Merge branch 'master' into mueller/oldPoolRenaming

container/RingBufferBase.h

@@ -1,96 +1,113 @@
-#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>
 
 template<uint8_t N_READ_PTRS = 1>
 class RingBufferBase {
 public:
-	RingBufferBase(uint32_t startAddress, uint32_t size, bool overwriteOld) :
+	RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
-			start(startAddress), write(startAddress), size(size), overwriteOld(overwriteOld) {
+			start(startAddress), write(startAddress), size(size),
+			overwriteOld(overwriteOld) {
 		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
 			read[count] = startAddress;
 		}
 	}
-	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
+
-		if (availableReadData(n) >= amount) {
+	virtual ~RingBufferBase() {}
-			incrementRead(amount, n);
+
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	ReturnValue_t writeData(uint32_t amount) {
-		if (availableWriteSpace() >= amount || overwriteOld) {
-			incrementWrite(amount);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	uint32_t availableReadData(uint8_t n = 0) const {
-		return ((write + size) - read[n]) % size;
-	}
-	uint32_t availableWriteSpace(uint8_t n = 0) const  {
-		//One less to avoid ambiguous full/empty problem.
-		return (((read[n] + size) - write - 1) % size);
-	}
 	bool isFull(uint8_t n = 0) {
 		return (availableWriteSpace(n) == 0);
 	}
 	bool isEmpty(uint8_t n = 0) {
-		return (availableReadData(n) == 0);
+		return (getAvailableReadData(n) == 0);
 	}
-	virtual ~RingBufferBase() {
 
+	size_t getAvailableReadData(uint8_t n = 0) const {
+		return ((write + size) - read[n]) % size;
 	}
-	uint32_t getRead(uint8_t n = 0) const {
+	size_t availableWriteSpace(uint8_t n = 0) const  {
-		return read[n];
+		//One less to avoid ambiguous full/empty problem.
+		return (((read[n] + size) - write - 1) % size);
 	}
-	void setRead(uint32_t read, uint8_t n = 0) {
+
-		if (read >= start && read < (start+size)) {
+	bool overwritesOld() const {
-			this->read[n] = read;
+		return overwriteOld;
 	}
+
+	size_t getMaxSize() const {
+		return size - 1;
 	}
-	uint32_t getWrite() const {
+
-		return write;
-	}
-	void setWrite(uint32_t write) {
-		this->write = write;
-	}
 	void clear() {
 		write = start;
 		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
 			read[count] = start;
 		}
 	}
-	uint32_t writeTillWrap() {
+
+	size_t writeTillWrap() {
 		return (start + size) - write;
 	}
-	uint32_t readTillWrap(uint8_t n = 0) {
+
+	size_t readTillWrap(uint8_t n = 0) {
 		return (start + size) - read[n];
 	}
-	uint32_t getStart() const {
+
+	size_t getStart() const {
 		return start;
 	}
-	bool overwritesOld() const {
+
-		return overwriteOld;
-	}
-	uint32_t maxSize() const {
-		return size - 1;
-	}
 protected:
-	const uint32_t start;
+	const size_t start;
-	uint32_t write;
+	size_t write;
-	uint32_t read[N_READ_PTRS];
+	size_t read[N_READ_PTRS];
-	const uint32_t size;
+	const size_t size;
 	const bool overwriteOld;
+
 	void incrementWrite(uint32_t amount) {
 		write = ((write + amount - start) % size) + start;
 	}
 	void incrementRead(uint32_t amount, uint8_t n = 0) {
 		read[n] = ((read[n] + amount - start) % size) + start;
 	}
+
+	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
+		if (getAvailableReadData(n) >= amount) {
+			incrementRead(amount, n);
+			return HasReturnvaluesIF::RETURN_OK;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+
+	ReturnValue_t writeData(uint32_t amount) {
+		if (availableWriteSpace() >= amount or overwriteOld) {
+			incrementWrite(amount);
+			return HasReturnvaluesIF::RETURN_OK;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+
+	size_t getRead(uint8_t n = 0) const {
+		return read[n];
+	}
+
+	void setRead(uint32_t read, uint8_t n = 0) {
+		if (read >= start && read < (start+size)) {
+			this->read[n] = read;
+		}
+	}
+
+	uint32_t getWrite() const {
+		return write;
+	}
+
+	void setWrite(uint32_t write) {
+		this->write = write;
+	}
 };
 
-#endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */
+#endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */

container/SharedRingBuffer.cpp

@@ -0,0 +1,30 @@
+#include "SharedRingBuffer.h"
+#include "../ipc/MutexFactory.h"
+#include "../ipc/MutexHelper.h"
+
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
+		bool overwriteOld, size_t maxExcessBytes):
+		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
+		maxExcessBytes) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
+		const size_t size, bool overwriteOld, size_t maxExcessBytes):
+		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
+		maxExcessBytes) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
+        MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
+    return mutex->lockMutex(timeoutType, timeout);
+}
+
+ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
+    return mutex->unlockMutex();
+}
+
+MutexIF* SharedRingBuffer::getMutexHandle() const {
+    return mutex;
+}

container/SharedRingBuffer.h

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

container/SimpleRingBuffer.cpp

@@ -1,27 +1,69 @@
 #include "SimpleRingBuffer.h"
-#include <string.h>
+#include <cstring>
 
-SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld) :
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
-		RingBufferBase<>(0, size, overwriteOld) {
+		size_t maxExcessBytes) :
-	buffer = new uint8_t[size];
+		RingBufferBase<>(0, size, overwriteOld),
+		maxExcessBytes(maxExcessBytes) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+	buffer = new uint8_t[size + maxExcessBytes];
 }
 
 SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
-        bool overwriteOld):
+		bool overwriteOld, size_t maxExcessBytes):
-        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {}
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
-
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+}
 
 SimpleRingBuffer::~SimpleRingBuffer() {
 	delete[] buffer;
 }
 
-ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
+ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
-		uint32_t amount) {
+        size_t amount) {
     if (availableWriteSpace() >= amount or overwriteOld) {
-		uint32_t amountTillWrap = writeTillWrap();
+        size_t amountTillWrap = writeTillWrap();
+        if (amountTillWrap < amount) {
+            if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            excessBytes = amount - amountTillWrap;
+        }
+        *writePointer = &buffer[write];
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
+	if(getExcessBytes() > 0) {
+		moveExcessBytesToStart();
+	}
+	incrementWrite(amount);
+
+}
+
+ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
+		size_t amount) {
+	if (availableWriteSpace() >= amount or overwriteOld) {
+		size_t amountTillWrap = writeTillWrap();
 		if (amountTillWrap >= amount) {
+			// remaining size in buffer is sufficient to fit full amount.
 			memcpy(&buffer[write], data, amount);
-		} else {
+		}
+		else {
 			memcpy(&buffer[write], data, amountTillWrap);
 			memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
 		}
@@ -32,12 +74,13 @@ ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
 	}
 }
 
-ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
+ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
-		bool readRemaining, uint32_t* trueAmount) {
+		bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
-	uint32_t availableData = availableReadData(READ_PTR);
+	size_t availableData = getAvailableReadData(READ_PTR);
-	uint32_t amountTillWrap = readTillWrap(READ_PTR);
+	size_t amountTillWrap = readTillWrap(READ_PTR);
 	if (availableData < amount) {
 		if (readRemaining) {
+			// more data available than amount specified.
 			amount = availableData;
 		} else {
 			return HasReturnvaluesIF::RETURN_FAILED;
@@ -52,12 +95,27 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
 		memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
 		memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
 	}
+
+	if(incrementReadPtr) {
+		deleteData(amount, readRemaining);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
+size_t SimpleRingBuffer::getExcessBytes() const {
-		bool deleteRemaining, uint32_t* trueAmount) {
+    return excessBytes;
-	uint32_t availableData = availableReadData(READ_PTR);
+}
+
+void SimpleRingBuffer::moveExcessBytesToStart() {
+    if(excessBytes > 0) {
+        std::memcpy(buffer, &buffer[size], excessBytes);
+        excessBytes = 0;
+    }
+}
+
+ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
+		bool deleteRemaining, size_t* trueAmount) {
+	size_t availableData = getAvailableReadData(READ_PTR);
 	if (availableData < amount) {
 		if (deleteRemaining) {
 			amount = availableData;
@@ -71,4 +129,3 @@ ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
 	incrementRead(amount, READ_PTR);
 	return HasReturnvaluesIF::RETURN_OK;
 }
-

container/SimpleRingBuffer.h

@@ -1,8 +1,8 @@
-#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+#ifndef FSFW_CONTAINER_SIMPLERINGBUFFER_H_
-#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+#define FSFW_CONTAINER_SIMPLERINGBUFFER_H_
 
 #include "RingBufferBase.h"
-#include <stddef.h>
+#include <cstddef>
 
 /**
  * @brief 	Circular buffer implementation, useful for buffering
@@ -16,53 +16,114 @@ class SimpleRingBuffer: public RingBufferBase<> {
 public:
     /**
      * This constructor allocates a new internal buffer with the supplied size.
+     *
      * @param size
-     * @param overwriteOld
+     * @param overwriteOld If the ring buffer is overflowing at a write
+     * operation, the oldest data will be overwritten.
+     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * to the specified size to accomodate contiguous write operations
+     * with getFreeElement.
+     *
      */
-	SimpleRingBuffer(const size_t size, bool overwriteOld);
+	SimpleRingBuffer(const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
 	/**
 	 * This constructor takes an external buffer with the specified size.
 	 * @param buffer
 	 * @param size
 	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
+	 * @param maxExcessBytes
+	 * If the buffer can accomodate additional bytes for contigous write
+	 * operations with getFreeElement, this is the maximum allowed additional
+	 * size
 	 */
-	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
 
 	virtual ~SimpleRingBuffer();
 
 	/**
-	 * Write to circular buffer and increment write pointer by amount
+	 * Write to circular buffer and increment write pointer by amount.
 	 * @param data
 	 * @param amount
+	 * @return -@c RETURN_OK if write operation was successfull
+	 * -@c RETURN_FAILED if
+	 */
+	ReturnValue_t writeData(const uint8_t* data, size_t amount);
+
+	/**
+	 * Returns a pointer to a free element. If the remaining buffer is
+	 * not large enough, the data will be written past the actual size
+	 * and the amount of excess bytes will be cached. This function
+	 * does not increment the write pointer!
+	 * @param writePointer Pointer to a pointer which can be used to write
+	 * contiguous blocks into the ring buffer
+	 * @param amount
 	 * @return
 	 */
-	ReturnValue_t writeData(const uint8_t* data, uint32_t amount);
+	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
 
 	/**
-	 * Read from circular buffer at read pointer
+	 * This increments the write pointer and also copies the excess bytes
+	 * to the beginning. It should be called if the write operation
+	 * conducted after calling getFreeElement() was performed.
+	 * @return
+	 */
+	void confirmBytesWritten(size_t amount);
+
+	virtual size_t getExcessBytes() const;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	virtual void moveExcessBytesToStart();
+
+	/**
+	 * Read from circular buffer at read pointer.
 	 * @param data
 	 * @param amount
+	 * @param incrementReadPtr
+	 * If this is set to true, the read pointer will be incremented.
+	 * If readRemaining is set to true, the read pointer will be incremented
+	 * accordingly.
 	 * @param readRemaining
-	 * @param trueAmount
+	 * If this is set to true, the data will be read even if the amount
+	 * specified exceeds the read data available.
+	 * @param trueAmount [out]
+	 * If readRemaining was set to true, the true amount read will be assigned
+	 * to the passed value.
 	 * @return
+	 * - @c RETURN_OK if data was read successfully
+	 * - @c RETURN_FAILED if not enough data was available and readRemaining
+	 *      was set to false.
 	 */
-	ReturnValue_t readData(uint8_t* data, uint32_t amount,
+	ReturnValue_t readData(uint8_t* data, size_t amount,
-	        bool readRemaining = false, uint32_t* trueAmount = nullptr);
+			bool incrementReadPtr = false, bool readRemaining = false,
+			size_t* trueAmount = nullptr);
 
 	/**
-	 * Delete data starting by incrementing read pointer
+	 * Delete data by incrementing read pointer.
 	 * @param amount
 	 * @param deleteRemaining
-	 * @param trueAmount
+	 * If the amount specified is larger than the remaing size to read and this
+	 * is set to true, the remaining amount will be deleted as well
+	 * @param trueAmount [out]
+	 * If deleteRemaining was set to true, the amount deleted will be assigned
+	 * to the passed value.
 	 * @return
 	 */
-	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false,
+	ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
-	        uint32_t* trueAmount = nullptr);
+	        size_t* trueAmount = nullptr);
+
 private:
-//	static const uint8_t TEMP_READ_PTR = 1;
 	static const uint8_t READ_PTR = 0;
 	uint8_t* buffer = nullptr;
+	size_t maxExcessBytes;
+	size_t excessBytes = 0;
 };
 
-#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
+#endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */
 

events/fwSubsystemIdRanges.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
+#ifndef FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
-#define FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
+#define FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
 
 namespace SUBSYSTEM_ID {
 enum {
@@ -19,10 +19,11 @@ enum {
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
 	PUS_SERVICE_1 = 80,
+	PUS_SERVICE_17 = 97,
 	FW_SUBSYSTEM_ID_RANGE
 };
 }
 
 
 
-#endif /* FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_ */
+#endif /* FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ */

globalfunctions/DleEncoder.cpp

@@ -1,95 +1,124 @@
-#include "DleEncoder.h"
+#include "../globalfunctions/DleEncoder.h"
 
-DleEncoder::DleEncoder() {
+DleEncoder::DleEncoder() {}
+
+DleEncoder::~DleEncoder() {}
+
+ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
+		size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
+		size_t* encodedLen, bool addStxEtx) {
+	if (maxDestLen < 2) {
+		return STREAM_TOO_SHORT;
+	}
+	size_t encodedIndex = 0, sourceIndex = 0;
+	uint8_t nextByte;
+	if (addStxEtx) {
+		destStream[0] = STX_CHAR;
+		++encodedIndex;
 	}
 
-DleEncoder::~DleEncoder() {
+	while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
+	{
+		nextByte = sourceStream[sourceIndex];
+		// STX, ETX and CR characters in the stream need to be escaped with DLE
+		if (nextByte == STX_CHAR or nextByte == ETX_CHAR or nextByte == CARRIAGE_RETURN) {
+			if (encodedIndex + 1 >= maxDestLen) {
+				return STREAM_TOO_SHORT;
+			}
+			else {
+				destStream[encodedIndex] = DLE_CHAR;
+				++encodedIndex;
+				/* Escaped byte will be actual byte + 0x40. This prevents
+				 * STX, ETX, and carriage return characters from appearing
+				 * in the encoded data stream at all, so when polling an
+				 * encoded stream, the transmission can be stopped at ETX.
+				 * 0x40 was chosen at random with special requirements:
+				 *  - Prevent going from one control char to another
+				 *  - Prevent overflow for common characters */
+				destStream[encodedIndex] = nextByte + 0x40;
+			}
+		}
+		// DLE characters are simply escaped with DLE.
+		else if (nextByte == DLE_CHAR) {
+			if (encodedIndex + 1 >= maxDestLen) {
+			    return STREAM_TOO_SHORT;
+			}
+			else {
+				destStream[encodedIndex] = DLE_CHAR;
+				++encodedIndex;
+				destStream[encodedIndex] = DLE_CHAR;
+			}
+		}
+		else {
+			destStream[encodedIndex] = nextByte;
+		}
+		++encodedIndex;
+		++sourceIndex;
+	}
+
+	if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
+		if (addStxEtx) {
+			destStream[encodedIndex] = ETX_CHAR;
+			++encodedIndex;
+		}
+		*encodedLen = encodedIndex;
+		return RETURN_OK;
+	}
+	else {
+		return STREAM_TOO_SHORT;
+	}
 }
 
 ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
-		uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
+		size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
-		uint32_t maxDestStreamlen, uint32_t *decodedLen) {
+		size_t maxDestStreamlen, size_t *decodedLen) {
-	uint32_t encodedIndex = 0, decodedIndex = 0;
+	size_t encodedIndex = 0, decodedIndex = 0;
 	uint8_t nextByte;
-	if (*sourceStream != STX) {
+	if (*sourceStream != STX_CHAR) {
-		return RETURN_FAILED;
+		return DECODING_ERROR;
 	}
 	++encodedIndex;
+
 	while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
-			&& (sourceStream[encodedIndex] != ETX)
+			&& (sourceStream[encodedIndex] != ETX_CHAR)
-			&& (sourceStream[encodedIndex] != STX)) {
+			&& (sourceStream[encodedIndex] != STX_CHAR)) {
-		if (sourceStream[encodedIndex] == DLE) {
+		if (sourceStream[encodedIndex] == DLE_CHAR) {
 			nextByte = sourceStream[encodedIndex + 1];
-			if (nextByte == 0x10) {
+			// The next byte is a DLE character that was escaped by another
+			// DLE character, so we can write it to the destination stream.
+			if (nextByte == DLE_CHAR) {
 				destStream[decodedIndex] = nextByte;
-			} else {
+			}
-				if ((nextByte == 0x42) || (nextByte == 0x43)
+			else {
-						|| (nextByte == 0x4D)) {
+			    /* The next byte is a STX, DTX or 0x0D character which
+			     * was escaped by a DLE character. The actual byte was
+				 * also encoded by adding + 0x40 to prevent having control chars,
+				 * in the stream at all, so we convert it back. */
+				if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
 					destStream[decodedIndex] = nextByte - 0x40;
-				} else {
+				}
-					return RETURN_FAILED;
+				else {
+				    return DECODING_ERROR;
 				}
 			}
 			++encodedIndex;
-		} else {
+		}
+		else {
 			destStream[decodedIndex] = sourceStream[encodedIndex];
 		}
+
 		++encodedIndex;
 		++decodedIndex;
 	}
-	if (sourceStream[encodedIndex] != ETX) {
+
-		return RETURN_FAILED;
+	if (sourceStream[encodedIndex] != ETX_CHAR) {
-	} else {
+		*readLen = ++encodedIndex;
+		return DECODING_ERROR;
+	}
+	else {
 		*readLen = ++encodedIndex;
 		*decodedLen = decodedIndex;
 		return RETURN_OK;
 	}
 }
 
-ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
-		uint32_t sourceLen, uint8_t* destStream, uint32_t maxDestLen,
-		uint32_t* encodedLen, bool addStxEtx) {
-	if (maxDestLen < 2) {
-		return RETURN_FAILED;
-	}
-	uint32_t encodedIndex = 0, sourceIndex = 0;
-	uint8_t nextByte;
-	if (addStxEtx) {
-		destStream[0] = STX;
-		++encodedIndex;
-	}
-	while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) {
-		nextByte = sourceStream[sourceIndex];
-		if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return RETURN_FAILED;
-			} else {
-				destStream[encodedIndex] = DLE;
-				++encodedIndex;
-				destStream[encodedIndex] = nextByte + 0x40;
-			}
-		} else if (nextByte == DLE) {
-			if (encodedIndex + 1 >= maxDestLen) {
-				return RETURN_FAILED;
-			} else {
-				destStream[encodedIndex] = DLE;
-				++encodedIndex;
-				destStream[encodedIndex] = DLE;
-			}
-		} else {
-			destStream[encodedIndex] = nextByte;
-		}
-		++encodedIndex;
-		++sourceIndex;
-	}
-	if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) {
-		if (addStxEtx) {
-			destStream[encodedIndex] = ETX;
-			++encodedIndex;
-		}
-		*encodedLen = encodedIndex;
-		return RETURN_OK;
-	} else {
-		return RETURN_FAILED;
-	}
-}

globalfunctions/DleEncoder.h

@@ -1,25 +1,79 @@
-#ifndef DLEENCODER_H_
+#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
-#define DLEENCODER_H_
+#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
 
+/**
+ * @brief   This DLE Encoder (Data Link Encoder) can be used to encode and
+ *          decode arbitrary data with ASCII control characters
+ * @details
+ * List of control codes:
+ * https://en.wikipedia.org/wiki/C0_and_C1_control_codes
+ *
+ * This encoder can be used to achieve a basic transport layer when using
+ * char based transmission systems.
+ * The passed source strean is converted into a encoded stream by adding
+ * a STX marker at the start of the stream and an ETX marker at the end of
+ * the stream. Any STX, ETX, DLE and CR occurrences in the source stream are
+ * escaped by a DLE character. The encoder also replaces escaped control chars
+ * by another char, so STX, ETX and CR should not appear anywhere in the actual
+ * encoded data stream.
+ *
+ * When using a strictly char based reception of packets encoded with DLE,
+ * STX can be used to notify a reader that actual data will start to arrive
+ * while ETX can be used to notify the reader that the data has ended.
+ */
 class DleEncoder: public HasReturnvaluesIF {
 private:
 	DleEncoder();
 	virtual ~DleEncoder();
 
 public:
-	static const uint8_t STX = 0x02;
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
-	static const uint8_t ETX = 0x03;
+	static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
-	static const uint8_t DLE = 0x10;
+	static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
 
-	static ReturnValue_t decode(const uint8_t *sourceStream,
+	//! Start Of Text character. First character is encoded stream
-			uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
+	static constexpr uint8_t STX_CHAR = 0x02;
-			uint32_t maxDestStreamlen, uint32_t *decodedLen);
+	//! End Of Text character. Last character in encoded stream
+	static constexpr uint8_t ETX_CHAR = 0x03;
+	//! Data Link Escape character. Used to escape STX, ETX and DLE occurrences
+	//! in the source stream.
+	static constexpr uint8_t DLE_CHAR = 0x10;
+	static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
 
-	static ReturnValue_t encode(const uint8_t *sourceStream, uint32_t sourceLen,
+    /**
-			uint8_t *destStream, uint32_t maxDestLen, uint32_t *encodedLen,
+     * Encodes the give data stream by preceding it with the STX marker
+     * and ending it with an ETX marker. STX, ETX and DLE characters inside
+     * the stream are escaped by DLE characters and also replaced by adding
+     * 0x40 (which is reverted in the decoding process).
+     * @param sourceStream
+     * @param sourceLen
+     * @param destStream
+     * @param maxDestLen
+     * @param encodedLen
+     * @param addStxEtx
+     * Adding STX and ETX can be omitted, if they are added manually.
+     * @return
+     */
+    static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
+            uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
             bool addStxEtx = true);
+
+    /**
+     * Converts an encoded stream back.
+     * @param sourceStream
+     * @param sourceStreamLen
+     * @param readLen
+     * @param destStream
+     * @param maxDestStreamlen
+     * @param decodedLen
+     * @return
+     */
+	static ReturnValue_t decode(const uint8_t *sourceStream,
+			size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
+			size_t maxDestStreamlen, size_t *decodedLen);
 };
 
-#endif /* DLEENCODER_H_ */
+#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */

globalfunctions/PeriodicOperationDivider.cpp

@@ -0,0 +1,34 @@
+#include "PeriodicOperationDivider.h"
+
+
+PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
+		bool resetAutomatically): resetAutomatically(resetAutomatically),
+		counter(divider), divider(divider) {
+}
+
+bool PeriodicOperationDivider::checkAndIncrement() {
+	if(counter >= divider) {
+		if(resetAutomatically) {
+			counter = 0;
+		}
+		return true;
+	}
+	counter ++;
+	return false;
+}
+
+void PeriodicOperationDivider::resetCounter() {
+	counter = 0;
+}
+
+void PeriodicOperationDivider::setDivider(uint32_t newDivider) {
+	divider = newDivider;
+}
+
+uint32_t PeriodicOperationDivider::getCounter() const {
+	return counter;
+}
+
+uint32_t PeriodicOperationDivider::getDivider() const {
+	return divider;
+}

globalfunctions/PeriodicOperationDivider.h

@@ -0,0 +1,55 @@
+#ifndef FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_
+#define FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_
+
+#include <cstdint>
+
+/**
+ * @brief	Lightweight helper class to facilitate periodic operation with
+ * 			decreased frequencies.
+ * @details
+ * This class is useful to perform operations which have to be performed
+ * with a reduced frequency, like debugging printouts in high periodic tasks
+ * or low priority operations.
+ */
+class PeriodicOperationDivider {
+public:
+	/**
+	 * Initialize with the desired divider and specify whether the internal
+	 * counter will be reset automatically.
+	 * @param divider
+	 * @param resetAutomatically
+	 */
+	PeriodicOperationDivider(uint32_t divider, bool resetAutomatically = true);
+
+	/**
+	 * Check whether operation is necessary.
+	 * If an operation is necessary and the class has been
+	 * configured to be reset automatically, the counter will be reset.
+	 * If not, the counter will be incremented.
+	 * @return
+	 * -@c true if the counter is larger or equal to the divider
+	 * -@c false otherwise
+	 */
+	bool checkAndIncrement();
+
+	/**
+	 * Can be used to reset the counter to 0 manually.
+	 */
+	void resetCounter();
+	uint32_t getCounter() const;
+
+	/**
+	 * Can be used to set a new divider value.
+	 * @param newDivider
+	 */
+	void setDivider(uint32_t newDivider);
+	uint32_t getDivider() const;
+private:
+	bool resetAutomatically = true;
+	uint32_t counter = 0;
+	uint32_t divider = 0;
+};
+
+
+
+#endif /* FSFW_GLOBALFUNCTIONS_PERIODICOPERATIONDIVIDER_H_ */

health/HealthHelper.cpp

@@ -1,9 +1,8 @@
 #include "HealthHelper.h"
-#include "../ipc/MessageQueueSenderIF.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
+
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId) :
-		healthTable(NULL), eventSender(NULL), objectId(objectId), parentQueue(
+		objectId(objectId), owner(owner) {
-				0), owner(owner) {
 }
 
 HealthHelper::~HealthHelper() {
@@ -40,9 +39,19 @@ void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
 ReturnValue_t HealthHelper::initialize() {
 	healthTable = objectManager->get<HealthTableIF>(objects::HEALTH_TABLE);
 	eventSender = objectManager->get<EventReportingProxyIF>(objectId);
-	if ((healthTable == NULL) || eventSender == NULL) {
+
-		return HasReturnvaluesIF::RETURN_FAILED;
+	if (healthTable == nullptr) {
+	    sif::error << "HealthHelper::initialize: Health table object needs"
+	            "to be created in factory." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
+
+	if(eventSender == nullptr) {
+	    sif::error << "HealthHelper::initialize: Owner has to implement "
+	            "ReportingProxyIF." << std::endl;
+	    return ObjectManagerIF::CHILD_INIT_FAILED;
+	}
+
 	ReturnValue_t result = healthTable->registerObject(objectId,
 			HasHealthIF::HEALTHY);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -62,22 +71,22 @@ void HealthHelper::setHealth(HasHealthIF::HealthState health) {
 
 void HealthHelper::informParent(HasHealthIF::HealthState health,
 		HasHealthIF::HealthState oldHealth) {
-	if (parentQueue == 0) {
+	if (parentQueue == MessageQueueIF::NO_QUEUE) {
 		return;
 	}
-	CommandMessage message;
+	CommandMessage information;
-	HealthMessage::setHealthMessage(&message, HealthMessage::HEALTH_INFO,
+	HealthMessage::setHealthMessage(&information, HealthMessage::HEALTH_INFO,
 			health, oldHealth);
-	if (MessageQueueSenderIF::sendMessage(parentQueue, &message,
+	if (MessageQueueSenderIF::sendMessage(parentQueue, &information,
 	        owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
 		sif::debug << "HealthHelper::informParent: sending health reply failed."
 				<< std::endl;
 	}
 }
 
-void HealthHelper::handleSetHealthCommand(CommandMessage* message) {
+void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
-	ReturnValue_t result = owner->setHealth(HealthMessage::getHealth(message));
+	ReturnValue_t result = owner->setHealth(HealthMessage::getHealth(command));
-	if (message->getSender() == 0) {
+	if (command->getSender() == MessageQueueIF::NO_QUEUE) {
 		return;
 	}
 	CommandMessage reply;
@@ -85,12 +94,12 @@ void HealthHelper::handleSetHealthCommand(CommandMessage* message) {
 		HealthMessage::setHealthMessage(&reply,
 				HealthMessage::REPLY_HEALTH_SET);
 	} else {
-		reply.setReplyRejected(result, message->getCommand());
+		reply.setReplyRejected(result, command->getCommand());
 	}
-	if (MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
+	if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
 	        owner->getCommandQueue()) != HasReturnvaluesIF::RETURN_OK) {
-		sif::debug
+		sif::debug << "HealthHelper::handleHealthCommand: sending health "
-				<< "HealthHelper::handleHealthCommand: sending health reply failed."
+		        "reply failed." << std::endl;
-				<< std::endl;
+
 	}
 }

health/HealthHelper.h

@@ -1,11 +1,13 @@
-#ifndef HEALTHHELPER_H_
+#ifndef FSFW_HEALTH_HEALTHHELPER_H_
-#define HEALTHHELPER_H_
+#define FSFW_HEALTH_HEALTHHELPER_H_
 
-#include "../events/EventManagerIF.h"
-#include "../events/EventReportingProxyIF.h"
 #include "HasHealthIF.h"
 #include "HealthMessage.h"
 #include "HealthTableIF.h"
+
+#include "../events/EventManagerIF.h"
+#include "../events/EventReportingProxyIF.h"
+#include "../ipc/MessageQueueIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 
@@ -27,8 +29,8 @@ public:
 	/**
 	 * ctor
 	 *
+	 * @param owner
 	 * @param objectId the object Id to use when communication with the HealthTable
-	 * @param useAsFrom id to use as from id when sending replies, can be set to 0
 	 */
 	HealthHelper(HasHealthIF* owner, object_id_t objectId);
 
@@ -39,12 +41,12 @@ public:
 	 *
 	 * only valid after initialize() has been called
 	 */
-	HealthTableIF *healthTable;
+	HealthTableIF *healthTable = nullptr;
 
 	/**
 	 * Proxy to forward events.
 	 */
-	EventReportingProxyIF* eventSender;
+	EventReportingProxyIF* eventSender = nullptr;
 
 	/**
 	 * Try to handle the message.
@@ -100,7 +102,7 @@ private:
 	/**
 	 * The Queue of the parent
 	 */
-	MessageQueueId_t parentQueue;
+	MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
 
 	/**
 	 * The one using the healthHelper.
@@ -117,4 +119,4 @@ private:
 	void handleSetHealthCommand(CommandMessage *message);
 };
 
-#endif /* HEALTHHELPER_H_ */
+#endif /* FSFW_HEALTH_HEALTHHELPER_H_ */

objectmanager/ObjectManager.h

@@ -1,12 +1,5 @@
-/**
+#ifndef FSFW_OBJECTMANAGER_OBJECTMANAGER_H_
- * @file	ObjectManager.h
+#define FSFW_OBJECTMANAGER_OBJECTMANAGER_H_
- * @brief	This file contains the implementation of the ObjectManager class
- * @date	18.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef OBJECTMANAGER_H_
-#define OBJECTMANAGER_H_
 
 #include "ObjectManagerIF.h"
 #include "SystemObjectIF.h"
@@ -22,14 +15,15 @@
  * 			most of the system initialization.
  * 			As the system is static after initialization, no new objects are
  * 			created or inserted into the list after startup.
- * \ingroup system_objects
+ * @ingroup system_objects
+ * @author	Bastian Baetz
  */
 class ObjectManager : public ObjectManagerIF {
 private:
 	//comparison?
 	/**
-	 * \brief	This is the map of all initialized objects in the manager.
+	 * @brief	This is the map of all initialized objects in the manager.
-	 * \details	Objects in the List must inherit the SystemObjectIF.
+	 * @details	Objects in the List must inherit the SystemObjectIF.
 	 */
 	std::map<object_id_t, SystemObjectIF*> objectList;
 protected:
@@ -54,7 +48,8 @@ public:
 	/**
 	 *	@brief	In the class's destructor, all objects in the list are deleted.
 	 */
-	//SHOULDDO: If, for some reason, deleting an ObjectManager instance is required, check if this works.
+	// SHOULDDO: If, for some reason, deleting an ObjectManager instance is
+	// required, check if this works.
 	virtual ~ObjectManager( void );
 	ReturnValue_t insert( object_id_t id, SystemObjectIF* object );
 	ReturnValue_t remove( object_id_t id );
@@ -64,4 +59,4 @@ public:
 
 
 
-#endif /* OBJECTMANAGER_H_ */
+#endif /* FSFW_OBJECTMANAGER_OBJECTMANAGER_H_ */

objectmanager/ObjectManagerIF.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#ifndef FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
-#define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#define FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
 #include "frameworkObjects.h"
 #include "SystemObjectIF.h"
@@ -21,7 +21,6 @@ public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
 	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
 	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-
 	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
@@ -80,6 +79,7 @@ public:
 /**
  * @brief	This is the forward declaration of the global objectManager instance.
  */
+// SHOULDDO: maybe put this in the glob namespace to explicitely mark it global?
 extern ObjectManagerIF *objectManager;
 
 /*Documentation can be found in the class method declaration above.*/

objectmanager/SystemObject.cpp

@@ -1,6 +1,6 @@
-#include "../events/EventManagerIF.h"
 #include "ObjectManager.h"
 #include "SystemObject.h"
+#include "../events/EventManagerIF.h"
 
 SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
 		objectId(setObjectId), registered(doRegister) {

objectmanager/SystemObject.h

@@ -1,16 +1,9 @@
-/**
+#ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_
- * @file	SystemObject.h
+#define FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_
- * @brief	This file contains the definition of the SystemObject class.
- * @date	07.11.2012
- * @author	Ulrich Mohr
- */
-
-#ifndef SYSTEMOBJECT_H_
-#define SYSTEMOBJECT_H_
 
+#include "SystemObjectIF.h"
 #include "../events/Event.h"
 #include "../events/EventReportingProxyIF.h"
-#include "SystemObjectIF.h"
 #include "../timemanager/Clock.h"
 
 /**
@@ -20,7 +13,8 @@
  * 			class that is announced to ObjectManager. It automatically includes
  * 			itself (and therefore the inheriting class) in the object manager's
  * 			list.
- * \ingroup system_objects
+ * @author	Ulrich Mohr
+ * @ingroup system_objects
  */
 class SystemObject: public SystemObjectIF {
 private:
@@ -37,25 +31,28 @@ public:
 	 * @param parameter1
 	 * @param parameter2
 	 */
-	virtual void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
+	virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0);
 
 	/**
 	 * @brief	The class's constructor.
 	 * @details	In the constructor, the object id is set and the class is
 	 * 			inserted in the object manager.
 	 * @param setObjectId	The id the object shall have.
-	 * @param doRegister	Determines if the object is registered in the global object manager.
+	 * @param doRegister	Determines if the object is registered in
+	 * 						the global object manager.
 	 */
 	SystemObject(object_id_t setObjectId, bool doRegister = true);
 	/**
 	 * @brief	On destruction, the object removes itself from the list.
 	 */
 	virtual ~SystemObject();
-	object_id_t getObjectId() const;
+	object_id_t getObjectId() const override;
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
 	virtual ReturnValue_t checkObjectConnections();
 
-	virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
+	virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0) const;
 };
 
-#endif /* SYSTEMOBJECT_H_ */
+#endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */

objectmanager/SystemObjectIF.h

@@ -1,26 +1,19 @@
-/**
+#ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_
- * @file	SystemObjectIF.h
+#define FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_
- * @brief	This file contains the definition of the SystemObjectIF interface.
- * @date	18.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef SYSTEMOBJECTIF_H_
-#define SYSTEMOBJECTIF_H_
 
 #include "../events/EventReportingProxyIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stdint.h>
+#include <cstdint>
 /**
- * \defgroup system_objects Software System Object Management
+ * @defgroup system_objects Software System Object Management
- * The classes to create System Objects and classes to manage these are contained in this group.
+ * The classes to create System Objects and classes to manage these are
- * System Objects are software elements that can be controlled externally. They all have a unique
+ * contained in this group. System Objects are software elements that can be
- * object identifier.
+ * controlled externally. They all have a unique object identifier.
  */
 
 /**
  * This is the typedef for object identifiers.
- * \ingroup system_objects
+ * @ingroup system_objects
  */
 typedef uint32_t object_id_t;
 
@@ -29,7 +22,8 @@ typedef uint32_t object_id_t;
  * list.
  * It does not provide any method definitions, still it is required to
  * perform a type check with dynamic_cast.
- * \ingroup system_objects
+ * @author  Bastian Baetz
+ * @ingroup system_objects
  */
 class SystemObjectIF : public EventReportingProxyIF {
 public:
@@ -41,24 +35,28 @@ public:
 	/**
 	 * The empty virtual destructor as required for C++ interfaces.
 	 */
-	virtual ~SystemObjectIF() {
+	virtual ~SystemObjectIF() {}
-	}
 	/**
-	 * Initializes all inter-object dependencies.
+	 * @brief   Initializes the object.
-	 * This is necessary to avoid circular dependencies of not-fully
+	 * There are initialization steps which can also be done in the constructor.
-	 * initialized objects on start up.
+	 * However, there is no clean way to get a returnvalue from a constructor.
-	 * @return	- \c RETURN_OK in case the initialization was successful
+	 * Furthermore some components require other system object to be created
-	 * 			- \c RETURN_FAILED otherwise
+	 * which might not have been built yet.
+	 * Therefore, a two-step initialization resolves this problem and prevents
+	 * circular dependencies of not-fully initialized objects on start up.
+	 * @return	- @c RETURN_OK in case the initialization was successful
+	 * 			- @c RETURN_FAILED otherwise
 	 */
 	virtual ReturnValue_t initialize() = 0;
 	/**
-	 * Checks, if all object-object interconnections are satisfying for operation.
+	 * @brief   Checks if all object-object interconnections are satisfying
-	 * Some objects need certain other objects (or a certain number), to be registered as children.
+	 *          for operation.
-	 * These checks can be done in this method.
+	 * Some objects need certain other objects (or a certain number), to be
-	 * @return	- \c RETURN_OK in case the check was successful
+	 * registered as children. These checks can be done in this method.
-	 * 			- \c any other code otherwise
+	 * @return	- @c RETURN_OK in case the check was successful
+	 * 			- @c any other code otherwise
 	 */
 	virtual ReturnValue_t checkObjectConnections() = 0;
 };
 
-#endif /* SYSTEMOBJECTIF_H_ */
+#endif /* #ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_ */

objectmanager/frameworkObjects.h

@@ -1,8 +1,15 @@
-#ifndef FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
+#ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
-#define FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
+#define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
 
 namespace objects {
 enum framework_objects {
+	// Default verification reporter.
+	PUS_SERVICE_1 = 0x53000001,
+	PUS_SERVICE_2 = 0x53000002,
+	PUS_SERVICE_5 = 0x53000005,
+	PUS_SERVICE_8 = 0x53000008,
+	PUS_SERVICE_200 = 0x53000200,
+
 	//Generic IDs for IPC, modes, health, events
 	HEALTH_TABLE = 0x53010000,
 //	MODE_STORE = 0x53010100,
@@ -12,10 +19,11 @@ enum framework_objects {
 	//IDs for PUS Packet Communication
 	TC_STORE = 0x534f0100,
 	TM_STORE = 0x534f0200,
+
 	NO_OBJECT = 0xFFFFFFFF
 };
 }
 
 
 
-#endif /* FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ */
+#endif /* FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ */

osal/FreeRTOS/PeriodicTask.cpp

@@ -64,6 +64,11 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
 void PeriodicTask::taskFunctionality() {
 	TickType_t xLastWakeTime;
 	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
+	
+	for (auto const &object: objectList) {
+		object->initializeAfterTaskCreation();
+	}
+
 	/* The xLastWakeTime variable needs to be initialized with the current tick
 	 count. Note that this is the only time the variable is written to
 	 explicitly. After this assignment, xLastWakeTime is updated automatically

osal/FreeRTOS/PeriodicTask.h

@@ -1,11 +1,10 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
+#ifndef FSFW_OSAL_FREERTOS_PERIODICTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
+#define FSFW_OSAL_FREERTOS_PERIODICTASK_H_
 
+#include "FreeRTOSTaskIF.h"
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
 #include "../../tasks/Typedef.h"
-#include "FreeRTOSTaskIF.h"
-
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
@@ -24,7 +23,6 @@ public:
 	/**
 	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
 	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * TODO: why does this need to be called before vTaskStartScheduler?
 	 * @details
 	 * The class is initialized without allocated objects.
 	 * These need to be added with #addComponent.
@@ -125,4 +123,4 @@ protected:
 	void handleMissedDeadline();
 };
 
-#endif /* PERIODICTASK_H_ */
+#endif /* FSFW_OSAL_FREERTOS_PERIODICTASK_H_ */

osal/host/Clock.cpp

@@ -0,0 +1,227 @@
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../timemanager/Clock.h"
+
+#include <chrono>
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <fstream>
+#endif
+
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = NULL;
+
+using SystemClock = std::chrono::system_clock;
+
+uint32_t Clock::getTicksPerSecond(void){
+	sif::warning << "Clock::getTicksPerSecond: not implemented yet" << std::endl;
+	return 0;
+	//return CLOCKS_PER_SEC;
+	//uint32_t ticks = sysconf(_SC_CLK_TCK);
+	//return ticks;
+}
+
+ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
+	// do some magic with chrono
+	sif::warning << "Clock::setClock: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::setClock(const timeval* time) {
+	// do some magic with chrono
+#if defined(WIN32)
+	return HasReturnvaluesIF::RETURN_OK;
+#elif defined(LINUX)
+	return HasReturnvaluesIF::RETURN_OK;
+#else
+
+#endif
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t Clock::getClock_timeval(timeval* time) {
+#if defined(WIN32)
+	auto now  = std::chrono::system_clock::now();
+	auto secondsChrono = std::chrono::time_point_cast<std::chrono::seconds>(now);
+	auto epoch = now.time_since_epoch();
+	time->tv_sec = std::chrono::duration_cast<std::chrono::seconds>(epoch).count();
+	auto fraction = now - secondsChrono;
+	time->tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+	        fraction).count();
+	return HasReturnvaluesIF::RETURN_OK;
+#elif defined(LINUX)
+	timespec timeUnix;
+	int status = clock_gettime(CLOCK_REALTIME,&timeUnix);
+	if(status!=0){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	time->tv_sec = timeUnix.tv_sec;
+	time->tv_usec = timeUnix.tv_nsec / 1000.0;
+	return HasReturnvaluesIF::RETURN_OK;
+#else
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+	return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+
+}
+
+ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
+	// do some magic with chrono
+	sif::warning << "Clock::gerClock_usecs: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+timeval Clock::getUptime() {
+	timeval timeval;
+#if defined(WIN32)
+	auto uptime  = std::chrono::milliseconds(GetTickCount64());
+	auto secondsChrono = std::chrono::duration_cast<std::chrono::seconds>(uptime);
+	timeval.tv_sec = secondsChrono.count();
+	auto fraction = uptime - secondsChrono;
+	timeval.tv_usec = std::chrono::duration_cast<std::chrono::microseconds>(
+	            fraction).count();
+#elif defined(LINUX)
+	double uptimeSeconds;
+	if (std::ifstream("/proc/uptime", std::ios::in) >> uptimeSeconds)
+	{
+		// value is rounded down automatically
+		timeval.tv_sec = uptimeSeconds;
+		timeval.tv_usec = uptimeSeconds *(double) 1e6 - (timeval.tv_sec *1e6);
+	}
+#else
+	sif::warning << "Clock::getUptime: Not implemented for found OS" << std::endl;
+#endif
+	return timeval;
+}
+
+ReturnValue_t Clock::getUptime(timeval* uptime) {
+	*uptime = getUptime();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
+	timeval uptime = getUptime();
+	*uptimeMs = uptime.tv_sec * 1000 + uptime.tv_usec / 1000;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
+	// do some magic with chrono (C++20!)
+	// Right now, the library doesn't have the new features yet.
+	// so we work around that for now.
+	auto now = SystemClock::now();
+	auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
+	auto fraction = now - seconds;
+	time_t tt = SystemClock::to_time_t(now);
+	struct tm* timeInfo;
+	timeInfo = gmtime(&tt);
+	time->year = timeInfo->tm_year + 1900;
+	time->month = timeInfo->tm_mon+1;
+	time->day = timeInfo->tm_mday;
+	time->hour = timeInfo->tm_hour;
+	time->minute = timeInfo->tm_min;
+	time->second = timeInfo->tm_sec;
+	auto usecond = std::chrono::duration_cast<std::chrono::microseconds>(fraction);
+	time->usecond = usecond.count();
+
+	//sif::warning << "Clock::getDateAndTime: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
+		timeval* to) {
+	struct tm time_tm;
+
+	time_tm.tm_year = from->year - 1900;
+	time_tm.tm_mon = from->month - 1;
+	time_tm.tm_mday = from->day;
+
+	time_tm.tm_hour = from->hour;
+	time_tm.tm_min = from->minute;
+	time_tm.tm_sec = from->second;
+
+	time_t seconds = mktime(&time_tm);
+
+	to->tv_sec = seconds;
+	to->tv_usec = from->usecond;
+	//Fails in 2038..
+	return HasReturnvaluesIF::RETURN_OK;
+	sif::warning << "Clock::convertTimeBla: not implemented yet" << std::endl;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
+	*JD2000 = (time.tv_sec - 946728000. + time.tv_usec / 1000000.) / 24.
+			/ 3600.;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::convertUTCToTT(timeval utc, timeval* tt) {
+	//SHOULDDO: works not for dates in the past (might have less leap seconds)
+	if (timeMutex == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	uint16_t leapSeconds;
+	ReturnValue_t result = getLeapSeconds(&leapSeconds);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	timeval leapSeconds_timeval = { 0, 0 };
+	leapSeconds_timeval.tv_sec = leapSeconds;
+
+	//initial offset between UTC and TAI
+	timeval UTCtoTAI1972 = { 10, 0 };
+
+	timeval TAItoTT = { 32, 184000 };
+
+	*tt = utc + leapSeconds_timeval + UTCtoTAI1972 + TAItoTT;
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
+	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	leapSeconds = leapSeconds_;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
+	if(timeMutex == nullptr){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
+	*leapSeconds_ = leapSeconds;
+
+	result = timeMutex->unlockMutex();
+	return result;
+}
+
+ReturnValue_t Clock::checkOrCreateClockMutex(){
+	if(timeMutex == nullptr){
+		MutexFactory* mutexFactory = MutexFactory::instance();
+		if (mutexFactory == nullptr) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		timeMutex = mutexFactory->createMutex();
+		if (timeMutex == nullptr) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}

osal/host/FixedTimeslotTask.cpp

@@ -0,0 +1,197 @@
+#include "../../osal/host/FixedTimeslotTask.h"
+
+#include "../../ipc/MutexFactory.h"
+#include "../../osal/host/Mutex.h"
+#include "../../osal/host/FixedTimeslotTask.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
+        TaskStackSize setStack, TaskPeriod setPeriod,
+        void (*setDeadlineMissedFunc)()) :
+        started(false), pollingSeqTable(setPeriod*1000), taskName(name),
+        period(setPeriod), deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+    mainThread = std::thread(&FixedTimeslotTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "FixedTimeslotTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+FixedTimeslotTask::~FixedTimeslotTask(void) {
+    //Do not delete objects, we were responsible for ptrs only.
+    terminateThread = true;
+    if(mainThread.joinable()) {
+        mainThread.join();
+    }
+    delete this;
+}
+
+void FixedTimeslotTask::taskEntryPoint(void* argument) {
+    FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
+
+    if (not originalTask->started) {
+        // we have to suspend/block here until the task is started.
+        // if semaphores are implemented, use them here.
+        std::unique_lock<std::mutex> lock(initMutex);
+        initCondition.wait(lock);
+    }
+
+    this->taskFunctionality();
+    sif::debug << "FixedTimeslotTask::taskEntryPoint: "
+            "Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+    started = true;
+
+    // Notify task to start.
+    std::lock_guard<std::mutex> lock(initMutex);
+    initCondition.notify_one();
+
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void FixedTimeslotTask::taskFunctionality() {
+    pollingSeqTable.intializeSequenceAfterTaskCreation();
+
+    // A local iterator for the Polling Sequence Table is created to
+    // find the start time for the first entry.
+    auto slotListIter = pollingSeqTable.current;
+
+    // Get start time for first entry.
+    chron_ms interval(slotListIter->pollingTimeMs);
+    auto currentStartTime {
+            std::chrono::duration_cast<chron_ms>(
+            std::chrono::system_clock::now().time_since_epoch())
+    };
+    if(interval.count() > 0) {
+        delayForInterval(&currentStartTime, interval);
+    }
+
+    /* Enter the loop that defines the task behavior. */
+    for (;;) {
+        if(terminateThread.load()) {
+            break;
+        }
+        //The component for this slot is executed and the next one is chosen.
+        this->pollingSeqTable.executeAndAdvance();
+        if (not pollingSeqTable.slotFollowsImmediately()) {
+            // we need to wait before executing the current slot
+            //this gives us the time to wait:
+            interval = chron_ms(this->pollingSeqTable.getIntervalToPreviousSlotMs());
+            delayForInterval(&currentStartTime, interval);
+            //TODO deadline missed check
+        }
+    }
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+        uint32_t slotTimeMs, int8_t executionStep) {
+    ExecutableObjectIF* executableObject = objectManager->
+            get<ExecutableObjectIF>(componentId);
+    if (executableObject != nullptr) {
+        pollingSeqTable.addSlot(componentId, slotTimeMs, executionStep,
+                executableObject, this);
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+
+    sif::error << "Component " << std::hex << componentId <<
+            " not found, not adding it to pst" << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t FixedTimeslotTask::checkSequence() const {
+    return pollingSeqTable.checkSequence();
+}
+
+uint32_t FixedTimeslotTask::getPeriodMs() const {
+    return period * 1000;
+}
+
+bool FixedTimeslotTask::delayForInterval(chron_ms * previousWakeTimeMs,
+        const chron_ms interval) {
+    bool shouldDelay = false;
+    //Get current wakeup time
+    auto currentStartTime =
+            std::chrono::duration_cast<chron_ms>(
+            std::chrono::system_clock::now().time_since_epoch());
+    /* Generate the tick time at which the task wants to wake. */
+    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
+
+    if (currentStartTime < *previousWakeTimeMs) {
+        /* The tick count has overflowed since this function was
+         lasted called.  In this case the only time we should ever
+         actually delay is if the wake time has also    overflowed,
+         and the wake time is greater than the tick time.  When this
+         is the case it is as if neither time had overflowed. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                && (nextTimeToWake_ms > currentStartTime)) {
+            shouldDelay = true;
+        }
+    } else {
+        /* The tick time has not overflowed.  In this case we will
+         delay if either the wake time has overflowed, and/or the
+         tick time is less than the wake time. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                || (nextTimeToWake_ms >  currentStartTime)) {
+            shouldDelay = true;
+        }
+    }
+
+    /* Update the wake time ready for the next call. */
+
+    (*previousWakeTimeMs) =  nextTimeToWake_ms;
+
+    if (shouldDelay) {
+        auto sleepTime = std::chrono::duration_cast<chron_ms>(
+                nextTimeToWake_ms - currentStartTime);
+        std::this_thread::sleep_for(sleepTime);
+        return true;
+    }
+    //We are shifting the time in case the deadline was missed like rtems
+    (*previousWakeTimeMs) = currentStartTime;
+    return false;
+
+}
+
+
+
+

osal/host/FixedTimeslotTask.h

@@ -0,0 +1,130 @@
+#ifndef FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_
+
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/FixedSlotSequence.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief   This class represents a task for periodic activities with multiple
+ *          steps and strict timeslot requirements for these steps.
+ * @details
+ * @ingroup task_handling
+ */
+class FixedTimeslotTask: public FixedTimeslotTaskIF {
+public:
+    /**
+     * @brief   Standard constructor of the class.
+     * @details
+     * The class is initialized without allocated objects. These need to be
+     * added with #addComponent.
+     * @param priority
+     * @param stack_size
+     * @param setPeriod
+     * @param setDeadlineMissedFunc
+     * The function pointer to the deadline missed function that shall be
+     * assigned.
+     */
+    FixedTimeslotTask(const char *name, TaskPriority setPriority,
+            TaskStackSize setStack, TaskPeriod setPeriod,
+            void (*setDeadlineMissedFunc)());
+    /**
+     * @brief   Currently, the executed object's lifetime is not coupled with
+     *          the task object's lifetime, so the destructor is empty.
+     */
+    virtual ~FixedTimeslotTask(void);
+
+    /**
+     * @brief   The method to start the task.
+     * @details The method starts the task with the respective system call.
+     *          Entry point is the taskEntryPoint method described below.
+     *          The address of the task object is passed as an argument
+     *          to the system call.
+     */
+    ReturnValue_t startTask(void);
+
+    /**
+     * Add timeslot to the polling sequence table.
+     * @param componentId
+     * @param slotTimeMs
+     * @param executionStep
+     * @return
+     */
+    ReturnValue_t addSlot(object_id_t componentId,
+                   uint32_t slotTimeMs, int8_t executionStep);
+
+    ReturnValue_t checkSequence() const override;
+
+    uint32_t getPeriodMs() const;
+
+    ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+    using chron_ms = std::chrono::milliseconds;
+
+    bool started;
+    //!< Typedef for the List of objects.
+    typedef std::vector<ExecutableObjectIF*> ObjectList;
+    std::thread mainThread;
+    std::atomic<bool> terminateThread = false;
+
+    //! Polling sequence table which contains the object to execute
+    //! and information like the timeslots and the passed execution step.
+    FixedSlotSequence pollingSeqTable;
+
+    std::condition_variable initCondition;
+    std::mutex initMutex;
+    std::string taskName;
+    /**
+     * @brief   The period of the task.
+     * @details
+     * The period determines the frequency of the task's execution.
+     * It is expressed in clock ticks.
+     */
+    TaskPeriod period;
+
+    /**
+     * @brief   The pointer to the deadline-missed function.
+     * @details
+     * This pointer stores the function that is executed if the task's deadline
+     * is missed. So, each may react individually on a timing failure.
+     * The pointer may be NULL, then nothing happens on missing the deadline.
+     * The deadline is equal to the next execution of the periodic task.
+     */
+    void (*deadlineMissedFunc)(void);
+    /**
+     * @brief   This is the function executed in the new task's context.
+     * @details
+     * It converts the argument back to the thread object type and copies the
+     * class instance to the task context.
+     * The taskFunctionality method is called afterwards.
+     * @param   A pointer to the task object itself is passed as argument.
+     */
+
+    void taskEntryPoint(void* argument);
+    /**
+     * @brief   The function containing the actual functionality of the task.
+     * @details
+     * The method sets and starts the task's period, then enters a loop that is
+     * repeated as long as the isRunning attribute is true. Within the loop,
+     * all performOperation methods of the added objects are called. Afterwards
+     * the checkAndRestartPeriod system call blocks the task until the next
+     *  period. On missing the deadline, the deadlineMissedFunction is executed.
+     */
+    void taskFunctionality(void);
+
+    bool delayForInterval(chron_ms * previousWakeTimeMs,
+            const chron_ms interval);
+};
+
+
+
+#endif /* FRAMEWORK_OSAL_HOST_FIXEDTIMESLOTTASK_H_ */

osal/host/MessageQueue.cpp

@@ -0,0 +1,159 @@
+#include "MessageQueue.h"
+#include "QueueMapManager.h"
+
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../ipc/MutexFactory.h"
+#include "../../ipc/MutexHelper.h"
+
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
+		messageSize(maxMessageSize), messageDepth(messageDepth) {
+	queueLock = MutexFactory::instance()->createMutex();
+	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "MessageQueue::MessageQueue:"
+		        << " Could not be created" << std::endl;
+	}
+}
+
+MessageQueue::~MessageQueue() {
+	MutexFactory::instance()->deleteMutex(queueLock);
+}
+
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, bool ignoreFault) {
+	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
+	return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
+	if (this->lastPartner != 0) {
+		return sendMessageFrom(this->lastPartner, message, this->getId());
+	} else {
+		return MessageQueueIF::NO_REPLY_PARTNER;
+	}
+}
+
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
+		MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
+			ignoreFault);
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
+		MessageQueueId_t* receivedFrom) {
+	ReturnValue_t status = this->receiveMessage(message);
+	if(status == HasReturnvaluesIF::RETURN_OK) {
+		*receivedFrom = this->lastPartner;
+	}
+	return status;
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
+	if(messageQueue.empty()) {
+		return MessageQueueIF::EMPTY;
+	}
+	// not sure this will work..
+	//*message = std::move(messageQueue.front());
+	MutexHelper mutexLock(queueLock, MutexIF::TimeoutType::WAITING, 20);
+	MessageQueueMessage* currentMessage = &messageQueue.front();
+	std::copy(currentMessage->getBuffer(),
+			currentMessage->getBuffer() + messageSize, message->getBuffer());
+	messageQueue.pop();
+	// The last partner is the first uint32_t field in the message
+	this->lastPartner = message->getSender();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getLastPartner() const {
+	return lastPartner;
+}
+
+ReturnValue_t MessageQueue::flush(uint32_t* count) {
+	*count = messageQueue.size();
+	// Clears the queue.
+	messageQueue = std::queue<MessageQueueMessage>();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getId() const {
+	return mqId;
+}
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+	defaultDestinationSet = true;
+	this->defaultDestination = defaultDestination;
+}
+
+MessageQueueId_t MessageQueue::getDefaultDestination() const {
+	return defaultDestination;
+}
+
+bool MessageQueue::isDefaultDestinationSet() const {
+	return defaultDestinationSet;
+}
+
+
+// static core function to send messages.
+ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+        MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+        bool ignoreFault) {
+	if(message->getMessageSize() > message->getMaximumMessageSize()) {
+		// Actually, this should never happen or an error will be emitted
+		// in MessageQueueMessage.
+		// But I will still return a failure here.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	MessageQueue* targetQueue = dynamic_cast<MessageQueue*>(
+			QueueMapManager::instance()->getMessageQueue(sendTo));
+	if(targetQueue == nullptr) {
+		if(not ignoreFault) {
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
+							objects::INTERNAL_ERROR_REPORTER);
+			if (internalErrorReporter != nullptr) {
+				internalErrorReporter->queueMessageNotSent();
+			}
+		}
+		// TODO: Better returnvalue
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
+		MutexHelper mutexLock(targetQueue->queueLock,
+		        MutexIF::TimeoutType::WAITING, 20);
+		// not ideal, works for now though.
+		MessageQueueMessage* mqmMessage =
+				dynamic_cast<MessageQueueMessage*>(message);
+		if(message != nullptr) {
+			targetQueue->messageQueue.push(*mqmMessage);
+		}
+		else {
+			sif::error << "MessageQueue::sendMessageFromMessageQueue: Message"
+					"is not MessageQueueMessage!" << std::endl;
+		}
+
+	}
+	else {
+		return MessageQueueIF::FULL;
+	}
+    message->setSender(sentFrom);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MessageQueue::lockQueue(MutexIF::TimeoutType timeoutType,
+        dur_millis_t lockTimeout) {
+	return queueLock->lockMutex(timeoutType, lockTimeout);
+}
+
+ReturnValue_t MessageQueue::unlockQueue() {
+	return queueLock->unlockMutex();
+}

osal/host/MessageQueue.h

@@ -0,0 +1,231 @@
+#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+
+#include "../../internalError/InternalErrorReporterIF.h"
+#include "../../ipc/MessageQueueIF.h"
+#include "../../ipc/MessageQueueMessage.h"
+#include "../../ipc/MutexIF.h"
+#include "../../timemanager/Clock.h"
+
+#include <queue>
+#include <memory>
+
+/**
+ * @brief		This class manages sending and receiving of
+ * 				message queue messages.
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
+ * They work like post boxes, where all incoming messages are stored in FIFO
+ * order. This class creates a new receiving queue and provides methods to fetch
+ * received messages. Being a child of MessageQueueSender, this class also
+ * provides methods to send a message to a user-defined or a default destination.
+ * In addition it also provides a reply method to answer to the queue it
+ * received its last message from.
+ *
+ * The MessageQueue should be used as "post box" for a single owning object.
+ * So all message queue communication is "n-to-one".
+ * For creating the queue, as well as sending and receiving messages, the class
+ * makes use of the operating system calls provided.
+ *
+ * Please keep in mind that FreeRTOS offers different calls for message queue
+ * operations if called from an ISR.
+ * For now, the system context needs to be switched manually.
+ * @ingroup osal
+ * @ingroup message_queue
+ */
+class MessageQueue : public MessageQueueIF {
+	friend class MessageQueueSenderIF;
+public:
+	/**
+	 * @brief	The constructor initializes and configures the message queue.
+	 * @details
+	 * By making use of the according operating system call, a message queue is
+	 * created and initialized. The message depth - the maximum number of
+	 * messages to be buffered - may be set with the help of a parameter,
+	 * whereas the message size is automatically set to the maximum message
+	 * queue message size. The operating system sets the message queue id, or
+	 * in case of failure, it is set to zero.
+	 * @param message_depth
+	 * The number of messages to be buffered before passing an error to the
+	 * sender. Default is three.
+	 * @param max_message_size
+	 * With this parameter, the maximum message size can be adjusted.
+	 * This should be left default.
+	 */
+	MessageQueue(size_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+
+	/** Copying message queues forbidden */
+	MessageQueue(const MessageQueue&) = delete;
+	MessageQueue& operator=(const MessageQueue&) = delete;
+
+	/**
+	 * @brief	The destructor deletes the formerly created message queue.
+	 * @details	This is accomplished by using the delete call provided
+	 * 			by the operating system.
+	 */
+	virtual ~MessageQueue();
+
+	/**
+	 * @brief	This operation sends a message to the given destination.
+	 * @details	It directly uses the sendMessage call of the MessageQueueSender
+	 * parent, but passes its queue id as "sentFrom" parameter.
+	 * @param sendTo	This parameter specifies the message queue id of the
+	 *  destination message queue.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 * @param ignoreFault If set to true, the internal software fault counter
+	 * is not incremented if queue is full.
+	 */
+	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, bool ignoreFault = false) override;
+	/**
+	 * @brief	This operation sends a message to the default destination.
+	 * @details	As in the sendMessage method, this function uses the
+	 * sendToDefault call of the MessageQueueSender parent class and adds its
+	 * queue id as "sentFrom" information.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
+	/**
+	 * @brief	This operation sends a message to the last communication partner.
+	 * @details	This operation simplifies answering an incoming message by using
+	 * the stored lastPartner information as destination. If there was no
+	 * message received yet (i.e. lastPartner is zero), an error code is returned.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	ReturnValue_t reply(MessageQueueMessageIF* message) override;
+
+	/**
+	 * @brief	With the sendMessage call, a queue message is sent to a
+	 * 			receiving queue.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 *  The OS's return value is returned.
+	 * @param sendTo	This parameter specifies the message queue id to send
+	 * the message to.
+	 * @param message	This is a pointer to a previously created message,
+	 * which is sent.
+	 * @param sentFrom	The sentFrom information can be set to inject the
+	 * sender's queue id into the message. This variable is set to zero by
+	 * default.
+	 * @param ignoreFault If set to true, the internal software fault counter
+	 * is not incremented if queue is full.
+	 */
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	/**
+	 * @brief	The sendToDefault method sends a queue message to the default
+	 * 			destination.
+	 * @details
+	 * In all other aspects, it works identical to the sendMessage method.
+	 * @param message	This is a pointer to a previously created message,
+	 * which is sent.
+	 * @param sentFrom	The sentFrom information can be set to inject the
+	 * sender's queue id into the message. This variable is set to zero by
+	 * default.
+	 */
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
+			MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault = false) override;
+
+	/**
+	 * @brief	This function reads available messages from the message queue
+	 * 			and returns the sender.
+	 * @details
+	 * It works identically to the other receiveMessage call, but in  addition
+	 * returns the sender's queue id.
+	 * @param message	A pointer to a message in which the received data is stored.
+	 * @param receivedFrom	A pointer to a queue id in which the sender's id is stored.
+	 */
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
+			MessageQueueId_t *receivedFrom) override;
+
+	/**
+	 * @brief	This function reads available messages from the message queue.
+	 * @details
+	 * If data is available it is stored in the passed message pointer.
+	 * The message's original content is overwritten and the sendFrom
+	 * information is stored in the lastPartner attribute. Else, the lastPartner
+	 * information remains untouched, the message's content is cleared and the
+	 * function returns immediately.
+	 * @param message	A pointer to a message in which the received data is stored.
+	 */
+	ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
+	/**
+	 * Deletes all pending messages in the queue.
+	 * @param count The number of flushed messages.
+	 * @return RETURN_OK on success.
+	 */
+	ReturnValue_t flush(uint32_t* count) override;
+	/**
+	 * @brief	This method returns the message queue id of the last
+	 * 			communication partner.
+	 */
+	MessageQueueId_t getLastPartner() const override;
+	/**
+	 * @brief	This method returns the message queue id of this class's
+	 * 			message queue.
+	 */
+	MessageQueueId_t getId() const override;
+
+	/**
+	 * @brief	This method is a simple setter for the default destination.
+	 */
+	void setDefaultDestination(MessageQueueId_t defaultDestination) override;
+	/**
+	 * @brief	This method is a simple getter for the default destination.
+	 */
+	MessageQueueId_t getDefaultDestination() const override;
+
+	bool isDefaultDestinationSet() const override;
+
+	ReturnValue_t lockQueue(MutexIF::TimeoutType timeoutType,
+	        dur_millis_t lockTimeout);
+	ReturnValue_t unlockQueue();
+protected:
+	/**
+	 * @brief 	Implementation to be called from any send Call within
+	 * 			MessageQueue and MessageQueueSenderIF.
+	 * @details
+	 * This method takes the message provided, adds the sentFrom information and
+	 * passes it on to the destination provided with an operating system call.
+	 * The OS's return value is returned.
+	 * @param sendTo
+	 * This parameter specifies the message queue id to send the message to.
+	 * @param message
+	 * This is a pointer to a previously created message, which is sent.
+	 * @param sentFrom
+	 * The sentFrom information can be set to inject the sender's queue id into
+	 * the message. This variable is set to zero by default.
+	 * @param ignoreFault
+	 * If set to true, the internal software fault counter  is not incremented
+	 * if queue is full.
+	 * @param context Specify whether call is made from task or from an ISR.
+	 */
+	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
+			bool ignoreFault=false);
+
+	//static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
+
+private:
+	std::queue<MessageQueueMessage> messageQueue;
+	/**
+	 * @brief	The class stores the queue id it got assigned.
+	 * 			If initialization fails, the queue id is set to zero.
+	 */
+	MessageQueueId_t mqId = 0;
+	size_t messageSize = 0;
+	size_t messageDepth = 0;
+
+	MutexIF* queueLock;
+
+	bool defaultDestinationSet = false;
+	MessageQueueId_t defaultDestination = 0;
+	MessageQueueId_t lastPartner = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ */

osal/host/Mutex.cpp

@@ -0,0 +1,39 @@
+#include "Mutex.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+Mutex::Mutex() {}
+
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::BLOCKING) {
+		mutex.lock();
+		locked = true;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else if(timeoutMs == MutexIF::POLLING) {
+		if(mutex.try_lock()) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	else if(timeoutMs > MutexIF::POLLING){
+		auto chronoMs = std::chrono::milliseconds(timeoutMs);
+		if(mutex.try_lock_for(chronoMs)) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	return MutexIF::MUTEX_TIMEOUT;
+}
+
+ReturnValue_t Mutex::unlockMutex() {
+	if(not locked) {
+		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
+	}
+	mutex.unlock();
+	locked = false;
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+std::timed_mutex* Mutex::getMutexHandle() {
+	return &mutex;
+}

osal/host/Mutex.h

@@ -0,0 +1,29 @@
+#ifndef FSFW_OSAL_HOSTED_MUTEX_H_
+#define FSFW_OSAL_HOSTED_MUTEX_H_
+
+#include "../../ipc/MutexIF.h"
+
+#include <mutex>
+
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
+class Mutex : public MutexIF {
+public:
+	Mutex();
+	ReturnValue_t lockMutex(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) override;
+	ReturnValue_t unlockMutex() override;
+
+	std::timed_mutex* getMutexHandle();
+private:
+	bool locked = false;
+	std::timed_mutex mutex;
+};
+
+#endif /* FSFW_OSAL_HOSTED_MUTEX_H_ */

osal/host/MutexFactory.cpp

@@ -0,0 +1,28 @@
+#include "../../ipc/MutexFactory.h"
+#include "../../osal/host/Mutex.h"
+
+//TODO: Different variant than the lazy loading in QueueFactory.
+//What's better and why? -> one is on heap the other on bss/data
+//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
+MutexFactory* MutexFactory::factoryInstance = nullptr;
+
+MutexFactory::MutexFactory() {
+}
+
+MutexFactory::~MutexFactory() {
+}
+
+MutexFactory* MutexFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new MutexFactory();
+	}
+	return MutexFactory::factoryInstance;
+}
+
+MutexIF* MutexFactory::createMutex() {
+	return new Mutex();
+}
+
+void MutexFactory::deleteMutex(MutexIF* mutex) {
+	delete mutex;
+}

osal/host/PeriodicTask.cpp

@@ -0,0 +1,176 @@
+#include "Mutex.h"
+#include "PeriodicTask.h"
+
+#include "../../ipc/MutexFactory.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../tasks/ExecutableObjectIF.h"
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod setPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		started(false), taskName(name), period(setPeriod),
+		deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+PeriodicTask::~PeriodicTask(void) {
+	//Do not delete objects, we were responsible for ptrs only.
+	terminateThread = true;
+	if(mainThread.joinable()) {
+		mainThread.join();
+	}
+	delete this;
+}
+
+void PeriodicTask::taskEntryPoint(void* argument) {
+	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
+
+
+	if (not originalTask->started) {
+		// we have to suspend/block here until the task is started.
+		// if semaphores are implemented, use them here.
+		std::unique_lock<std::mutex> lock(initMutex);
+		initCondition.wait(lock);
+	}
+
+	this->taskFunctionality();
+	sif::debug << "PeriodicTask::taskEntryPoint: "
+			"Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	started = true;
+
+	// Notify task to start.
+	std::lock_guard<std::mutex> lock(initMutex);
+	initCondition.notify_one();
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PeriodicTask::taskFunctionality() {
+	std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
+	auto currentStartTime {
+	    std::chrono::duration_cast<std::chrono::milliseconds>(
+	    std::chrono::system_clock::now().time_since_epoch())
+	};
+	auto nextStartTime{ currentStartTime };
+
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		if(terminateThread.load()) {
+			break;
+		}
+		for (ObjectList::iterator it = objectList.begin();
+				it != objectList.end(); ++it) {
+			(*it)->performOperation();
+		}
+		if(not delayForInterval(&currentStartTime, periodChrono)) {
+			sif::warning << "PeriodicTask: " << taskName <<
+					" missed deadline!\n" << std::flush;
+			if(deadlineMissedFunc != nullptr) {
+				this->deadlineMissedFunc();
+			}
+		}
+	}
+}
+
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t PeriodicTask::getPeriodMs() const {
+	return period * 1000;
+}
+
+bool PeriodicTask::delayForInterval(chron_ms* previousWakeTimeMs,
+        const chron_ms interval) {
+    bool shouldDelay = false;
+    //Get current wakeup time
+    auto currentStartTime =
+            std::chrono::duration_cast<std::chrono::milliseconds>(
+            std::chrono::system_clock::now().time_since_epoch());
+    /* Generate the tick time at which the task wants to wake. */
+    auto nextTimeToWake_ms = (*previousWakeTimeMs) + interval;
+
+    if (currentStartTime < *previousWakeTimeMs) {
+        /* The tick count has overflowed since this function was
+         lasted called.  In this case the only time we should ever
+         actually delay is if the wake time has also    overflowed,
+         and the wake time is greater than the tick time.  When this
+         is the case it is as if neither time had overflowed. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                && (nextTimeToWake_ms > currentStartTime)) {
+            shouldDelay = true;
+        }
+    } else {
+        /* The tick time has not overflowed.  In this case we will
+         delay if either the wake time has overflowed, and/or the
+         tick time is less than the wake time. */
+        if ((nextTimeToWake_ms < *previousWakeTimeMs)
+                || (nextTimeToWake_ms >  currentStartTime)) {
+            shouldDelay = true;
+        }
+    }
+
+    /* Update the wake time ready for the next call. */
+
+    (*previousWakeTimeMs) =  nextTimeToWake_ms;
+
+    if (shouldDelay) {
+        auto sleepTime = std::chrono::duration_cast<std::chrono::milliseconds>(
+                nextTimeToWake_ms - currentStartTime);
+        std::this_thread::sleep_for(sleepTime);
+        return true;
+    }
+    //We are shifting the time in case the deadline was missed like rtems
+    (*previousWakeTimeMs) = currentStartTime;
+    return false;
+
+}

osal/host/PeriodicTask.h

@@ -0,0 +1,123 @@
+#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+
+#include "../../objectmanager/ObjectManagerIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+#include "../../tasks/Typedef.h"
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
+ * @details
+ *
+ * @ingroup task_handling
+ */
+class PeriodicTask: public PeriodicTaskIF {
+public:
+	/**
+	 * @brief	Standard constructor of the class.
+	 * @details
+	 * The class is initialized without allocated objects. These need to be
+	 * added with #addComponent.
+	 * @param priority
+	 * @param stack_size
+	 * @param setPeriod
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall be
+	 * assigned.
+	 */
+	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
+			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
+	/**
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
+	 */
+	virtual ~PeriodicTask(void);
+
+	/**
+	 * @brief	The method to start the task.
+	 * @details	The method starts the task with the respective system call.
+	 * 			Entry point is the taskEntryPoint method described below.
+	 * 			The address of the task object is passed as an argument
+	 * 			to the system call.
+	 */
+	ReturnValue_t startTask(void);
+	/**
+	 * Adds an object to the list of objects to be executed.
+	 * The objects are executed in the order added.
+	 * @param object Id of the object to add.
+	 * @return
+	 *  -@c RETURN_OK on success
+	 *  -@c RETURN_FAILED if the object could not be added.
+	 */
+	ReturnValue_t addComponent(object_id_t object);
+
+	uint32_t getPeriodMs() const;
+
+	ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+	using chron_ms = std::chrono::milliseconds;
+	bool started;
+	//!< Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
+	std::thread mainThread;
+	std::atomic<bool> terminateThread = false;
+
+	/**
+	 * @brief	This attribute holds a list of objects to be executed.
+	 */
+	ObjectList objectList;
+
+	std::condition_variable initCondition;
+	std::mutex initMutex;
+	std::string taskName;
+	/**
+	 * @brief	The period of the task.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
+	 */
+	TaskPeriod period;
+	/**
+	 * @brief	The pointer to the deadline-missed function.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed. So, each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
+	 */
+	void (*deadlineMissedFunc)(void);
+	/**
+	 * @brief	This is the function executed in the new task's context.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context.
+	 * The taskFunctionality method is called afterwards.
+	 * @param	A pointer to the task object itself is passed as argument.
+	 */
+
+	void taskEntryPoint(void* argument);
+	/**
+	 * @brief	The function containing the actual functionality of the task.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called. Afterwards
+	 * the checkAndRestartPeriod system call blocks the task until the next
+	 *  period. On missing the deadline, the deadlineMissedFunction is executed.
+	 */
+	void taskFunctionality(void);
+
+	bool delayForInterval(chron_ms * previousWakeTimeMs,
+	        const chron_ms interval);
+};
+
+#endif /* PERIODICTASK_H_ */

osal/host/QueueFactory.cpp

@@ -0,0 +1,41 @@
+#include "../../ipc/QueueFactory.h"
+#include "../../osal/host/MessageQueue.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include <cstring>
+
+QueueFactory* QueueFactory::factoryInstance = nullptr;
+
+
+ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+QueueFactory* QueueFactory::instance() {
+	if (factoryInstance == nullptr) {
+		factoryInstance = new QueueFactory;
+	}
+	return factoryInstance;
+}
+
+QueueFactory::QueueFactory() {
+}
+
+QueueFactory::~QueueFactory() {
+}
+
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
+		size_t maxMessageSize) {
+	// A thread-safe queue can be implemented  by using a combination
+	// of std::queue and std::mutex. This uses dynamic memory allocation
+	// which could be alleviated by using a custom allocator, external library
+	// (etl::queue) or simply using std::queue, we're on a host machine anyway.
+	return new MessageQueue(messageDepth, maxMessageSize);
+}
+
+void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
+	delete queue;
+}

osal/host/QueueMapManager.cpp

@@ -0,0 +1,52 @@
+#include "QueueMapManager.h"
+
+#include "../../ipc/MutexFactory.h"
+#include "../../ipc/MutexHelper.h"
+
+QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
+
+QueueMapManager::QueueMapManager() {
+    mapLock = MutexFactory::instance()->createMutex();
+}
+
+QueueMapManager* QueueMapManager::instance() {
+	if (mqManagerInstance == nullptr){
+		mqManagerInstance = new QueueMapManager();
+	}
+	return QueueMapManager::mqManagerInstance;
+}
+
+ReturnValue_t QueueMapManager::addMessageQueue(
+		MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
+	// Not thread-safe, but it is assumed all message queues are created
+	// at software initialization now. If this is to be made thread-safe in
+	// the future, it propably would be sufficient to lock the increment
+	// operation here
+	uint32_t currentId = queueCounter++;
+	auto returnPair = queueMap.emplace(currentId, queueToInsert);
+	if(not returnPair.second) {
+		// this should never happen for the atomic variable.
+		sif::error << "QueueMapManager: This ID is already inside the map!"
+				<< std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if (id != nullptr) {
+		*id = currentId;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueIF* QueueMapManager::getMessageQueue(
+		MessageQueueId_t messageQueueId) const {
+	MutexHelper(mapLock, MutexIF::TimeoutType::WAITING, 50);
+	auto queueIter = queueMap.find(messageQueueId);
+	if(queueIter != queueMap.end()) {
+		return queueIter->second;
+	}
+	else {
+		sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
+				messageQueueId << " does not exists in the map" << std::endl;
+		return nullptr;
+	}
+}
+

osal/host/QueueMapManager.h

@@ -0,0 +1,47 @@
+#ifndef FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_
+#define FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_
+
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../osal/host/MessageQueue.h"
+#include <unordered_map>
+#include <atomic>
+
+using QueueMap = std::unordered_map<MessageQueueId_t, MessageQueueIF*>;
+
+
+/**
+ * An internal map to map message queue IDs to message queues.
+ * This propably should be a singleton..
+ */
+class QueueMapManager {
+public:
+	//! Returns the single instance of SemaphoreFactory.
+	static QueueMapManager* instance();
+
+	/**
+	 * Insert a message queue into the map and returns a message queue ID
+	 * @param queue The message queue to insert.
+	 * @param id The passed value will be set unless a nullptr is passed
+	 * @return
+	 */
+	ReturnValue_t addMessageQueue(MessageQueueIF* queue, MessageQueueId_t*
+			id = nullptr);
+	/**
+	 * Get the message queue handle by providing a message queue ID.
+	 * @param messageQueueId
+	 * @return
+	 */
+	MessageQueueIF* getMessageQueue(MessageQueueId_t messageQueueId) const;
+
+private:
+	//! External instantiation is forbidden.
+	QueueMapManager();
+	uint32_t queueCounter = 1;
+	MutexIF* mapLock;
+	QueueMap queueMap;
+	static QueueMapManager* mqManagerInstance;
+};
+
+
+
+#endif /* FSFW_OSAL_HOST_QUEUEMAPMANAGER_H_ */

osal/host/SemaphoreFactory.cpp

@@ -0,0 +1,39 @@
+#include "../../tasks/SemaphoreFactory.h"
+#include "../../osal/linux/BinarySemaphore.h"
+#include "../../osal/linux/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	// Just gonna wait for full C++20 for now.
+	sif::error << "SemaphoreFactory: Binary Semaphore not implemented yet."
+			" Returning nullptr!\n" << std::flush;
+	return nullptr;
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
+		uint8_t initCount, uint32_t arguments) {
+	// Just gonna wait for full C++20 for now.
+	sif::error << "SemaphoreFactory: Counting Semaphore not implemented yet."
+				" Returning nullptr!\n" << std::flush;
+	return nullptr;
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}

osal/host/TaskFactory.cpp

@@ -0,0 +1,51 @@
+#include "../../osal/host/FixedTimeslotTask.h"
+#include "../../osal/host/PeriodicTask.h"
+#include "../../tasks/TaskFactory.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/PeriodicTaskIF.h"
+
+#include <chrono>
+
+TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
+
+// Will propably not be used for hosted implementation
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
+
+TaskFactory::TaskFactory() {
+}
+
+TaskFactory::~TaskFactory() {
+}
+
+TaskFactory* TaskFactory::instance() {
+	return TaskFactory::factoryInstance;
+}
+
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
+			deadLineMissedFunction_);
+}
+
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return new FixedTimeslotTask(name_, taskPriority_, stackSize_,
+	        periodInSeconds_, deadLineMissedFunction_);
+}
+
+ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
+	// This might block for some time!
+	delete task;
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
+	std::this_thread::sleep_for(std::chrono::milliseconds(delayMs));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+

osal/linux/Clock.cpp

@@ -76,22 +76,23 @@ timeval Clock::getUptime() {
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
     //TODO This is not posix compatible and delivers only seconds precision
-	struct sysinfo sysInfo;
+    // is the OS not called Linux?
-	int result = sysinfo(&sysInfo);
-	if(result != 0){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	uptime->tv_sec = sysInfo.uptime;
-	uptime->tv_usec = 0;
-
-
     //Linux specific file read but more precise
-//	double uptimeSeconds;
+    double uptimeSeconds;
-//	if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
+    if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
-//		uptime->tv_sec = uptimeSeconds;
+        uptime->tv_sec = uptimeSeconds;
-//		uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
+        uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
-//	}
+    }
 
+	//TODO This is not posix compatible and delivers only seconds precision
+    // I suggest this is moved into another clock function which will
+    // deliver second precision later.
+//	struct sysinfo sysInfo;
+//	int result = sysinfo(&sysInfo);
+//	if(result != 0){
+//		return HasReturnvaluesIF::RETURN_FAILED;
+//	}
+//	return sysInfo.uptime;
     return HasReturnvaluesIF::RETURN_OK;
 }
 

osal/linux/PeriodicPosixTask.cpp

@@ -25,6 +25,8 @@ ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
+		sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+				<< " it implements ExecutableObjectIF!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
@@ -46,27 +48,33 @@ ReturnValue_t PeriodicPosixTask::startTask(void){
 }
 
 void PeriodicPosixTask::taskFunctionality(void) {
-	if(!started){
+	if(not started) {
 		suspend();
 	}
+
+	for (auto const &object: objectList) {
+		object->initializeAfterTaskCreation();
+	}
+
 	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
 	//The task's "infinite" inner loop is entered.
 	while (1) {
-		for (ObjectList::iterator it = objectList.begin();
+		for (auto const &object: objectList) {
-				it != objectList.end(); ++it) {
+			object->performOperation();
-			(*it)->performOperation();
 		}
-		if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
+
+		if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){
 			char name[20] = {0};
 			int status = pthread_getname_np(pthread_self(), name, sizeof(name));
 			if(status == 0) {
 				sif::error << "PeriodicPosixTask " << name << ": Deadline "
 						"missed." << std::endl;
-			}else{
+			}
+			else {
 				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
 						status << std::endl;
 			}
-			if (this->deadlineMissedFunc != NULL) {
+			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}

osal/linux/PeriodicPosixTask.h

@@ -32,7 +32,7 @@ public:
 	 * 			The address of the task object is passed as an argument
 	 * 			to the system call.
 	 */
-	ReturnValue_t startTask(void);
+	ReturnValue_t startTask() override;
 	/**
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.

pus/Service17Test.cpp

@@ -0,0 +1,41 @@
+#include "Service17Test.h"
+
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../objectmanager/SystemObject.h"
+#include "../tmtcpacket/pus/TmPacketStored.h"
+
+
+Service17Test::Service17Test(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId):
+    PusServiceBase(objectId, apid, serviceId),
+    packetSubCounter(0) {
+}
+
+Service17Test::~Service17Test() {
+}
+
+ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
+	switch(subservice){
+	case Subservice::CONNECTION_TEST: {
+		TmPacketStored connectionPacket(apid, serviceId,
+		        Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+		connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
+				requestQueue->getId());
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+    case Subservice::EVENT_TRIGGER_TEST: {
+        TmPacketStored connectionPacket(apid, serviceId,
+                Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+        connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
+                requestQueue->getId());
+        triggerEvent(TEST, 1234, 5678);
+        return RETURN_OK;
+    }
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service17Test::performService() {
+	return HasReturnvaluesIF::RETURN_OK;
+}

pus/Service17Test.h

@@ -0,0 +1,44 @@
+#ifndef FSFW_PUS_SERVICE17TEST_H_
+#define FSFW_PUS_SERVICE17TEST_H_
+
+#include "../tmtcservices/PusServiceBase.h"
+#include "../objectmanager/SystemObject.h"
+
+/**
+ * @brief Test Service
+ * Full Documentation: ECSS-E70-41A p.167
+ *
+ * The test service provides the capability to activate test functions
+ * implemented on-board and to report the results of such tests.
+ * Service capability:
+ *   - TC[17,1]: Perform connection test
+ *   - TM[17,2]: Send Connection Test Report
+ *   - TC[17,128]: Perform connection test and trigger event
+ *
+ * @ingroup pus_services
+ */
+class Service17Test: public PusServiceBase {
+public:
+	// Custom events which can be triggered
+	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_17;
+	static constexpr Event TEST = MAKE_EVENT(0, SEVERITY::INFO);
+
+	enum Subservice: uint8_t {
+		//! [EXPORT] : [COMMAND] Perform connection test
+	    CONNECTION_TEST = 1,
+	    //! [EXPORT] : [REPLY] Connection test reply
+	    CONNECTION_TEST_REPORT = 2,
+		//!  [EXPORT] : [COMMAND] Trigger test reply and test event
+	    EVENT_TRIGGER_TEST = 128,
+	};
+
+	Service17Test(object_id_t objectId, uint16_t apid, uint8_t serviceId);
+	virtual ~Service17Test();
+	virtual ReturnValue_t handleRequest(uint8_t subservice) override;
+	virtual ReturnValue_t performService() override;
+
+protected:
+	uint16_t packetSubCounter = 0;
+};
+
+#endif /* FSFW_PUS_SERVICE17TEST_H_ */

pus/Service9TimeManagement.cpp

@@ -0,0 +1,58 @@
+#include "Service9TimeManagement.h"
+#include "servicepackets/Service9Packets.h"
+
+#include "../timemanager/CCSDSTime.h"
+#include "../events/EventManagerIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+
+Service9TimeManagement::Service9TimeManagement(object_id_t objectId,
+		uint16_t apid, uint8_t serviceId) :
+	PusServiceBase(objectId, apid , serviceId) {
+}
+
+Service9TimeManagement::~Service9TimeManagement() {}
+
+ReturnValue_t Service9TimeManagement::performService() {
+	return RETURN_OK;
+}
+
+ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
+	switch(subservice){
+		case SUBSERVICE::SET_TIME:{
+			return setTime();
+		}
+		default:
+			return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+		}
+}
+
+ReturnValue_t Service9TimeManagement::setTime() {
+	Clock::TimeOfDay_t timeToSet;
+	TimePacket timePacket(currentPacket.getApplicationData(),
+			currentPacket.getApplicationDataSize());
+	ReturnValue_t result = CCSDSTime::convertFromCcsds(&timeToSet,
+			timePacket.getTime(), timePacket.getTimeSize());
+	if(result != RETURN_OK) {
+		triggerEvent(CLOCK_SET_FAILURE, result, 0);
+		return result;
+	}
+
+	uint32_t formerUptime;
+	Clock::getUptime(&formerUptime);
+	result = Clock::setClock(&timeToSet);
+
+	if(result == RETURN_OK) {
+		uint32_t newUptime;
+		Clock::getUptime(&newUptime);
+		triggerEvent(CLOCK_SET,newUptime,formerUptime);
+		return RETURN_OK;
+	}
+	else {
+		triggerEvent(CLOCK_SET_FAILURE, result, 0);
+		return RETURN_FAILED;
+	}
+}
+
+
+

pus/Service9TimeManagement.h

@@ -0,0 +1,41 @@
+#ifndef FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
+#define FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
+
+#include "../tmtcservices/PusServiceBase.h"
+
+class Service9TimeManagement: public PusServiceBase {
+public:
+
+	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
+	static constexpr Event CLOCK_SET = MAKE_EVENT(0, SEVERITY::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+	static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, SEVERITY::LOW); //!< Clock could not be set. P1: Returncode.
+
+	static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
+
+	/**
+	 * 	@brief This service provides the capability to set the on-board time.
+	 */
+	Service9TimeManagement(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId);
+
+	virtual ~Service9TimeManagement();
+
+	virtual ReturnValue_t performService() override;
+
+	/**
+	 * 	@brief Sets the onboard-time by retrieving the time to set from TC[9,128].
+	 */
+	virtual ReturnValue_t handleRequest(uint8_t subservice) override;
+
+	virtual ReturnValue_t setTime();
+private:
+
+	enum SUBSERVICE {
+		SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+	};
+
+};
+
+
+
+#endif /* FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_ */

pus/servicepackets/Service9Packets.h

@@ -0,0 +1,32 @@
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
+
+#include "../../serialize/SerialLinkedListAdapter.h"
+
+/**
+ * @brief Subservice 128
+ * @details
+ * It only contains the time encoded as ASCII, CRC, CUC or CDS
+ * @ingroup spacepackets
+ */
+class TimePacket : SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	TimePacket(const uint8_t * timeBuffer_, uint32_t timeSize_) {
+		timeBuffer = timeBuffer_;
+		timeSize = timeSize_;
+	}
+	const uint8_t*  getTime() {
+		return timeBuffer;
+	}
+
+	uint32_t getTimeSize() const {
+		return timeSize;
+	}
+
+private:
+	TimePacket(const TimePacket &command);
+	const uint8_t * timeBuffer;
+	uint32_t timeSize; //!< [EXPORT] : [IGNORE]
+};
+
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_ */

returnvalues/FwClassIds.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_
+#ifndef FSFW_RETURNVALUES_FWCLASSIDS_H_
-#define FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_
+#define FSFW_RETURNVALUES_FWCLASSIDS_H_
 
 namespace CLASS_ID {
 enum {
@@ -64,9 +64,11 @@ enum {
 	LOCAL_POOL_OWNER_IF, //LPIF 58
 	POOL_VARIABLE_IF, //PVA 59
 	HOUSEKEEPING_MANAGER, //HKM 60
+	DLE_ENCODER, //DLEE 61
+	PUS_SERVICE_9, //PUS9 62
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };
 }
 
-#endif /* FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_ */
+#endif /* FSFW_RETURNVALUES_FWCLASSIDS_H_ */

serialize/EndianConverter.h

@@ -1,5 +1,5 @@
-#ifndef ENDIANSWAPPER_H_
+#ifndef FSFW_SERIALIZE_ENDIANCONVERTER_H_
-#define ENDIANSWAPPER_H_
+#define FSFW_SERIALIZE_ENDIANCONVERTER_H_
 
 #include "../osal/Endiness.h"
 #include <cstring>
@@ -35,9 +35,7 @@
  */
 class EndianConverter {
 private:
-	EndianConverter() {
+	EndianConverter() {};
-	}
-	;
 public:
 	/**
 	 * Convert a typed variable between big endian and machine endian.
@@ -123,4 +121,4 @@ public:
 	}
 };
 
-#endif /* ENDIANSWAPPER_H_ */
+#endif /* FSFW_SERIALIZE_ENDIANCONVERTER_H_ */

serialize/SerialArrayListAdapter.h

@@ -1,13 +1,14 @@
-#ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
+#ifndef FSFW_SERIALIZE_SERIALARRAYLISTADAPTER_H_
-#define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
+#define FSFW_SERIALIZE_SERIALARRAYLISTADAPTER_H_
 
-#include "../container/ArrayList.h"
 #include "SerializeIF.h"
+#include "../container/ArrayList.h"
 #include <utility>
 
 /**
- * @ingroup serialize
+ * Also serializes length field !
  * @author 	baetz
+ * @ingroup serialize
  */
 template<typename T, typename count_t = uint8_t>
 class SerialArrayListAdapter : public SerializeIF {
@@ -27,8 +28,8 @@ public:
 				buffer, size, maxSize, streamEndianness);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter::serialize(&list->entries[i], buffer,
+			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
-			        size, maxSize, streamEndianness);
+					maxSize, streamEndianness);
 			++i;
 		}
 		return result;
@@ -66,6 +67,7 @@ public:
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
+
 		list->size = tempSize;
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
@@ -76,10 +78,9 @@ public:
 		}
 		return result;
 	}
+
 private:
 	ArrayList<T, count_t> *adaptee;
 };
 
-
+#endif /* FSFW_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */
-
-#endif /* FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */

serialize/SerialFixedArrayListAdapter.h

@@ -1,31 +1,57 @@
-#ifndef SERIALFIXEDARRAYLISTADAPTER_H_
+#ifndef FSFW_SERIALIZE_SERIALFIXEDARRAYLISTADAPTER_H_
-#define SERIALFIXEDARRAYLISTADAPTER_H_
+#define FSFW_SERIALIZE_SERIALFIXEDARRAYLISTADAPTER_H_
 
-#include "../container/FixedArrayList.h"
 #include "SerialArrayListAdapter.h"
+#include "../container/FixedArrayList.h"
 
 /**
- * \ingroup serialize
+ * @brief 	This adapter provides an interface for SerializeIF to serialize and
+ * 			deserialize buffers with a header containing the buffer length.
+ * @details
+ * Can be used by SerialLinkedListAdapter by declaring
+ * as a linked element with SerializeElement<SerialFixedArrayListAdapter<...>>.
+ * The sequence of objects is defined in the constructor by
+ * using the setStart and setNext functions.
+ *
+ * @tparam BUFFER_TYPE: Specifies the data type of the buffer
+ * @tparam MAX_SIZE: Specifies the maximum allowed number of elements
+ * 					 (not bytes!)
+ * @tparam count_t: specifies the type/size of the length field which defaults
+ * 					to one byte.
+ * @ingroup serialize
  */
-template<typename T, uint32_t MAX_SIZE, typename count_t = uint8_t>
+template<typename BUFFER_TYPE, uint32_t MAX_SIZE, typename count_t = uint8_t>
-class SerialFixedArrayListAdapter : public FixedArrayList<T, MAX_SIZE, count_t>, public SerializeIF {
+class SerialFixedArrayListAdapter :
+		public FixedArrayList<BUFFER_TYPE, MAX_SIZE, count_t>,
+		public SerializeIF {
 public:
+	/**
+	 * Constructor arguments are forwarded to FixedArrayList constructor.
+	 * Refer to the fixed array list constructors for different options.
+	 * @param args
+	 */
 	template<typename... Args>
-	SerialFixedArrayListAdapter(Args... args) : FixedArrayList<T, MAX_SIZE, count_t>(std::forward<Args>(args)...) {
+	SerialFixedArrayListAdapter(Args... args) :
-	}
+	        FixedArrayList<BUFFER_TYPE, MAX_SIZE, count_t>(
+	        std::forward<Args>(args)...){}
+
     ReturnValue_t serialize(uint8_t** buffer, size_t* size,
             size_t maxSize, Endianness streamEndianness) const {
-		return SerialArrayListAdapter<T, count_t>::serialize(this, buffer, size, maxSize, streamEndianness);
+        return SerialArrayListAdapter<BUFFER_TYPE, count_t>::serialize(this,
+                buffer, size, maxSize, streamEndianness);
     }
+
     size_t getSerializedSize() const {
-		return SerialArrayListAdapter<T, count_t>::getSerializedSize(this);
+        return SerialArrayListAdapter<BUFFER_TYPE, count_t>::
+        		getSerializedSize(this);
     }
+
     ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
             Endianness streamEndianness) {
-		return SerialArrayListAdapter<T, count_t>::deSerialize(this, buffer, size, streamEndianness);
+        return SerialArrayListAdapter<BUFFER_TYPE, count_t>::deSerialize(this,
+                buffer, size, streamEndianness);
     }
+
 };
 
-
+#endif /* FSFW_SERIALIZE_SERIALFIXEDARRAYLISTADAPTER_H_ */
-
-#endif /* SERIALFIXEDARRAYLISTADAPTER_H_ */

serialize/SerialLinkedListAdapter.h

@@ -1,32 +1,52 @@
-/**
+#ifndef FSFW_SERIALIZE_SERIALLINKEDLISTADAPTER_H_
- * @file	SerialLinkedListAdapter.h
+#define FSFW_SERIALIZE_SERIALLINKEDLISTADAPTER_H_
- * @brief	This file defines the SerialLinkedListAdapter class.
- * @date	22.07.2014
- * @author	baetz
- */
-#ifndef SERIALLINKEDLISTADAPTER_H_
-#define SERIALLINKEDLISTADAPTER_H_
 
 #include "../container/SinglyLinkedList.h"
 #include "SerializeAdapter.h"
 #include "SerializeElement.h"
 #include "SerializeIF.h"
-//This is where we need the SerializeAdapter!
 
  /**
- * \ingroup serialize
+ * @brief  	Implement the conversion of object data to data streams
+ * 		   	or vice-versa, using linked lists.
+ * @details
+ * An alternative to the AutoSerializeAdapter functions
+ *   - All object members with a datatype are declared as
+ *     SerializeElement<element_type> members inside the class
+ *     implementing this adapter.
+ *   - The element type can also be a SerialBufferAdapter to
+ *     de-/serialize buffers.
+ *   - The element type can also be a SerialFixedArrayListAdapter to
+ *     de-/serialize buffers with a size header, which is scanned automatically.
+ *
+ * The sequence of objects is defined in the constructor by using
+ * the setStart and setNext functions.
+ *
+ * 1. The serialization process is done by instantiating the class and
+ *    calling serialize after all SerializeElement entries have been set by
+ *    using the constructor or setter functions. An additional size variable
+ *    can be supplied which is calculated/incremented automatically.
+ * 2. The deserialization process is done by instantiating the class and
+ *    supplying a buffer with the data which is converted into an object.
+ *    The size of data to serialize can be supplied and is
+ *    decremented in the function. Range checking is done internally.
+ * @author baetz
+ * @ingroup serialize
  */
 template<typename T, typename count_t = uint8_t>
 class SerialLinkedListAdapter: public SinglyLinkedList<T>, public SerializeIF {
 public:
+
 	SerialLinkedListAdapter(typename LinkedElement<T>::Iterator start,
 			bool printCount = false) :
 			SinglyLinkedList<T>(start), printCount(printCount) {
 	}
+
 	SerialLinkedListAdapter(LinkedElement<T>* first, bool printCount = false) :
 			SinglyLinkedList<T>(first), printCount(printCount) {
 
 	}
+
 	SerialLinkedListAdapter(bool printCount = false) :
 			SinglyLinkedList<T>(), printCount(printCount) {
 	}
@@ -49,13 +69,14 @@ public:
 			uint8_t** buffer, size_t* size, size_t maxSize,
 			Endianness streamEndianness) {
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-		while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
+		while ((result == HasReturnvaluesIF::RETURN_OK) and (element != nullptr)) {
 			result = element->value->serialize(buffer, size, maxSize,
 					streamEndianness);
 			element = element->getNext();
 		}
 		return result;
 	}
+
 	virtual size_t getSerializedSize() const override {
 		if (printCount) {
 			return SerialLinkedListAdapter<T>::getSerializedSize()
@@ -64,32 +85,44 @@ public:
 			return getSerializedSize(SinglyLinkedList<T>::start);
 		}
 	}
+
 	static size_t getSerializedSize(const LinkedElement<T> *element) {
 		size_t size = 0;
-		while (element != NULL) {
+		while (element != nullptr) {
 			size += element->value->getSerializedSize();
 			element = element->getNext();
 		}
 		return size;
 	}
 
+
 	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness) override {
-		return deSerialize(SinglyLinkedList<T>::start, buffer, size, streamEndianness);
+		return deSerialize(SinglyLinkedList<T>::start, buffer, size,
+				streamEndianness);
 	}
 
 	static ReturnValue_t deSerialize(LinkedElement<T>* element,
 			const uint8_t** buffer, size_t* size, Endianness streamEndianness) {
 		ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-		while ((result == HasReturnvaluesIF::RETURN_OK) && (element != NULL)) {
+		while ((result == HasReturnvaluesIF::RETURN_OK) and (element != nullptr)) {
 			result = element->value->deSerialize(buffer, size, streamEndianness);
 			element = element->getNext();
 		}
 		return result;
 	}
 
-	bool printCount;
+	/**
+	 * Copying is forbidden by deleting the copy constructor and the copy
+	 * assignment operator because of the pointers to the linked list members.
+	 * Unless the child class implements an own copy constructor or
+	 * copy assignment operator, these operation will throw a compiler error.
+	 * @param
+	 */
+	SerialLinkedListAdapter(const SerialLinkedListAdapter &) = delete;
+	SerialLinkedListAdapter& operator=(const SerialLinkedListAdapter&) = delete;
 
+	bool printCount;
 };
 
-#endif /* SERIALLINKEDLISTADAPTER_H_ */
+#endif /* FSFW_SERIALIZE_SERIALLINKEDLISTADAPTER_H_ */

serialize/SerializeAdapter.h

@@ -8,16 +8,25 @@
 #include <type_traits>
 
  /**
- * \ingroup serialize
+ * @brief These adapters provides an interface to use the SerializeIF functions
+ * 		  with arbitrary template objects to facilitate and simplify the
+ * 		  serialization of classes with different multiple different data types
+ * 		  into buffers and vice-versa.
+ * @details
+ * The correct serialization or deserialization function is chosen at
+ * compile time with template type deduction.
+ *
+ * @ingroup serialize
  */
-
 class SerializeAdapter {
 public:
 	/***
-	 * This function can be used to serialize a trivial copy-able type or a child of SerializeIF.
+	 * This function can be used to serialize a trivial copy-able type or a
+	 * child of SerializeIF.
 	 * The right template to be called is determined in the function itself.
-	 * For objects of non trivial copy-able type this function is almost never called by the user directly.
+	 * For objects of non trivial copy-able type this function is almost never
-	 * Instead helpers for specific types like SerialArrayListAdapter or SerialLinkedListAdapter is the right choice here.
+	 * called by the user directly. Instead helpers for specific types like
+	 * SerialArrayListAdapter or SerialLinkedListAdapter is the right choice here.
 	 *
 	 * @param[in] object Object to serialize, the used type is deduced from this pointer
 	 * @param[in/out] buffer Buffer to serialize into. Will be moved by the function.
@@ -86,7 +95,8 @@ private:
 	template<typename T>
 	class InternalSerializeAdapter<T, false> {
 		static_assert (std::is_trivially_copyable<T>::value,
-				"If a type needs to be serialized it must be a child of SerializeIF or trivially copy-able");
+				"If a type needs to be serialized it must be a child of "
+				"SerializeIF or trivially copy-able");
 	public:
 		static ReturnValue_t serialize(const T *object, uint8_t **buffer,
 				size_t *size, size_t max_size,
@@ -95,7 +105,8 @@ private:
 			if (size == nullptr) {
 				size = &ignoredSize;
 			}
-			//Check remaining size is large enough and check integer overflow of *size
+			// Check remaining size is large enough and check integer
+			// overflow of *size
 			size_t newSize = sizeof(T) + *size;
 			if ((newSize <= max_size) and (newSize > *size)) {
 				T tmp;
@@ -111,7 +122,7 @@ private:
 					tmp = *object;
 					break;
 				}
-				memcpy(*buffer, &tmp, sizeof(T));
+				std::memcpy(*buffer, &tmp, sizeof(T));
 				*size += sizeof(T);
 				(*buffer) += sizeof(T);
 				return HasReturnvaluesIF::RETURN_OK;
@@ -125,7 +136,7 @@ private:
 			T tmp;
 			if (*size >= sizeof(T)) {
 				*size -= sizeof(T);
-				memcpy(&tmp, *buffer, sizeof(T));
+				std::memcpy(&tmp, *buffer, sizeof(T));
 				switch (streamEndianness) {
 				case SerializeIF::Endianness::BIG:
 					*object = EndianConverter::convertBigEndian<T>(tmp);

serialize/SerializeElement.h

@@ -1,12 +1,20 @@
-#ifndef SERIALIZEELEMENT_H_
+#ifndef FSFW_SERIALIZE_SERIALIZEELEMENT_H_
-#define SERIALIZEELEMENT_H_
+#define FSFW_SERIALIZE_SERIALIZEELEMENT_H_
 
-#include "../container/SinglyLinkedList.h"
 #include "SerializeAdapter.h"
+#include "../container/SinglyLinkedList.h"
 #include <utility>
 
 /**
- * \ingroup serialize
+ * @brief This class is used to mark datatypes for serialization with the
+ *        SerialLinkedListAdapter
+ * @details
+ * Used by declaring any arbitrary datatype with SerializeElement<T> myVariable,
+ * inside a SerialLinkedListAdapter implementation and setting the sequence
+ * of objects with setNext() and setStart().
+ * Serialization and Deserialization is then performed automatically in
+ * specified sequence order.
+ * @ingroup serialize
  */
 template<typename T>
 class SerializeElement: public SerializeIF, public LinkedElement<SerializeIF> {
@@ -19,7 +27,7 @@ public:
 	SerializeElement() :
 			LinkedElement<SerializeIF>(this) {
 	}
-	T entry;
+
 	ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
 			Endianness streamEndianness) const override {
 		return SerializeAdapter::serialize(&entry, buffer, size, maxSize,
@@ -35,6 +43,7 @@ public:
 		return SerializeAdapter::deSerialize(&entry, buffer, size,
 				streamEndianness);
 	}
+
 	operator T() {
 		return entry;
 	}
@@ -43,9 +52,12 @@ public:
 		entry = newValue;
 		return *this;
 	}
+
 	T* operator->() {
 		return &entry;
 	}
+
+	T entry;
 };
 
-#endif /* SERIALIZEELEMENT_H_ */
+#endif /* FSFW_SERIALIZE_SERIALIZEELEMENT_H_ */

serialize/SerializeIF.h

@@ -2,7 +2,7 @@
 #define FSFW_SERIALIZE_SERIALIZEIF_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stddef.h>
+#include <cstddef>
 
 /**
  * @defgroup serialize Serialization
@@ -10,7 +10,10 @@
  */
 
 /**
- * Translation of objects into data streams and from data streams.
+ * @brief 	Translation of objects into data streams and from data streams.
+ * @details
+ * Also provides options to convert from/to data with different endianness.
+ * variables.
  * @ingroup serialize
  */
 class SerializeIF {

timemanager/CCSDSTime.cpp

@@ -1,7 +1,8 @@
-#include "CCSDSTime.h"
+#include "../timemanager/CCSDSTime.h"
-#include <stdio.h>
+#include <cstdio>
-#include <inttypes.h>
+#include <cinttypes>
-#include <math.h>
+#include <cmath>
+
 
 CCSDSTime::CCSDSTime() {
 }

timemanager/CCSDSTime.h

@@ -5,7 +5,7 @@
 
 #include "Clock.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stdint.h>
+#include <cstdint>
 
 bool operator<(const timeval& lhs, const timeval& rhs);
 bool operator<=(const timeval& lhs, const timeval& rhs);

timemanager/Clock.h

@@ -9,8 +9,7 @@
 #include <sys/time.h>
 
 //! Don't use these for time points, type is not large enough for UNIX epoch.
-typedef uint32_t dur_millis_t;
+using dur_millis_t = uint32_t;
-typedef double dur_seconds_t;
 
 class Clock {
 public:

timemanager/Stopwatch.cpp

@@ -6,19 +6,22 @@ Stopwatch::Stopwatch(bool displayOnDestruction,
         StopwatchDisplayMode displayMode): displayOnDestruction(
         displayOnDestruction), displayMode(displayMode) {
     // Measures start time on initialization.
-    Clock::getClock_timeval(&startTime);
+    Clock::getUptime(&startTime);
 }
 
 void Stopwatch::start() {
-    Clock::getClock_timeval(&startTime);
+    Clock::getUptime(&startTime);
 }
 
-dur_millis_t Stopwatch::stop() {
+dur_millis_t Stopwatch::stop(bool display) {
     stopInternal();
+    if(display) {
+        this->display();
+    }
     return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
 }
 
-dur_seconds_t Stopwatch::stopSeconds() {
+double Stopwatch::stopSeconds() {
     stopInternal();
     return timevalOperations::toDouble(elapsedTime);
 }
@@ -52,6 +55,6 @@ StopwatchDisplayMode Stopwatch::getDisplayMode() const {
 
 void Stopwatch::stopInternal() {
 	timeval endTime;
-	Clock::getClock_timeval(&endTime);
+	Clock::getUptime(&endTime);
     elapsedTime = endTime - startTime;
 }

timemanager/Stopwatch.h

@@ -1,5 +1,6 @@
-#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#ifndef FSFW_TIMEMANAGER_STOPWATCH_H_
-#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#define FSFW_TIMEMANAGER_STOPWATCH_H_
+
 #include "Clock.h"
 
 enum class StopwatchDisplayMode {
@@ -40,12 +41,12 @@ public:
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in milliseconds (rounded)
      */
-    dur_millis_t stop();
+    dur_millis_t stop(bool display = false);
     /**
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in seconds (double precision)
      */
-    dur_seconds_t stopSeconds();
+    double stopSeconds();
 
     /**
      * Displays the elapsed times on the osstream, depending on internal display
@@ -66,6 +67,4 @@ private:
 };
 
 
-
+#endif /* FSFW_TIMEMANAGER_STOPWATCH_H_ */
-
-#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */

timemanager/TimeStamper.cpp

@@ -0,0 +1,23 @@
+#include "TimeStamper.h"
+#include "Clock.h"
+#include <cstring>
+
+TimeStamper::TimeStamper(object_id_t objectId): SystemObject(objectId) {}
+
+
+ReturnValue_t TimeStamper::addTimeStamp(uint8_t* buffer,
+		const uint8_t maxSize) {
+	if(maxSize < TimeStamperIF::MISSION_TIMESTAMP_SIZE){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	timeval now;
+	Clock::getClock_timeval(&now);
+	CCSDSTime::CDS_short cds;
+	ReturnValue_t result = CCSDSTime::convertToCcsds(&cds,&now);
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		return result;
+	}
+	std::memcpy(buffer,&cds,sizeof(cds));
+	return result;
+}

timemanager/TimeStamper.h

@@ -0,0 +1,36 @@
+#ifndef FSFW_TIMEMANAGER_TIMESTAMPER_H_
+#define FSFW_TIMEMANAGER_TIMESTAMPER_H_
+
+#include "TimeStamperIF.h"
+#include "CCSDSTime.h"
+#include "../objectmanager/SystemObject.h"
+
+/**
+ * @brief   Time stamper which can be used to add any timestamp to a
+ *          given buffer.
+ * @details
+ * This time stamper uses the CCSDS CDC short timestamp as a fault timestamp.
+ * This timestamp has a size of 8 bytes. A custom timestamp can be used by
+ * overriding the #addTimeStamp function.
+ * @ingroup utility
+ */
+class TimeStamper: public TimeStamperIF, public SystemObject {
+public:
+    /**
+     * @brief   Default constructor which also registers the time stamper as a
+     *          system object so it can be found with the #objectManager.
+     * @param objectId
+     */
+	TimeStamper(object_id_t objectId);
+
+	/**
+	 * Adds a CCSDS CDC short 8 byte timestamp to the given buffer.
+	 * This function can be overriden to use a custom timestamp.
+	 * @param buffer
+	 * @param maxSize
+	 * @return
+	 */
+	virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize);
+};
+
+#endif /* FSFW_TIMEMANAGER_TIMESTAMPER_H_ */

tmtcservices/CommandingServiceBase.cpp

@@ -384,7 +384,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 }
 
 
-void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
+void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) {
 	store_address_t address;
 	if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
 		commandMap.erase(&iter);

tmtcservices/CommandingServiceBase.h

@@ -39,7 +39,11 @@ class CommandingServiceBase: public SystemObject,
 		public HasReturnvaluesIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
+	// We could make this configurable via preprocessor and the FSFWConfig file.
+	static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH = 3;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
+
 	static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t NO_STEP_MESSAGE = MAKE_RETURN_CODE(2);
 	static const ReturnValue_t OBJECT_BUSY = MAKE_RETURN_CODE(3);
@@ -223,7 +227,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		FIFO<store_address_t, 3> fifo;
+		FIFO<store_address_t, COMMAND_INFO_FIFO_DEPTH> fifo;
 
 		virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
 					size_t maxSize, Endianness streamEndianness) const override{
@@ -312,7 +316,7 @@ protected:
 	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = nullptr);
 
-	void checkAndExecuteFifo(CommandMapIter iter);
+	void checkAndExecuteFifo(CommandMapIter& iter);
 
 private:
 	/**