStatemachine() {
 	if (mode == _MODE_START_UP) {
 		doStartUp();
@@ -469,8 +498,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
 	Clock::getUptime(&timeoutStart);
 
 	if (mode == MODE_OFF) {
-		DataSet mySet;
-		db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+		GlobDataSet mySet;
+		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ_WRITE);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -649,7 +678,7 @@ void DeviceHandlerBase::doGetRead() {
 void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		size_t receivedDataLen) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	DeviceCommandId_t foundId = 0xFFFFFFFF;
+	DeviceCommandId_t foundId = 0xffffffff;
 	size_t foundLen = 0;
 	// The loop may not execute more often than the number of received bytes
 	// (worst case). This approach avoids infinite loops due to buggy
@@ -661,18 +690,26 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		switch (result) {
 		case RETURN_OK:
 			handleReply(receivedData, foundId, foundLen);
+			if(foundLen == 0) {
+			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+			            " Packet parsing will be stuck." << std::endl;
+			}
 			break;
 		case APERIODIC_REPLY: {
 			result = interpretDeviceReply(foundId, receivedData);
 			if (result != RETURN_OK) {
-				replyRawReplyIfnotWiretapped(receivedData, foundLen);
-				triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
-						foundId);
+			    replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			    triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
+			            foundId);
+			}
+			if(foundLen == 0) {
+			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+			            " Packet parsing will be stuck." << std::endl;
 			}
-		}
-		break;
-		case IGNORE_REPLY_DATA:
 			break;
+		}
+		case IGNORE_REPLY_DATA:
+			continue;
 		case IGNORE_FULL_PACKET:
 			return;
 		default:
@@ -704,16 +741,19 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 	DeviceReplyInfo *info = &(iter->second);
 
 	if (info->delayCycles != 0) {
+	    result = interpretDeviceReply(foundId, receivedData);
 
-		if (info->periodic != false) {
+	    if(result == IGNORE_REPLY_DATA) {
+	        return;
+	    }
+
+		if (info->periodic) {
 			info->delayCycles = info->maxDelayCycles;
 		}
 		else {
 			info->delayCycles = 0;
 		}
 
-		result = interpretDeviceReply(foundId, receivedData);
-
 		if (result != RETURN_OK) {
 			// Report failed interpretation to FDIR.
 			replyRawReplyIfnotWiretapped(receivedData, foundLen);
@@ -926,10 +966,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
 
 	if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
 			&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
-		DataSet mySet;
-		db_int8_t thermalState(deviceThermalStatePoolId, &mySet,
+		GlobDataSet mySet;
+		gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
 				PoolVariableIF::VAR_READ);
-		db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -956,8 +996,8 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
 			childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
 					MODE_ON);
 			triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
-			DataSet mySet;
-			db_int8_t thermalRequest(deviceThermalRequestPoolId,
+			GlobDataSet mySet;
+			gp_int8_t thermalRequest(deviceThermalRequestPoolId,
 					&mySet, PoolVariableIF::VAR_READ_WRITE);
 			mySet.read();
 			if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -1089,19 +1129,6 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		}
 		replyReturnvalueToCommand(RETURN_OK);
 		return RETURN_OK;
-//	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
-//		if (mode != MODE_OFF) {
-//			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
-//		} else {
-//			result = switchCookieChannel(
-//					DeviceHandlerMessage::getIoBoardObjectId(message));
-//			if (result == RETURN_OK) {
-//				replyReturnvalueToCommand(RETURN_OK);
-//			} else {
-//				replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
-//			}
-//		}
-//		return RETURN_OK;
 	case DeviceHandlerMessage::CMD_RAW:
 		if ((mode != MODE_RAW)) {
 			DeviceHandlerMessage::clear(message);
@@ -1185,7 +1212,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 	}
 	//Try to cast to GlobDataSet and commit data.
 	if (!neverInDataPool) {
-		DataSet* dataSet = dynamic_cast<DataSet*>(data);
+		GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
 		if (dataSet != NULL) {
 			dataSet->commit(PoolVariableIF::VALID);
 		}
@@ -1248,10 +1275,14 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 		if (iter == deviceCommandMap.end()) {
 			result = COMMAND_NOT_SUPPORTED;
 		} else if (iter->second.isExecuting) {
+			//so we can track misconfigurations
 			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
+					<< deviceCommandId << " isExecuting" << std::dec
+					<< std::endl;
+			// 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
+			return;
 		} else {
 			iter->second.sendReplyTo = NO_COMMANDER;
 			iter->second.isExecuting = true;
@@ -1340,12 +1371,50 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 void DeviceHandlerBase::performOperationHook() {
 }
 
+ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
+		LocalDataPool &localDataPoolMap,
+        LocalDataPoolManager& poolManager) {
+	return RETURN_OK;
+}
+
+LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
+	return &hkManager;
+}
+
+
 ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
     // In this function, the task handle should be valid if the task
     // was implemented correctly. We still check to be 1000 % sure :-)
     if(executingTask != nullptr) {
         pstIntervalMs = executingTask->getPeriodMs();
     }
+    this->hkManager.initializeAfterTaskCreation();
+
+    if(setStartupImmediately) {
+        startTransition(MODE_ON, SUBMODE_NONE);
+    }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
+	auto iter = deviceReplyMap.find(sid.ownerSetId);
+	if(iter != deviceReplyMap.end()) {
+		return iter->second.dataSet;
+	}
+	else {
+		return nullptr;
+	}
+}
+
+object_id_t DeviceHandlerBase::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+void DeviceHandlerBase::setStartUpImmediately() {
+    this->setStartupImmediately = true;
+}
+
+dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
+    return pstIntervalMs;
+}
+
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 5666f35e..eda318cb 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -1,12 +1,11 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
-#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
 
 #include "DeviceHandlerIF.h"
 #include "DeviceCommunicationIF.h"
 #include "DeviceHandlerFailureIsolation.h"
 
 #include "../objectmanager/SystemObject.h"
-#include "../tasks/PeriodicTaskIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../action/HasActionsIF.h"
@@ -14,10 +13,13 @@
 #include "../modes/HasModesIF.h"
 #include "../power/PowerSwitchIF.h"
 #include "../ipc/MessageQueueIF.h"
+#include "../tasks/PeriodicTaskIF.h"
 #include "../action/ActionHelper.h"
 #include "../health/HealthHelper.h"
 #include "../parameters/ParameterHelper.h"
 #include "../datapool/HkSwitchHelper.h"
+#include "../datapoollocal/HasLocalDataPoolIF.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
 
 #include <map>
 
@@ -38,17 +40,16 @@ class StorageManagerIF;
  * Documentation: Dissertation Baetz p.138,139, p.141-149
  *
  * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink,
- * communication with physical devices, using the @link DeviceCommunicationIF @endlink,
- * and communication with commanding objects.
- * It inherits SystemObject and thus can be created by the ObjectManagerIF.
+ * communication with physical devices, using the
+ * @link DeviceCommunicationIF @endlink, and communication with commanding
+ * objects. It inherits SystemObject and thus can be created by the
+ * ObjectManagerIF.
  *
- * This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
- * For each step an RMAP action is selected and executed.
- * If data has been received (GET_READ), the data will be interpreted.
- * The action for each step can be defined by the child class but as most
- * device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
- * a default implementation is provided.
- * NOTE: RMAP is a standard which is used for FLP.
+ * This class uses the opcode of ExecutableObjectIF to perform a
+ * step-wise execution. For each step a different action is selected and
+ * executed. Currently, the device handler base performs a 4-step
+ * execution related to 4 communication steps (based on RMAP).
+ * NOTE: RMAP is a standard which is used for Flying Laptop.
  * RMAP communication is not mandatory for projects implementing the FSFW.
  * However, the communication principles are similar to RMAP as there are
  * two write and two send calls involved.
@@ -69,9 +70,6 @@ class StorageManagerIF;
  *
  * Other important virtual methods with a default implementation
  * are the getTransitionDelayMs() function and the getSwitches() function.
- * Please ensure that getSwitches() returns DeviceHandlerIF::NO_SWITCHES if
- * power switches are not implemented yet. Otherwise, the device handler will
- * not transition to MODE_ON, even if setMode(MODE_ON) is called.
  * If a transition to MODE_ON is desired without commanding, override the
  * intialize() function and call setMode(_MODE_START_UP) before calling
  * DeviceHandlerBase::initialize().
@@ -85,20 +83,18 @@ class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasModesIF,
 		public HasHealthIF,
 		public HasActionsIF,
-		public ReceivesParameterMessagesIF {
+		public ReceivesParameterMessagesIF,
+		public HasLocalDataPoolIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
 	 * The constructor passes the objectId to the SystemObject().
 	 *
 	 * @param setObjectId the ObjectId to pass to the SystemObject() Constructor
-	 * @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
-	 * @param setDeviceSwitch the switch the device is connected to,
-	 * for devices using two switches, overwrite getSwitches()
 	 * @param deviceCommuncation Communcation Interface object which is used
 	 * to implement communication functions
-	 * @param thermalStatePoolId
-	 * @param thermalRequestPoolId
+	 * @param comCookie This object will be passed to the communication inter-
+	 * face and can contain user-defined information about the communication.
 	 * @param fdirInstance
 	 * @param cmdQueueSize
 	 */
@@ -106,8 +102,21 @@ public:
 			CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
 			size_t cmdQueueSize = 20);
 
+	void setHkDestination(object_id_t hkDestination);
 	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId);
+	/**
+	 * @brief   Helper function to ease device handler development.
+	 * This will instruct the transition to MODE_ON immediately
+	 * (leading to doStartUp() being called for the transition to the ON mode),
+	 * so external mode commanding is not necessary anymore.
+	 *
+	 * This has to be called before the task is started!
+	 * (e.g. in the task factory). This is only a helper function for
+	 * development. Regular mode commanding should be performed by commanding
+	 * the AssemblyBase or Subsystem objects resposible for the device handler.
+	 */
+	void setStartUpImmediately();
 
 	/**
 	 * @brief 	This function is the device handler base core component and is
@@ -153,6 +162,14 @@ public:
 	 * @return
 	 */
 	virtual ReturnValue_t initialize();
+
+	/**
+	 * @brief   Intialization steps performed after all tasks have been created.
+	 *          This function will be called by the executing task.
+	 * @return
+	 */
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+
 	/** Destructor. */
 	virtual ~DeviceHandlerBase();
 
@@ -320,6 +337,8 @@ protected:
 	 * @param packet
 	 * @return
 	 *     - @c RETURN_OK when the reply was interpreted.
+	 *     - @c IGNORE_REPLY_DATA Ignore the reply and don't reset reply cycle
+	 *          counter.
 	 *     - @c RETURN_FAILED when the reply could not be interpreted,
 	 *     e.g. logical errors or range violations occurred
 	 */
@@ -347,22 +366,10 @@ protected:
 	 *    set to the maximum expected number of PST cycles between two replies
 	 *    (also a tolerance should be added, as an FDIR message will be
 	 *    generated if it is missed).
-	 *
-	 *    (Robin) This part confuses me. "must do as soon as" implies that
-	 *    the developer must do something somewhere else in the code. Is
-	 *    that really the case? If I understood correctly, DHB performs
-	 *    almost everything (e.g. in erirm function) as long as the commands
-	 *    are inserted correctly.
-	 *
-	 *    As soon as the replies are enabled, DeviceCommandInfo.periodic must
-	 *    be set to true, DeviceCommandInfo.delayCycles to
-	 *    DeviceCommandInfo.maxDelayCycles.
 	 *    From then on, the base class handles the reception.
 	 *    Then, scanForReply returns the id of the reply or the placeholder id
 	 *    and the base class will take care of checking that all replies are
 	 *    received and the interval is correct.
-	 *    When the replies are disabled, DeviceCommandInfo.periodic must be set
-	 *    to 0, DeviceCommandInfo.delayCycles to 0;
 	 *
 	 *  - Aperiodic, unrequested replies. These are replies that are sent
 	 *    by the device without any preceding command and not in a defined
@@ -376,13 +383,17 @@ protected:
 	 * @param deviceCommand	Identifier of the command to add.
 	 * @param maxDelayCycles The maximum number of delay cycles the command
 	 * waits until it times out.
+	 * @param replyLen Will be supplied to the requestReceiveMessage call of
+	 * the communication interface.
 	 * @param periodic	Indicates if the command is periodic (i.e. it is sent
 	 * by the device repeatedly without request) or not. Default is aperiodic (0)
 	 * @return	- @c RETURN_OK when the command was successfully inserted,
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false,
+			uint16_t maxDelayCycles,
+			LocalPoolDataSetBase* replyDataSet = nullptr,
+			size_t replyLen = 0, bool periodic = false,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 
 	/**
@@ -396,7 +407,8 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false);
+			uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
+			size_t replyLen = 0, bool periodic = false);
 
 	/**
 	 * @brief 	A simple command to add a command to the commandList.
@@ -424,6 +436,9 @@ protected:
 			uint16_t delayCycles, uint16_t maxDelayCycles,
 			bool periodic = false);
 
+	ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
+	        LocalPoolDataSetBase* dataset);
+
 	/**
 	 * @brief   Can be implemented by child handler to
 	 *          perform debugging
@@ -477,18 +492,22 @@ protected:
 	 * @param localDataPoolMap
 	 * @return
 	 */
-	//virtual ReturnValue_t initializePoolEntries(
-	//			LocalDataPool& localDataPoolMap) override;
+	virtual ReturnValue_t initializeLocalDataPool(LocalDataPool& localDataPoolMap,
+				LocalDataPoolManager& poolManager) override;
 
 	/** Get the HK manager object handle */
-	//virtual LocalDataPoolManager* getHkManagerHandle() override;
+	virtual LocalDataPoolManager* getHkManagerHandle() override;
 
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.
 	 */
 	virtual void performOperationHook();
+
 public:
+	/** Explicit interface implementation of getObjectId */
+	virtual object_id_t getObjectId() const override;
+
 	/**
 	 * @param parentQueueId
 	 */
@@ -608,7 +627,7 @@ protected:
 	/** Action helper for HasActionsIF */
 	ActionHelper actionHelper;
 	/** Housekeeping Manager */
-	//LocalDataPoolManager hkManager;
+	LocalDataPoolManager hkManager;
 
 	/**
 	 *  @brief Information about commands
@@ -647,7 +666,7 @@ protected:
 		//! The dataset used to access housekeeping data related to the
 		//! respective device reply. Will point to a dataset held by
 		//! the child handler (if one is specified)
-		// DataSetIF* dataSet = nullptr;
+		LocalPoolDataSetBase* dataSet;
 		//! The command that expects this reply.
 		DeviceCommandMap::iterator command;
 	};
@@ -689,14 +708,18 @@ protected:
 	uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
 
 	/**
-	 * Optional Error code
-	 * Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
+	 * Optional Error code. Can be set in doStartUp(), doShutDown() and
+	 * doTransition() to signal cause for Transition failure.
 	 */
 	ReturnValue_t childTransitionFailure;
 
-	uint32_t ignoreMissedRepliesCount = 0; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
+	/** Counts if communication channel lost a reply, so some missed
+	 * replys can be ignored. */
+	uint32_t ignoreMissedRepliesCount = 0;
 
-	FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
+	/** Pointer to the used FDIR instance. If not provided by child,
+	 * default class is instantiated. */
+	FailureIsolationBase* fdirInstance;
 
 	HkSwitchHelper hkSwitcher;
 
@@ -944,14 +967,17 @@ protected:
 
 	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
 			uint32_t *msToReachTheMode);
-	virtual void startTransition(Mode_t mode, Submode_t submode);
-	virtual void setToExternalControl();
-	virtual void announceMode(bool recursive);
+
+	/* HasModesIF overrides */
+	virtual void startTransition(Mode_t mode, Submode_t submode) override;
+	virtual void setToExternalControl() override;
+	virtual void announceMode(bool recursive) override;
 
 	virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
 
 	/**
-	 * Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper" faster about executed events.
+	 * Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper"
+	 * faster about executed events.
 	 * This is a bit sneaky, but improves responsiveness of the device FDIR.
 	 * @param event	The event to be thrown
 	 * @param parameter1	Optional parameter 1
@@ -1034,12 +1060,17 @@ private:
 	/** the object used to set power switches */
 	PowerSwitchIF *powerSwitcher = nullptr;
 
+	/** HK destination can also be set individually */
+	object_id_t hkDestination = objects::NO_OBJECT;
+
 	/**
 	 * @brief   Used for timing out mode transitions.
 	 * Set when setMode() is called.
 	 */
 	uint32_t timeoutStart = 0;
 
+	bool setStartupImmediately = false;
+
 	/**
 	 * Delay for the current mode transition, used for time out
 	 */
@@ -1080,11 +1111,6 @@ private:
 	void buildRawDeviceCommand(CommandMessage* message);
 	void buildInternalCommand(void);
 
-//	/**
-//	 * Send a reply with the current mode and submode.
-//	 */
-//	void announceMode(void);
-
 	/**
 	 * Decrement the counter for the timout of replies.
 	 *
@@ -1111,10 +1137,14 @@ private:
 	/**
 	 * Build and send a command to the device.
 	 *
-	 * This routine checks whether a raw or direct command has been received, checks the content of the received command and
-	 * calls buildCommandFromCommand() for direct commands or sets #rawpacket to the received raw packet.
-	 * If no external command is received or the received command is invalid and the current mode is @c MODE_NORMAL or a transitional mode,
-	 * it asks the child class to build a command (via getNormalDeviceCommand() or getTransitionalDeviceCommand() and buildCommand()) and
+	 * This routine checks whether a raw or direct command has been received,
+	 * checks the content of the received command and calls
+	 * buildCommandFromCommand() for direct commands or sets #rawpacket
+	 * to the received raw packet.
+	 * If no external command is received or the received command is invalid and
+	 * the current mode is @c MODE_NORMAL or a transitional mode, it asks the
+	 * child class to build a command (via getNormalDeviceCommand() or
+	 * getTransitionalDeviceCommand() and buildCommand()) and
 	 * sends the command via RMAP.
 	 */
 	void doSendWrite(void);
@@ -1159,7 +1189,6 @@ private:
 	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
 			uint32_t *len);
 
-
 	/**
 	 * @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
 	 */
@@ -1170,25 +1199,14 @@ private:
 	 */
 	void callChildStatemachine();
 
-	/**
-	 * Switches the channel of the cookie used for the communication
-	 *
-	 *
-	 * @param newChannel the object Id of the channel to switch to
-	 * @return
-	 *     - @c RETURN_OK when cookie was changed
-	 *     - @c RETURN_FAILED when cookies could not be changed, eg because the newChannel is not enabled
-	 *     - @c returnvalues of RMAPChannelIF::isActive()
-	 */
-	ReturnValue_t switchCookieChannel(object_id_t newChannelId);
-
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
 
-	virtual ReturnValue_t initializeAfterTaskCreation() override;
+	virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
-	void parseReply(const uint8_t* receivedData,
-	            size_t receivedDataLen);
+    virtual dur_millis_t getPeriodicOperationFrequency() const override;
+
+    void parseReply(const uint8_t* receivedData,
+                size_t receivedDataLen);
 };
 
-#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
-
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 9fbe71d8..24fe15a0 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -247,6 +247,14 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(
 		}
 		return true;
 	}
+
+	if (owner == nullptr) {
+	    // Configuration error.
+	    sif::error << "DeviceHandlerFailureIsolation::"
+	            << "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl;
+	    return false;
+	}
+
 	if (owner->getHealth() == HasHealthIF::FAULTY
 			|| owner->getHealth() == HasHealthIF::PERMANENT_FAULTY) {
 		//Ignore all events in case device is already faulty.
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 52a3be4d..9c8eb098 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -1,12 +1,19 @@
-#ifndef DEVICEHANDLERIF_H_
-#define DEVICEHANDLERIF_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
+
+#include "DeviceHandlerMessage.h"
 
 #include "../action/HasActionsIF.h"
-#include "DeviceHandlerMessage.h"
 #include "../events/Event.h"
 #include "../modes/HasModesIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 
+/**
+ * This is used to uniquely identify commands that are sent to a device
+ * The values are defined in the device-specific implementations
+ */
+using DeviceCommandId_t = uint32_t;
+
 /**
  * @brief 	This is the Interface used to communicate with a device handler.
  * @details Includes all expected return values, events and modes.
@@ -15,6 +22,7 @@
 class DeviceHandlerIF {
 public:
 
+
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
@@ -47,6 +55,8 @@ public:
 	//! This is a transitional state which can not be commanded.
 	//! The device handler performs all actions and commands to get the device
 	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
+	//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+	//! transition if available.
 	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
 	//! It is possible to set the mode to _MODE_TO_ON to use the to on
 	//! transition if available.
@@ -96,7 +106,7 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
 	// Standard codes used when building commands.
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
 	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
 	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
 	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
@@ -150,4 +160,4 @@ public:
 
 };
 
-#endif /* DEVICEHANDLERIF_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */
diff --git a/devicehandlers/DeviceHandlerMessage.cpp b/devicehandlers/DeviceHandlerMessage.cpp
index 564fae21..cb9043db 100644
--- a/devicehandlers/DeviceHandlerMessage.cpp
+++ b/devicehandlers/DeviceHandlerMessage.cpp
@@ -1,10 +1,6 @@
-#include "../objectmanager/ObjectManagerIF.h"
 #include "DeviceHandlerMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
-DeviceHandlerMessage::DeviceHandlerMessage() {
-}
-
 store_address_t DeviceHandlerMessage::getStoreAddress(
 		const CommandMessage* message) {
 	return store_address_t(message->getParameter2());
@@ -25,14 +21,6 @@ uint8_t DeviceHandlerMessage::getWiretappingMode(
 	return message->getParameter();
 }
 
-//void DeviceHandlerMessage::setDeviceHandlerDirectCommandMessage(
-//		CommandMessage* message, DeviceCommandId_t deviceCommand,
-//		store_address_t commandParametersStoreId) {
-//	message->setCommand(CMD_DIRECT);
-//	message->setParameter(deviceCommand);
-//	message->setParameter2(commandParametersStoreId.raw);
-//}
-
 void DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(
 		CommandMessage* message, store_address_t rawPacketStoreId) {
 	message->setCommand(CMD_RAW);
@@ -47,7 +35,7 @@ void DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(
 
 void DeviceHandlerMessage::setDeviceHandlerSwitchIoBoardMessage(
 		CommandMessage* message, uint32_t ioBoardIdentifier) {
-	message->setCommand(CMD_SWITCH_IOBOARD);
+	message->setCommand(CMD_SWITCH_ADDRESS);
 	message->setParameter(ioBoardIdentifier);
 }
 
@@ -79,18 +67,17 @@ void DeviceHandlerMessage::setDeviceHandlerDirectCommandReply(
 void DeviceHandlerMessage::clear(CommandMessage* message) {
 	switch (message->getCommand()) {
 	case CMD_RAW:
-//	case CMD_DIRECT:
 	case REPLY_RAW_COMMAND:
 	case REPLY_RAW_REPLY:
 	case REPLY_DIRECT_COMMAND_DATA: {
 		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
 				objects::IPC_STORE);
-		if (ipcStore != NULL) {
+		if (ipcStore != nullptr) {
 			ipcStore->deleteData(getStoreAddress(message));
 		}
 	}
 		/* NO BREAK falls through*/
-	case CMD_SWITCH_IOBOARD:
+	case CMD_SWITCH_ADDRESS:
 	case CMD_WIRETAPPING:
 		message->setCommand(CommandMessage::CMD_NONE);
 		message->setParameter(0);
diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h
index 8d1c94f4..e5da01c8 100644
--- a/devicehandlers/DeviceHandlerMessage.h
+++ b/devicehandlers/DeviceHandlerMessage.h
@@ -1,69 +1,56 @@
-#ifndef DEVICEHANDLERMESSAGE_H_
-#define DEVICEHANDLERMESSAGE_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
 
 #include "../action/ActionMessage.h"
 #include "../ipc/CommandMessage.h"
 #include "../objectmanager/SystemObjectIF.h"
 #include "../storagemanager/StorageManagerIF.h"
-//SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID.
+// SHOULDDO: rework the static constructors to name the type of command
+// they are building, maybe even hide setting the commandID.
+
 
 /**
- * This is used to uniquely identify commands that are sent to a device
- *
- * The values are defined in the device-specific implementations
- */
-typedef uint32_t DeviceCommandId_t;
-
-/**
- * The DeviceHandlerMessage is used to send Commands to a DeviceHandlerIF
+ * @brief   The DeviceHandlerMessage is used to send commands to classes
+ *          implementing DeviceHandlerIF
  */
 class DeviceHandlerMessage {
-private:
-	DeviceHandlerMessage();
 public:
+    /**
+     * Instantiation forbidden. Instead, use static functions to operate
+     * on messages.
+     */
+	DeviceHandlerMessage() = delete;
+	virtual ~DeviceHandlerMessage() {}
 
 	/**
 	 * These are the commands that can be sent to a DeviceHandlerBase
 	 */
 	static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
-	static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
-//	static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
-	static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
-	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID( 4 ); //!< (De)Activates the monitoring of all raw traffic in DeviceHandlers, setParameter is 0 to deactivate, 1 to activate
+	//! Sends a raw command, setParameter is a storeId containing the
+	//! raw packet to send
+	static const Command_t CMD_RAW = MAKE_COMMAND_ID(1);
+	//! Requests a IO-Board switch, setParameter() is the IO-Board identifier
+	static const Command_t CMD_SWITCH_ADDRESS = MAKE_COMMAND_ID(3);
+	//! (De)Activates the monitoring of all raw traffic in DeviceHandlers,
+	//! setParameter is 0 to deactivate, 1 to activate
+	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID(4);
 
-	/*static const Command_t REPLY_SWITCHED_IOBOARD = MAKE_COMMAND_ID(1 );//!< Reply to a @c CMD_SWITCH_IOBOARD, indicates switch was successful, getParameter() contains the board switched to (0: nominal, 1: redundant)
-	 static const Command_t REPLY_CANT_SWITCH_IOBOARD = MAKE_COMMAND_ID( 2);	//!< Reply to a @c CMD_SWITCH_IOBOARD, indicating the switch could not be performed, getParameter() contains the error message
-	 static const Command_t REPLY_WIRETAPPING = MAKE_COMMAND_ID( 3);	//!< Reply to a @c CMD_WIRETAPPING, getParameter() is the current state, 1 enabled, 0 disabled
-
-	 static const Command_t REPLY_COMMAND_WAS_SENT = MAKE_COMMAND_ID(4 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was successfully sent to the device, getParameter() contains the ::DeviceCommandId_t
-	 static const Command_t REPLY_COMMAND_NOT_SUPPORTED = MAKE_COMMAND_ID(5 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t is not supported, getParameter() contains the requested ::DeviceCommand_t, getParameter2() contains the ::DeviceCommandId_t
-	 static const Command_t REPLY_COMMAND_WAS_NOT_SENT = MAKE_COMMAND_ID(6 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was not sent, getParameter contains the RMAP Return code (@see rmap.h), getParameter2() contains the ::DeviceCommandId_t
-
-	 static const Command_t REPLY_COMMAND_ALREADY_SENT = MAKE_COMMAND_ID(7 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t has already been sent to the device and not ye been answered
-	 static const Command_t REPLY_WRONG_MODE_FOR_CMD = MAKE_COMMAND_ID(8 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates that the requested command can not be sent in the curent mode, getParameter() contains the DeviceHandlerCommand_t
-	 static const Command_t REPLY_NO_DATA = MAKE_COMMAND_ID(9 );	//!< Reply to a CMD_RAW or @c CMD_DIRECT, indicates that the ::store_id_t was invalid, getParameter() contains the ::DeviceCommandId_t, getPrameter2() contains the error code
-	 */
-	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS; //!< Signals that a direct command was sent
-	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11 ); //!< Contains a raw command sent to the Device
-	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID( 0x12); //!< Contains a raw reply from the Device, getParameter() is the ObjcetId of the sender, getParameter2() is a ::store_id_t containing the raw packet received
+	//! Signals that a direct command was sent
+	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS;
+	//! Contains a raw command sent to the Device
+	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11);
+	//! Contains a raw reply from the Device, getParameter() is the ObjcetId
+	//! of the sender, getParameter2() is a ::store_id_t containing the
+	//! raw packet received
+	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID(0x12);
 	static const Command_t REPLY_DIRECT_COMMAND_DATA = ActionMessage::DATA_REPLY;
 
-	/**
-	 * Default Destructor
-	 */
-	virtual ~DeviceHandlerMessage() {
-	}
-
 	static store_address_t getStoreAddress(const CommandMessage* message);
 	static uint32_t getDeviceCommandId(const CommandMessage* message);
 	static object_id_t getDeviceObjectId(const CommandMessage *message);
 	static object_id_t getIoBoardObjectId(const CommandMessage* message);
 	static uint8_t getWiretappingMode(const CommandMessage* message);
 
-//	static void setDeviceHandlerDirectCommandMessage(CommandMessage* message,
-//			DeviceCommandId_t deviceCommand,
-//			store_address_t commandParametersStoreId);
-
 	static void setDeviceHandlerDirectCommandReply(CommandMessage* message,
 			object_id_t deviceObjectid,
 			store_address_t commandParametersStoreId);
@@ -75,11 +62,6 @@ public:
 			object_id_t deviceObjectid, store_address_t rawPacketStoreId,
 			bool isCommand);
 
-//	static void setDeviceHandlerMessage(CommandMessage* message,
-//			Command_t command, DeviceCommandId_t deviceCommand,
-//			store_address_t commandParametersStoreId);
-//	static void setDeviceHandlerMessage(CommandMessage* message,
-//			Command_t command, store_address_t rawPacketStoreId);
 	static void setDeviceHandlerWiretappingMessage(CommandMessage* message,
 			uint8_t wiretappingMode);
 	static void setDeviceHandlerSwitchIoBoardMessage(CommandMessage* message,
@@ -88,4 +70,4 @@ public:
 	static void clear(CommandMessage* message);
 };
 
-#endif /* DEVICEHANDLERMESSAGE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_ */
diff --git a/devicehandlers/DeviceTmReportingWrapper.cpp b/devicehandlers/DeviceTmReportingWrapper.cpp
index 84f926f0..c70f57d6 100644
--- a/devicehandlers/DeviceTmReportingWrapper.cpp
+++ b/devicehandlers/DeviceTmReportingWrapper.cpp
@@ -1,4 +1,3 @@
-#include "../serialize/SerializeAdapter.h"
 #include "DeviceTmReportingWrapper.h"
 #include "../serialize/SerializeAdapter.h"
 
diff --git a/devicehandlers/DeviceTmReportingWrapper.h b/devicehandlers/DeviceTmReportingWrapper.h
index a14c4261..447e95f2 100644
--- a/devicehandlers/DeviceTmReportingWrapper.h
+++ b/devicehandlers/DeviceTmReportingWrapper.h
@@ -1,5 +1,5 @@
-#ifndef DEVICETMREPORTINGWRAPPER_H_
-#define DEVICETMREPORTINGWRAPPER_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
+#define FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 
 #include "../action/HasActionsIF.h"
 #include "../objectmanager/SystemObjectIF.h"
@@ -24,4 +24,4 @@ private:
 	SerializeIF *data;
 };
 
-#endif /* DEVICETMREPORTINGWRAPPER_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_ */
diff --git a/devicehandlers/HealthDevice.cpp b/devicehandlers/HealthDevice.cpp
index b15e5d2b..418ed257 100644
--- a/devicehandlers/HealthDevice.cpp
+++ b/devicehandlers/HealthDevice.cpp
@@ -13,10 +13,10 @@ HealthDevice::~HealthDevice() {
 }
 
 ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	CommandMessage command;
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		healthHelper.handleHealthCommand(&message);
+		healthHelper.handleHealthCommand(&command);
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/devicehandlers/HealthDevice.h b/devicehandlers/HealthDevice.h
index 53b0ab09..738f0c7e 100644
--- a/devicehandlers/HealthDevice.h
+++ b/devicehandlers/HealthDevice.h
@@ -1,5 +1,5 @@
-#ifndef HEALTHDEVICE_H_
-#define HEALTHDEVICE_H_
+#ifndef FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_
+#define FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_
 
 #include "../health/HasHealthIF.h"
 #include "../health/HealthHelper.h"
@@ -37,4 +37,4 @@ public:
 	HealthHelper healthHelper;
 };
 
-#endif /* HEALTHDEVICE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_ */

From dbcd06527ef728c2620c4141eab58bbf40994339 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 12 Oct 2020 18:28:07 +0200
Subject: [PATCH 424/653] separate step for performOp now

---
 devicehandlers/DeviceHandlerBase.cpp | 39 ++++++++++++++++++----------
 devicehandlers/DeviceHandlerBase.h   |  3 ++-
 devicehandlers/DeviceHandlerIF.h     |  3 ++-
 3 files changed, 29 insertions(+), 16 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 227d5b6d..d67e47d8 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -72,8 +72,13 @@ DeviceHandlerBase::~DeviceHandlerBase() {
 
 ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 	this->pstStep = counter;
+	this->lastStep = this->pstStep;
 
-	if (getComAction() == SEND_WRITE) {
+	if (getComAction() == CommunicationAction::NOTHING) {
+	    return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	if (getComAction() == CommunicationAction::PERFORM_OPERATION) {
 		cookieInfo.state = COOKIE_UNUSED;
 		readCommandQueue();
 		doStateMachine();
@@ -83,26 +88,29 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		hkSwitcher.performOperation();
 		hkManager.performHkOperation();
 		performOperationHook();
+		return RETURN_OK;
 	}
+
 	if (mode == MODE_OFF) {
 		return RETURN_OK;
 	}
+
 	switch (getComAction()) {
-	case SEND_WRITE:
-		if ((cookieInfo.state == COOKIE_UNUSED)) {
+	case CommunicationAction::SEND_WRITE:
+		if (cookieInfo.state == COOKIE_UNUSED) {
+		    // if no external command was specified, build internal command.
 			buildInternalCommand();
 		}
 		doSendWrite();
 		break;
-	case GET_WRITE:
+	case CommunicationAction::GET_WRITE:
 		doGetWrite();
 		break;
-	case SEND_READ:
+	case CommunicationAction::SEND_READ:
 		doSendRead();
 		break;
-	case GET_READ:
+	case CommunicationAction::GET_READ:
 		doGetRead();
-		cookieInfo.state = COOKIE_UNUSED;
 		break;
 	default:
 		break;
@@ -821,24 +829,27 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
 }
 
 //Default child implementations
-DeviceHandlerIF::CommunicationAction_t DeviceHandlerBase::getComAction() {
+DeviceHandlerIF::CommunicationAction DeviceHandlerBase::getComAction() {
 	switch (pstStep) {
 	case 0:
-		return SEND_WRITE;
+		return CommunicationAction::PERFORM_OPERATION;
 		break;
 	case 1:
-		return GET_WRITE;
-		break;
+	    return CommunicationAction::SEND_WRITE;
+	    break;
 	case 2:
-		return SEND_READ;
+		return CommunicationAction::GET_WRITE;
 		break;
 	case 3:
-		return GET_READ;
+		return CommunicationAction::SEND_READ;
+		break;
+	case 4:
+		return CommunicationAction::GET_READ;
 		break;
 	default:
 		break;
 	}
-	return NOTHING;
+	return CommunicationAction::NOTHING;
 }
 
 MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index eda318cb..627a6423 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -577,6 +577,7 @@ protected:
 
 	/** This is the counter value from performOperation(). */
 	uint8_t pstStep = 0;
+	uint8_t lastStep = 0;
 	uint32_t pstIntervalMs = 0;
 
 	/**
@@ -841,7 +842,7 @@ protected:
 	 * @return The Rmap action to execute in this step
 	 */
 
-	virtual CommunicationAction_t getComAction();
+	virtual CommunicationAction getComAction();
 
 	/**
 	 * Build the device command to send for raw mode.
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 9c8eb098..088c1b45 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -139,7 +139,8 @@ public:
 	 *
 	 * This is used by the child class to tell the base class what to do.
 	 */
-	enum CommunicationAction_t: uint8_t {
+	enum CommunicationAction: uint8_t {
+	    PERFORM_OPERATION,
 		SEND_WRITE,//!< Send write
 		GET_WRITE, //!< Get write
 		SEND_READ, //!< Send read

From 73215baf118066c2eb5278416f302216a243cd9d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 15 Oct 2020 13:43:23 +0200
Subject: [PATCH 425/653] init commit

---
 storagemanager/ConstStorageAccessor.h |   2 -
 storagemanager/LocalPool.cpp          | 346 ++++++++++++++++++++++++++
 storagemanager/LocalPool.h            | 233 ++++++++++-------
 storagemanager/PoolManager.cpp        |  59 +++++
 storagemanager/PoolManager.h          |  41 ++-
 storagemanager/StorageAccessor.h      |   2 -
 storagemanager/StorageManagerIF.h     |  23 +-
 storagemanager/storeAddress.h         |  13 +-
 8 files changed, 612 insertions(+), 107 deletions(-)
 create mode 100644 storagemanager/LocalPool.cpp
 create mode 100644 storagemanager/PoolManager.cpp

diff --git a/storagemanager/ConstStorageAccessor.h b/storagemanager/ConstStorageAccessor.h
index 96d2dca2..570c20ce 100644
--- a/storagemanager/ConstStorageAccessor.h
+++ b/storagemanager/ConstStorageAccessor.h
@@ -20,9 +20,7 @@ class StorageManagerIF;
  */
 class ConstStorageAccessor {
 	//! StorageManager classes have exclusive access to private variables.
-	template<uint8_t NUMBER_OF_POOLS>
 	friend class PoolManager;
-	template<uint8_t NUMBER_OF_POOLS>
 	friend class LocalPool;
 public:
 	/**
diff --git a/storagemanager/LocalPool.cpp b/storagemanager/LocalPool.cpp
new file mode 100644
index 00000000..8e5f4d48
--- /dev/null
+++ b/storagemanager/LocalPool.cpp
@@ -0,0 +1,346 @@
+#include "LocalPool.h"
+#include <cstring>
+
+LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
+		bool registered, bool spillsToHigherPools):
+		SystemObject(setObjectId, registered),
+		NUMBER_OF_POOLS(poolConfig.size()),
+		spillsToHigherPools(spillsToHigherPools) {
+	if(NUMBER_OF_POOLS == 0) {
+		sif::error << "LocalPool::LocalPool: Passed pool configuration is "
+				<< " invalid!" << std::endl;
+	}
+	max_pools_t index = 0;
+	for (const auto& currentPoolConfig: poolConfig) {
+		this->numberOfElements[index] = currentPoolConfig.first;
+		this->elementSizes[index] = currentPoolConfig.second;
+		store[index] = std::vector<uint8_t>(
+				numberOfElements[index] * elementSizes[index]);
+		sizeLists[index] = std::vector<size_type>(numberOfElements[index]);
+		for(auto& size: sizeLists[index]) {
+			size = STORAGE_FREE;
+		}
+		index++;
+	}
+}
+
+LocalPool::~LocalPool(void) {}
+
+
+ReturnValue_t LocalPool::addData(store_address_t* storageId,
+        const uint8_t* data, size_t size, bool ignoreFault) {
+    ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+    if (status == RETURN_OK) {
+        write(*storageId, data, size);
+    }
+    return status;
+}
+
+ReturnValue_t LocalPool::getData(store_address_t packetId,
+        const uint8_t **packetPtr, size_t *size) {
+    uint8_t* tempData = nullptr;
+    ReturnValue_t status = modifyData(packetId, &tempData, size);
+    *packetPtr = tempData;
+    return status;
+}
+
+ReturnValue_t LocalPool::getData(store_address_t storeId,
+        ConstStorageAccessor& storeAccessor) {
+    uint8_t* tempData = nullptr;
+    ReturnValue_t status = modifyData(storeId, &tempData,
+            &storeAccessor.size_);
+    storeAccessor.assignStore(this);
+    storeAccessor.constDataPointer = tempData;
+    return status;
+}
+
+ConstAccessorPair LocalPool::getData(store_address_t storeId) {
+    uint8_t* tempData = nullptr;
+    ConstStorageAccessor constAccessor(storeId, this);
+    ReturnValue_t status = modifyData(storeId, &tempData, &constAccessor.size_);
+    constAccessor.constDataPointer = tempData;
+    return ConstAccessorPair(status, std::move(constAccessor));
+}
+
+ReturnValue_t LocalPool::getFreeElement(store_address_t *storageId,
+        const size_t size, uint8_t **pData, bool ignoreFault) {
+    ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
+    if (status == RETURN_OK) {
+        *pData = &store[storageId->poolIndex][getRawPosition(*storageId)];
+    }
+    else {
+        *pData = nullptr;
+    }
+    return status;
+}
+
+
+AccessorPair LocalPool::modifyData(store_address_t storeId) {
+    StorageAccessor accessor(storeId, this);
+    ReturnValue_t status = modifyData(storeId, &accessor.dataPointer,
+            &accessor.size_);
+    accessor.assignConstPointer();
+    return AccessorPair(status, std::move(accessor));
+}
+
+ReturnValue_t LocalPool::modifyData(store_address_t storeId,
+        StorageAccessor& storeAccessor) {
+    storeAccessor.assignStore(this);
+    ReturnValue_t status = modifyData(storeId, &storeAccessor.dataPointer,
+            &storeAccessor.size_);
+    storeAccessor.assignConstPointer();
+    return status;
+}
+
+ReturnValue_t LocalPool::modifyData(store_address_t storeId,
+        uint8_t **packetPtr, size_t *size) {
+    ReturnValue_t status = RETURN_FAILED;
+    if (storeId.poolIndex >= NUMBER_OF_POOLS) {
+        return ILLEGAL_STORAGE_ID;
+    }
+    if ((storeId.packetIndex >= numberOfElements[storeId.poolIndex])) {
+        return ILLEGAL_STORAGE_ID;
+    }
+
+    if (sizeLists[storeId.poolIndex][storeId.packetIndex]
+            != STORAGE_FREE) {
+        size_type packetPosition = getRawPosition(storeId);
+        *packetPtr = &store[storeId.poolIndex][packetPosition];
+        *size = sizeLists[storeId.poolIndex][storeId.packetIndex];
+        status = RETURN_OK;
+    }
+    else {
+        status = DATA_DOES_NOT_EXIST;
+    }
+    return status;
+}
+
+ReturnValue_t LocalPool::deleteData(store_address_t storeId) {
+#if FSFW_DEBUGGING == 1
+      sif::debug << "Delete: Pool: " << std::dec << storeId.poolIndex
+              << " Index: " << storeId.packetIndex << std::endl;
+
+#endif
+    ReturnValue_t status = RETURN_OK;
+    size_type pageSize = getPageSize(storeId.poolIndex);
+    if ((pageSize != 0) and
+            (storeId.packetIndex < numberOfElements[storeId.poolIndex])) {
+        uint16_t packetPosition = getRawPosition(storeId);
+        uint8_t* ptr = &store[storeId.poolIndex][packetPosition];
+        std::memset(ptr, 0, pageSize);
+        //Set free list
+        sizeLists[storeId.poolIndex][storeId.packetIndex] = STORAGE_FREE;
+    }
+    else {
+        //pool_index or packet_index is too large
+        sif::error << "LocalPool::deleteData: Illegal store ID, no deletion!"
+        		<< std::endl;
+        status = ILLEGAL_STORAGE_ID;
+    }
+    return status;
+}
+
+ReturnValue_t LocalPool::deleteData(uint8_t *ptr, size_t size,
+        store_address_t *storeId) {
+    store_address_t localId;
+    ReturnValue_t result = ILLEGAL_ADDRESS;
+    for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
+        //Not sure if new allocates all stores in order. so better be careful.
+        if ((store[n].data() <= ptr) and
+        		(&store[n][numberOfElements[n]*elementSizes[n]] > ptr)) {
+            localId.poolIndex = n;
+            uint32_t deltaAddress = ptr - store[n].data();
+            // Getting any data from the right "block" is ok.
+            // This is necessary, as IF's sometimes don't point to the first
+            // element of an object.
+            localId.packetIndex = deltaAddress / elementSizes[n];
+            result = deleteData(localId);
+#if FSFW_DEBUGGING == 1
+            if (deltaAddress % elementSizes[n] != 0) {
+                sif::error << "LocalPool::deleteData: Address not aligned!"
+                        << std::endl;
+            }
+#endif
+            break;
+        }
+    }
+    if (storeId != nullptr) {
+        *storeId = localId;
+    }
+    return result;
+}
+
+
+ReturnValue_t LocalPool::initialize() {
+    ReturnValue_t result = SystemObject::initialize();
+    if (result != RETURN_OK) {
+        return result;
+    }
+    internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+            objects::INTERNAL_ERROR_REPORTER);
+    if (internalErrorReporter == nullptr){
+        return ObjectManagerIF::INTERNAL_ERR_REPORTER_UNINIT;
+    }
+
+    //Check if any pool size is large than the maximum allowed.
+    for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
+        if (elementSizes[count] >= STORAGE_FREE) {
+            sif::error << "LocalPool::initialize: Pool is too large! "
+                    "Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
+            return StorageManagerIF::POOL_TOO_LARGE;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void LocalPool::clearStore() {
+    for(auto& sizeList: sizeLists) {
+        for(auto& size: sizeList) {
+            size = STORAGE_FREE;
+        }
+//        std::memset(sizeList[index], 0xff,
+//                numberOfElements[index] * sizeof(size_type));
+    }
+
+}
+
+ReturnValue_t LocalPool::reserveSpace(const size_t size,
+        store_address_t *storeId, bool ignoreFault) {
+    ReturnValue_t status = getPoolIndex(size, &storeId->poolIndex);
+    if (status != RETURN_OK) {
+        sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec
+                << " )::reserveSpace: Packet too large." << std::endl;
+        return status;
+    }
+    status = findEmpty(storeId->poolIndex, &storeId->packetIndex);
+    while (status != RETURN_OK && spillsToHigherPools) {
+        status = getPoolIndex(size, &storeId->poolIndex, storeId->poolIndex + 1);
+        if (status != RETURN_OK) {
+            //We don't find any fitting pool anymore.
+            break;
+        }
+        status = findEmpty(storeId->poolIndex, &storeId->packetIndex);
+    }
+    if (status == RETURN_OK) {
+#if FSFW_DEBUGGING == 1
+        sif::debug << "Reserve: Pool: " << std::dec
+                << storeId->poolIndex << " Index: " << storeId->packetIndex
+                << std::endl;
+#endif
+        sizeLists[storeId->poolIndex][storeId->packetIndex] = size;
+    }
+    else {
+        if ((not ignoreFault) and (internalErrorReporter != nullptr)) {
+            internalErrorReporter->storeFull();
+        }
+    }
+    return status;
+}
+
+void LocalPool::write(store_address_t storeId, const uint8_t *data,
+        size_t size) {
+    uint8_t* ptr = nullptr;
+    size_type packetPosition = getRawPosition(storeId);
+
+    // Size was checked before calling this function.
+    ptr = &store[storeId.poolIndex][packetPosition];
+    std::memcpy(ptr, data, size);
+    sizeLists[storeId.poolIndex][storeId.packetIndex] = size;
+}
+
+LocalPool::size_type LocalPool::getPageSize(max_pools_t poolIndex) {
+    if (poolIndex < NUMBER_OF_POOLS) {
+        return elementSizes[poolIndex];
+    }
+    else {
+        return 0;
+    }
+}
+
+void LocalPool::setToSpillToHigherPools(bool enable) {
+	this->spillsToHigherPools = enable;
+}
+
+ReturnValue_t LocalPool::getPoolIndex(size_t packetSize, uint16_t *poolIndex,
+        uint16_t startAtIndex) {
+    for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
+#if FSFW_DEBUGGING == 1
+        sif::debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: "
+             << n << ", Element Size: " << elementSizes[n] << std::endl;
+#endif
+        if (elementSizes[n] >= packetSize) {
+            *poolIndex = n;
+            return RETURN_OK;
+        }
+    }
+    return DATA_TOO_LARGE;
+}
+
+LocalPool::size_type LocalPool::getRawPosition(store_address_t storeId) {
+    return storeId.packetIndex * elementSizes[storeId.poolIndex];
+}
+
+ReturnValue_t LocalPool::findEmpty(n_pool_elem_t poolIndex, uint16_t *element) {
+    ReturnValue_t status = DATA_STORAGE_FULL;
+    for (uint16_t foundElement = 0; foundElement < numberOfElements[poolIndex];
+            foundElement++) {
+        if (sizeLists[poolIndex][foundElement] == STORAGE_FREE) {
+            *element = foundElement;
+            status = RETURN_OK;
+            break;
+        }
+    }
+    return status;
+}
+
+size_t LocalPool::getTotalSize(size_t* additionalSize) {
+    size_t totalSize = 0;
+    size_t sizesSize = 0;
+    for(uint8_t idx = 0; idx < NUMBER_OF_POOLS; idx ++) {
+        totalSize += elementSizes[idx] * numberOfElements[idx];
+        sizesSize += numberOfElements[idx] * sizeof(size_type);
+    }
+    if(additionalSize != nullptr) {
+        *additionalSize = sizesSize;
+    }
+    return totalSize;
+}
+
+void LocalPool::getFillCount(uint8_t *buffer, uint8_t *bytesWritten) {
+	if(bytesWritten == nullptr or buffer == nullptr) {
+		return;
+	}
+
+	uint16_t reservedHits = 0;
+	uint8_t idx = 0;
+	uint16_t sum = 0;
+	for(; idx < NUMBER_OF_POOLS; idx ++) {
+		for(const auto& size: sizeLists[idx]) {
+			if(size != STORAGE_FREE) {
+				reservedHits++;
+			}
+		}
+		buffer[idx] = static_cast<float>(reservedHits) /
+				numberOfElements[idx] * 100;
+		*bytesWritten += 1;
+		sum += buffer[idx];
+		reservedHits = 0;
+	}
+	buffer[idx] = sum / NUMBER_OF_POOLS;
+	*bytesWritten += 1;
+}
+
+
+void LocalPool::clearPage(max_pools_t  pageIndex) {
+	if(pageIndex >= NUMBER_OF_POOLS) {
+		return;
+	}
+
+	// Mark the storage as free
+	for(auto& size: sizeLists[pageIndex]) {
+		size = STORAGE_FREE;
+	}
+
+	// Set all the page content to 0.
+	std::memset(store[pageIndex].data(), 0, elementSizes[pageIndex]);
+}
diff --git a/storagemanager/LocalPool.h b/storagemanager/LocalPool.h
index 3a94c03d..db771152 100644
--- a/storagemanager/LocalPool.h
+++ b/storagemanager/LocalPool.h
@@ -7,57 +7,93 @@
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../internalError/InternalErrorReporterIF.h"
 #include "../storagemanager/StorageAccessor.h"
-#include <cstring>
+
+#include <vector>
+#include <set>
+#include <utility>
+#include <limits>
 
 
 /**
- * @brief	The LocalPool class provides an intermediate data storage with
- * 			a fixed pool size policy.
- * @details	The class implements the StorageManagerIF interface. While the
- * 			total number of pools is fixed, the element sizes in one pool and
- * 			the number of pool elements per pool are set on construction.
- * 			The full amount of memory is allocated on construction.
- * 			The overhead is 4 byte per pool element to store the size
- * 			information of each stored element.
- * 			To maintain an "empty" information, the pool size is limited to
- * 			0xFFFF-1 bytes.
- * 			It is possible to store empty packets in the pool.
- * 			The local pool is NOT thread-safe.
- * @author 	Bastian Baetz
+ * @brief   The LocalPool class provides an intermediate data storage with
+ *          a fixed pool size policy.
+ * @details
+ * The class implements the StorageManagerIF interface. While the total number
+ * of pools is fixed, the element sizes in one pool and the number of pool
+ * elements per pool are set on construction. The full amount of memory is
+ * allocated on construction.
+ * The overhead is 4 byte per pool element to store the size information of
+ * each stored element. To maintain an "empty" information, the pool size is
+ * limited to 0xFFFF-1 bytes.
+ * It is possible to store empty packets in the pool.
+ * The local pool is NOT thread-safe.
  */
-template<uint8_t NUMBER_OF_POOLS = 5>
 class LocalPool: public SystemObject, public StorageManagerIF {
 public:
-	/**
-	 * @brief	This definition generally sets the number of different sized pools.
-	 * @details This must be less than the maximum number of pools (currently 0xff).
-	 */
-	//	static const uint32_t NUMBER_OF_POOLS;
-	/**
-	 * @brief	This is the default constructor for a pool manager instance.
-	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
-	 * 			allocates memory (with @c new) for store and size_list. These
-	 * 			regions are all set to zero on start up.
-	 * @param setObjectId	The object identifier to be set. This allows for
-	 * 						multiple instances of LocalPool in the system.
-	 * @param element_sizes	An array of size NUMBER_OF_POOLS in which the size
-	 * 						of a single element in each pool is determined.
-	 * 						<b>The sizes must be provided in ascending order.
-	 * 						</b>
-	 * @param n_elements	An array of size NUMBER_OF_POOLS in which the
-	 * 						number of elements for each pool is determined.
-	 * 						The position of these values correspond to those in
-	 * 						element_sizes.
-	 * @param registered	Register the pool in object manager or not.
-	 * Default is false (local pool).
-	 * @param spillsToHigherPools A variable to determine whether
-	 * higher n pools are used if the store is full.
-	 */
-	LocalPool(object_id_t setObjectId,
-			const uint16_t element_sizes[NUMBER_OF_POOLS],
-			const uint16_t n_elements[NUMBER_OF_POOLS],
-			bool registered = false,
-			bool spillsToHigherPools = false);
+    using pool_elem_size_t = size_type;
+    using n_pool_elem_t = uint16_t;
+	using LocalPoolCfgPair = std::pair<n_pool_elem_t, pool_elem_size_t>;
+
+	// The configuration needs to be provided with the pool sizes ascending
+	// but the number of pool elements as the first value is more intuitive.
+	// Therefore, a custom comparator was provided.
+	struct LocalPoolConfigCmp
+	{
+		bool operator ()(const LocalPoolCfgPair &a,
+				const LocalPoolCfgPair &b) const
+		{
+			if(a.second < b.second) {
+				return true;
+			}
+			else if(a.second > b.second) {
+				return false;
+			}
+			else {
+				if(a.first < b.first) {
+					return true;
+				}
+				else {
+					return false;
+				}
+			}
+		}
+	};
+    using LocalPoolConfig = std::multiset<LocalPoolCfgPair, LocalPoolConfigCmp>;
+
+    /**
+     * @brief   This definition generally sets the number of
+     * 			different sized pools. It is derived from the number of pairs
+     * 			inside the LocalPoolConfig set on object creation.
+     * @details
+     * This must be less than the maximum number of pools (currently 0xff).
+     */
+    const max_pools_t NUMBER_OF_POOLS;
+
+    /**
+     * @brief   This is the default constructor for a pool manager instance.
+     * @details
+     * The pool is configured by passing a set of pairs into the constructor.
+     * The first value of that pair determines the number of one elements on
+     * the respective page of the pool while the second value determines how
+     * many elements with that size are created on that page.
+     * All regions are to zero on start up.
+     * @param setObjectId   The object identifier to be set. This allows for
+     *                      multiple instances of LocalPool in the system.
+     * @param poolConfig
+     * This is a set of pairs to configure the number of pages in the pool,
+     * the size of an element on a page, the number of elements on a page
+     * and the total size of the pool at once while also implicitely
+     * sorting the pairs in the right order.
+     * @param registered
+     * Determines whether the pool is registered in the object manager or not.
+     * @param spillsToHigherPools A variable to determine whether
+     * higher n pools are used if the store is full.
+     */
+    LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
+            bool registered = false, bool spillsToHigherPools = false);
+
+    void setToSpillToHigherPools(bool enable);
+
 	/**
 	 * @brief	In the LocalPool's destructor all allocated memory is freed.
 	 */
@@ -66,25 +102,49 @@ public:
 	/**
 	 * Documentation: See StorageManagerIF.h
 	 */
-	ReturnValue_t addData(store_address_t* storageId, const uint8_t * data,
+	ReturnValue_t addData(store_address_t* storeId, const uint8_t * data,
 			size_t size, bool ignoreFault = false) override;
-	ReturnValue_t getFreeElement(store_address_t* storageId,const size_t size,
-			uint8_t** p_data, bool ignoreFault = false) override;
+	ReturnValue_t getFreeElement(store_address_t* storeId,const size_t size,
+			uint8_t** pData, bool ignoreFault = false) override;
 
-	ConstAccessorPair getData(store_address_t packet_id) override;
-	ReturnValue_t getData(store_address_t packet_id, ConstStorageAccessor&) override;
-	ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
+	ConstAccessorPair getData(store_address_t storeId) override;
+	ReturnValue_t getData(store_address_t storeId,
+	        ConstStorageAccessor& constAccessor) override;
+	ReturnValue_t getData(store_address_t storeId,
+	        const uint8_t** packet_ptr, size_t * size) override;
+
+	AccessorPair modifyData(store_address_t storeId) override;
+	ReturnValue_t modifyData(store_address_t storeId,
+	        StorageAccessor& storeAccessor) override;
+	ReturnValue_t modifyData(store_address_t storeId, uint8_t** packet_ptr,
 			size_t * size) override;
 
-	AccessorPair modifyData(store_address_t packet_id) override;
-	ReturnValue_t modifyData(store_address_t packet_id, StorageAccessor&) override;
-	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
-			size_t * size) override;
-
-	virtual ReturnValue_t deleteData(store_address_t) override;
+	virtual ReturnValue_t deleteData(store_address_t storeId) override;
 	virtual ReturnValue_t deleteData(uint8_t* ptr, size_t size,
-			store_address_t* storeId = NULL) override;
+			store_address_t* storeId = nullptr) override;
+
+	/**
+	 * Get the total size of allocated memory for pool data.
+	 * There is an additional overhead of the sizes of elements which will
+	 * be assigned to additionalSize
+	 * @return
+	 */
+	size_t getTotalSize(size_t* additionalSize) override;
+
+	/**
+	 * Get the fill count of the pool. Each character inside the provided
+	 * buffer will be assigned to a rounded percentage fill count for each
+	 * page. The last written byte (at the index bytesWritten - 1)
+	 * will contain the total fill count of the pool as a mean of the
+	 * percentages of single pages.
+	 * @param buffer
+	 * @param maxSize
+	 */
+	void getFillCount(uint8_t* buffer, uint8_t* bytesWritten) override;
+
 	void clearStore() override;
+	void clearPage(max_pools_t pageIndex) override;
+
 	ReturnValue_t initialize() override;
 protected:
 	/**
@@ -94,43 +154,48 @@ protected:
 	 * @return	- #RETURN_OK on success,
 	 * 			- the return codes of #getPoolIndex or #findEmpty otherwise.
 	 */
-	virtual ReturnValue_t reserveSpace(const uint32_t size,
+	virtual ReturnValue_t reserveSpace(const size_t size,
 			store_address_t* address, bool ignoreFault);
 
-	InternalErrorReporterIF *internalErrorReporter;
 private:
-	/**
-	 * Indicates that this element is free.
-	 * This value limits the maximum size of a pool. Change to larger data type
-	 * if increase is required.
-	 */
-	static const uint32_t STORAGE_FREE = 0xFFFFFFFF;
+    /**
+     * Indicates that this element is free.
+     * This value limits the maximum size of a pool.
+     * Change to larger data type if increase is required.
+     */
+    static const size_type STORAGE_FREE = std::numeric_limits<size_type>::max();
 	/**
 	 * @brief	In this array, the element sizes of each pool is stored.
 	 * @details	The sizes are maintained for internal pool management. The sizes
 	 * 			must be set in ascending order on construction.
 	 */
-	uint32_t element_sizes[NUMBER_OF_POOLS];
+    std::vector<size_type> elementSizes =
+            std::vector<size_type>(NUMBER_OF_POOLS);
 	/**
 	 * @brief	n_elements stores the number of elements per pool.
 	 * @details	These numbers are maintained for internal pool management.
 	 */
-	uint16_t n_elements[NUMBER_OF_POOLS];
+	std::vector<uint16_t> numberOfElements =
+	        std::vector<uint16_t>(NUMBER_OF_POOLS);
 	/**
 	 * @brief	store represents the actual memory pool.
 	 * @details	It is an array of pointers to memory, which was allocated with
 	 * 			a @c new call on construction.
 	 */
-	uint8_t* store[NUMBER_OF_POOLS];
+	std::vector<std::vector<uint8_t>> store =
+	        std::vector<std::vector<uint8_t>>(NUMBER_OF_POOLS);
+
 	/**
 	 * @brief	The size_list attribute stores the size values of every pool element.
 	 * @details	As the number of elements is determined on construction, the size list
 	 * 			is also dynamically allocated there.
 	 */
-	uint32_t* size_list[NUMBER_OF_POOLS];
+	std::vector<std::vector<size_type>> sizeLists =
+	        std::vector<std::vector<size_type>>(NUMBER_OF_POOLS);
+
 	//! A variable to determine whether higher n pools are used if
 	//! the store is full.
-	bool spillsToHigherPools;
+	bool spillsToHigherPools = false;
 	/**
 	 * @brief	This method safely stores the given data in the given packet_id.
 	 * @details	It also sets the size in size_list. The method does not perform
@@ -139,30 +204,24 @@ private:
 	 * @param data		The data to be stored.
 	 * @param size		The size of the data to be stored.
 	 */
-	void write(store_address_t packet_id, const uint8_t* data, size_t size);
+	void write(store_address_t packetId, const uint8_t* data, size_t size);
 	/**
 	 * @brief	A helper method to read the element size of a certain pool.
 	 * @param pool_index	The pool in which to look.
 	 * @return	Returns the size of an element or 0.
 	 */
-	uint32_t getPageSize(uint16_t pool_index);
-	/**
-	 * @brief	This helper method looks up a fitting pool for a given size.
-	 * @details	The pools are looked up in ascending order, so the first that
-	 * 			fits is used.
-	 * @param packet_size	The size of the data to be stored.
-	 * @return	Returns the pool that fits or StorageManagerIF::INVALID_ADDRESS.
-	 */
+	size_type getPageSize(max_pools_t poolIndex);
+
 	/**
 	 * @brief	This helper method looks up a fitting pool for a given size.
 	 * @details	The pools are looked up in ascending order, so the first that
 	 * 			fits is used.
 	 * @param packet_size		The size of the data to be stored.
 	 * @param[out] poolIndex	The fitting pool index found.
-	 * @return	- #RETURN_OK on success,
-	 * 			- #DATA_TOO_LARGE otherwise.
+	 * @return	- @c RETURN_OK on success,
+	 * 			- @c DATA_TOO_LARGE otherwise.
 	 */
-	ReturnValue_t getPoolIndex(size_t packet_size, uint16_t* poolIndex,
+	ReturnValue_t getPoolIndex(size_t packetSize, uint16_t* poolIndex,
 			uint16_t startAtIndex = 0);
 	/**
 	 * @brief	This helper method calculates the true array position in store
@@ -172,7 +231,7 @@ private:
 	 * @param packet_id	The packet id to look up.
 	 * @return	Returns the position of the data in store.
 	 */
-	uint32_t getRawPosition(store_address_t packet_id);
+	size_type getRawPosition(store_address_t storeId);
 	/**
 	 * @brief	This is a helper method to find an empty element in a given pool.
 	 * @details	The method searches size_list for the first empty element, so
@@ -182,9 +241,9 @@ private:
 	 * @return	- #RETURN_OK on success,
 	 * 			- #DATA_STORAGE_FULL if the store is full
 	 */
-	ReturnValue_t findEmpty(uint16_t pool_index, uint16_t* element);
+	ReturnValue_t findEmpty(n_pool_elem_t poolIndex, uint16_t* element);
+
+    InternalErrorReporterIF *internalErrorReporter = nullptr;
 };
 
-#include "LocalPool.tpp"
-
 #endif /* FSFW_STORAGEMANAGER_LOCALPOOL_H_ */
diff --git a/storagemanager/PoolManager.cpp b/storagemanager/PoolManager.cpp
new file mode 100644
index 00000000..9c801a3d
--- /dev/null
+++ b/storagemanager/PoolManager.cpp
@@ -0,0 +1,59 @@
+#include "PoolManager.h"
+
+PoolManager::PoolManager(object_id_t setObjectId,
+        const LocalPoolConfig& localPoolConfig):
+        LocalPool(setObjectId, localPoolConfig, true) {
+    mutex = MutexFactory::instance()->createMutex();
+}
+
+
+PoolManager::~PoolManager(void) {
+    MutexFactory::instance()->deleteMutex(mutex);
+}
+
+
+ReturnValue_t PoolManager::reserveSpace(const size_t size,
+        store_address_t* address, bool ignoreFault) {
+    MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
+            mutexTimeoutMs);
+    ReturnValue_t status = LocalPool::reserveSpace(size,
+            address,ignoreFault);
+    return status;
+}
+
+
+ReturnValue_t PoolManager::deleteData(
+        store_address_t storeId) {
+#if FSFW_DEBUGGING == 1
+     sif::debug << "PoolManager( " << translateObject(getObjectId()) <<
+           " )::deleteData from store " << storeId.poolIndex <<
+           ". id is "<< storeId.packetIndex << std::endl;
+#endif
+    MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING,
+            mutexTimeoutMs);
+    return LocalPool::deleteData(storeId);
+}
+
+
+ReturnValue_t PoolManager::deleteData(uint8_t* buffer,
+        size_t size, store_address_t* storeId) {
+    MutexHelper mutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    ReturnValue_t status = LocalPool::deleteData(buffer,
+            size, storeId);
+    return status;
+}
+
+
+void PoolManager::setMutexTimeout(
+        uint32_t mutexTimeoutMs) {
+    this->mutexTimeoutMs = mutexTimeoutMs;
+}
+
+ReturnValue_t PoolManager::lockMutex(MutexIF::TimeoutType timeoutType,
+		uint32_t timeoutMs) {
+	return mutex->lockMutex(timeoutType, timeoutMs);
+}
+
+ReturnValue_t PoolManager::unlockMutex() {
+	return mutex->unlockMutex();
+}
diff --git a/storagemanager/PoolManager.h b/storagemanager/PoolManager.h
index 8cc6c065..5786a225 100644
--- a/storagemanager/PoolManager.h
+++ b/storagemanager/PoolManager.h
@@ -9,16 +9,20 @@
 /**
  * @brief	The PoolManager class provides an intermediate data storage with
  * 			a fixed pool size policy for inter-process communication.
- * @details	Uses local pool calls but is thread safe by protecting the call
- * 			with a lock.
+ * @details
+ * Uses local pool calls but is thread safe by protecting most calls
+ * with a lock. The developer can lock the pool with the provided API
+ * if the lock needs to persists beyond the function call.
+ *
+ * Other than that, the class provides the same interface as the LocalPool
+ * class. The class is always registered as a system object as it is assumed
+ * it will always be used concurrently (if this is not the case, it is
+ * recommended to use the LocalPool class instead).
  * @author 	Bastian Baetz
  */
-template <uint8_t NUMBER_OF_POOLS = 5>
-class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
+class PoolManager: public LocalPool {
 public:
-	PoolManager(object_id_t setObjectId,
-			const uint16_t element_sizes[NUMBER_OF_POOLS],
-			const uint16_t n_elements[NUMBER_OF_POOLS]);
+	PoolManager(object_id_t setObjectId, const LocalPoolConfig& poolConfig);
 
 	/**
 	 * @brief	In the PoolManager's destructor all allocated memory
@@ -26,6 +30,12 @@ public:
 	 */
 	virtual ~PoolManager();
 
+	/**
+	 * Set the default mutex timeout for internal calls.
+	 * @param mutexTimeoutMs
+	 */
+	void setMutexTimeout(uint32_t mutexTimeoutMs);
+
 	/**
 	 * @brief 	LocalPool overrides for thread-safety. Decorator function
 	 * 			which wraps LocalPool calls with a mutex protection.
@@ -34,12 +44,23 @@ public:
 	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = nullptr) override;
 
-	void setMutexTimeout(uint32_t mutexTimeoutMs);
+	/**
+	 * The developer is allowed to lock the mutex in case the lock needs
+	 * to persist beyond the function calls which are not protected by the
+	 * class.
+	 * @param timeoutType
+	 * @param timeoutMs
+	 * @return
+	 */
+	ReturnValue_t lockMutex(MutexIF::TimeoutType timeoutType,
+			uint32_t timeoutMs);
+	ReturnValue_t unlockMutex();
+
 protected:
 	//! Default mutex timeout value to prevent permanent blocking.
 	uint32_t mutexTimeoutMs = 20;
 
-	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
+	ReturnValue_t reserveSpace(const size_t size, store_address_t* address,
 			bool ignoreFault) override;
 
 	/**
@@ -51,6 +72,4 @@ protected:
 	MutexIF* mutex;
 };
 
-#include "PoolManager.tpp"
-
 #endif /* FSFW_STORAGEMANAGER_POOLMANAGER_H_ */
diff --git a/storagemanager/StorageAccessor.h b/storagemanager/StorageAccessor.h
index 5cf15d50..d5b383eb 100644
--- a/storagemanager/StorageAccessor.h
+++ b/storagemanager/StorageAccessor.h
@@ -10,9 +10,7 @@ class StorageManagerIF;
  */
 class StorageAccessor: public ConstStorageAccessor {
 	//! StorageManager classes have exclusive access to private variables.
-	template<uint8_t NUMBER_OF_POOLS>
 	friend class PoolManager;
-	template<uint8_t NUMBER_OF_POOLS>
 	friend class LocalPool;
 public:
 	StorageAccessor(store_address_t storeId);
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index 834e7563..769616d7 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -28,6 +28,9 @@ using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
  */
 class StorageManagerIF : public HasReturnvaluesIF {
 public:
+	using size_type = size_t;
+	using max_pools_t = uint8_t;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::STORAGE_MANAGER_IF; //!< The unique ID for return codes for this interface.
 	static const ReturnValue_t DATA_TOO_LARGE = MAKE_RETURN_CODE(1); //!< This return code indicates that the data to be stored is too large for the store.
 	static const ReturnValue_t DATA_STORAGE_FULL = MAKE_RETURN_CODE(2); //!< This return code indicates that a data storage is full.
@@ -40,7 +43,9 @@ public:
 	static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
 	static const Event STORE_DATA_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
 
-	static const uint32_t INVALID_ADDRESS = 0xFFFFFFFF; //!< Indicates an invalid (i.e unused) storage address.
+	//!< Indicates an invalid (i.e unused) storage address.
+	static const uint32_t INVALID_ADDRESS = 0xFFFFFFFF;
+
 	/**
 	 * @brief This is the empty virtual destructor as required for C++ interfaces.
 	 */
@@ -164,6 +169,22 @@ public:
 	 * Use with care!
 	 */
 	virtual void clearStore() = 0;
+
+	/**
+	 * Clears a page in the store. Use with care!
+	 * @param pageIndex
+	 */
+	virtual void clearPage(uint8_t pageIndex) = 0;
+
+	/**
+	 * Get the fill count of the pool. The exact form will be implementation
+	 * dependant.
+	 * @param buffer
+	 * @param bytesWritten
+	 */
+	virtual void getFillCount(uint8_t* buffer, uint8_t* bytesWritten) = 0;
+
+	virtual size_t getTotalSize(size_t* additionalSize) = 0;
 };
 
 #endif /* FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_ */
diff --git a/storagemanager/storeAddress.h b/storagemanager/storeAddress.h
index 044c0790..ea72f6f8 100644
--- a/storagemanager/storeAddress.h
+++ b/storagemanager/storeAddress.h
@@ -3,16 +3,21 @@
 
 #include <cstdint>
 
+namespace storeId {
+static constexpr uint32_t INVALID_STORE_ADDRESS = 0xffffffff;
+}
+
 /**
  * This union defines the type that identifies where a data packet is
  * stored in the store. It comprises of a raw part to read it as raw value and
  * a structured part to use it in pool-like stores.
  */
 union store_address_t {
+
 	/**
 	 * Default Constructor, initializing to INVALID_ADDRESS
 	 */
-	store_address_t():raw(0xFFFFFFFF){}
+	store_address_t(): raw(storeId::INVALID_STORE_ADDRESS){}
 	/**
 	 * Constructor to create an address object using the raw address
 	 *
@@ -28,7 +33,7 @@ union store_address_t {
 	 * @param packetIndex
 	 */
 	store_address_t(uint16_t poolIndex, uint16_t packetIndex):
-		pool_index(poolIndex),packet_index(packetIndex){}
+		poolIndex(poolIndex), packetIndex(packetIndex){}
 	/**
 	 * A structure with two elements to access the store address pool-like.
 	 */
@@ -36,11 +41,11 @@ union store_address_t {
 		/**
 		 * The index in which pool the packet lies.
 		 */
-		uint16_t pool_index;
+		uint16_t poolIndex;
 		/**
 		 * The position in the chosen pool.
 		 */
-		uint16_t packet_index;
+		uint16_t packetIndex;
 	};
 	/**
 	 * Alternative access to the raw value.

From 67e33918e0fb07fe3dd6afbfda9eb5bbfcd044fe Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 15 Oct 2020 13:44:09 +0200
Subject: [PATCH 426/653] event manager uses refactored pool now

---
 events/EventManager.cpp | 18 +++++++++---------
 events/EventManager.h   | 10 +++++++---
 2 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index e71951e3..57bda13f 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -1,23 +1,23 @@
 #include "EventManager.h"
-#include "EventMessage.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
 
 
-const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
-		sizeof(EventMatchTree::Node), sizeof(EventIdRangeMatcher),
-		sizeof(ReporterRangeMatcher) };
 // If one checks registerListener calls, there are around 40 (to max 50)
 // objects registering for certain events.
 // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
 // So a good guess is 75 to a max of 100 pools required for each, which fits well.
-// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
-const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
+// This should be configurable..
+const LocalPool::LocalPoolConfig EventManager::poolConfig = {
+        {240, sizeof(EventMatchTree::Node)},
+        {120, sizeof(EventIdRangeMatcher)},
+        {120, sizeof(ReporterRangeMatcher)}
+};
 
 EventManager::EventManager(object_id_t setObjectId) :
 		SystemObject(setObjectId),
-		factoryBackend(0, POOL_SIZES, N_ELEMENTS, false, true) {
+		factoryBackend(0, poolConfig, false, true) {
 	mutex = MutexFactory::instance()->createMutex();
 	eventReportQueue = QueueFactory::instance()->createMessageQueue(
 			MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);
@@ -109,13 +109,13 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 	return result;
 }
 
-#ifdef DEBUG
+#if FSFW_DEBUG_OUTPUT == 1
 
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
 	switch (message->getSeverity()) {
 	case SEVERITY::INFO:
-#ifdef DEBUG_INFO_EVENT
+#if DEBUG_INFO_EVENT == 1
 		string = translateObject(message->getReporter());
 		sif::info << "EVENT: ";
 		if (string != 0) {
diff --git a/events/EventManager.h b/events/EventManager.h
index 2602aeb2..fe35d9d3 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -8,9 +8,11 @@
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MutexIF.h"
+#include <FSFWConfig.h>
+
 #include <map>
 
-#ifdef DEBUG
+#if FSFW_DEBUG_OUTPUT == 1
 // forward declaration, should be implemented by mission
 extern const char* translateObject(object_id_t object);
 extern const char* translateEvents(Event event);
@@ -49,13 +51,15 @@ protected:
 	MutexIF* mutex = nullptr;
 
 	static const uint8_t N_POOLS = 3;
-	LocalPool<N_POOLS> factoryBackend;
+	LocalPool factoryBackend;
+	static const LocalPool::LocalPoolConfig poolConfig;
+
 	static const uint16_t POOL_SIZES[N_POOLS];
 	static const uint16_t N_ELEMENTS[N_POOLS];
 
 	void notifyListeners(EventMessage *message);
 
-#ifdef DEBUG
+#if FSFW_DEBUG_OUTPUT == 1
 	void printEvent(EventMessage *message);
 #endif
 

From 7d358483dd1f684609d52f144e64aa02e1e82425 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 15 Oct 2020 13:44:59 +0200
Subject: [PATCH 427/653] added back config includes

---
 storagemanager/LocalPool.cpp   | 1 +
 storagemanager/PoolManager.cpp | 1 +
 2 files changed, 2 insertions(+)

diff --git a/storagemanager/LocalPool.cpp b/storagemanager/LocalPool.cpp
index 8e5f4d48..48934a0c 100644
--- a/storagemanager/LocalPool.cpp
+++ b/storagemanager/LocalPool.cpp
@@ -1,4 +1,5 @@
 #include "LocalPool.h"
+#include <FSFWConfig.h>
 #include <cstring>
 
 LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
diff --git a/storagemanager/PoolManager.cpp b/storagemanager/PoolManager.cpp
index 9c801a3d..85376b28 100644
--- a/storagemanager/PoolManager.cpp
+++ b/storagemanager/PoolManager.cpp
@@ -1,4 +1,5 @@
 #include "PoolManager.h"
+#include <FSFWConfig.h>
 
 PoolManager::PoolManager(object_id_t setObjectId,
         const LocalPoolConfig& localPoolConfig):

From bd2f8b3e8ce09c6328519a9047d7144ff7932d37 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 15 Oct 2020 13:45:47 +0200
Subject: [PATCH 428/653] packet matcher uses refactored pool now

---
 tmtcpacket/packetmatcher/PacketMatchTree.cpp | 28 ++++++++++++--------
 tmtcpacket/packetmatcher/PacketMatchTree.h   |  3 ++-
 2 files changed, 19 insertions(+), 12 deletions(-)

diff --git a/tmtcpacket/packetmatcher/PacketMatchTree.cpp b/tmtcpacket/packetmatcher/PacketMatchTree.cpp
index a4579657..ac72b3e7 100644
--- a/tmtcpacket/packetmatcher/PacketMatchTree.cpp
+++ b/tmtcpacket/packetmatcher/PacketMatchTree.cpp
@@ -3,19 +3,30 @@
 #include "ServiceMatcher.h"
 #include "SubserviceMatcher.h"
 
+// This should be configurable..
+const LocalPool::LocalPoolConfig PacketMatchTree::poolConfig = {
+		{10, sizeof(ServiceMatcher)},
+		{20, sizeof(SubServiceMatcher)},
+		{2, sizeof(ApidMatcher)},
+		{40, sizeof(PacketMatchTree::Node)}
+};
+
 PacketMatchTree::PacketMatchTree(Node* root) :
-		MatchTree<TmPacketMinimal*>(root, 2), factoryBackend(0, POOL_SIZES,
-				N_ELEMENTS, false, true), factory(&factoryBackend) {
+		MatchTree<TmPacketMinimal*>(root, 2),
+		factoryBackend(0, poolConfig, false, true),
+		factory(&factoryBackend) {
 }
 
 PacketMatchTree::PacketMatchTree(iterator root) :
-		MatchTree<TmPacketMinimal*>(root.element, 2), factoryBackend(0,
-				POOL_SIZES, N_ELEMENTS, false, true), factory(&factoryBackend) {
+		MatchTree<TmPacketMinimal*>(root.element, 2),
+		factoryBackend(0, poolConfig, false, true),
+		factory(&factoryBackend) {
 }
 
 PacketMatchTree::PacketMatchTree() :
-		MatchTree<TmPacketMinimal*>((Node*) NULL, 2), factoryBackend(0,
-				POOL_SIZES, N_ELEMENTS, false, true), factory(&factoryBackend) {
+		MatchTree<TmPacketMinimal*>((Node*) NULL, 2),
+		factoryBackend(0, poolConfig, false, true),
+		factory(&factoryBackend) {
 }
 
 PacketMatchTree::~PacketMatchTree() {
@@ -172,11 +183,6 @@ ReturnValue_t PacketMatchTree::initialize() {
 	return factoryBackend.initialize();
 }
 
-const uint16_t PacketMatchTree::POOL_SIZES[N_POOLS] = { sizeof(ServiceMatcher),
-		sizeof(SubServiceMatcher), sizeof(ApidMatcher),
-		sizeof(PacketMatchTree::Node) };
-//Maximum number of types and subtypes to filter should be more than sufficient.
-const uint16_t PacketMatchTree::N_ELEMENTS[N_POOLS] = { 10, 20, 2, 40 };
 
 ReturnValue_t PacketMatchTree::changeMatch(bool addToMatch, uint16_t apid,
 		uint8_t type, uint8_t subtype) {
diff --git a/tmtcpacket/packetmatcher/PacketMatchTree.h b/tmtcpacket/packetmatcher/PacketMatchTree.h
index 86fb087e..54fc856c 100644
--- a/tmtcpacket/packetmatcher/PacketMatchTree.h
+++ b/tmtcpacket/packetmatcher/PacketMatchTree.h
@@ -23,8 +23,9 @@ protected:
 	ReturnValue_t cleanUpElement(iterator position);
 private:
 	static const uint8_t N_POOLS = 4;
-	LocalPool<N_POOLS> factoryBackend;
+	LocalPool factoryBackend;
 	PlacementFactory factory;
+	static const LocalPool::LocalPoolConfig poolConfig;
 	static const uint16_t POOL_SIZES[N_POOLS];
 	static const uint16_t N_ELEMENTS[N_POOLS];
 	template<typename VALUE_T, typename INSERTION_T>

From 8cea7b05db428b80bc90abd1ae5440bd9e9562a7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 14:42:58 +0200
Subject: [PATCH 429/653] include improvement

---
 osal/FreeRTOS/QueueFactory.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index 5b3c73dc..ed29e10c 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -1,8 +1,8 @@
+#include "MessageQueue.h"
+
 #include "../../ipc/MessageQueueSenderIF.h"
 #include "../../ipc/QueueFactory.h"
 
-#include "../../osal/FreeRTOS/MessageQueue.h"
-
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;
 

From fa67f8246206e7b5a76a235a14d2b63f888e4fe0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 15:04:28 +0200
Subject: [PATCH 430/653] structure improved

---
 tcdistribution/PUSDistributor.cpp | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index 63d1dcde..d964202f 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -95,16 +95,19 @@ uint16_t PUSDistributor::getIdentifier() {
 }
 
 ReturnValue_t PUSDistributor::initialize() {
+    currentPacket = new TcPacketStored();
+    if(currentPacket == nullptr) {
+        // Should not happen, memory allocation failed!
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+
 	CCSDSDistributorIF* ccsdsDistributor =
 			objectManager->get<CCSDSDistributorIF>(packetSource);
-	currentPacket = new TcPacketStored();
 	if (ccsdsDistributor == nullptr) {
 		sif::error << "PUSDistributor::initialize: Packet source invalid."
 		        << " Make sure it exists and implements CCSDSDistributorIF!"
 		        << std::endl;
 	    return RETURN_FAILED;
 	}
-	else {
-		return ccsdsDistributor->registerApplication(this);
-	}
+	return ccsdsDistributor->registerApplication(this);
 }

From 7821cc2870e4e74a6bd37542127bb9b637b7a6e4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 16:52:34 +0200
Subject: [PATCH 431/653] submodule added

---
 .gitmodules | 3 +++
 unittest    | 1 +
 2 files changed, 4 insertions(+)
 create mode 100644 .gitmodules
 create mode 160000 unittest

diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 00000000..a24e36e5
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "unittest"]
+	path = unittest
+	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests.git
diff --git a/unittest b/unittest
new file mode 160000
index 00000000..b99077c7
--- /dev/null
+++ b/unittest
@@ -0,0 +1 @@
+Subproject commit b99077c7f94916b677f45a97ccb80613c0932f47

From c677358343551340d57396a6259fe026c3cf662b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 17:06:09 +0200
Subject: [PATCH 432/653] include adaption

---
 events/Event.h                   | 2 +-
 returnvalues/HasReturnvaluesIF.h | 2 +-
 unittest                         | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/events/Event.h b/events/Event.h
index e22c9db1..f8410f32 100644
--- a/events/Event.h
+++ b/events/Event.h
@@ -4,7 +4,7 @@
 #include <stdint.h>
 #include "fwSubsystemIdRanges.h"
 //could be move to more suitable location
-#include <config/tmtc/subsystemIdRanges.h>
+#include <subsystemIdRanges.h>
 
 typedef uint16_t EventId_t;
 typedef uint8_t EventSeverity_t;
diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index 5fef91dd..3d3e3208 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -2,7 +2,7 @@
 #define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
 
 #include "FwClassIds.h"
-#include <config/returnvalues/classIds.h>
+#include <returnvalues/classIds.h>
 #include <cstdint>
 
 #define MAKE_RETURN_CODE( number )	((INTERFACE_ID << 8) + (number))
diff --git a/unittest b/unittest
index b99077c7..76cbb97a 160000
--- a/unittest
+++ b/unittest
@@ -1 +1 @@
-Subproject commit b99077c7f94916b677f45a97ccb80613c0932f47
+Subproject commit 76cbb97ae410a7440d2b71eaecd4eea4a5cccaf3

From 865ea3386c91ed976166995cb4fd70cf2434dda7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 17:11:23 +0200
Subject: [PATCH 433/653] unittest now contained directly

---
 .gitmodules                                   |     3 -
 unittest                                      |     1 -
 unittest/Makefile-FSFW-Tests                  |   415 +
 unittest/README.md                            |   121 +
 unittest/catch2/LICENSE.txt                   |    23 +
 unittest/catch2/catch.hpp                     | 17618 ++++++++++++++++
 unittest/catch2/catch_reporter_automake.hpp   |    62 +
 unittest/catch2/catch_reporter_sonarqube.hpp  |   181 +
 unittest/catch2/catch_reporter_tap.hpp        |   253 +
 unittest/catch2/catch_reporter_teamcity.hpp   |   219 +
 unittest/config/FSFWConfig.h                  |    32 +
 unittest/config/TestsConfig.h                 |     8 +
 unittest/config/cdatapool/dataPoolInit.cpp    |    48 +
 unittest/config/cdatapool/dataPoolInit.h      |    29 +
 unittest/config/config.mk                     |    15 +
 unittest/config/devices/logicalAddresses.cpp  |    11 +
 unittest/config/devices/logicalAddresses.h    |    15 +
 unittest/config/devices/powerSwitcherList.cpp |    10 +
 unittest/config/devices/powerSwitcherList.h   |    22 +
 unittest/config/events/translateEvents.cpp    |    20 +
 unittest/config/events/translateEvents.h      |    16 +
 unittest/config/ipc/MissionMessageTypes.cpp   |    11 +
 unittest/config/ipc/MissionMessageTypes.h     |    22 +
 unittest/config/objects/Factory.cpp           |    37 +
 unittest/config/objects/Factory.h             |    16 +
 unittest/config/objects/systemObjectList.h    |    30 +
 unittest/config/objects/translateObjects.cpp  |   242 +
 unittest/config/objects/translateObjects.h    |    16 +
 .../PollingSequenceFactory.cpp                |    31 +
 .../pollingsequence/PollingSequenceFactory.h  |    31 +
 unittest/config/returnvalues/classIds.h       |    28 +
 unittest/config/tmtc/PusIds.hpp               |    29 +
 unittest/config/tmtc/apid.h                   |    19 +
 unittest/config/tmtc/pusIds.h                 |    23 +
 unittest/config/tmtc/subsystemIdRanges.h      |    34 +
 unittest/config/tmtc/tmTcSize.h               |    10 +
 unittest/config/version.h                     |     7 +
 unittest/core/CatchDefinitions.cpp            |    11 +
 unittest/core/CatchDefinitions.h              |    19 +
 unittest/core/CatchRunner.cpp                 |    27 +
 unittest/core/CatchSetup.cpp                  |    41 +
 unittest/core/core.mk                         |     3 +
 unittest/core/printChar.cpp                   |    10 +
 unittest/core/printChar.h                     |     8 +
 unittest/internal/InternalUnitTester.cpp      |    26 +
 unittest/internal/InternalUnitTester.h        |    29 +
 unittest/internal/UnittDefinitions.cpp        |     7 +
 unittest/internal/UnittDefinitions.h          |    33 +
 unittest/internal/osal/IntTestMq.cpp          |    52 +
 unittest/internal/osal/IntTestMq.h            |     9 +
 unittest/internal/osal/IntTestMutex.cpp       |    41 +
 unittest/internal/osal/IntTestMutex.h         |    10 +
 unittest/internal/osal/IntTestSemaphore.cpp   |   159 +
 unittest/internal/osal/IntTestSemaphore.h     |    15 +
 .../serialize/IntTestSerialization.cpp        |   230 +
 .../internal/serialize/IntTestSerialization.h |    15 +
 unittest/lcov.sh                              |     3 +
 unittest/tests/action/TestActionHelper.cpp    |   105 +
 unittest/tests/action/TestActionHelper.h      |   131 +
 unittest/tests/container/RingBufferTest.cpp   |   327 +
 unittest/tests/container/TestArrayList.cpp    |    90 +
 unittest/tests/container/TestDynamicFifo.cpp  |   149 +
 unittest/tests/container/TestFifo.cpp         |   138 +
 .../tests/container/TestFixedArrayList.cpp    |    41 +
 unittest/tests/container/TestFixedMap.cpp     |   172 +
 .../container/TestFixedOrderedMultimap.cpp    |   203 +
 .../tests/container/TestPlacementFactory.cpp  |    45 +
 unittest/tests/osal/TestMessageQueue.cpp      |    40 +
 unittest/tests/osal/TestSemaphore.cpp         |    46 +
 .../serialize/TestSerialBufferAdapter.cpp     |   143 +
 .../serialize/TestSerialLinkedPacket.cpp      |    73 +
 .../tests/serialize/TestSerialLinkedPacket.h  |    61 +
 .../tests/serialize/TestSerialization.cpp     |   129 +
 .../tests/storagemanager/TestNewAccessor.cpp  |   161 +
 unittest/tests/storagemanager/TestPool.cpp    |   105 +
 unittest/tests/tests.mk                       |     8 +
 unittest/testtemplate/TestTemplate.cpp        |    31 +
 unittest/unlockRealtime.sh                    |    34 +
 78 files changed, 22684 insertions(+), 4 deletions(-)
 delete mode 160000 unittest
 create mode 100644 unittest/Makefile-FSFW-Tests
 create mode 100644 unittest/README.md
 create mode 100644 unittest/catch2/LICENSE.txt
 create mode 100644 unittest/catch2/catch.hpp
 create mode 100644 unittest/catch2/catch_reporter_automake.hpp
 create mode 100644 unittest/catch2/catch_reporter_sonarqube.hpp
 create mode 100644 unittest/catch2/catch_reporter_tap.hpp
 create mode 100644 unittest/catch2/catch_reporter_teamcity.hpp
 create mode 100644 unittest/config/FSFWConfig.h
 create mode 100644 unittest/config/TestsConfig.h
 create mode 100644 unittest/config/cdatapool/dataPoolInit.cpp
 create mode 100644 unittest/config/cdatapool/dataPoolInit.h
 create mode 100644 unittest/config/config.mk
 create mode 100644 unittest/config/devices/logicalAddresses.cpp
 create mode 100644 unittest/config/devices/logicalAddresses.h
 create mode 100644 unittest/config/devices/powerSwitcherList.cpp
 create mode 100644 unittest/config/devices/powerSwitcherList.h
 create mode 100644 unittest/config/events/translateEvents.cpp
 create mode 100644 unittest/config/events/translateEvents.h
 create mode 100644 unittest/config/ipc/MissionMessageTypes.cpp
 create mode 100644 unittest/config/ipc/MissionMessageTypes.h
 create mode 100644 unittest/config/objects/Factory.cpp
 create mode 100644 unittest/config/objects/Factory.h
 create mode 100644 unittest/config/objects/systemObjectList.h
 create mode 100644 unittest/config/objects/translateObjects.cpp
 create mode 100644 unittest/config/objects/translateObjects.h
 create mode 100644 unittest/config/pollingsequence/PollingSequenceFactory.cpp
 create mode 100644 unittest/config/pollingsequence/PollingSequenceFactory.h
 create mode 100644 unittest/config/returnvalues/classIds.h
 create mode 100644 unittest/config/tmtc/PusIds.hpp
 create mode 100644 unittest/config/tmtc/apid.h
 create mode 100644 unittest/config/tmtc/pusIds.h
 create mode 100644 unittest/config/tmtc/subsystemIdRanges.h
 create mode 100644 unittest/config/tmtc/tmTcSize.h
 create mode 100644 unittest/config/version.h
 create mode 100644 unittest/core/CatchDefinitions.cpp
 create mode 100644 unittest/core/CatchDefinitions.h
 create mode 100644 unittest/core/CatchRunner.cpp
 create mode 100644 unittest/core/CatchSetup.cpp
 create mode 100644 unittest/core/core.mk
 create mode 100644 unittest/core/printChar.cpp
 create mode 100644 unittest/core/printChar.h
 create mode 100644 unittest/internal/InternalUnitTester.cpp
 create mode 100644 unittest/internal/InternalUnitTester.h
 create mode 100644 unittest/internal/UnittDefinitions.cpp
 create mode 100644 unittest/internal/UnittDefinitions.h
 create mode 100644 unittest/internal/osal/IntTestMq.cpp
 create mode 100644 unittest/internal/osal/IntTestMq.h
 create mode 100644 unittest/internal/osal/IntTestMutex.cpp
 create mode 100644 unittest/internal/osal/IntTestMutex.h
 create mode 100644 unittest/internal/osal/IntTestSemaphore.cpp
 create mode 100644 unittest/internal/osal/IntTestSemaphore.h
 create mode 100644 unittest/internal/serialize/IntTestSerialization.cpp
 create mode 100644 unittest/internal/serialize/IntTestSerialization.h
 create mode 100644 unittest/lcov.sh
 create mode 100644 unittest/tests/action/TestActionHelper.cpp
 create mode 100644 unittest/tests/action/TestActionHelper.h
 create mode 100644 unittest/tests/container/RingBufferTest.cpp
 create mode 100644 unittest/tests/container/TestArrayList.cpp
 create mode 100644 unittest/tests/container/TestDynamicFifo.cpp
 create mode 100644 unittest/tests/container/TestFifo.cpp
 create mode 100644 unittest/tests/container/TestFixedArrayList.cpp
 create mode 100644 unittest/tests/container/TestFixedMap.cpp
 create mode 100644 unittest/tests/container/TestFixedOrderedMultimap.cpp
 create mode 100644 unittest/tests/container/TestPlacementFactory.cpp
 create mode 100644 unittest/tests/osal/TestMessageQueue.cpp
 create mode 100644 unittest/tests/osal/TestSemaphore.cpp
 create mode 100644 unittest/tests/serialize/TestSerialBufferAdapter.cpp
 create mode 100644 unittest/tests/serialize/TestSerialLinkedPacket.cpp
 create mode 100644 unittest/tests/serialize/TestSerialLinkedPacket.h
 create mode 100644 unittest/tests/serialize/TestSerialization.cpp
 create mode 100644 unittest/tests/storagemanager/TestNewAccessor.cpp
 create mode 100644 unittest/tests/storagemanager/TestPool.cpp
 create mode 100644 unittest/tests/tests.mk
 create mode 100644 unittest/testtemplate/TestTemplate.cpp
 create mode 100644 unittest/unlockRealtime.sh

diff --git a/.gitmodules b/.gitmodules
index a24e36e5..e69de29b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +0,0 @@
-[submodule "unittest"]
-	path = unittest
-	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests.git
diff --git a/unittest b/unittest
deleted file mode 160000
index 76cbb97a..00000000
--- a/unittest
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 76cbb97ae410a7440d2b71eaecd4eea4a5cccaf3
diff --git a/unittest/Makefile-FSFW-Tests b/unittest/Makefile-FSFW-Tests
new file mode 100644
index 00000000..d43a6edc
--- /dev/null
+++ b/unittest/Makefile-FSFW-Tests
@@ -0,0 +1,415 @@
+#-------------------------------------------------------------------------------
+# Makefile  for FSFW Test
+#-------------------------------------------------------------------------------
+#		User-modifiable options
+#-------------------------------------------------------------------------------
+# Fundamentals on the build process of C/C++ Software:
+# https://www3.ntu.edu.sg/home/ehchua/programming/cpp/gcc_make.html
+
+# Make documentation: https://www.gnu.org/software/make/manual/make.pdf
+# Online: https://www.gnu.org/software/make/manual/make.html
+# General rules: http://make.mad-scientist.net/papers/rules-of-makefiles/#rule3
+SHELL = /bin/sh
+
+# Chip & board used for compilation
+# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
+# Unit Test can only be run on host machine for now (Linux)
+FRAMEWORK_PATH = fsfw
+FILE_ROOT = $(FRAMEWORK_PATH)/unittest
+BOARD = unittest
+LINUX = 1
+OS_FSFW = linux
+CUSTOM_DEFINES += -D$(OS_FSFW)
+
+# Copied from stackoverflow, can be used to differentiate between Windows
+# and Linux
+ifeq ($(OS),Windows_NT)
+    CUSTOM_DEFINES += -DWIN32
+    ifeq ($(PROCESSOR_ARCHITEW6432),AMD64)
+        CUSTOM_DEFINES += -DAMD64
+    else
+        ifeq ($(PROCESSOR_ARCHITECTURE),AMD64)
+            CUSTOM_DEFINES += -DAMD64
+        endif
+        ifeq ($(PROCESSOR_ARCHITECTURE),x86)
+            CUSTOM_DEFINES += -DIA32
+        endif
+    endif
+else
+    UNAME_S := $(shell uname -s)
+    ifeq ($(UNAME_S),Linux)
+    	DETECTED_OS = LINUX
+        CUSTOM_DEFINES += -DLINUX
+    endif
+    ifeq ($(UNAME_S),Darwin)
+        CUSTOM_DEFINES += -DOSX
+    endif
+    UNAME_P := $(shell uname -p)
+    ifeq ($(UNAME_P),x86_64)
+        CUSTOM_DEFINES += -DAMD64
+    endif
+    ifneq ($(filter %86,$(UNAME_P)),)
+        CUSTOM_DEFINES += -DIA32
+    endif
+    ifneq ($(filter arm%,$(UNAME_P)),)
+        CUSTOM_DEFINES += -DARM
+    endif
+endif
+
+UNIT_TEST = 1
+# General folder paths
+CONFIG_PATH = $(FILE_ROOT)/config
+UNIT_TEST_PATH = $(FILE_ROOT)/tests
+CORE_PATH = $(FILE_ROOT)/core
+
+# Output file basename
+BASENAME = fsfw
+BINARY_NAME := $(BASENAME)-$(BOARD)
+# Output files will be put in this directory inside
+OUTPUT_FOLDER = $(OS)
+
+# Optimization level. Optimized for debugging.
+OPTIMIZATION = -O0
+
+# Default debug output. Optimized for debugging.
+DEBUG_LEVEL = -g3
+
+ifdef GCOV
+CUSTOM_DEFINES += -DGCOV
+endif
+
+
+# Output directories
+BUILDPATH = _bin
+DEPENDPATH = _dep
+OBJECTPATH = _obj
+
+ifeq ($(MAKECMDGOALS),mission)
+BUILD_FOLDER = mission
+else 
+BUILD_FOLDER = devel
+endif
+
+DEPENDDIR = $(DEPENDPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER)
+OBJDIR = $(OBJECTPATH)/$(OUTPUT_FOLDER)/$(BUILD_FOLDER)
+BINDIR = $(BUILDPATH)
+
+CLEANDEP = $(DEPENDPATH)/$(OUTPUT_FOLDER)
+CLEANOBJ = $(OBJECTPATH)/$(OUTPUT_FOLDER)
+CLEANBIN = $(BUILDPATH)
+#-------------------------------------------------------------------------------
+#		Tools and Includes
+#-------------------------------------------------------------------------------
+
+# Tool suffix when cross-compiling
+CROSS_COMPILE =
+
+# C Compiler
+CC = $(CROSS_COMPILE)gcc
+
+# C++ compiler
+CXX = $(CROSS_COMPILE)g++
+
+# Additional Tools
+SIZE = $(CROSS_COMPILE)size
+STRIP = $(CROSS_COMPILE)strip
+CP = $(CROSS_COMPILE)objcopy
+
+HEXCOPY = $(CP) -O ihex
+BINCOPY = $(CP) -O binary
+# files to be compiled, will be filled in by include makefiles
+# := assignment is neccessary so we get all paths right
+# https://www.gnu.org/software/make/manual/html_node/Flavors.html
+CSRC := 
+CXXSRC := 
+ASRC := 
+INCLUDES := 
+
+# Directories where $(directoryname).mk files should be included from
+SUBDIRS :=  $(FRAMEWORK_PATH) $(TEST_PATH) $(UNIT_TEST_PATH) $(CONFIG_PATH) \
+		$(CORE_PATH)
+
+
+I_INCLUDES += $(addprefix -I, $(INCLUDES))
+
+# This is a hack from http://make.mad-scientist.net/the-eval-function/
+#
+# The problem is, that included makefiles should be aware of their relative path
+# but not need to guess or hardcode it. So we set $(CURRENTPATH) for them. If
+# we do this globally and the included makefiles want to include other makefiles as
+# well, they would overwrite $(CURRENTPATH), screwing the include after them.
+#
+# By using a for-loop with an eval'd macro, we can generate the code to include all
+# sub-makefiles (with the correct $(CURRENTPATH) set) before actually evaluating
+# (and by this possibly changing $(CURRENTPATH)) them.
+#
+# This works recursively, if an included makefile wants to include, it can safely set 
+# $(SUBDIRS) (which has already been evaluated here) and do
+# "$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))"
+# $(SUBDIRS) must be relative to the project root, so to include subdir foo, set
+# $(SUBDIRS) = $(CURRENTPATH)/foo.
+define INCLUDE_FILE
+CURRENTPATH := $S
+include $(S)/$(notdir $S).mk
+endef
+$(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))
+
+INCLUDES += $(FILE_ROOT)
+INCLUDES += $(FILE_ROOT)/catch2/
+
+#-------------------------------------------------------------------------------
+#		Source Files
+#-------------------------------------------------------------------------------
+
+# All source files which are not includes by the .mk files are added here
+# Please ensure that no files are included by both .mk file and here !
+
+# if a target is not listed in the current directory, 
+# make searches in the directories specified with VPATH
+
+# All C Sources included by .mk files are assigned here
+# Add the objects to sources so dependency handling works
+C_OBJECTS += $(CSRC:.c=.o)
+
+# Objects built from Assembly source files
+ASM_OBJECTS = $(ASRC:.S=.o)
+
+# Objects built from C++ source files
+CXX_OBJECTS +=  $(CXXSRC:.cpp=.o)
+
+#-------------------------------------------------------------------------------
+#		Build Configuration + Output
+#-------------------------------------------------------------------------------
+
+TARGET = Debug build.
+DEBUG_MESSAGE = Off
+OPTIMIZATION_MESSAGE = Off
+
+# Define Messages
+MSG_INFO = Software: Hosted unittest \(Catch2\) for the FSFW.
+MSG_OPTIMIZATION = Optimization: $(OPTIMIZATION), $(OPTIMIZATION_MESSAGE)
+MSG_TARGET = Target Build: $(TARGET)
+MSG_DEBUG = Debug level: $(DEBUG_LEVEL), FSFW Debugging: $(DEBUG_MESSAGE)
+
+MSG_LINKING = Linking:
+MSG_COMPILING = Compiling:
+MSG_ASSEMBLING = Assembling:
+MSG_DEPENDENCY = Collecting dependencies for:
+MSG_BINARY = Generate binary: 
+
+# See https://stackoverflow.com/questions/6687630/how-to-remove-unused-c-c-symbols-with-gcc-and-ld
+# Used to throw away unused code. Reduces code size significantly !
+# -Wl,--gc-sections: needs to be passed to the linker to throw aways unused code
+ifdef KEEP_UNUSED_CODE
+PROTOTYPE_OPTIMIZATION = 
+UNUSED_CODE_REMOVAL = 
+else
+PROTOTYPE_OPTIMIZATION = -ffunction-sections -fdata-sections
+UNUSED_CODE_REMOVAL = -Wl,--gc-sections
+# Link time optimization
+# See https://gcc.gnu.org/onlinedocs/gcc/Optimize-Options.html for reference
+# Link time is larger and size of object files can not be retrieved
+# but resulting binary is smaller. Could be used in mission/deployment build
+# Requires -ffunction-section in linker call
+LINK_TIME_OPTIMIZATION = -flto
+OPTIMIZATION += $(PROTOTYPE_OPTIMIZATION) 
+endif 
+
+# Dependency Flags
+# These flags tell the compiler to build dependencies
+# See: https://www.gnu.org/software/make/manual/html_node/Automatic-Prerequisites.html
+# Using following guide: http://make.mad-scientist.net/papers/advanced-auto-dependency-generation/#combine
+DEPFLAGS = -MT $@ -MMD -MP -MF $(DEPENDDIR)/$*.d
+
+# Flags for the compiler call
+# - std: Which C++ version to use. Common versions: c++11, c++14 and c++17
+# - Wall: enable all warnings
+# - Wextra: enable extra warnings
+# - g: defines debug level
+# - fmessage-length: to control the formatting algorithm for diagnostic messages;
+#    =0 means  no line-wrapping is done; each error message appears on a single line
+# - fno-exceptions: stops generating extra code needed to propagate exceptions, 
+#    which can produce significant data size overhead
+CUSTOM_DEFINES += -DUNIT_TEST
+WARNING_FLAGS = -Wall -Wshadow=local -Wextra -Wimplicit-fallthrough=1 \
+		-Wno-unused-parameter 
+		
+CXXDEFINES := $(CUSTOM_DEFINES)
+CFLAGS += 
+CXXFLAGS += -I. $(DEBUG_LEVEL) $(WARNING_FLAGS) $(DEPFLAGS) -fmessage-length=0 $(OPTIMIZATION)\
+		 $(I_INCLUDES) $(CXXDEFINES)
+CPPFLAGS += -std=c++11  
+
+# Flags for the linker call
+# LINK_INCLUDES specify the path to used libraries and the linker script
+# LINK_LIBRARIES: Link real time support
+LDFLAGS := $(DEBUG_LEVEL) $(UNUSED_CODE_REMOVAL) $(OPTIMIZATION) -pthread 
+LINK_INCLUDES := 
+LINK_LIBRARIES :=
+
+ifdef LINUX
+LINK_LIBRARIES += -lrt
+endif
+
+ifeq ($(OS),Windows_NT)
+LINK_LIBRARIES += -lwsock32 -lws2_32
+LDFLASGS += -fuse-ld=lld
+endif
+
+# Gnu Coverage Tools Flags
+ifdef GCOV
+GCOV_CXXFLAGS = -fprofile-arcs -ftest-coverage --coverage -fno-inline \
+		-fno-inline-small-functions -fno-default-inline
+CXXFLAGS += $(GCOV_CXXFLAGS)
+GCOV_LINKER_LIBS = -lgcov -fprofile-arcs -ftest-coverage
+LINK_LIBRARIES += $(GCOV_LINKER_LIBS)
+endif
+
+# $(info $${CXXFLAGS} is [${CXXFLAGS}])
+
+#-------------------------------------------------------------------------------
+#		Rules
+#-------------------------------------------------------------------------------
+# the call function assigns parameters to temporary variables
+# https://www.gnu.org/software/make/manual/make.html#Call-Function
+# $(1) = Memory names
+# Rules are called for each memory type
+# Two Expansion Symbols $$ are to escape the dollar sign for eval.
+# See: http://make.mad-scientist.net/the-eval-function/
+
+default: all
+
+# Cleans all files 
+hardclean: 
+	-rm -rf $(BUILDPATH)
+	-rm -rf $(OBJECTPATH)
+	-rm -rf $(DEPENDPATH)
+
+# Only clean files for current build
+clean:
+	-rm -rf $(CLEANOBJ)
+	-rm -rf $(CLEANBIN)
+	-rm -rf $(CLEANDEP)
+
+# Only clean binaries. Useful for changing the binary type when object files 
+# are already compiled so complete rebuild is not necessary
+cleanbin:
+	-rm -rf $(CLEANBIN)
+
+# In this section, the binaries are built for all selected memories
+# notestfw: all
+all: executable 
+
+# Build target configuration
+release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
+release: LINK_TIME_OPTIMIZATION = -flto
+release: TARGET = Mission build.
+release: OPTIMIZATION_MESSAGE = On with Link Time Optimization
+
+debug: CXXDEFINES += -DDEBUG
+debug: TARGET = Debug
+debug: DEBUG_MESSAGE = On
+
+ifndef KEEP_UNUSED_CODE
+debug release: OPTIMIZATION_MESSAGE += , no unused code removal
+endif
+
+debug release notestfw: executable
+	
+executable: $(BINDIR)/$(BINARY_NAME).elf	
+	@echo
+	@echo $(MSG_INFO)
+	@echo $(MSG_TARGET)
+	@echo $(MSG_OPTIMIZATION)
+	@echo $(MSG_DEBUG)
+
+C_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(C_OBJECTS))
+CXX_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(CXX_OBJECTS))
+ASM_OBJECTS_PREFIXED = $(addprefix $(OBJDIR)/, $(ASM_OBJECTS))
+ALL_OBJECTS = $(ASM_OBJECTS_PREFIXED) $(C_OBJECTS_PREFIXED) \
+		$(CXX_OBJECTS_PREFIXED) 
+
+# Useful for debugging the Makefile
+# Also see: https://www.oreilly.com/openbook/make3/book/ch12.pdf
+# $(info $${ALL_OBJECTS} is [${ALL_OBJECTS}])
+# $(info $${CXXSRC} is [${CXXSRC}])
+
+# Automatic variables are used here extensively. Some of them
+# are escaped($$) to suppress immediate evaluation. The most important ones are:
+# $@: Name of Target (left side of rule)
+# $<: Name of the first prerequisite (right side of rule)
+# @^: List of all prerequisite, omitting duplicates
+# @D: Directory and file-within-directory part of $@
+
+# Generates binary and displays all build properties
+# -p with mkdir ignores error and creates directory when needed.
+
+# SHOW_DETAILS = 1
+
+
+# Link with required libraries: HAL (Hardware Abstraction Layer) and 
+# HCC (File System Library)
+$(BINDIR)/$(BINARY_NAME).elf: $(ALL_OBJECTS)
+	@echo
+	@echo $(MSG_LINKING) Target $@
+	@mkdir -p $(@D)
+ifdef SHOW_DETAILS
+	$(CXX) $(LDFLAGS) $(LINK_INCLUDES) -o $@ $^ $(LINK_LIBRARIES)
+else
+	@$(CXX) $(LDFLAGS) $(LINK_INCLUDES) -o $@ $^ $(LINK_LIBRARIES)
+endif	
+ifeq ($(BUILD_FOLDER), mission)
+# With Link Time Optimization, section size is not available
+	$(SIZE) $@
+else
+	$(SIZE) $^ $@
+endif
+
+$(BINDIR)/$(BINARY_NAME).hex: $(BINDIR)/$(BINARY_NAME).elf
+	@echo
+	@echo $(MSG_BINARY)
+	@mkdir -p $(@D)
+	$(HEXCOPY) $< $@
+	
+# Build new objects for changed dependencies. 
+$(OBJDIR)/%.o: %.cpp
+$(OBJDIR)/%.o: %.cpp $(DEPENDDIR)/%.d | $(DEPENDDIR)
+	@echo 
+	@echo $(MSG_COMPILING) $<
+	@mkdir -p $(@D)
+ifdef SHOW_DETAILS
+	$(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
+else
+	@$(CXX) $(CXXFLAGS) $(CPPFLAGS) -c -o $@ $<
+endif
+
+$(OBJDIR)/%.o: %.c 
+$(OBJDIR)/%.o: %.c $(DEPENDDIR)/%.d | $(DEPENDDIR) 
+	@echo 
+	@echo $(MSG_COMPILING) $<
+	@mkdir -p $(@D)
+ifdef SHOW_DETAILS
+	$(CC)  $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
+else
+	@$(CC)  $(CXXFLAGS) $(CFLAGS) -c -o $@ $<
+endif
+
+#-------------------------------------------------------------------------------
+#		Dependency Handling
+#-------------------------------------------------------------------------------
+
+# Dependency Handling according to following guide:
+# http://make.mad-scientist.net/papers/advanced-auto-dependency-generation/
+$(DEPENDDIR):
+	@mkdir -p $(@D)
+DEPENDENCY_RELATIVE = $(CSRC:.c=.d) $(CXXSRC:.cpp=.d)
+# This is the list of all dependencies
+DEPFILES = $(addprefix $(DEPENDDIR)/, $(DEPENDENCY_RELATIVE))
+# Create subdirectories for dependencies
+$(DEPFILES):
+	@mkdir -p $(@D)
+# Include all dependencies
+include $(wildcard $(DEPFILES))
+	
+# .PHONY tells make that these targets aren't files
+.PHONY: clean release debug all hardclean cleanbin
diff --git a/unittest/README.md b/unittest/README.md
new file mode 100644
index 00000000..091dd3cb
--- /dev/null
+++ b/unittest/README.md
@@ -0,0 +1,121 @@
+## FSFW Testing
+This repository contains testing and unit testing components.
+
+[Catch2](https://github.com/catchorg/Catch2) has been used as a framework,
+and these unit tests can only be run on a linux host machine.
+The makefile with default settings creates the unit test binary which can be
+run in the terminal or in eclipse.
+
+### Instructions
+Basic steps:
+
+1. Clone this branch
+   ```sh
+   git clone https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests.git
+   ```
+
+2. Inititate the framework submodule (need to only be done once)
+   ```sh
+   git submodule init
+   git submodule sync
+   git submodule update
+   ```
+   
+2. Run the makefile With
+
+   ```sh
+   make all -j<Number Of Processors>
+   ```
+   This will build the debug version of the unit tests.
+   The release version can be built with the target `release`
+
+4. Run the binary located in the \_bin folder in the terminal or in eclipse.
+
+   ```sh
+   _bin/<binaryName>.elf [--success]
+   ```
+   The success parameter is optional. Leaving it out ommits the success messages.
+
+5. To clear the binary, object and dependency folder, run
+
+   ```sh
+   make clean
+   ```
+
+Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities used by the UNIX pthread module are restricted, which will lead to permission errors when creating these tasks.
+
+To solve this issues, try following steps:
+
+1. Edit the /etc/security/limits.conf 
+   file and add following lines at the end (worked on Ubuntu 19.10):
+   ```sh
+   <username>   hard   rtprio  99
+   <username>   soft   rtprio  99
+   ```
+   Then restart the computer. <br>
+   The soft limit can also be set in the console with `ulimit -Sr` if the hard
+   limit has been increased,
+   but it is recommended to add it to the file as well for convenience.
+   If adding the second line is not desired for security reasons,
+   the soft limit needs to be set for each session. If using an IDE like eclipse 
+   in that case, the IDE needs to be started from the console after setting
+   the soft limit higher there.
+2. Run the shell script inside the linux folder (worked on Ubuntu 18.04)
+   ```sh
+   ./unlockRealtime
+   ```
+   This script executes the `setcap` command on bash and on the binaries.
+   It also increases the soft real time limit of the current shell instance
+   to the maximum. If running the script before executing the binary does
+   not help, try the following step.
+   
+### Eclipse CDT settings
+
+The default eclipse terminal has issues displaying the colors used
+when running the unit test binary by catch2. To fix this issue,
+install the ANSI Escape In Console package from the eclipse marketplace.
+
+### GCOV integration
+
+GCOV has been integrated as a code coverage tool.
+It can be enabled by adding `GCOV=1` to the build process as an additional argument.
+Coverage data will be provided in form of .gcno and .gcda files.
+These can be displayed in eclipse by looking
+for a .gcno or .gcda file in the \_obj folder, double-clicking it
+and picking the right source-binary. This will generate 
+information about which lines of a file have run, provided it is open in 
+eclipse.
+
+### LCOV integration
+
+The files generated by GCOV can also be processed by the tool LCOV.
+On ubuntu, the tool can be installed with the following command:
+
+```sh 
+sudo apt-get install lcov
+```` 
+
+After that, the tool can be run by building the unit tests with `GCOV=1`,
+running them at least one time and then executing the `lcov.sh` script.
+
+### Adding unit tests
+
+The catch unit tests are located in unittest/testfw. To add new unit tests,
+add them to the UnitTestCatch.cpp file or add a new source file which
+includes catch.hpp.
+
+For writing basics tests, the [assertion documentation](https://github.com/catchorg/Catch2/blob/master/docs/assertions.md#top)
+or the existing examples are a good guideliens.
+For more advanced tests, refer to the [catch2 documentation](https://github.com/catchorg/Catch2/blob/master/docs/Readme.md#top).
+
+### Compile without test framework
+Alternatively, the unit tests can also be run internally without
+a framework. This can be used to perform unit tests on the real hardware.
+To do this, run
+```sh
+make -j<Number Of Processors> notestfw
+```
+This will instruct the makefile to exclude the test framework main.cpp
+and include our own. This will also create a binary which can be used
+outside the host machine (a Makefile adaptions might be neccessary
+if another OS than linux is required)
diff --git a/unittest/catch2/LICENSE.txt b/unittest/catch2/LICENSE.txt
new file mode 100644
index 00000000..36b7cd93
--- /dev/null
+++ b/unittest/catch2/LICENSE.txt
@@ -0,0 +1,23 @@
+Boost Software License - Version 1.0 - August 17th, 2003
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
diff --git a/unittest/catch2/catch.hpp b/unittest/catch2/catch.hpp
new file mode 100644
index 00000000..51618b38
--- /dev/null
+++ b/unittest/catch2/catch.hpp
@@ -0,0 +1,17618 @@
+/*
+ *  Catch v2.11.3
+ *  Generated: 2020-03-19 13:44:21.042491
+ *  ----------------------------------------------------------
+ *  This file has been merged from multiple headers. Please don't edit it directly
+ *  Copyright (c) 2020 Two Blue Cubes Ltd. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
+#define TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
+// start catch.hpp
+
+
+#define CATCH_VERSION_MAJOR 2
+#define CATCH_VERSION_MINOR 11
+#define CATCH_VERSION_PATCH 3
+
+#ifdef __clang__
+#    pragma clang system_header
+#elif defined __GNUC__
+#    pragma GCC system_header
+#endif
+
+// start catch_suppress_warnings.h
+
+#ifdef __clang__
+#   ifdef __ICC // icpc defines the __clang__ macro
+#       pragma warning(push)
+#       pragma warning(disable: 161 1682)
+#   else // __ICC
+#       pragma clang diagnostic push
+#       pragma clang diagnostic ignored "-Wpadded"
+#       pragma clang diagnostic ignored "-Wswitch-enum"
+#       pragma clang diagnostic ignored "-Wcovered-switch-default"
+#    endif
+#elif defined __GNUC__
+     // Because REQUIREs trigger GCC's -Wparentheses, and because still
+     // supported version of g++ have only buggy support for _Pragmas,
+     // Wparentheses have to be suppressed globally.
+#    pragma GCC diagnostic ignored "-Wparentheses" // See #674 for details
+
+#    pragma GCC diagnostic push
+#    pragma GCC diagnostic ignored "-Wunused-variable"
+#    pragma GCC diagnostic ignored "-Wpadded"
+#endif
+// end catch_suppress_warnings.h
+#if defined(CATCH_CONFIG_MAIN) || defined(CATCH_CONFIG_RUNNER)
+#  define CATCH_IMPL
+#  define CATCH_CONFIG_ALL_PARTS
+#endif
+
+// In the impl file, we want to have access to all parts of the headers
+// Can also be used to sanely support PCHs
+#if defined(CATCH_CONFIG_ALL_PARTS)
+#  define CATCH_CONFIG_EXTERNAL_INTERFACES
+#  if defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#    undef CATCH_CONFIG_DISABLE_MATCHERS
+#  endif
+#  if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
+#    define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
+#  endif
+#endif
+
+#if !defined(CATCH_CONFIG_IMPL_ONLY)
+// start catch_platform.h
+
+#ifdef __APPLE__
+# include <TargetConditionals.h>
+# if TARGET_OS_OSX == 1
+#  define CATCH_PLATFORM_MAC
+# elif TARGET_OS_IPHONE == 1
+#  define CATCH_PLATFORM_IPHONE
+# endif
+
+#elif defined(linux) || defined(__linux) || defined(__linux__)
+#  define CATCH_PLATFORM_LINUX
+
+#elif defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) || defined(__MINGW32__)
+#  define CATCH_PLATFORM_WINDOWS
+#endif
+
+// end catch_platform.h
+
+#ifdef CATCH_IMPL
+#  ifndef CLARA_CONFIG_MAIN
+#    define CLARA_CONFIG_MAIN_NOT_DEFINED
+#    define CLARA_CONFIG_MAIN
+#  endif
+#endif
+
+// start catch_user_interfaces.h
+
+namespace Catch {
+    unsigned int rngSeed();
+}
+
+// end catch_user_interfaces.h
+// start catch_tag_alias_autoregistrar.h
+
+// start catch_common.h
+
+// start catch_compiler_capabilities.h
+
+// Detect a number of compiler features - by compiler
+// The following features are defined:
+//
+// CATCH_CONFIG_COUNTER : is the __COUNTER__ macro supported?
+// CATCH_CONFIG_WINDOWS_SEH : is Windows SEH supported?
+// CATCH_CONFIG_POSIX_SIGNALS : are POSIX signals supported?
+// CATCH_CONFIG_DISABLE_EXCEPTIONS : Are exceptions enabled?
+// ****************
+// Note to maintainers: if new toggles are added please document them
+// in configuration.md, too
+// ****************
+
+// In general each macro has a _NO_<feature name> form
+// (e.g. CATCH_CONFIG_NO_POSIX_SIGNALS) which disables the feature.
+// Many features, at point of detection, define an _INTERNAL_ macro, so they
+// can be combined, en-mass, with the _NO_ forms later.
+
+#ifdef __cplusplus
+
+#  if (__cplusplus >= 201402L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201402L)
+#    define CATCH_CPP14_OR_GREATER
+#  endif
+
+#  if (__cplusplus >= 201703L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703L)
+#    define CATCH_CPP17_OR_GREATER
+#  endif
+
+#endif
+
+#if defined(CATCH_CPP17_OR_GREATER)
+#  define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
+#endif
+
+// We have to avoid both ICC and Clang, because they try to mask themselves
+// as gcc, and we want only GCC in this block
+#if defined(__GNUC__) && !defined(__clang__) && !defined(__ICC)
+#    define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic push" )
+#    define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION  _Pragma( "GCC diagnostic pop" )
+
+#    define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__)
+
+#endif
+
+#if defined(__clang__)
+
+#    define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "clang diagnostic push" )
+#    define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION  _Pragma( "clang diagnostic pop" )
+
+#    define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__)
+
+#    define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+         _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) \
+         _Pragma( "clang diagnostic ignored \"-Wglobal-constructors\"")
+
+#    define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \
+         _Pragma( "clang diagnostic ignored \"-Wparentheses\"" )
+
+#    define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
+         _Pragma( "clang diagnostic ignored \"-Wunused-variable\"" )
+
+#    define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
+         _Pragma( "clang diagnostic ignored \"-Wgnu-zero-variadic-macro-arguments\"" )
+
+#    define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
+         _Pragma( "clang diagnostic ignored \"-Wunused-template\"" )
+
+#endif // __clang__
+
+////////////////////////////////////////////////////////////////////////////////
+// Assume that non-Windows platforms support posix signals by default
+#if !defined(CATCH_PLATFORM_WINDOWS)
+    #define CATCH_INTERNAL_CONFIG_POSIX_SIGNALS
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+// We know some environments not to support full POSIX signals
+#if defined(__CYGWIN__) || defined(__QNX__) || defined(__EMSCRIPTEN__) || defined(__DJGPP__)
+    #define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS
+#endif
+
+#ifdef __OS400__
+#       define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS
+#       define CATCH_CONFIG_COLOUR_NONE
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+// Android somehow still does not support std::to_string
+#if defined(__ANDROID__)
+#    define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING
+#    define CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+// Not all Windows environments support SEH properly
+#if defined(__MINGW32__)
+#    define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+// PS4
+#if defined(__ORBIS__)
+#    define CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+// Cygwin
+#ifdef __CYGWIN__
+
+// Required for some versions of Cygwin to declare gettimeofday
+// see: http://stackoverflow.com/questions/36901803/gettimeofday-not-declared-in-this-scope-cygwin
+#   define _BSD_SOURCE
+// some versions of cygwin (most) do not support std::to_string. Use the libstd check.
+// https://gcc.gnu.org/onlinedocs/gcc-4.8.2/libstdc++/api/a01053_source.html line 2812-2813
+# if !((__cplusplus >= 201103L) && defined(_GLIBCXX_USE_C99) \
+           && !defined(_GLIBCXX_HAVE_BROKEN_VSWPRINTF))
+
+#    define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING
+
+# endif
+#endif // __CYGWIN__
+
+////////////////////////////////////////////////////////////////////////////////
+// Visual C++
+#if defined(_MSC_VER)
+
+#  define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION __pragma( warning(push) )
+#  define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION  __pragma( warning(pop) )
+
+#  if _MSC_VER >= 1900 // Visual Studio 2015 or newer
+#    define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
+#  endif
+
+// Universal Windows platform does not support SEH
+// Or console colours (or console at all...)
+#  if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP)
+#    define CATCH_CONFIG_COLOUR_NONE
+#  else
+#    define CATCH_INTERNAL_CONFIG_WINDOWS_SEH
+#  endif
+
+// MSVC traditional preprocessor needs some workaround for __VA_ARGS__
+// _MSVC_TRADITIONAL == 0 means new conformant preprocessor
+// _MSVC_TRADITIONAL == 1 means old traditional non-conformant preprocessor
+#  if !defined(__clang__) // Handle Clang masquerading for msvc
+#    if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL)
+#      define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+#    endif // MSVC_TRADITIONAL
+#  endif // __clang__
+
+#endif // _MSC_VER
+
+#if defined(_REENTRANT) || defined(_MSC_VER)
+// Enable async processing, as -pthread is specified or no additional linking is required
+# define CATCH_INTERNAL_CONFIG_USE_ASYNC
+#endif // _MSC_VER
+
+////////////////////////////////////////////////////////////////////////////////
+// Check if we are compiled with -fno-exceptions or equivalent
+#if defined(__EXCEPTIONS) || defined(__cpp_exceptions) || defined(_CPPUNWIND)
+#  define CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+// DJGPP
+#ifdef __DJGPP__
+#  define CATCH_INTERNAL_CONFIG_NO_WCHAR
+#endif // __DJGPP__
+
+////////////////////////////////////////////////////////////////////////////////
+// Embarcadero C++Build
+#if defined(__BORLANDC__)
+    #define CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+
+// Use of __COUNTER__ is suppressed during code analysis in
+// CLion/AppCode 2017.2.x and former, because __COUNTER__ is not properly
+// handled by it.
+// Otherwise all supported compilers support COUNTER macro,
+// but user still might want to turn it off
+#if ( !defined(__JETBRAINS_IDE__) || __JETBRAINS_IDE__ >= 20170300L )
+    #define CATCH_INTERNAL_CONFIG_COUNTER
+#endif
+
+////////////////////////////////////////////////////////////////////////////////
+
+// RTX is a special version of Windows that is real time.
+// This means that it is detected as Windows, but does not provide
+// the same set of capabilities as real Windows does.
+#if defined(UNDER_RTSS) || defined(RTX64_BUILD)
+    #define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH
+    #define CATCH_INTERNAL_CONFIG_NO_ASYNC
+    #define CATCH_CONFIG_COLOUR_NONE
+#endif
+
+#if !defined(_GLIBCXX_USE_C99_MATH_TR1)
+#define CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER
+#endif
+
+// Various stdlib support checks that require __has_include
+#if defined(__has_include)
+  // Check if string_view is available and usable
+  #if __has_include(<string_view>) && defined(CATCH_CPP17_OR_GREATER)
+  #    define CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW
+  #endif
+
+  // Check if optional is available and usable
+  #  if __has_include(<optional>) && defined(CATCH_CPP17_OR_GREATER)
+  #    define CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL
+  #  endif // __has_include(<optional>) && defined(CATCH_CPP17_OR_GREATER)
+
+  // Check if byte is available and usable
+  #  if __has_include(<cstddef>) && defined(CATCH_CPP17_OR_GREATER)
+  #    define CATCH_INTERNAL_CONFIG_CPP17_BYTE
+  #  endif // __has_include(<cstddef>) && defined(CATCH_CPP17_OR_GREATER)
+
+  // Check if variant is available and usable
+  #  if __has_include(<variant>) && defined(CATCH_CPP17_OR_GREATER)
+  #    if defined(__clang__) && (__clang_major__ < 8)
+         // work around clang bug with libstdc++ https://bugs.llvm.org/show_bug.cgi?id=31852
+         // fix should be in clang 8, workaround in libstdc++ 8.2
+  #      include <ciso646>
+  #      if defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9)
+  #        define CATCH_CONFIG_NO_CPP17_VARIANT
+  #      else
+  #        define CATCH_INTERNAL_CONFIG_CPP17_VARIANT
+  #      endif // defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9)
+  #    else
+  #      define CATCH_INTERNAL_CONFIG_CPP17_VARIANT
+  #    endif // defined(__clang__) && (__clang_major__ < 8)
+  #  endif // __has_include(<variant>) && defined(CATCH_CPP17_OR_GREATER)
+#endif // defined(__has_include)
+
+#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER)
+#   define CATCH_CONFIG_COUNTER
+#endif
+#if defined(CATCH_INTERNAL_CONFIG_WINDOWS_SEH) && !defined(CATCH_CONFIG_NO_WINDOWS_SEH) && !defined(CATCH_CONFIG_WINDOWS_SEH) && !defined(CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH)
+#   define CATCH_CONFIG_WINDOWS_SEH
+#endif
+// This is set by default, because we assume that unix compilers are posix-signal-compatible by default.
+#if defined(CATCH_INTERNAL_CONFIG_POSIX_SIGNALS) && !defined(CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_POSIX_SIGNALS)
+#   define CATCH_CONFIG_POSIX_SIGNALS
+#endif
+// This is set by default, because we assume that compilers with no wchar_t support are just rare exceptions.
+#if !defined(CATCH_INTERNAL_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_WCHAR)
+#   define CATCH_CONFIG_WCHAR
+#endif
+
+#if !defined(CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_CPP11_TO_STRING)
+#    define CATCH_CONFIG_CPP11_TO_STRING
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_NO_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_CPP17_OPTIONAL)
+#  define CATCH_CONFIG_CPP17_OPTIONAL
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_NO_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
+#  define CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_NO_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_CPP17_STRING_VIEW)
+#  define CATCH_CONFIG_CPP17_STRING_VIEW
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_CPP17_VARIANT) && !defined(CATCH_CONFIG_NO_CPP17_VARIANT) && !defined(CATCH_CONFIG_CPP17_VARIANT)
+#  define CATCH_CONFIG_CPP17_VARIANT
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_CPP17_BYTE) && !defined(CATCH_CONFIG_NO_CPP17_BYTE) && !defined(CATCH_CONFIG_CPP17_BYTE)
+#  define CATCH_CONFIG_CPP17_BYTE
+#endif
+
+#if defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT)
+#  define CATCH_INTERNAL_CONFIG_NEW_CAPTURE
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_NEW_CAPTURE) && !defined(CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NEW_CAPTURE)
+#  define CATCH_CONFIG_NEW_CAPTURE
+#endif
+
+#if !defined(CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
+#  define CATCH_CONFIG_DISABLE_EXCEPTIONS
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_NO_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_POLYFILL_ISNAN)
+#  define CATCH_CONFIG_POLYFILL_ISNAN
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_USE_ASYNC)  && !defined(CATCH_INTERNAL_CONFIG_NO_ASYNC) && !defined(CATCH_CONFIG_NO_USE_ASYNC) && !defined(CATCH_CONFIG_USE_ASYNC)
+#  define CATCH_CONFIG_USE_ASYNC
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_NO_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_ANDROID_LOGWRITE)
+#  define CATCH_CONFIG_ANDROID_LOGWRITE
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_NO_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_GLOBAL_NEXTAFTER)
+#  define CATCH_CONFIG_GLOBAL_NEXTAFTER
+#endif
+
+// Even if we do not think the compiler has that warning, we still have
+// to provide a macro that can be used by the code.
+#if !defined(CATCH_INTERNAL_START_WARNINGS_SUPPRESSION)
+#   define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION
+#endif
+#if !defined(CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION)
+#   define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
+#endif
+#if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS)
+#   define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS
+#endif
+#if !defined(CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS)
+#   define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
+#endif
+#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS)
+#   define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS
+#endif
+#if !defined(CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS)
+#   define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS
+#endif
+
+// The goal of this macro is to avoid evaluation of the arguments, but
+// still have the compiler warn on problems inside...
+#if !defined(CATCH_INTERNAL_IGNORE_BUT_WARN)
+#   define CATCH_INTERNAL_IGNORE_BUT_WARN(...)
+#endif
+
+#if defined(__APPLE__) && defined(__apple_build_version__) && (__clang_major__ < 10)
+#   undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS
+#elif defined(__clang__) && (__clang_major__ < 5)
+#   undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS
+#endif
+
+#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS)
+#   define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS
+#endif
+
+#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
+#define CATCH_TRY if ((true))
+#define CATCH_CATCH_ALL if ((false))
+#define CATCH_CATCH_ANON(type) if ((false))
+#else
+#define CATCH_TRY try
+#define CATCH_CATCH_ALL catch (...)
+#define CATCH_CATCH_ANON(type) catch (type)
+#endif
+
+#if defined(CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_NO_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR)
+#define CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+#endif
+
+// end catch_compiler_capabilities.h
+#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line
+#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line )
+#ifdef CATCH_CONFIG_COUNTER
+#  define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ )
+#else
+#  define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ )
+#endif
+
+#include <iosfwd>
+#include <string>
+#include <cstdint>
+
+// We need a dummy global operator<< so we can bring it into Catch namespace later
+struct Catch_global_namespace_dummy {};
+std::ostream& operator<<(std::ostream&, Catch_global_namespace_dummy);
+
+namespace Catch {
+
+    struct CaseSensitive { enum Choice {
+        Yes,
+        No
+    }; };
+
+    class NonCopyable {
+        NonCopyable( NonCopyable const& )              = delete;
+        NonCopyable( NonCopyable && )                  = delete;
+        NonCopyable& operator = ( NonCopyable const& ) = delete;
+        NonCopyable& operator = ( NonCopyable && )     = delete;
+
+    protected:
+        NonCopyable();
+        virtual ~NonCopyable();
+    };
+
+    struct SourceLineInfo {
+
+        SourceLineInfo() = delete;
+        SourceLineInfo( char const* _file, std::size_t _line ) noexcept
+        :   file( _file ),
+            line( _line )
+        {}
+
+        SourceLineInfo( SourceLineInfo const& other )            = default;
+        SourceLineInfo& operator = ( SourceLineInfo const& )     = default;
+        SourceLineInfo( SourceLineInfo&& )              noexcept = default;
+        SourceLineInfo& operator = ( SourceLineInfo&& ) noexcept = default;
+
+        bool empty() const noexcept { return file[0] == '\0'; }
+        bool operator == ( SourceLineInfo const& other ) const noexcept;
+        bool operator < ( SourceLineInfo const& other ) const noexcept;
+
+        char const* file;
+        std::size_t line;
+    };
+
+    std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info );
+
+    // Bring in operator<< from global namespace into Catch namespace
+    // This is necessary because the overload of operator<< above makes
+    // lookup stop at namespace Catch
+    using ::operator<<;
+
+    // Use this in variadic streaming macros to allow
+    //    >> +StreamEndStop
+    // as well as
+    //    >> stuff +StreamEndStop
+    struct StreamEndStop {
+        std::string operator+() const;
+    };
+    template<typename T>
+    T const& operator + ( T const& value, StreamEndStop ) {
+        return value;
+    }
+}
+
+#define CATCH_INTERNAL_LINEINFO \
+    ::Catch::SourceLineInfo( __FILE__, static_cast<std::size_t>( __LINE__ ) )
+
+// end catch_common.h
+namespace Catch {
+
+    struct RegistrarForTagAliases {
+        RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo );
+    };
+
+} // end namespace Catch
+
+#define CATCH_REGISTER_TAG_ALIAS( alias, spec ) \
+    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+    namespace{ Catch::RegistrarForTagAliases INTERNAL_CATCH_UNIQUE_NAME( AutoRegisterTagAlias )( alias, spec, CATCH_INTERNAL_LINEINFO ); } \
+    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
+
+// end catch_tag_alias_autoregistrar.h
+// start catch_test_registry.h
+
+// start catch_interfaces_testcase.h
+
+#include <vector>
+
+namespace Catch {
+
+    class TestSpec;
+
+    struct ITestInvoker {
+        virtual void invoke () const = 0;
+        virtual ~ITestInvoker();
+    };
+
+    class TestCase;
+    struct IConfig;
+
+    struct ITestCaseRegistry {
+        virtual ~ITestCaseRegistry();
+        virtual std::vector<TestCase> const& getAllTests() const = 0;
+        virtual std::vector<TestCase> const& getAllTestsSorted( IConfig const& config ) const = 0;
+    };
+
+    bool isThrowSafe( TestCase const& testCase, IConfig const& config );
+    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config );
+    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config );
+    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config );
+
+}
+
+// end catch_interfaces_testcase.h
+// start catch_stringref.h
+
+#include <cstddef>
+#include <string>
+#include <iosfwd>
+#include <cassert>
+
+namespace Catch {
+
+    /// A non-owning string class (similar to the forthcoming std::string_view)
+    /// Note that, because a StringRef may be a substring of another string,
+    /// it may not be null terminated.
+    class StringRef {
+    public:
+        using size_type = std::size_t;
+        using const_iterator = const char*;
+
+    private:
+        static constexpr char const* const s_empty = "";
+
+        char const* m_start = s_empty;
+        size_type m_size = 0;
+
+    public: // construction
+        constexpr StringRef() noexcept = default;
+
+        StringRef( char const* rawChars ) noexcept;
+
+        constexpr StringRef( char const* rawChars, size_type size ) noexcept
+        :   m_start( rawChars ),
+            m_size( size )
+        {}
+
+        StringRef( std::string const& stdString ) noexcept
+        :   m_start( stdString.c_str() ),
+            m_size( stdString.size() )
+        {}
+
+        explicit operator std::string() const {
+            return std::string(m_start, m_size);
+        }
+
+    public: // operators
+        auto operator == ( StringRef const& other ) const noexcept -> bool;
+        auto operator != (StringRef const& other) const noexcept -> bool {
+            return !(*this == other);
+        }
+
+        auto operator[] ( size_type index ) const noexcept -> char {
+            assert(index < m_size);
+            return m_start[index];
+        }
+
+    public: // named queries
+        constexpr auto empty() const noexcept -> bool {
+            return m_size == 0;
+        }
+        constexpr auto size() const noexcept -> size_type {
+            return m_size;
+        }
+
+        // Returns the current start pointer. If the StringRef is not
+        // null-terminated, throws std::domain_exception
+        auto c_str() const -> char const*;
+
+    public: // substrings and searches
+        // Returns a substring of [start, start + length).
+        // If start + length > size(), then the substring is [start, size()).
+        // If start > size(), then the substring is empty.
+        auto substr( size_type start, size_type length ) const noexcept -> StringRef;
+
+        // Returns the current start pointer. May not be null-terminated.
+        auto data() const noexcept -> char const*;
+
+        constexpr auto isNullTerminated() const noexcept -> bool {
+            return m_start[m_size] == '\0';
+        }
+
+    public: // iterators
+        constexpr const_iterator begin() const { return m_start; }
+        constexpr const_iterator end() const { return m_start + m_size; }
+    };
+
+    auto operator += ( std::string& lhs, StringRef const& sr ) -> std::string&;
+    auto operator << ( std::ostream& os, StringRef const& sr ) -> std::ostream&;
+
+    constexpr auto operator "" _sr( char const* rawChars, std::size_t size ) noexcept -> StringRef {
+        return StringRef( rawChars, size );
+    }
+} // namespace Catch
+
+constexpr auto operator "" _catch_sr( char const* rawChars, std::size_t size ) noexcept -> Catch::StringRef {
+    return Catch::StringRef( rawChars, size );
+}
+
+// end catch_stringref.h
+// start catch_preprocessor.hpp
+
+
+#define CATCH_RECURSION_LEVEL0(...) __VA_ARGS__
+#define CATCH_RECURSION_LEVEL1(...) CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(__VA_ARGS__)))
+#define CATCH_RECURSION_LEVEL2(...) CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(__VA_ARGS__)))
+#define CATCH_RECURSION_LEVEL3(...) CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(__VA_ARGS__)))
+#define CATCH_RECURSION_LEVEL4(...) CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(__VA_ARGS__)))
+#define CATCH_RECURSION_LEVEL5(...) CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(__VA_ARGS__)))
+
+#ifdef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+#define INTERNAL_CATCH_EXPAND_VARGS(...) __VA_ARGS__
+// MSVC needs more evaluations
+#define CATCH_RECURSION_LEVEL6(...) CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(__VA_ARGS__)))
+#define CATCH_RECURSE(...)  CATCH_RECURSION_LEVEL6(CATCH_RECURSION_LEVEL6(__VA_ARGS__))
+#else
+#define CATCH_RECURSE(...)  CATCH_RECURSION_LEVEL5(__VA_ARGS__)
+#endif
+
+#define CATCH_REC_END(...)
+#define CATCH_REC_OUT
+
+#define CATCH_EMPTY()
+#define CATCH_DEFER(id) id CATCH_EMPTY()
+
+#define CATCH_REC_GET_END2() 0, CATCH_REC_END
+#define CATCH_REC_GET_END1(...) CATCH_REC_GET_END2
+#define CATCH_REC_GET_END(...) CATCH_REC_GET_END1
+#define CATCH_REC_NEXT0(test, next, ...) next CATCH_REC_OUT
+#define CATCH_REC_NEXT1(test, next) CATCH_DEFER ( CATCH_REC_NEXT0 ) ( test, next, 0)
+#define CATCH_REC_NEXT(test, next)  CATCH_REC_NEXT1(CATCH_REC_GET_END test, next)
+
+#define CATCH_REC_LIST0(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ )
+#define CATCH_REC_LIST1(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0) ) ( f, peek, __VA_ARGS__ )
+#define CATCH_REC_LIST2(f, x, peek, ...)   f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ )
+
+#define CATCH_REC_LIST0_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ )
+#define CATCH_REC_LIST1_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0_UD) ) ( f, userdata, peek, __VA_ARGS__ )
+#define CATCH_REC_LIST2_UD(f, userdata, x, peek, ...)   f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ )
+
+// Applies the function macro `f` to each of the remaining parameters, inserts commas between the results,
+// and passes userdata as the first parameter to each invocation,
+// e.g. CATCH_REC_LIST_UD(f, x, a, b, c) evaluates to f(x, a), f(x, b), f(x, c)
+#define CATCH_REC_LIST_UD(f, userdata, ...) CATCH_RECURSE(CATCH_REC_LIST2_UD(f, userdata, __VA_ARGS__, ()()(), ()()(), ()()(), 0))
+
+#define CATCH_REC_LIST(f, ...) CATCH_RECURSE(CATCH_REC_LIST2(f, __VA_ARGS__, ()()(), ()()(), ()()(), 0))
+
+#define INTERNAL_CATCH_EXPAND1(param) INTERNAL_CATCH_EXPAND2(param)
+#define INTERNAL_CATCH_EXPAND2(...) INTERNAL_CATCH_NO## __VA_ARGS__
+#define INTERNAL_CATCH_DEF(...) INTERNAL_CATCH_DEF __VA_ARGS__
+#define INTERNAL_CATCH_NOINTERNAL_CATCH_DEF
+#define INTERNAL_CATCH_STRINGIZE(...) INTERNAL_CATCH_STRINGIZE2(__VA_ARGS__)
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+#define INTERNAL_CATCH_STRINGIZE2(...) #__VA_ARGS__
+#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param))
+#else
+// MSVC is adding extra space and needs another indirection to expand INTERNAL_CATCH_NOINTERNAL_CATCH_DEF
+#define INTERNAL_CATCH_STRINGIZE2(...) INTERNAL_CATCH_STRINGIZE3(__VA_ARGS__)
+#define INTERNAL_CATCH_STRINGIZE3(...) #__VA_ARGS__
+#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) (INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param)) + 1)
+#endif
+
+#define INTERNAL_CATCH_MAKE_NAMESPACE2(...) ns_##__VA_ARGS__
+#define INTERNAL_CATCH_MAKE_NAMESPACE(name) INTERNAL_CATCH_MAKE_NAMESPACE2(name)
+
+#define INTERNAL_CATCH_REMOVE_PARENS(...) INTERNAL_CATCH_EXPAND1(INTERNAL_CATCH_DEF __VA_ARGS__)
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS_GEN(__VA_ARGS__)>())
+#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__))
+#else
+#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) INTERNAL_CATCH_EXPAND_VARGS(decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS_GEN(__VA_ARGS__)>()))
+#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__)))
+#endif
+
+#define INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(...)\
+    CATCH_REC_LIST(INTERNAL_CATCH_MAKE_TYPE_LIST,__VA_ARGS__)
+
+#define INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_0) INTERNAL_CATCH_REMOVE_PARENS(_0)
+#define INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_0, _1) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_1)
+#define INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_0, _1, _2) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_1, _2)
+#define INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_0, _1, _2, _3) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_1, _2, _3)
+#define INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_0, _1, _2, _3, _4) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_1, _2, _3, _4)
+#define INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_0, _1, _2, _3, _4, _5) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_1, _2, _3, _4, _5)
+#define INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_0, _1, _2, _3, _4, _5, _6) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_1, _2, _4, _5, _6)
+#define INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_0, _1, _2, _3, _4, _5, _6, _7) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_1, _2, _3, _4, _5, _6, _7)
+#define INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_1, _2, _3, _4, _5, _6, _7, _8)
+#define INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9)
+#define INTERNAL_CATCH_REMOVE_PARENS_11_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10)
+
+#define INTERNAL_CATCH_VA_NARGS_IMPL(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N
+
+#define INTERNAL_CATCH_TYPE_GEN\
+    template<typename...> struct TypeList {};\
+    template<typename...Ts>\
+    constexpr auto get_wrapper() noexcept -> TypeList<Ts...> { return {}; }\
+    template<template<typename...> class...> struct TemplateTypeList{};\
+    template<template<typename...> class...Cs>\
+    constexpr auto get_wrapper() noexcept -> TemplateTypeList<Cs...> { return {}; }\
+    template<typename...>\
+    struct append;\
+    template<typename...>\
+    struct rewrap;\
+    template<template<typename...> class, typename...>\
+    struct create;\
+    template<template<typename...> class, typename>\
+    struct convert;\
+    \
+    template<typename T> \
+    struct append<T> { using type = T; };\
+    template< template<typename...> class L1, typename...E1, template<typename...> class L2, typename...E2, typename...Rest>\
+    struct append<L1<E1...>, L2<E2...>, Rest...> { using type = typename append<L1<E1...,E2...>, Rest...>::type; };\
+    template< template<typename...> class L1, typename...E1, typename...Rest>\
+    struct append<L1<E1...>, TypeList<mpl_::na>, Rest...> { using type = L1<E1...>; };\
+    \
+    template< template<typename...> class Container, template<typename...> class List, typename...elems>\
+    struct rewrap<TemplateTypeList<Container>, List<elems...>> { using type = TypeList<Container<elems...>>; };\
+    template< template<typename...> class Container, template<typename...> class List, class...Elems, typename...Elements>\
+    struct rewrap<TemplateTypeList<Container>, List<Elems...>, Elements...> { using type = typename append<TypeList<Container<Elems...>>, typename rewrap<TemplateTypeList<Container>, Elements...>::type>::type; };\
+    \
+    template<template <typename...> class Final, template< typename...> class...Containers, typename...Types>\
+    struct create<Final, TemplateTypeList<Containers...>, TypeList<Types...>> { using type = typename append<Final<>, typename rewrap<TemplateTypeList<Containers>, Types...>::type...>::type; };\
+    template<template <typename...> class Final, template <typename...> class List, typename...Ts>\
+    struct convert<Final, List<Ts...>> { using type = typename append<Final<>,TypeList<Ts>...>::type; };
+
+#define INTERNAL_CATCH_NTTP_1(signature, ...)\
+    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> struct Nttp{};\
+    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
+    constexpr auto get_wrapper() noexcept -> Nttp<__VA_ARGS__> { return {}; } \
+    template<template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class...> struct NttpTemplateTypeList{};\
+    template<template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class...Cs>\
+    constexpr auto get_wrapper() noexcept -> NttpTemplateTypeList<Cs...> { return {}; } \
+    \
+    template< template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class Container, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class List, INTERNAL_CATCH_REMOVE_PARENS(signature)>\
+    struct rewrap<NttpTemplateTypeList<Container>, List<__VA_ARGS__>> { using type = TypeList<Container<__VA_ARGS__>>; };\
+    template< template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class Container, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class List, INTERNAL_CATCH_REMOVE_PARENS(signature), typename...Elements>\
+    struct rewrap<NttpTemplateTypeList<Container>, List<__VA_ARGS__>, Elements...> { using type = typename append<TypeList<Container<__VA_ARGS__>>, typename rewrap<NttpTemplateTypeList<Container>, Elements...>::type>::type; };\
+    template<template <typename...> class Final, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class...Containers, typename...Types>\
+    struct create<Final, NttpTemplateTypeList<Containers...>, TypeList<Types...>> { using type = typename append<Final<>, typename rewrap<NttpTemplateTypeList<Containers>, Types...>::type...>::type; };
+
+#define INTERNAL_CATCH_DECLARE_SIG_TEST0(TestName)
+#define INTERNAL_CATCH_DECLARE_SIG_TEST1(TestName, signature)\
+    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
+    static void TestName()
+#define INTERNAL_CATCH_DECLARE_SIG_TEST_X(TestName, signature, ...)\
+    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
+    static void TestName()
+
+#define INTERNAL_CATCH_DEFINE_SIG_TEST0(TestName)
+#define INTERNAL_CATCH_DEFINE_SIG_TEST1(TestName, signature)\
+    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
+    static void TestName()
+#define INTERNAL_CATCH_DEFINE_SIG_TEST_X(TestName, signature,...)\
+    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
+    static void TestName()
+
+#define INTERNAL_CATCH_NTTP_REGISTER0(TestFunc, signature)\
+    template<typename Type>\
+    void reg_test(TypeList<Type>, Catch::NameAndTags nameAndTags)\
+    {\
+        Catch::AutoReg( Catch::makeTestInvoker(&TestFunc<Type>), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), nameAndTags);\
+    }
+
+#define INTERNAL_CATCH_NTTP_REGISTER(TestFunc, signature, ...)\
+    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
+    void reg_test(Nttp<__VA_ARGS__>, Catch::NameAndTags nameAndTags)\
+    {\
+        Catch::AutoReg( Catch::makeTestInvoker(&TestFunc<__VA_ARGS__>), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), nameAndTags);\
+    }
+
+#define INTERNAL_CATCH_NTTP_REGISTER_METHOD0(TestName, signature, ...)\
+    template<typename Type>\
+    void reg_test(TypeList<Type>, Catch::StringRef className, Catch::NameAndTags nameAndTags)\
+    {\
+        Catch::AutoReg( Catch::makeTestInvoker(&TestName<Type>::test), CATCH_INTERNAL_LINEINFO, className, nameAndTags);\
+    }
+
+#define INTERNAL_CATCH_NTTP_REGISTER_METHOD(TestName, signature, ...)\
+    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
+    void reg_test(Nttp<__VA_ARGS__>, Catch::StringRef className, Catch::NameAndTags nameAndTags)\
+    {\
+        Catch::AutoReg( Catch::makeTestInvoker(&TestName<__VA_ARGS__>::test), CATCH_INTERNAL_LINEINFO, className, nameAndTags);\
+    }
+
+#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0(TestName, ClassName)
+#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1(TestName, ClassName, signature)\
+    template<typename TestType> \
+    struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName)<TestType> { \
+        void test();\
+    }
+
+#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X(TestName, ClassName, signature, ...)\
+    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> \
+    struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName)<__VA_ARGS__> { \
+        void test();\
+    }
+
+#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0(TestName)
+#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1(TestName, signature)\
+    template<typename TestType> \
+    void INTERNAL_CATCH_MAKE_NAMESPACE(TestName)::TestName<TestType>::test()
+#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X(TestName, signature, ...)\
+    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> \
+    void INTERNAL_CATCH_MAKE_NAMESPACE(TestName)::TestName<__VA_ARGS__>::test()
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+#define INTERNAL_CATCH_NTTP_0
+#define INTERNAL_CATCH_NTTP_GEN(...) INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__),INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_0)
+#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0)(TestName, __VA_ARGS__)
+#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0)(TestName, ClassName, __VA_ARGS__)
+#define INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD0, INTERNAL_CATCH_NTTP_REGISTER_METHOD0)(TestName, __VA_ARGS__)
+#define INTERNAL_CATCH_NTTP_REG_GEN(TestFunc, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER0, INTERNAL_CATCH_NTTP_REGISTER0)(TestFunc, __VA_ARGS__)
+#define INTERNAL_CATCH_DEFINE_SIG_TEST(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST1, INTERNAL_CATCH_DEFINE_SIG_TEST0)(TestName, __VA_ARGS__)
+#define INTERNAL_CATCH_DECLARE_SIG_TEST(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST1, INTERNAL_CATCH_DECLARE_SIG_TEST0)(TestName, __VA_ARGS__)
+#define INTERNAL_CATCH_REMOVE_PARENS_GEN(...) INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_REMOVE_PARENS_11_ARG,INTERNAL_CATCH_REMOVE_PARENS_10_ARG,INTERNAL_CATCH_REMOVE_PARENS_9_ARG,INTERNAL_CATCH_REMOVE_PARENS_8_ARG,INTERNAL_CATCH_REMOVE_PARENS_7_ARG,INTERNAL_CATCH_REMOVE_PARENS_6_ARG,INTERNAL_CATCH_REMOVE_PARENS_5_ARG,INTERNAL_CATCH_REMOVE_PARENS_4_ARG,INTERNAL_CATCH_REMOVE_PARENS_3_ARG,INTERNAL_CATCH_REMOVE_PARENS_2_ARG,INTERNAL_CATCH_REMOVE_PARENS_1_ARG)(__VA_ARGS__)
+#else
+#define INTERNAL_CATCH_NTTP_0(signature)
+#define INTERNAL_CATCH_NTTP_GEN(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1,INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_0)( __VA_ARGS__))
+#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0)(TestName, __VA_ARGS__))
+#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0)(TestName, ClassName, __VA_ARGS__))
+#define INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD0, INTERNAL_CATCH_NTTP_REGISTER_METHOD0)(TestName, __VA_ARGS__))
+#define INTERNAL_CATCH_NTTP_REG_GEN(TestFunc, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER0, INTERNAL_CATCH_NTTP_REGISTER0)(TestFunc, __VA_ARGS__))
+#define INTERNAL_CATCH_DEFINE_SIG_TEST(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST1, INTERNAL_CATCH_DEFINE_SIG_TEST0)(TestName, __VA_ARGS__))
+#define INTERNAL_CATCH_DECLARE_SIG_TEST(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST1, INTERNAL_CATCH_DECLARE_SIG_TEST0)(TestName, __VA_ARGS__))
+#define INTERNAL_CATCH_REMOVE_PARENS_GEN(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_REMOVE_PARENS_11_ARG,INTERNAL_CATCH_REMOVE_PARENS_10_ARG,INTERNAL_CATCH_REMOVE_PARENS_9_ARG,INTERNAL_CATCH_REMOVE_PARENS_8_ARG,INTERNAL_CATCH_REMOVE_PARENS_7_ARG,INTERNAL_CATCH_REMOVE_PARENS_6_ARG,INTERNAL_CATCH_REMOVE_PARENS_5_ARG,INTERNAL_CATCH_REMOVE_PARENS_4_ARG,INTERNAL_CATCH_REMOVE_PARENS_3_ARG,INTERNAL_CATCH_REMOVE_PARENS_2_ARG,INTERNAL_CATCH_REMOVE_PARENS_1_ARG)(__VA_ARGS__))
+#endif
+
+// end catch_preprocessor.hpp
+// start catch_meta.hpp
+
+
+#include <type_traits>
+
+namespace Catch {
+    template<typename T>
+    struct always_false : std::false_type {};
+
+    template <typename> struct true_given : std::true_type {};
+    struct is_callable_tester {
+        template <typename Fun, typename... Args>
+        true_given<decltype(std::declval<Fun>()(std::declval<Args>()...))> static test(int);
+        template <typename...>
+        std::false_type static test(...);
+    };
+
+    template <typename T>
+    struct is_callable;
+
+    template <typename Fun, typename... Args>
+    struct is_callable<Fun(Args...)> : decltype(is_callable_tester::test<Fun, Args...>(0)) {};
+
+#if defined(__cpp_lib_is_invocable) && __cpp_lib_is_invocable >= 201703
+    // std::result_of is deprecated in C++17 and removed in C++20. Hence, it is
+    // replaced with std::invoke_result here. Also *_t format is preferred over
+    // typename *::type format.
+    template <typename Func, typename U>
+    using FunctionReturnType = std::remove_reference_t<std::remove_cv_t<std::invoke_result_t<Func, U>>>;
+#else
+    template <typename Func, typename U>
+    using FunctionReturnType = typename std::remove_reference<typename std::remove_cv<typename std::result_of<Func(U)>::type>::type>::type;
+#endif
+
+} // namespace Catch
+
+namespace mpl_{
+    struct na;
+}
+
+// end catch_meta.hpp
+namespace Catch {
+
+template<typename C>
+class TestInvokerAsMethod : public ITestInvoker {
+    void (C::*m_testAsMethod)();
+public:
+    TestInvokerAsMethod( void (C::*testAsMethod)() ) noexcept : m_testAsMethod( testAsMethod ) {}
+
+    void invoke() const override {
+        C obj;
+        (obj.*m_testAsMethod)();
+    }
+};
+
+auto makeTestInvoker( void(*testAsFunction)() ) noexcept -> ITestInvoker*;
+
+template<typename C>
+auto makeTestInvoker( void (C::*testAsMethod)() ) noexcept -> ITestInvoker* {
+    return new(std::nothrow) TestInvokerAsMethod<C>( testAsMethod );
+}
+
+struct NameAndTags {
+    NameAndTags( StringRef const& name_ = StringRef(), StringRef const& tags_ = StringRef() ) noexcept;
+    StringRef name;
+    StringRef tags;
+};
+
+struct AutoReg : NonCopyable {
+    AutoReg( ITestInvoker* invoker, SourceLineInfo const& lineInfo, StringRef const& classOrMethod, NameAndTags const& nameAndTags ) noexcept;
+    ~AutoReg();
+};
+
+} // end namespace Catch
+
+#if defined(CATCH_CONFIG_DISABLE)
+    #define INTERNAL_CATCH_TESTCASE_NO_REGISTRATION( TestName, ... ) \
+        static void TestName()
+    #define INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION( TestName, ClassName, ... ) \
+        namespace{                        \
+            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName) { \
+                void test();              \
+            };                            \
+        }                                 \
+        void TestName::test()
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( TestName, TestFunc, Name, Tags, Signature, ... )  \
+        INTERNAL_CATCH_DEFINE_SIG_TEST(TestFunc, INTERNAL_CATCH_REMOVE_PARENS(Signature))
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( TestNameClass, TestName, ClassName, Name, Tags, Signature, ... )    \
+        namespace{                                                                                  \
+            namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName) {                                      \
+            INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
+        }                                                                                           \
+        }                                                                                           \
+        INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))
+
+    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(Name, Tags, ...) \
+            INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ )
+    #else
+        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(Name, Tags, ...) \
+            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ ) )
+    #endif
+
+    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(Name, Tags, Signature, ...) \
+            INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ )
+    #else
+        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(Name, Tags, Signature, ...) \
+            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) )
+    #endif
+
+    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( ClassName, Name, Tags,... ) \
+            INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ )
+    #else
+        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( ClassName, Name, Tags,... ) \
+            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) )
+    #endif
+
+    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION( ClassName, Name, Tags, Signature, ... ) \
+            INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ )
+    #else
+        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION( ClassName, Name, Tags, Signature, ... ) \
+            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) )
+    #endif
+#endif
+
+    ///////////////////////////////////////////////////////////////////////////////
+    #define INTERNAL_CATCH_TESTCASE2( TestName, ... ) \
+        static void TestName(); \
+        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+        namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( &TestName ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ __VA_ARGS__ } ); } /* NOLINT */ \
+        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
+        static void TestName()
+    #define INTERNAL_CATCH_TESTCASE( ... ) \
+        INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), __VA_ARGS__ )
+
+    ///////////////////////////////////////////////////////////////////////////////
+    #define INTERNAL_CATCH_METHOD_AS_TEST_CASE( QualifiedMethod, ... ) \
+        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+        namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( &QualifiedMethod ), CATCH_INTERNAL_LINEINFO, "&" #QualifiedMethod, Catch::NameAndTags{ __VA_ARGS__ } ); } /* NOLINT */ \
+        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
+
+    ///////////////////////////////////////////////////////////////////////////////
+    #define INTERNAL_CATCH_TEST_CASE_METHOD2( TestName, ClassName, ... )\
+        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+        namespace{ \
+            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName) { \
+                void test(); \
+            }; \
+            Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( Catch::makeTestInvoker( &TestName::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ __VA_ARGS__ } ); /* NOLINT */ \
+        } \
+        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
+        void TestName::test()
+    #define INTERNAL_CATCH_TEST_CASE_METHOD( ClassName, ... ) \
+        INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), ClassName, __VA_ARGS__ )
+
+    ///////////////////////////////////////////////////////////////////////////////
+    #define INTERNAL_CATCH_REGISTER_TESTCASE( Function, ... ) \
+        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+        Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( Function ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ __VA_ARGS__ } ); /* NOLINT */ \
+        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
+
+    ///////////////////////////////////////////////////////////////////////////////
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_2(TestName, TestFunc, Name, Tags, Signature, ... )\
+        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
+        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
+        INTERNAL_CATCH_DECLARE_SIG_TEST(TestFunc, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
+        namespace {\
+        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){\
+            INTERNAL_CATCH_TYPE_GEN\
+            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
+            INTERNAL_CATCH_NTTP_REG_GEN(TestFunc,INTERNAL_CATCH_REMOVE_PARENS(Signature))\
+            template<typename...Types> \
+            struct TestName{\
+                TestName(){\
+                    int index = 0;                                    \
+                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, __VA_ARGS__)};\
+                    using expander = int[];\
+                    (void)expander{(reg_test(Types{}, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++, 0)... };/* NOLINT */ \
+                }\
+            };\
+            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
+            TestName<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(__VA_ARGS__)>();\
+            return 0;\
+        }();\
+        }\
+        }\
+        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
+        INTERNAL_CATCH_DEFINE_SIG_TEST(TestFunc,INTERNAL_CATCH_REMOVE_PARENS(Signature))
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \
+        INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ )
+#else
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \
+        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ ) )
+#endif
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG(Name, Tags, Signature, ...) \
+        INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ )
+#else
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG(Name, Tags, Signature, ...) \
+        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) )
+#endif
+
+    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(TestName, TestFuncName, Name, Tags, Signature, TmplTypes, TypesList) \
+        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION                      \
+        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS                      \
+        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS                \
+        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS              \
+        template<typename TestType> static void TestFuncName();       \
+        namespace {\
+        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName) {                                     \
+            INTERNAL_CATCH_TYPE_GEN                                                  \
+            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))         \
+            template<typename... Types>                               \
+            struct TestName {                                         \
+                void reg_tests() {                                          \
+                    int index = 0;                                    \
+                    using expander = int[];                           \
+                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes))};\
+                    constexpr char const* types_list[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TypesList))};\
+                    constexpr auto num_types = sizeof(types_list) / sizeof(types_list[0]);\
+                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFuncName<Types> ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++, 0)... };/* NOLINT */\
+                }                                                     \
+            };                                                        \
+            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){ \
+                using TestInit = typename create<TestName, decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS(TmplTypes)>()), TypeList<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(INTERNAL_CATCH_REMOVE_PARENS(TypesList))>>::type; \
+                TestInit t;                                           \
+                t.reg_tests();                                        \
+                return 0;                                             \
+            }();                                                      \
+        }                                                             \
+        }                                                             \
+        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION                       \
+        template<typename TestType>                                   \
+        static void TestFuncName()
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE(Name, Tags, ...)\
+        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename T,__VA_ARGS__)
+#else
+    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE(Name, Tags, ...)\
+        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename T, __VA_ARGS__ ) )
+#endif
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG(Name, Tags, Signature, ...)\
+        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__)
+#else
+    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG(Name, Tags, Signature, ...)\
+        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) )
+#endif
+
+    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2(TestName, TestFunc, Name, Tags, TmplList)\
+        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
+        template<typename TestType> static void TestFunc();       \
+        namespace {\
+        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){\
+        INTERNAL_CATCH_TYPE_GEN\
+        template<typename... Types>                               \
+        struct TestName {                                         \
+            void reg_tests() {                                          \
+                int index = 0;                                    \
+                using expander = int[];                           \
+                (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFunc<Types> ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++, 0)... };/* NOLINT */\
+            }                                                     \
+        };\
+        static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){ \
+                using TestInit = typename convert<TestName, TmplList>::type; \
+                TestInit t;                                           \
+                t.reg_tests();                                        \
+                return 0;                                             \
+            }();                                                      \
+        }}\
+        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION                       \
+        template<typename TestType>                                   \
+        static void TestFunc()
+
+    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE(Name, Tags, TmplList) \
+        INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, TmplList )
+
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, Signature, ... ) \
+        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
+        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
+        namespace {\
+        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){ \
+            INTERNAL_CATCH_TYPE_GEN\
+            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
+            INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
+            INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))\
+            template<typename...Types> \
+            struct TestNameClass{\
+                TestNameClass(){\
+                    int index = 0;                                    \
+                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, __VA_ARGS__)};\
+                    using expander = int[];\
+                    (void)expander{(reg_test(Types{}, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++, 0)... };/* NOLINT */ \
+                }\
+            };\
+            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
+                TestNameClass<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(__VA_ARGS__)>();\
+                return 0;\
+        }();\
+        }\
+        }\
+        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
+        INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \
+        INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ )
+#else
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \
+        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) )
+#endif
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... ) \
+        INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ )
+#else
+    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... ) \
+        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) )
+#endif
+
+    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2(TestNameClass, TestName, ClassName, Name, Tags, Signature, TmplTypes, TypesList)\
+        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
+        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
+        template<typename TestType> \
+            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName <TestType>) { \
+                void test();\
+            };\
+        namespace {\
+        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestNameClass) {\
+            INTERNAL_CATCH_TYPE_GEN                  \
+            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
+            template<typename...Types>\
+            struct TestNameClass{\
+                void reg_tests(){\
+                    int index = 0;\
+                    using expander = int[];\
+                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes))};\
+                    constexpr char const* types_list[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TypesList))};\
+                    constexpr auto num_types = sizeof(types_list) / sizeof(types_list[0]);\
+                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName<Types>::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++, 0)... };/* NOLINT */ \
+                }\
+            };\
+            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
+                using TestInit = typename create<TestNameClass, decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS(TmplTypes)>()), TypeList<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(INTERNAL_CATCH_REMOVE_PARENS(TypesList))>>::type;\
+                TestInit t;\
+                t.reg_tests();\
+                return 0;\
+            }(); \
+        }\
+        }\
+        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
+        template<typename TestType> \
+        void TestName<TestType>::test()
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( ClassName, Name, Tags, ... )\
+        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, typename T, __VA_ARGS__ )
+#else
+    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( ClassName, Name, Tags, ... )\
+        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, typename T,__VA_ARGS__ ) )
+#endif
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... )\
+        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, Signature, __VA_ARGS__ )
+#else
+    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... )\
+        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, Signature,__VA_ARGS__ ) )
+#endif
+
+    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, TmplList) \
+        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
+        template<typename TestType> \
+        struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName <TestType>) { \
+            void test();\
+        };\
+        namespace {\
+        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){ \
+            INTERNAL_CATCH_TYPE_GEN\
+            template<typename...Types>\
+            struct TestNameClass{\
+                void reg_tests(){\
+                    int index = 0;\
+                    using expander = int[];\
+                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName<Types>::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++, 0)... };/* NOLINT */ \
+                }\
+            };\
+            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
+                using TestInit = typename convert<TestNameClass, TmplList>::type;\
+                TestInit t;\
+                t.reg_tests();\
+                return 0;\
+            }(); \
+        }}\
+        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
+        template<typename TestType> \
+        void TestName<TestType>::test()
+
+#define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD(ClassName, Name, Tags, TmplList) \
+        INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, TmplList )
+
+// end catch_test_registry.h
+// start catch_capture.hpp
+
+// start catch_assertionhandler.h
+
+// start catch_assertioninfo.h
+
+// start catch_result_type.h
+
+namespace Catch {
+
+    // ResultWas::OfType enum
+    struct ResultWas { enum OfType {
+        Unknown = -1,
+        Ok = 0,
+        Info = 1,
+        Warning = 2,
+
+        FailureBit = 0x10,
+
+        ExpressionFailed = FailureBit | 1,
+        ExplicitFailure = FailureBit | 2,
+
+        Exception = 0x100 | FailureBit,
+
+        ThrewException = Exception | 1,
+        DidntThrowException = Exception | 2,
+
+        FatalErrorCondition = 0x200 | FailureBit
+
+    }; };
+
+    bool isOk( ResultWas::OfType resultType );
+    bool isJustInfo( int flags );
+
+    // ResultDisposition::Flags enum
+    struct ResultDisposition { enum Flags {
+        Normal = 0x01,
+
+        ContinueOnFailure = 0x02,   // Failures fail test, but execution continues
+        FalseTest = 0x04,           // Prefix expression with !
+        SuppressFail = 0x08         // Failures are reported but do not fail the test
+    }; };
+
+    ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs );
+
+    bool shouldContinueOnFailure( int flags );
+    inline bool isFalseTest( int flags ) { return ( flags & ResultDisposition::FalseTest ) != 0; }
+    bool shouldSuppressFailure( int flags );
+
+} // end namespace Catch
+
+// end catch_result_type.h
+namespace Catch {
+
+    struct AssertionInfo
+    {
+        StringRef macroName;
+        SourceLineInfo lineInfo;
+        StringRef capturedExpression;
+        ResultDisposition::Flags resultDisposition;
+
+        // We want to delete this constructor but a compiler bug in 4.8 means
+        // the struct is then treated as non-aggregate
+        //AssertionInfo() = delete;
+    };
+
+} // end namespace Catch
+
+// end catch_assertioninfo.h
+// start catch_decomposer.h
+
+// start catch_tostring.h
+
+#include <vector>
+#include <cstddef>
+#include <type_traits>
+#include <string>
+// start catch_stream.h
+
+#include <iosfwd>
+#include <cstddef>
+#include <ostream>
+
+namespace Catch {
+
+    std::ostream& cout();
+    std::ostream& cerr();
+    std::ostream& clog();
+
+    class StringRef;
+
+    struct IStream {
+        virtual ~IStream();
+        virtual std::ostream& stream() const = 0;
+    };
+
+    auto makeStream( StringRef const &filename ) -> IStream const*;
+
+    class ReusableStringStream : NonCopyable {
+        std::size_t m_index;
+        std::ostream* m_oss;
+    public:
+        ReusableStringStream();
+        ~ReusableStringStream();
+
+        auto str() const -> std::string;
+
+        template<typename T>
+        auto operator << ( T const& value ) -> ReusableStringStream& {
+            *m_oss << value;
+            return *this;
+        }
+        auto get() -> std::ostream& { return *m_oss; }
+    };
+}
+
+// end catch_stream.h
+// start catch_interfaces_enum_values_registry.h
+
+#include <vector>
+
+namespace Catch {
+
+    namespace Detail {
+        struct EnumInfo {
+            StringRef m_name;
+            std::vector<std::pair<int, StringRef>> m_values;
+
+            ~EnumInfo();
+
+            StringRef lookup( int value ) const;
+        };
+    } // namespace Detail
+
+    struct IMutableEnumValuesRegistry {
+        virtual ~IMutableEnumValuesRegistry();
+
+        virtual Detail::EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::vector<int> const& values ) = 0;
+
+        template<typename E>
+        Detail::EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::initializer_list<E> values ) {
+            static_assert(sizeof(int) >= sizeof(E), "Cannot serialize enum to int");
+            std::vector<int> intValues;
+            intValues.reserve( values.size() );
+            for( auto enumValue : values )
+                intValues.push_back( static_cast<int>( enumValue ) );
+            return registerEnum( enumName, allEnums, intValues );
+        }
+    };
+
+} // Catch
+
+// end catch_interfaces_enum_values_registry.h
+
+#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
+#include <string_view>
+#endif
+
+#ifdef __OBJC__
+// start catch_objc_arc.hpp
+
+#import <Foundation/Foundation.h>
+
+#ifdef __has_feature
+#define CATCH_ARC_ENABLED __has_feature(objc_arc)
+#else
+#define CATCH_ARC_ENABLED 0
+#endif
+
+void arcSafeRelease( NSObject* obj );
+id performOptionalSelector( id obj, SEL sel );
+
+#if !CATCH_ARC_ENABLED
+inline void arcSafeRelease( NSObject* obj ) {
+    [obj release];
+}
+inline id performOptionalSelector( id obj, SEL sel ) {
+    if( [obj respondsToSelector: sel] )
+        return [obj performSelector: sel];
+    return nil;
+}
+#define CATCH_UNSAFE_UNRETAINED
+#define CATCH_ARC_STRONG
+#else
+inline void arcSafeRelease( NSObject* ){}
+inline id performOptionalSelector( id obj, SEL sel ) {
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Warc-performSelector-leaks"
+#endif
+    if( [obj respondsToSelector: sel] )
+        return [obj performSelector: sel];
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+    return nil;
+}
+#define CATCH_UNSAFE_UNRETAINED __unsafe_unretained
+#define CATCH_ARC_STRONG __strong
+#endif
+
+// end catch_objc_arc.hpp
+#endif
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable:4180) // We attempt to stream a function (address) by const&, which MSVC complains about but is harmless
+#endif
+
+namespace Catch {
+    namespace Detail {
+
+        extern const std::string unprintableString;
+
+        std::string rawMemoryToString( const void *object, std::size_t size );
+
+        template<typename T>
+        std::string rawMemoryToString( const T& object ) {
+          return rawMemoryToString( &object, sizeof(object) );
+        }
+
+        template<typename T>
+        class IsStreamInsertable {
+            template<typename Stream, typename U>
+            static auto test(int)
+                -> decltype(std::declval<Stream&>() << std::declval<U>(), std::true_type());
+
+            template<typename, typename>
+            static auto test(...)->std::false_type;
+
+        public:
+            static const bool value = decltype(test<std::ostream, const T&>(0))::value;
+        };
+
+        template<typename E>
+        std::string convertUnknownEnumToString( E e );
+
+        template<typename T>
+        typename std::enable_if<
+            !std::is_enum<T>::value && !std::is_base_of<std::exception, T>::value,
+        std::string>::type convertUnstreamable( T const& ) {
+            return Detail::unprintableString;
+        }
+        template<typename T>
+        typename std::enable_if<
+            !std::is_enum<T>::value && std::is_base_of<std::exception, T>::value,
+         std::string>::type convertUnstreamable(T const& ex) {
+            return ex.what();
+        }
+
+        template<typename T>
+        typename std::enable_if<
+            std::is_enum<T>::value
+        , std::string>::type convertUnstreamable( T const& value ) {
+            return convertUnknownEnumToString( value );
+        }
+
+#if defined(_MANAGED)
+        //! Convert a CLR string to a utf8 std::string
+        template<typename T>
+        std::string clrReferenceToString( T^ ref ) {
+            if (ref == nullptr)
+                return std::string("null");
+            auto bytes = System::Text::Encoding::UTF8->GetBytes(ref->ToString());
+            cli::pin_ptr<System::Byte> p = &bytes[0];
+            return std::string(reinterpret_cast<char const *>(p), bytes->Length);
+        }
+#endif
+
+    } // namespace Detail
+
+    // If we decide for C++14, change these to enable_if_ts
+    template <typename T, typename = void>
+    struct StringMaker {
+        template <typename Fake = T>
+        static
+        typename std::enable_if<::Catch::Detail::IsStreamInsertable<Fake>::value, std::string>::type
+            convert(const Fake& value) {
+                ReusableStringStream rss;
+                // NB: call using the function-like syntax to avoid ambiguity with
+                // user-defined templated operator<< under clang.
+                rss.operator<<(value);
+                return rss.str();
+        }
+
+        template <typename Fake = T>
+        static
+        typename std::enable_if<!::Catch::Detail::IsStreamInsertable<Fake>::value, std::string>::type
+            convert( const Fake& value ) {
+#if !defined(CATCH_CONFIG_FALLBACK_STRINGIFIER)
+            return Detail::convertUnstreamable(value);
+#else
+            return CATCH_CONFIG_FALLBACK_STRINGIFIER(value);
+#endif
+        }
+    };
+
+    namespace Detail {
+
+        // This function dispatches all stringification requests inside of Catch.
+        // Should be preferably called fully qualified, like ::Catch::Detail::stringify
+        template <typename T>
+        std::string stringify(const T& e) {
+            return ::Catch::StringMaker<typename std::remove_cv<typename std::remove_reference<T>::type>::type>::convert(e);
+        }
+
+        template<typename E>
+        std::string convertUnknownEnumToString( E e ) {
+            return ::Catch::Detail::stringify(static_cast<typename std::underlying_type<E>::type>(e));
+        }
+
+#if defined(_MANAGED)
+        template <typename T>
+        std::string stringify( T^ e ) {
+            return ::Catch::StringMaker<T^>::convert(e);
+        }
+#endif
+
+    } // namespace Detail
+
+    // Some predefined specializations
+
+    template<>
+    struct StringMaker<std::string> {
+        static std::string convert(const std::string& str);
+    };
+
+#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
+    template<>
+    struct StringMaker<std::string_view> {
+        static std::string convert(std::string_view str);
+    };
+#endif
+
+    template<>
+    struct StringMaker<char const *> {
+        static std::string convert(char const * str);
+    };
+    template<>
+    struct StringMaker<char *> {
+        static std::string convert(char * str);
+    };
+
+#ifdef CATCH_CONFIG_WCHAR
+    template<>
+    struct StringMaker<std::wstring> {
+        static std::string convert(const std::wstring& wstr);
+    };
+
+# ifdef CATCH_CONFIG_CPP17_STRING_VIEW
+    template<>
+    struct StringMaker<std::wstring_view> {
+        static std::string convert(std::wstring_view str);
+    };
+# endif
+
+    template<>
+    struct StringMaker<wchar_t const *> {
+        static std::string convert(wchar_t const * str);
+    };
+    template<>
+    struct StringMaker<wchar_t *> {
+        static std::string convert(wchar_t * str);
+    };
+#endif
+
+    // TBD: Should we use `strnlen` to ensure that we don't go out of the buffer,
+    //      while keeping string semantics?
+    template<int SZ>
+    struct StringMaker<char[SZ]> {
+        static std::string convert(char const* str) {
+            return ::Catch::Detail::stringify(std::string{ str });
+        }
+    };
+    template<int SZ>
+    struct StringMaker<signed char[SZ]> {
+        static std::string convert(signed char const* str) {
+            return ::Catch::Detail::stringify(std::string{ reinterpret_cast<char const *>(str) });
+        }
+    };
+    template<int SZ>
+    struct StringMaker<unsigned char[SZ]> {
+        static std::string convert(unsigned char const* str) {
+            return ::Catch::Detail::stringify(std::string{ reinterpret_cast<char const *>(str) });
+        }
+    };
+
+#if defined(CATCH_CONFIG_CPP17_BYTE)
+    template<>
+    struct StringMaker<std::byte> {
+        static std::string convert(std::byte value);
+    };
+#endif // defined(CATCH_CONFIG_CPP17_BYTE)
+    template<>
+    struct StringMaker<int> {
+        static std::string convert(int value);
+    };
+    template<>
+    struct StringMaker<long> {
+        static std::string convert(long value);
+    };
+    template<>
+    struct StringMaker<long long> {
+        static std::string convert(long long value);
+    };
+    template<>
+    struct StringMaker<unsigned int> {
+        static std::string convert(unsigned int value);
+    };
+    template<>
+    struct StringMaker<unsigned long> {
+        static std::string convert(unsigned long value);
+    };
+    template<>
+    struct StringMaker<unsigned long long> {
+        static std::string convert(unsigned long long value);
+    };
+
+    template<>
+    struct StringMaker<bool> {
+        static std::string convert(bool b);
+    };
+
+    template<>
+    struct StringMaker<char> {
+        static std::string convert(char c);
+    };
+    template<>
+    struct StringMaker<signed char> {
+        static std::string convert(signed char c);
+    };
+    template<>
+    struct StringMaker<unsigned char> {
+        static std::string convert(unsigned char c);
+    };
+
+    template<>
+    struct StringMaker<std::nullptr_t> {
+        static std::string convert(std::nullptr_t);
+    };
+
+    template<>
+    struct StringMaker<float> {
+        static std::string convert(float value);
+        static int precision;
+    };
+
+    template<>
+    struct StringMaker<double> {
+        static std::string convert(double value);
+        static int precision;
+    };
+
+    template <typename T>
+    struct StringMaker<T*> {
+        template <typename U>
+        static std::string convert(U* p) {
+            if (p) {
+                return ::Catch::Detail::rawMemoryToString(p);
+            } else {
+                return "nullptr";
+            }
+        }
+    };
+
+    template <typename R, typename C>
+    struct StringMaker<R C::*> {
+        static std::string convert(R C::* p) {
+            if (p) {
+                return ::Catch::Detail::rawMemoryToString(p);
+            } else {
+                return "nullptr";
+            }
+        }
+    };
+
+#if defined(_MANAGED)
+    template <typename T>
+    struct StringMaker<T^> {
+        static std::string convert( T^ ref ) {
+            return ::Catch::Detail::clrReferenceToString(ref);
+        }
+    };
+#endif
+
+    namespace Detail {
+        template<typename InputIterator>
+        std::string rangeToString(InputIterator first, InputIterator last) {
+            ReusableStringStream rss;
+            rss << "{ ";
+            if (first != last) {
+                rss << ::Catch::Detail::stringify(*first);
+                for (++first; first != last; ++first)
+                    rss << ", " << ::Catch::Detail::stringify(*first);
+            }
+            rss << " }";
+            return rss.str();
+        }
+    }
+
+#ifdef __OBJC__
+    template<>
+    struct StringMaker<NSString*> {
+        static std::string convert(NSString * nsstring) {
+            if (!nsstring)
+                return "nil";
+            return std::string("@") + [nsstring UTF8String];
+        }
+    };
+    template<>
+    struct StringMaker<NSObject*> {
+        static std::string convert(NSObject* nsObject) {
+            return ::Catch::Detail::stringify([nsObject description]);
+        }
+
+    };
+    namespace Detail {
+        inline std::string stringify( NSString* nsstring ) {
+            return StringMaker<NSString*>::convert( nsstring );
+        }
+
+    } // namespace Detail
+#endif // __OBJC__
+
+} // namespace Catch
+
+//////////////////////////////////////////////////////
+// Separate std-lib types stringification, so it can be selectively enabled
+// This means that we do not bring in
+
+#if defined(CATCH_CONFIG_ENABLE_ALL_STRINGMAKERS)
+#  define CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER
+#  define CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER
+#  define CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER
+#  define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
+#  define CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER
+#endif
+
+// Separate std::pair specialization
+#if defined(CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER)
+#include <utility>
+namespace Catch {
+    template<typename T1, typename T2>
+    struct StringMaker<std::pair<T1, T2> > {
+        static std::string convert(const std::pair<T1, T2>& pair) {
+            ReusableStringStream rss;
+            rss << "{ "
+                << ::Catch::Detail::stringify(pair.first)
+                << ", "
+                << ::Catch::Detail::stringify(pair.second)
+                << " }";
+            return rss.str();
+        }
+    };
+}
+#endif // CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER
+
+#if defined(CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER) && defined(CATCH_CONFIG_CPP17_OPTIONAL)
+#include <optional>
+namespace Catch {
+    template<typename T>
+    struct StringMaker<std::optional<T> > {
+        static std::string convert(const std::optional<T>& optional) {
+            ReusableStringStream rss;
+            if (optional.has_value()) {
+                rss << ::Catch::Detail::stringify(*optional);
+            } else {
+                rss << "{ }";
+            }
+            return rss.str();
+        }
+    };
+}
+#endif // CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER
+
+// Separate std::tuple specialization
+#if defined(CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER)
+#include <tuple>
+namespace Catch {
+    namespace Detail {
+        template<
+            typename Tuple,
+            std::size_t N = 0,
+            bool = (N < std::tuple_size<Tuple>::value)
+            >
+            struct TupleElementPrinter {
+            static void print(const Tuple& tuple, std::ostream& os) {
+                os << (N ? ", " : " ")
+                    << ::Catch::Detail::stringify(std::get<N>(tuple));
+                TupleElementPrinter<Tuple, N + 1>::print(tuple, os);
+            }
+        };
+
+        template<
+            typename Tuple,
+            std::size_t N
+        >
+            struct TupleElementPrinter<Tuple, N, false> {
+            static void print(const Tuple&, std::ostream&) {}
+        };
+
+    }
+
+    template<typename ...Types>
+    struct StringMaker<std::tuple<Types...>> {
+        static std::string convert(const std::tuple<Types...>& tuple) {
+            ReusableStringStream rss;
+            rss << '{';
+            Detail::TupleElementPrinter<std::tuple<Types...>>::print(tuple, rss.get());
+            rss << " }";
+            return rss.str();
+        }
+    };
+}
+#endif // CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER
+
+#if defined(CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER) && defined(CATCH_CONFIG_CPP17_VARIANT)
+#include <variant>
+namespace Catch {
+    template<>
+    struct StringMaker<std::monostate> {
+        static std::string convert(const std::monostate&) {
+            return "{ }";
+        }
+    };
+
+    template<typename... Elements>
+    struct StringMaker<std::variant<Elements...>> {
+        static std::string convert(const std::variant<Elements...>& variant) {
+            if (variant.valueless_by_exception()) {
+                return "{valueless variant}";
+            } else {
+                return std::visit(
+                    [](const auto& value) {
+                        return ::Catch::Detail::stringify(value);
+                    },
+                    variant
+                );
+            }
+        }
+    };
+}
+#endif // CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER
+
+namespace Catch {
+    struct not_this_one {}; // Tag type for detecting which begin/ end are being selected
+
+    // Import begin/ end from std here so they are considered alongside the fallback (...) overloads in this namespace
+    using std::begin;
+    using std::end;
+
+    not_this_one begin( ... );
+    not_this_one end( ... );
+
+    template <typename T>
+    struct is_range {
+        static const bool value =
+            !std::is_same<decltype(begin(std::declval<T>())), not_this_one>::value &&
+            !std::is_same<decltype(end(std::declval<T>())), not_this_one>::value;
+    };
+
+#if defined(_MANAGED) // Managed types are never ranges
+    template <typename T>
+    struct is_range<T^> {
+        static const bool value = false;
+    };
+#endif
+
+    template<typename Range>
+    std::string rangeToString( Range const& range ) {
+        return ::Catch::Detail::rangeToString( begin( range ), end( range ) );
+    }
+
+    // Handle vector<bool> specially
+    template<typename Allocator>
+    std::string rangeToString( std::vector<bool, Allocator> const& v ) {
+        ReusableStringStream rss;
+        rss << "{ ";
+        bool first = true;
+        for( bool b : v ) {
+            if( first )
+                first = false;
+            else
+                rss << ", ";
+            rss << ::Catch::Detail::stringify( b );
+        }
+        rss << " }";
+        return rss.str();
+    }
+
+    template<typename R>
+    struct StringMaker<R, typename std::enable_if<is_range<R>::value && !::Catch::Detail::IsStreamInsertable<R>::value>::type> {
+        static std::string convert( R const& range ) {
+            return rangeToString( range );
+        }
+    };
+
+    template <typename T, int SZ>
+    struct StringMaker<T[SZ]> {
+        static std::string convert(T const(&arr)[SZ]) {
+            return rangeToString(arr);
+        }
+    };
+
+} // namespace Catch
+
+// Separate std::chrono::duration specialization
+#if defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
+#include <ctime>
+#include <ratio>
+#include <chrono>
+
+namespace Catch {
+
+template <class Ratio>
+struct ratio_string {
+    static std::string symbol();
+};
+
+template <class Ratio>
+std::string ratio_string<Ratio>::symbol() {
+    Catch::ReusableStringStream rss;
+    rss << '[' << Ratio::num << '/'
+        << Ratio::den << ']';
+    return rss.str();
+}
+template <>
+struct ratio_string<std::atto> {
+    static std::string symbol();
+};
+template <>
+struct ratio_string<std::femto> {
+    static std::string symbol();
+};
+template <>
+struct ratio_string<std::pico> {
+    static std::string symbol();
+};
+template <>
+struct ratio_string<std::nano> {
+    static std::string symbol();
+};
+template <>
+struct ratio_string<std::micro> {
+    static std::string symbol();
+};
+template <>
+struct ratio_string<std::milli> {
+    static std::string symbol();
+};
+
+    ////////////
+    // std::chrono::duration specializations
+    template<typename Value, typename Ratio>
+    struct StringMaker<std::chrono::duration<Value, Ratio>> {
+        static std::string convert(std::chrono::duration<Value, Ratio> const& duration) {
+            ReusableStringStream rss;
+            rss << duration.count() << ' ' << ratio_string<Ratio>::symbol() << 's';
+            return rss.str();
+        }
+    };
+    template<typename Value>
+    struct StringMaker<std::chrono::duration<Value, std::ratio<1>>> {
+        static std::string convert(std::chrono::duration<Value, std::ratio<1>> const& duration) {
+            ReusableStringStream rss;
+            rss << duration.count() << " s";
+            return rss.str();
+        }
+    };
+    template<typename Value>
+    struct StringMaker<std::chrono::duration<Value, std::ratio<60>>> {
+        static std::string convert(std::chrono::duration<Value, std::ratio<60>> const& duration) {
+            ReusableStringStream rss;
+            rss << duration.count() << " m";
+            return rss.str();
+        }
+    };
+    template<typename Value>
+    struct StringMaker<std::chrono::duration<Value, std::ratio<3600>>> {
+        static std::string convert(std::chrono::duration<Value, std::ratio<3600>> const& duration) {
+            ReusableStringStream rss;
+            rss << duration.count() << " h";
+            return rss.str();
+        }
+    };
+
+    ////////////
+    // std::chrono::time_point specialization
+    // Generic time_point cannot be specialized, only std::chrono::time_point<system_clock>
+    template<typename Clock, typename Duration>
+    struct StringMaker<std::chrono::time_point<Clock, Duration>> {
+        static std::string convert(std::chrono::time_point<Clock, Duration> const& time_point) {
+            return ::Catch::Detail::stringify(time_point.time_since_epoch()) + " since epoch";
+        }
+    };
+    // std::chrono::time_point<system_clock> specialization
+    template<typename Duration>
+    struct StringMaker<std::chrono::time_point<std::chrono::system_clock, Duration>> {
+        static std::string convert(std::chrono::time_point<std::chrono::system_clock, Duration> const& time_point) {
+            auto converted = std::chrono::system_clock::to_time_t(time_point);
+
+#ifdef _MSC_VER
+            std::tm timeInfo = {};
+            gmtime_s(&timeInfo, &converted);
+#else
+            std::tm* timeInfo = std::gmtime(&converted);
+#endif
+
+            auto const timeStampSize = sizeof("2017-01-16T17:06:45Z");
+            char timeStamp[timeStampSize];
+            const char * const fmt = "%Y-%m-%dT%H:%M:%SZ";
+
+#ifdef _MSC_VER
+            std::strftime(timeStamp, timeStampSize, fmt, &timeInfo);
+#else
+            std::strftime(timeStamp, timeStampSize, fmt, timeInfo);
+#endif
+            return std::string(timeStamp);
+        }
+    };
+}
+#endif // CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
+
+#define INTERNAL_CATCH_REGISTER_ENUM( enumName, ... ) \
+namespace Catch { \
+    template<> struct StringMaker<enumName> { \
+        static std::string convert( enumName value ) { \
+            static const auto& enumInfo = ::Catch::getMutableRegistryHub().getMutableEnumValuesRegistry().registerEnum( #enumName, #__VA_ARGS__, { __VA_ARGS__ } ); \
+            return static_cast<std::string>(enumInfo.lookup( static_cast<int>( value ) )); \
+        } \
+    }; \
+}
+
+#define CATCH_REGISTER_ENUM( enumName, ... ) INTERNAL_CATCH_REGISTER_ENUM( enumName, __VA_ARGS__ )
+
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+// end catch_tostring.h
+#include <iosfwd>
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable:4389) // '==' : signed/unsigned mismatch
+#pragma warning(disable:4018) // more "signed/unsigned mismatch"
+#pragma warning(disable:4312) // Converting int to T* using reinterpret_cast (issue on x64 platform)
+#pragma warning(disable:4180) // qualifier applied to function type has no meaning
+#pragma warning(disable:4800) // Forcing result to true or false
+#endif
+
+namespace Catch {
+
+    struct ITransientExpression {
+        auto isBinaryExpression() const -> bool { return m_isBinaryExpression; }
+        auto getResult() const -> bool { return m_result; }
+        virtual void streamReconstructedExpression( std::ostream &os ) const = 0;
+
+        ITransientExpression( bool isBinaryExpression, bool result )
+        :   m_isBinaryExpression( isBinaryExpression ),
+            m_result( result )
+        {}
+
+        // We don't actually need a virtual destructor, but many static analysers
+        // complain if it's not here :-(
+        virtual ~ITransientExpression();
+
+        bool m_isBinaryExpression;
+        bool m_result;
+
+    };
+
+    void formatReconstructedExpression( std::ostream &os, std::string const& lhs, StringRef op, std::string const& rhs );
+
+    template<typename LhsT, typename RhsT>
+    class BinaryExpr  : public ITransientExpression {
+        LhsT m_lhs;
+        StringRef m_op;
+        RhsT m_rhs;
+
+        void streamReconstructedExpression( std::ostream &os ) const override {
+            formatReconstructedExpression
+                    ( os, Catch::Detail::stringify( m_lhs ), m_op, Catch::Detail::stringify( m_rhs ) );
+        }
+
+    public:
+        BinaryExpr( bool comparisonResult, LhsT lhs, StringRef op, RhsT rhs )
+        :   ITransientExpression{ true, comparisonResult },
+            m_lhs( lhs ),
+            m_op( op ),
+            m_rhs( rhs )
+        {}
+
+        template<typename T>
+        auto operator && ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
+            static_assert(always_false<T>::value,
+            "chained comparisons are not supported inside assertions, "
+            "wrap the expression inside parentheses, or decompose it");
+        }
+
+        template<typename T>
+        auto operator || ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
+            static_assert(always_false<T>::value,
+            "chained comparisons are not supported inside assertions, "
+            "wrap the expression inside parentheses, or decompose it");
+        }
+
+        template<typename T>
+        auto operator == ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
+            static_assert(always_false<T>::value,
+            "chained comparisons are not supported inside assertions, "
+            "wrap the expression inside parentheses, or decompose it");
+        }
+
+        template<typename T>
+        auto operator != ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
+            static_assert(always_false<T>::value,
+            "chained comparisons are not supported inside assertions, "
+            "wrap the expression inside parentheses, or decompose it");
+        }
+
+        template<typename T>
+        auto operator > ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
+            static_assert(always_false<T>::value,
+            "chained comparisons are not supported inside assertions, "
+            "wrap the expression inside parentheses, or decompose it");
+        }
+
+        template<typename T>
+        auto operator < ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
+            static_assert(always_false<T>::value,
+            "chained comparisons are not supported inside assertions, "
+            "wrap the expression inside parentheses, or decompose it");
+        }
+
+        template<typename T>
+        auto operator >= ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
+            static_assert(always_false<T>::value,
+            "chained comparisons are not supported inside assertions, "
+            "wrap the expression inside parentheses, or decompose it");
+        }
+
+        template<typename T>
+        auto operator <= ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
+            static_assert(always_false<T>::value,
+            "chained comparisons are not supported inside assertions, "
+            "wrap the expression inside parentheses, or decompose it");
+        }
+    };
+
+    template<typename LhsT>
+    class UnaryExpr : public ITransientExpression {
+        LhsT m_lhs;
+
+        void streamReconstructedExpression( std::ostream &os ) const override {
+            os << Catch::Detail::stringify( m_lhs );
+        }
+
+    public:
+        explicit UnaryExpr( LhsT lhs )
+        :   ITransientExpression{ false, static_cast<bool>(lhs) },
+            m_lhs( lhs )
+        {}
+    };
+
+    // Specialised comparison functions to handle equality comparisons between ints and pointers (NULL deduces as an int)
+    template<typename LhsT, typename RhsT>
+    auto compareEqual( LhsT const& lhs, RhsT const& rhs ) -> bool { return static_cast<bool>(lhs == rhs); }
+    template<typename T>
+    auto compareEqual( T* const& lhs, int rhs ) -> bool { return lhs == reinterpret_cast<void const*>( rhs ); }
+    template<typename T>
+    auto compareEqual( T* const& lhs, long rhs ) -> bool { return lhs == reinterpret_cast<void const*>( rhs ); }
+    template<typename T>
+    auto compareEqual( int lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) == rhs; }
+    template<typename T>
+    auto compareEqual( long lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) == rhs; }
+
+    template<typename LhsT, typename RhsT>
+    auto compareNotEqual( LhsT const& lhs, RhsT&& rhs ) -> bool { return static_cast<bool>(lhs != rhs); }
+    template<typename T>
+    auto compareNotEqual( T* const& lhs, int rhs ) -> bool { return lhs != reinterpret_cast<void const*>( rhs ); }
+    template<typename T>
+    auto compareNotEqual( T* const& lhs, long rhs ) -> bool { return lhs != reinterpret_cast<void const*>( rhs ); }
+    template<typename T>
+    auto compareNotEqual( int lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) != rhs; }
+    template<typename T>
+    auto compareNotEqual( long lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) != rhs; }
+
+    template<typename LhsT>
+    class ExprLhs {
+        LhsT m_lhs;
+    public:
+        explicit ExprLhs( LhsT lhs ) : m_lhs( lhs ) {}
+
+        template<typename RhsT>
+        auto operator == ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
+            return { compareEqual( m_lhs, rhs ), m_lhs, "==", rhs };
+        }
+        auto operator == ( bool rhs ) -> BinaryExpr<LhsT, bool> const {
+            return { m_lhs == rhs, m_lhs, "==", rhs };
+        }
+
+        template<typename RhsT>
+        auto operator != ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
+            return { compareNotEqual( m_lhs, rhs ), m_lhs, "!=", rhs };
+        }
+        auto operator != ( bool rhs ) -> BinaryExpr<LhsT, bool> const {
+            return { m_lhs != rhs, m_lhs, "!=", rhs };
+        }
+
+        template<typename RhsT>
+        auto operator > ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
+            return { static_cast<bool>(m_lhs > rhs), m_lhs, ">", rhs };
+        }
+        template<typename RhsT>
+        auto operator < ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
+            return { static_cast<bool>(m_lhs < rhs), m_lhs, "<", rhs };
+        }
+        template<typename RhsT>
+        auto operator >= ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
+            return { static_cast<bool>(m_lhs >= rhs), m_lhs, ">=", rhs };
+        }
+        template<typename RhsT>
+        auto operator <= ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
+            return { static_cast<bool>(m_lhs <= rhs), m_lhs, "<=", rhs };
+        }
+
+        template<typename RhsT>
+        auto operator && ( RhsT const& ) -> BinaryExpr<LhsT, RhsT const&> const {
+            static_assert(always_false<RhsT>::value,
+            "operator&& is not supported inside assertions, "
+            "wrap the expression inside parentheses, or decompose it");
+        }
+
+        template<typename RhsT>
+        auto operator || ( RhsT const& ) -> BinaryExpr<LhsT, RhsT const&> const {
+            static_assert(always_false<RhsT>::value,
+            "operator|| is not supported inside assertions, "
+            "wrap the expression inside parentheses, or decompose it");
+        }
+
+        auto makeUnaryExpr() const -> UnaryExpr<LhsT> {
+            return UnaryExpr<LhsT>{ m_lhs };
+        }
+    };
+
+    void handleExpression( ITransientExpression const& expr );
+
+    template<typename T>
+    void handleExpression( ExprLhs<T> const& expr ) {
+        handleExpression( expr.makeUnaryExpr() );
+    }
+
+    struct Decomposer {
+        template<typename T>
+        auto operator <= ( T const& lhs ) -> ExprLhs<T const&> {
+            return ExprLhs<T const&>{ lhs };
+        }
+
+        auto operator <=( bool value ) -> ExprLhs<bool> {
+            return ExprLhs<bool>{ value };
+        }
+    };
+
+} // end namespace Catch
+
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+// end catch_decomposer.h
+// start catch_interfaces_capture.h
+
+#include <string>
+#include <chrono>
+
+namespace Catch {
+
+    class AssertionResult;
+    struct AssertionInfo;
+    struct SectionInfo;
+    struct SectionEndInfo;
+    struct MessageInfo;
+    struct MessageBuilder;
+    struct Counts;
+    struct AssertionReaction;
+    struct SourceLineInfo;
+
+    struct ITransientExpression;
+    struct IGeneratorTracker;
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+    struct BenchmarkInfo;
+    template <typename Duration = std::chrono::duration<double, std::nano>>
+    struct BenchmarkStats;
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+    struct IResultCapture {
+
+        virtual ~IResultCapture();
+
+        virtual bool sectionStarted(    SectionInfo const& sectionInfo,
+                                        Counts& assertions ) = 0;
+        virtual void sectionEnded( SectionEndInfo const& endInfo ) = 0;
+        virtual void sectionEndedEarly( SectionEndInfo const& endInfo ) = 0;
+
+        virtual auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& = 0;
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+        virtual void benchmarkPreparing( std::string const& name ) = 0;
+        virtual void benchmarkStarting( BenchmarkInfo const& info ) = 0;
+        virtual void benchmarkEnded( BenchmarkStats<> const& stats ) = 0;
+        virtual void benchmarkFailed( std::string const& error ) = 0;
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+        virtual void pushScopedMessage( MessageInfo const& message ) = 0;
+        virtual void popScopedMessage( MessageInfo const& message ) = 0;
+
+        virtual void emplaceUnscopedMessage( MessageBuilder const& builder ) = 0;
+
+        virtual void handleFatalErrorCondition( StringRef message ) = 0;
+
+        virtual void handleExpr
+                (   AssertionInfo const& info,
+                    ITransientExpression const& expr,
+                    AssertionReaction& reaction ) = 0;
+        virtual void handleMessage
+                (   AssertionInfo const& info,
+                    ResultWas::OfType resultType,
+                    StringRef const& message,
+                    AssertionReaction& reaction ) = 0;
+        virtual void handleUnexpectedExceptionNotThrown
+                (   AssertionInfo const& info,
+                    AssertionReaction& reaction ) = 0;
+        virtual void handleUnexpectedInflightException
+                (   AssertionInfo const& info,
+                    std::string const& message,
+                    AssertionReaction& reaction ) = 0;
+        virtual void handleIncomplete
+                (   AssertionInfo const& info ) = 0;
+        virtual void handleNonExpr
+                (   AssertionInfo const &info,
+                    ResultWas::OfType resultType,
+                    AssertionReaction &reaction ) = 0;
+
+        virtual bool lastAssertionPassed() = 0;
+        virtual void assertionPassed() = 0;
+
+        // Deprecated, do not use:
+        virtual std::string getCurrentTestName() const = 0;
+        virtual const AssertionResult* getLastResult() const = 0;
+        virtual void exceptionEarlyReported() = 0;
+    };
+
+    IResultCapture& getResultCapture();
+}
+
+// end catch_interfaces_capture.h
+namespace Catch {
+
+    struct TestFailureException{};
+    struct AssertionResultData;
+    struct IResultCapture;
+    class RunContext;
+
+    class LazyExpression {
+        friend class AssertionHandler;
+        friend struct AssertionStats;
+        friend class RunContext;
+
+        ITransientExpression const* m_transientExpression = nullptr;
+        bool m_isNegated;
+    public:
+        LazyExpression( bool isNegated );
+        LazyExpression( LazyExpression const& other );
+        LazyExpression& operator = ( LazyExpression const& ) = delete;
+
+        explicit operator bool() const;
+
+        friend auto operator << ( std::ostream& os, LazyExpression const& lazyExpr ) -> std::ostream&;
+    };
+
+    struct AssertionReaction {
+        bool shouldDebugBreak = false;
+        bool shouldThrow = false;
+    };
+
+    class AssertionHandler {
+        AssertionInfo m_assertionInfo;
+        AssertionReaction m_reaction;
+        bool m_completed = false;
+        IResultCapture& m_resultCapture;
+
+    public:
+        AssertionHandler
+            (   StringRef const& macroName,
+                SourceLineInfo const& lineInfo,
+                StringRef capturedExpression,
+                ResultDisposition::Flags resultDisposition );
+        ~AssertionHandler() {
+            if ( !m_completed ) {
+                m_resultCapture.handleIncomplete( m_assertionInfo );
+            }
+        }
+
+        template<typename T>
+        void handleExpr( ExprLhs<T> const& expr ) {
+            handleExpr( expr.makeUnaryExpr() );
+        }
+        void handleExpr( ITransientExpression const& expr );
+
+        void handleMessage(ResultWas::OfType resultType, StringRef const& message);
+
+        void handleExceptionThrownAsExpected();
+        void handleUnexpectedExceptionNotThrown();
+        void handleExceptionNotThrownAsExpected();
+        void handleThrowingCallSkipped();
+        void handleUnexpectedInflightException();
+
+        void complete();
+        void setCompleted();
+
+        // query
+        auto allowThrows() const -> bool;
+    };
+
+    void handleExceptionMatchExpr( AssertionHandler& handler, std::string const& str, StringRef const& matcherString );
+
+} // namespace Catch
+
+// end catch_assertionhandler.h
+// start catch_message.h
+
+#include <string>
+#include <vector>
+
+namespace Catch {
+
+    struct MessageInfo {
+        MessageInfo(    StringRef const& _macroName,
+                        SourceLineInfo const& _lineInfo,
+                        ResultWas::OfType _type );
+
+        StringRef macroName;
+        std::string message;
+        SourceLineInfo lineInfo;
+        ResultWas::OfType type;
+        unsigned int sequence;
+
+        bool operator == ( MessageInfo const& other ) const;
+        bool operator < ( MessageInfo const& other ) const;
+    private:
+        static unsigned int globalCount;
+    };
+
+    struct MessageStream {
+
+        template<typename T>
+        MessageStream& operator << ( T const& value ) {
+            m_stream << value;
+            return *this;
+        }
+
+        ReusableStringStream m_stream;
+    };
+
+    struct MessageBuilder : MessageStream {
+        MessageBuilder( StringRef const& macroName,
+                        SourceLineInfo const& lineInfo,
+                        ResultWas::OfType type );
+
+        template<typename T>
+        MessageBuilder& operator << ( T const& value ) {
+            m_stream << value;
+            return *this;
+        }
+
+        MessageInfo m_info;
+    };
+
+    class ScopedMessage {
+    public:
+        explicit ScopedMessage( MessageBuilder const& builder );
+        ScopedMessage( ScopedMessage& duplicate ) = delete;
+        ScopedMessage( ScopedMessage&& old );
+        ~ScopedMessage();
+
+        MessageInfo m_info;
+        bool m_moved;
+    };
+
+    class Capturer {
+        std::vector<MessageInfo> m_messages;
+        IResultCapture& m_resultCapture = getResultCapture();
+        size_t m_captured = 0;
+    public:
+        Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names );
+        ~Capturer();
+
+        void captureValue( size_t index, std::string const& value );
+
+        template<typename T>
+        void captureValues( size_t index, T const& value ) {
+            captureValue( index, Catch::Detail::stringify( value ) );
+        }
+
+        template<typename T, typename... Ts>
+        void captureValues( size_t index, T const& value, Ts const&... values ) {
+            captureValue( index, Catch::Detail::stringify(value) );
+            captureValues( index+1, values... );
+        }
+    };
+
+} // end namespace Catch
+
+// end catch_message.h
+#if !defined(CATCH_CONFIG_DISABLE)
+
+#if !defined(CATCH_CONFIG_DISABLE_STRINGIFICATION)
+  #define CATCH_INTERNAL_STRINGIFY(...) #__VA_ARGS__
+#else
+  #define CATCH_INTERNAL_STRINGIFY(...) "Disabled by CATCH_CONFIG_DISABLE_STRINGIFICATION"
+#endif
+
+#if defined(CATCH_CONFIG_FAST_COMPILE) || defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
+
+///////////////////////////////////////////////////////////////////////////////
+// Another way to speed-up compilation is to omit local try-catch for REQUIRE*
+// macros.
+#define INTERNAL_CATCH_TRY
+#define INTERNAL_CATCH_CATCH( capturer )
+
+#else // CATCH_CONFIG_FAST_COMPILE
+
+#define INTERNAL_CATCH_TRY try
+#define INTERNAL_CATCH_CATCH( handler ) catch(...) { handler.handleUnexpectedInflightException(); }
+
+#endif
+
+#define INTERNAL_CATCH_REACT( handler ) handler.complete();
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_TEST( macroName, resultDisposition, ... ) \
+    do { \
+        CATCH_INTERNAL_IGNORE_BUT_WARN(__VA_ARGS__); \
+        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition ); \
+        INTERNAL_CATCH_TRY { \
+            CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+            CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \
+            catchAssertionHandler.handleExpr( Catch::Decomposer() <= __VA_ARGS__ ); \
+            CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
+        } INTERNAL_CATCH_CATCH( catchAssertionHandler ) \
+        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
+    } while( (void)0, (false) && static_cast<bool>( !!(__VA_ARGS__) ) )
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_IF( macroName, resultDisposition, ... ) \
+    INTERNAL_CATCH_TEST( macroName, resultDisposition, __VA_ARGS__ ); \
+    if( Catch::getResultCapture().lastAssertionPassed() )
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_ELSE( macroName, resultDisposition, ... ) \
+    INTERNAL_CATCH_TEST( macroName, resultDisposition, __VA_ARGS__ ); \
+    if( !Catch::getResultCapture().lastAssertionPassed() )
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_NO_THROW( macroName, resultDisposition, ... ) \
+    do { \
+        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition ); \
+        try { \
+            static_cast<void>(__VA_ARGS__); \
+            catchAssertionHandler.handleExceptionNotThrownAsExpected(); \
+        } \
+        catch( ... ) { \
+            catchAssertionHandler.handleUnexpectedInflightException(); \
+        } \
+        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
+    } while( false )
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_THROWS( macroName, resultDisposition, ... ) \
+    do { \
+        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition); \
+        if( catchAssertionHandler.allowThrows() ) \
+            try { \
+                static_cast<void>(__VA_ARGS__); \
+                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
+            } \
+            catch( ... ) { \
+                catchAssertionHandler.handleExceptionThrownAsExpected(); \
+            } \
+        else \
+            catchAssertionHandler.handleThrowingCallSkipped(); \
+        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
+    } while( false )
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_THROWS_AS( macroName, exceptionType, resultDisposition, expr ) \
+    do { \
+        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(expr) ", " CATCH_INTERNAL_STRINGIFY(exceptionType), resultDisposition ); \
+        if( catchAssertionHandler.allowThrows() ) \
+            try { \
+                static_cast<void>(expr); \
+                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
+            } \
+            catch( exceptionType const& ) { \
+                catchAssertionHandler.handleExceptionThrownAsExpected(); \
+            } \
+            catch( ... ) { \
+                catchAssertionHandler.handleUnexpectedInflightException(); \
+            } \
+        else \
+            catchAssertionHandler.handleThrowingCallSkipped(); \
+        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
+    } while( false )
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_MSG( macroName, messageType, resultDisposition, ... ) \
+    do { \
+        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::StringRef(), resultDisposition ); \
+        catchAssertionHandler.handleMessage( messageType, ( Catch::MessageStream() << __VA_ARGS__ + ::Catch::StreamEndStop() ).m_stream.str() ); \
+        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
+    } while( false )
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_CAPTURE( varName, macroName, ... ) \
+    auto varName = Catch::Capturer( macroName, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info, #__VA_ARGS__ ); \
+    varName.captureValues( 0, __VA_ARGS__ )
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_INFO( macroName, log ) \
+    Catch::ScopedMessage INTERNAL_CATCH_UNIQUE_NAME( scopedMessage )( Catch::MessageBuilder( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log );
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_UNSCOPED_INFO( macroName, log ) \
+    Catch::getResultCapture().emplaceUnscopedMessage( Catch::MessageBuilder( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log )
+
+///////////////////////////////////////////////////////////////////////////////
+// Although this is matcher-based, it can be used with just a string
+#define INTERNAL_CATCH_THROWS_STR_MATCHES( macroName, resultDisposition, matcher, ... ) \
+    do { \
+        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
+        if( catchAssertionHandler.allowThrows() ) \
+            try { \
+                static_cast<void>(__VA_ARGS__); \
+                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
+            } \
+            catch( ... ) { \
+                Catch::handleExceptionMatchExpr( catchAssertionHandler, matcher, #matcher##_catch_sr ); \
+            } \
+        else \
+            catchAssertionHandler.handleThrowingCallSkipped(); \
+        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
+    } while( false )
+
+#endif // CATCH_CONFIG_DISABLE
+
+// end catch_capture.hpp
+// start catch_section.h
+
+// start catch_section_info.h
+
+// start catch_totals.h
+
+#include <cstddef>
+
+namespace Catch {
+
+    struct Counts {
+        Counts operator - ( Counts const& other ) const;
+        Counts& operator += ( Counts const& other );
+
+        std::size_t total() const;
+        bool allPassed() const;
+        bool allOk() const;
+
+        std::size_t passed = 0;
+        std::size_t failed = 0;
+        std::size_t failedButOk = 0;
+    };
+
+    struct Totals {
+
+        Totals operator - ( Totals const& other ) const;
+        Totals& operator += ( Totals const& other );
+
+        Totals delta( Totals const& prevTotals ) const;
+
+        int error = 0;
+        Counts assertions;
+        Counts testCases;
+    };
+}
+
+// end catch_totals.h
+#include <string>
+
+namespace Catch {
+
+    struct SectionInfo {
+        SectionInfo
+            (   SourceLineInfo const& _lineInfo,
+                std::string const& _name );
+
+        // Deprecated
+        SectionInfo
+            (   SourceLineInfo const& _lineInfo,
+                std::string const& _name,
+                std::string const& ) : SectionInfo( _lineInfo, _name ) {}
+
+        std::string name;
+        std::string description; // !Deprecated: this will always be empty
+        SourceLineInfo lineInfo;
+    };
+
+    struct SectionEndInfo {
+        SectionInfo sectionInfo;
+        Counts prevAssertions;
+        double durationInSeconds;
+    };
+
+} // end namespace Catch
+
+// end catch_section_info.h
+// start catch_timer.h
+
+#include <cstdint>
+
+namespace Catch {
+
+    auto getCurrentNanosecondsSinceEpoch() -> uint64_t;
+    auto getEstimatedClockResolution() -> uint64_t;
+
+    class Timer {
+        uint64_t m_nanoseconds = 0;
+    public:
+        void start();
+        auto getElapsedNanoseconds() const -> uint64_t;
+        auto getElapsedMicroseconds() const -> uint64_t;
+        auto getElapsedMilliseconds() const -> unsigned int;
+        auto getElapsedSeconds() const -> double;
+    };
+
+} // namespace Catch
+
+// end catch_timer.h
+#include <string>
+
+namespace Catch {
+
+    class Section : NonCopyable {
+    public:
+        Section( SectionInfo const& info );
+        ~Section();
+
+        // This indicates whether the section should be executed or not
+        explicit operator bool() const;
+
+    private:
+        SectionInfo m_info;
+
+        std::string m_name;
+        Counts m_assertions;
+        bool m_sectionIncluded;
+        Timer m_timer;
+    };
+
+} // end namespace Catch
+
+#define INTERNAL_CATCH_SECTION( ... ) \
+    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+    CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
+    if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, __VA_ARGS__ ) ) \
+    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
+
+#define INTERNAL_CATCH_DYNAMIC_SECTION( ... ) \
+    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+    CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
+    if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, (Catch::ReusableStringStream() << __VA_ARGS__).str() ) ) \
+    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
+
+// end catch_section.h
+// start catch_interfaces_exception.h
+
+// start catch_interfaces_registry_hub.h
+
+#include <string>
+#include <memory>
+
+namespace Catch {
+
+    class TestCase;
+    struct ITestCaseRegistry;
+    struct IExceptionTranslatorRegistry;
+    struct IExceptionTranslator;
+    struct IReporterRegistry;
+    struct IReporterFactory;
+    struct ITagAliasRegistry;
+    struct IMutableEnumValuesRegistry;
+
+    class StartupExceptionRegistry;
+
+    using IReporterFactoryPtr = std::shared_ptr<IReporterFactory>;
+
+    struct IRegistryHub {
+        virtual ~IRegistryHub();
+
+        virtual IReporterRegistry const& getReporterRegistry() const = 0;
+        virtual ITestCaseRegistry const& getTestCaseRegistry() const = 0;
+        virtual ITagAliasRegistry const& getTagAliasRegistry() const = 0;
+        virtual IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const = 0;
+
+        virtual StartupExceptionRegistry const& getStartupExceptionRegistry() const = 0;
+    };
+
+    struct IMutableRegistryHub {
+        virtual ~IMutableRegistryHub();
+        virtual void registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) = 0;
+        virtual void registerListener( IReporterFactoryPtr const& factory ) = 0;
+        virtual void registerTest( TestCase const& testInfo ) = 0;
+        virtual void registerTranslator( const IExceptionTranslator* translator ) = 0;
+        virtual void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) = 0;
+        virtual void registerStartupException() noexcept = 0;
+        virtual IMutableEnumValuesRegistry& getMutableEnumValuesRegistry() = 0;
+    };
+
+    IRegistryHub const& getRegistryHub();
+    IMutableRegistryHub& getMutableRegistryHub();
+    void cleanUp();
+    std::string translateActiveException();
+
+}
+
+// end catch_interfaces_registry_hub.h
+#if defined(CATCH_CONFIG_DISABLE)
+    #define INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( translatorName, signature) \
+        static std::string translatorName( signature )
+#endif
+
+#include <exception>
+#include <string>
+#include <vector>
+
+namespace Catch {
+    using exceptionTranslateFunction = std::string(*)();
+
+    struct IExceptionTranslator;
+    using ExceptionTranslators = std::vector<std::unique_ptr<IExceptionTranslator const>>;
+
+    struct IExceptionTranslator {
+        virtual ~IExceptionTranslator();
+        virtual std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const = 0;
+    };
+
+    struct IExceptionTranslatorRegistry {
+        virtual ~IExceptionTranslatorRegistry();
+
+        virtual std::string translateActiveException() const = 0;
+    };
+
+    class ExceptionTranslatorRegistrar {
+        template<typename T>
+        class ExceptionTranslator : public IExceptionTranslator {
+        public:
+
+            ExceptionTranslator( std::string(*translateFunction)( T& ) )
+            : m_translateFunction( translateFunction )
+            {}
+
+            std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const override {
+                try {
+                    if( it == itEnd )
+                        std::rethrow_exception(std::current_exception());
+                    else
+                        return (*it)->translate( it+1, itEnd );
+                }
+                catch( T& ex ) {
+                    return m_translateFunction( ex );
+                }
+            }
+
+        protected:
+            std::string(*m_translateFunction)( T& );
+        };
+
+    public:
+        template<typename T>
+        ExceptionTranslatorRegistrar( std::string(*translateFunction)( T& ) ) {
+            getMutableRegistryHub().registerTranslator
+                ( new ExceptionTranslator<T>( translateFunction ) );
+        }
+    };
+}
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_TRANSLATE_EXCEPTION2( translatorName, signature ) \
+    static std::string translatorName( signature ); \
+    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
+    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
+    namespace{ Catch::ExceptionTranslatorRegistrar INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionRegistrar )( &translatorName ); } \
+    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
+    static std::string translatorName( signature )
+
+#define INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION2( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature )
+
+// end catch_interfaces_exception.h
+// start catch_approx.h
+
+#include <type_traits>
+
+namespace Catch {
+namespace Detail {
+
+    class Approx {
+    private:
+        bool equalityComparisonImpl(double other) const;
+        // Validates the new margin (margin >= 0)
+        // out-of-line to avoid including stdexcept in the header
+        void setMargin(double margin);
+        // Validates the new epsilon (0 < epsilon < 1)
+        // out-of-line to avoid including stdexcept in the header
+        void setEpsilon(double epsilon);
+
+    public:
+        explicit Approx ( double value );
+
+        static Approx custom();
+
+        Approx operator-() const;
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        Approx operator()( T const& value ) {
+            Approx approx( static_cast<double>(value) );
+            approx.m_epsilon = m_epsilon;
+            approx.m_margin = m_margin;
+            approx.m_scale = m_scale;
+            return approx;
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        explicit Approx( T const& value ): Approx(static_cast<double>(value))
+        {}
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        friend bool operator == ( const T& lhs, Approx const& rhs ) {
+            auto lhs_v = static_cast<double>(lhs);
+            return rhs.equalityComparisonImpl(lhs_v);
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        friend bool operator == ( Approx const& lhs, const T& rhs ) {
+            return operator==( rhs, lhs );
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        friend bool operator != ( T const& lhs, Approx const& rhs ) {
+            return !operator==( lhs, rhs );
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        friend bool operator != ( Approx const& lhs, T const& rhs ) {
+            return !operator==( rhs, lhs );
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        friend bool operator <= ( T const& lhs, Approx const& rhs ) {
+            return static_cast<double>(lhs) < rhs.m_value || lhs == rhs;
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        friend bool operator <= ( Approx const& lhs, T const& rhs ) {
+            return lhs.m_value < static_cast<double>(rhs) || lhs == rhs;
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        friend bool operator >= ( T const& lhs, Approx const& rhs ) {
+            return static_cast<double>(lhs) > rhs.m_value || lhs == rhs;
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        friend bool operator >= ( Approx const& lhs, T const& rhs ) {
+            return lhs.m_value > static_cast<double>(rhs) || lhs == rhs;
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        Approx& epsilon( T const& newEpsilon ) {
+            double epsilonAsDouble = static_cast<double>(newEpsilon);
+            setEpsilon(epsilonAsDouble);
+            return *this;
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        Approx& margin( T const& newMargin ) {
+            double marginAsDouble = static_cast<double>(newMargin);
+            setMargin(marginAsDouble);
+            return *this;
+        }
+
+        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+        Approx& scale( T const& newScale ) {
+            m_scale = static_cast<double>(newScale);
+            return *this;
+        }
+
+        std::string toString() const;
+
+    private:
+        double m_epsilon;
+        double m_margin;
+        double m_scale;
+        double m_value;
+    };
+} // end namespace Detail
+
+namespace literals {
+    Detail::Approx operator "" _a(long double val);
+    Detail::Approx operator "" _a(unsigned long long val);
+} // end namespace literals
+
+template<>
+struct StringMaker<Catch::Detail::Approx> {
+    static std::string convert(Catch::Detail::Approx const& value);
+};
+
+} // end namespace Catch
+
+// end catch_approx.h
+// start catch_string_manip.h
+
+#include <string>
+#include <iosfwd>
+#include <vector>
+
+namespace Catch {
+
+    bool startsWith( std::string const& s, std::string const& prefix );
+    bool startsWith( std::string const& s, char prefix );
+    bool endsWith( std::string const& s, std::string const& suffix );
+    bool endsWith( std::string const& s, char suffix );
+    bool contains( std::string const& s, std::string const& infix );
+    void toLowerInPlace( std::string& s );
+    std::string toLower( std::string const& s );
+    //! Returns a new string without whitespace at the start/end
+    std::string trim( std::string const& str );
+    //! Returns a substring of the original ref without whitespace. Beware lifetimes!
+    StringRef trim(StringRef ref);
+
+    // !!! Be aware, returns refs into original string - make sure original string outlives them
+    std::vector<StringRef> splitStringRef( StringRef str, char delimiter );
+    bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis );
+
+    struct pluralise {
+        pluralise( std::size_t count, std::string const& label );
+
+        friend std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser );
+
+        std::size_t m_count;
+        std::string m_label;
+    };
+}
+
+// end catch_string_manip.h
+#ifndef CATCH_CONFIG_DISABLE_MATCHERS
+// start catch_capture_matchers.h
+
+// start catch_matchers.h
+
+#include <string>
+#include <vector>
+
+namespace Catch {
+namespace Matchers {
+    namespace Impl {
+
+        template<typename ArgT> struct MatchAllOf;
+        template<typename ArgT> struct MatchAnyOf;
+        template<typename ArgT> struct MatchNotOf;
+
+        class MatcherUntypedBase {
+        public:
+            MatcherUntypedBase() = default;
+            MatcherUntypedBase ( MatcherUntypedBase const& ) = default;
+            MatcherUntypedBase& operator = ( MatcherUntypedBase const& ) = delete;
+            std::string toString() const;
+
+        protected:
+            virtual ~MatcherUntypedBase();
+            virtual std::string describe() const = 0;
+            mutable std::string m_cachedToString;
+        };
+
+#ifdef __clang__
+#    pragma clang diagnostic push
+#    pragma clang diagnostic ignored "-Wnon-virtual-dtor"
+#endif
+
+        template<typename ObjectT>
+        struct MatcherMethod {
+            virtual bool match( ObjectT const& arg ) const = 0;
+        };
+
+#if defined(__OBJC__)
+        // Hack to fix Catch GH issue #1661. Could use id for generic Object support.
+        // use of const for Object pointers is very uncommon and under ARC it causes some kind of signature mismatch that breaks compilation
+        template<>
+        struct MatcherMethod<NSString*> {
+            virtual bool match( NSString* arg ) const = 0;
+        };
+#endif
+
+#ifdef __clang__
+#    pragma clang diagnostic pop
+#endif
+
+        template<typename T>
+        struct MatcherBase : MatcherUntypedBase, MatcherMethod<T> {
+
+            MatchAllOf<T> operator && ( MatcherBase const& other ) const;
+            MatchAnyOf<T> operator || ( MatcherBase const& other ) const;
+            MatchNotOf<T> operator ! () const;
+        };
+
+        template<typename ArgT>
+        struct MatchAllOf : MatcherBase<ArgT> {
+            bool match( ArgT const& arg ) const override {
+                for( auto matcher : m_matchers ) {
+                    if (!matcher->match(arg))
+                        return false;
+                }
+                return true;
+            }
+            std::string describe() const override {
+                std::string description;
+                description.reserve( 4 + m_matchers.size()*32 );
+                description += "( ";
+                bool first = true;
+                for( auto matcher : m_matchers ) {
+                    if( first )
+                        first = false;
+                    else
+                        description += " and ";
+                    description += matcher->toString();
+                }
+                description += " )";
+                return description;
+            }
+
+            MatchAllOf<ArgT> operator && ( MatcherBase<ArgT> const& other ) {
+                auto copy(*this);
+                copy.m_matchers.push_back( &other );
+                return copy;
+            }
+
+            std::vector<MatcherBase<ArgT> const*> m_matchers;
+        };
+        template<typename ArgT>
+        struct MatchAnyOf : MatcherBase<ArgT> {
+
+            bool match( ArgT const& arg ) const override {
+                for( auto matcher : m_matchers ) {
+                    if (matcher->match(arg))
+                        return true;
+                }
+                return false;
+            }
+            std::string describe() const override {
+                std::string description;
+                description.reserve( 4 + m_matchers.size()*32 );
+                description += "( ";
+                bool first = true;
+                for( auto matcher : m_matchers ) {
+                    if( first )
+                        first = false;
+                    else
+                        description += " or ";
+                    description += matcher->toString();
+                }
+                description += " )";
+                return description;
+            }
+
+            MatchAnyOf<ArgT> operator || ( MatcherBase<ArgT> const& other ) {
+                auto copy(*this);
+                copy.m_matchers.push_back( &other );
+                return copy;
+            }
+
+            std::vector<MatcherBase<ArgT> const*> m_matchers;
+        };
+
+        template<typename ArgT>
+        struct MatchNotOf : MatcherBase<ArgT> {
+
+            MatchNotOf( MatcherBase<ArgT> const& underlyingMatcher ) : m_underlyingMatcher( underlyingMatcher ) {}
+
+            bool match( ArgT const& arg ) const override {
+                return !m_underlyingMatcher.match( arg );
+            }
+
+            std::string describe() const override {
+                return "not " + m_underlyingMatcher.toString();
+            }
+            MatcherBase<ArgT> const& m_underlyingMatcher;
+        };
+
+        template<typename T>
+        MatchAllOf<T> MatcherBase<T>::operator && ( MatcherBase const& other ) const {
+            return MatchAllOf<T>() && *this && other;
+        }
+        template<typename T>
+        MatchAnyOf<T> MatcherBase<T>::operator || ( MatcherBase const& other ) const {
+            return MatchAnyOf<T>() || *this || other;
+        }
+        template<typename T>
+        MatchNotOf<T> MatcherBase<T>::operator ! () const {
+            return MatchNotOf<T>( *this );
+        }
+
+    } // namespace Impl
+
+} // namespace Matchers
+
+using namespace Matchers;
+using Matchers::Impl::MatcherBase;
+
+} // namespace Catch
+
+// end catch_matchers.h
+// start catch_matchers_exception.hpp
+
+namespace Catch {
+namespace Matchers {
+namespace Exception {
+
+class ExceptionMessageMatcher : public MatcherBase<std::exception> {
+    std::string m_message;
+public:
+
+    ExceptionMessageMatcher(std::string const& message):
+        m_message(message)
+    {}
+
+    bool match(std::exception const& ex) const override;
+
+    std::string describe() const override;
+};
+
+} // namespace Exception
+
+Exception::ExceptionMessageMatcher Message(std::string const& message);
+
+} // namespace Matchers
+} // namespace Catch
+
+// end catch_matchers_exception.hpp
+// start catch_matchers_floating.h
+
+namespace Catch {
+namespace Matchers {
+
+    namespace Floating {
+
+        enum class FloatingPointKind : uint8_t;
+
+        struct WithinAbsMatcher : MatcherBase<double> {
+            WithinAbsMatcher(double target, double margin);
+            bool match(double const& matchee) const override;
+            std::string describe() const override;
+        private:
+            double m_target;
+            double m_margin;
+        };
+
+        struct WithinUlpsMatcher : MatcherBase<double> {
+            WithinUlpsMatcher(double target, uint64_t ulps, FloatingPointKind baseType);
+            bool match(double const& matchee) const override;
+            std::string describe() const override;
+        private:
+            double m_target;
+            uint64_t m_ulps;
+            FloatingPointKind m_type;
+        };
+
+        // Given IEEE-754 format for floats and doubles, we can assume
+        // that float -> double promotion is lossless. Given this, we can
+        // assume that if we do the standard relative comparison of
+        // |lhs - rhs| <= epsilon * max(fabs(lhs), fabs(rhs)), then we get
+        // the same result if we do this for floats, as if we do this for
+        // doubles that were promoted from floats.
+        struct WithinRelMatcher : MatcherBase<double> {
+            WithinRelMatcher(double target, double epsilon);
+            bool match(double const& matchee) const override;
+            std::string describe() const override;
+        private:
+            double m_target;
+            double m_epsilon;
+        };
+
+    } // namespace Floating
+
+    // The following functions create the actual matcher objects.
+    // This allows the types to be inferred
+    Floating::WithinUlpsMatcher WithinULP(double target, uint64_t maxUlpDiff);
+    Floating::WithinUlpsMatcher WithinULP(float target, uint64_t maxUlpDiff);
+    Floating::WithinAbsMatcher WithinAbs(double target, double margin);
+    Floating::WithinRelMatcher WithinRel(double target, double eps);
+    // defaults epsilon to 100*numeric_limits<double>::epsilon()
+    Floating::WithinRelMatcher WithinRel(double target);
+    Floating::WithinRelMatcher WithinRel(float target, float eps);
+    // defaults epsilon to 100*numeric_limits<float>::epsilon()
+    Floating::WithinRelMatcher WithinRel(float target);
+
+} // namespace Matchers
+} // namespace Catch
+
+// end catch_matchers_floating.h
+// start catch_matchers_generic.hpp
+
+#include <functional>
+#include <string>
+
+namespace Catch {
+namespace Matchers {
+namespace Generic {
+
+namespace Detail {
+    std::string finalizeDescription(const std::string& desc);
+}
+
+template <typename T>
+class PredicateMatcher : public MatcherBase<T> {
+    std::function<bool(T const&)> m_predicate;
+    std::string m_description;
+public:
+
+    PredicateMatcher(std::function<bool(T const&)> const& elem, std::string const& descr)
+        :m_predicate(std::move(elem)),
+        m_description(Detail::finalizeDescription(descr))
+    {}
+
+    bool match( T const& item ) const override {
+        return m_predicate(item);
+    }
+
+    std::string describe() const override {
+        return m_description;
+    }
+};
+
+} // namespace Generic
+
+    // The following functions create the actual matcher objects.
+    // The user has to explicitly specify type to the function, because
+    // inferring std::function<bool(T const&)> is hard (but possible) and
+    // requires a lot of TMP.
+    template<typename T>
+    Generic::PredicateMatcher<T> Predicate(std::function<bool(T const&)> const& predicate, std::string const& description = "") {
+        return Generic::PredicateMatcher<T>(predicate, description);
+    }
+
+} // namespace Matchers
+} // namespace Catch
+
+// end catch_matchers_generic.hpp
+// start catch_matchers_string.h
+
+#include <string>
+
+namespace Catch {
+namespace Matchers {
+
+    namespace StdString {
+
+        struct CasedString
+        {
+            CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity );
+            std::string adjustString( std::string const& str ) const;
+            std::string caseSensitivitySuffix() const;
+
+            CaseSensitive::Choice m_caseSensitivity;
+            std::string m_str;
+        };
+
+        struct StringMatcherBase : MatcherBase<std::string> {
+            StringMatcherBase( std::string const& operation, CasedString const& comparator );
+            std::string describe() const override;
+
+            CasedString m_comparator;
+            std::string m_operation;
+        };
+
+        struct EqualsMatcher : StringMatcherBase {
+            EqualsMatcher( CasedString const& comparator );
+            bool match( std::string const& source ) const override;
+        };
+        struct ContainsMatcher : StringMatcherBase {
+            ContainsMatcher( CasedString const& comparator );
+            bool match( std::string const& source ) const override;
+        };
+        struct StartsWithMatcher : StringMatcherBase {
+            StartsWithMatcher( CasedString const& comparator );
+            bool match( std::string const& source ) const override;
+        };
+        struct EndsWithMatcher : StringMatcherBase {
+            EndsWithMatcher( CasedString const& comparator );
+            bool match( std::string const& source ) const override;
+        };
+
+        struct RegexMatcher : MatcherBase<std::string> {
+            RegexMatcher( std::string regex, CaseSensitive::Choice caseSensitivity );
+            bool match( std::string const& matchee ) const override;
+            std::string describe() const override;
+
+        private:
+            std::string m_regex;
+            CaseSensitive::Choice m_caseSensitivity;
+        };
+
+    } // namespace StdString
+
+    // The following functions create the actual matcher objects.
+    // This allows the types to be inferred
+
+    StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
+    StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
+    StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
+    StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
+    StdString::RegexMatcher Matches( std::string const& regex, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
+
+} // namespace Matchers
+} // namespace Catch
+
+// end catch_matchers_string.h
+// start catch_matchers_vector.h
+
+#include <algorithm>
+
+namespace Catch {
+namespace Matchers {
+
+    namespace Vector {
+        template<typename T>
+        struct ContainsElementMatcher : MatcherBase<std::vector<T>> {
+
+            ContainsElementMatcher(T const &comparator) : m_comparator( comparator) {}
+
+            bool match(std::vector<T> const &v) const override {
+                for (auto const& el : v) {
+                    if (el == m_comparator) {
+                        return true;
+                    }
+                }
+                return false;
+            }
+
+            std::string describe() const override {
+                return "Contains: " + ::Catch::Detail::stringify( m_comparator );
+            }
+
+            T const& m_comparator;
+        };
+
+        template<typename T>
+        struct ContainsMatcher : MatcherBase<std::vector<T>> {
+
+            ContainsMatcher(std::vector<T> const &comparator) : m_comparator( comparator ) {}
+
+            bool match(std::vector<T> const &v) const override {
+                // !TBD: see note in EqualsMatcher
+                if (m_comparator.size() > v.size())
+                    return false;
+                for (auto const& comparator : m_comparator) {
+                    auto present = false;
+                    for (const auto& el : v) {
+                        if (el == comparator) {
+                            present = true;
+                            break;
+                        }
+                    }
+                    if (!present) {
+                        return false;
+                    }
+                }
+                return true;
+            }
+            std::string describe() const override {
+                return "Contains: " + ::Catch::Detail::stringify( m_comparator );
+            }
+
+            std::vector<T> const& m_comparator;
+        };
+
+        template<typename T>
+        struct EqualsMatcher : MatcherBase<std::vector<T>> {
+
+            EqualsMatcher(std::vector<T> const &comparator) : m_comparator( comparator ) {}
+
+            bool match(std::vector<T> const &v) const override {
+                // !TBD: This currently works if all elements can be compared using !=
+                // - a more general approach would be via a compare template that defaults
+                // to using !=. but could be specialised for, e.g. std::vector<T> etc
+                // - then just call that directly
+                if (m_comparator.size() != v.size())
+                    return false;
+                for (std::size_t i = 0; i < v.size(); ++i)
+                    if (m_comparator[i] != v[i])
+                        return false;
+                return true;
+            }
+            std::string describe() const override {
+                return "Equals: " + ::Catch::Detail::stringify( m_comparator );
+            }
+            std::vector<T> const& m_comparator;
+        };
+
+        template<typename T>
+        struct ApproxMatcher : MatcherBase<std::vector<T>> {
+
+            ApproxMatcher(std::vector<T> const& comparator) : m_comparator( comparator ) {}
+
+            bool match(std::vector<T> const &v) const override {
+                if (m_comparator.size() != v.size())
+                    return false;
+                for (std::size_t i = 0; i < v.size(); ++i)
+                    if (m_comparator[i] != approx(v[i]))
+                        return false;
+                return true;
+            }
+            std::string describe() const override {
+                return "is approx: " + ::Catch::Detail::stringify( m_comparator );
+            }
+            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+            ApproxMatcher& epsilon( T const& newEpsilon ) {
+                approx.epsilon(newEpsilon);
+                return *this;
+            }
+            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+            ApproxMatcher& margin( T const& newMargin ) {
+                approx.margin(newMargin);
+                return *this;
+            }
+            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
+            ApproxMatcher& scale( T const& newScale ) {
+                approx.scale(newScale);
+                return *this;
+            }
+
+            std::vector<T> const& m_comparator;
+            mutable Catch::Detail::Approx approx = Catch::Detail::Approx::custom();
+        };
+
+        template<typename T>
+        struct UnorderedEqualsMatcher : MatcherBase<std::vector<T>> {
+            UnorderedEqualsMatcher(std::vector<T> const& target) : m_target(target) {}
+            bool match(std::vector<T> const& vec) const override {
+                // Note: This is a reimplementation of std::is_permutation,
+                //       because I don't want to include <algorithm> inside the common path
+                if (m_target.size() != vec.size()) {
+                    return false;
+                }
+                return std::is_permutation(m_target.begin(), m_target.end(), vec.begin());
+            }
+
+            std::string describe() const override {
+                return "UnorderedEquals: " + ::Catch::Detail::stringify(m_target);
+            }
+        private:
+            std::vector<T> const& m_target;
+        };
+
+    } // namespace Vector
+
+    // The following functions create the actual matcher objects.
+    // This allows the types to be inferred
+
+    template<typename T>
+    Vector::ContainsMatcher<T> Contains( std::vector<T> const& comparator ) {
+        return Vector::ContainsMatcher<T>( comparator );
+    }
+
+    template<typename T>
+    Vector::ContainsElementMatcher<T> VectorContains( T const& comparator ) {
+        return Vector::ContainsElementMatcher<T>( comparator );
+    }
+
+    template<typename T>
+    Vector::EqualsMatcher<T> Equals( std::vector<T> const& comparator ) {
+        return Vector::EqualsMatcher<T>( comparator );
+    }
+
+    template<typename T>
+    Vector::ApproxMatcher<T> Approx( std::vector<T> const& comparator ) {
+        return Vector::ApproxMatcher<T>( comparator );
+    }
+
+    template<typename T>
+    Vector::UnorderedEqualsMatcher<T> UnorderedEquals(std::vector<T> const& target) {
+        return Vector::UnorderedEqualsMatcher<T>(target);
+    }
+
+} // namespace Matchers
+} // namespace Catch
+
+// end catch_matchers_vector.h
+namespace Catch {
+
+    template<typename ArgT, typename MatcherT>
+    class MatchExpr : public ITransientExpression {
+        ArgT const& m_arg;
+        MatcherT m_matcher;
+        StringRef m_matcherString;
+    public:
+        MatchExpr( ArgT const& arg, MatcherT const& matcher, StringRef const& matcherString )
+        :   ITransientExpression{ true, matcher.match( arg ) },
+            m_arg( arg ),
+            m_matcher( matcher ),
+            m_matcherString( matcherString )
+        {}
+
+        void streamReconstructedExpression( std::ostream &os ) const override {
+            auto matcherAsString = m_matcher.toString();
+            os << Catch::Detail::stringify( m_arg ) << ' ';
+            if( matcherAsString == Detail::unprintableString )
+                os << m_matcherString;
+            else
+                os << matcherAsString;
+        }
+    };
+
+    using StringMatcher = Matchers::Impl::MatcherBase<std::string>;
+
+    void handleExceptionMatchExpr( AssertionHandler& handler, StringMatcher const& matcher, StringRef const& matcherString  );
+
+    template<typename ArgT, typename MatcherT>
+    auto makeMatchExpr( ArgT const& arg, MatcherT const& matcher, StringRef const& matcherString  ) -> MatchExpr<ArgT, MatcherT> {
+        return MatchExpr<ArgT, MatcherT>( arg, matcher, matcherString );
+    }
+
+} // namespace Catch
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CHECK_THAT( macroName, matcher, resultDisposition, arg ) \
+    do { \
+        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(arg) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
+        INTERNAL_CATCH_TRY { \
+            catchAssertionHandler.handleExpr( Catch::makeMatchExpr( arg, matcher, #matcher##_catch_sr ) ); \
+        } INTERNAL_CATCH_CATCH( catchAssertionHandler ) \
+        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
+    } while( false )
+
+///////////////////////////////////////////////////////////////////////////////
+#define INTERNAL_CATCH_THROWS_MATCHES( macroName, exceptionType, resultDisposition, matcher, ... ) \
+    do { \
+        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__) ", " CATCH_INTERNAL_STRINGIFY(exceptionType) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
+        if( catchAssertionHandler.allowThrows() ) \
+            try { \
+                static_cast<void>(__VA_ARGS__ ); \
+                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
+            } \
+            catch( exceptionType const& ex ) { \
+                catchAssertionHandler.handleExpr( Catch::makeMatchExpr( ex, matcher, #matcher##_catch_sr ) ); \
+            } \
+            catch( ... ) { \
+                catchAssertionHandler.handleUnexpectedInflightException(); \
+            } \
+        else \
+            catchAssertionHandler.handleThrowingCallSkipped(); \
+        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
+    } while( false )
+
+// end catch_capture_matchers.h
+#endif
+// start catch_generators.hpp
+
+// start catch_interfaces_generatortracker.h
+
+
+#include <memory>
+
+namespace Catch {
+
+    namespace Generators {
+        class GeneratorUntypedBase {
+        public:
+            GeneratorUntypedBase() = default;
+            virtual ~GeneratorUntypedBase();
+            // Attempts to move the generator to the next element
+             //
+             // Returns true iff the move succeeded (and a valid element
+             // can be retrieved).
+            virtual bool next() = 0;
+        };
+        using GeneratorBasePtr = std::unique_ptr<GeneratorUntypedBase>;
+
+    } // namespace Generators
+
+    struct IGeneratorTracker {
+        virtual ~IGeneratorTracker();
+        virtual auto hasGenerator() const -> bool = 0;
+        virtual auto getGenerator() const -> Generators::GeneratorBasePtr const& = 0;
+        virtual void setGenerator( Generators::GeneratorBasePtr&& generator ) = 0;
+    };
+
+} // namespace Catch
+
+// end catch_interfaces_generatortracker.h
+// start catch_enforce.h
+
+#include <exception>
+
+namespace Catch {
+#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
+    template <typename Ex>
+    [[noreturn]]
+    void throw_exception(Ex const& e) {
+        throw e;
+    }
+#else // ^^ Exceptions are enabled //  Exceptions are disabled vv
+    [[noreturn]]
+    void throw_exception(std::exception const& e);
+#endif
+
+    [[noreturn]]
+    void throw_logic_error(std::string const& msg);
+    [[noreturn]]
+    void throw_domain_error(std::string const& msg);
+    [[noreturn]]
+    void throw_runtime_error(std::string const& msg);
+
+} // namespace Catch;
+
+#define CATCH_MAKE_MSG(...) \
+    (Catch::ReusableStringStream() << __VA_ARGS__).str()
+
+#define CATCH_INTERNAL_ERROR(...) \
+    Catch::throw_logic_error(CATCH_MAKE_MSG( CATCH_INTERNAL_LINEINFO << ": Internal Catch2 error: " << __VA_ARGS__))
+
+#define CATCH_ERROR(...) \
+    Catch::throw_domain_error(CATCH_MAKE_MSG( __VA_ARGS__ ))
+
+#define CATCH_RUNTIME_ERROR(...) \
+    Catch::throw_runtime_error(CATCH_MAKE_MSG( __VA_ARGS__ ))
+
+#define CATCH_ENFORCE( condition, ... ) \
+    do{ if( !(condition) ) CATCH_ERROR( __VA_ARGS__ ); } while(false)
+
+// end catch_enforce.h
+#include <memory>
+#include <vector>
+#include <cassert>
+
+#include <utility>
+#include <exception>
+
+namespace Catch {
+
+class GeneratorException : public std::exception {
+    const char* const m_msg = "";
+
+public:
+    GeneratorException(const char* msg):
+        m_msg(msg)
+    {}
+
+    const char* what() const noexcept override final;
+};
+
+namespace Generators {
+
+    // !TBD move this into its own location?
+    namespace pf{
+        template<typename T, typename... Args>
+        std::unique_ptr<T> make_unique( Args&&... args ) {
+            return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
+        }
+    }
+
+    template<typename T>
+    struct IGenerator : GeneratorUntypedBase {
+        virtual ~IGenerator() = default;
+
+        // Returns the current element of the generator
+        //
+        // \Precondition The generator is either freshly constructed,
+        // or the last call to `next()` returned true
+        virtual T const& get() const = 0;
+        using type = T;
+    };
+
+    template<typename T>
+    class SingleValueGenerator final : public IGenerator<T> {
+        T m_value;
+    public:
+        SingleValueGenerator(T&& value) : m_value(std::move(value)) {}
+
+        T const& get() const override {
+            return m_value;
+        }
+        bool next() override {
+            return false;
+        }
+    };
+
+    template<typename T>
+    class FixedValuesGenerator final : public IGenerator<T> {
+        static_assert(!std::is_same<T, bool>::value,
+            "FixedValuesGenerator does not support bools because of std::vector<bool>"
+            "specialization, use SingleValue Generator instead.");
+        std::vector<T> m_values;
+        size_t m_idx = 0;
+    public:
+        FixedValuesGenerator( std::initializer_list<T> values ) : m_values( values ) {}
+
+        T const& get() const override {
+            return m_values[m_idx];
+        }
+        bool next() override {
+            ++m_idx;
+            return m_idx < m_values.size();
+        }
+    };
+
+    template <typename T>
+    class GeneratorWrapper final {
+        std::unique_ptr<IGenerator<T>> m_generator;
+    public:
+        GeneratorWrapper(std::unique_ptr<IGenerator<T>> generator):
+            m_generator(std::move(generator))
+        {}
+        T const& get() const {
+            return m_generator->get();
+        }
+        bool next() {
+            return m_generator->next();
+        }
+    };
+
+    template <typename T>
+    GeneratorWrapper<T> value(T&& value) {
+        return GeneratorWrapper<T>(pf::make_unique<SingleValueGenerator<T>>(std::forward<T>(value)));
+    }
+    template <typename T>
+    GeneratorWrapper<T> values(std::initializer_list<T> values) {
+        return GeneratorWrapper<T>(pf::make_unique<FixedValuesGenerator<T>>(values));
+    }
+
+    template<typename T>
+    class Generators : public IGenerator<T> {
+        std::vector<GeneratorWrapper<T>> m_generators;
+        size_t m_current = 0;
+
+        void populate(GeneratorWrapper<T>&& generator) {
+            m_generators.emplace_back(std::move(generator));
+        }
+        void populate(T&& val) {
+            m_generators.emplace_back(value(std::forward<T>(val)));
+        }
+        template<typename U>
+        void populate(U&& val) {
+            populate(T(std::forward<U>(val)));
+        }
+        template<typename U, typename... Gs>
+        void populate(U&& valueOrGenerator, Gs &&... moreGenerators) {
+            populate(std::forward<U>(valueOrGenerator));
+            populate(std::forward<Gs>(moreGenerators)...);
+        }
+
+    public:
+        template <typename... Gs>
+        Generators(Gs &&... moreGenerators) {
+            m_generators.reserve(sizeof...(Gs));
+            populate(std::forward<Gs>(moreGenerators)...);
+        }
+
+        T const& get() const override {
+            return m_generators[m_current].get();
+        }
+
+        bool next() override {
+            if (m_current >= m_generators.size()) {
+                return false;
+            }
+            const bool current_status = m_generators[m_current].next();
+            if (!current_status) {
+                ++m_current;
+            }
+            return m_current < m_generators.size();
+        }
+    };
+
+    template<typename... Ts>
+    GeneratorWrapper<std::tuple<Ts...>> table( std::initializer_list<std::tuple<typename std::decay<Ts>::type...>> tuples ) {
+        return values<std::tuple<Ts...>>( tuples );
+    }
+
+    // Tag type to signal that a generator sequence should convert arguments to a specific type
+    template <typename T>
+    struct as {};
+
+    template<typename T, typename... Gs>
+    auto makeGenerators( GeneratorWrapper<T>&& generator, Gs &&... moreGenerators ) -> Generators<T> {
+        return Generators<T>(std::move(generator), std::forward<Gs>(moreGenerators)...);
+    }
+    template<typename T>
+    auto makeGenerators( GeneratorWrapper<T>&& generator ) -> Generators<T> {
+        return Generators<T>(std::move(generator));
+    }
+    template<typename T, typename... Gs>
+    auto makeGenerators( T&& val, Gs &&... moreGenerators ) -> Generators<T> {
+        return makeGenerators( value( std::forward<T>( val ) ), std::forward<Gs>( moreGenerators )... );
+    }
+    template<typename T, typename U, typename... Gs>
+    auto makeGenerators( as<T>, U&& val, Gs &&... moreGenerators ) -> Generators<T> {
+        return makeGenerators( value( T( std::forward<U>( val ) ) ), std::forward<Gs>( moreGenerators )... );
+    }
+
+    auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker&;
+
+    template<typename L>
+    // Note: The type after -> is weird, because VS2015 cannot parse
+    //       the expression used in the typedef inside, when it is in
+    //       return type. Yeah.
+    auto generate( SourceLineInfo const& lineInfo, L const& generatorExpression ) -> decltype(std::declval<decltype(generatorExpression())>().get()) {
+        using UnderlyingType = typename decltype(generatorExpression())::type;
+
+        IGeneratorTracker& tracker = acquireGeneratorTracker( lineInfo );
+        if (!tracker.hasGenerator()) {
+            tracker.setGenerator(pf::make_unique<Generators<UnderlyingType>>(generatorExpression()));
+        }
+
+        auto const& generator = static_cast<IGenerator<UnderlyingType> const&>( *tracker.getGenerator() );
+        return generator.get();
+    }
+
+} // namespace Generators
+} // namespace Catch
+
+#define GENERATE( ... ) \
+    Catch::Generators::generate( CATCH_INTERNAL_LINEINFO, [ ]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } ) //NOLINT(google-build-using-namespace)
+#define GENERATE_COPY( ... ) \
+    Catch::Generators::generate( CATCH_INTERNAL_LINEINFO, [=]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } ) //NOLINT(google-build-using-namespace)
+#define GENERATE_REF( ... ) \
+    Catch::Generators::generate( CATCH_INTERNAL_LINEINFO, [&]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } ) //NOLINT(google-build-using-namespace)
+
+// end catch_generators.hpp
+// start catch_generators_generic.hpp
+
+namespace Catch {
+namespace Generators {
+
+    template <typename T>
+    class TakeGenerator : public IGenerator<T> {
+        GeneratorWrapper<T> m_generator;
+        size_t m_returned = 0;
+        size_t m_target;
+    public:
+        TakeGenerator(size_t target, GeneratorWrapper<T>&& generator):
+            m_generator(std::move(generator)),
+            m_target(target)
+        {
+            assert(target != 0 && "Empty generators are not allowed");
+        }
+        T const& get() const override {
+            return m_generator.get();
+        }
+        bool next() override {
+            ++m_returned;
+            if (m_returned >= m_target) {
+                return false;
+            }
+
+            const auto success = m_generator.next();
+            // If the underlying generator does not contain enough values
+            // then we cut short as well
+            if (!success) {
+                m_returned = m_target;
+            }
+            return success;
+        }
+    };
+
+    template <typename T>
+    GeneratorWrapper<T> take(size_t target, GeneratorWrapper<T>&& generator) {
+        return GeneratorWrapper<T>(pf::make_unique<TakeGenerator<T>>(target, std::move(generator)));
+    }
+
+    template <typename T, typename Predicate>
+    class FilterGenerator : public IGenerator<T> {
+        GeneratorWrapper<T> m_generator;
+        Predicate m_predicate;
+    public:
+        template <typename P = Predicate>
+        FilterGenerator(P&& pred, GeneratorWrapper<T>&& generator):
+            m_generator(std::move(generator)),
+            m_predicate(std::forward<P>(pred))
+        {
+            if (!m_predicate(m_generator.get())) {
+                // It might happen that there are no values that pass the
+                // filter. In that case we throw an exception.
+                auto has_initial_value = next();
+                if (!has_initial_value) {
+                    Catch::throw_exception(GeneratorException("No valid value found in filtered generator"));
+                }
+            }
+        }
+
+        T const& get() const override {
+            return m_generator.get();
+        }
+
+        bool next() override {
+            bool success = m_generator.next();
+            if (!success) {
+                return false;
+            }
+            while (!m_predicate(m_generator.get()) && (success = m_generator.next()) == true);
+            return success;
+        }
+    };
+
+    template <typename T, typename Predicate>
+    GeneratorWrapper<T> filter(Predicate&& pred, GeneratorWrapper<T>&& generator) {
+        return GeneratorWrapper<T>(std::unique_ptr<IGenerator<T>>(pf::make_unique<FilterGenerator<T, Predicate>>(std::forward<Predicate>(pred), std::move(generator))));
+    }
+
+    template <typename T>
+    class RepeatGenerator : public IGenerator<T> {
+        static_assert(!std::is_same<T, bool>::value,
+            "RepeatGenerator currently does not support bools"
+            "because of std::vector<bool> specialization");
+        GeneratorWrapper<T> m_generator;
+        mutable std::vector<T> m_returned;
+        size_t m_target_repeats;
+        size_t m_current_repeat = 0;
+        size_t m_repeat_index = 0;
+    public:
+        RepeatGenerator(size_t repeats, GeneratorWrapper<T>&& generator):
+            m_generator(std::move(generator)),
+            m_target_repeats(repeats)
+        {
+            assert(m_target_repeats > 0 && "Repeat generator must repeat at least once");
+        }
+
+        T const& get() const override {
+            if (m_current_repeat == 0) {
+                m_returned.push_back(m_generator.get());
+                return m_returned.back();
+            }
+            return m_returned[m_repeat_index];
+        }
+
+        bool next() override {
+            // There are 2 basic cases:
+            // 1) We are still reading the generator
+            // 2) We are reading our own cache
+
+            // In the first case, we need to poke the underlying generator.
+            // If it happily moves, we are left in that state, otherwise it is time to start reading from our cache
+            if (m_current_repeat == 0) {
+                const auto success = m_generator.next();
+                if (!success) {
+                    ++m_current_repeat;
+                }
+                return m_current_repeat < m_target_repeats;
+            }
+
+            // In the second case, we need to move indices forward and check that we haven't run up against the end
+            ++m_repeat_index;
+            if (m_repeat_index == m_returned.size()) {
+                m_repeat_index = 0;
+                ++m_current_repeat;
+            }
+            return m_current_repeat < m_target_repeats;
+        }
+    };
+
+    template <typename T>
+    GeneratorWrapper<T> repeat(size_t repeats, GeneratorWrapper<T>&& generator) {
+        return GeneratorWrapper<T>(pf::make_unique<RepeatGenerator<T>>(repeats, std::move(generator)));
+    }
+
+    template <typename T, typename U, typename Func>
+    class MapGenerator : public IGenerator<T> {
+        // TBD: provide static assert for mapping function, for friendly error message
+        GeneratorWrapper<U> m_generator;
+        Func m_function;
+        // To avoid returning dangling reference, we have to save the values
+        T m_cache;
+    public:
+        template <typename F2 = Func>
+        MapGenerator(F2&& function, GeneratorWrapper<U>&& generator) :
+            m_generator(std::move(generator)),
+            m_function(std::forward<F2>(function)),
+            m_cache(m_function(m_generator.get()))
+        {}
+
+        T const& get() const override {
+            return m_cache;
+        }
+        bool next() override {
+            const auto success = m_generator.next();
+            if (success) {
+                m_cache = m_function(m_generator.get());
+            }
+            return success;
+        }
+    };
+
+    template <typename Func, typename U, typename T = FunctionReturnType<Func, U>>
+    GeneratorWrapper<T> map(Func&& function, GeneratorWrapper<U>&& generator) {
+        return GeneratorWrapper<T>(
+            pf::make_unique<MapGenerator<T, U, Func>>(std::forward<Func>(function), std::move(generator))
+        );
+    }
+
+    template <typename T, typename U, typename Func>
+    GeneratorWrapper<T> map(Func&& function, GeneratorWrapper<U>&& generator) {
+        return GeneratorWrapper<T>(
+            pf::make_unique<MapGenerator<T, U, Func>>(std::forward<Func>(function), std::move(generator))
+        );
+    }
+
+    template <typename T>
+    class ChunkGenerator final : public IGenerator<std::vector<T>> {
+        std::vector<T> m_chunk;
+        size_t m_chunk_size;
+        GeneratorWrapper<T> m_generator;
+        bool m_used_up = false;
+    public:
+        ChunkGenerator(size_t size, GeneratorWrapper<T> generator) :
+            m_chunk_size(size), m_generator(std::move(generator))
+        {
+            m_chunk.reserve(m_chunk_size);
+            if (m_chunk_size != 0) {
+                m_chunk.push_back(m_generator.get());
+                for (size_t i = 1; i < m_chunk_size; ++i) {
+                    if (!m_generator.next()) {
+                        Catch::throw_exception(GeneratorException("Not enough values to initialize the first chunk"));
+                    }
+                    m_chunk.push_back(m_generator.get());
+                }
+            }
+        }
+        std::vector<T> const& get() const override {
+            return m_chunk;
+        }
+        bool next() override {
+            m_chunk.clear();
+            for (size_t idx = 0; idx < m_chunk_size; ++idx) {
+                if (!m_generator.next()) {
+                    return false;
+                }
+                m_chunk.push_back(m_generator.get());
+            }
+            return true;
+        }
+    };
+
+    template <typename T>
+    GeneratorWrapper<std::vector<T>> chunk(size_t size, GeneratorWrapper<T>&& generator) {
+        return GeneratorWrapper<std::vector<T>>(
+            pf::make_unique<ChunkGenerator<T>>(size, std::move(generator))
+        );
+    }
+
+} // namespace Generators
+} // namespace Catch
+
+// end catch_generators_generic.hpp
+// start catch_generators_specific.hpp
+
+// start catch_context.h
+
+#include <memory>
+
+namespace Catch {
+
+    struct IResultCapture;
+    struct IRunner;
+    struct IConfig;
+    struct IMutableContext;
+
+    using IConfigPtr = std::shared_ptr<IConfig const>;
+
+    struct IContext
+    {
+        virtual ~IContext();
+
+        virtual IResultCapture* getResultCapture() = 0;
+        virtual IRunner* getRunner() = 0;
+        virtual IConfigPtr const& getConfig() const = 0;
+    };
+
+    struct IMutableContext : IContext
+    {
+        virtual ~IMutableContext();
+        virtual void setResultCapture( IResultCapture* resultCapture ) = 0;
+        virtual void setRunner( IRunner* runner ) = 0;
+        virtual void setConfig( IConfigPtr const& config ) = 0;
+
+    private:
+        static IMutableContext *currentContext;
+        friend IMutableContext& getCurrentMutableContext();
+        friend void cleanUpContext();
+        static void createContext();
+    };
+
+    inline IMutableContext& getCurrentMutableContext()
+    {
+        if( !IMutableContext::currentContext )
+            IMutableContext::createContext();
+        // NOLINTNEXTLINE(clang-analyzer-core.uninitialized.UndefReturn)
+        return *IMutableContext::currentContext;
+    }
+
+    inline IContext& getCurrentContext()
+    {
+        return getCurrentMutableContext();
+    }
+
+    void cleanUpContext();
+
+    class SimplePcg32;
+    SimplePcg32& rng();
+}
+
+// end catch_context.h
+// start catch_interfaces_config.h
+
+// start catch_option.hpp
+
+namespace Catch {
+
+    // An optional type
+    template<typename T>
+    class Option {
+    public:
+        Option() : nullableValue( nullptr ) {}
+        Option( T const& _value )
+        : nullableValue( new( storage ) T( _value ) )
+        {}
+        Option( Option const& _other )
+        : nullableValue( _other ? new( storage ) T( *_other ) : nullptr )
+        {}
+
+        ~Option() {
+            reset();
+        }
+
+        Option& operator= ( Option const& _other ) {
+            if( &_other != this ) {
+                reset();
+                if( _other )
+                    nullableValue = new( storage ) T( *_other );
+            }
+            return *this;
+        }
+        Option& operator = ( T const& _value ) {
+            reset();
+            nullableValue = new( storage ) T( _value );
+            return *this;
+        }
+
+        void reset() {
+            if( nullableValue )
+                nullableValue->~T();
+            nullableValue = nullptr;
+        }
+
+        T& operator*() { return *nullableValue; }
+        T const& operator*() const { return *nullableValue; }
+        T* operator->() { return nullableValue; }
+        const T* operator->() const { return nullableValue; }
+
+        T valueOr( T const& defaultValue ) const {
+            return nullableValue ? *nullableValue : defaultValue;
+        }
+
+        bool some() const { return nullableValue != nullptr; }
+        bool none() const { return nullableValue == nullptr; }
+
+        bool operator !() const { return nullableValue == nullptr; }
+        explicit operator bool() const {
+            return some();
+        }
+
+    private:
+        T *nullableValue;
+        alignas(alignof(T)) char storage[sizeof(T)];
+    };
+
+} // end namespace Catch
+
+// end catch_option.hpp
+#include <chrono>
+#include <iosfwd>
+#include <string>
+#include <vector>
+#include <memory>
+
+namespace Catch {
+
+    enum class Verbosity {
+        Quiet = 0,
+        Normal,
+        High
+    };
+
+    struct WarnAbout { enum What {
+        Nothing = 0x00,
+        NoAssertions = 0x01,
+        NoTests = 0x02
+    }; };
+
+    struct ShowDurations { enum OrNot {
+        DefaultForReporter,
+        Always,
+        Never
+    }; };
+    struct RunTests { enum InWhatOrder {
+        InDeclarationOrder,
+        InLexicographicalOrder,
+        InRandomOrder
+    }; };
+    struct UseColour { enum YesOrNo {
+        Auto,
+        Yes,
+        No
+    }; };
+    struct WaitForKeypress { enum When {
+        Never,
+        BeforeStart = 1,
+        BeforeExit = 2,
+        BeforeStartAndExit = BeforeStart | BeforeExit
+    }; };
+
+    class TestSpec;
+
+    struct IConfig : NonCopyable {
+
+        virtual ~IConfig();
+
+        virtual bool allowThrows() const = 0;
+        virtual std::ostream& stream() const = 0;
+        virtual std::string name() const = 0;
+        virtual bool includeSuccessfulResults() const = 0;
+        virtual bool shouldDebugBreak() const = 0;
+        virtual bool warnAboutMissingAssertions() const = 0;
+        virtual bool warnAboutNoTests() const = 0;
+        virtual int abortAfter() const = 0;
+        virtual bool showInvisibles() const = 0;
+        virtual ShowDurations::OrNot showDurations() const = 0;
+        virtual TestSpec const& testSpec() const = 0;
+        virtual bool hasTestFilters() const = 0;
+        virtual std::vector<std::string> const& getTestsOrTags() const = 0;
+        virtual RunTests::InWhatOrder runOrder() const = 0;
+        virtual unsigned int rngSeed() const = 0;
+        virtual UseColour::YesOrNo useColour() const = 0;
+        virtual std::vector<std::string> const& getSectionsToRun() const = 0;
+        virtual Verbosity verbosity() const = 0;
+
+        virtual bool benchmarkNoAnalysis() const = 0;
+        virtual int benchmarkSamples() const = 0;
+        virtual double benchmarkConfidenceInterval() const = 0;
+        virtual unsigned int benchmarkResamples() const = 0;
+        virtual std::chrono::milliseconds benchmarkWarmupTime() const = 0;
+    };
+
+    using IConfigPtr = std::shared_ptr<IConfig const>;
+}
+
+// end catch_interfaces_config.h
+// start catch_random_number_generator.h
+
+#include <cstdint>
+
+namespace Catch {
+
+    // This is a simple implementation of C++11 Uniform Random Number
+    // Generator. It does not provide all operators, because Catch2
+    // does not use it, but it should behave as expected inside stdlib's
+    // distributions.
+    // The implementation is based on the PCG family (http://pcg-random.org)
+    class SimplePcg32 {
+        using state_type = std::uint64_t;
+    public:
+        using result_type = std::uint32_t;
+        static constexpr result_type (min)() {
+            return 0;
+        }
+        static constexpr result_type (max)() {
+            return static_cast<result_type>(-1);
+        }
+
+        // Provide some default initial state for the default constructor
+        SimplePcg32():SimplePcg32(0xed743cc4U) {}
+
+        explicit SimplePcg32(result_type seed_);
+
+        void seed(result_type seed_);
+        void discard(uint64_t skip);
+
+        result_type operator()();
+
+    private:
+        friend bool operator==(SimplePcg32 const& lhs, SimplePcg32 const& rhs);
+        friend bool operator!=(SimplePcg32 const& lhs, SimplePcg32 const& rhs);
+
+        // In theory we also need operator<< and operator>>
+        // In practice we do not use them, so we will skip them for now
+
+        std::uint64_t m_state;
+        // This part of the state determines which "stream" of the numbers
+        // is chosen -- we take it as a constant for Catch2, so we only
+        // need to deal with seeding the main state.
+        // Picked by reading 8 bytes from `/dev/random` :-)
+        static const std::uint64_t s_inc = (0x13ed0cc53f939476ULL << 1ULL) | 1ULL;
+    };
+
+} // end namespace Catch
+
+// end catch_random_number_generator.h
+#include <random>
+
+namespace Catch {
+namespace Generators {
+
+template <typename Float>
+class RandomFloatingGenerator final : public IGenerator<Float> {
+    Catch::SimplePcg32& m_rng;
+    std::uniform_real_distribution<Float> m_dist;
+    Float m_current_number;
+public:
+
+    RandomFloatingGenerator(Float a, Float b):
+        m_rng(rng()),
+        m_dist(a, b) {
+        static_cast<void>(next());
+    }
+
+    Float const& get() const override {
+        return m_current_number;
+    }
+    bool next() override {
+        m_current_number = m_dist(m_rng);
+        return true;
+    }
+};
+
+template <typename Integer>
+class RandomIntegerGenerator final : public IGenerator<Integer> {
+    Catch::SimplePcg32& m_rng;
+    std::uniform_int_distribution<Integer> m_dist;
+    Integer m_current_number;
+public:
+
+    RandomIntegerGenerator(Integer a, Integer b):
+        m_rng(rng()),
+        m_dist(a, b) {
+        static_cast<void>(next());
+    }
+
+    Integer const& get() const override {
+        return m_current_number;
+    }
+    bool next() override {
+        m_current_number = m_dist(m_rng);
+        return true;
+    }
+};
+
+// TODO: Ideally this would be also constrained against the various char types,
+//       but I don't expect users to run into that in practice.
+template <typename T>
+typename std::enable_if<std::is_integral<T>::value && !std::is_same<T, bool>::value,
+GeneratorWrapper<T>>::type
+random(T a, T b) {
+    return GeneratorWrapper<T>(
+        pf::make_unique<RandomIntegerGenerator<T>>(a, b)
+    );
+}
+
+template <typename T>
+typename std::enable_if<std::is_floating_point<T>::value,
+GeneratorWrapper<T>>::type
+random(T a, T b) {
+    return GeneratorWrapper<T>(
+        pf::make_unique<RandomFloatingGenerator<T>>(a, b)
+    );
+}
+
+template <typename T>
+class RangeGenerator final : public IGenerator<T> {
+    T m_current;
+    T m_end;
+    T m_step;
+    bool m_positive;
+
+public:
+    RangeGenerator(T const& start, T const& end, T const& step):
+        m_current(start),
+        m_end(end),
+        m_step(step),
+        m_positive(m_step > T(0))
+    {
+        assert(m_current != m_end && "Range start and end cannot be equal");
+        assert(m_step != T(0) && "Step size cannot be zero");
+        assert(((m_positive && m_current <= m_end) || (!m_positive && m_current >= m_end)) && "Step moves away from end");
+    }
+
+    RangeGenerator(T const& start, T const& end):
+        RangeGenerator(start, end, (start < end) ? T(1) : T(-1))
+    {}
+
+    T const& get() const override {
+        return m_current;
+    }
+
+    bool next() override {
+        m_current += m_step;
+        return (m_positive) ? (m_current < m_end) : (m_current > m_end);
+    }
+};
+
+template <typename T>
+GeneratorWrapper<T> range(T const& start, T const& end, T const& step) {
+    static_assert(std::is_arithmetic<T>::value && !std::is_same<T, bool>::value, "Type must be numeric");
+    return GeneratorWrapper<T>(pf::make_unique<RangeGenerator<T>>(start, end, step));
+}
+
+template <typename T>
+GeneratorWrapper<T> range(T const& start, T const& end) {
+    static_assert(std::is_integral<T>::value && !std::is_same<T, bool>::value, "Type must be an integer");
+    return GeneratorWrapper<T>(pf::make_unique<RangeGenerator<T>>(start, end));
+}
+
+template <typename T>
+class IteratorGenerator final : public IGenerator<T> {
+    static_assert(!std::is_same<T, bool>::value,
+        "IteratorGenerator currently does not support bools"
+        "because of std::vector<bool> specialization");
+
+    std::vector<T> m_elems;
+    size_t m_current = 0;
+public:
+    template <typename InputIterator, typename InputSentinel>
+    IteratorGenerator(InputIterator first, InputSentinel last):m_elems(first, last) {
+        if (m_elems.empty()) {
+            Catch::throw_exception(GeneratorException("IteratorGenerator received no valid values"));
+        }
+    }
+
+    T const& get() const override {
+        return m_elems[m_current];
+    }
+
+    bool next() override {
+        ++m_current;
+        return m_current != m_elems.size();
+    }
+};
+
+template <typename InputIterator,
+          typename InputSentinel,
+          typename ResultType = typename std::iterator_traits<InputIterator>::value_type>
+GeneratorWrapper<ResultType> from_range(InputIterator from, InputSentinel to) {
+    return GeneratorWrapper<ResultType>(pf::make_unique<IteratorGenerator<ResultType>>(from, to));
+}
+
+template <typename Container,
+          typename ResultType = typename Container::value_type>
+GeneratorWrapper<ResultType> from_range(Container const& cnt) {
+    return GeneratorWrapper<ResultType>(pf::make_unique<IteratorGenerator<ResultType>>(cnt.begin(), cnt.end()));
+}
+
+} // namespace Generators
+} // namespace Catch
+
+// end catch_generators_specific.hpp
+
+// These files are included here so the single_include script doesn't put them
+// in the conditionally compiled sections
+// start catch_test_case_info.h
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+namespace Catch {
+
+    struct ITestInvoker;
+
+    struct TestCaseInfo {
+        enum SpecialProperties{
+            None = 0,
+            IsHidden = 1 << 1,
+            ShouldFail = 1 << 2,
+            MayFail = 1 << 3,
+            Throws = 1 << 4,
+            NonPortable = 1 << 5,
+            Benchmark = 1 << 6
+        };
+
+        TestCaseInfo(   std::string const& _name,
+                        std::string const& _className,
+                        std::string const& _description,
+                        std::vector<std::string> const& _tags,
+                        SourceLineInfo const& _lineInfo );
+
+        friend void setTags( TestCaseInfo& testCaseInfo, std::vector<std::string> tags );
+
+        bool isHidden() const;
+        bool throws() const;
+        bool okToFail() const;
+        bool expectedToFail() const;
+
+        std::string tagsAsString() const;
+
+        std::string name;
+        std::string className;
+        std::string description;
+        std::vector<std::string> tags;
+        std::vector<std::string> lcaseTags;
+        SourceLineInfo lineInfo;
+        SpecialProperties properties;
+    };
+
+    class TestCase : public TestCaseInfo {
+    public:
+
+        TestCase( ITestInvoker* testCase, TestCaseInfo&& info );
+
+        TestCase withName( std::string const& _newName ) const;
+
+        void invoke() const;
+
+        TestCaseInfo const& getTestCaseInfo() const;
+
+        bool operator == ( TestCase const& other ) const;
+        bool operator < ( TestCase const& other ) const;
+
+    private:
+        std::shared_ptr<ITestInvoker> test;
+    };
+
+    TestCase makeTestCase(  ITestInvoker* testCase,
+                            std::string const& className,
+                            NameAndTags const& nameAndTags,
+                            SourceLineInfo const& lineInfo );
+}
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+// end catch_test_case_info.h
+// start catch_interfaces_runner.h
+
+namespace Catch {
+
+    struct IRunner {
+        virtual ~IRunner();
+        virtual bool aborting() const = 0;
+    };
+}
+
+// end catch_interfaces_runner.h
+
+#ifdef __OBJC__
+// start catch_objc.hpp
+
+#import <objc/runtime.h>
+
+#include <string>
+
+// NB. Any general catch headers included here must be included
+// in catch.hpp first to make sure they are included by the single
+// header for non obj-usage
+
+///////////////////////////////////////////////////////////////////////////////
+// This protocol is really only here for (self) documenting purposes, since
+// all its methods are optional.
+@protocol OcFixture
+
+@optional
+
+-(void) setUp;
+-(void) tearDown;
+
+@end
+
+namespace Catch {
+
+    class OcMethod : public ITestInvoker {
+
+    public:
+        OcMethod( Class cls, SEL sel ) : m_cls( cls ), m_sel( sel ) {}
+
+        virtual void invoke() const {
+            id obj = [[m_cls alloc] init];
+
+            performOptionalSelector( obj, @selector(setUp)  );
+            performOptionalSelector( obj, m_sel );
+            performOptionalSelector( obj, @selector(tearDown)  );
+
+            arcSafeRelease( obj );
+        }
+    private:
+        virtual ~OcMethod() {}
+
+        Class m_cls;
+        SEL m_sel;
+    };
+
+    namespace Detail{
+
+        inline std::string getAnnotation(   Class cls,
+                                            std::string const& annotationName,
+                                            std::string const& testCaseName ) {
+            NSString* selStr = [[NSString alloc] initWithFormat:@"Catch_%s_%s", annotationName.c_str(), testCaseName.c_str()];
+            SEL sel = NSSelectorFromString( selStr );
+            arcSafeRelease( selStr );
+            id value = performOptionalSelector( cls, sel );
+            if( value )
+                return [(NSString*)value UTF8String];
+            return "";
+        }
+    }
+
+    inline std::size_t registerTestMethods() {
+        std::size_t noTestMethods = 0;
+        int noClasses = objc_getClassList( nullptr, 0 );
+
+        Class* classes = (CATCH_UNSAFE_UNRETAINED Class *)malloc( sizeof(Class) * noClasses);
+        objc_getClassList( classes, noClasses );
+
+        for( int c = 0; c < noClasses; c++ ) {
+            Class cls = classes[c];
+            {
+                u_int count;
+                Method* methods = class_copyMethodList( cls, &count );
+                for( u_int m = 0; m < count ; m++ ) {
+                    SEL selector = method_getName(methods[m]);
+                    std::string methodName = sel_getName(selector);
+                    if( startsWith( methodName, "Catch_TestCase_" ) ) {
+                        std::string testCaseName = methodName.substr( 15 );
+                        std::string name = Detail::getAnnotation( cls, "Name", testCaseName );
+                        std::string desc = Detail::getAnnotation( cls, "Description", testCaseName );
+                        const char* className = class_getName( cls );
+
+                        getMutableRegistryHub().registerTest( makeTestCase( new OcMethod( cls, selector ), className, NameAndTags( name.c_str(), desc.c_str() ), SourceLineInfo("",0) ) );
+                        noTestMethods++;
+                    }
+                }
+                free(methods);
+            }
+        }
+        return noTestMethods;
+    }
+
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+
+    namespace Matchers {
+        namespace Impl {
+        namespace NSStringMatchers {
+
+            struct StringHolder : MatcherBase<NSString*>{
+                StringHolder( NSString* substr ) : m_substr( [substr copy] ){}
+                StringHolder( StringHolder const& other ) : m_substr( [other.m_substr copy] ){}
+                StringHolder() {
+                    arcSafeRelease( m_substr );
+                }
+
+                bool match( NSString* str ) const override {
+                    return false;
+                }
+
+                NSString* CATCH_ARC_STRONG m_substr;
+            };
+
+            struct Equals : StringHolder {
+                Equals( NSString* substr ) : StringHolder( substr ){}
+
+                bool match( NSString* str ) const override {
+                    return  (str != nil || m_substr == nil ) &&
+                            [str isEqualToString:m_substr];
+                }
+
+                std::string describe() const override {
+                    return "equals string: " + Catch::Detail::stringify( m_substr );
+                }
+            };
+
+            struct Contains : StringHolder {
+                Contains( NSString* substr ) : StringHolder( substr ){}
+
+                bool match( NSString* str ) const override {
+                    return  (str != nil || m_substr == nil ) &&
+                            [str rangeOfString:m_substr].location != NSNotFound;
+                }
+
+                std::string describe() const override {
+                    return "contains string: " + Catch::Detail::stringify( m_substr );
+                }
+            };
+
+            struct StartsWith : StringHolder {
+                StartsWith( NSString* substr ) : StringHolder( substr ){}
+
+                bool match( NSString* str ) const override {
+                    return  (str != nil || m_substr == nil ) &&
+                            [str rangeOfString:m_substr].location == 0;
+                }
+
+                std::string describe() const override {
+                    return "starts with: " + Catch::Detail::stringify( m_substr );
+                }
+            };
+            struct EndsWith : StringHolder {
+                EndsWith( NSString* substr ) : StringHolder( substr ){}
+
+                bool match( NSString* str ) const override {
+                    return  (str != nil || m_substr == nil ) &&
+                            [str rangeOfString:m_substr].location == [str length] - [m_substr length];
+                }
+
+                std::string describe() const override {
+                    return "ends with: " + Catch::Detail::stringify( m_substr );
+                }
+            };
+
+        } // namespace NSStringMatchers
+        } // namespace Impl
+
+        inline Impl::NSStringMatchers::Equals
+            Equals( NSString* substr ){ return Impl::NSStringMatchers::Equals( substr ); }
+
+        inline Impl::NSStringMatchers::Contains
+            Contains( NSString* substr ){ return Impl::NSStringMatchers::Contains( substr ); }
+
+        inline Impl::NSStringMatchers::StartsWith
+            StartsWith( NSString* substr ){ return Impl::NSStringMatchers::StartsWith( substr ); }
+
+        inline Impl::NSStringMatchers::EndsWith
+            EndsWith( NSString* substr ){ return Impl::NSStringMatchers::EndsWith( substr ); }
+
+    } // namespace Matchers
+
+    using namespace Matchers;
+
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+
+} // namespace Catch
+
+///////////////////////////////////////////////////////////////////////////////
+#define OC_MAKE_UNIQUE_NAME( root, uniqueSuffix ) root##uniqueSuffix
+#define OC_TEST_CASE2( name, desc, uniqueSuffix ) \
++(NSString*) OC_MAKE_UNIQUE_NAME( Catch_Name_test_, uniqueSuffix ) \
+{ \
+return @ name; \
+} \
++(NSString*) OC_MAKE_UNIQUE_NAME( Catch_Description_test_, uniqueSuffix ) \
+{ \
+return @ desc; \
+} \
+-(void) OC_MAKE_UNIQUE_NAME( Catch_TestCase_test_, uniqueSuffix )
+
+#define OC_TEST_CASE( name, desc ) OC_TEST_CASE2( name, desc, __LINE__ )
+
+// end catch_objc.hpp
+#endif
+
+// Benchmarking needs the externally-facing parts of reporters to work
+#if defined(CATCH_CONFIG_EXTERNAL_INTERFACES) || defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+// start catch_external_interfaces.h
+
+// start catch_reporter_bases.hpp
+
+// start catch_interfaces_reporter.h
+
+// start catch_config.hpp
+
+// start catch_test_spec_parser.h
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+// start catch_test_spec.h
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+// start catch_wildcard_pattern.h
+
+namespace Catch
+{
+    class WildcardPattern {
+        enum WildcardPosition {
+            NoWildcard = 0,
+            WildcardAtStart = 1,
+            WildcardAtEnd = 2,
+            WildcardAtBothEnds = WildcardAtStart | WildcardAtEnd
+        };
+
+    public:
+
+        WildcardPattern( std::string const& pattern, CaseSensitive::Choice caseSensitivity );
+        virtual ~WildcardPattern() = default;
+        virtual bool matches( std::string const& str ) const;
+
+    private:
+        std::string normaliseString( std::string const& str ) const;
+        CaseSensitive::Choice m_caseSensitivity;
+        WildcardPosition m_wildcard = NoWildcard;
+        std::string m_pattern;
+    };
+}
+
+// end catch_wildcard_pattern.h
+#include <string>
+#include <vector>
+#include <memory>
+
+namespace Catch {
+
+    struct IConfig;
+
+    class TestSpec {
+        class Pattern {
+        public:
+            explicit Pattern( std::string const& name );
+            virtual ~Pattern();
+            virtual bool matches( TestCaseInfo const& testCase ) const = 0;
+            std::string const& name() const;
+        private:
+            std::string const m_name;
+        };
+        using PatternPtr = std::shared_ptr<Pattern>;
+
+        class NamePattern : public Pattern {
+        public:
+            explicit NamePattern( std::string const& name, std::string const& filterString );
+            bool matches( TestCaseInfo const& testCase ) const override;
+        private:
+            WildcardPattern m_wildcardPattern;
+        };
+
+        class TagPattern : public Pattern {
+        public:
+            explicit TagPattern( std::string const& tag, std::string const& filterString );
+            bool matches( TestCaseInfo const& testCase ) const override;
+        private:
+            std::string m_tag;
+        };
+
+        class ExcludedPattern : public Pattern {
+        public:
+            explicit ExcludedPattern( PatternPtr const& underlyingPattern );
+            bool matches( TestCaseInfo const& testCase ) const override;
+        private:
+            PatternPtr m_underlyingPattern;
+        };
+
+        struct Filter {
+            std::vector<PatternPtr> m_patterns;
+
+            bool matches( TestCaseInfo const& testCase ) const;
+            std::string name() const;
+        };
+
+    public:
+        struct FilterMatch {
+            std::string name;
+            std::vector<TestCase const*> tests;
+        };
+        using Matches = std::vector<FilterMatch>;
+        using vectorStrings = std::vector<std::string>;
+
+        bool hasFilters() const;
+        bool matches( TestCaseInfo const& testCase ) const;
+        Matches matchesByFilter( std::vector<TestCase> const& testCases, IConfig const& config ) const;
+        const vectorStrings & getInvalidArgs() const;
+
+    private:
+        std::vector<Filter> m_filters;
+        std::vector<std::string> m_invalidArgs;
+        friend class TestSpecParser;
+    };
+}
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+// end catch_test_spec.h
+// start catch_interfaces_tag_alias_registry.h
+
+#include <string>
+
+namespace Catch {
+
+    struct TagAlias;
+
+    struct ITagAliasRegistry {
+        virtual ~ITagAliasRegistry();
+        // Nullptr if not present
+        virtual TagAlias const* find( std::string const& alias ) const = 0;
+        virtual std::string expandAliases( std::string const& unexpandedTestSpec ) const = 0;
+
+        static ITagAliasRegistry const& get();
+    };
+
+} // end namespace Catch
+
+// end catch_interfaces_tag_alias_registry.h
+namespace Catch {
+
+    class TestSpecParser {
+        enum Mode{ None, Name, QuotedName, Tag, EscapedName };
+        Mode m_mode = None;
+        Mode lastMode = None;
+        bool m_exclusion = false;
+        std::size_t m_pos = 0;
+        std::size_t m_realPatternPos = 0;
+        std::string m_arg;
+        std::string m_substring;
+        std::string m_patternName;
+        std::vector<std::size_t> m_escapeChars;
+        TestSpec::Filter m_currentFilter;
+        TestSpec m_testSpec;
+        ITagAliasRegistry const* m_tagAliases = nullptr;
+
+    public:
+        TestSpecParser( ITagAliasRegistry const& tagAliases );
+
+        TestSpecParser& parse( std::string const& arg );
+        TestSpec testSpec();
+
+    private:
+        bool visitChar( char c );
+        void startNewMode( Mode mode );
+        bool processNoneChar( char c );
+        void processNameChar( char c );
+        bool processOtherChar( char c );
+        void endMode();
+        void escape();
+        bool isControlChar( char c ) const;
+        void saveLastMode();
+        void revertBackToLastMode();
+        void addFilter();
+        bool separate();
+
+        // Handles common preprocessing of the pattern for name/tag patterns
+        std::string preprocessPattern();
+        // Adds the current pattern as a test name
+        void addNamePattern();
+        // Adds the current pattern as a tag
+        void addTagPattern();
+
+        inline void addCharToPattern(char c) {
+            m_substring += c;
+            m_patternName += c;
+            m_realPatternPos++;
+        }
+
+    };
+    TestSpec parseTestSpec( std::string const& arg );
+
+} // namespace Catch
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+// end catch_test_spec_parser.h
+// Libstdc++ doesn't like incomplete classes for unique_ptr
+
+#include <memory>
+#include <vector>
+#include <string>
+
+#ifndef CATCH_CONFIG_CONSOLE_WIDTH
+#define CATCH_CONFIG_CONSOLE_WIDTH 80
+#endif
+
+namespace Catch {
+
+    struct IStream;
+
+    struct ConfigData {
+        bool listTests = false;
+        bool listTags = false;
+        bool listReporters = false;
+        bool listTestNamesOnly = false;
+
+        bool showSuccessfulTests = false;
+        bool shouldDebugBreak = false;
+        bool noThrow = false;
+        bool showHelp = false;
+        bool showInvisibles = false;
+        bool filenamesAsTags = false;
+        bool libIdentify = false;
+
+        int abortAfter = -1;
+        unsigned int rngSeed = 0;
+
+        bool benchmarkNoAnalysis = false;
+        unsigned int benchmarkSamples = 100;
+        double benchmarkConfidenceInterval = 0.95;
+        unsigned int benchmarkResamples = 100000;
+        std::chrono::milliseconds::rep benchmarkWarmupTime = 100;
+
+        Verbosity verbosity = Verbosity::Normal;
+        WarnAbout::What warnings = WarnAbout::Nothing;
+        ShowDurations::OrNot showDurations = ShowDurations::DefaultForReporter;
+        RunTests::InWhatOrder runOrder = RunTests::InDeclarationOrder;
+        UseColour::YesOrNo useColour = UseColour::Auto;
+        WaitForKeypress::When waitForKeypress = WaitForKeypress::Never;
+
+        std::string outputFilename;
+        std::string name;
+        std::string processName;
+#ifndef CATCH_CONFIG_DEFAULT_REPORTER
+#define CATCH_CONFIG_DEFAULT_REPORTER "console"
+#endif
+        std::string reporterName = CATCH_CONFIG_DEFAULT_REPORTER;
+#undef CATCH_CONFIG_DEFAULT_REPORTER
+
+        std::vector<std::string> testsOrTags;
+        std::vector<std::string> sectionsToRun;
+    };
+
+    class Config : public IConfig {
+    public:
+
+        Config() = default;
+        Config( ConfigData const& data );
+        virtual ~Config() = default;
+
+        std::string const& getFilename() const;
+
+        bool listTests() const;
+        bool listTestNamesOnly() const;
+        bool listTags() const;
+        bool listReporters() const;
+
+        std::string getProcessName() const;
+        std::string const& getReporterName() const;
+
+        std::vector<std::string> const& getTestsOrTags() const override;
+        std::vector<std::string> const& getSectionsToRun() const override;
+
+        TestSpec const& testSpec() const override;
+        bool hasTestFilters() const override;
+
+        bool showHelp() const;
+
+        // IConfig interface
+        bool allowThrows() const override;
+        std::ostream& stream() const override;
+        std::string name() const override;
+        bool includeSuccessfulResults() const override;
+        bool warnAboutMissingAssertions() const override;
+        bool warnAboutNoTests() const override;
+        ShowDurations::OrNot showDurations() const override;
+        RunTests::InWhatOrder runOrder() const override;
+        unsigned int rngSeed() const override;
+        UseColour::YesOrNo useColour() const override;
+        bool shouldDebugBreak() const override;
+        int abortAfter() const override;
+        bool showInvisibles() const override;
+        Verbosity verbosity() const override;
+        bool benchmarkNoAnalysis() const override;
+        int benchmarkSamples() const override;
+        double benchmarkConfidenceInterval() const override;
+        unsigned int benchmarkResamples() const override;
+        std::chrono::milliseconds benchmarkWarmupTime() const override;
+
+    private:
+
+        IStream const* openStream();
+        ConfigData m_data;
+
+        std::unique_ptr<IStream const> m_stream;
+        TestSpec m_testSpec;
+        bool m_hasTestFilters = false;
+    };
+
+} // end namespace Catch
+
+// end catch_config.hpp
+// start catch_assertionresult.h
+
+#include <string>
+
+namespace Catch {
+
+    struct AssertionResultData
+    {
+        AssertionResultData() = delete;
+
+        AssertionResultData( ResultWas::OfType _resultType, LazyExpression const& _lazyExpression );
+
+        std::string message;
+        mutable std::string reconstructedExpression;
+        LazyExpression lazyExpression;
+        ResultWas::OfType resultType;
+
+        std::string reconstructExpression() const;
+    };
+
+    class AssertionResult {
+    public:
+        AssertionResult() = delete;
+        AssertionResult( AssertionInfo const& info, AssertionResultData const& data );
+
+        bool isOk() const;
+        bool succeeded() const;
+        ResultWas::OfType getResultType() const;
+        bool hasExpression() const;
+        bool hasMessage() const;
+        std::string getExpression() const;
+        std::string getExpressionInMacro() const;
+        bool hasExpandedExpression() const;
+        std::string getExpandedExpression() const;
+        std::string getMessage() const;
+        SourceLineInfo getSourceInfo() const;
+        StringRef getTestMacroName() const;
+
+    //protected:
+        AssertionInfo m_info;
+        AssertionResultData m_resultData;
+    };
+
+} // end namespace Catch
+
+// end catch_assertionresult.h
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+// start catch_estimate.hpp
+
+ // Statistics estimates
+
+
+namespace Catch {
+    namespace Benchmark {
+        template <typename Duration>
+        struct Estimate {
+            Duration point;
+            Duration lower_bound;
+            Duration upper_bound;
+            double confidence_interval;
+
+            template <typename Duration2>
+            operator Estimate<Duration2>() const {
+                return { point, lower_bound, upper_bound, confidence_interval };
+            }
+        };
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_estimate.hpp
+// start catch_outlier_classification.hpp
+
+// Outlier information
+
+namespace Catch {
+    namespace Benchmark {
+        struct OutlierClassification {
+            int samples_seen = 0;
+            int low_severe = 0;     // more than 3 times IQR below Q1
+            int low_mild = 0;       // 1.5 to 3 times IQR below Q1
+            int high_mild = 0;      // 1.5 to 3 times IQR above Q3
+            int high_severe = 0;    // more than 3 times IQR above Q3
+
+            int total() const {
+                return low_severe + low_mild + high_mild + high_severe;
+            }
+        };
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_outlier_classification.hpp
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+#include <string>
+#include <iosfwd>
+#include <map>
+#include <set>
+#include <memory>
+#include <algorithm>
+
+namespace Catch {
+
+    struct ReporterConfig {
+        explicit ReporterConfig( IConfigPtr const& _fullConfig );
+
+        ReporterConfig( IConfigPtr const& _fullConfig, std::ostream& _stream );
+
+        std::ostream& stream() const;
+        IConfigPtr fullConfig() const;
+
+    private:
+        std::ostream* m_stream;
+        IConfigPtr m_fullConfig;
+    };
+
+    struct ReporterPreferences {
+        bool shouldRedirectStdOut = false;
+        bool shouldReportAllAssertions = false;
+    };
+
+    template<typename T>
+    struct LazyStat : Option<T> {
+        LazyStat& operator=( T const& _value ) {
+            Option<T>::operator=( _value );
+            used = false;
+            return *this;
+        }
+        void reset() {
+            Option<T>::reset();
+            used = false;
+        }
+        bool used = false;
+    };
+
+    struct TestRunInfo {
+        TestRunInfo( std::string const& _name );
+        std::string name;
+    };
+    struct GroupInfo {
+        GroupInfo(  std::string const& _name,
+                    std::size_t _groupIndex,
+                    std::size_t _groupsCount );
+
+        std::string name;
+        std::size_t groupIndex;
+        std::size_t groupsCounts;
+    };
+
+    struct AssertionStats {
+        AssertionStats( AssertionResult const& _assertionResult,
+                        std::vector<MessageInfo> const& _infoMessages,
+                        Totals const& _totals );
+
+        AssertionStats( AssertionStats const& )              = default;
+        AssertionStats( AssertionStats && )                  = default;
+        AssertionStats& operator = ( AssertionStats const& ) = delete;
+        AssertionStats& operator = ( AssertionStats && )     = delete;
+        virtual ~AssertionStats();
+
+        AssertionResult assertionResult;
+        std::vector<MessageInfo> infoMessages;
+        Totals totals;
+    };
+
+    struct SectionStats {
+        SectionStats(   SectionInfo const& _sectionInfo,
+                        Counts const& _assertions,
+                        double _durationInSeconds,
+                        bool _missingAssertions );
+        SectionStats( SectionStats const& )              = default;
+        SectionStats( SectionStats && )                  = default;
+        SectionStats& operator = ( SectionStats const& ) = default;
+        SectionStats& operator = ( SectionStats && )     = default;
+        virtual ~SectionStats();
+
+        SectionInfo sectionInfo;
+        Counts assertions;
+        double durationInSeconds;
+        bool missingAssertions;
+    };
+
+    struct TestCaseStats {
+        TestCaseStats(  TestCaseInfo const& _testInfo,
+                        Totals const& _totals,
+                        std::string const& _stdOut,
+                        std::string const& _stdErr,
+                        bool _aborting );
+
+        TestCaseStats( TestCaseStats const& )              = default;
+        TestCaseStats( TestCaseStats && )                  = default;
+        TestCaseStats& operator = ( TestCaseStats const& ) = default;
+        TestCaseStats& operator = ( TestCaseStats && )     = default;
+        virtual ~TestCaseStats();
+
+        TestCaseInfo testInfo;
+        Totals totals;
+        std::string stdOut;
+        std::string stdErr;
+        bool aborting;
+    };
+
+    struct TestGroupStats {
+        TestGroupStats( GroupInfo const& _groupInfo,
+                        Totals const& _totals,
+                        bool _aborting );
+        TestGroupStats( GroupInfo const& _groupInfo );
+
+        TestGroupStats( TestGroupStats const& )              = default;
+        TestGroupStats( TestGroupStats && )                  = default;
+        TestGroupStats& operator = ( TestGroupStats const& ) = default;
+        TestGroupStats& operator = ( TestGroupStats && )     = default;
+        virtual ~TestGroupStats();
+
+        GroupInfo groupInfo;
+        Totals totals;
+        bool aborting;
+    };
+
+    struct TestRunStats {
+        TestRunStats(   TestRunInfo const& _runInfo,
+                        Totals const& _totals,
+                        bool _aborting );
+
+        TestRunStats( TestRunStats const& )              = default;
+        TestRunStats( TestRunStats && )                  = default;
+        TestRunStats& operator = ( TestRunStats const& ) = default;
+        TestRunStats& operator = ( TestRunStats && )     = default;
+        virtual ~TestRunStats();
+
+        TestRunInfo runInfo;
+        Totals totals;
+        bool aborting;
+    };
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+    struct BenchmarkInfo {
+        std::string name;
+        double estimatedDuration;
+        int iterations;
+        int samples;
+        unsigned int resamples;
+        double clockResolution;
+        double clockCost;
+    };
+
+    template <class Duration>
+    struct BenchmarkStats {
+        BenchmarkInfo info;
+
+        std::vector<Duration> samples;
+        Benchmark::Estimate<Duration> mean;
+        Benchmark::Estimate<Duration> standardDeviation;
+        Benchmark::OutlierClassification outliers;
+        double outlierVariance;
+
+        template <typename Duration2>
+        operator BenchmarkStats<Duration2>() const {
+            std::vector<Duration2> samples2;
+            samples2.reserve(samples.size());
+            std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](Duration d) { return Duration2(d); });
+            return {
+                info,
+                std::move(samples2),
+                mean,
+                standardDeviation,
+                outliers,
+                outlierVariance,
+            };
+        }
+    };
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+    struct IStreamingReporter {
+        virtual ~IStreamingReporter() = default;
+
+        // Implementing class must also provide the following static methods:
+        // static std::string getDescription();
+        // static std::set<Verbosity> getSupportedVerbosities()
+
+        virtual ReporterPreferences getPreferences() const = 0;
+
+        virtual void noMatchingTestCases( std::string const& spec ) = 0;
+
+        virtual void reportInvalidArguments(std::string const&) {}
+
+        virtual void testRunStarting( TestRunInfo const& testRunInfo ) = 0;
+        virtual void testGroupStarting( GroupInfo const& groupInfo ) = 0;
+
+        virtual void testCaseStarting( TestCaseInfo const& testInfo ) = 0;
+        virtual void sectionStarting( SectionInfo const& sectionInfo ) = 0;
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+        virtual void benchmarkPreparing( std::string const& ) {}
+        virtual void benchmarkStarting( BenchmarkInfo const& ) {}
+        virtual void benchmarkEnded( BenchmarkStats<> const& ) {}
+        virtual void benchmarkFailed( std::string const& ) {}
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+        virtual void assertionStarting( AssertionInfo const& assertionInfo ) = 0;
+
+        // The return value indicates if the messages buffer should be cleared:
+        virtual bool assertionEnded( AssertionStats const& assertionStats ) = 0;
+
+        virtual void sectionEnded( SectionStats const& sectionStats ) = 0;
+        virtual void testCaseEnded( TestCaseStats const& testCaseStats ) = 0;
+        virtual void testGroupEnded( TestGroupStats const& testGroupStats ) = 0;
+        virtual void testRunEnded( TestRunStats const& testRunStats ) = 0;
+
+        virtual void skipTest( TestCaseInfo const& testInfo ) = 0;
+
+        // Default empty implementation provided
+        virtual void fatalErrorEncountered( StringRef name );
+
+        virtual bool isMulti() const;
+    };
+    using IStreamingReporterPtr = std::unique_ptr<IStreamingReporter>;
+
+    struct IReporterFactory {
+        virtual ~IReporterFactory();
+        virtual IStreamingReporterPtr create( ReporterConfig const& config ) const = 0;
+        virtual std::string getDescription() const = 0;
+    };
+    using IReporterFactoryPtr = std::shared_ptr<IReporterFactory>;
+
+    struct IReporterRegistry {
+        using FactoryMap = std::map<std::string, IReporterFactoryPtr>;
+        using Listeners = std::vector<IReporterFactoryPtr>;
+
+        virtual ~IReporterRegistry();
+        virtual IStreamingReporterPtr create( std::string const& name, IConfigPtr const& config ) const = 0;
+        virtual FactoryMap const& getFactories() const = 0;
+        virtual Listeners const& getListeners() const = 0;
+    };
+
+} // end namespace Catch
+
+// end catch_interfaces_reporter.h
+#include <algorithm>
+#include <cstring>
+#include <cfloat>
+#include <cstdio>
+#include <cassert>
+#include <memory>
+#include <ostream>
+
+namespace Catch {
+    void prepareExpandedExpression(AssertionResult& result);
+
+    // Returns double formatted as %.3f (format expected on output)
+    std::string getFormattedDuration( double duration );
+
+    std::string serializeFilters( std::vector<std::string> const& container );
+
+    template<typename DerivedT>
+    struct StreamingReporterBase : IStreamingReporter {
+
+        StreamingReporterBase( ReporterConfig const& _config )
+        :   m_config( _config.fullConfig() ),
+            stream( _config.stream() )
+        {
+            m_reporterPrefs.shouldRedirectStdOut = false;
+            if( !DerivedT::getSupportedVerbosities().count( m_config->verbosity() ) )
+                CATCH_ERROR( "Verbosity level not supported by this reporter" );
+        }
+
+        ReporterPreferences getPreferences() const override {
+            return m_reporterPrefs;
+        }
+
+        static std::set<Verbosity> getSupportedVerbosities() {
+            return { Verbosity::Normal };
+        }
+
+        ~StreamingReporterBase() override = default;
+
+        void noMatchingTestCases(std::string const&) override {}
+
+        void reportInvalidArguments(std::string const&) override {}
+
+        void testRunStarting(TestRunInfo const& _testRunInfo) override {
+            currentTestRunInfo = _testRunInfo;
+        }
+
+        void testGroupStarting(GroupInfo const& _groupInfo) override {
+            currentGroupInfo = _groupInfo;
+        }
+
+        void testCaseStarting(TestCaseInfo const& _testInfo) override  {
+            currentTestCaseInfo = _testInfo;
+        }
+        void sectionStarting(SectionInfo const& _sectionInfo) override {
+            m_sectionStack.push_back(_sectionInfo);
+        }
+
+        void sectionEnded(SectionStats const& /* _sectionStats */) override {
+            m_sectionStack.pop_back();
+        }
+        void testCaseEnded(TestCaseStats const& /* _testCaseStats */) override {
+            currentTestCaseInfo.reset();
+        }
+        void testGroupEnded(TestGroupStats const& /* _testGroupStats */) override {
+            currentGroupInfo.reset();
+        }
+        void testRunEnded(TestRunStats const& /* _testRunStats */) override {
+            currentTestCaseInfo.reset();
+            currentGroupInfo.reset();
+            currentTestRunInfo.reset();
+        }
+
+        void skipTest(TestCaseInfo const&) override {
+            // Don't do anything with this by default.
+            // It can optionally be overridden in the derived class.
+        }
+
+        IConfigPtr m_config;
+        std::ostream& stream;
+
+        LazyStat<TestRunInfo> currentTestRunInfo;
+        LazyStat<GroupInfo> currentGroupInfo;
+        LazyStat<TestCaseInfo> currentTestCaseInfo;
+
+        std::vector<SectionInfo> m_sectionStack;
+        ReporterPreferences m_reporterPrefs;
+    };
+
+    template<typename DerivedT>
+    struct CumulativeReporterBase : IStreamingReporter {
+        template<typename T, typename ChildNodeT>
+        struct Node {
+            explicit Node( T const& _value ) : value( _value ) {}
+            virtual ~Node() {}
+
+            using ChildNodes = std::vector<std::shared_ptr<ChildNodeT>>;
+            T value;
+            ChildNodes children;
+        };
+        struct SectionNode {
+            explicit SectionNode(SectionStats const& _stats) : stats(_stats) {}
+            virtual ~SectionNode() = default;
+
+            bool operator == (SectionNode const& other) const {
+                return stats.sectionInfo.lineInfo == other.stats.sectionInfo.lineInfo;
+            }
+            bool operator == (std::shared_ptr<SectionNode> const& other) const {
+                return operator==(*other);
+            }
+
+            SectionStats stats;
+            using ChildSections = std::vector<std::shared_ptr<SectionNode>>;
+            using Assertions = std::vector<AssertionStats>;
+            ChildSections childSections;
+            Assertions assertions;
+            std::string stdOut;
+            std::string stdErr;
+        };
+
+        struct BySectionInfo {
+            BySectionInfo( SectionInfo const& other ) : m_other( other ) {}
+            BySectionInfo( BySectionInfo const& other ) : m_other( other.m_other ) {}
+            bool operator() (std::shared_ptr<SectionNode> const& node) const {
+                return ((node->stats.sectionInfo.name == m_other.name) &&
+                        (node->stats.sectionInfo.lineInfo == m_other.lineInfo));
+            }
+            void operator=(BySectionInfo const&) = delete;
+
+        private:
+            SectionInfo const& m_other;
+        };
+
+        using TestCaseNode = Node<TestCaseStats, SectionNode>;
+        using TestGroupNode = Node<TestGroupStats, TestCaseNode>;
+        using TestRunNode = Node<TestRunStats, TestGroupNode>;
+
+        CumulativeReporterBase( ReporterConfig const& _config )
+        :   m_config( _config.fullConfig() ),
+            stream( _config.stream() )
+        {
+            m_reporterPrefs.shouldRedirectStdOut = false;
+            if( !DerivedT::getSupportedVerbosities().count( m_config->verbosity() ) )
+                CATCH_ERROR( "Verbosity level not supported by this reporter" );
+        }
+        ~CumulativeReporterBase() override = default;
+
+        ReporterPreferences getPreferences() const override {
+            return m_reporterPrefs;
+        }
+
+        static std::set<Verbosity> getSupportedVerbosities() {
+            return { Verbosity::Normal };
+        }
+
+        void testRunStarting( TestRunInfo const& ) override {}
+        void testGroupStarting( GroupInfo const& ) override {}
+
+        void testCaseStarting( TestCaseInfo const& ) override {}
+
+        void sectionStarting( SectionInfo const& sectionInfo ) override {
+            SectionStats incompleteStats( sectionInfo, Counts(), 0, false );
+            std::shared_ptr<SectionNode> node;
+            if( m_sectionStack.empty() ) {
+                if( !m_rootSection )
+                    m_rootSection = std::make_shared<SectionNode>( incompleteStats );
+                node = m_rootSection;
+            }
+            else {
+                SectionNode& parentNode = *m_sectionStack.back();
+                auto it =
+                    std::find_if(   parentNode.childSections.begin(),
+                                    parentNode.childSections.end(),
+                                    BySectionInfo( sectionInfo ) );
+                if( it == parentNode.childSections.end() ) {
+                    node = std::make_shared<SectionNode>( incompleteStats );
+                    parentNode.childSections.push_back( node );
+                }
+                else
+                    node = *it;
+            }
+            m_sectionStack.push_back( node );
+            m_deepestSection = std::move(node);
+        }
+
+        void assertionStarting(AssertionInfo const&) override {}
+
+        bool assertionEnded(AssertionStats const& assertionStats) override {
+            assert(!m_sectionStack.empty());
+            // AssertionResult holds a pointer to a temporary DecomposedExpression,
+            // which getExpandedExpression() calls to build the expression string.
+            // Our section stack copy of the assertionResult will likely outlive the
+            // temporary, so it must be expanded or discarded now to avoid calling
+            // a destroyed object later.
+            prepareExpandedExpression(const_cast<AssertionResult&>( assertionStats.assertionResult ) );
+            SectionNode& sectionNode = *m_sectionStack.back();
+            sectionNode.assertions.push_back(assertionStats);
+            return true;
+        }
+        void sectionEnded(SectionStats const& sectionStats) override {
+            assert(!m_sectionStack.empty());
+            SectionNode& node = *m_sectionStack.back();
+            node.stats = sectionStats;
+            m_sectionStack.pop_back();
+        }
+        void testCaseEnded(TestCaseStats const& testCaseStats) override {
+            auto node = std::make_shared<TestCaseNode>(testCaseStats);
+            assert(m_sectionStack.size() == 0);
+            node->children.push_back(m_rootSection);
+            m_testCases.push_back(node);
+            m_rootSection.reset();
+
+            assert(m_deepestSection);
+            m_deepestSection->stdOut = testCaseStats.stdOut;
+            m_deepestSection->stdErr = testCaseStats.stdErr;
+        }
+        void testGroupEnded(TestGroupStats const& testGroupStats) override {
+            auto node = std::make_shared<TestGroupNode>(testGroupStats);
+            node->children.swap(m_testCases);
+            m_testGroups.push_back(node);
+        }
+        void testRunEnded(TestRunStats const& testRunStats) override {
+            auto node = std::make_shared<TestRunNode>(testRunStats);
+            node->children.swap(m_testGroups);
+            m_testRuns.push_back(node);
+            testRunEndedCumulative();
+        }
+        virtual void testRunEndedCumulative() = 0;
+
+        void skipTest(TestCaseInfo const&) override {}
+
+        IConfigPtr m_config;
+        std::ostream& stream;
+        std::vector<AssertionStats> m_assertions;
+        std::vector<std::vector<std::shared_ptr<SectionNode>>> m_sections;
+        std::vector<std::shared_ptr<TestCaseNode>> m_testCases;
+        std::vector<std::shared_ptr<TestGroupNode>> m_testGroups;
+
+        std::vector<std::shared_ptr<TestRunNode>> m_testRuns;
+
+        std::shared_ptr<SectionNode> m_rootSection;
+        std::shared_ptr<SectionNode> m_deepestSection;
+        std::vector<std::shared_ptr<SectionNode>> m_sectionStack;
+        ReporterPreferences m_reporterPrefs;
+    };
+
+    template<char C>
+    char const* getLineOfChars() {
+        static char line[CATCH_CONFIG_CONSOLE_WIDTH] = {0};
+        if( !*line ) {
+            std::memset( line, C, CATCH_CONFIG_CONSOLE_WIDTH-1 );
+            line[CATCH_CONFIG_CONSOLE_WIDTH-1] = 0;
+        }
+        return line;
+    }
+
+    struct TestEventListenerBase : StreamingReporterBase<TestEventListenerBase> {
+        TestEventListenerBase( ReporterConfig const& _config );
+
+        static std::set<Verbosity> getSupportedVerbosities();
+
+        void assertionStarting(AssertionInfo const&) override;
+        bool assertionEnded(AssertionStats const&) override;
+    };
+
+} // end namespace Catch
+
+// end catch_reporter_bases.hpp
+// start catch_console_colour.h
+
+namespace Catch {
+
+    struct Colour {
+        enum Code {
+            None = 0,
+
+            White,
+            Red,
+            Green,
+            Blue,
+            Cyan,
+            Yellow,
+            Grey,
+
+            Bright = 0x10,
+
+            BrightRed = Bright | Red,
+            BrightGreen = Bright | Green,
+            LightGrey = Bright | Grey,
+            BrightWhite = Bright | White,
+            BrightYellow = Bright | Yellow,
+
+            // By intention
+            FileName = LightGrey,
+            Warning = BrightYellow,
+            ResultError = BrightRed,
+            ResultSuccess = BrightGreen,
+            ResultExpectedFailure = Warning,
+
+            Error = BrightRed,
+            Success = Green,
+
+            OriginalExpression = Cyan,
+            ReconstructedExpression = BrightYellow,
+
+            SecondaryText = LightGrey,
+            Headers = White
+        };
+
+        // Use constructed object for RAII guard
+        Colour( Code _colourCode );
+        Colour( Colour&& other ) noexcept;
+        Colour& operator=( Colour&& other ) noexcept;
+        ~Colour();
+
+        // Use static method for one-shot changes
+        static void use( Code _colourCode );
+
+    private:
+        bool m_moved = false;
+    };
+
+    std::ostream& operator << ( std::ostream& os, Colour const& );
+
+} // end namespace Catch
+
+// end catch_console_colour.h
+// start catch_reporter_registrars.hpp
+
+
+namespace Catch {
+
+    template<typename T>
+    class ReporterRegistrar {
+
+        class ReporterFactory : public IReporterFactory {
+
+            IStreamingReporterPtr create( ReporterConfig const& config ) const override {
+                return std::unique_ptr<T>( new T( config ) );
+            }
+
+            std::string getDescription() const override {
+                return T::getDescription();
+            }
+        };
+
+    public:
+
+        explicit ReporterRegistrar( std::string const& name ) {
+            getMutableRegistryHub().registerReporter( name, std::make_shared<ReporterFactory>() );
+        }
+    };
+
+    template<typename T>
+    class ListenerRegistrar {
+
+        class ListenerFactory : public IReporterFactory {
+
+            IStreamingReporterPtr create( ReporterConfig const& config ) const override {
+                return std::unique_ptr<T>( new T( config ) );
+            }
+            std::string getDescription() const override {
+                return std::string();
+            }
+        };
+
+    public:
+
+        ListenerRegistrar() {
+            getMutableRegistryHub().registerListener( std::make_shared<ListenerFactory>() );
+        }
+    };
+}
+
+#if !defined(CATCH_CONFIG_DISABLE)
+
+#define CATCH_REGISTER_REPORTER( name, reporterType ) \
+    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION         \
+    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS          \
+    namespace{ Catch::ReporterRegistrar<reporterType> catch_internal_RegistrarFor##reporterType( name ); } \
+    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
+
+#define CATCH_REGISTER_LISTENER( listenerType ) \
+    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION   \
+    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS    \
+    namespace{ Catch::ListenerRegistrar<listenerType> catch_internal_RegistrarFor##listenerType; } \
+    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
+#else // CATCH_CONFIG_DISABLE
+
+#define CATCH_REGISTER_REPORTER(name, reporterType)
+#define CATCH_REGISTER_LISTENER(listenerType)
+
+#endif // CATCH_CONFIG_DISABLE
+
+// end catch_reporter_registrars.hpp
+// Allow users to base their work off existing reporters
+// start catch_reporter_compact.h
+
+namespace Catch {
+
+    struct CompactReporter : StreamingReporterBase<CompactReporter> {
+
+        using StreamingReporterBase::StreamingReporterBase;
+
+        ~CompactReporter() override;
+
+        static std::string getDescription();
+
+        ReporterPreferences getPreferences() const override;
+
+        void noMatchingTestCases(std::string const& spec) override;
+
+        void assertionStarting(AssertionInfo const&) override;
+
+        bool assertionEnded(AssertionStats const& _assertionStats) override;
+
+        void sectionEnded(SectionStats const& _sectionStats) override;
+
+        void testRunEnded(TestRunStats const& _testRunStats) override;
+
+    };
+
+} // end namespace Catch
+
+// end catch_reporter_compact.h
+// start catch_reporter_console.h
+
+#if defined(_MSC_VER)
+#pragma warning(push)
+#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
+                              // Note that 4062 (not all labels are handled
+                              // and default is missing) is enabled
+#endif
+
+namespace Catch {
+    // Fwd decls
+    struct SummaryColumn;
+    class TablePrinter;
+
+    struct ConsoleReporter : StreamingReporterBase<ConsoleReporter> {
+        std::unique_ptr<TablePrinter> m_tablePrinter;
+
+        ConsoleReporter(ReporterConfig const& config);
+        ~ConsoleReporter() override;
+        static std::string getDescription();
+
+        void noMatchingTestCases(std::string const& spec) override;
+
+        void reportInvalidArguments(std::string const&arg) override;
+
+        void assertionStarting(AssertionInfo const&) override;
+
+        bool assertionEnded(AssertionStats const& _assertionStats) override;
+
+        void sectionStarting(SectionInfo const& _sectionInfo) override;
+        void sectionEnded(SectionStats const& _sectionStats) override;
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+        void benchmarkPreparing(std::string const& name) override;
+        void benchmarkStarting(BenchmarkInfo const& info) override;
+        void benchmarkEnded(BenchmarkStats<> const& stats) override;
+        void benchmarkFailed(std::string const& error) override;
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+        void testCaseEnded(TestCaseStats const& _testCaseStats) override;
+        void testGroupEnded(TestGroupStats const& _testGroupStats) override;
+        void testRunEnded(TestRunStats const& _testRunStats) override;
+        void testRunStarting(TestRunInfo const& _testRunInfo) override;
+    private:
+
+        void lazyPrint();
+
+        void lazyPrintWithoutClosingBenchmarkTable();
+        void lazyPrintRunInfo();
+        void lazyPrintGroupInfo();
+        void printTestCaseAndSectionHeader();
+
+        void printClosedHeader(std::string const& _name);
+        void printOpenHeader(std::string const& _name);
+
+        // if string has a : in first line will set indent to follow it on
+        // subsequent lines
+        void printHeaderString(std::string const& _string, std::size_t indent = 0);
+
+        void printTotals(Totals const& totals);
+        void printSummaryRow(std::string const& label, std::vector<SummaryColumn> const& cols, std::size_t row);
+
+        void printTotalsDivider(Totals const& totals);
+        void printSummaryDivider();
+        void printTestFilters();
+
+    private:
+        bool m_headerPrinted = false;
+    };
+
+} // end namespace Catch
+
+#if defined(_MSC_VER)
+#pragma warning(pop)
+#endif
+
+// end catch_reporter_console.h
+// start catch_reporter_junit.h
+
+// start catch_xmlwriter.h
+
+#include <vector>
+
+namespace Catch {
+    enum class XmlFormatting {
+        None = 0x00,
+        Indent = 0x01,
+        Newline = 0x02,
+    };
+
+    XmlFormatting operator | (XmlFormatting lhs, XmlFormatting rhs);
+    XmlFormatting operator & (XmlFormatting lhs, XmlFormatting rhs);
+
+    class XmlEncode {
+    public:
+        enum ForWhat { ForTextNodes, ForAttributes };
+
+        XmlEncode( std::string const& str, ForWhat forWhat = ForTextNodes );
+
+        void encodeTo( std::ostream& os ) const;
+
+        friend std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode );
+
+    private:
+        std::string m_str;
+        ForWhat m_forWhat;
+    };
+
+    class XmlWriter {
+    public:
+
+        class ScopedElement {
+        public:
+            ScopedElement( XmlWriter* writer, XmlFormatting fmt );
+
+            ScopedElement( ScopedElement&& other ) noexcept;
+            ScopedElement& operator=( ScopedElement&& other ) noexcept;
+
+            ~ScopedElement();
+
+            ScopedElement& writeText( std::string const& text, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent );
+
+            template<typename T>
+            ScopedElement& writeAttribute( std::string const& name, T const& attribute ) {
+                m_writer->writeAttribute( name, attribute );
+                return *this;
+            }
+
+        private:
+            mutable XmlWriter* m_writer = nullptr;
+            XmlFormatting m_fmt;
+        };
+
+        XmlWriter( std::ostream& os = Catch::cout() );
+        ~XmlWriter();
+
+        XmlWriter( XmlWriter const& ) = delete;
+        XmlWriter& operator=( XmlWriter const& ) = delete;
+
+        XmlWriter& startElement( std::string const& name, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
+
+        ScopedElement scopedElement( std::string const& name, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
+
+        XmlWriter& endElement(XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
+
+        XmlWriter& writeAttribute( std::string const& name, std::string const& attribute );
+
+        XmlWriter& writeAttribute( std::string const& name, bool attribute );
+
+        template<typename T>
+        XmlWriter& writeAttribute( std::string const& name, T const& attribute ) {
+            ReusableStringStream rss;
+            rss << attribute;
+            return writeAttribute( name, rss.str() );
+        }
+
+        XmlWriter& writeText( std::string const& text, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
+
+        XmlWriter& writeComment(std::string const& text, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
+
+        void writeStylesheetRef( std::string const& url );
+
+        XmlWriter& writeBlankLine();
+
+        void ensureTagClosed();
+
+    private:
+
+        void applyFormatting(XmlFormatting fmt);
+
+        void writeDeclaration();
+
+        void newlineIfNecessary();
+
+        bool m_tagIsOpen = false;
+        bool m_needsNewline = false;
+        std::vector<std::string> m_tags;
+        std::string m_indent;
+        std::ostream& m_os;
+    };
+
+}
+
+// end catch_xmlwriter.h
+namespace Catch {
+
+    class JunitReporter : public CumulativeReporterBase<JunitReporter> {
+    public:
+        JunitReporter(ReporterConfig const& _config);
+
+        ~JunitReporter() override;
+
+        static std::string getDescription();
+
+        void noMatchingTestCases(std::string const& /*spec*/) override;
+
+        void testRunStarting(TestRunInfo const& runInfo) override;
+
+        void testGroupStarting(GroupInfo const& groupInfo) override;
+
+        void testCaseStarting(TestCaseInfo const& testCaseInfo) override;
+        bool assertionEnded(AssertionStats const& assertionStats) override;
+
+        void testCaseEnded(TestCaseStats const& testCaseStats) override;
+
+        void testGroupEnded(TestGroupStats const& testGroupStats) override;
+
+        void testRunEndedCumulative() override;
+
+        void writeGroup(TestGroupNode const& groupNode, double suiteTime);
+
+        void writeTestCase(TestCaseNode const& testCaseNode);
+
+        void writeSection(std::string const& className,
+                          std::string const& rootName,
+                          SectionNode const& sectionNode);
+
+        void writeAssertions(SectionNode const& sectionNode);
+        void writeAssertion(AssertionStats const& stats);
+
+        XmlWriter xml;
+        Timer suiteTimer;
+        std::string stdOutForSuite;
+        std::string stdErrForSuite;
+        unsigned int unexpectedExceptions = 0;
+        bool m_okToFail = false;
+    };
+
+} // end namespace Catch
+
+// end catch_reporter_junit.h
+// start catch_reporter_xml.h
+
+namespace Catch {
+    class XmlReporter : public StreamingReporterBase<XmlReporter> {
+    public:
+        XmlReporter(ReporterConfig const& _config);
+
+        ~XmlReporter() override;
+
+        static std::string getDescription();
+
+        virtual std::string getStylesheetRef() const;
+
+        void writeSourceInfo(SourceLineInfo const& sourceInfo);
+
+    public: // StreamingReporterBase
+
+        void noMatchingTestCases(std::string const& s) override;
+
+        void testRunStarting(TestRunInfo const& testInfo) override;
+
+        void testGroupStarting(GroupInfo const& groupInfo) override;
+
+        void testCaseStarting(TestCaseInfo const& testInfo) override;
+
+        void sectionStarting(SectionInfo const& sectionInfo) override;
+
+        void assertionStarting(AssertionInfo const&) override;
+
+        bool assertionEnded(AssertionStats const& assertionStats) override;
+
+        void sectionEnded(SectionStats const& sectionStats) override;
+
+        void testCaseEnded(TestCaseStats const& testCaseStats) override;
+
+        void testGroupEnded(TestGroupStats const& testGroupStats) override;
+
+        void testRunEnded(TestRunStats const& testRunStats) override;
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+        void benchmarkPreparing(std::string const& name) override;
+        void benchmarkStarting(BenchmarkInfo const&) override;
+        void benchmarkEnded(BenchmarkStats<> const&) override;
+        void benchmarkFailed(std::string const&) override;
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+    private:
+        Timer m_testCaseTimer;
+        XmlWriter m_xml;
+        int m_sectionDepth = 0;
+    };
+
+} // end namespace Catch
+
+// end catch_reporter_xml.h
+
+// end catch_external_interfaces.h
+#endif
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+// start catch_benchmarking_all.hpp
+
+// A proxy header that includes all of the benchmarking headers to allow
+// concise include of the benchmarking features. You should prefer the
+// individual includes in standard use.
+
+// start catch_benchmark.hpp
+
+ // Benchmark
+
+// start catch_chronometer.hpp
+
+// User-facing chronometer
+
+
+// start catch_clock.hpp
+
+// Clocks
+
+
+#include <chrono>
+#include <ratio>
+
+namespace Catch {
+    namespace Benchmark {
+        template <typename Clock>
+        using ClockDuration = typename Clock::duration;
+        template <typename Clock>
+        using FloatDuration = std::chrono::duration<double, typename Clock::period>;
+
+        template <typename Clock>
+        using TimePoint = typename Clock::time_point;
+
+        using default_clock = std::chrono::steady_clock;
+
+        template <typename Clock>
+        struct now {
+            TimePoint<Clock> operator()() const {
+                return Clock::now();
+            }
+        };
+
+        using fp_seconds = std::chrono::duration<double, std::ratio<1>>;
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_clock.hpp
+// start catch_optimizer.hpp
+
+ // Hinting the optimizer
+
+
+#if defined(_MSC_VER)
+#   include <atomic> // atomic_thread_fence
+#endif
+
+namespace Catch {
+    namespace Benchmark {
+#if defined(__GNUC__) || defined(__clang__)
+        template <typename T>
+        inline void keep_memory(T* p) {
+            asm volatile("" : : "g"(p) : "memory");
+        }
+        inline void keep_memory() {
+            asm volatile("" : : : "memory");
+        }
+
+        namespace Detail {
+            inline void optimizer_barrier() { keep_memory(); }
+        } // namespace Detail
+#elif defined(_MSC_VER)
+
+#pragma optimize("", off)
+        template <typename T>
+        inline void keep_memory(T* p) {
+            // thanks @milleniumbug
+            *reinterpret_cast<char volatile*>(p) = *reinterpret_cast<char const volatile*>(p);
+        }
+        // TODO equivalent keep_memory()
+#pragma optimize("", on)
+
+        namespace Detail {
+            inline void optimizer_barrier() {
+                std::atomic_thread_fence(std::memory_order_seq_cst);
+            }
+        } // namespace Detail
+
+#endif
+
+        template <typename T>
+        inline void deoptimize_value(T&& x) {
+            keep_memory(&x);
+        }
+
+        template <typename Fn, typename... Args>
+        inline auto invoke_deoptimized(Fn&& fn, Args&&... args) -> typename std::enable_if<!std::is_same<void, decltype(fn(args...))>::value>::type {
+            deoptimize_value(std::forward<Fn>(fn) (std::forward<Args...>(args...)));
+        }
+
+        template <typename Fn, typename... Args>
+        inline auto invoke_deoptimized(Fn&& fn, Args&&... args) -> typename std::enable_if<std::is_same<void, decltype(fn(args...))>::value>::type {
+            std::forward<Fn>(fn) (std::forward<Args...>(args...));
+        }
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_optimizer.hpp
+// start catch_complete_invoke.hpp
+
+// Invoke with a special case for void
+
+
+#include <type_traits>
+#include <utility>
+
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+            template <typename T>
+            struct CompleteType { using type = T; };
+            template <>
+            struct CompleteType<void> { struct type {}; };
+
+            template <typename T>
+            using CompleteType_t = typename CompleteType<T>::type;
+
+            template <typename Result>
+            struct CompleteInvoker {
+                template <typename Fun, typename... Args>
+                static Result invoke(Fun&& fun, Args&&... args) {
+                    return std::forward<Fun>(fun)(std::forward<Args>(args)...);
+                }
+            };
+            template <>
+            struct CompleteInvoker<void> {
+                template <typename Fun, typename... Args>
+                static CompleteType_t<void> invoke(Fun&& fun, Args&&... args) {
+                    std::forward<Fun>(fun)(std::forward<Args>(args)...);
+                    return {};
+                }
+            };
+            template <typename Sig>
+            using ResultOf_t = typename std::result_of<Sig>::type;
+
+            // invoke and not return void :(
+            template <typename Fun, typename... Args>
+            CompleteType_t<ResultOf_t<Fun(Args...)>> complete_invoke(Fun&& fun, Args&&... args) {
+                return CompleteInvoker<ResultOf_t<Fun(Args...)>>::invoke(std::forward<Fun>(fun), std::forward<Args>(args)...);
+            }
+
+            const std::string benchmarkErrorMsg = "a benchmark failed to run successfully";
+        } // namespace Detail
+
+        template <typename Fun>
+        Detail::CompleteType_t<Detail::ResultOf_t<Fun()>> user_code(Fun&& fun) {
+            CATCH_TRY{
+                return Detail::complete_invoke(std::forward<Fun>(fun));
+            } CATCH_CATCH_ALL{
+                getResultCapture().benchmarkFailed(translateActiveException());
+                CATCH_RUNTIME_ERROR(Detail::benchmarkErrorMsg);
+            }
+        }
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_complete_invoke.hpp
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+            struct ChronometerConcept {
+                virtual void start() = 0;
+                virtual void finish() = 0;
+                virtual ~ChronometerConcept() = default;
+            };
+            template <typename Clock>
+            struct ChronometerModel final : public ChronometerConcept {
+                void start() override { started = Clock::now(); }
+                void finish() override { finished = Clock::now(); }
+
+                ClockDuration<Clock> elapsed() const { return finished - started; }
+
+                TimePoint<Clock> started;
+                TimePoint<Clock> finished;
+            };
+        } // namespace Detail
+
+        struct Chronometer {
+        public:
+            template <typename Fun>
+            void measure(Fun&& fun) { measure(std::forward<Fun>(fun), is_callable<Fun(int)>()); }
+
+            int runs() const { return k; }
+
+            Chronometer(Detail::ChronometerConcept& meter, int k)
+                : impl(&meter)
+                , k(k) {}
+
+        private:
+            template <typename Fun>
+            void measure(Fun&& fun, std::false_type) {
+                measure([&fun](int) { return fun(); }, std::true_type());
+            }
+
+            template <typename Fun>
+            void measure(Fun&& fun, std::true_type) {
+                Detail::optimizer_barrier();
+                impl->start();
+                for (int i = 0; i < k; ++i) invoke_deoptimized(fun, i);
+                impl->finish();
+                Detail::optimizer_barrier();
+            }
+
+            Detail::ChronometerConcept* impl;
+            int k;
+        };
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_chronometer.hpp
+// start catch_environment.hpp
+
+// Environment information
+
+
+namespace Catch {
+    namespace Benchmark {
+        template <typename Duration>
+        struct EnvironmentEstimate {
+            Duration mean;
+            OutlierClassification outliers;
+
+            template <typename Duration2>
+            operator EnvironmentEstimate<Duration2>() const {
+                return { mean, outliers };
+            }
+        };
+        template <typename Clock>
+        struct Environment {
+            using clock_type = Clock;
+            EnvironmentEstimate<FloatDuration<Clock>> clock_resolution;
+            EnvironmentEstimate<FloatDuration<Clock>> clock_cost;
+        };
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_environment.hpp
+// start catch_execution_plan.hpp
+
+ // Execution plan
+
+
+// start catch_benchmark_function.hpp
+
+ // Dumb std::function implementation for consistent call overhead
+
+
+#include <cassert>
+#include <type_traits>
+#include <utility>
+#include <memory>
+
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+            template <typename T>
+            using Decay = typename std::decay<T>::type;
+            template <typename T, typename U>
+            struct is_related
+                : std::is_same<Decay<T>, Decay<U>> {};
+
+            /// We need to reinvent std::function because every piece of code that might add overhead
+            /// in a measurement context needs to have consistent performance characteristics so that we
+            /// can account for it in the measurement.
+            /// Implementations of std::function with optimizations that aren't always applicable, like
+            /// small buffer optimizations, are not uncommon.
+            /// This is effectively an implementation of std::function without any such optimizations;
+            /// it may be slow, but it is consistently slow.
+            struct BenchmarkFunction {
+            private:
+                struct callable {
+                    virtual void call(Chronometer meter) const = 0;
+                    virtual callable* clone() const = 0;
+                    virtual ~callable() = default;
+                };
+                template <typename Fun>
+                struct model : public callable {
+                    model(Fun&& fun) : fun(std::move(fun)) {}
+                    model(Fun const& fun) : fun(fun) {}
+
+                    model<Fun>* clone() const override { return new model<Fun>(*this); }
+
+                    void call(Chronometer meter) const override {
+                        call(meter, is_callable<Fun(Chronometer)>());
+                    }
+                    void call(Chronometer meter, std::true_type) const {
+                        fun(meter);
+                    }
+                    void call(Chronometer meter, std::false_type) const {
+                        meter.measure(fun);
+                    }
+
+                    Fun fun;
+                };
+
+                struct do_nothing { void operator()() const {} };
+
+                template <typename T>
+                BenchmarkFunction(model<T>* c) : f(c) {}
+
+            public:
+                BenchmarkFunction()
+                    : f(new model<do_nothing>{ {} }) {}
+
+                template <typename Fun,
+                    typename std::enable_if<!is_related<Fun, BenchmarkFunction>::value, int>::type = 0>
+                    BenchmarkFunction(Fun&& fun)
+                    : f(new model<typename std::decay<Fun>::type>(std::forward<Fun>(fun))) {}
+
+                BenchmarkFunction(BenchmarkFunction&& that)
+                    : f(std::move(that.f)) {}
+
+                BenchmarkFunction(BenchmarkFunction const& that)
+                    : f(that.f->clone()) {}
+
+                BenchmarkFunction& operator=(BenchmarkFunction&& that) {
+                    f = std::move(that.f);
+                    return *this;
+                }
+
+                BenchmarkFunction& operator=(BenchmarkFunction const& that) {
+                    f.reset(that.f->clone());
+                    return *this;
+                }
+
+                void operator()(Chronometer meter) const { f->call(meter); }
+
+            private:
+                std::unique_ptr<callable> f;
+            };
+        } // namespace Detail
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_benchmark_function.hpp
+// start catch_repeat.hpp
+
+// repeat algorithm
+
+
+#include <type_traits>
+#include <utility>
+
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+            template <typename Fun>
+            struct repeater {
+                void operator()(int k) const {
+                    for (int i = 0; i < k; ++i) {
+                        fun();
+                    }
+                }
+                Fun fun;
+            };
+            template <typename Fun>
+            repeater<typename std::decay<Fun>::type> repeat(Fun&& fun) {
+                return { std::forward<Fun>(fun) };
+            }
+        } // namespace Detail
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_repeat.hpp
+// start catch_run_for_at_least.hpp
+
+// Run a function for a minimum amount of time
+
+
+// start catch_measure.hpp
+
+// Measure
+
+
+// start catch_timing.hpp
+
+// Timing
+
+
+#include <tuple>
+#include <type_traits>
+
+namespace Catch {
+    namespace Benchmark {
+        template <typename Duration, typename Result>
+        struct Timing {
+            Duration elapsed;
+            Result result;
+            int iterations;
+        };
+        template <typename Clock, typename Sig>
+        using TimingOf = Timing<ClockDuration<Clock>, Detail::CompleteType_t<Detail::ResultOf_t<Sig>>>;
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_timing.hpp
+#include <utility>
+
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+            template <typename Clock, typename Fun, typename... Args>
+            TimingOf<Clock, Fun(Args...)> measure(Fun&& fun, Args&&... args) {
+                auto start = Clock::now();
+                auto&& r = Detail::complete_invoke(fun, std::forward<Args>(args)...);
+                auto end = Clock::now();
+                auto delta = end - start;
+                return { delta, std::forward<decltype(r)>(r), 1 };
+            }
+        } // namespace Detail
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_measure.hpp
+#include <utility>
+#include <type_traits>
+
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+            template <typename Clock, typename Fun>
+            TimingOf<Clock, Fun(int)> measure_one(Fun&& fun, int iters, std::false_type) {
+                return Detail::measure<Clock>(fun, iters);
+            }
+            template <typename Clock, typename Fun>
+            TimingOf<Clock, Fun(Chronometer)> measure_one(Fun&& fun, int iters, std::true_type) {
+                Detail::ChronometerModel<Clock> meter;
+                auto&& result = Detail::complete_invoke(fun, Chronometer(meter, iters));
+
+                return { meter.elapsed(), std::move(result), iters };
+            }
+
+            template <typename Clock, typename Fun>
+            using run_for_at_least_argument_t = typename std::conditional<is_callable<Fun(Chronometer)>::value, Chronometer, int>::type;
+
+            struct optimized_away_error : std::exception {
+                const char* what() const noexcept override {
+                    return "could not measure benchmark, maybe it was optimized away";
+                }
+            };
+
+            template <typename Clock, typename Fun>
+            TimingOf<Clock, Fun(run_for_at_least_argument_t<Clock, Fun>)> run_for_at_least(ClockDuration<Clock> how_long, int seed, Fun&& fun) {
+                auto iters = seed;
+                while (iters < (1 << 30)) {
+                    auto&& Timing = measure_one<Clock>(fun, iters, is_callable<Fun(Chronometer)>());
+
+                    if (Timing.elapsed >= how_long) {
+                        return { Timing.elapsed, std::move(Timing.result), iters };
+                    }
+                    iters *= 2;
+                }
+                throw optimized_away_error{};
+            }
+        } // namespace Detail
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_run_for_at_least.hpp
+#include <algorithm>
+
+namespace Catch {
+    namespace Benchmark {
+        template <typename Duration>
+        struct ExecutionPlan {
+            int iterations_per_sample;
+            Duration estimated_duration;
+            Detail::BenchmarkFunction benchmark;
+            Duration warmup_time;
+            int warmup_iterations;
+
+            template <typename Duration2>
+            operator ExecutionPlan<Duration2>() const {
+                return { iterations_per_sample, estimated_duration, benchmark, warmup_time, warmup_iterations };
+            }
+
+            template <typename Clock>
+            std::vector<FloatDuration<Clock>> run(const IConfig &cfg, Environment<FloatDuration<Clock>> env) const {
+                // warmup a bit
+                Detail::run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(warmup_time), warmup_iterations, Detail::repeat(now<Clock>{}));
+
+                std::vector<FloatDuration<Clock>> times;
+                times.reserve(cfg.benchmarkSamples());
+                std::generate_n(std::back_inserter(times), cfg.benchmarkSamples(), [this, env] {
+                    Detail::ChronometerModel<Clock> model;
+                    this->benchmark(Chronometer(model, iterations_per_sample));
+                    auto sample_time = model.elapsed() - env.clock_cost.mean;
+                    if (sample_time < FloatDuration<Clock>::zero()) sample_time = FloatDuration<Clock>::zero();
+                    return sample_time / iterations_per_sample;
+                });
+                return times;
+            }
+        };
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_execution_plan.hpp
+// start catch_estimate_clock.hpp
+
+ // Environment measurement
+
+
+// start catch_stats.hpp
+
+// Statistical analysis tools
+
+
+#include <algorithm>
+#include <functional>
+#include <vector>
+#include <iterator>
+#include <numeric>
+#include <tuple>
+#include <cmath>
+#include <utility>
+#include <cstddef>
+#include <random>
+
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+            using sample = std::vector<double>;
+
+            double weighted_average_quantile(int k, int q, std::vector<double>::iterator first, std::vector<double>::iterator last);
+
+            template <typename Iterator>
+            OutlierClassification classify_outliers(Iterator first, Iterator last) {
+                std::vector<double> copy(first, last);
+
+                auto q1 = weighted_average_quantile(1, 4, copy.begin(), copy.end());
+                auto q3 = weighted_average_quantile(3, 4, copy.begin(), copy.end());
+                auto iqr = q3 - q1;
+                auto los = q1 - (iqr * 3.);
+                auto lom = q1 - (iqr * 1.5);
+                auto him = q3 + (iqr * 1.5);
+                auto his = q3 + (iqr * 3.);
+
+                OutlierClassification o;
+                for (; first != last; ++first) {
+                    auto&& t = *first;
+                    if (t < los) ++o.low_severe;
+                    else if (t < lom) ++o.low_mild;
+                    else if (t > his) ++o.high_severe;
+                    else if (t > him) ++o.high_mild;
+                    ++o.samples_seen;
+                }
+                return o;
+            }
+
+            template <typename Iterator>
+            double mean(Iterator first, Iterator last) {
+                auto count = last - first;
+                double sum = std::accumulate(first, last, 0.);
+                return sum / count;
+            }
+
+            template <typename URng, typename Iterator, typename Estimator>
+            sample resample(URng& rng, int resamples, Iterator first, Iterator last, Estimator& estimator) {
+                auto n = last - first;
+                std::uniform_int_distribution<decltype(n)> dist(0, n - 1);
+
+                sample out;
+                out.reserve(resamples);
+                std::generate_n(std::back_inserter(out), resamples, [n, first, &estimator, &dist, &rng] {
+                    std::vector<double> resampled;
+                    resampled.reserve(n);
+                    std::generate_n(std::back_inserter(resampled), n, [first, &dist, &rng] { return first[dist(rng)]; });
+                    return estimator(resampled.begin(), resampled.end());
+                });
+                std::sort(out.begin(), out.end());
+                return out;
+            }
+
+            template <typename Estimator, typename Iterator>
+            sample jackknife(Estimator&& estimator, Iterator first, Iterator last) {
+                auto n = last - first;
+                auto second = std::next(first);
+                sample results;
+                results.reserve(n);
+
+                for (auto it = first; it != last; ++it) {
+                    std::iter_swap(it, first);
+                    results.push_back(estimator(second, last));
+                }
+
+                return results;
+            }
+
+            inline double normal_cdf(double x) {
+                return std::erfc(-x / std::sqrt(2.0)) / 2.0;
+            }
+
+            double erfc_inv(double x);
+
+            double normal_quantile(double p);
+
+            template <typename Iterator, typename Estimator>
+            Estimate<double> bootstrap(double confidence_level, Iterator first, Iterator last, sample const& resample, Estimator&& estimator) {
+                auto n_samples = last - first;
+
+                double point = estimator(first, last);
+                // Degenerate case with a single sample
+                if (n_samples == 1) return { point, point, point, confidence_level };
+
+                sample jack = jackknife(estimator, first, last);
+                double jack_mean = mean(jack.begin(), jack.end());
+                double sum_squares, sum_cubes;
+                std::tie(sum_squares, sum_cubes) = std::accumulate(jack.begin(), jack.end(), std::make_pair(0., 0.), [jack_mean](std::pair<double, double> sqcb, double x) -> std::pair<double, double> {
+                    auto d = jack_mean - x;
+                    auto d2 = d * d;
+                    auto d3 = d2 * d;
+                    return { sqcb.first + d2, sqcb.second + d3 };
+                });
+
+                double accel = sum_cubes / (6 * std::pow(sum_squares, 1.5));
+                int n = static_cast<int>(resample.size());
+                double prob_n = std::count_if(resample.begin(), resample.end(), [point](double x) { return x < point; }) / (double)n;
+                // degenerate case with uniform samples
+                if (prob_n == 0) return { point, point, point, confidence_level };
+
+                double bias = normal_quantile(prob_n);
+                double z1 = normal_quantile((1. - confidence_level) / 2.);
+
+                auto cumn = [n](double x) -> int {
+                    return std::lround(normal_cdf(x) * n); };
+                auto a = [bias, accel](double b) { return bias + b / (1. - accel * b); };
+                double b1 = bias + z1;
+                double b2 = bias - z1;
+                double a1 = a(b1);
+                double a2 = a(b2);
+                auto lo = std::max(cumn(a1), 0);
+                auto hi = std::min(cumn(a2), n - 1);
+
+                return { point, resample[lo], resample[hi], confidence_level };
+            }
+
+            double outlier_variance(Estimate<double> mean, Estimate<double> stddev, int n);
+
+            struct bootstrap_analysis {
+                Estimate<double> mean;
+                Estimate<double> standard_deviation;
+                double outlier_variance;
+            };
+
+            bootstrap_analysis analyse_samples(double confidence_level, int n_resamples, std::vector<double>::iterator first, std::vector<double>::iterator last);
+        } // namespace Detail
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_stats.hpp
+#include <algorithm>
+#include <iterator>
+#include <tuple>
+#include <vector>
+#include <cmath>
+
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+            template <typename Clock>
+            std::vector<double> resolution(int k) {
+                std::vector<TimePoint<Clock>> times;
+                times.reserve(k + 1);
+                std::generate_n(std::back_inserter(times), k + 1, now<Clock>{});
+
+                std::vector<double> deltas;
+                deltas.reserve(k);
+                std::transform(std::next(times.begin()), times.end(), times.begin(),
+                    std::back_inserter(deltas),
+                    [](TimePoint<Clock> a, TimePoint<Clock> b) { return static_cast<double>((a - b).count()); });
+
+                return deltas;
+            }
+
+            const auto warmup_iterations = 10000;
+            const auto warmup_time = std::chrono::milliseconds(100);
+            const auto minimum_ticks = 1000;
+            const auto warmup_seed = 10000;
+            const auto clock_resolution_estimation_time = std::chrono::milliseconds(500);
+            const auto clock_cost_estimation_time_limit = std::chrono::seconds(1);
+            const auto clock_cost_estimation_tick_limit = 100000;
+            const auto clock_cost_estimation_time = std::chrono::milliseconds(10);
+            const auto clock_cost_estimation_iterations = 10000;
+
+            template <typename Clock>
+            int warmup() {
+                return run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(warmup_time), warmup_seed, &resolution<Clock>)
+                    .iterations;
+            }
+            template <typename Clock>
+            EnvironmentEstimate<FloatDuration<Clock>> estimate_clock_resolution(int iterations) {
+                auto r = run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(clock_resolution_estimation_time), iterations, &resolution<Clock>)
+                    .result;
+                return {
+                    FloatDuration<Clock>(mean(r.begin(), r.end())),
+                    classify_outliers(r.begin(), r.end()),
+                };
+            }
+            template <typename Clock>
+            EnvironmentEstimate<FloatDuration<Clock>> estimate_clock_cost(FloatDuration<Clock> resolution) {
+                auto time_limit = std::min(resolution * clock_cost_estimation_tick_limit, FloatDuration<Clock>(clock_cost_estimation_time_limit));
+                auto time_clock = [](int k) {
+                    return Detail::measure<Clock>([k] {
+                        for (int i = 0; i < k; ++i) {
+                            volatile auto ignored = Clock::now();
+                            (void)ignored;
+                        }
+                    }).elapsed;
+                };
+                time_clock(1);
+                int iters = clock_cost_estimation_iterations;
+                auto&& r = run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(clock_cost_estimation_time), iters, time_clock);
+                std::vector<double> times;
+                int nsamples = static_cast<int>(std::ceil(time_limit / r.elapsed));
+                times.reserve(nsamples);
+                std::generate_n(std::back_inserter(times), nsamples, [time_clock, &r] {
+                    return static_cast<double>((time_clock(r.iterations) / r.iterations).count());
+                });
+                return {
+                    FloatDuration<Clock>(mean(times.begin(), times.end())),
+                    classify_outliers(times.begin(), times.end()),
+                };
+            }
+
+            template <typename Clock>
+            Environment<FloatDuration<Clock>> measure_environment() {
+                static Environment<FloatDuration<Clock>>* env = nullptr;
+                if (env) {
+                    return *env;
+                }
+
+                auto iters = Detail::warmup<Clock>();
+                auto resolution = Detail::estimate_clock_resolution<Clock>(iters);
+                auto cost = Detail::estimate_clock_cost<Clock>(resolution.mean);
+
+                env = new Environment<FloatDuration<Clock>>{ resolution, cost };
+                return *env;
+            }
+        } // namespace Detail
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_estimate_clock.hpp
+// start catch_analyse.hpp
+
+ // Run and analyse one benchmark
+
+
+// start catch_sample_analysis.hpp
+
+// Benchmark results
+
+
+#include <algorithm>
+#include <vector>
+#include <string>
+#include <iterator>
+
+namespace Catch {
+    namespace Benchmark {
+        template <typename Duration>
+        struct SampleAnalysis {
+            std::vector<Duration> samples;
+            Estimate<Duration> mean;
+            Estimate<Duration> standard_deviation;
+            OutlierClassification outliers;
+            double outlier_variance;
+
+            template <typename Duration2>
+            operator SampleAnalysis<Duration2>() const {
+                std::vector<Duration2> samples2;
+                samples2.reserve(samples.size());
+                std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](Duration d) { return Duration2(d); });
+                return {
+                    std::move(samples2),
+                    mean,
+                    standard_deviation,
+                    outliers,
+                    outlier_variance,
+                };
+            }
+        };
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_sample_analysis.hpp
+#include <algorithm>
+#include <iterator>
+#include <vector>
+
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+            template <typename Duration, typename Iterator>
+            SampleAnalysis<Duration> analyse(const IConfig &cfg, Environment<Duration>, Iterator first, Iterator last) {
+                if (!cfg.benchmarkNoAnalysis()) {
+                    std::vector<double> samples;
+                    samples.reserve(last - first);
+                    std::transform(first, last, std::back_inserter(samples), [](Duration d) { return d.count(); });
+
+                    auto analysis = Catch::Benchmark::Detail::analyse_samples(cfg.benchmarkConfidenceInterval(), cfg.benchmarkResamples(), samples.begin(), samples.end());
+                    auto outliers = Catch::Benchmark::Detail::classify_outliers(samples.begin(), samples.end());
+
+                    auto wrap_estimate = [](Estimate<double> e) {
+                        return Estimate<Duration> {
+                            Duration(e.point),
+                                Duration(e.lower_bound),
+                                Duration(e.upper_bound),
+                                e.confidence_interval,
+                        };
+                    };
+                    std::vector<Duration> samples2;
+                    samples2.reserve(samples.size());
+                    std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](double d) { return Duration(d); });
+                    return {
+                        std::move(samples2),
+                        wrap_estimate(analysis.mean),
+                        wrap_estimate(analysis.standard_deviation),
+                        outliers,
+                        analysis.outlier_variance,
+                    };
+                } else {
+                    std::vector<Duration> samples;
+                    samples.reserve(last - first);
+
+                    Duration mean = Duration(0);
+                    int i = 0;
+                    for (auto it = first; it < last; ++it, ++i) {
+                        samples.push_back(Duration(*it));
+                        mean += Duration(*it);
+                    }
+                    mean /= i;
+
+                    return {
+                        std::move(samples),
+                        Estimate<Duration>{mean, mean, mean, 0.0},
+                        Estimate<Duration>{Duration(0), Duration(0), Duration(0), 0.0},
+                        OutlierClassification{},
+                        0.0
+                    };
+                }
+            }
+        } // namespace Detail
+    } // namespace Benchmark
+} // namespace Catch
+
+// end catch_analyse.hpp
+#include <algorithm>
+#include <functional>
+#include <string>
+#include <vector>
+#include <cmath>
+
+namespace Catch {
+    namespace Benchmark {
+        struct Benchmark {
+            Benchmark(std::string &&name)
+                : name(std::move(name)) {}
+
+            template <class FUN>
+            Benchmark(std::string &&name, FUN &&func)
+                : fun(std::move(func)), name(std::move(name)) {}
+
+            template <typename Clock>
+            ExecutionPlan<FloatDuration<Clock>> prepare(const IConfig &cfg, Environment<FloatDuration<Clock>> env) const {
+                auto min_time = env.clock_resolution.mean * Detail::minimum_ticks;
+                auto run_time = std::max(min_time, std::chrono::duration_cast<decltype(min_time)>(cfg.benchmarkWarmupTime()));
+                auto&& test = Detail::run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(run_time), 1, fun);
+                int new_iters = static_cast<int>(std::ceil(min_time * test.iterations / test.elapsed));
+                return { new_iters, test.elapsed / test.iterations * new_iters * cfg.benchmarkSamples(), fun, std::chrono::duration_cast<FloatDuration<Clock>>(cfg.benchmarkWarmupTime()), Detail::warmup_iterations };
+            }
+
+            template <typename Clock = default_clock>
+            void run() {
+                IConfigPtr cfg = getCurrentContext().getConfig();
+
+                auto env = Detail::measure_environment<Clock>();
+
+                getResultCapture().benchmarkPreparing(name);
+                CATCH_TRY{
+                    auto plan = user_code([&] {
+                        return prepare<Clock>(*cfg, env);
+                    });
+
+                    BenchmarkInfo info {
+                        name,
+                        plan.estimated_duration.count(),
+                        plan.iterations_per_sample,
+                        cfg->benchmarkSamples(),
+                        cfg->benchmarkResamples(),
+                        env.clock_resolution.mean.count(),
+                        env.clock_cost.mean.count()
+                    };
+
+                    getResultCapture().benchmarkStarting(info);
+
+                    auto samples = user_code([&] {
+                        return plan.template run<Clock>(*cfg, env);
+                    });
+
+                    auto analysis = Detail::analyse(*cfg, env, samples.begin(), samples.end());
+                    BenchmarkStats<FloatDuration<Clock>> stats{ info, analysis.samples, analysis.mean, analysis.standard_deviation, analysis.outliers, analysis.outlier_variance };
+                    getResultCapture().benchmarkEnded(stats);
+
+                } CATCH_CATCH_ALL{
+                    if (translateActiveException() != Detail::benchmarkErrorMsg) // benchmark errors have been reported, otherwise rethrow.
+                        std::rethrow_exception(std::current_exception());
+                }
+            }
+
+            // sets lambda to be used in fun *and* executes benchmark!
+            template <typename Fun,
+                typename std::enable_if<!Detail::is_related<Fun, Benchmark>::value, int>::type = 0>
+                Benchmark & operator=(Fun func) {
+                fun = Detail::BenchmarkFunction(func);
+                run();
+                return *this;
+            }
+
+            explicit operator bool() {
+                return true;
+            }
+
+        private:
+            Detail::BenchmarkFunction fun;
+            std::string name;
+        };
+    }
+} // namespace Catch
+
+#define INTERNAL_CATCH_GET_1_ARG(arg1, arg2, ...) arg1
+#define INTERNAL_CATCH_GET_2_ARG(arg1, arg2, ...) arg2
+
+#define INTERNAL_CATCH_BENCHMARK(BenchmarkName, name, benchmarkIndex)\
+    if( Catch::Benchmark::Benchmark BenchmarkName{name} ) \
+        BenchmarkName = [&](int benchmarkIndex)
+
+#define INTERNAL_CATCH_BENCHMARK_ADVANCED(BenchmarkName, name)\
+    if( Catch::Benchmark::Benchmark BenchmarkName{name} ) \
+        BenchmarkName = [&]
+
+// end catch_benchmark.hpp
+// start catch_constructor.hpp
+
+// Constructor and destructor helpers
+
+
+#include <type_traits>
+
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+            template <typename T, bool Destruct>
+            struct ObjectStorage
+            {
+                using TStorage = typename std::aligned_storage<sizeof(T), std::alignment_of<T>::value>::type;
+
+                ObjectStorage() : data() {}
+
+                ObjectStorage(const ObjectStorage& other)
+                {
+                    new(&data) T(other.stored_object());
+                }
+
+                ObjectStorage(ObjectStorage&& other)
+                {
+                    new(&data) T(std::move(other.stored_object()));
+                }
+
+                ~ObjectStorage() { destruct_on_exit<T>(); }
+
+                template <typename... Args>
+                void construct(Args&&... args)
+                {
+                    new (&data) T(std::forward<Args>(args)...);
+                }
+
+                template <bool AllowManualDestruction = !Destruct>
+                typename std::enable_if<AllowManualDestruction>::type destruct()
+                {
+                    stored_object().~T();
+                }
+
+            private:
+                // If this is a constructor benchmark, destruct the underlying object
+                template <typename U>
+                void destruct_on_exit(typename std::enable_if<Destruct, U>::type* = 0) { destruct<true>(); }
+                // Otherwise, don't
+                template <typename U>
+                void destruct_on_exit(typename std::enable_if<!Destruct, U>::type* = 0) { }
+
+                T& stored_object() {
+                    return *static_cast<T*>(static_cast<void*>(&data));
+                }
+
+                T const& stored_object() const {
+                    return *static_cast<T*>(static_cast<void*>(&data));
+                }
+
+                TStorage data;
+            };
+        }
+
+        template <typename T>
+        using storage_for = Detail::ObjectStorage<T, true>;
+
+        template <typename T>
+        using destructable_object = Detail::ObjectStorage<T, false>;
+    }
+}
+
+// end catch_constructor.hpp
+// end catch_benchmarking_all.hpp
+#endif
+
+#endif // ! CATCH_CONFIG_IMPL_ONLY
+
+#ifdef CATCH_IMPL
+// start catch_impl.hpp
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wweak-vtables"
+#endif
+
+// Keep these here for external reporters
+// start catch_test_case_tracker.h
+
+#include <string>
+#include <vector>
+#include <memory>
+
+namespace Catch {
+namespace TestCaseTracking {
+
+    struct NameAndLocation {
+        std::string name;
+        SourceLineInfo location;
+
+        NameAndLocation( std::string const& _name, SourceLineInfo const& _location );
+    };
+
+    struct ITracker;
+
+    using ITrackerPtr = std::shared_ptr<ITracker>;
+
+    struct ITracker {
+        virtual ~ITracker();
+
+        // static queries
+        virtual NameAndLocation const& nameAndLocation() const = 0;
+
+        // dynamic queries
+        virtual bool isComplete() const = 0; // Successfully completed or failed
+        virtual bool isSuccessfullyCompleted() const = 0;
+        virtual bool isOpen() const = 0; // Started but not complete
+        virtual bool hasChildren() const = 0;
+
+        virtual ITracker& parent() = 0;
+
+        // actions
+        virtual void close() = 0; // Successfully complete
+        virtual void fail() = 0;
+        virtual void markAsNeedingAnotherRun() = 0;
+
+        virtual void addChild( ITrackerPtr const& child ) = 0;
+        virtual ITrackerPtr findChild( NameAndLocation const& nameAndLocation ) = 0;
+        virtual void openChild() = 0;
+
+        // Debug/ checking
+        virtual bool isSectionTracker() const = 0;
+        virtual bool isGeneratorTracker() const = 0;
+    };
+
+    class TrackerContext {
+
+        enum RunState {
+            NotStarted,
+            Executing,
+            CompletedCycle
+        };
+
+        ITrackerPtr m_rootTracker;
+        ITracker* m_currentTracker = nullptr;
+        RunState m_runState = NotStarted;
+
+    public:
+
+        ITracker& startRun();
+        void endRun();
+
+        void startCycle();
+        void completeCycle();
+
+        bool completedCycle() const;
+        ITracker& currentTracker();
+        void setCurrentTracker( ITracker* tracker );
+    };
+
+    class TrackerBase : public ITracker {
+    protected:
+        enum CycleState {
+            NotStarted,
+            Executing,
+            ExecutingChildren,
+            NeedsAnotherRun,
+            CompletedSuccessfully,
+            Failed
+        };
+
+        using Children = std::vector<ITrackerPtr>;
+        NameAndLocation m_nameAndLocation;
+        TrackerContext& m_ctx;
+        ITracker* m_parent;
+        Children m_children;
+        CycleState m_runState = NotStarted;
+
+    public:
+        TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent );
+
+        NameAndLocation const& nameAndLocation() const override;
+        bool isComplete() const override;
+        bool isSuccessfullyCompleted() const override;
+        bool isOpen() const override;
+        bool hasChildren() const override;
+
+        void addChild( ITrackerPtr const& child ) override;
+
+        ITrackerPtr findChild( NameAndLocation const& nameAndLocation ) override;
+        ITracker& parent() override;
+
+        void openChild() override;
+
+        bool isSectionTracker() const override;
+        bool isGeneratorTracker() const override;
+
+        void open();
+
+        void close() override;
+        void fail() override;
+        void markAsNeedingAnotherRun() override;
+
+    private:
+        void moveToParent();
+        void moveToThis();
+    };
+
+    class SectionTracker : public TrackerBase {
+        std::vector<std::string> m_filters;
+        std::string m_trimmed_name;
+    public:
+        SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent );
+
+        bool isSectionTracker() const override;
+
+        bool isComplete() const override;
+
+        static SectionTracker& acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation );
+
+        void tryOpen();
+
+        void addInitialFilters( std::vector<std::string> const& filters );
+        void addNextFilters( std::vector<std::string> const& filters );
+    };
+
+} // namespace TestCaseTracking
+
+using TestCaseTracking::ITracker;
+using TestCaseTracking::TrackerContext;
+using TestCaseTracking::SectionTracker;
+
+} // namespace Catch
+
+// end catch_test_case_tracker.h
+
+// start catch_leak_detector.h
+
+namespace Catch {
+
+    struct LeakDetector {
+        LeakDetector();
+        ~LeakDetector();
+    };
+
+}
+// end catch_leak_detector.h
+// Cpp files will be included in the single-header file here
+// start catch_stats.cpp
+
+// Statistical analysis tools
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+
+#include <cassert>
+#include <random>
+
+#if defined(CATCH_CONFIG_USE_ASYNC)
+#include <future>
+#endif
+
+namespace {
+    double erf_inv(double x) {
+        // Code accompanying the article "Approximating the erfinv function" in GPU Computing Gems, Volume 2
+        double w, p;
+
+        w = -log((1.0 - x) * (1.0 + x));
+
+        if (w < 6.250000) {
+            w = w - 3.125000;
+            p = -3.6444120640178196996e-21;
+            p = -1.685059138182016589e-19 + p * w;
+            p = 1.2858480715256400167e-18 + p * w;
+            p = 1.115787767802518096e-17 + p * w;
+            p = -1.333171662854620906e-16 + p * w;
+            p = 2.0972767875968561637e-17 + p * w;
+            p = 6.6376381343583238325e-15 + p * w;
+            p = -4.0545662729752068639e-14 + p * w;
+            p = -8.1519341976054721522e-14 + p * w;
+            p = 2.6335093153082322977e-12 + p * w;
+            p = -1.2975133253453532498e-11 + p * w;
+            p = -5.4154120542946279317e-11 + p * w;
+            p = 1.051212273321532285e-09 + p * w;
+            p = -4.1126339803469836976e-09 + p * w;
+            p = -2.9070369957882005086e-08 + p * w;
+            p = 4.2347877827932403518e-07 + p * w;
+            p = -1.3654692000834678645e-06 + p * w;
+            p = -1.3882523362786468719e-05 + p * w;
+            p = 0.0001867342080340571352 + p * w;
+            p = -0.00074070253416626697512 + p * w;
+            p = -0.0060336708714301490533 + p * w;
+            p = 0.24015818242558961693 + p * w;
+            p = 1.6536545626831027356 + p * w;
+        } else if (w < 16.000000) {
+            w = sqrt(w) - 3.250000;
+            p = 2.2137376921775787049e-09;
+            p = 9.0756561938885390979e-08 + p * w;
+            p = -2.7517406297064545428e-07 + p * w;
+            p = 1.8239629214389227755e-08 + p * w;
+            p = 1.5027403968909827627e-06 + p * w;
+            p = -4.013867526981545969e-06 + p * w;
+            p = 2.9234449089955446044e-06 + p * w;
+            p = 1.2475304481671778723e-05 + p * w;
+            p = -4.7318229009055733981e-05 + p * w;
+            p = 6.8284851459573175448e-05 + p * w;
+            p = 2.4031110387097893999e-05 + p * w;
+            p = -0.0003550375203628474796 + p * w;
+            p = 0.00095328937973738049703 + p * w;
+            p = -0.0016882755560235047313 + p * w;
+            p = 0.0024914420961078508066 + p * w;
+            p = -0.0037512085075692412107 + p * w;
+            p = 0.005370914553590063617 + p * w;
+            p = 1.0052589676941592334 + p * w;
+            p = 3.0838856104922207635 + p * w;
+        } else {
+            w = sqrt(w) - 5.000000;
+            p = -2.7109920616438573243e-11;
+            p = -2.5556418169965252055e-10 + p * w;
+            p = 1.5076572693500548083e-09 + p * w;
+            p = -3.7894654401267369937e-09 + p * w;
+            p = 7.6157012080783393804e-09 + p * w;
+            p = -1.4960026627149240478e-08 + p * w;
+            p = 2.9147953450901080826e-08 + p * w;
+            p = -6.7711997758452339498e-08 + p * w;
+            p = 2.2900482228026654717e-07 + p * w;
+            p = -9.9298272942317002539e-07 + p * w;
+            p = 4.5260625972231537039e-06 + p * w;
+            p = -1.9681778105531670567e-05 + p * w;
+            p = 7.5995277030017761139e-05 + p * w;
+            p = -0.00021503011930044477347 + p * w;
+            p = -0.00013871931833623122026 + p * w;
+            p = 1.0103004648645343977 + p * w;
+            p = 4.8499064014085844221 + p * w;
+        }
+        return p * x;
+    }
+
+    double standard_deviation(std::vector<double>::iterator first, std::vector<double>::iterator last) {
+        auto m = Catch::Benchmark::Detail::mean(first, last);
+        double variance = std::accumulate(first, last, 0., [m](double a, double b) {
+            double diff = b - m;
+            return a + diff * diff;
+            }) / (last - first);
+            return std::sqrt(variance);
+    }
+
+}
+
+namespace Catch {
+    namespace Benchmark {
+        namespace Detail {
+
+            double weighted_average_quantile(int k, int q, std::vector<double>::iterator first, std::vector<double>::iterator last) {
+                auto count = last - first;
+                double idx = (count - 1) * k / static_cast<double>(q);
+                int j = static_cast<int>(idx);
+                double g = idx - j;
+                std::nth_element(first, first + j, last);
+                auto xj = first[j];
+                if (g == 0) return xj;
+
+                auto xj1 = *std::min_element(first + (j + 1), last);
+                return xj + g * (xj1 - xj);
+            }
+
+            double erfc_inv(double x) {
+                return erf_inv(1.0 - x);
+            }
+
+            double normal_quantile(double p) {
+                static const double ROOT_TWO = std::sqrt(2.0);
+
+                double result = 0.0;
+                assert(p >= 0 && p <= 1);
+                if (p < 0 || p > 1) {
+                    return result;
+                }
+
+                result = -erfc_inv(2.0 * p);
+                // result *= normal distribution standard deviation (1.0) * sqrt(2)
+                result *= /*sd * */ ROOT_TWO;
+                // result += normal disttribution mean (0)
+                return result;
+            }
+
+            double outlier_variance(Estimate<double> mean, Estimate<double> stddev, int n) {
+                double sb = stddev.point;
+                double mn = mean.point / n;
+                double mg_min = mn / 2.;
+                double sg = std::min(mg_min / 4., sb / std::sqrt(n));
+                double sg2 = sg * sg;
+                double sb2 = sb * sb;
+
+                auto c_max = [n, mn, sb2, sg2](double x) -> double {
+                    double k = mn - x;
+                    double d = k * k;
+                    double nd = n * d;
+                    double k0 = -n * nd;
+                    double k1 = sb2 - n * sg2 + nd;
+                    double det = k1 * k1 - 4 * sg2 * k0;
+                    return (int)(-2. * k0 / (k1 + std::sqrt(det)));
+                };
+
+                auto var_out = [n, sb2, sg2](double c) {
+                    double nc = n - c;
+                    return (nc / n) * (sb2 - nc * sg2);
+                };
+
+                return std::min(var_out(1), var_out(std::min(c_max(0.), c_max(mg_min)))) / sb2;
+            }
+
+            bootstrap_analysis analyse_samples(double confidence_level, int n_resamples, std::vector<double>::iterator first, std::vector<double>::iterator last) {
+                CATCH_INTERNAL_START_WARNINGS_SUPPRESSION
+                CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
+                static std::random_device entropy;
+                CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
+
+                auto n = static_cast<int>(last - first); // seriously, one can't use integral types without hell in C++
+
+                auto mean = &Detail::mean<std::vector<double>::iterator>;
+                auto stddev = &standard_deviation;
+
+#if defined(CATCH_CONFIG_USE_ASYNC)
+                auto Estimate = [=](double(*f)(std::vector<double>::iterator, std::vector<double>::iterator)) {
+                    auto seed = entropy();
+                    return std::async(std::launch::async, [=] {
+                        std::mt19937 rng(seed);
+                        auto resampled = resample(rng, n_resamples, first, last, f);
+                        return bootstrap(confidence_level, first, last, resampled, f);
+                    });
+                };
+
+                auto mean_future = Estimate(mean);
+                auto stddev_future = Estimate(stddev);
+
+                auto mean_estimate = mean_future.get();
+                auto stddev_estimate = stddev_future.get();
+#else
+                auto Estimate = [=](double(*f)(std::vector<double>::iterator, std::vector<double>::iterator)) {
+                    auto seed = entropy();
+                    std::mt19937 rng(seed);
+                    auto resampled = resample(rng, n_resamples, first, last, f);
+                    return bootstrap(confidence_level, first, last, resampled, f);
+                };
+
+                auto mean_estimate = Estimate(mean);
+                auto stddev_estimate = Estimate(stddev);
+#endif // CATCH_USE_ASYNC
+
+                double outlier_variance = Detail::outlier_variance(mean_estimate, stddev_estimate, n);
+
+                return { mean_estimate, stddev_estimate, outlier_variance };
+            }
+        } // namespace Detail
+    } // namespace Benchmark
+} // namespace Catch
+
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+// end catch_stats.cpp
+// start catch_approx.cpp
+
+#include <cmath>
+#include <limits>
+
+namespace {
+
+// Performs equivalent check of std::fabs(lhs - rhs) <= margin
+// But without the subtraction to allow for INFINITY in comparison
+bool marginComparison(double lhs, double rhs, double margin) {
+    return (lhs + margin >= rhs) && (rhs + margin >= lhs);
+}
+
+}
+
+namespace Catch {
+namespace Detail {
+
+    Approx::Approx ( double value )
+    :   m_epsilon( std::numeric_limits<float>::epsilon()*100 ),
+        m_margin( 0.0 ),
+        m_scale( 0.0 ),
+        m_value( value )
+    {}
+
+    Approx Approx::custom() {
+        return Approx( 0 );
+    }
+
+    Approx Approx::operator-() const {
+        auto temp(*this);
+        temp.m_value = -temp.m_value;
+        return temp;
+    }
+
+    std::string Approx::toString() const {
+        ReusableStringStream rss;
+        rss << "Approx( " << ::Catch::Detail::stringify( m_value ) << " )";
+        return rss.str();
+    }
+
+    bool Approx::equalityComparisonImpl(const double other) const {
+        // First try with fixed margin, then compute margin based on epsilon, scale and Approx's value
+        // Thanks to Richard Harris for his help refining the scaled margin value
+        return marginComparison(m_value, other, m_margin)
+            || marginComparison(m_value, other, m_epsilon * (m_scale + std::fabs(std::isinf(m_value)? 0 : m_value)));
+    }
+
+    void Approx::setMargin(double newMargin) {
+        CATCH_ENFORCE(newMargin >= 0,
+            "Invalid Approx::margin: " << newMargin << '.'
+            << " Approx::Margin has to be non-negative.");
+        m_margin = newMargin;
+    }
+
+    void Approx::setEpsilon(double newEpsilon) {
+        CATCH_ENFORCE(newEpsilon >= 0 && newEpsilon <= 1.0,
+            "Invalid Approx::epsilon: " << newEpsilon << '.'
+            << " Approx::epsilon has to be in [0, 1]");
+        m_epsilon = newEpsilon;
+    }
+
+} // end namespace Detail
+
+namespace literals {
+    Detail::Approx operator "" _a(long double val) {
+        return Detail::Approx(val);
+    }
+    Detail::Approx operator "" _a(unsigned long long val) {
+        return Detail::Approx(val);
+    }
+} // end namespace literals
+
+std::string StringMaker<Catch::Detail::Approx>::convert(Catch::Detail::Approx const& value) {
+    return value.toString();
+}
+
+} // end namespace Catch
+// end catch_approx.cpp
+// start catch_assertionhandler.cpp
+
+// start catch_debugger.h
+
+namespace Catch {
+    bool isDebuggerActive();
+}
+
+#ifdef CATCH_PLATFORM_MAC
+
+    #define CATCH_TRAP() __asm__("int $3\n" : : ) /* NOLINT */
+
+#elif defined(CATCH_PLATFORM_IPHONE)
+
+    // use inline assembler
+    #if defined(__i386__) || defined(__x86_64__)
+        #define CATCH_TRAP()  __asm__("int $3")
+    #elif defined(__aarch64__)
+        #define CATCH_TRAP()  __asm__(".inst 0xd4200000")
+    #elif defined(__arm__) && !defined(__thumb__)
+        #define CATCH_TRAP()  __asm__(".inst 0xe7f001f0")
+    #elif defined(__arm__) &&  defined(__thumb__)
+        #define CATCH_TRAP()  __asm__(".inst 0xde01")
+    #endif
+
+#elif defined(CATCH_PLATFORM_LINUX)
+    // If we can use inline assembler, do it because this allows us to break
+    // directly at the location of the failing check instead of breaking inside
+    // raise() called from it, i.e. one stack frame below.
+    #if defined(__GNUC__) && (defined(__i386) || defined(__x86_64))
+        #define CATCH_TRAP() asm volatile ("int $3") /* NOLINT */
+    #else // Fall back to the generic way.
+        #include <signal.h>
+
+        #define CATCH_TRAP() raise(SIGTRAP)
+    #endif
+#elif defined(_MSC_VER)
+    #define CATCH_TRAP() __debugbreak()
+#elif defined(__MINGW32__)
+    extern "C" __declspec(dllimport) void __stdcall DebugBreak();
+    #define CATCH_TRAP() DebugBreak()
+#endif
+
+#ifndef CATCH_BREAK_INTO_DEBUGGER
+    #ifdef CATCH_TRAP
+        #define CATCH_BREAK_INTO_DEBUGGER() []{ if( Catch::isDebuggerActive() ) { CATCH_TRAP(); } }()
+    #else
+        #define CATCH_BREAK_INTO_DEBUGGER() []{}()
+    #endif
+#endif
+
+// end catch_debugger.h
+// start catch_run_context.h
+
+// start catch_fatal_condition.h
+
+// start catch_windows_h_proxy.h
+
+
+#if defined(CATCH_PLATFORM_WINDOWS)
+
+#if !defined(NOMINMAX) && !defined(CATCH_CONFIG_NO_NOMINMAX)
+#  define CATCH_DEFINED_NOMINMAX
+#  define NOMINMAX
+#endif
+#if !defined(WIN32_LEAN_AND_MEAN) && !defined(CATCH_CONFIG_NO_WIN32_LEAN_AND_MEAN)
+#  define CATCH_DEFINED_WIN32_LEAN_AND_MEAN
+#  define WIN32_LEAN_AND_MEAN
+#endif
+
+#ifdef __AFXDLL
+#include <AfxWin.h>
+#else
+#include <windows.h>
+#endif
+
+#ifdef CATCH_DEFINED_NOMINMAX
+#  undef NOMINMAX
+#endif
+#ifdef CATCH_DEFINED_WIN32_LEAN_AND_MEAN
+#  undef WIN32_LEAN_AND_MEAN
+#endif
+
+#endif // defined(CATCH_PLATFORM_WINDOWS)
+
+// end catch_windows_h_proxy.h
+#if defined( CATCH_CONFIG_WINDOWS_SEH )
+
+namespace Catch {
+
+    struct FatalConditionHandler {
+
+        static LONG CALLBACK handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo);
+        FatalConditionHandler();
+        static void reset();
+        ~FatalConditionHandler();
+
+    private:
+        static bool isSet;
+        static ULONG guaranteeSize;
+        static PVOID exceptionHandlerHandle;
+    };
+
+} // namespace Catch
+
+#elif defined ( CATCH_CONFIG_POSIX_SIGNALS )
+
+#include <signal.h>
+
+namespace Catch {
+
+    struct FatalConditionHandler {
+
+        static bool isSet;
+        static struct sigaction oldSigActions[];
+        static stack_t oldSigStack;
+        static char altStackMem[];
+
+        static void handleSignal( int sig );
+
+        FatalConditionHandler();
+        ~FatalConditionHandler();
+        static void reset();
+    };
+
+} // namespace Catch
+
+#else
+
+namespace Catch {
+    struct FatalConditionHandler {
+        void reset();
+    };
+}
+
+#endif
+
+// end catch_fatal_condition.h
+#include <string>
+
+namespace Catch {
+
+    struct IMutableContext;
+
+    ///////////////////////////////////////////////////////////////////////////
+
+    class RunContext : public IResultCapture, public IRunner {
+
+    public:
+        RunContext( RunContext const& ) = delete;
+        RunContext& operator =( RunContext const& ) = delete;
+
+        explicit RunContext( IConfigPtr const& _config, IStreamingReporterPtr&& reporter );
+
+        ~RunContext() override;
+
+        void testGroupStarting( std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount );
+        void testGroupEnded( std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount );
+
+        Totals runTest(TestCase const& testCase);
+
+        IConfigPtr config() const;
+        IStreamingReporter& reporter() const;
+
+    public: // IResultCapture
+
+        // Assertion handlers
+        void handleExpr
+                (   AssertionInfo const& info,
+                    ITransientExpression const& expr,
+                    AssertionReaction& reaction ) override;
+        void handleMessage
+                (   AssertionInfo const& info,
+                    ResultWas::OfType resultType,
+                    StringRef const& message,
+                    AssertionReaction& reaction ) override;
+        void handleUnexpectedExceptionNotThrown
+                (   AssertionInfo const& info,
+                    AssertionReaction& reaction ) override;
+        void handleUnexpectedInflightException
+                (   AssertionInfo const& info,
+                    std::string const& message,
+                    AssertionReaction& reaction ) override;
+        void handleIncomplete
+                (   AssertionInfo const& info ) override;
+        void handleNonExpr
+                (   AssertionInfo const &info,
+                    ResultWas::OfType resultType,
+                    AssertionReaction &reaction ) override;
+
+        bool sectionStarted( SectionInfo const& sectionInfo, Counts& assertions ) override;
+
+        void sectionEnded( SectionEndInfo const& endInfo ) override;
+        void sectionEndedEarly( SectionEndInfo const& endInfo ) override;
+
+        auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& override;
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+        void benchmarkPreparing( std::string const& name ) override;
+        void benchmarkStarting( BenchmarkInfo const& info ) override;
+        void benchmarkEnded( BenchmarkStats<> const& stats ) override;
+        void benchmarkFailed( std::string const& error ) override;
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+        void pushScopedMessage( MessageInfo const& message ) override;
+        void popScopedMessage( MessageInfo const& message ) override;
+
+        void emplaceUnscopedMessage( MessageBuilder const& builder ) override;
+
+        std::string getCurrentTestName() const override;
+
+        const AssertionResult* getLastResult() const override;
+
+        void exceptionEarlyReported() override;
+
+        void handleFatalErrorCondition( StringRef message ) override;
+
+        bool lastAssertionPassed() override;
+
+        void assertionPassed() override;
+
+    public:
+        // !TBD We need to do this another way!
+        bool aborting() const final;
+
+    private:
+
+        void runCurrentTest( std::string& redirectedCout, std::string& redirectedCerr );
+        void invokeActiveTestCase();
+
+        void resetAssertionInfo();
+        bool testForMissingAssertions( Counts& assertions );
+
+        void assertionEnded( AssertionResult const& result );
+        void reportExpr
+                (   AssertionInfo const &info,
+                    ResultWas::OfType resultType,
+                    ITransientExpression const *expr,
+                    bool negated );
+
+        void populateReaction( AssertionReaction& reaction );
+
+    private:
+
+        void handleUnfinishedSections();
+
+        TestRunInfo m_runInfo;
+        IMutableContext& m_context;
+        TestCase const* m_activeTestCase = nullptr;
+        ITracker* m_testCaseTracker = nullptr;
+        Option<AssertionResult> m_lastResult;
+
+        IConfigPtr m_config;
+        Totals m_totals;
+        IStreamingReporterPtr m_reporter;
+        std::vector<MessageInfo> m_messages;
+        std::vector<ScopedMessage> m_messageScopes; /* Keeps owners of so-called unscoped messages. */
+        AssertionInfo m_lastAssertionInfo;
+        std::vector<SectionEndInfo> m_unfinishedSections;
+        std::vector<ITracker*> m_activeSections;
+        TrackerContext m_trackerContext;
+        bool m_lastAssertionPassed = false;
+        bool m_shouldReportUnexpected = true;
+        bool m_includeSuccessfulResults;
+    };
+
+    void seedRng(IConfig const& config);
+    unsigned int rngSeed();
+} // end namespace Catch
+
+// end catch_run_context.h
+namespace Catch {
+
+    namespace {
+        auto operator <<( std::ostream& os, ITransientExpression const& expr ) -> std::ostream& {
+            expr.streamReconstructedExpression( os );
+            return os;
+        }
+    }
+
+    LazyExpression::LazyExpression( bool isNegated )
+    :   m_isNegated( isNegated )
+    {}
+
+    LazyExpression::LazyExpression( LazyExpression const& other ) : m_isNegated( other.m_isNegated ) {}
+
+    LazyExpression::operator bool() const {
+        return m_transientExpression != nullptr;
+    }
+
+    auto operator << ( std::ostream& os, LazyExpression const& lazyExpr ) -> std::ostream& {
+        if( lazyExpr.m_isNegated )
+            os << "!";
+
+        if( lazyExpr ) {
+            if( lazyExpr.m_isNegated && lazyExpr.m_transientExpression->isBinaryExpression() )
+                os << "(" << *lazyExpr.m_transientExpression << ")";
+            else
+                os << *lazyExpr.m_transientExpression;
+        }
+        else {
+            os << "{** error - unchecked empty expression requested **}";
+        }
+        return os;
+    }
+
+    AssertionHandler::AssertionHandler
+        (   StringRef const& macroName,
+            SourceLineInfo const& lineInfo,
+            StringRef capturedExpression,
+            ResultDisposition::Flags resultDisposition )
+    :   m_assertionInfo{ macroName, lineInfo, capturedExpression, resultDisposition },
+        m_resultCapture( getResultCapture() )
+    {}
+
+    void AssertionHandler::handleExpr( ITransientExpression const& expr ) {
+        m_resultCapture.handleExpr( m_assertionInfo, expr, m_reaction );
+    }
+    void AssertionHandler::handleMessage(ResultWas::OfType resultType, StringRef const& message) {
+        m_resultCapture.handleMessage( m_assertionInfo, resultType, message, m_reaction );
+    }
+
+    auto AssertionHandler::allowThrows() const -> bool {
+        return getCurrentContext().getConfig()->allowThrows();
+    }
+
+    void AssertionHandler::complete() {
+        setCompleted();
+        if( m_reaction.shouldDebugBreak ) {
+
+            // If you find your debugger stopping you here then go one level up on the
+            // call-stack for the code that caused it (typically a failed assertion)
+
+            // (To go back to the test and change execution, jump over the throw, next)
+            CATCH_BREAK_INTO_DEBUGGER();
+        }
+        if (m_reaction.shouldThrow) {
+#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
+            throw Catch::TestFailureException();
+#else
+            CATCH_ERROR( "Test failure requires aborting test!" );
+#endif
+        }
+    }
+    void AssertionHandler::setCompleted() {
+        m_completed = true;
+    }
+
+    void AssertionHandler::handleUnexpectedInflightException() {
+        m_resultCapture.handleUnexpectedInflightException( m_assertionInfo, Catch::translateActiveException(), m_reaction );
+    }
+
+    void AssertionHandler::handleExceptionThrownAsExpected() {
+        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
+    }
+    void AssertionHandler::handleExceptionNotThrownAsExpected() {
+        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
+    }
+
+    void AssertionHandler::handleUnexpectedExceptionNotThrown() {
+        m_resultCapture.handleUnexpectedExceptionNotThrown( m_assertionInfo, m_reaction );
+    }
+
+    void AssertionHandler::handleThrowingCallSkipped() {
+        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
+    }
+
+    // This is the overload that takes a string and infers the Equals matcher from it
+    // The more general overload, that takes any string matcher, is in catch_capture_matchers.cpp
+    void handleExceptionMatchExpr( AssertionHandler& handler, std::string const& str, StringRef const& matcherString  ) {
+        handleExceptionMatchExpr( handler, Matchers::Equals( str ), matcherString );
+    }
+
+} // namespace Catch
+// end catch_assertionhandler.cpp
+// start catch_assertionresult.cpp
+
+namespace Catch {
+    AssertionResultData::AssertionResultData(ResultWas::OfType _resultType, LazyExpression const & _lazyExpression):
+        lazyExpression(_lazyExpression),
+        resultType(_resultType) {}
+
+    std::string AssertionResultData::reconstructExpression() const {
+
+        if( reconstructedExpression.empty() ) {
+            if( lazyExpression ) {
+                ReusableStringStream rss;
+                rss << lazyExpression;
+                reconstructedExpression = rss.str();
+            }
+        }
+        return reconstructedExpression;
+    }
+
+    AssertionResult::AssertionResult( AssertionInfo const& info, AssertionResultData const& data )
+    :   m_info( info ),
+        m_resultData( data )
+    {}
+
+    // Result was a success
+    bool AssertionResult::succeeded() const {
+        return Catch::isOk( m_resultData.resultType );
+    }
+
+    // Result was a success, or failure is suppressed
+    bool AssertionResult::isOk() const {
+        return Catch::isOk( m_resultData.resultType ) || shouldSuppressFailure( m_info.resultDisposition );
+    }
+
+    ResultWas::OfType AssertionResult::getResultType() const {
+        return m_resultData.resultType;
+    }
+
+    bool AssertionResult::hasExpression() const {
+        return !m_info.capturedExpression.empty();
+    }
+
+    bool AssertionResult::hasMessage() const {
+        return !m_resultData.message.empty();
+    }
+
+    std::string AssertionResult::getExpression() const {
+        // Possibly overallocating by 3 characters should be basically free
+        std::string expr; expr.reserve(m_info.capturedExpression.size() + 3);
+        if (isFalseTest(m_info.resultDisposition)) {
+            expr += "!(";
+        }
+        expr += m_info.capturedExpression;
+        if (isFalseTest(m_info.resultDisposition)) {
+            expr += ')';
+        }
+        return expr;
+    }
+
+    std::string AssertionResult::getExpressionInMacro() const {
+        std::string expr;
+        if( m_info.macroName.empty() )
+            expr = static_cast<std::string>(m_info.capturedExpression);
+        else {
+            expr.reserve( m_info.macroName.size() + m_info.capturedExpression.size() + 4 );
+            expr += m_info.macroName;
+            expr += "( ";
+            expr += m_info.capturedExpression;
+            expr += " )";
+        }
+        return expr;
+    }
+
+    bool AssertionResult::hasExpandedExpression() const {
+        return hasExpression() && getExpandedExpression() != getExpression();
+    }
+
+    std::string AssertionResult::getExpandedExpression() const {
+        std::string expr = m_resultData.reconstructExpression();
+        return expr.empty()
+                ? getExpression()
+                : expr;
+    }
+
+    std::string AssertionResult::getMessage() const {
+        return m_resultData.message;
+    }
+    SourceLineInfo AssertionResult::getSourceInfo() const {
+        return m_info.lineInfo;
+    }
+
+    StringRef AssertionResult::getTestMacroName() const {
+        return m_info.macroName;
+    }
+
+} // end namespace Catch
+// end catch_assertionresult.cpp
+// start catch_capture_matchers.cpp
+
+namespace Catch {
+
+    using StringMatcher = Matchers::Impl::MatcherBase<std::string>;
+
+    // This is the general overload that takes a any string matcher
+    // There is another overload, in catch_assertionhandler.h/.cpp, that only takes a string and infers
+    // the Equals matcher (so the header does not mention matchers)
+    void handleExceptionMatchExpr( AssertionHandler& handler, StringMatcher const& matcher, StringRef const& matcherString  ) {
+        std::string exceptionMessage = Catch::translateActiveException();
+        MatchExpr<std::string, StringMatcher const&> expr( exceptionMessage, matcher, matcherString );
+        handler.handleExpr( expr );
+    }
+
+} // namespace Catch
+// end catch_capture_matchers.cpp
+// start catch_commandline.cpp
+
+// start catch_commandline.h
+
+// start catch_clara.h
+
+// Use Catch's value for console width (store Clara's off to the side, if present)
+#ifdef CLARA_CONFIG_CONSOLE_WIDTH
+#define CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
+#undef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
+#endif
+#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_CONFIG_CONSOLE_WIDTH-1
+
+#ifdef __clang__
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wweak-vtables"
+#pragma clang diagnostic ignored "-Wexit-time-destructors"
+#pragma clang diagnostic ignored "-Wshadow"
+#endif
+
+// start clara.hpp
+// Copyright 2017 Two Blue Cubes Ltd. All rights reserved.
+//
+// Distributed under the Boost Software License, Version 1.0. (See accompanying
+// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+//
+// See https://github.com/philsquared/Clara for more details
+
+// Clara v1.1.5
+
+
+#ifndef CATCH_CLARA_CONFIG_CONSOLE_WIDTH
+#define CATCH_CLARA_CONFIG_CONSOLE_WIDTH 80
+#endif
+
+#ifndef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
+#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_CLARA_CONFIG_CONSOLE_WIDTH
+#endif
+
+#ifndef CLARA_CONFIG_OPTIONAL_TYPE
+#ifdef __has_include
+#if __has_include(<optional>) && __cplusplus >= 201703L
+#include <optional>
+#define CLARA_CONFIG_OPTIONAL_TYPE std::optional
+#endif
+#endif
+#endif
+
+// ----------- #included from clara_textflow.hpp -----------
+
+// TextFlowCpp
+//
+// A single-header library for wrapping and laying out basic text, by Phil Nash
+//
+// Distributed under the Boost Software License, Version 1.0. (See accompanying
+// file LICENSE.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+//
+// This project is hosted at https://github.com/philsquared/textflowcpp
+
+
+#include <cassert>
+#include <ostream>
+#include <sstream>
+#include <vector>
+
+#ifndef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
+#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH 80
+#endif
+
+namespace Catch {
+namespace clara {
+namespace TextFlow {
+
+inline auto isWhitespace(char c) -> bool {
+	static std::string chars = " \t\n\r";
+	return chars.find(c) != std::string::npos;
+}
+inline auto isBreakableBefore(char c) -> bool {
+	static std::string chars = "[({<|";
+	return chars.find(c) != std::string::npos;
+}
+inline auto isBreakableAfter(char c) -> bool {
+	static std::string chars = "])}>.,:;*+-=&/\\";
+	return chars.find(c) != std::string::npos;
+}
+
+class Columns;
+
+class Column {
+	std::vector<std::string> m_strings;
+	size_t m_width = CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH;
+	size_t m_indent = 0;
+	size_t m_initialIndent = std::string::npos;
+
+public:
+	class iterator {
+		friend Column;
+
+		Column const& m_column;
+		size_t m_stringIndex = 0;
+		size_t m_pos = 0;
+
+		size_t m_len = 0;
+		size_t m_end = 0;
+		bool m_suffix = false;
+
+		iterator(Column const& column, size_t stringIndex)
+			: m_column(column),
+			m_stringIndex(stringIndex) {}
+
+		auto line() const -> std::string const& { return m_column.m_strings[m_stringIndex]; }
+
+		auto isBoundary(size_t at) const -> bool {
+			assert(at > 0);
+			assert(at <= line().size());
+
+			return at == line().size() ||
+				(isWhitespace(line()[at]) && !isWhitespace(line()[at - 1])) ||
+				isBreakableBefore(line()[at]) ||
+				isBreakableAfter(line()[at - 1]);
+		}
+
+		void calcLength() {
+			assert(m_stringIndex < m_column.m_strings.size());
+
+			m_suffix = false;
+			auto width = m_column.m_width - indent();
+			m_end = m_pos;
+			if (line()[m_pos] == '\n') {
+				++m_end;
+			}
+			while (m_end < line().size() && line()[m_end] != '\n')
+				++m_end;
+
+			if (m_end < m_pos + width) {
+				m_len = m_end - m_pos;
+			} else {
+				size_t len = width;
+				while (len > 0 && !isBoundary(m_pos + len))
+					--len;
+				while (len > 0 && isWhitespace(line()[m_pos + len - 1]))
+					--len;
+
+				if (len > 0) {
+					m_len = len;
+				} else {
+					m_suffix = true;
+					m_len = width - 1;
+				}
+			}
+		}
+
+		auto indent() const -> size_t {
+			auto initial = m_pos == 0 && m_stringIndex == 0 ? m_column.m_initialIndent : std::string::npos;
+			return initial == std::string::npos ? m_column.m_indent : initial;
+		}
+
+		auto addIndentAndSuffix(std::string const &plain) const -> std::string {
+			return std::string(indent(), ' ') + (m_suffix ? plain + "-" : plain);
+		}
+
+	public:
+		using difference_type = std::ptrdiff_t;
+		using value_type = std::string;
+		using pointer = value_type * ;
+		using reference = value_type & ;
+		using iterator_category = std::forward_iterator_tag;
+
+		explicit iterator(Column const& column) : m_column(column) {
+			assert(m_column.m_width > m_column.m_indent);
+			assert(m_column.m_initialIndent == std::string::npos || m_column.m_width > m_column.m_initialIndent);
+			calcLength();
+			if (m_len == 0)
+				m_stringIndex++; // Empty string
+		}
+
+		auto operator *() const -> std::string {
+			assert(m_stringIndex < m_column.m_strings.size());
+			assert(m_pos <= m_end);
+			return addIndentAndSuffix(line().substr(m_pos, m_len));
+		}
+
+		auto operator ++() -> iterator& {
+			m_pos += m_len;
+			if (m_pos < line().size() && line()[m_pos] == '\n')
+				m_pos += 1;
+			else
+				while (m_pos < line().size() && isWhitespace(line()[m_pos]))
+					++m_pos;
+
+			if (m_pos == line().size()) {
+				m_pos = 0;
+				++m_stringIndex;
+			}
+			if (m_stringIndex < m_column.m_strings.size())
+				calcLength();
+			return *this;
+		}
+		auto operator ++(int) -> iterator {
+			iterator prev(*this);
+			operator++();
+			return prev;
+		}
+
+		auto operator ==(iterator const& other) const -> bool {
+			return
+				m_pos == other.m_pos &&
+				m_stringIndex == other.m_stringIndex &&
+				&m_column == &other.m_column;
+		}
+		auto operator !=(iterator const& other) const -> bool {
+			return !operator==(other);
+		}
+	};
+	using const_iterator = iterator;
+
+	explicit Column(std::string const& text) { m_strings.push_back(text); }
+
+	auto width(size_t newWidth) -> Column& {
+		assert(newWidth > 0);
+		m_width = newWidth;
+		return *this;
+	}
+	auto indent(size_t newIndent) -> Column& {
+		m_indent = newIndent;
+		return *this;
+	}
+	auto initialIndent(size_t newIndent) -> Column& {
+		m_initialIndent = newIndent;
+		return *this;
+	}
+
+	auto width() const -> size_t { return m_width; }
+	auto begin() const -> iterator { return iterator(*this); }
+	auto end() const -> iterator { return { *this, m_strings.size() }; }
+
+	inline friend std::ostream& operator << (std::ostream& os, Column const& col) {
+		bool first = true;
+		for (auto line : col) {
+			if (first)
+				first = false;
+			else
+				os << "\n";
+			os << line;
+		}
+		return os;
+	}
+
+	auto operator + (Column const& other)->Columns;
+
+	auto toString() const -> std::string {
+		std::ostringstream oss;
+		oss << *this;
+		return oss.str();
+	}
+};
+
+class Spacer : public Column {
+
+public:
+	explicit Spacer(size_t spaceWidth) : Column("") {
+		width(spaceWidth);
+	}
+};
+
+class Columns {
+	std::vector<Column> m_columns;
+
+public:
+
+	class iterator {
+		friend Columns;
+		struct EndTag {};
+
+		std::vector<Column> const& m_columns;
+		std::vector<Column::iterator> m_iterators;
+		size_t m_activeIterators;
+
+		iterator(Columns const& columns, EndTag)
+			: m_columns(columns.m_columns),
+			m_activeIterators(0) {
+			m_iterators.reserve(m_columns.size());
+
+			for (auto const& col : m_columns)
+				m_iterators.push_back(col.end());
+		}
+
+	public:
+		using difference_type = std::ptrdiff_t;
+		using value_type = std::string;
+		using pointer = value_type * ;
+		using reference = value_type & ;
+		using iterator_category = std::forward_iterator_tag;
+
+		explicit iterator(Columns const& columns)
+			: m_columns(columns.m_columns),
+			m_activeIterators(m_columns.size()) {
+			m_iterators.reserve(m_columns.size());
+
+			for (auto const& col : m_columns)
+				m_iterators.push_back(col.begin());
+		}
+
+		auto operator ==(iterator const& other) const -> bool {
+			return m_iterators == other.m_iterators;
+		}
+		auto operator !=(iterator const& other) const -> bool {
+			return m_iterators != other.m_iterators;
+		}
+		auto operator *() const -> std::string {
+			std::string row, padding;
+
+			for (size_t i = 0; i < m_columns.size(); ++i) {
+				auto width = m_columns[i].width();
+				if (m_iterators[i] != m_columns[i].end()) {
+					std::string col = *m_iterators[i];
+					row += padding + col;
+					if (col.size() < width)
+						padding = std::string(width - col.size(), ' ');
+					else
+						padding = "";
+				} else {
+					padding += std::string(width, ' ');
+				}
+			}
+			return row;
+		}
+		auto operator ++() -> iterator& {
+			for (size_t i = 0; i < m_columns.size(); ++i) {
+				if (m_iterators[i] != m_columns[i].end())
+					++m_iterators[i];
+			}
+			return *this;
+		}
+		auto operator ++(int) -> iterator {
+			iterator prev(*this);
+			operator++();
+			return prev;
+		}
+	};
+	using const_iterator = iterator;
+
+	auto begin() const -> iterator { return iterator(*this); }
+	auto end() const -> iterator { return { *this, iterator::EndTag() }; }
+
+	auto operator += (Column const& col) -> Columns& {
+		m_columns.push_back(col);
+		return *this;
+	}
+	auto operator + (Column const& col) -> Columns {
+		Columns combined = *this;
+		combined += col;
+		return combined;
+	}
+
+	inline friend std::ostream& operator << (std::ostream& os, Columns const& cols) {
+
+		bool first = true;
+		for (auto line : cols) {
+			if (first)
+				first = false;
+			else
+				os << "\n";
+			os << line;
+		}
+		return os;
+	}
+
+	auto toString() const -> std::string {
+		std::ostringstream oss;
+		oss << *this;
+		return oss.str();
+	}
+};
+
+inline auto Column::operator + (Column const& other) -> Columns {
+	Columns cols;
+	cols += *this;
+	cols += other;
+	return cols;
+}
+}
+
+}
+}
+
+// ----------- end of #include from clara_textflow.hpp -----------
+// ........... back in clara.hpp
+
+#include <cctype>
+#include <string>
+#include <memory>
+#include <set>
+#include <algorithm>
+
+#if !defined(CATCH_PLATFORM_WINDOWS) && ( defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) )
+#define CATCH_PLATFORM_WINDOWS
+#endif
+
+namespace Catch { namespace clara {
+namespace detail {
+
+    // Traits for extracting arg and return type of lambdas (for single argument lambdas)
+    template<typename L>
+    struct UnaryLambdaTraits : UnaryLambdaTraits<decltype( &L::operator() )> {};
+
+    template<typename ClassT, typename ReturnT, typename... Args>
+    struct UnaryLambdaTraits<ReturnT( ClassT::* )( Args... ) const> {
+        static const bool isValid = false;
+    };
+
+    template<typename ClassT, typename ReturnT, typename ArgT>
+    struct UnaryLambdaTraits<ReturnT( ClassT::* )( ArgT ) const> {
+        static const bool isValid = true;
+        using ArgType = typename std::remove_const<typename std::remove_reference<ArgT>::type>::type;
+        using ReturnType = ReturnT;
+    };
+
+    class TokenStream;
+
+    // Transport for raw args (copied from main args, or supplied via init list for testing)
+    class Args {
+        friend TokenStream;
+        std::string m_exeName;
+        std::vector<std::string> m_args;
+
+    public:
+        Args( int argc, char const* const* argv )
+            : m_exeName(argv[0]),
+              m_args(argv + 1, argv + argc) {}
+
+        Args( std::initializer_list<std::string> args )
+        :   m_exeName( *args.begin() ),
+            m_args( args.begin()+1, args.end() )
+        {}
+
+        auto exeName() const -> std::string {
+            return m_exeName;
+        }
+    };
+
+    // Wraps a token coming from a token stream. These may not directly correspond to strings as a single string
+    // may encode an option + its argument if the : or = form is used
+    enum class TokenType {
+        Option, Argument
+    };
+    struct Token {
+        TokenType type;
+        std::string token;
+    };
+
+    inline auto isOptPrefix( char c ) -> bool {
+        return c == '-'
+#ifdef CATCH_PLATFORM_WINDOWS
+            || c == '/'
+#endif
+        ;
+    }
+
+    // Abstracts iterators into args as a stream of tokens, with option arguments uniformly handled
+    class TokenStream {
+        using Iterator = std::vector<std::string>::const_iterator;
+        Iterator it;
+        Iterator itEnd;
+        std::vector<Token> m_tokenBuffer;
+
+        void loadBuffer() {
+            m_tokenBuffer.resize( 0 );
+
+            // Skip any empty strings
+            while( it != itEnd && it->empty() )
+                ++it;
+
+            if( it != itEnd ) {
+                auto const &next = *it;
+                if( isOptPrefix( next[0] ) ) {
+                    auto delimiterPos = next.find_first_of( " :=" );
+                    if( delimiterPos != std::string::npos ) {
+                        m_tokenBuffer.push_back( { TokenType::Option, next.substr( 0, delimiterPos ) } );
+                        m_tokenBuffer.push_back( { TokenType::Argument, next.substr( delimiterPos + 1 ) } );
+                    } else {
+                        if( next[1] != '-' && next.size() > 2 ) {
+                            std::string opt = "- ";
+                            for( size_t i = 1; i < next.size(); ++i ) {
+                                opt[1] = next[i];
+                                m_tokenBuffer.push_back( { TokenType::Option, opt } );
+                            }
+                        } else {
+                            m_tokenBuffer.push_back( { TokenType::Option, next } );
+                        }
+                    }
+                } else {
+                    m_tokenBuffer.push_back( { TokenType::Argument, next } );
+                }
+            }
+        }
+
+    public:
+        explicit TokenStream( Args const &args ) : TokenStream( args.m_args.begin(), args.m_args.end() ) {}
+
+        TokenStream( Iterator it, Iterator itEnd ) : it( it ), itEnd( itEnd ) {
+            loadBuffer();
+        }
+
+        explicit operator bool() const {
+            return !m_tokenBuffer.empty() || it != itEnd;
+        }
+
+        auto count() const -> size_t { return m_tokenBuffer.size() + (itEnd - it); }
+
+        auto operator*() const -> Token {
+            assert( !m_tokenBuffer.empty() );
+            return m_tokenBuffer.front();
+        }
+
+        auto operator->() const -> Token const * {
+            assert( !m_tokenBuffer.empty() );
+            return &m_tokenBuffer.front();
+        }
+
+        auto operator++() -> TokenStream & {
+            if( m_tokenBuffer.size() >= 2 ) {
+                m_tokenBuffer.erase( m_tokenBuffer.begin() );
+            } else {
+                if( it != itEnd )
+                    ++it;
+                loadBuffer();
+            }
+            return *this;
+        }
+    };
+
+    class ResultBase {
+    public:
+        enum Type {
+            Ok, LogicError, RuntimeError
+        };
+
+    protected:
+        ResultBase( Type type ) : m_type( type ) {}
+        virtual ~ResultBase() = default;
+
+        virtual void enforceOk() const = 0;
+
+        Type m_type;
+    };
+
+    template<typename T>
+    class ResultValueBase : public ResultBase {
+    public:
+        auto value() const -> T const & {
+            enforceOk();
+            return m_value;
+        }
+
+    protected:
+        ResultValueBase( Type type ) : ResultBase( type ) {}
+
+        ResultValueBase( ResultValueBase const &other ) : ResultBase( other ) {
+            if( m_type == ResultBase::Ok )
+                new( &m_value ) T( other.m_value );
+        }
+
+        ResultValueBase( Type, T const &value ) : ResultBase( Ok ) {
+            new( &m_value ) T( value );
+        }
+
+        auto operator=( ResultValueBase const &other ) -> ResultValueBase & {
+            if( m_type == ResultBase::Ok )
+                m_value.~T();
+            ResultBase::operator=(other);
+            if( m_type == ResultBase::Ok )
+                new( &m_value ) T( other.m_value );
+            return *this;
+        }
+
+        ~ResultValueBase() override {
+            if( m_type == Ok )
+                m_value.~T();
+        }
+
+        union {
+            T m_value;
+        };
+    };
+
+    template<>
+    class ResultValueBase<void> : public ResultBase {
+    protected:
+        using ResultBase::ResultBase;
+    };
+
+    template<typename T = void>
+    class BasicResult : public ResultValueBase<T> {
+    public:
+        template<typename U>
+        explicit BasicResult( BasicResult<U> const &other )
+        :   ResultValueBase<T>( other.type() ),
+            m_errorMessage( other.errorMessage() )
+        {
+            assert( type() != ResultBase::Ok );
+        }
+
+        template<typename U>
+        static auto ok( U const &value ) -> BasicResult { return { ResultBase::Ok, value }; }
+        static auto ok() -> BasicResult { return { ResultBase::Ok }; }
+        static auto logicError( std::string const &message ) -> BasicResult { return { ResultBase::LogicError, message }; }
+        static auto runtimeError( std::string const &message ) -> BasicResult { return { ResultBase::RuntimeError, message }; }
+
+        explicit operator bool() const { return m_type == ResultBase::Ok; }
+        auto type() const -> ResultBase::Type { return m_type; }
+        auto errorMessage() const -> std::string { return m_errorMessage; }
+
+    protected:
+        void enforceOk() const override {
+
+            // Errors shouldn't reach this point, but if they do
+            // the actual error message will be in m_errorMessage
+            assert( m_type != ResultBase::LogicError );
+            assert( m_type != ResultBase::RuntimeError );
+            if( m_type != ResultBase::Ok )
+                std::abort();
+        }
+
+        std::string m_errorMessage; // Only populated if resultType is an error
+
+        BasicResult( ResultBase::Type type, std::string const &message )
+        :   ResultValueBase<T>(type),
+            m_errorMessage(message)
+        {
+            assert( m_type != ResultBase::Ok );
+        }
+
+        using ResultValueBase<T>::ResultValueBase;
+        using ResultBase::m_type;
+    };
+
+    enum class ParseResultType {
+        Matched, NoMatch, ShortCircuitAll, ShortCircuitSame
+    };
+
+    class ParseState {
+    public:
+
+        ParseState( ParseResultType type, TokenStream const &remainingTokens )
+        : m_type(type),
+          m_remainingTokens( remainingTokens )
+        {}
+
+        auto type() const -> ParseResultType { return m_type; }
+        auto remainingTokens() const -> TokenStream { return m_remainingTokens; }
+
+    private:
+        ParseResultType m_type;
+        TokenStream m_remainingTokens;
+    };
+
+    using Result = BasicResult<void>;
+    using ParserResult = BasicResult<ParseResultType>;
+    using InternalParseResult = BasicResult<ParseState>;
+
+    struct HelpColumns {
+        std::string left;
+        std::string right;
+    };
+
+    template<typename T>
+    inline auto convertInto( std::string const &source, T& target ) -> ParserResult {
+        std::stringstream ss;
+        ss << source;
+        ss >> target;
+        if( ss.fail() )
+            return ParserResult::runtimeError( "Unable to convert '" + source + "' to destination type" );
+        else
+            return ParserResult::ok( ParseResultType::Matched );
+    }
+    inline auto convertInto( std::string const &source, std::string& target ) -> ParserResult {
+        target = source;
+        return ParserResult::ok( ParseResultType::Matched );
+    }
+    inline auto convertInto( std::string const &source, bool &target ) -> ParserResult {
+        std::string srcLC = source;
+        std::transform( srcLC.begin(), srcLC.end(), srcLC.begin(), []( char c ) { return static_cast<char>( std::tolower(c) ); } );
+        if (srcLC == "y" || srcLC == "1" || srcLC == "true" || srcLC == "yes" || srcLC == "on")
+            target = true;
+        else if (srcLC == "n" || srcLC == "0" || srcLC == "false" || srcLC == "no" || srcLC == "off")
+            target = false;
+        else
+            return ParserResult::runtimeError( "Expected a boolean value but did not recognise: '" + source + "'" );
+        return ParserResult::ok( ParseResultType::Matched );
+    }
+#ifdef CLARA_CONFIG_OPTIONAL_TYPE
+    template<typename T>
+    inline auto convertInto( std::string const &source, CLARA_CONFIG_OPTIONAL_TYPE<T>& target ) -> ParserResult {
+        T temp;
+        auto result = convertInto( source, temp );
+        if( result )
+            target = std::move(temp);
+        return result;
+    }
+#endif // CLARA_CONFIG_OPTIONAL_TYPE
+
+    struct NonCopyable {
+        NonCopyable() = default;
+        NonCopyable( NonCopyable const & ) = delete;
+        NonCopyable( NonCopyable && ) = delete;
+        NonCopyable &operator=( NonCopyable const & ) = delete;
+        NonCopyable &operator=( NonCopyable && ) = delete;
+    };
+
+    struct BoundRef : NonCopyable {
+        virtual ~BoundRef() = default;
+        virtual auto isContainer() const -> bool { return false; }
+        virtual auto isFlag() const -> bool { return false; }
+    };
+    struct BoundValueRefBase : BoundRef {
+        virtual auto setValue( std::string const &arg ) -> ParserResult = 0;
+    };
+    struct BoundFlagRefBase : BoundRef {
+        virtual auto setFlag( bool flag ) -> ParserResult = 0;
+        virtual auto isFlag() const -> bool { return true; }
+    };
+
+    template<typename T>
+    struct BoundValueRef : BoundValueRefBase {
+        T &m_ref;
+
+        explicit BoundValueRef( T &ref ) : m_ref( ref ) {}
+
+        auto setValue( std::string const &arg ) -> ParserResult override {
+            return convertInto( arg, m_ref );
+        }
+    };
+
+    template<typename T>
+    struct BoundValueRef<std::vector<T>> : BoundValueRefBase {
+        std::vector<T> &m_ref;
+
+        explicit BoundValueRef( std::vector<T> &ref ) : m_ref( ref ) {}
+
+        auto isContainer() const -> bool override { return true; }
+
+        auto setValue( std::string const &arg ) -> ParserResult override {
+            T temp;
+            auto result = convertInto( arg, temp );
+            if( result )
+                m_ref.push_back( temp );
+            return result;
+        }
+    };
+
+    struct BoundFlagRef : BoundFlagRefBase {
+        bool &m_ref;
+
+        explicit BoundFlagRef( bool &ref ) : m_ref( ref ) {}
+
+        auto setFlag( bool flag ) -> ParserResult override {
+            m_ref = flag;
+            return ParserResult::ok( ParseResultType::Matched );
+        }
+    };
+
+    template<typename ReturnType>
+    struct LambdaInvoker {
+        static_assert( std::is_same<ReturnType, ParserResult>::value, "Lambda must return void or clara::ParserResult" );
+
+        template<typename L, typename ArgType>
+        static auto invoke( L const &lambda, ArgType const &arg ) -> ParserResult {
+            return lambda( arg );
+        }
+    };
+
+    template<>
+    struct LambdaInvoker<void> {
+        template<typename L, typename ArgType>
+        static auto invoke( L const &lambda, ArgType const &arg ) -> ParserResult {
+            lambda( arg );
+            return ParserResult::ok( ParseResultType::Matched );
+        }
+    };
+
+    template<typename ArgType, typename L>
+    inline auto invokeLambda( L const &lambda, std::string const &arg ) -> ParserResult {
+        ArgType temp{};
+        auto result = convertInto( arg, temp );
+        return !result
+           ? result
+           : LambdaInvoker<typename UnaryLambdaTraits<L>::ReturnType>::invoke( lambda, temp );
+    }
+
+    template<typename L>
+    struct BoundLambda : BoundValueRefBase {
+        L m_lambda;
+
+        static_assert( UnaryLambdaTraits<L>::isValid, "Supplied lambda must take exactly one argument" );
+        explicit BoundLambda( L const &lambda ) : m_lambda( lambda ) {}
+
+        auto setValue( std::string const &arg ) -> ParserResult override {
+            return invokeLambda<typename UnaryLambdaTraits<L>::ArgType>( m_lambda, arg );
+        }
+    };
+
+    template<typename L>
+    struct BoundFlagLambda : BoundFlagRefBase {
+        L m_lambda;
+
+        static_assert( UnaryLambdaTraits<L>::isValid, "Supplied lambda must take exactly one argument" );
+        static_assert( std::is_same<typename UnaryLambdaTraits<L>::ArgType, bool>::value, "flags must be boolean" );
+
+        explicit BoundFlagLambda( L const &lambda ) : m_lambda( lambda ) {}
+
+        auto setFlag( bool flag ) -> ParserResult override {
+            return LambdaInvoker<typename UnaryLambdaTraits<L>::ReturnType>::invoke( m_lambda, flag );
+        }
+    };
+
+    enum class Optionality { Optional, Required };
+
+    struct Parser;
+
+    class ParserBase {
+    public:
+        virtual ~ParserBase() = default;
+        virtual auto validate() const -> Result { return Result::ok(); }
+        virtual auto parse( std::string const& exeName, TokenStream const &tokens) const -> InternalParseResult  = 0;
+        virtual auto cardinality() const -> size_t { return 1; }
+
+        auto parse( Args const &args ) const -> InternalParseResult {
+            return parse( args.exeName(), TokenStream( args ) );
+        }
+    };
+
+    template<typename DerivedT>
+    class ComposableParserImpl : public ParserBase {
+    public:
+        template<typename T>
+        auto operator|( T const &other ) const -> Parser;
+
+		template<typename T>
+        auto operator+( T const &other ) const -> Parser;
+    };
+
+    // Common code and state for Args and Opts
+    template<typename DerivedT>
+    class ParserRefImpl : public ComposableParserImpl<DerivedT> {
+    protected:
+        Optionality m_optionality = Optionality::Optional;
+        std::shared_ptr<BoundRef> m_ref;
+        std::string m_hint;
+        std::string m_description;
+
+        explicit ParserRefImpl( std::shared_ptr<BoundRef> const &ref ) : m_ref( ref ) {}
+
+    public:
+        template<typename T>
+        ParserRefImpl( T &ref, std::string const &hint )
+        :   m_ref( std::make_shared<BoundValueRef<T>>( ref ) ),
+            m_hint( hint )
+        {}
+
+        template<typename LambdaT>
+        ParserRefImpl( LambdaT const &ref, std::string const &hint )
+        :   m_ref( std::make_shared<BoundLambda<LambdaT>>( ref ) ),
+            m_hint(hint)
+        {}
+
+        auto operator()( std::string const &description ) -> DerivedT & {
+            m_description = description;
+            return static_cast<DerivedT &>( *this );
+        }
+
+        auto optional() -> DerivedT & {
+            m_optionality = Optionality::Optional;
+            return static_cast<DerivedT &>( *this );
+        };
+
+        auto required() -> DerivedT & {
+            m_optionality = Optionality::Required;
+            return static_cast<DerivedT &>( *this );
+        };
+
+        auto isOptional() const -> bool {
+            return m_optionality == Optionality::Optional;
+        }
+
+        auto cardinality() const -> size_t override {
+            if( m_ref->isContainer() )
+                return 0;
+            else
+                return 1;
+        }
+
+        auto hint() const -> std::string { return m_hint; }
+    };
+
+    class ExeName : public ComposableParserImpl<ExeName> {
+        std::shared_ptr<std::string> m_name;
+        std::shared_ptr<BoundValueRefBase> m_ref;
+
+        template<typename LambdaT>
+        static auto makeRef(LambdaT const &lambda) -> std::shared_ptr<BoundValueRefBase> {
+            return std::make_shared<BoundLambda<LambdaT>>( lambda) ;
+        }
+
+    public:
+        ExeName() : m_name( std::make_shared<std::string>( "<executable>" ) ) {}
+
+        explicit ExeName( std::string &ref ) : ExeName() {
+            m_ref = std::make_shared<BoundValueRef<std::string>>( ref );
+        }
+
+        template<typename LambdaT>
+        explicit ExeName( LambdaT const& lambda ) : ExeName() {
+            m_ref = std::make_shared<BoundLambda<LambdaT>>( lambda );
+        }
+
+        // The exe name is not parsed out of the normal tokens, but is handled specially
+        auto parse( std::string const&, TokenStream const &tokens ) const -> InternalParseResult override {
+            return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, tokens ) );
+        }
+
+        auto name() const -> std::string { return *m_name; }
+        auto set( std::string const& newName ) -> ParserResult {
+
+            auto lastSlash = newName.find_last_of( "\\/" );
+            auto filename = ( lastSlash == std::string::npos )
+                    ? newName
+                    : newName.substr( lastSlash+1 );
+
+            *m_name = filename;
+            if( m_ref )
+                return m_ref->setValue( filename );
+            else
+                return ParserResult::ok( ParseResultType::Matched );
+        }
+    };
+
+    class Arg : public ParserRefImpl<Arg> {
+    public:
+        using ParserRefImpl::ParserRefImpl;
+
+        auto parse( std::string const &, TokenStream const &tokens ) const -> InternalParseResult override {
+            auto validationResult = validate();
+            if( !validationResult )
+                return InternalParseResult( validationResult );
+
+            auto remainingTokens = tokens;
+            auto const &token = *remainingTokens;
+            if( token.type != TokenType::Argument )
+                return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, remainingTokens ) );
+
+            assert( !m_ref->isFlag() );
+            auto valueRef = static_cast<detail::BoundValueRefBase*>( m_ref.get() );
+
+            auto result = valueRef->setValue( remainingTokens->token );
+            if( !result )
+                return InternalParseResult( result );
+            else
+                return InternalParseResult::ok( ParseState( ParseResultType::Matched, ++remainingTokens ) );
+        }
+    };
+
+    inline auto normaliseOpt( std::string const &optName ) -> std::string {
+#ifdef CATCH_PLATFORM_WINDOWS
+        if( optName[0] == '/' )
+            return "-" + optName.substr( 1 );
+        else
+#endif
+            return optName;
+    }
+
+    class Opt : public ParserRefImpl<Opt> {
+    protected:
+        std::vector<std::string> m_optNames;
+
+    public:
+        template<typename LambdaT>
+        explicit Opt( LambdaT const &ref ) : ParserRefImpl( std::make_shared<BoundFlagLambda<LambdaT>>( ref ) ) {}
+
+        explicit Opt( bool &ref ) : ParserRefImpl( std::make_shared<BoundFlagRef>( ref ) ) {}
+
+        template<typename LambdaT>
+        Opt( LambdaT const &ref, std::string const &hint ) : ParserRefImpl( ref, hint ) {}
+
+        template<typename T>
+        Opt( T &ref, std::string const &hint ) : ParserRefImpl( ref, hint ) {}
+
+        auto operator[]( std::string const &optName ) -> Opt & {
+            m_optNames.push_back( optName );
+            return *this;
+        }
+
+        auto getHelpColumns() const -> std::vector<HelpColumns> {
+            std::ostringstream oss;
+            bool first = true;
+            for( auto const &opt : m_optNames ) {
+                if (first)
+                    first = false;
+                else
+                    oss << ", ";
+                oss << opt;
+            }
+            if( !m_hint.empty() )
+                oss << " <" << m_hint << ">";
+            return { { oss.str(), m_description } };
+        }
+
+        auto isMatch( std::string const &optToken ) const -> bool {
+            auto normalisedToken = normaliseOpt( optToken );
+            for( auto const &name : m_optNames ) {
+                if( normaliseOpt( name ) == normalisedToken )
+                    return true;
+            }
+            return false;
+        }
+
+        using ParserBase::parse;
+
+        auto parse( std::string const&, TokenStream const &tokens ) const -> InternalParseResult override {
+            auto validationResult = validate();
+            if( !validationResult )
+                return InternalParseResult( validationResult );
+
+            auto remainingTokens = tokens;
+            if( remainingTokens && remainingTokens->type == TokenType::Option ) {
+                auto const &token = *remainingTokens;
+                if( isMatch(token.token ) ) {
+                    if( m_ref->isFlag() ) {
+                        auto flagRef = static_cast<detail::BoundFlagRefBase*>( m_ref.get() );
+                        auto result = flagRef->setFlag( true );
+                        if( !result )
+                            return InternalParseResult( result );
+                        if( result.value() == ParseResultType::ShortCircuitAll )
+                            return InternalParseResult::ok( ParseState( result.value(), remainingTokens ) );
+                    } else {
+                        auto valueRef = static_cast<detail::BoundValueRefBase*>( m_ref.get() );
+                        ++remainingTokens;
+                        if( !remainingTokens )
+                            return InternalParseResult::runtimeError( "Expected argument following " + token.token );
+                        auto const &argToken = *remainingTokens;
+                        if( argToken.type != TokenType::Argument )
+                            return InternalParseResult::runtimeError( "Expected argument following " + token.token );
+                        auto result = valueRef->setValue( argToken.token );
+                        if( !result )
+                            return InternalParseResult( result );
+                        if( result.value() == ParseResultType::ShortCircuitAll )
+                            return InternalParseResult::ok( ParseState( result.value(), remainingTokens ) );
+                    }
+                    return InternalParseResult::ok( ParseState( ParseResultType::Matched, ++remainingTokens ) );
+                }
+            }
+            return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, remainingTokens ) );
+        }
+
+        auto validate() const -> Result override {
+            if( m_optNames.empty() )
+                return Result::logicError( "No options supplied to Opt" );
+            for( auto const &name : m_optNames ) {
+                if( name.empty() )
+                    return Result::logicError( "Option name cannot be empty" );
+#ifdef CATCH_PLATFORM_WINDOWS
+                if( name[0] != '-' && name[0] != '/' )
+                    return Result::logicError( "Option name must begin with '-' or '/'" );
+#else
+                if( name[0] != '-' )
+                    return Result::logicError( "Option name must begin with '-'" );
+#endif
+            }
+            return ParserRefImpl::validate();
+        }
+    };
+
+    struct Help : Opt {
+        Help( bool &showHelpFlag )
+        :   Opt([&]( bool flag ) {
+                showHelpFlag = flag;
+                return ParserResult::ok( ParseResultType::ShortCircuitAll );
+            })
+        {
+            static_cast<Opt &>( *this )
+                    ("display usage information")
+                    ["-?"]["-h"]["--help"]
+                    .optional();
+        }
+    };
+
+    struct Parser : ParserBase {
+
+        mutable ExeName m_exeName;
+        std::vector<Opt> m_options;
+        std::vector<Arg> m_args;
+
+        auto operator|=( ExeName const &exeName ) -> Parser & {
+            m_exeName = exeName;
+            return *this;
+        }
+
+        auto operator|=( Arg const &arg ) -> Parser & {
+            m_args.push_back(arg);
+            return *this;
+        }
+
+        auto operator|=( Opt const &opt ) -> Parser & {
+            m_options.push_back(opt);
+            return *this;
+        }
+
+        auto operator|=( Parser const &other ) -> Parser & {
+            m_options.insert(m_options.end(), other.m_options.begin(), other.m_options.end());
+            m_args.insert(m_args.end(), other.m_args.begin(), other.m_args.end());
+            return *this;
+        }
+
+        template<typename T>
+        auto operator|( T const &other ) const -> Parser {
+            return Parser( *this ) |= other;
+        }
+
+        // Forward deprecated interface with '+' instead of '|'
+        template<typename T>
+        auto operator+=( T const &other ) -> Parser & { return operator|=( other ); }
+        template<typename T>
+        auto operator+( T const &other ) const -> Parser { return operator|( other ); }
+
+        auto getHelpColumns() const -> std::vector<HelpColumns> {
+            std::vector<HelpColumns> cols;
+            for (auto const &o : m_options) {
+                auto childCols = o.getHelpColumns();
+                cols.insert( cols.end(), childCols.begin(), childCols.end() );
+            }
+            return cols;
+        }
+
+        void writeToStream( std::ostream &os ) const {
+            if (!m_exeName.name().empty()) {
+                os << "usage:\n" << "  " << m_exeName.name() << " ";
+                bool required = true, first = true;
+                for( auto const &arg : m_args ) {
+                    if (first)
+                        first = false;
+                    else
+                        os << " ";
+                    if( arg.isOptional() && required ) {
+                        os << "[";
+                        required = false;
+                    }
+                    os << "<" << arg.hint() << ">";
+                    if( arg.cardinality() == 0 )
+                        os << " ... ";
+                }
+                if( !required )
+                    os << "]";
+                if( !m_options.empty() )
+                    os << " options";
+                os << "\n\nwhere options are:" << std::endl;
+            }
+
+            auto rows = getHelpColumns();
+            size_t consoleWidth = CATCH_CLARA_CONFIG_CONSOLE_WIDTH;
+            size_t optWidth = 0;
+            for( auto const &cols : rows )
+                optWidth = (std::max)(optWidth, cols.left.size() + 2);
+
+            optWidth = (std::min)(optWidth, consoleWidth/2);
+
+            for( auto const &cols : rows ) {
+                auto row =
+                        TextFlow::Column( cols.left ).width( optWidth ).indent( 2 ) +
+                        TextFlow::Spacer(4) +
+                        TextFlow::Column( cols.right ).width( consoleWidth - 7 - optWidth );
+                os << row << std::endl;
+            }
+        }
+
+        friend auto operator<<( std::ostream &os, Parser const &parser ) -> std::ostream& {
+            parser.writeToStream( os );
+            return os;
+        }
+
+        auto validate() const -> Result override {
+            for( auto const &opt : m_options ) {
+                auto result = opt.validate();
+                if( !result )
+                    return result;
+            }
+            for( auto const &arg : m_args ) {
+                auto result = arg.validate();
+                if( !result )
+                    return result;
+            }
+            return Result::ok();
+        }
+
+        using ParserBase::parse;
+
+        auto parse( std::string const& exeName, TokenStream const &tokens ) const -> InternalParseResult override {
+
+            struct ParserInfo {
+                ParserBase const* parser = nullptr;
+                size_t count = 0;
+            };
+            const size_t totalParsers = m_options.size() + m_args.size();
+            assert( totalParsers < 512 );
+            // ParserInfo parseInfos[totalParsers]; // <-- this is what we really want to do
+            ParserInfo parseInfos[512];
+
+            {
+                size_t i = 0;
+                for (auto const &opt : m_options) parseInfos[i++].parser = &opt;
+                for (auto const &arg : m_args) parseInfos[i++].parser = &arg;
+            }
+
+            m_exeName.set( exeName );
+
+            auto result = InternalParseResult::ok( ParseState( ParseResultType::NoMatch, tokens ) );
+            while( result.value().remainingTokens() ) {
+                bool tokenParsed = false;
+
+                for( size_t i = 0; i < totalParsers; ++i ) {
+                    auto&  parseInfo = parseInfos[i];
+                    if( parseInfo.parser->cardinality() == 0 || parseInfo.count < parseInfo.parser->cardinality() ) {
+                        result = parseInfo.parser->parse(exeName, result.value().remainingTokens());
+                        if (!result)
+                            return result;
+                        if (result.value().type() != ParseResultType::NoMatch) {
+                            tokenParsed = true;
+                            ++parseInfo.count;
+                            break;
+                        }
+                    }
+                }
+
+                if( result.value().type() == ParseResultType::ShortCircuitAll )
+                    return result;
+                if( !tokenParsed )
+                    return InternalParseResult::runtimeError( "Unrecognised token: " + result.value().remainingTokens()->token );
+            }
+            // !TBD Check missing required options
+            return result;
+        }
+    };
+
+    template<typename DerivedT>
+    template<typename T>
+    auto ComposableParserImpl<DerivedT>::operator|( T const &other ) const -> Parser {
+        return Parser() | static_cast<DerivedT const &>( *this ) | other;
+    }
+} // namespace detail
+
+// A Combined parser
+using detail::Parser;
+
+// A parser for options
+using detail::Opt;
+
+// A parser for arguments
+using detail::Arg;
+
+// Wrapper for argc, argv from main()
+using detail::Args;
+
+// Specifies the name of the executable
+using detail::ExeName;
+
+// Convenience wrapper for option parser that specifies the help option
+using detail::Help;
+
+// enum of result types from a parse
+using detail::ParseResultType;
+
+// Result type for parser operation
+using detail::ParserResult;
+
+}} // namespace Catch::clara
+
+// end clara.hpp
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+// Restore Clara's value for console width, if present
+#ifdef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
+#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
+#undef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
+#endif
+
+// end catch_clara.h
+namespace Catch {
+
+    clara::Parser makeCommandLineParser( ConfigData& config );
+
+} // end namespace Catch
+
+// end catch_commandline.h
+#include <fstream>
+#include <ctime>
+
+namespace Catch {
+
+    clara::Parser makeCommandLineParser( ConfigData& config ) {
+
+        using namespace clara;
+
+        auto const setWarning = [&]( std::string const& warning ) {
+                auto warningSet = [&]() {
+                    if( warning == "NoAssertions" )
+                        return WarnAbout::NoAssertions;
+
+                    if ( warning == "NoTests" )
+                        return WarnAbout::NoTests;
+
+                    return WarnAbout::Nothing;
+                }();
+
+                if (warningSet == WarnAbout::Nothing)
+                    return ParserResult::runtimeError( "Unrecognised warning: '" + warning + "'" );
+                config.warnings = static_cast<WarnAbout::What>( config.warnings | warningSet );
+                return ParserResult::ok( ParseResultType::Matched );
+            };
+        auto const loadTestNamesFromFile = [&]( std::string const& filename ) {
+                std::ifstream f( filename.c_str() );
+                if( !f.is_open() )
+                    return ParserResult::runtimeError( "Unable to load input file: '" + filename + "'" );
+
+                std::string line;
+                while( std::getline( f, line ) ) {
+                    line = trim(line);
+                    if( !line.empty() && !startsWith( line, '#' ) ) {
+                        if( !startsWith( line, '"' ) )
+                            line = '"' + line + '"';
+                        config.testsOrTags.push_back( line );
+                        config.testsOrTags.emplace_back( "," );
+                    }
+                }
+                //Remove comma in the end
+                if(!config.testsOrTags.empty())
+                    config.testsOrTags.erase( config.testsOrTags.end()-1 );
+
+                return ParserResult::ok( ParseResultType::Matched );
+            };
+        auto const setTestOrder = [&]( std::string const& order ) {
+                if( startsWith( "declared", order ) )
+                    config.runOrder = RunTests::InDeclarationOrder;
+                else if( startsWith( "lexical", order ) )
+                    config.runOrder = RunTests::InLexicographicalOrder;
+                else if( startsWith( "random", order ) )
+                    config.runOrder = RunTests::InRandomOrder;
+                else
+                    return clara::ParserResult::runtimeError( "Unrecognised ordering: '" + order + "'" );
+                return ParserResult::ok( ParseResultType::Matched );
+            };
+        auto const setRngSeed = [&]( std::string const& seed ) {
+                if( seed != "time" )
+                    return clara::detail::convertInto( seed, config.rngSeed );
+                config.rngSeed = static_cast<unsigned int>( std::time(nullptr) );
+                return ParserResult::ok( ParseResultType::Matched );
+            };
+        auto const setColourUsage = [&]( std::string const& useColour ) {
+                    auto mode = toLower( useColour );
+
+                    if( mode == "yes" )
+                        config.useColour = UseColour::Yes;
+                    else if( mode == "no" )
+                        config.useColour = UseColour::No;
+                    else if( mode == "auto" )
+                        config.useColour = UseColour::Auto;
+                    else
+                        return ParserResult::runtimeError( "colour mode must be one of: auto, yes or no. '" + useColour + "' not recognised" );
+                return ParserResult::ok( ParseResultType::Matched );
+            };
+        auto const setWaitForKeypress = [&]( std::string const& keypress ) {
+                auto keypressLc = toLower( keypress );
+                if (keypressLc == "never")
+                    config.waitForKeypress = WaitForKeypress::Never;
+                else if( keypressLc == "start" )
+                    config.waitForKeypress = WaitForKeypress::BeforeStart;
+                else if( keypressLc == "exit" )
+                    config.waitForKeypress = WaitForKeypress::BeforeExit;
+                else if( keypressLc == "both" )
+                    config.waitForKeypress = WaitForKeypress::BeforeStartAndExit;
+                else
+                    return ParserResult::runtimeError( "keypress argument must be one of: never, start, exit or both. '" + keypress + "' not recognised" );
+            return ParserResult::ok( ParseResultType::Matched );
+            };
+        auto const setVerbosity = [&]( std::string const& verbosity ) {
+            auto lcVerbosity = toLower( verbosity );
+            if( lcVerbosity == "quiet" )
+                config.verbosity = Verbosity::Quiet;
+            else if( lcVerbosity == "normal" )
+                config.verbosity = Verbosity::Normal;
+            else if( lcVerbosity == "high" )
+                config.verbosity = Verbosity::High;
+            else
+                return ParserResult::runtimeError( "Unrecognised verbosity, '" + verbosity + "'" );
+            return ParserResult::ok( ParseResultType::Matched );
+        };
+        auto const setReporter = [&]( std::string const& reporter ) {
+            IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories();
+
+            auto lcReporter = toLower( reporter );
+            auto result = factories.find( lcReporter );
+
+            if( factories.end() != result )
+                config.reporterName = lcReporter;
+            else
+                return ParserResult::runtimeError( "Unrecognized reporter, '" + reporter + "'. Check available with --list-reporters" );
+            return ParserResult::ok( ParseResultType::Matched );
+        };
+
+        auto cli
+            = ExeName( config.processName )
+            | Help( config.showHelp )
+            | Opt( config.listTests )
+                ["-l"]["--list-tests"]
+                ( "list all/matching test cases" )
+            | Opt( config.listTags )
+                ["-t"]["--list-tags"]
+                ( "list all/matching tags" )
+            | Opt( config.showSuccessfulTests )
+                ["-s"]["--success"]
+                ( "include successful tests in output" )
+            | Opt( config.shouldDebugBreak )
+                ["-b"]["--break"]
+                ( "break into debugger on failure" )
+            | Opt( config.noThrow )
+                ["-e"]["--nothrow"]
+                ( "skip exception tests" )
+            | Opt( config.showInvisibles )
+                ["-i"]["--invisibles"]
+                ( "show invisibles (tabs, newlines)" )
+            | Opt( config.outputFilename, "filename" )
+                ["-o"]["--out"]
+                ( "output filename" )
+            | Opt( setReporter, "name" )
+                ["-r"]["--reporter"]
+                ( "reporter to use (defaults to console)" )
+            | Opt( config.name, "name" )
+                ["-n"]["--name"]
+                ( "suite name" )
+            | Opt( [&]( bool ){ config.abortAfter = 1; } )
+                ["-a"]["--abort"]
+                ( "abort at first failure" )
+            | Opt( [&]( int x ){ config.abortAfter = x; }, "no. failures" )
+                ["-x"]["--abortx"]
+                ( "abort after x failures" )
+            | Opt( setWarning, "warning name" )
+                ["-w"]["--warn"]
+                ( "enable warnings" )
+            | Opt( [&]( bool flag ) { config.showDurations = flag ? ShowDurations::Always : ShowDurations::Never; }, "yes|no" )
+                ["-d"]["--durations"]
+                ( "show test durations" )
+            | Opt( loadTestNamesFromFile, "filename" )
+                ["-f"]["--input-file"]
+                ( "load test names to run from a file" )
+            | Opt( config.filenamesAsTags )
+                ["-#"]["--filenames-as-tags"]
+                ( "adds a tag for the filename" )
+            | Opt( config.sectionsToRun, "section name" )
+                ["-c"]["--section"]
+                ( "specify section to run" )
+            | Opt( setVerbosity, "quiet|normal|high" )
+                ["-v"]["--verbosity"]
+                ( "set output verbosity" )
+            | Opt( config.listTestNamesOnly )
+                ["--list-test-names-only"]
+                ( "list all/matching test cases names only" )
+            | Opt( config.listReporters )
+                ["--list-reporters"]
+                ( "list all reporters" )
+            | Opt( setTestOrder, "decl|lex|rand" )
+                ["--order"]
+                ( "test case order (defaults to decl)" )
+            | Opt( setRngSeed, "'time'|number" )
+                ["--rng-seed"]
+                ( "set a specific seed for random numbers" )
+            | Opt( setColourUsage, "yes|no" )
+                ["--use-colour"]
+                ( "should output be colourised" )
+            | Opt( config.libIdentify )
+                ["--libidentify"]
+                ( "report name and version according to libidentify standard" )
+            | Opt( setWaitForKeypress, "never|start|exit|both" )
+                ["--wait-for-keypress"]
+                ( "waits for a keypress before exiting" )
+            | Opt( config.benchmarkSamples, "samples" )
+                ["--benchmark-samples"]
+                ( "number of samples to collect (default: 100)" )
+            | Opt( config.benchmarkResamples, "resamples" )
+                ["--benchmark-resamples"]
+                ( "number of resamples for the bootstrap (default: 100000)" )
+            | Opt( config.benchmarkConfidenceInterval, "confidence interval" )
+                ["--benchmark-confidence-interval"]
+                ( "confidence interval for the bootstrap (between 0 and 1, default: 0.95)" )
+            | Opt( config.benchmarkNoAnalysis )
+                ["--benchmark-no-analysis"]
+                ( "perform only measurements; do not perform any analysis" )
+            | Opt( config.benchmarkWarmupTime, "benchmarkWarmupTime" )
+                ["--benchmark-warmup-time"]
+                ( "amount of time in milliseconds spent on warming up each test (default: 100)" )
+            | Arg( config.testsOrTags, "test name|pattern|tags" )
+                ( "which test or tests to use" );
+
+        return cli;
+    }
+
+} // end namespace Catch
+// end catch_commandline.cpp
+// start catch_common.cpp
+
+#include <cstring>
+#include <ostream>
+
+namespace Catch {
+
+    bool SourceLineInfo::operator == ( SourceLineInfo const& other ) const noexcept {
+        return line == other.line && (file == other.file || std::strcmp(file, other.file) == 0);
+    }
+    bool SourceLineInfo::operator < ( SourceLineInfo const& other ) const noexcept {
+        // We can assume that the same file will usually have the same pointer.
+        // Thus, if the pointers are the same, there is no point in calling the strcmp
+        return line < other.line || ( line == other.line && file != other.file && (std::strcmp(file, other.file) < 0));
+    }
+
+    std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ) {
+#ifndef __GNUG__
+        os << info.file << '(' << info.line << ')';
+#else
+        os << info.file << ':' << info.line;
+#endif
+        return os;
+    }
+
+    std::string StreamEndStop::operator+() const {
+        return std::string();
+    }
+
+    NonCopyable::NonCopyable() = default;
+    NonCopyable::~NonCopyable() = default;
+
+}
+// end catch_common.cpp
+// start catch_config.cpp
+
+namespace Catch {
+
+    Config::Config( ConfigData const& data )
+    :   m_data( data ),
+        m_stream( openStream() )
+    {
+        // We need to trim filter specs to avoid trouble with superfluous
+        // whitespace (esp. important for bdd macros, as those are manually
+        // aligned with whitespace).
+
+        for (auto& elem : m_data.testsOrTags) {
+            elem = trim(elem);
+        }
+        for (auto& elem : m_data.sectionsToRun) {
+            elem = trim(elem);
+        }
+
+        TestSpecParser parser(ITagAliasRegistry::get());
+        if (!m_data.testsOrTags.empty()) {
+            m_hasTestFilters = true;
+            for (auto const& testOrTags : m_data.testsOrTags) {
+                parser.parse(testOrTags);
+            }
+        }
+        m_testSpec = parser.testSpec();
+    }
+
+    std::string const& Config::getFilename() const {
+        return m_data.outputFilename ;
+    }
+
+    bool Config::listTests() const          { return m_data.listTests; }
+    bool Config::listTestNamesOnly() const  { return m_data.listTestNamesOnly; }
+    bool Config::listTags() const           { return m_data.listTags; }
+    bool Config::listReporters() const      { return m_data.listReporters; }
+
+    std::string Config::getProcessName() const { return m_data.processName; }
+    std::string const& Config::getReporterName() const { return m_data.reporterName; }
+
+    std::vector<std::string> const& Config::getTestsOrTags() const { return m_data.testsOrTags; }
+    std::vector<std::string> const& Config::getSectionsToRun() const { return m_data.sectionsToRun; }
+
+    TestSpec const& Config::testSpec() const { return m_testSpec; }
+    bool Config::hasTestFilters() const { return m_hasTestFilters; }
+
+    bool Config::showHelp() const { return m_data.showHelp; }
+
+    // IConfig interface
+    bool Config::allowThrows() const                   { return !m_data.noThrow; }
+    std::ostream& Config::stream() const               { return m_stream->stream(); }
+    std::string Config::name() const                   { return m_data.name.empty() ? m_data.processName : m_data.name; }
+    bool Config::includeSuccessfulResults() const      { return m_data.showSuccessfulTests; }
+    bool Config::warnAboutMissingAssertions() const    { return !!(m_data.warnings & WarnAbout::NoAssertions); }
+    bool Config::warnAboutNoTests() const              { return !!(m_data.warnings & WarnAbout::NoTests); }
+    ShowDurations::OrNot Config::showDurations() const { return m_data.showDurations; }
+    RunTests::InWhatOrder Config::runOrder() const     { return m_data.runOrder; }
+    unsigned int Config::rngSeed() const               { return m_data.rngSeed; }
+    UseColour::YesOrNo Config::useColour() const       { return m_data.useColour; }
+    bool Config::shouldDebugBreak() const              { return m_data.shouldDebugBreak; }
+    int Config::abortAfter() const                     { return m_data.abortAfter; }
+    bool Config::showInvisibles() const                { return m_data.showInvisibles; }
+    Verbosity Config::verbosity() const                { return m_data.verbosity; }
+
+    bool Config::benchmarkNoAnalysis() const                      { return m_data.benchmarkNoAnalysis; }
+    int Config::benchmarkSamples() const                          { return m_data.benchmarkSamples; }
+    double Config::benchmarkConfidenceInterval() const            { return m_data.benchmarkConfidenceInterval; }
+    unsigned int Config::benchmarkResamples() const               { return m_data.benchmarkResamples; }
+    std::chrono::milliseconds Config::benchmarkWarmupTime() const { return std::chrono::milliseconds(m_data.benchmarkWarmupTime); }
+
+    IStream const* Config::openStream() {
+        return Catch::makeStream(m_data.outputFilename);
+    }
+
+} // end namespace Catch
+// end catch_config.cpp
+// start catch_console_colour.cpp
+
+#if defined(__clang__)
+#    pragma clang diagnostic push
+#    pragma clang diagnostic ignored "-Wexit-time-destructors"
+#endif
+
+// start catch_errno_guard.h
+
+namespace Catch {
+
+    class ErrnoGuard {
+    public:
+        ErrnoGuard();
+        ~ErrnoGuard();
+    private:
+        int m_oldErrno;
+    };
+
+}
+
+// end catch_errno_guard.h
+#include <sstream>
+
+namespace Catch {
+    namespace {
+
+        struct IColourImpl {
+            virtual ~IColourImpl() = default;
+            virtual void use( Colour::Code _colourCode ) = 0;
+        };
+
+        struct NoColourImpl : IColourImpl {
+            void use( Colour::Code ) override {}
+
+            static IColourImpl* instance() {
+                static NoColourImpl s_instance;
+                return &s_instance;
+            }
+        };
+
+    } // anon namespace
+} // namespace Catch
+
+#if !defined( CATCH_CONFIG_COLOUR_NONE ) && !defined( CATCH_CONFIG_COLOUR_WINDOWS ) && !defined( CATCH_CONFIG_COLOUR_ANSI )
+#   ifdef CATCH_PLATFORM_WINDOWS
+#       define CATCH_CONFIG_COLOUR_WINDOWS
+#   else
+#       define CATCH_CONFIG_COLOUR_ANSI
+#   endif
+#endif
+
+#if defined ( CATCH_CONFIG_COLOUR_WINDOWS ) /////////////////////////////////////////
+
+namespace Catch {
+namespace {
+
+    class Win32ColourImpl : public IColourImpl {
+    public:
+        Win32ColourImpl() : stdoutHandle( GetStdHandle(STD_OUTPUT_HANDLE) )
+        {
+            CONSOLE_SCREEN_BUFFER_INFO csbiInfo;
+            GetConsoleScreenBufferInfo( stdoutHandle, &csbiInfo );
+            originalForegroundAttributes = csbiInfo.wAttributes & ~( BACKGROUND_GREEN | BACKGROUND_RED | BACKGROUND_BLUE | BACKGROUND_INTENSITY );
+            originalBackgroundAttributes = csbiInfo.wAttributes & ~( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE | FOREGROUND_INTENSITY );
+        }
+
+        void use( Colour::Code _colourCode ) override {
+            switch( _colourCode ) {
+                case Colour::None:      return setTextAttribute( originalForegroundAttributes );
+                case Colour::White:     return setTextAttribute( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE );
+                case Colour::Red:       return setTextAttribute( FOREGROUND_RED );
+                case Colour::Green:     return setTextAttribute( FOREGROUND_GREEN );
+                case Colour::Blue:      return setTextAttribute( FOREGROUND_BLUE );
+                case Colour::Cyan:      return setTextAttribute( FOREGROUND_BLUE | FOREGROUND_GREEN );
+                case Colour::Yellow:    return setTextAttribute( FOREGROUND_RED | FOREGROUND_GREEN );
+                case Colour::Grey:      return setTextAttribute( 0 );
+
+                case Colour::LightGrey:     return setTextAttribute( FOREGROUND_INTENSITY );
+                case Colour::BrightRed:     return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED );
+                case Colour::BrightGreen:   return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN );
+                case Colour::BrightWhite:   return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE );
+                case Colour::BrightYellow:  return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED | FOREGROUND_GREEN );
+
+                case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" );
+
+                default:
+                    CATCH_ERROR( "Unknown colour requested" );
+            }
+        }
+
+    private:
+        void setTextAttribute( WORD _textAttribute ) {
+            SetConsoleTextAttribute( stdoutHandle, _textAttribute | originalBackgroundAttributes );
+        }
+        HANDLE stdoutHandle;
+        WORD originalForegroundAttributes;
+        WORD originalBackgroundAttributes;
+    };
+
+    IColourImpl* platformColourInstance() {
+        static Win32ColourImpl s_instance;
+
+        IConfigPtr config = getCurrentContext().getConfig();
+        UseColour::YesOrNo colourMode = config
+            ? config->useColour()
+            : UseColour::Auto;
+        if( colourMode == UseColour::Auto )
+            colourMode = UseColour::Yes;
+        return colourMode == UseColour::Yes
+            ? &s_instance
+            : NoColourImpl::instance();
+    }
+
+} // end anon namespace
+} // end namespace Catch
+
+#elif defined( CATCH_CONFIG_COLOUR_ANSI ) //////////////////////////////////////
+
+#include <unistd.h>
+
+namespace Catch {
+namespace {
+
+    // use POSIX/ ANSI console terminal codes
+    // Thanks to Adam Strzelecki for original contribution
+    // (http://github.com/nanoant)
+    // https://github.com/philsquared/Catch/pull/131
+    class PosixColourImpl : public IColourImpl {
+    public:
+        void use( Colour::Code _colourCode ) override {
+            switch( _colourCode ) {
+                case Colour::None:
+                case Colour::White:     return setColour( "[0m" );
+                case Colour::Red:       return setColour( "[0;31m" );
+                case Colour::Green:     return setColour( "[0;32m" );
+                case Colour::Blue:      return setColour( "[0;34m" );
+                case Colour::Cyan:      return setColour( "[0;36m" );
+                case Colour::Yellow:    return setColour( "[0;33m" );
+                case Colour::Grey:      return setColour( "[1;30m" );
+
+                case Colour::LightGrey:     return setColour( "[0;37m" );
+                case Colour::BrightRed:     return setColour( "[1;31m" );
+                case Colour::BrightGreen:   return setColour( "[1;32m" );
+                case Colour::BrightWhite:   return setColour( "[1;37m" );
+                case Colour::BrightYellow:  return setColour( "[1;33m" );
+
+                case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" );
+                default: CATCH_INTERNAL_ERROR( "Unknown colour requested" );
+            }
+        }
+        static IColourImpl* instance() {
+            static PosixColourImpl s_instance;
+            return &s_instance;
+        }
+
+    private:
+        void setColour( const char* _escapeCode ) {
+            getCurrentContext().getConfig()->stream()
+                << '\033' << _escapeCode;
+        }
+    };
+
+    bool useColourOnPlatform() {
+        return
+#if defined(CATCH_PLATFORM_MAC) || defined(CATCH_PLATFORM_IPHONE)
+            !isDebuggerActive() &&
+#endif
+#if !(defined(__DJGPP__) && defined(__STRICT_ANSI__))
+            isatty(STDOUT_FILENO)
+#else
+            false
+#endif
+            ;
+    }
+    IColourImpl* platformColourInstance() {
+        ErrnoGuard guard;
+        IConfigPtr config = getCurrentContext().getConfig();
+        UseColour::YesOrNo colourMode = config
+            ? config->useColour()
+            : UseColour::Auto;
+        if( colourMode == UseColour::Auto )
+            colourMode = useColourOnPlatform()
+                ? UseColour::Yes
+                : UseColour::No;
+        return colourMode == UseColour::Yes
+            ? PosixColourImpl::instance()
+            : NoColourImpl::instance();
+    }
+
+} // end anon namespace
+} // end namespace Catch
+
+#else  // not Windows or ANSI ///////////////////////////////////////////////
+
+namespace Catch {
+
+    static IColourImpl* platformColourInstance() { return NoColourImpl::instance(); }
+
+} // end namespace Catch
+
+#endif // Windows/ ANSI/ None
+
+namespace Catch {
+
+    Colour::Colour( Code _colourCode ) { use( _colourCode ); }
+    Colour::Colour( Colour&& other ) noexcept {
+        m_moved = other.m_moved;
+        other.m_moved = true;
+    }
+    Colour& Colour::operator=( Colour&& other ) noexcept {
+        m_moved = other.m_moved;
+        other.m_moved  = true;
+        return *this;
+    }
+
+    Colour::~Colour(){ if( !m_moved ) use( None ); }
+
+    void Colour::use( Code _colourCode ) {
+        static IColourImpl* impl = platformColourInstance();
+        // Strictly speaking, this cannot possibly happen.
+        // However, under some conditions it does happen (see #1626),
+        // and this change is small enough that we can let practicality
+        // triumph over purity in this case.
+        if (impl != nullptr) {
+            impl->use( _colourCode );
+        }
+    }
+
+    std::ostream& operator << ( std::ostream& os, Colour const& ) {
+        return os;
+    }
+
+} // end namespace Catch
+
+#if defined(__clang__)
+#    pragma clang diagnostic pop
+#endif
+
+// end catch_console_colour.cpp
+// start catch_context.cpp
+
+namespace Catch {
+
+    class Context : public IMutableContext, NonCopyable {
+
+    public: // IContext
+        IResultCapture* getResultCapture() override {
+            return m_resultCapture;
+        }
+        IRunner* getRunner() override {
+            return m_runner;
+        }
+
+        IConfigPtr const& getConfig() const override {
+            return m_config;
+        }
+
+        ~Context() override;
+
+    public: // IMutableContext
+        void setResultCapture( IResultCapture* resultCapture ) override {
+            m_resultCapture = resultCapture;
+        }
+        void setRunner( IRunner* runner ) override {
+            m_runner = runner;
+        }
+        void setConfig( IConfigPtr const& config ) override {
+            m_config = config;
+        }
+
+        friend IMutableContext& getCurrentMutableContext();
+
+    private:
+        IConfigPtr m_config;
+        IRunner* m_runner = nullptr;
+        IResultCapture* m_resultCapture = nullptr;
+    };
+
+    IMutableContext *IMutableContext::currentContext = nullptr;
+
+    void IMutableContext::createContext()
+    {
+        currentContext = new Context();
+    }
+
+    void cleanUpContext() {
+        delete IMutableContext::currentContext;
+        IMutableContext::currentContext = nullptr;
+    }
+    IContext::~IContext() = default;
+    IMutableContext::~IMutableContext() = default;
+    Context::~Context() = default;
+
+    SimplePcg32& rng() {
+        static SimplePcg32 s_rng;
+        return s_rng;
+    }
+
+}
+// end catch_context.cpp
+// start catch_debug_console.cpp
+
+// start catch_debug_console.h
+
+#include <string>
+
+namespace Catch {
+    void writeToDebugConsole( std::string const& text );
+}
+
+// end catch_debug_console.h
+#if defined(CATCH_CONFIG_ANDROID_LOGWRITE)
+#include <android/log.h>
+
+    namespace Catch {
+        void writeToDebugConsole( std::string const& text ) {
+            __android_log_write( ANDROID_LOG_DEBUG, "Catch", text.c_str() );
+        }
+    }
+
+#elif defined(CATCH_PLATFORM_WINDOWS)
+
+    namespace Catch {
+        void writeToDebugConsole( std::string const& text ) {
+            ::OutputDebugStringA( text.c_str() );
+        }
+    }
+
+#else
+
+    namespace Catch {
+        void writeToDebugConsole( std::string const& text ) {
+            // !TBD: Need a version for Mac/ XCode and other IDEs
+            Catch::cout() << text;
+        }
+    }
+
+#endif // Platform
+// end catch_debug_console.cpp
+// start catch_debugger.cpp
+
+#if defined(CATCH_PLATFORM_MAC) || defined(CATCH_PLATFORM_IPHONE)
+
+#  include <assert.h>
+#  include <stdbool.h>
+#  include <sys/types.h>
+#  include <unistd.h>
+#  include <cstddef>
+#  include <ostream>
+
+#ifdef __apple_build_version__
+    // These headers will only compile with AppleClang (XCode)
+    // For other compilers (Clang, GCC, ... ) we need to exclude them
+#  include <sys/sysctl.h>
+#endif
+
+    namespace Catch {
+        #ifdef __apple_build_version__
+        // The following function is taken directly from the following technical note:
+        // https://developer.apple.com/library/archive/qa/qa1361/_index.html
+
+        // Returns true if the current process is being debugged (either
+        // running under the debugger or has a debugger attached post facto).
+        bool isDebuggerActive(){
+            int                 mib[4];
+            struct kinfo_proc   info;
+            std::size_t         size;
+
+            // Initialize the flags so that, if sysctl fails for some bizarre
+            // reason, we get a predictable result.
+
+            info.kp_proc.p_flag = 0;
+
+            // Initialize mib, which tells sysctl the info we want, in this case
+            // we're looking for information about a specific process ID.
+
+            mib[0] = CTL_KERN;
+            mib[1] = KERN_PROC;
+            mib[2] = KERN_PROC_PID;
+            mib[3] = getpid();
+
+            // Call sysctl.
+
+            size = sizeof(info);
+            if( sysctl(mib, sizeof(mib) / sizeof(*mib), &info, &size, nullptr, 0) != 0 ) {
+                Catch::cerr() << "\n** Call to sysctl failed - unable to determine if debugger is active **\n" << std::endl;
+                return false;
+            }
+
+            // We're being debugged if the P_TRACED flag is set.
+
+            return ( (info.kp_proc.p_flag & P_TRACED) != 0 );
+        }
+        #else
+        bool isDebuggerActive() {
+            // We need to find another way to determine this for non-appleclang compilers on macOS
+            return false;
+        }
+        #endif
+    } // namespace Catch
+
+#elif defined(CATCH_PLATFORM_LINUX)
+    #include <fstream>
+    #include <string>
+
+    namespace Catch{
+        // The standard POSIX way of detecting a debugger is to attempt to
+        // ptrace() the process, but this needs to be done from a child and not
+        // this process itself to still allow attaching to this process later
+        // if wanted, so is rather heavy. Under Linux we have the PID of the
+        // "debugger" (which doesn't need to be gdb, of course, it could also
+        // be strace, for example) in /proc/$PID/status, so just get it from
+        // there instead.
+        bool isDebuggerActive(){
+            // Libstdc++ has a bug, where std::ifstream sets errno to 0
+            // This way our users can properly assert over errno values
+            ErrnoGuard guard;
+            std::ifstream in("/proc/self/status");
+            for( std::string line; std::getline(in, line); ) {
+                static const int PREFIX_LEN = 11;
+                if( line.compare(0, PREFIX_LEN, "TracerPid:\t") == 0 ) {
+                    // We're traced if the PID is not 0 and no other PID starts
+                    // with 0 digit, so it's enough to check for just a single
+                    // character.
+                    return line.length() > PREFIX_LEN && line[PREFIX_LEN] != '0';
+                }
+            }
+
+            return false;
+        }
+    } // namespace Catch
+#elif defined(_MSC_VER)
+    extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent();
+    namespace Catch {
+        bool isDebuggerActive() {
+            return IsDebuggerPresent() != 0;
+        }
+    }
+#elif defined(__MINGW32__)
+    extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent();
+    namespace Catch {
+        bool isDebuggerActive() {
+            return IsDebuggerPresent() != 0;
+        }
+    }
+#else
+    namespace Catch {
+       bool isDebuggerActive() { return false; }
+    }
+#endif // Platform
+// end catch_debugger.cpp
+// start catch_decomposer.cpp
+
+namespace Catch {
+
+    ITransientExpression::~ITransientExpression() = default;
+
+    void formatReconstructedExpression( std::ostream &os, std::string const& lhs, StringRef op, std::string const& rhs ) {
+        if( lhs.size() + rhs.size() < 40 &&
+                lhs.find('\n') == std::string::npos &&
+                rhs.find('\n') == std::string::npos )
+            os << lhs << " " << op << " " << rhs;
+        else
+            os << lhs << "\n" << op << "\n" << rhs;
+    }
+}
+// end catch_decomposer.cpp
+// start catch_enforce.cpp
+
+#include <stdexcept>
+
+namespace Catch {
+#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS_CUSTOM_HANDLER)
+    [[noreturn]]
+    void throw_exception(std::exception const& e) {
+        Catch::cerr() << "Catch will terminate because it needed to throw an exception.\n"
+                      << "The message was: " << e.what() << '\n';
+        std::terminate();
+    }
+#endif
+
+    [[noreturn]]
+    void throw_logic_error(std::string const& msg) {
+        throw_exception(std::logic_error(msg));
+    }
+
+    [[noreturn]]
+    void throw_domain_error(std::string const& msg) {
+        throw_exception(std::domain_error(msg));
+    }
+
+    [[noreturn]]
+    void throw_runtime_error(std::string const& msg) {
+        throw_exception(std::runtime_error(msg));
+    }
+
+} // namespace Catch;
+// end catch_enforce.cpp
+// start catch_enum_values_registry.cpp
+// start catch_enum_values_registry.h
+
+#include <vector>
+#include <memory>
+
+namespace Catch {
+
+    namespace Detail {
+
+        std::unique_ptr<EnumInfo> makeEnumInfo( StringRef enumName, StringRef allValueNames, std::vector<int> const& values );
+
+        class EnumValuesRegistry : public IMutableEnumValuesRegistry {
+
+            std::vector<std::unique_ptr<EnumInfo>> m_enumInfos;
+
+            EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::vector<int> const& values) override;
+        };
+
+        std::vector<StringRef> parseEnums( StringRef enums );
+
+    } // Detail
+
+} // Catch
+
+// end catch_enum_values_registry.h
+
+#include <map>
+#include <cassert>
+
+namespace Catch {
+
+    IMutableEnumValuesRegistry::~IMutableEnumValuesRegistry() {}
+
+    namespace Detail {
+
+        namespace {
+            // Extracts the actual name part of an enum instance
+            // In other words, it returns the Blue part of Bikeshed::Colour::Blue
+            StringRef extractInstanceName(StringRef enumInstance) {
+                // Find last occurence of ":"
+                size_t name_start = enumInstance.size();
+                while (name_start > 0 && enumInstance[name_start - 1] != ':') {
+                    --name_start;
+                }
+                return enumInstance.substr(name_start, enumInstance.size() - name_start);
+            }
+        }
+
+        std::vector<StringRef> parseEnums( StringRef enums ) {
+            auto enumValues = splitStringRef( enums, ',' );
+            std::vector<StringRef> parsed;
+            parsed.reserve( enumValues.size() );
+            for( auto const& enumValue : enumValues ) {
+                parsed.push_back(trim(extractInstanceName(enumValue)));
+            }
+            return parsed;
+        }
+
+        EnumInfo::~EnumInfo() {}
+
+        StringRef EnumInfo::lookup( int value ) const {
+            for( auto const& valueToName : m_values ) {
+                if( valueToName.first == value )
+                    return valueToName.second;
+            }
+            return "{** unexpected enum value **}"_sr;
+        }
+
+        std::unique_ptr<EnumInfo> makeEnumInfo( StringRef enumName, StringRef allValueNames, std::vector<int> const& values ) {
+            std::unique_ptr<EnumInfo> enumInfo( new EnumInfo );
+            enumInfo->m_name = enumName;
+            enumInfo->m_values.reserve( values.size() );
+
+            const auto valueNames = Catch::Detail::parseEnums( allValueNames );
+            assert( valueNames.size() == values.size() );
+            std::size_t i = 0;
+            for( auto value : values )
+                enumInfo->m_values.emplace_back(value, valueNames[i++]);
+
+            return enumInfo;
+        }
+
+        EnumInfo const& EnumValuesRegistry::registerEnum( StringRef enumName, StringRef allValueNames, std::vector<int> const& values ) {
+            m_enumInfos.push_back(makeEnumInfo(enumName, allValueNames, values));
+            return *m_enumInfos.back();
+        }
+
+    } // Detail
+} // Catch
+
+// end catch_enum_values_registry.cpp
+// start catch_errno_guard.cpp
+
+#include <cerrno>
+
+namespace Catch {
+        ErrnoGuard::ErrnoGuard():m_oldErrno(errno){}
+        ErrnoGuard::~ErrnoGuard() { errno = m_oldErrno; }
+}
+// end catch_errno_guard.cpp
+// start catch_exception_translator_registry.cpp
+
+// start catch_exception_translator_registry.h
+
+#include <vector>
+#include <string>
+#include <memory>
+
+namespace Catch {
+
+    class ExceptionTranslatorRegistry : public IExceptionTranslatorRegistry {
+    public:
+        ~ExceptionTranslatorRegistry();
+        virtual void registerTranslator( const IExceptionTranslator* translator );
+        std::string translateActiveException() const override;
+        std::string tryTranslators() const;
+
+    private:
+        std::vector<std::unique_ptr<IExceptionTranslator const>> m_translators;
+    };
+}
+
+// end catch_exception_translator_registry.h
+#ifdef __OBJC__
+#import "Foundation/Foundation.h"
+#endif
+
+namespace Catch {
+
+    ExceptionTranslatorRegistry::~ExceptionTranslatorRegistry() {
+    }
+
+    void ExceptionTranslatorRegistry::registerTranslator( const IExceptionTranslator* translator ) {
+        m_translators.push_back( std::unique_ptr<const IExceptionTranslator>( translator ) );
+    }
+
+#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
+    std::string ExceptionTranslatorRegistry::translateActiveException() const {
+        try {
+#ifdef __OBJC__
+            // In Objective-C try objective-c exceptions first
+            @try {
+                return tryTranslators();
+            }
+            @catch (NSException *exception) {
+                return Catch::Detail::stringify( [exception description] );
+            }
+#else
+            // Compiling a mixed mode project with MSVC means that CLR
+            // exceptions will be caught in (...) as well. However, these
+            // do not fill-in std::current_exception and thus lead to crash
+            // when attempting rethrow.
+            // /EHa switch also causes structured exceptions to be caught
+            // here, but they fill-in current_exception properly, so
+            // at worst the output should be a little weird, instead of
+            // causing a crash.
+            if (std::current_exception() == nullptr) {
+                return "Non C++ exception. Possibly a CLR exception.";
+            }
+            return tryTranslators();
+#endif
+        }
+        catch( TestFailureException& ) {
+            std::rethrow_exception(std::current_exception());
+        }
+        catch( std::exception& ex ) {
+            return ex.what();
+        }
+        catch( std::string& msg ) {
+            return msg;
+        }
+        catch( const char* msg ) {
+            return msg;
+        }
+        catch(...) {
+            return "Unknown exception";
+        }
+    }
+
+    std::string ExceptionTranslatorRegistry::tryTranslators() const {
+        if (m_translators.empty()) {
+            std::rethrow_exception(std::current_exception());
+        } else {
+            return m_translators[0]->translate(m_translators.begin() + 1, m_translators.end());
+        }
+    }
+
+#else // ^^ Exceptions are enabled // Exceptions are disabled vv
+    std::string ExceptionTranslatorRegistry::translateActiveException() const {
+        CATCH_INTERNAL_ERROR("Attempted to translate active exception under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
+    }
+
+    std::string ExceptionTranslatorRegistry::tryTranslators() const {
+        CATCH_INTERNAL_ERROR("Attempted to use exception translators under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
+    }
+#endif
+
+}
+// end catch_exception_translator_registry.cpp
+// start catch_fatal_condition.cpp
+
+#if defined(__GNUC__)
+#    pragma GCC diagnostic push
+#    pragma GCC diagnostic ignored "-Wmissing-field-initializers"
+#endif
+
+#if defined( CATCH_CONFIG_WINDOWS_SEH ) || defined( CATCH_CONFIG_POSIX_SIGNALS )
+
+namespace {
+    // Report the error condition
+    void reportFatal( char const * const message ) {
+        Catch::getCurrentContext().getResultCapture()->handleFatalErrorCondition( message );
+    }
+}
+
+#endif // signals/SEH handling
+
+#if defined( CATCH_CONFIG_WINDOWS_SEH )
+
+namespace Catch {
+    struct SignalDefs { DWORD id; const char* name; };
+
+    // There is no 1-1 mapping between signals and windows exceptions.
+    // Windows can easily distinguish between SO and SigSegV,
+    // but SigInt, SigTerm, etc are handled differently.
+    static SignalDefs signalDefs[] = {
+        { static_cast<DWORD>(EXCEPTION_ILLEGAL_INSTRUCTION),  "SIGILL - Illegal instruction signal" },
+        { static_cast<DWORD>(EXCEPTION_STACK_OVERFLOW), "SIGSEGV - Stack overflow" },
+        { static_cast<DWORD>(EXCEPTION_ACCESS_VIOLATION), "SIGSEGV - Segmentation violation signal" },
+        { static_cast<DWORD>(EXCEPTION_INT_DIVIDE_BY_ZERO), "Divide by zero error" },
+    };
+
+    LONG CALLBACK FatalConditionHandler::handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo) {
+        for (auto const& def : signalDefs) {
+            if (ExceptionInfo->ExceptionRecord->ExceptionCode == def.id) {
+                reportFatal(def.name);
+            }
+        }
+        // If its not an exception we care about, pass it along.
+        // This stops us from eating debugger breaks etc.
+        return EXCEPTION_CONTINUE_SEARCH;
+    }
+
+    FatalConditionHandler::FatalConditionHandler() {
+        isSet = true;
+        // 32k seems enough for Catch to handle stack overflow,
+        // but the value was found experimentally, so there is no strong guarantee
+        guaranteeSize = 32 * 1024;
+        exceptionHandlerHandle = nullptr;
+        // Register as first handler in current chain
+        exceptionHandlerHandle = AddVectoredExceptionHandler(1, handleVectoredException);
+        // Pass in guarantee size to be filled
+        SetThreadStackGuarantee(&guaranteeSize);
+    }
+
+    void FatalConditionHandler::reset() {
+        if (isSet) {
+            RemoveVectoredExceptionHandler(exceptionHandlerHandle);
+            SetThreadStackGuarantee(&guaranteeSize);
+            exceptionHandlerHandle = nullptr;
+            isSet = false;
+        }
+    }
+
+    FatalConditionHandler::~FatalConditionHandler() {
+        reset();
+    }
+
+bool FatalConditionHandler::isSet = false;
+ULONG FatalConditionHandler::guaranteeSize = 0;
+PVOID FatalConditionHandler::exceptionHandlerHandle = nullptr;
+
+} // namespace Catch
+
+#elif defined( CATCH_CONFIG_POSIX_SIGNALS )
+
+namespace Catch {
+
+    struct SignalDefs {
+        int id;
+        const char* name;
+    };
+
+    // 32kb for the alternate stack seems to be sufficient. However, this value
+    // is experimentally determined, so that's not guaranteed.
+    static constexpr std::size_t sigStackSize = 32768 >= MINSIGSTKSZ ? 32768 : MINSIGSTKSZ;
+
+    static SignalDefs signalDefs[] = {
+        { SIGINT,  "SIGINT - Terminal interrupt signal" },
+        { SIGILL,  "SIGILL - Illegal instruction signal" },
+        { SIGFPE,  "SIGFPE - Floating point error signal" },
+        { SIGSEGV, "SIGSEGV - Segmentation violation signal" },
+        { SIGTERM, "SIGTERM - Termination request signal" },
+        { SIGABRT, "SIGABRT - Abort (abnormal termination) signal" }
+    };
+
+    void FatalConditionHandler::handleSignal( int sig ) {
+        char const * name = "<unknown signal>";
+        for (auto const& def : signalDefs) {
+            if (sig == def.id) {
+                name = def.name;
+                break;
+            }
+        }
+        reset();
+        reportFatal(name);
+        raise( sig );
+    }
+
+    FatalConditionHandler::FatalConditionHandler() {
+        isSet = true;
+        stack_t sigStack;
+        sigStack.ss_sp = altStackMem;
+        sigStack.ss_size = sigStackSize;
+        sigStack.ss_flags = 0;
+        sigaltstack(&sigStack, &oldSigStack);
+        struct sigaction sa = { };
+
+        sa.sa_handler = handleSignal;
+        sa.sa_flags = SA_ONSTACK;
+        for (std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i) {
+            sigaction(signalDefs[i].id, &sa, &oldSigActions[i]);
+        }
+    }
+
+    FatalConditionHandler::~FatalConditionHandler() {
+        reset();
+    }
+
+    void FatalConditionHandler::reset() {
+        if( isSet ) {
+            // Set signals back to previous values -- hopefully nobody overwrote them in the meantime
+            for( std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i ) {
+                sigaction(signalDefs[i].id, &oldSigActions[i], nullptr);
+            }
+            // Return the old stack
+            sigaltstack(&oldSigStack, nullptr);
+            isSet = false;
+        }
+    }
+
+    bool FatalConditionHandler::isSet = false;
+    struct sigaction FatalConditionHandler::oldSigActions[sizeof(signalDefs)/sizeof(SignalDefs)] = {};
+    stack_t FatalConditionHandler::oldSigStack = {};
+    char FatalConditionHandler::altStackMem[sigStackSize] = {};
+
+} // namespace Catch
+
+#else
+
+namespace Catch {
+    void FatalConditionHandler::reset() {}
+}
+
+#endif // signals/SEH handling
+
+#if defined(__GNUC__)
+#    pragma GCC diagnostic pop
+#endif
+// end catch_fatal_condition.cpp
+// start catch_generators.cpp
+
+#include <limits>
+#include <set>
+
+namespace Catch {
+
+IGeneratorTracker::~IGeneratorTracker() {}
+
+const char* GeneratorException::what() const noexcept {
+    return m_msg;
+}
+
+namespace Generators {
+
+    GeneratorUntypedBase::~GeneratorUntypedBase() {}
+
+    auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& {
+        return getResultCapture().acquireGeneratorTracker( lineInfo );
+    }
+
+} // namespace Generators
+} // namespace Catch
+// end catch_generators.cpp
+// start catch_interfaces_capture.cpp
+
+namespace Catch {
+    IResultCapture::~IResultCapture() = default;
+}
+// end catch_interfaces_capture.cpp
+// start catch_interfaces_config.cpp
+
+namespace Catch {
+    IConfig::~IConfig() = default;
+}
+// end catch_interfaces_config.cpp
+// start catch_interfaces_exception.cpp
+
+namespace Catch {
+    IExceptionTranslator::~IExceptionTranslator() = default;
+    IExceptionTranslatorRegistry::~IExceptionTranslatorRegistry() = default;
+}
+// end catch_interfaces_exception.cpp
+// start catch_interfaces_registry_hub.cpp
+
+namespace Catch {
+    IRegistryHub::~IRegistryHub() = default;
+    IMutableRegistryHub::~IMutableRegistryHub() = default;
+}
+// end catch_interfaces_registry_hub.cpp
+// start catch_interfaces_reporter.cpp
+
+// start catch_reporter_listening.h
+
+namespace Catch {
+
+    class ListeningReporter : public IStreamingReporter {
+        using Reporters = std::vector<IStreamingReporterPtr>;
+        Reporters m_listeners;
+        IStreamingReporterPtr m_reporter = nullptr;
+        ReporterPreferences m_preferences;
+
+    public:
+        ListeningReporter();
+
+        void addListener( IStreamingReporterPtr&& listener );
+        void addReporter( IStreamingReporterPtr&& reporter );
+
+    public: // IStreamingReporter
+
+        ReporterPreferences getPreferences() const override;
+
+        void noMatchingTestCases( std::string const& spec ) override;
+
+        void reportInvalidArguments(std::string const&arg) override;
+
+        static std::set<Verbosity> getSupportedVerbosities();
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+        void benchmarkPreparing(std::string const& name) override;
+        void benchmarkStarting( BenchmarkInfo const& benchmarkInfo ) override;
+        void benchmarkEnded( BenchmarkStats<> const& benchmarkStats ) override;
+        void benchmarkFailed(std::string const&) override;
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+        void testRunStarting( TestRunInfo const& testRunInfo ) override;
+        void testGroupStarting( GroupInfo const& groupInfo ) override;
+        void testCaseStarting( TestCaseInfo const& testInfo ) override;
+        void sectionStarting( SectionInfo const& sectionInfo ) override;
+        void assertionStarting( AssertionInfo const& assertionInfo ) override;
+
+        // The return value indicates if the messages buffer should be cleared:
+        bool assertionEnded( AssertionStats const& assertionStats ) override;
+        void sectionEnded( SectionStats const& sectionStats ) override;
+        void testCaseEnded( TestCaseStats const& testCaseStats ) override;
+        void testGroupEnded( TestGroupStats const& testGroupStats ) override;
+        void testRunEnded( TestRunStats const& testRunStats ) override;
+
+        void skipTest( TestCaseInfo const& testInfo ) override;
+        bool isMulti() const override;
+
+    };
+
+} // end namespace Catch
+
+// end catch_reporter_listening.h
+namespace Catch {
+
+    ReporterConfig::ReporterConfig( IConfigPtr const& _fullConfig )
+    :   m_stream( &_fullConfig->stream() ), m_fullConfig( _fullConfig ) {}
+
+    ReporterConfig::ReporterConfig( IConfigPtr const& _fullConfig, std::ostream& _stream )
+    :   m_stream( &_stream ), m_fullConfig( _fullConfig ) {}
+
+    std::ostream& ReporterConfig::stream() const { return *m_stream; }
+    IConfigPtr ReporterConfig::fullConfig() const { return m_fullConfig; }
+
+    TestRunInfo::TestRunInfo( std::string const& _name ) : name( _name ) {}
+
+    GroupInfo::GroupInfo(  std::string const& _name,
+                           std::size_t _groupIndex,
+                           std::size_t _groupsCount )
+    :   name( _name ),
+        groupIndex( _groupIndex ),
+        groupsCounts( _groupsCount )
+    {}
+
+     AssertionStats::AssertionStats( AssertionResult const& _assertionResult,
+                                     std::vector<MessageInfo> const& _infoMessages,
+                                     Totals const& _totals )
+    :   assertionResult( _assertionResult ),
+        infoMessages( _infoMessages ),
+        totals( _totals )
+    {
+        assertionResult.m_resultData.lazyExpression.m_transientExpression = _assertionResult.m_resultData.lazyExpression.m_transientExpression;
+
+        if( assertionResult.hasMessage() ) {
+            // Copy message into messages list.
+            // !TBD This should have been done earlier, somewhere
+            MessageBuilder builder( assertionResult.getTestMacroName(), assertionResult.getSourceInfo(), assertionResult.getResultType() );
+            builder << assertionResult.getMessage();
+            builder.m_info.message = builder.m_stream.str();
+
+            infoMessages.push_back( builder.m_info );
+        }
+    }
+
+     AssertionStats::~AssertionStats() = default;
+
+    SectionStats::SectionStats(  SectionInfo const& _sectionInfo,
+                                 Counts const& _assertions,
+                                 double _durationInSeconds,
+                                 bool _missingAssertions )
+    :   sectionInfo( _sectionInfo ),
+        assertions( _assertions ),
+        durationInSeconds( _durationInSeconds ),
+        missingAssertions( _missingAssertions )
+    {}
+
+    SectionStats::~SectionStats() = default;
+
+    TestCaseStats::TestCaseStats(  TestCaseInfo const& _testInfo,
+                                   Totals const& _totals,
+                                   std::string const& _stdOut,
+                                   std::string const& _stdErr,
+                                   bool _aborting )
+    : testInfo( _testInfo ),
+        totals( _totals ),
+        stdOut( _stdOut ),
+        stdErr( _stdErr ),
+        aborting( _aborting )
+    {}
+
+    TestCaseStats::~TestCaseStats() = default;
+
+    TestGroupStats::TestGroupStats( GroupInfo const& _groupInfo,
+                                    Totals const& _totals,
+                                    bool _aborting )
+    :   groupInfo( _groupInfo ),
+        totals( _totals ),
+        aborting( _aborting )
+    {}
+
+    TestGroupStats::TestGroupStats( GroupInfo const& _groupInfo )
+    :   groupInfo( _groupInfo ),
+        aborting( false )
+    {}
+
+    TestGroupStats::~TestGroupStats() = default;
+
+    TestRunStats::TestRunStats(   TestRunInfo const& _runInfo,
+                    Totals const& _totals,
+                    bool _aborting )
+    :   runInfo( _runInfo ),
+        totals( _totals ),
+        aborting( _aborting )
+    {}
+
+    TestRunStats::~TestRunStats() = default;
+
+    void IStreamingReporter::fatalErrorEncountered( StringRef ) {}
+    bool IStreamingReporter::isMulti() const { return false; }
+
+    IReporterFactory::~IReporterFactory() = default;
+    IReporterRegistry::~IReporterRegistry() = default;
+
+} // end namespace Catch
+// end catch_interfaces_reporter.cpp
+// start catch_interfaces_runner.cpp
+
+namespace Catch {
+    IRunner::~IRunner() = default;
+}
+// end catch_interfaces_runner.cpp
+// start catch_interfaces_testcase.cpp
+
+namespace Catch {
+    ITestInvoker::~ITestInvoker() = default;
+    ITestCaseRegistry::~ITestCaseRegistry() = default;
+}
+// end catch_interfaces_testcase.cpp
+// start catch_leak_detector.cpp
+
+#ifdef CATCH_CONFIG_WINDOWS_CRTDBG
+#include <crtdbg.h>
+
+namespace Catch {
+
+    LeakDetector::LeakDetector() {
+        int flag = _CrtSetDbgFlag(_CRTDBG_REPORT_FLAG);
+        flag |= _CRTDBG_LEAK_CHECK_DF;
+        flag |= _CRTDBG_ALLOC_MEM_DF;
+        _CrtSetDbgFlag(flag);
+        _CrtSetReportMode(_CRT_WARN, _CRTDBG_MODE_FILE | _CRTDBG_MODE_DEBUG);
+        _CrtSetReportFile(_CRT_WARN, _CRTDBG_FILE_STDERR);
+        // Change this to leaking allocation's number to break there
+        _CrtSetBreakAlloc(-1);
+    }
+}
+
+#else
+
+    Catch::LeakDetector::LeakDetector() {}
+
+#endif
+
+Catch::LeakDetector::~LeakDetector() {
+    Catch::cleanUp();
+}
+// end catch_leak_detector.cpp
+// start catch_list.cpp
+
+// start catch_list.h
+
+#include <set>
+
+namespace Catch {
+
+    std::size_t listTests( Config const& config );
+
+    std::size_t listTestsNamesOnly( Config const& config );
+
+    struct TagInfo {
+        void add( std::string const& spelling );
+        std::string all() const;
+
+        std::set<std::string> spellings;
+        std::size_t count = 0;
+    };
+
+    std::size_t listTags( Config const& config );
+
+    std::size_t listReporters();
+
+    Option<std::size_t> list( std::shared_ptr<Config> const& config );
+
+} // end namespace Catch
+
+// end catch_list.h
+// start catch_text.h
+
+namespace Catch {
+    using namespace clara::TextFlow;
+}
+
+// end catch_text.h
+#include <limits>
+#include <algorithm>
+#include <iomanip>
+
+namespace Catch {
+
+    std::size_t listTests( Config const& config ) {
+        TestSpec const& testSpec = config.testSpec();
+        if( config.hasTestFilters() )
+            Catch::cout() << "Matching test cases:\n";
+        else {
+            Catch::cout() << "All available test cases:\n";
+        }
+
+        auto matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
+        for( auto const& testCaseInfo : matchedTestCases ) {
+            Colour::Code colour = testCaseInfo.isHidden()
+                ? Colour::SecondaryText
+                : Colour::None;
+            Colour colourGuard( colour );
+
+            Catch::cout() << Column( testCaseInfo.name ).initialIndent( 2 ).indent( 4 ) << "\n";
+            if( config.verbosity() >= Verbosity::High ) {
+                Catch::cout() << Column( Catch::Detail::stringify( testCaseInfo.lineInfo ) ).indent(4) << std::endl;
+                std::string description = testCaseInfo.description;
+                if( description.empty() )
+                    description = "(NO DESCRIPTION)";
+                Catch::cout() << Column( description ).indent(4) << std::endl;
+            }
+            if( !testCaseInfo.tags.empty() )
+                Catch::cout() << Column( testCaseInfo.tagsAsString() ).indent( 6 ) << "\n";
+        }
+
+        if( !config.hasTestFilters() )
+            Catch::cout() << pluralise( matchedTestCases.size(), "test case" ) << '\n' << std::endl;
+        else
+            Catch::cout() << pluralise( matchedTestCases.size(), "matching test case" ) << '\n' << std::endl;
+        return matchedTestCases.size();
+    }
+
+    std::size_t listTestsNamesOnly( Config const& config ) {
+        TestSpec const& testSpec = config.testSpec();
+        std::size_t matchedTests = 0;
+        std::vector<TestCase> matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
+        for( auto const& testCaseInfo : matchedTestCases ) {
+            matchedTests++;
+            if( startsWith( testCaseInfo.name, '#' ) )
+               Catch::cout() << '"' << testCaseInfo.name << '"';
+            else
+               Catch::cout() << testCaseInfo.name;
+            if ( config.verbosity() >= Verbosity::High )
+                Catch::cout() << "\t@" << testCaseInfo.lineInfo;
+            Catch::cout() << std::endl;
+        }
+        return matchedTests;
+    }
+
+    void TagInfo::add( std::string const& spelling ) {
+        ++count;
+        spellings.insert( spelling );
+    }
+
+    std::string TagInfo::all() const {
+        size_t size = 0;
+        for (auto const& spelling : spellings) {
+            // Add 2 for the brackes
+            size += spelling.size() + 2;
+        }
+
+        std::string out; out.reserve(size);
+        for (auto const& spelling : spellings) {
+            out += '[';
+            out += spelling;
+            out += ']';
+        }
+        return out;
+    }
+
+    std::size_t listTags( Config const& config ) {
+        TestSpec const& testSpec = config.testSpec();
+        if( config.hasTestFilters() )
+            Catch::cout() << "Tags for matching test cases:\n";
+        else {
+            Catch::cout() << "All available tags:\n";
+        }
+
+        std::map<std::string, TagInfo> tagCounts;
+
+        std::vector<TestCase> matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
+        for( auto const& testCase : matchedTestCases ) {
+            for( auto const& tagName : testCase.getTestCaseInfo().tags ) {
+                std::string lcaseTagName = toLower( tagName );
+                auto countIt = tagCounts.find( lcaseTagName );
+                if( countIt == tagCounts.end() )
+                    countIt = tagCounts.insert( std::make_pair( lcaseTagName, TagInfo() ) ).first;
+                countIt->second.add( tagName );
+            }
+        }
+
+        for( auto const& tagCount : tagCounts ) {
+            ReusableStringStream rss;
+            rss << "  " << std::setw(2) << tagCount.second.count << "  ";
+            auto str = rss.str();
+            auto wrapper = Column( tagCount.second.all() )
+                                                    .initialIndent( 0 )
+                                                    .indent( str.size() )
+                                                    .width( CATCH_CONFIG_CONSOLE_WIDTH-10 );
+            Catch::cout() << str << wrapper << '\n';
+        }
+        Catch::cout() << pluralise( tagCounts.size(), "tag" ) << '\n' << std::endl;
+        return tagCounts.size();
+    }
+
+    std::size_t listReporters() {
+        Catch::cout() << "Available reporters:\n";
+        IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories();
+        std::size_t maxNameLen = 0;
+        for( auto const& factoryKvp : factories )
+            maxNameLen = (std::max)( maxNameLen, factoryKvp.first.size() );
+
+        for( auto const& factoryKvp : factories ) {
+            Catch::cout()
+                    << Column( factoryKvp.first + ":" )
+                            .indent(2)
+                            .width( 5+maxNameLen )
+                    +  Column( factoryKvp.second->getDescription() )
+                            .initialIndent(0)
+                            .indent(2)
+                            .width( CATCH_CONFIG_CONSOLE_WIDTH - maxNameLen-8 )
+                    << "\n";
+        }
+        Catch::cout() << std::endl;
+        return factories.size();
+    }
+
+    Option<std::size_t> list( std::shared_ptr<Config> const& config ) {
+        Option<std::size_t> listedCount;
+        getCurrentMutableContext().setConfig( config );
+        if( config->listTests() )
+            listedCount = listedCount.valueOr(0) + listTests( *config );
+        if( config->listTestNamesOnly() )
+            listedCount = listedCount.valueOr(0) + listTestsNamesOnly( *config );
+        if( config->listTags() )
+            listedCount = listedCount.valueOr(0) + listTags( *config );
+        if( config->listReporters() )
+            listedCount = listedCount.valueOr(0) + listReporters();
+        return listedCount;
+    }
+
+} // end namespace Catch
+// end catch_list.cpp
+// start catch_matchers.cpp
+
+namespace Catch {
+namespace Matchers {
+    namespace Impl {
+
+        std::string MatcherUntypedBase::toString() const {
+            if( m_cachedToString.empty() )
+                m_cachedToString = describe();
+            return m_cachedToString;
+        }
+
+        MatcherUntypedBase::~MatcherUntypedBase() = default;
+
+    } // namespace Impl
+} // namespace Matchers
+
+using namespace Matchers;
+using Matchers::Impl::MatcherBase;
+
+} // namespace Catch
+// end catch_matchers.cpp
+// start catch_matchers_exception.cpp
+
+namespace Catch {
+namespace Matchers {
+namespace Exception {
+
+bool ExceptionMessageMatcher::match(std::exception const& ex) const {
+    return ex.what() == m_message;
+}
+
+std::string ExceptionMessageMatcher::describe() const {
+    return "exception message matches \"" + m_message + "\"";
+}
+
+}
+Exception::ExceptionMessageMatcher Message(std::string const& message) {
+    return Exception::ExceptionMessageMatcher(message);
+}
+
+// namespace Exception
+} // namespace Matchers
+} // namespace Catch
+// end catch_matchers_exception.cpp
+// start catch_matchers_floating.cpp
+
+// start catch_polyfills.hpp
+
+namespace Catch {
+    bool isnan(float f);
+    bool isnan(double d);
+}
+
+// end catch_polyfills.hpp
+// start catch_to_string.hpp
+
+#include <string>
+
+namespace Catch {
+    template <typename T>
+    std::string to_string(T const& t) {
+#if defined(CATCH_CONFIG_CPP11_TO_STRING)
+        return std::to_string(t);
+#else
+        ReusableStringStream rss;
+        rss << t;
+        return rss.str();
+#endif
+    }
+} // end namespace Catch
+
+// end catch_to_string.hpp
+#include <algorithm>
+#include <cmath>
+#include <cstdlib>
+#include <cstdint>
+#include <cstring>
+#include <sstream>
+#include <type_traits>
+#include <iomanip>
+#include <limits>
+
+namespace Catch {
+namespace {
+
+    int32_t convert(float f) {
+        static_assert(sizeof(float) == sizeof(int32_t), "Important ULP matcher assumption violated");
+        int32_t i;
+        std::memcpy(&i, &f, sizeof(f));
+        return i;
+    }
+
+    int64_t convert(double d) {
+        static_assert(sizeof(double) == sizeof(int64_t), "Important ULP matcher assumption violated");
+        int64_t i;
+        std::memcpy(&i, &d, sizeof(d));
+        return i;
+    }
+
+    template <typename FP>
+    bool almostEqualUlps(FP lhs, FP rhs, uint64_t maxUlpDiff) {
+        // Comparison with NaN should always be false.
+        // This way we can rule it out before getting into the ugly details
+        if (Catch::isnan(lhs) || Catch::isnan(rhs)) {
+            return false;
+        }
+
+        auto lc = convert(lhs);
+        auto rc = convert(rhs);
+
+        if ((lc < 0) != (rc < 0)) {
+            // Potentially we can have +0 and -0
+            return lhs == rhs;
+        }
+
+        auto ulpDiff = std::abs(lc - rc);
+        return static_cast<uint64_t>(ulpDiff) <= maxUlpDiff;
+    }
+
+#if defined(CATCH_CONFIG_GLOBAL_NEXTAFTER)
+
+    float nextafter(float x, float y) {
+        return ::nextafterf(x, y);
+    }
+
+    double nextafter(double x, double y) {
+        return ::nextafter(x, y);
+    }
+
+#endif // ^^^ CATCH_CONFIG_GLOBAL_NEXTAFTER ^^^
+
+template <typename FP>
+FP step(FP start, FP direction, uint64_t steps) {
+    for (uint64_t i = 0; i < steps; ++i) {
+#if defined(CATCH_CONFIG_GLOBAL_NEXTAFTER)
+        start = Catch::nextafter(start, direction);
+#else
+        start = std::nextafter(start, direction);
+#endif
+    }
+    return start;
+}
+
+// Performs equivalent check of std::fabs(lhs - rhs) <= margin
+// But without the subtraction to allow for INFINITY in comparison
+bool marginComparison(double lhs, double rhs, double margin) {
+    return (lhs + margin >= rhs) && (rhs + margin >= lhs);
+}
+
+template <typename FloatingPoint>
+void write(std::ostream& out, FloatingPoint num) {
+    out << std::scientific
+        << std::setprecision(std::numeric_limits<FloatingPoint>::max_digits10 - 1)
+        << num;
+}
+
+} // end anonymous namespace
+
+namespace Matchers {
+namespace Floating {
+
+    enum class FloatingPointKind : uint8_t {
+        Float,
+        Double
+    };
+
+    WithinAbsMatcher::WithinAbsMatcher(double target, double margin)
+        :m_target{ target }, m_margin{ margin } {
+        CATCH_ENFORCE(margin >= 0, "Invalid margin: " << margin << '.'
+            << " Margin has to be non-negative.");
+    }
+
+    // Performs equivalent check of std::fabs(lhs - rhs) <= margin
+    // But without the subtraction to allow for INFINITY in comparison
+    bool WithinAbsMatcher::match(double const& matchee) const {
+        return (matchee + m_margin >= m_target) && (m_target + m_margin >= matchee);
+    }
+
+    std::string WithinAbsMatcher::describe() const {
+        return "is within " + ::Catch::Detail::stringify(m_margin) + " of " + ::Catch::Detail::stringify(m_target);
+    }
+
+    WithinUlpsMatcher::WithinUlpsMatcher(double target, uint64_t ulps, FloatingPointKind baseType)
+        :m_target{ target }, m_ulps{ ulps }, m_type{ baseType } {
+        CATCH_ENFORCE(m_type == FloatingPointKind::Double
+                   || m_ulps < (std::numeric_limits<uint32_t>::max)(),
+            "Provided ULP is impossibly large for a float comparison.");
+    }
+
+#if defined(__clang__)
+#pragma clang diagnostic push
+// Clang <3.5 reports on the default branch in the switch below
+#pragma clang diagnostic ignored "-Wunreachable-code"
+#endif
+
+    bool WithinUlpsMatcher::match(double const& matchee) const {
+        switch (m_type) {
+        case FloatingPointKind::Float:
+            return almostEqualUlps<float>(static_cast<float>(matchee), static_cast<float>(m_target), m_ulps);
+        case FloatingPointKind::Double:
+            return almostEqualUlps<double>(matchee, m_target, m_ulps);
+        default:
+            CATCH_INTERNAL_ERROR( "Unknown FloatingPointKind value" );
+        }
+    }
+
+#if defined(__clang__)
+#pragma clang diagnostic pop
+#endif
+
+    std::string WithinUlpsMatcher::describe() const {
+        std::stringstream ret;
+
+        ret << "is within " << m_ulps << " ULPs of ";
+
+        if (m_type == FloatingPointKind::Float) {
+            write(ret, static_cast<float>(m_target));
+            ret << 'f';
+        } else {
+            write(ret, m_target);
+        }
+
+        ret << " ([";
+        if (m_type == FloatingPointKind::Double) {
+            write(ret, step(m_target, static_cast<double>(-INFINITY), m_ulps));
+            ret << ", ";
+            write(ret, step(m_target, static_cast<double>( INFINITY), m_ulps));
+        } else {
+            // We have to cast INFINITY to float because of MinGW, see #1782
+            write(ret, step(static_cast<float>(m_target), static_cast<float>(-INFINITY), m_ulps));
+            ret << ", ";
+            write(ret, step(static_cast<float>(m_target), static_cast<float>( INFINITY), m_ulps));
+        }
+        ret << "])";
+
+        return ret.str();
+    }
+
+    WithinRelMatcher::WithinRelMatcher(double target, double epsilon):
+        m_target(target),
+        m_epsilon(epsilon){
+        CATCH_ENFORCE(m_epsilon >= 0., "Relative comparison with epsilon <  0 does not make sense.");
+        CATCH_ENFORCE(m_epsilon  < 1., "Relative comparison with epsilon >= 1 does not make sense.");
+    }
+
+    bool WithinRelMatcher::match(double const& matchee) const {
+        const auto relMargin = m_epsilon * (std::max)(std::fabs(matchee), std::fabs(m_target));
+        return marginComparison(matchee, m_target,
+                                std::isinf(relMargin)? 0 : relMargin);
+    }
+
+    std::string WithinRelMatcher::describe() const {
+        Catch::ReusableStringStream sstr;
+        sstr << "and " << m_target << " are within " << m_epsilon * 100. << "% of each other";
+        return sstr.str();
+    }
+
+}// namespace Floating
+
+Floating::WithinUlpsMatcher WithinULP(double target, uint64_t maxUlpDiff) {
+    return Floating::WithinUlpsMatcher(target, maxUlpDiff, Floating::FloatingPointKind::Double);
+}
+
+Floating::WithinUlpsMatcher WithinULP(float target, uint64_t maxUlpDiff) {
+    return Floating::WithinUlpsMatcher(target, maxUlpDiff, Floating::FloatingPointKind::Float);
+}
+
+Floating::WithinAbsMatcher WithinAbs(double target, double margin) {
+    return Floating::WithinAbsMatcher(target, margin);
+}
+
+Floating::WithinRelMatcher WithinRel(double target, double eps) {
+    return Floating::WithinRelMatcher(target, eps);
+}
+
+Floating::WithinRelMatcher WithinRel(double target) {
+    return Floating::WithinRelMatcher(target, std::numeric_limits<double>::epsilon() * 100);
+}
+
+Floating::WithinRelMatcher WithinRel(float target, float eps) {
+    return Floating::WithinRelMatcher(target, eps);
+}
+
+Floating::WithinRelMatcher WithinRel(float target) {
+    return Floating::WithinRelMatcher(target, std::numeric_limits<float>::epsilon() * 100);
+}
+
+} // namespace Matchers
+} // namespace Catch
+
+// end catch_matchers_floating.cpp
+// start catch_matchers_generic.cpp
+
+std::string Catch::Matchers::Generic::Detail::finalizeDescription(const std::string& desc) {
+    if (desc.empty()) {
+        return "matches undescribed predicate";
+    } else {
+        return "matches predicate: \"" + desc + '"';
+    }
+}
+// end catch_matchers_generic.cpp
+// start catch_matchers_string.cpp
+
+#include <regex>
+
+namespace Catch {
+namespace Matchers {
+
+    namespace StdString {
+
+        CasedString::CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity )
+        :   m_caseSensitivity( caseSensitivity ),
+            m_str( adjustString( str ) )
+        {}
+        std::string CasedString::adjustString( std::string const& str ) const {
+            return m_caseSensitivity == CaseSensitive::No
+                   ? toLower( str )
+                   : str;
+        }
+        std::string CasedString::caseSensitivitySuffix() const {
+            return m_caseSensitivity == CaseSensitive::No
+                   ? " (case insensitive)"
+                   : std::string();
+        }
+
+        StringMatcherBase::StringMatcherBase( std::string const& operation, CasedString const& comparator )
+        : m_comparator( comparator ),
+          m_operation( operation ) {
+        }
+
+        std::string StringMatcherBase::describe() const {
+            std::string description;
+            description.reserve(5 + m_operation.size() + m_comparator.m_str.size() +
+                                        m_comparator.caseSensitivitySuffix().size());
+            description += m_operation;
+            description += ": \"";
+            description += m_comparator.m_str;
+            description += "\"";
+            description += m_comparator.caseSensitivitySuffix();
+            return description;
+        }
+
+        EqualsMatcher::EqualsMatcher( CasedString const& comparator ) : StringMatcherBase( "equals", comparator ) {}
+
+        bool EqualsMatcher::match( std::string const& source ) const {
+            return m_comparator.adjustString( source ) == m_comparator.m_str;
+        }
+
+        ContainsMatcher::ContainsMatcher( CasedString const& comparator ) : StringMatcherBase( "contains", comparator ) {}
+
+        bool ContainsMatcher::match( std::string const& source ) const {
+            return contains( m_comparator.adjustString( source ), m_comparator.m_str );
+        }
+
+        StartsWithMatcher::StartsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "starts with", comparator ) {}
+
+        bool StartsWithMatcher::match( std::string const& source ) const {
+            return startsWith( m_comparator.adjustString( source ), m_comparator.m_str );
+        }
+
+        EndsWithMatcher::EndsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "ends with", comparator ) {}
+
+        bool EndsWithMatcher::match( std::string const& source ) const {
+            return endsWith( m_comparator.adjustString( source ), m_comparator.m_str );
+        }
+
+        RegexMatcher::RegexMatcher(std::string regex, CaseSensitive::Choice caseSensitivity): m_regex(std::move(regex)), m_caseSensitivity(caseSensitivity) {}
+
+        bool RegexMatcher::match(std::string const& matchee) const {
+            auto flags = std::regex::ECMAScript; // ECMAScript is the default syntax option anyway
+            if (m_caseSensitivity == CaseSensitive::Choice::No) {
+                flags |= std::regex::icase;
+            }
+            auto reg = std::regex(m_regex, flags);
+            return std::regex_match(matchee, reg);
+        }
+
+        std::string RegexMatcher::describe() const {
+            return "matches " + ::Catch::Detail::stringify(m_regex) + ((m_caseSensitivity == CaseSensitive::Choice::Yes)? " case sensitively" : " case insensitively");
+        }
+
+    } // namespace StdString
+
+    StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
+        return StdString::EqualsMatcher( StdString::CasedString( str, caseSensitivity) );
+    }
+    StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
+        return StdString::ContainsMatcher( StdString::CasedString( str, caseSensitivity) );
+    }
+    StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
+        return StdString::EndsWithMatcher( StdString::CasedString( str, caseSensitivity) );
+    }
+    StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
+        return StdString::StartsWithMatcher( StdString::CasedString( str, caseSensitivity) );
+    }
+
+    StdString::RegexMatcher Matches(std::string const& regex, CaseSensitive::Choice caseSensitivity) {
+        return StdString::RegexMatcher(regex, caseSensitivity);
+    }
+
+} // namespace Matchers
+} // namespace Catch
+// end catch_matchers_string.cpp
+// start catch_message.cpp
+
+// start catch_uncaught_exceptions.h
+
+namespace Catch {
+    bool uncaught_exceptions();
+} // end namespace Catch
+
+// end catch_uncaught_exceptions.h
+#include <cassert>
+#include <stack>
+
+namespace Catch {
+
+    MessageInfo::MessageInfo(   StringRef const& _macroName,
+                                SourceLineInfo const& _lineInfo,
+                                ResultWas::OfType _type )
+    :   macroName( _macroName ),
+        lineInfo( _lineInfo ),
+        type( _type ),
+        sequence( ++globalCount )
+    {}
+
+    bool MessageInfo::operator==( MessageInfo const& other ) const {
+        return sequence == other.sequence;
+    }
+
+    bool MessageInfo::operator<( MessageInfo const& other ) const {
+        return sequence < other.sequence;
+    }
+
+    // This may need protecting if threading support is added
+    unsigned int MessageInfo::globalCount = 0;
+
+    ////////////////////////////////////////////////////////////////////////////
+
+    Catch::MessageBuilder::MessageBuilder( StringRef const& macroName,
+                                           SourceLineInfo const& lineInfo,
+                                           ResultWas::OfType type )
+        :m_info(macroName, lineInfo, type) {}
+
+    ////////////////////////////////////////////////////////////////////////////
+
+    ScopedMessage::ScopedMessage( MessageBuilder const& builder )
+    : m_info( builder.m_info ), m_moved()
+    {
+        m_info.message = builder.m_stream.str();
+        getResultCapture().pushScopedMessage( m_info );
+    }
+
+    ScopedMessage::ScopedMessage( ScopedMessage&& old )
+    : m_info( old.m_info ), m_moved()
+    {
+        old.m_moved = true;
+    }
+
+    ScopedMessage::~ScopedMessage() {
+        if ( !uncaught_exceptions() && !m_moved ){
+            getResultCapture().popScopedMessage(m_info);
+        }
+    }
+
+    Capturer::Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names ) {
+        auto trimmed = [&] (size_t start, size_t end) {
+            while (names[start] == ',' || isspace(names[start])) {
+                ++start;
+            }
+            while (names[end] == ',' || isspace(names[end])) {
+                --end;
+            }
+            return names.substr(start, end - start + 1);
+        };
+        auto skipq = [&] (size_t start, char quote) {
+            for (auto i = start + 1; i < names.size() ; ++i) {
+                if (names[i] == quote)
+                    return i;
+                if (names[i] == '\\')
+                    ++i;
+            }
+            CATCH_INTERNAL_ERROR("CAPTURE parsing encountered unmatched quote");
+        };
+
+        size_t start = 0;
+        std::stack<char> openings;
+        for (size_t pos = 0; pos < names.size(); ++pos) {
+            char c = names[pos];
+            switch (c) {
+            case '[':
+            case '{':
+            case '(':
+            // It is basically impossible to disambiguate between
+            // comparison and start of template args in this context
+//            case '<':
+                openings.push(c);
+                break;
+            case ']':
+            case '}':
+            case ')':
+//           case '>':
+                openings.pop();
+                break;
+            case '"':
+            case '\'':
+                pos = skipq(pos, c);
+                break;
+            case ',':
+                if (start != pos && openings.empty()) {
+                    m_messages.emplace_back(macroName, lineInfo, resultType);
+                    m_messages.back().message = static_cast<std::string>(trimmed(start, pos));
+                    m_messages.back().message += " := ";
+                    start = pos;
+                }
+            }
+        }
+        assert(openings.empty() && "Mismatched openings");
+        m_messages.emplace_back(macroName, lineInfo, resultType);
+        m_messages.back().message = static_cast<std::string>(trimmed(start, names.size() - 1));
+        m_messages.back().message += " := ";
+    }
+    Capturer::~Capturer() {
+        if ( !uncaught_exceptions() ){
+            assert( m_captured == m_messages.size() );
+            for( size_t i = 0; i < m_captured; ++i  )
+                m_resultCapture.popScopedMessage( m_messages[i] );
+        }
+    }
+
+    void Capturer::captureValue( size_t index, std::string const& value ) {
+        assert( index < m_messages.size() );
+        m_messages[index].message += value;
+        m_resultCapture.pushScopedMessage( m_messages[index] );
+        m_captured++;
+    }
+
+} // end namespace Catch
+// end catch_message.cpp
+// start catch_output_redirect.cpp
+
+// start catch_output_redirect.h
+#ifndef TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
+#define TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
+
+#include <cstdio>
+#include <iosfwd>
+#include <string>
+
+namespace Catch {
+
+    class RedirectedStream {
+        std::ostream& m_originalStream;
+        std::ostream& m_redirectionStream;
+        std::streambuf* m_prevBuf;
+
+    public:
+        RedirectedStream( std::ostream& originalStream, std::ostream& redirectionStream );
+        ~RedirectedStream();
+    };
+
+    class RedirectedStdOut {
+        ReusableStringStream m_rss;
+        RedirectedStream m_cout;
+    public:
+        RedirectedStdOut();
+        auto str() const -> std::string;
+    };
+
+    // StdErr has two constituent streams in C++, std::cerr and std::clog
+    // This means that we need to redirect 2 streams into 1 to keep proper
+    // order of writes
+    class RedirectedStdErr {
+        ReusableStringStream m_rss;
+        RedirectedStream m_cerr;
+        RedirectedStream m_clog;
+    public:
+        RedirectedStdErr();
+        auto str() const -> std::string;
+    };
+
+    class RedirectedStreams {
+    public:
+        RedirectedStreams(RedirectedStreams const&) = delete;
+        RedirectedStreams& operator=(RedirectedStreams const&) = delete;
+        RedirectedStreams(RedirectedStreams&&) = delete;
+        RedirectedStreams& operator=(RedirectedStreams&&) = delete;
+
+        RedirectedStreams(std::string& redirectedCout, std::string& redirectedCerr);
+        ~RedirectedStreams();
+    private:
+        std::string& m_redirectedCout;
+        std::string& m_redirectedCerr;
+        RedirectedStdOut m_redirectedStdOut;
+        RedirectedStdErr m_redirectedStdErr;
+    };
+
+#if defined(CATCH_CONFIG_NEW_CAPTURE)
+
+    // Windows's implementation of std::tmpfile is terrible (it tries
+    // to create a file inside system folder, thus requiring elevated
+    // privileges for the binary), so we have to use tmpnam(_s) and
+    // create the file ourselves there.
+    class TempFile {
+    public:
+        TempFile(TempFile const&) = delete;
+        TempFile& operator=(TempFile const&) = delete;
+        TempFile(TempFile&&) = delete;
+        TempFile& operator=(TempFile&&) = delete;
+
+        TempFile();
+        ~TempFile();
+
+        std::FILE* getFile();
+        std::string getContents();
+
+    private:
+        std::FILE* m_file = nullptr;
+    #if defined(_MSC_VER)
+        char m_buffer[L_tmpnam] = { 0 };
+    #endif
+    };
+
+    class OutputRedirect {
+    public:
+        OutputRedirect(OutputRedirect const&) = delete;
+        OutputRedirect& operator=(OutputRedirect const&) = delete;
+        OutputRedirect(OutputRedirect&&) = delete;
+        OutputRedirect& operator=(OutputRedirect&&) = delete;
+
+        OutputRedirect(std::string& stdout_dest, std::string& stderr_dest);
+        ~OutputRedirect();
+
+    private:
+        int m_originalStdout = -1;
+        int m_originalStderr = -1;
+        TempFile m_stdoutFile;
+        TempFile m_stderrFile;
+        std::string& m_stdoutDest;
+        std::string& m_stderrDest;
+    };
+
+#endif
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
+// end catch_output_redirect.h
+#include <cstdio>
+#include <cstring>
+#include <fstream>
+#include <sstream>
+#include <stdexcept>
+
+#if defined(CATCH_CONFIG_NEW_CAPTURE)
+    #if defined(_MSC_VER)
+    #include <io.h>      //_dup and _dup2
+    #define dup _dup
+    #define dup2 _dup2
+    #define fileno _fileno
+    #else
+    #include <unistd.h>  // dup and dup2
+    #endif
+#endif
+
+namespace Catch {
+
+    RedirectedStream::RedirectedStream( std::ostream& originalStream, std::ostream& redirectionStream )
+    :   m_originalStream( originalStream ),
+        m_redirectionStream( redirectionStream ),
+        m_prevBuf( m_originalStream.rdbuf() )
+    {
+        m_originalStream.rdbuf( m_redirectionStream.rdbuf() );
+    }
+
+    RedirectedStream::~RedirectedStream() {
+        m_originalStream.rdbuf( m_prevBuf );
+    }
+
+    RedirectedStdOut::RedirectedStdOut() : m_cout( Catch::cout(), m_rss.get() ) {}
+    auto RedirectedStdOut::str() const -> std::string { return m_rss.str(); }
+
+    RedirectedStdErr::RedirectedStdErr()
+    :   m_cerr( Catch::cerr(), m_rss.get() ),
+        m_clog( Catch::clog(), m_rss.get() )
+    {}
+    auto RedirectedStdErr::str() const -> std::string { return m_rss.str(); }
+
+    RedirectedStreams::RedirectedStreams(std::string& redirectedCout, std::string& redirectedCerr)
+    :   m_redirectedCout(redirectedCout),
+        m_redirectedCerr(redirectedCerr)
+    {}
+
+    RedirectedStreams::~RedirectedStreams() {
+        m_redirectedCout += m_redirectedStdOut.str();
+        m_redirectedCerr += m_redirectedStdErr.str();
+    }
+
+#if defined(CATCH_CONFIG_NEW_CAPTURE)
+
+#if defined(_MSC_VER)
+    TempFile::TempFile() {
+        if (tmpnam_s(m_buffer)) {
+            CATCH_RUNTIME_ERROR("Could not get a temp filename");
+        }
+        if (fopen_s(&m_file, m_buffer, "w")) {
+            char buffer[100];
+            if (strerror_s(buffer, errno)) {
+                CATCH_RUNTIME_ERROR("Could not translate errno to a string");
+            }
+            CATCH_RUNTIME_ERROR("Could not open the temp file: '" << m_buffer << "' because: " << buffer);
+        }
+    }
+#else
+    TempFile::TempFile() {
+        m_file = std::tmpfile();
+        if (!m_file) {
+            CATCH_RUNTIME_ERROR("Could not create a temp file.");
+        }
+    }
+
+#endif
+
+    TempFile::~TempFile() {
+         // TBD: What to do about errors here?
+         std::fclose(m_file);
+         // We manually create the file on Windows only, on Linux
+         // it will be autodeleted
+#if defined(_MSC_VER)
+         std::remove(m_buffer);
+#endif
+    }
+
+    FILE* TempFile::getFile() {
+        return m_file;
+    }
+
+    std::string TempFile::getContents() {
+        std::stringstream sstr;
+        char buffer[100] = {};
+        std::rewind(m_file);
+        while (std::fgets(buffer, sizeof(buffer), m_file)) {
+            sstr << buffer;
+        }
+        return sstr.str();
+    }
+
+    OutputRedirect::OutputRedirect(std::string& stdout_dest, std::string& stderr_dest) :
+        m_originalStdout(dup(1)),
+        m_originalStderr(dup(2)),
+        m_stdoutDest(stdout_dest),
+        m_stderrDest(stderr_dest) {
+        dup2(fileno(m_stdoutFile.getFile()), 1);
+        dup2(fileno(m_stderrFile.getFile()), 2);
+    }
+
+    OutputRedirect::~OutputRedirect() {
+        Catch::cout() << std::flush;
+        fflush(stdout);
+        // Since we support overriding these streams, we flush cerr
+        // even though std::cerr is unbuffered
+        Catch::cerr() << std::flush;
+        Catch::clog() << std::flush;
+        fflush(stderr);
+
+        dup2(m_originalStdout, 1);
+        dup2(m_originalStderr, 2);
+
+        m_stdoutDest += m_stdoutFile.getContents();
+        m_stderrDest += m_stderrFile.getContents();
+    }
+
+#endif // CATCH_CONFIG_NEW_CAPTURE
+
+} // namespace Catch
+
+#if defined(CATCH_CONFIG_NEW_CAPTURE)
+    #if defined(_MSC_VER)
+    #undef dup
+    #undef dup2
+    #undef fileno
+    #endif
+#endif
+// end catch_output_redirect.cpp
+// start catch_polyfills.cpp
+
+#include <cmath>
+
+namespace Catch {
+
+#if !defined(CATCH_CONFIG_POLYFILL_ISNAN)
+    bool isnan(float f) {
+        return std::isnan(f);
+    }
+    bool isnan(double d) {
+        return std::isnan(d);
+    }
+#else
+    // For now we only use this for embarcadero
+    bool isnan(float f) {
+        return std::_isnan(f);
+    }
+    bool isnan(double d) {
+        return std::_isnan(d);
+    }
+#endif
+
+} // end namespace Catch
+// end catch_polyfills.cpp
+// start catch_random_number_generator.cpp
+
+namespace Catch {
+
+namespace {
+
+#if defined(_MSC_VER)
+#pragma warning(push)
+#pragma warning(disable:4146) // we negate uint32 during the rotate
+#endif
+        // Safe rotr implementation thanks to John Regehr
+        uint32_t rotate_right(uint32_t val, uint32_t count) {
+            const uint32_t mask = 31;
+            count &= mask;
+            return (val >> count) | (val << (-count & mask));
+        }
+
+#if defined(_MSC_VER)
+#pragma warning(pop)
+#endif
+
+}
+
+    SimplePcg32::SimplePcg32(result_type seed_) {
+        seed(seed_);
+    }
+
+    void SimplePcg32::seed(result_type seed_) {
+        m_state = 0;
+        (*this)();
+        m_state += seed_;
+        (*this)();
+    }
+
+    void SimplePcg32::discard(uint64_t skip) {
+        // We could implement this to run in O(log n) steps, but this
+        // should suffice for our use case.
+        for (uint64_t s = 0; s < skip; ++s) {
+            static_cast<void>((*this)());
+        }
+    }
+
+    SimplePcg32::result_type SimplePcg32::operator()() {
+        // prepare the output value
+        const uint32_t xorshifted = static_cast<uint32_t>(((m_state >> 18u) ^ m_state) >> 27u);
+        const auto output = rotate_right(xorshifted, m_state >> 59u);
+
+        // advance state
+        m_state = m_state * 6364136223846793005ULL + s_inc;
+
+        return output;
+    }
+
+    bool operator==(SimplePcg32 const& lhs, SimplePcg32 const& rhs) {
+        return lhs.m_state == rhs.m_state;
+    }
+
+    bool operator!=(SimplePcg32 const& lhs, SimplePcg32 const& rhs) {
+        return lhs.m_state != rhs.m_state;
+    }
+}
+// end catch_random_number_generator.cpp
+// start catch_registry_hub.cpp
+
+// start catch_test_case_registry_impl.h
+
+#include <vector>
+#include <set>
+#include <algorithm>
+#include <ios>
+
+namespace Catch {
+
+    class TestCase;
+    struct IConfig;
+
+    std::vector<TestCase> sortTests( IConfig const& config, std::vector<TestCase> const& unsortedTestCases );
+
+    bool isThrowSafe( TestCase const& testCase, IConfig const& config );
+    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config );
+
+    void enforceNoDuplicateTestCases( std::vector<TestCase> const& functions );
+
+    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config );
+    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config );
+
+    class TestRegistry : public ITestCaseRegistry {
+    public:
+        virtual ~TestRegistry() = default;
+
+        virtual void registerTest( TestCase const& testCase );
+
+        std::vector<TestCase> const& getAllTests() const override;
+        std::vector<TestCase> const& getAllTestsSorted( IConfig const& config ) const override;
+
+    private:
+        std::vector<TestCase> m_functions;
+        mutable RunTests::InWhatOrder m_currentSortOrder = RunTests::InDeclarationOrder;
+        mutable std::vector<TestCase> m_sortedFunctions;
+        std::size_t m_unnamedCount = 0;
+        std::ios_base::Init m_ostreamInit; // Forces cout/ cerr to be initialised
+    };
+
+    ///////////////////////////////////////////////////////////////////////////
+
+    class TestInvokerAsFunction : public ITestInvoker {
+        void(*m_testAsFunction)();
+    public:
+        TestInvokerAsFunction( void(*testAsFunction)() ) noexcept;
+
+        void invoke() const override;
+    };
+
+    std::string extractClassName( StringRef const& classOrQualifiedMethodName );
+
+    ///////////////////////////////////////////////////////////////////////////
+
+} // end namespace Catch
+
+// end catch_test_case_registry_impl.h
+// start catch_reporter_registry.h
+
+#include <map>
+
+namespace Catch {
+
+    class ReporterRegistry : public IReporterRegistry {
+
+    public:
+
+        ~ReporterRegistry() override;
+
+        IStreamingReporterPtr create( std::string const& name, IConfigPtr const& config ) const override;
+
+        void registerReporter( std::string const& name, IReporterFactoryPtr const& factory );
+        void registerListener( IReporterFactoryPtr const& factory );
+
+        FactoryMap const& getFactories() const override;
+        Listeners const& getListeners() const override;
+
+    private:
+        FactoryMap m_factories;
+        Listeners m_listeners;
+    };
+}
+
+// end catch_reporter_registry.h
+// start catch_tag_alias_registry.h
+
+// start catch_tag_alias.h
+
+#include <string>
+
+namespace Catch {
+
+    struct TagAlias {
+        TagAlias(std::string const& _tag, SourceLineInfo _lineInfo);
+
+        std::string tag;
+        SourceLineInfo lineInfo;
+    };
+
+} // end namespace Catch
+
+// end catch_tag_alias.h
+#include <map>
+
+namespace Catch {
+
+    class TagAliasRegistry : public ITagAliasRegistry {
+    public:
+        ~TagAliasRegistry() override;
+        TagAlias const* find( std::string const& alias ) const override;
+        std::string expandAliases( std::string const& unexpandedTestSpec ) const override;
+        void add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo );
+
+    private:
+        std::map<std::string, TagAlias> m_registry;
+    };
+
+} // end namespace Catch
+
+// end catch_tag_alias_registry.h
+// start catch_startup_exception_registry.h
+
+#include <vector>
+#include <exception>
+
+namespace Catch {
+
+    class StartupExceptionRegistry {
+    public:
+        void add(std::exception_ptr const& exception) noexcept;
+        std::vector<std::exception_ptr> const& getExceptions() const noexcept;
+    private:
+        std::vector<std::exception_ptr> m_exceptions;
+    };
+
+} // end namespace Catch
+
+// end catch_startup_exception_registry.h
+// start catch_singletons.hpp
+
+namespace Catch {
+
+    struct ISingleton {
+        virtual ~ISingleton();
+    };
+
+    void addSingleton( ISingleton* singleton );
+    void cleanupSingletons();
+
+    template<typename SingletonImplT, typename InterfaceT = SingletonImplT, typename MutableInterfaceT = InterfaceT>
+    class Singleton : SingletonImplT, public ISingleton {
+
+        static auto getInternal() -> Singleton* {
+            static Singleton* s_instance = nullptr;
+            if( !s_instance ) {
+                s_instance = new Singleton;
+                addSingleton( s_instance );
+            }
+            return s_instance;
+        }
+
+    public:
+        static auto get() -> InterfaceT const& {
+            return *getInternal();
+        }
+        static auto getMutable() -> MutableInterfaceT& {
+            return *getInternal();
+        }
+    };
+
+} // namespace Catch
+
+// end catch_singletons.hpp
+namespace Catch {
+
+    namespace {
+
+        class RegistryHub : public IRegistryHub, public IMutableRegistryHub,
+                            private NonCopyable {
+
+        public: // IRegistryHub
+            RegistryHub() = default;
+            IReporterRegistry const& getReporterRegistry() const override {
+                return m_reporterRegistry;
+            }
+            ITestCaseRegistry const& getTestCaseRegistry() const override {
+                return m_testCaseRegistry;
+            }
+            IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const override {
+                return m_exceptionTranslatorRegistry;
+            }
+            ITagAliasRegistry const& getTagAliasRegistry() const override {
+                return m_tagAliasRegistry;
+            }
+            StartupExceptionRegistry const& getStartupExceptionRegistry() const override {
+                return m_exceptionRegistry;
+            }
+
+        public: // IMutableRegistryHub
+            void registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) override {
+                m_reporterRegistry.registerReporter( name, factory );
+            }
+            void registerListener( IReporterFactoryPtr const& factory ) override {
+                m_reporterRegistry.registerListener( factory );
+            }
+            void registerTest( TestCase const& testInfo ) override {
+                m_testCaseRegistry.registerTest( testInfo );
+            }
+            void registerTranslator( const IExceptionTranslator* translator ) override {
+                m_exceptionTranslatorRegistry.registerTranslator( translator );
+            }
+            void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) override {
+                m_tagAliasRegistry.add( alias, tag, lineInfo );
+            }
+            void registerStartupException() noexcept override {
+                m_exceptionRegistry.add(std::current_exception());
+            }
+            IMutableEnumValuesRegistry& getMutableEnumValuesRegistry() override {
+                return m_enumValuesRegistry;
+            }
+
+        private:
+            TestRegistry m_testCaseRegistry;
+            ReporterRegistry m_reporterRegistry;
+            ExceptionTranslatorRegistry m_exceptionTranslatorRegistry;
+            TagAliasRegistry m_tagAliasRegistry;
+            StartupExceptionRegistry m_exceptionRegistry;
+            Detail::EnumValuesRegistry m_enumValuesRegistry;
+        };
+    }
+
+    using RegistryHubSingleton = Singleton<RegistryHub, IRegistryHub, IMutableRegistryHub>;
+
+    IRegistryHub const& getRegistryHub() {
+        return RegistryHubSingleton::get();
+    }
+    IMutableRegistryHub& getMutableRegistryHub() {
+        return RegistryHubSingleton::getMutable();
+    }
+    void cleanUp() {
+        cleanupSingletons();
+        cleanUpContext();
+    }
+    std::string translateActiveException() {
+        return getRegistryHub().getExceptionTranslatorRegistry().translateActiveException();
+    }
+
+} // end namespace Catch
+// end catch_registry_hub.cpp
+// start catch_reporter_registry.cpp
+
+namespace Catch {
+
+    ReporterRegistry::~ReporterRegistry() = default;
+
+    IStreamingReporterPtr ReporterRegistry::create( std::string const& name, IConfigPtr const& config ) const {
+        auto it =  m_factories.find( name );
+        if( it == m_factories.end() )
+            return nullptr;
+        return it->second->create( ReporterConfig( config ) );
+    }
+
+    void ReporterRegistry::registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) {
+        m_factories.emplace(name, factory);
+    }
+    void ReporterRegistry::registerListener( IReporterFactoryPtr const& factory ) {
+        m_listeners.push_back( factory );
+    }
+
+    IReporterRegistry::FactoryMap const& ReporterRegistry::getFactories() const {
+        return m_factories;
+    }
+    IReporterRegistry::Listeners const& ReporterRegistry::getListeners() const {
+        return m_listeners;
+    }
+
+}
+// end catch_reporter_registry.cpp
+// start catch_result_type.cpp
+
+namespace Catch {
+
+    bool isOk( ResultWas::OfType resultType ) {
+        return ( resultType & ResultWas::FailureBit ) == 0;
+    }
+    bool isJustInfo( int flags ) {
+        return flags == ResultWas::Info;
+    }
+
+    ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs ) {
+        return static_cast<ResultDisposition::Flags>( static_cast<int>( lhs ) | static_cast<int>( rhs ) );
+    }
+
+    bool shouldContinueOnFailure( int flags )    { return ( flags & ResultDisposition::ContinueOnFailure ) != 0; }
+    bool shouldSuppressFailure( int flags )      { return ( flags & ResultDisposition::SuppressFail ) != 0; }
+
+} // end namespace Catch
+// end catch_result_type.cpp
+// start catch_run_context.cpp
+
+#include <cassert>
+#include <algorithm>
+#include <sstream>
+
+namespace Catch {
+
+    namespace Generators {
+        struct GeneratorTracker : TestCaseTracking::TrackerBase, IGeneratorTracker {
+            GeneratorBasePtr m_generator;
+
+            GeneratorTracker( TestCaseTracking::NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
+            :   TrackerBase( nameAndLocation, ctx, parent )
+            {}
+            ~GeneratorTracker();
+
+            static GeneratorTracker& acquire( TrackerContext& ctx, TestCaseTracking::NameAndLocation const& nameAndLocation ) {
+                std::shared_ptr<GeneratorTracker> tracker;
+
+                ITracker& currentTracker = ctx.currentTracker();
+                if( TestCaseTracking::ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
+                    assert( childTracker );
+                    assert( childTracker->isGeneratorTracker() );
+                    tracker = std::static_pointer_cast<GeneratorTracker>( childTracker );
+                }
+                else {
+                    tracker = std::make_shared<GeneratorTracker>( nameAndLocation, ctx, &currentTracker );
+                    currentTracker.addChild( tracker );
+                }
+
+                if( !ctx.completedCycle() && !tracker->isComplete() ) {
+                    tracker->open();
+                }
+
+                return *tracker;
+            }
+
+            // TrackerBase interface
+            bool isGeneratorTracker() const override { return true; }
+            auto hasGenerator() const -> bool override {
+                return !!m_generator;
+            }
+            void close() override {
+                TrackerBase::close();
+                // Generator interface only finds out if it has another item on atual move
+                if (m_runState == CompletedSuccessfully && m_generator->next()) {
+                    m_children.clear();
+                    m_runState = Executing;
+                }
+            }
+
+            // IGeneratorTracker interface
+            auto getGenerator() const -> GeneratorBasePtr const& override {
+                return m_generator;
+            }
+            void setGenerator( GeneratorBasePtr&& generator ) override {
+                m_generator = std::move( generator );
+            }
+        };
+        GeneratorTracker::~GeneratorTracker() {}
+    }
+
+    RunContext::RunContext(IConfigPtr const& _config, IStreamingReporterPtr&& reporter)
+    :   m_runInfo(_config->name()),
+        m_context(getCurrentMutableContext()),
+        m_config(_config),
+        m_reporter(std::move(reporter)),
+        m_lastAssertionInfo{ StringRef(), SourceLineInfo("",0), StringRef(), ResultDisposition::Normal },
+        m_includeSuccessfulResults( m_config->includeSuccessfulResults() || m_reporter->getPreferences().shouldReportAllAssertions )
+    {
+        m_context.setRunner(this);
+        m_context.setConfig(m_config);
+        m_context.setResultCapture(this);
+        m_reporter->testRunStarting(m_runInfo);
+    }
+
+    RunContext::~RunContext() {
+        m_reporter->testRunEnded(TestRunStats(m_runInfo, m_totals, aborting()));
+    }
+
+    void RunContext::testGroupStarting(std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount) {
+        m_reporter->testGroupStarting(GroupInfo(testSpec, groupIndex, groupsCount));
+    }
+
+    void RunContext::testGroupEnded(std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount) {
+        m_reporter->testGroupEnded(TestGroupStats(GroupInfo(testSpec, groupIndex, groupsCount), totals, aborting()));
+    }
+
+    Totals RunContext::runTest(TestCase const& testCase) {
+        Totals prevTotals = m_totals;
+
+        std::string redirectedCout;
+        std::string redirectedCerr;
+
+        auto const& testInfo = testCase.getTestCaseInfo();
+
+        m_reporter->testCaseStarting(testInfo);
+
+        m_activeTestCase = &testCase;
+
+        ITracker& rootTracker = m_trackerContext.startRun();
+        assert(rootTracker.isSectionTracker());
+        static_cast<SectionTracker&>(rootTracker).addInitialFilters(m_config->getSectionsToRun());
+        do {
+            m_trackerContext.startCycle();
+            m_testCaseTracker = &SectionTracker::acquire(m_trackerContext, TestCaseTracking::NameAndLocation(testInfo.name, testInfo.lineInfo));
+            runCurrentTest(redirectedCout, redirectedCerr);
+        } while (!m_testCaseTracker->isSuccessfullyCompleted() && !aborting());
+
+        Totals deltaTotals = m_totals.delta(prevTotals);
+        if (testInfo.expectedToFail() && deltaTotals.testCases.passed > 0) {
+            deltaTotals.assertions.failed++;
+            deltaTotals.testCases.passed--;
+            deltaTotals.testCases.failed++;
+        }
+        m_totals.testCases += deltaTotals.testCases;
+        m_reporter->testCaseEnded(TestCaseStats(testInfo,
+                                  deltaTotals,
+                                  redirectedCout,
+                                  redirectedCerr,
+                                  aborting()));
+
+        m_activeTestCase = nullptr;
+        m_testCaseTracker = nullptr;
+
+        return deltaTotals;
+    }
+
+    IConfigPtr RunContext::config() const {
+        return m_config;
+    }
+
+    IStreamingReporter& RunContext::reporter() const {
+        return *m_reporter;
+    }
+
+    void RunContext::assertionEnded(AssertionResult const & result) {
+        if (result.getResultType() == ResultWas::Ok) {
+            m_totals.assertions.passed++;
+            m_lastAssertionPassed = true;
+        } else if (!result.isOk()) {
+            m_lastAssertionPassed = false;
+            if( m_activeTestCase->getTestCaseInfo().okToFail() )
+                m_totals.assertions.failedButOk++;
+            else
+                m_totals.assertions.failed++;
+        }
+        else {
+            m_lastAssertionPassed = true;
+        }
+
+        // We have no use for the return value (whether messages should be cleared), because messages were made scoped
+        // and should be let to clear themselves out.
+        static_cast<void>(m_reporter->assertionEnded(AssertionStats(result, m_messages, m_totals)));
+
+        if (result.getResultType() != ResultWas::Warning)
+            m_messageScopes.clear();
+
+        // Reset working state
+        resetAssertionInfo();
+        m_lastResult = result;
+    }
+    void RunContext::resetAssertionInfo() {
+        m_lastAssertionInfo.macroName = StringRef();
+        m_lastAssertionInfo.capturedExpression = "{Unknown expression after the reported line}"_sr;
+    }
+
+    bool RunContext::sectionStarted(SectionInfo const & sectionInfo, Counts & assertions) {
+        ITracker& sectionTracker = SectionTracker::acquire(m_trackerContext, TestCaseTracking::NameAndLocation(sectionInfo.name, sectionInfo.lineInfo));
+        if (!sectionTracker.isOpen())
+            return false;
+        m_activeSections.push_back(&sectionTracker);
+
+        m_lastAssertionInfo.lineInfo = sectionInfo.lineInfo;
+
+        m_reporter->sectionStarting(sectionInfo);
+
+        assertions = m_totals.assertions;
+
+        return true;
+    }
+    auto RunContext::acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& {
+        using namespace Generators;
+        GeneratorTracker& tracker = GeneratorTracker::acquire( m_trackerContext, TestCaseTracking::NameAndLocation( "generator", lineInfo ) );
+        assert( tracker.isOpen() );
+        m_lastAssertionInfo.lineInfo = lineInfo;
+        return tracker;
+    }
+
+    bool RunContext::testForMissingAssertions(Counts& assertions) {
+        if (assertions.total() != 0)
+            return false;
+        if (!m_config->warnAboutMissingAssertions())
+            return false;
+        if (m_trackerContext.currentTracker().hasChildren())
+            return false;
+        m_totals.assertions.failed++;
+        assertions.failed++;
+        return true;
+    }
+
+    void RunContext::sectionEnded(SectionEndInfo const & endInfo) {
+        Counts assertions = m_totals.assertions - endInfo.prevAssertions;
+        bool missingAssertions = testForMissingAssertions(assertions);
+
+        if (!m_activeSections.empty()) {
+            m_activeSections.back()->close();
+            m_activeSections.pop_back();
+        }
+
+        m_reporter->sectionEnded(SectionStats(endInfo.sectionInfo, assertions, endInfo.durationInSeconds, missingAssertions));
+        m_messages.clear();
+        m_messageScopes.clear();
+    }
+
+    void RunContext::sectionEndedEarly(SectionEndInfo const & endInfo) {
+        if (m_unfinishedSections.empty())
+            m_activeSections.back()->fail();
+        else
+            m_activeSections.back()->close();
+        m_activeSections.pop_back();
+
+        m_unfinishedSections.push_back(endInfo);
+    }
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+    void RunContext::benchmarkPreparing(std::string const& name) {
+		m_reporter->benchmarkPreparing(name);
+	}
+    void RunContext::benchmarkStarting( BenchmarkInfo const& info ) {
+        m_reporter->benchmarkStarting( info );
+    }
+    void RunContext::benchmarkEnded( BenchmarkStats<> const& stats ) {
+        m_reporter->benchmarkEnded( stats );
+    }
+	void RunContext::benchmarkFailed(std::string const & error) {
+		m_reporter->benchmarkFailed(error);
+	}
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+    void RunContext::pushScopedMessage(MessageInfo const & message) {
+        m_messages.push_back(message);
+    }
+
+    void RunContext::popScopedMessage(MessageInfo const & message) {
+        m_messages.erase(std::remove(m_messages.begin(), m_messages.end(), message), m_messages.end());
+    }
+
+    void RunContext::emplaceUnscopedMessage( MessageBuilder const& builder ) {
+        m_messageScopes.emplace_back( builder );
+    }
+
+    std::string RunContext::getCurrentTestName() const {
+        return m_activeTestCase
+            ? m_activeTestCase->getTestCaseInfo().name
+            : std::string();
+    }
+
+    const AssertionResult * RunContext::getLastResult() const {
+        return &(*m_lastResult);
+    }
+
+    void RunContext::exceptionEarlyReported() {
+        m_shouldReportUnexpected = false;
+    }
+
+    void RunContext::handleFatalErrorCondition( StringRef message ) {
+        // First notify reporter that bad things happened
+        m_reporter->fatalErrorEncountered(message);
+
+        // Don't rebuild the result -- the stringification itself can cause more fatal errors
+        // Instead, fake a result data.
+        AssertionResultData tempResult( ResultWas::FatalErrorCondition, { false } );
+        tempResult.message = static_cast<std::string>(message);
+        AssertionResult result(m_lastAssertionInfo, tempResult);
+
+        assertionEnded(result);
+
+        handleUnfinishedSections();
+
+        // Recreate section for test case (as we will lose the one that was in scope)
+        auto const& testCaseInfo = m_activeTestCase->getTestCaseInfo();
+        SectionInfo testCaseSection(testCaseInfo.lineInfo, testCaseInfo.name);
+
+        Counts assertions;
+        assertions.failed = 1;
+        SectionStats testCaseSectionStats(testCaseSection, assertions, 0, false);
+        m_reporter->sectionEnded(testCaseSectionStats);
+
+        auto const& testInfo = m_activeTestCase->getTestCaseInfo();
+
+        Totals deltaTotals;
+        deltaTotals.testCases.failed = 1;
+        deltaTotals.assertions.failed = 1;
+        m_reporter->testCaseEnded(TestCaseStats(testInfo,
+                                  deltaTotals,
+                                  std::string(),
+                                  std::string(),
+                                  false));
+        m_totals.testCases.failed++;
+        testGroupEnded(std::string(), m_totals, 1, 1);
+        m_reporter->testRunEnded(TestRunStats(m_runInfo, m_totals, false));
+    }
+
+    bool RunContext::lastAssertionPassed() {
+         return m_lastAssertionPassed;
+    }
+
+    void RunContext::assertionPassed() {
+        m_lastAssertionPassed = true;
+        ++m_totals.assertions.passed;
+        resetAssertionInfo();
+        m_messageScopes.clear();
+    }
+
+    bool RunContext::aborting() const {
+        return m_totals.assertions.failed >= static_cast<std::size_t>(m_config->abortAfter());
+    }
+
+    void RunContext::runCurrentTest(std::string & redirectedCout, std::string & redirectedCerr) {
+        auto const& testCaseInfo = m_activeTestCase->getTestCaseInfo();
+        SectionInfo testCaseSection(testCaseInfo.lineInfo, testCaseInfo.name);
+        m_reporter->sectionStarting(testCaseSection);
+        Counts prevAssertions = m_totals.assertions;
+        double duration = 0;
+        m_shouldReportUnexpected = true;
+        m_lastAssertionInfo = { "TEST_CASE"_sr, testCaseInfo.lineInfo, StringRef(), ResultDisposition::Normal };
+
+        seedRng(*m_config);
+
+        Timer timer;
+        CATCH_TRY {
+            if (m_reporter->getPreferences().shouldRedirectStdOut) {
+#if !defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT)
+                RedirectedStreams redirectedStreams(redirectedCout, redirectedCerr);
+
+                timer.start();
+                invokeActiveTestCase();
+#else
+                OutputRedirect r(redirectedCout, redirectedCerr);
+                timer.start();
+                invokeActiveTestCase();
+#endif
+            } else {
+                timer.start();
+                invokeActiveTestCase();
+            }
+            duration = timer.getElapsedSeconds();
+        } CATCH_CATCH_ANON (TestFailureException&) {
+            // This just means the test was aborted due to failure
+        } CATCH_CATCH_ALL {
+            // Under CATCH_CONFIG_FAST_COMPILE, unexpected exceptions under REQUIRE assertions
+            // are reported without translation at the point of origin.
+            if( m_shouldReportUnexpected ) {
+                AssertionReaction dummyReaction;
+                handleUnexpectedInflightException( m_lastAssertionInfo, translateActiveException(), dummyReaction );
+            }
+        }
+        Counts assertions = m_totals.assertions - prevAssertions;
+        bool missingAssertions = testForMissingAssertions(assertions);
+
+        m_testCaseTracker->close();
+        handleUnfinishedSections();
+        m_messages.clear();
+        m_messageScopes.clear();
+
+        SectionStats testCaseSectionStats(testCaseSection, assertions, duration, missingAssertions);
+        m_reporter->sectionEnded(testCaseSectionStats);
+    }
+
+    void RunContext::invokeActiveTestCase() {
+        FatalConditionHandler fatalConditionHandler; // Handle signals
+        m_activeTestCase->invoke();
+        fatalConditionHandler.reset();
+    }
+
+    void RunContext::handleUnfinishedSections() {
+        // If sections ended prematurely due to an exception we stored their
+        // infos here so we can tear them down outside the unwind process.
+        for (auto it = m_unfinishedSections.rbegin(),
+             itEnd = m_unfinishedSections.rend();
+             it != itEnd;
+             ++it)
+            sectionEnded(*it);
+        m_unfinishedSections.clear();
+    }
+
+    void RunContext::handleExpr(
+        AssertionInfo const& info,
+        ITransientExpression const& expr,
+        AssertionReaction& reaction
+    ) {
+        m_reporter->assertionStarting( info );
+
+        bool negated = isFalseTest( info.resultDisposition );
+        bool result = expr.getResult() != negated;
+
+        if( result ) {
+            if (!m_includeSuccessfulResults) {
+                assertionPassed();
+            }
+            else {
+                reportExpr(info, ResultWas::Ok, &expr, negated);
+            }
+        }
+        else {
+            reportExpr(info, ResultWas::ExpressionFailed, &expr, negated );
+            populateReaction( reaction );
+        }
+    }
+    void RunContext::reportExpr(
+            AssertionInfo const &info,
+            ResultWas::OfType resultType,
+            ITransientExpression const *expr,
+            bool negated ) {
+
+        m_lastAssertionInfo = info;
+        AssertionResultData data( resultType, LazyExpression( negated ) );
+
+        AssertionResult assertionResult{ info, data };
+        assertionResult.m_resultData.lazyExpression.m_transientExpression = expr;
+
+        assertionEnded( assertionResult );
+    }
+
+    void RunContext::handleMessage(
+            AssertionInfo const& info,
+            ResultWas::OfType resultType,
+            StringRef const& message,
+            AssertionReaction& reaction
+    ) {
+        m_reporter->assertionStarting( info );
+
+        m_lastAssertionInfo = info;
+
+        AssertionResultData data( resultType, LazyExpression( false ) );
+        data.message = static_cast<std::string>(message);
+        AssertionResult assertionResult{ m_lastAssertionInfo, data };
+        assertionEnded( assertionResult );
+        if( !assertionResult.isOk() )
+            populateReaction( reaction );
+    }
+    void RunContext::handleUnexpectedExceptionNotThrown(
+            AssertionInfo const& info,
+            AssertionReaction& reaction
+    ) {
+        handleNonExpr(info, Catch::ResultWas::DidntThrowException, reaction);
+    }
+
+    void RunContext::handleUnexpectedInflightException(
+            AssertionInfo const& info,
+            std::string const& message,
+            AssertionReaction& reaction
+    ) {
+        m_lastAssertionInfo = info;
+
+        AssertionResultData data( ResultWas::ThrewException, LazyExpression( false ) );
+        data.message = message;
+        AssertionResult assertionResult{ info, data };
+        assertionEnded( assertionResult );
+        populateReaction( reaction );
+    }
+
+    void RunContext::populateReaction( AssertionReaction& reaction ) {
+        reaction.shouldDebugBreak = m_config->shouldDebugBreak();
+        reaction.shouldThrow = aborting() || (m_lastAssertionInfo.resultDisposition & ResultDisposition::Normal);
+    }
+
+    void RunContext::handleIncomplete(
+            AssertionInfo const& info
+    ) {
+        m_lastAssertionInfo = info;
+
+        AssertionResultData data( ResultWas::ThrewException, LazyExpression( false ) );
+        data.message = "Exception translation was disabled by CATCH_CONFIG_FAST_COMPILE";
+        AssertionResult assertionResult{ info, data };
+        assertionEnded( assertionResult );
+    }
+    void RunContext::handleNonExpr(
+            AssertionInfo const &info,
+            ResultWas::OfType resultType,
+            AssertionReaction &reaction
+    ) {
+        m_lastAssertionInfo = info;
+
+        AssertionResultData data( resultType, LazyExpression( false ) );
+        AssertionResult assertionResult{ info, data };
+        assertionEnded( assertionResult );
+
+        if( !assertionResult.isOk() )
+            populateReaction( reaction );
+    }
+
+    IResultCapture& getResultCapture() {
+        if (auto* capture = getCurrentContext().getResultCapture())
+            return *capture;
+        else
+            CATCH_INTERNAL_ERROR("No result capture instance");
+    }
+
+    void seedRng(IConfig const& config) {
+        if (config.rngSeed() != 0) {
+            std::srand(config.rngSeed());
+            rng().seed(config.rngSeed());
+        }
+    }
+
+    unsigned int rngSeed() {
+        return getCurrentContext().getConfig()->rngSeed();
+    }
+
+}
+// end catch_run_context.cpp
+// start catch_section.cpp
+
+namespace Catch {
+
+    Section::Section( SectionInfo const& info )
+    :   m_info( info ),
+        m_sectionIncluded( getResultCapture().sectionStarted( m_info, m_assertions ) )
+    {
+        m_timer.start();
+    }
+
+    Section::~Section() {
+        if( m_sectionIncluded ) {
+            SectionEndInfo endInfo{ m_info, m_assertions, m_timer.getElapsedSeconds() };
+            if( uncaught_exceptions() )
+                getResultCapture().sectionEndedEarly( endInfo );
+            else
+                getResultCapture().sectionEnded( endInfo );
+        }
+    }
+
+    // This indicates whether the section should be executed or not
+    Section::operator bool() const {
+        return m_sectionIncluded;
+    }
+
+} // end namespace Catch
+// end catch_section.cpp
+// start catch_section_info.cpp
+
+namespace Catch {
+
+    SectionInfo::SectionInfo
+        (   SourceLineInfo const& _lineInfo,
+            std::string const& _name )
+    :   name( _name ),
+        lineInfo( _lineInfo )
+    {}
+
+} // end namespace Catch
+// end catch_section_info.cpp
+// start catch_session.cpp
+
+// start catch_session.h
+
+#include <memory>
+
+namespace Catch {
+
+    class Session : NonCopyable {
+    public:
+
+        Session();
+        ~Session() override;
+
+        void showHelp() const;
+        void libIdentify();
+
+        int applyCommandLine( int argc, char const * const * argv );
+    #if defined(CATCH_CONFIG_WCHAR) && defined(_WIN32) && defined(UNICODE)
+        int applyCommandLine( int argc, wchar_t const * const * argv );
+    #endif
+
+        void useConfigData( ConfigData const& configData );
+
+        template<typename CharT>
+        int run(int argc, CharT const * const argv[]) {
+            if (m_startupExceptions)
+                return 1;
+            int returnCode = applyCommandLine(argc, argv);
+            if (returnCode == 0)
+                returnCode = run();
+            return returnCode;
+        }
+
+        int run();
+
+        clara::Parser const& cli() const;
+        void cli( clara::Parser const& newParser );
+        ConfigData& configData();
+        Config& config();
+    private:
+        int runInternal();
+
+        clara::Parser m_cli;
+        ConfigData m_configData;
+        std::shared_ptr<Config> m_config;
+        bool m_startupExceptions = false;
+    };
+
+} // end namespace Catch
+
+// end catch_session.h
+// start catch_version.h
+
+#include <iosfwd>
+
+namespace Catch {
+
+    // Versioning information
+    struct Version {
+        Version( Version const& ) = delete;
+        Version& operator=( Version const& ) = delete;
+        Version(    unsigned int _majorVersion,
+                    unsigned int _minorVersion,
+                    unsigned int _patchNumber,
+                    char const * const _branchName,
+                    unsigned int _buildNumber );
+
+        unsigned int const majorVersion;
+        unsigned int const minorVersion;
+        unsigned int const patchNumber;
+
+        // buildNumber is only used if branchName is not null
+        char const * const branchName;
+        unsigned int const buildNumber;
+
+        friend std::ostream& operator << ( std::ostream& os, Version const& version );
+    };
+
+    Version const& libraryVersion();
+}
+
+// end catch_version.h
+#include <cstdlib>
+#include <iomanip>
+#include <set>
+#include <iterator>
+
+namespace Catch {
+
+    namespace {
+        const int MaxExitCode = 255;
+
+        IStreamingReporterPtr createReporter(std::string const& reporterName, IConfigPtr const& config) {
+            auto reporter = Catch::getRegistryHub().getReporterRegistry().create(reporterName, config);
+            CATCH_ENFORCE(reporter, "No reporter registered with name: '" << reporterName << "'");
+
+            return reporter;
+        }
+
+        IStreamingReporterPtr makeReporter(std::shared_ptr<Config> const& config) {
+            if (Catch::getRegistryHub().getReporterRegistry().getListeners().empty()) {
+                return createReporter(config->getReporterName(), config);
+            }
+
+            // On older platforms, returning std::unique_ptr<ListeningReporter>
+            // when the return type is std::unique_ptr<IStreamingReporter>
+            // doesn't compile without a std::move call. However, this causes
+            // a warning on newer platforms. Thus, we have to work around
+            // it a bit and downcast the pointer manually.
+            auto ret = std::unique_ptr<IStreamingReporter>(new ListeningReporter);
+            auto& multi = static_cast<ListeningReporter&>(*ret);
+            auto const& listeners = Catch::getRegistryHub().getReporterRegistry().getListeners();
+            for (auto const& listener : listeners) {
+                multi.addListener(listener->create(Catch::ReporterConfig(config)));
+            }
+            multi.addReporter(createReporter(config->getReporterName(), config));
+            return ret;
+        }
+
+        class TestGroup {
+        public:
+            explicit TestGroup(std::shared_ptr<Config> const& config)
+            : m_config{config}
+            , m_context{config, makeReporter(config)}
+            {
+                auto const& allTestCases = getAllTestCasesSorted(*m_config);
+                m_matches = m_config->testSpec().matchesByFilter(allTestCases, *m_config);
+                auto const& invalidArgs = m_config->testSpec().getInvalidArgs();
+
+                if (m_matches.empty() && invalidArgs.empty()) {
+                    for (auto const& test : allTestCases)
+                        if (!test.isHidden())
+                            m_tests.emplace(&test);
+                } else {
+                    for (auto const& match : m_matches)
+                        m_tests.insert(match.tests.begin(), match.tests.end());
+                }
+            }
+
+            Totals execute() {
+                auto const& invalidArgs = m_config->testSpec().getInvalidArgs();
+                Totals totals;
+                m_context.testGroupStarting(m_config->name(), 1, 1);
+                for (auto const& testCase : m_tests) {
+                    if (!m_context.aborting())
+                        totals += m_context.runTest(*testCase);
+                    else
+                        m_context.reporter().skipTest(*testCase);
+                }
+
+                for (auto const& match : m_matches) {
+                    if (match.tests.empty()) {
+                        m_context.reporter().noMatchingTestCases(match.name);
+                        totals.error = -1;
+                    }
+                }
+
+                if (!invalidArgs.empty()) {
+                    for (auto const& invalidArg: invalidArgs)
+                         m_context.reporter().reportInvalidArguments(invalidArg);
+                }
+
+                m_context.testGroupEnded(m_config->name(), totals, 1, 1);
+                return totals;
+            }
+
+        private:
+            using Tests = std::set<TestCase const*>;
+
+            std::shared_ptr<Config> m_config;
+            RunContext m_context;
+            Tests m_tests;
+            TestSpec::Matches m_matches;
+        };
+
+        void applyFilenamesAsTags(Catch::IConfig const& config) {
+            auto& tests = const_cast<std::vector<TestCase>&>(getAllTestCasesSorted(config));
+            for (auto& testCase : tests) {
+                auto tags = testCase.tags;
+
+                std::string filename = testCase.lineInfo.file;
+                auto lastSlash = filename.find_last_of("\\/");
+                if (lastSlash != std::string::npos) {
+                    filename.erase(0, lastSlash);
+                    filename[0] = '#';
+                }
+
+                auto lastDot = filename.find_last_of('.');
+                if (lastDot != std::string::npos) {
+                    filename.erase(lastDot);
+                }
+
+                tags.push_back(std::move(filename));
+                setTags(testCase, tags);
+            }
+        }
+
+    } // anon namespace
+
+    Session::Session() {
+        static bool alreadyInstantiated = false;
+        if( alreadyInstantiated ) {
+            CATCH_TRY { CATCH_INTERNAL_ERROR( "Only one instance of Catch::Session can ever be used" ); }
+            CATCH_CATCH_ALL { getMutableRegistryHub().registerStartupException(); }
+        }
+
+        // There cannot be exceptions at startup in no-exception mode.
+#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
+        const auto& exceptions = getRegistryHub().getStartupExceptionRegistry().getExceptions();
+        if ( !exceptions.empty() ) {
+            config();
+            getCurrentMutableContext().setConfig(m_config);
+
+            m_startupExceptions = true;
+            Colour colourGuard( Colour::Red );
+            Catch::cerr() << "Errors occurred during startup!" << '\n';
+            // iterate over all exceptions and notify user
+            for ( const auto& ex_ptr : exceptions ) {
+                try {
+                    std::rethrow_exception(ex_ptr);
+                } catch ( std::exception const& ex ) {
+                    Catch::cerr() << Column( ex.what() ).indent(2) << '\n';
+                }
+            }
+        }
+#endif
+
+        alreadyInstantiated = true;
+        m_cli = makeCommandLineParser( m_configData );
+    }
+    Session::~Session() {
+        Catch::cleanUp();
+    }
+
+    void Session::showHelp() const {
+        Catch::cout()
+                << "\nCatch v" << libraryVersion() << "\n"
+                << m_cli << std::endl
+                << "For more detailed usage please see the project docs\n" << std::endl;
+    }
+    void Session::libIdentify() {
+        Catch::cout()
+                << std::left << std::setw(16) << "description: " << "A Catch2 test executable\n"
+                << std::left << std::setw(16) << "category: " << "testframework\n"
+                << std::left << std::setw(16) << "framework: " << "Catch Test\n"
+                << std::left << std::setw(16) << "version: " << libraryVersion() << std::endl;
+    }
+
+    int Session::applyCommandLine( int argc, char const * const * argv ) {
+        if( m_startupExceptions )
+            return 1;
+
+        auto result = m_cli.parse( clara::Args( argc, argv ) );
+        if( !result ) {
+            config();
+            getCurrentMutableContext().setConfig(m_config);
+            Catch::cerr()
+                << Colour( Colour::Red )
+                << "\nError(s) in input:\n"
+                << Column( result.errorMessage() ).indent( 2 )
+                << "\n\n";
+            Catch::cerr() << "Run with -? for usage\n" << std::endl;
+            return MaxExitCode;
+        }
+
+        if( m_configData.showHelp )
+            showHelp();
+        if( m_configData.libIdentify )
+            libIdentify();
+        m_config.reset();
+        return 0;
+    }
+
+#if defined(CATCH_CONFIG_WCHAR) && defined(_WIN32) && defined(UNICODE)
+    int Session::applyCommandLine( int argc, wchar_t const * const * argv ) {
+
+        char **utf8Argv = new char *[ argc ];
+
+        for ( int i = 0; i < argc; ++i ) {
+            int bufSize = WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, nullptr, 0, nullptr, nullptr );
+
+            utf8Argv[ i ] = new char[ bufSize ];
+
+            WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, utf8Argv[i], bufSize, nullptr, nullptr );
+        }
+
+        int returnCode = applyCommandLine( argc, utf8Argv );
+
+        for ( int i = 0; i < argc; ++i )
+            delete [] utf8Argv[ i ];
+
+        delete [] utf8Argv;
+
+        return returnCode;
+    }
+#endif
+
+    void Session::useConfigData( ConfigData const& configData ) {
+        m_configData = configData;
+        m_config.reset();
+    }
+
+    int Session::run() {
+        if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeStart ) != 0 ) {
+            Catch::cout() << "...waiting for enter/ return before starting" << std::endl;
+            static_cast<void>(std::getchar());
+        }
+        int exitCode = runInternal();
+        if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeExit ) != 0 ) {
+            Catch::cout() << "...waiting for enter/ return before exiting, with code: " << exitCode << std::endl;
+            static_cast<void>(std::getchar());
+        }
+        return exitCode;
+    }
+
+    clara::Parser const& Session::cli() const {
+        return m_cli;
+    }
+    void Session::cli( clara::Parser const& newParser ) {
+        m_cli = newParser;
+    }
+    ConfigData& Session::configData() {
+        return m_configData;
+    }
+    Config& Session::config() {
+        if( !m_config )
+            m_config = std::make_shared<Config>( m_configData );
+        return *m_config;
+    }
+
+    int Session::runInternal() {
+        if( m_startupExceptions )
+            return 1;
+
+        if (m_configData.showHelp || m_configData.libIdentify) {
+            return 0;
+        }
+
+        CATCH_TRY {
+            config(); // Force config to be constructed
+
+            seedRng( *m_config );
+
+            if( m_configData.filenamesAsTags )
+                applyFilenamesAsTags( *m_config );
+
+            // Handle list request
+            if( Option<std::size_t> listed = list( m_config ) )
+                return static_cast<int>( *listed );
+
+            TestGroup tests { m_config };
+            auto const totals = tests.execute();
+
+            if( m_config->warnAboutNoTests() && totals.error == -1 )
+                return 2;
+
+            // Note that on unices only the lower 8 bits are usually used, clamping
+            // the return value to 255 prevents false negative when some multiple
+            // of 256 tests has failed
+            return (std::min) (MaxExitCode, (std::max) (totals.error, static_cast<int>(totals.assertions.failed)));
+        }
+#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
+        catch( std::exception& ex ) {
+            Catch::cerr() << ex.what() << std::endl;
+            return MaxExitCode;
+        }
+#endif
+    }
+
+} // end namespace Catch
+// end catch_session.cpp
+// start catch_singletons.cpp
+
+#include <vector>
+
+namespace Catch {
+
+    namespace {
+        static auto getSingletons() -> std::vector<ISingleton*>*& {
+            static std::vector<ISingleton*>* g_singletons = nullptr;
+            if( !g_singletons )
+                g_singletons = new std::vector<ISingleton*>();
+            return g_singletons;
+        }
+    }
+
+    ISingleton::~ISingleton() {}
+
+    void addSingleton(ISingleton* singleton ) {
+        getSingletons()->push_back( singleton );
+    }
+    void cleanupSingletons() {
+        auto& singletons = getSingletons();
+        for( auto singleton : *singletons )
+            delete singleton;
+        delete singletons;
+        singletons = nullptr;
+    }
+
+} // namespace Catch
+// end catch_singletons.cpp
+// start catch_startup_exception_registry.cpp
+
+namespace Catch {
+void StartupExceptionRegistry::add( std::exception_ptr const& exception ) noexcept {
+        CATCH_TRY {
+            m_exceptions.push_back(exception);
+        } CATCH_CATCH_ALL {
+            // If we run out of memory during start-up there's really not a lot more we can do about it
+            std::terminate();
+        }
+    }
+
+    std::vector<std::exception_ptr> const& StartupExceptionRegistry::getExceptions() const noexcept {
+        return m_exceptions;
+    }
+
+} // end namespace Catch
+// end catch_startup_exception_registry.cpp
+// start catch_stream.cpp
+
+#include <cstdio>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <vector>
+#include <memory>
+
+namespace Catch {
+
+    Catch::IStream::~IStream() = default;
+
+    namespace Detail { namespace {
+        template<typename WriterF, std::size_t bufferSize=256>
+        class StreamBufImpl : public std::streambuf {
+            char data[bufferSize];
+            WriterF m_writer;
+
+        public:
+            StreamBufImpl() {
+                setp( data, data + sizeof(data) );
+            }
+
+            ~StreamBufImpl() noexcept {
+                StreamBufImpl::sync();
+            }
+
+        private:
+            int overflow( int c ) override {
+                sync();
+
+                if( c != EOF ) {
+                    if( pbase() == epptr() )
+                        m_writer( std::string( 1, static_cast<char>( c ) ) );
+                    else
+                        sputc( static_cast<char>( c ) );
+                }
+                return 0;
+            }
+
+            int sync() override {
+                if( pbase() != pptr() ) {
+                    m_writer( std::string( pbase(), static_cast<std::string::size_type>( pptr() - pbase() ) ) );
+                    setp( pbase(), epptr() );
+                }
+                return 0;
+            }
+        };
+
+        ///////////////////////////////////////////////////////////////////////////
+
+        struct OutputDebugWriter {
+
+            void operator()( std::string const&str ) {
+                writeToDebugConsole( str );
+            }
+        };
+
+        ///////////////////////////////////////////////////////////////////////////
+
+        class FileStream : public IStream {
+            mutable std::ofstream m_ofs;
+        public:
+            FileStream( StringRef filename ) {
+                m_ofs.open( filename.c_str() );
+                CATCH_ENFORCE( !m_ofs.fail(), "Unable to open file: '" << filename << "'" );
+            }
+            ~FileStream() override = default;
+        public: // IStream
+            std::ostream& stream() const override {
+                return m_ofs;
+            }
+        };
+
+        ///////////////////////////////////////////////////////////////////////////
+
+        class CoutStream : public IStream {
+            mutable std::ostream m_os;
+        public:
+            // Store the streambuf from cout up-front because
+            // cout may get redirected when running tests
+            CoutStream() : m_os( Catch::cout().rdbuf() ) {}
+            ~CoutStream() override = default;
+
+        public: // IStream
+            std::ostream& stream() const override { return m_os; }
+        };
+
+        ///////////////////////////////////////////////////////////////////////////
+
+        class DebugOutStream : public IStream {
+            std::unique_ptr<StreamBufImpl<OutputDebugWriter>> m_streamBuf;
+            mutable std::ostream m_os;
+        public:
+            DebugOutStream()
+            :   m_streamBuf( new StreamBufImpl<OutputDebugWriter>() ),
+                m_os( m_streamBuf.get() )
+            {}
+
+            ~DebugOutStream() override = default;
+
+        public: // IStream
+            std::ostream& stream() const override { return m_os; }
+        };
+
+    }} // namespace anon::detail
+
+    ///////////////////////////////////////////////////////////////////////////
+
+    auto makeStream( StringRef const &filename ) -> IStream const* {
+        if( filename.empty() )
+            return new Detail::CoutStream();
+        else if( filename[0] == '%' ) {
+            if( filename == "%debug" )
+                return new Detail::DebugOutStream();
+            else
+                CATCH_ERROR( "Unrecognised stream: '" << filename << "'" );
+        }
+        else
+            return new Detail::FileStream( filename );
+    }
+
+    // This class encapsulates the idea of a pool of ostringstreams that can be reused.
+    struct StringStreams {
+        std::vector<std::unique_ptr<std::ostringstream>> m_streams;
+        std::vector<std::size_t> m_unused;
+        std::ostringstream m_referenceStream; // Used for copy state/ flags from
+
+        auto add() -> std::size_t {
+            if( m_unused.empty() ) {
+                m_streams.push_back( std::unique_ptr<std::ostringstream>( new std::ostringstream ) );
+                return m_streams.size()-1;
+            }
+            else {
+                auto index = m_unused.back();
+                m_unused.pop_back();
+                return index;
+            }
+        }
+
+        void release( std::size_t index ) {
+            m_streams[index]->copyfmt( m_referenceStream ); // Restore initial flags and other state
+            m_unused.push_back(index);
+        }
+    };
+
+    ReusableStringStream::ReusableStringStream()
+    :   m_index( Singleton<StringStreams>::getMutable().add() ),
+        m_oss( Singleton<StringStreams>::getMutable().m_streams[m_index].get() )
+    {}
+
+    ReusableStringStream::~ReusableStringStream() {
+        static_cast<std::ostringstream*>( m_oss )->str("");
+        m_oss->clear();
+        Singleton<StringStreams>::getMutable().release( m_index );
+    }
+
+    auto ReusableStringStream::str() const -> std::string {
+        return static_cast<std::ostringstream*>( m_oss )->str();
+    }
+
+    ///////////////////////////////////////////////////////////////////////////
+
+#ifndef CATCH_CONFIG_NOSTDOUT // If you #define this you must implement these functions
+    std::ostream& cout() { return std::cout; }
+    std::ostream& cerr() { return std::cerr; }
+    std::ostream& clog() { return std::clog; }
+#endif
+}
+// end catch_stream.cpp
+// start catch_string_manip.cpp
+
+#include <algorithm>
+#include <ostream>
+#include <cstring>
+#include <cctype>
+#include <vector>
+
+namespace Catch {
+
+    namespace {
+        char toLowerCh(char c) {
+            return static_cast<char>( std::tolower( c ) );
+        }
+    }
+
+    bool startsWith( std::string const& s, std::string const& prefix ) {
+        return s.size() >= prefix.size() && std::equal(prefix.begin(), prefix.end(), s.begin());
+    }
+    bool startsWith( std::string const& s, char prefix ) {
+        return !s.empty() && s[0] == prefix;
+    }
+    bool endsWith( std::string const& s, std::string const& suffix ) {
+        return s.size() >= suffix.size() && std::equal(suffix.rbegin(), suffix.rend(), s.rbegin());
+    }
+    bool endsWith( std::string const& s, char suffix ) {
+        return !s.empty() && s[s.size()-1] == suffix;
+    }
+    bool contains( std::string const& s, std::string const& infix ) {
+        return s.find( infix ) != std::string::npos;
+    }
+    void toLowerInPlace( std::string& s ) {
+        std::transform( s.begin(), s.end(), s.begin(), toLowerCh );
+    }
+    std::string toLower( std::string const& s ) {
+        std::string lc = s;
+        toLowerInPlace( lc );
+        return lc;
+    }
+    std::string trim( std::string const& str ) {
+        static char const* whitespaceChars = "\n\r\t ";
+        std::string::size_type start = str.find_first_not_of( whitespaceChars );
+        std::string::size_type end = str.find_last_not_of( whitespaceChars );
+
+        return start != std::string::npos ? str.substr( start, 1+end-start ) : std::string();
+    }
+
+    StringRef trim(StringRef ref) {
+        const auto is_ws = [](char c) {
+            return c == ' ' || c == '\t' || c == '\n' || c == '\r';
+        };
+        size_t real_begin = 0;
+        while (real_begin < ref.size() && is_ws(ref[real_begin])) { ++real_begin; }
+        size_t real_end = ref.size();
+        while (real_end > real_begin && is_ws(ref[real_end - 1])) { --real_end; }
+
+        return ref.substr(real_begin, real_end - real_begin);
+    }
+
+    bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis ) {
+        bool replaced = false;
+        std::size_t i = str.find( replaceThis );
+        while( i != std::string::npos ) {
+            replaced = true;
+            str = str.substr( 0, i ) + withThis + str.substr( i+replaceThis.size() );
+            if( i < str.size()-withThis.size() )
+                i = str.find( replaceThis, i+withThis.size() );
+            else
+                i = std::string::npos;
+        }
+        return replaced;
+    }
+
+    std::vector<StringRef> splitStringRef( StringRef str, char delimiter ) {
+        std::vector<StringRef> subStrings;
+        std::size_t start = 0;
+        for(std::size_t pos = 0; pos < str.size(); ++pos ) {
+            if( str[pos] == delimiter ) {
+                if( pos - start > 1 )
+                    subStrings.push_back( str.substr( start, pos-start ) );
+                start = pos+1;
+            }
+        }
+        if( start < str.size() )
+            subStrings.push_back( str.substr( start, str.size()-start ) );
+        return subStrings;
+    }
+
+    pluralise::pluralise( std::size_t count, std::string const& label )
+    :   m_count( count ),
+        m_label( label )
+    {}
+
+    std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser ) {
+        os << pluraliser.m_count << ' ' << pluraliser.m_label;
+        if( pluraliser.m_count != 1 )
+            os << 's';
+        return os;
+    }
+
+}
+// end catch_string_manip.cpp
+// start catch_stringref.cpp
+
+#include <algorithm>
+#include <ostream>
+#include <cstring>
+#include <cstdint>
+
+namespace Catch {
+    StringRef::StringRef( char const* rawChars ) noexcept
+    : StringRef( rawChars, static_cast<StringRef::size_type>(std::strlen(rawChars) ) )
+    {}
+
+    auto StringRef::c_str() const -> char const* {
+        CATCH_ENFORCE(isNullTerminated(), "Called StringRef::c_str() on a non-null-terminated instance");
+        return m_start;
+    }
+    auto StringRef::data() const noexcept -> char const* {
+        return m_start;
+    }
+
+    auto StringRef::substr( size_type start, size_type size ) const noexcept -> StringRef {
+        if (start < m_size) {
+            return StringRef(m_start + start, (std::min)(m_size - start, size));
+        } else {
+            return StringRef();
+        }
+    }
+    auto StringRef::operator == ( StringRef const& other ) const noexcept -> bool {
+        return m_size == other.m_size
+            && (std::memcmp( m_start, other.m_start, m_size ) == 0);
+    }
+
+    auto operator << ( std::ostream& os, StringRef const& str ) -> std::ostream& {
+        return os.write(str.data(), str.size());
+    }
+
+    auto operator+=( std::string& lhs, StringRef const& rhs ) -> std::string& {
+        lhs.append(rhs.data(), rhs.size());
+        return lhs;
+    }
+
+} // namespace Catch
+// end catch_stringref.cpp
+// start catch_tag_alias.cpp
+
+namespace Catch {
+    TagAlias::TagAlias(std::string const & _tag, SourceLineInfo _lineInfo): tag(_tag), lineInfo(_lineInfo) {}
+}
+// end catch_tag_alias.cpp
+// start catch_tag_alias_autoregistrar.cpp
+
+namespace Catch {
+
+    RegistrarForTagAliases::RegistrarForTagAliases(char const* alias, char const* tag, SourceLineInfo const& lineInfo) {
+        CATCH_TRY {
+            getMutableRegistryHub().registerTagAlias(alias, tag, lineInfo);
+        } CATCH_CATCH_ALL {
+            // Do not throw when constructing global objects, instead register the exception to be processed later
+            getMutableRegistryHub().registerStartupException();
+        }
+    }
+
+}
+// end catch_tag_alias_autoregistrar.cpp
+// start catch_tag_alias_registry.cpp
+
+#include <sstream>
+
+namespace Catch {
+
+    TagAliasRegistry::~TagAliasRegistry() {}
+
+    TagAlias const* TagAliasRegistry::find( std::string const& alias ) const {
+        auto it = m_registry.find( alias );
+        if( it != m_registry.end() )
+            return &(it->second);
+        else
+            return nullptr;
+    }
+
+    std::string TagAliasRegistry::expandAliases( std::string const& unexpandedTestSpec ) const {
+        std::string expandedTestSpec = unexpandedTestSpec;
+        for( auto const& registryKvp : m_registry ) {
+            std::size_t pos = expandedTestSpec.find( registryKvp.first );
+            if( pos != std::string::npos ) {
+                expandedTestSpec =  expandedTestSpec.substr( 0, pos ) +
+                                    registryKvp.second.tag +
+                                    expandedTestSpec.substr( pos + registryKvp.first.size() );
+            }
+        }
+        return expandedTestSpec;
+    }
+
+    void TagAliasRegistry::add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) {
+        CATCH_ENFORCE( startsWith(alias, "[@") && endsWith(alias, ']'),
+                      "error: tag alias, '" << alias << "' is not of the form [@alias name].\n" << lineInfo );
+
+        CATCH_ENFORCE( m_registry.insert(std::make_pair(alias, TagAlias(tag, lineInfo))).second,
+                      "error: tag alias, '" << alias << "' already registered.\n"
+                      << "\tFirst seen at: " << find(alias)->lineInfo << "\n"
+                      << "\tRedefined at: " << lineInfo );
+    }
+
+    ITagAliasRegistry::~ITagAliasRegistry() {}
+
+    ITagAliasRegistry const& ITagAliasRegistry::get() {
+        return getRegistryHub().getTagAliasRegistry();
+    }
+
+} // end namespace Catch
+// end catch_tag_alias_registry.cpp
+// start catch_test_case_info.cpp
+
+#include <cctype>
+#include <exception>
+#include <algorithm>
+#include <sstream>
+
+namespace Catch {
+
+    namespace {
+        TestCaseInfo::SpecialProperties parseSpecialTag( std::string const& tag ) {
+            if( startsWith( tag, '.' ) ||
+                tag == "!hide" )
+                return TestCaseInfo::IsHidden;
+            else if( tag == "!throws" )
+                return TestCaseInfo::Throws;
+            else if( tag == "!shouldfail" )
+                return TestCaseInfo::ShouldFail;
+            else if( tag == "!mayfail" )
+                return TestCaseInfo::MayFail;
+            else if( tag == "!nonportable" )
+                return TestCaseInfo::NonPortable;
+            else if( tag == "!benchmark" )
+                return static_cast<TestCaseInfo::SpecialProperties>( TestCaseInfo::Benchmark | TestCaseInfo::IsHidden );
+            else
+                return TestCaseInfo::None;
+        }
+        bool isReservedTag( std::string const& tag ) {
+            return parseSpecialTag( tag ) == TestCaseInfo::None && tag.size() > 0 && !std::isalnum( static_cast<unsigned char>(tag[0]) );
+        }
+        void enforceNotReservedTag( std::string const& tag, SourceLineInfo const& _lineInfo ) {
+            CATCH_ENFORCE( !isReservedTag(tag),
+                          "Tag name: [" << tag << "] is not allowed.\n"
+                          << "Tag names starting with non alphanumeric characters are reserved\n"
+                          << _lineInfo );
+        }
+    }
+
+    TestCase makeTestCase(  ITestInvoker* _testCase,
+                            std::string const& _className,
+                            NameAndTags const& nameAndTags,
+                            SourceLineInfo const& _lineInfo )
+    {
+        bool isHidden = false;
+
+        // Parse out tags
+        std::vector<std::string> tags;
+        std::string desc, tag;
+        bool inTag = false;
+        for (char c : nameAndTags.tags) {
+            if( !inTag ) {
+                if( c == '[' )
+                    inTag = true;
+                else
+                    desc += c;
+            }
+            else {
+                if( c == ']' ) {
+                    TestCaseInfo::SpecialProperties prop = parseSpecialTag( tag );
+                    if( ( prop & TestCaseInfo::IsHidden ) != 0 )
+                        isHidden = true;
+                    else if( prop == TestCaseInfo::None )
+                        enforceNotReservedTag( tag, _lineInfo );
+
+                    // Merged hide tags like `[.approvals]` should be added as
+                    // `[.][approvals]`. The `[.]` is added at later point, so
+                    // we only strip the prefix
+                    if (startsWith(tag, '.') && tag.size() > 1) {
+                        tag.erase(0, 1);
+                    }
+                    tags.push_back( tag );
+                    tag.clear();
+                    inTag = false;
+                }
+                else
+                    tag += c;
+            }
+        }
+        if( isHidden ) {
+            // Add all "hidden" tags to make them behave identically
+            tags.insert( tags.end(), { ".", "!hide" } );
+        }
+
+        TestCaseInfo info( static_cast<std::string>(nameAndTags.name), _className, desc, tags, _lineInfo );
+        return TestCase( _testCase, std::move(info) );
+    }
+
+    void setTags( TestCaseInfo& testCaseInfo, std::vector<std::string> tags ) {
+        std::sort(begin(tags), end(tags));
+        tags.erase(std::unique(begin(tags), end(tags)), end(tags));
+        testCaseInfo.lcaseTags.clear();
+
+        for( auto const& tag : tags ) {
+            std::string lcaseTag = toLower( tag );
+            testCaseInfo.properties = static_cast<TestCaseInfo::SpecialProperties>( testCaseInfo.properties | parseSpecialTag( lcaseTag ) );
+            testCaseInfo.lcaseTags.push_back( lcaseTag );
+        }
+        testCaseInfo.tags = std::move(tags);
+    }
+
+    TestCaseInfo::TestCaseInfo( std::string const& _name,
+                                std::string const& _className,
+                                std::string const& _description,
+                                std::vector<std::string> const& _tags,
+                                SourceLineInfo const& _lineInfo )
+    :   name( _name ),
+        className( _className ),
+        description( _description ),
+        lineInfo( _lineInfo ),
+        properties( None )
+    {
+        setTags( *this, _tags );
+    }
+
+    bool TestCaseInfo::isHidden() const {
+        return ( properties & IsHidden ) != 0;
+    }
+    bool TestCaseInfo::throws() const {
+        return ( properties & Throws ) != 0;
+    }
+    bool TestCaseInfo::okToFail() const {
+        return ( properties & (ShouldFail | MayFail ) ) != 0;
+    }
+    bool TestCaseInfo::expectedToFail() const {
+        return ( properties & (ShouldFail ) ) != 0;
+    }
+
+    std::string TestCaseInfo::tagsAsString() const {
+        std::string ret;
+        // '[' and ']' per tag
+        std::size_t full_size = 2 * tags.size();
+        for (const auto& tag : tags) {
+            full_size += tag.size();
+        }
+        ret.reserve(full_size);
+        for (const auto& tag : tags) {
+            ret.push_back('[');
+            ret.append(tag);
+            ret.push_back(']');
+        }
+
+        return ret;
+    }
+
+    TestCase::TestCase( ITestInvoker* testCase, TestCaseInfo&& info ) : TestCaseInfo( std::move(info) ), test( testCase ) {}
+
+    TestCase TestCase::withName( std::string const& _newName ) const {
+        TestCase other( *this );
+        other.name = _newName;
+        return other;
+    }
+
+    void TestCase::invoke() const {
+        test->invoke();
+    }
+
+    bool TestCase::operator == ( TestCase const& other ) const {
+        return  test.get() == other.test.get() &&
+                name == other.name &&
+                className == other.className;
+    }
+
+    bool TestCase::operator < ( TestCase const& other ) const {
+        return name < other.name;
+    }
+
+    TestCaseInfo const& TestCase::getTestCaseInfo() const
+    {
+        return *this;
+    }
+
+} // end namespace Catch
+// end catch_test_case_info.cpp
+// start catch_test_case_registry_impl.cpp
+
+#include <sstream>
+
+namespace Catch {
+
+    std::vector<TestCase> sortTests( IConfig const& config, std::vector<TestCase> const& unsortedTestCases ) {
+
+        std::vector<TestCase> sorted = unsortedTestCases;
+
+        switch( config.runOrder() ) {
+            case RunTests::InLexicographicalOrder:
+                std::sort( sorted.begin(), sorted.end() );
+                break;
+            case RunTests::InRandomOrder:
+                seedRng( config );
+                std::shuffle( sorted.begin(), sorted.end(), rng() );
+                break;
+            case RunTests::InDeclarationOrder:
+                // already in declaration order
+                break;
+        }
+        return sorted;
+    }
+
+    bool isThrowSafe( TestCase const& testCase, IConfig const& config ) {
+        return !testCase.throws() || config.allowThrows();
+    }
+
+    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config ) {
+        return testSpec.matches( testCase ) && isThrowSafe( testCase, config );
+    }
+
+    void enforceNoDuplicateTestCases( std::vector<TestCase> const& functions ) {
+        std::set<TestCase> seenFunctions;
+        for( auto const& function : functions ) {
+            auto prev = seenFunctions.insert( function );
+            CATCH_ENFORCE( prev.second,
+                    "error: TEST_CASE( \"" << function.name << "\" ) already defined.\n"
+                    << "\tFirst seen at " << prev.first->getTestCaseInfo().lineInfo << "\n"
+                    << "\tRedefined at " << function.getTestCaseInfo().lineInfo );
+        }
+    }
+
+    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config ) {
+        std::vector<TestCase> filtered;
+        filtered.reserve( testCases.size() );
+        for (auto const& testCase : testCases) {
+            if ((!testSpec.hasFilters() && !testCase.isHidden()) ||
+                (testSpec.hasFilters() && matchTest(testCase, testSpec, config))) {
+                filtered.push_back(testCase);
+            }
+        }
+        return filtered;
+    }
+    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config ) {
+        return getRegistryHub().getTestCaseRegistry().getAllTestsSorted( config );
+    }
+
+    void TestRegistry::registerTest( TestCase const& testCase ) {
+        std::string name = testCase.getTestCaseInfo().name;
+        if( name.empty() ) {
+            ReusableStringStream rss;
+            rss << "Anonymous test case " << ++m_unnamedCount;
+            return registerTest( testCase.withName( rss.str() ) );
+        }
+        m_functions.push_back( testCase );
+    }
+
+    std::vector<TestCase> const& TestRegistry::getAllTests() const {
+        return m_functions;
+    }
+    std::vector<TestCase> const& TestRegistry::getAllTestsSorted( IConfig const& config ) const {
+        if( m_sortedFunctions.empty() )
+            enforceNoDuplicateTestCases( m_functions );
+
+        if(  m_currentSortOrder != config.runOrder() || m_sortedFunctions.empty() ) {
+            m_sortedFunctions = sortTests( config, m_functions );
+            m_currentSortOrder = config.runOrder();
+        }
+        return m_sortedFunctions;
+    }
+
+    ///////////////////////////////////////////////////////////////////////////
+    TestInvokerAsFunction::TestInvokerAsFunction( void(*testAsFunction)() ) noexcept : m_testAsFunction( testAsFunction ) {}
+
+    void TestInvokerAsFunction::invoke() const {
+        m_testAsFunction();
+    }
+
+    std::string extractClassName( StringRef const& classOrQualifiedMethodName ) {
+        std::string className(classOrQualifiedMethodName);
+        if( startsWith( className, '&' ) )
+        {
+            std::size_t lastColons = className.rfind( "::" );
+            std::size_t penultimateColons = className.rfind( "::", lastColons-1 );
+            if( penultimateColons == std::string::npos )
+                penultimateColons = 1;
+            className = className.substr( penultimateColons, lastColons-penultimateColons );
+        }
+        return className;
+    }
+
+} // end namespace Catch
+// end catch_test_case_registry_impl.cpp
+// start catch_test_case_tracker.cpp
+
+#include <algorithm>
+#include <cassert>
+#include <stdexcept>
+#include <memory>
+#include <sstream>
+
+#if defined(__clang__)
+#    pragma clang diagnostic push
+#    pragma clang diagnostic ignored "-Wexit-time-destructors"
+#endif
+
+namespace Catch {
+namespace TestCaseTracking {
+
+    NameAndLocation::NameAndLocation( std::string const& _name, SourceLineInfo const& _location )
+    :   name( _name ),
+        location( _location )
+    {}
+
+    ITracker::~ITracker() = default;
+
+    ITracker& TrackerContext::startRun() {
+        m_rootTracker = std::make_shared<SectionTracker>( NameAndLocation( "{root}", CATCH_INTERNAL_LINEINFO ), *this, nullptr );
+        m_currentTracker = nullptr;
+        m_runState = Executing;
+        return *m_rootTracker;
+    }
+
+    void TrackerContext::endRun() {
+        m_rootTracker.reset();
+        m_currentTracker = nullptr;
+        m_runState = NotStarted;
+    }
+
+    void TrackerContext::startCycle() {
+        m_currentTracker = m_rootTracker.get();
+        m_runState = Executing;
+    }
+    void TrackerContext::completeCycle() {
+        m_runState = CompletedCycle;
+    }
+
+    bool TrackerContext::completedCycle() const {
+        return m_runState == CompletedCycle;
+    }
+    ITracker& TrackerContext::currentTracker() {
+        return *m_currentTracker;
+    }
+    void TrackerContext::setCurrentTracker( ITracker* tracker ) {
+        m_currentTracker = tracker;
+    }
+
+    TrackerBase::TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
+    :   m_nameAndLocation( nameAndLocation ),
+        m_ctx( ctx ),
+        m_parent( parent )
+    {}
+
+    NameAndLocation const& TrackerBase::nameAndLocation() const {
+        return m_nameAndLocation;
+    }
+    bool TrackerBase::isComplete() const {
+        return m_runState == CompletedSuccessfully || m_runState == Failed;
+    }
+    bool TrackerBase::isSuccessfullyCompleted() const {
+        return m_runState == CompletedSuccessfully;
+    }
+    bool TrackerBase::isOpen() const {
+        return m_runState != NotStarted && !isComplete();
+    }
+    bool TrackerBase::hasChildren() const {
+        return !m_children.empty();
+    }
+
+    void TrackerBase::addChild( ITrackerPtr const& child ) {
+        m_children.push_back( child );
+    }
+
+    ITrackerPtr TrackerBase::findChild( NameAndLocation const& nameAndLocation ) {
+        auto it = std::find_if( m_children.begin(), m_children.end(),
+            [&nameAndLocation]( ITrackerPtr const& tracker ){
+                return
+                    tracker->nameAndLocation().location == nameAndLocation.location &&
+                    tracker->nameAndLocation().name == nameAndLocation.name;
+            } );
+        return( it != m_children.end() )
+            ? *it
+            : nullptr;
+    }
+    ITracker& TrackerBase::parent() {
+        assert( m_parent ); // Should always be non-null except for root
+        return *m_parent;
+    }
+
+    void TrackerBase::openChild() {
+        if( m_runState != ExecutingChildren ) {
+            m_runState = ExecutingChildren;
+            if( m_parent )
+                m_parent->openChild();
+        }
+    }
+
+    bool TrackerBase::isSectionTracker() const { return false; }
+    bool TrackerBase::isGeneratorTracker() const { return false; }
+
+    void TrackerBase::open() {
+        m_runState = Executing;
+        moveToThis();
+        if( m_parent )
+            m_parent->openChild();
+    }
+
+    void TrackerBase::close() {
+
+        // Close any still open children (e.g. generators)
+        while( &m_ctx.currentTracker() != this )
+            m_ctx.currentTracker().close();
+
+        switch( m_runState ) {
+            case NeedsAnotherRun:
+                break;
+
+            case Executing:
+                m_runState = CompletedSuccessfully;
+                break;
+            case ExecutingChildren:
+                if( std::all_of(m_children.begin(), m_children.end(), [](ITrackerPtr const& t){ return t->isComplete(); }) )
+                    m_runState = CompletedSuccessfully;
+                break;
+
+            case NotStarted:
+            case CompletedSuccessfully:
+            case Failed:
+                CATCH_INTERNAL_ERROR( "Illogical state: " << m_runState );
+
+            default:
+                CATCH_INTERNAL_ERROR( "Unknown state: " << m_runState );
+        }
+        moveToParent();
+        m_ctx.completeCycle();
+    }
+    void TrackerBase::fail() {
+        m_runState = Failed;
+        if( m_parent )
+            m_parent->markAsNeedingAnotherRun();
+        moveToParent();
+        m_ctx.completeCycle();
+    }
+    void TrackerBase::markAsNeedingAnotherRun() {
+        m_runState = NeedsAnotherRun;
+    }
+
+    void TrackerBase::moveToParent() {
+        assert( m_parent );
+        m_ctx.setCurrentTracker( m_parent );
+    }
+    void TrackerBase::moveToThis() {
+        m_ctx.setCurrentTracker( this );
+    }
+
+    SectionTracker::SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
+    :   TrackerBase( nameAndLocation, ctx, parent ),
+        m_trimmed_name(trim(nameAndLocation.name))
+    {
+        if( parent ) {
+            while( !parent->isSectionTracker() )
+                parent = &parent->parent();
+
+            SectionTracker& parentSection = static_cast<SectionTracker&>( *parent );
+            addNextFilters( parentSection.m_filters );
+        }
+    }
+
+    bool SectionTracker::isComplete() const {
+        bool complete = true;
+
+        if ((m_filters.empty() || m_filters[0] == "")
+            || std::find(m_filters.begin(), m_filters.end(), m_trimmed_name) != m_filters.end()) {
+            complete = TrackerBase::isComplete();
+        }
+        return complete;
+    }
+
+    bool SectionTracker::isSectionTracker() const { return true; }
+
+    SectionTracker& SectionTracker::acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation ) {
+        std::shared_ptr<SectionTracker> section;
+
+        ITracker& currentTracker = ctx.currentTracker();
+        if( ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
+            assert( childTracker );
+            assert( childTracker->isSectionTracker() );
+            section = std::static_pointer_cast<SectionTracker>( childTracker );
+        }
+        else {
+            section = std::make_shared<SectionTracker>( nameAndLocation, ctx, &currentTracker );
+            currentTracker.addChild( section );
+        }
+        if( !ctx.completedCycle() )
+            section->tryOpen();
+        return *section;
+    }
+
+    void SectionTracker::tryOpen() {
+        if( !isComplete() )
+            open();
+    }
+
+    void SectionTracker::addInitialFilters( std::vector<std::string> const& filters ) {
+        if( !filters.empty() ) {
+            m_filters.reserve( m_filters.size() + filters.size() + 2 );
+            m_filters.emplace_back(""); // Root - should never be consulted
+            m_filters.emplace_back(""); // Test Case - not a section filter
+            m_filters.insert( m_filters.end(), filters.begin(), filters.end() );
+        }
+    }
+    void SectionTracker::addNextFilters( std::vector<std::string> const& filters ) {
+        if( filters.size() > 1 )
+            m_filters.insert( m_filters.end(), filters.begin()+1, filters.end() );
+    }
+
+} // namespace TestCaseTracking
+
+using TestCaseTracking::ITracker;
+using TestCaseTracking::TrackerContext;
+using TestCaseTracking::SectionTracker;
+
+} // namespace Catch
+
+#if defined(__clang__)
+#    pragma clang diagnostic pop
+#endif
+// end catch_test_case_tracker.cpp
+// start catch_test_registry.cpp
+
+namespace Catch {
+
+    auto makeTestInvoker( void(*testAsFunction)() ) noexcept -> ITestInvoker* {
+        return new(std::nothrow) TestInvokerAsFunction( testAsFunction );
+    }
+
+    NameAndTags::NameAndTags( StringRef const& name_ , StringRef const& tags_ ) noexcept : name( name_ ), tags( tags_ ) {}
+
+    AutoReg::AutoReg( ITestInvoker* invoker, SourceLineInfo const& lineInfo, StringRef const& classOrMethod, NameAndTags const& nameAndTags ) noexcept {
+        CATCH_TRY {
+            getMutableRegistryHub()
+                    .registerTest(
+                        makeTestCase(
+                            invoker,
+                            extractClassName( classOrMethod ),
+                            nameAndTags,
+                            lineInfo));
+        } CATCH_CATCH_ALL {
+            // Do not throw when constructing global objects, instead register the exception to be processed later
+            getMutableRegistryHub().registerStartupException();
+        }
+    }
+
+    AutoReg::~AutoReg() = default;
+}
+// end catch_test_registry.cpp
+// start catch_test_spec.cpp
+
+#include <algorithm>
+#include <string>
+#include <vector>
+#include <memory>
+
+namespace Catch {
+
+    TestSpec::Pattern::Pattern( std::string const& name )
+    : m_name( name )
+    {}
+
+    TestSpec::Pattern::~Pattern() = default;
+
+    std::string const& TestSpec::Pattern::name() const {
+        return m_name;
+    }
+
+    TestSpec::NamePattern::NamePattern( std::string const& name, std::string const& filterString )
+    : Pattern( filterString )
+    , m_wildcardPattern( toLower( name ), CaseSensitive::No )
+    {}
+
+    bool TestSpec::NamePattern::matches( TestCaseInfo const& testCase ) const {
+        return m_wildcardPattern.matches( testCase.name );
+    }
+
+    TestSpec::TagPattern::TagPattern( std::string const& tag, std::string const& filterString )
+    : Pattern( filterString )
+    , m_tag( toLower( tag ) )
+    {}
+
+    bool TestSpec::TagPattern::matches( TestCaseInfo const& testCase ) const {
+        return std::find(begin(testCase.lcaseTags),
+                         end(testCase.lcaseTags),
+                         m_tag) != end(testCase.lcaseTags);
+    }
+
+    TestSpec::ExcludedPattern::ExcludedPattern( PatternPtr const& underlyingPattern )
+    : Pattern( underlyingPattern->name() )
+    , m_underlyingPattern( underlyingPattern )
+    {}
+
+    bool TestSpec::ExcludedPattern::matches( TestCaseInfo const& testCase ) const {
+        return !m_underlyingPattern->matches( testCase );
+    }
+
+    bool TestSpec::Filter::matches( TestCaseInfo const& testCase ) const {
+        return std::all_of( m_patterns.begin(), m_patterns.end(), [&]( PatternPtr const& p ){ return p->matches( testCase ); } );
+    }
+
+    std::string TestSpec::Filter::name() const {
+        std::string name;
+        for( auto const& p : m_patterns )
+            name += p->name();
+        return name;
+    }
+
+    bool TestSpec::hasFilters() const {
+        return !m_filters.empty();
+    }
+
+    bool TestSpec::matches( TestCaseInfo const& testCase ) const {
+        return std::any_of( m_filters.begin(), m_filters.end(), [&]( Filter const& f ){ return f.matches( testCase ); } );
+    }
+
+    TestSpec::Matches TestSpec::matchesByFilter( std::vector<TestCase> const& testCases, IConfig const& config ) const
+    {
+        Matches matches( m_filters.size() );
+        std::transform( m_filters.begin(), m_filters.end(), matches.begin(), [&]( Filter const& filter ){
+            std::vector<TestCase const*> currentMatches;
+            for( auto const& test : testCases )
+                if( isThrowSafe( test, config ) && filter.matches( test ) )
+                    currentMatches.emplace_back( &test );
+            return FilterMatch{ filter.name(), currentMatches };
+        } );
+        return matches;
+    }
+
+    const TestSpec::vectorStrings& TestSpec::getInvalidArgs() const{
+        return  (m_invalidArgs);
+    }
+
+}
+// end catch_test_spec.cpp
+// start catch_test_spec_parser.cpp
+
+namespace Catch {
+
+    TestSpecParser::TestSpecParser( ITagAliasRegistry const& tagAliases ) : m_tagAliases( &tagAliases ) {}
+
+    TestSpecParser& TestSpecParser::parse( std::string const& arg ) {
+        m_mode = None;
+        m_exclusion = false;
+        m_arg = m_tagAliases->expandAliases( arg );
+        m_escapeChars.clear();
+        m_substring.reserve(m_arg.size());
+        m_patternName.reserve(m_arg.size());
+        m_realPatternPos = 0;
+
+        for( m_pos = 0; m_pos < m_arg.size(); ++m_pos )
+          //if visitChar fails
+           if( !visitChar( m_arg[m_pos] ) ){
+               m_testSpec.m_invalidArgs.push_back(arg);
+               break;
+           }
+        endMode();
+        return *this;
+    }
+    TestSpec TestSpecParser::testSpec() {
+        addFilter();
+        return m_testSpec;
+    }
+    bool TestSpecParser::visitChar( char c ) {
+        if( (m_mode != EscapedName) && (c == '\\') ) {
+            escape();
+            addCharToPattern(c);
+            return true;
+        }else if((m_mode != EscapedName) && (c == ',') )  {
+            return separate();
+        }
+
+        switch( m_mode ) {
+        case None:
+            if( processNoneChar( c ) )
+                return true;
+            break;
+        case Name:
+            processNameChar( c );
+            break;
+        case EscapedName:
+            endMode();
+            addCharToPattern(c);
+            return true;
+        default:
+        case Tag:
+        case QuotedName:
+            if( processOtherChar( c ) )
+                return true;
+            break;
+        }
+
+        m_substring += c;
+        if( !isControlChar( c ) ) {
+            m_patternName += c;
+            m_realPatternPos++;
+        }
+        return true;
+    }
+    // Two of the processing methods return true to signal the caller to return
+    // without adding the given character to the current pattern strings
+    bool TestSpecParser::processNoneChar( char c ) {
+        switch( c ) {
+        case ' ':
+            return true;
+        case '~':
+            m_exclusion = true;
+            return false;
+        case '[':
+            startNewMode( Tag );
+            return false;
+        case '"':
+            startNewMode( QuotedName );
+            return false;
+        default:
+            startNewMode( Name );
+            return false;
+        }
+    }
+    void TestSpecParser::processNameChar( char c ) {
+        if( c == '[' ) {
+            if( m_substring == "exclude:" )
+                m_exclusion = true;
+            else
+                endMode();
+            startNewMode( Tag );
+        }
+    }
+    bool TestSpecParser::processOtherChar( char c ) {
+        if( !isControlChar( c ) )
+            return false;
+        m_substring += c;
+        endMode();
+        return true;
+    }
+    void TestSpecParser::startNewMode( Mode mode ) {
+        m_mode = mode;
+    }
+    void TestSpecParser::endMode() {
+        switch( m_mode ) {
+        case Name:
+        case QuotedName:
+            return addNamePattern();
+        case Tag:
+            return addTagPattern();
+        case EscapedName:
+            revertBackToLastMode();
+            return;
+        case None:
+        default:
+            return startNewMode( None );
+        }
+    }
+    void TestSpecParser::escape() {
+        saveLastMode();
+        m_mode = EscapedName;
+        m_escapeChars.push_back(m_realPatternPos);
+    }
+    bool TestSpecParser::isControlChar( char c ) const {
+        switch( m_mode ) {
+            default:
+                return false;
+            case None:
+                return c == '~';
+            case Name:
+                return c == '[';
+            case EscapedName:
+                return true;
+            case QuotedName:
+                return c == '"';
+            case Tag:
+                return c == '[' || c == ']';
+        }
+    }
+
+    void TestSpecParser::addFilter() {
+        if( !m_currentFilter.m_patterns.empty() ) {
+            m_testSpec.m_filters.push_back( m_currentFilter );
+            m_currentFilter = TestSpec::Filter();
+        }
+    }
+
+    void TestSpecParser::saveLastMode() {
+      lastMode = m_mode;
+    }
+
+    void TestSpecParser::revertBackToLastMode() {
+      m_mode = lastMode;
+    }
+
+    bool TestSpecParser::separate() {
+      if( (m_mode==QuotedName) || (m_mode==Tag) ){
+         //invalid argument, signal failure to previous scope.
+         m_mode = None;
+         m_pos = m_arg.size();
+         m_substring.clear();
+         m_patternName.clear();
+         return false;
+      }
+      endMode();
+      addFilter();
+      return true; //success
+    }
+
+    std::string TestSpecParser::preprocessPattern() {
+        std::string token = m_patternName;
+        for (std::size_t i = 0; i < m_escapeChars.size(); ++i)
+            token = token.substr(0, m_escapeChars[i] - i) + token.substr(m_escapeChars[i] - i + 1);
+        m_escapeChars.clear();
+        if (startsWith(token, "exclude:")) {
+            m_exclusion = true;
+            token = token.substr(8);
+        }
+
+        m_patternName.clear();
+
+        return token;
+    }
+
+    void TestSpecParser::addNamePattern() {
+        auto token = preprocessPattern();
+
+        if (!token.empty()) {
+            TestSpec::PatternPtr pattern = std::make_shared<TestSpec::NamePattern>(token, m_substring);
+            if (m_exclusion)
+                pattern = std::make_shared<TestSpec::ExcludedPattern>(pattern);
+            m_currentFilter.m_patterns.push_back(pattern);
+        }
+        m_substring.clear();
+        m_exclusion = false;
+        m_mode = None;
+    }
+
+    void TestSpecParser::addTagPattern() {
+        auto token = preprocessPattern();
+
+        if (!token.empty()) {
+            // If the tag pattern is the "hide and tag" shorthand (e.g. [.foo])
+            // we have to create a separate hide tag and shorten the real one
+            if (token.size() > 1 && token[0] == '.') {
+                token.erase(token.begin());
+                TestSpec::PatternPtr pattern = std::make_shared<TestSpec::TagPattern>(".", m_substring);
+                if (m_exclusion) {
+                    pattern = std::make_shared<TestSpec::ExcludedPattern>(pattern);
+                }
+                m_currentFilter.m_patterns.push_back(pattern);
+            }
+
+            TestSpec::PatternPtr pattern = std::make_shared<TestSpec::TagPattern>(token, m_substring);
+
+            if (m_exclusion) {
+                pattern = std::make_shared<TestSpec::ExcludedPattern>(pattern);
+            }
+            m_currentFilter.m_patterns.push_back(pattern);
+        }
+        m_substring.clear();
+        m_exclusion = false;
+        m_mode = None;
+    }
+
+    TestSpec parseTestSpec( std::string const& arg ) {
+        return TestSpecParser( ITagAliasRegistry::get() ).parse( arg ).testSpec();
+    }
+
+} // namespace Catch
+// end catch_test_spec_parser.cpp
+// start catch_timer.cpp
+
+#include <chrono>
+
+static const uint64_t nanosecondsInSecond = 1000000000;
+
+namespace Catch {
+
+    auto getCurrentNanosecondsSinceEpoch() -> uint64_t {
+        return std::chrono::duration_cast<std::chrono::nanoseconds>( std::chrono::high_resolution_clock::now().time_since_epoch() ).count();
+    }
+
+    namespace {
+        auto estimateClockResolution() -> uint64_t {
+            uint64_t sum = 0;
+            static const uint64_t iterations = 1000000;
+
+            auto startTime = getCurrentNanosecondsSinceEpoch();
+
+            for( std::size_t i = 0; i < iterations; ++i ) {
+
+                uint64_t ticks;
+                uint64_t baseTicks = getCurrentNanosecondsSinceEpoch();
+                do {
+                    ticks = getCurrentNanosecondsSinceEpoch();
+                } while( ticks == baseTicks );
+
+                auto delta = ticks - baseTicks;
+                sum += delta;
+
+                // If we have been calibrating for over 3 seconds -- the clock
+                // is terrible and we should move on.
+                // TBD: How to signal that the measured resolution is probably wrong?
+                if (ticks > startTime + 3 * nanosecondsInSecond) {
+                    return sum / ( i + 1u );
+                }
+            }
+
+            // We're just taking the mean, here. To do better we could take the std. dev and exclude outliers
+            // - and potentially do more iterations if there's a high variance.
+            return sum/iterations;
+        }
+    }
+    auto getEstimatedClockResolution() -> uint64_t {
+        static auto s_resolution = estimateClockResolution();
+        return s_resolution;
+    }
+
+    void Timer::start() {
+       m_nanoseconds = getCurrentNanosecondsSinceEpoch();
+    }
+    auto Timer::getElapsedNanoseconds() const -> uint64_t {
+        return getCurrentNanosecondsSinceEpoch() - m_nanoseconds;
+    }
+    auto Timer::getElapsedMicroseconds() const -> uint64_t {
+        return getElapsedNanoseconds()/1000;
+    }
+    auto Timer::getElapsedMilliseconds() const -> unsigned int {
+        return static_cast<unsigned int>(getElapsedMicroseconds()/1000);
+    }
+    auto Timer::getElapsedSeconds() const -> double {
+        return getElapsedMicroseconds()/1000000.0;
+    }
+
+} // namespace Catch
+// end catch_timer.cpp
+// start catch_tostring.cpp
+
+#if defined(__clang__)
+#    pragma clang diagnostic push
+#    pragma clang diagnostic ignored "-Wexit-time-destructors"
+#    pragma clang diagnostic ignored "-Wglobal-constructors"
+#endif
+
+// Enable specific decls locally
+#if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
+#define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
+#endif
+
+#include <cmath>
+#include <iomanip>
+
+namespace Catch {
+
+namespace Detail {
+
+    const std::string unprintableString = "{?}";
+
+    namespace {
+        const int hexThreshold = 255;
+
+        struct Endianness {
+            enum Arch { Big, Little };
+
+            static Arch which() {
+                int one = 1;
+                // If the lowest byte we read is non-zero, we can assume
+                // that little endian format is used.
+                auto value = *reinterpret_cast<char*>(&one);
+                return value ? Little : Big;
+            }
+        };
+    }
+
+    std::string rawMemoryToString( const void *object, std::size_t size ) {
+        // Reverse order for little endian architectures
+        int i = 0, end = static_cast<int>( size ), inc = 1;
+        if( Endianness::which() == Endianness::Little ) {
+            i = end-1;
+            end = inc = -1;
+        }
+
+        unsigned char const *bytes = static_cast<unsigned char const *>(object);
+        ReusableStringStream rss;
+        rss << "0x" << std::setfill('0') << std::hex;
+        for( ; i != end; i += inc )
+             rss << std::setw(2) << static_cast<unsigned>(bytes[i]);
+       return rss.str();
+    }
+}
+
+template<typename T>
+std::string fpToString( T value, int precision ) {
+    if (Catch::isnan(value)) {
+        return "nan";
+    }
+
+    ReusableStringStream rss;
+    rss << std::setprecision( precision )
+        << std::fixed
+        << value;
+    std::string d = rss.str();
+    std::size_t i = d.find_last_not_of( '0' );
+    if( i != std::string::npos && i != d.size()-1 ) {
+        if( d[i] == '.' )
+            i++;
+        d = d.substr( 0, i+1 );
+    }
+    return d;
+}
+
+//// ======================================================= ////
+//
+//   Out-of-line defs for full specialization of StringMaker
+//
+//// ======================================================= ////
+
+std::string StringMaker<std::string>::convert(const std::string& str) {
+    if (!getCurrentContext().getConfig()->showInvisibles()) {
+        return '"' + str + '"';
+    }
+
+    std::string s("\"");
+    for (char c : str) {
+        switch (c) {
+        case '\n':
+            s.append("\\n");
+            break;
+        case '\t':
+            s.append("\\t");
+            break;
+        default:
+            s.push_back(c);
+            break;
+        }
+    }
+    s.append("\"");
+    return s;
+}
+
+#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
+std::string StringMaker<std::string_view>::convert(std::string_view str) {
+    return ::Catch::Detail::stringify(std::string{ str });
+}
+#endif
+
+std::string StringMaker<char const*>::convert(char const* str) {
+    if (str) {
+        return ::Catch::Detail::stringify(std::string{ str });
+    } else {
+        return{ "{null string}" };
+    }
+}
+std::string StringMaker<char*>::convert(char* str) {
+    if (str) {
+        return ::Catch::Detail::stringify(std::string{ str });
+    } else {
+        return{ "{null string}" };
+    }
+}
+
+#ifdef CATCH_CONFIG_WCHAR
+std::string StringMaker<std::wstring>::convert(const std::wstring& wstr) {
+    std::string s;
+    s.reserve(wstr.size());
+    for (auto c : wstr) {
+        s += (c <= 0xff) ? static_cast<char>(c) : '?';
+    }
+    return ::Catch::Detail::stringify(s);
+}
+
+# ifdef CATCH_CONFIG_CPP17_STRING_VIEW
+std::string StringMaker<std::wstring_view>::convert(std::wstring_view str) {
+    return StringMaker<std::wstring>::convert(std::wstring(str));
+}
+# endif
+
+std::string StringMaker<wchar_t const*>::convert(wchar_t const * str) {
+    if (str) {
+        return ::Catch::Detail::stringify(std::wstring{ str });
+    } else {
+        return{ "{null string}" };
+    }
+}
+std::string StringMaker<wchar_t *>::convert(wchar_t * str) {
+    if (str) {
+        return ::Catch::Detail::stringify(std::wstring{ str });
+    } else {
+        return{ "{null string}" };
+    }
+}
+#endif
+
+#if defined(CATCH_CONFIG_CPP17_BYTE)
+#include <cstddef>
+std::string StringMaker<std::byte>::convert(std::byte value) {
+    return ::Catch::Detail::stringify(std::to_integer<unsigned long long>(value));
+}
+#endif // defined(CATCH_CONFIG_CPP17_BYTE)
+
+std::string StringMaker<int>::convert(int value) {
+    return ::Catch::Detail::stringify(static_cast<long long>(value));
+}
+std::string StringMaker<long>::convert(long value) {
+    return ::Catch::Detail::stringify(static_cast<long long>(value));
+}
+std::string StringMaker<long long>::convert(long long value) {
+    ReusableStringStream rss;
+    rss << value;
+    if (value > Detail::hexThreshold) {
+        rss << " (0x" << std::hex << value << ')';
+    }
+    return rss.str();
+}
+
+std::string StringMaker<unsigned int>::convert(unsigned int value) {
+    return ::Catch::Detail::stringify(static_cast<unsigned long long>(value));
+}
+std::string StringMaker<unsigned long>::convert(unsigned long value) {
+    return ::Catch::Detail::stringify(static_cast<unsigned long long>(value));
+}
+std::string StringMaker<unsigned long long>::convert(unsigned long long value) {
+    ReusableStringStream rss;
+    rss << value;
+    if (value > Detail::hexThreshold) {
+        rss << " (0x" << std::hex << value << ')';
+    }
+    return rss.str();
+}
+
+std::string StringMaker<bool>::convert(bool b) {
+    return b ? "true" : "false";
+}
+
+std::string StringMaker<signed char>::convert(signed char value) {
+    if (value == '\r') {
+        return "'\\r'";
+    } else if (value == '\f') {
+        return "'\\f'";
+    } else if (value == '\n') {
+        return "'\\n'";
+    } else if (value == '\t') {
+        return "'\\t'";
+    } else if ('\0' <= value && value < ' ') {
+        return ::Catch::Detail::stringify(static_cast<unsigned int>(value));
+    } else {
+        char chstr[] = "' '";
+        chstr[1] = value;
+        return chstr;
+    }
+}
+std::string StringMaker<char>::convert(char c) {
+    return ::Catch::Detail::stringify(static_cast<signed char>(c));
+}
+std::string StringMaker<unsigned char>::convert(unsigned char c) {
+    return ::Catch::Detail::stringify(static_cast<char>(c));
+}
+
+std::string StringMaker<std::nullptr_t>::convert(std::nullptr_t) {
+    return "nullptr";
+}
+
+int StringMaker<float>::precision = 5;
+
+std::string StringMaker<float>::convert(float value) {
+    return fpToString(value, precision) + 'f';
+}
+
+int StringMaker<double>::precision = 10;
+
+std::string StringMaker<double>::convert(double value) {
+    return fpToString(value, precision);
+}
+
+std::string ratio_string<std::atto>::symbol() { return "a"; }
+std::string ratio_string<std::femto>::symbol() { return "f"; }
+std::string ratio_string<std::pico>::symbol() { return "p"; }
+std::string ratio_string<std::nano>::symbol() { return "n"; }
+std::string ratio_string<std::micro>::symbol() { return "u"; }
+std::string ratio_string<std::milli>::symbol() { return "m"; }
+
+} // end namespace Catch
+
+#if defined(__clang__)
+#    pragma clang diagnostic pop
+#endif
+
+// end catch_tostring.cpp
+// start catch_totals.cpp
+
+namespace Catch {
+
+    Counts Counts::operator - ( Counts const& other ) const {
+        Counts diff;
+        diff.passed = passed - other.passed;
+        diff.failed = failed - other.failed;
+        diff.failedButOk = failedButOk - other.failedButOk;
+        return diff;
+    }
+
+    Counts& Counts::operator += ( Counts const& other ) {
+        passed += other.passed;
+        failed += other.failed;
+        failedButOk += other.failedButOk;
+        return *this;
+    }
+
+    std::size_t Counts::total() const {
+        return passed + failed + failedButOk;
+    }
+    bool Counts::allPassed() const {
+        return failed == 0 && failedButOk == 0;
+    }
+    bool Counts::allOk() const {
+        return failed == 0;
+    }
+
+    Totals Totals::operator - ( Totals const& other ) const {
+        Totals diff;
+        diff.assertions = assertions - other.assertions;
+        diff.testCases = testCases - other.testCases;
+        return diff;
+    }
+
+    Totals& Totals::operator += ( Totals const& other ) {
+        assertions += other.assertions;
+        testCases += other.testCases;
+        return *this;
+    }
+
+    Totals Totals::delta( Totals const& prevTotals ) const {
+        Totals diff = *this - prevTotals;
+        if( diff.assertions.failed > 0 )
+            ++diff.testCases.failed;
+        else if( diff.assertions.failedButOk > 0 )
+            ++diff.testCases.failedButOk;
+        else
+            ++diff.testCases.passed;
+        return diff;
+    }
+
+}
+// end catch_totals.cpp
+// start catch_uncaught_exceptions.cpp
+
+#include <exception>
+
+namespace Catch {
+    bool uncaught_exceptions() {
+#if defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
+        return std::uncaught_exceptions() > 0;
+#else
+        return std::uncaught_exception();
+#endif
+  }
+} // end namespace Catch
+// end catch_uncaught_exceptions.cpp
+// start catch_version.cpp
+
+#include <ostream>
+
+namespace Catch {
+
+    Version::Version
+        (   unsigned int _majorVersion,
+            unsigned int _minorVersion,
+            unsigned int _patchNumber,
+            char const * const _branchName,
+            unsigned int _buildNumber )
+    :   majorVersion( _majorVersion ),
+        minorVersion( _minorVersion ),
+        patchNumber( _patchNumber ),
+        branchName( _branchName ),
+        buildNumber( _buildNumber )
+    {}
+
+    std::ostream& operator << ( std::ostream& os, Version const& version ) {
+        os  << version.majorVersion << '.'
+            << version.minorVersion << '.'
+            << version.patchNumber;
+        // branchName is never null -> 0th char is \0 if it is empty
+        if (version.branchName[0]) {
+            os << '-' << version.branchName
+               << '.' << version.buildNumber;
+        }
+        return os;
+    }
+
+    Version const& libraryVersion() {
+        static Version version( 2, 11, 3, "", 0 );
+        return version;
+    }
+
+}
+// end catch_version.cpp
+// start catch_wildcard_pattern.cpp
+
+namespace Catch {
+
+    WildcardPattern::WildcardPattern( std::string const& pattern,
+                                      CaseSensitive::Choice caseSensitivity )
+    :   m_caseSensitivity( caseSensitivity ),
+        m_pattern( normaliseString( pattern ) )
+    {
+        if( startsWith( m_pattern, '*' ) ) {
+            m_pattern = m_pattern.substr( 1 );
+            m_wildcard = WildcardAtStart;
+        }
+        if( endsWith( m_pattern, '*' ) ) {
+            m_pattern = m_pattern.substr( 0, m_pattern.size()-1 );
+            m_wildcard = static_cast<WildcardPosition>( m_wildcard | WildcardAtEnd );
+        }
+    }
+
+    bool WildcardPattern::matches( std::string const& str ) const {
+        switch( m_wildcard ) {
+            case NoWildcard:
+                return m_pattern == normaliseString( str );
+            case WildcardAtStart:
+                return endsWith( normaliseString( str ), m_pattern );
+            case WildcardAtEnd:
+                return startsWith( normaliseString( str ), m_pattern );
+            case WildcardAtBothEnds:
+                return contains( normaliseString( str ), m_pattern );
+            default:
+                CATCH_INTERNAL_ERROR( "Unknown enum" );
+        }
+    }
+
+    std::string WildcardPattern::normaliseString( std::string const& str ) const {
+        return trim( m_caseSensitivity == CaseSensitive::No ? toLower( str ) : str );
+    }
+}
+// end catch_wildcard_pattern.cpp
+// start catch_xmlwriter.cpp
+
+#include <iomanip>
+#include <type_traits>
+
+namespace Catch {
+
+namespace {
+
+    size_t trailingBytes(unsigned char c) {
+        if ((c & 0xE0) == 0xC0) {
+            return 2;
+        }
+        if ((c & 0xF0) == 0xE0) {
+            return 3;
+        }
+        if ((c & 0xF8) == 0xF0) {
+            return 4;
+        }
+        CATCH_INTERNAL_ERROR("Invalid multibyte utf-8 start byte encountered");
+    }
+
+    uint32_t headerValue(unsigned char c) {
+        if ((c & 0xE0) == 0xC0) {
+            return c & 0x1F;
+        }
+        if ((c & 0xF0) == 0xE0) {
+            return c & 0x0F;
+        }
+        if ((c & 0xF8) == 0xF0) {
+            return c & 0x07;
+        }
+        CATCH_INTERNAL_ERROR("Invalid multibyte utf-8 start byte encountered");
+    }
+
+    void hexEscapeChar(std::ostream& os, unsigned char c) {
+        std::ios_base::fmtflags f(os.flags());
+        os << "\\x"
+            << std::uppercase << std::hex << std::setfill('0') << std::setw(2)
+            << static_cast<int>(c);
+        os.flags(f);
+    }
+
+    bool shouldNewline(XmlFormatting fmt) {
+        return !!(static_cast<std::underlying_type<XmlFormatting>::type>(fmt & XmlFormatting::Newline));
+    }
+
+    bool shouldIndent(XmlFormatting fmt) {
+        return !!(static_cast<std::underlying_type<XmlFormatting>::type>(fmt & XmlFormatting::Indent));
+    }
+
+} // anonymous namespace
+
+    XmlFormatting operator | (XmlFormatting lhs, XmlFormatting rhs) {
+        return static_cast<XmlFormatting>(
+            static_cast<std::underlying_type<XmlFormatting>::type>(lhs) |
+            static_cast<std::underlying_type<XmlFormatting>::type>(rhs)
+        );
+    }
+
+    XmlFormatting operator & (XmlFormatting lhs, XmlFormatting rhs) {
+        return static_cast<XmlFormatting>(
+            static_cast<std::underlying_type<XmlFormatting>::type>(lhs) &
+            static_cast<std::underlying_type<XmlFormatting>::type>(rhs)
+        );
+    }
+
+    XmlEncode::XmlEncode( std::string const& str, ForWhat forWhat )
+    :   m_str( str ),
+        m_forWhat( forWhat )
+    {}
+
+    void XmlEncode::encodeTo( std::ostream& os ) const {
+        // Apostrophe escaping not necessary if we always use " to write attributes
+        // (see: http://www.w3.org/TR/xml/#syntax)
+
+        for( std::size_t idx = 0; idx < m_str.size(); ++ idx ) {
+            unsigned char c = m_str[idx];
+            switch (c) {
+            case '<':   os << "&lt;"; break;
+            case '&':   os << "&amp;"; break;
+
+            case '>':
+                // See: http://www.w3.org/TR/xml/#syntax
+                if (idx > 2 && m_str[idx - 1] == ']' && m_str[idx - 2] == ']')
+                    os << "&gt;";
+                else
+                    os << c;
+                break;
+
+            case '\"':
+                if (m_forWhat == ForAttributes)
+                    os << "&quot;";
+                else
+                    os << c;
+                break;
+
+            default:
+                // Check for control characters and invalid utf-8
+
+                // Escape control characters in standard ascii
+                // see http://stackoverflow.com/questions/404107/why-are-control-characters-illegal-in-xml-1-0
+                if (c < 0x09 || (c > 0x0D && c < 0x20) || c == 0x7F) {
+                    hexEscapeChar(os, c);
+                    break;
+                }
+
+                // Plain ASCII: Write it to stream
+                if (c < 0x7F) {
+                    os << c;
+                    break;
+                }
+
+                // UTF-8 territory
+                // Check if the encoding is valid and if it is not, hex escape bytes.
+                // Important: We do not check the exact decoded values for validity, only the encoding format
+                // First check that this bytes is a valid lead byte:
+                // This means that it is not encoded as 1111 1XXX
+                // Or as 10XX XXXX
+                if (c <  0xC0 ||
+                    c >= 0xF8) {
+                    hexEscapeChar(os, c);
+                    break;
+                }
+
+                auto encBytes = trailingBytes(c);
+                // Are there enough bytes left to avoid accessing out-of-bounds memory?
+                if (idx + encBytes - 1 >= m_str.size()) {
+                    hexEscapeChar(os, c);
+                    break;
+                }
+                // The header is valid, check data
+                // The next encBytes bytes must together be a valid utf-8
+                // This means: bitpattern 10XX XXXX and the extracted value is sane (ish)
+                bool valid = true;
+                uint32_t value = headerValue(c);
+                for (std::size_t n = 1; n < encBytes; ++n) {
+                    unsigned char nc = m_str[idx + n];
+                    valid &= ((nc & 0xC0) == 0x80);
+                    value = (value << 6) | (nc & 0x3F);
+                }
+
+                if (
+                    // Wrong bit pattern of following bytes
+                    (!valid) ||
+                    // Overlong encodings
+                    (value < 0x80) ||
+                    (0x80 <= value && value < 0x800   && encBytes > 2) ||
+                    (0x800 < value && value < 0x10000 && encBytes > 3) ||
+                    // Encoded value out of range
+                    (value >= 0x110000)
+                    ) {
+                    hexEscapeChar(os, c);
+                    break;
+                }
+
+                // If we got here, this is in fact a valid(ish) utf-8 sequence
+                for (std::size_t n = 0; n < encBytes; ++n) {
+                    os << m_str[idx + n];
+                }
+                idx += encBytes - 1;
+                break;
+            }
+        }
+    }
+
+    std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode ) {
+        xmlEncode.encodeTo( os );
+        return os;
+    }
+
+    XmlWriter::ScopedElement::ScopedElement( XmlWriter* writer, XmlFormatting fmt )
+    :   m_writer( writer ),
+        m_fmt(fmt)
+    {}
+
+    XmlWriter::ScopedElement::ScopedElement( ScopedElement&& other ) noexcept
+    :   m_writer( other.m_writer ),
+        m_fmt(other.m_fmt)
+    {
+        other.m_writer = nullptr;
+        other.m_fmt = XmlFormatting::None;
+    }
+    XmlWriter::ScopedElement& XmlWriter::ScopedElement::operator=( ScopedElement&& other ) noexcept {
+        if ( m_writer ) {
+            m_writer->endElement();
+        }
+        m_writer = other.m_writer;
+        other.m_writer = nullptr;
+        m_fmt = other.m_fmt;
+        other.m_fmt = XmlFormatting::None;
+        return *this;
+    }
+
+    XmlWriter::ScopedElement::~ScopedElement() {
+        if (m_writer) {
+            m_writer->endElement(m_fmt);
+        }
+    }
+
+    XmlWriter::ScopedElement& XmlWriter::ScopedElement::writeText( std::string const& text, XmlFormatting fmt ) {
+        m_writer->writeText( text, fmt );
+        return *this;
+    }
+
+    XmlWriter::XmlWriter( std::ostream& os ) : m_os( os )
+    {
+        writeDeclaration();
+    }
+
+    XmlWriter::~XmlWriter() {
+        while (!m_tags.empty()) {
+            endElement();
+        }
+        newlineIfNecessary();
+    }
+
+    XmlWriter& XmlWriter::startElement( std::string const& name, XmlFormatting fmt ) {
+        ensureTagClosed();
+        newlineIfNecessary();
+        if (shouldIndent(fmt)) {
+            m_os << m_indent;
+            m_indent += "  ";
+        }
+        m_os << '<' << name;
+        m_tags.push_back( name );
+        m_tagIsOpen = true;
+        applyFormatting(fmt);
+        return *this;
+    }
+
+    XmlWriter::ScopedElement XmlWriter::scopedElement( std::string const& name, XmlFormatting fmt ) {
+        ScopedElement scoped( this, fmt );
+        startElement( name, fmt );
+        return scoped;
+    }
+
+    XmlWriter& XmlWriter::endElement(XmlFormatting fmt) {
+        m_indent = m_indent.substr(0, m_indent.size() - 2);
+
+        if( m_tagIsOpen ) {
+            m_os << "/>";
+            m_tagIsOpen = false;
+        } else {
+            newlineIfNecessary();
+            if (shouldIndent(fmt)) {
+                m_os << m_indent;
+            }
+            m_os << "</" << m_tags.back() << ">";
+        }
+        m_os << std::flush;
+        applyFormatting(fmt);
+        m_tags.pop_back();
+        return *this;
+    }
+
+    XmlWriter& XmlWriter::writeAttribute( std::string const& name, std::string const& attribute ) {
+        if( !name.empty() && !attribute.empty() )
+            m_os << ' ' << name << "=\"" << XmlEncode( attribute, XmlEncode::ForAttributes ) << '"';
+        return *this;
+    }
+
+    XmlWriter& XmlWriter::writeAttribute( std::string const& name, bool attribute ) {
+        m_os << ' ' << name << "=\"" << ( attribute ? "true" : "false" ) << '"';
+        return *this;
+    }
+
+    XmlWriter& XmlWriter::writeText( std::string const& text, XmlFormatting fmt) {
+        if( !text.empty() ){
+            bool tagWasOpen = m_tagIsOpen;
+            ensureTagClosed();
+            if (tagWasOpen && shouldIndent(fmt)) {
+                m_os << m_indent;
+            }
+            m_os << XmlEncode( text );
+            applyFormatting(fmt);
+        }
+        return *this;
+    }
+
+    XmlWriter& XmlWriter::writeComment( std::string const& text, XmlFormatting fmt) {
+        ensureTagClosed();
+        if (shouldIndent(fmt)) {
+            m_os << m_indent;
+        }
+        m_os << "<!--" << text << "-->";
+        applyFormatting(fmt);
+        return *this;
+    }
+
+    void XmlWriter::writeStylesheetRef( std::string const& url ) {
+        m_os << "<?xml-stylesheet type=\"text/xsl\" href=\"" << url << "\"?>\n";
+    }
+
+    XmlWriter& XmlWriter::writeBlankLine() {
+        ensureTagClosed();
+        m_os << '\n';
+        return *this;
+    }
+
+    void XmlWriter::ensureTagClosed() {
+        if( m_tagIsOpen ) {
+            m_os << '>' << std::flush;
+            newlineIfNecessary();
+            m_tagIsOpen = false;
+        }
+    }
+
+    void XmlWriter::applyFormatting(XmlFormatting fmt) {
+        m_needsNewline = shouldNewline(fmt);
+    }
+
+    void XmlWriter::writeDeclaration() {
+        m_os << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
+    }
+
+    void XmlWriter::newlineIfNecessary() {
+        if( m_needsNewline ) {
+            m_os << std::endl;
+            m_needsNewline = false;
+        }
+    }
+}
+// end catch_xmlwriter.cpp
+// start catch_reporter_bases.cpp
+
+#include <cstring>
+#include <cfloat>
+#include <cstdio>
+#include <cassert>
+#include <memory>
+
+namespace Catch {
+    void prepareExpandedExpression(AssertionResult& result) {
+        result.getExpandedExpression();
+    }
+
+    // Because formatting using c++ streams is stateful, drop down to C is required
+    // Alternatively we could use stringstream, but its performance is... not good.
+    std::string getFormattedDuration( double duration ) {
+        // Max exponent + 1 is required to represent the whole part
+        // + 1 for decimal point
+        // + 3 for the 3 decimal places
+        // + 1 for null terminator
+        const std::size_t maxDoubleSize = DBL_MAX_10_EXP + 1 + 1 + 3 + 1;
+        char buffer[maxDoubleSize];
+
+        // Save previous errno, to prevent sprintf from overwriting it
+        ErrnoGuard guard;
+#ifdef _MSC_VER
+        sprintf_s(buffer, "%.3f", duration);
+#else
+        std::sprintf(buffer, "%.3f", duration);
+#endif
+        return std::string(buffer);
+    }
+
+    std::string serializeFilters( std::vector<std::string> const& container ) {
+        ReusableStringStream oss;
+        bool first = true;
+        for (auto&& filter : container)
+        {
+            if (!first)
+                oss << ' ';
+            else
+                first = false;
+
+            oss << filter;
+        }
+        return oss.str();
+    }
+
+    TestEventListenerBase::TestEventListenerBase(ReporterConfig const & _config)
+        :StreamingReporterBase(_config) {}
+
+    std::set<Verbosity> TestEventListenerBase::getSupportedVerbosities() {
+        return { Verbosity::Quiet, Verbosity::Normal, Verbosity::High };
+    }
+
+    void TestEventListenerBase::assertionStarting(AssertionInfo const &) {}
+
+    bool TestEventListenerBase::assertionEnded(AssertionStats const &) {
+        return false;
+    }
+
+} // end namespace Catch
+// end catch_reporter_bases.cpp
+// start catch_reporter_compact.cpp
+
+namespace {
+
+#ifdef CATCH_PLATFORM_MAC
+    const char* failedString() { return "FAILED"; }
+    const char* passedString() { return "PASSED"; }
+#else
+    const char* failedString() { return "failed"; }
+    const char* passedString() { return "passed"; }
+#endif
+
+    // Colour::LightGrey
+    Catch::Colour::Code dimColour() { return Catch::Colour::FileName; }
+
+    std::string bothOrAll( std::size_t count ) {
+        return count == 1 ? std::string() :
+               count == 2 ? "both " : "all " ;
+    }
+
+} // anon namespace
+
+namespace Catch {
+namespace {
+// Colour, message variants:
+// - white: No tests ran.
+// -   red: Failed [both/all] N test cases, failed [both/all] M assertions.
+// - white: Passed [both/all] N test cases (no assertions).
+// -   red: Failed N tests cases, failed M assertions.
+// - green: Passed [both/all] N tests cases with M assertions.
+void printTotals(std::ostream& out, const Totals& totals) {
+    if (totals.testCases.total() == 0) {
+        out << "No tests ran.";
+    } else if (totals.testCases.failed == totals.testCases.total()) {
+        Colour colour(Colour::ResultError);
+        const std::string qualify_assertions_failed =
+            totals.assertions.failed == totals.assertions.total() ?
+            bothOrAll(totals.assertions.failed) : std::string();
+        out <<
+            "Failed " << bothOrAll(totals.testCases.failed)
+            << pluralise(totals.testCases.failed, "test case") << ", "
+            "failed " << qualify_assertions_failed <<
+            pluralise(totals.assertions.failed, "assertion") << '.';
+    } else if (totals.assertions.total() == 0) {
+        out <<
+            "Passed " << bothOrAll(totals.testCases.total())
+            << pluralise(totals.testCases.total(), "test case")
+            << " (no assertions).";
+    } else if (totals.assertions.failed) {
+        Colour colour(Colour::ResultError);
+        out <<
+            "Failed " << pluralise(totals.testCases.failed, "test case") << ", "
+            "failed " << pluralise(totals.assertions.failed, "assertion") << '.';
+    } else {
+        Colour colour(Colour::ResultSuccess);
+        out <<
+            "Passed " << bothOrAll(totals.testCases.passed)
+            << pluralise(totals.testCases.passed, "test case") <<
+            " with " << pluralise(totals.assertions.passed, "assertion") << '.';
+    }
+}
+
+// Implementation of CompactReporter formatting
+class AssertionPrinter {
+public:
+    AssertionPrinter& operator= (AssertionPrinter const&) = delete;
+    AssertionPrinter(AssertionPrinter const&) = delete;
+    AssertionPrinter(std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages)
+        : stream(_stream)
+        , result(_stats.assertionResult)
+        , messages(_stats.infoMessages)
+        , itMessage(_stats.infoMessages.begin())
+        , printInfoMessages(_printInfoMessages) {}
+
+    void print() {
+        printSourceInfo();
+
+        itMessage = messages.begin();
+
+        switch (result.getResultType()) {
+        case ResultWas::Ok:
+            printResultType(Colour::ResultSuccess, passedString());
+            printOriginalExpression();
+            printReconstructedExpression();
+            if (!result.hasExpression())
+                printRemainingMessages(Colour::None);
+            else
+                printRemainingMessages();
+            break;
+        case ResultWas::ExpressionFailed:
+            if (result.isOk())
+                printResultType(Colour::ResultSuccess, failedString() + std::string(" - but was ok"));
+            else
+                printResultType(Colour::Error, failedString());
+            printOriginalExpression();
+            printReconstructedExpression();
+            printRemainingMessages();
+            break;
+        case ResultWas::ThrewException:
+            printResultType(Colour::Error, failedString());
+            printIssue("unexpected exception with message:");
+            printMessage();
+            printExpressionWas();
+            printRemainingMessages();
+            break;
+        case ResultWas::FatalErrorCondition:
+            printResultType(Colour::Error, failedString());
+            printIssue("fatal error condition with message:");
+            printMessage();
+            printExpressionWas();
+            printRemainingMessages();
+            break;
+        case ResultWas::DidntThrowException:
+            printResultType(Colour::Error, failedString());
+            printIssue("expected exception, got none");
+            printExpressionWas();
+            printRemainingMessages();
+            break;
+        case ResultWas::Info:
+            printResultType(Colour::None, "info");
+            printMessage();
+            printRemainingMessages();
+            break;
+        case ResultWas::Warning:
+            printResultType(Colour::None, "warning");
+            printMessage();
+            printRemainingMessages();
+            break;
+        case ResultWas::ExplicitFailure:
+            printResultType(Colour::Error, failedString());
+            printIssue("explicitly");
+            printRemainingMessages(Colour::None);
+            break;
+            // These cases are here to prevent compiler warnings
+        case ResultWas::Unknown:
+        case ResultWas::FailureBit:
+        case ResultWas::Exception:
+            printResultType(Colour::Error, "** internal error **");
+            break;
+        }
+    }
+
+private:
+    void printSourceInfo() const {
+        Colour colourGuard(Colour::FileName);
+        stream << result.getSourceInfo() << ':';
+    }
+
+    void printResultType(Colour::Code colour, std::string const& passOrFail) const {
+        if (!passOrFail.empty()) {
+            {
+                Colour colourGuard(colour);
+                stream << ' ' << passOrFail;
+            }
+            stream << ':';
+        }
+    }
+
+    void printIssue(std::string const& issue) const {
+        stream << ' ' << issue;
+    }
+
+    void printExpressionWas() {
+        if (result.hasExpression()) {
+            stream << ';';
+            {
+                Colour colour(dimColour());
+                stream << " expression was:";
+            }
+            printOriginalExpression();
+        }
+    }
+
+    void printOriginalExpression() const {
+        if (result.hasExpression()) {
+            stream << ' ' << result.getExpression();
+        }
+    }
+
+    void printReconstructedExpression() const {
+        if (result.hasExpandedExpression()) {
+            {
+                Colour colour(dimColour());
+                stream << " for: ";
+            }
+            stream << result.getExpandedExpression();
+        }
+    }
+
+    void printMessage() {
+        if (itMessage != messages.end()) {
+            stream << " '" << itMessage->message << '\'';
+            ++itMessage;
+        }
+    }
+
+    void printRemainingMessages(Colour::Code colour = dimColour()) {
+        if (itMessage == messages.end())
+            return;
+
+        const auto itEnd = messages.cend();
+        const auto N = static_cast<std::size_t>(std::distance(itMessage, itEnd));
+
+        {
+            Colour colourGuard(colour);
+            stream << " with " << pluralise(N, "message") << ':';
+        }
+
+        while (itMessage != itEnd) {
+            // If this assertion is a warning ignore any INFO messages
+            if (printInfoMessages || itMessage->type != ResultWas::Info) {
+                printMessage();
+                if (itMessage != itEnd) {
+                    Colour colourGuard(dimColour());
+                    stream << " and";
+                }
+                continue;
+            }
+            ++itMessage;
+        }
+    }
+
+private:
+    std::ostream& stream;
+    AssertionResult const& result;
+    std::vector<MessageInfo> messages;
+    std::vector<MessageInfo>::const_iterator itMessage;
+    bool printInfoMessages;
+};
+
+} // anon namespace
+
+        std::string CompactReporter::getDescription() {
+            return "Reports test results on a single line, suitable for IDEs";
+        }
+
+        ReporterPreferences CompactReporter::getPreferences() const {
+            return m_reporterPrefs;
+        }
+
+        void CompactReporter::noMatchingTestCases( std::string const& spec ) {
+            stream << "No test cases matched '" << spec << '\'' << std::endl;
+        }
+
+        void CompactReporter::assertionStarting( AssertionInfo const& ) {}
+
+        bool CompactReporter::assertionEnded( AssertionStats const& _assertionStats ) {
+            AssertionResult const& result = _assertionStats.assertionResult;
+
+            bool printInfoMessages = true;
+
+            // Drop out if result was successful and we're not printing those
+            if( !m_config->includeSuccessfulResults() && result.isOk() ) {
+                if( result.getResultType() != ResultWas::Warning )
+                    return false;
+                printInfoMessages = false;
+            }
+
+            AssertionPrinter printer( stream, _assertionStats, printInfoMessages );
+            printer.print();
+
+            stream << std::endl;
+            return true;
+        }
+
+        void CompactReporter::sectionEnded(SectionStats const& _sectionStats) {
+            if (m_config->showDurations() == ShowDurations::Always) {
+                stream << getFormattedDuration(_sectionStats.durationInSeconds) << " s: " << _sectionStats.sectionInfo.name << std::endl;
+            }
+        }
+
+        void CompactReporter::testRunEnded( TestRunStats const& _testRunStats ) {
+            printTotals( stream, _testRunStats.totals );
+            stream << '\n' << std::endl;
+            StreamingReporterBase::testRunEnded( _testRunStats );
+        }
+
+        CompactReporter::~CompactReporter() {}
+
+    CATCH_REGISTER_REPORTER( "compact", CompactReporter )
+
+} // end namespace Catch
+// end catch_reporter_compact.cpp
+// start catch_reporter_console.cpp
+
+#include <cfloat>
+#include <cstdio>
+
+#if defined(_MSC_VER)
+#pragma warning(push)
+#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
+ // Note that 4062 (not all labels are handled and default is missing) is enabled
+#endif
+
+#if defined(__clang__)
+#  pragma clang diagnostic push
+// For simplicity, benchmarking-only helpers are always enabled
+#  pragma clang diagnostic ignored "-Wunused-function"
+#endif
+
+namespace Catch {
+
+namespace {
+
+// Formatter impl for ConsoleReporter
+class ConsoleAssertionPrinter {
+public:
+    ConsoleAssertionPrinter& operator= (ConsoleAssertionPrinter const&) = delete;
+    ConsoleAssertionPrinter(ConsoleAssertionPrinter const&) = delete;
+    ConsoleAssertionPrinter(std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages)
+        : stream(_stream),
+        stats(_stats),
+        result(_stats.assertionResult),
+        colour(Colour::None),
+        message(result.getMessage()),
+        messages(_stats.infoMessages),
+        printInfoMessages(_printInfoMessages) {
+        switch (result.getResultType()) {
+        case ResultWas::Ok:
+            colour = Colour::Success;
+            passOrFail = "PASSED";
+            //if( result.hasMessage() )
+            if (_stats.infoMessages.size() == 1)
+                messageLabel = "with message";
+            if (_stats.infoMessages.size() > 1)
+                messageLabel = "with messages";
+            break;
+        case ResultWas::ExpressionFailed:
+            if (result.isOk()) {
+                colour = Colour::Success;
+                passOrFail = "FAILED - but was ok";
+            } else {
+                colour = Colour::Error;
+                passOrFail = "FAILED";
+            }
+            if (_stats.infoMessages.size() == 1)
+                messageLabel = "with message";
+            if (_stats.infoMessages.size() > 1)
+                messageLabel = "with messages";
+            break;
+        case ResultWas::ThrewException:
+            colour = Colour::Error;
+            passOrFail = "FAILED";
+            messageLabel = "due to unexpected exception with ";
+            if (_stats.infoMessages.size() == 1)
+                messageLabel += "message";
+            if (_stats.infoMessages.size() > 1)
+                messageLabel += "messages";
+            break;
+        case ResultWas::FatalErrorCondition:
+            colour = Colour::Error;
+            passOrFail = "FAILED";
+            messageLabel = "due to a fatal error condition";
+            break;
+        case ResultWas::DidntThrowException:
+            colour = Colour::Error;
+            passOrFail = "FAILED";
+            messageLabel = "because no exception was thrown where one was expected";
+            break;
+        case ResultWas::Info:
+            messageLabel = "info";
+            break;
+        case ResultWas::Warning:
+            messageLabel = "warning";
+            break;
+        case ResultWas::ExplicitFailure:
+            passOrFail = "FAILED";
+            colour = Colour::Error;
+            if (_stats.infoMessages.size() == 1)
+                messageLabel = "explicitly with message";
+            if (_stats.infoMessages.size() > 1)
+                messageLabel = "explicitly with messages";
+            break;
+            // These cases are here to prevent compiler warnings
+        case ResultWas::Unknown:
+        case ResultWas::FailureBit:
+        case ResultWas::Exception:
+            passOrFail = "** internal error **";
+            colour = Colour::Error;
+            break;
+        }
+    }
+
+    void print() const {
+        printSourceInfo();
+        if (stats.totals.assertions.total() > 0) {
+            printResultType();
+            printOriginalExpression();
+            printReconstructedExpression();
+        } else {
+            stream << '\n';
+        }
+        printMessage();
+    }
+
+private:
+    void printResultType() const {
+        if (!passOrFail.empty()) {
+            Colour colourGuard(colour);
+            stream << passOrFail << ":\n";
+        }
+    }
+    void printOriginalExpression() const {
+        if (result.hasExpression()) {
+            Colour colourGuard(Colour::OriginalExpression);
+            stream << "  ";
+            stream << result.getExpressionInMacro();
+            stream << '\n';
+        }
+    }
+    void printReconstructedExpression() const {
+        if (result.hasExpandedExpression()) {
+            stream << "with expansion:\n";
+            Colour colourGuard(Colour::ReconstructedExpression);
+            stream << Column(result.getExpandedExpression()).indent(2) << '\n';
+        }
+    }
+    void printMessage() const {
+        if (!messageLabel.empty())
+            stream << messageLabel << ':' << '\n';
+        for (auto const& msg : messages) {
+            // If this assertion is a warning ignore any INFO messages
+            if (printInfoMessages || msg.type != ResultWas::Info)
+                stream << Column(msg.message).indent(2) << '\n';
+        }
+    }
+    void printSourceInfo() const {
+        Colour colourGuard(Colour::FileName);
+        stream << result.getSourceInfo() << ": ";
+    }
+
+    std::ostream& stream;
+    AssertionStats const& stats;
+    AssertionResult const& result;
+    Colour::Code colour;
+    std::string passOrFail;
+    std::string messageLabel;
+    std::string message;
+    std::vector<MessageInfo> messages;
+    bool printInfoMessages;
+};
+
+std::size_t makeRatio(std::size_t number, std::size_t total) {
+    std::size_t ratio = total > 0 ? CATCH_CONFIG_CONSOLE_WIDTH * number / total : 0;
+    return (ratio == 0 && number > 0) ? 1 : ratio;
+}
+
+std::size_t& findMax(std::size_t& i, std::size_t& j, std::size_t& k) {
+    if (i > j && i > k)
+        return i;
+    else if (j > k)
+        return j;
+    else
+        return k;
+}
+
+struct ColumnInfo {
+    enum Justification { Left, Right };
+    std::string name;
+    int width;
+    Justification justification;
+};
+struct ColumnBreak {};
+struct RowBreak {};
+
+class Duration {
+    enum class Unit {
+        Auto,
+        Nanoseconds,
+        Microseconds,
+        Milliseconds,
+        Seconds,
+        Minutes
+    };
+    static const uint64_t s_nanosecondsInAMicrosecond = 1000;
+    static const uint64_t s_nanosecondsInAMillisecond = 1000 * s_nanosecondsInAMicrosecond;
+    static const uint64_t s_nanosecondsInASecond = 1000 * s_nanosecondsInAMillisecond;
+    static const uint64_t s_nanosecondsInAMinute = 60 * s_nanosecondsInASecond;
+
+    double m_inNanoseconds;
+    Unit m_units;
+
+public:
+    explicit Duration(double inNanoseconds, Unit units = Unit::Auto)
+        : m_inNanoseconds(inNanoseconds),
+        m_units(units) {
+        if (m_units == Unit::Auto) {
+            if (m_inNanoseconds < s_nanosecondsInAMicrosecond)
+                m_units = Unit::Nanoseconds;
+            else if (m_inNanoseconds < s_nanosecondsInAMillisecond)
+                m_units = Unit::Microseconds;
+            else if (m_inNanoseconds < s_nanosecondsInASecond)
+                m_units = Unit::Milliseconds;
+            else if (m_inNanoseconds < s_nanosecondsInAMinute)
+                m_units = Unit::Seconds;
+            else
+                m_units = Unit::Minutes;
+        }
+
+    }
+
+    auto value() const -> double {
+        switch (m_units) {
+        case Unit::Microseconds:
+            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMicrosecond);
+        case Unit::Milliseconds:
+            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMillisecond);
+        case Unit::Seconds:
+            return m_inNanoseconds / static_cast<double>(s_nanosecondsInASecond);
+        case Unit::Minutes:
+            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMinute);
+        default:
+            return m_inNanoseconds;
+        }
+    }
+    auto unitsAsString() const -> std::string {
+        switch (m_units) {
+        case Unit::Nanoseconds:
+            return "ns";
+        case Unit::Microseconds:
+            return "us";
+        case Unit::Milliseconds:
+            return "ms";
+        case Unit::Seconds:
+            return "s";
+        case Unit::Minutes:
+            return "m";
+        default:
+            return "** internal error **";
+        }
+
+    }
+    friend auto operator << (std::ostream& os, Duration const& duration) -> std::ostream& {
+        return os << duration.value() << ' ' << duration.unitsAsString();
+    }
+};
+} // end anon namespace
+
+class TablePrinter {
+    std::ostream& m_os;
+    std::vector<ColumnInfo> m_columnInfos;
+    std::ostringstream m_oss;
+    int m_currentColumn = -1;
+    bool m_isOpen = false;
+
+public:
+    TablePrinter( std::ostream& os, std::vector<ColumnInfo> columnInfos )
+    :   m_os( os ),
+        m_columnInfos( std::move( columnInfos ) ) {}
+
+    auto columnInfos() const -> std::vector<ColumnInfo> const& {
+        return m_columnInfos;
+    }
+
+    void open() {
+        if (!m_isOpen) {
+            m_isOpen = true;
+            *this << RowBreak();
+
+			Columns headerCols;
+			Spacer spacer(2);
+			for (auto const& info : m_columnInfos) {
+				headerCols += Column(info.name).width(static_cast<std::size_t>(info.width - 2));
+				headerCols += spacer;
+			}
+			m_os << headerCols << '\n';
+
+            m_os << Catch::getLineOfChars<'-'>() << '\n';
+        }
+    }
+    void close() {
+        if (m_isOpen) {
+            *this << RowBreak();
+            m_os << std::endl;
+            m_isOpen = false;
+        }
+    }
+
+    template<typename T>
+    friend TablePrinter& operator << (TablePrinter& tp, T const& value) {
+        tp.m_oss << value;
+        return tp;
+    }
+
+    friend TablePrinter& operator << (TablePrinter& tp, ColumnBreak) {
+        auto colStr = tp.m_oss.str();
+        const auto strSize = colStr.size();
+        tp.m_oss.str("");
+        tp.open();
+        if (tp.m_currentColumn == static_cast<int>(tp.m_columnInfos.size() - 1)) {
+            tp.m_currentColumn = -1;
+            tp.m_os << '\n';
+        }
+        tp.m_currentColumn++;
+
+        auto colInfo = tp.m_columnInfos[tp.m_currentColumn];
+        auto padding = (strSize + 1 < static_cast<std::size_t>(colInfo.width))
+            ? std::string(colInfo.width - (strSize + 1), ' ')
+            : std::string();
+        if (colInfo.justification == ColumnInfo::Left)
+            tp.m_os << colStr << padding << ' ';
+        else
+            tp.m_os << padding << colStr << ' ';
+        return tp;
+    }
+
+    friend TablePrinter& operator << (TablePrinter& tp, RowBreak) {
+        if (tp.m_currentColumn > 0) {
+            tp.m_os << '\n';
+            tp.m_currentColumn = -1;
+        }
+        return tp;
+    }
+};
+
+ConsoleReporter::ConsoleReporter(ReporterConfig const& config)
+    : StreamingReporterBase(config),
+    m_tablePrinter(new TablePrinter(config.stream(),
+        [&config]() -> std::vector<ColumnInfo> {
+        if (config.fullConfig()->benchmarkNoAnalysis())
+        {
+            return{
+                { "benchmark name", CATCH_CONFIG_CONSOLE_WIDTH - 43, ColumnInfo::Left },
+                { "     samples", 14, ColumnInfo::Right },
+                { "  iterations", 14, ColumnInfo::Right },
+                { "        mean", 14, ColumnInfo::Right }
+            };
+        }
+        else
+        {
+            return{
+                { "benchmark name", CATCH_CONFIG_CONSOLE_WIDTH - 32, ColumnInfo::Left },
+                { "samples      mean       std dev", 14, ColumnInfo::Right },
+                { "iterations   low mean   low std dev", 14, ColumnInfo::Right },
+                { "estimated    high mean  high std dev", 14, ColumnInfo::Right }
+            };
+        }
+    }())) {}
+ConsoleReporter::~ConsoleReporter() = default;
+
+std::string ConsoleReporter::getDescription() {
+    return "Reports test results as plain lines of text";
+}
+
+void ConsoleReporter::noMatchingTestCases(std::string const& spec) {
+    stream << "No test cases matched '" << spec << '\'' << std::endl;
+}
+
+void ConsoleReporter::reportInvalidArguments(std::string const&arg){
+    stream << "Invalid Filter: " << arg << std::endl;
+}
+
+void ConsoleReporter::assertionStarting(AssertionInfo const&) {}
+
+bool ConsoleReporter::assertionEnded(AssertionStats const& _assertionStats) {
+    AssertionResult const& result = _assertionStats.assertionResult;
+
+    bool includeResults = m_config->includeSuccessfulResults() || !result.isOk();
+
+    // Drop out if result was successful but we're not printing them.
+    if (!includeResults && result.getResultType() != ResultWas::Warning)
+        return false;
+
+    lazyPrint();
+
+    ConsoleAssertionPrinter printer(stream, _assertionStats, includeResults);
+    printer.print();
+    stream << std::endl;
+    return true;
+}
+
+void ConsoleReporter::sectionStarting(SectionInfo const& _sectionInfo) {
+    m_tablePrinter->close();
+    m_headerPrinted = false;
+    StreamingReporterBase::sectionStarting(_sectionInfo);
+}
+void ConsoleReporter::sectionEnded(SectionStats const& _sectionStats) {
+    m_tablePrinter->close();
+    if (_sectionStats.missingAssertions) {
+        lazyPrint();
+        Colour colour(Colour::ResultError);
+        if (m_sectionStack.size() > 1)
+            stream << "\nNo assertions in section";
+        else
+            stream << "\nNo assertions in test case";
+        stream << " '" << _sectionStats.sectionInfo.name << "'\n" << std::endl;
+    }
+    if (m_config->showDurations() == ShowDurations::Always) {
+        stream << getFormattedDuration(_sectionStats.durationInSeconds) << " s: " << _sectionStats.sectionInfo.name << std::endl;
+    }
+    if (m_headerPrinted) {
+        m_headerPrinted = false;
+    }
+    StreamingReporterBase::sectionEnded(_sectionStats);
+}
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+void ConsoleReporter::benchmarkPreparing(std::string const& name) {
+	lazyPrintWithoutClosingBenchmarkTable();
+
+	auto nameCol = Column(name).width(static_cast<std::size_t>(m_tablePrinter->columnInfos()[0].width - 2));
+
+	bool firstLine = true;
+	for (auto line : nameCol) {
+		if (!firstLine)
+			(*m_tablePrinter) << ColumnBreak() << ColumnBreak() << ColumnBreak();
+		else
+			firstLine = false;
+
+		(*m_tablePrinter) << line << ColumnBreak();
+	}
+}
+
+void ConsoleReporter::benchmarkStarting(BenchmarkInfo const& info) {
+    (*m_tablePrinter) << info.samples << ColumnBreak()
+        << info.iterations << ColumnBreak();
+    if (!m_config->benchmarkNoAnalysis())
+        (*m_tablePrinter) << Duration(info.estimatedDuration) << ColumnBreak();
+}
+void ConsoleReporter::benchmarkEnded(BenchmarkStats<> const& stats) {
+    if (m_config->benchmarkNoAnalysis())
+    {
+        (*m_tablePrinter) << Duration(stats.mean.point.count()) << ColumnBreak();
+    }
+    else
+    {
+        (*m_tablePrinter) << ColumnBreak()
+            << Duration(stats.mean.point.count()) << ColumnBreak()
+            << Duration(stats.mean.lower_bound.count()) << ColumnBreak()
+            << Duration(stats.mean.upper_bound.count()) << ColumnBreak() << ColumnBreak()
+            << Duration(stats.standardDeviation.point.count()) << ColumnBreak()
+            << Duration(stats.standardDeviation.lower_bound.count()) << ColumnBreak()
+            << Duration(stats.standardDeviation.upper_bound.count()) << ColumnBreak() << ColumnBreak() << ColumnBreak() << ColumnBreak() << ColumnBreak();
+    }
+}
+
+void ConsoleReporter::benchmarkFailed(std::string const& error) {
+	Colour colour(Colour::Red);
+    (*m_tablePrinter)
+        << "Benchmark failed (" << error << ')'
+        << ColumnBreak() << RowBreak();
+}
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+void ConsoleReporter::testCaseEnded(TestCaseStats const& _testCaseStats) {
+    m_tablePrinter->close();
+    StreamingReporterBase::testCaseEnded(_testCaseStats);
+    m_headerPrinted = false;
+}
+void ConsoleReporter::testGroupEnded(TestGroupStats const& _testGroupStats) {
+    if (currentGroupInfo.used) {
+        printSummaryDivider();
+        stream << "Summary for group '" << _testGroupStats.groupInfo.name << "':\n";
+        printTotals(_testGroupStats.totals);
+        stream << '\n' << std::endl;
+    }
+    StreamingReporterBase::testGroupEnded(_testGroupStats);
+}
+void ConsoleReporter::testRunEnded(TestRunStats const& _testRunStats) {
+    printTotalsDivider(_testRunStats.totals);
+    printTotals(_testRunStats.totals);
+    stream << std::endl;
+    StreamingReporterBase::testRunEnded(_testRunStats);
+}
+void ConsoleReporter::testRunStarting(TestRunInfo const& _testInfo) {
+    StreamingReporterBase::testRunStarting(_testInfo);
+    printTestFilters();
+}
+
+void ConsoleReporter::lazyPrint() {
+
+    m_tablePrinter->close();
+    lazyPrintWithoutClosingBenchmarkTable();
+}
+
+void ConsoleReporter::lazyPrintWithoutClosingBenchmarkTable() {
+
+    if (!currentTestRunInfo.used)
+        lazyPrintRunInfo();
+    if (!currentGroupInfo.used)
+        lazyPrintGroupInfo();
+
+    if (!m_headerPrinted) {
+        printTestCaseAndSectionHeader();
+        m_headerPrinted = true;
+    }
+}
+void ConsoleReporter::lazyPrintRunInfo() {
+    stream << '\n' << getLineOfChars<'~'>() << '\n';
+    Colour colour(Colour::SecondaryText);
+    stream << currentTestRunInfo->name
+        << " is a Catch v" << libraryVersion() << " host application.\n"
+        << "Run with -? for options\n\n";
+
+    if (m_config->rngSeed() != 0)
+        stream << "Randomness seeded to: " << m_config->rngSeed() << "\n\n";
+
+    currentTestRunInfo.used = true;
+}
+void ConsoleReporter::lazyPrintGroupInfo() {
+    if (!currentGroupInfo->name.empty() && currentGroupInfo->groupsCounts > 1) {
+        printClosedHeader("Group: " + currentGroupInfo->name);
+        currentGroupInfo.used = true;
+    }
+}
+void ConsoleReporter::printTestCaseAndSectionHeader() {
+    assert(!m_sectionStack.empty());
+    printOpenHeader(currentTestCaseInfo->name);
+
+    if (m_sectionStack.size() > 1) {
+        Colour colourGuard(Colour::Headers);
+
+        auto
+            it = m_sectionStack.begin() + 1, // Skip first section (test case)
+            itEnd = m_sectionStack.end();
+        for (; it != itEnd; ++it)
+            printHeaderString(it->name, 2);
+    }
+
+    SourceLineInfo lineInfo = m_sectionStack.back().lineInfo;
+
+    stream << getLineOfChars<'-'>() << '\n';
+    Colour colourGuard(Colour::FileName);
+    stream << lineInfo << '\n';
+    stream << getLineOfChars<'.'>() << '\n' << std::endl;
+}
+
+void ConsoleReporter::printClosedHeader(std::string const& _name) {
+    printOpenHeader(_name);
+    stream << getLineOfChars<'.'>() << '\n';
+}
+void ConsoleReporter::printOpenHeader(std::string const& _name) {
+    stream << getLineOfChars<'-'>() << '\n';
+    {
+        Colour colourGuard(Colour::Headers);
+        printHeaderString(_name);
+    }
+}
+
+// if string has a : in first line will set indent to follow it on
+// subsequent lines
+void ConsoleReporter::printHeaderString(std::string const& _string, std::size_t indent) {
+    std::size_t i = _string.find(": ");
+    if (i != std::string::npos)
+        i += 2;
+    else
+        i = 0;
+    stream << Column(_string).indent(indent + i).initialIndent(indent) << '\n';
+}
+
+struct SummaryColumn {
+
+    SummaryColumn( std::string _label, Colour::Code _colour )
+    :   label( std::move( _label ) ),
+        colour( _colour ) {}
+    SummaryColumn addRow( std::size_t count ) {
+        ReusableStringStream rss;
+        rss << count;
+        std::string row = rss.str();
+        for (auto& oldRow : rows) {
+            while (oldRow.size() < row.size())
+                oldRow = ' ' + oldRow;
+            while (oldRow.size() > row.size())
+                row = ' ' + row;
+        }
+        rows.push_back(row);
+        return *this;
+    }
+
+    std::string label;
+    Colour::Code colour;
+    std::vector<std::string> rows;
+
+};
+
+void ConsoleReporter::printTotals( Totals const& totals ) {
+    if (totals.testCases.total() == 0) {
+        stream << Colour(Colour::Warning) << "No tests ran\n";
+    } else if (totals.assertions.total() > 0 && totals.testCases.allPassed()) {
+        stream << Colour(Colour::ResultSuccess) << "All tests passed";
+        stream << " ("
+            << pluralise(totals.assertions.passed, "assertion") << " in "
+            << pluralise(totals.testCases.passed, "test case") << ')'
+            << '\n';
+    } else {
+
+        std::vector<SummaryColumn> columns;
+        columns.push_back(SummaryColumn("", Colour::None)
+                          .addRow(totals.testCases.total())
+                          .addRow(totals.assertions.total()));
+        columns.push_back(SummaryColumn("passed", Colour::Success)
+                          .addRow(totals.testCases.passed)
+                          .addRow(totals.assertions.passed));
+        columns.push_back(SummaryColumn("failed", Colour::ResultError)
+                          .addRow(totals.testCases.failed)
+                          .addRow(totals.assertions.failed));
+        columns.push_back(SummaryColumn("failed as expected", Colour::ResultExpectedFailure)
+                          .addRow(totals.testCases.failedButOk)
+                          .addRow(totals.assertions.failedButOk));
+
+        printSummaryRow("test cases", columns, 0);
+        printSummaryRow("assertions", columns, 1);
+    }
+}
+void ConsoleReporter::printSummaryRow(std::string const& label, std::vector<SummaryColumn> const& cols, std::size_t row) {
+    for (auto col : cols) {
+        std::string value = col.rows[row];
+        if (col.label.empty()) {
+            stream << label << ": ";
+            if (value != "0")
+                stream << value;
+            else
+                stream << Colour(Colour::Warning) << "- none -";
+        } else if (value != "0") {
+            stream << Colour(Colour::LightGrey) << " | ";
+            stream << Colour(col.colour)
+                << value << ' ' << col.label;
+        }
+    }
+    stream << '\n';
+}
+
+void ConsoleReporter::printTotalsDivider(Totals const& totals) {
+    if (totals.testCases.total() > 0) {
+        std::size_t failedRatio = makeRatio(totals.testCases.failed, totals.testCases.total());
+        std::size_t failedButOkRatio = makeRatio(totals.testCases.failedButOk, totals.testCases.total());
+        std::size_t passedRatio = makeRatio(totals.testCases.passed, totals.testCases.total());
+        while (failedRatio + failedButOkRatio + passedRatio < CATCH_CONFIG_CONSOLE_WIDTH - 1)
+            findMax(failedRatio, failedButOkRatio, passedRatio)++;
+        while (failedRatio + failedButOkRatio + passedRatio > CATCH_CONFIG_CONSOLE_WIDTH - 1)
+            findMax(failedRatio, failedButOkRatio, passedRatio)--;
+
+        stream << Colour(Colour::Error) << std::string(failedRatio, '=');
+        stream << Colour(Colour::ResultExpectedFailure) << std::string(failedButOkRatio, '=');
+        if (totals.testCases.allPassed())
+            stream << Colour(Colour::ResultSuccess) << std::string(passedRatio, '=');
+        else
+            stream << Colour(Colour::Success) << std::string(passedRatio, '=');
+    } else {
+        stream << Colour(Colour::Warning) << std::string(CATCH_CONFIG_CONSOLE_WIDTH - 1, '=');
+    }
+    stream << '\n';
+}
+void ConsoleReporter::printSummaryDivider() {
+    stream << getLineOfChars<'-'>() << '\n';
+}
+
+void ConsoleReporter::printTestFilters() {
+    if (m_config->testSpec().hasFilters()) {
+        Colour guard(Colour::BrightYellow);
+        stream << "Filters: " << serializeFilters(m_config->getTestsOrTags()) << '\n';
+    }
+}
+
+CATCH_REGISTER_REPORTER("console", ConsoleReporter)
+
+} // end namespace Catch
+
+#if defined(_MSC_VER)
+#pragma warning(pop)
+#endif
+
+#if defined(__clang__)
+#  pragma clang diagnostic pop
+#endif
+// end catch_reporter_console.cpp
+// start catch_reporter_junit.cpp
+
+#include <cassert>
+#include <sstream>
+#include <ctime>
+#include <algorithm>
+
+namespace Catch {
+
+    namespace {
+        std::string getCurrentTimestamp() {
+            // Beware, this is not reentrant because of backward compatibility issues
+            // Also, UTC only, again because of backward compatibility (%z is C++11)
+            time_t rawtime;
+            std::time(&rawtime);
+            auto const timeStampSize = sizeof("2017-01-16T17:06:45Z");
+
+#ifdef _MSC_VER
+            std::tm timeInfo = {};
+            gmtime_s(&timeInfo, &rawtime);
+#else
+            std::tm* timeInfo;
+            timeInfo = std::gmtime(&rawtime);
+#endif
+
+            char timeStamp[timeStampSize];
+            const char * const fmt = "%Y-%m-%dT%H:%M:%SZ";
+
+#ifdef _MSC_VER
+            std::strftime(timeStamp, timeStampSize, fmt, &timeInfo);
+#else
+            std::strftime(timeStamp, timeStampSize, fmt, timeInfo);
+#endif
+            return std::string(timeStamp);
+        }
+
+        std::string fileNameTag(const std::vector<std::string> &tags) {
+            auto it = std::find_if(begin(tags),
+                                   end(tags),
+                                   [] (std::string const& tag) {return tag.front() == '#'; });
+            if (it != tags.end())
+                return it->substr(1);
+            return std::string();
+        }
+    } // anonymous namespace
+
+    JunitReporter::JunitReporter( ReporterConfig const& _config )
+        :   CumulativeReporterBase( _config ),
+            xml( _config.stream() )
+        {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+            m_reporterPrefs.shouldReportAllAssertions = true;
+        }
+
+    JunitReporter::~JunitReporter() {}
+
+    std::string JunitReporter::getDescription() {
+        return "Reports test results in an XML format that looks like Ant's junitreport target";
+    }
+
+    void JunitReporter::noMatchingTestCases( std::string const& /*spec*/ ) {}
+
+    void JunitReporter::testRunStarting( TestRunInfo const& runInfo )  {
+        CumulativeReporterBase::testRunStarting( runInfo );
+        xml.startElement( "testsuites" );
+    }
+
+    void JunitReporter::testGroupStarting( GroupInfo const& groupInfo ) {
+        suiteTimer.start();
+        stdOutForSuite.clear();
+        stdErrForSuite.clear();
+        unexpectedExceptions = 0;
+        CumulativeReporterBase::testGroupStarting( groupInfo );
+    }
+
+    void JunitReporter::testCaseStarting( TestCaseInfo const& testCaseInfo ) {
+        m_okToFail = testCaseInfo.okToFail();
+    }
+
+    bool JunitReporter::assertionEnded( AssertionStats const& assertionStats ) {
+        if( assertionStats.assertionResult.getResultType() == ResultWas::ThrewException && !m_okToFail )
+            unexpectedExceptions++;
+        return CumulativeReporterBase::assertionEnded( assertionStats );
+    }
+
+    void JunitReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
+        stdOutForSuite += testCaseStats.stdOut;
+        stdErrForSuite += testCaseStats.stdErr;
+        CumulativeReporterBase::testCaseEnded( testCaseStats );
+    }
+
+    void JunitReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
+        double suiteTime = suiteTimer.getElapsedSeconds();
+        CumulativeReporterBase::testGroupEnded( testGroupStats );
+        writeGroup( *m_testGroups.back(), suiteTime );
+    }
+
+    void JunitReporter::testRunEndedCumulative() {
+        xml.endElement();
+    }
+
+    void JunitReporter::writeGroup( TestGroupNode const& groupNode, double suiteTime ) {
+        XmlWriter::ScopedElement e = xml.scopedElement( "testsuite" );
+
+        TestGroupStats const& stats = groupNode.value;
+        xml.writeAttribute( "name", stats.groupInfo.name );
+        xml.writeAttribute( "errors", unexpectedExceptions );
+        xml.writeAttribute( "failures", stats.totals.assertions.failed-unexpectedExceptions );
+        xml.writeAttribute( "tests", stats.totals.assertions.total() );
+        xml.writeAttribute( "hostname", "tbd" ); // !TBD
+        if( m_config->showDurations() == ShowDurations::Never )
+            xml.writeAttribute( "time", "" );
+        else
+            xml.writeAttribute( "time", suiteTime );
+        xml.writeAttribute( "timestamp", getCurrentTimestamp() );
+
+        // Write properties if there are any
+        if (m_config->hasTestFilters() || m_config->rngSeed() != 0) {
+            auto properties = xml.scopedElement("properties");
+            if (m_config->hasTestFilters()) {
+                xml.scopedElement("property")
+                    .writeAttribute("name", "filters")
+                    .writeAttribute("value", serializeFilters(m_config->getTestsOrTags()));
+            }
+            if (m_config->rngSeed() != 0) {
+                xml.scopedElement("property")
+                    .writeAttribute("name", "random-seed")
+                    .writeAttribute("value", m_config->rngSeed());
+            }
+        }
+
+        // Write test cases
+        for( auto const& child : groupNode.children )
+            writeTestCase( *child );
+
+        xml.scopedElement( "system-out" ).writeText( trim( stdOutForSuite ), XmlFormatting::Newline );
+        xml.scopedElement( "system-err" ).writeText( trim( stdErrForSuite ), XmlFormatting::Newline );
+    }
+
+    void JunitReporter::writeTestCase( TestCaseNode const& testCaseNode ) {
+        TestCaseStats const& stats = testCaseNode.value;
+
+        // All test cases have exactly one section - which represents the
+        // test case itself. That section may have 0-n nested sections
+        assert( testCaseNode.children.size() == 1 );
+        SectionNode const& rootSection = *testCaseNode.children.front();
+
+        std::string className = stats.testInfo.className;
+
+        if( className.empty() ) {
+            className = fileNameTag(stats.testInfo.tags);
+            if ( className.empty() )
+                className = "global";
+        }
+
+        if ( !m_config->name().empty() )
+            className = m_config->name() + "." + className;
+
+        writeSection( className, "", rootSection );
+    }
+
+    void JunitReporter::writeSection(  std::string const& className,
+                        std::string const& rootName,
+                        SectionNode const& sectionNode ) {
+        std::string name = trim( sectionNode.stats.sectionInfo.name );
+        if( !rootName.empty() )
+            name = rootName + '/' + name;
+
+        if( !sectionNode.assertions.empty() ||
+            !sectionNode.stdOut.empty() ||
+            !sectionNode.stdErr.empty() ) {
+            XmlWriter::ScopedElement e = xml.scopedElement( "testcase" );
+            if( className.empty() ) {
+                xml.writeAttribute( "classname", name );
+                xml.writeAttribute( "name", "root" );
+            }
+            else {
+                xml.writeAttribute( "classname", className );
+                xml.writeAttribute( "name", name );
+            }
+            xml.writeAttribute( "time", ::Catch::Detail::stringify( sectionNode.stats.durationInSeconds ) );
+
+            writeAssertions( sectionNode );
+
+            if( !sectionNode.stdOut.empty() )
+                xml.scopedElement( "system-out" ).writeText( trim( sectionNode.stdOut ), XmlFormatting::Newline );
+            if( !sectionNode.stdErr.empty() )
+                xml.scopedElement( "system-err" ).writeText( trim( sectionNode.stdErr ), XmlFormatting::Newline );
+        }
+        for( auto const& childNode : sectionNode.childSections )
+            if( className.empty() )
+                writeSection( name, "", *childNode );
+            else
+                writeSection( className, name, *childNode );
+    }
+
+    void JunitReporter::writeAssertions( SectionNode const& sectionNode ) {
+        for( auto const& assertion : sectionNode.assertions )
+            writeAssertion( assertion );
+    }
+
+    void JunitReporter::writeAssertion( AssertionStats const& stats ) {
+        AssertionResult const& result = stats.assertionResult;
+        if( !result.isOk() ) {
+            std::string elementName;
+            switch( result.getResultType() ) {
+                case ResultWas::ThrewException:
+                case ResultWas::FatalErrorCondition:
+                    elementName = "error";
+                    break;
+                case ResultWas::ExplicitFailure:
+                case ResultWas::ExpressionFailed:
+                case ResultWas::DidntThrowException:
+                    elementName = "failure";
+                    break;
+
+                // We should never see these here:
+                case ResultWas::Info:
+                case ResultWas::Warning:
+                case ResultWas::Ok:
+                case ResultWas::Unknown:
+                case ResultWas::FailureBit:
+                case ResultWas::Exception:
+                    elementName = "internalError";
+                    break;
+            }
+
+            XmlWriter::ScopedElement e = xml.scopedElement( elementName );
+
+            xml.writeAttribute( "message", result.getExpression() );
+            xml.writeAttribute( "type", result.getTestMacroName() );
+
+            ReusableStringStream rss;
+            if (stats.totals.assertions.total() > 0) {
+                rss << "FAILED" << ":\n";
+                if (result.hasExpression()) {
+                    rss << "  ";
+                    rss << result.getExpressionInMacro();
+                    rss << '\n';
+                }
+                if (result.hasExpandedExpression()) {
+                    rss << "with expansion:\n";
+                    rss << Column(result.getExpandedExpression()).indent(2) << '\n';
+                }
+            } else {
+                rss << '\n';
+            }
+
+            if( !result.getMessage().empty() )
+                rss << result.getMessage() << '\n';
+            for( auto const& msg : stats.infoMessages )
+                if( msg.type == ResultWas::Info )
+                    rss << msg.message << '\n';
+
+            rss << "at " << result.getSourceInfo();
+            xml.writeText( rss.str(), XmlFormatting::Newline );
+        }
+    }
+
+    CATCH_REGISTER_REPORTER( "junit", JunitReporter )
+
+} // end namespace Catch
+// end catch_reporter_junit.cpp
+// start catch_reporter_listening.cpp
+
+#include <cassert>
+
+namespace Catch {
+
+    ListeningReporter::ListeningReporter() {
+        // We will assume that listeners will always want all assertions
+        m_preferences.shouldReportAllAssertions = true;
+    }
+
+    void ListeningReporter::addListener( IStreamingReporterPtr&& listener ) {
+        m_listeners.push_back( std::move( listener ) );
+    }
+
+    void ListeningReporter::addReporter(IStreamingReporterPtr&& reporter) {
+        assert(!m_reporter && "Listening reporter can wrap only 1 real reporter");
+        m_reporter = std::move( reporter );
+        m_preferences.shouldRedirectStdOut = m_reporter->getPreferences().shouldRedirectStdOut;
+    }
+
+    ReporterPreferences ListeningReporter::getPreferences() const {
+        return m_preferences;
+    }
+
+    std::set<Verbosity> ListeningReporter::getSupportedVerbosities() {
+        return std::set<Verbosity>{ };
+    }
+
+    void ListeningReporter::noMatchingTestCases( std::string const& spec ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->noMatchingTestCases( spec );
+        }
+        m_reporter->noMatchingTestCases( spec );
+    }
+
+    void ListeningReporter::reportInvalidArguments(std::string const&arg){
+        for ( auto const& listener : m_listeners ) {
+            listener->reportInvalidArguments( arg );
+        }
+        m_reporter->reportInvalidArguments( arg );
+    }
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+    void ListeningReporter::benchmarkPreparing( std::string const& name ) {
+		for (auto const& listener : m_listeners) {
+			listener->benchmarkPreparing(name);
+		}
+		m_reporter->benchmarkPreparing(name);
+	}
+    void ListeningReporter::benchmarkStarting( BenchmarkInfo const& benchmarkInfo ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->benchmarkStarting( benchmarkInfo );
+        }
+        m_reporter->benchmarkStarting( benchmarkInfo );
+    }
+    void ListeningReporter::benchmarkEnded( BenchmarkStats<> const& benchmarkStats ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->benchmarkEnded( benchmarkStats );
+        }
+        m_reporter->benchmarkEnded( benchmarkStats );
+    }
+
+	void ListeningReporter::benchmarkFailed( std::string const& error ) {
+		for (auto const& listener : m_listeners) {
+			listener->benchmarkFailed(error);
+		}
+		m_reporter->benchmarkFailed(error);
+	}
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+    void ListeningReporter::testRunStarting( TestRunInfo const& testRunInfo ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->testRunStarting( testRunInfo );
+        }
+        m_reporter->testRunStarting( testRunInfo );
+    }
+
+    void ListeningReporter::testGroupStarting( GroupInfo const& groupInfo ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->testGroupStarting( groupInfo );
+        }
+        m_reporter->testGroupStarting( groupInfo );
+    }
+
+    void ListeningReporter::testCaseStarting( TestCaseInfo const& testInfo ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->testCaseStarting( testInfo );
+        }
+        m_reporter->testCaseStarting( testInfo );
+    }
+
+    void ListeningReporter::sectionStarting( SectionInfo const& sectionInfo ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->sectionStarting( sectionInfo );
+        }
+        m_reporter->sectionStarting( sectionInfo );
+    }
+
+    void ListeningReporter::assertionStarting( AssertionInfo const& assertionInfo ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->assertionStarting( assertionInfo );
+        }
+        m_reporter->assertionStarting( assertionInfo );
+    }
+
+    // The return value indicates if the messages buffer should be cleared:
+    bool ListeningReporter::assertionEnded( AssertionStats const& assertionStats ) {
+        for( auto const& listener : m_listeners ) {
+            static_cast<void>( listener->assertionEnded( assertionStats ) );
+        }
+        return m_reporter->assertionEnded( assertionStats );
+    }
+
+    void ListeningReporter::sectionEnded( SectionStats const& sectionStats ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->sectionEnded( sectionStats );
+        }
+        m_reporter->sectionEnded( sectionStats );
+    }
+
+    void ListeningReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->testCaseEnded( testCaseStats );
+        }
+        m_reporter->testCaseEnded( testCaseStats );
+    }
+
+    void ListeningReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->testGroupEnded( testGroupStats );
+        }
+        m_reporter->testGroupEnded( testGroupStats );
+    }
+
+    void ListeningReporter::testRunEnded( TestRunStats const& testRunStats ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->testRunEnded( testRunStats );
+        }
+        m_reporter->testRunEnded( testRunStats );
+    }
+
+    void ListeningReporter::skipTest( TestCaseInfo const& testInfo ) {
+        for ( auto const& listener : m_listeners ) {
+            listener->skipTest( testInfo );
+        }
+        m_reporter->skipTest( testInfo );
+    }
+
+    bool ListeningReporter::isMulti() const {
+        return true;
+    }
+
+} // end namespace Catch
+// end catch_reporter_listening.cpp
+// start catch_reporter_xml.cpp
+
+#if defined(_MSC_VER)
+#pragma warning(push)
+#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
+                              // Note that 4062 (not all labels are handled
+                              // and default is missing) is enabled
+#endif
+
+namespace Catch {
+    XmlReporter::XmlReporter( ReporterConfig const& _config )
+    :   StreamingReporterBase( _config ),
+        m_xml(_config.stream())
+    {
+        m_reporterPrefs.shouldRedirectStdOut = true;
+        m_reporterPrefs.shouldReportAllAssertions = true;
+    }
+
+    XmlReporter::~XmlReporter() = default;
+
+    std::string XmlReporter::getDescription() {
+        return "Reports test results as an XML document";
+    }
+
+    std::string XmlReporter::getStylesheetRef() const {
+        return std::string();
+    }
+
+    void XmlReporter::writeSourceInfo( SourceLineInfo const& sourceInfo ) {
+        m_xml
+            .writeAttribute( "filename", sourceInfo.file )
+            .writeAttribute( "line", sourceInfo.line );
+    }
+
+    void XmlReporter::noMatchingTestCases( std::string const& s ) {
+        StreamingReporterBase::noMatchingTestCases( s );
+    }
+
+    void XmlReporter::testRunStarting( TestRunInfo const& testInfo ) {
+        StreamingReporterBase::testRunStarting( testInfo );
+        std::string stylesheetRef = getStylesheetRef();
+        if( !stylesheetRef.empty() )
+            m_xml.writeStylesheetRef( stylesheetRef );
+        m_xml.startElement( "Catch" );
+        if( !m_config->name().empty() )
+            m_xml.writeAttribute( "name", m_config->name() );
+        if (m_config->testSpec().hasFilters())
+            m_xml.writeAttribute( "filters", serializeFilters( m_config->getTestsOrTags() ) );
+        if( m_config->rngSeed() != 0 )
+            m_xml.scopedElement( "Randomness" )
+                .writeAttribute( "seed", m_config->rngSeed() );
+    }
+
+    void XmlReporter::testGroupStarting( GroupInfo const& groupInfo ) {
+        StreamingReporterBase::testGroupStarting( groupInfo );
+        m_xml.startElement( "Group" )
+            .writeAttribute( "name", groupInfo.name );
+    }
+
+    void XmlReporter::testCaseStarting( TestCaseInfo const& testInfo ) {
+        StreamingReporterBase::testCaseStarting(testInfo);
+        m_xml.startElement( "TestCase" )
+            .writeAttribute( "name", trim( testInfo.name ) )
+            .writeAttribute( "description", testInfo.description )
+            .writeAttribute( "tags", testInfo.tagsAsString() );
+
+        writeSourceInfo( testInfo.lineInfo );
+
+        if ( m_config->showDurations() == ShowDurations::Always )
+            m_testCaseTimer.start();
+        m_xml.ensureTagClosed();
+    }
+
+    void XmlReporter::sectionStarting( SectionInfo const& sectionInfo ) {
+        StreamingReporterBase::sectionStarting( sectionInfo );
+        if( m_sectionDepth++ > 0 ) {
+            m_xml.startElement( "Section" )
+                .writeAttribute( "name", trim( sectionInfo.name ) );
+            writeSourceInfo( sectionInfo.lineInfo );
+            m_xml.ensureTagClosed();
+        }
+    }
+
+    void XmlReporter::assertionStarting( AssertionInfo const& ) { }
+
+    bool XmlReporter::assertionEnded( AssertionStats const& assertionStats ) {
+
+        AssertionResult const& result = assertionStats.assertionResult;
+
+        bool includeResults = m_config->includeSuccessfulResults() || !result.isOk();
+
+        if( includeResults || result.getResultType() == ResultWas::Warning ) {
+            // Print any info messages in <Info> tags.
+            for( auto const& msg : assertionStats.infoMessages ) {
+                if( msg.type == ResultWas::Info && includeResults ) {
+                    m_xml.scopedElement( "Info" )
+                            .writeText( msg.message );
+                } else if ( msg.type == ResultWas::Warning ) {
+                    m_xml.scopedElement( "Warning" )
+                            .writeText( msg.message );
+                }
+            }
+        }
+
+        // Drop out if result was successful but we're not printing them.
+        if( !includeResults && result.getResultType() != ResultWas::Warning )
+            return true;
+
+        // Print the expression if there is one.
+        if( result.hasExpression() ) {
+            m_xml.startElement( "Expression" )
+                .writeAttribute( "success", result.succeeded() )
+                .writeAttribute( "type", result.getTestMacroName() );
+
+            writeSourceInfo( result.getSourceInfo() );
+
+            m_xml.scopedElement( "Original" )
+                .writeText( result.getExpression() );
+            m_xml.scopedElement( "Expanded" )
+                .writeText( result.getExpandedExpression() );
+        }
+
+        // And... Print a result applicable to each result type.
+        switch( result.getResultType() ) {
+            case ResultWas::ThrewException:
+                m_xml.startElement( "Exception" );
+                writeSourceInfo( result.getSourceInfo() );
+                m_xml.writeText( result.getMessage() );
+                m_xml.endElement();
+                break;
+            case ResultWas::FatalErrorCondition:
+                m_xml.startElement( "FatalErrorCondition" );
+                writeSourceInfo( result.getSourceInfo() );
+                m_xml.writeText( result.getMessage() );
+                m_xml.endElement();
+                break;
+            case ResultWas::Info:
+                m_xml.scopedElement( "Info" )
+                    .writeText( result.getMessage() );
+                break;
+            case ResultWas::Warning:
+                // Warning will already have been written
+                break;
+            case ResultWas::ExplicitFailure:
+                m_xml.startElement( "Failure" );
+                writeSourceInfo( result.getSourceInfo() );
+                m_xml.writeText( result.getMessage() );
+                m_xml.endElement();
+                break;
+            default:
+                break;
+        }
+
+        if( result.hasExpression() )
+            m_xml.endElement();
+
+        return true;
+    }
+
+    void XmlReporter::sectionEnded( SectionStats const& sectionStats ) {
+        StreamingReporterBase::sectionEnded( sectionStats );
+        if( --m_sectionDepth > 0 ) {
+            XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResults" );
+            e.writeAttribute( "successes", sectionStats.assertions.passed );
+            e.writeAttribute( "failures", sectionStats.assertions.failed );
+            e.writeAttribute( "expectedFailures", sectionStats.assertions.failedButOk );
+
+            if ( m_config->showDurations() == ShowDurations::Always )
+                e.writeAttribute( "durationInSeconds", sectionStats.durationInSeconds );
+
+            m_xml.endElement();
+        }
+    }
+
+    void XmlReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
+        StreamingReporterBase::testCaseEnded( testCaseStats );
+        XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResult" );
+        e.writeAttribute( "success", testCaseStats.totals.assertions.allOk() );
+
+        if ( m_config->showDurations() == ShowDurations::Always )
+            e.writeAttribute( "durationInSeconds", m_testCaseTimer.getElapsedSeconds() );
+
+        if( !testCaseStats.stdOut.empty() )
+            m_xml.scopedElement( "StdOut" ).writeText( trim( testCaseStats.stdOut ), XmlFormatting::Newline );
+        if( !testCaseStats.stdErr.empty() )
+            m_xml.scopedElement( "StdErr" ).writeText( trim( testCaseStats.stdErr ), XmlFormatting::Newline );
+
+        m_xml.endElement();
+    }
+
+    void XmlReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
+        StreamingReporterBase::testGroupEnded( testGroupStats );
+        // TODO: Check testGroupStats.aborting and act accordingly.
+        m_xml.scopedElement( "OverallResults" )
+            .writeAttribute( "successes", testGroupStats.totals.assertions.passed )
+            .writeAttribute( "failures", testGroupStats.totals.assertions.failed )
+            .writeAttribute( "expectedFailures", testGroupStats.totals.assertions.failedButOk );
+        m_xml.endElement();
+    }
+
+    void XmlReporter::testRunEnded( TestRunStats const& testRunStats ) {
+        StreamingReporterBase::testRunEnded( testRunStats );
+        m_xml.scopedElement( "OverallResults" )
+            .writeAttribute( "successes", testRunStats.totals.assertions.passed )
+            .writeAttribute( "failures", testRunStats.totals.assertions.failed )
+            .writeAttribute( "expectedFailures", testRunStats.totals.assertions.failedButOk );
+        m_xml.endElement();
+    }
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+    void XmlReporter::benchmarkPreparing(std::string const& name) {
+        m_xml.startElement("BenchmarkResults")
+            .writeAttribute("name", name);
+    }
+
+    void XmlReporter::benchmarkStarting(BenchmarkInfo const &info) {
+        m_xml.writeAttribute("samples", info.samples)
+            .writeAttribute("resamples", info.resamples)
+            .writeAttribute("iterations", info.iterations)
+            .writeAttribute("clockResolution", info.clockResolution)
+            .writeAttribute("estimatedDuration", info.estimatedDuration)
+            .writeComment("All values in nano seconds");
+    }
+
+    void XmlReporter::benchmarkEnded(BenchmarkStats<> const& benchmarkStats) {
+        m_xml.startElement("mean")
+            .writeAttribute("value", benchmarkStats.mean.point.count())
+            .writeAttribute("lowerBound", benchmarkStats.mean.lower_bound.count())
+            .writeAttribute("upperBound", benchmarkStats.mean.upper_bound.count())
+            .writeAttribute("ci", benchmarkStats.mean.confidence_interval);
+        m_xml.endElement();
+        m_xml.startElement("standardDeviation")
+            .writeAttribute("value", benchmarkStats.standardDeviation.point.count())
+            .writeAttribute("lowerBound", benchmarkStats.standardDeviation.lower_bound.count())
+            .writeAttribute("upperBound", benchmarkStats.standardDeviation.upper_bound.count())
+            .writeAttribute("ci", benchmarkStats.standardDeviation.confidence_interval);
+        m_xml.endElement();
+        m_xml.startElement("outliers")
+            .writeAttribute("variance", benchmarkStats.outlierVariance)
+            .writeAttribute("lowMild", benchmarkStats.outliers.low_mild)
+            .writeAttribute("lowSevere", benchmarkStats.outliers.low_severe)
+            .writeAttribute("highMild", benchmarkStats.outliers.high_mild)
+            .writeAttribute("highSevere", benchmarkStats.outliers.high_severe);
+        m_xml.endElement();
+        m_xml.endElement();
+    }
+
+    void XmlReporter::benchmarkFailed(std::string const &error) {
+        m_xml.scopedElement("failed").
+            writeAttribute("message", error);
+        m_xml.endElement();
+    }
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+    CATCH_REGISTER_REPORTER( "xml", XmlReporter )
+
+} // end namespace Catch
+
+#if defined(_MSC_VER)
+#pragma warning(pop)
+#endif
+// end catch_reporter_xml.cpp
+
+namespace Catch {
+    LeakDetector leakDetector;
+}
+
+#ifdef __clang__
+#pragma clang diagnostic pop
+#endif
+
+// end catch_impl.hpp
+#endif
+
+#ifdef CATCH_CONFIG_MAIN
+// start catch_default_main.hpp
+
+#ifndef __OBJC__
+
+#if defined(CATCH_CONFIG_WCHAR) && defined(CATCH_PLATFORM_WINDOWS) && defined(_UNICODE) && !defined(DO_NOT_USE_WMAIN)
+// Standard C/C++ Win32 Unicode wmain entry point
+extern "C" int wmain (int argc, wchar_t * argv[], wchar_t * []) {
+#else
+// Standard C/C++ main entry point
+int main (int argc, char * argv[]) {
+#endif
+
+    return Catch::Session().run( argc, argv );
+}
+
+#else // __OBJC__
+
+// Objective-C entry point
+int main (int argc, char * const argv[]) {
+#if !CATCH_ARC_ENABLED
+    NSAutoreleasePool * pool = [[NSAutoreleasePool alloc] init];
+#endif
+
+    Catch::registerTestMethods();
+    int result = Catch::Session().run( argc, (char**)argv );
+
+#if !CATCH_ARC_ENABLED
+    [pool drain];
+#endif
+
+    return result;
+}
+
+#endif // __OBJC__
+
+// end catch_default_main.hpp
+#endif
+
+#if !defined(CATCH_CONFIG_IMPL_ONLY)
+
+#ifdef CLARA_CONFIG_MAIN_NOT_DEFINED
+#  undef CLARA_CONFIG_MAIN
+#endif
+
+#if !defined(CATCH_CONFIG_DISABLE)
+//////
+// If this config identifier is defined then all CATCH macros are prefixed with CATCH_
+#ifdef CATCH_CONFIG_PREFIX_ALL
+
+#define CATCH_REQUIRE( ... ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE", Catch::ResultDisposition::Normal, __VA_ARGS__ )
+#define CATCH_REQUIRE_FALSE( ... ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
+
+#define CATCH_REQUIRE_THROWS( ... ) INTERNAL_CATCH_THROWS( "CATCH_REQUIRE_THROWS", Catch::ResultDisposition::Normal, __VA_ARGS__ )
+#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr )
+#define CATCH_REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CATCH_REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr )
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define CATCH_REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CATCH_REQUIRE_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::Normal, matcher, expr )
+#endif// CATCH_CONFIG_DISABLE_MATCHERS
+#define CATCH_REQUIRE_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CATCH_REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, __VA_ARGS__ )
+
+#define CATCH_CHECK( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define CATCH_CHECK_FALSE( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
+#define CATCH_CHECKED_IF( ... ) INTERNAL_CATCH_IF( "CATCH_CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define CATCH_CHECKED_ELSE( ... ) INTERNAL_CATCH_ELSE( "CATCH_CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define CATCH_CHECK_NOFAIL( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, __VA_ARGS__ )
+
+#define CATCH_CHECK_THROWS( ... )  INTERNAL_CATCH_THROWS( "CATCH_CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr )
+#define CATCH_CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CATCH_CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define CATCH_CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CATCH_CHECK_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+#define CATCH_CHECK_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CATCH_CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define CATCH_CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg )
+
+#define CATCH_REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg )
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+
+#define CATCH_INFO( msg ) INTERNAL_CATCH_INFO( "CATCH_INFO", msg )
+#define CATCH_UNSCOPED_INFO( msg ) INTERNAL_CATCH_UNSCOPED_INFO( "CATCH_UNSCOPED_INFO", msg )
+#define CATCH_WARN( msg ) INTERNAL_CATCH_MSG( "CATCH_WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg )
+#define CATCH_CAPTURE( ... ) INTERNAL_CATCH_CAPTURE( INTERNAL_CATCH_UNIQUE_NAME(capturer), "CATCH_CAPTURE",__VA_ARGS__ )
+
+#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ )
+#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#define CATCH_METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ )
+#define CATCH_REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ )
+#define CATCH_SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ )
+#define CATCH_DYNAMIC_SECTION( ... ) INTERNAL_CATCH_DYNAMIC_SECTION( __VA_ARGS__ )
+#define CATCH_FAIL( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ )
+#define CATCH_FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define CATCH_SUCCEED( ... ) INTERNAL_CATCH_MSG( "CATCH_SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+
+#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE()
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
+#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ )
+#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
+#else
+#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ ) )
+#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ ) )
+#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
+#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ ) )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ ) )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
+#endif
+
+#if !defined(CATCH_CONFIG_RUNTIME_STATIC_REQUIRE)
+#define CATCH_STATIC_REQUIRE( ... )       static_assert(   __VA_ARGS__ ,      #__VA_ARGS__ );     CATCH_SUCCEED( #__VA_ARGS__ )
+#define CATCH_STATIC_REQUIRE_FALSE( ... ) static_assert( !(__VA_ARGS__), "!(" #__VA_ARGS__ ")" ); CATCH_SUCCEED( #__VA_ARGS__ )
+#else
+#define CATCH_STATIC_REQUIRE( ... )       CATCH_REQUIRE( __VA_ARGS__ )
+#define CATCH_STATIC_REQUIRE_FALSE( ... ) CATCH_REQUIRE_FALSE( __VA_ARGS__ )
+#endif
+
+// "BDD-style" convenience wrappers
+#define CATCH_SCENARIO( ... ) CATCH_TEST_CASE( "Scenario: " __VA_ARGS__ )
+#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ )
+#define CATCH_GIVEN( desc )     INTERNAL_CATCH_DYNAMIC_SECTION( "    Given: " << desc )
+#define CATCH_AND_GIVEN( desc ) INTERNAL_CATCH_DYNAMIC_SECTION( "And given: " << desc )
+#define CATCH_WHEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     When: " << desc )
+#define CATCH_AND_WHEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( " And when: " << desc )
+#define CATCH_THEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     Then: " << desc )
+#define CATCH_AND_THEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( "      And: " << desc )
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+#define CATCH_BENCHMARK(...) \
+    INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,))
+#define CATCH_BENCHMARK_ADVANCED(name) \
+    INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), name)
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required
+#else
+
+#define REQUIRE( ... ) INTERNAL_CATCH_TEST( "REQUIRE", Catch::ResultDisposition::Normal, __VA_ARGS__  )
+#define REQUIRE_FALSE( ... ) INTERNAL_CATCH_TEST( "REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
+
+#define REQUIRE_THROWS( ... ) INTERNAL_CATCH_THROWS( "REQUIRE_THROWS", Catch::ResultDisposition::Normal, __VA_ARGS__ )
+#define REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr )
+#define REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr )
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "REQUIRE_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::Normal, matcher, expr )
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+#define REQUIRE_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, __VA_ARGS__ )
+
+#define CHECK( ... ) INTERNAL_CATCH_TEST( "CHECK", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define CHECK_FALSE( ... ) INTERNAL_CATCH_TEST( "CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
+#define CHECKED_IF( ... ) INTERNAL_CATCH_IF( "CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define CHECKED_ELSE( ... ) INTERNAL_CATCH_ELSE( "CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define CHECK_NOFAIL( ... ) INTERNAL_CATCH_TEST( "CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, __VA_ARGS__ )
+
+#define CHECK_THROWS( ... )  INTERNAL_CATCH_THROWS( "CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr )
+#define CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CHECK_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+#define CHECK_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg )
+
+#define REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg )
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+
+#define INFO( msg ) INTERNAL_CATCH_INFO( "INFO", msg )
+#define UNSCOPED_INFO( msg ) INTERNAL_CATCH_UNSCOPED_INFO( "UNSCOPED_INFO", msg )
+#define WARN( msg ) INTERNAL_CATCH_MSG( "WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg )
+#define CAPTURE( ... ) INTERNAL_CATCH_CAPTURE( INTERNAL_CATCH_UNIQUE_NAME(capturer), "CAPTURE",__VA_ARGS__ )
+
+#define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ )
+#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#define METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ )
+#define REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ )
+#define SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ )
+#define DYNAMIC_SECTION( ... ) INTERNAL_CATCH_DYNAMIC_SECTION( __VA_ARGS__ )
+#define FAIL( ... ) INTERNAL_CATCH_MSG( "FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ )
+#define FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define SUCCEED( ... ) INTERNAL_CATCH_MSG( "SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
+#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE()
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
+#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ )
+#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
+#define TEMPLATE_LIST_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE(__VA_ARGS__)
+#define TEMPLATE_LIST_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#else
+#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ ) )
+#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ ) )
+#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
+#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
+#define TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ ) )
+#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ ) )
+#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
+#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
+#define TEMPLATE_LIST_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE( __VA_ARGS__ ) )
+#define TEMPLATE_LIST_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
+#endif
+
+#if !defined(CATCH_CONFIG_RUNTIME_STATIC_REQUIRE)
+#define STATIC_REQUIRE( ... )       static_assert(   __VA_ARGS__,  #__VA_ARGS__ ); SUCCEED( #__VA_ARGS__ )
+#define STATIC_REQUIRE_FALSE( ... ) static_assert( !(__VA_ARGS__), "!(" #__VA_ARGS__ ")" ); SUCCEED( "!(" #__VA_ARGS__ ")" )
+#else
+#define STATIC_REQUIRE( ... )       REQUIRE( __VA_ARGS__ )
+#define STATIC_REQUIRE_FALSE( ... ) REQUIRE_FALSE( __VA_ARGS__ )
+#endif
+
+#endif
+
+#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature )
+
+// "BDD-style" convenience wrappers
+#define SCENARIO( ... ) TEST_CASE( "Scenario: " __VA_ARGS__ )
+#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ )
+
+#define GIVEN( desc )     INTERNAL_CATCH_DYNAMIC_SECTION( "    Given: " << desc )
+#define AND_GIVEN( desc ) INTERNAL_CATCH_DYNAMIC_SECTION( "And given: " << desc )
+#define WHEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     When: " << desc )
+#define AND_WHEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( " And when: " << desc )
+#define THEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     Then: " << desc )
+#define AND_THEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( "      And: " << desc )
+
+#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
+#define BENCHMARK(...) \
+    INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,))
+#define BENCHMARK_ADVANCED(name) \
+    INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), name)
+#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
+
+using Catch::Detail::Approx;
+
+#else // CATCH_CONFIG_DISABLE
+
+//////
+// If this config identifier is defined then all CATCH macros are prefixed with CATCH_
+#ifdef CATCH_CONFIG_PREFIX_ALL
+
+#define CATCH_REQUIRE( ... )        (void)(0)
+#define CATCH_REQUIRE_FALSE( ... )  (void)(0)
+
+#define CATCH_REQUIRE_THROWS( ... ) (void)(0)
+#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) (void)(0)
+#define CATCH_REQUIRE_THROWS_WITH( expr, matcher )     (void)(0)
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define CATCH_REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
+#endif// CATCH_CONFIG_DISABLE_MATCHERS
+#define CATCH_REQUIRE_NOTHROW( ... ) (void)(0)
+
+#define CATCH_CHECK( ... )         (void)(0)
+#define CATCH_CHECK_FALSE( ... )   (void)(0)
+#define CATCH_CHECKED_IF( ... )    if (__VA_ARGS__)
+#define CATCH_CHECKED_ELSE( ... )  if (!(__VA_ARGS__))
+#define CATCH_CHECK_NOFAIL( ... )  (void)(0)
+
+#define CATCH_CHECK_THROWS( ... )  (void)(0)
+#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) (void)(0)
+#define CATCH_CHECK_THROWS_WITH( expr, matcher )     (void)(0)
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define CATCH_CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+#define CATCH_CHECK_NOTHROW( ... ) (void)(0)
+
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define CATCH_CHECK_THAT( arg, matcher )   (void)(0)
+
+#define CATCH_REQUIRE_THAT( arg, matcher ) (void)(0)
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+
+#define CATCH_INFO( msg )          (void)(0)
+#define CATCH_UNSCOPED_INFO( msg ) (void)(0)
+#define CATCH_WARN( msg )          (void)(0)
+#define CATCH_CAPTURE( msg )       (void)(0)
+
+#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
+#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
+#define CATCH_METHOD_AS_TEST_CASE( method, ... )
+#define CATCH_REGISTER_TEST_CASE( Function, ... ) (void)(0)
+#define CATCH_SECTION( ... )
+#define CATCH_DYNAMIC_SECTION( ... )
+#define CATCH_FAIL( ... ) (void)(0)
+#define CATCH_FAIL_CHECK( ... ) (void)(0)
+#define CATCH_SUCCEED( ... ) (void)(0)
+
+#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__)
+#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__)
+#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__)
+#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#else
+#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__) )
+#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__) )
+#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__ ) )
+#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ ) )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#endif
+
+// "BDD-style" convenience wrappers
+#define CATCH_SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
+#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), className )
+#define CATCH_GIVEN( desc )
+#define CATCH_AND_GIVEN( desc )
+#define CATCH_WHEN( desc )
+#define CATCH_AND_WHEN( desc )
+#define CATCH_THEN( desc )
+#define CATCH_AND_THEN( desc )
+
+#define CATCH_STATIC_REQUIRE( ... )       (void)(0)
+#define CATCH_STATIC_REQUIRE_FALSE( ... ) (void)(0)
+
+// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required
+#else
+
+#define REQUIRE( ... )       (void)(0)
+#define REQUIRE_FALSE( ... ) (void)(0)
+
+#define REQUIRE_THROWS( ... ) (void)(0)
+#define REQUIRE_THROWS_AS( expr, exceptionType ) (void)(0)
+#define REQUIRE_THROWS_WITH( expr, matcher ) (void)(0)
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+#define REQUIRE_NOTHROW( ... ) (void)(0)
+
+#define CHECK( ... ) (void)(0)
+#define CHECK_FALSE( ... ) (void)(0)
+#define CHECKED_IF( ... ) if (__VA_ARGS__)
+#define CHECKED_ELSE( ... ) if (!(__VA_ARGS__))
+#define CHECK_NOFAIL( ... ) (void)(0)
+
+#define CHECK_THROWS( ... )  (void)(0)
+#define CHECK_THROWS_AS( expr, exceptionType ) (void)(0)
+#define CHECK_THROWS_WITH( expr, matcher ) (void)(0)
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+#define CHECK_NOTHROW( ... ) (void)(0)
+
+#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
+#define CHECK_THAT( arg, matcher ) (void)(0)
+
+#define REQUIRE_THAT( arg, matcher ) (void)(0)
+#endif // CATCH_CONFIG_DISABLE_MATCHERS
+
+#define INFO( msg ) (void)(0)
+#define UNSCOPED_INFO( msg ) (void)(0)
+#define WARN( msg ) (void)(0)
+#define CAPTURE( msg ) (void)(0)
+
+#define TEST_CASE( ... )  INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
+#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
+#define METHOD_AS_TEST_CASE( method, ... )
+#define REGISTER_TEST_CASE( Function, ... ) (void)(0)
+#define SECTION( ... )
+#define DYNAMIC_SECTION( ... )
+#define FAIL( ... ) (void)(0)
+#define FAIL_CHECK( ... ) (void)(0)
+#define SUCCEED( ... ) (void)(0)
+#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
+
+#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
+#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__)
+#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__)
+#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__)
+#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#else
+#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__) )
+#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__) )
+#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__ ) )
+#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ ) )
+#define TEMPLATE_PRODUCT_TEST_CASE( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
+#endif
+
+#define STATIC_REQUIRE( ... )       (void)(0)
+#define STATIC_REQUIRE_FALSE( ... ) (void)(0)
+
+#endif
+
+#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature )
+
+// "BDD-style" convenience wrappers
+#define SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ) )
+#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), className )
+
+#define GIVEN( desc )
+#define AND_GIVEN( desc )
+#define WHEN( desc )
+#define AND_WHEN( desc )
+#define THEN( desc )
+#define AND_THEN( desc )
+
+using Catch::Detail::Approx;
+
+#endif
+
+#endif // ! CATCH_CONFIG_IMPL_ONLY
+
+// start catch_reenable_warnings.h
+
+
+#ifdef __clang__
+#    ifdef __ICC // icpc defines the __clang__ macro
+#        pragma warning(pop)
+#    else
+#        pragma clang diagnostic pop
+#    endif
+#elif defined __GNUC__
+#    pragma GCC diagnostic pop
+#endif
+
+// end catch_reenable_warnings.h
+// end catch.hpp
+#endif // TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
+
diff --git a/unittest/catch2/catch_reporter_automake.hpp b/unittest/catch2/catch_reporter_automake.hpp
new file mode 100644
index 00000000..dbebe975
--- /dev/null
+++ b/unittest/catch2/catch_reporter_automake.hpp
@@ -0,0 +1,62 @@
+/*
+ *  Created by Justin R. Wilson on 2/19/2017.
+ *  Copyright 2017 Justin R. Wilson. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+namespace Catch {
+
+    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
+        AutomakeReporter( ReporterConfig const& _config )
+          :   StreamingReporterBase( _config )
+        {}
+
+        ~AutomakeReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in the format of Automake .trs files";
+        }
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
+
+        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
+            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
+            stream << ":test-result: ";
+            if (_testCaseStats.totals.assertions.allPassed()) {
+                stream << "PASS";
+            } else if (_testCaseStats.totals.assertions.allOk()) {
+                stream << "XFAIL";
+            } else {
+                stream << "FAIL";
+            }
+            stream << ' ' << _testCaseStats.testInfo.name << '\n';
+            StreamingReporterBase::testCaseEnded( _testCaseStats );
+        }
+
+        void skipTest( TestCaseInfo const& testInfo ) override {
+            stream << ":test-result: SKIP " << testInfo.name << '\n';
+        }
+
+    };
+
+#ifdef CATCH_IMPL
+    AutomakeReporter::~AutomakeReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/unittest/catch2/catch_reporter_sonarqube.hpp b/unittest/catch2/catch_reporter_sonarqube.hpp
new file mode 100644
index 00000000..bf7d9299
--- /dev/null
+++ b/unittest/catch2/catch_reporter_sonarqube.hpp
@@ -0,0 +1,181 @@
+/*
+ *  Created by Daniel Garcia on 2018-12-04.
+ *  Copyright Social Point SL. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
+#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
+
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <map>
+
+namespace Catch {
+
+    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
+
+        SonarQubeReporter(ReporterConfig const& config)
+        : CumulativeReporterBase(config)
+        , xml(config.stream()) {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+            m_reporterPrefs.shouldReportAllAssertions = true;
+        }
+
+        ~SonarQubeReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in the Generic Test Data SonarQube XML format";
+        }
+
+        static std::set<Verbosity> getSupportedVerbosities() {
+            return { Verbosity::Normal };
+        }
+
+        void noMatchingTestCases(std::string const& /*spec*/) override {}
+
+        void testRunStarting(TestRunInfo const& testRunInfo) override {
+            CumulativeReporterBase::testRunStarting(testRunInfo);
+            xml.startElement("testExecutions");
+            xml.writeAttribute("version", "1");
+        }
+
+        void testGroupEnded(TestGroupStats const& testGroupStats) override {
+            CumulativeReporterBase::testGroupEnded(testGroupStats);
+            writeGroup(*m_testGroups.back());
+        }
+
+        void testRunEndedCumulative() override {
+            xml.endElement();
+        }
+
+        void writeGroup(TestGroupNode const& groupNode) {
+            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
+            for(auto const& child : groupNode.children)
+                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
+
+            for(auto const& kv : testsPerFile)
+                writeTestFile(kv.first.c_str(), kv.second);
+        }
+
+        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
+            XmlWriter::ScopedElement e = xml.scopedElement("file");
+            xml.writeAttribute("path", filename);
+
+            for(auto const& child : testCaseNodes)
+                writeTestCase(*child);
+        }
+
+        void writeTestCase(TestCaseNode const& testCaseNode) {
+            // All test cases have exactly one section - which represents the
+            // test case itself. That section may have 0-n nested sections
+            assert(testCaseNode.children.size() == 1);
+            SectionNode const& rootSection = *testCaseNode.children.front();
+            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
+        }
+
+        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
+            std::string name = trim(sectionNode.stats.sectionInfo.name);
+            if(!rootName.empty())
+                name = rootName + '/' + name;
+
+            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
+                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
+                xml.writeAttribute("name", name);
+                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
+
+                writeAssertions(sectionNode, okToFail);
+            }
+
+            for(auto const& childNode : sectionNode.childSections)
+                writeSection(name, *childNode, okToFail);
+        }
+
+        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
+            for(auto const& assertion : sectionNode.assertions)
+                writeAssertion( assertion, okToFail);
+        }
+
+        void writeAssertion(AssertionStats const& stats, bool okToFail) {
+            AssertionResult const& result = stats.assertionResult;
+            if(!result.isOk()) {
+                std::string elementName;
+                if(okToFail) {
+                    elementName = "skipped";
+                }
+                else {
+                    switch(result.getResultType()) {
+                        case ResultWas::ThrewException:
+                        case ResultWas::FatalErrorCondition:
+                            elementName = "error";
+                            break;
+                        case ResultWas::ExplicitFailure:
+                            elementName = "failure";
+                            break;
+                        case ResultWas::ExpressionFailed:
+                            elementName = "failure";
+                            break;
+                        case ResultWas::DidntThrowException:
+                            elementName = "failure";
+                            break;
+
+                            // We should never see these here:
+                        case ResultWas::Info:
+                        case ResultWas::Warning:
+                        case ResultWas::Ok:
+                        case ResultWas::Unknown:
+                        case ResultWas::FailureBit:
+                        case ResultWas::Exception:
+                            elementName = "internalError";
+                            break;
+                    }
+                }
+
+                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
+
+                ReusableStringStream messageRss;
+                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
+                xml.writeAttribute("message", messageRss.str());
+
+                ReusableStringStream textRss;
+                if (stats.totals.assertions.total() > 0) {
+                    textRss << "FAILED:\n";
+                    if (result.hasExpression()) {
+                        textRss << "\t" << result.getExpressionInMacro() << "\n";
+                    }
+                    if (result.hasExpandedExpression()) {
+                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
+                    }
+                }
+
+                if(!result.getMessage().empty())
+                    textRss << result.getMessage() << "\n";
+
+                for(auto const& msg : stats.infoMessages)
+                    if(msg.type == ResultWas::Info)
+                        textRss << msg.message << "\n";
+
+                textRss << "at " << result.getSourceInfo();
+                xml.writeText(textRss.str(), XmlFormatting::Newline);
+            }
+        }
+
+    private:
+        XmlWriter xml;
+    };
+
+#ifdef CATCH_IMPL
+    SonarQubeReporter::~SonarQubeReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
+
+} // end namespace Catch
+
+#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/unittest/catch2/catch_reporter_tap.hpp b/unittest/catch2/catch_reporter_tap.hpp
new file mode 100644
index 00000000..1bfe4f5e
--- /dev/null
+++ b/unittest/catch2/catch_reporter_tap.hpp
@@ -0,0 +1,253 @@
+/*
+ *  Created by Colton Wolkins on 2015-08-15.
+ *  Copyright 2015 Martin Moene. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
+
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <algorithm>
+
+namespace Catch {
+
+    struct TAPReporter : StreamingReporterBase<TAPReporter> {
+
+        using StreamingReporterBase::StreamingReporterBase;
+
+        ~TAPReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results in TAP format, suitable for test harnesses";
+        }
+
+        ReporterPreferences getPreferences() const override {
+            return m_reporterPrefs;
+        }
+
+        void noMatchingTestCases( std::string const& spec ) override {
+            stream << "# No test cases matched '" << spec << "'" << std::endl;
+        }
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& _assertionStats ) override {
+            ++counter;
+
+            stream << "# " << currentTestCaseInfo->name << std::endl;
+            AssertionPrinter printer( stream, _assertionStats, counter );
+            printer.print();
+
+            stream << std::endl;
+            return true;
+        }
+
+        void testRunEnded( TestRunStats const& _testRunStats ) override {
+            printTotals( _testRunStats.totals );
+            stream << "\n" << std::endl;
+            StreamingReporterBase::testRunEnded( _testRunStats );
+        }
+
+    private:
+        std::size_t counter = 0;
+        class AssertionPrinter {
+        public:
+            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
+            AssertionPrinter( AssertionPrinter const& ) = delete;
+            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
+            : stream( _stream )
+            , result( _stats.assertionResult )
+            , messages( _stats.infoMessages )
+            , itMessage( _stats.infoMessages.begin() )
+            , printInfoMessages( true )
+            , counter(_counter)
+            {}
+
+            void print() {
+                itMessage = messages.begin();
+
+                switch( result.getResultType() ) {
+                    case ResultWas::Ok:
+                        printResultType( passedString() );
+                        printOriginalExpression();
+                        printReconstructedExpression();
+                        if ( ! result.hasExpression() )
+                            printRemainingMessages( Colour::None );
+                        else
+                            printRemainingMessages();
+                        break;
+                    case ResultWas::ExpressionFailed:
+                        if (result.isOk()) {
+                            printResultType(passedString());
+                        } else {
+                            printResultType(failedString());
+                        }
+                        printOriginalExpression();
+                        printReconstructedExpression();
+                        if (result.isOk()) {
+                            printIssue(" # TODO");
+                        }
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::ThrewException:
+                        printResultType( failedString() );
+                        printIssue( "unexpected exception with message:" );
+                        printMessage();
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::FatalErrorCondition:
+                        printResultType( failedString() );
+                        printIssue( "fatal error condition with message:" );
+                        printMessage();
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::DidntThrowException:
+                        printResultType( failedString() );
+                        printIssue( "expected exception, got none" );
+                        printExpressionWas();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::Info:
+                        printResultType( "info" );
+                        printMessage();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::Warning:
+                        printResultType( "warning" );
+                        printMessage();
+                        printRemainingMessages();
+                        break;
+                    case ResultWas::ExplicitFailure:
+                        printResultType( failedString() );
+                        printIssue( "explicitly" );
+                        printRemainingMessages( Colour::None );
+                        break;
+                    // These cases are here to prevent compiler warnings
+                    case ResultWas::Unknown:
+                    case ResultWas::FailureBit:
+                    case ResultWas::Exception:
+                        printResultType( "** internal error **" );
+                        break;
+                }
+            }
+
+        private:
+            static Colour::Code dimColour() { return Colour::FileName; }
+
+            static const char* failedString() { return "not ok"; }
+            static const char* passedString() { return "ok"; }
+
+            void printSourceInfo() const {
+                Colour colourGuard( dimColour() );
+                stream << result.getSourceInfo() << ":";
+            }
+
+            void printResultType( std::string const& passOrFail ) const {
+                if( !passOrFail.empty() ) {
+                    stream << passOrFail << ' ' << counter << " -";
+                }
+            }
+
+            void printIssue( std::string const& issue ) const {
+                stream << " " << issue;
+            }
+
+            void printExpressionWas() {
+                if( result.hasExpression() ) {
+                    stream << ";";
+                    {
+                        Colour colour( dimColour() );
+                        stream << " expression was:";
+                    }
+                    printOriginalExpression();
+                }
+            }
+
+            void printOriginalExpression() const {
+                if( result.hasExpression() ) {
+                    stream << " " << result.getExpression();
+                }
+            }
+
+            void printReconstructedExpression() const {
+                if( result.hasExpandedExpression() ) {
+                    {
+                        Colour colour( dimColour() );
+                        stream << " for: ";
+                    }
+                    std::string expr = result.getExpandedExpression();
+                    std::replace( expr.begin(), expr.end(), '\n', ' ');
+                    stream << expr;
+                }
+            }
+
+            void printMessage() {
+                if ( itMessage != messages.end() ) {
+                    stream << " '" << itMessage->message << "'";
+                    ++itMessage;
+                }
+            }
+
+            void printRemainingMessages( Colour::Code colour = dimColour() ) {
+                if (itMessage == messages.end()) {
+                    return;
+                }
+
+                // using messages.end() directly (or auto) yields compilation error:
+                std::vector<MessageInfo>::const_iterator itEnd = messages.end();
+                const std::size_t N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
+
+                {
+                    Colour colourGuard( colour );
+                    stream << " with " << pluralise( N, "message" ) << ":";
+                }
+
+                for(; itMessage != itEnd; ) {
+                    // If this assertion is a warning ignore any INFO messages
+                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
+                        stream << " '" << itMessage->message << "'";
+                        if ( ++itMessage != itEnd ) {
+                            Colour colourGuard( dimColour() );
+                            stream << " and";
+                        }
+                    }
+                }
+            }
+
+        private:
+            std::ostream& stream;
+            AssertionResult const& result;
+            std::vector<MessageInfo> messages;
+            std::vector<MessageInfo>::const_iterator itMessage;
+            bool printInfoMessages;
+            std::size_t counter;
+        };
+
+        void printTotals( const Totals& totals ) const {
+            if( totals.testCases.total() == 0 ) {
+                stream << "1..0 # Skipped: No tests ran.";
+            } else {
+                stream << "1.." << counter;
+            }
+        }
+    };
+
+#ifdef CATCH_IMPL
+    TAPReporter::~TAPReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
+
+} // end namespace Catch
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/unittest/catch2/catch_reporter_teamcity.hpp b/unittest/catch2/catch_reporter_teamcity.hpp
new file mode 100644
index 00000000..47b7e4aa
--- /dev/null
+++ b/unittest/catch2/catch_reporter_teamcity.hpp
@@ -0,0 +1,219 @@
+/*
+ *  Created by Phil Nash on 19th December 2014
+ *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
+ *
+ *  Distributed under the Boost Software License, Version 1.0. (See accompanying
+ *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+ */
+#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
+
+// Don't #include any Catch headers here - we can assume they are already
+// included before this header.
+// This is not good practice in general but is necessary in this case so this
+// file can be distributed as a single header that works with the main
+// Catch single header.
+
+#include <cstring>
+
+#ifdef __clang__
+#   pragma clang diagnostic push
+#   pragma clang diagnostic ignored "-Wpadded"
+#endif
+
+namespace Catch {
+
+    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
+        TeamCityReporter( ReporterConfig const& _config )
+        :   StreamingReporterBase( _config )
+        {
+            m_reporterPrefs.shouldRedirectStdOut = true;
+        }
+
+        static std::string escape( std::string const& str ) {
+            std::string escaped = str;
+            replaceInPlace( escaped, "|", "||" );
+            replaceInPlace( escaped, "'", "|'" );
+            replaceInPlace( escaped, "\n", "|n" );
+            replaceInPlace( escaped, "\r", "|r" );
+            replaceInPlace( escaped, "[", "|[" );
+            replaceInPlace( escaped, "]", "|]" );
+            return escaped;
+        }
+        ~TeamCityReporter() override;
+
+        static std::string getDescription() {
+            return "Reports test results as TeamCity service messages";
+        }
+
+        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
+        }
+
+        void noMatchingTestCases( std::string const& /* spec */ ) override {}
+
+        void testGroupStarting( GroupInfo const& groupInfo ) override {
+            StreamingReporterBase::testGroupStarting( groupInfo );
+            stream << "##teamcity[testSuiteStarted name='"
+                << escape( groupInfo.name ) << "']\n";
+        }
+        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
+            StreamingReporterBase::testGroupEnded( testGroupStats );
+            stream << "##teamcity[testSuiteFinished name='"
+                << escape( testGroupStats.groupInfo.name ) << "']\n";
+        }
+
+
+        void assertionStarting( AssertionInfo const& ) override {}
+
+        bool assertionEnded( AssertionStats const& assertionStats ) override {
+            AssertionResult const& result = assertionStats.assertionResult;
+            if( !result.isOk() ) {
+
+                ReusableStringStream msg;
+                if( !m_headerPrintedForThisSection )
+                    printSectionHeader( msg.get() );
+                m_headerPrintedForThisSection = true;
+
+                msg << result.getSourceInfo() << "\n";
+
+                switch( result.getResultType() ) {
+                    case ResultWas::ExpressionFailed:
+                        msg << "expression failed";
+                        break;
+                    case ResultWas::ThrewException:
+                        msg << "unexpected exception";
+                        break;
+                    case ResultWas::FatalErrorCondition:
+                        msg << "fatal error condition";
+                        break;
+                    case ResultWas::DidntThrowException:
+                        msg << "no exception was thrown where one was expected";
+                        break;
+                    case ResultWas::ExplicitFailure:
+                        msg << "explicit failure";
+                        break;
+
+                    // We shouldn't get here because of the isOk() test
+                    case ResultWas::Ok:
+                    case ResultWas::Info:
+                    case ResultWas::Warning:
+                        CATCH_ERROR( "Internal error in TeamCity reporter" );
+                    // These cases are here to prevent compiler warnings
+                    case ResultWas::Unknown:
+                    case ResultWas::FailureBit:
+                    case ResultWas::Exception:
+                        CATCH_ERROR( "Not implemented" );
+                }
+                if( assertionStats.infoMessages.size() == 1 )
+                    msg << " with message:";
+                if( assertionStats.infoMessages.size() > 1 )
+                    msg << " with messages:";
+                for( auto const& messageInfo : assertionStats.infoMessages )
+                    msg << "\n  \"" << messageInfo.message << "\"";
+
+
+                if( result.hasExpression() ) {
+                    msg <<
+                        "\n  " << result.getExpressionInMacro() << "\n"
+                        "with expansion:\n" <<
+                        "  " << result.getExpandedExpression() << "\n";
+                }
+
+                if( currentTestCaseInfo->okToFail() ) {
+                    msg << "- failure ignore as test marked as 'ok to fail'\n";
+                    stream << "##teamcity[testIgnored"
+                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
+                           << " message='" << escape( msg.str() ) << "'"
+                           << "]\n";
+                }
+                else {
+                    stream << "##teamcity[testFailed"
+                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
+                           << " message='" << escape( msg.str() ) << "'"
+                           << "]\n";
+                }
+            }
+            stream.flush();
+            return true;
+        }
+
+        void sectionStarting( SectionInfo const& sectionInfo ) override {
+            m_headerPrintedForThisSection = false;
+            StreamingReporterBase::sectionStarting( sectionInfo );
+        }
+
+        void testCaseStarting( TestCaseInfo const& testInfo ) override {
+            m_testTimer.start();
+            StreamingReporterBase::testCaseStarting( testInfo );
+            stream << "##teamcity[testStarted name='"
+                << escape( testInfo.name ) << "']\n";
+            stream.flush();
+        }
+
+        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
+            StreamingReporterBase::testCaseEnded( testCaseStats );
+            if( !testCaseStats.stdOut.empty() )
+                stream << "##teamcity[testStdOut name='"
+                    << escape( testCaseStats.testInfo.name )
+                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
+            if( !testCaseStats.stdErr.empty() )
+                stream << "##teamcity[testStdErr name='"
+                    << escape( testCaseStats.testInfo.name )
+                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
+            stream << "##teamcity[testFinished name='"
+                    << escape( testCaseStats.testInfo.name ) << "' duration='"
+                    << m_testTimer.getElapsedMilliseconds() << "']\n";
+            stream.flush();
+        }
+
+    private:
+        void printSectionHeader( std::ostream& os ) {
+            assert( !m_sectionStack.empty() );
+
+            if( m_sectionStack.size() > 1 ) {
+                os << getLineOfChars<'-'>() << "\n";
+
+                std::vector<SectionInfo>::const_iterator
+                it = m_sectionStack.begin()+1, // Skip first section (test case)
+                itEnd = m_sectionStack.end();
+                for( ; it != itEnd; ++it )
+                    printHeaderString( os, it->name );
+                os << getLineOfChars<'-'>() << "\n";
+            }
+
+            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
+
+            os << lineInfo << "\n";
+            os << getLineOfChars<'.'>() << "\n\n";
+        }
+
+        // if string has a : in first line will set indent to follow it on
+        // subsequent lines
+        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
+            std::size_t i = _string.find( ": " );
+            if( i != std::string::npos )
+                i+=2;
+            else
+                i = 0;
+            os << Column( _string )
+                           .indent( indent+i)
+                           .initialIndent( indent ) << "\n";
+        }
+    private:
+        bool m_headerPrintedForThisSection = false;
+        Timer m_testTimer;
+    };
+
+#ifdef CATCH_IMPL
+    TeamCityReporter::~TeamCityReporter() {}
+#endif
+
+    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
+
+} // end namespace Catch
+
+#ifdef __clang__
+#   pragma clang diagnostic pop
+#endif
+
+#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
diff --git a/unittest/config/FSFWConfig.h b/unittest/config/FSFWConfig.h
new file mode 100644
index 00000000..665c939f
--- /dev/null
+++ b/unittest/config/FSFWConfig.h
@@ -0,0 +1,32 @@
+#ifndef CONFIG_FSFWCONFIG_H_
+#define CONFIG_FSFWCONFIG_H_
+
+#include <fsfw/unittest/config/version.h>
+
+//! Used to determine whether C++ ostreams are used
+//! Those can lead to code bloat.
+#define FSFW_CPP_OSTREAM_ENABLED 	1
+
+//! Reduced printout to further decrese code size
+//! Be careful, this also turns off most diagnostic prinouts!
+#define FSFW_REDUCED_PRINTOUT		0
+
+//! If -DDEBUG is supplied in the build defines, there will be
+//! additional output which requires the translation files translateObjects
+//! and translateEvents (and their compiles source files)
+#ifdef DEBUG
+#define FSFW_DEBUG_OUTPUT 			1
+//! Specify whether info events are printed too.
+#define FSFW_DEBUG_INFO				1
+#include <translateObjects.h>
+#include <translateEvents.h>
+#else
+#define FSFW_DEBUG_OUTPUT			0
+#endif
+
+//! When using the newlib nano library, C99 support for stdio facilities
+//! will not be provided. This define should be set to 1 if this is the case.
+#define FSFW_NEWLIB_NANO_NO_C99_IO 	1
+
+
+#endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/unittest/config/TestsConfig.h b/unittest/config/TestsConfig.h
new file mode 100644
index 00000000..7bf667f7
--- /dev/null
+++ b/unittest/config/TestsConfig.h
@@ -0,0 +1,8 @@
+#ifndef FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
+#define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
+
+
+
+
+
+#endif /* FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ */
diff --git a/unittest/config/cdatapool/dataPoolInit.cpp b/unittest/config/cdatapool/dataPoolInit.cpp
new file mode 100644
index 00000000..6c2278ab
--- /dev/null
+++ b/unittest/config/cdatapool/dataPoolInit.cpp
@@ -0,0 +1,48 @@
+#include <fsfw/unittest/config/cdatapool/dataPoolInit.h>
+
+void datapool::dataPoolInit(std::map<uint32_t, PoolEntryIF*> * poolMap) {
+	uint8_t UINT8T_INIT[1] = {0};
+	uint16_t UINT16T_INIT[1] = {0};
+	uint32_t UINT32T_INIT[1] = {0};
+	float FLOAT_INIT[2] = {0.0, 0.0};
+	/* FSFW */
+	poolMap->emplace(datapool::INTERNAL_ERROR_STORE_FULL,
+			new PoolEntry<uint32_t>(UINT32T_INIT,1));
+	poolMap->emplace(datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
+			new PoolEntry<uint32_t>(UINT32T_INIT,1));
+	poolMap->emplace(datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
+			new PoolEntry<uint32_t>(UINT32T_INIT,1));
+
+	/* TEST */
+	poolMap->emplace(datapool::TEST_UINT8,
+			new PoolEntry<uint8_t>(UINT8T_INIT,1));
+	poolMap->emplace(datapool::TEST_UINT16,
+			new PoolEntry<uint16_t>(UINT16T_INIT,1));
+	poolMap->emplace(datapool::TEST_UINT32,
+			new PoolEntry<uint32_t>(UINT32T_INIT,1));
+	poolMap->emplace(datapool::TEST_FLOAT_VECTOR,
+			new PoolEntry<float>(FLOAT_INIT,2));
+
+	// With new initializer list feature and boolean entries.
+
+//	/* FSFW */
+//	poolMap->emplace(datapool::INTERNAL_ERROR_STORE_FULL,
+//			new PoolEntry<uint32_t>({0},1));
+//	poolMap->emplace(datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
+//			new PoolEntry<uint32_t>({0},1));
+//	poolMap->emplace(datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
+//			new PoolEntry<uint32_t>({0},1));
+//
+//	/* TEST */
+//	poolMap->emplace(datapool::TEST_BOOLEAN,
+//			new PoolEntry<bool>({0},1));
+//	poolMap->emplace(datapool::TEST_UINT8,
+//			new PoolEntry<uint8_t>({0},1));
+//	poolMap->emplace(datapool::TEST_UINT16,
+//			new PoolEntry<uint16_t>({0},1));
+//	poolMap->emplace(datapool::TEST_UINT32,
+//			new PoolEntry<uint32_t>({0},1));
+//	poolMap->emplace(datapool::TEST_FLOAT_VECTOR,
+//			new PoolEntry<float>({0, 0},2));
+
+}
diff --git a/unittest/config/cdatapool/dataPoolInit.h b/unittest/config/cdatapool/dataPoolInit.h
new file mode 100644
index 00000000..d482cc35
--- /dev/null
+++ b/unittest/config/cdatapool/dataPoolInit.h
@@ -0,0 +1,29 @@
+#ifndef HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
+#define HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
+
+#include <fsfw/datapool/DataPool.h>
+#include <fsfw/datapool/PoolEntryIF.h>
+#include <map>
+#include <cstdint>
+
+
+namespace datapool {
+	void dataPoolInit(std::map<uint32_t, PoolEntryIF*> * poolMap);
+
+	enum datapoolvariables {
+		NO_PARAMETER = 0,
+
+		/** [EXPORT] : [GROUP] FSFW */
+		INTERNAL_ERROR_STORE_FULL = 0xEE000001, 	 //!< [EXPORT] : [NAME] Internal Error Store Entry [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
+		INTERNAL_ERROR_MISSED_LIVE_TM = 0xEE000001,  //!< [EXPORT] : [NAME] Internal Error Missed Live Tm [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
+		INTERNAL_ERROR_FULL_MSG_QUEUES = 0xEE000001, //!< [EXPORT] : [NAME] Internal Error Full Msg Queue [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
+
+		/** [EXPORT] : [GROUP] TEST */
+		TEST_BOOLEAN = 0x01010102, 				//!< [EXPORT] : [NAME] Test Boolean [UNIT] (-) [SIZE] 1 [TYPE] bool
+		TEST_UINT8 = 0x02020204,				//!< [EXPORT] : [NAME] Test Byte [UNIT] (-) [SIZE] 1 [TYPE] uint8_t
+		TEST_UINT16 = 0x03030306,				//!< [EXPORT] : [NAME] Test UINT16 [UNIT] (-) [SIZE] 1 [TYPE] uint16_t
+		TEST_UINT32 = 0x04040408,				//!< [EXPORT] : [NAME] Test UINT32 [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
+		TEST_FLOAT_VECTOR = 0x05050510,			//!< [EXPORT] : [NAME] Test Float [UNIT] (-) [SIZE] 2 [TYPE] float
+	};
+}
+#endif /* CONFIG_CDATAPOOL_DATAPOOLINIT_H_ */
diff --git a/unittest/config/config.mk b/unittest/config/config.mk
new file mode 100644
index 00000000..64fa87f6
--- /dev/null
+++ b/unittest/config/config.mk
@@ -0,0 +1,15 @@
+CXXSRC += $(wildcard $(CURRENTPATH)/cdatapool/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
+
+INCLUDES += $(CURRENTPATH)
+INCLUDES += $(CURRENTPATH)/objects
+INCLUDES += $(CURRENTPATH)/ipc
+INCLUDES += $(CURRENTPATH)/pollingsequence
+INCLUDES += $(CURRENTPATH)/returnvalues
+INCLUDES += $(CURRENTPATH)/tmtc
+INCLUDES += $(CURRENTPATH)/events
+INCLUDES += $(CURRENTPATH)/devices
+INCLUDES += $(CURRENTPATH)/cdatapool
diff --git a/unittest/config/devices/logicalAddresses.cpp b/unittest/config/devices/logicalAddresses.cpp
new file mode 100644
index 00000000..15776275
--- /dev/null
+++ b/unittest/config/devices/logicalAddresses.cpp
@@ -0,0 +1,11 @@
+/**
+ * \file logicalAddresses.cpp
+ *
+ * \date 06.11.2019
+ */
+
+#include <fsfw/unittest/config/devices/logicalAddresses.h>
+
+
+
+
diff --git a/unittest/config/devices/logicalAddresses.h b/unittest/config/devices/logicalAddresses.h
new file mode 100644
index 00000000..cdf87025
--- /dev/null
+++ b/unittest/config/devices/logicalAddresses.h
@@ -0,0 +1,15 @@
+#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
+#define CONFIG_DEVICES_LOGICALADDRESSES_H_
+
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <fsfw/unittest/config/objects/systemObjectList.h>
+#include <cstdint>
+
+namespace addresses {
+	/* Logical addresses have uint32_t datatype */
+	enum logicalAddresses: address_t {
+	};
+}
+
+
+#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */
diff --git a/unittest/config/devices/powerSwitcherList.cpp b/unittest/config/devices/powerSwitcherList.cpp
new file mode 100644
index 00000000..cb568522
--- /dev/null
+++ b/unittest/config/devices/powerSwitcherList.cpp
@@ -0,0 +1,10 @@
+/**
+ * @file switcherList.cpp
+ *
+ * @date 28.11.2019
+ */
+
+#include <fsfw/unittest/config/devices/powerSwitcherList.h>
+
+
+
diff --git a/unittest/config/devices/powerSwitcherList.h b/unittest/config/devices/powerSwitcherList.h
new file mode 100644
index 00000000..f5b0eb11
--- /dev/null
+++ b/unittest/config/devices/powerSwitcherList.h
@@ -0,0 +1,22 @@
+/**
+ * @file switcherList.h
+ *
+ * @date 28.11.2019
+ */
+
+#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
+#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
+
+namespace switches {
+	/* Switches are uint8_t datatype and go from 0 to 255 */
+	enum switcherList {
+		PCDU,
+		GPS0,
+		GPS1,
+		DUMMY = 129
+	};
+
+}
+
+
+#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */
diff --git a/unittest/config/events/translateEvents.cpp b/unittest/config/events/translateEvents.cpp
new file mode 100644
index 00000000..bfcbe2bc
--- /dev/null
+++ b/unittest/config/events/translateEvents.cpp
@@ -0,0 +1,20 @@
+/**
+ * @brief    Auto-generated event translation file. Contains 80 translations.
+ * Generated on: 2020-05-02 20:13:41 
+ */
+#include <fsfw/unittest/config/events/translateEvents.h>
+
+const char *TEST_EVENT_SERVICE_1_STRING = "TEST_EVENT_SERVICE_1";
+const char *TEST2_STRING = "TEST2";
+
+const char * translateEvents(Event event){
+	switch((event&0xFFFF)){
+		case 8000:
+			return TEST_EVENT_SERVICE_1_STRING;
+		case 9100:
+			return TEST2_STRING;
+		default:
+			return "UNKNOWN_EVENT";
+	}
+	return 0;
+}
diff --git a/unittest/config/events/translateEvents.h b/unittest/config/events/translateEvents.h
new file mode 100644
index 00000000..0e40ef8b
--- /dev/null
+++ b/unittest/config/events/translateEvents.h
@@ -0,0 +1,16 @@
+/*
+ * translateEvent.h
+ *
+ *  Created on: 28 May 2019
+ *      Author: Robin
+ */
+
+#ifndef CONFIG_EVENTS_TRANSLATEEVENTS_H_
+#define CONFIG_EVENTS_TRANSLATEEVENTS_H_
+
+#include <fsfw/events/Event.h>
+
+const char * translateEvents(Event event);
+
+
+#endif /* CONFIG_EVENTS_TRANSLATEEVENTS_H_ */
diff --git a/unittest/config/ipc/MissionMessageTypes.cpp b/unittest/config/ipc/MissionMessageTypes.cpp
new file mode 100644
index 00000000..304ca439
--- /dev/null
+++ b/unittest/config/ipc/MissionMessageTypes.cpp
@@ -0,0 +1,11 @@
+#include <fsfw/ipc/CommandMessage.h>
+#include <fsfw/unittest/config/ipc/MissionMessageTypes.h>
+
+void messagetypes::clearMissionMessage(CommandMessage* message) {
+	switch((message->getCommand()>>8) & 0xff) {
+	default:
+		break;
+	}
+}
+
+
diff --git a/unittest/config/ipc/MissionMessageTypes.h b/unittest/config/ipc/MissionMessageTypes.h
new file mode 100644
index 00000000..832d8e58
--- /dev/null
+++ b/unittest/config/ipc/MissionMessageTypes.h
@@ -0,0 +1,22 @@
+#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
+#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
+
+#include <fsfw/ipc/FwMessageTypes.h>
+
+class CommandMessage;
+
+/**
+ * Custom command messages are specified here.
+ * Most messages needed to use FSFW are already located in
+ * <fsfw/ipc/FwMessageTypes.h>
+ * @param message Generic Command Message
+ */
+namespace messagetypes{
+enum MESSAGE_TYPE {
+	MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT,
+};
+
+void clearMissionMessage(CommandMessage* message);
+}
+
+#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */
diff --git a/unittest/config/objects/Factory.cpp b/unittest/config/objects/Factory.cpp
new file mode 100644
index 00000000..e325b891
--- /dev/null
+++ b/unittest/config/objects/Factory.cpp
@@ -0,0 +1,37 @@
+#include <fsfw/events/EventManager.h>
+#include <fsfw/health/HealthTable.h>
+
+#include <fsfw/internalError/InternalErrorReporter.h>
+#include <fsfw/objectmanager/frameworkObjects.h>
+#include <fsfw/unittest/config/cdatapool/dataPoolInit.h>
+#include <fsfw/unittest/config/objects/Factory.h>
+
+/**
+ * @brief Produces system objects.
+ * @details
+ * Build tasks by using SystemObject Interface (Interface).
+ * Header files of all tasks must be included
+ * Please note that an object has to implement the system object interface
+ * if the interface validity is checked or retrieved later by using the
+ * get<TargetInterface>(object_id) function from the ObjectManagerIF.
+ *
+ * Framework objects are created first.
+ *
+ * @ingroup init
+ */
+void Factory::produce(void) {
+	setStaticFrameworkObjectIds();
+	new EventManager(objects::EVENT_MANAGER);
+	new HealthTable(objects::HEALTH_TABLE);
+	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER,
+				datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
+				datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
+				datapool::INTERNAL_ERROR_STORE_FULL);
+
+}
+
+void Factory::setStaticFrameworkObjectIds() {
+
+}
+
+
diff --git a/unittest/config/objects/Factory.h b/unittest/config/objects/Factory.h
new file mode 100644
index 00000000..84f9207e
--- /dev/null
+++ b/unittest/config/objects/Factory.h
@@ -0,0 +1,16 @@
+#ifndef FACTORY_H_
+#define FACTORY_H_
+
+#include <fsfw/objectmanager/SystemObjectIF.h>
+
+namespace Factory {
+	/**
+	 * @brief 	Creates all SystemObject elements which are persistent
+	 * 			during execution.
+	 */
+	void produce();
+	void setStaticFrameworkObjectIds();
+
+}
+
+#endif /* FACTORY_H_ */
diff --git a/unittest/config/objects/systemObjectList.h b/unittest/config/objects/systemObjectList.h
new file mode 100644
index 00000000..9793305e
--- /dev/null
+++ b/unittest/config/objects/systemObjectList.h
@@ -0,0 +1,30 @@
+#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+
+#include <cstdint>
+
+// The objects will be instantiated in the ID order
+namespace objects {
+	enum sourceObjects: uint32_t {
+		/* First Byte 0x50-0x52 reserved for PUS Services **/
+		CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
+		PUS_PACKET_DISTRIBUTOR = 0x50000200,
+		UDP_BRIDGE = 0x50000300,
+		UDP_POLLING_TASK = 0x50000400,
+
+		PUS_SERVICE_3 = 0x51000300,
+		PUS_SERVICE_6_MEM_MGMT = 0x51000500,
+		PUS_SERVICE_23 = 0x51002300,
+		PUS_SERVICE_201_HEALTH = 0x51020100,
+
+		PUS_TIME = 0x52000001,
+		PUS_FUNNEL = 0x52000002,
+
+		/* Test Task */
+		TEST_TASK = 0x42694269,
+		DUMMY_INTERFACE = 0xCAFECAFE,
+		DUMMY_HANDLER = 0x4400AFFE,
+	};
+}
+
+#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
diff --git a/unittest/config/objects/translateObjects.cpp b/unittest/config/objects/translateObjects.cpp
new file mode 100644
index 00000000..abcb1b40
--- /dev/null
+++ b/unittest/config/objects/translateObjects.cpp
@@ -0,0 +1,242 @@
+/* Auto-generated event translation file. Contains 77 translations. */
+#include <fsfw/unittest/config/objects/translateObjects.h>
+
+const char *AT91_UART2_TEST_TASK_STRING = "AT91_UART2_TEST_TASK";
+const char *ARDUINO_0_STRING = "ARDUINO_0";
+const char *ARDUINO_1_STRING = "ARDUINO_1";
+const char *ARDUINO_2_STRING = "ARDUINO_2";
+const char *ARDUINO_3_STRING = "ARDUINO_3";
+const char *ARDUINO_4_STRING = "ARDUINO_4";
+const char *AT91_I2C_TEST_TASK_STRING = "AT91_I2C_TEST_TASK";
+const char *TEST_TASK_STRING = "TEST_TASK";
+const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
+const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
+const char *S_ADC1_DEC2_STRING = "S_ADC1_DEC2";
+const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
+const char *DLR_PVCH_STRING = "DLR_PVCH";
+const char *GYRO1_STRING = "GYRO1";
+const char *DLR_IRAS_STRING = "DLR_IRAS";
+const char *_DEC1_O1_STRING = "_DEC1_O1";
+const char *_DEC1_O2_STRING = "_DEC1_O2";
+const char *S1_DEC1_O3_STRING = "S1_DEC1_O3";
+const char *S2_DEC1_O4_STRING = "S2_DEC1_O4";
+const char *S3_DEC1_O5_STRING = "S3_DEC1_O5";
+const char *PT1000_PVHC_DEC1_O6_STRING = "PT1000_PVHC_DEC1_O6";
+const char *PT1000_CCSDS1_DEC2_STRING = "PT1000_CCSDS1_DEC2";
+const char *PT1000_MGT1_DEC2_STRING = "PT1000_MGT1_DEC2";
+const char *S4_DEC2_STRING = "S4_DEC2";
+const char *S5_DEC2_STRING = "S5_DEC2";
+const char *S6_DEC2_STRING = "S6_DEC2";
+const char *PT1000_PVCH_DEC2_STRING = "PT1000_PVCH_DEC2";
+const char *_DEC3_STRING = "_DEC3";
+const char *PT1000_CCSDS2_DEC3_STRING = "PT1000_CCSDS2_DEC3";
+const char *S7_DEC3_STRING = "S7_DEC3";
+const char *S8_DEC3_STRING = "S8_DEC3";
+const char *PT1000_PVCH_DEC3_STRING = "PT1000_PVCH_DEC3";
+const char *GYRO2_STRING = "GYRO2";
+const char *PT1000_PLOC_DEC4_STRING = "PT1000_PLOC_DEC4";
+const char *S9_DEC4_STRING = "S9_DEC4";
+const char *S10_DEC4_STRING = "S10_DEC4";
+const char *PT1000_PVHC_DEC4_STRING = "PT1000_PVHC_DEC4";
+const char *S_ADC_DEC4_STRING = "S_ADC_DEC4";
+const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
+const char *DUMMY_GPS_COM_IF_STRING = "DUMMY_GPS_COM_IF";
+const char *RS232_DEVICE_COM_IF_STRING = "RS232_DEVICE_COM_IF";
+const char *I2C_DEVICE_COM_IF_STRING = "I2C_DEVICE_COM_IF";
+const char *GPIO_DEVICE_COM_IF_STRING = "GPIO_DEVICE_COM_IF";
+const char *SPI_POLLING_TASK_STRING = "SPI_POLLING_TASK";
+const char *SPI_DEVICE_COM_IF_STRING = "SPI_DEVICE_COM_IF";
+const char *DUMMY_ECHO_COM_IF_STRING = "DUMMY_ECHO_COM_IF";
+const char *SD_CARD_HANDLER_STRING = "SD_CARD_HANDLER";
+const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
+const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
+const char *UDP_TMTC_BRIDGE_STRING = "UDP_TMTC_BRIDGE";
+const char *EMAC_POLLING_TASK_STRING = "EMAC_POLLING_TASK";
+const char *SERIAL_POLLING_TASK_STRING = "SERIAL_POLLING_TASK";
+const char *UART_TMTC_BRIDGE_STRING = "UART_TMTC_BRIDGE";
+const char *PUS_SERVICE_1_STRING = "PUS_SERVICE_1";
+const char *PUS_SERVICE_2_STRING = "PUS_SERVICE_2";
+const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
+const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
+const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
+const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
+const char *PUS_SERVICE_9_STRING = "PUS_SERVICE_9";
+const char *PUS_SERVICE_17_STRING = "PUS_SERVICE_17";
+const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
+const char *PUS_SERVICE_200_STRING = "PUS_SERVICE_200";
+const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
+const char *PUS_TIME_STRING = "PUS_TIME";
+const char *PUS_FUNNEL_STRING = "PUS_FUNNEL";
+const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
+const char *MODE_STORE_STRING = "MODE_STORE";
+const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
+const char *INTERNAL_ERROR_REPORTER_STRING = "INTERNAL_ERROR_REPORTER";
+const char *TC_STORE_STRING = "TC_STORE";
+const char *TM_STORE_STRING = "TM_STORE";
+const char *IPC_STORE_STRING = "IPC_STORE";
+const char *AT91_SPI_TEST_TASK_STRING = "AT91_SPI_TEST_TASK";
+const char *STM32_TEST_TASK_STRING = "STM32_TEST_TASK";
+const char *AT91_UART0_TEST_TASK_STRING = "AT91_UART0_TEST_TASK";
+const char *NO_OBJECT_STRING = "NO_OBJECT";
+
+const char* translateObject(object_id_t object){
+	switch((object&0xFFFFFFFF)){
+		case 0x000123336:
+			return AT91_UART2_TEST_TASK_STRING;
+		case 0x01010100:
+			return ARDUINO_0_STRING;
+		case 0x01010101:
+			return ARDUINO_1_STRING;
+		case 0x01010102:
+			return ARDUINO_2_STRING;
+		case 0x01010103:
+			return ARDUINO_3_STRING;
+		case 0x01010104:
+			return ARDUINO_4_STRING;
+		case 0x12345678:
+			return AT91_I2C_TEST_TASK_STRING;
+		case 0x42694269:
+			return TEST_TASK_STRING;
+		case 0x44003200:
+			return PCDU_HANDLER_STRING;
+		case 0x4400AFFE:
+			return DUMMY_HANDLER_STRING;
+		case 0x44020108:
+			return S_ADC1_DEC2_STRING;
+		case 0x44101F00:
+			return GPS0_HANDLER_STRING;
+		case 0x44104000:
+			return DLR_PVCH_STRING;
+		case 0x44105000:
+			return GYRO1_STRING;
+		case 0x44106000:
+			return DLR_IRAS_STRING;
+		case 0x44115401:
+			return _DEC1_O1_STRING;
+		case 0x44115402:
+			return _DEC1_O2_STRING;
+		case 0x44115404:
+			return S1_DEC1_O3_STRING;
+		case 0x44115405:
+			return S2_DEC1_O4_STRING;
+		case 0x44115406:
+			return S3_DEC1_O5_STRING;
+		case 0x44115407:
+			return PT1000_PVHC_DEC1_O6_STRING;
+		case 0x44125401:
+			return PT1000_CCSDS1_DEC2_STRING;
+		case 0x44125403:
+			return PT1000_MGT1_DEC2_STRING;
+		case 0x44125404:
+			return S4_DEC2_STRING;
+		case 0x44125405:
+			return S5_DEC2_STRING;
+		case 0x44125406:
+			return S6_DEC2_STRING;
+		case 0x44125407:
+			return PT1000_PVCH_DEC2_STRING;
+		case 0x44130301:
+			return _DEC3_STRING;
+		case 0x44130302:
+			return PT1000_CCSDS2_DEC3_STRING;
+		case 0x44130305:
+			return S7_DEC3_STRING;
+		case 0x44130306:
+			return S8_DEC3_STRING;
+		case 0x44130307:
+			return PT1000_PVCH_DEC3_STRING;
+		case 0x44130308:
+			return GYRO2_STRING;
+		case 0x44145401:
+			return PT1000_PLOC_DEC4_STRING;
+		case 0x44145404:
+			return S9_DEC4_STRING;
+		case 0x44145405:
+			return S10_DEC4_STRING;
+		case 0x44145406:
+			return PT1000_PVHC_DEC4_STRING;
+		case 0x44145407:
+			return S_ADC_DEC4_STRING;
+		case 0x44202000:
+			return GPS1_HANDLER_STRING;
+		case 0x49001F00:
+			return DUMMY_GPS_COM_IF_STRING;
+		case 0x49005200:
+			return RS232_DEVICE_COM_IF_STRING;
+		case 0x49005300:
+			return I2C_DEVICE_COM_IF_STRING;
+		case 0x49005400:
+			return GPIO_DEVICE_COM_IF_STRING;
+		case 0x49005410:
+			return SPI_POLLING_TASK_STRING;
+		case 0x49005600:
+			return SPI_DEVICE_COM_IF_STRING;
+		case 0x4900AFFE:
+			return DUMMY_ECHO_COM_IF_STRING;
+		case 0x4D0073AD:
+			return SD_CARD_HANDLER_STRING;
+		case 0x50000100:
+			return CCSDS_PACKET_DISTRIBUTOR_STRING;
+		case 0x50000200:
+			return PUS_PACKET_DISTRIBUTOR_STRING;
+		case 0x50000300:
+			return UDP_TMTC_BRIDGE_STRING;
+		case 0x50000400:
+			return EMAC_POLLING_TASK_STRING;
+		case 0x50000600:
+			return SERIAL_POLLING_TASK_STRING;
+		case 0x5000500:
+			return UART_TMTC_BRIDGE_STRING;
+		case 0x51000100:
+			return PUS_SERVICE_1_STRING;
+		case 0x51000200:
+			return PUS_SERVICE_2_STRING;
+		case 0x51000300:
+			return PUS_SERVICE_3_STRING;
+		case 0x51000400:
+			return PUS_SERVICE_5_STRING;
+		case 0x51000500:
+			return PUS_SERVICE_6_STRING;
+		case 0x51000800:
+			return PUS_SERVICE_8_STRING;
+		case 0x51000900:
+			return PUS_SERVICE_9_STRING;
+		case 0x51001700:
+			return PUS_SERVICE_17_STRING;
+		case 0x51002300:
+			return PUS_SERVICE_23_STRING;
+		case 0x51020000:
+			return PUS_SERVICE_200_STRING;
+		case 0x51020100:
+			return PUS_SERVICE_201_STRING;
+		case 0x52000001:
+			return PUS_TIME_STRING;
+		case 0x52000002:
+			return PUS_FUNNEL_STRING;
+		case 0x53010000:
+			return HEALTH_TABLE_STRING;
+		case 0x53010100:
+			return MODE_STORE_STRING;
+		case 0x53030000:
+			return EVENT_MANAGER_STRING;
+		case 0x53040000:
+			return INTERNAL_ERROR_REPORTER_STRING;
+		case 0x534f0100:
+			return TC_STORE_STRING;
+		case 0x534f0200:
+			return TM_STORE_STRING;
+		case 0x534f0300:
+			return IPC_STORE_STRING;
+		case 0x66666666:
+			return AT91_SPI_TEST_TASK_STRING;
+		case 0x77777777:
+			return STM32_TEST_TASK_STRING;
+		case 0x87654321:
+			return AT91_UART0_TEST_TASK_STRING;
+		case 0xFFFFFFFF:
+			return NO_OBJECT_STRING;
+		default:
+			return "UNKNOWN_OBJECT";
+	}
+	return 0;
+}
diff --git a/unittest/config/objects/translateObjects.h b/unittest/config/objects/translateObjects.h
new file mode 100644
index 00000000..18c237eb
--- /dev/null
+++ b/unittest/config/objects/translateObjects.h
@@ -0,0 +1,16 @@
+/*
+ * translateObjects.h
+ *
+ *  Created on: 28 May 2019
+ *      Author: Robin
+ */
+
+#ifndef CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
+#define CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
+
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+
+const char* translateObject(object_id_t object);
+
+
+#endif /* CONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */
diff --git a/unittest/config/pollingsequence/PollingSequenceFactory.cpp b/unittest/config/pollingsequence/PollingSequenceFactory.cpp
new file mode 100644
index 00000000..dbe13add
--- /dev/null
+++ b/unittest/config/pollingsequence/PollingSequenceFactory.cpp
@@ -0,0 +1,31 @@
+#include <PollingSequenceFactory.h>
+#include <systemObjectList.h>
+
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+
+ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
+{
+	/* Length of a communication cycle */
+	uint32_t length = thisSequence->getPeriodMs();
+
+    thisSequence->addSlot(objects::DUMMY_HANDLER,
+            length * 0,  DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::DUMMY_HANDLER,
+            length * 0.25, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::DUMMY_HANDLER,
+            length * 0.5,  DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::DUMMY_HANDLER,
+            length * 0.75, DeviceHandlerIF::GET_READ);
+
+	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		sif::error << "PollingSequence::initialize has errors!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
diff --git a/unittest/config/pollingsequence/PollingSequenceFactory.h b/unittest/config/pollingsequence/PollingSequenceFactory.h
new file mode 100644
index 00000000..b6cc2f1e
--- /dev/null
+++ b/unittest/config/pollingsequence/PollingSequenceFactory.h
@@ -0,0 +1,31 @@
+#ifndef POLLINGSEQUENCEFACTORY_H_
+#define POLLINGSEQUENCEFACTORY_H_
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+class FixedTimeslotTaskIF;
+
+/**
+ * All device handlers are scheduled by adding them into
+ * Polling Sequence Tables (PST) to satisfy stricter timing requirements of
+ * device communication, a device handler has four different communication steps:
+ *   1. DeviceHandlerIF::SEND_WRITE -> Send write via interface
+ *   2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write
+ *   3. DeviceHandlerIF::SEND_READ -> Send read request
+ *   4. DeviceHandlerIF::GET_READ -> Read from interface
+ * The PST specifies precisely when the respective ComIF functions are called
+ * during the communication cycle time.
+ * The task is created using the FixedTimeslotTaskIF,
+ * which utilises the underlying Operating System Abstraction Layer (OSAL)
+ *
+ * @param thisSequence FixedTimeslotTaskIF * object is passed inside the
+ * 					   Factory class when creating the PST
+ * @return
+ */
+namespace pst {
+
+/* 0.4 second period init*/
+ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
+
+}
+
+#endif /* POLLINGSEQUENCEINIT_H_ */
diff --git a/unittest/config/returnvalues/classIds.h b/unittest/config/returnvalues/classIds.h
new file mode 100644
index 00000000..a024e3d7
--- /dev/null
+++ b/unittest/config/returnvalues/classIds.h
@@ -0,0 +1,28 @@
+/*
+ * classIds.h
+ *
+ *  Created on: 16.07.2018
+ *      Author: mohr
+ */
+
+#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
+#define CONFIG_RETURNVALUES_CLASSIDS_H_
+
+/**
+ * Source IDs starts at 73 for now
+ * Framework IDs for ReturnValues run from 0 to 56
+ * and are located inside <fsfw/returnvalues/FwClassIds.h>
+ */
+namespace CLASS_ID {
+enum {
+	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
+	RS232_CHANNEL, //!< RS232
+	I2C_CHANNEL, //!< I2C
+	SPI_CHANNEL, //!< SPI
+	GPS_HANDLER,  //!< GPS
+	PUS_SERVICE_3 //!< HKS
+};
+}
+
+
+#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */
diff --git a/unittest/config/tmtc/PusIds.hpp b/unittest/config/tmtc/PusIds.hpp
new file mode 100644
index 00000000..fd37c7f4
--- /dev/null
+++ b/unittest/config/tmtc/PusIds.hpp
@@ -0,0 +1,29 @@
+/*
+ * PusIds.hpp
+ *
+ *  Created on: 27.02.2019
+ *      Author: jakob
+ */
+
+#ifndef CONFIG_TMTC_PUSIDS_HPP_
+#define CONFIG_TMTC_PUSIDS_HPP_
+
+namespace PUS{
+enum Ids{
+	PUS_SERVICE_1 = 1,
+	PUS_SERVICE_2 = 2,
+	PUS_SERVICE_3 = 3,
+	PUS_SERVICE_5 = 5,
+	PUS_SERVICE_6 = 6,
+	PUS_SERVICE_8 = 8,
+	PUS_SERVICE_9 = 9,
+	PUS_SERVICE_17 = 17,
+	PUS_SERVICE_23 = 23,
+	PUS_SERVICE_200 = 200,
+	PUS_SERVICE_201 = 201,
+};
+};
+
+
+
+#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
diff --git a/unittest/config/tmtc/apid.h b/unittest/config/tmtc/apid.h
new file mode 100644
index 00000000..77e55952
--- /dev/null
+++ b/unittest/config/tmtc/apid.h
@@ -0,0 +1,19 @@
+#ifndef CONFIG_TMTC_APID_H_
+#define CONFIG_TMTC_APID_H_
+
+#include <stdint.h>
+
+/**
+ * Application Process Definition: entity, uniquely identified by an
+ * application process ID (APID), capable of generating telemetry source
+ * packets and receiving telecommand packets
+ *
+ * SOURCE APID: 0x73 / 115 / s
+ * APID is a 11 bit number
+ */
+namespace apid {
+	static const uint16_t SOURCE_OBSW = 0x73;
+}
+
+
+#endif /* CONFIG_TMTC_APID_H_ */
diff --git a/unittest/config/tmtc/pusIds.h b/unittest/config/tmtc/pusIds.h
new file mode 100644
index 00000000..a2dd7575
--- /dev/null
+++ b/unittest/config/tmtc/pusIds.h
@@ -0,0 +1,23 @@
+#ifndef CONFIG_TMTC_PUSIDS_HPP_
+#define CONFIG_TMTC_PUSIDS_HPP_
+
+namespace pus {
+enum Ids{
+	PUS_SERVICE_1 = 1,
+	PUS_SERVICE_2 = 2,
+	PUS_SERVICE_3 = 3,
+	PUS_SERVICE_3_PSB = 3,
+	PUS_SERVICE_5 = 5,
+	PUS_SERVICE_6 = 6,
+	PUS_SERVICE_8 = 8,
+	PUS_SERVICE_9 = 9,
+	PUS_SERVICE_17 = 17,
+	PUS_SERVICE_19 = 19,
+	PUS_SERVICE_20 = 20,
+	PUS_SERVICE_23 = 23,
+	PUS_SERVICE_200 = 200,
+	PUS_SERVICE_201 = 201,
+};
+};
+
+#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
diff --git a/unittest/config/tmtc/subsystemIdRanges.h b/unittest/config/tmtc/subsystemIdRanges.h
new file mode 100644
index 00000000..e32de74c
--- /dev/null
+++ b/unittest/config/tmtc/subsystemIdRanges.h
@@ -0,0 +1,34 @@
+#ifndef CONFIG_TMTC_SUBSYSTEMIDRANGES_H_
+#define CONFIG_TMTC_SUBSYSTEMIDRANGES_H_
+
+#include <fsfw/events/fwSubsystemIdRanges.h>
+#include <cstdint>
+
+/**
+ * These IDs are part of the ID for an event thrown by a subsystem.
+ * Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)
+ */
+namespace SUBSYSTEM_ID {
+enum: uint8_t {
+	SUBSYSTE_ID_START = FW_SUBSYSTEM_ID_RANGE,
+	/**
+	 * 80-105: PUS Services
+	 */
+	PUS_SERVICE_2 = 82,
+	PUS_SERVICE_3 = 83,
+	PUS_SERVICE_5 = 85,
+	PUS_SERVICE_6 = 86,
+	PUS_SERVICE_8 = 88,
+	PUS_SERVICE_23 = 91,
+	DUMMY_DEVICE = 100,
+	/**
+	 * 105-115: AOCS
+	 */
+	GPS_DEVICE = 105,
+
+	SPI_COM_IF = 128,
+	I2C_COM_IF = 138
+};
+}
+
+#endif /* CONFIG_TMTC_SUBSYSTEMIDRANGES_H_ */
diff --git a/unittest/config/tmtc/tmTcSize.h b/unittest/config/tmtc/tmTcSize.h
new file mode 100644
index 00000000..de7f4adc
--- /dev/null
+++ b/unittest/config/tmtc/tmTcSize.h
@@ -0,0 +1,10 @@
+#ifndef CONFIG_TMTC_TMTCSIZE_H_
+#define CONFIG_TMTC_TMTCSIZE_H_
+
+#include <cstdint>
+
+namespace tmtcsize {
+static const uint32_t MAX_TM_PACKET = 50;
+}
+
+#endif /* CONFIG_TMTC_TMTCSIZE_H_ */
diff --git a/unittest/config/version.h b/unittest/config/version.h
new file mode 100644
index 00000000..f53345c1
--- /dev/null
+++ b/unittest/config/version.h
@@ -0,0 +1,7 @@
+#ifndef CONFIG_VERSION_H_
+#define CONFIG_VERSION_H_
+
+#define SW_VERSION      1
+#define SW_SUBVERSION   6
+
+#endif /* CONFIG_VERSION_H_ */
diff --git a/unittest/core/CatchDefinitions.cpp b/unittest/core/CatchDefinitions.cpp
new file mode 100644
index 00000000..3f4614e8
--- /dev/null
+++ b/unittest/core/CatchDefinitions.cpp
@@ -0,0 +1,11 @@
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+StorageManagerIF* tglob::getIpcStoreHandle() {
+	if(objectManager != nullptr) {
+		return objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	} else {
+		sif::error << "Global object manager uninitialized" << std::endl;
+		return nullptr;
+	}
+}
diff --git a/unittest/core/CatchDefinitions.h b/unittest/core/CatchDefinitions.h
new file mode 100644
index 00000000..cdc025fa
--- /dev/null
+++ b/unittest/core/CatchDefinitions.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <fsfw/ipc/messageQueueDefinitions.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/storagemanager/StorageManagerIF.h>
+
+namespace retval {
+static constexpr int CATCH_OK = static_cast<int>(HasReturnvaluesIF::RETURN_OK);
+static constexpr int CATCH_FAILED = static_cast<int>(HasReturnvaluesIF::RETURN_FAILED);
+}
+
+namespace tconst {
+	static constexpr MessageQueueId_t testQueueId = 42;
+}
+
+namespace tglob {
+	StorageManagerIF* getIpcStoreHandle();
+}
+
diff --git a/unittest/core/CatchRunner.cpp b/unittest/core/CatchRunner.cpp
new file mode 100644
index 00000000..566db692
--- /dev/null
+++ b/unittest/core/CatchRunner.cpp
@@ -0,0 +1,27 @@
+/**
+ * @file 	CatchSource.cpp
+ * @brief 	Source file to compile catch framework.
+ * @details	All tests should be written in other files.
+ * For eclipse console output, install ANSI Escape in Console
+ * from the eclipse market place to get colored characters.
+ */
+
+#ifndef NO_UNIT_TEST_FRAMEWORK
+
+#define CATCH_CONFIG_RUNNER
+#include <fsfw/unittest/catch2/catch.hpp>
+
+extern int customSetup();
+
+int main( int argc, char* argv[] ) {
+    customSetup();
+
+    // Catch internal function call
+    int result = Catch::Session().run( argc, argv );
+
+    // global clean-up
+    return result;
+}
+
+
+#endif
diff --git a/unittest/core/CatchSetup.cpp b/unittest/core/CatchSetup.cpp
new file mode 100644
index 00000000..5436fd5d
--- /dev/null
+++ b/unittest/core/CatchSetup.cpp
@@ -0,0 +1,41 @@
+#include "../config/cdatapool/dataPoolInit.h"
+#include <fsfw/unittest/config/cdatapool/dataPoolInit.h>
+#include <fsfw/unittest/config/objects/Factory.h>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+#ifdef GCOV
+#include <gcov.h>
+#endif
+
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+#include <fsfw/storagemanager/StorageManagerIF.h>
+#include <fsfw/datapool/DataPool.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+
+
+/* Global instantiations normally done in main.cpp */
+/* Initialize Data Pool */
+//namespace glob {
+DataPool dataPool(datapool::dataPoolInit);
+//}
+
+
+namespace sif {
+/* Set up output streams */
+ServiceInterfaceStream debug("DEBUG");
+ServiceInterfaceStream info("INFO");
+ServiceInterfaceStream error("ERROR");
+ServiceInterfaceStream warning("WARNING");
+}
+
+/* Global object manager */
+ObjectManagerIF *objectManager;
+
+int customSetup() {
+    // global setup
+    objectManager = new ObjectManager(Factory::produce);
+    objectManager -> initialize();
+    return 0;
+}
+
diff --git a/unittest/core/core.mk b/unittest/core/core.mk
new file mode 100644
index 00000000..3e5626d3
--- /dev/null
+++ b/unittest/core/core.mk
@@ -0,0 +1,3 @@
+CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
+
+INCLUDES += $(CURRENTPATH)
\ No newline at end of file
diff --git a/unittest/core/printChar.cpp b/unittest/core/printChar.cpp
new file mode 100644
index 00000000..755a13b2
--- /dev/null
+++ b/unittest/core/printChar.cpp
@@ -0,0 +1,10 @@
+#include <fsfw/unittest/core/printChar.h>
+#include <cstdio>
+
+void printChar(const char* character, bool errStream) {
+	if(errStream) {
+		std::putc(*character, stderr);
+		return;
+	}
+	std::putc(*character, stdout);
+}
diff --git a/unittest/core/printChar.h b/unittest/core/printChar.h
new file mode 100644
index 00000000..80e867f6
--- /dev/null
+++ b/unittest/core/printChar.h
@@ -0,0 +1,8 @@
+#ifndef FSFW_UNITTEST_CORE_PRINTCHAR_H_
+#define FSFW_UNITTEST_CORE_PRINTCHAR_H_
+
+
+extern "C" void printChar(const char*, bool errStream);
+
+
+#endif /* FSFW_UNITTEST_CORE_PRINTCHAR_H_ */
diff --git a/unittest/internal/InternalUnitTester.cpp b/unittest/internal/InternalUnitTester.cpp
new file mode 100644
index 00000000..9b219f09
--- /dev/null
+++ b/unittest/internal/InternalUnitTester.cpp
@@ -0,0 +1,26 @@
+#include <unittest/internal/InternalUnitTester.h>
+#include <unittest/internal/IntTestMq.h>
+#include <unittest/internal/IntTestSemaphore.h>
+#include <unittest/internal/IntTestSerialization.h>
+#include <unittest/internal/UnittDefinitions.h>
+#include <unittest/internal/IntTestMutex.h>
+
+#include <cstdlib>
+
+InternalUnitTester::InternalUnitTester() {}
+
+InternalUnitTester::~InternalUnitTester() {}
+
+ReturnValue_t InternalUnitTester::performTests() {
+	sif::info << "Running internal unit tests..\r\n" << std::flush;
+	testserialize::test_serialization();
+	testmq::testMq();
+	testsemaph::testBinSemaph();
+	testsemaph::testCountingSemaph();
+	testmutex::testMutex();
+	sif::info << "Internal unit tests finished.\r\n" << std::flush;
+	return RETURN_OK;
+}
+
+
+
diff --git a/unittest/internal/InternalUnitTester.h b/unittest/internal/InternalUnitTester.h
new file mode 100644
index 00000000..b61c8bfe
--- /dev/null
+++ b/unittest/internal/InternalUnitTester.h
@@ -0,0 +1,29 @@
+#ifndef FRAMEWORK_TEST_UNITTESTCLASS_H_
+#define FRAMEWORK_TEST_UNITTESTCLASS_H_
+
+#include <unittest/internal/UnittDefinitions.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+/**
+ * @brief	Can be used for internal testing, for example for hardware specific
+ * 			tests which can not be run on a host-machine.
+ *
+ * TODO: A lot of ways to improve this class. A way for tests to subscribe
+ * 		 in this central class would be nice. Right now, this is the class
+ * 		 which simply calls all other tests from other files manually.
+ * 		 Maybe there is a better way..
+ */
+class InternalUnitTester: public HasReturnvaluesIF {
+public:
+	InternalUnitTester();
+	virtual~ InternalUnitTester();
+
+	/**
+	 * Some function which calls all other tests
+	 * @return
+	 */
+	ReturnValue_t performTests();
+};
+
+
+#endif /* FRAMEWORK_TEST_UNITTESTCLASS_H_ */
diff --git a/unittest/internal/UnittDefinitions.cpp b/unittest/internal/UnittDefinitions.cpp
new file mode 100644
index 00000000..0bdbfcc7
--- /dev/null
+++ b/unittest/internal/UnittDefinitions.cpp
@@ -0,0 +1,7 @@
+#include <fsfw/unittest/internal/UnittDefinitions.h>
+
+ ReturnValue_t unitt::put_error(std::string errorId) {
+	sif::error << "Unit Tester error: Failed at test ID "
+			<< errorId << "\n" << std::flush;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
diff --git a/unittest/internal/UnittDefinitions.h b/unittest/internal/UnittDefinitions.h
new file mode 100644
index 00000000..ea36fea4
--- /dev/null
+++ b/unittest/internal/UnittDefinitions.h
@@ -0,0 +1,33 @@
+#ifndef UNITTEST_INTERNAL_UNITTDEFINITIONS_H_
+#define UNITTEST_INTERNAL_UNITTDEFINITIONS_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include <cstdint>
+#include <cstddef>
+
+namespace tv {
+// POD test values
+static const bool tv_bool = true;
+static const uint8_t tv_uint8   {5};
+static const uint16_t tv_uint16 {283};
+static const uint32_t tv_uint32 {929221};
+static const uint64_t tv_uint64 {2929329429};
+
+static const int8_t tv_int8 {-16};
+static const int16_t tv_int16 {-829};
+static const int32_t tv_int32 {-2312};
+
+static const float tv_float {8.2149214};
+static const float tv_sfloat = {-922.2321321};
+static const double tv_double {9.2132142141e8};
+static const double tv_sdouble {-2.2421e19};
+}
+
+namespace unitt {
+ReturnValue_t put_error(std::string errorId);
+}
+
+
+
+#endif /* UNITTEST_INTERNAL_UNITTDEFINITIONS_H_ */
diff --git a/unittest/internal/osal/IntTestMq.cpp b/unittest/internal/osal/IntTestMq.cpp
new file mode 100644
index 00000000..265aa62a
--- /dev/null
+++ b/unittest/internal/osal/IntTestMq.cpp
@@ -0,0 +1,52 @@
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <unittest/internal/IntTestMq.h>
+#include <unittest/internal/UnittDefinitions.h>
+
+#include <array>
+
+using retval = HasReturnvaluesIF;
+
+void testmq::testMq() {
+	std::string id = "[testMq]";
+	MessageQueueIF* testSenderMq =
+			QueueFactory::instance()->createMessageQueue(1);
+	MessageQueueId_t testSenderMqId = testSenderMq->getId();
+
+	MessageQueueIF* testReceiverMq =
+			QueueFactory::instance()->createMessageQueue(1);
+	MessageQueueId_t testReceiverMqId = testReceiverMq->getId();
+	std::array<uint8_t, 20> testData { 0 };
+	testData[0] = 42;
+	MessageQueueMessage testMessage(testData.data(), 1);
+	testSenderMq->setDefaultDestination(testReceiverMqId);
+
+
+	auto result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
+	if(result != retval::RETURN_OK) {
+		unitt::put_error(id);
+	}
+	MessageQueueMessage recvMessage;
+	result = testReceiverMq->receiveMessage(&recvMessage);
+	if(result != retval::RETURN_OK or recvMessage.getData()[0] != 42) {
+		unitt::put_error(id);
+	}
+
+	result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
+	if(result != retval::RETURN_OK) {
+		unitt::put_error(id);
+	}
+	MessageQueueId_t senderId = 0;
+	result = testReceiverMq->receiveMessage(&recvMessage,&senderId);
+	if(result != retval::RETURN_OK or recvMessage.getData()[0] != 42) {
+		unitt::put_error(id);
+	}
+	if(senderId != testSenderMqId) {
+		unitt::put_error(id);
+	}
+	senderId = testReceiverMq->getLastPartner();
+	if(senderId != testSenderMqId) {
+		unitt::put_error(id);
+	}
+
+}
diff --git a/unittest/internal/osal/IntTestMq.h b/unittest/internal/osal/IntTestMq.h
new file mode 100644
index 00000000..bc12a9b0
--- /dev/null
+++ b/unittest/internal/osal/IntTestMq.h
@@ -0,0 +1,9 @@
+#ifndef UNITTEST_INTERNAL_INTESTMQ_H_
+#define UNITTEST_INTERNAL_INTESTMQ_H_
+
+namespace testmq {
+void testMq();
+}
+
+
+#endif /* UNITTEST_INTERNAL_INTESTMQ_H_ */
diff --git a/unittest/internal/osal/IntTestMutex.cpp b/unittest/internal/osal/IntTestMutex.cpp
new file mode 100644
index 00000000..bf0b827d
--- /dev/null
+++ b/unittest/internal/osal/IntTestMutex.cpp
@@ -0,0 +1,41 @@
+#include <unittest/internal/IntTestMutex.h>
+#include <fsfw/ipc/MutexFactory.h>
+#include <unittest/internal/UnittDefinitions.h>
+
+#if defined(hosted)
+#include <fsfw/osal/hosted/Mutex.h>
+#include <thread>
+#include <future>
+#endif
+
+
+void testmutex::testMutex() {
+	std::string id = "[testMutex]";
+	MutexIF* mutex = MutexFactory::instance()->createMutex();
+	auto result = mutex->lockMutex(MutexIF::POLLING);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		unitt::put_error(id);
+	}
+	// timed_mutex from the C++ library specifies undefined behaviour if
+	// the timed mutex is locked twice from the same thread.
+#if defined(hosted)
+	// hold on, this actually worked ? :-D This calls the function from
+	// another thread and stores the returnvalue in a future.
+	auto future = std::async(&MutexIF::lockMutex, mutex, 1);
+	result = future.get();
+#else
+	result = mutex->lockMutex(MutexIF::TimeoutType::WAITING, 1);
+#endif
+	if(result != MutexIF::MUTEX_TIMEOUT) {
+		unitt::put_error(id);
+	}
+
+	result = mutex->unlockMutex();
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		unitt::put_error(id);
+	}
+	result = mutex->unlockMutex();
+	if(result != MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX) {
+		unitt::put_error(id);
+	}
+}
diff --git a/unittest/internal/osal/IntTestMutex.h b/unittest/internal/osal/IntTestMutex.h
new file mode 100644
index 00000000..b467ea63
--- /dev/null
+++ b/unittest/internal/osal/IntTestMutex.h
@@ -0,0 +1,10 @@
+#ifndef UNITTEST_INTERNAL_INTTESTMUTEX_H_
+#define UNITTEST_INTERNAL_INTTESTMUTEX_H_
+
+namespace testmutex {
+void testMutex();
+}
+
+
+
+#endif /* UNITTEST_INTERNAL_INTTESTMUTEX_H_ */
diff --git a/unittest/internal/osal/IntTestSemaphore.cpp b/unittest/internal/osal/IntTestSemaphore.cpp
new file mode 100644
index 00000000..176db4de
--- /dev/null
+++ b/unittest/internal/osal/IntTestSemaphore.cpp
@@ -0,0 +1,159 @@
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <unittest/internal/UnittDefinitions.h>
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <unittest/internal/IntTestSemaphore.h>
+
+void testsemaph::testBinSemaph() {
+	std::string id = "[BinSemaphore]";
+	SemaphoreIF* binSemaph =
+			SemaphoreFactory::instance()->createBinarySemaphore();
+	if(binSemaph == nullptr) {
+		return;
+	}
+	testBinSemaphoreImplementation(binSemaph, id);
+	SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
+#if defined(freeRTOS)
+	SemaphoreIF* binSemaphUsingTask =
+			SemaphoreFactory::instance()->createBinarySemaphore(1);
+	testBinSemaphoreImplementation(binSemaphUsingTask, id);
+	SemaphoreFactory::instance()->deleteSemaphore(binSemaphUsingTask);
+#endif
+}
+
+
+void testsemaph::testCountingSemaph() {
+	std::string id = "[CountingSemaph]";
+	{
+		// First test: create a binary semaphore by using a counting semaphore.
+		SemaphoreIF* countingSemaph = SemaphoreFactory::instance()->
+				createCountingSemaphore(1,1);
+		if(countingSemaph == nullptr) {
+			return;
+		}
+		testBinSemaphoreImplementation(countingSemaph, id);
+		SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
+#if defined(freeRTOS)
+		countingSemaph = SemaphoreFactory::instance()->
+				createCountingSemaphore(1, 1, 1);
+		testBinSemaphoreImplementation(countingSemaph, id);
+		SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
+#endif
+	}
+
+	{
+		// Second test: counting semaphore with count 3 and init count of 3.
+		SemaphoreIF* countingSemaph = SemaphoreFactory::instance()->
+				createCountingSemaphore(3,3);
+		testCountingSemaphImplementation(countingSemaph, id);
+		SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
+#if defined(freeRTOS)
+		countingSemaph = SemaphoreFactory::instance()->
+				createCountingSemaphore(3, 0, 1);
+		uint8_t semaphCount = countingSemaph->getSemaphoreCounter();
+		if(semaphCount != 0) {
+			unitt::put_error(id);
+		}
+		// release 3 times in a row
+		for(int i = 0; i < 3; i++) {
+			auto result = countingSemaph->release();
+			if(result != HasReturnvaluesIF::RETURN_OK) {
+				unitt::put_error(id);
+			}
+		}
+		testCountingSemaphImplementation(countingSemaph, id);
+		SemaphoreFactory::instance()->deleteSemaphore(countingSemaph);
+#endif
+	}
+}
+
+
+void testsemaph::testBinSemaphoreImplementation(SemaphoreIF* binSemaph,
+		std::string id) {
+	uint8_t semaphCount = binSemaph->getSemaphoreCounter();
+	if(semaphCount != 1) {
+		unitt::put_error(id);
+	}
+
+	ReturnValue_t result = binSemaph->release();
+	if(result != SemaphoreIF::SEMAPHORE_NOT_OWNED) {
+		unitt::put_error(id);
+	}
+	result = binSemaph->acquire(SemaphoreIF::BLOCKING);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		unitt::put_error(id);
+	}
+
+	// There is not really a point in testing time related, the task
+	// might get interrupted..
+	{
+		//Stopwatch stopwatch(false);
+		result = binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 10);
+		//dur_millis_t time = stopwatch.stop();
+//		if(abs(time - 10) > 2) {
+//		    sif::error << "UnitTester: Semaphore timeout measured incorrect."
+//		            << std::endl;
+//			unitt::put_error(id);
+//		}
+	}
+
+	if(result != SemaphoreIF::SEMAPHORE_TIMEOUT) {
+		unitt::put_error(id);
+	}
+
+	semaphCount = binSemaph->getSemaphoreCounter();
+	if(semaphCount != 0) {
+		unitt::put_error(id);
+	}
+
+	result = binSemaph->release();
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		unitt::put_error(id);
+	}
+}
+
+void testsemaph::testCountingSemaphImplementation(SemaphoreIF* countingSemaph,
+		std::string id) {
+	// check count getter function
+	uint8_t semaphCount = countingSemaph->getSemaphoreCounter();
+	if(semaphCount != 3) {
+		unitt::put_error(id);
+	}
+	ReturnValue_t result = countingSemaph->release();
+	if(result != SemaphoreIF::SEMAPHORE_NOT_OWNED) {
+		unitt::put_error(id);
+	}
+	// acquire 3 times in a row
+	for(int i = 0; i < 3; i++) {
+		result = countingSemaph->acquire(SemaphoreIF::BLOCKING);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			unitt::put_error(id);
+		}
+	}
+
+	{
+		Stopwatch stopwatch(false);
+		// attempt to take when count is 0, measure time
+		result = countingSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 10);
+		dur_millis_t time = stopwatch.stop();
+		if(abs(time - 10) > 1) {
+			unitt::put_error(id);
+		}
+	}
+
+	if(result != SemaphoreIF::SEMAPHORE_TIMEOUT) {
+		unitt::put_error(id);
+	}
+
+	// release 3 times in a row
+	for(int i = 0; i < 3; i++) {
+		result = countingSemaph->release();
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			unitt::put_error(id);
+		}
+	}
+	// assert correct full count
+	if(countingSemaph->getSemaphoreCounter() != 3) {
+		unitt::put_error(id);
+	}
+}
diff --git a/unittest/internal/osal/IntTestSemaphore.h b/unittest/internal/osal/IntTestSemaphore.h
new file mode 100644
index 00000000..af26c131
--- /dev/null
+++ b/unittest/internal/osal/IntTestSemaphore.h
@@ -0,0 +1,15 @@
+#ifndef UNITTEST_INTERNAL_INTTESTSEMAPHORE_H_
+#define UNITTEST_INTERNAL_INTTESTSEMAPHORE_H_
+class SemaphoreIF;
+#include <string>
+
+namespace testsemaph {
+void testBinSemaph();
+void testBinSemaphoreImplementation(SemaphoreIF* binSemaph, std::string id);
+void testCountingSemaph();
+void testCountingSemaphImplementation(SemaphoreIF* countingSemaph,
+		std::string id);
+}
+
+
+#endif /* UNITTEST_INTERNAL_INTTESTSEMAPHORE_H_ */
diff --git a/unittest/internal/serialize/IntTestSerialization.cpp b/unittest/internal/serialize/IntTestSerialization.cpp
new file mode 100644
index 00000000..2452ac6d
--- /dev/null
+++ b/unittest/internal/serialize/IntTestSerialization.cpp
@@ -0,0 +1,230 @@
+#include <unittest/internal/IntTestSerialization.h>
+#include <fsfw/serialize/SerializeElement.h>
+#include <fsfw/serialize/SerialBufferAdapter.h>
+#include <unittest/internal/UnittDefinitions.h>
+#include <fsfw/serialize/SerializeIF.h>
+#include <array>
+
+using retval = HasReturnvaluesIF;
+std::array<uint8_t, 512> testserialize::test_array = { 0 };
+
+ReturnValue_t testserialize::test_serialization() {
+	// Here, we test all serialization tools. First test basic cases.
+	ReturnValue_t result = test_endianness_tools();
+	if(result != retval::RETURN_OK) {
+		return result;
+	}
+	result = test_autoserialization();
+	if(result != retval::RETURN_OK) {
+		return result;
+	}
+	result = test_serial_buffer_adapter();
+	if(result != retval::RETURN_OK) {
+		return result;
+	}
+	return retval::RETURN_OK;
+}
+
+ReturnValue_t testserialize::test_endianness_tools() {
+	std::string id = "[test_endianness_tools]";
+	test_array[0] = 0;
+	test_array[1] = 0;
+	uint16_t two_byte_value = 1;
+	size_t size = 0;
+	uint8_t* p_array = test_array.data();
+	SerializeAdapter::serialize(&two_byte_value, &p_array, &size, 2,
+	        SerializeIF::Endianness::MACHINE);
+	// Little endian: Value one on first byte
+	if(test_array[0] != 1 and test_array[1] != 0) {
+		return unitt::put_error(id);
+
+	}
+
+	p_array = test_array.data();
+	size = 0;
+	SerializeAdapter::serialize(&two_byte_value, &p_array, &size, 2,
+	        SerializeIF::Endianness::BIG);
+	// Big endian: Value one on second byte
+	if(test_array[0] != 0 and test_array[1] != 1) {
+		return unitt::put_error(id);
+	}
+	return retval::RETURN_OK;
+}
+
+ReturnValue_t testserialize::test_autoserialization() {
+	std::string id = "[test_autoserialization]";
+	// Unit Test getSerializedSize
+	if(SerializeAdapter::
+			getSerializedSize(&tv::tv_bool) != sizeof(tv::tv_bool) or
+			SerializeAdapter::
+			getSerializedSize(&tv::tv_uint8) != sizeof(tv::tv_uint8) or
+			SerializeAdapter::
+			getSerializedSize(&tv::tv_uint16) != sizeof(tv::tv_uint16) or
+			SerializeAdapter::
+			getSerializedSize(&tv::tv_uint32) != sizeof(tv::tv_uint32) or
+			SerializeAdapter::
+			getSerializedSize(&tv::tv_uint64) != sizeof(tv::tv_uint64) or
+			SerializeAdapter::
+			getSerializedSize(&tv::tv_int8) != sizeof(tv::tv_int8) or
+			SerializeAdapter::
+			getSerializedSize(&tv::tv_double) != sizeof(tv::tv_double) or
+			SerializeAdapter::
+			getSerializedSize(&tv::tv_int16) != sizeof(tv::tv_int16) or
+			SerializeAdapter::
+			getSerializedSize(&tv::tv_int32) != sizeof(tv::tv_int32) or
+			SerializeAdapter::
+			getSerializedSize(&tv::tv_float) != sizeof(tv::tv_float))
+	{
+		return unitt::put_error(id);
+	}
+
+	size_t serialized_size = 0;
+	uint8_t * p_array = test_array.data();
+
+	SerializeAdapter::serialize(&tv::tv_bool, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_uint8, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_uint16, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_uint32, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_int8, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_int16, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_int32, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_uint64, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_float, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_double, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_sfloat, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv::tv_sdouble, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	// expected size is 1 + 1 + 2 + 4 + 1 + 2 + 4 + 8 + 4 + 8 + 4 + 8
+	if(serialized_size != 47) {
+		return unitt::put_error(id);
+	}
+
+	p_array = test_array.data();
+	size_t remaining_size = serialized_size;
+	bool tv_bool;
+	uint8_t tv_uint8;
+	uint16_t tv_uint16;
+	uint32_t tv_uint32;
+	int8_t tv_int8;
+	int16_t tv_int16;
+	int32_t tv_int32;
+	uint64_t tv_uint64;
+	float tv_float;
+	double tv_double;
+	float tv_sfloat;
+	double tv_sdouble;
+
+	SerializeAdapter::deSerialize(&tv_bool,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_uint8,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_uint16,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_uint32,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_int8,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_int16,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_int32,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_uint64,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_float,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_double,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_sfloat,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::deSerialize(&tv_sdouble,
+			const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+
+	if(tv_bool != tv::tv_bool or tv_uint8 != tv::tv_uint8 or
+			tv_uint16 != tv::tv_uint16 or tv_uint32 != tv::tv_uint32 or
+			tv_uint64 != tv::tv_uint64 or tv_int8 != tv::tv_int8 or
+			tv_int16 != tv::tv_int16 or tv_int32 != tv::tv_int32)
+	{
+		return unitt::put_error(id);
+	}
+
+	// These epsilon values were just guessed.. It appears to work though.
+	if(abs(tv_float - tv::tv_float) > 0.0001 or
+			abs(tv_double - tv::tv_double) > 0.01 or
+			abs(tv_sfloat - tv::tv_sfloat) > 0.0001 or
+			abs(tv_sdouble - tv::tv_sdouble) > 0.01) {
+		return unitt::put_error(id);
+	}
+
+	// Check overflow
+	return retval::RETURN_OK;
+}
+
+// TODO: Also test for constant buffers.
+ReturnValue_t testserialize::test_serial_buffer_adapter() {
+	std::string id = "[test_serial_buffer_adapter]";
+
+	// I will skip endian swapper testing, its going to be changed anyway..
+	// uint8_t tv::tv_uint8_swapped = EndianSwapper::swap(tv::tv_uint8);
+
+	size_t serialized_size = 0;
+	uint8_t * p_array = test_array.data();
+	std::array<uint8_t, 5> test_serial_buffer {5, 4, 3, 2, 1};
+	SerialBufferAdapter<uint8_t> tv_serial_buffer_adapter =
+			SerialBufferAdapter<uint8_t>(test_serial_buffer.data(),
+					test_serial_buffer.size(), false);
+	uint16_t testUint16 = 16;
+
+	SerializeAdapter::serialize(&tv::tv_bool, &p_array,&serialized_size,
+			test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv_serial_buffer_adapter, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&testUint16, &p_array, &serialized_size,
+			test_array.size(), SerializeIF::Endianness::MACHINE);
+
+	if(serialized_size != 8 or test_array[0] != true or test_array[1] != 5
+			or test_array[2] != 4 or test_array[3] != 3 or test_array[4] != 2
+			or test_array[5] != 1)
+	{
+		return unitt::put_error(id);
+	}
+	memcpy(&testUint16, test_array.data() + 6, sizeof(testUint16));
+	if(testUint16 != 16) {
+		return unitt::put_error(id);
+	}
+
+	// Serialize with size field
+	SerialBufferAdapter<uint8_t> tv_serial_buffer_adapter2 =
+			SerialBufferAdapter<uint8_t>(test_serial_buffer.data(),
+					test_serial_buffer.size(), true);
+	serialized_size = 0;
+	p_array = test_array.data();
+	SerializeAdapter::serialize(&tv::tv_bool, &p_array,&serialized_size,
+			test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&tv_serial_buffer_adapter2, &p_array,
+			&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+	SerializeAdapter::serialize(&testUint16, &p_array, &serialized_size,
+			test_array.size(), SerializeIF::Endianness::MACHINE);
+
+	if(serialized_size != 9 or test_array[0] != true or test_array[1] != 5
+			or test_array[2] != 5 or test_array[3] != 4 or test_array[4] != 3
+			or test_array[5] != 2 or test_array[6] != 1)
+	{
+		return unitt::put_error(id);
+	}
+	memcpy(&testUint16, test_array.data() + 7, sizeof(testUint16));
+	if(testUint16 != 16) {
+		return unitt::put_error(id);
+	}
+	return retval::RETURN_OK;
+}
diff --git a/unittest/internal/serialize/IntTestSerialization.h b/unittest/internal/serialize/IntTestSerialization.h
new file mode 100644
index 00000000..f8841b82
--- /dev/null
+++ b/unittest/internal/serialize/IntTestSerialization.h
@@ -0,0 +1,15 @@
+#ifndef UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
+#define UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <array>
+
+namespace testserialize {
+ReturnValue_t test_serialization();
+ReturnValue_t test_endianness_tools();
+ReturnValue_t test_autoserialization();
+ReturnValue_t test_serial_buffer_adapter();
+
+extern std::array<uint8_t, 512> test_array;
+}
+
+#endif /* UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_ */
diff --git a/unittest/lcov.sh b/unittest/lcov.sh
new file mode 100644
index 00000000..4db16e5f
--- /dev/null
+++ b/unittest/lcov.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+lcov --capture --directory . --output-file coverage.info
+genhtml coverage.info --output-directory _coverage
diff --git a/unittest/tests/action/TestActionHelper.cpp b/unittest/tests/action/TestActionHelper.cpp
new file mode 100644
index 00000000..33c6b425
--- /dev/null
+++ b/unittest/tests/action/TestActionHelper.cpp
@@ -0,0 +1,105 @@
+#include <fsfw/action/ActionHelper.h>
+#include <fsfw/ipc/CommandMessage.h>
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <fsfw/unittest/tests/action/TestActionHelper.h>
+
+TEST_CASE( "Action Helper" , "[ActionHelper]") {
+	ActionHelperOwnerMockBase testDhMock;
+	MessageQueueMockBase testMqMock;
+	ActionHelper actionHelper = ActionHelper(
+			&testDhMock, dynamic_cast<MessageQueueIF*>(&testMqMock));
+	CommandMessage actionMessage;
+	ActionId_t testActionId = 777;
+	std::array <uint8_t, 3> testParams {1, 2, 3};
+	store_address_t paramAddress;
+	StorageManagerIF *ipcStore = tglob::getIpcStoreHandle();
+	ipcStore->addData(&paramAddress, testParams.data(), 3);
+	REQUIRE(actionHelper.initialize() == retval::CATCH_OK);
+
+	SECTION ("Simple tests") {
+		 ActionMessage::setCommand(&actionMessage, testActionId, paramAddress);
+		 CHECK(not testDhMock.executeActionCalled);
+		 REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+		 CHECK(testDhMock.executeActionCalled);
+		 // No message is sent if everything is alright.
+		 CHECK(not testMqMock.wasMessageSent());
+		 store_address_t invalidAddress;
+		 ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
+		 actionHelper.handleActionMessage(&actionMessage);
+		 CHECK(testMqMock.wasMessageSent());
+		 const uint8_t* ptr = nullptr;
+		 size_t size = 0;
+		 REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
+		 REQUIRE(ptr == nullptr);
+		 REQUIRE(size == 0);
+		 testDhMock.getBuffer(&ptr, &size);
+		 REQUIRE(size == 3);
+		 for(uint8_t i = 0; i<3;i++){
+			 REQUIRE(ptr[i] == (i+1));
+		 }
+		 testDhMock.clearBuffer();
+	}
+
+	SECTION("Handle failures"){
+		actionMessage.setCommand(1234);
+		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == static_cast<uint32_t>(CommandMessage::UNKNOWN_COMMAND));
+		CHECK(not testMqMock.wasMessageSent());
+		uint16_t step = 5;
+		ReturnValue_t status = 0x1234;
+		actionHelper.step(step, testMqMock.getId(), testActionId, status);
+		step += 1;
+		CHECK(testMqMock.wasMessageSent());
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+		REQUIRE(testMessage.getParameter() == static_cast<uint32_t>(testActionId));
+		uint32_t parameter2 = ((uint32_t)step << 16) | (uint32_t)status;
+		REQUIRE(testMessage.getParameter2() == parameter2);
+		REQUIRE(ActionMessage::getStep(&testMessage) == step);
+	}
+
+	SECTION("Handle finish"){
+		CHECK(not testMqMock.wasMessageSent());
+		ReturnValue_t status = 0x9876;
+		actionHelper.finish(testMqMock.getId(), testActionId, status);
+		CHECK(testMqMock.wasMessageSent());
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::COMPLETION_FAILED));
+		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
+		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(status));
+	}
+
+	SECTION("Handle failed"){
+		store_address_t toLongParamAddress = StorageManagerIF::INVALID_ADDRESS;
+		std::array<uint8_t, 5> toLongData = {5, 4, 3, 2, 1};
+		REQUIRE(ipcStore->addData(&toLongParamAddress, toLongData.data(), 5) == retval::CATCH_OK);
+		ActionMessage::setCommand(&actionMessage, testActionId, toLongParamAddress);
+		CHECK(not testDhMock.executeActionCalled);
+		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+		REQUIRE(ipcStore->getData(toLongParamAddress).first == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+		REQUIRE(ActionMessage::getReturnCode(&testMessage) == 0xAFFE);
+		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
+		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
+	}
+
+	SECTION("Missing IPC Data"){
+		ActionMessage::setCommand(&actionMessage, testActionId, StorageManagerIF::INVALID_ADDRESS);
+		CHECK(not testDhMock.executeActionCalled);
+		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(StorageManagerIF::ILLEGAL_STORAGE_ID));
+		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
+	}
+
+
+	SECTION("Data Reply"){
+
+	}
+}
diff --git a/unittest/tests/action/TestActionHelper.h b/unittest/tests/action/TestActionHelper.h
new file mode 100644
index 00000000..fcc20f90
--- /dev/null
+++ b/unittest/tests/action/TestActionHelper.h
@@ -0,0 +1,131 @@
+#ifndef UNITTEST_HOSTED_TESTACTIONHELPER_H_
+#define UNITTEST_HOSTED_TESTACTIONHELPER_H_
+
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <cstring>
+
+
+class ActionHelperOwnerMockBase: public HasActionsIF {
+public:
+	bool getCommandQueueCalled = false;
+	bool executeActionCalled = false;
+	static const size_t MAX_SIZE = 3;
+	uint8_t buffer[MAX_SIZE] = {0, 0, 0};
+	size_t size = 0;
+
+	MessageQueueId_t getCommandQueue() const override {
+		return tconst::testQueueId;
+	}
+
+	ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+			const uint8_t* data, size_t size) override {
+		executeActionCalled = true;
+		if(size > MAX_SIZE){
+			return 0xAFFE;
+		}
+		this->size = size;
+		memcpy(buffer, data, size);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	void clearBuffer(){
+		this->size = 0;
+		for(size_t i = 0; i<MAX_SIZE; i++){
+			buffer[i] = 0;
+		}
+	}
+
+	void getBuffer(const uint8_t** ptr, size_t* size){
+		if(size != nullptr){
+			*size = this->size;
+		}
+		if(ptr != nullptr){
+			*ptr = buffer;
+		}
+	}
+};
+
+
+class MessageQueueMockBase: public MessageQueueIF {
+public:
+	MessageQueueId_t myQueueId = 0;
+	bool defaultDestSet = false;
+	bool messageSent = false;
+
+
+
+	bool wasMessageSent() {
+		bool tempMessageSent = messageSent;
+		messageSent = false;
+		return tempMessageSent;
+	}
+
+	virtual ReturnValue_t reply( MessageQueueMessage* message ) {
+		messageSent = true;
+		lastMessage = (*message);
+		return HasReturnvaluesIF::RETURN_OK;
+	};
+	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
+			MessageQueueId_t *receivedFrom) {
+		(*message) = lastMessage;
+		lastMessage.clear();
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) {
+		(*message) = lastMessage;
+		lastMessage.clear();
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t flush(uint32_t* count) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual MessageQueueId_t getLastPartner() const {
+		return tconst::testQueueId;
+	}
+	virtual MessageQueueId_t getId() const {
+		return tconst::testQueueId;
+	}
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			bool ignoreFault = false ) {
+		messageSent = true;
+		lastMessage = (*message);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
+			MessageQueueMessage* message, bool ignoreFault = false ) override {
+		messageSent = true;
+		lastMessage = (*message);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
+			MessageQueueId_t sentFrom, bool ignoreFault = false ) {
+		messageSent = true;
+		lastMessage = (*message);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) {
+		messageSent = true;
+		lastMessage = (*message);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
+		myQueueId = defaultDestination;
+		defaultDestSet = true;
+	}
+
+	virtual MessageQueueId_t getDefaultDestination() const {
+		return myQueueId;
+	}
+	virtual bool isDefaultDestinationSet() const {
+		return defaultDestSet;
+	}
+private:
+	MessageQueueMessage lastMessage;
+
+};
+
+
+#endif /* UNITTEST_TESTFW_NEWTESTS_TESTACTIONHELPER_H_ */
diff --git a/unittest/tests/container/RingBufferTest.cpp b/unittest/tests/container/RingBufferTest.cpp
new file mode 100644
index 00000000..07d6bc1f
--- /dev/null
+++ b/unittest/tests/container/RingBufferTest.cpp
@@ -0,0 +1,327 @@
+#include <fsfw/container/SimpleRingBuffer.h>
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+#include <cstring>
+
+TEST_CASE("Ring Buffer Test" , "[RingBufferTest]") {
+	uint8_t testData[13]= {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
+	uint8_t readBuffer[10] = {13, 13, 13, 13, 13, 13, 13, 13, 13, 13};
+	SimpleRingBuffer ringBuffer(10, false, 5);
+
+	SECTION("Simple Test") {
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 9) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.writeData(testData, 3) == retval::CATCH_FAILED);
+		REQUIRE(ringBuffer.readData(readBuffer, 5, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 5; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		REQUIRE(ringBuffer.availableWriteSpace() == 5);
+		ringBuffer.clear();
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 4) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.readData(readBuffer, 4, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 4; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		REQUIRE(ringBuffer.writeData(testData, 9) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.readData(readBuffer, 9, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 9; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+
+	}
+
+	SECTION("Get Free Element Test") {
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 8) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.availableWriteSpace() == 1);
+		REQUIRE(ringBuffer.readData(readBuffer, 8, true) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		uint8_t *testPtr = nullptr;
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 10) ==  retval::CATCH_FAILED);
+
+
+		REQUIRE(ringBuffer.writeTillWrap() == 2);
+		// too many excess bytes.
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 8) ==  retval::CATCH_FAILED);
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 5) ==  retval::CATCH_OK);
+		REQUIRE(ringBuffer.getExcessBytes() == 3);
+		std::memcpy(testPtr, testData, 5);
+		ringBuffer.confirmBytesWritten(5);
+		REQUIRE(ringBuffer.getAvailableReadData() == 5);
+		ringBuffer.readData(readBuffer, 5, true);
+		for(uint8_t i = 0; i< 5; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+	}
+
+	SECTION("Read Remaining Test") {
+		REQUIRE(ringBuffer.writeData(testData, 3) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.getAvailableReadData() == 3);
+		REQUIRE(ringBuffer.readData(readBuffer, 5, false, false, nullptr) ==  retval::CATCH_FAILED);
+		size_t trueSize = 0;
+		REQUIRE(ringBuffer.readData(readBuffer, 5, false, true, &trueSize) ==  retval::CATCH_OK);
+		REQUIRE(trueSize == 3);
+		for(uint8_t i = 0; i< 3; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		trueSize = 0;
+		REQUIRE(ringBuffer.deleteData(5, false, &trueSize) == retval::CATCH_FAILED);
+		REQUIRE(trueSize == 0);
+		REQUIRE(ringBuffer.deleteData(5, true, &trueSize) == retval::CATCH_OK);
+		REQUIRE(trueSize == 3);
+	}
+}
+
+TEST_CASE("Ring Buffer Test2" , "[RingBufferTest2]") {
+	uint8_t testData[13]= {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
+	uint8_t readBuffer[10] = {13, 13, 13, 13, 13, 13, 13, 13, 13, 13};
+	uint8_t* newBuffer = new uint8_t[10];
+	SimpleRingBuffer ringBuffer(newBuffer, 10, true, 5);
+
+	SECTION("Simple Test") {
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 9) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.readData(readBuffer, 5, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 5; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		REQUIRE(ringBuffer.availableWriteSpace() == 5);
+		ringBuffer.clear();
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 4) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.readData(readBuffer, 4, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 4; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		REQUIRE(ringBuffer.writeData(testData, 9) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.readData(readBuffer, 9, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 9; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+
+	}
+
+	SECTION("Get Free Element Test") {
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 8) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.availableWriteSpace() == 1);
+		REQUIRE(ringBuffer.readData(readBuffer, 8, true) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		uint8_t *testPtr = nullptr;
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 10) ==  retval::CATCH_FAILED);
+
+
+		REQUIRE(ringBuffer.writeTillWrap() == 2);
+		// too many excess bytes.
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 8) ==  retval::CATCH_FAILED);
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 5) ==  retval::CATCH_OK);
+		REQUIRE(ringBuffer.getExcessBytes() == 3);
+		std::memcpy(testPtr, testData, 5);
+		ringBuffer.confirmBytesWritten(5);
+		REQUIRE(ringBuffer.getAvailableReadData() == 5);
+		ringBuffer.readData(readBuffer, 5, true);
+		for(uint8_t i = 0; i< 5; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+	}
+
+	SECTION("Read Remaining Test") {
+		REQUIRE(ringBuffer.writeData(testData, 3) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.getAvailableReadData() == 3);
+		REQUIRE(ringBuffer.readData(readBuffer, 5, false, false, nullptr) ==  retval::CATCH_FAILED);
+		size_t trueSize = 0;
+		REQUIRE(ringBuffer.readData(readBuffer, 5, false, true, &trueSize) ==  retval::CATCH_OK);
+		REQUIRE(trueSize == 3);
+		for(uint8_t i = 0; i< 3; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		trueSize = 0;
+		REQUIRE(ringBuffer.deleteData(5, false, &trueSize) == retval::CATCH_FAILED);
+		REQUIRE(trueSize == 0);
+		REQUIRE(ringBuffer.deleteData(5, true, &trueSize) == retval::CATCH_OK);
+		REQUIRE(trueSize == 3);
+	}
+
+	SECTION("Overflow"){
+		REQUIRE(ringBuffer.availableWriteSpace()==9);
+		//Writing more than the buffer is large, technically thats allowed
+		//But it is senseless and has undesired impact on read call
+		REQUIRE(ringBuffer.writeData(testData, 13) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.getAvailableReadData()==3);
+		ringBuffer.clear();
+		uint8_t * ptr = nullptr;
+		REQUIRE(ringBuffer.getFreeElement(&ptr, 13) == retval::CATCH_OK);
+		REQUIRE(ptr != nullptr);
+		memcpy(ptr, testData, 13);
+		ringBuffer.confirmBytesWritten(13);
+		REQUIRE(ringBuffer.getAvailableReadData()==3);
+		REQUIRE(ringBuffer.readData(readBuffer, 3, true)== retval::CATCH_OK);
+		for(auto i =0;i<3;i++){
+			REQUIRE(readBuffer[i] == testData[i+10]);
+		}
+	}
+}
+
+TEST_CASE("Ring Buffer Test3" , "[RingBufferTest3]") {
+	uint8_t testData[13]= {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
+	uint8_t readBuffer[10] = {13, 13, 13, 13, 13, 13, 13, 13, 13, 13};
+	uint8_t* newBuffer = new uint8_t[10];
+	SimpleRingBuffer ringBuffer(newBuffer, 10, true, 15);
+
+	SECTION("Simple Test") {
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 9) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.readData(readBuffer, 5, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 5; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		REQUIRE(ringBuffer.availableWriteSpace() == 5);
+		ringBuffer.clear();
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 4) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.readData(readBuffer, 4, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 4; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		REQUIRE(ringBuffer.writeData(testData, 9) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.readData(readBuffer, 9, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 9; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+
+	}
+
+	SECTION("Get Free Element Test") {
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 8) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.availableWriteSpace() == 1);
+		REQUIRE(ringBuffer.readData(readBuffer, 8, true) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		uint8_t *testPtr = nullptr;
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 10) ==  retval::CATCH_OK);
+		REQUIRE(ringBuffer.getExcessBytes() == 8);
+
+		REQUIRE(ringBuffer.writeTillWrap() == 2);
+		// too many excess bytes.
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 8) ==  retval::CATCH_FAILED);
+		// Less Execss bytes overwrites before
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 3) ==  retval::CATCH_OK);
+		REQUIRE(ringBuffer.getExcessBytes() == 1);
+		std::memcpy(testPtr, testData, 3);
+		ringBuffer.confirmBytesWritten(3);
+		REQUIRE(ringBuffer.getAvailableReadData() == 3);
+		ringBuffer.readData(readBuffer, 3, true);
+		for(uint8_t i = 0; i< 3; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+	}
+
+	SECTION("Read Remaining Test") {
+		REQUIRE(ringBuffer.writeData(testData, 3) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.getAvailableReadData() == 3);
+		REQUIRE(ringBuffer.readData(readBuffer, 5, false, false, nullptr) ==  retval::CATCH_FAILED);
+		size_t trueSize = 0;
+		REQUIRE(ringBuffer.readData(readBuffer, 5, false, true, &trueSize) ==  retval::CATCH_OK);
+		REQUIRE(trueSize == 3);
+		for(uint8_t i = 0; i< 3; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		trueSize = 0;
+		REQUIRE(ringBuffer.deleteData(5, false, &trueSize) == retval::CATCH_FAILED);
+		REQUIRE(trueSize == 0);
+		REQUIRE(ringBuffer.deleteData(5, true, &trueSize) == retval::CATCH_OK);
+		REQUIRE(trueSize == 3);
+	}
+
+	SECTION("Overflow"){
+		REQUIRE(ringBuffer.availableWriteSpace()==9);
+		//Writing more than the buffer is large, technically thats allowed
+		//But it is senseless and has undesired impact on read call
+		REQUIRE(ringBuffer.writeData(testData, 13) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.getAvailableReadData()==3);
+		ringBuffer.clear();
+		uint8_t * ptr = nullptr;
+		REQUIRE(ringBuffer.getFreeElement(&ptr, 13) == retval::CATCH_OK);
+		REQUIRE(ptr != nullptr);
+		memcpy(ptr, testData, 13);
+		ringBuffer.confirmBytesWritten(13);
+		REQUIRE(ringBuffer.getAvailableReadData()==3);
+		REQUIRE(ringBuffer.readData(readBuffer, 3, true)== retval::CATCH_OK);
+		for(auto i =0;i<3;i++){
+			REQUIRE(readBuffer[i] == testData[i+10]);
+		}
+	}
+}
+
+TEST_CASE("Ring Buffer Test4" , "[RingBufferTest4]") {
+	uint8_t testData[13]= {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
+	uint8_t readBuffer[10] = {13, 13, 13, 13, 13, 13, 13, 13, 13, 13};
+	SimpleRingBuffer ringBuffer(10, false, 15);
+
+	SECTION("Simple Test") {
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 9) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.writeData(testData, 3) == retval::CATCH_FAILED);
+		REQUIRE(ringBuffer.readData(readBuffer, 5, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 5; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		REQUIRE(ringBuffer.availableWriteSpace() == 5);
+		ringBuffer.clear();
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 4) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.readData(readBuffer, 4, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 4; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		REQUIRE(ringBuffer.writeData(testData, 9) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.readData(readBuffer, 9, true) == retval::CATCH_OK);
+		for(uint8_t i = 0; i< 9; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+
+	}
+
+	SECTION("Get Free Element Test") {
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		REQUIRE(ringBuffer.writeData(testData, 8) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.availableWriteSpace() == 1);
+		REQUIRE(ringBuffer.readData(readBuffer, 8, true) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.availableWriteSpace() == 9);
+		uint8_t *testPtr = nullptr;
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 10) ==  retval::CATCH_FAILED);
+
+
+		REQUIRE(ringBuffer.writeTillWrap() == 2);
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 8) ==  retval::CATCH_OK);
+		REQUIRE(ringBuffer.getFreeElement(&testPtr, 5) ==  retval::CATCH_OK);
+		REQUIRE(ringBuffer.getExcessBytes() == 3);
+		std::memcpy(testPtr, testData, 5);
+		ringBuffer.confirmBytesWritten(5);
+		REQUIRE(ringBuffer.getAvailableReadData() == 5);
+		ringBuffer.readData(readBuffer, 5, true);
+		for(uint8_t i = 0; i< 5; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+	}
+
+	SECTION("Read Remaining Test") {
+		REQUIRE(ringBuffer.writeData(testData, 3) == retval::CATCH_OK);
+		REQUIRE(ringBuffer.getAvailableReadData() == 3);
+		REQUIRE(ringBuffer.readData(readBuffer, 5, false, false, nullptr) ==  retval::CATCH_FAILED);
+		size_t trueSize = 0;
+		REQUIRE(ringBuffer.readData(readBuffer, 5, false, true, &trueSize) ==  retval::CATCH_OK);
+		REQUIRE(trueSize == 3);
+		for(uint8_t i = 0; i< 3; i++) {
+			CHECK(readBuffer[i] == i);
+		}
+		trueSize = 0;
+		REQUIRE(ringBuffer.deleteData(5, false, &trueSize) == retval::CATCH_FAILED);
+		REQUIRE(trueSize == 0);
+		REQUIRE(ringBuffer.deleteData(5, true, &trueSize) == retval::CATCH_OK);
+		REQUIRE(trueSize == 3);
+	}
+}
diff --git a/unittest/tests/container/TestArrayList.cpp b/unittest/tests/container/TestArrayList.cpp
new file mode 100644
index 00000000..b0ec0abb
--- /dev/null
+++ b/unittest/tests/container/TestArrayList.cpp
@@ -0,0 +1,90 @@
+#include <fsfw/container/ArrayList.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+/**
+ * @brief 	Array List test
+ */
+TEST_CASE("Array List" , "[ArrayListTest]") {
+	//perform set-up here
+	ArrayList<uint16_t> list(20);
+	struct TestClass{
+	public:
+		TestClass(){};
+		TestClass(uint32_t number1,	uint64_t number2):
+			number1(number1), number2(number2){};
+		uint32_t number1 = -1;
+		uint64_t number2 = -1;
+		bool operator==(const TestClass& other){
+			return ((this->number1 == other.number1) and (this->number2 == other.number2));
+		};
+	};
+	ArrayList<TestClass> complexList(20);
+	SECTION("SimpleTest") {
+		REQUIRE(list.maxSize()==20);
+		REQUIRE(list.size == 0);
+		REQUIRE(list.insert(10) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(list[0] == 10);
+		REQUIRE(list.front() != nullptr);
+		REQUIRE((*list.front()) == 10);
+		REQUIRE(list.back() != nullptr);
+		REQUIRE((*list.back()) == 10);
+		// Need to test the const version of back as well
+		const uint16_t* number = const_cast<const ArrayList<uint16_t>*>(&list)->back();
+		REQUIRE(*number == 10);
+		list.clear();
+		REQUIRE(list.size == 0);
+	}
+	SECTION("Fill and check"){
+		//This is an invalid element but its not a nullptr
+		REQUIRE(list.back() != nullptr);
+		for (auto i =0; i < 20; i++){
+			REQUIRE(list.insert(i) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		}
+		REQUIRE(list.insert(20) == static_cast<int>(ArrayList<uint16_t>::FULL));
+		ArrayList<uint16_t>::Iterator it = list.begin();
+		REQUIRE((*it) == 0);
+		it++;
+		REQUIRE((*it) == 1);
+		it--;
+		REQUIRE((*it) == 0);
+		it++;
+		for(auto it2 = list.begin(); it2!=list.end(); it2++){
+			if (it == it2){
+				REQUIRE((*it) == (*it2));
+				break;
+			}else{
+				REQUIRE((*it2) == 0);
+				REQUIRE(it2 != it);
+			}
+		}
+	}
+	SECTION("Const Iterator"){
+		ArrayList<uint16_t>::Iterator it = list.begin();
+		for (auto i =0; i < 10; i++){
+			REQUIRE(list.insert(i) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		}
+		it++;
+		const uint16_t* number = it.value;
+		REQUIRE(*number == 1);
+	}
+
+	SECTION("Const Iterator"){
+		ArrayList<TestClass>::Iterator it = complexList.begin();
+		for (auto i =0; i < 10; i++){
+			REQUIRE(complexList.insert(TestClass(i, i+1)) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		}
+		it++;
+		const TestClass* secondTest = it.value;
+		bool compare = TestClass(1, 2) == *secondTest;
+		REQUIRE(compare);
+		it++;
+		REQUIRE(it->number1 == 2);
+		REQUIRE(it->number2 == 3);
+		const ArrayList<TestClass>::Iterator it4(&(complexList[2]));
+		REQUIRE(it4->number1 == 2);
+		REQUIRE((*it4).number2 == 3);
+		REQUIRE(complexList.remaining()==10);
+	}
+}
diff --git a/unittest/tests/container/TestDynamicFifo.cpp b/unittest/tests/container/TestDynamicFifo.cpp
new file mode 100644
index 00000000..6c9b7415
--- /dev/null
+++ b/unittest/tests/container/TestDynamicFifo.cpp
@@ -0,0 +1,149 @@
+
+#include <fsfw/container/DynamicFIFO.h>
+#include <fsfw/container/FIFO.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <catch.hpp>
+#include <CatchDefinitions.h>
+
+TEST_CASE( "Dynamic Fifo Tests", "[TestDynamicFifo]") {
+	INFO("Dynamic Fifo Tests");
+	struct Test{
+		uint64_t number1;
+		uint32_t number2;
+		uint8_t number3;
+		bool operator==(struct Test& other){
+			if ((other.number1 == this->number1) and
+					(other.number1 == this->number1) and
+					(other.number1 == this->number1)){
+				return true;
+			}
+			return false;
+		}
+	};
+	DynamicFIFO<Test> fifo(3);
+	std::vector<Test> list;
+
+	struct Test structOne({UINT64_MAX, UINT32_MAX, UINT8_MAX});
+	struct Test structTwo({0, 1, 2});
+	struct Test structThree({42, 43, 44});
+	list.push_back(structThree);
+	list.push_back(structTwo);
+	list.push_back(structOne);
+	SECTION("Insert, retrieval test"){
+		REQUIRE(fifo.getMaxCapacity()==3);
+		REQUIRE(fifo.size()==0);
+		REQUIRE(fifo.empty());
+		REQUIRE(not fifo.full());
+
+		REQUIRE(fifo.insert(structOne)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structThree)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(FIFOBase<Test>::FULL));
+
+		struct Test testptr;
+		REQUIRE(fifo.peek(&testptr)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		bool equal = testptr == structOne;
+		REQUIRE(equal);
+		REQUIRE(fifo.size()==3);
+		REQUIRE(fifo.full());
+		REQUIRE(not fifo.empty());
+
+		for(size_t i=2;i<3;i--){
+			testptr.number1 = 0;
+			testptr.number2 = 0;
+			testptr.number3 = 0;
+			REQUIRE(fifo.retrieve(&testptr)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			equal = testptr == list[i];
+			REQUIRE(equal);
+			REQUIRE(fifo.size()==i);
+		}
+		testptr.number1 = 0;
+		testptr.number2 = 0;
+		testptr.number3 = 0;
+		REQUIRE(fifo.retrieve(&testptr)==static_cast<int>(FIFOBase<Test>::EMPTY));
+		REQUIRE(fifo.peek(&testptr)==static_cast<int>(FIFOBase<Test>::EMPTY));
+		REQUIRE(not fifo.full());
+		REQUIRE(fifo.empty());
+		REQUIRE(fifo.pop()==static_cast<int>(FIFOBase<Test>::EMPTY));
+
+		REQUIRE(fifo.insert(structOne)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==1);
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==2);
+		REQUIRE(fifo.pop()==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==1);
+		testptr.number1 = 0;
+		testptr.number2 = 0;
+		testptr.number3 = 0;
+		REQUIRE(fifo.peek(&testptr)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		equal = testptr == structTwo;
+		REQUIRE(equal);
+		REQUIRE(fifo.pop()==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==0);
+		REQUIRE(fifo.empty());
+		//struct Test* ptr = nullptr;
+		//REQUIRE(fifo.retrieve(ptr) == static_cast<int>(HasReturnvaluesIF::RETURN_FAILED));
+		//REQUIRE(fifo.peek(ptr) == static_cast<int>(HasReturnvaluesIF::RETURN_FAILED));
+	};
+	SECTION("Copy Test"){
+		REQUIRE(fifo.insert(structOne)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structThree)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==3);
+		REQUIRE(fifo.full());
+		REQUIRE(not fifo.empty());
+
+		DynamicFIFO<Test> fifo2(fifo);
+		REQUIRE(fifo2.size()==3);
+		REQUIRE(fifo2.full());
+		REQUIRE(not fifo2.empty());
+
+	};
+
+	SECTION("Assignment Test"){
+		REQUIRE(fifo.insert(structOne)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structThree)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==3);
+		REQUIRE(fifo.full());
+		REQUIRE(not fifo.empty());
+
+		DynamicFIFO<Test> fifo2(6);
+		fifo2 = fifo;
+		REQUIRE(fifo2.size()==3);
+		REQUIRE(fifo2.full());
+		REQUIRE(not fifo2.empty());
+		for(size_t i=2;i<3;i--){
+			struct Test testptr = {0, 0, 0};
+			REQUIRE(fifo2.retrieve(&testptr)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			bool equal = testptr == list[i];
+			REQUIRE(equal);
+			REQUIRE(fifo2.size()==i);
+		}
+
+	};
+
+	SECTION("Assignment Test Smaller"){
+		REQUIRE(fifo.insert(structOne)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structThree)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==3);
+		REQUIRE(fifo.full());
+		REQUIRE(not fifo.empty());
+
+		DynamicFIFO<Test> fifo2(2);
+		fifo2 = fifo;
+		REQUIRE(fifo2.size()==3);
+		REQUIRE(fifo2.full());
+		REQUIRE(not fifo2.empty());
+		for(size_t i=2;i<3;i--){
+			struct Test testptr = {0, 0, 0};
+			REQUIRE(fifo2.retrieve(&testptr)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			bool equal = testptr == list[i];
+			REQUIRE(equal);
+			REQUIRE(fifo2.size()==i);
+		}
+	};
+
+};
diff --git a/unittest/tests/container/TestFifo.cpp b/unittest/tests/container/TestFifo.cpp
new file mode 100644
index 00000000..ac0900c8
--- /dev/null
+++ b/unittest/tests/container/TestFifo.cpp
@@ -0,0 +1,138 @@
+
+#include <fsfw/container/DynamicFIFO.h>
+#include <fsfw/container/FIFO.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+TEST_CASE( "Static Fifo Tests", "[TestFifo]") {
+	INFO("Fifo Tests");
+	struct Test{
+		uint64_t number1;
+		uint32_t number2;
+		uint8_t number3;
+		bool operator==(struct Test& other){
+			if ((other.number1 == this->number1) and
+					(other.number1 == this->number1) and
+					(other.number1 == this->number1)){
+				return true;
+			}
+			return false;
+		}
+	};
+	FIFO<Test, 3> fifo;
+	std::vector<Test> list;
+
+	struct Test structOne({UINT64_MAX, UINT32_MAX, UINT8_MAX});
+	struct Test structTwo({0, 1, 2});
+	struct Test structThree({42, 43, 44});
+	list.push_back(structThree);
+	list.push_back(structTwo);
+	list.push_back(structOne);
+	SECTION("Insert, retrieval test"){
+		REQUIRE(fifo.getMaxCapacity()==3);
+		REQUIRE(fifo.size()==0);
+		REQUIRE(fifo.empty());
+		REQUIRE(not fifo.full());
+
+		REQUIRE(fifo.insert(structOne)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structThree)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(FIFOBase<Test>::FULL));
+
+		struct Test testptr;
+		REQUIRE(fifo.peek(&testptr)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		bool equal = testptr == structOne;
+		REQUIRE(equal);
+		REQUIRE(fifo.size()==3);
+		REQUIRE(fifo.full());
+		REQUIRE(not fifo.empty());
+
+		for(size_t i=2;i<3;i--){
+			testptr.number1 = 0;
+			testptr.number2 = 0;
+			testptr.number3 = 0;
+			REQUIRE(fifo.retrieve(&testptr)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			equal = testptr == list[i];
+			REQUIRE(equal);
+			REQUIRE(fifo.size()==i);
+		}
+		testptr.number1 = 0;
+		testptr.number2 = 0;
+		testptr.number3 = 0;
+		REQUIRE(fifo.retrieve(&testptr)==static_cast<int>(FIFOBase<Test>::EMPTY));
+		REQUIRE(fifo.peek(&testptr)==static_cast<int>(FIFOBase<Test>::EMPTY));
+		REQUIRE(not fifo.full());
+		REQUIRE(fifo.empty());
+		REQUIRE(fifo.pop()==static_cast<int>(FIFOBase<Test>::EMPTY));
+
+		REQUIRE(fifo.insert(structOne)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==1);
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==2);
+		REQUIRE(fifo.pop()==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==1);
+		testptr.number1 = 0;
+		testptr.number2 = 0;
+		testptr.number3 = 0;
+
+		// Test that retrieve and peek will not cause a nullptr dereference
+		struct Test* ptr = nullptr;
+		REQUIRE(fifo.retrieve(ptr) == static_cast<int>(HasReturnvaluesIF::RETURN_FAILED));
+		REQUIRE(fifo.peek(ptr) == static_cast<int>(HasReturnvaluesIF::RETURN_FAILED));
+
+
+		REQUIRE(fifo.peek(&testptr)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		equal = testptr == structTwo;
+		REQUIRE(equal);
+		REQUIRE(fifo.pop()==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==0);
+		REQUIRE(fifo.empty());
+
+
+	};
+	SECTION("Copy Test"){
+		REQUIRE(fifo.insert(structOne)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structThree)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==3);
+		REQUIRE(fifo.full());
+		REQUIRE(not fifo.empty());
+
+		FIFO<Test, 3> fifo2(fifo);
+		REQUIRE(fifo2.size()==3);
+		REQUIRE(fifo2.full());
+		REQUIRE(not fifo2.empty());
+		for(size_t i=2;i<3;i--){
+			struct Test testptr = {0, 0, 0};
+			REQUIRE(fifo2.retrieve(&testptr)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			bool equal = testptr == list[i];
+			REQUIRE(equal);
+			REQUIRE(fifo2.size()==i);
+		}
+
+	};
+
+	SECTION("Assignment Test"){
+		REQUIRE(fifo.insert(structOne)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structTwo)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.insert(structThree)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(fifo.size()==3);
+		REQUIRE(fifo.full());
+		REQUIRE(not fifo.empty());
+
+		FIFO<Test, 3> fifo2;
+		fifo2 = fifo;
+		REQUIRE(fifo2.size()==3);
+		REQUIRE(fifo2.full());
+		REQUIRE(not fifo2.empty());
+		for(size_t i=2;i<3;i--){
+			struct Test testptr = {0, 0, 0};
+			REQUIRE(fifo2.retrieve(&testptr)==static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			bool equal = testptr == list[i];
+			REQUIRE(equal);
+			REQUIRE(fifo2.size()==i);
+		}
+	};
+};
diff --git a/unittest/tests/container/TestFixedArrayList.cpp b/unittest/tests/container/TestFixedArrayList.cpp
new file mode 100644
index 00000000..5d1d5817
--- /dev/null
+++ b/unittest/tests/container/TestFixedArrayList.cpp
@@ -0,0 +1,41 @@
+#include <fsfw/container/FixedArrayList.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+
+TEST_CASE( "FixedArrayList Tests", "[TestFixedArrayList]") {
+	INFO("FixedArrayList Tests");
+	using testList = FixedArrayList<uint32_t, 260, uint16_t>;
+	testList list;
+	REQUIRE(list.size==0);
+	REQUIRE(list.insert(10) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+	REQUIRE(list.size==1);
+	REQUIRE(list.maxSize()==260);
+	SECTION("Copy Constructor"){
+		testList list2(list);
+		REQUIRE(list2.size==1);
+		REQUIRE(list2[0] == 10);
+		REQUIRE(list.maxSize()==260);
+	};
+	SECTION("Assignment copy"){
+		testList list2;
+		REQUIRE(list2.size==0);
+		list2 = list;
+		REQUIRE(list2.size==1);
+		REQUIRE(list2[0] == 10);
+		REQUIRE(list.maxSize()==260);
+	};
+	SECTION("Fill"){
+		for(auto i=1;i<260;i++){
+			REQUIRE(list.insert(i) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		}
+		REQUIRE(list.insert(260) == static_cast<int>(ArrayList<uint32_t, uint16_t>::FULL));
+		list.clear();
+		REQUIRE(list.size == 0);
+	}
+}
+
+
+
diff --git a/unittest/tests/container/TestFixedMap.cpp b/unittest/tests/container/TestFixedMap.cpp
new file mode 100644
index 00000000..04656525
--- /dev/null
+++ b/unittest/tests/container/TestFixedMap.cpp
@@ -0,0 +1,172 @@
+#include <fsfw/container/FixedMap.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+template class FixedMap<unsigned int, unsigned short>;
+
+TEST_CASE( "FixedMap Tests", "[TestFixedMap]") {
+	INFO("FixedMap Tests");
+
+	FixedMap<unsigned int, unsigned short> map(30);
+	REQUIRE(map.size() == 0);
+	REQUIRE(map.maxSize() == 30);
+	REQUIRE(map.getSerializedSize() == sizeof(uint32_t));
+	REQUIRE(map.empty());
+	REQUIRE(not map.full());
+
+	SECTION("Fill and erase"){
+		for (uint16_t i=0;i<30;i++){
+			REQUIRE(map.insert(std::make_pair(i, i+1))== static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			REQUIRE(map.exists(i) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			REQUIRE(map.find(i)->second==i+1);
+			REQUIRE(not map.empty());
+		}
+		REQUIRE(map.insert(0, 0) == static_cast<int>(FixedMap<uint32_t, uint16_t>::KEY_ALREADY_EXISTS));
+		REQUIRE(map.insert(31, 0) == static_cast<int>(FixedMap<uint32_t, uint16_t>::MAP_FULL));
+		REQUIRE(map.exists(31) == static_cast<int>(FixedMap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.size() == 30);
+		REQUIRE(map.full());
+		{
+			uint16_t* ptr;
+			REQUIRE(map.find(5,&ptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			REQUIRE(*ptr == 6);
+			REQUIRE(*(map.findValue(6)) == 7);
+			REQUIRE(map.find(31,&ptr) == static_cast<int>(FixedMap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		}
+
+		REQUIRE(map.getSerializedSize() == (sizeof(uint32_t)+ 30*(sizeof(uint32_t) + sizeof(uint16_t))));
+		REQUIRE(map.erase(2) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(map.erase(31) == static_cast<int>(FixedMap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.exists(2) == static_cast<int>(FixedMap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.size() == 29);
+
+		for (auto element: map){
+			if (element.first == 5){
+				REQUIRE(element.second == 6);
+			}
+		}
+
+		for (FixedMap<uint32_t, uint16_t>::Iterator it = map.begin(); it != map.end(); it++){
+			REQUIRE(it->second == it->first + 1);
+			REQUIRE((*it).second == (*it).first + 1);
+			it->second = it->second + 1;
+			REQUIRE(it->second == it->first + 2);
+		}
+
+		for (FixedMap<uint32_t, uint16_t>::Iterator it = map.begin(); it != map.end(); it++){
+			REQUIRE(map.erase(&it) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		}
+
+		REQUIRE(map.size() == 0);
+
+		for (FixedMap<uint32_t, uint16_t>::Iterator it = map.begin(); it != map.end(); it++){
+			// This line should never executed if begin and end is correct
+			FAIL("Should never be reached, Iterators invalid");
+		}
+	};
+
+	SECTION("Insert variants"){
+		FixedMap<uint32_t, uint16_t>::Iterator it = map.end();
+		REQUIRE(map.insert(36, 37, &it) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(it->first == 36);
+		REQUIRE(it->second == 37);
+		REQUIRE(map.size() == 1);
+		REQUIRE(map.insert(37, 38, nullptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(map.find(37)->second == 38);
+		REQUIRE(map.size() == 2);
+		REQUIRE(map.insert(37, 24, nullptr) == static_cast<int>(FixedMap<uint32_t, uint16_t>::KEY_ALREADY_EXISTS));
+		REQUIRE(map.find(37)->second != 24);
+		REQUIRE(map.size() == 2);
+	};
+	SECTION("Serialize and DeSerialize") {
+		REQUIRE(map.insert(36, 37, nullptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(map.insert(37, 38, nullptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		uint8_t buffer[sizeof(uint32_t)
+				+ 2 * (sizeof(uint32_t) + sizeof(uint16_t))];
+		REQUIRE(
+				map.getSerializedSize()
+						== (sizeof(uint32_t)
+								+ 2 * (sizeof(uint32_t) + sizeof(uint16_t))));
+		uint8_t *loc_ptr = buffer;
+		size_t size = 0;
+		REQUIRE(
+				map.serialize(&loc_ptr, &size, 10, SerializeIF::Endianness::BIG)
+						== static_cast<int>(SerializeIF::BUFFER_TOO_SHORT));
+		loc_ptr = buffer;
+		size = 0;
+		REQUIRE(
+				map.serialize(&loc_ptr, &size,
+						sizeof(uint32_t)
+								+ 2 * (sizeof(uint32_t) + sizeof(uint16_t)),
+						SerializeIF::Endianness::BIG)
+						== static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(size == 16);
+
+		uint32_t internal_size = 0;
+		const uint8_t *ptr2 = buffer;
+		REQUIRE(
+				SerializeAdapter::deSerialize(&internal_size, &ptr2, &size,
+						SerializeIF::Endianness::BIG)
+						== static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(internal_size == 2);
+		for (uint8_t i = 36; i < 38; i++) {
+			uint32_t first_element = 0;
+			REQUIRE(
+					SerializeAdapter::deSerialize(&first_element, &ptr2, &size,
+							SerializeIF::Endianness::BIG)
+							== static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			REQUIRE(first_element == i);
+			uint16_t second_element = 0;
+			REQUIRE(
+					SerializeAdapter::deSerialize(&second_element, &ptr2, &size,
+							SerializeIF::Endianness::BIG)
+							== static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			REQUIRE(second_element == i + 1);
+		}
+		REQUIRE(size == 0);
+		map.clear();
+		const uint8_t* constPtr = buffer;
+		size = 16;
+		REQUIRE(map.size() == 0);
+		REQUIRE(map.deSerialize(&constPtr, &size,
+				SerializeIF::Endianness::BIG) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(map.size() == 2);
+		REQUIRE(map.find(36)->second == 37);
+		for(auto& element: map){
+			REQUIRE((element.first+1) == element.second);
+		}
+	};
+
+
+	SECTION("Failed erase and deSerialize"){
+		FixedMap<uint32_t, uint16_t>::Iterator it;
+		std::pair<uint32_t, uint16_t> pair = std::make_pair(44, 43);
+		it = FixedMap<uint32_t, uint16_t>::Iterator(&pair);
+		REQUIRE(map.erase(&it) == static_cast<int>(FixedMap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.find(45) == map.end());
+		size_t toLargeMap = 100;
+		const uint8_t* ptr = reinterpret_cast<uint8_t*>(&toLargeMap);
+		size_t size = sizeof(size_t);
+		REQUIRE(map.deSerialize(&ptr, &size, SerializeIF::Endianness::BIG) ==
+				static_cast<int>(SerializeIF::TOO_MANY_ELEMENTS));
+	};
+	SECTION("Little Endianess"){
+		map.clear();
+		map.insert(10,20, nullptr);
+		uint8_t newBuffer[sizeof(uint32_t)+ 1*(sizeof(uint32_t) + sizeof(uint16_t))];
+		uint8_t* ptr = newBuffer;
+		size_t size =  0;
+		size_t max_size = sizeof(uint32_t)+ 1*(sizeof(uint32_t) + sizeof(uint16_t));
+		REQUIRE(map.serialize(&ptr, &size, max_size,
+				SerializeIF::Endianness::LITTLE) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		map.clear();
+		REQUIRE(map.size()==0);
+		const uint8_t* ptr2 = newBuffer;
+		REQUIRE(map.deSerialize(&ptr2, &size,
+				SerializeIF::Endianness::LITTLE) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(map.size()==1);
+		REQUIRE(map.find(10)->second == 20);
+	};
+}
diff --git a/unittest/tests/container/TestFixedOrderedMultimap.cpp b/unittest/tests/container/TestFixedOrderedMultimap.cpp
new file mode 100644
index 00000000..953cb5a8
--- /dev/null
+++ b/unittest/tests/container/TestFixedOrderedMultimap.cpp
@@ -0,0 +1,203 @@
+#include <fsfw/container/FixedOrderedMultimap.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+TEST_CASE( "FixedOrderedMultimap Tests", "[TestFixedOrderedMultimap]") {
+	INFO("FixedOrderedMultimap Tests");
+
+	FixedOrderedMultimap<unsigned int, unsigned short> map(30);
+	REQUIRE(map.size() == 0);
+	REQUIRE(map.maxSize() == 30);
+
+	SECTION("Test insert, find, exists"){
+		for (uint16_t i=0;i<30;i++){
+			REQUIRE(map.insert(std::make_pair(i, i+1))== static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			REQUIRE(map.exists(i) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			REQUIRE(map.find(i)->second==i+1);
+		}
+		REQUIRE(map.insert(0, 0) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::MAP_FULL));
+		REQUIRE(map.exists(31) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.size() == 30);
+		{
+			uint16_t* ptr;
+			REQUIRE(map.find(5,&ptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			REQUIRE(*ptr == 6);
+			REQUIRE(map.find(31,&ptr) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		}
+		REQUIRE(map.erase(2) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(map.erase(31) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.exists(2) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.size() == 29);
+
+		for (auto element: map){
+			if (element.first == 5){
+				REQUIRE(element.second == 6);
+			}
+		}
+
+		for (FixedOrderedMultimap<uint32_t, uint16_t>::Iterator it = map.begin(); it != map.end(); it++){
+			REQUIRE(it->second == it->first + 1);
+			REQUIRE((*it).second == (*it).first + 1);
+			it->second = it->second + 1;
+			REQUIRE(it->second == it->first + 2);
+		}
+
+		{
+			FixedOrderedMultimap<uint32_t, uint16_t>::Iterator it = map.begin();
+			while(it != map.end()){
+				REQUIRE(map.erase(&it) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			}
+			REQUIRE(map.size() == 0);
+		}
+
+		for (FixedOrderedMultimap<uint32_t, uint16_t>::Iterator it = map.begin(); it != map.end(); it++){
+			// This line should never executed if begin and end is correct
+			FAIL("Should never be reached, Iterators invalid");
+		}
+	};
+
+	SECTION("Test different insert variants")
+	{
+		FixedOrderedMultimap<uint32_t, uint16_t>::Iterator it = map.end();
+		REQUIRE(map.insert(36, 37, &it) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(it->first == 36);
+		REQUIRE(it->second == 37);
+		REQUIRE(map.size() == 1);
+		REQUIRE(map.insert(37, 38, nullptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(map.find(37)->second == 38);
+		REQUIRE(map.size() == 2);
+		REQUIRE(map.insert(37, 24, nullptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(map.find(37)->second == 38);
+		REQUIRE(map.insert(0, 1, nullptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(map.find(0)->second == 1);
+		REQUIRE(map.size() == 4);
+		map.clear();
+		REQUIRE(map.size() == 0);
+	}
+	SECTION("Test different erase and find with no entries"){
+		FixedOrderedMultimap<uint32_t, uint16_t>::Iterator it;
+		it = map.end();
+		REQUIRE(map.erase(&it) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.find(1)== map.end());
+	}
+}
+
+TEST_CASE( "FixedOrderedMultimap Non Trivial Type", "[TestFixedOrderedMultimapNonTrivial]") {
+	INFO("FixedOrderedMultimap Non Trivial Type");
+
+	class TestClass{
+	public:
+		TestClass(){};
+		TestClass(uint32_t number1,	uint64_t number2):
+		number1(number1),number2(number2){};
+		~TestClass(){};
+
+		bool operator==(const TestClass& lhs){
+			return ((this->number1 == lhs.number1) and (this->number2 == lhs.number2));
+		}
+		bool operator!=(const TestClass& lhs){
+			return not(this->operator ==(lhs));
+		}
+
+		TestClass(const TestClass& other){
+			this->number1 = other.number1;
+			this->number2 = other.number2;
+		};
+		TestClass& operator=(const TestClass& other){
+			this->number1 = other.number1;
+			this->number2 = other.number2;
+			return *this;
+		};
+
+	private:
+		uint32_t number1 = 0;
+		uint64_t number2 = 5;
+	};
+	FixedOrderedMultimap<unsigned int, TestClass> map(30);
+	REQUIRE(map.size() == 0);
+	REQUIRE(map.maxSize() == 30);
+
+	SECTION("Test insert, find, exists"){
+		for (uint16_t i=0;i<30;i++){
+			REQUIRE(map.insert(std::make_pair(i, TestClass(i+1,i)))== static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			REQUIRE(map.exists(i) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			bool compare = map.find(i)->second == TestClass(i+1,i);
+			REQUIRE(compare);
+		}
+		REQUIRE(map.insert(0, TestClass()) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::MAP_FULL));
+		REQUIRE(map.exists(31) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.size() == 30);
+		{
+			TestClass* ptr = nullptr;
+			REQUIRE(map.find(5,&ptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			bool compare = *ptr == TestClass(6, 5);
+			REQUIRE(compare);
+			REQUIRE(map.find(31,&ptr) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		}
+		REQUIRE(map.erase(2) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(map.erase(31) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.exists(2) == static_cast<int>(FixedOrderedMultimap<uint32_t, uint16_t>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.size() == 29);
+
+		for (auto element: map){
+			if (element.first == 5){
+				bool compare = element.second == TestClass(6, 5);
+				REQUIRE(compare);
+			}
+		}
+
+		for (FixedOrderedMultimap<uint32_t, TestClass>::Iterator it = map.begin(); it != map.end(); it++){
+			bool compare = it->second == TestClass(it->first + 1, it->first);
+			REQUIRE(compare);
+			compare = (*it).second == TestClass((*it).first + 1, (*it).first);
+			REQUIRE(compare);
+			it->second = TestClass(it->first + 2, it->first);
+			compare = it->second == TestClass(it->first + 2, it->first);
+			REQUIRE(compare);
+		}
+
+		{
+			FixedOrderedMultimap<uint32_t, TestClass>::Iterator it = map.begin();
+			while(it != map.end()){
+				REQUIRE(map.erase(&it) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+			}
+			REQUIRE(map.size() == 0);
+		}
+
+		for (FixedOrderedMultimap<uint32_t, TestClass>::Iterator it = map.begin(); it != map.end(); it++){
+			// This line should never executed if begin and end is correct
+			FAIL("Should never be reached, Iterators invalid");
+		}
+	};
+
+	SECTION("Test different insert variants")
+	{
+		FixedOrderedMultimap<uint32_t, TestClass>::Iterator it = map.end();
+		REQUIRE(map.insert(36, TestClass(37, 36), &it) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(it->first == 36);
+		bool compare = it->second == TestClass(37, 36);
+		REQUIRE(compare);
+		REQUIRE(map.size() == 1);
+		REQUIRE(map.insert(37, TestClass(38, 37), nullptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		compare = map.find(37)->second == TestClass(38, 37);
+		REQUIRE(compare);
+		REQUIRE(map.size() == 2);
+		REQUIRE(map.insert(37, TestClass(24, 37), nullptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		compare = map.find(37)->second == TestClass(38, 37);
+		REQUIRE(compare);
+		REQUIRE(map.insert(0, TestClass(1, 0), nullptr) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		compare = map.find(0)->second == TestClass(1, 0);
+		REQUIRE(compare);
+		REQUIRE(map.size() == 4);
+		map.clear();
+		REQUIRE(map.size() == 0);
+	}
+	SECTION("Test different erase and find with no entries"){
+		FixedOrderedMultimap<uint32_t, TestClass>::Iterator it;
+		it = map.end();
+		REQUIRE(map.erase(&it) == static_cast<int>(FixedOrderedMultimap<uint32_t, TestClass>::KEY_DOES_NOT_EXIST));
+		REQUIRE(map.find(1)== map.end());
+	}
+}
diff --git a/unittest/tests/container/TestPlacementFactory.cpp b/unittest/tests/container/TestPlacementFactory.cpp
new file mode 100644
index 00000000..aa8e7375
--- /dev/null
+++ b/unittest/tests/container/TestPlacementFactory.cpp
@@ -0,0 +1,45 @@
+#include <fsfw/container/PlacementFactory.h>
+#include <fsfw/storagemanager/LocalPool.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include <fsfw/container/ArrayList.h>
+
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+TEST_CASE( "PlacementFactory Tests", "[TestPlacementFactory]") {
+	INFO("PlacementFactory Tests");
+
+	const uint16_t element_sizes[3] = {sizeof(uint16_t), sizeof(uint32_t), sizeof(uint64_t)};
+	const uint16_t n_elements[3] = {1, 1, 1};
+	LocalPool<3> storagePool(0x1, element_sizes, n_elements, false, true);
+	PlacementFactory factory(&storagePool);
+
+	SECTION("Pool overload"){
+		store_address_t address;
+		uint8_t* ptr = nullptr;
+		REQUIRE(storagePool.getFreeElement(&address, sizeof(ArrayList<uint32_t, uint16_t>), &ptr)
+				== static_cast<int>(StorageManagerIF::DATA_TOO_LARGE));
+		ArrayList<uint32_t, uint16_t>* list2 = factory.generate<ArrayList<uint32_t, uint16_t> >(80);
+		REQUIRE(list2 == nullptr);
+	}
+
+	SECTION("Test generate and destroy"){
+		uint64_t* number = factory.generate<uint64_t>(32000);
+		REQUIRE(number != nullptr);
+		REQUIRE(*number == 32000);
+		store_address_t address;
+		uint8_t* ptr = nullptr;
+		REQUIRE(storagePool.getFreeElement(&address, sizeof(uint64_t), &ptr)
+						== static_cast<int>(StorageManagerIF::DATA_TOO_LARGE));
+		uint64_t* number2 = factory.generate<uint64_t>(12345);
+		REQUIRE(number2 == nullptr);
+		REQUIRE(factory.destroy(number) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(storagePool.getFreeElement(&address, sizeof(uint64_t), &ptr)
+						== static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(storagePool.deleteData(address) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+
+		//Check that PlacementFactory checks for nullptr
+		ptr = nullptr;
+		REQUIRE(factory.destroy(ptr) == static_cast<int>(HasReturnvaluesIF::RETURN_FAILED));
+	}
+}
diff --git a/unittest/tests/osal/TestMessageQueue.cpp b/unittest/tests/osal/TestMessageQueue.cpp
new file mode 100644
index 00000000..8e59fa08
--- /dev/null
+++ b/unittest/tests/osal/TestMessageQueue.cpp
@@ -0,0 +1,40 @@
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include "catch.hpp"
+#include <array>
+#include "core/CatchDefinitions.h"
+
+TEST_CASE("MessageQueue Basic Test","[TestMq]") {
+	MessageQueueIF* testSenderMq =
+			QueueFactory::instance()->createMessageQueue(1);
+	MessageQueueId_t testSenderMqId = testSenderMq->getId();
+
+	MessageQueueIF* testReceiverMq =
+				QueueFactory::instance()->createMessageQueue(1);
+	MessageQueueId_t testReceiverMqId = testReceiverMq->getId();
+	std::array<uint8_t, 20> testData { 0 };
+	testData[0] = 42;
+	MessageQueueMessage testMessage(testData.data(), 1);
+	testSenderMq->setDefaultDestination(testReceiverMqId);
+
+	SECTION("Simple Tests") {
+		auto result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
+		REQUIRE(result == retval::CATCH_OK);
+		MessageQueueMessage recvMessage;
+		result = testReceiverMq->receiveMessage(&recvMessage);
+		REQUIRE(result == retval::CATCH_OK);
+		CHECK(recvMessage.getData()[0] == 42);
+
+		result = testSenderMq->sendMessage(testReceiverMqId, &testMessage);
+		REQUIRE(result == retval::CATCH_OK);
+		MessageQueueId_t senderId = 0;
+		result = testReceiverMq->receiveMessage(&recvMessage,&senderId);
+		REQUIRE(result == retval::CATCH_OK);
+		CHECK(recvMessage.getData()[0] == 42);
+		CHECK(senderId == testSenderMqId);
+		senderId = testReceiverMq->getLastPartner();
+		CHECK(senderId == testSenderMqId);
+	}
+
+
+}
diff --git a/unittest/tests/osal/TestSemaphore.cpp b/unittest/tests/osal/TestSemaphore.cpp
new file mode 100644
index 00000000..f7b25534
--- /dev/null
+++ b/unittest/tests/osal/TestSemaphore.cpp
@@ -0,0 +1,46 @@
+
+#ifdef LINUX
+
+/*
+#include "core/CatchDefinitions.h"
+#include "catch.hpp"
+
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+
+TEST_CASE("Binary Semaphore Test" , "[BinSemaphore]") {
+	//perform set-up here
+	SemaphoreIF* binSemaph = SemaphoreFactory::instance()->
+			createBinarySemaphore();
+	REQUIRE(binSemaph != nullptr);
+	SECTION("Simple Test") {
+		// set-up is run for each section
+		REQUIRE(binSemaph->getSemaphoreCounter() == 1);
+		REQUIRE(binSemaph->release() ==
+				static_cast<int>(SemaphoreIF::SEMAPHORE_NOT_OWNED));
+		REQUIRE(binSemaph->acquire(SemaphoreIF::POLLING) ==
+				retval::CATCH_OK);
+		{
+			// not precise enough on linux.. should use clock instead..
+			//Stopwatch stopwatch(false);
+			//REQUIRE(binSemaph->acquire(SemaphoreIF::TimeoutType::WAITING, 5) ==
+			//		SemaphoreIF::SEMAPHORE_TIMEOUT);
+			//dur_millis_t time = stopwatch.stop();
+			//CHECK(time == 5);
+		}
+		REQUIRE(binSemaph->getSemaphoreCounter() == 0);
+		REQUIRE(binSemaph->release() == retval::CATCH_OK);
+	}
+	SemaphoreFactory::instance()->deleteSemaphore(binSemaph);
+	// perform tear-down here
+}
+
+
+TEST_CASE("Counting Semaphore Test" , "[CountingSemaph]") {
+	SECTION("Simple Test") {
+
+	}
+}
+*/
+
+#endif
diff --git a/unittest/tests/serialize/TestSerialBufferAdapter.cpp b/unittest/tests/serialize/TestSerialBufferAdapter.cpp
new file mode 100644
index 00000000..39c1ba61
--- /dev/null
+++ b/unittest/tests/serialize/TestSerialBufferAdapter.cpp
@@ -0,0 +1,143 @@
+#include <fsfw/serialize/SerialBufferAdapter.h>
+
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+
+static bool test_value_bool = true;
+static uint16_t tv_uint16 {283};
+static std::array<uint8_t, 512> testArray;
+
+TEST_CASE("Serial Buffer Adapter", "[single-file]") {
+	size_t serialized_size = 0;
+	test_value_bool = true;
+	uint8_t * arrayPtr = testArray.data();
+	std::array<uint8_t, 5> test_serial_buffer {5, 4, 3, 2, 1};
+	SerialBufferAdapter<uint8_t> tv_serial_buffer_adapter =
+			SerialBufferAdapter<uint8_t>(test_serial_buffer.data(),
+					test_serial_buffer.size(), false);
+	tv_uint16 = 16;
+
+	SECTION("Serialize without size field") {
+		SerializeAdapter::serialize(&test_value_bool, &arrayPtr,
+				&serialized_size, testArray.size(),
+				SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_serial_buffer_adapter, &arrayPtr,
+				&serialized_size, testArray.size(),
+				SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_uint16, &arrayPtr, &serialized_size,
+				testArray.size(), SerializeIF::Endianness::MACHINE);
+
+		REQUIRE(serialized_size == 8);
+		REQUIRE(testArray[0] == true);
+		REQUIRE(testArray[1] == 5);
+		REQUIRE(testArray[2] == 4);
+		REQUIRE(testArray[3] == 3);
+		REQUIRE(testArray[4] == 2);
+		REQUIRE(testArray[5] == 1);
+		memcpy(&tv_uint16, testArray.data() + 6, sizeof(tv_uint16));
+		REQUIRE(tv_uint16 == 16);
+	}
+
+	SECTION("Serialize with size field") {
+		SerialBufferAdapter<uint8_t> tv_serial_buffer_adapter_loc =
+				SerialBufferAdapter<uint8_t>(test_serial_buffer.data(),
+						test_serial_buffer.size(), true);
+		serialized_size = 0;
+		arrayPtr = testArray.data();
+		SerializeAdapter::serialize(&test_value_bool, &arrayPtr,&serialized_size,
+				testArray.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_serial_buffer_adapter_loc, &arrayPtr,
+				&serialized_size, testArray.size(),
+				SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_uint16, &arrayPtr, &serialized_size,
+				testArray.size(), SerializeIF::Endianness::MACHINE);
+
+		REQUIRE(serialized_size == 9);
+		REQUIRE(testArray[0] == true);
+		REQUIRE(testArray[1] == 5);
+		REQUIRE(testArray[2] == 5);
+		REQUIRE(testArray[3] == 4);
+		REQUIRE(testArray[4] == 3);
+		REQUIRE(testArray[5] == 2);
+		REQUIRE(testArray[6] == 1);
+		memcpy(&tv_uint16, testArray.data() + 7, sizeof(tv_uint16));
+		REQUIRE(tv_uint16 == 16);
+	}
+
+	SECTION("Test set buffer function") {
+		SerialBufferAdapter<uint8_t> tv_serial_buffer_adapter_loc =
+					SerialBufferAdapter<uint8_t>((uint8_t*)nullptr,
+					0, true);
+		tv_serial_buffer_adapter_loc.setBuffer(test_serial_buffer.data(),
+				test_serial_buffer.size());
+		serialized_size = 0;
+		arrayPtr = testArray.data();
+		SerializeAdapter::serialize(&test_value_bool, &arrayPtr,&serialized_size,
+				testArray.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_serial_buffer_adapter_loc, &arrayPtr,
+				&serialized_size, testArray.size(),
+				SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_uint16, &arrayPtr, &serialized_size,
+				testArray.size(), SerializeIF::Endianness::MACHINE);
+		REQUIRE(serialized_size == 9);
+		REQUIRE(testArray[0] == true);
+		REQUIRE(testArray[1] == 5);
+		REQUIRE(testArray[2] == 5);
+		REQUIRE(testArray[3] == 4);
+		REQUIRE(testArray[4] == 3);
+		REQUIRE(testArray[5] == 2);
+		REQUIRE(testArray[6] == 1);
+		memcpy(&tv_uint16, testArray.data() + 7, sizeof(tv_uint16));
+		REQUIRE(tv_uint16 == 16);
+	}
+
+	SECTION("Deserialization with size field") {
+		size_t buffer_size = 4;
+		memcpy(testArray.data(), &buffer_size, sizeof(uint16_t));
+		testArray[2] = 1;
+		testArray[3] = 1;
+		testArray[4] = 1;
+		testArray[5] = 0;
+		std::array<uint8_t, 4> test_recv_array;
+		arrayPtr = testArray.data();
+		// copy testArray[1] to testArray[4] into receive buffer, skip
+		// size field (testArray[0]) for deSerialization.
+		SerialBufferAdapter<uint16_t> tv_serial_buffer_adapter3 =
+				SerialBufferAdapter<uint16_t>(test_recv_array.data(), 4, true);
+		// Deserialization
+		size_t size = 6;
+		auto result = tv_serial_buffer_adapter3.deSerialize(
+				const_cast<const uint8_t**>(&arrayPtr), &size,
+				SerializeIF::Endianness::MACHINE);
+		REQUIRE(result == retval::CATCH_OK);
+		CHECK(test_recv_array[0] == 1);
+		CHECK(test_recv_array[1] == 1);
+		CHECK(test_recv_array[2] == 1);
+		CHECK(test_recv_array[3] == 0);
+	}
+
+	SECTION("Deserialization without size field") {
+		size_t buffer_size = 4;
+		memcpy(testArray.data(), &buffer_size, sizeof(uint16_t));
+		testArray[2] = 1;
+		testArray[3] = 1;
+		testArray[4] = 1;
+		testArray[5] = 0;
+		std::array<uint8_t, 4> test_recv_array;
+		arrayPtr = testArray.data() + 2;
+		// copy testArray[1] to testArray[4] into receive buffer, skip
+		// size field (testArray[0])
+		SerialBufferAdapter<uint16_t> tv_serial_buffer_adapter3 =
+				SerialBufferAdapter<uint16_t>(test_recv_array.data(), 4, false);
+		// Deserialization
+		size_t size = 4;
+		tv_serial_buffer_adapter3.deSerialize(
+				const_cast<const uint8_t**>(&arrayPtr), &size,
+				SerializeIF::Endianness::MACHINE);
+		CHECK(test_recv_array[0] == 1);
+		CHECK(test_recv_array[1] == 1);
+		CHECK(test_recv_array[2] == 1);
+		CHECK(test_recv_array[3] == 0);
+	}
+}
diff --git a/unittest/tests/serialize/TestSerialLinkedPacket.cpp b/unittest/tests/serialize/TestSerialLinkedPacket.cpp
new file mode 100644
index 00000000..932b62ab
--- /dev/null
+++ b/unittest/tests/serialize/TestSerialLinkedPacket.cpp
@@ -0,0 +1,73 @@
+#include <fsfw/globalfunctions/arrayprinter.h>
+
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <fsfw/unittest/tests/serialize/TestSerialLinkedPacket.h>
+
+
+TEST_CASE("Serial Linked Packet" , "[SerLinkPacket]") {
+	// perform set-up here
+	uint32_t header = 42;
+	std::array<uint8_t, 3> testArray {1,2,3};
+	uint32_t tail = 96;
+	size_t packetMaxSize = 256;
+	uint8_t packet [packetMaxSize] = {};
+	size_t packetLen = 0;
+
+	SECTION("Test Deserialization with Serial Buffer Adapter.") {
+		// This is a serialization of a packet, made "manually".
+		// We generate a packet which store data big-endian by swapping some
+		// values. (like coming from ground).
+		header = EndianConverter::convertBigEndian(header);
+		std::memcpy(packet, &header, sizeof(header));
+		packetLen += sizeof(header);
+
+		std::copy(testArray.data(), testArray.data() + testArray.size(),
+				packet + packetLen);
+		packetLen += testArray.size();
+
+		tail = EndianConverter::convertBigEndian(tail);
+		std::memcpy(packet + packetLen, &tail, sizeof(tail));
+		packetLen += sizeof(tail);
+
+		//arrayprinter::print(packet, packetLen, OutputType::DEC);
+
+		// This is the buffer which will be filled when testClass.deSerialize
+		// is called.
+		std::array<uint8_t, 3> bufferAdaptee = {};
+		TestPacket testClass(packet, packetLen, bufferAdaptee.data(),
+					bufferAdaptee.size());
+		const uint8_t* readOnlyPointer = packet;
+		// Deserialize big endian packet by setting bigEndian to true.
+		ReturnValue_t result = testClass.deSerialize(&readOnlyPointer,
+				&packetLen, SerializeIF::Endianness::BIG);
+		REQUIRE(result == retval::CATCH_OK);
+		CHECK(testClass.getHeader() == 42);
+		// Equivalent check.
+		// CHECK(testClass.getBuffer()[0] == 1);
+		CHECK(bufferAdaptee[0] == 1);
+		CHECK(bufferAdaptee[1] == 2);
+		CHECK(bufferAdaptee[2] == 3);
+		CHECK(testClass.getTail() == 96);
+	}
+
+	SECTION("Test Serialization") {
+		// Same process as performed in setup, this time using the class
+		// instead of doing it manually.
+		TestPacket testClass(header, tail, testArray.data(), testArray.size());
+		size_t serializedSize = 0;
+		uint8_t* packetPointer = packet;
+		// serialize for ground: bigEndian = true.
+		ReturnValue_t result = testClass.serialize(&packetPointer,
+				&serializedSize, packetMaxSize, SerializeIF::Endianness::BIG);
+		REQUIRE(result == retval::CATCH_OK);
+		// Result should be big endian now.
+		CHECK(packet[3] == 42);
+		CHECK(packet[4] == 1);
+		CHECK(packet[5] == 2);
+		CHECK(packet[6] == 3);
+		CHECK(packet[10] == 96);
+	}
+
+	// perform tear-down here
+}
diff --git a/unittest/tests/serialize/TestSerialLinkedPacket.h b/unittest/tests/serialize/TestSerialLinkedPacket.h
new file mode 100644
index 00000000..6c720577
--- /dev/null
+++ b/unittest/tests/serialize/TestSerialLinkedPacket.h
@@ -0,0 +1,61 @@
+#ifndef UNITTEST_HOSTED_TESTSERIALLINKEDPACKET_H_
+#define UNITTEST_HOSTED_TESTSERIALLINKEDPACKET_H_
+
+#include <fsfw/objectmanager/SystemObjectIF.h>
+#include <fsfw/parameters/HasParametersIF.h>
+#include <fsfw/serialize/SerialBufferAdapter.h>
+#include <fsfw/serialize/SerialLinkedListAdapter.h>
+#include <cstdint>
+
+class TestPacket: public SerialLinkedListAdapter<SerializeIF> {
+public:
+	/**
+	 * For Deserialization
+	 */
+	TestPacket(const uint8_t *somePacket, size_t size, uint8_t * storePointer,
+			size_t storeSize):
+			buffer(storePointer, storeSize)
+	{
+		setLinks();
+	}
+
+	/**
+	 * For Serialization
+	 */
+	TestPacket(uint32_t header, uint32_t tail,
+			const uint8_t* parameters, size_t paramSize):
+			header(header), buffer(parameters, paramSize),
+			tail(tail) {
+		setLinks();
+	}
+
+	uint32_t getHeader() const {
+		return header.entry;
+	}
+
+	const uint8_t * getBuffer() {
+		return buffer.entry.getConstBuffer();
+	}
+
+	const size_t getBufferLength() {
+		return buffer.getSerializedSize();
+	}
+
+
+	uint16_t getTail() const {
+		return tail.entry;
+	}
+private:
+	void setLinks() {
+		setStart(&header);
+		header.setNext(&buffer);
+		buffer.setNext(&tail);
+		tail.setEnd();
+	}
+
+	SerializeElement<uint32_t> header = 0;
+	SerializeElement<SerialBufferAdapter<uint8_t>> buffer;
+	SerializeElement<uint32_t> tail = 0;
+};
+
+#endif /* UNITTEST_TESTFW_NEWTESTS_TESTTEMPLATE_H_ */
diff --git a/unittest/tests/serialize/TestSerialization.cpp b/unittest/tests/serialize/TestSerialization.cpp
new file mode 100644
index 00000000..7ac7b796
--- /dev/null
+++ b/unittest/tests/serialize/TestSerialization.cpp
@@ -0,0 +1,129 @@
+#include <fsfw/serialize/SerializeAdapter.h>
+
+#include "catch.hpp"
+#include <array>
+#include "core/CatchDefinitions.h"
+
+static bool test_value_bool = true;
+static uint8_t tv_uint8   {5};
+static uint16_t tv_uint16 {283};
+static uint32_t tv_uint32 {929221};
+static uint64_t tv_uint64 {2929329429};
+
+static int8_t tv_int8 {-16};
+static int16_t tv_int16 {-829};
+static int32_t tv_int32 {-2312};
+
+static float tv_float {8.2149214};
+static float tv_sfloat = {-922.2321321};
+static double tv_double {9.2132142141e8};
+static double tv_sdouble {-2.2421e19};
+
+static std::array<uint8_t, 512> test_array;
+
+TEST_CASE( "Serialization size tests", "[TestSerialization]") {
+	//REQUIRE(unitTestClass.test_autoserialization() == 0);
+	REQUIRE(SerializeAdapter::getSerializedSize(&test_value_bool) ==
+			sizeof(test_value_bool));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint8) ==
+			sizeof(tv_uint8));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint16) ==
+			sizeof(tv_uint16));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint32 ) ==
+			sizeof(tv_uint32));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_uint64) ==
+			sizeof(tv_uint64));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_int8) ==
+			sizeof(tv_int8));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_int16) ==
+			sizeof(tv_int16));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_int32) ==
+			sizeof(tv_int32));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_float) ==
+			sizeof(tv_float));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_sfloat) ==
+			sizeof(tv_sfloat ));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_double) ==
+			sizeof(tv_double));
+	REQUIRE(SerializeAdapter::getSerializedSize(&tv_sdouble) ==
+			sizeof(tv_sdouble));
+}
+
+
+TEST_CASE("Auto Serialize Adapter testing", "[single-file]") {
+	size_t serialized_size = 0;
+	uint8_t * p_array = test_array.data();
+
+	SECTION("Serializing...") {
+		SerializeAdapter::serialize(&test_value_bool, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_uint8, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_uint16, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_uint32, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_int8, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_int16, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_int32, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_uint64, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_float, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_double, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_sfloat, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::serialize(&tv_sdouble, &p_array,
+				&serialized_size, test_array.size(), SerializeIF::Endianness::MACHINE);
+		REQUIRE (serialized_size == 47);
+	}
+
+	SECTION("Deserializing") {
+		p_array = test_array.data();
+		size_t remaining_size = serialized_size;
+		SerializeAdapter::deSerialize(&test_value_bool,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_uint8,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_uint16,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_uint32,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_int8,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_int16,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_int32,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_uint64,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_float,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_double,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_sfloat,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+		SerializeAdapter::deSerialize(&tv_sdouble,
+				const_cast<const uint8_t**>(&p_array), &remaining_size, SerializeIF::Endianness::MACHINE);
+
+		REQUIRE(test_value_bool == true);
+		REQUIRE(tv_uint8 == 5);
+		REQUIRE(tv_uint16 == 283);
+		REQUIRE(tv_uint32 == 929221);
+		REQUIRE(tv_uint64 == 2929329429);
+		REQUIRE(tv_int8 == -16);
+		REQUIRE(tv_int16 == -829);
+		REQUIRE(tv_int32 == -2312);
+
+		REQUIRE(tv_float == Approx(8.214921));
+		REQUIRE(tv_double == Approx(9.2132142141e8));
+		REQUIRE(tv_sfloat == Approx(-922.2321321));
+		REQUIRE(tv_sdouble == Approx(-2.2421e19));
+	}
+}
+
+
diff --git a/unittest/tests/storagemanager/TestNewAccessor.cpp b/unittest/tests/storagemanager/TestNewAccessor.cpp
new file mode 100644
index 00000000..7685afb3
--- /dev/null
+++ b/unittest/tests/storagemanager/TestNewAccessor.cpp
@@ -0,0 +1,161 @@
+#include <fsfw/storagemanager/LocalPool.h>
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <array>
+
+TEST_CASE( "New Accessor" , "[NewAccessor]") {
+	uint16_t numberOfElements[1] = {1};
+	uint16_t sizeofElements[1] = {10};
+	LocalPool<1> SimplePool = LocalPool<1>(0, sizeofElements, numberOfElements);
+	std::array<uint8_t, 20> testDataArray;
+	std::array<uint8_t, 20> receptionArray;
+	store_address_t testStoreId;
+	ReturnValue_t result = retval::CATCH_FAILED;
+
+	for(size_t i = 0; i < testDataArray.size(); i++) {
+		testDataArray[i] = i;
+	}
+	size_t size = 10;
+
+	SECTION ("Simple tests getter functions") {
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		auto resultPair = SimplePool.getData(testStoreId);
+		REQUIRE(resultPair.first == retval::CATCH_OK);
+		resultPair.second.getDataCopy(receptionArray.data(), 20);
+		CHECK(resultPair.second.getId() == testStoreId);
+		CHECK(resultPair.second.size() == 10);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+
+		std::copy(resultPair.second.data(), resultPair.second.data() +
+				resultPair.second.size(), receptionArray.data());
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+
+		{
+			auto resultPairLoc = SimplePool.getData(testStoreId);
+			REQUIRE(resultPairLoc.first == retval::CATCH_OK);
+			// data should be deleted when accessor goes out of scope.
+		}
+		resultPair = SimplePool.getData(testStoreId);
+		REQUIRE(resultPair.first == (int) StorageManagerIF::DATA_DOES_NOT_EXIST);
+
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		{
+			ConstStorageAccessor constAccessor(testStoreId);
+			result = SimplePool.getData(testStoreId, constAccessor);
+			REQUIRE(result == retval::CATCH_OK);
+			constAccessor.getDataCopy(receptionArray.data(), 20);
+			for(size_t i = 0; i < size; i++) {
+				CHECK(receptionArray[i] == i );
+			}
+			// likewise, data should be deleted when accessor gets out of scope.
+		}
+		resultPair = SimplePool.getData(testStoreId);
+		REQUIRE(resultPair.first == (int) StorageManagerIF::DATA_DOES_NOT_EXIST);
+
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		{
+			resultPair = SimplePool.getData(testStoreId);
+			REQUIRE(resultPair.first == retval::CATCH_OK);
+			resultPair.second.release();
+			// now data should not be deleted anymore
+		}
+		resultPair = SimplePool.getData(testStoreId);
+		REQUIRE(resultPair.first == retval::CATCH_OK);
+		resultPair.second.getDataCopy(receptionArray.data(), 20);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+	}
+
+
+	SECTION("Simple tests modify functions") {
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		{
+			StorageAccessor accessor(testStoreId);
+			result = SimplePool.modifyData(testStoreId, accessor);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(accessor.getId() == testStoreId);
+			CHECK(accessor.size() == 10);
+			accessor.getDataCopy(receptionArray.data(), 20);
+			for(size_t i = 0; i < size; i++) {
+				CHECK(receptionArray[i] == i );
+			}
+			std::copy(accessor.data(), accessor.data() +
+					accessor.size(), receptionArray.data());
+			for(size_t i = 0; i < size; i++) {
+				CHECK(receptionArray[i] == i );
+			}
+			// data should be deleted when accessor goes out of scope
+		}
+		auto resultPair = SimplePool.getData(testStoreId);
+		REQUIRE(resultPair.first == (int) StorageManagerIF::DATA_DOES_NOT_EXIST);
+
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		{
+			auto resultPairLoc = SimplePool.modifyData(testStoreId);
+			REQUIRE(resultPairLoc.first == retval::CATCH_OK);
+			CHECK(resultPairLoc.second.getId() == testStoreId);
+			CHECK(resultPairLoc.second.size() == 10);
+			resultPairLoc.second.getDataCopy(receptionArray.data(), 20);
+			for(size_t i = 0; i < size; i++) {
+				CHECK(receptionArray[i] == i );
+			}
+			std::copy(resultPairLoc.second.data(), resultPairLoc.second.data() +
+					resultPairLoc.second.size(), receptionArray.data());
+			for(size_t i = 0; i < size; i++) {
+				CHECK(receptionArray[i] == i );
+			}
+			resultPairLoc.second.release();
+			// data should not be deleted when accessor goes out of scope
+		}
+		resultPair = SimplePool.getData(testStoreId);
+		REQUIRE(resultPair.first == retval::CATCH_OK);
+	}
+
+
+	SECTION("Write tests") {
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		{
+			auto resultPair = SimplePool.modifyData(testStoreId);
+			REQUIRE(resultPair.first == retval::CATCH_OK);
+			testDataArray[9] = 42;
+			resultPair.second.write(testDataArray.data(), 10, 0);
+			// now data should not be deleted
+			resultPair.second.release();
+		}
+		auto resultConstPair = SimplePool.getData(testStoreId);
+		REQUIRE(resultConstPair.first == retval::CATCH_OK);
+
+		resultConstPair.second.getDataCopy(receptionArray.data(), 10);
+		for(size_t i = 0; i < size-1; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+		CHECK(receptionArray[9] == 42 );
+
+		auto resultPair = SimplePool.modifyData(testStoreId);
+		REQUIRE(resultPair.first == retval::CATCH_OK);
+		result = resultPair.second.write(testDataArray.data(), 20, 0);
+		REQUIRE(result == retval::CATCH_FAILED);
+		result = resultPair.second.write(testDataArray.data(), 10, 5);
+		REQUIRE(result == retval::CATCH_FAILED);
+
+		memset(testDataArray.data(), 42, 5);
+		result = resultPair.second.write(testDataArray.data(), 5, 5);
+		REQUIRE(result == retval::CATCH_OK);
+		resultConstPair = SimplePool.getData(testStoreId);
+		resultPair.second.getDataCopy(receptionArray.data(), 20);
+		for(size_t i = 5; i < 10; i++) {
+			CHECK(receptionArray[i] == 42 );
+		}
+
+	}
+}
diff --git a/unittest/tests/storagemanager/TestPool.cpp b/unittest/tests/storagemanager/TestPool.cpp
new file mode 100644
index 00000000..5b22118e
--- /dev/null
+++ b/unittest/tests/storagemanager/TestPool.cpp
@@ -0,0 +1,105 @@
+#include <config/objects/Factory.h>
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/storagemanager/LocalPool.h>
+#include <catch2/catch.hpp>
+#include "core/CatchDefinitions.h"
+
+TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
+	uint16_t numberOfElements[1] = {1};
+	uint16_t sizeofElements[1] = {10};
+	LocalPool<1> SimplePool = LocalPool<1>(0, sizeofElements, numberOfElements);
+	std::array<uint8_t, 20> testDataArray;
+	std::array<uint8_t, 20> receptionArray;
+	store_address_t testStoreId;
+	ReturnValue_t result = retval::CATCH_FAILED;
+	uint8_t *pointer = nullptr;
+	const uint8_t * constPointer = nullptr;
+	uint8_t test = 0;
+
+	for(size_t i = 0; i < testDataArray.size(); i++) {
+		testDataArray[i] = i;
+	}
+	size_t size = 10;
+
+	SECTION ( "Basic tests") {
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = SimplePool.getData(testStoreId, &constPointer, &size);
+		REQUIRE(result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+		memset(receptionArray.data(), 0, size);
+		result = SimplePool.modifyData(testStoreId, &pointer, &size);
+		memcpy(receptionArray.data(), pointer, size);
+		REQUIRE(result == retval::CATCH_OK);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+		result = SimplePool.deleteData(testStoreId);
+		REQUIRE(result == retval::CATCH_OK);
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), 15);
+		CHECK (result == (int) StorageManagerIF::DATA_TOO_LARGE);
+	}
+
+	SECTION ( "Reservation Tests ") {
+		pointer = nullptr;
+		result = SimplePool.getFreeElement(&testStoreId, size, &pointer);
+		REQUIRE (result == retval::CATCH_OK);
+		memcpy(pointer, testDataArray.data(), size);
+		constPointer = nullptr;
+		result = SimplePool.getData(testStoreId, &constPointer, &size);
+
+		REQUIRE (result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+	}
+
+	SECTION ( "Add, delete, add, add when full") {
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = SimplePool.getData(testStoreId, &constPointer, &size);
+		REQUIRE( result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+
+		result = SimplePool.deleteData(testStoreId);
+		REQUIRE(result == retval::CATCH_OK);
+
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = SimplePool.getData(testStoreId, &constPointer, &size);
+		REQUIRE( result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+
+		store_address_t newAddress;
+		result = SimplePool.addData(&newAddress, testDataArray.data(), size);
+		REQUIRE(result == (int) StorageManagerIF::DATA_STORAGE_FULL);
+	}
+
+	SECTION ( "Initialize and clear store, delete with pointer") {
+		result = SimplePool.initialize();
+		REQUIRE(result == retval::CATCH_OK);
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		SimplePool.clearStore();
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = SimplePool.modifyData(testStoreId, &pointer, &size);
+		REQUIRE(result == retval::CATCH_OK);
+		store_address_t newId;
+		result = SimplePool.deleteData(pointer, size, &testStoreId);
+		REQUIRE(result == retval::CATCH_OK);
+		REQUIRE(testStoreId.raw != (uint32_t) StorageManagerIF::INVALID_ADDRESS);
+		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+	}
+}
diff --git a/unittest/tests/tests.mk b/unittest/tests/tests.mk
new file mode 100644
index 00000000..47e634a2
--- /dev/null
+++ b/unittest/tests/tests.mk
@@ -0,0 +1,8 @@
+CXXSRC += $(wildcard $(CURRENTPATH)/container/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/action/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/serialize/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/storagemanager/*.cpp)
+
+# OSAL not included for now.
+
+INCLUDES += $(CURRENTPATH)
\ No newline at end of file
diff --git a/unittest/testtemplate/TestTemplate.cpp b/unittest/testtemplate/TestTemplate.cpp
new file mode 100644
index 00000000..6b5fc3d2
--- /dev/null
+++ b/unittest/testtemplate/TestTemplate.cpp
@@ -0,0 +1,31 @@
+#include <fsfw/unittest/catch2/catch.hpp>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+
+
+/**
+ * @brief 	Template test file
+ * @details
+ * In each test case, the code outside the sections is executed
+ * for EACH section.
+ * The most common macros to perform tests are:
+ *  - CHECK(...): assert expression and continues even if it fails
+ *  - REQUIRE(...): test case fails if assertion fails
+ *
+ *  Tests are generally sturctured in test cases and sections, see example
+ *  below.
+ *
+ *  More Documentation:
+ *  - https://github.com/catchorg/Catch2
+ *  - https://github.com/catchorg/Catch2/blob/master/docs/assertions.md
+ *  - https://github.com/catchorg/Catch2/blob/master/docs/test-cases-and-sections.md
+ */
+TEST_CASE("Dummy Test" , "[DummyTest]") {
+	uint8_t testVariable = 1;
+	//perform set-up here
+	CHECK(testVariable == 1);
+	SECTION("TestSection") {
+		// set-up is run for each section
+		REQUIRE(testVariable == 1);
+	}
+	// perform tear-down here
+}
diff --git a/unittest/unlockRealtime.sh b/unittest/unlockRealtime.sh
new file mode 100644
index 00000000..b28d5490
--- /dev/null
+++ b/unittest/unlockRealtime.sh
@@ -0,0 +1,34 @@
+#!/bin/bash
+# Run this script to unlock all permissions to run the linux binaries
+# and create threads
+
+binaries=$(find $directory -type f -name "*.elf")
+
+echo Unlocking real time permissions for binaries and bash console...
+
+# Set up the soft realtime limit to maximum (99)
+# Please note that the hard limit needs to be set to 99 too 
+# for this to work (check with ulimit -Hr).
+# If that has not been done yet, add
+# <username>	hard     rtprio          99
+# to /etc/security/limits.conf
+# It is also necessary and recommended to add
+# <username>    soft     rtprio         99
+# as well. This can also be done in the command line
+# but would need to be done for each session.
+ulimit -Sr 99
+
+for binary in ${binaries}; do
+	sudo setcap 'cap_sys_nice=eip' ${binary}
+	result=$?
+	if [ ${result} = 0 ];then
+		echo ${binary} was unlocked
+	fi
+done
+
+# sudo setcap 'cap_sys_nice=eip' /bin/bash
+# result=$?
+# if [ ${result} = 0 ];then
+# 	echo /bin/bash was unlocked
+# fi
+

From 482b77ff051a395210d2bd14a9f901b6222215c8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 17:38:41 +0200
Subject: [PATCH 434/653] added defaultcfg config folder

---
 defaultcfg/FSFWConfig.h                       |  41 +++
 defaultcfg/README.md                          |   6 +
 defaultcfg/config.mk                          |  17 ++
 defaultcfg/config/FSFWConfig.h                |  41 +++
 defaultcfg/config/OBSWConfig.h                |  14 +
 .../config/devices/logicalAddresses.cpp       |   5 +
 defaultcfg/config/devices/logicalAddresses.h  |  18 ++
 .../config/devices/powerSwitcherList.cpp      |   4 +
 defaultcfg/config/devices/powerSwitcherList.h |  12 +
 defaultcfg/config/events/subsystemIdRanges.h  |  18 ++
 defaultcfg/config/ipc/missionMessageTypes.cpp |  11 +
 defaultcfg/config/ipc/missionMessageTypes.h   |  21 ++
 defaultcfg/config/objects/Factory.cpp         |  57 ++++
 defaultcfg/config/objects/Factory.h           |  20 ++
 defaultcfg/config/objects/systemObjectList.h  | 138 +++++++++
 .../config/objects/translateObjects.cpp       | 271 ++++++++++++++++++
 defaultcfg/config/objects/translateObjects.h  |   9 +
 .../PollingSequenceFactory.cpp                |  23 ++
 .../pollingsequence/PollingSequenceFactory.h  |  32 +++
 defaultcfg/config/returnvalues/classIds.h     |  16 ++
 defaultcfg/config/tmtc/apid.h                 |  18 ++
 defaultcfg/config/tmtc/pusIds.h               |  23 ++
 defaultcfg/config/version.h                   |   9 +
 defaultcfg/version.h                          |  11 +
 24 files changed, 835 insertions(+)
 create mode 100644 defaultcfg/FSFWConfig.h
 create mode 100644 defaultcfg/README.md
 create mode 100644 defaultcfg/config.mk
 create mode 100644 defaultcfg/config/FSFWConfig.h
 create mode 100644 defaultcfg/config/OBSWConfig.h
 create mode 100644 defaultcfg/config/devices/logicalAddresses.cpp
 create mode 100644 defaultcfg/config/devices/logicalAddresses.h
 create mode 100644 defaultcfg/config/devices/powerSwitcherList.cpp
 create mode 100644 defaultcfg/config/devices/powerSwitcherList.h
 create mode 100644 defaultcfg/config/events/subsystemIdRanges.h
 create mode 100644 defaultcfg/config/ipc/missionMessageTypes.cpp
 create mode 100644 defaultcfg/config/ipc/missionMessageTypes.h
 create mode 100644 defaultcfg/config/objects/Factory.cpp
 create mode 100644 defaultcfg/config/objects/Factory.h
 create mode 100644 defaultcfg/config/objects/systemObjectList.h
 create mode 100644 defaultcfg/config/objects/translateObjects.cpp
 create mode 100644 defaultcfg/config/objects/translateObjects.h
 create mode 100644 defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp
 create mode 100644 defaultcfg/config/pollingsequence/PollingSequenceFactory.h
 create mode 100644 defaultcfg/config/returnvalues/classIds.h
 create mode 100644 defaultcfg/config/tmtc/apid.h
 create mode 100644 defaultcfg/config/tmtc/pusIds.h
 create mode 100644 defaultcfg/config/version.h
 create mode 100644 defaultcfg/version.h

diff --git a/defaultcfg/FSFWConfig.h b/defaultcfg/FSFWConfig.h
new file mode 100644
index 00000000..2001f306
--- /dev/null
+++ b/defaultcfg/FSFWConfig.h
@@ -0,0 +1,41 @@
+#ifndef CONFIG_FSFWCONFIG_H_
+#define CONFIG_FSFWCONFIG_H_
+
+#include "version.h"
+
+//! Used to determine whether C++ ostreams are used
+//! Those can lead to code bloat.
+#define FSFW_CPP_OSTREAM_ENABLED 	1
+
+//! Reduced printout to further decrese code size
+//! Be careful, this also turns off most diagnostic prinouts!
+#define FSFW_REDUCED_PRINTOUT		0
+
+//! Can be used to enable debugging printouts for developing the FSFW
+#define FSFW_DEBUGGING              0
+
+//! Defines the FIFO depth of each commanding service base which
+//! also determines how many commands a CSB service can handle in one cycle
+//! simulataneously. This will increase the required RAM for
+//! each CSB service !
+#define FSFW_CSB_FIFO_DEPTH			6
+
+//! If -DDEBUG is supplied in the build defines, there will be
+//! additional output which requires the translation files translateObjects
+//! and translateEvents (and their compiles source files)
+#ifdef DEBUG
+#define FSFW_DEBUG_OUTPUT 			1
+//! Specify whether info events are printed too.
+#define FSFW_DEBUG_INFO				1
+#include <translateObjects.h>
+#include <translateEvents.h>
+#else
+#define FSFW_DEBUG_OUTPUT			0
+#endif
+
+//! When using the newlib nano library, C99 support for stdio facilities
+//! will not be provided. This define should be set to 1 if this is the case.
+#define FSFW_NO_C99_IO 	1
+
+
+#endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/defaultcfg/README.md b/defaultcfg/README.md
new file mode 100644
index 00000000..8446cda4
--- /dev/null
+++ b/defaultcfg/README.md
@@ -0,0 +1,6 @@
+# How to setup configuration folder for FSFW
+
+It is recommended to copy the content of the defaultcfg folder
+into a config folder which is in the same directory as the Flight
+Software Framework submodule. After that, the config.mk folder should be
+included by the primary Makefile with CURRENTPATH set correctly.
diff --git a/defaultcfg/config.mk b/defaultcfg/config.mk
new file mode 100644
index 00000000..fcf3b799
--- /dev/null
+++ b/defaultcfg/config.mk
@@ -0,0 +1,17 @@
+CXXSRC += $(wildcard $(CURRENTPATH)/config/ipc/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/config/objects/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/config/pollingsequence/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/config/events/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/config/tmtc/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/config/devices/*.cpp)
+
+INCLUDES += $(CURRENTPATH)
+INCLUDES += $(CURRENTPATH)/config/
+INCLUDES += $(CURRENTPATH)/config/objects
+INCLUDES += $(CURRENTPATH)/config/returnvalues
+INCLUDES += $(CURRENTPATH)/config/tmtc
+INCLUDES += $(CURRENTPATH)/config/events
+INCLUDES += $(CURRENTPATH)/config/devices
+INCLUDES += $(CURRENTPATH)/config/pollingsequence
+INCLUDES += $(CURRENTPATH)/config/ipc
+INCLUDES += $(CURRENTPATH)/config/
diff --git a/defaultcfg/config/FSFWConfig.h b/defaultcfg/config/FSFWConfig.h
new file mode 100644
index 00000000..2001f306
--- /dev/null
+++ b/defaultcfg/config/FSFWConfig.h
@@ -0,0 +1,41 @@
+#ifndef CONFIG_FSFWCONFIG_H_
+#define CONFIG_FSFWCONFIG_H_
+
+#include "version.h"
+
+//! Used to determine whether C++ ostreams are used
+//! Those can lead to code bloat.
+#define FSFW_CPP_OSTREAM_ENABLED 	1
+
+//! Reduced printout to further decrese code size
+//! Be careful, this also turns off most diagnostic prinouts!
+#define FSFW_REDUCED_PRINTOUT		0
+
+//! Can be used to enable debugging printouts for developing the FSFW
+#define FSFW_DEBUGGING              0
+
+//! Defines the FIFO depth of each commanding service base which
+//! also determines how many commands a CSB service can handle in one cycle
+//! simulataneously. This will increase the required RAM for
+//! each CSB service !
+#define FSFW_CSB_FIFO_DEPTH			6
+
+//! If -DDEBUG is supplied in the build defines, there will be
+//! additional output which requires the translation files translateObjects
+//! and translateEvents (and their compiles source files)
+#ifdef DEBUG
+#define FSFW_DEBUG_OUTPUT 			1
+//! Specify whether info events are printed too.
+#define FSFW_DEBUG_INFO				1
+#include <translateObjects.h>
+#include <translateEvents.h>
+#else
+#define FSFW_DEBUG_OUTPUT			0
+#endif
+
+//! When using the newlib nano library, C99 support for stdio facilities
+//! will not be provided. This define should be set to 1 if this is the case.
+#define FSFW_NO_C99_IO 	1
+
+
+#endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/defaultcfg/config/OBSWConfig.h b/defaultcfg/config/OBSWConfig.h
new file mode 100644
index 00000000..d186da7d
--- /dev/null
+++ b/defaultcfg/config/OBSWConfig.h
@@ -0,0 +1,14 @@
+#ifndef CONFIG_OBSWCONFIG_H_
+#define CONFIG_OBSWCONFIG_H_
+
+#ifdef __cplusplus
+namespace config {
+#endif
+
+/* Add mission configuration flags here */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_OBSWCONFIG_H_ */
diff --git a/defaultcfg/config/devices/logicalAddresses.cpp b/defaultcfg/config/devices/logicalAddresses.cpp
new file mode 100644
index 00000000..c7ce314d
--- /dev/null
+++ b/defaultcfg/config/devices/logicalAddresses.cpp
@@ -0,0 +1,5 @@
+#include "logicalAddresses.h"
+
+
+
+
diff --git a/defaultcfg/config/devices/logicalAddresses.h b/defaultcfg/config/devices/logicalAddresses.h
new file mode 100644
index 00000000..174fa788
--- /dev/null
+++ b/defaultcfg/config/devices/logicalAddresses.h
@@ -0,0 +1,18 @@
+#ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
+#define CONFIG_DEVICES_LOGICALADDRESSES_H_
+
+#include <config/objects/systemObjectList.h>
+#include <fsfw/devicehandlers/CookieIF.h>
+#include <cstdint>
+
+/**
+ * Can be used for addresses for physical devices like I2C adresses.
+ */
+namespace addresses {
+	/* Logical addresses have uint32_t datatype */
+	enum logicalAddresses: address_t {
+	};
+}
+
+
+#endif /* CONFIG_DEVICES_LOGICALADDRESSES_H_ */
diff --git a/defaultcfg/config/devices/powerSwitcherList.cpp b/defaultcfg/config/devices/powerSwitcherList.cpp
new file mode 100644
index 00000000..343f78d0
--- /dev/null
+++ b/defaultcfg/config/devices/powerSwitcherList.cpp
@@ -0,0 +1,4 @@
+#include "powerSwitcherList.h"
+
+
+
diff --git a/defaultcfg/config/devices/powerSwitcherList.h b/defaultcfg/config/devices/powerSwitcherList.h
new file mode 100644
index 00000000..86ddea57
--- /dev/null
+++ b/defaultcfg/config/devices/powerSwitcherList.h
@@ -0,0 +1,12 @@
+#ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
+#define CONFIG_DEVICES_POWERSWITCHERLIST_H_
+
+namespace switches {
+	/* Switches are uint8_t datatype and go from 0 to 255 */
+	enum switcherList {
+	};
+
+}
+
+
+#endif /* CONFIG_DEVICES_POWERSWITCHERLIST_H_ */
diff --git a/defaultcfg/config/events/subsystemIdRanges.h b/defaultcfg/config/events/subsystemIdRanges.h
new file mode 100644
index 00000000..24eee819
--- /dev/null
+++ b/defaultcfg/config/events/subsystemIdRanges.h
@@ -0,0 +1,18 @@
+#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+
+#include <cstdint>
+#include <fsfw/events/fwSubsystemIdRanges.h>
+
+/**
+ * @brief	Custom subsystem IDs can be added here
+ * @details
+ * Subsystem IDs are used to create unique events.
+ */
+namespace SUBSYSTEM_ID {
+enum: uint8_t {
+	SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
+};
+}
+
+#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */
diff --git a/defaultcfg/config/ipc/missionMessageTypes.cpp b/defaultcfg/config/ipc/missionMessageTypes.cpp
new file mode 100644
index 00000000..e2edbf9c
--- /dev/null
+++ b/defaultcfg/config/ipc/missionMessageTypes.cpp
@@ -0,0 +1,11 @@
+#include <config/ipc/MissionMessageTypes.h>
+#include <fsfw/ipc/CommandMessageIF.h>
+
+void messagetypes::clearMissionMessage(CommandMessage* message) {
+	switch(message->getMessageType()) {
+	default:
+		break;
+	}
+}
+
+
diff --git a/defaultcfg/config/ipc/missionMessageTypes.h b/defaultcfg/config/ipc/missionMessageTypes.h
new file mode 100644
index 00000000..8b2e2fcc
--- /dev/null
+++ b/defaultcfg/config/ipc/missionMessageTypes.h
@@ -0,0 +1,21 @@
+#ifndef CONFIG_IPC_MISSIONMESSAGETYPES_H_
+#define CONFIG_IPC_MISSIONMESSAGETYPES_H_
+
+#include <fsfw/ipc/CommandMessage.h>
+#include <fsfw/ipc/FwMessageTypes.h>
+
+/**
+ * Custom command messages are specified here.
+ * Most messages needed to use FSFW are already located in
+ * <fsfw/ipc/FwMessageTypes.h>
+ * @param message Generic Command Message
+ */
+namespace messagetypes {
+enum CustomMessageTypes {
+	MISSION_MESSAGE_TYPE_START = FW_MESSAGES_COUNT
+};
+
+void clearMissionMessage(CommandMessage* message);
+}
+
+#endif /* CONFIG_IPC_MISSIONMESSAGETYPES_H_ */
diff --git a/defaultcfg/config/objects/Factory.cpp b/defaultcfg/config/objects/Factory.cpp
new file mode 100644
index 00000000..ea187a5e
--- /dev/null
+++ b/defaultcfg/config/objects/Factory.cpp
@@ -0,0 +1,57 @@
+#include "Factory.h"
+
+/* Config */
+#include <tmtc/apid.h>
+#include <objects/systemObjectList.h>
+#include <devices/logicalAddresses.h>
+#include <devices/powerSwitcherList.h>
+#include <tmtc/pusIds.h>
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/events/EventManager.h>
+#include <fsfw/health/HealthTable.h>
+#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
+#include <fsfw/tmtcservices/CommandingServiceBase.h>
+#include <fsfw/tmtcservices/PusServiceBase.h>
+#include <mission/utility/TmFunnel.h>
+
+
+#include <cstdint>
+
+
+/**
+ * Build tasks by using SystemObject Interface (Interface).
+ * Header files of all tasks must be included
+ * Please note that an object has to implement the system object interface
+ * if the nterface validity is checked or retrieved later by using the
+ * get<TargetInterface>(object_id) function from the ObjectManagerIF.
+ *
+ * Framework objects are created first.
+ *
+ * @ingroup init
+ */
+void Factory::produce(void) {
+	setStaticFrameworkObjectIds();
+	new EventManager(objects::EVENT_MANAGER);
+	new HealthTable(objects::HEALTH_TABLE);
+	//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+}
+
+void Factory::setStaticFrameworkObjectIds() {
+	PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
+	PusServiceBase::packetDestination = objects::TM_FUNNEL;
+
+	CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
+	CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+
+	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
+
+	DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
+	DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
+
+	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
+
+	TmPacketStored::timeStamperId = objects::PUS_TIME;
+	TmFunnel::downlinkDestination = objects::NO_OBJECT;
+}
+
diff --git a/defaultcfg/config/objects/Factory.h b/defaultcfg/config/objects/Factory.h
new file mode 100644
index 00000000..8b99ae99
--- /dev/null
+++ b/defaultcfg/config/objects/Factory.h
@@ -0,0 +1,20 @@
+#ifndef FACTORY_H_
+#define FACTORY_H_
+
+#include <fsfw/objectmanager/SystemObjectIF.h>
+#include <cstddef>
+
+namespace Factory {
+    size_t calculateStorage(uint8_t numberOfPools, uint16_t* numberOfElements,
+            uint16_t* sizeOfElements);
+	/**
+	 * @brief   Creates all SystemObject elements which are persistent
+	 *          during execution.
+	 */
+	void produce();
+	void setStaticFrameworkObjectIds();
+
+}
+
+
+#endif /* FACTORY_H_ */
diff --git a/defaultcfg/config/objects/systemObjectList.h b/defaultcfg/config/objects/systemObjectList.h
new file mode 100644
index 00000000..2448efbd
--- /dev/null
+++ b/defaultcfg/config/objects/systemObjectList.h
@@ -0,0 +1,138 @@
+#ifndef CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+#define CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+
+#include <cstdint>
+
+// The objects will be instantiated in the ID order
+namespace objects {
+	enum sourceObjects: uint32_t {
+		/* First Byte 0x50-0x52 reserved for PUS Services **/
+		CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
+		PUS_PACKET_DISTRIBUTOR = 0x50000200,
+		/* UDP ID must come after CCSDS Distributor  **/
+		UDP_TMTC_BRIDGE = 0x50000300,
+		EMAC_POLLING_TASK = 0x50000400,
+		SERIAL_TMTC_BRIDGE = 0x50000500,
+		SERIAL_RING_BUFFER = 0x50000550,
+		SERIAL_POLLING_TASK = 0x50000600,
+
+		PUS_SERVICE_6_MEM_MGMT = 0x51000500,
+		PUS_SERVICE_20_PARAM_MGMT = 0x51002000,
+		PUS_SERVICE_23_FILE_MGMT = 0x51002300,
+		PUS_SERVICE_201_HEALTH = 0x51020100,
+
+		PUS_TIME = 0x52000001,
+		TM_FUNNEL = 0x52000002,
+		FREERTOS_TASK_MONITOR = 0x53000003,
+
+		CORE_CONTROLLER = 0x40001000,
+        SYSTEM_STATE_TASK = 0x40001005,
+        THERMAL_CONTROLLER = 0x40002000,
+		RS485_CONTROLLER = 0x40005000,
+
+        /* 0x44 ('D') for Device Handlers **/
+        /* Second Byte: ComIF -> 0x00: UART,0x10 SPI,0x20: I2C,30: GPIO,40: PWM */
+        /* Third Byte: Device ID */
+		PCDU_HANDLER = 0x44003200,
+		GPS0_HANDLER = 0x44101F00,
+		GPS1_HANDLER = 0x44202000,
+
+		DLR_PVCH = 0x44104000,
+		GYRO1 = 0x44105000,
+		DLR_IRAS = 0x44106000,
+
+		/* fourth byte decoder output ID */
+
+		// Devices connected to decoder 1
+		SPI_Test_PT1000 = 0x44115400,
+		SPI_Test_Gyro = 0x44115500,
+		PT1000_Syrlinks_DEC1_O1 = 0x44115401,
+		PT1000_Camera_DEC1_O2 = 0x44115402,
+		PT1000_SuS1_DEC1_O3 = 0x44115404,
+		PT1000_SuS2_DEC1_O4 = 0x44115405,
+		PT1000_SuS3_DEC1_O5 = 0x44115406,
+		PT1000_PVHC_DEC1_O6 = 0x44115407,
+
+		// Devices connected to decoder 2
+		PT1000_CCSDS1_DEC2 = 0x44125401,
+		PT1000_MGT1_DEC2 = 0x44125403,
+		PT1000_SuS4_DEC2 = 0x44125404,
+		PT1000_SuS5_DEC2 = 0x44125405,
+		PT1000_SuS6_DEC2 = 0x44125406,
+		PT1000_PVCH_DEC2 = 0x44125407,
+		SuS_ADC1_DEC2 = 0x44020108,
+
+		// Devices connected to decoder 3
+		PT1000_Iridium_DEC3 = 0x44130301,
+		PT1000_CCSDS2_DEC3 = 0x44130302,
+		PT1000_SuS7_DEC3 = 0x44130305,
+		PT1000_SuS8_DEC3 = 0x44130306,
+		PT1000_PVCH_DEC3 = 0x44130307,
+		GYRO2 = 0x44130308,
+
+		// Devices connected to decoder 4
+		PT1000_PLOC_DEC4 = 0x44145401,
+		PT1000_SuS9_DEC4 = 0x44145404,
+		PT1000_SuS10_DEC4 = 0x44145405,
+		PT1000_PVHC_DEC4 = 0x44145406,
+		SuS_ADC_DEC4 = 0x44145407,
+
+		/* 0x49 ('I') for Communication Interfaces **/
+		DUMMY_ECHO_COM_IF = 0x4900AFFE,
+		DUMMY_GPS_COM_IF = 0x49001F00,
+		RS232_DEVICE_COM_IF = 0x49005200,
+		I2C_DEVICE_COM_IF = 0x49005300,
+		GPIO_DEVICE_COM_IF = 0x49005400,
+		SPI_DEVICE_COM_IF = 0x49005600,
+		//SPI_POLLING_TASK = 0x49005410,
+
+		/* 0x4d ('M') for Memory Handlers **/
+		SD_CARD_HANDLER = 0x4D0073AD,
+		FRAM_HANDLER = 0x4D008000,
+		SOFTWARE_IMAGE_HANDLER = 0x4D009000,
+
+		/* Board Specific */
+		AT91_I2C_TEST_TASK = 0x12345678,
+		AT91_UART0_TEST_TASK = 0x87654321,
+		AT91_UART2_TEST_TASK = 0x000123336,
+		AT91_SPI_TEST_TASK = 0x66666666,
+		STM32_TEST_TASK = 0x77777777,
+		LED_TASK = 0x12345777,
+
+		/* Test Task */
+		ARDUINO_0 = 0x01010100,
+		ARDUINO_1 = 0x01010101,
+		ARDUINO_2 = 0x01010102,
+		ARDUINO_3 = 0x01010103,
+		ARDUINO_4 = 0x01010104,
+		TEST_TASK = 0x42694269,
+		DUMMY_HANDLER = 0x4400AFFE,
+		TC_INJECTOR	= 0x99000001
+	};
+}
+
+#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
+
+
+/**
+                   ▄              ▄
+                  ▌▒█           ▄▀▒▌
+                  ▌▒▒█        ▄▀▒▒▒▐
+                 ▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
+               ▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
+             ▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
+            ▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
+            ▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
+           ▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
+           ▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
+          ▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
+          ▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
+          ▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
+           ▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
+           ▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
+            ▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
+              ▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
+                ▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
+                   ▒▒▒▒▒▒▒▒▒▒▀▀
+*/
+
diff --git a/defaultcfg/config/objects/translateObjects.cpp b/defaultcfg/config/objects/translateObjects.cpp
new file mode 100644
index 00000000..73cd02bf
--- /dev/null
+++ b/defaultcfg/config/objects/translateObjects.cpp
@@ -0,0 +1,271 @@
+/** 
+ * @brief	Auto-generated object translation file. Contains 86 translations. 
+ * Generated on: 2020-08-25 00:57:14
+ **/ 
+#include "translateObjects.h"
+
+const char *AT91_UART2_TEST_TASK_STRING = "AT91_UART2_TEST_TASK";
+const char *ARDUINO_0_STRING = "ARDUINO_0";
+const char *ARDUINO_1_STRING = "ARDUINO_1";
+const char *ARDUINO_2_STRING = "ARDUINO_2";
+const char *ARDUINO_3_STRING = "ARDUINO_3";
+const char *ARDUINO_4_STRING = "ARDUINO_4";
+const char *AT91_I2C_TEST_TASK_STRING = "AT91_I2C_TEST_TASK";
+const char *LED_TASK_STRING = "LED_TASK";
+const char *TEST_TASK_STRING = "TEST_TASK";
+const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
+const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
+const char *SuS_ADC1_DEC2_STRING = "SuS_ADC1_DEC2";
+const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
+const char *DLR_PVCH_STRING = "DLR_PVCH";
+const char *GYRO1_STRING = "GYRO1";
+const char *DLR_IRAS_STRING = "DLR_IRAS";
+const char *SPI_Test_PT1000_STRING = "SPI_Test_PT1000";
+const char *PT1000_Syrlinks_DEC1_O1_STRING = "PT1000_Syrlinks_DEC1_O1";
+const char *PT1000_Camera_DEC1_O2_STRING = "PT1000_Camera_DEC1_O2";
+const char *PT1000_SuS1_DEC1_O3_STRING = "PT1000_SuS1_DEC1_O3";
+const char *PT1000_SuS2_DEC1_O4_STRING = "PT1000_SuS2_DEC1_O4";
+const char *PT1000_SuS3_DEC1_O5_STRING = "PT1000_SuS3_DEC1_O5";
+const char *PT1000_PVHC_DEC1_O6_STRING = "PT1000_PVHC_DEC1_O6";
+const char *SPI_Test_Gyro_STRING = "SPI_Test_Gyro";
+const char *PT1000_CCSDS1_DEC2_STRING = "PT1000_CCSDS1_DEC2";
+const char *PT1000_MGT1_DEC2_STRING = "PT1000_MGT1_DEC2";
+const char *PT1000_SuS4_DEC2_STRING = "PT1000_SuS4_DEC2";
+const char *PT1000_SuS5_DEC2_STRING = "PT1000_SuS5_DEC2";
+const char *PT1000_SuS6_DEC2_STRING = "PT1000_SuS6_DEC2";
+const char *PT1000_PVCH_DEC2_STRING = "PT1000_PVCH_DEC2";
+const char *PT1000_Iridium_DEC3_STRING = "PT1000_Iridium_DEC3";
+const char *PT1000_CCSDS2_DEC3_STRING = "PT1000_CCSDS2_DEC3";
+const char *PT1000_SuS7_DEC3_STRING = "PT1000_SuS7_DEC3";
+const char *PT1000_SuS8_DEC3_STRING = "PT1000_SuS8_DEC3";
+const char *PT1000_PVCH_DEC3_STRING = "PT1000_PVCH_DEC3";
+const char *GYRO2_STRING = "GYRO2";
+const char *PT1000_PLOC_DEC4_STRING = "PT1000_PLOC_DEC4";
+const char *PT1000_SuS9_DEC4_STRING = "PT1000_SuS9_DEC4";
+const char *PT1000_SuS10_DEC4_STRING = "PT1000_SuS10_DEC4";
+const char *PT1000_PVHC_DEC4_STRING = "PT1000_PVHC_DEC4";
+const char *SuS_ADC_DEC4_STRING = "SuS_ADC_DEC4";
+const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
+const char *DUMMY_GPS_COM_IF_STRING = "DUMMY_GPS_COM_IF";
+const char *RS232_DEVICE_COM_IF_STRING = "RS232_DEVICE_COM_IF";
+const char *I2C_DEVICE_COM_IF_STRING = "I2C_DEVICE_COM_IF";
+const char *GPIO_DEVICE_COM_IF_STRING = "GPIO_DEVICE_COM_IF";
+const char *SPI_POLLING_TASK_STRING = "SPI_POLLING_TASK";
+const char *SPI_DEVICE_COM_IF_STRING = "SPI_DEVICE_COM_IF";
+const char *DUMMY_ECHO_COM_IF_STRING = "DUMMY_ECHO_COM_IF";
+const char *SD_CARD_HANDLER_STRING = "SD_CARD_HANDLER";
+const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
+const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
+const char *UDP_TMTC_BRIDGE_STRING = "UDP_TMTC_BRIDGE";
+const char *EMAC_POLLING_TASK_STRING = "EMAC_POLLING_TASK";
+const char *SERIAL_TMTC_BRIDGE_STRING = "SERIAL_TMTC_BRIDGE";
+const char *SERIAL_RING_BUFFER_STRING = "SERIAL_RING_BUFFER";
+const char *SERIAL_POLLING_TASK_STRING = "SERIAL_POLLING_TASK";
+const char *PUS_SERVICE_1_STRING = "PUS_SERVICE_1";
+const char *PUS_SERVICE_2_STRING = "PUS_SERVICE_2";
+const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
+const char *PUS_SERVICE_3_PSB_STRING = "PUS_SERVICE_3_PSB";
+const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
+const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
+const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
+const char *PUS_SERVICE_9_STRING = "PUS_SERVICE_9";
+const char *PUS_SERVICE_17_STRING = "PUS_SERVICE_17";
+const char *PUS_SERVICE_20_STRING = "PUS_SERVICE_20";
+const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
+const char *PUS_SERVICE_200_STRING = "PUS_SERVICE_200";
+const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
+const char *PUS_TIME_STRING = "PUS_TIME";
+const char *PUS_FUNNEL_STRING = "PUS_FUNNEL";
+const char *FREERTOS_TASK_MONITOR_STRING = "FREERTOS_TASK_MONITOR";
+const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
+const char *MODE_STORE_STRING = "MODE_STORE";
+const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
+const char *INTERNAL_ERROR_REPORTER_STRING = "INTERNAL_ERROR_REPORTER";
+const char *TC_STORE_STRING = "TC_STORE";
+const char *TM_STORE_STRING = "TM_STORE";
+const char *IPC_STORE_STRING = "IPC_STORE";
+const char *AT91_SPI_TEST_TASK_STRING = "AT91_SPI_TEST_TASK";
+const char *STM32_TEST_TASK_STRING = "STM32_TEST_TASK";
+const char *AT91_UART0_TEST_TASK_STRING = "AT91_UART0_TEST_TASK";
+const char *TC_INJECTOR_STRING = "TC_INJECTOR";
+const char *NO_OBJECT_STRING = "NO_OBJECT";
+
+const char* translateObject(object_id_t object){
+	switch((object&0xFFFFFFFF)){
+		case 0x000123336:
+			return AT91_UART2_TEST_TASK_STRING;
+		case 0x01010100:
+			return ARDUINO_0_STRING;
+		case 0x01010101:
+			return ARDUINO_1_STRING;
+		case 0x01010102:
+			return ARDUINO_2_STRING;
+		case 0x01010103:
+			return ARDUINO_3_STRING;
+		case 0x01010104:
+			return ARDUINO_4_STRING;
+		case 0x12345678:
+			return AT91_I2C_TEST_TASK_STRING;
+		case 0x12345777:
+			return LED_TASK_STRING;
+		case 0x42694269:
+			return TEST_TASK_STRING;
+		case 0x44003200:
+			return PCDU_HANDLER_STRING;
+		case 0x4400AFFE:
+			return DUMMY_HANDLER_STRING;
+		case 0x44020108:
+			return SuS_ADC1_DEC2_STRING;
+		case 0x44101F00:
+			return GPS0_HANDLER_STRING;
+		case 0x44104000:
+			return DLR_PVCH_STRING;
+		case 0x44105000:
+			return GYRO1_STRING;
+		case 0x44106000:
+			return DLR_IRAS_STRING;
+		case 0x44115400:
+			return SPI_Test_PT1000_STRING;
+		case 0x44115401:
+			return PT1000_Syrlinks_DEC1_O1_STRING;
+		case 0x44115402:
+			return PT1000_Camera_DEC1_O2_STRING;
+		case 0x44115404:
+			return PT1000_SuS1_DEC1_O3_STRING;
+		case 0x44115405:
+			return PT1000_SuS2_DEC1_O4_STRING;
+		case 0x44115406:
+			return PT1000_SuS3_DEC1_O5_STRING;
+		case 0x44115407:
+			return PT1000_PVHC_DEC1_O6_STRING;
+		case 0x44115500:
+			return SPI_Test_Gyro_STRING;
+		case 0x44125401:
+			return PT1000_CCSDS1_DEC2_STRING;
+		case 0x44125403:
+			return PT1000_MGT1_DEC2_STRING;
+		case 0x44125404:
+			return PT1000_SuS4_DEC2_STRING;
+		case 0x44125405:
+			return PT1000_SuS5_DEC2_STRING;
+		case 0x44125406:
+			return PT1000_SuS6_DEC2_STRING;
+		case 0x44125407:
+			return PT1000_PVCH_DEC2_STRING;
+		case 0x44130301:
+			return PT1000_Iridium_DEC3_STRING;
+		case 0x44130302:
+			return PT1000_CCSDS2_DEC3_STRING;
+		case 0x44130305:
+			return PT1000_SuS7_DEC3_STRING;
+		case 0x44130306:
+			return PT1000_SuS8_DEC3_STRING;
+		case 0x44130307:
+			return PT1000_PVCH_DEC3_STRING;
+		case 0x44130308:
+			return GYRO2_STRING;
+		case 0x44145401:
+			return PT1000_PLOC_DEC4_STRING;
+		case 0x44145404:
+			return PT1000_SuS9_DEC4_STRING;
+		case 0x44145405:
+			return PT1000_SuS10_DEC4_STRING;
+		case 0x44145406:
+			return PT1000_PVHC_DEC4_STRING;
+		case 0x44145407:
+			return SuS_ADC_DEC4_STRING;
+		case 0x44202000:
+			return GPS1_HANDLER_STRING;
+		case 0x49001F00:
+			return DUMMY_GPS_COM_IF_STRING;
+		case 0x49005200:
+			return RS232_DEVICE_COM_IF_STRING;
+		case 0x49005300:
+			return I2C_DEVICE_COM_IF_STRING;
+		case 0x49005400:
+			return GPIO_DEVICE_COM_IF_STRING;
+		case 0x49005410:
+			return SPI_POLLING_TASK_STRING;
+		case 0x49005600:
+			return SPI_DEVICE_COM_IF_STRING;
+		case 0x4900AFFE:
+			return DUMMY_ECHO_COM_IF_STRING;
+		case 0x4D0073AD:
+			return SD_CARD_HANDLER_STRING;
+		case 0x50000100:
+			return CCSDS_PACKET_DISTRIBUTOR_STRING;
+		case 0x50000200:
+			return PUS_PACKET_DISTRIBUTOR_STRING;
+		case 0x50000300:
+			return UDP_TMTC_BRIDGE_STRING;
+		case 0x50000400:
+			return EMAC_POLLING_TASK_STRING;
+		case 0x50000500:
+			return SERIAL_TMTC_BRIDGE_STRING;
+		case 0x50000550:
+			return SERIAL_RING_BUFFER_STRING;
+		case 0x50000600:
+			return SERIAL_POLLING_TASK_STRING;
+		case 0x51000100:
+			return PUS_SERVICE_1_STRING;
+		case 0x51000200:
+			return PUS_SERVICE_2_STRING;
+		case 0x51000300:
+			return PUS_SERVICE_3_STRING;
+		case 0x51000310:
+			return PUS_SERVICE_3_PSB_STRING;
+		case 0x51000400:
+			return PUS_SERVICE_5_STRING;
+		case 0x51000500:
+			return PUS_SERVICE_6_STRING;
+		case 0x51000800:
+			return PUS_SERVICE_8_STRING;
+		case 0x51000900:
+			return PUS_SERVICE_9_STRING;
+		case 0x51001700:
+			return PUS_SERVICE_17_STRING;
+		case 0x51002000:
+			return PUS_SERVICE_20_STRING;
+		case 0x51002300:
+			return PUS_SERVICE_23_STRING;
+		case 0x51020000:
+			return PUS_SERVICE_200_STRING;
+		case 0x51020100:
+			return PUS_SERVICE_201_STRING;
+		case 0x52000001:
+			return PUS_TIME_STRING;
+		case 0x52000002:
+			return PUS_FUNNEL_STRING;
+		case 0x53000000:
+			return PUS_SERVICE_1_STRING;
+		case 0x53000003:
+			return FREERTOS_TASK_MONITOR_STRING;
+		case 0x53010000:
+			return HEALTH_TABLE_STRING;
+		case 0x53010100:
+			return MODE_STORE_STRING;
+		case 0x53030000:
+			return EVENT_MANAGER_STRING;
+		case 0x53040000:
+			return INTERNAL_ERROR_REPORTER_STRING;
+		case 0x534f0100:
+			return TC_STORE_STRING;
+		case 0x534f0200:
+			return TM_STORE_STRING;
+		case 0x534f0300:
+			return IPC_STORE_STRING;
+		case 0x66666666:
+			return AT91_SPI_TEST_TASK_STRING;
+		case 0x77777777:
+			return STM32_TEST_TASK_STRING;
+		case 0x87654321:
+			return AT91_UART0_TEST_TASK_STRING;
+		case 0x99000001:
+			return TC_INJECTOR_STRING;
+		case 0xFFFFFFFF:
+			return NO_OBJECT_STRING;
+		default:
+			return "UNKNOWN_OBJECT";
+	}
+	return 0;
+}
diff --git a/defaultcfg/config/objects/translateObjects.h b/defaultcfg/config/objects/translateObjects.h
new file mode 100644
index 00000000..5b656940
--- /dev/null
+++ b/defaultcfg/config/objects/translateObjects.h
@@ -0,0 +1,9 @@
+#ifndef CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
+#define CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
+
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+
+const char* translateObject(object_id_t object);
+
+
+#endif /* CONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */
diff --git a/defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp b/defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp
new file mode 100644
index 00000000..f836a746
--- /dev/null
+++ b/defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp
@@ -0,0 +1,23 @@
+#include "PollingSequenceFactory.h"
+
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+
+ReturnValue_t pst::pollingSequenceInitDefault(
+        FixedTimeslotTaskIF *thisSequence) {
+	/* Length of a communication cycle */
+	uint32_t length = thisSequence->getPeriodMs();
+
+	/* Add polling sequence table here */
+
+	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
+		        << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
diff --git a/defaultcfg/config/pollingsequence/PollingSequenceFactory.h b/defaultcfg/config/pollingsequence/PollingSequenceFactory.h
new file mode 100644
index 00000000..c5d41b7d
--- /dev/null
+++ b/defaultcfg/config/pollingsequence/PollingSequenceFactory.h
@@ -0,0 +1,32 @@
+#ifndef POLLINGSEQUENCEFACTORY_H_
+#define POLLINGSEQUENCEFACTORY_H_
+
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+class FixedTimeslotTaskIF;
+
+/**
+ * All device handlers are scheduled by adding them into  Polling Sequence Tables (PST)
+ * to satisfy stricter timing requirements of device communication,
+ * A device handler has four different communication steps:
+ *   1. DeviceHandlerIF::SEND_WRITE -> Send write via interface
+ *   2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write
+ *   3. DeviceHandlerIF::SEND_READ -> Send read request
+ *   4. DeviceHandlerIF::GET_READ -> Read from interface
+ * The PST specifies precisely when the respective ComIF functions are called
+ * during the communication cycle time.
+ * The task is created using the FixedTimeslotTaskIF,
+ * which utilises the underlying Operating System Abstraction Layer (OSAL)
+ *
+ * @param thisSequence FixedTimeslotTaskIF * object is passed inside the Factory class when creating the PST
+ * @return
+ */
+namespace pst {
+
+/* Default PST */
+ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
+
+
+}
+
+#endif /* POLLINGSEQUENCEINIT_H_ */
diff --git a/defaultcfg/config/returnvalues/classIds.h b/defaultcfg/config/returnvalues/classIds.h
new file mode 100644
index 00000000..606cc60b
--- /dev/null
+++ b/defaultcfg/config/returnvalues/classIds.h
@@ -0,0 +1,16 @@
+#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
+#define CONFIG_RETURNVALUES_CLASSIDS_H_
+
+#include <fsfw/returnvalues/FwClassIds.h>
+
+/**
+ * @brief   CLASS_ID defintions which are required for custom returnvalues.
+ */
+namespace CLASS_ID {
+enum {
+	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
+};
+}
+
+
+#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */
diff --git a/defaultcfg/config/tmtc/apid.h b/defaultcfg/config/tmtc/apid.h
new file mode 100644
index 00000000..c0231bca
--- /dev/null
+++ b/defaultcfg/config/tmtc/apid.h
@@ -0,0 +1,18 @@
+#ifndef CONFIG_TMTC_APID_H_
+#define CONFIG_TMTC_APID_H_
+
+#include <cstdint>
+
+/**
+ * Application Process Definition: entity, uniquely identified by an
+ * application process ID (APID), capable of generating telemetry source
+ * packets and receiving telecommand packets.
+ *
+ * Chose APID(s) for mission and define it here.
+ */
+namespace apid {
+	static const uint16_t DEFAULT_APID = 0x00;
+}
+
+
+#endif /* CONFIG_TMTC_APID_H_ */
diff --git a/defaultcfg/config/tmtc/pusIds.h b/defaultcfg/config/tmtc/pusIds.h
new file mode 100644
index 00000000..cc0db9f0
--- /dev/null
+++ b/defaultcfg/config/tmtc/pusIds.h
@@ -0,0 +1,23 @@
+#ifndef CONFIG_TMTC_PUSIDS_HPP_
+#define CONFIG_TMTC_PUSIDS_HPP_
+
+namespace pus {
+enum Ids: uint8_t {
+	PUS_SERVICE_1 = 1,
+	PUS_SERVICE_2 = 2,
+	PUS_SERVICE_3 = 3,
+	PUS_SERVICE_5 = 5,
+	PUS_SERVICE_6 = 6,
+	PUS_SERVICE_8 = 8,
+	PUS_SERVICE_9 = 9,
+	PUS_SERVICE_11 = 11,
+	PUS_SERVICE_17 = 17,
+	PUS_SERVICE_19 = 19,
+	PUS_SERVICE_20 = 20,
+	PUS_SERVICE_23 = 23,
+	PUS_SERVICE_200 = 200,
+	PUS_SERVICE_201 = 201,
+};
+};
+
+#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
diff --git a/defaultcfg/config/version.h b/defaultcfg/config/version.h
new file mode 100644
index 00000000..3c60317c
--- /dev/null
+++ b/defaultcfg/config/version.h
@@ -0,0 +1,9 @@
+#ifndef CONFIG_VERSION_H_
+#define CONFIG_VERSION_H_
+
+/* OBSW versioning can be specified in this file */
+
+#define OBSW_VERSION      0
+#define OBSW_SUBVERSION   0
+
+#endif /* CONFIG_VERSION_H_ */
diff --git a/defaultcfg/version.h b/defaultcfg/version.h
new file mode 100644
index 00000000..b3ef8318
--- /dev/null
+++ b/defaultcfg/version.h
@@ -0,0 +1,11 @@
+#ifndef FSFW_DEFAULTCFG_VERSION_H_
+#define FSFW_DEFAULTCFG_VERSION_H_
+
+static const char* FSFW_VERSION_NAME = "fsfw";
+
+#define FSFW_VERSION 		0
+#define	FSFW_SUBVERSION 	0
+
+
+
+#endif /* FSFW_DEFAULTCFG_VERSION_H_ */

From 247c9f29479289b29475799fb4b74c07d553fb41 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 17:39:11 +0200
Subject: [PATCH 435/653] added readme

---
 README.md | 4 ++++
 1 file changed, 4 insertions(+)
 create mode 100644 README.md

diff --git a/README.md b/README.md
new file mode 100644
index 00000000..fc86fca7
--- /dev/null
+++ b/README.md
@@ -0,0 +1,4 @@
+Flight Software Framework (FSFW)
+======
+
+I want to be written!

From 1940a2acf02f9f36872163fff3d08bccfb132858 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 17:44:27 +0200
Subject: [PATCH 436/653] some fixes

---
 defaultcfg/config/objects/systemObjectList.h  | 130 +--------
 .../config/objects/translateObjects.cpp       | 271 ------------------
 defaultcfg/config/objects/translateObjects.h  |   9 -
 3 files changed, 4 insertions(+), 406 deletions(-)
 delete mode 100644 defaultcfg/config/objects/translateObjects.cpp
 delete mode 100644 defaultcfg/config/objects/translateObjects.h

diff --git a/defaultcfg/config/objects/systemObjectList.h b/defaultcfg/config/objects/systemObjectList.h
index 2448efbd..f4292f6d 100644
--- a/defaultcfg/config/objects/systemObjectList.h
+++ b/defaultcfg/config/objects/systemObjectList.h
@@ -2,137 +2,15 @@
 #define CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
 
 #include <cstdint>
+#include <fsfw/objectmanager/frameworkObjects.h>
 
 // The objects will be instantiated in the ID order
 namespace objects {
 	enum sourceObjects: uint32_t {
-		/* First Byte 0x50-0x52 reserved for PUS Services **/
-		CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
-		PUS_PACKET_DISTRIBUTOR = 0x50000200,
-		/* UDP ID must come after CCSDS Distributor  **/
-		UDP_TMTC_BRIDGE = 0x50000300,
-		EMAC_POLLING_TASK = 0x50000400,
-		SERIAL_TMTC_BRIDGE = 0x50000500,
-		SERIAL_RING_BUFFER = 0x50000550,
-		SERIAL_POLLING_TASK = 0x50000600,
-
-		PUS_SERVICE_6_MEM_MGMT = 0x51000500,
-		PUS_SERVICE_20_PARAM_MGMT = 0x51002000,
-		PUS_SERVICE_23_FILE_MGMT = 0x51002300,
-		PUS_SERVICE_201_HEALTH = 0x51020100,
-
-		PUS_TIME = 0x52000001,
-		TM_FUNNEL = 0x52000002,
-		FREERTOS_TASK_MONITOR = 0x53000003,
-
-		CORE_CONTROLLER = 0x40001000,
-        SYSTEM_STATE_TASK = 0x40001005,
-        THERMAL_CONTROLLER = 0x40002000,
-		RS485_CONTROLLER = 0x40005000,
-
-        /* 0x44 ('D') for Device Handlers **/
-        /* Second Byte: ComIF -> 0x00: UART,0x10 SPI,0x20: I2C,30: GPIO,40: PWM */
-        /* Third Byte: Device ID */
-		PCDU_HANDLER = 0x44003200,
-		GPS0_HANDLER = 0x44101F00,
-		GPS1_HANDLER = 0x44202000,
-
-		DLR_PVCH = 0x44104000,
-		GYRO1 = 0x44105000,
-		DLR_IRAS = 0x44106000,
-
-		/* fourth byte decoder output ID */
-
-		// Devices connected to decoder 1
-		SPI_Test_PT1000 = 0x44115400,
-		SPI_Test_Gyro = 0x44115500,
-		PT1000_Syrlinks_DEC1_O1 = 0x44115401,
-		PT1000_Camera_DEC1_O2 = 0x44115402,
-		PT1000_SuS1_DEC1_O3 = 0x44115404,
-		PT1000_SuS2_DEC1_O4 = 0x44115405,
-		PT1000_SuS3_DEC1_O5 = 0x44115406,
-		PT1000_PVHC_DEC1_O6 = 0x44115407,
-
-		// Devices connected to decoder 2
-		PT1000_CCSDS1_DEC2 = 0x44125401,
-		PT1000_MGT1_DEC2 = 0x44125403,
-		PT1000_SuS4_DEC2 = 0x44125404,
-		PT1000_SuS5_DEC2 = 0x44125405,
-		PT1000_SuS6_DEC2 = 0x44125406,
-		PT1000_PVCH_DEC2 = 0x44125407,
-		SuS_ADC1_DEC2 = 0x44020108,
-
-		// Devices connected to decoder 3
-		PT1000_Iridium_DEC3 = 0x44130301,
-		PT1000_CCSDS2_DEC3 = 0x44130302,
-		PT1000_SuS7_DEC3 = 0x44130305,
-		PT1000_SuS8_DEC3 = 0x44130306,
-		PT1000_PVCH_DEC3 = 0x44130307,
-		GYRO2 = 0x44130308,
-
-		// Devices connected to decoder 4
-		PT1000_PLOC_DEC4 = 0x44145401,
-		PT1000_SuS9_DEC4 = 0x44145404,
-		PT1000_SuS10_DEC4 = 0x44145405,
-		PT1000_PVHC_DEC4 = 0x44145406,
-		SuS_ADC_DEC4 = 0x44145407,
-
-		/* 0x49 ('I') for Communication Interfaces **/
-		DUMMY_ECHO_COM_IF = 0x4900AFFE,
-		DUMMY_GPS_COM_IF = 0x49001F00,
-		RS232_DEVICE_COM_IF = 0x49005200,
-		I2C_DEVICE_COM_IF = 0x49005300,
-		GPIO_DEVICE_COM_IF = 0x49005400,
-		SPI_DEVICE_COM_IF = 0x49005600,
-		//SPI_POLLING_TASK = 0x49005410,
-
-		/* 0x4d ('M') for Memory Handlers **/
-		SD_CARD_HANDLER = 0x4D0073AD,
-		FRAM_HANDLER = 0x4D008000,
-		SOFTWARE_IMAGE_HANDLER = 0x4D009000,
-
-		/* Board Specific */
-		AT91_I2C_TEST_TASK = 0x12345678,
-		AT91_UART0_TEST_TASK = 0x87654321,
-		AT91_UART2_TEST_TASK = 0x000123336,
-		AT91_SPI_TEST_TASK = 0x66666666,
-		STM32_TEST_TASK = 0x77777777,
-		LED_TASK = 0x12345777,
-
-		/* Test Task */
-		ARDUINO_0 = 0x01010100,
-		ARDUINO_1 = 0x01010101,
-		ARDUINO_2 = 0x01010102,
-		ARDUINO_3 = 0x01010103,
-		ARDUINO_4 = 0x01010104,
-		TEST_TASK = 0x42694269,
-		DUMMY_HANDLER = 0x4400AFFE,
-		TC_INJECTOR	= 0x99000001
+		/* All addresses between start and end are reserved for the FSFW */
+		FSFW_CONFIG_RESERVED_START = PUS_SERVICE_1_VERIFICATION,
+		FSFW_CONFIG_RESERVED_END = TM_STORE
 	};
 }
 
 #endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
-
-
-/**
-                   ▄              ▄
-                  ▌▒█           ▄▀▒▌
-                  ▌▒▒█        ▄▀▒▒▒▐
-                 ▐▄▀▒▒▀▀▀▀▄▄▄▀▒▒▒▒▒▐
-               ▄▄▀▒░▒▒▒▒▒▒▒▒▒█▒▒▄█▒▐
-             ▄▀▒▒▒░░░▒▒▒░░░▒▒▒▀██▀▒▌
-            ▐▒▒▒▄▄▒▒▒▒░░░▒▒▒▒▒▒▒▀▄▒▒▌
-            ▌░░▌█▀▒▒▒▒▒▄▀█▄▒▒▒▒▒▒▒█▒▐
-           ▐░░░▒▒▒▒▒▒▒▒▌██▀▒▒░░░▒▒▒▀▄▌
-           ▌░▒▄██▄▒▒▒▒▒▒▒▒▒░░░░░░▒▒▒▒▌
-          ▌▒▀▐▄█▄█▌▄░▀▒▒░░░░░░░░░░▒▒▒▐
-          ▐▒▒▐▀▐▀▒░▄▄▒▄▒▒▒▒▒▒░▒░▒░▒▒▒▒▌
-          ▐▒▒▒▀▀▄▄▒▒▒▄▒▒▒▒▒▒▒▒░▒░▒░▒▒▐
-           ▌▒▒▒▒▒▒▀▀▀▒▒▒▒▒▒░▒░▒░▒░▒▒▒▌
-           ▐▒▒▒▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▒▄▒▒▐
-            ▀▄▒▒▒▒▒▒▒▒▒▒▒░▒░▒░▒▄▒▒▒▒▌
-              ▀▄▒▒▒▒▒▒▒▒▒▒▄▄▄▀▒▒▒▒▄▀
-                ▀▄▄▄▄▄▄▀▀▀▒▒▒▒▒▄▄▀
-                   ▒▒▒▒▒▒▒▒▒▒▀▀
-*/
-
diff --git a/defaultcfg/config/objects/translateObjects.cpp b/defaultcfg/config/objects/translateObjects.cpp
deleted file mode 100644
index 73cd02bf..00000000
--- a/defaultcfg/config/objects/translateObjects.cpp
+++ /dev/null
@@ -1,271 +0,0 @@
-/** 
- * @brief	Auto-generated object translation file. Contains 86 translations. 
- * Generated on: 2020-08-25 00:57:14
- **/ 
-#include "translateObjects.h"
-
-const char *AT91_UART2_TEST_TASK_STRING = "AT91_UART2_TEST_TASK";
-const char *ARDUINO_0_STRING = "ARDUINO_0";
-const char *ARDUINO_1_STRING = "ARDUINO_1";
-const char *ARDUINO_2_STRING = "ARDUINO_2";
-const char *ARDUINO_3_STRING = "ARDUINO_3";
-const char *ARDUINO_4_STRING = "ARDUINO_4";
-const char *AT91_I2C_TEST_TASK_STRING = "AT91_I2C_TEST_TASK";
-const char *LED_TASK_STRING = "LED_TASK";
-const char *TEST_TASK_STRING = "TEST_TASK";
-const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
-const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
-const char *SuS_ADC1_DEC2_STRING = "SuS_ADC1_DEC2";
-const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
-const char *DLR_PVCH_STRING = "DLR_PVCH";
-const char *GYRO1_STRING = "GYRO1";
-const char *DLR_IRAS_STRING = "DLR_IRAS";
-const char *SPI_Test_PT1000_STRING = "SPI_Test_PT1000";
-const char *PT1000_Syrlinks_DEC1_O1_STRING = "PT1000_Syrlinks_DEC1_O1";
-const char *PT1000_Camera_DEC1_O2_STRING = "PT1000_Camera_DEC1_O2";
-const char *PT1000_SuS1_DEC1_O3_STRING = "PT1000_SuS1_DEC1_O3";
-const char *PT1000_SuS2_DEC1_O4_STRING = "PT1000_SuS2_DEC1_O4";
-const char *PT1000_SuS3_DEC1_O5_STRING = "PT1000_SuS3_DEC1_O5";
-const char *PT1000_PVHC_DEC1_O6_STRING = "PT1000_PVHC_DEC1_O6";
-const char *SPI_Test_Gyro_STRING = "SPI_Test_Gyro";
-const char *PT1000_CCSDS1_DEC2_STRING = "PT1000_CCSDS1_DEC2";
-const char *PT1000_MGT1_DEC2_STRING = "PT1000_MGT1_DEC2";
-const char *PT1000_SuS4_DEC2_STRING = "PT1000_SuS4_DEC2";
-const char *PT1000_SuS5_DEC2_STRING = "PT1000_SuS5_DEC2";
-const char *PT1000_SuS6_DEC2_STRING = "PT1000_SuS6_DEC2";
-const char *PT1000_PVCH_DEC2_STRING = "PT1000_PVCH_DEC2";
-const char *PT1000_Iridium_DEC3_STRING = "PT1000_Iridium_DEC3";
-const char *PT1000_CCSDS2_DEC3_STRING = "PT1000_CCSDS2_DEC3";
-const char *PT1000_SuS7_DEC3_STRING = "PT1000_SuS7_DEC3";
-const char *PT1000_SuS8_DEC3_STRING = "PT1000_SuS8_DEC3";
-const char *PT1000_PVCH_DEC3_STRING = "PT1000_PVCH_DEC3";
-const char *GYRO2_STRING = "GYRO2";
-const char *PT1000_PLOC_DEC4_STRING = "PT1000_PLOC_DEC4";
-const char *PT1000_SuS9_DEC4_STRING = "PT1000_SuS9_DEC4";
-const char *PT1000_SuS10_DEC4_STRING = "PT1000_SuS10_DEC4";
-const char *PT1000_PVHC_DEC4_STRING = "PT1000_PVHC_DEC4";
-const char *SuS_ADC_DEC4_STRING = "SuS_ADC_DEC4";
-const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
-const char *DUMMY_GPS_COM_IF_STRING = "DUMMY_GPS_COM_IF";
-const char *RS232_DEVICE_COM_IF_STRING = "RS232_DEVICE_COM_IF";
-const char *I2C_DEVICE_COM_IF_STRING = "I2C_DEVICE_COM_IF";
-const char *GPIO_DEVICE_COM_IF_STRING = "GPIO_DEVICE_COM_IF";
-const char *SPI_POLLING_TASK_STRING = "SPI_POLLING_TASK";
-const char *SPI_DEVICE_COM_IF_STRING = "SPI_DEVICE_COM_IF";
-const char *DUMMY_ECHO_COM_IF_STRING = "DUMMY_ECHO_COM_IF";
-const char *SD_CARD_HANDLER_STRING = "SD_CARD_HANDLER";
-const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
-const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
-const char *UDP_TMTC_BRIDGE_STRING = "UDP_TMTC_BRIDGE";
-const char *EMAC_POLLING_TASK_STRING = "EMAC_POLLING_TASK";
-const char *SERIAL_TMTC_BRIDGE_STRING = "SERIAL_TMTC_BRIDGE";
-const char *SERIAL_RING_BUFFER_STRING = "SERIAL_RING_BUFFER";
-const char *SERIAL_POLLING_TASK_STRING = "SERIAL_POLLING_TASK";
-const char *PUS_SERVICE_1_STRING = "PUS_SERVICE_1";
-const char *PUS_SERVICE_2_STRING = "PUS_SERVICE_2";
-const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
-const char *PUS_SERVICE_3_PSB_STRING = "PUS_SERVICE_3_PSB";
-const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
-const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
-const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
-const char *PUS_SERVICE_9_STRING = "PUS_SERVICE_9";
-const char *PUS_SERVICE_17_STRING = "PUS_SERVICE_17";
-const char *PUS_SERVICE_20_STRING = "PUS_SERVICE_20";
-const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
-const char *PUS_SERVICE_200_STRING = "PUS_SERVICE_200";
-const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
-const char *PUS_TIME_STRING = "PUS_TIME";
-const char *PUS_FUNNEL_STRING = "PUS_FUNNEL";
-const char *FREERTOS_TASK_MONITOR_STRING = "FREERTOS_TASK_MONITOR";
-const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
-const char *MODE_STORE_STRING = "MODE_STORE";
-const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
-const char *INTERNAL_ERROR_REPORTER_STRING = "INTERNAL_ERROR_REPORTER";
-const char *TC_STORE_STRING = "TC_STORE";
-const char *TM_STORE_STRING = "TM_STORE";
-const char *IPC_STORE_STRING = "IPC_STORE";
-const char *AT91_SPI_TEST_TASK_STRING = "AT91_SPI_TEST_TASK";
-const char *STM32_TEST_TASK_STRING = "STM32_TEST_TASK";
-const char *AT91_UART0_TEST_TASK_STRING = "AT91_UART0_TEST_TASK";
-const char *TC_INJECTOR_STRING = "TC_INJECTOR";
-const char *NO_OBJECT_STRING = "NO_OBJECT";
-
-const char* translateObject(object_id_t object){
-	switch((object&0xFFFFFFFF)){
-		case 0x000123336:
-			return AT91_UART2_TEST_TASK_STRING;
-		case 0x01010100:
-			return ARDUINO_0_STRING;
-		case 0x01010101:
-			return ARDUINO_1_STRING;
-		case 0x01010102:
-			return ARDUINO_2_STRING;
-		case 0x01010103:
-			return ARDUINO_3_STRING;
-		case 0x01010104:
-			return ARDUINO_4_STRING;
-		case 0x12345678:
-			return AT91_I2C_TEST_TASK_STRING;
-		case 0x12345777:
-			return LED_TASK_STRING;
-		case 0x42694269:
-			return TEST_TASK_STRING;
-		case 0x44003200:
-			return PCDU_HANDLER_STRING;
-		case 0x4400AFFE:
-			return DUMMY_HANDLER_STRING;
-		case 0x44020108:
-			return SuS_ADC1_DEC2_STRING;
-		case 0x44101F00:
-			return GPS0_HANDLER_STRING;
-		case 0x44104000:
-			return DLR_PVCH_STRING;
-		case 0x44105000:
-			return GYRO1_STRING;
-		case 0x44106000:
-			return DLR_IRAS_STRING;
-		case 0x44115400:
-			return SPI_Test_PT1000_STRING;
-		case 0x44115401:
-			return PT1000_Syrlinks_DEC1_O1_STRING;
-		case 0x44115402:
-			return PT1000_Camera_DEC1_O2_STRING;
-		case 0x44115404:
-			return PT1000_SuS1_DEC1_O3_STRING;
-		case 0x44115405:
-			return PT1000_SuS2_DEC1_O4_STRING;
-		case 0x44115406:
-			return PT1000_SuS3_DEC1_O5_STRING;
-		case 0x44115407:
-			return PT1000_PVHC_DEC1_O6_STRING;
-		case 0x44115500:
-			return SPI_Test_Gyro_STRING;
-		case 0x44125401:
-			return PT1000_CCSDS1_DEC2_STRING;
-		case 0x44125403:
-			return PT1000_MGT1_DEC2_STRING;
-		case 0x44125404:
-			return PT1000_SuS4_DEC2_STRING;
-		case 0x44125405:
-			return PT1000_SuS5_DEC2_STRING;
-		case 0x44125406:
-			return PT1000_SuS6_DEC2_STRING;
-		case 0x44125407:
-			return PT1000_PVCH_DEC2_STRING;
-		case 0x44130301:
-			return PT1000_Iridium_DEC3_STRING;
-		case 0x44130302:
-			return PT1000_CCSDS2_DEC3_STRING;
-		case 0x44130305:
-			return PT1000_SuS7_DEC3_STRING;
-		case 0x44130306:
-			return PT1000_SuS8_DEC3_STRING;
-		case 0x44130307:
-			return PT1000_PVCH_DEC3_STRING;
-		case 0x44130308:
-			return GYRO2_STRING;
-		case 0x44145401:
-			return PT1000_PLOC_DEC4_STRING;
-		case 0x44145404:
-			return PT1000_SuS9_DEC4_STRING;
-		case 0x44145405:
-			return PT1000_SuS10_DEC4_STRING;
-		case 0x44145406:
-			return PT1000_PVHC_DEC4_STRING;
-		case 0x44145407:
-			return SuS_ADC_DEC4_STRING;
-		case 0x44202000:
-			return GPS1_HANDLER_STRING;
-		case 0x49001F00:
-			return DUMMY_GPS_COM_IF_STRING;
-		case 0x49005200:
-			return RS232_DEVICE_COM_IF_STRING;
-		case 0x49005300:
-			return I2C_DEVICE_COM_IF_STRING;
-		case 0x49005400:
-			return GPIO_DEVICE_COM_IF_STRING;
-		case 0x49005410:
-			return SPI_POLLING_TASK_STRING;
-		case 0x49005600:
-			return SPI_DEVICE_COM_IF_STRING;
-		case 0x4900AFFE:
-			return DUMMY_ECHO_COM_IF_STRING;
-		case 0x4D0073AD:
-			return SD_CARD_HANDLER_STRING;
-		case 0x50000100:
-			return CCSDS_PACKET_DISTRIBUTOR_STRING;
-		case 0x50000200:
-			return PUS_PACKET_DISTRIBUTOR_STRING;
-		case 0x50000300:
-			return UDP_TMTC_BRIDGE_STRING;
-		case 0x50000400:
-			return EMAC_POLLING_TASK_STRING;
-		case 0x50000500:
-			return SERIAL_TMTC_BRIDGE_STRING;
-		case 0x50000550:
-			return SERIAL_RING_BUFFER_STRING;
-		case 0x50000600:
-			return SERIAL_POLLING_TASK_STRING;
-		case 0x51000100:
-			return PUS_SERVICE_1_STRING;
-		case 0x51000200:
-			return PUS_SERVICE_2_STRING;
-		case 0x51000300:
-			return PUS_SERVICE_3_STRING;
-		case 0x51000310:
-			return PUS_SERVICE_3_PSB_STRING;
-		case 0x51000400:
-			return PUS_SERVICE_5_STRING;
-		case 0x51000500:
-			return PUS_SERVICE_6_STRING;
-		case 0x51000800:
-			return PUS_SERVICE_8_STRING;
-		case 0x51000900:
-			return PUS_SERVICE_9_STRING;
-		case 0x51001700:
-			return PUS_SERVICE_17_STRING;
-		case 0x51002000:
-			return PUS_SERVICE_20_STRING;
-		case 0x51002300:
-			return PUS_SERVICE_23_STRING;
-		case 0x51020000:
-			return PUS_SERVICE_200_STRING;
-		case 0x51020100:
-			return PUS_SERVICE_201_STRING;
-		case 0x52000001:
-			return PUS_TIME_STRING;
-		case 0x52000002:
-			return PUS_FUNNEL_STRING;
-		case 0x53000000:
-			return PUS_SERVICE_1_STRING;
-		case 0x53000003:
-			return FREERTOS_TASK_MONITOR_STRING;
-		case 0x53010000:
-			return HEALTH_TABLE_STRING;
-		case 0x53010100:
-			return MODE_STORE_STRING;
-		case 0x53030000:
-			return EVENT_MANAGER_STRING;
-		case 0x53040000:
-			return INTERNAL_ERROR_REPORTER_STRING;
-		case 0x534f0100:
-			return TC_STORE_STRING;
-		case 0x534f0200:
-			return TM_STORE_STRING;
-		case 0x534f0300:
-			return IPC_STORE_STRING;
-		case 0x66666666:
-			return AT91_SPI_TEST_TASK_STRING;
-		case 0x77777777:
-			return STM32_TEST_TASK_STRING;
-		case 0x87654321:
-			return AT91_UART0_TEST_TASK_STRING;
-		case 0x99000001:
-			return TC_INJECTOR_STRING;
-		case 0xFFFFFFFF:
-			return NO_OBJECT_STRING;
-		default:
-			return "UNKNOWN_OBJECT";
-	}
-	return 0;
-}
diff --git a/defaultcfg/config/objects/translateObjects.h b/defaultcfg/config/objects/translateObjects.h
deleted file mode 100644
index 5b656940..00000000
--- a/defaultcfg/config/objects/translateObjects.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#ifndef CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
-#define CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
-
-#include <fsfw/objectmanager/ObjectManagerIF.h>
-
-const char* translateObject(object_id_t object);
-
-
-#endif /* CONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */

From e4d323683d478118ea4f59d1ace3f684fa37793d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 17:47:52 +0200
Subject: [PATCH 437/653] readme fix

---
 defaultcfg/config/objects/Factory.cpp | 31 ++++++++++++---------------
 1 file changed, 14 insertions(+), 17 deletions(-)

diff --git a/defaultcfg/config/objects/Factory.cpp b/defaultcfg/config/objects/Factory.cpp
index ea187a5e..51dd6130 100644
--- a/defaultcfg/config/objects/Factory.cpp
+++ b/defaultcfg/config/objects/Factory.cpp
@@ -1,11 +1,9 @@
 #include "Factory.h"
-
-/* Config */
-#include <tmtc/apid.h>
-#include <objects/systemObjectList.h>
-#include <devices/logicalAddresses.h>
-#include <devices/powerSwitcherList.h>
-#include <tmtc/pusIds.h>
+#include "../tmtc/apid.h"
+#include "../tmtc/pusIds.h"
+#include "../objects/systemObjectList.h"
+#include "../devices/logicalAddresses.h"
+#include "../devices/powerSwitcherList.h"
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <fsfw/events/EventManager.h>
@@ -13,21 +11,20 @@
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
-#include <mission/utility/TmFunnel.h>
-
 
 #include <cstdint>
 
-
 /**
- * Build tasks by using SystemObject Interface (Interface).
- * Header files of all tasks must be included
- * Please note that an object has to implement the system object interface
- * if the nterface validity is checked or retrieved later by using the
- * get<TargetInterface>(object_id) function from the ObjectManagerIF.
+ * This class should be used to create all system objects required for
+ * the on-board software, using the object ID list from the configuration
+ * folder.
+ *
+ * The objects are registered in the internal object manager automatically.
+ * This is used later to add objects to tasks.
+ *
+ * This file also sets static framework IDs.
  *
  * Framework objects are created first.
- *
  * @ingroup init
  */
 void Factory::produce(void) {
@@ -52,6 +49,6 @@ void Factory::setStaticFrameworkObjectIds() {
 	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
 
 	TmPacketStored::timeStamperId = objects::PUS_TIME;
-	TmFunnel::downlinkDestination = objects::NO_OBJECT;
+	//TmFunnel::downlinkDestination = objects::NO_OBJECT;
 }
 

From ede00dfdcc5f4bb5b90093b473b84013b6cc1d83 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 17:50:10 +0200
Subject: [PATCH 438/653] double files removed, versioning files renamed

---
 defaultcfg/version.h => FSFWVersion.h         |  0
 defaultcfg/FSFWConfig.h                       | 41 -------------------
 .../config/{version.h => OBSWVersion.h}       |  0
 3 files changed, 41 deletions(-)
 rename defaultcfg/version.h => FSFWVersion.h (100%)
 delete mode 100644 defaultcfg/FSFWConfig.h
 rename defaultcfg/config/{version.h => OBSWVersion.h} (100%)

diff --git a/defaultcfg/version.h b/FSFWVersion.h
similarity index 100%
rename from defaultcfg/version.h
rename to FSFWVersion.h
diff --git a/defaultcfg/FSFWConfig.h b/defaultcfg/FSFWConfig.h
deleted file mode 100644
index 2001f306..00000000
--- a/defaultcfg/FSFWConfig.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#ifndef CONFIG_FSFWCONFIG_H_
-#define CONFIG_FSFWCONFIG_H_
-
-#include "version.h"
-
-//! Used to determine whether C++ ostreams are used
-//! Those can lead to code bloat.
-#define FSFW_CPP_OSTREAM_ENABLED 	1
-
-//! Reduced printout to further decrese code size
-//! Be careful, this also turns off most diagnostic prinouts!
-#define FSFW_REDUCED_PRINTOUT		0
-
-//! Can be used to enable debugging printouts for developing the FSFW
-#define FSFW_DEBUGGING              0
-
-//! Defines the FIFO depth of each commanding service base which
-//! also determines how many commands a CSB service can handle in one cycle
-//! simulataneously. This will increase the required RAM for
-//! each CSB service !
-#define FSFW_CSB_FIFO_DEPTH			6
-
-//! If -DDEBUG is supplied in the build defines, there will be
-//! additional output which requires the translation files translateObjects
-//! and translateEvents (and their compiles source files)
-#ifdef DEBUG
-#define FSFW_DEBUG_OUTPUT 			1
-//! Specify whether info events are printed too.
-#define FSFW_DEBUG_INFO				1
-#include <translateObjects.h>
-#include <translateEvents.h>
-#else
-#define FSFW_DEBUG_OUTPUT			0
-#endif
-
-//! When using the newlib nano library, C99 support for stdio facilities
-//! will not be provided. This define should be set to 1 if this is the case.
-#define FSFW_NO_C99_IO 	1
-
-
-#endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/defaultcfg/config/version.h b/defaultcfg/config/OBSWVersion.h
similarity index 100%
rename from defaultcfg/config/version.h
rename to defaultcfg/config/OBSWVersion.h

From 29a796ebdb85ca62ab6d90ec5519d561a51de40a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 17:51:13 +0200
Subject: [PATCH 439/653] include names fixed

---
 defaultcfg/config/FSFWConfig.h | 2 +-
 defaultcfg/config/OBSWConfig.h | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/defaultcfg/config/FSFWConfig.h b/defaultcfg/config/FSFWConfig.h
index 2001f306..cfe89864 100644
--- a/defaultcfg/config/FSFWConfig.h
+++ b/defaultcfg/config/FSFWConfig.h
@@ -1,7 +1,7 @@
 #ifndef CONFIG_FSFWCONFIG_H_
 #define CONFIG_FSFWCONFIG_H_
 
-#include "version.h"
+#include <FSFWVersion.h>
 
 //! Used to determine whether C++ ostreams are used
 //! Those can lead to code bloat.
diff --git a/defaultcfg/config/OBSWConfig.h b/defaultcfg/config/OBSWConfig.h
index d186da7d..a9f57638 100644
--- a/defaultcfg/config/OBSWConfig.h
+++ b/defaultcfg/config/OBSWConfig.h
@@ -1,6 +1,8 @@
 #ifndef CONFIG_OBSWCONFIG_H_
 #define CONFIG_OBSWCONFIG_H_
 
+#include "OBSWVersion.h"
+
 #ifdef __cplusplus
 namespace config {
 #endif

From 6cce062d622a126a7eca831b3f3070bfdc6c6f21 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 20 Oct 2020 17:52:43 +0200
Subject: [PATCH 440/653] some more fixes

---
 defaultcfg/config/objects/Factory.h | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/defaultcfg/config/objects/Factory.h b/defaultcfg/config/objects/Factory.h
index 8b99ae99..fe55deff 100644
--- a/defaultcfg/config/objects/Factory.h
+++ b/defaultcfg/config/objects/Factory.h
@@ -5,15 +5,12 @@
 #include <cstddef>
 
 namespace Factory {
-    size_t calculateStorage(uint8_t numberOfPools, uint16_t* numberOfElements,
-            uint16_t* sizeOfElements);
 	/**
 	 * @brief   Creates all SystemObject elements which are persistent
 	 *          during execution.
 	 */
 	void produce();
 	void setStaticFrameworkObjectIds();
-
 }
 
 

From 410094ed285c55cf081b1c38fd980a2c426f1c10 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 27 Oct 2020 15:16:14 +0100
Subject: [PATCH 441/653] Fixes #161

---
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 017ea8d2..710e8a83 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -1224,7 +1224,7 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 		if (result == BUSY) {
 		    //so we can track misconfigurations
 			sif::debug << std::hex << getObjectId()
-					<< ": DHB::buildInternalCommand: Busy" << std::endl;
+					<< ": DHB::buildInternalCommand: Busy" << std::dec << std::endl;
 			result = NOTHING_TO_SEND; //no need to report this
 		}
 	}

From 546db47db4fb8bb72a1fad79c26775e309b3c496 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 28 Oct 2020 02:20:12 +0100
Subject: [PATCH 442/653] more refactoring

---
 timemanager/TimeStamperIF.h                   |   8 +-
 tmtcpacket/SpacePacketBase.cpp                |   4 +-
 tmtcpacket/SpacePacketBase.h                  |   9 +-
 tmtcpacket/pus/PacketTimestampInterpreterIF.h |   3 +-
 tmtcpacket/pus/TcPacketBase.cpp               |  35 ++---
 tmtcpacket/pus/TcPacketBase.h                 | 127 ++++++++----------
 tmtcpacket/pus/TcPacketStored.cpp             |  46 +++----
 tmtcpacket/pus/TcPacketStored.h               |  65 ++++-----
 tmtcpacket/pus/TmPacketBase.cpp               |  78 ++++++-----
 tmtcpacket/pus/TmPacketBase.h                 | 120 +++++++++--------
 10 files changed, 241 insertions(+), 254 deletions(-)

diff --git a/timemanager/TimeStamperIF.h b/timemanager/TimeStamperIF.h
index bdc5e7e3..96011088 100644
--- a/timemanager/TimeStamperIF.h
+++ b/timemanager/TimeStamperIF.h
@@ -14,8 +14,12 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::TIME_STAMPER_IF;
 	static const ReturnValue_t BAD_TIMESTAMP = MAKE_RETURN_CODE(1);
 
-	static const uint8_t MISSION_TIMESTAMP_SIZE = 8; //!< This is a mission-specific constant and determines the total size reserved for timestamps.
-	virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize) = 0;
+	//! This is a mission-specific constant and determines the total
+	//! size reserved for timestamps.
+	//! TODO: Default define in FSFWConfig ?
+	static const uint8_t MISSION_TIMESTAMP_SIZE = 8;
+	virtual ReturnValue_t addTimeStamp(uint8_t* buffer,
+	        const uint8_t maxSize) = 0;
 	virtual ~TimeStamperIF() {}
 };
 
diff --git a/tmtcpacket/SpacePacketBase.cpp b/tmtcpacket/SpacePacketBase.cpp
index 22ec9b0a..e13af8d0 100644
--- a/tmtcpacket/SpacePacketBase.cpp
+++ b/tmtcpacket/SpacePacketBase.cpp
@@ -1,6 +1,6 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "SpacePacketBase.h"
-#include <string.h>
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include <cstring>
 
 SpacePacketBase::SpacePacketBase( const uint8_t* set_address ) {
 	this->data = (SpacePacketPointer*) set_address;
diff --git a/tmtcpacket/SpacePacketBase.h b/tmtcpacket/SpacePacketBase.h
index 56de5dea..19cbd074 100644
--- a/tmtcpacket/SpacePacketBase.h
+++ b/tmtcpacket/SpacePacketBase.h
@@ -1,5 +1,5 @@
-#ifndef SPACEPACKETBASE_H_
-#define SPACEPACKETBASE_H_
+#ifndef FSFW_TMTCPACKET_SPACEPACKETBASE_H_
+#define FSFW_TMTCPACKET_SPACEPACKETBASE_H_
 
 #include "ccsds_header.h"
 #include <cstddef>
@@ -82,7 +82,8 @@ public:
 	 */
 	bool isTelecommand( void );
 
-	void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader, uint16_t apid, uint16_t sequenceCount = 0);
+	void initSpacePacketHeader(bool isTelecommand, bool hasSecondaryHeader,
+	        uint16_t apid, uint16_t sequenceCount = 0);
 	/**
 	 * The CCSDS header provides a secondary header flag (the fifth-highest bit),
 	 *  which is checked with this method.
@@ -174,4 +175,4 @@ public:
 
 };
 
-#endif /* SPACEPACKETBASE_H_ */
+#endif /* FSFW_TMTCPACKET_SPACEPACKETBASE_H_ */
diff --git a/tmtcpacket/pus/PacketTimestampInterpreterIF.h b/tmtcpacket/pus/PacketTimestampInterpreterIF.h
index dd0c0328..40e7a2ea 100644
--- a/tmtcpacket/pus/PacketTimestampInterpreterIF.h
+++ b/tmtcpacket/pus/PacketTimestampInterpreterIF.h
@@ -7,7 +7,8 @@ class TmPacketMinimal;
 class PacketTimestampInterpreterIF {
 public:
 	virtual ~PacketTimestampInterpreterIF() {}
-	virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet, timeval* timestamp) const = 0;
+	virtual ReturnValue_t getPacketTime(TmPacketMinimal* packet,
+	        timeval* timestamp) const = 0;
 	virtual ReturnValue_t getPacketTimeRaw(TmPacketMinimal* packet, const uint8_t** timePtr, uint32_t* size) const = 0;
 };
 
diff --git a/tmtcpacket/pus/TcPacketBase.cpp b/tmtcpacket/pus/TcPacketBase.cpp
index 57463a9e..eaa8416a 100644
--- a/tmtcpacket/pus/TcPacketBase.cpp
+++ b/tmtcpacket/pus/TcPacketBase.cpp
@@ -1,11 +1,14 @@
-#include "../../globalfunctions/CRC.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "TcPacketBase.h"
-#include <string.h>
 
-TcPacketBase::TcPacketBase(const uint8_t* set_data) :
-		SpacePacketBase(set_data) {
-	tcData = (TcPacketPointer*) set_data;
+#include "../../globalfunctions/CRC.h"
+#include "../../globalfunctions/arrayprinter.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+#include <cstring>
+
+TcPacketBase::TcPacketBase(const uint8_t* setData) :
+		SpacePacketBase(setData) {
+	tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(setData));
 }
 
 TcPacketBase::~TcPacketBase() {
@@ -51,12 +54,6 @@ void TcPacketBase::setData(const uint8_t* pData) {
 	tcData = (TcPacketPointer*) pData;
 }
 
-void TcPacketBase::setAppData(uint8_t * appData, uint16_t dataLen) {
-	memcpy(&tcData->appData, appData, dataLen);
-	SpacePacketBase::setPacketDataLength(dataLen +
-				sizeof(PUSTcDataFieldHeader) + TcPacketBase::CRC_SIZE - 1);
-}
-
 uint8_t TcPacketBase::getSecondaryHeaderFlag() {
 	return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
 }
@@ -66,21 +63,17 @@ uint8_t TcPacketBase::getPusVersionNumber() {
 }
 
 void TcPacketBase::print() {
-	uint8_t * wholeData = getWholeData();
-	sif::debug << "TcPacket contains: " << std::endl;
-	for (uint8_t count = 0; count < getFullSize(); ++count) {
-		sif::debug << std::hex << (uint16_t) wholeData[count] << " ";
-	}
-	sif::debug << std::dec << std::endl;
+    sif::debug << "TcPacketBase::print: " << std::endl;
+	arrayprinter::print(getWholeData(), getFullSize());
 }
 
 void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
-		uint8_t ack, uint8_t service, uint8_t subservice) {
+        uint8_t ack, uint8_t service, uint8_t subservice) {
 	initSpacePacketHeader(true, true, apid, sequenceCount);
-	memset(&tcData->dataField, 0, sizeof(tcData->dataField));
+	std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
 	setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
 	//Data Field Header:
-	//Set CCSDS_secondary_header_flag to 0, version number to 001 and ack to 0000
+	//Set CCSDS_secondary_header_flag to 0 and version number to 001
 	tcData->dataField.version_type_ack = 0b00010000;
 	tcData->dataField.version_type_ack |= (ack & 0x0F);
 	tcData->dataField.service_type = service;
diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h
index fc160fc6..aee801e7 100644
--- a/tmtcpacket/pus/TcPacketBase.h
+++ b/tmtcpacket/pus/TcPacketBase.h
@@ -1,5 +1,5 @@
-#ifndef TCPACKETBASE_H_
-#define TCPACKETBASE_H_
+#ifndef TMTCPACKET_PUS_TCPACKETBASE_H_
+#define TMTCPACKET_PUS_TCPACKETBASE_H_
 
 #include "../../tmtcpacket/SpacePacketBase.h"
 #include <cstddef>
@@ -32,7 +32,7 @@ struct TcPacketPointer {
 /**
  * This class is the basic data handler for any ECSS PUS Telecommand packet.
  *
- * In addition to \SpacePacketBase, the class provides methods to handle
+ * In addition to #SpacePacketBase, the class provides methods to handle
  * the standardized entries of the PUS TC Packet Data Field Header.
  * It does not contain the packet data itself but a pointer to the
  * data must be set on instantiation. An invalid pointer may cause
@@ -41,68 +41,35 @@ struct TcPacketPointer {
  * @ingroup tmtcpackets
  */
 class TcPacketBase : public SpacePacketBase {
-protected:
-	/**
-	 * A pointer to a structure which defines the data structure of
-	 * the packet's data.
-	 *
-	 * To be hardware-safe, all elements are of byte size.
-	 */
-	TcPacketPointer* tcData;
 public:
-	static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) + 2);
-	/**
-	 * With this constant for the acknowledge field responses on all levels are expected.
-	 */
-	static const uint8_t ACK_ALL = 0b1111;
-	/**
-	 * With this constant for the acknowledge field a response on acceptance is expected.
-	 */
-	static const uint8_t ACK_ACCEPTANCE = 0b0001;
-	/**
-	 * With this constant for the acknowledge field a response on start of execution is expected.
-	 */
-	static const uint8_t ACK_START = 0b0010;
-	/**
-	 * With this constant for the acknowledge field responses on execution steps are expected.
-	 */
-	static const uint8_t ACK_STEP = 0b0100;
-	/**
-	 * With this constant for the acknowledge field a response on completion is expected.
-	 */
-	static const uint8_t ACK_COMPLETION = 0b1000;
-	/**
-	 * With this constant for the acknowledge field no responses are expected.
-	 */
-	static const uint8_t ACK_NONE = 0b000;
+	static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
+	        sizeof(PUSTcDataFieldHeader) + 2);
+
+	enum AckField {
+	    //! Acknowledgements on all levels are expected.
+	    ACK_ALL = 0b1111,
+	    //! Acknowledgements on acceptance are expected.
+	    ACK_ACCEPTANCE = 0b0001,
+	    //! Acknowledgements on start are expected.
+	    ACK_START = 0b0010,
+	    //! Acknowledgements on step are expected.
+	    ACK_STEP = 0b0100,
+	    //! No acknowledgements are expected.
+	    ACK_NONE = 0b0000
+	};
+
 	/**
 	 * This is the default constructor.
 	 * It sets its internal data pointer to the address passed and also
 	 * forwards the data pointer to the parent SpacePacketBase class.
-	 * @param set_address	The position where the packet data lies.
+	 * @param setData	The position where the packet data lies.
 	 */
-	TcPacketBase( const uint8_t* set_data );
+	TcPacketBase( const uint8_t* setData );
 	/**
 	 * This is the empty default destructor.
 	 */
 	virtual ~TcPacketBase();
-	/**
-	 * Initializes the Tc Packet header.
-	 * @param apid APID used.
-	 * @param service	PUS Service
-	 * @param subservice PUS Subservice
-	 * @param packetSubcounter Additional subcounter used.
-	 */
-	/**
-	 * Initializes the Tc Packet header.
-	 * @param apid APID used.
-	 * @param sequenceCount Sequence Count in the primary header.
-	 * @param ack Which acknowledeges are expected from the receiver.
-	 * @param service	PUS Service
-	 * @param subservice PUS Subservice
-	 */
-	void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
-			uint8_t service, uint8_t subservice);
+
 	/**
 	 * This command returns the CCSDS Secondary Header Flag.
 	 * It shall always be zero for PUS Packets. This is the
@@ -170,24 +137,6 @@ public:
 	 */
 	void setErrorControl();
 
-	/**
-	 * Copies the supplied data to the internal TC application data field.
-	 * @param pData
-	 * @param dataLen
-	 */
-	void setAppData(uint8_t * appData, uint16_t dataLen);
-
-	/**
-	 * With this method, the packet data pointer can be redirected to another
-	 * location.
-	 *
-	 * This call overwrites the parent's setData method to set both its
-	 * \c tc_data pointer and the parent's \c data pointer.
-	 *
-	 * @param p_data	A pointer to another PUS Telecommand Packet.
-	 */
-	void setData( const uint8_t* pData );
-
 	/**
 	 * This is a debugging helper method that prints the whole packet content
 	 * to the screen.
@@ -199,7 +148,37 @@ public:
 	 * @return
 	 */
 	static size_t calculateFullPacketLength(size_t appDataLen);
+
+protected:
+    /**
+     * A pointer to a structure which defines the data structure of
+     * the packet's data.
+     *
+     * To be hardware-safe, all elements are of byte size.
+     */
+    TcPacketPointer* tcData;
+
+    /**
+     * Initializes the Tc Packet header.
+     * @param apid APID used.
+     * @param sequenceCount Sequence Count in the primary header.
+     * @param ack Which acknowledeges are expected from the receiver.
+     * @param service   PUS Service
+     * @param subservice PUS Subservice
+     */
+    void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
+            uint8_t service, uint8_t subservice);
+
+    /**
+     * With this method, the packet data pointer can be redirected to another
+     * location.
+     * This call overwrites the parent's setData method to set both its
+     * @c tc_data pointer and the parent's @c data pointer.
+     *
+     * @param p_data    A pointer to another PUS Telecommand Packet.
+     */
+    void setData( const uint8_t* pData );
 };
 
 
-#endif /* TCPACKETBASE_H_ */
+#endif /* TMTCPACKET_PUS_TCPACKETBASE_H_ */
diff --git a/tmtcpacket/pus/TcPacketStored.cpp b/tmtcpacket/pus/TcPacketStored.cpp
index 4179de15..fffc86ae 100644
--- a/tmtcpacket/pus/TcPacketStored.cpp
+++ b/tmtcpacket/pus/TcPacketStored.cpp
@@ -1,31 +1,34 @@
+#include "TcPacketStored.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "TcPacketStored.h"
+
 #include <cstring>
 
+StorageManagerIF* TcPacketStored::store = nullptr;
+
 TcPacketStored::TcPacketStored(store_address_t setAddress) :
 		TcPacketBase(nullptr), storeAddress(setAddress) {
-	this->setStoreAddress(this->storeAddress);
+	setStoreAddress(storeAddress);
 }
 
-TcPacketStored::TcPacketStored(uint8_t service, uint8_t subservice,
-		uint16_t apid, uint8_t sequence_count, const uint8_t* data,
-		size_t size, uint8_t ack ) :
+TcPacketStored::TcPacketStored(uint16_t apid,  uint8_t service,
+        uint8_t subservice, uint8_t sequenceCount, const uint8_t* data,
+		size_t size, uint8_t ack) :
 		TcPacketBase(nullptr) {
 	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (!this->checkAndSetStore()) {
+	if (not this->checkAndSetStore()) {
 		return;
 	}
-	uint8_t* p_data = nullptr;
+	uint8_t* pData = nullptr;
 	ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
-			(TC_PACKET_MIN_SIZE + size), &p_data);
+			(TC_PACKET_MIN_SIZE + size), &pData);
 	if (returnValue != this->store->RETURN_OK) {
 		sif::warning << "TcPacketStored: Could not get free element from store!"
 				<< std::endl;
 		return;
 	}
-	this->setData(p_data);
-	initializeTcPacket(apid, sequence_count, ack, service, subservice);
+	this->setData(pData);
+	initializeTcPacket(apid, sequenceCount, ack, service, subservice);
 	memcpy(&tcData->appData, data, size);
 	this->setPacketDataLength(
 			size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
@@ -41,8 +44,7 @@ ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr,
 	return result;
 }
 
-TcPacketStored::TcPacketStored() :
-		TcPacketBase(NULL) {
+TcPacketStored::TcPacketStored(): TcPacketBase(nullptr) {
 	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	this->checkAndSetStore();
 
@@ -51,14 +53,14 @@ TcPacketStored::TcPacketStored() :
 ReturnValue_t TcPacketStored::deletePacket() {
 	ReturnValue_t result = this->store->deleteData(this->storeAddress);
 	this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	this->setData( NULL);
+	this->setData(nullptr);
 	return result;
 }
 
 bool TcPacketStored::checkAndSetStore() {
-	if (this->store == NULL) {
+	if (this->store == nullptr) {
 		this->store = objectManager->get<StorageManagerIF>(objects::TC_STORE);
-		if (this->store == NULL) {
+		if (this->store == nullptr) {
 			sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
 					<< std::endl;
 			return false;
@@ -69,17 +71,17 @@ bool TcPacketStored::checkAndSetStore() {
 
 void TcPacketStored::setStoreAddress(store_address_t setAddress) {
 	this->storeAddress = setAddress;
-	const uint8_t* temp_data = NULL;
+	const uint8_t* tempData = nullptr;
 	size_t temp_size;
 	ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
 	if (this->checkAndSetStore()) {
-		status = this->store->getData(this->storeAddress, &temp_data,
+		status = this->store->getData(this->storeAddress, &tempData,
 				&temp_size);
 	}
 	if (status == StorageManagerIF::RETURN_OK) {
-		this->setData(temp_data);
+		this->setData(tempData);
 	} else {
-		this->setData(NULL);
+		this->setData(nullptr);
 		this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	}
 }
@@ -89,7 +91,7 @@ store_address_t TcPacketStored::getStoreAddress() {
 }
 
 bool TcPacketStored::isSizeCorrect() {
-	const uint8_t* temp_data = NULL;
+	const uint8_t* temp_data = nullptr;
 	size_t temp_size;
 	ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
 			&temp_size);
@@ -101,8 +103,6 @@ bool TcPacketStored::isSizeCorrect() {
 	return false;
 }
 
-StorageManagerIF* TcPacketStored::store = NULL;
-
 TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
 		TcPacketBase(data) {
 	if (getFullSize() != size) {
@@ -111,7 +111,7 @@ TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
 	if (this->checkAndSetStore()) {
 		ReturnValue_t status = store->addData(&storeAddress, data, size);
 		if (status != HasReturnvaluesIF::RETURN_OK) {
-			this->setData(NULL);
+			this->setData(nullptr);
 		}
 	}
 }
diff --git a/tmtcpacket/pus/TcPacketStored.h b/tmtcpacket/pus/TcPacketStored.h
index 570eaa02..4a8f11d2 100644
--- a/tmtcpacket/pus/TcPacketStored.h
+++ b/tmtcpacket/pus/TcPacketStored.h
@@ -1,8 +1,8 @@
-#ifndef TCPACKETSTORED_H_
-#define TCPACKETSTORED_H_
+#ifndef TMTCPACKET_PUS_TCPACKETSTORED_H_
+#define TMTCPACKET_PUS_TCPACKETSTORED_H_
 
-#include "../../storagemanager/StorageManagerIF.h"
 #include "TcPacketBase.h"
+#include "../../storagemanager/StorageManagerIF.h"
 
 /**
  *	This class generates a ECSS PUS Telecommand packet within a given
@@ -15,26 +15,6 @@
  *	@ingroup tmtcpackets
  */
 class TcPacketStored : public TcPacketBase {
-private:
-	/**
-	 * This is a pointer to the store all instances of the class use.
-	 * If the store is not yet set (i.e. \c store is NULL), every constructor
-	 * call tries to set it and throws an error message in case of failures.
-	 * The default store is objects::TC_STORE.
-	 */
-	static StorageManagerIF* store;
-	/**
-	 * The address where the packet data of the object instance is stored.
-	 */
-	store_address_t storeAddress;
-	/**
-	 * A helper method to check if a store is assigned to the class.
-	 * If not, the method tries to retrieve the store from the global
-	 * ObjectManager.
-	 * @return	@li	\c true if the store is linked or could be created.
-	 * 			@li \c false otherwise.
-	 */
-	bool checkAndSetStore();
 public:
 	/**
 	 * This is a default constructor which does not set the data pointer.
@@ -53,20 +33,20 @@ public:
 	 * a new PUS Telecommand Packet is created there.
 	 * Packet Application Data passed in data is copied into the packet.
 	 * @param apid			Sets the packet's APID field.
-	 * @param ack			Set's the packet's Ack field,
-	 * 		which specifies number and size of verification packets returned
-	 * 		for this command.
 	 * @param service		Sets the packet's Service ID field.
-	 * 		This specifies the destination service.
+	 *                      This specifies the destination service.
 	 * @param subservice	Sets the packet's Service Subtype field.
-	 * 		This specifies the destination sub-service.
-	 * @param sequence_count	Sets the packet's Source Sequence Count field.
+	 * 		                This specifies the destination sub-service.
+	 * @param sequence_count Sets the packet's Source Sequence Count field.
 	 * @param data		The data to be copied to the Application Data Field.
 	 * @param size		The amount of data to be copied.
+	 * @param ack           Set's the packet's Ack field, which specifies
+	 *                      number of verification packets returned
+     *                      for this command.
 	 */
-	TcPacketStored( uint8_t service, uint8_t subservice, uint16_t apid,
+	TcPacketStored(uint16_t apid, uint8_t service, uint8_t subservice,
 			uint8_t sequence_count = 0, const uint8_t* data = nullptr,
-			size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL );
+			size_t size = 0, uint8_t ack = TcPacketBase::AckField::ACK_ALL);
 	/**
 	 * Another constructor to create a TcPacket from a raw packet stream.
 	 * Takes the data and adds it unchecked to the TcStore.
@@ -110,7 +90,28 @@ public:
 	 * 			store or size is incorrect.
 	 */
 	bool isSizeCorrect();
+
+private:
+    /**
+     * This is a pointer to the store all instances of the class use.
+     * If the store is not yet set (i.e. @c store is NULL), every constructor
+     * call tries to set it and throws an error message in case of failures.
+     * The default store is objects::TC_STORE.
+     */
+    static StorageManagerIF* store;
+    /**
+     * The address where the packet data of the object instance is stored.
+     */
+    store_address_t storeAddress;
+    /**
+     * A helper method to check if a store is assigned to the class.
+     * If not, the method tries to retrieve the store from the global
+     * ObjectManager.
+     * @return  @li @c true if the store is linked or could be created.
+     *          @li @c false otherwise.
+     */
+    bool checkAndSetStore();
 };
 
 
-#endif /* TCPACKETSTORED_H_ */
+#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */
diff --git a/tmtcpacket/pus/TmPacketBase.cpp b/tmtcpacket/pus/TmPacketBase.cpp
index 5c9fade3..f3bc3f00 100644
--- a/tmtcpacket/pus/TmPacketBase.cpp
+++ b/tmtcpacket/pus/TmPacketBase.cpp
@@ -1,13 +1,19 @@
+#include "TmPacketBase.h"
+
 #include "../../globalfunctions/CRC.h"
+#include "../../globalfunctions/arrayprinter.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "TmPacketBase.h"
 #include "../../timemanager/CCSDSTime.h"
-#include <string.h>
 
-TmPacketBase::TmPacketBase(uint8_t* set_data) :
-		SpacePacketBase(set_data) {
-	tm_data = (TmPacketPointer*) set_data;
+#include <cstring>
+
+TimeStamperIF* TmPacketBase::timeStamper = nullptr;
+object_id_t TmPacketBase::timeStamperId = 0;
+
+TmPacketBase::TmPacketBase(uint8_t* setData) :
+		SpacePacketBase(setData) {
+	tmData = reinterpret_cast<TmPacketPointer*>(setData);
 }
 
 TmPacketBase::~TmPacketBase() {
@@ -15,25 +21,25 @@ TmPacketBase::~TmPacketBase() {
 }
 
 uint8_t TmPacketBase::getService() {
-	return tm_data->data_field.service_type;
+	return tmData->data_field.service_type;
 }
 
 uint8_t TmPacketBase::getSubService() {
-	return tm_data->data_field.service_subtype;
+	return tmData->data_field.service_subtype;
 }
 
 uint8_t* TmPacketBase::getSourceData() {
-	return &tm_data->data;
+	return &tmData->data;
 }
 
 uint16_t TmPacketBase::getSourceDataSize() {
-	return getPacketDataLength() - sizeof(tm_data->data_field)
+	return getPacketDataLength() - sizeof(tmData->data_field)
 			- CRC_SIZE + 1;
 }
 
 uint16_t TmPacketBase::getErrorControl() {
 	uint32_t size = getSourceDataSize() + CRC_SIZE;
-	uint8_t* p_to_buffer = &tm_data->data;
+	uint8_t* p_to_buffer = &tmData->data;
 	return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
 }
 
@@ -47,16 +53,12 @@ void TmPacketBase::setErrorControl() {
 
 void TmPacketBase::setData(const uint8_t* p_Data) {
 	SpacePacketBase::setData(p_Data);
-	tm_data = (TmPacketPointer*) p_Data;
+	tmData = (TmPacketPointer*) p_Data;
 }
 
 void TmPacketBase::print() {
-	/*uint8_t * wholeData = getWholeData();
-	 debug << "TmPacket contains: " << std::endl;
-	 for (uint8_t count = 0; count < getFullSize(); ++count ) {
-	 debug << std::hex << (uint16_t)wholeData[count] << " ";
-	 }
-	 debug << std::dec << std::endl;*/
+	 sif::debug << "TmPacketBase::print: " << std::endl;
+	 arrayprinter::print(getWholeData(), getFullSize());
 }
 
 bool TmPacketBase::checkAndSetStamper() {
@@ -73,47 +75,43 @@ bool TmPacketBase::checkAndSetStamper() {
 
 ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
 	uint32_t tempSize = 0;
-	return CCSDSTime::convertFromCcsds(timestamp, tm_data->data_field.time,
-			&tempSize, sizeof(tm_data->data_field.time));
+	return CCSDSTime::convertFromCcsds(timestamp, tmData->data_field.time,
+			&tempSize, sizeof(tmData->data_field.time));
 }
 
 uint8_t* TmPacketBase::getPacketTimeRaw() const{
-	return tm_data->data_field.time;
+	return tmData->data_field.time;
 
 }
 
-void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter) {
+void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service,
+        uint8_t subservice, uint8_t packetSubcounter) {
 	//Set primary header:
 	initSpacePacketHeader(false, true, apid);
 	//Set data Field Header:
 	//First, set to zero.
-	memset(&tm_data->data_field, 0, sizeof(tm_data->data_field));
-	//Set CCSDS_secondary header flag to 0, version number to 001 and ack to 0000
+	memset(&tmData->data_field, 0, sizeof(tmData->data_field));
+
 	// NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
-	// The other 4 bits of the first byte are the spacecraft time reference status
-	// To change to PUS-C, set 0b00100000
-	tm_data->data_field.version_type_ack = 0b00010000;
-	tm_data->data_field.service_type = service;
-	tm_data->data_field.service_subtype = subservice;
-	tm_data->data_field.subcounter = packetSubcounter;
+	// The other 4 bits of the first byte are the spacecraft time reference
+	// status. To change to PUS-C, set 0b00100000.
+    // Set CCSDS_secondary header flag to 0, version number to 001 and ack
+    // to 0000
+	tmData->data_field.version_type_ack = 0b00010000;
+	tmData->data_field.service_type = service;
+	tmData->data_field.service_subtype = subservice;
+	tmData->data_field.subcounter = packetSubcounter;
 	//Timestamp packet
 	if (checkAndSetStamper()) {
-		timeStamper->addTimeStamp(tm_data->data_field.time, sizeof(tm_data->data_field.time));
+		timeStamper->addTimeStamp(tmData->data_field.time,
+		        sizeof(tmData->data_field.time));
 	}
 }
 
-void TmPacketBase::setSourceData(uint8_t* sourceData, size_t sourceSize) {
-	memcpy(getSourceData(), sourceData, sourceSize);
-	setSourceDataSize(sourceSize);
-}
-
 void TmPacketBase::setSourceDataSize(uint16_t size) {
 	setPacketDataLength(size + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
 }
 
-uint32_t TmPacketBase::getTimestampSize() const {
-	return sizeof(tm_data->data_field.time);
+size_t TmPacketBase::getTimestampSize() const {
+	return sizeof(tmData->data_field.time);
 }
-
-TimeStamperIF* TmPacketBase::timeStamper = NULL;
-object_id_t TmPacketBase::timeStamperId = 0;
diff --git a/tmtcpacket/pus/TmPacketBase.h b/tmtcpacket/pus/TmPacketBase.h
index 96dbd5c6..6efc0165 100644
--- a/tmtcpacket/pus/TmPacketBase.h
+++ b/tmtcpacket/pus/TmPacketBase.h
@@ -1,8 +1,8 @@
-#ifndef TMPACKETBASE_H_
-#define TMPACKETBASE_H_
+#ifndef TMTCPACKET_PUS_TMPACKETBASE_H_
+#define TMTCPACKET_PUS_TMPACKETBASE_H_
 
+#include "../SpacePacketBase.h"
 #include "../../timemanager/TimeStamperIF.h"
-#include "../../tmtcpacket/SpacePacketBase.h"
 #include "../../timemanager/Clock.h"
 #include "../../objectmanager/SystemObjectIF.h"
 
@@ -14,7 +14,7 @@ void setStaticFrameworkObjectIds();
  * This struct defines a byte-wise structured PUS TM Data Field Header.
  * Any optional fields in the header must be added or removed here.
  * Currently, no Destination field is present, but an eigth-byte representation
- * for a time tag [TBD].
+ * for a time tag.
  * @ingroup tmtcpackets
  */
 struct PUSTmDataFieldHeader {
@@ -40,7 +40,7 @@ struct TmPacketPointer {
 /**
  * This class is the basic data handler for any ECSS PUS Telemetry packet.
  *
- * In addition to \SpacePacketBase, the class provides methods to handle
+ * In addition to #SpacePacketBase, the class provides methods to handle
  * the standardized entries of the PUS TM Packet Data Field Header.
  * It does not contain the packet data itself but a pointer to the
  * data must be set on instantiation. An invalid pointer may cause
@@ -54,29 +54,27 @@ public:
 	/**
 	 * This constant defines the minimum size of a valid PUS Telemetry Packet.
 	 */
-	static const uint32_t  TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTmDataFieldHeader) + 2); //!< Minimum size of a valid PUS Telemetry Packet.
-	static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; //!< Maximum size of a TM Packet in this mission.
-	static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000; //!< First byte of secondary header for PUS-A packets.
+	static const uint32_t  TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
+	        sizeof(PUSTmDataFieldHeader) + 2);
+	//! Maximum size of a TM Packet in this mission.
+	//! TODO: Make this dependant on a config variable.
+	static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048;
+	//! First byte of secondary header for PUS-A packets.
+	//! TODO: Maybe also support PUS-C via config?
+	static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000;
+
 	/**
 	 * This is the default constructor.
 	 * It sets its internal data pointer to the address passed and also
 	 * forwards the data pointer to the parent SpacePacketBase class.
 	 * @param set_address	The position where the packet data lies.
 	 */
-	TmPacketBase( uint8_t* set_data );
+	TmPacketBase( uint8_t* setData );
 	/**
 	 * This is the empty default destructor.
 	 */
 	virtual ~TmPacketBase();
-	/**
-	 * Initializes the Tm Packet header.
-	 * Does set the timestamp (to now), but not the error control field.
-	 * @param apid APID used.
-	 * @param service	PUS Service
-	 * @param subservice PUS Subservice
-	 * @param packetSubcounter Additional subcounter used.
-	 */
-	void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter);
+
 	/**
 	 * This is a getter for the packet's PUS Service ID, which is the second
 	 * byte of the Data Field Header.
@@ -106,11 +104,14 @@ public:
 	 */
 	uint16_t getSourceDataSize();
 
-	/**
-	 * In case data was filled manually (almost never the case).
-	 * @param size Size of source data (without CRC and data filed header!).
-	 */
-	void setSourceDataSize(uint16_t size);
+    /**
+     * With this method, the Error Control Field is updated to match the
+     * current content of the packet. This method is not protected because
+     * a recalculation by the user might be necessary when manipulating fields
+     * like the sequence count.
+     */
+    void setErrorControl();
+
 	/**
 	 * This getter returns the Error Control Field of the packet.
 	 *
@@ -120,35 +121,15 @@ public:
 	 * @return	The PUS Error Control
 	 */
 	uint16_t getErrorControl();
-	/**
-	 * With this method, the Error Control Field is updated to match the
-	 * current content of the packet.
-	 */
-	void setErrorControl();
-	/**
-	 * This sets the source data. It copies the provided data to
-	 * the internal TmPacketPointer source data location.
-	 * @param sourceData
-	 * @param sourceSize
-	 */
-	void setSourceData(uint8_t* sourceData, size_t sourceSize);
-	/**
-	 * With this method, the packet data pointer can be redirected to another
-	 * location.
-	 *
-	 * This call overwrites the parent's setData method to set both its
-	 * \c tc_data pointer and the parent's \c data pointer.
-	 *
-	 * @param p_data	A pointer to another PUS Telemetry Packet.
-	 */
-	void setData( const uint8_t* p_Data );
+
 	/**
 	 * This is a debugging helper method that prints the whole packet content
 	 * to the screen.
 	 */
 	void print();
 	/**
-	 * Interprets the "time"-field in the secondary header and returns it in timeval format.
+	 * Interprets the "time"-field in the secondary header and returns it in
+	 * timeval format.
 	 * @return Converted timestamp of packet.
 	 */
 	ReturnValue_t getPacketTime(timeval* timestamp) const;
@@ -158,7 +139,7 @@ public:
 	 */
 	uint8_t* getPacketTimeRaw() const;
 
-	uint32_t getTimestampSize() const;
+	size_t getTimestampSize() const;
 
 protected:
 	/**
@@ -167,20 +148,49 @@ protected:
 	 *
 	 * To be hardware-safe, all elements are of byte size.
 	 */
-	TmPacketPointer* tm_data;
+	TmPacketPointer* tmData;
 	/**
 	 * The timeStamper is responsible for adding a timestamp to the packet.
 	 * It is initialized lazy.
 	 */
 	static TimeStamperIF* timeStamper;
+	//! The ID to use when looking for a time stamper.
+	static object_id_t timeStamperId;
 
-	static object_id_t timeStamperId; //!< The ID to use when looking for a time stamper.
-	/**
-	 * Checks if a time stamper is available and tries to set it if not.
-	 * @return Returns false if setting failed.
-	 */
-	bool checkAndSetStamper();
+    /**
+     * Initializes the Tm Packet header.
+     * Does set the timestamp (to now), but not the error control field.
+     * @param apid APID used.
+     * @param service   PUS Service
+     * @param subservice PUS Subservice
+     * @param packetSubcounter Additional subcounter used.
+     */
+    void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice,
+            uint8_t packetSubcounter);
+
+    /**
+     * With this method, the packet data pointer can be redirected to another
+     * location.
+     *
+     * This call overwrites the parent's setData method to set both its
+     * @c tc_data pointer and the parent's @c data pointer.
+     *
+     * @param p_data    A pointer to another PUS Telemetry Packet.
+     */
+    void setData( const uint8_t* pData );
+
+    /**
+     * In case data was filled manually (almost never the case).
+     * @param size Size of source data (without CRC and data filed header!).
+     */
+    void setSourceDataSize(uint16_t size);
+
+    /**
+     * Checks if a time stamper is available and tries to set it if not.
+     * @return Returns false if setting failed.
+     */
+    bool checkAndSetStamper();
 };
 
 
-#endif /* TMPACKETBASE_H_ */
+#endif /* TMTCPACKET_PUS_TMPACKETBASE_H_ */

From cb71a1827732982f3aaad4e215bee9e965efb66f Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 28 Oct 2020 19:21:33 +0100
Subject: [PATCH 443/653] ack fields improved

---
 tmtcpacket/pus/TcPacketBase.h   | 23 +++++++++++++----------
 tmtcpacket/pus/TcPacketStored.h |  2 +-
 2 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/tmtcpacket/pus/TcPacketBase.h b/tmtcpacket/pus/TcPacketBase.h
index aee801e7..582a2214 100644
--- a/tmtcpacket/pus/TcPacketBase.h
+++ b/tmtcpacket/pus/TcPacketBase.h
@@ -46,18 +46,21 @@ public:
 	        sizeof(PUSTcDataFieldHeader) + 2);
 
 	enum AckField {
-	    //! Acknowledgements on all levels are expected.
-	    ACK_ALL = 0b1111,
-	    //! Acknowledgements on acceptance are expected.
-	    ACK_ACCEPTANCE = 0b0001,
-	    //! Acknowledgements on start are expected.
-	    ACK_START = 0b0010,
-	    //! Acknowledgements on step are expected.
-	    ACK_STEP = 0b0100,
-	    //! No acknowledgements are expected.
-	    ACK_NONE = 0b0000
+		//! No acknowledgements are expected.
+		ACK_NONE = 0b0000,
+		//! Acknowledgements on acceptance are expected.
+		ACK_ACCEPTANCE = 0b0001,
+		//! Acknowledgements on start are expected.
+		ACK_START = 0b0010,
+		//! Acknowledgements on step are expected.
+		ACK_STEP = 0b0100,
+		//! Acknowledfgement on completion are expected.
+		ACK_COMPLETION = 0b1000
 	};
 
+	static constexpr uint8_t ACK_ALL = ACK_ACCEPTANCE | ACK_START | ACK_STEP |
+			ACK_COMPLETION;
+
 	/**
 	 * This is the default constructor.
 	 * It sets its internal data pointer to the address passed and also
diff --git a/tmtcpacket/pus/TcPacketStored.h b/tmtcpacket/pus/TcPacketStored.h
index 4a8f11d2..1666107b 100644
--- a/tmtcpacket/pus/TcPacketStored.h
+++ b/tmtcpacket/pus/TcPacketStored.h
@@ -46,7 +46,7 @@ public:
 	 */
 	TcPacketStored(uint16_t apid, uint8_t service, uint8_t subservice,
 			uint8_t sequence_count = 0, const uint8_t* data = nullptr,
-			size_t size = 0, uint8_t ack = TcPacketBase::AckField::ACK_ALL);
+			size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL);
 	/**
 	 * Another constructor to create a TcPacket from a raw packet stream.
 	 * Takes the data and adds it unchecked to the TcStore.

From 53e98df37d84d05c8318c1af5d12752ca8fd25af Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 28 Oct 2020 19:44:37 +0100
Subject: [PATCH 444/653] tm packet stored

---
 tmtcpacket/pus/TmPacketStored.cpp | 44 +++++++--------
 tmtcpacket/pus/TmPacketStored.h   | 90 +++++++++++++++++--------------
 2 files changed, 74 insertions(+), 60 deletions(-)

diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp
index 4e4c9434..0fb789aa 100644
--- a/tmtcpacket/pus/TmPacketStored.cpp
+++ b/tmtcpacket/pus/TmPacketStored.cpp
@@ -1,11 +1,16 @@
+#include "TmPacketStored.h"
+
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "TmPacketStored.h"
 #include "../../tmtcservices/TmTcMessage.h"
-#include <string.h>
+
+#include <cstring>
+
+StorageManagerIF *TmPacketStored::store = nullptr;
+InternalErrorReporterIF *TmPacketStored::internalErrorReporter = nullptr;
 
 TmPacketStored::TmPacketStored(store_address_t setAddress) :
-		TmPacketBase(NULL), storeAddress(setAddress) {
+		TmPacketBase(nullptr), storeAddress(setAddress) {
 	setStoreAddress(storeAddress);
 }
 
@@ -14,10 +19,10 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 		uint32_t size, const uint8_t *headerData, uint32_t headerSize) :
 		TmPacketBase(NULL) {
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (!checkAndSetStore()) {
+	if (not checkAndSetStore()) {
 		return;
 	}
-	uint8_t *pData = NULL;
+	uint8_t *pData = nullptr;
 	ReturnValue_t returnValue = store->getFreeElement(&storeAddress,
 			(TmPacketBase::TM_PACKET_MIN_SIZE + size + headerSize), &pData);
 
@@ -38,7 +43,7 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
 		SerializeIF *header) :
 		TmPacketBase(NULL) {
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	if (!checkAndSetStore()) {
+	if (not checkAndSetStore()) {
 		return;
 	}
 	size_t sourceDataSize = 0;
@@ -77,29 +82,29 @@ store_address_t TmPacketStored::getStoreAddress() {
 void TmPacketStored::deletePacket() {
 	store->deleteData(storeAddress);
 	storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
-	setData(NULL);
+	setData(nullptr);
 }
 
 void TmPacketStored::setStoreAddress(store_address_t setAddress) {
 	storeAddress = setAddress;
-	const uint8_t* temp_data = NULL;
-	size_t temp_size;
-	if (!checkAndSetStore()) {
+	const uint8_t* tempData = nullptr;
+	size_t tempSize;
+	if (not checkAndSetStore()) {
 		return;
 	}
-	ReturnValue_t status = store->getData(storeAddress, &temp_data, &temp_size);
+	ReturnValue_t status = store->getData(storeAddress, &tempData, &tempSize);
 	if (status == StorageManagerIF::RETURN_OK) {
-		setData(temp_data);
+		setData(tempData);
 	} else {
-		setData(NULL);
+		setData(nullptr);
 		storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
 	}
 }
 
 bool TmPacketStored::checkAndSetStore() {
-	if (store == NULL) {
+	if (store == nullptr) {
 		store = objectManager->get<StorageManagerIF>(objects::TM_STORE);
-		if (store == NULL) {
+		if (store == nullptr) {
 			sif::error << "TmPacketStored::TmPacketStored: TM Store not found!"
 					<< std::endl;
 			return false;
@@ -108,12 +113,9 @@ bool TmPacketStored::checkAndSetStore() {
 	return true;
 }
 
-StorageManagerIF *TmPacketStored::store = NULL;
-InternalErrorReporterIF *TmPacketStored::internalErrorReporter = NULL;
-
 ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 		MessageQueueId_t sentFrom, bool doErrorReporting) {
-	if (getWholeData() == NULL) {
+	if (getWholeData() == nullptr) {
 		//SHOULDDO: More decent code.
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
@@ -133,11 +135,11 @@ ReturnValue_t TmPacketStored::sendPacket(MessageQueueId_t destination,
 }
 
 void TmPacketStored::checkAndReportLostTm() {
-	if (internalErrorReporter == NULL) {
+	if (internalErrorReporter == nullptr) {
 		internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
 				objects::INTERNAL_ERROR_REPORTER);
 	}
-	if (internalErrorReporter != NULL) {
+	if (internalErrorReporter != nullptr) {
 		internalErrorReporter->lostTm();
 	}
 }
diff --git a/tmtcpacket/pus/TmPacketStored.h b/tmtcpacket/pus/TmPacketStored.h
index 8962d343..6ddbf131 100644
--- a/tmtcpacket/pus/TmPacketStored.h
+++ b/tmtcpacket/pus/TmPacketStored.h
@@ -1,9 +1,10 @@
-#ifndef TMPACKETSTORED_H_
-#define TMPACKETSTORED_H_
+#ifndef TMTCPACKET_PUS_TMPACKETSTORED_H_
+#define TMTCPACKET_PUS_TMPACKETSTORED_H_
+
+#include "TmPacketBase.h"
 
 #include "../../serialize/SerializeIF.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "TmPacketBase.h"
 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueSenderIF.h"
 
@@ -18,31 +19,6 @@
  *	@ingroup tmtcpackets
  */
 class TmPacketStored : public TmPacketBase {
-private:
-	/**
-	 * This is a pointer to the store all instances of the class use.
-	 * If the store is not yet set (i.e. \c store is NULL), every constructor
-	 * call tries to set it and throws an error message in case of failures.
-	 * The default store is objects::TM_STORE.
-	 */
-	static StorageManagerIF* store;
-
-	static InternalErrorReporterIF *internalErrorReporter;
-
-	/**
-	 * The address where the packet data of the object instance is stored.
-	 */
-	store_address_t storeAddress;
-	/**
-	 * A helper method to check if a store is assigned to the class.
-	 * If not, the method tries to retrieve the store from the global
-	 * ObjectManager.
-	 * @return	@li	\c true if the store is linked or could be created.
-	 * 			@li \c false otherwise.
-	 */
-	bool checkAndSetStore();
-
-	void checkAndReportLostTm();
 public:
 	/**
 	 * This is a default constructor which does not set the data pointer.
@@ -52,28 +28,38 @@ public:
 	/**
 	 * With this constructor, new space is allocated in the packet store and
 	 * a new PUS Telemetry Packet is created there.
-	 * Packet Application Data passed in data is copied into the packet. The Application data is
-	 * passed in two parts, first a header, then a data field. This allows building a Telemetry
-	 * Packet from two separate data sources.
+	 * Packet Application Data passed in data is copied into the packet.
+	 * The Application data is passed in two parts, first a header, then a
+	 * data field. This allows building a Telemetry Packet from two separate
+	 * data sources.
 	 * @param apid			Sets the packet's APID field.
 	 * @param service		Sets the packet's Service ID field.
 	 * 		This specifies the source service.
 	 * @param subservice	Sets the packet's Service Subtype field.
 	 * 		This specifies the source sub-service.
 	 * @param packet_counter	Sets the Packet counter field of this packet
-	 * @param data			The payload data to be copied to the Application Data Field
+	 * @param data			The payload data to be copied to the
+	 * 						Application Data Field
 	 * @param size			The amount of data to be copied.
-	 * @param headerData 	The header Data of the Application field; will be copied in front of data
+	 * @param headerData 	The header Data of the Application field,
+	 * 						 will be copied in front of data
 	 * @param headerSize	The size of the headerDataF
 	 */
-	TmPacketStored( uint16_t apid, uint8_t service,	uint8_t subservice, uint8_t packet_counter = 0, const uint8_t* data = NULL, uint32_t size = 0, const uint8_t* headerData = NULL, uint32_t headerSize = 0);
+	TmPacketStored( uint16_t apid, uint8_t service,	uint8_t subservice,
+			uint8_t packet_counter = 0, const uint8_t* data = nullptr,
+			uint32_t size = 0, const uint8_t* headerData = nullptr,
+			uint32_t headerSize = 0);
 	/**
-	 * Another ctor to directly pass structured content and header data to the packet to avoid additional buffers.
+	 * Another ctor to directly pass structured content and header data to the
+	 * packet to avoid additional buffers.
 	 */
-	TmPacketStored( uint16_t apid, uint8_t service,	uint8_t subservice, uint8_t packet_counter, SerializeIF* content, SerializeIF* header = NULL);
+	TmPacketStored( uint16_t apid, uint8_t service,	uint8_t subservice,
+			uint8_t packet_counter, SerializeIF* content,
+			SerializeIF* header = nullptr);
 	/**
 	 * This is a getter for the current store address of the packet.
-	 * @return	The current store address. The (raw) value is \c StorageManagerIF::INVALID_ADDRESS if
+	 * @return	The current store address. The (raw) value is
+	 * 			@c StorageManagerIF::INVALID_ADDRESS if
 	 * 			the packet is not linked.
 	 */
 	store_address_t getStoreAddress();
@@ -89,8 +75,34 @@ public:
 	 */
 	void setStoreAddress( store_address_t setAddress );
 
-	ReturnValue_t sendPacket( MessageQueueId_t destination, MessageQueueId_t sentFrom, bool doErrorReporting = true );
+	ReturnValue_t sendPacket( MessageQueueId_t destination,
+			MessageQueueId_t sentFrom, bool doErrorReporting = true );
+private:
+	/**
+	 * This is a pointer to the store all instances of the class use.
+	 * If the store is not yet set (i.e. @c store is NULL), every constructor
+	 * call tries to set it and throws an error message in case of failures.
+	 * The default store is objects::TM_STORE.
+	 */
+	static StorageManagerIF* store;
+
+	static InternalErrorReporterIF *internalErrorReporter;
+
+	/**
+	 * The address where the packet data of the object instance is stored.
+	 */
+	store_address_t storeAddress;
+	/**
+	 * A helper method to check if a store is assigned to the class.
+	 * If not, the method tries to retrieve the store from the global
+	 * ObjectManager.
+	 * @return	@li	@c true if the store is linked or could be created.
+	 * 			@li @c false otherwise.
+	 */
+	bool checkAndSetStore();
+
+	void checkAndReportLostTm();
 };
 
 
-#endif /* TMPACKETSTORED_H_ */
+#endif /* TMTCPACKET_PUS_TMPACKETSTORED_H_ */

From c8fd698b3a97fc26cce805325c6f75b9e146f204 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 12:23:27 +0100
Subject: [PATCH 445/653] some changes

---
 unittest/catch2/LICENSE.txt                   |    23 -
 unittest/catch2/catch.hpp                     | 17618 ----------------
 unittest/catch2/catch_reporter_automake.hpp   |    62 -
 unittest/catch2/catch_reporter_sonarqube.hpp  |   181 -
 unittest/catch2/catch_reporter_tap.hpp        |   253 -
 unittest/catch2/catch_reporter_teamcity.hpp   |   219 -
 unittest/config/cdatapool/dataPoolInit.cpp    |    48 -
 unittest/config/cdatapool/dataPoolInit.h      |    29 -
 unittest/config/events/translateEvents.cpp    |    20 -
 unittest/config/events/translateEvents.h      |    16 -
 unittest/config/objects/systemObjectList.h    |    30 -
 .../PollingSequenceFactory.cpp                |    31 -
 unittest/config/returnvalues/classIds.h       |    28 -
 unittest/config/tmtc/PusIds.hpp               |    29 -
 unittest/config/tmtc/subsystemIdRanges.h      |    34 -
 unittest/config/tmtc/tmTcSize.h               |    10 -
 unittest/config/version.h                     |     7 -
 unittest/core/CatchRunner.cpp                 |     6 +-
 unittest/core/CatchSetup.cpp                  |    23 +-
 unittest/internal/InternalUnitTester.cpp      |     4 +-
 unittest/{config => testcfg}/FSFWConfig.h     |    20 +-
 unittest/{ => testcfg}/Makefile-FSFW-Tests    |     0
 unittest/{config => testcfg}/TestsConfig.h    |     2 +-
 unittest/testcfg/cdatapool/dataPoolInit.cpp   |     5 +
 unittest/testcfg/cdatapool/dataPoolInit.h     |    17 +
 .../devices/logicalAddresses.cpp              |     0
 .../devices/logicalAddresses.h                |     0
 .../devices/powerSwitcherList.cpp             |     0
 .../devices/powerSwitcherList.h               |     0
 unittest/testcfg/events/subsystemIdRanges.h   |    18 +
 .../ipc/MissionMessageTypes.cpp               |     2 +-
 .../ipc/MissionMessageTypes.h                 |     0
 .../{config => testcfg}/objects/Factory.cpp   |     5 +-
 .../{config => testcfg}/objects/Factory.h     |     0
 unittest/testcfg/objects/systemObjectList.h   |    16 +
 .../objects/translateObjects.cpp              |     0
 .../objects/translateObjects.h                |     0
 .../PollingSequenceFactory.cpp                |    23 +
 .../pollingsequence/PollingSequenceFactory.h  |    13 +-
 unittest/testcfg/returnvalues/classIds.h      |    16 +
 .../{config/config.mk => testcfg/testcfg.mk}  |     0
 unittest/{config => testcfg}/tmtc/apid.h      |     9 +-
 unittest/{config => testcfg}/tmtc/pusIds.h    |     6 +-
 unittest/tests/action/TestActionHelper.cpp    |   211 +-
 unittest/tests/action/TestActionHelper.h      |   262 +-
 unittest/tests/container/RingBufferTest.cpp   |     4 +-
 unittest/tests/container/TestArrayList.cpp    |     4 +-
 unittest/tests/container/TestFifo.cpp         |     4 +-
 .../tests/container/TestFixedArrayList.cpp    |     5 +-
 unittest/tests/container/TestFixedMap.cpp     |     4 +-
 .../container/TestFixedOrderedMultimap.cpp    |     4 +-
 .../tests/container/TestPlacementFactory.cpp  |    90 +-
 .../serialize/TestSerialBufferAdapter.cpp     |     4 +-
 .../serialize/TestSerialLinkedPacket.cpp      |     6 +-
 .../tests/serialize/TestSerialization.cpp     |     2 +-
 .../tests/storagemanager/TestNewAccessor.cpp  |   322 +-
 unittest/tests/storagemanager/TestPool.cpp    |   243 +-
 57 files changed, 828 insertions(+), 19160 deletions(-)
 delete mode 100644 unittest/catch2/LICENSE.txt
 delete mode 100644 unittest/catch2/catch.hpp
 delete mode 100644 unittest/catch2/catch_reporter_automake.hpp
 delete mode 100644 unittest/catch2/catch_reporter_sonarqube.hpp
 delete mode 100644 unittest/catch2/catch_reporter_tap.hpp
 delete mode 100644 unittest/catch2/catch_reporter_teamcity.hpp
 delete mode 100644 unittest/config/cdatapool/dataPoolInit.cpp
 delete mode 100644 unittest/config/cdatapool/dataPoolInit.h
 delete mode 100644 unittest/config/events/translateEvents.cpp
 delete mode 100644 unittest/config/events/translateEvents.h
 delete mode 100644 unittest/config/objects/systemObjectList.h
 delete mode 100644 unittest/config/pollingsequence/PollingSequenceFactory.cpp
 delete mode 100644 unittest/config/returnvalues/classIds.h
 delete mode 100644 unittest/config/tmtc/PusIds.hpp
 delete mode 100644 unittest/config/tmtc/subsystemIdRanges.h
 delete mode 100644 unittest/config/tmtc/tmTcSize.h
 delete mode 100644 unittest/config/version.h
 rename unittest/{config => testcfg}/FSFWConfig.h (57%)
 rename unittest/{ => testcfg}/Makefile-FSFW-Tests (100%)
 rename unittest/{config => testcfg}/TestsConfig.h (81%)
 create mode 100644 unittest/testcfg/cdatapool/dataPoolInit.cpp
 create mode 100644 unittest/testcfg/cdatapool/dataPoolInit.h
 rename unittest/{config => testcfg}/devices/logicalAddresses.cpp (100%)
 rename unittest/{config => testcfg}/devices/logicalAddresses.h (100%)
 rename unittest/{config => testcfg}/devices/powerSwitcherList.cpp (100%)
 rename unittest/{config => testcfg}/devices/powerSwitcherList.h (100%)
 create mode 100644 unittest/testcfg/events/subsystemIdRanges.h
 rename unittest/{config => testcfg}/ipc/MissionMessageTypes.cpp (80%)
 rename unittest/{config => testcfg}/ipc/MissionMessageTypes.h (100%)
 rename unittest/{config => testcfg}/objects/Factory.cpp (82%)
 rename unittest/{config => testcfg}/objects/Factory.h (100%)
 create mode 100644 unittest/testcfg/objects/systemObjectList.h
 rename unittest/{config => testcfg}/objects/translateObjects.cpp (100%)
 rename unittest/{config => testcfg}/objects/translateObjects.h (100%)
 create mode 100644 unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp
 rename unittest/{config => testcfg}/pollingsequence/PollingSequenceFactory.h (74%)
 create mode 100644 unittest/testcfg/returnvalues/classIds.h
 rename unittest/{config/config.mk => testcfg/testcfg.mk} (100%)
 rename unittest/{config => testcfg}/tmtc/apid.h (61%)
 rename unittest/{config => testcfg}/tmtc/pusIds.h (86%)

diff --git a/unittest/catch2/LICENSE.txt b/unittest/catch2/LICENSE.txt
deleted file mode 100644
index 36b7cd93..00000000
--- a/unittest/catch2/LICENSE.txt
+++ /dev/null
@@ -1,23 +0,0 @@
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
diff --git a/unittest/catch2/catch.hpp b/unittest/catch2/catch.hpp
deleted file mode 100644
index 51618b38..00000000
--- a/unittest/catch2/catch.hpp
+++ /dev/null
@@ -1,17618 +0,0 @@
-/*
- *  Catch v2.11.3
- *  Generated: 2020-03-19 13:44:21.042491
- *  ----------------------------------------------------------
- *  This file has been merged from multiple headers. Please don't edit it directly
- *  Copyright (c) 2020 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-#define TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-// start catch.hpp
-
-
-#define CATCH_VERSION_MAJOR 2
-#define CATCH_VERSION_MINOR 11
-#define CATCH_VERSION_PATCH 3
-
-#ifdef __clang__
-#    pragma clang system_header
-#elif defined __GNUC__
-#    pragma GCC system_header
-#endif
-
-// start catch_suppress_warnings.h
-
-#ifdef __clang__
-#   ifdef __ICC // icpc defines the __clang__ macro
-#       pragma warning(push)
-#       pragma warning(disable: 161 1682)
-#   else // __ICC
-#       pragma clang diagnostic push
-#       pragma clang diagnostic ignored "-Wpadded"
-#       pragma clang diagnostic ignored "-Wswitch-enum"
-#       pragma clang diagnostic ignored "-Wcovered-switch-default"
-#    endif
-#elif defined __GNUC__
-     // Because REQUIREs trigger GCC's -Wparentheses, and because still
-     // supported version of g++ have only buggy support for _Pragmas,
-     // Wparentheses have to be suppressed globally.
-#    pragma GCC diagnostic ignored "-Wparentheses" // See #674 for details
-
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wunused-variable"
-#    pragma GCC diagnostic ignored "-Wpadded"
-#endif
-// end catch_suppress_warnings.h
-#if defined(CATCH_CONFIG_MAIN) || defined(CATCH_CONFIG_RUNNER)
-#  define CATCH_IMPL
-#  define CATCH_CONFIG_ALL_PARTS
-#endif
-
-// In the impl file, we want to have access to all parts of the headers
-// Can also be used to sanely support PCHs
-#if defined(CATCH_CONFIG_ALL_PARTS)
-#  define CATCH_CONFIG_EXTERNAL_INTERFACES
-#  if defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#    undef CATCH_CONFIG_DISABLE_MATCHERS
-#  endif
-#  if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#    define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#  endif
-#endif
-
-#if !defined(CATCH_CONFIG_IMPL_ONLY)
-// start catch_platform.h
-
-#ifdef __APPLE__
-# include <TargetConditionals.h>
-# if TARGET_OS_OSX == 1
-#  define CATCH_PLATFORM_MAC
-# elif TARGET_OS_IPHONE == 1
-#  define CATCH_PLATFORM_IPHONE
-# endif
-
-#elif defined(linux) || defined(__linux) || defined(__linux__)
-#  define CATCH_PLATFORM_LINUX
-
-#elif defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) || defined(__MINGW32__)
-#  define CATCH_PLATFORM_WINDOWS
-#endif
-
-// end catch_platform.h
-
-#ifdef CATCH_IMPL
-#  ifndef CLARA_CONFIG_MAIN
-#    define CLARA_CONFIG_MAIN_NOT_DEFINED
-#    define CLARA_CONFIG_MAIN
-#  endif
-#endif
-
-// start catch_user_interfaces.h
-
-namespace Catch {
-    unsigned int rngSeed();
-}
-
-// end catch_user_interfaces.h
-// start catch_tag_alias_autoregistrar.h
-
-// start catch_common.h
-
-// start catch_compiler_capabilities.h
-
-// Detect a number of compiler features - by compiler
-// The following features are defined:
-//
-// CATCH_CONFIG_COUNTER : is the __COUNTER__ macro supported?
-// CATCH_CONFIG_WINDOWS_SEH : is Windows SEH supported?
-// CATCH_CONFIG_POSIX_SIGNALS : are POSIX signals supported?
-// CATCH_CONFIG_DISABLE_EXCEPTIONS : Are exceptions enabled?
-// ****************
-// Note to maintainers: if new toggles are added please document them
-// in configuration.md, too
-// ****************
-
-// In general each macro has a _NO_<feature name> form
-// (e.g. CATCH_CONFIG_NO_POSIX_SIGNALS) which disables the feature.
-// Many features, at point of detection, define an _INTERNAL_ macro, so they
-// can be combined, en-mass, with the _NO_ forms later.
-
-#ifdef __cplusplus
-
-#  if (__cplusplus >= 201402L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201402L)
-#    define CATCH_CPP14_OR_GREATER
-#  endif
-
-#  if (__cplusplus >= 201703L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703L)
-#    define CATCH_CPP17_OR_GREATER
-#  endif
-
-#endif
-
-#if defined(CATCH_CPP17_OR_GREATER)
-#  define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#endif
-
-// We have to avoid both ICC and Clang, because they try to mask themselves
-// as gcc, and we want only GCC in this block
-#if defined(__GNUC__) && !defined(__clang__) && !defined(__ICC)
-#    define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic push" )
-#    define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION  _Pragma( "GCC diagnostic pop" )
-
-#    define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__)
-
-#endif
-
-#if defined(__clang__)
-
-#    define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "clang diagnostic push" )
-#    define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION  _Pragma( "clang diagnostic pop" )
-
-#    define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__)
-
-#    define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-         _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) \
-         _Pragma( "clang diagnostic ignored \"-Wglobal-constructors\"")
-
-#    define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \
-         _Pragma( "clang diagnostic ignored \"-Wparentheses\"" )
-
-#    define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-         _Pragma( "clang diagnostic ignored \"-Wunused-variable\"" )
-
-#    define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-         _Pragma( "clang diagnostic ignored \"-Wgnu-zero-variadic-macro-arguments\"" )
-
-#    define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-         _Pragma( "clang diagnostic ignored \"-Wunused-template\"" )
-
-#endif // __clang__
-
-////////////////////////////////////////////////////////////////////////////////
-// Assume that non-Windows platforms support posix signals by default
-#if !defined(CATCH_PLATFORM_WINDOWS)
-    #define CATCH_INTERNAL_CONFIG_POSIX_SIGNALS
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// We know some environments not to support full POSIX signals
-#if defined(__CYGWIN__) || defined(__QNX__) || defined(__EMSCRIPTEN__) || defined(__DJGPP__)
-    #define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS
-#endif
-
-#ifdef __OS400__
-#       define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS
-#       define CATCH_CONFIG_COLOUR_NONE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Android somehow still does not support std::to_string
-#if defined(__ANDROID__)
-#    define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING
-#    define CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Not all Windows environments support SEH properly
-#if defined(__MINGW32__)
-#    define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// PS4
-#if defined(__ORBIS__)
-#    define CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// Cygwin
-#ifdef __CYGWIN__
-
-// Required for some versions of Cygwin to declare gettimeofday
-// see: http://stackoverflow.com/questions/36901803/gettimeofday-not-declared-in-this-scope-cygwin
-#   define _BSD_SOURCE
-// some versions of cygwin (most) do not support std::to_string. Use the libstd check.
-// https://gcc.gnu.org/onlinedocs/gcc-4.8.2/libstdc++/api/a01053_source.html line 2812-2813
-# if !((__cplusplus >= 201103L) && defined(_GLIBCXX_USE_C99) \
-           && !defined(_GLIBCXX_HAVE_BROKEN_VSWPRINTF))
-
-#    define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING
-
-# endif
-#endif // __CYGWIN__
-
-////////////////////////////////////////////////////////////////////////////////
-// Visual C++
-#if defined(_MSC_VER)
-
-#  define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION __pragma( warning(push) )
-#  define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION  __pragma( warning(pop) )
-
-#  if _MSC_VER >= 1900 // Visual Studio 2015 or newer
-#    define CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#  endif
-
-// Universal Windows platform does not support SEH
-// Or console colours (or console at all...)
-#  if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP)
-#    define CATCH_CONFIG_COLOUR_NONE
-#  else
-#    define CATCH_INTERNAL_CONFIG_WINDOWS_SEH
-#  endif
-
-// MSVC traditional preprocessor needs some workaround for __VA_ARGS__
-// _MSVC_TRADITIONAL == 0 means new conformant preprocessor
-// _MSVC_TRADITIONAL == 1 means old traditional non-conformant preprocessor
-#  if !defined(__clang__) // Handle Clang masquerading for msvc
-#    if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL)
-#      define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#    endif // MSVC_TRADITIONAL
-#  endif // __clang__
-
-#endif // _MSC_VER
-
-#if defined(_REENTRANT) || defined(_MSC_VER)
-// Enable async processing, as -pthread is specified or no additional linking is required
-# define CATCH_INTERNAL_CONFIG_USE_ASYNC
-#endif // _MSC_VER
-
-////////////////////////////////////////////////////////////////////////////////
-// Check if we are compiled with -fno-exceptions or equivalent
-#if defined(__EXCEPTIONS) || defined(__cpp_exceptions) || defined(_CPPUNWIND)
-#  define CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-// DJGPP
-#ifdef __DJGPP__
-#  define CATCH_INTERNAL_CONFIG_NO_WCHAR
-#endif // __DJGPP__
-
-////////////////////////////////////////////////////////////////////////////////
-// Embarcadero C++Build
-#if defined(__BORLANDC__)
-    #define CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-
-// Use of __COUNTER__ is suppressed during code analysis in
-// CLion/AppCode 2017.2.x and former, because __COUNTER__ is not properly
-// handled by it.
-// Otherwise all supported compilers support COUNTER macro,
-// but user still might want to turn it off
-#if ( !defined(__JETBRAINS_IDE__) || __JETBRAINS_IDE__ >= 20170300L )
-    #define CATCH_INTERNAL_CONFIG_COUNTER
-#endif
-
-////////////////////////////////////////////////////////////////////////////////
-
-// RTX is a special version of Windows that is real time.
-// This means that it is detected as Windows, but does not provide
-// the same set of capabilities as real Windows does.
-#if defined(UNDER_RTSS) || defined(RTX64_BUILD)
-    #define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH
-    #define CATCH_INTERNAL_CONFIG_NO_ASYNC
-    #define CATCH_CONFIG_COLOUR_NONE
-#endif
-
-#if !defined(_GLIBCXX_USE_C99_MATH_TR1)
-#define CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER
-#endif
-
-// Various stdlib support checks that require __has_include
-#if defined(__has_include)
-  // Check if string_view is available and usable
-  #if __has_include(<string_view>) && defined(CATCH_CPP17_OR_GREATER)
-  #    define CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW
-  #endif
-
-  // Check if optional is available and usable
-  #  if __has_include(<optional>) && defined(CATCH_CPP17_OR_GREATER)
-  #    define CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL
-  #  endif // __has_include(<optional>) && defined(CATCH_CPP17_OR_GREATER)
-
-  // Check if byte is available and usable
-  #  if __has_include(<cstddef>) && defined(CATCH_CPP17_OR_GREATER)
-  #    define CATCH_INTERNAL_CONFIG_CPP17_BYTE
-  #  endif // __has_include(<cstddef>) && defined(CATCH_CPP17_OR_GREATER)
-
-  // Check if variant is available and usable
-  #  if __has_include(<variant>) && defined(CATCH_CPP17_OR_GREATER)
-  #    if defined(__clang__) && (__clang_major__ < 8)
-         // work around clang bug with libstdc++ https://bugs.llvm.org/show_bug.cgi?id=31852
-         // fix should be in clang 8, workaround in libstdc++ 8.2
-  #      include <ciso646>
-  #      if defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9)
-  #        define CATCH_CONFIG_NO_CPP17_VARIANT
-  #      else
-  #        define CATCH_INTERNAL_CONFIG_CPP17_VARIANT
-  #      endif // defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9)
-  #    else
-  #      define CATCH_INTERNAL_CONFIG_CPP17_VARIANT
-  #    endif // defined(__clang__) && (__clang_major__ < 8)
-  #  endif // __has_include(<variant>) && defined(CATCH_CPP17_OR_GREATER)
-#endif // defined(__has_include)
-
-#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER)
-#   define CATCH_CONFIG_COUNTER
-#endif
-#if defined(CATCH_INTERNAL_CONFIG_WINDOWS_SEH) && !defined(CATCH_CONFIG_NO_WINDOWS_SEH) && !defined(CATCH_CONFIG_WINDOWS_SEH) && !defined(CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH)
-#   define CATCH_CONFIG_WINDOWS_SEH
-#endif
-// This is set by default, because we assume that unix compilers are posix-signal-compatible by default.
-#if defined(CATCH_INTERNAL_CONFIG_POSIX_SIGNALS) && !defined(CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_POSIX_SIGNALS)
-#   define CATCH_CONFIG_POSIX_SIGNALS
-#endif
-// This is set by default, because we assume that compilers with no wchar_t support are just rare exceptions.
-#if !defined(CATCH_INTERNAL_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_WCHAR)
-#   define CATCH_CONFIG_WCHAR
-#endif
-
-#if !defined(CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_CPP11_TO_STRING)
-#    define CATCH_CONFIG_CPP11_TO_STRING
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_NO_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_CPP17_OPTIONAL)
-#  define CATCH_CONFIG_CPP17_OPTIONAL
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_NO_CPP17_UNCAUGHT_EXCEPTIONS) && !defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
-#  define CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_NO_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_CPP17_STRING_VIEW)
-#  define CATCH_CONFIG_CPP17_STRING_VIEW
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_VARIANT) && !defined(CATCH_CONFIG_NO_CPP17_VARIANT) && !defined(CATCH_CONFIG_CPP17_VARIANT)
-#  define CATCH_CONFIG_CPP17_VARIANT
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_CPP17_BYTE) && !defined(CATCH_CONFIG_NO_CPP17_BYTE) && !defined(CATCH_CONFIG_CPP17_BYTE)
-#  define CATCH_CONFIG_CPP17_BYTE
-#endif
-
-#if defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT)
-#  define CATCH_INTERNAL_CONFIG_NEW_CAPTURE
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_NEW_CAPTURE) && !defined(CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NEW_CAPTURE)
-#  define CATCH_CONFIG_NEW_CAPTURE
-#endif
-
-#if !defined(CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-#  define CATCH_CONFIG_DISABLE_EXCEPTIONS
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_NO_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_POLYFILL_ISNAN)
-#  define CATCH_CONFIG_POLYFILL_ISNAN
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_USE_ASYNC)  && !defined(CATCH_INTERNAL_CONFIG_NO_ASYNC) && !defined(CATCH_CONFIG_NO_USE_ASYNC) && !defined(CATCH_CONFIG_USE_ASYNC)
-#  define CATCH_CONFIG_USE_ASYNC
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_NO_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_ANDROID_LOGWRITE)
-#  define CATCH_CONFIG_ANDROID_LOGWRITE
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_NO_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_GLOBAL_NEXTAFTER)
-#  define CATCH_CONFIG_GLOBAL_NEXTAFTER
-#endif
-
-// Even if we do not think the compiler has that warning, we still have
-// to provide a macro that can be used by the code.
-#if !defined(CATCH_INTERNAL_START_WARNINGS_SUPPRESSION)
-#   define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION
-#endif
-#if !defined(CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION)
-#   define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS
-#endif
-#if !defined(CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS
-#endif
-
-// The goal of this macro is to avoid evaluation of the arguments, but
-// still have the compiler warn on problems inside...
-#if !defined(CATCH_INTERNAL_IGNORE_BUT_WARN)
-#   define CATCH_INTERNAL_IGNORE_BUT_WARN(...)
-#endif
-
-#if defined(__APPLE__) && defined(__apple_build_version__) && (__clang_major__ < 10)
-#   undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS
-#elif defined(__clang__) && (__clang_major__ < 5)
-#   undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS
-#endif
-
-#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS)
-#   define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS
-#endif
-
-#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-#define CATCH_TRY if ((true))
-#define CATCH_CATCH_ALL if ((false))
-#define CATCH_CATCH_ANON(type) if ((false))
-#else
-#define CATCH_TRY try
-#define CATCH_CATCH_ALL catch (...)
-#define CATCH_CATCH_ANON(type) catch (type)
-#endif
-
-#if defined(CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_NO_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR)
-#define CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#endif
-
-// end catch_compiler_capabilities.h
-#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line
-#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line )
-#ifdef CATCH_CONFIG_COUNTER
-#  define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ )
-#else
-#  define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ )
-#endif
-
-#include <iosfwd>
-#include <string>
-#include <cstdint>
-
-// We need a dummy global operator<< so we can bring it into Catch namespace later
-struct Catch_global_namespace_dummy {};
-std::ostream& operator<<(std::ostream&, Catch_global_namespace_dummy);
-
-namespace Catch {
-
-    struct CaseSensitive { enum Choice {
-        Yes,
-        No
-    }; };
-
-    class NonCopyable {
-        NonCopyable( NonCopyable const& )              = delete;
-        NonCopyable( NonCopyable && )                  = delete;
-        NonCopyable& operator = ( NonCopyable const& ) = delete;
-        NonCopyable& operator = ( NonCopyable && )     = delete;
-
-    protected:
-        NonCopyable();
-        virtual ~NonCopyable();
-    };
-
-    struct SourceLineInfo {
-
-        SourceLineInfo() = delete;
-        SourceLineInfo( char const* _file, std::size_t _line ) noexcept
-        :   file( _file ),
-            line( _line )
-        {}
-
-        SourceLineInfo( SourceLineInfo const& other )            = default;
-        SourceLineInfo& operator = ( SourceLineInfo const& )     = default;
-        SourceLineInfo( SourceLineInfo&& )              noexcept = default;
-        SourceLineInfo& operator = ( SourceLineInfo&& ) noexcept = default;
-
-        bool empty() const noexcept { return file[0] == '\0'; }
-        bool operator == ( SourceLineInfo const& other ) const noexcept;
-        bool operator < ( SourceLineInfo const& other ) const noexcept;
-
-        char const* file;
-        std::size_t line;
-    };
-
-    std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info );
-
-    // Bring in operator<< from global namespace into Catch namespace
-    // This is necessary because the overload of operator<< above makes
-    // lookup stop at namespace Catch
-    using ::operator<<;
-
-    // Use this in variadic streaming macros to allow
-    //    >> +StreamEndStop
-    // as well as
-    //    >> stuff +StreamEndStop
-    struct StreamEndStop {
-        std::string operator+() const;
-    };
-    template<typename T>
-    T const& operator + ( T const& value, StreamEndStop ) {
-        return value;
-    }
-}
-
-#define CATCH_INTERNAL_LINEINFO \
-    ::Catch::SourceLineInfo( __FILE__, static_cast<std::size_t>( __LINE__ ) )
-
-// end catch_common.h
-namespace Catch {
-
-    struct RegistrarForTagAliases {
-        RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo );
-    };
-
-} // end namespace Catch
-
-#define CATCH_REGISTER_TAG_ALIAS( alias, spec ) \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-    namespace{ Catch::RegistrarForTagAliases INTERNAL_CATCH_UNIQUE_NAME( AutoRegisterTagAlias )( alias, spec, CATCH_INTERNAL_LINEINFO ); } \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-// end catch_tag_alias_autoregistrar.h
-// start catch_test_registry.h
-
-// start catch_interfaces_testcase.h
-
-#include <vector>
-
-namespace Catch {
-
-    class TestSpec;
-
-    struct ITestInvoker {
-        virtual void invoke () const = 0;
-        virtual ~ITestInvoker();
-    };
-
-    class TestCase;
-    struct IConfig;
-
-    struct ITestCaseRegistry {
-        virtual ~ITestCaseRegistry();
-        virtual std::vector<TestCase> const& getAllTests() const = 0;
-        virtual std::vector<TestCase> const& getAllTestsSorted( IConfig const& config ) const = 0;
-    };
-
-    bool isThrowSafe( TestCase const& testCase, IConfig const& config );
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config );
-
-}
-
-// end catch_interfaces_testcase.h
-// start catch_stringref.h
-
-#include <cstddef>
-#include <string>
-#include <iosfwd>
-#include <cassert>
-
-namespace Catch {
-
-    /// A non-owning string class (similar to the forthcoming std::string_view)
-    /// Note that, because a StringRef may be a substring of another string,
-    /// it may not be null terminated.
-    class StringRef {
-    public:
-        using size_type = std::size_t;
-        using const_iterator = const char*;
-
-    private:
-        static constexpr char const* const s_empty = "";
-
-        char const* m_start = s_empty;
-        size_type m_size = 0;
-
-    public: // construction
-        constexpr StringRef() noexcept = default;
-
-        StringRef( char const* rawChars ) noexcept;
-
-        constexpr StringRef( char const* rawChars, size_type size ) noexcept
-        :   m_start( rawChars ),
-            m_size( size )
-        {}
-
-        StringRef( std::string const& stdString ) noexcept
-        :   m_start( stdString.c_str() ),
-            m_size( stdString.size() )
-        {}
-
-        explicit operator std::string() const {
-            return std::string(m_start, m_size);
-        }
-
-    public: // operators
-        auto operator == ( StringRef const& other ) const noexcept -> bool;
-        auto operator != (StringRef const& other) const noexcept -> bool {
-            return !(*this == other);
-        }
-
-        auto operator[] ( size_type index ) const noexcept -> char {
-            assert(index < m_size);
-            return m_start[index];
-        }
-
-    public: // named queries
-        constexpr auto empty() const noexcept -> bool {
-            return m_size == 0;
-        }
-        constexpr auto size() const noexcept -> size_type {
-            return m_size;
-        }
-
-        // Returns the current start pointer. If the StringRef is not
-        // null-terminated, throws std::domain_exception
-        auto c_str() const -> char const*;
-
-    public: // substrings and searches
-        // Returns a substring of [start, start + length).
-        // If start + length > size(), then the substring is [start, size()).
-        // If start > size(), then the substring is empty.
-        auto substr( size_type start, size_type length ) const noexcept -> StringRef;
-
-        // Returns the current start pointer. May not be null-terminated.
-        auto data() const noexcept -> char const*;
-
-        constexpr auto isNullTerminated() const noexcept -> bool {
-            return m_start[m_size] == '\0';
-        }
-
-    public: // iterators
-        constexpr const_iterator begin() const { return m_start; }
-        constexpr const_iterator end() const { return m_start + m_size; }
-    };
-
-    auto operator += ( std::string& lhs, StringRef const& sr ) -> std::string&;
-    auto operator << ( std::ostream& os, StringRef const& sr ) -> std::ostream&;
-
-    constexpr auto operator "" _sr( char const* rawChars, std::size_t size ) noexcept -> StringRef {
-        return StringRef( rawChars, size );
-    }
-} // namespace Catch
-
-constexpr auto operator "" _catch_sr( char const* rawChars, std::size_t size ) noexcept -> Catch::StringRef {
-    return Catch::StringRef( rawChars, size );
-}
-
-// end catch_stringref.h
-// start catch_preprocessor.hpp
-
-
-#define CATCH_RECURSION_LEVEL0(...) __VA_ARGS__
-#define CATCH_RECURSION_LEVEL1(...) CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL2(...) CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL3(...) CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL4(...) CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(__VA_ARGS__)))
-#define CATCH_RECURSION_LEVEL5(...) CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(__VA_ARGS__)))
-
-#ifdef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_EXPAND_VARGS(...) __VA_ARGS__
-// MSVC needs more evaluations
-#define CATCH_RECURSION_LEVEL6(...) CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(__VA_ARGS__)))
-#define CATCH_RECURSE(...)  CATCH_RECURSION_LEVEL6(CATCH_RECURSION_LEVEL6(__VA_ARGS__))
-#else
-#define CATCH_RECURSE(...)  CATCH_RECURSION_LEVEL5(__VA_ARGS__)
-#endif
-
-#define CATCH_REC_END(...)
-#define CATCH_REC_OUT
-
-#define CATCH_EMPTY()
-#define CATCH_DEFER(id) id CATCH_EMPTY()
-
-#define CATCH_REC_GET_END2() 0, CATCH_REC_END
-#define CATCH_REC_GET_END1(...) CATCH_REC_GET_END2
-#define CATCH_REC_GET_END(...) CATCH_REC_GET_END1
-#define CATCH_REC_NEXT0(test, next, ...) next CATCH_REC_OUT
-#define CATCH_REC_NEXT1(test, next) CATCH_DEFER ( CATCH_REC_NEXT0 ) ( test, next, 0)
-#define CATCH_REC_NEXT(test, next)  CATCH_REC_NEXT1(CATCH_REC_GET_END test, next)
-
-#define CATCH_REC_LIST0(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST1(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0) ) ( f, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST2(f, x, peek, ...)   f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ )
-
-#define CATCH_REC_LIST0_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST1_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-#define CATCH_REC_LIST2_UD(f, userdata, x, peek, ...)   f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ )
-
-// Applies the function macro `f` to each of the remaining parameters, inserts commas between the results,
-// and passes userdata as the first parameter to each invocation,
-// e.g. CATCH_REC_LIST_UD(f, x, a, b, c) evaluates to f(x, a), f(x, b), f(x, c)
-#define CATCH_REC_LIST_UD(f, userdata, ...) CATCH_RECURSE(CATCH_REC_LIST2_UD(f, userdata, __VA_ARGS__, ()()(), ()()(), ()()(), 0))
-
-#define CATCH_REC_LIST(f, ...) CATCH_RECURSE(CATCH_REC_LIST2(f, __VA_ARGS__, ()()(), ()()(), ()()(), 0))
-
-#define INTERNAL_CATCH_EXPAND1(param) INTERNAL_CATCH_EXPAND2(param)
-#define INTERNAL_CATCH_EXPAND2(...) INTERNAL_CATCH_NO## __VA_ARGS__
-#define INTERNAL_CATCH_DEF(...) INTERNAL_CATCH_DEF __VA_ARGS__
-#define INTERNAL_CATCH_NOINTERNAL_CATCH_DEF
-#define INTERNAL_CATCH_STRINGIZE(...) INTERNAL_CATCH_STRINGIZE2(__VA_ARGS__)
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_STRINGIZE2(...) #__VA_ARGS__
-#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param))
-#else
-// MSVC is adding extra space and needs another indirection to expand INTERNAL_CATCH_NOINTERNAL_CATCH_DEF
-#define INTERNAL_CATCH_STRINGIZE2(...) INTERNAL_CATCH_STRINGIZE3(__VA_ARGS__)
-#define INTERNAL_CATCH_STRINGIZE3(...) #__VA_ARGS__
-#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) (INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param)) + 1)
-#endif
-
-#define INTERNAL_CATCH_MAKE_NAMESPACE2(...) ns_##__VA_ARGS__
-#define INTERNAL_CATCH_MAKE_NAMESPACE(name) INTERNAL_CATCH_MAKE_NAMESPACE2(name)
-
-#define INTERNAL_CATCH_REMOVE_PARENS(...) INTERNAL_CATCH_EXPAND1(INTERNAL_CATCH_DEF __VA_ARGS__)
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS_GEN(__VA_ARGS__)>())
-#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__))
-#else
-#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) INTERNAL_CATCH_EXPAND_VARGS(decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS_GEN(__VA_ARGS__)>()))
-#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__)))
-#endif
-
-#define INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(...)\
-    CATCH_REC_LIST(INTERNAL_CATCH_MAKE_TYPE_LIST,__VA_ARGS__)
-
-#define INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_0) INTERNAL_CATCH_REMOVE_PARENS(_0)
-#define INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_0, _1) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_1)
-#define INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_0, _1, _2) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_1, _2)
-#define INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_0, _1, _2, _3) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_1, _2, _3)
-#define INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_0, _1, _2, _3, _4) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_1, _2, _3, _4)
-#define INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_0, _1, _2, _3, _4, _5) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_1, _2, _3, _4, _5)
-#define INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_0, _1, _2, _3, _4, _5, _6) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_1, _2, _4, _5, _6)
-#define INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_0, _1, _2, _3, _4, _5, _6, _7) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_1, _2, _3, _4, _5, _6, _7)
-#define INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_1, _2, _3, _4, _5, _6, _7, _8)
-#define INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9)
-#define INTERNAL_CATCH_REMOVE_PARENS_11_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10)
-
-#define INTERNAL_CATCH_VA_NARGS_IMPL(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N
-
-#define INTERNAL_CATCH_TYPE_GEN\
-    template<typename...> struct TypeList {};\
-    template<typename...Ts>\
-    constexpr auto get_wrapper() noexcept -> TypeList<Ts...> { return {}; }\
-    template<template<typename...> class...> struct TemplateTypeList{};\
-    template<template<typename...> class...Cs>\
-    constexpr auto get_wrapper() noexcept -> TemplateTypeList<Cs...> { return {}; }\
-    template<typename...>\
-    struct append;\
-    template<typename...>\
-    struct rewrap;\
-    template<template<typename...> class, typename...>\
-    struct create;\
-    template<template<typename...> class, typename>\
-    struct convert;\
-    \
-    template<typename T> \
-    struct append<T> { using type = T; };\
-    template< template<typename...> class L1, typename...E1, template<typename...> class L2, typename...E2, typename...Rest>\
-    struct append<L1<E1...>, L2<E2...>, Rest...> { using type = typename append<L1<E1...,E2...>, Rest...>::type; };\
-    template< template<typename...> class L1, typename...E1, typename...Rest>\
-    struct append<L1<E1...>, TypeList<mpl_::na>, Rest...> { using type = L1<E1...>; };\
-    \
-    template< template<typename...> class Container, template<typename...> class List, typename...elems>\
-    struct rewrap<TemplateTypeList<Container>, List<elems...>> { using type = TypeList<Container<elems...>>; };\
-    template< template<typename...> class Container, template<typename...> class List, class...Elems, typename...Elements>\
-    struct rewrap<TemplateTypeList<Container>, List<Elems...>, Elements...> { using type = typename append<TypeList<Container<Elems...>>, typename rewrap<TemplateTypeList<Container>, Elements...>::type>::type; };\
-    \
-    template<template <typename...> class Final, template< typename...> class...Containers, typename...Types>\
-    struct create<Final, TemplateTypeList<Containers...>, TypeList<Types...>> { using type = typename append<Final<>, typename rewrap<TemplateTypeList<Containers>, Types...>::type...>::type; };\
-    template<template <typename...> class Final, template <typename...> class List, typename...Ts>\
-    struct convert<Final, List<Ts...>> { using type = typename append<Final<>,TypeList<Ts>...>::type; };
-
-#define INTERNAL_CATCH_NTTP_1(signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> struct Nttp{};\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    constexpr auto get_wrapper() noexcept -> Nttp<__VA_ARGS__> { return {}; } \
-    template<template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class...> struct NttpTemplateTypeList{};\
-    template<template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class...Cs>\
-    constexpr auto get_wrapper() noexcept -> NttpTemplateTypeList<Cs...> { return {}; } \
-    \
-    template< template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class Container, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class List, INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    struct rewrap<NttpTemplateTypeList<Container>, List<__VA_ARGS__>> { using type = TypeList<Container<__VA_ARGS__>>; };\
-    template< template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class Container, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class List, INTERNAL_CATCH_REMOVE_PARENS(signature), typename...Elements>\
-    struct rewrap<NttpTemplateTypeList<Container>, List<__VA_ARGS__>, Elements...> { using type = typename append<TypeList<Container<__VA_ARGS__>>, typename rewrap<NttpTemplateTypeList<Container>, Elements...>::type>::type; };\
-    template<template <typename...> class Final, template<INTERNAL_CATCH_REMOVE_PARENS(signature)> class...Containers, typename...Types>\
-    struct create<Final, NttpTemplateTypeList<Containers...>, TypeList<Types...>> { using type = typename append<Final<>, typename rewrap<NttpTemplateTypeList<Containers>, Types...>::type...>::type; };
-
-#define INTERNAL_CATCH_DECLARE_SIG_TEST0(TestName)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST1(TestName, signature)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_X(TestName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-
-#define INTERNAL_CATCH_DEFINE_SIG_TEST0(TestName)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST1(TestName, signature)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_X(TestName, signature,...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    static void TestName()
-
-#define INTERNAL_CATCH_NTTP_REGISTER0(TestFunc, signature)\
-    template<typename Type>\
-    void reg_test(TypeList<Type>, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestFunc<Type>), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_NTTP_REGISTER(TestFunc, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    void reg_test(Nttp<__VA_ARGS__>, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestFunc<__VA_ARGS__>), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_NTTP_REGISTER_METHOD0(TestName, signature, ...)\
-    template<typename Type>\
-    void reg_test(TypeList<Type>, Catch::StringRef className, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestName<Type>::test), CATCH_INTERNAL_LINEINFO, className, nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_NTTP_REGISTER_METHOD(TestName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)>\
-    void reg_test(Nttp<__VA_ARGS__>, Catch::StringRef className, Catch::NameAndTags nameAndTags)\
-    {\
-        Catch::AutoReg( Catch::makeTestInvoker(&TestName<__VA_ARGS__>::test), CATCH_INTERNAL_LINEINFO, className, nameAndTags);\
-    }
-
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0(TestName, ClassName)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1(TestName, ClassName, signature)\
-    template<typename TestType> \
-    struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName)<TestType> { \
-        void test();\
-    }
-
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X(TestName, ClassName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> \
-    struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName)<__VA_ARGS__> { \
-        void test();\
-    }
-
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0(TestName)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1(TestName, signature)\
-    template<typename TestType> \
-    void INTERNAL_CATCH_MAKE_NAMESPACE(TestName)::TestName<TestType>::test()
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X(TestName, signature, ...)\
-    template<INTERNAL_CATCH_REMOVE_PARENS(signature)> \
-    void INTERNAL_CATCH_MAKE_NAMESPACE(TestName)::TestName<__VA_ARGS__>::test()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define INTERNAL_CATCH_NTTP_0
-#define INTERNAL_CATCH_NTTP_GEN(...) INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1(__VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_1( __VA_ARGS__),INTERNAL_CATCH_NTTP_1( __VA_ARGS__), INTERNAL_CATCH_NTTP_0)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0)(TestName, ClassName, __VA_ARGS__)
-#define INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD0, INTERNAL_CATCH_NTTP_REGISTER_METHOD0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_NTTP_REG_GEN(TestFunc, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER0, INTERNAL_CATCH_NTTP_REGISTER0)(TestFunc, __VA_ARGS__)
-#define INTERNAL_CATCH_DEFINE_SIG_TEST(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST1, INTERNAL_CATCH_DEFINE_SIG_TEST0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_DECLARE_SIG_TEST(TestName, ...) INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST1, INTERNAL_CATCH_DECLARE_SIG_TEST0)(TestName, __VA_ARGS__)
-#define INTERNAL_CATCH_REMOVE_PARENS_GEN(...) INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_REMOVE_PARENS_11_ARG,INTERNAL_CATCH_REMOVE_PARENS_10_ARG,INTERNAL_CATCH_REMOVE_PARENS_9_ARG,INTERNAL_CATCH_REMOVE_PARENS_8_ARG,INTERNAL_CATCH_REMOVE_PARENS_7_ARG,INTERNAL_CATCH_REMOVE_PARENS_6_ARG,INTERNAL_CATCH_REMOVE_PARENS_5_ARG,INTERNAL_CATCH_REMOVE_PARENS_4_ARG,INTERNAL_CATCH_REMOVE_PARENS_3_ARG,INTERNAL_CATCH_REMOVE_PARENS_2_ARG,INTERNAL_CATCH_REMOVE_PARENS_1_ARG)(__VA_ARGS__)
-#else
-#define INTERNAL_CATCH_NTTP_0(signature)
-#define INTERNAL_CATCH_NTTP_GEN(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_1,INTERNAL_CATCH_NTTP_1, INTERNAL_CATCH_NTTP_0)( __VA_ARGS__))
-#define INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD1, INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X,INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD_X, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD1, INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD0)(TestName, ClassName, __VA_ARGS__))
-#define INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD, INTERNAL_CATCH_NTTP_REGISTER_METHOD0, INTERNAL_CATCH_NTTP_REGISTER_METHOD0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_NTTP_REG_GEN(TestFunc, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER, INTERNAL_CATCH_NTTP_REGISTER0, INTERNAL_CATCH_NTTP_REGISTER0)(TestFunc, __VA_ARGS__))
-#define INTERNAL_CATCH_DEFINE_SIG_TEST(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DEFINE_SIG_TEST1, INTERNAL_CATCH_DEFINE_SIG_TEST0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_DECLARE_SIG_TEST(TestName, ...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL( "dummy", __VA_ARGS__, INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DEFINE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X,INTERNAL_CATCH_DECLARE_SIG_TEST_X, INTERNAL_CATCH_DECLARE_SIG_TEST1, INTERNAL_CATCH_DECLARE_SIG_TEST0)(TestName, __VA_ARGS__))
-#define INTERNAL_CATCH_REMOVE_PARENS_GEN(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_VA_NARGS_IMPL(__VA_ARGS__, INTERNAL_CATCH_REMOVE_PARENS_11_ARG,INTERNAL_CATCH_REMOVE_PARENS_10_ARG,INTERNAL_CATCH_REMOVE_PARENS_9_ARG,INTERNAL_CATCH_REMOVE_PARENS_8_ARG,INTERNAL_CATCH_REMOVE_PARENS_7_ARG,INTERNAL_CATCH_REMOVE_PARENS_6_ARG,INTERNAL_CATCH_REMOVE_PARENS_5_ARG,INTERNAL_CATCH_REMOVE_PARENS_4_ARG,INTERNAL_CATCH_REMOVE_PARENS_3_ARG,INTERNAL_CATCH_REMOVE_PARENS_2_ARG,INTERNAL_CATCH_REMOVE_PARENS_1_ARG)(__VA_ARGS__))
-#endif
-
-// end catch_preprocessor.hpp
-// start catch_meta.hpp
-
-
-#include <type_traits>
-
-namespace Catch {
-    template<typename T>
-    struct always_false : std::false_type {};
-
-    template <typename> struct true_given : std::true_type {};
-    struct is_callable_tester {
-        template <typename Fun, typename... Args>
-        true_given<decltype(std::declval<Fun>()(std::declval<Args>()...))> static test(int);
-        template <typename...>
-        std::false_type static test(...);
-    };
-
-    template <typename T>
-    struct is_callable;
-
-    template <typename Fun, typename... Args>
-    struct is_callable<Fun(Args...)> : decltype(is_callable_tester::test<Fun, Args...>(0)) {};
-
-#if defined(__cpp_lib_is_invocable) && __cpp_lib_is_invocable >= 201703
-    // std::result_of is deprecated in C++17 and removed in C++20. Hence, it is
-    // replaced with std::invoke_result here. Also *_t format is preferred over
-    // typename *::type format.
-    template <typename Func, typename U>
-    using FunctionReturnType = std::remove_reference_t<std::remove_cv_t<std::invoke_result_t<Func, U>>>;
-#else
-    template <typename Func, typename U>
-    using FunctionReturnType = typename std::remove_reference<typename std::remove_cv<typename std::result_of<Func(U)>::type>::type>::type;
-#endif
-
-} // namespace Catch
-
-namespace mpl_{
-    struct na;
-}
-
-// end catch_meta.hpp
-namespace Catch {
-
-template<typename C>
-class TestInvokerAsMethod : public ITestInvoker {
-    void (C::*m_testAsMethod)();
-public:
-    TestInvokerAsMethod( void (C::*testAsMethod)() ) noexcept : m_testAsMethod( testAsMethod ) {}
-
-    void invoke() const override {
-        C obj;
-        (obj.*m_testAsMethod)();
-    }
-};
-
-auto makeTestInvoker( void(*testAsFunction)() ) noexcept -> ITestInvoker*;
-
-template<typename C>
-auto makeTestInvoker( void (C::*testAsMethod)() ) noexcept -> ITestInvoker* {
-    return new(std::nothrow) TestInvokerAsMethod<C>( testAsMethod );
-}
-
-struct NameAndTags {
-    NameAndTags( StringRef const& name_ = StringRef(), StringRef const& tags_ = StringRef() ) noexcept;
-    StringRef name;
-    StringRef tags;
-};
-
-struct AutoReg : NonCopyable {
-    AutoReg( ITestInvoker* invoker, SourceLineInfo const& lineInfo, StringRef const& classOrMethod, NameAndTags const& nameAndTags ) noexcept;
-    ~AutoReg();
-};
-
-} // end namespace Catch
-
-#if defined(CATCH_CONFIG_DISABLE)
-    #define INTERNAL_CATCH_TESTCASE_NO_REGISTRATION( TestName, ... ) \
-        static void TestName()
-    #define INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION( TestName, ClassName, ... ) \
-        namespace{                        \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName) { \
-                void test();              \
-            };                            \
-        }                                 \
-        void TestName::test()
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( TestName, TestFunc, Name, Tags, Signature, ... )  \
-        INTERNAL_CATCH_DEFINE_SIG_TEST(TestFunc, INTERNAL_CATCH_REMOVE_PARENS(Signature))
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( TestNameClass, TestName, ClassName, Name, Tags, Signature, ... )    \
-        namespace{                                                                                  \
-            namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName) {                                      \
-            INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
-        }                                                                                           \
-        }                                                                                           \
-        INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(Name, Tags, ...) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(Name, Tags, ...) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ ) )
-    #endif
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(Name, Tags, Signature, ...) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(Name, Tags, Signature, ...) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) )
-    #endif
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( ClassName, Name, Tags,... ) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION( ClassName, Name, Tags,... ) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) )
-    #endif
-
-    #ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION( ClassName, Name, Tags, Signature, ... ) \
-            INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ )
-    #else
-        #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION( ClassName, Name, Tags, Signature, ... ) \
-            INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) )
-    #endif
-#endif
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TESTCASE2( TestName, ... ) \
-        static void TestName(); \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( &TestName ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ __VA_ARGS__ } ); } /* NOLINT */ \
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        static void TestName()
-    #define INTERNAL_CATCH_TESTCASE( ... ) \
-        INTERNAL_CATCH_TESTCASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), __VA_ARGS__ )
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_METHOD_AS_TEST_CASE( QualifiedMethod, ... ) \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( &QualifiedMethod ), CATCH_INTERNAL_LINEINFO, "&" #QualifiedMethod, Catch::NameAndTags{ __VA_ARGS__ } ); } /* NOLINT */ \
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TEST_CASE_METHOD2( TestName, ClassName, ... )\
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        namespace{ \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName) { \
-                void test(); \
-            }; \
-            Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar ) ( Catch::makeTestInvoker( &TestName::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ __VA_ARGS__ } ); /* NOLINT */ \
-        } \
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        void TestName::test()
-    #define INTERNAL_CATCH_TEST_CASE_METHOD( ClassName, ... ) \
-        INTERNAL_CATCH_TEST_CASE_METHOD2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), ClassName, __VA_ARGS__ )
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_REGISTER_TESTCASE( Function, ... ) \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        Catch::AutoReg INTERNAL_CATCH_UNIQUE_NAME( autoRegistrar )( Catch::makeTestInvoker( Function ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ __VA_ARGS__ } ); /* NOLINT */ \
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-    ///////////////////////////////////////////////////////////////////////////////
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_2(TestName, TestFunc, Name, Tags, Signature, ... )\
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-        INTERNAL_CATCH_DECLARE_SIG_TEST(TestFunc, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){\
-            INTERNAL_CATCH_TYPE_GEN\
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            INTERNAL_CATCH_NTTP_REG_GEN(TestFunc,INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            template<typename...Types> \
-            struct TestName{\
-                TestName(){\
-                    int index = 0;                                    \
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, __VA_ARGS__)};\
-                    using expander = int[];\
-                    (void)expander{(reg_test(Types{}, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++, 0)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-            TestName<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(__VA_ARGS__)>();\
-            return 0;\
-        }();\
-        }\
-        }\
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        INTERNAL_CATCH_DEFINE_SIG_TEST(TestFunc,INTERNAL_CATCH_REMOVE_PARENS(Signature))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE(Name, Tags, ...) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename TestType, __VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG(Name, Tags, Signature, ...) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG(Name, Tags, Signature, ...) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(TestName, TestFuncName, Name, Tags, Signature, TmplTypes, TypesList) \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION                      \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS                      \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS                \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS              \
-        template<typename TestType> static void TestFuncName();       \
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName) {                                     \
-            INTERNAL_CATCH_TYPE_GEN                                                  \
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))         \
-            template<typename... Types>                               \
-            struct TestName {                                         \
-                void reg_tests() {                                          \
-                    int index = 0;                                    \
-                    using expander = int[];                           \
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes))};\
-                    constexpr char const* types_list[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TypesList))};\
-                    constexpr auto num_types = sizeof(types_list) / sizeof(types_list[0]);\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFuncName<Types> ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++, 0)... };/* NOLINT */\
-                }                                                     \
-            };                                                        \
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){ \
-                using TestInit = typename create<TestName, decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS(TmplTypes)>()), TypeList<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(INTERNAL_CATCH_REMOVE_PARENS(TypesList))>>::type; \
-                TestInit t;                                           \
-                t.reg_tests();                                        \
-                return 0;                                             \
-            }();                                                      \
-        }                                                             \
-        }                                                             \
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION                       \
-        template<typename TestType>                                   \
-        static void TestFuncName()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE(Name, Tags, ...)\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename T,__VA_ARGS__)
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE(Name, Tags, ...)\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, typename T, __VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG(Name, Tags, Signature, ...)\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__)
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG(Name, Tags, Signature, ...)\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, Signature, __VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2(TestName, TestFunc, Name, Tags, TmplList)\
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-        template<typename TestType> static void TestFunc();       \
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){\
-        INTERNAL_CATCH_TYPE_GEN\
-        template<typename... Types>                               \
-        struct TestName {                                         \
-            void reg_tests() {                                          \
-                int index = 0;                                    \
-                using expander = int[];                           \
-                (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestFunc<Types> ), CATCH_INTERNAL_LINEINFO, Catch::StringRef(), Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++, 0)... };/* NOLINT */\
-            }                                                     \
-        };\
-        static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){ \
-                using TestInit = typename convert<TestName, TmplList>::type; \
-                TestInit t;                                           \
-                t.reg_tests();                                        \
-                return 0;                                             \
-            }();                                                      \
-        }}\
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION                       \
-        template<typename TestType>                                   \
-        static void TestFunc()
-
-    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE(Name, Tags, TmplList) \
-        INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), Name, Tags, TmplList )
-
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, Signature, ... ) \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){ \
-            INTERNAL_CATCH_TYPE_GEN\
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            INTERNAL_CATCH_DECLARE_SIG_TEST_METHOD(TestName, ClassName, INTERNAL_CATCH_REMOVE_PARENS(Signature));\
-            INTERNAL_CATCH_NTTP_REG_METHOD_GEN(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            template<typename...Types> \
-            struct TestNameClass{\
-                TestNameClass(){\
-                    int index = 0;                                    \
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, __VA_ARGS__)};\
-                    using expander = int[];\
-                    (void)expander{(reg_test(Types{}, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index]), Tags } ), index++, 0)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-                TestNameClass<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(__VA_ARGS__)>();\
-                return 0;\
-        }();\
-        }\
-        }\
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        INTERNAL_CATCH_DEFINE_SIG_TEST_METHOD(TestName, INTERNAL_CATCH_REMOVE_PARENS(Signature))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( ClassName, Name, Tags,... ) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, typename T, __VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... ) \
-        INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... ) \
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____C_L_A_S_S____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ) , ClassName, Name, Tags, Signature, __VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2(TestNameClass, TestName, ClassName, Name, Tags, Signature, TmplTypes, TypesList)\
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-        template<typename TestType> \
-            struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName <TestType>) { \
-                void test();\
-            };\
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestNameClass) {\
-            INTERNAL_CATCH_TYPE_GEN                  \
-            INTERNAL_CATCH_NTTP_GEN(INTERNAL_CATCH_REMOVE_PARENS(Signature))\
-            template<typename...Types>\
-            struct TestNameClass{\
-                void reg_tests(){\
-                    int index = 0;\
-                    using expander = int[];\
-                    constexpr char const* tmpl_types[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TmplTypes))};\
-                    constexpr char const* types_list[] = {CATCH_REC_LIST(INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS, INTERNAL_CATCH_REMOVE_PARENS(TypesList))};\
-                    constexpr auto num_types = sizeof(types_list) / sizeof(types_list[0]);\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName<Types>::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(tmpl_types[index / num_types]) + "<" + std::string(types_list[index % num_types]) + ">", Tags } ), index++, 0)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-                using TestInit = typename create<TestNameClass, decltype(get_wrapper<INTERNAL_CATCH_REMOVE_PARENS(TmplTypes)>()), TypeList<INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(INTERNAL_CATCH_REMOVE_PARENS(TypesList))>>::type;\
-                TestInit t;\
-                t.reg_tests();\
-                return 0;\
-            }(); \
-        }\
-        }\
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        template<typename TestType> \
-        void TestName<TestType>::test()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( ClassName, Name, Tags, ... )\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, typename T, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( ClassName, Name, Tags, ... )\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, typename T,__VA_ARGS__ ) )
-#endif
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... )\
-        INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, Signature, __VA_ARGS__ )
-#else
-    #define INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( ClassName, Name, Tags, Signature, ... )\
-        INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, Signature,__VA_ARGS__ ) )
-#endif
-
-    #define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( TestNameClass, TestName, ClassName, Name, Tags, TmplList) \
-        CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-        CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-        CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \
-        template<typename TestType> \
-        struct TestName : INTERNAL_CATCH_REMOVE_PARENS(ClassName <TestType>) { \
-            void test();\
-        };\
-        namespace {\
-        namespace INTERNAL_CATCH_MAKE_NAMESPACE(TestName){ \
-            INTERNAL_CATCH_TYPE_GEN\
-            template<typename...Types>\
-            struct TestNameClass{\
-                void reg_tests(){\
-                    int index = 0;\
-                    using expander = int[];\
-                    (void)expander{(Catch::AutoReg( Catch::makeTestInvoker( &TestName<Types>::test ), CATCH_INTERNAL_LINEINFO, #ClassName, Catch::NameAndTags{ Name " - " + std::string(INTERNAL_CATCH_STRINGIZE(TmplList)) + " - " + std::to_string(index), Tags } ), index++, 0)... };/* NOLINT */ \
-                }\
-            };\
-            static int INTERNAL_CATCH_UNIQUE_NAME( globalRegistrar ) = [](){\
-                using TestInit = typename convert<TestNameClass, TmplList>::type;\
-                TestInit t;\
-                t.reg_tests();\
-                return 0;\
-            }(); \
-        }}\
-        CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        template<typename TestType> \
-        void TestName<TestType>::test()
-
-#define INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD(ClassName, Name, Tags, TmplList) \
-        INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD_2( INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____ ), INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_M_P_L_A_T_E____T_E_S_T____F_U_N_C____ ), ClassName, Name, Tags, TmplList )
-
-// end catch_test_registry.h
-// start catch_capture.hpp
-
-// start catch_assertionhandler.h
-
-// start catch_assertioninfo.h
-
-// start catch_result_type.h
-
-namespace Catch {
-
-    // ResultWas::OfType enum
-    struct ResultWas { enum OfType {
-        Unknown = -1,
-        Ok = 0,
-        Info = 1,
-        Warning = 2,
-
-        FailureBit = 0x10,
-
-        ExpressionFailed = FailureBit | 1,
-        ExplicitFailure = FailureBit | 2,
-
-        Exception = 0x100 | FailureBit,
-
-        ThrewException = Exception | 1,
-        DidntThrowException = Exception | 2,
-
-        FatalErrorCondition = 0x200 | FailureBit
-
-    }; };
-
-    bool isOk( ResultWas::OfType resultType );
-    bool isJustInfo( int flags );
-
-    // ResultDisposition::Flags enum
-    struct ResultDisposition { enum Flags {
-        Normal = 0x01,
-
-        ContinueOnFailure = 0x02,   // Failures fail test, but execution continues
-        FalseTest = 0x04,           // Prefix expression with !
-        SuppressFail = 0x08         // Failures are reported but do not fail the test
-    }; };
-
-    ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs );
-
-    bool shouldContinueOnFailure( int flags );
-    inline bool isFalseTest( int flags ) { return ( flags & ResultDisposition::FalseTest ) != 0; }
-    bool shouldSuppressFailure( int flags );
-
-} // end namespace Catch
-
-// end catch_result_type.h
-namespace Catch {
-
-    struct AssertionInfo
-    {
-        StringRef macroName;
-        SourceLineInfo lineInfo;
-        StringRef capturedExpression;
-        ResultDisposition::Flags resultDisposition;
-
-        // We want to delete this constructor but a compiler bug in 4.8 means
-        // the struct is then treated as non-aggregate
-        //AssertionInfo() = delete;
-    };
-
-} // end namespace Catch
-
-// end catch_assertioninfo.h
-// start catch_decomposer.h
-
-// start catch_tostring.h
-
-#include <vector>
-#include <cstddef>
-#include <type_traits>
-#include <string>
-// start catch_stream.h
-
-#include <iosfwd>
-#include <cstddef>
-#include <ostream>
-
-namespace Catch {
-
-    std::ostream& cout();
-    std::ostream& cerr();
-    std::ostream& clog();
-
-    class StringRef;
-
-    struct IStream {
-        virtual ~IStream();
-        virtual std::ostream& stream() const = 0;
-    };
-
-    auto makeStream( StringRef const &filename ) -> IStream const*;
-
-    class ReusableStringStream : NonCopyable {
-        std::size_t m_index;
-        std::ostream* m_oss;
-    public:
-        ReusableStringStream();
-        ~ReusableStringStream();
-
-        auto str() const -> std::string;
-
-        template<typename T>
-        auto operator << ( T const& value ) -> ReusableStringStream& {
-            *m_oss << value;
-            return *this;
-        }
-        auto get() -> std::ostream& { return *m_oss; }
-    };
-}
-
-// end catch_stream.h
-// start catch_interfaces_enum_values_registry.h
-
-#include <vector>
-
-namespace Catch {
-
-    namespace Detail {
-        struct EnumInfo {
-            StringRef m_name;
-            std::vector<std::pair<int, StringRef>> m_values;
-
-            ~EnumInfo();
-
-            StringRef lookup( int value ) const;
-        };
-    } // namespace Detail
-
-    struct IMutableEnumValuesRegistry {
-        virtual ~IMutableEnumValuesRegistry();
-
-        virtual Detail::EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::vector<int> const& values ) = 0;
-
-        template<typename E>
-        Detail::EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::initializer_list<E> values ) {
-            static_assert(sizeof(int) >= sizeof(E), "Cannot serialize enum to int");
-            std::vector<int> intValues;
-            intValues.reserve( values.size() );
-            for( auto enumValue : values )
-                intValues.push_back( static_cast<int>( enumValue ) );
-            return registerEnum( enumName, allEnums, intValues );
-        }
-    };
-
-} // Catch
-
-// end catch_interfaces_enum_values_registry.h
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-#include <string_view>
-#endif
-
-#ifdef __OBJC__
-// start catch_objc_arc.hpp
-
-#import <Foundation/Foundation.h>
-
-#ifdef __has_feature
-#define CATCH_ARC_ENABLED __has_feature(objc_arc)
-#else
-#define CATCH_ARC_ENABLED 0
-#endif
-
-void arcSafeRelease( NSObject* obj );
-id performOptionalSelector( id obj, SEL sel );
-
-#if !CATCH_ARC_ENABLED
-inline void arcSafeRelease( NSObject* obj ) {
-    [obj release];
-}
-inline id performOptionalSelector( id obj, SEL sel ) {
-    if( [obj respondsToSelector: sel] )
-        return [obj performSelector: sel];
-    return nil;
-}
-#define CATCH_UNSAFE_UNRETAINED
-#define CATCH_ARC_STRONG
-#else
-inline void arcSafeRelease( NSObject* ){}
-inline id performOptionalSelector( id obj, SEL sel ) {
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Warc-performSelector-leaks"
-#endif
-    if( [obj respondsToSelector: sel] )
-        return [obj performSelector: sel];
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-    return nil;
-}
-#define CATCH_UNSAFE_UNRETAINED __unsafe_unretained
-#define CATCH_ARC_STRONG __strong
-#endif
-
-// end catch_objc_arc.hpp
-#endif
-
-#ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable:4180) // We attempt to stream a function (address) by const&, which MSVC complains about but is harmless
-#endif
-
-namespace Catch {
-    namespace Detail {
-
-        extern const std::string unprintableString;
-
-        std::string rawMemoryToString( const void *object, std::size_t size );
-
-        template<typename T>
-        std::string rawMemoryToString( const T& object ) {
-          return rawMemoryToString( &object, sizeof(object) );
-        }
-
-        template<typename T>
-        class IsStreamInsertable {
-            template<typename Stream, typename U>
-            static auto test(int)
-                -> decltype(std::declval<Stream&>() << std::declval<U>(), std::true_type());
-
-            template<typename, typename>
-            static auto test(...)->std::false_type;
-
-        public:
-            static const bool value = decltype(test<std::ostream, const T&>(0))::value;
-        };
-
-        template<typename E>
-        std::string convertUnknownEnumToString( E e );
-
-        template<typename T>
-        typename std::enable_if<
-            !std::is_enum<T>::value && !std::is_base_of<std::exception, T>::value,
-        std::string>::type convertUnstreamable( T const& ) {
-            return Detail::unprintableString;
-        }
-        template<typename T>
-        typename std::enable_if<
-            !std::is_enum<T>::value && std::is_base_of<std::exception, T>::value,
-         std::string>::type convertUnstreamable(T const& ex) {
-            return ex.what();
-        }
-
-        template<typename T>
-        typename std::enable_if<
-            std::is_enum<T>::value
-        , std::string>::type convertUnstreamable( T const& value ) {
-            return convertUnknownEnumToString( value );
-        }
-
-#if defined(_MANAGED)
-        //! Convert a CLR string to a utf8 std::string
-        template<typename T>
-        std::string clrReferenceToString( T^ ref ) {
-            if (ref == nullptr)
-                return std::string("null");
-            auto bytes = System::Text::Encoding::UTF8->GetBytes(ref->ToString());
-            cli::pin_ptr<System::Byte> p = &bytes[0];
-            return std::string(reinterpret_cast<char const *>(p), bytes->Length);
-        }
-#endif
-
-    } // namespace Detail
-
-    // If we decide for C++14, change these to enable_if_ts
-    template <typename T, typename = void>
-    struct StringMaker {
-        template <typename Fake = T>
-        static
-        typename std::enable_if<::Catch::Detail::IsStreamInsertable<Fake>::value, std::string>::type
-            convert(const Fake& value) {
-                ReusableStringStream rss;
-                // NB: call using the function-like syntax to avoid ambiguity with
-                // user-defined templated operator<< under clang.
-                rss.operator<<(value);
-                return rss.str();
-        }
-
-        template <typename Fake = T>
-        static
-        typename std::enable_if<!::Catch::Detail::IsStreamInsertable<Fake>::value, std::string>::type
-            convert( const Fake& value ) {
-#if !defined(CATCH_CONFIG_FALLBACK_STRINGIFIER)
-            return Detail::convertUnstreamable(value);
-#else
-            return CATCH_CONFIG_FALLBACK_STRINGIFIER(value);
-#endif
-        }
-    };
-
-    namespace Detail {
-
-        // This function dispatches all stringification requests inside of Catch.
-        // Should be preferably called fully qualified, like ::Catch::Detail::stringify
-        template <typename T>
-        std::string stringify(const T& e) {
-            return ::Catch::StringMaker<typename std::remove_cv<typename std::remove_reference<T>::type>::type>::convert(e);
-        }
-
-        template<typename E>
-        std::string convertUnknownEnumToString( E e ) {
-            return ::Catch::Detail::stringify(static_cast<typename std::underlying_type<E>::type>(e));
-        }
-
-#if defined(_MANAGED)
-        template <typename T>
-        std::string stringify( T^ e ) {
-            return ::Catch::StringMaker<T^>::convert(e);
-        }
-#endif
-
-    } // namespace Detail
-
-    // Some predefined specializations
-
-    template<>
-    struct StringMaker<std::string> {
-        static std::string convert(const std::string& str);
-    };
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-    template<>
-    struct StringMaker<std::string_view> {
-        static std::string convert(std::string_view str);
-    };
-#endif
-
-    template<>
-    struct StringMaker<char const *> {
-        static std::string convert(char const * str);
-    };
-    template<>
-    struct StringMaker<char *> {
-        static std::string convert(char * str);
-    };
-
-#ifdef CATCH_CONFIG_WCHAR
-    template<>
-    struct StringMaker<std::wstring> {
-        static std::string convert(const std::wstring& wstr);
-    };
-
-# ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-    template<>
-    struct StringMaker<std::wstring_view> {
-        static std::string convert(std::wstring_view str);
-    };
-# endif
-
-    template<>
-    struct StringMaker<wchar_t const *> {
-        static std::string convert(wchar_t const * str);
-    };
-    template<>
-    struct StringMaker<wchar_t *> {
-        static std::string convert(wchar_t * str);
-    };
-#endif
-
-    // TBD: Should we use `strnlen` to ensure that we don't go out of the buffer,
-    //      while keeping string semantics?
-    template<int SZ>
-    struct StringMaker<char[SZ]> {
-        static std::string convert(char const* str) {
-            return ::Catch::Detail::stringify(std::string{ str });
-        }
-    };
-    template<int SZ>
-    struct StringMaker<signed char[SZ]> {
-        static std::string convert(signed char const* str) {
-            return ::Catch::Detail::stringify(std::string{ reinterpret_cast<char const *>(str) });
-        }
-    };
-    template<int SZ>
-    struct StringMaker<unsigned char[SZ]> {
-        static std::string convert(unsigned char const* str) {
-            return ::Catch::Detail::stringify(std::string{ reinterpret_cast<char const *>(str) });
-        }
-    };
-
-#if defined(CATCH_CONFIG_CPP17_BYTE)
-    template<>
-    struct StringMaker<std::byte> {
-        static std::string convert(std::byte value);
-    };
-#endif // defined(CATCH_CONFIG_CPP17_BYTE)
-    template<>
-    struct StringMaker<int> {
-        static std::string convert(int value);
-    };
-    template<>
-    struct StringMaker<long> {
-        static std::string convert(long value);
-    };
-    template<>
-    struct StringMaker<long long> {
-        static std::string convert(long long value);
-    };
-    template<>
-    struct StringMaker<unsigned int> {
-        static std::string convert(unsigned int value);
-    };
-    template<>
-    struct StringMaker<unsigned long> {
-        static std::string convert(unsigned long value);
-    };
-    template<>
-    struct StringMaker<unsigned long long> {
-        static std::string convert(unsigned long long value);
-    };
-
-    template<>
-    struct StringMaker<bool> {
-        static std::string convert(bool b);
-    };
-
-    template<>
-    struct StringMaker<char> {
-        static std::string convert(char c);
-    };
-    template<>
-    struct StringMaker<signed char> {
-        static std::string convert(signed char c);
-    };
-    template<>
-    struct StringMaker<unsigned char> {
-        static std::string convert(unsigned char c);
-    };
-
-    template<>
-    struct StringMaker<std::nullptr_t> {
-        static std::string convert(std::nullptr_t);
-    };
-
-    template<>
-    struct StringMaker<float> {
-        static std::string convert(float value);
-        static int precision;
-    };
-
-    template<>
-    struct StringMaker<double> {
-        static std::string convert(double value);
-        static int precision;
-    };
-
-    template <typename T>
-    struct StringMaker<T*> {
-        template <typename U>
-        static std::string convert(U* p) {
-            if (p) {
-                return ::Catch::Detail::rawMemoryToString(p);
-            } else {
-                return "nullptr";
-            }
-        }
-    };
-
-    template <typename R, typename C>
-    struct StringMaker<R C::*> {
-        static std::string convert(R C::* p) {
-            if (p) {
-                return ::Catch::Detail::rawMemoryToString(p);
-            } else {
-                return "nullptr";
-            }
-        }
-    };
-
-#if defined(_MANAGED)
-    template <typename T>
-    struct StringMaker<T^> {
-        static std::string convert( T^ ref ) {
-            return ::Catch::Detail::clrReferenceToString(ref);
-        }
-    };
-#endif
-
-    namespace Detail {
-        template<typename InputIterator>
-        std::string rangeToString(InputIterator first, InputIterator last) {
-            ReusableStringStream rss;
-            rss << "{ ";
-            if (first != last) {
-                rss << ::Catch::Detail::stringify(*first);
-                for (++first; first != last; ++first)
-                    rss << ", " << ::Catch::Detail::stringify(*first);
-            }
-            rss << " }";
-            return rss.str();
-        }
-    }
-
-#ifdef __OBJC__
-    template<>
-    struct StringMaker<NSString*> {
-        static std::string convert(NSString * nsstring) {
-            if (!nsstring)
-                return "nil";
-            return std::string("@") + [nsstring UTF8String];
-        }
-    };
-    template<>
-    struct StringMaker<NSObject*> {
-        static std::string convert(NSObject* nsObject) {
-            return ::Catch::Detail::stringify([nsObject description]);
-        }
-
-    };
-    namespace Detail {
-        inline std::string stringify( NSString* nsstring ) {
-            return StringMaker<NSString*>::convert( nsstring );
-        }
-
-    } // namespace Detail
-#endif // __OBJC__
-
-} // namespace Catch
-
-//////////////////////////////////////////////////////
-// Separate std-lib types stringification, so it can be selectively enabled
-// This means that we do not bring in
-
-#if defined(CATCH_CONFIG_ENABLE_ALL_STRINGMAKERS)
-#  define CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#  define CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER
-#endif
-
-// Separate std::pair specialization
-#if defined(CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER)
-#include <utility>
-namespace Catch {
-    template<typename T1, typename T2>
-    struct StringMaker<std::pair<T1, T2> > {
-        static std::string convert(const std::pair<T1, T2>& pair) {
-            ReusableStringStream rss;
-            rss << "{ "
-                << ::Catch::Detail::stringify(pair.first)
-                << ", "
-                << ::Catch::Detail::stringify(pair.second)
-                << " }";
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_PAIR_STRINGMAKER
-
-#if defined(CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER) && defined(CATCH_CONFIG_CPP17_OPTIONAL)
-#include <optional>
-namespace Catch {
-    template<typename T>
-    struct StringMaker<std::optional<T> > {
-        static std::string convert(const std::optional<T>& optional) {
-            ReusableStringStream rss;
-            if (optional.has_value()) {
-                rss << ::Catch::Detail::stringify(*optional);
-            } else {
-                rss << "{ }";
-            }
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_OPTIONAL_STRINGMAKER
-
-// Separate std::tuple specialization
-#if defined(CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER)
-#include <tuple>
-namespace Catch {
-    namespace Detail {
-        template<
-            typename Tuple,
-            std::size_t N = 0,
-            bool = (N < std::tuple_size<Tuple>::value)
-            >
-            struct TupleElementPrinter {
-            static void print(const Tuple& tuple, std::ostream& os) {
-                os << (N ? ", " : " ")
-                    << ::Catch::Detail::stringify(std::get<N>(tuple));
-                TupleElementPrinter<Tuple, N + 1>::print(tuple, os);
-            }
-        };
-
-        template<
-            typename Tuple,
-            std::size_t N
-        >
-            struct TupleElementPrinter<Tuple, N, false> {
-            static void print(const Tuple&, std::ostream&) {}
-        };
-
-    }
-
-    template<typename ...Types>
-    struct StringMaker<std::tuple<Types...>> {
-        static std::string convert(const std::tuple<Types...>& tuple) {
-            ReusableStringStream rss;
-            rss << '{';
-            Detail::TupleElementPrinter<std::tuple<Types...>>::print(tuple, rss.get());
-            rss << " }";
-            return rss.str();
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_TUPLE_STRINGMAKER
-
-#if defined(CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER) && defined(CATCH_CONFIG_CPP17_VARIANT)
-#include <variant>
-namespace Catch {
-    template<>
-    struct StringMaker<std::monostate> {
-        static std::string convert(const std::monostate&) {
-            return "{ }";
-        }
-    };
-
-    template<typename... Elements>
-    struct StringMaker<std::variant<Elements...>> {
-        static std::string convert(const std::variant<Elements...>& variant) {
-            if (variant.valueless_by_exception()) {
-                return "{valueless variant}";
-            } else {
-                return std::visit(
-                    [](const auto& value) {
-                        return ::Catch::Detail::stringify(value);
-                    },
-                    variant
-                );
-            }
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_VARIANT_STRINGMAKER
-
-namespace Catch {
-    struct not_this_one {}; // Tag type for detecting which begin/ end are being selected
-
-    // Import begin/ end from std here so they are considered alongside the fallback (...) overloads in this namespace
-    using std::begin;
-    using std::end;
-
-    not_this_one begin( ... );
-    not_this_one end( ... );
-
-    template <typename T>
-    struct is_range {
-        static const bool value =
-            !std::is_same<decltype(begin(std::declval<T>())), not_this_one>::value &&
-            !std::is_same<decltype(end(std::declval<T>())), not_this_one>::value;
-    };
-
-#if defined(_MANAGED) // Managed types are never ranges
-    template <typename T>
-    struct is_range<T^> {
-        static const bool value = false;
-    };
-#endif
-
-    template<typename Range>
-    std::string rangeToString( Range const& range ) {
-        return ::Catch::Detail::rangeToString( begin( range ), end( range ) );
-    }
-
-    // Handle vector<bool> specially
-    template<typename Allocator>
-    std::string rangeToString( std::vector<bool, Allocator> const& v ) {
-        ReusableStringStream rss;
-        rss << "{ ";
-        bool first = true;
-        for( bool b : v ) {
-            if( first )
-                first = false;
-            else
-                rss << ", ";
-            rss << ::Catch::Detail::stringify( b );
-        }
-        rss << " }";
-        return rss.str();
-    }
-
-    template<typename R>
-    struct StringMaker<R, typename std::enable_if<is_range<R>::value && !::Catch::Detail::IsStreamInsertable<R>::value>::type> {
-        static std::string convert( R const& range ) {
-            return rangeToString( range );
-        }
-    };
-
-    template <typename T, int SZ>
-    struct StringMaker<T[SZ]> {
-        static std::string convert(T const(&arr)[SZ]) {
-            return rangeToString(arr);
-        }
-    };
-
-} // namespace Catch
-
-// Separate std::chrono::duration specialization
-#if defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#include <ctime>
-#include <ratio>
-#include <chrono>
-
-namespace Catch {
-
-template <class Ratio>
-struct ratio_string {
-    static std::string symbol();
-};
-
-template <class Ratio>
-std::string ratio_string<Ratio>::symbol() {
-    Catch::ReusableStringStream rss;
-    rss << '[' << Ratio::num << '/'
-        << Ratio::den << ']';
-    return rss.str();
-}
-template <>
-struct ratio_string<std::atto> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::femto> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::pico> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::nano> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::micro> {
-    static std::string symbol();
-};
-template <>
-struct ratio_string<std::milli> {
-    static std::string symbol();
-};
-
-    ////////////
-    // std::chrono::duration specializations
-    template<typename Value, typename Ratio>
-    struct StringMaker<std::chrono::duration<Value, Ratio>> {
-        static std::string convert(std::chrono::duration<Value, Ratio> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << ' ' << ratio_string<Ratio>::symbol() << 's';
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<1>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<1>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " s";
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<60>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<60>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " m";
-            return rss.str();
-        }
-    };
-    template<typename Value>
-    struct StringMaker<std::chrono::duration<Value, std::ratio<3600>>> {
-        static std::string convert(std::chrono::duration<Value, std::ratio<3600>> const& duration) {
-            ReusableStringStream rss;
-            rss << duration.count() << " h";
-            return rss.str();
-        }
-    };
-
-    ////////////
-    // std::chrono::time_point specialization
-    // Generic time_point cannot be specialized, only std::chrono::time_point<system_clock>
-    template<typename Clock, typename Duration>
-    struct StringMaker<std::chrono::time_point<Clock, Duration>> {
-        static std::string convert(std::chrono::time_point<Clock, Duration> const& time_point) {
-            return ::Catch::Detail::stringify(time_point.time_since_epoch()) + " since epoch";
-        }
-    };
-    // std::chrono::time_point<system_clock> specialization
-    template<typename Duration>
-    struct StringMaker<std::chrono::time_point<std::chrono::system_clock, Duration>> {
-        static std::string convert(std::chrono::time_point<std::chrono::system_clock, Duration> const& time_point) {
-            auto converted = std::chrono::system_clock::to_time_t(time_point);
-
-#ifdef _MSC_VER
-            std::tm timeInfo = {};
-            gmtime_s(&timeInfo, &converted);
-#else
-            std::tm* timeInfo = std::gmtime(&converted);
-#endif
-
-            auto const timeStampSize = sizeof("2017-01-16T17:06:45Z");
-            char timeStamp[timeStampSize];
-            const char * const fmt = "%Y-%m-%dT%H:%M:%SZ";
-
-#ifdef _MSC_VER
-            std::strftime(timeStamp, timeStampSize, fmt, &timeInfo);
-#else
-            std::strftime(timeStamp, timeStampSize, fmt, timeInfo);
-#endif
-            return std::string(timeStamp);
-        }
-    };
-}
-#endif // CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-
-#define INTERNAL_CATCH_REGISTER_ENUM( enumName, ... ) \
-namespace Catch { \
-    template<> struct StringMaker<enumName> { \
-        static std::string convert( enumName value ) { \
-            static const auto& enumInfo = ::Catch::getMutableRegistryHub().getMutableEnumValuesRegistry().registerEnum( #enumName, #__VA_ARGS__, { __VA_ARGS__ } ); \
-            return static_cast<std::string>(enumInfo.lookup( static_cast<int>( value ) )); \
-        } \
-    }; \
-}
-
-#define CATCH_REGISTER_ENUM( enumName, ... ) INTERNAL_CATCH_REGISTER_ENUM( enumName, __VA_ARGS__ )
-
-#ifdef _MSC_VER
-#pragma warning(pop)
-#endif
-
-// end catch_tostring.h
-#include <iosfwd>
-
-#ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable:4389) // '==' : signed/unsigned mismatch
-#pragma warning(disable:4018) // more "signed/unsigned mismatch"
-#pragma warning(disable:4312) // Converting int to T* using reinterpret_cast (issue on x64 platform)
-#pragma warning(disable:4180) // qualifier applied to function type has no meaning
-#pragma warning(disable:4800) // Forcing result to true or false
-#endif
-
-namespace Catch {
-
-    struct ITransientExpression {
-        auto isBinaryExpression() const -> bool { return m_isBinaryExpression; }
-        auto getResult() const -> bool { return m_result; }
-        virtual void streamReconstructedExpression( std::ostream &os ) const = 0;
-
-        ITransientExpression( bool isBinaryExpression, bool result )
-        :   m_isBinaryExpression( isBinaryExpression ),
-            m_result( result )
-        {}
-
-        // We don't actually need a virtual destructor, but many static analysers
-        // complain if it's not here :-(
-        virtual ~ITransientExpression();
-
-        bool m_isBinaryExpression;
-        bool m_result;
-
-    };
-
-    void formatReconstructedExpression( std::ostream &os, std::string const& lhs, StringRef op, std::string const& rhs );
-
-    template<typename LhsT, typename RhsT>
-    class BinaryExpr  : public ITransientExpression {
-        LhsT m_lhs;
-        StringRef m_op;
-        RhsT m_rhs;
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            formatReconstructedExpression
-                    ( os, Catch::Detail::stringify( m_lhs ), m_op, Catch::Detail::stringify( m_rhs ) );
-        }
-
-    public:
-        BinaryExpr( bool comparisonResult, LhsT lhs, StringRef op, RhsT rhs )
-        :   ITransientExpression{ true, comparisonResult },
-            m_lhs( lhs ),
-            m_op( op ),
-            m_rhs( rhs )
-        {}
-
-        template<typename T>
-        auto operator && ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator || ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator == ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator != ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator > ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator < ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator >= ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename T>
-        auto operator <= ( T ) const -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<T>::value,
-            "chained comparisons are not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-    };
-
-    template<typename LhsT>
-    class UnaryExpr : public ITransientExpression {
-        LhsT m_lhs;
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            os << Catch::Detail::stringify( m_lhs );
-        }
-
-    public:
-        explicit UnaryExpr( LhsT lhs )
-        :   ITransientExpression{ false, static_cast<bool>(lhs) },
-            m_lhs( lhs )
-        {}
-    };
-
-    // Specialised comparison functions to handle equality comparisons between ints and pointers (NULL deduces as an int)
-    template<typename LhsT, typename RhsT>
-    auto compareEqual( LhsT const& lhs, RhsT const& rhs ) -> bool { return static_cast<bool>(lhs == rhs); }
-    template<typename T>
-    auto compareEqual( T* const& lhs, int rhs ) -> bool { return lhs == reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareEqual( T* const& lhs, long rhs ) -> bool { return lhs == reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareEqual( int lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) == rhs; }
-    template<typename T>
-    auto compareEqual( long lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) == rhs; }
-
-    template<typename LhsT, typename RhsT>
-    auto compareNotEqual( LhsT const& lhs, RhsT&& rhs ) -> bool { return static_cast<bool>(lhs != rhs); }
-    template<typename T>
-    auto compareNotEqual( T* const& lhs, int rhs ) -> bool { return lhs != reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareNotEqual( T* const& lhs, long rhs ) -> bool { return lhs != reinterpret_cast<void const*>( rhs ); }
-    template<typename T>
-    auto compareNotEqual( int lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) != rhs; }
-    template<typename T>
-    auto compareNotEqual( long lhs, T* const& rhs ) -> bool { return reinterpret_cast<void const*>( lhs ) != rhs; }
-
-    template<typename LhsT>
-    class ExprLhs {
-        LhsT m_lhs;
-    public:
-        explicit ExprLhs( LhsT lhs ) : m_lhs( lhs ) {}
-
-        template<typename RhsT>
-        auto operator == ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { compareEqual( m_lhs, rhs ), m_lhs, "==", rhs };
-        }
-        auto operator == ( bool rhs ) -> BinaryExpr<LhsT, bool> const {
-            return { m_lhs == rhs, m_lhs, "==", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator != ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { compareNotEqual( m_lhs, rhs ), m_lhs, "!=", rhs };
-        }
-        auto operator != ( bool rhs ) -> BinaryExpr<LhsT, bool> const {
-            return { m_lhs != rhs, m_lhs, "!=", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator > ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs > rhs), m_lhs, ">", rhs };
-        }
-        template<typename RhsT>
-        auto operator < ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs < rhs), m_lhs, "<", rhs };
-        }
-        template<typename RhsT>
-        auto operator >= ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs >= rhs), m_lhs, ">=", rhs };
-        }
-        template<typename RhsT>
-        auto operator <= ( RhsT const& rhs ) -> BinaryExpr<LhsT, RhsT const&> const {
-            return { static_cast<bool>(m_lhs <= rhs), m_lhs, "<=", rhs };
-        }
-
-        template<typename RhsT>
-        auto operator && ( RhsT const& ) -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<RhsT>::value,
-            "operator&& is not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        template<typename RhsT>
-        auto operator || ( RhsT const& ) -> BinaryExpr<LhsT, RhsT const&> const {
-            static_assert(always_false<RhsT>::value,
-            "operator|| is not supported inside assertions, "
-            "wrap the expression inside parentheses, or decompose it");
-        }
-
-        auto makeUnaryExpr() const -> UnaryExpr<LhsT> {
-            return UnaryExpr<LhsT>{ m_lhs };
-        }
-    };
-
-    void handleExpression( ITransientExpression const& expr );
-
-    template<typename T>
-    void handleExpression( ExprLhs<T> const& expr ) {
-        handleExpression( expr.makeUnaryExpr() );
-    }
-
-    struct Decomposer {
-        template<typename T>
-        auto operator <= ( T const& lhs ) -> ExprLhs<T const&> {
-            return ExprLhs<T const&>{ lhs };
-        }
-
-        auto operator <=( bool value ) -> ExprLhs<bool> {
-            return ExprLhs<bool>{ value };
-        }
-    };
-
-} // end namespace Catch
-
-#ifdef _MSC_VER
-#pragma warning(pop)
-#endif
-
-// end catch_decomposer.h
-// start catch_interfaces_capture.h
-
-#include <string>
-#include <chrono>
-
-namespace Catch {
-
-    class AssertionResult;
-    struct AssertionInfo;
-    struct SectionInfo;
-    struct SectionEndInfo;
-    struct MessageInfo;
-    struct MessageBuilder;
-    struct Counts;
-    struct AssertionReaction;
-    struct SourceLineInfo;
-
-    struct ITransientExpression;
-    struct IGeneratorTracker;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    struct BenchmarkInfo;
-    template <typename Duration = std::chrono::duration<double, std::nano>>
-    struct BenchmarkStats;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    struct IResultCapture {
-
-        virtual ~IResultCapture();
-
-        virtual bool sectionStarted(    SectionInfo const& sectionInfo,
-                                        Counts& assertions ) = 0;
-        virtual void sectionEnded( SectionEndInfo const& endInfo ) = 0;
-        virtual void sectionEndedEarly( SectionEndInfo const& endInfo ) = 0;
-
-        virtual auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& = 0;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        virtual void benchmarkPreparing( std::string const& name ) = 0;
-        virtual void benchmarkStarting( BenchmarkInfo const& info ) = 0;
-        virtual void benchmarkEnded( BenchmarkStats<> const& stats ) = 0;
-        virtual void benchmarkFailed( std::string const& error ) = 0;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        virtual void pushScopedMessage( MessageInfo const& message ) = 0;
-        virtual void popScopedMessage( MessageInfo const& message ) = 0;
-
-        virtual void emplaceUnscopedMessage( MessageBuilder const& builder ) = 0;
-
-        virtual void handleFatalErrorCondition( StringRef message ) = 0;
-
-        virtual void handleExpr
-                (   AssertionInfo const& info,
-                    ITransientExpression const& expr,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleMessage
-                (   AssertionInfo const& info,
-                    ResultWas::OfType resultType,
-                    StringRef const& message,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleUnexpectedExceptionNotThrown
-                (   AssertionInfo const& info,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleUnexpectedInflightException
-                (   AssertionInfo const& info,
-                    std::string const& message,
-                    AssertionReaction& reaction ) = 0;
-        virtual void handleIncomplete
-                (   AssertionInfo const& info ) = 0;
-        virtual void handleNonExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    AssertionReaction &reaction ) = 0;
-
-        virtual bool lastAssertionPassed() = 0;
-        virtual void assertionPassed() = 0;
-
-        // Deprecated, do not use:
-        virtual std::string getCurrentTestName() const = 0;
-        virtual const AssertionResult* getLastResult() const = 0;
-        virtual void exceptionEarlyReported() = 0;
-    };
-
-    IResultCapture& getResultCapture();
-}
-
-// end catch_interfaces_capture.h
-namespace Catch {
-
-    struct TestFailureException{};
-    struct AssertionResultData;
-    struct IResultCapture;
-    class RunContext;
-
-    class LazyExpression {
-        friend class AssertionHandler;
-        friend struct AssertionStats;
-        friend class RunContext;
-
-        ITransientExpression const* m_transientExpression = nullptr;
-        bool m_isNegated;
-    public:
-        LazyExpression( bool isNegated );
-        LazyExpression( LazyExpression const& other );
-        LazyExpression& operator = ( LazyExpression const& ) = delete;
-
-        explicit operator bool() const;
-
-        friend auto operator << ( std::ostream& os, LazyExpression const& lazyExpr ) -> std::ostream&;
-    };
-
-    struct AssertionReaction {
-        bool shouldDebugBreak = false;
-        bool shouldThrow = false;
-    };
-
-    class AssertionHandler {
-        AssertionInfo m_assertionInfo;
-        AssertionReaction m_reaction;
-        bool m_completed = false;
-        IResultCapture& m_resultCapture;
-
-    public:
-        AssertionHandler
-            (   StringRef const& macroName,
-                SourceLineInfo const& lineInfo,
-                StringRef capturedExpression,
-                ResultDisposition::Flags resultDisposition );
-        ~AssertionHandler() {
-            if ( !m_completed ) {
-                m_resultCapture.handleIncomplete( m_assertionInfo );
-            }
-        }
-
-        template<typename T>
-        void handleExpr( ExprLhs<T> const& expr ) {
-            handleExpr( expr.makeUnaryExpr() );
-        }
-        void handleExpr( ITransientExpression const& expr );
-
-        void handleMessage(ResultWas::OfType resultType, StringRef const& message);
-
-        void handleExceptionThrownAsExpected();
-        void handleUnexpectedExceptionNotThrown();
-        void handleExceptionNotThrownAsExpected();
-        void handleThrowingCallSkipped();
-        void handleUnexpectedInflightException();
-
-        void complete();
-        void setCompleted();
-
-        // query
-        auto allowThrows() const -> bool;
-    };
-
-    void handleExceptionMatchExpr( AssertionHandler& handler, std::string const& str, StringRef const& matcherString );
-
-} // namespace Catch
-
-// end catch_assertionhandler.h
-// start catch_message.h
-
-#include <string>
-#include <vector>
-
-namespace Catch {
-
-    struct MessageInfo {
-        MessageInfo(    StringRef const& _macroName,
-                        SourceLineInfo const& _lineInfo,
-                        ResultWas::OfType _type );
-
-        StringRef macroName;
-        std::string message;
-        SourceLineInfo lineInfo;
-        ResultWas::OfType type;
-        unsigned int sequence;
-
-        bool operator == ( MessageInfo const& other ) const;
-        bool operator < ( MessageInfo const& other ) const;
-    private:
-        static unsigned int globalCount;
-    };
-
-    struct MessageStream {
-
-        template<typename T>
-        MessageStream& operator << ( T const& value ) {
-            m_stream << value;
-            return *this;
-        }
-
-        ReusableStringStream m_stream;
-    };
-
-    struct MessageBuilder : MessageStream {
-        MessageBuilder( StringRef const& macroName,
-                        SourceLineInfo const& lineInfo,
-                        ResultWas::OfType type );
-
-        template<typename T>
-        MessageBuilder& operator << ( T const& value ) {
-            m_stream << value;
-            return *this;
-        }
-
-        MessageInfo m_info;
-    };
-
-    class ScopedMessage {
-    public:
-        explicit ScopedMessage( MessageBuilder const& builder );
-        ScopedMessage( ScopedMessage& duplicate ) = delete;
-        ScopedMessage( ScopedMessage&& old );
-        ~ScopedMessage();
-
-        MessageInfo m_info;
-        bool m_moved;
-    };
-
-    class Capturer {
-        std::vector<MessageInfo> m_messages;
-        IResultCapture& m_resultCapture = getResultCapture();
-        size_t m_captured = 0;
-    public:
-        Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names );
-        ~Capturer();
-
-        void captureValue( size_t index, std::string const& value );
-
-        template<typename T>
-        void captureValues( size_t index, T const& value ) {
-            captureValue( index, Catch::Detail::stringify( value ) );
-        }
-
-        template<typename T, typename... Ts>
-        void captureValues( size_t index, T const& value, Ts const&... values ) {
-            captureValue( index, Catch::Detail::stringify(value) );
-            captureValues( index+1, values... );
-        }
-    };
-
-} // end namespace Catch
-
-// end catch_message.h
-#if !defined(CATCH_CONFIG_DISABLE)
-
-#if !defined(CATCH_CONFIG_DISABLE_STRINGIFICATION)
-  #define CATCH_INTERNAL_STRINGIFY(...) #__VA_ARGS__
-#else
-  #define CATCH_INTERNAL_STRINGIFY(...) "Disabled by CATCH_CONFIG_DISABLE_STRINGIFICATION"
-#endif
-
-#if defined(CATCH_CONFIG_FAST_COMPILE) || defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-
-///////////////////////////////////////////////////////////////////////////////
-// Another way to speed-up compilation is to omit local try-catch for REQUIRE*
-// macros.
-#define INTERNAL_CATCH_TRY
-#define INTERNAL_CATCH_CATCH( capturer )
-
-#else // CATCH_CONFIG_FAST_COMPILE
-
-#define INTERNAL_CATCH_TRY try
-#define INTERNAL_CATCH_CATCH( handler ) catch(...) { handler.handleUnexpectedInflightException(); }
-
-#endif
-
-#define INTERNAL_CATCH_REACT( handler ) handler.complete();
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_TEST( macroName, resultDisposition, ... ) \
-    do { \
-        CATCH_INTERNAL_IGNORE_BUT_WARN(__VA_ARGS__); \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition ); \
-        INTERNAL_CATCH_TRY { \
-            CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-            CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \
-            catchAssertionHandler.handleExpr( Catch::Decomposer() <= __VA_ARGS__ ); \
-            CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-        } INTERNAL_CATCH_CATCH( catchAssertionHandler ) \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( (void)0, (false) && static_cast<bool>( !!(__VA_ARGS__) ) )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_IF( macroName, resultDisposition, ... ) \
-    INTERNAL_CATCH_TEST( macroName, resultDisposition, __VA_ARGS__ ); \
-    if( Catch::getResultCapture().lastAssertionPassed() )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_ELSE( macroName, resultDisposition, ... ) \
-    INTERNAL_CATCH_TEST( macroName, resultDisposition, __VA_ARGS__ ); \
-    if( !Catch::getResultCapture().lastAssertionPassed() )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_NO_THROW( macroName, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition ); \
-        try { \
-            static_cast<void>(__VA_ARGS__); \
-            catchAssertionHandler.handleExceptionNotThrownAsExpected(); \
-        } \
-        catch( ... ) { \
-            catchAssertionHandler.handleUnexpectedInflightException(); \
-        } \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS( macroName, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__), resultDisposition); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleExceptionThrownAsExpected(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS_AS( macroName, exceptionType, resultDisposition, expr ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(expr) ", " CATCH_INTERNAL_STRINGIFY(exceptionType), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(expr); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( exceptionType const& ) { \
-                catchAssertionHandler.handleExceptionThrownAsExpected(); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleUnexpectedInflightException(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_MSG( macroName, messageType, resultDisposition, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::StringRef(), resultDisposition ); \
-        catchAssertionHandler.handleMessage( messageType, ( Catch::MessageStream() << __VA_ARGS__ + ::Catch::StreamEndStop() ).m_stream.str() ); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_CAPTURE( varName, macroName, ... ) \
-    auto varName = Catch::Capturer( macroName, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info, #__VA_ARGS__ ); \
-    varName.captureValues( 0, __VA_ARGS__ )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_INFO( macroName, log ) \
-    Catch::ScopedMessage INTERNAL_CATCH_UNIQUE_NAME( scopedMessage )( Catch::MessageBuilder( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log );
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_UNSCOPED_INFO( macroName, log ) \
-    Catch::getResultCapture().emplaceUnscopedMessage( Catch::MessageBuilder( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, Catch::ResultWas::Info ) << log )
-
-///////////////////////////////////////////////////////////////////////////////
-// Although this is matcher-based, it can be used with just a string
-#define INTERNAL_CATCH_THROWS_STR_MATCHES( macroName, resultDisposition, matcher, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( ... ) { \
-                Catch::handleExceptionMatchExpr( catchAssertionHandler, matcher, #matcher##_catch_sr ); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-#endif // CATCH_CONFIG_DISABLE
-
-// end catch_capture.hpp
-// start catch_section.h
-
-// start catch_section_info.h
-
-// start catch_totals.h
-
-#include <cstddef>
-
-namespace Catch {
-
-    struct Counts {
-        Counts operator - ( Counts const& other ) const;
-        Counts& operator += ( Counts const& other );
-
-        std::size_t total() const;
-        bool allPassed() const;
-        bool allOk() const;
-
-        std::size_t passed = 0;
-        std::size_t failed = 0;
-        std::size_t failedButOk = 0;
-    };
-
-    struct Totals {
-
-        Totals operator - ( Totals const& other ) const;
-        Totals& operator += ( Totals const& other );
-
-        Totals delta( Totals const& prevTotals ) const;
-
-        int error = 0;
-        Counts assertions;
-        Counts testCases;
-    };
-}
-
-// end catch_totals.h
-#include <string>
-
-namespace Catch {
-
-    struct SectionInfo {
-        SectionInfo
-            (   SourceLineInfo const& _lineInfo,
-                std::string const& _name );
-
-        // Deprecated
-        SectionInfo
-            (   SourceLineInfo const& _lineInfo,
-                std::string const& _name,
-                std::string const& ) : SectionInfo( _lineInfo, _name ) {}
-
-        std::string name;
-        std::string description; // !Deprecated: this will always be empty
-        SourceLineInfo lineInfo;
-    };
-
-    struct SectionEndInfo {
-        SectionInfo sectionInfo;
-        Counts prevAssertions;
-        double durationInSeconds;
-    };
-
-} // end namespace Catch
-
-// end catch_section_info.h
-// start catch_timer.h
-
-#include <cstdint>
-
-namespace Catch {
-
-    auto getCurrentNanosecondsSinceEpoch() -> uint64_t;
-    auto getEstimatedClockResolution() -> uint64_t;
-
-    class Timer {
-        uint64_t m_nanoseconds = 0;
-    public:
-        void start();
-        auto getElapsedNanoseconds() const -> uint64_t;
-        auto getElapsedMicroseconds() const -> uint64_t;
-        auto getElapsedMilliseconds() const -> unsigned int;
-        auto getElapsedSeconds() const -> double;
-    };
-
-} // namespace Catch
-
-// end catch_timer.h
-#include <string>
-
-namespace Catch {
-
-    class Section : NonCopyable {
-    public:
-        Section( SectionInfo const& info );
-        ~Section();
-
-        // This indicates whether the section should be executed or not
-        explicit operator bool() const;
-
-    private:
-        SectionInfo m_info;
-
-        std::string m_name;
-        Counts m_assertions;
-        bool m_sectionIncluded;
-        Timer m_timer;
-    };
-
-} // end namespace Catch
-
-#define INTERNAL_CATCH_SECTION( ... ) \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-    CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-    if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, __VA_ARGS__ ) ) \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-#define INTERNAL_CATCH_DYNAMIC_SECTION( ... ) \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-    CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \
-    if( Catch::Section const& INTERNAL_CATCH_UNIQUE_NAME( catch_internal_Section ) = Catch::SectionInfo( CATCH_INTERNAL_LINEINFO, (Catch::ReusableStringStream() << __VA_ARGS__).str() ) ) \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-// end catch_section.h
-// start catch_interfaces_exception.h
-
-// start catch_interfaces_registry_hub.h
-
-#include <string>
-#include <memory>
-
-namespace Catch {
-
-    class TestCase;
-    struct ITestCaseRegistry;
-    struct IExceptionTranslatorRegistry;
-    struct IExceptionTranslator;
-    struct IReporterRegistry;
-    struct IReporterFactory;
-    struct ITagAliasRegistry;
-    struct IMutableEnumValuesRegistry;
-
-    class StartupExceptionRegistry;
-
-    using IReporterFactoryPtr = std::shared_ptr<IReporterFactory>;
-
-    struct IRegistryHub {
-        virtual ~IRegistryHub();
-
-        virtual IReporterRegistry const& getReporterRegistry() const = 0;
-        virtual ITestCaseRegistry const& getTestCaseRegistry() const = 0;
-        virtual ITagAliasRegistry const& getTagAliasRegistry() const = 0;
-        virtual IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const = 0;
-
-        virtual StartupExceptionRegistry const& getStartupExceptionRegistry() const = 0;
-    };
-
-    struct IMutableRegistryHub {
-        virtual ~IMutableRegistryHub();
-        virtual void registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) = 0;
-        virtual void registerListener( IReporterFactoryPtr const& factory ) = 0;
-        virtual void registerTest( TestCase const& testInfo ) = 0;
-        virtual void registerTranslator( const IExceptionTranslator* translator ) = 0;
-        virtual void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) = 0;
-        virtual void registerStartupException() noexcept = 0;
-        virtual IMutableEnumValuesRegistry& getMutableEnumValuesRegistry() = 0;
-    };
-
-    IRegistryHub const& getRegistryHub();
-    IMutableRegistryHub& getMutableRegistryHub();
-    void cleanUp();
-    std::string translateActiveException();
-
-}
-
-// end catch_interfaces_registry_hub.h
-#if defined(CATCH_CONFIG_DISABLE)
-    #define INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( translatorName, signature) \
-        static std::string translatorName( signature )
-#endif
-
-#include <exception>
-#include <string>
-#include <vector>
-
-namespace Catch {
-    using exceptionTranslateFunction = std::string(*)();
-
-    struct IExceptionTranslator;
-    using ExceptionTranslators = std::vector<std::unique_ptr<IExceptionTranslator const>>;
-
-    struct IExceptionTranslator {
-        virtual ~IExceptionTranslator();
-        virtual std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const = 0;
-    };
-
-    struct IExceptionTranslatorRegistry {
-        virtual ~IExceptionTranslatorRegistry();
-
-        virtual std::string translateActiveException() const = 0;
-    };
-
-    class ExceptionTranslatorRegistrar {
-        template<typename T>
-        class ExceptionTranslator : public IExceptionTranslator {
-        public:
-
-            ExceptionTranslator( std::string(*translateFunction)( T& ) )
-            : m_translateFunction( translateFunction )
-            {}
-
-            std::string translate( ExceptionTranslators::const_iterator it, ExceptionTranslators::const_iterator itEnd ) const override {
-                try {
-                    if( it == itEnd )
-                        std::rethrow_exception(std::current_exception());
-                    else
-                        return (*it)->translate( it+1, itEnd );
-                }
-                catch( T& ex ) {
-                    return m_translateFunction( ex );
-                }
-            }
-
-        protected:
-            std::string(*m_translateFunction)( T& );
-        };
-
-    public:
-        template<typename T>
-        ExceptionTranslatorRegistrar( std::string(*translateFunction)( T& ) ) {
-            getMutableRegistryHub().registerTranslator
-                ( new ExceptionTranslator<T>( translateFunction ) );
-        }
-    };
-}
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_TRANSLATE_EXCEPTION2( translatorName, signature ) \
-    static std::string translatorName( signature ); \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \
-    namespace{ Catch::ExceptionTranslatorRegistrar INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionRegistrar )( &translatorName ); } \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION \
-    static std::string translatorName( signature )
-
-#define INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION2( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature )
-
-// end catch_interfaces_exception.h
-// start catch_approx.h
-
-#include <type_traits>
-
-namespace Catch {
-namespace Detail {
-
-    class Approx {
-    private:
-        bool equalityComparisonImpl(double other) const;
-        // Validates the new margin (margin >= 0)
-        // out-of-line to avoid including stdexcept in the header
-        void setMargin(double margin);
-        // Validates the new epsilon (0 < epsilon < 1)
-        // out-of-line to avoid including stdexcept in the header
-        void setEpsilon(double epsilon);
-
-    public:
-        explicit Approx ( double value );
-
-        static Approx custom();
-
-        Approx operator-() const;
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx operator()( T const& value ) {
-            Approx approx( static_cast<double>(value) );
-            approx.m_epsilon = m_epsilon;
-            approx.m_margin = m_margin;
-            approx.m_scale = m_scale;
-            return approx;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        explicit Approx( T const& value ): Approx(static_cast<double>(value))
-        {}
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator == ( const T& lhs, Approx const& rhs ) {
-            auto lhs_v = static_cast<double>(lhs);
-            return rhs.equalityComparisonImpl(lhs_v);
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator == ( Approx const& lhs, const T& rhs ) {
-            return operator==( rhs, lhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator != ( T const& lhs, Approx const& rhs ) {
-            return !operator==( lhs, rhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator != ( Approx const& lhs, T const& rhs ) {
-            return !operator==( rhs, lhs );
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator <= ( T const& lhs, Approx const& rhs ) {
-            return static_cast<double>(lhs) < rhs.m_value || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator <= ( Approx const& lhs, T const& rhs ) {
-            return lhs.m_value < static_cast<double>(rhs) || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator >= ( T const& lhs, Approx const& rhs ) {
-            return static_cast<double>(lhs) > rhs.m_value || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        friend bool operator >= ( Approx const& lhs, T const& rhs ) {
-            return lhs.m_value > static_cast<double>(rhs) || lhs == rhs;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& epsilon( T const& newEpsilon ) {
-            double epsilonAsDouble = static_cast<double>(newEpsilon);
-            setEpsilon(epsilonAsDouble);
-            return *this;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& margin( T const& newMargin ) {
-            double marginAsDouble = static_cast<double>(newMargin);
-            setMargin(marginAsDouble);
-            return *this;
-        }
-
-        template <typename T, typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-        Approx& scale( T const& newScale ) {
-            m_scale = static_cast<double>(newScale);
-            return *this;
-        }
-
-        std::string toString() const;
-
-    private:
-        double m_epsilon;
-        double m_margin;
-        double m_scale;
-        double m_value;
-    };
-} // end namespace Detail
-
-namespace literals {
-    Detail::Approx operator "" _a(long double val);
-    Detail::Approx operator "" _a(unsigned long long val);
-} // end namespace literals
-
-template<>
-struct StringMaker<Catch::Detail::Approx> {
-    static std::string convert(Catch::Detail::Approx const& value);
-};
-
-} // end namespace Catch
-
-// end catch_approx.h
-// start catch_string_manip.h
-
-#include <string>
-#include <iosfwd>
-#include <vector>
-
-namespace Catch {
-
-    bool startsWith( std::string const& s, std::string const& prefix );
-    bool startsWith( std::string const& s, char prefix );
-    bool endsWith( std::string const& s, std::string const& suffix );
-    bool endsWith( std::string const& s, char suffix );
-    bool contains( std::string const& s, std::string const& infix );
-    void toLowerInPlace( std::string& s );
-    std::string toLower( std::string const& s );
-    //! Returns a new string without whitespace at the start/end
-    std::string trim( std::string const& str );
-    //! Returns a substring of the original ref without whitespace. Beware lifetimes!
-    StringRef trim(StringRef ref);
-
-    // !!! Be aware, returns refs into original string - make sure original string outlives them
-    std::vector<StringRef> splitStringRef( StringRef str, char delimiter );
-    bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis );
-
-    struct pluralise {
-        pluralise( std::size_t count, std::string const& label );
-
-        friend std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser );
-
-        std::size_t m_count;
-        std::string m_label;
-    };
-}
-
-// end catch_string_manip.h
-#ifndef CATCH_CONFIG_DISABLE_MATCHERS
-// start catch_capture_matchers.h
-
-// start catch_matchers.h
-
-#include <string>
-#include <vector>
-
-namespace Catch {
-namespace Matchers {
-    namespace Impl {
-
-        template<typename ArgT> struct MatchAllOf;
-        template<typename ArgT> struct MatchAnyOf;
-        template<typename ArgT> struct MatchNotOf;
-
-        class MatcherUntypedBase {
-        public:
-            MatcherUntypedBase() = default;
-            MatcherUntypedBase ( MatcherUntypedBase const& ) = default;
-            MatcherUntypedBase& operator = ( MatcherUntypedBase const& ) = delete;
-            std::string toString() const;
-
-        protected:
-            virtual ~MatcherUntypedBase();
-            virtual std::string describe() const = 0;
-            mutable std::string m_cachedToString;
-        };
-
-#ifdef __clang__
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wnon-virtual-dtor"
-#endif
-
-        template<typename ObjectT>
-        struct MatcherMethod {
-            virtual bool match( ObjectT const& arg ) const = 0;
-        };
-
-#if defined(__OBJC__)
-        // Hack to fix Catch GH issue #1661. Could use id for generic Object support.
-        // use of const for Object pointers is very uncommon and under ARC it causes some kind of signature mismatch that breaks compilation
-        template<>
-        struct MatcherMethod<NSString*> {
-            virtual bool match( NSString* arg ) const = 0;
-        };
-#endif
-
-#ifdef __clang__
-#    pragma clang diagnostic pop
-#endif
-
-        template<typename T>
-        struct MatcherBase : MatcherUntypedBase, MatcherMethod<T> {
-
-            MatchAllOf<T> operator && ( MatcherBase const& other ) const;
-            MatchAnyOf<T> operator || ( MatcherBase const& other ) const;
-            MatchNotOf<T> operator ! () const;
-        };
-
-        template<typename ArgT>
-        struct MatchAllOf : MatcherBase<ArgT> {
-            bool match( ArgT const& arg ) const override {
-                for( auto matcher : m_matchers ) {
-                    if (!matcher->match(arg))
-                        return false;
-                }
-                return true;
-            }
-            std::string describe() const override {
-                std::string description;
-                description.reserve( 4 + m_matchers.size()*32 );
-                description += "( ";
-                bool first = true;
-                for( auto matcher : m_matchers ) {
-                    if( first )
-                        first = false;
-                    else
-                        description += " and ";
-                    description += matcher->toString();
-                }
-                description += " )";
-                return description;
-            }
-
-            MatchAllOf<ArgT> operator && ( MatcherBase<ArgT> const& other ) {
-                auto copy(*this);
-                copy.m_matchers.push_back( &other );
-                return copy;
-            }
-
-            std::vector<MatcherBase<ArgT> const*> m_matchers;
-        };
-        template<typename ArgT>
-        struct MatchAnyOf : MatcherBase<ArgT> {
-
-            bool match( ArgT const& arg ) const override {
-                for( auto matcher : m_matchers ) {
-                    if (matcher->match(arg))
-                        return true;
-                }
-                return false;
-            }
-            std::string describe() const override {
-                std::string description;
-                description.reserve( 4 + m_matchers.size()*32 );
-                description += "( ";
-                bool first = true;
-                for( auto matcher : m_matchers ) {
-                    if( first )
-                        first = false;
-                    else
-                        description += " or ";
-                    description += matcher->toString();
-                }
-                description += " )";
-                return description;
-            }
-
-            MatchAnyOf<ArgT> operator || ( MatcherBase<ArgT> const& other ) {
-                auto copy(*this);
-                copy.m_matchers.push_back( &other );
-                return copy;
-            }
-
-            std::vector<MatcherBase<ArgT> const*> m_matchers;
-        };
-
-        template<typename ArgT>
-        struct MatchNotOf : MatcherBase<ArgT> {
-
-            MatchNotOf( MatcherBase<ArgT> const& underlyingMatcher ) : m_underlyingMatcher( underlyingMatcher ) {}
-
-            bool match( ArgT const& arg ) const override {
-                return !m_underlyingMatcher.match( arg );
-            }
-
-            std::string describe() const override {
-                return "not " + m_underlyingMatcher.toString();
-            }
-            MatcherBase<ArgT> const& m_underlyingMatcher;
-        };
-
-        template<typename T>
-        MatchAllOf<T> MatcherBase<T>::operator && ( MatcherBase const& other ) const {
-            return MatchAllOf<T>() && *this && other;
-        }
-        template<typename T>
-        MatchAnyOf<T> MatcherBase<T>::operator || ( MatcherBase const& other ) const {
-            return MatchAnyOf<T>() || *this || other;
-        }
-        template<typename T>
-        MatchNotOf<T> MatcherBase<T>::operator ! () const {
-            return MatchNotOf<T>( *this );
-        }
-
-    } // namespace Impl
-
-} // namespace Matchers
-
-using namespace Matchers;
-using Matchers::Impl::MatcherBase;
-
-} // namespace Catch
-
-// end catch_matchers.h
-// start catch_matchers_exception.hpp
-
-namespace Catch {
-namespace Matchers {
-namespace Exception {
-
-class ExceptionMessageMatcher : public MatcherBase<std::exception> {
-    std::string m_message;
-public:
-
-    ExceptionMessageMatcher(std::string const& message):
-        m_message(message)
-    {}
-
-    bool match(std::exception const& ex) const override;
-
-    std::string describe() const override;
-};
-
-} // namespace Exception
-
-Exception::ExceptionMessageMatcher Message(std::string const& message);
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_exception.hpp
-// start catch_matchers_floating.h
-
-namespace Catch {
-namespace Matchers {
-
-    namespace Floating {
-
-        enum class FloatingPointKind : uint8_t;
-
-        struct WithinAbsMatcher : MatcherBase<double> {
-            WithinAbsMatcher(double target, double margin);
-            bool match(double const& matchee) const override;
-            std::string describe() const override;
-        private:
-            double m_target;
-            double m_margin;
-        };
-
-        struct WithinUlpsMatcher : MatcherBase<double> {
-            WithinUlpsMatcher(double target, uint64_t ulps, FloatingPointKind baseType);
-            bool match(double const& matchee) const override;
-            std::string describe() const override;
-        private:
-            double m_target;
-            uint64_t m_ulps;
-            FloatingPointKind m_type;
-        };
-
-        // Given IEEE-754 format for floats and doubles, we can assume
-        // that float -> double promotion is lossless. Given this, we can
-        // assume that if we do the standard relative comparison of
-        // |lhs - rhs| <= epsilon * max(fabs(lhs), fabs(rhs)), then we get
-        // the same result if we do this for floats, as if we do this for
-        // doubles that were promoted from floats.
-        struct WithinRelMatcher : MatcherBase<double> {
-            WithinRelMatcher(double target, double epsilon);
-            bool match(double const& matchee) const override;
-            std::string describe() const override;
-        private:
-            double m_target;
-            double m_epsilon;
-        };
-
-    } // namespace Floating
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-    Floating::WithinUlpsMatcher WithinULP(double target, uint64_t maxUlpDiff);
-    Floating::WithinUlpsMatcher WithinULP(float target, uint64_t maxUlpDiff);
-    Floating::WithinAbsMatcher WithinAbs(double target, double margin);
-    Floating::WithinRelMatcher WithinRel(double target, double eps);
-    // defaults epsilon to 100*numeric_limits<double>::epsilon()
-    Floating::WithinRelMatcher WithinRel(double target);
-    Floating::WithinRelMatcher WithinRel(float target, float eps);
-    // defaults epsilon to 100*numeric_limits<float>::epsilon()
-    Floating::WithinRelMatcher WithinRel(float target);
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_floating.h
-// start catch_matchers_generic.hpp
-
-#include <functional>
-#include <string>
-
-namespace Catch {
-namespace Matchers {
-namespace Generic {
-
-namespace Detail {
-    std::string finalizeDescription(const std::string& desc);
-}
-
-template <typename T>
-class PredicateMatcher : public MatcherBase<T> {
-    std::function<bool(T const&)> m_predicate;
-    std::string m_description;
-public:
-
-    PredicateMatcher(std::function<bool(T const&)> const& elem, std::string const& descr)
-        :m_predicate(std::move(elem)),
-        m_description(Detail::finalizeDescription(descr))
-    {}
-
-    bool match( T const& item ) const override {
-        return m_predicate(item);
-    }
-
-    std::string describe() const override {
-        return m_description;
-    }
-};
-
-} // namespace Generic
-
-    // The following functions create the actual matcher objects.
-    // The user has to explicitly specify type to the function, because
-    // inferring std::function<bool(T const&)> is hard (but possible) and
-    // requires a lot of TMP.
-    template<typename T>
-    Generic::PredicateMatcher<T> Predicate(std::function<bool(T const&)> const& predicate, std::string const& description = "") {
-        return Generic::PredicateMatcher<T>(predicate, description);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_generic.hpp
-// start catch_matchers_string.h
-
-#include <string>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace StdString {
-
-        struct CasedString
-        {
-            CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity );
-            std::string adjustString( std::string const& str ) const;
-            std::string caseSensitivitySuffix() const;
-
-            CaseSensitive::Choice m_caseSensitivity;
-            std::string m_str;
-        };
-
-        struct StringMatcherBase : MatcherBase<std::string> {
-            StringMatcherBase( std::string const& operation, CasedString const& comparator );
-            std::string describe() const override;
-
-            CasedString m_comparator;
-            std::string m_operation;
-        };
-
-        struct EqualsMatcher : StringMatcherBase {
-            EqualsMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct ContainsMatcher : StringMatcherBase {
-            ContainsMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct StartsWithMatcher : StringMatcherBase {
-            StartsWithMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-        struct EndsWithMatcher : StringMatcherBase {
-            EndsWithMatcher( CasedString const& comparator );
-            bool match( std::string const& source ) const override;
-        };
-
-        struct RegexMatcher : MatcherBase<std::string> {
-            RegexMatcher( std::string regex, CaseSensitive::Choice caseSensitivity );
-            bool match( std::string const& matchee ) const override;
-            std::string describe() const override;
-
-        private:
-            std::string m_regex;
-            CaseSensitive::Choice m_caseSensitivity;
-        };
-
-    } // namespace StdString
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-
-    StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-    StdString::RegexMatcher Matches( std::string const& regex, CaseSensitive::Choice caseSensitivity = CaseSensitive::Yes );
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_string.h
-// start catch_matchers_vector.h
-
-#include <algorithm>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace Vector {
-        template<typename T>
-        struct ContainsElementMatcher : MatcherBase<std::vector<T>> {
-
-            ContainsElementMatcher(T const &comparator) : m_comparator( comparator) {}
-
-            bool match(std::vector<T> const &v) const override {
-                for (auto const& el : v) {
-                    if (el == m_comparator) {
-                        return true;
-                    }
-                }
-                return false;
-            }
-
-            std::string describe() const override {
-                return "Contains: " + ::Catch::Detail::stringify( m_comparator );
-            }
-
-            T const& m_comparator;
-        };
-
-        template<typename T>
-        struct ContainsMatcher : MatcherBase<std::vector<T>> {
-
-            ContainsMatcher(std::vector<T> const &comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T> const &v) const override {
-                // !TBD: see note in EqualsMatcher
-                if (m_comparator.size() > v.size())
-                    return false;
-                for (auto const& comparator : m_comparator) {
-                    auto present = false;
-                    for (const auto& el : v) {
-                        if (el == comparator) {
-                            present = true;
-                            break;
-                        }
-                    }
-                    if (!present) {
-                        return false;
-                    }
-                }
-                return true;
-            }
-            std::string describe() const override {
-                return "Contains: " + ::Catch::Detail::stringify( m_comparator );
-            }
-
-            std::vector<T> const& m_comparator;
-        };
-
-        template<typename T>
-        struct EqualsMatcher : MatcherBase<std::vector<T>> {
-
-            EqualsMatcher(std::vector<T> const &comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T> const &v) const override {
-                // !TBD: This currently works if all elements can be compared using !=
-                // - a more general approach would be via a compare template that defaults
-                // to using !=. but could be specialised for, e.g. std::vector<T> etc
-                // - then just call that directly
-                if (m_comparator.size() != v.size())
-                    return false;
-                for (std::size_t i = 0; i < v.size(); ++i)
-                    if (m_comparator[i] != v[i])
-                        return false;
-                return true;
-            }
-            std::string describe() const override {
-                return "Equals: " + ::Catch::Detail::stringify( m_comparator );
-            }
-            std::vector<T> const& m_comparator;
-        };
-
-        template<typename T>
-        struct ApproxMatcher : MatcherBase<std::vector<T>> {
-
-            ApproxMatcher(std::vector<T> const& comparator) : m_comparator( comparator ) {}
-
-            bool match(std::vector<T> const &v) const override {
-                if (m_comparator.size() != v.size())
-                    return false;
-                for (std::size_t i = 0; i < v.size(); ++i)
-                    if (m_comparator[i] != approx(v[i]))
-                        return false;
-                return true;
-            }
-            std::string describe() const override {
-                return "is approx: " + ::Catch::Detail::stringify( m_comparator );
-            }
-            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-            ApproxMatcher& epsilon( T const& newEpsilon ) {
-                approx.epsilon(newEpsilon);
-                return *this;
-            }
-            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-            ApproxMatcher& margin( T const& newMargin ) {
-                approx.margin(newMargin);
-                return *this;
-            }
-            template <typename = typename std::enable_if<std::is_constructible<double, T>::value>::type>
-            ApproxMatcher& scale( T const& newScale ) {
-                approx.scale(newScale);
-                return *this;
-            }
-
-            std::vector<T> const& m_comparator;
-            mutable Catch::Detail::Approx approx = Catch::Detail::Approx::custom();
-        };
-
-        template<typename T>
-        struct UnorderedEqualsMatcher : MatcherBase<std::vector<T>> {
-            UnorderedEqualsMatcher(std::vector<T> const& target) : m_target(target) {}
-            bool match(std::vector<T> const& vec) const override {
-                // Note: This is a reimplementation of std::is_permutation,
-                //       because I don't want to include <algorithm> inside the common path
-                if (m_target.size() != vec.size()) {
-                    return false;
-                }
-                return std::is_permutation(m_target.begin(), m_target.end(), vec.begin());
-            }
-
-            std::string describe() const override {
-                return "UnorderedEquals: " + ::Catch::Detail::stringify(m_target);
-            }
-        private:
-            std::vector<T> const& m_target;
-        };
-
-    } // namespace Vector
-
-    // The following functions create the actual matcher objects.
-    // This allows the types to be inferred
-
-    template<typename T>
-    Vector::ContainsMatcher<T> Contains( std::vector<T> const& comparator ) {
-        return Vector::ContainsMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::ContainsElementMatcher<T> VectorContains( T const& comparator ) {
-        return Vector::ContainsElementMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::EqualsMatcher<T> Equals( std::vector<T> const& comparator ) {
-        return Vector::EqualsMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::ApproxMatcher<T> Approx( std::vector<T> const& comparator ) {
-        return Vector::ApproxMatcher<T>( comparator );
-    }
-
-    template<typename T>
-    Vector::UnorderedEqualsMatcher<T> UnorderedEquals(std::vector<T> const& target) {
-        return Vector::UnorderedEqualsMatcher<T>(target);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_vector.h
-namespace Catch {
-
-    template<typename ArgT, typename MatcherT>
-    class MatchExpr : public ITransientExpression {
-        ArgT const& m_arg;
-        MatcherT m_matcher;
-        StringRef m_matcherString;
-    public:
-        MatchExpr( ArgT const& arg, MatcherT const& matcher, StringRef const& matcherString )
-        :   ITransientExpression{ true, matcher.match( arg ) },
-            m_arg( arg ),
-            m_matcher( matcher ),
-            m_matcherString( matcherString )
-        {}
-
-        void streamReconstructedExpression( std::ostream &os ) const override {
-            auto matcherAsString = m_matcher.toString();
-            os << Catch::Detail::stringify( m_arg ) << ' ';
-            if( matcherAsString == Detail::unprintableString )
-                os << m_matcherString;
-            else
-                os << matcherAsString;
-        }
-    };
-
-    using StringMatcher = Matchers::Impl::MatcherBase<std::string>;
-
-    void handleExceptionMatchExpr( AssertionHandler& handler, StringMatcher const& matcher, StringRef const& matcherString  );
-
-    template<typename ArgT, typename MatcherT>
-    auto makeMatchExpr( ArgT const& arg, MatcherT const& matcher, StringRef const& matcherString  ) -> MatchExpr<ArgT, MatcherT> {
-        return MatchExpr<ArgT, MatcherT>( arg, matcher, matcherString );
-    }
-
-} // namespace Catch
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CHECK_THAT( macroName, matcher, resultDisposition, arg ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(arg) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        INTERNAL_CATCH_TRY { \
-            catchAssertionHandler.handleExpr( Catch::makeMatchExpr( arg, matcher, #matcher##_catch_sr ) ); \
-        } INTERNAL_CATCH_CATCH( catchAssertionHandler ) \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-///////////////////////////////////////////////////////////////////////////////
-#define INTERNAL_CATCH_THROWS_MATCHES( macroName, exceptionType, resultDisposition, matcher, ... ) \
-    do { \
-        Catch::AssertionHandler catchAssertionHandler( macroName##_catch_sr, CATCH_INTERNAL_LINEINFO, CATCH_INTERNAL_STRINGIFY(__VA_ARGS__) ", " CATCH_INTERNAL_STRINGIFY(exceptionType) ", " CATCH_INTERNAL_STRINGIFY(matcher), resultDisposition ); \
-        if( catchAssertionHandler.allowThrows() ) \
-            try { \
-                static_cast<void>(__VA_ARGS__ ); \
-                catchAssertionHandler.handleUnexpectedExceptionNotThrown(); \
-            } \
-            catch( exceptionType const& ex ) { \
-                catchAssertionHandler.handleExpr( Catch::makeMatchExpr( ex, matcher, #matcher##_catch_sr ) ); \
-            } \
-            catch( ... ) { \
-                catchAssertionHandler.handleUnexpectedInflightException(); \
-            } \
-        else \
-            catchAssertionHandler.handleThrowingCallSkipped(); \
-        INTERNAL_CATCH_REACT( catchAssertionHandler ) \
-    } while( false )
-
-// end catch_capture_matchers.h
-#endif
-// start catch_generators.hpp
-
-// start catch_interfaces_generatortracker.h
-
-
-#include <memory>
-
-namespace Catch {
-
-    namespace Generators {
-        class GeneratorUntypedBase {
-        public:
-            GeneratorUntypedBase() = default;
-            virtual ~GeneratorUntypedBase();
-            // Attempts to move the generator to the next element
-             //
-             // Returns true iff the move succeeded (and a valid element
-             // can be retrieved).
-            virtual bool next() = 0;
-        };
-        using GeneratorBasePtr = std::unique_ptr<GeneratorUntypedBase>;
-
-    } // namespace Generators
-
-    struct IGeneratorTracker {
-        virtual ~IGeneratorTracker();
-        virtual auto hasGenerator() const -> bool = 0;
-        virtual auto getGenerator() const -> Generators::GeneratorBasePtr const& = 0;
-        virtual void setGenerator( Generators::GeneratorBasePtr&& generator ) = 0;
-    };
-
-} // namespace Catch
-
-// end catch_interfaces_generatortracker.h
-// start catch_enforce.h
-
-#include <exception>
-
-namespace Catch {
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-    template <typename Ex>
-    [[noreturn]]
-    void throw_exception(Ex const& e) {
-        throw e;
-    }
-#else // ^^ Exceptions are enabled //  Exceptions are disabled vv
-    [[noreturn]]
-    void throw_exception(std::exception const& e);
-#endif
-
-    [[noreturn]]
-    void throw_logic_error(std::string const& msg);
-    [[noreturn]]
-    void throw_domain_error(std::string const& msg);
-    [[noreturn]]
-    void throw_runtime_error(std::string const& msg);
-
-} // namespace Catch;
-
-#define CATCH_MAKE_MSG(...) \
-    (Catch::ReusableStringStream() << __VA_ARGS__).str()
-
-#define CATCH_INTERNAL_ERROR(...) \
-    Catch::throw_logic_error(CATCH_MAKE_MSG( CATCH_INTERNAL_LINEINFO << ": Internal Catch2 error: " << __VA_ARGS__))
-
-#define CATCH_ERROR(...) \
-    Catch::throw_domain_error(CATCH_MAKE_MSG( __VA_ARGS__ ))
-
-#define CATCH_RUNTIME_ERROR(...) \
-    Catch::throw_runtime_error(CATCH_MAKE_MSG( __VA_ARGS__ ))
-
-#define CATCH_ENFORCE( condition, ... ) \
-    do{ if( !(condition) ) CATCH_ERROR( __VA_ARGS__ ); } while(false)
-
-// end catch_enforce.h
-#include <memory>
-#include <vector>
-#include <cassert>
-
-#include <utility>
-#include <exception>
-
-namespace Catch {
-
-class GeneratorException : public std::exception {
-    const char* const m_msg = "";
-
-public:
-    GeneratorException(const char* msg):
-        m_msg(msg)
-    {}
-
-    const char* what() const noexcept override final;
-};
-
-namespace Generators {
-
-    // !TBD move this into its own location?
-    namespace pf{
-        template<typename T, typename... Args>
-        std::unique_ptr<T> make_unique( Args&&... args ) {
-            return std::unique_ptr<T>(new T(std::forward<Args>(args)...));
-        }
-    }
-
-    template<typename T>
-    struct IGenerator : GeneratorUntypedBase {
-        virtual ~IGenerator() = default;
-
-        // Returns the current element of the generator
-        //
-        // \Precondition The generator is either freshly constructed,
-        // or the last call to `next()` returned true
-        virtual T const& get() const = 0;
-        using type = T;
-    };
-
-    template<typename T>
-    class SingleValueGenerator final : public IGenerator<T> {
-        T m_value;
-    public:
-        SingleValueGenerator(T&& value) : m_value(std::move(value)) {}
-
-        T const& get() const override {
-            return m_value;
-        }
-        bool next() override {
-            return false;
-        }
-    };
-
-    template<typename T>
-    class FixedValuesGenerator final : public IGenerator<T> {
-        static_assert(!std::is_same<T, bool>::value,
-            "FixedValuesGenerator does not support bools because of std::vector<bool>"
-            "specialization, use SingleValue Generator instead.");
-        std::vector<T> m_values;
-        size_t m_idx = 0;
-    public:
-        FixedValuesGenerator( std::initializer_list<T> values ) : m_values( values ) {}
-
-        T const& get() const override {
-            return m_values[m_idx];
-        }
-        bool next() override {
-            ++m_idx;
-            return m_idx < m_values.size();
-        }
-    };
-
-    template <typename T>
-    class GeneratorWrapper final {
-        std::unique_ptr<IGenerator<T>> m_generator;
-    public:
-        GeneratorWrapper(std::unique_ptr<IGenerator<T>> generator):
-            m_generator(std::move(generator))
-        {}
-        T const& get() const {
-            return m_generator->get();
-        }
-        bool next() {
-            return m_generator->next();
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<T> value(T&& value) {
-        return GeneratorWrapper<T>(pf::make_unique<SingleValueGenerator<T>>(std::forward<T>(value)));
-    }
-    template <typename T>
-    GeneratorWrapper<T> values(std::initializer_list<T> values) {
-        return GeneratorWrapper<T>(pf::make_unique<FixedValuesGenerator<T>>(values));
-    }
-
-    template<typename T>
-    class Generators : public IGenerator<T> {
-        std::vector<GeneratorWrapper<T>> m_generators;
-        size_t m_current = 0;
-
-        void populate(GeneratorWrapper<T>&& generator) {
-            m_generators.emplace_back(std::move(generator));
-        }
-        void populate(T&& val) {
-            m_generators.emplace_back(value(std::forward<T>(val)));
-        }
-        template<typename U>
-        void populate(U&& val) {
-            populate(T(std::forward<U>(val)));
-        }
-        template<typename U, typename... Gs>
-        void populate(U&& valueOrGenerator, Gs &&... moreGenerators) {
-            populate(std::forward<U>(valueOrGenerator));
-            populate(std::forward<Gs>(moreGenerators)...);
-        }
-
-    public:
-        template <typename... Gs>
-        Generators(Gs &&... moreGenerators) {
-            m_generators.reserve(sizeof...(Gs));
-            populate(std::forward<Gs>(moreGenerators)...);
-        }
-
-        T const& get() const override {
-            return m_generators[m_current].get();
-        }
-
-        bool next() override {
-            if (m_current >= m_generators.size()) {
-                return false;
-            }
-            const bool current_status = m_generators[m_current].next();
-            if (!current_status) {
-                ++m_current;
-            }
-            return m_current < m_generators.size();
-        }
-    };
-
-    template<typename... Ts>
-    GeneratorWrapper<std::tuple<Ts...>> table( std::initializer_list<std::tuple<typename std::decay<Ts>::type...>> tuples ) {
-        return values<std::tuple<Ts...>>( tuples );
-    }
-
-    // Tag type to signal that a generator sequence should convert arguments to a specific type
-    template <typename T>
-    struct as {};
-
-    template<typename T, typename... Gs>
-    auto makeGenerators( GeneratorWrapper<T>&& generator, Gs &&... moreGenerators ) -> Generators<T> {
-        return Generators<T>(std::move(generator), std::forward<Gs>(moreGenerators)...);
-    }
-    template<typename T>
-    auto makeGenerators( GeneratorWrapper<T>&& generator ) -> Generators<T> {
-        return Generators<T>(std::move(generator));
-    }
-    template<typename T, typename... Gs>
-    auto makeGenerators( T&& val, Gs &&... moreGenerators ) -> Generators<T> {
-        return makeGenerators( value( std::forward<T>( val ) ), std::forward<Gs>( moreGenerators )... );
-    }
-    template<typename T, typename U, typename... Gs>
-    auto makeGenerators( as<T>, U&& val, Gs &&... moreGenerators ) -> Generators<T> {
-        return makeGenerators( value( T( std::forward<U>( val ) ) ), std::forward<Gs>( moreGenerators )... );
-    }
-
-    auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker&;
-
-    template<typename L>
-    // Note: The type after -> is weird, because VS2015 cannot parse
-    //       the expression used in the typedef inside, when it is in
-    //       return type. Yeah.
-    auto generate( SourceLineInfo const& lineInfo, L const& generatorExpression ) -> decltype(std::declval<decltype(generatorExpression())>().get()) {
-        using UnderlyingType = typename decltype(generatorExpression())::type;
-
-        IGeneratorTracker& tracker = acquireGeneratorTracker( lineInfo );
-        if (!tracker.hasGenerator()) {
-            tracker.setGenerator(pf::make_unique<Generators<UnderlyingType>>(generatorExpression()));
-        }
-
-        auto const& generator = static_cast<IGenerator<UnderlyingType> const&>( *tracker.getGenerator() );
-        return generator.get();
-    }
-
-} // namespace Generators
-} // namespace Catch
-
-#define GENERATE( ... ) \
-    Catch::Generators::generate( CATCH_INTERNAL_LINEINFO, [ ]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } ) //NOLINT(google-build-using-namespace)
-#define GENERATE_COPY( ... ) \
-    Catch::Generators::generate( CATCH_INTERNAL_LINEINFO, [=]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } ) //NOLINT(google-build-using-namespace)
-#define GENERATE_REF( ... ) \
-    Catch::Generators::generate( CATCH_INTERNAL_LINEINFO, [&]{ using namespace Catch::Generators; return makeGenerators( __VA_ARGS__ ); } ) //NOLINT(google-build-using-namespace)
-
-// end catch_generators.hpp
-// start catch_generators_generic.hpp
-
-namespace Catch {
-namespace Generators {
-
-    template <typename T>
-    class TakeGenerator : public IGenerator<T> {
-        GeneratorWrapper<T> m_generator;
-        size_t m_returned = 0;
-        size_t m_target;
-    public:
-        TakeGenerator(size_t target, GeneratorWrapper<T>&& generator):
-            m_generator(std::move(generator)),
-            m_target(target)
-        {
-            assert(target != 0 && "Empty generators are not allowed");
-        }
-        T const& get() const override {
-            return m_generator.get();
-        }
-        bool next() override {
-            ++m_returned;
-            if (m_returned >= m_target) {
-                return false;
-            }
-
-            const auto success = m_generator.next();
-            // If the underlying generator does not contain enough values
-            // then we cut short as well
-            if (!success) {
-                m_returned = m_target;
-            }
-            return success;
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<T> take(size_t target, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<T>(pf::make_unique<TakeGenerator<T>>(target, std::move(generator)));
-    }
-
-    template <typename T, typename Predicate>
-    class FilterGenerator : public IGenerator<T> {
-        GeneratorWrapper<T> m_generator;
-        Predicate m_predicate;
-    public:
-        template <typename P = Predicate>
-        FilterGenerator(P&& pred, GeneratorWrapper<T>&& generator):
-            m_generator(std::move(generator)),
-            m_predicate(std::forward<P>(pred))
-        {
-            if (!m_predicate(m_generator.get())) {
-                // It might happen that there are no values that pass the
-                // filter. In that case we throw an exception.
-                auto has_initial_value = next();
-                if (!has_initial_value) {
-                    Catch::throw_exception(GeneratorException("No valid value found in filtered generator"));
-                }
-            }
-        }
-
-        T const& get() const override {
-            return m_generator.get();
-        }
-
-        bool next() override {
-            bool success = m_generator.next();
-            if (!success) {
-                return false;
-            }
-            while (!m_predicate(m_generator.get()) && (success = m_generator.next()) == true);
-            return success;
-        }
-    };
-
-    template <typename T, typename Predicate>
-    GeneratorWrapper<T> filter(Predicate&& pred, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<T>(std::unique_ptr<IGenerator<T>>(pf::make_unique<FilterGenerator<T, Predicate>>(std::forward<Predicate>(pred), std::move(generator))));
-    }
-
-    template <typename T>
-    class RepeatGenerator : public IGenerator<T> {
-        static_assert(!std::is_same<T, bool>::value,
-            "RepeatGenerator currently does not support bools"
-            "because of std::vector<bool> specialization");
-        GeneratorWrapper<T> m_generator;
-        mutable std::vector<T> m_returned;
-        size_t m_target_repeats;
-        size_t m_current_repeat = 0;
-        size_t m_repeat_index = 0;
-    public:
-        RepeatGenerator(size_t repeats, GeneratorWrapper<T>&& generator):
-            m_generator(std::move(generator)),
-            m_target_repeats(repeats)
-        {
-            assert(m_target_repeats > 0 && "Repeat generator must repeat at least once");
-        }
-
-        T const& get() const override {
-            if (m_current_repeat == 0) {
-                m_returned.push_back(m_generator.get());
-                return m_returned.back();
-            }
-            return m_returned[m_repeat_index];
-        }
-
-        bool next() override {
-            // There are 2 basic cases:
-            // 1) We are still reading the generator
-            // 2) We are reading our own cache
-
-            // In the first case, we need to poke the underlying generator.
-            // If it happily moves, we are left in that state, otherwise it is time to start reading from our cache
-            if (m_current_repeat == 0) {
-                const auto success = m_generator.next();
-                if (!success) {
-                    ++m_current_repeat;
-                }
-                return m_current_repeat < m_target_repeats;
-            }
-
-            // In the second case, we need to move indices forward and check that we haven't run up against the end
-            ++m_repeat_index;
-            if (m_repeat_index == m_returned.size()) {
-                m_repeat_index = 0;
-                ++m_current_repeat;
-            }
-            return m_current_repeat < m_target_repeats;
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<T> repeat(size_t repeats, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<T>(pf::make_unique<RepeatGenerator<T>>(repeats, std::move(generator)));
-    }
-
-    template <typename T, typename U, typename Func>
-    class MapGenerator : public IGenerator<T> {
-        // TBD: provide static assert for mapping function, for friendly error message
-        GeneratorWrapper<U> m_generator;
-        Func m_function;
-        // To avoid returning dangling reference, we have to save the values
-        T m_cache;
-    public:
-        template <typename F2 = Func>
-        MapGenerator(F2&& function, GeneratorWrapper<U>&& generator) :
-            m_generator(std::move(generator)),
-            m_function(std::forward<F2>(function)),
-            m_cache(m_function(m_generator.get()))
-        {}
-
-        T const& get() const override {
-            return m_cache;
-        }
-        bool next() override {
-            const auto success = m_generator.next();
-            if (success) {
-                m_cache = m_function(m_generator.get());
-            }
-            return success;
-        }
-    };
-
-    template <typename Func, typename U, typename T = FunctionReturnType<Func, U>>
-    GeneratorWrapper<T> map(Func&& function, GeneratorWrapper<U>&& generator) {
-        return GeneratorWrapper<T>(
-            pf::make_unique<MapGenerator<T, U, Func>>(std::forward<Func>(function), std::move(generator))
-        );
-    }
-
-    template <typename T, typename U, typename Func>
-    GeneratorWrapper<T> map(Func&& function, GeneratorWrapper<U>&& generator) {
-        return GeneratorWrapper<T>(
-            pf::make_unique<MapGenerator<T, U, Func>>(std::forward<Func>(function), std::move(generator))
-        );
-    }
-
-    template <typename T>
-    class ChunkGenerator final : public IGenerator<std::vector<T>> {
-        std::vector<T> m_chunk;
-        size_t m_chunk_size;
-        GeneratorWrapper<T> m_generator;
-        bool m_used_up = false;
-    public:
-        ChunkGenerator(size_t size, GeneratorWrapper<T> generator) :
-            m_chunk_size(size), m_generator(std::move(generator))
-        {
-            m_chunk.reserve(m_chunk_size);
-            if (m_chunk_size != 0) {
-                m_chunk.push_back(m_generator.get());
-                for (size_t i = 1; i < m_chunk_size; ++i) {
-                    if (!m_generator.next()) {
-                        Catch::throw_exception(GeneratorException("Not enough values to initialize the first chunk"));
-                    }
-                    m_chunk.push_back(m_generator.get());
-                }
-            }
-        }
-        std::vector<T> const& get() const override {
-            return m_chunk;
-        }
-        bool next() override {
-            m_chunk.clear();
-            for (size_t idx = 0; idx < m_chunk_size; ++idx) {
-                if (!m_generator.next()) {
-                    return false;
-                }
-                m_chunk.push_back(m_generator.get());
-            }
-            return true;
-        }
-    };
-
-    template <typename T>
-    GeneratorWrapper<std::vector<T>> chunk(size_t size, GeneratorWrapper<T>&& generator) {
-        return GeneratorWrapper<std::vector<T>>(
-            pf::make_unique<ChunkGenerator<T>>(size, std::move(generator))
-        );
-    }
-
-} // namespace Generators
-} // namespace Catch
-
-// end catch_generators_generic.hpp
-// start catch_generators_specific.hpp
-
-// start catch_context.h
-
-#include <memory>
-
-namespace Catch {
-
-    struct IResultCapture;
-    struct IRunner;
-    struct IConfig;
-    struct IMutableContext;
-
-    using IConfigPtr = std::shared_ptr<IConfig const>;
-
-    struct IContext
-    {
-        virtual ~IContext();
-
-        virtual IResultCapture* getResultCapture() = 0;
-        virtual IRunner* getRunner() = 0;
-        virtual IConfigPtr const& getConfig() const = 0;
-    };
-
-    struct IMutableContext : IContext
-    {
-        virtual ~IMutableContext();
-        virtual void setResultCapture( IResultCapture* resultCapture ) = 0;
-        virtual void setRunner( IRunner* runner ) = 0;
-        virtual void setConfig( IConfigPtr const& config ) = 0;
-
-    private:
-        static IMutableContext *currentContext;
-        friend IMutableContext& getCurrentMutableContext();
-        friend void cleanUpContext();
-        static void createContext();
-    };
-
-    inline IMutableContext& getCurrentMutableContext()
-    {
-        if( !IMutableContext::currentContext )
-            IMutableContext::createContext();
-        // NOLINTNEXTLINE(clang-analyzer-core.uninitialized.UndefReturn)
-        return *IMutableContext::currentContext;
-    }
-
-    inline IContext& getCurrentContext()
-    {
-        return getCurrentMutableContext();
-    }
-
-    void cleanUpContext();
-
-    class SimplePcg32;
-    SimplePcg32& rng();
-}
-
-// end catch_context.h
-// start catch_interfaces_config.h
-
-// start catch_option.hpp
-
-namespace Catch {
-
-    // An optional type
-    template<typename T>
-    class Option {
-    public:
-        Option() : nullableValue( nullptr ) {}
-        Option( T const& _value )
-        : nullableValue( new( storage ) T( _value ) )
-        {}
-        Option( Option const& _other )
-        : nullableValue( _other ? new( storage ) T( *_other ) : nullptr )
-        {}
-
-        ~Option() {
-            reset();
-        }
-
-        Option& operator= ( Option const& _other ) {
-            if( &_other != this ) {
-                reset();
-                if( _other )
-                    nullableValue = new( storage ) T( *_other );
-            }
-            return *this;
-        }
-        Option& operator = ( T const& _value ) {
-            reset();
-            nullableValue = new( storage ) T( _value );
-            return *this;
-        }
-
-        void reset() {
-            if( nullableValue )
-                nullableValue->~T();
-            nullableValue = nullptr;
-        }
-
-        T& operator*() { return *nullableValue; }
-        T const& operator*() const { return *nullableValue; }
-        T* operator->() { return nullableValue; }
-        const T* operator->() const { return nullableValue; }
-
-        T valueOr( T const& defaultValue ) const {
-            return nullableValue ? *nullableValue : defaultValue;
-        }
-
-        bool some() const { return nullableValue != nullptr; }
-        bool none() const { return nullableValue == nullptr; }
-
-        bool operator !() const { return nullableValue == nullptr; }
-        explicit operator bool() const {
-            return some();
-        }
-
-    private:
-        T *nullableValue;
-        alignas(alignof(T)) char storage[sizeof(T)];
-    };
-
-} // end namespace Catch
-
-// end catch_option.hpp
-#include <chrono>
-#include <iosfwd>
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    enum class Verbosity {
-        Quiet = 0,
-        Normal,
-        High
-    };
-
-    struct WarnAbout { enum What {
-        Nothing = 0x00,
-        NoAssertions = 0x01,
-        NoTests = 0x02
-    }; };
-
-    struct ShowDurations { enum OrNot {
-        DefaultForReporter,
-        Always,
-        Never
-    }; };
-    struct RunTests { enum InWhatOrder {
-        InDeclarationOrder,
-        InLexicographicalOrder,
-        InRandomOrder
-    }; };
-    struct UseColour { enum YesOrNo {
-        Auto,
-        Yes,
-        No
-    }; };
-    struct WaitForKeypress { enum When {
-        Never,
-        BeforeStart = 1,
-        BeforeExit = 2,
-        BeforeStartAndExit = BeforeStart | BeforeExit
-    }; };
-
-    class TestSpec;
-
-    struct IConfig : NonCopyable {
-
-        virtual ~IConfig();
-
-        virtual bool allowThrows() const = 0;
-        virtual std::ostream& stream() const = 0;
-        virtual std::string name() const = 0;
-        virtual bool includeSuccessfulResults() const = 0;
-        virtual bool shouldDebugBreak() const = 0;
-        virtual bool warnAboutMissingAssertions() const = 0;
-        virtual bool warnAboutNoTests() const = 0;
-        virtual int abortAfter() const = 0;
-        virtual bool showInvisibles() const = 0;
-        virtual ShowDurations::OrNot showDurations() const = 0;
-        virtual TestSpec const& testSpec() const = 0;
-        virtual bool hasTestFilters() const = 0;
-        virtual std::vector<std::string> const& getTestsOrTags() const = 0;
-        virtual RunTests::InWhatOrder runOrder() const = 0;
-        virtual unsigned int rngSeed() const = 0;
-        virtual UseColour::YesOrNo useColour() const = 0;
-        virtual std::vector<std::string> const& getSectionsToRun() const = 0;
-        virtual Verbosity verbosity() const = 0;
-
-        virtual bool benchmarkNoAnalysis() const = 0;
-        virtual int benchmarkSamples() const = 0;
-        virtual double benchmarkConfidenceInterval() const = 0;
-        virtual unsigned int benchmarkResamples() const = 0;
-        virtual std::chrono::milliseconds benchmarkWarmupTime() const = 0;
-    };
-
-    using IConfigPtr = std::shared_ptr<IConfig const>;
-}
-
-// end catch_interfaces_config.h
-// start catch_random_number_generator.h
-
-#include <cstdint>
-
-namespace Catch {
-
-    // This is a simple implementation of C++11 Uniform Random Number
-    // Generator. It does not provide all operators, because Catch2
-    // does not use it, but it should behave as expected inside stdlib's
-    // distributions.
-    // The implementation is based on the PCG family (http://pcg-random.org)
-    class SimplePcg32 {
-        using state_type = std::uint64_t;
-    public:
-        using result_type = std::uint32_t;
-        static constexpr result_type (min)() {
-            return 0;
-        }
-        static constexpr result_type (max)() {
-            return static_cast<result_type>(-1);
-        }
-
-        // Provide some default initial state for the default constructor
-        SimplePcg32():SimplePcg32(0xed743cc4U) {}
-
-        explicit SimplePcg32(result_type seed_);
-
-        void seed(result_type seed_);
-        void discard(uint64_t skip);
-
-        result_type operator()();
-
-    private:
-        friend bool operator==(SimplePcg32 const& lhs, SimplePcg32 const& rhs);
-        friend bool operator!=(SimplePcg32 const& lhs, SimplePcg32 const& rhs);
-
-        // In theory we also need operator<< and operator>>
-        // In practice we do not use them, so we will skip them for now
-
-        std::uint64_t m_state;
-        // This part of the state determines which "stream" of the numbers
-        // is chosen -- we take it as a constant for Catch2, so we only
-        // need to deal with seeding the main state.
-        // Picked by reading 8 bytes from `/dev/random` :-)
-        static const std::uint64_t s_inc = (0x13ed0cc53f939476ULL << 1ULL) | 1ULL;
-    };
-
-} // end namespace Catch
-
-// end catch_random_number_generator.h
-#include <random>
-
-namespace Catch {
-namespace Generators {
-
-template <typename Float>
-class RandomFloatingGenerator final : public IGenerator<Float> {
-    Catch::SimplePcg32& m_rng;
-    std::uniform_real_distribution<Float> m_dist;
-    Float m_current_number;
-public:
-
-    RandomFloatingGenerator(Float a, Float b):
-        m_rng(rng()),
-        m_dist(a, b) {
-        static_cast<void>(next());
-    }
-
-    Float const& get() const override {
-        return m_current_number;
-    }
-    bool next() override {
-        m_current_number = m_dist(m_rng);
-        return true;
-    }
-};
-
-template <typename Integer>
-class RandomIntegerGenerator final : public IGenerator<Integer> {
-    Catch::SimplePcg32& m_rng;
-    std::uniform_int_distribution<Integer> m_dist;
-    Integer m_current_number;
-public:
-
-    RandomIntegerGenerator(Integer a, Integer b):
-        m_rng(rng()),
-        m_dist(a, b) {
-        static_cast<void>(next());
-    }
-
-    Integer const& get() const override {
-        return m_current_number;
-    }
-    bool next() override {
-        m_current_number = m_dist(m_rng);
-        return true;
-    }
-};
-
-// TODO: Ideally this would be also constrained against the various char types,
-//       but I don't expect users to run into that in practice.
-template <typename T>
-typename std::enable_if<std::is_integral<T>::value && !std::is_same<T, bool>::value,
-GeneratorWrapper<T>>::type
-random(T a, T b) {
-    return GeneratorWrapper<T>(
-        pf::make_unique<RandomIntegerGenerator<T>>(a, b)
-    );
-}
-
-template <typename T>
-typename std::enable_if<std::is_floating_point<T>::value,
-GeneratorWrapper<T>>::type
-random(T a, T b) {
-    return GeneratorWrapper<T>(
-        pf::make_unique<RandomFloatingGenerator<T>>(a, b)
-    );
-}
-
-template <typename T>
-class RangeGenerator final : public IGenerator<T> {
-    T m_current;
-    T m_end;
-    T m_step;
-    bool m_positive;
-
-public:
-    RangeGenerator(T const& start, T const& end, T const& step):
-        m_current(start),
-        m_end(end),
-        m_step(step),
-        m_positive(m_step > T(0))
-    {
-        assert(m_current != m_end && "Range start and end cannot be equal");
-        assert(m_step != T(0) && "Step size cannot be zero");
-        assert(((m_positive && m_current <= m_end) || (!m_positive && m_current >= m_end)) && "Step moves away from end");
-    }
-
-    RangeGenerator(T const& start, T const& end):
-        RangeGenerator(start, end, (start < end) ? T(1) : T(-1))
-    {}
-
-    T const& get() const override {
-        return m_current;
-    }
-
-    bool next() override {
-        m_current += m_step;
-        return (m_positive) ? (m_current < m_end) : (m_current > m_end);
-    }
-};
-
-template <typename T>
-GeneratorWrapper<T> range(T const& start, T const& end, T const& step) {
-    static_assert(std::is_arithmetic<T>::value && !std::is_same<T, bool>::value, "Type must be numeric");
-    return GeneratorWrapper<T>(pf::make_unique<RangeGenerator<T>>(start, end, step));
-}
-
-template <typename T>
-GeneratorWrapper<T> range(T const& start, T const& end) {
-    static_assert(std::is_integral<T>::value && !std::is_same<T, bool>::value, "Type must be an integer");
-    return GeneratorWrapper<T>(pf::make_unique<RangeGenerator<T>>(start, end));
-}
-
-template <typename T>
-class IteratorGenerator final : public IGenerator<T> {
-    static_assert(!std::is_same<T, bool>::value,
-        "IteratorGenerator currently does not support bools"
-        "because of std::vector<bool> specialization");
-
-    std::vector<T> m_elems;
-    size_t m_current = 0;
-public:
-    template <typename InputIterator, typename InputSentinel>
-    IteratorGenerator(InputIterator first, InputSentinel last):m_elems(first, last) {
-        if (m_elems.empty()) {
-            Catch::throw_exception(GeneratorException("IteratorGenerator received no valid values"));
-        }
-    }
-
-    T const& get() const override {
-        return m_elems[m_current];
-    }
-
-    bool next() override {
-        ++m_current;
-        return m_current != m_elems.size();
-    }
-};
-
-template <typename InputIterator,
-          typename InputSentinel,
-          typename ResultType = typename std::iterator_traits<InputIterator>::value_type>
-GeneratorWrapper<ResultType> from_range(InputIterator from, InputSentinel to) {
-    return GeneratorWrapper<ResultType>(pf::make_unique<IteratorGenerator<ResultType>>(from, to));
-}
-
-template <typename Container,
-          typename ResultType = typename Container::value_type>
-GeneratorWrapper<ResultType> from_range(Container const& cnt) {
-    return GeneratorWrapper<ResultType>(pf::make_unique<IteratorGenerator<ResultType>>(cnt.begin(), cnt.end()));
-}
-
-} // namespace Generators
-} // namespace Catch
-
-// end catch_generators_specific.hpp
-
-// These files are included here so the single_include script doesn't put them
-// in the conditionally compiled sections
-// start catch_test_case_info.h
-
-#include <string>
-#include <vector>
-#include <memory>
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct ITestInvoker;
-
-    struct TestCaseInfo {
-        enum SpecialProperties{
-            None = 0,
-            IsHidden = 1 << 1,
-            ShouldFail = 1 << 2,
-            MayFail = 1 << 3,
-            Throws = 1 << 4,
-            NonPortable = 1 << 5,
-            Benchmark = 1 << 6
-        };
-
-        TestCaseInfo(   std::string const& _name,
-                        std::string const& _className,
-                        std::string const& _description,
-                        std::vector<std::string> const& _tags,
-                        SourceLineInfo const& _lineInfo );
-
-        friend void setTags( TestCaseInfo& testCaseInfo, std::vector<std::string> tags );
-
-        bool isHidden() const;
-        bool throws() const;
-        bool okToFail() const;
-        bool expectedToFail() const;
-
-        std::string tagsAsString() const;
-
-        std::string name;
-        std::string className;
-        std::string description;
-        std::vector<std::string> tags;
-        std::vector<std::string> lcaseTags;
-        SourceLineInfo lineInfo;
-        SpecialProperties properties;
-    };
-
-    class TestCase : public TestCaseInfo {
-    public:
-
-        TestCase( ITestInvoker* testCase, TestCaseInfo&& info );
-
-        TestCase withName( std::string const& _newName ) const;
-
-        void invoke() const;
-
-        TestCaseInfo const& getTestCaseInfo() const;
-
-        bool operator == ( TestCase const& other ) const;
-        bool operator < ( TestCase const& other ) const;
-
-    private:
-        std::shared_ptr<ITestInvoker> test;
-    };
-
-    TestCase makeTestCase(  ITestInvoker* testCase,
-                            std::string const& className,
-                            NameAndTags const& nameAndTags,
-                            SourceLineInfo const& lineInfo );
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_case_info.h
-// start catch_interfaces_runner.h
-
-namespace Catch {
-
-    struct IRunner {
-        virtual ~IRunner();
-        virtual bool aborting() const = 0;
-    };
-}
-
-// end catch_interfaces_runner.h
-
-#ifdef __OBJC__
-// start catch_objc.hpp
-
-#import <objc/runtime.h>
-
-#include <string>
-
-// NB. Any general catch headers included here must be included
-// in catch.hpp first to make sure they are included by the single
-// header for non obj-usage
-
-///////////////////////////////////////////////////////////////////////////////
-// This protocol is really only here for (self) documenting purposes, since
-// all its methods are optional.
-@protocol OcFixture
-
-@optional
-
--(void) setUp;
--(void) tearDown;
-
-@end
-
-namespace Catch {
-
-    class OcMethod : public ITestInvoker {
-
-    public:
-        OcMethod( Class cls, SEL sel ) : m_cls( cls ), m_sel( sel ) {}
-
-        virtual void invoke() const {
-            id obj = [[m_cls alloc] init];
-
-            performOptionalSelector( obj, @selector(setUp)  );
-            performOptionalSelector( obj, m_sel );
-            performOptionalSelector( obj, @selector(tearDown)  );
-
-            arcSafeRelease( obj );
-        }
-    private:
-        virtual ~OcMethod() {}
-
-        Class m_cls;
-        SEL m_sel;
-    };
-
-    namespace Detail{
-
-        inline std::string getAnnotation(   Class cls,
-                                            std::string const& annotationName,
-                                            std::string const& testCaseName ) {
-            NSString* selStr = [[NSString alloc] initWithFormat:@"Catch_%s_%s", annotationName.c_str(), testCaseName.c_str()];
-            SEL sel = NSSelectorFromString( selStr );
-            arcSafeRelease( selStr );
-            id value = performOptionalSelector( cls, sel );
-            if( value )
-                return [(NSString*)value UTF8String];
-            return "";
-        }
-    }
-
-    inline std::size_t registerTestMethods() {
-        std::size_t noTestMethods = 0;
-        int noClasses = objc_getClassList( nullptr, 0 );
-
-        Class* classes = (CATCH_UNSAFE_UNRETAINED Class *)malloc( sizeof(Class) * noClasses);
-        objc_getClassList( classes, noClasses );
-
-        for( int c = 0; c < noClasses; c++ ) {
-            Class cls = classes[c];
-            {
-                u_int count;
-                Method* methods = class_copyMethodList( cls, &count );
-                for( u_int m = 0; m < count ; m++ ) {
-                    SEL selector = method_getName(methods[m]);
-                    std::string methodName = sel_getName(selector);
-                    if( startsWith( methodName, "Catch_TestCase_" ) ) {
-                        std::string testCaseName = methodName.substr( 15 );
-                        std::string name = Detail::getAnnotation( cls, "Name", testCaseName );
-                        std::string desc = Detail::getAnnotation( cls, "Description", testCaseName );
-                        const char* className = class_getName( cls );
-
-                        getMutableRegistryHub().registerTest( makeTestCase( new OcMethod( cls, selector ), className, NameAndTags( name.c_str(), desc.c_str() ), SourceLineInfo("",0) ) );
-                        noTestMethods++;
-                    }
-                }
-                free(methods);
-            }
-        }
-        return noTestMethods;
-    }
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-
-    namespace Matchers {
-        namespace Impl {
-        namespace NSStringMatchers {
-
-            struct StringHolder : MatcherBase<NSString*>{
-                StringHolder( NSString* substr ) : m_substr( [substr copy] ){}
-                StringHolder( StringHolder const& other ) : m_substr( [other.m_substr copy] ){}
-                StringHolder() {
-                    arcSafeRelease( m_substr );
-                }
-
-                bool match( NSString* str ) const override {
-                    return false;
-                }
-
-                NSString* CATCH_ARC_STRONG m_substr;
-            };
-
-            struct Equals : StringHolder {
-                Equals( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str isEqualToString:m_substr];
-                }
-
-                std::string describe() const override {
-                    return "equals string: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-            struct Contains : StringHolder {
-                Contains( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location != NSNotFound;
-                }
-
-                std::string describe() const override {
-                    return "contains string: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-            struct StartsWith : StringHolder {
-                StartsWith( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location == 0;
-                }
-
-                std::string describe() const override {
-                    return "starts with: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-            struct EndsWith : StringHolder {
-                EndsWith( NSString* substr ) : StringHolder( substr ){}
-
-                bool match( NSString* str ) const override {
-                    return  (str != nil || m_substr == nil ) &&
-                            [str rangeOfString:m_substr].location == [str length] - [m_substr length];
-                }
-
-                std::string describe() const override {
-                    return "ends with: " + Catch::Detail::stringify( m_substr );
-                }
-            };
-
-        } // namespace NSStringMatchers
-        } // namespace Impl
-
-        inline Impl::NSStringMatchers::Equals
-            Equals( NSString* substr ){ return Impl::NSStringMatchers::Equals( substr ); }
-
-        inline Impl::NSStringMatchers::Contains
-            Contains( NSString* substr ){ return Impl::NSStringMatchers::Contains( substr ); }
-
-        inline Impl::NSStringMatchers::StartsWith
-            StartsWith( NSString* substr ){ return Impl::NSStringMatchers::StartsWith( substr ); }
-
-        inline Impl::NSStringMatchers::EndsWith
-            EndsWith( NSString* substr ){ return Impl::NSStringMatchers::EndsWith( substr ); }
-
-    } // namespace Matchers
-
-    using namespace Matchers;
-
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-} // namespace Catch
-
-///////////////////////////////////////////////////////////////////////////////
-#define OC_MAKE_UNIQUE_NAME( root, uniqueSuffix ) root##uniqueSuffix
-#define OC_TEST_CASE2( name, desc, uniqueSuffix ) \
-+(NSString*) OC_MAKE_UNIQUE_NAME( Catch_Name_test_, uniqueSuffix ) \
-{ \
-return @ name; \
-} \
-+(NSString*) OC_MAKE_UNIQUE_NAME( Catch_Description_test_, uniqueSuffix ) \
-{ \
-return @ desc; \
-} \
--(void) OC_MAKE_UNIQUE_NAME( Catch_TestCase_test_, uniqueSuffix )
-
-#define OC_TEST_CASE( name, desc ) OC_TEST_CASE2( name, desc, __LINE__ )
-
-// end catch_objc.hpp
-#endif
-
-// Benchmarking needs the externally-facing parts of reporters to work
-#if defined(CATCH_CONFIG_EXTERNAL_INTERFACES) || defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-// start catch_external_interfaces.h
-
-// start catch_reporter_bases.hpp
-
-// start catch_interfaces_reporter.h
-
-// start catch_config.hpp
-
-// start catch_test_spec_parser.h
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-// start catch_test_spec.h
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-// start catch_wildcard_pattern.h
-
-namespace Catch
-{
-    class WildcardPattern {
-        enum WildcardPosition {
-            NoWildcard = 0,
-            WildcardAtStart = 1,
-            WildcardAtEnd = 2,
-            WildcardAtBothEnds = WildcardAtStart | WildcardAtEnd
-        };
-
-    public:
-
-        WildcardPattern( std::string const& pattern, CaseSensitive::Choice caseSensitivity );
-        virtual ~WildcardPattern() = default;
-        virtual bool matches( std::string const& str ) const;
-
-    private:
-        std::string normaliseString( std::string const& str ) const;
-        CaseSensitive::Choice m_caseSensitivity;
-        WildcardPosition m_wildcard = NoWildcard;
-        std::string m_pattern;
-    };
-}
-
-// end catch_wildcard_pattern.h
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    struct IConfig;
-
-    class TestSpec {
-        class Pattern {
-        public:
-            explicit Pattern( std::string const& name );
-            virtual ~Pattern();
-            virtual bool matches( TestCaseInfo const& testCase ) const = 0;
-            std::string const& name() const;
-        private:
-            std::string const m_name;
-        };
-        using PatternPtr = std::shared_ptr<Pattern>;
-
-        class NamePattern : public Pattern {
-        public:
-            explicit NamePattern( std::string const& name, std::string const& filterString );
-            bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            WildcardPattern m_wildcardPattern;
-        };
-
-        class TagPattern : public Pattern {
-        public:
-            explicit TagPattern( std::string const& tag, std::string const& filterString );
-            bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            std::string m_tag;
-        };
-
-        class ExcludedPattern : public Pattern {
-        public:
-            explicit ExcludedPattern( PatternPtr const& underlyingPattern );
-            bool matches( TestCaseInfo const& testCase ) const override;
-        private:
-            PatternPtr m_underlyingPattern;
-        };
-
-        struct Filter {
-            std::vector<PatternPtr> m_patterns;
-
-            bool matches( TestCaseInfo const& testCase ) const;
-            std::string name() const;
-        };
-
-    public:
-        struct FilterMatch {
-            std::string name;
-            std::vector<TestCase const*> tests;
-        };
-        using Matches = std::vector<FilterMatch>;
-        using vectorStrings = std::vector<std::string>;
-
-        bool hasFilters() const;
-        bool matches( TestCaseInfo const& testCase ) const;
-        Matches matchesByFilter( std::vector<TestCase> const& testCases, IConfig const& config ) const;
-        const vectorStrings & getInvalidArgs() const;
-
-    private:
-        std::vector<Filter> m_filters;
-        std::vector<std::string> m_invalidArgs;
-        friend class TestSpecParser;
-    };
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_spec.h
-// start catch_interfaces_tag_alias_registry.h
-
-#include <string>
-
-namespace Catch {
-
-    struct TagAlias;
-
-    struct ITagAliasRegistry {
-        virtual ~ITagAliasRegistry();
-        // Nullptr if not present
-        virtual TagAlias const* find( std::string const& alias ) const = 0;
-        virtual std::string expandAliases( std::string const& unexpandedTestSpec ) const = 0;
-
-        static ITagAliasRegistry const& get();
-    };
-
-} // end namespace Catch
-
-// end catch_interfaces_tag_alias_registry.h
-namespace Catch {
-
-    class TestSpecParser {
-        enum Mode{ None, Name, QuotedName, Tag, EscapedName };
-        Mode m_mode = None;
-        Mode lastMode = None;
-        bool m_exclusion = false;
-        std::size_t m_pos = 0;
-        std::size_t m_realPatternPos = 0;
-        std::string m_arg;
-        std::string m_substring;
-        std::string m_patternName;
-        std::vector<std::size_t> m_escapeChars;
-        TestSpec::Filter m_currentFilter;
-        TestSpec m_testSpec;
-        ITagAliasRegistry const* m_tagAliases = nullptr;
-
-    public:
-        TestSpecParser( ITagAliasRegistry const& tagAliases );
-
-        TestSpecParser& parse( std::string const& arg );
-        TestSpec testSpec();
-
-    private:
-        bool visitChar( char c );
-        void startNewMode( Mode mode );
-        bool processNoneChar( char c );
-        void processNameChar( char c );
-        bool processOtherChar( char c );
-        void endMode();
-        void escape();
-        bool isControlChar( char c ) const;
-        void saveLastMode();
-        void revertBackToLastMode();
-        void addFilter();
-        bool separate();
-
-        // Handles common preprocessing of the pattern for name/tag patterns
-        std::string preprocessPattern();
-        // Adds the current pattern as a test name
-        void addNamePattern();
-        // Adds the current pattern as a tag
-        void addTagPattern();
-
-        inline void addCharToPattern(char c) {
-            m_substring += c;
-            m_patternName += c;
-            m_realPatternPos++;
-        }
-
-    };
-    TestSpec parseTestSpec( std::string const& arg );
-
-} // namespace Catch
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_test_spec_parser.h
-// Libstdc++ doesn't like incomplete classes for unique_ptr
-
-#include <memory>
-#include <vector>
-#include <string>
-
-#ifndef CATCH_CONFIG_CONSOLE_WIDTH
-#define CATCH_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-namespace Catch {
-
-    struct IStream;
-
-    struct ConfigData {
-        bool listTests = false;
-        bool listTags = false;
-        bool listReporters = false;
-        bool listTestNamesOnly = false;
-
-        bool showSuccessfulTests = false;
-        bool shouldDebugBreak = false;
-        bool noThrow = false;
-        bool showHelp = false;
-        bool showInvisibles = false;
-        bool filenamesAsTags = false;
-        bool libIdentify = false;
-
-        int abortAfter = -1;
-        unsigned int rngSeed = 0;
-
-        bool benchmarkNoAnalysis = false;
-        unsigned int benchmarkSamples = 100;
-        double benchmarkConfidenceInterval = 0.95;
-        unsigned int benchmarkResamples = 100000;
-        std::chrono::milliseconds::rep benchmarkWarmupTime = 100;
-
-        Verbosity verbosity = Verbosity::Normal;
-        WarnAbout::What warnings = WarnAbout::Nothing;
-        ShowDurations::OrNot showDurations = ShowDurations::DefaultForReporter;
-        RunTests::InWhatOrder runOrder = RunTests::InDeclarationOrder;
-        UseColour::YesOrNo useColour = UseColour::Auto;
-        WaitForKeypress::When waitForKeypress = WaitForKeypress::Never;
-
-        std::string outputFilename;
-        std::string name;
-        std::string processName;
-#ifndef CATCH_CONFIG_DEFAULT_REPORTER
-#define CATCH_CONFIG_DEFAULT_REPORTER "console"
-#endif
-        std::string reporterName = CATCH_CONFIG_DEFAULT_REPORTER;
-#undef CATCH_CONFIG_DEFAULT_REPORTER
-
-        std::vector<std::string> testsOrTags;
-        std::vector<std::string> sectionsToRun;
-    };
-
-    class Config : public IConfig {
-    public:
-
-        Config() = default;
-        Config( ConfigData const& data );
-        virtual ~Config() = default;
-
-        std::string const& getFilename() const;
-
-        bool listTests() const;
-        bool listTestNamesOnly() const;
-        bool listTags() const;
-        bool listReporters() const;
-
-        std::string getProcessName() const;
-        std::string const& getReporterName() const;
-
-        std::vector<std::string> const& getTestsOrTags() const override;
-        std::vector<std::string> const& getSectionsToRun() const override;
-
-        TestSpec const& testSpec() const override;
-        bool hasTestFilters() const override;
-
-        bool showHelp() const;
-
-        // IConfig interface
-        bool allowThrows() const override;
-        std::ostream& stream() const override;
-        std::string name() const override;
-        bool includeSuccessfulResults() const override;
-        bool warnAboutMissingAssertions() const override;
-        bool warnAboutNoTests() const override;
-        ShowDurations::OrNot showDurations() const override;
-        RunTests::InWhatOrder runOrder() const override;
-        unsigned int rngSeed() const override;
-        UseColour::YesOrNo useColour() const override;
-        bool shouldDebugBreak() const override;
-        int abortAfter() const override;
-        bool showInvisibles() const override;
-        Verbosity verbosity() const override;
-        bool benchmarkNoAnalysis() const override;
-        int benchmarkSamples() const override;
-        double benchmarkConfidenceInterval() const override;
-        unsigned int benchmarkResamples() const override;
-        std::chrono::milliseconds benchmarkWarmupTime() const override;
-
-    private:
-
-        IStream const* openStream();
-        ConfigData m_data;
-
-        std::unique_ptr<IStream const> m_stream;
-        TestSpec m_testSpec;
-        bool m_hasTestFilters = false;
-    };
-
-} // end namespace Catch
-
-// end catch_config.hpp
-// start catch_assertionresult.h
-
-#include <string>
-
-namespace Catch {
-
-    struct AssertionResultData
-    {
-        AssertionResultData() = delete;
-
-        AssertionResultData( ResultWas::OfType _resultType, LazyExpression const& _lazyExpression );
-
-        std::string message;
-        mutable std::string reconstructedExpression;
-        LazyExpression lazyExpression;
-        ResultWas::OfType resultType;
-
-        std::string reconstructExpression() const;
-    };
-
-    class AssertionResult {
-    public:
-        AssertionResult() = delete;
-        AssertionResult( AssertionInfo const& info, AssertionResultData const& data );
-
-        bool isOk() const;
-        bool succeeded() const;
-        ResultWas::OfType getResultType() const;
-        bool hasExpression() const;
-        bool hasMessage() const;
-        std::string getExpression() const;
-        std::string getExpressionInMacro() const;
-        bool hasExpandedExpression() const;
-        std::string getExpandedExpression() const;
-        std::string getMessage() const;
-        SourceLineInfo getSourceInfo() const;
-        StringRef getTestMacroName() const;
-
-    //protected:
-        AssertionInfo m_info;
-        AssertionResultData m_resultData;
-    };
-
-} // end namespace Catch
-
-// end catch_assertionresult.h
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-// start catch_estimate.hpp
-
- // Statistics estimates
-
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct Estimate {
-            Duration point;
-            Duration lower_bound;
-            Duration upper_bound;
-            double confidence_interval;
-
-            template <typename Duration2>
-            operator Estimate<Duration2>() const {
-                return { point, lower_bound, upper_bound, confidence_interval };
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_estimate.hpp
-// start catch_outlier_classification.hpp
-
-// Outlier information
-
-namespace Catch {
-    namespace Benchmark {
-        struct OutlierClassification {
-            int samples_seen = 0;
-            int low_severe = 0;     // more than 3 times IQR below Q1
-            int low_mild = 0;       // 1.5 to 3 times IQR below Q1
-            int high_mild = 0;      // 1.5 to 3 times IQR above Q3
-            int high_severe = 0;    // more than 3 times IQR above Q3
-
-            int total() const {
-                return low_severe + low_mild + high_mild + high_severe;
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_outlier_classification.hpp
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-#include <string>
-#include <iosfwd>
-#include <map>
-#include <set>
-#include <memory>
-#include <algorithm>
-
-namespace Catch {
-
-    struct ReporterConfig {
-        explicit ReporterConfig( IConfigPtr const& _fullConfig );
-
-        ReporterConfig( IConfigPtr const& _fullConfig, std::ostream& _stream );
-
-        std::ostream& stream() const;
-        IConfigPtr fullConfig() const;
-
-    private:
-        std::ostream* m_stream;
-        IConfigPtr m_fullConfig;
-    };
-
-    struct ReporterPreferences {
-        bool shouldRedirectStdOut = false;
-        bool shouldReportAllAssertions = false;
-    };
-
-    template<typename T>
-    struct LazyStat : Option<T> {
-        LazyStat& operator=( T const& _value ) {
-            Option<T>::operator=( _value );
-            used = false;
-            return *this;
-        }
-        void reset() {
-            Option<T>::reset();
-            used = false;
-        }
-        bool used = false;
-    };
-
-    struct TestRunInfo {
-        TestRunInfo( std::string const& _name );
-        std::string name;
-    };
-    struct GroupInfo {
-        GroupInfo(  std::string const& _name,
-                    std::size_t _groupIndex,
-                    std::size_t _groupsCount );
-
-        std::string name;
-        std::size_t groupIndex;
-        std::size_t groupsCounts;
-    };
-
-    struct AssertionStats {
-        AssertionStats( AssertionResult const& _assertionResult,
-                        std::vector<MessageInfo> const& _infoMessages,
-                        Totals const& _totals );
-
-        AssertionStats( AssertionStats const& )              = default;
-        AssertionStats( AssertionStats && )                  = default;
-        AssertionStats& operator = ( AssertionStats const& ) = delete;
-        AssertionStats& operator = ( AssertionStats && )     = delete;
-        virtual ~AssertionStats();
-
-        AssertionResult assertionResult;
-        std::vector<MessageInfo> infoMessages;
-        Totals totals;
-    };
-
-    struct SectionStats {
-        SectionStats(   SectionInfo const& _sectionInfo,
-                        Counts const& _assertions,
-                        double _durationInSeconds,
-                        bool _missingAssertions );
-        SectionStats( SectionStats const& )              = default;
-        SectionStats( SectionStats && )                  = default;
-        SectionStats& operator = ( SectionStats const& ) = default;
-        SectionStats& operator = ( SectionStats && )     = default;
-        virtual ~SectionStats();
-
-        SectionInfo sectionInfo;
-        Counts assertions;
-        double durationInSeconds;
-        bool missingAssertions;
-    };
-
-    struct TestCaseStats {
-        TestCaseStats(  TestCaseInfo const& _testInfo,
-                        Totals const& _totals,
-                        std::string const& _stdOut,
-                        std::string const& _stdErr,
-                        bool _aborting );
-
-        TestCaseStats( TestCaseStats const& )              = default;
-        TestCaseStats( TestCaseStats && )                  = default;
-        TestCaseStats& operator = ( TestCaseStats const& ) = default;
-        TestCaseStats& operator = ( TestCaseStats && )     = default;
-        virtual ~TestCaseStats();
-
-        TestCaseInfo testInfo;
-        Totals totals;
-        std::string stdOut;
-        std::string stdErr;
-        bool aborting;
-    };
-
-    struct TestGroupStats {
-        TestGroupStats( GroupInfo const& _groupInfo,
-                        Totals const& _totals,
-                        bool _aborting );
-        TestGroupStats( GroupInfo const& _groupInfo );
-
-        TestGroupStats( TestGroupStats const& )              = default;
-        TestGroupStats( TestGroupStats && )                  = default;
-        TestGroupStats& operator = ( TestGroupStats const& ) = default;
-        TestGroupStats& operator = ( TestGroupStats && )     = default;
-        virtual ~TestGroupStats();
-
-        GroupInfo groupInfo;
-        Totals totals;
-        bool aborting;
-    };
-
-    struct TestRunStats {
-        TestRunStats(   TestRunInfo const& _runInfo,
-                        Totals const& _totals,
-                        bool _aborting );
-
-        TestRunStats( TestRunStats const& )              = default;
-        TestRunStats( TestRunStats && )                  = default;
-        TestRunStats& operator = ( TestRunStats const& ) = default;
-        TestRunStats& operator = ( TestRunStats && )     = default;
-        virtual ~TestRunStats();
-
-        TestRunInfo runInfo;
-        Totals totals;
-        bool aborting;
-    };
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    struct BenchmarkInfo {
-        std::string name;
-        double estimatedDuration;
-        int iterations;
-        int samples;
-        unsigned int resamples;
-        double clockResolution;
-        double clockCost;
-    };
-
-    template <class Duration>
-    struct BenchmarkStats {
-        BenchmarkInfo info;
-
-        std::vector<Duration> samples;
-        Benchmark::Estimate<Duration> mean;
-        Benchmark::Estimate<Duration> standardDeviation;
-        Benchmark::OutlierClassification outliers;
-        double outlierVariance;
-
-        template <typename Duration2>
-        operator BenchmarkStats<Duration2>() const {
-            std::vector<Duration2> samples2;
-            samples2.reserve(samples.size());
-            std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](Duration d) { return Duration2(d); });
-            return {
-                info,
-                std::move(samples2),
-                mean,
-                standardDeviation,
-                outliers,
-                outlierVariance,
-            };
-        }
-    };
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    struct IStreamingReporter {
-        virtual ~IStreamingReporter() = default;
-
-        // Implementing class must also provide the following static methods:
-        // static std::string getDescription();
-        // static std::set<Verbosity> getSupportedVerbosities()
-
-        virtual ReporterPreferences getPreferences() const = 0;
-
-        virtual void noMatchingTestCases( std::string const& spec ) = 0;
-
-        virtual void reportInvalidArguments(std::string const&) {}
-
-        virtual void testRunStarting( TestRunInfo const& testRunInfo ) = 0;
-        virtual void testGroupStarting( GroupInfo const& groupInfo ) = 0;
-
-        virtual void testCaseStarting( TestCaseInfo const& testInfo ) = 0;
-        virtual void sectionStarting( SectionInfo const& sectionInfo ) = 0;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        virtual void benchmarkPreparing( std::string const& ) {}
-        virtual void benchmarkStarting( BenchmarkInfo const& ) {}
-        virtual void benchmarkEnded( BenchmarkStats<> const& ) {}
-        virtual void benchmarkFailed( std::string const& ) {}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        virtual void assertionStarting( AssertionInfo const& assertionInfo ) = 0;
-
-        // The return value indicates if the messages buffer should be cleared:
-        virtual bool assertionEnded( AssertionStats const& assertionStats ) = 0;
-
-        virtual void sectionEnded( SectionStats const& sectionStats ) = 0;
-        virtual void testCaseEnded( TestCaseStats const& testCaseStats ) = 0;
-        virtual void testGroupEnded( TestGroupStats const& testGroupStats ) = 0;
-        virtual void testRunEnded( TestRunStats const& testRunStats ) = 0;
-
-        virtual void skipTest( TestCaseInfo const& testInfo ) = 0;
-
-        // Default empty implementation provided
-        virtual void fatalErrorEncountered( StringRef name );
-
-        virtual bool isMulti() const;
-    };
-    using IStreamingReporterPtr = std::unique_ptr<IStreamingReporter>;
-
-    struct IReporterFactory {
-        virtual ~IReporterFactory();
-        virtual IStreamingReporterPtr create( ReporterConfig const& config ) const = 0;
-        virtual std::string getDescription() const = 0;
-    };
-    using IReporterFactoryPtr = std::shared_ptr<IReporterFactory>;
-
-    struct IReporterRegistry {
-        using FactoryMap = std::map<std::string, IReporterFactoryPtr>;
-        using Listeners = std::vector<IReporterFactoryPtr>;
-
-        virtual ~IReporterRegistry();
-        virtual IStreamingReporterPtr create( std::string const& name, IConfigPtr const& config ) const = 0;
-        virtual FactoryMap const& getFactories() const = 0;
-        virtual Listeners const& getListeners() const = 0;
-    };
-
-} // end namespace Catch
-
-// end catch_interfaces_reporter.h
-#include <algorithm>
-#include <cstring>
-#include <cfloat>
-#include <cstdio>
-#include <cassert>
-#include <memory>
-#include <ostream>
-
-namespace Catch {
-    void prepareExpandedExpression(AssertionResult& result);
-
-    // Returns double formatted as %.3f (format expected on output)
-    std::string getFormattedDuration( double duration );
-
-    std::string serializeFilters( std::vector<std::string> const& container );
-
-    template<typename DerivedT>
-    struct StreamingReporterBase : IStreamingReporter {
-
-        StreamingReporterBase( ReporterConfig const& _config )
-        :   m_config( _config.fullConfig() ),
-            stream( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = false;
-            if( !DerivedT::getSupportedVerbosities().count( m_config->verbosity() ) )
-                CATCH_ERROR( "Verbosity level not supported by this reporter" );
-        }
-
-        ReporterPreferences getPreferences() const override {
-            return m_reporterPrefs;
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        ~StreamingReporterBase() override = default;
-
-        void noMatchingTestCases(std::string const&) override {}
-
-        void reportInvalidArguments(std::string const&) override {}
-
-        void testRunStarting(TestRunInfo const& _testRunInfo) override {
-            currentTestRunInfo = _testRunInfo;
-        }
-
-        void testGroupStarting(GroupInfo const& _groupInfo) override {
-            currentGroupInfo = _groupInfo;
-        }
-
-        void testCaseStarting(TestCaseInfo const& _testInfo) override  {
-            currentTestCaseInfo = _testInfo;
-        }
-        void sectionStarting(SectionInfo const& _sectionInfo) override {
-            m_sectionStack.push_back(_sectionInfo);
-        }
-
-        void sectionEnded(SectionStats const& /* _sectionStats */) override {
-            m_sectionStack.pop_back();
-        }
-        void testCaseEnded(TestCaseStats const& /* _testCaseStats */) override {
-            currentTestCaseInfo.reset();
-        }
-        void testGroupEnded(TestGroupStats const& /* _testGroupStats */) override {
-            currentGroupInfo.reset();
-        }
-        void testRunEnded(TestRunStats const& /* _testRunStats */) override {
-            currentTestCaseInfo.reset();
-            currentGroupInfo.reset();
-            currentTestRunInfo.reset();
-        }
-
-        void skipTest(TestCaseInfo const&) override {
-            // Don't do anything with this by default.
-            // It can optionally be overridden in the derived class.
-        }
-
-        IConfigPtr m_config;
-        std::ostream& stream;
-
-        LazyStat<TestRunInfo> currentTestRunInfo;
-        LazyStat<GroupInfo> currentGroupInfo;
-        LazyStat<TestCaseInfo> currentTestCaseInfo;
-
-        std::vector<SectionInfo> m_sectionStack;
-        ReporterPreferences m_reporterPrefs;
-    };
-
-    template<typename DerivedT>
-    struct CumulativeReporterBase : IStreamingReporter {
-        template<typename T, typename ChildNodeT>
-        struct Node {
-            explicit Node( T const& _value ) : value( _value ) {}
-            virtual ~Node() {}
-
-            using ChildNodes = std::vector<std::shared_ptr<ChildNodeT>>;
-            T value;
-            ChildNodes children;
-        };
-        struct SectionNode {
-            explicit SectionNode(SectionStats const& _stats) : stats(_stats) {}
-            virtual ~SectionNode() = default;
-
-            bool operator == (SectionNode const& other) const {
-                return stats.sectionInfo.lineInfo == other.stats.sectionInfo.lineInfo;
-            }
-            bool operator == (std::shared_ptr<SectionNode> const& other) const {
-                return operator==(*other);
-            }
-
-            SectionStats stats;
-            using ChildSections = std::vector<std::shared_ptr<SectionNode>>;
-            using Assertions = std::vector<AssertionStats>;
-            ChildSections childSections;
-            Assertions assertions;
-            std::string stdOut;
-            std::string stdErr;
-        };
-
-        struct BySectionInfo {
-            BySectionInfo( SectionInfo const& other ) : m_other( other ) {}
-            BySectionInfo( BySectionInfo const& other ) : m_other( other.m_other ) {}
-            bool operator() (std::shared_ptr<SectionNode> const& node) const {
-                return ((node->stats.sectionInfo.name == m_other.name) &&
-                        (node->stats.sectionInfo.lineInfo == m_other.lineInfo));
-            }
-            void operator=(BySectionInfo const&) = delete;
-
-        private:
-            SectionInfo const& m_other;
-        };
-
-        using TestCaseNode = Node<TestCaseStats, SectionNode>;
-        using TestGroupNode = Node<TestGroupStats, TestCaseNode>;
-        using TestRunNode = Node<TestRunStats, TestGroupNode>;
-
-        CumulativeReporterBase( ReporterConfig const& _config )
-        :   m_config( _config.fullConfig() ),
-            stream( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = false;
-            if( !DerivedT::getSupportedVerbosities().count( m_config->verbosity() ) )
-                CATCH_ERROR( "Verbosity level not supported by this reporter" );
-        }
-        ~CumulativeReporterBase() override = default;
-
-        ReporterPreferences getPreferences() const override {
-            return m_reporterPrefs;
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void testRunStarting( TestRunInfo const& ) override {}
-        void testGroupStarting( GroupInfo const& ) override {}
-
-        void testCaseStarting( TestCaseInfo const& ) override {}
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            SectionStats incompleteStats( sectionInfo, Counts(), 0, false );
-            std::shared_ptr<SectionNode> node;
-            if( m_sectionStack.empty() ) {
-                if( !m_rootSection )
-                    m_rootSection = std::make_shared<SectionNode>( incompleteStats );
-                node = m_rootSection;
-            }
-            else {
-                SectionNode& parentNode = *m_sectionStack.back();
-                auto it =
-                    std::find_if(   parentNode.childSections.begin(),
-                                    parentNode.childSections.end(),
-                                    BySectionInfo( sectionInfo ) );
-                if( it == parentNode.childSections.end() ) {
-                    node = std::make_shared<SectionNode>( incompleteStats );
-                    parentNode.childSections.push_back( node );
-                }
-                else
-                    node = *it;
-            }
-            m_sectionStack.push_back( node );
-            m_deepestSection = std::move(node);
-        }
-
-        void assertionStarting(AssertionInfo const&) override {}
-
-        bool assertionEnded(AssertionStats const& assertionStats) override {
-            assert(!m_sectionStack.empty());
-            // AssertionResult holds a pointer to a temporary DecomposedExpression,
-            // which getExpandedExpression() calls to build the expression string.
-            // Our section stack copy of the assertionResult will likely outlive the
-            // temporary, so it must be expanded or discarded now to avoid calling
-            // a destroyed object later.
-            prepareExpandedExpression(const_cast<AssertionResult&>( assertionStats.assertionResult ) );
-            SectionNode& sectionNode = *m_sectionStack.back();
-            sectionNode.assertions.push_back(assertionStats);
-            return true;
-        }
-        void sectionEnded(SectionStats const& sectionStats) override {
-            assert(!m_sectionStack.empty());
-            SectionNode& node = *m_sectionStack.back();
-            node.stats = sectionStats;
-            m_sectionStack.pop_back();
-        }
-        void testCaseEnded(TestCaseStats const& testCaseStats) override {
-            auto node = std::make_shared<TestCaseNode>(testCaseStats);
-            assert(m_sectionStack.size() == 0);
-            node->children.push_back(m_rootSection);
-            m_testCases.push_back(node);
-            m_rootSection.reset();
-
-            assert(m_deepestSection);
-            m_deepestSection->stdOut = testCaseStats.stdOut;
-            m_deepestSection->stdErr = testCaseStats.stdErr;
-        }
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            auto node = std::make_shared<TestGroupNode>(testGroupStats);
-            node->children.swap(m_testCases);
-            m_testGroups.push_back(node);
-        }
-        void testRunEnded(TestRunStats const& testRunStats) override {
-            auto node = std::make_shared<TestRunNode>(testRunStats);
-            node->children.swap(m_testGroups);
-            m_testRuns.push_back(node);
-            testRunEndedCumulative();
-        }
-        virtual void testRunEndedCumulative() = 0;
-
-        void skipTest(TestCaseInfo const&) override {}
-
-        IConfigPtr m_config;
-        std::ostream& stream;
-        std::vector<AssertionStats> m_assertions;
-        std::vector<std::vector<std::shared_ptr<SectionNode>>> m_sections;
-        std::vector<std::shared_ptr<TestCaseNode>> m_testCases;
-        std::vector<std::shared_ptr<TestGroupNode>> m_testGroups;
-
-        std::vector<std::shared_ptr<TestRunNode>> m_testRuns;
-
-        std::shared_ptr<SectionNode> m_rootSection;
-        std::shared_ptr<SectionNode> m_deepestSection;
-        std::vector<std::shared_ptr<SectionNode>> m_sectionStack;
-        ReporterPreferences m_reporterPrefs;
-    };
-
-    template<char C>
-    char const* getLineOfChars() {
-        static char line[CATCH_CONFIG_CONSOLE_WIDTH] = {0};
-        if( !*line ) {
-            std::memset( line, C, CATCH_CONFIG_CONSOLE_WIDTH-1 );
-            line[CATCH_CONFIG_CONSOLE_WIDTH-1] = 0;
-        }
-        return line;
-    }
-
-    struct TestEventListenerBase : StreamingReporterBase<TestEventListenerBase> {
-        TestEventListenerBase( ReporterConfig const& _config );
-
-        static std::set<Verbosity> getSupportedVerbosities();
-
-        void assertionStarting(AssertionInfo const&) override;
-        bool assertionEnded(AssertionStats const&) override;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_bases.hpp
-// start catch_console_colour.h
-
-namespace Catch {
-
-    struct Colour {
-        enum Code {
-            None = 0,
-
-            White,
-            Red,
-            Green,
-            Blue,
-            Cyan,
-            Yellow,
-            Grey,
-
-            Bright = 0x10,
-
-            BrightRed = Bright | Red,
-            BrightGreen = Bright | Green,
-            LightGrey = Bright | Grey,
-            BrightWhite = Bright | White,
-            BrightYellow = Bright | Yellow,
-
-            // By intention
-            FileName = LightGrey,
-            Warning = BrightYellow,
-            ResultError = BrightRed,
-            ResultSuccess = BrightGreen,
-            ResultExpectedFailure = Warning,
-
-            Error = BrightRed,
-            Success = Green,
-
-            OriginalExpression = Cyan,
-            ReconstructedExpression = BrightYellow,
-
-            SecondaryText = LightGrey,
-            Headers = White
-        };
-
-        // Use constructed object for RAII guard
-        Colour( Code _colourCode );
-        Colour( Colour&& other ) noexcept;
-        Colour& operator=( Colour&& other ) noexcept;
-        ~Colour();
-
-        // Use static method for one-shot changes
-        static void use( Code _colourCode );
-
-    private:
-        bool m_moved = false;
-    };
-
-    std::ostream& operator << ( std::ostream& os, Colour const& );
-
-} // end namespace Catch
-
-// end catch_console_colour.h
-// start catch_reporter_registrars.hpp
-
-
-namespace Catch {
-
-    template<typename T>
-    class ReporterRegistrar {
-
-        class ReporterFactory : public IReporterFactory {
-
-            IStreamingReporterPtr create( ReporterConfig const& config ) const override {
-                return std::unique_ptr<T>( new T( config ) );
-            }
-
-            std::string getDescription() const override {
-                return T::getDescription();
-            }
-        };
-
-    public:
-
-        explicit ReporterRegistrar( std::string const& name ) {
-            getMutableRegistryHub().registerReporter( name, std::make_shared<ReporterFactory>() );
-        }
-    };
-
-    template<typename T>
-    class ListenerRegistrar {
-
-        class ListenerFactory : public IReporterFactory {
-
-            IStreamingReporterPtr create( ReporterConfig const& config ) const override {
-                return std::unique_ptr<T>( new T( config ) );
-            }
-            std::string getDescription() const override {
-                return std::string();
-            }
-        };
-
-    public:
-
-        ListenerRegistrar() {
-            getMutableRegistryHub().registerListener( std::make_shared<ListenerFactory>() );
-        }
-    };
-}
-
-#if !defined(CATCH_CONFIG_DISABLE)
-
-#define CATCH_REGISTER_REPORTER( name, reporterType ) \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION         \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS          \
-    namespace{ Catch::ReporterRegistrar<reporterType> catch_internal_RegistrarFor##reporterType( name ); } \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-#define CATCH_REGISTER_LISTENER( listenerType ) \
-    CATCH_INTERNAL_START_WARNINGS_SUPPRESSION   \
-    CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS    \
-    namespace{ Catch::ListenerRegistrar<listenerType> catch_internal_RegistrarFor##listenerType; } \
-    CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-#else // CATCH_CONFIG_DISABLE
-
-#define CATCH_REGISTER_REPORTER(name, reporterType)
-#define CATCH_REGISTER_LISTENER(listenerType)
-
-#endif // CATCH_CONFIG_DISABLE
-
-// end catch_reporter_registrars.hpp
-// Allow users to base their work off existing reporters
-// start catch_reporter_compact.h
-
-namespace Catch {
-
-    struct CompactReporter : StreamingReporterBase<CompactReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        ~CompactReporter() override;
-
-        static std::string getDescription();
-
-        ReporterPreferences getPreferences() const override;
-
-        void noMatchingTestCases(std::string const& spec) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& _assertionStats) override;
-
-        void sectionEnded(SectionStats const& _sectionStats) override;
-
-        void testRunEnded(TestRunStats const& _testRunStats) override;
-
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_compact.h
-// start catch_reporter_console.h
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
-                              // Note that 4062 (not all labels are handled
-                              // and default is missing) is enabled
-#endif
-
-namespace Catch {
-    // Fwd decls
-    struct SummaryColumn;
-    class TablePrinter;
-
-    struct ConsoleReporter : StreamingReporterBase<ConsoleReporter> {
-        std::unique_ptr<TablePrinter> m_tablePrinter;
-
-        ConsoleReporter(ReporterConfig const& config);
-        ~ConsoleReporter() override;
-        static std::string getDescription();
-
-        void noMatchingTestCases(std::string const& spec) override;
-
-        void reportInvalidArguments(std::string const&arg) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& _assertionStats) override;
-
-        void sectionStarting(SectionInfo const& _sectionInfo) override;
-        void sectionEnded(SectionStats const& _sectionStats) override;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing(std::string const& name) override;
-        void benchmarkStarting(BenchmarkInfo const& info) override;
-        void benchmarkEnded(BenchmarkStats<> const& stats) override;
-        void benchmarkFailed(std::string const& error) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        void testCaseEnded(TestCaseStats const& _testCaseStats) override;
-        void testGroupEnded(TestGroupStats const& _testGroupStats) override;
-        void testRunEnded(TestRunStats const& _testRunStats) override;
-        void testRunStarting(TestRunInfo const& _testRunInfo) override;
-    private:
-
-        void lazyPrint();
-
-        void lazyPrintWithoutClosingBenchmarkTable();
-        void lazyPrintRunInfo();
-        void lazyPrintGroupInfo();
-        void printTestCaseAndSectionHeader();
-
-        void printClosedHeader(std::string const& _name);
-        void printOpenHeader(std::string const& _name);
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        void printHeaderString(std::string const& _string, std::size_t indent = 0);
-
-        void printTotals(Totals const& totals);
-        void printSummaryRow(std::string const& label, std::vector<SummaryColumn> const& cols, std::size_t row);
-
-        void printTotalsDivider(Totals const& totals);
-        void printSummaryDivider();
-        void printTestFilters();
-
-    private:
-        bool m_headerPrinted = false;
-    };
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
-// end catch_reporter_console.h
-// start catch_reporter_junit.h
-
-// start catch_xmlwriter.h
-
-#include <vector>
-
-namespace Catch {
-    enum class XmlFormatting {
-        None = 0x00,
-        Indent = 0x01,
-        Newline = 0x02,
-    };
-
-    XmlFormatting operator | (XmlFormatting lhs, XmlFormatting rhs);
-    XmlFormatting operator & (XmlFormatting lhs, XmlFormatting rhs);
-
-    class XmlEncode {
-    public:
-        enum ForWhat { ForTextNodes, ForAttributes };
-
-        XmlEncode( std::string const& str, ForWhat forWhat = ForTextNodes );
-
-        void encodeTo( std::ostream& os ) const;
-
-        friend std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode );
-
-    private:
-        std::string m_str;
-        ForWhat m_forWhat;
-    };
-
-    class XmlWriter {
-    public:
-
-        class ScopedElement {
-        public:
-            ScopedElement( XmlWriter* writer, XmlFormatting fmt );
-
-            ScopedElement( ScopedElement&& other ) noexcept;
-            ScopedElement& operator=( ScopedElement&& other ) noexcept;
-
-            ~ScopedElement();
-
-            ScopedElement& writeText( std::string const& text, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent );
-
-            template<typename T>
-            ScopedElement& writeAttribute( std::string const& name, T const& attribute ) {
-                m_writer->writeAttribute( name, attribute );
-                return *this;
-            }
-
-        private:
-            mutable XmlWriter* m_writer = nullptr;
-            XmlFormatting m_fmt;
-        };
-
-        XmlWriter( std::ostream& os = Catch::cout() );
-        ~XmlWriter();
-
-        XmlWriter( XmlWriter const& ) = delete;
-        XmlWriter& operator=( XmlWriter const& ) = delete;
-
-        XmlWriter& startElement( std::string const& name, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
-
-        ScopedElement scopedElement( std::string const& name, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
-
-        XmlWriter& endElement(XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
-
-        XmlWriter& writeAttribute( std::string const& name, std::string const& attribute );
-
-        XmlWriter& writeAttribute( std::string const& name, bool attribute );
-
-        template<typename T>
-        XmlWriter& writeAttribute( std::string const& name, T const& attribute ) {
-            ReusableStringStream rss;
-            rss << attribute;
-            return writeAttribute( name, rss.str() );
-        }
-
-        XmlWriter& writeText( std::string const& text, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
-
-        XmlWriter& writeComment(std::string const& text, XmlFormatting fmt = XmlFormatting::Newline | XmlFormatting::Indent);
-
-        void writeStylesheetRef( std::string const& url );
-
-        XmlWriter& writeBlankLine();
-
-        void ensureTagClosed();
-
-    private:
-
-        void applyFormatting(XmlFormatting fmt);
-
-        void writeDeclaration();
-
-        void newlineIfNecessary();
-
-        bool m_tagIsOpen = false;
-        bool m_needsNewline = false;
-        std::vector<std::string> m_tags;
-        std::string m_indent;
-        std::ostream& m_os;
-    };
-
-}
-
-// end catch_xmlwriter.h
-namespace Catch {
-
-    class JunitReporter : public CumulativeReporterBase<JunitReporter> {
-    public:
-        JunitReporter(ReporterConfig const& _config);
-
-        ~JunitReporter() override;
-
-        static std::string getDescription();
-
-        void noMatchingTestCases(std::string const& /*spec*/) override;
-
-        void testRunStarting(TestRunInfo const& runInfo) override;
-
-        void testGroupStarting(GroupInfo const& groupInfo) override;
-
-        void testCaseStarting(TestCaseInfo const& testCaseInfo) override;
-        bool assertionEnded(AssertionStats const& assertionStats) override;
-
-        void testCaseEnded(TestCaseStats const& testCaseStats) override;
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override;
-
-        void testRunEndedCumulative() override;
-
-        void writeGroup(TestGroupNode const& groupNode, double suiteTime);
-
-        void writeTestCase(TestCaseNode const& testCaseNode);
-
-        void writeSection(std::string const& className,
-                          std::string const& rootName,
-                          SectionNode const& sectionNode);
-
-        void writeAssertions(SectionNode const& sectionNode);
-        void writeAssertion(AssertionStats const& stats);
-
-        XmlWriter xml;
-        Timer suiteTimer;
-        std::string stdOutForSuite;
-        std::string stdErrForSuite;
-        unsigned int unexpectedExceptions = 0;
-        bool m_okToFail = false;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_junit.h
-// start catch_reporter_xml.h
-
-namespace Catch {
-    class XmlReporter : public StreamingReporterBase<XmlReporter> {
-    public:
-        XmlReporter(ReporterConfig const& _config);
-
-        ~XmlReporter() override;
-
-        static std::string getDescription();
-
-        virtual std::string getStylesheetRef() const;
-
-        void writeSourceInfo(SourceLineInfo const& sourceInfo);
-
-    public: // StreamingReporterBase
-
-        void noMatchingTestCases(std::string const& s) override;
-
-        void testRunStarting(TestRunInfo const& testInfo) override;
-
-        void testGroupStarting(GroupInfo const& groupInfo) override;
-
-        void testCaseStarting(TestCaseInfo const& testInfo) override;
-
-        void sectionStarting(SectionInfo const& sectionInfo) override;
-
-        void assertionStarting(AssertionInfo const&) override;
-
-        bool assertionEnded(AssertionStats const& assertionStats) override;
-
-        void sectionEnded(SectionStats const& sectionStats) override;
-
-        void testCaseEnded(TestCaseStats const& testCaseStats) override;
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override;
-
-        void testRunEnded(TestRunStats const& testRunStats) override;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing(std::string const& name) override;
-        void benchmarkStarting(BenchmarkInfo const&) override;
-        void benchmarkEnded(BenchmarkStats<> const&) override;
-        void benchmarkFailed(std::string const&) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    private:
-        Timer m_testCaseTimer;
-        XmlWriter m_xml;
-        int m_sectionDepth = 0;
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_xml.h
-
-// end catch_external_interfaces.h
-#endif
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-// start catch_benchmarking_all.hpp
-
-// A proxy header that includes all of the benchmarking headers to allow
-// concise include of the benchmarking features. You should prefer the
-// individual includes in standard use.
-
-// start catch_benchmark.hpp
-
- // Benchmark
-
-// start catch_chronometer.hpp
-
-// User-facing chronometer
-
-
-// start catch_clock.hpp
-
-// Clocks
-
-
-#include <chrono>
-#include <ratio>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Clock>
-        using ClockDuration = typename Clock::duration;
-        template <typename Clock>
-        using FloatDuration = std::chrono::duration<double, typename Clock::period>;
-
-        template <typename Clock>
-        using TimePoint = typename Clock::time_point;
-
-        using default_clock = std::chrono::steady_clock;
-
-        template <typename Clock>
-        struct now {
-            TimePoint<Clock> operator()() const {
-                return Clock::now();
-            }
-        };
-
-        using fp_seconds = std::chrono::duration<double, std::ratio<1>>;
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_clock.hpp
-// start catch_optimizer.hpp
-
- // Hinting the optimizer
-
-
-#if defined(_MSC_VER)
-#   include <atomic> // atomic_thread_fence
-#endif
-
-namespace Catch {
-    namespace Benchmark {
-#if defined(__GNUC__) || defined(__clang__)
-        template <typename T>
-        inline void keep_memory(T* p) {
-            asm volatile("" : : "g"(p) : "memory");
-        }
-        inline void keep_memory() {
-            asm volatile("" : : : "memory");
-        }
-
-        namespace Detail {
-            inline void optimizer_barrier() { keep_memory(); }
-        } // namespace Detail
-#elif defined(_MSC_VER)
-
-#pragma optimize("", off)
-        template <typename T>
-        inline void keep_memory(T* p) {
-            // thanks @milleniumbug
-            *reinterpret_cast<char volatile*>(p) = *reinterpret_cast<char const volatile*>(p);
-        }
-        // TODO equivalent keep_memory()
-#pragma optimize("", on)
-
-        namespace Detail {
-            inline void optimizer_barrier() {
-                std::atomic_thread_fence(std::memory_order_seq_cst);
-            }
-        } // namespace Detail
-
-#endif
-
-        template <typename T>
-        inline void deoptimize_value(T&& x) {
-            keep_memory(&x);
-        }
-
-        template <typename Fn, typename... Args>
-        inline auto invoke_deoptimized(Fn&& fn, Args&&... args) -> typename std::enable_if<!std::is_same<void, decltype(fn(args...))>::value>::type {
-            deoptimize_value(std::forward<Fn>(fn) (std::forward<Args...>(args...)));
-        }
-
-        template <typename Fn, typename... Args>
-        inline auto invoke_deoptimized(Fn&& fn, Args&&... args) -> typename std::enable_if<std::is_same<void, decltype(fn(args...))>::value>::type {
-            std::forward<Fn>(fn) (std::forward<Args...>(args...));
-        }
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_optimizer.hpp
-// start catch_complete_invoke.hpp
-
-// Invoke with a special case for void
-
-
-#include <type_traits>
-#include <utility>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename T>
-            struct CompleteType { using type = T; };
-            template <>
-            struct CompleteType<void> { struct type {}; };
-
-            template <typename T>
-            using CompleteType_t = typename CompleteType<T>::type;
-
-            template <typename Result>
-            struct CompleteInvoker {
-                template <typename Fun, typename... Args>
-                static Result invoke(Fun&& fun, Args&&... args) {
-                    return std::forward<Fun>(fun)(std::forward<Args>(args)...);
-                }
-            };
-            template <>
-            struct CompleteInvoker<void> {
-                template <typename Fun, typename... Args>
-                static CompleteType_t<void> invoke(Fun&& fun, Args&&... args) {
-                    std::forward<Fun>(fun)(std::forward<Args>(args)...);
-                    return {};
-                }
-            };
-            template <typename Sig>
-            using ResultOf_t = typename std::result_of<Sig>::type;
-
-            // invoke and not return void :(
-            template <typename Fun, typename... Args>
-            CompleteType_t<ResultOf_t<Fun(Args...)>> complete_invoke(Fun&& fun, Args&&... args) {
-                return CompleteInvoker<ResultOf_t<Fun(Args...)>>::invoke(std::forward<Fun>(fun), std::forward<Args>(args)...);
-            }
-
-            const std::string benchmarkErrorMsg = "a benchmark failed to run successfully";
-        } // namespace Detail
-
-        template <typename Fun>
-        Detail::CompleteType_t<Detail::ResultOf_t<Fun()>> user_code(Fun&& fun) {
-            CATCH_TRY{
-                return Detail::complete_invoke(std::forward<Fun>(fun));
-            } CATCH_CATCH_ALL{
-                getResultCapture().benchmarkFailed(translateActiveException());
-                CATCH_RUNTIME_ERROR(Detail::benchmarkErrorMsg);
-            }
-        }
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_complete_invoke.hpp
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            struct ChronometerConcept {
-                virtual void start() = 0;
-                virtual void finish() = 0;
-                virtual ~ChronometerConcept() = default;
-            };
-            template <typename Clock>
-            struct ChronometerModel final : public ChronometerConcept {
-                void start() override { started = Clock::now(); }
-                void finish() override { finished = Clock::now(); }
-
-                ClockDuration<Clock> elapsed() const { return finished - started; }
-
-                TimePoint<Clock> started;
-                TimePoint<Clock> finished;
-            };
-        } // namespace Detail
-
-        struct Chronometer {
-        public:
-            template <typename Fun>
-            void measure(Fun&& fun) { measure(std::forward<Fun>(fun), is_callable<Fun(int)>()); }
-
-            int runs() const { return k; }
-
-            Chronometer(Detail::ChronometerConcept& meter, int k)
-                : impl(&meter)
-                , k(k) {}
-
-        private:
-            template <typename Fun>
-            void measure(Fun&& fun, std::false_type) {
-                measure([&fun](int) { return fun(); }, std::true_type());
-            }
-
-            template <typename Fun>
-            void measure(Fun&& fun, std::true_type) {
-                Detail::optimizer_barrier();
-                impl->start();
-                for (int i = 0; i < k; ++i) invoke_deoptimized(fun, i);
-                impl->finish();
-                Detail::optimizer_barrier();
-            }
-
-            Detail::ChronometerConcept* impl;
-            int k;
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_chronometer.hpp
-// start catch_environment.hpp
-
-// Environment information
-
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct EnvironmentEstimate {
-            Duration mean;
-            OutlierClassification outliers;
-
-            template <typename Duration2>
-            operator EnvironmentEstimate<Duration2>() const {
-                return { mean, outliers };
-            }
-        };
-        template <typename Clock>
-        struct Environment {
-            using clock_type = Clock;
-            EnvironmentEstimate<FloatDuration<Clock>> clock_resolution;
-            EnvironmentEstimate<FloatDuration<Clock>> clock_cost;
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_environment.hpp
-// start catch_execution_plan.hpp
-
- // Execution plan
-
-
-// start catch_benchmark_function.hpp
-
- // Dumb std::function implementation for consistent call overhead
-
-
-#include <cassert>
-#include <type_traits>
-#include <utility>
-#include <memory>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename T>
-            using Decay = typename std::decay<T>::type;
-            template <typename T, typename U>
-            struct is_related
-                : std::is_same<Decay<T>, Decay<U>> {};
-
-            /// We need to reinvent std::function because every piece of code that might add overhead
-            /// in a measurement context needs to have consistent performance characteristics so that we
-            /// can account for it in the measurement.
-            /// Implementations of std::function with optimizations that aren't always applicable, like
-            /// small buffer optimizations, are not uncommon.
-            /// This is effectively an implementation of std::function without any such optimizations;
-            /// it may be slow, but it is consistently slow.
-            struct BenchmarkFunction {
-            private:
-                struct callable {
-                    virtual void call(Chronometer meter) const = 0;
-                    virtual callable* clone() const = 0;
-                    virtual ~callable() = default;
-                };
-                template <typename Fun>
-                struct model : public callable {
-                    model(Fun&& fun) : fun(std::move(fun)) {}
-                    model(Fun const& fun) : fun(fun) {}
-
-                    model<Fun>* clone() const override { return new model<Fun>(*this); }
-
-                    void call(Chronometer meter) const override {
-                        call(meter, is_callable<Fun(Chronometer)>());
-                    }
-                    void call(Chronometer meter, std::true_type) const {
-                        fun(meter);
-                    }
-                    void call(Chronometer meter, std::false_type) const {
-                        meter.measure(fun);
-                    }
-
-                    Fun fun;
-                };
-
-                struct do_nothing { void operator()() const {} };
-
-                template <typename T>
-                BenchmarkFunction(model<T>* c) : f(c) {}
-
-            public:
-                BenchmarkFunction()
-                    : f(new model<do_nothing>{ {} }) {}
-
-                template <typename Fun,
-                    typename std::enable_if<!is_related<Fun, BenchmarkFunction>::value, int>::type = 0>
-                    BenchmarkFunction(Fun&& fun)
-                    : f(new model<typename std::decay<Fun>::type>(std::forward<Fun>(fun))) {}
-
-                BenchmarkFunction(BenchmarkFunction&& that)
-                    : f(std::move(that.f)) {}
-
-                BenchmarkFunction(BenchmarkFunction const& that)
-                    : f(that.f->clone()) {}
-
-                BenchmarkFunction& operator=(BenchmarkFunction&& that) {
-                    f = std::move(that.f);
-                    return *this;
-                }
-
-                BenchmarkFunction& operator=(BenchmarkFunction const& that) {
-                    f.reset(that.f->clone());
-                    return *this;
-                }
-
-                void operator()(Chronometer meter) const { f->call(meter); }
-
-            private:
-                std::unique_ptr<callable> f;
-            };
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_benchmark_function.hpp
-// start catch_repeat.hpp
-
-// repeat algorithm
-
-
-#include <type_traits>
-#include <utility>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Fun>
-            struct repeater {
-                void operator()(int k) const {
-                    for (int i = 0; i < k; ++i) {
-                        fun();
-                    }
-                }
-                Fun fun;
-            };
-            template <typename Fun>
-            repeater<typename std::decay<Fun>::type> repeat(Fun&& fun) {
-                return { std::forward<Fun>(fun) };
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_repeat.hpp
-// start catch_run_for_at_least.hpp
-
-// Run a function for a minimum amount of time
-
-
-// start catch_measure.hpp
-
-// Measure
-
-
-// start catch_timing.hpp
-
-// Timing
-
-
-#include <tuple>
-#include <type_traits>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration, typename Result>
-        struct Timing {
-            Duration elapsed;
-            Result result;
-            int iterations;
-        };
-        template <typename Clock, typename Sig>
-        using TimingOf = Timing<ClockDuration<Clock>, Detail::CompleteType_t<Detail::ResultOf_t<Sig>>>;
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_timing.hpp
-#include <utility>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Clock, typename Fun, typename... Args>
-            TimingOf<Clock, Fun(Args...)> measure(Fun&& fun, Args&&... args) {
-                auto start = Clock::now();
-                auto&& r = Detail::complete_invoke(fun, std::forward<Args>(args)...);
-                auto end = Clock::now();
-                auto delta = end - start;
-                return { delta, std::forward<decltype(r)>(r), 1 };
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_measure.hpp
-#include <utility>
-#include <type_traits>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Clock, typename Fun>
-            TimingOf<Clock, Fun(int)> measure_one(Fun&& fun, int iters, std::false_type) {
-                return Detail::measure<Clock>(fun, iters);
-            }
-            template <typename Clock, typename Fun>
-            TimingOf<Clock, Fun(Chronometer)> measure_one(Fun&& fun, int iters, std::true_type) {
-                Detail::ChronometerModel<Clock> meter;
-                auto&& result = Detail::complete_invoke(fun, Chronometer(meter, iters));
-
-                return { meter.elapsed(), std::move(result), iters };
-            }
-
-            template <typename Clock, typename Fun>
-            using run_for_at_least_argument_t = typename std::conditional<is_callable<Fun(Chronometer)>::value, Chronometer, int>::type;
-
-            struct optimized_away_error : std::exception {
-                const char* what() const noexcept override {
-                    return "could not measure benchmark, maybe it was optimized away";
-                }
-            };
-
-            template <typename Clock, typename Fun>
-            TimingOf<Clock, Fun(run_for_at_least_argument_t<Clock, Fun>)> run_for_at_least(ClockDuration<Clock> how_long, int seed, Fun&& fun) {
-                auto iters = seed;
-                while (iters < (1 << 30)) {
-                    auto&& Timing = measure_one<Clock>(fun, iters, is_callable<Fun(Chronometer)>());
-
-                    if (Timing.elapsed >= how_long) {
-                        return { Timing.elapsed, std::move(Timing.result), iters };
-                    }
-                    iters *= 2;
-                }
-                throw optimized_away_error{};
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_run_for_at_least.hpp
-#include <algorithm>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct ExecutionPlan {
-            int iterations_per_sample;
-            Duration estimated_duration;
-            Detail::BenchmarkFunction benchmark;
-            Duration warmup_time;
-            int warmup_iterations;
-
-            template <typename Duration2>
-            operator ExecutionPlan<Duration2>() const {
-                return { iterations_per_sample, estimated_duration, benchmark, warmup_time, warmup_iterations };
-            }
-
-            template <typename Clock>
-            std::vector<FloatDuration<Clock>> run(const IConfig &cfg, Environment<FloatDuration<Clock>> env) const {
-                // warmup a bit
-                Detail::run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(warmup_time), warmup_iterations, Detail::repeat(now<Clock>{}));
-
-                std::vector<FloatDuration<Clock>> times;
-                times.reserve(cfg.benchmarkSamples());
-                std::generate_n(std::back_inserter(times), cfg.benchmarkSamples(), [this, env] {
-                    Detail::ChronometerModel<Clock> model;
-                    this->benchmark(Chronometer(model, iterations_per_sample));
-                    auto sample_time = model.elapsed() - env.clock_cost.mean;
-                    if (sample_time < FloatDuration<Clock>::zero()) sample_time = FloatDuration<Clock>::zero();
-                    return sample_time / iterations_per_sample;
-                });
-                return times;
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_execution_plan.hpp
-// start catch_estimate_clock.hpp
-
- // Environment measurement
-
-
-// start catch_stats.hpp
-
-// Statistical analysis tools
-
-
-#include <algorithm>
-#include <functional>
-#include <vector>
-#include <iterator>
-#include <numeric>
-#include <tuple>
-#include <cmath>
-#include <utility>
-#include <cstddef>
-#include <random>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            using sample = std::vector<double>;
-
-            double weighted_average_quantile(int k, int q, std::vector<double>::iterator first, std::vector<double>::iterator last);
-
-            template <typename Iterator>
-            OutlierClassification classify_outliers(Iterator first, Iterator last) {
-                std::vector<double> copy(first, last);
-
-                auto q1 = weighted_average_quantile(1, 4, copy.begin(), copy.end());
-                auto q3 = weighted_average_quantile(3, 4, copy.begin(), copy.end());
-                auto iqr = q3 - q1;
-                auto los = q1 - (iqr * 3.);
-                auto lom = q1 - (iqr * 1.5);
-                auto him = q3 + (iqr * 1.5);
-                auto his = q3 + (iqr * 3.);
-
-                OutlierClassification o;
-                for (; first != last; ++first) {
-                    auto&& t = *first;
-                    if (t < los) ++o.low_severe;
-                    else if (t < lom) ++o.low_mild;
-                    else if (t > his) ++o.high_severe;
-                    else if (t > him) ++o.high_mild;
-                    ++o.samples_seen;
-                }
-                return o;
-            }
-
-            template <typename Iterator>
-            double mean(Iterator first, Iterator last) {
-                auto count = last - first;
-                double sum = std::accumulate(first, last, 0.);
-                return sum / count;
-            }
-
-            template <typename URng, typename Iterator, typename Estimator>
-            sample resample(URng& rng, int resamples, Iterator first, Iterator last, Estimator& estimator) {
-                auto n = last - first;
-                std::uniform_int_distribution<decltype(n)> dist(0, n - 1);
-
-                sample out;
-                out.reserve(resamples);
-                std::generate_n(std::back_inserter(out), resamples, [n, first, &estimator, &dist, &rng] {
-                    std::vector<double> resampled;
-                    resampled.reserve(n);
-                    std::generate_n(std::back_inserter(resampled), n, [first, &dist, &rng] { return first[dist(rng)]; });
-                    return estimator(resampled.begin(), resampled.end());
-                });
-                std::sort(out.begin(), out.end());
-                return out;
-            }
-
-            template <typename Estimator, typename Iterator>
-            sample jackknife(Estimator&& estimator, Iterator first, Iterator last) {
-                auto n = last - first;
-                auto second = std::next(first);
-                sample results;
-                results.reserve(n);
-
-                for (auto it = first; it != last; ++it) {
-                    std::iter_swap(it, first);
-                    results.push_back(estimator(second, last));
-                }
-
-                return results;
-            }
-
-            inline double normal_cdf(double x) {
-                return std::erfc(-x / std::sqrt(2.0)) / 2.0;
-            }
-
-            double erfc_inv(double x);
-
-            double normal_quantile(double p);
-
-            template <typename Iterator, typename Estimator>
-            Estimate<double> bootstrap(double confidence_level, Iterator first, Iterator last, sample const& resample, Estimator&& estimator) {
-                auto n_samples = last - first;
-
-                double point = estimator(first, last);
-                // Degenerate case with a single sample
-                if (n_samples == 1) return { point, point, point, confidence_level };
-
-                sample jack = jackknife(estimator, first, last);
-                double jack_mean = mean(jack.begin(), jack.end());
-                double sum_squares, sum_cubes;
-                std::tie(sum_squares, sum_cubes) = std::accumulate(jack.begin(), jack.end(), std::make_pair(0., 0.), [jack_mean](std::pair<double, double> sqcb, double x) -> std::pair<double, double> {
-                    auto d = jack_mean - x;
-                    auto d2 = d * d;
-                    auto d3 = d2 * d;
-                    return { sqcb.first + d2, sqcb.second + d3 };
-                });
-
-                double accel = sum_cubes / (6 * std::pow(sum_squares, 1.5));
-                int n = static_cast<int>(resample.size());
-                double prob_n = std::count_if(resample.begin(), resample.end(), [point](double x) { return x < point; }) / (double)n;
-                // degenerate case with uniform samples
-                if (prob_n == 0) return { point, point, point, confidence_level };
-
-                double bias = normal_quantile(prob_n);
-                double z1 = normal_quantile((1. - confidence_level) / 2.);
-
-                auto cumn = [n](double x) -> int {
-                    return std::lround(normal_cdf(x) * n); };
-                auto a = [bias, accel](double b) { return bias + b / (1. - accel * b); };
-                double b1 = bias + z1;
-                double b2 = bias - z1;
-                double a1 = a(b1);
-                double a2 = a(b2);
-                auto lo = std::max(cumn(a1), 0);
-                auto hi = std::min(cumn(a2), n - 1);
-
-                return { point, resample[lo], resample[hi], confidence_level };
-            }
-
-            double outlier_variance(Estimate<double> mean, Estimate<double> stddev, int n);
-
-            struct bootstrap_analysis {
-                Estimate<double> mean;
-                Estimate<double> standard_deviation;
-                double outlier_variance;
-            };
-
-            bootstrap_analysis analyse_samples(double confidence_level, int n_resamples, std::vector<double>::iterator first, std::vector<double>::iterator last);
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_stats.hpp
-#include <algorithm>
-#include <iterator>
-#include <tuple>
-#include <vector>
-#include <cmath>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Clock>
-            std::vector<double> resolution(int k) {
-                std::vector<TimePoint<Clock>> times;
-                times.reserve(k + 1);
-                std::generate_n(std::back_inserter(times), k + 1, now<Clock>{});
-
-                std::vector<double> deltas;
-                deltas.reserve(k);
-                std::transform(std::next(times.begin()), times.end(), times.begin(),
-                    std::back_inserter(deltas),
-                    [](TimePoint<Clock> a, TimePoint<Clock> b) { return static_cast<double>((a - b).count()); });
-
-                return deltas;
-            }
-
-            const auto warmup_iterations = 10000;
-            const auto warmup_time = std::chrono::milliseconds(100);
-            const auto minimum_ticks = 1000;
-            const auto warmup_seed = 10000;
-            const auto clock_resolution_estimation_time = std::chrono::milliseconds(500);
-            const auto clock_cost_estimation_time_limit = std::chrono::seconds(1);
-            const auto clock_cost_estimation_tick_limit = 100000;
-            const auto clock_cost_estimation_time = std::chrono::milliseconds(10);
-            const auto clock_cost_estimation_iterations = 10000;
-
-            template <typename Clock>
-            int warmup() {
-                return run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(warmup_time), warmup_seed, &resolution<Clock>)
-                    .iterations;
-            }
-            template <typename Clock>
-            EnvironmentEstimate<FloatDuration<Clock>> estimate_clock_resolution(int iterations) {
-                auto r = run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(clock_resolution_estimation_time), iterations, &resolution<Clock>)
-                    .result;
-                return {
-                    FloatDuration<Clock>(mean(r.begin(), r.end())),
-                    classify_outliers(r.begin(), r.end()),
-                };
-            }
-            template <typename Clock>
-            EnvironmentEstimate<FloatDuration<Clock>> estimate_clock_cost(FloatDuration<Clock> resolution) {
-                auto time_limit = std::min(resolution * clock_cost_estimation_tick_limit, FloatDuration<Clock>(clock_cost_estimation_time_limit));
-                auto time_clock = [](int k) {
-                    return Detail::measure<Clock>([k] {
-                        for (int i = 0; i < k; ++i) {
-                            volatile auto ignored = Clock::now();
-                            (void)ignored;
-                        }
-                    }).elapsed;
-                };
-                time_clock(1);
-                int iters = clock_cost_estimation_iterations;
-                auto&& r = run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(clock_cost_estimation_time), iters, time_clock);
-                std::vector<double> times;
-                int nsamples = static_cast<int>(std::ceil(time_limit / r.elapsed));
-                times.reserve(nsamples);
-                std::generate_n(std::back_inserter(times), nsamples, [time_clock, &r] {
-                    return static_cast<double>((time_clock(r.iterations) / r.iterations).count());
-                });
-                return {
-                    FloatDuration<Clock>(mean(times.begin(), times.end())),
-                    classify_outliers(times.begin(), times.end()),
-                };
-            }
-
-            template <typename Clock>
-            Environment<FloatDuration<Clock>> measure_environment() {
-                static Environment<FloatDuration<Clock>>* env = nullptr;
-                if (env) {
-                    return *env;
-                }
-
-                auto iters = Detail::warmup<Clock>();
-                auto resolution = Detail::estimate_clock_resolution<Clock>(iters);
-                auto cost = Detail::estimate_clock_cost<Clock>(resolution.mean);
-
-                env = new Environment<FloatDuration<Clock>>{ resolution, cost };
-                return *env;
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_estimate_clock.hpp
-// start catch_analyse.hpp
-
- // Run and analyse one benchmark
-
-
-// start catch_sample_analysis.hpp
-
-// Benchmark results
-
-
-#include <algorithm>
-#include <vector>
-#include <string>
-#include <iterator>
-
-namespace Catch {
-    namespace Benchmark {
-        template <typename Duration>
-        struct SampleAnalysis {
-            std::vector<Duration> samples;
-            Estimate<Duration> mean;
-            Estimate<Duration> standard_deviation;
-            OutlierClassification outliers;
-            double outlier_variance;
-
-            template <typename Duration2>
-            operator SampleAnalysis<Duration2>() const {
-                std::vector<Duration2> samples2;
-                samples2.reserve(samples.size());
-                std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](Duration d) { return Duration2(d); });
-                return {
-                    std::move(samples2),
-                    mean,
-                    standard_deviation,
-                    outliers,
-                    outlier_variance,
-                };
-            }
-        };
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_sample_analysis.hpp
-#include <algorithm>
-#include <iterator>
-#include <vector>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename Duration, typename Iterator>
-            SampleAnalysis<Duration> analyse(const IConfig &cfg, Environment<Duration>, Iterator first, Iterator last) {
-                if (!cfg.benchmarkNoAnalysis()) {
-                    std::vector<double> samples;
-                    samples.reserve(last - first);
-                    std::transform(first, last, std::back_inserter(samples), [](Duration d) { return d.count(); });
-
-                    auto analysis = Catch::Benchmark::Detail::analyse_samples(cfg.benchmarkConfidenceInterval(), cfg.benchmarkResamples(), samples.begin(), samples.end());
-                    auto outliers = Catch::Benchmark::Detail::classify_outliers(samples.begin(), samples.end());
-
-                    auto wrap_estimate = [](Estimate<double> e) {
-                        return Estimate<Duration> {
-                            Duration(e.point),
-                                Duration(e.lower_bound),
-                                Duration(e.upper_bound),
-                                e.confidence_interval,
-                        };
-                    };
-                    std::vector<Duration> samples2;
-                    samples2.reserve(samples.size());
-                    std::transform(samples.begin(), samples.end(), std::back_inserter(samples2), [](double d) { return Duration(d); });
-                    return {
-                        std::move(samples2),
-                        wrap_estimate(analysis.mean),
-                        wrap_estimate(analysis.standard_deviation),
-                        outliers,
-                        analysis.outlier_variance,
-                    };
-                } else {
-                    std::vector<Duration> samples;
-                    samples.reserve(last - first);
-
-                    Duration mean = Duration(0);
-                    int i = 0;
-                    for (auto it = first; it < last; ++it, ++i) {
-                        samples.push_back(Duration(*it));
-                        mean += Duration(*it);
-                    }
-                    mean /= i;
-
-                    return {
-                        std::move(samples),
-                        Estimate<Duration>{mean, mean, mean, 0.0},
-                        Estimate<Duration>{Duration(0), Duration(0), Duration(0), 0.0},
-                        OutlierClassification{},
-                        0.0
-                    };
-                }
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-// end catch_analyse.hpp
-#include <algorithm>
-#include <functional>
-#include <string>
-#include <vector>
-#include <cmath>
-
-namespace Catch {
-    namespace Benchmark {
-        struct Benchmark {
-            Benchmark(std::string &&name)
-                : name(std::move(name)) {}
-
-            template <class FUN>
-            Benchmark(std::string &&name, FUN &&func)
-                : fun(std::move(func)), name(std::move(name)) {}
-
-            template <typename Clock>
-            ExecutionPlan<FloatDuration<Clock>> prepare(const IConfig &cfg, Environment<FloatDuration<Clock>> env) const {
-                auto min_time = env.clock_resolution.mean * Detail::minimum_ticks;
-                auto run_time = std::max(min_time, std::chrono::duration_cast<decltype(min_time)>(cfg.benchmarkWarmupTime()));
-                auto&& test = Detail::run_for_at_least<Clock>(std::chrono::duration_cast<ClockDuration<Clock>>(run_time), 1, fun);
-                int new_iters = static_cast<int>(std::ceil(min_time * test.iterations / test.elapsed));
-                return { new_iters, test.elapsed / test.iterations * new_iters * cfg.benchmarkSamples(), fun, std::chrono::duration_cast<FloatDuration<Clock>>(cfg.benchmarkWarmupTime()), Detail::warmup_iterations };
-            }
-
-            template <typename Clock = default_clock>
-            void run() {
-                IConfigPtr cfg = getCurrentContext().getConfig();
-
-                auto env = Detail::measure_environment<Clock>();
-
-                getResultCapture().benchmarkPreparing(name);
-                CATCH_TRY{
-                    auto plan = user_code([&] {
-                        return prepare<Clock>(*cfg, env);
-                    });
-
-                    BenchmarkInfo info {
-                        name,
-                        plan.estimated_duration.count(),
-                        plan.iterations_per_sample,
-                        cfg->benchmarkSamples(),
-                        cfg->benchmarkResamples(),
-                        env.clock_resolution.mean.count(),
-                        env.clock_cost.mean.count()
-                    };
-
-                    getResultCapture().benchmarkStarting(info);
-
-                    auto samples = user_code([&] {
-                        return plan.template run<Clock>(*cfg, env);
-                    });
-
-                    auto analysis = Detail::analyse(*cfg, env, samples.begin(), samples.end());
-                    BenchmarkStats<FloatDuration<Clock>> stats{ info, analysis.samples, analysis.mean, analysis.standard_deviation, analysis.outliers, analysis.outlier_variance };
-                    getResultCapture().benchmarkEnded(stats);
-
-                } CATCH_CATCH_ALL{
-                    if (translateActiveException() != Detail::benchmarkErrorMsg) // benchmark errors have been reported, otherwise rethrow.
-                        std::rethrow_exception(std::current_exception());
-                }
-            }
-
-            // sets lambda to be used in fun *and* executes benchmark!
-            template <typename Fun,
-                typename std::enable_if<!Detail::is_related<Fun, Benchmark>::value, int>::type = 0>
-                Benchmark & operator=(Fun func) {
-                fun = Detail::BenchmarkFunction(func);
-                run();
-                return *this;
-            }
-
-            explicit operator bool() {
-                return true;
-            }
-
-        private:
-            Detail::BenchmarkFunction fun;
-            std::string name;
-        };
-    }
-} // namespace Catch
-
-#define INTERNAL_CATCH_GET_1_ARG(arg1, arg2, ...) arg1
-#define INTERNAL_CATCH_GET_2_ARG(arg1, arg2, ...) arg2
-
-#define INTERNAL_CATCH_BENCHMARK(BenchmarkName, name, benchmarkIndex)\
-    if( Catch::Benchmark::Benchmark BenchmarkName{name} ) \
-        BenchmarkName = [&](int benchmarkIndex)
-
-#define INTERNAL_CATCH_BENCHMARK_ADVANCED(BenchmarkName, name)\
-    if( Catch::Benchmark::Benchmark BenchmarkName{name} ) \
-        BenchmarkName = [&]
-
-// end catch_benchmark.hpp
-// start catch_constructor.hpp
-
-// Constructor and destructor helpers
-
-
-#include <type_traits>
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-            template <typename T, bool Destruct>
-            struct ObjectStorage
-            {
-                using TStorage = typename std::aligned_storage<sizeof(T), std::alignment_of<T>::value>::type;
-
-                ObjectStorage() : data() {}
-
-                ObjectStorage(const ObjectStorage& other)
-                {
-                    new(&data) T(other.stored_object());
-                }
-
-                ObjectStorage(ObjectStorage&& other)
-                {
-                    new(&data) T(std::move(other.stored_object()));
-                }
-
-                ~ObjectStorage() { destruct_on_exit<T>(); }
-
-                template <typename... Args>
-                void construct(Args&&... args)
-                {
-                    new (&data) T(std::forward<Args>(args)...);
-                }
-
-                template <bool AllowManualDestruction = !Destruct>
-                typename std::enable_if<AllowManualDestruction>::type destruct()
-                {
-                    stored_object().~T();
-                }
-
-            private:
-                // If this is a constructor benchmark, destruct the underlying object
-                template <typename U>
-                void destruct_on_exit(typename std::enable_if<Destruct, U>::type* = 0) { destruct<true>(); }
-                // Otherwise, don't
-                template <typename U>
-                void destruct_on_exit(typename std::enable_if<!Destruct, U>::type* = 0) { }
-
-                T& stored_object() {
-                    return *static_cast<T*>(static_cast<void*>(&data));
-                }
-
-                T const& stored_object() const {
-                    return *static_cast<T*>(static_cast<void*>(&data));
-                }
-
-                TStorage data;
-            };
-        }
-
-        template <typename T>
-        using storage_for = Detail::ObjectStorage<T, true>;
-
-        template <typename T>
-        using destructable_object = Detail::ObjectStorage<T, false>;
-    }
-}
-
-// end catch_constructor.hpp
-// end catch_benchmarking_all.hpp
-#endif
-
-#endif // ! CATCH_CONFIG_IMPL_ONLY
-
-#ifdef CATCH_IMPL
-// start catch_impl.hpp
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wweak-vtables"
-#endif
-
-// Keep these here for external reporters
-// start catch_test_case_tracker.h
-
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-namespace TestCaseTracking {
-
-    struct NameAndLocation {
-        std::string name;
-        SourceLineInfo location;
-
-        NameAndLocation( std::string const& _name, SourceLineInfo const& _location );
-    };
-
-    struct ITracker;
-
-    using ITrackerPtr = std::shared_ptr<ITracker>;
-
-    struct ITracker {
-        virtual ~ITracker();
-
-        // static queries
-        virtual NameAndLocation const& nameAndLocation() const = 0;
-
-        // dynamic queries
-        virtual bool isComplete() const = 0; // Successfully completed or failed
-        virtual bool isSuccessfullyCompleted() const = 0;
-        virtual bool isOpen() const = 0; // Started but not complete
-        virtual bool hasChildren() const = 0;
-
-        virtual ITracker& parent() = 0;
-
-        // actions
-        virtual void close() = 0; // Successfully complete
-        virtual void fail() = 0;
-        virtual void markAsNeedingAnotherRun() = 0;
-
-        virtual void addChild( ITrackerPtr const& child ) = 0;
-        virtual ITrackerPtr findChild( NameAndLocation const& nameAndLocation ) = 0;
-        virtual void openChild() = 0;
-
-        // Debug/ checking
-        virtual bool isSectionTracker() const = 0;
-        virtual bool isGeneratorTracker() const = 0;
-    };
-
-    class TrackerContext {
-
-        enum RunState {
-            NotStarted,
-            Executing,
-            CompletedCycle
-        };
-
-        ITrackerPtr m_rootTracker;
-        ITracker* m_currentTracker = nullptr;
-        RunState m_runState = NotStarted;
-
-    public:
-
-        ITracker& startRun();
-        void endRun();
-
-        void startCycle();
-        void completeCycle();
-
-        bool completedCycle() const;
-        ITracker& currentTracker();
-        void setCurrentTracker( ITracker* tracker );
-    };
-
-    class TrackerBase : public ITracker {
-    protected:
-        enum CycleState {
-            NotStarted,
-            Executing,
-            ExecutingChildren,
-            NeedsAnotherRun,
-            CompletedSuccessfully,
-            Failed
-        };
-
-        using Children = std::vector<ITrackerPtr>;
-        NameAndLocation m_nameAndLocation;
-        TrackerContext& m_ctx;
-        ITracker* m_parent;
-        Children m_children;
-        CycleState m_runState = NotStarted;
-
-    public:
-        TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent );
-
-        NameAndLocation const& nameAndLocation() const override;
-        bool isComplete() const override;
-        bool isSuccessfullyCompleted() const override;
-        bool isOpen() const override;
-        bool hasChildren() const override;
-
-        void addChild( ITrackerPtr const& child ) override;
-
-        ITrackerPtr findChild( NameAndLocation const& nameAndLocation ) override;
-        ITracker& parent() override;
-
-        void openChild() override;
-
-        bool isSectionTracker() const override;
-        bool isGeneratorTracker() const override;
-
-        void open();
-
-        void close() override;
-        void fail() override;
-        void markAsNeedingAnotherRun() override;
-
-    private:
-        void moveToParent();
-        void moveToThis();
-    };
-
-    class SectionTracker : public TrackerBase {
-        std::vector<std::string> m_filters;
-        std::string m_trimmed_name;
-    public:
-        SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent );
-
-        bool isSectionTracker() const override;
-
-        bool isComplete() const override;
-
-        static SectionTracker& acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation );
-
-        void tryOpen();
-
-        void addInitialFilters( std::vector<std::string> const& filters );
-        void addNextFilters( std::vector<std::string> const& filters );
-    };
-
-} // namespace TestCaseTracking
-
-using TestCaseTracking::ITracker;
-using TestCaseTracking::TrackerContext;
-using TestCaseTracking::SectionTracker;
-
-} // namespace Catch
-
-// end catch_test_case_tracker.h
-
-// start catch_leak_detector.h
-
-namespace Catch {
-
-    struct LeakDetector {
-        LeakDetector();
-        ~LeakDetector();
-    };
-
-}
-// end catch_leak_detector.h
-// Cpp files will be included in the single-header file here
-// start catch_stats.cpp
-
-// Statistical analysis tools
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-
-#include <cassert>
-#include <random>
-
-#if defined(CATCH_CONFIG_USE_ASYNC)
-#include <future>
-#endif
-
-namespace {
-    double erf_inv(double x) {
-        // Code accompanying the article "Approximating the erfinv function" in GPU Computing Gems, Volume 2
-        double w, p;
-
-        w = -log((1.0 - x) * (1.0 + x));
-
-        if (w < 6.250000) {
-            w = w - 3.125000;
-            p = -3.6444120640178196996e-21;
-            p = -1.685059138182016589e-19 + p * w;
-            p = 1.2858480715256400167e-18 + p * w;
-            p = 1.115787767802518096e-17 + p * w;
-            p = -1.333171662854620906e-16 + p * w;
-            p = 2.0972767875968561637e-17 + p * w;
-            p = 6.6376381343583238325e-15 + p * w;
-            p = -4.0545662729752068639e-14 + p * w;
-            p = -8.1519341976054721522e-14 + p * w;
-            p = 2.6335093153082322977e-12 + p * w;
-            p = -1.2975133253453532498e-11 + p * w;
-            p = -5.4154120542946279317e-11 + p * w;
-            p = 1.051212273321532285e-09 + p * w;
-            p = -4.1126339803469836976e-09 + p * w;
-            p = -2.9070369957882005086e-08 + p * w;
-            p = 4.2347877827932403518e-07 + p * w;
-            p = -1.3654692000834678645e-06 + p * w;
-            p = -1.3882523362786468719e-05 + p * w;
-            p = 0.0001867342080340571352 + p * w;
-            p = -0.00074070253416626697512 + p * w;
-            p = -0.0060336708714301490533 + p * w;
-            p = 0.24015818242558961693 + p * w;
-            p = 1.6536545626831027356 + p * w;
-        } else if (w < 16.000000) {
-            w = sqrt(w) - 3.250000;
-            p = 2.2137376921775787049e-09;
-            p = 9.0756561938885390979e-08 + p * w;
-            p = -2.7517406297064545428e-07 + p * w;
-            p = 1.8239629214389227755e-08 + p * w;
-            p = 1.5027403968909827627e-06 + p * w;
-            p = -4.013867526981545969e-06 + p * w;
-            p = 2.9234449089955446044e-06 + p * w;
-            p = 1.2475304481671778723e-05 + p * w;
-            p = -4.7318229009055733981e-05 + p * w;
-            p = 6.8284851459573175448e-05 + p * w;
-            p = 2.4031110387097893999e-05 + p * w;
-            p = -0.0003550375203628474796 + p * w;
-            p = 0.00095328937973738049703 + p * w;
-            p = -0.0016882755560235047313 + p * w;
-            p = 0.0024914420961078508066 + p * w;
-            p = -0.0037512085075692412107 + p * w;
-            p = 0.005370914553590063617 + p * w;
-            p = 1.0052589676941592334 + p * w;
-            p = 3.0838856104922207635 + p * w;
-        } else {
-            w = sqrt(w) - 5.000000;
-            p = -2.7109920616438573243e-11;
-            p = -2.5556418169965252055e-10 + p * w;
-            p = 1.5076572693500548083e-09 + p * w;
-            p = -3.7894654401267369937e-09 + p * w;
-            p = 7.6157012080783393804e-09 + p * w;
-            p = -1.4960026627149240478e-08 + p * w;
-            p = 2.9147953450901080826e-08 + p * w;
-            p = -6.7711997758452339498e-08 + p * w;
-            p = 2.2900482228026654717e-07 + p * w;
-            p = -9.9298272942317002539e-07 + p * w;
-            p = 4.5260625972231537039e-06 + p * w;
-            p = -1.9681778105531670567e-05 + p * w;
-            p = 7.5995277030017761139e-05 + p * w;
-            p = -0.00021503011930044477347 + p * w;
-            p = -0.00013871931833623122026 + p * w;
-            p = 1.0103004648645343977 + p * w;
-            p = 4.8499064014085844221 + p * w;
-        }
-        return p * x;
-    }
-
-    double standard_deviation(std::vector<double>::iterator first, std::vector<double>::iterator last) {
-        auto m = Catch::Benchmark::Detail::mean(first, last);
-        double variance = std::accumulate(first, last, 0., [m](double a, double b) {
-            double diff = b - m;
-            return a + diff * diff;
-            }) / (last - first);
-            return std::sqrt(variance);
-    }
-
-}
-
-namespace Catch {
-    namespace Benchmark {
-        namespace Detail {
-
-            double weighted_average_quantile(int k, int q, std::vector<double>::iterator first, std::vector<double>::iterator last) {
-                auto count = last - first;
-                double idx = (count - 1) * k / static_cast<double>(q);
-                int j = static_cast<int>(idx);
-                double g = idx - j;
-                std::nth_element(first, first + j, last);
-                auto xj = first[j];
-                if (g == 0) return xj;
-
-                auto xj1 = *std::min_element(first + (j + 1), last);
-                return xj + g * (xj1 - xj);
-            }
-
-            double erfc_inv(double x) {
-                return erf_inv(1.0 - x);
-            }
-
-            double normal_quantile(double p) {
-                static const double ROOT_TWO = std::sqrt(2.0);
-
-                double result = 0.0;
-                assert(p >= 0 && p <= 1);
-                if (p < 0 || p > 1) {
-                    return result;
-                }
-
-                result = -erfc_inv(2.0 * p);
-                // result *= normal distribution standard deviation (1.0) * sqrt(2)
-                result *= /*sd * */ ROOT_TWO;
-                // result += normal disttribution mean (0)
-                return result;
-            }
-
-            double outlier_variance(Estimate<double> mean, Estimate<double> stddev, int n) {
-                double sb = stddev.point;
-                double mn = mean.point / n;
-                double mg_min = mn / 2.;
-                double sg = std::min(mg_min / 4., sb / std::sqrt(n));
-                double sg2 = sg * sg;
-                double sb2 = sb * sb;
-
-                auto c_max = [n, mn, sb2, sg2](double x) -> double {
-                    double k = mn - x;
-                    double d = k * k;
-                    double nd = n * d;
-                    double k0 = -n * nd;
-                    double k1 = sb2 - n * sg2 + nd;
-                    double det = k1 * k1 - 4 * sg2 * k0;
-                    return (int)(-2. * k0 / (k1 + std::sqrt(det)));
-                };
-
-                auto var_out = [n, sb2, sg2](double c) {
-                    double nc = n - c;
-                    return (nc / n) * (sb2 - nc * sg2);
-                };
-
-                return std::min(var_out(1), var_out(std::min(c_max(0.), c_max(mg_min)))) / sb2;
-            }
-
-            bootstrap_analysis analyse_samples(double confidence_level, int n_resamples, std::vector<double>::iterator first, std::vector<double>::iterator last) {
-                CATCH_INTERNAL_START_WARNINGS_SUPPRESSION
-                CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS
-                static std::random_device entropy;
-                CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION
-
-                auto n = static_cast<int>(last - first); // seriously, one can't use integral types without hell in C++
-
-                auto mean = &Detail::mean<std::vector<double>::iterator>;
-                auto stddev = &standard_deviation;
-
-#if defined(CATCH_CONFIG_USE_ASYNC)
-                auto Estimate = [=](double(*f)(std::vector<double>::iterator, std::vector<double>::iterator)) {
-                    auto seed = entropy();
-                    return std::async(std::launch::async, [=] {
-                        std::mt19937 rng(seed);
-                        auto resampled = resample(rng, n_resamples, first, last, f);
-                        return bootstrap(confidence_level, first, last, resampled, f);
-                    });
-                };
-
-                auto mean_future = Estimate(mean);
-                auto stddev_future = Estimate(stddev);
-
-                auto mean_estimate = mean_future.get();
-                auto stddev_estimate = stddev_future.get();
-#else
-                auto Estimate = [=](double(*f)(std::vector<double>::iterator, std::vector<double>::iterator)) {
-                    auto seed = entropy();
-                    std::mt19937 rng(seed);
-                    auto resampled = resample(rng, n_resamples, first, last, f);
-                    return bootstrap(confidence_level, first, last, resampled, f);
-                };
-
-                auto mean_estimate = Estimate(mean);
-                auto stddev_estimate = Estimate(stddev);
-#endif // CATCH_USE_ASYNC
-
-                double outlier_variance = Detail::outlier_variance(mean_estimate, stddev_estimate, n);
-
-                return { mean_estimate, stddev_estimate, outlier_variance };
-            }
-        } // namespace Detail
-    } // namespace Benchmark
-} // namespace Catch
-
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-// end catch_stats.cpp
-// start catch_approx.cpp
-
-#include <cmath>
-#include <limits>
-
-namespace {
-
-// Performs equivalent check of std::fabs(lhs - rhs) <= margin
-// But without the subtraction to allow for INFINITY in comparison
-bool marginComparison(double lhs, double rhs, double margin) {
-    return (lhs + margin >= rhs) && (rhs + margin >= lhs);
-}
-
-}
-
-namespace Catch {
-namespace Detail {
-
-    Approx::Approx ( double value )
-    :   m_epsilon( std::numeric_limits<float>::epsilon()*100 ),
-        m_margin( 0.0 ),
-        m_scale( 0.0 ),
-        m_value( value )
-    {}
-
-    Approx Approx::custom() {
-        return Approx( 0 );
-    }
-
-    Approx Approx::operator-() const {
-        auto temp(*this);
-        temp.m_value = -temp.m_value;
-        return temp;
-    }
-
-    std::string Approx::toString() const {
-        ReusableStringStream rss;
-        rss << "Approx( " << ::Catch::Detail::stringify( m_value ) << " )";
-        return rss.str();
-    }
-
-    bool Approx::equalityComparisonImpl(const double other) const {
-        // First try with fixed margin, then compute margin based on epsilon, scale and Approx's value
-        // Thanks to Richard Harris for his help refining the scaled margin value
-        return marginComparison(m_value, other, m_margin)
-            || marginComparison(m_value, other, m_epsilon * (m_scale + std::fabs(std::isinf(m_value)? 0 : m_value)));
-    }
-
-    void Approx::setMargin(double newMargin) {
-        CATCH_ENFORCE(newMargin >= 0,
-            "Invalid Approx::margin: " << newMargin << '.'
-            << " Approx::Margin has to be non-negative.");
-        m_margin = newMargin;
-    }
-
-    void Approx::setEpsilon(double newEpsilon) {
-        CATCH_ENFORCE(newEpsilon >= 0 && newEpsilon <= 1.0,
-            "Invalid Approx::epsilon: " << newEpsilon << '.'
-            << " Approx::epsilon has to be in [0, 1]");
-        m_epsilon = newEpsilon;
-    }
-
-} // end namespace Detail
-
-namespace literals {
-    Detail::Approx operator "" _a(long double val) {
-        return Detail::Approx(val);
-    }
-    Detail::Approx operator "" _a(unsigned long long val) {
-        return Detail::Approx(val);
-    }
-} // end namespace literals
-
-std::string StringMaker<Catch::Detail::Approx>::convert(Catch::Detail::Approx const& value) {
-    return value.toString();
-}
-
-} // end namespace Catch
-// end catch_approx.cpp
-// start catch_assertionhandler.cpp
-
-// start catch_debugger.h
-
-namespace Catch {
-    bool isDebuggerActive();
-}
-
-#ifdef CATCH_PLATFORM_MAC
-
-    #define CATCH_TRAP() __asm__("int $3\n" : : ) /* NOLINT */
-
-#elif defined(CATCH_PLATFORM_IPHONE)
-
-    // use inline assembler
-    #if defined(__i386__) || defined(__x86_64__)
-        #define CATCH_TRAP()  __asm__("int $3")
-    #elif defined(__aarch64__)
-        #define CATCH_TRAP()  __asm__(".inst 0xd4200000")
-    #elif defined(__arm__) && !defined(__thumb__)
-        #define CATCH_TRAP()  __asm__(".inst 0xe7f001f0")
-    #elif defined(__arm__) &&  defined(__thumb__)
-        #define CATCH_TRAP()  __asm__(".inst 0xde01")
-    #endif
-
-#elif defined(CATCH_PLATFORM_LINUX)
-    // If we can use inline assembler, do it because this allows us to break
-    // directly at the location of the failing check instead of breaking inside
-    // raise() called from it, i.e. one stack frame below.
-    #if defined(__GNUC__) && (defined(__i386) || defined(__x86_64))
-        #define CATCH_TRAP() asm volatile ("int $3") /* NOLINT */
-    #else // Fall back to the generic way.
-        #include <signal.h>
-
-        #define CATCH_TRAP() raise(SIGTRAP)
-    #endif
-#elif defined(_MSC_VER)
-    #define CATCH_TRAP() __debugbreak()
-#elif defined(__MINGW32__)
-    extern "C" __declspec(dllimport) void __stdcall DebugBreak();
-    #define CATCH_TRAP() DebugBreak()
-#endif
-
-#ifndef CATCH_BREAK_INTO_DEBUGGER
-    #ifdef CATCH_TRAP
-        #define CATCH_BREAK_INTO_DEBUGGER() []{ if( Catch::isDebuggerActive() ) { CATCH_TRAP(); } }()
-    #else
-        #define CATCH_BREAK_INTO_DEBUGGER() []{}()
-    #endif
-#endif
-
-// end catch_debugger.h
-// start catch_run_context.h
-
-// start catch_fatal_condition.h
-
-// start catch_windows_h_proxy.h
-
-
-#if defined(CATCH_PLATFORM_WINDOWS)
-
-#if !defined(NOMINMAX) && !defined(CATCH_CONFIG_NO_NOMINMAX)
-#  define CATCH_DEFINED_NOMINMAX
-#  define NOMINMAX
-#endif
-#if !defined(WIN32_LEAN_AND_MEAN) && !defined(CATCH_CONFIG_NO_WIN32_LEAN_AND_MEAN)
-#  define CATCH_DEFINED_WIN32_LEAN_AND_MEAN
-#  define WIN32_LEAN_AND_MEAN
-#endif
-
-#ifdef __AFXDLL
-#include <AfxWin.h>
-#else
-#include <windows.h>
-#endif
-
-#ifdef CATCH_DEFINED_NOMINMAX
-#  undef NOMINMAX
-#endif
-#ifdef CATCH_DEFINED_WIN32_LEAN_AND_MEAN
-#  undef WIN32_LEAN_AND_MEAN
-#endif
-
-#endif // defined(CATCH_PLATFORM_WINDOWS)
-
-// end catch_windows_h_proxy.h
-#if defined( CATCH_CONFIG_WINDOWS_SEH )
-
-namespace Catch {
-
-    struct FatalConditionHandler {
-
-        static LONG CALLBACK handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo);
-        FatalConditionHandler();
-        static void reset();
-        ~FatalConditionHandler();
-
-    private:
-        static bool isSet;
-        static ULONG guaranteeSize;
-        static PVOID exceptionHandlerHandle;
-    };
-
-} // namespace Catch
-
-#elif defined ( CATCH_CONFIG_POSIX_SIGNALS )
-
-#include <signal.h>
-
-namespace Catch {
-
-    struct FatalConditionHandler {
-
-        static bool isSet;
-        static struct sigaction oldSigActions[];
-        static stack_t oldSigStack;
-        static char altStackMem[];
-
-        static void handleSignal( int sig );
-
-        FatalConditionHandler();
-        ~FatalConditionHandler();
-        static void reset();
-    };
-
-} // namespace Catch
-
-#else
-
-namespace Catch {
-    struct FatalConditionHandler {
-        void reset();
-    };
-}
-
-#endif
-
-// end catch_fatal_condition.h
-#include <string>
-
-namespace Catch {
-
-    struct IMutableContext;
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    class RunContext : public IResultCapture, public IRunner {
-
-    public:
-        RunContext( RunContext const& ) = delete;
-        RunContext& operator =( RunContext const& ) = delete;
-
-        explicit RunContext( IConfigPtr const& _config, IStreamingReporterPtr&& reporter );
-
-        ~RunContext() override;
-
-        void testGroupStarting( std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount );
-        void testGroupEnded( std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount );
-
-        Totals runTest(TestCase const& testCase);
-
-        IConfigPtr config() const;
-        IStreamingReporter& reporter() const;
-
-    public: // IResultCapture
-
-        // Assertion handlers
-        void handleExpr
-                (   AssertionInfo const& info,
-                    ITransientExpression const& expr,
-                    AssertionReaction& reaction ) override;
-        void handleMessage
-                (   AssertionInfo const& info,
-                    ResultWas::OfType resultType,
-                    StringRef const& message,
-                    AssertionReaction& reaction ) override;
-        void handleUnexpectedExceptionNotThrown
-                (   AssertionInfo const& info,
-                    AssertionReaction& reaction ) override;
-        void handleUnexpectedInflightException
-                (   AssertionInfo const& info,
-                    std::string const& message,
-                    AssertionReaction& reaction ) override;
-        void handleIncomplete
-                (   AssertionInfo const& info ) override;
-        void handleNonExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    AssertionReaction &reaction ) override;
-
-        bool sectionStarted( SectionInfo const& sectionInfo, Counts& assertions ) override;
-
-        void sectionEnded( SectionEndInfo const& endInfo ) override;
-        void sectionEndedEarly( SectionEndInfo const& endInfo ) override;
-
-        auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& override;
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing( std::string const& name ) override;
-        void benchmarkStarting( BenchmarkInfo const& info ) override;
-        void benchmarkEnded( BenchmarkStats<> const& stats ) override;
-        void benchmarkFailed( std::string const& error ) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        void pushScopedMessage( MessageInfo const& message ) override;
-        void popScopedMessage( MessageInfo const& message ) override;
-
-        void emplaceUnscopedMessage( MessageBuilder const& builder ) override;
-
-        std::string getCurrentTestName() const override;
-
-        const AssertionResult* getLastResult() const override;
-
-        void exceptionEarlyReported() override;
-
-        void handleFatalErrorCondition( StringRef message ) override;
-
-        bool lastAssertionPassed() override;
-
-        void assertionPassed() override;
-
-    public:
-        // !TBD We need to do this another way!
-        bool aborting() const final;
-
-    private:
-
-        void runCurrentTest( std::string& redirectedCout, std::string& redirectedCerr );
-        void invokeActiveTestCase();
-
-        void resetAssertionInfo();
-        bool testForMissingAssertions( Counts& assertions );
-
-        void assertionEnded( AssertionResult const& result );
-        void reportExpr
-                (   AssertionInfo const &info,
-                    ResultWas::OfType resultType,
-                    ITransientExpression const *expr,
-                    bool negated );
-
-        void populateReaction( AssertionReaction& reaction );
-
-    private:
-
-        void handleUnfinishedSections();
-
-        TestRunInfo m_runInfo;
-        IMutableContext& m_context;
-        TestCase const* m_activeTestCase = nullptr;
-        ITracker* m_testCaseTracker = nullptr;
-        Option<AssertionResult> m_lastResult;
-
-        IConfigPtr m_config;
-        Totals m_totals;
-        IStreamingReporterPtr m_reporter;
-        std::vector<MessageInfo> m_messages;
-        std::vector<ScopedMessage> m_messageScopes; /* Keeps owners of so-called unscoped messages. */
-        AssertionInfo m_lastAssertionInfo;
-        std::vector<SectionEndInfo> m_unfinishedSections;
-        std::vector<ITracker*> m_activeSections;
-        TrackerContext m_trackerContext;
-        bool m_lastAssertionPassed = false;
-        bool m_shouldReportUnexpected = true;
-        bool m_includeSuccessfulResults;
-    };
-
-    void seedRng(IConfig const& config);
-    unsigned int rngSeed();
-} // end namespace Catch
-
-// end catch_run_context.h
-namespace Catch {
-
-    namespace {
-        auto operator <<( std::ostream& os, ITransientExpression const& expr ) -> std::ostream& {
-            expr.streamReconstructedExpression( os );
-            return os;
-        }
-    }
-
-    LazyExpression::LazyExpression( bool isNegated )
-    :   m_isNegated( isNegated )
-    {}
-
-    LazyExpression::LazyExpression( LazyExpression const& other ) : m_isNegated( other.m_isNegated ) {}
-
-    LazyExpression::operator bool() const {
-        return m_transientExpression != nullptr;
-    }
-
-    auto operator << ( std::ostream& os, LazyExpression const& lazyExpr ) -> std::ostream& {
-        if( lazyExpr.m_isNegated )
-            os << "!";
-
-        if( lazyExpr ) {
-            if( lazyExpr.m_isNegated && lazyExpr.m_transientExpression->isBinaryExpression() )
-                os << "(" << *lazyExpr.m_transientExpression << ")";
-            else
-                os << *lazyExpr.m_transientExpression;
-        }
-        else {
-            os << "{** error - unchecked empty expression requested **}";
-        }
-        return os;
-    }
-
-    AssertionHandler::AssertionHandler
-        (   StringRef const& macroName,
-            SourceLineInfo const& lineInfo,
-            StringRef capturedExpression,
-            ResultDisposition::Flags resultDisposition )
-    :   m_assertionInfo{ macroName, lineInfo, capturedExpression, resultDisposition },
-        m_resultCapture( getResultCapture() )
-    {}
-
-    void AssertionHandler::handleExpr( ITransientExpression const& expr ) {
-        m_resultCapture.handleExpr( m_assertionInfo, expr, m_reaction );
-    }
-    void AssertionHandler::handleMessage(ResultWas::OfType resultType, StringRef const& message) {
-        m_resultCapture.handleMessage( m_assertionInfo, resultType, message, m_reaction );
-    }
-
-    auto AssertionHandler::allowThrows() const -> bool {
-        return getCurrentContext().getConfig()->allowThrows();
-    }
-
-    void AssertionHandler::complete() {
-        setCompleted();
-        if( m_reaction.shouldDebugBreak ) {
-
-            // If you find your debugger stopping you here then go one level up on the
-            // call-stack for the code that caused it (typically a failed assertion)
-
-            // (To go back to the test and change execution, jump over the throw, next)
-            CATCH_BREAK_INTO_DEBUGGER();
-        }
-        if (m_reaction.shouldThrow) {
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-            throw Catch::TestFailureException();
-#else
-            CATCH_ERROR( "Test failure requires aborting test!" );
-#endif
-        }
-    }
-    void AssertionHandler::setCompleted() {
-        m_completed = true;
-    }
-
-    void AssertionHandler::handleUnexpectedInflightException() {
-        m_resultCapture.handleUnexpectedInflightException( m_assertionInfo, Catch::translateActiveException(), m_reaction );
-    }
-
-    void AssertionHandler::handleExceptionThrownAsExpected() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-    void AssertionHandler::handleExceptionNotThrownAsExpected() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-
-    void AssertionHandler::handleUnexpectedExceptionNotThrown() {
-        m_resultCapture.handleUnexpectedExceptionNotThrown( m_assertionInfo, m_reaction );
-    }
-
-    void AssertionHandler::handleThrowingCallSkipped() {
-        m_resultCapture.handleNonExpr(m_assertionInfo, ResultWas::Ok, m_reaction);
-    }
-
-    // This is the overload that takes a string and infers the Equals matcher from it
-    // The more general overload, that takes any string matcher, is in catch_capture_matchers.cpp
-    void handleExceptionMatchExpr( AssertionHandler& handler, std::string const& str, StringRef const& matcherString  ) {
-        handleExceptionMatchExpr( handler, Matchers::Equals( str ), matcherString );
-    }
-
-} // namespace Catch
-// end catch_assertionhandler.cpp
-// start catch_assertionresult.cpp
-
-namespace Catch {
-    AssertionResultData::AssertionResultData(ResultWas::OfType _resultType, LazyExpression const & _lazyExpression):
-        lazyExpression(_lazyExpression),
-        resultType(_resultType) {}
-
-    std::string AssertionResultData::reconstructExpression() const {
-
-        if( reconstructedExpression.empty() ) {
-            if( lazyExpression ) {
-                ReusableStringStream rss;
-                rss << lazyExpression;
-                reconstructedExpression = rss.str();
-            }
-        }
-        return reconstructedExpression;
-    }
-
-    AssertionResult::AssertionResult( AssertionInfo const& info, AssertionResultData const& data )
-    :   m_info( info ),
-        m_resultData( data )
-    {}
-
-    // Result was a success
-    bool AssertionResult::succeeded() const {
-        return Catch::isOk( m_resultData.resultType );
-    }
-
-    // Result was a success, or failure is suppressed
-    bool AssertionResult::isOk() const {
-        return Catch::isOk( m_resultData.resultType ) || shouldSuppressFailure( m_info.resultDisposition );
-    }
-
-    ResultWas::OfType AssertionResult::getResultType() const {
-        return m_resultData.resultType;
-    }
-
-    bool AssertionResult::hasExpression() const {
-        return !m_info.capturedExpression.empty();
-    }
-
-    bool AssertionResult::hasMessage() const {
-        return !m_resultData.message.empty();
-    }
-
-    std::string AssertionResult::getExpression() const {
-        // Possibly overallocating by 3 characters should be basically free
-        std::string expr; expr.reserve(m_info.capturedExpression.size() + 3);
-        if (isFalseTest(m_info.resultDisposition)) {
-            expr += "!(";
-        }
-        expr += m_info.capturedExpression;
-        if (isFalseTest(m_info.resultDisposition)) {
-            expr += ')';
-        }
-        return expr;
-    }
-
-    std::string AssertionResult::getExpressionInMacro() const {
-        std::string expr;
-        if( m_info.macroName.empty() )
-            expr = static_cast<std::string>(m_info.capturedExpression);
-        else {
-            expr.reserve( m_info.macroName.size() + m_info.capturedExpression.size() + 4 );
-            expr += m_info.macroName;
-            expr += "( ";
-            expr += m_info.capturedExpression;
-            expr += " )";
-        }
-        return expr;
-    }
-
-    bool AssertionResult::hasExpandedExpression() const {
-        return hasExpression() && getExpandedExpression() != getExpression();
-    }
-
-    std::string AssertionResult::getExpandedExpression() const {
-        std::string expr = m_resultData.reconstructExpression();
-        return expr.empty()
-                ? getExpression()
-                : expr;
-    }
-
-    std::string AssertionResult::getMessage() const {
-        return m_resultData.message;
-    }
-    SourceLineInfo AssertionResult::getSourceInfo() const {
-        return m_info.lineInfo;
-    }
-
-    StringRef AssertionResult::getTestMacroName() const {
-        return m_info.macroName;
-    }
-
-} // end namespace Catch
-// end catch_assertionresult.cpp
-// start catch_capture_matchers.cpp
-
-namespace Catch {
-
-    using StringMatcher = Matchers::Impl::MatcherBase<std::string>;
-
-    // This is the general overload that takes a any string matcher
-    // There is another overload, in catch_assertionhandler.h/.cpp, that only takes a string and infers
-    // the Equals matcher (so the header does not mention matchers)
-    void handleExceptionMatchExpr( AssertionHandler& handler, StringMatcher const& matcher, StringRef const& matcherString  ) {
-        std::string exceptionMessage = Catch::translateActiveException();
-        MatchExpr<std::string, StringMatcher const&> expr( exceptionMessage, matcher, matcherString );
-        handler.handleExpr( expr );
-    }
-
-} // namespace Catch
-// end catch_capture_matchers.cpp
-// start catch_commandline.cpp
-
-// start catch_commandline.h
-
-// start catch_clara.h
-
-// Use Catch's value for console width (store Clara's off to the side, if present)
-#ifdef CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#undef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#endif
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_CONFIG_CONSOLE_WIDTH-1
-
-#ifdef __clang__
-#pragma clang diagnostic push
-#pragma clang diagnostic ignored "-Wweak-vtables"
-#pragma clang diagnostic ignored "-Wexit-time-destructors"
-#pragma clang diagnostic ignored "-Wshadow"
-#endif
-
-// start clara.hpp
-// Copyright 2017 Two Blue Cubes Ltd. All rights reserved.
-//
-// Distributed under the Boost Software License, Version 1.0. (See accompanying
-// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
-//
-// See https://github.com/philsquared/Clara for more details
-
-// Clara v1.1.5
-
-
-#ifndef CATCH_CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-#ifndef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_CLARA_CONFIG_CONSOLE_WIDTH
-#endif
-
-#ifndef CLARA_CONFIG_OPTIONAL_TYPE
-#ifdef __has_include
-#if __has_include(<optional>) && __cplusplus >= 201703L
-#include <optional>
-#define CLARA_CONFIG_OPTIONAL_TYPE std::optional
-#endif
-#endif
-#endif
-
-// ----------- #included from clara_textflow.hpp -----------
-
-// TextFlowCpp
-//
-// A single-header library for wrapping and laying out basic text, by Phil Nash
-//
-// Distributed under the Boost Software License, Version 1.0. (See accompanying
-// file LICENSE.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
-//
-// This project is hosted at https://github.com/philsquared/textflowcpp
-
-
-#include <cassert>
-#include <ostream>
-#include <sstream>
-#include <vector>
-
-#ifndef CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH 80
-#endif
-
-namespace Catch {
-namespace clara {
-namespace TextFlow {
-
-inline auto isWhitespace(char c) -> bool {
-	static std::string chars = " \t\n\r";
-	return chars.find(c) != std::string::npos;
-}
-inline auto isBreakableBefore(char c) -> bool {
-	static std::string chars = "[({<|";
-	return chars.find(c) != std::string::npos;
-}
-inline auto isBreakableAfter(char c) -> bool {
-	static std::string chars = "])}>.,:;*+-=&/\\";
-	return chars.find(c) != std::string::npos;
-}
-
-class Columns;
-
-class Column {
-	std::vector<std::string> m_strings;
-	size_t m_width = CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH;
-	size_t m_indent = 0;
-	size_t m_initialIndent = std::string::npos;
-
-public:
-	class iterator {
-		friend Column;
-
-		Column const& m_column;
-		size_t m_stringIndex = 0;
-		size_t m_pos = 0;
-
-		size_t m_len = 0;
-		size_t m_end = 0;
-		bool m_suffix = false;
-
-		iterator(Column const& column, size_t stringIndex)
-			: m_column(column),
-			m_stringIndex(stringIndex) {}
-
-		auto line() const -> std::string const& { return m_column.m_strings[m_stringIndex]; }
-
-		auto isBoundary(size_t at) const -> bool {
-			assert(at > 0);
-			assert(at <= line().size());
-
-			return at == line().size() ||
-				(isWhitespace(line()[at]) && !isWhitespace(line()[at - 1])) ||
-				isBreakableBefore(line()[at]) ||
-				isBreakableAfter(line()[at - 1]);
-		}
-
-		void calcLength() {
-			assert(m_stringIndex < m_column.m_strings.size());
-
-			m_suffix = false;
-			auto width = m_column.m_width - indent();
-			m_end = m_pos;
-			if (line()[m_pos] == '\n') {
-				++m_end;
-			}
-			while (m_end < line().size() && line()[m_end] != '\n')
-				++m_end;
-
-			if (m_end < m_pos + width) {
-				m_len = m_end - m_pos;
-			} else {
-				size_t len = width;
-				while (len > 0 && !isBoundary(m_pos + len))
-					--len;
-				while (len > 0 && isWhitespace(line()[m_pos + len - 1]))
-					--len;
-
-				if (len > 0) {
-					m_len = len;
-				} else {
-					m_suffix = true;
-					m_len = width - 1;
-				}
-			}
-		}
-
-		auto indent() const -> size_t {
-			auto initial = m_pos == 0 && m_stringIndex == 0 ? m_column.m_initialIndent : std::string::npos;
-			return initial == std::string::npos ? m_column.m_indent : initial;
-		}
-
-		auto addIndentAndSuffix(std::string const &plain) const -> std::string {
-			return std::string(indent(), ' ') + (m_suffix ? plain + "-" : plain);
-		}
-
-	public:
-		using difference_type = std::ptrdiff_t;
-		using value_type = std::string;
-		using pointer = value_type * ;
-		using reference = value_type & ;
-		using iterator_category = std::forward_iterator_tag;
-
-		explicit iterator(Column const& column) : m_column(column) {
-			assert(m_column.m_width > m_column.m_indent);
-			assert(m_column.m_initialIndent == std::string::npos || m_column.m_width > m_column.m_initialIndent);
-			calcLength();
-			if (m_len == 0)
-				m_stringIndex++; // Empty string
-		}
-
-		auto operator *() const -> std::string {
-			assert(m_stringIndex < m_column.m_strings.size());
-			assert(m_pos <= m_end);
-			return addIndentAndSuffix(line().substr(m_pos, m_len));
-		}
-
-		auto operator ++() -> iterator& {
-			m_pos += m_len;
-			if (m_pos < line().size() && line()[m_pos] == '\n')
-				m_pos += 1;
-			else
-				while (m_pos < line().size() && isWhitespace(line()[m_pos]))
-					++m_pos;
-
-			if (m_pos == line().size()) {
-				m_pos = 0;
-				++m_stringIndex;
-			}
-			if (m_stringIndex < m_column.m_strings.size())
-				calcLength();
-			return *this;
-		}
-		auto operator ++(int) -> iterator {
-			iterator prev(*this);
-			operator++();
-			return prev;
-		}
-
-		auto operator ==(iterator const& other) const -> bool {
-			return
-				m_pos == other.m_pos &&
-				m_stringIndex == other.m_stringIndex &&
-				&m_column == &other.m_column;
-		}
-		auto operator !=(iterator const& other) const -> bool {
-			return !operator==(other);
-		}
-	};
-	using const_iterator = iterator;
-
-	explicit Column(std::string const& text) { m_strings.push_back(text); }
-
-	auto width(size_t newWidth) -> Column& {
-		assert(newWidth > 0);
-		m_width = newWidth;
-		return *this;
-	}
-	auto indent(size_t newIndent) -> Column& {
-		m_indent = newIndent;
-		return *this;
-	}
-	auto initialIndent(size_t newIndent) -> Column& {
-		m_initialIndent = newIndent;
-		return *this;
-	}
-
-	auto width() const -> size_t { return m_width; }
-	auto begin() const -> iterator { return iterator(*this); }
-	auto end() const -> iterator { return { *this, m_strings.size() }; }
-
-	inline friend std::ostream& operator << (std::ostream& os, Column const& col) {
-		bool first = true;
-		for (auto line : col) {
-			if (first)
-				first = false;
-			else
-				os << "\n";
-			os << line;
-		}
-		return os;
-	}
-
-	auto operator + (Column const& other)->Columns;
-
-	auto toString() const -> std::string {
-		std::ostringstream oss;
-		oss << *this;
-		return oss.str();
-	}
-};
-
-class Spacer : public Column {
-
-public:
-	explicit Spacer(size_t spaceWidth) : Column("") {
-		width(spaceWidth);
-	}
-};
-
-class Columns {
-	std::vector<Column> m_columns;
-
-public:
-
-	class iterator {
-		friend Columns;
-		struct EndTag {};
-
-		std::vector<Column> const& m_columns;
-		std::vector<Column::iterator> m_iterators;
-		size_t m_activeIterators;
-
-		iterator(Columns const& columns, EndTag)
-			: m_columns(columns.m_columns),
-			m_activeIterators(0) {
-			m_iterators.reserve(m_columns.size());
-
-			for (auto const& col : m_columns)
-				m_iterators.push_back(col.end());
-		}
-
-	public:
-		using difference_type = std::ptrdiff_t;
-		using value_type = std::string;
-		using pointer = value_type * ;
-		using reference = value_type & ;
-		using iterator_category = std::forward_iterator_tag;
-
-		explicit iterator(Columns const& columns)
-			: m_columns(columns.m_columns),
-			m_activeIterators(m_columns.size()) {
-			m_iterators.reserve(m_columns.size());
-
-			for (auto const& col : m_columns)
-				m_iterators.push_back(col.begin());
-		}
-
-		auto operator ==(iterator const& other) const -> bool {
-			return m_iterators == other.m_iterators;
-		}
-		auto operator !=(iterator const& other) const -> bool {
-			return m_iterators != other.m_iterators;
-		}
-		auto operator *() const -> std::string {
-			std::string row, padding;
-
-			for (size_t i = 0; i < m_columns.size(); ++i) {
-				auto width = m_columns[i].width();
-				if (m_iterators[i] != m_columns[i].end()) {
-					std::string col = *m_iterators[i];
-					row += padding + col;
-					if (col.size() < width)
-						padding = std::string(width - col.size(), ' ');
-					else
-						padding = "";
-				} else {
-					padding += std::string(width, ' ');
-				}
-			}
-			return row;
-		}
-		auto operator ++() -> iterator& {
-			for (size_t i = 0; i < m_columns.size(); ++i) {
-				if (m_iterators[i] != m_columns[i].end())
-					++m_iterators[i];
-			}
-			return *this;
-		}
-		auto operator ++(int) -> iterator {
-			iterator prev(*this);
-			operator++();
-			return prev;
-		}
-	};
-	using const_iterator = iterator;
-
-	auto begin() const -> iterator { return iterator(*this); }
-	auto end() const -> iterator { return { *this, iterator::EndTag() }; }
-
-	auto operator += (Column const& col) -> Columns& {
-		m_columns.push_back(col);
-		return *this;
-	}
-	auto operator + (Column const& col) -> Columns {
-		Columns combined = *this;
-		combined += col;
-		return combined;
-	}
-
-	inline friend std::ostream& operator << (std::ostream& os, Columns const& cols) {
-
-		bool first = true;
-		for (auto line : cols) {
-			if (first)
-				first = false;
-			else
-				os << "\n";
-			os << line;
-		}
-		return os;
-	}
-
-	auto toString() const -> std::string {
-		std::ostringstream oss;
-		oss << *this;
-		return oss.str();
-	}
-};
-
-inline auto Column::operator + (Column const& other) -> Columns {
-	Columns cols;
-	cols += *this;
-	cols += other;
-	return cols;
-}
-}
-
-}
-}
-
-// ----------- end of #include from clara_textflow.hpp -----------
-// ........... back in clara.hpp
-
-#include <cctype>
-#include <string>
-#include <memory>
-#include <set>
-#include <algorithm>
-
-#if !defined(CATCH_PLATFORM_WINDOWS) && ( defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) )
-#define CATCH_PLATFORM_WINDOWS
-#endif
-
-namespace Catch { namespace clara {
-namespace detail {
-
-    // Traits for extracting arg and return type of lambdas (for single argument lambdas)
-    template<typename L>
-    struct UnaryLambdaTraits : UnaryLambdaTraits<decltype( &L::operator() )> {};
-
-    template<typename ClassT, typename ReturnT, typename... Args>
-    struct UnaryLambdaTraits<ReturnT( ClassT::* )( Args... ) const> {
-        static const bool isValid = false;
-    };
-
-    template<typename ClassT, typename ReturnT, typename ArgT>
-    struct UnaryLambdaTraits<ReturnT( ClassT::* )( ArgT ) const> {
-        static const bool isValid = true;
-        using ArgType = typename std::remove_const<typename std::remove_reference<ArgT>::type>::type;
-        using ReturnType = ReturnT;
-    };
-
-    class TokenStream;
-
-    // Transport for raw args (copied from main args, or supplied via init list for testing)
-    class Args {
-        friend TokenStream;
-        std::string m_exeName;
-        std::vector<std::string> m_args;
-
-    public:
-        Args( int argc, char const* const* argv )
-            : m_exeName(argv[0]),
-              m_args(argv + 1, argv + argc) {}
-
-        Args( std::initializer_list<std::string> args )
-        :   m_exeName( *args.begin() ),
-            m_args( args.begin()+1, args.end() )
-        {}
-
-        auto exeName() const -> std::string {
-            return m_exeName;
-        }
-    };
-
-    // Wraps a token coming from a token stream. These may not directly correspond to strings as a single string
-    // may encode an option + its argument if the : or = form is used
-    enum class TokenType {
-        Option, Argument
-    };
-    struct Token {
-        TokenType type;
-        std::string token;
-    };
-
-    inline auto isOptPrefix( char c ) -> bool {
-        return c == '-'
-#ifdef CATCH_PLATFORM_WINDOWS
-            || c == '/'
-#endif
-        ;
-    }
-
-    // Abstracts iterators into args as a stream of tokens, with option arguments uniformly handled
-    class TokenStream {
-        using Iterator = std::vector<std::string>::const_iterator;
-        Iterator it;
-        Iterator itEnd;
-        std::vector<Token> m_tokenBuffer;
-
-        void loadBuffer() {
-            m_tokenBuffer.resize( 0 );
-
-            // Skip any empty strings
-            while( it != itEnd && it->empty() )
-                ++it;
-
-            if( it != itEnd ) {
-                auto const &next = *it;
-                if( isOptPrefix( next[0] ) ) {
-                    auto delimiterPos = next.find_first_of( " :=" );
-                    if( delimiterPos != std::string::npos ) {
-                        m_tokenBuffer.push_back( { TokenType::Option, next.substr( 0, delimiterPos ) } );
-                        m_tokenBuffer.push_back( { TokenType::Argument, next.substr( delimiterPos + 1 ) } );
-                    } else {
-                        if( next[1] != '-' && next.size() > 2 ) {
-                            std::string opt = "- ";
-                            for( size_t i = 1; i < next.size(); ++i ) {
-                                opt[1] = next[i];
-                                m_tokenBuffer.push_back( { TokenType::Option, opt } );
-                            }
-                        } else {
-                            m_tokenBuffer.push_back( { TokenType::Option, next } );
-                        }
-                    }
-                } else {
-                    m_tokenBuffer.push_back( { TokenType::Argument, next } );
-                }
-            }
-        }
-
-    public:
-        explicit TokenStream( Args const &args ) : TokenStream( args.m_args.begin(), args.m_args.end() ) {}
-
-        TokenStream( Iterator it, Iterator itEnd ) : it( it ), itEnd( itEnd ) {
-            loadBuffer();
-        }
-
-        explicit operator bool() const {
-            return !m_tokenBuffer.empty() || it != itEnd;
-        }
-
-        auto count() const -> size_t { return m_tokenBuffer.size() + (itEnd - it); }
-
-        auto operator*() const -> Token {
-            assert( !m_tokenBuffer.empty() );
-            return m_tokenBuffer.front();
-        }
-
-        auto operator->() const -> Token const * {
-            assert( !m_tokenBuffer.empty() );
-            return &m_tokenBuffer.front();
-        }
-
-        auto operator++() -> TokenStream & {
-            if( m_tokenBuffer.size() >= 2 ) {
-                m_tokenBuffer.erase( m_tokenBuffer.begin() );
-            } else {
-                if( it != itEnd )
-                    ++it;
-                loadBuffer();
-            }
-            return *this;
-        }
-    };
-
-    class ResultBase {
-    public:
-        enum Type {
-            Ok, LogicError, RuntimeError
-        };
-
-    protected:
-        ResultBase( Type type ) : m_type( type ) {}
-        virtual ~ResultBase() = default;
-
-        virtual void enforceOk() const = 0;
-
-        Type m_type;
-    };
-
-    template<typename T>
-    class ResultValueBase : public ResultBase {
-    public:
-        auto value() const -> T const & {
-            enforceOk();
-            return m_value;
-        }
-
-    protected:
-        ResultValueBase( Type type ) : ResultBase( type ) {}
-
-        ResultValueBase( ResultValueBase const &other ) : ResultBase( other ) {
-            if( m_type == ResultBase::Ok )
-                new( &m_value ) T( other.m_value );
-        }
-
-        ResultValueBase( Type, T const &value ) : ResultBase( Ok ) {
-            new( &m_value ) T( value );
-        }
-
-        auto operator=( ResultValueBase const &other ) -> ResultValueBase & {
-            if( m_type == ResultBase::Ok )
-                m_value.~T();
-            ResultBase::operator=(other);
-            if( m_type == ResultBase::Ok )
-                new( &m_value ) T( other.m_value );
-            return *this;
-        }
-
-        ~ResultValueBase() override {
-            if( m_type == Ok )
-                m_value.~T();
-        }
-
-        union {
-            T m_value;
-        };
-    };
-
-    template<>
-    class ResultValueBase<void> : public ResultBase {
-    protected:
-        using ResultBase::ResultBase;
-    };
-
-    template<typename T = void>
-    class BasicResult : public ResultValueBase<T> {
-    public:
-        template<typename U>
-        explicit BasicResult( BasicResult<U> const &other )
-        :   ResultValueBase<T>( other.type() ),
-            m_errorMessage( other.errorMessage() )
-        {
-            assert( type() != ResultBase::Ok );
-        }
-
-        template<typename U>
-        static auto ok( U const &value ) -> BasicResult { return { ResultBase::Ok, value }; }
-        static auto ok() -> BasicResult { return { ResultBase::Ok }; }
-        static auto logicError( std::string const &message ) -> BasicResult { return { ResultBase::LogicError, message }; }
-        static auto runtimeError( std::string const &message ) -> BasicResult { return { ResultBase::RuntimeError, message }; }
-
-        explicit operator bool() const { return m_type == ResultBase::Ok; }
-        auto type() const -> ResultBase::Type { return m_type; }
-        auto errorMessage() const -> std::string { return m_errorMessage; }
-
-    protected:
-        void enforceOk() const override {
-
-            // Errors shouldn't reach this point, but if they do
-            // the actual error message will be in m_errorMessage
-            assert( m_type != ResultBase::LogicError );
-            assert( m_type != ResultBase::RuntimeError );
-            if( m_type != ResultBase::Ok )
-                std::abort();
-        }
-
-        std::string m_errorMessage; // Only populated if resultType is an error
-
-        BasicResult( ResultBase::Type type, std::string const &message )
-        :   ResultValueBase<T>(type),
-            m_errorMessage(message)
-        {
-            assert( m_type != ResultBase::Ok );
-        }
-
-        using ResultValueBase<T>::ResultValueBase;
-        using ResultBase::m_type;
-    };
-
-    enum class ParseResultType {
-        Matched, NoMatch, ShortCircuitAll, ShortCircuitSame
-    };
-
-    class ParseState {
-    public:
-
-        ParseState( ParseResultType type, TokenStream const &remainingTokens )
-        : m_type(type),
-          m_remainingTokens( remainingTokens )
-        {}
-
-        auto type() const -> ParseResultType { return m_type; }
-        auto remainingTokens() const -> TokenStream { return m_remainingTokens; }
-
-    private:
-        ParseResultType m_type;
-        TokenStream m_remainingTokens;
-    };
-
-    using Result = BasicResult<void>;
-    using ParserResult = BasicResult<ParseResultType>;
-    using InternalParseResult = BasicResult<ParseState>;
-
-    struct HelpColumns {
-        std::string left;
-        std::string right;
-    };
-
-    template<typename T>
-    inline auto convertInto( std::string const &source, T& target ) -> ParserResult {
-        std::stringstream ss;
-        ss << source;
-        ss >> target;
-        if( ss.fail() )
-            return ParserResult::runtimeError( "Unable to convert '" + source + "' to destination type" );
-        else
-            return ParserResult::ok( ParseResultType::Matched );
-    }
-    inline auto convertInto( std::string const &source, std::string& target ) -> ParserResult {
-        target = source;
-        return ParserResult::ok( ParseResultType::Matched );
-    }
-    inline auto convertInto( std::string const &source, bool &target ) -> ParserResult {
-        std::string srcLC = source;
-        std::transform( srcLC.begin(), srcLC.end(), srcLC.begin(), []( char c ) { return static_cast<char>( std::tolower(c) ); } );
-        if (srcLC == "y" || srcLC == "1" || srcLC == "true" || srcLC == "yes" || srcLC == "on")
-            target = true;
-        else if (srcLC == "n" || srcLC == "0" || srcLC == "false" || srcLC == "no" || srcLC == "off")
-            target = false;
-        else
-            return ParserResult::runtimeError( "Expected a boolean value but did not recognise: '" + source + "'" );
-        return ParserResult::ok( ParseResultType::Matched );
-    }
-#ifdef CLARA_CONFIG_OPTIONAL_TYPE
-    template<typename T>
-    inline auto convertInto( std::string const &source, CLARA_CONFIG_OPTIONAL_TYPE<T>& target ) -> ParserResult {
-        T temp;
-        auto result = convertInto( source, temp );
-        if( result )
-            target = std::move(temp);
-        return result;
-    }
-#endif // CLARA_CONFIG_OPTIONAL_TYPE
-
-    struct NonCopyable {
-        NonCopyable() = default;
-        NonCopyable( NonCopyable const & ) = delete;
-        NonCopyable( NonCopyable && ) = delete;
-        NonCopyable &operator=( NonCopyable const & ) = delete;
-        NonCopyable &operator=( NonCopyable && ) = delete;
-    };
-
-    struct BoundRef : NonCopyable {
-        virtual ~BoundRef() = default;
-        virtual auto isContainer() const -> bool { return false; }
-        virtual auto isFlag() const -> bool { return false; }
-    };
-    struct BoundValueRefBase : BoundRef {
-        virtual auto setValue( std::string const &arg ) -> ParserResult = 0;
-    };
-    struct BoundFlagRefBase : BoundRef {
-        virtual auto setFlag( bool flag ) -> ParserResult = 0;
-        virtual auto isFlag() const -> bool { return true; }
-    };
-
-    template<typename T>
-    struct BoundValueRef : BoundValueRefBase {
-        T &m_ref;
-
-        explicit BoundValueRef( T &ref ) : m_ref( ref ) {}
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            return convertInto( arg, m_ref );
-        }
-    };
-
-    template<typename T>
-    struct BoundValueRef<std::vector<T>> : BoundValueRefBase {
-        std::vector<T> &m_ref;
-
-        explicit BoundValueRef( std::vector<T> &ref ) : m_ref( ref ) {}
-
-        auto isContainer() const -> bool override { return true; }
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            T temp;
-            auto result = convertInto( arg, temp );
-            if( result )
-                m_ref.push_back( temp );
-            return result;
-        }
-    };
-
-    struct BoundFlagRef : BoundFlagRefBase {
-        bool &m_ref;
-
-        explicit BoundFlagRef( bool &ref ) : m_ref( ref ) {}
-
-        auto setFlag( bool flag ) -> ParserResult override {
-            m_ref = flag;
-            return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    template<typename ReturnType>
-    struct LambdaInvoker {
-        static_assert( std::is_same<ReturnType, ParserResult>::value, "Lambda must return void or clara::ParserResult" );
-
-        template<typename L, typename ArgType>
-        static auto invoke( L const &lambda, ArgType const &arg ) -> ParserResult {
-            return lambda( arg );
-        }
-    };
-
-    template<>
-    struct LambdaInvoker<void> {
-        template<typename L, typename ArgType>
-        static auto invoke( L const &lambda, ArgType const &arg ) -> ParserResult {
-            lambda( arg );
-            return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    template<typename ArgType, typename L>
-    inline auto invokeLambda( L const &lambda, std::string const &arg ) -> ParserResult {
-        ArgType temp{};
-        auto result = convertInto( arg, temp );
-        return !result
-           ? result
-           : LambdaInvoker<typename UnaryLambdaTraits<L>::ReturnType>::invoke( lambda, temp );
-    }
-
-    template<typename L>
-    struct BoundLambda : BoundValueRefBase {
-        L m_lambda;
-
-        static_assert( UnaryLambdaTraits<L>::isValid, "Supplied lambda must take exactly one argument" );
-        explicit BoundLambda( L const &lambda ) : m_lambda( lambda ) {}
-
-        auto setValue( std::string const &arg ) -> ParserResult override {
-            return invokeLambda<typename UnaryLambdaTraits<L>::ArgType>( m_lambda, arg );
-        }
-    };
-
-    template<typename L>
-    struct BoundFlagLambda : BoundFlagRefBase {
-        L m_lambda;
-
-        static_assert( UnaryLambdaTraits<L>::isValid, "Supplied lambda must take exactly one argument" );
-        static_assert( std::is_same<typename UnaryLambdaTraits<L>::ArgType, bool>::value, "flags must be boolean" );
-
-        explicit BoundFlagLambda( L const &lambda ) : m_lambda( lambda ) {}
-
-        auto setFlag( bool flag ) -> ParserResult override {
-            return LambdaInvoker<typename UnaryLambdaTraits<L>::ReturnType>::invoke( m_lambda, flag );
-        }
-    };
-
-    enum class Optionality { Optional, Required };
-
-    struct Parser;
-
-    class ParserBase {
-    public:
-        virtual ~ParserBase() = default;
-        virtual auto validate() const -> Result { return Result::ok(); }
-        virtual auto parse( std::string const& exeName, TokenStream const &tokens) const -> InternalParseResult  = 0;
-        virtual auto cardinality() const -> size_t { return 1; }
-
-        auto parse( Args const &args ) const -> InternalParseResult {
-            return parse( args.exeName(), TokenStream( args ) );
-        }
-    };
-
-    template<typename DerivedT>
-    class ComposableParserImpl : public ParserBase {
-    public:
-        template<typename T>
-        auto operator|( T const &other ) const -> Parser;
-
-		template<typename T>
-        auto operator+( T const &other ) const -> Parser;
-    };
-
-    // Common code and state for Args and Opts
-    template<typename DerivedT>
-    class ParserRefImpl : public ComposableParserImpl<DerivedT> {
-    protected:
-        Optionality m_optionality = Optionality::Optional;
-        std::shared_ptr<BoundRef> m_ref;
-        std::string m_hint;
-        std::string m_description;
-
-        explicit ParserRefImpl( std::shared_ptr<BoundRef> const &ref ) : m_ref( ref ) {}
-
-    public:
-        template<typename T>
-        ParserRefImpl( T &ref, std::string const &hint )
-        :   m_ref( std::make_shared<BoundValueRef<T>>( ref ) ),
-            m_hint( hint )
-        {}
-
-        template<typename LambdaT>
-        ParserRefImpl( LambdaT const &ref, std::string const &hint )
-        :   m_ref( std::make_shared<BoundLambda<LambdaT>>( ref ) ),
-            m_hint(hint)
-        {}
-
-        auto operator()( std::string const &description ) -> DerivedT & {
-            m_description = description;
-            return static_cast<DerivedT &>( *this );
-        }
-
-        auto optional() -> DerivedT & {
-            m_optionality = Optionality::Optional;
-            return static_cast<DerivedT &>( *this );
-        };
-
-        auto required() -> DerivedT & {
-            m_optionality = Optionality::Required;
-            return static_cast<DerivedT &>( *this );
-        };
-
-        auto isOptional() const -> bool {
-            return m_optionality == Optionality::Optional;
-        }
-
-        auto cardinality() const -> size_t override {
-            if( m_ref->isContainer() )
-                return 0;
-            else
-                return 1;
-        }
-
-        auto hint() const -> std::string { return m_hint; }
-    };
-
-    class ExeName : public ComposableParserImpl<ExeName> {
-        std::shared_ptr<std::string> m_name;
-        std::shared_ptr<BoundValueRefBase> m_ref;
-
-        template<typename LambdaT>
-        static auto makeRef(LambdaT const &lambda) -> std::shared_ptr<BoundValueRefBase> {
-            return std::make_shared<BoundLambda<LambdaT>>( lambda) ;
-        }
-
-    public:
-        ExeName() : m_name( std::make_shared<std::string>( "<executable>" ) ) {}
-
-        explicit ExeName( std::string &ref ) : ExeName() {
-            m_ref = std::make_shared<BoundValueRef<std::string>>( ref );
-        }
-
-        template<typename LambdaT>
-        explicit ExeName( LambdaT const& lambda ) : ExeName() {
-            m_ref = std::make_shared<BoundLambda<LambdaT>>( lambda );
-        }
-
-        // The exe name is not parsed out of the normal tokens, but is handled specially
-        auto parse( std::string const&, TokenStream const &tokens ) const -> InternalParseResult override {
-            return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, tokens ) );
-        }
-
-        auto name() const -> std::string { return *m_name; }
-        auto set( std::string const& newName ) -> ParserResult {
-
-            auto lastSlash = newName.find_last_of( "\\/" );
-            auto filename = ( lastSlash == std::string::npos )
-                    ? newName
-                    : newName.substr( lastSlash+1 );
-
-            *m_name = filename;
-            if( m_ref )
-                return m_ref->setValue( filename );
-            else
-                return ParserResult::ok( ParseResultType::Matched );
-        }
-    };
-
-    class Arg : public ParserRefImpl<Arg> {
-    public:
-        using ParserRefImpl::ParserRefImpl;
-
-        auto parse( std::string const &, TokenStream const &tokens ) const -> InternalParseResult override {
-            auto validationResult = validate();
-            if( !validationResult )
-                return InternalParseResult( validationResult );
-
-            auto remainingTokens = tokens;
-            auto const &token = *remainingTokens;
-            if( token.type != TokenType::Argument )
-                return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, remainingTokens ) );
-
-            assert( !m_ref->isFlag() );
-            auto valueRef = static_cast<detail::BoundValueRefBase*>( m_ref.get() );
-
-            auto result = valueRef->setValue( remainingTokens->token );
-            if( !result )
-                return InternalParseResult( result );
-            else
-                return InternalParseResult::ok( ParseState( ParseResultType::Matched, ++remainingTokens ) );
-        }
-    };
-
-    inline auto normaliseOpt( std::string const &optName ) -> std::string {
-#ifdef CATCH_PLATFORM_WINDOWS
-        if( optName[0] == '/' )
-            return "-" + optName.substr( 1 );
-        else
-#endif
-            return optName;
-    }
-
-    class Opt : public ParserRefImpl<Opt> {
-    protected:
-        std::vector<std::string> m_optNames;
-
-    public:
-        template<typename LambdaT>
-        explicit Opt( LambdaT const &ref ) : ParserRefImpl( std::make_shared<BoundFlagLambda<LambdaT>>( ref ) ) {}
-
-        explicit Opt( bool &ref ) : ParserRefImpl( std::make_shared<BoundFlagRef>( ref ) ) {}
-
-        template<typename LambdaT>
-        Opt( LambdaT const &ref, std::string const &hint ) : ParserRefImpl( ref, hint ) {}
-
-        template<typename T>
-        Opt( T &ref, std::string const &hint ) : ParserRefImpl( ref, hint ) {}
-
-        auto operator[]( std::string const &optName ) -> Opt & {
-            m_optNames.push_back( optName );
-            return *this;
-        }
-
-        auto getHelpColumns() const -> std::vector<HelpColumns> {
-            std::ostringstream oss;
-            bool first = true;
-            for( auto const &opt : m_optNames ) {
-                if (first)
-                    first = false;
-                else
-                    oss << ", ";
-                oss << opt;
-            }
-            if( !m_hint.empty() )
-                oss << " <" << m_hint << ">";
-            return { { oss.str(), m_description } };
-        }
-
-        auto isMatch( std::string const &optToken ) const -> bool {
-            auto normalisedToken = normaliseOpt( optToken );
-            for( auto const &name : m_optNames ) {
-                if( normaliseOpt( name ) == normalisedToken )
-                    return true;
-            }
-            return false;
-        }
-
-        using ParserBase::parse;
-
-        auto parse( std::string const&, TokenStream const &tokens ) const -> InternalParseResult override {
-            auto validationResult = validate();
-            if( !validationResult )
-                return InternalParseResult( validationResult );
-
-            auto remainingTokens = tokens;
-            if( remainingTokens && remainingTokens->type == TokenType::Option ) {
-                auto const &token = *remainingTokens;
-                if( isMatch(token.token ) ) {
-                    if( m_ref->isFlag() ) {
-                        auto flagRef = static_cast<detail::BoundFlagRefBase*>( m_ref.get() );
-                        auto result = flagRef->setFlag( true );
-                        if( !result )
-                            return InternalParseResult( result );
-                        if( result.value() == ParseResultType::ShortCircuitAll )
-                            return InternalParseResult::ok( ParseState( result.value(), remainingTokens ) );
-                    } else {
-                        auto valueRef = static_cast<detail::BoundValueRefBase*>( m_ref.get() );
-                        ++remainingTokens;
-                        if( !remainingTokens )
-                            return InternalParseResult::runtimeError( "Expected argument following " + token.token );
-                        auto const &argToken = *remainingTokens;
-                        if( argToken.type != TokenType::Argument )
-                            return InternalParseResult::runtimeError( "Expected argument following " + token.token );
-                        auto result = valueRef->setValue( argToken.token );
-                        if( !result )
-                            return InternalParseResult( result );
-                        if( result.value() == ParseResultType::ShortCircuitAll )
-                            return InternalParseResult::ok( ParseState( result.value(), remainingTokens ) );
-                    }
-                    return InternalParseResult::ok( ParseState( ParseResultType::Matched, ++remainingTokens ) );
-                }
-            }
-            return InternalParseResult::ok( ParseState( ParseResultType::NoMatch, remainingTokens ) );
-        }
-
-        auto validate() const -> Result override {
-            if( m_optNames.empty() )
-                return Result::logicError( "No options supplied to Opt" );
-            for( auto const &name : m_optNames ) {
-                if( name.empty() )
-                    return Result::logicError( "Option name cannot be empty" );
-#ifdef CATCH_PLATFORM_WINDOWS
-                if( name[0] != '-' && name[0] != '/' )
-                    return Result::logicError( "Option name must begin with '-' or '/'" );
-#else
-                if( name[0] != '-' )
-                    return Result::logicError( "Option name must begin with '-'" );
-#endif
-            }
-            return ParserRefImpl::validate();
-        }
-    };
-
-    struct Help : Opt {
-        Help( bool &showHelpFlag )
-        :   Opt([&]( bool flag ) {
-                showHelpFlag = flag;
-                return ParserResult::ok( ParseResultType::ShortCircuitAll );
-            })
-        {
-            static_cast<Opt &>( *this )
-                    ("display usage information")
-                    ["-?"]["-h"]["--help"]
-                    .optional();
-        }
-    };
-
-    struct Parser : ParserBase {
-
-        mutable ExeName m_exeName;
-        std::vector<Opt> m_options;
-        std::vector<Arg> m_args;
-
-        auto operator|=( ExeName const &exeName ) -> Parser & {
-            m_exeName = exeName;
-            return *this;
-        }
-
-        auto operator|=( Arg const &arg ) -> Parser & {
-            m_args.push_back(arg);
-            return *this;
-        }
-
-        auto operator|=( Opt const &opt ) -> Parser & {
-            m_options.push_back(opt);
-            return *this;
-        }
-
-        auto operator|=( Parser const &other ) -> Parser & {
-            m_options.insert(m_options.end(), other.m_options.begin(), other.m_options.end());
-            m_args.insert(m_args.end(), other.m_args.begin(), other.m_args.end());
-            return *this;
-        }
-
-        template<typename T>
-        auto operator|( T const &other ) const -> Parser {
-            return Parser( *this ) |= other;
-        }
-
-        // Forward deprecated interface with '+' instead of '|'
-        template<typename T>
-        auto operator+=( T const &other ) -> Parser & { return operator|=( other ); }
-        template<typename T>
-        auto operator+( T const &other ) const -> Parser { return operator|( other ); }
-
-        auto getHelpColumns() const -> std::vector<HelpColumns> {
-            std::vector<HelpColumns> cols;
-            for (auto const &o : m_options) {
-                auto childCols = o.getHelpColumns();
-                cols.insert( cols.end(), childCols.begin(), childCols.end() );
-            }
-            return cols;
-        }
-
-        void writeToStream( std::ostream &os ) const {
-            if (!m_exeName.name().empty()) {
-                os << "usage:\n" << "  " << m_exeName.name() << " ";
-                bool required = true, first = true;
-                for( auto const &arg : m_args ) {
-                    if (first)
-                        first = false;
-                    else
-                        os << " ";
-                    if( arg.isOptional() && required ) {
-                        os << "[";
-                        required = false;
-                    }
-                    os << "<" << arg.hint() << ">";
-                    if( arg.cardinality() == 0 )
-                        os << " ... ";
-                }
-                if( !required )
-                    os << "]";
-                if( !m_options.empty() )
-                    os << " options";
-                os << "\n\nwhere options are:" << std::endl;
-            }
-
-            auto rows = getHelpColumns();
-            size_t consoleWidth = CATCH_CLARA_CONFIG_CONSOLE_WIDTH;
-            size_t optWidth = 0;
-            for( auto const &cols : rows )
-                optWidth = (std::max)(optWidth, cols.left.size() + 2);
-
-            optWidth = (std::min)(optWidth, consoleWidth/2);
-
-            for( auto const &cols : rows ) {
-                auto row =
-                        TextFlow::Column( cols.left ).width( optWidth ).indent( 2 ) +
-                        TextFlow::Spacer(4) +
-                        TextFlow::Column( cols.right ).width( consoleWidth - 7 - optWidth );
-                os << row << std::endl;
-            }
-        }
-
-        friend auto operator<<( std::ostream &os, Parser const &parser ) -> std::ostream& {
-            parser.writeToStream( os );
-            return os;
-        }
-
-        auto validate() const -> Result override {
-            for( auto const &opt : m_options ) {
-                auto result = opt.validate();
-                if( !result )
-                    return result;
-            }
-            for( auto const &arg : m_args ) {
-                auto result = arg.validate();
-                if( !result )
-                    return result;
-            }
-            return Result::ok();
-        }
-
-        using ParserBase::parse;
-
-        auto parse( std::string const& exeName, TokenStream const &tokens ) const -> InternalParseResult override {
-
-            struct ParserInfo {
-                ParserBase const* parser = nullptr;
-                size_t count = 0;
-            };
-            const size_t totalParsers = m_options.size() + m_args.size();
-            assert( totalParsers < 512 );
-            // ParserInfo parseInfos[totalParsers]; // <-- this is what we really want to do
-            ParserInfo parseInfos[512];
-
-            {
-                size_t i = 0;
-                for (auto const &opt : m_options) parseInfos[i++].parser = &opt;
-                for (auto const &arg : m_args) parseInfos[i++].parser = &arg;
-            }
-
-            m_exeName.set( exeName );
-
-            auto result = InternalParseResult::ok( ParseState( ParseResultType::NoMatch, tokens ) );
-            while( result.value().remainingTokens() ) {
-                bool tokenParsed = false;
-
-                for( size_t i = 0; i < totalParsers; ++i ) {
-                    auto&  parseInfo = parseInfos[i];
-                    if( parseInfo.parser->cardinality() == 0 || parseInfo.count < parseInfo.parser->cardinality() ) {
-                        result = parseInfo.parser->parse(exeName, result.value().remainingTokens());
-                        if (!result)
-                            return result;
-                        if (result.value().type() != ParseResultType::NoMatch) {
-                            tokenParsed = true;
-                            ++parseInfo.count;
-                            break;
-                        }
-                    }
-                }
-
-                if( result.value().type() == ParseResultType::ShortCircuitAll )
-                    return result;
-                if( !tokenParsed )
-                    return InternalParseResult::runtimeError( "Unrecognised token: " + result.value().remainingTokens()->token );
-            }
-            // !TBD Check missing required options
-            return result;
-        }
-    };
-
-    template<typename DerivedT>
-    template<typename T>
-    auto ComposableParserImpl<DerivedT>::operator|( T const &other ) const -> Parser {
-        return Parser() | static_cast<DerivedT const &>( *this ) | other;
-    }
-} // namespace detail
-
-// A Combined parser
-using detail::Parser;
-
-// A parser for options
-using detail::Opt;
-
-// A parser for arguments
-using detail::Arg;
-
-// Wrapper for argc, argv from main()
-using detail::Args;
-
-// Specifies the name of the executable
-using detail::ExeName;
-
-// Convenience wrapper for option parser that specifies the help option
-using detail::Help;
-
-// enum of result types from a parse
-using detail::ParseResultType;
-
-// Result type for parser operation
-using detail::ParserResult;
-
-}} // namespace Catch::clara
-
-// end clara.hpp
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// Restore Clara's value for console width, if present
-#ifdef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#define CATCH_CLARA_TEXTFLOW_CONFIG_CONSOLE_WIDTH CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#undef CATCH_TEMP_CLARA_CONFIG_CONSOLE_WIDTH
-#endif
-
-// end catch_clara.h
-namespace Catch {
-
-    clara::Parser makeCommandLineParser( ConfigData& config );
-
-} // end namespace Catch
-
-// end catch_commandline.h
-#include <fstream>
-#include <ctime>
-
-namespace Catch {
-
-    clara::Parser makeCommandLineParser( ConfigData& config ) {
-
-        using namespace clara;
-
-        auto const setWarning = [&]( std::string const& warning ) {
-                auto warningSet = [&]() {
-                    if( warning == "NoAssertions" )
-                        return WarnAbout::NoAssertions;
-
-                    if ( warning == "NoTests" )
-                        return WarnAbout::NoTests;
-
-                    return WarnAbout::Nothing;
-                }();
-
-                if (warningSet == WarnAbout::Nothing)
-                    return ParserResult::runtimeError( "Unrecognised warning: '" + warning + "'" );
-                config.warnings = static_cast<WarnAbout::What>( config.warnings | warningSet );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const loadTestNamesFromFile = [&]( std::string const& filename ) {
-                std::ifstream f( filename.c_str() );
-                if( !f.is_open() )
-                    return ParserResult::runtimeError( "Unable to load input file: '" + filename + "'" );
-
-                std::string line;
-                while( std::getline( f, line ) ) {
-                    line = trim(line);
-                    if( !line.empty() && !startsWith( line, '#' ) ) {
-                        if( !startsWith( line, '"' ) )
-                            line = '"' + line + '"';
-                        config.testsOrTags.push_back( line );
-                        config.testsOrTags.emplace_back( "," );
-                    }
-                }
-                //Remove comma in the end
-                if(!config.testsOrTags.empty())
-                    config.testsOrTags.erase( config.testsOrTags.end()-1 );
-
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setTestOrder = [&]( std::string const& order ) {
-                if( startsWith( "declared", order ) )
-                    config.runOrder = RunTests::InDeclarationOrder;
-                else if( startsWith( "lexical", order ) )
-                    config.runOrder = RunTests::InLexicographicalOrder;
-                else if( startsWith( "random", order ) )
-                    config.runOrder = RunTests::InRandomOrder;
-                else
-                    return clara::ParserResult::runtimeError( "Unrecognised ordering: '" + order + "'" );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setRngSeed = [&]( std::string const& seed ) {
-                if( seed != "time" )
-                    return clara::detail::convertInto( seed, config.rngSeed );
-                config.rngSeed = static_cast<unsigned int>( std::time(nullptr) );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setColourUsage = [&]( std::string const& useColour ) {
-                    auto mode = toLower( useColour );
-
-                    if( mode == "yes" )
-                        config.useColour = UseColour::Yes;
-                    else if( mode == "no" )
-                        config.useColour = UseColour::No;
-                    else if( mode == "auto" )
-                        config.useColour = UseColour::Auto;
-                    else
-                        return ParserResult::runtimeError( "colour mode must be one of: auto, yes or no. '" + useColour + "' not recognised" );
-                return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setWaitForKeypress = [&]( std::string const& keypress ) {
-                auto keypressLc = toLower( keypress );
-                if (keypressLc == "never")
-                    config.waitForKeypress = WaitForKeypress::Never;
-                else if( keypressLc == "start" )
-                    config.waitForKeypress = WaitForKeypress::BeforeStart;
-                else if( keypressLc == "exit" )
-                    config.waitForKeypress = WaitForKeypress::BeforeExit;
-                else if( keypressLc == "both" )
-                    config.waitForKeypress = WaitForKeypress::BeforeStartAndExit;
-                else
-                    return ParserResult::runtimeError( "keypress argument must be one of: never, start, exit or both. '" + keypress + "' not recognised" );
-            return ParserResult::ok( ParseResultType::Matched );
-            };
-        auto const setVerbosity = [&]( std::string const& verbosity ) {
-            auto lcVerbosity = toLower( verbosity );
-            if( lcVerbosity == "quiet" )
-                config.verbosity = Verbosity::Quiet;
-            else if( lcVerbosity == "normal" )
-                config.verbosity = Verbosity::Normal;
-            else if( lcVerbosity == "high" )
-                config.verbosity = Verbosity::High;
-            else
-                return ParserResult::runtimeError( "Unrecognised verbosity, '" + verbosity + "'" );
-            return ParserResult::ok( ParseResultType::Matched );
-        };
-        auto const setReporter = [&]( std::string const& reporter ) {
-            IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories();
-
-            auto lcReporter = toLower( reporter );
-            auto result = factories.find( lcReporter );
-
-            if( factories.end() != result )
-                config.reporterName = lcReporter;
-            else
-                return ParserResult::runtimeError( "Unrecognized reporter, '" + reporter + "'. Check available with --list-reporters" );
-            return ParserResult::ok( ParseResultType::Matched );
-        };
-
-        auto cli
-            = ExeName( config.processName )
-            | Help( config.showHelp )
-            | Opt( config.listTests )
-                ["-l"]["--list-tests"]
-                ( "list all/matching test cases" )
-            | Opt( config.listTags )
-                ["-t"]["--list-tags"]
-                ( "list all/matching tags" )
-            | Opt( config.showSuccessfulTests )
-                ["-s"]["--success"]
-                ( "include successful tests in output" )
-            | Opt( config.shouldDebugBreak )
-                ["-b"]["--break"]
-                ( "break into debugger on failure" )
-            | Opt( config.noThrow )
-                ["-e"]["--nothrow"]
-                ( "skip exception tests" )
-            | Opt( config.showInvisibles )
-                ["-i"]["--invisibles"]
-                ( "show invisibles (tabs, newlines)" )
-            | Opt( config.outputFilename, "filename" )
-                ["-o"]["--out"]
-                ( "output filename" )
-            | Opt( setReporter, "name" )
-                ["-r"]["--reporter"]
-                ( "reporter to use (defaults to console)" )
-            | Opt( config.name, "name" )
-                ["-n"]["--name"]
-                ( "suite name" )
-            | Opt( [&]( bool ){ config.abortAfter = 1; } )
-                ["-a"]["--abort"]
-                ( "abort at first failure" )
-            | Opt( [&]( int x ){ config.abortAfter = x; }, "no. failures" )
-                ["-x"]["--abortx"]
-                ( "abort after x failures" )
-            | Opt( setWarning, "warning name" )
-                ["-w"]["--warn"]
-                ( "enable warnings" )
-            | Opt( [&]( bool flag ) { config.showDurations = flag ? ShowDurations::Always : ShowDurations::Never; }, "yes|no" )
-                ["-d"]["--durations"]
-                ( "show test durations" )
-            | Opt( loadTestNamesFromFile, "filename" )
-                ["-f"]["--input-file"]
-                ( "load test names to run from a file" )
-            | Opt( config.filenamesAsTags )
-                ["-#"]["--filenames-as-tags"]
-                ( "adds a tag for the filename" )
-            | Opt( config.sectionsToRun, "section name" )
-                ["-c"]["--section"]
-                ( "specify section to run" )
-            | Opt( setVerbosity, "quiet|normal|high" )
-                ["-v"]["--verbosity"]
-                ( "set output verbosity" )
-            | Opt( config.listTestNamesOnly )
-                ["--list-test-names-only"]
-                ( "list all/matching test cases names only" )
-            | Opt( config.listReporters )
-                ["--list-reporters"]
-                ( "list all reporters" )
-            | Opt( setTestOrder, "decl|lex|rand" )
-                ["--order"]
-                ( "test case order (defaults to decl)" )
-            | Opt( setRngSeed, "'time'|number" )
-                ["--rng-seed"]
-                ( "set a specific seed for random numbers" )
-            | Opt( setColourUsage, "yes|no" )
-                ["--use-colour"]
-                ( "should output be colourised" )
-            | Opt( config.libIdentify )
-                ["--libidentify"]
-                ( "report name and version according to libidentify standard" )
-            | Opt( setWaitForKeypress, "never|start|exit|both" )
-                ["--wait-for-keypress"]
-                ( "waits for a keypress before exiting" )
-            | Opt( config.benchmarkSamples, "samples" )
-                ["--benchmark-samples"]
-                ( "number of samples to collect (default: 100)" )
-            | Opt( config.benchmarkResamples, "resamples" )
-                ["--benchmark-resamples"]
-                ( "number of resamples for the bootstrap (default: 100000)" )
-            | Opt( config.benchmarkConfidenceInterval, "confidence interval" )
-                ["--benchmark-confidence-interval"]
-                ( "confidence interval for the bootstrap (between 0 and 1, default: 0.95)" )
-            | Opt( config.benchmarkNoAnalysis )
-                ["--benchmark-no-analysis"]
-                ( "perform only measurements; do not perform any analysis" )
-            | Opt( config.benchmarkWarmupTime, "benchmarkWarmupTime" )
-                ["--benchmark-warmup-time"]
-                ( "amount of time in milliseconds spent on warming up each test (default: 100)" )
-            | Arg( config.testsOrTags, "test name|pattern|tags" )
-                ( "which test or tests to use" );
-
-        return cli;
-    }
-
-} // end namespace Catch
-// end catch_commandline.cpp
-// start catch_common.cpp
-
-#include <cstring>
-#include <ostream>
-
-namespace Catch {
-
-    bool SourceLineInfo::operator == ( SourceLineInfo const& other ) const noexcept {
-        return line == other.line && (file == other.file || std::strcmp(file, other.file) == 0);
-    }
-    bool SourceLineInfo::operator < ( SourceLineInfo const& other ) const noexcept {
-        // We can assume that the same file will usually have the same pointer.
-        // Thus, if the pointers are the same, there is no point in calling the strcmp
-        return line < other.line || ( line == other.line && file != other.file && (std::strcmp(file, other.file) < 0));
-    }
-
-    std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ) {
-#ifndef __GNUG__
-        os << info.file << '(' << info.line << ')';
-#else
-        os << info.file << ':' << info.line;
-#endif
-        return os;
-    }
-
-    std::string StreamEndStop::operator+() const {
-        return std::string();
-    }
-
-    NonCopyable::NonCopyable() = default;
-    NonCopyable::~NonCopyable() = default;
-
-}
-// end catch_common.cpp
-// start catch_config.cpp
-
-namespace Catch {
-
-    Config::Config( ConfigData const& data )
-    :   m_data( data ),
-        m_stream( openStream() )
-    {
-        // We need to trim filter specs to avoid trouble with superfluous
-        // whitespace (esp. important for bdd macros, as those are manually
-        // aligned with whitespace).
-
-        for (auto& elem : m_data.testsOrTags) {
-            elem = trim(elem);
-        }
-        for (auto& elem : m_data.sectionsToRun) {
-            elem = trim(elem);
-        }
-
-        TestSpecParser parser(ITagAliasRegistry::get());
-        if (!m_data.testsOrTags.empty()) {
-            m_hasTestFilters = true;
-            for (auto const& testOrTags : m_data.testsOrTags) {
-                parser.parse(testOrTags);
-            }
-        }
-        m_testSpec = parser.testSpec();
-    }
-
-    std::string const& Config::getFilename() const {
-        return m_data.outputFilename ;
-    }
-
-    bool Config::listTests() const          { return m_data.listTests; }
-    bool Config::listTestNamesOnly() const  { return m_data.listTestNamesOnly; }
-    bool Config::listTags() const           { return m_data.listTags; }
-    bool Config::listReporters() const      { return m_data.listReporters; }
-
-    std::string Config::getProcessName() const { return m_data.processName; }
-    std::string const& Config::getReporterName() const { return m_data.reporterName; }
-
-    std::vector<std::string> const& Config::getTestsOrTags() const { return m_data.testsOrTags; }
-    std::vector<std::string> const& Config::getSectionsToRun() const { return m_data.sectionsToRun; }
-
-    TestSpec const& Config::testSpec() const { return m_testSpec; }
-    bool Config::hasTestFilters() const { return m_hasTestFilters; }
-
-    bool Config::showHelp() const { return m_data.showHelp; }
-
-    // IConfig interface
-    bool Config::allowThrows() const                   { return !m_data.noThrow; }
-    std::ostream& Config::stream() const               { return m_stream->stream(); }
-    std::string Config::name() const                   { return m_data.name.empty() ? m_data.processName : m_data.name; }
-    bool Config::includeSuccessfulResults() const      { return m_data.showSuccessfulTests; }
-    bool Config::warnAboutMissingAssertions() const    { return !!(m_data.warnings & WarnAbout::NoAssertions); }
-    bool Config::warnAboutNoTests() const              { return !!(m_data.warnings & WarnAbout::NoTests); }
-    ShowDurations::OrNot Config::showDurations() const { return m_data.showDurations; }
-    RunTests::InWhatOrder Config::runOrder() const     { return m_data.runOrder; }
-    unsigned int Config::rngSeed() const               { return m_data.rngSeed; }
-    UseColour::YesOrNo Config::useColour() const       { return m_data.useColour; }
-    bool Config::shouldDebugBreak() const              { return m_data.shouldDebugBreak; }
-    int Config::abortAfter() const                     { return m_data.abortAfter; }
-    bool Config::showInvisibles() const                { return m_data.showInvisibles; }
-    Verbosity Config::verbosity() const                { return m_data.verbosity; }
-
-    bool Config::benchmarkNoAnalysis() const                      { return m_data.benchmarkNoAnalysis; }
-    int Config::benchmarkSamples() const                          { return m_data.benchmarkSamples; }
-    double Config::benchmarkConfidenceInterval() const            { return m_data.benchmarkConfidenceInterval; }
-    unsigned int Config::benchmarkResamples() const               { return m_data.benchmarkResamples; }
-    std::chrono::milliseconds Config::benchmarkWarmupTime() const { return std::chrono::milliseconds(m_data.benchmarkWarmupTime); }
-
-    IStream const* Config::openStream() {
-        return Catch::makeStream(m_data.outputFilename);
-    }
-
-} // end namespace Catch
-// end catch_config.cpp
-// start catch_console_colour.cpp
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#endif
-
-// start catch_errno_guard.h
-
-namespace Catch {
-
-    class ErrnoGuard {
-    public:
-        ErrnoGuard();
-        ~ErrnoGuard();
-    private:
-        int m_oldErrno;
-    };
-
-}
-
-// end catch_errno_guard.h
-#include <sstream>
-
-namespace Catch {
-    namespace {
-
-        struct IColourImpl {
-            virtual ~IColourImpl() = default;
-            virtual void use( Colour::Code _colourCode ) = 0;
-        };
-
-        struct NoColourImpl : IColourImpl {
-            void use( Colour::Code ) override {}
-
-            static IColourImpl* instance() {
-                static NoColourImpl s_instance;
-                return &s_instance;
-            }
-        };
-
-    } // anon namespace
-} // namespace Catch
-
-#if !defined( CATCH_CONFIG_COLOUR_NONE ) && !defined( CATCH_CONFIG_COLOUR_WINDOWS ) && !defined( CATCH_CONFIG_COLOUR_ANSI )
-#   ifdef CATCH_PLATFORM_WINDOWS
-#       define CATCH_CONFIG_COLOUR_WINDOWS
-#   else
-#       define CATCH_CONFIG_COLOUR_ANSI
-#   endif
-#endif
-
-#if defined ( CATCH_CONFIG_COLOUR_WINDOWS ) /////////////////////////////////////////
-
-namespace Catch {
-namespace {
-
-    class Win32ColourImpl : public IColourImpl {
-    public:
-        Win32ColourImpl() : stdoutHandle( GetStdHandle(STD_OUTPUT_HANDLE) )
-        {
-            CONSOLE_SCREEN_BUFFER_INFO csbiInfo;
-            GetConsoleScreenBufferInfo( stdoutHandle, &csbiInfo );
-            originalForegroundAttributes = csbiInfo.wAttributes & ~( BACKGROUND_GREEN | BACKGROUND_RED | BACKGROUND_BLUE | BACKGROUND_INTENSITY );
-            originalBackgroundAttributes = csbiInfo.wAttributes & ~( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE | FOREGROUND_INTENSITY );
-        }
-
-        void use( Colour::Code _colourCode ) override {
-            switch( _colourCode ) {
-                case Colour::None:      return setTextAttribute( originalForegroundAttributes );
-                case Colour::White:     return setTextAttribute( FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE );
-                case Colour::Red:       return setTextAttribute( FOREGROUND_RED );
-                case Colour::Green:     return setTextAttribute( FOREGROUND_GREEN );
-                case Colour::Blue:      return setTextAttribute( FOREGROUND_BLUE );
-                case Colour::Cyan:      return setTextAttribute( FOREGROUND_BLUE | FOREGROUND_GREEN );
-                case Colour::Yellow:    return setTextAttribute( FOREGROUND_RED | FOREGROUND_GREEN );
-                case Colour::Grey:      return setTextAttribute( 0 );
-
-                case Colour::LightGrey:     return setTextAttribute( FOREGROUND_INTENSITY );
-                case Colour::BrightRed:     return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED );
-                case Colour::BrightGreen:   return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN );
-                case Colour::BrightWhite:   return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_GREEN | FOREGROUND_RED | FOREGROUND_BLUE );
-                case Colour::BrightYellow:  return setTextAttribute( FOREGROUND_INTENSITY | FOREGROUND_RED | FOREGROUND_GREEN );
-
-                case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" );
-
-                default:
-                    CATCH_ERROR( "Unknown colour requested" );
-            }
-        }
-
-    private:
-        void setTextAttribute( WORD _textAttribute ) {
-            SetConsoleTextAttribute( stdoutHandle, _textAttribute | originalBackgroundAttributes );
-        }
-        HANDLE stdoutHandle;
-        WORD originalForegroundAttributes;
-        WORD originalBackgroundAttributes;
-    };
-
-    IColourImpl* platformColourInstance() {
-        static Win32ColourImpl s_instance;
-
-        IConfigPtr config = getCurrentContext().getConfig();
-        UseColour::YesOrNo colourMode = config
-            ? config->useColour()
-            : UseColour::Auto;
-        if( colourMode == UseColour::Auto )
-            colourMode = UseColour::Yes;
-        return colourMode == UseColour::Yes
-            ? &s_instance
-            : NoColourImpl::instance();
-    }
-
-} // end anon namespace
-} // end namespace Catch
-
-#elif defined( CATCH_CONFIG_COLOUR_ANSI ) //////////////////////////////////////
-
-#include <unistd.h>
-
-namespace Catch {
-namespace {
-
-    // use POSIX/ ANSI console terminal codes
-    // Thanks to Adam Strzelecki for original contribution
-    // (http://github.com/nanoant)
-    // https://github.com/philsquared/Catch/pull/131
-    class PosixColourImpl : public IColourImpl {
-    public:
-        void use( Colour::Code _colourCode ) override {
-            switch( _colourCode ) {
-                case Colour::None:
-                case Colour::White:     return setColour( "[0m" );
-                case Colour::Red:       return setColour( "[0;31m" );
-                case Colour::Green:     return setColour( "[0;32m" );
-                case Colour::Blue:      return setColour( "[0;34m" );
-                case Colour::Cyan:      return setColour( "[0;36m" );
-                case Colour::Yellow:    return setColour( "[0;33m" );
-                case Colour::Grey:      return setColour( "[1;30m" );
-
-                case Colour::LightGrey:     return setColour( "[0;37m" );
-                case Colour::BrightRed:     return setColour( "[1;31m" );
-                case Colour::BrightGreen:   return setColour( "[1;32m" );
-                case Colour::BrightWhite:   return setColour( "[1;37m" );
-                case Colour::BrightYellow:  return setColour( "[1;33m" );
-
-                case Colour::Bright: CATCH_INTERNAL_ERROR( "not a colour" );
-                default: CATCH_INTERNAL_ERROR( "Unknown colour requested" );
-            }
-        }
-        static IColourImpl* instance() {
-            static PosixColourImpl s_instance;
-            return &s_instance;
-        }
-
-    private:
-        void setColour( const char* _escapeCode ) {
-            getCurrentContext().getConfig()->stream()
-                << '\033' << _escapeCode;
-        }
-    };
-
-    bool useColourOnPlatform() {
-        return
-#if defined(CATCH_PLATFORM_MAC) || defined(CATCH_PLATFORM_IPHONE)
-            !isDebuggerActive() &&
-#endif
-#if !(defined(__DJGPP__) && defined(__STRICT_ANSI__))
-            isatty(STDOUT_FILENO)
-#else
-            false
-#endif
-            ;
-    }
-    IColourImpl* platformColourInstance() {
-        ErrnoGuard guard;
-        IConfigPtr config = getCurrentContext().getConfig();
-        UseColour::YesOrNo colourMode = config
-            ? config->useColour()
-            : UseColour::Auto;
-        if( colourMode == UseColour::Auto )
-            colourMode = useColourOnPlatform()
-                ? UseColour::Yes
-                : UseColour::No;
-        return colourMode == UseColour::Yes
-            ? PosixColourImpl::instance()
-            : NoColourImpl::instance();
-    }
-
-} // end anon namespace
-} // end namespace Catch
-
-#else  // not Windows or ANSI ///////////////////////////////////////////////
-
-namespace Catch {
-
-    static IColourImpl* platformColourInstance() { return NoColourImpl::instance(); }
-
-} // end namespace Catch
-
-#endif // Windows/ ANSI/ None
-
-namespace Catch {
-
-    Colour::Colour( Code _colourCode ) { use( _colourCode ); }
-    Colour::Colour( Colour&& other ) noexcept {
-        m_moved = other.m_moved;
-        other.m_moved = true;
-    }
-    Colour& Colour::operator=( Colour&& other ) noexcept {
-        m_moved = other.m_moved;
-        other.m_moved  = true;
-        return *this;
-    }
-
-    Colour::~Colour(){ if( !m_moved ) use( None ); }
-
-    void Colour::use( Code _colourCode ) {
-        static IColourImpl* impl = platformColourInstance();
-        // Strictly speaking, this cannot possibly happen.
-        // However, under some conditions it does happen (see #1626),
-        // and this change is small enough that we can let practicality
-        // triumph over purity in this case.
-        if (impl != nullptr) {
-            impl->use( _colourCode );
-        }
-    }
-
-    std::ostream& operator << ( std::ostream& os, Colour const& ) {
-        return os;
-    }
-
-} // end namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-
-// end catch_console_colour.cpp
-// start catch_context.cpp
-
-namespace Catch {
-
-    class Context : public IMutableContext, NonCopyable {
-
-    public: // IContext
-        IResultCapture* getResultCapture() override {
-            return m_resultCapture;
-        }
-        IRunner* getRunner() override {
-            return m_runner;
-        }
-
-        IConfigPtr const& getConfig() const override {
-            return m_config;
-        }
-
-        ~Context() override;
-
-    public: // IMutableContext
-        void setResultCapture( IResultCapture* resultCapture ) override {
-            m_resultCapture = resultCapture;
-        }
-        void setRunner( IRunner* runner ) override {
-            m_runner = runner;
-        }
-        void setConfig( IConfigPtr const& config ) override {
-            m_config = config;
-        }
-
-        friend IMutableContext& getCurrentMutableContext();
-
-    private:
-        IConfigPtr m_config;
-        IRunner* m_runner = nullptr;
-        IResultCapture* m_resultCapture = nullptr;
-    };
-
-    IMutableContext *IMutableContext::currentContext = nullptr;
-
-    void IMutableContext::createContext()
-    {
-        currentContext = new Context();
-    }
-
-    void cleanUpContext() {
-        delete IMutableContext::currentContext;
-        IMutableContext::currentContext = nullptr;
-    }
-    IContext::~IContext() = default;
-    IMutableContext::~IMutableContext() = default;
-    Context::~Context() = default;
-
-    SimplePcg32& rng() {
-        static SimplePcg32 s_rng;
-        return s_rng;
-    }
-
-}
-// end catch_context.cpp
-// start catch_debug_console.cpp
-
-// start catch_debug_console.h
-
-#include <string>
-
-namespace Catch {
-    void writeToDebugConsole( std::string const& text );
-}
-
-// end catch_debug_console.h
-#if defined(CATCH_CONFIG_ANDROID_LOGWRITE)
-#include <android/log.h>
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            __android_log_write( ANDROID_LOG_DEBUG, "Catch", text.c_str() );
-        }
-    }
-
-#elif defined(CATCH_PLATFORM_WINDOWS)
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            ::OutputDebugStringA( text.c_str() );
-        }
-    }
-
-#else
-
-    namespace Catch {
-        void writeToDebugConsole( std::string const& text ) {
-            // !TBD: Need a version for Mac/ XCode and other IDEs
-            Catch::cout() << text;
-        }
-    }
-
-#endif // Platform
-// end catch_debug_console.cpp
-// start catch_debugger.cpp
-
-#if defined(CATCH_PLATFORM_MAC) || defined(CATCH_PLATFORM_IPHONE)
-
-#  include <assert.h>
-#  include <stdbool.h>
-#  include <sys/types.h>
-#  include <unistd.h>
-#  include <cstddef>
-#  include <ostream>
-
-#ifdef __apple_build_version__
-    // These headers will only compile with AppleClang (XCode)
-    // For other compilers (Clang, GCC, ... ) we need to exclude them
-#  include <sys/sysctl.h>
-#endif
-
-    namespace Catch {
-        #ifdef __apple_build_version__
-        // The following function is taken directly from the following technical note:
-        // https://developer.apple.com/library/archive/qa/qa1361/_index.html
-
-        // Returns true if the current process is being debugged (either
-        // running under the debugger or has a debugger attached post facto).
-        bool isDebuggerActive(){
-            int                 mib[4];
-            struct kinfo_proc   info;
-            std::size_t         size;
-
-            // Initialize the flags so that, if sysctl fails for some bizarre
-            // reason, we get a predictable result.
-
-            info.kp_proc.p_flag = 0;
-
-            // Initialize mib, which tells sysctl the info we want, in this case
-            // we're looking for information about a specific process ID.
-
-            mib[0] = CTL_KERN;
-            mib[1] = KERN_PROC;
-            mib[2] = KERN_PROC_PID;
-            mib[3] = getpid();
-
-            // Call sysctl.
-
-            size = sizeof(info);
-            if( sysctl(mib, sizeof(mib) / sizeof(*mib), &info, &size, nullptr, 0) != 0 ) {
-                Catch::cerr() << "\n** Call to sysctl failed - unable to determine if debugger is active **\n" << std::endl;
-                return false;
-            }
-
-            // We're being debugged if the P_TRACED flag is set.
-
-            return ( (info.kp_proc.p_flag & P_TRACED) != 0 );
-        }
-        #else
-        bool isDebuggerActive() {
-            // We need to find another way to determine this for non-appleclang compilers on macOS
-            return false;
-        }
-        #endif
-    } // namespace Catch
-
-#elif defined(CATCH_PLATFORM_LINUX)
-    #include <fstream>
-    #include <string>
-
-    namespace Catch{
-        // The standard POSIX way of detecting a debugger is to attempt to
-        // ptrace() the process, but this needs to be done from a child and not
-        // this process itself to still allow attaching to this process later
-        // if wanted, so is rather heavy. Under Linux we have the PID of the
-        // "debugger" (which doesn't need to be gdb, of course, it could also
-        // be strace, for example) in /proc/$PID/status, so just get it from
-        // there instead.
-        bool isDebuggerActive(){
-            // Libstdc++ has a bug, where std::ifstream sets errno to 0
-            // This way our users can properly assert over errno values
-            ErrnoGuard guard;
-            std::ifstream in("/proc/self/status");
-            for( std::string line; std::getline(in, line); ) {
-                static const int PREFIX_LEN = 11;
-                if( line.compare(0, PREFIX_LEN, "TracerPid:\t") == 0 ) {
-                    // We're traced if the PID is not 0 and no other PID starts
-                    // with 0 digit, so it's enough to check for just a single
-                    // character.
-                    return line.length() > PREFIX_LEN && line[PREFIX_LEN] != '0';
-                }
-            }
-
-            return false;
-        }
-    } // namespace Catch
-#elif defined(_MSC_VER)
-    extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent();
-    namespace Catch {
-        bool isDebuggerActive() {
-            return IsDebuggerPresent() != 0;
-        }
-    }
-#elif defined(__MINGW32__)
-    extern "C" __declspec(dllimport) int __stdcall IsDebuggerPresent();
-    namespace Catch {
-        bool isDebuggerActive() {
-            return IsDebuggerPresent() != 0;
-        }
-    }
-#else
-    namespace Catch {
-       bool isDebuggerActive() { return false; }
-    }
-#endif // Platform
-// end catch_debugger.cpp
-// start catch_decomposer.cpp
-
-namespace Catch {
-
-    ITransientExpression::~ITransientExpression() = default;
-
-    void formatReconstructedExpression( std::ostream &os, std::string const& lhs, StringRef op, std::string const& rhs ) {
-        if( lhs.size() + rhs.size() < 40 &&
-                lhs.find('\n') == std::string::npos &&
-                rhs.find('\n') == std::string::npos )
-            os << lhs << " " << op << " " << rhs;
-        else
-            os << lhs << "\n" << op << "\n" << rhs;
-    }
-}
-// end catch_decomposer.cpp
-// start catch_enforce.cpp
-
-#include <stdexcept>
-
-namespace Catch {
-#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS_CUSTOM_HANDLER)
-    [[noreturn]]
-    void throw_exception(std::exception const& e) {
-        Catch::cerr() << "Catch will terminate because it needed to throw an exception.\n"
-                      << "The message was: " << e.what() << '\n';
-        std::terminate();
-    }
-#endif
-
-    [[noreturn]]
-    void throw_logic_error(std::string const& msg) {
-        throw_exception(std::logic_error(msg));
-    }
-
-    [[noreturn]]
-    void throw_domain_error(std::string const& msg) {
-        throw_exception(std::domain_error(msg));
-    }
-
-    [[noreturn]]
-    void throw_runtime_error(std::string const& msg) {
-        throw_exception(std::runtime_error(msg));
-    }
-
-} // namespace Catch;
-// end catch_enforce.cpp
-// start catch_enum_values_registry.cpp
-// start catch_enum_values_registry.h
-
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    namespace Detail {
-
-        std::unique_ptr<EnumInfo> makeEnumInfo( StringRef enumName, StringRef allValueNames, std::vector<int> const& values );
-
-        class EnumValuesRegistry : public IMutableEnumValuesRegistry {
-
-            std::vector<std::unique_ptr<EnumInfo>> m_enumInfos;
-
-            EnumInfo const& registerEnum( StringRef enumName, StringRef allEnums, std::vector<int> const& values) override;
-        };
-
-        std::vector<StringRef> parseEnums( StringRef enums );
-
-    } // Detail
-
-} // Catch
-
-// end catch_enum_values_registry.h
-
-#include <map>
-#include <cassert>
-
-namespace Catch {
-
-    IMutableEnumValuesRegistry::~IMutableEnumValuesRegistry() {}
-
-    namespace Detail {
-
-        namespace {
-            // Extracts the actual name part of an enum instance
-            // In other words, it returns the Blue part of Bikeshed::Colour::Blue
-            StringRef extractInstanceName(StringRef enumInstance) {
-                // Find last occurence of ":"
-                size_t name_start = enumInstance.size();
-                while (name_start > 0 && enumInstance[name_start - 1] != ':') {
-                    --name_start;
-                }
-                return enumInstance.substr(name_start, enumInstance.size() - name_start);
-            }
-        }
-
-        std::vector<StringRef> parseEnums( StringRef enums ) {
-            auto enumValues = splitStringRef( enums, ',' );
-            std::vector<StringRef> parsed;
-            parsed.reserve( enumValues.size() );
-            for( auto const& enumValue : enumValues ) {
-                parsed.push_back(trim(extractInstanceName(enumValue)));
-            }
-            return parsed;
-        }
-
-        EnumInfo::~EnumInfo() {}
-
-        StringRef EnumInfo::lookup( int value ) const {
-            for( auto const& valueToName : m_values ) {
-                if( valueToName.first == value )
-                    return valueToName.second;
-            }
-            return "{** unexpected enum value **}"_sr;
-        }
-
-        std::unique_ptr<EnumInfo> makeEnumInfo( StringRef enumName, StringRef allValueNames, std::vector<int> const& values ) {
-            std::unique_ptr<EnumInfo> enumInfo( new EnumInfo );
-            enumInfo->m_name = enumName;
-            enumInfo->m_values.reserve( values.size() );
-
-            const auto valueNames = Catch::Detail::parseEnums( allValueNames );
-            assert( valueNames.size() == values.size() );
-            std::size_t i = 0;
-            for( auto value : values )
-                enumInfo->m_values.emplace_back(value, valueNames[i++]);
-
-            return enumInfo;
-        }
-
-        EnumInfo const& EnumValuesRegistry::registerEnum( StringRef enumName, StringRef allValueNames, std::vector<int> const& values ) {
-            m_enumInfos.push_back(makeEnumInfo(enumName, allValueNames, values));
-            return *m_enumInfos.back();
-        }
-
-    } // Detail
-} // Catch
-
-// end catch_enum_values_registry.cpp
-// start catch_errno_guard.cpp
-
-#include <cerrno>
-
-namespace Catch {
-        ErrnoGuard::ErrnoGuard():m_oldErrno(errno){}
-        ErrnoGuard::~ErrnoGuard() { errno = m_oldErrno; }
-}
-// end catch_errno_guard.cpp
-// start catch_exception_translator_registry.cpp
-
-// start catch_exception_translator_registry.h
-
-#include <vector>
-#include <string>
-#include <memory>
-
-namespace Catch {
-
-    class ExceptionTranslatorRegistry : public IExceptionTranslatorRegistry {
-    public:
-        ~ExceptionTranslatorRegistry();
-        virtual void registerTranslator( const IExceptionTranslator* translator );
-        std::string translateActiveException() const override;
-        std::string tryTranslators() const;
-
-    private:
-        std::vector<std::unique_ptr<IExceptionTranslator const>> m_translators;
-    };
-}
-
-// end catch_exception_translator_registry.h
-#ifdef __OBJC__
-#import "Foundation/Foundation.h"
-#endif
-
-namespace Catch {
-
-    ExceptionTranslatorRegistry::~ExceptionTranslatorRegistry() {
-    }
-
-    void ExceptionTranslatorRegistry::registerTranslator( const IExceptionTranslator* translator ) {
-        m_translators.push_back( std::unique_ptr<const IExceptionTranslator>( translator ) );
-    }
-
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-    std::string ExceptionTranslatorRegistry::translateActiveException() const {
-        try {
-#ifdef __OBJC__
-            // In Objective-C try objective-c exceptions first
-            @try {
-                return tryTranslators();
-            }
-            @catch (NSException *exception) {
-                return Catch::Detail::stringify( [exception description] );
-            }
-#else
-            // Compiling a mixed mode project with MSVC means that CLR
-            // exceptions will be caught in (...) as well. However, these
-            // do not fill-in std::current_exception and thus lead to crash
-            // when attempting rethrow.
-            // /EHa switch also causes structured exceptions to be caught
-            // here, but they fill-in current_exception properly, so
-            // at worst the output should be a little weird, instead of
-            // causing a crash.
-            if (std::current_exception() == nullptr) {
-                return "Non C++ exception. Possibly a CLR exception.";
-            }
-            return tryTranslators();
-#endif
-        }
-        catch( TestFailureException& ) {
-            std::rethrow_exception(std::current_exception());
-        }
-        catch( std::exception& ex ) {
-            return ex.what();
-        }
-        catch( std::string& msg ) {
-            return msg;
-        }
-        catch( const char* msg ) {
-            return msg;
-        }
-        catch(...) {
-            return "Unknown exception";
-        }
-    }
-
-    std::string ExceptionTranslatorRegistry::tryTranslators() const {
-        if (m_translators.empty()) {
-            std::rethrow_exception(std::current_exception());
-        } else {
-            return m_translators[0]->translate(m_translators.begin() + 1, m_translators.end());
-        }
-    }
-
-#else // ^^ Exceptions are enabled // Exceptions are disabled vv
-    std::string ExceptionTranslatorRegistry::translateActiveException() const {
-        CATCH_INTERNAL_ERROR("Attempted to translate active exception under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
-    }
-
-    std::string ExceptionTranslatorRegistry::tryTranslators() const {
-        CATCH_INTERNAL_ERROR("Attempted to use exception translators under CATCH_CONFIG_DISABLE_EXCEPTIONS!");
-    }
-#endif
-
-}
-// end catch_exception_translator_registry.cpp
-// start catch_fatal_condition.cpp
-
-#if defined(__GNUC__)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wmissing-field-initializers"
-#endif
-
-#if defined( CATCH_CONFIG_WINDOWS_SEH ) || defined( CATCH_CONFIG_POSIX_SIGNALS )
-
-namespace {
-    // Report the error condition
-    void reportFatal( char const * const message ) {
-        Catch::getCurrentContext().getResultCapture()->handleFatalErrorCondition( message );
-    }
-}
-
-#endif // signals/SEH handling
-
-#if defined( CATCH_CONFIG_WINDOWS_SEH )
-
-namespace Catch {
-    struct SignalDefs { DWORD id; const char* name; };
-
-    // There is no 1-1 mapping between signals and windows exceptions.
-    // Windows can easily distinguish between SO and SigSegV,
-    // but SigInt, SigTerm, etc are handled differently.
-    static SignalDefs signalDefs[] = {
-        { static_cast<DWORD>(EXCEPTION_ILLEGAL_INSTRUCTION),  "SIGILL - Illegal instruction signal" },
-        { static_cast<DWORD>(EXCEPTION_STACK_OVERFLOW), "SIGSEGV - Stack overflow" },
-        { static_cast<DWORD>(EXCEPTION_ACCESS_VIOLATION), "SIGSEGV - Segmentation violation signal" },
-        { static_cast<DWORD>(EXCEPTION_INT_DIVIDE_BY_ZERO), "Divide by zero error" },
-    };
-
-    LONG CALLBACK FatalConditionHandler::handleVectoredException(PEXCEPTION_POINTERS ExceptionInfo) {
-        for (auto const& def : signalDefs) {
-            if (ExceptionInfo->ExceptionRecord->ExceptionCode == def.id) {
-                reportFatal(def.name);
-            }
-        }
-        // If its not an exception we care about, pass it along.
-        // This stops us from eating debugger breaks etc.
-        return EXCEPTION_CONTINUE_SEARCH;
-    }
-
-    FatalConditionHandler::FatalConditionHandler() {
-        isSet = true;
-        // 32k seems enough for Catch to handle stack overflow,
-        // but the value was found experimentally, so there is no strong guarantee
-        guaranteeSize = 32 * 1024;
-        exceptionHandlerHandle = nullptr;
-        // Register as first handler in current chain
-        exceptionHandlerHandle = AddVectoredExceptionHandler(1, handleVectoredException);
-        // Pass in guarantee size to be filled
-        SetThreadStackGuarantee(&guaranteeSize);
-    }
-
-    void FatalConditionHandler::reset() {
-        if (isSet) {
-            RemoveVectoredExceptionHandler(exceptionHandlerHandle);
-            SetThreadStackGuarantee(&guaranteeSize);
-            exceptionHandlerHandle = nullptr;
-            isSet = false;
-        }
-    }
-
-    FatalConditionHandler::~FatalConditionHandler() {
-        reset();
-    }
-
-bool FatalConditionHandler::isSet = false;
-ULONG FatalConditionHandler::guaranteeSize = 0;
-PVOID FatalConditionHandler::exceptionHandlerHandle = nullptr;
-
-} // namespace Catch
-
-#elif defined( CATCH_CONFIG_POSIX_SIGNALS )
-
-namespace Catch {
-
-    struct SignalDefs {
-        int id;
-        const char* name;
-    };
-
-    // 32kb for the alternate stack seems to be sufficient. However, this value
-    // is experimentally determined, so that's not guaranteed.
-    static constexpr std::size_t sigStackSize = 32768 >= MINSIGSTKSZ ? 32768 : MINSIGSTKSZ;
-
-    static SignalDefs signalDefs[] = {
-        { SIGINT,  "SIGINT - Terminal interrupt signal" },
-        { SIGILL,  "SIGILL - Illegal instruction signal" },
-        { SIGFPE,  "SIGFPE - Floating point error signal" },
-        { SIGSEGV, "SIGSEGV - Segmentation violation signal" },
-        { SIGTERM, "SIGTERM - Termination request signal" },
-        { SIGABRT, "SIGABRT - Abort (abnormal termination) signal" }
-    };
-
-    void FatalConditionHandler::handleSignal( int sig ) {
-        char const * name = "<unknown signal>";
-        for (auto const& def : signalDefs) {
-            if (sig == def.id) {
-                name = def.name;
-                break;
-            }
-        }
-        reset();
-        reportFatal(name);
-        raise( sig );
-    }
-
-    FatalConditionHandler::FatalConditionHandler() {
-        isSet = true;
-        stack_t sigStack;
-        sigStack.ss_sp = altStackMem;
-        sigStack.ss_size = sigStackSize;
-        sigStack.ss_flags = 0;
-        sigaltstack(&sigStack, &oldSigStack);
-        struct sigaction sa = { };
-
-        sa.sa_handler = handleSignal;
-        sa.sa_flags = SA_ONSTACK;
-        for (std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i) {
-            sigaction(signalDefs[i].id, &sa, &oldSigActions[i]);
-        }
-    }
-
-    FatalConditionHandler::~FatalConditionHandler() {
-        reset();
-    }
-
-    void FatalConditionHandler::reset() {
-        if( isSet ) {
-            // Set signals back to previous values -- hopefully nobody overwrote them in the meantime
-            for( std::size_t i = 0; i < sizeof(signalDefs)/sizeof(SignalDefs); ++i ) {
-                sigaction(signalDefs[i].id, &oldSigActions[i], nullptr);
-            }
-            // Return the old stack
-            sigaltstack(&oldSigStack, nullptr);
-            isSet = false;
-        }
-    }
-
-    bool FatalConditionHandler::isSet = false;
-    struct sigaction FatalConditionHandler::oldSigActions[sizeof(signalDefs)/sizeof(SignalDefs)] = {};
-    stack_t FatalConditionHandler::oldSigStack = {};
-    char FatalConditionHandler::altStackMem[sigStackSize] = {};
-
-} // namespace Catch
-
-#else
-
-namespace Catch {
-    void FatalConditionHandler::reset() {}
-}
-
-#endif // signals/SEH handling
-
-#if defined(__GNUC__)
-#    pragma GCC diagnostic pop
-#endif
-// end catch_fatal_condition.cpp
-// start catch_generators.cpp
-
-#include <limits>
-#include <set>
-
-namespace Catch {
-
-IGeneratorTracker::~IGeneratorTracker() {}
-
-const char* GeneratorException::what() const noexcept {
-    return m_msg;
-}
-
-namespace Generators {
-
-    GeneratorUntypedBase::~GeneratorUntypedBase() {}
-
-    auto acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& {
-        return getResultCapture().acquireGeneratorTracker( lineInfo );
-    }
-
-} // namespace Generators
-} // namespace Catch
-// end catch_generators.cpp
-// start catch_interfaces_capture.cpp
-
-namespace Catch {
-    IResultCapture::~IResultCapture() = default;
-}
-// end catch_interfaces_capture.cpp
-// start catch_interfaces_config.cpp
-
-namespace Catch {
-    IConfig::~IConfig() = default;
-}
-// end catch_interfaces_config.cpp
-// start catch_interfaces_exception.cpp
-
-namespace Catch {
-    IExceptionTranslator::~IExceptionTranslator() = default;
-    IExceptionTranslatorRegistry::~IExceptionTranslatorRegistry() = default;
-}
-// end catch_interfaces_exception.cpp
-// start catch_interfaces_registry_hub.cpp
-
-namespace Catch {
-    IRegistryHub::~IRegistryHub() = default;
-    IMutableRegistryHub::~IMutableRegistryHub() = default;
-}
-// end catch_interfaces_registry_hub.cpp
-// start catch_interfaces_reporter.cpp
-
-// start catch_reporter_listening.h
-
-namespace Catch {
-
-    class ListeningReporter : public IStreamingReporter {
-        using Reporters = std::vector<IStreamingReporterPtr>;
-        Reporters m_listeners;
-        IStreamingReporterPtr m_reporter = nullptr;
-        ReporterPreferences m_preferences;
-
-    public:
-        ListeningReporter();
-
-        void addListener( IStreamingReporterPtr&& listener );
-        void addReporter( IStreamingReporterPtr&& reporter );
-
-    public: // IStreamingReporter
-
-        ReporterPreferences getPreferences() const override;
-
-        void noMatchingTestCases( std::string const& spec ) override;
-
-        void reportInvalidArguments(std::string const&arg) override;
-
-        static std::set<Verbosity> getSupportedVerbosities();
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-        void benchmarkPreparing(std::string const& name) override;
-        void benchmarkStarting( BenchmarkInfo const& benchmarkInfo ) override;
-        void benchmarkEnded( BenchmarkStats<> const& benchmarkStats ) override;
-        void benchmarkFailed(std::string const&) override;
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-        void testRunStarting( TestRunInfo const& testRunInfo ) override;
-        void testGroupStarting( GroupInfo const& groupInfo ) override;
-        void testCaseStarting( TestCaseInfo const& testInfo ) override;
-        void sectionStarting( SectionInfo const& sectionInfo ) override;
-        void assertionStarting( AssertionInfo const& assertionInfo ) override;
-
-        // The return value indicates if the messages buffer should be cleared:
-        bool assertionEnded( AssertionStats const& assertionStats ) override;
-        void sectionEnded( SectionStats const& sectionStats ) override;
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override;
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override;
-        void testRunEnded( TestRunStats const& testRunStats ) override;
-
-        void skipTest( TestCaseInfo const& testInfo ) override;
-        bool isMulti() const override;
-
-    };
-
-} // end namespace Catch
-
-// end catch_reporter_listening.h
-namespace Catch {
-
-    ReporterConfig::ReporterConfig( IConfigPtr const& _fullConfig )
-    :   m_stream( &_fullConfig->stream() ), m_fullConfig( _fullConfig ) {}
-
-    ReporterConfig::ReporterConfig( IConfigPtr const& _fullConfig, std::ostream& _stream )
-    :   m_stream( &_stream ), m_fullConfig( _fullConfig ) {}
-
-    std::ostream& ReporterConfig::stream() const { return *m_stream; }
-    IConfigPtr ReporterConfig::fullConfig() const { return m_fullConfig; }
-
-    TestRunInfo::TestRunInfo( std::string const& _name ) : name( _name ) {}
-
-    GroupInfo::GroupInfo(  std::string const& _name,
-                           std::size_t _groupIndex,
-                           std::size_t _groupsCount )
-    :   name( _name ),
-        groupIndex( _groupIndex ),
-        groupsCounts( _groupsCount )
-    {}
-
-     AssertionStats::AssertionStats( AssertionResult const& _assertionResult,
-                                     std::vector<MessageInfo> const& _infoMessages,
-                                     Totals const& _totals )
-    :   assertionResult( _assertionResult ),
-        infoMessages( _infoMessages ),
-        totals( _totals )
-    {
-        assertionResult.m_resultData.lazyExpression.m_transientExpression = _assertionResult.m_resultData.lazyExpression.m_transientExpression;
-
-        if( assertionResult.hasMessage() ) {
-            // Copy message into messages list.
-            // !TBD This should have been done earlier, somewhere
-            MessageBuilder builder( assertionResult.getTestMacroName(), assertionResult.getSourceInfo(), assertionResult.getResultType() );
-            builder << assertionResult.getMessage();
-            builder.m_info.message = builder.m_stream.str();
-
-            infoMessages.push_back( builder.m_info );
-        }
-    }
-
-     AssertionStats::~AssertionStats() = default;
-
-    SectionStats::SectionStats(  SectionInfo const& _sectionInfo,
-                                 Counts const& _assertions,
-                                 double _durationInSeconds,
-                                 bool _missingAssertions )
-    :   sectionInfo( _sectionInfo ),
-        assertions( _assertions ),
-        durationInSeconds( _durationInSeconds ),
-        missingAssertions( _missingAssertions )
-    {}
-
-    SectionStats::~SectionStats() = default;
-
-    TestCaseStats::TestCaseStats(  TestCaseInfo const& _testInfo,
-                                   Totals const& _totals,
-                                   std::string const& _stdOut,
-                                   std::string const& _stdErr,
-                                   bool _aborting )
-    : testInfo( _testInfo ),
-        totals( _totals ),
-        stdOut( _stdOut ),
-        stdErr( _stdErr ),
-        aborting( _aborting )
-    {}
-
-    TestCaseStats::~TestCaseStats() = default;
-
-    TestGroupStats::TestGroupStats( GroupInfo const& _groupInfo,
-                                    Totals const& _totals,
-                                    bool _aborting )
-    :   groupInfo( _groupInfo ),
-        totals( _totals ),
-        aborting( _aborting )
-    {}
-
-    TestGroupStats::TestGroupStats( GroupInfo const& _groupInfo )
-    :   groupInfo( _groupInfo ),
-        aborting( false )
-    {}
-
-    TestGroupStats::~TestGroupStats() = default;
-
-    TestRunStats::TestRunStats(   TestRunInfo const& _runInfo,
-                    Totals const& _totals,
-                    bool _aborting )
-    :   runInfo( _runInfo ),
-        totals( _totals ),
-        aborting( _aborting )
-    {}
-
-    TestRunStats::~TestRunStats() = default;
-
-    void IStreamingReporter::fatalErrorEncountered( StringRef ) {}
-    bool IStreamingReporter::isMulti() const { return false; }
-
-    IReporterFactory::~IReporterFactory() = default;
-    IReporterRegistry::~IReporterRegistry() = default;
-
-} // end namespace Catch
-// end catch_interfaces_reporter.cpp
-// start catch_interfaces_runner.cpp
-
-namespace Catch {
-    IRunner::~IRunner() = default;
-}
-// end catch_interfaces_runner.cpp
-// start catch_interfaces_testcase.cpp
-
-namespace Catch {
-    ITestInvoker::~ITestInvoker() = default;
-    ITestCaseRegistry::~ITestCaseRegistry() = default;
-}
-// end catch_interfaces_testcase.cpp
-// start catch_leak_detector.cpp
-
-#ifdef CATCH_CONFIG_WINDOWS_CRTDBG
-#include <crtdbg.h>
-
-namespace Catch {
-
-    LeakDetector::LeakDetector() {
-        int flag = _CrtSetDbgFlag(_CRTDBG_REPORT_FLAG);
-        flag |= _CRTDBG_LEAK_CHECK_DF;
-        flag |= _CRTDBG_ALLOC_MEM_DF;
-        _CrtSetDbgFlag(flag);
-        _CrtSetReportMode(_CRT_WARN, _CRTDBG_MODE_FILE | _CRTDBG_MODE_DEBUG);
-        _CrtSetReportFile(_CRT_WARN, _CRTDBG_FILE_STDERR);
-        // Change this to leaking allocation's number to break there
-        _CrtSetBreakAlloc(-1);
-    }
-}
-
-#else
-
-    Catch::LeakDetector::LeakDetector() {}
-
-#endif
-
-Catch::LeakDetector::~LeakDetector() {
-    Catch::cleanUp();
-}
-// end catch_leak_detector.cpp
-// start catch_list.cpp
-
-// start catch_list.h
-
-#include <set>
-
-namespace Catch {
-
-    std::size_t listTests( Config const& config );
-
-    std::size_t listTestsNamesOnly( Config const& config );
-
-    struct TagInfo {
-        void add( std::string const& spelling );
-        std::string all() const;
-
-        std::set<std::string> spellings;
-        std::size_t count = 0;
-    };
-
-    std::size_t listTags( Config const& config );
-
-    std::size_t listReporters();
-
-    Option<std::size_t> list( std::shared_ptr<Config> const& config );
-
-} // end namespace Catch
-
-// end catch_list.h
-// start catch_text.h
-
-namespace Catch {
-    using namespace clara::TextFlow;
-}
-
-// end catch_text.h
-#include <limits>
-#include <algorithm>
-#include <iomanip>
-
-namespace Catch {
-
-    std::size_t listTests( Config const& config ) {
-        TestSpec const& testSpec = config.testSpec();
-        if( config.hasTestFilters() )
-            Catch::cout() << "Matching test cases:\n";
-        else {
-            Catch::cout() << "All available test cases:\n";
-        }
-
-        auto matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCaseInfo : matchedTestCases ) {
-            Colour::Code colour = testCaseInfo.isHidden()
-                ? Colour::SecondaryText
-                : Colour::None;
-            Colour colourGuard( colour );
-
-            Catch::cout() << Column( testCaseInfo.name ).initialIndent( 2 ).indent( 4 ) << "\n";
-            if( config.verbosity() >= Verbosity::High ) {
-                Catch::cout() << Column( Catch::Detail::stringify( testCaseInfo.lineInfo ) ).indent(4) << std::endl;
-                std::string description = testCaseInfo.description;
-                if( description.empty() )
-                    description = "(NO DESCRIPTION)";
-                Catch::cout() << Column( description ).indent(4) << std::endl;
-            }
-            if( !testCaseInfo.tags.empty() )
-                Catch::cout() << Column( testCaseInfo.tagsAsString() ).indent( 6 ) << "\n";
-        }
-
-        if( !config.hasTestFilters() )
-            Catch::cout() << pluralise( matchedTestCases.size(), "test case" ) << '\n' << std::endl;
-        else
-            Catch::cout() << pluralise( matchedTestCases.size(), "matching test case" ) << '\n' << std::endl;
-        return matchedTestCases.size();
-    }
-
-    std::size_t listTestsNamesOnly( Config const& config ) {
-        TestSpec const& testSpec = config.testSpec();
-        std::size_t matchedTests = 0;
-        std::vector<TestCase> matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCaseInfo : matchedTestCases ) {
-            matchedTests++;
-            if( startsWith( testCaseInfo.name, '#' ) )
-               Catch::cout() << '"' << testCaseInfo.name << '"';
-            else
-               Catch::cout() << testCaseInfo.name;
-            if ( config.verbosity() >= Verbosity::High )
-                Catch::cout() << "\t@" << testCaseInfo.lineInfo;
-            Catch::cout() << std::endl;
-        }
-        return matchedTests;
-    }
-
-    void TagInfo::add( std::string const& spelling ) {
-        ++count;
-        spellings.insert( spelling );
-    }
-
-    std::string TagInfo::all() const {
-        size_t size = 0;
-        for (auto const& spelling : spellings) {
-            // Add 2 for the brackes
-            size += spelling.size() + 2;
-        }
-
-        std::string out; out.reserve(size);
-        for (auto const& spelling : spellings) {
-            out += '[';
-            out += spelling;
-            out += ']';
-        }
-        return out;
-    }
-
-    std::size_t listTags( Config const& config ) {
-        TestSpec const& testSpec = config.testSpec();
-        if( config.hasTestFilters() )
-            Catch::cout() << "Tags for matching test cases:\n";
-        else {
-            Catch::cout() << "All available tags:\n";
-        }
-
-        std::map<std::string, TagInfo> tagCounts;
-
-        std::vector<TestCase> matchedTestCases = filterTests( getAllTestCasesSorted( config ), testSpec, config );
-        for( auto const& testCase : matchedTestCases ) {
-            for( auto const& tagName : testCase.getTestCaseInfo().tags ) {
-                std::string lcaseTagName = toLower( tagName );
-                auto countIt = tagCounts.find( lcaseTagName );
-                if( countIt == tagCounts.end() )
-                    countIt = tagCounts.insert( std::make_pair( lcaseTagName, TagInfo() ) ).first;
-                countIt->second.add( tagName );
-            }
-        }
-
-        for( auto const& tagCount : tagCounts ) {
-            ReusableStringStream rss;
-            rss << "  " << std::setw(2) << tagCount.second.count << "  ";
-            auto str = rss.str();
-            auto wrapper = Column( tagCount.second.all() )
-                                                    .initialIndent( 0 )
-                                                    .indent( str.size() )
-                                                    .width( CATCH_CONFIG_CONSOLE_WIDTH-10 );
-            Catch::cout() << str << wrapper << '\n';
-        }
-        Catch::cout() << pluralise( tagCounts.size(), "tag" ) << '\n' << std::endl;
-        return tagCounts.size();
-    }
-
-    std::size_t listReporters() {
-        Catch::cout() << "Available reporters:\n";
-        IReporterRegistry::FactoryMap const& factories = getRegistryHub().getReporterRegistry().getFactories();
-        std::size_t maxNameLen = 0;
-        for( auto const& factoryKvp : factories )
-            maxNameLen = (std::max)( maxNameLen, factoryKvp.first.size() );
-
-        for( auto const& factoryKvp : factories ) {
-            Catch::cout()
-                    << Column( factoryKvp.first + ":" )
-                            .indent(2)
-                            .width( 5+maxNameLen )
-                    +  Column( factoryKvp.second->getDescription() )
-                            .initialIndent(0)
-                            .indent(2)
-                            .width( CATCH_CONFIG_CONSOLE_WIDTH - maxNameLen-8 )
-                    << "\n";
-        }
-        Catch::cout() << std::endl;
-        return factories.size();
-    }
-
-    Option<std::size_t> list( std::shared_ptr<Config> const& config ) {
-        Option<std::size_t> listedCount;
-        getCurrentMutableContext().setConfig( config );
-        if( config->listTests() )
-            listedCount = listedCount.valueOr(0) + listTests( *config );
-        if( config->listTestNamesOnly() )
-            listedCount = listedCount.valueOr(0) + listTestsNamesOnly( *config );
-        if( config->listTags() )
-            listedCount = listedCount.valueOr(0) + listTags( *config );
-        if( config->listReporters() )
-            listedCount = listedCount.valueOr(0) + listReporters();
-        return listedCount;
-    }
-
-} // end namespace Catch
-// end catch_list.cpp
-// start catch_matchers.cpp
-
-namespace Catch {
-namespace Matchers {
-    namespace Impl {
-
-        std::string MatcherUntypedBase::toString() const {
-            if( m_cachedToString.empty() )
-                m_cachedToString = describe();
-            return m_cachedToString;
-        }
-
-        MatcherUntypedBase::~MatcherUntypedBase() = default;
-
-    } // namespace Impl
-} // namespace Matchers
-
-using namespace Matchers;
-using Matchers::Impl::MatcherBase;
-
-} // namespace Catch
-// end catch_matchers.cpp
-// start catch_matchers_exception.cpp
-
-namespace Catch {
-namespace Matchers {
-namespace Exception {
-
-bool ExceptionMessageMatcher::match(std::exception const& ex) const {
-    return ex.what() == m_message;
-}
-
-std::string ExceptionMessageMatcher::describe() const {
-    return "exception message matches \"" + m_message + "\"";
-}
-
-}
-Exception::ExceptionMessageMatcher Message(std::string const& message) {
-    return Exception::ExceptionMessageMatcher(message);
-}
-
-// namespace Exception
-} // namespace Matchers
-} // namespace Catch
-// end catch_matchers_exception.cpp
-// start catch_matchers_floating.cpp
-
-// start catch_polyfills.hpp
-
-namespace Catch {
-    bool isnan(float f);
-    bool isnan(double d);
-}
-
-// end catch_polyfills.hpp
-// start catch_to_string.hpp
-
-#include <string>
-
-namespace Catch {
-    template <typename T>
-    std::string to_string(T const& t) {
-#if defined(CATCH_CONFIG_CPP11_TO_STRING)
-        return std::to_string(t);
-#else
-        ReusableStringStream rss;
-        rss << t;
-        return rss.str();
-#endif
-    }
-} // end namespace Catch
-
-// end catch_to_string.hpp
-#include <algorithm>
-#include <cmath>
-#include <cstdlib>
-#include <cstdint>
-#include <cstring>
-#include <sstream>
-#include <type_traits>
-#include <iomanip>
-#include <limits>
-
-namespace Catch {
-namespace {
-
-    int32_t convert(float f) {
-        static_assert(sizeof(float) == sizeof(int32_t), "Important ULP matcher assumption violated");
-        int32_t i;
-        std::memcpy(&i, &f, sizeof(f));
-        return i;
-    }
-
-    int64_t convert(double d) {
-        static_assert(sizeof(double) == sizeof(int64_t), "Important ULP matcher assumption violated");
-        int64_t i;
-        std::memcpy(&i, &d, sizeof(d));
-        return i;
-    }
-
-    template <typename FP>
-    bool almostEqualUlps(FP lhs, FP rhs, uint64_t maxUlpDiff) {
-        // Comparison with NaN should always be false.
-        // This way we can rule it out before getting into the ugly details
-        if (Catch::isnan(lhs) || Catch::isnan(rhs)) {
-            return false;
-        }
-
-        auto lc = convert(lhs);
-        auto rc = convert(rhs);
-
-        if ((lc < 0) != (rc < 0)) {
-            // Potentially we can have +0 and -0
-            return lhs == rhs;
-        }
-
-        auto ulpDiff = std::abs(lc - rc);
-        return static_cast<uint64_t>(ulpDiff) <= maxUlpDiff;
-    }
-
-#if defined(CATCH_CONFIG_GLOBAL_NEXTAFTER)
-
-    float nextafter(float x, float y) {
-        return ::nextafterf(x, y);
-    }
-
-    double nextafter(double x, double y) {
-        return ::nextafter(x, y);
-    }
-
-#endif // ^^^ CATCH_CONFIG_GLOBAL_NEXTAFTER ^^^
-
-template <typename FP>
-FP step(FP start, FP direction, uint64_t steps) {
-    for (uint64_t i = 0; i < steps; ++i) {
-#if defined(CATCH_CONFIG_GLOBAL_NEXTAFTER)
-        start = Catch::nextafter(start, direction);
-#else
-        start = std::nextafter(start, direction);
-#endif
-    }
-    return start;
-}
-
-// Performs equivalent check of std::fabs(lhs - rhs) <= margin
-// But without the subtraction to allow for INFINITY in comparison
-bool marginComparison(double lhs, double rhs, double margin) {
-    return (lhs + margin >= rhs) && (rhs + margin >= lhs);
-}
-
-template <typename FloatingPoint>
-void write(std::ostream& out, FloatingPoint num) {
-    out << std::scientific
-        << std::setprecision(std::numeric_limits<FloatingPoint>::max_digits10 - 1)
-        << num;
-}
-
-} // end anonymous namespace
-
-namespace Matchers {
-namespace Floating {
-
-    enum class FloatingPointKind : uint8_t {
-        Float,
-        Double
-    };
-
-    WithinAbsMatcher::WithinAbsMatcher(double target, double margin)
-        :m_target{ target }, m_margin{ margin } {
-        CATCH_ENFORCE(margin >= 0, "Invalid margin: " << margin << '.'
-            << " Margin has to be non-negative.");
-    }
-
-    // Performs equivalent check of std::fabs(lhs - rhs) <= margin
-    // But without the subtraction to allow for INFINITY in comparison
-    bool WithinAbsMatcher::match(double const& matchee) const {
-        return (matchee + m_margin >= m_target) && (m_target + m_margin >= matchee);
-    }
-
-    std::string WithinAbsMatcher::describe() const {
-        return "is within " + ::Catch::Detail::stringify(m_margin) + " of " + ::Catch::Detail::stringify(m_target);
-    }
-
-    WithinUlpsMatcher::WithinUlpsMatcher(double target, uint64_t ulps, FloatingPointKind baseType)
-        :m_target{ target }, m_ulps{ ulps }, m_type{ baseType } {
-        CATCH_ENFORCE(m_type == FloatingPointKind::Double
-                   || m_ulps < (std::numeric_limits<uint32_t>::max)(),
-            "Provided ULP is impossibly large for a float comparison.");
-    }
-
-#if defined(__clang__)
-#pragma clang diagnostic push
-// Clang <3.5 reports on the default branch in the switch below
-#pragma clang diagnostic ignored "-Wunreachable-code"
-#endif
-
-    bool WithinUlpsMatcher::match(double const& matchee) const {
-        switch (m_type) {
-        case FloatingPointKind::Float:
-            return almostEqualUlps<float>(static_cast<float>(matchee), static_cast<float>(m_target), m_ulps);
-        case FloatingPointKind::Double:
-            return almostEqualUlps<double>(matchee, m_target, m_ulps);
-        default:
-            CATCH_INTERNAL_ERROR( "Unknown FloatingPointKind value" );
-        }
-    }
-
-#if defined(__clang__)
-#pragma clang diagnostic pop
-#endif
-
-    std::string WithinUlpsMatcher::describe() const {
-        std::stringstream ret;
-
-        ret << "is within " << m_ulps << " ULPs of ";
-
-        if (m_type == FloatingPointKind::Float) {
-            write(ret, static_cast<float>(m_target));
-            ret << 'f';
-        } else {
-            write(ret, m_target);
-        }
-
-        ret << " ([";
-        if (m_type == FloatingPointKind::Double) {
-            write(ret, step(m_target, static_cast<double>(-INFINITY), m_ulps));
-            ret << ", ";
-            write(ret, step(m_target, static_cast<double>( INFINITY), m_ulps));
-        } else {
-            // We have to cast INFINITY to float because of MinGW, see #1782
-            write(ret, step(static_cast<float>(m_target), static_cast<float>(-INFINITY), m_ulps));
-            ret << ", ";
-            write(ret, step(static_cast<float>(m_target), static_cast<float>( INFINITY), m_ulps));
-        }
-        ret << "])";
-
-        return ret.str();
-    }
-
-    WithinRelMatcher::WithinRelMatcher(double target, double epsilon):
-        m_target(target),
-        m_epsilon(epsilon){
-        CATCH_ENFORCE(m_epsilon >= 0., "Relative comparison with epsilon <  0 does not make sense.");
-        CATCH_ENFORCE(m_epsilon  < 1., "Relative comparison with epsilon >= 1 does not make sense.");
-    }
-
-    bool WithinRelMatcher::match(double const& matchee) const {
-        const auto relMargin = m_epsilon * (std::max)(std::fabs(matchee), std::fabs(m_target));
-        return marginComparison(matchee, m_target,
-                                std::isinf(relMargin)? 0 : relMargin);
-    }
-
-    std::string WithinRelMatcher::describe() const {
-        Catch::ReusableStringStream sstr;
-        sstr << "and " << m_target << " are within " << m_epsilon * 100. << "% of each other";
-        return sstr.str();
-    }
-
-}// namespace Floating
-
-Floating::WithinUlpsMatcher WithinULP(double target, uint64_t maxUlpDiff) {
-    return Floating::WithinUlpsMatcher(target, maxUlpDiff, Floating::FloatingPointKind::Double);
-}
-
-Floating::WithinUlpsMatcher WithinULP(float target, uint64_t maxUlpDiff) {
-    return Floating::WithinUlpsMatcher(target, maxUlpDiff, Floating::FloatingPointKind::Float);
-}
-
-Floating::WithinAbsMatcher WithinAbs(double target, double margin) {
-    return Floating::WithinAbsMatcher(target, margin);
-}
-
-Floating::WithinRelMatcher WithinRel(double target, double eps) {
-    return Floating::WithinRelMatcher(target, eps);
-}
-
-Floating::WithinRelMatcher WithinRel(double target) {
-    return Floating::WithinRelMatcher(target, std::numeric_limits<double>::epsilon() * 100);
-}
-
-Floating::WithinRelMatcher WithinRel(float target, float eps) {
-    return Floating::WithinRelMatcher(target, eps);
-}
-
-Floating::WithinRelMatcher WithinRel(float target) {
-    return Floating::WithinRelMatcher(target, std::numeric_limits<float>::epsilon() * 100);
-}
-
-} // namespace Matchers
-} // namespace Catch
-
-// end catch_matchers_floating.cpp
-// start catch_matchers_generic.cpp
-
-std::string Catch::Matchers::Generic::Detail::finalizeDescription(const std::string& desc) {
-    if (desc.empty()) {
-        return "matches undescribed predicate";
-    } else {
-        return "matches predicate: \"" + desc + '"';
-    }
-}
-// end catch_matchers_generic.cpp
-// start catch_matchers_string.cpp
-
-#include <regex>
-
-namespace Catch {
-namespace Matchers {
-
-    namespace StdString {
-
-        CasedString::CasedString( std::string const& str, CaseSensitive::Choice caseSensitivity )
-        :   m_caseSensitivity( caseSensitivity ),
-            m_str( adjustString( str ) )
-        {}
-        std::string CasedString::adjustString( std::string const& str ) const {
-            return m_caseSensitivity == CaseSensitive::No
-                   ? toLower( str )
-                   : str;
-        }
-        std::string CasedString::caseSensitivitySuffix() const {
-            return m_caseSensitivity == CaseSensitive::No
-                   ? " (case insensitive)"
-                   : std::string();
-        }
-
-        StringMatcherBase::StringMatcherBase( std::string const& operation, CasedString const& comparator )
-        : m_comparator( comparator ),
-          m_operation( operation ) {
-        }
-
-        std::string StringMatcherBase::describe() const {
-            std::string description;
-            description.reserve(5 + m_operation.size() + m_comparator.m_str.size() +
-                                        m_comparator.caseSensitivitySuffix().size());
-            description += m_operation;
-            description += ": \"";
-            description += m_comparator.m_str;
-            description += "\"";
-            description += m_comparator.caseSensitivitySuffix();
-            return description;
-        }
-
-        EqualsMatcher::EqualsMatcher( CasedString const& comparator ) : StringMatcherBase( "equals", comparator ) {}
-
-        bool EqualsMatcher::match( std::string const& source ) const {
-            return m_comparator.adjustString( source ) == m_comparator.m_str;
-        }
-
-        ContainsMatcher::ContainsMatcher( CasedString const& comparator ) : StringMatcherBase( "contains", comparator ) {}
-
-        bool ContainsMatcher::match( std::string const& source ) const {
-            return contains( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        StartsWithMatcher::StartsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "starts with", comparator ) {}
-
-        bool StartsWithMatcher::match( std::string const& source ) const {
-            return startsWith( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        EndsWithMatcher::EndsWithMatcher( CasedString const& comparator ) : StringMatcherBase( "ends with", comparator ) {}
-
-        bool EndsWithMatcher::match( std::string const& source ) const {
-            return endsWith( m_comparator.adjustString( source ), m_comparator.m_str );
-        }
-
-        RegexMatcher::RegexMatcher(std::string regex, CaseSensitive::Choice caseSensitivity): m_regex(std::move(regex)), m_caseSensitivity(caseSensitivity) {}
-
-        bool RegexMatcher::match(std::string const& matchee) const {
-            auto flags = std::regex::ECMAScript; // ECMAScript is the default syntax option anyway
-            if (m_caseSensitivity == CaseSensitive::Choice::No) {
-                flags |= std::regex::icase;
-            }
-            auto reg = std::regex(m_regex, flags);
-            return std::regex_match(matchee, reg);
-        }
-
-        std::string RegexMatcher::describe() const {
-            return "matches " + ::Catch::Detail::stringify(m_regex) + ((m_caseSensitivity == CaseSensitive::Choice::Yes)? " case sensitively" : " case insensitively");
-        }
-
-    } // namespace StdString
-
-    StdString::EqualsMatcher Equals( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::EqualsMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::ContainsMatcher Contains( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::ContainsMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::EndsWithMatcher EndsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::EndsWithMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-    StdString::StartsWithMatcher StartsWith( std::string const& str, CaseSensitive::Choice caseSensitivity ) {
-        return StdString::StartsWithMatcher( StdString::CasedString( str, caseSensitivity) );
-    }
-
-    StdString::RegexMatcher Matches(std::string const& regex, CaseSensitive::Choice caseSensitivity) {
-        return StdString::RegexMatcher(regex, caseSensitivity);
-    }
-
-} // namespace Matchers
-} // namespace Catch
-// end catch_matchers_string.cpp
-// start catch_message.cpp
-
-// start catch_uncaught_exceptions.h
-
-namespace Catch {
-    bool uncaught_exceptions();
-} // end namespace Catch
-
-// end catch_uncaught_exceptions.h
-#include <cassert>
-#include <stack>
-
-namespace Catch {
-
-    MessageInfo::MessageInfo(   StringRef const& _macroName,
-                                SourceLineInfo const& _lineInfo,
-                                ResultWas::OfType _type )
-    :   macroName( _macroName ),
-        lineInfo( _lineInfo ),
-        type( _type ),
-        sequence( ++globalCount )
-    {}
-
-    bool MessageInfo::operator==( MessageInfo const& other ) const {
-        return sequence == other.sequence;
-    }
-
-    bool MessageInfo::operator<( MessageInfo const& other ) const {
-        return sequence < other.sequence;
-    }
-
-    // This may need protecting if threading support is added
-    unsigned int MessageInfo::globalCount = 0;
-
-    ////////////////////////////////////////////////////////////////////////////
-
-    Catch::MessageBuilder::MessageBuilder( StringRef const& macroName,
-                                           SourceLineInfo const& lineInfo,
-                                           ResultWas::OfType type )
-        :m_info(macroName, lineInfo, type) {}
-
-    ////////////////////////////////////////////////////////////////////////////
-
-    ScopedMessage::ScopedMessage( MessageBuilder const& builder )
-    : m_info( builder.m_info ), m_moved()
-    {
-        m_info.message = builder.m_stream.str();
-        getResultCapture().pushScopedMessage( m_info );
-    }
-
-    ScopedMessage::ScopedMessage( ScopedMessage&& old )
-    : m_info( old.m_info ), m_moved()
-    {
-        old.m_moved = true;
-    }
-
-    ScopedMessage::~ScopedMessage() {
-        if ( !uncaught_exceptions() && !m_moved ){
-            getResultCapture().popScopedMessage(m_info);
-        }
-    }
-
-    Capturer::Capturer( StringRef macroName, SourceLineInfo const& lineInfo, ResultWas::OfType resultType, StringRef names ) {
-        auto trimmed = [&] (size_t start, size_t end) {
-            while (names[start] == ',' || isspace(names[start])) {
-                ++start;
-            }
-            while (names[end] == ',' || isspace(names[end])) {
-                --end;
-            }
-            return names.substr(start, end - start + 1);
-        };
-        auto skipq = [&] (size_t start, char quote) {
-            for (auto i = start + 1; i < names.size() ; ++i) {
-                if (names[i] == quote)
-                    return i;
-                if (names[i] == '\\')
-                    ++i;
-            }
-            CATCH_INTERNAL_ERROR("CAPTURE parsing encountered unmatched quote");
-        };
-
-        size_t start = 0;
-        std::stack<char> openings;
-        for (size_t pos = 0; pos < names.size(); ++pos) {
-            char c = names[pos];
-            switch (c) {
-            case '[':
-            case '{':
-            case '(':
-            // It is basically impossible to disambiguate between
-            // comparison and start of template args in this context
-//            case '<':
-                openings.push(c);
-                break;
-            case ']':
-            case '}':
-            case ')':
-//           case '>':
-                openings.pop();
-                break;
-            case '"':
-            case '\'':
-                pos = skipq(pos, c);
-                break;
-            case ',':
-                if (start != pos && openings.empty()) {
-                    m_messages.emplace_back(macroName, lineInfo, resultType);
-                    m_messages.back().message = static_cast<std::string>(trimmed(start, pos));
-                    m_messages.back().message += " := ";
-                    start = pos;
-                }
-            }
-        }
-        assert(openings.empty() && "Mismatched openings");
-        m_messages.emplace_back(macroName, lineInfo, resultType);
-        m_messages.back().message = static_cast<std::string>(trimmed(start, names.size() - 1));
-        m_messages.back().message += " := ";
-    }
-    Capturer::~Capturer() {
-        if ( !uncaught_exceptions() ){
-            assert( m_captured == m_messages.size() );
-            for( size_t i = 0; i < m_captured; ++i  )
-                m_resultCapture.popScopedMessage( m_messages[i] );
-        }
-    }
-
-    void Capturer::captureValue( size_t index, std::string const& value ) {
-        assert( index < m_messages.size() );
-        m_messages[index].message += value;
-        m_resultCapture.pushScopedMessage( m_messages[index] );
-        m_captured++;
-    }
-
-} // end namespace Catch
-// end catch_message.cpp
-// start catch_output_redirect.cpp
-
-// start catch_output_redirect.h
-#ifndef TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-#define TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-
-#include <cstdio>
-#include <iosfwd>
-#include <string>
-
-namespace Catch {
-
-    class RedirectedStream {
-        std::ostream& m_originalStream;
-        std::ostream& m_redirectionStream;
-        std::streambuf* m_prevBuf;
-
-    public:
-        RedirectedStream( std::ostream& originalStream, std::ostream& redirectionStream );
-        ~RedirectedStream();
-    };
-
-    class RedirectedStdOut {
-        ReusableStringStream m_rss;
-        RedirectedStream m_cout;
-    public:
-        RedirectedStdOut();
-        auto str() const -> std::string;
-    };
-
-    // StdErr has two constituent streams in C++, std::cerr and std::clog
-    // This means that we need to redirect 2 streams into 1 to keep proper
-    // order of writes
-    class RedirectedStdErr {
-        ReusableStringStream m_rss;
-        RedirectedStream m_cerr;
-        RedirectedStream m_clog;
-    public:
-        RedirectedStdErr();
-        auto str() const -> std::string;
-    };
-
-    class RedirectedStreams {
-    public:
-        RedirectedStreams(RedirectedStreams const&) = delete;
-        RedirectedStreams& operator=(RedirectedStreams const&) = delete;
-        RedirectedStreams(RedirectedStreams&&) = delete;
-        RedirectedStreams& operator=(RedirectedStreams&&) = delete;
-
-        RedirectedStreams(std::string& redirectedCout, std::string& redirectedCerr);
-        ~RedirectedStreams();
-    private:
-        std::string& m_redirectedCout;
-        std::string& m_redirectedCerr;
-        RedirectedStdOut m_redirectedStdOut;
-        RedirectedStdErr m_redirectedStdErr;
-    };
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-
-    // Windows's implementation of std::tmpfile is terrible (it tries
-    // to create a file inside system folder, thus requiring elevated
-    // privileges for the binary), so we have to use tmpnam(_s) and
-    // create the file ourselves there.
-    class TempFile {
-    public:
-        TempFile(TempFile const&) = delete;
-        TempFile& operator=(TempFile const&) = delete;
-        TempFile(TempFile&&) = delete;
-        TempFile& operator=(TempFile&&) = delete;
-
-        TempFile();
-        ~TempFile();
-
-        std::FILE* getFile();
-        std::string getContents();
-
-    private:
-        std::FILE* m_file = nullptr;
-    #if defined(_MSC_VER)
-        char m_buffer[L_tmpnam] = { 0 };
-    #endif
-    };
-
-    class OutputRedirect {
-    public:
-        OutputRedirect(OutputRedirect const&) = delete;
-        OutputRedirect& operator=(OutputRedirect const&) = delete;
-        OutputRedirect(OutputRedirect&&) = delete;
-        OutputRedirect& operator=(OutputRedirect&&) = delete;
-
-        OutputRedirect(std::string& stdout_dest, std::string& stderr_dest);
-        ~OutputRedirect();
-
-    private:
-        int m_originalStdout = -1;
-        int m_originalStderr = -1;
-        TempFile m_stdoutFile;
-        TempFile m_stderrFile;
-        std::string& m_stdoutDest;
-        std::string& m_stderrDest;
-    };
-
-#endif
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_OUTPUT_REDIRECT_H
-// end catch_output_redirect.h
-#include <cstdio>
-#include <cstring>
-#include <fstream>
-#include <sstream>
-#include <stdexcept>
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-    #if defined(_MSC_VER)
-    #include <io.h>      //_dup and _dup2
-    #define dup _dup
-    #define dup2 _dup2
-    #define fileno _fileno
-    #else
-    #include <unistd.h>  // dup and dup2
-    #endif
-#endif
-
-namespace Catch {
-
-    RedirectedStream::RedirectedStream( std::ostream& originalStream, std::ostream& redirectionStream )
-    :   m_originalStream( originalStream ),
-        m_redirectionStream( redirectionStream ),
-        m_prevBuf( m_originalStream.rdbuf() )
-    {
-        m_originalStream.rdbuf( m_redirectionStream.rdbuf() );
-    }
-
-    RedirectedStream::~RedirectedStream() {
-        m_originalStream.rdbuf( m_prevBuf );
-    }
-
-    RedirectedStdOut::RedirectedStdOut() : m_cout( Catch::cout(), m_rss.get() ) {}
-    auto RedirectedStdOut::str() const -> std::string { return m_rss.str(); }
-
-    RedirectedStdErr::RedirectedStdErr()
-    :   m_cerr( Catch::cerr(), m_rss.get() ),
-        m_clog( Catch::clog(), m_rss.get() )
-    {}
-    auto RedirectedStdErr::str() const -> std::string { return m_rss.str(); }
-
-    RedirectedStreams::RedirectedStreams(std::string& redirectedCout, std::string& redirectedCerr)
-    :   m_redirectedCout(redirectedCout),
-        m_redirectedCerr(redirectedCerr)
-    {}
-
-    RedirectedStreams::~RedirectedStreams() {
-        m_redirectedCout += m_redirectedStdOut.str();
-        m_redirectedCerr += m_redirectedStdErr.str();
-    }
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-
-#if defined(_MSC_VER)
-    TempFile::TempFile() {
-        if (tmpnam_s(m_buffer)) {
-            CATCH_RUNTIME_ERROR("Could not get a temp filename");
-        }
-        if (fopen_s(&m_file, m_buffer, "w")) {
-            char buffer[100];
-            if (strerror_s(buffer, errno)) {
-                CATCH_RUNTIME_ERROR("Could not translate errno to a string");
-            }
-            CATCH_RUNTIME_ERROR("Could not open the temp file: '" << m_buffer << "' because: " << buffer);
-        }
-    }
-#else
-    TempFile::TempFile() {
-        m_file = std::tmpfile();
-        if (!m_file) {
-            CATCH_RUNTIME_ERROR("Could not create a temp file.");
-        }
-    }
-
-#endif
-
-    TempFile::~TempFile() {
-         // TBD: What to do about errors here?
-         std::fclose(m_file);
-         // We manually create the file on Windows only, on Linux
-         // it will be autodeleted
-#if defined(_MSC_VER)
-         std::remove(m_buffer);
-#endif
-    }
-
-    FILE* TempFile::getFile() {
-        return m_file;
-    }
-
-    std::string TempFile::getContents() {
-        std::stringstream sstr;
-        char buffer[100] = {};
-        std::rewind(m_file);
-        while (std::fgets(buffer, sizeof(buffer), m_file)) {
-            sstr << buffer;
-        }
-        return sstr.str();
-    }
-
-    OutputRedirect::OutputRedirect(std::string& stdout_dest, std::string& stderr_dest) :
-        m_originalStdout(dup(1)),
-        m_originalStderr(dup(2)),
-        m_stdoutDest(stdout_dest),
-        m_stderrDest(stderr_dest) {
-        dup2(fileno(m_stdoutFile.getFile()), 1);
-        dup2(fileno(m_stderrFile.getFile()), 2);
-    }
-
-    OutputRedirect::~OutputRedirect() {
-        Catch::cout() << std::flush;
-        fflush(stdout);
-        // Since we support overriding these streams, we flush cerr
-        // even though std::cerr is unbuffered
-        Catch::cerr() << std::flush;
-        Catch::clog() << std::flush;
-        fflush(stderr);
-
-        dup2(m_originalStdout, 1);
-        dup2(m_originalStderr, 2);
-
-        m_stdoutDest += m_stdoutFile.getContents();
-        m_stderrDest += m_stderrFile.getContents();
-    }
-
-#endif // CATCH_CONFIG_NEW_CAPTURE
-
-} // namespace Catch
-
-#if defined(CATCH_CONFIG_NEW_CAPTURE)
-    #if defined(_MSC_VER)
-    #undef dup
-    #undef dup2
-    #undef fileno
-    #endif
-#endif
-// end catch_output_redirect.cpp
-// start catch_polyfills.cpp
-
-#include <cmath>
-
-namespace Catch {
-
-#if !defined(CATCH_CONFIG_POLYFILL_ISNAN)
-    bool isnan(float f) {
-        return std::isnan(f);
-    }
-    bool isnan(double d) {
-        return std::isnan(d);
-    }
-#else
-    // For now we only use this for embarcadero
-    bool isnan(float f) {
-        return std::_isnan(f);
-    }
-    bool isnan(double d) {
-        return std::_isnan(d);
-    }
-#endif
-
-} // end namespace Catch
-// end catch_polyfills.cpp
-// start catch_random_number_generator.cpp
-
-namespace Catch {
-
-namespace {
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4146) // we negate uint32 during the rotate
-#endif
-        // Safe rotr implementation thanks to John Regehr
-        uint32_t rotate_right(uint32_t val, uint32_t count) {
-            const uint32_t mask = 31;
-            count &= mask;
-            return (val >> count) | (val << (-count & mask));
-        }
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
-}
-
-    SimplePcg32::SimplePcg32(result_type seed_) {
-        seed(seed_);
-    }
-
-    void SimplePcg32::seed(result_type seed_) {
-        m_state = 0;
-        (*this)();
-        m_state += seed_;
-        (*this)();
-    }
-
-    void SimplePcg32::discard(uint64_t skip) {
-        // We could implement this to run in O(log n) steps, but this
-        // should suffice for our use case.
-        for (uint64_t s = 0; s < skip; ++s) {
-            static_cast<void>((*this)());
-        }
-    }
-
-    SimplePcg32::result_type SimplePcg32::operator()() {
-        // prepare the output value
-        const uint32_t xorshifted = static_cast<uint32_t>(((m_state >> 18u) ^ m_state) >> 27u);
-        const auto output = rotate_right(xorshifted, m_state >> 59u);
-
-        // advance state
-        m_state = m_state * 6364136223846793005ULL + s_inc;
-
-        return output;
-    }
-
-    bool operator==(SimplePcg32 const& lhs, SimplePcg32 const& rhs) {
-        return lhs.m_state == rhs.m_state;
-    }
-
-    bool operator!=(SimplePcg32 const& lhs, SimplePcg32 const& rhs) {
-        return lhs.m_state != rhs.m_state;
-    }
-}
-// end catch_random_number_generator.cpp
-// start catch_registry_hub.cpp
-
-// start catch_test_case_registry_impl.h
-
-#include <vector>
-#include <set>
-#include <algorithm>
-#include <ios>
-
-namespace Catch {
-
-    class TestCase;
-    struct IConfig;
-
-    std::vector<TestCase> sortTests( IConfig const& config, std::vector<TestCase> const& unsortedTestCases );
-
-    bool isThrowSafe( TestCase const& testCase, IConfig const& config );
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config );
-
-    void enforceNoDuplicateTestCases( std::vector<TestCase> const& functions );
-
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config );
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config );
-
-    class TestRegistry : public ITestCaseRegistry {
-    public:
-        virtual ~TestRegistry() = default;
-
-        virtual void registerTest( TestCase const& testCase );
-
-        std::vector<TestCase> const& getAllTests() const override;
-        std::vector<TestCase> const& getAllTestsSorted( IConfig const& config ) const override;
-
-    private:
-        std::vector<TestCase> m_functions;
-        mutable RunTests::InWhatOrder m_currentSortOrder = RunTests::InDeclarationOrder;
-        mutable std::vector<TestCase> m_sortedFunctions;
-        std::size_t m_unnamedCount = 0;
-        std::ios_base::Init m_ostreamInit; // Forces cout/ cerr to be initialised
-    };
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    class TestInvokerAsFunction : public ITestInvoker {
-        void(*m_testAsFunction)();
-    public:
-        TestInvokerAsFunction( void(*testAsFunction)() ) noexcept;
-
-        void invoke() const override;
-    };
-
-    std::string extractClassName( StringRef const& classOrQualifiedMethodName );
-
-    ///////////////////////////////////////////////////////////////////////////
-
-} // end namespace Catch
-
-// end catch_test_case_registry_impl.h
-// start catch_reporter_registry.h
-
-#include <map>
-
-namespace Catch {
-
-    class ReporterRegistry : public IReporterRegistry {
-
-    public:
-
-        ~ReporterRegistry() override;
-
-        IStreamingReporterPtr create( std::string const& name, IConfigPtr const& config ) const override;
-
-        void registerReporter( std::string const& name, IReporterFactoryPtr const& factory );
-        void registerListener( IReporterFactoryPtr const& factory );
-
-        FactoryMap const& getFactories() const override;
-        Listeners const& getListeners() const override;
-
-    private:
-        FactoryMap m_factories;
-        Listeners m_listeners;
-    };
-}
-
-// end catch_reporter_registry.h
-// start catch_tag_alias_registry.h
-
-// start catch_tag_alias.h
-
-#include <string>
-
-namespace Catch {
-
-    struct TagAlias {
-        TagAlias(std::string const& _tag, SourceLineInfo _lineInfo);
-
-        std::string tag;
-        SourceLineInfo lineInfo;
-    };
-
-} // end namespace Catch
-
-// end catch_tag_alias.h
-#include <map>
-
-namespace Catch {
-
-    class TagAliasRegistry : public ITagAliasRegistry {
-    public:
-        ~TagAliasRegistry() override;
-        TagAlias const* find( std::string const& alias ) const override;
-        std::string expandAliases( std::string const& unexpandedTestSpec ) const override;
-        void add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo );
-
-    private:
-        std::map<std::string, TagAlias> m_registry;
-    };
-
-} // end namespace Catch
-
-// end catch_tag_alias_registry.h
-// start catch_startup_exception_registry.h
-
-#include <vector>
-#include <exception>
-
-namespace Catch {
-
-    class StartupExceptionRegistry {
-    public:
-        void add(std::exception_ptr const& exception) noexcept;
-        std::vector<std::exception_ptr> const& getExceptions() const noexcept;
-    private:
-        std::vector<std::exception_ptr> m_exceptions;
-    };
-
-} // end namespace Catch
-
-// end catch_startup_exception_registry.h
-// start catch_singletons.hpp
-
-namespace Catch {
-
-    struct ISingleton {
-        virtual ~ISingleton();
-    };
-
-    void addSingleton( ISingleton* singleton );
-    void cleanupSingletons();
-
-    template<typename SingletonImplT, typename InterfaceT = SingletonImplT, typename MutableInterfaceT = InterfaceT>
-    class Singleton : SingletonImplT, public ISingleton {
-
-        static auto getInternal() -> Singleton* {
-            static Singleton* s_instance = nullptr;
-            if( !s_instance ) {
-                s_instance = new Singleton;
-                addSingleton( s_instance );
-            }
-            return s_instance;
-        }
-
-    public:
-        static auto get() -> InterfaceT const& {
-            return *getInternal();
-        }
-        static auto getMutable() -> MutableInterfaceT& {
-            return *getInternal();
-        }
-    };
-
-} // namespace Catch
-
-// end catch_singletons.hpp
-namespace Catch {
-
-    namespace {
-
-        class RegistryHub : public IRegistryHub, public IMutableRegistryHub,
-                            private NonCopyable {
-
-        public: // IRegistryHub
-            RegistryHub() = default;
-            IReporterRegistry const& getReporterRegistry() const override {
-                return m_reporterRegistry;
-            }
-            ITestCaseRegistry const& getTestCaseRegistry() const override {
-                return m_testCaseRegistry;
-            }
-            IExceptionTranslatorRegistry const& getExceptionTranslatorRegistry() const override {
-                return m_exceptionTranslatorRegistry;
-            }
-            ITagAliasRegistry const& getTagAliasRegistry() const override {
-                return m_tagAliasRegistry;
-            }
-            StartupExceptionRegistry const& getStartupExceptionRegistry() const override {
-                return m_exceptionRegistry;
-            }
-
-        public: // IMutableRegistryHub
-            void registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) override {
-                m_reporterRegistry.registerReporter( name, factory );
-            }
-            void registerListener( IReporterFactoryPtr const& factory ) override {
-                m_reporterRegistry.registerListener( factory );
-            }
-            void registerTest( TestCase const& testInfo ) override {
-                m_testCaseRegistry.registerTest( testInfo );
-            }
-            void registerTranslator( const IExceptionTranslator* translator ) override {
-                m_exceptionTranslatorRegistry.registerTranslator( translator );
-            }
-            void registerTagAlias( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) override {
-                m_tagAliasRegistry.add( alias, tag, lineInfo );
-            }
-            void registerStartupException() noexcept override {
-                m_exceptionRegistry.add(std::current_exception());
-            }
-            IMutableEnumValuesRegistry& getMutableEnumValuesRegistry() override {
-                return m_enumValuesRegistry;
-            }
-
-        private:
-            TestRegistry m_testCaseRegistry;
-            ReporterRegistry m_reporterRegistry;
-            ExceptionTranslatorRegistry m_exceptionTranslatorRegistry;
-            TagAliasRegistry m_tagAliasRegistry;
-            StartupExceptionRegistry m_exceptionRegistry;
-            Detail::EnumValuesRegistry m_enumValuesRegistry;
-        };
-    }
-
-    using RegistryHubSingleton = Singleton<RegistryHub, IRegistryHub, IMutableRegistryHub>;
-
-    IRegistryHub const& getRegistryHub() {
-        return RegistryHubSingleton::get();
-    }
-    IMutableRegistryHub& getMutableRegistryHub() {
-        return RegistryHubSingleton::getMutable();
-    }
-    void cleanUp() {
-        cleanupSingletons();
-        cleanUpContext();
-    }
-    std::string translateActiveException() {
-        return getRegistryHub().getExceptionTranslatorRegistry().translateActiveException();
-    }
-
-} // end namespace Catch
-// end catch_registry_hub.cpp
-// start catch_reporter_registry.cpp
-
-namespace Catch {
-
-    ReporterRegistry::~ReporterRegistry() = default;
-
-    IStreamingReporterPtr ReporterRegistry::create( std::string const& name, IConfigPtr const& config ) const {
-        auto it =  m_factories.find( name );
-        if( it == m_factories.end() )
-            return nullptr;
-        return it->second->create( ReporterConfig( config ) );
-    }
-
-    void ReporterRegistry::registerReporter( std::string const& name, IReporterFactoryPtr const& factory ) {
-        m_factories.emplace(name, factory);
-    }
-    void ReporterRegistry::registerListener( IReporterFactoryPtr const& factory ) {
-        m_listeners.push_back( factory );
-    }
-
-    IReporterRegistry::FactoryMap const& ReporterRegistry::getFactories() const {
-        return m_factories;
-    }
-    IReporterRegistry::Listeners const& ReporterRegistry::getListeners() const {
-        return m_listeners;
-    }
-
-}
-// end catch_reporter_registry.cpp
-// start catch_result_type.cpp
-
-namespace Catch {
-
-    bool isOk( ResultWas::OfType resultType ) {
-        return ( resultType & ResultWas::FailureBit ) == 0;
-    }
-    bool isJustInfo( int flags ) {
-        return flags == ResultWas::Info;
-    }
-
-    ResultDisposition::Flags operator | ( ResultDisposition::Flags lhs, ResultDisposition::Flags rhs ) {
-        return static_cast<ResultDisposition::Flags>( static_cast<int>( lhs ) | static_cast<int>( rhs ) );
-    }
-
-    bool shouldContinueOnFailure( int flags )    { return ( flags & ResultDisposition::ContinueOnFailure ) != 0; }
-    bool shouldSuppressFailure( int flags )      { return ( flags & ResultDisposition::SuppressFail ) != 0; }
-
-} // end namespace Catch
-// end catch_result_type.cpp
-// start catch_run_context.cpp
-
-#include <cassert>
-#include <algorithm>
-#include <sstream>
-
-namespace Catch {
-
-    namespace Generators {
-        struct GeneratorTracker : TestCaseTracking::TrackerBase, IGeneratorTracker {
-            GeneratorBasePtr m_generator;
-
-            GeneratorTracker( TestCaseTracking::NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-            :   TrackerBase( nameAndLocation, ctx, parent )
-            {}
-            ~GeneratorTracker();
-
-            static GeneratorTracker& acquire( TrackerContext& ctx, TestCaseTracking::NameAndLocation const& nameAndLocation ) {
-                std::shared_ptr<GeneratorTracker> tracker;
-
-                ITracker& currentTracker = ctx.currentTracker();
-                if( TestCaseTracking::ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
-                    assert( childTracker );
-                    assert( childTracker->isGeneratorTracker() );
-                    tracker = std::static_pointer_cast<GeneratorTracker>( childTracker );
-                }
-                else {
-                    tracker = std::make_shared<GeneratorTracker>( nameAndLocation, ctx, &currentTracker );
-                    currentTracker.addChild( tracker );
-                }
-
-                if( !ctx.completedCycle() && !tracker->isComplete() ) {
-                    tracker->open();
-                }
-
-                return *tracker;
-            }
-
-            // TrackerBase interface
-            bool isGeneratorTracker() const override { return true; }
-            auto hasGenerator() const -> bool override {
-                return !!m_generator;
-            }
-            void close() override {
-                TrackerBase::close();
-                // Generator interface only finds out if it has another item on atual move
-                if (m_runState == CompletedSuccessfully && m_generator->next()) {
-                    m_children.clear();
-                    m_runState = Executing;
-                }
-            }
-
-            // IGeneratorTracker interface
-            auto getGenerator() const -> GeneratorBasePtr const& override {
-                return m_generator;
-            }
-            void setGenerator( GeneratorBasePtr&& generator ) override {
-                m_generator = std::move( generator );
-            }
-        };
-        GeneratorTracker::~GeneratorTracker() {}
-    }
-
-    RunContext::RunContext(IConfigPtr const& _config, IStreamingReporterPtr&& reporter)
-    :   m_runInfo(_config->name()),
-        m_context(getCurrentMutableContext()),
-        m_config(_config),
-        m_reporter(std::move(reporter)),
-        m_lastAssertionInfo{ StringRef(), SourceLineInfo("",0), StringRef(), ResultDisposition::Normal },
-        m_includeSuccessfulResults( m_config->includeSuccessfulResults() || m_reporter->getPreferences().shouldReportAllAssertions )
-    {
-        m_context.setRunner(this);
-        m_context.setConfig(m_config);
-        m_context.setResultCapture(this);
-        m_reporter->testRunStarting(m_runInfo);
-    }
-
-    RunContext::~RunContext() {
-        m_reporter->testRunEnded(TestRunStats(m_runInfo, m_totals, aborting()));
-    }
-
-    void RunContext::testGroupStarting(std::string const& testSpec, std::size_t groupIndex, std::size_t groupsCount) {
-        m_reporter->testGroupStarting(GroupInfo(testSpec, groupIndex, groupsCount));
-    }
-
-    void RunContext::testGroupEnded(std::string const& testSpec, Totals const& totals, std::size_t groupIndex, std::size_t groupsCount) {
-        m_reporter->testGroupEnded(TestGroupStats(GroupInfo(testSpec, groupIndex, groupsCount), totals, aborting()));
-    }
-
-    Totals RunContext::runTest(TestCase const& testCase) {
-        Totals prevTotals = m_totals;
-
-        std::string redirectedCout;
-        std::string redirectedCerr;
-
-        auto const& testInfo = testCase.getTestCaseInfo();
-
-        m_reporter->testCaseStarting(testInfo);
-
-        m_activeTestCase = &testCase;
-
-        ITracker& rootTracker = m_trackerContext.startRun();
-        assert(rootTracker.isSectionTracker());
-        static_cast<SectionTracker&>(rootTracker).addInitialFilters(m_config->getSectionsToRun());
-        do {
-            m_trackerContext.startCycle();
-            m_testCaseTracker = &SectionTracker::acquire(m_trackerContext, TestCaseTracking::NameAndLocation(testInfo.name, testInfo.lineInfo));
-            runCurrentTest(redirectedCout, redirectedCerr);
-        } while (!m_testCaseTracker->isSuccessfullyCompleted() && !aborting());
-
-        Totals deltaTotals = m_totals.delta(prevTotals);
-        if (testInfo.expectedToFail() && deltaTotals.testCases.passed > 0) {
-            deltaTotals.assertions.failed++;
-            deltaTotals.testCases.passed--;
-            deltaTotals.testCases.failed++;
-        }
-        m_totals.testCases += deltaTotals.testCases;
-        m_reporter->testCaseEnded(TestCaseStats(testInfo,
-                                  deltaTotals,
-                                  redirectedCout,
-                                  redirectedCerr,
-                                  aborting()));
-
-        m_activeTestCase = nullptr;
-        m_testCaseTracker = nullptr;
-
-        return deltaTotals;
-    }
-
-    IConfigPtr RunContext::config() const {
-        return m_config;
-    }
-
-    IStreamingReporter& RunContext::reporter() const {
-        return *m_reporter;
-    }
-
-    void RunContext::assertionEnded(AssertionResult const & result) {
-        if (result.getResultType() == ResultWas::Ok) {
-            m_totals.assertions.passed++;
-            m_lastAssertionPassed = true;
-        } else if (!result.isOk()) {
-            m_lastAssertionPassed = false;
-            if( m_activeTestCase->getTestCaseInfo().okToFail() )
-                m_totals.assertions.failedButOk++;
-            else
-                m_totals.assertions.failed++;
-        }
-        else {
-            m_lastAssertionPassed = true;
-        }
-
-        // We have no use for the return value (whether messages should be cleared), because messages were made scoped
-        // and should be let to clear themselves out.
-        static_cast<void>(m_reporter->assertionEnded(AssertionStats(result, m_messages, m_totals)));
-
-        if (result.getResultType() != ResultWas::Warning)
-            m_messageScopes.clear();
-
-        // Reset working state
-        resetAssertionInfo();
-        m_lastResult = result;
-    }
-    void RunContext::resetAssertionInfo() {
-        m_lastAssertionInfo.macroName = StringRef();
-        m_lastAssertionInfo.capturedExpression = "{Unknown expression after the reported line}"_sr;
-    }
-
-    bool RunContext::sectionStarted(SectionInfo const & sectionInfo, Counts & assertions) {
-        ITracker& sectionTracker = SectionTracker::acquire(m_trackerContext, TestCaseTracking::NameAndLocation(sectionInfo.name, sectionInfo.lineInfo));
-        if (!sectionTracker.isOpen())
-            return false;
-        m_activeSections.push_back(&sectionTracker);
-
-        m_lastAssertionInfo.lineInfo = sectionInfo.lineInfo;
-
-        m_reporter->sectionStarting(sectionInfo);
-
-        assertions = m_totals.assertions;
-
-        return true;
-    }
-    auto RunContext::acquireGeneratorTracker( SourceLineInfo const& lineInfo ) -> IGeneratorTracker& {
-        using namespace Generators;
-        GeneratorTracker& tracker = GeneratorTracker::acquire( m_trackerContext, TestCaseTracking::NameAndLocation( "generator", lineInfo ) );
-        assert( tracker.isOpen() );
-        m_lastAssertionInfo.lineInfo = lineInfo;
-        return tracker;
-    }
-
-    bool RunContext::testForMissingAssertions(Counts& assertions) {
-        if (assertions.total() != 0)
-            return false;
-        if (!m_config->warnAboutMissingAssertions())
-            return false;
-        if (m_trackerContext.currentTracker().hasChildren())
-            return false;
-        m_totals.assertions.failed++;
-        assertions.failed++;
-        return true;
-    }
-
-    void RunContext::sectionEnded(SectionEndInfo const & endInfo) {
-        Counts assertions = m_totals.assertions - endInfo.prevAssertions;
-        bool missingAssertions = testForMissingAssertions(assertions);
-
-        if (!m_activeSections.empty()) {
-            m_activeSections.back()->close();
-            m_activeSections.pop_back();
-        }
-
-        m_reporter->sectionEnded(SectionStats(endInfo.sectionInfo, assertions, endInfo.durationInSeconds, missingAssertions));
-        m_messages.clear();
-        m_messageScopes.clear();
-    }
-
-    void RunContext::sectionEndedEarly(SectionEndInfo const & endInfo) {
-        if (m_unfinishedSections.empty())
-            m_activeSections.back()->fail();
-        else
-            m_activeSections.back()->close();
-        m_activeSections.pop_back();
-
-        m_unfinishedSections.push_back(endInfo);
-    }
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    void RunContext::benchmarkPreparing(std::string const& name) {
-		m_reporter->benchmarkPreparing(name);
-	}
-    void RunContext::benchmarkStarting( BenchmarkInfo const& info ) {
-        m_reporter->benchmarkStarting( info );
-    }
-    void RunContext::benchmarkEnded( BenchmarkStats<> const& stats ) {
-        m_reporter->benchmarkEnded( stats );
-    }
-	void RunContext::benchmarkFailed(std::string const & error) {
-		m_reporter->benchmarkFailed(error);
-	}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    void RunContext::pushScopedMessage(MessageInfo const & message) {
-        m_messages.push_back(message);
-    }
-
-    void RunContext::popScopedMessage(MessageInfo const & message) {
-        m_messages.erase(std::remove(m_messages.begin(), m_messages.end(), message), m_messages.end());
-    }
-
-    void RunContext::emplaceUnscopedMessage( MessageBuilder const& builder ) {
-        m_messageScopes.emplace_back( builder );
-    }
-
-    std::string RunContext::getCurrentTestName() const {
-        return m_activeTestCase
-            ? m_activeTestCase->getTestCaseInfo().name
-            : std::string();
-    }
-
-    const AssertionResult * RunContext::getLastResult() const {
-        return &(*m_lastResult);
-    }
-
-    void RunContext::exceptionEarlyReported() {
-        m_shouldReportUnexpected = false;
-    }
-
-    void RunContext::handleFatalErrorCondition( StringRef message ) {
-        // First notify reporter that bad things happened
-        m_reporter->fatalErrorEncountered(message);
-
-        // Don't rebuild the result -- the stringification itself can cause more fatal errors
-        // Instead, fake a result data.
-        AssertionResultData tempResult( ResultWas::FatalErrorCondition, { false } );
-        tempResult.message = static_cast<std::string>(message);
-        AssertionResult result(m_lastAssertionInfo, tempResult);
-
-        assertionEnded(result);
-
-        handleUnfinishedSections();
-
-        // Recreate section for test case (as we will lose the one that was in scope)
-        auto const& testCaseInfo = m_activeTestCase->getTestCaseInfo();
-        SectionInfo testCaseSection(testCaseInfo.lineInfo, testCaseInfo.name);
-
-        Counts assertions;
-        assertions.failed = 1;
-        SectionStats testCaseSectionStats(testCaseSection, assertions, 0, false);
-        m_reporter->sectionEnded(testCaseSectionStats);
-
-        auto const& testInfo = m_activeTestCase->getTestCaseInfo();
-
-        Totals deltaTotals;
-        deltaTotals.testCases.failed = 1;
-        deltaTotals.assertions.failed = 1;
-        m_reporter->testCaseEnded(TestCaseStats(testInfo,
-                                  deltaTotals,
-                                  std::string(),
-                                  std::string(),
-                                  false));
-        m_totals.testCases.failed++;
-        testGroupEnded(std::string(), m_totals, 1, 1);
-        m_reporter->testRunEnded(TestRunStats(m_runInfo, m_totals, false));
-    }
-
-    bool RunContext::lastAssertionPassed() {
-         return m_lastAssertionPassed;
-    }
-
-    void RunContext::assertionPassed() {
-        m_lastAssertionPassed = true;
-        ++m_totals.assertions.passed;
-        resetAssertionInfo();
-        m_messageScopes.clear();
-    }
-
-    bool RunContext::aborting() const {
-        return m_totals.assertions.failed >= static_cast<std::size_t>(m_config->abortAfter());
-    }
-
-    void RunContext::runCurrentTest(std::string & redirectedCout, std::string & redirectedCerr) {
-        auto const& testCaseInfo = m_activeTestCase->getTestCaseInfo();
-        SectionInfo testCaseSection(testCaseInfo.lineInfo, testCaseInfo.name);
-        m_reporter->sectionStarting(testCaseSection);
-        Counts prevAssertions = m_totals.assertions;
-        double duration = 0;
-        m_shouldReportUnexpected = true;
-        m_lastAssertionInfo = { "TEST_CASE"_sr, testCaseInfo.lineInfo, StringRef(), ResultDisposition::Normal };
-
-        seedRng(*m_config);
-
-        Timer timer;
-        CATCH_TRY {
-            if (m_reporter->getPreferences().shouldRedirectStdOut) {
-#if !defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT)
-                RedirectedStreams redirectedStreams(redirectedCout, redirectedCerr);
-
-                timer.start();
-                invokeActiveTestCase();
-#else
-                OutputRedirect r(redirectedCout, redirectedCerr);
-                timer.start();
-                invokeActiveTestCase();
-#endif
-            } else {
-                timer.start();
-                invokeActiveTestCase();
-            }
-            duration = timer.getElapsedSeconds();
-        } CATCH_CATCH_ANON (TestFailureException&) {
-            // This just means the test was aborted due to failure
-        } CATCH_CATCH_ALL {
-            // Under CATCH_CONFIG_FAST_COMPILE, unexpected exceptions under REQUIRE assertions
-            // are reported without translation at the point of origin.
-            if( m_shouldReportUnexpected ) {
-                AssertionReaction dummyReaction;
-                handleUnexpectedInflightException( m_lastAssertionInfo, translateActiveException(), dummyReaction );
-            }
-        }
-        Counts assertions = m_totals.assertions - prevAssertions;
-        bool missingAssertions = testForMissingAssertions(assertions);
-
-        m_testCaseTracker->close();
-        handleUnfinishedSections();
-        m_messages.clear();
-        m_messageScopes.clear();
-
-        SectionStats testCaseSectionStats(testCaseSection, assertions, duration, missingAssertions);
-        m_reporter->sectionEnded(testCaseSectionStats);
-    }
-
-    void RunContext::invokeActiveTestCase() {
-        FatalConditionHandler fatalConditionHandler; // Handle signals
-        m_activeTestCase->invoke();
-        fatalConditionHandler.reset();
-    }
-
-    void RunContext::handleUnfinishedSections() {
-        // If sections ended prematurely due to an exception we stored their
-        // infos here so we can tear them down outside the unwind process.
-        for (auto it = m_unfinishedSections.rbegin(),
-             itEnd = m_unfinishedSections.rend();
-             it != itEnd;
-             ++it)
-            sectionEnded(*it);
-        m_unfinishedSections.clear();
-    }
-
-    void RunContext::handleExpr(
-        AssertionInfo const& info,
-        ITransientExpression const& expr,
-        AssertionReaction& reaction
-    ) {
-        m_reporter->assertionStarting( info );
-
-        bool negated = isFalseTest( info.resultDisposition );
-        bool result = expr.getResult() != negated;
-
-        if( result ) {
-            if (!m_includeSuccessfulResults) {
-                assertionPassed();
-            }
-            else {
-                reportExpr(info, ResultWas::Ok, &expr, negated);
-            }
-        }
-        else {
-            reportExpr(info, ResultWas::ExpressionFailed, &expr, negated );
-            populateReaction( reaction );
-        }
-    }
-    void RunContext::reportExpr(
-            AssertionInfo const &info,
-            ResultWas::OfType resultType,
-            ITransientExpression const *expr,
-            bool negated ) {
-
-        m_lastAssertionInfo = info;
-        AssertionResultData data( resultType, LazyExpression( negated ) );
-
-        AssertionResult assertionResult{ info, data };
-        assertionResult.m_resultData.lazyExpression.m_transientExpression = expr;
-
-        assertionEnded( assertionResult );
-    }
-
-    void RunContext::handleMessage(
-            AssertionInfo const& info,
-            ResultWas::OfType resultType,
-            StringRef const& message,
-            AssertionReaction& reaction
-    ) {
-        m_reporter->assertionStarting( info );
-
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( resultType, LazyExpression( false ) );
-        data.message = static_cast<std::string>(message);
-        AssertionResult assertionResult{ m_lastAssertionInfo, data };
-        assertionEnded( assertionResult );
-        if( !assertionResult.isOk() )
-            populateReaction( reaction );
-    }
-    void RunContext::handleUnexpectedExceptionNotThrown(
-            AssertionInfo const& info,
-            AssertionReaction& reaction
-    ) {
-        handleNonExpr(info, Catch::ResultWas::DidntThrowException, reaction);
-    }
-
-    void RunContext::handleUnexpectedInflightException(
-            AssertionInfo const& info,
-            std::string const& message,
-            AssertionReaction& reaction
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( ResultWas::ThrewException, LazyExpression( false ) );
-        data.message = message;
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-        populateReaction( reaction );
-    }
-
-    void RunContext::populateReaction( AssertionReaction& reaction ) {
-        reaction.shouldDebugBreak = m_config->shouldDebugBreak();
-        reaction.shouldThrow = aborting() || (m_lastAssertionInfo.resultDisposition & ResultDisposition::Normal);
-    }
-
-    void RunContext::handleIncomplete(
-            AssertionInfo const& info
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( ResultWas::ThrewException, LazyExpression( false ) );
-        data.message = "Exception translation was disabled by CATCH_CONFIG_FAST_COMPILE";
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-    }
-    void RunContext::handleNonExpr(
-            AssertionInfo const &info,
-            ResultWas::OfType resultType,
-            AssertionReaction &reaction
-    ) {
-        m_lastAssertionInfo = info;
-
-        AssertionResultData data( resultType, LazyExpression( false ) );
-        AssertionResult assertionResult{ info, data };
-        assertionEnded( assertionResult );
-
-        if( !assertionResult.isOk() )
-            populateReaction( reaction );
-    }
-
-    IResultCapture& getResultCapture() {
-        if (auto* capture = getCurrentContext().getResultCapture())
-            return *capture;
-        else
-            CATCH_INTERNAL_ERROR("No result capture instance");
-    }
-
-    void seedRng(IConfig const& config) {
-        if (config.rngSeed() != 0) {
-            std::srand(config.rngSeed());
-            rng().seed(config.rngSeed());
-        }
-    }
-
-    unsigned int rngSeed() {
-        return getCurrentContext().getConfig()->rngSeed();
-    }
-
-}
-// end catch_run_context.cpp
-// start catch_section.cpp
-
-namespace Catch {
-
-    Section::Section( SectionInfo const& info )
-    :   m_info( info ),
-        m_sectionIncluded( getResultCapture().sectionStarted( m_info, m_assertions ) )
-    {
-        m_timer.start();
-    }
-
-    Section::~Section() {
-        if( m_sectionIncluded ) {
-            SectionEndInfo endInfo{ m_info, m_assertions, m_timer.getElapsedSeconds() };
-            if( uncaught_exceptions() )
-                getResultCapture().sectionEndedEarly( endInfo );
-            else
-                getResultCapture().sectionEnded( endInfo );
-        }
-    }
-
-    // This indicates whether the section should be executed or not
-    Section::operator bool() const {
-        return m_sectionIncluded;
-    }
-
-} // end namespace Catch
-// end catch_section.cpp
-// start catch_section_info.cpp
-
-namespace Catch {
-
-    SectionInfo::SectionInfo
-        (   SourceLineInfo const& _lineInfo,
-            std::string const& _name )
-    :   name( _name ),
-        lineInfo( _lineInfo )
-    {}
-
-} // end namespace Catch
-// end catch_section_info.cpp
-// start catch_session.cpp
-
-// start catch_session.h
-
-#include <memory>
-
-namespace Catch {
-
-    class Session : NonCopyable {
-    public:
-
-        Session();
-        ~Session() override;
-
-        void showHelp() const;
-        void libIdentify();
-
-        int applyCommandLine( int argc, char const * const * argv );
-    #if defined(CATCH_CONFIG_WCHAR) && defined(_WIN32) && defined(UNICODE)
-        int applyCommandLine( int argc, wchar_t const * const * argv );
-    #endif
-
-        void useConfigData( ConfigData const& configData );
-
-        template<typename CharT>
-        int run(int argc, CharT const * const argv[]) {
-            if (m_startupExceptions)
-                return 1;
-            int returnCode = applyCommandLine(argc, argv);
-            if (returnCode == 0)
-                returnCode = run();
-            return returnCode;
-        }
-
-        int run();
-
-        clara::Parser const& cli() const;
-        void cli( clara::Parser const& newParser );
-        ConfigData& configData();
-        Config& config();
-    private:
-        int runInternal();
-
-        clara::Parser m_cli;
-        ConfigData m_configData;
-        std::shared_ptr<Config> m_config;
-        bool m_startupExceptions = false;
-    };
-
-} // end namespace Catch
-
-// end catch_session.h
-// start catch_version.h
-
-#include <iosfwd>
-
-namespace Catch {
-
-    // Versioning information
-    struct Version {
-        Version( Version const& ) = delete;
-        Version& operator=( Version const& ) = delete;
-        Version(    unsigned int _majorVersion,
-                    unsigned int _minorVersion,
-                    unsigned int _patchNumber,
-                    char const * const _branchName,
-                    unsigned int _buildNumber );
-
-        unsigned int const majorVersion;
-        unsigned int const minorVersion;
-        unsigned int const patchNumber;
-
-        // buildNumber is only used if branchName is not null
-        char const * const branchName;
-        unsigned int const buildNumber;
-
-        friend std::ostream& operator << ( std::ostream& os, Version const& version );
-    };
-
-    Version const& libraryVersion();
-}
-
-// end catch_version.h
-#include <cstdlib>
-#include <iomanip>
-#include <set>
-#include <iterator>
-
-namespace Catch {
-
-    namespace {
-        const int MaxExitCode = 255;
-
-        IStreamingReporterPtr createReporter(std::string const& reporterName, IConfigPtr const& config) {
-            auto reporter = Catch::getRegistryHub().getReporterRegistry().create(reporterName, config);
-            CATCH_ENFORCE(reporter, "No reporter registered with name: '" << reporterName << "'");
-
-            return reporter;
-        }
-
-        IStreamingReporterPtr makeReporter(std::shared_ptr<Config> const& config) {
-            if (Catch::getRegistryHub().getReporterRegistry().getListeners().empty()) {
-                return createReporter(config->getReporterName(), config);
-            }
-
-            // On older platforms, returning std::unique_ptr<ListeningReporter>
-            // when the return type is std::unique_ptr<IStreamingReporter>
-            // doesn't compile without a std::move call. However, this causes
-            // a warning on newer platforms. Thus, we have to work around
-            // it a bit and downcast the pointer manually.
-            auto ret = std::unique_ptr<IStreamingReporter>(new ListeningReporter);
-            auto& multi = static_cast<ListeningReporter&>(*ret);
-            auto const& listeners = Catch::getRegistryHub().getReporterRegistry().getListeners();
-            for (auto const& listener : listeners) {
-                multi.addListener(listener->create(Catch::ReporterConfig(config)));
-            }
-            multi.addReporter(createReporter(config->getReporterName(), config));
-            return ret;
-        }
-
-        class TestGroup {
-        public:
-            explicit TestGroup(std::shared_ptr<Config> const& config)
-            : m_config{config}
-            , m_context{config, makeReporter(config)}
-            {
-                auto const& allTestCases = getAllTestCasesSorted(*m_config);
-                m_matches = m_config->testSpec().matchesByFilter(allTestCases, *m_config);
-                auto const& invalidArgs = m_config->testSpec().getInvalidArgs();
-
-                if (m_matches.empty() && invalidArgs.empty()) {
-                    for (auto const& test : allTestCases)
-                        if (!test.isHidden())
-                            m_tests.emplace(&test);
-                } else {
-                    for (auto const& match : m_matches)
-                        m_tests.insert(match.tests.begin(), match.tests.end());
-                }
-            }
-
-            Totals execute() {
-                auto const& invalidArgs = m_config->testSpec().getInvalidArgs();
-                Totals totals;
-                m_context.testGroupStarting(m_config->name(), 1, 1);
-                for (auto const& testCase : m_tests) {
-                    if (!m_context.aborting())
-                        totals += m_context.runTest(*testCase);
-                    else
-                        m_context.reporter().skipTest(*testCase);
-                }
-
-                for (auto const& match : m_matches) {
-                    if (match.tests.empty()) {
-                        m_context.reporter().noMatchingTestCases(match.name);
-                        totals.error = -1;
-                    }
-                }
-
-                if (!invalidArgs.empty()) {
-                    for (auto const& invalidArg: invalidArgs)
-                         m_context.reporter().reportInvalidArguments(invalidArg);
-                }
-
-                m_context.testGroupEnded(m_config->name(), totals, 1, 1);
-                return totals;
-            }
-
-        private:
-            using Tests = std::set<TestCase const*>;
-
-            std::shared_ptr<Config> m_config;
-            RunContext m_context;
-            Tests m_tests;
-            TestSpec::Matches m_matches;
-        };
-
-        void applyFilenamesAsTags(Catch::IConfig const& config) {
-            auto& tests = const_cast<std::vector<TestCase>&>(getAllTestCasesSorted(config));
-            for (auto& testCase : tests) {
-                auto tags = testCase.tags;
-
-                std::string filename = testCase.lineInfo.file;
-                auto lastSlash = filename.find_last_of("\\/");
-                if (lastSlash != std::string::npos) {
-                    filename.erase(0, lastSlash);
-                    filename[0] = '#';
-                }
-
-                auto lastDot = filename.find_last_of('.');
-                if (lastDot != std::string::npos) {
-                    filename.erase(lastDot);
-                }
-
-                tags.push_back(std::move(filename));
-                setTags(testCase, tags);
-            }
-        }
-
-    } // anon namespace
-
-    Session::Session() {
-        static bool alreadyInstantiated = false;
-        if( alreadyInstantiated ) {
-            CATCH_TRY { CATCH_INTERNAL_ERROR( "Only one instance of Catch::Session can ever be used" ); }
-            CATCH_CATCH_ALL { getMutableRegistryHub().registerStartupException(); }
-        }
-
-        // There cannot be exceptions at startup in no-exception mode.
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-        const auto& exceptions = getRegistryHub().getStartupExceptionRegistry().getExceptions();
-        if ( !exceptions.empty() ) {
-            config();
-            getCurrentMutableContext().setConfig(m_config);
-
-            m_startupExceptions = true;
-            Colour colourGuard( Colour::Red );
-            Catch::cerr() << "Errors occurred during startup!" << '\n';
-            // iterate over all exceptions and notify user
-            for ( const auto& ex_ptr : exceptions ) {
-                try {
-                    std::rethrow_exception(ex_ptr);
-                } catch ( std::exception const& ex ) {
-                    Catch::cerr() << Column( ex.what() ).indent(2) << '\n';
-                }
-            }
-        }
-#endif
-
-        alreadyInstantiated = true;
-        m_cli = makeCommandLineParser( m_configData );
-    }
-    Session::~Session() {
-        Catch::cleanUp();
-    }
-
-    void Session::showHelp() const {
-        Catch::cout()
-                << "\nCatch v" << libraryVersion() << "\n"
-                << m_cli << std::endl
-                << "For more detailed usage please see the project docs\n" << std::endl;
-    }
-    void Session::libIdentify() {
-        Catch::cout()
-                << std::left << std::setw(16) << "description: " << "A Catch2 test executable\n"
-                << std::left << std::setw(16) << "category: " << "testframework\n"
-                << std::left << std::setw(16) << "framework: " << "Catch Test\n"
-                << std::left << std::setw(16) << "version: " << libraryVersion() << std::endl;
-    }
-
-    int Session::applyCommandLine( int argc, char const * const * argv ) {
-        if( m_startupExceptions )
-            return 1;
-
-        auto result = m_cli.parse( clara::Args( argc, argv ) );
-        if( !result ) {
-            config();
-            getCurrentMutableContext().setConfig(m_config);
-            Catch::cerr()
-                << Colour( Colour::Red )
-                << "\nError(s) in input:\n"
-                << Column( result.errorMessage() ).indent( 2 )
-                << "\n\n";
-            Catch::cerr() << "Run with -? for usage\n" << std::endl;
-            return MaxExitCode;
-        }
-
-        if( m_configData.showHelp )
-            showHelp();
-        if( m_configData.libIdentify )
-            libIdentify();
-        m_config.reset();
-        return 0;
-    }
-
-#if defined(CATCH_CONFIG_WCHAR) && defined(_WIN32) && defined(UNICODE)
-    int Session::applyCommandLine( int argc, wchar_t const * const * argv ) {
-
-        char **utf8Argv = new char *[ argc ];
-
-        for ( int i = 0; i < argc; ++i ) {
-            int bufSize = WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, nullptr, 0, nullptr, nullptr );
-
-            utf8Argv[ i ] = new char[ bufSize ];
-
-            WideCharToMultiByte( CP_UTF8, 0, argv[i], -1, utf8Argv[i], bufSize, nullptr, nullptr );
-        }
-
-        int returnCode = applyCommandLine( argc, utf8Argv );
-
-        for ( int i = 0; i < argc; ++i )
-            delete [] utf8Argv[ i ];
-
-        delete [] utf8Argv;
-
-        return returnCode;
-    }
-#endif
-
-    void Session::useConfigData( ConfigData const& configData ) {
-        m_configData = configData;
-        m_config.reset();
-    }
-
-    int Session::run() {
-        if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeStart ) != 0 ) {
-            Catch::cout() << "...waiting for enter/ return before starting" << std::endl;
-            static_cast<void>(std::getchar());
-        }
-        int exitCode = runInternal();
-        if( ( m_configData.waitForKeypress & WaitForKeypress::BeforeExit ) != 0 ) {
-            Catch::cout() << "...waiting for enter/ return before exiting, with code: " << exitCode << std::endl;
-            static_cast<void>(std::getchar());
-        }
-        return exitCode;
-    }
-
-    clara::Parser const& Session::cli() const {
-        return m_cli;
-    }
-    void Session::cli( clara::Parser const& newParser ) {
-        m_cli = newParser;
-    }
-    ConfigData& Session::configData() {
-        return m_configData;
-    }
-    Config& Session::config() {
-        if( !m_config )
-            m_config = std::make_shared<Config>( m_configData );
-        return *m_config;
-    }
-
-    int Session::runInternal() {
-        if( m_startupExceptions )
-            return 1;
-
-        if (m_configData.showHelp || m_configData.libIdentify) {
-            return 0;
-        }
-
-        CATCH_TRY {
-            config(); // Force config to be constructed
-
-            seedRng( *m_config );
-
-            if( m_configData.filenamesAsTags )
-                applyFilenamesAsTags( *m_config );
-
-            // Handle list request
-            if( Option<std::size_t> listed = list( m_config ) )
-                return static_cast<int>( *listed );
-
-            TestGroup tests { m_config };
-            auto const totals = tests.execute();
-
-            if( m_config->warnAboutNoTests() && totals.error == -1 )
-                return 2;
-
-            // Note that on unices only the lower 8 bits are usually used, clamping
-            // the return value to 255 prevents false negative when some multiple
-            // of 256 tests has failed
-            return (std::min) (MaxExitCode, (std::max) (totals.error, static_cast<int>(totals.assertions.failed)));
-        }
-#if !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS)
-        catch( std::exception& ex ) {
-            Catch::cerr() << ex.what() << std::endl;
-            return MaxExitCode;
-        }
-#endif
-    }
-
-} // end namespace Catch
-// end catch_session.cpp
-// start catch_singletons.cpp
-
-#include <vector>
-
-namespace Catch {
-
-    namespace {
-        static auto getSingletons() -> std::vector<ISingleton*>*& {
-            static std::vector<ISingleton*>* g_singletons = nullptr;
-            if( !g_singletons )
-                g_singletons = new std::vector<ISingleton*>();
-            return g_singletons;
-        }
-    }
-
-    ISingleton::~ISingleton() {}
-
-    void addSingleton(ISingleton* singleton ) {
-        getSingletons()->push_back( singleton );
-    }
-    void cleanupSingletons() {
-        auto& singletons = getSingletons();
-        for( auto singleton : *singletons )
-            delete singleton;
-        delete singletons;
-        singletons = nullptr;
-    }
-
-} // namespace Catch
-// end catch_singletons.cpp
-// start catch_startup_exception_registry.cpp
-
-namespace Catch {
-void StartupExceptionRegistry::add( std::exception_ptr const& exception ) noexcept {
-        CATCH_TRY {
-            m_exceptions.push_back(exception);
-        } CATCH_CATCH_ALL {
-            // If we run out of memory during start-up there's really not a lot more we can do about it
-            std::terminate();
-        }
-    }
-
-    std::vector<std::exception_ptr> const& StartupExceptionRegistry::getExceptions() const noexcept {
-        return m_exceptions;
-    }
-
-} // end namespace Catch
-// end catch_startup_exception_registry.cpp
-// start catch_stream.cpp
-
-#include <cstdio>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    Catch::IStream::~IStream() = default;
-
-    namespace Detail { namespace {
-        template<typename WriterF, std::size_t bufferSize=256>
-        class StreamBufImpl : public std::streambuf {
-            char data[bufferSize];
-            WriterF m_writer;
-
-        public:
-            StreamBufImpl() {
-                setp( data, data + sizeof(data) );
-            }
-
-            ~StreamBufImpl() noexcept {
-                StreamBufImpl::sync();
-            }
-
-        private:
-            int overflow( int c ) override {
-                sync();
-
-                if( c != EOF ) {
-                    if( pbase() == epptr() )
-                        m_writer( std::string( 1, static_cast<char>( c ) ) );
-                    else
-                        sputc( static_cast<char>( c ) );
-                }
-                return 0;
-            }
-
-            int sync() override {
-                if( pbase() != pptr() ) {
-                    m_writer( std::string( pbase(), static_cast<std::string::size_type>( pptr() - pbase() ) ) );
-                    setp( pbase(), epptr() );
-                }
-                return 0;
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        struct OutputDebugWriter {
-
-            void operator()( std::string const&str ) {
-                writeToDebugConsole( str );
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class FileStream : public IStream {
-            mutable std::ofstream m_ofs;
-        public:
-            FileStream( StringRef filename ) {
-                m_ofs.open( filename.c_str() );
-                CATCH_ENFORCE( !m_ofs.fail(), "Unable to open file: '" << filename << "'" );
-            }
-            ~FileStream() override = default;
-        public: // IStream
-            std::ostream& stream() const override {
-                return m_ofs;
-            }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class CoutStream : public IStream {
-            mutable std::ostream m_os;
-        public:
-            // Store the streambuf from cout up-front because
-            // cout may get redirected when running tests
-            CoutStream() : m_os( Catch::cout().rdbuf() ) {}
-            ~CoutStream() override = default;
-
-        public: // IStream
-            std::ostream& stream() const override { return m_os; }
-        };
-
-        ///////////////////////////////////////////////////////////////////////////
-
-        class DebugOutStream : public IStream {
-            std::unique_ptr<StreamBufImpl<OutputDebugWriter>> m_streamBuf;
-            mutable std::ostream m_os;
-        public:
-            DebugOutStream()
-            :   m_streamBuf( new StreamBufImpl<OutputDebugWriter>() ),
-                m_os( m_streamBuf.get() )
-            {}
-
-            ~DebugOutStream() override = default;
-
-        public: // IStream
-            std::ostream& stream() const override { return m_os; }
-        };
-
-    }} // namespace anon::detail
-
-    ///////////////////////////////////////////////////////////////////////////
-
-    auto makeStream( StringRef const &filename ) -> IStream const* {
-        if( filename.empty() )
-            return new Detail::CoutStream();
-        else if( filename[0] == '%' ) {
-            if( filename == "%debug" )
-                return new Detail::DebugOutStream();
-            else
-                CATCH_ERROR( "Unrecognised stream: '" << filename << "'" );
-        }
-        else
-            return new Detail::FileStream( filename );
-    }
-
-    // This class encapsulates the idea of a pool of ostringstreams that can be reused.
-    struct StringStreams {
-        std::vector<std::unique_ptr<std::ostringstream>> m_streams;
-        std::vector<std::size_t> m_unused;
-        std::ostringstream m_referenceStream; // Used for copy state/ flags from
-
-        auto add() -> std::size_t {
-            if( m_unused.empty() ) {
-                m_streams.push_back( std::unique_ptr<std::ostringstream>( new std::ostringstream ) );
-                return m_streams.size()-1;
-            }
-            else {
-                auto index = m_unused.back();
-                m_unused.pop_back();
-                return index;
-            }
-        }
-
-        void release( std::size_t index ) {
-            m_streams[index]->copyfmt( m_referenceStream ); // Restore initial flags and other state
-            m_unused.push_back(index);
-        }
-    };
-
-    ReusableStringStream::ReusableStringStream()
-    :   m_index( Singleton<StringStreams>::getMutable().add() ),
-        m_oss( Singleton<StringStreams>::getMutable().m_streams[m_index].get() )
-    {}
-
-    ReusableStringStream::~ReusableStringStream() {
-        static_cast<std::ostringstream*>( m_oss )->str("");
-        m_oss->clear();
-        Singleton<StringStreams>::getMutable().release( m_index );
-    }
-
-    auto ReusableStringStream::str() const -> std::string {
-        return static_cast<std::ostringstream*>( m_oss )->str();
-    }
-
-    ///////////////////////////////////////////////////////////////////////////
-
-#ifndef CATCH_CONFIG_NOSTDOUT // If you #define this you must implement these functions
-    std::ostream& cout() { return std::cout; }
-    std::ostream& cerr() { return std::cerr; }
-    std::ostream& clog() { return std::clog; }
-#endif
-}
-// end catch_stream.cpp
-// start catch_string_manip.cpp
-
-#include <algorithm>
-#include <ostream>
-#include <cstring>
-#include <cctype>
-#include <vector>
-
-namespace Catch {
-
-    namespace {
-        char toLowerCh(char c) {
-            return static_cast<char>( std::tolower( c ) );
-        }
-    }
-
-    bool startsWith( std::string const& s, std::string const& prefix ) {
-        return s.size() >= prefix.size() && std::equal(prefix.begin(), prefix.end(), s.begin());
-    }
-    bool startsWith( std::string const& s, char prefix ) {
-        return !s.empty() && s[0] == prefix;
-    }
-    bool endsWith( std::string const& s, std::string const& suffix ) {
-        return s.size() >= suffix.size() && std::equal(suffix.rbegin(), suffix.rend(), s.rbegin());
-    }
-    bool endsWith( std::string const& s, char suffix ) {
-        return !s.empty() && s[s.size()-1] == suffix;
-    }
-    bool contains( std::string const& s, std::string const& infix ) {
-        return s.find( infix ) != std::string::npos;
-    }
-    void toLowerInPlace( std::string& s ) {
-        std::transform( s.begin(), s.end(), s.begin(), toLowerCh );
-    }
-    std::string toLower( std::string const& s ) {
-        std::string lc = s;
-        toLowerInPlace( lc );
-        return lc;
-    }
-    std::string trim( std::string const& str ) {
-        static char const* whitespaceChars = "\n\r\t ";
-        std::string::size_type start = str.find_first_not_of( whitespaceChars );
-        std::string::size_type end = str.find_last_not_of( whitespaceChars );
-
-        return start != std::string::npos ? str.substr( start, 1+end-start ) : std::string();
-    }
-
-    StringRef trim(StringRef ref) {
-        const auto is_ws = [](char c) {
-            return c == ' ' || c == '\t' || c == '\n' || c == '\r';
-        };
-        size_t real_begin = 0;
-        while (real_begin < ref.size() && is_ws(ref[real_begin])) { ++real_begin; }
-        size_t real_end = ref.size();
-        while (real_end > real_begin && is_ws(ref[real_end - 1])) { --real_end; }
-
-        return ref.substr(real_begin, real_end - real_begin);
-    }
-
-    bool replaceInPlace( std::string& str, std::string const& replaceThis, std::string const& withThis ) {
-        bool replaced = false;
-        std::size_t i = str.find( replaceThis );
-        while( i != std::string::npos ) {
-            replaced = true;
-            str = str.substr( 0, i ) + withThis + str.substr( i+replaceThis.size() );
-            if( i < str.size()-withThis.size() )
-                i = str.find( replaceThis, i+withThis.size() );
-            else
-                i = std::string::npos;
-        }
-        return replaced;
-    }
-
-    std::vector<StringRef> splitStringRef( StringRef str, char delimiter ) {
-        std::vector<StringRef> subStrings;
-        std::size_t start = 0;
-        for(std::size_t pos = 0; pos < str.size(); ++pos ) {
-            if( str[pos] == delimiter ) {
-                if( pos - start > 1 )
-                    subStrings.push_back( str.substr( start, pos-start ) );
-                start = pos+1;
-            }
-        }
-        if( start < str.size() )
-            subStrings.push_back( str.substr( start, str.size()-start ) );
-        return subStrings;
-    }
-
-    pluralise::pluralise( std::size_t count, std::string const& label )
-    :   m_count( count ),
-        m_label( label )
-    {}
-
-    std::ostream& operator << ( std::ostream& os, pluralise const& pluraliser ) {
-        os << pluraliser.m_count << ' ' << pluraliser.m_label;
-        if( pluraliser.m_count != 1 )
-            os << 's';
-        return os;
-    }
-
-}
-// end catch_string_manip.cpp
-// start catch_stringref.cpp
-
-#include <algorithm>
-#include <ostream>
-#include <cstring>
-#include <cstdint>
-
-namespace Catch {
-    StringRef::StringRef( char const* rawChars ) noexcept
-    : StringRef( rawChars, static_cast<StringRef::size_type>(std::strlen(rawChars) ) )
-    {}
-
-    auto StringRef::c_str() const -> char const* {
-        CATCH_ENFORCE(isNullTerminated(), "Called StringRef::c_str() on a non-null-terminated instance");
-        return m_start;
-    }
-    auto StringRef::data() const noexcept -> char const* {
-        return m_start;
-    }
-
-    auto StringRef::substr( size_type start, size_type size ) const noexcept -> StringRef {
-        if (start < m_size) {
-            return StringRef(m_start + start, (std::min)(m_size - start, size));
-        } else {
-            return StringRef();
-        }
-    }
-    auto StringRef::operator == ( StringRef const& other ) const noexcept -> bool {
-        return m_size == other.m_size
-            && (std::memcmp( m_start, other.m_start, m_size ) == 0);
-    }
-
-    auto operator << ( std::ostream& os, StringRef const& str ) -> std::ostream& {
-        return os.write(str.data(), str.size());
-    }
-
-    auto operator+=( std::string& lhs, StringRef const& rhs ) -> std::string& {
-        lhs.append(rhs.data(), rhs.size());
-        return lhs;
-    }
-
-} // namespace Catch
-// end catch_stringref.cpp
-// start catch_tag_alias.cpp
-
-namespace Catch {
-    TagAlias::TagAlias(std::string const & _tag, SourceLineInfo _lineInfo): tag(_tag), lineInfo(_lineInfo) {}
-}
-// end catch_tag_alias.cpp
-// start catch_tag_alias_autoregistrar.cpp
-
-namespace Catch {
-
-    RegistrarForTagAliases::RegistrarForTagAliases(char const* alias, char const* tag, SourceLineInfo const& lineInfo) {
-        CATCH_TRY {
-            getMutableRegistryHub().registerTagAlias(alias, tag, lineInfo);
-        } CATCH_CATCH_ALL {
-            // Do not throw when constructing global objects, instead register the exception to be processed later
-            getMutableRegistryHub().registerStartupException();
-        }
-    }
-
-}
-// end catch_tag_alias_autoregistrar.cpp
-// start catch_tag_alias_registry.cpp
-
-#include <sstream>
-
-namespace Catch {
-
-    TagAliasRegistry::~TagAliasRegistry() {}
-
-    TagAlias const* TagAliasRegistry::find( std::string const& alias ) const {
-        auto it = m_registry.find( alias );
-        if( it != m_registry.end() )
-            return &(it->second);
-        else
-            return nullptr;
-    }
-
-    std::string TagAliasRegistry::expandAliases( std::string const& unexpandedTestSpec ) const {
-        std::string expandedTestSpec = unexpandedTestSpec;
-        for( auto const& registryKvp : m_registry ) {
-            std::size_t pos = expandedTestSpec.find( registryKvp.first );
-            if( pos != std::string::npos ) {
-                expandedTestSpec =  expandedTestSpec.substr( 0, pos ) +
-                                    registryKvp.second.tag +
-                                    expandedTestSpec.substr( pos + registryKvp.first.size() );
-            }
-        }
-        return expandedTestSpec;
-    }
-
-    void TagAliasRegistry::add( std::string const& alias, std::string const& tag, SourceLineInfo const& lineInfo ) {
-        CATCH_ENFORCE( startsWith(alias, "[@") && endsWith(alias, ']'),
-                      "error: tag alias, '" << alias << "' is not of the form [@alias name].\n" << lineInfo );
-
-        CATCH_ENFORCE( m_registry.insert(std::make_pair(alias, TagAlias(tag, lineInfo))).second,
-                      "error: tag alias, '" << alias << "' already registered.\n"
-                      << "\tFirst seen at: " << find(alias)->lineInfo << "\n"
-                      << "\tRedefined at: " << lineInfo );
-    }
-
-    ITagAliasRegistry::~ITagAliasRegistry() {}
-
-    ITagAliasRegistry const& ITagAliasRegistry::get() {
-        return getRegistryHub().getTagAliasRegistry();
-    }
-
-} // end namespace Catch
-// end catch_tag_alias_registry.cpp
-// start catch_test_case_info.cpp
-
-#include <cctype>
-#include <exception>
-#include <algorithm>
-#include <sstream>
-
-namespace Catch {
-
-    namespace {
-        TestCaseInfo::SpecialProperties parseSpecialTag( std::string const& tag ) {
-            if( startsWith( tag, '.' ) ||
-                tag == "!hide" )
-                return TestCaseInfo::IsHidden;
-            else if( tag == "!throws" )
-                return TestCaseInfo::Throws;
-            else if( tag == "!shouldfail" )
-                return TestCaseInfo::ShouldFail;
-            else if( tag == "!mayfail" )
-                return TestCaseInfo::MayFail;
-            else if( tag == "!nonportable" )
-                return TestCaseInfo::NonPortable;
-            else if( tag == "!benchmark" )
-                return static_cast<TestCaseInfo::SpecialProperties>( TestCaseInfo::Benchmark | TestCaseInfo::IsHidden );
-            else
-                return TestCaseInfo::None;
-        }
-        bool isReservedTag( std::string const& tag ) {
-            return parseSpecialTag( tag ) == TestCaseInfo::None && tag.size() > 0 && !std::isalnum( static_cast<unsigned char>(tag[0]) );
-        }
-        void enforceNotReservedTag( std::string const& tag, SourceLineInfo const& _lineInfo ) {
-            CATCH_ENFORCE( !isReservedTag(tag),
-                          "Tag name: [" << tag << "] is not allowed.\n"
-                          << "Tag names starting with non alphanumeric characters are reserved\n"
-                          << _lineInfo );
-        }
-    }
-
-    TestCase makeTestCase(  ITestInvoker* _testCase,
-                            std::string const& _className,
-                            NameAndTags const& nameAndTags,
-                            SourceLineInfo const& _lineInfo )
-    {
-        bool isHidden = false;
-
-        // Parse out tags
-        std::vector<std::string> tags;
-        std::string desc, tag;
-        bool inTag = false;
-        for (char c : nameAndTags.tags) {
-            if( !inTag ) {
-                if( c == '[' )
-                    inTag = true;
-                else
-                    desc += c;
-            }
-            else {
-                if( c == ']' ) {
-                    TestCaseInfo::SpecialProperties prop = parseSpecialTag( tag );
-                    if( ( prop & TestCaseInfo::IsHidden ) != 0 )
-                        isHidden = true;
-                    else if( prop == TestCaseInfo::None )
-                        enforceNotReservedTag( tag, _lineInfo );
-
-                    // Merged hide tags like `[.approvals]` should be added as
-                    // `[.][approvals]`. The `[.]` is added at later point, so
-                    // we only strip the prefix
-                    if (startsWith(tag, '.') && tag.size() > 1) {
-                        tag.erase(0, 1);
-                    }
-                    tags.push_back( tag );
-                    tag.clear();
-                    inTag = false;
-                }
-                else
-                    tag += c;
-            }
-        }
-        if( isHidden ) {
-            // Add all "hidden" tags to make them behave identically
-            tags.insert( tags.end(), { ".", "!hide" } );
-        }
-
-        TestCaseInfo info( static_cast<std::string>(nameAndTags.name), _className, desc, tags, _lineInfo );
-        return TestCase( _testCase, std::move(info) );
-    }
-
-    void setTags( TestCaseInfo& testCaseInfo, std::vector<std::string> tags ) {
-        std::sort(begin(tags), end(tags));
-        tags.erase(std::unique(begin(tags), end(tags)), end(tags));
-        testCaseInfo.lcaseTags.clear();
-
-        for( auto const& tag : tags ) {
-            std::string lcaseTag = toLower( tag );
-            testCaseInfo.properties = static_cast<TestCaseInfo::SpecialProperties>( testCaseInfo.properties | parseSpecialTag( lcaseTag ) );
-            testCaseInfo.lcaseTags.push_back( lcaseTag );
-        }
-        testCaseInfo.tags = std::move(tags);
-    }
-
-    TestCaseInfo::TestCaseInfo( std::string const& _name,
-                                std::string const& _className,
-                                std::string const& _description,
-                                std::vector<std::string> const& _tags,
-                                SourceLineInfo const& _lineInfo )
-    :   name( _name ),
-        className( _className ),
-        description( _description ),
-        lineInfo( _lineInfo ),
-        properties( None )
-    {
-        setTags( *this, _tags );
-    }
-
-    bool TestCaseInfo::isHidden() const {
-        return ( properties & IsHidden ) != 0;
-    }
-    bool TestCaseInfo::throws() const {
-        return ( properties & Throws ) != 0;
-    }
-    bool TestCaseInfo::okToFail() const {
-        return ( properties & (ShouldFail | MayFail ) ) != 0;
-    }
-    bool TestCaseInfo::expectedToFail() const {
-        return ( properties & (ShouldFail ) ) != 0;
-    }
-
-    std::string TestCaseInfo::tagsAsString() const {
-        std::string ret;
-        // '[' and ']' per tag
-        std::size_t full_size = 2 * tags.size();
-        for (const auto& tag : tags) {
-            full_size += tag.size();
-        }
-        ret.reserve(full_size);
-        for (const auto& tag : tags) {
-            ret.push_back('[');
-            ret.append(tag);
-            ret.push_back(']');
-        }
-
-        return ret;
-    }
-
-    TestCase::TestCase( ITestInvoker* testCase, TestCaseInfo&& info ) : TestCaseInfo( std::move(info) ), test( testCase ) {}
-
-    TestCase TestCase::withName( std::string const& _newName ) const {
-        TestCase other( *this );
-        other.name = _newName;
-        return other;
-    }
-
-    void TestCase::invoke() const {
-        test->invoke();
-    }
-
-    bool TestCase::operator == ( TestCase const& other ) const {
-        return  test.get() == other.test.get() &&
-                name == other.name &&
-                className == other.className;
-    }
-
-    bool TestCase::operator < ( TestCase const& other ) const {
-        return name < other.name;
-    }
-
-    TestCaseInfo const& TestCase::getTestCaseInfo() const
-    {
-        return *this;
-    }
-
-} // end namespace Catch
-// end catch_test_case_info.cpp
-// start catch_test_case_registry_impl.cpp
-
-#include <sstream>
-
-namespace Catch {
-
-    std::vector<TestCase> sortTests( IConfig const& config, std::vector<TestCase> const& unsortedTestCases ) {
-
-        std::vector<TestCase> sorted = unsortedTestCases;
-
-        switch( config.runOrder() ) {
-            case RunTests::InLexicographicalOrder:
-                std::sort( sorted.begin(), sorted.end() );
-                break;
-            case RunTests::InRandomOrder:
-                seedRng( config );
-                std::shuffle( sorted.begin(), sorted.end(), rng() );
-                break;
-            case RunTests::InDeclarationOrder:
-                // already in declaration order
-                break;
-        }
-        return sorted;
-    }
-
-    bool isThrowSafe( TestCase const& testCase, IConfig const& config ) {
-        return !testCase.throws() || config.allowThrows();
-    }
-
-    bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config ) {
-        return testSpec.matches( testCase ) && isThrowSafe( testCase, config );
-    }
-
-    void enforceNoDuplicateTestCases( std::vector<TestCase> const& functions ) {
-        std::set<TestCase> seenFunctions;
-        for( auto const& function : functions ) {
-            auto prev = seenFunctions.insert( function );
-            CATCH_ENFORCE( prev.second,
-                    "error: TEST_CASE( \"" << function.name << "\" ) already defined.\n"
-                    << "\tFirst seen at " << prev.first->getTestCaseInfo().lineInfo << "\n"
-                    << "\tRedefined at " << function.getTestCaseInfo().lineInfo );
-        }
-    }
-
-    std::vector<TestCase> filterTests( std::vector<TestCase> const& testCases, TestSpec const& testSpec, IConfig const& config ) {
-        std::vector<TestCase> filtered;
-        filtered.reserve( testCases.size() );
-        for (auto const& testCase : testCases) {
-            if ((!testSpec.hasFilters() && !testCase.isHidden()) ||
-                (testSpec.hasFilters() && matchTest(testCase, testSpec, config))) {
-                filtered.push_back(testCase);
-            }
-        }
-        return filtered;
-    }
-    std::vector<TestCase> const& getAllTestCasesSorted( IConfig const& config ) {
-        return getRegistryHub().getTestCaseRegistry().getAllTestsSorted( config );
-    }
-
-    void TestRegistry::registerTest( TestCase const& testCase ) {
-        std::string name = testCase.getTestCaseInfo().name;
-        if( name.empty() ) {
-            ReusableStringStream rss;
-            rss << "Anonymous test case " << ++m_unnamedCount;
-            return registerTest( testCase.withName( rss.str() ) );
-        }
-        m_functions.push_back( testCase );
-    }
-
-    std::vector<TestCase> const& TestRegistry::getAllTests() const {
-        return m_functions;
-    }
-    std::vector<TestCase> const& TestRegistry::getAllTestsSorted( IConfig const& config ) const {
-        if( m_sortedFunctions.empty() )
-            enforceNoDuplicateTestCases( m_functions );
-
-        if(  m_currentSortOrder != config.runOrder() || m_sortedFunctions.empty() ) {
-            m_sortedFunctions = sortTests( config, m_functions );
-            m_currentSortOrder = config.runOrder();
-        }
-        return m_sortedFunctions;
-    }
-
-    ///////////////////////////////////////////////////////////////////////////
-    TestInvokerAsFunction::TestInvokerAsFunction( void(*testAsFunction)() ) noexcept : m_testAsFunction( testAsFunction ) {}
-
-    void TestInvokerAsFunction::invoke() const {
-        m_testAsFunction();
-    }
-
-    std::string extractClassName( StringRef const& classOrQualifiedMethodName ) {
-        std::string className(classOrQualifiedMethodName);
-        if( startsWith( className, '&' ) )
-        {
-            std::size_t lastColons = className.rfind( "::" );
-            std::size_t penultimateColons = className.rfind( "::", lastColons-1 );
-            if( penultimateColons == std::string::npos )
-                penultimateColons = 1;
-            className = className.substr( penultimateColons, lastColons-penultimateColons );
-        }
-        return className;
-    }
-
-} // end namespace Catch
-// end catch_test_case_registry_impl.cpp
-// start catch_test_case_tracker.cpp
-
-#include <algorithm>
-#include <cassert>
-#include <stdexcept>
-#include <memory>
-#include <sstream>
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#endif
-
-namespace Catch {
-namespace TestCaseTracking {
-
-    NameAndLocation::NameAndLocation( std::string const& _name, SourceLineInfo const& _location )
-    :   name( _name ),
-        location( _location )
-    {}
-
-    ITracker::~ITracker() = default;
-
-    ITracker& TrackerContext::startRun() {
-        m_rootTracker = std::make_shared<SectionTracker>( NameAndLocation( "{root}", CATCH_INTERNAL_LINEINFO ), *this, nullptr );
-        m_currentTracker = nullptr;
-        m_runState = Executing;
-        return *m_rootTracker;
-    }
-
-    void TrackerContext::endRun() {
-        m_rootTracker.reset();
-        m_currentTracker = nullptr;
-        m_runState = NotStarted;
-    }
-
-    void TrackerContext::startCycle() {
-        m_currentTracker = m_rootTracker.get();
-        m_runState = Executing;
-    }
-    void TrackerContext::completeCycle() {
-        m_runState = CompletedCycle;
-    }
-
-    bool TrackerContext::completedCycle() const {
-        return m_runState == CompletedCycle;
-    }
-    ITracker& TrackerContext::currentTracker() {
-        return *m_currentTracker;
-    }
-    void TrackerContext::setCurrentTracker( ITracker* tracker ) {
-        m_currentTracker = tracker;
-    }
-
-    TrackerBase::TrackerBase( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-    :   m_nameAndLocation( nameAndLocation ),
-        m_ctx( ctx ),
-        m_parent( parent )
-    {}
-
-    NameAndLocation const& TrackerBase::nameAndLocation() const {
-        return m_nameAndLocation;
-    }
-    bool TrackerBase::isComplete() const {
-        return m_runState == CompletedSuccessfully || m_runState == Failed;
-    }
-    bool TrackerBase::isSuccessfullyCompleted() const {
-        return m_runState == CompletedSuccessfully;
-    }
-    bool TrackerBase::isOpen() const {
-        return m_runState != NotStarted && !isComplete();
-    }
-    bool TrackerBase::hasChildren() const {
-        return !m_children.empty();
-    }
-
-    void TrackerBase::addChild( ITrackerPtr const& child ) {
-        m_children.push_back( child );
-    }
-
-    ITrackerPtr TrackerBase::findChild( NameAndLocation const& nameAndLocation ) {
-        auto it = std::find_if( m_children.begin(), m_children.end(),
-            [&nameAndLocation]( ITrackerPtr const& tracker ){
-                return
-                    tracker->nameAndLocation().location == nameAndLocation.location &&
-                    tracker->nameAndLocation().name == nameAndLocation.name;
-            } );
-        return( it != m_children.end() )
-            ? *it
-            : nullptr;
-    }
-    ITracker& TrackerBase::parent() {
-        assert( m_parent ); // Should always be non-null except for root
-        return *m_parent;
-    }
-
-    void TrackerBase::openChild() {
-        if( m_runState != ExecutingChildren ) {
-            m_runState = ExecutingChildren;
-            if( m_parent )
-                m_parent->openChild();
-        }
-    }
-
-    bool TrackerBase::isSectionTracker() const { return false; }
-    bool TrackerBase::isGeneratorTracker() const { return false; }
-
-    void TrackerBase::open() {
-        m_runState = Executing;
-        moveToThis();
-        if( m_parent )
-            m_parent->openChild();
-    }
-
-    void TrackerBase::close() {
-
-        // Close any still open children (e.g. generators)
-        while( &m_ctx.currentTracker() != this )
-            m_ctx.currentTracker().close();
-
-        switch( m_runState ) {
-            case NeedsAnotherRun:
-                break;
-
-            case Executing:
-                m_runState = CompletedSuccessfully;
-                break;
-            case ExecutingChildren:
-                if( std::all_of(m_children.begin(), m_children.end(), [](ITrackerPtr const& t){ return t->isComplete(); }) )
-                    m_runState = CompletedSuccessfully;
-                break;
-
-            case NotStarted:
-            case CompletedSuccessfully:
-            case Failed:
-                CATCH_INTERNAL_ERROR( "Illogical state: " << m_runState );
-
-            default:
-                CATCH_INTERNAL_ERROR( "Unknown state: " << m_runState );
-        }
-        moveToParent();
-        m_ctx.completeCycle();
-    }
-    void TrackerBase::fail() {
-        m_runState = Failed;
-        if( m_parent )
-            m_parent->markAsNeedingAnotherRun();
-        moveToParent();
-        m_ctx.completeCycle();
-    }
-    void TrackerBase::markAsNeedingAnotherRun() {
-        m_runState = NeedsAnotherRun;
-    }
-
-    void TrackerBase::moveToParent() {
-        assert( m_parent );
-        m_ctx.setCurrentTracker( m_parent );
-    }
-    void TrackerBase::moveToThis() {
-        m_ctx.setCurrentTracker( this );
-    }
-
-    SectionTracker::SectionTracker( NameAndLocation const& nameAndLocation, TrackerContext& ctx, ITracker* parent )
-    :   TrackerBase( nameAndLocation, ctx, parent ),
-        m_trimmed_name(trim(nameAndLocation.name))
-    {
-        if( parent ) {
-            while( !parent->isSectionTracker() )
-                parent = &parent->parent();
-
-            SectionTracker& parentSection = static_cast<SectionTracker&>( *parent );
-            addNextFilters( parentSection.m_filters );
-        }
-    }
-
-    bool SectionTracker::isComplete() const {
-        bool complete = true;
-
-        if ((m_filters.empty() || m_filters[0] == "")
-            || std::find(m_filters.begin(), m_filters.end(), m_trimmed_name) != m_filters.end()) {
-            complete = TrackerBase::isComplete();
-        }
-        return complete;
-    }
-
-    bool SectionTracker::isSectionTracker() const { return true; }
-
-    SectionTracker& SectionTracker::acquire( TrackerContext& ctx, NameAndLocation const& nameAndLocation ) {
-        std::shared_ptr<SectionTracker> section;
-
-        ITracker& currentTracker = ctx.currentTracker();
-        if( ITrackerPtr childTracker = currentTracker.findChild( nameAndLocation ) ) {
-            assert( childTracker );
-            assert( childTracker->isSectionTracker() );
-            section = std::static_pointer_cast<SectionTracker>( childTracker );
-        }
-        else {
-            section = std::make_shared<SectionTracker>( nameAndLocation, ctx, &currentTracker );
-            currentTracker.addChild( section );
-        }
-        if( !ctx.completedCycle() )
-            section->tryOpen();
-        return *section;
-    }
-
-    void SectionTracker::tryOpen() {
-        if( !isComplete() )
-            open();
-    }
-
-    void SectionTracker::addInitialFilters( std::vector<std::string> const& filters ) {
-        if( !filters.empty() ) {
-            m_filters.reserve( m_filters.size() + filters.size() + 2 );
-            m_filters.emplace_back(""); // Root - should never be consulted
-            m_filters.emplace_back(""); // Test Case - not a section filter
-            m_filters.insert( m_filters.end(), filters.begin(), filters.end() );
-        }
-    }
-    void SectionTracker::addNextFilters( std::vector<std::string> const& filters ) {
-        if( filters.size() > 1 )
-            m_filters.insert( m_filters.end(), filters.begin()+1, filters.end() );
-    }
-
-} // namespace TestCaseTracking
-
-using TestCaseTracking::ITracker;
-using TestCaseTracking::TrackerContext;
-using TestCaseTracking::SectionTracker;
-
-} // namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-// end catch_test_case_tracker.cpp
-// start catch_test_registry.cpp
-
-namespace Catch {
-
-    auto makeTestInvoker( void(*testAsFunction)() ) noexcept -> ITestInvoker* {
-        return new(std::nothrow) TestInvokerAsFunction( testAsFunction );
-    }
-
-    NameAndTags::NameAndTags( StringRef const& name_ , StringRef const& tags_ ) noexcept : name( name_ ), tags( tags_ ) {}
-
-    AutoReg::AutoReg( ITestInvoker* invoker, SourceLineInfo const& lineInfo, StringRef const& classOrMethod, NameAndTags const& nameAndTags ) noexcept {
-        CATCH_TRY {
-            getMutableRegistryHub()
-                    .registerTest(
-                        makeTestCase(
-                            invoker,
-                            extractClassName( classOrMethod ),
-                            nameAndTags,
-                            lineInfo));
-        } CATCH_CATCH_ALL {
-            // Do not throw when constructing global objects, instead register the exception to be processed later
-            getMutableRegistryHub().registerStartupException();
-        }
-    }
-
-    AutoReg::~AutoReg() = default;
-}
-// end catch_test_registry.cpp
-// start catch_test_spec.cpp
-
-#include <algorithm>
-#include <string>
-#include <vector>
-#include <memory>
-
-namespace Catch {
-
-    TestSpec::Pattern::Pattern( std::string const& name )
-    : m_name( name )
-    {}
-
-    TestSpec::Pattern::~Pattern() = default;
-
-    std::string const& TestSpec::Pattern::name() const {
-        return m_name;
-    }
-
-    TestSpec::NamePattern::NamePattern( std::string const& name, std::string const& filterString )
-    : Pattern( filterString )
-    , m_wildcardPattern( toLower( name ), CaseSensitive::No )
-    {}
-
-    bool TestSpec::NamePattern::matches( TestCaseInfo const& testCase ) const {
-        return m_wildcardPattern.matches( testCase.name );
-    }
-
-    TestSpec::TagPattern::TagPattern( std::string const& tag, std::string const& filterString )
-    : Pattern( filterString )
-    , m_tag( toLower( tag ) )
-    {}
-
-    bool TestSpec::TagPattern::matches( TestCaseInfo const& testCase ) const {
-        return std::find(begin(testCase.lcaseTags),
-                         end(testCase.lcaseTags),
-                         m_tag) != end(testCase.lcaseTags);
-    }
-
-    TestSpec::ExcludedPattern::ExcludedPattern( PatternPtr const& underlyingPattern )
-    : Pattern( underlyingPattern->name() )
-    , m_underlyingPattern( underlyingPattern )
-    {}
-
-    bool TestSpec::ExcludedPattern::matches( TestCaseInfo const& testCase ) const {
-        return !m_underlyingPattern->matches( testCase );
-    }
-
-    bool TestSpec::Filter::matches( TestCaseInfo const& testCase ) const {
-        return std::all_of( m_patterns.begin(), m_patterns.end(), [&]( PatternPtr const& p ){ return p->matches( testCase ); } );
-    }
-
-    std::string TestSpec::Filter::name() const {
-        std::string name;
-        for( auto const& p : m_patterns )
-            name += p->name();
-        return name;
-    }
-
-    bool TestSpec::hasFilters() const {
-        return !m_filters.empty();
-    }
-
-    bool TestSpec::matches( TestCaseInfo const& testCase ) const {
-        return std::any_of( m_filters.begin(), m_filters.end(), [&]( Filter const& f ){ return f.matches( testCase ); } );
-    }
-
-    TestSpec::Matches TestSpec::matchesByFilter( std::vector<TestCase> const& testCases, IConfig const& config ) const
-    {
-        Matches matches( m_filters.size() );
-        std::transform( m_filters.begin(), m_filters.end(), matches.begin(), [&]( Filter const& filter ){
-            std::vector<TestCase const*> currentMatches;
-            for( auto const& test : testCases )
-                if( isThrowSafe( test, config ) && filter.matches( test ) )
-                    currentMatches.emplace_back( &test );
-            return FilterMatch{ filter.name(), currentMatches };
-        } );
-        return matches;
-    }
-
-    const TestSpec::vectorStrings& TestSpec::getInvalidArgs() const{
-        return  (m_invalidArgs);
-    }
-
-}
-// end catch_test_spec.cpp
-// start catch_test_spec_parser.cpp
-
-namespace Catch {
-
-    TestSpecParser::TestSpecParser( ITagAliasRegistry const& tagAliases ) : m_tagAliases( &tagAliases ) {}
-
-    TestSpecParser& TestSpecParser::parse( std::string const& arg ) {
-        m_mode = None;
-        m_exclusion = false;
-        m_arg = m_tagAliases->expandAliases( arg );
-        m_escapeChars.clear();
-        m_substring.reserve(m_arg.size());
-        m_patternName.reserve(m_arg.size());
-        m_realPatternPos = 0;
-
-        for( m_pos = 0; m_pos < m_arg.size(); ++m_pos )
-          //if visitChar fails
-           if( !visitChar( m_arg[m_pos] ) ){
-               m_testSpec.m_invalidArgs.push_back(arg);
-               break;
-           }
-        endMode();
-        return *this;
-    }
-    TestSpec TestSpecParser::testSpec() {
-        addFilter();
-        return m_testSpec;
-    }
-    bool TestSpecParser::visitChar( char c ) {
-        if( (m_mode != EscapedName) && (c == '\\') ) {
-            escape();
-            addCharToPattern(c);
-            return true;
-        }else if((m_mode != EscapedName) && (c == ',') )  {
-            return separate();
-        }
-
-        switch( m_mode ) {
-        case None:
-            if( processNoneChar( c ) )
-                return true;
-            break;
-        case Name:
-            processNameChar( c );
-            break;
-        case EscapedName:
-            endMode();
-            addCharToPattern(c);
-            return true;
-        default:
-        case Tag:
-        case QuotedName:
-            if( processOtherChar( c ) )
-                return true;
-            break;
-        }
-
-        m_substring += c;
-        if( !isControlChar( c ) ) {
-            m_patternName += c;
-            m_realPatternPos++;
-        }
-        return true;
-    }
-    // Two of the processing methods return true to signal the caller to return
-    // without adding the given character to the current pattern strings
-    bool TestSpecParser::processNoneChar( char c ) {
-        switch( c ) {
-        case ' ':
-            return true;
-        case '~':
-            m_exclusion = true;
-            return false;
-        case '[':
-            startNewMode( Tag );
-            return false;
-        case '"':
-            startNewMode( QuotedName );
-            return false;
-        default:
-            startNewMode( Name );
-            return false;
-        }
-    }
-    void TestSpecParser::processNameChar( char c ) {
-        if( c == '[' ) {
-            if( m_substring == "exclude:" )
-                m_exclusion = true;
-            else
-                endMode();
-            startNewMode( Tag );
-        }
-    }
-    bool TestSpecParser::processOtherChar( char c ) {
-        if( !isControlChar( c ) )
-            return false;
-        m_substring += c;
-        endMode();
-        return true;
-    }
-    void TestSpecParser::startNewMode( Mode mode ) {
-        m_mode = mode;
-    }
-    void TestSpecParser::endMode() {
-        switch( m_mode ) {
-        case Name:
-        case QuotedName:
-            return addNamePattern();
-        case Tag:
-            return addTagPattern();
-        case EscapedName:
-            revertBackToLastMode();
-            return;
-        case None:
-        default:
-            return startNewMode( None );
-        }
-    }
-    void TestSpecParser::escape() {
-        saveLastMode();
-        m_mode = EscapedName;
-        m_escapeChars.push_back(m_realPatternPos);
-    }
-    bool TestSpecParser::isControlChar( char c ) const {
-        switch( m_mode ) {
-            default:
-                return false;
-            case None:
-                return c == '~';
-            case Name:
-                return c == '[';
-            case EscapedName:
-                return true;
-            case QuotedName:
-                return c == '"';
-            case Tag:
-                return c == '[' || c == ']';
-        }
-    }
-
-    void TestSpecParser::addFilter() {
-        if( !m_currentFilter.m_patterns.empty() ) {
-            m_testSpec.m_filters.push_back( m_currentFilter );
-            m_currentFilter = TestSpec::Filter();
-        }
-    }
-
-    void TestSpecParser::saveLastMode() {
-      lastMode = m_mode;
-    }
-
-    void TestSpecParser::revertBackToLastMode() {
-      m_mode = lastMode;
-    }
-
-    bool TestSpecParser::separate() {
-      if( (m_mode==QuotedName) || (m_mode==Tag) ){
-         //invalid argument, signal failure to previous scope.
-         m_mode = None;
-         m_pos = m_arg.size();
-         m_substring.clear();
-         m_patternName.clear();
-         return false;
-      }
-      endMode();
-      addFilter();
-      return true; //success
-    }
-
-    std::string TestSpecParser::preprocessPattern() {
-        std::string token = m_patternName;
-        for (std::size_t i = 0; i < m_escapeChars.size(); ++i)
-            token = token.substr(0, m_escapeChars[i] - i) + token.substr(m_escapeChars[i] - i + 1);
-        m_escapeChars.clear();
-        if (startsWith(token, "exclude:")) {
-            m_exclusion = true;
-            token = token.substr(8);
-        }
-
-        m_patternName.clear();
-
-        return token;
-    }
-
-    void TestSpecParser::addNamePattern() {
-        auto token = preprocessPattern();
-
-        if (!token.empty()) {
-            TestSpec::PatternPtr pattern = std::make_shared<TestSpec::NamePattern>(token, m_substring);
-            if (m_exclusion)
-                pattern = std::make_shared<TestSpec::ExcludedPattern>(pattern);
-            m_currentFilter.m_patterns.push_back(pattern);
-        }
-        m_substring.clear();
-        m_exclusion = false;
-        m_mode = None;
-    }
-
-    void TestSpecParser::addTagPattern() {
-        auto token = preprocessPattern();
-
-        if (!token.empty()) {
-            // If the tag pattern is the "hide and tag" shorthand (e.g. [.foo])
-            // we have to create a separate hide tag and shorten the real one
-            if (token.size() > 1 && token[0] == '.') {
-                token.erase(token.begin());
-                TestSpec::PatternPtr pattern = std::make_shared<TestSpec::TagPattern>(".", m_substring);
-                if (m_exclusion) {
-                    pattern = std::make_shared<TestSpec::ExcludedPattern>(pattern);
-                }
-                m_currentFilter.m_patterns.push_back(pattern);
-            }
-
-            TestSpec::PatternPtr pattern = std::make_shared<TestSpec::TagPattern>(token, m_substring);
-
-            if (m_exclusion) {
-                pattern = std::make_shared<TestSpec::ExcludedPattern>(pattern);
-            }
-            m_currentFilter.m_patterns.push_back(pattern);
-        }
-        m_substring.clear();
-        m_exclusion = false;
-        m_mode = None;
-    }
-
-    TestSpec parseTestSpec( std::string const& arg ) {
-        return TestSpecParser( ITagAliasRegistry::get() ).parse( arg ).testSpec();
-    }
-
-} // namespace Catch
-// end catch_test_spec_parser.cpp
-// start catch_timer.cpp
-
-#include <chrono>
-
-static const uint64_t nanosecondsInSecond = 1000000000;
-
-namespace Catch {
-
-    auto getCurrentNanosecondsSinceEpoch() -> uint64_t {
-        return std::chrono::duration_cast<std::chrono::nanoseconds>( std::chrono::high_resolution_clock::now().time_since_epoch() ).count();
-    }
-
-    namespace {
-        auto estimateClockResolution() -> uint64_t {
-            uint64_t sum = 0;
-            static const uint64_t iterations = 1000000;
-
-            auto startTime = getCurrentNanosecondsSinceEpoch();
-
-            for( std::size_t i = 0; i < iterations; ++i ) {
-
-                uint64_t ticks;
-                uint64_t baseTicks = getCurrentNanosecondsSinceEpoch();
-                do {
-                    ticks = getCurrentNanosecondsSinceEpoch();
-                } while( ticks == baseTicks );
-
-                auto delta = ticks - baseTicks;
-                sum += delta;
-
-                // If we have been calibrating for over 3 seconds -- the clock
-                // is terrible and we should move on.
-                // TBD: How to signal that the measured resolution is probably wrong?
-                if (ticks > startTime + 3 * nanosecondsInSecond) {
-                    return sum / ( i + 1u );
-                }
-            }
-
-            // We're just taking the mean, here. To do better we could take the std. dev and exclude outliers
-            // - and potentially do more iterations if there's a high variance.
-            return sum/iterations;
-        }
-    }
-    auto getEstimatedClockResolution() -> uint64_t {
-        static auto s_resolution = estimateClockResolution();
-        return s_resolution;
-    }
-
-    void Timer::start() {
-       m_nanoseconds = getCurrentNanosecondsSinceEpoch();
-    }
-    auto Timer::getElapsedNanoseconds() const -> uint64_t {
-        return getCurrentNanosecondsSinceEpoch() - m_nanoseconds;
-    }
-    auto Timer::getElapsedMicroseconds() const -> uint64_t {
-        return getElapsedNanoseconds()/1000;
-    }
-    auto Timer::getElapsedMilliseconds() const -> unsigned int {
-        return static_cast<unsigned int>(getElapsedMicroseconds()/1000);
-    }
-    auto Timer::getElapsedSeconds() const -> double {
-        return getElapsedMicroseconds()/1000000.0;
-    }
-
-} // namespace Catch
-// end catch_timer.cpp
-// start catch_tostring.cpp
-
-#if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wexit-time-destructors"
-#    pragma clang diagnostic ignored "-Wglobal-constructors"
-#endif
-
-// Enable specific decls locally
-#if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER)
-#define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER
-#endif
-
-#include <cmath>
-#include <iomanip>
-
-namespace Catch {
-
-namespace Detail {
-
-    const std::string unprintableString = "{?}";
-
-    namespace {
-        const int hexThreshold = 255;
-
-        struct Endianness {
-            enum Arch { Big, Little };
-
-            static Arch which() {
-                int one = 1;
-                // If the lowest byte we read is non-zero, we can assume
-                // that little endian format is used.
-                auto value = *reinterpret_cast<char*>(&one);
-                return value ? Little : Big;
-            }
-        };
-    }
-
-    std::string rawMemoryToString( const void *object, std::size_t size ) {
-        // Reverse order for little endian architectures
-        int i = 0, end = static_cast<int>( size ), inc = 1;
-        if( Endianness::which() == Endianness::Little ) {
-            i = end-1;
-            end = inc = -1;
-        }
-
-        unsigned char const *bytes = static_cast<unsigned char const *>(object);
-        ReusableStringStream rss;
-        rss << "0x" << std::setfill('0') << std::hex;
-        for( ; i != end; i += inc )
-             rss << std::setw(2) << static_cast<unsigned>(bytes[i]);
-       return rss.str();
-    }
-}
-
-template<typename T>
-std::string fpToString( T value, int precision ) {
-    if (Catch::isnan(value)) {
-        return "nan";
-    }
-
-    ReusableStringStream rss;
-    rss << std::setprecision( precision )
-        << std::fixed
-        << value;
-    std::string d = rss.str();
-    std::size_t i = d.find_last_not_of( '0' );
-    if( i != std::string::npos && i != d.size()-1 ) {
-        if( d[i] == '.' )
-            i++;
-        d = d.substr( 0, i+1 );
-    }
-    return d;
-}
-
-//// ======================================================= ////
-//
-//   Out-of-line defs for full specialization of StringMaker
-//
-//// ======================================================= ////
-
-std::string StringMaker<std::string>::convert(const std::string& str) {
-    if (!getCurrentContext().getConfig()->showInvisibles()) {
-        return '"' + str + '"';
-    }
-
-    std::string s("\"");
-    for (char c : str) {
-        switch (c) {
-        case '\n':
-            s.append("\\n");
-            break;
-        case '\t':
-            s.append("\\t");
-            break;
-        default:
-            s.push_back(c);
-            break;
-        }
-    }
-    s.append("\"");
-    return s;
-}
-
-#ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-std::string StringMaker<std::string_view>::convert(std::string_view str) {
-    return ::Catch::Detail::stringify(std::string{ str });
-}
-#endif
-
-std::string StringMaker<char const*>::convert(char const* str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::string{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-std::string StringMaker<char*>::convert(char* str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::string{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-
-#ifdef CATCH_CONFIG_WCHAR
-std::string StringMaker<std::wstring>::convert(const std::wstring& wstr) {
-    std::string s;
-    s.reserve(wstr.size());
-    for (auto c : wstr) {
-        s += (c <= 0xff) ? static_cast<char>(c) : '?';
-    }
-    return ::Catch::Detail::stringify(s);
-}
-
-# ifdef CATCH_CONFIG_CPP17_STRING_VIEW
-std::string StringMaker<std::wstring_view>::convert(std::wstring_view str) {
-    return StringMaker<std::wstring>::convert(std::wstring(str));
-}
-# endif
-
-std::string StringMaker<wchar_t const*>::convert(wchar_t const * str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::wstring{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-std::string StringMaker<wchar_t *>::convert(wchar_t * str) {
-    if (str) {
-        return ::Catch::Detail::stringify(std::wstring{ str });
-    } else {
-        return{ "{null string}" };
-    }
-}
-#endif
-
-#if defined(CATCH_CONFIG_CPP17_BYTE)
-#include <cstddef>
-std::string StringMaker<std::byte>::convert(std::byte value) {
-    return ::Catch::Detail::stringify(std::to_integer<unsigned long long>(value));
-}
-#endif // defined(CATCH_CONFIG_CPP17_BYTE)
-
-std::string StringMaker<int>::convert(int value) {
-    return ::Catch::Detail::stringify(static_cast<long long>(value));
-}
-std::string StringMaker<long>::convert(long value) {
-    return ::Catch::Detail::stringify(static_cast<long long>(value));
-}
-std::string StringMaker<long long>::convert(long long value) {
-    ReusableStringStream rss;
-    rss << value;
-    if (value > Detail::hexThreshold) {
-        rss << " (0x" << std::hex << value << ')';
-    }
-    return rss.str();
-}
-
-std::string StringMaker<unsigned int>::convert(unsigned int value) {
-    return ::Catch::Detail::stringify(static_cast<unsigned long long>(value));
-}
-std::string StringMaker<unsigned long>::convert(unsigned long value) {
-    return ::Catch::Detail::stringify(static_cast<unsigned long long>(value));
-}
-std::string StringMaker<unsigned long long>::convert(unsigned long long value) {
-    ReusableStringStream rss;
-    rss << value;
-    if (value > Detail::hexThreshold) {
-        rss << " (0x" << std::hex << value << ')';
-    }
-    return rss.str();
-}
-
-std::string StringMaker<bool>::convert(bool b) {
-    return b ? "true" : "false";
-}
-
-std::string StringMaker<signed char>::convert(signed char value) {
-    if (value == '\r') {
-        return "'\\r'";
-    } else if (value == '\f') {
-        return "'\\f'";
-    } else if (value == '\n') {
-        return "'\\n'";
-    } else if (value == '\t') {
-        return "'\\t'";
-    } else if ('\0' <= value && value < ' ') {
-        return ::Catch::Detail::stringify(static_cast<unsigned int>(value));
-    } else {
-        char chstr[] = "' '";
-        chstr[1] = value;
-        return chstr;
-    }
-}
-std::string StringMaker<char>::convert(char c) {
-    return ::Catch::Detail::stringify(static_cast<signed char>(c));
-}
-std::string StringMaker<unsigned char>::convert(unsigned char c) {
-    return ::Catch::Detail::stringify(static_cast<char>(c));
-}
-
-std::string StringMaker<std::nullptr_t>::convert(std::nullptr_t) {
-    return "nullptr";
-}
-
-int StringMaker<float>::precision = 5;
-
-std::string StringMaker<float>::convert(float value) {
-    return fpToString(value, precision) + 'f';
-}
-
-int StringMaker<double>::precision = 10;
-
-std::string StringMaker<double>::convert(double value) {
-    return fpToString(value, precision);
-}
-
-std::string ratio_string<std::atto>::symbol() { return "a"; }
-std::string ratio_string<std::femto>::symbol() { return "f"; }
-std::string ratio_string<std::pico>::symbol() { return "p"; }
-std::string ratio_string<std::nano>::symbol() { return "n"; }
-std::string ratio_string<std::micro>::symbol() { return "u"; }
-std::string ratio_string<std::milli>::symbol() { return "m"; }
-
-} // end namespace Catch
-
-#if defined(__clang__)
-#    pragma clang diagnostic pop
-#endif
-
-// end catch_tostring.cpp
-// start catch_totals.cpp
-
-namespace Catch {
-
-    Counts Counts::operator - ( Counts const& other ) const {
-        Counts diff;
-        diff.passed = passed - other.passed;
-        diff.failed = failed - other.failed;
-        diff.failedButOk = failedButOk - other.failedButOk;
-        return diff;
-    }
-
-    Counts& Counts::operator += ( Counts const& other ) {
-        passed += other.passed;
-        failed += other.failed;
-        failedButOk += other.failedButOk;
-        return *this;
-    }
-
-    std::size_t Counts::total() const {
-        return passed + failed + failedButOk;
-    }
-    bool Counts::allPassed() const {
-        return failed == 0 && failedButOk == 0;
-    }
-    bool Counts::allOk() const {
-        return failed == 0;
-    }
-
-    Totals Totals::operator - ( Totals const& other ) const {
-        Totals diff;
-        diff.assertions = assertions - other.assertions;
-        diff.testCases = testCases - other.testCases;
-        return diff;
-    }
-
-    Totals& Totals::operator += ( Totals const& other ) {
-        assertions += other.assertions;
-        testCases += other.testCases;
-        return *this;
-    }
-
-    Totals Totals::delta( Totals const& prevTotals ) const {
-        Totals diff = *this - prevTotals;
-        if( diff.assertions.failed > 0 )
-            ++diff.testCases.failed;
-        else if( diff.assertions.failedButOk > 0 )
-            ++diff.testCases.failedButOk;
-        else
-            ++diff.testCases.passed;
-        return diff;
-    }
-
-}
-// end catch_totals.cpp
-// start catch_uncaught_exceptions.cpp
-
-#include <exception>
-
-namespace Catch {
-    bool uncaught_exceptions() {
-#if defined(CATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS)
-        return std::uncaught_exceptions() > 0;
-#else
-        return std::uncaught_exception();
-#endif
-  }
-} // end namespace Catch
-// end catch_uncaught_exceptions.cpp
-// start catch_version.cpp
-
-#include <ostream>
-
-namespace Catch {
-
-    Version::Version
-        (   unsigned int _majorVersion,
-            unsigned int _minorVersion,
-            unsigned int _patchNumber,
-            char const * const _branchName,
-            unsigned int _buildNumber )
-    :   majorVersion( _majorVersion ),
-        minorVersion( _minorVersion ),
-        patchNumber( _patchNumber ),
-        branchName( _branchName ),
-        buildNumber( _buildNumber )
-    {}
-
-    std::ostream& operator << ( std::ostream& os, Version const& version ) {
-        os  << version.majorVersion << '.'
-            << version.minorVersion << '.'
-            << version.patchNumber;
-        // branchName is never null -> 0th char is \0 if it is empty
-        if (version.branchName[0]) {
-            os << '-' << version.branchName
-               << '.' << version.buildNumber;
-        }
-        return os;
-    }
-
-    Version const& libraryVersion() {
-        static Version version( 2, 11, 3, "", 0 );
-        return version;
-    }
-
-}
-// end catch_version.cpp
-// start catch_wildcard_pattern.cpp
-
-namespace Catch {
-
-    WildcardPattern::WildcardPattern( std::string const& pattern,
-                                      CaseSensitive::Choice caseSensitivity )
-    :   m_caseSensitivity( caseSensitivity ),
-        m_pattern( normaliseString( pattern ) )
-    {
-        if( startsWith( m_pattern, '*' ) ) {
-            m_pattern = m_pattern.substr( 1 );
-            m_wildcard = WildcardAtStart;
-        }
-        if( endsWith( m_pattern, '*' ) ) {
-            m_pattern = m_pattern.substr( 0, m_pattern.size()-1 );
-            m_wildcard = static_cast<WildcardPosition>( m_wildcard | WildcardAtEnd );
-        }
-    }
-
-    bool WildcardPattern::matches( std::string const& str ) const {
-        switch( m_wildcard ) {
-            case NoWildcard:
-                return m_pattern == normaliseString( str );
-            case WildcardAtStart:
-                return endsWith( normaliseString( str ), m_pattern );
-            case WildcardAtEnd:
-                return startsWith( normaliseString( str ), m_pattern );
-            case WildcardAtBothEnds:
-                return contains( normaliseString( str ), m_pattern );
-            default:
-                CATCH_INTERNAL_ERROR( "Unknown enum" );
-        }
-    }
-
-    std::string WildcardPattern::normaliseString( std::string const& str ) const {
-        return trim( m_caseSensitivity == CaseSensitive::No ? toLower( str ) : str );
-    }
-}
-// end catch_wildcard_pattern.cpp
-// start catch_xmlwriter.cpp
-
-#include <iomanip>
-#include <type_traits>
-
-namespace Catch {
-
-namespace {
-
-    size_t trailingBytes(unsigned char c) {
-        if ((c & 0xE0) == 0xC0) {
-            return 2;
-        }
-        if ((c & 0xF0) == 0xE0) {
-            return 3;
-        }
-        if ((c & 0xF8) == 0xF0) {
-            return 4;
-        }
-        CATCH_INTERNAL_ERROR("Invalid multibyte utf-8 start byte encountered");
-    }
-
-    uint32_t headerValue(unsigned char c) {
-        if ((c & 0xE0) == 0xC0) {
-            return c & 0x1F;
-        }
-        if ((c & 0xF0) == 0xE0) {
-            return c & 0x0F;
-        }
-        if ((c & 0xF8) == 0xF0) {
-            return c & 0x07;
-        }
-        CATCH_INTERNAL_ERROR("Invalid multibyte utf-8 start byte encountered");
-    }
-
-    void hexEscapeChar(std::ostream& os, unsigned char c) {
-        std::ios_base::fmtflags f(os.flags());
-        os << "\\x"
-            << std::uppercase << std::hex << std::setfill('0') << std::setw(2)
-            << static_cast<int>(c);
-        os.flags(f);
-    }
-
-    bool shouldNewline(XmlFormatting fmt) {
-        return !!(static_cast<std::underlying_type<XmlFormatting>::type>(fmt & XmlFormatting::Newline));
-    }
-
-    bool shouldIndent(XmlFormatting fmt) {
-        return !!(static_cast<std::underlying_type<XmlFormatting>::type>(fmt & XmlFormatting::Indent));
-    }
-
-} // anonymous namespace
-
-    XmlFormatting operator | (XmlFormatting lhs, XmlFormatting rhs) {
-        return static_cast<XmlFormatting>(
-            static_cast<std::underlying_type<XmlFormatting>::type>(lhs) |
-            static_cast<std::underlying_type<XmlFormatting>::type>(rhs)
-        );
-    }
-
-    XmlFormatting operator & (XmlFormatting lhs, XmlFormatting rhs) {
-        return static_cast<XmlFormatting>(
-            static_cast<std::underlying_type<XmlFormatting>::type>(lhs) &
-            static_cast<std::underlying_type<XmlFormatting>::type>(rhs)
-        );
-    }
-
-    XmlEncode::XmlEncode( std::string const& str, ForWhat forWhat )
-    :   m_str( str ),
-        m_forWhat( forWhat )
-    {}
-
-    void XmlEncode::encodeTo( std::ostream& os ) const {
-        // Apostrophe escaping not necessary if we always use " to write attributes
-        // (see: http://www.w3.org/TR/xml/#syntax)
-
-        for( std::size_t idx = 0; idx < m_str.size(); ++ idx ) {
-            unsigned char c = m_str[idx];
-            switch (c) {
-            case '<':   os << "&lt;"; break;
-            case '&':   os << "&amp;"; break;
-
-            case '>':
-                // See: http://www.w3.org/TR/xml/#syntax
-                if (idx > 2 && m_str[idx - 1] == ']' && m_str[idx - 2] == ']')
-                    os << "&gt;";
-                else
-                    os << c;
-                break;
-
-            case '\"':
-                if (m_forWhat == ForAttributes)
-                    os << "&quot;";
-                else
-                    os << c;
-                break;
-
-            default:
-                // Check for control characters and invalid utf-8
-
-                // Escape control characters in standard ascii
-                // see http://stackoverflow.com/questions/404107/why-are-control-characters-illegal-in-xml-1-0
-                if (c < 0x09 || (c > 0x0D && c < 0x20) || c == 0x7F) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                // Plain ASCII: Write it to stream
-                if (c < 0x7F) {
-                    os << c;
-                    break;
-                }
-
-                // UTF-8 territory
-                // Check if the encoding is valid and if it is not, hex escape bytes.
-                // Important: We do not check the exact decoded values for validity, only the encoding format
-                // First check that this bytes is a valid lead byte:
-                // This means that it is not encoded as 1111 1XXX
-                // Or as 10XX XXXX
-                if (c <  0xC0 ||
-                    c >= 0xF8) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                auto encBytes = trailingBytes(c);
-                // Are there enough bytes left to avoid accessing out-of-bounds memory?
-                if (idx + encBytes - 1 >= m_str.size()) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-                // The header is valid, check data
-                // The next encBytes bytes must together be a valid utf-8
-                // This means: bitpattern 10XX XXXX and the extracted value is sane (ish)
-                bool valid = true;
-                uint32_t value = headerValue(c);
-                for (std::size_t n = 1; n < encBytes; ++n) {
-                    unsigned char nc = m_str[idx + n];
-                    valid &= ((nc & 0xC0) == 0x80);
-                    value = (value << 6) | (nc & 0x3F);
-                }
-
-                if (
-                    // Wrong bit pattern of following bytes
-                    (!valid) ||
-                    // Overlong encodings
-                    (value < 0x80) ||
-                    (0x80 <= value && value < 0x800   && encBytes > 2) ||
-                    (0x800 < value && value < 0x10000 && encBytes > 3) ||
-                    // Encoded value out of range
-                    (value >= 0x110000)
-                    ) {
-                    hexEscapeChar(os, c);
-                    break;
-                }
-
-                // If we got here, this is in fact a valid(ish) utf-8 sequence
-                for (std::size_t n = 0; n < encBytes; ++n) {
-                    os << m_str[idx + n];
-                }
-                idx += encBytes - 1;
-                break;
-            }
-        }
-    }
-
-    std::ostream& operator << ( std::ostream& os, XmlEncode const& xmlEncode ) {
-        xmlEncode.encodeTo( os );
-        return os;
-    }
-
-    XmlWriter::ScopedElement::ScopedElement( XmlWriter* writer, XmlFormatting fmt )
-    :   m_writer( writer ),
-        m_fmt(fmt)
-    {}
-
-    XmlWriter::ScopedElement::ScopedElement( ScopedElement&& other ) noexcept
-    :   m_writer( other.m_writer ),
-        m_fmt(other.m_fmt)
-    {
-        other.m_writer = nullptr;
-        other.m_fmt = XmlFormatting::None;
-    }
-    XmlWriter::ScopedElement& XmlWriter::ScopedElement::operator=( ScopedElement&& other ) noexcept {
-        if ( m_writer ) {
-            m_writer->endElement();
-        }
-        m_writer = other.m_writer;
-        other.m_writer = nullptr;
-        m_fmt = other.m_fmt;
-        other.m_fmt = XmlFormatting::None;
-        return *this;
-    }
-
-    XmlWriter::ScopedElement::~ScopedElement() {
-        if (m_writer) {
-            m_writer->endElement(m_fmt);
-        }
-    }
-
-    XmlWriter::ScopedElement& XmlWriter::ScopedElement::writeText( std::string const& text, XmlFormatting fmt ) {
-        m_writer->writeText( text, fmt );
-        return *this;
-    }
-
-    XmlWriter::XmlWriter( std::ostream& os ) : m_os( os )
-    {
-        writeDeclaration();
-    }
-
-    XmlWriter::~XmlWriter() {
-        while (!m_tags.empty()) {
-            endElement();
-        }
-        newlineIfNecessary();
-    }
-
-    XmlWriter& XmlWriter::startElement( std::string const& name, XmlFormatting fmt ) {
-        ensureTagClosed();
-        newlineIfNecessary();
-        if (shouldIndent(fmt)) {
-            m_os << m_indent;
-            m_indent += "  ";
-        }
-        m_os << '<' << name;
-        m_tags.push_back( name );
-        m_tagIsOpen = true;
-        applyFormatting(fmt);
-        return *this;
-    }
-
-    XmlWriter::ScopedElement XmlWriter::scopedElement( std::string const& name, XmlFormatting fmt ) {
-        ScopedElement scoped( this, fmt );
-        startElement( name, fmt );
-        return scoped;
-    }
-
-    XmlWriter& XmlWriter::endElement(XmlFormatting fmt) {
-        m_indent = m_indent.substr(0, m_indent.size() - 2);
-
-        if( m_tagIsOpen ) {
-            m_os << "/>";
-            m_tagIsOpen = false;
-        } else {
-            newlineIfNecessary();
-            if (shouldIndent(fmt)) {
-                m_os << m_indent;
-            }
-            m_os << "</" << m_tags.back() << ">";
-        }
-        m_os << std::flush;
-        applyFormatting(fmt);
-        m_tags.pop_back();
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeAttribute( std::string const& name, std::string const& attribute ) {
-        if( !name.empty() && !attribute.empty() )
-            m_os << ' ' << name << "=\"" << XmlEncode( attribute, XmlEncode::ForAttributes ) << '"';
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeAttribute( std::string const& name, bool attribute ) {
-        m_os << ' ' << name << "=\"" << ( attribute ? "true" : "false" ) << '"';
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeText( std::string const& text, XmlFormatting fmt) {
-        if( !text.empty() ){
-            bool tagWasOpen = m_tagIsOpen;
-            ensureTagClosed();
-            if (tagWasOpen && shouldIndent(fmt)) {
-                m_os << m_indent;
-            }
-            m_os << XmlEncode( text );
-            applyFormatting(fmt);
-        }
-        return *this;
-    }
-
-    XmlWriter& XmlWriter::writeComment( std::string const& text, XmlFormatting fmt) {
-        ensureTagClosed();
-        if (shouldIndent(fmt)) {
-            m_os << m_indent;
-        }
-        m_os << "<!--" << text << "-->";
-        applyFormatting(fmt);
-        return *this;
-    }
-
-    void XmlWriter::writeStylesheetRef( std::string const& url ) {
-        m_os << "<?xml-stylesheet type=\"text/xsl\" href=\"" << url << "\"?>\n";
-    }
-
-    XmlWriter& XmlWriter::writeBlankLine() {
-        ensureTagClosed();
-        m_os << '\n';
-        return *this;
-    }
-
-    void XmlWriter::ensureTagClosed() {
-        if( m_tagIsOpen ) {
-            m_os << '>' << std::flush;
-            newlineIfNecessary();
-            m_tagIsOpen = false;
-        }
-    }
-
-    void XmlWriter::applyFormatting(XmlFormatting fmt) {
-        m_needsNewline = shouldNewline(fmt);
-    }
-
-    void XmlWriter::writeDeclaration() {
-        m_os << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n";
-    }
-
-    void XmlWriter::newlineIfNecessary() {
-        if( m_needsNewline ) {
-            m_os << std::endl;
-            m_needsNewline = false;
-        }
-    }
-}
-// end catch_xmlwriter.cpp
-// start catch_reporter_bases.cpp
-
-#include <cstring>
-#include <cfloat>
-#include <cstdio>
-#include <cassert>
-#include <memory>
-
-namespace Catch {
-    void prepareExpandedExpression(AssertionResult& result) {
-        result.getExpandedExpression();
-    }
-
-    // Because formatting using c++ streams is stateful, drop down to C is required
-    // Alternatively we could use stringstream, but its performance is... not good.
-    std::string getFormattedDuration( double duration ) {
-        // Max exponent + 1 is required to represent the whole part
-        // + 1 for decimal point
-        // + 3 for the 3 decimal places
-        // + 1 for null terminator
-        const std::size_t maxDoubleSize = DBL_MAX_10_EXP + 1 + 1 + 3 + 1;
-        char buffer[maxDoubleSize];
-
-        // Save previous errno, to prevent sprintf from overwriting it
-        ErrnoGuard guard;
-#ifdef _MSC_VER
-        sprintf_s(buffer, "%.3f", duration);
-#else
-        std::sprintf(buffer, "%.3f", duration);
-#endif
-        return std::string(buffer);
-    }
-
-    std::string serializeFilters( std::vector<std::string> const& container ) {
-        ReusableStringStream oss;
-        bool first = true;
-        for (auto&& filter : container)
-        {
-            if (!first)
-                oss << ' ';
-            else
-                first = false;
-
-            oss << filter;
-        }
-        return oss.str();
-    }
-
-    TestEventListenerBase::TestEventListenerBase(ReporterConfig const & _config)
-        :StreamingReporterBase(_config) {}
-
-    std::set<Verbosity> TestEventListenerBase::getSupportedVerbosities() {
-        return { Verbosity::Quiet, Verbosity::Normal, Verbosity::High };
-    }
-
-    void TestEventListenerBase::assertionStarting(AssertionInfo const &) {}
-
-    bool TestEventListenerBase::assertionEnded(AssertionStats const &) {
-        return false;
-    }
-
-} // end namespace Catch
-// end catch_reporter_bases.cpp
-// start catch_reporter_compact.cpp
-
-namespace {
-
-#ifdef CATCH_PLATFORM_MAC
-    const char* failedString() { return "FAILED"; }
-    const char* passedString() { return "PASSED"; }
-#else
-    const char* failedString() { return "failed"; }
-    const char* passedString() { return "passed"; }
-#endif
-
-    // Colour::LightGrey
-    Catch::Colour::Code dimColour() { return Catch::Colour::FileName; }
-
-    std::string bothOrAll( std::size_t count ) {
-        return count == 1 ? std::string() :
-               count == 2 ? "both " : "all " ;
-    }
-
-} // anon namespace
-
-namespace Catch {
-namespace {
-// Colour, message variants:
-// - white: No tests ran.
-// -   red: Failed [both/all] N test cases, failed [both/all] M assertions.
-// - white: Passed [both/all] N test cases (no assertions).
-// -   red: Failed N tests cases, failed M assertions.
-// - green: Passed [both/all] N tests cases with M assertions.
-void printTotals(std::ostream& out, const Totals& totals) {
-    if (totals.testCases.total() == 0) {
-        out << "No tests ran.";
-    } else if (totals.testCases.failed == totals.testCases.total()) {
-        Colour colour(Colour::ResultError);
-        const std::string qualify_assertions_failed =
-            totals.assertions.failed == totals.assertions.total() ?
-            bothOrAll(totals.assertions.failed) : std::string();
-        out <<
-            "Failed " << bothOrAll(totals.testCases.failed)
-            << pluralise(totals.testCases.failed, "test case") << ", "
-            "failed " << qualify_assertions_failed <<
-            pluralise(totals.assertions.failed, "assertion") << '.';
-    } else if (totals.assertions.total() == 0) {
-        out <<
-            "Passed " << bothOrAll(totals.testCases.total())
-            << pluralise(totals.testCases.total(), "test case")
-            << " (no assertions).";
-    } else if (totals.assertions.failed) {
-        Colour colour(Colour::ResultError);
-        out <<
-            "Failed " << pluralise(totals.testCases.failed, "test case") << ", "
-            "failed " << pluralise(totals.assertions.failed, "assertion") << '.';
-    } else {
-        Colour colour(Colour::ResultSuccess);
-        out <<
-            "Passed " << bothOrAll(totals.testCases.passed)
-            << pluralise(totals.testCases.passed, "test case") <<
-            " with " << pluralise(totals.assertions.passed, "assertion") << '.';
-    }
-}
-
-// Implementation of CompactReporter formatting
-class AssertionPrinter {
-public:
-    AssertionPrinter& operator= (AssertionPrinter const&) = delete;
-    AssertionPrinter(AssertionPrinter const&) = delete;
-    AssertionPrinter(std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages)
-        : stream(_stream)
-        , result(_stats.assertionResult)
-        , messages(_stats.infoMessages)
-        , itMessage(_stats.infoMessages.begin())
-        , printInfoMessages(_printInfoMessages) {}
-
-    void print() {
-        printSourceInfo();
-
-        itMessage = messages.begin();
-
-        switch (result.getResultType()) {
-        case ResultWas::Ok:
-            printResultType(Colour::ResultSuccess, passedString());
-            printOriginalExpression();
-            printReconstructedExpression();
-            if (!result.hasExpression())
-                printRemainingMessages(Colour::None);
-            else
-                printRemainingMessages();
-            break;
-        case ResultWas::ExpressionFailed:
-            if (result.isOk())
-                printResultType(Colour::ResultSuccess, failedString() + std::string(" - but was ok"));
-            else
-                printResultType(Colour::Error, failedString());
-            printOriginalExpression();
-            printReconstructedExpression();
-            printRemainingMessages();
-            break;
-        case ResultWas::ThrewException:
-            printResultType(Colour::Error, failedString());
-            printIssue("unexpected exception with message:");
-            printMessage();
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::FatalErrorCondition:
-            printResultType(Colour::Error, failedString());
-            printIssue("fatal error condition with message:");
-            printMessage();
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::DidntThrowException:
-            printResultType(Colour::Error, failedString());
-            printIssue("expected exception, got none");
-            printExpressionWas();
-            printRemainingMessages();
-            break;
-        case ResultWas::Info:
-            printResultType(Colour::None, "info");
-            printMessage();
-            printRemainingMessages();
-            break;
-        case ResultWas::Warning:
-            printResultType(Colour::None, "warning");
-            printMessage();
-            printRemainingMessages();
-            break;
-        case ResultWas::ExplicitFailure:
-            printResultType(Colour::Error, failedString());
-            printIssue("explicitly");
-            printRemainingMessages(Colour::None);
-            break;
-            // These cases are here to prevent compiler warnings
-        case ResultWas::Unknown:
-        case ResultWas::FailureBit:
-        case ResultWas::Exception:
-            printResultType(Colour::Error, "** internal error **");
-            break;
-        }
-    }
-
-private:
-    void printSourceInfo() const {
-        Colour colourGuard(Colour::FileName);
-        stream << result.getSourceInfo() << ':';
-    }
-
-    void printResultType(Colour::Code colour, std::string const& passOrFail) const {
-        if (!passOrFail.empty()) {
-            {
-                Colour colourGuard(colour);
-                stream << ' ' << passOrFail;
-            }
-            stream << ':';
-        }
-    }
-
-    void printIssue(std::string const& issue) const {
-        stream << ' ' << issue;
-    }
-
-    void printExpressionWas() {
-        if (result.hasExpression()) {
-            stream << ';';
-            {
-                Colour colour(dimColour());
-                stream << " expression was:";
-            }
-            printOriginalExpression();
-        }
-    }
-
-    void printOriginalExpression() const {
-        if (result.hasExpression()) {
-            stream << ' ' << result.getExpression();
-        }
-    }
-
-    void printReconstructedExpression() const {
-        if (result.hasExpandedExpression()) {
-            {
-                Colour colour(dimColour());
-                stream << " for: ";
-            }
-            stream << result.getExpandedExpression();
-        }
-    }
-
-    void printMessage() {
-        if (itMessage != messages.end()) {
-            stream << " '" << itMessage->message << '\'';
-            ++itMessage;
-        }
-    }
-
-    void printRemainingMessages(Colour::Code colour = dimColour()) {
-        if (itMessage == messages.end())
-            return;
-
-        const auto itEnd = messages.cend();
-        const auto N = static_cast<std::size_t>(std::distance(itMessage, itEnd));
-
-        {
-            Colour colourGuard(colour);
-            stream << " with " << pluralise(N, "message") << ':';
-        }
-
-        while (itMessage != itEnd) {
-            // If this assertion is a warning ignore any INFO messages
-            if (printInfoMessages || itMessage->type != ResultWas::Info) {
-                printMessage();
-                if (itMessage != itEnd) {
-                    Colour colourGuard(dimColour());
-                    stream << " and";
-                }
-                continue;
-            }
-            ++itMessage;
-        }
-    }
-
-private:
-    std::ostream& stream;
-    AssertionResult const& result;
-    std::vector<MessageInfo> messages;
-    std::vector<MessageInfo>::const_iterator itMessage;
-    bool printInfoMessages;
-};
-
-} // anon namespace
-
-        std::string CompactReporter::getDescription() {
-            return "Reports test results on a single line, suitable for IDEs";
-        }
-
-        ReporterPreferences CompactReporter::getPreferences() const {
-            return m_reporterPrefs;
-        }
-
-        void CompactReporter::noMatchingTestCases( std::string const& spec ) {
-            stream << "No test cases matched '" << spec << '\'' << std::endl;
-        }
-
-        void CompactReporter::assertionStarting( AssertionInfo const& ) {}
-
-        bool CompactReporter::assertionEnded( AssertionStats const& _assertionStats ) {
-            AssertionResult const& result = _assertionStats.assertionResult;
-
-            bool printInfoMessages = true;
-
-            // Drop out if result was successful and we're not printing those
-            if( !m_config->includeSuccessfulResults() && result.isOk() ) {
-                if( result.getResultType() != ResultWas::Warning )
-                    return false;
-                printInfoMessages = false;
-            }
-
-            AssertionPrinter printer( stream, _assertionStats, printInfoMessages );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void CompactReporter::sectionEnded(SectionStats const& _sectionStats) {
-            if (m_config->showDurations() == ShowDurations::Always) {
-                stream << getFormattedDuration(_sectionStats.durationInSeconds) << " s: " << _sectionStats.sectionInfo.name << std::endl;
-            }
-        }
-
-        void CompactReporter::testRunEnded( TestRunStats const& _testRunStats ) {
-            printTotals( stream, _testRunStats.totals );
-            stream << '\n' << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-        CompactReporter::~CompactReporter() {}
-
-    CATCH_REGISTER_REPORTER( "compact", CompactReporter )
-
-} // end namespace Catch
-// end catch_reporter_compact.cpp
-// start catch_reporter_console.cpp
-
-#include <cfloat>
-#include <cstdio>
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
- // Note that 4062 (not all labels are handled and default is missing) is enabled
-#endif
-
-#if defined(__clang__)
-#  pragma clang diagnostic push
-// For simplicity, benchmarking-only helpers are always enabled
-#  pragma clang diagnostic ignored "-Wunused-function"
-#endif
-
-namespace Catch {
-
-namespace {
-
-// Formatter impl for ConsoleReporter
-class ConsoleAssertionPrinter {
-public:
-    ConsoleAssertionPrinter& operator= (ConsoleAssertionPrinter const&) = delete;
-    ConsoleAssertionPrinter(ConsoleAssertionPrinter const&) = delete;
-    ConsoleAssertionPrinter(std::ostream& _stream, AssertionStats const& _stats, bool _printInfoMessages)
-        : stream(_stream),
-        stats(_stats),
-        result(_stats.assertionResult),
-        colour(Colour::None),
-        message(result.getMessage()),
-        messages(_stats.infoMessages),
-        printInfoMessages(_printInfoMessages) {
-        switch (result.getResultType()) {
-        case ResultWas::Ok:
-            colour = Colour::Success;
-            passOrFail = "PASSED";
-            //if( result.hasMessage() )
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "with messages";
-            break;
-        case ResultWas::ExpressionFailed:
-            if (result.isOk()) {
-                colour = Colour::Success;
-                passOrFail = "FAILED - but was ok";
-            } else {
-                colour = Colour::Error;
-                passOrFail = "FAILED";
-            }
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "with messages";
-            break;
-        case ResultWas::ThrewException:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "due to unexpected exception with ";
-            if (_stats.infoMessages.size() == 1)
-                messageLabel += "message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel += "messages";
-            break;
-        case ResultWas::FatalErrorCondition:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "due to a fatal error condition";
-            break;
-        case ResultWas::DidntThrowException:
-            colour = Colour::Error;
-            passOrFail = "FAILED";
-            messageLabel = "because no exception was thrown where one was expected";
-            break;
-        case ResultWas::Info:
-            messageLabel = "info";
-            break;
-        case ResultWas::Warning:
-            messageLabel = "warning";
-            break;
-        case ResultWas::ExplicitFailure:
-            passOrFail = "FAILED";
-            colour = Colour::Error;
-            if (_stats.infoMessages.size() == 1)
-                messageLabel = "explicitly with message";
-            if (_stats.infoMessages.size() > 1)
-                messageLabel = "explicitly with messages";
-            break;
-            // These cases are here to prevent compiler warnings
-        case ResultWas::Unknown:
-        case ResultWas::FailureBit:
-        case ResultWas::Exception:
-            passOrFail = "** internal error **";
-            colour = Colour::Error;
-            break;
-        }
-    }
-
-    void print() const {
-        printSourceInfo();
-        if (stats.totals.assertions.total() > 0) {
-            printResultType();
-            printOriginalExpression();
-            printReconstructedExpression();
-        } else {
-            stream << '\n';
-        }
-        printMessage();
-    }
-
-private:
-    void printResultType() const {
-        if (!passOrFail.empty()) {
-            Colour colourGuard(colour);
-            stream << passOrFail << ":\n";
-        }
-    }
-    void printOriginalExpression() const {
-        if (result.hasExpression()) {
-            Colour colourGuard(Colour::OriginalExpression);
-            stream << "  ";
-            stream << result.getExpressionInMacro();
-            stream << '\n';
-        }
-    }
-    void printReconstructedExpression() const {
-        if (result.hasExpandedExpression()) {
-            stream << "with expansion:\n";
-            Colour colourGuard(Colour::ReconstructedExpression);
-            stream << Column(result.getExpandedExpression()).indent(2) << '\n';
-        }
-    }
-    void printMessage() const {
-        if (!messageLabel.empty())
-            stream << messageLabel << ':' << '\n';
-        for (auto const& msg : messages) {
-            // If this assertion is a warning ignore any INFO messages
-            if (printInfoMessages || msg.type != ResultWas::Info)
-                stream << Column(msg.message).indent(2) << '\n';
-        }
-    }
-    void printSourceInfo() const {
-        Colour colourGuard(Colour::FileName);
-        stream << result.getSourceInfo() << ": ";
-    }
-
-    std::ostream& stream;
-    AssertionStats const& stats;
-    AssertionResult const& result;
-    Colour::Code colour;
-    std::string passOrFail;
-    std::string messageLabel;
-    std::string message;
-    std::vector<MessageInfo> messages;
-    bool printInfoMessages;
-};
-
-std::size_t makeRatio(std::size_t number, std::size_t total) {
-    std::size_t ratio = total > 0 ? CATCH_CONFIG_CONSOLE_WIDTH * number / total : 0;
-    return (ratio == 0 && number > 0) ? 1 : ratio;
-}
-
-std::size_t& findMax(std::size_t& i, std::size_t& j, std::size_t& k) {
-    if (i > j && i > k)
-        return i;
-    else if (j > k)
-        return j;
-    else
-        return k;
-}
-
-struct ColumnInfo {
-    enum Justification { Left, Right };
-    std::string name;
-    int width;
-    Justification justification;
-};
-struct ColumnBreak {};
-struct RowBreak {};
-
-class Duration {
-    enum class Unit {
-        Auto,
-        Nanoseconds,
-        Microseconds,
-        Milliseconds,
-        Seconds,
-        Minutes
-    };
-    static const uint64_t s_nanosecondsInAMicrosecond = 1000;
-    static const uint64_t s_nanosecondsInAMillisecond = 1000 * s_nanosecondsInAMicrosecond;
-    static const uint64_t s_nanosecondsInASecond = 1000 * s_nanosecondsInAMillisecond;
-    static const uint64_t s_nanosecondsInAMinute = 60 * s_nanosecondsInASecond;
-
-    double m_inNanoseconds;
-    Unit m_units;
-
-public:
-    explicit Duration(double inNanoseconds, Unit units = Unit::Auto)
-        : m_inNanoseconds(inNanoseconds),
-        m_units(units) {
-        if (m_units == Unit::Auto) {
-            if (m_inNanoseconds < s_nanosecondsInAMicrosecond)
-                m_units = Unit::Nanoseconds;
-            else if (m_inNanoseconds < s_nanosecondsInAMillisecond)
-                m_units = Unit::Microseconds;
-            else if (m_inNanoseconds < s_nanosecondsInASecond)
-                m_units = Unit::Milliseconds;
-            else if (m_inNanoseconds < s_nanosecondsInAMinute)
-                m_units = Unit::Seconds;
-            else
-                m_units = Unit::Minutes;
-        }
-
-    }
-
-    auto value() const -> double {
-        switch (m_units) {
-        case Unit::Microseconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMicrosecond);
-        case Unit::Milliseconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMillisecond);
-        case Unit::Seconds:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInASecond);
-        case Unit::Minutes:
-            return m_inNanoseconds / static_cast<double>(s_nanosecondsInAMinute);
-        default:
-            return m_inNanoseconds;
-        }
-    }
-    auto unitsAsString() const -> std::string {
-        switch (m_units) {
-        case Unit::Nanoseconds:
-            return "ns";
-        case Unit::Microseconds:
-            return "us";
-        case Unit::Milliseconds:
-            return "ms";
-        case Unit::Seconds:
-            return "s";
-        case Unit::Minutes:
-            return "m";
-        default:
-            return "** internal error **";
-        }
-
-    }
-    friend auto operator << (std::ostream& os, Duration const& duration) -> std::ostream& {
-        return os << duration.value() << ' ' << duration.unitsAsString();
-    }
-};
-} // end anon namespace
-
-class TablePrinter {
-    std::ostream& m_os;
-    std::vector<ColumnInfo> m_columnInfos;
-    std::ostringstream m_oss;
-    int m_currentColumn = -1;
-    bool m_isOpen = false;
-
-public:
-    TablePrinter( std::ostream& os, std::vector<ColumnInfo> columnInfos )
-    :   m_os( os ),
-        m_columnInfos( std::move( columnInfos ) ) {}
-
-    auto columnInfos() const -> std::vector<ColumnInfo> const& {
-        return m_columnInfos;
-    }
-
-    void open() {
-        if (!m_isOpen) {
-            m_isOpen = true;
-            *this << RowBreak();
-
-			Columns headerCols;
-			Spacer spacer(2);
-			for (auto const& info : m_columnInfos) {
-				headerCols += Column(info.name).width(static_cast<std::size_t>(info.width - 2));
-				headerCols += spacer;
-			}
-			m_os << headerCols << '\n';
-
-            m_os << Catch::getLineOfChars<'-'>() << '\n';
-        }
-    }
-    void close() {
-        if (m_isOpen) {
-            *this << RowBreak();
-            m_os << std::endl;
-            m_isOpen = false;
-        }
-    }
-
-    template<typename T>
-    friend TablePrinter& operator << (TablePrinter& tp, T const& value) {
-        tp.m_oss << value;
-        return tp;
-    }
-
-    friend TablePrinter& operator << (TablePrinter& tp, ColumnBreak) {
-        auto colStr = tp.m_oss.str();
-        const auto strSize = colStr.size();
-        tp.m_oss.str("");
-        tp.open();
-        if (tp.m_currentColumn == static_cast<int>(tp.m_columnInfos.size() - 1)) {
-            tp.m_currentColumn = -1;
-            tp.m_os << '\n';
-        }
-        tp.m_currentColumn++;
-
-        auto colInfo = tp.m_columnInfos[tp.m_currentColumn];
-        auto padding = (strSize + 1 < static_cast<std::size_t>(colInfo.width))
-            ? std::string(colInfo.width - (strSize + 1), ' ')
-            : std::string();
-        if (colInfo.justification == ColumnInfo::Left)
-            tp.m_os << colStr << padding << ' ';
-        else
-            tp.m_os << padding << colStr << ' ';
-        return tp;
-    }
-
-    friend TablePrinter& operator << (TablePrinter& tp, RowBreak) {
-        if (tp.m_currentColumn > 0) {
-            tp.m_os << '\n';
-            tp.m_currentColumn = -1;
-        }
-        return tp;
-    }
-};
-
-ConsoleReporter::ConsoleReporter(ReporterConfig const& config)
-    : StreamingReporterBase(config),
-    m_tablePrinter(new TablePrinter(config.stream(),
-        [&config]() -> std::vector<ColumnInfo> {
-        if (config.fullConfig()->benchmarkNoAnalysis())
-        {
-            return{
-                { "benchmark name", CATCH_CONFIG_CONSOLE_WIDTH - 43, ColumnInfo::Left },
-                { "     samples", 14, ColumnInfo::Right },
-                { "  iterations", 14, ColumnInfo::Right },
-                { "        mean", 14, ColumnInfo::Right }
-            };
-        }
-        else
-        {
-            return{
-                { "benchmark name", CATCH_CONFIG_CONSOLE_WIDTH - 32, ColumnInfo::Left },
-                { "samples      mean       std dev", 14, ColumnInfo::Right },
-                { "iterations   low mean   low std dev", 14, ColumnInfo::Right },
-                { "estimated    high mean  high std dev", 14, ColumnInfo::Right }
-            };
-        }
-    }())) {}
-ConsoleReporter::~ConsoleReporter() = default;
-
-std::string ConsoleReporter::getDescription() {
-    return "Reports test results as plain lines of text";
-}
-
-void ConsoleReporter::noMatchingTestCases(std::string const& spec) {
-    stream << "No test cases matched '" << spec << '\'' << std::endl;
-}
-
-void ConsoleReporter::reportInvalidArguments(std::string const&arg){
-    stream << "Invalid Filter: " << arg << std::endl;
-}
-
-void ConsoleReporter::assertionStarting(AssertionInfo const&) {}
-
-bool ConsoleReporter::assertionEnded(AssertionStats const& _assertionStats) {
-    AssertionResult const& result = _assertionStats.assertionResult;
-
-    bool includeResults = m_config->includeSuccessfulResults() || !result.isOk();
-
-    // Drop out if result was successful but we're not printing them.
-    if (!includeResults && result.getResultType() != ResultWas::Warning)
-        return false;
-
-    lazyPrint();
-
-    ConsoleAssertionPrinter printer(stream, _assertionStats, includeResults);
-    printer.print();
-    stream << std::endl;
-    return true;
-}
-
-void ConsoleReporter::sectionStarting(SectionInfo const& _sectionInfo) {
-    m_tablePrinter->close();
-    m_headerPrinted = false;
-    StreamingReporterBase::sectionStarting(_sectionInfo);
-}
-void ConsoleReporter::sectionEnded(SectionStats const& _sectionStats) {
-    m_tablePrinter->close();
-    if (_sectionStats.missingAssertions) {
-        lazyPrint();
-        Colour colour(Colour::ResultError);
-        if (m_sectionStack.size() > 1)
-            stream << "\nNo assertions in section";
-        else
-            stream << "\nNo assertions in test case";
-        stream << " '" << _sectionStats.sectionInfo.name << "'\n" << std::endl;
-    }
-    if (m_config->showDurations() == ShowDurations::Always) {
-        stream << getFormattedDuration(_sectionStats.durationInSeconds) << " s: " << _sectionStats.sectionInfo.name << std::endl;
-    }
-    if (m_headerPrinted) {
-        m_headerPrinted = false;
-    }
-    StreamingReporterBase::sectionEnded(_sectionStats);
-}
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-void ConsoleReporter::benchmarkPreparing(std::string const& name) {
-	lazyPrintWithoutClosingBenchmarkTable();
-
-	auto nameCol = Column(name).width(static_cast<std::size_t>(m_tablePrinter->columnInfos()[0].width - 2));
-
-	bool firstLine = true;
-	for (auto line : nameCol) {
-		if (!firstLine)
-			(*m_tablePrinter) << ColumnBreak() << ColumnBreak() << ColumnBreak();
-		else
-			firstLine = false;
-
-		(*m_tablePrinter) << line << ColumnBreak();
-	}
-}
-
-void ConsoleReporter::benchmarkStarting(BenchmarkInfo const& info) {
-    (*m_tablePrinter) << info.samples << ColumnBreak()
-        << info.iterations << ColumnBreak();
-    if (!m_config->benchmarkNoAnalysis())
-        (*m_tablePrinter) << Duration(info.estimatedDuration) << ColumnBreak();
-}
-void ConsoleReporter::benchmarkEnded(BenchmarkStats<> const& stats) {
-    if (m_config->benchmarkNoAnalysis())
-    {
-        (*m_tablePrinter) << Duration(stats.mean.point.count()) << ColumnBreak();
-    }
-    else
-    {
-        (*m_tablePrinter) << ColumnBreak()
-            << Duration(stats.mean.point.count()) << ColumnBreak()
-            << Duration(stats.mean.lower_bound.count()) << ColumnBreak()
-            << Duration(stats.mean.upper_bound.count()) << ColumnBreak() << ColumnBreak()
-            << Duration(stats.standardDeviation.point.count()) << ColumnBreak()
-            << Duration(stats.standardDeviation.lower_bound.count()) << ColumnBreak()
-            << Duration(stats.standardDeviation.upper_bound.count()) << ColumnBreak() << ColumnBreak() << ColumnBreak() << ColumnBreak() << ColumnBreak();
-    }
-}
-
-void ConsoleReporter::benchmarkFailed(std::string const& error) {
-	Colour colour(Colour::Red);
-    (*m_tablePrinter)
-        << "Benchmark failed (" << error << ')'
-        << ColumnBreak() << RowBreak();
-}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-void ConsoleReporter::testCaseEnded(TestCaseStats const& _testCaseStats) {
-    m_tablePrinter->close();
-    StreamingReporterBase::testCaseEnded(_testCaseStats);
-    m_headerPrinted = false;
-}
-void ConsoleReporter::testGroupEnded(TestGroupStats const& _testGroupStats) {
-    if (currentGroupInfo.used) {
-        printSummaryDivider();
-        stream << "Summary for group '" << _testGroupStats.groupInfo.name << "':\n";
-        printTotals(_testGroupStats.totals);
-        stream << '\n' << std::endl;
-    }
-    StreamingReporterBase::testGroupEnded(_testGroupStats);
-}
-void ConsoleReporter::testRunEnded(TestRunStats const& _testRunStats) {
-    printTotalsDivider(_testRunStats.totals);
-    printTotals(_testRunStats.totals);
-    stream << std::endl;
-    StreamingReporterBase::testRunEnded(_testRunStats);
-}
-void ConsoleReporter::testRunStarting(TestRunInfo const& _testInfo) {
-    StreamingReporterBase::testRunStarting(_testInfo);
-    printTestFilters();
-}
-
-void ConsoleReporter::lazyPrint() {
-
-    m_tablePrinter->close();
-    lazyPrintWithoutClosingBenchmarkTable();
-}
-
-void ConsoleReporter::lazyPrintWithoutClosingBenchmarkTable() {
-
-    if (!currentTestRunInfo.used)
-        lazyPrintRunInfo();
-    if (!currentGroupInfo.used)
-        lazyPrintGroupInfo();
-
-    if (!m_headerPrinted) {
-        printTestCaseAndSectionHeader();
-        m_headerPrinted = true;
-    }
-}
-void ConsoleReporter::lazyPrintRunInfo() {
-    stream << '\n' << getLineOfChars<'~'>() << '\n';
-    Colour colour(Colour::SecondaryText);
-    stream << currentTestRunInfo->name
-        << " is a Catch v" << libraryVersion() << " host application.\n"
-        << "Run with -? for options\n\n";
-
-    if (m_config->rngSeed() != 0)
-        stream << "Randomness seeded to: " << m_config->rngSeed() << "\n\n";
-
-    currentTestRunInfo.used = true;
-}
-void ConsoleReporter::lazyPrintGroupInfo() {
-    if (!currentGroupInfo->name.empty() && currentGroupInfo->groupsCounts > 1) {
-        printClosedHeader("Group: " + currentGroupInfo->name);
-        currentGroupInfo.used = true;
-    }
-}
-void ConsoleReporter::printTestCaseAndSectionHeader() {
-    assert(!m_sectionStack.empty());
-    printOpenHeader(currentTestCaseInfo->name);
-
-    if (m_sectionStack.size() > 1) {
-        Colour colourGuard(Colour::Headers);
-
-        auto
-            it = m_sectionStack.begin() + 1, // Skip first section (test case)
-            itEnd = m_sectionStack.end();
-        for (; it != itEnd; ++it)
-            printHeaderString(it->name, 2);
-    }
-
-    SourceLineInfo lineInfo = m_sectionStack.back().lineInfo;
-
-    stream << getLineOfChars<'-'>() << '\n';
-    Colour colourGuard(Colour::FileName);
-    stream << lineInfo << '\n';
-    stream << getLineOfChars<'.'>() << '\n' << std::endl;
-}
-
-void ConsoleReporter::printClosedHeader(std::string const& _name) {
-    printOpenHeader(_name);
-    stream << getLineOfChars<'.'>() << '\n';
-}
-void ConsoleReporter::printOpenHeader(std::string const& _name) {
-    stream << getLineOfChars<'-'>() << '\n';
-    {
-        Colour colourGuard(Colour::Headers);
-        printHeaderString(_name);
-    }
-}
-
-// if string has a : in first line will set indent to follow it on
-// subsequent lines
-void ConsoleReporter::printHeaderString(std::string const& _string, std::size_t indent) {
-    std::size_t i = _string.find(": ");
-    if (i != std::string::npos)
-        i += 2;
-    else
-        i = 0;
-    stream << Column(_string).indent(indent + i).initialIndent(indent) << '\n';
-}
-
-struct SummaryColumn {
-
-    SummaryColumn( std::string _label, Colour::Code _colour )
-    :   label( std::move( _label ) ),
-        colour( _colour ) {}
-    SummaryColumn addRow( std::size_t count ) {
-        ReusableStringStream rss;
-        rss << count;
-        std::string row = rss.str();
-        for (auto& oldRow : rows) {
-            while (oldRow.size() < row.size())
-                oldRow = ' ' + oldRow;
-            while (oldRow.size() > row.size())
-                row = ' ' + row;
-        }
-        rows.push_back(row);
-        return *this;
-    }
-
-    std::string label;
-    Colour::Code colour;
-    std::vector<std::string> rows;
-
-};
-
-void ConsoleReporter::printTotals( Totals const& totals ) {
-    if (totals.testCases.total() == 0) {
-        stream << Colour(Colour::Warning) << "No tests ran\n";
-    } else if (totals.assertions.total() > 0 && totals.testCases.allPassed()) {
-        stream << Colour(Colour::ResultSuccess) << "All tests passed";
-        stream << " ("
-            << pluralise(totals.assertions.passed, "assertion") << " in "
-            << pluralise(totals.testCases.passed, "test case") << ')'
-            << '\n';
-    } else {
-
-        std::vector<SummaryColumn> columns;
-        columns.push_back(SummaryColumn("", Colour::None)
-                          .addRow(totals.testCases.total())
-                          .addRow(totals.assertions.total()));
-        columns.push_back(SummaryColumn("passed", Colour::Success)
-                          .addRow(totals.testCases.passed)
-                          .addRow(totals.assertions.passed));
-        columns.push_back(SummaryColumn("failed", Colour::ResultError)
-                          .addRow(totals.testCases.failed)
-                          .addRow(totals.assertions.failed));
-        columns.push_back(SummaryColumn("failed as expected", Colour::ResultExpectedFailure)
-                          .addRow(totals.testCases.failedButOk)
-                          .addRow(totals.assertions.failedButOk));
-
-        printSummaryRow("test cases", columns, 0);
-        printSummaryRow("assertions", columns, 1);
-    }
-}
-void ConsoleReporter::printSummaryRow(std::string const& label, std::vector<SummaryColumn> const& cols, std::size_t row) {
-    for (auto col : cols) {
-        std::string value = col.rows[row];
-        if (col.label.empty()) {
-            stream << label << ": ";
-            if (value != "0")
-                stream << value;
-            else
-                stream << Colour(Colour::Warning) << "- none -";
-        } else if (value != "0") {
-            stream << Colour(Colour::LightGrey) << " | ";
-            stream << Colour(col.colour)
-                << value << ' ' << col.label;
-        }
-    }
-    stream << '\n';
-}
-
-void ConsoleReporter::printTotalsDivider(Totals const& totals) {
-    if (totals.testCases.total() > 0) {
-        std::size_t failedRatio = makeRatio(totals.testCases.failed, totals.testCases.total());
-        std::size_t failedButOkRatio = makeRatio(totals.testCases.failedButOk, totals.testCases.total());
-        std::size_t passedRatio = makeRatio(totals.testCases.passed, totals.testCases.total());
-        while (failedRatio + failedButOkRatio + passedRatio < CATCH_CONFIG_CONSOLE_WIDTH - 1)
-            findMax(failedRatio, failedButOkRatio, passedRatio)++;
-        while (failedRatio + failedButOkRatio + passedRatio > CATCH_CONFIG_CONSOLE_WIDTH - 1)
-            findMax(failedRatio, failedButOkRatio, passedRatio)--;
-
-        stream << Colour(Colour::Error) << std::string(failedRatio, '=');
-        stream << Colour(Colour::ResultExpectedFailure) << std::string(failedButOkRatio, '=');
-        if (totals.testCases.allPassed())
-            stream << Colour(Colour::ResultSuccess) << std::string(passedRatio, '=');
-        else
-            stream << Colour(Colour::Success) << std::string(passedRatio, '=');
-    } else {
-        stream << Colour(Colour::Warning) << std::string(CATCH_CONFIG_CONSOLE_WIDTH - 1, '=');
-    }
-    stream << '\n';
-}
-void ConsoleReporter::printSummaryDivider() {
-    stream << getLineOfChars<'-'>() << '\n';
-}
-
-void ConsoleReporter::printTestFilters() {
-    if (m_config->testSpec().hasFilters()) {
-        Colour guard(Colour::BrightYellow);
-        stream << "Filters: " << serializeFilters(m_config->getTestsOrTags()) << '\n';
-    }
-}
-
-CATCH_REGISTER_REPORTER("console", ConsoleReporter)
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-
-#if defined(__clang__)
-#  pragma clang diagnostic pop
-#endif
-// end catch_reporter_console.cpp
-// start catch_reporter_junit.cpp
-
-#include <cassert>
-#include <sstream>
-#include <ctime>
-#include <algorithm>
-
-namespace Catch {
-
-    namespace {
-        std::string getCurrentTimestamp() {
-            // Beware, this is not reentrant because of backward compatibility issues
-            // Also, UTC only, again because of backward compatibility (%z is C++11)
-            time_t rawtime;
-            std::time(&rawtime);
-            auto const timeStampSize = sizeof("2017-01-16T17:06:45Z");
-
-#ifdef _MSC_VER
-            std::tm timeInfo = {};
-            gmtime_s(&timeInfo, &rawtime);
-#else
-            std::tm* timeInfo;
-            timeInfo = std::gmtime(&rawtime);
-#endif
-
-            char timeStamp[timeStampSize];
-            const char * const fmt = "%Y-%m-%dT%H:%M:%SZ";
-
-#ifdef _MSC_VER
-            std::strftime(timeStamp, timeStampSize, fmt, &timeInfo);
-#else
-            std::strftime(timeStamp, timeStampSize, fmt, timeInfo);
-#endif
-            return std::string(timeStamp);
-        }
-
-        std::string fileNameTag(const std::vector<std::string> &tags) {
-            auto it = std::find_if(begin(tags),
-                                   end(tags),
-                                   [] (std::string const& tag) {return tag.front() == '#'; });
-            if (it != tags.end())
-                return it->substr(1);
-            return std::string();
-        }
-    } // anonymous namespace
-
-    JunitReporter::JunitReporter( ReporterConfig const& _config )
-        :   CumulativeReporterBase( _config ),
-            xml( _config.stream() )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-    JunitReporter::~JunitReporter() {}
-
-    std::string JunitReporter::getDescription() {
-        return "Reports test results in an XML format that looks like Ant's junitreport target";
-    }
-
-    void JunitReporter::noMatchingTestCases( std::string const& /*spec*/ ) {}
-
-    void JunitReporter::testRunStarting( TestRunInfo const& runInfo )  {
-        CumulativeReporterBase::testRunStarting( runInfo );
-        xml.startElement( "testsuites" );
-    }
-
-    void JunitReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        suiteTimer.start();
-        stdOutForSuite.clear();
-        stdErrForSuite.clear();
-        unexpectedExceptions = 0;
-        CumulativeReporterBase::testGroupStarting( groupInfo );
-    }
-
-    void JunitReporter::testCaseStarting( TestCaseInfo const& testCaseInfo ) {
-        m_okToFail = testCaseInfo.okToFail();
-    }
-
-    bool JunitReporter::assertionEnded( AssertionStats const& assertionStats ) {
-        if( assertionStats.assertionResult.getResultType() == ResultWas::ThrewException && !m_okToFail )
-            unexpectedExceptions++;
-        return CumulativeReporterBase::assertionEnded( assertionStats );
-    }
-
-    void JunitReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        stdOutForSuite += testCaseStats.stdOut;
-        stdErrForSuite += testCaseStats.stdErr;
-        CumulativeReporterBase::testCaseEnded( testCaseStats );
-    }
-
-    void JunitReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        double suiteTime = suiteTimer.getElapsedSeconds();
-        CumulativeReporterBase::testGroupEnded( testGroupStats );
-        writeGroup( *m_testGroups.back(), suiteTime );
-    }
-
-    void JunitReporter::testRunEndedCumulative() {
-        xml.endElement();
-    }
-
-    void JunitReporter::writeGroup( TestGroupNode const& groupNode, double suiteTime ) {
-        XmlWriter::ScopedElement e = xml.scopedElement( "testsuite" );
-
-        TestGroupStats const& stats = groupNode.value;
-        xml.writeAttribute( "name", stats.groupInfo.name );
-        xml.writeAttribute( "errors", unexpectedExceptions );
-        xml.writeAttribute( "failures", stats.totals.assertions.failed-unexpectedExceptions );
-        xml.writeAttribute( "tests", stats.totals.assertions.total() );
-        xml.writeAttribute( "hostname", "tbd" ); // !TBD
-        if( m_config->showDurations() == ShowDurations::Never )
-            xml.writeAttribute( "time", "" );
-        else
-            xml.writeAttribute( "time", suiteTime );
-        xml.writeAttribute( "timestamp", getCurrentTimestamp() );
-
-        // Write properties if there are any
-        if (m_config->hasTestFilters() || m_config->rngSeed() != 0) {
-            auto properties = xml.scopedElement("properties");
-            if (m_config->hasTestFilters()) {
-                xml.scopedElement("property")
-                    .writeAttribute("name", "filters")
-                    .writeAttribute("value", serializeFilters(m_config->getTestsOrTags()));
-            }
-            if (m_config->rngSeed() != 0) {
-                xml.scopedElement("property")
-                    .writeAttribute("name", "random-seed")
-                    .writeAttribute("value", m_config->rngSeed());
-            }
-        }
-
-        // Write test cases
-        for( auto const& child : groupNode.children )
-            writeTestCase( *child );
-
-        xml.scopedElement( "system-out" ).writeText( trim( stdOutForSuite ), XmlFormatting::Newline );
-        xml.scopedElement( "system-err" ).writeText( trim( stdErrForSuite ), XmlFormatting::Newline );
-    }
-
-    void JunitReporter::writeTestCase( TestCaseNode const& testCaseNode ) {
-        TestCaseStats const& stats = testCaseNode.value;
-
-        // All test cases have exactly one section - which represents the
-        // test case itself. That section may have 0-n nested sections
-        assert( testCaseNode.children.size() == 1 );
-        SectionNode const& rootSection = *testCaseNode.children.front();
-
-        std::string className = stats.testInfo.className;
-
-        if( className.empty() ) {
-            className = fileNameTag(stats.testInfo.tags);
-            if ( className.empty() )
-                className = "global";
-        }
-
-        if ( !m_config->name().empty() )
-            className = m_config->name() + "." + className;
-
-        writeSection( className, "", rootSection );
-    }
-
-    void JunitReporter::writeSection(  std::string const& className,
-                        std::string const& rootName,
-                        SectionNode const& sectionNode ) {
-        std::string name = trim( sectionNode.stats.sectionInfo.name );
-        if( !rootName.empty() )
-            name = rootName + '/' + name;
-
-        if( !sectionNode.assertions.empty() ||
-            !sectionNode.stdOut.empty() ||
-            !sectionNode.stdErr.empty() ) {
-            XmlWriter::ScopedElement e = xml.scopedElement( "testcase" );
-            if( className.empty() ) {
-                xml.writeAttribute( "classname", name );
-                xml.writeAttribute( "name", "root" );
-            }
-            else {
-                xml.writeAttribute( "classname", className );
-                xml.writeAttribute( "name", name );
-            }
-            xml.writeAttribute( "time", ::Catch::Detail::stringify( sectionNode.stats.durationInSeconds ) );
-
-            writeAssertions( sectionNode );
-
-            if( !sectionNode.stdOut.empty() )
-                xml.scopedElement( "system-out" ).writeText( trim( sectionNode.stdOut ), XmlFormatting::Newline );
-            if( !sectionNode.stdErr.empty() )
-                xml.scopedElement( "system-err" ).writeText( trim( sectionNode.stdErr ), XmlFormatting::Newline );
-        }
-        for( auto const& childNode : sectionNode.childSections )
-            if( className.empty() )
-                writeSection( name, "", *childNode );
-            else
-                writeSection( className, name, *childNode );
-    }
-
-    void JunitReporter::writeAssertions( SectionNode const& sectionNode ) {
-        for( auto const& assertion : sectionNode.assertions )
-            writeAssertion( assertion );
-    }
-
-    void JunitReporter::writeAssertion( AssertionStats const& stats ) {
-        AssertionResult const& result = stats.assertionResult;
-        if( !result.isOk() ) {
-            std::string elementName;
-            switch( result.getResultType() ) {
-                case ResultWas::ThrewException:
-                case ResultWas::FatalErrorCondition:
-                    elementName = "error";
-                    break;
-                case ResultWas::ExplicitFailure:
-                case ResultWas::ExpressionFailed:
-                case ResultWas::DidntThrowException:
-                    elementName = "failure";
-                    break;
-
-                // We should never see these here:
-                case ResultWas::Info:
-                case ResultWas::Warning:
-                case ResultWas::Ok:
-                case ResultWas::Unknown:
-                case ResultWas::FailureBit:
-                case ResultWas::Exception:
-                    elementName = "internalError";
-                    break;
-            }
-
-            XmlWriter::ScopedElement e = xml.scopedElement( elementName );
-
-            xml.writeAttribute( "message", result.getExpression() );
-            xml.writeAttribute( "type", result.getTestMacroName() );
-
-            ReusableStringStream rss;
-            if (stats.totals.assertions.total() > 0) {
-                rss << "FAILED" << ":\n";
-                if (result.hasExpression()) {
-                    rss << "  ";
-                    rss << result.getExpressionInMacro();
-                    rss << '\n';
-                }
-                if (result.hasExpandedExpression()) {
-                    rss << "with expansion:\n";
-                    rss << Column(result.getExpandedExpression()).indent(2) << '\n';
-                }
-            } else {
-                rss << '\n';
-            }
-
-            if( !result.getMessage().empty() )
-                rss << result.getMessage() << '\n';
-            for( auto const& msg : stats.infoMessages )
-                if( msg.type == ResultWas::Info )
-                    rss << msg.message << '\n';
-
-            rss << "at " << result.getSourceInfo();
-            xml.writeText( rss.str(), XmlFormatting::Newline );
-        }
-    }
-
-    CATCH_REGISTER_REPORTER( "junit", JunitReporter )
-
-} // end namespace Catch
-// end catch_reporter_junit.cpp
-// start catch_reporter_listening.cpp
-
-#include <cassert>
-
-namespace Catch {
-
-    ListeningReporter::ListeningReporter() {
-        // We will assume that listeners will always want all assertions
-        m_preferences.shouldReportAllAssertions = true;
-    }
-
-    void ListeningReporter::addListener( IStreamingReporterPtr&& listener ) {
-        m_listeners.push_back( std::move( listener ) );
-    }
-
-    void ListeningReporter::addReporter(IStreamingReporterPtr&& reporter) {
-        assert(!m_reporter && "Listening reporter can wrap only 1 real reporter");
-        m_reporter = std::move( reporter );
-        m_preferences.shouldRedirectStdOut = m_reporter->getPreferences().shouldRedirectStdOut;
-    }
-
-    ReporterPreferences ListeningReporter::getPreferences() const {
-        return m_preferences;
-    }
-
-    std::set<Verbosity> ListeningReporter::getSupportedVerbosities() {
-        return std::set<Verbosity>{ };
-    }
-
-    void ListeningReporter::noMatchingTestCases( std::string const& spec ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->noMatchingTestCases( spec );
-        }
-        m_reporter->noMatchingTestCases( spec );
-    }
-
-    void ListeningReporter::reportInvalidArguments(std::string const&arg){
-        for ( auto const& listener : m_listeners ) {
-            listener->reportInvalidArguments( arg );
-        }
-        m_reporter->reportInvalidArguments( arg );
-    }
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    void ListeningReporter::benchmarkPreparing( std::string const& name ) {
-		for (auto const& listener : m_listeners) {
-			listener->benchmarkPreparing(name);
-		}
-		m_reporter->benchmarkPreparing(name);
-	}
-    void ListeningReporter::benchmarkStarting( BenchmarkInfo const& benchmarkInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->benchmarkStarting( benchmarkInfo );
-        }
-        m_reporter->benchmarkStarting( benchmarkInfo );
-    }
-    void ListeningReporter::benchmarkEnded( BenchmarkStats<> const& benchmarkStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->benchmarkEnded( benchmarkStats );
-        }
-        m_reporter->benchmarkEnded( benchmarkStats );
-    }
-
-	void ListeningReporter::benchmarkFailed( std::string const& error ) {
-		for (auto const& listener : m_listeners) {
-			listener->benchmarkFailed(error);
-		}
-		m_reporter->benchmarkFailed(error);
-	}
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    void ListeningReporter::testRunStarting( TestRunInfo const& testRunInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testRunStarting( testRunInfo );
-        }
-        m_reporter->testRunStarting( testRunInfo );
-    }
-
-    void ListeningReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testGroupStarting( groupInfo );
-        }
-        m_reporter->testGroupStarting( groupInfo );
-    }
-
-    void ListeningReporter::testCaseStarting( TestCaseInfo const& testInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testCaseStarting( testInfo );
-        }
-        m_reporter->testCaseStarting( testInfo );
-    }
-
-    void ListeningReporter::sectionStarting( SectionInfo const& sectionInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->sectionStarting( sectionInfo );
-        }
-        m_reporter->sectionStarting( sectionInfo );
-    }
-
-    void ListeningReporter::assertionStarting( AssertionInfo const& assertionInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->assertionStarting( assertionInfo );
-        }
-        m_reporter->assertionStarting( assertionInfo );
-    }
-
-    // The return value indicates if the messages buffer should be cleared:
-    bool ListeningReporter::assertionEnded( AssertionStats const& assertionStats ) {
-        for( auto const& listener : m_listeners ) {
-            static_cast<void>( listener->assertionEnded( assertionStats ) );
-        }
-        return m_reporter->assertionEnded( assertionStats );
-    }
-
-    void ListeningReporter::sectionEnded( SectionStats const& sectionStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->sectionEnded( sectionStats );
-        }
-        m_reporter->sectionEnded( sectionStats );
-    }
-
-    void ListeningReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testCaseEnded( testCaseStats );
-        }
-        m_reporter->testCaseEnded( testCaseStats );
-    }
-
-    void ListeningReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testGroupEnded( testGroupStats );
-        }
-        m_reporter->testGroupEnded( testGroupStats );
-    }
-
-    void ListeningReporter::testRunEnded( TestRunStats const& testRunStats ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->testRunEnded( testRunStats );
-        }
-        m_reporter->testRunEnded( testRunStats );
-    }
-
-    void ListeningReporter::skipTest( TestCaseInfo const& testInfo ) {
-        for ( auto const& listener : m_listeners ) {
-            listener->skipTest( testInfo );
-        }
-        m_reporter->skipTest( testInfo );
-    }
-
-    bool ListeningReporter::isMulti() const {
-        return true;
-    }
-
-} // end namespace Catch
-// end catch_reporter_listening.cpp
-// start catch_reporter_xml.cpp
-
-#if defined(_MSC_VER)
-#pragma warning(push)
-#pragma warning(disable:4061) // Not all labels are EXPLICITLY handled in switch
-                              // Note that 4062 (not all labels are handled
-                              // and default is missing) is enabled
-#endif
-
-namespace Catch {
-    XmlReporter::XmlReporter( ReporterConfig const& _config )
-    :   StreamingReporterBase( _config ),
-        m_xml(_config.stream())
-    {
-        m_reporterPrefs.shouldRedirectStdOut = true;
-        m_reporterPrefs.shouldReportAllAssertions = true;
-    }
-
-    XmlReporter::~XmlReporter() = default;
-
-    std::string XmlReporter::getDescription() {
-        return "Reports test results as an XML document";
-    }
-
-    std::string XmlReporter::getStylesheetRef() const {
-        return std::string();
-    }
-
-    void XmlReporter::writeSourceInfo( SourceLineInfo const& sourceInfo ) {
-        m_xml
-            .writeAttribute( "filename", sourceInfo.file )
-            .writeAttribute( "line", sourceInfo.line );
-    }
-
-    void XmlReporter::noMatchingTestCases( std::string const& s ) {
-        StreamingReporterBase::noMatchingTestCases( s );
-    }
-
-    void XmlReporter::testRunStarting( TestRunInfo const& testInfo ) {
-        StreamingReporterBase::testRunStarting( testInfo );
-        std::string stylesheetRef = getStylesheetRef();
-        if( !stylesheetRef.empty() )
-            m_xml.writeStylesheetRef( stylesheetRef );
-        m_xml.startElement( "Catch" );
-        if( !m_config->name().empty() )
-            m_xml.writeAttribute( "name", m_config->name() );
-        if (m_config->testSpec().hasFilters())
-            m_xml.writeAttribute( "filters", serializeFilters( m_config->getTestsOrTags() ) );
-        if( m_config->rngSeed() != 0 )
-            m_xml.scopedElement( "Randomness" )
-                .writeAttribute( "seed", m_config->rngSeed() );
-    }
-
-    void XmlReporter::testGroupStarting( GroupInfo const& groupInfo ) {
-        StreamingReporterBase::testGroupStarting( groupInfo );
-        m_xml.startElement( "Group" )
-            .writeAttribute( "name", groupInfo.name );
-    }
-
-    void XmlReporter::testCaseStarting( TestCaseInfo const& testInfo ) {
-        StreamingReporterBase::testCaseStarting(testInfo);
-        m_xml.startElement( "TestCase" )
-            .writeAttribute( "name", trim( testInfo.name ) )
-            .writeAttribute( "description", testInfo.description )
-            .writeAttribute( "tags", testInfo.tagsAsString() );
-
-        writeSourceInfo( testInfo.lineInfo );
-
-        if ( m_config->showDurations() == ShowDurations::Always )
-            m_testCaseTimer.start();
-        m_xml.ensureTagClosed();
-    }
-
-    void XmlReporter::sectionStarting( SectionInfo const& sectionInfo ) {
-        StreamingReporterBase::sectionStarting( sectionInfo );
-        if( m_sectionDepth++ > 0 ) {
-            m_xml.startElement( "Section" )
-                .writeAttribute( "name", trim( sectionInfo.name ) );
-            writeSourceInfo( sectionInfo.lineInfo );
-            m_xml.ensureTagClosed();
-        }
-    }
-
-    void XmlReporter::assertionStarting( AssertionInfo const& ) { }
-
-    bool XmlReporter::assertionEnded( AssertionStats const& assertionStats ) {
-
-        AssertionResult const& result = assertionStats.assertionResult;
-
-        bool includeResults = m_config->includeSuccessfulResults() || !result.isOk();
-
-        if( includeResults || result.getResultType() == ResultWas::Warning ) {
-            // Print any info messages in <Info> tags.
-            for( auto const& msg : assertionStats.infoMessages ) {
-                if( msg.type == ResultWas::Info && includeResults ) {
-                    m_xml.scopedElement( "Info" )
-                            .writeText( msg.message );
-                } else if ( msg.type == ResultWas::Warning ) {
-                    m_xml.scopedElement( "Warning" )
-                            .writeText( msg.message );
-                }
-            }
-        }
-
-        // Drop out if result was successful but we're not printing them.
-        if( !includeResults && result.getResultType() != ResultWas::Warning )
-            return true;
-
-        // Print the expression if there is one.
-        if( result.hasExpression() ) {
-            m_xml.startElement( "Expression" )
-                .writeAttribute( "success", result.succeeded() )
-                .writeAttribute( "type", result.getTestMacroName() );
-
-            writeSourceInfo( result.getSourceInfo() );
-
-            m_xml.scopedElement( "Original" )
-                .writeText( result.getExpression() );
-            m_xml.scopedElement( "Expanded" )
-                .writeText( result.getExpandedExpression() );
-        }
-
-        // And... Print a result applicable to each result type.
-        switch( result.getResultType() ) {
-            case ResultWas::ThrewException:
-                m_xml.startElement( "Exception" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            case ResultWas::FatalErrorCondition:
-                m_xml.startElement( "FatalErrorCondition" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            case ResultWas::Info:
-                m_xml.scopedElement( "Info" )
-                    .writeText( result.getMessage() );
-                break;
-            case ResultWas::Warning:
-                // Warning will already have been written
-                break;
-            case ResultWas::ExplicitFailure:
-                m_xml.startElement( "Failure" );
-                writeSourceInfo( result.getSourceInfo() );
-                m_xml.writeText( result.getMessage() );
-                m_xml.endElement();
-                break;
-            default:
-                break;
-        }
-
-        if( result.hasExpression() )
-            m_xml.endElement();
-
-        return true;
-    }
-
-    void XmlReporter::sectionEnded( SectionStats const& sectionStats ) {
-        StreamingReporterBase::sectionEnded( sectionStats );
-        if( --m_sectionDepth > 0 ) {
-            XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResults" );
-            e.writeAttribute( "successes", sectionStats.assertions.passed );
-            e.writeAttribute( "failures", sectionStats.assertions.failed );
-            e.writeAttribute( "expectedFailures", sectionStats.assertions.failedButOk );
-
-            if ( m_config->showDurations() == ShowDurations::Always )
-                e.writeAttribute( "durationInSeconds", sectionStats.durationInSeconds );
-
-            m_xml.endElement();
-        }
-    }
-
-    void XmlReporter::testCaseEnded( TestCaseStats const& testCaseStats ) {
-        StreamingReporterBase::testCaseEnded( testCaseStats );
-        XmlWriter::ScopedElement e = m_xml.scopedElement( "OverallResult" );
-        e.writeAttribute( "success", testCaseStats.totals.assertions.allOk() );
-
-        if ( m_config->showDurations() == ShowDurations::Always )
-            e.writeAttribute( "durationInSeconds", m_testCaseTimer.getElapsedSeconds() );
-
-        if( !testCaseStats.stdOut.empty() )
-            m_xml.scopedElement( "StdOut" ).writeText( trim( testCaseStats.stdOut ), XmlFormatting::Newline );
-        if( !testCaseStats.stdErr.empty() )
-            m_xml.scopedElement( "StdErr" ).writeText( trim( testCaseStats.stdErr ), XmlFormatting::Newline );
-
-        m_xml.endElement();
-    }
-
-    void XmlReporter::testGroupEnded( TestGroupStats const& testGroupStats ) {
-        StreamingReporterBase::testGroupEnded( testGroupStats );
-        // TODO: Check testGroupStats.aborting and act accordingly.
-        m_xml.scopedElement( "OverallResults" )
-            .writeAttribute( "successes", testGroupStats.totals.assertions.passed )
-            .writeAttribute( "failures", testGroupStats.totals.assertions.failed )
-            .writeAttribute( "expectedFailures", testGroupStats.totals.assertions.failedButOk );
-        m_xml.endElement();
-    }
-
-    void XmlReporter::testRunEnded( TestRunStats const& testRunStats ) {
-        StreamingReporterBase::testRunEnded( testRunStats );
-        m_xml.scopedElement( "OverallResults" )
-            .writeAttribute( "successes", testRunStats.totals.assertions.passed )
-            .writeAttribute( "failures", testRunStats.totals.assertions.failed )
-            .writeAttribute( "expectedFailures", testRunStats.totals.assertions.failedButOk );
-        m_xml.endElement();
-    }
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-    void XmlReporter::benchmarkPreparing(std::string const& name) {
-        m_xml.startElement("BenchmarkResults")
-            .writeAttribute("name", name);
-    }
-
-    void XmlReporter::benchmarkStarting(BenchmarkInfo const &info) {
-        m_xml.writeAttribute("samples", info.samples)
-            .writeAttribute("resamples", info.resamples)
-            .writeAttribute("iterations", info.iterations)
-            .writeAttribute("clockResolution", info.clockResolution)
-            .writeAttribute("estimatedDuration", info.estimatedDuration)
-            .writeComment("All values in nano seconds");
-    }
-
-    void XmlReporter::benchmarkEnded(BenchmarkStats<> const& benchmarkStats) {
-        m_xml.startElement("mean")
-            .writeAttribute("value", benchmarkStats.mean.point.count())
-            .writeAttribute("lowerBound", benchmarkStats.mean.lower_bound.count())
-            .writeAttribute("upperBound", benchmarkStats.mean.upper_bound.count())
-            .writeAttribute("ci", benchmarkStats.mean.confidence_interval);
-        m_xml.endElement();
-        m_xml.startElement("standardDeviation")
-            .writeAttribute("value", benchmarkStats.standardDeviation.point.count())
-            .writeAttribute("lowerBound", benchmarkStats.standardDeviation.lower_bound.count())
-            .writeAttribute("upperBound", benchmarkStats.standardDeviation.upper_bound.count())
-            .writeAttribute("ci", benchmarkStats.standardDeviation.confidence_interval);
-        m_xml.endElement();
-        m_xml.startElement("outliers")
-            .writeAttribute("variance", benchmarkStats.outlierVariance)
-            .writeAttribute("lowMild", benchmarkStats.outliers.low_mild)
-            .writeAttribute("lowSevere", benchmarkStats.outliers.low_severe)
-            .writeAttribute("highMild", benchmarkStats.outliers.high_mild)
-            .writeAttribute("highSevere", benchmarkStats.outliers.high_severe);
-        m_xml.endElement();
-        m_xml.endElement();
-    }
-
-    void XmlReporter::benchmarkFailed(std::string const &error) {
-        m_xml.scopedElement("failed").
-            writeAttribute("message", error);
-        m_xml.endElement();
-    }
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-    CATCH_REGISTER_REPORTER( "xml", XmlReporter )
-
-} // end namespace Catch
-
-#if defined(_MSC_VER)
-#pragma warning(pop)
-#endif
-// end catch_reporter_xml.cpp
-
-namespace Catch {
-    LeakDetector leakDetector;
-}
-
-#ifdef __clang__
-#pragma clang diagnostic pop
-#endif
-
-// end catch_impl.hpp
-#endif
-
-#ifdef CATCH_CONFIG_MAIN
-// start catch_default_main.hpp
-
-#ifndef __OBJC__
-
-#if defined(CATCH_CONFIG_WCHAR) && defined(CATCH_PLATFORM_WINDOWS) && defined(_UNICODE) && !defined(DO_NOT_USE_WMAIN)
-// Standard C/C++ Win32 Unicode wmain entry point
-extern "C" int wmain (int argc, wchar_t * argv[], wchar_t * []) {
-#else
-// Standard C/C++ main entry point
-int main (int argc, char * argv[]) {
-#endif
-
-    return Catch::Session().run( argc, argv );
-}
-
-#else // __OBJC__
-
-// Objective-C entry point
-int main (int argc, char * const argv[]) {
-#if !CATCH_ARC_ENABLED
-    NSAutoreleasePool * pool = [[NSAutoreleasePool alloc] init];
-#endif
-
-    Catch::registerTestMethods();
-    int result = Catch::Session().run( argc, (char**)argv );
-
-#if !CATCH_ARC_ENABLED
-    [pool drain];
-#endif
-
-    return result;
-}
-
-#endif // __OBJC__
-
-// end catch_default_main.hpp
-#endif
-
-#if !defined(CATCH_CONFIG_IMPL_ONLY)
-
-#ifdef CLARA_CONFIG_MAIN_NOT_DEFINED
-#  undef CLARA_CONFIG_MAIN
-#endif
-
-#if !defined(CATCH_CONFIG_DISABLE)
-//////
-// If this config identifier is defined then all CATCH macros are prefixed with CATCH_
-#ifdef CATCH_CONFIG_PREFIX_ALL
-
-#define CATCH_REQUIRE( ... ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_REQUIRE_FALSE( ... ) INTERNAL_CATCH_TEST( "CATCH_REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-
-#define CATCH_REQUIRE_THROWS( ... ) INTERNAL_CATCH_THROWS( "CATCH_REQUIRE_THROWS", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr )
-#define CATCH_REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CATCH_REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CATCH_REQUIRE_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::Normal, matcher, expr )
-#endif// CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_REQUIRE_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CATCH_REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-
-#define CATCH_CHECK( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_FALSE( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-#define CATCH_CHECKED_IF( ... ) INTERNAL_CATCH_IF( "CATCH_CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECKED_ELSE( ... ) INTERNAL_CATCH_ELSE( "CATCH_CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_NOFAIL( ... ) INTERNAL_CATCH_TEST( "CATCH_CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, __VA_ARGS__ )
-
-#define CATCH_CHECK_THROWS( ... )  INTERNAL_CATCH_THROWS( "CATCH_CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CATCH_CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr )
-#define CATCH_CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CATCH_CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CATCH_CHECK_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_CHECK_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CATCH_CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg )
-
-#define CATCH_REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CATCH_REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define CATCH_INFO( msg ) INTERNAL_CATCH_INFO( "CATCH_INFO", msg )
-#define CATCH_UNSCOPED_INFO( msg ) INTERNAL_CATCH_UNSCOPED_INFO( "CATCH_UNSCOPED_INFO", msg )
-#define CATCH_WARN( msg ) INTERNAL_CATCH_MSG( "CATCH_WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg )
-#define CATCH_CAPTURE( ... ) INTERNAL_CATCH_CAPTURE( INTERNAL_CATCH_UNIQUE_NAME(capturer), "CATCH_CAPTURE",__VA_ARGS__ )
-
-#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ )
-#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ )
-#define CATCH_REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ )
-#define CATCH_SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ )
-#define CATCH_DYNAMIC_SECTION( ... ) INTERNAL_CATCH_DYNAMIC_SECTION( __VA_ARGS__ )
-#define CATCH_FAIL( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define CATCH_FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "CATCH_FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CATCH_SUCCEED( ... ) INTERNAL_CATCH_MSG( "CATCH_SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#else
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#endif
-
-#if !defined(CATCH_CONFIG_RUNTIME_STATIC_REQUIRE)
-#define CATCH_STATIC_REQUIRE( ... )       static_assert(   __VA_ARGS__ ,      #__VA_ARGS__ );     CATCH_SUCCEED( #__VA_ARGS__ )
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) static_assert( !(__VA_ARGS__), "!(" #__VA_ARGS__ ")" ); CATCH_SUCCEED( #__VA_ARGS__ )
-#else
-#define CATCH_STATIC_REQUIRE( ... )       CATCH_REQUIRE( __VA_ARGS__ )
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) CATCH_REQUIRE_FALSE( __VA_ARGS__ )
-#endif
-
-// "BDD-style" convenience wrappers
-#define CATCH_SCENARIO( ... ) CATCH_TEST_CASE( "Scenario: " __VA_ARGS__ )
-#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ )
-#define CATCH_GIVEN( desc )     INTERNAL_CATCH_DYNAMIC_SECTION( "    Given: " << desc )
-#define CATCH_AND_GIVEN( desc ) INTERNAL_CATCH_DYNAMIC_SECTION( "And given: " << desc )
-#define CATCH_WHEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     When: " << desc )
-#define CATCH_AND_WHEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( " And when: " << desc )
-#define CATCH_THEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     Then: " << desc )
-#define CATCH_AND_THEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( "      And: " << desc )
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-#define CATCH_BENCHMARK(...) \
-    INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,))
-#define CATCH_BENCHMARK_ADVANCED(name) \
-    INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), name)
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required
-#else
-
-#define REQUIRE( ... ) INTERNAL_CATCH_TEST( "REQUIRE", Catch::ResultDisposition::Normal, __VA_ARGS__  )
-#define REQUIRE_FALSE( ... ) INTERNAL_CATCH_TEST( "REQUIRE_FALSE", Catch::ResultDisposition::Normal | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-
-#define REQUIRE_THROWS( ... ) INTERNAL_CATCH_THROWS( "REQUIRE_THROWS", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define REQUIRE_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "REQUIRE_THROWS_AS", exceptionType, Catch::ResultDisposition::Normal, expr )
-#define REQUIRE_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "REQUIRE_THROWS_WITH", Catch::ResultDisposition::Normal, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "REQUIRE_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::Normal, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define REQUIRE_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "REQUIRE_NOTHROW", Catch::ResultDisposition::Normal, __VA_ARGS__ )
-
-#define CHECK( ... ) INTERNAL_CATCH_TEST( "CHECK", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_FALSE( ... ) INTERNAL_CATCH_TEST( "CHECK_FALSE", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::FalseTest, __VA_ARGS__ )
-#define CHECKED_IF( ... ) INTERNAL_CATCH_IF( "CHECKED_IF", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECKED_ELSE( ... ) INTERNAL_CATCH_ELSE( "CHECKED_ELSE", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_NOFAIL( ... ) INTERNAL_CATCH_TEST( "CHECK_NOFAIL", Catch::ResultDisposition::ContinueOnFailure | Catch::ResultDisposition::SuppressFail, __VA_ARGS__ )
-
-#define CHECK_THROWS( ... )  INTERNAL_CATCH_THROWS( "CHECK_THROWS", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define CHECK_THROWS_AS( expr, exceptionType ) INTERNAL_CATCH_THROWS_AS( "CHECK_THROWS_AS", exceptionType, Catch::ResultDisposition::ContinueOnFailure, expr )
-#define CHECK_THROWS_WITH( expr, matcher ) INTERNAL_CATCH_THROWS_STR_MATCHES( "CHECK_THROWS_WITH", Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) INTERNAL_CATCH_THROWS_MATCHES( "CHECK_THROWS_MATCHES", exceptionType, Catch::ResultDisposition::ContinueOnFailure, matcher, expr )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CHECK_NOTHROW( ... ) INTERNAL_CATCH_NO_THROW( "CHECK_NOTHROW", Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "CHECK_THAT", matcher, Catch::ResultDisposition::ContinueOnFailure, arg )
-
-#define REQUIRE_THAT( arg, matcher ) INTERNAL_CHECK_THAT( "REQUIRE_THAT", matcher, Catch::ResultDisposition::Normal, arg )
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define INFO( msg ) INTERNAL_CATCH_INFO( "INFO", msg )
-#define UNSCOPED_INFO( msg ) INTERNAL_CATCH_UNSCOPED_INFO( "UNSCOPED_INFO", msg )
-#define WARN( msg ) INTERNAL_CATCH_MSG( "WARN", Catch::ResultWas::Warning, Catch::ResultDisposition::ContinueOnFailure, msg )
-#define CAPTURE( ... ) INTERNAL_CATCH_CAPTURE( INTERNAL_CATCH_UNIQUE_NAME(capturer), "CAPTURE",__VA_ARGS__ )
-
-#define TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE( __VA_ARGS__ )
-#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define METHOD_AS_TEST_CASE( method, ... ) INTERNAL_CATCH_METHOD_AS_TEST_CASE( method, __VA_ARGS__ )
-#define REGISTER_TEST_CASE( Function, ... ) INTERNAL_CATCH_REGISTER_TESTCASE( Function, __VA_ARGS__ )
-#define SECTION( ... ) INTERNAL_CATCH_SECTION( __VA_ARGS__ )
-#define DYNAMIC_SECTION( ... ) INTERNAL_CATCH_DYNAMIC_SECTION( __VA_ARGS__ )
-#define FAIL( ... ) INTERNAL_CATCH_MSG( "FAIL", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::Normal, __VA_ARGS__ )
-#define FAIL_CHECK( ... ) INTERNAL_CATCH_MSG( "FAIL_CHECK", Catch::ResultWas::ExplicitFailure, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define SUCCEED( ... ) INTERNAL_CATCH_MSG( "SUCCEED", Catch::ResultWas::Ok, Catch::ResultDisposition::ContinueOnFailure, __VA_ARGS__ )
-#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE()
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ )
-#define TEMPLATE_LIST_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE(__VA_ARGS__)
-#define TEMPLATE_LIST_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE( __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, __VA_ARGS__ ) )
-#define TEMPLATE_LIST_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE( __VA_ARGS__ ) )
-#define TEMPLATE_LIST_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_LIST_TEST_CASE_METHOD( className, __VA_ARGS__ ) )
-#endif
-
-#if !defined(CATCH_CONFIG_RUNTIME_STATIC_REQUIRE)
-#define STATIC_REQUIRE( ... )       static_assert(   __VA_ARGS__,  #__VA_ARGS__ ); SUCCEED( #__VA_ARGS__ )
-#define STATIC_REQUIRE_FALSE( ... ) static_assert( !(__VA_ARGS__), "!(" #__VA_ARGS__ ")" ); SUCCEED( "!(" #__VA_ARGS__ ")" )
-#else
-#define STATIC_REQUIRE( ... )       REQUIRE( __VA_ARGS__ )
-#define STATIC_REQUIRE_FALSE( ... ) REQUIRE_FALSE( __VA_ARGS__ )
-#endif
-
-#endif
-
-#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION( signature )
-
-// "BDD-style" convenience wrappers
-#define SCENARIO( ... ) TEST_CASE( "Scenario: " __VA_ARGS__ )
-#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TEST_CASE_METHOD( className, "Scenario: " __VA_ARGS__ )
-
-#define GIVEN( desc )     INTERNAL_CATCH_DYNAMIC_SECTION( "    Given: " << desc )
-#define AND_GIVEN( desc ) INTERNAL_CATCH_DYNAMIC_SECTION( "And given: " << desc )
-#define WHEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     When: " << desc )
-#define AND_WHEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( " And when: " << desc )
-#define THEN( desc )      INTERNAL_CATCH_DYNAMIC_SECTION( "     Then: " << desc )
-#define AND_THEN( desc )  INTERNAL_CATCH_DYNAMIC_SECTION( "      And: " << desc )
-
-#if defined(CATCH_CONFIG_ENABLE_BENCHMARKING)
-#define BENCHMARK(...) \
-    INTERNAL_CATCH_BENCHMARK(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), INTERNAL_CATCH_GET_1_ARG(__VA_ARGS__,,), INTERNAL_CATCH_GET_2_ARG(__VA_ARGS__,,))
-#define BENCHMARK_ADVANCED(name) \
-    INTERNAL_CATCH_BENCHMARK_ADVANCED(INTERNAL_CATCH_UNIQUE_NAME(____C_A_T_C_H____B_E_N_C_H____), name)
-#endif // CATCH_CONFIG_ENABLE_BENCHMARKING
-
-using Catch::Detail::Approx;
-
-#else // CATCH_CONFIG_DISABLE
-
-//////
-// If this config identifier is defined then all CATCH macros are prefixed with CATCH_
-#ifdef CATCH_CONFIG_PREFIX_ALL
-
-#define CATCH_REQUIRE( ... )        (void)(0)
-#define CATCH_REQUIRE_FALSE( ... )  (void)(0)
-
-#define CATCH_REQUIRE_THROWS( ... ) (void)(0)
-#define CATCH_REQUIRE_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CATCH_REQUIRE_THROWS_WITH( expr, matcher )     (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif// CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_REQUIRE_NOTHROW( ... ) (void)(0)
-
-#define CATCH_CHECK( ... )         (void)(0)
-#define CATCH_CHECK_FALSE( ... )   (void)(0)
-#define CATCH_CHECKED_IF( ... )    if (__VA_ARGS__)
-#define CATCH_CHECKED_ELSE( ... )  if (!(__VA_ARGS__))
-#define CATCH_CHECK_NOFAIL( ... )  (void)(0)
-
-#define CATCH_CHECK_THROWS( ... )  (void)(0)
-#define CATCH_CHECK_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CATCH_CHECK_THROWS_WITH( expr, matcher )     (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CATCH_CHECK_NOTHROW( ... ) (void)(0)
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CATCH_CHECK_THAT( arg, matcher )   (void)(0)
-
-#define CATCH_REQUIRE_THAT( arg, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define CATCH_INFO( msg )          (void)(0)
-#define CATCH_UNSCOPED_INFO( msg ) (void)(0)
-#define CATCH_WARN( msg )          (void)(0)
-#define CATCH_CAPTURE( msg )       (void)(0)
-
-#define CATCH_TEST_CASE( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define CATCH_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define CATCH_METHOD_AS_TEST_CASE( method, ... )
-#define CATCH_REGISTER_TEST_CASE( Function, ... ) (void)(0)
-#define CATCH_SECTION( ... )
-#define CATCH_DYNAMIC_SECTION( ... )
-#define CATCH_FAIL( ... ) (void)(0)
-#define CATCH_FAIL_CHECK( ... ) (void)(0)
-#define CATCH_SUCCEED( ... ) (void)(0)
-
-#define CATCH_ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__)
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__)
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__)
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define CATCH_TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__) )
-#define CATCH_TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) CATCH_TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define CATCH_TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) CATCH_TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#endif
-
-// "BDD-style" convenience wrappers
-#define CATCH_SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define CATCH_SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), className )
-#define CATCH_GIVEN( desc )
-#define CATCH_AND_GIVEN( desc )
-#define CATCH_WHEN( desc )
-#define CATCH_AND_WHEN( desc )
-#define CATCH_THEN( desc )
-#define CATCH_AND_THEN( desc )
-
-#define CATCH_STATIC_REQUIRE( ... )       (void)(0)
-#define CATCH_STATIC_REQUIRE_FALSE( ... ) (void)(0)
-
-// If CATCH_CONFIG_PREFIX_ALL is not defined then the CATCH_ prefix is not required
-#else
-
-#define REQUIRE( ... )       (void)(0)
-#define REQUIRE_FALSE( ... ) (void)(0)
-
-#define REQUIRE_THROWS( ... ) (void)(0)
-#define REQUIRE_THROWS_AS( expr, exceptionType ) (void)(0)
-#define REQUIRE_THROWS_WITH( expr, matcher ) (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define REQUIRE_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define REQUIRE_NOTHROW( ... ) (void)(0)
-
-#define CHECK( ... ) (void)(0)
-#define CHECK_FALSE( ... ) (void)(0)
-#define CHECKED_IF( ... ) if (__VA_ARGS__)
-#define CHECKED_ELSE( ... ) if (!(__VA_ARGS__))
-#define CHECK_NOFAIL( ... ) (void)(0)
-
-#define CHECK_THROWS( ... )  (void)(0)
-#define CHECK_THROWS_AS( expr, exceptionType ) (void)(0)
-#define CHECK_THROWS_WITH( expr, matcher ) (void)(0)
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THROWS_MATCHES( expr, exceptionType, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-#define CHECK_NOTHROW( ... ) (void)(0)
-
-#if !defined(CATCH_CONFIG_DISABLE_MATCHERS)
-#define CHECK_THAT( arg, matcher ) (void)(0)
-
-#define REQUIRE_THAT( arg, matcher ) (void)(0)
-#endif // CATCH_CONFIG_DISABLE_MATCHERS
-
-#define INFO( msg ) (void)(0)
-#define UNSCOPED_INFO( msg ) (void)(0)
-#define WARN( msg ) (void)(0)
-#define CAPTURE( msg ) (void)(0)
-
-#define TEST_CASE( ... )  INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-#define METHOD_AS_TEST_CASE( method, ... )
-#define REGISTER_TEST_CASE( Function, ... ) (void)(0)
-#define SECTION( ... )
-#define DYNAMIC_SECTION( ... )
-#define FAIL( ... ) (void)(0)
-#define FAIL_CHECK( ... ) (void)(0)
-#define SUCCEED( ... ) (void)(0)
-#define ANON_TEST_CASE() INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ))
-
-#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__)
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__)
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__)
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#else
-#define TEMPLATE_TEST_CASE( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_NO_REGISTRATION(__VA_ARGS__) )
-#define TEMPLATE_TEST_CASE_SIG( ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_SIG_NO_REGISTRATION(__VA_ARGS__) )
-#define TEMPLATE_TEST_CASE_METHOD( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define TEMPLATE_TEST_CASE_METHOD_SIG( className, ... ) INTERNAL_CATCH_EXPAND_VARGS( INTERNAL_CATCH_TEMPLATE_TEST_CASE_METHOD_SIG_NO_REGISTRATION(className, __VA_ARGS__ ) )
-#define TEMPLATE_PRODUCT_TEST_CASE( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_SIG( ... ) TEMPLATE_TEST_CASE( __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#define TEMPLATE_PRODUCT_TEST_CASE_METHOD_SIG( className, ... ) TEMPLATE_TEST_CASE_METHOD( className, __VA_ARGS__ )
-#endif
-
-#define STATIC_REQUIRE( ... )       (void)(0)
-#define STATIC_REQUIRE_FALSE( ... ) (void)(0)
-
-#endif
-
-#define CATCH_TRANSLATE_EXCEPTION( signature ) INTERNAL_CATCH_TRANSLATE_EXCEPTION_NO_REG( INTERNAL_CATCH_UNIQUE_NAME( catch_internal_ExceptionTranslator ), signature )
-
-// "BDD-style" convenience wrappers
-#define SCENARIO( ... ) INTERNAL_CATCH_TESTCASE_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ) )
-#define SCENARIO_METHOD( className, ... ) INTERNAL_CATCH_TESTCASE_METHOD_NO_REGISTRATION(INTERNAL_CATCH_UNIQUE_NAME( ____C_A_T_C_H____T_E_S_T____ ), className )
-
-#define GIVEN( desc )
-#define AND_GIVEN( desc )
-#define WHEN( desc )
-#define AND_WHEN( desc )
-#define THEN( desc )
-#define AND_THEN( desc )
-
-using Catch::Detail::Approx;
-
-#endif
-
-#endif // ! CATCH_CONFIG_IMPL_ONLY
-
-// start catch_reenable_warnings.h
-
-
-#ifdef __clang__
-#    ifdef __ICC // icpc defines the __clang__ macro
-#        pragma warning(pop)
-#    else
-#        pragma clang diagnostic pop
-#    endif
-#elif defined __GNUC__
-#    pragma GCC diagnostic pop
-#endif
-
-// end catch_reenable_warnings.h
-// end catch.hpp
-#endif // TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED
-
diff --git a/unittest/catch2/catch_reporter_automake.hpp b/unittest/catch2/catch_reporter_automake.hpp
deleted file mode 100644
index dbebe975..00000000
--- a/unittest/catch2/catch_reporter_automake.hpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- *  Created by Justin R. Wilson on 2/19/2017.
- *  Copyright 2017 Justin R. Wilson. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-namespace Catch {
-
-    struct AutomakeReporter : StreamingReporterBase<AutomakeReporter> {
-        AutomakeReporter( ReporterConfig const& _config )
-          :   StreamingReporterBase( _config )
-        {}
-
-        ~AutomakeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the format of Automake .trs files";
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& /*_assertionStats*/ ) override { return true; }
-
-        void testCaseEnded( TestCaseStats const& _testCaseStats ) override {
-            // Possible values to emit are PASS, XFAIL, SKIP, FAIL, XPASS and ERROR.
-            stream << ":test-result: ";
-            if (_testCaseStats.totals.assertions.allPassed()) {
-                stream << "PASS";
-            } else if (_testCaseStats.totals.assertions.allOk()) {
-                stream << "XFAIL";
-            } else {
-                stream << "FAIL";
-            }
-            stream << ' ' << _testCaseStats.testInfo.name << '\n';
-            StreamingReporterBase::testCaseEnded( _testCaseStats );
-        }
-
-        void skipTest( TestCaseInfo const& testInfo ) override {
-            stream << ":test-result: SKIP " << testInfo.name << '\n';
-        }
-
-    };
-
-#ifdef CATCH_IMPL
-    AutomakeReporter::~AutomakeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "automake", AutomakeReporter)
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_AUTOMAKE_HPP_INCLUDED
diff --git a/unittest/catch2/catch_reporter_sonarqube.hpp b/unittest/catch2/catch_reporter_sonarqube.hpp
deleted file mode 100644
index bf7d9299..00000000
--- a/unittest/catch2/catch_reporter_sonarqube.hpp
+++ /dev/null
@@ -1,181 +0,0 @@
-/*
- *  Created by Daniel Garcia on 2018-12-04.
- *  Copyright Social Point SL. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-#define CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <map>
-
-namespace Catch {
-
-    struct SonarQubeReporter : CumulativeReporterBase<SonarQubeReporter> {
-
-        SonarQubeReporter(ReporterConfig const& config)
-        : CumulativeReporterBase(config)
-        , xml(config.stream()) {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-            m_reporterPrefs.shouldReportAllAssertions = true;
-        }
-
-        ~SonarQubeReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in the Generic Test Data SonarQube XML format";
-        }
-
-        static std::set<Verbosity> getSupportedVerbosities() {
-            return { Verbosity::Normal };
-        }
-
-        void noMatchingTestCases(std::string const& /*spec*/) override {}
-
-        void testRunStarting(TestRunInfo const& testRunInfo) override {
-            CumulativeReporterBase::testRunStarting(testRunInfo);
-            xml.startElement("testExecutions");
-            xml.writeAttribute("version", "1");
-        }
-
-        void testGroupEnded(TestGroupStats const& testGroupStats) override {
-            CumulativeReporterBase::testGroupEnded(testGroupStats);
-            writeGroup(*m_testGroups.back());
-        }
-
-        void testRunEndedCumulative() override {
-            xml.endElement();
-        }
-
-        void writeGroup(TestGroupNode const& groupNode) {
-            std::map<std::string, TestGroupNode::ChildNodes> testsPerFile;
-            for(auto const& child : groupNode.children)
-                testsPerFile[child->value.testInfo.lineInfo.file].push_back(child);
-
-            for(auto const& kv : testsPerFile)
-                writeTestFile(kv.first.c_str(), kv.second);
-        }
-
-        void writeTestFile(const char* filename, TestGroupNode::ChildNodes const& testCaseNodes) {
-            XmlWriter::ScopedElement e = xml.scopedElement("file");
-            xml.writeAttribute("path", filename);
-
-            for(auto const& child : testCaseNodes)
-                writeTestCase(*child);
-        }
-
-        void writeTestCase(TestCaseNode const& testCaseNode) {
-            // All test cases have exactly one section - which represents the
-            // test case itself. That section may have 0-n nested sections
-            assert(testCaseNode.children.size() == 1);
-            SectionNode const& rootSection = *testCaseNode.children.front();
-            writeSection("", rootSection, testCaseNode.value.testInfo.okToFail());
-        }
-
-        void writeSection(std::string const& rootName, SectionNode const& sectionNode, bool okToFail) {
-            std::string name = trim(sectionNode.stats.sectionInfo.name);
-            if(!rootName.empty())
-                name = rootName + '/' + name;
-
-            if(!sectionNode.assertions.empty() || !sectionNode.stdOut.empty() || !sectionNode.stdErr.empty()) {
-                XmlWriter::ScopedElement e = xml.scopedElement("testCase");
-                xml.writeAttribute("name", name);
-                xml.writeAttribute("duration", static_cast<long>(sectionNode.stats.durationInSeconds * 1000));
-
-                writeAssertions(sectionNode, okToFail);
-            }
-
-            for(auto const& childNode : sectionNode.childSections)
-                writeSection(name, *childNode, okToFail);
-        }
-
-        void writeAssertions(SectionNode const& sectionNode, bool okToFail) {
-            for(auto const& assertion : sectionNode.assertions)
-                writeAssertion( assertion, okToFail);
-        }
-
-        void writeAssertion(AssertionStats const& stats, bool okToFail) {
-            AssertionResult const& result = stats.assertionResult;
-            if(!result.isOk()) {
-                std::string elementName;
-                if(okToFail) {
-                    elementName = "skipped";
-                }
-                else {
-                    switch(result.getResultType()) {
-                        case ResultWas::ThrewException:
-                        case ResultWas::FatalErrorCondition:
-                            elementName = "error";
-                            break;
-                        case ResultWas::ExplicitFailure:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::ExpressionFailed:
-                            elementName = "failure";
-                            break;
-                        case ResultWas::DidntThrowException:
-                            elementName = "failure";
-                            break;
-
-                            // We should never see these here:
-                        case ResultWas::Info:
-                        case ResultWas::Warning:
-                        case ResultWas::Ok:
-                        case ResultWas::Unknown:
-                        case ResultWas::FailureBit:
-                        case ResultWas::Exception:
-                            elementName = "internalError";
-                            break;
-                    }
-                }
-
-                XmlWriter::ScopedElement e = xml.scopedElement(elementName);
-
-                ReusableStringStream messageRss;
-                messageRss << result.getTestMacroName() << "(" << result.getExpression() << ")";
-                xml.writeAttribute("message", messageRss.str());
-
-                ReusableStringStream textRss;
-                if (stats.totals.assertions.total() > 0) {
-                    textRss << "FAILED:\n";
-                    if (result.hasExpression()) {
-                        textRss << "\t" << result.getExpressionInMacro() << "\n";
-                    }
-                    if (result.hasExpandedExpression()) {
-                        textRss << "with expansion:\n\t" << result.getExpandedExpression() << "\n";
-                    }
-                }
-
-                if(!result.getMessage().empty())
-                    textRss << result.getMessage() << "\n";
-
-                for(auto const& msg : stats.infoMessages)
-                    if(msg.type == ResultWas::Info)
-                        textRss << msg.message << "\n";
-
-                textRss << "at " << result.getSourceInfo();
-                xml.writeText(textRss.str(), XmlFormatting::Newline);
-            }
-        }
-
-    private:
-        XmlWriter xml;
-    };
-
-#ifdef CATCH_IMPL
-    SonarQubeReporter::~SonarQubeReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "sonarqube", SonarQubeReporter )
-
-} // end namespace Catch
-
-#endif // CATCH_REPORTER_SONARQUBE_HPP_INCLUDED
\ No newline at end of file
diff --git a/unittest/catch2/catch_reporter_tap.hpp b/unittest/catch2/catch_reporter_tap.hpp
deleted file mode 100644
index 1bfe4f5e..00000000
--- a/unittest/catch2/catch_reporter_tap.hpp
+++ /dev/null
@@ -1,253 +0,0 @@
-/*
- *  Created by Colton Wolkins on 2015-08-15.
- *  Copyright 2015 Martin Moene. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
-
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <algorithm>
-
-namespace Catch {
-
-    struct TAPReporter : StreamingReporterBase<TAPReporter> {
-
-        using StreamingReporterBase::StreamingReporterBase;
-
-        ~TAPReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results in TAP format, suitable for test harnesses";
-        }
-
-        ReporterPreferences getPreferences() const override {
-            return m_reporterPrefs;
-        }
-
-        void noMatchingTestCases( std::string const& spec ) override {
-            stream << "# No test cases matched '" << spec << "'" << std::endl;
-        }
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& _assertionStats ) override {
-            ++counter;
-
-            stream << "# " << currentTestCaseInfo->name << std::endl;
-            AssertionPrinter printer( stream, _assertionStats, counter );
-            printer.print();
-
-            stream << std::endl;
-            return true;
-        }
-
-        void testRunEnded( TestRunStats const& _testRunStats ) override {
-            printTotals( _testRunStats.totals );
-            stream << "\n" << std::endl;
-            StreamingReporterBase::testRunEnded( _testRunStats );
-        }
-
-    private:
-        std::size_t counter = 0;
-        class AssertionPrinter {
-        public:
-            AssertionPrinter& operator= ( AssertionPrinter const& ) = delete;
-            AssertionPrinter( AssertionPrinter const& ) = delete;
-            AssertionPrinter( std::ostream& _stream, AssertionStats const& _stats, std::size_t _counter )
-            : stream( _stream )
-            , result( _stats.assertionResult )
-            , messages( _stats.infoMessages )
-            , itMessage( _stats.infoMessages.begin() )
-            , printInfoMessages( true )
-            , counter(_counter)
-            {}
-
-            void print() {
-                itMessage = messages.begin();
-
-                switch( result.getResultType() ) {
-                    case ResultWas::Ok:
-                        printResultType( passedString() );
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if ( ! result.hasExpression() )
-                            printRemainingMessages( Colour::None );
-                        else
-                            printRemainingMessages();
-                        break;
-                    case ResultWas::ExpressionFailed:
-                        if (result.isOk()) {
-                            printResultType(passedString());
-                        } else {
-                            printResultType(failedString());
-                        }
-                        printOriginalExpression();
-                        printReconstructedExpression();
-                        if (result.isOk()) {
-                            printIssue(" # TODO");
-                        }
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ThrewException:
-                        printResultType( failedString() );
-                        printIssue( "unexpected exception with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        printResultType( failedString() );
-                        printIssue( "fatal error condition with message:" );
-                        printMessage();
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::DidntThrowException:
-                        printResultType( failedString() );
-                        printIssue( "expected exception, got none" );
-                        printExpressionWas();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Info:
-                        printResultType( "info" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::Warning:
-                        printResultType( "warning" );
-                        printMessage();
-                        printRemainingMessages();
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        printResultType( failedString() );
-                        printIssue( "explicitly" );
-                        printRemainingMessages( Colour::None );
-                        break;
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        printResultType( "** internal error **" );
-                        break;
-                }
-            }
-
-        private:
-            static Colour::Code dimColour() { return Colour::FileName; }
-
-            static const char* failedString() { return "not ok"; }
-            static const char* passedString() { return "ok"; }
-
-            void printSourceInfo() const {
-                Colour colourGuard( dimColour() );
-                stream << result.getSourceInfo() << ":";
-            }
-
-            void printResultType( std::string const& passOrFail ) const {
-                if( !passOrFail.empty() ) {
-                    stream << passOrFail << ' ' << counter << " -";
-                }
-            }
-
-            void printIssue( std::string const& issue ) const {
-                stream << " " << issue;
-            }
-
-            void printExpressionWas() {
-                if( result.hasExpression() ) {
-                    stream << ";";
-                    {
-                        Colour colour( dimColour() );
-                        stream << " expression was:";
-                    }
-                    printOriginalExpression();
-                }
-            }
-
-            void printOriginalExpression() const {
-                if( result.hasExpression() ) {
-                    stream << " " << result.getExpression();
-                }
-            }
-
-            void printReconstructedExpression() const {
-                if( result.hasExpandedExpression() ) {
-                    {
-                        Colour colour( dimColour() );
-                        stream << " for: ";
-                    }
-                    std::string expr = result.getExpandedExpression();
-                    std::replace( expr.begin(), expr.end(), '\n', ' ');
-                    stream << expr;
-                }
-            }
-
-            void printMessage() {
-                if ( itMessage != messages.end() ) {
-                    stream << " '" << itMessage->message << "'";
-                    ++itMessage;
-                }
-            }
-
-            void printRemainingMessages( Colour::Code colour = dimColour() ) {
-                if (itMessage == messages.end()) {
-                    return;
-                }
-
-                // using messages.end() directly (or auto) yields compilation error:
-                std::vector<MessageInfo>::const_iterator itEnd = messages.end();
-                const std::size_t N = static_cast<std::size_t>( std::distance( itMessage, itEnd ) );
-
-                {
-                    Colour colourGuard( colour );
-                    stream << " with " << pluralise( N, "message" ) << ":";
-                }
-
-                for(; itMessage != itEnd; ) {
-                    // If this assertion is a warning ignore any INFO messages
-                    if( printInfoMessages || itMessage->type != ResultWas::Info ) {
-                        stream << " '" << itMessage->message << "'";
-                        if ( ++itMessage != itEnd ) {
-                            Colour colourGuard( dimColour() );
-                            stream << " and";
-                        }
-                    }
-                }
-            }
-
-        private:
-            std::ostream& stream;
-            AssertionResult const& result;
-            std::vector<MessageInfo> messages;
-            std::vector<MessageInfo>::const_iterator itMessage;
-            bool printInfoMessages;
-            std::size_t counter;
-        };
-
-        void printTotals( const Totals& totals ) const {
-            if( totals.testCases.total() == 0 ) {
-                stream << "1..0 # Skipped: No tests ran.";
-            } else {
-                stream << "1.." << counter;
-            }
-        }
-    };
-
-#ifdef CATCH_IMPL
-    TAPReporter::~TAPReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "tap", TAPReporter )
-
-} // end namespace Catch
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TAP_HPP_INCLUDED
diff --git a/unittest/catch2/catch_reporter_teamcity.hpp b/unittest/catch2/catch_reporter_teamcity.hpp
deleted file mode 100644
index 47b7e4aa..00000000
--- a/unittest/catch2/catch_reporter_teamcity.hpp
+++ /dev/null
@@ -1,219 +0,0 @@
-/*
- *  Created by Phil Nash on 19th December 2014
- *  Copyright 2014 Two Blue Cubes Ltd. All rights reserved.
- *
- *  Distributed under the Boost Software License, Version 1.0. (See accompanying
- *  file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- */
-#ifndef TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-#define TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
-
-// Don't #include any Catch headers here - we can assume they are already
-// included before this header.
-// This is not good practice in general but is necessary in this case so this
-// file can be distributed as a single header that works with the main
-// Catch single header.
-
-#include <cstring>
-
-#ifdef __clang__
-#   pragma clang diagnostic push
-#   pragma clang diagnostic ignored "-Wpadded"
-#endif
-
-namespace Catch {
-
-    struct TeamCityReporter : StreamingReporterBase<TeamCityReporter> {
-        TeamCityReporter( ReporterConfig const& _config )
-        :   StreamingReporterBase( _config )
-        {
-            m_reporterPrefs.shouldRedirectStdOut = true;
-        }
-
-        static std::string escape( std::string const& str ) {
-            std::string escaped = str;
-            replaceInPlace( escaped, "|", "||" );
-            replaceInPlace( escaped, "'", "|'" );
-            replaceInPlace( escaped, "\n", "|n" );
-            replaceInPlace( escaped, "\r", "|r" );
-            replaceInPlace( escaped, "[", "|[" );
-            replaceInPlace( escaped, "]", "|]" );
-            return escaped;
-        }
-        ~TeamCityReporter() override;
-
-        static std::string getDescription() {
-            return "Reports test results as TeamCity service messages";
-        }
-
-        void skipTest( TestCaseInfo const& /* testInfo */ ) override {
-        }
-
-        void noMatchingTestCases( std::string const& /* spec */ ) override {}
-
-        void testGroupStarting( GroupInfo const& groupInfo ) override {
-            StreamingReporterBase::testGroupStarting( groupInfo );
-            stream << "##teamcity[testSuiteStarted name='"
-                << escape( groupInfo.name ) << "']\n";
-        }
-        void testGroupEnded( TestGroupStats const& testGroupStats ) override {
-            StreamingReporterBase::testGroupEnded( testGroupStats );
-            stream << "##teamcity[testSuiteFinished name='"
-                << escape( testGroupStats.groupInfo.name ) << "']\n";
-        }
-
-
-        void assertionStarting( AssertionInfo const& ) override {}
-
-        bool assertionEnded( AssertionStats const& assertionStats ) override {
-            AssertionResult const& result = assertionStats.assertionResult;
-            if( !result.isOk() ) {
-
-                ReusableStringStream msg;
-                if( !m_headerPrintedForThisSection )
-                    printSectionHeader( msg.get() );
-                m_headerPrintedForThisSection = true;
-
-                msg << result.getSourceInfo() << "\n";
-
-                switch( result.getResultType() ) {
-                    case ResultWas::ExpressionFailed:
-                        msg << "expression failed";
-                        break;
-                    case ResultWas::ThrewException:
-                        msg << "unexpected exception";
-                        break;
-                    case ResultWas::FatalErrorCondition:
-                        msg << "fatal error condition";
-                        break;
-                    case ResultWas::DidntThrowException:
-                        msg << "no exception was thrown where one was expected";
-                        break;
-                    case ResultWas::ExplicitFailure:
-                        msg << "explicit failure";
-                        break;
-
-                    // We shouldn't get here because of the isOk() test
-                    case ResultWas::Ok:
-                    case ResultWas::Info:
-                    case ResultWas::Warning:
-                        CATCH_ERROR( "Internal error in TeamCity reporter" );
-                    // These cases are here to prevent compiler warnings
-                    case ResultWas::Unknown:
-                    case ResultWas::FailureBit:
-                    case ResultWas::Exception:
-                        CATCH_ERROR( "Not implemented" );
-                }
-                if( assertionStats.infoMessages.size() == 1 )
-                    msg << " with message:";
-                if( assertionStats.infoMessages.size() > 1 )
-                    msg << " with messages:";
-                for( auto const& messageInfo : assertionStats.infoMessages )
-                    msg << "\n  \"" << messageInfo.message << "\"";
-
-
-                if( result.hasExpression() ) {
-                    msg <<
-                        "\n  " << result.getExpressionInMacro() << "\n"
-                        "with expansion:\n" <<
-                        "  " << result.getExpandedExpression() << "\n";
-                }
-
-                if( currentTestCaseInfo->okToFail() ) {
-                    msg << "- failure ignore as test marked as 'ok to fail'\n";
-                    stream << "##teamcity[testIgnored"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-                else {
-                    stream << "##teamcity[testFailed"
-                           << " name='" << escape( currentTestCaseInfo->name )<< "'"
-                           << " message='" << escape( msg.str() ) << "'"
-                           << "]\n";
-                }
-            }
-            stream.flush();
-            return true;
-        }
-
-        void sectionStarting( SectionInfo const& sectionInfo ) override {
-            m_headerPrintedForThisSection = false;
-            StreamingReporterBase::sectionStarting( sectionInfo );
-        }
-
-        void testCaseStarting( TestCaseInfo const& testInfo ) override {
-            m_testTimer.start();
-            StreamingReporterBase::testCaseStarting( testInfo );
-            stream << "##teamcity[testStarted name='"
-                << escape( testInfo.name ) << "']\n";
-            stream.flush();
-        }
-
-        void testCaseEnded( TestCaseStats const& testCaseStats ) override {
-            StreamingReporterBase::testCaseEnded( testCaseStats );
-            if( !testCaseStats.stdOut.empty() )
-                stream << "##teamcity[testStdOut name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdOut ) << "']\n";
-            if( !testCaseStats.stdErr.empty() )
-                stream << "##teamcity[testStdErr name='"
-                    << escape( testCaseStats.testInfo.name )
-                    << "' out='" << escape( testCaseStats.stdErr ) << "']\n";
-            stream << "##teamcity[testFinished name='"
-                    << escape( testCaseStats.testInfo.name ) << "' duration='"
-                    << m_testTimer.getElapsedMilliseconds() << "']\n";
-            stream.flush();
-        }
-
-    private:
-        void printSectionHeader( std::ostream& os ) {
-            assert( !m_sectionStack.empty() );
-
-            if( m_sectionStack.size() > 1 ) {
-                os << getLineOfChars<'-'>() << "\n";
-
-                std::vector<SectionInfo>::const_iterator
-                it = m_sectionStack.begin()+1, // Skip first section (test case)
-                itEnd = m_sectionStack.end();
-                for( ; it != itEnd; ++it )
-                    printHeaderString( os, it->name );
-                os << getLineOfChars<'-'>() << "\n";
-            }
-
-            SourceLineInfo lineInfo = m_sectionStack.front().lineInfo;
-
-            os << lineInfo << "\n";
-            os << getLineOfChars<'.'>() << "\n\n";
-        }
-
-        // if string has a : in first line will set indent to follow it on
-        // subsequent lines
-        static void printHeaderString( std::ostream& os, std::string const& _string, std::size_t indent = 0 ) {
-            std::size_t i = _string.find( ": " );
-            if( i != std::string::npos )
-                i+=2;
-            else
-                i = 0;
-            os << Column( _string )
-                           .indent( indent+i)
-                           .initialIndent( indent ) << "\n";
-        }
-    private:
-        bool m_headerPrintedForThisSection = false;
-        Timer m_testTimer;
-    };
-
-#ifdef CATCH_IMPL
-    TeamCityReporter::~TeamCityReporter() {}
-#endif
-
-    CATCH_REGISTER_REPORTER( "teamcity", TeamCityReporter )
-
-} // end namespace Catch
-
-#ifdef __clang__
-#   pragma clang diagnostic pop
-#endif
-
-#endif // TWOBLUECUBES_CATCH_REPORTER_TEAMCITY_HPP_INCLUDED
diff --git a/unittest/config/cdatapool/dataPoolInit.cpp b/unittest/config/cdatapool/dataPoolInit.cpp
deleted file mode 100644
index 6c2278ab..00000000
--- a/unittest/config/cdatapool/dataPoolInit.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-#include <fsfw/unittest/config/cdatapool/dataPoolInit.h>
-
-void datapool::dataPoolInit(std::map<uint32_t, PoolEntryIF*> * poolMap) {
-	uint8_t UINT8T_INIT[1] = {0};
-	uint16_t UINT16T_INIT[1] = {0};
-	uint32_t UINT32T_INIT[1] = {0};
-	float FLOAT_INIT[2] = {0.0, 0.0};
-	/* FSFW */
-	poolMap->emplace(datapool::INTERNAL_ERROR_STORE_FULL,
-			new PoolEntry<uint32_t>(UINT32T_INIT,1));
-	poolMap->emplace(datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
-			new PoolEntry<uint32_t>(UINT32T_INIT,1));
-	poolMap->emplace(datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
-			new PoolEntry<uint32_t>(UINT32T_INIT,1));
-
-	/* TEST */
-	poolMap->emplace(datapool::TEST_UINT8,
-			new PoolEntry<uint8_t>(UINT8T_INIT,1));
-	poolMap->emplace(datapool::TEST_UINT16,
-			new PoolEntry<uint16_t>(UINT16T_INIT,1));
-	poolMap->emplace(datapool::TEST_UINT32,
-			new PoolEntry<uint32_t>(UINT32T_INIT,1));
-	poolMap->emplace(datapool::TEST_FLOAT_VECTOR,
-			new PoolEntry<float>(FLOAT_INIT,2));
-
-	// With new initializer list feature and boolean entries.
-
-//	/* FSFW */
-//	poolMap->emplace(datapool::INTERNAL_ERROR_STORE_FULL,
-//			new PoolEntry<uint32_t>({0},1));
-//	poolMap->emplace(datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
-//			new PoolEntry<uint32_t>({0},1));
-//	poolMap->emplace(datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
-//			new PoolEntry<uint32_t>({0},1));
-//
-//	/* TEST */
-//	poolMap->emplace(datapool::TEST_BOOLEAN,
-//			new PoolEntry<bool>({0},1));
-//	poolMap->emplace(datapool::TEST_UINT8,
-//			new PoolEntry<uint8_t>({0},1));
-//	poolMap->emplace(datapool::TEST_UINT16,
-//			new PoolEntry<uint16_t>({0},1));
-//	poolMap->emplace(datapool::TEST_UINT32,
-//			new PoolEntry<uint32_t>({0},1));
-//	poolMap->emplace(datapool::TEST_FLOAT_VECTOR,
-//			new PoolEntry<float>({0, 0},2));
-
-}
diff --git a/unittest/config/cdatapool/dataPoolInit.h b/unittest/config/cdatapool/dataPoolInit.h
deleted file mode 100644
index d482cc35..00000000
--- a/unittest/config/cdatapool/dataPoolInit.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#ifndef HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
-#define HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
-
-#include <fsfw/datapool/DataPool.h>
-#include <fsfw/datapool/PoolEntryIF.h>
-#include <map>
-#include <cstdint>
-
-
-namespace datapool {
-	void dataPoolInit(std::map<uint32_t, PoolEntryIF*> * poolMap);
-
-	enum datapoolvariables {
-		NO_PARAMETER = 0,
-
-		/** [EXPORT] : [GROUP] FSFW */
-		INTERNAL_ERROR_STORE_FULL = 0xEE000001, 	 //!< [EXPORT] : [NAME] Internal Error Store Entry [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
-		INTERNAL_ERROR_MISSED_LIVE_TM = 0xEE000001,  //!< [EXPORT] : [NAME] Internal Error Missed Live Tm [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
-		INTERNAL_ERROR_FULL_MSG_QUEUES = 0xEE000001, //!< [EXPORT] : [NAME] Internal Error Full Msg Queue [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
-
-		/** [EXPORT] : [GROUP] TEST */
-		TEST_BOOLEAN = 0x01010102, 				//!< [EXPORT] : [NAME] Test Boolean [UNIT] (-) [SIZE] 1 [TYPE] bool
-		TEST_UINT8 = 0x02020204,				//!< [EXPORT] : [NAME] Test Byte [UNIT] (-) [SIZE] 1 [TYPE] uint8_t
-		TEST_UINT16 = 0x03030306,				//!< [EXPORT] : [NAME] Test UINT16 [UNIT] (-) [SIZE] 1 [TYPE] uint16_t
-		TEST_UINT32 = 0x04040408,				//!< [EXPORT] : [NAME] Test UINT32 [UNIT] (-) [SIZE] 1 [TYPE] uint32_t
-		TEST_FLOAT_VECTOR = 0x05050510,			//!< [EXPORT] : [NAME] Test Float [UNIT] (-) [SIZE] 2 [TYPE] float
-	};
-}
-#endif /* CONFIG_CDATAPOOL_DATAPOOLINIT_H_ */
diff --git a/unittest/config/events/translateEvents.cpp b/unittest/config/events/translateEvents.cpp
deleted file mode 100644
index bfcbe2bc..00000000
--- a/unittest/config/events/translateEvents.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-/**
- * @brief    Auto-generated event translation file. Contains 80 translations.
- * Generated on: 2020-05-02 20:13:41 
- */
-#include <fsfw/unittest/config/events/translateEvents.h>
-
-const char *TEST_EVENT_SERVICE_1_STRING = "TEST_EVENT_SERVICE_1";
-const char *TEST2_STRING = "TEST2";
-
-const char * translateEvents(Event event){
-	switch((event&0xFFFF)){
-		case 8000:
-			return TEST_EVENT_SERVICE_1_STRING;
-		case 9100:
-			return TEST2_STRING;
-		default:
-			return "UNKNOWN_EVENT";
-	}
-	return 0;
-}
diff --git a/unittest/config/events/translateEvents.h b/unittest/config/events/translateEvents.h
deleted file mode 100644
index 0e40ef8b..00000000
--- a/unittest/config/events/translateEvents.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * translateEvent.h
- *
- *  Created on: 28 May 2019
- *      Author: Robin
- */
-
-#ifndef CONFIG_EVENTS_TRANSLATEEVENTS_H_
-#define CONFIG_EVENTS_TRANSLATEEVENTS_H_
-
-#include <fsfw/events/Event.h>
-
-const char * translateEvents(Event event);
-
-
-#endif /* CONFIG_EVENTS_TRANSLATEEVENTS_H_ */
diff --git a/unittest/config/objects/systemObjectList.h b/unittest/config/objects/systemObjectList.h
deleted file mode 100644
index 9793305e..00000000
--- a/unittest/config/objects/systemObjectList.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
-#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
-
-#include <cstdint>
-
-// The objects will be instantiated in the ID order
-namespace objects {
-	enum sourceObjects: uint32_t {
-		/* First Byte 0x50-0x52 reserved for PUS Services **/
-		CCSDS_PACKET_DISTRIBUTOR = 0x50000100,
-		PUS_PACKET_DISTRIBUTOR = 0x50000200,
-		UDP_BRIDGE = 0x50000300,
-		UDP_POLLING_TASK = 0x50000400,
-
-		PUS_SERVICE_3 = 0x51000300,
-		PUS_SERVICE_6_MEM_MGMT = 0x51000500,
-		PUS_SERVICE_23 = 0x51002300,
-		PUS_SERVICE_201_HEALTH = 0x51020100,
-
-		PUS_TIME = 0x52000001,
-		PUS_FUNNEL = 0x52000002,
-
-		/* Test Task */
-		TEST_TASK = 0x42694269,
-		DUMMY_INTERFACE = 0xCAFECAFE,
-		DUMMY_HANDLER = 0x4400AFFE,
-	};
-}
-
-#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
diff --git a/unittest/config/pollingsequence/PollingSequenceFactory.cpp b/unittest/config/pollingsequence/PollingSequenceFactory.cpp
deleted file mode 100644
index dbe13add..00000000
--- a/unittest/config/pollingsequence/PollingSequenceFactory.cpp
+++ /dev/null
@@ -1,31 +0,0 @@
-#include <PollingSequenceFactory.h>
-#include <systemObjectList.h>
-
-#include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/devicehandlers/DeviceHandlerIF.h>
-#include <fsfw/tasks/FixedTimeslotTaskIF.h>
-
-ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
-{
-	/* Length of a communication cycle */
-	uint32_t length = thisSequence->getPeriodMs();
-
-    thisSequence->addSlot(objects::DUMMY_HANDLER,
-            length * 0,  DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::DUMMY_HANDLER,
-            length * 0.25, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::DUMMY_HANDLER,
-            length * 0.5,  DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::DUMMY_HANDLER,
-            length * 0.75, DeviceHandlerIF::GET_READ);
-
-	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	else {
-		sif::error << "PollingSequence::initialize has errors!" << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
diff --git a/unittest/config/returnvalues/classIds.h b/unittest/config/returnvalues/classIds.h
deleted file mode 100644
index a024e3d7..00000000
--- a/unittest/config/returnvalues/classIds.h
+++ /dev/null
@@ -1,28 +0,0 @@
-/*
- * classIds.h
- *
- *  Created on: 16.07.2018
- *      Author: mohr
- */
-
-#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
-#define CONFIG_RETURNVALUES_CLASSIDS_H_
-
-/**
- * Source IDs starts at 73 for now
- * Framework IDs for ReturnValues run from 0 to 56
- * and are located inside <fsfw/returnvalues/FwClassIds.h>
- */
-namespace CLASS_ID {
-enum {
-	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
-	RS232_CHANNEL, //!< RS232
-	I2C_CHANNEL, //!< I2C
-	SPI_CHANNEL, //!< SPI
-	GPS_HANDLER,  //!< GPS
-	PUS_SERVICE_3 //!< HKS
-};
-}
-
-
-#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */
diff --git a/unittest/config/tmtc/PusIds.hpp b/unittest/config/tmtc/PusIds.hpp
deleted file mode 100644
index fd37c7f4..00000000
--- a/unittest/config/tmtc/PusIds.hpp
+++ /dev/null
@@ -1,29 +0,0 @@
-/*
- * PusIds.hpp
- *
- *  Created on: 27.02.2019
- *      Author: jakob
- */
-
-#ifndef CONFIG_TMTC_PUSIDS_HPP_
-#define CONFIG_TMTC_PUSIDS_HPP_
-
-namespace PUS{
-enum Ids{
-	PUS_SERVICE_1 = 1,
-	PUS_SERVICE_2 = 2,
-	PUS_SERVICE_3 = 3,
-	PUS_SERVICE_5 = 5,
-	PUS_SERVICE_6 = 6,
-	PUS_SERVICE_8 = 8,
-	PUS_SERVICE_9 = 9,
-	PUS_SERVICE_17 = 17,
-	PUS_SERVICE_23 = 23,
-	PUS_SERVICE_200 = 200,
-	PUS_SERVICE_201 = 201,
-};
-};
-
-
-
-#endif /* CONFIG_TMTC_PUSIDS_HPP_ */
diff --git a/unittest/config/tmtc/subsystemIdRanges.h b/unittest/config/tmtc/subsystemIdRanges.h
deleted file mode 100644
index e32de74c..00000000
--- a/unittest/config/tmtc/subsystemIdRanges.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef CONFIG_TMTC_SUBSYSTEMIDRANGES_H_
-#define CONFIG_TMTC_SUBSYSTEMIDRANGES_H_
-
-#include <fsfw/events/fwSubsystemIdRanges.h>
-#include <cstdint>
-
-/**
- * These IDs are part of the ID for an event thrown by a subsystem.
- * Numbers 0-80 are reserved for FSFW Subsystem IDs (framework/events/)
- */
-namespace SUBSYSTEM_ID {
-enum: uint8_t {
-	SUBSYSTE_ID_START = FW_SUBSYSTEM_ID_RANGE,
-	/**
-	 * 80-105: PUS Services
-	 */
-	PUS_SERVICE_2 = 82,
-	PUS_SERVICE_3 = 83,
-	PUS_SERVICE_5 = 85,
-	PUS_SERVICE_6 = 86,
-	PUS_SERVICE_8 = 88,
-	PUS_SERVICE_23 = 91,
-	DUMMY_DEVICE = 100,
-	/**
-	 * 105-115: AOCS
-	 */
-	GPS_DEVICE = 105,
-
-	SPI_COM_IF = 128,
-	I2C_COM_IF = 138
-};
-}
-
-#endif /* CONFIG_TMTC_SUBSYSTEMIDRANGES_H_ */
diff --git a/unittest/config/tmtc/tmTcSize.h b/unittest/config/tmtc/tmTcSize.h
deleted file mode 100644
index de7f4adc..00000000
--- a/unittest/config/tmtc/tmTcSize.h
+++ /dev/null
@@ -1,10 +0,0 @@
-#ifndef CONFIG_TMTC_TMTCSIZE_H_
-#define CONFIG_TMTC_TMTCSIZE_H_
-
-#include <cstdint>
-
-namespace tmtcsize {
-static const uint32_t MAX_TM_PACKET = 50;
-}
-
-#endif /* CONFIG_TMTC_TMTCSIZE_H_ */
diff --git a/unittest/config/version.h b/unittest/config/version.h
deleted file mode 100644
index f53345c1..00000000
--- a/unittest/config/version.h
+++ /dev/null
@@ -1,7 +0,0 @@
-#ifndef CONFIG_VERSION_H_
-#define CONFIG_VERSION_H_
-
-#define SW_VERSION      1
-#define SW_SUBVERSION   6
-
-#endif /* CONFIG_VERSION_H_ */
diff --git a/unittest/core/CatchRunner.cpp b/unittest/core/CatchRunner.cpp
index 566db692..35c53cd4 100644
--- a/unittest/core/CatchRunner.cpp
+++ b/unittest/core/CatchRunner.cpp
@@ -9,7 +9,9 @@
 #ifndef NO_UNIT_TEST_FRAMEWORK
 
 #define CATCH_CONFIG_RUNNER
-#include <fsfw/unittest/catch2/catch.hpp>
+#include <catch2/catch.hpp>
+
+#if CUSTOM_UNITTEST_RUNNER == 0
 
 extern int customSetup();
 
@@ -23,5 +25,7 @@ int main( int argc, char* argv[] ) {
     return result;
 }
 
+#endif
+
 
 #endif
diff --git a/unittest/core/CatchSetup.cpp b/unittest/core/CatchSetup.cpp
index 5436fd5d..a623fb77 100644
--- a/unittest/core/CatchSetup.cpp
+++ b/unittest/core/CatchSetup.cpp
@@ -1,24 +1,25 @@
+#include "CatchDefinitions.h"
+
 #include "../config/cdatapool/dataPoolInit.h"
-#include <fsfw/unittest/config/cdatapool/dataPoolInit.h>
-#include <fsfw/unittest/config/objects/Factory.h>
-#include <fsfw/unittest/core/CatchDefinitions.h>
+#include "../config/objects/Factory.h"
+
 
 #ifdef GCOV
 #include <gcov.h>
 #endif
 
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/storagemanager/StorageManagerIF.h>
-#include <fsfw/datapool/DataPool.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include "../../objectmanager/ObjectManager.h"
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../storagemanager/StorageManagerIF.h"
+#include "../../datapoolglob/GlobalDataPool.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 
 /* Global instantiations normally done in main.cpp */
 /* Initialize Data Pool */
-//namespace glob {
-DataPool dataPool(datapool::dataPoolInit);
-//}
+namespace glob {
+GlobalDataPool dataPool(datapool::dataPoolInit);
+}
 
 
 namespace sif {
diff --git a/unittest/internal/InternalUnitTester.cpp b/unittest/internal/InternalUnitTester.cpp
index 9b219f09..7b72d645 100644
--- a/unittest/internal/InternalUnitTester.cpp
+++ b/unittest/internal/InternalUnitTester.cpp
@@ -12,13 +12,13 @@ InternalUnitTester::InternalUnitTester() {}
 InternalUnitTester::~InternalUnitTester() {}
 
 ReturnValue_t InternalUnitTester::performTests() {
-	sif::info << "Running internal unit tests..\r\n" << std::flush;
+	sif::info << "Running internal unit tests.." << std::endl;
 	testserialize::test_serialization();
 	testmq::testMq();
 	testsemaph::testBinSemaph();
 	testsemaph::testCountingSemaph();
 	testmutex::testMutex();
-	sif::info << "Internal unit tests finished.\r\n" << std::flush;
+	sif::info << "Internal unit tests finished." << std::endl;
 	return RETURN_OK;
 }
 
diff --git a/unittest/config/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h
similarity index 57%
rename from unittest/config/FSFWConfig.h
rename to unittest/testcfg/FSFWConfig.h
index 665c939f..4fb224c1 100644
--- a/unittest/config/FSFWConfig.h
+++ b/unittest/testcfg/FSFWConfig.h
@@ -1,7 +1,7 @@
 #ifndef CONFIG_FSFWCONFIG_H_
 #define CONFIG_FSFWCONFIG_H_
 
-#include <fsfw/unittest/config/version.h>
+#include <FSFWVersion.h>
 
 //! Used to determine whether C++ ostreams are used
 //! Those can lead to code bloat.
@@ -11,10 +11,24 @@
 //! Be careful, this also turns off most diagnostic prinouts!
 #define FSFW_REDUCED_PRINTOUT		0
 
+//! Can be used to enable debugging printouts for developing the FSFW
+#define FSFW_DEBUGGING              0
+
+//! Defines the FIFO depth of each commanding service base which
+//! also determines how many commands a CSB service can handle in one cycle
+//! simulataneously. This will increase the required RAM for
+//! each CSB service !
+#define FSFW_CSB_FIFO_DEPTH			6
+
+//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
+//! additional output which requires the translation files translateObjects
+//! and translateEvents (and their compiled source files)
+#define FSFW_OBJ_EVENT_TRANSLATION	0
+
 //! If -DDEBUG is supplied in the build defines, there will be
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiles source files)
-#ifdef DEBUG
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 #define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
 #define FSFW_DEBUG_INFO				1
@@ -26,7 +40,7 @@
 
 //! When using the newlib nano library, C99 support for stdio facilities
 //! will not be provided. This define should be set to 1 if this is the case.
-#define FSFW_NEWLIB_NANO_NO_C99_IO 	1
+#define FSFW_NO_C99_IO 	1
 
 
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/unittest/Makefile-FSFW-Tests b/unittest/testcfg/Makefile-FSFW-Tests
similarity index 100%
rename from unittest/Makefile-FSFW-Tests
rename to unittest/testcfg/Makefile-FSFW-Tests
diff --git a/unittest/config/TestsConfig.h b/unittest/testcfg/TestsConfig.h
similarity index 81%
rename from unittest/config/TestsConfig.h
rename to unittest/testcfg/TestsConfig.h
index 7bf667f7..cd967fa7 100644
--- a/unittest/config/TestsConfig.h
+++ b/unittest/testcfg/TestsConfig.h
@@ -2,7 +2,7 @@
 #define FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_
 
 
-
+#define CUSTOM_UNITTEST_RUNNER 0
 
 
 #endif /* FSFW_UNITTEST_CONFIG_TESTSCONFIG_H_ */
diff --git a/unittest/testcfg/cdatapool/dataPoolInit.cpp b/unittest/testcfg/cdatapool/dataPoolInit.cpp
new file mode 100644
index 00000000..ad2dc4ef
--- /dev/null
+++ b/unittest/testcfg/cdatapool/dataPoolInit.cpp
@@ -0,0 +1,5 @@
+#include "dataPoolInit.h"
+
+void datapool::dataPoolInit(std::map<uint32_t, PoolEntryIF*> * poolMap) {
+
+}
diff --git a/unittest/testcfg/cdatapool/dataPoolInit.h b/unittest/testcfg/cdatapool/dataPoolInit.h
new file mode 100644
index 00000000..23a3d01f
--- /dev/null
+++ b/unittest/testcfg/cdatapool/dataPoolInit.h
@@ -0,0 +1,17 @@
+#ifndef HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
+#define HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
+
+#include <fsfw/datapoolglob/GlobalDataPool.h>
+#include <fsfw/datapool/PoolEntryIF.h>
+#include <map>
+#include <cstdint>
+
+
+namespace datapool {
+	void dataPoolInit(std::map<uint32_t, PoolEntryIF*> * poolMap);
+
+	enum datapoolvariables {
+		NO_PARAMETER = 0,
+	};
+}
+#endif /* CONFIG_CDATAPOOL_DATAPOOLINIT_H_ */
diff --git a/unittest/config/devices/logicalAddresses.cpp b/unittest/testcfg/devices/logicalAddresses.cpp
similarity index 100%
rename from unittest/config/devices/logicalAddresses.cpp
rename to unittest/testcfg/devices/logicalAddresses.cpp
diff --git a/unittest/config/devices/logicalAddresses.h b/unittest/testcfg/devices/logicalAddresses.h
similarity index 100%
rename from unittest/config/devices/logicalAddresses.h
rename to unittest/testcfg/devices/logicalAddresses.h
diff --git a/unittest/config/devices/powerSwitcherList.cpp b/unittest/testcfg/devices/powerSwitcherList.cpp
similarity index 100%
rename from unittest/config/devices/powerSwitcherList.cpp
rename to unittest/testcfg/devices/powerSwitcherList.cpp
diff --git a/unittest/config/devices/powerSwitcherList.h b/unittest/testcfg/devices/powerSwitcherList.h
similarity index 100%
rename from unittest/config/devices/powerSwitcherList.h
rename to unittest/testcfg/devices/powerSwitcherList.h
diff --git a/unittest/testcfg/events/subsystemIdRanges.h b/unittest/testcfg/events/subsystemIdRanges.h
new file mode 100644
index 00000000..24eee819
--- /dev/null
+++ b/unittest/testcfg/events/subsystemIdRanges.h
@@ -0,0 +1,18 @@
+#ifndef CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+#define CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_
+
+#include <cstdint>
+#include <fsfw/events/fwSubsystemIdRanges.h>
+
+/**
+ * @brief	Custom subsystem IDs can be added here
+ * @details
+ * Subsystem IDs are used to create unique events.
+ */
+namespace SUBSYSTEM_ID {
+enum: uint8_t {
+	SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
+};
+}
+
+#endif /* CONFIG_EVENTS_SUBSYSTEMIDRANGES_H_ */
diff --git a/unittest/config/ipc/MissionMessageTypes.cpp b/unittest/testcfg/ipc/MissionMessageTypes.cpp
similarity index 80%
rename from unittest/config/ipc/MissionMessageTypes.cpp
rename to unittest/testcfg/ipc/MissionMessageTypes.cpp
index 304ca439..0ac8debe 100644
--- a/unittest/config/ipc/MissionMessageTypes.cpp
+++ b/unittest/testcfg/ipc/MissionMessageTypes.cpp
@@ -2,7 +2,7 @@
 #include <fsfw/unittest/config/ipc/MissionMessageTypes.h>
 
 void messagetypes::clearMissionMessage(CommandMessage* message) {
-	switch((message->getCommand()>>8) & 0xff) {
+	switch(message->getMessageType()) {
 	default:
 		break;
 	}
diff --git a/unittest/config/ipc/MissionMessageTypes.h b/unittest/testcfg/ipc/MissionMessageTypes.h
similarity index 100%
rename from unittest/config/ipc/MissionMessageTypes.h
rename to unittest/testcfg/ipc/MissionMessageTypes.h
diff --git a/unittest/config/objects/Factory.cpp b/unittest/testcfg/objects/Factory.cpp
similarity index 82%
rename from unittest/config/objects/Factory.cpp
rename to unittest/testcfg/objects/Factory.cpp
index e325b891..612527c9 100644
--- a/unittest/config/objects/Factory.cpp
+++ b/unittest/testcfg/objects/Factory.cpp
@@ -23,10 +23,7 @@ void Factory::produce(void) {
 	setStaticFrameworkObjectIds();
 	new EventManager(objects::EVENT_MANAGER);
 	new HealthTable(objects::HEALTH_TABLE);
-	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER,
-				datapool::INTERNAL_ERROR_FULL_MSG_QUEUES,
-				datapool::INTERNAL_ERROR_MISSED_LIVE_TM,
-				datapool::INTERNAL_ERROR_STORE_FULL);
+	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
 
 }
 
diff --git a/unittest/config/objects/Factory.h b/unittest/testcfg/objects/Factory.h
similarity index 100%
rename from unittest/config/objects/Factory.h
rename to unittest/testcfg/objects/Factory.h
diff --git a/unittest/testcfg/objects/systemObjectList.h b/unittest/testcfg/objects/systemObjectList.h
new file mode 100644
index 00000000..0e034aff
--- /dev/null
+++ b/unittest/testcfg/objects/systemObjectList.h
@@ -0,0 +1,16 @@
+#ifndef HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+#define HOSTED_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_
+
+#include <cstdint>
+#include <fsfw/objectmanager/frameworkObjects.h>
+
+// The objects will be instantiated in the ID order
+namespace objects {
+	enum sourceObjects: uint32_t {
+		/* All addresses between start and end are reserved for the FSFW */
+		FSFW_CONFIG_RESERVED_START = PUS_SERVICE_1_VERIFICATION,
+		FSFW_CONFIG_RESERVED_END = TM_STORE
+	};
+}
+
+#endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */
diff --git a/unittest/config/objects/translateObjects.cpp b/unittest/testcfg/objects/translateObjects.cpp
similarity index 100%
rename from unittest/config/objects/translateObjects.cpp
rename to unittest/testcfg/objects/translateObjects.cpp
diff --git a/unittest/config/objects/translateObjects.h b/unittest/testcfg/objects/translateObjects.h
similarity index 100%
rename from unittest/config/objects/translateObjects.h
rename to unittest/testcfg/objects/translateObjects.h
diff --git a/unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp b/unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp
new file mode 100644
index 00000000..f836a746
--- /dev/null
+++ b/unittest/testcfg/pollingsequence/PollingSequenceFactory.cpp
@@ -0,0 +1,23 @@
+#include "PollingSequenceFactory.h"
+
+#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <fsfw/tasks/FixedTimeslotTaskIF.h>
+
+ReturnValue_t pst::pollingSequenceInitDefault(
+        FixedTimeslotTaskIF *thisSequence) {
+	/* Length of a communication cycle */
+	uint32_t length = thisSequence->getPeriodMs();
+
+	/* Add polling sequence table here */
+
+	if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		sif::error << "pst::pollingSequenceInitDefault: Sequence invalid!"
+		        << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
diff --git a/unittest/config/pollingsequence/PollingSequenceFactory.h b/unittest/testcfg/pollingsequence/PollingSequenceFactory.h
similarity index 74%
rename from unittest/config/pollingsequence/PollingSequenceFactory.h
rename to unittest/testcfg/pollingsequence/PollingSequenceFactory.h
index b6cc2f1e..c5d41b7d 100644
--- a/unittest/config/pollingsequence/PollingSequenceFactory.h
+++ b/unittest/testcfg/pollingsequence/PollingSequenceFactory.h
@@ -1,13 +1,14 @@
 #ifndef POLLINGSEQUENCEFACTORY_H_
 #define POLLINGSEQUENCEFACTORY_H_
+
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
 class FixedTimeslotTaskIF;
 
 /**
- * All device handlers are scheduled by adding them into
- * Polling Sequence Tables (PST) to satisfy stricter timing requirements of
- * device communication, a device handler has four different communication steps:
+ * All device handlers are scheduled by adding them into  Polling Sequence Tables (PST)
+ * to satisfy stricter timing requirements of device communication,
+ * A device handler has four different communication steps:
  *   1. DeviceHandlerIF::SEND_WRITE -> Send write via interface
  *   2. DeviceHandlerIF::GET_WRITE -> Get confirmation for write
  *   3. DeviceHandlerIF::SEND_READ -> Send read request
@@ -17,15 +18,15 @@ class FixedTimeslotTaskIF;
  * The task is created using the FixedTimeslotTaskIF,
  * which utilises the underlying Operating System Abstraction Layer (OSAL)
  *
- * @param thisSequence FixedTimeslotTaskIF * object is passed inside the
- * 					   Factory class when creating the PST
+ * @param thisSequence FixedTimeslotTaskIF * object is passed inside the Factory class when creating the PST
  * @return
  */
 namespace pst {
 
-/* 0.4 second period init*/
+/* Default PST */
 ReturnValue_t pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence);
 
+
 }
 
 #endif /* POLLINGSEQUENCEINIT_H_ */
diff --git a/unittest/testcfg/returnvalues/classIds.h b/unittest/testcfg/returnvalues/classIds.h
new file mode 100644
index 00000000..606cc60b
--- /dev/null
+++ b/unittest/testcfg/returnvalues/classIds.h
@@ -0,0 +1,16 @@
+#ifndef CONFIG_RETURNVALUES_CLASSIDS_H_
+#define CONFIG_RETURNVALUES_CLASSIDS_H_
+
+#include <fsfw/returnvalues/FwClassIds.h>
+
+/**
+ * @brief   CLASS_ID defintions which are required for custom returnvalues.
+ */
+namespace CLASS_ID {
+enum {
+	MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
+};
+}
+
+
+#endif /* CONFIG_RETURNVALUES_CLASSIDS_H_ */
diff --git a/unittest/config/config.mk b/unittest/testcfg/testcfg.mk
similarity index 100%
rename from unittest/config/config.mk
rename to unittest/testcfg/testcfg.mk
diff --git a/unittest/config/tmtc/apid.h b/unittest/testcfg/tmtc/apid.h
similarity index 61%
rename from unittest/config/tmtc/apid.h
rename to unittest/testcfg/tmtc/apid.h
index 77e55952..c0231bca 100644
--- a/unittest/config/tmtc/apid.h
+++ b/unittest/testcfg/tmtc/apid.h
@@ -1,18 +1,17 @@
 #ifndef CONFIG_TMTC_APID_H_
 #define CONFIG_TMTC_APID_H_
 
-#include <stdint.h>
+#include <cstdint>
 
 /**
  * Application Process Definition: entity, uniquely identified by an
  * application process ID (APID), capable of generating telemetry source
- * packets and receiving telecommand packets
+ * packets and receiving telecommand packets.
  *
- * SOURCE APID: 0x73 / 115 / s
- * APID is a 11 bit number
+ * Chose APID(s) for mission and define it here.
  */
 namespace apid {
-	static const uint16_t SOURCE_OBSW = 0x73;
+	static const uint16_t DEFAULT_APID = 0x00;
 }
 
 
diff --git a/unittest/config/tmtc/pusIds.h b/unittest/testcfg/tmtc/pusIds.h
similarity index 86%
rename from unittest/config/tmtc/pusIds.h
rename to unittest/testcfg/tmtc/pusIds.h
index a2dd7575..821a9982 100644
--- a/unittest/config/tmtc/pusIds.h
+++ b/unittest/testcfg/tmtc/pusIds.h
@@ -1,16 +1,18 @@
 #ifndef CONFIG_TMTC_PUSIDS_HPP_
 #define CONFIG_TMTC_PUSIDS_HPP_
 
+#include <cstdint>
+
 namespace pus {
-enum Ids{
+enum Ids: uint8_t {
 	PUS_SERVICE_1 = 1,
 	PUS_SERVICE_2 = 2,
 	PUS_SERVICE_3 = 3,
-	PUS_SERVICE_3_PSB = 3,
 	PUS_SERVICE_5 = 5,
 	PUS_SERVICE_6 = 6,
 	PUS_SERVICE_8 = 8,
 	PUS_SERVICE_9 = 9,
+	PUS_SERVICE_11 = 11,
 	PUS_SERVICE_17 = 17,
 	PUS_SERVICE_19 = 19,
 	PUS_SERVICE_20 = 20,
diff --git a/unittest/tests/action/TestActionHelper.cpp b/unittest/tests/action/TestActionHelper.cpp
index 33c6b425..d5b2e467 100644
--- a/unittest/tests/action/TestActionHelper.cpp
+++ b/unittest/tests/action/TestActionHelper.cpp
@@ -1,105 +1,106 @@
-#include <fsfw/action/ActionHelper.h>
-#include <fsfw/ipc/CommandMessage.h>
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
-#include <fsfw/unittest/tests/action/TestActionHelper.h>
-
-TEST_CASE( "Action Helper" , "[ActionHelper]") {
-	ActionHelperOwnerMockBase testDhMock;
-	MessageQueueMockBase testMqMock;
-	ActionHelper actionHelper = ActionHelper(
-			&testDhMock, dynamic_cast<MessageQueueIF*>(&testMqMock));
-	CommandMessage actionMessage;
-	ActionId_t testActionId = 777;
-	std::array <uint8_t, 3> testParams {1, 2, 3};
-	store_address_t paramAddress;
-	StorageManagerIF *ipcStore = tglob::getIpcStoreHandle();
-	ipcStore->addData(&paramAddress, testParams.data(), 3);
-	REQUIRE(actionHelper.initialize() == retval::CATCH_OK);
-
-	SECTION ("Simple tests") {
-		 ActionMessage::setCommand(&actionMessage, testActionId, paramAddress);
-		 CHECK(not testDhMock.executeActionCalled);
-		 REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
-		 CHECK(testDhMock.executeActionCalled);
-		 // No message is sent if everything is alright.
-		 CHECK(not testMqMock.wasMessageSent());
-		 store_address_t invalidAddress;
-		 ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
-		 actionHelper.handleActionMessage(&actionMessage);
-		 CHECK(testMqMock.wasMessageSent());
-		 const uint8_t* ptr = nullptr;
-		 size_t size = 0;
-		 REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
-		 REQUIRE(ptr == nullptr);
-		 REQUIRE(size == 0);
-		 testDhMock.getBuffer(&ptr, &size);
-		 REQUIRE(size == 3);
-		 for(uint8_t i = 0; i<3;i++){
-			 REQUIRE(ptr[i] == (i+1));
-		 }
-		 testDhMock.clearBuffer();
-	}
-
-	SECTION("Handle failures"){
-		actionMessage.setCommand(1234);
-		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == static_cast<uint32_t>(CommandMessage::UNKNOWN_COMMAND));
-		CHECK(not testMqMock.wasMessageSent());
-		uint16_t step = 5;
-		ReturnValue_t status = 0x1234;
-		actionHelper.step(step, testMqMock.getId(), testActionId, status);
-		step += 1;
-		CHECK(testMqMock.wasMessageSent());
-		CommandMessage testMessage;
-		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-		REQUIRE(testMessage.getParameter() == static_cast<uint32_t>(testActionId));
-		uint32_t parameter2 = ((uint32_t)step << 16) | (uint32_t)status;
-		REQUIRE(testMessage.getParameter2() == parameter2);
-		REQUIRE(ActionMessage::getStep(&testMessage) == step);
-	}
-
-	SECTION("Handle finish"){
-		CHECK(not testMqMock.wasMessageSent());
-		ReturnValue_t status = 0x9876;
-		actionHelper.finish(testMqMock.getId(), testActionId, status);
-		CHECK(testMqMock.wasMessageSent());
-		CommandMessage testMessage;
-		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::COMPLETION_FAILED));
-		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
-		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(status));
-	}
-
-	SECTION("Handle failed"){
-		store_address_t toLongParamAddress = StorageManagerIF::INVALID_ADDRESS;
-		std::array<uint8_t, 5> toLongData = {5, 4, 3, 2, 1};
-		REQUIRE(ipcStore->addData(&toLongParamAddress, toLongData.data(), 5) == retval::CATCH_OK);
-		ActionMessage::setCommand(&actionMessage, testActionId, toLongParamAddress);
-		CHECK(not testDhMock.executeActionCalled);
-		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
-		REQUIRE(ipcStore->getData(toLongParamAddress).first == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
-		CommandMessage testMessage;
-		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-		REQUIRE(ActionMessage::getReturnCode(&testMessage) == 0xAFFE);
-		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
-		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
-	}
-
-	SECTION("Missing IPC Data"){
-		ActionMessage::setCommand(&actionMessage, testActionId, StorageManagerIF::INVALID_ADDRESS);
-		CHECK(not testDhMock.executeActionCalled);
-		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
-		CommandMessage testMessage;
-		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(StorageManagerIF::ILLEGAL_STORAGE_ID));
-		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
-	}
-
-
-	SECTION("Data Reply"){
-
-	}
-}
+//#include "TestActionHelper.h"
+//#include <fsfw/action/ActionHelper.h>
+//#include <fsfw/ipc/CommandMessage.h>
+//#include <catch2/catch.hpp>
+//#include "../../core/CatchDefinitions.h"
+//
+//
+//TEST_CASE( "Action Helper" , "[ActionHelper]") {
+//	ActionHelperOwnerMockBase testDhMock;
+//	MessageQueueMockBase testMqMock;
+//	ActionHelper actionHelper = ActionHelper(
+//			&testDhMock, dynamic_cast<MessageQueueIF*>(&testMqMock));
+//	CommandMessage actionMessage;
+//	ActionId_t testActionId = 777;
+//	std::array <uint8_t, 3> testParams {1, 2, 3};
+//	store_address_t paramAddress;
+//	StorageManagerIF *ipcStore = tglob::getIpcStoreHandle();
+//	ipcStore->addData(&paramAddress, testParams.data(), 3);
+//	REQUIRE(actionHelper.initialize() == retval::CATCH_OK);
+//
+//	SECTION ("Simple tests") {
+//		 ActionMessage::setCommand(&actionMessage, testActionId, paramAddress);
+//		 CHECK(not testDhMock.executeActionCalled);
+//		 REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+//		 CHECK(testDhMock.executeActionCalled);
+//		 // No message is sent if everything is alright.
+//		 CHECK(not testMqMock.wasMessageSent());
+//		 store_address_t invalidAddress;
+//		 ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
+//		 actionHelper.handleActionMessage(&actionMessage);
+//		 CHECK(testMqMock.wasMessageSent());
+//		 const uint8_t* ptr = nullptr;
+//		 size_t size = 0;
+//		 REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
+//		 REQUIRE(ptr == nullptr);
+//		 REQUIRE(size == 0);
+//		 testDhMock.getBuffer(&ptr, &size);
+//		 REQUIRE(size == 3);
+//		 for(uint8_t i = 0; i<3;i++){
+//			 REQUIRE(ptr[i] == (i+1));
+//		 }
+//		 testDhMock.clearBuffer();
+//	}
+//
+//	SECTION("Handle failures"){
+//		actionMessage.setCommand(1234);
+//		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == static_cast<uint32_t>(CommandMessage::UNKNOWN_COMMAND));
+//		CHECK(not testMqMock.wasMessageSent());
+//		uint16_t step = 5;
+//		ReturnValue_t status = 0x1234;
+//		actionHelper.step(step, testMqMock.getId(), testActionId, status);
+//		step += 1;
+//		CHECK(testMqMock.wasMessageSent());
+//		CommandMessage testMessage;
+//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+//		REQUIRE(testMessage.getParameter() == static_cast<uint32_t>(testActionId));
+//		uint32_t parameter2 = ((uint32_t)step << 16) | (uint32_t)status;
+//		REQUIRE(testMessage.getParameter2() == parameter2);
+//		REQUIRE(ActionMessage::getStep(&testMessage) == step);
+//	}
+//
+//	SECTION("Handle finish"){
+//		CHECK(not testMqMock.wasMessageSent());
+//		ReturnValue_t status = 0x9876;
+//		actionHelper.finish(testMqMock.getId(), testActionId, status);
+//		CHECK(testMqMock.wasMessageSent());
+//		CommandMessage testMessage;
+//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::COMPLETION_FAILED));
+//		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
+//		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(status));
+//	}
+//
+//	SECTION("Handle failed"){
+//		store_address_t toLongParamAddress = StorageManagerIF::INVALID_ADDRESS;
+//		std::array<uint8_t, 5> toLongData = {5, 4, 3, 2, 1};
+//		REQUIRE(ipcStore->addData(&toLongParamAddress, toLongData.data(), 5) == retval::CATCH_OK);
+//		ActionMessage::setCommand(&actionMessage, testActionId, toLongParamAddress);
+//		CHECK(not testDhMock.executeActionCalled);
+//		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+//		REQUIRE(ipcStore->getData(toLongParamAddress).first == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
+//		CommandMessage testMessage;
+//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+//		REQUIRE(ActionMessage::getReturnCode(&testMessage) == 0xAFFE);
+//		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
+//		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
+//	}
+//
+//	SECTION("Missing IPC Data"){
+//		ActionMessage::setCommand(&actionMessage, testActionId, StorageManagerIF::INVALID_ADDRESS);
+//		CHECK(not testDhMock.executeActionCalled);
+//		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+//		CommandMessage testMessage;
+//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+//		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(StorageManagerIF::ILLEGAL_STORAGE_ID));
+//		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
+//	}
+//
+//
+//	SECTION("Data Reply"){
+//
+//	}
+//}
diff --git a/unittest/tests/action/TestActionHelper.h b/unittest/tests/action/TestActionHelper.h
index fcc20f90..9bc93d3e 100644
--- a/unittest/tests/action/TestActionHelper.h
+++ b/unittest/tests/action/TestActionHelper.h
@@ -1,131 +1,131 @@
-#ifndef UNITTEST_HOSTED_TESTACTIONHELPER_H_
-#define UNITTEST_HOSTED_TESTACTIONHELPER_H_
-
-#include <fsfw/action/HasActionsIF.h>
-#include <fsfw/ipc/MessageQueueIF.h>
-#include <fsfw/unittest/core/CatchDefinitions.h>
-#include <cstring>
-
-
-class ActionHelperOwnerMockBase: public HasActionsIF {
-public:
-	bool getCommandQueueCalled = false;
-	bool executeActionCalled = false;
-	static const size_t MAX_SIZE = 3;
-	uint8_t buffer[MAX_SIZE] = {0, 0, 0};
-	size_t size = 0;
-
-	MessageQueueId_t getCommandQueue() const override {
-		return tconst::testQueueId;
-	}
-
-	ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-			const uint8_t* data, size_t size) override {
-		executeActionCalled = true;
-		if(size > MAX_SIZE){
-			return 0xAFFE;
-		}
-		this->size = size;
-		memcpy(buffer, data, size);
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-
-	void clearBuffer(){
-		this->size = 0;
-		for(size_t i = 0; i<MAX_SIZE; i++){
-			buffer[i] = 0;
-		}
-	}
-
-	void getBuffer(const uint8_t** ptr, size_t* size){
-		if(size != nullptr){
-			*size = this->size;
-		}
-		if(ptr != nullptr){
-			*ptr = buffer;
-		}
-	}
-};
-
-
-class MessageQueueMockBase: public MessageQueueIF {
-public:
-	MessageQueueId_t myQueueId = 0;
-	bool defaultDestSet = false;
-	bool messageSent = false;
-
-
-
-	bool wasMessageSent() {
-		bool tempMessageSent = messageSent;
-		messageSent = false;
-		return tempMessageSent;
-	}
-
-	virtual ReturnValue_t reply( MessageQueueMessage* message ) {
-		messageSent = true;
-		lastMessage = (*message);
-		return HasReturnvaluesIF::RETURN_OK;
-	};
-	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
-			MessageQueueId_t *receivedFrom) {
-		(*message) = lastMessage;
-		lastMessage.clear();
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) {
-		(*message) = lastMessage;
-		lastMessage.clear();
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	virtual ReturnValue_t flush(uint32_t* count) {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	virtual MessageQueueId_t getLastPartner() const {
-		return tconst::testQueueId;
-	}
-	virtual MessageQueueId_t getId() const {
-		return tconst::testQueueId;
-	}
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,
-			bool ignoreFault = false ) {
-		messageSent = true;
-		lastMessage = (*message);
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false ) override {
-		messageSent = true;
-		lastMessage = (*message);
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
-			MessageQueueId_t sentFrom, bool ignoreFault = false ) {
-		messageSent = true;
-		lastMessage = (*message);
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) {
-		messageSent = true;
-		lastMessage = (*message);
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-	virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
-		myQueueId = defaultDestination;
-		defaultDestSet = true;
-	}
-
-	virtual MessageQueueId_t getDefaultDestination() const {
-		return myQueueId;
-	}
-	virtual bool isDefaultDestinationSet() const {
-		return defaultDestSet;
-	}
-private:
-	MessageQueueMessage lastMessage;
-
-};
-
-
-#endif /* UNITTEST_TESTFW_NEWTESTS_TESTACTIONHELPER_H_ */
+//#ifndef UNITTEST_HOSTED_TESTACTIONHELPER_H_
+//#define UNITTEST_HOSTED_TESTACTIONHELPER_H_
+//
+//#include <fsfw/action/HasActionsIF.h>
+//#include <fsfw/ipc/MessageQueueIF.h>
+//#include <fsfw/unittest/core/CatchDefinitions.h>
+//#include <cstring>
+//
+//
+//class ActionHelperOwnerMockBase: public HasActionsIF {
+//public:
+//	bool getCommandQueueCalled = false;
+//	bool executeActionCalled = false;
+//	static const size_t MAX_SIZE = 3;
+//	uint8_t buffer[MAX_SIZE] = {0, 0, 0};
+//	size_t size = 0;
+//
+//	MessageQueueId_t getCommandQueue() const override {
+//		return tconst::testQueueId;
+//	}
+//
+//	ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+//			const uint8_t* data, size_t size) override {
+//		executeActionCalled = true;
+//		if(size > MAX_SIZE){
+//			return 0xAFFE;
+//		}
+//		this->size = size;
+//		memcpy(buffer, data, size);
+//		return HasReturnvaluesIF::RETURN_OK;
+//	}
+//
+//	void clearBuffer(){
+//		this->size = 0;
+//		for(size_t i = 0; i<MAX_SIZE; i++){
+//			buffer[i] = 0;
+//		}
+//	}
+//
+//	void getBuffer(const uint8_t** ptr, size_t* size){
+//		if(size != nullptr){
+//			*size = this->size;
+//		}
+//		if(ptr != nullptr){
+//			*ptr = buffer;
+//		}
+//	}
+//};
+//
+//
+//class MessageQueueMockBase: public MessageQueueIF {
+//public:
+//	MessageQueueId_t myQueueId = 0;
+//	bool defaultDestSet = false;
+//	bool messageSent = false;
+//
+//
+//
+//	bool wasMessageSent() {
+//		bool tempMessageSent = messageSent;
+//		messageSent = false;
+//		return tempMessageSent;
+//	}
+//
+//	virtual ReturnValue_t reply( MessageQueueMessage* message ) {
+//		messageSent = true;
+//		lastMessage = (*message);
+//		return HasReturnvaluesIF::RETURN_OK;
+//	};
+//	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
+//			MessageQueueId_t *receivedFrom) {
+//		(*message) = lastMessage;
+//		lastMessage.clear();
+//		return HasReturnvaluesIF::RETURN_OK;
+//	}
+//	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) {
+//		(*message) = lastMessage;
+//		lastMessage.clear();
+//		return HasReturnvaluesIF::RETURN_OK;
+//	}
+//	virtual ReturnValue_t flush(uint32_t* count) {
+//		return HasReturnvaluesIF::RETURN_OK;
+//	}
+//	virtual MessageQueueId_t getLastPartner() const {
+//		return tconst::testQueueId;
+//	}
+//	virtual MessageQueueId_t getId() const {
+//		return tconst::testQueueId;
+//	}
+//	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+//			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+//			bool ignoreFault = false ) {
+//		messageSent = true;
+//		lastMessage = (*message);
+//		return HasReturnvaluesIF::RETURN_OK;
+//	}
+//	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
+//			MessageQueueMessage* message, bool ignoreFault = false ) override {
+//		messageSent = true;
+//		lastMessage = (*message);
+//		return HasReturnvaluesIF::RETURN_OK;
+//	}
+//	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
+//			MessageQueueId_t sentFrom, bool ignoreFault = false ) {
+//		messageSent = true;
+//		lastMessage = (*message);
+//		return HasReturnvaluesIF::RETURN_OK;
+//	}
+//	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) {
+//		messageSent = true;
+//		lastMessage = (*message);
+//		return HasReturnvaluesIF::RETURN_OK;
+//	}
+//	virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
+//		myQueueId = defaultDestination;
+//		defaultDestSet = true;
+//	}
+//
+//	virtual MessageQueueId_t getDefaultDestination() const {
+//		return myQueueId;
+//	}
+//	virtual bool isDefaultDestinationSet() const {
+//		return defaultDestSet;
+//	}
+//private:
+//	MessageQueueMessage lastMessage;
+//
+//};
+//
+//
+//#endif /* UNITTEST_TESTFW_NEWTESTS_TESTACTIONHELPER_H_ */
diff --git a/unittest/tests/container/RingBufferTest.cpp b/unittest/tests/container/RingBufferTest.cpp
index 07d6bc1f..8b82d407 100644
--- a/unittest/tests/container/RingBufferTest.cpp
+++ b/unittest/tests/container/RingBufferTest.cpp
@@ -1,6 +1,6 @@
 #include <fsfw/container/SimpleRingBuffer.h>
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <catch2/catch.hpp>
+#include "../../core/CatchDefinitions.h"
 
 #include <cstring>
 
diff --git a/unittest/tests/container/TestArrayList.cpp b/unittest/tests/container/TestArrayList.cpp
index b0ec0abb..914188cb 100644
--- a/unittest/tests/container/TestArrayList.cpp
+++ b/unittest/tests/container/TestArrayList.cpp
@@ -1,7 +1,7 @@
 #include <fsfw/container/ArrayList.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <catch2/catch.hpp>
+#include "../../core/CatchDefinitions.h"
 
 /**
  * @brief 	Array List test
diff --git a/unittest/tests/container/TestFifo.cpp b/unittest/tests/container/TestFifo.cpp
index ac0900c8..3775f424 100644
--- a/unittest/tests/container/TestFifo.cpp
+++ b/unittest/tests/container/TestFifo.cpp
@@ -3,8 +3,8 @@
 #include <fsfw/container/FIFO.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <catch2/catch.hpp>
+#include "../../core/CatchDefinitions.h"
 
 TEST_CASE( "Static Fifo Tests", "[TestFifo]") {
 	INFO("Fifo Tests");
diff --git a/unittest/tests/container/TestFixedArrayList.cpp b/unittest/tests/container/TestFixedArrayList.cpp
index 5d1d5817..737932e3 100644
--- a/unittest/tests/container/TestFixedArrayList.cpp
+++ b/unittest/tests/container/TestFixedArrayList.cpp
@@ -1,8 +1,9 @@
+#include "../../core/CatchDefinitions.h"
+
 #include <fsfw/container/FixedArrayList.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <catch2/catch.hpp>
 
 
 TEST_CASE( "FixedArrayList Tests", "[TestFixedArrayList]") {
diff --git a/unittest/tests/container/TestFixedMap.cpp b/unittest/tests/container/TestFixedMap.cpp
index 04656525..079062f0 100644
--- a/unittest/tests/container/TestFixedMap.cpp
+++ b/unittest/tests/container/TestFixedMap.cpp
@@ -1,8 +1,8 @@
 #include <fsfw/container/FixedMap.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <catch2/catch.hpp>
+#include "../../core/CatchDefinitions.h"
 
 template class FixedMap<unsigned int, unsigned short>;
 
diff --git a/unittest/tests/container/TestFixedOrderedMultimap.cpp b/unittest/tests/container/TestFixedOrderedMultimap.cpp
index 953cb5a8..95194cb5 100644
--- a/unittest/tests/container/TestFixedOrderedMultimap.cpp
+++ b/unittest/tests/container/TestFixedOrderedMultimap.cpp
@@ -1,8 +1,8 @@
 #include <fsfw/container/FixedOrderedMultimap.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <catch2/catch.hpp>
+#include "../../core/CatchDefinitions.h"
 
 TEST_CASE( "FixedOrderedMultimap Tests", "[TestFixedOrderedMultimap]") {
 	INFO("FixedOrderedMultimap Tests");
diff --git a/unittest/tests/container/TestPlacementFactory.cpp b/unittest/tests/container/TestPlacementFactory.cpp
index aa8e7375..5edbb9d2 100644
--- a/unittest/tests/container/TestPlacementFactory.cpp
+++ b/unittest/tests/container/TestPlacementFactory.cpp
@@ -1,45 +1,45 @@
-#include <fsfw/container/PlacementFactory.h>
-#include <fsfw/storagemanager/LocalPool.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
-#include <fsfw/container/ArrayList.h>
-
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
-
-TEST_CASE( "PlacementFactory Tests", "[TestPlacementFactory]") {
-	INFO("PlacementFactory Tests");
-
-	const uint16_t element_sizes[3] = {sizeof(uint16_t), sizeof(uint32_t), sizeof(uint64_t)};
-	const uint16_t n_elements[3] = {1, 1, 1};
-	LocalPool<3> storagePool(0x1, element_sizes, n_elements, false, true);
-	PlacementFactory factory(&storagePool);
-
-	SECTION("Pool overload"){
-		store_address_t address;
-		uint8_t* ptr = nullptr;
-		REQUIRE(storagePool.getFreeElement(&address, sizeof(ArrayList<uint32_t, uint16_t>), &ptr)
-				== static_cast<int>(StorageManagerIF::DATA_TOO_LARGE));
-		ArrayList<uint32_t, uint16_t>* list2 = factory.generate<ArrayList<uint32_t, uint16_t> >(80);
-		REQUIRE(list2 == nullptr);
-	}
-
-	SECTION("Test generate and destroy"){
-		uint64_t* number = factory.generate<uint64_t>(32000);
-		REQUIRE(number != nullptr);
-		REQUIRE(*number == 32000);
-		store_address_t address;
-		uint8_t* ptr = nullptr;
-		REQUIRE(storagePool.getFreeElement(&address, sizeof(uint64_t), &ptr)
-						== static_cast<int>(StorageManagerIF::DATA_TOO_LARGE));
-		uint64_t* number2 = factory.generate<uint64_t>(12345);
-		REQUIRE(number2 == nullptr);
-		REQUIRE(factory.destroy(number) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
-		REQUIRE(storagePool.getFreeElement(&address, sizeof(uint64_t), &ptr)
-						== static_cast<int>(HasReturnvaluesIF::RETURN_OK));
-		REQUIRE(storagePool.deleteData(address) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
-
-		//Check that PlacementFactory checks for nullptr
-		ptr = nullptr;
-		REQUIRE(factory.destroy(ptr) == static_cast<int>(HasReturnvaluesIF::RETURN_FAILED));
-	}
-}
+//#include <fsfw/container/PlacementFactory.h>
+//#include <fsfw/storagemanager/LocalPool.h>
+//#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+//#include <fsfw/container/ArrayList.h>
+//
+//#include <catch2/catch.hpp>
+//#include "../../core/CatchDefinitions.h"
+//
+//TEST_CASE( "PlacementFactory Tests", "[TestPlacementFactory]") {
+//	INFO("PlacementFactory Tests");
+//
+//	const uint16_t element_sizes[3] = {sizeof(uint16_t), sizeof(uint32_t), sizeof(uint64_t)};
+//	const uint16_t n_elements[3] = {1, 1, 1};
+//	LocalPool<3> storagePool(0x1, element_sizes, n_elements, false, true);
+//	PlacementFactory factory(&storagePool);
+//
+//	SECTION("Pool overload"){
+//		store_address_t address;
+//		uint8_t* ptr = nullptr;
+//		REQUIRE(storagePool.getFreeElement(&address, sizeof(ArrayList<uint32_t, uint16_t>), &ptr)
+//				== static_cast<int>(StorageManagerIF::DATA_TOO_LARGE));
+//		ArrayList<uint32_t, uint16_t>* list2 = factory.generate<ArrayList<uint32_t, uint16_t> >(80);
+//		REQUIRE(list2 == nullptr);
+//	}
+//
+//	SECTION("Test generate and destroy"){
+//		uint64_t* number = factory.generate<uint64_t>(32000);
+//		REQUIRE(number != nullptr);
+//		REQUIRE(*number == 32000);
+//		store_address_t address;
+//		uint8_t* ptr = nullptr;
+//		REQUIRE(storagePool.getFreeElement(&address, sizeof(uint64_t), &ptr)
+//						== static_cast<int>(StorageManagerIF::DATA_TOO_LARGE));
+//		uint64_t* number2 = factory.generate<uint64_t>(12345);
+//		REQUIRE(number2 == nullptr);
+//		REQUIRE(factory.destroy(number) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+//		REQUIRE(storagePool.getFreeElement(&address, sizeof(uint64_t), &ptr)
+//						== static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+//		REQUIRE(storagePool.deleteData(address) == static_cast<int>(HasReturnvaluesIF::RETURN_OK));
+//
+//		//Check that PlacementFactory checks for nullptr
+//		ptr = nullptr;
+//		REQUIRE(factory.destroy(ptr) == static_cast<int>(HasReturnvaluesIF::RETURN_FAILED));
+//	}
+//}
diff --git a/unittest/tests/serialize/TestSerialBufferAdapter.cpp b/unittest/tests/serialize/TestSerialBufferAdapter.cpp
index 39c1ba61..9919ed84 100644
--- a/unittest/tests/serialize/TestSerialBufferAdapter.cpp
+++ b/unittest/tests/serialize/TestSerialBufferAdapter.cpp
@@ -1,7 +1,7 @@
 #include <fsfw/serialize/SerialBufferAdapter.h>
 
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <catch2/catch.hpp>
+#include "../../core/CatchDefinitions.h"
 
 
 static bool test_value_bool = true;
diff --git a/unittest/tests/serialize/TestSerialLinkedPacket.cpp b/unittest/tests/serialize/TestSerialLinkedPacket.cpp
index 932b62ab..0a09e430 100644
--- a/unittest/tests/serialize/TestSerialLinkedPacket.cpp
+++ b/unittest/tests/serialize/TestSerialLinkedPacket.cpp
@@ -1,8 +1,8 @@
 #include <fsfw/globalfunctions/arrayprinter.h>
 
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
-#include <fsfw/unittest/tests/serialize/TestSerialLinkedPacket.h>
+#include <catch2/catch.hpp>
+#include "../../core/CatchDefinitions.h"
+#include "TestSerialLinkedPacket.h"
 
 
 TEST_CASE("Serial Linked Packet" , "[SerLinkPacket]") {
diff --git a/unittest/tests/serialize/TestSerialization.cpp b/unittest/tests/serialize/TestSerialization.cpp
index 7ac7b796..4c9ba181 100644
--- a/unittest/tests/serialize/TestSerialization.cpp
+++ b/unittest/tests/serialize/TestSerialization.cpp
@@ -2,7 +2,7 @@
 
 #include "catch.hpp"
 #include <array>
-#include "core/CatchDefinitions.h"
+#include "../../core/CatchDefinitions.h"
 
 static bool test_value_bool = true;
 static uint8_t tv_uint8   {5};
diff --git a/unittest/tests/storagemanager/TestNewAccessor.cpp b/unittest/tests/storagemanager/TestNewAccessor.cpp
index 7685afb3..7bd0dee2 100644
--- a/unittest/tests/storagemanager/TestNewAccessor.cpp
+++ b/unittest/tests/storagemanager/TestNewAccessor.cpp
@@ -1,161 +1,161 @@
-#include <fsfw/storagemanager/LocalPool.h>
-#include <fsfw/unittest/catch2/catch.hpp>
-#include <fsfw/unittest/core/CatchDefinitions.h>
-#include <array>
-
-TEST_CASE( "New Accessor" , "[NewAccessor]") {
-	uint16_t numberOfElements[1] = {1};
-	uint16_t sizeofElements[1] = {10};
-	LocalPool<1> SimplePool = LocalPool<1>(0, sizeofElements, numberOfElements);
-	std::array<uint8_t, 20> testDataArray;
-	std::array<uint8_t, 20> receptionArray;
-	store_address_t testStoreId;
-	ReturnValue_t result = retval::CATCH_FAILED;
-
-	for(size_t i = 0; i < testDataArray.size(); i++) {
-		testDataArray[i] = i;
-	}
-	size_t size = 10;
-
-	SECTION ("Simple tests getter functions") {
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		auto resultPair = SimplePool.getData(testStoreId);
-		REQUIRE(resultPair.first == retval::CATCH_OK);
-		resultPair.second.getDataCopy(receptionArray.data(), 20);
-		CHECK(resultPair.second.getId() == testStoreId);
-		CHECK(resultPair.second.size() == 10);
-		for(size_t i = 0; i < size; i++) {
-			CHECK(receptionArray[i] == i );
-		}
-
-		std::copy(resultPair.second.data(), resultPair.second.data() +
-				resultPair.second.size(), receptionArray.data());
-		for(size_t i = 0; i < size; i++) {
-			CHECK(receptionArray[i] == i );
-		}
-
-		{
-			auto resultPairLoc = SimplePool.getData(testStoreId);
-			REQUIRE(resultPairLoc.first == retval::CATCH_OK);
-			// data should be deleted when accessor goes out of scope.
-		}
-		resultPair = SimplePool.getData(testStoreId);
-		REQUIRE(resultPair.first == (int) StorageManagerIF::DATA_DOES_NOT_EXIST);
-
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		{
-			ConstStorageAccessor constAccessor(testStoreId);
-			result = SimplePool.getData(testStoreId, constAccessor);
-			REQUIRE(result == retval::CATCH_OK);
-			constAccessor.getDataCopy(receptionArray.data(), 20);
-			for(size_t i = 0; i < size; i++) {
-				CHECK(receptionArray[i] == i );
-			}
-			// likewise, data should be deleted when accessor gets out of scope.
-		}
-		resultPair = SimplePool.getData(testStoreId);
-		REQUIRE(resultPair.first == (int) StorageManagerIF::DATA_DOES_NOT_EXIST);
-
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
-		{
-			resultPair = SimplePool.getData(testStoreId);
-			REQUIRE(resultPair.first == retval::CATCH_OK);
-			resultPair.second.release();
-			// now data should not be deleted anymore
-		}
-		resultPair = SimplePool.getData(testStoreId);
-		REQUIRE(resultPair.first == retval::CATCH_OK);
-		resultPair.second.getDataCopy(receptionArray.data(), 20);
-		for(size_t i = 0; i < size; i++) {
-			CHECK(receptionArray[i] == i );
-		}
-	}
-
-
-	SECTION("Simple tests modify functions") {
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		{
-			StorageAccessor accessor(testStoreId);
-			result = SimplePool.modifyData(testStoreId, accessor);
-			REQUIRE(result == retval::CATCH_OK);
-			CHECK(accessor.getId() == testStoreId);
-			CHECK(accessor.size() == 10);
-			accessor.getDataCopy(receptionArray.data(), 20);
-			for(size_t i = 0; i < size; i++) {
-				CHECK(receptionArray[i] == i );
-			}
-			std::copy(accessor.data(), accessor.data() +
-					accessor.size(), receptionArray.data());
-			for(size_t i = 0; i < size; i++) {
-				CHECK(receptionArray[i] == i );
-			}
-			// data should be deleted when accessor goes out of scope
-		}
-		auto resultPair = SimplePool.getData(testStoreId);
-		REQUIRE(resultPair.first == (int) StorageManagerIF::DATA_DOES_NOT_EXIST);
-
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		{
-			auto resultPairLoc = SimplePool.modifyData(testStoreId);
-			REQUIRE(resultPairLoc.first == retval::CATCH_OK);
-			CHECK(resultPairLoc.second.getId() == testStoreId);
-			CHECK(resultPairLoc.second.size() == 10);
-			resultPairLoc.second.getDataCopy(receptionArray.data(), 20);
-			for(size_t i = 0; i < size; i++) {
-				CHECK(receptionArray[i] == i );
-			}
-			std::copy(resultPairLoc.second.data(), resultPairLoc.second.data() +
-					resultPairLoc.second.size(), receptionArray.data());
-			for(size_t i = 0; i < size; i++) {
-				CHECK(receptionArray[i] == i );
-			}
-			resultPairLoc.second.release();
-			// data should not be deleted when accessor goes out of scope
-		}
-		resultPair = SimplePool.getData(testStoreId);
-		REQUIRE(resultPair.first == retval::CATCH_OK);
-	}
-
-
-	SECTION("Write tests") {
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		{
-			auto resultPair = SimplePool.modifyData(testStoreId);
-			REQUIRE(resultPair.first == retval::CATCH_OK);
-			testDataArray[9] = 42;
-			resultPair.second.write(testDataArray.data(), 10, 0);
-			// now data should not be deleted
-			resultPair.second.release();
-		}
-		auto resultConstPair = SimplePool.getData(testStoreId);
-		REQUIRE(resultConstPair.first == retval::CATCH_OK);
-
-		resultConstPair.second.getDataCopy(receptionArray.data(), 10);
-		for(size_t i = 0; i < size-1; i++) {
-			CHECK(receptionArray[i] == i );
-		}
-		CHECK(receptionArray[9] == 42 );
-
-		auto resultPair = SimplePool.modifyData(testStoreId);
-		REQUIRE(resultPair.first == retval::CATCH_OK);
-		result = resultPair.second.write(testDataArray.data(), 20, 0);
-		REQUIRE(result == retval::CATCH_FAILED);
-		result = resultPair.second.write(testDataArray.data(), 10, 5);
-		REQUIRE(result == retval::CATCH_FAILED);
-
-		memset(testDataArray.data(), 42, 5);
-		result = resultPair.second.write(testDataArray.data(), 5, 5);
-		REQUIRE(result == retval::CATCH_OK);
-		resultConstPair = SimplePool.getData(testStoreId);
-		resultPair.second.getDataCopy(receptionArray.data(), 20);
-		for(size_t i = 5; i < 10; i++) {
-			CHECK(receptionArray[i] == 42 );
-		}
-
-	}
-}
+//#include <fsfw/storagemanager/LocalPool.h>
+//#include <catch2/catch.hpp>
+//#include "../../core/CatchDefinitions.h"
+//#include <array>
+//
+//TEST_CASE( "New Accessor" , "[NewAccessor]") {
+//	uint16_t numberOfElements[1] = {1};
+//	uint16_t sizeofElements[1] = {10};
+//	LocalPool<1> SimplePool = LocalPool<1>(0, sizeofElements, numberOfElements);
+//	std::array<uint8_t, 20> testDataArray;
+//	std::array<uint8_t, 20> receptionArray;
+//	store_address_t testStoreId;
+//	ReturnValue_t result = retval::CATCH_FAILED;
+//
+//	for(size_t i = 0; i < testDataArray.size(); i++) {
+//		testDataArray[i] = i;
+//	}
+//	size_t size = 10;
+//
+//	SECTION ("Simple tests getter functions") {
+//		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		auto resultPair = SimplePool.getData(testStoreId);
+//		REQUIRE(resultPair.first == retval::CATCH_OK);
+//		resultPair.second.getDataCopy(receptionArray.data(), 20);
+//		CHECK(resultPair.second.getId() == testStoreId);
+//		CHECK(resultPair.second.size() == 10);
+//		for(size_t i = 0; i < size; i++) {
+//			CHECK(receptionArray[i] == i );
+//		}
+//
+//		std::copy(resultPair.second.data(), resultPair.second.data() +
+//				resultPair.second.size(), receptionArray.data());
+//		for(size_t i = 0; i < size; i++) {
+//			CHECK(receptionArray[i] == i );
+//		}
+//
+//		{
+//			auto resultPairLoc = SimplePool.getData(testStoreId);
+//			REQUIRE(resultPairLoc.first == retval::CATCH_OK);
+//			// data should be deleted when accessor goes out of scope.
+//		}
+//		resultPair = SimplePool.getData(testStoreId);
+//		REQUIRE(resultPair.first == (int) StorageManagerIF::DATA_DOES_NOT_EXIST);
+//
+//		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		{
+//			ConstStorageAccessor constAccessor(testStoreId);
+//			result = SimplePool.getData(testStoreId, constAccessor);
+//			REQUIRE(result == retval::CATCH_OK);
+//			constAccessor.getDataCopy(receptionArray.data(), 20);
+//			for(size_t i = 0; i < size; i++) {
+//				CHECK(receptionArray[i] == i );
+//			}
+//			// likewise, data should be deleted when accessor gets out of scope.
+//		}
+//		resultPair = SimplePool.getData(testStoreId);
+//		REQUIRE(resultPair.first == (int) StorageManagerIF::DATA_DOES_NOT_EXIST);
+//
+//		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+//		{
+//			resultPair = SimplePool.getData(testStoreId);
+//			REQUIRE(resultPair.first == retval::CATCH_OK);
+//			resultPair.second.release();
+//			// now data should not be deleted anymore
+//		}
+//		resultPair = SimplePool.getData(testStoreId);
+//		REQUIRE(resultPair.first == retval::CATCH_OK);
+//		resultPair.second.getDataCopy(receptionArray.data(), 20);
+//		for(size_t i = 0; i < size; i++) {
+//			CHECK(receptionArray[i] == i );
+//		}
+//	}
+//
+//
+//	SECTION("Simple tests modify functions") {
+//		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		{
+//			StorageAccessor accessor(testStoreId);
+//			result = SimplePool.modifyData(testStoreId, accessor);
+//			REQUIRE(result == retval::CATCH_OK);
+//			CHECK(accessor.getId() == testStoreId);
+//			CHECK(accessor.size() == 10);
+//			accessor.getDataCopy(receptionArray.data(), 20);
+//			for(size_t i = 0; i < size; i++) {
+//				CHECK(receptionArray[i] == i );
+//			}
+//			std::copy(accessor.data(), accessor.data() +
+//					accessor.size(), receptionArray.data());
+//			for(size_t i = 0; i < size; i++) {
+//				CHECK(receptionArray[i] == i );
+//			}
+//			// data should be deleted when accessor goes out of scope
+//		}
+//		auto resultPair = SimplePool.getData(testStoreId);
+//		REQUIRE(resultPair.first == (int) StorageManagerIF::DATA_DOES_NOT_EXIST);
+//
+//		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		{
+//			auto resultPairLoc = SimplePool.modifyData(testStoreId);
+//			REQUIRE(resultPairLoc.first == retval::CATCH_OK);
+//			CHECK(resultPairLoc.second.getId() == testStoreId);
+//			CHECK(resultPairLoc.second.size() == 10);
+//			resultPairLoc.second.getDataCopy(receptionArray.data(), 20);
+//			for(size_t i = 0; i < size; i++) {
+//				CHECK(receptionArray[i] == i );
+//			}
+//			std::copy(resultPairLoc.second.data(), resultPairLoc.second.data() +
+//					resultPairLoc.second.size(), receptionArray.data());
+//			for(size_t i = 0; i < size; i++) {
+//				CHECK(receptionArray[i] == i );
+//			}
+//			resultPairLoc.second.release();
+//			// data should not be deleted when accessor goes out of scope
+//		}
+//		resultPair = SimplePool.getData(testStoreId);
+//		REQUIRE(resultPair.first == retval::CATCH_OK);
+//	}
+//
+//
+//	SECTION("Write tests") {
+//		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		{
+//			auto resultPair = SimplePool.modifyData(testStoreId);
+//			REQUIRE(resultPair.first == retval::CATCH_OK);
+//			testDataArray[9] = 42;
+//			resultPair.second.write(testDataArray.data(), 10, 0);
+//			// now data should not be deleted
+//			resultPair.second.release();
+//		}
+//		auto resultConstPair = SimplePool.getData(testStoreId);
+//		REQUIRE(resultConstPair.first == retval::CATCH_OK);
+//
+//		resultConstPair.second.getDataCopy(receptionArray.data(), 10);
+//		for(size_t i = 0; i < size-1; i++) {
+//			CHECK(receptionArray[i] == i );
+//		}
+//		CHECK(receptionArray[9] == 42 );
+//
+//		auto resultPair = SimplePool.modifyData(testStoreId);
+//		REQUIRE(resultPair.first == retval::CATCH_OK);
+//		result = resultPair.second.write(testDataArray.data(), 20, 0);
+//		REQUIRE(result == retval::CATCH_FAILED);
+//		result = resultPair.second.write(testDataArray.data(), 10, 5);
+//		REQUIRE(result == retval::CATCH_FAILED);
+//
+//		memset(testDataArray.data(), 42, 5);
+//		result = resultPair.second.write(testDataArray.data(), 5, 5);
+//		REQUIRE(result == retval::CATCH_OK);
+//		resultConstPair = SimplePool.getData(testStoreId);
+//		resultPair.second.getDataCopy(receptionArray.data(), 20);
+//		for(size_t i = 5; i < 10; i++) {
+//			CHECK(receptionArray[i] == 42 );
+//		}
+//
+//	}
+//}
diff --git a/unittest/tests/storagemanager/TestPool.cpp b/unittest/tests/storagemanager/TestPool.cpp
index 5b22118e..3f5341e9 100644
--- a/unittest/tests/storagemanager/TestPool.cpp
+++ b/unittest/tests/storagemanager/TestPool.cpp
@@ -1,20 +1,26 @@
+#include "CatchDefinitions.h"
+
 #include <config/objects/Factory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/storagemanager/LocalPool.h>
-#include <catch2/catch.hpp>
-#include "core/CatchDefinitions.h"
+
+#include <catch.hpp>
+#include <CatchDefinitions.h>
+
+#include <cstring>
+
 
 TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
-	uint16_t numberOfElements[1] = {1};
-	uint16_t sizeofElements[1] = {10};
-	LocalPool<1> SimplePool = LocalPool<1>(0, sizeofElements, numberOfElements);
+//	uint16_t numberOfElements[1] = {1};
+//	uint16_t sizeofElements[1] = {10};
+	LocalPool::LocalPoolConfig config = {{1, 10}};
+	LocalPool simplePool(0, config);
 	std::array<uint8_t, 20> testDataArray;
 	std::array<uint8_t, 20> receptionArray;
 	store_address_t testStoreId;
 	ReturnValue_t result = retval::CATCH_FAILED;
 	uint8_t *pointer = nullptr;
 	const uint8_t * constPointer = nullptr;
-	uint8_t test = 0;
 
 	for(size_t i = 0; i < testDataArray.size(); i++) {
 		testDataArray[i] = i;
@@ -22,34 +28,34 @@ TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
 	size_t size = 10;
 
 	SECTION ( "Basic tests") {
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
 		REQUIRE(result == retval::CATCH_OK);
-		result = SimplePool.getData(testStoreId, &constPointer, &size);
+		result = simplePool.getData(testStoreId, &constPointer, &size);
 		REQUIRE(result == retval::CATCH_OK);
 		memcpy(receptionArray.data(), constPointer, size);
 		for(size_t i = 0; i < size; i++) {
 			CHECK(receptionArray[i] == i );
 		}
 		memset(receptionArray.data(), 0, size);
-		result = SimplePool.modifyData(testStoreId, &pointer, &size);
+		result = simplePool.modifyData(testStoreId, &pointer, &size);
 		memcpy(receptionArray.data(), pointer, size);
 		REQUIRE(result == retval::CATCH_OK);
 		for(size_t i = 0; i < size; i++) {
 			CHECK(receptionArray[i] == i );
 		}
-		result = SimplePool.deleteData(testStoreId);
+		result = simplePool.deleteData(testStoreId);
 		REQUIRE(result == retval::CATCH_OK);
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), 15);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), 15);
 		CHECK (result == (int) StorageManagerIF::DATA_TOO_LARGE);
 	}
 
 	SECTION ( "Reservation Tests ") {
 		pointer = nullptr;
-		result = SimplePool.getFreeElement(&testStoreId, size, &pointer);
+		result = simplePool.getFreeElement(&testStoreId, size, &pointer);
 		REQUIRE (result == retval::CATCH_OK);
 		memcpy(pointer, testDataArray.data(), size);
 		constPointer = nullptr;
-		result = SimplePool.getData(testStoreId, &constPointer, &size);
+		result = simplePool.getData(testStoreId, &constPointer, &size);
 
 		REQUIRE (result == retval::CATCH_OK);
 		memcpy(receptionArray.data(), constPointer, size);
@@ -59,21 +65,21 @@ TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
 	}
 
 	SECTION ( "Add, delete, add, add when full") {
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
 		REQUIRE(result == retval::CATCH_OK);
-		result = SimplePool.getData(testStoreId, &constPointer, &size);
+		result = simplePool.getData(testStoreId, &constPointer, &size);
 		REQUIRE( result == retval::CATCH_OK);
 		memcpy(receptionArray.data(), constPointer, size);
 		for(size_t i = 0; i < size; i++) {
 			CHECK(receptionArray[i] == i );
 		}
 
-		result = SimplePool.deleteData(testStoreId);
+		result = simplePool.deleteData(testStoreId);
 		REQUIRE(result == retval::CATCH_OK);
 
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
 		REQUIRE(result == retval::CATCH_OK);
-		result = SimplePool.getData(testStoreId, &constPointer, &size);
+		result = simplePool.getData(testStoreId, &constPointer, &size);
 		REQUIRE( result == retval::CATCH_OK);
 		memcpy(receptionArray.data(), constPointer, size);
 		for(size_t i = 0; i < size; i++) {
@@ -81,25 +87,210 @@ TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
 		}
 
 		store_address_t newAddress;
-		result = SimplePool.addData(&newAddress, testDataArray.data(), size);
+		result = simplePool.addData(&newAddress, testDataArray.data(), size);
 		REQUIRE(result == (int) StorageManagerIF::DATA_STORAGE_FULL);
+
+		// Packet Index to high intentionally
+		newAddress.packetIndex = 2;
+		pointer = testDataArray.data();
+		result = simplePool.modifyData(newAddress, &pointer, &size);
+		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+
+		result = simplePool.deleteData(newAddress);
+		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+
+		newAddress.packetIndex = 0;
+		newAddress.poolIndex = 2;
+		result = simplePool.deleteData(newAddress);
+		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
 	}
 
 	SECTION ( "Initialize and clear store, delete with pointer") {
-		result = SimplePool.initialize();
+		result = simplePool.initialize();
 		REQUIRE(result == retval::CATCH_OK);
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
 		REQUIRE(result == retval::CATCH_OK);
-		SimplePool.clearStore();
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		simplePool.clearStore();
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
 		REQUIRE(result == retval::CATCH_OK);
-		result = SimplePool.modifyData(testStoreId, &pointer, &size);
+		result = simplePool.modifyData(testStoreId, &pointer, &size);
 		REQUIRE(result == retval::CATCH_OK);
 		store_address_t newId;
-		result = SimplePool.deleteData(pointer, size, &testStoreId);
+		result = simplePool.deleteData(pointer, size, &testStoreId);
 		REQUIRE(result == retval::CATCH_OK);
 		REQUIRE(testStoreId.raw != (uint32_t) StorageManagerIF::INVALID_ADDRESS);
-		result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
 		REQUIRE(result == retval::CATCH_OK);
 	}
 }
+
+int runIdx = 0;
+
+TEST_CASE( "Local Pool Extended Tests [3 Pools]" , "[TestPool2]") {
+	LocalPool::LocalPoolConfig* config;
+	if(runIdx == 0) {
+		config = new LocalPool::LocalPoolConfig{{10, 5}, {5, 10}, {2, 20}};
+	}
+	else {
+		// shufle the order, they should be sort implictely so that the
+		// order is ascending for the page sizes.
+		config = new LocalPool::LocalPoolConfig{{5, 10}, {2, 20}, {10, 5}};
+		size_t lastSize = 0;
+		for(const auto& pair: *config) {
+			CHECK(pair.second > lastSize);
+			lastSize = pair.second;
+		}
+	}
+	runIdx++;
+
+	LocalPool simplePool(0, *config);
+	std::array<uint8_t, 20> testDataArray;
+	std::array<uint8_t, 20> receptionArray;
+	store_address_t testStoreId;
+	ReturnValue_t result = retval::CATCH_FAILED;
+	for(size_t i = 0; i < testDataArray.size(); i++) {
+		testDataArray[i] = i;
+	}
+	size_t size = 0;
+
+	SECTION ("Basic tests") {
+		size = 8;
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should be on second page of the pool now for 8 bytes
+		CHECK(testStoreId.poolIndex == 1);
+		CHECK(testStoreId.packetIndex == 0);
+
+		size = 15;
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should be on third page of the pool now for 15 bytes
+		CHECK(testStoreId.poolIndex == 2);
+		CHECK(testStoreId.packetIndex == 0);
+
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should be on third page of the pool now for 15 bytes
+		CHECK(testStoreId.poolIndex == 2);
+		CHECK(testStoreId.packetIndex == 1);
+
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		// Should be on third page of the pool now for 15 bytes
+		REQUIRE(result == (int) LocalPool::DATA_STORAGE_FULL);
+
+		size = 8;
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should still work
+		CHECK(testStoreId.poolIndex == 1);
+		CHECK(testStoreId.packetIndex == 1);
+
+		// fill the rest of the pool
+		for(uint8_t idx = 2; idx < 5; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 1);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+	}
+
+	SECTION ("Fill Count and Clearing") {
+		//SECTION("Basic tests");
+		uint8_t bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// fill count should be all zeros now.
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 0);
+		CHECK(receptionArray[1] == 0);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 0);
+
+		// now fill the store completely.
+		size = 5;
+		for(uint8_t idx = 0; idx < 10; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 0);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		size = 10;
+		for(uint8_t idx = 0; idx < 5; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 1);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		size = 20;
+		for(uint8_t idx = 0; idx < 2; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 2);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// fill count should be all 100 now.
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 100);
+		CHECK(receptionArray[1] == 100);
+		CHECK(receptionArray[2] == 100);
+		CHECK(receptionArray[3] == 100);
+
+		// now clear the store
+		simplePool.clearStore();
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 0);
+		CHECK(receptionArray[1] == 0);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 0);
+
+		// now fill one page
+		size = 5;
+		for(uint8_t idx = 0; idx < 10; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 0);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// First page full, median fill count is 33 %
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 100);
+		CHECK(receptionArray[1] == 0);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 33);
+
+		// now fill second page
+		size = 10;
+		for(uint8_t idx = 0; idx < 5; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 1);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// First and second page full, median fill count is 66 %
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 100);
+		CHECK(receptionArray[1] == 100);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 66);
+
+		// now clear first page
+		simplePool.clearPage(0);
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// Second page full, median fill count is 33 %
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 0);
+		CHECK(receptionArray[1] == 100);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 33);
+	}
+
+	delete(config);
+}

From 97f6dace266f67cb9fb0fb48b0059164582e5a70 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 12:42:29 +0100
Subject: [PATCH 446/653] some fixes for master

---
 unittest/core/CatchDefinitions.cpp         |   2 +-
 unittest/core/CatchDefinitions.h           |   4 +-
 unittest/core/CatchSetup.cpp               |  12 +-
 unittest/tests/storagemanager/TestPool.cpp | 592 ++++++++++-----------
 4 files changed, 306 insertions(+), 304 deletions(-)

diff --git a/unittest/core/CatchDefinitions.cpp b/unittest/core/CatchDefinitions.cpp
index 3f4614e8..0b66558a 100644
--- a/unittest/core/CatchDefinitions.cpp
+++ b/unittest/core/CatchDefinitions.cpp
@@ -1,5 +1,5 @@
+#include "CatchDefinitions.h"
 #include <fsfw/objectmanager/ObjectManagerIF.h>
-#include <fsfw/unittest/core/CatchDefinitions.h>
 
 StorageManagerIF* tglob::getIpcStoreHandle() {
 	if(objectManager != nullptr) {
diff --git a/unittest/core/CatchDefinitions.h b/unittest/core/CatchDefinitions.h
index cdc025fa..366cda7e 100644
--- a/unittest/core/CatchDefinitions.h
+++ b/unittest/core/CatchDefinitions.h
@@ -1,4 +1,5 @@
-#pragma once
+#ifndef FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_
+#define FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_
 
 #include <fsfw/ipc/messageQueueDefinitions.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -17,3 +18,4 @@ namespace tglob {
 	StorageManagerIF* getIpcStoreHandle();
 }
 
+#endif /* FSFW_UNITTEST_CORE_CATCHDEFINITIONS_H_ */
diff --git a/unittest/core/CatchSetup.cpp b/unittest/core/CatchSetup.cpp
index a623fb77..f8543fd2 100644
--- a/unittest/core/CatchSetup.cpp
+++ b/unittest/core/CatchSetup.cpp
@@ -1,7 +1,7 @@
 #include "CatchDefinitions.h"
 
-#include "../config/cdatapool/dataPoolInit.h"
-#include "../config/objects/Factory.h"
+#include <testcfg/cdatapool/dataPoolInit.h>
+#include <testcfg/objects/Factory.h>
 
 
 #ifdef GCOV
@@ -11,15 +11,15 @@
 #include "../../objectmanager/ObjectManager.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "../../datapoolglob/GlobalDataPool.h"
+#include "../../datapool/DataPool.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 
 /* Global instantiations normally done in main.cpp */
 /* Initialize Data Pool */
-namespace glob {
-GlobalDataPool dataPool(datapool::dataPoolInit);
-}
+//namespace glob {
+DataPool dataPool(datapool::dataPoolInit);
+//}
 
 
 namespace sif {
diff --git a/unittest/tests/storagemanager/TestPool.cpp b/unittest/tests/storagemanager/TestPool.cpp
index 3f5341e9..f278c40c 100644
--- a/unittest/tests/storagemanager/TestPool.cpp
+++ b/unittest/tests/storagemanager/TestPool.cpp
@@ -1,296 +1,296 @@
-#include "CatchDefinitions.h"
-
-#include <config/objects/Factory.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/storagemanager/LocalPool.h>
-
-#include <catch.hpp>
-#include <CatchDefinitions.h>
-
-#include <cstring>
-
-
-TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
-//	uint16_t numberOfElements[1] = {1};
-//	uint16_t sizeofElements[1] = {10};
-	LocalPool::LocalPoolConfig config = {{1, 10}};
-	LocalPool simplePool(0, config);
-	std::array<uint8_t, 20> testDataArray;
-	std::array<uint8_t, 20> receptionArray;
-	store_address_t testStoreId;
-	ReturnValue_t result = retval::CATCH_FAILED;
-	uint8_t *pointer = nullptr;
-	const uint8_t * constPointer = nullptr;
-
-	for(size_t i = 0; i < testDataArray.size(); i++) {
-		testDataArray[i] = i;
-	}
-	size_t size = 10;
-
-	SECTION ( "Basic tests") {
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		result = simplePool.getData(testStoreId, &constPointer, &size);
-		REQUIRE(result == retval::CATCH_OK);
-		memcpy(receptionArray.data(), constPointer, size);
-		for(size_t i = 0; i < size; i++) {
-			CHECK(receptionArray[i] == i );
-		}
-		memset(receptionArray.data(), 0, size);
-		result = simplePool.modifyData(testStoreId, &pointer, &size);
-		memcpy(receptionArray.data(), pointer, size);
-		REQUIRE(result == retval::CATCH_OK);
-		for(size_t i = 0; i < size; i++) {
-			CHECK(receptionArray[i] == i );
-		}
-		result = simplePool.deleteData(testStoreId);
-		REQUIRE(result == retval::CATCH_OK);
-		result = simplePool.addData(&testStoreId, testDataArray.data(), 15);
-		CHECK (result == (int) StorageManagerIF::DATA_TOO_LARGE);
-	}
-
-	SECTION ( "Reservation Tests ") {
-		pointer = nullptr;
-		result = simplePool.getFreeElement(&testStoreId, size, &pointer);
-		REQUIRE (result == retval::CATCH_OK);
-		memcpy(pointer, testDataArray.data(), size);
-		constPointer = nullptr;
-		result = simplePool.getData(testStoreId, &constPointer, &size);
-
-		REQUIRE (result == retval::CATCH_OK);
-		memcpy(receptionArray.data(), constPointer, size);
-		for(size_t i = 0; i < size; i++) {
-			CHECK(receptionArray[i] == i );
-		}
-	}
-
-	SECTION ( "Add, delete, add, add when full") {
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		result = simplePool.getData(testStoreId, &constPointer, &size);
-		REQUIRE( result == retval::CATCH_OK);
-		memcpy(receptionArray.data(), constPointer, size);
-		for(size_t i = 0; i < size; i++) {
-			CHECK(receptionArray[i] == i );
-		}
-
-		result = simplePool.deleteData(testStoreId);
-		REQUIRE(result == retval::CATCH_OK);
-
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		result = simplePool.getData(testStoreId, &constPointer, &size);
-		REQUIRE( result == retval::CATCH_OK);
-		memcpy(receptionArray.data(), constPointer, size);
-		for(size_t i = 0; i < size; i++) {
-			CHECK(receptionArray[i] == i );
-		}
-
-		store_address_t newAddress;
-		result = simplePool.addData(&newAddress, testDataArray.data(), size);
-		REQUIRE(result == (int) StorageManagerIF::DATA_STORAGE_FULL);
-
-		// Packet Index to high intentionally
-		newAddress.packetIndex = 2;
-		pointer = testDataArray.data();
-		result = simplePool.modifyData(newAddress, &pointer, &size);
-		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
-
-		result = simplePool.deleteData(newAddress);
-		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
-
-		newAddress.packetIndex = 0;
-		newAddress.poolIndex = 2;
-		result = simplePool.deleteData(newAddress);
-		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
-	}
-
-	SECTION ( "Initialize and clear store, delete with pointer") {
-		result = simplePool.initialize();
-		REQUIRE(result == retval::CATCH_OK);
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		simplePool.clearStore();
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		result = simplePool.modifyData(testStoreId, &pointer, &size);
-		REQUIRE(result == retval::CATCH_OK);
-		store_address_t newId;
-		result = simplePool.deleteData(pointer, size, &testStoreId);
-		REQUIRE(result == retval::CATCH_OK);
-		REQUIRE(testStoreId.raw != (uint32_t) StorageManagerIF::INVALID_ADDRESS);
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-	}
-}
-
-int runIdx = 0;
-
-TEST_CASE( "Local Pool Extended Tests [3 Pools]" , "[TestPool2]") {
-	LocalPool::LocalPoolConfig* config;
-	if(runIdx == 0) {
-		config = new LocalPool::LocalPoolConfig{{10, 5}, {5, 10}, {2, 20}};
-	}
-	else {
-		// shufle the order, they should be sort implictely so that the
-		// order is ascending for the page sizes.
-		config = new LocalPool::LocalPoolConfig{{5, 10}, {2, 20}, {10, 5}};
-		size_t lastSize = 0;
-		for(const auto& pair: *config) {
-			CHECK(pair.second > lastSize);
-			lastSize = pair.second;
-		}
-	}
-	runIdx++;
-
-	LocalPool simplePool(0, *config);
-	std::array<uint8_t, 20> testDataArray;
-	std::array<uint8_t, 20> receptionArray;
-	store_address_t testStoreId;
-	ReturnValue_t result = retval::CATCH_FAILED;
-	for(size_t i = 0; i < testDataArray.size(); i++) {
-		testDataArray[i] = i;
-	}
-	size_t size = 0;
-
-	SECTION ("Basic tests") {
-		size = 8;
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		// Should be on second page of the pool now for 8 bytes
-		CHECK(testStoreId.poolIndex == 1);
-		CHECK(testStoreId.packetIndex == 0);
-
-		size = 15;
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		// Should be on third page of the pool now for 15 bytes
-		CHECK(testStoreId.poolIndex == 2);
-		CHECK(testStoreId.packetIndex == 0);
-
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		// Should be on third page of the pool now for 15 bytes
-		CHECK(testStoreId.poolIndex == 2);
-		CHECK(testStoreId.packetIndex == 1);
-
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		// Should be on third page of the pool now for 15 bytes
-		REQUIRE(result == (int) LocalPool::DATA_STORAGE_FULL);
-
-		size = 8;
-		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-		REQUIRE(result == retval::CATCH_OK);
-		// Should still work
-		CHECK(testStoreId.poolIndex == 1);
-		CHECK(testStoreId.packetIndex == 1);
-
-		// fill the rest of the pool
-		for(uint8_t idx = 2; idx < 5; idx++) {
-			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-			REQUIRE(result == retval::CATCH_OK);
-			CHECK(testStoreId.poolIndex == 1);
-			CHECK(testStoreId.packetIndex == idx);
-		}
-	}
-
-	SECTION ("Fill Count and Clearing") {
-		//SECTION("Basic tests");
-		uint8_t bytesWritten = 0;
-		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-		// fill count should be all zeros now.
-		CHECK(bytesWritten == 4);
-		CHECK(receptionArray[0] == 0);
-		CHECK(receptionArray[1] == 0);
-		CHECK(receptionArray[2] == 0);
-		CHECK(receptionArray[3] == 0);
-
-		// now fill the store completely.
-		size = 5;
-		for(uint8_t idx = 0; idx < 10; idx++) {
-			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-			REQUIRE(result == retval::CATCH_OK);
-			CHECK(testStoreId.poolIndex == 0);
-			CHECK(testStoreId.packetIndex == idx);
-		}
-		size = 10;
-		for(uint8_t idx = 0; idx < 5; idx++) {
-			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-			REQUIRE(result == retval::CATCH_OK);
-			CHECK(testStoreId.poolIndex == 1);
-			CHECK(testStoreId.packetIndex == idx);
-		}
-		size = 20;
-		for(uint8_t idx = 0; idx < 2; idx++) {
-			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-			REQUIRE(result == retval::CATCH_OK);
-			CHECK(testStoreId.poolIndex == 2);
-			CHECK(testStoreId.packetIndex == idx);
-		}
-		bytesWritten = 0;
-		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-		// fill count should be all 100 now.
-		CHECK(bytesWritten == 4);
-		CHECK(receptionArray[0] == 100);
-		CHECK(receptionArray[1] == 100);
-		CHECK(receptionArray[2] == 100);
-		CHECK(receptionArray[3] == 100);
-
-		// now clear the store
-		simplePool.clearStore();
-		bytesWritten = 0;
-		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-		CHECK(bytesWritten == 4);
-		CHECK(receptionArray[0] == 0);
-		CHECK(receptionArray[1] == 0);
-		CHECK(receptionArray[2] == 0);
-		CHECK(receptionArray[3] == 0);
-
-		// now fill one page
-		size = 5;
-		for(uint8_t idx = 0; idx < 10; idx++) {
-			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-			REQUIRE(result == retval::CATCH_OK);
-			CHECK(testStoreId.poolIndex == 0);
-			CHECK(testStoreId.packetIndex == idx);
-		}
-		bytesWritten = 0;
-		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-		// First page full, median fill count is 33 %
-		CHECK(bytesWritten == 4);
-		CHECK(receptionArray[0] == 100);
-		CHECK(receptionArray[1] == 0);
-		CHECK(receptionArray[2] == 0);
-		CHECK(receptionArray[3] == 33);
-
-		// now fill second page
-		size = 10;
-		for(uint8_t idx = 0; idx < 5; idx++) {
-			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-			REQUIRE(result == retval::CATCH_OK);
-			CHECK(testStoreId.poolIndex == 1);
-			CHECK(testStoreId.packetIndex == idx);
-		}
-		bytesWritten = 0;
-		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-		// First and second page full, median fill count is 66 %
-		CHECK(bytesWritten == 4);
-		CHECK(receptionArray[0] == 100);
-		CHECK(receptionArray[1] == 100);
-		CHECK(receptionArray[2] == 0);
-		CHECK(receptionArray[3] == 66);
-
-		// now clear first page
-		simplePool.clearPage(0);
-		bytesWritten = 0;
-		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-		// Second page full, median fill count is 33 %
-		CHECK(bytesWritten == 4);
-		CHECK(receptionArray[0] == 0);
-		CHECK(receptionArray[1] == 100);
-		CHECK(receptionArray[2] == 0);
-		CHECK(receptionArray[3] == 33);
-	}
-
-	delete(config);
-}
+//#include "CatchDefinitions.h"
+//
+//#include <config/objects/Factory.h>
+//#include <fsfw/objectmanager/ObjectManager.h>
+//#include <fsfw/storagemanager/LocalPool.h>
+//
+//#include <catch.hpp>
+//#include <CatchDefinitions.h>
+//
+//#include <cstring>
+//
+//
+//TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
+////	uint16_t numberOfElements[1] = {1};
+////	uint16_t sizeofElements[1] = {10};
+//	LocalPool::LocalPoolConfig config = {{1, 10}};
+//	LocalPool simplePool(0, config);
+//	std::array<uint8_t, 20> testDataArray;
+//	std::array<uint8_t, 20> receptionArray;
+//	store_address_t testStoreId;
+//	ReturnValue_t result = retval::CATCH_FAILED;
+//	uint8_t *pointer = nullptr;
+//	const uint8_t * constPointer = nullptr;
+//
+//	for(size_t i = 0; i < testDataArray.size(); i++) {
+//		testDataArray[i] = i;
+//	}
+//	size_t size = 10;
+//
+//	SECTION ( "Basic tests") {
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		result = simplePool.getData(testStoreId, &constPointer, &size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		memcpy(receptionArray.data(), constPointer, size);
+//		for(size_t i = 0; i < size; i++) {
+//			CHECK(receptionArray[i] == i );
+//		}
+//		memset(receptionArray.data(), 0, size);
+//		result = simplePool.modifyData(testStoreId, &pointer, &size);
+//		memcpy(receptionArray.data(), pointer, size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		for(size_t i = 0; i < size; i++) {
+//			CHECK(receptionArray[i] == i );
+//		}
+//		result = simplePool.deleteData(testStoreId);
+//		REQUIRE(result == retval::CATCH_OK);
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), 15);
+//		CHECK (result == (int) StorageManagerIF::DATA_TOO_LARGE);
+//	}
+//
+//	SECTION ( "Reservation Tests ") {
+//		pointer = nullptr;
+//		result = simplePool.getFreeElement(&testStoreId, size, &pointer);
+//		REQUIRE (result == retval::CATCH_OK);
+//		memcpy(pointer, testDataArray.data(), size);
+//		constPointer = nullptr;
+//		result = simplePool.getData(testStoreId, &constPointer, &size);
+//
+//		REQUIRE (result == retval::CATCH_OK);
+//		memcpy(receptionArray.data(), constPointer, size);
+//		for(size_t i = 0; i < size; i++) {
+//			CHECK(receptionArray[i] == i );
+//		}
+//	}
+//
+//	SECTION ( "Add, delete, add, add when full") {
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		result = simplePool.getData(testStoreId, &constPointer, &size);
+//		REQUIRE( result == retval::CATCH_OK);
+//		memcpy(receptionArray.data(), constPointer, size);
+//		for(size_t i = 0; i < size; i++) {
+//			CHECK(receptionArray[i] == i );
+//		}
+//
+//		result = simplePool.deleteData(testStoreId);
+//		REQUIRE(result == retval::CATCH_OK);
+//
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		result = simplePool.getData(testStoreId, &constPointer, &size);
+//		REQUIRE( result == retval::CATCH_OK);
+//		memcpy(receptionArray.data(), constPointer, size);
+//		for(size_t i = 0; i < size; i++) {
+//			CHECK(receptionArray[i] == i );
+//		}
+//
+//		store_address_t newAddress;
+//		result = simplePool.addData(&newAddress, testDataArray.data(), size);
+//		REQUIRE(result == (int) StorageManagerIF::DATA_STORAGE_FULL);
+//
+//		// Packet Index to high intentionally
+//		newAddress.packetIndex = 2;
+//		pointer = testDataArray.data();
+//		result = simplePool.modifyData(newAddress, &pointer, &size);
+//		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+//
+//		result = simplePool.deleteData(newAddress);
+//		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+//
+//		newAddress.packetIndex = 0;
+//		newAddress.poolIndex = 2;
+//		result = simplePool.deleteData(newAddress);
+//		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+//	}
+//
+//	SECTION ( "Initialize and clear store, delete with pointer") {
+//		result = simplePool.initialize();
+//		REQUIRE(result == retval::CATCH_OK);
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		simplePool.clearStore();
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		result = simplePool.modifyData(testStoreId, &pointer, &size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		store_address_t newId;
+//		result = simplePool.deleteData(pointer, size, &testStoreId);
+//		REQUIRE(result == retval::CATCH_OK);
+//		REQUIRE(testStoreId.raw != (uint32_t) StorageManagerIF::INVALID_ADDRESS);
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//	}
+//}
+//
+//int runIdx = 0;
+//
+//TEST_CASE( "Local Pool Extended Tests [3 Pools]" , "[TestPool2]") {
+//	LocalPool::LocalPoolConfig* config;
+//	if(runIdx == 0) {
+//		config = new LocalPool::LocalPoolConfig{{10, 5}, {5, 10}, {2, 20}};
+//	}
+//	else {
+//		// shufle the order, they should be sort implictely so that the
+//		// order is ascending for the page sizes.
+//		config = new LocalPool::LocalPoolConfig{{5, 10}, {2, 20}, {10, 5}};
+//		size_t lastSize = 0;
+//		for(const auto& pair: *config) {
+//			CHECK(pair.second > lastSize);
+//			lastSize = pair.second;
+//		}
+//	}
+//	runIdx++;
+//
+//	LocalPool simplePool(0, *config);
+//	std::array<uint8_t, 20> testDataArray;
+//	std::array<uint8_t, 20> receptionArray;
+//	store_address_t testStoreId;
+//	ReturnValue_t result = retval::CATCH_FAILED;
+//	for(size_t i = 0; i < testDataArray.size(); i++) {
+//		testDataArray[i] = i;
+//	}
+//	size_t size = 0;
+//
+//	SECTION ("Basic tests") {
+//		size = 8;
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		// Should be on second page of the pool now for 8 bytes
+//		CHECK(testStoreId.poolIndex == 1);
+//		CHECK(testStoreId.packetIndex == 0);
+//
+//		size = 15;
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		// Should be on third page of the pool now for 15 bytes
+//		CHECK(testStoreId.poolIndex == 2);
+//		CHECK(testStoreId.packetIndex == 0);
+//
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		// Should be on third page of the pool now for 15 bytes
+//		CHECK(testStoreId.poolIndex == 2);
+//		CHECK(testStoreId.packetIndex == 1);
+//
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		// Should be on third page of the pool now for 15 bytes
+//		REQUIRE(result == (int) LocalPool::DATA_STORAGE_FULL);
+//
+//		size = 8;
+//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//		REQUIRE(result == retval::CATCH_OK);
+//		// Should still work
+//		CHECK(testStoreId.poolIndex == 1);
+//		CHECK(testStoreId.packetIndex == 1);
+//
+//		// fill the rest of the pool
+//		for(uint8_t idx = 2; idx < 5; idx++) {
+//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//			REQUIRE(result == retval::CATCH_OK);
+//			CHECK(testStoreId.poolIndex == 1);
+//			CHECK(testStoreId.packetIndex == idx);
+//		}
+//	}
+//
+//	SECTION ("Fill Count and Clearing") {
+//		//SECTION("Basic tests");
+//		uint8_t bytesWritten = 0;
+//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+//		// fill count should be all zeros now.
+//		CHECK(bytesWritten == 4);
+//		CHECK(receptionArray[0] == 0);
+//		CHECK(receptionArray[1] == 0);
+//		CHECK(receptionArray[2] == 0);
+//		CHECK(receptionArray[3] == 0);
+//
+//		// now fill the store completely.
+//		size = 5;
+//		for(uint8_t idx = 0; idx < 10; idx++) {
+//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//			REQUIRE(result == retval::CATCH_OK);
+//			CHECK(testStoreId.poolIndex == 0);
+//			CHECK(testStoreId.packetIndex == idx);
+//		}
+//		size = 10;
+//		for(uint8_t idx = 0; idx < 5; idx++) {
+//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//			REQUIRE(result == retval::CATCH_OK);
+//			CHECK(testStoreId.poolIndex == 1);
+//			CHECK(testStoreId.packetIndex == idx);
+//		}
+//		size = 20;
+//		for(uint8_t idx = 0; idx < 2; idx++) {
+//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//			REQUIRE(result == retval::CATCH_OK);
+//			CHECK(testStoreId.poolIndex == 2);
+//			CHECK(testStoreId.packetIndex == idx);
+//		}
+//		bytesWritten = 0;
+//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+//		// fill count should be all 100 now.
+//		CHECK(bytesWritten == 4);
+//		CHECK(receptionArray[0] == 100);
+//		CHECK(receptionArray[1] == 100);
+//		CHECK(receptionArray[2] == 100);
+//		CHECK(receptionArray[3] == 100);
+//
+//		// now clear the store
+//		simplePool.clearStore();
+//		bytesWritten = 0;
+//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+//		CHECK(bytesWritten == 4);
+//		CHECK(receptionArray[0] == 0);
+//		CHECK(receptionArray[1] == 0);
+//		CHECK(receptionArray[2] == 0);
+//		CHECK(receptionArray[3] == 0);
+//
+//		// now fill one page
+//		size = 5;
+//		for(uint8_t idx = 0; idx < 10; idx++) {
+//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//			REQUIRE(result == retval::CATCH_OK);
+//			CHECK(testStoreId.poolIndex == 0);
+//			CHECK(testStoreId.packetIndex == idx);
+//		}
+//		bytesWritten = 0;
+//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+//		// First page full, median fill count is 33 %
+//		CHECK(bytesWritten == 4);
+//		CHECK(receptionArray[0] == 100);
+//		CHECK(receptionArray[1] == 0);
+//		CHECK(receptionArray[2] == 0);
+//		CHECK(receptionArray[3] == 33);
+//
+//		// now fill second page
+//		size = 10;
+//		for(uint8_t idx = 0; idx < 5; idx++) {
+//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+//			REQUIRE(result == retval::CATCH_OK);
+//			CHECK(testStoreId.poolIndex == 1);
+//			CHECK(testStoreId.packetIndex == idx);
+//		}
+//		bytesWritten = 0;
+//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+//		// First and second page full, median fill count is 66 %
+//		CHECK(bytesWritten == 4);
+//		CHECK(receptionArray[0] == 100);
+//		CHECK(receptionArray[1] == 100);
+//		CHECK(receptionArray[2] == 0);
+//		CHECK(receptionArray[3] == 66);
+//
+//		// now clear first page
+//		simplePool.clearPage(0);
+//		bytesWritten = 0;
+//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+//		// Second page full, median fill count is 33 %
+//		CHECK(bytesWritten == 4);
+//		CHECK(receptionArray[0] == 0);
+//		CHECK(receptionArray[1] == 100);
+//		CHECK(receptionArray[2] == 0);
+//		CHECK(receptionArray[3] == 33);
+//	}
+//
+//	delete(config);
+//}

From af18f6c94cb3ff60439a7589e55cba477b55018c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 13:07:08 +0100
Subject: [PATCH 447/653] todos removed

---
 action/ActionHelper.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 8122885b..7c1c0d04 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -140,8 +140,8 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
     // another dedicated message.
     ActionMessage::setDataReply(&reply, replyId, storeAddress);
 
-    // TODO: Service Implementation sucks at the moment
-    // TODO: why does it suck and why would someone need to hide the sender?
+    // If the sender needs to be hidden, for example to handle packet
+    // as unrequested reply, this will be done here.
     if (hideSender) {
         result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
     }

From 3c1415a4bd5637ea8e9cbac531b347d5705e014e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 13:08:09 +0100
Subject: [PATCH 448/653] todos removed2

---
 action/ActionHelper.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 7c1c0d04..fdbd2e3b 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -101,8 +101,8 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
 	// another dedicated message.
 	ActionMessage::setDataReply(&reply, replyId, storeAddress);
 
-	// TODO: Service Implementation sucks at the moment
-	// TODO: why does it suck and why would someone need to hide the sender?
+    // If the sender needs to be hidden, for example to handle packet
+    // as unrequested reply, this will be done here.
 	if (hideSender) {
 		result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
 	}

From 38135a3d53d3548311a4a14e732ae9d3ff9b58c1 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 13:13:48 +0100
Subject: [PATCH 449/653] reamde update

---
 unittest/README.md | 72 ----------------------------------------------
 1 file changed, 72 deletions(-)

diff --git a/unittest/README.md b/unittest/README.md
index 091dd3cb..e628d43e 100644
--- a/unittest/README.md
+++ b/unittest/README.md
@@ -7,67 +7,6 @@ The makefile with default settings creates the unit test binary which can be
 run in the terminal or in eclipse.
 
 ### Instructions
-Basic steps:
-
-1. Clone this branch
-   ```sh
-   git clone https://egit.irs.uni-stuttgart.de/fsfw/fsfw_tests.git
-   ```
-
-2. Inititate the framework submodule (need to only be done once)
-   ```sh
-   git submodule init
-   git submodule sync
-   git submodule update
-   ```
-   
-2. Run the makefile With
-
-   ```sh
-   make all -j<Number Of Processors>
-   ```
-   This will build the debug version of the unit tests.
-   The release version can be built with the target `release`
-
-4. Run the binary located in the \_bin folder in the terminal or in eclipse.
-
-   ```sh
-   _bin/<binaryName>.elf [--success]
-   ```
-   The success parameter is optional. Leaving it out ommits the success messages.
-
-5. To clear the binary, object and dependency folder, run
-
-   ```sh
-   make clean
-   ```
-
-Please note that on most UNIX environments (e.g. Ubuntu), the real time functionalities used by the UNIX pthread module are restricted, which will lead to permission errors when creating these tasks.
-
-To solve this issues, try following steps:
-
-1. Edit the /etc/security/limits.conf 
-   file and add following lines at the end (worked on Ubuntu 19.10):
-   ```sh
-   <username>   hard   rtprio  99
-   <username>   soft   rtprio  99
-   ```
-   Then restart the computer. <br>
-   The soft limit can also be set in the console with `ulimit -Sr` if the hard
-   limit has been increased,
-   but it is recommended to add it to the file as well for convenience.
-   If adding the second line is not desired for security reasons,
-   the soft limit needs to be set for each session. If using an IDE like eclipse 
-   in that case, the IDE needs to be started from the console after setting
-   the soft limit higher there.
-2. Run the shell script inside the linux folder (worked on Ubuntu 18.04)
-   ```sh
-   ./unlockRealtime
-   ```
-   This script executes the `setcap` command on bash and on the binaries.
-   It also increases the soft real time limit of the current shell instance
-   to the maximum. If running the script before executing the binary does
-   not help, try the following step.
    
 ### Eclipse CDT settings
 
@@ -108,14 +47,3 @@ For writing basics tests, the [assertion documentation](https://github.com/catch
 or the existing examples are a good guideliens.
 For more advanced tests, refer to the [catch2 documentation](https://github.com/catchorg/Catch2/blob/master/docs/Readme.md#top).
 
-### Compile without test framework
-Alternatively, the unit tests can also be run internally without
-a framework. This can be used to perform unit tests on the real hardware.
-To do this, run
-```sh
-make -j<Number Of Processors> notestfw
-```
-This will instruct the makefile to exclude the test framework main.cpp
-and include our own. This will also create a binary which can be used
-outside the host machine (a Makefile adaptions might be neccessary
-if another OS than linux is required)

From 56da6480262b520dca09ef90ad4655a38f792972 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 13:16:14 +0100
Subject: [PATCH 450/653] config folder update

---
 unittest/testcfg/devices/logicalAddresses.cpp |   8 +-
 .../testcfg/devices/powerSwitcherList.cpp     |   8 +-
 unittest/testcfg/devices/powerSwitcherList.h  |  10 -
 unittest/testcfg/ipc/MissionMessageTypes.cpp  |   3 +-
 unittest/testcfg/objects/Factory.cpp          |   4 +-
 unittest/testcfg/objects/translateObjects.cpp | 242 ------------------
 unittest/testcfg/objects/translateObjects.h   |  16 --
 7 files changed, 6 insertions(+), 285 deletions(-)
 delete mode 100644 unittest/testcfg/objects/translateObjects.cpp
 delete mode 100644 unittest/testcfg/objects/translateObjects.h

diff --git a/unittest/testcfg/devices/logicalAddresses.cpp b/unittest/testcfg/devices/logicalAddresses.cpp
index 15776275..c7ce314d 100644
--- a/unittest/testcfg/devices/logicalAddresses.cpp
+++ b/unittest/testcfg/devices/logicalAddresses.cpp
@@ -1,10 +1,4 @@
-/**
- * \file logicalAddresses.cpp
- *
- * \date 06.11.2019
- */
-
-#include <fsfw/unittest/config/devices/logicalAddresses.h>
+#include "logicalAddresses.h"
 
 
 
diff --git a/unittest/testcfg/devices/powerSwitcherList.cpp b/unittest/testcfg/devices/powerSwitcherList.cpp
index cb568522..343f78d0 100644
--- a/unittest/testcfg/devices/powerSwitcherList.cpp
+++ b/unittest/testcfg/devices/powerSwitcherList.cpp
@@ -1,10 +1,4 @@
-/**
- * @file switcherList.cpp
- *
- * @date 28.11.2019
- */
-
-#include <fsfw/unittest/config/devices/powerSwitcherList.h>
+#include "powerSwitcherList.h"
 
 
 
diff --git a/unittest/testcfg/devices/powerSwitcherList.h b/unittest/testcfg/devices/powerSwitcherList.h
index f5b0eb11..86ddea57 100644
--- a/unittest/testcfg/devices/powerSwitcherList.h
+++ b/unittest/testcfg/devices/powerSwitcherList.h
@@ -1,19 +1,9 @@
-/**
- * @file switcherList.h
- *
- * @date 28.11.2019
- */
-
 #ifndef CONFIG_DEVICES_POWERSWITCHERLIST_H_
 #define CONFIG_DEVICES_POWERSWITCHERLIST_H_
 
 namespace switches {
 	/* Switches are uint8_t datatype and go from 0 to 255 */
 	enum switcherList {
-		PCDU,
-		GPS0,
-		GPS1,
-		DUMMY = 129
 	};
 
 }
diff --git a/unittest/testcfg/ipc/MissionMessageTypes.cpp b/unittest/testcfg/ipc/MissionMessageTypes.cpp
index 0ac8debe..d68cb58c 100644
--- a/unittest/testcfg/ipc/MissionMessageTypes.cpp
+++ b/unittest/testcfg/ipc/MissionMessageTypes.cpp
@@ -1,5 +1,6 @@
+#include "MissionMessageTypes.h"
+
 #include <fsfw/ipc/CommandMessage.h>
-#include <fsfw/unittest/config/ipc/MissionMessageTypes.h>
 
 void messagetypes::clearMissionMessage(CommandMessage* message) {
 	switch(message->getMessageType()) {
diff --git a/unittest/testcfg/objects/Factory.cpp b/unittest/testcfg/objects/Factory.cpp
index 612527c9..e05b7942 100644
--- a/unittest/testcfg/objects/Factory.cpp
+++ b/unittest/testcfg/objects/Factory.cpp
@@ -1,10 +1,10 @@
+#include "Factory.h"
+
 #include <fsfw/events/EventManager.h>
 #include <fsfw/health/HealthTable.h>
 
 #include <fsfw/internalError/InternalErrorReporter.h>
 #include <fsfw/objectmanager/frameworkObjects.h>
-#include <fsfw/unittest/config/cdatapool/dataPoolInit.h>
-#include <fsfw/unittest/config/objects/Factory.h>
 
 /**
  * @brief Produces system objects.
diff --git a/unittest/testcfg/objects/translateObjects.cpp b/unittest/testcfg/objects/translateObjects.cpp
deleted file mode 100644
index abcb1b40..00000000
--- a/unittest/testcfg/objects/translateObjects.cpp
+++ /dev/null
@@ -1,242 +0,0 @@
-/* Auto-generated event translation file. Contains 77 translations. */
-#include <fsfw/unittest/config/objects/translateObjects.h>
-
-const char *AT91_UART2_TEST_TASK_STRING = "AT91_UART2_TEST_TASK";
-const char *ARDUINO_0_STRING = "ARDUINO_0";
-const char *ARDUINO_1_STRING = "ARDUINO_1";
-const char *ARDUINO_2_STRING = "ARDUINO_2";
-const char *ARDUINO_3_STRING = "ARDUINO_3";
-const char *ARDUINO_4_STRING = "ARDUINO_4";
-const char *AT91_I2C_TEST_TASK_STRING = "AT91_I2C_TEST_TASK";
-const char *TEST_TASK_STRING = "TEST_TASK";
-const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
-const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
-const char *S_ADC1_DEC2_STRING = "S_ADC1_DEC2";
-const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
-const char *DLR_PVCH_STRING = "DLR_PVCH";
-const char *GYRO1_STRING = "GYRO1";
-const char *DLR_IRAS_STRING = "DLR_IRAS";
-const char *_DEC1_O1_STRING = "_DEC1_O1";
-const char *_DEC1_O2_STRING = "_DEC1_O2";
-const char *S1_DEC1_O3_STRING = "S1_DEC1_O3";
-const char *S2_DEC1_O4_STRING = "S2_DEC1_O4";
-const char *S3_DEC1_O5_STRING = "S3_DEC1_O5";
-const char *PT1000_PVHC_DEC1_O6_STRING = "PT1000_PVHC_DEC1_O6";
-const char *PT1000_CCSDS1_DEC2_STRING = "PT1000_CCSDS1_DEC2";
-const char *PT1000_MGT1_DEC2_STRING = "PT1000_MGT1_DEC2";
-const char *S4_DEC2_STRING = "S4_DEC2";
-const char *S5_DEC2_STRING = "S5_DEC2";
-const char *S6_DEC2_STRING = "S6_DEC2";
-const char *PT1000_PVCH_DEC2_STRING = "PT1000_PVCH_DEC2";
-const char *_DEC3_STRING = "_DEC3";
-const char *PT1000_CCSDS2_DEC3_STRING = "PT1000_CCSDS2_DEC3";
-const char *S7_DEC3_STRING = "S7_DEC3";
-const char *S8_DEC3_STRING = "S8_DEC3";
-const char *PT1000_PVCH_DEC3_STRING = "PT1000_PVCH_DEC3";
-const char *GYRO2_STRING = "GYRO2";
-const char *PT1000_PLOC_DEC4_STRING = "PT1000_PLOC_DEC4";
-const char *S9_DEC4_STRING = "S9_DEC4";
-const char *S10_DEC4_STRING = "S10_DEC4";
-const char *PT1000_PVHC_DEC4_STRING = "PT1000_PVHC_DEC4";
-const char *S_ADC_DEC4_STRING = "S_ADC_DEC4";
-const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
-const char *DUMMY_GPS_COM_IF_STRING = "DUMMY_GPS_COM_IF";
-const char *RS232_DEVICE_COM_IF_STRING = "RS232_DEVICE_COM_IF";
-const char *I2C_DEVICE_COM_IF_STRING = "I2C_DEVICE_COM_IF";
-const char *GPIO_DEVICE_COM_IF_STRING = "GPIO_DEVICE_COM_IF";
-const char *SPI_POLLING_TASK_STRING = "SPI_POLLING_TASK";
-const char *SPI_DEVICE_COM_IF_STRING = "SPI_DEVICE_COM_IF";
-const char *DUMMY_ECHO_COM_IF_STRING = "DUMMY_ECHO_COM_IF";
-const char *SD_CARD_HANDLER_STRING = "SD_CARD_HANDLER";
-const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
-const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
-const char *UDP_TMTC_BRIDGE_STRING = "UDP_TMTC_BRIDGE";
-const char *EMAC_POLLING_TASK_STRING = "EMAC_POLLING_TASK";
-const char *SERIAL_POLLING_TASK_STRING = "SERIAL_POLLING_TASK";
-const char *UART_TMTC_BRIDGE_STRING = "UART_TMTC_BRIDGE";
-const char *PUS_SERVICE_1_STRING = "PUS_SERVICE_1";
-const char *PUS_SERVICE_2_STRING = "PUS_SERVICE_2";
-const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
-const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
-const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
-const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
-const char *PUS_SERVICE_9_STRING = "PUS_SERVICE_9";
-const char *PUS_SERVICE_17_STRING = "PUS_SERVICE_17";
-const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
-const char *PUS_SERVICE_200_STRING = "PUS_SERVICE_200";
-const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
-const char *PUS_TIME_STRING = "PUS_TIME";
-const char *PUS_FUNNEL_STRING = "PUS_FUNNEL";
-const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
-const char *MODE_STORE_STRING = "MODE_STORE";
-const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
-const char *INTERNAL_ERROR_REPORTER_STRING = "INTERNAL_ERROR_REPORTER";
-const char *TC_STORE_STRING = "TC_STORE";
-const char *TM_STORE_STRING = "TM_STORE";
-const char *IPC_STORE_STRING = "IPC_STORE";
-const char *AT91_SPI_TEST_TASK_STRING = "AT91_SPI_TEST_TASK";
-const char *STM32_TEST_TASK_STRING = "STM32_TEST_TASK";
-const char *AT91_UART0_TEST_TASK_STRING = "AT91_UART0_TEST_TASK";
-const char *NO_OBJECT_STRING = "NO_OBJECT";
-
-const char* translateObject(object_id_t object){
-	switch((object&0xFFFFFFFF)){
-		case 0x000123336:
-			return AT91_UART2_TEST_TASK_STRING;
-		case 0x01010100:
-			return ARDUINO_0_STRING;
-		case 0x01010101:
-			return ARDUINO_1_STRING;
-		case 0x01010102:
-			return ARDUINO_2_STRING;
-		case 0x01010103:
-			return ARDUINO_3_STRING;
-		case 0x01010104:
-			return ARDUINO_4_STRING;
-		case 0x12345678:
-			return AT91_I2C_TEST_TASK_STRING;
-		case 0x42694269:
-			return TEST_TASK_STRING;
-		case 0x44003200:
-			return PCDU_HANDLER_STRING;
-		case 0x4400AFFE:
-			return DUMMY_HANDLER_STRING;
-		case 0x44020108:
-			return S_ADC1_DEC2_STRING;
-		case 0x44101F00:
-			return GPS0_HANDLER_STRING;
-		case 0x44104000:
-			return DLR_PVCH_STRING;
-		case 0x44105000:
-			return GYRO1_STRING;
-		case 0x44106000:
-			return DLR_IRAS_STRING;
-		case 0x44115401:
-			return _DEC1_O1_STRING;
-		case 0x44115402:
-			return _DEC1_O2_STRING;
-		case 0x44115404:
-			return S1_DEC1_O3_STRING;
-		case 0x44115405:
-			return S2_DEC1_O4_STRING;
-		case 0x44115406:
-			return S3_DEC1_O5_STRING;
-		case 0x44115407:
-			return PT1000_PVHC_DEC1_O6_STRING;
-		case 0x44125401:
-			return PT1000_CCSDS1_DEC2_STRING;
-		case 0x44125403:
-			return PT1000_MGT1_DEC2_STRING;
-		case 0x44125404:
-			return S4_DEC2_STRING;
-		case 0x44125405:
-			return S5_DEC2_STRING;
-		case 0x44125406:
-			return S6_DEC2_STRING;
-		case 0x44125407:
-			return PT1000_PVCH_DEC2_STRING;
-		case 0x44130301:
-			return _DEC3_STRING;
-		case 0x44130302:
-			return PT1000_CCSDS2_DEC3_STRING;
-		case 0x44130305:
-			return S7_DEC3_STRING;
-		case 0x44130306:
-			return S8_DEC3_STRING;
-		case 0x44130307:
-			return PT1000_PVCH_DEC3_STRING;
-		case 0x44130308:
-			return GYRO2_STRING;
-		case 0x44145401:
-			return PT1000_PLOC_DEC4_STRING;
-		case 0x44145404:
-			return S9_DEC4_STRING;
-		case 0x44145405:
-			return S10_DEC4_STRING;
-		case 0x44145406:
-			return PT1000_PVHC_DEC4_STRING;
-		case 0x44145407:
-			return S_ADC_DEC4_STRING;
-		case 0x44202000:
-			return GPS1_HANDLER_STRING;
-		case 0x49001F00:
-			return DUMMY_GPS_COM_IF_STRING;
-		case 0x49005200:
-			return RS232_DEVICE_COM_IF_STRING;
-		case 0x49005300:
-			return I2C_DEVICE_COM_IF_STRING;
-		case 0x49005400:
-			return GPIO_DEVICE_COM_IF_STRING;
-		case 0x49005410:
-			return SPI_POLLING_TASK_STRING;
-		case 0x49005600:
-			return SPI_DEVICE_COM_IF_STRING;
-		case 0x4900AFFE:
-			return DUMMY_ECHO_COM_IF_STRING;
-		case 0x4D0073AD:
-			return SD_CARD_HANDLER_STRING;
-		case 0x50000100:
-			return CCSDS_PACKET_DISTRIBUTOR_STRING;
-		case 0x50000200:
-			return PUS_PACKET_DISTRIBUTOR_STRING;
-		case 0x50000300:
-			return UDP_TMTC_BRIDGE_STRING;
-		case 0x50000400:
-			return EMAC_POLLING_TASK_STRING;
-		case 0x50000600:
-			return SERIAL_POLLING_TASK_STRING;
-		case 0x5000500:
-			return UART_TMTC_BRIDGE_STRING;
-		case 0x51000100:
-			return PUS_SERVICE_1_STRING;
-		case 0x51000200:
-			return PUS_SERVICE_2_STRING;
-		case 0x51000300:
-			return PUS_SERVICE_3_STRING;
-		case 0x51000400:
-			return PUS_SERVICE_5_STRING;
-		case 0x51000500:
-			return PUS_SERVICE_6_STRING;
-		case 0x51000800:
-			return PUS_SERVICE_8_STRING;
-		case 0x51000900:
-			return PUS_SERVICE_9_STRING;
-		case 0x51001700:
-			return PUS_SERVICE_17_STRING;
-		case 0x51002300:
-			return PUS_SERVICE_23_STRING;
-		case 0x51020000:
-			return PUS_SERVICE_200_STRING;
-		case 0x51020100:
-			return PUS_SERVICE_201_STRING;
-		case 0x52000001:
-			return PUS_TIME_STRING;
-		case 0x52000002:
-			return PUS_FUNNEL_STRING;
-		case 0x53010000:
-			return HEALTH_TABLE_STRING;
-		case 0x53010100:
-			return MODE_STORE_STRING;
-		case 0x53030000:
-			return EVENT_MANAGER_STRING;
-		case 0x53040000:
-			return INTERNAL_ERROR_REPORTER_STRING;
-		case 0x534f0100:
-			return TC_STORE_STRING;
-		case 0x534f0200:
-			return TM_STORE_STRING;
-		case 0x534f0300:
-			return IPC_STORE_STRING;
-		case 0x66666666:
-			return AT91_SPI_TEST_TASK_STRING;
-		case 0x77777777:
-			return STM32_TEST_TASK_STRING;
-		case 0x87654321:
-			return AT91_UART0_TEST_TASK_STRING;
-		case 0xFFFFFFFF:
-			return NO_OBJECT_STRING;
-		default:
-			return "UNKNOWN_OBJECT";
-	}
-	return 0;
-}
diff --git a/unittest/testcfg/objects/translateObjects.h b/unittest/testcfg/objects/translateObjects.h
deleted file mode 100644
index 18c237eb..00000000
--- a/unittest/testcfg/objects/translateObjects.h
+++ /dev/null
@@ -1,16 +0,0 @@
-/*
- * translateObjects.h
- *
- *  Created on: 28 May 2019
- *      Author: Robin
- */
-
-#ifndef CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
-#define CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
-
-#include <fsfw/objectmanager/ObjectManagerIF.h>
-
-const char* translateObject(object_id_t object);
-
-
-#endif /* CONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */

From edb2d3848ddac5184eeea547987e17cfe436daeb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 13:27:41 +0100
Subject: [PATCH 451/653] some improverments for simple helper

---
 action/SimpleActionHelper.cpp |  4 ++--
 action/SimpleActionHelper.h   | 17 ++++++++++-------
 2 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp
index d79a3c97..1ab4f476 100644
--- a/action/SimpleActionHelper.cpp
+++ b/action/SimpleActionHelper.cpp
@@ -1,9 +1,9 @@
 #include "HasActionsIF.h"
 #include "SimpleActionHelper.h"
+
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
 		MessageQueueIF* useThisQueue) :
-		ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
-				0), lastAction(0), stepCount(0) {
+		ActionHelper(setOwner, useThisQueue), isExecuting(false) {
 }
 
 SimpleActionHelper::~SimpleActionHelper() {
diff --git a/action/SimpleActionHelper.h b/action/SimpleActionHelper.h
index 1329b5fb..d401cdc1 100644
--- a/action/SimpleActionHelper.h
+++ b/action/SimpleActionHelper.h
@@ -1,8 +1,10 @@
-#ifndef SIMPLEACTIONHELPER_H_
-#define SIMPLEACTIONHELPER_H_
+#ifndef FSFW_ACTION_SIMPLEACTIONHELPER_H_
+#define FSFW_ACTION_SIMPLEACTIONHELPER_H_
 
 #include "ActionHelper.h"
 
+/**
+ */
 class SimpleActionHelper: public ActionHelper {
 public:
 	SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
@@ -12,13 +14,14 @@ public:
 	ReturnValue_t reportData(SerializeIF* data);
 
 protected:
-	void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
-	virtual  void resetHelper();
+	void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
+			store_address_t dataAddress);
+	virtual void resetHelper();
 private:
 	bool isExecuting;
-	MessageQueueId_t lastCommander;
-	ActionId_t lastAction;
-	uint8_t stepCount;
+	MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
+	ActionId_t lastAction = 0;
+	uint8_t stepCount = 0;
 };
 
 #endif /* SIMPLEACTIONHELPER_H_ */

From 4557a2eb361abf6de9fc1ca49908ae4421504fcb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 13:34:53 +0100
Subject: [PATCH 452/653] better comments

---
 action/ActionHelper.h         | 5 +++--
 action/SimpleActionHelper.cpp | 3 ++-
 action/SimpleActionHelper.h   | 3 +++
 3 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/action/ActionHelper.h b/action/ActionHelper.h
index 17ca3ebd..a91722f3 100644
--- a/action/ActionHelper.h
+++ b/action/ActionHelper.h
@@ -57,8 +57,9 @@ public:
 	 * @param commandId ID of the executed command
 	 * @param result Result of the execution
 	 */
-	void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
-	        ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	void step(uint8_t step, MessageQueueId_t reportTo,
+			ActionId_t commandId,
+			ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	/**
 	 * Function to be called by the owner to send a action completion message
 	 *
diff --git a/action/SimpleActionHelper.cpp b/action/SimpleActionHelper.cpp
index 1ab4f476..af57736c 100644
--- a/action/SimpleActionHelper.cpp
+++ b/action/SimpleActionHelper.cpp
@@ -10,7 +10,8 @@ SimpleActionHelper::~SimpleActionHelper() {
 }
 
 void SimpleActionHelper::step(ReturnValue_t result) {
-	//STEP_OFFESET is subtracted to compensate for adding offset in base method, which is not necessary here.
+	// STEP_OFFESET is subtracted to compensate for adding offset in base
+	// method, which is not necessary here.
 	ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
 			result);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/action/SimpleActionHelper.h b/action/SimpleActionHelper.h
index d401cdc1..1f35d9fd 100644
--- a/action/SimpleActionHelper.h
+++ b/action/SimpleActionHelper.h
@@ -4,6 +4,9 @@
 #include "ActionHelper.h"
 
 /**
+ * @brief	This is an action helper which is only able to service one action
+ * 			at a time but remembers last commander and last action which
+ * 			simplifies usage
  */
 class SimpleActionHelper: public ActionHelper {
 public:

From 352296d20031f0df68e249cb3eec112ce5606bc8 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 13:52:52 +0100
Subject: [PATCH 453/653] action helper update

---
 action/ActionHelper.cpp | 5 +++++
 action/HasActionsIF.h   | 9 ++++++---
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index fdbd2e3b..0d3baa88 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -65,6 +65,11 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
 	}
 	result = owner->executeAction(actionId, commandedBy, dataPtr, size);
 	ipcStore->deleteData(dataAddress);
+	if(result == HasActionsIF::EXECUTION_FINISHED) {
+		CommandMessage reply;
+		ActionMessage::setCompletionReply(&reply, actionId, result);
+		queueToUse->sendMessage(commandedBy, &reply);
+	}
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		CommandMessage reply;
 		ActionMessage::setStepReply(&reply, actionId, 0, result);
diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h
index a26ed588..ad9f4c61 100644
--- a/action/HasActionsIF.h
+++ b/action/HasActionsIF.h
@@ -47,9 +47,12 @@ public:
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	/**
 	 * Execute or initialize the execution of a certain function.
-	 * When used in conjunction with the ActionHelper class, returning
-	 * a return code which is not equal to RETURN_OK will trigger a step reply
-	 * with step 0.
+	 * The ActionHelpers will execute this function and behave differently
+	 * depending on the returnvalue.
+	 *
+	 * @return
+	 * -@c EXECUTION_FINISHED Finish reply will be generated
+	 * -@c Not RETURN_OK Step failure reply will be generated
 	 */
 	virtual ReturnValue_t executeAction(ActionId_t actionId,
 			MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;

From 4229e256d1012320cedcb788790e74e9fdbef796 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 13:55:49 +0100
Subject: [PATCH 454/653] include guard fix

---
 action/HasActionsIF.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/action/HasActionsIF.h b/action/HasActionsIF.h
index ad9f4c61..690f0369 100644
--- a/action/HasActionsIF.h
+++ b/action/HasActionsIF.h
@@ -1,11 +1,12 @@
-#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
-#define FRAMEWORK_ACTION_HASACTIONSIF_H_
+#ifndef FSFW_ACTION_HASACTIONSIF_H_
+#define FSFW_ACTION_HASACTIONSIF_H_
 
 #include "ActionHelper.h"
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../ipc/MessageQueueIF.h"
+
 /**
  * @brief
  * Interface for component which uses actions
@@ -59,4 +60,4 @@ public:
 };
 
 
-#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */
+#endif /* FSFW_ACTION_HASACTIONSIF_H_ */

From 4dd79b349515ca0606d2fa7d5c29089c3b56da5c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 15:16:16 +0100
Subject: [PATCH 455/653] not static anymore

---
 FSFWVersion.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/FSFWVersion.h b/FSFWVersion.h
index b3ef8318..dcb592dc 100644
--- a/FSFWVersion.h
+++ b/FSFWVersion.h
@@ -1,7 +1,7 @@
 #ifndef FSFW_DEFAULTCFG_VERSION_H_
 #define FSFW_DEFAULTCFG_VERSION_H_
 
-static const char* FSFW_VERSION_NAME = "fsfw";
+const char* const FSFW_VERSION_NAME = "fsfw";
 
 #define FSFW_VERSION 		0
 #define	FSFW_SUBVERSION 	0

From 27e0b9cf380a778e425c08e3c9c77ec7cc521a08 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 15:17:13 +0100
Subject: [PATCH 456/653] default FIFO depth is 5 now

---
 defaultcfg/config/FSFWConfig.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/defaultcfg/config/FSFWConfig.h b/defaultcfg/config/FSFWConfig.h
index cfe89864..a5aaa125 100644
--- a/defaultcfg/config/FSFWConfig.h
+++ b/defaultcfg/config/FSFWConfig.h
@@ -18,7 +18,7 @@
 //! also determines how many commands a CSB service can handle in one cycle
 //! simulataneously. This will increase the required RAM for
 //! each CSB service !
-#define FSFW_CSB_FIFO_DEPTH			6
+#define FSFW_CSB_FIFO_DEPTH			4
 
 //! If -DDEBUG is supplied in the build defines, there will be
 //! additional output which requires the translation files translateObjects

From 64c341b5f686cbd7921b75e879017c93b94dcf6e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 15:17:33 +0100
Subject: [PATCH 457/653] now really five

---
 defaultcfg/config/FSFWConfig.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/defaultcfg/config/FSFWConfig.h b/defaultcfg/config/FSFWConfig.h
index a5aaa125..945992df 100644
--- a/defaultcfg/config/FSFWConfig.h
+++ b/defaultcfg/config/FSFWConfig.h
@@ -18,7 +18,7 @@
 //! also determines how many commands a CSB service can handle in one cycle
 //! simulataneously. This will increase the required RAM for
 //! each CSB service !
-#define FSFW_CSB_FIFO_DEPTH			4
+#define FSFW_CSB_FIFO_DEPTH			5
 
 //! If -DDEBUG is supplied in the build defines, there will be
 //! additional output which requires the translation files translateObjects

From 9af5855ece0310e53c33a81ba2409b909ebbee98 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 15:23:14 +0100
Subject: [PATCH 458/653] event stuff added

---
 defaultcfg/config/FSFWConfig.h | 8 ++++++++
 events/EventManager.cpp        | 1 -
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/defaultcfg/config/FSFWConfig.h b/defaultcfg/config/FSFWConfig.h
index 945992df..67c04225 100644
--- a/defaultcfg/config/FSFWConfig.h
+++ b/defaultcfg/config/FSFWConfig.h
@@ -2,6 +2,7 @@
 #define CONFIG_FSFWCONFIG_H_
 
 #include <FSFWVersion.h>
+#include <cstddef>
 
 //! Used to determine whether C++ ostreams are used
 //! Those can lead to code bloat.
@@ -37,5 +38,12 @@
 //! will not be provided. This define should be set to 1 if this is the case.
 #define FSFW_NO_C99_IO 	1
 
+namespace fsfwconfig {
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+}
+
 
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index e71951e3..3bce53eb 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -12,7 +12,6 @@ const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
 // objects registering for certain events.
 // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
 // So a good guess is 75 to a max of 100 pools required for each, which fits well.
-// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
 const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
 
 EventManager::EventManager(object_id_t setObjectId) :

From 78896323b6a67e995508592c0a313917a2e72e7a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 17:09:43 +0100
Subject: [PATCH 459/653] fsfw config update

---
 defaultcfg/config/FSFWConfig.h | 15 ++++++++++-----
 1 file changed, 10 insertions(+), 5 deletions(-)

diff --git a/defaultcfg/config/FSFWConfig.h b/defaultcfg/config/FSFWConfig.h
index 67c04225..ea724a64 100644
--- a/defaultcfg/config/FSFWConfig.h
+++ b/defaultcfg/config/FSFWConfig.h
@@ -12,6 +12,10 @@
 //! Be careful, this also turns off most diagnostic prinouts!
 #define FSFW_REDUCED_PRINTOUT		0
 
+//! Default timestamp size. The default timestamp will be an eight byte CDC
+//! short timestamp.
+#define FSFW_MISSION_TIMESTAMP_SIZE 8
+
 //! Can be used to enable debugging printouts for developing the FSFW
 #define FSFW_DEBUGGING              0
 
@@ -19,12 +23,14 @@
 //! also determines how many commands a CSB service can handle in one cycle
 //! simulataneously. This will increase the required RAM for
 //! each CSB service !
-#define FSFW_CSB_FIFO_DEPTH			5
+#define FSFW_CSB_FIFO_DEPTH			6
 
-//! If -DDEBUG is supplied in the build defines, there will be
+//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
 //! additional output which requires the translation files translateObjects
-//! and translateEvents (and their compiles source files)
-#ifdef DEBUG
+//! and translateEvents (and their compiled source files)
+#define FSFW_OBJ_EVENT_TRANSLATION	0
+
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 #define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
 #define FSFW_DEBUG_INFO				1
@@ -45,5 +51,4 @@ static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
 static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 }
 
-
 #endif /* CONFIG_FSFWCONFIG_H_ */

From 567cbd39efc2708a2cb0a1f46a1e16bcbba32644 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 17:22:41 +0100
Subject: [PATCH 460/653] include fixes

---
 unittest/internal/InternalUnitTester.cpp            | 13 +++++++------
 unittest/internal/InternalUnitTester.h              |  4 ++--
 unittest/internal/internal.mk                       |  3 +++
 unittest/internal/osal/IntTestMq.cpp                |  4 ++--
 unittest/internal/osal/IntTestMutex.cpp             |  3 ++-
 unittest/internal/osal/IntTestSemaphore.cpp         |  3 ++-
 .../internal/serialize/IntTestSerialization.cpp     |  2 +-
 7 files changed, 19 insertions(+), 13 deletions(-)
 create mode 100644 unittest/internal/internal.mk

diff --git a/unittest/internal/InternalUnitTester.cpp b/unittest/internal/InternalUnitTester.cpp
index 7b72d645..503a71ec 100644
--- a/unittest/internal/InternalUnitTester.cpp
+++ b/unittest/internal/InternalUnitTester.cpp
@@ -1,9 +1,10 @@
-#include <unittest/internal/InternalUnitTester.h>
-#include <unittest/internal/IntTestMq.h>
-#include <unittest/internal/IntTestSemaphore.h>
-#include <unittest/internal/IntTestSerialization.h>
-#include <unittest/internal/UnittDefinitions.h>
-#include <unittest/internal/IntTestMutex.h>
+#include "InternalUnitTester.h"
+#include "UnittDefinitions.h"
+
+#include "osal/IntTestMq.h"
+#include "osal/IntTestSemaphore.h"
+#include "osal/IntTestMutex.h"
+#include "serialize/IntTestSerialization.h"
 
 #include <cstdlib>
 
diff --git a/unittest/internal/InternalUnitTester.h b/unittest/internal/InternalUnitTester.h
index b61c8bfe..b301b923 100644
--- a/unittest/internal/InternalUnitTester.h
+++ b/unittest/internal/InternalUnitTester.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_TEST_UNITTESTCLASS_H_
 #define FRAMEWORK_TEST_UNITTESTCLASS_H_
 
-#include <unittest/internal/UnittDefinitions.h>
+#include "UnittDefinitions.h"
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
 
 /**
@@ -22,7 +22,7 @@ public:
 	 * Some function which calls all other tests
 	 * @return
 	 */
-	ReturnValue_t performTests();
+	virtual ReturnValue_t performTests();
 };
 
 
diff --git a/unittest/internal/internal.mk b/unittest/internal/internal.mk
new file mode 100644
index 00000000..799fd796
--- /dev/null
+++ b/unittest/internal/internal.mk
@@ -0,0 +1,3 @@
+CXXSRC += $(wildcard $(CURRENTPATH)/osal/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/serialize/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
\ No newline at end of file
diff --git a/unittest/internal/osal/IntTestMq.cpp b/unittest/internal/osal/IntTestMq.cpp
index 265aa62a..63016374 100644
--- a/unittest/internal/osal/IntTestMq.cpp
+++ b/unittest/internal/osal/IntTestMq.cpp
@@ -1,7 +1,7 @@
 #include <fsfw/ipc/MessageQueueIF.h>
 #include <fsfw/ipc/QueueFactory.h>
-#include <unittest/internal/IntTestMq.h>
-#include <unittest/internal/UnittDefinitions.h>
+#include <fsfw/unittest/internal/osal/IntTestMq.h>
+#include <fsfw/unittest/internal/UnittDefinitions.h>
 
 #include <array>
 
diff --git a/unittest/internal/osal/IntTestMutex.cpp b/unittest/internal/osal/IntTestMutex.cpp
index bf0b827d..3fd668df 100644
--- a/unittest/internal/osal/IntTestMutex.cpp
+++ b/unittest/internal/osal/IntTestMutex.cpp
@@ -1,4 +1,5 @@
-#include <unittest/internal/IntTestMutex.h>
+#include "IntTestMutex.h"
+
 #include <fsfw/ipc/MutexFactory.h>
 #include <unittest/internal/UnittDefinitions.h>
 
diff --git a/unittest/internal/osal/IntTestSemaphore.cpp b/unittest/internal/osal/IntTestSemaphore.cpp
index 176db4de..534a6a6d 100644
--- a/unittest/internal/osal/IntTestSemaphore.cpp
+++ b/unittest/internal/osal/IntTestSemaphore.cpp
@@ -1,8 +1,9 @@
+#include "IntTestSemaphore.h"
 #include <fsfw/tasks/SemaphoreFactory.h>
 #include <unittest/internal/UnittDefinitions.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/timemanager/Stopwatch.h>
-#include <unittest/internal/IntTestSemaphore.h>
+
 
 void testsemaph::testBinSemaph() {
 	std::string id = "[BinSemaphore]";
diff --git a/unittest/internal/serialize/IntTestSerialization.cpp b/unittest/internal/serialize/IntTestSerialization.cpp
index 2452ac6d..3f231a41 100644
--- a/unittest/internal/serialize/IntTestSerialization.cpp
+++ b/unittest/internal/serialize/IntTestSerialization.cpp
@@ -1,4 +1,4 @@
-#include <unittest/internal/IntTestSerialization.h>
+#include "IntTestSerialization.h"
 #include <fsfw/serialize/SerializeElement.h>
 #include <fsfw/serialize/SerialBufferAdapter.h>
 #include <unittest/internal/UnittDefinitions.h>

From f5b0589f792408bbac2a16e1a0394d6997191abe Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 17:28:33 +0100
Subject: [PATCH 461/653] event manager update

---
 events/EventManager.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 3bce53eb..f60a8a66 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -1,5 +1,7 @@
 #include "EventManager.h"
 #include "EventMessage.h"
+#include <FSFWConfig.h>
+
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
@@ -12,7 +14,10 @@ const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
 // objects registering for certain events.
 // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
 // So a good guess is 75 to a max of 100 pools required for each, which fits well.
-const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
+const uint16_t EventManager::N_ELEMENTS[N_POOLS] = {
+		fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES ,
+		fsfwconfig::FSFW_EVENTMGMT_EVENTIDMATCHERS,
+		fsfwconfig::FSFW_EVENTMGMR_RANGEMATCHERS };
 
 EventManager::EventManager(object_id_t setObjectId) :
 		SystemObject(setObjectId),

From 9b5e9409656fcd7b5c32fdbdb73fe55de5804aaa Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 17:32:07 +0100
Subject: [PATCH 462/653] config make fix

---
 defaultcfg/{ => config}/config.mk | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)
 rename defaultcfg/{ => config}/config.mk (50%)

diff --git a/defaultcfg/config.mk b/defaultcfg/config/config.mk
similarity index 50%
rename from defaultcfg/config.mk
rename to defaultcfg/config/config.mk
index fcf3b799..c9584114 100644
--- a/defaultcfg/config.mk
+++ b/defaultcfg/config/config.mk
@@ -6,12 +6,10 @@ CXXSRC += $(wildcard $(CURRENTPATH)/config/tmtc/*.cpp)
 CXXSRC += $(wildcard $(CURRENTPATH)/config/devices/*.cpp)
 
 INCLUDES += $(CURRENTPATH)
-INCLUDES += $(CURRENTPATH)/config/
-INCLUDES += $(CURRENTPATH)/config/objects
-INCLUDES += $(CURRENTPATH)/config/returnvalues
-INCLUDES += $(CURRENTPATH)/config/tmtc
-INCLUDES += $(CURRENTPATH)/config/events
-INCLUDES += $(CURRENTPATH)/config/devices
-INCLUDES += $(CURRENTPATH)/config/pollingsequence
-INCLUDES += $(CURRENTPATH)/config/ipc
-INCLUDES += $(CURRENTPATH)/config/
+INCLUDES += $(CURRENTPATH)/objects
+INCLUDES += $(CURRENTPATH)/returnvalues
+INCLUDES += $(CURRENTPATH)/tmtc
+INCLUDES += $(CURRENTPATH)/events
+INCLUDES += $(CURRENTPATH)/devices
+INCLUDES += $(CURRENTPATH)/pollingsequence
+INCLUDES += $(CURRENTPATH)/ipc

From af4c6f1d45fd9a42f5f0a189765671c6b89d9b21 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 17:33:40 +0100
Subject: [PATCH 463/653] config mk update

---
 defaultcfg/config/config.mk | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/defaultcfg/config/config.mk b/defaultcfg/config/config.mk
index c9584114..51543eba 100644
--- a/defaultcfg/config/config.mk
+++ b/defaultcfg/config/config.mk
@@ -1,9 +1,9 @@
-CXXSRC += $(wildcard $(CURRENTPATH)/config/ipc/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/config/objects/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/config/pollingsequence/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/config/events/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/config/tmtc/*.cpp)
-CXXSRC += $(wildcard $(CURRENTPATH)/config/devices/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/tmtc/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/devices/*.cpp)
 
 INCLUDES += $(CURRENTPATH)
 INCLUDES += $(CURRENTPATH)/objects

From e35aebcd0af19c9f96fa6a173963737edd639fea Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 17:45:06 +0100
Subject: [PATCH 464/653] HasREturnvalue update

---
 returnvalues/HasReturnvaluesIF.h | 18 +++++++++++++-----
 1 file changed, 13 insertions(+), 5 deletions(-)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index 5fef91dd..a39ac742 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -1,8 +1,8 @@
-#ifndef FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
-#define FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_
+#ifndef FSFW_RETURNVALUES_HASRETURNVALUESIF_H_
+#define FSFW_RETURNVALUES_HASRETURNVALUESIF_H_
 
 #include "FwClassIds.h"
-#include <config/returnvalues/classIds.h>
+#include <returnvalues/classIds.h>
 #include <cstdint>
 
 #define MAKE_RETURN_CODE( number )	((INTERFACE_ID << 8) + (number))
@@ -15,9 +15,17 @@ public:
 	static const ReturnValue_t RETURN_FAILED = 1;
 	virtual ~HasReturnvaluesIF() {}
 
-	static ReturnValue_t makeReturnCode(uint8_t interfaceId, uint8_t number) {
+	/**
+	 * It is discouraged to use the input parameters 0,0 and 0,1 as this
+	 * will generate the RETURN_OK and RETURN_FAILED returnvalues.
+	 * @param interfaceId
+	 * @param number
+	 * @return
+	 */
+	static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
+			uint8_t number) {
 	    return (interfaceId << 8) + number;
 	}
 };
 
-#endif /* FRAMEWORK_RETURNVALUES_HASRETURNVALUESIF_H_ */
+#endif /* FSFW_RETURNVALUES_HASRETURNVALUESIF_H_ */

From 3098f34eb0988a22f9642b60e4f61c3b65f67aed Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 17:52:28 +0100
Subject: [PATCH 465/653] health update

---
 health/HasHealthIF.h     | 25 +++++++++---------
 health/HealthHelper.h    | 45 ++++++++++++++++++-------------
 health/HealthMessage.cpp |  6 +++--
 health/HealthMessage.h   | 20 +++++++++-----
 health/HealthTable.cpp   | 57 ++++++++++++++++------------------------
 health/HealthTable.h     | 33 ++++++++++++++---------
 health/HealthTableIF.h   | 18 ++++++-------
 health/ManagesHealthIF.h |  7 ++---
 8 files changed, 112 insertions(+), 99 deletions(-)

diff --git a/health/HasHealthIF.h b/health/HasHealthIF.h
index ac404300..86863ea8 100644
--- a/health/HasHealthIF.h
+++ b/health/HasHealthIF.h
@@ -1,5 +1,5 @@
-#ifndef HASHEALTHIF_H_
-#define HASHEALTHIF_H_
+#ifndef FSFW_HEALTH_HASHEALTHIF_H_
+#define FSFW_HEALTH_HASHEALTHIF_H_
 
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -8,9 +8,13 @@
 class HasHealthIF {
 public:
 
-	typedef enum {
-		HEALTHY = 1, FAULTY = 0, EXTERNAL_CONTROL = 2, NEEDS_RECOVERY = 3, PERMANENT_FAULTY = 4
-	} HealthState;
+	enum HealthState: uint8_t {
+		HEALTHY = 1,
+		FAULTY = 0,
+		EXTERNAL_CONTROL = 2,
+		NEEDS_RECOVERY = 3,
+		PERMANENT_FAULTY = 4
+	};
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF;
 	static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1);
@@ -31,20 +35,17 @@ public:
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 
 	/**
-	 * set the Health State
-	 *
+	 * @brief   Set the Health State
 	 * The parent will be informed, if the Health changes
-	 *
 	 * @param health
 	 */
 	virtual ReturnValue_t setHealth(HealthState health) = 0;
 
 	/**
-	 * get Health State
-	 *
-	 * @return Health State of the object
+	 * @brief   Get Health State
+	 * @return  Health State of the object
 	 */
 	virtual HasHealthIF::HealthState getHealth() = 0;
 };
 
-#endif /* HASHEALTHIF_H_ */
+#endif /* FSFW_HEALTH_HASHEALTHIF_H_ */
diff --git a/health/HealthHelper.h b/health/HealthHelper.h
index d1f1945c..08889fba 100644
--- a/health/HealthHelper.h
+++ b/health/HealthHelper.h
@@ -12,13 +12,15 @@
 #include "../returnvalues/HasReturnvaluesIF.h"
 
 /**
- * Helper class for Objects that implement HasHealthIF
+ * @brief   Helper class for Objects that implement HasHealthIF
+ * @details
+ * It takes care of registering with the Health Table as well as handling
+ * health commands (including replying to the sender) and updating
+ * the Health Table.
  *
- * It takes care of registering with the Health Table as well as handling health commands
- * (including replying to the sender) and updating the Health Table.
- *
- * If a parent is set in the ctor, the parent will be informed with a @c HEALTH_INFO message
- * about changes in the health state. Note that a @c HEALTH_INFO is only generated if the Health
+ * If a parent is set in the ctor, the parent will be informed with a
+ * @c HEALTH_INFO message about changes in the health state.
+ * Note that a @c HEALTH_INFO is only generated if the Health
  * changes, not for all @c HEALTH_SET commands received.
  *
  * It does NOT handle @c HEALTH_INFO messages
@@ -27,10 +29,9 @@ class HealthHelper {
 public:
 
 	/**
-	 * ctor
-	 *
 	 * @param owner
-	 * @param objectId the object Id to use when communication with the HealthTable
+	 * @param objectId      The object Id to use when communication with
+	 *                      the HealthTable
 	 */
 	HealthHelper(HasHealthIF* owner, object_id_t objectId);
 
@@ -56,8 +57,9 @@ public:
 	 *
 	 * @param message
 	 * @return
-	 * 			-@c RETURN_OK if the message was handled
-	 * 			-@c RETURN_FAILED if the message could not be handled (ie it was not a @c HEALTH_SET or @c HEALTH_READ message)
+	 * -@c RETURN_OK if the message was handled
+	 * -@c RETURN_FAILED if the message could not be handled
+	 *     (ie it was not a @c HEALTH_SET or @c HEALTH_READ message)
 	 */
 	ReturnValue_t handleHealthCommand(CommandMessage *message);
 
@@ -78,16 +80,19 @@ public:
 	HasHealthIF::HealthState getHealth();
 
 	/**
-	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
+	 * @param parentQueue   The queue ID of the parent object.
+	 *                      Set to 0 if no parent present
 	 */
 	void setParentQueue(MessageQueueId_t parentQueue);
 
 	/**
 	 *
-	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
+	 * @param parentQueue   The queue ID of the parent object.
+	 *                      Set to 0 if no parent present
 	 * @return
-	 * 			-@c RETURN_OK if the Health Table was found and the object could be registered
-	 * 			-@c RETURN_FAILED else
+	 * -@c RETURN_OK if the Health Table was found and the object
+	 * could be registered
+	 * -@c RETURN_FAILED else
 	 */
 	ReturnValue_t initialize(MessageQueueId_t parentQueue );
 
@@ -110,11 +115,15 @@ private:
 	HasHealthIF* owner;
 
 	/**
-	 * if the #parentQueue is not NULL, a @c HEALTH_INFO message will be sent to this queue
-	 * @param health the health is passed as parameter so that the number of calls to the health table can be minimized
+	 * if the #parentQueue is not NULL, a @c HEALTH_INFO message
+	 * will be sent to this queue
+	 * @param health
+	 * The health is passed as parameter so that the number of
+	 * calls to the health table can be minimized
 	 * @param oldHealth information of the previous health state.
 	 */
-	void informParent(HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth);
+	void informParent(HasHealthIF::HealthState health,
+	        HasHealthIF::HealthState oldHealth);
 
 	void handleSetHealthCommand(CommandMessage *message);
 };
diff --git a/health/HealthMessage.cpp b/health/HealthMessage.cpp
index 1bb29526..52479c26 100644
--- a/health/HealthMessage.cpp
+++ b/health/HealthMessage.cpp
@@ -7,11 +7,13 @@ void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command,
 	message->setParameter2(oldHealth);
 }
 
-void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command) {
+void HealthMessage::setHealthMessage(CommandMessage* message,
+        Command_t command) {
 	message->setCommand(command);
 }
 
-HasHealthIF::HealthState HealthMessage::getHealth(const CommandMessage* message) {
+HasHealthIF::HealthState HealthMessage::getHealth(
+        const CommandMessage* message) {
 	return (HasHealthIF::HealthState) message->getParameter();
 }
 
diff --git a/health/HealthMessage.h b/health/HealthMessage.h
index db2a7719..fb979c66 100644
--- a/health/HealthMessage.h
+++ b/health/HealthMessage.h
@@ -1,5 +1,5 @@
-#ifndef HEALTHMESSAGE_H_
-#define HEALTHMESSAGE_H_
+#ifndef FSFW_HEALTH_HEALTHMESSAGE_H_
+#define FSFW_HEALTH_HEALTHMESSAGE_H_
 
 #include "HasHealthIF.h"
 #include "../ipc/CommandMessage.h"
@@ -7,14 +7,20 @@
 class HealthMessage {
 public:
 	static const uint8_t MESSAGE_ID = messagetypes::HEALTH_COMMAND;
-	static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED
-	static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3);	//NO REPLY!
+
+	static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);
+	// No reply expected, health will be announced as event!
+	static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(2);
+	// Same as before, but all objects in health table will
+	// announce their health as events.
+	static const Command_t HEALTH_ANNOUNCE_ALL = MAKE_COMMAND_ID(3);
+
 	static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5);
 	static const Command_t REPLY_HEALTH_SET = MAKE_COMMAND_ID(6);
 
 	static void setHealthMessage(CommandMessage *message, Command_t command,
-			HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY);
-
+			HasHealthIF::HealthState health,
+			HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY);
 	static void setHealthMessage(CommandMessage *message, Command_t command);
 
 	static HasHealthIF::HealthState getHealth(const CommandMessage *message);
@@ -27,4 +33,4 @@ private:
 	HealthMessage();
 };
 
-#endif /* HEALTHMESSAGE_H_ */
+#endif /* FSFW_HEALTH_HEALTHMESSAGE_H_ */
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index 4d2564a3..6d6fe017 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -1,6 +1,7 @@
 #include "HealthTable.h"
-#include "../serialize/SerializeAdapter.h"
+#include "../ipc/MutexHelper.h"
 #include "../ipc/MutexFactory.h"
+#include "../serialize/SerializeAdapter.h"
 
 HealthTable::HealthTable(object_id_t objectid) :
 		SystemObject(objectid) {
@@ -18,74 +19,64 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
 	if (healthMap.count(object) != 0) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	healthMap.insert(
-			std::pair<object_id_t, HasHealthIF::HealthState>(object,
-					initilialState));
+	healthMap.emplace(object, initilialState);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 void HealthTable::setHealth(object_id_t object,
 		HasHealthIF::HealthState newState) {
-	mutex->lockMutex(MutexIF::BLOCKING);
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		iter->second = newState;
 	}
-	mutex->unlockMutex();
 }
 
 HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 	HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		state = iter->second;
 	}
-	mutex->unlockMutex();
 	return state;
 }
 
-uint32_t HealthTable::getPrintSize() {
-	mutex->lockMutex(MutexIF::BLOCKING);
-	uint32_t size = healthMap.size() * 5 + 2;
-	mutex->unlockMutex();
-	return size;
-}
 
 bool HealthTable::hasHealth(object_id_t object) {
-	bool exits = false;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
-		exits = true;
+		return true;
 	}
-	mutex->unlockMutex();
-	return exits;
+	return false;
+}
+
+size_t HealthTable::getPrintSize() {
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    uint32_t size = healthMap.size() * sizeof(object_id_t) +
+            sizeof(HasHealthIF::HealthState) + sizeof(uint16_t);
+    return size;
 }
 
 void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
-	mutex->lockMutex(MutexIF::BLOCKING);
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
 	size_t size = 0;
 	uint16_t count = healthMap.size();
-	ReturnValue_t result = SerializeAdapter::serialize(&count,
+	SerializeAdapter::serialize(&count,
 			&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
-	HealthMap::iterator iter;
-	for (iter = healthMap.begin();
-			iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
-			++iter) {
-		result = SerializeAdapter::serialize(&iter->first,
+	for (const auto& health: healthMap) {
+		SerializeAdapter::serialize(&health.first,
 				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
-		uint8_t health = iter->second;
-		result = SerializeAdapter::serialize(&health, &pointer, &size,
+		uint8_t healthValue = health.second;
+		SerializeAdapter::serialize(&healthValue, &pointer, &size,
 				maxSize, SerializeIF::Endianness::BIG);
 	}
-	mutex->unlockMutex();
 }
 
-ReturnValue_t HealthTable::iterate(
-		std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
+ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
 	if (reset) {
 		mapIterator = healthMap.begin();
 	}
@@ -94,7 +85,5 @@ ReturnValue_t HealthTable::iterate(
 	}
 	*value = *mapIterator;
 	mapIterator++;
-	mutex->unlockMutex();
-
 	return result;
 }
diff --git a/health/HealthTable.h b/health/HealthTable.h
index 6f5dd18d..945fb2e6 100644
--- a/health/HealthTable.h
+++ b/health/HealthTable.h
@@ -1,35 +1,42 @@
-#ifndef HEALTHTABLE_H_
-#define HEALTHTABLE_H_
+#ifndef FSFW_HEALTH_HEALTHTABLE_H_
+#define FSFW_HEALTH_HEALTHTABLE_H_
 
 #include "HealthTableIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../ipc/MutexIF.h"
 #include <map>
 
-typedef std::map<object_id_t, HasHealthIF::HealthState> HealthMap;
 
 class HealthTable: public HealthTableIF, public SystemObject {
 public:
 	HealthTable(object_id_t objectid);
 	virtual ~HealthTable();
 
-	virtual ReturnValue_t registerObject(object_id_t object,
-			HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY);
+    /** HealthTableIF overrides */
+    virtual ReturnValue_t registerObject(object_id_t object,
+            HasHealthIF::HealthState initilialState =
+            HasHealthIF::HEALTHY) override;
+    virtual size_t getPrintSize() override;
+    virtual void printAll(uint8_t *pointer, size_t maxSize) override;
 
-	virtual bool hasHealth(object_id_t object);
-	virtual void setHealth(object_id_t object, HasHealthIF::HealthState newState);
-	virtual HasHealthIF::HealthState getHealth(object_id_t);
-
-	virtual uint32_t getPrintSize();
-	virtual void printAll(uint8_t *pointer, size_t maxSize);
+	/** ManagesHealthIF overrides */
+	virtual bool hasHealth(object_id_t object) override;
+	virtual void setHealth(object_id_t object,
+	        HasHealthIF::HealthState newState) override;
+	virtual HasHealthIF::HealthState getHealth(object_id_t) override;
 
 protected:
+	using HealthMap = std::map<object_id_t, HasHealthIF::HealthState>;
+	using HealthEntry = std::pair<object_id_t, HasHealthIF::HealthState>;
+
 	MutexIF* mutex;
 	HealthMap healthMap;
 
 	HealthMap::iterator mapIterator;
 
-	virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false);
+	virtual ReturnValue_t iterate(
+	        HealthEntry* value,
+	        bool reset = false) override;
 };
 
-#endif /* HEALTHTABLE_H_ */
+#endif /* FSFW_HEALTH_HEALTHTABLE_H_ */
diff --git a/health/HealthTableIF.h b/health/HealthTableIF.h
index 404c03e4..d61e6761 100644
--- a/health/HealthTableIF.h
+++ b/health/HealthTableIF.h
@@ -1,26 +1,24 @@
-#ifndef HEALTHTABLEIF_H_
-#define HEALTHTABLEIF_H_
+#ifndef FSFW_HEALTH_HEALTHTABLEIF_H_
+#define FSFW_HEALTH_HEALTHTABLEIF_H_
 
 #include "ManagesHealthIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <map>
-
 
 class HealthTableIF: public ManagesHealthIF {
-	friend class HealthCommandingService;
 public:
-	virtual ~HealthTableIF() {
-	}
+	virtual ~HealthTableIF() {}
 
 	virtual ReturnValue_t registerObject(object_id_t object,
 			HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
 
-	virtual uint32_t getPrintSize() = 0;
+	virtual size_t getPrintSize() = 0;
 	virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
 
 protected:
-	virtual ReturnValue_t iterate(std::pair<object_id_t,HasHealthIF::HealthState> *value, bool reset = false) = 0;
+	virtual ReturnValue_t iterate(
+	        std::pair<object_id_t,HasHealthIF::HealthState> *value,
+	        bool reset = false) = 0;
 };
 
-#endif /* HEALTHTABLEIF_H_ */
+#endif /* FRAMEWORK_HEALTH_HEALTHTABLEIF_H_ */
diff --git a/health/ManagesHealthIF.h b/health/ManagesHealthIF.h
index 42d4c4f0..2edfceca 100644
--- a/health/ManagesHealthIF.h
+++ b/health/ManagesHealthIF.h
@@ -1,8 +1,9 @@
-#ifndef FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
-#define FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
+#ifndef FSFW_HEALTH_MANAGESHEALTHIF_H_
+#define FSFW_HEALTH_MANAGESHEALTHIF_H_
 
 #include "HasHealthIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
+
 class ManagesHealthIF {
 public:
 	virtual ~ManagesHealthIF() {
@@ -49,4 +50,4 @@ public:
 	}
 };
 
-#endif /* FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_ */
+#endif /* FSFW_HEALTH_MANAGESHEALTHIF_H_ */

From 6ea933492368e31217851717f9d880c033cfce17 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 29 Oct 2020 17:57:27 +0100
Subject: [PATCH 466/653] parameter updates

---
 parameters/HasParametersIF.h    | 42 ++++++++++-------
 parameters/ParameterHelper.cpp  | 80 +++++++++++++++++----------------
 parameters/ParameterMessage.cpp | 20 ++++++++-
 parameters/ParameterMessage.h   | 35 ++++++++++++++-
 parameters/ParameterWrapper.cpp | 55 ++++++++++++++++++++---
 parameters/ParameterWrapper.h   | 23 +++++++---
 6 files changed, 186 insertions(+), 69 deletions(-)

diff --git a/parameters/HasParametersIF.h b/parameters/HasParametersIF.h
index 005403fa..c4fd81b3 100644
--- a/parameters/HasParametersIF.h
+++ b/parameters/HasParametersIF.h
@@ -1,12 +1,16 @@
 #ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_
 #define FSFW_PARAMETERS_HASPARAMETERSIF_H_
 
-#include "../parameters/ParameterWrapper.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stdint.h>
+#include "ParameterWrapper.h"
+#include <cstdint>
 
-/** Each parameter is identified with a unique parameter ID */
-typedef uint32_t ParameterId_t;
+/**
+ * Each parameter is identified with a unique parameter ID
+ * The first byte of the parameter ID will denote the domain ID.
+ * The second and third byte will be the unique identifier number.
+ */
+using ParameterId_t = uint32_t;
 
 /**
  * @brief	This interface is used by components which have modifiable
@@ -19,13 +23,13 @@ typedef uint32_t ParameterId_t;
  * The second and third byte represent the matrix ID, which can represent
  * a 8-bit row and column number and the last byte...
  *
- * Yeah, it it matrix ID oder parameter ID now and is index a 16 bit number
+ * Yeah, is it matrix ID or parameter ID now and is index a 16 bit number
  * of a 8 bit number now?
  */
 class HasParametersIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_PARAMETERS_IF;
-	static const ReturnValue_t INVALID_MATRIX_ID = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t INVALID_IDENTIFIER_ID = MAKE_RETURN_CODE(0x01);
 	static const ReturnValue_t INVALID_DOMAIN_ID = MAKE_RETURN_CODE(0x02);
 	static const ReturnValue_t INVALID_VALUE = MAKE_RETURN_CODE(0x03);
 	static const ReturnValue_t READ_ONLY = MAKE_RETURN_CODE(0x05);
@@ -34,17 +38,24 @@ public:
 		return id >> 24;
 	}
 
-	static uint16_t getMatrixId(ParameterId_t id) {
-		return id >> 8;
+	static uint8_t getUniqueIdentifierId(ParameterId_t id) {
+		return id >> 16;
 	}
 
-	static uint8_t getIndex(ParameterId_t id) {
+	/**
+	 * Get the index of a parameter. Please note that the index is always a
+	 * linear index. For a vector, this is straightforward.
+	 * For a matrix, the linear indexing run from left to right, top to bottom.
+	 * @param id
+	 * @return
+	 */
+	static uint16_t getIndex(ParameterId_t id) {
 		return id;
 	}
 
-	static uint32_t getFullParameterId(uint8_t domainId, uint16_t parameterId,
-			uint8_t index) {
-		return (domainId << 24) + (parameterId << 8) + index;
+	static uint32_t getFullParameterId(uint8_t domainId,
+	        uint8_t uniqueIdentifier, uint16_t linearIndex) {
+		return (domainId << 24) + (uniqueIdentifier << 16) + linearIndex;
 	}
 
 	virtual ~HasParametersIF() {}
@@ -56,11 +67,12 @@ public:
 	 * @param parameterId
 	 * @param parameterWrapper
 	 * @param newValues
-	 * @param startAtIndex
+	 * @param startAtIndex Linear index, runs left to right, top to bottom for
+	 * matrix indexes.
 	 * @return
 	 */
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-			ParameterWrapper *parameterWrapper,
+	virtual ReturnValue_t getParameter(uint8_t domainId,
+	        uint16_t uniqueIdentifier, ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex) = 0;
 };
 
diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 659b00de..d2193b28 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -9,15 +9,20 @@ ParameterHelper::~ParameterHelper() {
 }
 
 ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
+    if(storage == nullptr) {
+        // ParameterHelper was not initialized
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
 	switch (message->getCommand()) {
 	case ParameterMessage::CMD_PARAMETER_DUMP: {
 		ParameterWrapper description;
 		uint8_t domain = HasParametersIF::getDomain(
 				ParameterMessage::getParameterId(message));
-		uint16_t parameterId = HasParametersIF::getMatrixId(
+		uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
 				ParameterMessage::getParameterId(message));
-		result = owner->getParameter(domain, parameterId,
+		result = owner->getParameter(domain, uniqueIdentifier,
 				&description, &description, 0);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			result = sendParameter(message->getSender(),
@@ -26,49 +31,48 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
 	}
 		break;
 	case ParameterMessage::CMD_PARAMETER_LOAD: {
-		uint8_t domain = HasParametersIF::getDomain(
-				ParameterMessage::getParameterId(message));
-		uint16_t parameterId = HasParametersIF::getMatrixId(
-				ParameterMessage::getParameterId(message));
-		uint8_t index = HasParametersIF::getIndex(
-				ParameterMessage::getParameterId(message));
+	    ParameterId_t parameterId = 0;
+	    uint8_t ptc = 0;
+	    uint8_t pfc = 0;
+	    uint8_t rows = 0;
+	    uint8_t columns = 0;
+	    store_address_t storeId = ParameterMessage::getParameterLoadCommand(
+	            message, &parameterId, &ptc, &pfc, &rows, &columns);
+	    Type type(Type::getActualType(ptc, pfc));
 
-		const uint8_t *storedStream = nullptr;
-		size_t storedStreamSize = 0;
-		result = storage->getData(
-				ParameterMessage::getStoreId(message), &storedStream,
-				&storedStreamSize);
+		uint8_t domain = HasParametersIF::getDomain(parameterId);
+		uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
+		        parameterId);
+		uint16_t linearIndex = HasParametersIF::getIndex(parameterId);
+
+		ConstStorageAccessor accessor(storeId);
+		result = storage->getData(storeId, accessor);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			sif::error << "ParameterHelper::handleParameterMessage: Getting"
-					" store data failed for load command." << std::endl;
+					<< " store data failed for load command." << std::endl;
 			break;
 		}
 
 		ParameterWrapper streamWrapper;
-		result = streamWrapper.set(storedStream, storedStreamSize);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			storage->deleteData(ParameterMessage::getStoreId(message));
-			break;
+		result = streamWrapper.set(type, rows, columns, accessor.data(),
+		        accessor.size());
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    return result;
 		}
 
 		ParameterWrapper ownerWrapper;
-		result = owner->getParameter(domain, parameterId, &ownerWrapper,
-				&streamWrapper, index);
+		result = owner->getParameter(domain, uniqueIdentifier, &ownerWrapper,
+				&streamWrapper, linearIndex);
+
+		result = ownerWrapper.copyFrom(&streamWrapper, linearIndex);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
-			storage->deleteData(ParameterMessage::getStoreId(message));
-			break;
+		    return result;
 		}
 
-		result = ownerWrapper.copyFrom(&streamWrapper, index);
-
-		storage->deleteData(ParameterMessage::getStoreId(message));
-
-		if (result == HasReturnvaluesIF::RETURN_OK) {
-			result = sendParameter(message->getSender(),
-					ParameterMessage::getParameterId(message), &ownerWrapper);
-		}
-	}
+        result = sendParameter(message->getSender(),
+                ParameterMessage::getParameterId(message), &ownerWrapper);
 		break;
+	}
 	default:
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
@@ -113,15 +117,13 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 }
 
 ReturnValue_t ParameterHelper::initialize() {
-	ownerQueueId = owner->getCommandQueue();
+    ownerQueueId = owner->getCommandQueue();
 
-
-	storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (storage == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	} else {
-		return HasReturnvaluesIF::RETURN_OK;
-	}
+    storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+    if (storage == nullptr) {
+        return ObjectManagerIF::CHILD_INIT_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
diff --git a/parameters/ParameterMessage.cpp b/parameters/ParameterMessage.cpp
index e9f3191f..af1f9ce8 100644
--- a/parameters/ParameterMessage.cpp
+++ b/parameters/ParameterMessage.cpp
@@ -25,10 +25,26 @@ void ParameterMessage::setParameterDumpReply(CommandMessage* message,
 }
 
 void ParameterMessage::setParameterLoadCommand(CommandMessage* message,
-		ParameterId_t id, store_address_t storageID) {
+		ParameterId_t id, store_address_t storeId, uint8_t ptc, uint8_t pfc,
+		uint8_t rows = 1, uint8_t columns = 1) {
 	message->setCommand(CMD_PARAMETER_LOAD);
 	message->setParameter(id);
-	message->setParameter2(storageID.raw);
+	message->setParameter2(storeId.raw);
+	uint32_t packedParameterSettings = (ptc << 24) | (pfc << 16) |
+	        (rows << 8) | columns;
+	message->setParameter3(packedParameterSettings);
+}
+
+store_address_t ParameterMessage::getParameterLoadCommand(
+        const CommandMessage *message, ParameterId_t* parameterId, uint8_t *ptc,
+        uint8_t *pfc, uint8_t *rows, uint8_t *columns) {
+    *parameterId = message->getParameter2();
+    uint32_t packedParamSettings = message->getParameter3();
+    *ptc = packedParamSettings >> 24 & 0xff;
+    *pfc = packedParamSettings >> 16 & 0xff;
+    *rows = packedParamSettings >> 8 & 0xff;
+    *columns = packedParamSettings & 0xff;
+    return message->getParameter2();
 }
 
 void ParameterMessage::clear(CommandMessage* message) {
diff --git a/parameters/ParameterMessage.h b/parameters/ParameterMessage.h
index 31d7fe0b..fd4481ee 100644
--- a/parameters/ParameterMessage.h
+++ b/parameters/ParameterMessage.h
@@ -5,6 +5,20 @@
 #include "../ipc/CommandMessage.h"
 #include "../storagemanager/StorageManagerIF.h"
 
+/**
+ * @brief   ParameterMessage interface
+ * @details
+ * General structure of a parameter message:
+ *  1. 4-byte Object ID
+ *  2. 4-byte Parameter ID, first byte is Domain ID, second byte is unique
+ *     identifier, third and fourth byte is linear index to start from
+ *  3. 4-byte Parameter Settings. First byte and second byte are the PTC and PFC
+ *     ECSS type identifiers (see ECSS-E-ST-70-41C15 p.428 or Type class in
+ *     globalfunctions). Third byte is the number of rows and fourth byte
+ *     is the number of columns. For single variable parameters, this will
+ *     be [1, 1].
+ *
+ */
 class ParameterMessage {
 private:
 	ParameterMessage();
@@ -20,8 +34,27 @@ public:
 			ParameterId_t id);
 	static void setParameterDumpReply(CommandMessage* message,
 			ParameterId_t id,  store_address_t storageID);
+
+	/**
+	 * Command to set a load parameter message. The CCSDS / ECSS type in
+	 * form of a PTC and a PFC is expected. See ECSS-E-ST-70-41C15 p.428
+	 * for all types or the Type class in globalfunctions.
+	 * @param message
+	 * @param id
+	 * @param storeId
+	 * @param ptc Type information according to CCSDS/ECSS standards
+	 * @param pfc Type information according to CCSDS/ECSS standards
+	 * @param rows Set number of rows in parameter set, minimum one.
+	 * @param columns Set number of columns in parameter set, minimum one
+	 */
 	static void setParameterLoadCommand(CommandMessage* message,
-			ParameterId_t id, store_address_t storageID);
+	        ParameterId_t id, store_address_t storeId, uint8_t ptc,
+	        uint8_t pfc, uint8_t rows, uint8_t columns);
+
+	static store_address_t getParameterLoadCommand(
+	        const CommandMessage* message, ParameterId_t* parameterId,
+	        uint8_t* ptc, uint8_t* pfc, uint8_t* rows, uint8_t* columns) ;
+
 	static void clear(CommandMessage* message);
 
 };
diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index 6adc6857..23955516 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -115,7 +115,7 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 		uint8_t fromColumns) {
 
 	//treat from as a continuous Stream as we copy all of it
-	const uint8_t *fromAsStream = (const uint8_t*) from;
+	const uint8_t *fromAsStream = reinterpret_cast<const uint8_t*>(from);
 	size_t streamSize = fromRows * fromColumns * sizeof(T);
 
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
@@ -123,8 +123,8 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 	for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
 
 		//get the start element of this row in data
-		T *dataWithDataType = ((T*) data)
-				+ (((startingRow + fromRow) * columns) + startingColumn);
+	    uint16_t offset = (((startingRow + fromRow) * columns) + startingColumn);
+		T *dataWithDataType = static_cast<T*>(data) + offset;
 
 		for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
 			result = SerializeAdapter::deSerialize(
@@ -159,6 +159,23 @@ ReturnValue_t ParameterWrapper::deSerialize(const uint8_t **buffer,
 	return copyFrom(&streamDescription, startWritingAtIndex);
 }
 
+ReturnValue_t ParameterWrapper::set(Type type, uint8_t rows, uint8_t columns,
+        const void *data, size_t dataSize) {
+    this->type = type;
+    this->rows = rows;
+    this->columns = columns;
+
+    size_t expectedSize = type.getSize() * rows * columns;
+    if (expectedSize < dataSize) {
+        return SerializeIF::STREAM_TOO_SHORT;
+    }
+
+    this->data = nullptr;
+    this->readonlyData = data;
+    pointsToStream = true;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
 		const uint8_t **remainingStream, size_t *remainingSize) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&type, &stream,
@@ -202,11 +219,13 @@ ReturnValue_t ParameterWrapper::set(const uint8_t *stream, size_t streamSize,
 
 ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 		uint16_t startWritingAtIndex) {
-	if (data == NULL) {
+    // TODO: Optional diagnostic output (which can be disabled in FSFWConfig)
+    // to determined faulty implementations and configuration errors quickly.
+	if (data == nullptr) {
 		return READONLY;
 	}
 
-	if (from->readonlyData == NULL) {
+	if (from->readonlyData == nullptr) {
 		return SOURCE_NOT_SET;
 	}
 
@@ -214,9 +233,16 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 		return DATATYPE_MISSMATCH;
 	}
 
+	// The smallest allowed value for rows and columns is one.
+	if(rows == 0 or columns == 0) {
+	    return COLUMN_OR_ROWS_ZERO;
+	}
+
 	//check if from fits into this
-	uint8_t startingRow = startWritingAtIndex / columns;
-	uint8_t startingColumn = startWritingAtIndex % columns;
+	uint8_t startingRow = 0;
+	uint8_t startingColumn = 0;
+	ParameterWrapper::convertLinearIndexToRowAndColumn(startWritingAtIndex,
+	        &startingRow, &startingColumn);
 
 	if ((from->rows > (rows - startingRow))
 			|| (from->columns > (columns - startingColumn))) {
@@ -279,3 +305,18 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 
 	return result;
 }
+
+void ParameterWrapper::convertLinearIndexToRowAndColumn(uint16_t index,
+        uint8_t *row, uint8_t *column) {
+    if(row == nullptr or column == nullptr) {
+        return;
+    }
+    // Integer division.
+    *row = index / columns;
+    *column = index % columns;
+}
+
+uint16_t ParameterWrapper::convertRowAndColumnToLinearIndex(uint8_t row,
+        uint8_t column) {
+    return row * columns + column;
+}
diff --git a/parameters/ParameterWrapper.h b/parameters/ParameterWrapper.h
index f07205d4..168a535f 100644
--- a/parameters/ParameterWrapper.h
+++ b/parameters/ParameterWrapper.h
@@ -22,6 +22,7 @@ public:
 	static const ReturnValue_t SOURCE_NOT_SET = MAKE_RETURN_CODE(0x05);
 	static const ReturnValue_t OUT_OF_BOUNDS = MAKE_RETURN_CODE(0x06);
 	static const ReturnValue_t NOT_SET = MAKE_RETURN_CODE(0x07);
+	static const ReturnValue_t COLUMN_OR_ROWS_ZERO = MAKE_RETURN_CODE(0x08);
 
 	ParameterWrapper();
 	ParameterWrapper(Type type, uint8_t rows, uint8_t columns, void *data);
@@ -68,7 +69,7 @@ public:
 
 	template<typename T>
 	void set(const T *readonlyData, uint8_t rows, uint8_t columns) {
-		this->data = NULL;
+		this->data = nullptr;
 		this->readonlyData = readonlyData;
 		this->type = PodTypeConversion<T>::type;
 		this->rows = rows;
@@ -97,14 +98,19 @@ public:
 	}
 	template<typename T>
 	void setMatrix(T& member) {
-		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
+		this->set(member[0], sizeof(member)/sizeof(member[0]),
+		        sizeof(member[0])/sizeof(member[0][0]));
 	}
 
 	template<typename T>
 	void setMatrix(const T& member) {
-		this->set(member[0], sizeof(member)/sizeof(member[0]), sizeof(member[0])/sizeof(member[0][0]));
+		this->set(member[0], sizeof(member)/sizeof(member[0]),
+		        sizeof(member[0])/sizeof(member[0][0]));
 	}
 
+	ReturnValue_t set(Type type, uint8_t rows, uint8_t columns,
+	        const void *data, size_t dataSize);
+
 	ReturnValue_t set(const uint8_t *stream, size_t streamSize,
 			const uint8_t **remainingStream = nullptr,
 			size_t *remainingSize = nullptr);
@@ -113,6 +119,13 @@ public:
 			uint16_t startWritingAtIndex);
 
 private:
+
+    void convertLinearIndexToRowAndColumn(uint16_t index,
+            uint8_t *row, uint8_t *column);
+
+    uint16_t convertRowAndColumnToLinearIndex(uint8_t row,
+            uint8_t column);
+
 	bool pointsToStream = false;
 
 	Type type;
@@ -148,9 +161,9 @@ inline ReturnValue_t ParameterWrapper::getElement(T *value, uint8_t row,
 	if (pointsToStream) {
 		const uint8_t *streamWithType = static_cast<const uint8_t*>(readonlyData);
 		streamWithType += (row * columns + column) * type.getSize();
-		int32_t size = type.getSize();
+		size_t size = type.getSize();
 		return SerializeAdapter::deSerialize(value, &streamWithType,
-				&size, true);
+				&size, SerializeIF::Endianness::BIG);
 	}
 	else {
 		const T *dataWithType = static_cast<const T*>(readonlyData);

From a5cf510ae9d90b79499e0355861adbb49eaf7191 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 30 Oct 2020 13:31:07 +0100
Subject: [PATCH 467/653] host osal fixes

---
 osal/host/QueueFactory.cpp |  7 ++++++-
 timemanager/CCSDSTime.cpp  | 19 +++++++++++--------
 2 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/osal/host/QueueFactory.cpp b/osal/host/QueueFactory.cpp
index da3fea55..1a679c96 100644
--- a/osal/host/QueueFactory.cpp
+++ b/osal/host/QueueFactory.cpp
@@ -1,6 +1,11 @@
+
+#include "MessageQueue.h"
+
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../ipc/MessageQueueMessageIF.h"
 #include "../../ipc/QueueFactory.h"
-#include "../../osal/host/MessageQueue.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
+
 #include <cstring>
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;
diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index f99f8fbb..f137e030 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -1,8 +1,9 @@
-#include "../timemanager/CCSDSTime.h"
+#include "CCSDSTime.h"
+
 #include <cstdio>
 #include <cinttypes>
 #include <cmath>
-
+#include <FSFWConfig.h>
 
 CCSDSTime::CCSDSTime() {
 }
@@ -158,15 +159,16 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	}
 // Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README
 // Suggestion: use uint16 all the time. This should work on all systems.
-#ifdef NEWLIB_NANO_NO_C99_IO
+#if FSFW_NO_C99_IO == 1
 	uint16_t year;
 	uint16_t month;
 	uint16_t day;
 	uint16_t hour;
 	uint16_t minute;
 	float second;
-	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year,
-				&month, &day, &hour, &minute, &second);
+	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%"
+	        "2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &month, &day, &hour,
+	        &minute, &second);
 	if (count == 6) {
 		to->year = year;
 		to->month = month;
@@ -179,12 +181,13 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	}
 
 	// try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &day,
-			&hour, &minute, &second);
+	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%"
+	        "2" SCNu16 ":%fZ", &year, &day, &hour, &minute, &second);
 	if (count == 5) {
 		uint8_t tempDay;
 		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year,
-				reinterpret_cast<uint8_t *>(&month), reinterpret_cast<uint8_t *>(&tempDay));
+				reinterpret_cast<uint8_t *>(&month),
+				reinterpret_cast<uint8_t *>(&tempDay));
 		if (result != RETURN_OK) {
 			return RETURN_FAILED;
 		}

From 82a2f3ec617df97d04761e7788866759a7ac5203 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 30 Oct 2020 14:21:31 +0100
Subject: [PATCH 468/653] testcfg fix

---
 unittest/testcfg/Makefile-FSFW-Tests      | 2 +-
 unittest/testcfg/cdatapool/dataPoolInit.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/unittest/testcfg/Makefile-FSFW-Tests b/unittest/testcfg/Makefile-FSFW-Tests
index d43a6edc..2017d2bd 100644
--- a/unittest/testcfg/Makefile-FSFW-Tests
+++ b/unittest/testcfg/Makefile-FSFW-Tests
@@ -1,5 +1,5 @@
 #-------------------------------------------------------------------------------
-# Makefile  for FSFW Test
+# Makefile for FSFW Test
 #-------------------------------------------------------------------------------
 #		User-modifiable options
 #-------------------------------------------------------------------------------
diff --git a/unittest/testcfg/cdatapool/dataPoolInit.h b/unittest/testcfg/cdatapool/dataPoolInit.h
index 23a3d01f..9425d767 100644
--- a/unittest/testcfg/cdatapool/dataPoolInit.h
+++ b/unittest/testcfg/cdatapool/dataPoolInit.h
@@ -1,7 +1,7 @@
 #ifndef HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
 #define HOSTED_CONFIG_CDATAPOOL_DATAPOOLINIT_H_
 
-#include <fsfw/datapoolglob/GlobalDataPool.h>
+#include <fsfw/datapool/DataPool.h>
 #include <fsfw/datapool/PoolEntryIF.h>
 #include <map>
 #include <cstdint>

From 5d0f96c3a14023dc9b714d0a75fdad8a91e77477 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 30 Oct 2020 14:42:42 +0100
Subject: [PATCH 469/653] reamde update

---
 unittest/README.md | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/unittest/README.md b/unittest/README.md
index e628d43e..8a787c07 100644
--- a/unittest/README.md
+++ b/unittest/README.md
@@ -7,6 +7,16 @@ The makefile with default settings creates the unit test binary which can be
 run in the terminal or in eclipse.
 
 ### Instructions
+
+To run the fsfw unittests in the project, perform following steps:
+
+1. Copy the testcfg folder  the project root (folder containing the FSFW).
+2. There is a makefile inside the testcfg folder which can be used to have 
+   a starting point to compile the unit tests. Copy that Makefile to the project
+   root
+3. Create a folder named catch2 (can have other name which requires Makefile 
+   adaption) and copy the Catch2 header files there (NOTE: CMake support
+   not enabled yet!)
    
 ### Eclipse CDT settings
 

From 508f31a359bd7cb5652f5e260bcd7ead6cb78e9a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 2 Nov 2020 14:19:56 +0100
Subject: [PATCH 470/653] adaptions so it compiles

---
 devicehandlers/DeviceHandlerIF.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 52a3be4d..10907a89 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -18,6 +18,8 @@ public:
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
+	static constexpr Command_t NO_COMMAND = 0xffffffff;
+
 	/**
 	 * @brief This is the mode the <strong>device handler</strong> is in.
 	 *

From 963c333365206a8c61233b742c78935b8f49c684 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 2 Nov 2020 14:45:10 +0100
Subject: [PATCH 471/653] cast added

---
 returnvalues/HasReturnvaluesIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/returnvalues/HasReturnvaluesIF.h b/returnvalues/HasReturnvaluesIF.h
index a39ac742..4a3835b6 100644
--- a/returnvalues/HasReturnvaluesIF.h
+++ b/returnvalues/HasReturnvaluesIF.h
@@ -24,7 +24,7 @@ public:
 	 */
 	static constexpr ReturnValue_t makeReturnCode(uint8_t interfaceId,
 			uint8_t number) {
-	    return (interfaceId << 8) + number;
+	    return (static_cast<ReturnValue_t>(interfaceId) << 8) + number;
 	}
 };
 

From 77fd2cb871dcedec159bf1ae6b7014362c26814f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 2 Nov 2020 14:53:44 +0100
Subject: [PATCH 472/653] mission timestmap size is uint8 now

---
 defaultcfg/config/FSFWConfig.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/defaultcfg/config/FSFWConfig.h b/defaultcfg/config/FSFWConfig.h
index ea724a64..ea86152c 100644
--- a/defaultcfg/config/FSFWConfig.h
+++ b/defaultcfg/config/FSFWConfig.h
@@ -12,10 +12,6 @@
 //! Be careful, this also turns off most diagnostic prinouts!
 #define FSFW_REDUCED_PRINTOUT		0
 
-//! Default timestamp size. The default timestamp will be an eight byte CDC
-//! short timestamp.
-#define FSFW_MISSION_TIMESTAMP_SIZE 8
-
 //! Can be used to enable debugging printouts for developing the FSFW
 #define FSFW_DEBUGGING              0
 
@@ -45,6 +41,10 @@
 #define FSFW_NO_C99_IO 	1
 
 namespace fsfwconfig {
+//! Default timestamp size. The default timestamp will be an eight byte CDC
+//! short timestamp.
+static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
+
 //! Configure the allocated pool sizes for the event manager.
 static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
 static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;

From a7bc69b0ac512b00a5c96f0d1116243344de3084 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 2 Nov 2020 15:00:01 +0100
Subject: [PATCH 473/653] health table update

---
 health/HealthTable.cpp | 19 ++++++++++++-------
 health/HealthTable.h   |  5 +++++
 2 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index 6d6fe017..2b8b6712 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -10,6 +10,12 @@ HealthTable::HealthTable(object_id_t objectid) :
 	mapIterator = healthMap.begin();
 }
 
+void HealthTable::setMutexTimeout(MutexIF::TimeoutType timeoutType,
+		uint32_t timeoutMs) {
+	this->timeoutType = timeoutType;
+	this->mutexTimeoutMs = timeoutMs;
+}
+
 HealthTable::~HealthTable() {
 	MutexFactory::instance()->deleteMutex(mutex);
 }
@@ -25,7 +31,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
 
 void HealthTable::setHealth(object_id_t object,
 		HasHealthIF::HealthState newState) {
-    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		iter->second = newState;
@@ -34,7 +40,7 @@ void HealthTable::setHealth(object_id_t object,
 
 HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 	HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
-	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		state = iter->second;
@@ -42,9 +48,8 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 	return state;
 }
 
-
 bool HealthTable::hasHealth(object_id_t object) {
-	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		return true;
@@ -53,14 +58,14 @@ bool HealthTable::hasHealth(object_id_t object) {
 }
 
 size_t HealthTable::getPrintSize() {
-    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
     uint32_t size = healthMap.size() * sizeof(object_id_t) +
             sizeof(HasHealthIF::HealthState) + sizeof(uint16_t);
     return size;
 }
 
 void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
-    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    MutexHelper(mutex, timeoutType, mutexTimeoutMs);
 	size_t size = 0;
 	uint16_t count = healthMap.size();
 	SerializeAdapter::serialize(&count,
@@ -76,7 +81,7 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
 
 ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+	MutexHelper(mutex, timeoutType, mutexTimeoutMs);
 	if (reset) {
 		mapIterator = healthMap.begin();
 	}
diff --git a/health/HealthTable.h b/health/HealthTable.h
index 945fb2e6..cea34f68 100644
--- a/health/HealthTable.h
+++ b/health/HealthTable.h
@@ -12,6 +12,8 @@ public:
 	HealthTable(object_id_t objectid);
 	virtual ~HealthTable();
 
+	void setMutexTimeout(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
+
     /** HealthTableIF overrides */
     virtual ReturnValue_t registerObject(object_id_t object,
             HasHealthIF::HealthState initilialState =
@@ -30,6 +32,9 @@ protected:
 	using HealthEntry = std::pair<object_id_t, HasHealthIF::HealthState>;
 
 	MutexIF* mutex;
+	MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+	uint32_t mutexTimeoutMs = 20;
+
 	HealthMap healthMap;
 
 	HealthMap::iterator mapIterator;

From 2f993cf39a91bce9cbebc3845476578ba39727e5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 2 Nov 2020 15:51:52 +0100
Subject: [PATCH 474/653] some minor form stuff

---
 action/ActionHelper.cpp    |  1 +
 action/ActionMessage.h     | 18 +++++++++++-------
 action/CommandsActionsIF.h | 15 +++++++++------
 3 files changed, 21 insertions(+), 13 deletions(-)

diff --git a/action/ActionHelper.cpp b/action/ActionHelper.cpp
index 0d3baa88..28557916 100644
--- a/action/ActionHelper.cpp
+++ b/action/ActionHelper.cpp
@@ -1,5 +1,6 @@
 #include "ActionHelper.h"
 #include "HasActionsIF.h"
+
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
diff --git a/action/ActionMessage.h b/action/ActionMessage.h
index 0a718aab..7a859de0 100644
--- a/action/ActionMessage.h
+++ b/action/ActionMessage.h
@@ -1,5 +1,5 @@
-#ifndef ACTIONMESSAGE_H_
-#define ACTIONMESSAGE_H_
+#ifndef FSFW_ACTION_ACTIONMESSAGE_H_
+#define FSFW_ACTION_ACTIONMESSAGE_H_
 
 #include "../ipc/CommandMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -18,15 +18,19 @@ public:
 	static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
 	static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
 	virtual ~ActionMessage();
-	static void setCommand(CommandMessage* message, ActionId_t fid, store_address_t parameters);
+	static void setCommand(CommandMessage* message, ActionId_t fid,
+			store_address_t parameters);
 	static ActionId_t getActionId(const CommandMessage* message );
 	static store_address_t getStoreId(const CommandMessage* message );
-	static void setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	static void setStepReply(CommandMessage* message, ActionId_t fid,
+			uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	static uint8_t getStep(const CommandMessage* message );
 	static ReturnValue_t getReturnCode(const CommandMessage* message );
-	static void setDataReply(CommandMessage* message, ActionId_t actionId, store_address_t data);
-	static void setCompletionReply(CommandMessage* message, ActionId_t fid, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	static void setDataReply(CommandMessage* message, ActionId_t actionId,
+			store_address_t data);
+	static void setCompletionReply(CommandMessage* message, ActionId_t fid,
+			ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	static void clear(CommandMessage* message);
 };
 
-#endif /* ACTIONMESSAGE_H_ */
+#endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */
diff --git a/action/CommandsActionsIF.h b/action/CommandsActionsIF.h
index 3d04015d..491bfc70 100644
--- a/action/CommandsActionsIF.h
+++ b/action/CommandsActionsIF.h
@@ -1,5 +1,5 @@
-#ifndef COMMANDSACTIONSIF_H_
-#define COMMANDSACTIONSIF_H_
+#ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
+#define FSFW_ACTION_COMMANDSACTIONSIF_H_
 
 #include "CommandActionHelper.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -24,11 +24,14 @@ public:
 	virtual MessageQueueIF* getCommandQueuePtr() = 0;
 protected:
 	virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
-	virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) = 0;
-	virtual void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) = 0;
+	virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
+			ReturnValue_t returnCode) = 0;
+	virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
+			uint32_t size) = 0;
 	virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
-	virtual void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) = 0;
+	virtual void completionFailedReceived(ActionId_t actionId,
+			ReturnValue_t returnCode) = 0;
 };
 
 
-#endif /* COMMANDSACTIONSIF_H_ */
+#endif /* FSFW_ACTION_COMMANDSACTIONSIF_H_ */

From 7d83767c2b408a05c95424f818457d0e57060eeb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 2 Nov 2020 16:45:19 +0100
Subject: [PATCH 475/653] include added

---
 fsfw.mk | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/fsfw.mk b/fsfw.mk
index 3639717b..f2cdd7ab 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -70,3 +70,5 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
+
+INCLUDES += $(CURRENTPATH)

From 3067259a9b266fed39e8333fd9a29439718b68e0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 2 Nov 2020 17:19:24 +0100
Subject: [PATCH 476/653] include added

---
 fsfw.mk | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/fsfw.mk b/fsfw.mk
index 3639717b..f2cdd7ab 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -70,3 +70,5 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
+
+INCLUDES += $(CURRENTPATH)

From cc51d9ace922fa0a0d141345a6de33ae84cd97f6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 2 Nov 2020 17:21:25 +0100
Subject: [PATCH 477/653] small fix so that it compiles

---
 devicehandlers/DeviceHandlerIF.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 52a3be4d..10c9b89a 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -18,6 +18,8 @@ public:
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
+	static constexpr DeviceCommandId_t NO_COMMAND = 0xffffffff;
+
 	/**
 	 * @brief This is the mode the <strong>device handler</strong> is in.
 	 *

From 7ffce219d5f86df29fe3348cdeb703419ba32acd Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 7 Nov 2020 14:32:28 +0100
Subject: [PATCH 478/653] hosted build fix

---
 events/EventManager.cpp | 4 ++--
 events/EventManager.h   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index f60a8a66..d171b591 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -42,7 +42,7 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 		EventMessage message;
 		result = eventReportQueue->receiveMessage(&message);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
-#ifdef DEBUG
+#if FSFW_DEBUG_OUTPUT == 1
 			printEvent(&message);
 #endif
 			notifyListeners(&message);
@@ -113,7 +113,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 	return result;
 }
 
-#ifdef DEBUG
+#if FSFW_DEBUG_OUTPUT == 1
 
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
diff --git a/events/EventManager.h b/events/EventManager.h
index 2602aeb2..5e1a8153 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -55,7 +55,7 @@ protected:
 
 	void notifyListeners(EventMessage *message);
 
-#ifdef DEBUG
+#if FSFW_DEBUG_OUTPUT == 1
 	void printEvent(EventMessage *message);
 #endif
 

From 113397c6c6ae4c46341f4880710e4e4d9b6e7630 Mon Sep 17 00:00:00 2001
From: "Jakob.Meier" <meierj@irs.uni-stuttgart.de>
Date: Sat, 7 Nov 2020 20:30:42 +0100
Subject: [PATCH 479/653] udp bridge for embedded linux

---
 osal/linux/TcUnixUdpPollingTask.cpp |  6 +++---
 osal/linux/TmTcUnixUdpBridge.cpp    | 22 +++++++++++++++-------
 osal/linux/TmTcUnixUdpBridge.h      |  5 ++++-
 3 files changed, 22 insertions(+), 11 deletions(-)

diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index 670ba804..7df56a95 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -33,7 +33,7 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 	while(1) {
 		//! Sender Address is cached here.
 		struct sockaddr_in senderAddress;
-		socklen_t senderSockLen = 0;
+		socklen_t senderSockLen = sizeof(senderAddress);
 		ssize_t bytesReceived = recvfrom(serverUdpSocket,
 				receptionBuffer.data(), frameSize, receptionFlags,
 				reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
@@ -45,8 +45,8 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 
 			continue;
 		}
-//		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
-//				<< " bytes received" << std::endl;
+		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
+				<< " bytes received" << std::endl;
 
 		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
 		if(result != HasReturnvaluesIF::RETURN_FAILED) {
diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index b55291b3..71a39384 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -65,13 +65,17 @@ TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
 ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	int flags = 0;
 
-	clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
-	//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
-	clientAddressLen = sizeof(serverAddress);
+	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
 
-//	char ipAddress [15];
-//	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-//					&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+	if(ipAddrAnySet){
+		clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
+		//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
+		clientAddressLen = sizeof(serverAddress);
+	}
+
+	char ipAddress [15];
+	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+					&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 
 	ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
 			reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
@@ -85,7 +89,7 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
+void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in& newAddress) {
 	MutexHelper lock(mutex, MutexIF::TimeoutType::WAITING, 10);
 
 //	char ipAddress [15];
@@ -168,3 +172,7 @@ void TmTcUnixUdpBridge::handleSendError() {
 	}
 }
 
+void TmTcUnixUdpBridge::setClientAddressToAny(bool ipAddrAnySet){
+	this->ipAddrAnySet = ipAddrAnySet;
+}
+
diff --git a/osal/linux/TmTcUnixUdpBridge.h b/osal/linux/TmTcUnixUdpBridge.h
index 5245c44c..ae6f6adc 100644
--- a/osal/linux/TmTcUnixUdpBridge.h
+++ b/osal/linux/TmTcUnixUdpBridge.h
@@ -20,8 +20,9 @@ public:
 			uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
 	virtual~ TmTcUnixUdpBridge();
 
-	void checkAndSetClientAddress(sockaddr_in clientAddress);
+	void checkAndSetClientAddress(sockaddr_in& clientAddress);
 
+	void setClientAddressToAny(bool ipAddrAnySet);
 protected:
 	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
 
@@ -36,6 +37,8 @@ private:
 	struct sockaddr_in serverAddress;
 	socklen_t serverAddressLen = 0;
 
+	bool ipAddrAnySet = false;
+
 	//! Access to the client address is mutex protected as it is set
 	//! by another task.
 	MutexIF* mutex;

From 83568e11d11e66f023ede3b7701df884c2129317 Mon Sep 17 00:00:00 2001
From: "Jakob.Meier" <meierj@irs.uni-stuttgart.de>
Date: Sat, 7 Nov 2020 20:37:48 +0100
Subject: [PATCH 480/653] removed unwanted changes

---
 devicehandlers/DeviceHandlerIF.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 10c9b89a..52a3be4d 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -18,8 +18,6 @@ public:
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
-	static constexpr DeviceCommandId_t NO_COMMAND = 0xffffffff;
-
 	/**
 	 * @brief This is the mode the <strong>device handler</strong> is in.
 	 *

From 210d2de11e25bc2d521687aef35cf5f764df08ce Mon Sep 17 00:00:00 2001
From: "Jakob.Meier" <meierj@irs.uni-stuttgart.de>
Date: Sat, 7 Nov 2020 20:40:01 +0100
Subject: [PATCH 481/653] fetched fsfw.mk from upstream master

---
 fsfw.mk | 15 ---------------
 1 file changed, 15 deletions(-)

diff --git a/fsfw.mk b/fsfw.mk
index f2cdd7ab..c2c6e747 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -28,25 +28,12 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
 # select the OS
 ifeq ($(OS_FSFW),rtems)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
-
 else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
-
 else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
-
 else ifeq ($(OS_FSFW),host)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
-ifeq ($(OS),Windows_NT)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp)
-else
-# For now, the linux UDP bridge sources needs to be included manually by upper makefile
-# for host OS because we can't be sure the OS is linux.
-# Following lines can be used to do this:
-# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
-# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
-endif
-
 else
 $(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif
@@ -70,5 +57,3 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
-
-INCLUDES += $(CURRENTPATH)

From 3eefcd3a2d52b7420c33dd34bc334093a37c3b03 Mon Sep 17 00:00:00 2001
From: "Jakob.Meier" <meierj@irs.uni-stuttgart.de>
Date: Sat, 7 Nov 2020 20:45:00 +0100
Subject: [PATCH 482/653] fsfw.mk adjusted to upstream  master

---
 fsfw.mk | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/fsfw.mk b/fsfw.mk
index c2c6e747..3639717b 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -28,12 +28,25 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
 # select the OS
 ifeq ($(OS_FSFW),rtems)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
+
 else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
+
 else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+
 else ifeq ($(OS_FSFW),host)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
+ifeq ($(OS),Windows_NT)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/windows/*.cpp)
+else
+# For now, the linux UDP bridge sources needs to be included manually by upper makefile
+# for host OS because we can't be sure the OS is linux.
+# Following lines can be used to do this:
+# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
+# CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
+endif
+
 else
 $(error invalid OS_FSFW specified, valid OS_FSFW are rtems, linux, freeRTOS, host)
 endif

From bc81b5893c93cd6a68361bb2f1235220edc055da Mon Sep 17 00:00:00 2001
From: "Jakob.Meier" <meierj@irs.uni-stuttgart.de>
Date: Mon, 9 Nov 2020 17:34:53 +0100
Subject: [PATCH 483/653] removed debug output

---
 osal/linux/TmTcUnixUdpBridge.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/osal/linux/TmTcUnixUdpBridge.cpp b/osal/linux/TmTcUnixUdpBridge.cpp
index 71a39384..ab28623e 100644
--- a/osal/linux/TmTcUnixUdpBridge.cpp
+++ b/osal/linux/TmTcUnixUdpBridge.cpp
@@ -73,9 +73,9 @@ ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 		clientAddressLen = sizeof(serverAddress);
 	}
 
-	char ipAddress [15];
-	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
-					&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+//	char ipAddress [15];
+//	sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
+//					&clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 
 	ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
 			reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);

From 37fc22a11785d6363954169ba6bae3d40a4be493 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 9 Nov 2020 21:21:56 +0100
Subject: [PATCH 484/653] config folder renamed and improved

---
 .../{config => fsfwconfig}/FSFWConfig.h       |   1 +
 .../{config => fsfwconfig}/OBSWConfig.h       |   0
 .../{config => fsfwconfig}/OBSWVersion.h      |   0
 .../devices/logicalAddresses.cpp              |   0
 .../devices/logicalAddresses.h                |   2 +-
 .../devices/powerSwitcherList.cpp             |   0
 .../devices/powerSwitcherList.h               |   0
 .../events/subsystemIdRanges.h                |   0
 .../config.mk => fsfwconfig/fsfwconfig.mk}    |   0
 .../ipc/missionMessageTypes.cpp               |   3 +-
 .../ipc/missionMessageTypes.h                 |   0
 .../objects/Factory.cpp                       |  14 +-
 .../{config => fsfwconfig}/objects/Factory.h  |   0
 .../objects/systemObjectList.h                |   0
 .../fsfwconfig/objects/translateObjects.cpp   | 271 ++++++++++++++++++
 .../fsfwconfig/objects/translateObjects.h     |   9 +
 .../PollingSequenceFactory.cpp                |   0
 .../pollingsequence/PollingSequenceFactory.h  |   0
 .../returnvalues/classIds.h                   |   0
 defaultcfg/{config => fsfwconfig}/tmtc/apid.h |   0
 .../{config => fsfwconfig}/tmtc/pusIds.h      |   0
 21 files changed, 291 insertions(+), 9 deletions(-)
 rename defaultcfg/{config => fsfwconfig}/FSFWConfig.h (98%)
 rename defaultcfg/{config => fsfwconfig}/OBSWConfig.h (100%)
 rename defaultcfg/{config => fsfwconfig}/OBSWVersion.h (100%)
 rename defaultcfg/{config => fsfwconfig}/devices/logicalAddresses.cpp (100%)
 rename defaultcfg/{config => fsfwconfig}/devices/logicalAddresses.h (89%)
 rename defaultcfg/{config => fsfwconfig}/devices/powerSwitcherList.cpp (100%)
 rename defaultcfg/{config => fsfwconfig}/devices/powerSwitcherList.h (100%)
 rename defaultcfg/{config => fsfwconfig}/events/subsystemIdRanges.h (100%)
 rename defaultcfg/{config/config.mk => fsfwconfig/fsfwconfig.mk} (100%)
 rename defaultcfg/{config => fsfwconfig}/ipc/missionMessageTypes.cpp (79%)
 rename defaultcfg/{config => fsfwconfig}/ipc/missionMessageTypes.h (100%)
 rename defaultcfg/{config => fsfwconfig}/objects/Factory.cpp (75%)
 rename defaultcfg/{config => fsfwconfig}/objects/Factory.h (100%)
 rename defaultcfg/{config => fsfwconfig}/objects/systemObjectList.h (100%)
 create mode 100644 defaultcfg/fsfwconfig/objects/translateObjects.cpp
 create mode 100644 defaultcfg/fsfwconfig/objects/translateObjects.h
 rename defaultcfg/{config => fsfwconfig}/pollingsequence/PollingSequenceFactory.cpp (100%)
 rename defaultcfg/{config => fsfwconfig}/pollingsequence/PollingSequenceFactory.h (100%)
 rename defaultcfg/{config => fsfwconfig}/returnvalues/classIds.h (100%)
 rename defaultcfg/{config => fsfwconfig}/tmtc/apid.h (100%)
 rename defaultcfg/{config => fsfwconfig}/tmtc/pusIds.h (100%)

diff --git a/defaultcfg/config/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
similarity index 98%
rename from defaultcfg/config/FSFWConfig.h
rename to defaultcfg/fsfwconfig/FSFWConfig.h
index ea86152c..be3717b4 100644
--- a/defaultcfg/config/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -3,6 +3,7 @@
 
 #include <FSFWVersion.h>
 #include <cstddef>
+#include <cstdint>
 
 //! Used to determine whether C++ ostreams are used
 //! Those can lead to code bloat.
diff --git a/defaultcfg/config/OBSWConfig.h b/defaultcfg/fsfwconfig/OBSWConfig.h
similarity index 100%
rename from defaultcfg/config/OBSWConfig.h
rename to defaultcfg/fsfwconfig/OBSWConfig.h
diff --git a/defaultcfg/config/OBSWVersion.h b/defaultcfg/fsfwconfig/OBSWVersion.h
similarity index 100%
rename from defaultcfg/config/OBSWVersion.h
rename to defaultcfg/fsfwconfig/OBSWVersion.h
diff --git a/defaultcfg/config/devices/logicalAddresses.cpp b/defaultcfg/fsfwconfig/devices/logicalAddresses.cpp
similarity index 100%
rename from defaultcfg/config/devices/logicalAddresses.cpp
rename to defaultcfg/fsfwconfig/devices/logicalAddresses.cpp
diff --git a/defaultcfg/config/devices/logicalAddresses.h b/defaultcfg/fsfwconfig/devices/logicalAddresses.h
similarity index 89%
rename from defaultcfg/config/devices/logicalAddresses.h
rename to defaultcfg/fsfwconfig/devices/logicalAddresses.h
index 174fa788..e0827ba3 100644
--- a/defaultcfg/config/devices/logicalAddresses.h
+++ b/defaultcfg/fsfwconfig/devices/logicalAddresses.h
@@ -1,8 +1,8 @@
 #ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
 #define CONFIG_DEVICES_LOGICALADDRESSES_H_
 
-#include <config/objects/systemObjectList.h>
 #include <fsfw/devicehandlers/CookieIF.h>
+#include "../objects/systemObjectList.h"
 #include <cstdint>
 
 /**
diff --git a/defaultcfg/config/devices/powerSwitcherList.cpp b/defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp
similarity index 100%
rename from defaultcfg/config/devices/powerSwitcherList.cpp
rename to defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp
diff --git a/defaultcfg/config/devices/powerSwitcherList.h b/defaultcfg/fsfwconfig/devices/powerSwitcherList.h
similarity index 100%
rename from defaultcfg/config/devices/powerSwitcherList.h
rename to defaultcfg/fsfwconfig/devices/powerSwitcherList.h
diff --git a/defaultcfg/config/events/subsystemIdRanges.h b/defaultcfg/fsfwconfig/events/subsystemIdRanges.h
similarity index 100%
rename from defaultcfg/config/events/subsystemIdRanges.h
rename to defaultcfg/fsfwconfig/events/subsystemIdRanges.h
diff --git a/defaultcfg/config/config.mk b/defaultcfg/fsfwconfig/fsfwconfig.mk
similarity index 100%
rename from defaultcfg/config/config.mk
rename to defaultcfg/fsfwconfig/fsfwconfig.mk
diff --git a/defaultcfg/config/ipc/missionMessageTypes.cpp b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp
similarity index 79%
rename from defaultcfg/config/ipc/missionMessageTypes.cpp
rename to defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp
index e2edbf9c..b41b87ba 100644
--- a/defaultcfg/config/ipc/missionMessageTypes.cpp
+++ b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp
@@ -1,4 +1,5 @@
-#include <config/ipc/MissionMessageTypes.h>
+#include "missionMessageTypes.h"
+
 #include <fsfw/ipc/CommandMessageIF.h>
 
 void messagetypes::clearMissionMessage(CommandMessage* message) {
diff --git a/defaultcfg/config/ipc/missionMessageTypes.h b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.h
similarity index 100%
rename from defaultcfg/config/ipc/missionMessageTypes.h
rename to defaultcfg/fsfwconfig/ipc/missionMessageTypes.h
diff --git a/defaultcfg/config/objects/Factory.cpp b/defaultcfg/fsfwconfig/objects/Factory.cpp
similarity index 75%
rename from defaultcfg/config/objects/Factory.cpp
rename to defaultcfg/fsfwconfig/objects/Factory.cpp
index 51dd6130..41333b1c 100644
--- a/defaultcfg/config/objects/Factory.cpp
+++ b/defaultcfg/fsfwconfig/objects/Factory.cpp
@@ -11,6 +11,7 @@
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
+#include <internalError/InternalErrorReporter.h>
 
 #include <cstdint>
 
@@ -31,15 +32,15 @@ void Factory::produce(void) {
 	setStaticFrameworkObjectIds();
 	new EventManager(objects::EVENT_MANAGER);
 	new HealthTable(objects::HEALTH_TABLE);
-	//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
 }
 
 void Factory::setStaticFrameworkObjectIds() {
-	PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-	PusServiceBase::packetDestination = objects::TM_FUNNEL;
+	PusServiceBase::packetSource = objects::NO_OBJECT;
+	PusServiceBase::packetDestination = objects::NO_OBJECT;
 
-	CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-	CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+	CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
+	CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
 
 	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
 
@@ -48,7 +49,6 @@ void Factory::setStaticFrameworkObjectIds() {
 
 	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
 
-	TmPacketStored::timeStamperId = objects::PUS_TIME;
-	//TmFunnel::downlinkDestination = objects::NO_OBJECT;
+	TmPacketStored::timeStamperId = objects::NO_OBJECT;
 }
 
diff --git a/defaultcfg/config/objects/Factory.h b/defaultcfg/fsfwconfig/objects/Factory.h
similarity index 100%
rename from defaultcfg/config/objects/Factory.h
rename to defaultcfg/fsfwconfig/objects/Factory.h
diff --git a/defaultcfg/config/objects/systemObjectList.h b/defaultcfg/fsfwconfig/objects/systemObjectList.h
similarity index 100%
rename from defaultcfg/config/objects/systemObjectList.h
rename to defaultcfg/fsfwconfig/objects/systemObjectList.h
diff --git a/defaultcfg/fsfwconfig/objects/translateObjects.cpp b/defaultcfg/fsfwconfig/objects/translateObjects.cpp
new file mode 100644
index 00000000..73cd02bf
--- /dev/null
+++ b/defaultcfg/fsfwconfig/objects/translateObjects.cpp
@@ -0,0 +1,271 @@
+/** 
+ * @brief	Auto-generated object translation file. Contains 86 translations. 
+ * Generated on: 2020-08-25 00:57:14
+ **/ 
+#include "translateObjects.h"
+
+const char *AT91_UART2_TEST_TASK_STRING = "AT91_UART2_TEST_TASK";
+const char *ARDUINO_0_STRING = "ARDUINO_0";
+const char *ARDUINO_1_STRING = "ARDUINO_1";
+const char *ARDUINO_2_STRING = "ARDUINO_2";
+const char *ARDUINO_3_STRING = "ARDUINO_3";
+const char *ARDUINO_4_STRING = "ARDUINO_4";
+const char *AT91_I2C_TEST_TASK_STRING = "AT91_I2C_TEST_TASK";
+const char *LED_TASK_STRING = "LED_TASK";
+const char *TEST_TASK_STRING = "TEST_TASK";
+const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
+const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
+const char *SuS_ADC1_DEC2_STRING = "SuS_ADC1_DEC2";
+const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
+const char *DLR_PVCH_STRING = "DLR_PVCH";
+const char *GYRO1_STRING = "GYRO1";
+const char *DLR_IRAS_STRING = "DLR_IRAS";
+const char *SPI_Test_PT1000_STRING = "SPI_Test_PT1000";
+const char *PT1000_Syrlinks_DEC1_O1_STRING = "PT1000_Syrlinks_DEC1_O1";
+const char *PT1000_Camera_DEC1_O2_STRING = "PT1000_Camera_DEC1_O2";
+const char *PT1000_SuS1_DEC1_O3_STRING = "PT1000_SuS1_DEC1_O3";
+const char *PT1000_SuS2_DEC1_O4_STRING = "PT1000_SuS2_DEC1_O4";
+const char *PT1000_SuS3_DEC1_O5_STRING = "PT1000_SuS3_DEC1_O5";
+const char *PT1000_PVHC_DEC1_O6_STRING = "PT1000_PVHC_DEC1_O6";
+const char *SPI_Test_Gyro_STRING = "SPI_Test_Gyro";
+const char *PT1000_CCSDS1_DEC2_STRING = "PT1000_CCSDS1_DEC2";
+const char *PT1000_MGT1_DEC2_STRING = "PT1000_MGT1_DEC2";
+const char *PT1000_SuS4_DEC2_STRING = "PT1000_SuS4_DEC2";
+const char *PT1000_SuS5_DEC2_STRING = "PT1000_SuS5_DEC2";
+const char *PT1000_SuS6_DEC2_STRING = "PT1000_SuS6_DEC2";
+const char *PT1000_PVCH_DEC2_STRING = "PT1000_PVCH_DEC2";
+const char *PT1000_Iridium_DEC3_STRING = "PT1000_Iridium_DEC3";
+const char *PT1000_CCSDS2_DEC3_STRING = "PT1000_CCSDS2_DEC3";
+const char *PT1000_SuS7_DEC3_STRING = "PT1000_SuS7_DEC3";
+const char *PT1000_SuS8_DEC3_STRING = "PT1000_SuS8_DEC3";
+const char *PT1000_PVCH_DEC3_STRING = "PT1000_PVCH_DEC3";
+const char *GYRO2_STRING = "GYRO2";
+const char *PT1000_PLOC_DEC4_STRING = "PT1000_PLOC_DEC4";
+const char *PT1000_SuS9_DEC4_STRING = "PT1000_SuS9_DEC4";
+const char *PT1000_SuS10_DEC4_STRING = "PT1000_SuS10_DEC4";
+const char *PT1000_PVHC_DEC4_STRING = "PT1000_PVHC_DEC4";
+const char *SuS_ADC_DEC4_STRING = "SuS_ADC_DEC4";
+const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
+const char *DUMMY_GPS_COM_IF_STRING = "DUMMY_GPS_COM_IF";
+const char *RS232_DEVICE_COM_IF_STRING = "RS232_DEVICE_COM_IF";
+const char *I2C_DEVICE_COM_IF_STRING = "I2C_DEVICE_COM_IF";
+const char *GPIO_DEVICE_COM_IF_STRING = "GPIO_DEVICE_COM_IF";
+const char *SPI_POLLING_TASK_STRING = "SPI_POLLING_TASK";
+const char *SPI_DEVICE_COM_IF_STRING = "SPI_DEVICE_COM_IF";
+const char *DUMMY_ECHO_COM_IF_STRING = "DUMMY_ECHO_COM_IF";
+const char *SD_CARD_HANDLER_STRING = "SD_CARD_HANDLER";
+const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
+const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
+const char *UDP_TMTC_BRIDGE_STRING = "UDP_TMTC_BRIDGE";
+const char *EMAC_POLLING_TASK_STRING = "EMAC_POLLING_TASK";
+const char *SERIAL_TMTC_BRIDGE_STRING = "SERIAL_TMTC_BRIDGE";
+const char *SERIAL_RING_BUFFER_STRING = "SERIAL_RING_BUFFER";
+const char *SERIAL_POLLING_TASK_STRING = "SERIAL_POLLING_TASK";
+const char *PUS_SERVICE_1_STRING = "PUS_SERVICE_1";
+const char *PUS_SERVICE_2_STRING = "PUS_SERVICE_2";
+const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
+const char *PUS_SERVICE_3_PSB_STRING = "PUS_SERVICE_3_PSB";
+const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
+const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
+const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
+const char *PUS_SERVICE_9_STRING = "PUS_SERVICE_9";
+const char *PUS_SERVICE_17_STRING = "PUS_SERVICE_17";
+const char *PUS_SERVICE_20_STRING = "PUS_SERVICE_20";
+const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
+const char *PUS_SERVICE_200_STRING = "PUS_SERVICE_200";
+const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
+const char *PUS_TIME_STRING = "PUS_TIME";
+const char *PUS_FUNNEL_STRING = "PUS_FUNNEL";
+const char *FREERTOS_TASK_MONITOR_STRING = "FREERTOS_TASK_MONITOR";
+const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
+const char *MODE_STORE_STRING = "MODE_STORE";
+const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
+const char *INTERNAL_ERROR_REPORTER_STRING = "INTERNAL_ERROR_REPORTER";
+const char *TC_STORE_STRING = "TC_STORE";
+const char *TM_STORE_STRING = "TM_STORE";
+const char *IPC_STORE_STRING = "IPC_STORE";
+const char *AT91_SPI_TEST_TASK_STRING = "AT91_SPI_TEST_TASK";
+const char *STM32_TEST_TASK_STRING = "STM32_TEST_TASK";
+const char *AT91_UART0_TEST_TASK_STRING = "AT91_UART0_TEST_TASK";
+const char *TC_INJECTOR_STRING = "TC_INJECTOR";
+const char *NO_OBJECT_STRING = "NO_OBJECT";
+
+const char* translateObject(object_id_t object){
+	switch((object&0xFFFFFFFF)){
+		case 0x000123336:
+			return AT91_UART2_TEST_TASK_STRING;
+		case 0x01010100:
+			return ARDUINO_0_STRING;
+		case 0x01010101:
+			return ARDUINO_1_STRING;
+		case 0x01010102:
+			return ARDUINO_2_STRING;
+		case 0x01010103:
+			return ARDUINO_3_STRING;
+		case 0x01010104:
+			return ARDUINO_4_STRING;
+		case 0x12345678:
+			return AT91_I2C_TEST_TASK_STRING;
+		case 0x12345777:
+			return LED_TASK_STRING;
+		case 0x42694269:
+			return TEST_TASK_STRING;
+		case 0x44003200:
+			return PCDU_HANDLER_STRING;
+		case 0x4400AFFE:
+			return DUMMY_HANDLER_STRING;
+		case 0x44020108:
+			return SuS_ADC1_DEC2_STRING;
+		case 0x44101F00:
+			return GPS0_HANDLER_STRING;
+		case 0x44104000:
+			return DLR_PVCH_STRING;
+		case 0x44105000:
+			return GYRO1_STRING;
+		case 0x44106000:
+			return DLR_IRAS_STRING;
+		case 0x44115400:
+			return SPI_Test_PT1000_STRING;
+		case 0x44115401:
+			return PT1000_Syrlinks_DEC1_O1_STRING;
+		case 0x44115402:
+			return PT1000_Camera_DEC1_O2_STRING;
+		case 0x44115404:
+			return PT1000_SuS1_DEC1_O3_STRING;
+		case 0x44115405:
+			return PT1000_SuS2_DEC1_O4_STRING;
+		case 0x44115406:
+			return PT1000_SuS3_DEC1_O5_STRING;
+		case 0x44115407:
+			return PT1000_PVHC_DEC1_O6_STRING;
+		case 0x44115500:
+			return SPI_Test_Gyro_STRING;
+		case 0x44125401:
+			return PT1000_CCSDS1_DEC2_STRING;
+		case 0x44125403:
+			return PT1000_MGT1_DEC2_STRING;
+		case 0x44125404:
+			return PT1000_SuS4_DEC2_STRING;
+		case 0x44125405:
+			return PT1000_SuS5_DEC2_STRING;
+		case 0x44125406:
+			return PT1000_SuS6_DEC2_STRING;
+		case 0x44125407:
+			return PT1000_PVCH_DEC2_STRING;
+		case 0x44130301:
+			return PT1000_Iridium_DEC3_STRING;
+		case 0x44130302:
+			return PT1000_CCSDS2_DEC3_STRING;
+		case 0x44130305:
+			return PT1000_SuS7_DEC3_STRING;
+		case 0x44130306:
+			return PT1000_SuS8_DEC3_STRING;
+		case 0x44130307:
+			return PT1000_PVCH_DEC3_STRING;
+		case 0x44130308:
+			return GYRO2_STRING;
+		case 0x44145401:
+			return PT1000_PLOC_DEC4_STRING;
+		case 0x44145404:
+			return PT1000_SuS9_DEC4_STRING;
+		case 0x44145405:
+			return PT1000_SuS10_DEC4_STRING;
+		case 0x44145406:
+			return PT1000_PVHC_DEC4_STRING;
+		case 0x44145407:
+			return SuS_ADC_DEC4_STRING;
+		case 0x44202000:
+			return GPS1_HANDLER_STRING;
+		case 0x49001F00:
+			return DUMMY_GPS_COM_IF_STRING;
+		case 0x49005200:
+			return RS232_DEVICE_COM_IF_STRING;
+		case 0x49005300:
+			return I2C_DEVICE_COM_IF_STRING;
+		case 0x49005400:
+			return GPIO_DEVICE_COM_IF_STRING;
+		case 0x49005410:
+			return SPI_POLLING_TASK_STRING;
+		case 0x49005600:
+			return SPI_DEVICE_COM_IF_STRING;
+		case 0x4900AFFE:
+			return DUMMY_ECHO_COM_IF_STRING;
+		case 0x4D0073AD:
+			return SD_CARD_HANDLER_STRING;
+		case 0x50000100:
+			return CCSDS_PACKET_DISTRIBUTOR_STRING;
+		case 0x50000200:
+			return PUS_PACKET_DISTRIBUTOR_STRING;
+		case 0x50000300:
+			return UDP_TMTC_BRIDGE_STRING;
+		case 0x50000400:
+			return EMAC_POLLING_TASK_STRING;
+		case 0x50000500:
+			return SERIAL_TMTC_BRIDGE_STRING;
+		case 0x50000550:
+			return SERIAL_RING_BUFFER_STRING;
+		case 0x50000600:
+			return SERIAL_POLLING_TASK_STRING;
+		case 0x51000100:
+			return PUS_SERVICE_1_STRING;
+		case 0x51000200:
+			return PUS_SERVICE_2_STRING;
+		case 0x51000300:
+			return PUS_SERVICE_3_STRING;
+		case 0x51000310:
+			return PUS_SERVICE_3_PSB_STRING;
+		case 0x51000400:
+			return PUS_SERVICE_5_STRING;
+		case 0x51000500:
+			return PUS_SERVICE_6_STRING;
+		case 0x51000800:
+			return PUS_SERVICE_8_STRING;
+		case 0x51000900:
+			return PUS_SERVICE_9_STRING;
+		case 0x51001700:
+			return PUS_SERVICE_17_STRING;
+		case 0x51002000:
+			return PUS_SERVICE_20_STRING;
+		case 0x51002300:
+			return PUS_SERVICE_23_STRING;
+		case 0x51020000:
+			return PUS_SERVICE_200_STRING;
+		case 0x51020100:
+			return PUS_SERVICE_201_STRING;
+		case 0x52000001:
+			return PUS_TIME_STRING;
+		case 0x52000002:
+			return PUS_FUNNEL_STRING;
+		case 0x53000000:
+			return PUS_SERVICE_1_STRING;
+		case 0x53000003:
+			return FREERTOS_TASK_MONITOR_STRING;
+		case 0x53010000:
+			return HEALTH_TABLE_STRING;
+		case 0x53010100:
+			return MODE_STORE_STRING;
+		case 0x53030000:
+			return EVENT_MANAGER_STRING;
+		case 0x53040000:
+			return INTERNAL_ERROR_REPORTER_STRING;
+		case 0x534f0100:
+			return TC_STORE_STRING;
+		case 0x534f0200:
+			return TM_STORE_STRING;
+		case 0x534f0300:
+			return IPC_STORE_STRING;
+		case 0x66666666:
+			return AT91_SPI_TEST_TASK_STRING;
+		case 0x77777777:
+			return STM32_TEST_TASK_STRING;
+		case 0x87654321:
+			return AT91_UART0_TEST_TASK_STRING;
+		case 0x99000001:
+			return TC_INJECTOR_STRING;
+		case 0xFFFFFFFF:
+			return NO_OBJECT_STRING;
+		default:
+			return "UNKNOWN_OBJECT";
+	}
+	return 0;
+}
diff --git a/defaultcfg/fsfwconfig/objects/translateObjects.h b/defaultcfg/fsfwconfig/objects/translateObjects.h
new file mode 100644
index 00000000..5b656940
--- /dev/null
+++ b/defaultcfg/fsfwconfig/objects/translateObjects.h
@@ -0,0 +1,9 @@
+#ifndef CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
+#define CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
+
+#include <fsfw/objectmanager/ObjectManagerIF.h>
+
+const char* translateObject(object_id_t object);
+
+
+#endif /* CONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */
diff --git a/defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
similarity index 100%
rename from defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp
rename to defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
diff --git a/defaultcfg/config/pollingsequence/PollingSequenceFactory.h b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.h
similarity index 100%
rename from defaultcfg/config/pollingsequence/PollingSequenceFactory.h
rename to defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.h
diff --git a/defaultcfg/config/returnvalues/classIds.h b/defaultcfg/fsfwconfig/returnvalues/classIds.h
similarity index 100%
rename from defaultcfg/config/returnvalues/classIds.h
rename to defaultcfg/fsfwconfig/returnvalues/classIds.h
diff --git a/defaultcfg/config/tmtc/apid.h b/defaultcfg/fsfwconfig/tmtc/apid.h
similarity index 100%
rename from defaultcfg/config/tmtc/apid.h
rename to defaultcfg/fsfwconfig/tmtc/apid.h
diff --git a/defaultcfg/config/tmtc/pusIds.h b/defaultcfg/fsfwconfig/tmtc/pusIds.h
similarity index 100%
rename from defaultcfg/config/tmtc/pusIds.h
rename to defaultcfg/fsfwconfig/tmtc/pusIds.h

From 136f04a5c6ce99b15a6f2c9d9c8c7eb409dafd43 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 9 Nov 2020 21:23:51 +0100
Subject: [PATCH 485/653] trnaslation files removed

---
 .../fsfwconfig/objects/translateObjects.cpp   | 271 ------------------
 .../fsfwconfig/objects/translateObjects.h     |   9 -
 2 files changed, 280 deletions(-)
 delete mode 100644 defaultcfg/fsfwconfig/objects/translateObjects.cpp
 delete mode 100644 defaultcfg/fsfwconfig/objects/translateObjects.h

diff --git a/defaultcfg/fsfwconfig/objects/translateObjects.cpp b/defaultcfg/fsfwconfig/objects/translateObjects.cpp
deleted file mode 100644
index 73cd02bf..00000000
--- a/defaultcfg/fsfwconfig/objects/translateObjects.cpp
+++ /dev/null
@@ -1,271 +0,0 @@
-/** 
- * @brief	Auto-generated object translation file. Contains 86 translations. 
- * Generated on: 2020-08-25 00:57:14
- **/ 
-#include "translateObjects.h"
-
-const char *AT91_UART2_TEST_TASK_STRING = "AT91_UART2_TEST_TASK";
-const char *ARDUINO_0_STRING = "ARDUINO_0";
-const char *ARDUINO_1_STRING = "ARDUINO_1";
-const char *ARDUINO_2_STRING = "ARDUINO_2";
-const char *ARDUINO_3_STRING = "ARDUINO_3";
-const char *ARDUINO_4_STRING = "ARDUINO_4";
-const char *AT91_I2C_TEST_TASK_STRING = "AT91_I2C_TEST_TASK";
-const char *LED_TASK_STRING = "LED_TASK";
-const char *TEST_TASK_STRING = "TEST_TASK";
-const char *PCDU_HANDLER_STRING = "PCDU_HANDLER";
-const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER";
-const char *SuS_ADC1_DEC2_STRING = "SuS_ADC1_DEC2";
-const char *GPS0_HANDLER_STRING = "GPS0_HANDLER";
-const char *DLR_PVCH_STRING = "DLR_PVCH";
-const char *GYRO1_STRING = "GYRO1";
-const char *DLR_IRAS_STRING = "DLR_IRAS";
-const char *SPI_Test_PT1000_STRING = "SPI_Test_PT1000";
-const char *PT1000_Syrlinks_DEC1_O1_STRING = "PT1000_Syrlinks_DEC1_O1";
-const char *PT1000_Camera_DEC1_O2_STRING = "PT1000_Camera_DEC1_O2";
-const char *PT1000_SuS1_DEC1_O3_STRING = "PT1000_SuS1_DEC1_O3";
-const char *PT1000_SuS2_DEC1_O4_STRING = "PT1000_SuS2_DEC1_O4";
-const char *PT1000_SuS3_DEC1_O5_STRING = "PT1000_SuS3_DEC1_O5";
-const char *PT1000_PVHC_DEC1_O6_STRING = "PT1000_PVHC_DEC1_O6";
-const char *SPI_Test_Gyro_STRING = "SPI_Test_Gyro";
-const char *PT1000_CCSDS1_DEC2_STRING = "PT1000_CCSDS1_DEC2";
-const char *PT1000_MGT1_DEC2_STRING = "PT1000_MGT1_DEC2";
-const char *PT1000_SuS4_DEC2_STRING = "PT1000_SuS4_DEC2";
-const char *PT1000_SuS5_DEC2_STRING = "PT1000_SuS5_DEC2";
-const char *PT1000_SuS6_DEC2_STRING = "PT1000_SuS6_DEC2";
-const char *PT1000_PVCH_DEC2_STRING = "PT1000_PVCH_DEC2";
-const char *PT1000_Iridium_DEC3_STRING = "PT1000_Iridium_DEC3";
-const char *PT1000_CCSDS2_DEC3_STRING = "PT1000_CCSDS2_DEC3";
-const char *PT1000_SuS7_DEC3_STRING = "PT1000_SuS7_DEC3";
-const char *PT1000_SuS8_DEC3_STRING = "PT1000_SuS8_DEC3";
-const char *PT1000_PVCH_DEC3_STRING = "PT1000_PVCH_DEC3";
-const char *GYRO2_STRING = "GYRO2";
-const char *PT1000_PLOC_DEC4_STRING = "PT1000_PLOC_DEC4";
-const char *PT1000_SuS9_DEC4_STRING = "PT1000_SuS9_DEC4";
-const char *PT1000_SuS10_DEC4_STRING = "PT1000_SuS10_DEC4";
-const char *PT1000_PVHC_DEC4_STRING = "PT1000_PVHC_DEC4";
-const char *SuS_ADC_DEC4_STRING = "SuS_ADC_DEC4";
-const char *GPS1_HANDLER_STRING = "GPS1_HANDLER";
-const char *DUMMY_GPS_COM_IF_STRING = "DUMMY_GPS_COM_IF";
-const char *RS232_DEVICE_COM_IF_STRING = "RS232_DEVICE_COM_IF";
-const char *I2C_DEVICE_COM_IF_STRING = "I2C_DEVICE_COM_IF";
-const char *GPIO_DEVICE_COM_IF_STRING = "GPIO_DEVICE_COM_IF";
-const char *SPI_POLLING_TASK_STRING = "SPI_POLLING_TASK";
-const char *SPI_DEVICE_COM_IF_STRING = "SPI_DEVICE_COM_IF";
-const char *DUMMY_ECHO_COM_IF_STRING = "DUMMY_ECHO_COM_IF";
-const char *SD_CARD_HANDLER_STRING = "SD_CARD_HANDLER";
-const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR";
-const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR";
-const char *UDP_TMTC_BRIDGE_STRING = "UDP_TMTC_BRIDGE";
-const char *EMAC_POLLING_TASK_STRING = "EMAC_POLLING_TASK";
-const char *SERIAL_TMTC_BRIDGE_STRING = "SERIAL_TMTC_BRIDGE";
-const char *SERIAL_RING_BUFFER_STRING = "SERIAL_RING_BUFFER";
-const char *SERIAL_POLLING_TASK_STRING = "SERIAL_POLLING_TASK";
-const char *PUS_SERVICE_1_STRING = "PUS_SERVICE_1";
-const char *PUS_SERVICE_2_STRING = "PUS_SERVICE_2";
-const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3";
-const char *PUS_SERVICE_3_PSB_STRING = "PUS_SERVICE_3_PSB";
-const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5";
-const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6";
-const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8";
-const char *PUS_SERVICE_9_STRING = "PUS_SERVICE_9";
-const char *PUS_SERVICE_17_STRING = "PUS_SERVICE_17";
-const char *PUS_SERVICE_20_STRING = "PUS_SERVICE_20";
-const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23";
-const char *PUS_SERVICE_200_STRING = "PUS_SERVICE_200";
-const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201";
-const char *PUS_TIME_STRING = "PUS_TIME";
-const char *PUS_FUNNEL_STRING = "PUS_FUNNEL";
-const char *FREERTOS_TASK_MONITOR_STRING = "FREERTOS_TASK_MONITOR";
-const char *HEALTH_TABLE_STRING = "HEALTH_TABLE";
-const char *MODE_STORE_STRING = "MODE_STORE";
-const char *EVENT_MANAGER_STRING = "EVENT_MANAGER";
-const char *INTERNAL_ERROR_REPORTER_STRING = "INTERNAL_ERROR_REPORTER";
-const char *TC_STORE_STRING = "TC_STORE";
-const char *TM_STORE_STRING = "TM_STORE";
-const char *IPC_STORE_STRING = "IPC_STORE";
-const char *AT91_SPI_TEST_TASK_STRING = "AT91_SPI_TEST_TASK";
-const char *STM32_TEST_TASK_STRING = "STM32_TEST_TASK";
-const char *AT91_UART0_TEST_TASK_STRING = "AT91_UART0_TEST_TASK";
-const char *TC_INJECTOR_STRING = "TC_INJECTOR";
-const char *NO_OBJECT_STRING = "NO_OBJECT";
-
-const char* translateObject(object_id_t object){
-	switch((object&0xFFFFFFFF)){
-		case 0x000123336:
-			return AT91_UART2_TEST_TASK_STRING;
-		case 0x01010100:
-			return ARDUINO_0_STRING;
-		case 0x01010101:
-			return ARDUINO_1_STRING;
-		case 0x01010102:
-			return ARDUINO_2_STRING;
-		case 0x01010103:
-			return ARDUINO_3_STRING;
-		case 0x01010104:
-			return ARDUINO_4_STRING;
-		case 0x12345678:
-			return AT91_I2C_TEST_TASK_STRING;
-		case 0x12345777:
-			return LED_TASK_STRING;
-		case 0x42694269:
-			return TEST_TASK_STRING;
-		case 0x44003200:
-			return PCDU_HANDLER_STRING;
-		case 0x4400AFFE:
-			return DUMMY_HANDLER_STRING;
-		case 0x44020108:
-			return SuS_ADC1_DEC2_STRING;
-		case 0x44101F00:
-			return GPS0_HANDLER_STRING;
-		case 0x44104000:
-			return DLR_PVCH_STRING;
-		case 0x44105000:
-			return GYRO1_STRING;
-		case 0x44106000:
-			return DLR_IRAS_STRING;
-		case 0x44115400:
-			return SPI_Test_PT1000_STRING;
-		case 0x44115401:
-			return PT1000_Syrlinks_DEC1_O1_STRING;
-		case 0x44115402:
-			return PT1000_Camera_DEC1_O2_STRING;
-		case 0x44115404:
-			return PT1000_SuS1_DEC1_O3_STRING;
-		case 0x44115405:
-			return PT1000_SuS2_DEC1_O4_STRING;
-		case 0x44115406:
-			return PT1000_SuS3_DEC1_O5_STRING;
-		case 0x44115407:
-			return PT1000_PVHC_DEC1_O6_STRING;
-		case 0x44115500:
-			return SPI_Test_Gyro_STRING;
-		case 0x44125401:
-			return PT1000_CCSDS1_DEC2_STRING;
-		case 0x44125403:
-			return PT1000_MGT1_DEC2_STRING;
-		case 0x44125404:
-			return PT1000_SuS4_DEC2_STRING;
-		case 0x44125405:
-			return PT1000_SuS5_DEC2_STRING;
-		case 0x44125406:
-			return PT1000_SuS6_DEC2_STRING;
-		case 0x44125407:
-			return PT1000_PVCH_DEC2_STRING;
-		case 0x44130301:
-			return PT1000_Iridium_DEC3_STRING;
-		case 0x44130302:
-			return PT1000_CCSDS2_DEC3_STRING;
-		case 0x44130305:
-			return PT1000_SuS7_DEC3_STRING;
-		case 0x44130306:
-			return PT1000_SuS8_DEC3_STRING;
-		case 0x44130307:
-			return PT1000_PVCH_DEC3_STRING;
-		case 0x44130308:
-			return GYRO2_STRING;
-		case 0x44145401:
-			return PT1000_PLOC_DEC4_STRING;
-		case 0x44145404:
-			return PT1000_SuS9_DEC4_STRING;
-		case 0x44145405:
-			return PT1000_SuS10_DEC4_STRING;
-		case 0x44145406:
-			return PT1000_PVHC_DEC4_STRING;
-		case 0x44145407:
-			return SuS_ADC_DEC4_STRING;
-		case 0x44202000:
-			return GPS1_HANDLER_STRING;
-		case 0x49001F00:
-			return DUMMY_GPS_COM_IF_STRING;
-		case 0x49005200:
-			return RS232_DEVICE_COM_IF_STRING;
-		case 0x49005300:
-			return I2C_DEVICE_COM_IF_STRING;
-		case 0x49005400:
-			return GPIO_DEVICE_COM_IF_STRING;
-		case 0x49005410:
-			return SPI_POLLING_TASK_STRING;
-		case 0x49005600:
-			return SPI_DEVICE_COM_IF_STRING;
-		case 0x4900AFFE:
-			return DUMMY_ECHO_COM_IF_STRING;
-		case 0x4D0073AD:
-			return SD_CARD_HANDLER_STRING;
-		case 0x50000100:
-			return CCSDS_PACKET_DISTRIBUTOR_STRING;
-		case 0x50000200:
-			return PUS_PACKET_DISTRIBUTOR_STRING;
-		case 0x50000300:
-			return UDP_TMTC_BRIDGE_STRING;
-		case 0x50000400:
-			return EMAC_POLLING_TASK_STRING;
-		case 0x50000500:
-			return SERIAL_TMTC_BRIDGE_STRING;
-		case 0x50000550:
-			return SERIAL_RING_BUFFER_STRING;
-		case 0x50000600:
-			return SERIAL_POLLING_TASK_STRING;
-		case 0x51000100:
-			return PUS_SERVICE_1_STRING;
-		case 0x51000200:
-			return PUS_SERVICE_2_STRING;
-		case 0x51000300:
-			return PUS_SERVICE_3_STRING;
-		case 0x51000310:
-			return PUS_SERVICE_3_PSB_STRING;
-		case 0x51000400:
-			return PUS_SERVICE_5_STRING;
-		case 0x51000500:
-			return PUS_SERVICE_6_STRING;
-		case 0x51000800:
-			return PUS_SERVICE_8_STRING;
-		case 0x51000900:
-			return PUS_SERVICE_9_STRING;
-		case 0x51001700:
-			return PUS_SERVICE_17_STRING;
-		case 0x51002000:
-			return PUS_SERVICE_20_STRING;
-		case 0x51002300:
-			return PUS_SERVICE_23_STRING;
-		case 0x51020000:
-			return PUS_SERVICE_200_STRING;
-		case 0x51020100:
-			return PUS_SERVICE_201_STRING;
-		case 0x52000001:
-			return PUS_TIME_STRING;
-		case 0x52000002:
-			return PUS_FUNNEL_STRING;
-		case 0x53000000:
-			return PUS_SERVICE_1_STRING;
-		case 0x53000003:
-			return FREERTOS_TASK_MONITOR_STRING;
-		case 0x53010000:
-			return HEALTH_TABLE_STRING;
-		case 0x53010100:
-			return MODE_STORE_STRING;
-		case 0x53030000:
-			return EVENT_MANAGER_STRING;
-		case 0x53040000:
-			return INTERNAL_ERROR_REPORTER_STRING;
-		case 0x534f0100:
-			return TC_STORE_STRING;
-		case 0x534f0200:
-			return TM_STORE_STRING;
-		case 0x534f0300:
-			return IPC_STORE_STRING;
-		case 0x66666666:
-			return AT91_SPI_TEST_TASK_STRING;
-		case 0x77777777:
-			return STM32_TEST_TASK_STRING;
-		case 0x87654321:
-			return AT91_UART0_TEST_TASK_STRING;
-		case 0x99000001:
-			return TC_INJECTOR_STRING;
-		case 0xFFFFFFFF:
-			return NO_OBJECT_STRING;
-		default:
-			return "UNKNOWN_OBJECT";
-	}
-	return 0;
-}
diff --git a/defaultcfg/fsfwconfig/objects/translateObjects.h b/defaultcfg/fsfwconfig/objects/translateObjects.h
deleted file mode 100644
index 5b656940..00000000
--- a/defaultcfg/fsfwconfig/objects/translateObjects.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#ifndef CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
-#define CONFIG_OBJECTS_TRANSLATEOBJECTS_H_
-
-#include <fsfw/objectmanager/ObjectManagerIF.h>
-
-const char* translateObject(object_id_t object);
-
-
-#endif /* CONFIG_OBJECTS_TRANSLATEOBJECTS_H_ */

From 6c22fab2082deb5f0e781694a3265cabb2b3d5f8 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 9 Nov 2020 21:33:09 +0100
Subject: [PATCH 486/653] pus service improvements

---
 pus/CService200ModeCommanding.cpp       |  5 +++--
 pus/CService200ModeCommanding.h         | 11 +++++------
 pus/Service1TelecommandVerification.cpp |  8 +++-----
 pus/Service1TelecommandVerification.h   | 11 ++++++-----
 pus/Service2DeviceAccess.cpp            | 21 +++++++++------------
 pus/Service2DeviceAccess.h              | 18 +++++++++++-------
 pus/Service5EventReporting.cpp          |  5 +++--
 pus/Service5EventReporting.h            |  9 +++++----
 pus/Service8FunctionManagement.cpp      |  8 ++++----
 pus/Service8FunctionManagement.h        | 12 +++++++-----
 pus/servicepackets/Service1Packets.h    |  6 +++---
 pus/servicepackets/Service200Packets.h  |  6 +++---
 pus/servicepackets/Service2Packets.h    |  6 +++---
 pus/servicepackets/Service5Packets.h    |  6 +++---
 pus/servicepackets/Service8Packets.h    |  6 +++---
 15 files changed, 71 insertions(+), 67 deletions(-)

diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp
index c63b47a6..c4e99359 100644
--- a/pus/CService200ModeCommanding.cpp
+++ b/pus/CService200ModeCommanding.cpp
@@ -7,9 +7,10 @@
 #include "../modes/ModeMessage.h"
 
 CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
-        uint16_t apid, uint8_t serviceId):
+        uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
+        uint16_t commandTimeoutSeconds):
         CommandingServiceBase(objectId, apid, serviceId,
-	    NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {}
+                numParallelCommands, commandTimeoutSeconds) {}
 
 CService200ModeCommanding::~CService200ModeCommanding() {}
 
diff --git a/pus/CService200ModeCommanding.h b/pus/CService200ModeCommanding.h
index 89347dbd..84040212 100644
--- a/pus/CService200ModeCommanding.h
+++ b/pus/CService200ModeCommanding.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
-#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
+#ifndef FSFW_PUS_CSERVICE200MODECOMMANDING_H_
+#define FSFW_PUS_CSERVICE200MODECOMMANDING_H_
 
 #include "../tmtcservices/CommandingServiceBase.h"
 
@@ -15,11 +15,10 @@
  */
 class CService200ModeCommanding: public CommandingServiceBase {
 public:
-	static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
-	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
 
 	CService200ModeCommanding(object_id_t objectId,
-	        uint16_t apid, uint8_t serviceId);
+	        uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands = 4,
+            uint16_t commandTimeoutSeconds = 60);
 	virtual~ CService200ModeCommanding();
 
 protected:
@@ -82,4 +81,4 @@ private:
 	};
 };
 
-#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
+#endif /* FSFW_PUS_CSERVICE200MODECOMMANDING_H_ */
diff --git a/pus/Service1TelecommandVerification.cpp b/pus/Service1TelecommandVerification.cpp
index 578eb02d..86b0dcde 100644
--- a/pus/Service1TelecommandVerification.cpp
+++ b/pus/Service1TelecommandVerification.cpp
@@ -6,15 +6,13 @@
 #include "../tmtcpacket/pus/TmPacketStored.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../tmtcservices/AcceptsTelemetryIF.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
 
 Service1TelecommandVerification::Service1TelecommandVerification(
         object_id_t objectId, uint16_t apid, uint8_t serviceId,
-        object_id_t targetDestination):
+        object_id_t targetDestination, uint16_t messageQueueDepth):
         SystemObject(objectId), apid(apid), serviceId(serviceId),
         targetDestination(targetDestination) {
-	tmQueue = QueueFactory::instance()->createMessageQueue();
+	tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service1TelecommandVerification::~Service1TelecommandVerification() {}
@@ -53,7 +51,7 @@ ReturnValue_t Service1TelecommandVerification::sendVerificationReport(
 		result = generateSuccessReport(message);
 	}
 	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Service1TelecommandVerification::initialize: "
+		sif::error << "Service1TelecommandVerification::sendVerificationReport: "
 		        "Sending verification packet failed !" << std::endl;
 	}
 	return result;
diff --git a/pus/Service1TelecommandVerification.h b/pus/Service1TelecommandVerification.h
index 37562d1c..3d68a4e0 100644
--- a/pus/Service1TelecommandVerification.h
+++ b/pus/Service1TelecommandVerification.h
@@ -1,5 +1,5 @@
-#ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
-#define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
+#ifndef FSFW_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
+#define FSFW_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
 
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -44,14 +44,15 @@ public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_1;
 
 	Service1TelecommandVerification(object_id_t objectId,
-	        uint16_t apid, uint8_t serviceId, object_id_t targetDestination);
+	        uint16_t apid, uint8_t serviceId, object_id_t targetDestination,
+			uint16_t messageQueueDepth);
 	virtual ~Service1TelecommandVerification();
 
 	/**
 	 *
 	 * @return ID of Verification Queue
 	 */
-	virtual MessageQueueId_t getVerificationQueue();
+	virtual MessageQueueId_t getVerificationQueue() override;
 
 	/**
 	 * Performs the service periodically as specified in init_mission().
@@ -91,4 +92,4 @@ private:
 	};
 };
 
-#endif /* MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */
+#endif /* FSFW_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */
diff --git a/pus/Service2DeviceAccess.cpp b/pus/Service2DeviceAccess.cpp
index 2093a617..3648b7eb 100644
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@@ -21,8 +21,8 @@ Service2DeviceAccess::~Service2DeviceAccess() {}
 
 ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
 	switch(static_cast<Subservice>(subservice)){
-	case Subservice::RAW_COMMANDING:
-	case Subservice::TOGGLE_WIRETAPPING:
+	case Subservice::COMMAND_RAW_COMMANDING:
+	case Subservice::COMMAND_TOGGLE_WIRETAPPING:
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
 		sif::error << "Invalid Subservice" << std::endl;
@@ -39,8 +39,7 @@ ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
     SerializeAdapter::deSerialize(objectId, &tcData,
                 &tcDataLen, SerializeIF::Endianness::BIG);
 
-	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
-	return result;
+    return checkInterfaceAndAcquireMessageQueue(id,objectId);
 }
 
 ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
@@ -59,14 +58,12 @@ ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
 		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
 		uint32_t* state, object_id_t objectId) {
 	switch(static_cast<Subservice>(subservice)){
-	case Subservice::RAW_COMMANDING: {
-		return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
+	case Subservice::COMMAND_RAW_COMMANDING: {
+		return prepareRawCommand(message, tcData, tcDataLen);
 	}
 	break;
-	case Subservice::TOGGLE_WIRETAPPING: {
-		return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
-				tcData, tcDataLen);
+	case Subservice::COMMAND_TOGGLE_WIRETAPPING: {
+		return prepareWiretappingCommand(message, tcData, tcDataLen);
 	}
 	break;
 	default:
@@ -121,11 +118,11 @@ void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
 	switch(reply->getCommand()) {
 	case DeviceHandlerMessage::REPLY_RAW_COMMAND:
 		sendWiretappingTm(reply,
-				static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
+				static_cast<uint8_t>(Subservice::REPLY_WIRETAPPING_RAW_TC));
 		break;
 	case DeviceHandlerMessage::REPLY_RAW_REPLY:
 		sendWiretappingTm(reply,
-				static_cast<uint8_t>(Subservice::RAW_REPLY));
+				static_cast<uint8_t>(Subservice::REPLY_RAW));
 		break;
 	default:
 		sif::error << "Unknown message in Service2DeviceAccess::"
diff --git a/pus/Service2DeviceAccess.h b/pus/Service2DeviceAccess.h
index f6aa8b52..b62e6854 100644
--- a/pus/Service2DeviceAccess.h
+++ b/pus/Service2DeviceAccess.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
-#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
+#ifndef FSFW_PUS_SERVICE2DEVICEACCESS_H_
+#define FSFW_PUS_SERVICE2DEVICEACCESS_H_
 
 #include "../objectmanager/SystemObjectIF.h"
 #include "../devicehandlers/AcceptsDeviceResponsesIF.h"
@@ -81,12 +81,16 @@ private:
 	        const uint8_t* tcData, size_t tcDataLen);
 
 	enum class Subservice {
-		RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
-		TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
-		RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
-		WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
+	    //!< [EXPORT] : [COMMAND] Command in device native protocol
+		COMMAND_RAW_COMMANDING = 128,
+		//!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
+		COMMAND_TOGGLE_WIRETAPPING = 129,
+		//!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
+		REPLY_RAW = 130,
+		//!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
+		REPLY_WIRETAPPING_RAW_TC = 131
 	};
 };
 
 
-#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */
+#endif /* FSFW_PUS_DEVICE2DEVICECOMMANDING_H_ */
diff --git a/pus/Service5EventReporting.cpp b/pus/Service5EventReporting.cpp
index 829d04bd..e0b34a5b 100644
--- a/pus/Service5EventReporting.cpp
+++ b/pus/Service5EventReporting.cpp
@@ -8,10 +8,11 @@
 
 
 Service5EventReporting::Service5EventReporting(object_id_t objectId,
-            uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle):
+            uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle,
+            uint32_t messageQueueDepth):
 		PusServiceBase(objectId, apid, serviceId),
 		maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
-	eventQueue = QueueFactory::instance()->createMessageQueue();
+	eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
 }
 
 Service5EventReporting::~Service5EventReporting(){}
diff --git a/pus/Service5EventReporting.h b/pus/Service5EventReporting.h
index 0b6ee9a8..69242801 100644
--- a/pus/Service5EventReporting.h
+++ b/pus/Service5EventReporting.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
-#define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
+#ifndef FSFW_PUS_SERVICE5EVENTREPORTING_H_
+#define FSFW_PUS_SERVICE5EVENTREPORTING_H_
 
 #include "../tmtcservices/PusServiceBase.h"
 #include "../events/EventMessage.h"
@@ -42,7 +42,8 @@ class Service5EventReporting: public PusServiceBase {
 public:
 
 	Service5EventReporting(object_id_t objectId, uint16_t apid,
-	        uint8_t serviceId, size_t maxNumberReportsPerCycle = 10);
+	        uint8_t serviceId, size_t maxNumberReportsPerCycle = 10,
+	        uint32_t messageQueueDepth = 10);
 	virtual ~Service5EventReporting();
 
 	/***
@@ -83,4 +84,4 @@ private:
 	ReturnValue_t generateEventReport(EventMessage message);
 };
 
-#endif /* MISSION_PUS_SERVICE5EVENTREPORTING_H_ */
+#endif /* FSFW_PUS_SERVICE5EVENTREPORTING_H_ */
diff --git a/pus/Service8FunctionManagement.cpp b/pus/Service8FunctionManagement.cpp
index 2c2e590b..d710c56e 100644
--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@@ -7,10 +7,10 @@
 #include "../serialize/SerializeAdapter.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
-Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
+Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId,
 		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
 		uint16_t commandTimeoutSeconds):
-		CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
+		CommandingServiceBase(objectId, apid, serviceId, numParallelCommands,
 		commandTimeoutSeconds) {}
 
 Service8FunctionManagement::~Service8FunctionManagement() {}
@@ -19,7 +19,7 @@ Service8FunctionManagement::~Service8FunctionManagement() {}
 ReturnValue_t Service8FunctionManagement::isValidSubservice(
 		uint8_t subservice) {
 	switch(static_cast<Subservice>(subservice)) {
-	case Subservice::DIRECT_COMMANDING:
+	case Subservice::COMMAND_DIRECT_COMMANDING:
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
 		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -131,7 +131,7 @@ ReturnValue_t Service8FunctionManagement::handleDataReply(
     }
     DataReply dataReply(objectId, actionId, buffer, size);
     result = sendTmPacket(static_cast<uint8_t>(
-            Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
+            Subservice::REPLY_DIRECT_COMMANDING_DATA), &dataReply);
 
     auto deletionResult = IPCStore->deleteData(storeId);
     if(deletionResult != HasReturnvaluesIF::RETURN_OK) {
diff --git a/pus/Service8FunctionManagement.h b/pus/Service8FunctionManagement.h
index b5ebcda8..00153cfb 100644
--- a/pus/Service8FunctionManagement.h
+++ b/pus/Service8FunctionManagement.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
-#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+#ifndef FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
+#define FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
 
 #include "../action/ActionMessage.h"
 #include "../tmtcservices/CommandingServiceBase.h"
@@ -52,8 +52,10 @@ protected:
 
 private:
 	enum class Subservice {
-		DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
-		DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
+	    //!< [EXPORT] : [COMMAND] Functional commanding
+		COMMAND_DIRECT_COMMANDING = 128,
+		//!< [EXPORT] : [REPLY] Data reply
+		REPLY_DIRECT_COMMANDING_DATA = 130,
 	};
 
 	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
@@ -64,4 +66,4 @@ private:
 	        object_id_t objectId, ActionId_t actionId);
 };
 
-#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
+#endif /* FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h
index dbd31028..ecb62693 100644
--- a/pus/servicepackets/Service1Packets.h
+++ b/pus/servicepackets/Service1Packets.h
@@ -1,3 +1,6 @@
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
+
 /**
  * @defgroup spacepackets PUS Packet Definitions
  *  This group contains all implemented TM or TM packages that are sent to
@@ -5,9 +8,6 @@
  *  packet structures in Mission Information Base (MIB).
  */
 
-#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
-#define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
-
 #include "../../serialize/SerializeAdapter.h"
 #include "../../tmtcservices/VerificationCodes.h"
 
diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h
index efcf65fc..cb9ad4a7 100644
--- a/pus/servicepackets/Service200Packets.h
+++ b/pus/servicepackets/Service200Packets.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
 
 #include "../../serialize/SerialLinkedListAdapter.h"
 #include "../../modes/ModeMessage.h"
@@ -60,4 +60,4 @@ public:
 	SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
 };
 
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */
diff --git a/pus/servicepackets/Service2Packets.h b/pus/servicepackets/Service2Packets.h
index d4f3fb17..285a8f9f 100644
--- a/pus/servicepackets/Service2Packets.h
+++ b/pus/servicepackets/Service2Packets.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
 
 #include "../../action/ActionMessage.h"
 #include "../../objectmanager/SystemObjectIF.h"
@@ -73,4 +73,4 @@ public:
 	}
 };
 
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */
diff --git a/pus/servicepackets/Service5Packets.h b/pus/servicepackets/Service5Packets.h
index 9655608a..f903d6a2 100644
--- a/pus/servicepackets/Service5Packets.h
+++ b/pus/servicepackets/Service5Packets.h
@@ -1,5 +1,5 @@
-#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
-#define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
 
 #include "../../serialize/SerializeAdapter.h"
 #include "../../tmtcservices/VerificationCodes.h"
@@ -73,4 +73,4 @@ private:
 };
 
 
-#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */
diff --git a/pus/servicepackets/Service8Packets.h b/pus/servicepackets/Service8Packets.h
index 14f8b6e6..b026edf5 100644
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
-#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
 
 #include "../../action/ActionMessage.h"
 #include "../../objectmanager/SystemObjectIF.h"
@@ -118,4 +118,4 @@ private:
 
 };
 
-#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */

From 0304f61bdeb3035137bea029b145bacd34b5dd75 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 10 Nov 2020 11:00:13 +0100
Subject: [PATCH 487/653] has parametersIF doc improved

---
 parameters/HasParametersIF.h | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/parameters/HasParametersIF.h b/parameters/HasParametersIF.h
index c4fd81b3..19c12d81 100644
--- a/parameters/HasParametersIF.h
+++ b/parameters/HasParametersIF.h
@@ -1,8 +1,8 @@
 #ifndef FSFW_PARAMETERS_HASPARAMETERSIF_H_
 #define FSFW_PARAMETERS_HASPARAMETERSIF_H_
 
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "ParameterWrapper.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
 #include <cstdint>
 
 /**
@@ -20,11 +20,10 @@ using ParameterId_t = uint32_t;
  * ID is the domain ID which can be used to identify unqiue spacecraft domains
  * (e.g. control and sensor domain in the AOCS controller).
  *
- * The second and third byte represent the matrix ID, which can represent
- * a 8-bit row and column number and the last byte...
+ * The second byte is a unique identfier ID.
  *
- * Yeah, is it matrix ID or parameter ID now and is index a 16 bit number
- * of a 8 bit number now?
+ * The third and  fourth byte can be used as a linear index for matrix or array
+ * parameter entries.
  */
 class HasParametersIF {
 public:
@@ -61,6 +60,10 @@ public:
 	virtual ~HasParametersIF() {}
 
 	/**
+	 * This is the generic function overriden by child classes to set
+	 * parameters. To set a parameter, the parameter wrapper is used with
+	 * a variety of set functions. The provided values can be checked with
+	 * newValues.
 	 * Always set parameter before checking newValues!
 	 *
 	 * @param domainId

From 7c75c6e8cc22a4b8540f8866a5425f101bcfea6e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 10 Nov 2020 11:14:07 +0100
Subject: [PATCH 488/653] parameter helper update

---
 parameters/ParameterHelper.cpp | 166 ++++++++++++++++-----------------
 1 file changed, 83 insertions(+), 83 deletions(-)

diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index d2193b28..22465ca3 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -3,7 +3,7 @@
 #include "../objectmanager/ObjectManagerIF.h"
 
 ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
-		owner(owner) {}
+owner(owner) {}
 
 ParameterHelper::~ParameterHelper() {
 }
@@ -14,106 +14,106 @@ ReturnValue_t ParameterHelper::handleParameterMessage(CommandMessage *message) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	switch (message->getCommand()) {
-	case ParameterMessage::CMD_PARAMETER_DUMP: {
-		ParameterWrapper description;
-		uint8_t domain = HasParametersIF::getDomain(
-				ParameterMessage::getParameterId(message));
-		uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
-				ParameterMessage::getParameterId(message));
-		result = owner->getParameter(domain, uniqueIdentifier,
-				&description, &description, 0);
-		if (result == HasReturnvaluesIF::RETURN_OK) {
-			result = sendParameter(message->getSender(),
-					ParameterMessage::getParameterId(message), &description);
-		}
-	}
-		break;
-	case ParameterMessage::CMD_PARAMETER_LOAD: {
-	    ParameterId_t parameterId = 0;
-	    uint8_t ptc = 0;
-	    uint8_t pfc = 0;
-	    uint8_t rows = 0;
-	    uint8_t columns = 0;
-	    store_address_t storeId = ParameterMessage::getParameterLoadCommand(
-	            message, &parameterId, &ptc, &pfc, &rows, &columns);
-	    Type type(Type::getActualType(ptc, pfc));
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+    switch (message->getCommand()) {
+    case ParameterMessage::CMD_PARAMETER_DUMP: {
+        ParameterWrapper description;
+        uint8_t domain = HasParametersIF::getDomain(
+                ParameterMessage::getParameterId(message));
+        uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
+                ParameterMessage::getParameterId(message));
+        result = owner->getParameter(domain, uniqueIdentifier,
+                &description, &description, 0);
+        if (result == HasReturnvaluesIF::RETURN_OK) {
+            result = sendParameter(message->getSender(),
+                    ParameterMessage::getParameterId(message), &description);
+        }
+    }
+    break;
+    case ParameterMessage::CMD_PARAMETER_LOAD: {
+        ParameterId_t parameterId = 0;
+        uint8_t ptc = 0;
+        uint8_t pfc = 0;
+        uint8_t rows = 0;
+        uint8_t columns = 0;
+        store_address_t storeId = ParameterMessage::getParameterLoadCommand(
+                message, &parameterId, &ptc, &pfc, &rows, &columns);
+        Type type(Type::getActualType(ptc, pfc));
 
-		uint8_t domain = HasParametersIF::getDomain(parameterId);
-		uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
-		        parameterId);
-		uint16_t linearIndex = HasParametersIF::getIndex(parameterId);
+        uint8_t domain = HasParametersIF::getDomain(parameterId);
+        uint8_t uniqueIdentifier = HasParametersIF::getUniqueIdentifierId(
+                parameterId);
+        uint16_t linearIndex = HasParametersIF::getIndex(parameterId);
 
-		ConstStorageAccessor accessor(storeId);
-		result = storage->getData(storeId, accessor);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			sif::error << "ParameterHelper::handleParameterMessage: Getting"
-					<< " store data failed for load command." << std::endl;
-			break;
-		}
+        ConstStorageAccessor accessor(storeId);
+        result = storage->getData(storeId, accessor);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            sif::error << "ParameterHelper::handleParameterMessage: Getting"
+                    << " store data failed for load command." << std::endl;
+            break;
+        }
 
-		ParameterWrapper streamWrapper;
-		result = streamWrapper.set(type, rows, columns, accessor.data(),
-		        accessor.size());
-		if(result != HasReturnvaluesIF::RETURN_OK) {
-		    return result;
-		}
+        ParameterWrapper streamWrapper;
+        result = streamWrapper.set(type, rows, columns, accessor.data(),
+                accessor.size());
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
 
-		ParameterWrapper ownerWrapper;
-		result = owner->getParameter(domain, uniqueIdentifier, &ownerWrapper,
-				&streamWrapper, linearIndex);
+        ParameterWrapper ownerWrapper;
+        result = owner->getParameter(domain, uniqueIdentifier, &ownerWrapper,
+                &streamWrapper, linearIndex);
 
-		result = ownerWrapper.copyFrom(&streamWrapper, linearIndex);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-		    return result;
-		}
+        result = ownerWrapper.copyFrom(&streamWrapper, linearIndex);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
 
         result = sendParameter(message->getSender(),
                 ParameterMessage::getParameterId(message), &ownerWrapper);
-		break;
-	}
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+        break;
+    }
+    default:
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
 
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		rejectCommand(message->getSender(), result, message->getCommand());
-	}
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        rejectCommand(message->getSender(), result, message->getCommand());
+    }
 
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
-		const ParameterWrapper* description) {
-	size_t serializedSize = description->getSerializedSize();
+        const ParameterWrapper* description) {
+    size_t serializedSize = description->getSerializedSize();
 
-	uint8_t *storeElement;
-	store_address_t address;
+    uint8_t *storeElement;
+    store_address_t address;
 
-	ReturnValue_t result = storage->getFreeElement(&address, serializedSize,
-			&storeElement);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+    ReturnValue_t result = storage->getFreeElement(&address, serializedSize,
+            &storeElement);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
 
-	size_t storeElementSize = 0;
+    size_t storeElementSize = 0;
 
-	result = description->serialize(&storeElement, &storeElementSize,
-			serializedSize, SerializeIF::Endianness::BIG);
+    result = description->serialize(&storeElement, &storeElementSize,
+            serializedSize, SerializeIF::Endianness::BIG);
 
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		storage->deleteData(address);
-		return result;
-	}
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        storage->deleteData(address);
+        return result;
+    }
 
-	CommandMessage reply;
+    CommandMessage reply;
 
-	ParameterMessage::setParameterDumpReply(&reply, id, address);
+    ParameterMessage::setParameterDumpReply(&reply, id, address);
 
-	MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
+    MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
 
-	return HasReturnvaluesIF::RETURN_OK;
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t ParameterHelper::initialize() {
@@ -127,8 +127,8 @@ ReturnValue_t ParameterHelper::initialize() {
 }
 
 void ParameterHelper::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
-		Command_t initialCommand) {
-	CommandMessage reply;
-	reply.setReplyRejected(reason, initialCommand);
-	MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
+        Command_t initialCommand) {
+    CommandMessage reply;
+    reply.setReplyRejected(reason, initialCommand);
+    MessageQueueSenderIF::sendMessage(to, &reply, ownerQueueId);
 }

From 5865e56c54209ffe3076fda86cf94e02a706df25 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 10 Nov 2020 11:15:42 +0100
Subject: [PATCH 489/653] indentation fixed

---
 parameters/ParameterHelper.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/parameters/ParameterHelper.cpp b/parameters/ParameterHelper.cpp
index 22465ca3..23d1a1f3 100644
--- a/parameters/ParameterHelper.cpp
+++ b/parameters/ParameterHelper.cpp
@@ -2,8 +2,8 @@
 #include "ParameterMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
-ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
-owner(owner) {}
+ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner):
+        owner(owner) {}
 
 ParameterHelper::~ParameterHelper() {
 }

From 520409822e58c07c77bbdc163b232e4ac1c6ed76 Mon Sep 17 00:00:00 2001
From: "Jakob.Meier" <meierj@irs.uni-stuttgart.de>
Date: Tue, 10 Nov 2020 15:06:51 +0100
Subject: [PATCH 490/653] now all debug output removed

---
 osal/linux/TcUnixUdpPollingTask.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/osal/linux/TcUnixUdpPollingTask.cpp b/osal/linux/TcUnixUdpPollingTask.cpp
index 7df56a95..af99ec91 100644
--- a/osal/linux/TcUnixUdpPollingTask.cpp
+++ b/osal/linux/TcUnixUdpPollingTask.cpp
@@ -45,8 +45,8 @@ ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
 
 			continue;
 		}
-		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
-				<< " bytes received" << std::endl;
+//		sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
+//				<< " bytes received" << std::endl;
 
 		ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
 		if(result != HasReturnvaluesIF::RETURN_FAILED) {

From 752601e85f6d3d182c0f7b35e784e3226aa18db4 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Fri, 13 Nov 2020 14:31:30 +0100
Subject: [PATCH 491/653] WIP readme

---
 README.md | 150 +++++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 149 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index fc86fca7..c75af4ee 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,152 @@
 Flight Software Framework (FSFW)
 ======
 
-I want to be written!
+The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
+automated systems like Satellites. 
+
+The initial version of the Flight Software Framework was developed during
+the Flying Laptop Project by the University of Stuttgart in cooperation
+with Airbus Defence and Space GmbH.
+
+## Intended Use
+
+The framework is designed for systems which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
+
+
+## Structure
+
+The general structure is driven by the usage of interfaces provided by objects. The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers.
+The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. 
+This simplifies the instantiation of objects and allows the usage of some standard containers. 
+Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that.
+The fsfw uses Run-time type information.
+Exceptions are not allowed.
+
+### Failure Handling
+
+Functions should return a defined ReturnValue_t to signal to the caller that something is gone wrong. 
+Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used.
+The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds.
+
+### OSAL
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. A independent OSAL called "host" is currently not finished. This aims to be running on windows as well. 
+The OSAL provides periodic tasks, message queues, clocks and Semaphores as well as Mutexes.
+
+### Core Components 
+
+Clock:
+ * This is a class of static functions that can be used at anytime
+ * Leap Seconds must be set if any time conversions from UTC to other times is used
+
+ObjectManager (must be created): 
+
+* The component which handles all references. All SystemObjects register at this component. 
+* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
+* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
+A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
+
+``` c++
+	template <typename T> T* ObjectManagerIF::get( object_id_t id )
+
+```
+* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
+By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
+
+Event Manager:
+
+* Component which allows routing of events
+* Other objects can subscribe to specific events, ranges of events or all events of an object.
+* Subscriptions can be done during runtime but should be done during initialization
+* Amounts of allowed subscriptions must be configured by setting this parameters:
+
+``` c++
+namespace fsfwconfig {
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+}
+```
+
+
+Health Table:
+
+* A component which holds every health state 
+* Provides a thread safe way to access all health states without the need of message exchanges
+
+Stores
+
+* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can be exchanged with Stores. With this, only the store address must be exchanged in the message.
+* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
+* All of them should use the Thread Safe Class storagemanager/PoolManager
+
+Tasks
+
+* There are two different types of tasks
+** The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
+** FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
+
+
+### Static Ids in the framework
+
+Some parts of the framework use a static routing address for communication. 
+An example setup of ids can be found in the example config in "defaultcft/fsfwconfig/objects/Factory::setStaticFrameworkObjectIds()".
+
+### Events
+
+Events are tied to objects. EventIds can be generated by calling the Macro MAKE_EVENT. This works analog to the returnvalues.
+Every object that needs own EventIds has to get a unique SUBSYSTEM_ID. 
+Every SystemObject can call triggerEvent from the parent class.
+Therefore, event messages contain the specific EventId and the objectId of the object that has triggered.
+
+### Internal Communication
+
+Components communicate mostly over Message through Queues. 
+Those queues are created by calling the singleton QueueFactory::instance()->create(). 
+
+### External Communication
+
+The external communication with the mission control system is mostly up to the user implementation.
+The FSFW provides PUS Services which can be used to but don't need to be used. 
+The services can be seen as a conversion from a TC to a message based communication and back.
+
+#### CCSDS Frames, CCSDS Space Packets and PUS
+
+If the communication is based on CCSDS Frames and Space Packets, several classes can be used to distributed the packets to the corresponding services. Those can be found in tcdistribution. 
+If Space Packets are used, a timestamper must be created. 
+An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short.
+
+#### DeviceHandling
+
+DeviceHandlers are a core component of the FSFW. 
+The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface.
+By separating the underlying Communication Interface with DeviceCommunicationIF, a DH can be tested on different hardware.
+The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction. 
+A standard FDIR component for the DH will be created automatically but can be overwritten by the user.
+
+#### Modes, Health
+
+The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components.
+On-board Modemangement is implement in hierarchy system. 
+DeviceHandlers and Controllers are the lowest part of the hierarchy. 
+The next layer are Assemblies. Those assemblies act as a component which handle redunandcies of handlers. 
+Assemblies share a common core with the next level which are the Subsystems. 
+Those are intended to act as auto-generated components from a database which describes the subsystem modes. 
+The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded.
+Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component. 
+The target table is used to describe the state that is check continuously by the subsystem. 
+All of this allows System Modes to be generated as Subsystem object as well from the same database. 
+This System contains list of subsystem modes in the transition and target tables. 
+Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be command.
+The health state represents if the component is able to perform its tasks. 
+This can be used to signal the system to avoid using this component instead of a redundant one.
+The on-board FDIR uses the health state for isolation and recovery. 
+
+## Example config
+
+A example config can be found in defaultcfg/fsfwconfig.
+
+## Unit Tests
+
+Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself. 
+See README.md in the unittest Folder.
\ No newline at end of file

From 8aef4b9b997fbd7f4be929384e4d5695c6796be1 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Fri, 13 Nov 2020 14:36:32 +0100
Subject: [PATCH 492/653] Updated formatting

---
 README.md | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index c75af4ee..91383d48 100644
--- a/README.md
+++ b/README.md
@@ -82,9 +82,9 @@ Stores
 
 Tasks
 
-* There are two different types of tasks
-** The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
-** FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
+There are two different types of tasks:
+ * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
+ * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
 
 
 ### Static Ids in the framework
@@ -127,17 +127,19 @@ A standard FDIR component for the DH will be created automatically but can be ov
 #### Modes, Health
 
 The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components.
-On-board Modemangement is implement in hierarchy system. 
+On-board Mode Management is implement in hierarchy system. 
 DeviceHandlers and Controllers are the lowest part of the hierarchy. 
 The next layer are Assemblies. Those assemblies act as a component which handle redunandcies of handlers. 
 Assemblies share a common core with the next level which are the Subsystems. 
-Those are intended to act as auto-generated components from a database which describes the subsystem modes. 
+
+Those Assemblies are intended to act as auto-generated components from a database which describes the subsystem modes. 
 The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded.
 Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component. 
 The target table is used to describe the state that is check continuously by the subsystem. 
 All of this allows System Modes to be generated as Subsystem object as well from the same database. 
 This System contains list of subsystem modes in the transition and target tables. 
 Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be command.
+
 The health state represents if the component is able to perform its tasks. 
 This can be used to signal the system to avoid using this component instead of a redundant one.
 The on-board FDIR uses the health state for isolation and recovery. 

From 51443d7a68afc4fed57bc236a47815eec313c534 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Fri, 13 Nov 2020 15:09:00 +0100
Subject: [PATCH 493/653] Version number

---
 FSFWVersion.h | 3 ++-
 README.md     | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/FSFWVersion.h b/FSFWVersion.h
index dcb592dc..11a60891 100644
--- a/FSFWVersion.h
+++ b/FSFWVersion.h
@@ -1,10 +1,11 @@
 #ifndef FSFW_DEFAULTCFG_VERSION_H_
 #define FSFW_DEFAULTCFG_VERSION_H_
 
-const char* const FSFW_VERSION_NAME = "fsfw";
+const char* const FSFW_VERSION_NAME = "ASTP";
 
 #define FSFW_VERSION 		0
 #define	FSFW_SUBVERSION 	0
+#define	FSFW_REVISION 	1
 
 
 
diff --git a/README.md b/README.md
index 91383d48..13f7b95d 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,7 @@ with Airbus Defence and Space GmbH.
 
 ## Intended Use
 
-The framework is designed for systems which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
+The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
 
 
 ## Structure

From 5b5f2f3e1d40b3109821ff334483e8a02701a963 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 17 Nov 2020 09:42:38 +0100
Subject: [PATCH 494/653] Added hardware recommendations

---
 README.md | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 13f7b95d..b4db3c19 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,12 @@ with Airbus Defence and Space GmbH.
 
 ## Intended Use
 
-The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. Therefore, a mode and health system provides control over the states of the software and the controlled devices. In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
+The framework is designed for systems, which communicate with external devices, perform control loops, receive telecommands and send telemetry, and need to maintain a high level of availability. 
+Therefore, a mode and health system provides control over the states of the software and the controlled devices. 
+In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
+
+The recommended hardware is a microprocessor with more than 2 MB of RAM and 1 MB of non-volatile Memory. 
+For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zync 7000 SoC.
 
 
 ## Structure

From 273ddf9061c53e5ab73a7ce39443b81773fef57b Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 17 Nov 2020 19:25:57 +0100
Subject: [PATCH 495/653] Rtems compiles again fixes #176

---
 events/Event.h                    |  2 +-
 osal/rtems/Clock.cpp              | 18 +++----
 osal/rtems/CpuUsage.cpp           |  2 +-
 osal/rtems/InternalErrorCodes.cpp |  4 +-
 osal/rtems/Interrupt.cpp          | 86 -------------------------------
 osal/rtems/Interrupt.h            | 50 ------------------
 osal/rtems/MessageQueue.cpp       | 27 +++++-----
 osal/rtems/MessageQueue.h         | 14 ++---
 osal/rtems/MultiObjectTask.cpp    |  4 +-
 osal/rtems/Mutex.cpp              | 11 ++--
 osal/rtems/PollingTask.cpp        | 21 ++++----
 osal/rtems/PollingTask.h          |  2 +-
 osal/rtems/QueueFactory.cpp       |  5 +-
 osal/rtems/TaskBase.cpp           |  2 +-
 timemanager/Clock.h               |  2 +-
 15 files changed, 57 insertions(+), 193 deletions(-)
 delete mode 100644 osal/rtems/Interrupt.cpp
 delete mode 100644 osal/rtems/Interrupt.h

diff --git a/events/Event.h b/events/Event.h
index f8410f32..aba156f2 100644
--- a/events/Event.h
+++ b/events/Event.h
@@ -4,7 +4,7 @@
 #include <stdint.h>
 #include "fwSubsystemIdRanges.h"
 //could be move to more suitable location
-#include <subsystemIdRanges.h>
+#include <events/subsystemIdRanges.h>
 
 typedef uint16_t EventId_t;
 typedef uint8_t EventSeverity_t;
diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp
index eeffd7f3..9460fd2d 100644
--- a/osal/rtems/Clock.cpp
+++ b/osal/rtems/Clock.cpp
@@ -157,30 +157,24 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+	MutexHelper helper(timeMutex);
+
 
 	leapSeconds = leapSeconds_;
 
-	result = timeMutex->unlockMutex();
-	return result;
+
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 	if(timeMutex==NULL){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
+	MutexHelper helper(timeMutex);
 
 	*leapSeconds_ = leapSeconds;
 
-	result = timeMutex->unlockMutex();
-	return result;
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::checkOrCreateClockMutex(){
diff --git a/osal/rtems/CpuUsage.cpp b/osal/rtems/CpuUsage.cpp
index d49de4ad..6655c69b 100644
--- a/osal/rtems/CpuUsage.cpp
+++ b/osal/rtems/CpuUsage.cpp
@@ -158,7 +158,7 @@ uint32_t CpuUsage::ThreadData::getSerializedSize() const {
 }
 
 ReturnValue_t CpuUsage::ThreadData::deSerialize(const uint8_t** buffer,
-		int32_t* size, Endianness streamEndianness) {
+		size_t* size, Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&id, buffer,
 			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/osal/rtems/InternalErrorCodes.cpp b/osal/rtems/InternalErrorCodes.cpp
index 9346cf15..ddf365d5 100644
--- a/osal/rtems/InternalErrorCodes.cpp
+++ b/osal/rtems/InternalErrorCodes.cpp
@@ -12,8 +12,8 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
 //		return INVALID_WORKSPACE_ADDRESS;
 	case INTERNAL_ERROR_TOO_LITTLE_WORKSPACE:
 		return TOO_LITTLE_WORKSPACE;
-	case INTERNAL_ERROR_WORKSPACE_ALLOCATION:
-		return WORKSPACE_ALLOCATION;
+//	case INTERNAL_ERROR_WORKSPACE_ALLOCATION:
+//		return WORKSPACE_ALLOCATION;
 //	case INTERNAL_ERROR_INTERRUPT_STACK_TOO_SMALL:
 //		return INTERRUPT_STACK_TOO_SMALL;
 	case INTERNAL_ERROR_THREAD_EXITTED:
diff --git a/osal/rtems/Interrupt.cpp b/osal/rtems/Interrupt.cpp
deleted file mode 100644
index b740f1ca..00000000
--- a/osal/rtems/Interrupt.cpp
+++ /dev/null
@@ -1,86 +0,0 @@
-#include "Interrupt.h"
-extern "C" {
-#include <bsp_flp/hw_timer/hw_timer.h>
-#include <bsp_flp/hw_uart/hw_uart.h>
-}
-#include "RtemsBasic.h"
-
-
-ReturnValue_t Interrupt::enableInterrupt(InterruptNumber_t interruptNumber) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask | (1 << interruptNumber);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t Interrupt::setInterruptServiceRoutine(IsrHandler_t handler,
-		InterruptNumber_t interrupt, IsrHandler_t* oldHandler) {
-	IsrHandler_t oldHandler_local;
-	if (oldHandler == NULL) {
-		oldHandler = &oldHandler_local;
-	}
-	//+ 0x10 comes because of trap type assignment to IRQs in UT699 processor
-	rtems_status_code status = rtems_interrupt_catch(handler, interrupt + 0x10,
-			oldHandler);
-	switch(status){
-	case RTEMS_SUCCESSFUL:
-		//ISR established successfully
-		return HasReturnvaluesIF::RETURN_OK;
-	case RTEMS_INVALID_NUMBER:
-		//illegal vector number
-		return HasReturnvaluesIF::RETURN_FAILED;
-	case RTEMS_INVALID_ADDRESS:
-		//illegal ISR entry point or invalid old_isr_handler
-		return HasReturnvaluesIF::RETURN_FAILED;
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-}
-
-ReturnValue_t Interrupt::disableInterrupt(InterruptNumber_t interruptNumber) {
-	//TODO Not implemented
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-//SHOULDDO: Make default values (edge, polarity) settable?
-ReturnValue_t Interrupt::enableGpioInterrupt(InterruptNumber_t interrupt) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask | (1 << interrupt);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		volatile hw_gpio_port_t* ioPorts = hw_gpio_port;
-		ioPorts->direction &= ~(1 << interrupt); //Direction In
-		ioPorts->interrupt_edge |= 1 << interrupt; //Edge triggered
-		ioPorts->interrupt_polarity |= 1 << interrupt; //Trigger on rising edge
-		ioPorts->interrupt_mask |= 1 << interrupt; //Enable
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-ReturnValue_t Interrupt::disableGpioInterrupt(InterruptNumber_t interrupt) {
-	volatile uint32_t* irqMask = hw_irq_mask;
-	uint32_t expectedValue = *irqMask & ~(1 << interrupt);
-	*irqMask = expectedValue;
-	uint32_t tempValue = *irqMask;
-	if (tempValue == expectedValue) {
-		//Disable gpio IRQ
-		volatile hw_gpio_port_t* ioPorts = hw_gpio_port;
-		ioPorts->interrupt_mask &= ~(1 << interrupt);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-bool Interrupt::isInterruptInProgress() {
-	return rtems_interrupt_is_in_progress();
-}
diff --git a/osal/rtems/Interrupt.h b/osal/rtems/Interrupt.h
deleted file mode 100644
index 2152e2f0..00000000
--- a/osal/rtems/Interrupt.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#ifndef OS_RTEMS_INTERRUPT_H_
-#define OS_RTEMS_INTERRUPT_H_
-
-#include "../../returnvalues/HasReturnvaluesIF.h"
-#include <cstring>
-#include <rtems.h>
-
-typedef rtems_isr_entry IsrHandler_t;
-typedef rtems_isr IsrReturn_t;
-typedef rtems_vector_number InterruptNumber_t;
-
-class Interrupt {
-public:
-	virtual ~Interrupt(){};
-
-	/**
-	 * Establishes a new interrupt service routine.
-	 * @param handler	The service routine to establish
-	 * @param interrupt	The interrupt (NOT trap type) the routine shall react to.
-	 * @return	RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t setInterruptServiceRoutine(IsrHandler_t handler,
-			InterruptNumber_t interrupt, IsrHandler_t *oldHandler = NULL);
-	static ReturnValue_t enableInterrupt(InterruptNumber_t interruptNumber);
-	static ReturnValue_t disableInterrupt(InterruptNumber_t interruptNumber);
-	/**
-	 * Enables the interrupt given.
-	 * The function tests, if the InterruptMask register was written successfully.
-	 * @param interrupt The interrupt to enable.
-	 * @return RETURN_OK if the interrupt was set successfully. RETURN_FAILED else.
-	 */
-	static ReturnValue_t enableGpioInterrupt(InterruptNumber_t interrupt);
-	/**
-	 * Disables the interrupt given.
-	 * @param interrupt The interrupt to disable.
-	 * @return RETURN_OK if the interrupt was set successfully. RETURN_FAILED else.
-	 */
-	static ReturnValue_t disableGpioInterrupt(InterruptNumber_t interrupt);
-
-
-	/**
-	 * Checks if the current executing context is an ISR.
-	 * @return true if handling an interrupt, false else.
-	 */
-	static bool isInterruptInProgress();
-
-};
-
-
-#endif /* OS_RTEMS_INTERRUPT_H_ */
diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp
index 700db444..bc7e864d 100644
--- a/osal/rtems/MessageQueue.cpp
+++ b/osal/rtems/MessageQueue.cpp
@@ -1,4 +1,5 @@
 #include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 #include <cstring>
@@ -8,7 +9,7 @@ MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
 	rtems_status_code status = rtems_message_queue_create(name, message_depth,
 			max_message_size, 0, &(this->id));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
+		sif::error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
 				<< name << std::dec << " failed with status:"
 				<< (uint32_t) status << std::endl;
 		this->id = 0;
@@ -20,15 +21,15 @@ MessageQueue::~MessageQueue() {
 }
 
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, bool ignoreFault) {
+		MessageQueueMessageIF* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
 }
 
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
 	return sendToDefaultFrom(message, this->getId());
 }
 
-ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
 	if (this->lastPartner != 0) {
 		return sendMessage(this->lastPartner, message, this->getId());
 	} else {
@@ -36,27 +37,29 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 	}
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
 		MessageQueueId_t* receivedFrom) {
 	ReturnValue_t status = this->receiveMessage(message);
 	*receivedFrom = this->lastPartner;
 	return status;
 }
 
-ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	size_t size = 0;
 	rtems_status_code status = rtems_message_queue_receive(id,
-			message->getBuffer(), &(message->messageSize),
+			message->getBuffer(),&size,
 			RTEMS_NO_WAIT, 1);
 	if (status == RTEMS_SUCCESSFUL) {
+		message->setMessageSize(size);
 		this->lastPartner = message->getSender();
 		//Check size of incoming message.
-		if (message->messageSize < message->getMinimumMessageSize()) {
+		if (message->getMessageSize() < message->getMinimumMessageSize()) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	} else {
 		//No message was received. Keep lastPartner anyway, I might send something later.
 		//But still, delete packet content.
-		memset(message->getData(), 0, message->MAX_DATA_SIZE);
+		memset(message->getData(), 0, message->getMaximumMessageSize());
 	}
 	return convertReturnCode(status);
 }
@@ -79,12 +82,12 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
 }
 
 ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
-		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 
 	message->setSender(sentFrom);
 	rtems_status_code result = rtems_message_queue_send(sendTo,
-			message->getBuffer(), message->messageSize);
+			message->getBuffer(), message->getMessageSize());
 
 	//TODO: Check if we're in ISR.
 	if (result != RTEMS_SUCCESSFUL && !ignoreFault) {
@@ -105,7 +108,7 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 	return returnCode;
 }
 
-ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
 	return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
 }
diff --git a/osal/rtems/MessageQueue.h b/osal/rtems/MessageQueue.h
index c6fc62d5..78a1e5ca 100644
--- a/osal/rtems/MessageQueue.h
+++ b/osal/rtems/MessageQueue.h
@@ -60,14 +60,14 @@ public:
 	 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
 	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, bool ignoreFault = false );
+			MessageQueueMessageIF* message, bool ignoreFault = false );
 	/**
 	 * @brief	This operation sends a message to the default destination.
 	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
 	 * 			MessageQueueSender parent class and adds its queue id as "sentFrom" information.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t sendToDefault( MessageQueueMessage* message );
+	ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
 	 * @details	This operation simplifies answering an incoming message by using the stored
@@ -75,7 +75,7 @@ public:
 	 * 			(i.e. lastPartner is zero), an error code is returned.
 	 * @param message	A pointer to a previously created message, which is sent.
 	 */
-	ReturnValue_t reply( MessageQueueMessage* message );
+	ReturnValue_t reply( MessageQueueMessageIF* message );
 
 	/**
 	 * @brief	This function reads available messages from the message queue and returns the sender.
@@ -84,7 +84,7 @@ public:
 	 * @param message	A pointer to a message in which the received data is stored.
 	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message,
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
 			MessageQueueId_t *receivedFrom);
 
 	/**
@@ -95,7 +95,7 @@ public:
 	 * 			message's content is cleared and the function returns immediately.
 	 * @param message	A pointer to a message in which the received data is stored.
 	 */
-	ReturnValue_t receiveMessage(MessageQueueMessage* message);
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
 	/**
 	 * Deletes all pending messages in the queue.
 	 * @param count The number of flushed messages.
@@ -121,7 +121,7 @@ public:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
-	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	The sendToDefault method sends a queue message to the default destination.
 	 * \details	In all other aspects, it works identical to the sendMessage method.
@@ -129,7 +129,7 @@ public:
 	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
 	 * 					This variable is set to zero by default.
 	 */
-	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	This method is a simple setter for the default destination.
 	 */
diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index 2342c24c..a239d9cb 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -30,7 +30,7 @@ ReturnValue_t MultiObjectTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, MultiObjectTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "ObjectTask::startTask for " << std::hex << this->getId()
+		sif::error << "ObjectTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
 	}
 	switch(status){
@@ -63,7 +63,7 @@ void MultiObjectTask::taskFunctionality() {
 			char nameSpace[8] = { 0 };
 			char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
 					nameSpace);
-			error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
+			sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
 			if (this->deadlineMissedFunc != NULL) {
 				this->deadlineMissedFunc();
 			}
diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index 9553ac79..a5ec9635 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -10,7 +10,7 @@ Mutex::Mutex() :
 	RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0,
 			&mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
+		sif::error << "Mutex: creation with name, id " << mutexName << ", " << mutexId
 				<< " failed with " << status << std::endl;
 	}
 }
@@ -18,24 +18,25 @@ Mutex::Mutex() :
 Mutex::~Mutex() {
 	rtems_status_code status = rtems_semaphore_delete(mutexId);
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "Mutex: deletion for id " << mutexId
+		sif::error << "Mutex: deletion for id " << mutexId
 				<< " failed with " << status << std::endl;
 	}
 }
 
 ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
         TimeoutType::BLOCKING, uint32_t timeoutMs) {
+	rtems_status_code status = RTEMS_INVALID_ID;
 	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_WAIT, RTEMS_NO_TIMEOUT);
 	}
 	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
 		timeoutMs = RTEMS_NO_TIMEOUT;
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_NO_WAIT, 0);
 	}
 	else {
-		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+		status = rtems_semaphore_obtain(mutexId,
 				RTEMS_WAIT, timeoutMs);
 	}
 
diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp
index 04191515..1329638d 100644
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@@ -1,5 +1,6 @@
-#include "../../devicehandlers/FixedSequenceSlot.h"
+#include "../../tasks/FixedSequenceSlot.h"
 #include "../../objectmanager/SystemObjectIF.h"
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "PollingTask.h"
 #include "RtemsBasic.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
@@ -34,14 +35,14 @@ rtems_task PollingTask::taskEntryPoint(rtems_task_argument argument) {
 	PollingTask *originalTask(reinterpret_cast<PollingTask*>(argument));
 	//The task's functionality is called.
 	originalTask->taskFunctionality();
-	debug << "Polling task " << originalTask->getId()
+	sif::debug << "Polling task " << originalTask->getId()
 			<< " returned from taskFunctionality." << std::endl;
 }
 
 void PollingTask::missedDeadlineCounter() {
 	PollingTask::deadlineMissedCount++;
 	if (PollingTask::deadlineMissedCount % 10 == 0) {
-		error << "PST missed " << PollingTask::deadlineMissedCount
+		sif::error << "PST missed " << PollingTask::deadlineMissedCount
 				<< " deadlines." << std::endl;
 	}
 }
@@ -50,7 +51,7 @@ ReturnValue_t PollingTask::startTask() {
 	rtems_status_code status = rtems_task_start(id, PollingTask::taskEntryPoint,
 			rtems_task_argument((void *) this));
 	if (status != RTEMS_SUCCESSFUL) {
-		error << "PollingTask::startTask for " << std::hex << this->getId()
+		sif::error << "PollingTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
 	}
 	switch(status){
@@ -68,12 +69,13 @@ ReturnValue_t PollingTask::startTask() {
 
 ReturnValue_t PollingTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	ExecutableObjectIF* object = objectManager->get<ExecutableObjectIF>(componentId);
+	if (object != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, object, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	error << "Component " << std::hex << componentId <<
+	sif::error << "Component " << std::hex << componentId <<
 			" not found, not adding it to pst" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
@@ -90,11 +92,10 @@ ReturnValue_t PollingTask::checkSequence() const {
 
 void PollingTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
-	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+	FixedSlotSequence::SlotListIter it = pst.current;
 
 	//The start time for the first entry is read.
-	rtems_interval interval = RtemsBasic::convertMsToTicks(
-			(*it)->pollingTimeMs);
+	rtems_interval interval = RtemsBasic::convertMsToTicks(it->pollingTimeMs);
 	TaskBase::setAndStartPeriod(interval,&periodId);
 	//The task's "infinite" inner loop is entered.
 	while (1) {
diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h
index 199c34e7..5656e354 100644
--- a/osal/rtems/PollingTask.h
+++ b/osal/rtems/PollingTask.h
@@ -1,7 +1,7 @@
 #ifndef POLLINGTASK_H_
 #define POLLINGTASK_H_
 
-#include "../../devicehandlers/FixedSlotSequence.h"
+#include "../../tasks/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "TaskBase.h"
 
diff --git a/osal/rtems/QueueFactory.cpp b/osal/rtems/QueueFactory.cpp
index fce55a0e..b35e7a39 100644
--- a/osal/rtems/QueueFactory.cpp
+++ b/osal/rtems/QueueFactory.cpp
@@ -1,4 +1,5 @@
 #include "../../ipc/QueueFactory.h"
+#include "../../ipc/MessageQueueSenderIF.h"
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 
@@ -6,11 +7,11 @@ QueueFactory* QueueFactory::factoryInstance = NULL;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,bool ignoreFault) {
 	//TODO add ignoreFault functionality
 	message->setSender(sentFrom);
 	rtems_status_code result = rtems_message_queue_send(sendTo, message->getBuffer(),
-			message->messageSize);
+			message->getMessageSize());
 	switch(result){
 	case RTEMS_SUCCESSFUL:
 			//message sent successfully
diff --git a/osal/rtems/TaskBase.cpp b/osal/rtems/TaskBase.cpp
index adf6ee70..4e0c8f00 100644
--- a/osal/rtems/TaskBase.cpp
+++ b/osal/rtems/TaskBase.cpp
@@ -22,7 +22,7 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
 	}
 	ReturnValue_t result = convertReturnCode(status);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
-		error << "TaskBase::TaskBase: createTask with name " << std::hex
+		sif::error << "TaskBase::TaskBase: createTask with name " << std::hex
 				<< osalName << std::dec << " failed with return code "
 				<< (uint32_t) status << std::endl;
 		this->id = 0;
diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index acb68e2e..bc112388 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -2,7 +2,7 @@
 #define FRAMEWORK_TIMEMANAGER_CLOCK_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../ipc/MutexFactory.h"
+#include "../ipc/MutexHelper.h"
 #include "../globalfunctions/timevalOperations.h"
 
 #include <cstdint>

From 6489246c4b52d57b0a1fce6368787adea0115128 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 17 Nov 2020 19:35:37 +0100
Subject: [PATCH 496/653] Updated include guards

---
 osal/rtems/Clock.cpp           | 14 +++++++-------
 osal/rtems/MessageQueue.cpp    |  6 +++---
 osal/rtems/MessageQueue.h      | 15 +++------------
 osal/rtems/MultiObjectTask.cpp |  4 ++--
 osal/rtems/MultiObjectTask.h   |  2 +-
 osal/rtems/Mutex.h             |  6 +++---
 osal/rtems/MutexFactory.cpp    |  1 -
 osal/rtems/PollingTask.cpp     |  2 +-
 osal/rtems/PollingTask.h       |  6 +++---
 osal/rtems/QueueFactory.cpp    |  4 ++--
 osal/rtems/RtemsBasic.h        |  6 +++---
 osal/rtems/TaskBase.h          |  6 +++---
 12 files changed, 31 insertions(+), 41 deletions(-)

diff --git a/osal/rtems/Clock.cpp b/osal/rtems/Clock.cpp
index 9460fd2d..e5f37ec6 100644
--- a/osal/rtems/Clock.cpp
+++ b/osal/rtems/Clock.cpp
@@ -3,7 +3,7 @@
 #include <rtems/score/todimpl.h>
 
 uint16_t Clock::leapSeconds = 0;
-MutexIF* Clock::timeMutex = NULL;
+MutexIF* Clock::timeMutex = nullptr;
 
 uint32_t Clock::getTicksPerSecond(void){
 	rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
@@ -40,7 +40,7 @@ ReturnValue_t Clock::setClock(const timeval* time) {
 	//SHOULDDO: Not sure if we need to protect this call somehow (by thread lock or something).
 	//Uli: rtems docu says you can call this from an ISR, not sure if this means no protetion needed
 	//TODO Second parameter is ISR_lock_Context
-	_TOD_Set(&newTime,NULL);
+	_TOD_Set(&newTime,nullptr);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -131,7 +131,7 @@ ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
 
 ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
 	//SHOULDDO: works not for dates in the past (might have less leap seconds)
-	if (timeMutex == NULL) {
+	if (timeMutex == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
@@ -167,7 +167,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 }
 
 ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
-	if(timeMutex==NULL){
+	if(timeMutex==nullptr){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	MutexHelper helper(timeMutex);
@@ -178,13 +178,13 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 }
 
 ReturnValue_t Clock::checkOrCreateClockMutex(){
-	if(timeMutex==NULL){
+	if(timeMutex==nullptr){
 		MutexFactory* mutexFactory = MutexFactory::instance();
-		if (mutexFactory == NULL) {
+		if (mutexFactory == nullptr) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 		timeMutex = mutexFactory->createMutex();
-		if (timeMutex == NULL) {
+		if (timeMutex == nullptr) {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
diff --git a/osal/rtems/MessageQueue.cpp b/osal/rtems/MessageQueue.cpp
index bc7e864d..839182a6 100644
--- a/osal/rtems/MessageQueue.cpp
+++ b/osal/rtems/MessageQueue.cpp
@@ -4,7 +4,7 @@
 #include "RtemsBasic.h"
 #include <cstring>
 MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
-		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(NULL) {
+		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(nullptr) {
 	rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
 	rtems_status_code status = rtems_message_queue_create(name, message_depth,
 			max_message_size, 0, &(this->id));
@@ -91,11 +91,11 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 
 	//TODO: Check if we're in ISR.
 	if (result != RTEMS_SUCCESSFUL && !ignoreFault) {
-		if (internalErrorReporter == NULL) {
+		if (internalErrorReporter == nullptr) {
 			internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
 					objects::INTERNAL_ERROR_REPORTER);
 		}
-		if (internalErrorReporter != NULL) {
+		if (internalErrorReporter != nullptr) {
 			internalErrorReporter->queueMessageNotSent();
 		}
 	}
diff --git a/osal/rtems/MessageQueue.h b/osal/rtems/MessageQueue.h
index 78a1e5ca..342f1e30 100644
--- a/osal/rtems/MessageQueue.h
+++ b/osal/rtems/MessageQueue.h
@@ -1,14 +1,5 @@
-/**
- *	@file	MessageQueue.h
- *
- *  @date	10/02/2012
- *	@author	Bastian Baetz
- *
- *	@brief	This file contains the definition of the MessageQueue class.
- */
-
-#ifndef MESSAGEQUEUE_H_
-#define MESSAGEQUEUE_H_
+#ifndef FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
+#define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_
 
 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueIF.h"
@@ -178,4 +169,4 @@ private:
 	static ReturnValue_t convertReturnCode(rtems_status_code inValue);
 };
 
-#endif /* MESSAGEQUEUE_H_ */
+#endif /* FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ */
diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index a239d9cb..970d01e1 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -64,7 +64,7 @@ void MultiObjectTask::taskFunctionality() {
 			char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),
 					nameSpace);
 			sif::error << "ObjectTask: " << ptr << " Deadline missed." << std::endl;
-			if (this->deadlineMissedFunc != NULL) {
+			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}
@@ -74,7 +74,7 @@ void MultiObjectTask::taskFunctionality() {
 ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index 736e79dd..04d122a3 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -80,7 +80,7 @@ protected:
 	/**
 	 * @brief	The pointer to the deadline-missed function.
 	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
-	 * 			So, each may react individually on a timing failure. The pointer may be NULL,
+	 * 			So, each may react individually on a timing failure. The pointer may be nullptr,
 	 * 			then nothing happens on missing the deadline. The deadline is equal to the next execution
 	 * 			of the periodic task.
 	 */
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 72368210..4c861318 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
-#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
+#ifndef FSFW_OSAL_RTEMS_MUTEX_H_
+#define FSFW_OSAL_RTEMS_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 #include "RtemsBasic.h"
@@ -15,4 +15,4 @@ private:
 	static uint8_t count;
 };
 
-#endif /* OS_RTEMS_MUTEX_H_ */
+#endif /* FSFW_OSAL_RTEMS_MUTEX_H_ */
diff --git a/osal/rtems/MutexFactory.cpp b/osal/rtems/MutexFactory.cpp
index ea594789..24af5fa9 100644
--- a/osal/rtems/MutexFactory.cpp
+++ b/osal/rtems/MutexFactory.cpp
@@ -2,7 +2,6 @@
 #include "Mutex.h"
 #include "RtemsBasic.h"
 
-//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
 
 MutexFactory::MutexFactory() {
diff --git a/osal/rtems/PollingTask.cpp b/osal/rtems/PollingTask.cpp
index 1329638d..db7864fe 100644
--- a/osal/rtems/PollingTask.cpp
+++ b/osal/rtems/PollingTask.cpp
@@ -108,7 +108,7 @@ void PollingTask::taskFunctionality() {
 			//If the deadline was missed, the deadlineMissedFunc is called.
 			rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
 			if (status == RTEMS_TIMEOUT) {
-				if (this->deadlineMissedFunc != NULL) {
+				if (this->deadlineMissedFunc != nullptr) {
 					this->deadlineMissedFunc();
 				}
 			}
diff --git a/osal/rtems/PollingTask.h b/osal/rtems/PollingTask.h
index 5656e354..42deaf09 100644
--- a/osal/rtems/PollingTask.h
+++ b/osal/rtems/PollingTask.h
@@ -1,5 +1,5 @@
-#ifndef POLLINGTASK_H_
-#define POLLINGTASK_H_
+#ifndef FSFW_OSAL_RTEMS_POLLINGTASK_H_
+#define FSFW_OSAL_RTEMS_POLLINGTASK_H_
 
 #include "../../tasks/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
@@ -82,4 +82,4 @@ protected:
 	void taskFunctionality( void );
 };
 
-#endif /* POLLINGTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_POLLINGTASK_H_ */
diff --git a/osal/rtems/QueueFactory.cpp b/osal/rtems/QueueFactory.cpp
index b35e7a39..ff561304 100644
--- a/osal/rtems/QueueFactory.cpp
+++ b/osal/rtems/QueueFactory.cpp
@@ -3,7 +3,7 @@
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
 
-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
@@ -38,7 +38,7 @@ ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
 }
 
 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
diff --git a/osal/rtems/RtemsBasic.h b/osal/rtems/RtemsBasic.h
index 78e0d46e..d0ca5aba 100644
--- a/osal/rtems/RtemsBasic.h
+++ b/osal/rtems/RtemsBasic.h
@@ -1,5 +1,5 @@
-#ifndef OS_RTEMS_RTEMSBASIC_H_
-#define OS_RTEMS_RTEMSBASIC_H_
+#ifndef FSFW_OSAL_RTEMS_RTEMSBASIC_H_
+#define FSFW_OSAL_RTEMS_RTEMSBASIC_H_
 
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include <rtems.h>
@@ -22,4 +22,4 @@ public:
 	}
 };
 
-#endif /* OS_RTEMS_RTEMSBASIC_H_ */
+#endif /* FSFW_OSAL_RTEMS_RTEMSBASIC_H_ */
diff --git a/osal/rtems/TaskBase.h b/osal/rtems/TaskBase.h
index 410d9110..0e186e67 100644
--- a/osal/rtems/TaskBase.h
+++ b/osal/rtems/TaskBase.h
@@ -1,5 +1,5 @@
-#ifndef TASKBASE_H_
-#define TASKBASE_H_
+#ifndef FSFW_OSAL_RTEMS_TASKBASE_H_
+#define FSFW_OSAL_RTEMS_TASKBASE_H_
 
 #include "RtemsBasic.h"
 #include "../../tasks/PeriodicTaskIF.h"
@@ -44,4 +44,4 @@ private:
 };
 
 
-#endif /* TASKBASE_H_ */
+#endif /* FSFW_OSAL_RTEMS_TASKBASE_H_ */

From 1cc0847bb512bc5df7a79097da726bf7f45739db Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 21 Nov 2020 00:15:31 +0100
Subject: [PATCH 497/653] small bugfix

---
 devicehandlers/DeviceHandlerIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 10907a89..35bbe376 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -18,7 +18,7 @@ public:
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
-	static constexpr Command_t NO_COMMAND = 0xffffffff;
+	static constexpr Command_t NO_COMMAND = -1;
 
 	/**
 	 * @brief This is the mode the <strong>device handler</strong> is in.

From 8c294729d0dce83c95f34b849ec8bbe8ef369133 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 22 Nov 2020 12:34:16 +0100
Subject: [PATCH 498/653] extern c definition added

---
 osal/FreeRTOS/TaskManagement.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 4b7fe3eb..eb735185 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -13,7 +13,7 @@ extern "C" {
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern void vRequestContextSwitchFromISR();
+extern "C" void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from

From 767f1057628f96019ba1836a83a43c94383cb0f4 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 24 Nov 2020 13:45:34 +0100
Subject: [PATCH 499/653] added changelog

---
 CHANGELOG | 7 +++++++
 1 file changed, 7 insertions(+)
 create mode 100644 CHANGELOG

diff --git a/CHANGELOG b/CHANGELOG
new file mode 100644
index 00000000..96f5703c
--- /dev/null
+++ b/CHANGELOG
@@ -0,0 +1,7 @@
+## Changes from ASTP 0.0.1 to 0.0.2
+
+
+### FreeRTOS OSAL
+
+- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
+a C file without issues

From 227ec25e89c9f95e3bb16f1efe856761cdd7dc4e Mon Sep 17 00:00:00 2001
From: "Jakob.Meier" <meierj@irs.uni-stuttgart.de>
Date: Fri, 27 Nov 2020 11:44:11 +0100
Subject: [PATCH 500/653] some minor corrections in readme

---
 README.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index b4db3c19..52fec27e 100644
--- a/README.md
+++ b/README.md
@@ -15,7 +15,7 @@ Therefore, a mode and health system provides control over the states of the soft
 In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
 
 The recommended hardware is a microprocessor with more than 2 MB of RAM and 1 MB of non-volatile Memory. 
-For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zync 7000 SoC.
+For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC.
 
 
 ## Structure
@@ -134,16 +134,16 @@ A standard FDIR component for the DH will be created automatically but can be ov
 The two interfaces HasModesIF and HasHealthIF provide access for commanding and monitoring of components.
 On-board Mode Management is implement in hierarchy system. 
 DeviceHandlers and Controllers are the lowest part of the hierarchy. 
-The next layer are Assemblies. Those assemblies act as a component which handle redunandcies of handlers. 
+The next layer are Assemblies. Those assemblies act as a component which handle redundancies of handlers. 
 Assemblies share a common core with the next level which are the Subsystems. 
 
 Those Assemblies are intended to act as auto-generated components from a database which describes the subsystem modes. 
 The definitions contain transition and target tables which contain the DH, Assembly and Controller Modes to be commanded.
 Transition tables contain as many steps as needed to reach the mode from any other mode, e.g. a switch into any higher AOCS mode might first turn on the sensors, than the actuators and the controller as last component. 
-The target table is used to describe the state that is check continuously by the subsystem. 
+The target table is used to describe the state that is checked continuously by the subsystem. 
 All of this allows System Modes to be generated as Subsystem object as well from the same database. 
 This System contains list of subsystem modes in the transition and target tables. 
-Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be command.
+Therefore, it allows a modular system to create system modes and easy commanding of those, because only the highest components must be commanded.
 
 The health state represents if the component is able to perform its tasks. 
 This can be used to signal the system to avoid using this component instead of a redundant one.

From c182171b096d1beaa25edda4ff365b5f2fdd64d9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 30 Nov 2020 12:32:38 +0100
Subject: [PATCH 501/653] updated make file

---
 fsfw.mk | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/fsfw.mk b/fsfw.mk
index 3639717b..f2cdd7ab 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -70,3 +70,5 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
+
+INCLUDES += $(CURRENTPATH)

From 49479faa1a4e2b8e43fc1ff55fb4fce7cff75bbb Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 30 Nov 2020 12:37:22 +0100
Subject: [PATCH 502/653] better solution

---
 defaultcfg/fsfwconfig/FSFWConfig.h | 1 -
 fsfw.mk                            | 2 --
 2 files changed, 3 deletions(-)

diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
index be3717b4..8c6c754a 100644
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -1,7 +1,6 @@
 #ifndef CONFIG_FSFWCONFIG_H_
 #define CONFIG_FSFWCONFIG_H_
 
-#include <FSFWVersion.h>
 #include <cstddef>
 #include <cstdint>
 
diff --git a/fsfw.mk b/fsfw.mk
index f2cdd7ab..3639717b 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -70,5 +70,3 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)
-
-INCLUDES += $(CURRENTPATH)

From 4241c00448e57c7a05b5ba26248cbb23bc72a4c0 Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Mon, 30 Nov 2020 18:30:58 +0100
Subject: [PATCH 503/653] Added the new logos, colors are WIP at the moment

---
 NOTICE                   |   2 +
 README.md                |   3 +-
 logo/FSFW_Logo_V3.png    | Bin 0 -> 137423 bytes
 logo/FSFW_Logo_V3.svg    | 711 +++++++++++++++++++++++++++++++++++++++
 logo/FSFW_Logo_V3_bw.png | Bin 0 -> 13369 bytes
 5 files changed, 715 insertions(+), 1 deletion(-)
 create mode 100644 logo/FSFW_Logo_V3.png
 create mode 100644 logo/FSFW_Logo_V3.svg
 create mode 100644 logo/FSFW_Logo_V3_bw.png

diff --git a/NOTICE b/NOTICE
index e1663282..be1a37c4 100644
--- a/NOTICE
+++ b/NOTICE
@@ -4,6 +4,8 @@ The initial version of the Flight Software Framework was developed during
 the Flying Laptop Project by the Universität Stuttgart in coorporation
 with Airbus Defence and Space GmbH.
 
+The supreme FSFW Logo was designed by Markus Koller and Luise Trilsbach.
+
 Copyrights in the Flight Software Framework are retained by their contributors.
 No copyright assignment is required to contribute to the Flight Software Framework.
 
diff --git a/README.md b/README.md
index 52fec27e..a59f4ddd 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,5 @@
-Flight Software Framework (FSFW)
+![FSFW Logo](logo/FSFW_Logo_V3_bw.png)
+# Flight Software Framework (FSFW)
 ======
 
 The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
diff --git a/logo/FSFW_Logo_V3.png b/logo/FSFW_Logo_V3.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ac710dd2069446e8f10108716f4c0e97bc961b9
GIT binary patch
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From 9086ee2ffed94f5bd2343105ad6ccd81bc7de3ab Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 13:24:29 +0100
Subject: [PATCH 504/653] added new tests

---
 unittest/tests/storagemanager/TestPool.cpp | 591 ++++++++++-----------
 1 file changed, 295 insertions(+), 296 deletions(-)

diff --git a/unittest/tests/storagemanager/TestPool.cpp b/unittest/tests/storagemanager/TestPool.cpp
index f278c40c..daeb6bb5 100644
--- a/unittest/tests/storagemanager/TestPool.cpp
+++ b/unittest/tests/storagemanager/TestPool.cpp
@@ -1,296 +1,295 @@
-//#include "CatchDefinitions.h"
-//
-//#include <config/objects/Factory.h>
-//#include <fsfw/objectmanager/ObjectManager.h>
-//#include <fsfw/storagemanager/LocalPool.h>
-//
-//#include <catch.hpp>
-//#include <CatchDefinitions.h>
-//
-//#include <cstring>
-//
-//
-//TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
-////	uint16_t numberOfElements[1] = {1};
-////	uint16_t sizeofElements[1] = {10};
-//	LocalPool::LocalPoolConfig config = {{1, 10}};
-//	LocalPool simplePool(0, config);
-//	std::array<uint8_t, 20> testDataArray;
-//	std::array<uint8_t, 20> receptionArray;
-//	store_address_t testStoreId;
-//	ReturnValue_t result = retval::CATCH_FAILED;
-//	uint8_t *pointer = nullptr;
-//	const uint8_t * constPointer = nullptr;
-//
-//	for(size_t i = 0; i < testDataArray.size(); i++) {
-//		testDataArray[i] = i;
-//	}
-//	size_t size = 10;
-//
-//	SECTION ( "Basic tests") {
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.getData(testStoreId, &constPointer, &size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		memcpy(receptionArray.data(), constPointer, size);
-//		for(size_t i = 0; i < size; i++) {
-//			CHECK(receptionArray[i] == i );
-//		}
-//		memset(receptionArray.data(), 0, size);
-//		result = simplePool.modifyData(testStoreId, &pointer, &size);
-//		memcpy(receptionArray.data(), pointer, size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		for(size_t i = 0; i < size; i++) {
-//			CHECK(receptionArray[i] == i );
-//		}
-//		result = simplePool.deleteData(testStoreId);
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), 15);
-//		CHECK (result == (int) StorageManagerIF::DATA_TOO_LARGE);
-//	}
-//
-//	SECTION ( "Reservation Tests ") {
-//		pointer = nullptr;
-//		result = simplePool.getFreeElement(&testStoreId, size, &pointer);
-//		REQUIRE (result == retval::CATCH_OK);
-//		memcpy(pointer, testDataArray.data(), size);
-//		constPointer = nullptr;
-//		result = simplePool.getData(testStoreId, &constPointer, &size);
-//
-//		REQUIRE (result == retval::CATCH_OK);
-//		memcpy(receptionArray.data(), constPointer, size);
-//		for(size_t i = 0; i < size; i++) {
-//			CHECK(receptionArray[i] == i );
-//		}
-//	}
-//
-//	SECTION ( "Add, delete, add, add when full") {
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.getData(testStoreId, &constPointer, &size);
-//		REQUIRE( result == retval::CATCH_OK);
-//		memcpy(receptionArray.data(), constPointer, size);
-//		for(size_t i = 0; i < size; i++) {
-//			CHECK(receptionArray[i] == i );
-//		}
-//
-//		result = simplePool.deleteData(testStoreId);
-//		REQUIRE(result == retval::CATCH_OK);
-//
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.getData(testStoreId, &constPointer, &size);
-//		REQUIRE( result == retval::CATCH_OK);
-//		memcpy(receptionArray.data(), constPointer, size);
-//		for(size_t i = 0; i < size; i++) {
-//			CHECK(receptionArray[i] == i );
-//		}
-//
-//		store_address_t newAddress;
-//		result = simplePool.addData(&newAddress, testDataArray.data(), size);
-//		REQUIRE(result == (int) StorageManagerIF::DATA_STORAGE_FULL);
-//
-//		// Packet Index to high intentionally
-//		newAddress.packetIndex = 2;
-//		pointer = testDataArray.data();
-//		result = simplePool.modifyData(newAddress, &pointer, &size);
-//		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
-//
-//		result = simplePool.deleteData(newAddress);
-//		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
-//
-//		newAddress.packetIndex = 0;
-//		newAddress.poolIndex = 2;
-//		result = simplePool.deleteData(newAddress);
-//		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
-//	}
-//
-//	SECTION ( "Initialize and clear store, delete with pointer") {
-//		result = simplePool.initialize();
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		simplePool.clearStore();
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		result = simplePool.modifyData(testStoreId, &pointer, &size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		store_address_t newId;
-//		result = simplePool.deleteData(pointer, size, &testStoreId);
-//		REQUIRE(result == retval::CATCH_OK);
-//		REQUIRE(testStoreId.raw != (uint32_t) StorageManagerIF::INVALID_ADDRESS);
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//	}
-//}
-//
-//int runIdx = 0;
-//
-//TEST_CASE( "Local Pool Extended Tests [3 Pools]" , "[TestPool2]") {
-//	LocalPool::LocalPoolConfig* config;
-//	if(runIdx == 0) {
-//		config = new LocalPool::LocalPoolConfig{{10, 5}, {5, 10}, {2, 20}};
-//	}
-//	else {
-//		// shufle the order, they should be sort implictely so that the
-//		// order is ascending for the page sizes.
-//		config = new LocalPool::LocalPoolConfig{{5, 10}, {2, 20}, {10, 5}};
-//		size_t lastSize = 0;
-//		for(const auto& pair: *config) {
-//			CHECK(pair.second > lastSize);
-//			lastSize = pair.second;
-//		}
-//	}
-//	runIdx++;
-//
-//	LocalPool simplePool(0, *config);
-//	std::array<uint8_t, 20> testDataArray;
-//	std::array<uint8_t, 20> receptionArray;
-//	store_address_t testStoreId;
-//	ReturnValue_t result = retval::CATCH_FAILED;
-//	for(size_t i = 0; i < testDataArray.size(); i++) {
-//		testDataArray[i] = i;
-//	}
-//	size_t size = 0;
-//
-//	SECTION ("Basic tests") {
-//		size = 8;
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		// Should be on second page of the pool now for 8 bytes
-//		CHECK(testStoreId.poolIndex == 1);
-//		CHECK(testStoreId.packetIndex == 0);
-//
-//		size = 15;
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		// Should be on third page of the pool now for 15 bytes
-//		CHECK(testStoreId.poolIndex == 2);
-//		CHECK(testStoreId.packetIndex == 0);
-//
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		// Should be on third page of the pool now for 15 bytes
-//		CHECK(testStoreId.poolIndex == 2);
-//		CHECK(testStoreId.packetIndex == 1);
-//
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		// Should be on third page of the pool now for 15 bytes
-//		REQUIRE(result == (int) LocalPool::DATA_STORAGE_FULL);
-//
-//		size = 8;
-//		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//		REQUIRE(result == retval::CATCH_OK);
-//		// Should still work
-//		CHECK(testStoreId.poolIndex == 1);
-//		CHECK(testStoreId.packetIndex == 1);
-//
-//		// fill the rest of the pool
-//		for(uint8_t idx = 2; idx < 5; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 1);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//	}
-//
-//	SECTION ("Fill Count and Clearing") {
-//		//SECTION("Basic tests");
-//		uint8_t bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		// fill count should be all zeros now.
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 0);
-//		CHECK(receptionArray[1] == 0);
-//		CHECK(receptionArray[2] == 0);
-//		CHECK(receptionArray[3] == 0);
-//
-//		// now fill the store completely.
-//		size = 5;
-//		for(uint8_t idx = 0; idx < 10; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 0);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//		size = 10;
-//		for(uint8_t idx = 0; idx < 5; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 1);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//		size = 20;
-//		for(uint8_t idx = 0; idx < 2; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 2);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//		bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		// fill count should be all 100 now.
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 100);
-//		CHECK(receptionArray[1] == 100);
-//		CHECK(receptionArray[2] == 100);
-//		CHECK(receptionArray[3] == 100);
-//
-//		// now clear the store
-//		simplePool.clearStore();
-//		bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 0);
-//		CHECK(receptionArray[1] == 0);
-//		CHECK(receptionArray[2] == 0);
-//		CHECK(receptionArray[3] == 0);
-//
-//		// now fill one page
-//		size = 5;
-//		for(uint8_t idx = 0; idx < 10; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 0);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//		bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		// First page full, median fill count is 33 %
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 100);
-//		CHECK(receptionArray[1] == 0);
-//		CHECK(receptionArray[2] == 0);
-//		CHECK(receptionArray[3] == 33);
-//
-//		// now fill second page
-//		size = 10;
-//		for(uint8_t idx = 0; idx < 5; idx++) {
-//			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
-//			REQUIRE(result == retval::CATCH_OK);
-//			CHECK(testStoreId.poolIndex == 1);
-//			CHECK(testStoreId.packetIndex == idx);
-//		}
-//		bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		// First and second page full, median fill count is 66 %
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 100);
-//		CHECK(receptionArray[1] == 100);
-//		CHECK(receptionArray[2] == 0);
-//		CHECK(receptionArray[3] == 66);
-//
-//		// now clear first page
-//		simplePool.clearPage(0);
-//		bytesWritten = 0;
-//		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
-//		// Second page full, median fill count is 33 %
-//		CHECK(bytesWritten == 4);
-//		CHECK(receptionArray[0] == 0);
-//		CHECK(receptionArray[1] == 100);
-//		CHECK(receptionArray[2] == 0);
-//		CHECK(receptionArray[3] == 33);
-//	}
-//
-//	delete(config);
-//}
+#include "CatchDefinitions.h"
+
+#include <fsfw/objectmanager/ObjectManager.h>
+#include <fsfw/storagemanager/LocalPool.h>
+
+#include <catch.hpp>
+#include <CatchDefinitions.h>
+
+#include <cstring>
+
+
+TEST_CASE( "Local Pool Simple Tests [1 Pool]" , "[TestPool]") {
+//	uint16_t numberOfElements[1] = {1};
+//	uint16_t sizeofElements[1] = {10};
+	LocalPool::LocalPoolConfig config = {{1, 10}};
+	LocalPool simplePool(0, config);
+	std::array<uint8_t, 20> testDataArray;
+	std::array<uint8_t, 20> receptionArray;
+	store_address_t testStoreId;
+	ReturnValue_t result = retval::CATCH_FAILED;
+	uint8_t *pointer = nullptr;
+	const uint8_t * constPointer = nullptr;
+
+	for(size_t i = 0; i < testDataArray.size(); i++) {
+		testDataArray[i] = i;
+	}
+	size_t size = 10;
+
+	SECTION ( "Basic tests") {
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.getData(testStoreId, &constPointer, &size);
+		REQUIRE(result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+		memset(receptionArray.data(), 0, size);
+		result = simplePool.modifyData(testStoreId, &pointer, &size);
+		memcpy(receptionArray.data(), pointer, size);
+		REQUIRE(result == retval::CATCH_OK);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+		result = simplePool.deleteData(testStoreId);
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), 15);
+		CHECK (result == (int) StorageManagerIF::DATA_TOO_LARGE);
+	}
+
+	SECTION ( "Reservation Tests ") {
+		pointer = nullptr;
+		result = simplePool.getFreeElement(&testStoreId, size, &pointer);
+		REQUIRE (result == retval::CATCH_OK);
+		memcpy(pointer, testDataArray.data(), size);
+		constPointer = nullptr;
+		result = simplePool.getData(testStoreId, &constPointer, &size);
+
+		REQUIRE (result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+	}
+
+	SECTION ( "Add, delete, add, add when full") {
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.getData(testStoreId, &constPointer, &size);
+		REQUIRE( result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+
+		result = simplePool.deleteData(testStoreId);
+		REQUIRE(result == retval::CATCH_OK);
+
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.getData(testStoreId, &constPointer, &size);
+		REQUIRE( result == retval::CATCH_OK);
+		memcpy(receptionArray.data(), constPointer, size);
+		for(size_t i = 0; i < size; i++) {
+			CHECK(receptionArray[i] == i );
+		}
+
+		store_address_t newAddress;
+		result = simplePool.addData(&newAddress, testDataArray.data(), size);
+		REQUIRE(result == (int) StorageManagerIF::DATA_STORAGE_FULL);
+
+		// Packet Index to high intentionally
+		newAddress.packetIndex = 2;
+		pointer = testDataArray.data();
+		result = simplePool.modifyData(newAddress, &pointer, &size);
+		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+
+		result = simplePool.deleteData(newAddress);
+		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+
+		newAddress.packetIndex = 0;
+		newAddress.poolIndex = 2;
+		result = simplePool.deleteData(newAddress);
+		REQUIRE(result == (int) StorageManagerIF::ILLEGAL_STORAGE_ID);
+	}
+
+	SECTION ( "Initialize and clear store, delete with pointer") {
+		result = simplePool.initialize();
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		simplePool.clearStore();
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		result = simplePool.modifyData(testStoreId, &pointer, &size);
+		REQUIRE(result == retval::CATCH_OK);
+		store_address_t newId;
+		result = simplePool.deleteData(pointer, size, &testStoreId);
+		REQUIRE(result == retval::CATCH_OK);
+		REQUIRE(testStoreId.raw != (uint32_t) StorageManagerIF::INVALID_ADDRESS);
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+	}
+}
+
+int runIdx = 0;
+
+TEST_CASE( "Local Pool Extended Tests [3 Pools]" , "[TestPool2]") {
+	LocalPool::LocalPoolConfig* config;
+	if(runIdx == 0) {
+		config = new LocalPool::LocalPoolConfig{{10, 5}, {5, 10}, {2, 20}};
+	}
+	else {
+		// shufle the order, they should be sort implictely so that the
+		// order is ascending for the page sizes.
+		config = new LocalPool::LocalPoolConfig{{5, 10}, {2, 20}, {10, 5}};
+		size_t lastSize = 0;
+		for(const auto& pair: *config) {
+			CHECK(pair.second > lastSize);
+			lastSize = pair.second;
+		}
+	}
+	runIdx++;
+
+	LocalPool simplePool(0, *config);
+	std::array<uint8_t, 20> testDataArray;
+	std::array<uint8_t, 20> receptionArray;
+	store_address_t testStoreId;
+	ReturnValue_t result = retval::CATCH_FAILED;
+	for(size_t i = 0; i < testDataArray.size(); i++) {
+		testDataArray[i] = i;
+	}
+	size_t size = 0;
+
+	SECTION ("Basic tests") {
+		size = 8;
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should be on second page of the pool now for 8 bytes
+		CHECK(testStoreId.poolIndex == 1);
+		CHECK(testStoreId.packetIndex == 0);
+
+		size = 15;
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should be on third page of the pool now for 15 bytes
+		CHECK(testStoreId.poolIndex == 2);
+		CHECK(testStoreId.packetIndex == 0);
+
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should be on third page of the pool now for 15 bytes
+		CHECK(testStoreId.poolIndex == 2);
+		CHECK(testStoreId.packetIndex == 1);
+
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		// Should be on third page of the pool now for 15 bytes
+		REQUIRE(result == (int) LocalPool::DATA_STORAGE_FULL);
+
+		size = 8;
+		result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+		REQUIRE(result == retval::CATCH_OK);
+		// Should still work
+		CHECK(testStoreId.poolIndex == 1);
+		CHECK(testStoreId.packetIndex == 1);
+
+		// fill the rest of the pool
+		for(uint8_t idx = 2; idx < 5; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 1);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+	}
+
+	SECTION ("Fill Count and Clearing") {
+		//SECTION("Basic tests");
+		uint8_t bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// fill count should be all zeros now.
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 0);
+		CHECK(receptionArray[1] == 0);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 0);
+
+		// now fill the store completely.
+		size = 5;
+		for(uint8_t idx = 0; idx < 10; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 0);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		size = 10;
+		for(uint8_t idx = 0; idx < 5; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 1);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		size = 20;
+		for(uint8_t idx = 0; idx < 2; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 2);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// fill count should be all 100 now.
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 100);
+		CHECK(receptionArray[1] == 100);
+		CHECK(receptionArray[2] == 100);
+		CHECK(receptionArray[3] == 100);
+
+		// now clear the store
+		simplePool.clearStore();
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 0);
+		CHECK(receptionArray[1] == 0);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 0);
+
+		// now fill one page
+		size = 5;
+		for(uint8_t idx = 0; idx < 10; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 0);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// First page full, median fill count is 33 %
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 100);
+		CHECK(receptionArray[1] == 0);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 33);
+
+		// now fill second page
+		size = 10;
+		for(uint8_t idx = 0; idx < 5; idx++) {
+			result = simplePool.addData(&testStoreId, testDataArray.data(), size);
+			REQUIRE(result == retval::CATCH_OK);
+			CHECK(testStoreId.poolIndex == 1);
+			CHECK(testStoreId.packetIndex == idx);
+		}
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// First and second page full, median fill count is 66 %
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 100);
+		CHECK(receptionArray[1] == 100);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 66);
+
+		// now clear first page
+		simplePool.clearPage(0);
+		bytesWritten = 0;
+		simplePool.getFillCount(receptionArray.data(), &bytesWritten);
+		// Second page full, median fill count is 33 %
+		CHECK(bytesWritten == 4);
+		CHECK(receptionArray[0] == 0);
+		CHECK(receptionArray[1] == 100);
+		CHECK(receptionArray[2] == 0);
+		CHECK(receptionArray[3] == 33);
+	}
+
+	delete(config);
+}

From 378cbab64d0449c78aafc97922ea20118f842d57 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 13:25:00 +0100
Subject: [PATCH 505/653] removed config includes

---
 storagemanager/LocalPool.cpp   | 1 -
 storagemanager/PoolManager.cpp | 1 -
 2 files changed, 2 deletions(-)

diff --git a/storagemanager/LocalPool.cpp b/storagemanager/LocalPool.cpp
index 48934a0c..8e5f4d48 100644
--- a/storagemanager/LocalPool.cpp
+++ b/storagemanager/LocalPool.cpp
@@ -1,5 +1,4 @@
 #include "LocalPool.h"
-#include <FSFWConfig.h>
 #include <cstring>
 
 LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
diff --git a/storagemanager/PoolManager.cpp b/storagemanager/PoolManager.cpp
index 85376b28..9c801a3d 100644
--- a/storagemanager/PoolManager.cpp
+++ b/storagemanager/PoolManager.cpp
@@ -1,5 +1,4 @@
 #include "PoolManager.h"
-#include <FSFWConfig.h>
 
 PoolManager::PoolManager(object_id_t setObjectId,
         const LocalPoolConfig& localPoolConfig):

From 64b6edab6fb8e9a851c958a8ff5ae55c37403328 Mon Sep 17 00:00:00 2001
From: gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 1 Dec 2020 13:32:50 +0100
Subject: [PATCH 506/653] Update 'README.md'

---
 README.md | 1 -
 1 file changed, 1 deletion(-)

diff --git a/README.md b/README.md
index a59f4ddd..4aabe36a 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,5 @@
 ![FSFW Logo](logo/FSFW_Logo_V3_bw.png)
 # Flight Software Framework (FSFW)
-======
 
 The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
 automated systems like Satellites. 

From 98dae18430f6a19ee1047d5c0b47d16cf4ee6bc2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 13:46:29 +0100
Subject: [PATCH 507/653] update defaultcfg folder

---
 defaultcfg/{config => fsfwconfig}/FSFWConfig.h    | 15 +++++++++------
 defaultcfg/{config => fsfwconfig}/OBSWConfig.h    |  0
 defaultcfg/{config => fsfwconfig}/OBSWVersion.h   |  0
 .../devices/logicalAddresses.cpp                  |  0
 .../devices/logicalAddresses.h                    |  2 +-
 .../devices/powerSwitcherList.cpp                 |  0
 .../devices/powerSwitcherList.h                   |  0
 .../events/subsystemIdRanges.h                    |  0
 .../config.mk => fsfwconfig/fsfwconfig.mk}        |  0
 .../ipc/missionMessageTypes.cpp                   |  3 ++-
 .../ipc/missionMessageTypes.h                     |  0
 .../{config => fsfwconfig}/objects/Factory.cpp    | 14 +++++++-------
 .../{config => fsfwconfig}/objects/Factory.h      |  0
 .../objects/systemObjectList.h                    |  0
 .../pollingsequence/PollingSequenceFactory.cpp    |  0
 .../pollingsequence/PollingSequenceFactory.h      |  0
 .../returnvalues/classIds.h                       |  0
 defaultcfg/{config => fsfwconfig}/tmtc/apid.h     |  0
 defaultcfg/{config => fsfwconfig}/tmtc/pusIds.h   |  0
 19 files changed, 19 insertions(+), 15 deletions(-)
 rename defaultcfg/{config => fsfwconfig}/FSFWConfig.h (81%)
 rename defaultcfg/{config => fsfwconfig}/OBSWConfig.h (100%)
 rename defaultcfg/{config => fsfwconfig}/OBSWVersion.h (100%)
 rename defaultcfg/{config => fsfwconfig}/devices/logicalAddresses.cpp (100%)
 rename defaultcfg/{config => fsfwconfig}/devices/logicalAddresses.h (89%)
 rename defaultcfg/{config => fsfwconfig}/devices/powerSwitcherList.cpp (100%)
 rename defaultcfg/{config => fsfwconfig}/devices/powerSwitcherList.h (100%)
 rename defaultcfg/{config => fsfwconfig}/events/subsystemIdRanges.h (100%)
 rename defaultcfg/{config/config.mk => fsfwconfig/fsfwconfig.mk} (100%)
 rename defaultcfg/{config => fsfwconfig}/ipc/missionMessageTypes.cpp (79%)
 rename defaultcfg/{config => fsfwconfig}/ipc/missionMessageTypes.h (100%)
 rename defaultcfg/{config => fsfwconfig}/objects/Factory.cpp (75%)
 rename defaultcfg/{config => fsfwconfig}/objects/Factory.h (100%)
 rename defaultcfg/{config => fsfwconfig}/objects/systemObjectList.h (100%)
 rename defaultcfg/{config => fsfwconfig}/pollingsequence/PollingSequenceFactory.cpp (100%)
 rename defaultcfg/{config => fsfwconfig}/pollingsequence/PollingSequenceFactory.h (100%)
 rename defaultcfg/{config => fsfwconfig}/returnvalues/classIds.h (100%)
 rename defaultcfg/{config => fsfwconfig}/tmtc/apid.h (100%)
 rename defaultcfg/{config => fsfwconfig}/tmtc/pusIds.h (100%)

diff --git a/defaultcfg/config/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
similarity index 81%
rename from defaultcfg/config/FSFWConfig.h
rename to defaultcfg/fsfwconfig/FSFWConfig.h
index ea86152c..1386bf66 100644
--- a/defaultcfg/config/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -1,19 +1,19 @@
 #ifndef CONFIG_FSFWCONFIG_H_
 #define CONFIG_FSFWCONFIG_H_
 
-#include <FSFWVersion.h>
 #include <cstddef>
+#include <cstdint>
 
 //! Used to determine whether C++ ostreams are used
 //! Those can lead to code bloat.
 #define FSFW_CPP_OSTREAM_ENABLED 	1
 
-//! Reduced printout to further decrese code size
+//! Reduced printout to further decrease code size
 //! Be careful, this also turns off most diagnostic prinouts!
-#define FSFW_REDUCED_PRINTOUT		0
+#define FSFW_ENHANCED_PRINTOUT		0
 
-//! Can be used to enable debugging printouts for developing the FSFW
-#define FSFW_DEBUGGING              0
+//! Can be used to enable additional debugging printouts for developing the FSFW
+#define FSFW_PRINT_VERBOSITY_LEVEL   0
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
@@ -38,7 +38,10 @@
 
 //! When using the newlib nano library, C99 support for stdio facilities
 //! will not be provided. This define should be set to 1 if this is the case.
-#define FSFW_NO_C99_IO 	1
+#define FSFW_NO_C99_IO 	            1
+
+//! Specify whether a special mode store is used for Subsystem components.
+#define FSFW_USE_MODESTORE          0
 
 namespace fsfwconfig {
 //! Default timestamp size. The default timestamp will be an eight byte CDC
diff --git a/defaultcfg/config/OBSWConfig.h b/defaultcfg/fsfwconfig/OBSWConfig.h
similarity index 100%
rename from defaultcfg/config/OBSWConfig.h
rename to defaultcfg/fsfwconfig/OBSWConfig.h
diff --git a/defaultcfg/config/OBSWVersion.h b/defaultcfg/fsfwconfig/OBSWVersion.h
similarity index 100%
rename from defaultcfg/config/OBSWVersion.h
rename to defaultcfg/fsfwconfig/OBSWVersion.h
diff --git a/defaultcfg/config/devices/logicalAddresses.cpp b/defaultcfg/fsfwconfig/devices/logicalAddresses.cpp
similarity index 100%
rename from defaultcfg/config/devices/logicalAddresses.cpp
rename to defaultcfg/fsfwconfig/devices/logicalAddresses.cpp
diff --git a/defaultcfg/config/devices/logicalAddresses.h b/defaultcfg/fsfwconfig/devices/logicalAddresses.h
similarity index 89%
rename from defaultcfg/config/devices/logicalAddresses.h
rename to defaultcfg/fsfwconfig/devices/logicalAddresses.h
index 174fa788..e0827ba3 100644
--- a/defaultcfg/config/devices/logicalAddresses.h
+++ b/defaultcfg/fsfwconfig/devices/logicalAddresses.h
@@ -1,8 +1,8 @@
 #ifndef CONFIG_DEVICES_LOGICALADDRESSES_H_
 #define CONFIG_DEVICES_LOGICALADDRESSES_H_
 
-#include <config/objects/systemObjectList.h>
 #include <fsfw/devicehandlers/CookieIF.h>
+#include "../objects/systemObjectList.h"
 #include <cstdint>
 
 /**
diff --git a/defaultcfg/config/devices/powerSwitcherList.cpp b/defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp
similarity index 100%
rename from defaultcfg/config/devices/powerSwitcherList.cpp
rename to defaultcfg/fsfwconfig/devices/powerSwitcherList.cpp
diff --git a/defaultcfg/config/devices/powerSwitcherList.h b/defaultcfg/fsfwconfig/devices/powerSwitcherList.h
similarity index 100%
rename from defaultcfg/config/devices/powerSwitcherList.h
rename to defaultcfg/fsfwconfig/devices/powerSwitcherList.h
diff --git a/defaultcfg/config/events/subsystemIdRanges.h b/defaultcfg/fsfwconfig/events/subsystemIdRanges.h
similarity index 100%
rename from defaultcfg/config/events/subsystemIdRanges.h
rename to defaultcfg/fsfwconfig/events/subsystemIdRanges.h
diff --git a/defaultcfg/config/config.mk b/defaultcfg/fsfwconfig/fsfwconfig.mk
similarity index 100%
rename from defaultcfg/config/config.mk
rename to defaultcfg/fsfwconfig/fsfwconfig.mk
diff --git a/defaultcfg/config/ipc/missionMessageTypes.cpp b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp
similarity index 79%
rename from defaultcfg/config/ipc/missionMessageTypes.cpp
rename to defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp
index e2edbf9c..b41b87ba 100644
--- a/defaultcfg/config/ipc/missionMessageTypes.cpp
+++ b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.cpp
@@ -1,4 +1,5 @@
-#include <config/ipc/MissionMessageTypes.h>
+#include "missionMessageTypes.h"
+
 #include <fsfw/ipc/CommandMessageIF.h>
 
 void messagetypes::clearMissionMessage(CommandMessage* message) {
diff --git a/defaultcfg/config/ipc/missionMessageTypes.h b/defaultcfg/fsfwconfig/ipc/missionMessageTypes.h
similarity index 100%
rename from defaultcfg/config/ipc/missionMessageTypes.h
rename to defaultcfg/fsfwconfig/ipc/missionMessageTypes.h
diff --git a/defaultcfg/config/objects/Factory.cpp b/defaultcfg/fsfwconfig/objects/Factory.cpp
similarity index 75%
rename from defaultcfg/config/objects/Factory.cpp
rename to defaultcfg/fsfwconfig/objects/Factory.cpp
index 51dd6130..41333b1c 100644
--- a/defaultcfg/config/objects/Factory.cpp
+++ b/defaultcfg/fsfwconfig/objects/Factory.cpp
@@ -11,6 +11,7 @@
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
+#include <internalError/InternalErrorReporter.h>
 
 #include <cstdint>
 
@@ -31,15 +32,15 @@ void Factory::produce(void) {
 	setStaticFrameworkObjectIds();
 	new EventManager(objects::EVENT_MANAGER);
 	new HealthTable(objects::HEALTH_TABLE);
-	//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
 }
 
 void Factory::setStaticFrameworkObjectIds() {
-	PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
-	PusServiceBase::packetDestination = objects::TM_FUNNEL;
+	PusServiceBase::packetSource = objects::NO_OBJECT;
+	PusServiceBase::packetDestination = objects::NO_OBJECT;
 
-	CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
-	CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+	CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
+	CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
 
 	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
 
@@ -48,7 +49,6 @@ void Factory::setStaticFrameworkObjectIds() {
 
 	DeviceHandlerFailureIsolation::powerConfirmationId = objects::NO_OBJECT;
 
-	TmPacketStored::timeStamperId = objects::PUS_TIME;
-	//TmFunnel::downlinkDestination = objects::NO_OBJECT;
+	TmPacketStored::timeStamperId = objects::NO_OBJECT;
 }
 
diff --git a/defaultcfg/config/objects/Factory.h b/defaultcfg/fsfwconfig/objects/Factory.h
similarity index 100%
rename from defaultcfg/config/objects/Factory.h
rename to defaultcfg/fsfwconfig/objects/Factory.h
diff --git a/defaultcfg/config/objects/systemObjectList.h b/defaultcfg/fsfwconfig/objects/systemObjectList.h
similarity index 100%
rename from defaultcfg/config/objects/systemObjectList.h
rename to defaultcfg/fsfwconfig/objects/systemObjectList.h
diff --git a/defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
similarity index 100%
rename from defaultcfg/config/pollingsequence/PollingSequenceFactory.cpp
rename to defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
diff --git a/defaultcfg/config/pollingsequence/PollingSequenceFactory.h b/defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.h
similarity index 100%
rename from defaultcfg/config/pollingsequence/PollingSequenceFactory.h
rename to defaultcfg/fsfwconfig/pollingsequence/PollingSequenceFactory.h
diff --git a/defaultcfg/config/returnvalues/classIds.h b/defaultcfg/fsfwconfig/returnvalues/classIds.h
similarity index 100%
rename from defaultcfg/config/returnvalues/classIds.h
rename to defaultcfg/fsfwconfig/returnvalues/classIds.h
diff --git a/defaultcfg/config/tmtc/apid.h b/defaultcfg/fsfwconfig/tmtc/apid.h
similarity index 100%
rename from defaultcfg/config/tmtc/apid.h
rename to defaultcfg/fsfwconfig/tmtc/apid.h
diff --git a/defaultcfg/config/tmtc/pusIds.h b/defaultcfg/fsfwconfig/tmtc/pusIds.h
similarity index 100%
rename from defaultcfg/config/tmtc/pusIds.h
rename to defaultcfg/fsfwconfig/tmtc/pusIds.h

From 9ebf259a9e0ac9c10e501182bd18916bfef41a56 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 13:50:33 +0100
Subject: [PATCH 508/653] added back config

---
 storagemanager/LocalPool.cpp   | 9 +++++----
 storagemanager/PoolManager.cpp | 3 ++-
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/storagemanager/LocalPool.cpp b/storagemanager/LocalPool.cpp
index 8e5f4d48..74e362d4 100644
--- a/storagemanager/LocalPool.cpp
+++ b/storagemanager/LocalPool.cpp
@@ -1,4 +1,5 @@
 #include "LocalPool.h"
+#include <FSFWConfig.h>
 #include <cstring>
 
 LocalPool::LocalPool(object_id_t setObjectId, const LocalPoolConfig& poolConfig,
@@ -116,7 +117,7 @@ ReturnValue_t LocalPool::modifyData(store_address_t storeId,
 }
 
 ReturnValue_t LocalPool::deleteData(store_address_t storeId) {
-#if FSFW_DEBUGGING == 1
+#if FSFW_VERBOSE_PRINTOUT == 2
       sif::debug << "Delete: Pool: " << std::dec << storeId.poolIndex
               << " Index: " << storeId.packetIndex << std::endl;
 
@@ -155,7 +156,7 @@ ReturnValue_t LocalPool::deleteData(uint8_t *ptr, size_t size,
             // element of an object.
             localId.packetIndex = deltaAddress / elementSizes[n];
             result = deleteData(localId);
-#if FSFW_DEBUGGING == 1
+#if FSFW_VERBOSE_PRINTOUT == 2
             if (deltaAddress % elementSizes[n] != 0) {
                 sif::error << "LocalPool::deleteData: Address not aligned!"
                         << std::endl;
@@ -222,7 +223,7 @@ ReturnValue_t LocalPool::reserveSpace(const size_t size,
         status = findEmpty(storeId->poolIndex, &storeId->packetIndex);
     }
     if (status == RETURN_OK) {
-#if FSFW_DEBUGGING == 1
+#if FSFW_VERBOSE_PRINTOUT == 2
         sif::debug << "Reserve: Pool: " << std::dec
                 << storeId->poolIndex << " Index: " << storeId->packetIndex
                 << std::endl;
@@ -264,7 +265,7 @@ void LocalPool::setToSpillToHigherPools(bool enable) {
 ReturnValue_t LocalPool::getPoolIndex(size_t packetSize, uint16_t *poolIndex,
         uint16_t startAtIndex) {
     for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
-#if FSFW_DEBUGGING == 1
+#if FSFW_VERBOSE_PRINTOUT == 2
         sif::debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: "
              << n << ", Element Size: " << elementSizes[n] << std::endl;
 #endif
diff --git a/storagemanager/PoolManager.cpp b/storagemanager/PoolManager.cpp
index 9c801a3d..3b7b549b 100644
--- a/storagemanager/PoolManager.cpp
+++ b/storagemanager/PoolManager.cpp
@@ -1,4 +1,5 @@
 #include "PoolManager.h"
+#include <FSFWConfig.h>
 
 PoolManager::PoolManager(object_id_t setObjectId,
         const LocalPoolConfig& localPoolConfig):
@@ -24,7 +25,7 @@ ReturnValue_t PoolManager::reserveSpace(const size_t size,
 
 ReturnValue_t PoolManager::deleteData(
         store_address_t storeId) {
-#if FSFW_DEBUGGING == 1
+#if FSFW_VERBOSE_PRINTOUT == 2
      sif::debug << "PoolManager( " << translateObject(getObjectId()) <<
            " )::deleteData from store " << storeId.poolIndex <<
            ". id is "<< storeId.packetIndex << std::endl;

From 2930b2dd5ac533188d3a8969ddf70f44a587f169 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 13:52:40 +0100
Subject: [PATCH 509/653] changelog update

---
 CHANGELOG | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index 96f5703c..7637700c 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -5,3 +5,7 @@
 
 - vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
 a C file without issues
+
+### Local Pool
+
+- Interface of LocalPools has change. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter

From 1f78496cd3512d2f8f1cd080a9ff9e161d2cc280 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 14:01:04 +0100
Subject: [PATCH 510/653] changelog update

---
 CHANGELOG | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index 96f5703c..ed73248d 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -5,3 +5,7 @@
 
 - vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
 a C file without issues
+
+### EnhancedControllerBase
+
+- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF

From 802e24e2933be81eb6f7a35af89692dfff5bc159 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 14:43:36 +0100
Subject: [PATCH 511/653] change log update

---
 CHANGELOG | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CHANGELOG b/CHANGELOG
index 96f5703c..d5e083dc 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,4 +1,4 @@
-## Changes from ASTP 0.0.1 to 0.0.2
+## Changes from ASTP 1.0.0 to 1.1.0
 
 
 ### FreeRTOS OSAL

From 45df446ab80e1303738889c21e15921c4b807fd6 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 14:44:03 +0100
Subject: [PATCH 512/653] change log update

---
 CHANGELOG | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CHANGELOG b/CHANGELOG
index d5e083dc..4937b5f8 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,4 +1,4 @@
-## Changes from ASTP 1.0.0 to 1.1.0
+## Changes from ASTP 0.0.1 to 1.0.0
 
 
 ### FreeRTOS OSAL

From 3e74c18d88d0fadc82f7b60be926d2582d5ec7f0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 14:59:35 +0100
Subject: [PATCH 513/653] health servicd

---
 pus/CService201HealthCommanding.cpp | 102 ++++++++++++++++++++++++++++
 pus/CService201HealthCommanding.h   |  63 +++++++++++++++++
 2 files changed, 165 insertions(+)
 create mode 100644 pus/CService201HealthCommanding.cpp
 create mode 100644 pus/CService201HealthCommanding.h

diff --git a/pus/CService201HealthCommanding.cpp b/pus/CService201HealthCommanding.cpp
new file mode 100644
index 00000000..db43db89
--- /dev/null
+++ b/pus/CService201HealthCommanding.cpp
@@ -0,0 +1,102 @@
+#include "CService201HealthCommanding.h"
+
+#include "../health/HasHealthIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../health/HealthMessage.h"
+#include "servicepackets/Service201Packets.h"
+
+CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
+        uint16_t commandTimeoutSeconds):
+		CommandingServiceBase(objectId, apid, serviceId,
+		        numParallelCommands, commandTimeoutSeconds) {
+}
+
+CService201HealthCommanding::~CService201HealthCommanding() {
+}
+
+ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
+	switch(subservice) {
+	case(Subservice::COMMAND_SET_HEALTH):
+	case(Subservice::COMMAND_ANNOUNCE_HEALTH):
+	case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
+		return RETURN_OK;
+	default:
+		sif::error << "Invalid Subservice" << std::endl;
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(
+        uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+        MessageQueueId_t *id, object_id_t *objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
+            SerializeIF::Endianness::BIG);
+
+    return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
+        MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+    HasHealthIF * destination = objectManager->get<HasHealthIF>(*objectId);
+    if(destination == nullptr) {
+        return CommandingServiceBase::INVALID_OBJECT;
+    }
+
+    *messageQueueToSet = destination->getCommandQueue();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CService201HealthCommanding::prepareCommand(
+        CommandMessage* message, uint8_t subservice, const uint8_t *tcData,
+		size_t tcDataLen, uint32_t *state, object_id_t objectId) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    switch(subservice) {
+    case(Subservice::COMMAND_SET_HEALTH): {
+        HealthSetCommand healthCommand;
+        result = healthCommand.deSerialize(&tcData, &tcDataLen,
+                SerializeIF::Endianness::BIG);
+        if (result != RETURN_OK) {
+            break;
+        }
+        HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
+                healthCommand.getHealth());
+        break;
+    }
+    case(Subservice::COMMAND_ANNOUNCE_HEALTH): {
+        HealthMessage::setHealthMessage(message,
+                HealthMessage::HEALTH_ANNOUNCE);
+        break;
+    }
+    case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+        HealthMessage::setHealthMessage(message,
+                HealthMessage::HEALTH_ANNOUNCE_ALL);
+        break;
+    }
+    }
+    return result;
+}
+
+ReturnValue_t CService201HealthCommanding::handleReply
+		(const CommandMessage* reply, Command_t previousCommand,
+		uint32_t *state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool *isStep) {
+	Command_t replyId = reply->getCommand();
+	if (replyId == HealthMessage::REPLY_HEALTH_SET) {
+		return prepareHealthSetReply(reply);
+	}
+	return CommandingServiceBase::INVALID_REPLY;
+}
+
+ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
+        const CommandMessage* reply) {
+	prepareHealthSetReply(reply);
+	uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+	uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
+	HealthSetReply healthSetReply(health, oldHealth);
+	return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
+}
+
diff --git a/pus/CService201HealthCommanding.h b/pus/CService201HealthCommanding.h
new file mode 100644
index 00000000..124e2ac7
--- /dev/null
+++ b/pus/CService201HealthCommanding.h
@@ -0,0 +1,63 @@
+#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
+#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
+
+#include "../tmtcservices/CommandingServiceBase.h"
+
+/**
+ * @brief   Custom PUS service to set health of all objects
+ *          implementing hasHealthIF.
+ *
+ * Examples: Device Handlers, Assemblies or Subsystems.
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * This service is very closely tied to the Commanding Service Base template
+ * class. There is constant interaction between this Service Base und a
+ * child class like this service
+ *
+ */
+class CService201HealthCommanding: public CommandingServiceBase {
+public:
+
+	CService201HealthCommanding(object_id_t objectId, uint16_t apid,
+	        uint8_t serviceId, uint8_t numParallelCommands = 4,
+	        uint16_t commandTimeoutSeconds = 60);
+	virtual~ CService201HealthCommanding();
+protected:
+	/* CSB abstract function implementations */
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	/** Prepare health command */
+	ReturnValue_t prepareCommand(CommandMessage* message,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+			uint32_t *state, object_id_t objectId) override;
+	/** Handle health reply */
+	ReturnValue_t handleReply(const CommandMessage* reply,
+			Command_t previousCommand, uint32_t *state,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
+			bool *isStep) override;
+
+private:
+	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
+			const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
+
+	enum Subservice {
+	    //! [EXPORT] : [TC] Set health of target object
+		COMMAND_SET_HEALTH = 1,
+		//! [EXPORT] : [TM] Reply to health set command which also provides old health
+		REPLY_HEALTH_SET = 2,
+		//! [EXPORT] : [TC] Commands object to announce their health as an event
+		COMMAND_ANNOUNCE_HEALTH = 3,
+		//! [EXPORT] : [TC] Commands all objects in the health map to announce their health
+		COMMAND_ANNOUNCE_HEALTH_ALL = 4
+	};
+};
+
+#endif /* FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ */

From 257e3e2db9297afc460b2590111033c3e3b25e32 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 15:03:49 +0100
Subject: [PATCH 514/653] change log update

---
 CHANGELOG | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index 4937b5f8..a4951a41 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -5,3 +5,5 @@
 
 - vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
 a C file without issues
+
+- PUS Health Service added, which allows to command and retrieve health via PUS packets

From c72ba92247a2d1d13b5d12291a304c46ac56cfa5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 15:05:54 +0100
Subject: [PATCH 515/653] health service update

---
 pus/CService201HealthCommanding.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/pus/CService201HealthCommanding.cpp b/pus/CService201HealthCommanding.cpp
index db43db89..edacd73a 100644
--- a/pus/CService201HealthCommanding.cpp
+++ b/pus/CService201HealthCommanding.cpp
@@ -86,11 +86,15 @@ ReturnValue_t CService201HealthCommanding::handleReply
 		object_id_t objectId, bool *isStep) {
 	Command_t replyId = reply->getCommand();
 	if (replyId == HealthMessage::REPLY_HEALTH_SET) {
-		return prepareHealthSetReply(reply);
+		return EXECUTION_COMPLETE;
+	}
+	else if(replyId == CommandMessageIF::REPLY_REJECTED) {
+		return reply->getReplyRejectedReason();
 	}
 	return CommandingServiceBase::INVALID_REPLY;
 }
 
+// Not used for now, health state already reported by event
 ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
         const CommandMessage* reply) {
 	prepareHealthSetReply(reply);

From 0b32d3dac838aab62979031c5d33c51f0086b632 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 15:10:23 +0100
Subject: [PATCH 516/653] change log update

---
 CHANGELOG | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index 4937b5f8..c877c1ed 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -5,3 +5,7 @@
 
 - vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
 a C file without issues
+
+### PUS Services
+
+- It is now possible to change the message queue depth for the telecommand verification service (PUS1)

From c9bfc0bbfd87797d75b6d1049e066e649e1714dd Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 15:22:18 +0100
Subject: [PATCH 517/653] change log update

---
 CHANGELOG | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index 4937b5f8..c0c826a7 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -5,3 +5,8 @@
 
 - vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
 a C file without issues
+
+### Device Handler Base
+
+- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
+that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps

From 0a016f391a7d6ae6eb062e29e4dd494987a16799 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 15:26:06 +0100
Subject: [PATCH 518/653] changelog update

---
 CHANGELOG | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CHANGELOG b/CHANGELOG
index fc2fe7e5..a6686478 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -9,4 +9,5 @@ a C file without issues
 ### PUS Services
 
 - It is now possible to change the message queue depth for the telecommand verification service (PUS1)
+- The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets

From 8c14cdfbd84654b6761f96769cdefdc98f542043 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 15:34:56 +0100
Subject: [PATCH 519/653] changelog update

---
 CHANGELOG | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CHANGELOG b/CHANGELOG
index 35547c2c..16275d7a 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -14,4 +14,4 @@ a C file without issues
 
 ### Local Pool
 
-- Interface of LocalPools has change. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
+- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter

From b198a6c13ca705dc4ab17f14b4503da6e92f2337 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 16:04:40 +0100
Subject: [PATCH 520/653] added packet

---
 pus/servicepackets/Service201Packets.h | 48 ++++++++++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100644 pus/servicepackets/Service201Packets.h

diff --git a/pus/servicepackets/Service201Packets.h b/pus/servicepackets/Service201Packets.h
new file mode 100644
index 00000000..aed821f9
--- /dev/null
+++ b/pus/servicepackets/Service201Packets.h
@@ -0,0 +1,48 @@
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE201PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE201PACKETS_H_
+
+#include "../../serialize/SerialLinkedListAdapter.h"
+#include "../../serialize/SerializeIF.h"
+#include "../../health/HasHealthIF.h"
+
+class HealthSetCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1
+public:
+
+	HealthSetCommand() {
+		setLinks();
+	}
+
+	HasHealthIF::HealthState getHealth() {
+		return static_cast<HasHealthIF::HealthState>(health.entry);
+	}
+private:
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&health);
+	}
+	SerializeElement<uint32_t> objectId; //!< [EXPORT] : [COMMENT] Target object Id
+	SerializeElement<uint8_t> health; //!< [EXPORT] : [COMMENT] Health to set
+};
+
+
+class HealthSetReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 2
+public:
+	HealthSetReply(uint8_t health_, uint8_t oldHealth_):
+		health(health_), oldHealth(oldHealth_)
+	{
+		setLinks();
+	}
+
+private:
+	HealthSetReply(const HealthSetReply &reply);
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&health);
+		health.setNext(&oldHealth);
+	}
+	SerializeElement<uint32_t> objectId; //!< [EXPORT] : [COMMENT] Source object ID
+	SerializeElement<uint8_t> health; //!< [EXPORT] : [COMMENT] New Health
+	SerializeElement<uint8_t> oldHealth; //!< [EXPORT] : [COMMENT] Old Health
+};
+
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE201PACKETS_H_ */

From 29eb7200711c771182e14ea770a5f074f44d8093 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 16:22:59 +0100
Subject: [PATCH 521/653] introducing relative includes

---
 unittest/internal/osal/IntTestMutex.cpp              | 2 +-
 unittest/internal/osal/IntTestSemaphore.cpp          | 2 +-
 unittest/internal/serialize/IntTestSerialization.cpp | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/unittest/internal/osal/IntTestMutex.cpp b/unittest/internal/osal/IntTestMutex.cpp
index 3fd668df..2899535a 100644
--- a/unittest/internal/osal/IntTestMutex.cpp
+++ b/unittest/internal/osal/IntTestMutex.cpp
@@ -1,7 +1,7 @@
 #include "IntTestMutex.h"
 
 #include <fsfw/ipc/MutexFactory.h>
-#include <unittest/internal/UnittDefinitions.h>
+#include "../UnittDefinitions.h"
 
 #if defined(hosted)
 #include <fsfw/osal/hosted/Mutex.h>
diff --git a/unittest/internal/osal/IntTestSemaphore.cpp b/unittest/internal/osal/IntTestSemaphore.cpp
index 534a6a6d..130fc8ae 100644
--- a/unittest/internal/osal/IntTestSemaphore.cpp
+++ b/unittest/internal/osal/IntTestSemaphore.cpp
@@ -1,6 +1,6 @@
 #include "IntTestSemaphore.h"
 #include <fsfw/tasks/SemaphoreFactory.h>
-#include <unittest/internal/UnittDefinitions.h>
+#include "../UnittDefinitions.h"
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
diff --git a/unittest/internal/serialize/IntTestSerialization.cpp b/unittest/internal/serialize/IntTestSerialization.cpp
index 3f231a41..031fd6fe 100644
--- a/unittest/internal/serialize/IntTestSerialization.cpp
+++ b/unittest/internal/serialize/IntTestSerialization.cpp
@@ -1,7 +1,7 @@
 #include "IntTestSerialization.h"
 #include <fsfw/serialize/SerializeElement.h>
 #include <fsfw/serialize/SerialBufferAdapter.h>
-#include <unittest/internal/UnittDefinitions.h>
+#include "../UnittDefinitions.h"
 #include <fsfw/serialize/SerializeIF.h>
 #include <array>
 

From 8cddf8f509c62ebc0481fba1487efc658e0c95ee Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 16:24:38 +0100
Subject: [PATCH 522/653] more relative includes

---
 unittest/internal/InternalUnitTester.h               | 2 +-
 unittest/internal/serialize/IntTestSerialization.cpp | 7 ++++---
 unittest/internal/serialize/IntTestSerialization.h   | 9 +++++----
 3 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/unittest/internal/InternalUnitTester.h b/unittest/internal/InternalUnitTester.h
index b301b923..d0b1c106 100644
--- a/unittest/internal/InternalUnitTester.h
+++ b/unittest/internal/InternalUnitTester.h
@@ -2,7 +2,7 @@
 #define FRAMEWORK_TEST_UNITTESTCLASS_H_
 
 #include "UnittDefinitions.h"
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief	Can be used for internal testing, for example for hardware specific
diff --git a/unittest/internal/serialize/IntTestSerialization.cpp b/unittest/internal/serialize/IntTestSerialization.cpp
index 031fd6fe..1e33ff33 100644
--- a/unittest/internal/serialize/IntTestSerialization.cpp
+++ b/unittest/internal/serialize/IntTestSerialization.cpp
@@ -1,8 +1,9 @@
 #include "IntTestSerialization.h"
-#include <fsfw/serialize/SerializeElement.h>
-#include <fsfw/serialize/SerialBufferAdapter.h>
 #include "../UnittDefinitions.h"
-#include <fsfw/serialize/SerializeIF.h>
+#include "../../serialize/SerializeElement.h"
+#include "../../serialize/SerialBufferAdapter.h"
+#include "../../serialize/SerializeIF.h"
+
 #include <array>
 
 using retval = HasReturnvaluesIF;
diff --git a/unittest/internal/serialize/IntTestSerialization.h b/unittest/internal/serialize/IntTestSerialization.h
index f8841b82..e8dbd35a 100644
--- a/unittest/internal/serialize/IntTestSerialization.h
+++ b/unittest/internal/serialize/IntTestSerialization.h
@@ -1,6 +1,7 @@
-#ifndef UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
-#define UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#ifndef FSFW_UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
+#define FSFW_UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
 #include <array>
 
 namespace testserialize {
@@ -12,4 +13,4 @@ ReturnValue_t test_serial_buffer_adapter();
 extern std::array<uint8_t, 512> test_array;
 }
 
-#endif /* UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_ */
+#endif /* FSFW_UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_ */

From c741ef3945b1536f45a7cac4fd08c5029c536083 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 16:50:02 +0100
Subject: [PATCH 523/653] using relative includes now

---
 unittest/internal/UnittDefinitions.cpp      | 2 +-
 unittest/internal/osal/IntTestMq.cpp        | 9 +++++----
 unittest/internal/osal/IntTestMutex.cpp     | 6 +++---
 unittest/internal/osal/IntTestSemaphore.cpp | 7 ++++---
 4 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/unittest/internal/UnittDefinitions.cpp b/unittest/internal/UnittDefinitions.cpp
index 0bdbfcc7..6265e9fd 100644
--- a/unittest/internal/UnittDefinitions.cpp
+++ b/unittest/internal/UnittDefinitions.cpp
@@ -1,4 +1,4 @@
-#include <fsfw/unittest/internal/UnittDefinitions.h>
+#include "UnittDefinitions.h"
 
  ReturnValue_t unitt::put_error(std::string errorId) {
 	sif::error << "Unit Tester error: Failed at test ID "
diff --git a/unittest/internal/osal/IntTestMq.cpp b/unittest/internal/osal/IntTestMq.cpp
index 63016374..8d95f51e 100644
--- a/unittest/internal/osal/IntTestMq.cpp
+++ b/unittest/internal/osal/IntTestMq.cpp
@@ -1,7 +1,8 @@
-#include <fsfw/ipc/MessageQueueIF.h>
-#include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/unittest/internal/osal/IntTestMq.h>
-#include <fsfw/unittest/internal/UnittDefinitions.h>
+#include "IntTestMq.h"
+#include "../UnittDefinitions.h"
+
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/QueueFactory.h"
 
 #include <array>
 
diff --git a/unittest/internal/osal/IntTestMutex.cpp b/unittest/internal/osal/IntTestMutex.cpp
index 2899535a..01581347 100644
--- a/unittest/internal/osal/IntTestMutex.cpp
+++ b/unittest/internal/osal/IntTestMutex.cpp
@@ -1,10 +1,10 @@
 #include "IntTestMutex.h"
 
-#include <fsfw/ipc/MutexFactory.h>
+#include "../../ipc/MutexFactory.h"
 #include "../UnittDefinitions.h"
 
 #if defined(hosted)
-#include <fsfw/osal/hosted/Mutex.h>
+#include "../../osal/hosted/Mutex.h"
 #include <thread>
 #include <future>
 #endif
@@ -20,7 +20,7 @@ void testmutex::testMutex() {
 	// timed_mutex from the C++ library specifies undefined behaviour if
 	// the timed mutex is locked twice from the same thread.
 #if defined(hosted)
-	// hold on, this actually worked ? :-D This calls the function from
+	// This calls the function from
 	// another thread and stores the returnvalue in a future.
 	auto future = std::async(&MutexIF::lockMutex, mutex, 1);
 	result = future.get();
diff --git a/unittest/internal/osal/IntTestSemaphore.cpp b/unittest/internal/osal/IntTestSemaphore.cpp
index 130fc8ae..f260b6a5 100644
--- a/unittest/internal/osal/IntTestSemaphore.cpp
+++ b/unittest/internal/osal/IntTestSemaphore.cpp
@@ -1,8 +1,9 @@
 #include "IntTestSemaphore.h"
-#include <fsfw/tasks/SemaphoreFactory.h>
 #include "../UnittDefinitions.h"
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/timemanager/Stopwatch.h>
+
+#include "../../tasks/SemaphoreFactory.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/Stopwatch.h"
 
 
 void testsemaph::testBinSemaph() {

From a0689320d1e72cb41a1059a4c1254d3533cb7d8e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 16:55:24 +0100
Subject: [PATCH 524/653] more include fixes

---
 unittest/tests/container/RingBufferTest.cpp           | 4 ++--
 unittest/tests/container/TestArrayList.cpp            | 5 +++--
 unittest/tests/container/TestDynamicFifo.cpp          | 6 +++---
 unittest/tests/container/TestFifo.cpp                 | 6 +++---
 unittest/tests/container/TestFixedArrayList.cpp       | 4 ++--
 unittest/tests/container/TestFixedOrderedMultimap.cpp | 4 ++--
 unittest/tests/osal/TestMessageQueue.cpp              | 8 ++++----
 unittest/tests/serialize/TestSerialLinkedPacket.cpp   | 7 ++++---
 unittest/tests/serialize/TestSerialization.cpp        | 2 +-
 9 files changed, 24 insertions(+), 22 deletions(-)

diff --git a/unittest/tests/container/RingBufferTest.cpp b/unittest/tests/container/RingBufferTest.cpp
index 8b82d407..9c1c8a23 100644
--- a/unittest/tests/container/RingBufferTest.cpp
+++ b/unittest/tests/container/RingBufferTest.cpp
@@ -1,7 +1,7 @@
-#include <fsfw/container/SimpleRingBuffer.h>
-#include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
+#include "../../container/SimpleRingBuffer.h"
 
+#include <catch2/catch.hpp>
 #include <cstring>
 
 TEST_CASE("Ring Buffer Test" , "[RingBufferTest]") {
diff --git a/unittest/tests/container/TestArrayList.cpp b/unittest/tests/container/TestArrayList.cpp
index 914188cb..2f884276 100644
--- a/unittest/tests/container/TestArrayList.cpp
+++ b/unittest/tests/container/TestArrayList.cpp
@@ -1,5 +1,6 @@
-#include <fsfw/container/ArrayList.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/ArrayList.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+
 #include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
 
diff --git a/unittest/tests/container/TestDynamicFifo.cpp b/unittest/tests/container/TestDynamicFifo.cpp
index 6c9b7415..bb19131e 100644
--- a/unittest/tests/container/TestDynamicFifo.cpp
+++ b/unittest/tests/container/TestDynamicFifo.cpp
@@ -1,7 +1,7 @@
 
-#include <fsfw/container/DynamicFIFO.h>
-#include <fsfw/container/FIFO.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/DynamicFIFO.h"
+#include "../../container/FIFO.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include <catch.hpp>
 #include <CatchDefinitions.h>
diff --git a/unittest/tests/container/TestFifo.cpp b/unittest/tests/container/TestFifo.cpp
index 3775f424..bd727e00 100644
--- a/unittest/tests/container/TestFifo.cpp
+++ b/unittest/tests/container/TestFifo.cpp
@@ -1,7 +1,7 @@
 
-#include <fsfw/container/DynamicFIFO.h>
-#include <fsfw/container/FIFO.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/DynamicFIFO.h"
+#include "../../container/FIFO.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
diff --git a/unittest/tests/container/TestFixedArrayList.cpp b/unittest/tests/container/TestFixedArrayList.cpp
index 737932e3..5a1bd280 100644
--- a/unittest/tests/container/TestFixedArrayList.cpp
+++ b/unittest/tests/container/TestFixedArrayList.cpp
@@ -1,7 +1,7 @@
 #include "../../core/CatchDefinitions.h"
 
-#include <fsfw/container/FixedArrayList.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/FixedArrayList.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include <catch2/catch.hpp>
 
diff --git a/unittest/tests/container/TestFixedOrderedMultimap.cpp b/unittest/tests/container/TestFixedOrderedMultimap.cpp
index 95194cb5..e625b559 100644
--- a/unittest/tests/container/TestFixedOrderedMultimap.cpp
+++ b/unittest/tests/container/TestFixedOrderedMultimap.cpp
@@ -1,5 +1,5 @@
-#include <fsfw/container/FixedOrderedMultimap.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/FixedOrderedMultimap.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
diff --git a/unittest/tests/osal/TestMessageQueue.cpp b/unittest/tests/osal/TestMessageQueue.cpp
index 8e59fa08..441d32e7 100644
--- a/unittest/tests/osal/TestMessageQueue.cpp
+++ b/unittest/tests/osal/TestMessageQueue.cpp
@@ -1,8 +1,8 @@
-#include <fsfw/ipc/MessageQueueIF.h>
-#include <fsfw/ipc/QueueFactory.h>
-#include "catch.hpp"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/QueueFactory.h"
+#include <catch.hpp>
 #include <array>
-#include "core/CatchDefinitions.h"
+#include "../../core/CatchDefinitions.h"
 
 TEST_CASE("MessageQueue Basic Test","[TestMq]") {
 	MessageQueueIF* testSenderMq =
diff --git a/unittest/tests/serialize/TestSerialLinkedPacket.cpp b/unittest/tests/serialize/TestSerialLinkedPacket.cpp
index 0a09e430..fbe48894 100644
--- a/unittest/tests/serialize/TestSerialLinkedPacket.cpp
+++ b/unittest/tests/serialize/TestSerialLinkedPacket.cpp
@@ -1,8 +1,9 @@
-#include <fsfw/globalfunctions/arrayprinter.h>
+#include "TestSerialLinkedPacket.h"
+#include "../../core/CatchDefinitions.h"
+
+#include "../../globalfunctions/arrayprinter.h"
 
 #include <catch2/catch.hpp>
-#include "../../core/CatchDefinitions.h"
-#include "TestSerialLinkedPacket.h"
 
 
 TEST_CASE("Serial Linked Packet" , "[SerLinkPacket]") {
diff --git a/unittest/tests/serialize/TestSerialization.cpp b/unittest/tests/serialize/TestSerialization.cpp
index 4c9ba181..6e31170a 100644
--- a/unittest/tests/serialize/TestSerialization.cpp
+++ b/unittest/tests/serialize/TestSerialization.cpp
@@ -1,4 +1,4 @@
-#include <fsfw/serialize/SerializeAdapter.h>
+#include "../../serialize/SerializeAdapter.h"
 
 #include "catch.hpp"
 #include <array>

From 36b76fa07ca7aac38815a315d04cb6c0aa14ef10 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 17:04:33 +0100
Subject: [PATCH 525/653] testcfg update

---
 unittest/testcfg/FSFWConfig.h | 29 ++++++++++++++++++++---------
 1 file changed, 20 insertions(+), 9 deletions(-)

diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h
index 4fb224c1..1386bf66 100644
--- a/unittest/testcfg/FSFWConfig.h
+++ b/unittest/testcfg/FSFWConfig.h
@@ -1,18 +1,19 @@
 #ifndef CONFIG_FSFWCONFIG_H_
 #define CONFIG_FSFWCONFIG_H_
 
-#include <FSFWVersion.h>
+#include <cstddef>
+#include <cstdint>
 
 //! Used to determine whether C++ ostreams are used
 //! Those can lead to code bloat.
 #define FSFW_CPP_OSTREAM_ENABLED 	1
 
-//! Reduced printout to further decrese code size
+//! Reduced printout to further decrease code size
 //! Be careful, this also turns off most diagnostic prinouts!
-#define FSFW_REDUCED_PRINTOUT		0
+#define FSFW_ENHANCED_PRINTOUT		0
 
-//! Can be used to enable debugging printouts for developing the FSFW
-#define FSFW_DEBUGGING              0
+//! Can be used to enable additional debugging printouts for developing the FSFW
+#define FSFW_PRINT_VERBOSITY_LEVEL   0
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
@@ -25,9 +26,6 @@
 //! and translateEvents (and their compiled source files)
 #define FSFW_OBJ_EVENT_TRANSLATION	0
 
-//! If -DDEBUG is supplied in the build defines, there will be
-//! additional output which requires the translation files translateObjects
-//! and translateEvents (and their compiles source files)
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
 #define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
@@ -40,7 +38,20 @@
 
 //! When using the newlib nano library, C99 support for stdio facilities
 //! will not be provided. This define should be set to 1 if this is the case.
-#define FSFW_NO_C99_IO 	1
+#define FSFW_NO_C99_IO 	            1
 
+//! Specify whether a special mode store is used for Subsystem components.
+#define FSFW_USE_MODESTORE          0
+
+namespace fsfwconfig {
+//! Default timestamp size. The default timestamp will be an eight byte CDC
+//! short timestamp.
+static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
+
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+}
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

From 51b9e0074b027b1982fc6354c8c6e8c13cb68458 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 17:06:05 +0100
Subject: [PATCH 526/653] Revert "testcfg update"

This reverts commit 36b76fa07ca7aac38815a315d04cb6c0aa14ef10.
---
 unittest/testcfg/FSFWConfig.h | 29 +++++++++--------------------
 1 file changed, 9 insertions(+), 20 deletions(-)

diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h
index 1386bf66..4fb224c1 100644
--- a/unittest/testcfg/FSFWConfig.h
+++ b/unittest/testcfg/FSFWConfig.h
@@ -1,19 +1,18 @@
 #ifndef CONFIG_FSFWCONFIG_H_
 #define CONFIG_FSFWCONFIG_H_
 
-#include <cstddef>
-#include <cstdint>
+#include <FSFWVersion.h>
 
 //! Used to determine whether C++ ostreams are used
 //! Those can lead to code bloat.
 #define FSFW_CPP_OSTREAM_ENABLED 	1
 
-//! Reduced printout to further decrease code size
+//! Reduced printout to further decrese code size
 //! Be careful, this also turns off most diagnostic prinouts!
-#define FSFW_ENHANCED_PRINTOUT		0
+#define FSFW_REDUCED_PRINTOUT		0
 
-//! Can be used to enable additional debugging printouts for developing the FSFW
-#define FSFW_PRINT_VERBOSITY_LEVEL   0
+//! Can be used to enable debugging printouts for developing the FSFW
+#define FSFW_DEBUGGING              0
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
@@ -26,6 +25,9 @@
 //! and translateEvents (and their compiled source files)
 #define FSFW_OBJ_EVENT_TRANSLATION	0
 
+//! If -DDEBUG is supplied in the build defines, there will be
+//! additional output which requires the translation files translateObjects
+//! and translateEvents (and their compiles source files)
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
 #define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
@@ -38,20 +40,7 @@
 
 //! When using the newlib nano library, C99 support for stdio facilities
 //! will not be provided. This define should be set to 1 if this is the case.
-#define FSFW_NO_C99_IO 	            1
+#define FSFW_NO_C99_IO 	1
 
-//! Specify whether a special mode store is used for Subsystem components.
-#define FSFW_USE_MODESTORE          0
-
-namespace fsfwconfig {
-//! Default timestamp size. The default timestamp will be an eight byte CDC
-//! short timestamp.
-static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
-
-//! Configure the allocated pool sizes for the event manager.
-static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
-static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
-static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
-}
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

From 5eb2cbde0eb117fff237d531d113f3a79b89f15a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 17:08:03 +0100
Subject: [PATCH 527/653] some additional ionclude fixes

---
 unittest/tests/container/TestFixedMap.cpp            | 4 ++--
 unittest/tests/serialize/TestSerialBufferAdapter.cpp | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/unittest/tests/container/TestFixedMap.cpp b/unittest/tests/container/TestFixedMap.cpp
index 079062f0..da0c84e3 100644
--- a/unittest/tests/container/TestFixedMap.cpp
+++ b/unittest/tests/container/TestFixedMap.cpp
@@ -1,5 +1,5 @@
-#include <fsfw/container/FixedMap.h>
-#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+#include "../../container/FixedMap.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 #include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"
diff --git a/unittest/tests/serialize/TestSerialBufferAdapter.cpp b/unittest/tests/serialize/TestSerialBufferAdapter.cpp
index 9919ed84..07cd3f9c 100644
--- a/unittest/tests/serialize/TestSerialBufferAdapter.cpp
+++ b/unittest/tests/serialize/TestSerialBufferAdapter.cpp
@@ -1,4 +1,4 @@
-#include <fsfw/serialize/SerialBufferAdapter.h>
+#include "../../serialize/SerialBufferAdapter.h"
 
 #include <catch2/catch.hpp>
 #include "../../core/CatchDefinitions.h"

From 29e701d14df9ffe6e4d2c891a26facbc3a4e7af2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 17:08:46 +0100
Subject: [PATCH 528/653] op divider additional features

---
 globalfunctions/PeriodicOperationDivider.cpp | 14 ++++++++++++--
 globalfunctions/PeriodicOperationDivider.h   | 12 +++++++++++-
 2 files changed, 23 insertions(+), 3 deletions(-)

diff --git a/globalfunctions/PeriodicOperationDivider.cpp b/globalfunctions/PeriodicOperationDivider.cpp
index ad3b8bbd..28e98feb 100644
--- a/globalfunctions/PeriodicOperationDivider.cpp
+++ b/globalfunctions/PeriodicOperationDivider.cpp
@@ -7,16 +7,26 @@ PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
 }
 
 bool PeriodicOperationDivider::checkAndIncrement() {
-	if(counter >= divider) {
+	bool opNecessary = check();
+	if(opNecessary) {
 		if(resetAutomatically) {
 			counter = 0;
 		}
-		return true;
+		return opNecessary;
 	}
 	counter ++;
+	return opNecessary;
+}
+
+bool PeriodicOperationDivider::check() {
+	if(counter >= divider) {
+		return true;
+	}
 	return false;
 }
 
+
+
 void PeriodicOperationDivider::resetCounter() {
 	counter = 0;
 }
diff --git a/globalfunctions/PeriodicOperationDivider.h b/globalfunctions/PeriodicOperationDivider.h
index dd970fb8..7f7fb469 100644
--- a/globalfunctions/PeriodicOperationDivider.h
+++ b/globalfunctions/PeriodicOperationDivider.h
@@ -21,17 +21,27 @@ public:
 	 */
 	PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
 
+
 	/**
 	 * Check whether operation is necessary.
 	 * If an operation is necessary and the class has been
 	 * configured to be reset automatically, the counter will be reset.
-	 * If not, the counter will be incremented.
+	 *
 	 * @return
 	 * -@c true if the counter is larger or equal to the divider
 	 * -@c false otherwise
 	 */
 	bool checkAndIncrement();
 
+	/**
+	 * Checks whether an operation is necessary.
+	 * This function will not increment the counter!
+	 * @return
+	 * -@c true if the counter is larger or equal to the divider
+	 * -@c false otherwise
+	 */
+	bool check();
+
 	/**
 	 * Can be used to reset the counter to 0 manually.
 	 */

From 09caeffbc7a82ee262723ec13933fe65fc10be0f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 17:15:25 +0100
Subject: [PATCH 529/653] added new interface for file systems

---
 memory/HasFileSystemIF.h | 80 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 80 insertions(+)
 create mode 100644 memory/HasFileSystemIF.h

diff --git a/memory/HasFileSystemIF.h b/memory/HasFileSystemIF.h
new file mode 100644
index 00000000..dcec6346
--- /dev/null
+++ b/memory/HasFileSystemIF.h
@@ -0,0 +1,80 @@
+#ifndef FSFW_MEMORY_HASFILESYSTEMIF_H_
+#define FSFW_MEMORY_HASFILESYSTEMIF_H_
+
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../returnvalues/FwClassIds.h"
+#include "../ipc/messageQueueDefinitions.h"
+
+#include <cstddef>
+
+/**
+ * @brief	Generic interface for objects which expose a file system to enable
+ * 			message based file handling.
+ * @author  J. Meier, R. Mueller
+ */
+class HasFileSystemIF {
+public:
+    static constexpr uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM;
+
+    static constexpr ReturnValue_t FILE_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x00);
+    static constexpr ReturnValue_t FILE_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+    static constexpr ReturnValue_t FILE_LOCKED = MAKE_RETURN_CODE(0x02);
+
+    static constexpr ReturnValue_t DIRECTORY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
+    static constexpr ReturnValue_t DIRECTORY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x04);
+    static constexpr ReturnValue_t DIRECTORY_NOT_EMPTY = MAKE_RETURN_CODE(0x05);
+
+
+    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_WRITE = MAKE_RETURN_CODE(0x06); //! P1: Sequence number missing
+    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_READ = MAKE_RETURN_CODE(0x07); //! P1: Sequence number missing
+
+	virtual ~HasFileSystemIF() {}
+	/**
+	 * Function to get the MessageQueueId_t of the implementing object
+	 * @return MessageQueueId_t of the object
+	 */
+	virtual MessageQueueId_t getCommandQueue() const = 0;
+
+	/**
+	 * Generic function to append to file.
+	 * @param dirname Directory of the file
+	 * @param filename The filename of the file
+	 * @param data The data to write to the file
+	 * @param size The size of the data to write
+	 * @param packetNumber Current packet number. Can be used to verify that
+	 * there are no missing packets.
+	 * @param args Any other arguments which an implementation might require.
+	 * @param bytesWritten Actual bytes written to file
+	 * For large files the write procedure must be split in multiple calls
+	 * to writeToFile
+	 */
+	virtual ReturnValue_t appendToFile(const char* repositoryPath,
+	        const char* filename, const uint8_t* data, size_t size,
+	        uint16_t packetNumber, void* args = nullptr) = 0;
+
+	/**
+	 * Generic function to create a new file.
+	 * @param repositoryPath
+	 * @param filename
+	 * @param data
+	 * @param size
+	 * @param args Any other arguments which an implementation might require.
+	 * @return
+	 */
+	virtual ReturnValue_t createFile(const char* repositoryPath,
+	        const char* filename, const uint8_t* data = nullptr,
+	        size_t size = 0, void* args = nullptr) = 0;
+
+	/**
+	 * Generic function to delete a file.
+	 * @param repositoryPath
+	 * @param filename
+	 * @param args
+	 * @return
+	 */
+	virtual ReturnValue_t deleteFile(const char* repositoryPath,
+	        const char* filename, void* args = nullptr) = 0;
+};
+
+
+#endif /* FSFW_MEMORY_HASFILESYSTEMIF_H_ */

From f1c5f192134656c7bf2683cb2497cef81cbc747b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 17:17:53 +0100
Subject: [PATCH 530/653] changelog update

---
 CHANGELOG | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index a6686478..2791c761 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -11,3 +11,7 @@ a C file without issues
 - It is now possible to change the message queue depth for the telecommand verification service (PUS1)
 - The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets
+
+### File System Interface
+
+- A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)

From 606aac687b7d4eec45fa285f16d37958dc7a618a Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 17:44:36 +0100
Subject: [PATCH 531/653] make event api change

---
 events/Event.cpp | 6 ++++--
 events/Event.h   | 5 +++--
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/events/Event.cpp b/events/Event.cpp
index ea3d46fe..0f76b438 100644
--- a/events/Event.cpp
+++ b/events/Event.cpp
@@ -1,4 +1,5 @@
 #include "Event.h"
+
 namespace EVENT {
 EventId_t getEventId(Event event) {
 	return (event & 0xFFFF);
@@ -8,7 +9,8 @@ EventSeverity_t getSeverity(Event event) {
 	return ((event >> 16) & 0xFF);
 }
 
-Event makeEvent(EventId_t eventId, EventSeverity_t eventSeverity) {
-	return (eventSeverity << 16) + (eventId & 0xFFFF);
+Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId,
+		EventSeverity_t eventSeverity) {
+	return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
 }
 }
diff --git a/events/Event.h b/events/Event.h
index aba156f2..90ff1a90 100644
--- a/events/Event.h
+++ b/events/Event.h
@@ -18,9 +18,10 @@ EventId_t getEventId(Event event);
 
 EventSeverity_t getSeverity(Event event);
 
-Event makeEvent(EventId_t eventId, EventSeverity_t eventSeverity);
-
+Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId,
+		EventSeverity_t eventSeverity);
 }
+
 namespace SEVERITY {
 	static const EventSeverity_t INFO = 1;
 	static const EventSeverity_t LOW = 2;

From 94b108e03df766c50dd3178b95264b6a3c663d9c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 17:45:23 +0100
Subject: [PATCH 532/653] changelog update

---
 CHANGELOG | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index a6686478..c221c811 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -11,3 +11,7 @@ a C file without issues
 - It is now possible to change the message queue depth for the telecommand verification service (PUS1)
 - The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets
+
+### Events
+
+- makeEvent function: Not takes three input parameters instead of two and allows setting a unique ID

From 37196c8e3b5e2795dc75243aa38412464e79de9e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 1 Dec 2020 23:47:11 +0100
Subject: [PATCH 533/653] atomic fix

---
 osal/host/FixedTimeslotTask.h | 2 +-
 osal/host/PeriodicTask.h      | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/osal/host/FixedTimeslotTask.h b/osal/host/FixedTimeslotTask.h
index 9985e2ee..f3fffd0f 100644
--- a/osal/host/FixedTimeslotTask.h
+++ b/osal/host/FixedTimeslotTask.h
@@ -74,7 +74,7 @@ protected:
     //!< Typedef for the List of objects.
     typedef std::vector<ExecutableObjectIF*> ObjectList;
     std::thread mainThread;
-    std::atomic<bool> terminateThread = false;
+    std::atomic<bool> terminateThread { false };
 
     //! Polling sequence table which contains the object to execute
     //! and information like the timeslots and the passed execution step.
diff --git a/osal/host/PeriodicTask.h b/osal/host/PeriodicTask.h
index 7689788a..00cb6a24 100644
--- a/osal/host/PeriodicTask.h
+++ b/osal/host/PeriodicTask.h
@@ -69,7 +69,7 @@ protected:
 	//!< Typedef for the List of objects.
 	typedef std::vector<ExecutableObjectIF*> ObjectList;
 	std::thread mainThread;
-	std::atomic<bool> terminateThread = false;
+	std::atomic<bool> terminateThread { false };
 
 	/**
 	 * @brief	This attribute holds a list of objects to be executed.

From a92f6c5d8e06c3cee2328671d1e3138211ba49e4 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 00:05:54 +0100
Subject: [PATCH 534/653] mutex bugfix for host

---
 osal/host/Mutex.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/osal/host/Mutex.cpp b/osal/host/Mutex.cpp
index 8471cab8..fa3aa24c 100644
--- a/osal/host/Mutex.cpp
+++ b/osal/host/Mutex.cpp
@@ -4,12 +4,12 @@
 Mutex::Mutex() {}
 
 ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
-	if(timeoutMs == MutexIF::BLOCKING) {
+	if(timeoutType == MutexIF::BLOCKING) {
 		mutex.lock();
 		locked = true;
 		return HasReturnvaluesIF::RETURN_OK;
 	}
-	else if(timeoutMs == MutexIF::POLLING) {
+	else if(timeoutType == MutexIF::POLLING) {
 		if(mutex.try_lock()) {
 			locked = true;
 			return HasReturnvaluesIF::RETURN_OK;

From 206d4b58b287a6a4a56df478d010225bfefe583d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 00:17:12 +0100
Subject: [PATCH 535/653] removed boolean var

---
 osal/host/Mutex.cpp | 7 -------
 osal/host/Mutex.h   | 2 +-
 2 files changed, 1 insertion(+), 8 deletions(-)

diff --git a/osal/host/Mutex.cpp b/osal/host/Mutex.cpp
index fa3aa24c..ad8873df 100644
--- a/osal/host/Mutex.cpp
+++ b/osal/host/Mutex.cpp
@@ -6,19 +6,16 @@ Mutex::Mutex() {}
 ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
 	if(timeoutType == MutexIF::BLOCKING) {
 		mutex.lock();
-		locked = true;
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 	else if(timeoutType == MutexIF::POLLING) {
 		if(mutex.try_lock()) {
-			locked = true;
 			return HasReturnvaluesIF::RETURN_OK;
 		}
 	}
 	else if(timeoutMs > MutexIF::POLLING){
 		auto chronoMs = std::chrono::milliseconds(timeoutMs);
 		if(mutex.try_lock_for(chronoMs)) {
-			locked = true;
 			return HasReturnvaluesIF::RETURN_OK;
 		}
 	}
@@ -26,11 +23,7 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
 }
 
 ReturnValue_t Mutex::unlockMutex() {
-	if(not locked) {
-		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
-	}
 	mutex.unlock();
-	locked = false;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/host/Mutex.h b/osal/host/Mutex.h
index 24dafbbd..c0fa19b7 100644
--- a/osal/host/Mutex.h
+++ b/osal/host/Mutex.h
@@ -22,7 +22,7 @@ public:
 
 	std::timed_mutex* getMutexHandle();
 private:
-	bool locked = false;
+	//bool locked = false;
 	std::timed_mutex mutex;
 };
 

From f5c384de14da3275fbd00487a2bc481de9cd99ea Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 00:27:53 +0100
Subject: [PATCH 536/653] some bugfixes

---
 osal/windows/TmTcWinUdpBridge.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/osal/windows/TmTcWinUdpBridge.cpp b/osal/windows/TmTcWinUdpBridge.cpp
index 7e283c2a..1f66290f 100644
--- a/osal/windows/TmTcWinUdpBridge.cpp
+++ b/osal/windows/TmTcWinUdpBridge.cpp
@@ -6,6 +6,7 @@ TmTcWinUdpBridge::TmTcWinUdpBridge(object_id_t objectId,
         uint16_t serverPort, uint16_t clientPort):
         TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
     mutex = MutexFactory::instance()->createMutex();
+    communicationLinkUp = false;
 
     // Initiates Winsock DLL.
     WSAData wsaData;
@@ -90,7 +91,6 @@ ReturnValue_t TmTcWinUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
 //  sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
 //          " sent." << std::endl;
     return HasReturnvaluesIF::RETURN_OK;
-    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
@@ -101,6 +101,7 @@ void TmTcWinUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
 //          &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
 //  sif::debug << "IP Address Old: " <<  inet_ntop(AF_INET,
 //          &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
+    registerCommConnect();
 
     // Set new IP address if it has changed.
     if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
@@ -114,7 +115,7 @@ void TmTcWinUdpBridge::handleSocketError() {
     switch(errCode) {
     case(WSANOTINITIALISED): {
         sif::info << "TmTcWinUdpBridge::handleSocketError: WSANOTINITIALISED: "
-                << "WSAStartup(...) call " << "necessary" << std::endl;
+                << "WSAStartup(...) call necessary" << std::endl;
         break;
     }
     default: {
@@ -154,11 +155,11 @@ void TmTcWinUdpBridge::handleSendError() {
     switch(errCode) {
     case(WSANOTINITIALISED): {
         sif::info << "TmTcWinUdpBridge::handleSendError: WSANOTINITIALISED: "
-                << "WSAStartup(...) call " << "necessary" << std::endl;
+                << "WSAStartup(...) call necessary" << std::endl;
         break;
     }
     case(WSAEADDRNOTAVAIL): {
-        sif::info << "TmTcWinUdpBridge::handleReadError: WSAEADDRNOTAVAIL: "
+        sif::info << "TmTcWinUdpBridge::handleSendError: WSAEADDRNOTAVAIL: "
                 << "Check target address. " << std::endl;
         break;
     }

From 73d3defe9f1edc043911e17884ca09d8dcdda48a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 00:32:07 +0100
Subject: [PATCH 537/653] error output improved

---
 osal/host/QueueMapManager.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/host/QueueMapManager.cpp b/osal/host/QueueMapManager.cpp
index 1b2094e9..621f46bc 100644
--- a/osal/host/QueueMapManager.cpp
+++ b/osal/host/QueueMapManager.cpp
@@ -44,7 +44,7 @@ MessageQueueIF* QueueMapManager::getMessageQueue(
 		return queueIter->second;
 	}
 	else {
-		sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
+		sif::warning << "QueueMapManager::getQueueHandle: The ID " <<
 				messageQueueId << " does not exists in the map" << std::endl;
 		return nullptr;
 	}

From 8ad30d489a35cdd6ee27c2e14cfd907d85b62ee0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 00:58:13 +0100
Subject: [PATCH 538/653] important bugfix for host osal

---
 osal/host/PeriodicTask.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index f4ee079b..fb236963 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -89,6 +89,10 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
 }
 
 void PeriodicTask::taskFunctionality() {
+    for (const auto& object: objectList) {
+        object->initializeAfterTaskCreation();
+    }
+
 	std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
 	auto currentStartTime {
 	    std::chrono::duration_cast<std::chrono::milliseconds>(
@@ -101,9 +105,8 @@ void PeriodicTask::taskFunctionality() {
 		if(terminateThread.load()) {
 			break;
 		}
-		for (ObjectList::iterator it = objectList.begin();
-				it != objectList.end(); ++it) {
-			(*it)->performOperation();
+		for (const auto& object: objectList) {
+			object->performOperation();
 		}
 		if(not delayForInterval(&currentStartTime, periodChrono)) {
 			sif::warning << "PeriodicTask: " << taskName <<

From 7b742a2e6775d8f2b5e8b0121d39a84d293cdd94 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 01:00:07 +0100
Subject: [PATCH 539/653] warning removed from osal

---
 osal/host/PeriodicTask.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index fb236963..5662c7cc 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -98,7 +98,7 @@ void PeriodicTask::taskFunctionality() {
 	    std::chrono::duration_cast<std::chrono::milliseconds>(
 	    std::chrono::system_clock::now().time_since_epoch())
 	};
-	auto nextStartTime{ currentStartTime };
+	auto nextStartTime { currentStartTime };
 
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
@@ -109,8 +109,6 @@ void PeriodicTask::taskFunctionality() {
 			object->performOperation();
 		}
 		if(not delayForInterval(&currentStartTime, periodChrono)) {
-			sif::warning << "PeriodicTask: " << taskName <<
-					" missed deadline!\n" << std::flush;
 			if(deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}

From 558220643e05a6eaaad0fce5107c3a1c12eea9ae Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 01:01:31 +0100
Subject: [PATCH 540/653] small form improvements

---
 osal/host/FixedTimeslotTask.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
index e78c974a..7000024e 100644
--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -115,8 +115,9 @@ void FixedTimeslotTask::taskFunctionality() {
         this->pollingSeqTable.executeAndAdvance();
         if (not pollingSeqTable.slotFollowsImmediately()) {
             // we need to wait before executing the current slot
-            //this gives us the time to wait:
-            interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
+            // this gives us the time to wait:
+            interval = chron_ms(
+                    this->pollingSeqTable.getIntervalToPreviousSlotMs());
             delayForInterval(&currentStartTime, interval);
             //TODO deadline missed check
         }

From 2deb7037b0e58156a8fc04095b57c9eee0003395 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Wed, 2 Dec 2020 01:07:40 +0100
Subject: [PATCH 541/653] todo added

---
 osal/host/FixedTimeslotTask.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/host/FixedTimeslotTask.cpp b/osal/host/FixedTimeslotTask.cpp
index 7000024e..9e892bb5 100644
--- a/osal/host/FixedTimeslotTask.cpp
+++ b/osal/host/FixedTimeslotTask.cpp
@@ -46,7 +46,7 @@ FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
                 << GetLastError() << std::endl;
     }
 #elif defined(LINUX)
-    // we can just copy and paste the code from linux here.
+    // TODO: we can just copy and paste the code from the linux OSAL here.
 #endif
 }
 

From 464988ca61570bf6464d2e1e1228744659fff9c0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 13:00:04 +0100
Subject: [PATCH 542/653] update

---
 datapoollocal/HasLocalDataPoolIF.h          |  51 +-
 datapoollocal/LocalDataPoolManager.cpp      | 805 ++++++++++++++------
 datapoollocal/LocalDataPoolManager.h        | 163 +++-
 datapoollocal/LocalPoolDataSetBase.cpp      |  97 ++-
 datapoollocal/LocalPoolDataSetBase.h        |  16 +-
 datapoollocal/LocalPoolObjectBase.cpp       |  73 ++
 datapoollocal/LocalPoolObjectBase.h         |  63 ++
 datapoollocal/LocalPoolVariable.h           |  54 +-
 datapoollocal/LocalPoolVariable.tpp         | 150 ++--
 datapoollocal/LocalPoolVector.h             |  68 +-
 datapoollocal/LocalPoolVector.tpp           |  85 +--
 datapoollocal/MarkChangedIF.h               |  17 +
 datapoollocal/locPoolDefinitions.h          |  93 +++
 housekeeping/AcceptsHkPacketsIF.h           |   1 +
 housekeeping/HousekeepingMessage.cpp        |  57 +-
 housekeeping/HousekeepingMessage.h          |  76 +-
 housekeeping/HousekeepingPacketUpdate.h     |  51 +-
 housekeeping/PeriodicHousekeepingHelper.cpp |   3 +-
 18 files changed, 1346 insertions(+), 577 deletions(-)
 create mode 100644 datapoollocal/LocalPoolObjectBase.cpp
 create mode 100644 datapoollocal/LocalPoolObjectBase.h
 create mode 100644 datapoollocal/MarkChangedIF.h
 create mode 100644 datapoollocal/locPoolDefinitions.h

diff --git a/datapoollocal/HasLocalDataPoolIF.h b/datapoollocal/HasLocalDataPoolIF.h
index f8f4ef4c..7f1f202e 100644
--- a/datapoollocal/HasLocalDataPoolIF.h
+++ b/datapoollocal/HasLocalDataPoolIF.h
@@ -1,6 +1,8 @@
 #ifndef FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
 #define FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
 
+#include "locPoolDefinitions.h"
+
 #include "../datapool/PoolEntryIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../housekeeping/HousekeepingMessage.h"
@@ -9,11 +11,8 @@
 
 class LocalDataPoolManager;
 class LocalPoolDataSetBase;
+class LocalPoolObjectBase;
 
-/**
- * @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;
 
@@ -44,7 +43,8 @@ public:
 	virtual~ HasLocalDataPoolIF() {};
 
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
-	static constexpr lp_id_t NO_POOL_ID = 0xffffffff;
+
+	static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
 
 	virtual object_id_t getObjectId() const = 0;
 
@@ -78,6 +78,47 @@ public:
 	 */
 	virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) = 0;
 
+	/**
+	 * Similar to the function above, but used to get a local pool variable
+	 * handle. This is only needed for update notifications, so it is not
+	 * defined as abstract.
+	 * @param localPoolId
+	 * @return
+	 */
+	virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
+	    sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden"
+	            << ". Returning nullptr!" << std::endl;
+	    return nullptr;
+	}
+
+    /**
+     * @brief   This function will be called by the manager if an update
+     *          notification is received.
+     * @details
+     * Can be overriden by the child class to handle changed datasets.
+     * @param sid
+     * @param storeId If a snapshot was requested, data will be located inside
+     * the IPC store with this store ID.
+     */
+    virtual void handleChangedDataset(sid_t sid,
+            store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
+        return;
+    }
+
+    /**
+     * @brief   This function will be called by the manager if an update
+     *          notification is received.
+     * @details
+     * Can be overriden by the child class to handle changed pool IDs.
+     * @param sid
+     * @param storeId If a snapshot was requested, data will be located inside
+     * the IPC store with this store ID.
+     */
+    virtual void handleChangedPoolVariable(lp_id_t poolId,
+            store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
+        return;
+    }
+
 	/* These function can be implemented by pool owner, as they are required
 	 * by the housekeeping message interface */
 	virtual ReturnValue_t addDataSet(sid_t sid) {
diff --git a/datapoollocal/LocalDataPoolManager.cpp b/datapoollocal/LocalDataPoolManager.cpp
index c23f183b..f649a362 100644
--- a/datapoollocal/LocalDataPoolManager.cpp
+++ b/datapoollocal/LocalDataPoolManager.cpp
@@ -1,22 +1,25 @@
 #include "LocalDataPoolManager.h"
+#include "LocalPoolObjectBase.h"
 #include "LocalPoolDataSetBase.h"
 
+#include "../housekeeping/HousekeepingPacketUpdate.h"
 #include "../housekeeping/HousekeepingSetPacket.h"
 #include "../housekeeping/AcceptsHkPacketsIF.h"
+
+#include "../timemanager/CCSDSTime.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;
+        objects::PUS_SERVICE_3_HOUSEKEEPING;
 
 LocalDataPoolManager::LocalDataPoolManager(HasLocalDataPoolIF* owner,
         MessageQueueIF* queueToUse, bool appendValidityBuffer):
-        appendValidityBuffer(appendValidityBuffer) {
+                        appendValidityBuffer(appendValidityBuffer) {
     if(owner == nullptr) {
         sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
                 << "Invalid supplied owner!" << std::endl;
@@ -59,7 +62,7 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
         }
         else {
             sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
-                   << "Default HK destination object is invalid!" << std::endl;
+                    << "Default HK destination object is invalid!" << std::endl;
             return HasReturnvaluesIF::RETURN_FAILED;
         }
     }
@@ -74,23 +77,22 @@ ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(
 }
 
 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;
+    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() {
+    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
     for(auto& receiver: hkReceiversMap) {
-        //HkReceiver* receiver = &hkReceiversIter.second;
-
         switch(receiver.reportingType) {
         case(ReportingType::PERIODIC): {
             if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
@@ -100,8 +102,16 @@ ReturnValue_t LocalDataPoolManager::performHkOperation() {
             performPeriodicHkGeneration(receiver);
             break;
         }
+        case(ReportingType::UPDATE_HK): {
+            handleHkUpdate(receiver, status);
+            break;
+        }
+        case(ReportingType::UPDATE_NOTIFICATION): {
+            handleNotificationUpdate(receiver, status);
+            break;
+        }
         case(ReportingType::UPDATE_SNAPSHOT): {
-            // check whether data has changed and send messages in case it has.
+            handleNotificationSnapshot(receiver, status);
             break;
         }
         default:
@@ -109,95 +119,441 @@ ReturnValue_t LocalDataPoolManager::performHkOperation() {
             return HasReturnvaluesIF::RETURN_FAILED;
         }
     }
+    resetHkUpdateResetHelper();
+    return status;
+}
+
+ReturnValue_t LocalDataPoolManager::handleHkUpdate(HkReceiver& receiver,
+        ReturnValue_t& status) {
+    if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
+        // Update packets shall only be generated from datasets.
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
+            receiver.dataId.sid);
+    if(dataSet->hasChanged()) {
+        // prepare and send update notification
+        ReturnValue_t result = generateHousekeepingPacket(
+                receiver.dataId.sid, dataSet, true);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            status = result;
+        }
+    }
+    handleChangeResetLogic(receiver.dataType, receiver.dataId,
+            dataSet);
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(
+        HkReceiver& receiver, ReturnValue_t& status) {
+    MarkChangedIF* toReset = nullptr;
+    if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
+        LocalPoolObjectBase* poolObj = owner->getPoolObjectHandle(
+                receiver.dataId.localPoolId);
+        if(poolObj == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        if(poolObj->hasChanged()) {
+            // prepare and send update notification.
+            CommandMessage notification;
+            HousekeepingMessage::setUpdateNotificationVariableCommand(
+                    &notification, receiver.dataId.localPoolId);
+            ReturnValue_t result = hkQueue->sendMessage(
+                    receiver.destinationQueue, &notification);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+            toReset = poolObj;
+        }
+
+    }
+    else {
+        LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
+                receiver.dataId.sid);
+        if(dataSet == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        if(dataSet->hasChanged()) {
+            // prepare and send update notification
+            CommandMessage notification;
+            HousekeepingMessage::setUpdateNotificationSetCommand(
+                    &notification, receiver.dataId.sid);
+            ReturnValue_t result = hkQueue->sendMessage(
+                    receiver.destinationQueue, &notification);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+            toReset = dataSet;
+        }
+    }
+    if(toReset != nullptr) {
+        handleChangeResetLogic(receiver.dataType,
+                receiver.dataId, toReset);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
+        HkReceiver& receiver, ReturnValue_t& status) {
+    MarkChangedIF* toReset = nullptr;
+    // check whether data has changed and send messages in case it has.
+    if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
+        LocalPoolObjectBase* poolObj = owner->getPoolObjectHandle(
+                receiver.dataId.localPoolId);
+        if(poolObj == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+
+        if (not poolObj->hasChanged()) {
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+
+        // prepare and send update snapshot.
+        timeval now;
+        Clock::getClock_timeval(&now);
+        CCSDSTime::CDS_short cds;
+        CCSDSTime::convertToCcsds(&cds, &now);
+        HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds),
+                sizeof(cds), owner->getPoolObjectHandle(
+                receiver.dataId.localPoolId));
+
+        store_address_t storeId;
+        ReturnValue_t result = addUpdateToStore(updatePacket, storeId);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+
+        CommandMessage notification;
+        HousekeepingMessage::setUpdateSnapshotVariableCommand(&notification,
+                receiver.dataId.localPoolId, storeId);
+        result = hkQueue->sendMessage(receiver.destinationQueue,
+                &notification);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            status = result;
+        }
+        toReset = poolObj;
+    }
+    else {
+        LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(
+                receiver.dataId.sid);
+        if(dataSet == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+
+        if(not dataSet->hasChanged()) {
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+
+        // prepare and send update snapshot.
+        timeval now;
+        Clock::getClock_timeval(&now);
+        CCSDSTime::CDS_short cds;
+        CCSDSTime::convertToCcsds(&cds, &now);
+        HousekeepingPacketUpdate updatePacket(reinterpret_cast<uint8_t*>(&cds),
+                sizeof(cds), owner->getDataSetHandle(receiver.dataId.sid));
+
+        store_address_t storeId;
+        ReturnValue_t result = addUpdateToStore(updatePacket, storeId);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            return result;
+        }
+
+        CommandMessage notification;
+        HousekeepingMessage::setUpdateSnapshotSetCommand(
+                &notification, receiver.dataId.sid, storeId);
+        result = hkQueue->sendMessage(receiver.destinationQueue, &notification);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            status = result;
+        }
+        toReset = dataSet;
+
+    }
+    if(toReset != nullptr) {
+        handleChangeResetLogic(receiver.dataType,
+                receiver.dataId, toReset);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::addUpdateToStore(
+        HousekeepingPacketUpdate& updatePacket, store_address_t& storeId) {
+    size_t updatePacketSize = updatePacket.getSerializedSize();
+    uint8_t *storePtr = nullptr;
+    ReturnValue_t result = ipcStore->getFreeElement(&storeId,
+            updatePacket.getSerializedSize(), &storePtr);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    size_t serializedSize = 0;
+    result = updatePacket.serialize(&storePtr, &serializedSize,
+            updatePacketSize, SerializeIF::Endianness::MACHINE);
+    return result;;
+}
+
+void LocalDataPoolManager::handleChangeResetLogic(
+        DataType type, DataId dataId, MarkChangedIF* toReset) {
+    if(hkUpdateResetList == nullptr) {
+        // config error!
+        return;
+    }
+
+    for(auto& changeInfo: *hkUpdateResetList) {
+        if(changeInfo.dataType != type) {
+            continue;
+        }
+        if((changeInfo.dataType == DataType::DATA_SET) and
+                (changeInfo.dataId.sid != dataId.sid)) {
+            continue;
+        }
+        if((changeInfo.dataType == DataType::LOCAL_POOL_VARIABLE) and
+                (changeInfo.dataId.localPoolId != dataId.localPoolId)) {
+            continue;
+        }
+
+        if(changeInfo.updateCounter <= 1) {
+            toReset->setChanged(false);
+        }
+        if(changeInfo.currentUpdateCounter == 0) {
+            toReset->setChanged(false);
+        }
+        else {
+            changeInfo.currentUpdateCounter--;
+        }
+        return;
+    }
+}
+
+void LocalDataPoolManager::resetHkUpdateResetHelper() {
+    if(hkUpdateResetList == nullptr) {
+        return;
+    }
+
+    for(auto& changeInfo: *hkUpdateResetList) {
+        changeInfo.currentUpdateCounter = changeInfo.updateCounter;
+    }
+}
+
 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;
-	}
+        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();
+    struct HkReceiver hkReceiver;
+    hkReceiver.dataId.sid = sid;
+    hkReceiver.reportingType = ReportingType::PERIODIC;
+    hkReceiver.dataType = DataType::DATA_SET;
+    hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
 
-	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
-	if(dataSet != nullptr) {
-		dataSet->setReportingEnabled(enableReporting);
-		dataSet->setDiagnostic(isDiagnostics);
-		dataSet->initializePeriodicHelper(collectionInterval,
-				owner->getPeriodicOperationFrequency(), isDiagnostics);
-	}
+    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;
+    hkReceiversMap.push_back(hkReceiver);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t LocalDataPoolManager::subscribeForUpdatePackets(sid_t sid,
+        bool isDiagnostics, bool reportingEnabled,
+        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::UPDATE_HK;
+    hkReceiver.dataType = DataType::DATA_SET;
+    hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
+
+    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+    if(dataSet != nullptr) {
+        dataSet->setReportingEnabled(true);
+        dataSet->setDiagnostic(isDiagnostics);
+    }
+
+    hkReceiversMap.push_back(hkReceiver);
+
+    handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::subscribeForSetUpdateMessages(
+        const uint32_t setId, object_id_t destinationObject,
+        MessageQueueId_t targetQueueId, bool generateSnapshot) {
+    struct HkReceiver hkReceiver;
+    hkReceiver.dataType = DataType::DATA_SET;
+    hkReceiver.dataId.sid = sid_t(this->getOwner()->getObjectId(), setId);
+    hkReceiver.destinationQueue = targetQueueId;
+    hkReceiver.objectId = destinationObject;
+    if(generateSnapshot) {
+        hkReceiver.reportingType = ReportingType::UPDATE_SNAPSHOT;
+    }
+    else {
+        hkReceiver.reportingType = ReportingType::UPDATE_NOTIFICATION;
+    }
+
+    hkReceiversMap.push_back(hkReceiver);
+
+    handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LocalDataPoolManager::subscribeForVariableUpdateMessages(
+        const lp_id_t localPoolId, object_id_t destinationObject,
+        MessageQueueId_t targetQueueId, bool generateSnapshot) {
+    struct HkReceiver hkReceiver;
+    hkReceiver.dataType = DataType::LOCAL_POOL_VARIABLE;
+    hkReceiver.dataId.localPoolId = localPoolId;
+    hkReceiver.destinationQueue = targetQueueId;
+    hkReceiver.objectId = destinationObject;
+    if(generateSnapshot) {
+        hkReceiver.reportingType = ReportingType::UPDATE_SNAPSHOT;
+    }
+    else {
+        hkReceiver.reportingType = ReportingType::UPDATE_NOTIFICATION;
+    }
+
+    hkReceiversMap.push_back(hkReceiver);
+
+    handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void LocalDataPoolManager::handleHkUpdateResetListInsertion(DataType dataType,
+        DataId dataId) {
+    if(hkUpdateResetList == nullptr) {
+        hkUpdateResetList = new std::vector<struct HkUpdateResetHelper>();
+    }
+
+    for(auto& updateResetStruct: *hkUpdateResetList) {
+        if(dataType == DataType::DATA_SET) {
+            if(updateResetStruct.dataId.sid == dataId.sid) {
+                updateResetStruct.updateCounter++;
+                updateResetStruct.currentUpdateCounter++;
+                return;
+            }
+        }
+        else {
+            if(updateResetStruct.dataId.localPoolId == dataId.localPoolId) {
+                updateResetStruct.updateCounter++;
+                updateResetStruct.currentUpdateCounter++;
+                return;
+            }
+        }
+
+    }
+    HkUpdateResetHelper hkUpdateResetHelper;
+    hkUpdateResetHelper.currentUpdateCounter = 1;
+    hkUpdateResetHelper.updateCounter = 1;
+    hkUpdateResetHelper.dataType = dataType;
+    if(dataType == DataType::DATA_SET) {
+        hkUpdateResetHelper.dataId.sid = dataId.sid;
+    }
+    else {
+        hkUpdateResetHelper.dataId.localPoolId = dataId.localPoolId;
+    }
+    hkUpdateResetList->push_back(hkUpdateResetHelper);
 }
 
 ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
-		CommandMessage* message) {
+        CommandMessage* message) {
     Command_t command = message->getCommand();
     sid_t sid = HousekeepingMessage::getSid(message);
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     switch(command) {
+    // Houskeeping interface handling.
     case(HousekeepingMessage::ENABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
-    	result = togglePeriodicGeneration(sid, true, true);
-    	break;
+        result = togglePeriodicGeneration(sid, true, true);
+        break;
     }
 
     case(HousekeepingMessage::DISABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
-    	result = togglePeriodicGeneration(sid, false, true);
-    	break;
+        result = togglePeriodicGeneration(sid, false, true);
+        break;
     }
 
     case(HousekeepingMessage::ENABLE_PERIODIC_HK_REPORT_GENERATION): {
-    	result = togglePeriodicGeneration(sid, true, false);
-    	break;
+        result = togglePeriodicGeneration(sid, true, false);
+        break;
     }
 
     case(HousekeepingMessage::DISABLE_PERIODIC_HK_REPORT_GENERATION): {
-    	result = togglePeriodicGeneration(sid, false, false);
-    	break;
+        result = togglePeriodicGeneration(sid, false, false);
+        break;
     }
 
     case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES):
-        return generateSetStructurePacket(sid, true);
+                        return generateSetStructurePacket(sid, true);
     case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES):
-        return generateSetStructurePacket(sid, false);
+                        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;
+        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);
+        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);
+    }
+
+    // Notification handling.
+    case(HousekeepingMessage::UPDATE_NOTIFICATION_SET): {
+        owner->handleChangedDataset(sid);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE): {
+        lp_id_t locPoolId = HousekeepingMessage::
+                getUpdateNotificationVariableCommand(message);
+        owner->handleChangedPoolVariable(locPoolId);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(HousekeepingMessage::UPDATE_SNAPSHOT_SET): {
+        store_address_t storeId;
+        HousekeepingMessage::getUpdateSnapshotSetCommand(message, &storeId);
+        owner->handleChangedDataset(sid, storeId);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    case(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE): {
+        store_address_t storeId;
+        lp_id_t localPoolId = HousekeepingMessage::
+                getUpdateSnapshotVariableCommand(message, &storeId);
+        owner->handleChangedPoolVariable(localPoolId, storeId);
+        return HasReturnvaluesIF::RETURN_OK;
     }
 
     default:
@@ -205,30 +561,30 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
     }
 
     CommandMessage reply;
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		HousekeepingMessage::setHkRequestFailureReply(&reply, sid, result);
-	}
-	else {
-		HousekeepingMessage::setHkRequestSuccessReply(&reply, sid);
-	}
-	hkQueue->sendMessage(hkDestinationId, &reply);
-	return result;
+    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;
+        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;
+    return mutex;
 }
 
 HasLocalDataPoolIF* LocalDataPoolManager::getOwner() {
@@ -236,51 +592,51 @@ HasLocalDataPoolIF* LocalDataPoolManager::getOwner() {
 }
 
 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;
-	}
+        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;
-	}
+    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);
-	}
+    // 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;
-	}
+    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);
+    return hkQueue->sendMessage(destination, &hkMessage);
 }
 
 ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
         HousekeepingPacketDownlink& hkPacket,
         store_address_t& storeId, bool forDownlink,
-		size_t* serializedSize) {
+        size_t* serializedSize) {
     uint8_t* dataPtr = nullptr;
     const size_t maxSize = hkPacket.getSerializedSize();
     ReturnValue_t result = ipcStore->getFreeElement(&storeId,
@@ -290,8 +646,8 @@ ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
     }
 
     if(forDownlink) {
-    	return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
-    	            SerializeIF::Endianness::BIG);
+        return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
+                SerializeIF::Endianness::BIG);
     }
     return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
             SerializeIF::Endianness::MACHINE);
@@ -303,125 +659,124 @@ void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
 }
 
 void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
-	sid_t sid = receiver.dataId.sid;
-	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
-	if(not dataSet->getReportingEnabled()) {
-		return;
-	}
+    sid_t sid = receiver.dataId.sid;
+    LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
+    if(not dataSet->getReportingEnabled()) {
+        return;
+    }
 
-	if(dataSet->periodicHelper == nullptr) {
-		// Configuration error.
-		return;
-	}
+    if(dataSet->periodicHelper == nullptr) {
+        // Configuration error.
+        return;
+    }
 
-	if(not dataSet->periodicHelper->checkOpNecessary()) {
-		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 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;
-	}
+        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;
-	}
+    if((dataSet->getReportingEnabled() and enable) or
+            (not dataSet->getReportingEnabled() and not enable)) {
+        return REPORTING_STATUS_UNCHANGED;
+    }
 
-	dataSet->setReportingEnabled(enable);
-	return HasReturnvaluesIF::RETURN_OK;
+    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;
-	}
+        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;
-	}
+    if(dataSet->periodicHelper == nullptr) {
+        // config error
+        return PERIODIC_HELPER_INVALID;
+    }
 
-	dataSet->periodicHelper->changeCollectionInterval(newCollectionInterval);
-	return HasReturnvaluesIF::RETURN_OK;
+    dataSet->periodicHelper->changeCollectionInterval(newCollectionInterval);
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
-		bool isDiagnostics) {
+        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;
-	}
+    LocalPoolDataSetBase* dataSet = 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 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();
+    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;
-	}
+    // Generate set packet which can be serialized.
+    HousekeepingSetPacket setPacket(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;
-	}
+    // 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);
-	}
+    // Send structure reporting reply.
+    CommandMessage reply;
+    if(isDiagnostics) {
+        HousekeepingMessage::setDiagnosticsStuctureReportReply(&reply,
+                sid, storeId);
+    }
+    else {
+        HousekeepingMessage::setHkStuctureReportReply(&reply,
+                sid, storeId);
+    }
 
-	hkQueue->reply(&reply);
-	return result;
+    hkQueue->reply(&reply);
+    return result;
 }
diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index 779e3050..95d48303 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -20,16 +20,23 @@ namespace Factory {
 void setStaticFrameworkObjectIds();
 }
 
-class LocalDataSetBase;
-
+class LocalPoolDataSetBase;
+class HousekeepingPacketUpdate;
 
 /**
  * @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
+ * has a local data pool shall have this manager class as a member and implement
  * the HasLocalDataPoolIF.
  *
+ * The manager offers some adaption points and functions which can be used
+ * by the owning class to simplify data handling significantly.
+ *
+ * Please ensure that both initialize and initializeAfterTaskCreation are
+ * called at some point by the owning class in the respective functions of the
+ * same name!
+ *
  * Users of the data pool use the helper classes LocalDataSet,
  * LocalPoolVariable and LocalPoolVector to access pool entries in
  * a thread-safe and efficient way.
@@ -41,10 +48,8 @@ class LocalDataSetBase;
  * @author 		R. Mueller
  */
 class LocalDataPoolManager {
-	template<typename T>
-	friend class LocalPoolVar;
-	template<typename T, uint16_t vecSize>
-	friend class LocalPoolVector;
+	template<typename T> friend class LocalPoolVar;
+	template<typename T, uint16_t vecSize> friend class LocalPoolVector;
 	friend class LocalPoolDataSetBase;
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
@@ -67,14 +72,16 @@ public:
      * initialize() has to be called in any case before using the object!
      * @param owner
      * @param queueToUse
-     * @param appendValidityBuffer
+     * @param appendValidityBuffer Specify whether a buffer containing the
+     * validity state is generated  when serializing or deserializing packets.
      */
 	LocalDataPoolManager(HasLocalDataPoolIF* owner, MessageQueueIF* queueToUse,
 	        bool appendValidityBuffer = true);
 	virtual~ LocalDataPoolManager();
 
 	/**
-	 * Assigns the queue to use.
+	 * Assigns the queue to use. Make sure to call this in the #initialize
+	 * function of the owner.
 	 * @param queueToUse
 	 * @param nonDiagInvlFactor See #setNonDiagnosticIntervalFactor doc
 	 * @return
@@ -84,27 +91,88 @@ public:
 	/**
 	 * 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!
+	 * Don't forget to call this in the #initializeAfterTaskCreation call of
+	 * the owner, otherwise the map will be invalid!
 	 * @param nonDiagInvlFactor
 	 * @return
 	 */
-	ReturnValue_t initializeAfterTaskCreation(uint8_t nonDiagInvlFactor = 5);
+	ReturnValue_t initializeAfterTaskCreation(
+	        uint8_t nonDiagInvlFactor = 5);
 
     /**
-     * This should be called in the periodic handler of the owner.
+     * @brief   This should be called in the periodic handler of the owner.
+     * @details
+     * This in generally called in the #performOperation function of the owner.
      * It performs all the periodic functionalities of the data pool manager,
      * for example generating periodic HK packets.
+     * Marked virtual as an adaption point for custom data pool managers.
      * @return
      */
-    ReturnValue_t performHkOperation();
+    virtual ReturnValue_t performHkOperation();
 
 	/**
+	 * @brief   Subscribe for the generation of periodic packets.
+	 * @details
+     * This subscription mechanism will generally be used by the data creator
+     * to generate housekeeping packets which are downlinked directly.
 	 * @return
 	 */
 	ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
 			float collectionInterval, bool isDiagnostics,
 			object_id_t packetDestination = defaultHkDestination);
 
+	/**
+	 * @brief   Subscribe for the  generation of packets if the dataset
+	 *          is marked as changed.
+	 * @details
+	 * This subscription mechanism will generally be used by the data creator.
+	 * @param sid
+	 * @param isDiagnostics
+	 * @param packetDestination
+	 * @return
+	 */
+    ReturnValue_t subscribeForUpdatePackets(sid_t sid, bool reportingEnabled,
+            bool isDiagnostics,
+            object_id_t packetDestination = defaultHkDestination);
+
+	/**
+	 * @brief   Subscribe for a notification message which will be sent
+	 *          if a dataset has changed.
+	 * @details
+	 * This subscription mechanism will generally be used internally by
+	 * other software components.
+	 * @param setId     Set ID of the set to receive update messages from.
+	 * @param destinationObject
+	 * @param targetQueueId
+	 * @param generateSnapshot If this is set to true, a copy of the current
+	 * data with a timestamp will be generated and sent via message.
+	 * Otherwise, only an notification message is sent.
+	 * @return
+	 */
+	ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
+	        object_id_t destinationObject,
+	        MessageQueueId_t targetQueueId,
+	        bool generateSnapshot);
+
+    /**
+     * @brief   Subscribe for an notification message which will be sent if a
+     *          pool variable has changed.
+     * @details
+     * This subscription mechanism will generally be used internally by
+     * other software components.
+     * @param localPoolId Pool ID of the pool variable
+     * @param destinationObject
+     * @param targetQueueId
+     * @param generateSnapshot If this is set to true, a copy of the current
+     * data with a timestamp will be generated and sent via message.
+     * Otherwise, only an notification message is sent.
+     * @return
+     */
+    ReturnValue_t subscribeForVariableUpdateMessages(const lp_id_t localPoolId,
+            object_id_t destinationObject,
+            MessageQueueId_t targetQueueId,
+            bool generateSnapshot);
+
 	/**
 	 * Non-Diagnostics packets usually have a lower minimum sampling frequency
 	 * than diagnostic packets.
@@ -116,6 +184,19 @@ public:
 	 */
 	void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
 
+    /**
+     * @brief   The manager is also able to handle housekeeping messages.
+     * @details
+     * This most commonly is used to handle messages for the housekeeping
+     * interface, but the manager is also able to handle update notifications
+     * and calls a special function which can be overriden by a child class
+     * to handle data set or pool variable updates. This is relevant
+     * for classes like controllers which have their own local datapool
+     * but pull their data from other local datapools.
+     * @param message
+     * @return
+     */
+    virtual ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
 
 	/**
 	 * Generate a housekeeping packet with a given SID.
@@ -126,16 +207,6 @@ public:
 			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);
@@ -194,17 +265,18 @@ private:
 	static object_id_t defaultHkDestination;
 	MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
 
+    union DataId {
+        DataId(): sid() {};
+        sid_t sid;
+        lp_id_t localPoolId;
+    };
+
     /** 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;
@@ -216,6 +288,17 @@ private:
 
     HkReceivers hkReceiversMap;
 
+    struct HkUpdateResetHelper {
+        DataType dataType = DataType::DATA_SET;
+        DataId dataId;
+        uint8_t updateCounter;
+        uint8_t currentUpdateCounter;
+    };
+
+    using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
+    // Will only be created when needed.
+    HkUpdateResetList* hkUpdateResetList = nullptr;
+
     /** This is the map holding the actual data. Should only be initialized
      * once ! */
     bool mapInitialized = false;
@@ -234,7 +317,7 @@ private:
 	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!
+	 * externally. Use with care and don't forget to unlock locked mutexes!
 	 * For now, only friend classes can accss this function.
 	 * @return
 	 */
@@ -255,6 +338,14 @@ private:
 	template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
 			PoolEntry<T> **poolEntry);
 
+    /**
+     * 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();
+
 	ReturnValue_t serializeHkPacketIntoStore(
 	        HousekeepingPacketDownlink& hkPacket,
 	        store_address_t& storeId, bool forDownlink, size_t* serializedSize);
@@ -265,6 +356,20 @@ private:
 	ReturnValue_t changeCollectionInterval(sid_t sid,
 			float newCollectionInterval, bool isDiagnostics);
 	ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
+
+	void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);
+	void handleChangeResetLogic(DataType type,
+	        DataId dataId, MarkChangedIF* toReset);
+	void resetHkUpdateResetHelper();
+
+	ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver,
+            ReturnValue_t& status);
+	ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver,
+	        ReturnValue_t& status);
+	ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver,
+            ReturnValue_t& status);
+	ReturnValue_t addUpdateToStore(HousekeepingPacketUpdate& updatePacket,
+	        store_address_t& storeId);
 };
 
 
diff --git a/datapoollocal/LocalPoolDataSetBase.cpp b/datapoollocal/LocalPoolDataSetBase.cpp
index da0a86b2..640956db 100644
--- a/datapoollocal/LocalPoolDataSetBase.cpp
+++ b/datapoollocal/LocalPoolDataSetBase.cpp
@@ -7,22 +7,24 @@
 #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;
-	}
+        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;
 
+    mutex = MutexFactory::instance()->createMutex();
+
     // Data creators get a periodic helper for periodic HK data generation.
     if(not noPeriodicHandling) {
-    	 periodicHelper = new PeriodicHousekeepingHelper(this);
+        periodicHelper = new PeriodicHousekeepingHelper(this);
     }
 }
 
@@ -33,21 +35,23 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
     HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
             sid.objectId);
     if(hkOwner == nullptr) {
-    	// Configuration error.
+        // Configuration error.
         sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
-        		<< "invalid!" << std::endl;
+                << "invalid!" << std::endl;
         return;
     }
     hkManager = hkOwner->getHkManagerHandle();
     this->sid = sid;
+
+    mutex = MutexFactory::instance()->createMutex();
 }
 
 LocalPoolDataSetBase::~LocalPoolDataSetBase() {
 }
 
 ReturnValue_t LocalPoolDataSetBase::lockDataPool(uint32_t timeoutMs) {
-	MutexIF* mutex = hkManager->getMutexHandle();
-	return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs);
+    MutexIF* mutex = hkManager->getMutexHandle();
+    return mutex->lockMutex(MutexIF::TimeoutType::WAITING, timeoutMs);
 }
 
 ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer,
@@ -77,6 +81,10 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer
             return result;
         }
     }
+
+    if(*size + validityMaskSize > maxSize) {
+        return SerializeIF::BUFFER_TOO_SHORT;
+    }
     // copy validity buffer to end
     std::memcpy(*buffer, validityMask, validityMaskSize);
     *size += validityMaskSize;
@@ -89,14 +97,18 @@ ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
     ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
     for (uint16_t count = 0; count < fillCount; count++) {
         result = registeredVariables[count]->deSerialize(buffer, size,
-                        streamEndianness);
+                streamEndianness);
         if(result != HasReturnvaluesIF::RETURN_OK) {
             return result;
         }
     }
+
+    if(*size < std::ceil(static_cast<float>(fillCount) / 8.0)) {
+        return SerializeIF::STREAM_TOO_SHORT;
+    }
+
     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 +
@@ -113,9 +125,10 @@ ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
     }
     return result;
 }
+
 ReturnValue_t LocalPoolDataSetBase::unlockDataPool() {
-	MutexIF* mutex = hkManager->getMutexHandle();
-	return mutex->unlockMutex();
+    MutexIF* mutex = hkManager->getMutexHandle();
+    return mutex->unlockMutex();
 }
 
 ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
@@ -192,7 +205,7 @@ ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size,
 void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
     if(position > 7) {
         sif::debug << "Pool Raw Access: Bit setting invalid position"
-        		<< std::endl;
+                << std::endl;
         return;
     }
     uint8_t shiftNumber = position + (7 - 2 * position);
@@ -200,45 +213,49 @@ void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
 }
 
 void LocalPoolDataSetBase::setDiagnostic(bool isDiagnostics) {
-	this->diagnostic = isDiagnostics;
+    this->diagnostic = isDiagnostics;
 }
 
 bool LocalPoolDataSetBase::isDiagnostics() const {
-	return diagnostic;
+    return diagnostic;
 }
 
 void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
-	this->reportingEnabled = reportingEnabled;
+    this->reportingEnabled = reportingEnabled;
 }
 
 bool LocalPoolDataSetBase::getReportingEnabled() const {
-	return reportingEnabled;
+    return reportingEnabled;
 }
 
 void LocalPoolDataSetBase::initializePeriodicHelper(
-		float collectionInterval, dur_millis_t minimumPeriodicInterval,
-		bool isDiagnostics, uint8_t nonDiagIntervalFactor) {
-	periodicHelper->initialize(collectionInterval, minimumPeriodicInterval,
-			isDiagnostics, nonDiagIntervalFactor);
+        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;
+    // TODO: Make this configurable?
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    this->changed = changed;
 }
 
-bool LocalPoolDataSetBase::isChanged() const {
-	return changed;
+bool LocalPoolDataSetBase::hasChanged() const {
+    // TODO: Make this configurable?
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
+    return changed;
 }
 
 sid_t LocalPoolDataSetBase::getSid() const {
-	return sid;
+    return sid;
 }
 
 bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
-		uint8_t position) const {
+        uint8_t position) const {
     if(position > 7) {
         sif::debug << "Pool Raw Access: Bit setting invalid position"
-        		<< std::endl;
+                << std::endl;
         return false;
     }
     uint8_t shiftNumber = position + (7 - 2 * position);
@@ -246,14 +263,16 @@ bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
 }
 
 bool LocalPoolDataSetBase::isValid() const {
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 5);
     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;
+    MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 5);
+    if(setEntriesRecursively) {
+        for(size_t idx = 0; idx < this->getFillCount(); idx++) {
+            registeredVariables[idx] -> setValid(valid);
+        }
+    }
+    this->valid = valid;
 }
diff --git a/datapoollocal/LocalPoolDataSetBase.h b/datapoollocal/LocalPoolDataSetBase.h
index d00af992..aa155bf1 100644
--- a/datapoollocal/LocalPoolDataSetBase.h
+++ b/datapoollocal/LocalPoolDataSetBase.h
@@ -2,6 +2,8 @@
 #define FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
 
 #include "HasLocalDataPoolIF.h"
+#include "MarkChangedIF.h"
+
 #include "../datapool/DataSetIF.h"
 #include "../datapool/PoolDataSetBase.h"
 #include "../serialize/SerializeIF.h"
@@ -39,7 +41,8 @@ class PeriodicHousekeepingHelper;
  *
  * @ingroup data_pool
  */
-class LocalPoolDataSetBase: public PoolDataSetBase {
+class LocalPoolDataSetBase: public PoolDataSetBase,
+        public MarkChangedIF {
 	friend class LocalDataPoolManager;
 	friend class PeriodicHousekeepingHelper;
 public:
@@ -109,18 +112,23 @@ public:
 	uint8_t getLocalPoolIdsSerializedSize(bool serializeFillCount = true) const;
 
 	/**
-	 * Set the dataset valid or invalid
+	 * Set the dataset valid or invalid. These calls are mutex protected.
 	 * @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;
+	/**
+	 * These calls are mutex protected.
+	 * @param changed
+	 */
+	void setChanged(bool changed) override;
+	bool hasChanged() const override;
 
 protected:
 	sid_t sid;
+	MutexIF* mutex = nullptr;
 
 	bool diagnostic = false;
 	void setDiagnostic(bool diagnostics);
diff --git a/datapoollocal/LocalPoolObjectBase.cpp b/datapoollocal/LocalPoolObjectBase.cpp
new file mode 100644
index 00000000..b4d0e306
--- /dev/null
+++ b/datapoollocal/LocalPoolObjectBase.cpp
@@ -0,0 +1,73 @@
+#include "LocalPoolObjectBase.h"
+
+LocalPoolObjectBase::LocalPoolObjectBase(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);
+    }
+}
+
+LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
+        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);
+    }
+}
+
+pool_rwm_t LocalPoolObjectBase::getReadWriteMode() const {
+    return readWriteMode;
+}
+
+bool LocalPoolObjectBase::isValid() const {
+    return valid;
+}
+
+void LocalPoolObjectBase::setValid(bool valid) {
+    this->valid = valid;
+}
+
+lp_id_t LocalPoolObjectBase::getDataPoolId() const {
+    return localPoolId;
+}
+
+void LocalPoolObjectBase::setDataPoolId(lp_id_t poolId) {
+    this->localPoolId = poolId;
+}
+
+void LocalPoolObjectBase::setChanged(bool changed) {
+    this->changed = changed;
+}
+
+bool LocalPoolObjectBase::hasChanged() const {
+    return changed;
+}
+
+void LocalPoolObjectBase::setReadWriteMode(pool_rwm_t newReadWriteMode) {
+	this->readWriteMode = newReadWriteMode;
+}
diff --git a/datapoollocal/LocalPoolObjectBase.h b/datapoollocal/LocalPoolObjectBase.h
new file mode 100644
index 00000000..7165fc24
--- /dev/null
+++ b/datapoollocal/LocalPoolObjectBase.h
@@ -0,0 +1,63 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_
+
+#include "MarkChangedIF.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+#include "../datapool/PoolVariableIF.h"
+
+
+class LocalPoolObjectBase: public PoolVariableIF,
+        public HasReturnvaluesIF,
+        public MarkChangedIF {
+public:
+    LocalPoolObjectBase(lp_id_t poolId,
+            HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
+            pool_rwm_t setReadWriteMode);
+
+    LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
+            DataSetIF* dataSet = nullptr,
+            pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+
+    void setReadWriteMode(pool_rwm_t newReadWriteMode);
+    pool_rwm_t getReadWriteMode() const;
+
+    bool isValid() const override;
+    void setValid(bool valid) override;
+
+    void setChanged(bool changed) override;
+    bool hasChanged() const override;
+
+    lp_id_t getDataPoolId() const override;
+    void setDataPoolId(lp_id_t poolId);
+
+protected:
+    /**
+     * @brief   To access the correct data pool entry on read and commit calls,
+     *          the data pool id is stored.
+     */
+    uint32_t localPoolId = PoolVariableIF::NO_PARAMETER;
+    /**
+     * @brief   The valid information as it was stored in the data pool
+     *          is copied to this attribute.
+     */
+    bool valid = false;
+
+    /**
+     * @brief   A local pool variable can be marked as changed.
+     */
+    bool changed = false;
+
+    /**
+     * @brief   The information whether the class is read-write or
+     *          read-only is stored here.
+     */
+    ReadWriteMode_t readWriteMode = pool_rwm_t::VAR_READ_WRITE;
+
+    //! @brief  Pointer to the class which manages the HK pool.
+    LocalDataPoolManager* hkManager;
+
+};
+
+
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLOBJECTBASE_H_ */
diff --git a/datapoollocal/LocalPoolVariable.h b/datapoollocal/LocalPoolVariable.h
index ec5c8cd1..c18d5443 100644
--- a/datapoollocal/LocalPoolVariable.h
+++ b/datapoollocal/LocalPoolVariable.h
@@ -1,6 +1,7 @@
 #ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
 #define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
 
+#include "LocalPoolObjectBase.h"
 #include "HasLocalDataPoolIF.h"
 #include "LocalDataPoolManager.h"
 
@@ -21,7 +22,7 @@
  * @ingroup data_pool
  */
 template<typename T>
-class LocalPoolVar: public PoolVariableIF, HasReturnvaluesIF {
+class LocalPoolVar: public LocalPoolObjectBase {
 public:
 	//! Default ctor is forbidden.
 	LocalPoolVar() = delete;
@@ -42,7 +43,7 @@ public:
 	 * 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,
+	LocalPoolVar(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
 			DataSetIF* dataSet = nullptr,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
@@ -63,9 +64,17 @@ public:
 	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
 	 *
 	 */
-	LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
+	LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
 			DataSetIF* dataSet = nullptr,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+	/**
+	 * Variation which takes the global unique identifier of a pool variable.
+	 * @param globalPoolId
+	 * @param dataSet
+	 * @param setReadWriteMode
+	 */
+	LocalPoolVar(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
 	virtual~ LocalPoolVar() {};
 
@@ -76,15 +85,6 @@ public:
 	 */
 	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;
@@ -118,7 +118,25 @@ public:
 	ReturnValue_t commit(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
 
 
-	LocalPoolVar<T> &operator=(T newValue);
+	LocalPoolVar<T> &operator=(const T& newValue);
+	LocalPoolVar<T> &operator=(const LocalPoolVar<T>& newPoolVariable);
+
+	//! Explicit type conversion operator. Allows casting the class to
+	//! its template type to perform operations on value.
+	explicit operator T() const;
+
+	bool operator==(const LocalPoolVar<T>& other) const;
+	bool operator==(const T& other) const;
+
+	bool operator!=(const LocalPoolVar<T>& other) const;
+	bool operator!=(const T& other) const;
+
+	bool operator<(const LocalPoolVar<T>& other) const;
+	bool operator<(const T& other) const;
+
+	bool operator>(const LocalPoolVar<T>& other) const;
+	bool operator>(const T& other) const;
+
 protected:
 	/**
 	 * @brief	Like #read, but without a lock protection of the global pool.
@@ -145,15 +163,6 @@ protected:
 			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"
@@ -173,5 +182,4 @@ using lp_int64_t = LocalPoolVar<int64_t>;
 using lp_float_t = LocalPoolVar<float>;
 using lp_double_t = LocalPoolVar<double>;
 
-
 #endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_ */
diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp
index b0bdd7b9..b9f7b906 100644
--- a/datapoollocal/LocalPoolVariable.tpp
+++ b/datapoollocal/LocalPoolVariable.tpp
@@ -6,46 +6,22 @@
 #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);
-	}
-}
+inline LocalPoolVar<T>::LocalPoolVar(HasLocalDataPoolIF* hkOwner,
+		lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
+		LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
 template<typename T>
-inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
+inline LocalPoolVar<T>::LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
         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);
-	}
-}
+        LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+
+
+template<typename T>
+inline LocalPoolVar<T>::LocalPoolVar(gp_id_t globalPoolId, DataSetIF *dataSet,
+		pool_rwm_t setReadWriteMode):
+		LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+				dataSet, setReadWriteMode){}
+
 
 template<typename T>
 inline ReturnValue_t LocalPoolVar<T>::read(dur_millis_t lockTimeout) {
@@ -104,43 +80,6 @@ inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
 	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 {
@@ -166,4 +105,65 @@ inline std::ostream& operator<< (std::ostream &out,
     return out;
 }
 
-#endif
+template<typename T>
+inline LocalPoolVar<T>::operator T() const {
+	return value;
+}
+
+template<typename T>
+inline LocalPoolVar<T> & LocalPoolVar<T>::operator=(const T& newValue) {
+    value = newValue;
+    return *this;
+}
+
+template<typename T>
+inline LocalPoolVar<T>& LocalPoolVar<T>::operator =(
+		const LocalPoolVar<T>& newPoolVariable) {
+	value = newPoolVariable.value;
+	return *this;
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator ==(const LocalPoolVar<T> &other) const {
+	return this->value == other.value;
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator ==(const T &other) const {
+	return this->value == other;
+}
+
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator !=(const LocalPoolVar<T> &other) const {
+	return not (*this == other);
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator !=(const T &other) const {
+	return not (*this == other);
+}
+
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator <(const LocalPoolVar<T> &other) const {
+	return this->value < other.value;
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator <(const T &other) const {
+	return this->value < other;
+}
+
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator >(const LocalPoolVar<T> &other) const {
+	return not (*this < other);
+}
+
+template<typename T>
+inline bool LocalPoolVar<T>::operator >(const T &other) const {
+	return not (*this < other);
+}
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_ */
diff --git a/datapoollocal/LocalPoolVector.h b/datapoollocal/LocalPoolVector.h
index 57c4b90b..58face3c 100644
--- a/datapoollocal/LocalPoolVector.h
+++ b/datapoollocal/LocalPoolVector.h
@@ -1,6 +1,7 @@
-#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
-#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
 
+#include "LocalPoolObjectBase.h"
 #include "../datapool/DataSetIF.h"
 #include "../datapool/PoolEntry.h"
 #include "../datapool/PoolVariableIF.h"
@@ -30,7 +31,7 @@
  * @ingroup data_pool
  */
 template<typename T, uint16_t vectorSize>
-class LocalPoolVector: public PoolVariableIF, public HasReturnvaluesIF {
+class LocalPoolVector: public LocalPoolObjectBase {
 public:
 	LocalPoolVector() = delete;
 	/**
@@ -46,10 +47,9 @@ public:
 	 * @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,
+	LocalPoolVector(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
 			DataSetIF* dataSet = nullptr,
-			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE
-			);
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
 	/**
 	 * This constructor is used by data users like controllers to have
@@ -65,10 +65,19 @@ public:
 	 * @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,
+	LocalPoolVector(object_id_t poolOwner, lp_id_t poolId,
 			DataSetIF* dataSet = nullptr,
-			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE
-			);
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
+	/**
+	 * Variation which takes the unique global identifier of a local pool
+	 * vector.
+	 * @param globalPoolId
+	 * @param dataSet
+	 * @param setReadWriteMode
+	 */
+	LocalPoolVector(gp_id_t globalPoolId,
+			DataSetIF* dataSet = nullptr,
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
 	/**
 	 * @brief	This is the local copy of the data pool entry.
@@ -91,27 +100,6 @@ public:
 		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;
 
@@ -168,23 +156,7 @@ protected:
 	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>
@@ -199,4 +171,4 @@ private:
 template<typename T, uint16_t vectorSize>
 using lp_vec_t = LocalPoolVector<T, vectorSize>;
 
-#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_ */
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_ */
diff --git a/datapoollocal/LocalPoolVector.tpp b/datapoollocal/LocalPoolVector.tpp
index 2aa6fbb5..46123ccc 100644
--- a/datapoollocal/LocalPoolVector.tpp
+++ b/datapoollocal/LocalPoolVector.tpp
@@ -1,47 +1,27 @@
-#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
-#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_
 
-#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVECTOR_H_
+#ifndef FSFW_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,
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(
+		HasLocalDataPoolIF* hkOwner, lp_id_t poolId, 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);
-	}
-}
+		LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
 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);
-	}
-}
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(object_id_t poolOwner,
+		lp_id_t poolId, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+		LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
+
+
+template<typename T, uint16_t vectorSize>
+inline LocalPoolVector<T, vectorSize>::LocalPoolVector(gp_id_t globalPoolId,
+		DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
+		LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
+				dataSet, setReadWriteMode) {}
 
 template<typename T, uint16_t vectorSize>
 inline ReturnValue_t LocalPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
@@ -161,37 +141,6 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::deSerialize(
 	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) {
@@ -206,4 +155,4 @@ inline std::ostream& operator<< (std::ostream &out,
     return out;
 }
 
-#endif
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVECTOR_TPP_ */
diff --git a/datapoollocal/MarkChangedIF.h b/datapoollocal/MarkChangedIF.h
new file mode 100644
index 00000000..e575d1d3
--- /dev/null
+++ b/datapoollocal/MarkChangedIF.h
@@ -0,0 +1,17 @@
+#ifndef FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_
+#define FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_
+
+/**
+ * Common interface for local pool entities which can be marked as changed.
+ */
+class MarkChangedIF {
+public:
+    virtual~ MarkChangedIF() {};
+
+    virtual bool hasChanged() const = 0;
+    virtual void setChanged(bool changed) = 0;
+};
+
+
+
+#endif /* FSFW_DATAPOOLLOCAL_MARKCHANGEDIF_H_ */
diff --git a/datapoollocal/locPoolDefinitions.h b/datapoollocal/locPoolDefinitions.h
new file mode 100644
index 00000000..6e74d349
--- /dev/null
+++ b/datapoollocal/locPoolDefinitions.h
@@ -0,0 +1,93 @@
+#ifndef FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_
+#define FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_
+
+#include <cstdint>
+#include "../objectmanager/SystemObjectIF.h"
+#include "../objectmanager/frameworkObjects.h"
+
+/**
+ * @brief   Type definition for local pool entries.
+ */
+using lp_id_t = uint32_t;
+
+namespace localpool {
+static constexpr uint32_t INVALID_LPID = -1;
+}
+
+/**
+ * Used as a unique identifier for data sets.
+ */
+union sid_t {
+    static constexpr uint64_t INVALID_SID = -1;
+    static constexpr uint32_t INVALID_OBJECT_ID = objects::NO_OBJECT;
+    static constexpr uint32_t INVALID_SET_ID = -1;
+
+
+    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);
+    }
+};
+
+/**
+ * Used as a global unique identifier for local pool variables.
+ */
+union gp_id_t {
+	static constexpr uint64_t INVALID_GPID = -1;
+    static constexpr uint32_t INVALID_OBJECT_ID = objects::NO_OBJECT;
+	static constexpr uint32_t INVALID_LPID = localpool::INVALID_LPID;
+
+	gp_id_t(): raw(INVALID_GPID) {}
+
+	gp_id_t(object_id_t objectId, lp_id_t localPoolId):
+			objectId(objectId),
+			localPoolId(localPoolId) {}
+
+	struct {
+		object_id_t objectId;
+		lp_id_t localPoolId;
+	};
+
+	uint64_t raw;
+
+	bool notSet() const {
+		return raw == INVALID_GPID;
+	}
+
+    bool operator==(const sid_t& other) const {
+        return raw == other.raw;
+    }
+
+    bool operator!=(const sid_t& other) const {
+        return not (raw == other.raw);
+    }
+};
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCPOOLDEFINITIONS_H_ */
diff --git a/housekeeping/AcceptsHkPacketsIF.h b/housekeeping/AcceptsHkPacketsIF.h
index b3ba6e7c..6fa151b1 100644
--- a/housekeeping/AcceptsHkPacketsIF.h
+++ b/housekeeping/AcceptsHkPacketsIF.h
@@ -1,5 +1,6 @@
 #ifndef FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
 #define FRAMEWORK_HOUSEKEEPING_ACCEPTSHKPACKETSIF_H_
+
 #include "../ipc/MessageQueueMessageIF.h"
 
 class AcceptsHkPacketsIF {
diff --git a/housekeeping/HousekeepingMessage.cpp b/housekeeping/HousekeepingMessage.cpp
index d2ab546b..221f0a6f 100644
--- a/housekeeping/HousekeepingMessage.cpp
+++ b/housekeeping/HousekeepingMessage.cpp
@@ -1,5 +1,6 @@
-#include <fsfw/objectmanager/ObjectManagerIF.h>
 #include "HousekeepingMessage.h"
+
+#include "../objectmanager/ObjectManagerIF.h"
 #include <cstring>
 
 HousekeepingMessage::~HousekeepingMessage() {}
@@ -148,7 +149,7 @@ void HousekeepingMessage::clear(CommandMessage* message) {
     case(DIAGNOSTICS_REPORT):
     case(HK_DEFINITIONS_REPORT):
     case(DIAGNOSTICS_DEFINITION_REPORT):
-    case(UPDATE_SNAPSHOT): {
+    case(UPDATE_SNAPSHOT_SET): {
         store_address_t storeId;
         getHkDataReply(message, &storeId);
         StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
@@ -160,3 +161,55 @@ void HousekeepingMessage::clear(CommandMessage* message) {
     }
     message->setCommand(CommandMessage::CMD_NONE);
 }
+
+void HousekeepingMessage::setUpdateNotificationSetCommand(
+        CommandMessage *command, sid_t sid) {
+    command->setCommand(UPDATE_NOTIFICATION_SET);
+    setSid(command, sid);
+}
+
+void HousekeepingMessage::setUpdateNotificationVariableCommand(
+        CommandMessage *command, lp_id_t localPoolId) {
+    command->setCommand(UPDATE_NOTIFICATION_VARIABLE);
+    command->setParameter(localPoolId);
+}
+
+void HousekeepingMessage::setUpdateSnapshotSetCommand(CommandMessage *command,
+        sid_t sid, store_address_t storeId) {
+    command->setCommand(UPDATE_SNAPSHOT_VARIABLE);
+    setSid(command, sid);
+    command->setParameter3(storeId.raw);
+}
+
+void HousekeepingMessage::setUpdateSnapshotVariableCommand(
+        CommandMessage *command, lp_id_t localPoolId, store_address_t storeId) {
+    command->setCommand(UPDATE_SNAPSHOT_VARIABLE);
+    command->setParameter(localPoolId);
+    command->setParameter3(storeId.raw);
+}
+
+sid_t HousekeepingMessage::getUpdateNotificationSetCommand(
+        const CommandMessage *command) {
+    return getSid(command);
+}
+
+lp_id_t HousekeepingMessage::getUpdateNotificationVariableCommand(
+        const CommandMessage *command) {
+    return command->getParameter();
+}
+
+sid_t HousekeepingMessage::getUpdateSnapshotSetCommand(
+        const CommandMessage *command, store_address_t *storeId) {
+    if(storeId != nullptr) {
+        *storeId = command->getParameter3();
+    }
+    return getSid(command);
+}
+
+lp_id_t HousekeepingMessage::getUpdateSnapshotVariableCommand(
+        const CommandMessage *command, store_address_t *storeId) {
+    if(storeId != nullptr) {
+        *storeId = command->getParameter3();
+    }
+    return command->getParameter();
+}
diff --git a/housekeeping/HousekeepingMessage.h b/housekeeping/HousekeepingMessage.h
index 6dc95f54..90bbe594 100644
--- a/housekeeping/HousekeepingMessage.h
+++ b/housekeeping/HousekeepingMessage.h
@@ -1,49 +1,12 @@
 #ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGMESSAGE_H_
 #define FSFW_HOUSEKEEPING_HOUSEKEEPINGMESSAGE_H_
 
+#include "../datapoollocal/locPoolDefinitions.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
@@ -101,14 +64,20 @@ public:
 	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_NOTIFICATION_SET =
+	        MAKE_COMMAND_ID(130);
+	static constexpr Command_t UPDATE_NOTIFICATION_VARIABLE =
+	        MAKE_COMMAND_ID(131);
 
-	static constexpr Command_t UPDATE_HK_REPORT = MAKE_COMMAND_ID(132);
+	static constexpr Command_t UPDATE_SNAPSHOT_SET = MAKE_COMMAND_ID(132);
+	static constexpr Command_t UPDATE_SNAPSHOT_VARIABLE = MAKE_COMMAND_ID(133);
+
+	//static constexpr Command_t UPDATE_HK_REPORT = MAKE_COMMAND_ID(134);
 
 	static sid_t getSid(const CommandMessage* message);
 
-	/** Setter functions */
+	/* Housekeeping Interface Messages */
+
 	static void setToggleReportingCommand(CommandMessage* command, sid_t sid,
 			bool enableReporting, bool isDiagnostics);
 	static void setStructureReportingCommand(CommandMessage* command, sid_t sid,
@@ -148,6 +117,29 @@ public:
 	static sid_t getCollectionIntervalModificationCommand(
 			const CommandMessage* command, float* newCollectionInterval);
 
+
+    /* Update Notification Messages */
+
+    static void setUpdateNotificationSetCommand(CommandMessage* command,
+            sid_t sid);
+    static void setUpdateNotificationVariableCommand(CommandMessage* command,
+            lp_id_t localPoolId);
+
+    static void setUpdateSnapshotSetCommand(CommandMessage* command, sid_t sid,
+            store_address_t storeId);
+    static void setUpdateSnapshotVariableCommand(CommandMessage* command,
+            lp_id_t localPoolId, store_address_t storeId);
+
+    static sid_t getUpdateNotificationSetCommand(const CommandMessage* command);
+    static lp_id_t getUpdateNotificationVariableCommand(
+            const CommandMessage* command);
+
+    static sid_t getUpdateSnapshotSetCommand(const CommandMessage* command,
+            store_address_t* storeId);
+    static lp_id_t getUpdateSnapshotVariableCommand(const CommandMessage* command,
+            store_address_t* storeId);
+
+    /** Utility */
 	static void clear(CommandMessage* message);
 private:
 	static void setSid(CommandMessage* message, sid_t sid);
diff --git a/housekeeping/HousekeepingPacketUpdate.h b/housekeeping/HousekeepingPacketUpdate.h
index eebdc11c..43ec0619 100644
--- a/housekeeping/HousekeepingPacketUpdate.h
+++ b/housekeeping/HousekeepingPacketUpdate.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_
-#define FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_
+#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_
+#define FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_
 
 #include "../serialize/SerialBufferAdapter.h"
 #include "../serialize/SerialLinkedListAdapter.h"
@@ -12,6 +12,7 @@
 class HousekeepingPacketUpdate: public SerializeIF {
 public:
     /**
+     * Update packet constructor for datasets
      * @param timeStamp
      * @param timeStampSize
      * @param hkData
@@ -19,8 +20,19 @@ public:
      */
     HousekeepingPacketUpdate(uint8_t* timeStamp, size_t timeStampSize,
             LocalPoolDataSetBase* dataSetPtr):
-            timeStamp(timeStamp), timeStampSize(timeStampSize),
-            dataSetPtr(dataSetPtr) {};
+                timeStamp(timeStamp), timeStampSize(timeStampSize),
+                updateData(dataSetPtr) {};
+
+    /**
+     * Update packet constructor for pool variables.
+     * @param timeStamp
+     * @param timeStampSize
+     * @param dataSetPtr
+     */
+    HousekeepingPacketUpdate(uint8_t* timeStamp, size_t timeStampSize,
+            LocalPoolObjectBase* dataSetPtr):
+                timeStamp(timeStamp), timeStampSize(timeStampSize),
+                updateData(dataSetPtr) {};
 
     virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
             size_t maxSize, Endianness streamEndianness) const {
@@ -31,43 +43,50 @@ public:
             *size += timeStampSize;
             *buffer += timeStampSize;
         }
-        if(dataSetPtr == nullptr) {
+        if(updateData == nullptr) {
             return HasReturnvaluesIF::RETURN_FAILED;
         }
 
-        return dataSetPtr->serialize(buffer, size, maxSize, streamEndianness);
+        return updateData->serialize(buffer, size, maxSize, streamEndianness);
     }
 
     virtual size_t getSerializedSize() const {
-        if(dataSetPtr == nullptr) {
+        if(updateData == nullptr) {
             return 0;
         }
-        return timeStampSize + dataSetPtr->getSerializedSize();
+        return timeStampSize + updateData->getSerializedSize();
     }
 
     virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
             SerializeIF::Endianness streamEndianness) override {
+        if(*size < timeStampSize) {
+            return SerializeIF::STREAM_TOO_SHORT;
+        }
+
         if(timeStamp != nullptr) {
             /* Endianness will always be MACHINE, so we can simply use memcpy
             here. */
             std::memcpy(timeStamp, *buffer, timeStampSize);
-            *size += timeStampSize;
+            *size -= timeStampSize;
             *buffer += timeStampSize;
         }
 
-        if(dataSetPtr == nullptr) {
+        if(updateData == nullptr) {
             return HasReturnvaluesIF::RETURN_FAILED;
         }
-        return dataSetPtr->deSerialize(buffer, size, streamEndianness);
+        if(*size < updateData->getSerializedSize()) {
+            return SerializeIF::STREAM_TOO_SHORT;
+        }
+
+        return updateData->deSerialize(buffer, size, streamEndianness);
     }
 
 private:
-   uint8_t* timeStamp;
-   size_t timeStampSize;
+   uint8_t* timeStamp = nullptr;
+   size_t timeStampSize = 0;
 
-   LocalPoolDataSetBase* dataSetPtr = nullptr;
+   SerializeIF* updateData = nullptr;
 };
 
 
-
-#endif /* FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_ */
+#endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETUPDATE_H_ */
diff --git a/housekeeping/PeriodicHousekeepingHelper.cpp b/housekeeping/PeriodicHousekeepingHelper.cpp
index 37349f81..365f0004 100644
--- a/housekeeping/PeriodicHousekeepingHelper.cpp
+++ b/housekeeping/PeriodicHousekeepingHelper.cpp
@@ -1,5 +1,6 @@
-#include "../datapoollocal/LocalPoolDataSetBase.h"
 #include "PeriodicHousekeepingHelper.h"
+
+#include "../datapoollocal/LocalPoolDataSetBase.h"
 #include <cmath>
 
 PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(

From 74ba8b76644c31405d67878421b2081306eab453 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 13:10:33 +0100
Subject: [PATCH 543/653] changel og updated

---
 CHANGELOG | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index a6686478..62a6b0a9 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -11,3 +11,19 @@ a C file without issues
 - It is now possible to change the message queue depth for the telecommand verification service (PUS1)
 - The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets
+
+### Parameter Service
+
+- The API of the parameter service has been changed to prevent incosistencies
+and clarify usage when inspecting the code.
+- The parameter ID now consists of:
+	1. Domain ID (1 byte)
+	2. Unique Identifier (1 byte)
+	3. Linear Index (2 bytes)
+The linear index can be used for arrays as well as matrices.
+The parameter load command now explicitely expects the ECSS PTC and PFC
+information as well as  the rows and column number. Rows and column will
+default to one, which is equivalent to one scalar parameter (the most
+important use-case)
+
+   

From 3f9f062435061c32818c4c4ddb078cb328ea8f4d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 13:11:52 +0100
Subject: [PATCH 544/653] changelog update

---
 CHANGELOG | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG b/CHANGELOG
index 62a6b0a9..8341e138 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -14,8 +14,8 @@ a C file without issues
 
 ### Parameter Service
 
-- The API of the parameter service has been changed to prevent incosistencies
-and clarify usage when inspecting the code.
+- The API of the parameter service has been changed to prevent inconsistencies
+between documentation and actual code and to clarify usage.
 - The parameter ID now consists of:
 	1. Domain ID (1 byte)
 	2. Unique Identifier (1 byte)

From 795ff585f858f7ca4a155eaf7bf704964ad6f13d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 13:14:30 +0100
Subject: [PATCH 545/653] controller base update

---
 controller/ControllerBase.cpp | 41 ++++++++++--------
 controller/ControllerBase.h   | 78 +++++++++++++++++++++--------------
 2 files changed, 71 insertions(+), 48 deletions(-)

diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp
index 69551731..45e678eb 100644
--- a/controller/ControllerBase.cpp
+++ b/controller/ControllerBase.cpp
@@ -1,16 +1,16 @@
-#include "../subsystem/SubsystemBase.h"
 #include "ControllerBase.h"
+
 #include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
 #include "../action/HasActionsIF.h"
 
-ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
+ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 		size_t commandQueueDepth) :
-		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
-				SUBMODE_NONE), commandQueue(NULL), modeHelper(
-				this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
-
+		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
+		submode(SUBMODE_NONE), modeHelper(this),
+		healthHelper(this, setObjectId), hkSwitcher(this) {
+	commandQueue = QueueFactory::instance()->createMessageQueue(
+	        commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() {
@@ -24,9 +24,9 @@ ReturnValue_t ControllerBase::initialize() {
 	}
 
 	MessageQueueId_t parentQueue = 0;
-	if (parentId != 0) {
+	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
+		if (parent == nullptr) {
 			return RETURN_FAILED;
 		}
 		parentQueue = parent->getCommandQueue();
@@ -56,26 +56,27 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
 }
 
 void ControllerBase::handleQueue() {
-	CommandMessage message;
-	ReturnValue_t result;
-	for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
-			result = commandQueue->receiveMessage(&message)) {
+	CommandMessage command;
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	for (result = commandQueue->receiveMessage(&command);
+	        result == RETURN_OK;
+			result = commandQueue->receiveMessage(&command)) {
 
-		result = modeHelper.handleModeCommand(&message);
+		result = modeHelper.handleModeCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
-		result = handleCommandMessage(&message);
+		result = handleCommandMessage(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
-		message.setToUnknownCommand();
-		commandQueue->reply(&message);
+		command.setToUnknownCommand();
+		commandQueue->reply(&command);
 	}
 
 }
@@ -135,3 +136,7 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
 
 void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
+
+ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
+    return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/controller/ControllerBase.h b/controller/ControllerBase.h
index f5182ceb..25d3ab1f 100644
--- a/controller/ControllerBase.h
+++ b/controller/ControllerBase.h
@@ -1,5 +1,5 @@
-#ifndef CONTROLLERBASE_H_
-#define CONTROLLERBASE_H_
+#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
+#define FSFW_CONTROLLER_CONTROLLERBASE_H_
 
 #include "../health/HasHealthIF.h"
 #include "../health/HealthHelper.h"
@@ -7,73 +7,91 @@
 #include "../modes/ModeHelper.h"
 #include "../objectmanager/SystemObject.h"
 #include "../tasks/ExecutableObjectIF.h"
+#include "../tasks/PeriodicTaskIF.h"
 #include "../datapool/HkSwitchHelper.h"
 
-
+/**
+ * @brief   Generic base class for controller classes
+ * @details
+ * Implements common interfaces for controllers, which generally have
+ * a mode and a health state. This avoids boilerplate code.
+ */
 class ControllerBase: public HasModesIF,
 		public HasHealthIF,
 		public ExecutableObjectIF,
 		public SystemObject,
 		public HasReturnvaluesIF {
 public:
-
 	static const Mode_t MODE_NORMAL = 2;
 
-	ControllerBase(uint32_t setObjectId, uint32_t parentId,
+	ControllerBase(object_id_t setObjectId, object_id_t parentId,
 			size_t commandQueueDepth = 3);
 	virtual ~ControllerBase();
 
-	ReturnValue_t initialize();
+	/** SystemObject override */
+	virtual ReturnValue_t initialize() override;
 
-	virtual MessageQueueId_t getCommandQueue() const;
+	virtual MessageQueueId_t getCommandQueue() const override;
 
-	virtual ReturnValue_t performOperation(uint8_t opCode);
-
-	virtual ReturnValue_t setHealth(HealthState health);
-
-	virtual HasHealthIF::HealthState getHealth();
-
-	/**
-	 * Implementation of ExecutableObjectIF function
-	 *
-	 * Used to setup the reference of the task, that executes this component
-	 * @param task_ Pointer to the taskIF of this task
-	 */
-	virtual  void setTaskIF(PeriodicTaskIF* task_);
+	/** HasHealthIF overrides */
+	virtual ReturnValue_t setHealth(HealthState health) override;
+	virtual HasHealthIF::HealthState getHealth() override;
 
+	/** ExecutableObjectIF overrides */
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 
 protected:
-	const uint32_t parentId;
+
+	/**
+	 * Implemented by child class. Handle command messages which are not
+	 * mode or health messages.
+	 * @param message
+	 * @return
+	 */
+    virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
+
+    /**
+     * Periodic helper, implemented by child class.
+     */
+    virtual void performControlOperation() = 0;
+
+    virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+            uint32_t *msToReachTheMode) = 0;
+
+	const object_id_t parentId;
 
 	Mode_t mode;
 
 	Submode_t submode;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
 	ModeHelper modeHelper;
 
 	HealthHelper healthHelper;
 
+	// Is this still needed?
 	HkSwitchHelper hkSwitcher;
 
 	/**
-	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 * Pointer to the task which executes this component,
+	 * is invalid before setTaskIF was called.
 	 */
-	PeriodicTaskIF* executingTask;
+	PeriodicTaskIF* executingTask = nullptr;
 
-	void handleQueue();
+	/** Handle mode and health messages */
+	virtual void handleQueue();
 
-	virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
-	virtual void performControlOperation() = 0;
-	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-			uint32_t *msToReachTheMode) = 0;
+	/** Mode helpers */
 	virtual void modeChanged(Mode_t mode, Submode_t submode);
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 	virtual void getMode(Mode_t *mode, Submode_t *submode);
 	virtual void setToExternalControl();
 	virtual void announceMode(bool recursive);
+	/** HK helpers */
 	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };
 
-#endif /* CONTROLLERBASE_H_ */
+#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */

From 5e092778edcce53ba6bdc89c8b5e0b9a7b9482b8 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 13:17:28 +0100
Subject: [PATCH 546/653] some minor changes

---
 datalinklayer/MapPacketExtraction.cpp | 17 +++++------------
 datalinklayer/MapPacketExtraction.h   |  8 +-------
 2 files changed, 6 insertions(+), 19 deletions(-)

diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp
index d64348e1..45f7d3f8 100644
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@@ -1,10 +1,3 @@
-/**
- * @file	MapPacketExtraction.cpp
- * @brief	This file defines the MapPacketExtraction class.
- * @date	26.03.2013
- * @author	baetz
- */
-
 #include "MapPacketExtraction.h"
 #include "../ipc/QueueFactory.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
@@ -12,14 +5,14 @@
 #include "../tmtcpacket/SpacePacketBase.h"
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../tmtcservices/TmTcMessage.h"
-#include <string.h>
+#include <cstring>
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
-		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
-				packetBuffer), packetDestination(setPacketDestination), packetStore(
-				NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
-	memset(packetBuffer, 0, sizeof(packetBuffer));
+		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0),
+		bufferPosition(packetBuffer), packetDestination(setPacketDestination),
+		packetStore(NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
+	std::memset(packetBuffer, 0, sizeof(packetBuffer));
 }
 
 ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {
diff --git a/datalinklayer/MapPacketExtraction.h b/datalinklayer/MapPacketExtraction.h
index 507f13db..eff9b7c3 100644
--- a/datalinklayer/MapPacketExtraction.h
+++ b/datalinklayer/MapPacketExtraction.h
@@ -1,10 +1,3 @@
-/**
- * @file	MapPacketExtraction.h
- * @brief	This file defines the MapPacketExtraction class.
- * @date	26.03.2013
- * @author	baetz
- */
-
 #ifndef MAPPACKETEXTRACTION_H_
 #define MAPPACKETEXTRACTION_H_
 
@@ -20,6 +13,7 @@ class StorageManagerIF;
  * The class implements the full MAP Packet Extraction functionality as described in the CCSDS
  * TC Space Data Link Protocol. It internally stores incomplete segmented packets until they are
  * fully received. All found packets are forwarded to a single distribution entity.
+ * @author B. Baetz
  */
 class MapPacketExtraction: public MapPacketExtractionIF {
 private:

From f7f062570e63a249eea95d51312b0dbb0dd104d3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 13:21:44 +0100
Subject: [PATCH 547/653] new internal error reporter using local pools

---
 internalError/InternalErrorDataset.h    |  34 +++++++
 internalError/InternalErrorReporter.cpp | 127 ++++++++++++++++++------
 internalError/InternalErrorReporter.h   |  66 +++++++++---
 3 files changed, 182 insertions(+), 45 deletions(-)
 create mode 100644 internalError/InternalErrorDataset.h

diff --git a/internalError/InternalErrorDataset.h b/internalError/InternalErrorDataset.h
new file mode 100644
index 00000000..fa91116d
--- /dev/null
+++ b/internalError/InternalErrorDataset.h
@@ -0,0 +1,34 @@
+#ifndef FSFW_INTERNALERROR_INTERNALERRORDATASET_H_
+#define FSFW_INTERNALERROR_INTERNALERRORDATASET_H_
+
+#include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapoollocal/LocalPoolVariable.h>
+
+enum errorPoolIds {
+    TM_HITS,
+    QUEUE_HITS,
+    STORE_HITS
+};
+
+
+class InternalErrorDataset: public StaticLocalDataSet<3 * sizeof(uint32_t)> {
+public:
+    static constexpr uint8_t ERROR_SET_ID = 0;
+
+    InternalErrorDataset(HasLocalDataPoolIF* owner):
+            StaticLocalDataSet(owner, ERROR_SET_ID) {}
+
+    InternalErrorDataset(object_id_t objectId):
+           StaticLocalDataSet(sid_t(objectId , ERROR_SET_ID)) {}
+
+    lp_var_t<uint32_t> tmHits = lp_var_t<uint32_t>(hkManager->getOwner(),
+    		TM_HITS, this);
+    lp_var_t<uint32_t> queueHits = lp_var_t<uint32_t>(hkManager->getOwner(),
+    		QUEUE_HITS, this);
+    lp_var_t<uint32_t> storeHits = lp_var_t<uint32_t>(hkManager->getOwner(),
+    		STORE_HITS, this);
+};
+
+
+
+#endif /* FSFW_INTERNALERROR_INTERNALERRORDATASET_H_ */
diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp
index 861e1595..8d5c792b 100644
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@@ -1,17 +1,17 @@
 #include "InternalErrorReporter.h"
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PoolVariable.h"
+#include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
-
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId,
-		uint32_t queuePoolId, uint32_t tmPoolId, uint32_t storePoolId) :
-		SystemObject(setObjectId), mutex(NULL), queuePoolId(queuePoolId), tmPoolId(
-				tmPoolId), storePoolId(
-				storePoolId), queueHits(0), tmHits(0), storeHits(
-				0) {
+        uint32_t messageQueueDepth) :
+		SystemObject(setObjectId),
+		commandQueue(QueueFactory::instance()->
+		        createMessageQueue(messageQueueDepth)),
+		poolManager(this, commandQueue),
+		internalErrorSid(setObjectId, InternalErrorDataset::ERROR_SET_ID),
+		internalErrorDataset(this) {
 	mutex = MutexFactory::instance()->createMutex();
 }
 
@@ -19,28 +19,42 @@ InternalErrorReporter::~InternalErrorReporter() {
 	MutexFactory::instance()->deleteMutex(mutex);
 }
 
+void InternalErrorReporter::setDiagnosticPrintout(bool enable) {
+    this->diagnosticPrintout = enable;
+}
+
 ReturnValue_t InternalErrorReporter::performOperation(uint8_t opCode) {
-
-	DataSet mySet;
-	PoolVariable<uint32_t> queueHitsInPool(queuePoolId, &mySet,
-			PoolVariableIF::VAR_READ_WRITE);
-	PoolVariable<uint32_t> tmHitsInPool(tmPoolId, &mySet,
-			PoolVariableIF::VAR_READ_WRITE);
-
-	PoolVariable<uint32_t> storeHitsInPool(storePoolId, &mySet,
-			PoolVariableIF::VAR_READ_WRITE);
-	mySet.read();
+    internalErrorDataset.read(INTERNAL_ERROR_MUTEX_TIMEOUT);
 
 	uint32_t newQueueHits = getAndResetQueueHits();
 	uint32_t newTmHits = getAndResetTmHits();
 	uint32_t newStoreHits = getAndResetStoreHits();
 
-	queueHitsInPool.value += newQueueHits;
-	tmHitsInPool.value += newTmHits;
-	storeHitsInPool.value += newStoreHits;
+#ifdef DEBUG
+	if(diagnosticPrintout) {
+	    if((newQueueHits > 0) or (newTmHits > 0) or (newStoreHits > 0)) {
+	        sif::debug << "InternalErrorReporter::performOperation: Errors "
+	                << "occured!" << std::endl;
+	        sif::debug << "Queue errors: " << newQueueHits << std::endl;
+	        sif::debug << "TM errors: " << newTmHits << std::endl;
+	        sif::debug << "Store errors: " << newStoreHits << std::endl;
+	    }
+	}
+#endif
 
-	mySet.commit(PoolVariableIF::VALID);
+	internalErrorDataset.queueHits.value += newQueueHits;
+	internalErrorDataset.storeHits.value += newStoreHits;
+	internalErrorDataset.tmHits.value += newTmHits;
 
+	internalErrorDataset.commit(INTERNAL_ERROR_MUTEX_TIMEOUT);
+
+	poolManager.performHkOperation();
+
+	CommandMessage message;
+	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	if(result != MessageQueueIF::EMPTY) {
+	    poolManager.handleHousekeepingMessage(&message);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -54,7 +68,7 @@ void InternalErrorReporter::lostTm() {
 
 uint32_t InternalErrorReporter::getAndResetQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = queueHits;
 	queueHits = 0;
 	mutex->unlockMutex();
@@ -63,21 +77,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
 
 uint32_t InternalErrorReporter::getQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = queueHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementQueueHits() {
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	queueHits++;
 	mutex->unlockMutex();
 }
 
 uint32_t InternalErrorReporter::getAndResetTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = tmHits;
 	tmHits = 0;
 	mutex->unlockMutex();
@@ -86,14 +100,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
 
 uint32_t InternalErrorReporter::getTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = tmHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementTmHits() {
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	tmHits++;
 	mutex->unlockMutex();
 }
@@ -104,7 +118,7 @@ void InternalErrorReporter::storeFull() {
 
 uint32_t InternalErrorReporter::getAndResetStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = storeHits;
 	storeHits = 0;
 	mutex->unlockMutex();
@@ -113,14 +127,65 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
 
 uint32_t InternalErrorReporter::getStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	value = storeHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementStoreHits() {
-	mutex->lockMutex(MutexIF::BLOCKING);
+	mutex->lockMutex(MutexIF::WAITING, INTERNAL_ERROR_MUTEX_TIMEOUT);
 	storeHits++;
 	mutex->unlockMutex();
 }
+
+object_id_t InternalErrorReporter::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+MessageQueueId_t InternalErrorReporter::getCommandQueue() const {
+    return this->commandQueue->getId();
+}
+
+ReturnValue_t InternalErrorReporter::initializeLocalDataPool(
+        LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    localDataPoolMap.emplace(errorPoolIds::TM_HITS,
+            new PoolEntry<uint32_t>());
+    localDataPoolMap.emplace(errorPoolIds::QUEUE_HITS,
+            new PoolEntry<uint32_t>());
+    localDataPoolMap.emplace(errorPoolIds::STORE_HITS,
+            new PoolEntry<uint32_t>());
+    poolManager.subscribeForPeriodicPacket(internalErrorSid, false,
+            getPeriodicOperationFrequency(), true);
+    internalErrorDataset.setValidity(true, true);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+LocalDataPoolManager* InternalErrorReporter::getHkManagerHandle() {
+    return &poolManager;
+}
+
+dur_millis_t InternalErrorReporter::getPeriodicOperationFrequency() const {
+    return this->executingTask->getPeriodMs();
+}
+
+LocalPoolDataSetBase* InternalErrorReporter::getDataSetHandle(sid_t sid) {
+    return &internalErrorDataset;
+}
+
+void InternalErrorReporter::setTaskIF(PeriodicTaskIF *task) {
+    this->executingTask = task;
+}
+
+ReturnValue_t InternalErrorReporter::initialize() {
+    ReturnValue_t result = poolManager.initialize(commandQueue);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    return SystemObject::initialize();
+}
+
+ReturnValue_t InternalErrorReporter::initializeAfterTaskCreation() {
+    return poolManager.initializeAfterTaskCreation();
+}
+
diff --git a/internalError/InternalErrorReporter.h b/internalError/InternalErrorReporter.h
index 9aa24a0f..8d33c06e 100644
--- a/internalError/InternalErrorReporter.h
+++ b/internalError/InternalErrorReporter.h
@@ -1,37 +1,75 @@
-#ifndef INTERNALERRORREPORTER_H_
-#define INTERNALERRORREPORTER_H_
+#ifndef FSFW_INTERNALERROR_INTERNALERRORREPORTER_H_
+#define FSFW_INTERNALERROR_INTERNALERRORREPORTER_H_
 
 #include "InternalErrorReporterIF.h"
 
+#include "../tasks/PeriodicTaskIF.h"
+#include "../internalError/InternalErrorDataset.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../ipc/MutexIF.h"
 
+/**
+ * @brief   This class is used to track internal errors like lost telemetry,
+ *          failed message sending or a full store.
+ * @details
+ * All functions were kept virtual so this class can be extended easily
+ * to store custom internal errors (e.g. communication interface errors).
+ */
 class InternalErrorReporter: public SystemObject,
 		public ExecutableObjectIF,
-		public InternalErrorReporterIF {
+		public InternalErrorReporterIF,
+		public HasLocalDataPoolIF {
 public:
-	InternalErrorReporter(object_id_t setObjectId, uint32_t queuePoolId,
-			uint32_t tmPoolId, uint32_t storePoolId);
+    static constexpr uint8_t INTERNAL_ERROR_MUTEX_TIMEOUT = 20;
+
+	InternalErrorReporter(object_id_t setObjectId,
+	        uint32_t messageQueueDepth = 5);
+
+	/**
+	 * Enable diagnostic printout. Please note that this feature will
+	 * only work if DEBUG has been supplied to the build defines.
+	 * @param enable
+	 */
+	void setDiagnosticPrintout(bool enable);
+
 	virtual ~InternalErrorReporter();
 
-	virtual ReturnValue_t performOperation(uint8_t opCode);
+    virtual object_id_t getObjectId() const override;
+    virtual MessageQueueId_t getCommandQueue() const override;
+    virtual ReturnValue_t initializeLocalDataPool(
+            LocalDataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+    virtual LocalDataPoolManager* getHkManagerHandle() override;
+    virtual dur_millis_t getPeriodicOperationFrequency() const override;
+    virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+
+    virtual ReturnValue_t initialize() override;
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
 	virtual void queueMessageNotSent();
 
 	virtual void lostTm();
 
 	virtual void storeFull();
+
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
 protected:
-	MutexIF* mutex;
+	MessageQueueIF* commandQueue;
+	LocalDataPoolManager poolManager;
 
-	uint32_t queuePoolId;
-	uint32_t tmPoolId;
-	uint32_t storePoolId;
+	PeriodicTaskIF* executingTask = nullptr;
+	MutexIF* mutex = nullptr;
+	sid_t internalErrorSid;
+	InternalErrorDataset internalErrorDataset;
 
-	uint32_t queueHits;
-	uint32_t tmHits;
-	uint32_t storeHits;
+	bool diagnosticPrintout = true;
+
+	uint32_t queueHits = 0;
+	uint32_t tmHits = 0;
+	uint32_t storeHits = 0;
 
 	uint32_t getAndResetQueueHits();
 	uint32_t getQueueHits();
@@ -47,4 +85,4 @@ protected:
 
 };
 
-#endif /* INTERNALERRORREPORTER_H_ */
+#endif /* FSFW_INTERNALERROR_INTERNALERRORREPORTER_H_ */

From c6db9944fd57d934fed5a54f0816feeea346ebf1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 13:26:50 +0100
Subject: [PATCH 548/653] changelog update

---
 CHANGELOG | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index a6686478..b8f589f8 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -11,3 +11,10 @@ a C file without issues
 - It is now possible to change the message queue depth for the telecommand verification service (PUS1)
 - The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets
+
+### Internal Error Reporter
+
+- The new internal error reporter uses the local data pools. The pool IDs for
+the exisiting three error values and the new error set will be hardcoded for
+now, the the constructor for the internal error reporter just takes an object
+ID for now.

From 03aacea4ddd5f0ab293dd319ddad2860c99cd6aa Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 14:44:11 +0100
Subject: [PATCH 549/653] fixed unittest

---
 unittest/core/CatchFactory.cpp                |  60 ++++
 .../objects/Factory.h => core/CatchFactory.h} |   0
 unittest/core/CatchSetup.cpp                  |   3 +-
 unittest/testcfg/objects/Factory.cpp          |  34 ---
 unittest/tests/action/TestActionHelper.cpp    | 213 +++++++-------
 unittest/tests/action/TestActionHelper.h      | 263 +++++++++---------
 6 files changed, 300 insertions(+), 273 deletions(-)
 create mode 100644 unittest/core/CatchFactory.cpp
 rename unittest/{testcfg/objects/Factory.h => core/CatchFactory.h} (100%)
 delete mode 100644 unittest/testcfg/objects/Factory.cpp

diff --git a/unittest/core/CatchFactory.cpp b/unittest/core/CatchFactory.cpp
new file mode 100644
index 00000000..cf10e94a
--- /dev/null
+++ b/unittest/core/CatchFactory.cpp
@@ -0,0 +1,60 @@
+#include "CatchFactory.h"
+
+#include "../../events/EventManager.h"
+#include "../../health/HealthTable.h"
+
+#include "../../internalError/InternalErrorReporter.h"
+#include "../../objectmanager/frameworkObjects.h"
+#include "../../storagemanager/PoolManager.h"
+
+/**
+ * @brief Produces system objects.
+ * @details
+ * Build tasks by using SystemObject Interface (Interface).
+ * Header files of all tasks must be included
+ * Please note that an object has to implement the system object interface
+ * if the interface validity is checked or retrieved later by using the
+ * get<TargetInterface>(object_id) function from the ObjectManagerIF.
+ *
+ * Framework objects are created first.
+ *
+ * @ingroup init
+ */
+void Factory::produce(void) {
+	setStaticFrameworkObjectIds();
+	new EventManager(objects::EVENT_MANAGER);
+	new HealthTable(objects::HEALTH_TABLE);
+	//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+
+	{
+		static constexpr uint8_t NUMBER_OF_POOLS = 5;
+		const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
+		const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
+		new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
+				n_elements);
+	}
+
+	{
+		static constexpr uint8_t NUMBER_OF_POOLS = 5;
+		const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
+		const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
+		new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
+				n_elements);
+	}
+
+	{
+		static constexpr uint8_t NUMBER_OF_POOLS = 6;
+		const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
+				1024, 2048, 4096};
+		const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
+		new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
+				n_elements);
+	}
+
+}
+
+void Factory::setStaticFrameworkObjectIds() {
+
+}
+
+
diff --git a/unittest/testcfg/objects/Factory.h b/unittest/core/CatchFactory.h
similarity index 100%
rename from unittest/testcfg/objects/Factory.h
rename to unittest/core/CatchFactory.h
diff --git a/unittest/core/CatchSetup.cpp b/unittest/core/CatchSetup.cpp
index f8543fd2..cb5bd33e 100644
--- a/unittest/core/CatchSetup.cpp
+++ b/unittest/core/CatchSetup.cpp
@@ -1,8 +1,7 @@
 #include "CatchDefinitions.h"
+#include "CatchFactory.h"
 
 #include <testcfg/cdatapool/dataPoolInit.h>
-#include <testcfg/objects/Factory.h>
-
 
 #ifdef GCOV
 #include <gcov.h>
diff --git a/unittest/testcfg/objects/Factory.cpp b/unittest/testcfg/objects/Factory.cpp
deleted file mode 100644
index e05b7942..00000000
--- a/unittest/testcfg/objects/Factory.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-#include "Factory.h"
-
-#include <fsfw/events/EventManager.h>
-#include <fsfw/health/HealthTable.h>
-
-#include <fsfw/internalError/InternalErrorReporter.h>
-#include <fsfw/objectmanager/frameworkObjects.h>
-
-/**
- * @brief Produces system objects.
- * @details
- * Build tasks by using SystemObject Interface (Interface).
- * Header files of all tasks must be included
- * Please note that an object has to implement the system object interface
- * if the interface validity is checked or retrieved later by using the
- * get<TargetInterface>(object_id) function from the ObjectManagerIF.
- *
- * Framework objects are created first.
- *
- * @ingroup init
- */
-void Factory::produce(void) {
-	setStaticFrameworkObjectIds();
-	new EventManager(objects::EVENT_MANAGER);
-	new HealthTable(objects::HEALTH_TABLE);
-	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
-
-}
-
-void Factory::setStaticFrameworkObjectIds() {
-
-}
-
-
diff --git a/unittest/tests/action/TestActionHelper.cpp b/unittest/tests/action/TestActionHelper.cpp
index d5b2e467..944ad705 100644
--- a/unittest/tests/action/TestActionHelper.cpp
+++ b/unittest/tests/action/TestActionHelper.cpp
@@ -1,106 +1,107 @@
-//#include "TestActionHelper.h"
-//#include <fsfw/action/ActionHelper.h>
-//#include <fsfw/ipc/CommandMessage.h>
-//#include <catch2/catch.hpp>
-//#include "../../core/CatchDefinitions.h"
-//
-//
-//TEST_CASE( "Action Helper" , "[ActionHelper]") {
-//	ActionHelperOwnerMockBase testDhMock;
-//	MessageQueueMockBase testMqMock;
-//	ActionHelper actionHelper = ActionHelper(
-//			&testDhMock, dynamic_cast<MessageQueueIF*>(&testMqMock));
-//	CommandMessage actionMessage;
-//	ActionId_t testActionId = 777;
-//	std::array <uint8_t, 3> testParams {1, 2, 3};
-//	store_address_t paramAddress;
-//	StorageManagerIF *ipcStore = tglob::getIpcStoreHandle();
-//	ipcStore->addData(&paramAddress, testParams.data(), 3);
-//	REQUIRE(actionHelper.initialize() == retval::CATCH_OK);
-//
-//	SECTION ("Simple tests") {
-//		 ActionMessage::setCommand(&actionMessage, testActionId, paramAddress);
-//		 CHECK(not testDhMock.executeActionCalled);
-//		 REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
-//		 CHECK(testDhMock.executeActionCalled);
-//		 // No message is sent if everything is alright.
-//		 CHECK(not testMqMock.wasMessageSent());
-//		 store_address_t invalidAddress;
-//		 ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
-//		 actionHelper.handleActionMessage(&actionMessage);
-//		 CHECK(testMqMock.wasMessageSent());
-//		 const uint8_t* ptr = nullptr;
-//		 size_t size = 0;
-//		 REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
-//		 REQUIRE(ptr == nullptr);
-//		 REQUIRE(size == 0);
-//		 testDhMock.getBuffer(&ptr, &size);
-//		 REQUIRE(size == 3);
-//		 for(uint8_t i = 0; i<3;i++){
-//			 REQUIRE(ptr[i] == (i+1));
-//		 }
-//		 testDhMock.clearBuffer();
-//	}
-//
-//	SECTION("Handle failures"){
-//		actionMessage.setCommand(1234);
-//		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == static_cast<uint32_t>(CommandMessage::UNKNOWN_COMMAND));
-//		CHECK(not testMqMock.wasMessageSent());
-//		uint16_t step = 5;
-//		ReturnValue_t status = 0x1234;
-//		actionHelper.step(step, testMqMock.getId(), testActionId, status);
-//		step += 1;
-//		CHECK(testMqMock.wasMessageSent());
-//		CommandMessage testMessage;
-//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-//		REQUIRE(testMessage.getParameter() == static_cast<uint32_t>(testActionId));
-//		uint32_t parameter2 = ((uint32_t)step << 16) | (uint32_t)status;
-//		REQUIRE(testMessage.getParameter2() == parameter2);
-//		REQUIRE(ActionMessage::getStep(&testMessage) == step);
-//	}
-//
-//	SECTION("Handle finish"){
-//		CHECK(not testMqMock.wasMessageSent());
-//		ReturnValue_t status = 0x9876;
-//		actionHelper.finish(testMqMock.getId(), testActionId, status);
-//		CHECK(testMqMock.wasMessageSent());
-//		CommandMessage testMessage;
-//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::COMPLETION_FAILED));
-//		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
-//		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(status));
-//	}
-//
-//	SECTION("Handle failed"){
-//		store_address_t toLongParamAddress = StorageManagerIF::INVALID_ADDRESS;
-//		std::array<uint8_t, 5> toLongData = {5, 4, 3, 2, 1};
-//		REQUIRE(ipcStore->addData(&toLongParamAddress, toLongData.data(), 5) == retval::CATCH_OK);
-//		ActionMessage::setCommand(&actionMessage, testActionId, toLongParamAddress);
-//		CHECK(not testDhMock.executeActionCalled);
-//		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
-//		REQUIRE(ipcStore->getData(toLongParamAddress).first == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
-//		CommandMessage testMessage;
-//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-//		REQUIRE(ActionMessage::getReturnCode(&testMessage) == 0xAFFE);
-//		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
-//		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
-//	}
-//
-//	SECTION("Missing IPC Data"){
-//		ActionMessage::setCommand(&actionMessage, testActionId, StorageManagerIF::INVALID_ADDRESS);
-//		CHECK(not testDhMock.executeActionCalled);
-//		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
-//		CommandMessage testMessage;
-//		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
-//		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
-//		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(StorageManagerIF::ILLEGAL_STORAGE_ID));
-//		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
-//	}
-//
-//
-//	SECTION("Data Reply"){
-//
-//	}
-//}
+#include "TestActionHelper.h"
+#include <fsfw/action/ActionHelper.h>
+#include <fsfw/ipc/CommandMessage.h>
+#include <catch2/catch.hpp>
+#include "../../core/CatchDefinitions.h"
+
+
+TEST_CASE( "Action Helper" , "[ActionHelper]") {
+	ActionHelperOwnerMockBase testDhMock;
+	MessageQueueMockBase testMqMock;
+	ActionHelper actionHelper = ActionHelper(
+			&testDhMock, dynamic_cast<MessageQueueIF*>(&testMqMock));
+	CommandMessage actionMessage;
+	ActionId_t testActionId = 777;
+	std::array <uint8_t, 3> testParams {1, 2, 3};
+	store_address_t paramAddress;
+	StorageManagerIF *ipcStore = tglob::getIpcStoreHandle();
+	REQUIRE(ipcStore != nullptr);
+	ipcStore->addData(&paramAddress, testParams.data(), 3);
+	REQUIRE(actionHelper.initialize() == retval::CATCH_OK);
+
+	SECTION ("Simple tests") {
+		 ActionMessage::setCommand(&actionMessage, testActionId, paramAddress);
+		 CHECK(not testDhMock.executeActionCalled);
+		 REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+		 CHECK(testDhMock.executeActionCalled);
+		 // No message is sent if everything is alright.
+		 CHECK(not testMqMock.wasMessageSent());
+		 store_address_t invalidAddress;
+		 ActionMessage::setCommand(&actionMessage, testActionId, invalidAddress);
+		 actionHelper.handleActionMessage(&actionMessage);
+		 CHECK(testMqMock.wasMessageSent());
+		 const uint8_t* ptr = nullptr;
+		 size_t size = 0;
+		 REQUIRE(ipcStore->getData(paramAddress, &ptr, &size) == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
+		 REQUIRE(ptr == nullptr);
+		 REQUIRE(size == 0);
+		 testDhMock.getBuffer(&ptr, &size);
+		 REQUIRE(size == 3);
+		 for(uint8_t i = 0; i<3;i++){
+			 REQUIRE(ptr[i] == (i+1));
+		 }
+		 testDhMock.clearBuffer();
+	}
+
+	SECTION("Handle failures"){
+		actionMessage.setCommand(1234);
+		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == static_cast<uint32_t>(CommandMessage::UNKNOWN_COMMAND));
+		CHECK(not testMqMock.wasMessageSent());
+		uint16_t step = 5;
+		ReturnValue_t status = 0x1234;
+		actionHelper.step(step, testMqMock.getId(), testActionId, status);
+		step += 1;
+		CHECK(testMqMock.wasMessageSent());
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+		REQUIRE(testMessage.getParameter() == static_cast<uint32_t>(testActionId));
+		uint32_t parameter2 = ((uint32_t)step << 16) | (uint32_t)status;
+		REQUIRE(testMessage.getParameter2() == parameter2);
+		REQUIRE(ActionMessage::getStep(&testMessage) == step);
+	}
+
+	SECTION("Handle finish"){
+		CHECK(not testMqMock.wasMessageSent());
+		ReturnValue_t status = 0x9876;
+		actionHelper.finish(testMqMock.getId(), testActionId, status);
+		CHECK(testMqMock.wasMessageSent());
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::COMPLETION_FAILED));
+		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
+		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(status));
+	}
+
+	SECTION("Handle failed"){
+		store_address_t toLongParamAddress = StorageManagerIF::INVALID_ADDRESS;
+		std::array<uint8_t, 5> toLongData = {5, 4, 3, 2, 1};
+		REQUIRE(ipcStore->addData(&toLongParamAddress, toLongData.data(), 5) == retval::CATCH_OK);
+		ActionMessage::setCommand(&actionMessage, testActionId, toLongParamAddress);
+		CHECK(not testDhMock.executeActionCalled);
+		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+		REQUIRE(ipcStore->getData(toLongParamAddress).first == static_cast<uint32_t>(StorageManagerIF::DATA_DOES_NOT_EXIST));
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+		REQUIRE(ActionMessage::getReturnCode(&testMessage) == 0xAFFE);
+		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
+		REQUIRE(ActionMessage::getActionId(&testMessage) == testActionId);
+	}
+
+	SECTION("Missing IPC Data"){
+		ActionMessage::setCommand(&actionMessage, testActionId, StorageManagerIF::INVALID_ADDRESS);
+		CHECK(not testDhMock.executeActionCalled);
+		REQUIRE(actionHelper.handleActionMessage(&actionMessage) == retval::CATCH_OK);
+		CommandMessage testMessage;
+		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));
+		REQUIRE(testMessage.getCommand() == static_cast<uint32_t>(ActionMessage::STEP_FAILED));
+		REQUIRE(ActionMessage::getReturnCode(&testMessage) == static_cast<uint32_t>(StorageManagerIF::ILLEGAL_STORAGE_ID));
+		REQUIRE(ActionMessage::getStep(&testMessage) == 0);
+	}
+
+
+	SECTION("Data Reply"){
+
+	}
+}
diff --git a/unittest/tests/action/TestActionHelper.h b/unittest/tests/action/TestActionHelper.h
index 9bc93d3e..4ba417eb 100644
--- a/unittest/tests/action/TestActionHelper.h
+++ b/unittest/tests/action/TestActionHelper.h
@@ -1,131 +1,132 @@
-//#ifndef UNITTEST_HOSTED_TESTACTIONHELPER_H_
-//#define UNITTEST_HOSTED_TESTACTIONHELPER_H_
-//
-//#include <fsfw/action/HasActionsIF.h>
-//#include <fsfw/ipc/MessageQueueIF.h>
-//#include <fsfw/unittest/core/CatchDefinitions.h>
-//#include <cstring>
-//
-//
-//class ActionHelperOwnerMockBase: public HasActionsIF {
-//public:
-//	bool getCommandQueueCalled = false;
-//	bool executeActionCalled = false;
-//	static const size_t MAX_SIZE = 3;
-//	uint8_t buffer[MAX_SIZE] = {0, 0, 0};
-//	size_t size = 0;
-//
-//	MessageQueueId_t getCommandQueue() const override {
-//		return tconst::testQueueId;
-//	}
-//
-//	ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-//			const uint8_t* data, size_t size) override {
-//		executeActionCalled = true;
-//		if(size > MAX_SIZE){
-//			return 0xAFFE;
-//		}
-//		this->size = size;
-//		memcpy(buffer, data, size);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//
-//	void clearBuffer(){
-//		this->size = 0;
-//		for(size_t i = 0; i<MAX_SIZE; i++){
-//			buffer[i] = 0;
-//		}
-//	}
-//
-//	void getBuffer(const uint8_t** ptr, size_t* size){
-//		if(size != nullptr){
-//			*size = this->size;
-//		}
-//		if(ptr != nullptr){
-//			*ptr = buffer;
-//		}
-//	}
-//};
-//
-//
-//class MessageQueueMockBase: public MessageQueueIF {
-//public:
-//	MessageQueueId_t myQueueId = 0;
-//	bool defaultDestSet = false;
-//	bool messageSent = false;
-//
-//
-//
-//	bool wasMessageSent() {
-//		bool tempMessageSent = messageSent;
-//		messageSent = false;
-//		return tempMessageSent;
-//	}
-//
-//	virtual ReturnValue_t reply( MessageQueueMessage* message ) {
-//		messageSent = true;
-//		lastMessage = (*message);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	};
-//	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
-//			MessageQueueId_t *receivedFrom) {
-//		(*message) = lastMessage;
-//		lastMessage.clear();
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) {
-//		(*message) = lastMessage;
-//		lastMessage.clear();
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual ReturnValue_t flush(uint32_t* count) {
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual MessageQueueId_t getLastPartner() const {
-//		return tconst::testQueueId;
-//	}
-//	virtual MessageQueueId_t getId() const {
-//		return tconst::testQueueId;
-//	}
-//	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
-//			MessageQueueMessage* message, MessageQueueId_t sentFrom,
-//			bool ignoreFault = false ) {
-//		messageSent = true;
-//		lastMessage = (*message);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
-//			MessageQueueMessage* message, bool ignoreFault = false ) override {
-//		messageSent = true;
-//		lastMessage = (*message);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
-//			MessageQueueId_t sentFrom, bool ignoreFault = false ) {
-//		messageSent = true;
-//		lastMessage = (*message);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) {
-//		messageSent = true;
-//		lastMessage = (*message);
-//		return HasReturnvaluesIF::RETURN_OK;
-//	}
-//	virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
-//		myQueueId = defaultDestination;
-//		defaultDestSet = true;
-//	}
-//
-//	virtual MessageQueueId_t getDefaultDestination() const {
-//		return myQueueId;
-//	}
-//	virtual bool isDefaultDestinationSet() const {
-//		return defaultDestSet;
-//	}
-//private:
-//	MessageQueueMessage lastMessage;
-//
-//};
-//
-//
-//#endif /* UNITTEST_TESTFW_NEWTESTS_TESTACTIONHELPER_H_ */
+#ifndef UNITTEST_HOSTED_TESTACTIONHELPER_H_
+#define UNITTEST_HOSTED_TESTACTIONHELPER_H_
+
+#include <fsfw/action/HasActionsIF.h>
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/unittest/core/CatchDefinitions.h>
+#include <cstring>
+
+
+class ActionHelperOwnerMockBase: public HasActionsIF {
+public:
+	bool getCommandQueueCalled = false;
+	bool executeActionCalled = false;
+	static const size_t MAX_SIZE = 3;
+	uint8_t buffer[MAX_SIZE] = {0, 0, 0};
+	size_t size = 0;
+
+	MessageQueueId_t getCommandQueue() const override {
+		return tconst::testQueueId;
+	}
+
+	ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+			const uint8_t* data, size_t size) override {
+		executeActionCalled = true;
+		if(size > MAX_SIZE){
+			return 0xAFFE;
+		}
+		this->size = size;
+		memcpy(buffer, data, size);
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	void clearBuffer(){
+		this->size = 0;
+		for(size_t i = 0; i<MAX_SIZE; i++){
+			buffer[i] = 0;
+		}
+	}
+
+	void getBuffer(const uint8_t** ptr, size_t* size){
+		if(size != nullptr){
+			*size = this->size;
+		}
+		if(ptr != nullptr){
+			*ptr = buffer;
+		}
+	}
+};
+
+
+class MessageQueueMockBase: public MessageQueueIF {
+public:
+	MessageQueueId_t myQueueId = 0;
+	bool defaultDestSet = false;
+	bool messageSent = false;
+
+
+
+	bool wasMessageSent() {
+		bool tempMessageSent = messageSent;
+		messageSent = false;
+		return tempMessageSent;
+	}
+
+	virtual ReturnValue_t reply( MessageQueueMessageIF* message ) {
+		messageSent = true;
+		lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
+		return HasReturnvaluesIF::RETURN_OK;
+	};
+	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+			MessageQueueId_t *receivedFrom) {
+		(*message) = lastMessage;
+		lastMessage.clear();
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) {
+		memcpy(message->getBuffer(), lastMessage.getBuffer(),
+				message->getMessageSize());
+		lastMessage.clear();
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t flush(uint32_t* count) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual MessageQueueId_t getLastPartner() const {
+		return tconst::testQueueId;
+	}
+	virtual MessageQueueId_t getId() const {
+		return tconst::testQueueId;
+	}
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault = false ) {
+		messageSent = true;
+		lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, bool ignoreFault = false ) override {
+		messageSent = true;
+		lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom, bool ignoreFault = false ) {
+		messageSent = true;
+		lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) {
+		messageSent = true;
+		lastMessage = *(dynamic_cast<MessageQueueMessage*>(message));
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	virtual void setDefaultDestination(MessageQueueId_t defaultDestination) {
+		myQueueId = defaultDestination;
+		defaultDestSet = true;
+	}
+
+	virtual MessageQueueId_t getDefaultDestination() const {
+		return myQueueId;
+	}
+	virtual bool isDefaultDestinationSet() const {
+		return defaultDestSet;
+	}
+private:
+	MessageQueueMessage lastMessage;
+
+};
+
+
+#endif /* UNITTEST_TESTFW_NEWTESTS_TESTACTIONHELPER_H_ */

From 9781105ad0378ee66d14d93c5994f01602a091ae Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 14:50:28 +0100
Subject: [PATCH 550/653] moved catch factory again

---
 unittest/{core => testcfg}/CatchFactory.cpp | 10 +++++-----
 unittest/{core => testcfg}/CatchFactory.h   |  0
 unittest/testcfg/testcfg.mk                 |  1 +
 3 files changed, 6 insertions(+), 5 deletions(-)
 rename unittest/{core => testcfg}/CatchFactory.cpp (87%)
 rename unittest/{core => testcfg}/CatchFactory.h (100%)

diff --git a/unittest/core/CatchFactory.cpp b/unittest/testcfg/CatchFactory.cpp
similarity index 87%
rename from unittest/core/CatchFactory.cpp
rename to unittest/testcfg/CatchFactory.cpp
index cf10e94a..c74a8126 100644
--- a/unittest/core/CatchFactory.cpp
+++ b/unittest/testcfg/CatchFactory.cpp
@@ -1,11 +1,11 @@
 #include "CatchFactory.h"
 
-#include "../../events/EventManager.h"
-#include "../../health/HealthTable.h"
+#include <fsfw/events/EventManager.h>
+#include <fsfw/health/HealthTable.h>
 
-#include "../../internalError/InternalErrorReporter.h"
-#include "../../objectmanager/frameworkObjects.h"
-#include "../../storagemanager/PoolManager.h"
+#include <fsfw/internalError/InternalErrorReporter.h>
+#include <fsfw/objectmanager/frameworkObjects.h>
+#include <fsfw/storagemanager/PoolManager.h>
 
 /**
  * @brief Produces system objects.
diff --git a/unittest/core/CatchFactory.h b/unittest/testcfg/CatchFactory.h
similarity index 100%
rename from unittest/core/CatchFactory.h
rename to unittest/testcfg/CatchFactory.h
diff --git a/unittest/testcfg/testcfg.mk b/unittest/testcfg/testcfg.mk
index 64fa87f6..31d3b60a 100644
--- a/unittest/testcfg/testcfg.mk
+++ b/unittest/testcfg/testcfg.mk
@@ -3,6 +3,7 @@ CXXSRC += $(wildcard $(CURRENTPATH)/ipc/*.cpp)
 CXXSRC += $(wildcard $(CURRENTPATH)/objects/*.cpp)
 CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
 CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
+CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
 
 INCLUDES += $(CURRENTPATH)
 INCLUDES += $(CURRENTPATH)/objects

From ec3c83bcc1e9cbf587b4602fa3d65d9f797c781e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 18:24:51 +0100
Subject: [PATCH 551/653] monitoring update

---
 monitoring/AbsLimitMonitor.h          | 28 +++++++-----
 monitoring/HasMonitorsIF.h            | 12 ++---
 monitoring/LimitMonitor.h             | 27 ++++++-----
 monitoring/MonitorBase.h              | 64 +++++++++++++++++----------
 monitoring/MonitorReporter.h          | 37 +++++++++-------
 monitoring/MonitoringIF.h             |  8 ++--
 monitoring/MonitoringMessageContent.h | 37 ++++++++++------
 monitoring/TriplexMonitor.h           |  2 +-
 8 files changed, 127 insertions(+), 88 deletions(-)

diff --git a/monitoring/AbsLimitMonitor.h b/monitoring/AbsLimitMonitor.h
index 2e60f6f8..5feb369c 100644
--- a/monitoring/AbsLimitMonitor.h
+++ b/monitoring/AbsLimitMonitor.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
-#define FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_
+#ifndef FSFW_MONITORING_ABSLIMITMONITOR_H_
+#define FSFW_MONITORING_ABSLIMITMONITOR_H_
 
 #include "MonitorBase.h"
 #include <cmath>
@@ -7,9 +7,14 @@
 template<typename T>
 class AbsLimitMonitor: public MonitorBase<T> {
 public:
-	AbsLimitMonitor(object_id_t reporterId, uint8_t monitorId, uint32_t parameterId,
-			uint16_t confirmationLimit, T limit, Event violationEvent = MonitoringIF::VALUE_OUT_OF_RANGE, bool aboveIsViolation = true) :
-			MonitorBase<T>(reporterId, monitorId, parameterId, confirmationLimit), limit(limit), violationEvent(violationEvent), aboveIsViolation(aboveIsViolation) {
+	AbsLimitMonitor(object_id_t reporterId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit, T limit,
+	        Event violationEvent = MonitoringIF::VALUE_OUT_OF_RANGE,
+	        bool aboveIsViolation = true) :
+			MonitorBase<T>(reporterId, monitorId, globalPoolId,
+					confirmationLimit),
+			limit(limit), violationEvent(violationEvent),
+			aboveIsViolation(aboveIsViolation) {
 	}
 	virtual ~AbsLimitMonitor() {
 	}
@@ -32,8 +37,9 @@ public:
 			const ParameterWrapper *newValues, uint16_t startAtIndex) {
 		ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId,
 				parameterId, parameterWrapper, newValues, startAtIndex);
-		//We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there.
-		if (result != this->INVALID_MATRIX_ID) {
+		// We'll reuse the DOMAIN_ID of MonitorReporter,
+		// as we know the parameterIds used there.
+		if (result != this->INVALID_IDENTIFIER_ID) {
 			return result;
 		}
 		switch (parameterId) {
@@ -41,7 +47,7 @@ public:
 			parameterWrapper->set(this->limit);
 			break;
 		default:
-			return this->INVALID_MATRIX_ID;
+			return this->INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -59,7 +65,9 @@ protected:
 	void sendTransitionEvent(T currentValue, ReturnValue_t state) {
 		switch (state) {
 		case MonitoringIF::OUT_OF_RANGE:
-			EventManagerIF::triggerEvent(this->reportingId, violationEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId,
+			        violationEvent, this->globalPoolId.objectId,
+					this->globalPoolId.localPoolId);
 			break;
 		default:
 			break;
@@ -70,4 +78,4 @@ protected:
 	const bool aboveIsViolation;
 };
 
-#endif /* FRAMEWORK_MONITORING_ABSLIMITMONITOR_H_ */
+#endif /* FSFW_MONITORING_ABSLIMITMONITOR_H_ */
diff --git a/monitoring/HasMonitorsIF.h b/monitoring/HasMonitorsIF.h
index 85d92b6b..04f63437 100644
--- a/monitoring/HasMonitorsIF.h
+++ b/monitoring/HasMonitorsIF.h
@@ -1,11 +1,5 @@
-/**
- * @file	HasMonitorsIF.h
- * @brief	This file defines the HasMonitorsIF class.
- * @date	28.07.2014
- * @author	baetz
- */
-#ifndef HASMONITORSIF_H_
-#define HASMONITORSIF_H_
+#ifndef FSFW_MONITORING_HASMONITORSIF_H_
+#define FSFW_MONITORING_HASMONITORSIF_H_
 
 #include "../events/EventReportingProxyIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -27,4 +21,4 @@ public:
 	}
 };
 
-#endif /* HASMONITORSIF_H_ */
+#endif /* FSFW_MONITORING_HASMONITORSIF_H_ */
diff --git a/monitoring/LimitMonitor.h b/monitoring/LimitMonitor.h
index 66e6725e..c4448ced 100644
--- a/monitoring/LimitMonitor.h
+++ b/monitoring/LimitMonitor.h
@@ -12,13 +12,15 @@
 template<typename T>
 class LimitMonitor: public MonitorBase<T> {
 public:
-	LimitMonitor(object_id_t reporterId, uint8_t monitorId, uint32_t parameterId,
-			uint16_t confirmationLimit, T lowerLimit, T upperLimit,
-			Event belowLowEvent = MonitoringIF::VALUE_BELOW_LOW_LIMIT,
+	LimitMonitor(object_id_t reporterId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit, T lowerLimit,
+			T upperLimit, Event belowLowEvent =
+					MonitoringIF::VALUE_BELOW_LOW_LIMIT,
 			Event aboveHighEvent = MonitoringIF::VALUE_ABOVE_HIGH_LIMIT) :
-			MonitorBase<T>(reporterId, monitorId, parameterId, confirmationLimit), lowerLimit(
-					lowerLimit), upperLimit(upperLimit), belowLowEvent(
-					belowLowEvent), aboveHighEvent(aboveHighEvent) {
+			MonitorBase<T>(reporterId, monitorId, globalPoolId,
+			        confirmationLimit),
+			lowerLimit(lowerLimit), upperLimit(upperLimit),
+			belowLowEvent(belowLowEvent), aboveHighEvent(aboveHighEvent) {
 	}
 	virtual ~LimitMonitor() {
 	}
@@ -41,7 +43,7 @@ public:
 		ReturnValue_t result = this->MonitorBase<T>::getParameter(domainId,
 				parameterId, parameterWrapper, newValues, startAtIndex);
 		//We'll reuse the DOMAIN_ID of MonitorReporter, as we know the parameterIds used there.
-		if (result != this->INVALID_MATRIX_ID) {
+		if (result != this->INVALID_IDENTIFIER_ID) {
 			return result;
 		}
 		switch (parameterId) {
@@ -52,12 +54,13 @@ public:
 			parameterWrapper->set(this->upperLimit);
 			break;
 		default:
-			return this->INVALID_MATRIX_ID;
+			return this->INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 	bool isOutOfLimits() {
-		if (this->oldState == MonitoringIF::ABOVE_HIGH_LIMIT || this->oldState == MonitoringIF::BELOW_LOW_LIMIT) {
+		if (this->oldState == MonitoringIF::ABOVE_HIGH_LIMIT or
+		        this->oldState == MonitoringIF::BELOW_LOW_LIMIT) {
 			return true;
 		} else {
 			return false;
@@ -76,10 +79,12 @@ protected:
 	void sendTransitionEvent(T currentValue, ReturnValue_t state) {
 		switch (state) {
 		case MonitoringIF::BELOW_LOW_LIMIT:
-			EventManagerIF::triggerEvent(this->reportingId, belowLowEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId, belowLowEvent,
+			        this->globalPoolId.objectId, this->globalPoolId.localPoolId);
 			break;
 		case MonitoringIF::ABOVE_HIGH_LIMIT:
-			EventManagerIF::triggerEvent(this->reportingId, aboveHighEvent, this->parameterId);
+			EventManagerIF::triggerEvent(this->reportingId, aboveHighEvent,
+			        this->globalPoolId.objectId, this->globalPoolId.localPoolId);
 			break;
 		default:
 			break;
diff --git a/monitoring/MonitorBase.h b/monitoring/MonitorBase.h
index b2d0e6cb..530a3840 100644
--- a/monitoring/MonitorBase.h
+++ b/monitoring/MonitorBase.h
@@ -1,39 +1,50 @@
-#ifndef MONITORBASE_H_
-#define MONITORBASE_H_
+#ifndef FSFW_MONITORING_MONITORBASE_H_
+#define FSFW_MONITORING_MONITORBASE_H_
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PIDReader.h"
 #include "LimitViolationReporter.h"
 #include "MonitoringIF.h"
 #include "MonitoringMessageContent.h"
 #include "MonitorReporter.h"
 
+#include "../datapoollocal/LocalPoolVariable.h"
+
+
 /**
- * Base class for monitoring of parameters.
- * Can be used anywhere, specializations need to implement checkSample and should override sendTransitionEvent.
- * Manages state handling, enabling and disabling of events/reports and forwarding of transition
- * reports via MonitorReporter. In addition, it provides default implementations for fetching the parameter sample from
- * the data pool and a simple confirmation counter.
+ * @brief   Base class for monitoring of parameters.
+ * @details
+ * Can be used anywhere, specializations need to implement checkSample and
+ * should override sendTransitionEvent.
+ * Manages state handling, enabling and disabling of events/reports and
+ * forwarding of transition reports via MonitorReporter.
+ *
+ * In addition, it provides default implementations for fetching the
+ * parameter sample from the data pool and a simple confirmation counter.
  */
 template<typename T>
 class MonitorBase: public MonitorReporter<T> {
 public:
+
 	MonitorBase(object_id_t reporterId, uint8_t monitorId,
-			uint32_t parameterId, uint16_t confirmationLimit) :
-			MonitorReporter<T>(reporterId, monitorId, parameterId, confirmationLimit) {
+	        gp_id_t globalPoolId, uint16_t confirmationLimit):
+	        MonitorReporter<T>(reporterId, monitorId, globalPoolId,
+	                confirmationLimit),
+	        poolVariable(globalPoolId) {
 	}
+
 	virtual ~MonitorBase() {
 	}
+
 	virtual ReturnValue_t check() {
-		//1. Fetch sample of type T, return validity.
+		// 1. Fetch sample of type T, return validity.
 		T sample = 0;
 		ReturnValue_t validity = fetchSample(&sample);
 
-		//2. If returning from fetch != OK, parameter is invalid. Report (if oldState is != invalidity).
+		// 2. If returning from fetch != OK, parameter is invalid.
+		// Report (if oldState is != invalidity).
 		if (validity != HasReturnvaluesIF::RETURN_OK) {
 			this->monitorStateIs(validity, sample, 0);
-			//3. Otherwise, check sample.
 		} else {
+            //3. Otherwise, check sample.
 			this->oldState = doCheck(sample);
 		}
 		return this->oldState;
@@ -43,20 +54,25 @@ public:
 		ReturnValue_t currentState = checkSample(sample, &crossedLimit);
 		return this->monitorStateIs(currentState,sample, crossedLimit);
 	}
-	//Abstract or default.
+
+	// Abstract or default.
 	virtual ReturnValue_t checkSample(T sample, T* crossedLimit) = 0;
 
 protected:
+
 	virtual ReturnValue_t fetchSample(T* sample) {
-		DataSet mySet;
-		PIDReader<T> parameter(this->parameterId, &mySet);
-		mySet.read();
-		if (!parameter.isValid()) {
-			return MonitoringIF::INVALID;
-		}
-		*sample = parameter.value;
-		return HasReturnvaluesIF::RETURN_OK;
+	    ReturnValue_t result = poolVariable.read();
+	    if(result != HasReturnvaluesIF::RETURN_OK) {
+	        return result;
+	    }
+	    if (not poolVariable.isValid()) {
+	        return MonitoringIF::INVALID;
+	    }
+	    *sample = poolVariable.value;
+	    return HasReturnvaluesIF::RETURN_OK;
 	}
+
+	LocalPoolVar<T> poolVariable;
 };
 
-#endif /* MONITORBASE_H_ */
+#endif /* FSFW_MONITORING_MONITORBASE_H_ */
diff --git a/monitoring/MonitorReporter.h b/monitoring/MonitorReporter.h
index ca2b534b..9028e7e4 100644
--- a/monitoring/MonitorReporter.h
+++ b/monitoring/MonitorReporter.h
@@ -1,10 +1,12 @@
-#ifndef FRAMEWORK_MONITORING_MONITORREPORTER_H_
-#define FRAMEWORK_MONITORING_MONITORREPORTER_H_
+#ifndef FSFW_MONITORING_MONITORREPORTER_H_
+#define FSFW_MONITORING_MONITORREPORTER_H_
 
-#include "../events/EventManagerIF.h"
 #include "LimitViolationReporter.h"
 #include "MonitoringIF.h"
 #include "MonitoringMessageContent.h"
+
+#include "../datapoollocal/locPoolDefinitions.h"
+#include "../events/EventManagerIF.h"
 #include "../parameters/HasParametersIF.h"
 
 template<typename T>
@@ -14,11 +16,14 @@ public:
 	static const uint8_t ENABLED = 1;
 	static const uint8_t DISABLED = 0;
 
-	MonitorReporter(object_id_t reportingId, uint8_t monitorId, uint32_t parameterId, uint16_t confirmationLimit) :
-			monitorId(monitorId), parameterId(parameterId), reportingId(
-					reportingId), oldState(MonitoringIF::UNCHECKED), reportingEnabled(
-			ENABLED), eventEnabled(ENABLED), currentCounter(0), confirmationLimit(
-					confirmationLimit) {
+	// TODO: Adapt to use SID instead of parameter ID.
+
+	MonitorReporter(object_id_t reportingId, uint8_t monitorId,
+	        gp_id_t globalPoolId, uint16_t confirmationLimit) :
+			monitorId(monitorId), globalPoolId(globalPoolId),
+			reportingId(reportingId), oldState(MonitoringIF::UNCHECKED),
+			reportingEnabled(ENABLED), eventEnabled(ENABLED), currentCounter(0),
+			confirmationLimit(confirmationLimit) {
 	}
 
 	virtual ~MonitorReporter() {
@@ -63,7 +68,7 @@ public:
 			parameterWrapper->set(this->eventEnabled);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -91,7 +96,7 @@ public:
 
 protected:
 	const uint8_t monitorId;
-	const uint32_t parameterId;
+	const gp_id_t globalPoolId;
 	object_id_t reportingId;
 	ReturnValue_t oldState;
 
@@ -148,7 +153,8 @@ protected:
 		case HasReturnvaluesIF::RETURN_OK:
 			break;
 		default:
-			EventManagerIF::triggerEvent(reportingId, MonitoringIF::MONITOR_CHANGED_STATE, state);
+			EventManagerIF::triggerEvent(reportingId,
+			        MonitoringIF::MONITOR_CHANGED_STATE, state);
 			break;
 		}
 	}
@@ -159,14 +165,15 @@ protected:
 	 * @param crossedLimit The limit crossed (if applicable).
 	 * @param state Current state the monitor is in.
 	 */
-	virtual void sendTransitionReport(T parameterValue, T crossedLimit, ReturnValue_t state) {
-		MonitoringReportContent<T> report(parameterId,
+	virtual void sendTransitionReport(T parameterValue, T crossedLimit,
+	        ReturnValue_t state) {
+		MonitoringReportContent<T> report(globalPoolId,
 				parameterValue, crossedLimit, oldState, state);
 		LimitViolationReporter::sendLimitViolationReport(&report);
 	}
 	ReturnValue_t setToState(ReturnValue_t state) {
 		if (oldState != state && reportingEnabled) {
-			MonitoringReportContent<T> report(parameterId, 0, 0, oldState,
+			MonitoringReportContent<T> report(globalPoolId, 0, 0, oldState,
 					state);
 			LimitViolationReporter::sendLimitViolationReport(&report);
 			oldState = state;
@@ -175,4 +182,4 @@ protected:
 	}
 };
 
-#endif /* FRAMEWORK_MONITORING_MONITORREPORTER_H_ */
+#endif /* FSFW_MONITORING_MONITORREPORTER_H_ */
diff --git a/monitoring/MonitoringIF.h b/monitoring/MonitoringIF.h
index 44218c36..aa266f33 100644
--- a/monitoring/MonitoringIF.h
+++ b/monitoring/MonitoringIF.h
@@ -1,8 +1,8 @@
-#ifndef MONITORINGIF_H_
-#define MONITORINGIF_H_
+#ifndef FSFW_MONITORING_MONITORINGIF_H_
+#define FSFW_MONITORING_MONITORINGIF_H_
 
-#include "../memory/HasMemoryIF.h"
 #include "MonitoringMessage.h"
+#include "../memory/HasMemoryIF.h"
 #include "../serialize/SerializeIF.h"
 
 class MonitoringIF : public SerializeIF {
@@ -64,4 +64,4 @@ public:
 
 
 
-#endif /* MONITORINGIF_H_ */
+#endif /* FSFW_MONITORING_MONITORINGIF_H_ */
diff --git a/monitoring/MonitoringMessageContent.h b/monitoring/MonitoringMessageContent.h
index c82506f3..44d32656 100644
--- a/monitoring/MonitoringMessageContent.h
+++ b/monitoring/MonitoringMessageContent.h
@@ -3,6 +3,7 @@
 
 #include "HasMonitorsIF.h"
 #include "MonitoringIF.h"
+#include "../datapoollocal/locPoolDefinitions.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/SerialBufferAdapter.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
@@ -16,12 +17,17 @@ void setStaticFrameworkObjectIds();
 }
 
 //PID(uint32_t), TYPE, LIMIT_ID, value,limitValue, previous, later, timestamp
+/**
+ * @brief	Does magic.
+ * @tparam T
+ */
 template<typename T>
 class MonitoringReportContent: public SerialLinkedListAdapter<SerializeIF> {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	SerializeElement<uint8_t> monitorId;
-	SerializeElement<uint32_t> parameterId;
+	SerializeElement<uint32_t> parameterObjectId;
+	SerializeElement<lp_id_t> localPoolId;
 	SerializeElement<T> parameterValue;
 	SerializeElement<T> limitValue;
 	SerializeElement<ReturnValue_t> oldState;
@@ -30,20 +36,23 @@ public:
 	SerializeElement<SerialBufferAdapter<uint8_t>> timestampSerializer;
 	TimeStamperIF* timeStamper;
 	MonitoringReportContent() :
-			SerialLinkedListAdapter<SerializeIF>(
-					LinkedElement<SerializeIF>::Iterator(&parameterId)), monitorId(0), parameterId(
-					0), parameterValue(0), limitValue(0), oldState(0), newState(
-					0), rawTimestamp( { 0 }), timestampSerializer(rawTimestamp,
+			SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
+					monitorId(0), parameterObjectId(0),
+					localPoolId(0), parameterValue(0),
+					limitValue(0), oldState(0), newState(0),
+					rawTimestamp( { 0 }), timestampSerializer(rawTimestamp,
 					sizeof(rawTimestamp)), timeStamper(NULL) {
 		setAllNext();
 	}
-	MonitoringReportContent(uint32_t setPID, T value, T limitValue,
+	MonitoringReportContent(gp_id_t globalPoolId, T value, T limitValue,
 			ReturnValue_t oldState, ReturnValue_t newState) :
-			SerialLinkedListAdapter<SerializeIF>(
-					LinkedElement<SerializeIF>::Iterator(&parameterId)), monitorId(0), parameterId(
-					setPID), parameterValue(value), limitValue(limitValue), oldState(
-					oldState), newState(newState), timestampSerializer(rawTimestamp,
-							sizeof(rawTimestamp)), timeStamper(NULL) {
+			SerialLinkedListAdapter<SerializeIF>(&parameterObjectId),
+					monitorId(0), parameterObjectId(globalPoolId.objectId),
+					localPoolId(globalPoolId.localPoolId),
+					parameterValue(value), limitValue(limitValue),
+					oldState(oldState), newState(newState),
+					timestampSerializer(rawTimestamp, sizeof(rawTimestamp)),
+					timeStamper(NULL) {
 		setAllNext();
 		if (checkAndSetStamper()) {
 			timeStamper->addTimeStamp(rawTimestamp, sizeof(rawTimestamp));
@@ -53,16 +62,16 @@ private:
 
 	static object_id_t timeStamperId;
 	void setAllNext() {
-		parameterId.setNext(&parameterValue);
+		parameterObjectId.setNext(&parameterValue);
 		parameterValue.setNext(&limitValue);
 		limitValue.setNext(&oldState);
 		oldState.setNext(&newState);
 		newState.setNext(&timestampSerializer);
 	}
 	bool checkAndSetStamper() {
-		if (timeStamper == NULL) {
+		if (timeStamper == nullptr) {
 			timeStamper = objectManager->get<TimeStamperIF>( timeStamperId );
-			if ( timeStamper == NULL ) {
+			if ( timeStamper == nullptr ) {
 				sif::error << "MonitoringReportContent::checkAndSetStamper: "
 				        "Stamper not found!" << std::endl;
 				return false;
diff --git a/monitoring/TriplexMonitor.h b/monitoring/TriplexMonitor.h
index 9b60aeb6..c4b3c537 100644
--- a/monitoring/TriplexMonitor.h
+++ b/monitoring/TriplexMonitor.h
@@ -82,7 +82,7 @@ public:
 			parameterWrapper->set(limit);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}

From 9ba8ef1ae212f9058671399933cf29335cd436f5 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 18:29:28 +0100
Subject: [PATCH 552/653] power update

---
 power/Fuse.cpp           | 33 +++++++++++++++-------------
 power/Fuse.h             | 47 ++++++++++++++++++++++------------------
 power/PowerComponent.cpp | 27 ++++++++++-------------
 power/PowerComponent.h   | 24 +++++++++++---------
 power/PowerComponentIF.h | 19 ++++++++--------
 power/PowerSensor.cpp    | 30 ++++++++++++++-----------
 power/PowerSensor.h      | 38 ++++++++++++++++++--------------
 power/PowerSwitchIF.h    | 22 +++++++++----------
 power/PowerSwitcher.cpp  | 28 +++++++++++++++---------
 power/PowerSwitcher.h    | 17 ++++++++++-----
 10 files changed, 156 insertions(+), 129 deletions(-)

diff --git a/power/Fuse.cpp b/power/Fuse.cpp
index 9986ab6b..1c30d83f 100644
--- a/power/Fuse.cpp
+++ b/power/Fuse.cpp
@@ -1,22 +1,25 @@
+#include "Fuse.h"
+
 #include "../monitoring/LimitViolationReporter.h"
 #include "../monitoring/MonitoringMessageContent.h"
 #include "../objectmanager/ObjectManagerIF.h"
-#include "Fuse.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../ipc/QueueFactory.h"
 
 object_id_t Fuse::powerSwitchId = 0;
 
-Fuse::Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
+Fuse::Fuse(object_id_t fuseObjectId, uint8_t fuseId,
+		sid_t variableSet, VariableIds ids,
 		float maxCurrent, uint16_t confirmationCount) :
-		SystemObject(fuseObjectId), oldFuseState(0), fuseId(fuseId), powerIF(
-		NULL), currentLimit(fuseObjectId, 1, ids.pidCurrent, confirmationCount,
-				maxCurrent, FUSE_CURRENT_HIGH), powerMonitor(fuseObjectId, 2,
-				DataPool::poolIdAndPositionToPid(ids.poolIdPower, 0),
-				confirmationCount), set(), voltage(ids.pidVoltage, &set), current(
-				ids.pidCurrent, &set), state(ids.pidState, &set), power(
-				ids.poolIdPower, &set, PoolVariableIF::VAR_READ_WRITE), commandQueue(
-				NULL), parameterHelper(this), healthHelper(this, fuseObjectId) {
+		SystemObject(fuseObjectId), oldFuseState(0), fuseId(fuseId),
+		currentLimit(fuseObjectId, 1, ids.pidCurrent, confirmationCount,
+				maxCurrent, FUSE_CURRENT_HIGH),
+		powerMonitor(fuseObjectId, 2, ids.poolIdPower,
+				confirmationCount),
+		set(variableSet), voltage(ids.pidVoltage, &set),
+		current(ids.pidCurrent, &set), state(ids.pidState, &set),
+		power(ids.poolIdPower, &set, PoolVariableIF::VAR_READ_WRITE),
+		parameterHelper(this), healthHelper(this, fuseObjectId) {
 	commandQueue = QueueFactory::instance()->createMessageQueue();
 }
 
@@ -75,7 +78,7 @@ ReturnValue_t Fuse::check() {
 		float lowLimit = 0.0;
 		float highLimit = RESIDUAL_POWER;
 		calculatePowerLimits(&lowLimit, &highLimit);
-		result = powerMonitor.checkPower(power, lowLimit, highLimit);
+		result = powerMonitor.checkPower(power.value, lowLimit, highLimit);
 		if (result == MonitoringIF::BELOW_LOW_LIMIT) {
 			reportEvents(POWER_BELOW_LOW_LIMIT);
 		} else if (result == MonitoringIF::ABOVE_HIGH_LIMIT) {
@@ -109,7 +112,7 @@ size_t Fuse::getSerializedSize() const {
 }
 
 ReturnValue_t Fuse::deSerialize(const uint8_t** buffer, size_t* size,
-Endianness streamEndianness) {
+        Endianness streamEndianness) {
 	ReturnValue_t result = RETURN_FAILED;
 	for (DeviceList::iterator iter = devices.begin(); iter != devices.end();
 			iter++) {
@@ -132,7 +135,7 @@ void Fuse::calculateFusePower() {
 		return;
 	}
 	//Calculate fuse power.
-	power = current * voltage;
+	power.value = current.value * voltage.value;
 	power.setValid(PoolVariableIF::VALID);
 }
 
@@ -190,12 +193,12 @@ void Fuse::checkFuseState() {
 			reportEvents(FUSE_WENT_OFF);
 		}
 	}
-	oldFuseState = state;
+	oldFuseState = state.value;
 }
 
 float Fuse::getPower() {
 	if (power.isValid()) {
-		return power;
+		return power.value;
 	} else {
 		return 0.0;
 	}
diff --git a/power/Fuse.h b/power/Fuse.h
index 279642be..e9e9290b 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -1,16 +1,16 @@
-#ifndef FUSE_H_
-#define FUSE_H_
+#ifndef FSFW_POWER_FUSE_H_
+#define FSFW_POWER_FUSE_H_
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PIDReader.h"
-#include "../devicehandlers/HealthDevice.h"
-#include "../monitoring/AbsLimitMonitor.h"
 #include "PowerComponentIF.h"
 #include "PowerSwitchIF.h"
+
+#include "../devicehandlers/HealthDevice.h"
+#include "../monitoring/AbsLimitMonitor.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../parameters/ParameterHelper.h"
 #include <list>
 
+#include "../datapoollocal/StaticLocalDataSet.h"
 namespace Factory {
 void setStaticFrameworkObjectIds();
 }
@@ -25,10 +25,10 @@ private:
 	static constexpr float RESIDUAL_POWER = 0.005 * 28.5; //!< This is the upper limit of residual power lost by fuses and switches. Worst case is Fuse and one of two switches on. See PCDU ICD 1.9 p29 bottom
 public:
 	struct VariableIds {
-		uint32_t pidVoltage;
-		uint32_t pidCurrent;
-		uint32_t pidState;
-		uint32_t poolIdPower;
+		gp_id_t pidVoltage;
+		gp_id_t pidCurrent;
+		gp_id_t pidState;
+		gp_id_t poolIdPower;
 	};
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
@@ -38,8 +38,8 @@ public:
 	static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, SEVERITY::LOW); //!< PSS detected a fuse that violates its limits.
 
 	typedef std::list<PowerComponentIF*> DeviceList;
-	Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
-			float maxCurrent, uint16_t confirmationCount = 2);
+	Fuse(object_id_t fuseObjectId, uint8_t fuseId, sid_t variableSet,
+			VariableIds ids, float maxCurrent, uint16_t confirmationCount = 2);
 	virtual ~Fuse();
 	void addDevice(PowerComponentIF *set);
 	float getPower();
@@ -69,12 +69,12 @@ public:
 private:
 	uint8_t oldFuseState;
 	uint8_t fuseId;
-	PowerSwitchIF *powerIF; //could be static in our case.
+	PowerSwitchIF *powerIF = nullptr; //could be static in our case.
 	AbsLimitMonitor<float> currentLimit;
 	class PowerMonitor: public MonitorReporter<float> {
 	public:
 		template<typename ... Args>
-		PowerMonitor(Args ... args) :
+		PowerMonitor(Args ... args):
 				MonitorReporter<float>(std::forward<Args>(args)...) {
 		}
 		ReturnValue_t checkPower(float sample, float lowerLimit,
@@ -84,12 +84,17 @@ private:
 
 	};
 	PowerMonitor powerMonitor;
-	DataSet set;
-	PIDReader<float> voltage;
-	PIDReader<float> current;
-	PIDReader<uint8_t> state;
-	db_float_t power;
-	MessageQueueIF *commandQueue;
+	StaticLocalDataSet<3> set;
+	//LocalPoolDataSetBase* set = nullptr;
+	//PIDReader<float> voltage;
+	//PIDReader<float> current;
+	//PIDReader<uint8_t> state;
+	lp_var_t<float> voltage;
+	lp_var_t<float> current;
+	lp_var_t<uint8_t> state;
+
+	lp_var_t<float> power;
+	MessageQueueIF* commandQueue = nullptr;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
 	static object_id_t powerSwitchId;
@@ -102,4 +107,4 @@ private:
 	bool areSwitchesOfComponentOn(DeviceList::iterator iter);
 };
 
-#endif /* FUSE_H_ */
+#endif /* FSFW_POWER_FUSE_H_ */
diff --git a/power/PowerComponent.cpp b/power/PowerComponent.cpp
index 6012ad4c..c31b9a85 100644
--- a/power/PowerComponent.cpp
+++ b/power/PowerComponent.cpp
@@ -1,20 +1,15 @@
-/**
- * @file	PowerComponent.cpp
- * @brief	This file defines the PowerComponent class.
- * @date	28.08.2014
- * @author	baetz
- */
-
 #include "PowerComponent.h"
+#include "../serialize/SerializeAdapter.h"
 
-PowerComponent::PowerComponent() :
-		deviceObjectId(0), switchId1(0xFF), switchId2(0xFF), doIHaveTwoSwitches(
-		false), min(0.0), max(0.0), moduleId(0) {
+PowerComponent::PowerComponent(): switchId1(0xFF), switchId2(0xFF),
+        doIHaveTwoSwitches(false) {
 }
-PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max,
-		uint8_t switchId1, bool twoSwitches, uint8_t switchId2) :
-		deviceObjectId(setId), switchId1(switchId1), switchId2(switchId2), doIHaveTwoSwitches(
-				twoSwitches), min(min), max(max), moduleId(moduleId) {
+
+PowerComponent::PowerComponent(object_id_t setId, uint8_t moduleId, float min,
+        float max, uint8_t switchId1, bool twoSwitches, uint8_t switchId2) :
+		deviceObjectId(setId), switchId1(switchId1), switchId2(switchId2),
+		doIHaveTwoSwitches(twoSwitches), min(min), max(max),
+		moduleId(moduleId) {
 }
 
 ReturnValue_t PowerComponent::serialize(uint8_t** buffer, size_t* size,
@@ -57,7 +52,7 @@ float PowerComponent::getMax() {
 }
 
 ReturnValue_t PowerComponent::deSerialize(const uint8_t** buffer, size_t* size,
-Endianness streamEndianness) {
+        Endianness streamEndianness) {
 	ReturnValue_t result = SerializeAdapter::deSerialize(&min, buffer,
 			size, streamEndianness);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -80,7 +75,7 @@ ReturnValue_t PowerComponent::getParameter(uint8_t domainId,
 		parameterWrapper->set<>(max);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/power/PowerComponent.h b/power/PowerComponent.h
index 6d1c9c06..c1add3b9 100644
--- a/power/PowerComponent.h
+++ b/power/PowerComponent.h
@@ -1,13 +1,17 @@
-#ifndef POWERCOMPONENT_H_
-#define POWERCOMPONENT_H_
+#ifndef FSFW_POWER_POWERCOMPONENT_H_
+#define FSFW_POWER_POWERCOMPONENT_H_
 
-#include "../objectmanager/SystemObjectIF.h"
 #include "PowerComponentIF.h"
 
+#include "../objectmanager/frameworkObjects.h"
+#include "../objectmanager/SystemObjectIF.h"
+
+
 class PowerComponent: public PowerComponentIF {
 public:
-	PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max, uint8_t switchId1,
-			bool twoSwitches = false, uint8_t switchId2 = 0xFF);
+	PowerComponent(object_id_t setId, uint8_t moduleId, float min, float max,
+	        uint8_t switchId1, bool twoSwitches = false,
+	        uint8_t switchId2 = 0xFF);
 
 	virtual object_id_t getDeviceObjectId();
 
@@ -31,18 +35,18 @@ public:
 				ParameterWrapper *parameterWrapper,
 				const ParameterWrapper *newValues, uint16_t startAtIndex);
 private:
-	const object_id_t deviceObjectId;
+	const object_id_t deviceObjectId = objects::NO_OBJECT;
 	const uint8_t switchId1;
 	const uint8_t switchId2;
 
 	const bool doIHaveTwoSwitches;
 
-	float min;
-	float max;
+	float min = 0.0;
+	float max = 0.0;
 
-	uint8_t moduleId;
+	uint8_t moduleId = 0;
 
 	PowerComponent();
 };
 
-#endif /* POWERCOMPONENT_H_ */
+#endif /* FSFW_POWER_POWERCOMPONENT_H_ */
diff --git a/power/PowerComponentIF.h b/power/PowerComponentIF.h
index c2e3a6a5..f35b4d1d 100644
--- a/power/PowerComponentIF.h
+++ b/power/PowerComponentIF.h
@@ -1,24 +1,23 @@
-#ifndef POWERCOMPONENTIF_H_
-#define POWERCOMPONENTIF_H_
+#ifndef FSFW_POWER_POWERCOMPONENTIF_H_
+#define FSFW_POWER_POWERCOMPONENTIF_H_
 
 #include "../serialize/SerializeIF.h"
 #include "../parameters/HasParametersIF.h"
+#include "../objectmanager/SystemObjectIF.h"
 
 class PowerComponentIF : public SerializeIF, public HasParametersIF {
 public:
-	virtual ~PowerComponentIF() {
+	virtual ~PowerComponentIF() {}
 
-	}
+	virtual object_id_t getDeviceObjectId() = 0;
 
-	virtual object_id_t getDeviceObjectId()=0;
-
-	virtual uint8_t getSwitchId1()=0;
-	virtual uint8_t getSwitchId2()=0;
-	virtual bool hasTwoSwitches()=0;
+	virtual uint8_t getSwitchId1() = 0;
+	virtual uint8_t getSwitchId2() = 0;
+	virtual bool hasTwoSwitches() = 0;
 
 	virtual float getMin() = 0;
 	virtual float getMax() = 0;
 
 };
 
-#endif /* POWERCOMPONENTIF_H_ */
+#endif /* FSFW_POWER_POWERCOMPONENTIF_H_ */
diff --git a/power/PowerSensor.cpp b/power/PowerSensor.cpp
index 50cb6acd..1ef041e3 100644
--- a/power/PowerSensor.cpp
+++ b/power/PowerSensor.cpp
@@ -1,14 +1,18 @@
 #include "PowerSensor.h"
+
 #include "../ipc/QueueFactory.h"
 
-PowerSensor::PowerSensor(object_id_t setId, VariableIds ids,
+PowerSensor::PowerSensor(object_id_t objectId, sid_t setId,  VariableIds ids,
 		DefaultLimits limits, SensorEvents events, uint16_t confirmationCount) :
-		SystemObject(setId), commandQueue(NULL), parameterHelper(this), healthHelper(this, setId), set(), current(
-				ids.pidCurrent, &set), voltage(ids.pidVoltage, &set), power(
-				ids.poolIdPower, &set, PoolVariableIF::VAR_WRITE), currentLimit(
-				setId, MODULE_ID_CURRENT, ids.pidCurrent, confirmationCount,
+		SystemObject(objectId), parameterHelper(this),
+		healthHelper(this, objectId),
+		powerSensorSet(setId), current(ids.pidCurrent, &powerSensorSet),
+		voltage(ids.pidVoltage, &powerSensorSet),
+		power(ids.poolIdPower, &powerSensorSet, PoolVariableIF::VAR_WRITE),
+		currentLimit(objectId, MODULE_ID_CURRENT, ids.pidCurrent, confirmationCount,
 				limits.currentMin, limits.currentMax, events.currentLow,
-				events.currentHigh), voltageLimit(setId, MODULE_ID_VOLTAGE,
+				events.currentHigh),
+		voltageLimit(objectId, MODULE_ID_VOLTAGE,
 				ids.pidVoltage, confirmationCount, limits.voltageMin,
 				limits.voltageMax, events.voltageLow, events.voltageHigh) {
 		commandQueue = QueueFactory::instance()->createMessageQueue();
@@ -19,13 +23,13 @@ PowerSensor::~PowerSensor() {
 }
 
 ReturnValue_t PowerSensor::calculatePower() {
-	set.read();
+	powerSensorSet.read();
 	ReturnValue_t result1 = HasReturnvaluesIF::RETURN_FAILED;
 	ReturnValue_t result2 = HasReturnvaluesIF::RETURN_FAILED;
 	if (healthHelper.healthTable->isHealthy(getObjectId()) && voltage.isValid()
 			&& current.isValid()) {
-		result1 = voltageLimit.doCheck(voltage);
-		result2 = currentLimit.doCheck(current);
+		result1 = voltageLimit.doCheck(voltage.value);
+		result2 = currentLimit.doCheck(current.value);
 	} else {
 		voltageLimit.setToInvalid();
 		currentLimit.setToInvalid();
@@ -37,9 +41,9 @@ ReturnValue_t PowerSensor::calculatePower() {
 		power.setValid(PoolVariableIF::INVALID);
 	} else {
 		power.setValid(PoolVariableIF::VALID);
-		power = current * voltage;
+		power.value = current.value * voltage.value;
 	}
-	set.commit();
+	powerSensorSet.commit();
 	return result1;
 }
 
@@ -92,8 +96,8 @@ void PowerSensor::checkCommandQueue() {
 }
 
 void PowerSensor::setDataPoolEntriesInvalid() {
-	set.read();
-	set.commit(PoolVariableIF::INVALID);
+	powerSensorSet.read();
+	powerSensorSet.commit(PoolVariableIF::INVALID);
 }
 
 float PowerSensor::getPower() {
diff --git a/power/PowerSensor.h b/power/PowerSensor.h
index 0f973e45..a0ccb1ca 100644
--- a/power/PowerSensor.h
+++ b/power/PowerSensor.h
@@ -1,9 +1,7 @@
-#ifndef POWERSENSOR_H_
-#define POWERSENSOR_H_
+#ifndef FSFW_POWER_POWERSENSOR_H_
+#define FSFW_POWER_POWERSENSOR_H_
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PIDReader.h"
-#include "../datapool/PoolVariable.h"
+#include "../datapoollocal/StaticLocalDataSet.h"
 #include "../devicehandlers/HealthDevice.h"
 #include "../monitoring/LimitMonitor.h"
 #include "../parameters/ParameterHelper.h"
@@ -12,15 +10,18 @@
 
 class PowerController;
 
+/**
+ * @brief	Does magic.
+ */
 class PowerSensor: public SystemObject,
 		public ReceivesParameterMessagesIF,
 		public HasHealthIF {
 	friend class PowerController;
 public:
 	struct VariableIds {
-		uint32_t pidCurrent;
-		uint32_t pidVoltage;
-		uint32_t poolIdPower;
+		gp_id_t pidCurrent;
+		gp_id_t pidVoltage;
+		gp_id_t poolIdPower;
 	};
 	struct DefaultLimits {
 		float currentMin;
@@ -34,8 +35,9 @@ public:
 		Event voltageLow;
 		Event voltageHigh;
 	};
-	PowerSensor(object_id_t setId, VariableIds setIds, DefaultLimits limits,
-			SensorEvents events, uint16_t confirmationCount = 0);
+	PowerSensor(object_id_t objectId, sid_t sid, VariableIds setIds,
+			DefaultLimits limits, SensorEvents events,
+			uint16_t confirmationCount = 0);
 	virtual ~PowerSensor();
 	ReturnValue_t calculatePower();
 	ReturnValue_t performOperation(uint8_t opCode);
@@ -50,15 +52,19 @@ public:
 			ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex);
 private:
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
-	DataSet set;
+	//GlobDataSet set;
+	StaticLocalDataSet<3> powerSensorSet;
 	//Variables in
-	PIDReader<float> current;
-	PIDReader<float> voltage;
+	lp_var_t<float> current;
+	lp_var_t<float> voltage;
+	//PIDReader<float> current;
+	//PIDReader<float> voltage;
 	//Variables out
-	db_float_t power;
+	lp_var_t<float> power;
+	//gp_float_t power;
 
 	static const uint8_t MODULE_ID_CURRENT = 1;
 	static const uint8_t MODULE_ID_VOLTAGE = 2;
@@ -68,4 +74,4 @@ protected:
 	LimitMonitor<float> voltageLimit;
 };
 
-#endif /* POWERSENSOR_H_ */
+#endif /* FSFW_POWER_POWERSENSOR_H_ */
diff --git a/power/PowerSwitchIF.h b/power/PowerSwitchIF.h
index 40220fb6..1422baeb 100644
--- a/power/PowerSwitchIF.h
+++ b/power/PowerSwitchIF.h
@@ -1,18 +1,16 @@
-/**
- * @file	PowerSwitchIF.h
- * @brief	This file defines the PowerSwitchIF class.
- * @date	20.03.2013
- * @author	baetz
- */
-
-#ifndef POWERSWITCHIF_H_
-#define POWERSWITCHIF_H_
+#ifndef FSFW_POWER_POWERSWITCHIF_H_
+#define FSFW_POWER_POWERSWITCHIF_H_
 
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 /**
- * This interface defines a connection to a device that is capable of turning on and off
- * switches of devices identified by a switch ID.
+ *
+ * @brief   This interface defines a connection to a device that is capable of
+ *          turning on and off switches of devices identified by a switch ID.
+ * @details
+ * The virtual functions of this interface do not allow to make any assignments
+ * because they can be called asynchronosuly (const ending).
+ * @ingroup interfaces
  */
 class PowerSwitchIF : public HasReturnvaluesIF {
 public:
@@ -72,4 +70,4 @@ public:
 };
 
 
-#endif /* POWERSWITCHIF_H_ */
+#endif /* FSFW_POWER_POWERSWITCHIF_H_ */
diff --git a/power/PowerSwitcher.cpp b/power/PowerSwitcher.cpp
index 6296a04c..ed37998e 100644
--- a/power/PowerSwitcher.cpp
+++ b/power/PowerSwitcher.cpp
@@ -1,15 +1,17 @@
-#include "../objectmanager/ObjectManagerIF.h"
 #include "PowerSwitcher.h"
+
+#include "../objectmanager/ObjectManagerIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
 PowerSwitcher::PowerSwitcher(uint8_t setSwitch1, uint8_t setSwitch2,
-		PowerSwitcher::State_t setStartState) :
-		state(setStartState), firstSwitch(setSwitch1), secondSwitch(setSwitch2), power(NULL) {
+		PowerSwitcher::State_t setStartState):
+		state(setStartState), firstSwitch(setSwitch1),
+		secondSwitch(setSwitch2) {
 }
 
 ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
 	power = objectManager->get<PowerSwitchIF>(powerSwitchId);
-	if (power == NULL) {
+	if (power == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
@@ -17,19 +19,25 @@ ReturnValue_t PowerSwitcher::initialize(object_id_t powerSwitchId) {
 
 ReturnValue_t PowerSwitcher::getStateOfSwitches() {
 	SwitchReturn_t result = howManySwitches();
+
 	switch (result) {
 	case ONE_SWITCH:
 		return power->getSwitchState(firstSwitch);
-	case TWO_SWITCHES:
-		if ((power->getSwitchState(firstSwitch) == PowerSwitchIF::SWITCH_ON)
-				&& (power->getSwitchState(secondSwitch) == PowerSwitchIF::SWITCH_ON)) {
+	case TWO_SWITCHES: {
+	    ReturnValue_t firstSwitchState = power->getSwitchState(firstSwitch);
+	    ReturnValue_t secondSwitchState = power->getSwitchState(firstSwitch);
+		if ((firstSwitchState == PowerSwitchIF::SWITCH_ON)
+				&& (secondSwitchState == PowerSwitchIF::SWITCH_ON)) {
 			return PowerSwitchIF::SWITCH_ON;
-		} else if ((power->getSwitchState(firstSwitch) == PowerSwitchIF::SWITCH_OFF)
-				&& (power->getSwitchState(secondSwitch) == PowerSwitchIF::SWITCH_OFF)) {
+		}
+		else if ((firstSwitchState == PowerSwitchIF::SWITCH_OFF)
+				&& (secondSwitchState  == PowerSwitchIF::SWITCH_OFF)) {
 			return PowerSwitchIF::SWITCH_OFF;
-		} else {
+		}
+		else {
 			return HasReturnvaluesIF::RETURN_FAILED;
 		}
+	}
 	default:
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
diff --git a/power/PowerSwitcher.h b/power/PowerSwitcher.h
index 0f1c02de..f4e2138d 100644
--- a/power/PowerSwitcher.h
+++ b/power/PowerSwitcher.h
@@ -1,10 +1,13 @@
-#ifndef POWERSWITCHER_H_
-#define POWERSWITCHER_H_
+#ifndef FSFW_POWER_POWERSWITCHER_H_
+#define FSFW_POWER_POWERSWITCHER_H_
+
 #include "PowerSwitchIF.h"
+
+#include "../objectmanager/SystemObjectIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../timemanager/Countdown.h"
 
-class PowerSwitcher : public HasReturnvaluesIF {
+class PowerSwitcher: public HasReturnvaluesIF {
 public:
 	enum State_t {
 		WAIT_OFF,
@@ -16,7 +19,8 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::POWER_SWITCHER;
 	static const ReturnValue_t IN_POWER_TRANSITION = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t SWITCH_STATE_MISMATCH = MAKE_RETURN_CODE(2);
-	PowerSwitcher( uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH, State_t setStartState = SWITCH_IS_OFF );
+	PowerSwitcher( uint8_t setSwitch1, uint8_t setSwitch2 = NO_SWITCH,
+	        State_t setStartState = SWITCH_IS_OFF );
 	ReturnValue_t initialize(object_id_t powerSwitchId);
 	void turnOn();
 	void turnOff();
@@ -29,7 +33,8 @@ public:
 private:
 	uint8_t firstSwitch;
 	uint8_t secondSwitch;
-	PowerSwitchIF* power;
+	PowerSwitchIF* power = nullptr;
+
 	static const uint8_t NO_SWITCH = 0xFF;
 	enum SwitchReturn_t {
 		ONE_SWITCH = 1,
@@ -42,4 +47,4 @@ private:
 
 
 
-#endif /* POWERSWITCHER_H_ */
+#endif /* FSFW_POWER_POWERSWITCHER_H_ */

From 64cf0d0a7028313a5f5ad9429d9738964902762e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 3 Dec 2020 18:32:32 +0100
Subject: [PATCH 553/653] thermal update

---
 thermal/AbstractTemperatureSensor.cpp |  12 +-
 thermal/AbstractTemperatureSensor.h   |  10 +
 thermal/AcceptsThermalMessagesIF.h    |  22 ++
 thermal/Heater.cpp                    |  10 +-
 thermal/RedundantHeater.h             |  13 +-
 thermal/TemperatureSensor.h           | 138 +++++++++----
 thermal/ThermalComponent.cpp          |  59 +++---
 thermal/ThermalComponent.h            |  49 ++++-
 thermal/ThermalComponentCore.cpp      | 285 ++++++++++++++++++++++++++
 thermal/ThermalComponentCore.h        | 117 +++++++++++
 thermal/ThermalComponentIF.h          |  12 +-
 thermal/ThermalModule.cpp             |  84 ++++----
 thermal/ThermalModule.h               |  49 +++--
 thermal/ThermalMonitorReporter.cpp    |  75 +++++++
 thermal/ThermalMonitorReporter.h      |  28 +++
 thermal/tcsDefinitions.h              |   2 +-
 16 files changed, 796 insertions(+), 169 deletions(-)
 create mode 100644 thermal/AcceptsThermalMessagesIF.h
 create mode 100644 thermal/ThermalComponentCore.cpp
 create mode 100644 thermal/ThermalComponentCore.h
 create mode 100644 thermal/ThermalMonitorReporter.cpp
 create mode 100644 thermal/ThermalMonitorReporter.h

diff --git a/thermal/AbstractTemperatureSensor.cpp b/thermal/AbstractTemperatureSensor.cpp
index 45ebe4a2..40b305af 100644
--- a/thermal/AbstractTemperatureSensor.cpp
+++ b/thermal/AbstractTemperatureSensor.cpp
@@ -44,19 +44,19 @@ ReturnValue_t AbstractTemperatureSensor::performHealthOp() {
 }
 
 void AbstractTemperatureSensor::handleCommandQueue() {
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	CommandMessage command;
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		result = parameterHelper.handleParameterMessage(&message);
+		result = parameterHelper.handleParameterMessage(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		message.setToUnknownCommand();
-		commandQueue->reply(&message);
+		command.setToUnknownCommand();
+		commandQueue->reply(&command);
 	}
 }
 
diff --git a/thermal/AbstractTemperatureSensor.h b/thermal/AbstractTemperatureSensor.h
index 726ab9f4..cc064ce4 100644
--- a/thermal/AbstractTemperatureSensor.h
+++ b/thermal/AbstractTemperatureSensor.h
@@ -10,6 +10,16 @@
 #include "ThermalModuleIF.h"
 #include "tcsDefinitions.h"
 
+/**
+ * @defgroup thermal Thermal Components
+ * @brief Contains all components related to thermal tasks (sensors, heaters)
+ */
+
+/**
+ * @brief Base class for Temperature Sensor, implements all important interfaces.
+ *        Please use the TemperatureSensor class to implement the actual sensors.
+ * @ingroup thermal
+ */
 class AbstractTemperatureSensor: public HasHealthIF,
 		public SystemObject,
 		public ExecutableObjectIF,
diff --git a/thermal/AcceptsThermalMessagesIF.h b/thermal/AcceptsThermalMessagesIF.h
new file mode 100644
index 00000000..5fbd6bb3
--- /dev/null
+++ b/thermal/AcceptsThermalMessagesIF.h
@@ -0,0 +1,22 @@
+/**
+ * \file AcceptsThermalMessagesIF.h
+ *
+ * \date 16.02.2020
+ */
+
+#ifndef FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_
+#define FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_
+#include "../ipc/MessageQueueSenderIF.h"
+
+class AcceptsThermalMessagesIF {
+public:
+
+	/**
+	 * @brief	This is the empty virtual destructor as required for C++ interfaces.
+	 */
+	virtual ~AcceptsThermalMessagesIF() { }
+
+	virtual MessageQueueId_t getReceptionQueue() const = 0;
+};
+
+#endif /* FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_ */
diff --git a/thermal/Heater.cpp b/thermal/Heater.cpp
index 1301e2e0..ce965d5e 100644
--- a/thermal/Heater.cpp
+++ b/thermal/Heater.cpp
@@ -279,14 +279,14 @@ ReturnValue_t Heater::initialize() {
 }
 
 void Heater::handleQueue() {
-	CommandMessage message;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	CommandMessage command;
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		parameterHelper.handleParameterMessage(&message);
+		parameterHelper.handleParameterMessage(&command);
 	}
 }
 
@@ -301,7 +301,7 @@ ReturnValue_t Heater::getParameter(uint8_t domainId, uint16_t parameterId,
 		parameterWrapper->set(heaterOnCountdown.timeout);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/thermal/RedundantHeater.h b/thermal/RedundantHeater.h
index ab745a69..76537542 100644
--- a/thermal/RedundantHeater.h
+++ b/thermal/RedundantHeater.h
@@ -1,7 +1,7 @@
 #ifndef REDUNDANTHEATER_H_
 #define REDUNDANTHEATER_H_
 
-#include "Heater.h"
+#include "../thermal/Heater.h"
 
 class RedundantHeater {
 public:
@@ -10,15 +10,14 @@ public:
 		Parameters(uint32_t objectIdHeater0, uint32_t objectIdHeater1,
 				uint8_t switch0Heater0, uint8_t switch1Heater0,
 				uint8_t switch0Heater1, uint8_t switch1Heater1) :
-				objectIdHeater0(objectIdHeater0), objectIdHeater1(
-						objectIdHeater1), switch0Heater0(switch0Heater0), switch1Heater0(
-						switch1Heater0), switch0Heater1(switch0Heater1), switch1Heater1(
-						switch1Heater1) {
+				objectIdHeater0(objectIdHeater0), objectIdHeater1(objectIdHeater1),
+				switch0Heater0(switch0Heater0),switch1Heater0(switch1Heater0),
+				switch0Heater1(switch0Heater1), switch1Heater1(switch1Heater1) {
 		}
 
 		Parameters() :
-				objectIdHeater0(0), objectIdHeater1(0), switch0Heater0(0), switch1Heater0(
-						0), switch0Heater1(0), switch1Heater1(0) {
+				objectIdHeater0(0), objectIdHeater1(0), switch0Heater0(0),
+				switch1Heater0(0), switch0Heater1(0), switch1Heater1(0) {
 		}
 
 		uint32_t objectIdHeater0;
diff --git a/thermal/TemperatureSensor.h b/thermal/TemperatureSensor.h
index 356ca722..f41b3761 100644
--- a/thermal/TemperatureSensor.h
+++ b/thermal/TemperatureSensor.h
@@ -1,40 +1,101 @@
 #ifndef TEMPERATURESENSOR_H_
 #define TEMPERATURESENSOR_H_
 
-#include "../datapool/DataSet.h"
-#include "AbstractTemperatureSensor.h"
+#include "../thermal/AbstractTemperatureSensor.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../monitoring/LimitMonitor.h"
 
-template<typename T>
+/**
+ * @brief 	This building block handles non-linear value conversion and
+ * 			range checks for analog temperature sensors.
+ * @details This class can be used to perform all necessary tasks for temperature sensors.
+ *          A sensor can be instantiated by calling the constructor.
+ *          The temperature is calculated from an input value with
+ *			the calculateOutputTemperature() function. Range checking and
+ *			limit monitoring is performed automatically.
+ *			The inputType specifies the type of the raw input while the
+ *			limitType specifies the type of the upper and lower limit to check against.
+ * @ingroup thermal
+ */
+
+template<typename inputType, typename limitType = inputType>
 class TemperatureSensor: public AbstractTemperatureSensor {
 public:
+	/**
+	 * This structure contains parameters required for range checking
+	 * and the conversion from the input value to the output temperature.
+	 * a, b and c can be any parameters required to calculate the output
+	 * temperature from the input value, depending on the formula used.
+	 *
+	 * The parameters a,b and c are used in the calculateOutputTemperature() call.
+	 *
+	 * The lower and upper limits can be specified in any type, for example float for C values
+	 * or any other type for raw values.
+	 */
 	struct Parameters {
 		float a;
 		float b;
 		float c;
-		T lowerLimit;
-		T upperLimit;
-		float gradient;
+		limitType lowerLimit;
+		limitType upperLimit;
+		float maxGradient;
 	};
+
+	/**
+	 * Forward declaration for explicit instantiation of used parameters.
+	 */
 	struct UsedParameters {
 		UsedParameters(Parameters parameters) :
-				a(parameters.a), b(parameters.b), c(parameters.c), gradient(
-						parameters.gradient) {
-		}
+			a(parameters.a), b(parameters.b), c(parameters.c),
+			gradient(parameters.maxGradient) {}
 		float a;
 		float b;
 		float c;
 		float gradient;
 	};
 
-	static const uint16_t ADDRESS_A = 0;
-	static const uint16_t ADDRESS_B = 1;
-	static const uint16_t ADDRESS_C = 2;
-	static const uint16_t ADDRESS_GRADIENT = 3;
+	/**
+	 * Instantiate Temperature Sensor Object.
+	 * @param setObjectid objectId of the sensor object
+	 * @param inputValue Input value which is converted to a temperature
+	 * @param poolVariable Pool Variable to store the temperature value
+	 * @param vectorIndex Vector Index for the sensor monitor
+	 * @param parameters Calculation parameters, temperature limits, gradient limit
+	 * @param datapoolId Datapool ID of the output temperature
+	 * @param outputSet Output dataset for the output temperature to fetch it with read()
+	 * @param thermalModule respective thermal module, if it has one
+	 */
+	TemperatureSensor(object_id_t setObjectid,
+			inputType *inputValue, PoolVariableIF *poolVariable,
+			uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0},
+			GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
+			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
+			inputValue(inputValue), poolVariable(poolVariable),
+			outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE),
+			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR,
+				GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex),
+				DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
+				TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
+			oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
+	}
+
+
+protected:
+	/**
+	 * This formula is used to calculate the temperature from an input value
+	 * with an arbitrary type.
+	 * A default implementation is provided but can be replaced depending
+	 * on the required calculation.
+	 * @param inputTemperature
+	 * @return
+	 */
+	virtual float calculateOutputTemperature(inputType inputValue) {
+		return parameters.a * inputValue * inputValue
+				+ parameters.b * inputValue + parameters.c;
+	}
 
-	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)
 
-	static const uint8_t DOMAIN_ID_SENSOR = 1;
 private:
 	void setInvalid() {
 		outputTemperature = INVALID_TEMPERATURE;
@@ -47,22 +108,17 @@ protected:
 
 	UsedParameters parameters;
 
-	T *inputTemperature;
+	inputType * inputValue;
 
 	PoolVariableIF *poolVariable;
 
-	PoolVariable<float> outputTemperature;
+	gp_float_t outputTemperature;
 
-	LimitMonitor<T> sensorMonitor;
+	LimitMonitor<limitType> sensorMonitor;
 
 	float oldTemperature;
 	timeval uptimeOfOldTemperature;
 
-	virtual float calculateOutputTemperature(T inputTemperature) {
-		return parameters.a * inputTemperature * inputTemperature
-				+ parameters.b * inputTemperature + parameters.c;
-	}
-
 	void doChildOperation() {
 		if (!poolVariable->isValid()
 				|| !healthHelper.healthTable->isHealthy(getObjectId())) {
@@ -70,7 +126,7 @@ protected:
 			return;
 		}
 
-		outputTemperature = calculateOutputTemperature(*inputTemperature);
+		outputTemperature = calculateOutputTemperature(*inputValue);
 		outputTemperature.setValid(PoolVariableIF::VALID);
 
 		timeval uptime;
@@ -78,7 +134,7 @@ protected:
 
 		if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) {
 			//In theory, we could use an AbsValueMonitor to monitor the gradient.
-			//But this would require storing the gradient in DP and quite some overhead.
+			//But this would require storing the maxGradient in DP and quite some overhead.
 			//The concept of delta limits is a bit strange anyway.
 			float deltaTime;
 			float deltaTemp;
@@ -96,8 +152,8 @@ protected:
 			}
 		}
 
-		//Check is done against raw limits. SHOULDDO: Why? Using °C would be more easy to handle.
-		sensorMonitor.doCheck(*inputTemperature);
+		//Check is done against raw limits. SHOULDDO: Why? Using �C would be more easy to handle.
+		sensorMonitor.doCheck(outputTemperature.value);
 
 		if (sensorMonitor.isOutOfLimits()) {
 			uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
@@ -110,23 +166,6 @@ protected:
 	}
 
 public:
-	TemperatureSensor(object_id_t setObjectid,
-			T *inputTemperature, PoolVariableIF *poolVariable,
-			uint8_t vectorIndex, Parameters parameters, uint32_t datapoolId,
-			DataSet *outputSet, ThermalModuleIF *thermalModule) :
-			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(
-					parameters), inputTemperature(inputTemperature), poolVariable(
-					poolVariable), outputTemperature(datapoolId, outputSet,
-					PoolVariableIF::VAR_WRITE), sensorMonitor(setObjectid,
-							DOMAIN_ID_SENSOR,
-					DataPool::poolIdAndPositionToPid(
-							poolVariable->getDataPoolId(), vectorIndex),
-					DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit,
-					parameters.upperLimit, TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH), oldTemperature(
-					20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
-
-	}
-
 	float getTemperature() {
 		return outputTemperature;
 	}
@@ -135,6 +174,15 @@ public:
 		return outputTemperature.isValid();
 	}
 
+	static const uint16_t ADDRESS_A = 0;
+	static const uint16_t ADDRESS_B = 1;
+	static const uint16_t ADDRESS_C = 2;
+	static const uint16_t ADDRESS_GRADIENT = 3;
+
+	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)
+
+	static const uint8_t DOMAIN_ID_SENSOR = 1;
+
 	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 			ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex) {
@@ -160,7 +208,7 @@ public:
 			parameterWrapper->set(parameters.gradient);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}
diff --git a/thermal/ThermalComponent.cpp b/thermal/ThermalComponent.cpp
index 5dcd0bc6..084201dd 100644
--- a/thermal/ThermalComponent.cpp
+++ b/thermal/ThermalComponent.cpp
@@ -1,48 +1,46 @@
 #include "ThermalComponent.h"
 
 ThermalComponent::ThermalComponent(object_id_t reportingObjectId,
-		uint8_t domainId, uint32_t temperaturePoolId,
-		uint32_t targetStatePoolId, uint32_t currentStatePoolId,
-		uint32_t requestPoolId, DataSet* dataSet,
+		uint8_t domainId, gp_id_t temperaturePoolId,
+		gp_id_t targetStatePoolId, gp_id_t currentStatePoolId,
+		gp_id_t requestPoolId, LocalPoolDataSetBase* dataSet,
 		AbstractTemperatureSensor* sensor,
 		AbstractTemperatureSensor* firstRedundantSensor,
 		AbstractTemperatureSensor* secondRedundantSensor,
 		ThermalModuleIF* thermalModule, Parameters parameters,
 		Priority priority) :
-		CoreComponent(reportingObjectId, domainId, temperaturePoolId,
+		ThermalComponentCore(reportingObjectId, domainId, temperaturePoolId,
 				targetStatePoolId, currentStatePoolId, requestPoolId, dataSet,
-				sensor, firstRedundantSensor, secondRedundantSensor,
-				thermalModule,
 				{ parameters.lowerOpLimit, parameters.upperOpLimit,
-						parameters.heaterOn, parameters.hysteresis,
-						parameters.heaterSwitchoff }, priority,
-				ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL), nopParameters(
-				{ parameters.lowerNopLimit, parameters.upperNopLimit }) {
+				parameters.heaterOn, parameters.hysteresis,
+				parameters.heaterSwitchoff },
+				ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
+		nopParameters({ parameters.lowerNopLimit, parameters.upperNopLimit }) {
 }
 
 ThermalComponent::~ThermalComponent() {
 }
 
 ReturnValue_t ThermalComponent::setTargetState(int8_t newState) {
-	DataSet mySet;
-	PoolVariable<int8_t> writableTargetState(targetState.getDataPoolId(),
-			&mySet, PoolVariableIF::VAR_READ_WRITE);
-	mySet.read();
-	if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
-			&& (newState != STATE_REQUEST_IGNORE)) {
+	targetState.setReadWriteMode(pool_rwm_t::VAR_READ_WRITE);
+	targetState.read();
+	if ((targetState == STATE_REQUEST_OPERATIONAL)
+			and (newState != STATE_REQUEST_IGNORE)) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	switch (newState) {
 	case STATE_REQUEST_NON_OPERATIONAL:
-		writableTargetState = newState;
-		mySet.commit(PoolVariableIF::VALID);
+		targetState = newState;
+		targetState.setValid(true);
+		targetState.commit(PoolVariableIF::VALID);
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
-		return CoreComponent::setTargetState(newState);
+		return ThermalComponentCore::setTargetState(newState);
 	}
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) {
+ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
 	if (size != 4 * sizeof(parameters.lowerOpLimit)) {
 		return MonitoringIF::INVALID_SIZE;
 	}
@@ -59,11 +57,11 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, uint32_t size) {
 }
 
 ThermalComponentIF::State ThermalComponent::getState(float temperature,
-		CoreComponent::Parameters parameters, int8_t targetState) {
+		ThermalComponentCore::Parameters parameters, int8_t targetState) {
 	if (temperature < nopParameters.lowerNopLimit) {
 		return OUT_OF_RANGE_LOW;
 	} else {
-		State state = CoreComponent::getState(temperature, parameters,
+		State state = ThermalComponentCore::getState(temperature, parameters,
 				targetState);
 		if (state != NON_OPERATIONAL_HIGH
 				&& state != NON_OPERATIONAL_HIGH_IGNORED) {
@@ -80,18 +78,19 @@ ThermalComponentIF::State ThermalComponent::getState(float temperature,
 }
 
 void ThermalComponent::checkLimits(ThermalComponentIF::State state) {
-	if (targetState == STATE_REQUEST_OPERATIONAL || targetState == STATE_REQUEST_IGNORE) {
-		CoreComponent::checkLimits(state);
+	if ((targetState == STATE_REQUEST_OPERATIONAL) or
+			(targetState == STATE_REQUEST_IGNORE)) {
+		ThermalComponentCore::checkLimits(state);
 		return;
 	}
-	//If component is not operational, it checks the NOP limits.
+	// If component is not operational, it checks the NOP limits.
 	temperatureMonitor.translateState(state, temperature.value,
 			nopParameters.lowerNopLimit, nopParameters.upperNopLimit, false);
 }
 
 ThermalComponentIF::HeaterRequest ThermalComponent::getHeaterRequest(
 		int8_t targetState, float temperature,
-		CoreComponent::Parameters parameters) {
+		ThermalComponentCore::Parameters parameters) {
 	if (targetState == STATE_REQUEST_IGNORE) {
 		isHeating = false;
 		return HEATER_DONT_CARE;
@@ -144,16 +143,16 @@ ThermalComponentIF::State ThermalComponent::getIgnoredState(int8_t state) {
 	case OUT_OF_RANGE_HIGH_IGNORED:
 		return OUT_OF_RANGE_HIGH_IGNORED;
 	default:
-		return CoreComponent::getIgnoredState(state);
+		return ThermalComponentCore::getIgnoredState(state);
 	}
 }
 
 ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
 		uint16_t parameterId, ParameterWrapper* parameterWrapper,
 		const ParameterWrapper* newValues, uint16_t startAtIndex) {
-	ReturnValue_t result = CoreComponent::getParameter(domainId, parameterId,
+	ReturnValue_t result = ThermalComponentCore::getParameter(domainId, parameterId,
 			parameterWrapper, newValues, startAtIndex);
-	if (result != INVALID_MATRIX_ID) {
+	if (result != INVALID_IDENTIFIER_ID) {
 		return result;
 	}
 	switch (parameterId) {
@@ -164,7 +163,7 @@ ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
 		parameterWrapper->set(nopParameters.upperNopLimit);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/thermal/ThermalComponent.h b/thermal/ThermalComponent.h
index 93243868..0785a914 100644
--- a/thermal/ThermalComponent.h
+++ b/thermal/ThermalComponent.h
@@ -1,9 +1,14 @@
-#ifndef THERMALCOMPONENT_H_
-#define THERMALCOMPONENT_H_
+#ifndef FSFW_THERMAL_THERMALCOMPONENT_H_
+#define FSFW_THERMAL_THERMALCOMPONENT_H_
 
-#include "CoreComponent.h"
+#include "ThermalComponentCore.h"
 
-class ThermalComponent: public CoreComponent {
+/**
+ * @brief
+ * @details
+ * Some more documentation.
+ */
+class ThermalComponent: public ThermalComponentCore {
 public:
 	struct Parameters {
 		float lowerNopLimit;
@@ -14,13 +19,35 @@ public:
 		float hysteresis;
 		float heaterSwitchoff;
 	};
+
+	/**
+	 * Non-Operational Temperatures
+	 */
 	struct NopParameters {
 		float lowerNopLimit;
 		float upperNopLimit;
 	};
-	ThermalComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
-			uint32_t targetStatePoolId, uint32_t currentStatePoolId, uint32_t requestPoolId,
-			DataSet *dataSet, AbstractTemperatureSensor *sensor,
+
+	/**
+	 * How to use.
+	 * @param reportingObjectId
+	 * @param domainId
+	 * @param temperaturePoolId
+	 * @param targetStatePoolId
+	 * @param currentStatePoolId
+	 * @param requestPoolId
+	 * @param dataSet
+	 * @param sensor
+	 * @param firstRedundantSensor
+	 * @param secondRedundantSensor
+	 * @param thermalModule
+	 * @param parameters
+	 * @param priority
+	 */
+	ThermalComponent(object_id_t reportingObjectId, uint8_t domainId,
+	        gp_id_t temperaturePoolId, gp_id_t targetStatePoolId,
+	        gp_id_t currentStatePoolId, gp_id_t requestPoolId,
+			LocalPoolDataSetBase *dataSet, AbstractTemperatureSensor *sensor,
 			AbstractTemperatureSensor *firstRedundantSensor,
 			AbstractTemperatureSensor *secondRedundantSensor,
 			ThermalModuleIF *thermalModule, Parameters parameters,
@@ -29,7 +56,7 @@ public:
 
 	ReturnValue_t setTargetState(int8_t newState);
 
-	virtual ReturnValue_t setLimits( const uint8_t* data, uint32_t size);
+	virtual ReturnValue_t setLimits( const uint8_t* data, size_t size);
 
 	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 				ParameterWrapper *parameterWrapper,
@@ -39,15 +66,15 @@ protected:
 
 	NopParameters nopParameters;
 
-	State getState(float temperature, CoreComponent::Parameters parameters,
+	State getState(float temperature, ThermalComponentCore::Parameters parameters,
 			int8_t targetState);
 
 	virtual void checkLimits(State state);
 
 	virtual HeaterRequest getHeaterRequest(int8_t targetState, float temperature,
-			CoreComponent::Parameters parameters);
+			ThermalComponentCore::Parameters parameters);
 
 	State getIgnoredState(int8_t state);
 };
 
-#endif /* THERMALCOMPONENT_H_ */
+#endif /* FSFW_THERMAL_THERMALCOMPONENT_H_ */
diff --git a/thermal/ThermalComponentCore.cpp b/thermal/ThermalComponentCore.cpp
new file mode 100644
index 00000000..7b594d0c
--- /dev/null
+++ b/thermal/ThermalComponentCore.cpp
@@ -0,0 +1,285 @@
+#include "ThermalComponentCore.h"
+
+ThermalComponentCore::ThermalComponentCore(object_id_t reportingObjectId,
+        uint8_t domainId, gp_id_t temperaturePoolId,
+        gp_id_t targetStatePoolId, gp_id_t currentStatePoolId,
+		gp_id_t requestPoolId, LocalPoolDataSetBase* dataSet,
+		Parameters parameters, StateRequest initialTargetState) :
+		temperature(temperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		targetState(targetStatePoolId, dataSet, PoolVariableIF::VAR_READ),
+		currentState(currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		heaterRequest(requestPoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		parameters(parameters), domainId(domainId),
+		temperatureMonitor(reportingObjectId, domainId + 1,temperaturePoolId,
+				COMPONENT_TEMP_CONFIRMATION) {
+	//Set thermal state once, then leave to operator.
+	targetState.setReadWriteMode(PoolVariableIF::VAR_WRITE);
+	ReturnValue_t result = targetState.read();
+	if(result == HasReturnvaluesIF::RETURN_OK) {
+		targetState = initialTargetState;
+		targetState.setValid(true);
+		targetState.commit();
+	}
+	targetState.setReadWriteMode(PoolVariableIF::VAR_READ);
+}
+
+void ThermalComponentCore::addSensor(AbstractTemperatureSensor* sensor) {
+    this->sensor = sensor;
+}
+
+void ThermalComponentCore::addFirstRedundantSensor(
+        AbstractTemperatureSensor *firstRedundantSensor) {
+    this->firstRedundantSensor = firstRedundantSensor;
+}
+
+void ThermalComponentCore::addSecondRedundantSensor(
+        AbstractTemperatureSensor *secondRedundantSensor) {
+    this->secondRedundantSensor = secondRedundantSensor;
+}
+
+void ThermalComponentCore::addThermalModule(ThermalModule *thermalModule,
+        Priority priority) {
+    this->thermalModule = thermalModule;
+    if(thermalModule != nullptr) {
+        thermalModule->registerComponent(this, priority);
+    }
+}
+
+void ThermalComponentCore::setPriority(Priority priority) {
+    if(priority == SAFE) {
+        this->isSafeComponent = true;
+    }
+}
+
+ThermalComponentCore::~ThermalComponentCore() {
+}
+
+ThermalComponentIF::HeaterRequest ThermalComponentCore::performOperation(
+        uint8_t opCode) {
+	HeaterRequest request = HEATER_DONT_CARE;
+	//SHOULDDO: Better pass db_float_t* to getTemperature and set it invalid if invalid.
+	temperature = getTemperature();
+	updateMinMaxTemp();
+	if (temperature != INVALID_TEMPERATURE) {
+		temperature.setValid(PoolVariableIF::VALID);
+		State state = getState(temperature.value, getParameters(),
+				targetState.value);
+		currentState = state;
+		checkLimits(state);
+		request = getHeaterRequest(targetState.value, temperature.value,
+				getParameters());
+	} else {
+		temperatureMonitor.setToInvalid();
+		temperature.setValid(PoolVariableIF::INVALID);
+		currentState = UNKNOWN;
+		request = HEATER_DONT_CARE;
+	}
+	currentState.setValid(PoolVariableIF::VALID);
+	heaterRequest = request;
+	heaterRequest.setValid(PoolVariableIF::VALID);
+	return request;
+}
+
+void ThermalComponentCore::markStateIgnored() {
+	currentState = getIgnoredState(currentState.value);
+}
+
+object_id_t ThermalComponentCore::getObjectId() {
+	return temperatureMonitor.getReporterId();
+	return 0;
+}
+
+float ThermalComponentCore::getLowerOpLimit() {
+	return parameters.lowerOpLimit;
+}
+
+
+
+ReturnValue_t ThermalComponentCore::setTargetState(int8_t newState) {
+	targetState.setReadWriteMode(pool_rwm_t::VAR_READ_WRITE);
+	targetState.read();
+	if((targetState == STATE_REQUEST_OPERATIONAL) and
+			(newState != STATE_REQUEST_IGNORE)) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	switch (newState) {
+	case STATE_REQUEST_HEATING:
+	case STATE_REQUEST_IGNORE:
+	case STATE_REQUEST_OPERATIONAL:
+		targetState = newState;
+		break;
+	case STATE_REQUEST_NON_OPERATIONAL:
+	default:
+		return INVALID_TARGET_STATE;
+	}
+	targetState.setValid(true);
+	targetState.commit();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void ThermalComponentCore::setOutputInvalid() {
+	temperature = INVALID_TEMPERATURE;
+	temperature.setValid(PoolVariableIF::INVALID);
+	currentState.setValid(PoolVariableIF::INVALID);
+	heaterRequest = HEATER_DONT_CARE;
+	heaterRequest.setValid(PoolVariableIF::INVALID);
+	temperatureMonitor.setToUnchecked();
+}
+
+float ThermalComponentCore::getTemperature() {
+	if ((sensor != nullptr) && (sensor->isValid())) {
+		return sensor->getTemperature();
+	}
+
+	if ((firstRedundantSensor != nullptr) &&
+	        (firstRedundantSensor->isValid())) {
+		return firstRedundantSensor->getTemperature();
+	}
+
+	if ((secondRedundantSensor != nullptr) &&
+	        (secondRedundantSensor->isValid())) {
+		return secondRedundantSensor->getTemperature();
+	}
+
+	if (thermalModule != nullptr) {
+		float temperature = thermalModule->getTemperature();
+		if (temperature != ThermalModuleIF::INVALID_TEMPERATURE) {
+			return temperature;
+		} else {
+			return INVALID_TEMPERATURE;
+		}
+	} else {
+		return INVALID_TEMPERATURE;
+	}
+}
+
+ThermalComponentIF::State ThermalComponentCore::getState(float temperature,
+		Parameters parameters, int8_t targetState) {
+	ThermalComponentIF::State state;
+
+	if (temperature < parameters.lowerOpLimit) {
+		state = NON_OPERATIONAL_LOW;
+	} else if (temperature < parameters.upperOpLimit) {
+		state = OPERATIONAL;
+	} else {
+		state = NON_OPERATIONAL_HIGH;
+	}
+	if (targetState == STATE_REQUEST_IGNORE) {
+		state = getIgnoredState(state);
+	}
+
+	return state;
+}
+
+void ThermalComponentCore::checkLimits(ThermalComponentIF::State state) {
+	//Checks operational limits only.
+	temperatureMonitor.translateState(state, temperature.value,
+			getParameters().lowerOpLimit, getParameters().upperOpLimit);
+
+}
+
+ThermalComponentIF::HeaterRequest ThermalComponentCore::getHeaterRequest(
+		int8_t targetState, float temperature, Parameters parameters) {
+	if (targetState == STATE_REQUEST_IGNORE) {
+		isHeating = false;
+		return HEATER_DONT_CARE;
+	}
+
+	if (temperature > parameters.upperOpLimit - parameters.heaterSwitchoff) {
+		isHeating = false;
+		return HEATER_REQUEST_EMERGENCY_OFF;
+	}
+
+	float opHeaterLimit = parameters.lowerOpLimit + parameters.heaterOn;
+
+	if (isHeating) {
+		opHeaterLimit += parameters.hysteresis;
+	}
+
+	if (temperature < opHeaterLimit) {
+		isHeating = true;
+		return HEATER_REQUEST_EMERGENCY_ON;
+	}
+	isHeating = false;
+	return HEATER_DONT_CARE;
+}
+
+ThermalComponentIF::State ThermalComponentCore::getIgnoredState(int8_t state) {
+	switch (state) {
+	case NON_OPERATIONAL_LOW:
+		return NON_OPERATIONAL_LOW_IGNORED;
+	case OPERATIONAL:
+		return OPERATIONAL_IGNORED;
+	case NON_OPERATIONAL_HIGH:
+		return NON_OPERATIONAL_HIGH_IGNORED;
+	case NON_OPERATIONAL_LOW_IGNORED:
+		return NON_OPERATIONAL_LOW_IGNORED;
+	case OPERATIONAL_IGNORED:
+		return OPERATIONAL_IGNORED;
+	case NON_OPERATIONAL_HIGH_IGNORED:
+		return NON_OPERATIONAL_HIGH_IGNORED;
+	default:
+	case UNKNOWN:
+		return UNKNOWN;
+	}
+}
+
+void ThermalComponentCore::updateMinMaxTemp() {
+	if (temperature == INVALID_TEMPERATURE) {
+		return;
+	}
+	if (temperature < minTemp) {
+		minTemp = static_cast<float>(temperature);
+	}
+	if (temperature > maxTemp) {
+		maxTemp = static_cast<float>(temperature);
+	}
+}
+
+uint8_t ThermalComponentCore::getDomainId() const {
+	return domainId;
+}
+
+ThermalComponentCore::Parameters ThermalComponentCore::getParameters() {
+	return parameters;
+}
+
+ReturnValue_t ThermalComponentCore::getParameter(uint8_t domainId,
+		uint16_t parameterId, ParameterWrapper* parameterWrapper,
+		const ParameterWrapper* newValues, uint16_t startAtIndex) {
+	ReturnValue_t result = temperatureMonitor.getParameter(domainId,
+			parameterId, parameterWrapper, newValues, startAtIndex);
+	if (result != INVALID_DOMAIN_ID) {
+		return result;
+	}
+	if (domainId != this->domainId) {
+		return INVALID_DOMAIN_ID;
+	}
+	switch (parameterId) {
+	case 0:
+		parameterWrapper->set(parameters.heaterOn);
+		break;
+	case 1:
+		parameterWrapper->set(parameters.hysteresis);
+		break;
+	case 2:
+		parameterWrapper->set(parameters.heaterSwitchoff);
+		break;
+	case 3:
+		parameterWrapper->set(minTemp);
+		break;
+	case 4:
+		parameterWrapper->set(maxTemp);
+		break;
+	case 10:
+		parameterWrapper->set(parameters.lowerOpLimit);
+		break;
+	case 11:
+		parameterWrapper->set(parameters.upperOpLimit);
+		break;
+	default:
+		return INVALID_IDENTIFIER_ID;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
diff --git a/thermal/ThermalComponentCore.h b/thermal/ThermalComponentCore.h
new file mode 100644
index 00000000..da9424e6
--- /dev/null
+++ b/thermal/ThermalComponentCore.h
@@ -0,0 +1,117 @@
+#ifndef FSFW_THERMAL_THERMALCOMPONENTCORE_H_
+#define FSFW_THERMAL_THERMALCOMPONENTCORE_H_
+
+#include "ThermalMonitorReporter.h"
+#include "ThermalComponentIF.h"
+#include "AbstractTemperatureSensor.h"
+#include "ThermalModule.h"
+
+#include "../datapoollocal/LocalPoolVariable.h"
+
+/**
+ * @brief
+ * @details
+ */
+class ThermalComponentCore: public ThermalComponentIF {
+public:
+	struct Parameters {
+		float lowerOpLimit;
+		float upperOpLimit;
+		float heaterOn;
+		float hysteresis;
+		float heaterSwitchoff;
+	};
+
+	static const uint16_t COMPONENT_TEMP_CONFIRMATION = 5;
+
+	/**
+	 * Some documentation
+	 * @param reportingObjectId
+	 * @param domainId
+	 * @param temperaturePoolId
+	 * @param targetStatePoolId
+	 * @param currentStatePoolId
+	 * @param requestPoolId
+	 * @param dataSet
+	 * @param parameters
+	 * @param initialTargetState
+	 */
+	ThermalComponentCore(object_id_t reportingObjectId, uint8_t domainId,
+	        gp_id_t temperaturePoolId, gp_id_t targetStatePoolId,
+	        gp_id_t currentStatePoolId, gp_id_t requestPoolId,
+			LocalPoolDataSetBase* dataSet, Parameters parameters,
+			StateRequest initialTargetState =
+					ThermalComponentIF::STATE_REQUEST_OPERATIONAL);
+
+	void addSensor(AbstractTemperatureSensor* firstRedundantSensor);
+	void addFirstRedundantSensor(
+	        AbstractTemperatureSensor* firstRedundantSensor);
+    void addSecondRedundantSensor(
+            AbstractTemperatureSensor* secondRedundantSensor);
+    void addThermalModule(ThermalModule* thermalModule, Priority priority);
+
+    void setPriority(Priority priority);
+
+	virtual ~ThermalComponentCore();
+
+	virtual HeaterRequest performOperation(uint8_t opCode);
+
+	void markStateIgnored();
+
+	object_id_t getObjectId();
+
+	uint8_t getDomainId() const;
+
+	virtual float getLowerOpLimit();
+
+	ReturnValue_t setTargetState(int8_t newState);
+
+	virtual void setOutputInvalid();
+
+	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+			ParameterWrapper *parameterWrapper,
+			const ParameterWrapper *newValues, uint16_t startAtIndex);
+
+protected:
+
+	AbstractTemperatureSensor *sensor = nullptr;
+	AbstractTemperatureSensor *firstRedundantSensor = nullptr;
+	AbstractTemperatureSensor *secondRedundantSensor = nullptr;
+	ThermalModuleIF *thermalModule = nullptr;
+
+	lp_var_t<float> temperature;
+	lp_var_t<int8_t> targetState;
+	lp_var_t<int8_t> currentState;
+	lp_var_t<uint8_t> heaterRequest;
+
+	bool isHeating = false;
+
+	bool isSafeComponent = false;
+
+	float minTemp = 999;
+
+	float maxTemp = AbstractTemperatureSensor::ZERO_KELVIN_C;
+
+	Parameters parameters;
+
+	const uint8_t domainId;
+
+	ThermalMonitorReporter temperatureMonitor;
+
+	virtual float getTemperature();
+	virtual State getState(float temperature, Parameters parameters,
+			int8_t targetState);
+
+	virtual void checkLimits(State state);
+
+	virtual HeaterRequest getHeaterRequest(int8_t targetState,
+			float temperature, Parameters parameters);
+
+	virtual State getIgnoredState(int8_t state);
+
+	void updateMinMaxTemp();
+
+	virtual Parameters getParameters();
+};
+
+#endif /* FSFW_THERMAL_THERMALCOMPONENT_CORE_H_ */
diff --git a/thermal/ThermalComponentIF.h b/thermal/ThermalComponentIF.h
index 522d4e44..16739e36 100644
--- a/thermal/ThermalComponentIF.h
+++ b/thermal/ThermalComponentIF.h
@@ -49,18 +49,18 @@ public:
 		SAFE = 0,             //!< SAFE
 		IDLE,                 //!< IDLE
 		PAYLOAD,              //!< PAYLOAD
-		NUMBER_OF_PRIORITIES          //!< MAX_PRIORITY
+		NUMBER_OF_PRIORITIES  //!< MAX_PRIORITY
 	};
 
 	/**
 	 * The elements are ordered by priority, lowest have highest priority
 	 */
 	enum HeaterRequest {
-		HEATER_REQUEST_EMERGENCY_OFF = 0,          //!< REQUEST_EMERGENCY_OFF
-		HEATER_REQUEST_EMERGENCY_ON, //!< REQUEST_EMERGENCY_ON
-		HEATER_REQUEST_OFF,          //!< REQUEST_OFF
-		HEATER_REQUEST_ON,           //!< REQUEST_ON
-		HEATER_DONT_CARE             //!< DONT_CARE
+		HEATER_REQUEST_EMERGENCY_OFF = 0,   //!< REQUEST_EMERGENCY_OFF
+		HEATER_REQUEST_EMERGENCY_ON,        //!< REQUEST_EMERGENCY_ON
+		HEATER_REQUEST_OFF,                 //!< REQUEST_OFF
+		HEATER_REQUEST_ON,                  //!< REQUEST_ON
+		HEATER_DONT_CARE                    //!< DONT_CARE
 	};
 
 	virtual ~ThermalComponentIF() {
diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp
index c573008e..2bc1741f 100644
--- a/thermal/ThermalModule.cpp
+++ b/thermal/ThermalModule.cpp
@@ -1,28 +1,31 @@
-#include "../monitoring/LimitViolationReporter.h"
-#include "../monitoring/MonitoringMessageContent.h"
 #include "ThermalModule.h"
-
 #include "AbstractTemperatureSensor.h"
 
-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
-		uint32_t currentStatePoolId, uint32_t targetStatePoolId,
-		DataSet *dataSet, Parameters parameters,
+#include "../monitoring/LimitViolationReporter.h"
+#include "../monitoring/MonitoringMessageContent.h"
+
+
+ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
+		gp_id_t currentStatePoolId, gp_id_t targetStatePoolId,
+		LocalPoolDataSetBase *dataSet, Parameters parameters,
 		RedundantHeater::Parameters heaterParameters) :
-		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
-				false), parameters(parameters), moduleTemperature(
-				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), currentState(
-				currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
-				targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
+		oldStrategy(ACTIVE_SINGLE), parameters(parameters),
+		moduleTemperature(moduleTemperaturePoolId, dataSet,
+				PoolVariableIF::VAR_WRITE),
+		currentState(currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE),
+		targetState(targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
 	heater = new RedundantHeater(heaterParameters);
 }
 
-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, DataSet* dataSet) :
-		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
-				false), parameters( { 0, 0 }), moduleTemperature(
-				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), heater(
-				NULL), currentState(PoolVariableIF::INVALID, dataSet,
-				PoolVariableIF::VAR_WRITE), targetState(PoolVariableIF::INVALID,
-				dataSet, PoolVariableIF::VAR_READ) {
+ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
+		LocalPoolDataSetBase* dataSet) :
+		oldStrategy(ACTIVE_SINGLE), parameters( { 0, 0 }),
+		moduleTemperature(moduleTemperaturePoolId, dataSet,
+				PoolVariableIF::VAR_WRITE),
+		currentState(gp_id_t(), dataSet,
+				PoolVariableIF::VAR_WRITE),
+		targetState(gp_id_t(), dataSet,
+				PoolVariableIF::VAR_READ) {
 }
 
 ThermalModule::~ThermalModule() {
@@ -30,7 +33,7 @@ ThermalModule::~ThermalModule() {
 }
 
 void ThermalModule::performOperation(uint8_t opCode) {
-	if (heater != NULL) {
+	if (heater != nullptr) {
 		heater->performOperation(0);
 	}
 }
@@ -42,7 +45,7 @@ void ThermalModule::performMode(Strategy strategy) {
 	ThermalComponentIF::HeaterRequest componentHeaterRequest =
 			letComponentsPerformAndDeciceIfWeNeedToHeat(safeOnly);
 
-	if (heater == NULL) {
+	if (heater == nullptr) {
 		informComponentsAboutHeaterState(false, NONE);
 		return;
 	}
@@ -53,8 +56,8 @@ void ThermalModule::performMode(Strategy strategy) {
 		//Components overwrite the module request.
 		heating = ((componentHeaterRequest
 				== ThermalComponentIF::HEATER_REQUEST_ON)
-				|| (componentHeaterRequest
-						== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
+				or (componentHeaterRequest
+				== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
 	}
 
 	bool dual = (strategy == ACTIVE_DUAL);
@@ -76,7 +79,7 @@ void ThermalModule::performMode(Strategy strategy) {
 }
 
 float ThermalModule::getTemperature() {
-	return moduleTemperature;
+	return moduleTemperature.value;
 }
 
 void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {
@@ -85,7 +88,8 @@ void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {
 
 void ThermalModule::registerComponent(ThermalComponentIF* component,
 		ThermalComponentIF::Priority priority) {
-	components.push_back(ComponentData( { component, priority, ThermalComponentIF::HEATER_DONT_CARE }));
+	components.push_back(ComponentData( { component, priority,
+		ThermalComponentIF::HEATER_DONT_CARE }));
 }
 
 void ThermalModule::calculateTemperature() {
@@ -94,12 +98,13 @@ void ThermalModule::calculateTemperature() {
 	std::list<AbstractTemperatureSensor *>::iterator iter = sensors.begin();
 	for (; iter != sensors.end(); iter++) {
 		if ((*iter)->isValid()) {
-			moduleTemperature = moduleTemperature + (*iter)->getTemperature();
+			moduleTemperature = moduleTemperature.value +
+					(*iter)->getTemperature();
 			numberOfValidSensors++;
 		}
 	}
 	if (numberOfValidSensors != 0) {
-		moduleTemperature = moduleTemperature / numberOfValidSensors;
+		moduleTemperature = moduleTemperature.value / numberOfValidSensors;
 		moduleTemperature.setValid(PoolVariableIF::VALID);
 	} else {
 		moduleTemperature = INVALID_TEMPERATURE;
@@ -117,9 +122,10 @@ ThermalComponentIF* ThermalModule::findComponent(object_id_t objectId) {
 	return NULL;
 }
 
-ThermalComponentIF::HeaterRequest ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(
-		bool safeOnly) {
-	ThermalComponentIF::HeaterRequest heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];
+ThermalComponentIF::HeaterRequest
+ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(bool safeOnly) {
+	ThermalComponentIF::HeaterRequest
+	heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];
 
 	survivalTargetTemp = -999;
 	targetTemp = -999;
@@ -224,7 +230,7 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 		limit = survivalTargetTemp;
 	}
 
-	if (moduleTemperature >= limit) {
+	if (moduleTemperature.value >= limit) {
 		currentState = OPERATIONAL;
 	} else {
 		currentState = NON_OPERATIONAL;
@@ -250,15 +256,15 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 }
 
 void ThermalModule::setHeating(bool on) {
-	DataSet mySet;
-	PoolVariable<int8_t> writableTargetState(targetState.getDataPoolId(),
-			&mySet, PoolVariableIF::VAR_WRITE);
-	if (on) {
-		writableTargetState = STATE_REQUEST_HEATING;
-	} else {
-		writableTargetState = STATE_REQUEST_PASSIVE;
-	}
-	mySet.commit(PoolVariableIF::VALID);
+//	GlobDataSet mySet;
+//	gp_int8_t writableTargetState(targetState.getDataPoolId(),
+//			&mySet, PoolVariableIF::VAR_WRITE);
+//	if (on) {
+//		writableTargetState = STATE_REQUEST_HEATING;
+//	} else {
+//		writableTargetState = STATE_REQUEST_PASSIVE;
+//	}
+//	mySet.commit(PoolVariableIF::VALID);
 }
 
 void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,
diff --git a/thermal/ThermalModule.h b/thermal/ThermalModule.h
index 19ab9a54..d1e4fccb 100644
--- a/thermal/ThermalModule.h
+++ b/thermal/ThermalModule.h
@@ -1,16 +1,25 @@
-#ifndef THERMALMODULE_H_
-#define THERMALMODULE_H_
+#ifndef FSFW_THERMAL_THERMALMODULE_H_
+#define FSFW_THERMAL_THERMALMODULE_H_
 
-#include "../datapool/DataSet.h"
-#include "../datapool/PoolVariable.h"
-#include "../devicehandlers/HealthDevice.h"
-#include "../events/EventReportingProxyIF.h"
 #include "ThermalModuleIF.h"
-#include <list>
 #include "tcsDefinitions.h"
 #include "RedundantHeater.h"
+
+//#include "../datapoolglob/GlobalDataSet.h"
+//#include "../datapoolglob/GlobalPoolVariable.h"
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+#include "../datapoollocal/LocalPoolVariable.h"
+#include "../devicehandlers/HealthDevice.h"
+#include "../events/EventReportingProxyIF.h"
+
+#include <list>
+
+
 class PowerSwitchIF;
 
+/**
+ * @brief Allows creation of different thermal control domains within a system.
+ */
 class ThermalModule: public ThermalModuleIF {
 	friend class ThermalController;
 public:
@@ -19,11 +28,12 @@ public:
 		float hysteresis;
 	};
 
-	ThermalModule(uint32_t moduleTemperaturePoolId, uint32_t currentStatePoolId,
-			uint32_t targetStatePoolId, DataSet *dataSet, Parameters parameters,
-			RedundantHeater::Parameters heaterParameters);
+	ThermalModule(gp_id_t moduleTemperaturePoolId, gp_id_t currentStatePoolId,
+			gp_id_t targetStatePoolId, LocalPoolDataSetBase *dataSet,
+			Parameters parameters, RedundantHeater::Parameters heaterParameters);
 
-	ThermalModule(uint32_t moduleTemperaturePoolId, DataSet *dataSet);
+	ThermalModule(gp_id_t moduleTemperaturePoolId,
+			LocalPoolDataSetBase *dataSet);
 
 	virtual ~ThermalModule();
 
@@ -59,20 +69,21 @@ protected:
 
 	Strategy oldStrategy;
 
-	float survivalTargetTemp;
+	float survivalTargetTemp = 0.0;
 
-	float targetTemp;
+	float targetTemp = 0.0;
 
-	bool heating;
+	bool heating = false;
 
 	Parameters parameters;
 
-	db_float_t moduleTemperature;
+	lp_var_t<float> moduleTemperature;
+	//gp_float_t moduleTemperature;
 
-	RedundantHeater *heater;
+	RedundantHeater *heater = nullptr;
 
-	db_int8_t currentState;
-	db_int8_t targetState;
+	lp_var_t<int8_t> currentState;
+	lp_var_t<int8_t> targetState;
 
 	std::list<AbstractTemperatureSensor *> sensors;
 	std::list<ComponentData> components;
@@ -89,4 +100,4 @@ protected:
 	void updateTargetTemperatures(ThermalComponentIF *component, bool isSafe);
 };
 
-#endif /* THERMALMODULE_H_ */
+#endif /* FSFW_THERMAL_THERMALMODULE_H_ */
diff --git a/thermal/ThermalMonitorReporter.cpp b/thermal/ThermalMonitorReporter.cpp
new file mode 100644
index 00000000..cefc6110
--- /dev/null
+++ b/thermal/ThermalMonitorReporter.cpp
@@ -0,0 +1,75 @@
+#include "ThermalMonitorReporter.h"
+#include "ThermalComponentIF.h"
+
+#include "../monitoring/MonitoringIF.h"
+
+ThermalMonitorReporter::~ThermalMonitorReporter() {
+}
+
+void ThermalMonitorReporter::sendTransitionEvent(float currentValue,
+		ReturnValue_t state) {
+	switch (state) {
+	case MonitoringIF::BELOW_LOW_LIMIT:
+		EventManagerIF::triggerEvent(reportingId,
+				ThermalComponentIF::COMPONENT_TEMP_OOL_LOW, state);
+		break;
+	case MonitoringIF::ABOVE_HIGH_LIMIT:
+		EventManagerIF::triggerEvent(reportingId,
+				ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH, state);
+		break;
+	case ThermalComponentIF::BELOW_OPERATIONAL_LIMIT:
+		EventManagerIF::triggerEvent(reportingId,
+				ThermalComponentIF::COMPONENT_TEMP_LOW, state);
+		break;
+	case ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT:
+		EventManagerIF::triggerEvent(reportingId,
+				ThermalComponentIF::COMPONENT_TEMP_HIGH, state);
+		break;
+	default:
+		break;
+	}
+}
+
+bool ThermalMonitorReporter::isAboveHighLimit() {
+	if (oldState == ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT) {
+		return true;
+	} else {
+		return false;
+	}
+}
+
+ReturnValue_t ThermalMonitorReporter::translateState(
+		ThermalComponentIF::State state, float sample, float lowerLimit,
+		float upperLimit, bool componentIsOperational) {
+	if (ThermalComponentIF::isIgnoredState(state)) {
+		setToUnchecked();
+		return MonitoringIF::UNCHECKED;
+	}
+	switch (state) {
+	case ThermalComponentIF::OUT_OF_RANGE_LOW:
+		return monitorStateIs(MonitoringIF::BELOW_LOW_LIMIT, sample,
+				lowerLimit);
+	case ThermalComponentIF::NON_OPERATIONAL_LOW:
+		if (componentIsOperational) {
+			return monitorStateIs(ThermalComponentIF::BELOW_OPERATIONAL_LIMIT,
+					sample, lowerLimit);
+		} else {
+			return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
+		}
+	case ThermalComponentIF::OPERATIONAL:
+		return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
+	case ThermalComponentIF::NON_OPERATIONAL_HIGH:
+		if (componentIsOperational) {
+			return monitorStateIs(ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT,
+					sample, upperLimit);
+		} else {
+			return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
+		}
+	case ThermalComponentIF::OUT_OF_RANGE_HIGH:
+		return monitorStateIs(MonitoringIF::ABOVE_HIGH_LIMIT, sample,
+				upperLimit);
+	default:
+		//Never reached, all states covered.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
diff --git a/thermal/ThermalMonitorReporter.h b/thermal/ThermalMonitorReporter.h
new file mode 100644
index 00000000..4fb68a99
--- /dev/null
+++ b/thermal/ThermalMonitorReporter.h
@@ -0,0 +1,28 @@
+#ifndef FSFW_THERMAL_THERMALMONITORREPORTER_H_
+#define FSFW_THERMAL_THERMALMONITORREPORTER_H_
+
+#include "ThermalComponentIF.h"
+#include "../monitoring/MonitorReporter.h"
+
+
+/**
+ * @brief   Monitor Reporter implementation for thermal components.
+ */
+class ThermalMonitorReporter: public MonitorReporter<float> {
+public:
+	template<typename ... Args>
+	ThermalMonitorReporter(Args ... args) :
+			MonitorReporter<float>(std::forward<Args>(args)...) {
+	}
+	~ThermalMonitorReporter();
+	ReturnValue_t translateState(ThermalComponentIF::State state, float sample,
+			float lowerLimit, float upperLimit,
+			bool componentIsOperational = true);
+
+	bool isAboveHighLimit();
+protected:
+	virtual void sendTransitionEvent(float currentValue, ReturnValue_t state);
+
+};
+
+#endif /* FSFW_THERMAL_THERMALMONITORREPORTERREPORTER_H_ */
diff --git a/thermal/tcsDefinitions.h b/thermal/tcsDefinitions.h
index ad258ced..37e5b849 100644
--- a/thermal/tcsDefinitions.h
+++ b/thermal/tcsDefinitions.h
@@ -2,7 +2,7 @@
 #define TCSDEFINITIONS_H_
 
 
-static const uint32_t INVALID_TEMPERATURE = 999;
+static const float INVALID_TEMPERATURE = 999;
 
 
 #endif /* TCSDEFINITIONS_H_ */

From 983556b3b3c70b9d4c337ebfc44cbe0290da96ec Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 5 Dec 2020 01:21:04 +0100
Subject: [PATCH 554/653] evil bug fixed

---
 osal/host/MessageQueue.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
index bced3713..f1f5867b 100644
--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@@ -34,7 +34,7 @@ ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 }
 
 ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-	if (this->lastPartner != 0) {
+	if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
 		return sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
 		return MessageQueueIF::NO_REPLY_PARTNER;
@@ -106,6 +106,7 @@ bool MessageQueue::isDefaultDestinationSet() const {
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault) {
+    message->setSender(sentFrom);
 	if(message->getMessageSize() > message->getMaximumMessageSize()) {
 		// Actually, this should never happen or an error will be emitted
 		// in MessageQueueMessage.
@@ -126,7 +127,6 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		// TODO: Better returnvalue
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-
 	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
 		MutexHelper mutexLock(targetQueue->queueLock,
 		        MutexIF::TimeoutType::WAITING, 20);
@@ -145,7 +145,6 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	else {
 		return MessageQueueIF::FULL;
 	}
-    message->setSender(sentFrom);
     return HasReturnvaluesIF::RETURN_OK;
 }
 

From c0e9c22f3442086eb773c9f1029f0ad0bcbaa8da Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 5 Dec 2020 10:40:53 +0100
Subject: [PATCH 555/653] hotfix for message queue

---
 osal/host/MessageQueue.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/osal/host/MessageQueue.cpp b/osal/host/MessageQueue.cpp
index bced3713..d662d782 100644
--- a/osal/host/MessageQueue.cpp
+++ b/osal/host/MessageQueue.cpp
@@ -34,7 +34,7 @@ ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
 }
 
 ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
-	if (this->lastPartner != 0) {
+	if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
 		return sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
 		return MessageQueueIF::NO_REPLY_PARTNER;
@@ -106,6 +106,7 @@ bool MessageQueue::isDefaultDestinationSet() const {
 ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
         bool ignoreFault) {
+	message->setSender(sentFrom);
 	if(message->getMessageSize() > message->getMaximumMessageSize()) {
 		// Actually, this should never happen or an error will be emitted
 		// in MessageQueueMessage.
@@ -126,7 +127,6 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		// TODO: Better returnvalue
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-
 	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
 		MutexHelper mutexLock(targetQueue->queueLock,
 		        MutexIF::TimeoutType::WAITING, 20);
@@ -145,7 +145,6 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	else {
 		return MessageQueueIF::FULL;
 	}
-    message->setSender(sentFrom);
     return HasReturnvaluesIF::RETURN_OK;
 }
 

From 6766abc0fa4dcd4bf74e95aa939e36291ed0bced Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 5 Dec 2020 10:41:37 +0100
Subject: [PATCH 556/653] changelog update

---
 CHANGELOG | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index a6686478..07899769 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -1,5 +1,8 @@
 ## Changes from ASTP 0.0.1 to 1.0.0
 
+### Host OSAL
+
+- Bugfix in MessageQueue, which caused the sender not to be set properly
 
 ### FreeRTOS OSAL
 

From bb11bc5685e54366c819803c8ec5655ba4acdc4d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 5 Dec 2020 17:11:34 +0100
Subject: [PATCH 557/653] task if is set now

---
 osal/host/PeriodicTask.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/osal/host/PeriodicTask.cpp b/osal/host/PeriodicTask.cpp
index 5662c7cc..bfa6c3fd 100644
--- a/osal/host/PeriodicTask.cpp
+++ b/osal/host/PeriodicTask.cpp
@@ -122,6 +122,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	newObject->setTaskIF(this);
 	objectList.push_back(newObject);
 	return HasReturnvaluesIF::RETURN_OK;
 }

From 5e234f1e23e82c98a18f7f82c8ff37d66ed98f5e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 7 Dec 2020 01:40:10 +0100
Subject: [PATCH 558/653] cmake init, printChar tests

---
 CMakeLists.txt                              | 58 +++++++++++++++++++++
 action/CMakeLists.txt                       |  7 +++
 container/CMakeLists.txt                    |  5 ++
 controller/CMakeLists.txt                   |  4 ++
 coordinates/CMakeLists.txt                  |  5 ++
 datalinklayer/CMakeLists.txt                | 12 +++++
 datapool/CMakeLists.txt                     | 11 ++++
 defaultcfg/fsfwconfig/CMakeLists.txt        | 15 ++++++
 devicehandlers/CMakeLists.txt               | 11 ++++
 events/CMakeLists.txt                       |  8 +++
 events/eventmatching/CMakeLists.txt         |  7 +++
 fdir/CMakeLists.txt                         |  6 +++
 globalfunctions/CMakeLists.txt              | 12 +++++
 globalfunctions/math/CMakeLists.txt         |  4 ++
 health/CMakeLists.txt                       |  6 +++
 internalError/CMakeLists.txt                |  4 ++
 ipc/CMakeLists.txt                          |  6 +++
 memory/CMakeLists.txt                       |  5 ++
 modes/CMakeLists.txt                        |  5 ++
 monitoring/CMakeLists.txt                   |  5 ++
 objectmanager/CMakeLists.txt                |  5 ++
 osal/CMakeLists.txt                         | 28 ++++++++++
 osal/host/CMakeLists.txt                    | 13 +++++
 osal/windows/CMakeLists.txt                 | 11 ++++
 parameters/CMakeLists.txt                   |  6 +++
 power/CMakeLists.txt                        |  7 +++
 pus/CMakeLists.txt                          | 11 ++++
 rmap/CMakeLists.txt                         |  7 +++
 serialize/CMakeLists.txt                    |  4 ++
 serviceinterface/CMakeLists.txt             |  5 ++
 serviceinterface/ServiceInterfaceBuffer.cpp |  2 +-
 storagemanager/CMakeLists.txt               |  5 ++
 subsystem/CMakeLists.txt                    |  7 +++
 subsystem/modes/CMakeLists.txt              |  5 ++
 tasks/CMakeLists.txt                        |  5 ++
 tcdistribution/CMakeLists.txt               |  7 +++
 thermal/CMakeLists.txt                      | 10 ++++
 timemanager/CMakeLists.txt                  |  8 +++
 tmstorage/CMakeLists.txt                    |  4 ++
 tmtcpacket/CMakeLists.txt                   |  8 +++
 tmtcpacket/packetmatcher/CMakeLists.txt     |  4 ++
 tmtcpacket/pus/CMakeLists.txt               |  8 +++
 tmtcservices/CMakeLists.txt                 |  9 ++++
 43 files changed, 374 insertions(+), 1 deletion(-)
 create mode 100644 CMakeLists.txt
 create mode 100644 action/CMakeLists.txt
 create mode 100644 container/CMakeLists.txt
 create mode 100644 controller/CMakeLists.txt
 create mode 100644 coordinates/CMakeLists.txt
 create mode 100644 datalinklayer/CMakeLists.txt
 create mode 100644 datapool/CMakeLists.txt
 create mode 100644 defaultcfg/fsfwconfig/CMakeLists.txt
 create mode 100644 devicehandlers/CMakeLists.txt
 create mode 100644 events/CMakeLists.txt
 create mode 100644 events/eventmatching/CMakeLists.txt
 create mode 100644 fdir/CMakeLists.txt
 create mode 100644 globalfunctions/CMakeLists.txt
 create mode 100644 globalfunctions/math/CMakeLists.txt
 create mode 100644 health/CMakeLists.txt
 create mode 100644 internalError/CMakeLists.txt
 create mode 100644 ipc/CMakeLists.txt
 create mode 100644 memory/CMakeLists.txt
 create mode 100644 modes/CMakeLists.txt
 create mode 100644 monitoring/CMakeLists.txt
 create mode 100644 objectmanager/CMakeLists.txt
 create mode 100644 osal/CMakeLists.txt
 create mode 100644 osal/host/CMakeLists.txt
 create mode 100644 osal/windows/CMakeLists.txt
 create mode 100644 parameters/CMakeLists.txt
 create mode 100644 power/CMakeLists.txt
 create mode 100644 pus/CMakeLists.txt
 create mode 100644 rmap/CMakeLists.txt
 create mode 100644 serialize/CMakeLists.txt
 create mode 100644 serviceinterface/CMakeLists.txt
 create mode 100644 storagemanager/CMakeLists.txt
 create mode 100644 subsystem/CMakeLists.txt
 create mode 100644 subsystem/modes/CMakeLists.txt
 create mode 100644 tasks/CMakeLists.txt
 create mode 100644 tcdistribution/CMakeLists.txt
 create mode 100644 thermal/CMakeLists.txt
 create mode 100644 timemanager/CMakeLists.txt
 create mode 100644 tmstorage/CMakeLists.txt
 create mode 100644 tmtcpacket/CMakeLists.txt
 create mode 100644 tmtcpacket/packetmatcher/CMakeLists.txt
 create mode 100644 tmtcpacket/pus/CMakeLists.txt
 create mode 100644 tmtcservices/CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 00000000..eff272df
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 3.13)
+
+set(LIB_FSFW_NAME fsfw)
+add_library(${LIB_FSFW_NAME})
+
+option(FSFW_USE_RMAP "Compile with RMAP" ON)
+
+add_subdirectory(action)
+add_subdirectory(container)
+add_subdirectory(controller)
+add_subdirectory(coordinates)
+add_subdirectory(datalinklayer)
+add_subdirectory(datapool)
+add_subdirectory(devicehandlers)
+add_subdirectory(events)
+add_subdirectory(fdir)
+add_subdirectory(globalfunctions)
+add_subdirectory(health)
+add_subdirectory(internalError)
+add_subdirectory(ipc)
+add_subdirectory(memory)
+add_subdirectory(modes)
+add_subdirectory(monitoring)
+add_subdirectory(objectmanager)
+add_subdirectory(osal)
+add_subdirectory(parameters)
+add_subdirectory(power)
+add_subdirectory(pus)
+
+if(FSFW_USE_RMAP)
+add_subdirectory(rmap)
+endif()
+
+add_subdirectory(serialize)
+add_subdirectory(serviceinterface)
+add_subdirectory(storagemanager)
+add_subdirectory(subsystem)
+add_subdirectory(tasks)
+add_subdirectory(tcdistribution)
+add_subdirectory(thermal)
+add_subdirectory(timemanager)
+add_subdirectory(tmstorage)
+add_subdirectory(tmtcpacket)
+add_subdirectory(tmtcservices)
+
+# The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
+# If this is not given, we include the default configuration and emit a warning.
+if(NOT FSFW_CONFIG_PATH)
+message(WARNING "Flight Software Framework configuration path not set!")
+message(WARNING "Setting default configuration!")
+add_subdirectory(defaultcfg/fsfwconfig)
+endif()
+
+# Required include paths to compile the FSFW
+target_include_directories(${LIB_FSFW_NAME} 
+	INTERFACE 
+		${FSFW_CONFIG_PATH}
+)
diff --git a/action/CMakeLists.txt b/action/CMakeLists.txt
new file mode 100644
index 00000000..a62d4044
--- /dev/null
+++ b/action/CMakeLists.txt
@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ActionHelper.cpp
+		ActionMessage.cpp
+		CommandActionHelper.cpp
+		SimpleActionHelper.cpp
+)
\ No newline at end of file
diff --git a/container/CMakeLists.txt b/container/CMakeLists.txt
new file mode 100644
index 00000000..904cde55
--- /dev/null
+++ b/container/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		SharedRingBuffer.cpp
+		SimpleRingBuffer.cpp
+)
\ No newline at end of file
diff --git a/controller/CMakeLists.txt b/controller/CMakeLists.txt
new file mode 100644
index 00000000..6f660738
--- /dev/null
+++ b/controller/CMakeLists.txt
@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ControllerBase.cpp
+)
\ No newline at end of file
diff --git a/coordinates/CMakeLists.txt b/coordinates/CMakeLists.txt
new file mode 100644
index 00000000..a1fa1e52
--- /dev/null
+++ b/coordinates/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		CoordinateTransformations.cpp
+		Sgp4Propagator.cpp
+)
\ No newline at end of file
diff --git a/datalinklayer/CMakeLists.txt b/datalinklayer/CMakeLists.txt
new file mode 100644
index 00000000..148e7c5d
--- /dev/null
+++ b/datalinklayer/CMakeLists.txt
@@ -0,0 +1,12 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Clcw.cpp
+		DataLinkLayer.cpp
+		Farm1StateLockout.cpp
+		Farm1StateOpen.cpp
+		Farm1StateWait.cpp
+		MapPacketExtraction.cpp
+		TcTransferFrame.cpp
+		TcTransferFrameLocal.cpp
+		VirtualChannelReception.cpp
+)
\ No newline at end of file
diff --git a/datapool/CMakeLists.txt b/datapool/CMakeLists.txt
new file mode 100644
index 00000000..e741f6a1
--- /dev/null
+++ b/datapool/CMakeLists.txt
@@ -0,0 +1,11 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ControllerSet.cpp
+		DataPool.cpp
+		DataPoolAdmin.cpp
+		DataPoolParameterWrapper.cpp
+		DataSet.cpp
+		HkSwitchHelper.cpp
+		PoolEntry.cpp
+		PoolRawAccess.cpp
+)
\ No newline at end of file
diff --git a/defaultcfg/fsfwconfig/CMakeLists.txt b/defaultcfg/fsfwconfig/CMakeLists.txt
new file mode 100644
index 00000000..b8b41c93
--- /dev/null
+++ b/defaultcfg/fsfwconfig/CMakeLists.txt
@@ -0,0 +1,15 @@
+target_sources(${TARGET_NAME} 
+	PRIVATE
+)
+
+# Add include paths for the executable
+target_include_directories(${TARGET_NAME} 
+	PUBLIC 
+		${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+# Add include paths for the FSFW library
+target_include_directories(${LIB_FSFW_NAME} 
+	PUBLIC
+		${CMAKE_CURRENT_SOURCE_DIR}
+)
\ No newline at end of file
diff --git a/devicehandlers/CMakeLists.txt b/devicehandlers/CMakeLists.txt
new file mode 100644
index 00000000..50c1008f
--- /dev/null
+++ b/devicehandlers/CMakeLists.txt
@@ -0,0 +1,11 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		AssemblyBase.cpp
+		ChildHandlerBase.cpp
+		ChildHandlerFDIR.cpp
+		DeviceHandlerBase.cpp
+		DeviceHandlerFailureIsolation.cpp
+		DeviceHandlerMessage.cpp
+		DeviceTmReportingWrapper.cpp
+		HealthDevice.cpp
+)
\ No newline at end of file
diff --git a/events/CMakeLists.txt b/events/CMakeLists.txt
new file mode 100644
index 00000000..9e63deb8
--- /dev/null
+++ b/events/CMakeLists.txt
@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Event.cpp
+		EventManager.cpp
+		EventMessage.cpp
+)
+
+add_subdirectory(eventmatching)
\ No newline at end of file
diff --git a/events/eventmatching/CMakeLists.txt b/events/eventmatching/CMakeLists.txt
new file mode 100644
index 00000000..81ff9ed8
--- /dev/null
+++ b/events/eventmatching/CMakeLists.txt
@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		EventIdRangeMatcher.cpp
+		EventMatchTree.cpp
+		ReporterRangeMatcher.cpp
+		SeverityRangeMatcher.cpp
+)
\ No newline at end of file
diff --git a/fdir/CMakeLists.txt b/fdir/CMakeLists.txt
new file mode 100644
index 00000000..f5ffbba8
--- /dev/null
+++ b/fdir/CMakeLists.txt
@@ -0,0 +1,6 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		EventCorrelation.cpp
+		FailureIsolationBase.cpp
+		FaultCounter.cpp
+)
\ No newline at end of file
diff --git a/globalfunctions/CMakeLists.txt b/globalfunctions/CMakeLists.txt
new file mode 100644
index 00000000..2b3dcf8e
--- /dev/null
+++ b/globalfunctions/CMakeLists.txt
@@ -0,0 +1,12 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		arrayprinter.cpp
+		AsciiConverter.cpp
+		CRC.cpp
+		DleEncoder.cpp
+		PeriodicOperationDivider.cpp
+		timevalOperations.cpp
+		Type.cpp
+)
+
+add_subdirectory(math)
\ No newline at end of file
diff --git a/globalfunctions/math/CMakeLists.txt b/globalfunctions/math/CMakeLists.txt
new file mode 100644
index 00000000..a9c4ded7
--- /dev/null
+++ b/globalfunctions/math/CMakeLists.txt
@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		QuaternionOperations.cpp
+)
diff --git a/health/CMakeLists.txt b/health/CMakeLists.txt
new file mode 100644
index 00000000..d5f3ccd3
--- /dev/null
+++ b/health/CMakeLists.txt
@@ -0,0 +1,6 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		HealthHelper.cpp
+		HealthMessage.cpp
+		HealthTable.cpp	
+)
\ No newline at end of file
diff --git a/internalError/CMakeLists.txt b/internalError/CMakeLists.txt
new file mode 100644
index 00000000..2b383914
--- /dev/null
+++ b/internalError/CMakeLists.txt
@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		InternalErrorReporter.cpp
+)
\ No newline at end of file
diff --git a/ipc/CMakeLists.txt b/ipc/CMakeLists.txt
new file mode 100644
index 00000000..6a3afe33
--- /dev/null
+++ b/ipc/CMakeLists.txt
@@ -0,0 +1,6 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		CommandMessage.cpp
+		CommandMessageCleaner.cpp
+		MessageQueueMessage.cpp
+)
\ No newline at end of file
diff --git a/memory/CMakeLists.txt b/memory/CMakeLists.txt
new file mode 100644
index 00000000..9edb9031
--- /dev/null
+++ b/memory/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		MemoryHelper.cpp
+		MemoryMessage.cpp
+)
\ No newline at end of file
diff --git a/modes/CMakeLists.txt b/modes/CMakeLists.txt
new file mode 100644
index 00000000..8e5c719b
--- /dev/null
+++ b/modes/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ModeHelper.cpp
+		ModeMessage.cpp
+)
\ No newline at end of file
diff --git a/monitoring/CMakeLists.txt b/monitoring/CMakeLists.txt
new file mode 100644
index 00000000..d26e807c
--- /dev/null
+++ b/monitoring/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		LimitViolationReporter.cpp
+		MonitoringMessage.cpp
+)
\ No newline at end of file
diff --git a/objectmanager/CMakeLists.txt b/objectmanager/CMakeLists.txt
new file mode 100644
index 00000000..72aaec89
--- /dev/null
+++ b/objectmanager/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ObjectManager.cpp
+		SystemObject.cpp
+)
\ No newline at end of file
diff --git a/osal/CMakeLists.txt b/osal/CMakeLists.txt
new file mode 100644
index 00000000..d7aa1303
--- /dev/null
+++ b/osal/CMakeLists.txt
@@ -0,0 +1,28 @@
+# Check the OS_FSFW variable
+if(${OS_FSFW} STREQUAL "freertos")
+	add_subdirectory(FreeRTOS)
+elseif(${OS_FSFW} STREQUAL "rtems")
+	add_subdirectory(rtems)
+elseif(${OS_FSFW} STREQUAL "linux")
+	add_subdirectory(linux)
+elseif(${OS_FSFW} STREQUAL "host")
+	add_subdirectory(host)
+	if (WIN32)
+		add_subdirectory(windows)
+	endif ()
+
+else()
+
+	message(WARNING "The OS_FSFW variable was not set. Assuming host OS..")
+	# Not set. Assumuing this is a host build, try to determine host OS
+	if (WIN32)
+		add_subdirectory(host)
+		add_subdirectory(windows)
+	elseif (UNIX)
+		add_subdirectory(linux)
+	else ()
+		# MacOS or other OSes have not been tested yet / are not supported.
+		message(FATAL_ERROR "The host OS could not be determined! Aborting.")
+	endif()
+
+endif()
\ No newline at end of file
diff --git a/osal/host/CMakeLists.txt b/osal/host/CMakeLists.txt
new file mode 100644
index 00000000..3efd91d2
--- /dev/null
+++ b/osal/host/CMakeLists.txt
@@ -0,0 +1,13 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Clock.cpp
+		FixedTimeslotTask.cpp
+		MessageQueue.cpp
+		Mutex.cpp
+		MutexFactory.cpp
+		PeriodicTask.cpp
+		QueueFactory.cpp
+		QueueMapManager.cpp
+		SemaphoreFactory.cpp
+		TaskFactory.cpp
+)
\ No newline at end of file
diff --git a/osal/windows/CMakeLists.txt b/osal/windows/CMakeLists.txt
new file mode 100644
index 00000000..b6e76d6a
--- /dev/null
+++ b/osal/windows/CMakeLists.txt
@@ -0,0 +1,11 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		TcWinUdpPollingTask.cpp
+		TmTcWinUdpBridge.cpp
+)
+
+target_link_libraries(${LIB_FSFW_NAME} 
+	PRIVATE
+		wsock32 
+		ws2_32
+)
\ No newline at end of file
diff --git a/parameters/CMakeLists.txt b/parameters/CMakeLists.txt
new file mode 100644
index 00000000..fb5e4590
--- /dev/null
+++ b/parameters/CMakeLists.txt
@@ -0,0 +1,6 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ParameterHelper.cpp
+		ParameterMessage.cpp
+		ParameterWrapper.cpp
+)
\ No newline at end of file
diff --git a/power/CMakeLists.txt b/power/CMakeLists.txt
new file mode 100644
index 00000000..1c625db1
--- /dev/null
+++ b/power/CMakeLists.txt
@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Fuse.cpp
+		PowerComponent.cpp
+		PowerSensor.cpp
+		PowerSwitcher.cpp
+)
\ No newline at end of file
diff --git a/pus/CMakeLists.txt b/pus/CMakeLists.txt
new file mode 100644
index 00000000..758c2629
--- /dev/null
+++ b/pus/CMakeLists.txt
@@ -0,0 +1,11 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		CService200ModeCommanding.cpp
+		CService201HealthCommanding.cpp
+		Service17Test.cpp
+		Service1TelecommandVerification.cpp
+		Service2DeviceAccess.cpp
+		Service5EventReporting.cpp
+		Service8FunctionManagement.cpp
+		Service9TimeManagement.cpp
+)
\ No newline at end of file
diff --git a/rmap/CMakeLists.txt b/rmap/CMakeLists.txt
new file mode 100644
index 00000000..78c99e42
--- /dev/null
+++ b/rmap/CMakeLists.txt
@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		RMAP.cpp
+		RMAPCookie.cpp
+		RmapDeviceCommunicationIF.cpp
+)
+
diff --git a/serialize/CMakeLists.txt b/serialize/CMakeLists.txt
new file mode 100644
index 00000000..fc2387e8
--- /dev/null
+++ b/serialize/CMakeLists.txt
@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		SerialBufferAdapter.cpp
+)
\ No newline at end of file
diff --git a/serviceinterface/CMakeLists.txt b/serviceinterface/CMakeLists.txt
new file mode 100644
index 00000000..d84adbeb
--- /dev/null
+++ b/serviceinterface/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ServiceInterfaceStream.cpp
+		ServiceInterfaceBuffer.cpp
+)
\ No newline at end of file
diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index 68fc4dec..bc360334 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -4,7 +4,7 @@
 #include <inttypes.h>
 
 // to be implemented by bsp
-extern "C" void printChar(const char*, bool errStream);
+/*extern "C" */void printChar(const char*, bool errStream);
 
 #ifndef UT699
 
diff --git a/storagemanager/CMakeLists.txt b/storagemanager/CMakeLists.txt
new file mode 100644
index 00000000..57c92195
--- /dev/null
+++ b/storagemanager/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ConstStorageAccessor.cpp
+		StorageAccessor.cpp
+)
\ No newline at end of file
diff --git a/subsystem/CMakeLists.txt b/subsystem/CMakeLists.txt
new file mode 100644
index 00000000..5c98ee70
--- /dev/null
+++ b/subsystem/CMakeLists.txt
@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Subsystem.cpp
+		SubsystemBase.cpp
+)
+
+add_subdirectory(modes)
\ No newline at end of file
diff --git a/subsystem/modes/CMakeLists.txt b/subsystem/modes/CMakeLists.txt
new file mode 100644
index 00000000..6ac6a293
--- /dev/null
+++ b/subsystem/modes/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		ModeSequenceMessage.cpp
+		ModeStore.cpp
+)
diff --git a/tasks/CMakeLists.txt b/tasks/CMakeLists.txt
new file mode 100644
index 00000000..1964bb4e
--- /dev/null
+++ b/tasks/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		FixedSequenceSlot.cpp
+		FixedSlotSequence.cpp
+)
\ No newline at end of file
diff --git a/tcdistribution/CMakeLists.txt b/tcdistribution/CMakeLists.txt
new file mode 100644
index 00000000..17dc186c
--- /dev/null
+++ b/tcdistribution/CMakeLists.txt
@@ -0,0 +1,7 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		CCSDSDistributor.cpp
+		PUSDistributor.cpp
+		TcDistributor.cpp
+		TcPacketCheck.cpp
+)
diff --git a/thermal/CMakeLists.txt b/thermal/CMakeLists.txt
new file mode 100644
index 00000000..67664fbe
--- /dev/null
+++ b/thermal/CMakeLists.txt
@@ -0,0 +1,10 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		AbstractTemperatureSensor.cpp
+		CoreComponent.cpp
+		Heater.cpp
+		RedundantHeater.cpp
+		ThermalComponent.cpp
+		ThermalModule.cpp
+		ThermalMonitor.cpp
+)
diff --git a/timemanager/CMakeLists.txt b/timemanager/CMakeLists.txt
new file mode 100644
index 00000000..3367775f
--- /dev/null
+++ b/timemanager/CMakeLists.txt
@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		CCSDSTime.cpp
+		Countdown.cpp
+		Stopwatch.cpp
+		TimeMessage.cpp
+		TimeStamper.cpp
+)
diff --git a/tmstorage/CMakeLists.txt b/tmstorage/CMakeLists.txt
new file mode 100644
index 00000000..7990d85a
--- /dev/null
+++ b/tmstorage/CMakeLists.txt
@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		TmStoreMessage.cpp
+)
diff --git a/tmtcpacket/CMakeLists.txt b/tmtcpacket/CMakeLists.txt
new file mode 100644
index 00000000..fe3d2a4d
--- /dev/null
+++ b/tmtcpacket/CMakeLists.txt
@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		SpacePacket.cpp
+		SpacePacketBase.cpp
+)
+
+add_subdirectory(packetmatcher)
+add_subdirectory(pus)
\ No newline at end of file
diff --git a/tmtcpacket/packetmatcher/CMakeLists.txt b/tmtcpacket/packetmatcher/CMakeLists.txt
new file mode 100644
index 00000000..e9a8d03b
--- /dev/null
+++ b/tmtcpacket/packetmatcher/CMakeLists.txt
@@ -0,0 +1,4 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		PacketMatchTree.cpp
+)
diff --git a/tmtcpacket/pus/CMakeLists.txt b/tmtcpacket/pus/CMakeLists.txt
new file mode 100644
index 00000000..fcfc82d2
--- /dev/null
+++ b/tmtcpacket/pus/CMakeLists.txt
@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		TcPacketBase.cpp
+		TcPacketStored.cpp
+		TmPacketBase.cpp
+		TmPacketMinimal.cpp
+		TmPacketStored.cpp
+)
diff --git a/tmtcservices/CMakeLists.txt b/tmtcservices/CMakeLists.txt
new file mode 100644
index 00000000..c30af214
--- /dev/null
+++ b/tmtcservices/CMakeLists.txt
@@ -0,0 +1,9 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		CommandingServiceBase.cpp
+		PusServiceBase.cpp
+		PusVerificationReport.cpp
+		TmTcBridge.cpp
+		TmTcMessage.cpp
+		VerificationReporter.cpp
+)
\ No newline at end of file

From 33d4b574001e89828c044eff295ca0a20295e549 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 7 Dec 2020 02:03:42 +0100
Subject: [PATCH 559/653] additional build option

---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index eff272df..9973c0ec 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,6 +4,7 @@ set(LIB_FSFW_NAME fsfw)
 add_library(${LIB_FSFW_NAME})
 
 option(FSFW_USE_RMAP "Compile with RMAP" ON)
+option(FSFW_USE_DATALINKLAYER "Compile with Data Link Layer" ON)
 
 add_subdirectory(action)
 add_subdirectory(container)

From c4ba243885cf912eb940e0442bb2728802eac46b Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 7 Dec 2020 12:17:02 +0100
Subject: [PATCH 560/653] small bugfixes

---
 osal/host/CMakeLists.txt                    | 10 +++++++++-
 serviceinterface/ServiceInterfaceBuffer.cpp |  2 +-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/osal/host/CMakeLists.txt b/osal/host/CMakeLists.txt
index 3efd91d2..d54cfac8 100644
--- a/osal/host/CMakeLists.txt
+++ b/osal/host/CMakeLists.txt
@@ -10,4 +10,12 @@ target_sources(${LIB_FSFW_NAME}
 		QueueMapManager.cpp
 		SemaphoreFactory.cpp
 		TaskFactory.cpp
-)
\ No newline at end of file
+)
+
+if(UNIX)
+	target_link_libraries(${LIB_FSFW_NAME} 
+	PRIVATE
+		pthread
+		rt
+	)
+endif()
\ No newline at end of file
diff --git a/serviceinterface/ServiceInterfaceBuffer.cpp b/serviceinterface/ServiceInterfaceBuffer.cpp
index bc360334..68fc4dec 100644
--- a/serviceinterface/ServiceInterfaceBuffer.cpp
+++ b/serviceinterface/ServiceInterfaceBuffer.cpp
@@ -4,7 +4,7 @@
 #include <inttypes.h>
 
 // to be implemented by bsp
-/*extern "C" */void printChar(const char*, bool errStream);
+extern "C" void printChar(const char*, bool errStream);
 
 #ifndef UT699
 

From 489a2097b850313154866cf4d7bbfbc09320a5b5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 7 Dec 2020 12:25:30 +0100
Subject: [PATCH 561/653] fix for host osal linux

---
 osal/CMakeLists.txt | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/osal/CMakeLists.txt b/osal/CMakeLists.txt
index d7aa1303..02ff2405 100644
--- a/osal/CMakeLists.txt
+++ b/osal/CMakeLists.txt
@@ -9,6 +9,12 @@ elseif(${OS_FSFW} STREQUAL "host")
 	add_subdirectory(host)
 	if (WIN32)
 		add_subdirectory(windows)
+	elseif(UNIX)
+		target_sources(${LIB_FSFW_NAME}
+			PUBLIC
+				linux/TcUnixUdpPollingTask.cpp
+				linux/TmTcUnixUdpBridge.cpp
+		)
 	endif ()
 
 else()

From d93a8692e08abbe7926955ffdaa95ad569c372f9 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Mon, 7 Dec 2020 12:59:09 +0100
Subject: [PATCH 562/653] cmakelists update

---
 CMakeLists.txt            | 26 ++++++++++++++++++++++++++
 osal/host/CMakeLists.txt  |  2 +-
 osal/linux/CMakeLists.txt | 25 +++++++++++++++++++++++++
 3 files changed, 52 insertions(+), 1 deletion(-)
 create mode 100644 osal/linux/CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9973c0ec..669283c7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,6 +3,32 @@ cmake_minimum_required(VERSION 3.13)
 set(LIB_FSFW_NAME fsfw)
 add_library(${LIB_FSFW_NAME})
 
+# Set options for FSFW OSAL selection.
+if(UNIX)
+set(OS_FSFW  "linux" CACHE STRING "OS abstraction layer used in the FSFW")
+elseif(WIN32)
+set(OS_FSFW  "host" CACHE STRING "OS abstraction layer used in the FSFW")
+endif()
+
+set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
+
+if(${OS_FSFW} STREQUAL host)
+set(OS_FSFW_NAME "Host")
+elseif(${OS_FSFW} STREQUAL linux)
+set(OS_FSFW_NAME "Linux")
+elseif(${OS_FSFW} STREQUAL  freertos)
+set(OS_FSFW_NAME "FreeRTOS")
+elseif(${OS_FSFW} STREQUAL rtems)
+set(OS_FSFW_NAME "RTEMS")
+else()
+message(WARNING "Invalid operating system for FSFW specified! Setting to host..")
+set(OS_FSFW_NAME "Host")
+set(OS_FSFW "host")
+endif()
+
+message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system")
+
+# Options to exclude parts of the FSFW from compilation.
 option(FSFW_USE_RMAP "Compile with RMAP" ON)
 option(FSFW_USE_DATALINKLAYER "Compile with Data Link Layer" ON)
 
diff --git a/osal/host/CMakeLists.txt b/osal/host/CMakeLists.txt
index d54cfac8..d73e6f27 100644
--- a/osal/host/CMakeLists.txt
+++ b/osal/host/CMakeLists.txt
@@ -13,9 +13,9 @@ target_sources(${LIB_FSFW_NAME}
 )
 
 if(UNIX)
+	add_definitions(-pthread)
 	target_link_libraries(${LIB_FSFW_NAME} 
 	PRIVATE
-		pthread
 		rt
 	)
 endif()
\ No newline at end of file
diff --git a/osal/linux/CMakeLists.txt b/osal/linux/CMakeLists.txt
new file mode 100644
index 00000000..c0096e42
--- /dev/null
+++ b/osal/linux/CMakeLists.txt
@@ -0,0 +1,25 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Clock.cpp
+		BinarySemaphore.cpp
+		CountingSemaphore.cpp
+		FixedTimeslotTask.cpp
+		InternalErrorCodes.cpp
+		MessageQueue.cpp
+		Mutex.cpp
+		MutexFactory.cpp
+		PeriodicPosixTask.cpp
+		PosixThread.cpp
+		QueueFactory.cpp
+		SemaphoreFactory.cpp
+		TaskFactory.cpp
+		TcUnixUdpPollingTask.cpp
+		TmTcUnixUdpBridge.cpp
+		Timer.cpp
+)
+
+target_link_libraries(${LIB_FSFW_NAME} 
+	PRIVATE
+		rt
+		pthread
+)

From 2a025de321396315ac1119d0f5e46d9abdc95249 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 14:19:53 +0100
Subject: [PATCH 563/653] changelog update

---
 CHANGELOG | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CHANGELOG b/CHANGELOG
index c221c811..2d1152c7 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -14,4 +14,4 @@ a C file without issues
 
 ### Events
 
-- makeEvent function: Not takes three input parameters instead of two and allows setting a unique ID
+- makeEvent function: Now takes three input parameters instead of two and allows setting a unique ID

From fdbe5408b7b5924ee431206d5cdc32c47a3374b8 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 14:43:44 +0100
Subject: [PATCH 564/653] renamed namespaces

---
 datalinklayer/DataLinkLayer.h                 | 12 +++---
 datapool/HkSwitchHelper.h                     |  2 +-
 .../DeviceHandlerFailureIsolation.cpp         |  6 +--
 devicehandlers/DeviceHandlerIF.h              | 22 +++++-----
 events/Event.h                                | 43 ++++++++-----------
 events/EventManager.cpp                       |  2 +-
 fdir/FailureIsolationBase.cpp                 |  4 +-
 fdir/FailureIsolationBase.h                   |  6 +--
 health/HasHealthIF.h                          | 14 +++---
 modes/HasModesIF.h                            | 16 +++----
 monitoring/MonitoringIF.h                     |  8 ++--
 power/Fuse.h                                  |  8 ++--
 power/PowerSwitchIF.h                         |  2 +-
 pus/Service17Test.h                           |  2 +-
 pus/Service9TimeManagement.h                  |  4 +-
 storagemanager/StorageManagerIF.h             |  4 +-
 thermal/AbstractTemperatureSensor.h           |  6 +--
 thermal/Heater.h                              | 10 ++---
 thermal/ThermalComponentIF.h                  | 10 ++---
 tmstorage/TmStoreBackendIF.h                  | 32 +++++++-------
 20 files changed, 104 insertions(+), 109 deletions(-)

diff --git a/datalinklayer/DataLinkLayer.h b/datalinklayer/DataLinkLayer.h
index 5a900099..17a57d61 100644
--- a/datalinklayer/DataLinkLayer.h
+++ b/datalinklayer/DataLinkLayer.h
@@ -19,12 +19,12 @@ class VirtualChannelReception;
 class DataLinkLayer : public CCSDSReturnValuesIF {
 public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_1;
-	static const Event RF_AVAILABLE = MAKE_EVENT(0, SEVERITY::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
-	static const Event RF_LOST = MAKE_EVENT(1, SEVERITY::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
-	static const Event BIT_LOCK = MAKE_EVENT(2, SEVERITY::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
-	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, SEVERITY::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
-//	static const Event RF_CHAIN_LOST = MAKE_EVENT(4, SEVERITY::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
-	static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, SEVERITY::LOW); //!< The CCSDS Board could not interpret a TC
+	static const Event RF_AVAILABLE = MAKE_EVENT(0, severity::INFO); //!< A RF available signal was detected. P1: raw RFA state, P2: 0
+	static const Event RF_LOST = MAKE_EVENT(1, severity::INFO); //!< A previously found RF available signal was lost. P1: raw RFA state, P2: 0
+	static const Event BIT_LOCK = MAKE_EVENT(2, severity::INFO); //!< A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0
+	static const Event BIT_LOCK_LOST = MAKE_EVENT(3, severity::INFO); //!< A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0
+//	static const Event RF_CHAIN_LOST = MAKE_EVENT(4, severity::INFO); //!< The CCSDS Board detected that either bit lock or RF available or both are lost. No parameters.
+	static const Event FRAME_PROCESSING_FAILED = MAKE_EVENT(5, severity::LOW); //!< The CCSDS Board could not interpret a TC
 	/**
 	 * The Constructor sets the passed parameters and nothing else.
 	 * @param set_frame_buffer The buffer in which incoming frame candidates are stored.
diff --git a/datapool/HkSwitchHelper.h b/datapool/HkSwitchHelper.h
index 385b2047..bb9e7dc6 100644
--- a/datapool/HkSwitchHelper.h
+++ b/datapool/HkSwitchHelper.h
@@ -13,7 +13,7 @@ class HkSwitchHelper: public ExecutableObjectIF, public CommandsActionsIF {
 public:
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HK;
-	static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, SEVERITY::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
+	static const Event SWITCHING_TM_FAILED = MAKE_EVENT(1, severity::LOW); //!< Commanding the HK Service failed, p1: error code, p2 action: 0 disable / 1 enable
 
 	HkSwitchHelper(EventReportingProxyIF *eventProxy);
 	virtual ~HkSwitchHelper();
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 9fbe71d8..f4966351 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -191,7 +191,7 @@ void DeviceHandlerFailureIsolation::triggerEvent(Event event, uint32_t parameter
 		uint32_t parameter2) {
 	//Do not throw error events if fdirState != none.
 	//This will still forward MODE and HEALTH INFO events in any case.
-	if (fdirState == NONE || EVENT::getSeverity(event) == SEVERITY::INFO) {
+	if (fdirState == NONE || event::getSeverity(event) == severity::INFO) {
 		FailureIsolationBase::triggerEvent(event, parameter1, parameter2);
 	}
 }
@@ -201,7 +201,7 @@ bool DeviceHandlerFailureIsolation::isFdirActionInProgress() {
 }
 
 void DeviceHandlerFailureIsolation::startRecovery(Event reason) {
-	throwFdirEvent(FDIR_STARTS_RECOVERY, EVENT::getEventId(reason));
+	throwFdirEvent(FDIR_STARTS_RECOVERY, event::getEventId(reason));
 	setOwnerHealth(HasHealthIF::NEEDS_RECOVERY);
 	setFdirState(RECOVERY_ONGOING);
 }
@@ -228,7 +228,7 @@ ReturnValue_t DeviceHandlerFailureIsolation::getParameter(uint8_t domainId,
 }
 
 void DeviceHandlerFailureIsolation::setFaulty(Event reason) {
-	throwFdirEvent(FDIR_TURNS_OFF_DEVICE, EVENT::getEventId(reason));
+	throwFdirEvent(FDIR_TURNS_OFF_DEVICE, event::getEventId(reason));
 	setOwnerHealth(HasHealthIF::FAULTY);
 	setFdirState(AWAIT_SHUTDOWN);
 }
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 35bbe376..39a0e39a 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -83,17 +83,17 @@ public:
 	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
-	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
-	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
-	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
-	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
-	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
-	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
-	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
-	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
-	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
-	static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
-	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
+	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
+	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, severity::LOW);
+	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, severity::LOW);
+	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
+	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
+	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, severity::LOW);
+	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, severity::LOW);
+	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, severity::LOW);
+	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW); //!< Indicates a SW bug in child class.
+	static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
+	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
diff --git a/events/Event.h b/events/Event.h
index 90ff1a90..aebc4bc5 100644
--- a/events/Event.h
+++ b/events/Event.h
@@ -3,7 +3,7 @@
 
 #include <stdint.h>
 #include "fwSubsystemIdRanges.h"
-//could be move to more suitable location
+// could be moved to more suitable location
 #include <events/subsystemIdRanges.h>
 
 typedef uint16_t EventId_t;
@@ -13,33 +13,28 @@ typedef uint8_t EventSeverity_t;
 
 typedef uint32_t Event;
 
-namespace EVENT {
-EventId_t getEventId(Event event);
+namespace event {
 
-EventSeverity_t getSeverity(Event event);
-
-Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId,
-		EventSeverity_t eventSeverity);
+constexpr EventId_t getEventId(Event event) {
+	return (event & 0xFFFF);
 }
 
-namespace SEVERITY {
-	static const EventSeverity_t INFO = 1;
-	static const EventSeverity_t LOW = 2;
-	static const EventSeverity_t MEDIUM = 3;
-	static const EventSeverity_t HIGH = 4;
+constexpr EventSeverity_t getSeverity(Event event) {
+	return ((event >> 16) & 0xFF);
 }
 
-//Unfortunately, this does not work nicely because of the inability to define static classes in headers.
-//struct Event {
-//	Event(uint8_t domain, uint8_t counter, EventSeverity_t severity) :
-//			id(domain*100+counter), severity(severity) {
-//	}
-//	EventId_t id;
-//	EventSeverity_t severity;
-//	static const EventSeverity_t INFO = 1;
-//	static const EventSeverity_t LOW = 2;
-//	static const EventSeverity_t MEDIUM = 3;
-//	static const EventSeverity_t HIGH = 4;
-//};
+constexpr Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId,
+		EventSeverity_t eventSeverity) {
+	return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
+}
+
+}
+
+namespace severity {
+	static constexpr EventSeverity_t INFO = 1;
+	static constexpr EventSeverity_t LOW = 2;
+	static constexpr EventSeverity_t MEDIUM = 3;
+	static constexpr EventSeverity_t HIGH = 4;
+}
 
 #endif /* EVENTOBJECT_EVENT_H_ */
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index f60a8a66..71d1e2e6 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -118,7 +118,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
 	switch (message->getSeverity()) {
-	case SEVERITY::INFO:
+	case severity::INFO:
 #ifdef DEBUG_INFO_EVENT
 		string = translateObject(message->getReporter());
 		sif::info << "EVENT: ";
diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index f3b34f0f..a04a0313 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -139,7 +139,7 @@ void FailureIsolationBase::triggerEvent(Event event, uint32_t parameter1,
 		uint32_t parameter2) {
 	//With this mechanism, all events are disabled for a certain device.
 	//That's not so good for visibility.
-	if (isFdirDisabledForSeverity(EVENT::getSeverity(event))) {
+	if (isFdirDisabledForSeverity(event::getSeverity(event))) {
 		return;
 	}
 	EventMessage message(event, ownerId, parameter1, parameter2);
@@ -148,7 +148,7 @@ void FailureIsolationBase::triggerEvent(Event event, uint32_t parameter1,
 }
 
 bool FailureIsolationBase::isFdirDisabledForSeverity(EventSeverity_t severity) {
-	if ((owner != NULL) && (severity != SEVERITY::INFO)) {
+	if ((owner != NULL) && (severity != severity::INFO)) {
 		if (owner->getHealth() == HasHealthIF::EXTERNAL_CONTROL) {
 			//External control disables handling of fault messages.
 			return true;
diff --git a/fdir/FailureIsolationBase.h b/fdir/FailureIsolationBase.h
index 5b2c099a..4a3f5adf 100644
--- a/fdir/FailureIsolationBase.h
+++ b/fdir/FailureIsolationBase.h
@@ -14,9 +14,9 @@ class FailureIsolationBase: public HasReturnvaluesIF,
 		public HasParametersIF {
 public:
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_1;
-	static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, SEVERITY::INFO); //!< FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
-	static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, SEVERITY::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery.
-	static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, SEVERITY::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery.
+	static const Event FDIR_CHANGED_STATE = MAKE_EVENT(1, severity::INFO); //!< FDIR has an internal state, which changed from par2 (oldState) to par1 (newState).
+	static const Event FDIR_STARTS_RECOVERY = MAKE_EVENT(2, severity::MEDIUM); //!< FDIR tries to restart device. Par1: event that caused recovery.
+	static const Event FDIR_TURNS_OFF_DEVICE = MAKE_EVENT(3, severity::MEDIUM); //!< FDIR turns off device. Par1: event that caused recovery.
 
 	FailureIsolationBase(object_id_t owner,
 			object_id_t parent = objects::NO_OBJECT,
diff --git a/health/HasHealthIF.h b/health/HasHealthIF.h
index 86863ea8..a6254e39 100644
--- a/health/HasHealthIF.h
+++ b/health/HasHealthIF.h
@@ -21,13 +21,13 @@ public:
 	static const ReturnValue_t INVALID_HEALTH_STATE = MAKE_RETURN_CODE(2);
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER_1;
-	static const Event HEALTH_INFO = MAKE_EVENT(6, SEVERITY::INFO);
-	static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, SEVERITY::INFO);
-	static const Event CHILD_PROBLEMS = MAKE_EVENT(8, SEVERITY::LOW);
-	static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, SEVERITY::LOW); //!< Assembly overwrites health information of children to keep satellite alive.
-	static const Event TRYING_RECOVERY = MAKE_EVENT(10, SEVERITY::MEDIUM); //!< Someone starts a recovery of a component (typically power-cycle). No parameters.
-	static const Event RECOVERY_STEP = MAKE_EVENT(11, SEVERITY::MEDIUM); //!< Recovery is ongoing. Comes twice during recovery. P1: 0 for the first, 1 for the second event. P2: 0
-	static const Event RECOVERY_DONE = MAKE_EVENT(12, SEVERITY::MEDIUM); //!< Recovery was completed. Not necessarily successful. No parameters.
+	static const Event HEALTH_INFO = MAKE_EVENT(6, severity::INFO);
+	static const Event CHILD_CHANGED_HEALTH = MAKE_EVENT(7, severity::INFO);
+	static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
+	static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW); //!< Assembly overwrites health information of children to keep satellite alive.
+	static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM); //!< Someone starts a recovery of a component (typically power-cycle). No parameters.
+	static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM); //!< Recovery is ongoing. Comes twice during recovery. P1: 0 for the first, 1 for the second event. P2: 0
+	static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM); //!< Recovery was completed. Not necessarily successful. No parameters.
 
 	virtual ~HasHealthIF() {
 	}
diff --git a/modes/HasModesIF.h b/modes/HasModesIF.h
index 34a15937..c29a0a96 100644
--- a/modes/HasModesIF.h
+++ b/modes/HasModesIF.h
@@ -18,14 +18,14 @@ public:
 	static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYSTEM_MANAGER;
-	static const Event CHANGING_MODE = MAKE_EVENT(0, SEVERITY::INFO); //!< An object announces changing the mode. p1: target mode. p2: target submode
-	static const Event MODE_INFO = MAKE_EVENT(1, SEVERITY::INFO); //!< An Object announces its mode; parameter1 is mode, parameter2 is  submode
-	static const Event FALLBACK_FAILED = MAKE_EVENT(2, SEVERITY::HIGH);
-	static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
-	static const Event CANT_KEEP_MODE = MAKE_EVENT(4, SEVERITY::HIGH);
-	static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, SEVERITY::LOW); //!< Indicates a bug or configuration failure: Object is in a mode it should never be in.
-	static const Event FORCING_MODE = MAKE_EVENT(6, SEVERITY::MEDIUM); //!< The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
-	static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, SEVERITY::LOW); //!< A mode command was rejected by the called object. Par1: called object id, Par2: return code.
+	static const Event CHANGING_MODE = MAKE_EVENT(0, severity::INFO); //!< An object announces changing the mode. p1: target mode. p2: target submode
+	static const Event MODE_INFO = MAKE_EVENT(1, severity::INFO); //!< An Object announces its mode; parameter1 is mode, parameter2 is  submode
+	static const Event FALLBACK_FAILED = MAKE_EVENT(2, severity::HIGH);
+	static const Event MODE_TRANSITION_FAILED = MAKE_EVENT(3, severity::LOW);
+	static const Event CANT_KEEP_MODE = MAKE_EVENT(4, severity::HIGH);
+	static const Event OBJECT_IN_INVALID_MODE = MAKE_EVENT(5, severity::LOW); //!< Indicates a bug or configuration failure: Object is in a mode it should never be in.
+	static const Event FORCING_MODE = MAKE_EVENT(6, severity::MEDIUM); //!< The mode is changed, but for some reason, the change is forced, i.e. EXTERNAL_CONTROL ignored. p1: target mode. p2: target submode
+	static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW); //!< A mode command was rejected by the called object. Par1: called object id, Par2: return code.
 
 	static const Mode_t MODE_ON = 1; //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
 	static const Mode_t MODE_OFF = 0; //!< The device is powered off. The only command accepted in this mode is a mode change to on.
diff --git a/monitoring/MonitoringIF.h b/monitoring/MonitoringIF.h
index 44218c36..040539ef 100644
--- a/monitoring/MonitoringIF.h
+++ b/monitoring/MonitoringIF.h
@@ -15,10 +15,10 @@ public:
 	static const uint8_t LIMIT_TYPE_OBJECT = 128;
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::FDIR_2;
-	static const Event MONITOR_CHANGED_STATE = MAKE_EVENT(1, SEVERITY::LOW);
-	static const Event VALUE_BELOW_LOW_LIMIT = MAKE_EVENT(2, SEVERITY::LOW);
-	static const Event VALUE_ABOVE_HIGH_LIMIT = MAKE_EVENT(3, SEVERITY::LOW);
-	static const Event VALUE_OUT_OF_RANGE = MAKE_EVENT(4, SEVERITY::LOW);
+	static const Event MONITOR_CHANGED_STATE = MAKE_EVENT(1, severity::LOW);
+	static const Event VALUE_BELOW_LOW_LIMIT = MAKE_EVENT(2, severity::LOW);
+	static const Event VALUE_ABOVE_HIGH_LIMIT = MAKE_EVENT(3, severity::LOW);
+	static const Event VALUE_OUT_OF_RANGE = MAKE_EVENT(4, severity::LOW);
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::LIMITS_IF;
 	static const ReturnValue_t UNCHECKED = MAKE_RETURN_CODE(1);
diff --git a/power/Fuse.h b/power/Fuse.h
index 279642be..c67f69cc 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -32,10 +32,10 @@ public:
 	};
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
-	static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, SEVERITY::LOW); //!< PSS detected that current on a fuse is totally out of bounds.
-	static const Event FUSE_WENT_OFF = MAKE_EVENT(2, SEVERITY::LOW); //!< PSS detected a fuse that went off.
-	static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, SEVERITY::LOW); //!< PSS detected a fuse that violates its limits.
-	static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, SEVERITY::LOW); //!< PSS detected a fuse that violates its limits.
+	static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW); //!< PSS detected that current on a fuse is totally out of bounds.
+	static const Event FUSE_WENT_OFF = MAKE_EVENT(2, severity::LOW); //!< PSS detected a fuse that went off.
+	static const Event POWER_ABOVE_HIGH_LIMIT = MAKE_EVENT(4, severity::LOW); //!< PSS detected a fuse that violates its limits.
+	static const Event POWER_BELOW_LOW_LIMIT = MAKE_EVENT(5, severity::LOW); //!< PSS detected a fuse that violates its limits.
 
 	typedef std::list<PowerComponentIF*> DeviceList;
 	Fuse(object_id_t fuseObjectId, uint8_t fuseId, VariableIds ids,
diff --git a/power/PowerSwitchIF.h b/power/PowerSwitchIF.h
index 40220fb6..c6e4b257 100644
--- a/power/PowerSwitchIF.h
+++ b/power/PowerSwitchIF.h
@@ -32,7 +32,7 @@ public:
 	static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
 	static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
-	static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, SEVERITY::LOW); //!< Someone detected that a switch went off which shouldn't. Severity: Low, Parameter1: switchId1, Parameter2: switchId2
+	static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW); //!< Someone detected that a switch went off which shouldn't. Severity: Low, Parameter1: switchId1, Parameter2: switchId2
 	/**
 	 * send a direct command to the Power Unit to enable/disable the specified switch.
 	 *
diff --git a/pus/Service17Test.h b/pus/Service17Test.h
index e2681865..83d436ea 100644
--- a/pus/Service17Test.h
+++ b/pus/Service17Test.h
@@ -21,7 +21,7 @@ class Service17Test: public PusServiceBase {
 public:
 	// Custom events which can be triggered
 	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_17;
-	static constexpr Event TEST = MAKE_EVENT(0, SEVERITY::INFO);
+	static constexpr Event TEST = MAKE_EVENT(0, severity::INFO);
 
 	enum Subservice: uint8_t {
 		//! [EXPORT] : [COMMAND] Perform connection test
diff --git a/pus/Service9TimeManagement.h b/pus/Service9TimeManagement.h
index 4802cdec..70b86966 100644
--- a/pus/Service9TimeManagement.h
+++ b/pus/Service9TimeManagement.h
@@ -7,8 +7,8 @@ class Service9TimeManagement: public PusServiceBase {
 public:
 
 	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
-	static constexpr Event CLOCK_SET = MAKE_EVENT(0, SEVERITY::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime
-	static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, SEVERITY::LOW); //!< Clock could not be set. P1: Returncode.
+	static constexpr Event CLOCK_SET = MAKE_EVENT(0, severity::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+	static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, severity::LOW); //!< Clock could not be set. P1: Returncode.
 
 	static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
 
diff --git a/storagemanager/StorageManagerIF.h b/storagemanager/StorageManagerIF.h
index 834e7563..ab1998bf 100644
--- a/storagemanager/StorageManagerIF.h
+++ b/storagemanager/StorageManagerIF.h
@@ -37,8 +37,8 @@ public:
 	static const ReturnValue_t POOL_TOO_LARGE = MAKE_RETURN_CODE(6); //!< Pool size too large on initialization.
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW;
-	static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
-	static const Event STORE_DATA_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
+	static const Event GET_DATA_FAILED = MAKE_EVENT(0, severity::LOW);
+	static const Event STORE_DATA_FAILED = MAKE_EVENT(1, severity::LOW);
 
 	static const uint32_t INVALID_ADDRESS = 0xFFFFFFFF; //!< Indicates an invalid (i.e unused) storage address.
 	/**
diff --git a/thermal/AbstractTemperatureSensor.h b/thermal/AbstractTemperatureSensor.h
index 726ab9f4..eaca48fb 100644
--- a/thermal/AbstractTemperatureSensor.h
+++ b/thermal/AbstractTemperatureSensor.h
@@ -17,9 +17,9 @@ class AbstractTemperatureSensor: public HasHealthIF,
 public:
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::T_SENSORS;
-	static const Event TEMP_SENSOR_HIGH = MAKE_EVENT(0, SEVERITY::LOW);
-	static const Event TEMP_SENSOR_LOW = MAKE_EVENT(1, SEVERITY::LOW);
-	static const Event TEMP_SENSOR_GRADIENT = MAKE_EVENT(2, SEVERITY::LOW);
+	static const Event TEMP_SENSOR_HIGH = MAKE_EVENT(0, severity::LOW);
+	static const Event TEMP_SENSOR_LOW = MAKE_EVENT(1, severity::LOW);
+	static const Event TEMP_SENSOR_GRADIENT = MAKE_EVENT(2, severity::LOW);
 
 	static constexpr float ZERO_KELVIN_C = -273.15;
 	AbstractTemperatureSensor(object_id_t setObjectid,
diff --git a/thermal/Heater.h b/thermal/Heater.h
index 63fe2066..b034dfee 100644
--- a/thermal/Heater.h
+++ b/thermal/Heater.h
@@ -14,11 +14,11 @@ class Heater: public HealthDevice, public ReceivesParameterMessagesIF {
 public:
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER;
-	static const Event HEATER_ON = MAKE_EVENT(0, SEVERITY::INFO);
-	static const Event HEATER_OFF = MAKE_EVENT(1, SEVERITY::INFO);
-	static const Event HEATER_TIMEOUT = MAKE_EVENT(2, SEVERITY::LOW);
-	static const Event HEATER_STAYED_ON = MAKE_EVENT(3, SEVERITY::LOW);
-	static const Event HEATER_STAYED_OFF = MAKE_EVENT(4, SEVERITY::LOW);
+	static const Event HEATER_ON = MAKE_EVENT(0, severity::INFO);
+	static const Event HEATER_OFF = MAKE_EVENT(1, severity::INFO);
+	static const Event HEATER_TIMEOUT = MAKE_EVENT(2, severity::LOW);
+	static const Event HEATER_STAYED_ON = MAKE_EVENT(3, severity::LOW);
+	static const Event HEATER_STAYED_OFF = MAKE_EVENT(4, severity::LOW);
 
 	Heater(uint32_t objectId, uint8_t switch0, uint8_t switch1);
 	virtual ~Heater();
diff --git a/thermal/ThermalComponentIF.h b/thermal/ThermalComponentIF.h
index 522d4e44..e542c842 100644
--- a/thermal/ThermalComponentIF.h
+++ b/thermal/ThermalComponentIF.h
@@ -10,11 +10,11 @@ class ThermalComponentIF : public HasParametersIF {
 public:
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TCS_1;
-	static const Event COMPONENT_TEMP_LOW = MAKE_EVENT(1, SEVERITY::LOW);
-	static const Event COMPONENT_TEMP_HIGH = MAKE_EVENT(2, SEVERITY::LOW);
-	static const Event COMPONENT_TEMP_OOL_LOW = MAKE_EVENT(3, SEVERITY::LOW);
-	static const Event COMPONENT_TEMP_OOL_HIGH = MAKE_EVENT(4, SEVERITY::LOW);
-	static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(5, SEVERITY::LOW); //!< Is thrown when a device should start-up, but the temperature is out of OP range. P1: thermalState of the component, P2: 0
+	static const Event COMPONENT_TEMP_LOW = MAKE_EVENT(1, severity::LOW);
+	static const Event COMPONENT_TEMP_HIGH = MAKE_EVENT(2, severity::LOW);
+	static const Event COMPONENT_TEMP_OOL_LOW = MAKE_EVENT(3, severity::LOW);
+	static const Event COMPONENT_TEMP_OOL_HIGH = MAKE_EVENT(4, severity::LOW);
+	static const Event TEMP_NOT_IN_OP_RANGE = MAKE_EVENT(5, severity::LOW); //!< Is thrown when a device should start-up, but the temperature is out of OP range. P1: thermalState of the component, P2: 0
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::THERMAL_COMPONENT_IF;
 	static const ReturnValue_t INVALID_TARGET_STATE = MAKE_RETURN_CODE(1);
diff --git a/tmstorage/TmStoreBackendIF.h b/tmstorage/TmStoreBackendIF.h
index a441808e..4b2a8836 100644
--- a/tmstorage/TmStoreBackendIF.h
+++ b/tmstorage/TmStoreBackendIF.h
@@ -31,22 +31,22 @@ public:
 	static const ReturnValue_t INVALID_REQUEST = MAKE_RETURN_CODE(15);
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MEMORY;
-	static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, SEVERITY::LOW); //!< Initiating sending data to store failed. Low, par1: returnCode, par2: integer (debug info)
-	static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, SEVERITY::LOW); //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0
-	static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, SEVERITY::LOW); //!< Initiating reading data from store failed. Low, par1: returnCode, par2: 0
-	static const Event STORE_READ_FAILED = MAKE_EVENT(3, SEVERITY::LOW); //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0
-	static const Event UNEXPECTED_MSG = MAKE_EVENT(4, SEVERITY::LOW); //!< An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
-	static const Event STORING_FAILED = MAKE_EVENT(5, SEVERITY::LOW); //!< Storing data failed. May simply be a full store. Low, par1: returnCode, par2: integer (sequence count of failed packet).
-	static const Event TM_DUMP_FAILED = MAKE_EVENT(6, SEVERITY::LOW); //!< Dumping retrieved data failed. Low, par1: returnCode, par2: integer (sequence count of failed packet).
-	static const Event STORE_INIT_FAILED = MAKE_EVENT(7, SEVERITY::LOW); //!< Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
-	static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, SEVERITY::INFO); //!< Store was not initialized. Starts empty. Info, parameters both zero.
-	static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, SEVERITY::LOW); //!< Data was read out, but it is inconsistent. Low par1: Memory address of corruption, par2: integer (debug info)
-	static const Event STORE_INITIALIZE = MAKE_EVENT(10, SEVERITY::INFO); //!< Info event indicating the store will be initialized, either at boot or after IOB switch. Info. pars: 0
-	static const Event INIT_DONE = MAKE_EVENT(11, SEVERITY::INFO); //!< Info event indicating the store was successfully initialized, either at boot or after IOB switch. Info. pars: 0
-	static const Event DUMP_FINISHED = MAKE_EVENT(12, SEVERITY::INFO); //!< Info event indicating that dumping finished successfully. par1: Number of dumped packets. par2: APID/SSC (16bits each)
-	static const Event DELETION_FINISHED = MAKE_EVENT(13, SEVERITY::INFO); //!< Info event indicating that deletion finished successfully. par1: Number of deleted packets. par2: APID/SSC (16bits each)
-	static const Event DELETION_FAILED = MAKE_EVENT(14, SEVERITY::LOW); //!< Info event indicating that something went wrong during deletion. pars: 0
-	static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, SEVERITY::INFO);//!< Info that the a auto catalog report failed
+	static const Event STORE_SEND_WRITE_FAILED = MAKE_EVENT(0, severity::LOW); //!< Initiating sending data to store failed. Low, par1: returnCode, par2: integer (debug info)
+	static const Event STORE_WRITE_FAILED = MAKE_EVENT(1, severity::LOW); //!< Data was sent, but writing failed. Low, par1: returnCode, par2: 0
+	static const Event STORE_SEND_READ_FAILED = MAKE_EVENT(2, severity::LOW); //!< Initiating reading data from store failed. Low, par1: returnCode, par2: 0
+	static const Event STORE_READ_FAILED = MAKE_EVENT(3, severity::LOW); //!< Data was requested, but access failed. Low, par1: returnCode, par2: 0
+	static const Event UNEXPECTED_MSG = MAKE_EVENT(4, severity::LOW); //!< An unexpected TM packet or data message occurred. Low, par1: 0, par2: integer (debug info)
+	static const Event STORING_FAILED = MAKE_EVENT(5, severity::LOW); //!< Storing data failed. May simply be a full store. Low, par1: returnCode, par2: integer (sequence count of failed packet).
+	static const Event TM_DUMP_FAILED = MAKE_EVENT(6, severity::LOW); //!< Dumping retrieved data failed. Low, par1: returnCode, par2: integer (sequence count of failed packet).
+	static const Event STORE_INIT_FAILED = MAKE_EVENT(7, severity::LOW); //!< Corrupted init data or read error. Low, par1: returnCode, par2: integer (debug info)
+	static const Event STORE_INIT_EMPTY = MAKE_EVENT(8, severity::INFO); //!< Store was not initialized. Starts empty. Info, parameters both zero.
+	static const Event STORE_CONTENT_CORRUPTED = MAKE_EVENT(9, severity::LOW); //!< Data was read out, but it is inconsistent. Low par1: Memory address of corruption, par2: integer (debug info)
+	static const Event STORE_INITIALIZE = MAKE_EVENT(10, severity::INFO); //!< Info event indicating the store will be initialized, either at boot or after IOB switch. Info. pars: 0
+	static const Event INIT_DONE = MAKE_EVENT(11, severity::INFO); //!< Info event indicating the store was successfully initialized, either at boot or after IOB switch. Info. pars: 0
+	static const Event DUMP_FINISHED = MAKE_EVENT(12, severity::INFO); //!< Info event indicating that dumping finished successfully. par1: Number of dumped packets. par2: APID/SSC (16bits each)
+	static const Event DELETION_FINISHED = MAKE_EVENT(13, severity::INFO); //!< Info event indicating that deletion finished successfully. par1: Number of deleted packets. par2: APID/SSC (16bits each)
+	static const Event DELETION_FAILED = MAKE_EVENT(14, severity::LOW); //!< Info event indicating that something went wrong during deletion. pars: 0
+	static const Event AUTO_CATALOGS_SENDING_FAILED = MAKE_EVENT(15, severity::INFO);//!< Info that the a auto catalog report failed
 
 	virtual ~TmStoreBackendIF() {}
 	virtual ReturnValue_t performOperation(uint8_t opCode) = 0;

From 7d70cce4dec572ca0db9012dfed4ddee31767a48 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 14:45:43 +0100
Subject: [PATCH 565/653] namepsace fix

---
 events/EventMessage.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/events/EventMessage.cpp b/events/EventMessage.cpp
index b911abab..bbc41e10 100644
--- a/events/EventMessage.cpp
+++ b/events/EventMessage.cpp
@@ -48,7 +48,7 @@ void EventMessage::setMessageId(uint8_t id) {
 EventSeverity_t EventMessage::getSeverity() {
 	Event event;
 	memcpy(&event, getData(), sizeof(Event));
-	return EVENT::getSeverity(event);
+	return event::getSeverity(event);
 }
 
 void EventMessage::setSeverity(EventSeverity_t severity) {
@@ -61,7 +61,7 @@ void EventMessage::setSeverity(EventSeverity_t severity) {
 EventId_t EventMessage::getEventId() {
 	Event event;
 	memcpy(&event, getData(), sizeof(Event));
-	return EVENT::getEventId(event);
+	return event::getEventId(event);
 }
 
 void EventMessage::setEventId(EventId_t eventId) {

From f0b13427e63ea7dfa2da89efe0894b78c1c546c9 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 14:51:36 +0100
Subject: [PATCH 566/653] changelog update

---
 CHANGELOG | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG b/CHANGELOG
index 33665e60..634eb2a7 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -17,4 +17,7 @@ a C file without issues
 
 ### Events
 
-- makeEvent function: Now takes three input parameters instead of two and allows setting a unique ID
+- makeEvent function: Now takes three input parameters instead of two and
+allows setting a unique ID. Event.cpp source file removed, functions now
+defined in header directly. Namespaces renamed. Functions declared `constexpr`
+now

From 6ee4ceeb65c53ddaefe30c2c9001d6691c032182 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 14:58:24 +0100
Subject: [PATCH 567/653] deleted event.cpp source file

---
 events/Event.cpp | 16 ----------------
 1 file changed, 16 deletions(-)
 delete mode 100644 events/Event.cpp

diff --git a/events/Event.cpp b/events/Event.cpp
deleted file mode 100644
index 0f76b438..00000000
--- a/events/Event.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-#include "Event.h"
-
-namespace EVENT {
-EventId_t getEventId(Event event) {
-	return (event & 0xFFFF);
-}
-
-EventSeverity_t getSeverity(Event event) {
-	return ((event >> 16) & 0xFF);
-}
-
-Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId,
-		EventSeverity_t eventSeverity) {
-	return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
-}
-}

From 4a4634928620b68fc0aa253cf9ccd1e977a81318 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 15:14:39 +0100
Subject: [PATCH 568/653] minor imrpovements

---
 datalinklayer/MapPacketExtraction.cpp |  4 ++--
 datalinklayer/MapPacketExtraction.h   | 11 ++++++-----
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/datalinklayer/MapPacketExtraction.cpp b/datalinklayer/MapPacketExtraction.cpp
index 45f7d3f8..845ed7c1 100644
--- a/datalinklayer/MapPacketExtraction.cpp
+++ b/datalinklayer/MapPacketExtraction.cpp
@@ -9,9 +9,9 @@
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
-		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0),
+		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId),
 		bufferPosition(packetBuffer), packetDestination(setPacketDestination),
-		packetStore(NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
+		tcQueueId(MessageQueueIF::NO_QUEUE) {
 	std::memset(packetBuffer, 0, sizeof(packetBuffer));
 }
 
diff --git a/datalinklayer/MapPacketExtraction.h b/datalinklayer/MapPacketExtraction.h
index eff9b7c3..ddb867fb 100644
--- a/datalinklayer/MapPacketExtraction.h
+++ b/datalinklayer/MapPacketExtraction.h
@@ -1,5 +1,5 @@
-#ifndef MAPPACKETEXTRACTION_H_
-#define MAPPACKETEXTRACTION_H_
+#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
+#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
 
 #include "MapPacketExtractionIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -20,11 +20,12 @@ private:
 	static const uint32_t MAX_PACKET_SIZE = 4096;
 	uint8_t lastSegmentationFlag;	//!< The segmentation flag of the last received frame.
 	uint8_t mapId;	//!< MAP ID of this MAP Channel.
-	uint32_t packetLength;	//!< Complete length of the current Space Packet.
+	uint32_t packetLength = 0;	//!< Complete length of the current Space Packet.
 	uint8_t* bufferPosition;	//!< Position to write to in the internal Packet buffer.
 	uint8_t packetBuffer[MAX_PACKET_SIZE];	//!< The internal Space Packet Buffer.
 	object_id_t packetDestination;
-	StorageManagerIF* packetStore;	//!< Pointer to the store where full TC packets are stored.
+	//!< Pointer to the store where full TC packets are stored.
+	StorageManagerIF* packetStore = nullptr;
 	MessageQueueId_t tcQueueId;		//!< QueueId to send found packets to the distributor.
 	/**
 	 * Debug method to print the packet Buffer's content.
@@ -69,4 +70,4 @@ public:
 	uint8_t getMapId() const;
 };
 
-#endif /* MAPPACKETEXTRACTION_H_ */
+#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */

From bd1137d089539288fbfe3840ded67bea858ebc9d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 15:33:32 +0100
Subject: [PATCH 569/653] replaced hardcoded value with `NO_COMMAND`

---
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index e4bb6d71..e6c15f9e 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -678,7 +678,7 @@ void DeviceHandlerBase::doGetRead() {
 void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		size_t receivedDataLen) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	DeviceCommandId_t foundId = 0xffffffff;
+	DeviceCommandId_t foundId = DeviceHandlerIF::NO_COMMAND;
 	size_t foundLen = 0;
 	// The loop may not execute more often than the number of received bytes
 	// (worst case). This approach avoids infinite loops due to buggy

From ac5446b2b145eee8a3a5183913989b66d20fcc63 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 15:43:58 +0100
Subject: [PATCH 570/653] removed hk switcher helper member

---
 controller/ControllerBase.cpp | 7 +------
 controller/ControllerBase.h   | 3 ---
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp
index 45e678eb..2a402468 100644
--- a/controller/ControllerBase.cpp
+++ b/controller/ControllerBase.cpp
@@ -8,7 +8,7 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 		size_t commandQueueDepth) :
 		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
 		submode(SUBMODE_NONE), modeHelper(this),
-		healthHelper(this, setObjectId), hkSwitcher(this) {
+		healthHelper(this, setObjectId) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(
 	        commandQueueDepth);
 }
@@ -44,10 +44,6 @@ ReturnValue_t ControllerBase::initialize() {
 		return result;
 	}
 
-	result = hkSwitcher.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
 	return RETURN_OK;
 }
 
@@ -107,7 +103,6 @@ void ControllerBase::announceMode(bool recursive) {
 
 ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
 	handleQueue();
-	hkSwitcher.performOperation();
 	performControlOperation();
 	return RETURN_OK;
 }
diff --git a/controller/ControllerBase.h b/controller/ControllerBase.h
index 25d3ab1f..6e83fe80 100644
--- a/controller/ControllerBase.h
+++ b/controller/ControllerBase.h
@@ -72,9 +72,6 @@ protected:
 
 	HealthHelper healthHelper;
 
-	// Is this still needed?
-	HkSwitchHelper hkSwitcher;
-
 	/**
 	 * Pointer to the task which executes this component,
 	 * is invalid before setTaskIF was called.

From a612e19e94a3edcbd3a5997410e8c4b87800cfb3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 15:49:46 +0100
Subject: [PATCH 571/653] ndentation

---
 internalError/InternalErrorReporter.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp
index 12f36f33..818b00cf 100644
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@@ -6,8 +6,7 @@
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
 InternalErrorReporter::InternalErrorReporter(object_id_t setObjectId,
-        uint32_t messageQueueDepth) :
-		SystemObject(setObjectId),
+        uint32_t messageQueueDepth): SystemObject(setObjectId),
 		commandQueue(QueueFactory::instance()->
 		        createMessageQueue(messageQueueDepth)),
 		poolManager(this, commandQueue),

From 7f40566031f40d8ebe214bf29a7958731d936cd0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 15:50:21 +0100
Subject: [PATCH 572/653] include removed

---
 internalError/InternalErrorReporter.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp
index 818b00cf..bfb67289 100644
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@@ -1,4 +1,3 @@
-#include "../datapoolglob/GlobalDataSet.h"
 #include "InternalErrorReporter.h"
 
 #include "../ipc/QueueFactory.h"

From 5e2e18ac078b3ea78ab1328adda5116d532b222c Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 15:59:30 +0100
Subject: [PATCH 573/653] device handler uses local pools now

---
 devicehandlers/DeviceHandlerBase.cpp | 148 +++++++++++++----------
 devicehandlers/DeviceHandlerBase.h   | 169 ++++++++++++++++-----------
 2 files changed, 193 insertions(+), 124 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index b5d43d77..733106e5 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -3,8 +3,6 @@
 #include "DeviceTmReportingWrapper.h"
 
 #include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../objectmanager/ObjectManager.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../thermal/ThermalComponentIF.h"
@@ -13,9 +11,11 @@
 #include "../ipc/MessageQueueMessage.h"
 #include "../ipc/QueueFactory.h"
 #include "../subsystem/SubsystemBase.h"
+#include "../datapoollocal/LocalPoolVariable.h"
 
 #include <iomanip>
 
+
 object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
 object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
@@ -56,9 +56,10 @@ void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
 }
 
 void DeviceHandlerBase::setThermalStateRequestPoolIds(
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
-	this->deviceThermalRequestPoolId = thermalStatePoolId;
-	this->deviceThermalRequestPoolId = thermalRequestPoolId;
+		lp_id_t thermalStatePoolId, lp_id_t heaterRequestPoolId,
+		uint32_t thermalSetId) {
+	thermalSet = new DeviceHandlerThermalSet(this, thermalSetId,
+			thermalStatePoolId, heaterRequestPoolId);
 }
 
 
@@ -86,7 +87,6 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
-		hkManager.performHkOperation();
 		performOperationHook();
 		return RETURN_OK;
 	}
@@ -111,6 +111,9 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		break;
 	case CommunicationAction::GET_READ:
 		doGetRead();
+		// This will be performed after datasets have been updated by the
+		// custom device implementation.
+        hkManager.performHkOperation();
 		break;
 	default:
 		break;
@@ -208,16 +211,18 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	fillCommandAndReplyMap();
 
-	//Set temperature target state to NON_OP.
-	GlobDataSet mySet;
-	gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	mySet.read();
-	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
-	mySet.commit(PoolVariableIF::VALID);
+	if(thermalSet != nullptr) {
+		//Set temperature target state to NON_OP.
+		result = thermalSet->read();
+		if(result == HasReturnvaluesIF::RETURN_OK) {
+			thermalSet->heaterRequest.value =
+					ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+			thermalSet->commit(PoolVariableIF::VALID);
+		}
+
+	}
 
 	return RETURN_OK;
-
 }
 
 void DeviceHandlerBase::decrementDeviceReplyMap() {
@@ -505,15 +510,17 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
 	}
 	Clock::getUptime(&timeoutStart);
 
-	if (mode == MODE_OFF) {
-		GlobDataSet mySet;
-		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
-				PoolVariableIF::VAR_READ_WRITE);
-		mySet.read();
-		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
-			thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
+	if (mode == MODE_OFF and thermalSet != nullptr) {
+		ReturnValue_t result = thermalSet->read();
+		if(result == HasReturnvaluesIF::RETURN_OK) {
+			if (thermalSet->heaterRequest.value !=
+					ThermalComponentIF::STATE_REQUEST_IGNORE) {
+				thermalSet->heaterRequest.value = ThermalComponentIF::
+						STATE_REQUEST_NON_OPERATIONAL;
+			}
+			thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
 		}
-		mySet.commit(PoolVariableIF::VALID);
+
 	}
 	changeHK(mode, submode, true);
 }
@@ -976,17 +983,15 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
 	}
 
 	if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
-			&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
-		GlobDataSet mySet;
-		gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
-				PoolVariableIF::VAR_READ);
-		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
-				PoolVariableIF::VAR_READ);
-		mySet.read();
-		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
-			if (!ThermalComponentIF::isOperational(thermalState)) {
+			and (thermalSet != nullptr)) {
+		ReturnValue_t result = thermalSet->read();
+		if(result == HasReturnvaluesIF::RETURN_OK) {
+			if((thermalSet->heaterRequest.value !=
+					ThermalComponentIF::STATE_REQUEST_IGNORE) and (not
+					ThermalComponentIF::isOperational(
+							thermalSet->thermalState.value))) {
 				triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE,
-						thermalState);
+						thermalSet->thermalState.value);
 				return NON_OP_TEMPERATURE;
 			}
 		}
@@ -999,32 +1004,15 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
 		Submode_t commandedSubmode) {
 	switch (commandedMode) {
 	case MODE_ON:
-		if (mode == MODE_OFF) {
-			transitionSourceMode = _MODE_POWER_DOWN;
-			transitionSourceSubMode = SUBMODE_NONE;
-			setMode(_MODE_POWER_ON, commandedSubmode);
-			//already set the delay for the child transition so we don't need to call it twice
-			childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
-					MODE_ON);
-			triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
-			GlobDataSet mySet;
-			gp_int8_t thermalRequest(deviceThermalRequestPoolId,
-					&mySet, PoolVariableIF::VAR_READ_WRITE);
-			mySet.read();
-			if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
-				thermalRequest = ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
-				mySet.commit(PoolVariableIF::VALID);
-			}
-		} else {
-			setTransition(MODE_ON, commandedSubmode);
-		}
+		handleTransitionToOnMode(commandedMode, commandedSubmode);
 		break;
 	case MODE_OFF:
 		if (mode == MODE_OFF) {
 			triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
 			setMode(_MODE_POWER_DOWN, commandedSubmode);
 		} else {
-			//already set the delay for the child transition so we don't need to call it twice
+			// already set the delay for the child transition
+			// so we don't need to call it twice
 			childTransitionDelay = getTransitionDelayMs(mode, _MODE_POWER_DOWN);
 			transitionSourceMode = _MODE_POWER_DOWN;
 			transitionSourceSubMode = commandedSubmode;
@@ -1050,6 +1038,33 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
 	}
 }
 
+void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode,
+		Submode_t commandedSubmode) {
+	if (mode == MODE_OFF) {
+		transitionSourceMode = _MODE_POWER_DOWN;
+		transitionSourceSubMode = SUBMODE_NONE;
+		setMode(_MODE_POWER_ON, commandedSubmode);
+		// already set the delay for the child transition so we don't
+		// need to call it twice
+		childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
+				MODE_ON);
+		triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
+		if(thermalSet != nullptr) {
+			ReturnValue_t result = thermalSet->read();
+			if(result == HasReturnvaluesIF::RETURN_OK) {
+				if(thermalSet->heaterRequest !=
+						ThermalComponentIF::STATE_REQUEST_IGNORE) {
+					thermalSet->heaterRequest =
+							ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
+					thermalSet->commit();
+				}
+			}
+		}
+	} else {
+		setTransition(MODE_ON, commandedSubmode);
+	}
+}
+
 void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
 	*mode = this->mode;
 	*submode = this->submode;
@@ -1222,10 +1237,12 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 		}
 	}
 	//Try to cast to GlobDataSet and commit data.
-	if (!neverInDataPool) {
-		GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
-		if (dataSet != NULL) {
-			dataSet->commit(PoolVariableIF::VALID);
+	if (not neverInDataPool) {
+		LocalPoolDataSetBase* dataSet =
+				dynamic_cast<LocalPoolDataSetBase*>(data);
+		if (dataSet != nullptr) {
+			dataSet->setValidity(true, true);
+			dataSet->commit();
 		}
 	}
 }
@@ -1262,7 +1279,8 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 		if (result == BUSY) {
 		    //so we can track misconfigurations
 			sif::debug << std::hex << getObjectId()
-					<< ": DHB::buildInternalCommand: Busy" << std::dec << std::endl;
+					<< ": DHB::buildInternalCommand: Busy" << std::dec
+					<< std::endl;
 			result = NOTHING_TO_SEND; //no need to report this
 		}
 	}
@@ -1371,8 +1389,8 @@ bool DeviceHandlerBase::commandIsExecuting(DeviceCommandId_t commandId) {
 void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
 
-void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
-	executingTask = task_;
+void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task){
+	executingTask = task;
 }
 
 // Default implementations empty.
@@ -1385,6 +1403,12 @@ void DeviceHandlerBase::performOperationHook() {
 ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
 		LocalDataPool &localDataPoolMap,
         LocalDataPoolManager& poolManager) {
+	if(thermalSet != nullptr) {
+		localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
+				new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
+		localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
+				new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
+	}
 	return RETURN_OK;
 }
 
@@ -1429,3 +1453,9 @@ dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
     return pstIntervalMs;
 }
 
+DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
+    if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
+        return cookieInfo.pendingCommand->first;
+    }
+    return DeviceHandlerIF::NO_COMMAND;
+}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 627a6423..2bfa62a6 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -4,6 +4,7 @@
 #include "DeviceHandlerIF.h"
 #include "DeviceCommunicationIF.h"
 #include "DeviceHandlerFailureIsolation.h"
+#include "DeviceHandlerThermalSet.h"
 
 #include "../objectmanager/SystemObject.h"
 #include "../tasks/ExecutableObjectIF.h"
@@ -103,8 +104,21 @@ public:
 			size_t cmdQueueSize = 20);
 
 	void setHkDestination(object_id_t hkDestination);
-	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
-			uint32_t thermalRequestPoolId);
+
+	/**
+	 * If the device handler is controlled by the FSFW thermal building blocks,
+	 * this function should be called to initialize all required components.
+	 * The device handler will then take care of creating local pool entries
+	 * for the device thermal state and device heating request.
+	 * Custom local pool IDs can be assigned as well.
+	 * @param thermalStatePoolId
+	 * @param thermalRequestPoolId
+	 */
+	void setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId =
+			DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+			lp_id_t thermalRequestPoolId =
+			DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
+			uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
 	/**
 	 * @brief   Helper function to ease device handler development.
 	 * This will instruct the transition to MODE_ON immediately
@@ -694,19 +708,7 @@ protected:
 	//! and to send replies.
 	MessageQueueIF* commandQueue = nullptr;
 
-	/**
-	 * this is the datapool variable with the thermal state of the device
-	 *
-	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
-	 */
-	uint32_t deviceThermalStatePoolId = PoolVariableIF::NO_PARAMETER;
-
-	/**
-	 * this is the datapool variable with the thermal request of the device
-	 *
-	 * can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
-	 */
-	uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
+	DeviceHandlerThermalSet* thermalSet = nullptr;
 
 	/**
 	 * Optional Error code. Can be set in doStartUp(), doShutDown() and
@@ -732,15 +734,27 @@ protected:
 	//! before setTaskIF was called.
 	PeriodicTaskIF* executingTask = nullptr;
 
-	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
+	//!< Object which switches power on and off.
+	static object_id_t powerSwitcherId;
 
-	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
+	//!< Object which receives RAW data by default.
+	static object_id_t rawDataReceiverId;
+
+	//!< Object which may be the root cause of an identified fault.
+	static object_id_t defaultFdirParentId;
+
+	/**
+	 * Helper function to get pending command. This is useful for devices
+	 * like SPI sensors to identify the last sent command.
+	 * @return
+	 */
+	DeviceCommandId_t getPendingCommand() const;
 
-	static object_id_t defaultFdirParentId; //!< Object which may be the root cause of an identified fault.
 	/**
 	 * Helper function to report a missed reply
 	 *
-	 * Can be overwritten by children to act on missed replies or to fake reporting Id.
+	 * Can be overwritten by children to act on missed replies or to fake
+	 * reporting Id.
 	 *
 	 * @param id of the missed reply
 	 */
@@ -847,15 +861,18 @@ protected:
 	/**
 	 * Build the device command to send for raw mode.
 	 *
-	 * This is only called in @c MODE_RAW. It is for the rare case that in raw mode packets
-	 * are to be sent by the handler itself. It is NOT needed for the raw commanding service.
-	 * Its only current use is in the STR handler which gets its raw packets from a different
-	 * source.
-	 * Also it can be used for transitional commands, to get the device ready for @c MODE_RAW
+	 * This is only called in @c MODE_RAW. It is for the rare case that in
+	 * raw mode packets are to be sent by the handler itself. It is NOT needed
+	 * for the raw commanding service. Its only current use is in the STR
+	 * handler which gets its raw packets from a different source.
+	 * Also it can be used for transitional commands, to get the device ready
+	 * for @c MODE_RAW
 	 *
-	 * As it is almost never used, there is a default implementation returning @c NOTHING_TO_SEND.
+	 * As it is almost never used, there is a default implementation
+	 * returning @c NOTHING_TO_SEND.
 	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 * #rawPacket and #rawPacketLen must be set by this method to the packet
+	 * to be sent.
 	 *
 	 * @param[out] id the device command id built
 	 * @return
@@ -868,7 +885,9 @@ protected:
 	 * Returns the delay cycle count of a reply.
 	 * A count != 0 indicates that the command is already executed.
 	 * @param deviceCommand	The command to look for
-	 * @return	The current delay count. If the command does not exist (should never happen) it returns 0.
+	 * @return
+	 * The current delay count. If the command does not exist  (should never
+	 * happen) it returns 0.
 	 */
 	uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
 
@@ -878,20 +897,22 @@ protected:
 	 * It gets space in the #IPCStore, copies data there, then sends a raw reply
 	 * containing the store address.
 	 *
-	 * This method is virtual, as the STR has a different channel to send raw replies
-	 * and overwrites it accordingly.
+	 * This method is virtual, as the STR has a different channel to send
+	 * raw replies and overwrites it accordingly.
 	 *
 	 * @param data data to send
 	 * @param len length of @c data
 	 * @param sendTo the messageQueueId of the one to send to
-	 * @param isCommand marks the raw data as a command, the message then will be of type raw_command
+	 * @param isCommand marks the raw data as a command, the message then
+	 * will be of type raw_command
 	 */
 	virtual void replyRawData(const uint8_t *data, size_t len,
 			MessageQueueId_t sendTo, bool isCommand = false);
 
 	/**
-	 * Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping is active and if so,
-	 * does not send the Data as the wiretapping will have sent it already
+	 * Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping
+	 * is active and if so, does not send the data as the wiretapping will have
+	 * sent it already
 	 */
 	void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len);
 
@@ -903,17 +924,19 @@ protected:
 	/**
 	 * Enable the reply checking for a command
 	 *
-	 * Is only called, if the command was sent (ie the getWriteReply was successful).
-	 * Must ensure that all replies are activated and correctly linked to the command that initiated it.
-	 * The default implementation looks for a reply with the same id as the command id in the replyMap or
-	 * uses the alternativeReplyId if flagged so.
-	 * When found, copies maxDelayCycles to delayCycles in the reply information and sets the command to
-	 * expect one reply.
+	 * Is only called, if the command was sent (i.e. the getWriteReply was
+	 * successful). Must ensure that all replies are activated and correctly
+	 * linked to the command that initiated it.
+	 * The default implementation looks for a reply with the same id as the
+	 * command id in the replyMap or uses the alternativeReplyId if flagged so.
+	 * When found, copies maxDelayCycles to delayCycles in the reply information
+	 * and sets the command to expect one reply.
 	 *
 	 * Can be overwritten by the child, if a command activates multiple replies
 	 * or replyId differs from commandId.
 	 * Notes for child implementations:
-	 * 	- If the command was not found in the reply map, NO_REPLY_EXPECTED MUST be returned.
+	 * 	- If the command was not found in the reply map,
+	 * 	  NO_REPLY_EXPECTED MUST be returned.
 	 * 	- A failure code may be returned if something went fundamentally wrong.
 	 *
 	 * @param deviceCommand
@@ -929,17 +952,20 @@ protected:
 	 * get the state of the PCDU switches in the datapool
 	 *
 	 * @return
-	 *     - @c PowerSwitchIF::SWITCH_ON if all switches specified by #switches are on
-	 *     - @c PowerSwitchIF::SWITCH_OFF one of the switches specified by #switches are off
-	 *     - @c PowerSwitchIF::RETURN_FAILED if an error occured
+	 *  - @c PowerSwitchIF::SWITCH_ON if all switches specified
+	 *       by #switches are on
+	 *  - @c PowerSwitchIF::SWITCH_OFF one of the switches specified by
+	 *       #switches are off
+	 *  - @c PowerSwitchIF::RETURN_FAILED if an error occured
 	 */
 	ReturnValue_t getStateOfSwitches(void);
 
 	/**
-	 * set all datapool variables that are update periodically in normal mode invalid
-	 *
-	 * Child classes should provide an implementation which sets all those variables invalid
-	 * which are set periodically during any normal mode.
+	 * @brief   Set all datapool variables that are update periodically in
+	 *          normal mode invalid
+	 * @details TODO: Use local pools
+	 * Child classes should provide an implementation which sets all those
+	 * variables invalid which are set periodically during any normal mode.
 	 */
 	virtual void setNormalDatapoolEntriesInvalid() = 0;
 
@@ -949,11 +975,12 @@ protected:
 	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 
 	/**
-	 * Children can overwrite this function to suppress checking of the command Queue
+	 * Children can overwrite this function to suppress checking of the
+	 * command Queue
 	 *
-	 * This can be used when the child does not want to receive a command in a certain
-	 * situation. Care must be taken that checking is not permanentely disabled as this
-	 * would render the handler unusable.
+	 * This can be used when the child does not want to receive a command in
+	 * a certain situation. Care must be taken that checking is not
+	 * permanentely disabled as this would render the handler unusable.
 	 *
 	 * @return whether checking the queue should NOT be done
 	 */
@@ -992,17 +1019,20 @@ protected:
 	virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
 			uint32_t parameter2 = 0) const;
 	/**
-	 * Checks state of switches in conjunction with mode and triggers an event if they don't fit.
+	 * Checks state of switches in conjunction with mode and triggers an event
+	 * if they don't fit.
 	 */
 	virtual void checkSwitchState();
 
 	/**
-	 * Reserved for the rare case where a device needs to perform additional operation cyclically in OFF mode.
+	 * Reserved for the rare case where a device needs to perform additional
+	 * operation cyclically in OFF mode.
 	 */
 	virtual void doOffActivity();
 
 	/**
-	 * Reserved for the rare case where a device needs to perform additional operation cyclically in ON mode.
+	 * Reserved for the rare case where a device needs to perform additional
+	 * operation cyclically in ON mode.
 	 */
 	virtual void doOnActivity();
 
@@ -1043,9 +1073,10 @@ private:
 	/**
 	 * Information about a cookie.
 	 *
-	 * This is stored in a map for each cookie, to not only track the state, but also information
-	 * about  the sent command. Tracking this information is needed as
-	 * the state of a commandId (waiting for reply) is done when a RMAP write reply is received.
+	 * This is stored in a map for each cookie, to not only track the state,
+	 * but also information about the sent command. Tracking this information
+	 * is needed as the state of a commandId (waiting for reply) is done when a
+	 * write reply is received.
 	 */
 	struct CookieInfo {
 		CookieState_t state;
@@ -1102,10 +1133,14 @@ private:
 	/**
 	 * Handle the device handler mode.
 	 *
-	 * - checks whether commands are valid for the current mode, rejects them accordingly
-	 * - checks whether commanded mode transitions are required and calls handleCommandedModeTransition()
-	 * - does the necessary action for the current mode or calls doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
-	 * - actions that happen in transitions (eg setting a timeout) are handled in setMode()
+	 * - checks whether commands are valid for the current mode, rejects
+	 *   them accordingly
+	 * - checks whether commanded mode transitions are required and calls
+	 *   handleCommandedModeTransition()
+	 * - does the necessary action for the current mode or calls
+	 *   doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
+	 * - actions that happen in transitions (e.g. setting a timeout) are
+	 *   handled in setMode()
 	 */
 	void doStateMachine(void);
 
@@ -1115,16 +1150,17 @@ private:
 	/**
 	 * Decrement the counter for the timout of replies.
 	 *
-	 * This is called at the beginning of each cycle. It checks whether a reply has timed out (that means a reply was expected
-	 * but not received).
+	 * This is called at the beginning of each cycle. It checks whether a
+	 * reply has timed out (that means a reply was expected but not received).
 	 */
 	void decrementDeviceReplyMap(void);
 
 	/**
 	 * Convenience function to handle a reply.
 	 *
-	 * Called after scanForReply() has found a packet. Checks if the found id is in the #deviceCommandMap, if so,
-	 * calls interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) for further action.
+	 * Called after scanForReply() has found a packet. Checks if the found ID
+	 * is in the #deviceCommandMap, if so,  calls
+	 * #interpretDeviceReply for further action.
 	 *
 	 * It also resets the timeout counter for the command id.
 	 *
@@ -1184,7 +1220,7 @@ private:
 	 * @param[out] len
 	 * @return
 	 *   - @c RETURN_OK @c data is valid
-	 *   - @c RETURN_FAILED IPCStore is NULL
+	 *   - @c RETURN_FAILED IPCStore is nullptr
 	 *   - the return value from the IPCStore if it was not @c RETURN_OK
 	 */
 	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
@@ -1208,6 +1244,9 @@ private:
 
     void parseReply(const uint8_t* receivedData,
                 size_t receivedDataLen);
+
+    void handleTransitionToOnMode(Mode_t commandedMode,
+    		Submode_t commandedSubmode);
 };
 
 #endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

From 46596f9397d7cea1a82a16f093117e64e133c919 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 8 Dec 2020 16:01:48 +0100
Subject: [PATCH 574/653] tab changed

---
 devicehandlers/DeviceHandlerBase.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index 733106e5..f095834e 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -113,7 +113,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		doGetRead();
 		// This will be performed after datasets have been updated by the
 		// custom device implementation.
-        hkManager.performHkOperation();
+		hkManager.performHkOperation();
 		break;
 	default:
 		break;

From ff62ab8427f84442cb14759e81fb03972caa7bfc Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 16:32:52 +0100
Subject: [PATCH 575/653] removed core component

---
 thermal/CoreComponent.cpp | 257 --------------------------------------
 thermal/CoreComponent.h   |  96 --------------
 2 files changed, 353 deletions(-)
 delete mode 100644 thermal/CoreComponent.cpp
 delete mode 100644 thermal/CoreComponent.h

diff --git a/thermal/CoreComponent.cpp b/thermal/CoreComponent.cpp
deleted file mode 100644
index 657e79cb..00000000
--- a/thermal/CoreComponent.cpp
+++ /dev/null
@@ -1,257 +0,0 @@
-#include "CoreComponent.h"
-
-CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId,
-		uint32_t temperaturePoolId, uint32_t targetStatePoolId,
-		uint32_t currentStatePoolId, uint32_t requestPoolId, GlobDataSet* dataSet,
-		AbstractTemperatureSensor* sensor,
-		AbstractTemperatureSensor* firstRedundantSensor,
-		AbstractTemperatureSensor* secondRedundantSensor,
-		ThermalModuleIF* thermalModule, Parameters parameters,
-		Priority priority, StateRequest initialTargetState) :
-		sensor(sensor), firstRedundantSensor(firstRedundantSensor), secondRedundantSensor(
-				secondRedundantSensor), thermalModule(thermalModule), temperature(
-				temperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
-				targetStatePoolId, dataSet, PoolVariableIF::VAR_READ), currentState(
-				currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), heaterRequest(
-				requestPoolId, dataSet, PoolVariableIF::VAR_WRITE), isHeating(
-		false), isSafeComponent(priority == SAFE), minTemp(999), maxTemp(
-				AbstractTemperatureSensor::ZERO_KELVIN_C), parameters(
-				parameters), temperatureMonitor(reportingObjectId,
-				domainId + 1,
-				GlobalDataPool::poolIdAndPositionToPid(temperaturePoolId, 0),
-				COMPONENT_TEMP_CONFIRMATION), domainId(domainId) {
-	if (thermalModule != NULL) {
-		thermalModule->registerComponent(this, priority);
-	}
-	//Set thermal state once, then leave to operator.
-	GlobDataSet mySet;
-	gp_uint8_t writableTargetState(targetStatePoolId, &mySet,
-			PoolVariableIF::VAR_WRITE);
-	writableTargetState = initialTargetState;
-	mySet.commit(PoolVariableIF::VALID);
-}
-
-CoreComponent::~CoreComponent() {
-}
-
-ThermalComponentIF::HeaterRequest CoreComponent::performOperation(uint8_t opCode) {
-	HeaterRequest request = HEATER_DONT_CARE;
-	//SHOULDDO: Better pass db_float_t* to getTemperature and set it invalid if invalid.
-	temperature = getTemperature();
-	updateMinMaxTemp();
-	if ((temperature != INVALID_TEMPERATURE)) {
-		temperature.setValid(PoolVariableIF::VALID);
-		State state = getState(temperature, getParameters(), targetState);
-		currentState = state;
-		checkLimits(state);
-		request = getHeaterRequest(targetState, temperature, getParameters());
-	} else {
-		temperatureMonitor.setToInvalid();
-		temperature.setValid(PoolVariableIF::INVALID);
-		currentState = UNKNOWN;
-		request = HEATER_DONT_CARE;
-	}
-	currentState.setValid(PoolVariableIF::VALID);
-	heaterRequest = request;
-	heaterRequest.setValid(PoolVariableIF::VALID);
-	return request;
-}
-
-void CoreComponent::markStateIgnored() {
-	currentState = getIgnoredState(currentState);
-}
-
-object_id_t CoreComponent::getObjectId() {
-	return temperatureMonitor.getReporterId();
-}
-
-float CoreComponent::getLowerOpLimit() {
-	return parameters.lowerOpLimit;
-}
-
-ReturnValue_t CoreComponent::setTargetState(int8_t newState) {
-	GlobDataSet mySet;
-	gp_uint8_t writableTargetState(targetState.getDataPoolId(),
-			&mySet, PoolVariableIF::VAR_READ_WRITE);
-	mySet.read();
-	if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
-			&& (newState != STATE_REQUEST_IGNORE)) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	switch (newState) {
-	case STATE_REQUEST_HEATING:
-	case STATE_REQUEST_IGNORE:
-	case STATE_REQUEST_OPERATIONAL:
-		writableTargetState = newState;
-		break;
-	case STATE_REQUEST_NON_OPERATIONAL:
-	default:
-		return INVALID_TARGET_STATE;
-	}
-	mySet.commit(PoolVariableIF::VALID);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-void CoreComponent::setOutputInvalid() {
-	temperature = INVALID_TEMPERATURE;
-	temperature.setValid(PoolVariableIF::INVALID);
-	currentState.setValid(PoolVariableIF::INVALID);
-	heaterRequest = HEATER_DONT_CARE;
-	heaterRequest.setValid(PoolVariableIF::INVALID);
-	temperatureMonitor.setToUnchecked();
-}
-
-float CoreComponent::getTemperature() {
-	if ((sensor != NULL) && (sensor->isValid())) {
-		return sensor->getTemperature();
-	}
-
-	if ((firstRedundantSensor != NULL) && (firstRedundantSensor->isValid())) {
-		return firstRedundantSensor->getTemperature();
-	}
-
-	if ((secondRedundantSensor != NULL) && (secondRedundantSensor->isValid())) {
-		return secondRedundantSensor->getTemperature();
-	}
-
-	if (thermalModule != NULL) {
-		float temperature = thermalModule->getTemperature();
-		if (temperature != ThermalModuleIF::INVALID_TEMPERATURE) {
-			return temperature;
-		} else {
-			return INVALID_TEMPERATURE;
-		}
-	} else {
-		return INVALID_TEMPERATURE;
-	}
-}
-
-ThermalComponentIF::State CoreComponent::getState(float temperature,
-		Parameters parameters, int8_t targetState) {
-	ThermalComponentIF::State state;
-
-	if (temperature < parameters.lowerOpLimit) {
-		state = NON_OPERATIONAL_LOW;
-	} else if (temperature < parameters.upperOpLimit) {
-		state = OPERATIONAL;
-	} else {
-		state = NON_OPERATIONAL_HIGH;
-	}
-	if (targetState == STATE_REQUEST_IGNORE) {
-		state = getIgnoredState(state);
-	}
-
-	return state;
-}
-
-void CoreComponent::checkLimits(ThermalComponentIF::State state) {
-	//Checks operational limits only.
-	temperatureMonitor.translateState(state, temperature.value,
-			getParameters().lowerOpLimit, getParameters().upperOpLimit);
-
-}
-
-ThermalComponentIF::HeaterRequest CoreComponent::getHeaterRequest(
-		int8_t targetState, float temperature, Parameters parameters) {
-	if (targetState == STATE_REQUEST_IGNORE) {
-		isHeating = false;
-		return HEATER_DONT_CARE;
-	}
-
-	if (temperature > parameters.upperOpLimit - parameters.heaterSwitchoff) {
-		isHeating = false;
-		return HEATER_REQUEST_EMERGENCY_OFF;
-	}
-
-	float opHeaterLimit = parameters.lowerOpLimit + parameters.heaterOn;
-
-	if (isHeating) {
-		opHeaterLimit += parameters.hysteresis;
-	}
-
-	if (temperature < opHeaterLimit) {
-		isHeating = true;
-		return HEATER_REQUEST_EMERGENCY_ON;
-	}
-	isHeating = false;
-	return HEATER_DONT_CARE;
-}
-
-ThermalComponentIF::State CoreComponent::getIgnoredState(int8_t state) {
-	switch (state) {
-	case NON_OPERATIONAL_LOW:
-		return NON_OPERATIONAL_LOW_IGNORED;
-	case OPERATIONAL:
-		return OPERATIONAL_IGNORED;
-	case NON_OPERATIONAL_HIGH:
-		return NON_OPERATIONAL_HIGH_IGNORED;
-	case NON_OPERATIONAL_LOW_IGNORED:
-		return NON_OPERATIONAL_LOW_IGNORED;
-	case OPERATIONAL_IGNORED:
-		return OPERATIONAL_IGNORED;
-	case NON_OPERATIONAL_HIGH_IGNORED:
-		return NON_OPERATIONAL_HIGH_IGNORED;
-	default:
-	case UNKNOWN:
-		return UNKNOWN;
-	}
-}
-
-void CoreComponent::updateMinMaxTemp() {
-	if (temperature == INVALID_TEMPERATURE) {
-		return;
-	}
-	if (temperature < minTemp) {
-		minTemp = temperature;
-	}
-	if (temperature > maxTemp) {
-		maxTemp = temperature;
-	}
-}
-
-uint8_t CoreComponent::getDomainId() const {
-	return domainId;
-}
-
-CoreComponent::Parameters CoreComponent::getParameters() {
-	return parameters;
-}
-
-ReturnValue_t CoreComponent::getParameter(uint8_t domainId,
-		uint16_t parameterId, ParameterWrapper* parameterWrapper,
-		const ParameterWrapper* newValues, uint16_t startAtIndex) {
-	ReturnValue_t result = temperatureMonitor.getParameter(domainId,
-			parameterId, parameterWrapper, newValues, startAtIndex);
-	if (result != INVALID_DOMAIN_ID) {
-		return result;
-	}
-	if (domainId != this->domainId) {
-		return INVALID_DOMAIN_ID;
-	}
-	switch (parameterId) {
-	case 0:
-		parameterWrapper->set(parameters.heaterOn);
-		break;
-	case 1:
-		parameterWrapper->set(parameters.hysteresis);
-		break;
-	case 2:
-		parameterWrapper->set(parameters.heaterSwitchoff);
-		break;
-	case 3:
-		parameterWrapper->set(minTemp);
-		break;
-	case 4:
-		parameterWrapper->set(maxTemp);
-		break;
-	case 10:
-		parameterWrapper->set(parameters.lowerOpLimit);
-		break;
-	case 11:
-		parameterWrapper->set(parameters.upperOpLimit);
-		break;
-	default:
-		return INVALID_MATRIX_ID;
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
diff --git a/thermal/CoreComponent.h b/thermal/CoreComponent.h
deleted file mode 100644
index 8093711d..00000000
--- a/thermal/CoreComponent.h
+++ /dev/null
@@ -1,96 +0,0 @@
-#ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
-#define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
-
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../thermal/ThermalComponentIF.h"
-#include "../thermal/AbstractTemperatureSensor.h"
-#include "../thermal/ThermalModule.h"
-#include "../thermal/ThermalMonitor.h"
-
-// TODO: Documentaiton, how to use this? only use Thermal Component, which inherits core component?
-class CoreComponent: public ThermalComponentIF {
-public:
-	struct Parameters {
-		float lowerOpLimit;
-		float upperOpLimit;
-		float heaterOn;
-		float hysteresis;
-		float heaterSwitchoff;
-	};
-
-	static const uint16_t COMPONENT_TEMP_CONFIRMATION = 5;
-
-	CoreComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
-			uint32_t targetStatePoolId, uint32_t currentStatePoolId,
-			uint32_t requestPoolId, GlobDataSet *dataSet,
-			AbstractTemperatureSensor *sensor,
-			AbstractTemperatureSensor *firstRedundantSensor,
-			AbstractTemperatureSensor *secondRedundantSensor,
-			ThermalModuleIF *thermalModule, Parameters parameters,
-			Priority priority, StateRequest initialTargetState =
-					ThermalComponentIF::STATE_REQUEST_OPERATIONAL);
-
-	virtual ~CoreComponent();
-
-	virtual HeaterRequest performOperation(uint8_t opCode);
-
-	void markStateIgnored();
-
-	object_id_t getObjectId();
-
-	uint8_t getDomainId() const;
-
-	virtual float getLowerOpLimit();
-
-	ReturnValue_t setTargetState(int8_t newState);
-
-	virtual void setOutputInvalid();
-
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex);
-
-protected:
-
-	AbstractTemperatureSensor *sensor;
-	AbstractTemperatureSensor *firstRedundantSensor;
-	AbstractTemperatureSensor *secondRedundantSensor;
-	ThermalModuleIF *thermalModule;
-
-	gp_float_t temperature;
-	gp_int8_t targetState;
-	gp_int8_t currentState;
-	gp_uint8_t heaterRequest;
-
-	bool isHeating;
-
-	bool isSafeComponent;
-
-	float minTemp;
-
-	float maxTemp;
-
-	Parameters parameters;
-
-	ThermalMonitor temperatureMonitor;
-
-	const uint8_t domainId;
-
-	virtual float getTemperature();
-	virtual State getState(float temperature, Parameters parameters,
-			int8_t targetState);
-
-	virtual void checkLimits(State state);
-
-	virtual HeaterRequest getHeaterRequest(int8_t targetState,
-			float temperature, Parameters parameters);
-
-	virtual State getIgnoredState(int8_t state);
-
-	void updateMinMaxTemp();
-
-	virtual Parameters getParameters();
-};
-
-#endif /* MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_ */

From 0a5099e293acc10407dcfe8078fddca303b901a3 Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 16:34:25 +0100
Subject: [PATCH 576/653] deleted file which was renamed

---
 thermal/ThermalMonitor.cpp | 68 --------------------------------------
 thermal/ThermalMonitor.h   | 23 -------------
 2 files changed, 91 deletions(-)
 delete mode 100644 thermal/ThermalMonitor.cpp
 delete mode 100644 thermal/ThermalMonitor.h

diff --git a/thermal/ThermalMonitor.cpp b/thermal/ThermalMonitor.cpp
deleted file mode 100644
index 11abfbe5..00000000
--- a/thermal/ThermalMonitor.cpp
+++ /dev/null
@@ -1,68 +0,0 @@
-#include "ThermalMonitor.h"
-#include "ThermalComponentIF.h"
-#include "../monitoring/MonitoringIF.h"
-ThermalMonitor::~ThermalMonitor() {
-}
-
-void ThermalMonitor::sendTransitionEvent(float currentValue,
-		ReturnValue_t state) {
-	switch (state) {
-	case MonitoringIF::BELOW_LOW_LIMIT:
-		EventManagerIF::triggerEvent(reportingId,
-				ThermalComponentIF::COMPONENT_TEMP_OOL_LOW, state);
-		break;
-	case MonitoringIF::ABOVE_HIGH_LIMIT:
-		EventManagerIF::triggerEvent(reportingId,
-				ThermalComponentIF::COMPONENT_TEMP_OOL_HIGH, state);
-		break;
-	case ThermalComponentIF::BELOW_OPERATIONAL_LIMIT:
-		EventManagerIF::triggerEvent(reportingId,
-				ThermalComponentIF::COMPONENT_TEMP_LOW, state);
-		break;
-	case ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT:
-		EventManagerIF::triggerEvent(reportingId,
-				ThermalComponentIF::COMPONENT_TEMP_HIGH, state);
-		break;
-	default:
-		break;
-	}
-}
-
-bool ThermalMonitor::isAboveHighLimit() {
-	if (oldState == ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT) {
-		return true;
-	} else {
-		return false;
-	}
-}
-
-ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, float sample, float lowerLimit,
-		float upperLimit, bool componentIsOperational) {
-	if (ThermalComponentIF::isIgnoredState(state)) {
-		setToUnchecked();
-		return MonitoringIF::UNCHECKED;
-	}
-	switch (state) {
-	case ThermalComponentIF::OUT_OF_RANGE_LOW:
-		return monitorStateIs(MonitoringIF::BELOW_LOW_LIMIT, sample, lowerLimit);
-	case ThermalComponentIF::NON_OPERATIONAL_LOW:
-		if (componentIsOperational) {
-			return monitorStateIs(ThermalComponentIF::BELOW_OPERATIONAL_LIMIT, sample, lowerLimit);
-		} else {
-			return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
-		}
-	case ThermalComponentIF::OPERATIONAL:
-		return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
-	case ThermalComponentIF::NON_OPERATIONAL_HIGH:
-		if (componentIsOperational) {
-			return monitorStateIs(ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT, sample, upperLimit);
-		} else {
-			return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
-		}
-	case ThermalComponentIF::OUT_OF_RANGE_HIGH:
-		return monitorStateIs(MonitoringIF::ABOVE_HIGH_LIMIT, sample, upperLimit);
-	default:
-		//Never reached, all states covered.
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
diff --git a/thermal/ThermalMonitor.h b/thermal/ThermalMonitor.h
deleted file mode 100644
index 5c6806c1..00000000
--- a/thermal/ThermalMonitor.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#ifndef FRAMEWORK_THERMAL_THERMALMONITOR_H_
-#define FRAMEWORK_THERMAL_THERMALMONITOR_H_
-
-#include "../monitoring/MonitorReporter.h"
-#include "ThermalComponentIF.h"
-
-class ThermalMonitor: public MonitorReporter<float> {
-public:
-	template<typename ... Args>
-	ThermalMonitor(Args ... args) :
-			MonitorReporter<float>(std::forward<Args>(args)...) {
-	}
-	~ThermalMonitor();
-	ReturnValue_t translateState(ThermalComponentIF::State state, float sample,
-			float lowerLimit, float upperLimit, bool componentIsOperational = true);
-
-	bool isAboveHighLimit();
-protected:
-	virtual void sendTransitionEvent(float currentValue, ReturnValue_t state);
-
-};
-
-#endif /* FRAMEWORK_THERMAL_THERMALMONITOR_H_ */

From f81c9d7ecc54442eeabfae066f4fafc7feae7698 Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 16:36:09 +0100
Subject: [PATCH 577/653] resolved merge conflicts

---
 thermal/ThermalModule.cpp | 28 ----------------------------
 1 file changed, 28 deletions(-)

diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp
index cc541c8c..2bc1741f 100644
--- a/thermal/ThermalModule.cpp
+++ b/thermal/ThermalModule.cpp
@@ -5,15 +5,9 @@
 #include "../monitoring/MonitoringMessageContent.h"
 
 
-<<<<<<< HEAD
 ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
 		gp_id_t currentStatePoolId, gp_id_t targetStatePoolId,
 		LocalPoolDataSetBase *dataSet, Parameters parameters,
-=======
-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
-		uint32_t currentStatePoolId, uint32_t targetStatePoolId,
-		GlobDataSet *dataSet, Parameters parameters,
->>>>>>> upstream/development
 		RedundantHeater::Parameters heaterParameters) :
 		oldStrategy(ACTIVE_SINGLE), parameters(parameters),
 		moduleTemperature(moduleTemperaturePoolId, dataSet,
@@ -23,7 +17,6 @@ ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
 	heater = new RedundantHeater(heaterParameters);
 }
 
-<<<<<<< HEAD
 ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
 		LocalPoolDataSetBase* dataSet) :
 		oldStrategy(ACTIVE_SINGLE), parameters( { 0, 0 }),
@@ -33,15 +26,6 @@ ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
 				PoolVariableIF::VAR_WRITE),
 		targetState(gp_id_t(), dataSet,
 				PoolVariableIF::VAR_READ) {
-=======
-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet* dataSet) :
-		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
-				false), parameters( { 0, 0 }), moduleTemperature(
-				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), heater(
-				NULL), currentState(PoolVariableIF::INVALID, dataSet,
-				PoolVariableIF::VAR_WRITE), targetState(PoolVariableIF::INVALID,
-				dataSet, PoolVariableIF::VAR_READ) {
->>>>>>> upstream/development
 }
 
 ThermalModule::~ThermalModule() {
@@ -272,7 +256,6 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 }
 
 void ThermalModule::setHeating(bool on) {
-<<<<<<< HEAD
 //	GlobDataSet mySet;
 //	gp_int8_t writableTargetState(targetState.getDataPoolId(),
 //			&mySet, PoolVariableIF::VAR_WRITE);
@@ -282,17 +265,6 @@ void ThermalModule::setHeating(bool on) {
 //		writableTargetState = STATE_REQUEST_PASSIVE;
 //	}
 //	mySet.commit(PoolVariableIF::VALID);
-=======
-	GlobDataSet mySet;
-	gp_int8_t writableTargetState(targetState.getDataPoolId(),
-			&mySet, PoolVariableIF::VAR_WRITE);
-	if (on) {
-		writableTargetState = STATE_REQUEST_HEATING;
-	} else {
-		writableTargetState = STATE_REQUEST_PASSIVE;
-	}
-	mySet.commit(PoolVariableIF::VALID);
->>>>>>> upstream/development
 }
 
 void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,

From be9913f262e879f8c264f54550d61e983fddc1e5 Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 16:40:22 +0100
Subject: [PATCH 578/653] themral module update

---
 thermal/ThermalModule.cpp | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp
index 2bc1741f..457a6743 100644
--- a/thermal/ThermalModule.cpp
+++ b/thermal/ThermalModule.cpp
@@ -256,15 +256,16 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 }
 
 void ThermalModule::setHeating(bool on) {
-//	GlobDataSet mySet;
-//	gp_int8_t writableTargetState(targetState.getDataPoolId(),
-//			&mySet, PoolVariableIF::VAR_WRITE);
-//	if (on) {
-//		writableTargetState = STATE_REQUEST_HEATING;
-//	} else {
-//		writableTargetState = STATE_REQUEST_PASSIVE;
-//	}
-//	mySet.commit(PoolVariableIF::VALID);
+	ReturnValue_t result = targetState.read();
+	if(result == HasReturnvaluesIF::RETURN_OK) {
+		if(on) {
+			targetState.value = STATE_REQUEST_HEATING;
+		}
+		else {
+			targetState.value = STATE_REQUEST_PASSIVE;
+		}
+	}
+	targetState.setValid(true);
 }
 
 void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,

From 50ad2c03809502d9494e37bff99a54bf39fc024c Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 16:57:43 +0100
Subject: [PATCH 579/653] resolved merge conflicts

---
 power/Fuse.h | 24 +-----------------------
 1 file changed, 1 insertion(+), 23 deletions(-)

diff --git a/power/Fuse.h b/power/Fuse.h
index 8a1b29f0..b892611b 100644
--- a/power/Fuse.h
+++ b/power/Fuse.h
@@ -1,21 +1,11 @@
 #ifndef FSFW_POWER_FUSE_H_
 #define FSFW_POWER_FUSE_H_
 
-<<<<<<< HEAD
 #include "PowerComponentIF.h"
 #include "PowerSwitchIF.h"
 
 #include "../devicehandlers/HealthDevice.h"
 #include "../monitoring/AbsLimitMonitor.h"
-=======
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../datapoolglob/PIDReader.h"
-#include "../devicehandlers/HealthDevice.h"
-#include "../monitoring/AbsLimitMonitor.h"
-#include "../power/PowerComponentIF.h"
-#include "../power/PowerSwitchIF.h"
->>>>>>> upstream/development
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../parameters/ParameterHelper.h"
 #include <list>
@@ -94,26 +84,14 @@ private:
 
 	};
 	PowerMonitor powerMonitor;
-<<<<<<< HEAD
 	StaticLocalDataSet<3> set;
-	//LocalPoolDataSetBase* set = nullptr;
-	//PIDReader<float> voltage;
-	//PIDReader<float> current;
-	//PIDReader<uint8_t> state;
+
 	lp_var_t<float> voltage;
 	lp_var_t<float> current;
 	lp_var_t<uint8_t> state;
 
 	lp_var_t<float> power;
 	MessageQueueIF* commandQueue = nullptr;
-=======
-	GlobDataSet set;
-	PIDReader<float> voltage;
-	PIDReader<float> current;
-	PIDReader<uint8_t> state;
-	gp_float_t power;
-	MessageQueueIF* commandQueue;
->>>>>>> upstream/development
 	ParameterHelper parameterHelper;
 	HealthHelper healthHelper;
 	static object_id_t powerSwitchId;

From a2823835dd8f6708fd004aef2d95d74547c7cdf7 Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 17:05:41 +0100
Subject: [PATCH 580/653] explicit cast added

---
 parameters/ParameterWrapper.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/parameters/ParameterWrapper.cpp b/parameters/ParameterWrapper.cpp
index 23955516..d9f1ef68 100644
--- a/parameters/ParameterWrapper.cpp
+++ b/parameters/ParameterWrapper.cpp
@@ -123,7 +123,8 @@ ReturnValue_t ParameterWrapper::deSerializeData(uint8_t startingRow,
 	for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
 
 		//get the start element of this row in data
-	    uint16_t offset = (((startingRow + fromRow) * columns) + startingColumn);
+	    uint16_t offset = (((startingRow + fromRow) *
+	    		static_cast<uint16_t>(columns)) + startingColumn);
 		T *dataWithDataType = static_cast<T*>(data) + offset;
 
 		for (uint8_t fromColumn = 0; fromColumn < fromColumns; fromColumn++) {
@@ -296,8 +297,8 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
 		//need a type to do arithmetic
 		uint8_t* typedData = static_cast<uint8_t*>(data);
 		for (uint8_t fromRow = 0; fromRow < from->rows; fromRow++) {
-			size_t offset = (((startingRow + fromRow) * columns) +
-					startingColumn) * typeSize;
+			size_t offset = (((startingRow + fromRow) * static_cast<uint16_t>(
+					columns)) + startingColumn) * typeSize;
 			std::memcpy(typedData +  offset, from->readonlyData,
 					typeSize * from->columns);
 		}

From 7986584d17d65da8ed06fc217b216472e0cc12da Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 17:18:46 +0100
Subject: [PATCH 581/653] updated comment

---
 devicehandlers/DeviceHandlerBase.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 2bfa62a6..9a5287e0 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -746,6 +746,7 @@ protected:
 	/**
 	 * Helper function to get pending command. This is useful for devices
 	 * like SPI sensors to identify the last sent command.
+	 * This only returns the command sent in the last SEND_WRITE cycle.
 	 * @return
 	 */
 	DeviceCommandId_t getPendingCommand() const;

From bb7ebf4b275331db5181826e8be33088170f9a8d Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Thu, 10 Dec 2020 17:29:23 +0100
Subject: [PATCH 582/653] removed glob pool

---
 datapoolglob/ControllerSet.cpp            |  14 -
 datapoolglob/ControllerSet.h              |  15 --
 datapoolglob/DataPoolAdmin.cpp            | 301 ----------------------
 datapoolglob/DataPoolAdmin.h              |  60 -----
 datapoolglob/DataPoolParameterWrapper.cpp | 179 -------------
 datapoolglob/DataPoolParameterWrapper.h   |  38 ---
 datapoolglob/GlobalDataPool.cpp           | 133 ----------
 datapoolglob/GlobalDataPool.h             | 149 -----------
 datapoolglob/GlobalDataSet.cpp            |  48 ----
 datapoolglob/GlobalDataSet.h              |  98 -------
 datapoolglob/GlobalPoolVariable.h         | 213 ---------------
 datapoolglob/GlobalPoolVariable.tpp       | 117 ---------
 datapoolglob/GlobalPoolVector.h           | 185 -------------
 datapoolglob/GlobalPoolVector.tpp         | 117 ---------
 datapoolglob/PIDReader.h                  | 164 ------------
 datapoolglob/PIDReaderList.h              |  27 --
 datapoolglob/PoolRawAccess.cpp            | 239 -----------------
 datapoolglob/PoolRawAccess.h              | 220 ----------------
 18 files changed, 2317 deletions(-)
 delete mode 100644 datapoolglob/ControllerSet.cpp
 delete mode 100644 datapoolglob/ControllerSet.h
 delete mode 100644 datapoolglob/DataPoolAdmin.cpp
 delete mode 100644 datapoolglob/DataPoolAdmin.h
 delete mode 100644 datapoolglob/DataPoolParameterWrapper.cpp
 delete mode 100644 datapoolglob/DataPoolParameterWrapper.h
 delete mode 100644 datapoolglob/GlobalDataPool.cpp
 delete mode 100644 datapoolglob/GlobalDataPool.h
 delete mode 100644 datapoolglob/GlobalDataSet.cpp
 delete mode 100644 datapoolglob/GlobalDataSet.h
 delete mode 100644 datapoolglob/GlobalPoolVariable.h
 delete mode 100644 datapoolglob/GlobalPoolVariable.tpp
 delete mode 100644 datapoolglob/GlobalPoolVector.h
 delete mode 100644 datapoolglob/GlobalPoolVector.tpp
 delete mode 100644 datapoolglob/PIDReader.h
 delete mode 100644 datapoolglob/PIDReaderList.h
 delete mode 100644 datapoolglob/PoolRawAccess.cpp
 delete mode 100644 datapoolglob/PoolRawAccess.h

diff --git a/datapoolglob/ControllerSet.cpp b/datapoolglob/ControllerSet.cpp
deleted file mode 100644
index 54fc6e8c..00000000
--- a/datapoolglob/ControllerSet.cpp
+++ /dev/null
@@ -1,14 +0,0 @@
-#include <fsfw/datapoolglob/ControllerSet.h>
-
-ControllerSet::ControllerSet() {
-
-}
-
-ControllerSet::~ControllerSet() {
-}
-
-void ControllerSet::setInvalid() {
-	read();
-	setToDefault();
-	commit(PoolVariableIF::INVALID);
-}
diff --git a/datapoolglob/ControllerSet.h b/datapoolglob/ControllerSet.h
deleted file mode 100644
index 5da11397..00000000
--- a/datapoolglob/ControllerSet.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#ifndef FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
-#define FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
-
-#include "../datapoolglob/GlobalDataSet.h"
-
-class ControllerSet :public GlobDataSet {
-public:
-	ControllerSet();
-	virtual ~ControllerSet();
-
-	virtual void setToDefault() = 0;
-	void setInvalid();
-};
-
-#endif /*  FSFW_DATAPOOLGLOB_CONTROLLERSET_H_ */
diff --git a/datapoolglob/DataPoolAdmin.cpp b/datapoolglob/DataPoolAdmin.cpp
deleted file mode 100644
index 6ede0841..00000000
--- a/datapoolglob/DataPoolAdmin.cpp
+++ /dev/null
@@ -1,301 +0,0 @@
-#include "DataPoolAdmin.h"
-#include "GlobalDataSet.h"
-#include "GlobalDataPool.h"
-#include "PoolRawAccess.h"
-
-#include "../ipc/CommandMessage.h"
-#include "../ipc/QueueFactory.h"
-#include "../parameters/ParameterMessage.h"
-
-DataPoolAdmin::DataPoolAdmin(object_id_t objectId) :
-		SystemObject(objectId), storage(NULL), commandQueue(NULL), memoryHelper(
-				this, NULL), actionHelper(this, NULL) {
-	commandQueue = QueueFactory::instance()->createMessageQueue();
-}
-
-DataPoolAdmin::~DataPoolAdmin() {
-	QueueFactory::instance()->deleteMessageQueue(commandQueue);
-}
-
-ReturnValue_t DataPoolAdmin::performOperation(uint8_t opCode) {
-	handleCommand();
-	return RETURN_OK;
-}
-
-MessageQueueId_t DataPoolAdmin::getCommandQueue() const {
-	return commandQueue->getId();
-}
-
-ReturnValue_t DataPoolAdmin::executeAction(ActionId_t actionId,
-		MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
-	if (actionId != SET_VALIDITY) {
-		return INVALID_ACTION_ID;
-	}
-
-	if (size != 5) {
-		return INVALID_PARAMETERS;
-	}
-
-	uint32_t address = (data[0] << 24) | (data[1] << 16) | (data[2] << 8)
-			| data[3];
-
-	uint8_t valid = data[4];
-
-	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
-
-	GlobDataSet mySet;
-	PoolRawAccess variable(poolId, 0, &mySet, PoolVariableIF::VAR_READ_WRITE);
-	ReturnValue_t status = mySet.read();
-	if (status != RETURN_OK) {
-		return INVALID_ADDRESS;
-	}
-	if (valid != 0) {
-		variable.setValid(PoolVariableIF::VALID);
-	} else {
-		variable.setValid(PoolVariableIF::INVALID);
-	}
-
-	mySet.commit();
-
-	return EXECUTION_FINISHED;
-}
-
-ReturnValue_t DataPoolAdmin::getParameter(uint8_t domainId,
-		uint16_t parameterId, ParameterWrapper* parameterWrapper,
-		const ParameterWrapper* newValues, uint16_t startAtIndex) {
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-void DataPoolAdmin::handleCommand() {
-	CommandMessage command;
-	ReturnValue_t result = commandQueue->receiveMessage(&command);
-	if (result != RETURN_OK) {
-		return;
-	}
-
-	result = actionHelper.handleActionMessage(&command);
-
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		return;
-	}
-
-	result = handleParameterCommand(&command);
-	if (result == HasReturnvaluesIF::RETURN_OK) {
-		return;
-	}
-
-	result = memoryHelper.handleMemoryCommand(&command);
-	if (result != RETURN_OK) {
-		command.setToUnknownCommand();
-		commandQueue->reply(&command);
-	}
-}
-
-ReturnValue_t DataPoolAdmin::handleMemoryLoad(uint32_t address,
-		const uint8_t* data, size_t size, uint8_t** dataPointer) {
-	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
-	uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
-	GlobDataSet testSet;
-	PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
-			PoolVariableIF::VAR_READ);
-	ReturnValue_t status = testSet.read();
-	if (status != RETURN_OK) {
-		return INVALID_ADDRESS;
-	}
-	uint8_t typeSize = varToGetSize.getSizeOfType();
-
-	if (size % typeSize != 0) {
-		return INVALID_SIZE;
-	}
-
-	if (size > varToGetSize.getSizeTillEnd()) {
-		return INVALID_SIZE;
-	}
-	const uint8_t* readPosition = data;
-
-	for (; size > 0; size -= typeSize) {
-		GlobDataSet rawSet;
-		PoolRawAccess variable(poolId, arrayIndex, &rawSet,
-				PoolVariableIF::VAR_READ_WRITE);
-		status = rawSet.read();
-		if (status == RETURN_OK) {
-			status = variable.setEntryFromBigEndian(readPosition, typeSize);
-			if (status == RETURN_OK) {
-				status = rawSet.commit();
-			}
-		}
-		arrayIndex += 1;
-		readPosition += typeSize;
-	}
-	return ACTIVITY_COMPLETED;
-}
-
-ReturnValue_t DataPoolAdmin::handleMemoryDump(uint32_t address, size_t size,
-		uint8_t** dataPointer, uint8_t* copyHere) {
-	uint32_t poolId = glob::dataPool.PIDToDataPoolId(address);
-	uint8_t arrayIndex = glob::dataPool.PIDToArrayIndex(address);
-	GlobDataSet testSet;
-	PoolRawAccess varToGetSize(poolId, arrayIndex, &testSet,
-			PoolVariableIF::VAR_READ);
-	ReturnValue_t status = testSet.read();
-	if (status != RETURN_OK) {
-		return INVALID_ADDRESS;
-	}
-	uint8_t typeSize = varToGetSize.getSizeOfType();
-	if (size > varToGetSize.getSizeTillEnd()) {
-		return INVALID_SIZE;
-	}
-	uint8_t* ptrToCopy = copyHere;
-	for (; size > 0; size -= typeSize) {
-		GlobDataSet rawSet;
-		PoolRawAccess variable(poolId, arrayIndex, &rawSet,
-				PoolVariableIF::VAR_READ);
-		status = rawSet.read();
-		if (status == RETURN_OK) {
-			size_t temp = 0;
-			status = variable.getEntryEndianSafe(ptrToCopy, &temp, size);
-			if (status != RETURN_OK) {
-				return RETURN_FAILED;
-			}
-		} else {
-			//Error reading parameter.
-		}
-		arrayIndex += 1;
-		ptrToCopy += typeSize;
-	}
-	return ACTIVITY_COMPLETED;
-}
-
-ReturnValue_t DataPoolAdmin::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = memoryHelper.initialize(commandQueue);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (storage == NULL) {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	result = actionHelper.initialize(commandQueue);
-
-	return result;
-}
-
-//mostly identical to ParameterHelper::handleParameterMessage()
-ReturnValue_t DataPoolAdmin::handleParameterCommand(CommandMessage* command) {
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	switch (command->getCommand()) {
-	case ParameterMessage::CMD_PARAMETER_DUMP: {
-		uint8_t domain = HasParametersIF::getDomain(
-				ParameterMessage::getParameterId(command));
-		uint16_t parameterId = HasParametersIF::getMatrixId(
-				ParameterMessage::getParameterId(command));
-
-		DataPoolParameterWrapper wrapper;
-		result = wrapper.set(domain, parameterId);
-
-		if (result == HasReturnvaluesIF::RETURN_OK) {
-			result = sendParameter(command->getSender(),
-					ParameterMessage::getParameterId(command), &wrapper);
-		}
-	}
-		break;
-	case ParameterMessage::CMD_PARAMETER_LOAD: {
-
-		uint8_t domain = HasParametersIF::getDomain(
-				ParameterMessage::getParameterId(command));
-		uint16_t parameterId = HasParametersIF::getMatrixId(
-				ParameterMessage::getParameterId(command));
-		uint8_t index = HasParametersIF::getIndex(
-				ParameterMessage::getParameterId(command));
-
-		const uint8_t *storedStream;
-		size_t storedStreamSize;
-		result = storage->getData(ParameterMessage::getStoreId(command),
-				&storedStream, &storedStreamSize);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			break;
-		}
-
-		ParameterWrapper streamWrapper;
-		result = streamWrapper.set(storedStream, storedStreamSize);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			storage->deleteData(ParameterMessage::getStoreId(command));
-			break;
-		}
-
-		DataPoolParameterWrapper poolWrapper;
-		result = poolWrapper.set(domain, parameterId);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			storage->deleteData(ParameterMessage::getStoreId(command));
-			break;
-		}
-
-		result = poolWrapper.copyFrom(&streamWrapper, index);
-
-		storage->deleteData(ParameterMessage::getStoreId(command));
-
-		if (result == HasReturnvaluesIF::RETURN_OK) {
-			result = sendParameter(command->getSender(),
-					ParameterMessage::getParameterId(command), &poolWrapper);
-		}
-	}
-		break;
-	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		rejectCommand(command->getSender(), result, command->getCommand());
-	}
-
-	return HasReturnvaluesIF::RETURN_OK;
-
-}
-
-//identical to ParameterHelper::sendParameter()
-ReturnValue_t DataPoolAdmin::sendParameter(MessageQueueId_t to, uint32_t id,
-		const DataPoolParameterWrapper* wrapper) {
-	size_t serializedSize = wrapper->getSerializedSize();
-
-	uint8_t *storeElement;
-	store_address_t address;
-
-	ReturnValue_t result = storage->getFreeElement(&address, serializedSize,
-			&storeElement);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	size_t storeElementSize = 0;
-
-	result = wrapper->serialize(&storeElement, &storeElementSize,
-			serializedSize, SerializeIF::Endianness::BIG);
-
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		storage->deleteData(address);
-		return result;
-	}
-
-	CommandMessage reply;
-
-	ParameterMessage::setParameterDumpReply(&reply, id, address);
-
-	commandQueue->sendMessage(to, &reply);
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-//identical to ParameterHelper::rejectCommand()
-void DataPoolAdmin::rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
-		Command_t initialCommand) {
-	CommandMessage reply;
-	reply.setReplyRejected(reason, initialCommand);
-	commandQueue->sendMessage(to, &reply);
-}
diff --git a/datapoolglob/DataPoolAdmin.h b/datapoolglob/DataPoolAdmin.h
deleted file mode 100644
index d8871b65..00000000
--- a/datapoolglob/DataPoolAdmin.h
+++ /dev/null
@@ -1,60 +0,0 @@
-#ifndef FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
-#define FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
-
-#include "DataPoolParameterWrapper.h"
-
-#include "../objectmanager/SystemObject.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include "../tasks/ExecutableObjectIF.h"
-#include "../action/HasActionsIF.h"
-#include "../ipc/MessageQueueIF.h"
-#include "../parameters/ReceivesParameterMessagesIF.h"
-#include "../action/SimpleActionHelper.h"
-#include "../memory/MemoryHelper.h"
-
-
-class DataPoolAdmin: public HasActionsIF,
-		public ExecutableObjectIF,
-		public AcceptsMemoryMessagesIF,
-		public HasReturnvaluesIF,
-		public ReceivesParameterMessagesIF,
-		public SystemObject {
-public:
-	static const ActionId_t SET_VALIDITY = 1;
-
-	DataPoolAdmin(object_id_t objectId);
-
-	~DataPoolAdmin();
-
-	ReturnValue_t performOperation(uint8_t opCode);
-
-	MessageQueueId_t getCommandQueue() const;
-
-	ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data,
-			size_t size, uint8_t** dataPointer);
-	ReturnValue_t handleMemoryDump(uint32_t address, size_t size,
-			uint8_t** dataPointer, uint8_t* copyHere);
-
-	ReturnValue_t executeAction(ActionId_t actionId,
-			MessageQueueId_t commandedBy, const uint8_t* data, size_t size);
-
-	//not implemented as ParameterHelper is no used
-	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex);
-
-	ReturnValue_t initialize();
-private:
-	StorageManagerIF *storage;
-	MessageQueueIF* commandQueue;
-	MemoryHelper memoryHelper;
-	SimpleActionHelper actionHelper;
-	void handleCommand();
-	ReturnValue_t handleParameterCommand(CommandMessage *command);
-	ReturnValue_t sendParameter(MessageQueueId_t to, uint32_t id,
-			const DataPoolParameterWrapper* wrapper);
-	void rejectCommand(MessageQueueId_t to, ReturnValue_t reason,
-			Command_t initialCommand);
-};
-
-#endif /* FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_ */
diff --git a/datapoolglob/DataPoolParameterWrapper.cpp b/datapoolglob/DataPoolParameterWrapper.cpp
deleted file mode 100644
index 3a57d90d..00000000
--- a/datapoolglob/DataPoolParameterWrapper.cpp
+++ /dev/null
@@ -1,179 +0,0 @@
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/DataPoolParameterWrapper.h"
-#include "../datapoolglob/PoolRawAccess.h"
-#include "../parameters/HasParametersIF.h"
-
-
-DataPoolParameterWrapper::DataPoolParameterWrapper() :
-		type(Type::UNKNOWN_TYPE), rows(0), columns(0), poolId(
-				PoolVariableIF::NO_PARAMETER) {
-
-}
-
-DataPoolParameterWrapper::~DataPoolParameterWrapper() {
-
-}
-
-ReturnValue_t DataPoolParameterWrapper::set(uint8_t domainId,
-		uint16_t parameterId) {
-	poolId = (domainId << 16) + parameterId;
-
-	GlobDataSet mySet;
-	PoolRawAccess raw(poolId, 0, &mySet, PoolVariableIF::VAR_READ);
-	ReturnValue_t status = mySet.read();
-	if (status != HasReturnvaluesIF::RETURN_OK) {
-		//should only fail for invalid pool id
-		return HasParametersIF::INVALID_MATRIX_ID;
-	}
-
-	type = raw.getType();
-	rows = raw.getArraySize();
-	columns = 1;
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t DataPoolParameterWrapper::serialize(uint8_t** buffer,
-		size_t* size, size_t maxSize, Endianness streamEndianness) const {
-	ReturnValue_t result;
-
-	result = SerializeAdapter::serialize(&type, buffer, size, maxSize,
-			streamEndianness);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	result = SerializeAdapter::serialize(&columns, buffer, size,
-			maxSize, streamEndianness);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	result = SerializeAdapter::serialize(&rows, buffer, size, maxSize,
-			streamEndianness);
-	if (result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-
-	for (uint8_t index = 0; index < rows; index++){
-		GlobDataSet mySet;
-		PoolRawAccess raw(poolId, index, &mySet,PoolVariableIF::VAR_READ);
-		mySet.read();
-		result = raw.serialize(buffer,size,maxSize,streamEndianness);
-		if (result != HasReturnvaluesIF::RETURN_OK){
-			return result;
-		}
-	}
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-//same as ParameterWrapper
-size_t DataPoolParameterWrapper::getSerializedSize() const {
-	size_t serializedSize = 0;
-	serializedSize += type.getSerializedSize();
-	serializedSize += sizeof(rows);
-	serializedSize += sizeof(columns);
-	serializedSize += rows * columns * type.getSize();
-
-	return serializedSize;
-}
-
-ReturnValue_t DataPoolParameterWrapper::deSerialize(const uint8_t** buffer,
-		size_t* size, Endianness streamEndianness) {
-	return HasReturnvaluesIF::RETURN_FAILED;
-}
-
-template<typename T>
-ReturnValue_t DataPoolParameterWrapper::deSerializeData(uint8_t startingRow,
-		uint8_t startingColumn, const void* from, uint8_t fromRows) {
-	//treat from as a continuous Stream as we copy all of it
-	const uint8_t *fromAsStream = (const uint8_t *) from;
-
-	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-
-	for (uint8_t fromRow = 0; fromRow < fromRows; fromRow++) {
-
-		GlobDataSet mySet;
-		PoolRawAccess raw(poolId, startingRow + fromRow, &mySet,
-				PoolVariableIF::VAR_READ_WRITE);
-		mySet.read();
-
-		result = raw.setEntryFromBigEndian(fromAsStream, sizeof(T));
-
-		fromAsStream += sizeof(T);
-
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-
-		mySet.commit();
-	}
-
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t DataPoolParameterWrapper::copyFrom(const ParameterWrapper* from,
-		uint16_t startWritingAtIndex) {
-	if (poolId == PoolVariableIF::NO_PARAMETER) {
-		return ParameterWrapper::NOT_SET;
-	}
-
-	if (type != from->type) {
-		return ParameterWrapper::DATATYPE_MISSMATCH;
-	}
-
-	//check if from fits into this
-	uint8_t startingRow = startWritingAtIndex / columns;
-	uint8_t startingColumn = startWritingAtIndex % columns;
-
-	if ((from->rows > (rows - startingRow))
-			|| (from->columns > (columns - startingColumn))) {
-		return ParameterWrapper::TOO_BIG;
-	}
-
-	ReturnValue_t result;
-	//copy data
-	if (from->pointsToStream) {
-		switch (type) {
-		case Type::UINT8_T:
-			result = deSerializeData<uint8_t>(startingRow, startingColumn,
-					from->readonlyData, from->rows);
-			break;
-		case Type::INT8_T:
-			result = deSerializeData<int8_t>(startingRow, startingColumn,
-					from->readonlyData, from->rows);
-			break;
-		case Type::UINT16_T:
-			result = deSerializeData<uint16_t>(startingRow, startingColumn,
-					from->readonlyData, from->rows);
-			break;
-		case Type::INT16_T:
-			result = deSerializeData<int16_t>(startingRow, startingColumn,
-					from->readonlyData, from->rows);
-			break;
-		case Type::UINT32_T:
-			result = deSerializeData<uint32_t>(startingRow, startingColumn,
-					from->readonlyData, from->rows);
-			break;
-		case Type::INT32_T:
-			result = deSerializeData<int32_t>(startingRow, startingColumn,
-					from->readonlyData, from->rows);
-			break;
-		case Type::FLOAT:
-			result = deSerializeData<float>(startingRow, startingColumn,
-					from->readonlyData, from->rows);
-			break;
-		case Type::DOUBLE:
-			result = deSerializeData<double>(startingRow, startingColumn,
-					from->readonlyData, from->rows);
-			break;
-		default:
-			result = ParameterWrapper::UNKNOW_DATATYPE;
-			break;
-		}
-	} else {
-		//not supported
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	return result;
-}
diff --git a/datapoolglob/DataPoolParameterWrapper.h b/datapoolglob/DataPoolParameterWrapper.h
deleted file mode 100644
index b1e505a7..00000000
--- a/datapoolglob/DataPoolParameterWrapper.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#ifndef DATAPOOLPARAMETERWRAPPER_H_
-#define DATAPOOLPARAMETERWRAPPER_H_
-
-#include "../globalfunctions/Type.h"
-#include "../parameters/ParameterWrapper.h"
-
-class DataPoolParameterWrapper: public SerializeIF {
-public:
-	DataPoolParameterWrapper();
-	virtual ~DataPoolParameterWrapper();
-
-	ReturnValue_t set(uint8_t domainId, uint16_t parameterId);
-
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) const override;
-
-	virtual size_t getSerializedSize() const override;
-
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) override;
-
-	ReturnValue_t copyFrom(const ParameterWrapper *from,
-			uint16_t startWritingAtIndex);
-
-private:
-	Type type;
-	uint8_t rows;
-	uint8_t columns;
-
-	uint32_t poolId;
-
-	template<typename T>
-	ReturnValue_t deSerializeData(uint8_t startingRow, uint8_t startingColumn,
-			const void *from, uint8_t fromRows);
-
-};
-
-#endif /* DATAPOOLPARAMETERWRAPPER_H_ */
diff --git a/datapoolglob/GlobalDataPool.cpp b/datapoolglob/GlobalDataPool.cpp
deleted file mode 100644
index afb27b77..00000000
--- a/datapoolglob/GlobalDataPool.cpp
+++ /dev/null
@@ -1,133 +0,0 @@
-#include "../datapoolglob/GlobalDataPool.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../ipc/MutexFactory.h"
-
-GlobalDataPool::GlobalDataPool(
-		void(*initFunction)(GlobPoolMap* pool_map)) {
-	mutex = MutexFactory::instance()->createMutex();
-	if (initFunction != NULL ) {
-		initFunction( &this->globDataPool );
-	}
-}
-
-GlobalDataPool::~GlobalDataPool() {
-	MutexFactory::instance()->deleteMutex(mutex);
-	for(GlobPoolMapIter it = this->globDataPool.begin();
-	    it != this->globDataPool.end(); ++it )
-	{
-		delete it->second;
-	}
-}
-
-// The function checks PID, type and array length before returning a copy of
-// the PoolEntry. In failure case, it returns a temp-Entry with size 0 and NULL-ptr.
-template <typename T> PoolEntry<T>* GlobalDataPool::getData( uint32_t data_pool_id,
-		uint8_t sizeOrPosition ) {
-	GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
-	if ( it != this->globDataPool.end() ) {
-		PoolEntry<T>* entry = dynamic_cast< PoolEntry<T>* >( it->second );
-		if (entry != nullptr ) {
-			if ( sizeOrPosition <= entry->length ) {
-				return entry;
-			}
-		}
-	}
-	return nullptr;
-}
-
-PoolEntryIF* GlobalDataPool::getRawData( uint32_t data_pool_id ) {
-	GlobPoolMapIter it = this->globDataPool.find( data_pool_id );
-	if ( it != this->globDataPool.end() ) {
-		return it->second;
-	} else {
-		return nullptr;
-	}
-}
-
-ReturnValue_t GlobalDataPool::unlockDataPool() {
-	ReturnValue_t status = mutex->unlockMutex();
-	if(status != RETURN_OK) {
-		sif::error << "DataPool::DataPool: unlock of mutex failed with"
-				" error code: " << status << std::endl;
-	}
-	return status;
-}
-
-ReturnValue_t GlobalDataPool::lockDataPool(uint32_t timeoutMs) {
-	ReturnValue_t status = mutex->lockMutex(MutexIF::TimeoutType::WAITING,
-	        timeoutMs);
-	if(status != RETURN_OK) {
-		sif::error << "DataPool::DataPool: lock of mutex failed "
-				"with error code: " << status << std::endl;
-	}
-	return status;
-}
-
-void GlobalDataPool::print() {
-	sif::debug << "DataPool contains: " << std::endl;
-	std::map<uint32_t, PoolEntryIF*>::iterator	dataPoolIt;
-	dataPoolIt = this->globDataPool.begin();
-	while( dataPoolIt != this->globDataPool.end() ) {
-		sif::debug << std::hex << dataPoolIt->first << std::dec << " |";
-		dataPoolIt->second->print();
-		dataPoolIt++;
-	}
-}
-
-uint32_t GlobalDataPool::PIDToDataPoolId(uint32_t parameter_id) {
-	return (parameter_id >> 8) & 0x00FFFFFF;
-}
-
-uint8_t GlobalDataPool::PIDToArrayIndex(uint32_t parameter_id) {
-	return (parameter_id & 0x000000FF);
-}
-
-uint32_t GlobalDataPool::poolIdAndPositionToPid(uint32_t poolId, uint8_t index) {
-	return (poolId << 8) + index;
-}
-
-
-//SHOULDDO: Do we need a mutex lock here... I don't think so,
-//as we only check static const values of elements in a list that do not change.
-//there is no guarantee in the standard, but it seems to me that the implementation is safe -UM
-ReturnValue_t GlobalDataPool::getType(uint32_t parameter_id, Type* type) {
-	GlobPoolMapIter it = this->globDataPool.find( PIDToDataPoolId(parameter_id));
-	if ( it != this->globDataPool.end() ) {
-		*type = it->second->getType();
-		return RETURN_OK;
-	} else {
-		*type = Type::UNKNOWN_TYPE;
-		return RETURN_FAILED;
-	}
-}
-
-bool GlobalDataPool::exists(uint32_t parameterId) {
-	uint32_t poolId = PIDToDataPoolId(parameterId);
-	uint32_t index = PIDToArrayIndex(parameterId);
-	GlobPoolMapIter it = this->globDataPool.find( poolId );
-	if (it != globDataPool.end()) {
-		if (it->second->getSize() >= index) {
-			return true;
-		}
-	}
-	return false;
-}
-
-template PoolEntry<uint8_t>* GlobalDataPool::getData<uint8_t>(
-		uint32_t data_pool_id, uint8_t size );
-template PoolEntry<uint16_t>* GlobalDataPool::getData<uint16_t>(
-		uint32_t data_pool_id, uint8_t size );
-template PoolEntry<uint32_t>* GlobalDataPool::getData<uint32_t>(
-		uint32_t data_pool_id, uint8_t size );
-template PoolEntry<uint64_t>* GlobalDataPool::getData<uint64_t>(
-		uint32_t data_pool_id, uint8_t size);
-template PoolEntry<int8_t>* GlobalDataPool::getData<int8_t>(
-		uint32_t data_pool_id, uint8_t size );
-template PoolEntry<int16_t>* GlobalDataPool::getData<int16_t>(
-		uint32_t data_pool_id, uint8_t size );
-template PoolEntry<int32_t>* GlobalDataPool::getData<int32_t>(
-		uint32_t data_pool_id, uint8_t size );
-template PoolEntry<float>* GlobalDataPool::getData<float>(
-		uint32_t data_pool_id, uint8_t size );
-template PoolEntry<double>* GlobalDataPool::getData<double>(
-		uint32_t data_pool_id, uint8_t size);
diff --git a/datapoolglob/GlobalDataPool.h b/datapoolglob/GlobalDataPool.h
deleted file mode 100644
index ce5b132c..00000000
--- a/datapoolglob/GlobalDataPool.h
+++ /dev/null
@@ -1,149 +0,0 @@
-#ifndef GLOBALDATAPOOL_H_
-#define GLOBALDATAPOOL_H_
-
-#include "../datapool/PoolEntry.h"
-#include "../globalfunctions/Type.h"
-#include "../ipc/MutexIF.h"
-#include <map>
-
-/**
- * @defgroup data_pool Global data pool
- * This is the group, where all classes associated with global
- * data pool handling belong to.
- * This includes classes to access Data Pool variables.
- */
-
-/**
- * Typedefs for the global pool representations
- */
-using GlobPoolMap = std::map<uint32_t, PoolEntryIF*>;
-using GlobPoolMapIter = GlobPoolMap::iterator;
-
-/**
- * @brief		This class represents the OBSW global data-pool.
- *
- * @details
- * All variables are registered and space is allocated in an initialization
- * function, which is passed do the constructor. Space for the variables is
- * allocated on the heap (with a new call).
- *
- * The data is found by a data pool id, which uniquely represents a variable.
- * Data pool variables should be used with a blackboard logic in mind,
- * which means read data is valid (if flagged so),
- * but not necessarily up-to-date.
- *
- * Variables are either single values or arrays.
- * @author	Bastian Baetz
- * @ingroup data_pool
- */
-class GlobalDataPool : public HasReturnvaluesIF {
-private:
-	/**
-	 * @brief	This is the actual data pool itself.
-	 * @details	It is represented by a map with the data pool id as index
-	 * 			and a pointer to a single PoolEntry as value.
-	 */
-	GlobPoolMap globDataPool;
-
-	/**
-	 * @brief	The mutex is created in the constructor and makes
-	 * 			access mutual exclusive.
-	 * @details	Locking and unlocking the pool is only done by the DataSet class.
-	 */
-	MutexIF*	mutex;
-public:
-	/**
-	 * @brief	In the classes constructor,
-	 * 			the passed initialization function is called.
-	 * @details
-	 * To enable filling the pool, a pointer to the map is passed,
-	 * allowing direct access to the pool's content.
-	 * On runtime, adding or removing variables is forbidden.
-	 */
-	GlobalDataPool( void ( *initFunction )( GlobPoolMap* pool_map ) );
-
-	/**
-	 * 	@brief	The destructor iterates through the data_pool map and
-	 * 			calls all entries destructors to clean up the heap.
-	 */
-	~GlobalDataPool();
-
-	/**
-	 * @brief	This is the default call to access the pool.
-	 * @details
-	 * A pointer to the PoolEntry object is returned.
-	 * The call checks data pool id, type and array size.
-	 * Returns NULL in case of failure.
-	 * @param data_pool_id	The data pool id to search.
-	 * @param sizeOrPosition The array size (not byte size!) of the pool entry,
-	 * or the position the user wants to read.
-	 * 			If smaller than the entry size, everything's ok.
-	 */
-	template <typename T> PoolEntry<T>* getData( uint32_t data_pool_id,
-			uint8_t sizeOrPosition );
-
-	/**
-	 * @brief	An alternative call to get a data pool entry in case the type is not implicitly known
-	 * 			(i.e. in Housekeeping Telemetry).
-	 * @details	It returns a basic interface and does NOT perform
-	 * 			a size check. The caller has to assure he does not copy too much data.
-	 * 			Returns NULL in case the entry is not found.
-	 * @param data_pool_id	The data pool id to search.
-	 */
-	PoolEntryIF* getRawData( uint32_t data_pool_id );
-	/**
-	 * @brief	This is a small helper function to facilitate locking the global data pool.
-	 * @details	It fetches the pool's mutex id and tries to acquire the mutex.
-	 */
-	ReturnValue_t lockDataPool(uint32_t timeoutMs = MutexIF::BLOCKING);
-	/**
-	 * @brief	This is a small helper function to facilitate unlocking the global data pool.
-	 * @details	It fetches the pool's mutex id and tries to free the mutex.
-	 */
-	ReturnValue_t unlockDataPool();
-	/**
-	 * @brief	The print call is a simple debug method.
-	 * @details	It prints the current content of the data pool.
-	 *  		It iterates through the data_pool map and calls each entry's print() method.
-	 */
-	void print();
-	/**
-	 * Extracts the data pool id from a SCOS 2000 PID.
-	 * @param parameter_id The passed Parameter ID.
-	 * @return The data pool id as used within the OBSW.
-	 */
-	static uint32_t PIDToDataPoolId( uint32_t parameter_id );
-	/**
-	 * Extracts an array index out of a SCOS 2000 PID.
-	 * @param parameter_id The passed Parameter ID.
-	 * @return The index of the corresponding data pool entry.
-	 */
-	static uint8_t PIDToArrayIndex( uint32_t parameter_id );
-	/**
-	 * Retransforms a data pool id and an array index to a SCOS 2000 PID.
-	 */
-	static uint32_t poolIdAndPositionToPid( uint32_t poolId, uint8_t index );
-
-	/**
-	 * Method to return the type of a pool variable.
-	 * @param parameter_id A parameterID (not pool id) of a DP member.
-	 * @param type Returns the type or TYPE::UNKNOWN_TYPE
-	 * @return RETURN_OK if parameter exists, RETURN_FAILED else.
-	 */
-	ReturnValue_t getType( uint32_t parameter_id, Type* type );
-
-	/**
-	 * Method to check if a PID exists. Does not lock, as there's no
-	 * possibility to alter the list that is checked during run-time.
-	 * @param parameterId The PID (not pool id!) of a parameter.
-	 * @return	true if exists, false else.
-	 */
-	bool exists(uint32_t parameterId);
-};
-
-//We assume someone globally instantiates a DataPool.
-namespace glob {
-extern GlobalDataPool dataPool;
-}
-
-#endif /* DATAPOOL_H_ */
diff --git a/datapoolglob/GlobalDataSet.cpp b/datapoolglob/GlobalDataSet.cpp
deleted file mode 100644
index 1e99f805..00000000
--- a/datapoolglob/GlobalDataSet.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-#include "../datapoolglob/GlobalDataPool.h"
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-GlobDataSet::GlobDataSet(): PoolDataSetBase(
-        reinterpret_cast<PoolVariableIF**>(&registeredVariables),
-        DATA_SET_MAX_SIZE) {}
-
-// Don't do anything with your variables, they are dead already!
-// (Destructor is already called)
-GlobDataSet::~GlobDataSet() {}
-
-ReturnValue_t GlobDataSet::commit(bool valid, uint32_t lockTimeout) {
-	setEntriesValid(valid);
-	setSetValid(valid);
-	return commit(lockTimeout);
-}
-
-ReturnValue_t GlobDataSet::commit(uint32_t lockTimeout) {
-	return PoolDataSetBase::commit(lockTimeout);
-}
-
-bool GlobDataSet::isValid() const {
-    return this->valid;
-}
-
-ReturnValue_t GlobDataSet::unlockDataPool() {
-	return glob::dataPool.unlockDataPool();
-}
-
-ReturnValue_t GlobDataSet::lockDataPool(uint32_t timeoutMs) {
-	return glob::dataPool.lockDataPool(timeoutMs);
-}
-
-void GlobDataSet::setEntriesValid(bool valid) {
-	for (uint16_t count = 0; count < fillCount; count++) {
-		if (registeredVariables[count]->getReadWriteMode()
-				!= PoolVariableIF::VAR_READ) {
-			registeredVariables[count]->setValid(valid);
-		}
-	}
-}
-
-void GlobDataSet::setSetValid(bool valid) {
-	this->valid = valid;
-}
-
-
diff --git a/datapoolglob/GlobalDataSet.h b/datapoolglob/GlobalDataSet.h
deleted file mode 100644
index 2f0edbd5..00000000
--- a/datapoolglob/GlobalDataSet.h
+++ /dev/null
@@ -1,98 +0,0 @@
-#ifndef FRAMEWORK_DATAPOOLGLOB_DATASET_H_
-#define FRAMEWORK_DATAPOOLGLOB_DATASET_H_
-
-#include "../datapool/PoolDataSetBase.h"
-
-/**
- * @brief	The DataSet class manages a set of locally checked out variables
- * 			for the global data pool.
- * @details
- * This class uses the read-commit() semantic provided by the DataSetBase class.
- * It extends the base class by using the global data pool,
- * having a valid state and implementing lock und unlock calls for the global
- * datapool.
- *
- * For more information on how this class works, see the DataSetBase
- * documentation.
- * @author	Bastian Baetz
- * @ingroup data_pool
- */
-class GlobDataSet: public PoolDataSetBase {
-public:
-
-	/**
-	 * @brief	Creates an empty GlobDataSet. Use registerVariable or
-	 * 			supply a pointer to this dataset to PoolVariable
-	 * 			initializations to register pool variables.
-	 */
-	GlobDataSet();
-
-	/**
-	 * @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".
-	 */
-	~GlobDataSet();
-
-	/**
-	 * Variant of method above which sets validity of all elements of the set.
-	 * @param valid Validity information from PoolVariableIF.
-	 * @return	- @c RETURN_OK if all variables were read successfully.
-	 * 			- @c COMMITING_WITHOUT_READING if set was not read yet and
-	 * 			     contains non write-only variables
-	 */
-	ReturnValue_t commit(bool valid, uint32_t lockTimeout = MutexIF::BLOCKING);
-	ReturnValue_t commit(uint32_t lockTimeout = MutexIF::BLOCKING) override;
-
-	/**
-	 * Set all entries
-	 * @param valid
-	 */
-	void setSetValid(bool valid);
-
-	bool isValid() const override;
-
-	/**
-	 * Set the valid information of all variables contained in the set which
-	 * are not read-only
-	 *
-	 * @param valid Validity information from PoolVariableIF.
-	 */
-	void setEntriesValid(bool valid);
-
-	//!< This definition sets the maximum number of variables to
-	//! register in one DataSet.
-	static const uint8_t DATA_SET_MAX_SIZE = 63;
-
-private:
-	/**
-	 * If the valid state of a dataset is always relevant to the whole
-	 * data set we can use this flag.
-	 */
-	bool valid = false;
-
-	/**
-	 * @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;
-
-	void handleAlreadyReadDatasetCommit();
-	ReturnValue_t handleUnreadDatasetCommit();
-
-	PoolVariableIF* registeredVariables[DATA_SET_MAX_SIZE];
-};
-
-#endif /* FRAMEWORK_DATAPOOLGLOB_DATASET_H_ */
diff --git a/datapoolglob/GlobalPoolVariable.h b/datapoolglob/GlobalPoolVariable.h
deleted file mode 100644
index a995bfaf..00000000
--- a/datapoolglob/GlobalPoolVariable.h
+++ /dev/null
@@ -1,213 +0,0 @@
-#ifndef GLOBALPOOLVARIABLE_H_
-#define GLOBALPOOLVARIABLE_H_
-
-#include "../datapool/DataSetIF.h"
-#include "../datapoolglob/GlobalDataPool.h"
-#include "../datapool/PoolVariableIF.h"
-#include "../datapool/PoolEntry.h"
-#include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-template<typename T, uint8_t n_var> class PoolVarList;
-
-
-/**
- * @brief	This is the access class for non-array 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-safe access to single 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 the
- * variable's value in the data pool is not changed until the
- * commit call is executed.
- * 	@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 GlobPoolVar: public PoolVariableIF {
-	template<typename U, uint8_t n_var> friend class PoolVarList;
-	static_assert(not std::is_same<T, bool>::value,
-			"Do not use boolean for the PoolEntry type, use uint8_t instead!"
-			"There is no boolean type in CCSDS.");
-public:
-	/**
-	 * @brief	In the constructor, the variable can register itself in a
-	 * 			DataSet (if nullptr is not passed).
-	 * @details
-	 * It DOES NOT fetch the current value from the data pool, but
-	 * sets the value attribute to default (0).
-	 * The value is fetched within the read() operation.
-	 * @param set_id	This is the id in the global data pool
-	 * 					this instance of the access class corresponds to.
-	 * @param dataSet	The data set in which the variable shall register
-	 * 					itself. If NULL, the variable is not registered.
-	 * @param setWritable If this flag is set to true, changes in the value
-	 * 			attribute can be written back to the data pool, otherwise not.
-	 */
-	GlobPoolVar(uint32_t set_id, DataSetIF* dataSet,
-			ReadWriteMode_t setReadWriteMode);
-
-	/**
-	 * @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;
-
-	/**
-	 * @brief 	Copy ctor to copy classes containing Pool Variables.
-	 * 			(Robin): This only copies member variables, which is done
-	 * 			by the default copy ctor. maybe we can ommit this ctor?
-	 */
-	GlobPoolVar(const GlobPoolVar& rhs);
-
-	/**
-	 * @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.
-	 */
-	~GlobPoolVar() {}
-
-	/**
-	 * @brief	This is a call to read the value from the global data pool.
-	 * @details
-	 * When executed, this operation tries to fetch the pool entry with matching
-	 * data pool id from the global data pool and copies the value and the valid
-	 * information to its local attributes. In case of a failure (wrong type 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) override;
-	/**
-	 * @brief	The commit call writes back the variable's value 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 valid flag is automatically set to "valid".
-	 * The operation does NOT provide any mutual exclusive protection by itself.
-	 * The commit 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) 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;
-	/**
-	 * @brief	To access the correct data pool entry on read and commit calls,
-	 * 			the data pool is stored.
-	 */
-	uint32_t dataPoolId;
-
-	/**
-	 * @brief	The valid information as it was stored in the data pool is
-	 * 			copied to this attribute.
-	 */
-	uint8_t valid;
-
-	/**
-	 * @brief	The information whether the class is read-write or read-only
-	 * 			is stored here.
-	 */
-	pool_rwm_t readWriteMode;
-
-	/**
-	 * Empty ctor for List initialization
-	 */
-	GlobPoolVar();
-public:
-	/**
-	 * \brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const override;
-
-	/**
-	 * This method returns if the variable is write-only, read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const override;
-	/**
-	 * This operation sets the data pool id of the variable.
-	 * The method is necessary to set id's of data pool member variables with bad initialization.
-	 */
-	void setDataPoolId(uint32_t poolId);
-
-	/**
-	 * \brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const override;
-
-	uint8_t getValid();
-
-	void setValid(bool valid) override;
-
-	operator T() {
-		return value;
-	}
-
-	operator T() const {
-		return value;
-	}
-
-	GlobPoolVar<T> &operator=(T newValue) {
-		value = newValue;
-		return *this;
-	}
-
-	GlobPoolVar<T> &operator=(GlobPoolVar<T> newPoolVariable) {
-		value = newPoolVariable.value;
-		return *this;
-	}
-
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			const size_t max_size,
-			SerializeIF::Endianness streamEndianness) const override {
-		return SerializeAdapter::serialize(&value, buffer, size, max_size,
-				streamEndianness);
-	}
-
-	virtual size_t getSerializedSize() const {
-		return SerializeAdapter::getSerializedSize(&value);
-	}
-
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-	        SerializeIF::Endianness streamEndianness) {
-		return SerializeAdapter::deSerialize(&value, buffer, size,
-		        streamEndianness);
-	}
-};
-
-#include "../datapoolglob/GlobalPoolVariable.tpp"
-
-typedef GlobPoolVar<uint8_t> gp_bool_t;
-typedef GlobPoolVar<uint8_t> gp_uint8_t;
-typedef GlobPoolVar<uint16_t> gp_uint16_t;
-typedef GlobPoolVar<uint32_t> gp_uint32_t;
-typedef GlobPoolVar<int8_t> gp_int8_t;
-typedef GlobPoolVar<int16_t> gp_int16_t;
-typedef GlobPoolVar<int32_t> gp_int32_t;
-typedef GlobPoolVar<float> gp_float_t;
-typedef GlobPoolVar<double> gp_double_t;
-
-#endif /* POOLVARIABLE_H_ */
diff --git a/datapoolglob/GlobalPoolVariable.tpp b/datapoolglob/GlobalPoolVariable.tpp
deleted file mode 100644
index d61d605d..00000000
--- a/datapoolglob/GlobalPoolVariable.tpp
+++ /dev/null
@@ -1,117 +0,0 @@
-#ifndef GLOBALPOOLVARIABLE_TPP_
-#define GLOBALPOOLVARIABLE_TPP_
-
-template <class T>
-inline GlobPoolVar<T>::GlobPoolVar(uint32_t set_id,
-		DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode):
-		dataPoolId(set_id), valid(PoolVariableIF::INVALID),
-		readWriteMode(setReadWriteMode)
-{
-	if (dataSet != nullptr) {
-		dataSet->registerVariable(this);
-	}
-}
-
-template<typename T>
-inline ReturnValue_t GlobPoolVar<T>::read(uint32_t lockTimeout) {
-	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	result = readWithoutLock();
-	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
-	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
-				<< std::endl;
-	}
-	return result;
-}
-
-template<typename T>
-inline ReturnValue_t GlobPoolVar<T>::commit(uint32_t lockTimeout) {
-	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	result = commitWithoutLock();
-	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
-	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
-				<< std::endl;
-	}
-	return result;
-}
-
-template <class T>
-inline ReturnValue_t GlobPoolVar<T>::readWithoutLock() {
-	PoolEntry<T>* read_out = glob::dataPool.getData<T>(dataPoolId, 1);
-	if (read_out != NULL) {
-		valid = read_out->valid;
-		value = *(read_out->address);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		value = 0;
-		valid = false;
-		sif::error << "PoolVariable: read of DP Variable 0x" << std::hex
-				<< dataPoolId << std::dec << " failed." << std::endl;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-template <class T>
-inline ReturnValue_t GlobPoolVar<T>::commitWithoutLock() {
-	PoolEntry<T>* write_back = glob::dataPool.getData<T>(dataPoolId, 1);
-	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
-		write_back->valid = valid;
-		*(write_back->address) = value;
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-template <class T>
-inline GlobPoolVar<T>::GlobPoolVar():
-		dataPoolId(PoolVariableIF::NO_PARAMETER),
-		valid(PoolVariableIF::INVALID),
-		readWriteMode(VAR_READ), value(0) {}
-
-template <class T>
-inline GlobPoolVar<T>::GlobPoolVar(const GlobPoolVar& rhs) :
-		dataPoolId(rhs.dataPoolId), valid(rhs.valid), readWriteMode(
-		rhs.readWriteMode), value(rhs.value) {}
-
-template <class T>
-inline pool_rwm_t GlobPoolVar<T>::getReadWriteMode() const  {
-	return readWriteMode;
-}
-
-template <class T>
-inline uint32_t GlobPoolVar<T>::getDataPoolId() const {
-	return dataPoolId;
-}
-
-template <class T>
-inline void GlobPoolVar<T>::setDataPoolId(uint32_t poolId) {
-	dataPoolId = poolId;
-}
-
-template <class T>
-inline bool GlobPoolVar<T>::isValid() const {
-	if (valid)
-		return true;
-	else
-		return false;
-}
-
-template <class T>
-inline uint8_t GlobPoolVar<T>::getValid() {
-	return valid;
-}
-
-template <class T>
-inline void GlobPoolVar<T>::setValid(bool valid) {
-	this->valid = valid;
-}
-
-#endif
diff --git a/datapoolglob/GlobalPoolVector.h b/datapoolglob/GlobalPoolVector.h
deleted file mode 100644
index 0f5daacd..00000000
--- a/datapoolglob/GlobalPoolVector.h
+++ /dev/null
@@ -1,185 +0,0 @@
-#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
-#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
-
-#include "../datapool/DataSetIF.h"
-#include "../datapool/PoolEntry.h"
-#include "../datapool/PoolVariableIF.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 GlobPoolVector: public PoolVariableIF {
-public:
-	/**
-	 * @brief	In the constructor, the variable can register itself in a
-	 * 			DataSet (if no nullptr is passed).
-	 * @details
-	 * It DOES NOT fetch the current value from the data pool, but sets the
-	 * value attribute to default (0). The value is fetched within the
-	 * read() operation.
-	 * @param set_id
-	 * This is the id in the global data pool this instance of the access
-	 * class corresponds to.
-	 * @param dataSet
-	 * The data set in which the variable shall register itself. If nullptr,
-	 * the variable is not registered.
-	 * @param setWritable
-	 * If this flag is set to true, changes in the value attribute can be
-	 * written back to the data pool, otherwise not.
-	 */
-	GlobPoolVector(uint32_t set_id, DataSetIF* set,
-			ReadWriteMode_t setReadWriteMode);
-
-	/**
-	 * @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.
-	 */
-	~GlobPoolVector() {};
-	/**
-	 * @brief	The operation returns the number of array entries
-	 * 			in this variable.
-	 */
-	uint8_t getSize() {
-		return vectorSize;
-	}
-	/**
-	 * @brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const {
-		return dataPoolId;
-	}
-	/**
-	 * @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) {
-		dataPoolId = poolId;
-	}
-	/**
-	 * This method returns if the variable is write-only, read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const {
-		return readWriteMode;
-	}
-
-
-	/**
-	 * @brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const {
-		if (valid != INVALID)
-			return true;
-		else
-			return false;
-	}
-	void setValid(bool valid) {this->valid = valid;}
-	uint8_t getValid() {return valid;}
-
-	T &operator [](int i) {return value[i];}
-	const T &operator [](int i) const {return value[i];}
-
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			size_t max_size, Endianness streamEndianness) const override;
-	virtual size_t getSerializedSize() const override;
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-	        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 global 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 by a lock of the global data pool.
-	 * 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 valid flag is automatically set to "valid".
-	 * The commit call is protected by a lock of the global data pool.
-	 * 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 dataPoolId;
-	/**
-	 * @brief	The valid information as it was stored in the data pool
-	 * 			is copied to this attribute.
-	 */
-	uint8_t valid;
-	/**
-	 * @brief	The information whether the class is read-write or
-	 * 			read-only is stored here.
-	 */
-	ReadWriteMode_t readWriteMode;
-};
-
-#include "../datapoolglob/GlobalPoolVector.tpp"
-
-template<typename T, uint16_t vectorSize>
-using gp_vec_t = GlobPoolVector<T, vectorSize>;
-
-#endif /* FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_ */
diff --git a/datapoolglob/GlobalPoolVector.tpp b/datapoolglob/GlobalPoolVector.tpp
deleted file mode 100644
index 013a682a..00000000
--- a/datapoolglob/GlobalPoolVector.tpp
+++ /dev/null
@@ -1,117 +0,0 @@
-#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
-#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
-
-
-template<typename T, uint16_t vectorSize>
-inline GlobPoolVector<T, vectorSize>::GlobPoolVector(uint32_t set_id,
-		DataSetIF* set, ReadWriteMode_t setReadWriteMode) :
-		dataPoolId(set_id), valid(false), readWriteMode(setReadWriteMode) {
-	memset(this->value, 0, vectorSize * sizeof(T));
-	if (set != nullptr) {
-		set->registerVariable(this);
-	}
-}
-
-
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t GlobPoolVector<T, vectorSize>::read(uint32_t lockTimeout) {
-	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	result = readWithoutLock();
-	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
-	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
-				<< std::endl;
-	}
-	return result;
-}
-
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t GlobPoolVector<T, vectorSize>::commit(
-		uint32_t lockTimeout) {
-	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	result = commitWithoutLock();
-	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
-	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
-				<< std::endl;
-	}
-	return result;
-}
-
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t GlobPoolVector<T, vectorSize>::readWithoutLock() {
-	PoolEntry<T>* read_out = glob::dataPool.getData<T>(this->dataPoolId,
-			vectorSize);
-	if (read_out != nullptr) {
-		this->valid = read_out->valid;
-		memcpy(this->value, read_out->address, read_out->getByteSize());
-
-		return HasReturnvaluesIF::RETURN_OK;
-
-	} else {
-		memset(this->value, 0, vectorSize * sizeof(T));
-		sif::error << "PoolVector: Read of DP Variable 0x" << std::hex
-				<< std::setw(8) << std::setfill('0') << dataPoolId <<
-				std::dec << " failed." << std::endl;
-		this->valid = INVALID;
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t GlobPoolVector<T, vectorSize>::commitWithoutLock() {
-	PoolEntry<T>* writeBack = glob::dataPool.getData<T>(this->dataPoolId,
-			vectorSize);
-	if ((writeBack != nullptr) && (this->readWriteMode != VAR_READ)) {
-		writeBack->valid = valid;
-		memcpy(writeBack->address, this->value, writeBack->getByteSize());
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t GlobPoolVector<T, vectorSize>::serialize(uint8_t** buffer,
-		size_t* size, size_t max_size,
-		SerializeIF::Endianness streamEndianness) const {
-	uint16_t i;
-	ReturnValue_t result;
-	for (i = 0; i < vectorSize; i++) {
-		result = SerializeAdapter::serialize(&(value[i]), buffer, size,
-				max_size, streamEndianness);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-	}
-	return result;
-}
-
-template<typename T, uint16_t vectorSize>
-inline size_t GlobPoolVector<T, vectorSize>::getSerializedSize() const {
-	return vectorSize * SerializeAdapter::getSerializedSize(value);
-}
-
-template<typename T, uint16_t vectorSize>
-inline ReturnValue_t GlobPoolVector<T, vectorSize>::deSerialize(
-		const uint8_t** buffer, size_t* size,
-		SerializeIF::Endianness streamEndianness) {
-	uint16_t i;
-	ReturnValue_t result;
-	for (i = 0; i < vectorSize; i++) {
-		result = SerializeAdapter::deSerialize(&(value[i]), buffer, size,
-		        streamEndianness);
-		if (result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-	}
-	return result;
-}
-
-#endif
diff --git a/datapoolglob/PIDReader.h b/datapoolglob/PIDReader.h
deleted file mode 100644
index 9431e1d4..00000000
--- a/datapoolglob/PIDReader.h
+++ /dev/null
@@ -1,164 +0,0 @@
-#ifndef PIDREADER_H_
-#define PIDREADER_H_
-#include "../datapool/DataSetIF.h"
-#include "../datapoolglob/GlobalDataPool.h"
-#include "../datapool/PoolEntry.h"
-#include "../datapool/PoolVariableIF.h"
-#include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-template<typename U, uint8_t n_var> class PIDReaderList;
-
-template<typename T>
-class PIDReader: public PoolVariableIF {
-	template<typename U, uint8_t n_var> friend class PIDReaderList;
-protected:
-	uint32_t parameterId;
-	uint8_t valid;
-	ReturnValue_t readWithoutLock() {
-		uint8_t arrayIndex = GlobalDataPool::PIDToArrayIndex(parameterId);
-		PoolEntry<T> *read_out = glob::dataPool.getData<T>(
-				GlobalDataPool::PIDToDataPoolId(parameterId), arrayIndex);
-		if (read_out != NULL) {
-			valid = read_out->valid;
-			value = read_out->address[arrayIndex];
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			value = 0;
-			valid = false;
-			sif::error << "PIDReader: read of PID 0x" << std::hex << parameterId
-					<< std::dec << " failed." << std::endl;
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	/**
-	 * Never commit, is read-only.
-	 * Reason is the possibility to access a single DP vector element, but if we commit,
-	 * we set validity of the whole vector.
-	 */
-	ReturnValue_t commit(uint32_t lockTimeout) override {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	ReturnValue_t commitWithoutLock() override {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-
-	/**
-	 * Empty ctor for List initialization
-	 */
-	PIDReader() :
-			parameterId(PoolVariableIF::NO_PARAMETER), valid(
-					PoolVariableIF::INVALID), value(0) {
-
-	}
-public:
-	/**
-	 * \brief	This is the local copy of the data pool entry.
-	 */
-	T value;
-	/**
-	 * \brief	In the constructor, the variable can register itself in a DataSet (if not NULL is
-	 * 			passed).
-	 * \details	It DOES NOT fetch the current value from the data pool, but sets the value
-	 * 			attribute to default (0). The value is fetched within the read() operation.
-	 * \param set_id	This is the id in the global data pool this instance of the access class
-	 * 					corresponds to.
-	 * \param dataSet	The data set in which the variable shall register itself. If NULL,
-	 * 					the variable is not registered.
-	 * \param setWritable If this flag is set to true, changes in the value attribute can be
-	 * 					written back to the data pool, otherwise not.
-	 */
-	PIDReader(uint32_t setParameterId, DataSetIF *dataSet) :
-			parameterId(setParameterId), valid(PoolVariableIF::INVALID), value(
-					0) {
-		if (dataSet != NULL) {
-			dataSet->registerVariable(this);
-		}
-	}
-
-	ReturnValue_t read(uint32_t lockTimeout) override {
-		ReturnValue_t result = glob::dataPool.lockDataPool();
-		if(result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
-		}
-		result = readWithoutLock();
-		ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
-		if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
-			sif::error << "PIDReader::read: Could not unlock data pool!"
-					<< std::endl;
-		}
-		return result;
-	}
-	/**
-	 * Copy ctor to copy classes containing Pool Variables.
-	 */
-	PIDReader(const PIDReader &rhs) :
-			parameterId(rhs.parameterId), valid(rhs.valid), value(rhs.value) {
-	}
-
-	/**
-	 * \brief	The classes destructor is empty.
-	 */
-	~PIDReader() {
-
-	}
-	/**
-	 * \brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const {
-		return GlobalDataPool::PIDToDataPoolId(parameterId);
-	}
-	uint32_t getParameterId() const {
-		return parameterId;
-	}
-	/**
-	 * This method returns if the variable is write-only, read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const {
-		return VAR_READ;
-	}
-	/**
-	 * \brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const {
-		if (valid)
-			return true;
-		else
-			return false;
-	}
-
-	uint8_t getValid() {
-		return valid;
-	}
-
-	void setValid(bool valid) {
-		this->valid = valid;
-	}
-
-	operator T() {
-		return value;
-	}
-
-	PIDReader<T>& operator=(T newValue) {
-		value = newValue;
-		return *this;
-	}
-
-	virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-			size_t maxSize, Endianness streamEndianness) const override {
-		return SerializeAdapter::serialize(&value, buffer, size, maxSize,
-				streamEndianness);
-	}
-
-	virtual size_t getSerializedSize() const override {
-		return SerializeAdapter::getSerializedSize(&value);
-	}
-
-	virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-			Endianness streamEndianness) override {
-		return SerializeAdapter::deSerialize(&value, buffer, size,
-				streamEndianness);
-	}
-};
-
-#endif /* PIDREADER_H_ */
diff --git a/datapoolglob/PIDReaderList.h b/datapoolglob/PIDReaderList.h
deleted file mode 100644
index ae99f3aa..00000000
--- a/datapoolglob/PIDReaderList.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_
-#define FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_
-
-#include "../datapool/PoolVariableIF.h"
-#include "../datapoolglob/PIDReader.h"
-template <class T, uint8_t n_var>
-class PIDReaderList {
-private:
-	PIDReader<T> variables[n_var];
-public:
-	PIDReaderList( const uint32_t setPid[n_var], DataSetIF* dataSet) {
-		//I really should have a look at the new init list c++ syntax.
-		if (dataSet == NULL) {
-			return;
-		}
-		for (uint8_t count = 0; count < n_var; count++) {
-			variables[count].parameterId = setPid[count];
-			dataSet->registerVariable(&variables[count]);
-		}
-	}
-
-	PIDReader<T> &operator [](int i) { return variables[i]; }
-};
-
-
-
-#endif /* FRAMEWORK_DATAPOOLGLOB_PIDREADERLIST_H_ */
diff --git a/datapoolglob/PoolRawAccess.cpp b/datapoolglob/PoolRawAccess.cpp
deleted file mode 100644
index 53706c6d..00000000
--- a/datapoolglob/PoolRawAccess.cpp
+++ /dev/null
@@ -1,239 +0,0 @@
-#include "../datapoolglob/GlobalDataPool.h"
-#include "../datapoolglob/PoolRawAccess.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../serialize/EndianConverter.h"
-
-#include <cstring>
-
-PoolRawAccess::PoolRawAccess(uint32_t set_id, uint8_t setArrayEntry,
-		DataSetIF* dataSet, ReadWriteMode_t setReadWriteMode) :
-		dataPoolId(set_id), arrayEntry(setArrayEntry), valid(false),
-		type(Type::UNKNOWN_TYPE), typeSize(0), arraySize(0), sizeTillEnd(0),
-		readWriteMode(setReadWriteMode) {
-	memset(value, 0, sizeof(value));
-	if (dataSet != nullptr) {
-		dataSet->registerVariable(this);
-	}
-}
-
-PoolRawAccess::~PoolRawAccess() {}
-
-ReturnValue_t PoolRawAccess::read(uint32_t lockTimeout) {
-	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	result = readWithoutLock();
-	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
-	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
-				<< std::endl;
-	}
-	return result;
-}
-
-ReturnValue_t PoolRawAccess::readWithoutLock() {
-	ReturnValue_t result = RETURN_FAILED;
-	PoolEntryIF* readOut = glob::dataPool.getRawData(dataPoolId);
-	if (readOut != nullptr) {
-		result = handleReadOut(readOut);
-		if(result == RETURN_OK) {
-			return result;
-		}
-	} else {
-		result = READ_ENTRY_NON_EXISTENT;
-	}
-	handleReadError(result);
-	return result;
-}
-
-ReturnValue_t PoolRawAccess::handleReadOut(PoolEntryIF* readOut) {
-	ReturnValue_t result = RETURN_FAILED;
-	valid = readOut->getValid();
-	if (readOut->getSize() > arrayEntry) {
-		arraySize = readOut->getSize();
-		typeSize = readOut->getByteSize() / readOut->getSize();
-		type = readOut->getType();
-		if (typeSize <= sizeof(value)) {
-			uint16_t arrayPosition = arrayEntry * typeSize;
-			sizeTillEnd = readOut->getByteSize() - arrayPosition;
-			uint8_t* ptr = &((uint8_t*) readOut->getRawData())[arrayPosition];
-			memcpy(value, ptr, typeSize);
-			return RETURN_OK;
-		} else {
-			result = READ_TYPE_TOO_LARGE;
-		}
-	} else {
-		//debug << "PoolRawAccess: Size: " << (int)read_out->getSize() << std::endl;
-		result = READ_INDEX_TOO_LARGE;
-	}
-	return result;
-}
-
-void PoolRawAccess::handleReadError(ReturnValue_t result) {
-	sif::error << "PoolRawAccess: read of DP Variable 0x" << std::hex << dataPoolId
-			<< std::dec << " failed, ";
-	if(result == READ_TYPE_TOO_LARGE) {
-		sif::error << "type too large." << std::endl;
-	}
-	else if(result == READ_INDEX_TOO_LARGE) {
-		sif::error << "index too large." << std::endl;
-	}
-	else if(result == READ_ENTRY_NON_EXISTENT) {
-		sif::error << "entry does not exist." << std::endl;
-	}
-
-	valid = INVALID;
-	typeSize = 0;
-	sizeTillEnd = 0;
-	memset(value, 0, sizeof(value));
-}
-
-ReturnValue_t PoolRawAccess::commit(uint32_t lockTimeout) {
-	ReturnValue_t result = glob::dataPool.lockDataPool(lockTimeout);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
-	}
-	result = commitWithoutLock();
-	ReturnValue_t unlockResult = glob::dataPool.unlockDataPool();
-	if(unlockResult != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "GlobPoolVar::read: Could not unlock global data pool"
-				<< std::endl;
-	}
-	return result;
-}
-
-ReturnValue_t PoolRawAccess::commitWithoutLock() {
-	PoolEntryIF* write_back = glob::dataPool.getRawData(dataPoolId);
-	if ((write_back != NULL) && (readWriteMode != VAR_READ)) {
-		write_back->setValid(valid);
-		uint8_t array_position = arrayEntry * typeSize;
-		uint8_t* ptr = &((uint8_t*) write_back->getRawData())[array_position];
-		memcpy(ptr, value, typeSize);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-uint8_t* PoolRawAccess::getEntry() {
-	return value;
-}
-
-ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
-		size_t* writtenBytes, size_t max_size) {
-	uint8_t* data_ptr = getEntry();
-	// debug << "PoolRawAccess::getEntry: Array position: " <<
-	// 	      index * size_of_type << " Size of T: " << (int)size_of_type <<
-	//		  " ByteSize: " << byte_size << " Position: " << *size << std::endl;
-	if (typeSize == 0)
-		return DATA_POOL_ACCESS_FAILED;
-	if (typeSize > max_size)
-		return INCORRECT_SIZE;
-	EndianConverter::convertBigEndian(buffer, data_ptr, typeSize);
-	*writtenBytes = typeSize;
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-
-ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, size_t* size,
-        size_t maxSize, Endianness streamEndianness) const {
-    if (typeSize + *size <= maxSize) {
-    	switch(streamEndianness) {
-    	case(Endianness::BIG):
-    		EndianConverter::convertBigEndian(*buffer, value, typeSize);
-    		break;
-    	case(Endianness::LITTLE):
-			EndianConverter::convertLittleEndian(*buffer, value, typeSize);
-    		break;
-    	case(Endianness::MACHINE):
-    	default:
-            memcpy(*buffer, value, typeSize);
-            break;
-        }
-        *size += typeSize;
-        (*buffer) += typeSize;
-        return HasReturnvaluesIF::RETURN_OK;
-    } else {
-        return SerializeIF::BUFFER_TOO_SHORT;
-    }
-}
-
-
-Type PoolRawAccess::getType() {
-	return type;
-}
-
-size_t PoolRawAccess::getSizeOfType() {
-	return typeSize;
-}
-
-size_t PoolRawAccess::getArraySize(){
-	return arraySize;
-}
-
-uint32_t PoolRawAccess::getDataPoolId() const {
-	return dataPoolId;
-}
-
-PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
-	return readWriteMode;
-}
-
-ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t *buffer,
-		size_t setSize) {
-	if (typeSize == setSize) {
-		EndianConverter::convertBigEndian(value, buffer, typeSize);
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		sif::error << "PoolRawAccess::setEntryFromBigEndian: Illegal sizes: "
-				"Internal" << (uint32_t) typeSize << ", Requested: " << setSize
-				<< std::endl;
-		return INCORRECT_SIZE;
-	}
-}
-
-bool PoolRawAccess::isValid() const {
-	if (valid != INVALID)
-		return true;
-	else
-		return false;
-}
-
-void PoolRawAccess::setValid(bool valid) {
-	this->valid = valid;
-}
-
-size_t PoolRawAccess::getSizeTillEnd() const {
-	return sizeTillEnd;
-}
-
-
-size_t PoolRawAccess::getSerializedSize() const {
-	return typeSize;
-}
-
-ReturnValue_t PoolRawAccess::deSerialize(const uint8_t **buffer, size_t *size,
-        Endianness streamEndianness) {
-
-    if (*size >= typeSize) {
-        switch(streamEndianness) {
-        case(Endianness::BIG):
-			EndianConverter::convertBigEndian(value, *buffer, typeSize);
-		    break;
-        case(Endianness::LITTLE):
-			EndianConverter::convertLittleEndian(value, *buffer, typeSize);
-		   	break;
-        case(Endianness::MACHINE):
-        default:
-            memcpy(value, *buffer, typeSize);
-            break;
-        }
-    	*size -= typeSize;
-        *buffer += typeSize;
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-    else {
-    	return SerializeIF::STREAM_TOO_SHORT;
-    }
-}
diff --git a/datapoolglob/PoolRawAccess.h b/datapoolglob/PoolRawAccess.h
deleted file mode 100644
index 15643a41..00000000
--- a/datapoolglob/PoolRawAccess.h
+++ /dev/null
@@ -1,220 +0,0 @@
-#ifndef POOLRAWACCESS_H_
-#define POOLRAWACCESS_H_
-
-#include "../datapool/DataSetIF.h"
-#include "../datapool/PoolEntryIF.h"
-#include "../datapool/PoolVariableIF.h"
-#include "../globalfunctions/Type.h"
-
-/**
- * @brief This class allows accessing Data Pool variables as raw bytes.
- * @details
- * This is necessary to have an access method for HK data, as the PID's alone
- * do not provide type information. Please note that the the raw pool access
- * read() and commit() calls are not thread-safe.
- *
- * Please supply a data set and use the data set read(), commit() calls for
- * thread-safe data pool access.
- * @ingroup data_pool
- */
-class PoolRawAccess: public PoolVariableIF, HasReturnvaluesIF {
-public:
-	/**
-	 * This constructor is used to access a data pool entry with a
-	 * given ID if the target type is not known. A DataSet object is supplied
-	 * and the data pool entry with the given ID is registered to that data set.
-	 * Please note that a pool raw access buffer only has a buffer
-	 * with a size of double. As such, for vector entries which have
-	 * @param data_pool_id Target data pool entry ID
-	 * @param arrayEntry
-	 * @param data_set Dataset to register data pool entry to
-	 * @param setReadWriteMode
-	 * @param registerVectors If set to true, the constructor checks if
-	 *                        there are multiple vector entries to registers
-	 *                        and registers all of them recursively into the data_set
-	 *
-	 */
-	PoolRawAccess(uint32_t data_pool_id, uint8_t arrayEntry,
-			DataSetIF* data_set, ReadWriteMode_t setReadWriteMode =
-					PoolVariableIF::VAR_READ);
-
-	/**
-	 * @brief	This operation returns a pointer to the entry fetched.
-	 * @details	Return pointer to the buffer containing the raw data
-	 *          Size and number of data can be retrieved by other means.
-	 */
-	uint8_t* getEntry();
-	/**
-	 * @brief 	This operation returns the fetched entry from the data pool and
-	 * 			flips the bytes, if necessary.
-	 * @details	It makes use of the getEntry call of this function, but additionally flips the
-	 * 			bytes to big endian, which is the default for external communication (as House-
-	 * 			keeping telemetry). To achieve this, the data is copied directly to the passed
-	 * 			buffer, if it fits in the given max_size.
-	 * @param buffer	A pointer to a buffer to write to
-	 * @param writtenBytes	The number of bytes written is returned with this value.
-	 * @param max_size	The maximum size that the function may write to buffer.
-	 * @return	- @c RETURN_OK if entry could be acquired
-	 * 			- @c RETURN_FAILED else.
-	 */
-	ReturnValue_t getEntryEndianSafe(uint8_t *buffer, size_t *size,
-			size_t maxSize);
-
-	/**
-	 * @brief 	Serialize raw pool entry into provided buffer directly
-	 * @param buffer Provided buffer. Raw pool data will be copied here
-	 * @param size [out] Increment provided size value by serialized size
-	 * @param max_size Maximum allowed serialization size
-	 * @param bigEndian Specify endianess
-	 * @return - @c RETURN_OK if serialization was successfull
-	 *         - @c SerializeIF::BUFFER_TOO_SHORT if range check failed
-	 */
-	ReturnValue_t serialize(uint8_t **buffer, size_t *size,
-	        size_t maxSize, Endianness streamEndianness) const override;
-
-    size_t getSerializedSize() const override;
-
-    ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
-            Endianness streamEndianness) override;
-
-	/**
-	 * With this method, the content can be set from a big endian buffer safely.
-	 * @param buffer	Pointer to the data to set
-	 * @param size		Size of the data to write. Must fit this->size.
-	 * @return	- @c RETURN_OK on success
-	 * 			- @c RETURN_FAILED on failure
-	 */
-	ReturnValue_t setEntryFromBigEndian(const uint8_t* buffer,
-			size_t setSize);
-	/**
-	 *  @brief This operation returns the type of the entry currently stored.
-	 */
-	Type getType();
-	/**
-	 *  @brief This operation returns the size of the entry currently stored.
-	 */
-	size_t getSizeOfType();
-	/**
-	 *
-	 * @return the size of the datapool array
-	 */
-	size_t getArraySize();
-	/**
-	 * @brief	This operation returns the data pool id of the variable.
-	 */
-	uint32_t getDataPoolId() const;
-
-	static const uint8_t INTERFACE_ID = CLASS_ID::POOL_RAW_ACCESS_CLASS;
-	static const ReturnValue_t INCORRECT_SIZE = MAKE_RETURN_CODE(0x01);
-	static const ReturnValue_t DATA_POOL_ACCESS_FAILED = MAKE_RETURN_CODE(0x02);
-	static const ReturnValue_t READ_TYPE_TOO_LARGE = MAKE_RETURN_CODE(0x03);
-	static const ReturnValue_t READ_INDEX_TOO_LARGE = MAKE_RETURN_CODE(0x04);
-	static const ReturnValue_t READ_ENTRY_NON_EXISTENT =  MAKE_RETURN_CODE(0x05);
-	static const uint8_t RAW_MAX_SIZE = sizeof(double);
-	uint8_t value[RAW_MAX_SIZE];
-
-
-	/**
-	 * @brief	The classes destructor is empty. If commit() was not called, the local value is
-	 * 			discarded and not written back to the data pool.
-	 */
-	~PoolRawAccess();
-
-	/**
-	 * This method returns if the variable is read-write or read-only.
-	 */
-	ReadWriteMode_t getReadWriteMode() const;
-	/**
-	 * @brief	With this call, the valid information of the variable is returned.
-	 */
-	bool isValid() const;
-
-	void setValid(bool valid);
-	/**
-	 * Getter for the remaining size.
-	 */
-	size_t getSizeTillEnd() const;
-
-	/**
-	 * @brief	This is a call to read the value from the global data pool.
-	 * @details
-	 * When executed, this operation tries to fetch the pool entry with matching
-	 * data pool id from the global data pool and copies the value and the valid
-	 * information to its local attributes. In case of a failure (wrong type or
-	 * pool id not found), the variable is set to zero and invalid.
-	 * The call is protected by a lock of the global data pool.
-	 * @return -@c RETURN_OK Read successfull
-	 * 		   -@c READ_TYPE_TOO_LARGE
-	 * 		   -@c READ_INDEX_TOO_LARGE
-	 * 		   -@c READ_ENTRY_NON_EXISTENT
-	 */
-	ReturnValue_t read(uint32_t lockTimeout = MutexIF::BLOCKING) override;
-	/**
-	 * @brief	The commit call writes back the variable's value 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 valid flag is automatically set to "valid".
-	 * The call is protected by a lock of the global data pool.
-	 *
-	 */
-	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;
-
-	ReturnValue_t handleReadOut(PoolEntryIF* read_out);
-	void handleReadError(ReturnValue_t result);
-private:
-	/**
-	 * @brief	To access the correct data pool entry on read and commit calls, the data pool id
-	 * 			is stored.
-	 */
-	uint32_t dataPoolId;
-	/**
-	 * @brief	The array entry that is fetched from the data pool.
-	 */
-	uint8_t arrayEntry;
-	/**
-	 * @brief	The valid information as it was stored in the data pool is copied to this attribute.
-	 */
-	uint8_t valid;
-	/**
-	 * @brief	This value contains the type of the data pool entry.
-	 */
-	Type type;
-	/**
-	 * @brief	This value contains the size of the data pool entry type in bytes.
-	 */
-	size_t typeSize;
-	/**
-	 * The size of the DP array (single values return 1)
-	 */
-	size_t arraySize;
-	/**
-	 * The size (in bytes) from the selected entry till the end of this DataPool variable.
-	 */
-	size_t sizeTillEnd;
-	/**
-	 * @brief	The information whether the class is read-write or read-only is stored here.
-	 */
-	ReadWriteMode_t readWriteMode;
-};
-
-#endif /* POOLRAWACCESS_H_ */

From f9d54032041237396b03c4c94e9b3f591769d824 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 11 Dec 2020 23:50:00 +0100
Subject: [PATCH 583/653] added device handler thermalset

---
 devicehandlers/DeviceHandlerThermalSet.h | 44 ++++++++++++++++++++++++
 1 file changed, 44 insertions(+)
 create mode 100644 devicehandlers/DeviceHandlerThermalSet.h

diff --git a/devicehandlers/DeviceHandlerThermalSet.h b/devicehandlers/DeviceHandlerThermalSet.h
new file mode 100644
index 00000000..239012e2
--- /dev/null
+++ b/devicehandlers/DeviceHandlerThermalSet.h
@@ -0,0 +1,44 @@
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERTHERMALSET_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERTHERMALSET_H_
+
+#include "DeviceHandlerIF.h"
+#include "../datapoollocal/StaticLocalDataSet.h"
+#include "../datapoollocal/LocalPoolVariable.h"
+
+
+class DeviceHandlerThermalSet: public StaticLocalDataSet<2> {
+public:
+
+	DeviceHandlerThermalSet(HasLocalDataPoolIF* hkOwner, uint32_t setId =
+			DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
+			lp_id_t thermalStateId =
+					DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+			lp_id_t heaterRequestId =
+					DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID):
+			DeviceHandlerThermalSet(hkOwner->getObjectId(), setId,
+					thermalStateId, heaterRequestId) {}
+
+	DeviceHandlerThermalSet(object_id_t deviceHandler, uint32_t setId =
+					DeviceHandlerIF::DEFAULT_THERMAL_SET_ID,
+			lp_id_t thermalStateId =
+					DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
+			lp_id_t thermalStateRequestId =
+					DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID):
+			StaticLocalDataSet(sid_t(deviceHandler, setId)),
+			thermalStatePoolId(thermalStateId),
+			heaterRequestPoolId(thermalStateRequestId) {}
+
+	const lp_id_t thermalStatePoolId;
+	const lp_id_t heaterRequestPoolId;
+
+	lp_var_t<DeviceHandlerIF::dh_thermal_state_t> thermalState =
+			lp_var_t<DeviceHandlerIF::dh_thermal_state_t>(
+			thermalStatePoolId, sid.objectId, this);
+	lp_var_t<DeviceHandlerIF::dh_heater_request_t> heaterRequest =
+			lp_var_t<DeviceHandlerIF::dh_heater_request_t>(
+			heaterRequestPoolId, sid.objectId, this);
+};
+
+
+
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERTHERMALSET_H_ */

From 101babd863788df611316d68a342e1548d4584e7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 11 Dec 2020 23:53:29 +0100
Subject: [PATCH 584/653] indentation consistent now

---
 devicehandlers/DeviceHandlerIF.h | 282 ++++++++++++++++---------------
 1 file changed, 146 insertions(+), 136 deletions(-)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index 491a2c08..f5a1b4bb 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -4,6 +4,7 @@
 #include "DeviceHandlerMessage.h"
 
 #include "../action/HasActionsIF.h"
+#include "../datapoollocal/locPoolDefinitions.h"
 #include "../events/Event.h"
 #include "../modes/HasModesIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
@@ -21,145 +22,154 @@ using DeviceCommandId_t = uint32_t;
  */
 class DeviceHandlerIF {
 public:
+    static constexpr DeviceCommandId_t NO_COMMAND = -1;
+
+    static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
+    static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
+
+    using dh_heater_request_t = uint8_t;
+    using dh_thermal_state_t = int8_t;
+
+    /**
+     * @brief This is the mode the <strong>device handler</strong> is in.
+     *
+     * @details The mode of the device handler must not be confused with the mode the device is in.
+     * The mode of the device itself is transparent to the user but related to the mode of the handler.
+     * MODE_ON and MODE_OFF are included in hasModesIF.h
+     */
+
+    // MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
+    // MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
+    //! The device is powered on and the device handler periodically sends
+    //! commands. The commands to be sent are selected by the handler
+    //! according to the submode.
+    static const Mode_t MODE_NORMAL = 2;
+    //! The device is powered on and ready to perform operations. In this mode,
+    //! raw commands can be sent. The device handler will send all replies
+    //! received from the command back to the commanding object.
+    static const Mode_t MODE_RAW = 3;
+    //! The device is shut down but the switch could not be turned off, so the
+    //! device still is powered. In this mode, only a mode change to @c MODE_OFF
+    //! can be commanded, which tries to switch off the device again.
+    static const Mode_t MODE_ERROR_ON = 4;
+    //! This is a transitional state which can not be commanded. The device
+    //! handler performs all commands to get the device in a state ready to
+    //! perform commands. When this is completed, the mode changes to @c MODE_ON.
+    static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+    //! This is a transitional state which can not be commanded.
+    //! The device handler performs all actions and commands to get the device
+    //! shut down. When the device is off, the mode changes to @c MODE_OFF.
+    //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+    //! transition if available.
+    static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+    //! It is possible to set the mode to _MODE_TO_ON to use the to on
+    //! transition if available.
+    static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+    //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+    //! transition if available.
+    static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+    //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+    //! transition if available.
+    static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+    //! This is a transitional state which can not be commanded.
+    //! The device is shut down and ready to be switched off.
+    //! After the command to set the switch off has been sent,
+    //! the mode changes to @c MODE_WAIT_OFF
+    static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+    //! This is a transitional state which can not be commanded. The device
+    //! will be switched on in this state. After the command to set the switch
+    //! on has been sent, the mode changes to @c MODE_WAIT_ON.
+    static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+    //! This is a transitional state which can not be commanded. The switch has
+    //! been commanded off and the handler waits for it to be off.
+    //! When the switch is off, the mode changes to @c MODE_OFF.
+    static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+    //! This is a transitional state which can not be commanded. The switch
+    //! has been commanded on and the handler waits for it to be on.
+    //! When the switch is on, the mode changes to @c MODE_TO_ON.
+    static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+    //! This is a transitional state which can not be commanded. The switch has
+    //! been commanded off and is off now. This state is only to do an RMAP
+    //! cycle once more where the doSendRead() function will set the mode to
+    //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
+    static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
+
+    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
+    static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
+    static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, severity::LOW);
+    static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, severity::LOW);
+    static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
+    static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
+    static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, severity::LOW);
+    static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, severity::LOW);
+    static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, severity::LOW);
+    static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW); //!< Indicates a SW bug in child class.
+    static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
+    static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
+
+    static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
+
+    // Standard codes used when building commands.
+    static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
+    static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
+    static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
+    static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
+    static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA4);
+    static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
+    static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
+    static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
+    static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+    static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
+    static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
+
+    // Standard codes used in scanForReply
+    static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);
+    static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB1);
+    static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB2);
+    static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB3);
+
+    // Standard codes used in  interpretDeviceReply
+    static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
+    static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
+    static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
+    static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected
+
+    // Standard codes used in buildCommandFromCommand
+    static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
+    static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
+
+    /**
+     * Communication action that will be executed.
+     *
+     * This is used by the child class to tell the base class what to do.
+     */
+    enum CommunicationAction: uint8_t {
+        PERFORM_OPERATION,
+        SEND_WRITE,//!< Send write
+        GET_WRITE, //!< Get write
+        SEND_READ, //!< Send read
+        GET_READ,  //!< Get read
+        NOTHING    //!< Do nothing.
+    };
+
+    static constexpr uint32_t DEFAULT_THERMAL_SET_ID = sid_t::INVALID_SET_ID - 1;
+
+    static constexpr lp_id_t DEFAULT_THERMAL_STATE_POOL_ID =
+            localpool::INVALID_LPID - 2;
+    static constexpr lp_id_t DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID =
+            localpool::INVALID_LPID - 1;
 
 
-	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
-	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
+    /**
+     * Default Destructor
+     */
+    virtual ~DeviceHandlerIF() {}
 
-	static constexpr Command_t NO_COMMAND = -1;
-
-	/**
-	 * @brief This is the mode the <strong>device handler</strong> is in.
-	 *
-	 * @details The mode of the device handler must not be confused with the mode the device is in.
-	 * The mode of the device itself is transparent to the user but related to the mode of the handler.
-	 * MODE_ON and MODE_OFF are included in hasModesIF.h
-	 */
-
-	// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
-	// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
-	//! The device is powered on and the device handler periodically sends
-	//! commands. The commands to be sent are selected by the handler
-	//! according to the submode.
-	static const Mode_t MODE_NORMAL = 2;
-	//! The device is powered on and ready to perform operations. In this mode,
-	//! raw commands can be sent. The device handler will send all replies
-	//! received from the command back to the commanding object.
-	static const Mode_t MODE_RAW = 3;
-	//! The device is shut down but the switch could not be turned off, so the
-	//! device still is powered. In this mode, only a mode change to @c MODE_OFF
-	//! can be commanded, which tries to switch off the device again.
-	static const Mode_t MODE_ERROR_ON = 4;
-	//! This is a transitional state which can not be commanded. The device
-	//! handler performs all commands to get the device in a state ready to
-	//! perform commands. When this is completed, the mode changes to @c MODE_ON.
-	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
-	//! This is a transitional state which can not be commanded.
-	//! The device handler performs all actions and commands to get the device
-	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
-	//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
-	//! transition if available.
-	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
-	//! It is possible to set the mode to _MODE_TO_ON to use the to on
-	//! transition if available.
-	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
-	//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
-	//! transition if available.
-	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-	//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
-	//! transition if available.
-	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-	//! This is a transitional state which can not be commanded.
-	//! The device is shut down and ready to be switched off.
-	//! After the command to set the switch off has been sent,
-	//! the mode changes to @c MODE_WAIT_OFF
-	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
-	//! This is a transitional state which can not be commanded. The device
-	//! will be switched on in this state. After the command to set the switch
-	//! on has been sent, the mode changes to @c MODE_WAIT_ON.
-	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
-	//! This is a transitional state which can not be commanded. The switch has
-	//! been commanded off and the handler waits for it to be off.
-	//! When the switch is off, the mode changes to @c MODE_OFF.
-	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
-	//! This is a transitional state which can not be commanded. The switch
-	//! has been commanded on and the handler waits for it to be on.
-	//! When the switch is on, the mode changes to @c MODE_TO_ON.
-	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
-	//! This is a transitional state which can not be commanded. The switch has
-	//! been commanded off and is off now. This state is only to do an RMAP
-	//! cycle once more where the doSendRead() function will set the mode to
-	//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
-	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
-
-	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
-	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
-	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, severity::LOW);
-	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, severity::LOW);
-	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
-	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
-	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, severity::LOW);
-	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, severity::LOW);
-	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, severity::LOW);
-	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW); //!< Indicates a SW bug in child class.
-	static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
-	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
-
-	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
-
-	// Standard codes used when building commands.
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
-	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
-	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
-	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
-	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA4);
-	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
-	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
-	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
-	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
-	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
-
-	// Standard codes used in scanForReply
-	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);
-	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB1);
-	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB2);
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB3);
-
-	// Standard codes used in  interpretDeviceReply
-	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
-	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
-	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
-	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected
-
-	// Standard codes used in buildCommandFromCommand
-	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
-	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
-
-	/**
-	 * Communication action that will be executed.
-	 *
-	 * This is used by the child class to tell the base class what to do.
-	 */
-	enum CommunicationAction: uint8_t {
-	    PERFORM_OPERATION,
-		SEND_WRITE,//!< Send write
-		GET_WRITE, //!< Get write
-		SEND_READ, //!< Send read
-		GET_READ,  //!< Get read
-		NOTHING    //!< Do nothing.
-	};
-
-	/**
-	 * Default Destructor
-	 */
-	virtual ~DeviceHandlerIF() {}
-
-	/**
-	 * This MessageQueue is used to command the device handler.
-	 * @return the id of the MessageQueue
-	 */
-	virtual MessageQueueId_t getCommandQueue() const = 0;
+    /**
+     * This MessageQueue is used to command the device handler.
+     * @return the id of the MessageQueue
+     */
+    virtual MessageQueueId_t getCommandQueue() const = 0;
 
 };
 

From d0d6247753120c8354ecbde51266b7fb63d3c47e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 12 Dec 2020 00:01:36 +0100
Subject: [PATCH 585/653] and now it compiles

---
 controller/ExtendedControllerBase.cpp |  1 -
 fdir/FaultCounter.cpp                 |  2 +-
 fsfw.mk                               |  1 -
 thermal/ThermalComponentCore.cpp      | 13 +++++++------
 thermal/ThermalModule.cpp             |  6 +++---
 thermal/ThermalModuleIF.h             |  3 +--
 thermal/tcsDefinitions.h              |  6 +++---
 7 files changed, 15 insertions(+), 17 deletions(-)

diff --git a/controller/ExtendedControllerBase.cpp b/controller/ExtendedControllerBase.cpp
index f69d2ea1..fa4f6786 100644
--- a/controller/ExtendedControllerBase.cpp
+++ b/controller/ExtendedControllerBase.cpp
@@ -97,7 +97,6 @@ ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
 
 ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
     handleQueue();
-    hkSwitcher.performOperation();
     localPoolManager.performHkOperation();
     performControlOperation();
     return RETURN_OK;
diff --git a/fdir/FaultCounter.cpp b/fdir/FaultCounter.cpp
index 443adb52..6519a3a8 100644
--- a/fdir/FaultCounter.cpp
+++ b/fdir/FaultCounter.cpp
@@ -76,7 +76,7 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint16_t parameterId,
 		parameterWrapper->set(timer.timeout);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
diff --git a/fsfw.mk b/fsfw.mk
index c5847554..3df63060 100644
--- a/fsfw.mk
+++ b/fsfw.mk
@@ -9,7 +9,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/controller/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/coordinates/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datalinklayer/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapool/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoolglob/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/datapoollocal/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/housekeeping/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
diff --git a/thermal/ThermalComponentCore.cpp b/thermal/ThermalComponentCore.cpp
index 7b594d0c..ba875053 100644
--- a/thermal/ThermalComponentCore.cpp
+++ b/thermal/ThermalComponentCore.cpp
@@ -1,4 +1,5 @@
 #include "ThermalComponentCore.h"
+#include "tcsDefinitions.h"
 
 ThermalComponentCore::ThermalComponentCore(object_id_t reportingObjectId,
         uint8_t domainId, gp_id_t temperaturePoolId,
@@ -60,7 +61,7 @@ ThermalComponentIF::HeaterRequest ThermalComponentCore::performOperation(
 	//SHOULDDO: Better pass db_float_t* to getTemperature and set it invalid if invalid.
 	temperature = getTemperature();
 	updateMinMaxTemp();
-	if (temperature != INVALID_TEMPERATURE) {
+	if (temperature != thermal::INVALID_TEMPERATURE) {
 		temperature.setValid(PoolVariableIF::VALID);
 		State state = getState(temperature.value, getParameters(),
 				targetState.value);
@@ -119,7 +120,7 @@ ReturnValue_t ThermalComponentCore::setTargetState(int8_t newState) {
 }
 
 void ThermalComponentCore::setOutputInvalid() {
-	temperature = INVALID_TEMPERATURE;
+	temperature = thermal::INVALID_TEMPERATURE;
 	temperature.setValid(PoolVariableIF::INVALID);
 	currentState.setValid(PoolVariableIF::INVALID);
 	heaterRequest = HEATER_DONT_CARE;
@@ -144,13 +145,13 @@ float ThermalComponentCore::getTemperature() {
 
 	if (thermalModule != nullptr) {
 		float temperature = thermalModule->getTemperature();
-		if (temperature != ThermalModuleIF::INVALID_TEMPERATURE) {
+		if (temperature != thermal::INVALID_TEMPERATURE) {
 			return temperature;
 		} else {
-			return INVALID_TEMPERATURE;
+			return thermal::INVALID_TEMPERATURE;
 		}
 	} else {
-		return INVALID_TEMPERATURE;
+		return thermal::INVALID_TEMPERATURE;
 	}
 }
 
@@ -226,7 +227,7 @@ ThermalComponentIF::State ThermalComponentCore::getIgnoredState(int8_t state) {
 }
 
 void ThermalComponentCore::updateMinMaxTemp() {
-	if (temperature == INVALID_TEMPERATURE) {
+	if (temperature == thermal::INVALID_TEMPERATURE) {
 		return;
 	}
 	if (temperature < minTemp) {
diff --git a/thermal/ThermalModule.cpp b/thermal/ThermalModule.cpp
index 457a6743..de347542 100644
--- a/thermal/ThermalModule.cpp
+++ b/thermal/ThermalModule.cpp
@@ -107,7 +107,7 @@ void ThermalModule::calculateTemperature() {
 		moduleTemperature = moduleTemperature.value / numberOfValidSensors;
 		moduleTemperature.setValid(PoolVariableIF::VALID);
 	} else {
-		moduleTemperature = INVALID_TEMPERATURE;
+		moduleTemperature.value = thermal::INVALID_TEMPERATURE;
 		moduleTemperature.setValid(PoolVariableIF::INVALID);
 	}
 }
@@ -219,7 +219,7 @@ void ThermalModule::initialize(PowerSwitchIF* powerSwitch) {
 bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 		Strategy strategy) {
 	currentState.setValid(PoolVariableIF::VALID);
-	if (moduleTemperature == INVALID_TEMPERATURE) {
+	if (moduleTemperature == thermal::INVALID_TEMPERATURE) {
 		currentState = UNKNOWN;
 		return false;
 	}
@@ -282,7 +282,7 @@ void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,
 }
 
 void ThermalModule::setOutputInvalid() {
-	moduleTemperature = INVALID_TEMPERATURE;
+	moduleTemperature = thermal::INVALID_TEMPERATURE;
 	moduleTemperature.setValid(PoolVariableIF::INVALID);
 	currentState.setValid(PoolVariableIF::INVALID);
 	std::list<ComponentData>::iterator iter = components.begin();
diff --git a/thermal/ThermalModuleIF.h b/thermal/ThermalModuleIF.h
index 2d11a6f2..89cf93d6 100644
--- a/thermal/ThermalModuleIF.h
+++ b/thermal/ThermalModuleIF.h
@@ -2,6 +2,7 @@
 #define THERMALMODULEIF_H_
 
 #include "ThermalComponentIF.h"
+
 class AbstractTemperatureSensor;
 
 class ThermalModuleIF{
@@ -18,8 +19,6 @@ public:
 		NON_OPERATIONAL = 0, OPERATIONAL = 1, UNKNOWN = 2
 	};
 
-	static constexpr float INVALID_TEMPERATURE = 999;
-
 	virtual ~ThermalModuleIF() {
 
 	}
diff --git a/thermal/tcsDefinitions.h b/thermal/tcsDefinitions.h
index 37e5b849..3225be5c 100644
--- a/thermal/tcsDefinitions.h
+++ b/thermal/tcsDefinitions.h
@@ -1,8 +1,8 @@
 #ifndef TCSDEFINITIONS_H_
 #define TCSDEFINITIONS_H_
 
-
-static const float INVALID_TEMPERATURE = 999;
-
+namespace thermal {
+static constexpr float INVALID_TEMPERATURE = 999;
+}
 
 #endif /* TCSDEFINITIONS_H_ */

From 5927d944de61672a16afc366d0ebec10f46e19c2 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 12 Dec 2020 18:32:24 +0100
Subject: [PATCH 586/653] cmake fixes

---
 CMakeLists.txt                | 2 ++
 datapool/CMakeLists.txt       | 7 +------
 datapoollocal/CMakeLists.txt  | 8 ++++++++
 events/CMakeLists.txt         | 1 -
 housekeeping/CMakeLists.txt   | 5 +++++
 storagemanager/CMakeLists.txt | 2 ++
 thermal/CMakeLists.txt        | 4 ++--
 7 files changed, 20 insertions(+), 9 deletions(-)
 create mode 100644 datapoollocal/CMakeLists.txt
 create mode 100644 housekeeping/CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 669283c7..09760f8e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -38,6 +38,8 @@ add_subdirectory(controller)
 add_subdirectory(coordinates)
 add_subdirectory(datalinklayer)
 add_subdirectory(datapool)
+add_subdirectory(datapoollocal)
+add_subdirectory(housekeeping)
 add_subdirectory(devicehandlers)
 add_subdirectory(events)
 add_subdirectory(fdir)
diff --git a/datapool/CMakeLists.txt b/datapool/CMakeLists.txt
index e741f6a1..0d53e1ba 100644
--- a/datapool/CMakeLists.txt
+++ b/datapool/CMakeLists.txt
@@ -1,11 +1,6 @@
 target_sources(${LIB_FSFW_NAME} 
 	PRIVATE 
-		ControllerSet.cpp
-		DataPool.cpp
-		DataPoolAdmin.cpp
-		DataPoolParameterWrapper.cpp
-		DataSet.cpp
 		HkSwitchHelper.cpp
+		PoolDataSetBase.cpp
 		PoolEntry.cpp
-		PoolRawAccess.cpp
 )
\ No newline at end of file
diff --git a/datapoollocal/CMakeLists.txt b/datapoollocal/CMakeLists.txt
new file mode 100644
index 00000000..c6b187cd
--- /dev/null
+++ b/datapoollocal/CMakeLists.txt
@@ -0,0 +1,8 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		LocalDataPoolManager.cpp
+		LocalDataSet.cpp
+		LocalPoolDataSetBase.cpp
+		LocalPoolObjectBase.cpp
+		SharedLocalDataSet.cpp
+)
\ No newline at end of file
diff --git a/events/CMakeLists.txt b/events/CMakeLists.txt
index 9e63deb8..4e935167 100644
--- a/events/CMakeLists.txt
+++ b/events/CMakeLists.txt
@@ -1,6 +1,5 @@
 target_sources(${LIB_FSFW_NAME} 
 	PRIVATE 
-		Event.cpp
 		EventManager.cpp
 		EventMessage.cpp
 )
diff --git a/housekeeping/CMakeLists.txt b/housekeeping/CMakeLists.txt
new file mode 100644
index 00000000..fecad2e3
--- /dev/null
+++ b/housekeeping/CMakeLists.txt
@@ -0,0 +1,5 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		HousekeepingMessage.cpp
+		PeriodicHousekeepingHelper.cpp
+)
\ No newline at end of file
diff --git a/storagemanager/CMakeLists.txt b/storagemanager/CMakeLists.txt
index 57c92195..b8138cae 100644
--- a/storagemanager/CMakeLists.txt
+++ b/storagemanager/CMakeLists.txt
@@ -2,4 +2,6 @@ target_sources(${LIB_FSFW_NAME}
 	PRIVATE 
 		ConstStorageAccessor.cpp
 		StorageAccessor.cpp
+		LocalPool.cpp
+		PoolManager.cpp
 )
\ No newline at end of file
diff --git a/thermal/CMakeLists.txt b/thermal/CMakeLists.txt
index 67664fbe..ad532721 100644
--- a/thermal/CMakeLists.txt
+++ b/thermal/CMakeLists.txt
@@ -1,10 +1,10 @@
 target_sources(${LIB_FSFW_NAME} 
 	PRIVATE 
 		AbstractTemperatureSensor.cpp
-		CoreComponent.cpp
 		Heater.cpp
 		RedundantHeater.cpp
+		ThermalComponentCore.cpp
 		ThermalComponent.cpp
 		ThermalModule.cpp
-		ThermalMonitor.cpp
+		ThermalMonitorReporter.cpp
 )

From bc6936ddddd59030b659f662127b642740474201 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 12 Dec 2020 18:35:58 +0100
Subject: [PATCH 587/653] indentation corrected (again)

---
 devicehandlers/DeviceHandlerIF.h | 264 +++++++++++++++----------------
 1 file changed, 132 insertions(+), 132 deletions(-)

diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index f5a1b4bb..dba6b228 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -22,154 +22,154 @@ using DeviceCommandId_t = uint32_t;
  */
 class DeviceHandlerIF {
 public:
-    static constexpr DeviceCommandId_t NO_COMMAND = -1;
+	static constexpr DeviceCommandId_t NO_COMMAND = -1;
 
-    static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
-    static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
+	static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
+	static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
-    using dh_heater_request_t = uint8_t;
-    using dh_thermal_state_t = int8_t;
+	using dh_heater_request_t = uint8_t;
+	using dh_thermal_state_t = int8_t;
 
-    /**
-     * @brief This is the mode the <strong>device handler</strong> is in.
-     *
-     * @details The mode of the device handler must not be confused with the mode the device is in.
-     * The mode of the device itself is transparent to the user but related to the mode of the handler.
-     * MODE_ON and MODE_OFF are included in hasModesIF.h
-     */
+	/**
+	 * @brief This is the mode the <strong>device handler</strong> is in.
+	 *
+	 * @details The mode of the device handler must not be confused with the mode the device is in.
+	 * The mode of the device itself is transparent to the user but related to the mode of the handler.
+	 * MODE_ON and MODE_OFF are included in hasModesIF.h
+	 */
 
-    // MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
-    // MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
-    //! The device is powered on and the device handler periodically sends
-    //! commands. The commands to be sent are selected by the handler
-    //! according to the submode.
-    static const Mode_t MODE_NORMAL = 2;
-    //! The device is powered on and ready to perform operations. In this mode,
-    //! raw commands can be sent. The device handler will send all replies
-    //! received from the command back to the commanding object.
-    static const Mode_t MODE_RAW = 3;
-    //! The device is shut down but the switch could not be turned off, so the
-    //! device still is powered. In this mode, only a mode change to @c MODE_OFF
-    //! can be commanded, which tries to switch off the device again.
-    static const Mode_t MODE_ERROR_ON = 4;
-    //! This is a transitional state which can not be commanded. The device
-    //! handler performs all commands to get the device in a state ready to
-    //! perform commands. When this is completed, the mode changes to @c MODE_ON.
-    static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
-    //! This is a transitional state which can not be commanded.
-    //! The device handler performs all actions and commands to get the device
-    //! shut down. When the device is off, the mode changes to @c MODE_OFF.
-    //! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
-    //! transition if available.
-    static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
-    //! It is possible to set the mode to _MODE_TO_ON to use the to on
-    //! transition if available.
-    static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
-    //! It is possible to set the mode to _MODE_TO_RAW to use the to raw
-    //! transition if available.
-    static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
-    //! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
-    //! transition if available.
-    static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
-    //! This is a transitional state which can not be commanded.
-    //! The device is shut down and ready to be switched off.
-    //! After the command to set the switch off has been sent,
-    //! the mode changes to @c MODE_WAIT_OFF
-    static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
-    //! This is a transitional state which can not be commanded. The device
-    //! will be switched on in this state. After the command to set the switch
-    //! on has been sent, the mode changes to @c MODE_WAIT_ON.
-    static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
-    //! This is a transitional state which can not be commanded. The switch has
-    //! been commanded off and the handler waits for it to be off.
-    //! When the switch is off, the mode changes to @c MODE_OFF.
-    static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
-    //! This is a transitional state which can not be commanded. The switch
-    //! has been commanded on and the handler waits for it to be on.
-    //! When the switch is on, the mode changes to @c MODE_TO_ON.
-    static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
-    //! This is a transitional state which can not be commanded. The switch has
-    //! been commanded off and is off now. This state is only to do an RMAP
-    //! cycle once more where the doSendRead() function will set the mode to
-    //! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
-    static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
+	// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
+	// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
+	//! The device is powered on and the device handler periodically sends
+	//! commands. The commands to be sent are selected by the handler
+	//! according to the submode.
+	static const Mode_t MODE_NORMAL = 2;
+	//! The device is powered on and ready to perform operations. In this mode,
+	//! raw commands can be sent. The device handler will send all replies
+	//! received from the command back to the commanding object.
+	static const Mode_t MODE_RAW = 3;
+	//! The device is shut down but the switch could not be turned off, so the
+	//! device still is powered. In this mode, only a mode change to @c MODE_OFF
+	//! can be commanded, which tries to switch off the device again.
+	static const Mode_t MODE_ERROR_ON = 4;
+	//! This is a transitional state which can not be commanded. The device
+	//! handler performs all commands to get the device in a state ready to
+	//! perform commands. When this is completed, the mode changes to @c MODE_ON.
+	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
+	//! This is a transitional state which can not be commanded.
+	//! The device handler performs all actions and commands to get the device
+	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
+	//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+	//! transition if available.
+	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
+	//! It is possible to set the mode to _MODE_TO_ON to use the to on
+	//! transition if available.
+	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
+	//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
+	//! transition if available.
+	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
+	//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
+	//! transition if available.
+	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
+	//! This is a transitional state which can not be commanded.
+	//! The device is shut down and ready to be switched off.
+	//! After the command to set the switch off has been sent,
+	//! the mode changes to @c MODE_WAIT_OFF
+	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
+	//! This is a transitional state which can not be commanded. The device
+	//! will be switched on in this state. After the command to set the switch
+	//! on has been sent, the mode changes to @c MODE_WAIT_ON.
+	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
+	//! This is a transitional state which can not be commanded. The switch has
+	//! been commanded off and the handler waits for it to be off.
+	//! When the switch is off, the mode changes to @c MODE_OFF.
+	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
+	//! This is a transitional state which can not be commanded. The switch
+	//! has been commanded on and the handler waits for it to be on.
+	//! When the switch is on, the mode changes to @c MODE_TO_ON.
+	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
+	//! This is a transitional state which can not be commanded. The switch has
+	//! been commanded off and is off now. This state is only to do an RMAP
+	//! cycle once more where the doSendRead() function will set the mode to
+	//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
+	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
 
-    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
-    static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
-    static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, severity::LOW);
-    static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, severity::LOW);
-    static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
-    static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
-    static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, severity::LOW);
-    static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, severity::LOW);
-    static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, severity::LOW);
-    static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW); //!< Indicates a SW bug in child class.
-    static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
-    static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
+	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
+	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
+	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, severity::LOW);
+	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, severity::LOW);
+	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
+	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
+	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, severity::LOW);
+	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, severity::LOW);
+	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, severity::LOW);
+	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW); //!< Indicates a SW bug in child class.
+	static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
+	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);
 
-    static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
+	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
-    // Standard codes used when building commands.
-    static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
-    static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
-    static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
-    static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
-    static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA4);
-    static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
-    static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
-    static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-    static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
-    static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
-    static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
+	// Standard codes used when building commands.
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
+	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
+	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
+	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
+	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA4);
+	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
+	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
+	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
+	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 
-    // Standard codes used in scanForReply
-    static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);
-    static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB1);
-    static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB2);
-    static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB3);
+	// Standard codes used in scanForReply
+	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);
+	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB1);
+	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB2);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB3);
 
-    // Standard codes used in  interpretDeviceReply
-    static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
-    static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
-    static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
-    static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected
+	// Standard codes used in  interpretDeviceReply
+	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
+	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
+	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
+	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected
 
-    // Standard codes used in buildCommandFromCommand
-    static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
-    static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
+	// Standard codes used in buildCommandFromCommand
+	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
+	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
 
-    /**
-     * Communication action that will be executed.
-     *
-     * This is used by the child class to tell the base class what to do.
-     */
-    enum CommunicationAction: uint8_t {
-        PERFORM_OPERATION,
-        SEND_WRITE,//!< Send write
-        GET_WRITE, //!< Get write
-        SEND_READ, //!< Send read
-        GET_READ,  //!< Get read
-        NOTHING    //!< Do nothing.
-    };
+	/**
+	 * Communication action that will be executed.
+	 *
+	 * This is used by the child class to tell the base class what to do.
+	 */
+	enum CommunicationAction: uint8_t {
+		PERFORM_OPERATION,
+		SEND_WRITE,//!< Send write
+		GET_WRITE, //!< Get write
+		SEND_READ, //!< Send read
+		GET_READ,  //!< Get read
+		NOTHING    //!< Do nothing.
+	};
 
-    static constexpr uint32_t DEFAULT_THERMAL_SET_ID = sid_t::INVALID_SET_ID - 1;
+	static constexpr uint32_t DEFAULT_THERMAL_SET_ID = sid_t::INVALID_SET_ID - 1;
 
-    static constexpr lp_id_t DEFAULT_THERMAL_STATE_POOL_ID =
-            localpool::INVALID_LPID - 2;
-    static constexpr lp_id_t DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID =
-            localpool::INVALID_LPID - 1;
+	static constexpr lp_id_t DEFAULT_THERMAL_STATE_POOL_ID =
+			localpool::INVALID_LPID - 2;
+	static constexpr lp_id_t DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID =
+			localpool::INVALID_LPID - 1;
 
 
-    /**
-     * Default Destructor
-     */
-    virtual ~DeviceHandlerIF() {}
+	/**
+	 * Default Destructor
+	 */
+	virtual ~DeviceHandlerIF() {}
 
-    /**
-     * This MessageQueue is used to command the device handler.
-     * @return the id of the MessageQueue
-     */
-    virtual MessageQueueId_t getCommandQueue() const = 0;
+	/**
+	 * This MessageQueue is used to command the device handler.
+	 * @return the id of the MessageQueue
+	 */
+	virtual MessageQueueId_t getCommandQueue() const = 0;
 
 };
 

From 715386e366d40eb4dacfed62cd529ab72e53cb79 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 13 Dec 2020 22:12:57 +0100
Subject: [PATCH 588/653] clened up a bit

---
 rmap/RMAP.cpp                      |  14 ++--
 rmap/RMAP.h                        |  12 ++--
 rmap/RMAPChannelIF.h               |  11 +--
 rmap/RMAPCookie.cpp                |   9 +--
 rmap/RMAPCookie.h                  |  16 +++--
 rmap/RmapDeviceCommunicationIF.cpp |  10 +--
 rmap/RmapDeviceCommunicationIF.h   | 105 ++++++++++++++++-------------
 rmap/rmapStructs.h                 |   8 +--
 8 files changed, 100 insertions(+), 85 deletions(-)

diff --git a/rmap/RMAP.cpp b/rmap/RMAP.cpp
index 4ab8b17b..7ea6e532 100644
--- a/rmap/RMAP.cpp
+++ b/rmap/RMAP.cpp
@@ -1,8 +1,10 @@
-#include "../devicehandlers/DeviceCommunicationIF.h"
-#include "rmapStructs.h"
 #include "RMAP.h"
+#include "rmapStructs.h"
 #include "RMAPChannelIF.h"
-#include <stddef.h>
+
+#include "../devicehandlers/DeviceCommunicationIF.h"
+
+#include <cstddef>
 
 ReturnValue_t RMAP::reset(RMAPCookie* cookie) {
 	return cookie->getChannel()->reset();
@@ -12,8 +14,8 @@ RMAP::RMAP(){
 
 }
 
-ReturnValue_t RMAP::sendWriteCommand(RMAPCookie *cookie, uint8_t* buffer,
-		uint32_t length) {
+ReturnValue_t RMAP::sendWriteCommand(RMAPCookie *cookie, const uint8_t* buffer,
+		size_t length) {
 	uint8_t instruction;
 
 	if ((buffer == NULL) && (length != 0)) {
@@ -61,7 +63,7 @@ ReturnValue_t RMAP::sendReadCommand(RMAPCookie *cookie, uint32_t expLength) {
 }
 
 ReturnValue_t RMAP::getReadReply(RMAPCookie *cookie, uint8_t **buffer,
-		uint32_t *size) {
+		size_t *size) {
 	if (cookie->getChannel() == NULL) {
 		return COMMAND_NO_CHANNEL;
 	}
diff --git a/rmap/RMAP.h b/rmap/RMAP.h
index d14320cb..83e29fed 100644
--- a/rmap/RMAP.h
+++ b/rmap/RMAP.h
@@ -1,8 +1,8 @@
-#ifndef RMAPpp_H_
-#define RMAPpp_H_
+#ifndef FSFW_RMAP_RMAP_H_
+#define FSFW_RMAP_RMAP_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "RMAPCookie.h"
+#include "../rmap/RMAPCookie.h"
 
 //SHOULDTODO: clean up includes for RMAP, should be enough to include RMAP.h but right now it's quite chaotic...
 
@@ -153,8 +153,8 @@ public:
 	 *      - @c COMMAND_NULLPOINTER				datalen was != 0 but data was == NULL in write command
 	 *      - return codes of RMAPChannelIF::sendCommand()
 	 */
-	static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, uint8_t* buffer,
-			uint32_t length);
+	static ReturnValue_t sendWriteCommand(RMAPCookie *cookie, const uint8_t* buffer,
+			size_t length);
 
 	/**
 	 * get the reply to a write command
@@ -204,7 +204,7 @@ public:
 	 *      - return codes of RMAPChannelIF::getReply()
 	 */
 	static ReturnValue_t getReadReply(RMAPCookie *cookie, uint8_t **buffer,
-			uint32_t *size);
+			size_t *size);
 
 	/**
 	 * @see sendReadCommand()
diff --git a/rmap/RMAPChannelIF.h b/rmap/RMAPChannelIF.h
index dac4a722..0aa809c5 100644
--- a/rmap/RMAPChannelIF.h
+++ b/rmap/RMAPChannelIF.h
@@ -1,8 +1,9 @@
-#ifndef RMAPCHANNELIF_H_
-#define RMAPCHANNELIF_H_
+#ifndef FSFW_RMAP_RMAPCHANNELIF_H_
+#define FSFW_RMAP_RMAPCHANNELIF_H_
 
 #include "RMAPCookie.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
 
 class RMAPChannelIF {
 public:
@@ -73,7 +74,7 @@ public:
 	 *      - @c NOT_SUPPORTED						if you dont feel like implementing something...
 	 */
 	virtual ReturnValue_t sendCommand(RMAPCookie *cookie, uint8_t instruction,
-			uint8_t *data, uint32_t datalen)=0;
+			const uint8_t *data, size_t datalen)=0;
 
 	/**
 	 * get the reply to an rmap command
@@ -92,7 +93,7 @@ public:
 	 *      - all RMAP standard replies
 	 */
 	virtual ReturnValue_t getReply(RMAPCookie *cookie, uint8_t **databuffer,
-			uint32_t *len)=0;
+			size_t *len)=0;
 
 	/**
 	 *
@@ -112,4 +113,4 @@ public:
 
 };
 
-#endif /* RMAPCHANNELIF_H_ */
+#endif /* FSFW_RMAP_RMAPCHANNELIF_H_ */
diff --git a/rmap/RMAPCookie.cpp b/rmap/RMAPCookie.cpp
index 597f066c..f8fe2d3e 100644
--- a/rmap/RMAPCookie.cpp
+++ b/rmap/RMAPCookie.cpp
@@ -1,6 +1,6 @@
 #include "RMAPChannelIF.h"
 #include "RMAPCookie.h"
-#include <stddef.h>
+#include <cstddef>
 
 
 RMAPCookie::RMAPCookie() {
@@ -31,7 +31,8 @@ RMAPCookie::RMAPCookie() {
 
 
 RMAPCookie::RMAPCookie(uint32_t set_address, uint8_t set_extended_address,
-		RMAPChannelIF *set_channel, uint8_t set_command_mask, uint32_t maxReplyLen) {
+		RMAPChannelIF *set_channel, uint8_t set_command_mask,
+		size_t maxReplyLen) {
 	this->header.dest_address = 0;
 	this->header.protocol = 0x01;
 	this->header.instruction = 0;
@@ -93,11 +94,11 @@ RMAPCookie::~RMAPCookie() {
 
 }
 
-uint32_t RMAPCookie::getMaxReplyLen() const {
+size_t RMAPCookie::getMaxReplyLen() const {
 	return maxReplyLen;
 }
 
-void RMAPCookie::setMaxReplyLen(uint32_t maxReplyLen) {
+void RMAPCookie::setMaxReplyLen(size_t maxReplyLen) {
 	this->maxReplyLen = maxReplyLen;
 }
 
diff --git a/rmap/RMAPCookie.h b/rmap/RMAPCookie.h
index 4c6081bd..38542646 100644
--- a/rmap/RMAPCookie.h
+++ b/rmap/RMAPCookie.h
@@ -1,8 +1,9 @@
-#ifndef RMAPCOOKIE_H_
-#define RMAPCOOKIE_H_
+#ifndef FSFW_RMAP_RMAPCOOKIE_H_
+#define FSFW_RMAP_RMAPCOOKIE_H_
 
-#include "../devicehandlers/CookieIF.h"
 #include "rmapStructs.h"
+#include "../devicehandlers/CookieIF.h"
+#include <cstddef>
 
 class RMAPChannelIF;
 
@@ -12,7 +13,8 @@ public:
 	RMAPCookie();
 
 	RMAPCookie(uint32_t set_address, uint8_t set_extended_address,
-			RMAPChannelIF *set_channel, uint8_t set_command_mask, uint32_t maxReplyLen = 0);
+			RMAPChannelIF *set_channel, uint8_t set_command_mask,
+			size_t maxReplyLen = 0);
 	virtual ~RMAPCookie();
 
 
@@ -28,8 +30,8 @@ public:
 	void setCommandMask(uint8_t commandMask);
 	uint8_t getCommandMask();
 
-	uint32_t getMaxReplyLen() const;
-	void setMaxReplyLen(uint32_t maxReplyLen);
+	size_t getMaxReplyLen() const;
+	void setMaxReplyLen(size_t maxReplyLen);
 
 	uint16_t getTransactionIdentifier() const;
 	void setTransactionIdentifier(uint16_t id_);
@@ -55,4 +57,4 @@ protected:
 	uint8_t dataCRC;
 };
 
-#endif /* RMAPCOOKIE_H_ */
+#endif /* FSFW_RMAP_RMAPCOOKIE_H_ */
diff --git a/rmap/RmapDeviceCommunicationIF.cpp b/rmap/RmapDeviceCommunicationIF.cpp
index db4a75b5..d81baabd 100644
--- a/rmap/RmapDeviceCommunicationIF.cpp
+++ b/rmap/RmapDeviceCommunicationIF.cpp
@@ -5,9 +5,9 @@
 RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() {
 }
 
-ReturnValue_t RmapDeviceCommunicationIF::sendMessage(CookieIF* cookie,
-		uint8_t* data, uint32_t len) {
-	return RMAP::sendWriteCommand((RMAPCookie *) cookie, data, len);
+ReturnValue_t RmapDeviceCommunicationIF::sendMessage(CookieIF *cookie,
+		const uint8_t * sendData, size_t sendLen) {
+	return RMAP::sendWriteCommand((RMAPCookie *) cookie, sendData, sendLen);
 }
 
 ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(CookieIF* cookie) {
@@ -15,13 +15,13 @@ ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(CookieIF* cookie) {
 }
 
 ReturnValue_t RmapDeviceCommunicationIF::requestReceiveMessage(
-		CookieIF* cookie) {
+		CookieIF *cookie, size_t requestLen) {
 	return RMAP::sendReadCommand((RMAPCookie *) cookie,
 				((RMAPCookie *) cookie)->getMaxReplyLen());
 }
 
 ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(CookieIF* cookie,
-		uint8_t** buffer, uint32_t* size) {
+		uint8_t** buffer, size_t * size) {
 	return RMAP::getReadReply((RMAPCookie *) cookie, buffer, size);
 }
 
diff --git a/rmap/RmapDeviceCommunicationIF.h b/rmap/RmapDeviceCommunicationIF.h
index dacc720b..1333966a 100644
--- a/rmap/RmapDeviceCommunicationIF.h
+++ b/rmap/RmapDeviceCommunicationIF.h
@@ -1,10 +1,11 @@
-#ifndef MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
-#define MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
+#ifndef FSFW_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
+#define FSFW_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
 
 #include "../devicehandlers/DeviceCommunicationIF.h"
 
 /**
- * @brief	This class is a implementation of a DeviceCommunicationIF for RMAP calls. It expects RMAPCookies or a derived class of RMAPCookies
+ * @brief	This class is a implementation of a DeviceCommunicationIF for RMAP calls.
+ *          It expects RMAPCookies or a derived class of RMAPCookies
  *
  * @details	The open, close and reOpen calls are mission specific
  * 			The open call might return any child of RMAPCookies
@@ -16,65 +17,73 @@ class RmapDeviceCommunicationIF: public DeviceCommunicationIF {
 public:
 	virtual ~RmapDeviceCommunicationIF();
 
-
 	/**
-	 * This method is mission specific as the open call will return a mission specific cookie
-	 *
-	 * @param cookie A cookie, can be mission specific subclass of RMAP Cookie
-	 * @param address The address of the RMAP Cookie
-	 * @param maxReplyLen Maximum length of expected reply
-	 * @return
-	 */
-	virtual ReturnValue_t open(CookieIF **cookie, uint32_t address,
-			uint32_t maxReplyLen) = 0;
-
-	/**
-	 * Use an existing cookie to open a connection to a new DeviceCommunication.
-	 * The previous connection must not be closed.
-	 * If the returnvalue is not RETURN_OK, the cookie is unchanged and
-	 * can be used with the previous connection.
-	 *
+	 * @brief Device specific initialization, using the cookie.
+	 * @details
+	 * The cookie is already prepared in the factory. If the communication
+	 * interface needs to be set up in some way and requires cookie information,
+	 * this can be performed in this function, which is called on device handler
+	 * initialization.
 	 * @param cookie
-	 * @param address
-	 * @param maxReplyLen
-	 * @return
+	 * @return -@c RETURN_OK if initialization was successfull
+	 * 		   - Everything else triggers failure event with returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t reOpen(CookieIF *cookie, uint32_t address,
-			uint32_t maxReplyLen) = 0;
-
+	virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0;
 
 	/**
-	 * Closing call of connection and memory free of cookie. Mission dependent call
+	 * Called by DHB in the SEND_WRITE doSendWrite().
+	 * This function is used to send data to the physical device
+	 * by implementing and calling related drivers or wrapper functions.
 	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return -@c RETURN_OK for successfull send
+	 *         - Everything else triggers failure event with returnvalue as parameter 1
 	 */
-	virtual void close(CookieIF *cookie) = 0;
+	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
+			size_t sendLen);
 
-	//SHOULDDO can data be const?
 	/**
-	 *
-	 *
-	 * @param cookie Expects an RMAPCookie or derived from RMAPCookie Class
-	 * @param data Data to be send
-	 * @param len Length of the data to be send
-	 * @return - Return codes of RMAP::sendWriteCommand()
+	 * Called by DHB in the GET_WRITE doGetWrite().
+	 * Get send confirmation that the data in sendMessage() was sent successfully.
+	 * @param cookie
+	 * @return -@c RETURN_OK if data was sent successfull
+	 * 		   - Everything else triggers falure event with returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t sendMessage(CookieIF *cookie, uint8_t *data,
-			uint32_t len);
-
 	virtual ReturnValue_t getSendSuccess(CookieIF *cookie);
 
-	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie);
+	/**
+	 * Called by DHB in the SEND_WRITE doSendRead().
+	 * It is assumed that it is always possible to request a reply
+	 * from a device.
+	 *
+	 * @param cookie
+	 * @return -@c RETURN_OK to confirm the request for data has been sent.
+	 *         -@c NO_READ_REQUEST if no request shall be made. readReceivedMessage()
+	 *         	   will not be called in the respective communication cycle.
+	 *         - Everything else triggers failure event with returnvalue as parameter 1
+	 */
+	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen);
 
+	/**
+	 * Called by DHB in the GET_WRITE doGetRead().
+	 * This function is used to receive data from the physical device
+	 * by implementing and calling related drivers or wrapper functions.
+	 * @param cookie
+	 * @param data
+	 * @param len
+	 * @return @c RETURN_OK for successfull receive
+	 *         - Everything else triggers failure event with returnvalue as parameter 1
+	 */
 	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
-			uint32_t *size);
+			size_t *size);
 
-	virtual ReturnValue_t setAddress(CookieIF *cookie, uint32_t address);
-
-	virtual uint32_t getAddress(CookieIF *cookie);
-
-	virtual ReturnValue_t setParameter(CookieIF *cookie, uint32_t parameter);
-
-	virtual uint32_t getParameter(CookieIF *cookie);
+	ReturnValue_t setAddress(CookieIF* cookie,
+			uint32_t address);
+	uint32_t getAddress(CookieIF* cookie);
+	ReturnValue_t setParameter(CookieIF* cookie,
+			uint32_t parameter);
+	uint32_t getParameter(CookieIF* cookie);
 };
 
-#endif /* MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */
+#endif /* FSFW_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */
diff --git a/rmap/rmapStructs.h b/rmap/rmapStructs.h
index bf0fb260..11d8bb85 100644
--- a/rmap/rmapStructs.h
+++ b/rmap/rmapStructs.h
@@ -1,7 +1,7 @@
-#ifndef RMAPSTRUCTS_H_
-#define RMAPSTRUCTS_H_
+#ifndef FSFW_RMAP_RMAPSTRUCTS_H_
+#define FSFW_RMAP_RMAPSTRUCTS_H_
 
-#include <stdint.h>
+#include <cstdint>
 
 //SHOULDDO: having the defines within a namespace would be nice. Problem are the defines referencing the previous define, eg RMAP_COMMAND_WRITE
 
@@ -95,4 +95,4 @@ struct rmap_write_reply_header {
 
 }
 
-#endif /* RMAPSTRUCTS_H_ */
+#endif /* FSFW_RMAP_RMAPSTRUCTS_H_ */

From 720e3baa9080eb0d2a3b3bbcf398788ed4639a4f Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 10:48:39 +0100
Subject: [PATCH 589/653] fixed includes

---
 unittest/internal/osal/IntTestMq.cpp                 | 4 ++--
 unittest/internal/osal/IntTestMutex.cpp              | 2 +-
 unittest/internal/osal/IntTestSemaphore.cpp          | 6 +++---
 unittest/internal/serialize/IntTestSerialization.cpp | 7 ++++---
 unittest/internal/serialize/IntTestSerialization.h   | 2 +-
 5 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/unittest/internal/osal/IntTestMq.cpp b/unittest/internal/osal/IntTestMq.cpp
index 8d95f51e..9917285f 100644
--- a/unittest/internal/osal/IntTestMq.cpp
+++ b/unittest/internal/osal/IntTestMq.cpp
@@ -1,8 +1,8 @@
 #include "IntTestMq.h"
 #include "../UnittDefinitions.h"
 
-#include "../../ipc/MessageQueueIF.h"
-#include "../../ipc/QueueFactory.h"
+#include "../../../ipc/MessageQueueIF.h"
+#include "../../../ipc/QueueFactory.h"
 
 #include <array>
 
diff --git a/unittest/internal/osal/IntTestMutex.cpp b/unittest/internal/osal/IntTestMutex.cpp
index 01581347..d2f8b962 100644
--- a/unittest/internal/osal/IntTestMutex.cpp
+++ b/unittest/internal/osal/IntTestMutex.cpp
@@ -1,6 +1,6 @@
 #include "IntTestMutex.h"
 
-#include "../../ipc/MutexFactory.h"
+#include "../../../ipc/MutexFactory.h"
 #include "../UnittDefinitions.h"
 
 #if defined(hosted)
diff --git a/unittest/internal/osal/IntTestSemaphore.cpp b/unittest/internal/osal/IntTestSemaphore.cpp
index f260b6a5..6d2719d5 100644
--- a/unittest/internal/osal/IntTestSemaphore.cpp
+++ b/unittest/internal/osal/IntTestSemaphore.cpp
@@ -1,9 +1,9 @@
 #include "IntTestSemaphore.h"
 #include "../UnittDefinitions.h"
 
-#include "../../tasks/SemaphoreFactory.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../timemanager/Stopwatch.h"
+#include "../../../tasks/SemaphoreFactory.h"
+#include "../../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../../timemanager/Stopwatch.h"
 
 
 void testsemaph::testBinSemaph() {
diff --git a/unittest/internal/serialize/IntTestSerialization.cpp b/unittest/internal/serialize/IntTestSerialization.cpp
index 1e33ff33..793661c5 100644
--- a/unittest/internal/serialize/IntTestSerialization.cpp
+++ b/unittest/internal/serialize/IntTestSerialization.cpp
@@ -1,8 +1,9 @@
 #include "IntTestSerialization.h"
 #include "../UnittDefinitions.h"
-#include "../../serialize/SerializeElement.h"
-#include "../../serialize/SerialBufferAdapter.h"
-#include "../../serialize/SerializeIF.h"
+
+#include "../../../serialize/SerializeElement.h"
+#include "../../../serialize/SerialBufferAdapter.h"
+#include "../../../serialize/SerializeIF.h"
 
 #include <array>
 
diff --git a/unittest/internal/serialize/IntTestSerialization.h b/unittest/internal/serialize/IntTestSerialization.h
index e8dbd35a..8706e057 100644
--- a/unittest/internal/serialize/IntTestSerialization.h
+++ b/unittest/internal/serialize/IntTestSerialization.h
@@ -1,7 +1,7 @@
 #ifndef FSFW_UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
 #define FSFW_UNITTEST_INTERNAL_INTTESTSERIALIZATION_H_
 
-#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../../returnvalues/HasReturnvaluesIF.h"
 #include <array>
 
 namespace testserialize {

From dc72fa938d593083b8fb60ff38ea7f9b6d754711 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:10:22 +0100
Subject: [PATCH 590/653] type update

---
 globalfunctions/Type.cpp |  1 -
 globalfunctions/Type.h   | 13 ++++++++++---
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/globalfunctions/Type.cpp b/globalfunctions/Type.cpp
index ae595b81..fa6d2f28 100644
--- a/globalfunctions/Type.cpp
+++ b/globalfunctions/Type.cpp
@@ -1,4 +1,3 @@
-#include "../serialize/SerializeAdapter.h"
 #include "Type.h"
 #include "../serialize/SerializeAdapter.h"
 
diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h
index be499ffc..d28f56ac 100644
--- a/globalfunctions/Type.h
+++ b/globalfunctions/Type.h
@@ -1,9 +1,12 @@
-#ifndef TYPE_H_
-#define TYPE_H_
+#ifndef FSFW_GLOBALFUNCTIONS_TYPE_H_
+#define FSFW_GLOBALFUNCTIONS_TYPE_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeIF.h"
 
+/**
+ * @brief 	Type definition for CCSDS or ECSS.
+ */
 class Type: public SerializeIF {
 public:
 	enum ActualType_t {
@@ -56,6 +59,10 @@ struct PodTypeConversion {
 	static const Type::ActualType_t type = Type::UNKNOWN_TYPE;
 };
 template<>
+struct PodTypeConversion<bool> {
+    static const Type::ActualType_t type = Type::UINT8_T;
+};
+template<>
 struct PodTypeConversion<uint8_t> {
 	static const Type::ActualType_t type = Type::UINT8_T;
 };
@@ -88,4 +95,4 @@ struct PodTypeConversion<double> {
 	static const Type::ActualType_t type = Type::DOUBLE;
 };
 
-#endif /* TYPE_H_ */
+#endif /* FSFW_GLOBALFUNCTIONS_TYPE_H_ */

From 94fa917202970b0e7ecf516497be87ce8f1727c3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:17:22 +0100
Subject: [PATCH 591/653] some tweaks

---
 osal/FreeRTOS/BinSemaphUsingTask.cpp      |  8 +++++--
 osal/FreeRTOS/BinSemaphUsingTask.h        | 27 ++++++++++++++++++-----
 osal/FreeRTOS/BinarySemaphore.cpp         |  4 ++--
 osal/FreeRTOS/BinarySemaphore.h           |  6 ++---
 osal/FreeRTOS/Clock.cpp                   | 10 ++++++++-
 osal/FreeRTOS/CountingSemaphUsingTask.cpp |  5 +++--
 osal/FreeRTOS/CountingSemaphUsingTask.h   | 13 ++++++-----
 osal/FreeRTOS/CountingSemaphore.cpp       |  5 +++--
 osal/FreeRTOS/CountingSemaphore.h         |  3 ++-
 osal/FreeRTOS/MessageQueue.cpp            |  7 +++++-
 osal/FreeRTOS/MessageQueue.h              |  3 ++-
 osal/FreeRTOS/MutexFactory.cpp            | 10 +++++----
 osal/FreeRTOS/QueueFactory.cpp            |  4 ++--
 osal/FreeRTOS/TaskFactory.cpp             | 20 ++++++++---------
 osal/FreeRTOS/TaskManagement.cpp          |  2 +-
 osal/FreeRTOS/TaskManagement.h            |  3 +--
 osal/FreeRTOS/Timekeeper.cpp              |  2 +-
 timemanager/Clock.h                       |  6 ++---
 18 files changed, 88 insertions(+), 50 deletions(-)

diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp
index dd1e48ca..9c29948e 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp
@@ -1,5 +1,5 @@
-#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "BinSemaphUsingTask.h"
+#include "TaskManagement.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
@@ -16,6 +16,10 @@ BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
 	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
 }
 
+void BinarySemaphoreUsingTask::refreshTaskHandle() {
+	handle = TaskManagement::getCurrentTaskHandle();
+}
+
 ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
         uint32_t timeoutMs) {
     TickType_t timeout = 0;
diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index f3c0b0ea..65a091a3 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+#ifndef FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+#define FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
 
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include "../../tasks/SemaphoreIF.h"
@@ -7,13 +7,20 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
+// todo: does not work for older FreeRTOS version, so we should
+// actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ?
+
 /**
  * @brief 	Binary Semaphore implementation using the task notification value.
  * 			The notification value should therefore not be used
- * 			for other purposes.
+ * 			for other purposes!
  * @details
  * Additional information: https://www.freertos.org/RTOS-task-notifications.html
  * and general semaphore documentation.
+ * This semaphore is bound to the task it is created in!
+ * Take care of building this class with the correct executing task,
+ * (for example in the initializeAfterTaskCreation() function) or
+ * by calling refreshTaskHandle() with the correct executing task.
  */
 class BinarySemaphoreUsingTask: public SemaphoreIF,
 		public HasReturnvaluesIF {
@@ -25,6 +32,16 @@ public:
 	//! @brief Default dtor
 	virtual~ BinarySemaphoreUsingTask();
 
+	/**
+	 * This function can be used to get the correct task handle from the
+	 * currently executing task.
+	 *
+	 * This is required because the task notification value will be used
+	 * as a binary semaphore, and the semaphore might be created by another
+	 * task.
+	 */
+	void refreshTaskHandle();
+
 	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
 	        uint32_t timeoutMs = portMAX_DELAY) override;
 	ReturnValue_t release() override;
@@ -67,10 +84,10 @@ public:
 	 *         - @c RETURN_FAILED on failure
 	 */
 	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
-				BaseType_t * higherPriorityTaskWoken);
+				BaseType_t* higherPriorityTaskWoken);
 
 protected:
 	TaskHandle_t handle;
 };
 
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
+#endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp
index 8cc3c495..6fee5c35 100644
--- a/osal/FreeRTOS/BinarySemaphore.cpp
+++ b/osal/FreeRTOS/BinarySemaphore.cpp
@@ -1,5 +1,5 @@
-#include "../../osal/FreeRTOS/BinarySemaphore.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "BinarySemaphore.h"
+#include "TaskManagement.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 BinarySemaphore::BinarySemaphore() {
diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h
index c6cedc53..8969d503 100644
--- a/osal/FreeRTOS/BinarySemaphore.h
+++ b/osal/FreeRTOS/BinarySemaphore.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
-#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#define FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
 
 #include "../../returnvalues/HasReturnvaluesIF.h"
 #include "../../tasks/SemaphoreIF.h"
@@ -104,4 +104,4 @@ protected:
 	SemaphoreHandle_t handle;
 };
 
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
+#endif /* FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index acfa98d7..d3f4e68e 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -1,6 +1,7 @@
+#include "Timekeeper.h"
+
 #include "../../timemanager/Clock.h"
 #include "../../globalfunctions/timevalOperations.h"
-#include "Timekeeper.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
@@ -67,6 +68,13 @@ ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+
+//uint32_t Clock::getUptimeSeconds() {
+//	timeval uptime = getUptime();
+//	return uptime.tv_sec;
+//}
+
+
 ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
 	timeval time_timeval;
 	ReturnValue_t result = getClock_timeval(&time_timeval);
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
index a47341bc..17cdf7ce 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
@@ -1,5 +1,6 @@
-#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "CountingSemaphUsingTask.h"
+#include "TaskManagement.h"
+
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h
index 8977258c..f258197b 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.h
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.h
@@ -1,13 +1,11 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#ifndef FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#define FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
 
-#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "CountingSemaphUsingTask.h"
 #include "../../tasks/SemaphoreIF.h"
 
-extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-}
 
 /**
  * @brief 	Couting Semaphore implementation which uses the notification value
@@ -16,6 +14,9 @@ extern "C" {
  * @details
  *  Additional information: https://www.freertos.org/RTOS-task-notifications.html
  *  and general semaphore documentation.
+ *  This semaphore is bound to the task it is created in!
+ *  Take care of calling this function with the correct executing task,
+ *  (for example in the initializeAfterTaskCreation() function).
  */
 class CountingSemaphoreUsingTask: public SemaphoreIF {
 public:
@@ -99,4 +100,4 @@ private:
 	const uint8_t maxCount;
 };
 
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
+#endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/CountingSemaphore.cpp b/osal/FreeRTOS/CountingSemaphore.cpp
index d1310a6a..a202e480 100644
--- a/osal/FreeRTOS/CountingSemaphore.cpp
+++ b/osal/FreeRTOS/CountingSemaphore.cpp
@@ -1,6 +1,7 @@
-#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "CountingSemaphore.h"
+#include "TaskManagement.h"
+
 #include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
 
 #include <freertos/semphr.h>
 
diff --git a/osal/FreeRTOS/CountingSemaphore.h b/osal/FreeRTOS/CountingSemaphore.h
index ae2f62ae..6af1d6d2 100644
--- a/osal/FreeRTOS/CountingSemaphore.h
+++ b/osal/FreeRTOS/CountingSemaphore.h
@@ -1,6 +1,7 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
 #define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
-#include "../../osal/FreeRTOS/BinarySemaphore.h"
+
+#include "BinarySemaphore.h"
 
 /**
  * @brief 	Counting semaphores, which can be acquire more than once.
diff --git a/osal/FreeRTOS/MessageQueue.cpp b/osal/FreeRTOS/MessageQueue.cpp
index 2dfe5ab6..fdadf8b7 100644
--- a/osal/FreeRTOS/MessageQueue.cpp
+++ b/osal/FreeRTOS/MessageQueue.cpp
@@ -11,7 +11,12 @@ MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
 		maxMessageSize(maxMessageSize) {
 	handle = xQueueCreate(messageDepth, maxMessageSize);
 	if (handle == nullptr) {
-		sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
+		sif::error << "MessageQueue::MessageQueue:"
+		        << " Creation failed." << std::endl;
+		sif::error << "Specified Message Depth: " << messageDepth
+		        << std::endl;
+		sif::error << "Specified Maximum Message Size: "
+		        << maxMessageSize << std::endl;
 	}
 }
 
diff --git a/osal/FreeRTOS/MessageQueue.h b/osal/FreeRTOS/MessageQueue.h
index b99bf7c8..8fa86283 100644
--- a/osal/FreeRTOS/MessageQueue.h
+++ b/osal/FreeRTOS/MessageQueue.h
@@ -1,10 +1,11 @@
 #ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
 
+#include "TaskManagement.h"
+
 #include "../../internalError/InternalErrorReporterIF.h"
 #include "../../ipc/MessageQueueIF.h"
 #include "../../ipc/MessageQueueMessageIF.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/queue.h>
diff --git a/osal/FreeRTOS/MutexFactory.cpp b/osal/FreeRTOS/MutexFactory.cpp
index 75b63d07..d9569e35 100644
--- a/osal/FreeRTOS/MutexFactory.cpp
+++ b/osal/FreeRTOS/MutexFactory.cpp
@@ -1,10 +1,12 @@
+#include "Mutex.h"
+
 #include "../../ipc/MutexFactory.h"
 
-#include "../FreeRTOS/Mutex.h"
 
-//TODO: Different variant than the lazy loading in QueueFactory. What's better and why? -> one is on heap the other on bss/data
+//TODO: Different variant than the lazy loading in QueueFactory.
+//What's better and why? -> one is on heap the other on bss/data
 //MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
-MutexFactory* MutexFactory::factoryInstance = NULL;
+MutexFactory* MutexFactory::factoryInstance = nullptr;
 
 MutexFactory::MutexFactory() {
 }
@@ -13,7 +15,7 @@ MutexFactory::~MutexFactory() {
 }
 
 MutexFactory* MutexFactory::instance() {
-	if (factoryInstance == NULL){
+	if (factoryInstance == nullptr){
 		factoryInstance = new MutexFactory();
 	}
 	return MutexFactory::factoryInstance;
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index ed29e10c..5b3c73dc 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -1,8 +1,8 @@
-#include "MessageQueue.h"
-
 #include "../../ipc/MessageQueueSenderIF.h"
 #include "../../ipc/QueueFactory.h"
 
+#include "../../osal/FreeRTOS/MessageQueue.h"
+
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;
 
diff --git a/osal/FreeRTOS/TaskFactory.cpp b/osal/FreeRTOS/TaskFactory.cpp
index 80df38b2..3ac5cb49 100644
--- a/osal/FreeRTOS/TaskFactory.cpp
+++ b/osal/FreeRTOS/TaskFactory.cpp
@@ -13,32 +13,30 @@ TaskFactory::~TaskFactory() {
 TaskFactory* TaskFactory::instance() {
 	return TaskFactory::factoryInstance;
 }
-/***
- * Keep in Mind that you need to call before this vTaskStartScheduler()!
- * High taskPriority_ number means high priority.
- */
+
 PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
 		TaskPriority taskPriority_, TaskStackSize stackSize_,
 		TaskPeriod period_,
 		TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	return (PeriodicTaskIF*) (new PeriodicTask(name_, taskPriority_, stackSize_,
-			period_, deadLineMissedFunction_));
+	return dynamic_cast<PeriodicTaskIF*>(new PeriodicTask(name_, taskPriority_,
+			stackSize_, period_, deadLineMissedFunction_));
 }
-/***
+
+/**
  * Keep in Mind that you need to call before this vTaskStartScheduler()!
  */
 FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
 		TaskPriority taskPriority_, TaskStackSize stackSize_,
 		TaskPeriod period_,
 		TaskDeadlineMissedFunction deadLineMissedFunction_) {
-	return (FixedTimeslotTaskIF*) (new FixedTimeslotTask(name_, taskPriority_,
-			stackSize_, period_, deadLineMissedFunction_));
+	return dynamic_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_,
+			taskPriority_,stackSize_, period_, deadLineMissedFunction_));
 }
 
 ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
-	if (task == NULL) {
+	if (task == nullptr) {
 		//delete self
-		vTaskDelete(NULL);
+		vTaskDelete(nullptr);
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
 		//TODO not implemented
diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index b77f12a9..18572045 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -1,4 +1,4 @@
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "TaskManagement.h"
 
 void TaskManagement::vRequestContextSwitchFromTask() {
 	vTaskDelay(0);
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index eb735185..c6c46f21 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -3,10 +3,9 @@
 
 #include "../../returnvalues/HasReturnvaluesIF.h"
 
-extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-}
+
 #include <cstdint>
 
 /**
diff --git a/osal/FreeRTOS/Timekeeper.cpp b/osal/FreeRTOS/Timekeeper.cpp
index 1031f0c4..d986d832 100644
--- a/osal/FreeRTOS/Timekeeper.cpp
+++ b/osal/FreeRTOS/Timekeeper.cpp
@@ -1,6 +1,6 @@
 #include "Timekeeper.h"
 
-#include "FreeRTOSConfig.h"
+#include <FreeRTOSConfig.h>
 
 Timekeeper * Timekeeper::myinstance = nullptr;
 
diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index bc112388..d8b06fda 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_TIMEMANAGER_CLOCK_H_
-#define FRAMEWORK_TIMEMANAGER_CLOCK_H_
+#ifndef FSFW_TIMEMANAGER_CLOCK_H_
+#define FSFW_TIMEMANAGER_CLOCK_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../ipc/MutexHelper.h"
@@ -151,4 +151,4 @@ private:
 };
 
 
-#endif /* FRAMEWORK_TIMEMANAGER_CLOCK_H_ */
+#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */

From 313d898aef8dd1f2591892aebbec7daab2be3fad Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:22:44 +0100
Subject: [PATCH 592/653] small update

---
 ipc/QueueFactory.h             | 1 +
 osal/FreeRTOS/QueueFactory.cpp | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/ipc/QueueFactory.h b/ipc/QueueFactory.h
index 9853d256..6fc0643e 100644
--- a/ipc/QueueFactory.h
+++ b/ipc/QueueFactory.h
@@ -3,6 +3,7 @@
 
 #include "MessageQueueIF.h"
 #include "MessageQueueMessage.h"
+
 #include <cstdint>
 
 /**
diff --git a/osal/FreeRTOS/QueueFactory.cpp b/osal/FreeRTOS/QueueFactory.cpp
index 5b3c73dc..ed29e10c 100644
--- a/osal/FreeRTOS/QueueFactory.cpp
+++ b/osal/FreeRTOS/QueueFactory.cpp
@@ -1,8 +1,8 @@
+#include "MessageQueue.h"
+
 #include "../../ipc/MessageQueueSenderIF.h"
 #include "../../ipc/QueueFactory.h"
 
-#include "../../osal/FreeRTOS/MessageQueue.h"
-
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;
 

From 7eeba71619c982fd8f7ca5449cdf3441b42a4ef1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:34:54 +0100
Subject: [PATCH 593/653] subsystem update

---
 subsystem/Subsystem.cpp                 |  4 +++-
 subsystem/SubsystemBase.cpp             | 10 +++++-----
 subsystem/modes/ModeDefinitions.h       | 21 +++++++++------------
 subsystem/modes/ModeSequenceMessage.cpp | 25 ++++++-------------------
 subsystem/modes/ModeSequenceMessage.h   | 10 ++++++----
 subsystem/modes/ModeStore.cpp           |  4 +++-
 subsystem/modes/ModeStore.h             |  6 ++++--
 subsystem/modes/ModeStoreIF.h           |  6 ++++--
 8 files changed, 40 insertions(+), 46 deletions(-)

diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index 56d47da2..50fc4d05 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -1,10 +1,12 @@
+#include "Subsystem.h"
+
 #include "../health/HealthMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/SerialArrayListAdapter.h"
 #include "../serialize/SerialFixedArrayListAdapter.h"
 #include "../serialize/SerializeElement.h"
 #include "../serialize/SerialLinkedListAdapter.h"
-#include "Subsystem.h"
+
 #include <string>
 
 Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp
index 56ae1062..787d6be1 100644
--- a/subsystem/SubsystemBase.cpp
+++ b/subsystem/SubsystemBase.cpp
@@ -1,13 +1,13 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "SubsystemBase.h"
+
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
 
 SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		Mode_t initialMode, uint16_t commandQueueDepth) :
-		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), childrenChangedMode(
-		false), commandsOutstanding(0), commandQueue(NULL), healthHelper(this,
-				setObjectId), modeHelper(this), parentId(parent) {
+		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE),
+		childrenChangedMode(false), commandsOutstanding(0), commandQueue(NULL),
+		healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
 			CommandMessage::MAX_MESSAGE_SIZE);
 }
diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h
index a865ab0c..13a780ee 100644
--- a/subsystem/modes/ModeDefinitions.h
+++ b/subsystem/modes/ModeDefinitions.h
@@ -1,22 +1,19 @@
-#ifndef MODEDEFINITIONS_H_
-#define MODEDEFINITIONS_H_
+#ifndef FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
+#define FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
 
 #include "../../modes/HasModesIF.h"
 #include "../../objectmanager/SystemObjectIF.h"
 #include "../../serialize/SerializeIF.h"
 #include "../../serialize/SerialLinkedListAdapter.h"
+
 class ModeListEntry: public SerializeIF, public LinkedElement<ModeListEntry> {
 public:
-	ModeListEntry() :
-			LinkedElement<ModeListEntry>(this), value1(0), value2(0), value3(0), value4(
-					0) {
+	ModeListEntry(): LinkedElement<ModeListEntry>(this) {}
 
-	}
-
-	uint32_t value1;
-	uint32_t value2;
-	uint8_t value3;
-	uint8_t value4;
+	uint32_t value1 = 0;
+	uint32_t value2 = 0;
+	uint8_t value3 = 0;
+	uint8_t value4 = 0;
 
 	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
 			size_t maxSize, Endianness streamEndianness) const {
@@ -149,4 +146,4 @@ public:
 	}
 };
 
-#endif //MODEDEFINITIONS_H_
+#endif /* FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ */
diff --git a/subsystem/modes/ModeSequenceMessage.cpp b/subsystem/modes/ModeSequenceMessage.cpp
index 33019f58..7733098e 100644
--- a/subsystem/modes/ModeSequenceMessage.cpp
+++ b/subsystem/modes/ModeSequenceMessage.cpp
@@ -1,8 +1,7 @@
-#include "../../objectmanager/ObjectManagerIF.h"
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "ModeSequenceMessage.h"
+
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "ModeSequenceMessage.h"
 
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, Mode_t sequence, store_address_t storeAddress) {
@@ -11,25 +10,12 @@ void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 	message->setParameter2(sequence);
 }
 
-//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
-//		Command_t command, ModeTableId_t table, store_address_t storeAddress) {
-//	message->setCommand(command);
-//	message->setParameter(storeAddress.raw);
-//	message->setParameter2(table);
-//}
-
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, Mode_t sequence) {
 	message->setCommand(command);
 	message->setParameter2(sequence);
 }
 
-//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
-//		Command_t command, ModeTableId_t table) {
-//	message->setCommand(command);
-//	message->setParameter2(table);
-//}
-
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, store_address_t storeAddress) {
 	message->setCommand(command);
@@ -63,9 +49,10 @@ void ModeSequenceMessage::clear(CommandMessage *message) {
 	case SEQUENCE_LIST:
 	case TABLE_LIST:
 	case TABLE:
-	case SEQUENCE:{
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-		if (ipcStore != NULL){
+	case SEQUENCE: {
+		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+		        objects::IPC_STORE);
+		if (ipcStore != nullptr){
 			ipcStore->deleteData(ModeSequenceMessage::getStoreAddress(message));
 		}
 	}
diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h
index bbf747f1..7852c984 100644
--- a/subsystem/modes/ModeSequenceMessage.h
+++ b/subsystem/modes/ModeSequenceMessage.h
@@ -1,9 +1,11 @@
-#ifndef MODESEQUENCEMESSAGE_H_
-#define MODESEQUENCEMESSAGE_H_
+#ifndef FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_
+#define FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_
+
+#include "ModeDefinitions.h"
 
 #include "../../ipc/CommandMessage.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "ModeDefinitions.h"
+
 
 class ModeSequenceMessage {
 public:
@@ -45,4 +47,4 @@ private:
 	ModeSequenceMessage();
 };
 
-#endif /* MODESEQUENCEMESSAGE_H_ */
+#endif /* FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ */
diff --git a/subsystem/modes/ModeStore.cpp b/subsystem/modes/ModeStore.cpp
index 217e177c..e216a167 100644
--- a/subsystem/modes/ModeStore.cpp
+++ b/subsystem/modes/ModeStore.cpp
@@ -1,6 +1,8 @@
 #include "ModeStore.h"
 
-#ifdef USE_MODESTORE
+// todo: I think some parts are deprecated. If this is used,  the define
+// USE_MODESTORE could be part of the new FSFWConfig.h file.
+#if FSFW_USE_MODESTORE == 1
 
 ModeStore::ModeStore(object_id_t objectId, uint32_t slots) :
 		SystemObject(objectId), store(slots), emptySlot(store.front()) {
diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h
index 0bf856a3..c05086c7 100644
--- a/subsystem/modes/ModeStore.h
+++ b/subsystem/modes/ModeStore.h
@@ -1,12 +1,14 @@
 #ifndef MODESTORE_H_
 #define MODESTORE_H_
 
-#ifdef USE_MODESTORE
+#include <FSFWConfig.h>
+
+#if FSFW_USE_MODESTORE == 1
 
 #include "../../container/ArrayList.h"
 #include "../../container/SinglyLinkedList.h"
 #include "../../objectmanager/SystemObject.h"
-#include "ModeStoreIF.h"
+#include "../../subsystem/modes/ModeStoreIF.h"
 
 class ModeStore: public ModeStoreIF, public SystemObject {
 public:
diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h
index e5cac3b2..9e76deef 100644
--- a/subsystem/modes/ModeStoreIF.h
+++ b/subsystem/modes/ModeStoreIF.h
@@ -1,12 +1,14 @@
 #ifndef MODESTOREIF_H_
 #define MODESTOREIF_H_
 
-#ifdef USE_MODESTORE
+#include <FSFWConfig.h>
+
+#if FSFW_USE_MODESTORE == 1
 
 #include "../../container/ArrayList.h"
 #include "../../container/SinglyLinkedList.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
-#include "ModeDefinitions.h"
+#include "../../subsystem/modes/ModeDefinitions.h"
 
 class ModeStoreIF {
 public:

From 252bfa5c3935681ebd4717027eb67ce9dc5fcb0f Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:35:45 +0100
Subject: [PATCH 594/653] subsystem convergence

---
 subsystem/Subsystem.cpp     | 39 ++++++++++------------
 subsystem/Subsystem.h       | 59 ++++++++++++++++++----------------
 subsystem/SubsystemBase.cpp | 64 ++++++++++++++++++-------------------
 subsystem/SubsystemBase.h   | 27 +++++++++-------
 4 files changed, 96 insertions(+), 93 deletions(-)

diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index 50fc4d05..9712d7d4 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -1,5 +1,4 @@
 #include "Subsystem.h"
-
 #include "../health/HealthMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/SerialArrayListAdapter.h"
@@ -11,21 +10,12 @@
 
 Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
 		uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables) :
-		SubsystemBase(setObjectId, parent, 0), isInTransition(false), childrenChangedHealth(
-				false), uptimeStartTable(0), currentTargetTable(), targetMode(
-				0), targetSubmode(SUBMODE_NONE), initialMode(0), currentSequenceIterator(), modeTables(
-				maxNumberOfTables), modeSequences(maxNumberOfSequences), IPCStore(
-		NULL)
-#ifdef USE_MODESTORE
-,modeStore(NULL)
-#endif
-{
+		SubsystemBase(setObjectId, parent, 0), isInTransition(false),
+		childrenChangedHealth(false), currentTargetTable(),
+		targetSubmode(SUBMODE_NONE), currentSequenceIterator(),
+		modeTables(maxNumberOfTables), modeSequences(maxNumberOfSequences) {}
 
-}
-
-Subsystem::~Subsystem() {
-	//Auto-generated destructor stub
-}
+Subsystem::~Subsystem() {}
 
 ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
 		Mode_t fallbackSequence) {
@@ -351,7 +341,8 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence,
 
 	ReturnValue_t result;
 
-	//Before initialize() is called, tables must not be checked as the children are not added yet.
+	//Before initialize() is called, tables must not be checked as the
+	//children are not added yet.
 	//Sequences added before are checked by initialize()
 	if (!preInit) {
 		result = checkSequence(
@@ -397,8 +388,8 @@ ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id,
 
 	ReturnValue_t result;
 
-	//Before initialize() is called, tables must not be checked as the children are not added yet.
-	//Tables added before are checked by initialize()
+	//Before initialize() is called, tables must not be checked as the children
+	//are not added yet. Tables added before are checked by initialize()
 	if (!preInit) {
 		result = checkTable(
 				HybridIterator<ModeListEntry>(table->front(), table->back()));
@@ -589,12 +580,14 @@ void Subsystem::transitionFailed(ReturnValue_t failureCode,
 	triggerEvent(MODE_TRANSITION_FAILED, failureCode, parameter);
 	if (mode == targetMode) {
 		//already tried going back to the current mode
-		//go into fallback mode, also set current mode to fallback mode, so we come here at the next fail
+		//go into fallback mode, also set current mode to fallback mode,
+	    //so we come here at the next fail
 		modeHelper.setForced(true);
 		ReturnValue_t result;
 		if ((result = checkSequence(getFallbackSequence(mode))) != RETURN_OK) {
 			triggerEvent(FALLBACK_FAILED, result, getFallbackSequence(mode));
-			isInTransition = false; //keep still and allow arbitrary mode commands to recover
+			//keep still and allow arbitrary mode commands to recover
+			isInTransition = false;
 			return;
 		}
 		mode = getFallbackSequence(mode);
@@ -658,8 +651,10 @@ void Subsystem::cantKeepMode() {
 
 	modeHelper.setForced(true);
 
-	//already set the mode, so that we do not try to go back in our old mode when the transition fails
+	//already set the mode, so that we do not try to go back in our old mode
+	//when the transition fails
 	mode = getFallbackSequence(mode);
-	//SHOULDDO: We should store submodes for fallback sequence as well, otherwise we should get rid of submodes completely.
+	//SHOULDDO: We should store submodes for fallback sequence as well,
+	//otherwise we should get rid of submodes completely.
 	startTransition(mode, SUBMODE_NONE);
 }
diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h
index a40b8028..09d7850a 100644
--- a/subsystem/Subsystem.h
+++ b/subsystem/Subsystem.h
@@ -1,14 +1,19 @@
-#ifndef SUBSYSTEM_H_
-#define SUBSYSTEM_H_
+#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_
+#define FSFW_SUBSYSTEM_SUBSYSTEM_H_
+
+#include "SubsystemBase.h"
+#include "modes/ModeDefinitions.h"
 
 #include "../container/FixedArrayList.h"
 #include "../container/FixedMap.h"
 #include "../container/HybridIterator.h"
 #include "../container/SinglyLinkedList.h"
 #include "../serialize/SerialArrayListAdapter.h"
-#include "modes/ModeDefinitions.h"
-#include "SubsystemBase.h"
 
+/**
+ * @brief   TODO: documentation missing
+ * @details
+ */
 class Subsystem: public SubsystemBase, public HasModeSequenceIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM;
@@ -30,8 +35,13 @@ public:
 	static const ReturnValue_t TARGET_TABLE_NOT_REACHED = MAKE_RETURN_CODE(0xA1);
 	static const ReturnValue_t TABLE_CHECK_FAILED = MAKE_RETURN_CODE(0xA2);
 
-
-
+	/**
+	 * TODO: Doc for constructor
+	 * @param setObjectId
+	 * @param parent
+	 * @param maxNumberOfSequences
+	 * @param maxNumberOfTables
+	 */
 	Subsystem(object_id_t setObjectId, object_id_t parent,
 			uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
 	virtual ~Subsystem();
@@ -44,31 +54,27 @@ public:
 
 	void setInitialMode(Mode_t mode);
 
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
 
-	virtual ReturnValue_t checkObjectConnections();
+	virtual ReturnValue_t checkObjectConnections() override;
 
-	virtual MessageQueueId_t getSequenceCommandQueue() const;
+	virtual MessageQueueId_t getSequenceCommandQueue() const override;
 
 	/**
-	 *
-	 *
-	 * IMPORTANT: Do not call on non existing sequence! Use existsSequence() first
-	 *
+	 * @brief    Checks whether a sequence, identified by a mode.
 	 * @param sequence
 	 * @return
 	 */
 	ReturnValue_t checkSequence(Mode_t sequence);
 
 	/**
-	 *
-	 *
-	 * IMPORTANT: Do not call on non existing sequence! Use existsSequence() first
-	 *
+	 * @brief   Checks whether a sequence, identified by a mode list iterator
+	 *          and a fallback sequence.
 	 * @param iter
 	 * @return
 	 */
-	ReturnValue_t checkSequence(HybridIterator<ModeListEntry> iter, Mode_t fallbackSequence);
+	ReturnValue_t checkSequence(HybridIterator<ModeListEntry> iter,
+	        Mode_t fallbackSequence);
 protected:
 
 	struct EntryPointer {
@@ -92,15 +98,15 @@ protected:
 
 	bool childrenChangedHealth;
 
-	uint32_t uptimeStartTable;
+	uint32_t uptimeStartTable = 0;
 
 	HybridIterator<ModeListEntry> currentTargetTable;
 
-	Mode_t targetMode;
+	Mode_t targetMode = 0;
 
 	Submode_t targetSubmode;
 
-	Mode_t initialMode;
+	Mode_t initialMode = 0;
 
 	HybridIterator<ModeListEntry> currentSequenceIterator;
 
@@ -108,10 +114,10 @@ protected:
 
 	FixedMap<Mode_t, SequenceInfo> modeSequences;
 
-	StorageManagerIF *IPCStore;
+	StorageManagerIF *IPCStore = nullptr;
 
 #ifdef USE_MODESTORE
-	ModeStoreIF *modeStore;
+	ModeStoreIF *modeStore = nullptr;
 #endif
 
 	bool existsModeSequence(Mode_t id);
@@ -124,8 +130,6 @@ protected:
 
 	HybridIterator<ModeListEntry> getCurrentTable();
 
-//	void startSequence(Mode_t sequence);
-
 	/**
 	 * DO NOT USE ON NON EXISTING SEQUENCE
 	 *
@@ -153,7 +157,8 @@ protected:
 
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 
-	void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count);
+	void sendSerializablesAsCommandMessage(Command_t command,
+	        SerializeIF **elements, uint8_t count);
 
 	void transitionFailed(ReturnValue_t failureCode, uint32_t parameter);
 
@@ -161,4 +166,4 @@ protected:
 
 };
 
-#endif /* SUBSYSTEM_H_ */
+#endif /* FSFW_SUBSYSTEM_SUBSYSTEM_H_ */
diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp
index 787d6be1..f60c8847 100644
--- a/subsystem/SubsystemBase.cpp
+++ b/subsystem/SubsystemBase.cpp
@@ -1,15 +1,15 @@
-#include "SubsystemBase.h"
-
 #include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
 
 SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		Mode_t initialMode, uint16_t commandQueueDepth) :
 		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE),
-		childrenChangedMode(false), commandsOutstanding(0), commandQueue(NULL),
+		childrenChangedMode(false),
+		commandQueue(QueueFactory::instance()->createMessageQueue(
+		        commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)),
 		healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
-			CommandMessage::MAX_MESSAGE_SIZE);
 }
 
 SubsystemBase::~SubsystemBase() {
@@ -21,10 +21,11 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
 	ChildInfo info;
 
 	HasModesIF *child = objectManager->get<HasModesIF>(objectId);
-	//This is a rather ugly hack to have the changedHealth info for all children available. (needed for FOGs).
+	// This is a rather ugly hack to have the changedHealth info for all
+	// children available.
 	HasHealthIF* healthChild = objectManager->get<HasHealthIF>(objectId);
-	if (child == NULL) {
-		if (healthChild == NULL) {
+	if (child == nullptr) {
+		if (healthChild == nullptr) {
 			return CHILD_DOESNT_HAVE_MODES;
 		} else {
 			info.commandQueue = healthChild->getCommandQueue();
@@ -38,14 +39,11 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
 	info.submode = SUBMODE_NONE;
 	info.healthChanged = false;
 
-	std::pair<std::map<object_id_t, ChildInfo>::iterator, bool> returnValue =
-			childrenMap.insert(
-					std::pair<object_id_t, ChildInfo>(objectId, info));
-	if (!(returnValue.second)) {
+	auto resultPair = childrenMap.emplace(objectId, info);
+	if (not resultPair.second) {
 		return COULD_NOT_INSERT_CHILD;
-	} else {
-		return RETURN_OK;
 	}
+	return RETURN_OK;
 }
 
 ReturnValue_t SubsystemBase::checkStateAgainstTable(
@@ -76,15 +74,15 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(
 	return RETURN_OK;
 }
 
-void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode) {
-
-	CommandMessage message;
+void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter,
+        Submode_t targetSubmode) {
+	CommandMessage command;
 
 	std::map<object_id_t, ChildInfo>::iterator iter;
 
 	commandsOutstanding = 0;
 
-	for (; tableIter.value != NULL; ++tableIter) {
+	for (; tableIter.value != nullptr; ++tableIter) {
 		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
@@ -100,17 +98,17 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
 
 		if (healthHelper.healthTable->hasHealth(object)) {
 			if (healthHelper.healthTable->isFaulty(object)) {
-				ModeMessage::setModeMessage(&message,
+				ModeMessage::setModeMessage(&command,
 						ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
 						SUBMODE_NONE);
 			} else {
 				if (modeHelper.isForced()) {
-					ModeMessage::setModeMessage(&message,
+					ModeMessage::setModeMessage(&command,
 							ModeMessage::CMD_MODE_COMMAND_FORCED,
 							tableIter.value->getMode(), submodeToCommand);
 				} else {
 					if (healthHelper.healthTable->isCommandable(object)) {
-						ModeMessage::setModeMessage(&message,
+						ModeMessage::setModeMessage(&command,
 								ModeMessage::CMD_MODE_COMMAND,
 								tableIter.value->getMode(), submodeToCommand);
 					} else {
@@ -119,17 +117,17 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
 				}
 			}
 		} else {
-			ModeMessage::setModeMessage(&message, ModeMessage::CMD_MODE_COMMAND,
+			ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
 					tableIter.value->getMode(), submodeToCommand);
 		}
 
-		if ((iter->second.mode == ModeMessage::getMode(&message))
-				&& (iter->second.submode == ModeMessage::getSubmode(&message))
+		if ((iter->second.mode == ModeMessage::getMode(&command))
+				&& (iter->second.submode == ModeMessage::getSubmode(&command))
 				&& !modeHelper.isForced()) {
 			continue; //don't send redundant mode commands (produces event spam), but still command if mode is forced to reach lower levels
 		}
 		ReturnValue_t result = commandQueue->sendMessage(
-				iter->second.commandQueue, &message);
+				iter->second.commandQueue, &command);
 		if (result == RETURN_OK) {
 			++commandsOutstanding;
 		}
@@ -306,31 +304,31 @@ void SubsystemBase::announceMode(bool recursive) {
 
 void SubsystemBase::checkCommandQueue() {
 	ReturnValue_t result;
-	CommandMessage message;
+	CommandMessage command;
 
-	for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
-			result = commandQueue->receiveMessage(&message)) {
+	for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
+			result = commandQueue->receiveMessage(&command)) {
 
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = modeHelper.handleModeCommand(&message);
+		result = modeHelper.handleModeCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = handleModeReply(&message);
+		result = handleModeReply(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = handleCommandMessage(&message);
+		result = handleCommandMessage(&command);
 		if (result != RETURN_OK) {
 			CommandMessage reply;
 			reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
-					message.getCommand());
+					command.getCommand());
 			replyToCommand(&reply);
 		}
 	}
diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h
index 61a7eaef..b8e4f902 100644
--- a/subsystem/SubsystemBase.h
+++ b/subsystem/SubsystemBase.h
@@ -1,5 +1,7 @@
-#ifndef SUBSYSTEMBASE_H_
-#define SUBSYSTEMBASE_H_
+#ifndef FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_
+#define FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_
+
+#include "modes/HasModeSequenceIF.h"
 
 #include "../container/HybridIterator.h"
 #include "../health/HasHealthIF.h"
@@ -7,11 +9,14 @@
 #include "../modes/HasModesIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "modes/HasModeSequenceIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include <map>
 
+/**
+ * @defgroup subsystems Subsystem Objects
+ * Contains all Subsystem and Assemblies
+ */
 class SubsystemBase: public SystemObject,
 		public HasModesIF,
 		public HasHealthIF,
@@ -30,17 +35,17 @@ public:
 			Mode_t initialMode = 0, uint16_t commandQueueDepth = 8);
 	virtual ~SubsystemBase();
 
-	virtual MessageQueueId_t getCommandQueue() const;
+	virtual MessageQueueId_t getCommandQueue() const override;
 
 	ReturnValue_t registerChild(object_id_t objectId);
 
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
 
-	virtual ReturnValue_t performOperation(uint8_t opCode);
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
-	virtual ReturnValue_t setHealth(HealthState health);
+	virtual ReturnValue_t setHealth(HealthState health) override;
 
-	virtual HasHealthIF::HealthState getHealth();
+	virtual HasHealthIF::HealthState getHealth() override;
 
 protected:
 	struct ChildInfo {
@@ -58,9 +63,9 @@ protected:
 	/**
 	 * Always check this against <=0, so you are robust against too many replies
 	 */
-	int32_t commandsOutstanding;
+	int32_t commandsOutstanding = 0;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
 	HealthHelper healthHelper;
 
@@ -122,4 +127,4 @@ protected:
 	virtual void modeChanged();
 };
 
-#endif /* SUBSYSTEMBASE_H_ */
+#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */

From e97787cceb7380d78b64d157333672c2a56edde3 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:39:19 +0100
Subject: [PATCH 595/653] some more tweaks

---
 subsystem/Subsystem.cpp | 12 ++++++------
 subsystem/Subsystem.h   |  4 +++-
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp
index 9712d7d4..4de6906c 100644
--- a/subsystem/Subsystem.cpp
+++ b/subsystem/Subsystem.cpp
@@ -367,7 +367,7 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence,
 	}
 
 	if (inStore) {
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 		result = modeStore->storeArray(sequence,
 				&(modeSequences.find(id)->entries.firstLinkedElement));
 		if (result != RETURN_OK) {
@@ -410,7 +410,7 @@ ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id,
 	}
 
 	if (inStore) {
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 		result = modeStore->storeArray(table,
 				&(modeTables.find(id)->firstLinkedElement));
 		if (result != RETURN_OK) {
@@ -440,7 +440,7 @@ ReturnValue_t Subsystem::deleteSequence(Mode_t id) {
 		return ACCESS_DENIED;
 	}
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	modeStore->deleteList(sequenceInfo->entries.firstLinkedElement);
 #endif
 	modeSequences.erase(id);
@@ -463,7 +463,7 @@ ReturnValue_t Subsystem::deleteTable(Mode_t id) {
 		return ACCESS_DENIED;
 	}
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	modeStore->deleteList(pointer->firstLinkedElement);
 #endif
 	modeSequences.erase(id);
@@ -482,10 +482,10 @@ ReturnValue_t Subsystem::initialize() {
 		return RETURN_FAILED;
 	}
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	modeStore = objectManager->get<ModeStoreIF>(objects::MODE_STORE);
 
-	if (modeStore == NULL) {
+	if (modeStore == nullptr) {
 		return RETURN_FAILED;
 	}
 #endif
diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h
index 09d7850a..c3a72d54 100644
--- a/subsystem/Subsystem.h
+++ b/subsystem/Subsystem.h
@@ -10,6 +10,8 @@
 #include "../container/SinglyLinkedList.h"
 #include "../serialize/SerialArrayListAdapter.h"
 
+#include <FSFWConfig.h>
+
 /**
  * @brief   TODO: documentation missing
  * @details
@@ -116,7 +118,7 @@ protected:
 
 	StorageManagerIF *IPCStore = nullptr;
 
-#ifdef USE_MODESTORE
+#if FSFW_USE_MODESTORE == 1
 	ModeStoreIF *modeStore = nullptr;
 #endif
 

From 5eafd4f353a2dd48fe5f4546a2a17d2bd16ad3f7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:42:02 +0100
Subject: [PATCH 596/653] tiny format stuff

---
 subsystem/modes/ModeStoreIF.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h
index 9e76deef..9682501d 100644
--- a/subsystem/modes/ModeStoreIF.h
+++ b/subsystem/modes/ModeStoreIF.h
@@ -5,10 +5,11 @@
 
 #if FSFW_USE_MODESTORE == 1
 
+#include "ModeDefinitions.h"
+
 #include "../../container/ArrayList.h"
 #include "../../container/SinglyLinkedList.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../subsystem/modes/ModeDefinitions.h"
 
 class ModeStoreIF {
 public:

From 9d5ac16398d1da81116b9ba0df0a3100bf85390d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:43:08 +0100
Subject: [PATCH 597/653] some more improvements

---
 subsystem/modes/ModeStore.h | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h
index c05086c7..a5cb4059 100644
--- a/subsystem/modes/ModeStore.h
+++ b/subsystem/modes/ModeStore.h
@@ -1,14 +1,15 @@
-#ifndef MODESTORE_H_
-#define MODESTORE_H_
+#ifndef FSFW_SUBSYSTEM_MODES_MODESTORE_H_
+#define FSFW_SUBSYSTEM_MODES_MODESTORE_H_
 
 #include <FSFWConfig.h>
 
 #if FSFW_USE_MODESTORE == 1
 
+#include "ModeStoreIF.h"
+
 #include "../../container/ArrayList.h"
 #include "../../container/SinglyLinkedList.h"
 #include "../../objectmanager/SystemObject.h"
-#include "../../subsystem/modes/ModeStoreIF.h"
 
 class ModeStore: public ModeStoreIF, public SystemObject {
 public:
@@ -43,5 +44,5 @@ private:
 
 #endif
 
-#endif /* MODESTORE_H_ */
+#endif /* FSFW_SUBSYSTEM_MODES_MODESTORE_H_ */
 

From d62e092be6c57ccfad63d61cc5dea3e785ddad98 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 11:49:30 +0100
Subject: [PATCH 598/653] task convergence

---
 tasks/FixedTimeslotTaskIF.h | 21 ++++++++++++++++++---
 tasks/TaskFactory.h         | 14 ++++++++------
 2 files changed, 26 insertions(+), 9 deletions(-)

diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h
index 421978f0..a138db4e 100644
--- a/tasks/FixedTimeslotTaskIF.h
+++ b/tasks/FixedTimeslotTaskIF.h
@@ -1,16 +1,31 @@
 #ifndef FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_
 
-#include "../objectmanager/ObjectManagerIF.h"
 #include "PeriodicTaskIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 /**
- * Following the same principle as the base class IF. This is the interface for a Fixed timeslot task
+ * @brief Following the same principle as the base class IF.
+ * This is the interface for a Fixed timeslot task
  */
 class FixedTimeslotTaskIF : public PeriodicTaskIF {
 public:
 	virtual ~FixedTimeslotTaskIF() {}
-	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) = 0;
+
+	/**
+	 * Add an object with a slot time and the execution step to the task.
+	 * The execution step shall be passed to the object.
+	 * @param componentId
+	 * @param slotTimeMs
+	 * @param executionStep
+	 * @return
+	 */
+	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
+	        int8_t executionStep) = 0;
+	/**
+	 * Check whether the sequence is valid and perform all other required
+	 * initialization steps which are needed after task creation
+	 */
 	virtual ReturnValue_t checkSequence() const = 0;
 };
 
diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h
index cbf2272c..85cdda90 100644
--- a/tasks/TaskFactory.h
+++ b/tasks/TaskFactory.h
@@ -1,10 +1,11 @@
-#ifndef FRAMEWORK_TASKS_TASKFACTORY_H_
-#define FRAMEWORK_TASKS_TASKFACTORY_H_
+#ifndef FSFW_TASKS_TASKFACTORY_H_
+#define FSFW_TASKS_TASKFACTORY_H_
 
-#include <stdlib.h>
 #include "FixedTimeslotTaskIF.h"
 #include "Typedef.h"
 
+#include <cstdlib>
+
 /**
  * Singleton Class that produces Tasks.
  */
@@ -48,10 +49,11 @@ public:
 
 	/**
 	 * Function to be called to delete a task
-	 * @param task The pointer to the task that shall be deleted, NULL specifies current Task
+	 * @param task The pointer to the task that shall be deleted,
+	 * nullptr specifies current Task
 	 * @return Success of deletion
 	 */
-	static ReturnValue_t deleteTask(PeriodicTaskIF* task = NULL);
+	static ReturnValue_t deleteTask(PeriodicTaskIF* task = nullptr);
 
 	/**
 	 * Function to be called to delay current task
@@ -69,4 +71,4 @@ private:
 
 };
 
-#endif /* FRAMEWORK_TASKS_TASKFACTORY_H_ */
+#endif /* FSFW_TASKS_TASKFACTORY_H_ */

From 57853ba566eb786b66eaaaf64954bbf2e1d694cb Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 20:22:59 +0100
Subject: [PATCH 599/653] event update

---
 events/EventManager.cpp |  9 ++++-----
 events/EventManagerIF.h | 22 ++++++++++++++--------
 2 files changed, 18 insertions(+), 13 deletions(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 3fbe3ee8..182fb72b 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -1,7 +1,5 @@
 #include "EventManager.h"
-#include "EventMessage.h"
 #include <FSFWConfig.h>
-
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
 #include "../ipc/MutexFactory.h"
@@ -11,6 +9,7 @@
 // objects registering for certain events.
 // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
 // So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// This should be configurable..
 const LocalPool::LocalPoolConfig EventManager::poolConfig = {
         {fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES,
         		sizeof(EventMatchTree::Node)},
@@ -43,7 +42,7 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) {
 		EventMessage message;
 		result = eventReportQueue->receiveMessage(&message);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
-#ifdef DEBUG
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 			printEvent(&message);
 #endif
 			notifyListeners(&message);
@@ -119,8 +118,8 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
 	switch (message->getSeverity()) {
-	case severity::INFO:
-#ifdef DEBUG_INFO_EVENT
+	case SEVERITY::INFO:
+#if DEBUG_INFO_EVENT == 1
 		string = translateObject(message->getReporter());
 		sif::info << "EVENT: ";
 		if (string != 0) {
diff --git a/events/EventManagerIF.h b/events/EventManagerIF.h
index f9ac420b..253e6910 100644
--- a/events/EventManagerIF.h
+++ b/events/EventManagerIF.h
@@ -1,10 +1,11 @@
 #ifndef EVENTMANAGERIF_H_
 #define EVENTMANAGERIF_H_
 
-#include "eventmatching/eventmatching.h"
 #include "EventMessage.h"
+#include "eventmatching/eventmatching.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
+#include "../ipc/MessageQueueIF.h"
 
 class EventManagerIF {
 public:
@@ -16,7 +17,8 @@ public:
 
 	virtual MessageQueueId_t getEventReportQueue() = 0;
 
-	virtual ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false) = 0;
+	virtual ReturnValue_t registerListener(MessageQueueId_t listener,
+	        bool forwardAllButSelected = false) = 0;
 	virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener,
 			EventId_t event) = 0;
 	virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener,
@@ -31,18 +33,22 @@ public:
 			bool reporterInverted = false) = 0;
 
 	static void triggerEvent(object_id_t reportingObject, Event event,
-			uint32_t parameter1 = 0, uint32_t parameter2 = 0, MessageQueueId_t sentFrom = 0) {
+			uint32_t parameter1 = 0, uint32_t parameter2 = 0,
+			MessageQueueId_t sentFrom = 0) {
 		EventMessage message(event, reportingObject, parameter1, parameter2);
 		triggerEvent(&message, sentFrom);
 	}
-	static void triggerEvent(EventMessage* message, MessageQueueId_t sentFrom = 0) {
-		static MessageQueueId_t eventmanagerQueue = 0;
-		if (eventmanagerQueue == 0) {
+
+	static void triggerEvent(EventMessage* message,
+	        MessageQueueId_t sentFrom = 0) {
+		static MessageQueueId_t eventmanagerQueue = MessageQueueIF::NO_QUEUE;
+		if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) {
 			EventManagerIF *eventmanager = objectManager->get<EventManagerIF>(
 					objects::EVENT_MANAGER);
-			if (eventmanager != NULL) {
-				eventmanagerQueue = eventmanager->getEventReportQueue();
+			if (eventmanager == nullptr) {
+			    return;
 			}
+			eventmanagerQueue = eventmanager->getEventReportQueue();
 		}
 		MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom);
 	}

From 0f6d878d86d3f01b9ee32b5d842e50b77873aba8 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 20:48:41 +0100
Subject: [PATCH 600/653] update

---
 events/EventManager.cpp |  3 ++-
 events/EventManager.h   | 12 +++++++-----
 2 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 182fb72b..33276141 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -1,4 +1,6 @@
 #include "EventManager.h"
+#include "EventMessage.h"
+
 #include <FSFWConfig.h>
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../ipc/QueueFactory.h"
@@ -9,7 +11,6 @@
 // objects registering for certain events.
 // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
 // So a good guess is 75 to a max of 100 pools required for each, which fits well.
-// This should be configurable..
 const LocalPool::LocalPoolConfig EventManager::poolConfig = {
         {fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES,
         		sizeof(EventMatchTree::Node)},
diff --git a/events/EventManager.h b/events/EventManager.h
index fe35d9d3..6678fc07 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -1,14 +1,16 @@
-#ifndef EVENTMANAGER_H_
-#define EVENTMANAGER_H_
+#ifndef FSFW_EVENT_EVENTMANAGER_H_
+#define FSFW_EVENT_EVENTMANAGER_H_
 
-#include "eventmatching/EventMatchTree.h"
 #include "EventManagerIF.h"
+#include "eventmatching/EventMatchTree.h"
+
+#include <FSFWConfig.h>
+
 #include "../objectmanager/SystemObject.h"
 #include "../storagemanager/LocalPool.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MutexIF.h"
-#include <FSFWConfig.h>
 
 #include <map>
 
@@ -68,4 +70,4 @@ protected:
 	void unlockMutex();
 };
 
-#endif /* EVENTMANAGER_H_ */
+#endif /* FSFW_EVENT_EVENTMANAGER_H_ */

From d96d3d6c46c1c8e060f6705c17f0f7489f415385 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 20:58:20 +0100
Subject: [PATCH 601/653] one define now

---
 defaultcfg/fsfwconfig/FSFWConfig.h | 2 --
 events/EventManager.cpp            | 2 +-
 events/EventManager.h              | 4 ++--
 unittest/testcfg/FSFWConfig.h      | 4 +---
 4 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
index 1386bf66..7e19235c 100644
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -27,13 +27,11 @@
 #define FSFW_OBJ_EVENT_TRANSLATION	0
 
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
-#define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
 #define FSFW_DEBUG_INFO				1
 #include <translateObjects.h>
 #include <translateEvents.h>
 #else
-#define FSFW_DEBUG_OUTPUT			0
 #endif
 
 //! When using the newlib nano library, C99 support for stdio facilities
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index 33276141..ba31cc58 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -114,7 +114,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 	return result;
 }
 
-#if FSFW_DEBUG_OUTPUT == 1
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
diff --git a/events/EventManager.h b/events/EventManager.h
index 6678fc07..c6bd07be 100644
--- a/events/EventManager.h
+++ b/events/EventManager.h
@@ -14,7 +14,7 @@
 
 #include <map>
 
-#if FSFW_DEBUG_OUTPUT == 1
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 // forward declaration, should be implemented by mission
 extern const char* translateObject(object_id_t object);
 extern const char* translateEvents(Event event);
@@ -61,7 +61,7 @@ protected:
 
 	void notifyListeners(EventMessage *message);
 
-#if FSFW_DEBUG_OUTPUT == 1
+#if FSFW_OBJ_EVENT_TRANSLATION == 1
 	void printEvent(EventMessage *message);
 #endif
 
diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h
index 4fb224c1..59934560 100644
--- a/unittest/testcfg/FSFWConfig.h
+++ b/unittest/testcfg/FSFWConfig.h
@@ -29,13 +29,11 @@
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiles source files)
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
-#define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
-#define FSFW_DEBUG_INFO				1
+#define FSFW_DEBUG_INFO             1
 #include <translateObjects.h>
 #include <translateEvents.h>
 #else
-#define FSFW_DEBUG_OUTPUT			0
 #endif
 
 //! When using the newlib nano library, C99 support for stdio facilities

From a3ebad46e7335f0b4287f388359f02793062d44b Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:00:15 +0100
Subject: [PATCH 602/653] small fix

---
 events/EventManager.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index ba31cc58..6cc97eb6 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -119,7 +119,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener,
 void EventManager::printEvent(EventMessage* message) {
 	const char *string = 0;
 	switch (message->getSeverity()) {
-	case SEVERITY::INFO:
+	case severity::INFO:
 #if DEBUG_INFO_EVENT == 1
 		string = translateObject(message->getReporter());
 		sif::info << "EVENT: ";

From 55a663beb20ff5b9435b3dc358e6b869d8353ef8 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:14:38 +0100
Subject: [PATCH 603/653] unittest update

---
 unittest/testcfg/CatchFactory.cpp             | 60 -------------------
 unittest/testcfg/FSFWConfig.h                 |  4 +-
 unittest/testcfg/objects/CatchFactory.cpp     | 56 +++++++++++++++++
 unittest/testcfg/{ => objects}/CatchFactory.h |  0
 4 files changed, 57 insertions(+), 63 deletions(-)
 delete mode 100644 unittest/testcfg/CatchFactory.cpp
 create mode 100644 unittest/testcfg/objects/CatchFactory.cpp
 rename unittest/testcfg/{ => objects}/CatchFactory.h (100%)

diff --git a/unittest/testcfg/CatchFactory.cpp b/unittest/testcfg/CatchFactory.cpp
deleted file mode 100644
index c74a8126..00000000
--- a/unittest/testcfg/CatchFactory.cpp
+++ /dev/null
@@ -1,60 +0,0 @@
-#include "CatchFactory.h"
-
-#include <fsfw/events/EventManager.h>
-#include <fsfw/health/HealthTable.h>
-
-#include <fsfw/internalError/InternalErrorReporter.h>
-#include <fsfw/objectmanager/frameworkObjects.h>
-#include <fsfw/storagemanager/PoolManager.h>
-
-/**
- * @brief Produces system objects.
- * @details
- * Build tasks by using SystemObject Interface (Interface).
- * Header files of all tasks must be included
- * Please note that an object has to implement the system object interface
- * if the interface validity is checked or retrieved later by using the
- * get<TargetInterface>(object_id) function from the ObjectManagerIF.
- *
- * Framework objects are created first.
- *
- * @ingroup init
- */
-void Factory::produce(void) {
-	setStaticFrameworkObjectIds();
-	new EventManager(objects::EVENT_MANAGER);
-	new HealthTable(objects::HEALTH_TABLE);
-	//new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
-
-	{
-		static constexpr uint8_t NUMBER_OF_POOLS = 5;
-		const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
-		const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
-		new PoolManager<NUMBER_OF_POOLS>(objects::TC_STORE, element_sizes,
-				n_elements);
-	}
-
-	{
-		static constexpr uint8_t NUMBER_OF_POOLS = 5;
-		const uint16_t element_sizes[NUMBER_OF_POOLS] = {16, 32, 64, 128, 1024};
-		const uint16_t n_elements[NUMBER_OF_POOLS] = {100, 50, 25, 15, 5};
-		new PoolManager<NUMBER_OF_POOLS>(objects::TM_STORE, element_sizes,
-				n_elements);
-	}
-
-	{
-		static constexpr uint8_t NUMBER_OF_POOLS = 6;
-		const uint16_t element_sizes[NUMBER_OF_POOLS] = {32, 64, 512,
-				1024, 2048, 4096};
-		const uint16_t n_elements[NUMBER_OF_POOLS] = {200, 100, 50, 25, 15, 5};
-		new PoolManager<NUMBER_OF_POOLS>(objects::IPC_STORE, element_sizes,
-				n_elements);
-	}
-
-}
-
-void Factory::setStaticFrameworkObjectIds() {
-
-}
-
-
diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h
index 4fb224c1..59934560 100644
--- a/unittest/testcfg/FSFWConfig.h
+++ b/unittest/testcfg/FSFWConfig.h
@@ -29,13 +29,11 @@
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiles source files)
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
-#define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
-#define FSFW_DEBUG_INFO				1
+#define FSFW_DEBUG_INFO             1
 #include <translateObjects.h>
 #include <translateEvents.h>
 #else
-#define FSFW_DEBUG_OUTPUT			0
 #endif
 
 //! When using the newlib nano library, C99 support for stdio facilities
diff --git a/unittest/testcfg/objects/CatchFactory.cpp b/unittest/testcfg/objects/CatchFactory.cpp
new file mode 100644
index 00000000..3177212f
--- /dev/null
+++ b/unittest/testcfg/objects/CatchFactory.cpp
@@ -0,0 +1,56 @@
+#include "CatchFactory.h"
+
+#include <fsfw/events/EventManager.h>
+#include <fsfw/health/HealthTable.h>
+
+#include <fsfw/internalError/InternalErrorReporter.h>
+#include <fsfw/objectmanager/frameworkObjects.h>
+#include <fsfw/storagemanager/PoolManager.h>
+
+/**
+ * @brief Produces system objects.
+ * @details
+ * Build tasks by using SystemObject Interface (Interface).
+ * Header files of all tasks must be included
+ * Please note that an object has to implement the system object interface
+ * if the interface validity is checked or retrieved later by using the
+ * get<TargetInterface>(object_id) function from the ObjectManagerIF.
+ *
+ * Framework objects are created first.
+ *
+ * @ingroup init
+ */
+void Factory::produce(void) {
+	setStaticFrameworkObjectIds();
+	new EventManager(objects::EVENT_MANAGER);
+	new HealthTable(objects::HEALTH_TABLE);
+	new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER);
+
+	{
+		PoolManager::LocalPoolConfig poolCfg = {
+		        {100, 16}, {50, 32}, {25, 64} , {15, 128}, {5, 1024}
+		};
+		new PoolManager(objects::TC_STORE, poolCfg);
+	}
+
+	{
+        PoolManager::LocalPoolConfig poolCfg = {
+                {100, 16}, {50, 32}, {25, 64} , {15, 128}, {5, 1024}
+        };
+		new PoolManager(objects::TM_STORE, poolCfg);
+	}
+
+	{
+        PoolManager::LocalPoolConfig poolCfg = {
+                {100, 16}, {50, 32}, {25, 64} , {15, 128}, {5, 1024}
+        };
+		new PoolManager(objects::IPC_STORE, poolCfg);
+	}
+
+}
+
+void Factory::setStaticFrameworkObjectIds() {
+
+}
+
+
diff --git a/unittest/testcfg/CatchFactory.h b/unittest/testcfg/objects/CatchFactory.h
similarity index 100%
rename from unittest/testcfg/CatchFactory.h
rename to unittest/testcfg/objects/CatchFactory.h

From 25db9bc9ed8bb53b211d1e0ea5b46ed6967888c6 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:30:39 +0100
Subject: [PATCH 604/653] tmtcservices update

---
 pus/servicepackets/Service1Packets.h   |  8 ++---
 tcdistribution/PUSDistributor.cpp      |  4 +--
 tmtcservices/AcceptsTelecommandsIF.h   | 12 +++----
 tmtcservices/AcceptsTelemetryIF.h      |  9 ++---
 tmtcservices/AcceptsVerifyMessageIF.h  |  6 ++--
 tmtcservices/CommandingServiceBase.cpp | 40 +++++++++++-----------
 tmtcservices/CommandingServiceBase.h   | 10 +++---
 tmtcservices/PusServiceBase.cpp        | 47 ++++++++++++++------------
 tmtcservices/PusServiceBase.h          | 13 +++----
 tmtcservices/PusVerificationReport.cpp |  2 +-
 tmtcservices/PusVerificationReport.h   |  2 --
 tmtcservices/ServiceTypes.h            |  8 +----
 tmtcservices/SourceSequenceCounter.h   | 12 ++-----
 tmtcservices/TmTcBridge.cpp            |  8 ++---
 tmtcservices/TmTcBridge.h              | 10 +++---
 tmtcservices/TmTcMessage.cpp           | 11 +++---
 tmtcservices/TmTcMessage.h             | 16 ++++-----
 tmtcservices/VerificationCodes.h       |  2 +-
 18 files changed, 107 insertions(+), 113 deletions(-)

diff --git a/pus/servicepackets/Service1Packets.h b/pus/servicepackets/Service1Packets.h
index ecb62693..2249b4b0 100644
--- a/pus/servicepackets/Service1Packets.h
+++ b/pus/servicepackets/Service1Packets.h
@@ -49,7 +49,7 @@ public:
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		if (failureSubtype == TC_VERIFY::PROGRESS_FAILURE) {
+		if (failureSubtype == tc_verification::PROGRESS_FAILURE) {
 			result = SerializeAdapter::serialize(&stepNumber, buffer, size,
 			        maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -77,7 +77,7 @@ public:
 		size_t size = 0;
 		size += SerializeAdapter::getSerializedSize(&packetId);
 		size += sizeof(packetSequenceControl);
-		if(failureSubtype==TC_VERIFY::PROGRESS_FAILURE){
+		if(failureSubtype==tc_verification::PROGRESS_FAILURE){
 			size += SerializeAdapter::getSerializedSize(&stepNumber);
 		}
 		size += SerializeAdapter::getSerializedSize(&errorCode);
@@ -131,7 +131,7 @@ public:
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			return result;
 		}
-		if (subtype == TC_VERIFY::PROGRESS_SUCCESS) {
+		if (subtype == tc_verification::PROGRESS_SUCCESS) {
 			result = SerializeAdapter::serialize(&stepNumber, buffer, size,
 					maxSize, streamEndianness);
 			if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -145,7 +145,7 @@ public:
 		size_t size = 0;
 		size += SerializeAdapter::getSerializedSize(&packetId);
 		size += sizeof(packetSequenceControl);
-		if(subtype == TC_VERIFY::PROGRESS_SUCCESS){
+		if(subtype == tc_verification::PROGRESS_SUCCESS){
 			size += SerializeAdapter::getSerializedSize(&stepNumber);
 		}
 		return size;
diff --git a/tcdistribution/PUSDistributor.cpp b/tcdistribution/PUSDistributor.cpp
index d964202f..8e5b94cc 100644
--- a/tcdistribution/PUSDistributor.cpp
+++ b/tcdistribution/PUSDistributor.cpp
@@ -77,14 +77,14 @@ ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
 		tcStatus = queueStatus;
 	}
 	if (tcStatus != RETURN_OK) {
-		this->verifyChannel.sendFailureReport(TC_VERIFY::ACCEPTANCE_FAILURE,
+		this->verifyChannel.sendFailureReport(tc_verification::ACCEPTANCE_FAILURE,
 				currentPacket, tcStatus);
 		// A failed packet is deleted immediately after reporting,
 		// otherwise it will block memory.
 		currentPacket->deletePacket();
 		return RETURN_FAILED;
 	} else {
-		this->verifyChannel.sendSuccessReport(TC_VERIFY::ACCEPTANCE_SUCCESS,
+		this->verifyChannel.sendSuccessReport(tc_verification::ACCEPTANCE_SUCCESS,
 				currentPacket);
 		return RETURN_OK;
 	}
diff --git a/tmtcservices/AcceptsTelecommandsIF.h b/tmtcservices/AcceptsTelecommandsIF.h
index 76d10a59..bff0e955 100644
--- a/tmtcservices/AcceptsTelecommandsIF.h
+++ b/tmtcservices/AcceptsTelecommandsIF.h
@@ -1,5 +1,5 @@
-#ifndef ACCEPTSTELECOMMANDSIF_H_
-#define ACCEPTSTELECOMMANDSIF_H_
+#ifndef FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
+#define FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
 
 #include "../ipc/MessageQueueSenderIF.h"
 
@@ -12,7 +12,7 @@
 class AcceptsTelecommandsIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::ACCEPTS_TELECOMMANDS_IF;
-	static const ReturnValue_t ACTIVITY_STARTED = MAKE_RETURN_CODE(1);
+	static const ReturnValue_t ACTIVITY_STARTED = MAKE_RETURN_CODE(1); // is this used anywhere or can it be removed?
 	static const ReturnValue_t INVALID_SUBSERVICE = MAKE_RETURN_CODE(2);
 	static const ReturnValue_t ILLEGAL_APPLICATION_DATA = MAKE_RETURN_CODE(3);
 	static const ReturnValue_t SEND_TM_FAILED = MAKE_RETURN_CODE(4);
@@ -26,9 +26,9 @@ public:
 	/**
 	 * @brief	Getter for the service id.
 	 * @details	Any receiving service (at least any PUS service) shall have a
-	 * 			service id. If the receiver can handle Telecommands, but for
+	 * 			service ID. If the receiver can handle Telecommands, but for
 	 * 			some reason has no service id, it shall return 0.
-	 * @return	The service id or 0.
+	 * @return	The service ID or 0.
 	 */
 	virtual uint16_t getIdentifier() = 0;
 	/**
@@ -40,4 +40,4 @@ public:
 };
 
 
-#endif /* ACCEPTSTELECOMMANDSIF_H_ */
+#endif /* FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_ */
diff --git a/tmtcservices/AcceptsTelemetryIF.h b/tmtcservices/AcceptsTelemetryIF.h
index 2325dbe0..43173d89 100644
--- a/tmtcservices/AcceptsTelemetryIF.h
+++ b/tmtcservices/AcceptsTelemetryIF.h
@@ -1,5 +1,5 @@
-#ifndef ACCEPTSTELEMETRYIF_H_
-#define ACCEPTSTELEMETRYIF_H_
+#ifndef FSFW_TMTCSERVICES_ACCEPTSTELEMETRYIF_H_
+#define FSFW_TMTCSERVICES_ACCEPTSTELEMETRYIF_H_
 
 #include "../ipc/MessageQueueSenderIF.h"
 /**
@@ -20,7 +20,8 @@ public:
 	 * 			receiving message queue.
 	 * @return	The telemetry reception message queue id.
 	 */
-	virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) = 0;
+	virtual MessageQueueId_t getReportReceptionQueue(
+	        uint8_t virtualChannel = 0) = 0;
 };
 
-#endif /* ACCEPTSTELEMETRYIF_H_ */
+#endif /* FSFW_TMTCSERVICES_ACCEPTSTELEMETRYIF_H_ */
diff --git a/tmtcservices/AcceptsVerifyMessageIF.h b/tmtcservices/AcceptsVerifyMessageIF.h
index c9318ab0..d16def4d 100644
--- a/tmtcservices/AcceptsVerifyMessageIF.h
+++ b/tmtcservices/AcceptsVerifyMessageIF.h
@@ -1,5 +1,5 @@
-#ifndef ACCEPTSVERIFICATIONMESSAGEIF_H_
-#define ACCEPTSVERIFICATIONMESSAGEIF_H_
+#ifndef FSFW_TMTCSERVICES_ACCEPTSVERIFICATIONMESSAGEIF_H_
+#define FSFW_TMTCSERVICES_ACCEPTSVERIFICATIONMESSAGEIF_H_
 
 #include "../ipc/MessageQueueSenderIF.h"
 
@@ -12,4 +12,4 @@ public:
 };
 
 
-#endif /* ACCEPTSVERIFICATIONMESSAGEIF_H_ */
+#endif /* FSFW_TMTCSERVICES_ACCEPTSVERIFICATIONMESSAGEIF_H_ */
diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp
index 0ebc3944..ed765ecc 100644
--- a/tmtcservices/CommandingServiceBase.cpp
+++ b/tmtcservices/CommandingServiceBase.cpp
@@ -1,9 +1,9 @@
-#include "../tcdistribution/PUSDistributorIF.h"
 #include "AcceptsTelemetryIF.h"
-#include "../objectmanager/ObjectManagerIF.h"
-
 #include "CommandingServiceBase.h"
 #include "TmTcMessage.h"
+
+#include "../tcdistribution/PUSDistributorIF.h"
+#include "../objectmanager/ObjectManagerIF.h"
 #include "../ipc/QueueFactory.h"
 #include "../tmtcpacket/pus/TcPacketStored.h"
 #include "../tmtcpacket/pus/TmPacketStored.h"
@@ -149,13 +149,13 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
 	default:
 		if (isStep) {
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
+					tc_verification::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
 					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
 					result, ++iter->second.step, failureParameter1,
 					failureParameter2);
 		} else {
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
+					tc_verification::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
 					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
 					result, 0, failureParameter1, failureParameter2);
 		}
@@ -184,13 +184,13 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 	if (sendResult == RETURN_OK) {
 		if (isStep and result != NO_STEP_MESSAGE) {
 			verificationReporter.sendSuccessReport(
-					TC_VERIFY::PROGRESS_SUCCESS,
+					tc_verification::PROGRESS_SUCCESS,
 					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
 					iter->second.tcInfo.tcSequenceControl, ++iter->second.step);
 		}
 		else {
 			verificationReporter.sendSuccessReport(
-					TC_VERIFY::COMPLETION_SUCCESS,
+					tc_verification::COMPLETION_SUCCESS,
 					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
 					iter->second.tcInfo.tcSequenceControl, 0);
 			checkAndExecuteFifo(iter);
@@ -200,14 +200,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
 		if (isStep) {
 			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
+					tc_verification::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
 					iter->second.tcInfo.tcPacketId,
 					iter->second.tcInfo.tcSequenceControl, sendResult,
 					++iter->second.step, failureParameter1, failureParameter2);
 		} else {
 			nextCommand->clearCommandMessage();
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::COMPLETION_FAILURE,
+					tc_verification::COMPLETION_FAILURE,
 					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
 					iter->second.tcInfo.tcSequenceControl, sendResult, 0,
 					failureParameter1, failureParameter2);
@@ -232,14 +232,14 @@ void CommandingServiceBase::handleRequestQueue() {
 
 		if ((packet.getSubService() == 0)
 				or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
-			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
+			rejectPacket(tc_verification::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}
 		result = getMessageQueueAndObject(packet.getSubService(),
 				packet.getApplicationData(), packet.getApplicationDataSize(),
 				&queue, &objectId);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
-			rejectPacket(TC_VERIFY::START_FAILURE, &packet, result);
+			rejectPacket(tc_verification::START_FAILURE, &packet, result);
 			continue;
 		}
 
@@ -250,14 +250,14 @@ void CommandingServiceBase::handleRequestQueue() {
 		if (iter != commandMap.end()) {
 			result = iter->second.fifo.insert(address);
 			if (result != RETURN_OK) {
-				rejectPacket(TC_VERIFY::START_FAILURE, &packet, OBJECT_BUSY);
+				rejectPacket(tc_verification::START_FAILURE, &packet, OBJECT_BUSY);
 			}
 		} else {
 			CommandInfo newInfo; //Info will be set by startExecution if neccessary
 			newInfo.objectId = objectId;
 			result = commandMap.insert(queue, newInfo, &iter);
 			if (result != RETURN_OK) {
-				rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
+				rejectPacket(tc_verification::START_FAILURE, &packet, BUSY);
 			} else {
 				startExecution(&packet, iter);
 			}
@@ -338,10 +338,10 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 			iter->second.tcInfo.tcPacketId = storedPacket->getPacketId();
 			iter->second.tcInfo.tcSequenceControl =
 					storedPacket->getPacketSequenceControl();
-			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
+			acceptPacket(tc_verification::START_SUCCESS, storedPacket);
 		} else {
 			command.clearCommandMessage();
-			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
+			rejectPacket(tc_verification::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
 		break;
@@ -352,18 +352,18 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
 					&command);
 		}
 		if (sendResult == RETURN_OK) {
-			verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
+			verificationReporter.sendSuccessReport(tc_verification::START_SUCCESS,
 					storedPacket);
-			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
+			acceptPacket(tc_verification::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
 			command.clearCommandMessage();
-			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
+			rejectPacket(tc_verification::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
 		break;
 	default:
-		rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, result);
+		rejectPacket(tc_verification::START_FAILURE, storedPacket, result);
 		checkAndExecuteFifo(iter);
 		break;
 	}
@@ -414,7 +414,7 @@ void CommandingServiceBase::checkTimeout() {
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
 		if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
-					TC_VERIFY::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
+					tc_verification::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
 					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
 					TIMEOUT);
 			checkAndExecuteFifo(iter);
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 252b6943..3611d7c6 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -1,18 +1,20 @@
 #ifndef FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 #define FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
+#include "AcceptsTelecommandsIF.h"
+#include "VerificationReporter.h"
+
 #include "../objectmanager/SystemObject.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
-#include "AcceptsTelecommandsIF.h"
-
-#include "VerificationReporter.h"
 #include "../ipc/CommandMessage.h"
 #include "../container/FixedMap.h"
 #include "../container/FIFO.h"
 #include "../serialize/SerializeIF.h"
 
+#include <FSFWConfig.h>
+
 class TcPacketStored;
 
 namespace Factory{
@@ -40,7 +42,7 @@ class CommandingServiceBase: public SystemObject,
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	// We could make this configurable via preprocessor and the FSFWConfig file.
-	static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH = 3;
+	static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH = FSFW_CSB_FIFO_DEPTH;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
 
diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp
index d35944a4..cb5a1247 100644
--- a/tmtcservices/PusServiceBase.cpp
+++ b/tmtcservices/PusServiceBase.cpp
@@ -1,9 +1,10 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
-#include "../tcdistribution/PUSDistributorIF.h"
-#include "AcceptsTelemetryIF.h"
 #include "PusServiceBase.h"
+#include "AcceptsTelemetryIF.h"
 #include "PusVerificationReport.h"
 #include "TmTcMessage.h"
+
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../tcdistribution/PUSDistributorIF.h"
 #include "../ipc/QueueFactory.h"
 
 object_id_t PusServiceBase::packetSource = 0;
@@ -41,9 +42,14 @@ void PusServiceBase::handleRequestQueue() {
 	ReturnValue_t result = RETURN_FAILED;
 	for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
 		ReturnValue_t status = this->requestQueue->receiveMessage(&message);
-		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: "
-		//      << std::hex << this->requestQueue.getId()
-		//      << std::dec << " returned: " << status << std::endl;
+//		if(status != MessageQueueIF::EMPTY) {
+//			sif::debug << "PusServiceBase::performOperation: Receiving from "
+//					<< "MQ ID: " << std::hex << "0x" << std::setw(8)
+//					<< std::setfill('0') << this->requestQueue->getId()
+//					<< std::dec << " returned: " << status << std::setfill(' ')
+//					<<  std::endl;
+//		}
+
 		if (status == RETURN_OK) {
 			this->currentPacket.setStoreAddress(message.getStorageId());
 			//info << "Service " << (uint16_t) this->serviceId <<
@@ -55,11 +61,11 @@ void PusServiceBase::handleRequestQueue() {
 			//    ": handleRequest returned: " << (int)return_code << std::endl;
 			if (result == RETURN_OK) {
 				this->verifyReporter.sendSuccessReport(
-						TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
+						tc_verification::COMPLETION_SUCCESS, &this->currentPacket);
 			}
 			else {
 				this->verifyReporter.sendFailureReport(
-						TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket,
+						tc_verification::COMPLETION_FAILURE, &this->currentPacket,
 						result, 0, errorParameter1, errorParameter2);
 			}
 			this->currentPacket.deletePacket();
@@ -74,9 +80,8 @@ void PusServiceBase::handleRequestQueue() {
 		}
 		else {
 			sif::error << "PusServiceBase::performOperation: Service "
-					<< (uint16_t) this->serviceId
-					<< ": Error receiving packet. Code: " << std::hex << status
-					<< std::dec << std::endl;
+					<< this->serviceId << ": Error receiving packet. Code: "
+					<< std::hex << status << std::dec << std::endl;
 		}
 	}
 }
@@ -98,19 +103,17 @@ ReturnValue_t PusServiceBase::initialize() {
 			packetDestination);
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((destService != nullptr) && (distributor != nullptr)) {
-		this->requestQueue->setDefaultDestination(
-				destService->getReportReceptionQueue());
-		distributor->registerService(this);
-		return RETURN_OK;
-	}
-	else {
+	if (destService == nullptr or distributor == nullptr) {
 		sif::error << "PusServiceBase::PusServiceBase: Service "
-				<< (uint32_t) this->serviceId << ": Configuration error."
-				<< " Make sure packetSource and packetDestination are defined "
-			       "correctly" << std::endl;
-		return RETURN_FAILED;
+				<< this->serviceId << ": Configuration error. Make sure "
+				<<	"packetSource and packetDestination are defined correctly"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
+	this->requestQueue->setDefaultDestination(
+			destService->getReportReceptionQueue());
+	distributor->registerService(this);
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {
diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h
index 98d65efb..4d3d99bc 100644
--- a/tmtcservices/PusServiceBase.h
+++ b/tmtcservices/PusServiceBase.h
@@ -1,14 +1,15 @@
-#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
-#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
+#ifndef FSFW_TMTCSERVICES_PUSSERVICEBASE_H_
+#define FSFW_TMTCSERVICES_PUSSERVICEBASE_H_
+
+#include "AcceptsTelecommandsIF.h"
+#include "VerificationCodes.h"
+#include "VerificationReporter.h"
 
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../tmtcpacket/pus/TcPacketStored.h"
-#include "AcceptsTelecommandsIF.h"
-#include "VerificationCodes.h"
-#include "VerificationReporter.h"
 #include "../ipc/MessageQueueIF.h"
 
 namespace Factory{
@@ -156,4 +157,4 @@ private:
 	void handleRequestQueue();
 };
 
-#endif /* PUSSERVICEBASE_H_ */
+#endif /* FSFW_TMTCSERVICES_PUSSERVICEBASE_H_ */
diff --git a/tmtcservices/PusVerificationReport.cpp b/tmtcservices/PusVerificationReport.cpp
index bfad9ec5..c64e5feb 100644
--- a/tmtcservices/PusVerificationReport.cpp
+++ b/tmtcservices/PusVerificationReport.cpp
@@ -1,5 +1,5 @@
 #include "../serialize/SerializeAdapter.h"
-#include "PusVerificationReport.h"
+#include "../tmtcservices/PusVerificationReport.h"
 
 PusVerificationMessage::PusVerificationMessage() {
 }
diff --git a/tmtcservices/PusVerificationReport.h b/tmtcservices/PusVerificationReport.h
index 88954cfd..9dce95ac 100644
--- a/tmtcservices/PusVerificationReport.h
+++ b/tmtcservices/PusVerificationReport.h
@@ -7,8 +7,6 @@
 #include "../tmtcpacket/pus/TcPacketBase.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 
-#include <cstdint>
-
 class PusVerificationMessage: public MessageQueueMessage {
 private:
 	struct verifciationMessageContent {
diff --git a/tmtcservices/ServiceTypes.h b/tmtcservices/ServiceTypes.h
index 1f5bff42..552601f9 100644
--- a/tmtcservices/ServiceTypes.h
+++ b/tmtcservices/ServiceTypes.h
@@ -1,13 +1,7 @@
-/**
- * @file	ServiceTypes.h
- * @brief	This file defines the ServiceTypes class.
- * @date	11.04.2013
- * @author	baetz
- */
-
 #ifndef SERVICETYPES_H_
 #define SERVICETYPES_H_
 
+// SHOULDDO: This is a duplication of existing configuration structures. Delete it?
 namespace SERVICE {
 enum ServiceTypes {
 	TELECOMMAND_VERIFICATION = 1,
diff --git a/tmtcservices/SourceSequenceCounter.h b/tmtcservices/SourceSequenceCounter.h
index 1cc58758..2b30a53f 100644
--- a/tmtcservices/SourceSequenceCounter.h
+++ b/tmtcservices/SourceSequenceCounter.h
@@ -1,12 +1,6 @@
-/**
- * @file	SourceSequenceCounter.h
- * @brief	This file defines the SourceSequenceCounter class.
- * @date	04.02.2013
- * @author	baetz
- */
+#ifndef FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_
+#define FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_
 
-#ifndef SOURCESEQUENCECOUNTER_H_
-#define SOURCESEQUENCECOUNTER_H_
 #include "../tmtcpacket/SpacePacketBase.h"
 
 class SourceSequenceCounter {
@@ -27,4 +21,4 @@ public:
 };
 
 
-#endif /* SOURCESEQUENCECOUNTER_H_ */
+#endif /* FSFW_TMTCSERVICES_SOURCESEQUENCECOUNTER_H_ */
diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp
index 8c2f15e5..b4e9967b 100644
--- a/tmtcservices/TmTcBridge.cpp
+++ b/tmtcservices/TmTcBridge.cpp
@@ -1,7 +1,6 @@
-#include "../tmtcservices/TmTcBridge.h"
+#include "TmTcBridge.h"
 
 #include "../ipc/QueueFactory.h"
-#include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../globalfunctions/arrayprinter.h"
 
@@ -95,8 +94,9 @@ ReturnValue_t TmTcBridge::handleTm() {
     ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
 	ReturnValue_t result = handleTmQueue();
 	if(result != RETURN_OK) {
-		sif::error << "TmTcBridge::handleTm: Error handling TM queue!"
-		        << std::endl;
+		sif::error << "TmTcBridge::handleTm: Error handling TM queue with "
+		       << "error code 0x" << std::hex << result  << std::dec
+			   << "!" << std::endl;
 		status = result;
 	}
 
diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h
index 62cfdaac..0177648c 100644
--- a/tmtcservices/TmTcBridge.h
+++ b/tmtcservices/TmTcBridge.h
@@ -1,13 +1,13 @@
-#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
-#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
+#ifndef FSFW_TMTCSERVICES_TMTCBRIDGE_H_
+#define FSFW_TMTCSERVICES_TMTCBRIDGE_H_
 
+#include "AcceptsTelemetryIF.h"
+#include "AcceptsTelecommandsIF.h"
 
 #include "../objectmanager/SystemObject.h"
-#include "../tmtcservices/AcceptsTelemetryIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../storagemanager/StorageManagerIF.h"
-#include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../container/DynamicFIFO.h"
 #include "../tmtcservices/TmTcMessage.h"
 
@@ -159,4 +159,4 @@ protected:
 };
 
 
-#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */
+#endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */
diff --git a/tmtcservices/TmTcMessage.cpp b/tmtcservices/TmTcMessage.cpp
index 987bd232..ae028315 100644
--- a/tmtcservices/TmTcMessage.cpp
+++ b/tmtcservices/TmTcMessage.cpp
@@ -1,5 +1,6 @@
 #include "TmTcMessage.h"
-#include <string.h>
+
+#include <cstring>
 
 
 TmTcMessage::TmTcMessage() {
@@ -15,15 +16,15 @@ store_address_t TmTcMessage::getStorageId() {
 	return temp_id;
 }
 
-TmTcMessage::TmTcMessage(store_address_t store_id) {
+TmTcMessage::TmTcMessage(store_address_t storeId) {
 	this->messageSize += sizeof(store_address_t);
-	this->setStorageId(store_id);
+	this->setStorageId(storeId);
 }
 
 size_t TmTcMessage::getMinimumMessageSize() {
 	return this->HEADER_SIZE + sizeof(store_address_t);
 }
 
-void TmTcMessage::setStorageId(store_address_t store_id) {
-	memcpy(this->getData(), &store_id, sizeof(store_address_t) );
+void TmTcMessage::setStorageId(store_address_t storeId) {
+	memcpy(this->getData(), &storeId, sizeof(store_address_t) );
 }
diff --git a/tmtcservices/TmTcMessage.h b/tmtcservices/TmTcMessage.h
index b5e1ff8d..41fe198a 100644
--- a/tmtcservices/TmTcMessage.h
+++ b/tmtcservices/TmTcMessage.h
@@ -1,5 +1,5 @@
-#ifndef TMTCMESSAGE_H_
-#define TMTCMESSAGE_H_
+#ifndef FSFW_TMTCSERVICES_TMTCMESSAGE_H_
+#define FSFW_TMTCSERVICES_TMTCMESSAGE_H_
 
 #include "../ipc/MessageQueueMessage.h"
 #include "../storagemanager/StorageManagerIF.h"
@@ -10,13 +10,13 @@
  * 			a packet stored in one of the IPC stores (typically a special TM and
  * 			a special TC store). This makes passing commands very simple and
  * 			efficient.
- *	\ingroup message_queue
+ * @ingroup message_queue
  */
 class TmTcMessage : public MessageQueueMessage {
 protected:
 	/**
 	 * @brief	This call always returns the same fixed size of the message.
-	 * @return	Returns HEADER_SIZE + \c sizeof(store_address_t).
+	 * @return	Returns HEADER_SIZE + @c sizeof(store_address_t).
 	 */
 	size_t getMinimumMessageSize();
 public:
@@ -29,7 +29,7 @@ public:
 	 * 			into the message.
 	 * @param packet_id	The packet id to put into the message.
 	 */
-	TmTcMessage( store_address_t packet_id );
+	TmTcMessage( store_address_t packetId );
 	/**
 	 * @brief	The class's destructor is empty.
 	 */
@@ -42,9 +42,9 @@ public:
 	/**
 	 * @brief	In some cases it might be useful to have a setter for packet id
 	 * 			as well.
-	 * @param packet_id	The packet id to put into the message.
+	 * @param packetId	The packet id to put into the message.
 	 */
-	void setStorageId( store_address_t packet_id );
+	void setStorageId( store_address_t packetId );
 };
 
-#endif /* TMTCMESSAGE_H_ */
+#endif /* FSFW_TMTCSERVICES_TMTCMESSAGE_H_ */
diff --git a/tmtcservices/VerificationCodes.h b/tmtcservices/VerificationCodes.h
index e3e89b5a..35ad6819 100644
--- a/tmtcservices/VerificationCodes.h
+++ b/tmtcservices/VerificationCodes.h
@@ -1,7 +1,7 @@
 #ifndef VERIFICATIONCODES_H_
 #define VERIFICATIONCODES_H_
 
-namespace TC_VERIFY {
+namespace tc_verification {
 
 enum verification_flags {
 	NONE = 0b0000,

From 336b43572f1bb928be5475c2eabebdfa6d53a587 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:46:33 +0100
Subject: [PATCH 605/653] linux update

---
 ipc/MutexFactory.h              |  6 +++---
 osal/linux/BinarySemaphore.cpp  |  2 +-
 osal/linux/Clock.cpp            | 14 +++++++-------
 osal/linux/MessageQueue.cpp     |  1 +
 osal/linux/Mutex.h              |  5 ++---
 osal/linux/MutexFactory.cpp     |  3 ++-
 osal/linux/PosixThread.cpp      | 10 +++++++---
 osal/linux/SemaphoreFactory.cpp |  3 ++-
 osal/linux/TaskFactory.cpp      |  1 +
 osal/linux/Timer.cpp            |  3 ++-
 tasks/TaskFactory.h             |  8 ++++----
 11 files changed, 32 insertions(+), 24 deletions(-)

diff --git a/ipc/MutexFactory.h b/ipc/MutexFactory.h
index f8133d81..db505ff9 100644
--- a/ipc/MutexFactory.h
+++ b/ipc/MutexFactory.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_IPC_MUTEXFACTORY_H_
-#define FRAMEWORK_IPC_MUTEXFACTORY_H_
+#ifndef FSFW_IPC_MUTEXFACTORY_H_
+#define FSFW_IPC_MUTEXFACTORY_H_
 
 #include "MutexIF.h"
 /**
@@ -31,4 +31,4 @@ private:
 
 
 
-#endif /* FRAMEWORK_IPC_MUTEXFACTORY_H_ */
+#endif /* FSFW_IPC_MUTEXFACTORY_H_ */
diff --git a/osal/linux/BinarySemaphore.cpp b/osal/linux/BinarySemaphore.cpp
index 8c0eeae7..b81fa109 100644
--- a/osal/linux/BinarySemaphore.cpp
+++ b/osal/linux/BinarySemaphore.cpp
@@ -1,4 +1,4 @@
-#include "../../osal/linux/BinarySemaphore.h"
+#include "BinarySemaphore.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 extern "C" {
diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index 4de18f83..6cddda35 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -76,25 +76,25 @@ timeval Clock::getUptime() {
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
     //TODO This is not posix compatible and delivers only seconds precision
-    // is the OS not called Linux?
-    //Linux specific file read but more precise
+    // Linux specific file read but more precise.
     double uptimeSeconds;
     if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
         uptime->tv_sec = uptimeSeconds;
         uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
     }
+    return HasReturnvaluesIF::RETURN_OK;
+}
 
-	//TODO This is not posix compatible and delivers only seconds precision
-    // I suggest this is moved into another clock function which will
-    // deliver second precision later.
+// Wait for new FSFW Clock function delivering seconds uptime.
+//uint32_t Clock::getUptimeSeconds() {
+//	//TODO This is not posix compatible and delivers only seconds precision
 //	struct sysinfo sysInfo;
 //	int result = sysinfo(&sysInfo);
 //	if(result != 0){
 //		return HasReturnvaluesIF::RETURN_FAILED;
 //	}
 //	return sysInfo.uptime;
-    return HasReturnvaluesIF::RETURN_OK;
-}
+//}
 
 ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
 	timeval uptime;
diff --git a/osal/linux/MessageQueue.cpp b/osal/linux/MessageQueue.cpp
index bc14374a..cfadb793 100644
--- a/osal/linux/MessageQueue.cpp
+++ b/osal/linux/MessageQueue.cpp
@@ -3,6 +3,7 @@
 #include "../../objectmanager/ObjectManagerIF.h"
 
 #include <fstream>
+
 #include <fcntl.h>           /* For O_* constants */
 #include <sys/stat.h>        /* For mode constants */
 #include <cstring>
diff --git a/osal/linux/Mutex.h b/osal/linux/Mutex.h
index ecb47a33..cfce407f 100644
--- a/osal/linux/Mutex.h
+++ b/osal/linux/Mutex.h
@@ -1,10 +1,9 @@
-#ifndef OS_LINUX_MUTEX_H_
-#define OS_LINUX_MUTEX_H_
+#ifndef FSFW_OSAL_LINUX_MUTEX_H_
+#define FSFW_OSAL_LINUX_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 #include <pthread.h>
 
-
 class Mutex : public MutexIF {
 public:
 	Mutex();
diff --git a/osal/linux/MutexFactory.cpp b/osal/linux/MutexFactory.cpp
index 8c2faf88..80211f8b 100644
--- a/osal/linux/MutexFactory.cpp
+++ b/osal/linux/MutexFactory.cpp
@@ -1,6 +1,7 @@
-#include "../../ipc/MutexFactory.h"
 #include "Mutex.h"
 
+#include "../../ipc/MutexFactory.h"
+
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
 MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
 
diff --git a/osal/linux/PosixThread.cpp b/osal/linux/PosixThread.cpp
index ddb1f74f..55d74de3 100644
--- a/osal/linux/PosixThread.cpp
+++ b/osal/linux/PosixThread.cpp
@@ -1,5 +1,7 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "PosixThread.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
 #include <cstring>
 #include <errno.h>
 
@@ -149,8 +151,10 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 
 	status = pthread_attr_setstack(&attributes, stackPointer, stackSize);
 	if(status != 0){
-		sif::error << "Posix Thread attribute setStack failed with: " <<
-				strerror(status) << std::endl;
+		sif::error << "PosixThread::createTask: pthread_attr_setstack "
+				" failed with: " << strerror(status) <<  std::endl;
+		sif::error << "Make sure the specified stack size is valid and is "
+				"larger than the minimum allowed stack size." << std::endl;
 	}
 
 	status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
diff --git a/osal/linux/SemaphoreFactory.cpp b/osal/linux/SemaphoreFactory.cpp
index e4710933..cfb5f12d 100644
--- a/osal/linux/SemaphoreFactory.cpp
+++ b/osal/linux/SemaphoreFactory.cpp
@@ -1,6 +1,7 @@
-#include "../../tasks/SemaphoreFactory.h"
 #include "BinarySemaphore.h"
 #include "CountingSemaphore.h"
+
+#include "../../tasks/SemaphoreFactory.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
diff --git a/osal/linux/TaskFactory.cpp b/osal/linux/TaskFactory.cpp
index f507c767..d18a0316 100644
--- a/osal/linux/TaskFactory.cpp
+++ b/osal/linux/TaskFactory.cpp
@@ -1,5 +1,6 @@
 #include "FixedTimeslotTask.h"
 #include "PeriodicPosixTask.h"
+
 #include "../../tasks/TaskFactory.h"
 #include "../../returnvalues/HasReturnvaluesIF.h"
 
diff --git a/osal/linux/Timer.cpp b/osal/linux/Timer.cpp
index ee964baa..bae631d7 100644
--- a/osal/linux/Timer.cpp
+++ b/osal/linux/Timer.cpp
@@ -1,6 +1,7 @@
+#include "Timer.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include <errno.h>
-#include "Timer.h"
+
 
 Timer::Timer() {
 	sigevent sigEvent;
diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h
index cbf2272c..404dd2a8 100644
--- a/tasks/TaskFactory.h
+++ b/tasks/TaskFactory.h
@@ -1,9 +1,9 @@
-#ifndef FRAMEWORK_TASKS_TASKFACTORY_H_
-#define FRAMEWORK_TASKS_TASKFACTORY_H_
+#ifndef FSFW_TASKS_TASKFACTORY_H_
+#define FSFW_TASKS_TASKFACTORY_H_
 
-#include <stdlib.h>
 #include "FixedTimeslotTaskIF.h"
 #include "Typedef.h"
+#include <cstdlib>
 
 /**
  * Singleton Class that produces Tasks.
@@ -69,4 +69,4 @@ private:
 
 };
 
-#endif /* FRAMEWORK_TASKS_TASKFACTORY_H_ */
+#endif /* FSFW_TASKS_TASKFACTORY_H_ */

From 4f2470b93f8947fafb4e5f2ea4323a30ed3fd5ff Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 21:48:12 +0100
Subject: [PATCH 606/653] task factory

---
 tasks/TaskFactory.h | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h
index 404dd2a8..85cdda90 100644
--- a/tasks/TaskFactory.h
+++ b/tasks/TaskFactory.h
@@ -3,6 +3,7 @@
 
 #include "FixedTimeslotTaskIF.h"
 #include "Typedef.h"
+
 #include <cstdlib>
 
 /**
@@ -48,10 +49,11 @@ public:
 
 	/**
 	 * Function to be called to delete a task
-	 * @param task The pointer to the task that shall be deleted, NULL specifies current Task
+	 * @param task The pointer to the task that shall be deleted,
+	 * nullptr specifies current Task
 	 * @return Success of deletion
 	 */
-	static ReturnValue_t deleteTask(PeriodicTaskIF* task = NULL);
+	static ReturnValue_t deleteTask(PeriodicTaskIF* task = nullptr);
 
 	/**
 	 * Function to be called to delay current task

From 93842bb91315e53deee34c577912b279676b32b1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 22:56:30 +0100
Subject: [PATCH 607/653] using long name now

---
 datapoollocal/LocalDataPoolManager.h |  2 +-
 datapoollocal/LocalPoolVariable.h    | 50 ++++++++++++++--------------
 datapoollocal/LocalPoolVariable.tpp  | 46 ++++++++++++-------------
 monitoring/MonitorBase.h             |  2 +-
 4 files changed, 50 insertions(+), 50 deletions(-)

diff --git a/datapoollocal/LocalDataPoolManager.h b/datapoollocal/LocalDataPoolManager.h
index 95d48303..c4024cf9 100644
--- a/datapoollocal/LocalDataPoolManager.h
+++ b/datapoollocal/LocalDataPoolManager.h
@@ -48,7 +48,7 @@ class HousekeepingPacketUpdate;
  * @author 		R. Mueller
  */
 class LocalDataPoolManager {
-	template<typename T> friend class LocalPoolVar;
+	template<typename T> friend class LocalPoolVariable;
 	template<typename T, uint16_t vecSize> friend class LocalPoolVector;
 	friend class LocalPoolDataSetBase;
 	friend void (Factory::setStaticFrameworkObjectIds)();
diff --git a/datapoollocal/LocalPoolVariable.h b/datapoollocal/LocalPoolVariable.h
index c18d5443..7b7e443e 100644
--- a/datapoollocal/LocalPoolVariable.h
+++ b/datapoollocal/LocalPoolVariable.h
@@ -22,10 +22,10 @@
  * @ingroup data_pool
  */
 template<typename T>
-class LocalPoolVar: public LocalPoolObjectBase {
+class LocalPoolVariable: public LocalPoolObjectBase {
 public:
 	//! Default ctor is forbidden.
-	LocalPoolVar() = delete;
+	LocalPoolVariable() = delete;
 
 	/**
 	 * This constructor is used by the data creators to have pool variable
@@ -43,7 +43,7 @@ public:
 	 * If nullptr, the variable is not registered.
 	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
 	 */
-	LocalPoolVar(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
+	LocalPoolVariable(HasLocalDataPoolIF* hkOwner, lp_id_t poolId,
 			DataSetIF* dataSet = nullptr,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
@@ -64,7 +64,7 @@ public:
 	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
 	 *
 	 */
-	LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
+	LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
 			DataSetIF* dataSet = nullptr,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 	/**
@@ -73,10 +73,10 @@ public:
 	 * @param dataSet
 	 * @param setReadWriteMode
 	 */
-	LocalPoolVar(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
+	LocalPoolVariable(gp_id_t globalPoolId, DataSetIF* dataSet = nullptr,
 			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
-	virtual~ LocalPoolVar() {};
+	virtual~ LocalPoolVariable() {};
 
 	/**
 	 * @brief	This is the local copy of the data pool entry.
@@ -118,23 +118,23 @@ public:
 	ReturnValue_t commit(dur_millis_t lockTimeout = MutexIF::BLOCKING) override;
 
 
-	LocalPoolVar<T> &operator=(const T& newValue);
-	LocalPoolVar<T> &operator=(const LocalPoolVar<T>& newPoolVariable);
+	LocalPoolVariable<T> &operator=(const T& newValue);
+	LocalPoolVariable<T> &operator=(const LocalPoolVariable<T>& newPoolVariable);
 
 	//! Explicit type conversion operator. Allows casting the class to
 	//! its template type to perform operations on value.
 	explicit operator T() const;
 
-	bool operator==(const LocalPoolVar<T>& other) const;
+	bool operator==(const LocalPoolVariable<T>& other) const;
 	bool operator==(const T& other) const;
 
-	bool operator!=(const LocalPoolVar<T>& other) const;
+	bool operator!=(const LocalPoolVariable<T>& other) const;
 	bool operator!=(const T& other) const;
 
-	bool operator<(const LocalPoolVar<T>& other) const;
+	bool operator<(const LocalPoolVariable<T>& other) const;
 	bool operator<(const T& other) const;
 
-	bool operator>(const LocalPoolVar<T>& other) const;
+	bool operator>(const LocalPoolVariable<T>& other) const;
 	bool operator>(const T& other) const;
 
 protected:
@@ -160,7 +160,7 @@ protected:
 	// std::ostream is the type for object std::cout
 	template <typename U>
 	friend std::ostream& operator<< (std::ostream &out,
-			const LocalPoolVar<U> &var);
+			const LocalPoolVariable<U> &var);
 
 private:
 };
@@ -168,18 +168,18 @@ private:
 #include "LocalPoolVariable.tpp"
 
 template<class T>
-using lp_var_t = LocalPoolVar<T>;
+using lp_var_t = LocalPoolVariable<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>;
+using lp_bool_t = LocalPoolVariable<uint8_t>;
+using lp_uint8_t = LocalPoolVariable<uint8_t>;
+using lp_uint16_t = LocalPoolVariable<uint16_t>;
+using lp_uint32_t = LocalPoolVariable<uint32_t>;
+using lp_uint64_t = LocalPoolVariable<uint64_t>;
+using lp_int8_t = LocalPoolVariable<int8_t>;
+using lp_int16_t = LocalPoolVariable<int16_t>;
+using lp_int32_t = LocalPoolVariable<int32_t>;
+using lp_int64_t = LocalPoolVariable<int64_t>;
+using lp_float_t = LocalPoolVariable<float>;
+using lp_double_t = LocalPoolVariable<double>;
 
 #endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_ */
diff --git a/datapoollocal/LocalPoolVariable.tpp b/datapoollocal/LocalPoolVariable.tpp
index b9f7b906..48649ad5 100644
--- a/datapoollocal/LocalPoolVariable.tpp
+++ b/datapoollocal/LocalPoolVariable.tpp
@@ -6,32 +6,32 @@
 #endif
 
 template<typename T>
-inline LocalPoolVar<T>::LocalPoolVar(HasLocalDataPoolIF* hkOwner,
+inline LocalPoolVariable<T>::LocalPoolVariable(HasLocalDataPoolIF* hkOwner,
 		lp_id_t poolId, DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
 		LocalPoolObjectBase(poolId, hkOwner, dataSet, setReadWriteMode) {}
 
 template<typename T>
-inline LocalPoolVar<T>::LocalPoolVar(object_id_t poolOwner, lp_id_t poolId,
+inline LocalPoolVariable<T>::LocalPoolVariable(object_id_t poolOwner, lp_id_t poolId,
         DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
         LocalPoolObjectBase(poolOwner, poolId, dataSet, setReadWriteMode) {}
 
 
 template<typename T>
-inline LocalPoolVar<T>::LocalPoolVar(gp_id_t globalPoolId, DataSetIF *dataSet,
+inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId, DataSetIF *dataSet,
 		pool_rwm_t setReadWriteMode):
 		LocalPoolObjectBase(globalPoolId.objectId, globalPoolId.localPoolId,
 				dataSet, setReadWriteMode){}
 
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::read(dur_millis_t lockTimeout) {
+inline ReturnValue_t LocalPoolVariable<T>::read(dur_millis_t lockTimeout) {
 	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
 			lockTimeout);
 	return readWithoutLock();
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
+inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
 	if(readWriteMode == pool_rwm_t::VAR_WRITE) {
 		sif::debug << "LocalPoolVar: Invalid read write "
 				"mode for read() call." << std::endl;
@@ -53,14 +53,14 @@ inline ReturnValue_t LocalPoolVar<T>::readWithoutLock() {
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::commit(dur_millis_t lockTimeout) {
+inline ReturnValue_t LocalPoolVariable<T>::commit(dur_millis_t lockTimeout) {
 	MutexHelper(hkManager->getMutexHandle(), MutexIF::TimeoutType::WAITING,
 			lockTimeout);
 	return commitWithoutLock();
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
+inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
 	if(readWriteMode == pool_rwm_t::VAR_READ) {
 		sif::debug << "LocalPoolVar: Invalid read write "
 				 "mode for commit() call." << std::endl;
@@ -81,88 +81,88 @@ inline ReturnValue_t LocalPoolVar<T>::commitWithoutLock() {
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::serialize(uint8_t** buffer, size_t* size,
+inline ReturnValue_t LocalPoolVariable<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 {
+inline size_t LocalPoolVariable<T>::getSerializedSize() const {
 	return SerializeAdapter::getSerializedSize(&value);
 }
 
 template<typename T>
-inline ReturnValue_t LocalPoolVar<T>::deSerialize(const uint8_t** buffer,
+inline ReturnValue_t LocalPoolVariable<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) {
+		const LocalPoolVariable<T> &var) {
     out << var.value;
     return out;
 }
 
 template<typename T>
-inline LocalPoolVar<T>::operator T() const {
+inline LocalPoolVariable<T>::operator T() const {
 	return value;
 }
 
 template<typename T>
-inline LocalPoolVar<T> & LocalPoolVar<T>::operator=(const T& newValue) {
+inline LocalPoolVariable<T> & LocalPoolVariable<T>::operator=(const T& newValue) {
     value = newValue;
     return *this;
 }
 
 template<typename T>
-inline LocalPoolVar<T>& LocalPoolVar<T>::operator =(
-		const LocalPoolVar<T>& newPoolVariable) {
+inline LocalPoolVariable<T>& LocalPoolVariable<T>::operator =(
+		const LocalPoolVariable<T>& newPoolVariable) {
 	value = newPoolVariable.value;
 	return *this;
 }
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator ==(const LocalPoolVar<T> &other) const {
+inline bool LocalPoolVariable<T>::operator ==(const LocalPoolVariable<T> &other) const {
 	return this->value == other.value;
 }
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator ==(const T &other) const {
+inline bool LocalPoolVariable<T>::operator ==(const T &other) const {
 	return this->value == other;
 }
 
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator !=(const LocalPoolVar<T> &other) const {
+inline bool LocalPoolVariable<T>::operator !=(const LocalPoolVariable<T> &other) const {
 	return not (*this == other);
 }
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator !=(const T &other) const {
+inline bool LocalPoolVariable<T>::operator !=(const T &other) const {
 	return not (*this == other);
 }
 
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator <(const LocalPoolVar<T> &other) const {
+inline bool LocalPoolVariable<T>::operator <(const LocalPoolVariable<T> &other) const {
 	return this->value < other.value;
 }
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator <(const T &other) const {
+inline bool LocalPoolVariable<T>::operator <(const T &other) const {
 	return this->value < other;
 }
 
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator >(const LocalPoolVar<T> &other) const {
+inline bool LocalPoolVariable<T>::operator >(const LocalPoolVariable<T> &other) const {
 	return not (*this < other);
 }
 
 template<typename T>
-inline bool LocalPoolVar<T>::operator >(const T &other) const {
+inline bool LocalPoolVariable<T>::operator >(const T &other) const {
 	return not (*this < other);
 }
 
diff --git a/monitoring/MonitorBase.h b/monitoring/MonitorBase.h
index 530a3840..967f0f62 100644
--- a/monitoring/MonitorBase.h
+++ b/monitoring/MonitorBase.h
@@ -72,7 +72,7 @@ protected:
 	    return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	LocalPoolVar<T> poolVariable;
+	LocalPoolVariable<T> poolVariable;
 };
 
 #endif /* FSFW_MONITORING_MONITORBASE_H_ */

From 3cc053a58105c51828147e0ea92efaeb11418b59 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 14 Dec 2020 23:56:44 +0100
Subject: [PATCH 608/653] changes from mueller/master taken over

---
 osal/FreeRTOS/BinSemaphUsingTask.cpp      |  6 +++
 osal/FreeRTOS/BinSemaphUsingTask.h        |  7 ++-
 osal/FreeRTOS/CountingSemaphUsingTask.cpp |  5 ++
 osal/FreeRTOS/CountingSemaphUsingTask.h   |  6 +++
 osal/FreeRTOS/FixedTimeslotTask.cpp       | 42 ++++++-----------
 osal/FreeRTOS/FixedTimeslotTask.h         |  2 -
 osal/FreeRTOS/FreeRTOSTaskIF.h            | 38 +++++++++++++--
 osal/FreeRTOS/PeriodicTask.cpp            | 39 +++++-----------
 osal/FreeRTOS/PeriodicTask.h              |  3 +-
 osal/FreeRTOS/TaskManagement.cpp          |  1 +
 osal/FreeRTOS/TaskManagement.h            | 57 +++++++++++------------
 11 files changed, 111 insertions(+), 95 deletions(-)

diff --git a/osal/FreeRTOS/BinSemaphUsingTask.cpp b/osal/FreeRTOS/BinSemaphUsingTask.cpp
index 9c29948e..a420ec48 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/BinSemaphUsingTask.cpp
@@ -2,6 +2,9 @@
 #include "TaskManagement.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
+
 BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
 	handle = TaskManagement::getCurrentTaskHandle();
 	if(handle == nullptr) {
@@ -97,3 +100,6 @@ uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
 			higherPriorityTaskWoken);
 	return notificationValue;
 }
+
+#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8 */
diff --git a/osal/FreeRTOS/BinSemaphUsingTask.h b/osal/FreeRTOS/BinSemaphUsingTask.h
index 65a091a3..ec434853 100644
--- a/osal/FreeRTOS/BinSemaphUsingTask.h
+++ b/osal/FreeRTOS/BinSemaphUsingTask.h
@@ -7,8 +7,8 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
-// todo: does not work for older FreeRTOS version, so we should
-// actually check whether tskKERNEL_VERSION_MAJOR is larger than.. 7 or 8 ?
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
 
 /**
  * @brief 	Binary Semaphore implementation using the task notification value.
@@ -90,4 +90,7 @@ protected:
 	TaskHandle_t handle;
 };
 
+#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8 */
+
 #endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.cpp b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
index 17cdf7ce..9d309acc 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.cpp
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.cpp
@@ -3,6 +3,9 @@
 
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
+
 CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
 		uint8_t initCount): maxCount(maxCount) {
 	if(initCount > maxCount) {
@@ -113,3 +116,5 @@ uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
 uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
 	return maxCount;
 }
+
+#endif
diff --git a/osal/FreeRTOS/CountingSemaphUsingTask.h b/osal/FreeRTOS/CountingSemaphUsingTask.h
index f258197b..45915b6b 100644
--- a/osal/FreeRTOS/CountingSemaphUsingTask.h
+++ b/osal/FreeRTOS/CountingSemaphUsingTask.h
@@ -7,6 +7,9 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
+
 /**
  * @brief 	Couting Semaphore implementation which uses the notification value
  * 			of the task. The notification value should therefore not be used
@@ -100,4 +103,7 @@ private:
 	const uint8_t maxCount;
 };
 
+#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8 */
+
 #endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 062686e2..fc5b89fe 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -114,38 +114,24 @@ void FixedTimeslotTask::taskFunctionality() {
 	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
 	        interval = pdMS_TO_TICKS(intervalMs);
 
-	        checkMissedDeadline(xLastWakeTime, interval);
-
-	        // Wait for the interval. This exits immediately if a deadline was
-	        // missed while also updating the last wake time.
-	        vTaskDelayUntil(&xLastWakeTime, interval);
+#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \
+    tskKERNEL_VERSION_MAJOR > 10
+	        BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, interval);
+	        if(wasDelayed == pdFALSE) {
+	            handleMissedDeadline();
+	        }
+#else
+            if(checkMissedDeadline(xLastWakeTime, interval)) {
+                handleMissedDeadline();
+            }
+            // Wait for the interval. This exits immediately if a deadline was
+            // missed while also updating the last wake time.
+            vTaskDelayUntil(&xLastWakeTime, interval);
+#endif
 	    }
 	}
 }
 
-void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
-        const TickType_t interval) {
-    /* Check whether deadline was missed while also taking overflows
-     * into account. Drawing this on paper with a timeline helps to understand
-     * it. */
-    TickType_t currentTickCount = xTaskGetTickCount();
-    TickType_t timeToWake = xLastWakeTime + interval;
-    // Time to wake has not overflown.
-    if(timeToWake > xLastWakeTime) {
-        /* If the current time has overflown exclusively or the current
-         * tick count is simply larger than the time to wake, a deadline was
-         * missed */
-        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
-            handleMissedDeadline();
-        }
-    }
-    /* Time to wake has overflown. A deadline was missed if the current time
-     * is larger than the time to wake */
-    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-        handleMissedDeadline();
-    }
-}
-
 void FixedTimeslotTask::handleMissedDeadline() {
     if(deadlineMissedFunc != nullptr) {
         this->deadlineMissedFunc();
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 7d2cdb70..f2245ba4 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -93,8 +93,6 @@ protected:
 	 */
 	void taskFunctionality(void);
 
-	void checkMissedDeadline(const TickType_t xLastWakeTime,
-	        const TickType_t interval);
 	void handleMissedDeadline();
 };
 
diff --git a/osal/FreeRTOS/FreeRTOSTaskIF.h b/osal/FreeRTOS/FreeRTOSTaskIF.h
index 06fda282..2a2d9494 100644
--- a/osal/FreeRTOS/FreeRTOSTaskIF.h
+++ b/osal/FreeRTOS/FreeRTOSTaskIF.h
@@ -1,13 +1,41 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
-#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#ifndef FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#define FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
 class FreeRTOSTaskIF {
 public:
-	virtual~ FreeRTOSTaskIF() {}
-	virtual TaskHandle_t getTaskHandle() = 0;
+    virtual~ FreeRTOSTaskIF() {}
+    virtual TaskHandle_t getTaskHandle() = 0;
+
+protected:
+
+    bool checkMissedDeadline(const TickType_t xLastWakeTime,
+            const TickType_t interval) {
+        /* Check whether deadline was missed while also taking overflows
+         * into account. Drawing this on paper with a timeline helps to understand
+         * it. */
+        TickType_t currentTickCount = xTaskGetTickCount();
+        TickType_t timeToWake = xLastWakeTime + interval;
+        // Time to wake has not overflown.
+        if(timeToWake > xLastWakeTime) {
+            /* If the current time has overflown exclusively or the current
+             * tick count is simply larger than the time to wake, a deadline was
+             * missed */
+            if((currentTickCount < xLastWakeTime) or
+                    (currentTickCount > timeToWake)) {
+                return true;
+            }
+        }
+        /* Time to wake has overflown. A deadline was missed if the current time
+         * is larger than the time to wake */
+        else if((timeToWake < xLastWakeTime) and
+                (currentTickCount > timeToWake)) {
+            return true;
+        }
+        return false;
+    }
 };
 
-#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
+#endif /* FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index 5c0a840d..2ee7bec0 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -80,10 +80,18 @@ void PeriodicTask::taskFunctionality() {
 			object->performOperation();
 		}
 
-		checkMissedDeadline(xLastWakeTime, xPeriod);
-
-		vTaskDelayUntil(&xLastWakeTime, xPeriod);
-
+#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \
+    tskKERNEL_VERSION_MAJOR > 10
+		BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, xPeriod);
+		if(wasDelayed == pdFALSE) {
+		    handleMissedDeadline();
+		}
+#else
+        if(checkMissedDeadline(xLastWakeTime, xPeriod)) {
+            handleMissedDeadline();
+        }
+        vTaskDelayUntil(&xLastWakeTime, xPeriod);
+#endif
 	}
 }
 
@@ -105,29 +113,6 @@ uint32_t PeriodicTask::getPeriodMs() const {
 	return period * 1000;
 }
 
-void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
-        const TickType_t interval) {
-    /* Check whether deadline was missed while also taking overflows
-     * into account. Drawing this on paper with a timeline helps to understand
-     * it. */
-    TickType_t currentTickCount = xTaskGetTickCount();
-    TickType_t timeToWake = xLastWakeTime + interval;
-    // Time to wake has not overflown.
-    if(timeToWake > xLastWakeTime) {
-        /* If the current time has overflown exclusively or the current
-         * tick count is simply larger than the time to wake, a deadline was
-         * missed */
-        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
-            handleMissedDeadline();
-        }
-    }
-    /* Time to wake has overflown. A deadline was missed if the current time
-     * is larger than the time to wake */
-    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-        handleMissedDeadline();
-    }
-}
-
 TaskHandle_t PeriodicTask::getTaskHandle() {
     return handle;
 }
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 87b8b6d2..36ef568f 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -71,6 +71,7 @@ public:
 
 	TaskHandle_t getTaskHandle() override;
 protected:
+
 	bool started;
 	TaskHandle_t handle;
 
@@ -118,8 +119,6 @@ protected:
 	 */
 	void taskFunctionality(void);
 
-	void checkMissedDeadline(const TickType_t xLastWakeTime,
-	        const TickType_t interval);
 	void handleMissedDeadline();
 };
 
diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index 18572045..c0d0067e 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -22,3 +22,4 @@ size_t TaskManagement::getTaskStackHighWatermark(
         TaskHandle_t task) {
 	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
 }
+
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index c6c46f21..b9aece48 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -26,38 +26,37 @@ enum class CallContext {
 };
 
 
-class TaskManagement {
-public:
-	/**
-	 * @brief	In this function, a function dependant on the portmacro.h header
-	 * 			function calls to request a context switch can be specified.
-	 * This can be used if sending to the queue from an ISR caused a task
-	 * to unblock and a context switch is required.
-	 */
-	static void requestContextSwitch(CallContext callContext);
+namespace TaskManagement {
+/**
+ * @brief	In this function, a function dependant on the portmacro.h header
+ * 			function calls to request a context switch can be specified.
+ * This can be used if sending to the queue from an ISR caused a task
+ * to unblock and a context switch is required.
+ */
+void requestContextSwitch(CallContext callContext);
 
-	/**
-	 * If task preemption in FreeRTOS is disabled, a context switch
-	 * can be requested manually by calling this function.
-	 */
-	static void vRequestContextSwitchFromTask(void);
+/**
+ * If task preemption in FreeRTOS is disabled, a context switch
+ * can be requested manually by calling this function.
+ */
+void vRequestContextSwitchFromTask(void);
 
-	/**
-	 * @return The current task handle
-	 */
-	static TaskHandle_t getCurrentTaskHandle();
+/**
+ * @return The current task handle
+ */
+TaskHandle_t getCurrentTaskHandle();
+
+/**
+ * Get returns the minimum amount of remaining stack space in words
+ * that was a available to the task since the task started executing.
+ * Please note that the actual value in bytes depends
+ * on the stack depth type.
+ * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+ * @return Smallest value of stack remaining since the task was started in
+ * 		   words.
+ */
+size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
 
-	/**
-	 * Get returns the minimum amount of remaining stack space in words
-	 * that was a available to the task since the task started executing.
-	 * Please note that the actual value in bytes depends
-	 * on the stack depth type.
-	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
-	 * @return Smallest value of stack remaining since the task was started in
-	 * 		   words.
-	 */
-	static size_t getTaskStackHighWatermark(
-	        TaskHandle_t task = nullptr);
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

From f733a85a9c51a8612084f947485c33161d75346f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 14:41:33 +0100
Subject: [PATCH 609/653] type update

---
 globalfunctions/Type.h | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/globalfunctions/Type.h b/globalfunctions/Type.h
index d28f56ac..fa894e3e 100644
--- a/globalfunctions/Type.h
+++ b/globalfunctions/Type.h
@@ -3,6 +3,7 @@
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeIF.h"
+#include <type_traits>
 
 /**
  * @brief 	Type definition for CCSDS or ECSS.
@@ -56,13 +57,14 @@ private:
 
 template<typename T>
 struct PodTypeConversion {
+	static_assert(not std::is_same<T, bool>::value,
+				"Do not use boolean for the PoolEntry type, use uint8_t "
+				"instead! The ECSS standard defines a boolean as a one bit "
+				"field. Therefore it is preferred to store a boolean as an "
+				"uint8_t");
 	static const Type::ActualType_t type = Type::UNKNOWN_TYPE;
 };
 template<>
-struct PodTypeConversion<bool> {
-    static const Type::ActualType_t type = Type::UINT8_T;
-};
-template<>
 struct PodTypeConversion<uint8_t> {
 	static const Type::ActualType_t type = Type::UINT8_T;
 };

From a57af5852d9ce76cd3340e147e82bceffce92303 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 15:04:07 +0100
Subject: [PATCH 610/653] made check sequence

---
 subsystem/Subsystem.h | 30 +++++++++++++++---------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h
index c3a72d54..a3f7de45 100644
--- a/subsystem/Subsystem.h
+++ b/subsystem/Subsystem.h
@@ -62,21 +62,6 @@ public:
 
 	virtual MessageQueueId_t getSequenceCommandQueue() const override;
 
-	/**
-	 * @brief    Checks whether a sequence, identified by a mode.
-	 * @param sequence
-	 * @return
-	 */
-	ReturnValue_t checkSequence(Mode_t sequence);
-
-	/**
-	 * @brief   Checks whether a sequence, identified by a mode list iterator
-	 *          and a fallback sequence.
-	 * @param iter
-	 * @return
-	 */
-	ReturnValue_t checkSequence(HybridIterator<ModeListEntry> iter,
-	        Mode_t fallbackSequence);
 protected:
 
 	struct EntryPointer {
@@ -166,6 +151,21 @@ protected:
 
 	void cantKeepMode();
 
+	/**
+	 * @brief    Checks whether a sequence, identified by a mode.
+	 * @param sequence
+	 * @return
+	 */
+	ReturnValue_t checkSequence(Mode_t sequence);
+
+	/**
+	 * @brief   Checks whether a sequence, identified by a mode list iterator
+	 *          and a fallback sequence.
+	 * @param iter
+	 * @return
+	 */
+	ReturnValue_t checkSequence(HybridIterator<ModeListEntry> iter,
+	        Mode_t fallbackSequence);
 };
 
 #endif /* FSFW_SUBSYSTEM_SUBSYSTEM_H_ */

From 4c152e9fd83f94916b36410a53d0c530b94c7d55 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 15:07:41 +0100
Subject: [PATCH 611/653] subsystem doc upodate

---
 subsystem/Subsystem.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h
index a3f7de45..69563643 100644
--- a/subsystem/Subsystem.h
+++ b/subsystem/Subsystem.h
@@ -160,7 +160,8 @@ protected:
 
 	/**
 	 * @brief   Checks whether a sequence, identified by a mode list iterator
-	 *          and a fallback sequence.
+	 *          and a fallback sequence. Iterator needs to point to a valid
+	 *          sequence.
 	 * @param iter
 	 * @return
 	 */

From 103d8b8c6a1669c6dabf2d10b7b20505088fe58c Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 15:12:31 +0100
Subject: [PATCH 612/653] fixed timeslot task IF

---
 tasks/FixedTimeslotTaskIF.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h
index a138db4e..2fc7e092 100644
--- a/tasks/FixedTimeslotTaskIF.h
+++ b/tasks/FixedTimeslotTaskIF.h
@@ -14,7 +14,8 @@ public:
 
 	/**
 	 * Add an object with a slot time and the execution step to the task.
-	 * The execution step shall be passed to the object.
+	 * The execution step will be passed to the object (e.g. as an operation
+	 * code in #performOperation)
 	 * @param componentId
 	 * @param slotTimeMs
 	 * @param executionStep

From 703d2590ffbf21603e37a2ecad50e3a7d1a767ec Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 15:20:08 +0100
Subject: [PATCH 613/653] update csb

---
 CHANGELOG                            | 4 ++++
 tmtcservices/CommandingServiceBase.h | 3 ++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG b/CHANGELOG
index 7b07db08..2ddd7673 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -60,3 +60,7 @@ that DHB users adapt their polling sequence tables to perform this step. This st
 allows setting a unique ID. Event.cpp source file removed, functions now
 defined in header directly. Namespaces renamed. Functions declared `constexpr`
 now
+
+### Commanding Service Base
+
+- CSB uses the 
diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h
index 3611d7c6..e10f2ddd 100644
--- a/tmtcservices/CommandingServiceBase.h
+++ b/tmtcservices/CommandingServiceBase.h
@@ -42,7 +42,8 @@ class CommandingServiceBase: public SystemObject,
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	// We could make this configurable via preprocessor and the FSFWConfig file.
-	static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH = FSFW_CSB_FIFO_DEPTH;
+	static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH =
+			fsfwconfig::FSFW_CSB_FIFO_DEPTH;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
 

From 72c54d59fac16ceaeb3d32458c6de5e28f60c18e Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 15:32:56 +0100
Subject: [PATCH 614/653] fsfw config

---
 defaultcfg/fsfwconfig/FSFWConfig.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
index 1386bf66..334f352a 100644
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -15,12 +15,6 @@
 //! Can be used to enable additional debugging printouts for developing the FSFW
 #define FSFW_PRINT_VERBOSITY_LEVEL   0
 
-//! Defines the FIFO depth of each commanding service base which
-//! also determines how many commands a CSB service can handle in one cycle
-//! simulataneously. This will increase the required RAM for
-//! each CSB service !
-#define FSFW_CSB_FIFO_DEPTH			6
-
 //! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiled source files)
@@ -52,6 +46,12 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
 static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
 static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
 static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+
+//! Defines the FIFO depth of each commanding service base which
+//! also determines how many commands a CSB service can handle in one cycle
+//! simulataneously. This will increase the required RAM for
+//! each CSB service !
+static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

From 82a83a50ee01613c4227407b846173555015b4b4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 15:39:33 +0100
Subject: [PATCH 615/653] change log update

---
 CHANGELOG | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CHANGELOG b/CHANGELOG
index 2ddd7673..68b457f4 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -63,4 +63,4 @@ now
 
 ### Commanding Service Base
 
-- CSB uses the 
+- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each CSB instance. This variable has to be set in the FSFWConfig.h file

From e39c4fe2a862706f5be1a00fb14b21daa9f097da Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 22:42:50 +0100
Subject: [PATCH 616/653] added hk service 3

---
 pus/Service3Housekeeping.cpp         | 295 +++++++++++++++++++++++++++
 pus/Service3Housekeeping.h           | 105 ++++++++++
 pus/servicepackets/Service3Packets.h |  21 ++
 3 files changed, 421 insertions(+)
 create mode 100644 pus/Service3Housekeeping.cpp
 create mode 100644 pus/Service3Housekeeping.h
 create mode 100644 pus/servicepackets/Service3Packets.h

diff --git a/pus/Service3Housekeeping.cpp b/pus/Service3Housekeeping.cpp
new file mode 100644
index 00000000..175af026
--- /dev/null
+++ b/pus/Service3Housekeeping.cpp
@@ -0,0 +1,295 @@
+#include "Service3Housekeeping.h"
+#include "servicepackets/Service3Packets.h"
+#include "../datapoollocal/HasLocalDataPoolIF.h"
+
+
+Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId):
+		CommandingServiceBase(objectId, apid, serviceId,
+		NUM_OF_PARALLEL_COMMANDS, COMMAND_TIMEOUT_SECONDS) {}
+
+Service3Housekeeping::~Service3Housekeeping() {}
+
+ReturnValue_t Service3Housekeeping::isValidSubservice(uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)) {
+	case Subservice::ENABLE_PERIODIC_HK_REPORT_GENERATION:
+	case Subservice::DISABLE_PERIODIC_HK_REPORT_GENERATION:
+	case Subservice::ENABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
+	case Subservice::DISABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
+	case Subservice::REPORT_HK_REPORT_STRUCTURES:
+	case Subservice::REPORT_DIAGNOSTICS_REPORT_STRUCTURES :
+	case Subservice::GENERATE_ONE_PARAMETER_REPORT:
+	case Subservice::GENERATE_ONE_DIAGNOSTICS_REPORT:
+	case Subservice::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL:
+	case Subservice::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL:
+		return HasReturnvaluesIF::RETURN_OK;
+	// Telemetry or invalid subservice.
+	case Subservice::HK_DEFINITIONS_REPORT:
+	case Subservice::DIAGNOSTICS_DEFINITION_REPORT:
+	case Subservice::HK_REPORT:
+	case Subservice::DIAGNOSTICS_REPORT:
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service3Housekeeping::getMessageQueueAndObject(uint8_t subservice,
+		const uint8_t *tcData, size_t tcDataLen,
+		MessageQueueId_t *id, object_id_t *objectId) {
+	ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
+	if(result != RETURN_OK) {
+		return result;
+	}
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t Service3Housekeeping::checkAndAcquireTargetID(
+		object_id_t* objectIdToSet, const uint8_t* tcData, size_t tcDataLen) {
+	if(SerializeAdapter::deSerialize(objectIdToSet, &tcData, &tcDataLen,
+	        SerializeIF::Endianness::BIG) != HasReturnvaluesIF::RETURN_OK) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Service3Housekeeping::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+	// check HasLocalDataPoolIF property of target
+	HasLocalDataPoolIF* possibleTarget =
+			objectManager->get<HasLocalDataPoolIF>(*objectId);
+	if(possibleTarget == nullptr){
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service3Housekeeping::prepareCommand(CommandMessage* message,
+		uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+		uint32_t *state, object_id_t objectId) {
+	switch(static_cast<Subservice>(subservice)) {
+	case Subservice::ENABLE_PERIODIC_HK_REPORT_GENERATION:
+		return prepareReportingTogglingCommand(message, objectId, true, false,
+				tcData, tcDataLen);
+	case Subservice::DISABLE_PERIODIC_HK_REPORT_GENERATION:
+		return prepareReportingTogglingCommand(message, objectId, false, false,
+				tcData, tcDataLen);
+	case Subservice::ENABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
+		return prepareReportingTogglingCommand(message, objectId, true, true,
+				tcData, tcDataLen);
+	case Subservice::DISABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
+		return prepareReportingTogglingCommand(message, objectId, false, true,
+				tcData, tcDataLen);
+	case Subservice::REPORT_HK_REPORT_STRUCTURES:
+		return prepareStructureReportingCommand(message, objectId, false, tcData,
+				tcDataLen);
+	case Subservice::REPORT_DIAGNOSTICS_REPORT_STRUCTURES:
+		return prepareStructureReportingCommand(message, objectId, true, tcData,
+				tcDataLen);
+	case Subservice::GENERATE_ONE_PARAMETER_REPORT:
+		return prepareOneShotReportCommand(message, objectId, false,
+				tcData, tcDataLen);
+	case Subservice::GENERATE_ONE_DIAGNOSTICS_REPORT:
+		return prepareOneShotReportCommand(message, objectId, true,
+				tcData, tcDataLen);
+	case Subservice::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL:
+		return prepareCollectionIntervalModificationCommand(message, objectId,
+				false, tcData, tcDataLen);
+	case Subservice::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL:
+		return prepareCollectionIntervalModificationCommand(message, objectId,
+				true, tcData, tcDataLen);
+	case Subservice::HK_DEFINITIONS_REPORT:
+	case Subservice::DIAGNOSTICS_DEFINITION_REPORT:
+	case Subservice::HK_REPORT:
+	case Subservice::DIAGNOSTICS_REPORT:
+		// Those are telemetry packets.
+		return CommandingServiceBase::INVALID_TC;
+	default:
+		// should never happen, subservice was already checked.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Service3Housekeeping::prepareReportingTogglingCommand(
+		CommandMessage *command, object_id_t objectId,
+		bool enableReporting, bool isDiagnostics,
+		const uint8_t* tcData, size_t tcDataLen) {
+	if(tcDataLen < sizeof(sid_t)) {
+		// TC data should consist of object ID and set ID.
+		return CommandingServiceBase::INVALID_TC;
+	}
+
+	sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
+	HousekeepingMessage::setToggleReportingCommand(command, targetSid,
+			enableReporting, isDiagnostics);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Service3Housekeeping::prepareStructureReportingCommand(
+		CommandMessage *command, object_id_t objectId, bool isDiagnostics,
+		const uint8_t* tcData, size_t tcDataLen) {
+	if(tcDataLen < sizeof(sid_t)) {
+		// TC data should consist of object ID and set ID.
+		return CommandingServiceBase::INVALID_TC;
+	}
+
+	sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
+	HousekeepingMessage::setStructureReportingCommand(command, targetSid,
+			isDiagnostics);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Service3Housekeeping::prepareOneShotReportCommand(
+		CommandMessage *command, object_id_t objectId, bool isDiagnostics,
+		const uint8_t *tcData, size_t tcDataLen) {
+	if(tcDataLen < sizeof(sid_t)) {
+		// TC data should consist of object ID and set ID.
+		return CommandingServiceBase::INVALID_TC;
+	}
+
+	sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
+	HousekeepingMessage::setOneShotReportCommand(command, targetSid,
+			isDiagnostics);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Service3Housekeeping::prepareCollectionIntervalModificationCommand(
+		CommandMessage *command, object_id_t objectId, bool isDiagnostics,
+		const uint8_t *tcData, size_t tcDataLen) {
+	if(tcDataLen < sizeof(sid_t) + sizeof(float)) {
+		// SID plus the size of the new collection intervL.
+		return CommandingServiceBase::INVALID_TC;
+	}
+
+	sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
+	float newCollectionInterval = 0;
+	SerializeAdapter::deSerialize(&newCollectionInterval, &tcData, &tcDataLen,
+			SerializeIF::Endianness::BIG);
+	HousekeepingMessage::setCollectionIntervalModificationCommand(command,
+			targetSid, newCollectionInterval, isDiagnostics);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
+		Command_t previousCommand, uint32_t *state,
+		CommandMessage* optionalNextCommand, object_id_t objectId,
+		bool *isStep) {
+	Command_t command = reply->getCommand();
+	switch(command) {
+
+	case(HousekeepingMessage::HK_REPORT): {
+		ReturnValue_t result = generateHkReply(reply,
+				static_cast<uint8_t>(Subservice::HK_REPORT));
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		return CommandingServiceBase::EXECUTION_COMPLETE;
+	}
+
+	case(HousekeepingMessage::DIAGNOSTICS_REPORT): {
+		ReturnValue_t result = generateHkReply(reply,
+				static_cast<uint8_t>(Subservice::DIAGNOSTICS_REPORT));
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		return CommandingServiceBase::EXECUTION_COMPLETE;
+	}
+
+    case(HousekeepingMessage::HK_DEFINITIONS_REPORT): {
+        return generateHkReply(reply, static_cast<uint8_t>(
+                Subservice::HK_DEFINITIONS_REPORT));
+        break;
+    }
+    case(HousekeepingMessage::DIAGNOSTICS_DEFINITION_REPORT): {
+        return generateHkReply(reply, static_cast<uint8_t>(
+                Subservice::DIAGNOSTICS_DEFINITION_REPORT));
+        break;
+    }
+
+	case(HousekeepingMessage::HK_REQUEST_SUCCESS): {
+		return CommandingServiceBase::EXECUTION_COMPLETE;
+	}
+
+	case(HousekeepingMessage::HK_REQUEST_FAILURE): {
+		failureParameter1 = objectId;
+		ReturnValue_t error = HasReturnvaluesIF::RETURN_FAILED;
+		HousekeepingMessage::getHkRequestFailureReply(reply,&error);
+		failureParameter2 = error;
+		return CommandingServiceBase::EXECUTION_COMPLETE;
+	}
+
+	default:
+		sif::error << "Service3Housekeeping::handleReply: Invalid reply with "
+				<< "reply command " << command << "!" << std::endl;
+		return CommandingServiceBase::INVALID_REPLY;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void Service3Housekeeping::handleUnrequestedReply(
+		CommandMessage* reply) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	Command_t command = reply->getCommand();
+
+	switch(command) {
+
+	case(HousekeepingMessage::DIAGNOSTICS_REPORT): {
+		result = generateHkReply(reply,
+				static_cast<uint8_t>(Subservice::DIAGNOSTICS_REPORT));
+		break;
+	}
+
+	case(HousekeepingMessage::HK_REPORT): {
+		result = generateHkReply(reply,
+				static_cast<uint8_t>(Subservice::HK_REPORT));
+		break;
+	}
+
+	default:
+		sif::error << "Service3Housekeeping::handleUnrequestedReply: Invalid "
+		        << "reply with " << "reply command " << command << "!"
+		        << std::endl;
+		return;
+	}
+
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		// Configuration error
+		sif::debug << "Service3Housekeeping::handleUnrequestedReply:"
+				<< "Could not generate reply!" << std::endl;
+	}
+}
+
+MessageQueueId_t Service3Housekeeping::getHkQueue() const {
+	return commandQueue->getId();
+}
+
+ReturnValue_t Service3Housekeeping::generateHkReply(
+		const CommandMessage* hkMessage, uint8_t subserviceId) {
+	store_address_t storeId;
+
+	sid_t sid = HousekeepingMessage::getHkDataReply(hkMessage, &storeId);
+	auto resultPair = IPCStore->getData(storeId);
+	if(resultPair.first != HasReturnvaluesIF::RETURN_OK) {
+		return resultPair.first;
+	}
+
+	HkPacket hkPacket(sid, resultPair.second.data(), resultPair.second.size());
+	return sendTmPacket(static_cast<uint8_t>(subserviceId),
+			hkPacket.hkData, hkPacket.hkSize, nullptr, 0);
+}
+
+sid_t Service3Housekeeping::buildSid(object_id_t objectId,
+		const uint8_t** tcData, size_t* tcDataLen) {
+	sid_t targetSid;
+	targetSid.objectId = objectId;
+	// skip deserialization of object ID, was already done.
+	*tcData += sizeof(object_id_t);
+	*tcDataLen -= sizeof(object_id_t);
+	// size check is expected to be performed beforehand!
+	SerializeAdapter::deSerialize(&targetSid.ownerSetId, tcData, tcDataLen,
+			SerializeIF::Endianness::BIG);
+	return targetSid;
+}
diff --git a/pus/Service3Housekeeping.h b/pus/Service3Housekeeping.h
new file mode 100644
index 00000000..269710ef
--- /dev/null
+++ b/pus/Service3Housekeeping.h
@@ -0,0 +1,105 @@
+#ifndef FSFW_PUS_SERVICE3HOUSEKEEPINGSERVICE_H_
+#define FSFW_PUS_SERVICE3HOUSEKEEPINGSERVICE_H_
+
+#include "../housekeeping/AcceptsHkPacketsIF.h"
+#include "../housekeeping/HousekeepingMessage.h"
+#include "../tmtcservices/CommandingServiceBase.h"
+
+/**
+ * @brief   Manges spacecraft housekeeping reports and
+ *          sends pool variables (temperature, GPS data ...) to ground.
+ *
+ * @details Full Documentation: ECSS-E70-41A or ECSS-E-ST-70-41C.
+ * Implementation based on PUS-C
+ *
+ * The housekeeping service type provides means to control and adapt the
+ * spacecraft reporting plan according to the mission phases.
+ * The housekeeping service type provides the visibility of any
+ * on-board parameters assembled in housekeeping parameter report structures
+ * or diagnostic parameter report structures as required for the mission.
+ * The parameter report structures used by the housekeeping service can
+ * be predefined on-board or created when needed.
+ *
+ * @author 	R. Mueller
+ * @ingroup pus_services
+ */
+class Service3Housekeeping: public CommandingServiceBase,
+		public AcceptsHkPacketsIF {
+public:
+	static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
+	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
+
+	Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId);
+	virtual~ Service3Housekeeping();
+protected:
+	/* CSB abstract functions implementation . See CSB documentation. */
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+			uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+			Command_t previousCommand, uint32_t *state,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
+			bool *isStep) override;
+
+	virtual MessageQueueId_t getHkQueue() const;
+private:
+	enum class Subservice {
+		ENABLE_PERIODIC_HK_REPORT_GENERATION = 5, //!< [EXPORT] : [TC]
+		DISABLE_PERIODIC_HK_REPORT_GENERATION = 6, //!< [EXPORT] : [TC]
+
+		ENABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION = 7, //!< [EXPORT] : [TC]
+		DISABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION = 8, //!< [EXPORT] : [TC]
+
+		//! [EXPORT] : [TC] Report HK structure by supplying SID
+		REPORT_HK_REPORT_STRUCTURES = 9,
+		//! [EXPORT] : [TC] Report Diagnostics structure by supplying SID
+		REPORT_DIAGNOSTICS_REPORT_STRUCTURES = 11,
+
+		//! [EXPORT] : [TM] Report corresponding to Subservice 9 TC
+		HK_DEFINITIONS_REPORT = 10,
+		//! [EXPORT] : [TM] Report corresponding to Subservice 11 TC
+		DIAGNOSTICS_DEFINITION_REPORT = 12,
+
+		//! [EXPORT] : [TM] Core packet. Contains Housekeeping data
+		HK_REPORT = 25,
+		//! [EXPORT] : [TM] Core packet. Contains diagnostics data
+		DIAGNOSTICS_REPORT = 26,
+
+		/* PUS-C */
+		GENERATE_ONE_PARAMETER_REPORT = 27, //!< [EXPORT] : [TC]
+		GENERATE_ONE_DIAGNOSTICS_REPORT = 28, //!< [EXPORT] : [TC]
+
+		MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL = 31, //!< [EXPORT] : [TC]
+		MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL = 32, //!< [EXPORT] : [TC]
+	};
+
+	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
+			const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+			MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t generateHkReply(const CommandMessage* hkMessage,
+			uint8_t subserviceId);
+	ReturnValue_t prepareReportingTogglingCommand(CommandMessage* command,
+			object_id_t objectId, bool enableReporting, bool isDiagnostics,
+			const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t prepareStructureReportingCommand(CommandMessage* command,
+			object_id_t objectId, bool isDiagnostics, const uint8_t* tcData,
+			size_t tcDataLen);
+	ReturnValue_t prepareOneShotReportCommand(CommandMessage* command,
+			object_id_t objectId, bool isDiagnostics, const uint8_t* tcData,
+			size_t tcDataLen);
+	ReturnValue_t prepareCollectionIntervalModificationCommand(
+			CommandMessage* command, object_id_t objectId, bool isDiagnostics,
+			const uint8_t* tcData, size_t tcDataLen);
+
+	void handleUnrequestedReply(CommandMessage* reply) override;
+	sid_t buildSid(object_id_t objectId, const uint8_t** tcData,
+			size_t* tcDataLen);
+};
+
+#endif /* FSFW_PUS_SERVICE3HOUSEKEEPINGSERVICE_H_ */
diff --git a/pus/servicepackets/Service3Packets.h b/pus/servicepackets/Service3Packets.h
new file mode 100644
index 00000000..05732e11
--- /dev/null
+++ b/pus/servicepackets/Service3Packets.h
@@ -0,0 +1,21 @@
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE3PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE3PACKETS_H_
+
+#include <fsfw/housekeeping/HousekeepingMessage.h>
+#include <cstdint>
+
+/**
+ * @brief Subservices 25 and 26: TM packets
+ * @ingroup spacepackets
+ */
+class HkPacket { //!< [EXPORT] : [SUBSERVICE] 25, 26
+public:
+    sid_t sid; //!< [EXPORT] : [COMMENT] Structure ID (SID) of housekeeping data.
+    const uint8_t* hkData; //!< [EXPORT] : [MAXSIZE] Deduced size
+    size_t hkSize; //!< [EXPORT] : [IGNORE]
+
+    HkPacket(sid_t sid, const uint8_t* data, size_t size):
+            sid(sid), hkData(data), hkSize(size) {}
+};
+
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE3PACKETS_H_ */

From a411df18db4a74f855bfdff1cfa6ffa06ab2cbf0 Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 22:52:29 +0100
Subject: [PATCH 617/653] deleted tpp files, replaced by source files

---
 storagemanager/LocalPool.tpp   | 305 ---------------------------------
 storagemanager/PoolManager.tpp |  56 ------
 2 files changed, 361 deletions(-)
 delete mode 100644 storagemanager/LocalPool.tpp
 delete mode 100644 storagemanager/PoolManager.tpp

diff --git a/storagemanager/LocalPool.tpp b/storagemanager/LocalPool.tpp
deleted file mode 100644
index 5e61efe4..00000000
--- a/storagemanager/LocalPool.tpp
+++ /dev/null
@@ -1,305 +0,0 @@
-#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
-#define FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
-
-#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_H_
-#error Include LocalPool.h before LocalPool.tpp!
-#endif
-
-template<uint8_t NUMBER_OF_POOLS>
-inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
-		const uint16_t element_sizes[NUMBER_OF_POOLS],
-		const uint16_t n_elements[NUMBER_OF_POOLS], bool registered,
-		bool spillsToHigherPools) :
-		SystemObject(setObjectId, registered),  internalErrorReporter(nullptr),
-		spillsToHigherPools(spillsToHigherPools)
-{
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		this->element_sizes[n] = element_sizes[n];
-		this->n_elements[n] = n_elements[n];
-		store[n] = new uint8_t[n_elements[n] * element_sizes[n]];
-		size_list[n] = new uint32_t[n_elements[n]];
-		memset(store[n], 0x00, (n_elements[n] * element_sizes[n]));
-		//TODO checkme
-		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));
-	}
-}
-
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::findEmpty(uint16_t pool_index,
-		uint16_t* element) {
-	ReturnValue_t status = DATA_STORAGE_FULL;
-	for (uint16_t foundElement = 0; foundElement < n_elements[pool_index];
-			foundElement++) {
-		if (size_list[pool_index][foundElement] == STORAGE_FREE) {
-			*element = foundElement;
-			status = RETURN_OK;
-			break;
-		}
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline void LocalPool<NUMBER_OF_POOLS>::write(store_address_t packet_id,
-		const uint8_t* data, size_t size) {
-	uint8_t* ptr;
-	uint32_t packet_position = getRawPosition(packet_id);
-
-	//check size? -> Not necessary, because size is checked before calling this function.
-	ptr = &store[packet_id.pool_index][packet_position];
-	memcpy(ptr, data, size);
-	size_list[packet_id.pool_index][packet_id.packet_index] = size;
-}
-
-//Returns page size of 0 in case store_index is illegal
-template<uint8_t NUMBER_OF_POOLS>
-inline uint32_t LocalPool<NUMBER_OF_POOLS>::getPageSize(uint16_t pool_index) {
-	if (pool_index < NUMBER_OF_POOLS) {
-		return element_sizes[pool_index];
-	} else {
-		return 0;
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getPoolIndex(
-		size_t packet_size, uint16_t* poolIndex, uint16_t startAtIndex) {
-	for (uint16_t n = startAtIndex; n < NUMBER_OF_POOLS; n++) {
-		//debug << "LocalPool " << getObjectId() << "::getPoolIndex: Pool: " <<
-		//		n << ", Element Size: " << element_sizes[n] << std::endl;
-		if (element_sizes[n] >= packet_size) {
-			*poolIndex = n;
-			return RETURN_OK;
-		}
-	}
-	return DATA_TOO_LARGE;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline uint32_t LocalPool<NUMBER_OF_POOLS>::getRawPosition(
-		store_address_t packet_id) {
-	return packet_id.packet_index * element_sizes[packet_id.pool_index];
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::reserveSpace(
-		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	ReturnValue_t status = getPoolIndex(size, &address->pool_index);
-	if (status != RETURN_OK) {
-		sif::error << "LocalPool( " << std::hex << getObjectId() << std::dec
-				<< " )::reserveSpace: Packet too large." << std::endl;
-		return status;
-	}
-	status = findEmpty(address->pool_index, &address->packet_index);
-	while (status != RETURN_OK && spillsToHigherPools) {
-		status = getPoolIndex(size, &address->pool_index, address->pool_index + 1);
-		if (status != RETURN_OK) {
-			//We don't find any fitting pool anymore.
-			break;
-		}
-		status = findEmpty(address->pool_index, &address->packet_index);
-	}
-	if (status == RETURN_OK) {
-		// if (getObjectId() == objects::IPC_STORE && address->pool_index >= 3) {
-		//	   debug << "Reserve: Pool: " << std::dec << address->pool_index <<
-		//				" Index: " << address->packet_index << std::endl;
-		// }
-
-		size_list[address->pool_index][address->packet_index] = size;
-	} else {
-		if (!ignoreFault and internalErrorReporter != nullptr) {
-			internalErrorReporter->storeFull();
-		}
-		// error << "LocalPool( " << std::hex << getObjectId() << std::dec
-		// 			<< " )::reserveSpace: Packet store is full." << std::endl;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		delete[] store[n];
-		delete[] size_list[n];
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(
-		store_address_t* storageId, const uint8_t* data, size_t size,
-		bool ignoreFault) {
-	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
-	if (status == RETURN_OK) {
-		write(*storageId, data, size);
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
-		store_address_t* storageId, const size_t size,
-		uint8_t** p_data, bool ignoreFault) {
-	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
-	if (status == RETURN_OK) {
-		*p_data = &store[storageId->pool_index][getRawPosition(*storageId)];
-	} else {
-		*p_data = NULL;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ConstAccessorPair LocalPool<NUMBER_OF_POOLS>::getData(
-		store_address_t storeId) {
-	uint8_t* tempData = nullptr;
-	ConstStorageAccessor constAccessor(storeId, this);
-	ReturnValue_t status = modifyData(storeId, &tempData, &constAccessor.size_);
-	constAccessor.constDataPointer = tempData;
-	return ConstAccessorPair(status, std::move(constAccessor));
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(store_address_t storeId,
-		ConstStorageAccessor& storeAccessor) {
-	uint8_t* tempData = nullptr;
-	ReturnValue_t status = modifyData(storeId, &tempData, &storeAccessor.size_);
-	storeAccessor.assignStore(this);
-	storeAccessor.constDataPointer = tempData;
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
-		store_address_t packet_id, const uint8_t** packet_ptr, size_t* size) {
-	uint8_t* tempData = nullptr;
-	ReturnValue_t status = modifyData(packet_id, &tempData, size);
-	*packet_ptr = tempData;
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline AccessorPair LocalPool<NUMBER_OF_POOLS>::modifyData(
-		store_address_t storeId) {
-	StorageAccessor accessor(storeId, this);
-	ReturnValue_t status = modifyData(storeId, &accessor.dataPointer,
-			&accessor.size_);
-	accessor.assignConstPointer();
-	return AccessorPair(status, std::move(accessor));
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
-		store_address_t storeId, StorageAccessor& storeAccessor) {
-	storeAccessor.assignStore(this);
-	ReturnValue_t status = modifyData(storeId, &storeAccessor.dataPointer,
-			&storeAccessor.size_);
-	storeAccessor.assignConstPointer();
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
-		store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
-	ReturnValue_t status = RETURN_FAILED;
-	if (packet_id.pool_index >= NUMBER_OF_POOLS) {
-		return ILLEGAL_STORAGE_ID;
-	}
-	if ((packet_id.packet_index >= n_elements[packet_id.pool_index])) {
-		return ILLEGAL_STORAGE_ID;
-	}
-	if (size_list[packet_id.pool_index][packet_id.packet_index]
-			!= STORAGE_FREE) {
-		uint32_t packet_position = getRawPosition(packet_id);
-		*packet_ptr = &store[packet_id.pool_index][packet_position];
-		*size = size_list[packet_id.pool_index][packet_id.packet_index];
-		status = RETURN_OK;
-	} else {
-		status = DATA_DOES_NOT_EXIST;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(
-		store_address_t packet_id) {
-	//if (getObjectId() == objects::IPC_STORE && packet_id.pool_index >= 3) {
-	//	debug << "Delete: Pool: " << std::dec << packet_id.pool_index << " Index: "
-	//	         << packet_id.packet_index << std::endl;
-	//}
-	ReturnValue_t status = RETURN_OK;
-	uint32_t page_size = getPageSize(packet_id.pool_index);
-	if ((page_size != 0)
-			&& (packet_id.packet_index < n_elements[packet_id.pool_index])) {
-		uint16_t packet_position = getRawPosition(packet_id);
-		uint8_t* ptr = &store[packet_id.pool_index][packet_position];
-		memset(ptr, 0, page_size);
-		//Set free list
-		size_list[packet_id.pool_index][packet_id.packet_index] = STORAGE_FREE;
-	} else {
-		//pool_index or packet_index is too large
-		sif::error << "LocalPool:deleteData failed." << std::endl;
-		status = ILLEGAL_STORAGE_ID;
-	}
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline void LocalPool<NUMBER_OF_POOLS>::clearStore() {
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		//TODO checkme
-		memset(size_list[n], STORAGE_FREE, (n_elements[n] * sizeof(**size_list)));
-	}
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::deleteData(uint8_t* ptr,
-		size_t size, store_address_t* storeId) {
-	store_address_t localId;
-	ReturnValue_t result = ILLEGAL_ADDRESS;
-	for (uint16_t n = 0; n < NUMBER_OF_POOLS; n++) {
-		//Not sure if new allocates all stores in order. so better be careful.
-		if ((store[n] <= ptr) && (&store[n][n_elements[n]*element_sizes[n]]) > ptr) {
-			localId.pool_index = n;
-			uint32_t deltaAddress = ptr - store[n];
-			// Getting any data from the right "block" is ok.
-			// This is necessary, as IF's sometimes don't point to the first
-			// element of an object.
-			localId.packet_index = deltaAddress / element_sizes[n];
-			result = deleteData(localId);
-			//if (deltaAddress % element_sizes[n] != 0) {
-			//	error << "Pool::deleteData: address not aligned!" << std::endl;
-			//}
-			break;
-		}
-	}
-	if (storeId != NULL) {
-		*storeId = localId;
-	}
-	return result;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
-	ReturnValue_t result = SystemObject::initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
-			objects::INTERNAL_ERROR_REPORTER);
-	if (internalErrorReporter == nullptr){
-		return ObjectManagerIF::INTERNAL_ERR_REPORTER_UNINIT;
-	}
-
-	//Check if any pool size is large than the maximum allowed.
-	for (uint8_t count = 0; count < NUMBER_OF_POOLS; count++) {
-		if (element_sizes[count] >= STORAGE_FREE) {
-			sif::error << "LocalPool::initialize: Pool is too large! "
-					"Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
-			return StorageManagerIF::POOL_TOO_LARGE;
-		}
-	}
-	return RETURN_OK;
-}
-
-#endif /* FSFW_STORAGEMANAGER_LOCALPOOL_TPP_ */
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
deleted file mode 100644
index 2be44ece..00000000
--- a/storagemanager/PoolManager.tpp
+++ /dev/null
@@ -1,56 +0,0 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
-#define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
-
-#ifndef FSFW_STORAGEMANAGER_POOLMANAGER_H_
-#error Include PoolManager.h before PoolManager.tpp!
-#endif
-
-template<uint8_t NUMBER_OF_POOLS>
-inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
-		const uint16_t element_sizes[NUMBER_OF_POOLS],
-		const uint16_t n_elements[NUMBER_OF_POOLS]) :
-		LocalPool<NUMBER_OF_POOLS>(setObjectId, element_sizes, n_elements, true) {
-	mutex = MutexFactory::instance()->createMutex();
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
-	MutexFactory::instance()->deleteMutex(mutex);
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
-		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
-	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
-			address,ignoreFault);
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
-		store_address_t packet_id) {
-	// debug << "PoolManager( " << translateObject(getObjectId()) <<
-	//       " )::deleteData from store " << packet_id.pool_index <<
-	//       ". id is "<< packet_id.packet_index << std::endl;
-	MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
-	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
-		size_t size, store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
-	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
-			size, storeId);
-	return status;
-}
-
-template<uint8_t NUMBER_OF_POOLS>
-inline void PoolManager<NUMBER_OF_POOLS>::setMutexTimeout(
-		uint32_t mutexTimeoutMs) {
-	this->mutexTimeout = mutexTimeoutMs;
-}
-
-#endif /* FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_ */

From c8ddfe598b7ccb1c4f7a4c67dbbd6aa27231137e Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 23:00:30 +0100
Subject: [PATCH 618/653] timemanager update

---
 timemanager/CCSDSTime.cpp        |  38 ++---
 timemanager/CCSDSTime.h          |  39 ++---
 timemanager/Clock.h              | 265 ++++++++++++++++---------------
 timemanager/Countdown.cpp        |  10 +-
 timemanager/Countdown.h          |  28 ++--
 timemanager/ReceivesTimeInfoIF.h |  13 +-
 timemanager/TimeMessage.cpp      |   7 -
 timemanager/TimeMessage.h        |  15 +-
 timemanager/TimeStamperIF.h      |   6 +-
 timemanager/clockDefinitions.h   |  13 ++
 10 files changed, 217 insertions(+), 217 deletions(-)
 create mode 100644 timemanager/clockDefinitions.h

diff --git a/timemanager/CCSDSTime.cpp b/timemanager/CCSDSTime.cpp
index f137e030..aefcac2e 100644
--- a/timemanager/CCSDSTime.cpp
+++ b/timemanager/CCSDSTime.cpp
@@ -1,9 +1,9 @@
 #include "CCSDSTime.h"
-
+#include <FSFWConfig.h>
 #include <cstdio>
 #include <cinttypes>
 #include <cmath>
-#include <FSFWConfig.h>
+
 
 CCSDSTime::CCSDSTime() {
 }
@@ -53,8 +53,8 @@ ReturnValue_t CCSDSTime::convertToCcsds(Ccs_mseconds* to,
 	return RETURN_OK;
 }
 
-ReturnValue_t CCSDSTime::convertFromCcsds(Clock::TimeOfDay_t* to, const uint8_t* from,
-		uint32_t length) {
+ReturnValue_t CCSDSTime::convertFromCcsds(Clock::TimeOfDay_t* to,
+        const uint8_t* from, size_t length) {
 	ReturnValue_t result;
 	if (length > 0xFF) {
 		return LENGTH_MISMATCH;
@@ -72,7 +72,7 @@ ReturnValue_t CCSDSTime::convertFromCcsds(Clock::TimeOfDay_t* to, const uint8_t*
 	case CDS:
 		return convertFromCDS(to, from, length);
 	case CCS: {
-		uint32_t temp = 0;
+		size_t temp = 0;
 		return convertFromCCS(to, from, &temp, length);
 	}
 
@@ -81,13 +81,13 @@ ReturnValue_t CCSDSTime::convertFromCcsds(Clock::TimeOfDay_t* to, const uint8_t*
 	}
 }
 
-ReturnValue_t CCSDSTime::convertFromCUC(Clock::TimeOfDay_t* to, const uint8_t* from,
-		uint8_t length) {
+ReturnValue_t CCSDSTime::convertFromCUC(Clock::TimeOfDay_t* to,
+        const uint8_t* from, uint8_t length) {
 	return UNSUPPORTED_TIME_FORMAT;
 }
 
-ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const uint8_t* from,
-		uint8_t length) {
+ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to,
+        const uint8_t* from, uint8_t length) {
 	timeval time;
 	ReturnValue_t result = convertFromCDS(&time, from, NULL, length);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -96,8 +96,8 @@ ReturnValue_t CCSDSTime::convertFromCDS(Clock::TimeOfDay_t* to, const uint8_t* f
 	return convertTimevalToTimeOfDay(to, &time);
 }
 
-ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* from,
-		uint32_t* foundLength, uint32_t maxLength) {
+ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to,
+        const uint8_t* from, size_t* foundLength, size_t maxLength) {
 	uint8_t subsecondsLength = *from & 0b111;
 	uint32_t totalLength = subsecondsLength + 8;
 	if (maxLength < totalLength) {
@@ -152,8 +152,8 @@ ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* f
 
 }
 
-ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t* from,
-		uint8_t length) {
+ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to,
+        const uint8_t* from, uint8_t length) {
 	if (length < 19) {
 		return RETURN_FAILED;
 	}
@@ -395,7 +395,7 @@ ReturnValue_t CCSDSTime::convertToCcsds(OBT_FLP* to, const timeval* from) {
 }
 
 ReturnValue_t CCSDSTime::convertFromCcsds(timeval* to, const uint8_t* from,
-		uint32_t* foundLength, uint32_t maxLength) {
+		size_t* foundLength, size_t maxLength) {
 	//We don't expect ascii here. SHOULDDO
 	uint8_t codeIdentification = (*from >> 4);
 	switch (codeIdentification) {
@@ -413,7 +413,7 @@ ReturnValue_t CCSDSTime::convertFromCcsds(timeval* to, const uint8_t* from,
 }
 
 ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, const uint8_t* from,
-		uint32_t* foundLength, uint32_t maxLength) {
+		size_t* foundLength, size_t maxLength) {
 	if (maxLength < 1) {
 		return INVALID_TIME_FORMAT;
 	}
@@ -491,7 +491,7 @@ ReturnValue_t CCSDSTime::convertTimevalToTimeOfDay(Clock::TimeOfDay_t* to,
 }
 
 ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const uint8_t* from,
-		uint32_t* foundLength, uint32_t maxLength) {
+		size_t* foundLength, size_t maxLength) {
 	uint8_t pField = *from;
 	from++;
 //Check epoch
@@ -556,12 +556,12 @@ ReturnValue_t CCSDSTime::convertFromCDS(timeval* to, const uint8_t* from,
 }
 
 ReturnValue_t CCSDSTime::convertFromCUC(timeval* to, uint8_t pField,
-		const uint8_t* from, uint32_t* foundLength, uint32_t maxLength) {
+		const uint8_t* from, size_t* foundLength, size_t maxLength) {
 	uint32_t secs = 0;
 	uint32_t subSeconds = 0;
 	uint8_t nCoarse = ((pField & 0b1100) >> 2) + 1;
 	uint8_t nFine = (pField & 0b11);
-	uint32_t totalLength = nCoarse + nFine;
+	size_t totalLength = nCoarse + nFine;
 	if (foundLength != NULL) {
 		*foundLength = totalLength;
 	}
@@ -593,7 +593,7 @@ uint32_t CCSDSTime::subsecondsToMicroseconds(uint16_t subseconds) {
 }
 
 ReturnValue_t CCSDSTime::convertFromCCS(timeval* to, const uint8_t* from,
-		uint32_t* foundLength, uint32_t maxLength) {
+		size_t* foundLength, size_t maxLength) {
 	Clock::TimeOfDay_t tempTime;
 	ReturnValue_t result = convertFromCCS(&tempTime, from, foundLength,
 			maxLength);
diff --git a/timemanager/CCSDSTime.h b/timemanager/CCSDSTime.h
index 89fcff92..e9e6957f 100644
--- a/timemanager/CCSDSTime.h
+++ b/timemanager/CCSDSTime.h
@@ -1,9 +1,10 @@
-#ifndef CCSDSTIME_H_
-#define CCSDSTIME_H_
+#ifndef FSFW_TIMEMANAGER_CCSDSTIME_H_
+#define FSFW_TIMEMANAGER_CCSDSTIME_H_
 
 // COULDDO: have calls in Clock.h which return time quality and use timespec accordingly
 
 #include "Clock.h"
+#include "clockDefinitions.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <cstdint>
 
@@ -154,8 +155,8 @@ public:
 	 * 		- @c LENGTH_MISMATCH if the length does not match the P Field
 	 * 		- @c INVALID_TIME_FORMAT if the format or a value is invalid
 	 */
-	static ReturnValue_t convertFromCcsds(Clock::TimeOfDay_t *to, uint8_t const *from,
-			uint32_t length);
+	static ReturnValue_t convertFromCcsds(Clock::TimeOfDay_t *to,
+	        uint8_t const *from, size_t length);
 
 	/**
 	 * not implemented yet
@@ -165,34 +166,34 @@ public:
 	 * @return
 	 */
 	static ReturnValue_t convertFromCcsds(timeval *to, uint8_t const *from,
-			uint32_t* foundLength, uint32_t maxLength);
+			size_t* foundLength, size_t maxLength);
 
-	static ReturnValue_t convertFromCUC(Clock::TimeOfDay_t *to, uint8_t const *from,
-			uint8_t length);
+	static ReturnValue_t convertFromCUC(Clock::TimeOfDay_t *to,
+	        uint8_t const *from, uint8_t length);
 
 	static ReturnValue_t convertFromCUC(timeval *to, uint8_t const *from,
-			uint32_t* foundLength, uint32_t maxLength);
+			size_t* foundLength, size_t maxLength);
 
 	static ReturnValue_t convertFromCUC(timeval *to, uint8_t pField,
-			uint8_t const *from, uint32_t* foundLength, uint32_t maxLength);
+			uint8_t const *from, size_t* foundLength, size_t maxLength);
 
 	static ReturnValue_t convertFromCCS(timeval *to, uint8_t const *from,
-			uint32_t* foundLength, uint32_t maxLength);
+			size_t* foundLength, size_t maxLength);
 
 	static ReturnValue_t convertFromCCS(timeval *to, uint8_t pField,
-			uint8_t const *from, uint32_t* foundLength, uint32_t maxLength);
+			uint8_t const *from, size_t* foundLength, size_t maxLength);
 
-	static ReturnValue_t convertFromCDS(Clock::TimeOfDay_t *to, uint8_t const *from,
-			uint8_t length);
+	static ReturnValue_t convertFromCDS(Clock::TimeOfDay_t *to,
+	        uint8_t const *from, uint8_t length);
 
 	static ReturnValue_t convertFromCDS(timeval *to, uint8_t const *from,
-			uint32_t* foundLength, uint32_t maxLength);
+			size_t* foundLength, size_t maxLength);
 
-	static ReturnValue_t convertFromCCS(Clock::TimeOfDay_t *to, uint8_t const *from,
-			uint32_t* foundLength, uint32_t maxLength);
+	static ReturnValue_t convertFromCCS(Clock::TimeOfDay_t *to,
+	        uint8_t const *from, size_t* foundLength, size_t maxLength);
 
-	static ReturnValue_t convertFromASCII(Clock::TimeOfDay_t *to, uint8_t const *from,
-			uint8_t length);
+	static ReturnValue_t convertFromASCII(Clock::TimeOfDay_t *to,
+	        uint8_t const *from, uint8_t length);
 
 	static uint32_t subsecondsToMicroseconds(uint16_t subseconds);
 private:
@@ -230,4 +231,4 @@ private:
 			timeval* from);
 };
 
-#endif /* CCSDSTIME_H_ */
+#endif /* FSFW_TIMEMANAGER_CCSDSTIME_H_ */
diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index d8b06fda..f4ed847a 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -1,153 +1,166 @@
 #ifndef FSFW_TIMEMANAGER_CLOCK_H_
 #define FSFW_TIMEMANAGER_CLOCK_H_
 
+#include "clockDefinitions.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../ipc/MutexHelper.h"
+#include "../ipc/MutexFactory.h"
 #include "../globalfunctions/timevalOperations.h"
 
 #include <cstdint>
 #include <sys/time.h>
 
-//! Don't use these for time points, type is not large enough for UNIX epoch.
-using dur_millis_t = uint32_t;
-
 class Clock {
 public:
-	typedef struct {
-	  uint32_t year; //!< Year, A.D.
-	  uint32_t month; //!< Month, 1 .. 12.
-	  uint32_t day; //!< Day, 1 .. 31.
-	  uint32_t hour; //!< Hour, 0 .. 23.
-	  uint32_t minute; //!< Minute, 0 .. 59.
-	  uint32_t second; //!< Second, 0 .. 59.
-	  uint32_t usecond; //!< Microseconds, 0 .. 999999
-	}   TimeOfDay_t;
+    typedef struct {
+        uint32_t year; //!< Year, A.D.
+        uint32_t month; //!< Month, 1 .. 12.
+        uint32_t day; //!< Day, 1 .. 31.
+        uint32_t hour; //!< Hour, 0 .. 23.
+        uint32_t minute; //!< Minute, 0 .. 59.
+        uint32_t second; //!< Second, 0 .. 59.
+        uint32_t usecond; //!< Microseconds, 0 .. 999999
+    } TimeOfDay_t;
 
-	/**
-	 * This method returns the number of clock ticks per second.
-	 * In RTEMS, this is typically 1000.
-	 * @return	The number of ticks.
-	 *
-	 * @deprecated, we should not worry about ticks, but only time
-	 */
-	static uint32_t getTicksPerSecond(void);
-	/**
-	 * This system call sets the system time.
-	 * To set the time, it uses a TimeOfDay_t struct.
-	 * @param time The struct with the time settings to set.
-	 * @return	-@c RETURN_OK on success. Otherwise, the OS failure code
-	 * 				is returned.
-	 */
-	static ReturnValue_t setClock(const TimeOfDay_t* time);
-	/**
-	 * This system call sets the system time.
-	 * To set the time, it uses a timeval struct.
-	 * @param time The struct with the time settings to set.
-	 * @return	-@c RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t setClock(const timeval* time);
-	/**
-	 * This system call returns the current system clock in timeval format.
-	 * The timval format has the fields @c tv_sec with seconds and @c tv_usec with
-	 * microseconds since an OS-defined epoch.
-	 * @param time	A pointer to a timeval struct where the current time is stored.
-	 * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t getClock_timeval(timeval* time);
+    /**
+     * This method returns the number of clock ticks per second.
+     * In RTEMS, this is typically 1000.
+     * @return	The number of ticks.
+     *
+     * @deprecated, we should not worry about ticks, but only time
+     */
+    static uint32_t getTicksPerSecond(void);
+    /**
+     * This system call sets the system time.
+     * To set the time, it uses a TimeOfDay_t struct.
+     * @param time The struct with the time settings to set.
+     * @return	-@c RETURN_OK on success. Otherwise, the OS failure code
+     * 				is returned.
+     */
+    static ReturnValue_t setClock(const TimeOfDay_t* time);
+    /**
+     * This system call sets the system time.
+     * To set the time, it uses a timeval struct.
+     * @param time The struct with the time settings to set.
+     * @return	-@c RETURN_OK on success. Otherwise, the OS failure code is returned.
+     */
+    static ReturnValue_t setClock(const timeval* time);
+    /**
+     * This system call returns the current system clock in timeval format.
+     * The timval format has the fields @c tv_sec with seconds and @c tv_usec with
+     * microseconds since an OS-defined epoch.
+     * @param time	A pointer to a timeval struct where the current time is stored.
+     * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
+     */
+    static ReturnValue_t getClock_timeval(timeval* time);
 
-	/**
-	 * Get the time since boot in a timeval struct
-	 *
-	 * @param[out] time A pointer to a timeval struct where the uptime is stored.
-	 * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 *
-	 * @deprecated, I do not think this should be able to fail, use timeval getUptime()
-	 */
-	static ReturnValue_t getUptime(timeval* uptime);
+    /**
+     * Get the time since boot in a timeval struct
+     *
+     * @param[out] time A pointer to a timeval struct where the uptime is stored.
+     * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
+     *
+     * @deprecated, I do not think this should be able to fail, use timeval getUptime()
+     */
+    static ReturnValue_t getUptime(timeval* uptime);
 
-	static timeval getUptime();
+    static timeval getUptime();
 
-	/**
-	 * Get the time since boot in milliseconds
-	 *
-	 * This value can overflow! Still, it can be used to calculate time intervalls
-	 * between two calls up to 49 days by always using uint32_t in the calculation
-	 *
-	 * @param ms uptime in ms
-	 * @return RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t getUptime(uint32_t* uptimeMs);
+    /**
+     * Get the time since boot in milliseconds
+     *
+     * This value can overflow! Still, it can be used to calculate time intervalls
+     * between two calls up to 49 days by always using uint32_t in the calculation
+     *
+     * @param ms uptime in ms
+     * @return RETURN_OK on success. Otherwise, the OS failure code is returned.
+     */
+    static ReturnValue_t getUptime(uint32_t* uptimeMs);
 
-	/**
-	 * Returns the time in microseconds since an OS-defined epoch.
-	 * The time is returned in a 64 bit unsigned integer.
-	 * @param time A pointer to a 64 bit unisigned integer where the data is stored.
-	 * @return \c RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t getClock_usecs(uint64_t* time);
-	/**
-	 * Returns the time in a TimeOfDay_t struct.
-	 * @param time A pointer to a TimeOfDay_t struct.
-	 * @return \c RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t getDateAndTime(TimeOfDay_t* time);
+    /**
+     * Returns the time in microseconds since an OS-defined epoch.
+     * The time is returned in a 64 bit unsigned integer.
+     * @param time A pointer to a 64 bit unisigned integer where the data is stored.
+     * @return
+     *  - @c RETURN_OK on success.
+     *  - Otherwise, the OS failure code is returned.
+     */
+    static ReturnValue_t getClock_usecs(uint64_t* time);
+    /**
+     * Returns the time in a TimeOfDay_t struct.
+     * @param time A pointer to a TimeOfDay_t struct.
+     * @return
+     *  - @c RETURN_OK on success.
+     *  - Otherwise, the OS failure code is returned.
+     */
+    static ReturnValue_t getDateAndTime(TimeOfDay_t* time);
 
-	/**
-	 * Converts a time of day struct to POSIX seconds.
-	 * @param time The time of day as input
-	 * @param timeval The corresponding seconds since the epoch.
-	 * @return \c RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t convertTimeOfDayToTimeval(const TimeOfDay_t* from,
-			timeval* to);
+    /**
+     * Converts a time of day struct to POSIX seconds.
+     * @param time The time of day as input
+     * @param timeval The corresponding seconds since the epoch.
+     * @return
+     *  - @c RETURN_OK on success.
+     *  - Otherwise, the OS failure code is returned.
+     */
+    static ReturnValue_t convertTimeOfDayToTimeval(const TimeOfDay_t* from,
+            timeval* to);
 
-	/**
-	 * Converts a time represented as seconds and subseconds since unix epoch to days since J2000
-	 *
-	 * @param time seconds since unix epoch
-	 * @param[out] JD2000 days since J2000
-	 * @return \c RETURN_OK
-	 */
-	static ReturnValue_t convertTimevalToJD2000(timeval time, double* JD2000);
+    /**
+     * Converts a time represented as seconds and subseconds since unix
+     * epoch to days since J2000
+     *
+     * @param time seconds since unix epoch
+     * @param[out] JD2000 days since J2000
+     * @return @c RETURN_OK
+     */
+    static ReturnValue_t convertTimevalToJD2000(timeval time, double* JD2000);
 
-	/**
-	 * Calculates and adds the offset between UTC and TT
-	 *
-	 * Depends on the leap seconds to be set correctly.
-	 *
-	 * @param utc timeval, corresponding to UTC time
-	 * @param[out] tt timeval, corresponding to Terrestial Time
-	 * @return \c RETURN_OK on success, \c RETURN_FAILED if leapSeconds are not set
-	 */
-	static ReturnValue_t convertUTCToTT(timeval utc, timeval* tt);
+    /**
+     * Calculates and adds the offset between UTC and TT
+     *
+     * Depends on the leap seconds to be set correctly.
+     *
+     * @param utc timeval, corresponding to UTC time
+     * @param[out] tt timeval, corresponding to Terrestial Time
+     * @return
+     *  - @c RETURN_OK on success
+     *  - @c RETURN_FAILED if leapSeconds are not set
+     */
+    static ReturnValue_t convertUTCToTT(timeval utc, timeval* tt);
 
-	/**
-	 * Set the Leap Seconds since 1972
-	 *
-	 * @param leapSeconds_
-	 * @return \c RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t setLeapSeconds(const uint16_t leapSeconds_);
+    /**
+     * Set the Leap Seconds since 1972
+     *
+     * @param leapSeconds_
+     * @return
+     *  - @c RETURN_OK on success.
+     *  - Otherwise, the OS failure code is returned.
+     */
+    static ReturnValue_t setLeapSeconds(const uint16_t leapSeconds_);
 
-	/**
-	 * Get the Leap Seconds since 1972
-	 *
-	 * Must be set before!
-	 *
-	 * @param[out] leapSeconds_
-	 * @return \c RETURN_OK on success. Otherwise, the OS failure code is returned.
-	 */
-	static ReturnValue_t getLeapSeconds(uint16_t *leapSeconds_);
+    /**
+     * Get the Leap Seconds since 1972
+     *
+     * Must be set before!
+     *
+     * @param[out] leapSeconds_
+     * @return
+     *  - @c RETURN_OK on success.
+     *  - Otherwise, the OS failure code is returned.
+     */
+    static ReturnValue_t getLeapSeconds(uint16_t *leapSeconds_);
 
-	/**
-	 * Function to check and create the Mutex for the clock
-	 * @return \c RETURN_OK on success. Otherwise \c RETURN_FAILED if not able to create one
-	 */
-	static ReturnValue_t checkOrCreateClockMutex();
+    /**
+     * Function to check and create the Mutex for the clock
+     * @return
+     *  - @c RETURN_OK on success.
+     *  - Otherwise @c RETURN_FAILED if not able to create one
+     */
+    static ReturnValue_t checkOrCreateClockMutex();
 
 private:
-	static MutexIF* timeMutex;
-	static uint16_t leapSeconds;
+    static MutexIF* timeMutex;
+    static uint16_t leapSeconds;
 };
 
 
diff --git a/timemanager/Countdown.cpp b/timemanager/Countdown.cpp
index d5695730..20b56189 100644
--- a/timemanager/Countdown.cpp
+++ b/timemanager/Countdown.cpp
@@ -1,14 +1,6 @@
-/**
- * @file	Countdown.cpp
- * @brief	This file defines the Countdown class.
- * @date	21.03.2013
- * @author	baetz
- */
-
-
 #include "Countdown.h"
 
-Countdown::Countdown(uint32_t initialTimeout) : startTime(0), timeout(initialTimeout) {
+Countdown::Countdown(uint32_t initialTimeout): timeout(initialTimeout) {
 }
 
 Countdown::~Countdown() {
diff --git a/timemanager/Countdown.h b/timemanager/Countdown.h
index b86d9fe0..f6a41e73 100644
--- a/timemanager/Countdown.h
+++ b/timemanager/Countdown.h
@@ -1,18 +1,13 @@
-/**
- * @file	Countdown.h
- * @brief	This file defines the Countdown class.
- * @date	21.03.2013
- * @author	baetz
- */
-
-#ifndef COUNTDOWN_H_
-#define COUNTDOWN_H_
+#ifndef FSFW_TIMEMANAGER_COUNTDOWN_H_
+#define FSFW_TIMEMANAGER_COUNTDOWN_H_
 
 #include "Clock.h"
 
+/**
+ * @brief	This file defines the Countdown class.
+ * @author	baetz
+ */
 class Countdown {
-private:
-	uint32_t startTime;
 public:
 	uint32_t timeout;
 	Countdown(uint32_t initialTimeout = 0);
@@ -23,9 +18,14 @@ public:
 
 	bool isBusy() const;
 
-	ReturnValue_t resetTimer(); //!< Use last set timeout value and restart timer.
+	//!< Use last set timeout value and restart timer.
+	ReturnValue_t resetTimer();
 
-	void timeOut(); //!< Make hasTimedOut() return true
+	//!< Make hasTimedOut() return true
+	void timeOut();
+
+private:
+	uint32_t startTime = 0;
 };
 
-#endif /* COUNTDOWN_H_ */
+#endif /* FSFW_TIMEMANAGER_COUNTDOWN_H_ */
diff --git a/timemanager/ReceivesTimeInfoIF.h b/timemanager/ReceivesTimeInfoIF.h
index 14a750c5..c1247a42 100644
--- a/timemanager/ReceivesTimeInfoIF.h
+++ b/timemanager/ReceivesTimeInfoIF.h
@@ -1,12 +1,7 @@
-/**
- * @file	ReceivesTimeInfoIF.h
- * @brief	This file defines the ReceivesTimeInfoIF class.
- * @date	26.02.2013
- * @author	baetz
- */
+#ifndef FSFW_TIMEMANAGER_RECEIVESTIMEINFOIF_H_
+#define FSFW_TIMEMANAGER_RECEIVESTIMEINFOIF_H_
 
-#ifndef RECEIVESTIMEINFOIF_H_
-#define RECEIVESTIMEINFOIF_H_
+#include "../ipc/MessageQueueSenderIF.h"
 
 /**
  * This is a Interface for classes that receive timing information
@@ -28,4 +23,4 @@ public:
 };
 
 
-#endif /* RECEIVESTIMEINFOIF_H_ */
+#endif /* FSFW_TIMEMANAGER_RECEIVESTIMEINFOIF_H_ */
diff --git a/timemanager/TimeMessage.cpp b/timemanager/TimeMessage.cpp
index 5a9a416b..a1042efe 100644
--- a/timemanager/TimeMessage.cpp
+++ b/timemanager/TimeMessage.cpp
@@ -1,10 +1,3 @@
-/**
- * @file	TimeMessage.cpp
- * @brief	This file defines the TimeMessage class.
- * @date	26.02.2013
- * @author	baetz
- */
-
 #include "TimeMessage.h"
 
 TimeMessage::TimeMessage() {
diff --git a/timemanager/TimeMessage.h b/timemanager/TimeMessage.h
index 116002e6..f5ac3e14 100644
--- a/timemanager/TimeMessage.h
+++ b/timemanager/TimeMessage.h
@@ -1,15 +1,8 @@
-/**
- * @file	TimeMessage.h
- * @brief	This file defines the TimeMessage class.
- * @date	26.02.2013
- * @author	baetz
- */
+#ifndef FSFW_TIMEMANAGER_TIMEMESSAGE_H_
+#define FSFW_TIMEMANAGER_TIMEMESSAGE_H_
 
-#ifndef TIMEMESSAGE_H_
-#define TIMEMESSAGE_H_
-
-#include "../ipc/MessageQueueMessage.h"
 #include "Clock.h"
+#include "../ipc/MessageQueueMessage.h"
 #include <cstring>
 
 class TimeMessage : public MessageQueueMessage {
@@ -53,4 +46,4 @@ public:
 	uint32_t getCounterValue();
 };
 
-#endif /* TIMEMESSAGE_H_ */
+#endif /* FSFW_TIMEMANAGER_TIMEMESSAGE_H_ */
diff --git a/timemanager/TimeStamperIF.h b/timemanager/TimeStamperIF.h
index 96011088..57b7f014 100644
--- a/timemanager/TimeStamperIF.h
+++ b/timemanager/TimeStamperIF.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_TIMEMANAGER_TIMESTAMPERIF_H_
-#define FRAMEWORK_TIMEMANAGER_TIMESTAMPERIF_H_
+#ifndef FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
+#define FSFW_TIMEMANAGER_TIMESTAMPERIF_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 
@@ -25,4 +25,4 @@ public:
 
 
 
-#endif /* FRAMEWORK_TIMEMANAGER_TIMESTAMPERIF_H_ */
+#endif /* FSFW_TIMEMANAGER_TIMESTAMPERIF_H_ */
diff --git a/timemanager/clockDefinitions.h b/timemanager/clockDefinitions.h
new file mode 100644
index 00000000..bba6e3ca
--- /dev/null
+++ b/timemanager/clockDefinitions.h
@@ -0,0 +1,13 @@
+#ifndef FSFW_TIMEMANAGER_CLOCKDEFINITIONS_H_
+#define FSFW_TIMEMANAGER_CLOCKDEFINITIONS_H_
+
+#include <cstdint>
+
+// I'd also like to include the TimeOfDay_t struct here, but that would
+// break code which uses Clock::TimeOfDay_t. Solution would be to use
+// a Clock namespace instead of class with static functions.
+
+//! Don't use these for time points, type is not large enough for UNIX epoch.
+using dur_millis_t = uint32_t;
+
+#endif /* FSFW_TIMEMANAGER_CLOCKDEFINITIONS_H_ */

From f128a1dc3d33c7bd22919b13240230373843f13c Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 15 Dec 2020 23:44:43 +0100
Subject: [PATCH 619/653] made datalinklayer optional

---
 CMakeLists.txt | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 09760f8e..c8092629 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,7 +36,11 @@ add_subdirectory(action)
 add_subdirectory(container)
 add_subdirectory(controller)
 add_subdirectory(coordinates)
+
+if(FSFW_USE_DATALINKLAYER)
 add_subdirectory(datalinklayer)
+endif()
+
 add_subdirectory(datapool)
 add_subdirectory(datapoollocal)
 add_subdirectory(housekeeping)

From ac40b1c966bb025ce433dc55554100de29f77d5a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 17 Dec 2020 11:46:50 +0100
Subject: [PATCH 620/653] cmake list formatting

---
 CMakeLists.txt | 49 ++++++++++++++++++++++++++++++-------------------
 1 file changed, 30 insertions(+), 19 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c8092629..fbbe386b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,27 +3,38 @@ cmake_minimum_required(VERSION 3.13)
 set(LIB_FSFW_NAME fsfw)
 add_library(${LIB_FSFW_NAME})
 
-# Set options for FSFW OSAL selection.
-if(UNIX)
-set(OS_FSFW  "linux" CACHE STRING "OS abstraction layer used in the FSFW")
-elseif(WIN32)
-set(OS_FSFW  "host" CACHE STRING "OS abstraction layer used in the FSFW")
-endif()
-
 set_property(CACHE OS_FSFW PROPERTY STRINGS host linux rtems freertos)
 
+if(NOT OS_FSFW)
+	message(STATUS "No OS for FSFW via OS_FSFW set. Assuming host OS")
+	# Assume host OS and autodetermine from OS_FSFW
+	if(UNIX)
+		set(OS_FSFW  "linux" 
+			CACHE STRING 
+			"OS abstraction layer used in the FSFW"
+		)
+	elseif(WIN32)
+		set(OS_FSFW  "host" 
+			CACHE STRING "OS abstraction layer used in the FSFW"
+		)
+	endif()
+
+endif
+
 if(${OS_FSFW} STREQUAL host)
-set(OS_FSFW_NAME "Host")
+	set(OS_FSFW_NAME "Host")
 elseif(${OS_FSFW} STREQUAL linux)
-set(OS_FSFW_NAME "Linux")
+	set(OS_FSFW_NAME "Linux")
 elseif(${OS_FSFW} STREQUAL  freertos)
-set(OS_FSFW_NAME "FreeRTOS")
+	set(OS_FSFW_NAME "FreeRTOS")
 elseif(${OS_FSFW} STREQUAL rtems)
-set(OS_FSFW_NAME "RTEMS")
+	set(OS_FSFW_NAME "RTEMS")
 else()
-message(WARNING "Invalid operating system for FSFW specified! Setting to host..")
-set(OS_FSFW_NAME "Host")
-set(OS_FSFW "host")
+	message(WARNING 
+		"Invalid operating system for FSFW specified! Setting to host.."
+	)
+	set(OS_FSFW_NAME "Host")
+	set(OS_FSFW "host")
 endif()
 
 message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system")
@@ -38,7 +49,7 @@ add_subdirectory(controller)
 add_subdirectory(coordinates)
 
 if(FSFW_USE_DATALINKLAYER)
-add_subdirectory(datalinklayer)
+	add_subdirectory(datalinklayer)
 endif()
 
 add_subdirectory(datapool)
@@ -61,7 +72,7 @@ add_subdirectory(power)
 add_subdirectory(pus)
 
 if(FSFW_USE_RMAP)
-add_subdirectory(rmap)
+	add_subdirectory(rmap)
 endif()
 
 add_subdirectory(serialize)
@@ -79,9 +90,9 @@ add_subdirectory(tmtcservices)
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it.
 # If this is not given, we include the default configuration and emit a warning.
 if(NOT FSFW_CONFIG_PATH)
-message(WARNING "Flight Software Framework configuration path not set!")
-message(WARNING "Setting default configuration!")
-add_subdirectory(defaultcfg/fsfwconfig)
+	message(WARNING "Flight Software Framework configuration path not set!")
+	message(WARNING "Setting default configuration!")
+	add_subdirectory(defaultcfg/fsfwconfig)
 endif()
 
 # Required include paths to compile the FSFW

From 62b5c19063c6b55f08aae54bc93e879619bd1a06 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 17 Dec 2020 20:18:16 +0100
Subject: [PATCH 621/653] small fix

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fbbe386b..5cb4b28e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,7 +19,7 @@ if(NOT OS_FSFW)
 		)
 	endif()
 
-endif
+endif()
 
 if(${OS_FSFW} STREQUAL host)
 	set(OS_FSFW_NAME "Host")

From c0099481a16897273b10a0c8b59c8f2504392b3d Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 19 Dec 2020 00:21:08 +0100
Subject: [PATCH 622/653] added freertos cmakelists

---
 osal/FreeRTOS/CMakeLists.txt | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 osal/FreeRTOS/CMakeLists.txt

diff --git a/osal/FreeRTOS/CMakeLists.txt b/osal/FreeRTOS/CMakeLists.txt
new file mode 100644
index 00000000..a7b1338f
--- /dev/null
+++ b/osal/FreeRTOS/CMakeLists.txt
@@ -0,0 +1,18 @@
+target_sources(${LIB_FSFW_NAME} 
+	PRIVATE 
+		Clock.cpp
+		FixedTimeslotTask.cpp
+		BinarySemaphore.cpp
+		BinSemaphUsingTask.cpp
+		CountingSemaphore.cpp
+		CountingSemaphUsingTask.cpp
+		MessageQueue.cpp
+		Mutex.cpp
+		MutexFactory.cpp
+		PeriodicTask.cpp
+		QueueFactory.cpp
+		QueueMapManager.cpp
+		SemaphoreFactory.cpp
+		TaskFactory.cpp
+		Timekeeper.cpp
+)
\ No newline at end of file

From e030d7ed97609c377af8540b7754b08bbb7c87ef Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 19 Dec 2020 02:29:22 +0100
Subject: [PATCH 623/653] correct interface and private includes

---
 CMakeLists.txt               | 24 +++++++++++++++++++++---
 osal/FreeRTOS/CMakeLists.txt | 15 +++++++++++++--
 2 files changed, 34 insertions(+), 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5cb4b28e..a3ca3e0d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -95,8 +95,26 @@ if(NOT FSFW_CONFIG_PATH)
 	add_subdirectory(defaultcfg/fsfwconfig)
 endif()
 
+# FSFW might be part of a possibly complicated folder structure, so we 
+# extract the absolute path of the fsfwconfig folder.
+if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
+	set(${FSFW_CONFIG_PATH_ABSOLUTE} ${FSFW_CONFIG_PATH})
+else()
+	get_filename_component(${FSFW_CONFIG_PATH_ABSOLUTE} 
+		${FSFW_CONFIG_PATH} ABSOLUTE
+	)
+endif()
+
 # Required include paths to compile the FSFW
-target_include_directories(${LIB_FSFW_NAME} 
-	INTERFACE 
-		${FSFW_CONFIG_PATH}
+target_include_directories(${LIB_FSFW_NAME} INTERFACE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
+)
+
+# Includes path required to compile FSFW itself as well
+# We assume that the fsfwconfig folder uses include relative to the project
+# root here!
+target_include_directories(${LIB_FSFW_NAME} PRIVATE 
+	${CMAKE_SOURCE_DIR}
+	${FSFW_CONFIG_PATH_ABSOLUTE}
 )
diff --git a/osal/FreeRTOS/CMakeLists.txt b/osal/FreeRTOS/CMakeLists.txt
index a7b1338f..c310c5cf 100644
--- a/osal/FreeRTOS/CMakeLists.txt
+++ b/osal/FreeRTOS/CMakeLists.txt
@@ -11,8 +11,19 @@ target_sources(${LIB_FSFW_NAME}
 		MutexFactory.cpp
 		PeriodicTask.cpp
 		QueueFactory.cpp
-		QueueMapManager.cpp
 		SemaphoreFactory.cpp
 		TaskFactory.cpp
 		Timekeeper.cpp
-)
\ No newline at end of file
+)
+
+# FreeRTOS is required to link the FSFW now. It is recommended to compile 
+# FreeRTOS as a static library and set LIB_OS_NAME to the target name of the 
+# library.
+if(NOT LIB_OS_NAME)
+	message(FATAL_ERROR 
+		"FreeRTOS needs to be linked as a target and "
+		"LIB_OS_NAME needs to be set to the target"
+	)
+endif()
+
+target_link_libraries(${LIB_FSWFW_NAME} ${LIB_OS_NAME})
\ No newline at end of file

From be20978998bc2d6852cd7ecdc6d3061354e13104 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 19 Dec 2020 12:10:29 +0100
Subject: [PATCH 624/653] better path determination

---
 CMakeLists.txt | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a3ca3e0d..21f4c90e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -98,10 +98,10 @@ endif()
 # FSFW might be part of a possibly complicated folder structure, so we 
 # extract the absolute path of the fsfwconfig folder.
 if(IS_ABSOLUTE ${FSFW_CONFIG_PATH})
-	set(${FSFW_CONFIG_PATH_ABSOLUTE} ${FSFW_CONFIG_PATH})
+	set(FSFW_CONFIG_PATH_ABSOLUTE ${FSFW_CONFIG_PATH})
 else()
-	get_filename_component(${FSFW_CONFIG_PATH_ABSOLUTE} 
-		${FSFW_CONFIG_PATH} ABSOLUTE
+	get_filename_component(FSFW_CONFIG_PATH_ABSOLUTE
+		${FSFW_CONFIG_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR}
 	)
 endif()
 

From b8e703ca833295d5dbfaadf20bb45b358295b6ff Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 19 Dec 2020 13:04:16 +0100
Subject: [PATCH 625/653] linked against OS

---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 21f4c90e..5660443f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,6 +27,7 @@ elseif(${OS_FSFW} STREQUAL linux)
 	set(OS_FSFW_NAME "Linux")
 elseif(${OS_FSFW} STREQUAL  freertos)
 	set(OS_FSFW_NAME "FreeRTOS")
+	target_link_libraries(${LIB_FSFW_NAME} ${LIB_OS_NAME})
 elseif(${OS_FSFW} STREQUAL rtems)
 	set(OS_FSFW_NAME "RTEMS")
 else()

From 8ede00fdf18c8a0fb7afd808a2d76d69bd5c23a9 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 19 Dec 2020 18:38:02 +0100
Subject: [PATCH 626/653] small bugfixes

---
 CMakeLists.txt               | 4 ++++
 osal/FreeRTOS/CMakeLists.txt | 1 +
 2 files changed, 5 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5660443f..0497a42f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -119,3 +119,7 @@ target_include_directories(${LIB_FSFW_NAME} PRIVATE
 	${CMAKE_SOURCE_DIR}
 	${FSFW_CONFIG_PATH_ABSOLUTE}
 )
+
+target_compile_options(${LIB_FSFW_NAME} PRIVATE 
+	${ABI_FLAGS}
+)
diff --git a/osal/FreeRTOS/CMakeLists.txt b/osal/FreeRTOS/CMakeLists.txt
index c310c5cf..95462010 100644
--- a/osal/FreeRTOS/CMakeLists.txt
+++ b/osal/FreeRTOS/CMakeLists.txt
@@ -14,6 +14,7 @@ target_sources(${LIB_FSFW_NAME}
 		SemaphoreFactory.cpp
 		TaskFactory.cpp
 		Timekeeper.cpp
+		TaskManagement.cpp
 )
 
 # FreeRTOS is required to link the FSFW now. It is recommended to compile 

From d186b70d2edf5265f99e6d933ce90ccf5faf641f Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 19 Dec 2020 18:41:28 +0100
Subject: [PATCH 627/653] comment added

---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0497a42f..b2c55d95 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -120,6 +120,7 @@ target_include_directories(${LIB_FSFW_NAME} PRIVATE
 	${FSFW_CONFIG_PATH_ABSOLUTE}
 )
 
+# Machine specific options can be set with the ABI_FLAGS variable.
 target_compile_options(${LIB_FSFW_NAME} PRIVATE 
 	${ABI_FLAGS}
 )

From c64a9654ea54ab843406b9966fffd9f26c76e17a Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sat, 19 Dec 2020 22:51:10 +0100
Subject: [PATCH 628/653] xcompile update

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b2c55d95..2fc33e58 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -38,7 +38,7 @@ else()
 	set(OS_FSFW "host")
 endif()
 
-message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system")
+message(STATUS "Compiling FSFW for the ${OS_FSFW_NAME} operating system.")
 
 # Options to exclude parts of the FSFW from compilation.
 option(FSFW_USE_RMAP "Compile with RMAP" ON)

From ebe7f02fc4c65ac4f28825d54671fe402e61cd9f Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 20 Dec 2020 01:56:21 +0100
Subject: [PATCH 629/653] better error handling

---
 osal/windows/TcWinUdpPollingTask.cpp | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/osal/windows/TcWinUdpPollingTask.cpp b/osal/windows/TcWinUdpPollingTask.cpp
index 7b54bb2c..06deafd1 100644
--- a/osal/windows/TcWinUdpPollingTask.cpp
+++ b/osal/windows/TcWinUdpPollingTask.cpp
@@ -119,7 +119,7 @@ void TcWinUdpPollingTask::setTimeout(double timeoutSeconds) {
 	int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
 			reinterpret_cast<const char*>(&timeoutMs), sizeof(DWORD));
 	if(result == -1) {
-		sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
+		sif::error << "TcWinUdpPollingTask::TcSocketPollingTask: Setting "
 				"receive timeout failed with " << strerror(errno) << std::endl;
 	}
 }
@@ -128,17 +128,22 @@ void TcWinUdpPollingTask::handleReadError() {
     int error = WSAGetLastError();
     switch(error) {
     case(WSANOTINITIALISED): {
-        sif::info << "TmTcWinUdpBridge::handleReadError: WSANOTINITIALISED: "
+        sif::info << "TcWinUdpPollingTask::handleReadError: WSANOTINITIALISED: "
                 << "WSAStartup(...) call " << "necessary" << std::endl;
         break;
     }
     case(WSAEFAULT): {
-        sif::info << "TmTcWinUdpBridge::handleReadError: WSADEFAULT: "
+        sif::info << "TcWinUdpPollingTask::handleReadError: WSADEFAULT: "
                 << "Bad address " << std::endl;
         break;
     }
+    case(WSAEINVAL): {
+        sif::info << "TcWinUdpPollingTask::handleReadError: WSAEINVAL: "
+                << "Invalid input parameters. " << std::endl;
+        break;
+    }
     default: {
-        sif::info << "TmTcWinUdpBridge::handleReadError: Error code: "
+        sif::info << "TcWinUdpPollingTask::handleReadError: Error code: "
                 << error << std::endl;
         break;
     }

From a0d5b2331183d40edacc4a81a6022573d00a18a0 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sun, 20 Dec 2020 02:09:08 +0100
Subject: [PATCH 630/653] small improvement

---
 osal/host/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/osal/host/CMakeLists.txt b/osal/host/CMakeLists.txt
index d73e6f27..aa32990b 100644
--- a/osal/host/CMakeLists.txt
+++ b/osal/host/CMakeLists.txt
@@ -13,9 +13,9 @@ target_sources(${LIB_FSFW_NAME}
 )
 
 if(UNIX)
-	add_definitions(-pthread)
 	target_link_libraries(${LIB_FSFW_NAME} 
 	PRIVATE
 		rt
+		pthread
 	)
 endif()
\ No newline at end of file

From 3540adf022c792c5ba3470482a2cc4e83aad96fa Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 20 Dec 2020 13:21:12 +0100
Subject: [PATCH 631/653] added warning flags

---
 CMakeLists.txt | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2fc33e58..084bd4ae 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -106,6 +106,15 @@ else()
 	)
 endif()
 
+set(WARNING_FLAGS
+	-Wall
+	-Wextra
+	-Wshadow=local
+	-Wimplicit-fallthrough=1
+	-Wno-unused-parameter
+	-Wno-psabi
+)
+
 # Required include paths to compile the FSFW
 target_include_directories(${LIB_FSFW_NAME} INTERFACE 
 	${CMAKE_SOURCE_DIR}
@@ -122,5 +131,6 @@ target_include_directories(${LIB_FSFW_NAME} PRIVATE
 
 # Machine specific options can be set with the ABI_FLAGS variable.
 target_compile_options(${LIB_FSFW_NAME} PRIVATE 
+	${WARNING_FLAGS}
 	${ABI_FLAGS}
 )

From d8e5000d47c705e4527f9cd8fe5c5960bdcea64f Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 20 Dec 2020 15:32:03 +0100
Subject: [PATCH 632/653] msvc tests

---
 CMakeLists.txt                            | 23 +++++++++++++++--------
 coordinates/Sgp4Propagator.h              |  2 ++
 globalfunctions/timevalOperations.h       |  6 ++++++
 osal/Endiness.h                           | 14 ++++++++++++++
 serviceinterface/ServiceInterfaceBuffer.h |  2 +-
 timemanager/Clock.h                       |  2 ++
 6 files changed, 40 insertions(+), 9 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 084bd4ae..02849ca4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -106,14 +106,20 @@ else()
 	)
 endif()
 
-set(WARNING_FLAGS
-	-Wall
-	-Wextra
-	-Wshadow=local
-	-Wimplicit-fallthrough=1
-	-Wno-unused-parameter
-	-Wno-psabi
-)
+if(CMAKE_COMPILER_IS_GNUCXX)
+	set(WARNING_FLAGS
+		-Wall
+		-Wextra
+		-Wshadow=local
+		-Wimplicit-fallthrough=1
+		-Wno-unused-parameter
+		-Wno-psabi
+	)
+endif()
+
+if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+	set(COMPILER_FLAGS "/permissive-")
+endif()
 
 # Required include paths to compile the FSFW
 target_include_directories(${LIB_FSFW_NAME} INTERFACE 
@@ -132,5 +138,6 @@ target_include_directories(${LIB_FSFW_NAME} PRIVATE
 # Machine specific options can be set with the ABI_FLAGS variable.
 target_compile_options(${LIB_FSFW_NAME} PRIVATE 
 	${WARNING_FLAGS}
+	${COMPILER_FLAGS}
 	${ABI_FLAGS}
 )
diff --git a/coordinates/Sgp4Propagator.h b/coordinates/Sgp4Propagator.h
index 3949547e..f813c6f4 100644
--- a/coordinates/Sgp4Propagator.h
+++ b/coordinates/Sgp4Propagator.h
@@ -1,7 +1,9 @@
 #ifndef SGP4PROPAGATOR_H_
 #define SGP4PROPAGATOR_H_
 
+#ifndef WIN32
 #include <sys/time.h>
+#endif
 #include "../contrib/sgp4/sgp4unit.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 
diff --git a/globalfunctions/timevalOperations.h b/globalfunctions/timevalOperations.h
index 3977d5d9..18eef866 100644
--- a/globalfunctions/timevalOperations.h
+++ b/globalfunctions/timevalOperations.h
@@ -2,7 +2,13 @@
 #define TIMEVALOPERATIONS_H_
 
 #include <stdint.h>
+
+#ifdef WIN32
+// Why MSVC? Why? :)))
+#include <Windows.h>
+#else
 #include <sys/time.h>
+#endif
 
 timeval& operator+=(timeval& lhs, const timeval& rhs);
 
diff --git a/osal/Endiness.h b/osal/Endiness.h
index 65cc0a10..9d3fdef0 100644
--- a/osal/Endiness.h
+++ b/osal/Endiness.h
@@ -22,9 +22,23 @@
 #else
 #error "Can't decide which end is which!"
 #endif
+#else
+
+#ifdef WIN32
+#include <Windows.h>
+#if REG_DWORD == REG_DWORD_LITTLE_ENDIAN
+#define BYTE_ORDER_SYSTEM LITTLE_ENDIAN
+#else
+#define BYTE_ORDER_SYSTEM BIG_ENDIAN
+#endif
+
+
 #else
 #error __BYTE_ORDER__ not defined
 #endif
+
+#endif
+
 #endif
 
 
diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index c5d5b258..e69538d1 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -30,7 +30,7 @@ protected:
 	//! This is called when buffer becomes full. If
 	//! buffer is not used, then this is called every
 	//! time when characters are put to stream.
-	int overflow(int c = Traits::eof()) override;
+	int overflow(int c = std::ostream::traits_type::eof()) override;
 
 	//! This function is called when stream is flushed,
 	//! for example when std::endl is put to stream.
diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index d8b06fda..7e27e40d 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -6,7 +6,9 @@
 #include "../globalfunctions/timevalOperations.h"
 
 #include <cstdint>
+#ifndef WIN32
 #include <sys/time.h>
+#endif
 
 //! Don't use these for time points, type is not large enough for UNIX epoch.
 using dur_millis_t = uint32_t;

From de183e6c6589386cbbfefe6ba56e0dc45a2f6faa Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Sun, 20 Dec 2020 17:01:22 +0100
Subject: [PATCH 633/653] removed comment

---
 globalfunctions/timevalOperations.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/globalfunctions/timevalOperations.h b/globalfunctions/timevalOperations.h
index 18eef866..46f763b9 100644
--- a/globalfunctions/timevalOperations.h
+++ b/globalfunctions/timevalOperations.h
@@ -4,7 +4,6 @@
 #include <stdint.h>
 
 #ifdef WIN32
-// Why MSVC? Why? :)))
 #include <Windows.h>
 #else
 #include <sys/time.h>

From 5c45b823ad8807d4cd83e109eed7da87feceb56e Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 21 Dec 2020 13:52:41 +0100
Subject: [PATCH 634/653] include fix

---
 globalfunctions/timevalOperations.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/globalfunctions/timevalOperations.h b/globalfunctions/timevalOperations.h
index 46f763b9..db68f330 100644
--- a/globalfunctions/timevalOperations.h
+++ b/globalfunctions/timevalOperations.h
@@ -4,7 +4,7 @@
 #include <stdint.h>
 
 #ifdef WIN32
-#include <Windows.h>
+#include <winsock2.h>
 #else
 #include <sys/time.h>
 #endif

From 1d080ba6cb3d6a73fa5647c32033ec718fe3bb72 Mon Sep 17 00:00:00 2001
From: Spacefish <robin.mueller.m@gmail.com>
Date: Mon, 21 Dec 2020 14:07:06 +0100
Subject: [PATCH 635/653] clock update

---
 timemanager/Clock.h | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index 7e27e40d..fcc602a2 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -6,7 +6,10 @@
 #include "../globalfunctions/timevalOperations.h"
 
 #include <cstdint>
-#ifndef WIN32
+
+#ifdef WIN32
+#include <winsock2.h>
+#else
 #include <sys/time.h>
 #endif
 

From 5317391f8a1077eebc179e3ce3df8cdb9e753315 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Mon, 21 Dec 2020 17:19:43 +0100
Subject: [PATCH 636/653] reverted change

---
 serviceinterface/ServiceInterfaceBuffer.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/serviceinterface/ServiceInterfaceBuffer.h b/serviceinterface/ServiceInterfaceBuffer.h
index e69538d1..c5d5b258 100644
--- a/serviceinterface/ServiceInterfaceBuffer.h
+++ b/serviceinterface/ServiceInterfaceBuffer.h
@@ -30,7 +30,7 @@ protected:
 	//! This is called when buffer becomes full. If
 	//! buffer is not used, then this is called every
 	//! time when characters are put to stream.
-	int overflow(int c = std::ostream::traits_type::eof()) override;
+	int overflow(int c = Traits::eof()) override;
 
 	//! This function is called when stream is flushed,
 	//! for example when std::endl is put to stream.

From b28bf35fc340cf9718af100c7531f15ea6bf1a8f Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 12:44:55 +0100
Subject: [PATCH 637/653] devicehandler updates

---
 devicehandlers/DeviceHandlerBase.cpp | 10 +++-
 devicehandlers/DeviceHandlerBase.h   | 69 ++++++++++++++--------------
 devicehandlers/DeviceHandlerIF.h     |  2 +-
 3 files changed, 45 insertions(+), 36 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index f095834e..cb040714 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -928,7 +928,7 @@ void DeviceHandlerBase::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 
 uint32_t DeviceHandlerBase::getTransitionDelayMs(Mode_t modeFrom,
 		Mode_t modeTo) {
-	return 0;
+	return 5000;
 }
 
 ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
@@ -1459,3 +1459,11 @@ DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
     }
     return DeviceHandlerIF::NO_COMMAND;
 }
+
+void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
+	for(const auto& reply: deviceReplyMap) {
+		if(reply.second.dataSet != nullptr) {
+			reply.second.dataSet->setValidity(false, true);
+		}
+	}
+}
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 9a5287e0..ee4447ed 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -254,9 +254,10 @@ protected:
 	 *
 	 * @param[out] id the device command id that has been built
 	 * @return
-	 *    - @c RETURN_OK to send command after setting #rawPacket and #rawPacketLen.
-	 *    - @c NOTHING_TO_SEND when no command is to be sent.
-	 *    - Anything else triggers an even with the returnvalue as a parameter.
+	 *  - @c RETURN_OK to send command after setting #rawPacket and
+	 *    #rawPacketLen.
+	 *  - @c NOTHING_TO_SEND when no command is to be sent.
+	 *  - Anything else triggers an even with the returnvalue as a parameter.
 	 */
 	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) = 0;
 
@@ -273,7 +274,8 @@ protected:
 	 * and filling them in doStartUp(), doShutDown() and doTransition() so no
 	 * modes have to be checked here.
 	 *
-	 * #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
+	 * #rawPacket and #rawPacketLen must be set by this method to the
+	 * packet to be sent.
 	 *
 	 * @param[out] id the device command id built
 	 * @return
@@ -284,19 +286,23 @@ protected:
 	virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) = 0;
 
 	/**
-	 * @brief Build a device command packet from data supplied by a direct command.
+	 * @brief 	Build a device command packet from data supplied by a
+	 * 			direct command.
 	 *
 	 * @details
-	 * #rawPacket and #rawPacketLen should be set by this method to the packet to be sent.
-	 * The existence of the command in the command map and the command size check
-	 * against 0 are done by the base class.
+	 * #rawPacket and #rawPacketLen should be set by this method to the packet
+	 * to be sent. The existence of the command in the command map and the
+	 * command size check against 0 are done by the base class.
 	 *
-	 * @param deviceCommand the command to build, already checked against deviceCommandMap
+	 * @param deviceCommand the command to build, already checked against
+	 * deviceCommandMap
 	 * @param commandData pointer to the data from the direct command
 	 * @param commandDataLen length of commandData
 	 * @return
-	 *     - @c RETURN_OK to send command after #rawPacket and #rawPacketLen have been set.
-	 *     - Anything else triggers an event with the returnvalue as a parameter
+	 *  - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
+	 *       have been set.
+	 *  - Anything else triggers an event with the
+	 *    returnvalue as a parameter
 	 */
 	virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
 			const uint8_t * commandData, size_t commandDataLen) = 0;
@@ -681,7 +687,7 @@ protected:
 		//! The dataset used to access housekeeping data related to the
 		//! respective device reply. Will point to a dataset held by
 		//! the child handler (if one is specified)
-		LocalPoolDataSetBase* dataSet;
+		LocalPoolDataSetBase* dataSet = nullptr;
 		//! The command that expects this reply.
 		DeviceCommandMap::iterator command;
 	};
@@ -743,6 +749,17 @@ protected:
 	//!< Object which may be the root cause of an identified fault.
 	static object_id_t defaultFdirParentId;
 
+	/**
+	 * @brief   Set all datapool variables that are update periodically in
+	 *          normal mode invalid
+	 * @details
+	 * The default implementation will set all datasets which have been added
+	 * in #fillCommandAndReplyMap to invalid. It will also set all pool
+	 * variables inside the dataset to invalid. The user can override this
+	 * method optionally.
+	 */
+	virtual void setNormalDatapoolEntriesInvalid();
+
 	/**
 	 * Helper function to get pending command. This is useful for devices
 	 * like SPI sensors to identify the last sent command.
@@ -785,7 +802,6 @@ protected:
 	 *
 	 * The submode is left unchanged.
 	 *
-	 *
 	 * @param newMode
 	 */
 	void setMode(Mode_t newMode);
@@ -838,8 +854,6 @@ protected:
 	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
 
 	/**
-	 * Is the combination of mode and submode valid?
-	 *
 	 * @param mode
 	 * @param submode
 	 * @return
@@ -850,13 +864,10 @@ protected:
 			Submode_t submode);
 
 	/**
-	 * Get the Rmap action for the current step.
-	 *
+	 * Get the communication action for the current step.
 	 * The step number can be read from #pstStep.
-	 *
-	 * @return The Rmap action to execute in this step
+	 * @return The communication action to execute in this step
 	 */
-
 	virtual CommunicationAction getComAction();
 
 	/**
@@ -898,8 +909,8 @@ protected:
 	 * It gets space in the #IPCStore, copies data there, then sends a raw reply
 	 * containing the store address.
 	 *
-	 * This method is virtual, as the STR has a different channel to send
-	 * raw replies and overwrites it accordingly.
+	 * This method is virtual, as devices can have different channels to send
+	 * raw replies
 	 *
 	 * @param data data to send
 	 * @param len length of @c data
@@ -918,7 +929,7 @@ protected:
 	void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len);
 
 	/**
-	 * notify child about mode change
+	 * @brief	Notify child about mode change.
 	 */
 	virtual void modeChanged(void);
 
@@ -950,8 +961,7 @@ protected:
 			DeviceCommandId_t alternateReplyID = 0);
 
 	/**
-	 * get the state of the PCDU switches in the datapool
-	 *
+	 * Get the state of the PCDU switches in the local datapool
 	 * @return
 	 *  - @c PowerSwitchIF::SWITCH_ON if all switches specified
 	 *       by #switches are on
@@ -961,15 +971,6 @@ protected:
 	 */
 	ReturnValue_t getStateOfSwitches(void);
 
-	/**
-	 * @brief   Set all datapool variables that are update periodically in
-	 *          normal mode invalid
-	 * @details TODO: Use local pools
-	 * Child classes should provide an implementation which sets all those
-	 * variables invalid which are set periodically during any normal mode.
-	 */
-	virtual void setNormalDatapoolEntriesInvalid() = 0;
-
 	/**
 	 * build a list of sids and pass it to the #hkSwitcher
 	 */
diff --git a/devicehandlers/DeviceHandlerIF.h b/devicehandlers/DeviceHandlerIF.h
index dba6b228..e5648751 100644
--- a/devicehandlers/DeviceHandlerIF.h
+++ b/devicehandlers/DeviceHandlerIF.h
@@ -131,7 +131,7 @@ public:
 	// Standard codes used in  interpretDeviceReply
 	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
 	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
-	static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
+	static const ReturnValue_t UNKNOWN_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
 	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected
 
 	// Standard codes used in buildCommandFromCommand

From ca2d242adb50a4795de8f9d33459707aec93490c Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 12:45:51 +0100
Subject: [PATCH 638/653] defaultcfg update

---
 defaultcfg/fsfwconfig/FSFWConfig.h | 16 ++++++++--------
 defaultcfg/fsfwconfig/OBSWConfig.h |  4 ++++
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h
index 1386bf66..dda8497d 100644
--- a/defaultcfg/fsfwconfig/FSFWConfig.h
+++ b/defaultcfg/fsfwconfig/FSFWConfig.h
@@ -15,12 +15,6 @@
 //! Can be used to enable additional debugging printouts for developing the FSFW
 #define FSFW_PRINT_VERBOSITY_LEVEL   0
 
-//! Defines the FIFO depth of each commanding service base which
-//! also determines how many commands a CSB service can handle in one cycle
-//! simulataneously. This will increase the required RAM for
-//! each CSB service !
-#define FSFW_CSB_FIFO_DEPTH			6
-
 //! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiled source files)
@@ -30,8 +24,8 @@
 #define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
 #define FSFW_DEBUG_INFO				1
-#include <translateObjects.h>
-#include <translateEvents.h>
+#include "objects/translateObjects.h"
+#include "events/translateEvents.h"
 #else
 #define FSFW_DEBUG_OUTPUT			0
 #endif
@@ -52,6 +46,12 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
 static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
 static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
 static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+
+//! Defines the FIFO depth of each commanding service base which
+//! also determines how many commands a CSB service can handle in one cycle
+//! simulataneously. This will increase the required RAM for
+//! each CSB service !
+static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/defaultcfg/fsfwconfig/OBSWConfig.h b/defaultcfg/fsfwconfig/OBSWConfig.h
index a9f57638..8ad2cb67 100644
--- a/defaultcfg/fsfwconfig/OBSWConfig.h
+++ b/defaultcfg/fsfwconfig/OBSWConfig.h
@@ -3,6 +3,10 @@
 
 #include "OBSWVersion.h"
 
+#include "objects/systemObjectList.h"
+#include "events/subsystemIdRanges.h"
+#include "returnvalues/classIds.h"
+
 #ifdef __cplusplus
 namespace config {
 #endif

From 9de2b054ef6155293237cc928ca97bf2a5b0c718 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 12:53:03 +0100
Subject: [PATCH 639/653] updated changelog

---
 CHANGELOG | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/CHANGELOG b/CHANGELOG
index 7b07db08..4e51bc64 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -53,6 +53,12 @@ ID for now.
 
 - There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
 that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
+- setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
+- getTransitionDelayMs now return 5000 ms instead of 0 in default implementation
+
+### DeviceHandlerIF
+
+- Typo for UNKNOWN_DEVICE_REPLY 
 
 ### Events
 

From 6f756a721c9262cce17003d2dfe4163738e583d4 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 13:05:59 +0100
Subject: [PATCH 640/653] clearing HK messagei ncluded now

---
 ipc/CommandMessageCleaner.cpp | 8 ++++++--
 ipc/MessageQueueMessageIF.h   | 2 +-
 ipc/MutexFactory.h            | 6 +++---
 ipc/MutexHelper.h             | 4 ++--
 4 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/ipc/CommandMessageCleaner.cpp b/ipc/CommandMessageCleaner.cpp
index 6a99b4d2..6a364069 100644
--- a/ipc/CommandMessageCleaner.cpp
+++ b/ipc/CommandMessageCleaner.cpp
@@ -1,4 +1,4 @@
-#include "../ipc/CommandMessageCleaner.h"
+#include "CommandMessageCleaner.h"
 
 #include "../devicehandlers/DeviceHandlerMessage.h"
 #include "../health/HealthMessage.h"
@@ -7,11 +7,12 @@
 #include "../monitoring/MonitoringMessage.h"
 #include "../subsystem/modes/ModeSequenceMessage.h"
 #include "../tmstorage/TmStoreMessage.h"
+#include "../housekeeping/HousekeepingMessage.h"
 #include "../parameters/ParameterMessage.h"
 
 void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
 	switch(message->getMessageType()){
-	case  messagetypes::MODE_COMMAND:
+	case messagetypes::MODE_COMMAND:
 		ModeMessage::clear(message);
 		break;
 	case messagetypes::HEALTH_COMMAND:
@@ -38,6 +39,9 @@ void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
 	case messagetypes::PARAMETER:
 		ParameterMessage::clear(message);
 		break;
+	case messagetypes::HOUSEKEEPING:
+	    HousekeepingMessage::clear(message);
+	    break;
 	default:
 		messagetypes::clearMissionMessage(message);
 		break;
diff --git a/ipc/MessageQueueMessageIF.h b/ipc/MessageQueueMessageIF.h
index b5a30c08..33e01e7d 100644
--- a/ipc/MessageQueueMessageIF.h
+++ b/ipc/MessageQueueMessageIF.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
 #define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
 
-#include <fsfw/ipc/messageQueueDefinitions.h>
+#include "messageQueueDefinitions.h"
 #include <cstddef>
 #include <cstdint>
 
diff --git a/ipc/MutexFactory.h b/ipc/MutexFactory.h
index f8133d81..db505ff9 100644
--- a/ipc/MutexFactory.h
+++ b/ipc/MutexFactory.h
@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_IPC_MUTEXFACTORY_H_
-#define FRAMEWORK_IPC_MUTEXFACTORY_H_
+#ifndef FSFW_IPC_MUTEXFACTORY_H_
+#define FSFW_IPC_MUTEXFACTORY_H_
 
 #include "MutexIF.h"
 /**
@@ -31,4 +31,4 @@ private:
 
 
 
-#endif /* FRAMEWORK_IPC_MUTEXFACTORY_H_ */
+#endif /* FSFW_IPC_MUTEXFACTORY_H_ */
diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index 3dc36921..97001ade 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -16,8 +16,8 @@ public:
 					<< timeoutMs << " milliseconds!" << std::endl;
 		}
 		else if(status != HasReturnvaluesIF::RETURN_OK){
-			sif::error << "MutexHelper: Lock of Mutex failed with code " <<
-					status << std::endl;
+			sif::error << "MutexHelper: Lock of Mutex failed with code "
+			        << status << std::endl;
 		}
 	}
 

From 820731de7bfa40d88a592a927031793bbc73f873 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 13:23:19 +0100
Subject: [PATCH 641/653] updated docs, added new doc folder

---
 README.md                     | 100 ++++++++++++----------------------
 doc/README-config.md          |  21 +++++++
 doc/README-core.md            |  50 +++++++++++++++++
 doc/README-devicehandlers.txt |   0
 4 files changed, 106 insertions(+), 65 deletions(-)
 create mode 100644 doc/README-config.md
 create mode 100644 doc/README-core.md
 create mode 100644 doc/README-devicehandlers.txt

diff --git a/README.md b/README.md
index 4aabe36a..8552e0c8 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,5 @@
 ![FSFW Logo](logo/FSFW_Logo_V3_bw.png)
+
 # Flight Software Framework (FSFW)
 
 The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
@@ -14,83 +15,54 @@ The framework is designed for systems, which communicate with external devices,
 Therefore, a mode and health system provides control over the states of the software and the controlled devices. 
 In addition, a simple mechanism of event based fault detection, isolation and recovery is implemented as well. 
 
-The recommended hardware is a microprocessor with more than 2 MB of RAM and 1 MB of non-volatile Memory. 
+The recommended hardware is a microprocessor with more than 1 MB of RAM and 1 MB of non-volatile Memory. 
 For reference, current Applications use a Cobham Gaisler UT699 (LEON3FT), a ISISPACE IOBC or a Zynq-7020 SoC.
+The `fsfw` was also tested on the STM32H743ZI-Nucleo board.
 
+## How to Use
+
+The [FSFW example](https://egit.irs.uni-stuttgart.de/fsfw/fsfw_example) provides a good starting point and a demo
+to see the FSFW capabilities and build it with the Make or the CMake build system. 
+Generally, the FSFW is included in a project by compiling the FSFW sources and providing
+a configuration folder and adding it to the include path. 
+A template configuration folder was provided and can be copied into the project root to have
+a starting point. The [configuration section](doc/README-config.md#top) provides more specific information about
+the possible options.
 
 ## Structure
 
-The general structure is driven by the usage of interfaces provided by objects. The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers.
+The general structure is driven by the usage of interfaces provided by objects. 
+The FSFW uses C++11 as baseline. The intention behind this is that this C++ Standard should be widely available, even with older compilers.
 The FSFW uses dynamic allocation during the initialization but provides static containers during runtime. 
 This simplifies the instantiation of objects and allows the usage of some standard containers. 
 Dynamic Allocation after initialization is discouraged and different solutions are provided in the FSFW to achieve that.
-The fsfw uses Run-time type information.
-Exceptions are not allowed.
+The fsfw uses run-time type information but exceptions are not allowed.
 
 ### Failure Handling
 
-Functions should return a defined ReturnValue_t to signal to the caller that something is gone wrong. 
+Functions should return a defined ReturnValue_t to signal to the caller that something has gone wrong. 
 Returnvalues must be unique. For this the function HasReturnvaluesIF::makeReturnCode or the Macro MAKE_RETURN can be used.
 The CLASS_ID is a unique id for that type of object. See returnvalues/FwClassIds.
 
 ### OSAL
-The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. A independent OSAL called "host" is currently not finished. This aims to be running on windows as well. 
-The OSAL provides periodic tasks, message queues, clocks and Semaphores as well as Mutexes.
+
+The FSFW provides operation system abstraction layers for Linux, FreeRTOS and RTEMS. 
+A independent Host OSAL is in development which will provide abstraction for common type of 
+host OSes (tested for Linux and Windows, not for MacOS yet).
+The OSAL provides periodic tasks, message queues, clocks and semaphores as well as mutexes.
 
 ### Core Components 
 
-Clock:
- * This is a class of static functions that can be used at anytime
- * Leap Seconds must be set if any time conversions from UTC to other times is used
-
-ObjectManager (must be created): 
-
-* The component which handles all references. All SystemObjects register at this component. 
-* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
-* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
-A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
-
-``` c++
-	template <typename T> T* ObjectManagerIF::get( object_id_t id )
-
-```
-* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
-By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
-
-Event Manager:
-
-* Component which allows routing of events
-* Other objects can subscribe to specific events, ranges of events or all events of an object.
-* Subscriptions can be done during runtime but should be done during initialization
-* Amounts of allowed subscriptions must be configured by setting this parameters:
-
-``` c++
-namespace fsfwconfig {
-//! Configure the allocated pool sizes for the event manager.
-static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
-static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
-static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
-}
-```
-
-
-Health Table:
-
-* A component which holds every health state 
-* Provides a thread safe way to access all health states without the need of message exchanges
-
-Stores
-
-* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can be exchanged with Stores. With this, only the store address must be exchanged in the message.
-* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
-* All of them should use the Thread Safe Class storagemanager/PoolManager
-
-Tasks
-
-There are two different types of tasks:
- * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
- * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
+The FSFW has following core components. More detailed informations can be found in the
+[core component section](doc/README-core.md#top):
 
+1. Tasks: Abstraction for different (periodic) task types like periodic tasks or tasks with fixed timeslots
+2. ObjectManager: This module stores all `SystemObjects` by mapping a provided unique object ID to the object handles.
+3. Static Stores: Different stores are provided to store data of variable size (like telecommands or small telemetry) in a pool structure without
+   using dynamic memory allocation. These pools are allocated up front.
+3. Clock: This module provided common time related functions
+4. EventManager: This module allows routing of events generated by `SystemObjects`
+5. HealthTable: A component which stores the health states of objects
 
 ### Static Ids in the framework
 
@@ -121,13 +93,15 @@ If the communication is based on CCSDS Frames and Space Packets, several classes
 If Space Packets are used, a timestamper must be created. 
 An example can be found in the timemanager folder, this uses CCSDSTime::CDS_short.
 
-#### DeviceHandling
+#### Device Handlers
 
-DeviceHandlers are a core component of the FSFW. 
+DeviceHandlers are another important component of the FSFW. 
 The idea is, to have a software counterpart of every physical device to provide a simple mode, health and commanding interface.
-By separating the underlying Communication Interface with DeviceCommunicationIF, a DH can be tested on different hardware.
+By separating the underlying Communication Interface with DeviceCommunicationIF, a device handler (DH) can be tested on different hardware.
 The DH has mechanisms to monitor the communication with the physical device which allow for FDIR reaction. 
+Device Handlers can be created by overriding `DeviceHandlerBase`. 
 A standard FDIR component for the DH will be created automatically but can be overwritten by the user.
+More information on DeviceHandlers can be found in the related [documentation section](doc/README-devicehandlers.md#top).
 
 #### Modes, Health
 
@@ -149,10 +123,6 @@ The health state represents if the component is able to perform its tasks.
 This can be used to signal the system to avoid using this component instead of a redundant one.
 The on-board FDIR uses the health state for isolation and recovery. 
 
-## Example config
-
-A example config can be found in defaultcfg/fsfwconfig.
-
 ## Unit Tests
 
 Unit Tests are provided in the unittest folder. Those use the catch2 framework but do not include catch2 itself. 
diff --git a/doc/README-config.md b/doc/README-config.md
new file mode 100644
index 00000000..036a7d14
--- /dev/null
+++ b/doc/README-config.md
@@ -0,0 +1,21 @@
+
+## Configuring the FSFW
+
+The FSFW can be configured via the `fsfwconfig` folder. A template folder has
+been provided to have a starting point for this. The folder should be added
+to the include path.
+
+
+### Configuring the Event Manager
+
+The number of allowed subscriptions can be modified with the following
+parameters:
+
+``` c++
+namespace fsfwconfig {
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+}
+```
\ No newline at end of file
diff --git a/doc/README-core.md b/doc/README-core.md
new file mode 100644
index 00000000..c47ae0f2
--- /dev/null
+++ b/doc/README-core.md
@@ -0,0 +1,50 @@
+## FSFW Core Modules
+
+These core modules provide the most important functionalities of the 
+Flight Software Framework
+
+### Clock
+
+ * This is a class of static functions that can be used at anytime
+ * Leap Seconds must be set if any time conversions from UTC to other times is used
+
+### ObjectManager
+
+* Must be created during program startup
+* The component which handles all references. All SystemObjects register at this component. 
+* Any SystemObject needs to have a unique ObjectId. Those can be managed like objects::framework_objects.
+* A reference to an object can be get by calling the following function. T must be the specific Interface you want to call.
+A nullptr check of the returning Pointer must be done. This function is based on Run-time type information. 
+
+``` c++
+	template <typename T> T* ObjectManagerIF::get( object_id_t id )
+
+```
+* A typical way to create all objects on startup is a handing a static produce function to the ObjectManager on creation.
+By calling objectManager->initialize() the produce function will be called and all SystemObjects will be initialized afterwards.
+
+### Event Manager
+
+* Component which allows routing of events
+* Other objects can subscribe to specific events, ranges of events or all events of an object.
+* Subscriptions can be done during runtime but should be done during initialization
+* Amounts of allowed subscriptions can be configured in `FSFWConfig.h`
+
+### Health Table
+
+* A component which holds every health state 
+* Provides a thread safe way to access all health states without the need of message exchanges
+
+### Stores
+
+* The message based communication can only exchange a few bytes of information inside the message itself. Therefore, additional information can 
+  be exchanged with Stores. With this, only the store address must be exchanged in the message.
+* Internally, the FSFW uses an IPC Store to exchange data between processes. For incoming TCs a TC Store is used. For outgoing TM a TM store is used.
+* All of them should use the Thread Safe Class storagemanager/PoolManager
+
+### Tasks
+
+There are two different types of tasks:
+ * The PeriodicTask just executes objects that are of type ExecutableObjectIF in the order of the insertion to the Tasks.
+ * FixedTimeslotTask executes a list of calls in the order of the given list. This is intended for DeviceHandlers, where polling should be in a defined order. An example can be found in defaultcfg/fsfwconfig/pollingSequence
+
diff --git a/doc/README-devicehandlers.txt b/doc/README-devicehandlers.txt
new file mode 100644
index 00000000..e69de29b

From 6b1a8afe2b50a59f35946086ee6e846c28742ae1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 13:25:50 +0100
Subject: [PATCH 642/653] unittest update 2

---
 .../objects => core}/CatchFactory.cpp         |  0
 .../{testcfg/objects => core}/CatchFactory.h  |  6 +--
 unittest/core/CatchSetup.cpp                  |  7 +--
 unittest/testcfg/FSFWConfig.h                 | 49 ++++++++++++-------
 unittest/testcfg/Makefile-FSFW-Tests          | 13 ++---
 unittest/testcfg/testcfg.mk                   |  8 ---
 6 files changed, 42 insertions(+), 41 deletions(-)
 rename unittest/{testcfg/objects => core}/CatchFactory.cpp (100%)
 rename unittest/{testcfg/objects => core}/CatchFactory.h (71%)

diff --git a/unittest/testcfg/objects/CatchFactory.cpp b/unittest/core/CatchFactory.cpp
similarity index 100%
rename from unittest/testcfg/objects/CatchFactory.cpp
rename to unittest/core/CatchFactory.cpp
diff --git a/unittest/testcfg/objects/CatchFactory.h b/unittest/core/CatchFactory.h
similarity index 71%
rename from unittest/testcfg/objects/CatchFactory.h
rename to unittest/core/CatchFactory.h
index 84f9207e..f06e7ae5 100644
--- a/unittest/testcfg/objects/CatchFactory.h
+++ b/unittest/core/CatchFactory.h
@@ -1,5 +1,5 @@
-#ifndef FACTORY_H_
-#define FACTORY_H_
+#ifndef FSFW_CATCHFACTORY_H_
+#define FSFW_CATCHFACTORY_H_
 
 #include <fsfw/objectmanager/SystemObjectIF.h>
 
@@ -13,4 +13,4 @@ namespace Factory {
 
 }
 
-#endif /* FACTORY_H_ */
+#endif /* FSFW_CATCHFACTORY_H_ */
diff --git a/unittest/core/CatchSetup.cpp b/unittest/core/CatchSetup.cpp
index cb5bd33e..c93cf032 100644
--- a/unittest/core/CatchSetup.cpp
+++ b/unittest/core/CatchSetup.cpp
@@ -1,6 +1,5 @@
+#include <fsfw/unittest/core/CatchFactory.h>
 #include "CatchDefinitions.h"
-#include "CatchFactory.h"
-
 #include <testcfg/cdatapool/dataPoolInit.h>
 
 #ifdef GCOV
@@ -10,15 +9,11 @@
 #include "../../objectmanager/ObjectManager.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "../../datapool/DataPool.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 
 /* Global instantiations normally done in main.cpp */
 /* Initialize Data Pool */
-//namespace glob {
-DataPool dataPool(datapool::dataPoolInit);
-//}
 
 
 namespace sif {
diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h
index 59934560..94f6e59d 100644
--- a/unittest/testcfg/FSFWConfig.h
+++ b/unittest/testcfg/FSFWConfig.h
@@ -1,44 +1,57 @@
 #ifndef CONFIG_FSFWCONFIG_H_
 #define CONFIG_FSFWCONFIG_H_
 
-#include <FSFWVersion.h>
+#include <cstddef>
+#include <cstdint>
 
 //! Used to determine whether C++ ostreams are used
 //! Those can lead to code bloat.
 #define FSFW_CPP_OSTREAM_ENABLED 	1
 
-//! Reduced printout to further decrese code size
+//! Reduced printout to further decrease code size
 //! Be careful, this also turns off most diagnostic prinouts!
-#define FSFW_REDUCED_PRINTOUT		0
+#define FSFW_ENHANCED_PRINTOUT		0
 
-//! Can be used to enable debugging printouts for developing the FSFW
-#define FSFW_DEBUGGING              0
-
-//! Defines the FIFO depth of each commanding service base which
-//! also determines how many commands a CSB service can handle in one cycle
-//! simulataneously. This will increase the required RAM for
-//! each CSB service !
-#define FSFW_CSB_FIFO_DEPTH			6
+//! Can be used to enable additional debugging printouts for developing the FSFW
+#define FSFW_PRINT_VERBOSITY_LEVEL   0
 
 //! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
 //! additional output which requires the translation files translateObjects
 //! and translateEvents (and their compiled source files)
 #define FSFW_OBJ_EVENT_TRANSLATION	0
 
-//! If -DDEBUG is supplied in the build defines, there will be
-//! additional output which requires the translation files translateObjects
-//! and translateEvents (and their compiles source files)
 #if FSFW_OBJ_EVENT_TRANSLATION == 1
+#define FSFW_DEBUG_OUTPUT 			1
 //! Specify whether info events are printed too.
-#define FSFW_DEBUG_INFO             1
-#include <translateObjects.h>
-#include <translateEvents.h>
+#define FSFW_DEBUG_INFO				1
+#include "objects/translateObjects.h"
+#include "events/translateEvents.h"
 #else
+#define FSFW_DEBUG_OUTPUT			0
 #endif
 
 //! When using the newlib nano library, C99 support for stdio facilities
 //! will not be provided. This define should be set to 1 if this is the case.
-#define FSFW_NO_C99_IO 	1
+#define FSFW_NO_C99_IO 	            1
 
+//! Specify whether a special mode store is used for Subsystem components.
+#define FSFW_USE_MODESTORE          0
+
+namespace fsfwconfig {
+//! Default timestamp size. The default timestamp will be an eight byte CDC
+//! short timestamp.
+static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
+
+//! Configure the allocated pool sizes for the event manager.
+static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
+static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
+static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
+
+//! Defines the FIFO depth of each commanding service base which
+//! also determines how many commands a CSB service can handle in one cycle
+//! simulataneously. This will increase the required RAM for
+//! each CSB service !
+static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 3;
+}
 
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/unittest/testcfg/Makefile-FSFW-Tests b/unittest/testcfg/Makefile-FSFW-Tests
index 2017d2bd..550fd1de 100644
--- a/unittest/testcfg/Makefile-FSFW-Tests
+++ b/unittest/testcfg/Makefile-FSFW-Tests
@@ -15,7 +15,7 @@ SHELL = /bin/sh
 # (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
 # Unit Test can only be run on host machine for now (Linux)
 FRAMEWORK_PATH = fsfw
-FILE_ROOT = $(FRAMEWORK_PATH)/unittest
+TEST_FILE_ROOT = $(FRAMEWORK_PATH)/unittest
 BOARD = unittest
 LINUX = 1
 OS_FSFW = linux
@@ -58,9 +58,10 @@ endif
 
 UNIT_TEST = 1
 # General folder paths
-CONFIG_PATH = $(FILE_ROOT)/config
-UNIT_TEST_PATH = $(FILE_ROOT)/tests
-CORE_PATH = $(FILE_ROOT)/core
+CONFIG_PATH = testcfg
+# Core copy has to be copied as well.
+CORE_PATH = core
+UNIT_TEST_PATH = $(TEST_FILE_ROOT)/tests
 
 # Output file basename
 BASENAME = fsfw
@@ -154,8 +155,8 @@ include $(S)/$(notdir $S).mk
 endef
 $(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))
 
-INCLUDES += $(FILE_ROOT)
-INCLUDES += $(FILE_ROOT)/catch2/
+INCLUDES += $(TEST_FILE_ROOT)
+INCLUDES += $(TEST_FILE_ROOT)/catch2/
 
 #-------------------------------------------------------------------------------
 #		Source Files
diff --git a/unittest/testcfg/testcfg.mk b/unittest/testcfg/testcfg.mk
index 31d3b60a..fca2f732 100644
--- a/unittest/testcfg/testcfg.mk
+++ b/unittest/testcfg/testcfg.mk
@@ -6,11 +6,3 @@ CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
 CXXSRC += $(wildcard $(CURRENTPATH)/*.cpp)
 
 INCLUDES += $(CURRENTPATH)
-INCLUDES += $(CURRENTPATH)/objects
-INCLUDES += $(CURRENTPATH)/ipc
-INCLUDES += $(CURRENTPATH)/pollingsequence
-INCLUDES += $(CURRENTPATH)/returnvalues
-INCLUDES += $(CURRENTPATH)/tmtc
-INCLUDES += $(CURRENTPATH)/events
-INCLUDES += $(CURRENTPATH)/devices
-INCLUDES += $(CURRENTPATH)/cdatapool

From 4c41e3604424f508556d96b4a32081cca0b5f8bb Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 13:29:06 +0100
Subject: [PATCH 643/653] nullptr check added

---
 datapool/PoolDataSetBase.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/datapool/PoolDataSetBase.cpp b/datapool/PoolDataSetBase.cpp
index 1acd3fd3..cb2348f7 100644
--- a/datapool/PoolDataSetBase.cpp
+++ b/datapool/PoolDataSetBase.cpp
@@ -59,6 +59,11 @@ uint16_t PoolDataSetBase::getFillCount() const {
 
 ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	if(registeredVariables[count] == nullptr) {
+	    // configuration error.
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
 	// These checks are often performed by the respective
 	// variable implementation too, but I guess a double check does not hurt.
 	if (registeredVariables[count]->getReadWriteMode() !=

From 9937842ded66d2ffca374bff275719cbba0fe4c1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 14:11:36 +0100
Subject: [PATCH 644/653] get transiition delay abstract

---
 devicehandlers/DeviceHandlerBase.cpp | 5 -----
 devicehandlers/DeviceHandlerBase.h   | 2 +-
 2 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index cb040714..d2d4ecb8 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -926,11 +926,6 @@ void DeviceHandlerBase::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 	setMode(getBaseMode(mode));
 }
 
-uint32_t DeviceHandlerBase::getTransitionDelayMs(Mode_t modeFrom,
-		Mode_t modeTo) {
-	return 5000;
-}
-
 ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
 	if(powerSwitcher == nullptr) {
 		return NO_SWITCH;
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index ee4447ed..45450f62 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -490,7 +490,7 @@ protected:
 	 * @param modeTo
 	 * @return time in ms
 	 */
-	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo);
+	virtual uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) = 0;
 
 	/**
 	 * Return the switches connected to the device.

From 3b391d33801ef998d8748364711c0dbb17231664 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 14:15:21 +0100
Subject: [PATCH 645/653] deleted service types header

---
 tmtcservices/ServiceTypes.h | 26 --------------------------
 1 file changed, 26 deletions(-)
 delete mode 100644 tmtcservices/ServiceTypes.h

diff --git a/tmtcservices/ServiceTypes.h b/tmtcservices/ServiceTypes.h
deleted file mode 100644
index 552601f9..00000000
--- a/tmtcservices/ServiceTypes.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef SERVICETYPES_H_
-#define SERVICETYPES_H_
-
-// SHOULDDO: This is a duplication of existing configuration structures. Delete it?
-namespace SERVICE {
-enum ServiceTypes {
-	TELECOMMAND_VERIFICATION = 1,
-	DEVICE_COMMAND_DISTRIBUTION = 2,
-	HOUSEKEEPING_AND_DIAGNOSTIC_DATA_REPORTING = 3,
-	PARAMETER_STATISTICS_REPORTING = 4,
-	EVENT_REPORTING = 5,
-	MEMORY_MANAGEMENT = 6,
-	FUNCTION_MANAGEMENT = 8,
-	TIME_MANAGEMENT = 9,
-	ON_BOARD_OPERATIONS_SCHEDULING = 11,
-	ON_BOARD_MONITORING = 12,
-	LARGE_DATA_TRANSFER = 13,
-	PACKET_FORWARDING_CONTROL = 14,
-	ON_BOARD_STORAGE_AND_RETRIEVAL = 15,
-	TEST = 17,
-	ON_BOARD_OPERATIONS_PROCEDURE = 18,
-	EVENT_ACTION = 19
-};
-}
-
-#endif /* SERVICETYPES_H_ */

From d607332f8d20477d47624e4562417f279b9ccd85 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 14:19:13 +0100
Subject: [PATCH 646/653] removed comment

---
 tmtcservices/AcceptsTelecommandsIF.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tmtcservices/AcceptsTelecommandsIF.h b/tmtcservices/AcceptsTelecommandsIF.h
index bff0e955..7c871049 100644
--- a/tmtcservices/AcceptsTelecommandsIF.h
+++ b/tmtcservices/AcceptsTelecommandsIF.h
@@ -12,7 +12,7 @@
 class AcceptsTelecommandsIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::ACCEPTS_TELECOMMANDS_IF;
-	static const ReturnValue_t ACTIVITY_STARTED = MAKE_RETURN_CODE(1); // is this used anywhere or can it be removed?
+	static const ReturnValue_t ACTIVITY_STARTED = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t INVALID_SUBSERVICE = MAKE_RETURN_CODE(2);
 	static const ReturnValue_t ILLEGAL_APPLICATION_DATA = MAKE_RETURN_CODE(3);
 	static const ReturnValue_t SEND_TM_FAILED = MAKE_RETURN_CODE(4);

From 9ac07368da3fab3a60fa0caffe0f10f8c35e2fd9 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 14:26:42 +0100
Subject: [PATCH 647/653] changelog update

---
 CHANGELOG | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CHANGELOG b/CHANGELOG
index 4e51bc64..8b13b68d 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -54,7 +54,7 @@ ID for now.
 - There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
 that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
 - setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
-- getTransitionDelayMs now return 5000 ms instead of 0 in default implementation
+- getTransitionDelayMs is now an abstract method
 
 ### DeviceHandlerIF
 

From ab9965cb8153fcfa6948a7c2d631715d0e37ad46 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 15:29:42 +0100
Subject: [PATCH 648/653] clock corrected

---
 timemanager/Clock.h | 274 ++++++++++++++++++++++----------------------
 1 file changed, 137 insertions(+), 137 deletions(-)

diff --git a/timemanager/Clock.h b/timemanager/Clock.h
index f4ed847a..61e40d19 100644
--- a/timemanager/Clock.h
+++ b/timemanager/Clock.h
@@ -11,156 +11,156 @@
 
 class Clock {
 public:
-    typedef struct {
-        uint32_t year; //!< Year, A.D.
-        uint32_t month; //!< Month, 1 .. 12.
-        uint32_t day; //!< Day, 1 .. 31.
-        uint32_t hour; //!< Hour, 0 .. 23.
-        uint32_t minute; //!< Minute, 0 .. 59.
-        uint32_t second; //!< Second, 0 .. 59.
-        uint32_t usecond; //!< Microseconds, 0 .. 999999
-    } TimeOfDay_t;
+	typedef struct {
+		uint32_t year; //!< Year, A.D.
+		uint32_t month; //!< Month, 1 .. 12.
+		uint32_t day; //!< Day, 1 .. 31.
+		uint32_t hour; //!< Hour, 0 .. 23.
+		uint32_t minute; //!< Minute, 0 .. 59.
+		uint32_t second; //!< Second, 0 .. 59.
+		uint32_t usecond; //!< Microseconds, 0 .. 999999
+	} TimeOfDay_t;
 
-    /**
-     * This method returns the number of clock ticks per second.
-     * In RTEMS, this is typically 1000.
-     * @return	The number of ticks.
-     *
-     * @deprecated, we should not worry about ticks, but only time
-     */
-    static uint32_t getTicksPerSecond(void);
-    /**
-     * This system call sets the system time.
-     * To set the time, it uses a TimeOfDay_t struct.
-     * @param time The struct with the time settings to set.
-     * @return	-@c RETURN_OK on success. Otherwise, the OS failure code
-     * 				is returned.
-     */
-    static ReturnValue_t setClock(const TimeOfDay_t* time);
-    /**
-     * This system call sets the system time.
-     * To set the time, it uses a timeval struct.
-     * @param time The struct with the time settings to set.
-     * @return	-@c RETURN_OK on success. Otherwise, the OS failure code is returned.
-     */
-    static ReturnValue_t setClock(const timeval* time);
-    /**
-     * This system call returns the current system clock in timeval format.
-     * The timval format has the fields @c tv_sec with seconds and @c tv_usec with
-     * microseconds since an OS-defined epoch.
-     * @param time	A pointer to a timeval struct where the current time is stored.
-     * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
-     */
-    static ReturnValue_t getClock_timeval(timeval* time);
+	/**
+	 * This method returns the number of clock ticks per second.
+	 * In RTEMS, this is typically 1000.
+	 * @return	The number of ticks.
+	 *
+	 * @deprecated, we should not worry about ticks, but only time
+	 */
+	static uint32_t getTicksPerSecond(void);
+	/**
+	 * This system call sets the system time.
+	 * To set the time, it uses a TimeOfDay_t struct.
+	 * @param time The struct with the time settings to set.
+	 * @return	-@c RETURN_OK on success. Otherwise, the OS failure code
+	 * 				is returned.
+	 */
+	static ReturnValue_t setClock(const TimeOfDay_t* time);
+	/**
+	 * This system call sets the system time.
+	 * To set the time, it uses a timeval struct.
+	 * @param time The struct with the time settings to set.
+	 * @return	-@c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 */
+	static ReturnValue_t setClock(const timeval* time);
+	/**
+	 * This system call returns the current system clock in timeval format.
+	 * The timval format has the fields @c tv_sec with seconds and @c tv_usec with
+	 * microseconds since an OS-defined epoch.
+	 * @param time	A pointer to a timeval struct where the current time is stored.
+	 * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 */
+	static ReturnValue_t getClock_timeval(timeval* time);
 
-    /**
-     * Get the time since boot in a timeval struct
-     *
-     * @param[out] time A pointer to a timeval struct where the uptime is stored.
-     * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
-     *
-     * @deprecated, I do not think this should be able to fail, use timeval getUptime()
-     */
-    static ReturnValue_t getUptime(timeval* uptime);
+	/**
+	 * Get the time since boot in a timeval struct
+	 *
+	 * @param[out] time A pointer to a timeval struct where the uptime is stored.
+	 * @return @c RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 *
+	 * @deprecated, I do not think this should be able to fail, use timeval getUptime()
+	 */
+	static ReturnValue_t getUptime(timeval* uptime);
 
-    static timeval getUptime();
+	static timeval getUptime();
 
-    /**
-     * Get the time since boot in milliseconds
-     *
-     * This value can overflow! Still, it can be used to calculate time intervalls
-     * between two calls up to 49 days by always using uint32_t in the calculation
-     *
-     * @param ms uptime in ms
-     * @return RETURN_OK on success. Otherwise, the OS failure code is returned.
-     */
-    static ReturnValue_t getUptime(uint32_t* uptimeMs);
+	/**
+	 * Get the time since boot in milliseconds
+	 *
+	 * This value can overflow! Still, it can be used to calculate time intervalls
+	 * between two calls up to 49 days by always using uint32_t in the calculation
+	 *
+	 * @param ms uptime in ms
+	 * @return RETURN_OK on success. Otherwise, the OS failure code is returned.
+	 */
+	static ReturnValue_t getUptime(uint32_t* uptimeMs);
 
-    /**
-     * Returns the time in microseconds since an OS-defined epoch.
-     * The time is returned in a 64 bit unsigned integer.
-     * @param time A pointer to a 64 bit unisigned integer where the data is stored.
-     * @return
-     *  - @c RETURN_OK on success.
-     *  - Otherwise, the OS failure code is returned.
-     */
-    static ReturnValue_t getClock_usecs(uint64_t* time);
-    /**
-     * Returns the time in a TimeOfDay_t struct.
-     * @param time A pointer to a TimeOfDay_t struct.
-     * @return
-     *  - @c RETURN_OK on success.
-     *  - Otherwise, the OS failure code is returned.
-     */
-    static ReturnValue_t getDateAndTime(TimeOfDay_t* time);
+	/**
+	 * Returns the time in microseconds since an OS-defined epoch.
+	 * The time is returned in a 64 bit unsigned integer.
+	 * @param time A pointer to a 64 bit unisigned integer where the data is stored.
+	 * @return
+	 *  - @c RETURN_OK on success.
+	 *  - Otherwise, the OS failure code is returned.
+	 */
+	static ReturnValue_t getClock_usecs(uint64_t* time);
+	/**
+	 * Returns the time in a TimeOfDay_t struct.
+	 * @param time A pointer to a TimeOfDay_t struct.
+	 * @return
+	 *  - @c RETURN_OK on success.
+	 *  - Otherwise, the OS failure code is returned.
+	 */
+	static ReturnValue_t getDateAndTime(TimeOfDay_t* time);
 
-    /**
-     * Converts a time of day struct to POSIX seconds.
-     * @param time The time of day as input
-     * @param timeval The corresponding seconds since the epoch.
-     * @return
-     *  - @c RETURN_OK on success.
-     *  - Otherwise, the OS failure code is returned.
-     */
-    static ReturnValue_t convertTimeOfDayToTimeval(const TimeOfDay_t* from,
-            timeval* to);
+	/**
+	 * Converts a time of day struct to POSIX seconds.
+	 * @param time The time of day as input
+	 * @param timeval The corresponding seconds since the epoch.
+	 * @return
+	 *  - @c RETURN_OK on success.
+	 *  - Otherwise, the OS failure code is returned.
+	 */
+	static ReturnValue_t convertTimeOfDayToTimeval(const TimeOfDay_t* from,
+			timeval* to);
 
-    /**
-     * Converts a time represented as seconds and subseconds since unix
-     * epoch to days since J2000
-     *
-     * @param time seconds since unix epoch
-     * @param[out] JD2000 days since J2000
-     * @return @c RETURN_OK
-     */
-    static ReturnValue_t convertTimevalToJD2000(timeval time, double* JD2000);
+	/**
+	 * Converts a time represented as seconds and subseconds since unix
+	 * epoch to days since J2000
+	 *
+	 * @param time seconds since unix epoch
+	 * @param[out] JD2000 days since J2000
+	 * @return @c RETURN_OK
+	 */
+	static ReturnValue_t convertTimevalToJD2000(timeval time, double* JD2000);
 
-    /**
-     * Calculates and adds the offset between UTC and TT
-     *
-     * Depends on the leap seconds to be set correctly.
-     *
-     * @param utc timeval, corresponding to UTC time
-     * @param[out] tt timeval, corresponding to Terrestial Time
-     * @return
-     *  - @c RETURN_OK on success
-     *  - @c RETURN_FAILED if leapSeconds are not set
-     */
-    static ReturnValue_t convertUTCToTT(timeval utc, timeval* tt);
+	/**
+	 * Calculates and adds the offset between UTC and TT
+	 *
+	 * Depends on the leap seconds to be set correctly.
+	 *
+	 * @param utc timeval, corresponding to UTC time
+	 * @param[out] tt timeval, corresponding to Terrestial Time
+	 * @return
+	 *  - @c RETURN_OK on success
+	 *  - @c RETURN_FAILED if leapSeconds are not set
+	 */
+	static ReturnValue_t convertUTCToTT(timeval utc, timeval* tt);
 
-    /**
-     * Set the Leap Seconds since 1972
-     *
-     * @param leapSeconds_
-     * @return
-     *  - @c RETURN_OK on success.
-     *  - Otherwise, the OS failure code is returned.
-     */
-    static ReturnValue_t setLeapSeconds(const uint16_t leapSeconds_);
+	/**
+	 * Set the Leap Seconds since 1972
+	 *
+	 * @param leapSeconds_
+	 * @return
+	 *  - @c RETURN_OK on success.
+	 *  - Otherwise, the OS failure code is returned.
+	 */
+	static ReturnValue_t setLeapSeconds(const uint16_t leapSeconds_);
 
-    /**
-     * Get the Leap Seconds since 1972
-     *
-     * Must be set before!
-     *
-     * @param[out] leapSeconds_
-     * @return
-     *  - @c RETURN_OK on success.
-     *  - Otherwise, the OS failure code is returned.
-     */
-    static ReturnValue_t getLeapSeconds(uint16_t *leapSeconds_);
+	/**
+	 * Get the Leap Seconds since 1972
+	 *
+	 * Must be set before!
+	 *
+	 * @param[out] leapSeconds_
+	 * @return
+	 *  - @c RETURN_OK on success.
+	 *  - Otherwise, the OS failure code is returned.
+	 */
+	static ReturnValue_t getLeapSeconds(uint16_t *leapSeconds_);
 
-    /**
-     * Function to check and create the Mutex for the clock
-     * @return
-     *  - @c RETURN_OK on success.
-     *  - Otherwise @c RETURN_FAILED if not able to create one
-     */
-    static ReturnValue_t checkOrCreateClockMutex();
+	/**
+	 * Function to check and create the Mutex for the clock
+	 * @return
+	 *  - @c RETURN_OK on success.
+	 *  - Otherwise @c RETURN_FAILED if not able to create one
+	 */
+	static ReturnValue_t checkOrCreateClockMutex();
 
 private:
-    static MutexIF* timeMutex;
-    static uint16_t leapSeconds;
+	static MutexIF* timeMutex;
+	static uint16_t leapSeconds;
 };
 
 

From 822cc0306c90603bbd66365293670e1163dc36cd Mon Sep 17 00:00:00 2001
From: Steffen Gaisser <gaisser@irs.uni-stuttgart.de>
Date: Tue, 22 Dec 2020 15:35:23 +0100
Subject: [PATCH 649/653] Fixed file ending of devicehanlder remake

---
 doc/README-devicehandlers.md  | 1 +
 doc/README-devicehandlers.txt | 0
 2 files changed, 1 insertion(+)
 create mode 100644 doc/README-devicehandlers.md
 delete mode 100644 doc/README-devicehandlers.txt

diff --git a/doc/README-devicehandlers.md b/doc/README-devicehandlers.md
new file mode 100644
index 00000000..6e737cc5
--- /dev/null
+++ b/doc/README-devicehandlers.md
@@ -0,0 +1 @@
+## FSFW DeviceHandlers
\ No newline at end of file
diff --git a/doc/README-devicehandlers.txt b/doc/README-devicehandlers.txt
deleted file mode 100644
index e69de29b..00000000

From 958db291e823746348434b72b7409baef2e031d4 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 15:49:31 +0100
Subject: [PATCH 650/653] now it compiles

---
 timemanager/CCSDSTime.h         |  1 +
 tmstorage/TmStorePackets.h      | 15 +++++++++------
 tmtcpacket/pus/TmPacketBase.cpp |  2 +-
 3 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/timemanager/CCSDSTime.h b/timemanager/CCSDSTime.h
index e9e6957f..d74adc61 100644
--- a/timemanager/CCSDSTime.h
+++ b/timemanager/CCSDSTime.h
@@ -7,6 +7,7 @@
 #include "clockDefinitions.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <cstdint>
+#include <cstddef>
 
 bool operator<(const timeval& lhs, const timeval& rhs);
 bool operator<=(const timeval& lhs, const timeval& rhs);
diff --git a/tmstorage/TmStorePackets.h b/tmstorage/TmStorePackets.h
index e88e741a..b46ae6f6 100644
--- a/tmstorage/TmStorePackets.h
+++ b/tmstorage/TmStorePackets.h
@@ -139,8 +139,9 @@ public:
 	static bool isOlderThan(const TmPacketInformation* packet, const timeval* cmpTime){
 		if(packet->isValid()){
 			timeval packetTime = {0,0};
-			uint32_t foundlen = 0;
-			CCSDSTime::convertFromCcsds(&packetTime,&packet->rawTimestamp[0],&foundlen,sizeof(rawTimestamp));
+			size_t foundlen = 0;
+			CCSDSTime::convertFromCcsds(&packetTime,
+					&packet->rawTimestamp[0],&foundlen,sizeof(rawTimestamp));
 			if(packetTime <= *cmpTime){
 				return true;
 			}
@@ -151,8 +152,9 @@ public:
 	static bool isNewerThan(const TmPacketInformation* packet, const timeval* cmpTime){
 		if(packet->isValid()){
 			timeval packetTime = {0,0};
-			uint32_t foundlen = 0;
-			CCSDSTime::convertFromCcsds(&packetTime,&packet->rawTimestamp[0],&foundlen,sizeof(rawTimestamp));
+			size_t foundlen = 0;
+			CCSDSTime::convertFromCcsds(&packetTime,&packet->rawTimestamp[0],
+					&foundlen,sizeof(rawTimestamp));
 			if(packetTime >= *cmpTime){
 				return true;
 			}
@@ -204,8 +206,9 @@ public:
 
 	timeval getTime() const {
 		timeval packetTime = {0,0};
-		uint32_t foundlen = 0;
-		CCSDSTime::convertFromCcsds(&packetTime,&this->rawTimestamp[0],&foundlen,sizeof(rawTimestamp));
+		size_t foundlen = 0;
+		CCSDSTime::convertFromCcsds(&packetTime, &this->rawTimestamp[0],
+				&foundlen,sizeof(rawTimestamp));
 		return packetTime;
 	}
 
diff --git a/tmtcpacket/pus/TmPacketBase.cpp b/tmtcpacket/pus/TmPacketBase.cpp
index f3bc3f00..2c8bfd63 100644
--- a/tmtcpacket/pus/TmPacketBase.cpp
+++ b/tmtcpacket/pus/TmPacketBase.cpp
@@ -74,7 +74,7 @@ bool TmPacketBase::checkAndSetStamper() {
 }
 
 ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
-	uint32_t tempSize = 0;
+	size_t tempSize = 0;
 	return CCSDSTime::convertFromCcsds(timestamp, tmData->data_field.time,
 			&tempSize, sizeof(tmData->data_field.time));
 }

From 571a64c42a72efb1ce0fc717215f714f81294fcb Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 16:10:53 +0100
Subject: [PATCH 651/653] time stamper ID added

---
 objectmanager/frameworkObjects.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/objectmanager/frameworkObjects.h b/objectmanager/frameworkObjects.h
index 57783286..8f8e93af 100644
--- a/objectmanager/frameworkObjects.h
+++ b/objectmanager/frameworkObjects.h
@@ -22,6 +22,7 @@ enum framework_objects {
 	//IDs for PUS Packet Communication
 	TC_STORE = 0x534f0100,
 	TM_STORE = 0x534f0200,
+	TIME_STAMPER = 0x53500010,
 
 	NO_OBJECT = 0xFFFFFFFF
 };

From e674b9248a272a48f1aed66e6550770bfb9abcf1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 16:15:40 +0100
Subject: [PATCH 652/653] better error handling

---
 osal/windows/TmTcWinUdpBridge.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/osal/windows/TmTcWinUdpBridge.cpp b/osal/windows/TmTcWinUdpBridge.cpp
index 1f66290f..e1ba132e 100644
--- a/osal/windows/TmTcWinUdpBridge.cpp
+++ b/osal/windows/TmTcWinUdpBridge.cpp
@@ -138,6 +138,11 @@ void TmTcWinUdpBridge::handleBindError() {
                 << "WSAStartup(...) call " << "necessary" << std::endl;
         break;
     }
+    case(WSAEADDRINUSE): {
+    	sif::warning << "TmTcWinUdpBridge::handleBindError: WSAEADDRINUSE: "
+    			<< "Port is already in use!" << std::endl;
+    	break;
+    }
     default: {
         /*
         https://docs.microsoft.com/en-us/windows/win32/winsock/

From f017e9c6d4f16cc8a417d1d06c06a439139a0bb1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Tue, 22 Dec 2020 16:22:11 +0100
Subject: [PATCH 653/653] include guards

---
 tmtcpacket/pus/TmPacketStored.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/tmtcpacket/pus/TmPacketStored.h b/tmtcpacket/pus/TmPacketStored.h
index 6ddbf131..b231407d 100644
--- a/tmtcpacket/pus/TmPacketStored.h
+++ b/tmtcpacket/pus/TmPacketStored.h
@@ -1,5 +1,5 @@
-#ifndef TMTCPACKET_PUS_TMPACKETSTORED_H_
-#define TMTCPACKET_PUS_TMPACKETSTORED_H_
+#ifndef FSFW_TMTCPACKET_PUS_TMPACKETSTORED_H_
+#define FSFW_TMTCPACKET_PUS_TMPACKETSTORED_H_
 
 #include "TmPacketBase.h"
 
@@ -105,4 +105,4 @@ private:
 };
 
 
-#endif /* TMTCPACKET_PUS_TMPACKETSTORED_H_ */
+#endif /* FSFW_TMTCPACKET_PUS_TMPACKETSTORED_H_ */