Adding Code for Linux

action/ActionHelper.cpp

@@ -20,11 +20,13 @@ ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
 	}
 }
 
-ReturnValue_t ActionHelper::initialize() {
+ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
 	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	if (ipcStore == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+	setQueueToUse(queueToUse_);
+
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -100,3 +102,6 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
 	}
 	return result;
 }
+
+void ActionHelper::resetHelper() {
+}

action/ActionHelper.h

@@ -4,26 +4,90 @@
 #include <framework/action/ActionMessage.h>
 #include <framework/serialize/SerializeIF.h>
 #include <framework/ipc/MessageQueueIF.h>
-
+/**
+ * \brief Action Helper is a helper class which handles action messages
+ *
+ * Components which use the HasActionIF this helper can be used to handle the action messages.
+ * It does handle step messages as well as other answers to action calls. It uses the executeAction function
+ * of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer!
+ */
 class HasActionsIF;
 
 class ActionHelper {
 public:
+	/**
+	 * Constructor of the action helper
+	 * @param setOwner Pointer to the owner of the interface
+	 * @param useThisQueue messageQueue to be used, can be set during initialize function as well.
+	 */
 	ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
+
 	virtual ~ActionHelper();
+	/**
+	 * Function to be called from the owner with a new command message
+	 *
+	 * If the message is a valid action message the helper will use the executeAction function from HasActionsIF.
+	 * If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically.
+	 *
+	 * @param command Pointer to a command message received by the owner
+	 * @return HasReturnvaluesIF::RETURN_OK if the message is a action message, CommandMessage::UNKNOW_COMMAND if this message ID is unkown
+	 */
 	ReturnValue_t handleActionMessage(CommandMessage* command);
-	ReturnValue_t initialize();
+	/**
+	 * Helper initialize function. Must be called before use of any other helper function
+	 * @param queueToUse_ Pointer to the messageQueue to be used
+	 * @return Returns RETURN_OK if successful
+	 */
+	ReturnValue_t initialize(MessageQueueIF* queueToUse_);
+	/**
+	 * Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
+	 *
+	 * @param step Number of steps already done
+	 * @param reportTo The messageQueueId to report the step message to
+	 * @param commandId ID of the executed command
+	 * @param result Result of the execution
+	 */
 	void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	/**
+	 * Function to be called by the owner to send a action completion message
+	 *
+	 * @param reportTo MessageQueueId_t to report the action completion message to
+	 * @param commandId ID of the executed command
+	 * @param result Result of the execution
+	 */
 	void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+	/**
+	 * Function to be called by the owner if an action does report data
+	 *
+	 * @param reportTo MessageQueueId_t to report the action completion message to
+	 * @param replyId ID of the executed command
+	 * @param data Pointer to the data
+	 * @return Returns RETURN_OK if successful, otherwise failure code
+	 */
 	ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false);
+	/**
+	 * Function to setup the MessageQueueIF* of the helper. Can be used to set the messageQueueIF* if
+	 * message queue is unavailable at construction and initialize but must be setup before first call of other functions.
+	 * @param queue Queue to be used by the helper
+	 */
 	void setQueueToUse(MessageQueueIF *queue);
 protected:
-	static const uint8_t STEP_OFFSET = 1;
-	HasActionsIF* owner;
-	MessageQueueIF* queueToUse;
-	StorageManagerIF* ipcStore;
+	static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step
+	HasActionsIF* owner;//!< Pointer to the owner
+	MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with
+	StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
+	/**
+	 *Internal function called by handleActionMessage(CommandMessage* command)
+	 *
+	 * @param commandedBy MessageQueueID of Commander
+	 * @param actionId ID of action to be done
+	 * @param dataAddress Address of additional data in IPC Store
+	 */
 	virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
-	void resetHelper();
+	/**
+	 *
+	 */
+	virtual void resetHelper();
 };
 
 #endif /* ACTIONHELPER_H_ */

action/CommandActionHelper.cpp

@@ -5,7 +5,7 @@
 #include <framework/objectmanager/ObjectManagerIF.h>
 
 CommandActionHelper::CommandActionHelper(CommandsActionsIF* setOwner) :
-		owner(setOwner), queueToUse(setOwner->getCommandQueuePtr()), ipcStore(
+		owner(setOwner), queueToUse(NULL), ipcStore(
 				NULL), commandCount(0), lastTarget(0) {
 }
 
@@ -66,11 +66,15 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
 
 ReturnValue_t CommandActionHelper::initialize() {
 	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (ipcStore != NULL) {
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
+	if (ipcStore == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+
+	queueToUse = owner->getCommandQueuePtr();
+	if(queueToUse == NULL){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t CommandActionHelper::handleReply(CommandMessage* reply) {

action/HasActionsIF.h

@@ -6,14 +6,36 @@
 #include <framework/action/SimpleActionHelper.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/ipc/MessageQueueIF.h>
+/**
+ * \brief Interface for component which uses actions
+ *
+ * This interface is used to execute actions in the component. Actions, in the sense of this interface, are activities with a well-defined beginning and
+ * end in time. They may adjust sub-states of components, but are not supposed to change
+ * the main mode of operation, which is handled with the HasModesIF described below.
+ *
+ * The HasActionsIF allows components to define such actions and make them available
+ * for other components to use. Implementing the interface is straightforward: There’s a
+ * single executeAction call, which provides an identifier for the action to execute, as well
+ * as arbitrary parameters for input. Aside from direct, software-based
+ * actions, it is used in device handler components as an interface to forward commands to
+ * devices.
+ * Implementing components of the interface are supposed to check identifier (ID) and
+ * parameters and immediately start execution of the action. It is, however, not required to
+ * immediately finish execution. Instead, this may be deferred to a later point in time, at
+ * which the component needs to inform the caller about finished or failed execution.
+ */
 class HasActionsIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
-	static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
+	static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);//!<
 	static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
 	static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
 	static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
 	virtual ~HasActionsIF() { }
+	/**
+	 * Function to get the MessageQueueId_t of the implementing object
+	 * @return MessageQueueId_t of the object
+	 */
 	virtual MessageQueueId_t getCommandQueue() const = 0;
 	/**
 	 * Execute or initialize the execution of a certain function.

action/SimpleActionHelper.h

@@ -10,9 +10,10 @@ public:
 	void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
 	ReturnValue_t reportData(SerializeIF* data);
-	void resetHelper();
+
 protected:
 	void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
+	virtual  void resetHelper();
 private:
 	bool isExecuting;
 	MessageQueueId_t lastCommander;

controller/ControllerBase.cpp

@@ -8,7 +8,7 @@ ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
 		size_t commandQueueDepth) :
 		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
 				SUBMODE_NONE), commandQueue(NULL), modeHelper(
-				this), healthHelper(this, setObjectId),hkSwitcher(this) {
+				this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
 
 }
@@ -129,6 +129,9 @@ ReturnValue_t ControllerBase::setHealth(HealthState health) {
 HasHealthIF::HealthState ControllerBase::getHealth() {
 	return healthHelper.getHealth();
 }
+void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
+			executingTask = task_;
+}
 
 void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }

controller/ControllerBase.h

@@ -32,6 +32,16 @@ public:
 	virtual ReturnValue_t setHealth(HealthState health);
 
 	virtual HasHealthIF::HealthState getHealth();
+
+	/**
+	 * Implementation of ExecutableObjectIF function
+	 *
+	 * Used to setup the reference of the task, that executes this component
+	 * @param task_ Pointer to the taskIF of this task
+	 */
+	virtual  void setTaskIF(PeriodicTaskIF* task_);
+
+
 protected:
 	const uint32_t parentId;
 
@@ -47,6 +57,11 @@ protected:
 
 	HkSwitchHelper hkSwitcher;
 
+	/**
+	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 */
+	PeriodicTaskIF* executingTask;
+
 	void handleQueue();
 
 	virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;

coordinates/CoordinateTransformations.h

@@ -2,6 +2,7 @@
 #define COORDINATETRANSFORMATIONS_H_
 
 #include <framework/timemanager/Clock.h>
+#include <cstring>
 
 class CoordinateTransformations {
 public:

datapool/DataPoolAdmin.cpp

@@ -8,7 +8,7 @@
 
 DataPoolAdmin::DataPoolAdmin(object_id_t objectId) :
 		SystemObject(objectId), storage(NULL), commandQueue(NULL), memoryHelper(
-				this, commandQueue), actionHelper(this, commandQueue) {
+				this, NULL), actionHelper(this, NULL) {
 	commandQueue = QueueFactory::instance()->createMessageQueue();
 }
 
@@ -171,7 +171,7 @@ ReturnValue_t DataPoolAdmin::initialize() {
 		return result;
 	}
 
-	result = memoryHelper.initialize();
+	result = memoryHelper.initialize(commandQueue);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -181,7 +181,7 @@ ReturnValue_t DataPoolAdmin::initialize() {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-	result = actionHelper.initialize();
+	result = actionHelper.initialize(commandQueue);
 
 	return result;
 }

datapool/HkSwitchHelper.h

@@ -24,6 +24,8 @@ public:
 
 	ReturnValue_t switchHK(SerializeIF *sids, bool enable);
 
+	virtual void setTaskIF(PeriodicTaskIF* task_){};
+
 protected:
 	virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step);
 	virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,

datapool/PoolRawAccess.cpp

@@ -76,13 +76,13 @@ ReturnValue_t PoolRawAccess::getEntryEndianSafe(uint8_t* buffer,
 		return DATA_POOL_ACCESS_FAILED;
 	if (typeSize > max_size)
 		return INCORRECT_SIZE;
-#ifndef BYTE_ORDER
-#error BYTE_ORDER not defined
-#elif BYTE_ORDER == LITTLE_ENDIAN
+#ifndef BYTE_ORDER_SYSTEM
+#error BYTE_ORDER_SYSTEM not defined
+#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 	for (uint8_t count = 0; count < typeSize; count++) {
 		buffer[count] = data_ptr[typeSize - count - 1];
 	}
-#elif BYTE_ORDER == BIG_ENDIAN
+#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 	memcpy(buffer, data_ptr, typeSize);
 #endif
 	*writtenBytes = typeSize;
@@ -112,13 +112,13 @@ PoolVariableIF::ReadWriteMode_t PoolRawAccess::getReadWriteMode() const {
 ReturnValue_t PoolRawAccess::setEntryFromBigEndian(const uint8_t* buffer,
 		uint32_t setSize) {
 	if (typeSize == setSize) {
-#ifndef BYTE_ORDER
-#error BYTE_ORDER not defined
-#elif BYTE_ORDER == LITTLE_ENDIAN
+#ifndef BYTE_ORDER_SYSTEM
+#error BYTE_ORDER_SYSTEM not defined
+#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 		for (uint8_t count = 0; count < typeSize; count++) {
 			value[count] = buffer[typeSize - count - 1];
 		}
-#elif BYTE_ORDER == BIG_ENDIAN
+#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 		memcpy(value, buffer, typeSize);
 #endif
 		return HasReturnvaluesIF::RETURN_OK;
@@ -149,13 +149,13 @@ ReturnValue_t PoolRawAccess::serialize(uint8_t** buffer, uint32_t* size,
 		const uint32_t max_size, bool bigEndian) const {
 	if (typeSize + *size <= max_size) {
 		if (bigEndian) {
-#ifndef BYTE_ORDER
-#error BYTE_ORDER not defined
-#elif BYTE_ORDER == LITTLE_ENDIAN
+#ifndef BYTE_ORDER_SYSTEM
+#error BYTE_ORDER_SYSTEM not defined
+#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 			for (uint8_t count = 0; count < typeSize; count++) {
 				(*buffer)[count] = value[typeSize - count - 1];
 			}
-#elif BYTE_ORDER == BIG_ENDIAN
+#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 			memcpy(*buffer, value, typeSize);
 #endif
 		} else {
@@ -179,13 +179,13 @@ ReturnValue_t PoolRawAccess::deSerialize(const uint8_t** buffer, int32_t* size,
 	if (*size >= 0) {
 
 		if (bigEndian) {
-#ifndef BYTE_ORDER
-#error BYTE_ORDER not defined
-#elif BYTE_ORDER == LITTLE_ENDIAN
+#ifndef BYTE_ORDER_SYSTEM
+#error BYTE_ORDER_SYSTEM not defined
+#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 			for (uint8_t count = 0; count < typeSize; count++) {
 				value[count] = (*buffer)[typeSize - count - 1];
 			}
-#elif BYTE_ORDER == BIG_ENDIAN
+#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 			memcpy(value, *buffer, typeSize);
 #endif
 		} else {

devicehandlers/DeviceHandlerBase.cpp

@@ -30,19 +30,7 @@ DeviceHandlerBase::DeviceHandlerBase(uint32_t ioBoardAddress,
 				thermalRequestPoolId), healthHelper(this, setObjectId), modeHelper(
 				this), parameterHelper(this), childTransitionFailure(RETURN_OK), ignoreMissedRepliesCount(
 				0), fdirInstance(fdirInstance), hkSwitcher(this), defaultFDIRUsed(
-				fdirInstance == NULL), switchOffWasReported(false), executingTask(
-		NULL), actionHelper(this, commandQueue), cookieInfo(), ioBoardAddress(
-//=======
-//		NULL), IPCStore(NULL), deviceCommunicationId(deviceCommunication), communicationInterface(
-//				NULL), cookie(
-//		NULL), commandQueue(cmdQueueSize, CommandMessage::MAX_MESSAGE_SIZE), deviceThermalStatePoolId(
-//				thermalStatePoolId), deviceThermalRequestPoolId(
-//				thermalRequestPoolId), healthHelper(this, setObjectId), modeHelper(
-//				this), parameterHelper(this), childTransitionFailure(RETURN_OK), ignoreMissedRepliesCount(
-//				0), fdirInstance(fdirInstance), defaultFDIRUsed(
-//				fdirInstance == NULL), switchOffWasReported(false), actionHelper(
-//				this, &commandQueue), cookieInfo(), ioBoardAddress(
-//>>>>>>> makefile
+				fdirInstance == NULL), switchOffWasReported(false),executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(
 				ioBoardAddress), timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(
 				_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(
 				setDeviceSwitch) {
@@ -636,7 +624,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	if (result != RETURN_OK) {
 		return result;
 	}
-	result = actionHelper.initialize();
+	result = actionHelper.initialize(commandQueue);
 	if (result != RETURN_OK) {
 		return result;
 	}
@@ -1021,10 +1009,6 @@ ReturnValue_t DeviceHandlerBase::acceptExternalDeviceCommands() {
 	return RETURN_OK;
 }
 
-void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* interface) {
-	executingTask = interface;
-}
-
 void DeviceHandlerBase::replyRawReplyIfnotWiretapped(const uint8_t* data,
 		size_t len) {
 	if ((wiretappingMode == RAW)
@@ -1281,3 +1265,7 @@ bool DeviceHandlerBase::commandIsExecuting(DeviceCommandId_t commandId) {
 
 void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
+
+void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
+			executingTask = task_;
+}

devicehandlers/DeviceHandlerBase.h

@@ -92,8 +92,13 @@ public:
 	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 			ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex);
-
-	void setTaskIF(PeriodicTaskIF* interface);
+	/**
+	 * Implementation of ExecutableObjectIF function
+	 *
+	 * Used to setup the reference of the task, that executes this component
+	 * @param task_ Pointer to the taskIF of this task
+	 */
+	virtual  void setTaskIF(PeriodicTaskIF* task_);
 protected:
 	/**
 	 * The Returnvalues id of this class, required by HasReturnvaluesIF
@@ -248,13 +253,13 @@ protected:
 
 	bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
 
+	PeriodicTaskIF* executingTask;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
+
 	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
 
 	static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
 
 	static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
-
-	PeriodicTaskIF* executingTask;
 	/**
 	 * Helper function to report a missed reply
 	 *
@@ -787,7 +792,6 @@ protected:
 	DeviceCommandMap deviceCommandMap;
 
 	ActionHelper actionHelper;
-
 private:
 
 	/**

devicehandlers/FixedSlotSequence.cpp

@@ -17,7 +17,6 @@ FixedSlotSequence::~FixedSlotSequence() {
 }
 
 void FixedSlotSequence::executeAndAdvance() {
-//	(*this->current)->print();
 	(*this->current)->handler->performOperation((*this->current)->opcode);
 //	if (returnValue != RETURN_OK) {
 //		this->sendErrorMessage( returnValue );

events/EventManager.h

@@ -34,7 +34,6 @@ public:
 			object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
 			bool reporterInverted = false);
 	ReturnValue_t performOperation(uint8_t opCode);
-
 protected:
 
 	MessageQueueIF* eventReportQueue;

framework.mk

@@ -39,10 +39,7 @@ endif
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/power/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/returnvalues/*.cpp)
-
-# easier without it for now
-#CXXSRC += $(wildcard $(FRAMEWORK_PATH)/rmap/*.cpp)
-
+CXXSRC += $(wildcard $(FRAMEWORK_PATH)/rmap/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serialize/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/serviceinterface/*.cpp)
 CXXSRC += $(wildcard $(FRAMEWORK_PATH)/storagemanager/*.cpp)

globalfunctions/conversion.cpp

@@ -1,5 +1,4 @@
 #include <framework/globalfunctions/conversion.h>
-//TODO REMOVE. Needed because of BYTE_ORDER
 #include <framework/osal/Endiness.h>
 #include <cstring>
 
@@ -59,9 +58,9 @@ void convertToByteStream( int32_t value, uint8_t* buffer, uint32_t* size ) {
 //}
 
 void convertToByteStream( float in_value, uint8_t* buffer, uint32_t* size ) {
-#ifndef BYTE_ORDER
-	#error BYTE_ORDER not defined
-#elif BYTE_ORDER == LITTLE_ENDIAN
+#ifndef BYTE_ORDER_SYSTEM
+	#error BYTE_ORDER_SYSTEM not defined
+#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 	union float_union {
 		float value;
 		uint8_t chars[4];
@@ -73,16 +72,16 @@ void convertToByteStream( float in_value, uint8_t* buffer, uint32_t* size ) {
 	buffer[2] = temp.chars[1];
 	buffer[3] = temp.chars[0];
 	*size += 4;
-#elif BYTE_ORDER == BIG_ENDIAN
+#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 	memcpy(buffer, &in_value, sizeof(in_value));
 	*size += sizeof(in_value);
 #endif
 }
 
 void convertToByteStream( double in_value, uint8_t* buffer, uint32_t* size ) {
-#ifndef BYTE_ORDER
-	#error Endianess not defined
-#elif BYTE_ORDER == LITTLE_ENDIAN
+#ifndef BYTE_ORDER_SYSTEM
+	#error BYTE_ORDER_SYSTEM not defined
+#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 	union double_union {
 		double value;
 		uint8_t chars[8];
@@ -98,7 +97,7 @@ void convertToByteStream( double in_value, uint8_t* buffer, uint32_t* size ) {
 	buffer[6] = temp.chars[1];
 	buffer[7] = temp.chars[0];
 	*size += 8;
-#elif BYTE_ORDER == BIG_ENDIAN
+#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 	memcpy(buffer, &in_value, sizeof(in_value));
 	*size += sizeof(in_value);
 #endif

internalError/InternalErrorReporter.h

@@ -22,7 +22,6 @@ public:
 	virtual void lostTm();
 
 	virtual void storeFull();
-
 protected:
 	MutexIF* mutex;
 

ipc/MessageQueueIF.h

@@ -5,11 +5,22 @@
 
 #include <framework/ipc/MessageQueueMessage.h>
 #include <framework/ipc/MessageQueueSenderIF.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 class MessageQueueIF {
 public:
 
 	static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
 
+	static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
+	/**
+	 * No new messages on the queue
+	 */
+	static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
+	/**
+	 * No space left for more messages
+	 */
+	static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
+
 	virtual ~MessageQueueIF() {}
 	/**
 	 * @brief	This operation sends a message to the last communication partner.
@@ -65,16 +76,32 @@ public:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full (if implemented).
 	 */
-	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
+	/**
+		 * @brief	This operation sends a message to the given destination.
+		 * @details	It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
+		 * 			queue id as "sentFrom" parameter.
+		 * @param sendTo	This parameter specifies the message queue id of the destination message queue.
+		 * @param message	A pointer to a previously created message, which is sent.
+		 * @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
+		 */
+	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
 
 	/**
-	 * \brief	The sendToDefault method sends a queue message to the default destination.
+	 * \brief	The sendToDefaultFrom method sends a queue message to the default destination.
 	 * \details	In all other aspects, it works identical to the sendMessage method.
 	 * \param message	This is a pointer to a previously created message, which is sent.
 	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
 	 * 					This variable is set to zero by default.
 	 */
-	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false ) = 0;
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
+	/**
+	 * @brief	This operation sends a message to the default destination.
+	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
+	 * 			Implementation class and adds its queue id as "sentFrom" information.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message )  = 0;
 	/**
 	 * \brief	This method is a simple setter for the default destination.
 	 */

ipc/MutexHelper.h

@@ -0,0 +1,24 @@
+#ifndef FRAMEWORK_IPC_MUTEXHELPER_H_
+#define FRAMEWORK_IPC_MUTEXHELPER_H_
+
+#include <framework/ipc/MutexFactory.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+class MutexHelper {
+public:
+	MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
+			internalMutex(mutex) {
+		ReturnValue_t status = mutex->lockMutex(timeoutMs);
+		if(status != HasReturnvaluesIF::RETURN_OK){
+			error << "MutexHelper: Lock of Mutex failed " << status << std::endl;
+		}
+	}
+
+
+	~MutexHelper() {
+		internalMutex->unlockMutex();
+	}
+private:
+	MutexIF* internalMutex;
+};
+#endif /* FRAMEWORK_IPC_MUTEXHELPER_H_ */

ipc/MutexIF.h

@@ -6,6 +6,57 @@
 class MutexIF {
 public:
 	static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
+	/**
+	 * The system lacked the necessary resources (other than memory) to initialize another mutex.
+	 */
+	static const ReturnValue_t NOT_ENOUGH_RESOURCES = MAKE_RETURN_CODE(1);
+	/**
+	 * Insufficient memory to create or init Mutex
+	 */
+	static const ReturnValue_t INSUFFICIENT_MEMORY = MAKE_RETURN_CODE(2);
+	/**
+	 * Caller does not have enough or right privilege
+	 */
+	static const ReturnValue_t NO_PRIVILEGE =  MAKE_RETURN_CODE(3);
+	/**
+	 * Wrong Attribute Setting
+	 */
+	static const ReturnValue_t WRONG_ATTRIBUTE_SETTING = MAKE_RETURN_CODE(4);
+	/**
+	 * The mutex is already locked
+	 */
+	static const ReturnValue_t MUTEX_ALREADY_LOCKED = MAKE_RETURN_CODE(5);
+	/**
+	 * Mutex object not found
+	 */
+	static const ReturnValue_t MUTEX_NOT_FOUND = MAKE_RETURN_CODE(6);
+	/**
+	 * Mutex could not be locked because max amount of recursive locks
+	 */
+	static const ReturnValue_t MUTEX_MAX_LOCKS = MAKE_RETURN_CODE(7);
+	/**
+	 * The current thread already owns this mutex
+	 */
+	static const ReturnValue_t CURR_THREAD_ALREADY_OWNS_MUTEX = MAKE_RETURN_CODE(8);
+	/**
+	 * Current thread does not own this mutex
+	 */
+	static const ReturnValue_t CURR_THREAD_DOES_NOT_OWN_MUTEX = MAKE_RETURN_CODE(9);
+	/**
+	 * The Mutex could not be blocked before timeout
+	 */
+	static const ReturnValue_t MUTEX_TIMEOUT = MAKE_RETURN_CODE(10);
+	/**
+	 * Invalid Mutex ID
+	 */
+	static const ReturnValue_t MUTEX_INVALID_ID = MAKE_RETURN_CODE(11);
+	/**
+	 * Mutex destroyed while waiting
+	 */
+	static const ReturnValue_t MUTEX_DESTROYED_WHILE_WAITING = MAKE_RETURN_CODE(12);
+
 	virtual ~MutexIF() {}
 	virtual ReturnValue_t lockMutex(uint32_t timeoutMs) = 0;
 	virtual ReturnValue_t unlockMutex() = 0;

memory/LocalMemory.cpp

@@ -8,7 +8,7 @@
 
 LocalMemory::LocalMemory(object_id_t setObjectId) :
 		SystemObject(setObjectId), commandQueue(NULL), memoryHelper(this,
-				commandQueue) {
+				NULL) {
 	commandQueue = QueueFactory::instance()->createMessageQueue();
 }
 
@@ -52,7 +52,7 @@ ReturnValue_t LocalMemory::handleMemoryDump(uint32_t address, uint32_t size,
 }
 
 ReturnValue_t LocalMemory::initialize() {
-	return memoryHelper.initialize();
+	return memoryHelper.initialize(commandQueue);
 }
 
 MessageQueueId_t LocalMemory::getCommandQueue() const {

memory/MemoryHelper.cpp

@@ -183,3 +183,13 @@ void MemoryHelper::handleMemoryCheckOrDump(CommandMessage* message) {
 		queueToUse->sendMessage(lastSender, &reply);
 	}
 }
+
+ReturnValue_t MemoryHelper::initialize(MessageQueueIF* queueToUse_) {
+	if(queueToUse_!=NULL){
+		this->queueToUse = queueToUse_;
+	}else{
+		return MessageQueueIF::NO_QUEUE;
+	}
+
+	return initialize();
+}

memory/MemoryHelper.h

@@ -24,12 +24,13 @@ private:
 	bool busy;
 	void handleMemoryLoad(CommandMessage* message);
 	void handleMemoryCheckOrDump(CommandMessage* message);
+	ReturnValue_t initialize();
 public:
 	ReturnValue_t handleMemoryCommand(CommandMessage* message);
 	void completeLoad( ReturnValue_t errorCode, const uint8_t* dataToCopy = NULL, const uint32_t size = 0, uint8_t* copyHere = NULL );
 	void completeDump(  ReturnValue_t errorCode, const uint8_t* dataToCopy = NULL, const uint32_t size = 0);
 	void swapMatrixCopy( uint8_t *out, const uint8_t *in, uint32_t totalSize, uint8_t datatypeSize);
-	ReturnValue_t initialize();
+	ReturnValue_t initialize(MessageQueueIF* queueToUse_);
 	MemoryHelper( HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue );
 	~MemoryHelper();
 };

monitoring/TwoValueLimitMonitor.h

@@ -19,11 +19,11 @@ public:
 	}
 	ReturnValue_t doCheck(T lowSample, T highSample) {
 		T crossedLimit;
-		ReturnValue_t currentState = checkSample(lowSample, &crossedLimit);
+		ReturnValue_t currentState = this->checkSample(lowSample, &crossedLimit);
 		if (currentState != HasReturnvaluesIF::RETURN_OK) {
 			return this->monitorStateIs(currentState, lowSample, crossedLimit);
 		}
-		currentState = checkSample(highSample, &crossedLimit);
+		currentState = this->checkSample(highSample, &crossedLimit);
 		return this->monitorStateIs(currentState, highSample, crossedLimit);
 	}
 protected:

osal/Endiness.h

@@ -12,16 +12,19 @@
 #define LITTLE_ENDIAN	1234
 #endif
 
-
 // This is a GCC C extension
-#ifndef BYTE_ORDER
+#ifndef BYTE_ORDER_SYSTEM
+#ifdef __BYTE_ORDER__
 #if __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
-#define BYTE_ORDER BIG_ENDIAN
+#define BYTE_ORDER_SYSTEM LITTLE_ENDIAN
 #elif __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
-#define BYTE_ORDER LITTLE_ENDIAN
+#define BYTE_ORDER_SYSTEM BIG_ENDIAN
 #else
 #error "Can't decide which end is which!"
 #endif
+#else
+#error __BYTE_ORDER__ not defined
+#endif
 #endif
 
 

osal/FreeRTOS/MessageQueue.cpp

@@ -21,16 +21,16 @@ MessageQueue::~MessageQueue() {
 
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
 		MessageQueueMessage* message, bool ignoreFault) {
-	return sendMessage(sendTo, message, this->getId(), ignoreFault);
+	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
 }
 
 ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
-	return sendToDefault(message, this->getId());
+	return sendToDefaultFrom(message, this->getId());
 }
 
 ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
 	if (this->lastPartner != 0) {
-		return sendMessage(this->lastPartner, message, this->getId());
+		return sendMessageFrom(this->lastPartner, message, this->getId());
 	} else {
 		//TODO: Good returnCode
 		return HasReturnvaluesIF::RETURN_FAILED;
@@ -49,8 +49,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 	if (result == pdPASS){
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		//TODO Queue Empty
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MessageQueueIF::EMPTY;
 	}
 }
 
@@ -73,7 +72,7 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
 	this->defaultDestination = defaultDestination;
 }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 		MessageQueueMessage* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 	message->setSender(sentFrom);
@@ -83,15 +82,14 @@ ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
 		if (!ignoreFault) {
 			//TODO errr reporter
 		}
-		//TODO queue is full
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MessageQueueIF::FULL;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message,
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
-	return 0;
+	return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
 }
 
 MessageQueueId_t MessageQueue::getDefaultDestination() const {

osal/FreeRTOS/MessageQueue.h

@@ -117,7 +117,7 @@ public:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
-	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	The sendToDefault method sends a queue message to the default destination.
 	 * \details	In all other aspects, it works identical to the sendMessage method.
@@ -125,7 +125,7 @@ public:
 	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
 	 * 					This variable is set to zero by default.
 	 */
-	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	This method is a simple setter for the default destination.
 	 */

osal/FreeRTOS/main.cpp

@@ -1,31 +1,32 @@
 //entry point into "bsp"
-void init(void);
-
-#include <FreeRTOS.h>
-#include <FreeRTOSConfig.h>
-#include "task.h"
-
-
-void initTask(void *parameters) {
-	init();
-}
-
-int main(void) {
-
-	if ( pdPASS
-			!= xTaskCreate(initTask, "init", 512, NULL,
-					configMAX_PRIORITIES - 1, NULL)) {
-		//print_uart0("Could not create task1\r\n");
-	}
-
-	vTaskStartScheduler();
-
-	//Scheduler should never return
-
-	//print_uart0("This is bad\n");
-
-	for (;;)
-		;
-
-	return 0;
-}
+//TODO This can be done mission dependent and some low level calls before vTaskStartScheduler might be important
+//void init(void);
+//
+//#include <FreeRTOS.h>
+//#include <FreeRTOSConfig.h>
+//#include "task.h"
+//
+//
+//void initTask(void *parameters) {
+//	init();
+//}
+//
+//int main(void) {
+//
+//	if ( pdPASS
+//			!= xTaskCreate(initTask, "init", 512, NULL,
+//					configMAX_PRIORITIES - 1, NULL)) {
+//		//print_uart0("Could not create task1\r\n");
+//	}
+//
+//	vTaskStartScheduler();
+//
+//	//Scheduler should never return
+//
+//	//print_uart0("This is bad\n");
+//
+//	for (;;)
+//		;
+//
+//	return 0;
+//}

osal/OperatingSystemIF.h

@@ -1,144 +0,0 @@
-#ifndef FRAMEWORK_OSAL_OPERATINGSYSTEMIF_H_
-#define FRAMEWORK_OSAL_OPERATINGSYSTEMIF_H_
-
-#include <framework/returnvalues/HasReturnvaluesIF.h>
-
-class OperatingSystemIF {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::OPERATING_SYSTEM_ABSTRACTION;
-
-	//API Status codes, must be implemented by the Operating System (TODO comments based on rtems status.h):
-
-	/**
-	 *  This is the status to indicate successful completion.
-	*/
-	static const ReturnValue_t SUCCESSFUL = MAKE_RETURN_CODE(0);
-	  /**
-	   *  This is the status to indicate that a thread exited.
-	   */
-	static const ReturnValue_t TASK_EXITTED = MAKE_RETURN_CODE(1);
-	  /**
-	   *  This is the status to indicate multiprocessing is not configured.
-	   */
-	static const ReturnValue_t MP_NOT_CONFIGURED = MAKE_RETURN_CODE(2);
-	  /**
-	   *  This is the status to indicate that the object name was invalid.
-	   */
-	static const ReturnValue_t INVALID_NAME = MAKE_RETURN_CODE(3);
-	  /**
-	   *  This is the status to indicate that the object Id was invalid.
-	   */
-	static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(4);
-	  /**
-	   *  This is the status to indicate you have attempted to create too many
-	   *  instances of a particular object class.
-	   *
-	   *  Used for full messages Queues as well
-	   */
-	static const ReturnValue_t TOO_MANY = MAKE_RETURN_CODE(5);
-	  /**
-	   *  This is the status to indicate that a blocking directive timed out.
-	   */
-	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(6);
-	  /**
-	   *  This is the status to indicate the the object was deleted
-	   *  while the task was blocked waiting.
-	   */
-	static const ReturnValue_t OBJECT_WAS_DELETED = MAKE_RETURN_CODE(7);
-	  /**
-	   *  This is the status to indicate that the specified size was invalid.
-	   */
-	static const ReturnValue_t INVALID_SIZE = MAKE_RETURN_CODE(8);
-	  /**
-	   *  This is the status to indicate that the specified address is invalid.
-	   */
-	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(9);
-	  /**
-	   *  This is the status to indicate that the specified number was invalid.
-	   */
-	static const ReturnValue_t INVALID_NUMBER = MAKE_RETURN_CODE(10);
-	  /**
-	   *  This is the status to indicate that the item has not been initialized.
-	   */
-	static const ReturnValue_t NOT_DEFINED =MAKE_RETURN_CODE(11);
-	  /**
-	   *  This is the status to indicate that the object still has
-	   *  resources in use.
-	   */
-	static const ReturnValue_t RESOURCE_IN_USE =MAKE_RETURN_CODE(12);
-	  /**
-	   *  This is the status to indicate that the request was not satisfied.
-	   */
-	static const ReturnValue_t UNSATISFIED =MAKE_RETURN_CODE(13);
-	/**
-	 * Indicates that a Message Queue is empty (unable to allocate it)
-	 */
-	static const ReturnValue_t QUEUE_EMPTY =MAKE_RETURN_CODE(14);
-	  /**
-	   *  This is the status to indicate that a thread is in wrong state
-	   *  was in the wrong execution state for the requested operation.
-	   */
-	static const ReturnValue_t INCORRECT_STATE =MAKE_RETURN_CODE(15);
-	  /**
-	   *  This is the status to indicate thread was already suspended.
-	   */
-	static const ReturnValue_t ALREADY_SUSPENDED = MAKE_RETURN_CODE(16);
-	  /**
-	   *  This is the status to indicate that the operation is illegal
-	   *  on calling thread.
-	   */
-	static const ReturnValue_t ILLEGAL_ON_SELF =MAKE_RETURN_CODE(17);
-	  /**
-	   *  This is the status to indicate illegal for remote object.
-	   */
-	static const ReturnValue_t ILLEGAL_ON_REMOTE_OBJECT=MAKE_RETURN_CODE(18);
-	  /**
-	   *  This is the status to indicate that the operation should not be
-	   *  called from from this excecution environment.
-	   */
-	static const ReturnValue_t CALLED_FROM_ISR=MAKE_RETURN_CODE(19);
-	  /**
-	   *  This is the status to indicate that an invalid thread priority
-	   *  was provided.
-	   */
-	static const ReturnValue_t INVALID_PRIORITY=MAKE_RETURN_CODE(20);
-	  /**
-	   *  This is the status to indicate that the specified date/time was invalid.
-	   */
-	static const ReturnValue_t INVALID_CLOCK=MAKE_RETURN_CODE(21);
-	  /**
-	   *  This is the status to indicate that the specified node Id was invalid.
-	   */
-	static const ReturnValue_t INVALID_NODE=MAKE_RETURN_CODE(22);
-	  /**
-	   *  This is the status to indicate that the directive was not configured.
-	   */
-	static const ReturnValue_t NOT_CONFIGURED=MAKE_RETURN_CODE(23);
-	  /**
-	   *  This is the status to indicate that the caller is not the
-	   *  owner of the resource.
-	   */
-	static const ReturnValue_t NOT_OWNER_OF_RESOURCE=MAKE_RETURN_CODE(24);
-	  /**
-	   *  This is the status to indicate the the directive or requested
-	   *  portion of the directive is not implemented.
-	   */
-	static const ReturnValue_t NOT_IMPLEMENTED=MAKE_RETURN_CODE(25);
-	  /**
-	   *  This is the status to indicate that an internal RTEMS inconsistency
-	   *  was detected.
-	   */
-	static const ReturnValue_t INTERNAL_ERROR=MAKE_RETURN_CODE(26);
-	  /**
-	   *  This is the status to indicate that the directive attempted to allocate
-	   *  memory but was unable to do so.
-	   */
-	static const ReturnValue_t NO_MEMORY=MAKE_RETURN_CODE(27);
-	  /**
-	   *  This is the status to indicate an driver IO error.
-	   */
-	static const ReturnValue_t IO_ERROR=MAKE_RETURN_CODE(28);
-
-	virtual ~OperatingSystemIF() {};
-};
-#endif /* FRAMEWORK_OSAL_OPERATINGSYSTEMIF_H_ */

osal/linux/Clock.cpp

@@ -8,25 +8,21 @@
 #include <unistd.h>
 
 //#include <fstream>
-
+uint16_t Clock::leapSeconds = 0;
+MutexIF* Clock::timeMutex = NULL;
 
 uint32_t Clock::getTicksPerSecond(void){
-	//TODO This function returns the ticks per second for thread ticks not clock ticks
-//	timespec ticks;
-//	int status = clock_getres(CLOCK_REALTIME,&ticks);
-//
-//	if(status!=0){
-//		//TODO errno
-//		return 0xFFFFFFFF;
-//	}
-//	uint32_t resolution = 1e9 / ticks.tv_nsec;
-	uint32_t resolution = sysconf(_SC_CLK_TCK);
-	return resolution;
+	uint32_t ticks = sysconf(_SC_CLK_TCK);
+	return ticks;
 }
 
 ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-	//TODO timeOfDay conversion
 	timespec timeUnix;
+	timeval timeTimeval;
+	convertTimeOfDayToTimeval(time,&timeTimeval);
+	timeUnix.tv_sec = timeTimeval.tv_sec;
+	timeUnix.tv_nsec = (__syscall_slong_t) timeTimeval.tv_usec * 1000;
+
 	int status = clock_settime(CLOCK_REALTIME,&timeUnix);
 	if(status!=0){
 		//TODO errno
@@ -109,14 +105,6 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 		//TODO errno
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	timespec ticks;
-	status = clock_getres(CLOCK_REALTIME,&ticks);
-	if(status!=0){
-		//TODO errno
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	uint32_t resolution = 1e9 / ticks.tv_nsec;
-
 
 	struct tm* timeInfo;
 	timeInfo = gmtime(&timeUnix.tv_sec);
@@ -126,7 +114,7 @@ ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 	time->hour = timeInfo->tm_hour;
 	time->minute = timeInfo->tm_min;
 	time->second = timeInfo->tm_sec;
-	time->ticks = (timeUnix.tv_nsec / (double) 1e9) * resolution;
+	time->usecond = timeUnix.tv_nsec / 1000.0;
 
 	return HasReturnvaluesIF::RETURN_OK;
 }
@@ -143,34 +131,81 @@ ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
 	fromTm.tm_min = from->minute;
 	fromTm.tm_sec = from->second;
 
-	timespec ticks;
-	uint32_t status = clock_getres(CLOCK_REALTIME,&ticks);
-	if(status!=0){
-		//TODO errno
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	uint32_t resolution = 1e9 / ticks.tv_nsec;
-
 	to->tv_sec = mktime(&fromTm);
-	to->tv_usec = (from->ticks /(double) resolution) * 1e6;
-
-
-
+	to->tv_usec = from->usecond;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::convertTimevalToJD2000(timeval time, double* JD2000) {
-	return HasReturnvaluesIF::RETURN_FAILED;
+	*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==NULL){
 		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==NULL){
+		MutexFactory* mutexFactory = MutexFactory::instance();
+		if (mutexFactory == NULL) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		timeMutex = mutexFactory->createMutex();
+		if (timeMutex == NULL) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}

osal/linux/FixedTimeslotTask.cpp

@@ -0,0 +1,89 @@
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <unistd.h>
+#include <limits.h>
+#include <signal.h>
+#include <errno.h>
+#include <framework/osal/linux/FixedTimeslotTask.h>
+
+
+uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = PTHREAD_STACK_MIN;
+
+FixedTimeslotTask::FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_):PosixThread(name_,priority_,stackSize_),pst(periodMs_),started(false) {
+}
+
+FixedTimeslotTask::~FixedTimeslotTask() {
+
+}
+
+void* FixedTimeslotTask::taskEntryPoint(void* arg) {
+	//The argument is re-interpreted as PollingTask.
+	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(arg));
+	//The task's functionality is called.
+	originalTask->taskFunctionality();
+	return NULL;
+}
+
+ReturnValue_t FixedTimeslotTask::startTask() {
+	started = true;
+	createTask(&taskEntryPoint,this);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
+	return PosixThread::sleep((uint64_t)ms*1000000);
+}
+
+uint32_t FixedTimeslotTask::getPeriodMs() const {
+	return pst.getLengthMs();
+}
+
+ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
+		uint32_t slotTimeMs, int8_t executionStep) {
+	pst.addSlot(componentId, slotTimeMs, executionStep, this);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t FixedTimeslotTask::checkSequence() const {
+	return pst.checkSequence();
+}
+
+void FixedTimeslotTask::taskFunctionality() {
+	//Like FreeRTOS pthreads are running as soon as they are created
+	if (!started) {
+		suspend();
+	}
+	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
+	std::list<FixedSequenceSlot*>::iterator it = pst.current;
+
+	//The start time for the first entry is read.
+	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+	uint64_t interval = pst.getIntervalToNextSlotMs();
+
+
+	//The task's "infinite" inner loop is entered.
+	while (1) {
+		if (pst.slotFollowsImmediately()) {
+			//Do nothing
+		} else {
+			//The interval for the next polling slot is selected.
+			interval = this->pst.getIntervalToPreviousSlotMs();
+			//The period is checked and restarted with the new interval.
+			//If the deadline was missed, the deadlineMissedFunc is called.
+			if(!PosixThread::delayUntil(&lastWakeTime,interval)) {
+				//No time left on timer -> we missed the deadline
+				missedDeadlineCounter();
+			}
+		}
+		//The device handler for this slot is executed and the next one is chosen.
+		this->pst.executeAndAdvance();
+	}
+}
+
+void FixedTimeslotTask::missedDeadlineCounter() {
+	FixedTimeslotTask::deadlineMissedCount++;
+	if (FixedTimeslotTask::deadlineMissedCount % 10 == 0) {
+		error << "PST missed " << FixedTimeslotTask::deadlineMissedCount
+				<< " deadlines." << std::endl;
+	}
+}

osal/linux/FixedTimeslotTask.h

@@ -0,0 +1,58 @@
+#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
+
+#include <framework/tasks/FixedTimeslotTaskIF.h>
+#include <framework/devicehandlers/FixedSlotSequence.h>
+#include <framework/osal/linux/PosixThread.h>
+#include <pthread.h>
+
+class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
+public:
+	FixedTimeslotTask(const char* name_, int priority_, size_t stackSize_, uint32_t periodMs_);
+	virtual ~FixedTimeslotTask();
+
+	virtual ReturnValue_t startTask();
+
+	virtual ReturnValue_t sleepFor(uint32_t ms);
+
+	virtual uint32_t getPeriodMs() const;
+
+	virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep);
+	virtual ReturnValue_t checkSequence() const;
+
+	/**
+	 * This static function can be used as #deadlineMissedFunc.
+	 * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
+	 */
+	static void missedDeadlineCounter();
+
+	/**
+	 * A helper variable to count missed deadlines.
+	 */
+	static uint32_t deadlineMissedCount;
+
+protected:
+	/**
+	 * @brief	This function holds the main functionality of the thread.
+	 *
+	 *
+	 * @details	Holding the main functionality of the task, this method is most important.
+	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
+	 * 			to keep the timing of the periods.
+	 */
+	virtual void taskFunctionality();
+
+private:
+	/**
+	 * @brief	This is the entry point in a new thread.
+	 *
+	 * @details	This method, that is the entry point in the new thread and calls taskFunctionality of the child class.
+	 * 			Needs a valid pointer to the derived class.
+	 */
+	static void* taskEntryPoint(void* arg);
+	FixedSlotSequence pst;
+
+	bool started;
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

osal/linux/InternalErrorCodes.cpp

@@ -0,0 +1,14 @@
+#include <framework/osal/InternalErrorCodes.h>
+
+ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
+	//TODO This class can be removed
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+InternalErrorCodes::InternalErrorCodes() {
+}
+
+InternalErrorCodes::~InternalErrorCodes() {
+	
+}
+

osal/linux/MessageQueue.cpp

@@ -0,0 +1,258 @@
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <fcntl.h>           /* For O_* constants */
+#include <sys/stat.h>        /* For mode constants */
+#include <mqueue.h>
+#include <cstring>
+#include <errno.h>
+#include <framework/osal/linux/MessageQueue.h>
+
+
+MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
+		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(
+		NULL) {
+	//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
+	mq_attr attributes;
+	this->id = 0;
+	//Set attributes
+	attributes.mq_curmsgs = 0;
+	attributes.mq_maxmsg = message_depth;
+	attributes.mq_msgsize = max_message_size;
+	attributes.mq_flags = 0; //Flags are ignored on Linux during mq_open
+
+	//Set the name of the queue
+	sprintf(name, "/Q%u\n", queueCounter++);
+
+	//Create a nonblocking queue if the name is available (the queue is Read and writable for the owner as well as the group)
+	mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
+	S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP | S_IROTH | S_IWOTH, &attributes);
+	if (tempId == -1) {
+		//An error occured during open
+		//We need to distinguish if it is caused by an already created queue
+		if (errno == EEXIST) {
+			//There's another queue with the same name
+			//We unlink the other queue
+			int status = mq_unlink(name);
+			if (status != 0) {
+				error << "mq_unlink Failed with status: " << strerror(errno)
+						<< std::endl;
+			} else {
+				//Successful unlinking, try to open again
+				mqd_t tempId = mq_open(name,
+				O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
+				S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, &attributes);
+				if (tempId != -1) {
+					//Successful mq_open
+					this->id = tempId;
+					return;
+				}
+			}
+		}
+		//Failed either the first time or the second time
+		error << "MessageQueue::MessageQueue: Creating Queue " << std::hex
+				<< name << std::dec << " failed with status: "
+				<< strerror(errno) << std::endl;
+	} else {
+		//Successful mq_open call
+		this->id = tempId;
+	}
+}
+
+MessageQueue::~MessageQueue() {
+	int status = mq_close(this->id);
+	if(status != 0){
+		error << "MessageQueue::Destructor: mq_close Failed with status: " << strerror(errno) <<std::endl;
+	}
+	status = mq_unlink(name);
+	if(status != 0){
+		error << "MessageQueue::Destructor: mq_unlink Failed with status: " << strerror(errno) <<std::endl;
+	}
+}
+
+ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
+		MessageQueueMessage* message, bool ignoreFault) {
+	return sendMessageFrom(sendTo, message, this->getId(), false);
+}
+
+ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
+	return sendToDefaultFrom(message, this->getId());
+}
+
+ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
+	if (this->lastPartner != 0) {
+		return sendMessageFrom(this->lastPartner, message, this->getId());
+	} else {
+		//TODO: Good returnCode
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
+		MessageQueueId_t* receivedFrom) {
+	ReturnValue_t status = this->receiveMessage(message);
+	*receivedFrom = this->lastPartner;
+	return status;
+}
+
+ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
+	unsigned int messagePriority = 0;
+	int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),message->MAX_MESSAGE_SIZE,&messagePriority);
+	if (status > 0) {
+		this->lastPartner = message->getSender();
+		//Check size of incoming message.
+		if (message->messageSize < message->getMinimumMessageSize()) {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		return HasReturnvaluesIF::RETURN_OK;
+	}else if(status==0){
+		//Success but no message received
+		return MessageQueueIF::EMPTY;
+	} else {
+		//No message was received. Keep lastPartner anyway, I might send something later.
+		//But still, delete packet content.
+		memset(message->getData(), 0, message->MAX_DATA_SIZE);
+		switch(errno){
+		case EAGAIN:
+			//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages currently on the specified queue.
+			return MessageQueueIF::EMPTY;
+		case EBADF:
+			//mqdes doesn't represent a valid queue open for reading.
+			error << "MessageQueue::receive: configuration error " << strerror(errno)  << std::endl;
+			/*NO BREAK*/
+		case EINVAL:
+			/*
+			 * This value indicates one of the following:
+			 * * The pointer to the buffer for storing the received message, msg_ptr, is NULL.
+			 * * The number of bytes requested, msg_len is less than zero.
+			 * * msg_len is anything other than the mq_msgsize of the specified queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't been set in the queue's mq_flags.
+			 */
+			error << "MessageQueue::receive: configuration error " << strerror(errno)  << std::endl;
+			/*NO BREAK*/
+		case EMSGSIZE:
+			/*
+			 * This value indicates one of the following:
+			 * * the QNX extended option MQ_READBUF_DYNAMIC hasn't been set, and the given msg_len is shorter than the mq_msgsize for the given queue.
+			 * * the extended option MQ_READBUF_DYNAMIC has been set, but the given msg_len is too short for the message that would have been received.
+			 */
+			error << "MessageQueue::receive: configuration error " << strerror(errno)  << std::endl;
+			/*NO BREAK*/
+		case EINTR:
+			//The operation was interrupted by a signal.
+		default:
+
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+
+	}
+}
+
+MessageQueueId_t MessageQueue::getLastPartner() const {
+	return this->lastPartner;
+}
+
+ReturnValue_t MessageQueue::flush(uint32_t* count) {
+	mq_attr attrib;
+	int status = mq_getattr(id,&attrib);
+	if(status != 0){
+		switch(errno){
+		case EBADF:
+			//mqdes doesn't represent a valid message queue.
+			error << "MessageQueue::flush configuration error, called flush with an invalid queue ID" << std::endl;
+			/*NO BREAK*/
+		case EINVAL:
+			//mq_attr is NULL
+		default:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	*count = attrib.mq_curmsgs;
+	attrib.mq_curmsgs = 0;
+	status = mq_setattr(id,&attrib,NULL);
+	if(status != 0){
+		switch(errno){
+		case EBADF:
+			//mqdes doesn't represent a valid message queue.
+			error << "MessageQueue::flush configuration error, called flush with an invalid queue ID" << std::endl;
+			/*NO BREAK*/
+		case EINVAL:
+			/*
+			 * This value indicates one of the following:
+			 * * mq_attr is NULL.
+			 * * MQ_MULT_NOTIFY had been set for this queue, and the given mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once MQ_MULT_NOTIFY has been turned on, it may never be turned off.
+			 *
+			 */
+		default:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueId_t MessageQueue::getId() const {
+	return this->id;
+}
+
+void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
+	this->defaultDestination = defaultDestination;
+}
+
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
+		MessageQueueMessage* message, MessageQueueId_t sentFrom,
+		bool ignoreFault) {
+
+	message->setSender(sentFrom);
+	int result = mq_send(sendTo,
+			reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
+
+	//TODO: Check if we're in ISR.
+	if (result != 0 && !ignoreFault) {
+		if (internalErrorReporter == NULL) {
+			internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+					objects::INTERNAL_ERROR_REPORTER);
+		}
+		if (internalErrorReporter != NULL) {
+			internalErrorReporter->queueMessageNotSent();
+		}
+		switch(errno){
+		case EAGAIN:
+			//The O_NONBLOCK flag was set when opening the queue, or the MQ_NONBLOCK flag was set in its attributes, and the specified queue is full.
+			return MessageQueueIF::FULL;
+		case EBADF:
+			//mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing.
+			error << "MessageQueue::sendMessage: Configuration error " << strerror(errno) << " in mq_send mqSendTo: " << sendTo << " sent from " << sentFrom << std::endl;
+			/*NO BREAK*/
+		case EINTR:
+			//The call was interrupted by a signal.
+		case EINVAL:
+			/*
+			 * This value indicates one of the following:
+			 * * msg_ptr is NULL.
+			 * * msg_len is negative.
+			 * * msg_prio is greater than MQ_PRIO_MAX.
+			 * * msg_prio is less than 0.
+			 * * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and msg_prio is greater than the priority of the calling process.
+			 * */
+			error << "MessageQueue::sendMessage: Configuration error " << strerror(errno) << " in mq_send" << std::endl;
+			/*NO BREAK*/
+		case EMSGSIZE:
+			//The msg_len is greater than the msgsize associated with the specified queue.
+		default:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
+		MessageQueueId_t sentFrom, bool ignoreFault) {
+	return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
+}
+
+MessageQueueId_t MessageQueue::getDefaultDestination() const {
+	return this->defaultDestination;
+}
+
+bool MessageQueue::isDefaultDestinationSet() const {
+	return (defaultDestination != NO_QUEUE);
+}
+
+uint16_t MessageQueue::queueCounter = 0;

osal/linux/MessageQueue.h

@@ -0,0 +1,169 @@
+#ifndef MESSAGEQUEUE_H_
+#define MESSAGEQUEUE_H_
+
+#include <framework/internalError/InternalErrorReporterIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+#include <framework/ipc/MessageQueueMessage.h>
+/**
+ *	@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.
+ *	\ingroup message_queue
+ */
+class MessageQueue : public MessageQueueIF {
+public:
+	/**
+	 * @brief	The constructor initializes and configures the message queue.
+	 * @details	By making use of the according operating system call, a message queue is created
+	 * 			and initialized. The message depth - the maximum number of messages to be
+	 * 			buffered - may be set with the help of a parameter, whereas the message size is
+	 * 			automatically set to the maximum message queue message size. The operating system
+	 * 			sets the message queue id, or i case of failure, it is set to zero.
+	 * @param message_depth	The number of messages to be buffered before passing an error to the
+	 * 						sender. Default is three.
+	 * @param max_message_size	With this parameter, the maximum message size can be adjusted.
+	 * 							This should be left default.
+	 */
+	MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
+	/**
+	 * @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.
+	 */
+	virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessage* message, bool ignoreFault = false );
+	/**
+	 * @brief	This operation sends a message to the default destination.
+	 * @details	As in the sendMessage method, this function uses the sendToDefault call of the
+	 * 			MessageQueueSender parent class and adds its queue id as "sentFrom" information.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message );
+	/**
+	 * @brief	This operation sends a message to the last communication partner.
+	 * @details	This operation simplifies answering an incoming message by using the stored
+	 * 			lastParnter information as destination. If there was no message received yet
+	 * 			(i.e. lastPartner is zero), an error code is returned.
+	 * @param message	A pointer to a previously created message, which is sent.
+	 */
+	ReturnValue_t reply( MessageQueueMessage* message );
+
+	/**
+	 * @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);
+
+	/**
+	 * @brief	This function reads available messages from the message queue.
+	 * @details	If data is available it is stored in the passed message pointer. The message's
+	 * 			original content is overwritten and the sendFrom information is stored in the
+	 * 			lastPartner attribute. Else, the lastPartner information remains untouched, the
+	 * 			message's content is cleared and the function returns immediately.
+	 * @param message	A pointer to a message in which the received data is stored.
+	 */
+	ReturnValue_t receiveMessage(MessageQueueMessage* message);
+	/**
+	 * Deletes all pending messages in the queue.
+	 * @param count The number of flushed messages.
+	 * @return RETURN_OK on success.
+	 */
+	ReturnValue_t flush(uint32_t* count);
+	/**
+	 * @brief	This method returns the message queue id of the last communication partner.
+	 */
+	MessageQueueId_t getLastPartner() const;
+	/**
+	 * @brief	This method returns the message queue id of this class's message queue.
+	 */
+	MessageQueueId_t getId() const;
+	/**
+	 * \brief	With the sendMessage call, a queue message is sent to a receiving queue.
+	 * \details	This method takes the message provided, adds the sentFrom information and passes
+	 * 			it on to the destination provided with an operating system call. The OS's return
+	 * 			value is returned.
+	 * \param sendTo	This parameter specifies the message queue id to send the message to.
+	 * \param message	This is a pointer to a previously created message, which is sent.
+	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
+	 * 					This variable is set to zero by default.
+	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
+	 */
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false );
+	/**
+	 * \brief	The sendToDefault method sends a queue message to the default destination.
+	 * \details	In all other aspects, it works identical to the sendMessage method.
+	 * \param message	This is a pointer to a previously created message, which is sent.
+	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
+	 * 					This variable is set to zero by default.
+	 */
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	/**
+	 * \brief	This method is a simple setter for the default destination.
+	 */
+	void setDefaultDestination(MessageQueueId_t defaultDestination);
+	/**
+	 * \brief	This method is a simple getter for the default destination.
+	 */
+	MessageQueueId_t getDefaultDestination() const;
+
+	bool isDefaultDestinationSet() const;
+private:
+	/**
+	 * @brief	The class stores the queue id it got assigned from the operating system in this attribute.
+	 * 			If initialization fails, the queue id is set to zero.
+	 */
+	MessageQueueId_t id;
+	/**
+	 * @brief	In this attribute, the queue id of the last communication partner is stored
+	 * 			to allow for replying.
+	 */
+	MessageQueueId_t lastPartner;
+	/**
+	 * @brief	The message queue's name -a user specific information for the operating system-  is
+	 * 			generated automatically with the help of this static counter.
+	 */
+	/**
+	 * \brief	This attribute stores a default destination to send messages to.
+	 * \details	It is stored to simplify sending to always-the-same receiver. The attribute may
+	 * 			be set in the constructor or by a setter call to setDefaultDestination.
+	 */
+	MessageQueueId_t defaultDestination;
+
+	/**
+	 * \brief	This attribute stores a reference to the internal error reporter for reporting full queues.
+	 * \details	In the event of a full destination queue, the reporter will be notified. The reference is set
+	 * 			by lazy loading
+	 */
+	InternalErrorReporterIF *internalErrorReporter;
+
+	/**
+	 * The name of the message queue, stored for unlinking
+	 */
+	char name[5];
+
+	static uint16_t queueCounter;
+};
+
+#endif /* MESSAGEQUEUE_H_ */

osal/linux/Mutex.cpp

@@ -0,0 +1,98 @@
+#include <framework/osal/linux/Mutex.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/timemanager/Clock.h>
+
+const uint32_t MutexIF::NO_TIMEOUT = 0;
+uint8_t Mutex::count = 0;
+
+
+#include <cstring>
+#include <errno.h>
+
+Mutex::Mutex() {
+	pthread_mutexattr_t mutexAttr;
+	int status = pthread_mutexattr_init(&mutexAttr);
+	if (status != 0) {
+		error << "Mutex: Attribute init failed with: " << strerror(status) << std::endl;
+	}
+	status = pthread_mutexattr_setprotocol(&mutexAttr, PTHREAD_PRIO_INHERIT);
+	if (status != 0) {
+		error << "Mutex: Attribute set PRIO_INHERIT failed with: " << strerror(status)
+				<< std::endl;
+	}
+	status = pthread_mutex_init(&mutex, &mutexAttr);
+	if (status != 0) {
+		error << "Mutex: creation with name, id " << mutex.__data.__count
+				<< ", " << " failed with " << strerror(status) << std::endl;
+	}
+	//After a mutex attributes object has been used to initialize one or more mutexes, any function affecting the attributes object (including destruction) shall not affect any previously initialized mutexes.
+	status = pthread_mutexattr_destroy(&mutexAttr);
+	if (status != 0) {
+		error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
+	}
+}
+
+Mutex::~Mutex() {
+	//No Status check yet
+	pthread_mutex_destroy(&mutex);
+}
+
+ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+	int status = 0;
+	if (timeoutMs != MutexIF::NO_TIMEOUT) {
+		timespec timeOut;
+		clock_gettime(CLOCK_REALTIME, &timeOut);
+		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
+		nseconds += timeoutMs * 1000000;
+		timeOut.tv_sec = nseconds / 1000000000;
+		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
+		status = pthread_mutex_timedlock(&mutex, &timeOut);
+	} else {
+		status = pthread_mutex_lock(&mutex);
+	}
+	switch (status) {
+	case EINVAL:
+		//The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling.
+		return WRONG_ATTRIBUTE_SETTING;
+		//The process or thread would have blocked, and the abs_timeout parameter specified a nanoseconds field value less than zero or greater than or equal to 1000 million.
+		//The value specified by mutex does not refer to an initialized mutex object.
+		//return MUTEX_NOT_FOUND;
+	case EBUSY:
+		//The mutex could not be acquired because it was already locked.
+		return MUTEX_ALREADY_LOCKED;
+	case ETIMEDOUT:
+		//The mutex could not be locked before the specified timeout expired.
+		return MUTEX_TIMEOUT;
+	case EAGAIN:
+		//The mutex could not be acquired because the maximum number of recursive locks for mutex has been exceeded.
+		return MUTEX_MAX_LOCKS;
+	case EDEADLK:
+		//A deadlock condition was detected or the current thread already owns the mutex.
+		return CURR_THREAD_ALREADY_OWNS_MUTEX;
+	case 0:
+		//Success
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	};
+}
+
+ReturnValue_t Mutex::unlockMutex() {
+	int status = pthread_mutex_unlock(&mutex);
+	switch (status) {
+	case EINVAL:
+		//The value specified by mutex does not refer to an initialized mutex object.
+		return MUTEX_NOT_FOUND;
+	case EAGAIN:
+		//The mutex could not be acquired because the maximum number of recursive locks for mutex has been exceeded.
+		return MUTEX_MAX_LOCKS;
+	case EPERM:
+		//The current thread does not own the mutex.
+		return CURR_THREAD_DOES_NOT_OWN_MUTEX;
+	case 0:
+		//Success
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	};
+}

osal/linux/Mutex.h

@@ -0,0 +1,18 @@
+#ifndef OS_RTEMS_MUTEX_H_
+#define OS_RTEMS_MUTEX_H_
+
+#include <framework/ipc/MutexIF.h>
+#include <pthread.h>
+
+class Mutex : public MutexIF {
+public:
+	Mutex();
+	virtual ~Mutex();
+	virtual ReturnValue_t lockMutex(uint32_t timeoutMs);
+	virtual ReturnValue_t unlockMutex();
+private:
+	pthread_mutex_t mutex;
+	static uint8_t count;
+};
+
+#endif /* OS_RTEMS_MUTEX_H_ */

osal/linux/MutexFactory.cpp

@@ -0,0 +1,23 @@
+#include <framework/ipc/MutexFactory.h>
+#include <framework/osal/linux/Mutex.h>
+
+//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
+MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
+
+MutexFactory::MutexFactory() {
+}
+
+MutexFactory::~MutexFactory() {
+}
+
+MutexFactory* MutexFactory::instance() {
+	return MutexFactory::factoryInstance;
+}
+
+MutexIF* MutexFactory::createMutex() {
+	return new Mutex();
+}
+
+void MutexFactory::deleteMutex(MutexIF* mutex) {
+	delete mutex;
+}

osal/linux/PeriodicPosixTask.cpp

@@ -0,0 +1,72 @@
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <errno.h>
+#include <framework/osal/linux/PeriodicPosixTask.h>
+
+PeriodicPosixTask::PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(deadlineMissedFunc_)()):PosixThread(name_,priority_,stackSize_),objectList(),started(false),periodMs(period_),deadlineMissedFunc(
+		deadlineMissedFunc_) {
+
+}
+
+PeriodicPosixTask::~PeriodicPosixTask() {
+	//Not Implemented
+}
+
+void* PeriodicPosixTask::taskEntryPoint(void* arg) {
+	//The argument is re-interpreted as PollingTask.
+	PeriodicPosixTask *originalTask(reinterpret_cast<PeriodicPosixTask*>(arg));
+	//The task's functionality is called.
+	originalTask->taskFunctionality();
+	return NULL;
+}
+
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
+	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
+			object);
+	if (newObject == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	objectList.push_back(newObject);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PeriodicPosixTask::sleepFor(uint32_t ms) {
+	return PosixThread::sleep((uint64_t)ms*1000000);
+}
+
+
+ReturnValue_t PeriodicPosixTask::startTask(void){
+	started = true;
+	createTask(&taskEntryPoint,this);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PeriodicPosixTask::taskFunctionality(void){
+	if(!started){
+		suspend();
+	}
+	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
+	//The task's "infinite" inner loop is entered.
+	while (1) {
+		for (ObjectList::iterator it = objectList.begin();
+				it != objectList.end(); ++it) {
+			(*it)->performOperation();
+		}
+		if(!PosixThread::delayUntil(&lastWakeTime,periodMs)){
+			char name[20] = {0};
+			int status = pthread_getname_np(pthread_self(),name,sizeof(name));
+			if(status==0){
+				error << "ObjectTask: " << name << " Deadline missed." << std::endl;
+			}else{
+				error << "ObjectTask: X Deadline missed. " << status << std::endl;
+			}
+			if (this->deadlineMissedFunc != NULL) {
+				this->deadlineMissedFunc();
+			}
+		}
+	}
+}
+
+uint32_t PeriodicPosixTask::getPeriodMs() const {
+	return periodMs;
+}

osal/linux/PeriodicPosixTask.h

@@ -0,0 +1,76 @@
+#ifndef FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
+#define FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_
+
+#include <framework/tasks/PeriodicTaskIF.h>
+#include <framework/objectmanager/ObjectManagerIF.h>
+#include <framework/osal/linux/PosixThread.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <vector>
+
+class PeriodicPosixTask: public PosixThread, public PeriodicTaskIF {
+public:
+	PeriodicPosixTask(const char* name_, int priority_, size_t stackSize_, uint32_t period_, void(*deadlineMissedFunc_)());
+	virtual ~PeriodicPosixTask();
+	/**
+	 * @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 RETURN_OK on success, 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);
+
+private:
+	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
+	/**
+	 * @brief	This attribute holds a list of objects to be executed.
+	 */
+	ObjectList objectList;
+
+	/**
+	 * @brief Flag to indicate that the task was started and is allowed to run
+	 */
+	bool started;
+
+
+	/**
+	 * @brief Period of the task in milliseconds
+	 */
+	uint32_t periodMs;
+	/**
+	 * @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 indefinitely. Within the loop, all performOperation methods of the added
+	 * 			objects are called. Afterwards the task will be blocked until the next period.
+	 * 			On missing the deadline, the deadlineMissedFunction is executed.
+	 */
+	virtual void taskFunctionality(void);
+	/**
+	 * @brief	This is the entry point in a new thread.
+	 *
+	 * @details	This method, that is the entry point in the new thread and calls taskFunctionality of the child class.
+	 * 			Needs a valid pointer to the derived class.
+	 */
+	static void* taskEntryPoint(void* arg);
+	/**
+	 * @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)();
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_PERIODICPOSIXTASK_H_ */

osal/linux/PosixThread.cpp

@@ -0,0 +1,188 @@
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <cstring>
+#include <errno.h>
+#include <framework/osal/linux/PosixThread.h>
+
+
+PosixThread::~PosixThread() {
+	//No deletion and no free of Stack Pointer
+}
+
+ReturnValue_t PosixThread::sleep(uint64_t ns) {
+	//TODO sleep might be better with timer instead of sleep()
+	timespec time;
+	time.tv_sec = ns/1000000000;
+	time.tv_nsec = ns - time.tv_sec*1e9;
+
+	//Remaining Time is not set here
+	int status = nanosleep(&time,NULL);
+	if(status != 0){
+		switch(errno){
+		case EINTR:
+			//The nanosleep() function was interrupted by a signal.
+			return HasReturnvaluesIF::RETURN_FAILED;
+		case EINVAL:
+			//The rqtp argument specified a nanosecond value less than zero or greater than or equal to 1000 million.
+			return HasReturnvaluesIF::RETURN_FAILED;
+		default:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void PosixThread::suspend() {
+	//Wait for SIGUSR1
+	int caughtSig = 0;
+	sigset_t waitSignal;
+	sigemptyset(&waitSignal);
+	sigaddset(&waitSignal, SIGUSR1);
+	sigwait(&waitSignal, &caughtSig);
+	if (caughtSig != SIGUSR1) {
+		error << "FixedTimeslotTask: Unknown Signal received: " << caughtSig
+				<< std::endl;
+	}
+}
+
+void PosixThread::resume(){
+	/* Signal the thread to start. Makes sense to call kill to start or? ;)
+	 *
+	*	According to Posix raise(signal) will call pthread_kill(pthread_self(), sig),
+	*	but as the call must be done from the thread itsself this is not possible here
+	*/
+	pthread_kill(thread,SIGUSR1);
+}
+
+
+
+
+
+bool PosixThread::delayUntil(uint64_t* const prevoiusWakeTime_ms,
+		const uint64_t delayTime_ms) {
+	uint64_t nextTimeToWake_ms;
+	bool shouldDelay = false;
+	//Get current Time
+	const uint64_t currentTime_ms = getCurrentMonotonicTimeMs();
+	/* Generate the tick time at which the task wants to wake. */
+	nextTimeToWake_ms = (*prevoiusWakeTime_ms) + delayTime_ms;
+
+	if (currentTime_ms < *prevoiusWakeTime_ms) {
+		/* 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 < *prevoiusWakeTime_ms)
+				&& (nextTimeToWake_ms > currentTime_ms)) {
+			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 < *prevoiusWakeTime_ms)
+				|| (nextTimeToWake_ms > currentTime_ms)) {
+			shouldDelay = true;
+		}
+	}
+
+	/* Update the wake time ready for the next call. */
+
+	(*prevoiusWakeTime_ms) =  nextTimeToWake_ms;
+
+	if (shouldDelay) {
+		uint64_t sleepTime = nextTimeToWake_ms - currentTime_ms;
+		PosixThread::sleep(sleepTime * 1000000ull);
+		return true;
+	}
+	//We are shifting the time in case the deadline was missed like rtems
+	(*prevoiusWakeTime_ms) = currentTime_ms;
+	return false;
+
+}
+
+
+uint64_t PosixThread::getCurrentMonotonicTimeMs(){
+	timespec timeNow;
+	clock_gettime(CLOCK_MONOTONIC_RAW, &timeNow);
+	uint64_t currentTime_ms = (uint64_t) timeNow.tv_sec * 1000
+				+ timeNow.tv_nsec / 1000000;
+
+	return currentTime_ms;
+}
+
+PosixThread::PosixThread(const char* name_, int priority_, size_t stackSize_):thread(0),priority(priority_),stackSize(stackSize_) {
+	strcpy(name,name_);
+}
+
+
+
+void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
+	debug << "PosixThread::createTask" << std::endl;
+	/*
+	 * The attr argument points to a pthread_attr_t structure whose contents
+       are used at thread creation time to determine attributes for the new
+       thread; this structure is initialized using pthread_attr_init(3) and
+       related functions.  If attr is NULL, then the thread is created with
+       default attributes.
+	 */
+	pthread_attr_t attributes;
+	int status = pthread_attr_init(&attributes);
+	if(status != 0){
+			error << "Posix Thread attribute init failed with: " << strerror(status) << std::endl;
+	}
+	void* sp;
+	status = posix_memalign(&sp, sysconf(_SC_PAGESIZE), stackSize);
+	if(status != 0){
+			error << "Posix Thread stack init failed with: " << strerror(status) << std::endl;
+	}
+
+	status = pthread_attr_setstack(&attributes, sp, stackSize);
+	if(status != 0){
+			error << "Posix Thread attribute setStack failed with: " << strerror(status) << std::endl;
+	}
+
+	status = pthread_attr_setinheritsched(&attributes, PTHREAD_EXPLICIT_SCHED);
+	if(status != 0){
+			error << "Posix Thread attribute setinheritsched failed with: " << strerror(status) << std::endl;
+	}
+
+//TODO FIFO -> This needs root privileges for the process
+	status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
+	if(status != 0){
+		error << "Posix Thread attribute schedule policy failed with: " << strerror(status) << std::endl;
+	}
+
+	sched_param scheduleParams;
+	scheduleParams.__sched_priority = priority;
+	status = pthread_attr_setschedparam(&attributes, &scheduleParams);
+	if(status != 0){
+			error << "Posix Thread attribute schedule params failed with: " << strerror(status) << std::endl;
+	}
+
+	//Set Signal Mask for suspend until startTask is called
+	sigset_t waitSignal;
+	sigemptyset(&waitSignal);
+	sigaddset(&waitSignal, SIGUSR1);
+	status = pthread_sigmask(SIG_BLOCK, &waitSignal, NULL);
+	if(status != 0){
+			error << "Posix Thread sigmask failed failed with: " << strerror(status) << " errno: " << strerror(errno) << std::endl;
+	}
+
+
+	status = pthread_create(&thread,&attributes,fnc_,arg_);
+	if(status != 0){
+		error << "Posix Thread create failed with: " << strerror(status) << std::endl;
+	}
+
+	status = pthread_setname_np(thread,name);
+	if(status != 0){
+		error << "Posix Thread setname failed with: " << strerror(status) << std::endl;
+	}
+
+	status = pthread_attr_destroy(&attributes);
+	if(status!=0){
+		error << "Posix Thread attribute destroy failed with: " << strerror(status) << std::endl;
+	}
+}

osal/linux/PosixThread.h

@@ -0,0 +1,74 @@
+#ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
+#define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
+
+#include <pthread.h>
+#include <sched.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+
+class PosixThread {
+public:
+	PosixThread(const char* name_, int priority_, size_t stackSize_);
+	virtual ~PosixThread();
+	/**
+	 * Set the Thread to sleep state
+	 * @param ns Nanosecond sleep time
+	 * @return Returns Failed if sleep fails
+	 */
+	static ReturnValue_t sleep(uint64_t ns);
+	/**
+	 * @brief Function to suspend the task until SIGUSR1 was received
+	 *
+	 *  @details Will be called in the beginning to suspend execution until startTask() is called explicitly.
+	 */
+	void suspend();
+
+	/**
+	 * @brief Function to allow a other thread to start the thread again from suspend state
+	 *
+	 * @details Restarts the Thread after suspend call
+	 */
+	void resume();
+
+
+	/**
+	 * Delay function similar to FreeRtos delayUntil function
+	 *
+	 * @param prevoiusWakeTime_ms Needs the previous wake time and returns the next wakeup time
+	 * @param delayTime_ms Time period to delay
+	 *
+	 * @return False If deadline was missed; True if task was delayed
+	 */
+	static bool delayUntil(uint64_t* const prevoiusWakeTime_ms, const uint64_t delayTime_ms);
+
+	/**
+	 * Returns the current time in milliseconds from CLOCK_MONOTONIC
+	 *
+	 * @return current time in milliseconds from CLOCK_MONOTONIC
+	 */
+	static uint64_t getCurrentMonotonicTimeMs();
+
+protected:
+	pthread_t thread;
+
+	/**
+	 * @brief Function that has to be called by derived class because the derived class pointer has to be valid as argument
+	 * @details This function creates a pthread with the given parameters. As the function requires a pointer to the derived object
+	 * 			it has to be called after the this pointer of the derived object is valid. Sets the taskEntryPoint as
+	 * 			function to be called by new a thread.
+	 * @param name_ Name of the task
+	 * @param priority_ Priority of the task according to POSIX
+	 * @param stackSize_ Size of the stack attached to that task
+	 * @param arg_ argument of the taskEntryPoint function, needs to be this pointer of derived class
+	 */
+	void createTask(void* (*fnc_)(void*),void* arg_);
+
+private:
+	char name[10];
+	int priority;
+	size_t stackSize;
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */

osal/linux/QueueFactory.cpp

@@ -0,0 +1,68 @@
+#include <framework/ipc/QueueFactory.h>
+#include <mqueue.h>
+#include <errno.h>
+#include <framework/osal/linux/MessageQueue.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <cstring>
+
+QueueFactory* QueueFactory::factoryInstance = NULL;
+
+
+ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
+			MessageQueueMessage* message, MessageQueueId_t sentFrom) {
+	message->setSender(sentFrom);
+	int result = mq_send(sendTo,
+			reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
+
+	//TODO: Check if we're in ISR.
+	if (result != 0) {
+		//TODO Translate error
+		switch(errno){
+		case EAGAIN:
+			//The O_NONBLOCK flag was set when opening the queue, or the MQ_NONBLOCK flag was set in its attributes, and the specified queue is full.
+			return MessageQueueIF::FULL;
+		case EBADF:
+			//mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing.
+			error << "MessageQueueSenderIF::sendMessage: Configuration error " << strerror(errno) << " in mq_send mqSendTo: " << sendTo << " sent from " << sentFrom << std::endl;
+			/*NO BREAK*/
+		case EINTR:
+			//The call was interrupted by a signal.
+		case EINVAL:
+			/*
+			 * This value indicates one of the following:
+			 * * msg_ptr is NULL.
+			 * * msg_len is negative.
+			 * * msg_prio is greater than MQ_PRIO_MAX.
+			 * * msg_prio is less than 0.
+			 * * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and msg_prio is greater than the priority of the calling process.
+			 * */
+		case EMSGSIZE:
+			//The msg_len is greater than the msgsize associated with the specified queue.
+		default:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+QueueFactory* QueueFactory::instance() {
+	if (factoryInstance == NULL) {
+		factoryInstance = new QueueFactory;
+	}
+	return factoryInstance;
+}
+
+QueueFactory::QueueFactory() {
+}
+
+QueueFactory::~QueueFactory() {
+}
+
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
+		uint32_t max_message_size) {
+	return new MessageQueue(message_depth, max_message_size);
+}
+
+void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {
+	delete queue;
+}

osal/linux/TaskFactory.cpp

@@ -0,0 +1,34 @@
+#include <framework/osal/linux/FixedTimeslotTask.h>
+#include <framework/osal/linux/PeriodicPosixTask.h>
+#include <framework/tasks/TaskFactory.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+
+//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
+TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
+
+TaskFactory::~TaskFactory() {
+}
+
+TaskFactory* TaskFactory::instance() {
+	return TaskFactory::factoryInstance;
+}
+
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return static_cast<PeriodicTaskIF*>(new PeriodicPosixTask(name_, taskPriority_,stackSize_,periodInSeconds_ * 1000,deadLineMissedFunction_));
+}
+
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
+	return static_cast<FixedTimeslotTaskIF*>(new FixedTimeslotTask(name_, taskPriority_,stackSize_,periodInSeconds_*1000));
+}
+
+ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
+	//TODO not implemented
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
+	return PosixThread::sleep(delayMs*1000000ull);
+}
+
+TaskFactory::TaskFactory() {
+}

osal/linux/Timer.cpp

@@ -0,0 +1,41 @@
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <errno.h>
+#include <framework/osal/linux/Timer.h>
+
+Timer::Timer() {
+	sigevent sigEvent;
+	sigEvent.sigev_notify = SIGEV_NONE;
+	sigEvent.sigev_signo = 0;
+	sigEvent.sigev_value.sival_ptr = &timerId;
+	int status = timer_create(CLOCK_MONOTONIC, &sigEvent, &timerId);
+	if(status!=0){
+		error << "Timer creation failed with: " << status << " errno: " << errno << std::endl;
+	}
+}
+
+Timer::~Timer() {
+	timer_delete(timerId);
+}
+
+int Timer::setTimer(uint32_t intervalMs) {
+	itimerspec timer;
+	timer.it_value.tv_sec = intervalMs / 1000;
+	timer.it_value.tv_nsec = (intervalMs * 1000000) % (1000000000);
+	timer.it_interval.tv_sec = 0;
+	timer.it_interval.tv_nsec = 0;
+	return timer_settime(timerId, 0, &timer, NULL);
+}
+
+
+int Timer::getTimer(uint32_t* remainingTimeMs){
+	itimerspec timer;
+	timer.it_value.tv_sec = 0;
+	timer.it_value.tv_nsec = 0;
+	timer.it_interval.tv_sec = 0;
+	timer.it_interval.tv_nsec = 0;
+	int status = timer_gettime(timerId, &timer);
+
+	*remainingTimeMs = timer.it_value.tv_sec * 1000 + timer.it_value.tv_nsec / 1000000;
+
+	return status;
+}

osal/linux/Timer.h

@@ -0,0 +1,45 @@
+#ifndef FRAMEWORK_OSAL_LINUX_TIMER_H_
+#define FRAMEWORK_OSAL_LINUX_TIMER_H_
+
+#include <signal.h>
+#include <time.h>
+#include <stdint.h>
+
+/**
+ * This class is a helper for the creation of a Clock Monotonic timer which does not trigger a signal
+ */
+class Timer {
+public:
+	/**
+	 * Creates the Timer sets the timerId Member
+	 */
+	Timer();
+	/**
+	 * Deletes the timer
+	 *
+	 * Careful! According to POSIX documentation:
+	 * The treatment of any pending signal generated by the deleted timer is unspecified.
+	 */
+	virtual ~Timer();
+
+	/**
+	 * Set the timer given in timerId to the given interval
+	 *
+	 * @param intervalMs Interval in ms to be set
+	 * @return 0 on Success 1 else
+	 */
+	int setTimer(uint32_t intervalMs);
+
+	/**
+	 * Get the remaining time of the timer
+	 *
+	 * @param remainingTimeMs Pointer to integer value which is used to return the remaining time
+	 * @return 0 on Success 1 else (see timer_getime documentation of posix function)
+	 */
+	int getTimer(uint32_t* remainingTimeMs);
+
+private:
+	timer_t timerId;
+};
+
+#endif /* FRAMEWORK_OSAL_LINUX_TIMER_H_ */

osal/rtems/Clock.cpp

@@ -1,72 +1,125 @@
 #include <framework/timemanager/Clock.h>
 #include "RtemsBasic.h"
+#include <rtems/score/todimpl.h>
 
 uint16_t Clock::leapSeconds = 0;
 MutexIF* Clock::timeMutex = NULL;
 
 uint32_t Clock::getTicksPerSecond(void){
-	rtems_interval ticks_per_second;
-	(void) rtems_clock_get(RTEMS_CLOCK_GET_TICKS_PER_SECOND, &ticks_per_second);
-	return ticks_per_second;
+	rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
+	return static_cast<uint32_t>(ticks_per_second);
 }
 
 ReturnValue_t Clock::setClock(const TimeOfDay_t* time) {
-	//We need to cast to rtems internal time of day type here. Both structs have the same structure
-	//rtems provides no const guarantee, so we need to cast the const away
-	//TODO Check if this can be done safely
-	rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(const_cast<TimeOfDay_t*>(time));
-	rtems_status_code status = rtems_clock_set(timeRtems);
-	return RtemsBasic::convertReturnCode(status);
+	rtems_time_of_day timeRtems;
+	timeRtems.year = time->year;
+	timeRtems.month = time->month;
+	timeRtems.day = time->day;
+	timeRtems.hour = time->hour;
+	timeRtems.minute  = time->minute;
+	timeRtems.second = time->second;
+	timeRtems.ticks = time->usecond * getTicksPerSecond() / 1e6;
+	rtems_status_code status = rtems_clock_set(&timeRtems);
+	switch(status){
+	case RTEMS_SUCCESSFUL:
+		return HasReturnvaluesIF::RETURN_OK;
+	case RTEMS_INVALID_ADDRESS:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_CLOCK:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 }
 
 ReturnValue_t Clock::setClock(const timeval* time) {
+	//TODO This routine uses _TOD_Set which is not
 	timespec newTime;
 	newTime.tv_sec = time->tv_sec;
 	newTime.tv_nsec = time->tv_usec * TOD_NANOSECONDS_PER_MICROSECOND;
 	//SHOULDDO: Not sure if we need to protect this call somehow (by thread lock or something).
 	//Uli: rtems docu says you can call this from an ISR, not sure if this means no protetion needed
-	_TOD_Set(&newTime);
+	//TODO Second parameter is ISR_lock_Context
+	_TOD_Set(&newTime,NULL);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::getClock_timeval(timeval* time) {
+	//Callable from ISR
 	rtems_status_code status = rtems_clock_get_tod_timeval(time);
-	return RtemsBasic::convertReturnCode(status);
+	switch(status){
+	case RTEMS_SUCCESSFUL:
+		return HasReturnvaluesIF::RETURN_OK;
+	case RTEMS_NOT_DEFINED:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 }
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
+	//According to docs.rtems.org for rtems 5 this method is more accurate than rtems_clock_get_ticks_since_boot
 	timespec time;
 	rtems_status_code status = rtems_clock_get_uptime(&time);
 	uptime->tv_sec = time.tv_sec;
 	time.tv_nsec = time.tv_nsec / 1000;
 	uptime->tv_usec = time.tv_nsec;
-	return RtemsBasic::convertReturnCode(status);
+	switch(status){
+	case RTEMS_SUCCESSFUL:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 }
 
 ReturnValue_t Clock::getUptime(uint32_t* uptimeMs) {
+	//This counter overflows after 50 days
 	*uptimeMs = rtems_clock_get_ticks_since_boot();
-	return RtemsBasic::convertReturnCode(RTEMS_SUCCESSFUL);
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
 	timeval temp_time;
 	rtems_status_code returnValue = rtems_clock_get_tod_timeval(&temp_time);
 	*time = ((uint64_t) temp_time.tv_sec * 1000000) + temp_time.tv_usec;
-	return RtemsBasic::convertReturnCode(returnValue);
+	switch(returnValue){
+	case RTEMS_SUCCESSFUL:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 }
 
 ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
 	rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time);
 	rtems_status_code status = rtems_clock_get_tod(timeRtems);
-	return RtemsBasic::convertReturnCode(status);
+	switch (status) {
+	case RTEMS_SUCCESSFUL:
+		return HasReturnvaluesIF::RETURN_OK;
+	case RTEMS_NOT_DEFINED:
+		//system date and time is not set
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_ADDRESS:
+		//time_buffer is NULL
+		return HasReturnvaluesIF::RETURN_FAILED;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 }
 
 ReturnValue_t Clock::convertTimeOfDayToTimeval(const TimeOfDay_t* from,
 		timeval* to) {
 	//Fails in 2038..
-	const rtems_time_of_day* timeRtems = reinterpret_cast<const rtems_time_of_day*>(from);
-	to->tv_sec = _TOD_To_seconds(timeRtems);
-	to->tv_usec = timeRtems->ticks * 1000;
+	rtems_time_of_day timeRtems;
+	timeRtems.year = from->year;
+	timeRtems.month = from->month;
+	timeRtems.day = from->day;
+	timeRtems.hour = from->hour;
+	timeRtems.minute  = from->minute;
+	timeRtems.second = from->second;
+	timeRtems.ticks = from->usecond * getTicksPerSecond() / 1e6;
+	to->tv_sec = _TOD_To_seconds(&timeRtems);
+	to->tv_usec = from->usecond;
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

osal/rtems/CpuUsage.cpp

@@ -1,4 +1,4 @@
-#include <framework/osal/CpuUsage.h>
+#include "CpuUsage.h"
 #include <framework/serialize/SerialArrayListAdapter.h>
 #include <framework/serialize/SerializeAdapter.h>
 #include <string.h>
@@ -80,7 +80,7 @@ void CpuUsage::resetCpuUsage() {
 }
 
 void CpuUsage::read() {
-	rtems_cpu_usage_report_with_plugin(this, &handlePrint);
+	//rtems_cpu_usage_report_with_plugin(this, &handlePrint);
 }
 
 void CpuUsage::clear() {

osal/rtems/InitTask.cpp

@@ -7,21 +7,5 @@ InitTask::InitTask() {
 }
 
 InitTask::~InitTask() {
-}
-
-void InitTask::deleteTask(){
 	rtems_task_delete(RTEMS_SELF);
 }
-
-ReturnValue_t InitTask::startTask() {
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-ReturnValue_t InitTask::sleepFor(uint32_t ms) {
-	rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
-	return RtemsBasic::convertReturnCode(status);
-}
-
-uint32_t InitTask::getPeriodMs() const {
-	return 0;
-}

osal/rtems/InitTask.h

@@ -1,8 +1,6 @@
 #ifndef OS_RTEMS_INITTASK_H_
 #define OS_RTEMS_INITTASK_H_
 
-#include <framework/tasks/PeriodicTaskIF.h>
-
 //TODO move into static function in TaskIF
 
 /**
@@ -12,17 +10,10 @@
  * Warning: The init task is deleted with this stub, i.e. the destructor
  * calls rtems_task_delete(RTEMS_SELF)
  */
-class InitTask: public PeriodicTaskIF {
+class InitTask {
 public:
 	InitTask();
 	virtual ~InitTask();
-	ReturnValue_t startTask();
-
-	ReturnValue_t sleepFor(uint32_t ms);
-
-	uint32_t getPeriodMs() const;
-
-	void deleteTask();
 };
 
 #endif /* OS_RTEMS_INITTASK_H_ */

osal/rtems/InternalErrorCodes.cpp

@@ -3,12 +3,13 @@
 
 ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
 	switch (code) {
-	case INTERNAL_ERROR_NO_CONFIGURATION_TABLE:
-		return NO_CONFIGURATION_TABLE;
-	case INTERNAL_ERROR_NO_CPU_TABLE:
-		return NO_CPU_TABLE;
-	case INTERNAL_ERROR_INVALID_WORKSPACE_ADDRESS:
-		return INVALID_WORKSPACE_ADDRESS;
+	//TODO It looks like RTEMS-5 does not provide the same error codes
+//	case INTERNAL_ERROR_NO_CONFIGURATION_TABLE:
+//		return NO_CONFIGURATION_TABLE;
+//	case INTERNAL_ERROR_NO_CPU_TABLE:
+//		return NO_CPU_TABLE;
+//	case INTERNAL_ERROR_INVALID_WORKSPACE_ADDRESS:
+//		return INVALID_WORKSPACE_ADDRESS;
 	case INTERNAL_ERROR_TOO_LITTLE_WORKSPACE:
 		return TOO_LITTLE_WORKSPACE;
 	case INTERNAL_ERROR_WORKSPACE_ALLOCATION:
@@ -35,16 +36,16 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
 		return INVALID_GLOBAL_ID;
 	case INTERNAL_ERROR_BAD_STACK_HOOK:
 		return BAD_STACK_HOOK;
-	case INTERNAL_ERROR_BAD_ATTRIBUTES:
-		return BAD_ATTRIBUTES;
-	case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:
-		return IMPLEMENTATION_KEY_CREATE_INCONSISTENCY;
-	case INTERNAL_ERROR_IMPLEMENTATION_BLOCKING_OPERATION_CANCEL:
-		return IMPLEMENTATION_BLOCKING_OPERATION_CANCEL;
-	case INTERNAL_ERROR_MUTEX_OBTAIN_FROM_BAD_STATE:
-		return MUTEX_OBTAIN_FROM_BAD_STATE;
-	case INTERNAL_ERROR_UNLIMITED_AND_MAXIMUM_IS_0:
-		return UNLIMITED_AND_MAXIMUM_IS_0;
+//	case INTERNAL_ERROR_BAD_ATTRIBUTES:
+//		return BAD_ATTRIBUTES;
+//	case INTERNAL_ERROR_IMPLEMENTATION_KEY_CREATE_INCONSISTENCY:
+//		return IMPLEMENTATION_KEY_CREATE_INCONSISTENCY;
+//	case INTERNAL_ERROR_IMPLEMENTATION_BLOCKING_OPERATION_CANCEL:
+//		return IMPLEMENTATION_BLOCKING_OPERATION_CANCEL;
+//	case INTERNAL_ERROR_MUTEX_OBTAIN_FROM_BAD_STATE:
+//		return MUTEX_OBTAIN_FROM_BAD_STATE;
+//	case INTERNAL_ERROR_UNLIMITED_AND_MAXIMUM_IS_0:
+//		return UNLIMITED_AND_MAXIMUM_IS_0;
 	default:
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}

osal/rtems/Interrupt.cpp

@@ -1,5 +1,8 @@
 #include "Interrupt.h"
-#include <bsp_flp/bsp_flp.h>
+extern "C" {
+#include <bsp_flp/hw_timer/hw_timer.h>
+#include <bsp_flp/hw_uart/hw_uart.h>
+}
 #include "RtemsBasic.h"
 
 
@@ -24,7 +27,20 @@ ReturnValue_t Interrupt::setInterruptServiceRoutine(IsrHandler_t handler,
 	//+ 0x10 comes because of trap type assignment to IRQs in UT699 processor
 	rtems_status_code status = rtems_interrupt_catch(handler, interrupt + 0x10,
 			oldHandler);
-	return RtemsBasic::convertReturnCode(status);
+	switch(status){
+	case RTEMS_SUCCESSFUL:
+		//ISR established successfully
+		return HasReturnvaluesIF::RETURN_OK;
+	case RTEMS_INVALID_NUMBER:
+		//illegal vector number
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_ADDRESS:
+		//illegal ISR entry point or invalid old_isr_handler
+		return HasReturnvaluesIF::RETURN_FAILED;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
 }
 
 ReturnValue_t Interrupt::disableInterrupt(InterruptNumber_t interruptNumber) {

osal/rtems/MessageQueue.cpp

@@ -1,7 +1,7 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "MessageQueue.h"
 #include "RtemsBasic.h"
-
+#include <cstring>
 MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
 		id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(NULL) {
 	rtems_name name = ('Q' << 24) + (queueCounter++ << 8);
@@ -21,11 +21,11 @@ MessageQueue::~MessageQueue() {
 
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
 		MessageQueueMessage* message, bool ignoreFault) {
-	return sendMessage(sendTo, message, this->getId(), ignoreFault);
+	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
 }
 
 ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
-	return sendToDefault(message, this->getId());
+	return sendToDefaultFrom(message, this->getId());
 }
 
 ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
@@ -59,7 +59,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
 		//But still, delete packet content.
 		memset(message->getData(), 0, message->MAX_DATA_SIZE);
 	}
-	return RtemsBasic::convertReturnCode(status);
+	return convertReturnCode(status);
 }
 
 MessageQueueId_t MessageQueue::getLastPartner() const {
@@ -68,7 +68,7 @@ MessageQueueId_t MessageQueue::getLastPartner() const {
 
 ReturnValue_t MessageQueue::flush(uint32_t* count) {
 	rtems_status_code status = rtems_message_queue_flush(id, count);
-	return RtemsBasic::convertReturnCode(status);
+	return convertReturnCode(status);
 }
 
 MessageQueueId_t MessageQueue::getId() const {
@@ -79,7 +79,7 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
 	this->defaultDestination = defaultDestination;
 }
 
-ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
+ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
 		MessageQueueMessage* message, MessageQueueId_t sentFrom,
 		bool ignoreFault) {
 
@@ -97,12 +97,18 @@ ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
 			internalErrorReporter->queueMessageNotSent();
 		}
 	}
-	return result;
+
+	ReturnValue_t returnCode = convertReturnCode(result);
+	if(result == MessageQueueIF::EMPTY){
+		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message,
+	return returnCode;
+}
+
+ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
 		MessageQueueId_t sentFrom, bool ignoreFault) {
-	return sendMessage(defaultDestination, message, sentFrom, ignoreFault);
+	return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
 }
 
 MessageQueueId_t MessageQueue::getDefaultDestination() const {
@@ -113,4 +119,30 @@ bool MessageQueue::isDefaultDestinationSet() const {
 	return (defaultDestination != NO_QUEUE);
 }
 
+ReturnValue_t MessageQueue::convertReturnCode(rtems_status_code inValue){
+		switch(inValue){
+		case RTEMS_SUCCESSFUL:
+			return HasReturnvaluesIF::RETURN_OK;
+		case  RTEMS_INVALID_ID:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		case RTEMS_TIMEOUT:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		case RTEMS_OBJECT_WAS_DELETED:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		case RTEMS_INVALID_ADDRESS:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		case RTEMS_INVALID_SIZE:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		case RTEMS_TOO_MANY:
+			return MessageQueueIF::FULL;
+		case RTEMS_UNSATISFIED:
+			return MessageQueueIF::EMPTY;
+		default:
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+
+}
+
+
+
 uint16_t MessageQueue::queueCounter = 0;

osal/rtems/MessageQueue.h

@@ -13,6 +13,7 @@
 #include <framework/internalError/InternalErrorReporterIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/ipc/MessageQueueMessage.h>
+#include "RtemsBasic.h"
 
 /**
  *	@brief		This class manages sending and receiving of message queue messages.
@@ -120,7 +121,7 @@ public:
 	 * 					This variable is set to zero by default.
 	 * \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
 	 */
-	virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	The sendToDefault method sends a queue message to the default destination.
 	 * \details	In all other aspects, it works identical to the sendMessage method.
@@ -128,7 +129,7 @@ public:
 	 * \param sentFrom	The sentFrom information can be set to inject the sender's queue id into the message.
 	 * 					This variable is set to zero by default.
 	 */
-	virtual ReturnValue_t sendToDefault( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
+	virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
 	/**
 	 * \brief	This method is a simple setter for the default destination.
 	 */
@@ -169,6 +170,12 @@ private:
 	InternalErrorReporterIF *internalErrorReporter;
 
 	static uint16_t queueCounter;
+	/**
+	 * A method to convert an OS-specific return code to the frameworks return value concept.
+	 * @param inValue The return code coming from the OS.
+	 * @return The converted return value.
+	 */
+	static ReturnValue_t convertReturnCode(rtems_status_code inValue);
 };
 
 #endif /* MESSAGEQUEUE_H_ */

osal/rtems/MultiObjectTask.cpp

@@ -14,13 +14,6 @@ MultiObjectTask::MultiObjectTask(const char *name, rtems_task_priority setPriori
 		TaskBase(setPriority, setStack, name), periodTicks(
 				RtemsBasic::convertMsToTicks(setPeriod)), periodId(0), deadlineMissedFunc(
 				setDeadlineMissedFunc) {
-	rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
-	rtems_status_code status = rtems_rate_monotonic_create(periodName,
-			&periodId);
-	if (status != RTEMS_SUCCESSFUL) {
-		error << "ObjectTask::period create failed with status " << status
-				<< std::endl;
-	}
 }
 
 MultiObjectTask::~MultiObjectTask(void) {
@@ -40,7 +33,17 @@ ReturnValue_t MultiObjectTask::startTask() {
 		error << "ObjectTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
 	}
-	return RtemsBasic::convertReturnCode(status);
+	switch(status){
+	case RTEMS_SUCCESSFUL:
+		//ask started successfully
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+/*		RTEMS_INVALID_ADDRESS - invalid task entry point
+		RTEMS_INVALID_ID - invalid task id
+		RTEMS_INCORRECT_STATE - task not in the dormant state
+		RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 }
 
 ReturnValue_t MultiObjectTask::sleepFor(uint32_t ms) {
@@ -48,21 +51,14 @@ ReturnValue_t MultiObjectTask::sleepFor(uint32_t ms) {
 }
 
 void MultiObjectTask::taskFunctionality() {
-	//The +1 is necessary to avoid a call with period = 0, which does not start the period.
-	rtems_status_code status = rtems_rate_monotonic_period(periodId,
-			periodTicks + 1);
-	if (status != RTEMS_SUCCESSFUL) {
-		error << "ObjectTask::period start failed with status " << status
-				<< std::endl;
-		return;
-	}
+	TaskBase::setAndStartPeriod(periodTicks,&periodId);
 	//The task's "infinite" inner loop is entered.
 	while (1) {
 		for (ObjectList::iterator it = objectList.begin();
 				it != objectList.end(); ++it) {
 			(*it)->performOperation();
 		}
-		status = rtems_rate_monotonic_period(periodId, periodTicks + 1);
+		rtems_status_code status = TaskBase::restartPeriod(periodTicks,periodId);
 		if (status == RTEMS_TIMEOUT) {
 			char nameSpace[8] = { 0 };
 			char* ptr = rtems_object_get_name(getId(), sizeof(nameSpace),

osal/rtems/Mutex.cpp

@@ -26,10 +26,40 @@ Mutex::~Mutex() {
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs);
-	return RtemsBasic::convertReturnCode(status);
+	switch(status){
+	case RTEMS_SUCCESSFUL:
+		//semaphore obtained successfully
+		return HasReturnvaluesIF::RETURN_OK;
+	case RTEMS_UNSATISFIED:
+		//semaphore not available
+		return MUTEX_NOT_FOUND;
+	case RTEMS_TIMEOUT:
+		//timed out waiting for semaphore
+		return MUTEX_TIMEOUT;
+	case RTEMS_OBJECT_WAS_DELETED:
+		//semaphore deleted while waiting
+		return MUTEX_DESTROYED_WHILE_WAITING;
+	case RTEMS_INVALID_ID:
+		//invalid semaphore id
+		return MUTEX_INVALID_ID;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 }
 
 ReturnValue_t Mutex::unlockMutex() {
 	rtems_status_code status = rtems_semaphore_release(mutexId);
-	return RtemsBasic::convertReturnCode(status);
+	switch(status){
+	case RTEMS_SUCCESSFUL:
+		//semaphore obtained successfully
+		return HasReturnvaluesIF::RETURN_OK;
+	case RTEMS_NOT_OWNER_OF_RESOURCE:
+		//semaphore not available
+		return CURR_THREAD_DOES_NOT_OWN_MUTEX;
+	case RTEMS_INVALID_ID:
+		//invalid semaphore id
+		return MUTEX_INVALID_ID;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 }

osal/rtems/PollingTask.cpp

@@ -1,5 +1,18 @@
+#include <framework/devicehandlers/FixedSequenceSlot.h>
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/osal/rtems/PollingTask.h>
+#include <framework/osal/rtems/RtemsBasic.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include "PollingTask.h"
+#include <rtems/bspIo.h>
+#include <rtems/rtems/ratemon.h>
+#include <rtems/rtems/status.h>
+#include <rtems/rtems/tasks.h>
+#include <rtems/rtems/types.h>
+#include <stddef.h>
+#include <sys/_stdint.h>
+#include <iostream>
+#include <list>
 
 uint32_t PollingTask::deadlineMissedCount = 0;
 
@@ -10,13 +23,6 @@ PollingTask::PollingTask(const char *name, rtems_task_priority setPriority,
 				setOverallPeriod) {
 	// All additional attributes are applied to the object.
 	this->deadlineMissedFunc = setDeadlineMissedFunc;
-	rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
-	rtems_status_code status = rtems_rate_monotonic_create(periodName,
-			&periodId);
-	if (status != RTEMS_SUCCESSFUL) {
-		error << "PollingTask::period create failed with status " << status
-				<< std::endl;
-	}
 }
 
 PollingTask::~PollingTask() {
@@ -47,7 +53,17 @@ ReturnValue_t PollingTask::startTask() {
 		error << "PollingTask::startTask for " << std::hex << this->getId()
 				<< std::dec << " failed." << std::endl;
 	}
-	return RtemsBasic::convertReturnCode(status);
+	switch(status){
+	case RTEMS_SUCCESSFUL:
+		//ask started successfully
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+/*		RTEMS_INVALID_ADDRESS - invalid task entry point
+		RTEMS_INVALID_ID - invalid task id
+		RTEMS_INCORRECT_STATE - task not in the dormant state
+		RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task */
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 }
 
 ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs,
@@ -64,6 +80,8 @@ ReturnValue_t PollingTask::checkSequence() const {
 	return pst.checkSequence();
 }
 
+#include <rtems/io.h>
+
 void PollingTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
 	std::list<FixedSequenceSlot*>::iterator it = pst.current;
@@ -71,15 +89,7 @@ void PollingTask::taskFunctionality() {
 	//The start time for the first entry is read.
 	rtems_interval interval = RtemsBasic::convertMsToTicks(
 			(*it)->pollingTimeMs);
-	//The period is set up and started with the system call.
-	//The +1 is necessary to avoid a call with period = 0, which does not start the period.
-	rtems_status_code status = rtems_rate_monotonic_period(periodId,
-			interval + 1);
-	if (status != RTEMS_SUCCESSFUL) {
-		error << "PollingTask::period start failed with status " << status
-				<< std::endl;
-		return;
-	}
+	TaskBase::setAndStartPeriod(interval,&periodId);
 	//The task's "infinite" inner loop is entered.
 	while (1) {
 		if (pst.slotFollowsImmediately()) {
@@ -89,7 +99,7 @@ void PollingTask::taskFunctionality() {
 			interval = RtemsBasic::convertMsToTicks(this->pst.getIntervalToNextSlotMs());
 			//The period is checked and restarted with the new interval.
 			//If the deadline was missed, the deadlineMissedFunc is called.
-			status = rtems_rate_monotonic_period(periodId, interval);
+			rtems_status_code status = TaskBase::restartPeriod(interval,periodId);
 			if (status == RTEMS_TIMEOUT) {
 				if (this->deadlineMissedFunc != NULL) {
 					this->deadlineMissedFunc();

osal/rtems/QueueFactory.cpp

@@ -10,7 +10,29 @@ ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
 	message->setSender(sentFrom);
 	rtems_status_code result = rtems_message_queue_send(sendTo, message->getBuffer(),
 			message->messageSize);
-	return RtemsBasic::convertReturnCode(result);
+	switch(result){
+	case RTEMS_SUCCESSFUL:
+			//message sent successfully
+			return HasReturnvaluesIF::RETURN_OK;
+	case RTEMS_INVALID_ID:
+			//invalid queue id
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_SIZE:
+		// invalid message size
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_ADDRESS:
+		//buffer is NULL
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_UNSATISFIED:
+		//out of message buffers
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_TOO_MANY:
+		//queue's limit has been reached
+		return MessageQueueIF::FULL;
+
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
 }
 
 QueueFactory* QueueFactory::instance() {

osal/rtems/RtemsBasic.cpp

@@ -1,70 +1,70 @@
 #include "RtemsBasic.h"
 
 
-ReturnValue_t RtemsBasic::convertReturnCode(rtems_status_code inValue) {
-	if (inValue == RTEMS_SUCCESSFUL) {
-		return HasReturnvaluesIF::RETURN_OK;
-	} else {
-		switch(inValue){
-		case RTEMS_SUCCESSFUL:
-			return OperatingSystemIF::SUCCESSFUL;
-		case RTEMS_TASK_EXITTED:
-			return OperatingSystemIF::TASK_EXITTED;
-		case RTEMS_MP_NOT_CONFIGURED:
-			return OperatingSystemIF::MP_NOT_CONFIGURED;
-		case RTEMS_INVALID_NAME:
-			return OperatingSystemIF::INVALID_NAME;
-		case  RTEMS_INVALID_ID:
-			return OperatingSystemIF::INVALID_ID;
-		case RTEMS_TOO_MANY:
-			return OperatingSystemIF::TOO_MANY;
-		case RTEMS_TIMEOUT:
-			return OperatingSystemIF::TIMEOUT;
-		case RTEMS_OBJECT_WAS_DELETED:
-			return OperatingSystemIF::OBJECT_WAS_DELETED;
-		case RTEMS_INVALID_SIZE:
-			return OperatingSystemIF::INVALID_SIZE;
-		case RTEMS_INVALID_ADDRESS:
-			return OperatingSystemIF::INVALID_ADDRESS;
-		case RTEMS_INVALID_NUMBER:
-			return OperatingSystemIF::INVALID_NUMBER;
-		case RTEMS_NOT_DEFINED:
-			return OperatingSystemIF::NOT_DEFINED;
-		case RTEMS_RESOURCE_IN_USE:
-			return OperatingSystemIF::RESOURCE_IN_USE;
-		//TODO RTEMS_UNSATISFIED is double mapped for FLP so it will only return Queue_empty and not unsatisfied
-		case RTEMS_UNSATISFIED:
-			return OperatingSystemIF::QUEUE_EMPTY;
-		case RTEMS_INCORRECT_STATE:
-			return OperatingSystemIF::INCORRECT_STATE;
-		case RTEMS_ALREADY_SUSPENDED:
-			return OperatingSystemIF::ALREADY_SUSPENDED;
-		case RTEMS_ILLEGAL_ON_SELF:
-			return OperatingSystemIF::ILLEGAL_ON_SELF;
-		case RTEMS_ILLEGAL_ON_REMOTE_OBJECT:
-			return  OperatingSystemIF::ILLEGAL_ON_REMOTE_OBJECT;
-		case RTEMS_CALLED_FROM_ISR:
-			return OperatingSystemIF::CALLED_FROM_ISR;
-		case RTEMS_INVALID_PRIORITY:
-			return OperatingSystemIF::INVALID_PRIORITY;
-		case RTEMS_INVALID_CLOCK:
-			return OperatingSystemIF::INVALID_CLOCK;
-		case RTEMS_INVALID_NODE:
-			return OperatingSystemIF::INVALID_NODE;
-		case RTEMS_NOT_CONFIGURED:
-			return OperatingSystemIF::NOT_CONFIGURED;
-		case RTEMS_NOT_OWNER_OF_RESOURCE:
-			return OperatingSystemIF::NOT_OWNER_OF_RESOURCE;
-		case RTEMS_NOT_IMPLEMENTED:
-			return OperatingSystemIF::NOT_IMPLEMENTED;
-		case RTEMS_INTERNAL_ERROR:
-			return OperatingSystemIF::INTERNAL_ERROR;
-		case RTEMS_NO_MEMORY:
-			return OperatingSystemIF::NO_MEMORY;
-		case RTEMS_IO_ERROR:
-			return OperatingSystemIF::IO_ERROR;
-		default:
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-}
+//ReturnValue_t RtemsBasic::convertReturnCode(rtems_status_code inValue) {
+//	if (inValue == RTEMS_SUCCESSFUL) {
+//		return HasReturnvaluesIF::RETURN_OK;
+//	} else {
+//		switch(inValue){
+//		case RTEMS_SUCCESSFUL:
+//			return OperatingSystemIF::SUCCESSFUL;
+//		case RTEMS_TASK_EXITTED:
+//			return OperatingSystemIF::TASK_EXITTED;
+//		case RTEMS_MP_NOT_CONFIGURED:
+//			return OperatingSystemIF::MP_NOT_CONFIGURED;
+//		case RTEMS_INVALID_NAME:
+//			return OperatingSystemIF::INVALID_NAME;
+//		case  RTEMS_INVALID_ID:
+//			return OperatingSystemIF::INVALID_ID;
+//		case RTEMS_TOO_MANY:
+//			return OperatingSystemIF::TOO_MANY;
+//		case RTEMS_TIMEOUT:
+//			return OperatingSystemIF::TIMEOUT;
+//		case RTEMS_OBJECT_WAS_DELETED:
+//			return OperatingSystemIF::OBJECT_WAS_DELETED;
+//		case RTEMS_INVALID_SIZE:
+//			return OperatingSystemIF::INVALID_SIZE;
+//		case RTEMS_INVALID_ADDRESS:
+//			return OperatingSystemIF::INVALID_ADDRESS;
+//		case RTEMS_INVALID_NUMBER:
+//			return OperatingSystemIF::INVALID_NUMBER;
+//		case RTEMS_NOT_DEFINED:
+//			return OperatingSystemIF::NOT_DEFINED;
+//		case RTEMS_RESOURCE_IN_USE:
+//			return OperatingSystemIF::RESOURCE_IN_USE;
+//		//TODO RTEMS_UNSATISFIED is double mapped for FLP so it will only return Queue_empty and not unsatisfied
+//		case RTEMS_UNSATISFIED:
+//			return OperatingSystemIF::QUEUE_EMPTY;
+//		case RTEMS_INCORRECT_STATE:
+//			return OperatingSystemIF::INCORRECT_STATE;
+//		case RTEMS_ALREADY_SUSPENDED:
+//			return OperatingSystemIF::ALREADY_SUSPENDED;
+//		case RTEMS_ILLEGAL_ON_SELF:
+//			return OperatingSystemIF::ILLEGAL_ON_SELF;
+//		case RTEMS_ILLEGAL_ON_REMOTE_OBJECT:
+//			return  OperatingSystemIF::ILLEGAL_ON_REMOTE_OBJECT;
+//		case RTEMS_CALLED_FROM_ISR:
+//			return OperatingSystemIF::CALLED_FROM_ISR;
+//		case RTEMS_INVALID_PRIORITY:
+//			return OperatingSystemIF::INVALID_PRIORITY;
+//		case RTEMS_INVALID_CLOCK:
+//			return OperatingSystemIF::INVALID_CLOCK;
+//		case RTEMS_INVALID_NODE:
+//			return OperatingSystemIF::INVALID_NODE;
+//		case RTEMS_NOT_CONFIGURED:
+//			return OperatingSystemIF::NOT_CONFIGURED;
+//		case RTEMS_NOT_OWNER_OF_RESOURCE:
+//			return OperatingSystemIF::NOT_OWNER_OF_RESOURCE;
+//		case RTEMS_NOT_IMPLEMENTED:
+//			return OperatingSystemIF::NOT_IMPLEMENTED;
+//		case RTEMS_INTERNAL_ERROR:
+//			return OperatingSystemIF::INTERNAL_ERROR;
+//		case RTEMS_NO_MEMORY:
+//			return OperatingSystemIF::NO_MEMORY;
+//		case RTEMS_IO_ERROR:
+//			return OperatingSystemIF::IO_ERROR;
+//		default:
+//			return HasReturnvaluesIF::RETURN_FAILED;
+//		}
+//	}
+//}

osal/rtems/RtemsBasic.h

@@ -2,11 +2,6 @@
 #define OS_RTEMS_RTEMSBASIC_H_
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
-#include <framework/osal/OperatingSystemIF.h>
-extern "C" {
-#include <bsp_flp/rtems_config.h>
-}
-#include <rtems/endian.h>
 #include <rtems.h>
 #include <rtems/libio.h>
 #include <rtems/error.h>
@@ -14,24 +9,15 @@ extern "C" {
 #include <stddef.h>
 
 
-class RtemsBasic: public OperatingSystemIF {
+class RtemsBasic {
 public:
-	/**
-	 * A method to convert an OS-specific return code to the frameworks return value concept.
-	 * @param inValue The return code coming from the OS.
-	 * @return The converted return value.
-	 */
-	static ReturnValue_t convertReturnCode(rtems_status_code inValue);
-
 	static rtems_interval convertMsToTicks(uint32_t msIn) {
-		rtems_interval ticks_per_second;
-		rtems_clock_get(RTEMS_CLOCK_GET_TICKS_PER_SECOND, &ticks_per_second);
+		rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
 		return (ticks_per_second * msIn) / 1000;
 	}
 
 	static rtems_interval convertTicksToMs(rtems_interval ticksIn) {
-		rtems_interval ticks_per_second;
-		rtems_clock_get(RTEMS_CLOCK_GET_TICKS_PER_SECOND, &ticks_per_second);
+		rtems_interval ticks_per_second = rtems_clock_get_ticks_per_second();
 		return (ticksIn * 1000) / ticks_per_second;
 	}
 };

osal/rtems/TaskBase.cpp

@@ -1,7 +1,7 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "TaskBase.h"
 
-const uint64_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE;
+const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE=RTEMS_MINIMUM_STACK_SIZE;
 
 TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
 		const char *name) {
@@ -20,7 +20,7 @@ TaskBase::TaskBase(rtems_task_priority set_priority, size_t stack_size,
 				RTEMS_PREEMPT | RTEMS_NO_TIMESLICE | RTEMS_NO_ASR,
 				RTEMS_FLOATING_POINT, &id);
 	}
-	ReturnValue_t result = RtemsBasic::convertReturnCode(status);
+	ReturnValue_t result = convertReturnCode(status);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		error << "TaskBase::TaskBase: createTask with name " << std::hex
 				<< osalName << std::dec << " failed with return code "
@@ -39,5 +39,44 @@ rtems_id TaskBase::getId() {
 
 ReturnValue_t TaskBase::sleepFor(uint32_t ms) {
 	rtems_status_code status = rtems_task_wake_after(RtemsBasic::convertMsToTicks(ms));
-	return RtemsBasic::convertReturnCode(status);
+	return convertReturnCode(status);
+}
+
+
+ReturnValue_t TaskBase::convertReturnCode(rtems_status_code inValue) {
+	switch (inValue) {
+	case RTEMS_SUCCESSFUL:
+		return HasReturnvaluesIF::RETURN_OK;
+	case RTEMS_MP_NOT_CONFIGURED:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_NAME:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_TOO_MANY:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_ADDRESS:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_UNSATISFIED:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	case RTEMS_INVALID_PRIORITY:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+}
+
+
+ReturnValue_t TaskBase::setAndStartPeriod(rtems_interval period, rtems_id *periodId) {
+	rtems_name periodName = (('P' << 24) + ('e' << 16) + ('r' << 8) + 'd');
+	rtems_status_code status = rtems_rate_monotonic_create(periodName, periodId);
+	if (status == RTEMS_SUCCESSFUL) {
+		status = restartPeriod(period,*periodId);
+	}
+	return convertReturnCode(status);
+}
+
+rtems_status_code TaskBase::restartPeriod(rtems_interval period, rtems_id periodId){
+	//This is necessary to avoid a call with period = 0, which does not start the period.
+	rtems_status_code status = rtems_rate_monotonic_period(periodId, period + 1);
+	return status;
 }

osal/rtems/TaskBase.h

@@ -37,6 +37,10 @@ public:
 	rtems_id getId();
 
 	ReturnValue_t sleepFor(uint32_t ms);
+	static ReturnValue_t setAndStartPeriod(rtems_interval period, rtems_id *periodId);
+	static rtems_status_code restartPeriod(rtems_interval period, rtems_id periodId);
+private:
+	static ReturnValue_t convertReturnCode(rtems_status_code inValue);
 };
 
 

osal/rtems/TaskFactory.cpp

@@ -2,6 +2,7 @@
 #include "MultiObjectTask.h"
 #include "PollingTask.h"
 #include "InitTask.h"
+#include "RtemsBasic.h"
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
 //TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
@@ -14,13 +15,13 @@ TaskFactory* TaskFactory::instance() {
 	return TaskFactory::factoryInstance;
 }
 
-PeriodicTaskIF* TaskFactory::createPeriodicTask(OSAL::TaskName name_,OSAL::TaskPriority taskPriority_,OSAL::TaskStackSize stackSize_,OSAL::TaskPeriod periodInSeconds_,OSAL::TaskDeadlineMissedFunction deadLineMissedFunction_) {
+PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
 	rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
 
 	return static_cast<PeriodicTaskIF*>(new MultiObjectTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
 }
 
-FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(OSAL::TaskName name_,OSAL::TaskPriority taskPriority_,OSAL::TaskStackSize stackSize_,OSAL::TaskPeriod periodInSeconds_,OSAL::TaskDeadlineMissedFunction deadLineMissedFunction_) {
+FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,TaskPriority taskPriority_,TaskStackSize stackSize_,TaskPeriod periodInSeconds_,TaskDeadlineMissedFunction deadLineMissedFunction_) {
 	rtems_interval taskPeriod = periodInSeconds_ * Clock::getTicksPerSecond();
 	return static_cast<FixedTimeslotTaskIF*>(new PollingTask(name_,taskPriority_,stackSize_,taskPeriod,deadLineMissedFunction_));
 }
@@ -30,5 +31,11 @@ ReturnValue_t TaskFactory::deleteTask(PeriodicTaskIF* task) {
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
+ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
+	rtems_task_wake_after(RtemsBasic::convertMsToTicks(delayMs));
+	//Only return value is "RTEMS_SUCCESSFUL - always successful" so it has been neglected
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
 TaskFactory::TaskFactory() {
 }

parameters/ParameterHelper.cpp

@@ -4,7 +4,7 @@
 
 ParameterHelper::ParameterHelper(ReceivesParameterMessagesIF* owner) :
 		owner(owner), storage(NULL) {
-	ownerQueueId = owner->getCommandQueue();
+
 }
 
 ParameterHelper::~ParameterHelper() {
@@ -114,6 +114,9 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 }
 
 ReturnValue_t ParameterHelper::initialize() {
+	ownerQueueId = owner->getCommandQueue();
+
+
 	storage = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	if (storage == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;

returnvalues/FwClassIds.h

@@ -55,7 +55,10 @@ enum {
 	DEVICE_COMMUNICATION_IF, //DC
 	BSP, //BSP
 	TIME_STAMPER_IF, //TSI 52
+	//TODO This will shift all IDs for FLP
 	SGP4PROPAGATOR_CLASS, //SGP4 53
+	MUTEX_IF, //MUX 54
+	MESSAGE_QUEUE_IF,//MQI 55
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

rmap/RMAP.cpp

@@ -5,7 +5,7 @@
 #include <stddef.h>
 
 ReturnValue_t RMAP::reset(RMAPCookie* cookie) {
-	return cookie->channel->reset();
+	return cookie->getChannel()->reset();
 }
 
 RMAP::RMAP(){
@@ -22,7 +22,7 @@ ReturnValue_t RMAP::sendWriteCommand(RMAPCookie *cookie, uint8_t* buffer,
 	if (cookie->getChannel() == NULL) {
 		return COMMAND_NO_CHANNEL;
 	}
-	instruction = RMAP_COMMAND_WRITE | cookie->command_mask;
+	instruction = RMAPIds::RMAP_COMMAND_WRITE | cookie->getCommandMask();
 	return cookie->getChannel()->sendCommand(cookie, instruction, buffer,
 			length);
 
@@ -32,7 +32,7 @@ ReturnValue_t RMAP::getWriteReply(RMAPCookie *cookie) {
 	if (cookie->getChannel() == NULL) {
 		return COMMAND_NO_CHANNEL;
 	}
-	if (cookie->header.instruction & (1 << RMAP_COMMAND_BIT_WRITE)) {
+	if (cookie->getHeader()->instruction & (1 <<  RMAPIds::RMAP_COMMAND_BIT_WRITE)) {
 		return cookie->getChannel()->getReply(cookie, NULL, NULL);
 	} else {
 		return REPLY_MISSMATCH;
@@ -53,8 +53,8 @@ ReturnValue_t RMAP::sendReadCommand(RMAPCookie *cookie, uint32_t expLength) {
 	if (cookie->getChannel() == NULL) {
 		return COMMAND_NO_CHANNEL;
 	}
-	command = RMAP_COMMAND_READ
-			| (cookie->command_mask & ~(1 << RMAP_COMMAND_BIT_VERIFY));
+	command =  RMAPIds::RMAP_COMMAND_READ
+			| (cookie->getCommandMask() & ~(1 <<  RMAPIds::RMAP_COMMAND_BIT_VERIFY));
 
 	return cookie->getChannel()->sendCommand(cookie, command, NULL, expLength);
 
@@ -68,7 +68,7 @@ ReturnValue_t RMAP::getReadReply(RMAPCookie *cookie, uint8_t **buffer,
 	if (buffer == NULL || size == NULL) {
 		return DeviceCommunicationIF::NULLPOINTER;
 	}
-	if (cookie->header.instruction & (1 << RMAP_COMMAND_BIT_WRITE)) {
+	if (cookie->getHeader()->instruction & (1 <<  RMAPIds::RMAP_COMMAND_BIT_WRITE)) {
 		return REPLY_MISSMATCH;
 	} else {
 		return cookie->getChannel()->getReply(cookie, buffer, size);

rmap/RMAPChannelIF.h

@@ -1,11 +1,12 @@
 #ifndef RMAPCHANNELIF_H_
 #define RMAPCHANNELIF_H_
 
-#include <framework/rmap/RMAP.h>
-#include <framework/tasks/PeriodicTaskIF.h>
+#include <framework/rmap/RMAPCookie.h>
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 
-class RMAPChannelIF: public RMAP {
+class RMAPChannelIF {
 public:
+	virtual ~RMAPChannelIF(){};
 	/**
 	 * Reset an RMAP channel
 	 *
@@ -42,7 +43,7 @@ public:
 	 *      - @c COMMAND_PORT_OUT_OF_RANGE if the port is invalid
 	 */
 	virtual ReturnValue_t setPort(int8_t port, uint8_t dest_addr,
-			uint8_t src_addr, PeriodicTaskIF* currentTask)=0;
+			uint8_t src_addr)=0;
 
 	/**
 	 * Assign a SpaceWire port to the Channel
@@ -54,7 +55,7 @@ public:
 	 *      - @c COMMAND_OK if port was changed
 	 *      - @c COMMAND_PORT_OUT_OF_RANGE if the port is invalid
 	 */
-	virtual ReturnValue_t setPort(int8_t port, PeriodicTaskIF* currentTask)=0;
+	virtual ReturnValue_t setPort(int8_t port)=0;
 
 	/**
 	 * Send an RMAP command

rmap/RMAPCookie.cpp

@@ -20,13 +20,11 @@ RMAPCookie::RMAPCookie() {
 	this->header.datalen_m = 0;
 	this->header.datalen_l = 0;
 	this->header.header_crc = 0;
-
-
-	this->txdesc = NULL;
-	this->rxdesc_index = 0;
 	this->channel = NULL;
 	this->command_mask = 0;
 
+	this->dataCRC = 0;
+
 	this->maxReplyLen = 0;
 }
 
@@ -47,11 +45,9 @@ RMAPCookie::RMAPCookie(uint32_t set_address, uint8_t set_extended_address,
 	this->header.datalen_m = 0;
 	this->header.datalen_l = 0;
 	this->header.header_crc = 0;
-
-	this->txdesc = NULL;
-	this->rxdesc_index = 0;
 	this->channel = set_channel;
 	this->command_mask = set_command_mask;
+	this->dataCRC = 0;
 
 	this->maxReplyLen = maxReplyLen;
 }
@@ -104,3 +100,25 @@ uint32_t RMAPCookie::getMaxReplyLen() const {
 void RMAPCookie::setMaxReplyLen(uint32_t maxReplyLen) {
 	this->maxReplyLen = maxReplyLen;
 }
+
+RMAPStructs::rmap_cmd_header* RMAPCookie::getHeader(){
+	return &this->header;
+}
+
+uint16_t RMAPCookie::getTransactionIdentifier() const {
+	return static_cast<uint16_t>((header.tid_h << 8) | (header.tid_l));
+}
+
+void RMAPCookie::setTransactionIdentifier(uint16_t id_) {
+	header.tid_l  = id_ & 0xFF;
+	header.tid_h = (id_ >> 8 ) & 0xFF;
+}
+
+uint32_t RMAPCookie::getDataLength() const {
+	return static_cast<uint32_t>(header.datalen_h << 16 | header.datalen_m << 8 | header.datalen_l);
+}
+void RMAPCookie::setDataLength(uint32_t length_) {
+	header.datalen_l = length_ & 0xff;
+	header.datalen_m = (length_ >> 8) & 0xff;
+	header.datalen_h = (length_ >> 16) & 0xff;
+}

rmap/RMAPCookie.h

@@ -7,8 +7,6 @@
 class RMAPChannelIF;
 
 class RMAPCookie : public Cookie{
-	friend class RMAP;
-	friend class RmapSPWChannel;
 public:
 	//To Uli: Sorry, I need an empty ctor to initialize an array of cookies.
 	RMAPCookie();
@@ -20,24 +18,41 @@ public:
 
 	void setAddress(uint32_t address);
 	uint32_t getAddress();
+
 	void setExtendedAddress(uint8_t);
 	uint8_t getExtendedAddress();
+
 	void setChannel(RMAPChannelIF *channel);
 	RMAPChannelIF *getChannel();
+
 	void setCommandMask(uint8_t commandMask);
 	uint8_t getCommandMask();
+
 	uint32_t getMaxReplyLen() const;
 	void setMaxReplyLen(uint32_t maxReplyLen);
 
-	//rmap_cookie* getDeviceDescriptor();
+	uint16_t getTransactionIdentifier() const;
+	void setTransactionIdentifier(uint16_t id_);
+
+	RMAPStructs::rmap_cmd_header* getHeader();
+
+	uint32_t getDataLength() const;
+	void setDataLength(uint32_t lenght_);
+
+	uint8_t getDataCrc() const {
+		return dataCRC;
+	}
+
+	void setDataCrc(uint8_t dataCrc) {
+		dataCRC = dataCrc;
+	}
 
 protected:
 	RMAPStructs::rmap_cmd_header header;
-	void *txdesc;
-	uint8_t rxdesc_index;
 	RMAPChannelIF *channel;
 	uint8_t command_mask;
 	uint32_t maxReplyLen;
+	uint8_t dataCRC;
 };
 
 #endif /* RMAPCOOKIE_H_ */

rmap/RmapDeviceCommunicationIF.cpp

@@ -0,0 +1,47 @@
+#include <framework/rmap/RmapDeviceCommunicationIF.h>
+#include <framework/rmap/RMAP.h>
+
+//TODO Cast here are all potential bugs
+RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() {
+}
+
+ReturnValue_t RmapDeviceCommunicationIF::sendMessage(Cookie* cookie,
+		uint8_t* data, uint32_t len) {
+	return RMAP::sendWriteCommand((RMAPCookie *) cookie, data, len);
+}
+
+ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(Cookie* cookie) {
+	return RMAP::getWriteReply((RMAPCookie *) cookie);
+}
+
+ReturnValue_t RmapDeviceCommunicationIF::requestReceiveMessage(
+		Cookie* cookie) {
+	return RMAP::sendReadCommand((RMAPCookie *) cookie,
+				((RMAPCookie *) cookie)->getMaxReplyLen());
+}
+
+ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(Cookie* cookie,
+		uint8_t** buffer, uint32_t* size) {
+	return RMAP::getReadReply((RMAPCookie *) cookie, buffer, size);
+}
+
+ReturnValue_t RmapDeviceCommunicationIF::setAddress(Cookie* cookie,
+		uint32_t address) {
+
+	((RMAPCookie *) cookie)->setAddress(address);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint32_t RmapDeviceCommunicationIF::getAddress(Cookie* cookie) {
+	return ((RMAPCookie *) cookie)->getAddress();
+}
+
+ReturnValue_t RmapDeviceCommunicationIF::setParameter(Cookie* cookie,
+		uint32_t parameter) {
+	//TODO Empty?
+	return HasReturnvaluesIF::RETURN_FAILED;
+}
+
+uint32_t RmapDeviceCommunicationIF::getParameter(Cookie* cookie) {
+	return 0;
+}

rmap/RmapDeviceCommunicationIF.h

@@ -0,0 +1,80 @@
+#ifndef MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
+#define MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_
+
+#include <framework/devicehandlers/DeviceCommunicationIF.h>
+
+/**
+ * @brief	This class is a implementation of a DeviceCommunicationIF for RMAP calls. It expects RMAPCookies or a derived class of RMAPCookies
+ *
+ * @details	The open, close and reOpen calls are mission specific
+ * 			The open call might return any child of RMAPCookies
+ *
+ * \ingroup rmap
+ */
+class RmapDeviceCommunicationIF: public DeviceCommunicationIF {
+
+public:
+	virtual ~RmapDeviceCommunicationIF();
+
+
+	/**
+	 * This method is mission specific as the open call will return a mission specific cookie
+	 *
+	 * @param cookie A cookie, can be mission specific subclass of RMAP Cookie
+	 * @param address The address of the RMAP Cookie
+	 * @param maxReplyLen Maximum length of expected reply
+	 * @return
+	 */
+	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
+			uint32_t maxReplyLen) = 0;
+
+	/**
+	 * Use an existing cookie to open a connection to a new DeviceCommunication.
+	 * The previous connection must not be closed.
+	 * If the returnvalue is not RETURN_OK, the cookie is unchanged and
+	 * can be used with the previous connection.
+	 *
+	 * @param cookie
+	 * @param address
+	 * @param maxReplyLen
+	 * @return
+	 */
+	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
+			uint32_t maxReplyLen) = 0;
+
+
+	/**
+	 * Closing call of connection and memory free of cookie. Mission dependent call
+	 * @param cookie
+	 */
+	virtual void close(Cookie *cookie) = 0;
+
+	//SHOULDDO can data be const?
+	/**
+	 *
+	 *
+	 * @param cookie Expects an RMAPCookie or derived from RMAPCookie Class
+	 * @param data Data to be send
+	 * @param len Length of the data to be send
+	 * @return - Return codes of RMAP::sendWriteCommand()
+	 */
+	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
+			uint32_t len);
+
+	virtual ReturnValue_t getSendSuccess(Cookie *cookie);
+
+	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
+
+	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
+			uint32_t *size);
+
+	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
+
+	virtual uint32_t getAddress(Cookie *cookie);
+
+	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
+
+	virtual uint32_t getParameter(Cookie *cookie);
+};
+
+#endif /* MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */

rmap/RmapSPWChannel.cpp

@@ -1,744 +0,0 @@
-#include <framework/rmap/RmapSPWChannel.h>
-extern "C" {
-#include <bsp_flp/hw_timer/hw_timer.h>
-#include <bsp_flp/crc/crc.h>
-}
-
-#include <framework/datapool/DataSet.h>
-#include <framework/datapool/PoolVariable.h>
-
-//////////////////////////////////////////////////////////////////////////////////
-//bits for the failure table
-#define	RMAP_RX_FAIL_CHECKED		0
-#define RMAP_RX_FAIL_EEP			1
-#define RMAP_RX_FAIL_TRUNC			2
-#define RMAP_RX_FAIL_LEN			3
-#define RMAP_RX_FAIL_CRC			4
-#define RMAP_RX_FAIL_DST_ADDR		5
-#define RMAP_RX_FAIL_PROTO			6
-#define RMAP_RX_FAIL_INSTR_TYPE		7	//this is when the instruction byte is really wrong (must be caused by device)
-#define RMAP_RX_FAIL_INSTR			8	//this is when a wrong instruction byte was caused by a wrong instruction sent by the host and detected by the device
-#define RMAP_RX_FAIL_SRC_ADDR		9
-#define RMAP_RX_FAIL_LEN_MISSMATCH	10
-#define RMAP_RX_FAIL_WRONG_REPLY	11	//a read command was answered by a write reply or the other way round
-//pad a number so it is word aligned (32bit)
-#define BYTES2WORDS(number) (((number) +3)/4)
-
-RmapSPWChannel::RmapSPWChannel(object_id_t setObjectId,
-		uint16_t buffersize_words, uint32_t maxPacketSize, int8_t portNr,
-		uint8_t dest_addr, uint8_t src_addr, PeriodicTaskIF* currentTask,
-		datapool::opus_variable_id portVariable) :
-		SystemObject(setObjectId), port(NULL), rx_index(0), max_rx(128), tx_index(
-				0), max_tx(64), src_addr(src_addr), dest_addr(dest_addr), portPoolId(
-				portVariable) {
-	buffer = new uint32_t[buffersize_words];
-	buffer_pointer = buffer;
-	end_of_buffer = &buffer[buffersize_words];
-	max_packet_len = maxPacketSize & 0x1FFFFFC;
-	tid = 0;
-	failure_table = new uint16_t[128];
-	setPort(portNr, dest_addr, src_addr, currentTask);
-}
-
-RmapSPWChannel::~RmapSPWChannel() {
-	delete[] buffer;
-	delete[] failure_table;
-}
-
-ReturnValue_t RmapSPWChannel::reset() {
-	uint8_t link_down = 0;
-	uint8_t missed, i;
-	uint32_t state;
-
-	//check if channel has a port
-	if (port == NULL) {
-		return COMMAND_CHANNEL_DEACTIVATED;
-	}
-
-	//check state of SPW
-	state = spw_get_state(port);
-	if (state != SPW_STATE_RUN) {
-		triggerEvent(SPW_LINK_DOWN, getCurrentPortNr());
-		link_down++;
-	}
-	//SPW link errors
-	if ((state = (port->SPWSTR & 0x1de)) != 0) {
-		reportSpwstr(state);
-	}
-	//check DMA errors
-	if ((state = (port->SPWCHN & 0x180)) != 0) {
-		triggerEvent(SPW_ERROR, SPW_DMA, state);
-	}
-
-	//hard reset spw
-	//only safe way to reset the descriptors
-
-	spw_reset(port);
-
-	spw_reset_rxdesc_table(port);
-	spw_reset_txdesc_table(port);
-
-	//reset internal buffer
-	buffer_pointer = buffer;
-
-#ifdef LEON
-	asm("flush");
-#endif
-
-	//check how many packets were received
-	missed = 0;
-
-	if ((rx_index != 0)
-			&& (rx_descriptor_table[rx_index - 1].word0
-					& (1 << SPW_DESC_RX_ENABLE))) {
-		//		printf("word 0 = %08lx\n",
-		//				rx_descriptor_table[rx_index - 1].word0);
-		for (missed = 1; missed < rx_index; missed++) {
-			if (!(rx_descriptor_table[rx_index - 1 - missed].word0
-					& (1 << SPW_DESC_RX_ENABLE)))
-				break;
-		}
-		triggerEvent(RMAP_MISSED_REPLIES, missed);
-		//missed is number of missed replies
-
-	}
-	if (missed == rx_index) {
-		link_down++;
-	}
-
-	for (i = rx_index - missed; i > 0; i--) {
-		if (!(failure_table[i - 1] & 1)) {
-			checkRxDescPacket(&(rx_descriptor_table[i - 1]),
-					&(failure_table[i - 1]));
-		}
-		if (failure_table[i - 1] & 0xFFFE) {
-			reportFailures(failure_table[i - 1], i - 1);
-		}
-	}
-
-	//reset descriptor counter
-	rx_index = 0;
-	tx_index = 0;
-
-	//clear all descriptors to get rid of unused ones
-	spw_rx_desc *rx_desc;
-	i = 0;
-	for (rx_desc = rx_descriptor_table; rx_desc < &rx_descriptor_table[max_rx];
-			rx_desc++) {
-		rx_desc->word0 = 0;
-		failure_table[i++] = 0;
-	}
-	spw_tx_desc *tx_desc;
-	for (tx_desc = tx_descriptor_table; tx_desc < &tx_descriptor_table[max_tx];
-			tx_desc++) {
-		tx_desc->word0 = 0;
-	}
-
-	//restart spw
-	spw_start(port);
-
-	if (link_down > 1) {
-		return LINK_DOWN;
-	}
-	return RETURN_OK;
-
-}
-
-ReturnValue_t RmapSPWChannel::isActive() {
-	if (port == NULL) {
-		return COMMAND_CHANNEL_DEACTIVATED;
-	}
-	uint32_t state = spw_get_state(port);
-	if (state != SPW_STATE_RUN) {
-		return LINK_DOWN;
-	}
-	return RETURN_OK;
-
-}
-
-ReturnValue_t RmapSPWChannel::setPort(int8_t portNr, uint8_t dest_addr,
-		uint8_t src_addr, PeriodicTaskIF* currentTask) {
-
-	SPW_dev *new_port;
-
-	//only accept ports from a list or -1, which disables channel
-	if (portNr >= SPW_devices.len && portNr < -1) {
-		return COMMAND_PORT_OUT_OF_RANGE;
-	}
-
-	//check if crc is enabled
-
-	if (portNr != -1) {
-		new_port = SPW_devices.devices[portNr];
-		if (!spw_crc_enabled(new_port)) {
-			return NO_HW_CRC;
-		}
-	} else {
-		new_port = NULL;
-	}
-
-	//anounce change
-	triggerEvent(RMAP_SWITCHED_PORT, portNr, getCurrentPortNr());
-	if (portPoolId != 0) {
-		DataSet mySet;
-		PoolVariable<int8_t> channel(portPoolId, &mySet,
-				PoolVariableIF::VAR_WRITE);
-		mySet.read();
-		channel = portNr;
-		mySet.commit(PoolVariableIF::VALID);
-	}
-
-	//reset the old port to clear pending errors etc
-	reset();
-	//assign new port
-	this->port = new_port;
-
-	if (new_port == NULL) {
-		return RETURN_OK;
-	}
-
-//stop the new port
-	spw_stop(new_port);
-//make sure the new port has the max len set
-	new_port->SPWRXL = max_packet_len;
-//set the addresses
-	this->dest_addr = dest_addr;
-	this->src_addr = src_addr;
-	new_port->SPWNDR = src_addr;
-//set descriptor table
-	tx_descriptor_table = spw_get_tx_descriptor_table(new_port);
-	rx_descriptor_table = spw_get_rx_descriptor_table(new_port);
-	spw_reset_rxdesc_table(new_port);
-	spw_reset_txdesc_table(new_port);
-//reset the channel
-	spw_start(new_port);
-	currentTask->sleepFor(10);
-	reset();
-	return RETURN_OK;
-}
-
-ReturnValue_t RmapSPWChannel::setPort(int8_t port, PeriodicTaskIF* currentTask) {
-	return setPort(port, this->dest_addr, this->src_addr, currentTask);
-}
-
-spw_rx_desc* RmapSPWChannel::findReply(RMAPCookie* cookie) {
-	spw_rx_desc *rxdesc;
-	uint8_t i;
-
-//look downwards
-	for (i = cookie->rxdesc_index; i < 200; i--) {
-		if ((rxdesc = checkRxDesc(cookie, i)) != NULL) {
-			return rxdesc;
-		}
-	}
-//look upwards
-	for (i = cookie->rxdesc_index + 1; i < max_rx; i++) {
-		if ((rxdesc = checkRxDesc(cookie, i)) != NULL) {
-			return rxdesc;
-		}
-	}
-
-	return NULL;
-
-}
-
-ReturnValue_t RmapSPWChannel::sendCommand(RMAPCookie* cookie,
-		uint8_t instruction, uint8_t* data, uint32_t datalen) {
-
-	uint8_t headerlen = RMAP_COMMAND_HEADER_LEN - 1;
-
-//check if channel has a port
-	if (port == NULL) {
-		return COMMAND_CHANNEL_DEACTIVATED;
-	}
-
-//max send limit
-	if ((instruction & (1 << RMAP_COMMAND_BIT_WRITE))
-			&& (datalen & ~0xFFFFFF)) {
-		printf("application wants to send to much data with cookie at %p\n",
-				cookie);
-		return TOO_MUCH_DATA;
-	}
-//max receive limit
-	if ((!(instruction & (1 << RMAP_COMMAND_BIT_WRITE)))
-			&& (datalen + 1 + RMAP_READ_REPLY_HEADER_LEN > max_packet_len)) {
-		printf("application wants to read too much data with cookie at %p\n",
-				cookie);
-		return TOO_MUCH_DATA;
-	}
-
-//check if enough space is left in the buffer
-//must be checked against max_packet_len, as you can not tell what hw will do,
-//except that it will write this number at most
-	if ((buffer_pointer + BYTES2WORDS(max_packet_len))
-	> end_of_buffer) {
-		printf("buffer is full, cookie is %p\n", cookie);
-		return COMMAND_BUFFER_FULL;
-	}
-
-//we allow tx descriptor wrap at user discretion, but check we have rx descriptors available
-//as we dont wrap them
-//note: [tr]x_index will be incremented when done
-	if (rx_index >= max_rx) {
-		triggerEvent(RMAP_NO_RX_DESCRIPTORS, 0);
-		return COMMAND_NO_DESCRIPTORS_AVAILABLE;
-	}
-	if (tx_index >= max_tx) {
-		if (max_tx == 64) {
-			tx_index = 0;
-		} else {
-			triggerEvent(RMAP_NO_TX_DESCRIPTORS, 0);
-			return COMMAND_NO_DESCRIPTORS_AVAILABLE;
-		}
-	}
-
-//check if tx descriptor is activated, which means we wrapped the table
-//and came to a descriptor not yet sent
-#ifdef LEON
-	asm("flush");
-#endif
-	if (tx_descriptor_table[tx_index].word0 & (1 << SPW_DESC_TX_ENABLE)) {
-		return COMMAND_NO_DESCRIPTORS_AVAILABLE;
-	}
-
-//prepare header
-//set addresses
-	cookie->header.source_address = src_addr;
-	cookie->header.dest_address = dest_addr;
-//set instruction
-	cookie->header.instruction = instruction;
-//set the tid
-	cookie->header.tid_l = tid & 0xff;
-	cookie->header.tid_h = (tid >> 8) & 0xff;
-	tid++;
-//set datalen
-	cookie->header.datalen_l = datalen & 0xff;
-	cookie->header.datalen_m = (datalen >> 8) & 0xff;
-	cookie->header.datalen_h = (datalen >> 16) & 0xff;
-
-//configure rx_descriptor
-	rx_descriptor_table[rx_index].word1 = (uint32_t) buffer_pointer;
-	rx_descriptor_table[rx_index].word0 = (1 << SPW_DESC_RX_ENABLE);
-
-//inc buffer
-	if (instruction & (1 << RMAP_COMMAND_BIT_WRITE)) {
-		buffer_pointer += BYTES2WORDS(RMAP_WRITE_REPLY_HEADER_LEN);
-	} else {
-		buffer_pointer += BYTES2WORDS(RMAP_READ_REPLY_HEADER_LEN + datalen + 1); //+1 for crc
-	}
-
-//configure tx_descriptor
-	tx_descriptor_table[tx_index].word1 = (uint32_t) &cookie->header;
-	if (instruction & (1 << RMAP_COMMAND_BIT_WRITE)) {
-		tx_descriptor_table[tx_index].word2 = datalen & 0xFFFFFF;
-	} else {
-		tx_descriptor_table[tx_index].word2 = 0;
-	}
-	tx_descriptor_table[tx_index].word3 = (uint32_t) data;
-
-	if (instruction & (1 << RMAP_COMMAND_BIT_WRITE)) {
-		tx_descriptor_table[tx_index].word0 = headerlen
-				| (1 << SPW_DESC_TX_ENABLE) | (1 << SPW_DESC_TX_CRC_DATA)
-				| (1 << SPW_DESC_TX_CRC_HEADER);
-	} else {
-		tx_descriptor_table[tx_index].word0 = headerlen
-				| (1 << SPW_DESC_TX_ENABLE) | (1 << SPW_DESC_TX_CRC_HEADER);
-	}
-
-//remember descriptors to find them faster when looking for the reply
-	cookie->txdesc = &(tx_descriptor_table[tx_index]);
-	cookie->rxdesc_index = rx_index;
-
-	tx_index++;
-	rx_index++;
-
-//inform the hw about the new descriptors
-	spw_new_rxdesc(port);
-	spw_new_txdesc(port);
-
-	return RETURN_OK;
-
-}
-
-ReturnValue_t RmapSPWChannel::getReply(RMAPCookie* cookie, uint8_t** databuffer,
-		uint32_t* len) {
-	spw_rx_desc *rxdesc;
-	ReturnValue_t result;
-	uint32_t packetlen;
-//was the command sent right
-	result = checkTxDesc(cookie);
-	if (result != RETURN_OK) {
-		return result;
-	}
-//command was sent
-//find the rx descriptor
-	if ((rxdesc = findReply(cookie)) == NULL) {
-		return REPLY_NO_REPLY;
-	}
-//reply_header = (rmap_write_reply_header *) rxdesc->word1;
-	if (databuffer != NULL) {
-		packetlen = (rxdesc->word0 & 0x1FFFFFF);
-		*databuffer = ((uint8_t *) rxdesc->word1) + RMAP_READ_REPLY_HEADER_LEN;
-		*len = packetlen - RMAP_READ_REPLY_HEADER_LEN - 1;
-	}
-	result = ((RMAPStructs::rmap_write_reply_header *) (rxdesc->word1))->status;
-	//result is an RMAP standard return code, not a ReturnValue_t, thus we check against 0
-	//and do MAKE_RETURN_CODE(), or set to RETURN_OK respectively
-	//if RETURN_OK == 0, this is not neccessary, but we should not make assumptions on the
-	//value of ReturnValues
-	if (result != 0) {
-		result = ((RMAP::INTERFACE_ID << 8) + (result));
-	} else {
-		result = RETURN_OK;
-	}
-	return result;
-
-}
-
-ReturnValue_t RmapSPWChannel::checkTxDesc(RMAPCookie* cookie) {
-	RMAPStructs::rmap_cmd_header *header_desc;
-	uint16_t tid_desc, tid_cookie;
-	uint32_t status;
-#ifdef LEON
-	asm("flush");
-#endif
-	if (cookie->txdesc == NULL) {
-		return REPLY_NOT_SENT;
-	}
-	header_desc =
-			(RMAPStructs::rmap_cmd_header *) ((spw_tx_desc *) cookie->txdesc)->word1;
-	status = ((spw_tx_desc *) cookie->txdesc)->word0
-			& ((1 << SPW_DESC_TX_ENABLE) | (1 << SPW_DESC_TX_LINK_ERROR));
-	tid_cookie = (cookie->header.tid_l) | (cookie->header.tid_h << 8);
-	tid_desc = (header_desc->tid_l) | (header_desc->tid_h << 8);
-	if (tid_cookie != tid_desc) {
-		//tx descriptor was reused, we have no info so let's assume the best
-		return RETURN_OK;
-	}
-//was command sent or an error seen?
-	if (status == (1 << SPW_DESC_TX_ENABLE)) {
-		return REPLY_NOT_YET_SENT;
-	}
-	if (status & (1 << SPW_DESC_TX_LINK_ERROR)) {
-		triggerEvent(SPW_ERROR, SPW_LINK_ERROR, 0);
-		return REPLY_NOT_SENT;
-	}
-	return RETURN_OK;
-}
-
-spw_rx_desc* RmapSPWChannel::checkRxDesc(RMAPCookie* cookie,
-		uint8_t rxdesc_index) {
-	uint16_t *failureEntry, tid_desc, tid_cookie;
-	spw_rx_desc *rxdesc;
-	RMAPStructs::rmap_read_reply_header *reply_header;
-
-	rxdesc = &rx_descriptor_table[rxdesc_index];
-	failureEntry = &failure_table[rxdesc_index];
-
-	if (!(*failureEntry)) {
-		checkRxDescPacket(rxdesc, failureEntry);
-	}
-	if (*failureEntry != 1 << RMAP_RX_FAIL_CHECKED) {
-		return NULL;
-	}
-//the packet has been checked and is formally correct
-//only thing left is to check tid and instruction:
-
-	reply_header = (RMAPStructs::rmap_read_reply_header *) rxdesc->word1;
-
-	tid_cookie = cookie->header.tid_l | (cookie->header.tid_h << 8);
-	tid_desc = reply_header->tid_l | (reply_header->tid_h << 8);
-	if (tid_desc != tid_cookie) {
-		return NULL;
-	}
-
-	if ((cookie->header.instruction & 0x3F) != reply_header->instruction) {
-		*failureEntry |= (1 << RMAP_RX_FAIL_WRONG_REPLY);
-		return NULL;
-	}
-	return rxdesc;
-
-}
-
-void RmapSPWChannel::checkRxDescPacket(spw_rx_desc* rxdesc,
-		uint16_t* failureEntry) {
-	uint32_t statusword, len;
-
-#ifdef LEON
-	asm("flush");
-#endif
-
-	statusword = rxdesc->word0;
-
-	if ((statusword & (1 << SPW_DESC_RX_ENABLE)) || (statusword == 0)) {
-		return;
-	}
-
-	*failureEntry = 1 << RMAP_RX_FAIL_CHECKED;
-
-	if (statusword & (1 << SPW_DESC_RX_EEP)) {
-		*failureEntry |= (1 << RMAP_RX_FAIL_EEP);
-		return;
-	}
-
-	if (statusword & (1 << SPW_DESC_RX_TRUNCATED)) {
-		*failureEntry |= (1 << RMAP_RX_FAIL_TRUNC);
-		return;
-	}
-
-	len = statusword & 0x1FFFFFF;
-	if (!(len >= 13 || len == 8)) {
-		*failureEntry |= (1 << RMAP_RX_FAIL_LEN);
-		return;
-	}
-	if (checkCrc((uint8_t*) rxdesc->word1, len) != RETURN_OK) {
-		*failureEntry |= (1 << RMAP_RX_FAIL_CRC);
-		return;
-	}
-
-	checkRmapHeader((void *) rxdesc->word1, len, failureEntry);
-
-}
-
-ReturnValue_t RmapSPWChannel::checkCrc(uint8_t* packet, uint32_t len) {
-	if (len == 8) {
-		if (crc_calculate(packet, len) == 0) {
-			return RETURN_OK;
-		} else {
-			return RETURN_FAILED;
-		}
-	} else {
-		if ((crc_calculate(packet, RMAP_READ_REPLY_HEADER_LEN) == 0)
-				&& (crc_calculate(packet, len) == 0)) {
-			return RETURN_OK;
-		} else {
-			return RETURN_FAILED;
-		}
-	}
-}
-
-void RmapSPWChannel::checkRmapHeader(void* _header, uint32_t len,
-		uint16_t* failureEntry) {
-	RMAPStructs::rmap_read_reply_header *header =
-			(RMAPStructs::rmap_read_reply_header *) _header;
-	uint32_t datalen;
-
-	if (header->dest_address != src_addr) {
-		*failureEntry |= (1 << RMAP_RX_FAIL_DST_ADDR);
-	}
-
-	if (header->protocol != 0x01) {
-		*failureEntry |= (1 << RMAP_RX_FAIL_PROTO);
-	}
-
-	if (header->instruction & 0xC0) {
-		*failureEntry |= (1 << RMAP_RX_FAIL_INSTR_TYPE);
-	} else {	//hope that works...
-		if ((!(header->instruction & (1 << RMAP_COMMAND_BIT_REPLY)))
-				|| ((header->instruction & (1 << RMAP_COMMAND_BIT_VERIFY))
-						&& (!(header->instruction
-								& (1 << RMAP_COMMAND_BIT_WRITE))))
-				|| (header->instruction & 3)) {
-			if (header->status == REPLY_UNUSED_PACKET_TYPE_OR_COMMAND_CODE) {
-				*failureEntry |= (1 << RMAP_RX_FAIL_INSTR);
-			} else {
-				*failureEntry |= (1 << RMAP_RX_FAIL_INSTR_TYPE);
-			}
-		}
-	}
-
-	if (header->instruction & (1 << RMAP_COMMAND_BIT_WRITE)) {
-		if (len != 8) {
-			*failureEntry |= (1 << RMAP_RX_FAIL_INSTR_TYPE);
-		}
-	} else {
-		if (len == 8) {
-			*failureEntry |= (1 << RMAP_RX_FAIL_INSTR_TYPE);
-		}
-	}
-
-	if (header->source_address != dest_addr) {
-		*failureEntry |= (1 << RMAP_RX_FAIL_SRC_ADDR);
-	}
-
-	if (len != 8) {
-		datalen = header->datalen_l | (header->datalen_m << 8)
-				| (header->datalen_h << 16);
-		if (datalen + RMAP_READ_REPLY_HEADER_LEN + 1 != len) {
-			*failureEntry |= (1 << RMAP_RX_FAIL_LEN_MISSMATCH);
-		}
-	}
-}
-
-ReturnValue_t RmapSPWChannel::sendCommandBlocking(RMAPCookie *cookie,
-		uint8_t *data, uint32_t datalen, uint8_t **databuffer, uint32_t *len,
-		uint32_t timeout_us) {
-	uint32_t time;
-	ReturnValue_t result;
-	if (databuffer != NULL) {
-		result = sendReadCommand(cookie, datalen);
-	} else {
-		result = sendWriteCommand(cookie, data, datalen);
-	}
-	if (result != RETURN_OK) {
-		return result;
-	}
-	time = hw_timer_get_us();
-	while (time - hw_timer_get_us() < timeout_us) {
-		result = getReply(cookie, databuffer, len);
-		if (!((result == REPLY_NOT_YET_SENT) || (result == REPLY_NO_REPLY))) {
-			return result;
-		}
-	}
-	if (result == REPLY_NOT_YET_SENT) {
-		return result;
-	}
-	return REPLY_TIMEOUT;
-}
-
-//SHOULDDO find a better way to inject the Extended address
-#include <config/hardware/IoBoardAddresses.h>
-ReturnValue_t RmapSPWChannel::open(Cookie **cookie, uint32_t address,
-		uint32_t maxReplyLen) {
-	*cookie = new RMAPCookie(address, IoBoardExtendedAddresses::DEVICE_BUFFER,
-			this, 0, maxReplyLen);
-	return RETURN_OK;
-}
-
-ReturnValue_t RmapSPWChannel::reOpen(Cookie* cookie, uint32_t address,
-		uint32_t maxReplyLen) {
-	ReturnValue_t result = isActive();
-	if (result != RETURN_OK) {
-		return result;
-	}
-	RMAPCookie *rCookie = dynamic_cast<RMAPCookie *>(cookie);
-	if (rCookie == NULL) {
-		return INVALID_COOKIE_TYPE;
-	}
-	rCookie->setAddress(address);
-	rCookie->setChannel(this);
-	rCookie->setCommandMask(0);
-	rCookie->setExtendedAddress(IoBoardExtendedAddresses::DEVICE_BUFFER);
-	rCookie->setMaxReplyLen(maxReplyLen);
-	return RETURN_OK;
-}
-
-void RmapSPWChannel::close(Cookie* cookie) {
-	delete cookie;
-}
-
-ReturnValue_t RmapSPWChannel::sendMessage(Cookie* cookie, uint8_t* data,
-		uint32_t len) {
-	return sendWriteCommand((RMAPCookie *) cookie, data, len);
-}
-
-ReturnValue_t RmapSPWChannel::getSendSuccess(Cookie* cookie) {
-	return getWriteReply((RMAPCookie *) cookie);
-}
-
-ReturnValue_t RmapSPWChannel::requestReceiveMessage(Cookie* cookie) {
-	return sendReadCommand((RMAPCookie *) cookie,
-			((RMAPCookie *) cookie)->getMaxReplyLen());
-}
-
-ReturnValue_t RmapSPWChannel::readReceivedMessage(Cookie* cookie,
-		uint8_t** buffer, uint32_t* size) {
-	return getReadReply((RMAPCookie *) cookie, buffer, size);
-}
-
-ReturnValue_t RmapSPWChannel::setAddress(Cookie* cookie, uint32_t address) {
-	((RMAPCookie *) cookie)->setAddress(address);
-	return HasReturnvaluesIF::RETURN_OK;
-}
-
-uint32_t RmapSPWChannel::getAddress(Cookie* cookie) {
-	return ((RMAPCookie *) cookie)->getAddress();
-}
-
-ReturnValue_t RmapSPWChannel::setParameter(Cookie* cookie, uint32_t parameter) {
-	return RETURN_FAILED;
-}
-
-uint32_t RmapSPWChannel::getParameter(Cookie* cookie) {
-	return 0;
-}
-
-void RmapSPWChannel::reportFailures(uint16_t failureEntry,
-		uint8_t descriptorNr) {
-	if (failureEntry & (1 << RMAP_RX_FAIL_CRC)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_INVALID_DATA_CRC, descriptorNr);
-	}
-	if (failureEntry & (1 << RMAP_RX_FAIL_DST_ADDR)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_INVALID_TARGET_LOGICAL_ADDRESS,
-				descriptorNr);
-	}
-	if (failureEntry & (1 << RMAP_RX_FAIL_EEP)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_EEP, descriptorNr);
-	}
-	if (failureEntry & (1 << RMAP_RX_FAIL_INSTR)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR,
-				REPLY_COMMAND_NOT_IMPLEMENTED_OR_NOT_AUTHORISED, descriptorNr);
-	}
-	if (failureEntry & (1 << RMAP_RX_FAIL_INSTR_TYPE)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_RESERVED, descriptorNr);
-	}
-	if (failureEntry & (1 << RMAP_RX_FAIL_LEN)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_TOO_MUCH_DATA, descriptorNr);
-	}
-	if (failureEntry & (1 << RMAP_RX_FAIL_LEN_MISSMATCH)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_INVALID_DATA, descriptorNr);
-	}
-	if (failureEntry & (1 << RMAP_RX_FAIL_PROTO)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_GENERAL_ERROR_CODE,
-				descriptorNr);
-	}
-	if (failureEntry & (1 << RMAP_RX_FAIL_SRC_ADDR)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_GENERAL_ERROR_CODE,
-				descriptorNr);
-	}
-	if (failureEntry & (1 << RMAP_RX_FAIL_TRUNC)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_TRANSMISSION_ERROR,
-				descriptorNr);
-	}
-	if (failureEntry & (1 << RMAP_RX_FAIL_WRONG_REPLY)) {
-		triggerEvent(RMAP_PROTOCOL_ERROR, REPLY_INVALID_KEY, descriptorNr);
-	}
-
-}
-
-void RmapSPWChannel::reportSpwstr(uint32_t spwstr) {
-	if (spwstr & (1 << SPW_SPWSTR_CE)) {
-		triggerEvent(SPW_ERROR, SPW_CREDIT);
-	}
-	if (spwstr & (1 << SPW_SPWSTR_ER)) {
-		triggerEvent(SPW_ERROR, SPW_ESCAPE);
-	}
-	if (spwstr & (1 << SPW_SPWSTR_DE)) {
-		triggerEvent(SPW_ERROR, SPW_DISCONNECT);
-	}
-	if (spwstr & (1 << SPW_SPWSTR_PE)) {
-		triggerEvent(SPW_ERROR, SPW_PARITY);
-	}
-	if (spwstr & (1 << SPW_SPWSTR_WE)) {
-		triggerEvent(SPW_ERROR, SPW_WRITE_SYNC);
-	}
-	if (spwstr & (1 << SPW_SPWSTR_IA)) {
-		triggerEvent(SPW_ERROR, SPW_INVALID_ADDRESS);
-	}
-	if (spwstr & (1 << SPW_SPWSTR_EE)) {
-		triggerEvent(SPW_ERROR, SPW_EARLY_EOP);
-	}
-}
-
-uint8_t RmapSPWChannel::null_crc = 0;
-
-int8_t RmapSPWChannel::getCurrentPortNr() {
-	uint8_t i;
-	int8_t oldport = -1;
-	for (i = 0; i < SPW_devices.len; ++i) {
-		if (SPW_devices.devices[i] == this->port) {
-			oldport = i;
-		}
-	}
-	return oldport;
-}

rmap/RmapSPWChannel.h

@@ -1,135 +0,0 @@
-#ifndef RMAPCHANNEL_H_
-#define RMAPCHANNEL_H_
-
-#include <framework/objectmanager/SystemObject.h>
-#include <framework/rmap/RMAPChannelIF.h>
-extern "C" {
-#include <bsp_flp/spw/spw.h>
-}
-#include <config/datapool/dataPoolInit.h>
-#include <framework/devicehandlers/DeviceCommunicationIF.h>
-#include <framework/events/Event.h>
-#include <framework/tasks/PeriodicTaskIF.h>
-
-class RmapSPWChannel: public SystemObject,
-		public RMAPChannelIF,
-		public DeviceCommunicationIF {
-public:
-	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH_1;
-	static const Event SPW_ERROR = MAKE_EVENT(0, SEVERITY::LOW);
-	static const Event SPW_LINK_DOWN = MAKE_EVENT(1, SEVERITY::LOW);
-//	static const Event SPW_CREDIT = MAKE_EVENT(1, SEVERITY::LOW);
-//	static const Event SPW_ESCAPE = MAKE_EVENT(2, SEVERITY::LOW);
-//	static const Event SPW_DISCONNECT = MAKE_EVENT(3, SEVERITY::LOW);
-//	static const Event SPW_PARITY = MAKE_EVENT(4, SEVERITY::LOW);
-//	static const Event SPW_WRITE_SYNC = MAKE_EVENT(5, SEVERITY::LOW);
-//	static const Event SPW_INVALID_ADDRESS = MAKE_EVENT(6, SEVERITY::LOW);
-//	static const Event SPW_EARLY_EOP = MAKE_EVENT(7, SEVERITY::LOW);
-//	static const Event SPW_DMA = MAKE_EVENT(8, SEVERITY::LOW);
-//	static const Event SPW_LINK_ERROR = MAKE_EVENT(9, SEVERITY::LOW);
-	static const Event RMAP_PROTOCOL_ERROR = MAKE_EVENT(10, SEVERITY::LOW);
-//	static const Event RMAP_CRC = MAKE_EVENT(10, SEVERITY::LOW);
-//	static const Event RMAP_DST_ADDR = MAKE_EVENT(11, SEVERITY::LOW);
-//	static const Event RMAP_EEP = MAKE_EVENT(12, SEVERITY::LOW);
-//	static const Event RMAP_INSTR = MAKE_EVENT(13, SEVERITY::LOW);
-//	static const Event RMAP_INSTR_TYPE = MAKE_EVENT(14, SEVERITY::LOW);
-//	static const Event RMAP_LEN = MAKE_EVENT(15, SEVERITY::LOW);
-//	static const Event RMAP_LEN_MISSMATCH = MAKE_EVENT(16, SEVERITY::LOW);
-//	static const Event RMAP_PROTO = MAKE_EVENT(17, SEVERITY::LOW);
-//	static const Event RMAP_SRC_ADDR = MAKE_EVENT(18, SEVERITY::LOW);
-//	static const Event RMAP_TRUNC = MAKE_EVENT(19, SEVERITY::LOW);
-//	static const Event RMAP_WRONG_REPLY = MAKE_EVENT(20, SEVERITY::LOW);
-	static const Event RMAP_MISSED_REPLIES = MAKE_EVENT(21, SEVERITY::LOW);
-	static const Event RMAP_NO_RX_DESCRIPTORS = MAKE_EVENT(22, SEVERITY::LOW);
-	static const Event RMAP_NO_TX_DESCRIPTORS = MAKE_EVENT(23, SEVERITY::LOW);
-	static const Event RMAP_SWITCHED_PORT = MAKE_EVENT(24, SEVERITY::INFO);
-
-	RmapSPWChannel(object_id_t setObjectId, uint16_t buffersize_words,
-			uint32_t maxPacketSize, int8_t portNr, uint8_t dest_addr,
-			uint8_t src_addr, PeriodicTaskIF* currentTask, datapool::opus_variable_id portVariable =
-					datapool::NO_PARAMETER);
-
-	virtual ~RmapSPWChannel();
-
-	virtual ReturnValue_t reset();
-
-	virtual ReturnValue_t isActive();
-
-	virtual ReturnValue_t setPort(int8_t port, uint8_t dest_addr,
-			uint8_t src_addr, PeriodicTaskIF* currentTask);
-
-	virtual ReturnValue_t setPort(int8_t port, PeriodicTaskIF* currentTask);
-
-	virtual ReturnValue_t sendCommand(RMAPCookie *cookie, uint8_t instruction,
-			uint8_t *data, uint32_t datalen);
-	virtual ReturnValue_t getReply(RMAPCookie *cookie, uint8_t **databuffer,
-			uint32_t *len);
-	virtual ReturnValue_t sendCommandBlocking(RMAPCookie *cookie, uint8_t *data,
-			uint32_t datalen, uint8_t **databuffer, uint32_t *len,
-			uint32_t timeout_us);
-
-	virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
-			uint32_t maxReplyLen);
-
-	virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
-			uint32_t maxReplyLen);
-
-	virtual void close(Cookie *cookie);
-
-	virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
-			uint32_t len);
-
-	virtual ReturnValue_t getSendSuccess(Cookie *cookie);
-
-	virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
-
-	virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
-			uint32_t *size);
-
-	virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
-
-	virtual uint32_t getAddress(Cookie *cookie);
-
-	virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
-
-	virtual uint32_t getParameter(Cookie *cookie);
-
-private:
-
-	SPW_dev *port;
-	uint32_t *buffer;
-	uint32_t *buffer_pointer; //points to the next free space in the buffer
-	uint32_t *end_of_buffer; //points to the word AFTER the buffer
-	spw_tx_desc *tx_descriptor_table;
-	spw_rx_desc *rx_descriptor_table;
-	uint16_t *failure_table;
-	uint32_t max_packet_len;
-	uint16_t tid;
-//	uint8_t port_has_crc;
-	uint8_t rx_index; //index of the next unused rx descriptor
-	uint8_t max_rx;
-	uint8_t tx_index; //index of the next unused tx descriptor
-	uint8_t max_tx;
-	uint8_t src_addr;
-	uint8_t dest_addr;
-
-	datapool::opus_variable_id portPoolId;
-
-	static uint8_t null_crc;
-
-	spw_rx_desc *findReply(RMAPCookie *cookie);
-	ReturnValue_t checkTxDesc(RMAPCookie *cookie);
-	spw_rx_desc *checkRxDesc(RMAPCookie *cookie, uint8_t rxdesc_index);
-	void checkRxDescPacket(spw_rx_desc *rxdesc, uint16_t *failureEntry);
-
-	ReturnValue_t checkCrc(uint8_t *packet, uint32_t len);
-
-	void checkRmapHeader(void *_header, uint32_t len, uint16_t *failureEntry);
-
-	void reportFailures(uint16_t failureEntry, uint8_t descriptorNr);
-	void reportSpwstr(uint32_t spwstr);
-	int8_t getCurrentPortNr();
-
-};
-
-#endif /* RMAPCHANNEL_H_ */

rmap/rmapStructs.h

@@ -7,28 +7,45 @@
 
 //////////////////////////////////////////////////////////////////////////////////
 // RMAP command bits
-#define RMAP_COMMAND_BIT_INCREMENT	2
-#define RMAP_COMMAND_BIT_REPLY		3
-#define RMAP_COMMAND_BIT_WRITE		5
-#define RMAP_COMMAND_BIT_VERIFY		4
-#define RMAP_COMMAND_BIT			6
+//#define RMAP_COMMAND_BIT_INCREMENT	2
+//#define RMAP_COMMAND_BIT_REPLY		3
+//#define RMAP_COMMAND_BIT_WRITE		5
+//#define RMAP_COMMAND_BIT_VERIFY		4
+//#define RMAP_COMMAND_BIT			6
+
+namespace RMAPIds{
+
+static const uint8_t RMAP_COMMAND_BIT_INCREMENT = 2;
+static const uint8_t RMAP_COMMAND_BIT_REPLY = 3;
+static const uint8_t RMAP_COMMAND_BIT_WRITE = 5;
+static const uint8_t RMAP_COMMAND_BIT_VERIFY = 4;
+static const uint8_t RMAP_COMMAND_BIT = 6;
 
 //////////////////////////////////////////////////////////////////////////////////
 // RMAP commands
-
-#define RMAP_COMMAND_WRITE			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY))
+static const uint8_t RMAP_COMMAND_WRITE = ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY));
+static const uint8_t RMAP_COMMAND_READ = ((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY));
+static const uint8_t RMAP_REPLY_WRITE = ((1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY));
+static const uint8_t RMAP_REPLY_READ = ((1<<RMAP_COMMAND_BIT_REPLY));
+//#define RMAP_COMMAND_WRITE			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY))
 //#define RMAP_COMMAND_WRITE_VERIFY	((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY))
-#define RMAP_COMMAND_READ			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
+//#define RMAP_COMMAND_READ			((1<<RMAP_COMMAND_BIT) | (1<<RMAP_COMMAND_BIT_REPLY))
 
-#define RMAP_REPLY_WRITE			((1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY))
+//#define RMAP_REPLY_WRITE			((1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY))
 //#define RMAP_REPLY_WRITE_VERIFY		((1<<RMAP_COMMAND_BIT_WRITE) | (1<<RMAP_COMMAND_BIT_REPLY) | (1<<RMAP_COMMAND_BIT_VERIFY))
-#define RMAP_REPLY_READ				((1<<RMAP_COMMAND_BIT_REPLY))
+//#define RMAP_REPLY_READ				((1<<RMAP_COMMAND_BIT_REPLY))
 
 //////////////////////////////////////////////////////////////////////////////////
 // useful info
-#define RMAP_COMMAND_HEADER_LEN		16
-#define RMAP_WRITE_REPLY_HEADER_LEN	8
-#define RMAP_READ_REPLY_HEADER_LEN	12
+static const uint8_t RMAP_COMMAND_HEADER_LEN = 16;
+static const uint8_t RMAP_WRITE_REPLY_HEADER_LEN = 8;
+static const uint8_t RMAP_READ_REPLY_HEADER_LEN = 12;
+static const uint8_t RMAP_DATA_FOOTER_SIZE = 1; //SIZE OF CRC
+//#define RMAP_COMMAND_HEADER_LEN		16
+//#define RMAP_WRITE_REPLY_HEADER_LEN	8
+//#define RMAP_READ_REPLY_HEADER_LEN	12
+
+}
 
 namespace RMAPStructs {
 struct rmap_cmd_header {

serialize/EndianSwapper.h

@@ -1,9 +1,9 @@
 #ifndef ENDIANSWAPPER_H_
 #define ENDIANSWAPPER_H_
 
-//#include <endian.h> //for testing on x86
 #include <framework/osal/Endiness.h>
 #include <cstring>
+#include <iostream>
 
 class EndianSwapper {
 private:
@@ -13,9 +13,9 @@ private:
 public:
 	template<typename T>
 	static T swap(T in) {
-#ifndef BYTE_ORDER
-#error BYTE_ORDER not defined
-#elif BYTE_ORDER == LITTLE_ENDIAN
+#ifndef BYTE_ORDER_SYSTEM
+#error BYTE_ORDER_SYSTEM not defined
+#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 		T tmp;
 		uint8_t *pointerOut = (uint8_t *) &tmp;
 		uint8_t *pointerIn = (uint8_t *) &in;
@@ -23,21 +23,21 @@ public:
 			pointerOut[sizeof(T) - count - 1] = pointerIn[count];
 		}
 		return tmp;
-#elif BYTE_ORDER == BIG_ENDIAN
+#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 		return in;
 #else
 #error Unknown Byte Order
 #endif
 	}
 	static void swap(uint8_t* out, const uint8_t* in, uint32_t size) {
-#ifndef BYTE_ORDER
-#error BYTE_ORDER not defined
-#elif BYTE_ORDER == LITTLE_ENDIAN
+#ifndef BYTE_ORDER_SYSTEM
+#error BYTE_ORDER_SYSTEM not defined
+#elif BYTE_ORDER_SYSTEM == LITTLE_ENDIAN
 		for (uint8_t count = 0; count < size; count++) {
 			out[size - count - 1] = in[count];
 		}
 		return;
-#elif BYTE_ORDER == BIG_ENDIAN
+#elif BYTE_ORDER_SYSTEM == BIG_ENDIAN
 		memcpy(out, in, size);
 		return;
 #endif

serviceinterface/ServiceInterfaceBuffer.cpp

@@ -39,6 +39,7 @@ int ServiceInterfaceBuffer::sync(void) {
 	return 0;
 }
 
+#ifndef UT699
 
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
 	this->log_message = set_message;
@@ -59,8 +60,11 @@ void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
 	}
 
 }
+#endif
 
 #ifdef UT699
+#include <framework/osal/rtems/Interrupt.h>
+
 ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
 	this->log_message = set_message;
 	this->isActive = true;

serviceinterface/ServiceInterfaceBuffer.h

@@ -6,7 +6,7 @@
 #include <sstream>
 #include <cstdio>
 
-
+#ifndef UT699
 class ServiceInterfaceBuffer: public std::basic_streambuf<char,
 		std::char_traits<char> > {
 	friend class ServiceInterfaceStream;
@@ -36,7 +36,7 @@ private:
 	// In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
 };
-
+#endif
 
 
 

storagemanager/PoolManager.h

@@ -12,8 +12,7 @@
 
 
 #include <framework/storagemanager/LocalPool.h>
-#include <framework/ipc/MutexIF.h>
-#include <framework/ipc/MutexFactory.h>
+#include <framework/ipc/MutexHelper.h>
 
 /**
  * @brief	The PoolManager class provides an intermediate data storage with
@@ -50,20 +49,10 @@ public:
 
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(const uint32_t size, store_address_t* address, bool ignoreFault) {
-	ReturnValue_t mutexStatus = mutex->lockMutex(MutexIF::NO_TIMEOUT);
-	ReturnValue_t status = this->DATA_STORAGE_FULL;
-	if ( mutexStatus == this->RETURN_OK ) {
-		status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,address,ignoreFault);
-	} else {
-		error << "PoolManager::findEmpty: Mutex could not be acquired. Error code: " << mutexStatus << std::endl;
-	}
-	mutexStatus = mutex->lockMutex(MutexIF::NO_TIMEOUT);
-	if (mutexStatus != this->RETURN_OK) {
-		return mutexStatus;
-	} else {
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,address,ignoreFault);
 	return status;
 }
-}
 
 template<uint8_t NUMBER_OF_POOLS>
 inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
@@ -81,37 +70,17 @@ template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 		store_address_t packet_id) {
 	//	debug << "PoolManager( " << translateObject(getObjectId()) << " )::deleteData from store " << packet_id.pool_index << ". id is " << packet_id.packet_index << std::endl;
-		ReturnValue_t mutexStatus = mutex->lockMutex(MutexIF::NO_TIMEOUT);
-		ReturnValue_t status = this->RETURN_OK;
-		if ( mutexStatus == this->RETURN_OK ) {
-			LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
-		} else {
-			error << "PoolManager:deleteData: Mutex could not be acquired. Error code: " << status << std::endl;
-		}
-		mutexStatus = mutex->lockMutex(MutexIF::NO_TIMEOUT);
-		if (mutexStatus != this->RETURN_OK) {
-			return mutexStatus;
-		} else {
+		MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+		ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
 		return status;
 }
-}
 
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer, uint32_t size,
 		store_address_t* storeId) {
-	ReturnValue_t mutexStatus = mutex->lockMutex(MutexIF::NO_TIMEOUT);
-	ReturnValue_t status = this->RETURN_OK;
-	if ( mutexStatus == this->RETURN_OK ) {
-		LocalPool<NUMBER_OF_POOLS>::deleteData(buffer, size, storeId);
-	} else {
-		error << "PoolManager:deleteData: Mutex could not be acquired. Error code: " << status << std::endl;
-	}
-	mutexStatus = mutex->lockMutex(MutexIF::NO_TIMEOUT);
-	if (mutexStatus != this->RETURN_OK) {
-		return mutexStatus;
-	} else {
+	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer, size, storeId);
 	return status;
 }
-}
 
 #endif /* POOLMANAGER_H_ */

subsystem/SubsystemBase.cpp

@@ -8,7 +8,7 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), childrenChangedMode(
 		false), commandsOutstanding(0), commandQueue(NULL), healthHelper(this,
 				setObjectId), modeHelper(this), parentId(parent) {
-	QueueFactory::instance()->createMessageQueue(commandQueueDepth,
+	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
 			CommandMessage::MAX_MESSAGE_SIZE);
 }
 

tasks/ExecutableObjectIF.h

@@ -11,10 +11,11 @@
 #ifndef EXECUTABLEOBJECTIF_H_
 #define EXECUTABLEOBJECTIF_H_
 
-
-#include <framework/osal/OperatingSystemIF.h>
 class PeriodicTaskIF;
 
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+
+#include <cstring>
 /**
  * @brief	The interface provides a method to execute objects within a task.
  * @details	The performOperation method, that is required by the interface is
@@ -34,7 +35,15 @@ public:
 	 */
 	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) = 0;
 
-	virtual void setTaskIF(PeriodicTaskIF* interface) {};
+	/**
+	 * @brief Function called during setup assignment of object to task
+	 * @details Has to be called from the function that assigns the object to a task and
+	 * 			enables the object implementation to overwrite this function and get a reference to the executing task
+	 * @param task_ Pointer to the taskIF of this task
+	 */
+	virtual void setTaskIF(PeriodicTaskIF* task_) {
+
+	}
 };
 
 #endif /* EXECUTABLEOBJECTIF_H_ */

tasks/PeriodicTaskIF.h

@@ -2,6 +2,7 @@
 #define PERIODICTASKIF_H_
 
 #include <framework/objectmanager/SystemObjectIF.h>
+#include <cstddef>
 class ExecutableObjectIF;
 /**
  * New version of TaskIF
@@ -10,7 +11,7 @@ class ExecutableObjectIF;
 */
 class PeriodicTaskIF {
 public:
-	static const uint64_t MINIMUM_STACK_SIZE;
+	static const size_t MINIMUM_STACK_SIZE;
 	/**
 	 * @brief	A virtual destructor as it is mandatory for interfaces.
 	 */
@@ -20,7 +21,7 @@ public:
 	 */
 	virtual ReturnValue_t startTask() = 0;
 
-	virtual ReturnValue_t addComponent(object_id_t) {return HasReturnvaluesIF::RETURN_FAILED;};
+	virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
 
 	virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
 

tasks/Typedef.h

@@ -4,7 +4,7 @@
 //TODO more generic?
 typedef const char* TaskName;
 typedef uint8_t TaskPriority;
-typedef uint16_t TaskStackSize;
+typedef size_t TaskStackSize;
 typedef double TaskPeriod;
 typedef void (*TaskDeadlineMissedFunction)();
 

tcdistribution/PUSDistributor.cpp

@@ -52,7 +52,8 @@ ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
 	errorCode = this->queueMap.insert(
 			std::pair<uint32_t, MessageQueueId_t>(serviceId, queue)).second;
 	if (errorCode == false) {
-		returnValue = OperatingSystemIF::RESOURCE_IN_USE;
+		//TODO Return Code
+		returnValue = MessageQueueIF::NO_QUEUE;
 	}
 	return returnValue;
 }

tcdistribution/TcDistributor.cpp

@@ -20,7 +20,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
 			status = tcQueue->receiveMessage(&currentMessage)) {
 		status = handlePacket();
 	}
-	if (status == OperatingSystemIF::QUEUE_EMPTY) {
+	if (status == MessageQueueIF::EMPTY) {
 		return RETURN_OK;
 	} else {
 		return status;

tcdistribution/TcDistributor.h

@@ -2,7 +2,6 @@
 #define TCDISTRIBUTOR_H_
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/objectmanager/SystemObject.h>
-#include <framework/osal/OperatingSystemIF.h>
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <framework/storagemanager/StorageManagerIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>

timemanager/CCSDSTime.cpp

@@ -45,7 +45,7 @@ ReturnValue_t CCSDSTime::convertToCcsds(Ccs_mseconds* to,
 	to->minute = from->minute;
 	to->second = from->second;
 	to->secondEminus2 = from->usecond / 10000;
-	to->secondEminus4 = (from->usecond % 10) * 10 / 1000;
+	to->secondEminus4 = (from->usecond % 10000) / 100;
 
 	return RETURN_OK;
 }
@@ -142,7 +142,7 @@ ReturnValue_t CCSDSTime::convertFromCCS(Clock::TimeOfDay_t* to, const uint8_t* f
 		if (temp->secondEminus4 >= 100) {
 			return INVALID_TIME_FORMAT;
 		}
-		to->usecond += temp->secondEminus4 / 10 * 1000;
+		to->usecond += temp->secondEminus4 * 100;
 	}
 
 	return RETURN_OK;

tmtcservices/CommandingServiceBase.h

@@ -49,6 +49,16 @@ public:
 
 	virtual ReturnValue_t initialize();
 
+	/**
+	 * Implementation of ExecutableObjectIF function
+	 *
+	 * Used to setup the reference of the task, that executes this component
+	 * @param task_ Pointer to the taskIF of this task
+	 */
+	virtual void setTaskIF(PeriodicTaskIF* task_){
+		executingTask = task_;
+	};
+
 protected:
 	struct CommandInfo {
 		struct tcInfo {
@@ -92,6 +102,11 @@ protected:
 
 	object_id_t packetDestination;
 
+	/**
+	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 */
+	PeriodicTaskIF* executingTask;
+
 	void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen,
 			const uint8_t* headerData = NULL, uint32_t headerSize = 0);
 	void sendTmPacket(uint8_t subservice, object_id_t objectId,
@@ -147,7 +162,7 @@ CommandingServiceBase<STATE_T>::CommandingServiceBase(object_id_t setObjectId,
 		NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
 				numberOfParallelCommands), failureParameter1(0), failureParameter2(
 				0), packetSource(setPacketSource), packetDestination(
-				setPacketDestination) {
+				setPacketDestination),executingTask(NULL) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
 	requestQueue = QueueFactory::instance()->createMessageQueue(20); //TODO: Funny magic number.
 }

tmtcservices/PusServiceBase.cpp

@@ -42,7 +42,7 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
 			this->currentPacket.deletePacket();
 			errorParameter1 = 0;
 			errorParameter2 = 0;
-		} else if (status == OperatingSystemIF::QUEUE_EMPTY) {
+		} else if (status == MessageQueueIF::EMPTY) {
 			status = RETURN_OK;
 			//		debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
 			break;

tmtcservices/SourceSequenceCounter.h

@@ -15,10 +15,10 @@ private:
 public:
 	SourceSequenceCounter() : sequenceCount(0) {}
 	void increment() {
-		this->sequenceCount = (++this->sequenceCount) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
+		sequenceCount = (sequenceCount+1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
 	}
 	void decrement() {
-		this->sequenceCount = (--this->sequenceCount) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
+		sequenceCount = (sequenceCount-1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
 	}
 	uint16_t get() { return this->sequenceCount; }
 	void reset(uint16_t toValue = 0) {