Merge remote-tracking branch 'upstream/master' into mueller/feature/DHBupdate

framework.mk

@@ -1,5 +1,5 @@
-# This file needs FRAMEWORK_PATH and API set correctly
+# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
-# Valid API settings: rtems, linux, freeRTOS
+# Valid API settings: rtems, linux, freeRTOS, host
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
@@ -12,7 +12,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
-CXXSRC += $(wildcard $(FRAMEWORK_PATH)/framework.mk/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
@@ -26,14 +25,16 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
 
 # select the OS
-ifeq ($(OS),rtems)
+ifeq ($(OS_FSFW),rtems)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
-else ifeq ($(OS),linux)
+else ifeq ($(OS_FSFW),linux)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
-else ifeq ($(OS),freeRTOS)
+else ifeq ($(OS_FSFW),freeRTOS)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
+else ifeq ($(OS_FSFW),host)
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
 else
-$(error invalid OS specified, valid OS are rtems, linux, freeRTOS)
+$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
 endif
 
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)

ipc/CommandMessage.cpp

@@ -120,3 +120,12 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
 	setParameter(reason);
 	setParameter2(initialCommand);
 }
+
+ReturnValue_t CommandMessage::getReplyRejectedReason(
+        Command_t *initialCommand) const {
+    ReturnValue_t reason = getParameter();
+    if(initialCommand != nullptr) {
+        *initialCommand = getParameter2();
+    }
+    return reason;
+}

ipc/CommandMessage.h

@@ -124,6 +124,9 @@ public:
 	 */
 	void setToUnknownCommand();
 	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
+	ReturnValue_t getReplyRejectedReason(
+	        Command_t *initialCommand = nullptr) const;
+
 	size_t getMinimumMessageSize() const;
 };
 

objectmanager/ObjectManagerIF.h

@@ -21,7 +21,8 @@ public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
 	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
 	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
+
+	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
 protected:

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -125,19 +125,18 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
      * it. */
     TickType_t currentTickCount = xTaskGetTickCount();
     TickType_t timeToWake = xLastWakeTime + interval;
-    // Tick count has overflown
+    // Time to wake has not overflown.
-    if(currentTickCount < xLastWakeTime) {
+    if(timeToWake > xLastWakeTime) {
-        // Time to wake has overflown as well. If the tick count
+        /* If the current time has overflown exclusively or the current
-        // is larger than the time to wake, a deadline was missed.
+         * tick count is simply larger than the time to wake, a deadline was
-        if(timeToWake < xLastWakeTime and
+         * missed */
-                currentTickCount > timeToWake) {
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
             handleMissedDeadline();
         }
     }
-    // No tick count overflow. If the timeToWake has not overflown
+    /* Time to wake has overflown. A deadline was missed if the current time
-    // and the current tick count is larger than the time to wake,
+     * is larger than the time to wake */
-    // a deadline was missed.
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
         handleMissedDeadline();
     }
 }

osal/FreeRTOS/PeriodicTask.cpp

@@ -1,17 +1,19 @@
+#include "PeriodicTask.h"
+
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include "PeriodicTask.h"
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
-				setDeadlineMissedFunc) {
+		setDeadlineMissedFunc)
-
+{
-	BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
+	BaseType_t status = xTaskCreate(taskEntryPoint, name,
+			setStack, this, setPriority, &handle);
 	if(status != pdPASS){
-		sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
+		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
-		           << status << std::endl;
+		        "Status: " << status << std::endl;
 	}
 
 }
@@ -21,16 +23,19 @@ PeriodicTask::~PeriodicTask(void) {
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
-	//The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as PeriodicTask. The Task object is
+    // global, so it is found from any place.
 	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
-	// Task should not start until explicitly requested
+	/* Task should not start until explicitly requested,
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
-	// but not if the scheduler is not running.
+	 * is running but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
+	 * To be able to accommodate both cases we check a member which is set in
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
+	 * #startTask(). If it is not set and we get here, the scheduler was started
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -59,31 +64,72 @@ void PeriodicTask::taskFunctionality() {
 	TickType_t xLastWakeTime;
 	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
+	 count. Note that this is the only time the variable is written to
-	 After this assignment, xLastWakeTime is updated automatically internally within
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
-	 vTaskDelayUntil(). */
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
-		for (ObjectList::iterator it = objectList.begin();
+		for (auto const& object: objectList) {
-				it != objectList.end(); ++it) {
+			object->performOperation();
-			(*it)->performOperation();
 		}
-		//TODO deadline missed check
+
+		checkMissedDeadline(xLastWakeTime, xPeriod);
+
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
+
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
+	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
+	            "it implements ExecutableObjectIF!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+
+	if(setTaskIF) {
+	     newObject->setTaskIF(this);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t PeriodicTask::getPeriodMs() const {
 	return period * 1000;
 }
+
+void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Time to wake has not overflown.
+    if(timeToWake > xLastWakeTime) {
+        /* If the current time has overflown exclusively or the current
+         * tick count is simply larger than the time to wake, a deadline was
+         * missed */
+        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
+            handleMissedDeadline();
+        }
+    }
+    /* Time to wake has overflown. A deadline was missed if the current time
+     * is larger than the time to wake */
+    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
+        handleMissedDeadline();
+    }
+}
+
+void PeriodicTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}

osal/FreeRTOS/PeriodicTask.h

@@ -1,48 +1,49 @@
-#ifndef MULTIOBJECTTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
-#define MULTIOBJECTTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
+#include <freertos/FreeRTOS.h>
-#include "task.h"
+#include <freertos/task.h>
 
 #include <vector>
 
 class ExecutableObjectIF;
 
 /**
- * @brief This class represents a specialized task for periodic activities of multiple objects.
+ * @brief 	This class represents a specialized task for
- *
+ * 			periodic activities of multiple objects.
- * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
- * 			multiple objects that implement the ExecutableObjectIF interface. The objects must be
- * 			added prior to starting the task.
- *
  * @ingroup task_handling
  */
 class PeriodicTask: public PeriodicTaskIF {
 public:
 	/**
-	 * @brief	Standard constructor of the class.
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
-	 * @details	The class is initialized without allocated objects. These need to be added
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * 			with #addObject.
+	 * TODO: why does this need to be called before vTaskStartScheduler?
-	 * 			In the underlying TaskBase class, a new operating system task is created.
+	 * @details
-	 * 			In addition to the TaskBase parameters, the period, the pointer to the
+	 * The class is initialized without allocated objects.
-	 * 			aforementioned initialization function and an optional "deadline-missed"
+	 * These need to be added with #addComponent.
-	 * 			function pointer is passed.
+	 * @param priority
-	 * @param priority		Sets the priority of a task. Values range from a low 0 to a high 99.
+	 * Sets the priority of a task. Values depend on freeRTOS configuration,
-	 * @param stack_size	The stack size reserved by the operating system for the task.
+	 * high number means high priority.
-	 * @param setPeriod 	The length of the period with which the task's functionality will be
+	 * @param stack_size
-	 * 						executed. It is expressed in clock ticks.
+	 * The stack size reserved by the operating system for the task.
-	 * @param setDeadlineMissedFunc	The function pointer to the deadline missed function
+	 * @param setPeriod
-	 * 								that shall be assigned.
+	 * The length of the period with which the task's
+	 * functionality will be executed. It is expressed in clock ticks.
+	 * @param setDeadlineMissedFunc
+	 * The function pointer to the deadline missed function that shall
+	 * be assigned.
 	 */
-	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod,
+	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
+	 * @brief	Currently, the executed object's lifetime is not coupled with
-	 * 			lifetime, so the destructor is empty.
+	 * 			the task object's lifetime, so the destructor is empty.
 	 */
 	virtual ~PeriodicTask(void);
 
@@ -53,58 +54,72 @@ 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.
 	 * @param object Id of the object to add.
-	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
+	 * @return
+	 * -@c RETURN_OK on success
+	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	bool started;
 	TaskHandle_t handle;
 
-	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
+	//! Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
 	/**
 	 * @brief	This attribute holds a list of objects to be executed.
 	 */
 	ObjectList objectList;
 	/**
 	 * @brief	The period of the task.
-	 * @details	The period determines the frequency of the task's execution. It is expressed in clock ticks.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
 	 */
 	TaskPeriod period;
 	/**
 	 * @brief	The pointer to the deadline-missed function.
-	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
+	 * @details
-	 * 			So, each may react individually on a timing failure. The pointer may be NULL,
+	 * This pointer stores the function that is executed if the task's deadline
-	 * 			then nothing happens on missing the deadline. The deadline is equal to the next execution
+	 * is missed so each may react individually on a timing failure.
-	 * 			of the periodic task.
+	 * 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
+	 * @details
-	 * 			to the task context. The taskFunctionality method is called afterwards.
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context. The taskFunctionality method is
+	 * called afterwards.
 	 * @param	A pointer to the task object itself is passed as argument.
 	 */
 
 	static void taskEntryPoint(void* argument);
 	/**
 	 * @brief	The function containing the actual functionality of the task.
-	 * @details	The method sets and starts
+	 * @details
-	 * 			the task's period, then enters a loop that is repeated as long as the isRunning
+	 * The method sets and starts the task's period, then enters a loop that is
-	 * 			attribute is true. Within the loop, all performOperation methods of the added
+	 * repeated as long as the isRunning attribute is true. Within the loop,
-	 * 			objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
+	 * all performOperation methods of the added objects are called.
-	 * 			until the next period.
+	 * Afterwards the checkAndRestartPeriod system call blocks the task until
+	 * the next period.
 	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
-#endif /* MULTIOBJECTTASK_H_ */
+#endif /* PERIODICTASK_H_ */

osal/linux/PeriodicPosixTask.cpp

@@ -21,13 +21,18 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
+        bool addTaskIF) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
-	if (newObject == NULL) {
+	if (newObject == nullptr) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+
+	if(setTaskIF) {
+	    newObject->setTaskIF(this);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

osal/linux/PeriodicPosixTask.h

@@ -39,11 +39,12 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object,
+	        bool addTaskIF = true) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
 private:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.

serialize/SerialArrayListAdapter.h

@@ -1,18 +1,13 @@
-/**
+#ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
- * @file	SerialArrayListAdapter.h
+#define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
- * @brief	This file defines the SerialArrayListAdapter class.
- * @date	22.07.2014
- * @author	baetz
- */
-#ifndef SERIALARRAYLISTADAPTER_H_
-#define SERIALARRAYLISTADAPTER_H_
 
 #include <framework/container/ArrayList.h>
 #include <framework/serialize/SerializeIF.h>
 #include <utility>
 
 /**
- * \ingroup serialize
+ * @ingroup serialize
+ * @author  baetz
  */
 template<typename T, typename count_t = uint8_t>
 class SerialArrayListAdapter : public SerializeIF {
@@ -25,14 +20,15 @@ public:
 		return serialize(adaptee, buffer, size, maxSize, streamEndianness);
 	}
 
-	static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, size_t* size,
+	static ReturnValue_t serialize(const ArrayList<T, count_t>* list,
-			size_t maxSize, Endianness streamEndianness) {
+	        uint8_t** buffer, size_t* size, size_t maxSize,
+	        Endianness streamEndianness) {
 		ReturnValue_t result = SerializeAdapter::serialize(&list->size,
 				buffer, size, maxSize, streamEndianness);
 		count_t i = 0;
 		while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
-			result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
+			result = SerializeAdapter::serialize(&list->entries[i], buffer,
-					maxSize, streamEndianness);
+			        size, maxSize, streamEndianness);
 			++i;
 		}
 		return result;
@@ -58,11 +54,15 @@ public:
 		return deSerialize(adaptee, buffer, size, streamEndianness);
 	}
 
-	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, size_t* size,
+	static ReturnValue_t deSerialize(ArrayList<T, count_t>* list,
+	        const uint8_t** buffer, size_t* size,
 			Endianness streamEndianness) {
 		count_t tempSize = 0;
 		ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
 				buffer, size, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+		    return result;
+		}
 		if (tempSize > list->maxSize()) {
 			return SerializeIF::TOO_MANY_ELEMENTS;
 		}
@@ -82,4 +82,4 @@ private:
 
 
 
-#endif /* SERIALARRAYLISTADAPTER_H_ */
+#endif /* FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */

serviceinterface/ServiceInterfaceBuffer.cpp

@@ -1,11 +1,58 @@
 #include <framework/timemanager/Clock.h>
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <cstring>
+#include <inttypes.h>
 
 // to be implemented by bsp
-extern "C" void printChar(const char*);
+extern "C" void printChar(const char*, bool errStream);
+
+#ifndef UT699
+
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
+		bool addCrToPreamble, bool buffered , bool errStream, uint16_t port):
+		isActive(true), logMessage(setMessage),
+		addCrToPreamble(addCrToPreamble), buffered(buffered),
+		errStream(errStream) {
+	if(buffered) {
+		// Set pointers if the stream is buffered.
+		setp( buf, buf + BUF_SIZE );
+	}
+	preamble.reserve(MAX_PREAMBLE_SIZE);
+	preamble.resize(MAX_PREAMBLE_SIZE);
+}
+
+void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+	char array[BUF_SIZE];
+	uint32_t length = end - begin;
+	if (length > sizeof(array)) {
+		length = sizeof(array);
+	}
+	memcpy(array, begin, length);
+
+	for(; begin != end; begin++){
+		if(errStream) {
+			printChar(begin, true);
+		}
+		else {
+			printChar(begin, false);
+		}
+	}
+}
+
+#endif
 
 int ServiceInterfaceBuffer::overflow(int c) {
+	if(not buffered and this->isActive) {
+		if (c != Traits::eof()) {
+			if(errStream) {
+				printChar(reinterpret_cast<const char*>(&c), true);
+			}
+			else {
+				printChar(reinterpret_cast<const char*>(&c), false);
+			}
+		}
+		return 0;
+	}
 	// Handle output
 	putChars(pbase(), pptr());
 	if (c != Traits::eof()) {
@@ -20,52 +67,70 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if (this->isActive) {
+	if(not this->isActive and not buffered) {
-		Clock::TimeOfDay_t loggerTime;
+		if(not buffered) {
-		Clock::getDateAndTime(&loggerTime);
+			setp(buf, buf + BUF_SIZE - 1);
-		char preamble[96] = { 0 };
+		}
-		sprintf(preamble, "%s: | %lu:%02lu:%02lu.%03lu | ",
+		return 0;
-				this->log_message.c_str(), (unsigned long) loggerTime.hour,
+	}
-				(unsigned long) loggerTime.minute,
+	if(not buffered) {
-				(unsigned long) loggerTime.second,
+		return 0;
-				(unsigned long) loggerTime.usecond /1000);
+	}
-		// Write log_message and time
+
-		this->putChars(preamble, preamble + sizeof(preamble));
+	size_t preambleSize  = 0;
+	std::string* preamble = getPreamble(&preambleSize);
+	// Write logMessage and time
+	this->putChars(preamble->data(), preamble->data() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
-	}
 	// This tells that buffer is empty again
 	setp(buf, buf + BUF_SIZE - 1);
 	return 0;
 }
 
-#ifndef UT699
+bool ServiceInterfaceBuffer::isBuffered() const {
-
+	return buffered;
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
-	this->log_message = set_message;
-	this->isActive = true;
-	setp( buf, buf + BUF_SIZE );
 }
 
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
-	char array[BUF_SIZE];
+	Clock::TimeOfDay_t loggerTime;
-	uint32_t length = end - begin;
+	Clock::getDateAndTime(&loggerTime);
-	if (length > sizeof(array)) {
+	size_t currentSize = 0;
-		length = sizeof(array);
+	char* parsePosition = &preamble[0];
+	if(addCrToPreamble) {
+		preamble[0] = '\r';
+		currentSize += 1;
+		parsePosition += 1;
 	}
-	memcpy(array, begin, length);
+	int32_t charCount = sprintf(parsePosition,
-
+			"%s: | %02" SCNu32 ":%02" SCNu32 ":%02" SCNu32 ".%03" SCNu32 " | ",
-	for( ; begin != end; begin++){
+					this->logMessage.c_str(), loggerTime.hour,
-		printChar(begin);
+					loggerTime.minute,
+					loggerTime.second,
+					loggerTime.usecond /1000);
+	if(charCount < 0) {
+		printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
+		return &preamble;
+	}
+	if(charCount > MAX_PREAMBLE_SIZE) {
+		printf("ServiceInterfaceBuffer: Char count too large for maximum "
+				"preamble size");
+		return &preamble;
+	}
+	currentSize += charCount;
+	if(preambleSize != nullptr) {
+		*preambleSize = currentSize;
+	}
+	return &preamble;
 }
 
-}
+
-#endif
 
 #ifdef UT699
 #include <framework/osal/rtems/Interrupt.h>
 
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
+		uint16_t port) {
 	this->log_message = set_message;
 	this->isActive = true;
 	setp( buf, buf + BUF_SIZE );

serviceinterface/ServiceInterfaceBuffer.h

@@ -1,51 +1,71 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <iostream>
-#include <iosfwd>
 #include <sstream>
-#include <cstdio>
+#include <iomanip>
 
 #ifndef UT699
-class ServiceInterfaceBuffer: public std::basic_streambuf<char,
+
-		std::char_traits<char> > {
+/**
+ * @brief 	This is the underlying stream buffer which implements the
+ * 			streambuf class and overloads the overflow() and sync() methods
+ * @details
+ * This class is used to modify the output of the stream, for example by adding.
+ * It also calls the char printing function which is implemented in the
+ * board supply package (BSP).
+ */
+class ServiceInterfaceBuffer:
+        public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string set_message, uint16_t port);
+	static constexpr uint8_t MAX_PREAMBLE_SIZE = 40;
+
+	ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
+			bool buffered, bool errStream, uint16_t port);
+
 protected:
 	bool isActive;
-	// This is called when buffer becomes full. If
+	//! This is called when buffer becomes full. If
-	// buffer is not used, then this is called every
+	//! buffer is not used, then this is called every
-	// time when characters are put to stream.
+	//! time when characters are put to stream.
-	virtual int overflow(int c = Traits::eof());
+	int overflow(int c = Traits::eof()) override;
 
-	// This function is called when stream is flushed,
+	//! This function is called when stream is flushed,
-	// for example when std::endl is put to stream.
+	//! for example when std::endl is put to stream.
-	virtual int sync(void);
+	int sync(void) override;
 
+	bool isBuffered() const;
 private:
-	// For additional message information
+	//! For additional message information
-	std::string log_message;
+	std::string logMessage;
+	std::string preamble;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
 
-	// Work in buffer mode. It is also possible to work without buffer.
+	//! This is useful for some terminal programs which do not have
+	//! implicit carriage return with newline characters.
+	bool addCrToPreamble;
+
+	//! Specifies whether the stream operates in buffered or unbuffered mode.
+	bool buffered;
+	//! This specifies to print to stderr and work in unbuffered mode.
+	bool errStream;
+
+	//! Needed for buffered mode.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
 
-	// In this function, the characters are parsed.
+	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
+
+	std::string* getPreamble(size_t * preambleSize = nullptr);
 };
+
 #endif
 
 
-
-
-
-
-
-
-
 #ifdef UT699
 class ServiceInterfaceBuffer: public std::basic_streambuf<char,
 		std::char_traits<char> > {

serviceinterface/ServiceInterfaceStream.cpp

@@ -1,11 +1,32 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
+		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
+		std::ostream(&streambuf),
+		streambuf(setMessage, addCrToPreamble, buffered, errStream, port) {}
+
 void ServiceInterfaceStream::setActive( bool myActive) {
-	this->buf.isActive = myActive;
+	this->streambuf.isActive = myActive;
 }
 
-ServiceInterfaceStream::ServiceInterfaceStream(std::string set_message,
+std::string* ServiceInterfaceStream::getPreamble() {
-		uint16_t port) :
+	return streambuf.getPreamble();
-		std::basic_ostream<char, std::char_traits<char> >(&buf), buf(
+}
-				set_message, port) {
+
+void ServiceInterfaceStream::print(std::string error,
+		bool withPreamble, bool withNewline, bool flush) {
+	if(not streambuf.isBuffered() and withPreamble) {
+		*this << getPreamble() << error;
+	}
+	else {
+		*this << error;
+	}
+
+	if(withNewline) {
+		*this << "\n";
+	}
+	// if mode is non-buffered, no need to flush.
+	if(flush and streambuf.isBuffered()) {
+		this->flush();
+	}
 }

serviceinterface/ServiceInterfaceStream.h

@@ -3,28 +3,56 @@
 
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <iostream>
-#include <iosfwd>
-#include <sstream>
 #include <cstdio>
 
-// Unfortunately, there must be a forward declaration of log_fe
+/**
-// (MUST be defined in main), to let the system know where to write to.
+ * Generic service interface stream which can be used like std::cout or
-namespace sif {
+ * std::cerr but has additional capability. Add preamble and timestamp
-extern std::ostream debug;
+ * to output. Can be run in buffered or unbuffered mode.
-extern std::ostream info;
+ */
-extern std::ostream warning;
+class ServiceInterfaceStream : public std::ostream {
-extern std::ostream error;
-}
-
-
-class ServiceInterfaceStream : public std::basic_ostream< char, std::char_traits< char > > {
-protected:
-    ServiceInterfaceBuffer buf;
 public:
-    ServiceInterfaceStream( std::string set_message, uint16_t port = 1234 );
+	/**
+	 * This constructor is used by specifying the preamble message.
+	 * Optionally, the output can be directed to stderr and a CR character
+	 * can be prepended to the preamble.
+	 * @param setMessage message of preamble.
+	 * @param addCrToPreamble Useful for applications like Puttty.
+	 * @param buffered specify whether to use buffered mode.
+	 * @param errStream specify which output stream to use (stderr or stdout).
+	 */
+	ServiceInterfaceStream(std::string setMessage,
+			bool addCrToPreamble = false, bool buffered = true,
+			bool errStream = false, uint16_t port = 1234);
+
+	//! An inactive stream will not print anything.
 	void setActive( bool );
+
+	/**
+	 * This can be used to retrieve the preamble in case it should be printed in
+	 * the unbuffered mode.
+	 * @return Preamle consisting of log message and timestamp.
+	 */
+	std::string* getPreamble();
+
+	/**
+	 * This prints an error with a preamble. Useful if using the unbuffered
+	 * mode. Flushes in default mode (prints immediately).
+	 */
+	void print(std::string error, bool withPreamble = true,
+			bool withNewline = true, bool flush = true);
+
+protected:
+	ServiceInterfaceBuffer streambuf;
 };
 
-
+// Forward declaration of interface streams. These should be instantiated in
+// main. They can then be used like std::cout or std::cerr.
+namespace sif {
+extern ServiceInterfaceStream debug;
+extern ServiceInterfaceStream info;
+extern ServiceInterfaceStream warning;
+extern ServiceInterfaceStream error;
+}
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

tasks/PeriodicTaskIF.h

@@ -1,9 +1,11 @@
-#ifndef PERIODICTASKIF_H_
+#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
-#define PERIODICTASKIF_H_
+#define FRAMEWORK_TASK_PERIODICTASKIF_H_
 
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/timemanager/Clock.h>
 #include <cstddef>
 class ExecutableObjectIF;
+
 /**
  * New version of TaskIF
  * Follows RAII principles, i.e. there's no create or delete method.
@@ -17,11 +19,27 @@ public:
 	 */
 	virtual ~PeriodicTaskIF() { }
 	/**
-	 * @brief	With the startTask method, a created task can be started for the first time.
+	 * @brief	With the startTask method, a created task can be started
+	 *          for the first time.
 	 */
 	virtual ReturnValue_t startTask() = 0;
 
-	virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
+	/**
+	 * Add a component (object) to a periodic task. The pointer to the
+	 * task can be set optionally
+	 * @param object
+	 * Add an object to the task. The most important case is to add an
+	 * executable object with a function which will be called regularly
+	 * (see ExecutableObjectIF)
+	 * @param setTaskIF
+	 * Can be used to specify whether the task object pointer is passed
+	 * to the component.
+	 * @return
+	 */
+	virtual ReturnValue_t addComponent(object_id_t object,
+	        bool setTaskIF = true) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 
 	virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 

timemanager/CCSDSTime.cpp

@@ -1,5 +1,6 @@
 #include <framework/timemanager/CCSDSTime.h>
 #include <stdio.h>
+#include <inttypes.h>
 #include <math.h>
 
 CCSDSTime::CCSDSTime() {
@@ -154,14 +155,16 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	if (length < 19) {
 		return RETURN_FAILED;
 	}
+// Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README
+// Suggestion: use uint16 all the time. This should work on all systems.
+#ifdef NEWLIB_NANO_NO_C99_IO
 	uint16_t year;
-	uint8_t month;
+	uint16_t month;
 	uint16_t day;
-	uint8_t hour;
+	uint16_t hour;
-	uint8_t minute;
+	uint16_t minute;
 	float second;
-//try Code A (yyyy-mm-dd)
+	int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year,
-	int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year,
 				&month, &day, &hour, &minute, &second);
 	if (count == 6) {
 		to->year = year;
@@ -175,8 +178,51 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 	}
 
 	// try Code B (yyyy-ddd)
-	count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day,
+	count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &day,
 			&hour, &minute, &second);
+	if (count == 5) {
+		uint8_t tempDay;
+		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year,
+				reinterpret_cast<uint8_t *>(&month), reinterpret_cast<uint8_t *>(&tempDay));
+		if (result != RETURN_OK) {
+			return RETURN_FAILED;
+		}
+		to->year = year;
+		to->month = month;
+		to->day = tempDay;
+		to->hour = hour;
+		to->minute = minute;
+		to->second = second;
+		to->usecond = (second - floor(second)) * 1000000;
+		return RETURN_OK;
+	}
+// Warning: Compiler/Linker fails ambiguously if library does not implement
+// C99 I/O
+#else
+	uint16_t year;
+	uint8_t month;
+	uint16_t day;
+	uint8_t hour;
+	uint8_t minute;
+	float second;
+    //try Code A (yyyy-mm-dd)
+    int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16
+            "T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day,
+            &hour, &minute, &second);
+	if (count == 6) {
+		to->year = year;
+		to->month = month;
+		to->day = day;
+		to->hour = hour;
+		to->minute = minute;
+		to->second = second;
+		to->usecond = (second - floor(second)) * 1000000;
+		return RETURN_OK;
+	}
+
+    //try Code B (yyyy-ddd)
+    count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8
+            ":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second);
 	if (count == 5) {
 		uint8_t tempDay;
 		ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month,
@@ -193,6 +239,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
 		to->usecond = (second - floor(second)) * 1000000;
 		return RETURN_OK;
 	}
+#endif
 
 	return UNSUPPORTED_TIME_FORMAT;
 }

tmtcservices/CommandingServiceBase.cpp

@@ -1,22 +1,21 @@
-/*
+#include <framework/tcdistribution/PUSDistributorIF.h>
- * CommandingServiceBase.cpp
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
- *
+#include <framework/objectmanager/ObjectManagerIF.h>
- *  Created on: 28.08.2019
- *      Author: gaisser
- */
 
 #include <framework/tmtcservices/CommandingServiceBase.h>
+#include <framework/tmtcservices/TmTcMessage.h>
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcpacket/pus/TcPacketStored.h>
+#include <framework/tmtcpacket/pus/TmPacketStored.h>
 
 CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
 		uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
-		uint16_t commandTimeout_seconds, object_id_t setPacketSource,
+		uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
 		object_id_t setPacketDestination, size_t queueDepth) :
-		SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
+		SystemObject(setObjectId), apid(apid), service(service),
-				commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
+		timeoutSeconds(commandTimeoutSeconds),
-		NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
+		commandMap(numberOfParallelCommands), packetSource(setPacketSource),
-				numberOfParallelCommands), failureParameter1(0), failureParameter2(
+		packetDestination(setPacketDestination) {
-				0), packetSource(setPacketSource), packetDestination(
-				setPacketDestination),executingTask(NULL) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 	requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 }
@@ -57,8 +56,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
 			objectManager->get<AcceptsTelemetryIF>(packetDestination);
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((packetForwarding == NULL) && (distributor == NULL)) {
+	if (packetForwarding == nullptr or distributor == nullptr) {
-		return RETURN_FAILED;
+	    sif::error << "CommandingServiceBase::intialize: Packet source or "
+	            "packet destination invalid!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	distributor->registerService(this);
@@ -68,8 +69,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
 
-	if ((IPCStore == NULL) || (TCStore == NULL)) {
+	if (IPCStore == nullptr or TCStore == nullptr) {
-		return RETURN_FAILED;
+	    sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
+	                    "not initialized yet!" << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 
 	return RETURN_OK;
@@ -77,73 +80,53 @@ ReturnValue_t CommandingServiceBase::initialize() {
 }
 
 void CommandingServiceBase::handleCommandQueue() {
-	CommandMessage reply, nextCommand;
+	CommandMessage reply;
-	ReturnValue_t result, sendResult = RETURN_OK;
+	ReturnValue_t result = RETURN_FAILED;
-	bool isStep = false;
 	for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
 			result = commandQueue->receiveMessage(&reply)) {
-		isStep = false;
+		handleCommandMessage(&reply);
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator iter;
-		if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
-			handleUnrequestedReply(&reply);
-			continue;
 	}
-		if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
+}
-			handleUnrequestedReply(&reply);
+
-			continue;
+
+void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
+	bool isStep = false;
+	CommandMessage nextCommand;
+	CommandMapIter iter = commandMap.find(reply->getSender());
+
+	// handle unrequested reply first
+	if (reply->getSender() == MessageQueueIF::NO_QUEUE or
+			iter == commandMap.end()) {
+		handleUnrequestedReply(reply);
+		return;
 	}
 	nextCommand.setCommand(CommandMessage::CMD_NONE);
-		result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
+
-				iter->objectId, &isStep);
+
+	// Implemented by child class, specifies what to do with reply.
+	ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
+			&nextCommand, iter->objectId, &isStep);
+
+	/* If the child implementation does not implement special handling for
+	 * rejected replies (RETURN_FAILED is returned), a failure verification
+	 * will be generated with the reason as the return code and the initial
+	 * command as failure parameter 1 */
+	if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
+			result == RETURN_FAILED) {
+	    result = reply->getReplyRejectedReason();
+	    failureParameter1 = iter->command;
+	}
+
 	switch (result) {
 	case EXECUTION_COMPLETE:
 	case RETURN_OK:
 	case NO_STEP_MESSAGE:
-			iter->command = nextCommand.getCommand();
+		// handle result of reply handler implemented by developer.
-			if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
+		handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
-				sendResult = commandQueue->sendMessage(reply.getSender(),
-						&nextCommand);
-			}
-			if (sendResult == RETURN_OK) {
-				if (isStep) {
-					if (result != NO_STEP_MESSAGE) {
-						verificationReporter.sendSuccessReport(
-								TC_VERIFY::PROGRESS_SUCCESS,
-								iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-								iter->tcInfo.tcSequenceControl, ++iter->step);
-					}
-				} else {
-					verificationReporter.sendSuccessReport(
-							TC_VERIFY::COMPLETION_SUCCESS,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, 0);
-					checkAndExecuteFifo(&iter);
-				}
-			} else {
-				if (isStep) {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
-							iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult,
-							++iter->step, failureParameter1, failureParameter2);
-				} else {
-					nextCommand.clearCommandMessage();
-					verificationReporter.sendFailureReport(
-							TC_VERIFY::COMPLETION_FAILURE,
-							iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
-							iter->tcInfo.tcSequenceControl, sendResult, 0,
-							failureParameter1, failureParameter2);
-				}
-				failureParameter1 = 0;
-				failureParameter2 = 0;
-				checkAndExecuteFifo(&iter);
-			}
 		break;
 	case INVALID_REPLY:
 		//might be just an unrequested reply at a bad moment
-			handleUnrequestedReply(&reply);
+		handleUnrequestedReply(reply);
 		break;
 	default:
 		if (isStep) {
@@ -160,13 +143,62 @@ void CommandingServiceBase::handleCommandQueue() {
 		}
 		failureParameter1 = 0;
 		failureParameter2 = 0;
-			checkAndExecuteFifo(&iter);
+		checkAndExecuteFifo(iter);
 		break;
 	}
 
 }
+
+void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
+		CommandMapIter iter, CommandMessage* nextCommand,
+		CommandMessage* reply, bool& isStep) {
+	iter->command = nextCommand->getCommand();
+
+	// In case a new command is to be sent immediately, this is performed here.
+	// If no new command is sent, only analyse reply result by initializing
+	// sendResult as RETURN_OK
+	ReturnValue_t sendResult = RETURN_OK;
+	if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
+		sendResult = commandQueue->sendMessage(reply->getSender(),
+				nextCommand);
 	}
 
+	if (sendResult == RETURN_OK) {
+		if (isStep and result != NO_STEP_MESSAGE) {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::PROGRESS_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, ++iter->step);
+		}
+		else {
+			verificationReporter.sendSuccessReport(
+					TC_VERIFY::COMPLETION_SUCCESS,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, 0);
+			checkAndExecuteFifo(iter);
+		}
+	}
+	else {
+		if (isStep) {
+			nextCommand->clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
+					iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult,
+					++iter->step, failureParameter1, failureParameter2);
+		} else {
+			nextCommand->clearCommandMessage();
+			verificationReporter.sendFailureReport(
+					TC_VERIFY::COMPLETION_FAILURE,
+					iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
+					iter->tcInfo.tcSequenceControl, sendResult, 0,
+					failureParameter1, failureParameter2);
+		}
+		failureParameter1 = 0;
+		failureParameter2 = 0;
+		checkAndExecuteFifo(iter);
+	}
+}
 
 void CommandingServiceBase::handleRequestQueue() {
 	TmTcMessage message;
@@ -181,7 +213,7 @@ void CommandingServiceBase::handleRequestQueue() {
 		packet.setStoreAddress(address);
 
 		if ((packet.getSubService() == 0)
-				|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
+				or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
 			rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
 			continue;
 		}
@@ -194,8 +226,7 @@ void CommandingServiceBase::handleRequestQueue() {
 		}
 
 		//Is a command already active for the target object?
-		typename FixedMap<MessageQueueId_t,
+		CommandMapIter iter;
-				CommandingServiceBase::CommandInfo>::Iterator iter;
 		iter = commandMap.find(queue);
 
 		if (iter != commandMap.end()) {
@@ -210,7 +241,7 @@ void CommandingServiceBase::handleRequestQueue() {
 			if (result != RETURN_OK) {
 				rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
 			} else {
-				startExecution(&packet, &iter);
+				startExecution(&packet, iter);
 			}
 		}
 
@@ -218,9 +249,9 @@ void CommandingServiceBase::handleRequestQueue() {
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		const uint8_t* data, uint32_t dataLen, const uint8_t* headerData,
+		const uint8_t* data, size_t dataLen, const uint8_t* headerData,
-		uint32_t headerSize) {
+		size_t headerSize) {
 	TmPacketStored tmPacketStored(this->apid, this->service, subservice,
 			this->tmPacketCounter, data, dataLen, headerData, headerSize);
 	ReturnValue_t result = tmPacketStored.sendPacket(
@@ -228,11 +259,12 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
 	if (result == HasReturnvaluesIF::RETURN_OK) {
 		this->tmPacketCounter++;
 	}
+	return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
-		object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
+        object_id_t objectId, const uint8_t *data, size_t dataLen) {
     uint8_t buffer[sizeof(object_id_t)];
     uint8_t* pBuffer = buffer;
     size_t size = 0;
@@ -245,11 +277,11 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
     if (result == HasReturnvaluesIF::RETURN_OK) {
         this->tmPacketCounter++;
     }
-
+    return result;
 }
 
 
-void CommandingServiceBase::sendTmPacket(uint8_t subservice,
+ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
         SerializeIF* content, SerializeIF* header) {
     TmPacketStored tmPacketStored(this->apid, this->service, subservice,
             this->tmPacketCounter, content, header);
@@ -258,49 +290,48 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
     if (result == HasReturnvaluesIF::RETURN_OK) {
         this->tmPacketCounter++;
     }
+    return result;
 }
 
 
-void CommandingServiceBase::startExecution(
+void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
-		TcPacketStored *storedPacket,
+        CommandMapIter iter) {
-		typename FixedMap<MessageQueueId_t,
+    ReturnValue_t result = RETURN_OK;
-				CommandingServiceBase::CommandInfo>::Iterator *iter) {
+    CommandMessage command;
-	ReturnValue_t result, sendResult = RETURN_OK;
+    iter->subservice = storedPacket->getSubService();
-	CommandMessage message;
+    result = prepareCommand(&command, iter->subservice,
-	(*iter)->subservice = storedPacket->getSubService();
-	result = prepareCommand(&message, (*iter)->subservice,
             storedPacket->getApplicationData(),
-			storedPacket->getApplicationDataSize(), &(*iter)->state,
+            storedPacket->getApplicationDataSize(), &iter->state,
-			(*iter)->objectId);
+            iter->objectId);
 
+    ReturnValue_t sendResult = RETURN_OK;
 	switch (result) {
 	case RETURN_OK:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
-			sendResult = commandQueue->sendMessage((*iter).value->first,
+			sendResult = commandQueue->sendMessage(iter.value->first,
-					&message);
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
-			Clock::getUptime(&(*iter)->uptimeOfStart);
+			Clock::getUptime(&iter->uptimeOfStart);
-			(*iter)->step = 0;
+			iter->step = 0;
-//			(*iter)->state = 0;
+			iter->subservice = storedPacket->getSubService();
-			(*iter)->subservice = storedPacket->getSubService();
+			iter->command = command.getCommand();
-			(*iter)->command = message.getCommand();
+			iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
-			(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
+			iter->tcInfo.tcPacketId = storedPacket->getPacketId();
-			(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
+			iter->tcInfo.tcSequenceControl =
-			(*iter)->tcInfo.tcSequenceControl =
 					storedPacket->getPacketSequenceControl();
 			acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
 		} else {
-			message.clearCommandMessage();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
 		break;
 	case EXECUTION_COMPLETE:
-		if (message.getCommand() != CommandMessage::CMD_NONE) {
+		if (command.getCommand() != CommandMessage::CMD_NONE) {
 			//Fire-and-forget command.
-			sendResult = commandQueue->sendMessage((*iter).value->first,
+			sendResult = commandQueue->sendMessage(iter.value->first,
-					&message);
+					&command);
 		}
 		if (sendResult == RETURN_OK) {
 			verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
@@ -308,7 +339,7 @@ void CommandingServiceBase::startExecution(
 			acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
 			checkAndExecuteFifo(iter);
 		} else {
-			message.clearCommandMessage();
+			command.clearCommandMessage();
 			rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
 			checkAndExecuteFifo(iter);
 		}
@@ -335,12 +366,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 }
 
 
-void CommandingServiceBase::checkAndExecuteFifo(
+void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
-		typename FixedMap<MessageQueueId_t,
-				CommandingServiceBase::CommandInfo>::Iterator *iter) {
 	store_address_t address;
-	if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
+	if (iter->fifo.retrieve(&address) != RETURN_OK) {
-		commandMap.erase(iter);
+		commandMap.erase(&iter);
 	} else {
 		TcPacketStored newPacket(address);
 		startExecution(&newPacket, iter);
@@ -348,8 +377,7 @@ void CommandingServiceBase::checkAndExecuteFifo(
 }
 
 
-void CommandingServiceBase::handleUnrequestedReply(
+void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
-		CommandMessage* reply) {
 	reply->clearCommandMessage();
 }
 
@@ -364,18 +392,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() {
 void CommandingServiceBase::checkTimeout() {
 	uint32_t uptime;
 	Clock::getUptime(&uptime);
-	typename FixedMap<MessageQueueId_t,
+	CommandMapIter iter;
-			CommandingServiceBase::CommandInfo>::Iterator iter;
 	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
-		if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
+		if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
 			verificationReporter.sendFailureReport(
 					TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
 					iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
 					TIMEOUT);
-			checkAndExecuteFifo(&iter);
+			checkAndExecuteFifo(iter);
 		}
 	}
 }
 
-
+void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
-
+    executingTask = task_;
+}

tmtcservices/CommandingServiceBase.h

@@ -1,35 +1,33 @@
-#ifndef COMMANDINGSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
-#define COMMANDINGSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
 
-#include <framework/container/FixedMap.h>
-#include <framework/container/FIFO.h>
-#include <framework/ipc/CommandMessage.h>
-#include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
-#include <framework/serialize/SerializeAdapter.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
-#include <framework/tcdistribution/PUSDistributorIF.h>
+#include <framework/ipc/MessageQueueIF.h>
-#include <framework/tmtcpacket/pus/TcPacketStored.h>
-#include <framework/tmtcpacket/pus/TmPacketStored.h>
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
-#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+
-#include <framework/tmtcservices/TmTcMessage.h>
 #include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
+#include <framework/ipc/CommandMessage.h>
-#include <framework/ipc/QueueFactory.h>
+#include <framework/container/FixedMap.h>
-#include <framework/timemanager/Clock.h>
+#include <framework/container/FIFO.h>
+#include <framework/serialize/SerializeIF.h>
+
+class TcPacketStored;
 
 /**
- * \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus.
+ * @brief 	This class is the basis for all PUS Services, which have to
+ * 			relay Telecommands to software bus.
  *
- * It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase.
+ * It manages Telecommand reception and the generation of Verification Reports
- * Every class that inherits from this abstract class has to implement four adaption points:
+ * similar to PusServiceBase. This class is used if a telecommand can't be
+ * handled immediately and must be relayed to the internal software bus.
  *   - isValidSubservice
  *   - getMessageQueueAndObject
  *   - prepareCommand
  *   - handleReply
- * \ingroup pus_services
+ * @author gaisser
+ * @ingroup pus_services
  */
 class CommandingServiceBase: public SystemObject,
 		public AcceptsTelecommandsIF,
@@ -59,7 +57,7 @@ public:
 	 */
 	CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
 			uint8_t service, uint8_t numberOfParallelCommands,
-			uint16_t commandTimeout_seconds, object_id_t setPacketSource,
+			uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
 			object_id_t setPacketDestination, size_t queueDepth = 20);
 	virtual ~CommandingServiceBase();
 
@@ -99,9 +97,7 @@ public:
 	 * Used to setup the reference of the task, that executes this component
 	 * @param task_ Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_){
+	virtual void setTaskIF(PeriodicTaskIF* task_);
-		executingTask = task_;
-	};
 
 protected:
 	/**
@@ -113,8 +109,9 @@ protected:
 	virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
 
 	/**
-	 * Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
+	 * Once a TC Request is valid, the existence of the destination and its
-	 * The target message queue ID can then be acquired by using the target interface.
+	 * target interface is checked and retrieved. The target message queue ID
+	 * can then be acquired by using the target interface.
 	 * @param subservice
 	 * @param tcData Application Data of TC Packet
 	 * @param tcDataLen
@@ -125,48 +122,69 @@ protected:
 	 *         - @c CSB or implementation specific return codes
 	 */
 	virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
-			const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
 			object_id_t *objectId) = 0;
 
 	/**
-	 * After the Message Queue and Object ID are determined,
+	 * After the Message Queue and Object ID are determined, the command is
-	 * the command is prepared by using an implementation specific CommandMessage type
+	 * prepared by using an implementation specific CommandMessage type
-	 * which is sent to the target object.
+	 * which is sent to the target object. It contains all necessary information
-	 * It contains all necessary information for the device to execute telecommands.
+	 * for the device to execute telecommands.
-	 * @param message[out] message to be sent to the object
+	 * @param message [out] message which can be set and is sent to the object
-	 * @param subservice[in] Subservice of the current communication
+	 * @param subservice Subservice of the current communication
-	 * @param tcData Additional data of the command
+	 * @param tcData Application data of command
-	 * @param tcDataLen Length of the additional data
+	 * @param tcDataLen Application data length
-	 * @param state[out] Setable state of the communication
+	 * @param state [out/in] Setable state of the communication.
+	 * communication
 	 * @param objectId Target object ID
-	 * @return - @c RETURN_OK on success
+	 * @return
-     *         - @c EXECUTION_COMPLETE if exectuin is finished 
-     *         - any other return code will be part of (1,4) start failure
 	 */
 	virtual ReturnValue_t prepareCommand(CommandMessage* message,
-			uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
 			uint32_t *state, object_id_t objectId) = 0;
 
 	/**
-	 * This function is responsible for the communication between the Command Service Base
+	 * This function is implemented by child services to specify how replies
-	 * and the respective PUS Commanding Service once the execution has started.
+	 * to a command from another software component are handled.
-	 * The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
+	 * @param reply
-	 * There are different translations of these replies to specify how the Command Service proceeds.
+	 * This is the reply in form of a generic read-only command message.
-	 * @param reply Command Message which contains information about the command
+	 * @param previousCommand
-	 * @param previousCommand Command_t of last command
+	 * Command_t of related command
-	 * @param state state of the communication
+	 * @param state [out/in]
-	 * @param optionalNextCommand[out] An optional next command which can be set in this function
+	 * Additional parameter which can be used to pass state information.
+	 * State of the communication
+	 * @param optionalNextCommand [out]
+	 * An optional next command which can be set in this function
 	 * @param objectId Source object ID
 	 * @param isStep Flag value to mark steps of command execution
-	 * @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
+	 * @return
-	 *         - @c INVALID_REPLY can handle unrequested replies
+	 * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
-	 *         - Anything else triggers a TC verification failure
+	 *   generate TC verification success
+	 * - @c INVALID_REPLY calls handleUnrequestedReply
+	 * - Anything else triggers a TC verification failure. If RETURN_FAILED
+	 *   is returned and the command ID is CommandMessage::REPLY_REJECTED,
+	 *   a failure verification message with the reason as the error parameter
+	 *   and the initial command as failure parameter 1.
 	 */
 	virtual ReturnValue_t handleReply(const CommandMessage* reply,
 			Command_t previousCommand, uint32_t *state,
 			CommandMessage* optionalNextCommand, object_id_t objectId,
 			bool *isStep) = 0;
 
+	/**
+	 * This function can be overidden to handle unrequested reply,
+	 * when the reply sender ID is unknown or is not found is the command map.
+	 * The default implementation will clear the command message and all
+	 * its contents.
+	 * @param reply
+	 * Reply which is non-const so the default implementation can clear the
+	 * message.
+	 */
+	virtual void handleUnrequestedReply(CommandMessage* reply);
+
+	virtual void doPeriodicOperation();
+
+
 	struct CommandInfo {
 		struct tcInfo {
 			uint8_t ackFlags;
@@ -182,84 +200,92 @@ protected:
 		FIFO<store_address_t, 3> fifo;
 	};
 
+	using CommandMapIter = FixedMap<MessageQueueId_t,
+	        CommandingServiceBase::CommandInfo>::Iterator;
+
 	const uint16_t apid;
 
 	const uint8_t service;
 
-	const uint16_t timeout_seconds;
+	const uint16_t timeoutSeconds;
 
-	uint8_t tmPacketCounter;
+	uint8_t tmPacketCounter = 0;
 
-	StorageManagerIF *IPCStore;
+	StorageManagerIF *IPCStore = nullptr;
 
-	StorageManagerIF *TCStore;
+	StorageManagerIF *TCStore = nullptr;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
-	MessageQueueIF* requestQueue;
+	MessageQueueIF* requestQueue = nullptr;
 
 	VerificationReporter verificationReporter;
 
 	FixedMap<MessageQueueId_t, CommandInfo> commandMap;
 
-	uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition.
+	/* May be set be children to return a more precise failure condition. */
-	uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition.
+	uint32_t failureParameter1 = 0;
+	uint32_t failureParameter2 = 0;
 
 	object_id_t packetSource;
 
 	object_id_t packetDestination;
 
 	/**
-	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 * Pointer to the task which executes this component,
+	 * is invalid before setTaskIF was called.
 	 */
-	PeriodicTaskIF* executingTask;
+	PeriodicTaskIF* executingTask = nullptr;
 
 	/**
-	 * Send TM data from pointer to data. If a header is supplied it is added before data
+	 * @brief   Send TM data from pointer to data.
+	 *          If a header is supplied it is added before data
 	 * @param subservice Number of subservice
 	 * @param data Pointer to the data in the Packet
 	 * @param dataLen Lenght of data in the Packet
 	 * @param headerData HeaderData will be placed before data
 	 * @param headerSize Size of HeaderData
 	 */
-	void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen,
+	ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
-			const uint8_t* headerData = NULL, uint32_t headerSize = 0);
+	        size_t dataLen, const uint8_t* headerData = nullptr,
+	        size_t headerSize = 0);
 
 	/**
-	 * To send TM packets of objects that still need to be serialized and consist of an object ID with appended data
+	 * @brief   To send TM packets of objects that still need to be serialized
+	 *          and consist of an object ID with appended data.
 	 * @param subservice Number of subservice
 	 * @param objectId ObjectId is placed before data
 	 * @param data Data to append to the packet
 	 * @param dataLen Length of Data
 	 */
-	void sendTmPacket(uint8_t subservice, object_id_t objectId,
+	ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
-			const uint8_t *data, uint32_t dataLen);
+			const uint8_t *data, size_t dataLen);
 
 	/**
-	 * To send packets has data which is in form of a SerializeIF or Adapters implementing it
+	 * @brief   To send packets which are contained inside a class implementing
+	 *          SerializeIF.
 	 * @param subservice Number of subservice
 	 * @param content This is a pointer to the serialized packet
 	 * @param header Serialize IF header which will be placed before content
 	 */
-	void sendTmPacket(uint8_t subservice, SerializeIF* content,
+	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
-			SerializeIF* header = NULL);
+			SerializeIF* header = nullptr);
 
-	virtual void handleUnrequestedReply(CommandMessage *reply);
+	void checkAndExecuteFifo(CommandMapIter iter);
-
-	virtual void doPeriodicOperation();
-
-	void checkAndExecuteFifo(
-			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
 
 private:
+
 	/**
 	 * This method handles internal execution of a command,
-	 * once it has been started by @sa{startExecution()} in the Request Queue handler.
+	 * once it has been started by @sa{startExecution()} in the request
-	 * It handles replies generated by the devices and relayed by the specific service implementation.
+	 * queue handler.
-	 * This means that it determines further course of action depending on the return values specified
+	 * It handles replies generated by the devices and relayed by the specific
-	 * in the service implementation.
+	 * service implementation. This means that it determines further course of
+	 * action depending on the return values specified in the service
+	 * implementation.
 	 * This includes the generation of TC verification messages. Note that
-	 * the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
+	 * the static framework object ID @c VerificationReporter::messageReceiver
+	 * needs to be set.
 	 *   - TM[1,5] Step Successs
 	 *   - TM[1,6] Step Failure
 	 *   - TM[1,7] Completion Success
@@ -280,8 +306,11 @@ private:
 
 	void acceptPacket(uint8_t reportId, TcPacketStored* packet);
 
-	void startExecution(TcPacketStored *storedPacket,
+	void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
-			typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
+
+	void handleCommandMessage(CommandMessage* reply);
+	void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
+			CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
 
 	void checkTimeout();
 };

tmtcservices/PusServiceBase.cpp

@@ -9,10 +9,11 @@
 object_id_t PusServiceBase::packetSource = 0;
 object_id_t PusServiceBase::packetDestination = 0;
 
-PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) :
+PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid,
-		SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1(
+		uint8_t setServiceId) :
-				0), errorParameter2(0), requestQueue(NULL) {
+		SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
-	requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
+	requestQueue = QueueFactory::instance()->
+			createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
 }
 
 PusServiceBase::~PusServiceBase() {
@@ -20,50 +21,64 @@ PusServiceBase::~PusServiceBase() {
 }
 
 ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
+	handleRequestQueue();
+	ReturnValue_t result = this->performService();
+	if (result != RETURN_OK) {
+		sif::error << "PusService " << (uint16_t) this->serviceId
+				<< ": performService returned with " << (int16_t) result
+				<< std::endl;
+		return RETURN_FAILED;
+	}
+	return RETURN_OK;
+}
+
+void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) {
+    this->taskHandle = taskHandle;
+}
+
+void PusServiceBase::handleRequestQueue() {
 	TmTcMessage message;
+	ReturnValue_t result = RETURN_FAILED;
 	for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
 		ReturnValue_t status = this->requestQueue->receiveMessage(&message);
-		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId()
+		//	debug << "PusServiceBase::performOperation: Receiving from MQ ID: "
+		//      << std::hex << this->requestQueue.getId()
 		//      << std::dec << " returned: " << status << std::endl;
 		if (status == RETURN_OK) {
 			this->currentPacket.setStoreAddress(message.getStorageId());
-			//	info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
+			//info << "Service " << (uint16_t) this->serviceId <<
+			//     ": new packet!" << std::endl;
 
-			ReturnValue_t return_code = this->handleRequest();
+			result = this->handleRequest(currentPacket.getSubService());
-			// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
+
-			if (return_code == RETURN_OK) {
+			// debug << "Service " << (uint16_t)this->serviceId <<
+			//    ": handleRequest returned: " << (int)return_code << std::endl;
+			if (result == RETURN_OK) {
 				this->verifyReporter.sendSuccessReport(
 						TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
-			} else {
+			}
+			else {
 				this->verifyReporter.sendFailureReport(
 						TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket,
-						return_code, 0, errorParameter1, errorParameter2);
+						result, 0, errorParameter1, errorParameter2);
 			}
 			this->currentPacket.deletePacket();
 			errorParameter1 = 0;
 			errorParameter2 = 0;
-		} else if (status == MessageQueueIF::EMPTY) {
+		}
+		else if (status == MessageQueueIF::EMPTY) {
 			status = RETURN_OK;
-			// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
+			// debug << "PusService " << (uint16_t)this->serviceId <<
+			//      ": no new packet." << std::endl;
 			break;
-		} else {
+		}
-
+		else {
 			sif::error << "PusServiceBase::performOperation: Service "
 					<< (uint16_t) this->serviceId
 					<< ": Error receiving packet. Code: " << std::hex << status
 					<< std::dec << std::endl;
 		}
 	}
-	ReturnValue_t return_code = this->performService();
-	if (return_code == RETURN_OK) {
-		return RETURN_OK;
-	} else {
-
-		sif::error << "PusService " << (uint16_t) this->serviceId
-				<< ": performService returned with " << (int16_t) return_code
-				<< std::endl;
-		return RETURN_FAILED;
-	}
 }
 
 uint16_t PusServiceBase::getIdentifier() {
@@ -79,19 +94,28 @@ ReturnValue_t PusServiceBase::initialize() {
 	if (result != RETURN_OK) {
 		return result;
 	}
-	AcceptsTelemetryIF* dest_service = objectManager->get<AcceptsTelemetryIF>(
+	AcceptsTelemetryIF* destService = objectManager->get<AcceptsTelemetryIF>(
 			packetDestination);
 	PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
 			packetSource);
-	if ((dest_service != NULL) && (distributor != NULL)) {
+	if ((destService != nullptr) && (distributor != nullptr)) {
 		this->requestQueue->setDefaultDestination(
-				dest_service->getReportReceptionQueue());
+				destService->getReportReceptionQueue());
 		distributor->registerService(this);
 		return RETURN_OK;
-	} else {
+	}
+	else {
 		sif::error << "PusServiceBase::PusServiceBase: Service "
 				<< (uint32_t) this->serviceId << ": Configuration error."
-				<< " Make sure packetSource and packetDestination are defined correctly" << std::endl;
+				<< " Make sure packetSource and packetDestination are defined "
+			       "correctly" << std::endl;
 		return RETURN_FAILED;
 	}
 }
+
+ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {
+    // If task parameters, for example task frequency are required, this
+    // function should be overriden and the system object task IF can
+    // be used to get those parameters.
+    return HasReturnvaluesIF::RETURN_OK;
+}

tmtcservices/PusServiceBase.h

@@ -1,5 +1,5 @@
-#ifndef PUSSERVICEBASE_H_
+#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
-#define PUSSERVICEBASE_H_
+#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
@@ -9,7 +9,6 @@
 #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 #include <framework/tmtcservices/VerificationCodes.h>
 #include <framework/tmtcservices/VerificationReporter.h>
-#include <framework/internalError/InternalErrorReporterIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 
 namespace Factory{
@@ -17,72 +16,100 @@ void setStaticFrameworkObjectIds();
 }
 
 /**
- * \defgroup pus_services PUS Service Framework
+ * @defgroup pus_services PUS Service Framework
  * These group contains all implementations of PUS Services in the OBSW.
  * Most of the Services are directly taken from the ECSS PUS Standard.
  */
 
 /**
- * \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
+ * @brief 	This class is the basis for all PUS Services,
- * It manages Telecommand reception and the generation of Verification Reports. Every class that inherits
+ * 			which can immediately process Telecommand Packets.
- * from this abstract class has to implement handleRequest and performService. Services that are created with this
+ * @details
+ * It manages Telecommand reception and the generation of Verification Reports.
+ * Every class that inherits from this abstract class has to implement
+ * handleRequest and performService. Services that are created with this
  * Base class have to handle any kind of request immediately on reception.
- * All PUS Services are System Objects, so an Object ID needs to be specified on construction.
+ * All PUS Services are System Objects, so an Object ID needs to be specified
- * \ingroup pus_services
+ * on construction.
+ * @ingroup pus_services
  */
-class PusServiceBase : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject, public HasReturnvaluesIF {
+class PusServiceBase : public ExecutableObjectIF,
+        public AcceptsTelecommandsIF,
+        public SystemObject,
+        public HasReturnvaluesIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
-	 * The constructor for the class.
+	 * @brief	The passed values are set, but inter-object initialization is
-	 * The passed values are set, but inter-object initialization is done in the initialize method.
+	 * 			done in the initialize method.
-	 * @param setObjectId		The system object identifier of this Service instance.
+	 * @param setObjectId
-	 * @param set_apid			The APID the Service is instantiated for.
+	 * The system object identifier of this Service instance.
-	 * @param set_service_id	The Service Identifier as specified in ECSS PUS.
+	 * @param setApid
+	 * The APID the Service is instantiated for.
+	 * @param setServiceId
+	 * The Service Identifier as specified in ECSS PUS.
 	 */
-	PusServiceBase(	object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId);
+	PusServiceBase(	object_id_t setObjectId, uint16_t setApid,
+			uint8_t setServiceId);
 	/**
 	 * The destructor is empty.
 	 */
 	virtual ~PusServiceBase();
 	/**
-	 * @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
+	 * @brief 	The handleRequest method shall handle any kind of Telecommand
+	 * 			Request immediately.
 	 * @details
-	 * Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
+	 * Implemetations can take the Telecommand in currentPacket and perform
-	 * They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
+	 * any kind of operation.
-	 * Success or Failure Reports are generated automatically after execution of this method.
+	 * They may send additional "Start Success (1,3)" messages with the
+	 * verifyReporter, but Completion Success or Failure Reports are generated
+	 * automatically after execution of this method.
 	 *
 	 * If a Telecommand can not be executed within one call cycle,
 	 * this Base class is not the right parent.
 	 *
-	 * The child class may add additional error information by setting #errorParameters which are
+	 * The child class may add additional error information by setting
-	 * attached to the generated verification message.
+	 * #errorParameters which aren attached to the generated verification
+	 * message.
 	 *
 	 * Subservice checking should be implemented in this method.
 	 *
-	 * @return	The returned status_code is directly taken as main error code in the Verification Report.
+	 * @return	The returned status_code is directly taken as main error code
+	 * 			in the Verification Report.
 	 * 			On success, RETURN_OK shall be returned.
 	 */
-	virtual ReturnValue_t handleRequest() = 0;
+	virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
 	/**
-	 * In performService, implementations can handle periodic, non-TC-triggered activities.
+	 * In performService, implementations can handle periodic,
+	 * non-TC-triggered activities.
 	 * The performService method is always called.
-	 * @return	A success or failure code that does not trigger any kind of verification message.
+	 * @return	Currently, everything other that RETURN_OK only triggers
+	 * 			diagnostic output.
 	 */
 	virtual ReturnValue_t performService() = 0;
 	/**
 	 * This method implements the typical activity of a simple PUS Service.
-	 * It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
+	 * It checks for new requests, and, if found, calls handleRequest, sends
+	 * completion verification messages and deletes
 	 * the TC requests afterwards.
 	 * performService is always executed afterwards.
-	 * @return	\c RETURN_OK if the periodic performService was successful.
+	 * @return	@c RETURN_OK if the periodic performService was successful.
-	 * 			\c RETURN_FAILED else.
+	 * 			@c RETURN_FAILED else.
 	 */
-	ReturnValue_t performOperation(uint8_t opCode);
+	ReturnValue_t performOperation(uint8_t opCode) override;
-	virtual uint16_t getIdentifier();
+	virtual uint16_t getIdentifier() override;
-	MessageQueueId_t getRequestQueue();
+	MessageQueueId_t getRequestQueue() override;
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
+
+	virtual void setTaskIF(PeriodicTaskIF* taskHandle) override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 protected:
+	/**
+	 * @brief   Handle to the underlying task
+	 * @details
+	 * Will be set by setTaskIF(), which is called on task creation.
+	 */
+	PeriodicTaskIF* taskHandle = nullptr;
 	/**
 	 * The APID of this instance of the Service.
 	 */
@@ -94,19 +121,19 @@ protected:
 	/**
 	 * One of two error parameters for additional error information.
 	 */
-	uint32_t errorParameter1;
+	uint32_t errorParameter1 = 0;
 	/**
 	 * One of two error parameters for additional error information.
 	 */
-	uint32_t errorParameter2;
+	uint32_t errorParameter2 = 0;
 	/**
-	 * This is a complete instance of the Telecommand reception queue of the class.
+	 * This is a complete instance of the telecommand reception queue
-	 * It is initialized on construction of the class.
+	 * of the class. It is initialized on construction of the class.
 	 */
-	MessageQueueIF* requestQueue;
+	MessageQueueIF* requestQueue = nullptr;
 	/**
-	 * An instance of the VerificationReporter class, that simplifies sending any kind of
+	 * An instance of the VerificationReporter class, that simplifies
-	 * Verification Message to the TC Verification Service.
+	 * sending any kind of verification message to the TC Verification Service.
 	 */
 	VerificationReporter verifyReporter;
 	/**
@@ -121,9 +148,12 @@ protected:
 private:
 	/**
 	 * This constant sets the maximum number of packets accepted per call.
-	 * Remember that one packet must be completely handled in one #handleRequest call.
+	 * Remember that one packet must be completely handled in one
+	 * #handleRequest call.
 	 */
 	static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
+
+	void handleRequestQueue();
 };
 
 #endif /* PUSSERVICEBASE_H_ */