Merge branch 'mueller/master' into mueller/DHB_separating_steps

action/ActionHelper.cpp

@@ -1,9 +1,11 @@
 #include "ActionHelper.h"
 #include "HasActionsIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
-ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
+ActionHelper::ActionHelper(HasActionsIF* setOwner,
-		owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
+        MessageQueueIF* useThisQueue) :
+		owner(setOwner), queueToUse(useThisQueue) {
 }
 
 ActionHelper::~ActionHelper() {
@@ -32,13 +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);
@@ -48,8 +52,8 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
 	queueToUse = queue;
 }
 
-void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
+void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
-		store_address_t dataAddress) {
+        ActionId_t actionId, store_address_t dataAddress) {
 	const uint8_t* dataPtr = NULL;
 	size_t size = 0;
 	ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
@@ -85,21 +89,27 @@ 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.
+	// We don't need to report the objectId, as we receive REQUESTED data
-	//True aperiodic replies need to be reported with another dedicated message.
+	// 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: 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){
 		ipcStore->deleteData(storeAddress);
 	}
@@ -108,3 +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;
+}

action/ActionHelper.h

@@ -1,15 +1,18 @@
-#ifndef ACTIONHELPER_H_
+#ifndef FSFW_ACTION_ACTIONHELPER_H_
-#define 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.
+ * Components which use the HasActionIF this helper can be used to handle
- * It does handle step messages as well as other answers to action calls. It uses the executeAction function
+ * the action messages.
- * of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer!
+ * 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 a valid action message the helper will use the
-	 * If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically.
+	 * 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
+	 * Helper initialize function. Must be called before use of any other
-	 * @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
+	 * 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 +66,59 @@ 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
+	 * 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 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
+     * Function to be called by the owner if an action does report data.
-	 * message queue is unavailable at construction and initialize but must be setup before first call of other functions.
+     * 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
+	 * 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
+	//! Queue to be used as response sender, has to be set in ctor or with
-	StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
+	//! 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_ */

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
+	 * When used in conjunction with the ActionHelper class, returning
-	 * be done. When needing more steps, return RETURN_OK and issue steps and
+	 * a return code which is not equal to RETURN_OK will trigger a step reply
-	 * completion manually.
+	 * with step 0.
-	 * One "step failed" or completion report must be issued!
 	 */
 	virtual ReturnValue_t executeAction(ActionId_t actionId,
 			MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;

container/ArrayList.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_CONTAINER_ARRAYLIST_H_
+#ifndef FSFW_CONTAINER_ARRAYLIST_H_
-#define FRAMEWORK_CONTAINER_ARRAYLIST_H_
+#define FSFW_CONTAINER_ARRAYLIST_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeAdapter.h"
@@ -20,6 +20,30 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::ARRAY_LIST;
 	static const ReturnValue_t FULL = MAKE_RETURN_CODE(0x01);
 
+	/**
+	 * This is the allocating constructor.
+	 * It allocates an array of the specified size.
+	 * @param maxSize
+	 */
+	ArrayList(count_t maxSize) :
+		size(0), maxSize_(maxSize), allocated(true) {
+		entries = new T[maxSize];
+	}
+
+	/**
+	 * This is the non-allocating constructor
+	 *
+	 * 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
+	 * @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) {
+	}
+
 	/**
 	 * Copying is forbiden by declaring copy ctor and copy assignment deleted
 	 * It is too ambigous in this case.
@@ -33,30 +57,6 @@ public:
 	 */
 	count_t size;
 
-	/**
-	 * This is the allocating constructor;
-	 *
-	 * It allocates an array of the specified size.
-	 *
-	 * @param maxSize
-	 */
-	ArrayList(count_t maxSize) :
-			size(0), maxSize_(maxSize), allocated(true) {
-		entries = new T[maxSize];
-	}
-
-	/**
-	 * This is the non-allocating constructor
-	 *
-	 * 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
-	 * @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) {
-	}
 
 	/**
 	 * Destructor, if the allocating constructor was used, it deletes the array.
@@ -116,7 +116,11 @@ public:
 			return tmp;
 		}
 
-        T operator*() {
+		T& operator*() {
+			return *value;
+		}
+
+		const T& operator*() const {
 			return *value;
 		}
 
@@ -127,18 +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
 	 *
@@ -192,7 +196,7 @@ public:
 	 *
 	 * @return maximum number of elements
 	 */
-	uint32_t maxSize() const {
+	size_t maxSize() const {
 		return this->maxSize_;
 	}
 
@@ -236,7 +240,7 @@ 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.
@@ -244,4 +248,6 @@ protected:
 	bool allocated;
 };
 
-#endif /* ARRAYLIST_H_ */
+
+
+#endif /* FSFW_CONTAINER_ARRAYLIST_H_ */

container/DynamicFIFO.h

@@ -27,14 +27,27 @@ 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->fifoVector = other.fifoVector;
 		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;
 };

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;
 };

container/FIFOBase.h

@@ -19,32 +19,46 @@ 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
+	 * @param value Must point to a valid T
-	 * @return
+	 * @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
+	 * @param value Must point to a valid T
-	 * @return
+	 * @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();
 
+	/***
+	 * 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:

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;
 	}

container/FixedArrayList.h

@@ -1,51 +1,32 @@
 #ifndef FIXEDARRAYLIST_H_
 #define FIXEDARRAYLIST_H_
 
-#include "../container/ArrayList.h"
+#include "ArrayList.h"
-
+#include <cmath>
 /**
- * @brief 	Array List with a fixed maximum size
+ * \ingroup container
- * @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:
-	/**
-	 * (Robin) Maybe we should also implement move assignment and move ctor.
-	 * Or at least delete them.
-	 */
 	FixedArrayList() :
 			ArrayList<T, count_t>(data, MAX_SIZE) {
 	}
 
-	// (Robin): We could create a constructor to initialize the fixed array list
-	// with data and the known size field
-	// so it can be used for serialization too (with SerialFixedArrrayListAdapter)
-	// is this feasible?
-	/**
-	 * Initialize a fixed array list with data and number of data fields.
-	 * Endianness of entries can be swapped optionally.
-	 * @param data_
-	 * @param count
-	 * @param swapArrayListEndianess
-	 */
-	FixedArrayList(T * data_, count_t count):
-		ArrayList<T, count_t>(data, MAX_SIZE) {
-		memcpy(this->data, data_, count * sizeof(T));
-		this->size = count;
-	}
-
 	FixedArrayList(const FixedArrayList& other) :
 			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;
 	}
 

container/FixedMap.h

@@ -1,19 +1,27 @@
-#ifndef FIXEDMAP_H_
+#ifndef FSFW_CONTAINER_FIXEDMAP_H_
-#define FIXEDMAP_H_
+#define FSFW_CONTAINER_FIXEDMAP_H_
 
-#include "../container/ArrayList.h"
+#include "ArrayList.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <utility>
+#include <type_traits>
 
 /**
  * @brief    Map implementation for maps with a pre-defined size.
- * @details Can be initialized with desired maximum size.
+ * @details
- * 	        Iterator is used to access <key,value> pair and
+ * Can be initialized with desired maximum size.
- * 	        iterate through map entries. Complexity O(n).
+ * 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");
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MAP;
 	static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
@@ -51,28 +59,17 @@ 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;
-		}
-
-		// -> operator overloaded, can be used to access value
-		T *operator->() {
-			return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
-
-		// Can be used to access the key of the iterator
-		key_t first() {
-			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->first;
-		}
-
-		// Alternative to access value, similar to std::map implementation
-		T second() {
-			return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-		}
 	};
 
+	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]);
@@ -86,16 +83,16 @@ 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 FixedMap::KEY_ALREADY_EXISTS;
+			return KEY_ALREADY_EXISTS;
 		}
 		if (_size == theMap.maxSize()) {
-			return FixedMap::MAP_FULL;
+			return MAP_FULL;
 		}
 		theMap[_size].first = key;
 		theMap[_size].second = value;
-		if (storedValue != NULL) {
+		if (storedValue != nullptr) {
 			*storedValue = Iterator(&theMap[_size]);
 		}
 		++_size;
@@ -156,6 +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;
 	}
@@ -164,16 +179,6 @@ public:
 		return theMap.maxSize();
 	}
 
-
-	bool full() {
-		if(_size == theMap.maxSize()) {
-			return true;
-		}
-		else {
-			return false;
-		}
-	}
-
 	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
 			size_t maxSize, Endianness streamEndianness) const {
 		ReturnValue_t result = SerializeAdapter::serialize(&this->_size,
@@ -222,4 +227,4 @@ public:
 
 };
 
-#endif /* FIXEDMAP_H_ */
+#endif /* FSFW_CONTAINER_FIXEDMAP_H_ */

container/FixedOrderedMultimap.h

@@ -1,171 +1,206 @@
-#ifndef FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
+#ifndef FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
-#define FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_
+#define FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_
 
-#include "../container/ArrayList.h"
+#include "ArrayList.h"
 #include <cstring>
-#include <set>
 
 /**
- * @brief   Map implementation which allows entries with identical keys
+ * @brief  An associative container which allows multiple entries of the same key.
  * @details
- * Performs no dynamic memory allocation except on initialization.
+ * Same keys are ordered by KEY_COMPARE function which is std::less<key_t> > by default.
- * Uses an ArrayList as the underlying container and thus has a linear
+ *
+ * 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. Thus it 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
+ * as those incur extensive memory move operations (the underlying container
  * is not node based).
- * @ingroup container
+ *
+ * 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>>
 class FixedOrderedMultimap {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::FIXED_MULTIMAP;
-	static const ReturnValue_t KEY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t MAP_FULL = 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(0x02);
-	static const ReturnValue_t KEY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
 
-	/**
+	/***
-	 * Initializes the ordered multimap with a fixed maximum size.
+	 * Constructor which needs a size_t for the maximum allowed size
-	 * @param maxSize
+	 *
+	 * Can not be resized during runtime
+	 *
+	 * Allocates memory at construction
+	 * @param maxSize size_t of Maximum allowed size
 	 */
-    FixedOrderedMultimap(size_t maxSize);
+    FixedOrderedMultimap(size_t maxSize):theMap(maxSize), _size(0){
+    }
 
-    virtual ~FixedOrderedMultimap() {}
+	/***
+	 * 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:
-        /** Returns an iterator to nullptr */
+		Iterator() :
-        Iterator();
+			ArrayList<std::pair<key_t, T>, size_t>::Iterator() {
-        /** Initializes iterator to given entry */
+		}
-        Iterator(std::pair<key_t, T> *pair);
+
-        /** Dereference operator can be used to get value */
+		Iterator(std::pair<key_t, T> *pair) :
-        T operator*();
+			ArrayList<std::pair<key_t, T>, size_t>::Iterator(pair) {
-        /** Arrow operator can be used to get pointer to value */
+		}
-        T *operator->();
 	};
 
-    /** Iterator to start of map */
+	/***
-    Iterator begin() const;
+	 * Returns an iterator pointing to the first element
-    /** Iterator to end of map */
+	 * @return Iterator pointing to first element
-    Iterator end() const;
+	 */
-    /** Current (variable) size of the map */
+	Iterator begin() const {
-    size_t size() const;
+		return Iterator(&theMap[0]);
+	}
 
 	/**
-     * Insert a key/value pair inside the map. An iterator to the stored
+	 * Returns an iterator pointing to one element past the end
-     * value might be returned optionally.
+	 * @return Iterator pointing to one element past the end
-     * @param key
+	 */
-     * @param value
+	Iterator end() const {
-     * @param storedValue
+		return Iterator(&theMap[_size]);
-     * @return
+	}
+
+	/***
+	 * Returns the current size of the map (not maximum size!)
+	 * @return Current size
+	 */
+	size_t size() const{
+		return _size;
+	}
+
+	/**
+	 * Clears the map, does not deallocate any memory
+	 */
+	void clear(){
+		_size = 0;
+	}
+
+	/**
+	 * Returns the maximum size of the map
+	 * @return Maximum size of the map
+	 */
+	size_t maxSize() const{
+		return theMap.maxSize();
+	}
+
+	/***
+	 * 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);
-    /**
+
-     * Insert a given std::pair<key, value>
+	/***
-     * @param pair
+	 * Used to insert new pair instead of single values
-     * @return
+	 *
+	 * @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);
-    /**
+
-     * Checks existence of key in map.
+	/***
-     * @param key
+	 * Can be used to check if a certain key is in the map
-     * @return
+	 * @param key Key to be checked
-     * - @c KEY_DOES_NOT_EXIST if key does not exists.
+	 * @return RETURN_OK if the key exists KEY_DOES_NOT_EXIST otherwise
-     * - @c RETURN_OK otherwise.
 	 */
 	ReturnValue_t exists(key_t key) const;
 
-    ReturnValue_t erase(Iterator *iter) {
+	/***
-        uint32_t i;
+	 * Used to delete the element in the iterator
-        if ((i = findFirstIndex((*iter).value->first)) >= _size) {
+	 *
-            return KEY_DOES_NOT_EXIST;
+	 * The iterator will point to the element before or begin(),
-        }
+	 *  but never to one element in front of the map.
-        removeFromPosition(i);
+	 *
-        if (*iter != begin()) {
+	 * @warning The iterator needs to be valid and dereferenceable
-            (*iter)--;
+	 * @param[in/out] iter Pointer to iterator to the element that needs to be ereased
-        } else {
+	 * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
-            *iter = begin();
+	 */
-        }
+	ReturnValue_t erase(Iterator *iter);
-        return HasReturnvaluesIF::RETURN_OK;
-    }
 
-    ReturnValue_t erase(key_t key) {
+	/***
-        uint32_t i;
+	 * Used to erase by key
-        if ((i = findFirstIndex(key)) >= _size) {
+	 * @param key Key to be erased
-            return KEY_DOES_NOT_EXIST;
+	 * @return RETURN_OK if erased, KEY_DOES_NOT_EXIST if the there is no element like this
-        }
+	 */
-        do {
+	ReturnValue_t erase(key_t key);
-            removeFromPosition(i);
-            i = findFirstIndex(key, i);
-        } while (i < _size);
-        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) {
 			return end();
 		}
 		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;
+
+	friend bool operator==(const typename FixedOrderedMultimap::Iterator& lhs,
+			const typename FixedOrderedMultimap::Iterator& rhs) {
+		return (lhs.value == rhs.value);
 	}
 
-    ReturnValue_t find(key_t key, T **value) const {
+	friend bool operator!=(const typename FixedOrderedMultimap::Iterator& lhs,
-        ReturnValue_t result = exists(key);
+			const typename FixedOrderedMultimap::Iterator& rhs) {
-        if (result != HasReturnvaluesIF::RETURN_OK) {
+		return not (lhs.value == rhs.value);
-            return result;
-        }
-        *value = &theMap[findFirstIndex(key)].second;
-        return HasReturnvaluesIF::RETURN_OK;
-    }
-
-    void clear() {
-        _size = 0;
-    }
-
-    size_t maxSize() const {
-        return theMap.maxSize();
 	}
 
 private:
 	typedef KEY_COMPARE compare;
 	compare myComp;
-	ArrayList<std::pair<key_t, T>, uint32_t> theMap;
+	ArrayList<std::pair<key_t, T>, size_t> theMap;
 	size_t _size;
 
-	uint32_t findFirstIndex(key_t key, uint32_t startAt = 0) const {
+	size_t findFirstIndex(key_t key, size_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 {
+	size_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) {
+	void removeFromPosition(size_t position);
-		if (_size <= position) {
-			return;
-		}
-		memmove(&theMap[position], &theMap[position + 1],
-				(_size - position - 1) * sizeof(std::pair<key_t,T>));
-		--_size;
-	}
 };
 
 #include "FixedOrderedMultimap.tpp"
 
-#endif /* FRAMEWORK_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */
+#endif /* FSFW_CONTAINER_FIXEDORDEREDMULTIMAP_H_ */

container/FixedOrderedMultimap.tpp

@@ -1,59 +1,14 @@
 #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(
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(key_t key, T value, Iterator *storedValue) {
-        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 T FixedOrderedMultimap<key_t, T, KEY_COMPARE>::Iterator::operator*() {
-    return ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-}
-
-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 T* FixedOrderedMultimap<key_t, T, KEY_COMPARE>::Iterator::operator->() {
-    return &ArrayList<std::pair<key_t, T>, uint32_t>::Iterator::value->second;
-}
-
-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);
+	size_t position = findNicePlace(key);
-    // Compiler might emitt warning because std::pair is not a POD type (yet..)
+	memmove(static_cast<void*>(&theMap[position + 1]),static_cast<void*>(&theMap[position]),
-    // See: http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2342.htm#std::pair-example
-    // Should still work without issues.
-    std::memmove(&theMap[position + 1], &theMap[position],
 			(_size - position) * sizeof(std::pair<key_t,T>));
 	theMap[position].first = key;
 	theMap[position].second = value;
@@ -63,16 +18,13 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
-
 template<typename key_t, typename T, typename KEY_COMPARE>
-inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::insert(std::pair<key_t, T> pair) {
-        std::pair<key_t, T> pair) {
+	return insert(pair.first, pair.second);
-    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(
+inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(key_t key) const {
-        key_t key) const {
 	ReturnValue_t result = KEY_DOES_NOT_EXIST;
 	if (findFirstIndex(key) < _size) {
 		result = HasReturnvaluesIF::RETURN_OK;
@@ -80,4 +32,78 @@ inline ReturnValue_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::exists(
 	return result;
 }
 
+template<typename key_t, typename T, typename KEY_COMPARE>
+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;
+	}
+	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) {
+	size_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 size_t FixedOrderedMultimap<key_t, T, KEY_COMPARE>::findFirstIndex(key_t key, size_t startAt) 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;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+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)) {
+			return i;
+		}
+	}
+	return i;
+}
+
+template<typename key_t, typename T, typename KEY_COMPARE>
+inline void FixedOrderedMultimap<key_t, T, KEY_COMPARE>::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_TPP_ */

container/HybridIterator.h

@@ -1,8 +1,8 @@
 #ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
 #define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
 
-#include "../container/ArrayList.h"
+#include "ArrayList.h"
-#include "../container/SinglyLinkedList.h"
+#include "SinglyLinkedList.h"
 
 template<typename T, typename count_t = uint8_t>
 class HybridIterator: public LinkedElement<T>::Iterator,

container/IsDerivedFrom.h

@@ -1,50 +0,0 @@
-#ifndef ISDERIVEDFROM_H_
-#define ISDERIVEDFROM_H_
-
-/**
- * These template type checks are based on SFINAE
- * (https://en.cppreference.com/w/cpp/language/sfinae)
- *
- * @tparam D Derived Type
- * @tparam B Base Type
- */
-template<typename D, typename B>
-class IsDerivedFrom {
-	class No {
-	};
-	class Yes {
-		No no[3];
-	};
-
-	// This will be chosen if B is the base type
-	static Yes Test(B*); // declared, but not defined
-	// This will be chosen for anything else
-	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_ */

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 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.
+ *
+ * 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!
+ * @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);

container/RingBufferBase.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
+#ifndef FSFW_CONTAINER_RINGBUFFERBASE_H_
-#define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
+#define FSFW_CONTAINER_RINGBUFFERBASE_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <cstddef>
@@ -65,6 +65,7 @@ protected:
 	size_t read[N_READ_PTRS];
 	const size_t size;
 	const bool overwriteOld;
+
 	void incrementWrite(uint32_t amount) {
 		write = ((write + amount - start) % size) + start;
 	}
@@ -90,7 +91,6 @@ protected:
 		}
 	}
 
-
 	size_t getRead(uint8_t n = 0) const {
 		return read[n];
 	}
@@ -110,4 +110,4 @@ protected:
 	}
 };
 
-#endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */
+#endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */

container/RingBufferTest.cpp.ignore

@@ -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;
-	}
-}
-
-

container/SharedRingBuffer.cpp

@@ -1,4 +1,4 @@
-#include "../container/SharedRingBuffer.h"
+#include "SharedRingBuffer.h"
 #include "../ipc/MutexFactory.h"
 #include "../ipc/MutexHelper.h"
 
@@ -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;
+}

container/SharedRingBuffer.h

@@ -1,7 +1,8 @@
-#ifndef FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
+#ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_
-#define FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_
+#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
 
-#include "../container/SimpleRingBuffer.h"
+#include "SimpleRingBuffer.h"
+#include "DynamicFIFO.h"
 #include "../ipc/MutexIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../timemanager/Clock.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
@@ -59,10 +62,23 @@ 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;
 };
 
 
 
-#endif /* FRAMEWORK_CONTAINER_SHAREDRINGBUFFER_H_ */
+#endif /* FSFW_CONTAINER_SHAREDRINGBUFFER_H_ */

container/SimpleRingBuffer.cpp

@@ -1,4 +1,4 @@
-#include "../container/SimpleRingBuffer.h"
+#include "SimpleRingBuffer.h"
 #include <cstring>
 
 SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
@@ -25,12 +25,10 @@ SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
 	}
 }
 
-
 SimpleRingBuffer::~SimpleRingBuffer() {
 	delete[] buffer;
 }
 
-
 ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
         size_t amount) {
     if (availableWriteSpace() >= amount or overwriteOld) {
@@ -131,5 +129,3 @@ ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
 	incrementRead(amount, READ_PTR);
 	return HasReturnvaluesIF::RETURN_OK;
 }
-
-

container/SimpleRingBuffer.h

@@ -1,7 +1,7 @@
-#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+#ifndef FSFW_CONTAINER_SIMPLERINGBUFFER_H_
-#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+#define FSFW_CONTAINER_SIMPLERINGBUFFER_H_
 
-#include "../container/RingBufferBase.h"
+#include "RingBufferBase.h"
 #include <cstddef>
 
 /**
@@ -117,6 +117,7 @@ public:
 	 */
 	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;
@@ -124,5 +125,5 @@ private:
 	size_t excessBytes = 0;
 };
 
-#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
+#endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */
 

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);

container/listTest.cpp.ignore

@@ -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;
-}

controller/ControllerBase.cpp

@@ -1,5 +1,5 @@
-#include "../subsystem/SubsystemBase.h"
+#include "ControllerBase.h"
-#include "../controller/ControllerBase.h"
+
 #include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
 #include "../action/HasActionsIF.h"
@@ -9,7 +9,8 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
 		submode(SUBMODE_NONE), modeHelper(this),
 		healthHelper(this, setObjectId), hkSwitcher(this) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
+	commandQueue = QueueFactory::instance()->createMessageQueue(
+	        commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() {
@@ -25,7 +26,7 @@ ReturnValue_t ControllerBase::initialize() {
 	MessageQueueId_t parentQueue = 0;
 	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
+		if (parent == nullptr) {
 			return RETURN_FAILED;
 		}
 		parentQueue = parent->getCommandQueue();
@@ -56,8 +57,9 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
 
 void ControllerBase::handleQueue() {
 	CommandMessage command;
-	ReturnValue_t result;
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
+	for (result = commandQueue->receiveMessage(&command);
+	        result == RETURN_OK;
 			result = commandQueue->receiveMessage(&command)) {
 
 		result = modeHelper.handleModeCommand(&command);

controller/ControllerBase.h

@@ -7,12 +7,14 @@
 #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.
+ * Implements common interfaces for controllers, which generally have
+ * a mode and a health state. This avoids boilerplate code.
  */
 class ControllerBase: public HasModesIF,
 		public HasHealthIF,
@@ -26,24 +28,18 @@ public:
 			size_t commandQueueDepth = 3);
 	virtual ~ControllerBase();
 
+	/** SystemObject override */
 	virtual ReturnValue_t initialize() override;
 
 	virtual MessageQueueId_t getCommandQueue() const override;
 
-	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	/** HasHealthIF overrides */
-
 	virtual ReturnValue_t setHealth(HealthState health) override;
-
 	virtual HasHealthIF::HealthState getHealth() override;
 
-	/**
+	/** ExecutableObjectIF overrides */
-	 * Implementation of ExecutableObjectIF function
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
-	 *
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
-	 * 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_) override;
-
 	virtual ReturnValue_t initializeAfterTaskCreation() override;
 
 protected:
@@ -56,6 +52,9 @@ protected:
 	 */
     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,
@@ -73,6 +72,7 @@ protected:
 
 	HealthHelper healthHelper;
 
+	// Is this still needed?
 	HkSwitchHelper hkSwitcher;
 
 	/**
@@ -81,13 +81,16 @@ protected:
 	 */
 	PeriodicTaskIF* executingTask = nullptr;
 
-	void handleQueue();
+	/** Handle mode and health messages */
+	virtual void handleQueue();
 
+	/** 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);
 };
 

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;
+}

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_ */

datapool/DataSetIF.h

@@ -1,5 +1,5 @@
-#ifndef DATASETIF_H_
+#ifndef FSFW_DATAPOOL_DATASETIF_H_
-#define DATASETIF_H_
+#define FSFW_DATAPOOL_DATASETIF_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../timemanager/Clock.h"
@@ -34,7 +34,6 @@ public:
 	 */
 	virtual ~DataSetIF() {}
 
-
 	/**
 	 * @brief	This operation provides a method to register local data pool
 	 * 			variables to register in a data set by passing itself
@@ -45,4 +44,4 @@ public:
 	virtual uint16_t getFillCount() const = 0;
 };
 
-#endif /* FRAMEWORK_DATAPOOL_DATASETIF_H_ */
+#endif /* FSFW_DATAPOOL_DATASETIF_H_ */

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() !=

datapool/PoolDataSetBase.h

@@ -1,7 +1,8 @@
-#ifndef FRAMEWORK_DATAPOOL_DATASETBASE_H_
+#ifndef FSFW_DATAPOOL_POOLDATASETBASE_H_
-#define FRAMEWORK_DATAPOOL_DATASETBASE_H_
+#define FSFW_DATAPOOL_POOLDATASETBASE_H_
-#include "../datapool/PoolDataSetIF.h"
+
-#include "../datapool/PoolVariableIF.h"
+#include "PoolDataSetIF.h"
+#include "PoolVariableIF.h"
 #include "../ipc/MutexIF.h"
 
 /**
@@ -148,4 +149,4 @@ private:
 	ReturnValue_t handleUnreadDatasetCommit(uint32_t lockTimeout);
 };
 
-#endif /* FRAMEWORK_DATAPOOL_POOLPOOLDATASETBASE_H_ */
+#endif /* FSFW_DATAPOOL_POOLDATASETBASE_H_ */

datapool/PoolDataSetIF.h

@@ -1,7 +1,12 @@
-#ifndef FRAMEWORK_DATAPOOL_POOLDATASETIF_H_
+#ifndef FSFW_DATAPOOL_POOLDATASETIF_H_
-#define FRAMEWORK_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() {};
@@ -25,4 +30,4 @@ public:
     virtual bool isValid() const = 0;
 };
 
-#endif /* FRAMEWORK_DATAPOOL_POOLDATASETIF_H_ */
+#endif /* FSFW_DATAPOOL_POOLDATASETIF_H_ */

datapool/PoolEntry.cpp

@@ -1,4 +1,5 @@
-#include "../datapool/PoolEntry.h"
+#include "PoolEntry.h"
+
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../globalfunctions/arrayprinter.h"
 #include <cstring>

datapool/PoolEntry.h

@@ -1,7 +1,7 @@
-#ifndef FRAMEWORK_DATAPOOL_POOLENTRY_H_
+#ifndef FSFW_DATAPOOL_POOLENTRY_H_
-#define FRAMEWORK_DATAPOOL_POOLENTRY_H_
+#define FSFW_DATAPOOL_POOLENTRY_H_
 
-#include "../datapool/PoolEntryIF.h"
+#include "PoolEntryIF.h"
 
 #include <initializer_list>
 #include <type_traits>
@@ -127,4 +127,4 @@ public:
 	Type getType();
 };
 
-#endif /* POOLENTRY_H_ */
+#endif /* FSFW_DATAPOOL_POOLENTRY_H_ */

datapool/PoolEntryIF.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DATAPOOL_POOLENTRYIF_H_
+#ifndef FSFW_DATAPOOL_POOLENTRYIF_H_
-#define FRAMEWORK_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_ */

datapool/PoolRawAccessHelper.cpp

@@ -1,188 +0,0 @@
-/**
- * @file PoolRawAccessHelper.cpp
- *
- * @date 22.12.2019
- * @author R. Mueller
- */
-
-#include "../datapool/PoolRawAccessHelper.h"
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../serialize/SerializeAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
-
-#include <cmath>
-#include <cstring>
-
-PoolRawAccessHelper::PoolRawAccessHelper(uint32_t * poolIdBuffer_,
-		uint8_t  numberOfParameters_):
-		poolIdBuffer(reinterpret_cast<uint8_t * >(poolIdBuffer_)),
-		numberOfParameters(numberOfParameters_), validBufferIndex(0),
-		validBufferIndexBit(1) {
-}
-
-PoolRawAccessHelper::~PoolRawAccessHelper() {
-}
-
-ReturnValue_t PoolRawAccessHelper::serialize(uint8_t **buffer, size_t *size,
-		const size_t max_size, SerializeIF::Endianness streamEndianness) {
-	SerializationArgs serializationArgs = {buffer, size, max_size,
-	        streamEndianness};
-	ReturnValue_t result = RETURN_OK;
-	size_t remainingParametersSize = numberOfParameters * 4;
-	for(uint8_t count=0; count < numberOfParameters; count++) {
-		result = serializeCurrentPoolEntryIntoBuffer(serializationArgs,
-				&remainingParametersSize, false);
-		if(result != RETURN_OK) {
-			return result;
-		}
-	}
-	if(remainingParametersSize != 0) {
-		sif::debug << "PoolRawAccessHelper: "
-				"Remaining parameters size not 0 !" << std::endl;
-		result = RETURN_FAILED;
-	}
-	return result;
-}
-
-ReturnValue_t PoolRawAccessHelper::serializeWithValidityMask(uint8_t ** buffer,
-		size_t * size, const size_t max_size,
-		SerializeIF::Endianness streamEndianness) {
-	ReturnValue_t result = RETURN_OK;
-	SerializationArgs argStruct = {buffer, size, max_size, streamEndianness};
-	size_t remainingParametersSize = numberOfParameters * 4;
-	uint8_t validityMaskSize = ceil((float)numberOfParameters/8.0);
-	uint8_t validityMask[validityMaskSize];
-	memset(validityMask,0, validityMaskSize);
-	for(uint8_t count = 0; count < numberOfParameters; count++) {
-		result = serializeCurrentPoolEntryIntoBuffer(argStruct,
-				&remainingParametersSize,true,validityMask);
-		if (result != RETURN_OK) {
-			return result;
-		}
-	}
-	if(remainingParametersSize != 0) {
-		sif::debug << "PoolRawAccessHelper: Remaining "
-				"parameters size not 0 !" << std::endl;
-		result = RETURN_FAILED;
-	}
-
-	memcpy(*argStruct.buffer, validityMask, validityMaskSize);
-	*size += validityMaskSize;
-	validBufferIndex = 1;
-	validBufferIndexBit = 0;
-	return result;
-}
-
-ReturnValue_t PoolRawAccessHelper::serializeCurrentPoolEntryIntoBuffer(
-		SerializationArgs argStruct, size_t * remainingParameters,
-		bool withValidMask, uint8_t * validityMask) {
-	uint32_t currentPoolId;
-	// Deserialize current pool ID from pool ID buffer
-	ReturnValue_t result = SerializeAdapter::deSerialize(&currentPoolId,
-			&poolIdBuffer,remainingParameters, SerializeIF::Endianness::MACHINE);
-	if(result != RETURN_OK) {
-		sif::debug << std::hex << "PoolRawAccessHelper: Error deSeralizing "
-				"pool IDs" << std::dec << std::endl;
-		return result;
-	}
-	result = handlePoolEntrySerialization(currentPoolId, argStruct,
-			withValidMask, validityMask);
-	return result;
-}
-
-ReturnValue_t PoolRawAccessHelper::handlePoolEntrySerialization(
-		uint32_t currentPoolId,SerializationArgs argStruct, bool withValidMask,
-		uint8_t * validityMask) {
-	ReturnValue_t result = RETURN_FAILED;
-	uint8_t arrayPosition = 0;
-	uint8_t counter = 0;
-	bool poolEntrySerialized = false;
-	//debug << "Pool Raw Access Helper: Handling Pool ID: "
-	//      << std::hex <<  currentPoolId << std::endl;
-	while(not poolEntrySerialized) {
-
-		if(counter > GlobDataSet::DATA_SET_MAX_SIZE) {
-			sif::error << "PoolRawAccessHelper: Config error, "
-					 "max. number of possible data set variables exceeded"
-				  << std::endl;
-			return result;
-		}
-		counter ++;
-
-		GlobDataSet currentDataSet;
-		//debug << "Current array position: " << (int)arrayPosition << std::endl;
-		PoolRawAccess currentPoolRawAccess(currentPoolId, arrayPosition,
-				&currentDataSet, PoolVariableIF::VAR_READ);
-
-		result = currentDataSet.read();
-		if (result != RETURN_OK) {
-			sif::debug << std::hex << "PoolRawAccessHelper: Error reading raw "
-					"dataset with returncode 0x" << result << std::dec << std::endl;
-			return result;
-		}
-
-		result = checkRemainingSize(&currentPoolRawAccess, &poolEntrySerialized,
-				&arrayPosition);
-		if(result != RETURN_OK) {
-			sif::error << "Pool Raw Access Helper: Configuration Error at pool ID "
-				  << std::hex << currentPoolId
-				  << ". Size till end smaller than 0" << std::dec << std::endl;
-			return result;
-		}
-
-		// set valid mask bit if necessary
-		if(withValidMask) {
-			if(currentPoolRawAccess.isValid()) {
-				handleMaskModification(validityMask);
-			}
-			validBufferIndexBit ++;
-		}
-
-		result = currentDataSet.serialize(argStruct.buffer, argStruct.size,
-				argStruct.max_size, argStruct.streamEndianness);
-		if (result != RETURN_OK) {
-			sif::debug << "Pool Raw Access Helper: Error serializing pool data with "
-					 "ID 0x" << std::hex << currentPoolId << " into send buffer "
-					 "with return code " << result << std::dec << std::endl;
-			return result;
-		}
-
-	}
-	return result;
-}
-
-ReturnValue_t PoolRawAccessHelper::checkRemainingSize(PoolRawAccess*
-		currentPoolRawAccess, bool * isSerialized, uint8_t * arrayPosition) {
-	int8_t remainingSize = currentPoolRawAccess->getSizeTillEnd() -
-			currentPoolRawAccess->getSizeOfType();
-	if(remainingSize == 0) {
-		*isSerialized = true;
-	}
-	else if(remainingSize > 0) {
-		*arrayPosition += 1;
-	}
-	else {
-		return RETURN_FAILED;
-	}
-	return RETURN_OK;
-}
-
-void PoolRawAccessHelper::handleMaskModification(uint8_t * validityMask) {
-	validityMask[validBufferIndex] =
-			bitSetter(validityMask[validBufferIndex], validBufferIndexBit, true);
-	if(validBufferIndexBit == 8) {
-		validBufferIndex ++;
-		validBufferIndexBit = 1;
-	}
-}
-
-uint8_t PoolRawAccessHelper::bitSetter(uint8_t byte, uint8_t position,
-		bool value) {
-	if(position < 1 or position > 8) {
-		sif::debug << "Pool Raw Access: Bit setting invalid position" << std::endl;
-		return byte;
-	}
-	uint8_t shiftNumber = position + (6 - 2 * (position - 1));
-	byte |= 1UL << shiftNumber;
-	return byte;
-}

datapool/PoolRawAccessHelper.h

@@ -1,111 +0,0 @@
-/**
- * @file PoolRawAccessHelper.h
- *
- * @date 22.12.2019
- */
-
-#ifndef FRAMEWORK_DATAPOOL_POOLRAWACCESSHELPER_H_
-#define FRAMEWORK_DATAPOOL_POOLRAWACCESSHELPER_H_
-
-#include "../returnvalues/HasReturnvaluesIF.h"
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/PoolRawAccess.h"
-
-/**
- * @brief 	This helper function simplifies accessing data pool entries
- *  	  	via PoolRawAccess
- * @details Can be used for a Housekeeping Service
- * 			like  ECSS PUS Service 3 if the type of the datapool entries is unknown.
- * 			The provided dataset can be serialized into a provided buffer automatically by
- * 			providing a buffer of pool IDs
- * @ingroup data_pool
- */
-class PoolRawAccessHelper: public HasReturnvaluesIF {
-public:
-	/**
-	 * Call this constructor if a dataset needs to be serialized via
-	 * Pool Raw Access
-	 * @param dataSet_ This dataset will be used to perform thread-safe reading
-	 * @param poolIdBuffer_ A buffer of uint32_t pool IDs
-	 * @param numberOfParameters_ The number of parameters / pool IDs
-	 */
-	PoolRawAccessHelper(uint32_t * poolIdBuffer_, uint8_t numberOfParameters_);
-	virtual ~PoolRawAccessHelper();
-
-	/**
-	 * Serialize the datapool entries derived from the pool ID buffer
-	 * directly into a provided buffer
-	 * @param [out] buffer
-	 * @param [out] size Size of the serialized buffer
-	 * @param max_size
-	 * @param bigEndian
-	 * @return 	@c RETURN_OK On success
-	 * 			@c RETURN_FAILED on failure
-	 */
-	ReturnValue_t serialize(uint8_t ** buffer, size_t * size,
-			const size_t max_size, SerializeIF::Endianness streamEndianness);
-
-	/**
-	 * Serializes data pool entries into provided buffer with the validity mask buffer
-	 * at the end of the buffer. Every bit of the validity mask denotes
-	 * the validity of a corresponding data pool entry from left to right.
-	 * @param [out] buffer
-	 * @param [out] size Size of the serialized buffer plus size
-	 *                   of the validity mask
-	 * @return 	@c RETURN_OK On success
-	 * 			@c RETURN_FAILED on failure
-	 */
-	ReturnValue_t serializeWithValidityMask(uint8_t ** buffer, size_t * size,
-			const size_t max_size, SerializeIF::Endianness streamEndianness);
-
-
-private:
-	// DataSet * dataSet;
-	const uint8_t * poolIdBuffer;
-	uint8_t numberOfParameters;
-
-	uint8_t validBufferIndex;
-	uint8_t validBufferIndexBit;
-
-	struct SerializationArgs {
-		uint8_t ** buffer;
-		size_t * size;
-		const size_t max_size;
-		SerializeIF::Endianness streamEndianness;
-	};
-	/**
-	 * Helper function to serialize single pool entries
-	 * @param pPoolIdBuffer
-	 * @param buffer
-	 * @param remainingParameters
-	 * @param hkDataSize
-	 * @param max_size
-	 * @param bigEndian
-	 * @param withValidMask Can be set optionally to set a
-	 *        provided validity mask
-	 * @param validityMask Can be supplied and will be set if
-	 *  	  @c withValidMask is set to true
-	 * @return
-	 */
-	ReturnValue_t serializeCurrentPoolEntryIntoBuffer(
-			SerializationArgs argStruct, size_t * remainingParameters,
-			bool withValidMask = false, uint8_t * validityMask = nullptr);
-
-	ReturnValue_t handlePoolEntrySerialization(uint32_t currentPoolId,
-			SerializationArgs argStruct, bool withValidMask = false,
-			uint8_t * validityMask = nullptr);
-
-	ReturnValue_t checkRemainingSize(PoolRawAccess * currentPoolRawAccess,
-			bool * isSerialized, uint8_t * arrayPosition);
-	void handleMaskModification(uint8_t * validityMask);
-	/**
-	 * Sets specific bit of a byte
-	 * @param byte
-	 * @param position Position of byte to set from 1 to 8
-	 * @param value Binary value to set
-	 * @return
-	 */
-	uint8_t bitSetter(uint8_t byte, uint8_t position, bool value);
-};
-
-#endif /* FRAMEWORK_DATAPOOL_POOLRAWACCESSHELPER_H_ */

datapool/PoolVarList.h

@@ -1,5 +1,5 @@
-#ifndef POOLVARLIST_H_
+#ifndef FSFW_DATAPOOL_POOLVARLIST_H_
-#define POOLVARLIST_H_
+#define FSFW_DATAPOOL_POOLVARLIST_H_
 
 #include "../datapool/PoolVariableIF.h"
 #include "../datapoolglob/GlobalPoolVariable.h"
@@ -8,7 +8,8 @@ class PoolVarList {
 private:
 	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;
@@ -25,4 +26,4 @@ public:
 
 
 
-#endif /* POOLVARLIST_H_ */
+#endif /* FSFW_DATAPOOL_POOLVARLIST_H_ */

datapool/PoolVariableIF.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DATAPOOL_POOLVARIABLEIF_H_
+#ifndef FSFW_DATAPOOL_POOLVARIABLEIF_H_
-#define FRAMEWORK_DATAPOOL_POOLVARIABLEIF_H_
+#define FSFW_DATAPOOL_POOLVARIABLEIF_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeIF.h"
@@ -96,4 +96,4 @@ protected:
 
 using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;
 
-#endif /* POOLVARIABLEIF_H_ */
+#endif /* FSFW_DATAPOOL_POOLVARIABLEIF_H_ */

datapoolglob/ControllerSet.cpp

@@ -1,4 +1,4 @@
-#include "../datapool/ControllerSet.h"
+#include <fsfw/datapoolglob/ControllerSet.h>
 
 ControllerSet::ControllerSet() {
 

datapoolglob/ControllerSet.h

@@ -1,5 +1,5 @@
-#ifndef CONTROLLERSET_H_
+#ifndef FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
-#define CONTROLLERSET_H_
+#define FSFW_DATAPOOLGLOB_CONTROLLERSET_H_
 
 #include "../datapoolglob/GlobalDataSet.h"
 
@@ -12,4 +12,4 @@ public:
 	void setInvalid();
 };
 
-#endif /* CONTROLLERSET_H_ */
+#endif /*  FSFW_DATAPOOLGLOB_CONTROLLERSET_H_ */

datapoolglob/DataPoolAdmin.cpp

@@ -1,7 +1,8 @@
-#include "../datapoolglob/DataPoolAdmin.h"
+#include "DataPoolAdmin.h"
-#include "../datapoolglob/GlobalDataSet.h"
+#include "GlobalDataSet.h"
-#include "../datapoolglob/GlobalDataPool.h"
+#include "GlobalDataPool.h"
-#include "../datapoolglob/PoolRawAccess.h"
+#include "PoolRawAccess.h"
+
 #include "../ipc/CommandMessage.h"
 #include "../ipc/QueueFactory.h"
 #include "../parameters/ParameterMessage.h"

datapoolglob/DataPoolAdmin.h

@@ -1,5 +1,7 @@
-#ifndef DATAPOOLADMIN_H_
+#ifndef FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
-#define DATAPOOLADMIN_H_
+#define FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_
+
+#include "DataPoolParameterWrapper.h"
 
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -7,10 +9,9 @@
 #include "../action/HasActionsIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../parameters/ReceivesParameterMessagesIF.h"
-
-#include "../memory/MemoryHelper.h"
 #include "../action/SimpleActionHelper.h"
-#include "../datapoolglob/DataPoolParameterWrapper.h"
+#include "../memory/MemoryHelper.h"
+
 
 class DataPoolAdmin: public HasActionsIF,
 		public ExecutableObjectIF,
@@ -56,4 +57,4 @@ private:
 			Command_t initialCommand);
 };
 
-#endif /* DATAPOOLADMIN_H_ */
+#endif /* FSFW_DATAPOOLGLOB_DATAPOOLADMIN_H_ */

datapoolglob/GlobalPoolVector.h

@@ -1,5 +1,5 @@
-#ifndef GLOBALPOOLVECTOR_H_
+#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
-#define GLOBALPOOLVECTOR_H_
+#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_
 
 #include "../datapool/DataSetIF.h"
 #include "../datapool/PoolEntry.h"
@@ -182,4 +182,4 @@ private:
 template<typename T, uint16_t vectorSize>
 using gp_vec_t = GlobPoolVector<T, vectorSize>;
 
-#endif /* POOLVECTOR_H_ */
+#endif /* FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_H_ */

datapoolglob/GlobalPoolVector.tpp

@@ -1,5 +1,5 @@
-#ifndef GLOBALPOOLVECTOR_TPP_
+#ifndef FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
-#define GLOBALPOOLVECTOR_TPP_
+#define FSFW_DATAPOOLGLOB_GLOBALPOOLVECTOR_TPP_
 
 
 template<typename T, uint16_t vectorSize>

datapoollocal/HasLocalDataPoolIF.h

@@ -1,12 +1,15 @@
-#ifndef FRAMEWORK_DATAPOOL_HASHKPOOLPARAMETERSIF_H_
+#ifndef FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
-#define FRAMEWORK_DATAPOOL_HASHKPOOLPARAMETERSIF_H_
+#define FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_
+
 #include "../datapool/PoolEntryIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../housekeeping/HousekeepingMessage.h"
+
 #include <map>
 
 class LocalDataPoolManager;
-class DataSetIF;
+class LocalPoolDataSetBase;
+
 /**
  * @brief	Type definition for local pool entries.
  */
@@ -61,11 +64,11 @@ public:
 	virtual LocalDataPoolManager* getHkManagerHandle() = 0;
 
 	/**
-	 * Returns the minimum sampling frequency, which will usually be the
+	 * Returns the minimum sampling frequency in milliseconds, which will
-	 * period the pool owner performs its periodic operation-
+	 * usually be the period the pool owner performs its periodic operation.
 	 * @return
 	 */
-	virtual dur_millis_t getPeriodicOperationFrequency() const = 0;
+	virtual uint32_t getPeriodicOperationFrequency() const = 0;
 
 	/**
 	 * This function is used by the pool manager to get a valid dataset
@@ -73,7 +76,7 @@ public:
 	 * @param sid Corresponding structure ID
 	 * @return
 	 */
-	virtual DataSetIF* getDataSetHandle(sid_t sid) = 0;
+	virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) = 0;
 
 	/* These function can be implemented by pool owner, as they are required
 	 * by the housekeeping message interface */
@@ -84,9 +87,9 @@ public:
 	    return HasReturnvaluesIF::RETURN_FAILED;
 	};
 	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
-	        dur_seconds_t newInterval) {
+	        float newIntervalSeconds) {
 	    return HasReturnvaluesIF::RETURN_FAILED;
 	};
 };
 
-#endif /* FRAMEWORK_DATAPOOL_HASHKPOOLPARAMETERSIF_H_ */
+#endif /* FSFW_DATAPOOLLOCAL_HASLOCALDATAPOOLIF_H_ */

datapoollocal/LocalDataPoolManager.cpp

@@ -1,63 +1,75 @@
-#include "../datapoollocal/LocalDataPoolManager.h"
+#include "LocalDataPoolManager.h"
-#include "../datapoollocal/LocalDataSet.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::NO_OBJECT;
+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 << "HkManager: Invalid supplied owner!" << std::endl;
+        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;
+                << "Could not create mutex." << std::endl;
-	}
-	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if(ipcStore == nullptr) {
-	    sif::error << "LocalDataPoolManager::LocalDataPoolManager: "
-	            "Could not set IPC store." << std::endl;
     }
 
     hkQueue = queueToUse;
-
-	if(defaultHkDestination != objects::NO_OBJECT) {
-	    AcceptsHkPacketsIF* hkPacketReceiver =
-	            objectManager->get<AcceptsHkPacketsIF>(defaultHkDestination);
-	    if(hkPacketReceiver != nullptr) {
-	        defaultHkDestinationId = hkPacketReceiver->getHkQueue();
-	    }
-	}
 }
 
 LocalDataPoolManager::~LocalDataPoolManager() {}
 
 ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
     if(queueToUse == nullptr) {
-        sif::error << "LocalDataPoolManager::initialize: Supplied queue "
+        sif::error << "LocalDataPoolManager::initialize: "
-                "invalid!" << std::endl;
+                << 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);
-    diagnosticMinimumInterval = owner->getPeriodicOperationFrequency();
-    regularMinimumInterval = diagnosticMinimumInterval *
-            nonDiagnosticIntervalFactor;
     return initializeHousekeepingPoolEntriesOnce();
 }
 
@@ -71,20 +83,17 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 		return result;
 	}
 	sif::warning << "HousekeepingManager: The map should only be initialized "
-	        "once!" << std::endl;
+	        << "once!" << std::endl;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t LocalDataPoolManager::performHkOperation() {
-    for(auto& hkReceiversIter: hkReceiversMap) {
+    for(auto& receiver: hkReceiversMap) {
-        HkReceiver* receiver = &hkReceiversIter.second;
+        //HkReceiver* receiver = &hkReceiversIter.second;
-        if(not receiver->reportingEnabled) {
-            return HasReturnvaluesIF::RETURN_OK;
-        }
 
-        switch(receiver->reportingType) {
+        switch(receiver.reportingType) {
         case(ReportingType::PERIODIC): {
-            if(receiver->dataId.dataSetSid.notSet()) {
+            if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
                 // Periodic packets shall only be generated from datasets.
                 continue;
             }
@@ -110,50 +119,100 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
 			objectManager->get<AcceptsHkPacketsIF>(packetDestination);
 	if(hkReceiverObject == nullptr) {
 		sif::error << "LocalDataPoolManager::subscribeForPeriodicPacket:"
-				" Invalid receiver!"<< std::endl;
+				<< " Invalid receiver!"<< std::endl;
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
 	struct HkReceiver hkReceiver;
-	hkReceiver.dataId.dataSetSid = sid;
+	hkReceiver.dataId.sid = sid;
 	hkReceiver.reportingType = ReportingType::PERIODIC;
 	hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
-	hkReceiver.reportingEnabled = enableReporting;
+
-	if(not isDiagnostics) {
+	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
-	    hkReceiver.hkParameter.collectionIntervalTicks =
+	if(dataSet != nullptr) {
-	            intervalSecondsToInterval(isDiagnostics, collectionInterval *
+		dataSet->setReportingEnabled(enableReporting);
-	            nonDiagnosticIntervalFactor);
+		dataSet->setDiagnostic(isDiagnostics);
-	}
+		dataSet->initializePeriodicHelper(collectionInterval,
-	else {
+				owner->getPeriodicOperationFrequency(), isDiagnostics);
-	    hkReceiver.hkParameter.collectionIntervalTicks =
-	            intervalSecondsToInterval(isDiagnostics, collectionInterval);
 	}
 
-	hkReceiver.isDiagnostics = isDiagnostics;
+	hkReceiversMap.push_back(hkReceiver);
-	hkReceiver.intervalCounter = 1;
-
-	hkReceiversMap.emplace(packetDestination, 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) {
-    // I think those are the only commands which can be handled here..
+    case(HousekeepingMessage::ENABLE_PERIODIC_DIAGNOSTICS_GENERATION): {
-    case(HousekeepingMessage::ADD_HK_REPORT_STRUCT):
+    	result = togglePeriodicGeneration(sid, true, true);
-    case(HousekeepingMessage::ADD_DIAGNOSTICS_REPORT_STRUCT):
+    	break;
-        // We should use OwnsLocalPoolDataIF to specify those functions..
+    }
-        return HasReturnvaluesIF::RETURN_OK;
+
+    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(message->getSid());
+        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):
+    case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT): {
-        //return generateHousekeepingPacket(message->getSid());
+    	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(
@@ -161,7 +220,7 @@ ReturnValue_t LocalDataPoolManager::printPoolEntry(
 	auto poolIter = localPoolMap.find(localPoolId);
 	if (poolIter == localPoolMap.end()) {
 		sif::debug << "HousekeepingManager::fechPoolEntry:"
-				" Pool entry not found." << std::endl;
+				<< " Pool entry not found." << std::endl;
 		return POOL_ENTRY_NOT_FOUND;
 	}
 	poolIter->second->print();
@@ -172,40 +231,47 @@ MutexIF* LocalDataPoolManager::getMutexHandle() {
 	return mutex;
 }
 
-const HasLocalDataPoolIF* LocalDataPoolManager::getOwner() const {
+HasLocalDataPoolIF* LocalDataPoolManager::getOwner() {
     return owner;
 }
 
 ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
-        float collectionInterval, MessageQueueId_t destination) {
+		LocalPoolDataSetBase* dataSet, bool forDownlink,
-	LocalPoolDataSetBase* dataSetToSerialize =
+		MessageQueueId_t destination) {
-			dynamic_cast<LocalPoolDataSetBase*>(owner->getDataSetHandle(sid));
+	if(dataSet == nullptr) {
-	if(dataSetToSerialize == nullptr) {
+		// Configuration error.
 		sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
-				" Set ID not found or dataset not assigned!" << std::endl;
+				<< " Set ID not found or dataset not assigned!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	sif::info << "hk gen called" << std::endl;
+
 	store_address_t storeId;
-	HousekeepingPacketDownlink hkPacket(sid, collectionInterval,
+	HousekeepingPacketDownlink hkPacket(sid, dataSet);
-	        dataSetToSerialize->getFillCount(), dataSetToSerialize);
+	size_t serializedSize = 0;
-	ReturnValue_t result = serializeHkPacketIntoStore(hkPacket, &storeId);
+	ReturnValue_t result = serializeHkPacketIntoStore(hkPacket, storeId,
-	if(result != HasReturnvaluesIF::RETURN_OK) {
+			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;
-	HousekeepingMessage::setHkReportMessage(&hkMessage, sid, storeId);
+	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(defaultHkDestinationId == MessageQueueIF::NO_QUEUE) {
+	    if(hkDestinationId == MessageQueueIF::NO_QUEUE) {
 	        // error, all destinations invalid
 	        return HasReturnvaluesIF::RETURN_FAILED;
 	    }
-	    destination = defaultHkDestinationId;
+	    destination = hkDestinationId;
 	}
 
 	return hkQueue->sendMessage(destination, &hkMessage);
@@ -213,46 +279,22 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid,
 
 ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
         HousekeepingPacketDownlink& hkPacket,
-        store_address_t *storeId) {
+        store_address_t& storeId, bool forDownlink,
+		size_t* serializedSize) {
     uint8_t* dataPtr = nullptr;
-    size_t serializedSize = 0;
     const size_t maxSize = hkPacket.getSerializedSize();
-    ReturnValue_t  result = ipcStore->getFreeElement(storeId,
-            serializedSize, &dataPtr);
-    if(result != HasReturnvaluesIF::RETURN_OK) {
-        return result;
-    }
-
-    return hkPacket.serialize(&dataPtr, &serializedSize, maxSize,
-            SerializeIF::Endianness::MACHINE);
-}
-
-ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid) {
-    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;
-    }
-    size_t expectedSize = dataSet->getFillCount() * sizeof(lp_id_t);
-    uint8_t* storePtr = nullptr;
-    store_address_t storeId;
     ReturnValue_t result = ipcStore->getFreeElement(&storeId,
-            expectedSize,&storePtr);
+            maxSize, &dataPtr);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::error << "HousekeepingManager::generateHousekeepingPacket: "
-                "Could not get free element from IPC store." << std::endl;
         return result;
     }
-    size_t size = 0;
+
-    result = dataSet->serializeLocalPoolIds(&storePtr, &size,
+    if(forDownlink) {
-            expectedSize, SerializeIF::Endianness::BIG);
+    	return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
-    if(expectedSize != size) {
+    	            SerializeIF::Endianness::BIG);
-        sif::error << "HousekeepingManager::generateSetStructurePacket: "
-                "Expected size is not equal to serialized size" << std::endl;
     }
-    return result;
+    return hkPacket.serialize(&dataPtr, serializedSize, maxSize,
+            SerializeIF::Endianness::MACHINE);
 }
 
 void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
@@ -260,46 +302,126 @@ void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
     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;
+	}
 
-void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver* receiver) {
-    if(receiver->intervalCounter >=
-            receiver->hkParameter.collectionIntervalTicks) {
 	ReturnValue_t result = generateHousekeepingPacket(
-                receiver->dataId.dataSetSid);
+			sid, dataSet, true);
 	if(result != HasReturnvaluesIF::RETURN_OK) {
 		// configuration error
 		sif::debug << "LocalDataPoolManager::performHkOperation:"
-                    << "0x" << std::setfill('0') << std::setw(8)
+				<< "0x" << std::hex << std::setfill('0') << std::setw(8)
 				<< owner->getObjectId() << " Error generating "
-                    << "HK packet" << std::setfill(' ') << std::endl;
+				<< "HK packet" << std::setfill(' ') << std::dec << std::endl;
-        }
-        receiver->intervalCounter = 1;
-    }
-    else {
-        receiver->intervalCounter++;
 	}
 }
 
-uint32_t LocalDataPoolManager::intervalSecondsToInterval(bool isDiagnostics,
+
-        float collectionIntervalSeconds) {
+ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid,
-    if(isDiagnostics) {
+		bool enable, bool isDiagnostics) {
-        return std::ceil(collectionIntervalSeconds * 1000
+	LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
-                /diagnosticMinimumInterval);
+	if((dataSet->isDiagnostics() and not isDiagnostics) or
-    }
+			(not dataSet->isDiagnostics() and isDiagnostics)) {
-    else {
+		return WRONG_HK_PACKET_TYPE;
-        return std::ceil(collectionIntervalSeconds * 1000
-                /regularMinimumInterval);
-    }
 	}
 
-float LocalDataPoolManager::intervalToIntervalSeconds(bool isDiagnostics,
+	if((dataSet->getReportingEnabled() and enable) or
-        uint32_t collectionInterval) {
+			(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(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) {
-        return static_cast<float>(collectionInterval *
+	    HousekeepingMessage::setDiagnosticsStuctureReportReply(&reply,
-        		diagnosticMinimumInterval);
+	            sid, storeId);
 	}
 	else {
-        return static_cast<float>(collectionInterval *
+	    HousekeepingMessage::setHkStuctureReportReply(&reply,
-                regularMinimumInterval);
+	                    sid, storeId);
 	}
+
+	hkQueue->reply(&reply);
+	return result;
 }

datapoollocal/LocalDataPoolManager.h

@@ -1,14 +1,15 @@
-#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
+#ifndef FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_
-#define FRAMEWORK_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 "../housekeeping/HousekeepingMessage.h"
-#include "../datapool/PoolEntry.h"
-#include "../datapoollocal/HasLocalDataPoolIF.h"
 #include "../ipc/CommandMessage.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../ipc/MutexHelper.h"
@@ -23,7 +24,7 @@ class LocalDataSetBase;
 
 
 /**
- * @brief 	This class is the managing instance for local data pool.
+ * @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
@@ -49,10 +50,14 @@ class LocalDataPoolManager {
 public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::HOUSEKEEPING_MANAGER;
 
-    static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x0);
+    static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00);
-    static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x1);
+    static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01);
 
-    static constexpr ReturnValue_t QUEUE_OR_DESTINATION_NOT_SET = MAKE_RETURN_CODE(0x2);
+    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
@@ -69,16 +74,30 @@ public:
 	virtual~ LocalDataPoolManager();
 
 	/**
-	 * Initializes the map by calling the map initialization function of the
+	 * Assigns the queue to use.
-	 * owner and 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
 	 */
@@ -97,12 +116,6 @@ public:
 	 */
 	void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
 
-	/**
-	 * This should be called in the periodic handler of the owner.
-	 * It performs all the periodic functionalities of the data pool manager.
-	 * @return
-	 */
-	ReturnValue_t performHkOperation();
 
 	/**
 	 * Generate a housekeeping packet with a given SID.
@@ -110,9 +123,8 @@ public:
 	 * @return
 	 */
 	ReturnValue_t generateHousekeepingPacket(sid_t sid,
-	        float collectionInterval = 0,
+			LocalPoolDataSetBase* dataSet, bool forDownlink,
 			MessageQueueId_t destination = MessageQueueIF::NO_QUEUE);
-	ReturnValue_t generateSetStructurePacket(sid_t sid);
 
 	ReturnValue_t handleHousekeepingMessage(CommandMessage* message);
 
@@ -124,26 +136,27 @@ public:
 	 */
 	ReturnValue_t initializeHousekeepingPoolEntriesOnce();
 
-	const HasLocalDataPoolIF* getOwner() const;
+	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
+     *  1. PERIODIC:
+     *     HK packets are generated in fixed intervals and sent to
      *     destination. Fromat will be raw.
-     *  2. UPDATED: Notification will be sent out if HK data has changed.
+     *  2. UPDATE_NOTIFICATION:
-     *     Question: Send Raw data directly or just the message?
+     *     Notification will be sent out if HK data has changed.
-     *  3. REQUESTED: HK packets are only generated if explicitely requested.
+     *  3. UPDATE_SNAPSHOT:
+     *     HK packets are only generated if explicitely requested.
      *     Propably not necessary, just use multiple local data sets or
      *     shared datasets.
-     *
-     *  Notifications should also be possible for single variables instead of
-     *  full dataset updates.
      */
     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
@@ -151,6 +164,17 @@ public:
         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;
@@ -160,51 +184,37 @@ private:
     //! 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;
-    dur_millis_t regularMinimumInterval = 0;
-    dur_millis_t diagnosticMinimumInterval = 0;
 
 	/** Default receiver for periodic HK packets */
 	static object_id_t defaultHkDestination;
-	MessageQueueId_t defaultHkDestinationId = MessageQueueIF::NO_QUEUE;
+	MessageQueueId_t hkDestinationId = MessageQueueIF::NO_QUEUE;
 
     /** The data pool manager will keep an internal map of HK receivers. */
     struct HkReceiver {
-        /** Different member of this union will be used depending on the
+		/** Object ID of receiver */
-        type of data the receiver is interested in (full datasets or
+		object_id_t objectId = objects::NO_OBJECT;
-        single data variables. */
+
+		DataType dataType = DataType::DATA_SET;
         union DataId {
-        	DataId(): dataSetSid() {}
+			DataId(): sid() {};
-            /** Will be initialized to INVALID_ADDRESS */
+            sid_t sid;
-            sid_t dataSetSid;
+            lp_id_t localPoolId;
-            lp_id_t localPoolId = HasLocalDataPoolIF::NO_POOL_ID;
         };
         DataId dataId;
 
         ReportingType reportingType = ReportingType::PERIODIC;
         MessageQueueId_t destinationQueue = MessageQueueIF::NO_QUEUE;
-        bool reportingEnabled = true;
-        /** Different members of this union will be used depending on reporting
-        type */
-        union HkParameter {
-            /** This parameter will be used for the PERIODIC type */
-            uint32_t collectionIntervalTicks = 0;
-            /** This parameter will be used for the ON_UPDATE type */
-            bool hkDataChanged;
-        };
-        HkParameter hkParameter;
-        bool isDiagnostics;
-        /** General purpose counter which is used for periodic generation. */
-        uint32_t intervalCounter;
     };
 
-    /** Using a multimap as the same object might request multiple datasets */
+    /** This vector will contain the list of HK receivers. */
-    using HkReceiversMap = std::multimap<object_id_t, struct HkReceiver>;
+    using HkReceivers = std::vector<struct HkReceiver>;
 
-    HkReceiversMap hkReceiversMap;
+    HkReceivers hkReceiversMap;
 
     /** This is the map holding the actual data. Should only be initialized
      * once ! */
@@ -245,17 +255,16 @@ private:
 	template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
 			PoolEntry<T> **poolEntry);
 
-	void setMinimalSamplingFrequency(float frequencySeconds);
 	ReturnValue_t serializeHkPacketIntoStore(
 	        HousekeepingPacketDownlink& hkPacket,
-	        store_address_t *storeId);
+	        store_address_t& storeId, bool forDownlink, size_t* serializedSize);
 
-	uint32_t intervalSecondsToInterval(bool isDiagnostics,
+	void performPeriodicHkGeneration(HkReceiver& hkReceiver);
-	        float collectionIntervalSeconds);
+	ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable,
-	float intervalToIntervalSeconds(bool isDiagnostics,
+			bool isDiagnostics);
-	        uint32_t collectionInterval);
+	ReturnValue_t changeCollectionInterval(sid_t sid,
-
+			float newCollectionInterval, bool isDiagnostics);
-	void performPeriodicHkGeneration(HkReceiver* hkReceiver);
+	ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
 };
 
 
@@ -279,4 +288,4 @@ ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
 }
 
 
-#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_ */
+#endif /* FSFW_DATAPOOLLOCAL_LOCALDATAPOOLMANAGER_H_ */

datapoollocal/LocalDataSet.h

@@ -1,6 +1,7 @@
-#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_
+#ifndef FSFW_DATAPOOLLOCAL_LOCALDATASET_H_
-#define FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_
+#define FSFW_DATAPOOLLOCAL_LOCALDATASET_H_
-#include "../datapoollocal/LocalPoolDataSetBase.h"
+
+#include "LocalPoolDataSetBase.h"
 #include <vector>
 
 class LocalDataSet: public LocalPoolDataSetBase {
@@ -17,4 +18,4 @@ private:
     std::vector<PoolVariableIF*> poolVarList;
 };
 
-#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALDATASET_H_ */
+#endif /* FSFW_DATAPOOLLOCAL_LOCALDATASET_H_ */

datapoollocal/LocalPoolDataSetBase.cpp

@@ -1,5 +1,6 @@
 #include "LocalPoolDataSetBase.h"
 #include "../datapoollocal/LocalDataPoolManager.h"
+#include "../housekeeping/PeriodicHousekeepingHelper.h"
 #include "../serialize/SerializeAdapter.h"
 
 #include <cmath>
@@ -7,16 +8,22 @@
 
 LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
 		uint32_t setId, PoolVariableIF** registeredVariablesArray,
-        const size_t maxNumberOfVariables):
+		const size_t maxNumberOfVariables, bool noPeriodicHandling):
 		PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables) {
 	if(hkOwner == nullptr) {
-        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+		// Configuration error.
-                << std::endl;
+		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,
@@ -26,8 +33,9 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
     HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
             sid.objectId);
     if(hkOwner == nullptr) {
-        sif::error << "LocalDataSet::LocalDataSet: Owner can't be nullptr!"
+    	// Configuration error.
-                << std::endl;
+        sif::error << "LocalPoolDataSetBase::LocalPoolDataSetBase: Owner "
+        		<< "invalid!" << std::endl;
         return;
     }
     hkManager = hkOwner->getHkManagerHandle();
@@ -111,8 +119,14 @@ ReturnValue_t LocalPoolDataSetBase::unlockDataPool() {
 }
 
 ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
-        size_t* size, size_t maxSize,
+        size_t* size, size_t maxSize,SerializeIF::Endianness streamEndianness,
-        SerializeIF::Endianness streamEndianness) const {
+        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,
@@ -127,6 +141,16 @@ ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
 }
 
 
+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);
@@ -175,6 +199,41 @@ void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
     *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) {
@@ -190,4 +249,11 @@ bool LocalPoolDataSetBase::isValid() const {
     return this->valid;
 }
 
-
+void LocalPoolDataSetBase::setValidity(bool valid, bool setEntriesRecursively) {
+	if(setEntriesRecursively) {
+		for(size_t idx = 0; idx < this->getFillCount(); idx++) {
+			registeredVariables[idx] -> setValid(valid);
+		}
+	}
+	this->valid = valid;
+}

datapoollocal/LocalPoolDataSetBase.h

@@ -1,27 +1,36 @@
-#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
-#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_
+
+#include "HasLocalDataPoolIF.h"
 #include "../datapool/DataSetIF.h"
 #include "../datapool/PoolDataSetBase.h"
-#include "../datapoollocal/HasLocalDataPoolIF.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,
+ * the commit call. The data set manages locking and freeing the local data
- * to ensure thread-safety.
+ * 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 the read call is made, and the commit call only
+ * 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
@@ -31,17 +40,21 @@ class LocalDataPoolManager;
  * @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);
+	        const size_t maxNumberOfVariables, bool noPeriodicHandling = false);
 
 	/**
-	 * @brief	Constructor for users of local pool data. The passed pool
+	 * @brief	Constructor for users of local pool data.
-	 * 			owner should implement the HasHkPoolParametersIF.
 	 * @details
 	 * @param sid Unique identifier of dataset consisting of object ID and
 	 * set ID.
@@ -63,6 +76,9 @@ public:
 
 	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,
@@ -73,7 +89,7 @@ public:
 	 * 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.
+	 * to right, MSB first. (length = ceil(N/8), N = number of pool variables)
 	 * @param buffer
 	 * @param size
 	 * @param maxSize
@@ -88,18 +104,58 @@ public:
 	        size_t *size, SerializeIF::Endianness streamEndianness);
 	ReturnValue_t serializeLocalPoolIds(uint8_t** buffer,
 	        size_t* size, size_t maxSize,
-	        SerializeIF::Endianness streamEndianness) const;
+	        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;
 
 	/**
@@ -125,9 +181,10 @@ protected:
 	 */
 	void bitSetter(uint8_t* byte, uint8_t position) const;
 	bool bitGetter(const uint8_t* byte, uint8_t position) const;
-private:
 
+	PeriodicHousekeepingHelper* periodicHelper = nullptr;
 
 };
 
-#endif /* FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_ */
+
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLDATASETBASE_H_ */

datapoollocal/LocalPoolVariable.h

@@ -1,12 +1,12 @@
-#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
-#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+
+#include "HasLocalDataPoolIF.h"
+#include "LocalDataPoolManager.h"
 
 #include "../datapool/PoolVariableIF.h"
 #include "../datapool/DataSetIF.h"
-#include "../datapoollocal/HasLocalDataPoolIF.h"
-#include "../datapoollocal/LocalDataPoolManager.h"
 #include "../objectmanager/ObjectManagerIF.h"
-
 #include "../serialize/SerializeAdapter.h"
 
 /**
@@ -38,13 +38,13 @@ public:
 	 * @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.
+	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
 	 */
 	LocalPoolVar(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
-			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
+			DataSetIF* dataSet = nullptr,
-			DataSetIF* dataSet = nullptr);
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
 	/**
 	 * This constructor is used by data users like controllers to have
@@ -58,13 +58,14 @@ public:
 	 * the pool variable in that dataset directly.
 	 * @param poolId ID of the local pool entry.
 	 * @param hkOwner object ID of the pool owner.
-	 * @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.
+	 * @param setReadWriteMode Specify the read-write mode of the pool variable.
+	 *
 	 */
 	LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
-			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
+			DataSetIF* dataSet = nullptr,
-			DataSetIF* dataSet = nullptr);
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
 
 	virtual~ LocalPoolVar() {};
 
@@ -173,4 +174,4 @@ using lp_float_t = LocalPoolVar<float>;
 using lp_double_t = LocalPoolVar<double>;
 
 
-#endif
+#endif /* FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_ */

datapoollocal/LocalPoolVariable.tpp

@@ -1,22 +1,22 @@
-#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
+#ifndef FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
-#define FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
+#define FSFW_DATAPOOLLOCAL_LOCALPOOLVARIABLE_TPP_
 
-#ifndef FRAMEWORK_DATAPOOLLOCAL_LOCALPOOLVARIABLE_H_
+#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, pool_rwm_t setReadWriteMode,
+		HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
-		DataSetIF* dataSet):
+		pool_rwm_t setReadWriteMode):
 		localPoolId(poolId), readWriteMode(setReadWriteMode) {
 	if(poolId == PoolVariableIF::NO_PARAMETER) {
-		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
+		sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
-				"NO_PARAMETER value!" << std::endl;
+		        << "which is the NO_PARAMETER value!" << std::endl;
 	}
 	if(hkOwner == nullptr) {
-		sif::error << "LocalPoolVariable: The supplied pool owner is a nullptr!"
+		sif::error << "LocalPoolVar<T>::LocalPoolVar: The supplied pool "
-				<< std::endl;
+		        << "owner is a invalid!" << std::endl;
 		return;
 	}
 	hkManager = hkOwner->getHkManagerHandle();
@@ -27,17 +27,18 @@ inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId,
 
 template<typename T>
 inline LocalPoolVar<T>::LocalPoolVar(lp_id_t poolId, object_id_t poolOwner,
-		pool_rwm_t setReadWriteMode, DataSetIF *dataSet):
+        DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-		readWriteMode(setReadWriteMode) {
+        localPoolId(poolId), readWriteMode(setReadWriteMode) {
     if(poolId == PoolVariableIF::NO_PARAMETER) {
-		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
+        sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
-				"NO_PARAMETER value!" << std::endl;
+                << "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"
+        sif::error << "LocalPoolVariable: The supplied pool owner did not "
-				"the correct interface HasHkPoolParametersIF!" << std::endl;
+                << "implement  the correct interface "
+                << "HasLocalDataPoolIF!" << std::endl;
         return;
 	}
 	hkManager = hkOwner->getHkManagerHandle();

datapoollocal/LocalPoolVector.h

@@ -47,8 +47,9 @@ public:
 	 * If nullptr, the variable is not registered.
 	 */
 	LocalPoolVector(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
-			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
+			DataSetIF* dataSet = nullptr,
-			DataSetIF* dataSet = nullptr);
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE
+			);
 
 	/**
 	 * This constructor is used by data users like controllers to have
@@ -65,8 +66,9 @@ public:
 	 * If nullptr, the variable is not registered.
 	 */
 	LocalPoolVector(lp_id_t poolId, object_id_t poolOwner,
-			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE,
+			DataSetIF* dataSet = nullptr,
-			DataSetIF* dataSet = nullptr);
+			pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE
+			);
 
 	/**
 	 * @brief	This is the local copy of the data pool entry.
@@ -192,7 +194,7 @@ private:
 
 };
 
-#include "../datapoollocal/LocalPoolVector.tpp"
+#include "LocalPoolVector.tpp"
 
 template<typename T, uint16_t vectorSize>
 using lp_vec_t = LocalPoolVector<T, vectorSize>;

datapoollocal/LocalPoolVector.tpp

@@ -7,14 +7,14 @@
 
 template<typename T, uint16_t vectorSize>
 inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
-		HasLocalDataPoolIF* hkOwner, pool_rwm_t setReadWriteMode,
+		HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
-		DataSetIF* dataSet) :
+		pool_rwm_t setReadWriteMode):
 		localPoolId(poolId), valid(false), readWriteMode(setReadWriteMode) {
 	if(poolId == PoolVariableIF::NO_PARAMETER) {
-		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
+		sif::warning << "LocalPoolVector: PoolVariableIF::NO_PARAMETER passed "
-				"NO_PARAMETER value!" << std::endl;
+				<< "as pool ID, which is the NO_PARAMETER value!" << std::endl;
 	}
-	memset(this->value, 0, vectorSize * sizeof(T));
+	std::memset(this->value, 0, vectorSize * sizeof(T));
 	hkManager = hkOwner->getHkManagerHandle();
 	if (dataSet != nullptr) {
 		dataSet->registerVariable(this);
@@ -23,17 +23,18 @@ inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
 
 template<typename T, uint16_t vectorSize>
 inline LocalPoolVector<T, vectorSize>::LocalPoolVector(lp_id_t poolId,
-		object_id_t poolOwner, pool_rwm_t setReadWriteMode, DataSetIF *dataSet):
+		object_id_t poolOwner, DataSetIF *dataSet, pool_rwm_t setReadWriteMode):
-		readWriteMode(readWriteMode) {
+		readWriteMode(setReadWriteMode) {
 	if(poolId == PoolVariableIF::NO_PARAMETER) {
-		sif::warning << "LocalPoolVector: 0 passed as pool ID, which is the "
+		sif::warning << "LocalPoolVector: PoolVariableIF::NO_PARAMETER passed "
-				"NO_PARAMETER value!" << std::endl;
+				<< "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"
+		sif::error << "LocalPoolVariable: The supplied pool owner did not "
-				"the correct interface HasHkPoolParametersIF!" << std::endl;
+				<< "implement the correct interface HasHkPoolParametersIF!"
+				<< std::endl;
 		return;
 	}
 	hkManager = hkOwner->getHkManagerHandle();
@@ -67,7 +68,7 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::readWithoutLock() {
 				std::dec << " failed." << std::endl;
 		return result;
 	}
-	memcpy(this->value, poolEntry->address, poolEntry->getByteSize());
+	std::memcpy(this->value, poolEntry->address, poolEntry->getByteSize());
 	this->valid = poolEntry->valid;
 	return RETURN_OK;
 }
@@ -96,7 +97,7 @@ inline ReturnValue_t LocalPoolVector<T, vectorSize>::commitWithoutLock() {
 				std::dec << " failed.\n" << std::flush;
 		return result;
 	}
-	memcpy(poolEntry->address, this->value, poolEntry->getByteSize());
+	std::memcpy(poolEntry->address, this->value, poolEntry->getByteSize());
 	poolEntry->valid = this->valid;
 	return RETURN_OK;
 }

datapoollocal/SharedLocalDataSet.h

@@ -1,17 +1,11 @@
-#ifndef FRAMEWORK_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
+#ifndef FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
-#define FRAMEWORK_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
+#define FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_
+
+#include "LocalPoolDataSetBase.h"
 #include "../datapool/SharedDataSetIF.h"
-#include "../datapoollocal/LocalPoolDataSetBase.h"
 #include "../objectmanager/SystemObject.h"
 #include <vector>
 
-/**
- * Baseline question: If this dataset is shared, is there once instance
- * shared among many objects or multiple instances? Maybe be flexible
- * and provide both ways? Sharing one instance requires a mutex lock.
- * If there are multiple instances, it is not shared anymore, to be fair..
- * Then a regular local data set is sufficient.
- */
 class SharedLocalDataSet: public SystemObject,
         public LocalPoolDataSetBase,
         public SharedDataSetIF {
@@ -27,5 +21,4 @@ private:
 };
 
 
-
+#endif /* FSFW_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_ */
-#endif /* FRAMEWORK_DATAPOOLLOCAL_SHAREDLOCALDATASET_H_ */

datapoollocal/StaticLocalDataSet.h

@@ -1,5 +1,6 @@
-#ifndef FRAMEWORK_DATAPOOLLOCAL_STATICLOCALDATASET_H_
+#ifndef FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
-#define FRAMEWORK_DATAPOOLLOCAL_STATICLOCALDATASET_H_
+#define FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_
+
 #include "LocalPoolDataSetBase.h"
 #include "../objectmanager/SystemObjectIF.h"
 #include <array>
@@ -7,21 +8,43 @@
 /**
  * @brief   This local dataset type is created on the stack.
  * @details
- * Size of data set specified as a constructor argument. It is recommended
+ * This will is the primary data structure to organize pool variables into
- * to use the default LocalDataSet of the dataset is constructed on the heap
+ * sets which can be accessed via the housekeeping service interface or
- * and the SharedLocalDataSet if it created on the heap and used by multiple
+ * which can be sent to other software objects.
- * other software objects.
+ *
- * @tparam capacity
+ * 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:
-    StaticLocalDataSet(sid_t sid):
+	/**
-        LocalPoolDataSetBase(sid, poolVarList.data(), NUM_VARIABLES) {
+	 * 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 /* FRAMEWORK_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */
+#endif /* FSFW_DATAPOOLLOCAL_STATICLOCALDATASET_H_ */

devicehandlers/CommunicationMessage.cpp

@@ -122,7 +122,7 @@ uint32_t CommunicationMessage::getUint32Data() const{
 }
 
 void CommunicationMessage::setDataByte(uint8_t byte, uint8_t position) {
-	if(0 <= position && position <= 3) {
+	if(position <= 3) {
 		memcpy(getData() + 3 * sizeof(uint32_t) + position * sizeof(uint8_t), &byte, sizeof(byte));
 	}
 	else {
@@ -131,7 +131,7 @@ void CommunicationMessage::setDataByte(uint8_t byte, uint8_t position) {
 }
 
 uint8_t CommunicationMessage::getDataByte(uint8_t position) const {
-	if(0 <= position && position <= 3) {
+	if(position <= 3) {
 		uint8_t byte;
 		memcpy(&byte, getData() + 3 * sizeof(uint32_t) + position * sizeof(uint8_t), sizeof(byte));
 		return byte;

devicehandlers/DeviceHandlerBase.cpp

@@ -1,18 +1,18 @@
-#include "../devicehandlers/DeviceHandlerBase.h"
+#include "DeviceHandlerBase.h"
+#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 "../devicehandlers/AcceptsDeviceResponsesIF.h"
-
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../devicehandlers/DeviceTmReportingWrapper.h"
 #include "../globalfunctions/CRC.h"
 #include "../housekeeping/HousekeepingMessage.h"
 #include "../ipc/MessageQueueMessage.h"
-#include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../subsystem/SubsystemBase.h"
 
 #include <iomanip>
 
@@ -399,7 +399,7 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
 		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		PoolDataSetIF* replyDataSet, size_t replyLen, bool periodic,
+		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);
@@ -413,7 +413,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, PoolDataSetIF* dataSet,
+		uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet,
 		size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
@@ -463,7 +463,7 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
 
 
 ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
-        PoolDataSetIF *dataSet) {
+        LocalPoolDataSetBase *dataSet) {
     auto replyIter = deviceReplyMap.find(replyId);
     if(replyIter == deviceReplyMap.end()) {
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -1286,10 +1286,14 @@ 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
+					<< deviceCommandId << " isExecuting" << std::dec
-			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
+					<< 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;
@@ -1396,10 +1400,14 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
         pstIntervalMs = executingTask->getPeriodMs();
     }
     this->hkManager.initializeAfterTaskCreation();
+
+    if(setStartupImmediately) {
+        startTransition(MODE_ON, SUBMODE_NONE);
+    }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
 	auto iter = deviceReplyMap.find(sid.ownerSetId);
 	if(iter != deviceReplyMap.end()) {
 		return iter->second.dataSet;
@@ -1413,6 +1421,10 @@ object_id_t DeviceHandlerBase::getObjectId() const {
     return SystemObject::getObjectId();
 }
 
+void DeviceHandlerBase::setStartUpImmediately() {
+    this->setStartupImmediately = true;
+}
+
 dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
     return pstIntervalMs;
 }

devicehandlers/DeviceHandlerBase.h

@@ -1,25 +1,26 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
-#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+
+#include "DeviceHandlerIF.h"
+#include "DeviceCommunicationIF.h"
+#include "DeviceHandlerFailureIsolation.h"
 
 #include "../objectmanager/SystemObject.h"
 #include "../tasks/ExecutableObjectIF.h"
-#include "../devicehandlers/DeviceHandlerIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../action/HasActionsIF.h"
 #include "../datapool/PoolVariableIF.h"
-#include "../devicehandlers/DeviceCommunicationIF.h"
 #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 "../devicehandlers/DeviceHandlerFailureIsolation.h"
+
 #include <map>
 
 namespace Factory{
@@ -104,6 +105,18 @@ public:
 	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
@@ -149,6 +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();
 
@@ -370,7 +391,8 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, PoolDataSetIF* replyDataSet = nullptr,
+			uint16_t maxDelayCycles,
+			LocalPoolDataSetBase* replyDataSet = nullptr,
 			size_t replyLen = 0, bool periodic = false,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 
@@ -385,7 +407,7 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, PoolDataSetIF* dataSet = nullptr,
+			uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
 			size_t replyLen = 0, bool periodic = false);
 
 	/**
@@ -415,7 +437,7 @@ protected:
 			bool periodic = false);
 
 	ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
-	        PoolDataSetIF* dataset);
+	        LocalPoolDataSetBase* dataset);
 
 	/**
 	 * @brief   Can be implemented by child handler to
@@ -645,7 +667,7 @@ 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)
-		PoolDataSetIF* dataSet = nullptr;
+		LocalPoolDataSetBase* dataSet;
 		//! The command that expects this reply.
 		DeviceCommandMap::iterator command;
 	};
@@ -946,14 +968,17 @@ 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();
+	/* HasModesIF overrides */
-	virtual void announceMode(bool recursive);
+	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
@@ -1045,6 +1070,8 @@ private:
 	 */
 	uint32_t timeoutStart = 0;
 
+	bool setStartupImmediately = false;
+
 	/**
 	 * Delay for the current mode transition, used for time out
 	 */
@@ -1163,7 +1190,6 @@ 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!!!
 	 */
@@ -1174,28 +1200,14 @@ 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,
-	 *          e.g. 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;
-	virtual DataSetIF* getDataSetHandle(sid_t sid) override;
+
+    virtual dur_millis_t getPeriodicOperationFrequency() const override;
 
     void parseReply(const uint8_t* receivedData,
                 size_t receivedDataLen);
-
-    virtual dur_millis_t getPeriodicOperationFrequency() const override;
 };
 
-#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

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.

devicehandlers/DeviceHandlerIF.h

@@ -1,12 +1,19 @@
-#ifndef DEVICEHANDLERIF_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
-#define DEVICEHANDLERIF_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
+
+#include "DeviceHandlerMessage.h"
 
 #include "../action/HasActionsIF.h"
-#include "../devicehandlers/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;
 
@@ -153,4 +161,4 @@ public:
 
 };
 
-#endif /* DEVICEHANDLERIF_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */

devicehandlers/DeviceHandlerMessage.cpp

@@ -1,9 +1,5 @@
+#include "DeviceHandlerMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
-#include "../devicehandlers/DeviceHandlerMessage.h"
-#include "../objectmanager/ObjectManagerIF.h"
-
-DeviceHandlerMessage::DeviceHandlerMessage() {
-}
 
 store_address_t DeviceHandlerMessage::getStoreAddress(
 		const CommandMessage* message) {
@@ -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);
@@ -79,13 +67,12 @@ 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));
 		}
 	}

devicehandlers/DeviceHandlerMessage.h

@@ -1,69 +1,56 @@
-#ifndef DEVICEHANDLERMESSAGE_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
-#define 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
+ * @brief   The DeviceHandlerMessage is used to send commands to classes
- *
+ *          implementing DeviceHandlerIF
- * 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;
-	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
+	//! Sends a raw command, setParameter is a storeId containing the
-//	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
+	//! raw packet to send
-	static const Command_t CMD_SWITCH_ADDRESS = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
+	static const Command_t CMD_RAW = MAKE_COMMAND_ID(1);
-	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
+	//! 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)
+	//! Signals that a direct command was sent
-	 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_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS;
-	 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
+	//! Contains a raw command sent to the Device
-
+	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11);
-	 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
+	//! Contains a raw reply from the Device, getParameter() is the ObjcetId
-	 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
+	//! of the sender, getParameter2() is a ::store_id_t containing the
-	 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
+	//! raw packet received
-
+	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID(0x12);
-	 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);
@@ -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_ */

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) {
+Event makeEvent(uint8_t subsystemId, uint8_t uniqueEventId,
-	return (eventSeverity << 16) + (eventId & 0xFFFF);
+		EventSeverity_t eventSeverity) {
+	return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
 }
 }

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;
@@ -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;

events/EventManager.cpp

@@ -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) {

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);
@@ -55,7 +57,7 @@ protected:
 
 	void notifyListeners(EventMessage *message);
 
-#ifdef DEBUG
+#if FSFW_DEBUG_OUTPUT == 1
 	void printEvent(EventMessage *message);
 #endif
 

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;
+	static void triggerEvent(EventMessage* message,
-		if (eventmanagerQueue == 0) {
+	        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) {
+			if (eventmanager == nullptr) {
-				eventmanagerQueue = eventmanager->getEventReportQueue();
+			    return;
 			}
+			eventmanagerQueue = eventmanager->getEventReportQueue();
 		}
 		MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom);
 	}

events/fwSubsystemIdRanges.h

@@ -19,6 +19,8 @@ enum {
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
 	PUS_SERVICE_1 = 80,
+	PUS_SERVICE_9 = 89,
+	PUS_SERVICE_17 = 97,
 	FW_SUBSYSTEM_ID_RANGE
 };
 }

fdir/ConfirmsFailuresIF.h

@@ -4,7 +4,6 @@
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 
-// TODO: Documentation.
 class ConfirmsFailuresIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HANDLES_FAILURES_IF;

fdir/EventCorrelation.cpp

@@ -1,4 +1,4 @@
-#include "../fdir/EventCorrelation.h"
+#include "EventCorrelation.h"
 
 EventCorrelation::EventCorrelation(uint32_t timeout) :
 		eventPending(false) {

fdir/FailureIsolationBase.cpp

@@ -1,5 +1,5 @@
 #include "../events/EventManagerIF.h"
-#include "../fdir/FailureIsolationBase.h"
+#include "FailureIsolationBase.h"
 #include "../health/HasHealthIF.h"
 #include "../health/HealthMessage.h"
 #include "../ipc/QueueFactory.h"

fdir/FailureIsolationBase.h

@@ -2,8 +2,8 @@
 #define FRAMEWORK_FDIR_FAILUREISOLATIONBASE_H_
 
 #include "../events/EventMessage.h"
-#include "../fdir/ConfirmsFailuresIF.h"
+#include "ConfirmsFailuresIF.h"
-#include "../fdir/FaultCounter.h"
+#include "FaultCounter.h"
 #include "../health/HealthMessage.h"
 #include "../parameters/HasParametersIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"

fdir/FaultCounter.cpp

@@ -1,4 +1,4 @@
-#include "../fdir/FaultCounter.h"
+#include "FaultCounter.h"
 
 FaultCounter::FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs,
 		uint8_t setParameterDomain) :

fsfw.mk

@@ -31,12 +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

globalfunctions/AsciiConverter.cpp

@@ -1,4 +1,4 @@
-#include "../globalfunctions/AsciiConverter.h"
+#include "AsciiConverter.h"
 #include <limits>
 #include <cmath>
 

globalfunctions/CRC.cpp

@@ -1,4 +1,4 @@
-#include "../globalfunctions/CRC.h"
+#include "CRC.h"
 #include <math.h>
 
 const uint16_t CRC::crc16ccitt_table[256] = {

globalfunctions/DleEncoder.cpp

@@ -92,7 +92,7 @@ ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
 			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,
+				 * 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;

globalfunctions/DleEncoder.h

@@ -15,12 +15,12 @@
  * 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
+ * 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 enoded with DLE,
+ * 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.
  */
@@ -38,7 +38,7 @@ public:
 	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
+	//! 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;
@@ -47,7 +47,7 @@ public:
      * 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).
+     * 0x40 (which is reverted in the decoding process).
      * @param sourceStream
      * @param sourceLen
      * @param destStream

globalfunctions/PeriodicOperationDivider.cpp

@@ -0,0 +1,44 @@
+#include "PeriodicOperationDivider.h"
+
+
+PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
+		bool resetAutomatically): resetAutomatically(resetAutomatically),
+		counter(divider), divider(divider) {
+}
+
+bool PeriodicOperationDivider::checkAndIncrement() {
+	bool opNecessary = check();
+	if(opNecessary) {
+		if(resetAutomatically) {
+			counter = 0;
+		}
+		return opNecessary;
+	}
+	counter ++;
+	return opNecessary;
+}
+
+bool PeriodicOperationDivider::check() {
+	if(counter >= divider) {
+		return true;
+	}
+	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;
+}

globalfunctions/PeriodicOperationDivider.h

@@ -0,0 +1,65 @@
+#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.
+	 *
+	 * @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.
+	 */
+	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_ */

globalfunctions/arrayprinter.cpp

@@ -1,4 +1,4 @@
-#include "../globalfunctions/arrayprinter.h"
+#include "arrayprinter.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 #include <bitset>
 
@@ -27,7 +27,7 @@ void arrayprinter::printHex(const uint8_t *data, size_t size,
 		if(i < size - 1){
 			sif::info << " , ";
 			if(i > 0 and i % maxCharPerLine == 0) {
-				sif::info << "\r\n" << std::flush;
+				sif::info << std::endl;
 			}
 		}
 

globalfunctions/matching/BinaryMatcher.h

@@ -1,7 +1,7 @@
 #ifndef BINARYMATCHER_H_
 #define BINARYMATCHER_H_
 
-#include "../../globalfunctions/matching/MatcherIF.h"
+#include "MatcherIF.h"
 
 template<typename T>
 class BinaryMatcher: public MatcherIF<T> {

globalfunctions/matching/DecimalMatcher.h

@@ -1,7 +1,7 @@
 #ifndef DECIMALMATCHER_H_
 #define DECIMALMATCHER_H_
 
-#include "../../globalfunctions/matching/MatcherIF.h"
+#include "MatcherIF.h"
 
 template<typename T>
 class DecimalMatcher: public MatcherIF<T> {

globalfunctions/matching/MatchTree.h

@@ -2,7 +2,7 @@
 #define FRAMEWORK_GLOBALFUNCTIONS_MATCHING_MATCHTREE_H_
 
 #include "../../container/BinaryTree.h"
-#include "../../globalfunctions/matching/SerializeableMatcherIF.h"
+#include "SerializeableMatcherIF.h"
 #include "../../serialize/SerializeAdapter.h"
 
 template<typename T>

globalfunctions/matching/RangeMatcher.h

@@ -1,7 +1,7 @@
 #ifndef RANGEMATCHER_H_
 #define RANGEMATCHER_H_
 
-#include "../../globalfunctions/matching/SerializeableMatcherIF.h"
+#include "SerializeableMatcherIF.h"
 #include "../../serialize/SerializeAdapter.h"
 
 template<typename T>

globalfunctions/matching/SerializeableMatcherIF.h

@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_GLOBALFUNCTIONS_MATCHING_SERIALIZEABLEMATCHERIF_H_
 #define FRAMEWORK_GLOBALFUNCTIONS_MATCHING_SERIALIZEABLEMATCHERIF_H_
 
-#include "../../globalfunctions/matching/MatcherIF.h"
+#include "MatcherIF.h"
 #include "../../serialize/SerializeIF.h"
 
 template<typename T>

globalfunctions/math/QuaternionOperations.cpp

@@ -1,5 +1,5 @@
 #include "QuaternionOperations.h"
-#include "../../globalfunctions/math/VectorOperations.h"
+#include "VectorOperations.h"
 
 #include <cmath>
 #include <cstring>

health/HasHealthIF.h

@@ -1,5 +1,5 @@
-#ifndef HASHEALTHIF_H_
+#ifndef FSFW_HEALTH_HASHEALTHIF_H_
-#define HASHEALTHIF_H_
+#define FSFW_HEALTH_HASHEALTHIF_H_
 
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
@@ -8,9 +8,13 @@
 class HasHealthIF {
 public:
 
-	typedef enum {
+	enum HealthState: uint8_t {
-		HEALTHY = 1, FAULTY = 0, EXTERNAL_CONTROL = 2, NEEDS_RECOVERY = 3, PERMANENT_FAULTY = 4
+		HEALTHY = 1,
-	} HealthState;
+		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
+	 * @brief   Get Health State
-	 *
 	 * @return  Health State of the object
 	 */
 	virtual HasHealthIF::HealthState getHealth() = 0;
 };
 
-#endif /* HASHEALTHIF_H_ */
+#endif /* FSFW_HEALTH_HASHEALTHIF_H_ */

health/HealthHelper.cpp

@@ -1,4 +1,4 @@
-#include "../health/HealthHelper.h"
+#include "HealthHelper.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) :
@@ -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;

health/HealthHelper.h

@@ -1,23 +1,26 @@
-#ifndef FRAMEWORK_HEALTH_HEALTHHELPER_H_
+#ifndef FSFW_HEALTH_HEALTHHELPER_H_
-#define FRAMEWORK_HEALTH_HEALTHHELPER_H_
+#define FSFW_HEALTH_HEALTHHELPER_H_
+
+#include "HasHealthIF.h"
+#include "HealthMessage.h"
+#include "HealthTableIF.h"
 
 #include "../events/EventManagerIF.h"
 #include "../events/EventReportingProxyIF.h"
-#include "../health/HasHealthIF.h"
-#include "../health/HealthMessage.h"
-#include "../health/HealthTableIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #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
+ * If a parent is set in the ctor, the parent will be informed with a
- * (including replying to the sender) and updating the Health Table.
+ * @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
@@ -26,10 +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);
 
@@ -56,7 +58,8 @@ 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_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);
 
@@ -77,15 +80,18 @@ 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_OK if the Health Table was found and the object
+	 * could be registered
 	 * -@c RETURN_FAILED else
 	 */
 	ReturnValue_t initialize(MessageQueueId_t parentQueue );
@@ -109,13 +115,17 @@ private:
 	HasHealthIF* owner;
 
 	/**
-	 * if the #parentQueue is not NULL, a @c HEALTH_INFO message will be sent to this queue
+	 * if the #parentQueue is not NULL, a @c HEALTH_INFO message
-	 * @param health the health is passed as parameter so that the number of calls to the health table can be minimized
+	 * 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);
 };
 
-#endif /* HEALTHHELPER_H_ */
+#endif /* FSFW_HEALTH_HEALTHHELPER_H_ */

health/HealthMessage.cpp

@@ -1,4 +1,4 @@
-#include "../health/HealthMessage.h"
+#include "HealthMessage.h"
 
 void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command,
 		HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth) {
@@ -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();
 }
 

health/HealthMessage.h

@@ -1,20 +1,26 @@
-#ifndef HEALTHMESSAGE_H_
+#ifndef FSFW_HEALTH_HEALTHMESSAGE_H_
-#define HEALTHMESSAGE_H_
+#define FSFW_HEALTH_HEALTHMESSAGE_H_
 
-#include "../health/HasHealthIF.h"
+#include "HasHealthIF.h"
 #include "../ipc/CommandMessage.h"
 
 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_ */

health/HealthTable.cpp

@@ -1,6 +1,7 @@
-#include "../health/HealthTable.h"
+#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(
+	healthMap.emplace(object, initilialState);
-			std::pair<object_id_t, HasHealthIF::HealthState>(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);
+bool HealthTable::hasHealth(object_id_t object) {
-	uint32_t size = healthMap.size() * 5 + 2;
+	MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20);
-	mutex->unlockMutex();
+	HealthMap::iterator iter = healthMap.find(object);
+	if (iter != healthMap.end()) {
+		return true;
+	}
+	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;
 }
 
-bool HealthTable::hasHealth(object_id_t object) {
-	bool exits = false;
-	mutex->lockMutex(MutexIF::BLOCKING);
-	HealthMap::iterator iter = healthMap.find(object);
-	if (iter != healthMap.end()) {
-		exits = true;
-	}
-	mutex->unlockMutex();
-	return exits;
-}
-
 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 (const auto& health: healthMap) {
-	for (iter = healthMap.begin();
+		SerializeAdapter::serialize(&health.first,
-			iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK;
-			++iter) {
-		result = SerializeAdapter::serialize(&iter->first,
 				&pointer, &size, maxSize, SerializeIF::Endianness::BIG);
-		uint8_t health = iter->second;
+		uint8_t healthValue = health.second;
-		result = SerializeAdapter::serialize(&health, &pointer, &size,
+		SerializeAdapter::serialize(&healthValue, &pointer, &size,
 				maxSize, SerializeIF::Endianness::BIG);
 	}
-	mutex->unlockMutex();
 }
 
-ReturnValue_t HealthTable::iterate(
+ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) {
-		std::pair<object_id_t, HasHealthIF::HealthState> *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;
 }

health/HealthTable.h

@@ -1,35 +1,42 @@
-#ifndef FRAMEWORK_HEALTH_HEALTHTABLE_H_
+#ifndef FSFW_HEALTH_HEALTHTABLE_H_
-#define FRAMEWORK_HEALTH_HEALTHTABLE_H_
+#define FSFW_HEALTH_HEALTHTABLE_H_
 
-#include "../health/HealthTableIF.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();
 
+    /** HealthTableIF overrides */
     virtual ReturnValue_t registerObject(object_id_t object,
-			HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY);
+            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);
+	/** ManagesHealthIF overrides */
-	virtual void setHealth(object_id_t object, HasHealthIF::HealthState newState);
+	virtual bool hasHealth(object_id_t object) override;
-	virtual HasHealthIF::HealthState getHealth(object_id_t);
+	virtual void setHealth(object_id_t object,
-
+	        HasHealthIF::HealthState newState) override;
-	virtual uint32_t getPrintSize();
+	virtual HasHealthIF::HealthState getHealth(object_id_t) override;
-	virtual void printAll(uint8_t *pointer, size_t maxSize);
 
 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_ */

health/HealthTableIF.h

@@ -1,28 +1,24 @@
-#ifndef FRAMEWORK_HEALTH_HEALTHTABLEIF_H_
+#ifndef FSFW_HEALTH_HEALTHTABLEIF_H_
-#define FRAMEWORK_HEALTH_HEALTHTABLEIF_H_
+#define FSFW_HEALTH_HEALTHTABLEIF_H_
 
-#include "../health/ManagesHealthIF.h"
+#include "ManagesHealthIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <map>
-
 
 class HealthTableIF: public ManagesHealthIF {
-	// TODO: This is in the mission folder and not in the framework folder.
-	// delete it?
-	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 /* FRAMEWORK_HEALTH_HEALTHTABLEIF_H_ */

health/ManagesHealthIF.h

@@ -1,8 +1,9 @@
-#ifndef FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
+#ifndef FSFW_HEALTH_MANAGESHEALTHIF_H_
-#define FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_
+#define FSFW_HEALTH_MANAGESHEALTHIF_H_
 
-#include "../health/HasHealthIF.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_ */

housekeeping/HousekeepingMessage.cpp

@@ -1,9 +1,10 @@
+#include <fsfw/objectmanager/ObjectManagerIF.h>
 #include "HousekeepingMessage.h"
 #include <cstring>
 
 HousekeepingMessage::~HousekeepingMessage() {}
 
-void HousekeepingMessage::setHkReportMessage(CommandMessage* message, sid_t sid,
+void HousekeepingMessage::setHkReportReply(CommandMessage* message, sid_t sid,
 		store_address_t storeId) {
 	message->setCommand(HK_REPORT);
 	message->setMessageSize(HK_MESSAGE_SIZE);
@@ -11,7 +12,7 @@ void HousekeepingMessage::setHkReportMessage(CommandMessage* message, sid_t sid,
 	message->setParameter3(storeId.raw);
 }
 
-void HousekeepingMessage::setHkDiagnosticsMessage(CommandMessage* message,
+void HousekeepingMessage::setHkDiagnosticsReply(CommandMessage* message,
 		sid_t sid, store_address_t storeId) {
 	message->setCommand(DIAGNOSTICS_REPORT);
 	message->setMessageSize(HK_MESSAGE_SIZE);
@@ -19,7 +20,7 @@ void HousekeepingMessage::setHkDiagnosticsMessage(CommandMessage* message,
 	message->setParameter3(storeId.raw);
 }
 
-sid_t HousekeepingMessage::getHkReportMessage(const CommandMessage *message,
+sid_t HousekeepingMessage::getHkDataReply(const CommandMessage *message,
 		store_address_t *storeIdToSet) {
 	if(storeIdToSet != nullptr) {
 	    *storeIdToSet = message->getParameter3();
@@ -27,6 +28,96 @@ sid_t HousekeepingMessage::getHkReportMessage(const CommandMessage *message,
 	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));
@@ -37,3 +128,35 @@ void HousekeepingMessage::setSid(CommandMessage *message, sid_t sid) {
 	std::memcpy(message->getData(), &sid.raw, sizeof(sid.raw));
 }
 
+void HousekeepingMessage::setHkStuctureReportReply(CommandMessage *reply,
+        sid_t sid, store_address_t storeId) {
+    reply->setCommand(HK_DEFINITIONS_REPORT);
+    setSid(reply, sid);
+    reply->setParameter3(storeId.raw);
+}
+
+void HousekeepingMessage::setDiagnosticsStuctureReportReply(
+        CommandMessage *reply, sid_t sid, store_address_t storeId) {
+    reply->setCommand(DIAGNOSTICS_DEFINITION_REPORT);
+    setSid(reply, sid);
+    reply->setParameter3(storeId.raw);
+}
+
+void HousekeepingMessage::clear(CommandMessage* message) {
+    switch(message->getCommand()) {
+    case(HK_REPORT):
+    case(DIAGNOSTICS_REPORT):
+    case(HK_DEFINITIONS_REPORT):
+    case(DIAGNOSTICS_DEFINITION_REPORT):
+    case(UPDATE_SNAPSHOT): {
+        store_address_t storeId;
+        getHkDataReply(message, &storeId);
+        StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
+                objects::IPC_STORE);
+        if (ipcStore != nullptr) {
+            ipcStore->deleteData(storeId);
+        }
+    }
+    }
+    message->setCommand(CommandMessage::CMD_NONE);
+}

housekeeping/HousekeepingMessage.h

@@ -1,16 +1,17 @@
-#ifndef FRAMEWORK_HK_HOUSEKEEPINGMESSAGE_H_
+#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGMESSAGE_H_
-#define FRAMEWORK_HK_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"
-#include <limits>
 
 union sid_t {
-	static constexpr uint64_t INVALID_ADDRESS =
+	static constexpr uint64_t INVALID_SID = -1;
-			std::numeric_limits<uint64_t>::max();
+	static constexpr uint32_t INVALID_SET_ID = -1;
-	sid_t(): raw(INVALID_ADDRESS) {}
+	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),
@@ -31,7 +32,15 @@ union sid_t {
 	uint64_t raw;
 
 	bool notSet() const {
-	    return raw == INVALID_ADDRESS;
+	    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);
 	}
 };
 
@@ -49,25 +58,15 @@ public:
 	        sizeof(sid_t) + sizeof(uint32_t);
 
 	/**
-	 * The HK message is initialized with a pointer to a message which holds
+	 * Concrete instance is not used, instead this class operates on
-	 * the message data, see CommandMessageIF and getInternalMessage().
+	 * command message instances.
-	 * @param message
 	 */
 	HousekeepingMessage() = delete;
 	virtual ~HousekeepingMessage();
 
 	static constexpr uint8_t MESSAGE_ID = messagetypes::HOUSEKEEPING;
 
-	static constexpr Command_t ADD_HK_REPORT_STRUCT =
+	static constexpr Command_t ENABLE_PERIODIC_HK_REPORT_GENERATION =
-			MAKE_COMMAND_ID(1);
-	static constexpr Command_t ADD_DIAGNOSTICS_REPORT_STRUCT =
-			MAKE_COMMAND_ID(2);
-
-	static constexpr Command_t DELETE_HK_REPORT_STRUCT = MAKE_COMMAND_ID(3);
-	static constexpr Command_t DELETE_DIAGNOSTICS_REPORT_STRUCT =
-			MAKE_COMMAND_ID(4);
-
-	static constexpr Command_t ENABLE_PERIODIC_HK_GENERATION =
 			MAKE_COMMAND_ID(5);
 	static constexpr Command_t DISABLE_PERIODIC_HK_REPORT_GENERATION =
 			MAKE_COMMAND_ID(6);
@@ -92,31 +91,67 @@ public:
 	static constexpr Command_t GENERATE_ONE_DIAGNOSTICS_REPORT =
 			MAKE_COMMAND_ID(28);
 
-	static constexpr Command_t APPEND_PARAMETERS_TO_PARAMETER_REPORT_STRUCTURE =
-			MAKE_COMMAND_ID(29);
-	static constexpr Command_t APPEND_PARAMETERS_TO_DIAGNOSTICS_REPORT_STRUCTURE =
-			MAKE_COMMAND_ID(30);
-
 	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);
 
-	static void setHkReportMessage(CommandMessage* message, sid_t sid,
+	/** 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 setHkDiagnosticsMessage(CommandMessage* message, sid_t sid,
+	static void setHkDiagnosticsReply(CommandMessage* reply, sid_t sid,
 			store_address_t storeId);
 
-	//! Get the respective SID and store ID. Command ID can be used beforehand
+	static void setHkRequestSuccessReply(CommandMessage* reply, sid_t sid);
-	//! to distinguish between diagnostics and regular HK packets
+	static void setHkRequestFailureReply(CommandMessage* reply, sid_t sid,
-	static sid_t getHkReportMessage(const CommandMessage* message,
+			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 /* FRAMEWORK_HK_HOUSEKEEPINGMESSAGE_H_ */
+#endif /* FSFW_HOUSEKEEPING_HOUSEKEEPINGMESSAGE_H_ */

housekeeping/HousekeepingPacketDownlink.h

@@ -1,8 +1,7 @@
-#ifndef FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_
+#ifndef FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_
-#define FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_
+#define FSFW_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_
 
 #include "../datapoollocal/LocalPoolDataSetBase.h"
-#include "../housekeeping/HousekeepingMessage.h"
 #include "../serialize/SerialLinkedListAdapter.h"
 #include "../storagemanager/StorageManagerIF.h"
 
@@ -15,67 +14,21 @@
  */
 class HousekeepingPacketDownlink: public SerialLinkedListAdapter<SerializeIF> {
 public:
-    HousekeepingPacketDownlink(sid_t sid, float collectionInterval, uint8_t
+    HousekeepingPacketDownlink(sid_t sid, LocalPoolDataSetBase* dataSetPtr):
-            numberOfParameters, LocalPoolDataSetBase* dataSetPtr):
+            sourceId(sid.objectId), setId(sid.ownerSetId), hkData(dataSetPtr) {
-            sourceId(sid.objectId), setId(sid.ownerSetId),
-            collectionInterval(collectionInterval),
-            numberOfParameters(numberOfParameters), hkData(dataSetPtr) {
         setLinks();
     }
 
-    /**
-     * Helper functions which can be used to move HK data from the IPC store
-     * to the telemetry store. TODO: maybe not needed.
-     * @param formerStore
-     * @param storeId
-     * @param newStore
-     * @param newStoreId [out]
-     * @return
-     */
-    virtual ReturnValue_t moveToOtherStore(StorageManagerIF* formerStore,
-            store_address_t storeId, StorageManagerIF* newStore,
-            store_address_t* newStoreId) {
-        const uint8_t* dataPtr = nullptr;
-        size_t hkDataSize = 0;
-        ReturnValue_t result = formerStore->getData(storeId, &dataPtr,
-                &hkDataSize);
-        if(result != HasReturnvaluesIF::RETURN_OK) {
-            return result;
-        }
-
-        return newStore->addData(newStoreId, dataPtr, hkDataSize);
-    }
-
 private:
     void setLinks() {
         setStart(&sourceId);
         sourceId.setNext(&setId);
-        setId.setNext(&collectionInterval);
+        setId.setNext(&hkData);
-        collectionInterval.setNext(&numberOfParameters);
-        numberOfParameters.setNext(&hkData);
     }
 
     SerializeElement<object_id_t> sourceId;
     SerializeElement<uint32_t> setId;
-    SerializeElement<float> collectionInterval;
-    SerializeElement<uint8_t> numberOfParameters;
     LinkedElement<SerializeIF> hkData;
 };
 
 #endif /* FRAMEWORK_HOUSEKEEPING_HOUSEKEEPINGPACKETDOWNLINK_H_ */
-
-
-
-//    virtual 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 dataSetPtr->serialize(buffer, size, maxSize, streamEndianness);
-//   }
-//
-//   virtual size_t getSerializedSize() const override {
-//
-//   }