added hosted OSAL

framework.mk

@@ -34,8 +34,10 @@ else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
 else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+else ifeq ($(OS_FSFW),host)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS)
+$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)

osal/host/Clock.cpp

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

@@ -0,0 +1,144 @@
+#include <framework/osal/host/MessageQueue.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/osal/host/QueueMapManager.h>
+#include <framework/ipc/MutexFactory.h>
+#include <framework/ipc/MutexHelper.h>
+
+MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
+		messageSize(maxMessageSize), messageDepth(messageDepth) {
+	queueLock = MutexFactory::instance()->createMutex();
+	auto result = QueueMapManager::instance()->addMessageQueue(this, &mqId);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "MessageQueue: Could not be created" << std::endl;
+	}
+}
+
+MessageQueue::~MessageQueue() {
+	MutexFactory::instance()->deleteMutex(queueLock);
+}
+
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
+		MessageQueueMessage* message, bool ignoreFault) {
+	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+	return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessage* 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,
+		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+	return sendMessageFromMessageQueue(sendTo, message, sentFrom,
+			ignoreFault);
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+		MessageQueueId_t* receivedFrom) {
+	ReturnValue_t status = this->receiveMessage(message);
+	if(status == HasReturnvaluesIF::RETURN_OK) {
+		*receivedFrom = this->lastPartner;
+	}
+	return status;
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+	if(messageQueue.empty()) {
+		return MessageQueueIF::EMPTY;
+	}
+	// not sure this will work..
+	//*message = std::move(messageQueue.front());
+	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,
+        MessageQueueMessage *message, MessageQueueId_t sentFrom,
+        bool ignoreFault) {
+	if(message->messageSize > MessageQueueMessage::MAX_DATA_SIZE) {
+		// Actually, this should never happen or an error will be emitted
+		// in MessageQueueMessage.
+		// But I will still return a failure here.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	MessageQueue* targetQueue = dynamic_cast<MessageQueue*>(
+			QueueMapManager::instance()->getMessageQueue(sendTo));
+	if(targetQueue == nullptr) {
+		if(not ignoreFault) {
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
+							objects::INTERNAL_ERROR_REPORTER);
+			if (internalErrorReporter != nullptr) {
+				internalErrorReporter->queueMessageNotSent();
+			}
+		}
+		// TODO: Better returnvalue
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(targetQueue->messageQueue.size() < targetQueue->messageDepth) {
+		MutexHelper mutexLock(targetQueue->queueLock, 20);
+		targetQueue->messageQueue.push(*message);
+	}
+	else {
+		return MessageQueueIF::FULL;
+	}
+    message->setSender(sentFrom);
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MessageQueue::lockQueue(millis_t lockTimeout) {
+	return queueLock->lockMutex(lockTimeout);
+}
+
+ReturnValue_t MessageQueue::unlockQueue() {
+	return queueLock->unlockMutex();
+}

osal/host/MessageQueue.h

@@ -0,0 +1,230 @@
+#ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+#define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_
+
+#include <framework/internalError/InternalErrorReporterIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+#include <framework/ipc/MessageQueueMessage.h>
+#include <framework/ipc/MutexIF.h>
+#include <framework/timemanager/Clock.h>
+
+#include <queue>
+#include <memory>
+
+/**
+ * @brief		This class manages sending and receiving of
+ * 				message queue messages.
+ * @details
+ * Message queues are used to pass asynchronous messages between processes.
+ * They work like post boxes, where all incoming messages are stored in FIFO
+ * order. This class creates a new receiving queue and provides methods to fetch
+ * received messages. Being a child of MessageQueueSender, this class also
+ * provides methods to send a message to a user-defined or a default destination.
+ * In addition it also provides a reply method to answer to the queue it
+ * received its last message from.
+ *
+ * The MessageQueue should be used as "post box" for a single owning object.
+ * So all message queue communication is "n-to-one".
+ * For creating the queue, as well as sending and receiving messages, the class
+ * makes use of the operating system calls provided.
+ *
+ * Please keep in mind that FreeRTOS offers different calls for message queue
+ * operations if called from an ISR.
+ * For now, the system context needs to be switched manually.
+ * @ingroup osal
+ * @ingroup message_queue
+ */
+class MessageQueue : public MessageQueueIF {
+	friend class MessageQueueSenderIF;
+public:
+	/**
+	 * @brief	The constructor initializes and configures the message queue.
+	 * @details
+	 * By making use of the according operating system call, a message queue is
+	 * created and initialized. The message depth - the maximum number of
+	 * messages to be buffered - may be set with the help of a parameter,
+	 * whereas the message size is automatically set to the maximum message
+	 * queue message size. The operating system sets the message queue id, or
+	 * in case of failure, it is set to zero.
+	 * @param message_depth
+	 * The number of messages to be buffered before passing an error to the
+	 * sender. Default is three.
+	 * @param max_message_size
+	 * With this parameter, the maximum message size can be adjusted.
+	 * This should be left default.
+	 */
+	MessageQueue(size_t messageDepth = 3,
+			size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE);
+
+	/** Copying message queues forbidden */
+	MessageQueue(const MessageQueue&) = delete;
+	MessageQueue& operator=(const MessageQueue&) = delete;
+
+	/**
+	 * @brief	The destructor deletes the formerly created message queue.
+	 * @details	This is accomplished by using the delete call provided
+	 * 			by the operating system.
+	 */
+	virtual ~MessageQueue();
+
+	/**
+	 * @brief	This operation sends a message to the given destination.
+	 * @details	It directly uses the sendMessage call of the MessageQueueSender
+	 * parent, but passes its queue id as "sentFrom" parameter.
+	 * @param sendTo	This parameter specifies the message queue id of the
+	 *  destination message queue.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 * @param ignoreFault If set to true, the internal software fault counter
+	 * is not incremented if queue is full.
+	 */
+	ReturnValue_t sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessage* 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(MessageQueueMessage* 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(MessageQueueMessage* 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,
+			MessageQueueMessage* 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( MessageQueueMessage* 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(MessageQueueMessage* 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(MessageQueueMessage* 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(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,
+			MessageQueueMessage* 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 +1,40 @@
+#include <framework/osal/host/Mutex.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+const uint32_t MutexIF::NO_TIMEOUT = 0;
+const uint32_t MutexIF::MAX_TIMEOUT = 0xffffffff;
+
+ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::MAX_TIMEOUT) {
+		mutex.lock();
+		locked = true;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else if(timeoutMs == MutexIF::NO_TIMEOUT) {
+		if(mutex.try_lock()) {
+			locked = true;
+			return HasReturnvaluesIF::RETURN_OK;
+		}
+	}
+	else if(timeoutMs > MutexIF::NO_TIMEOUT){
+		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 +1,28 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+#define FRAMEWORK_OSAL_FREERTOS_MUTEX_H_
+
+#include <framework/ipc/MutexIF.h>
+
+#include <mutex>
+
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
+class Mutex : public MutexIF {
+public:
+	Mutex() = default;
+	ReturnValue_t lockMutex(uint32_t timeoutMs = MutexIF::MAX_TIMEOUT) override;
+	ReturnValue_t unlockMutex() override;
+
+	std::timed_mutex* getMutexHandle();
+private:
+	bool locked = false;
+	std::timed_mutex mutex;
+};
+
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */

osal/host/MutexFactory.cpp

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

osal/host/PeriodicTask.cpp

@@ -0,0 +1,176 @@
+#include <framework/ipc/MutexFactory.h>
+#include <framework/osal/host/Mutex.h>
+#include <framework/osal/host/PeriodicTask.h>
+
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+
+#include <thread>
+#include <chrono>
+
+#if defined(WIN32)
+#include <windows.h>
+#elif defined(LINUX)
+#include <pthread.h>
+#endif
+
+PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
+		TaskStackSize setStack, TaskPeriod setPeriod,
+		void (*setDeadlineMissedFunc)()) :
+		started(false), taskName(name), period(setPeriod),
+		deadlineMissedFunc(setDeadlineMissedFunc) {
+    // It is propably possible to set task priorities by using the native
+    // task handles for Windows / Linux
+	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
+#if defined(WIN32)
+    /* List of possible priority classes:
+     * https://docs.microsoft.com/en-us/windows/win32/api/processthreadsapi/
+     * nf-processthreadsapi-setpriorityclass
+     * And respective thread priority numbers:
+     * https://docs.microsoft.com/en-us/windows/
+     * win32/procthread/scheduling-priorities */
+    int result = SetPriorityClass(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            ABOVE_NORMAL_PRIORITY_CLASS);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+    result = SetThreadPriority(
+            reinterpret_cast<HANDLE>(mainThread.native_handle()),
+            THREAD_PRIORITY_NORMAL);
+    if(result != 0) {
+        sif::error << "PeriodicTask: Windows SetPriorityClass failed with code "
+                << GetLastError() << std::endl;
+    }
+#elif defined(LINUX)
+    // we can just copy and paste the code from linux here.
+#endif
+}
+
+PeriodicTask::~PeriodicTask(void) {
+	//Do not delete objects, we were responsible for ptrs only.
+	terminateThread = true;
+	if(mainThread.joinable()) {
+		mainThread.join();
+	}
+	delete this;
+}
+
+void PeriodicTask::taskEntryPoint(void* argument) {
+	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
+
+
+	if (not originalTask->started) {
+		// we have to suspend/block here until the task is started.
+		// if semaphores are implemented, use them here.
+		std::unique_lock<std::mutex> lock(initMutex);
+		initCondition.wait(lock);
+	}
+
+	this->taskFunctionality();
+	sif::debug << "PeriodicTask::taskEntryPoint: "
+			"Returned from taskFunctionality." << std::endl;
+}
+
+ReturnValue_t PeriodicTask::startTask() {
+	started = true;
+
+	// Notify task to start.
+	std::lock_guard<std::mutex> lock(initMutex);
+	initCondition.notify_one();
+
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
+	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PeriodicTask::taskFunctionality() {
+	std::chrono::milliseconds periodChrono(static_cast<uint32_t>(period*1000));
+	auto currentStartTime {
+	    std::chrono::duration_cast<std::chrono::milliseconds>(
+	    std::chrono::system_clock::now().time_since_epoch())
+	};
+	auto nextStartTime{ currentStartTime };
+
+	/* Enter the loop that defines the task behavior. */
+	for (;;) {
+		if(terminateThread.load()) {
+			break;
+		}
+		for (ObjectList::iterator it = objectList.begin();
+				it != objectList.end(); ++it) {
+			(*it)->performOperation();
+		}
+		if(not delayUntil(&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::delayUntil(std::chrono::milliseconds * previousWakeTimeMs,
+        const std::chrono::milliseconds 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 +1,122 @@
+#ifndef FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+#define FRAMEWORK_OSAL_HOST_PERIODICTASK_H_
+
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/tasks/PeriodicTaskIF.h>
+#include <framework/tasks/Typedef.h>
+
+#include <vector>
+#include <thread>
+#include <condition_variable>
+#include <atomic>
+
+class ExecutableObjectIF;
+
+/**
+ * @brief 	This class represents a specialized task for
+ * 			periodic activities of multiple objects.
+ * @details
+ *
+ * @ingroup task_handling
+ */
+class PeriodicTask: public PeriodicTaskIF {
+public:
+	/**
+	 * @brief	Standard constructor of the class.
+	 * @details
+	 * The class is initialized without allocated objects. These need to be
+	 * added with #addComponent.
+	 * @param priority
+	 * @param stack_size
+	 * @param setPeriod
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall be
+	 * assigned.
+	 */
+	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
+			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
+	/**
+	 * @brief	Currently, the executed object's lifetime is not coupled with
+	 * 			the task object's lifetime, so the destructor is empty.
+	 */
+	virtual ~PeriodicTask(void);
+
+	/**
+	 * @brief	The method to start the task.
+	 * @details	The method starts the task with the respective system call.
+	 * 			Entry point is the taskEntryPoint method described below.
+	 * 			The address of the task object is passed as an argument
+	 * 			to the system call.
+	 */
+	ReturnValue_t startTask(void);
+	/**
+	 * Adds an object to the list of objects to be executed.
+	 * The objects are executed in the order added.
+	 * @param object Id of the object to add.
+	 * @return
+	 *  -@c RETURN_OK on success
+	 *  -@c RETURN_FAILED if the object could not be added.
+	 */
+	ReturnValue_t addComponent(object_id_t object);
+
+	uint32_t getPeriodMs() const;
+
+	ReturnValue_t sleepFor(uint32_t ms);
+
+protected:
+	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 delayUntil(std::chrono::milliseconds * previousWakeTimeMs,
+	        const std::chrono::milliseconds interval);
+};
+
+#endif /* PERIODICTASK_H_ */

osal/host/QueueFactory.cpp

@@ -0,0 +1,41 @@
+#include <framework/ipc/QueueFactory.h>
+#include <framework/osal/host/MessageQueue.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <cstring>
+
+QueueFactory* QueueFactory::factoryInstance = nullptr;
+
+
+ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessage* 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(size_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 +1,46 @@
+#include <framework/ipc/MutexFactory.h>
+#include <framework/ipc/MutexHelper.h>
+#include <framework/osal/host/QueueMapManager.h>
+
+QueueMapManager* QueueMapManager::mqManagerInstance = nullptr;
+
+QueueMapManager::QueueMapManager() {}
+
+QueueMapManager* QueueMapManager::instance() {
+	if (mqManagerInstance == nullptr){
+		mqManagerInstance = new QueueMapManager();
+	}
+	return QueueMapManager::mqManagerInstance;
+}
+
+ReturnValue_t QueueMapManager::addMessageQueue(
+		MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
+	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;
+	}
+	mapLock = MutexFactory::instance()->createMutex();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueIF* QueueMapManager::getMessageQueue(
+		MessageQueueId_t messageQueueId) const {
+	MutexHelper(mapLock, 50);
+	auto queueIter = queueMap.find(messageQueueId);
+	if(queueIter != queueMap.end()) {
+		return queueIter->second;
+	}
+	else {
+		sif::warning << "QueueMapManager::getQueueHandle: The ID" <<
+				messageQueueId << " does not exists in the map" << std::endl;
+		return nullptr;
+	}
+}
+

osal/host/QueueMapManager.h

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

osal/host/SemaphoreFactory.cpp

@@ -0,0 +1,40 @@
+#include <framework/tasks/SemaphoreFactory.h>
+#include <framework/osal/linux/BinarySemaphore.h>
+#include <framework/osal/linux/CountingSemaphore.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+const uint32_t SemaphoreIF::NO_TIMEOUT = 0;
+const uint32_t SemaphoreIF::MAX_TIMEOUT = 0xFFFFFFFF;
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	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) {
+	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 +1,55 @@
+#include <framework/osal/host/PeriodicTask.h>
+#include <framework/tasks/TaskFactory.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <framework/tasks/PeriodicTaskIF.h>
+
+#include <chrono>
+
+TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
+
+// Will propably not be used for hosted implementation
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = 0;
+
+TaskFactory::TaskFactory() {
+}
+
+TaskFactory::~TaskFactory() {
+}
+
+TaskFactory* TaskFactory::instance() {
+	return TaskFactory::factoryInstance;
+}
+
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	// This is going to be interesting. Time now learn the C++ threading library
+	// :-)
+	return new PeriodicTask(name_, taskPriority_, stackSize_, periodInSeconds_,
+			deadLineMissedFunction_);
+}
+
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
+		TaskPriority taskPriority_,TaskStackSize stackSize_,
+		TaskPeriod periodInSeconds_,
+		TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	// This is going to be interesting. Time now learn the C++ threading library
+	// :-)
+	sif::warning << "TaskFactory::createFixedTimeslotTask: Not implemented "
+			"yet" << std::endl;
+	return nullptr;
+}
+
+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;
+}
+
+