Merge branch 'main' into spahr/SharedPowerLines

Reviewed-on: #55
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -26,6 +26,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Added
 
+- FreeRTOS monotonic clock which is not subjected to time jumps of the system clock
 - add CFDP subsystem ID
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
 - `PusTmZcWriter` now exposes API to set message counter field.
@@ -34,8 +35,20 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Changed
 
-- Complete refactoring of HK subsystem. Replaced local data pool manager by periodic HK
+- Complete overhaul of HK subsystem. Replaced local data pool manager by periodic HK
   helper. The shared pool and the periodic HK generation are now distinct concepts.
+- The local HK manager was replaced by a periodic HK helper which has reduced responsibilities.
+  It takes care of tracking the HK generation using a set specification provided by the user.n
+  However, it leaves serialization of the HK data completely to the developer. This removes a major
+  constraint on the format of the HK data, which was previously constrained to implementors of a
+  certain base class.
+- The former set classes and pool objects are still available for HK set specification and
+  generation. The API has changed, but the general usage and their architecture has not.
+- A new set of set classes and helper objects to specify HK sets and data which does not need to be
+  shared was added as well. The majority of datasets do not need to be shared anyway.
+- The non-shared API retain the capability of appending of a validity blob for each piece of set
+  data at the end of the HK data. For both non-shared and shared data, this capability can be
+  specified in the constructor, and defaults to true.
 - Improved File System Abstraction to be more in line with normal filesystems.
 - CFDP implementation was improved, has now even less dependencies on other FSFW components
   and allows one inserted packet per state machine call.

misc/archive/MgmRM3100Handler.h

@@ -18,13 +18,13 @@ class MgmRM3100Handler : public DeviceHandlerBase {
   static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
 
   //! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
-  static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
+  static constexpr Event tmrcSet = event::makeEvent<SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO>();
 
   //! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
   //! P1: Second two bytes new Cycle Count Y
   //! P2: New cycle count Z
   static constexpr Event cycleCountersSet =
-      event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
+      event::makeEvent<SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO>();
 
   MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
                    uint32_t transitionDelay);

src/fsfw/cfdp/handler/defs.h

@@ -19,13 +19,13 @@ struct FsfwParams {
 };
 
 namespace events {
-static constexpr Event PDU_SEND_ERROR = event::makeEvent(SSID, 1, severity::LOW);
-static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
-static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW);
+static constexpr Event PDU_SEND_ERROR = event::makeEvent<SSID, 1, severity::LOW>();
+static constexpr Event SERIALIZATION_ERROR = event::makeEvent<SSID, 2, severity::LOW>();
+static constexpr Event FILESTORE_ERROR = event::makeEvent<SSID, 3, severity::LOW>();
 //! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
-static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW);
+static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent<SSID, 4, severity::LOW>();
 //! [EXPORT] : [COMMENT] CFDP request handling failed. P2: Returncode.
-static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent(SSID, 5, severity::LOW);
+static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent<SSID, 5, severity::LOW>();
 }  // namespace events
 
 static constexpr ReturnValue_t SOURCE_TRANSACTION_PENDING = returnvalue::makeCode(CID, 0);

src/fsfw/controller/ExtendedControllerBase.h

@@ -34,11 +34,12 @@ class ExtendedControllerBase : public ControllerBase,
   ActionHelper actionHelper;
 
   // Periodic HK methods, default method assumes that no shared pool is required.
-  virtual datapool::SharedPool* getOptionalSharedPool() override;
+  datapool::SharedPool* getOptionalSharedPool() override = 0;
 
   // Periodic HK abstract methods.
-  ReturnValue_t serializeHkDataset(dp::sid_t structureId, uint8_t* buf, size_t maxSize) = 0;
-  ReturnValue_t specifyHkDatasets(std::vector<hk::SetSpecification>& setList) = 0;
+  ReturnValue_t serializeHkDataset(dp::sid_t structureId, uint8_t* buf,
+                                   size_t maxSize) override = 0;
+  ReturnValue_t specifyHkDatasets(std::vector<hk::SetSpecification>& setList) override = 0;
 
   /**
    * Implemented by child class. Handle all command messages which are

src/fsfw/datapool/LocalPoolObjectBase.cpp

@@ -48,6 +48,14 @@ PoolObjectBase::PoolObjectBase(object_id_t poolOwner, id_t poolId, DataSetIF* da
     return;
   }
   sharedPool = hkOwner->getOptionalSharedPool();
+  if (sharedPool == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "PoolObjectBase: HK owner 0x" << std::hex << poolOwner << std::dec
+               << "does not have a shared pool " << std::endl;
+#else
+    sif::printError("PoolObjectBase: HK owner 0x%08x does not have a shared pool\n", poolOwner);
+#endif
+  }
 
   if (dataSet != nullptr) {
     dataSet->registerVariable(this);
@@ -64,6 +72,10 @@ void PoolObjectBase::setReadWriteMode(pool_rwm_t newReadWriteMode) {
   this->readWriteMode = newReadWriteMode;
 }
 
+[[nodiscard]] bool PoolObjectBase::isValid() const { return valid; }
+
+void PoolObjectBase::setValid(bool valid) { this->valid = valid; }
+
 void PoolObjectBase::reportReadCommitError(const char* variableType, ReturnValue_t error, bool read,
                                            object_id_t objectId, id_t lpId) {
 #if FSFW_DISABLE_PRINTOUT == 0

src/fsfw/datapool/LocalPoolObjectBase.h

@@ -27,6 +27,9 @@ class PoolObjectBase : public PoolVariableIF {
   [[nodiscard]] dp::id_t getDataPoolId() const override;
   void setDataPoolId(dp::id_t poolId);
 
+  [[nodiscard]] bool isValid() const;
+  void setValid(bool valid);
+
  protected:
   /**
    * @brief   To access the correct data pool entry on read and commit calls,
@@ -40,6 +43,8 @@ class PoolObjectBase : public PoolVariableIF {
    */
   ReadWriteMode_t readWriteMode = pool_rwm_t::VAR_READ_WRITE;
 
+  bool valid = false;
+
   //! @brief  Pointer to the class which manages the HK pool.
   dp::SharedPool* sharedPool = nullptr;
 
@@ -47,4 +52,4 @@ class PoolObjectBase : public PoolVariableIF {
                              object_id_t objectId, dp::id_t lpId);
 };
 
-}  // namespace datapool
+}  // namespace datapool

src/fsfw/datapool/LocalPoolVector.h

@@ -216,6 +216,7 @@ class PoolVector : public PoolObjectBase {
     if (result != returnvalue::OK) {
       return result;
     }
+    this->valid = poolEntry->getValid();
     std::memcpy(this->value, poolEntry->getDataPtr(), poolEntry->getByteSize());
     return returnvalue::OK;
   }
@@ -237,6 +238,7 @@ class PoolVector : public PoolObjectBase {
     if (result != returnvalue::OK) {
       return result;
     }
+    poolEntry->setValid(this->valid);
     std::memcpy(poolEntry->getDataPtr(), this->value, poolEntry->getByteSize());
     return returnvalue::OK;
   }

src/fsfw/datapool/PoolDataSetBase.cpp

@@ -1,15 +1,19 @@
 #include "fsfw/datapool/PoolDataSetBase.h"
 
+#include <cmath>
 #include <cstring>
 
 #include "fsfw/datapool/ReadCommitIFAttorney.h"
+#include "fsfw/globalfunctions/bitutility.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
-                                 const size_t maxFillCount)
-    : registeredVariables(registeredVariablesArray), maxFillCount(maxFillCount) {}
+                                 const size_t maxFillCount, bool serializeWithValidityBlob)
+    : serializeWithValidityBlob(serializeWithValidityBlob),
+      registeredVariables(registeredVariablesArray),
+      maxFillCount(maxFillCount) {}
 
-PoolDataSetBase::~PoolDataSetBase() {}
+PoolDataSetBase::~PoolDataSetBase() = default;
 
 ReturnValue_t PoolDataSetBase::registerVariable(PoolVariableIF* variable) {
   if (registeredVariables == nullptr) {
@@ -172,6 +176,9 @@ ReturnValue_t PoolDataSetBase::unlockDataPool() { return returnvalue::OK; }
 
 ReturnValue_t PoolDataSetBase::serialize(uint8_t** buffer, size_t* size, const size_t maxSize,
                                          SerializeIF::Endianness streamEndianness) const {
+  if (this->serializeWithValidityBlob) {
+    return doSerializeWithValidityBlob(buffer, size, maxSize, streamEndianness);
+  }
   ReturnValue_t result = returnvalue::FAILED;
   for (uint16_t count = 0; count < fillCount; count++) {
     result = registeredVariables[count]->serialize(buffer, size, maxSize, streamEndianness);
@@ -182,6 +189,51 @@ ReturnValue_t PoolDataSetBase::serialize(uint8_t** buffer, size_t* size, const s
   return result;
 }
 
+ReturnValue_t PoolDataSetBase::doSerializeWithValidityBlob(
+    uint8_t** buffer, size_t* size, const size_t maxSize,
+    SerializeIF::Endianness streamEndianness) const {
+  ReturnValue_t result = returnvalue::FAILED;
+  const uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount) / 8.0);
+  uint8_t* validityPtr = nullptr;
+#if defined(_MSC_VER) || defined(__clang__)
+  // Use a std::vector here because MSVC will (rightly) not create a fixed size array
+  // with a non constant size specifier. The Apple compiler (LLVM) will not accept
+  // the  initialization of a variable sized array
+  std::vector<uint8_t> validityMask(validityMaskSize, 0);
+  validityPtr = validityMask.data();
+#else
+  uint8_t validityMask[validityMaskSize] = {};
+  validityPtr = validityMask;
+#endif
+  uint8_t validBufferIndex = 0;
+  uint8_t validBufferIndexBit = 0;
+  for (uint16_t count = 0; count < fillCount; count++) {
+    if (registeredVariables[count]->isValid()) {
+      // Set bit at correct position
+      bitutil::set(validityPtr + validBufferIndex, validBufferIndexBit);
+    }
+    if (validBufferIndexBit == 7) {
+      validBufferIndex++;
+      validBufferIndexBit = 0;
+    } else {
+      validBufferIndexBit++;
+    }
+
+    result = registeredVariables[count]->serialize(buffer, size, maxSize, streamEndianness);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+
+  if (*size + validityMaskSize > maxSize) {
+    return SerializeIF::BUFFER_TOO_SHORT;
+  }
+  // copy validity buffer to end
+  std::memcpy(*buffer, validityPtr, validityMaskSize);
+  *size += validityMaskSize;
+  return result;
+}
+
 ReturnValue_t PoolDataSetBase::deSerialize(const uint8_t** buffer, size_t* size,
                                            SerializeIF::Endianness streamEndianness) {
   ReturnValue_t result = returnvalue::FAILED;
@@ -199,6 +251,9 @@ size_t PoolDataSetBase::getSerializedSize() const {
   for (uint16_t count = 0; count < fillCount; count++) {
     size += registeredVariables[count]->getSerializedSize();
   }
+  if (serializeWithValidityBlob) {
+    size += std::ceil(static_cast<float>(fillCount) / 8.0);
+  }
   return size;
 }
 
@@ -215,3 +270,9 @@ void PoolDataSetBase::setReadCommitProtectionBehaviour(bool protectEveryReadComm
   this->timeoutTypeForSingleVars = timeoutType;
   this->mutexTimeoutForSingleVars = mutexTimeout;
 }
+
+void PoolDataSetBase::setChildrenValidity(bool valid) {
+  for (uint16_t count = 0; count < fillCount; count++) {
+    registeredVariables[count]->setValid(valid);
+  }
+}

src/fsfw/datapool/PoolDataSetBase.h

@@ -41,7 +41,8 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF {
    * 			supply a pointer to this dataset to PoolVariable
    * 			initializations to register pool variables.
    */
-  PoolDataSetBase(PoolVariableIF** registeredVariablesArray, size_t maxFillCount);
+  PoolDataSetBase(PoolVariableIF** registeredVariablesArray, size_t maxFillCount,
+                  bool serializeWithValidityBlob = true);
 
   /* Forbidden for now */
   PoolDataSetBase(const PoolDataSetBase& otherSet) = delete;
@@ -115,13 +116,15 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF {
 
   [[nodiscard]] uint16_t getFillCount() const override;
 
-  /* SerializeIF implementations */
+  // SerializeIF implementations
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, const size_t maxSize,
                           SerializeIF::Endianness streamEndianness) const override;
   [[nodiscard]] size_t getSerializedSize() const override;
   ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
                             SerializeIF::Endianness streamEndianness) override;
 
+  ReturnValue_t doSerializeWithValidityBlob(uint8_t** buffer, size_t* size, const size_t maxSize,
+                                            SerializeIF::Endianness streamEndianness) const;
   /**
    * Can be used to individually protect every read and commit call.
    * @param protectEveryReadCommit
@@ -131,6 +134,13 @@ class PoolDataSetBase : public PoolDataSetIF, public SerializeIF {
       bool protectEveryReadCommit, MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
       uint32_t mutexTimeout = 20);
 
+  /**
+   *  Set the validity of all children
+   */
+  void setChildrenValidity(bool valid);
+
+  bool serializeWithValidityBlob = false;
+
  protected:
   /**
    * @brief	The fill_count attribute ensures that the variables

src/fsfw/datapool/PoolEntry.cpp

@@ -52,6 +52,16 @@ void* PoolEntry<T>::getRawData() {
   return this->address;
 }
 
+template <typename T>
+void PoolEntry<T>::setValid(bool isValid) {
+  this->valid = isValid;
+}
+
+template <typename T>
+bool PoolEntry<T>::getValid() {
+  return valid;
+}
+
 template <typename T>
 void PoolEntry<T>::print() {
   const char* validString = nullptr;

src/fsfw/datapool/PoolEntry.h

@@ -105,6 +105,17 @@ class PoolEntry : public PoolEntryIF {
    */
   void* getRawData();
 
+  /**
+   * @brief	This method allows to set the valid information
+   * 			of the pool entry.
+   */
+  void setValid(bool isValid) override;
+  /**
+   * @brief	This method allows to get the valid information
+   * 			of the pool entry.
+   */
+  bool getValid() override;
+
   /**
    * @brief	This is a debug method that prints all values and the valid
    * 			information to the screen. It prints all array entries in a row.

src/fsfw/datapool/PoolEntryIF.h

@@ -51,6 +51,15 @@ class PoolEntryIF {
    * Returns the type of the entry.
    */
   virtual Type getType() = 0;
+
+  /**
+   * @brief	This method allows to set the valid information of the pool entry.
+   */
+  virtual void setValid(bool isValid) = 0;
+  /**
+   * @brief	This method allows to set the valid information of the pool entry.
+   */
+  virtual bool getValid() = 0;
 };
 
 #endif /* FSFW_DATAPOOL_POOLENTRYIF_H_ */

src/fsfw/datapool/PoolReadGuard.h

@@ -20,9 +20,9 @@ class PoolReadGuard {
       if (readResult != returnvalue::OK) {
 #if FSFW_VERBOSE_LEVEL == 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "PoolReadHelper: Read failed!" << std::endl;
+        sif::error << "PoolReadGuard: Read failed!" << std::endl;
 #else
-        sif::printError("PoolReadHelper: Read failed!\n");
+        sif::printError("PoolReadGuard: Read failed!\n");
 #endif /* FSFW_PRINT_VERBOSITY_LEVEL == 1 */
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
       }

src/fsfw/datapool/PoolVariable.h

@@ -210,6 +210,7 @@ inline ReturnValue_t PoolVariable<T>::readWithoutLock() {
   }
 
   this->value = *(poolEntry->getDataPtr());
+  this->valid = poolEntry->getValid();
   return returnvalue::OK;
 }
 
@@ -241,6 +242,7 @@ ReturnValue_t PoolVariable<T>::commitWithoutLock() {
   }
 
   *(poolEntry->getDataPtr()) = this->value;
+  poolEntry->setValid(this->valid);
   return returnvalue::OK;
 }
 

src/fsfw/datapool/PoolVariableIF.h

@@ -47,6 +47,9 @@ class PoolVariableIF : public SerializeIF, public ReadCommitIF {
    * @brief	This operation shall return the data pool id of the variable.
    */
   virtual uint32_t getDataPoolId() const = 0;
+
+  virtual bool isValid() const = 0;
+  virtual void setValid(bool valid) = 0;
 };
 
 using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;

src/fsfw/datapool/SharedSet.cpp

@@ -2,14 +2,17 @@
 
 using namespace dp;
 
-SharedSet::SharedSet(dp::SharedPool& sharedPool, uint32_t setId, const size_t maxNumberOfVariables)
-    : SharedSetBase(sharedPool, setId, nullptr, maxNumberOfVariables),
+SharedSet::SharedSet(dp::SharedPool& sharedPool, uint32_t setId, const size_t maxNumberOfVariables,
+                     bool serializeWithValidityBlob)
+    : SharedSetBase(sharedPool, setId, nullptr, maxNumberOfVariables, serializeWithValidityBlob),
       poolVarList(maxNumberOfVariables) {
   this->setContainer(poolVarList.data());
 }
 
-SharedSet::SharedSet(dp::structure_id_t sid, const size_t maxNumberOfVariables)
-    : SharedSetBase(sid, nullptr, maxNumberOfVariables), poolVarList(maxNumberOfVariables) {
+SharedSet::SharedSet(dp::structure_id_t sid, const size_t maxNumberOfVariables,
+                     bool serializeWithValidityBlob)
+    : SharedSetBase(sid, nullptr, maxNumberOfVariables, serializeWithValidityBlob),
+      poolVarList(maxNumberOfVariables) {
   this->setContainer(poolVarList.data());
 }
 

src/fsfw/datapool/SharedSet.h

@@ -21,9 +21,10 @@ namespace datapool {
  */
 class SharedSet : public SharedSetBase {
  public:
-  SharedSet(SharedPool& sharedPool, uint32_t setId, size_t maxSize);
+  SharedSet(SharedPool& sharedPool, uint32_t setId, size_t maxSize,
+            bool serializeWithValidityBlob = true);
 
-  SharedSet(sid_t sid, size_t maxSize);
+  SharedSet(sid_t sid, size_t maxSize, bool serializeWithValidityBlob = true);
 
   ~SharedSet() override;
 

src/fsfw/datapool/SharedSetBase.cpp

@@ -14,8 +14,9 @@ using namespace datapool;
 
 SharedSetBase::SharedSetBase(SharedPool &sharedPool, uint32_t setId,
                              PoolVariableIF **registeredVariablesArray,
-                             const size_t maxNumberOfVariables)
-    : base(registeredVariablesArray, maxNumberOfVariables), sharedPool(&sharedPool) {
+                             const size_t maxNumberOfVariables, bool serializeWithValidityBlob)
+    : base(registeredVariablesArray, maxNumberOfVariables, serializeWithValidityBlob),
+      sharedPool(&sharedPool) {
   mutexIfSingleDataCreator = sharedPool.getPoolMutex();
 
   this->sid.objectId = sharedPool.getOwnerId();
@@ -23,8 +24,8 @@ SharedSetBase::SharedSetBase(SharedPool &sharedPool, uint32_t setId,
 }
 
 SharedSetBase::SharedSetBase(structure_id_t sid, PoolVariableIF **registeredVariablesArray,
-                             const size_t maxNumberOfVariables)
-    : base(registeredVariablesArray, maxNumberOfVariables) {
+                             const size_t maxNumberOfVariables, bool serializeWithValidityBlob)
+    : base(registeredVariablesArray, maxNumberOfVariables, serializeWithValidityBlob) {
   auto *hkOwner = ObjectManager::instance()->get<hk::GeneratesPeriodicHkIF>(sid.objectId);
   if (hkOwner != nullptr) {
     sharedPool = hkOwner->getOptionalSharedPool();
@@ -37,8 +38,9 @@ SharedSetBase::SharedSetBase(structure_id_t sid, PoolVariableIF **registeredVari
 }
 
 SharedSetBase::SharedSetBase(PoolVariableIF **registeredVariablesArray,
-                             const size_t maxNumberOfVariables, bool protectEveryReadCommitCall)
-    : base(registeredVariablesArray, maxNumberOfVariables) {
+                             const size_t maxNumberOfVariables, bool protectEveryReadCommitCall,
+                             bool serializeWithValidityBlob)
+    : base(registeredVariablesArray, maxNumberOfVariables, serializeWithValidityBlob) {
   base.setReadCommitProtectionBehaviour(protectEveryReadCommitCall);
 }
 
@@ -120,6 +122,8 @@ bool SharedSetBase::getReportingEnabled() const { return reportingEnabled; }
 
 structure_id_t SharedSetBase::getStructureId() const { return sid; }
 
+void SharedSetBase::setChildrenValidity(bool valid) { return base.setChildrenValidity(valid); }
+
 object_id_t SharedSetBase::getCreatorObjectId() {
   if (sharedPool != nullptr) {
     return sharedPool->getOwnerId();
@@ -136,10 +140,17 @@ void SharedSetBase::setAllVariablesReadOnly() {
 void SharedSetBase::printSet() { return; }
 
 ReturnValue_t SharedSetBase::read(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-  return base.read(timeoutType, timeoutMs);
+  lockDataPool(timeoutType, timeoutMs);
+  ReturnValue_t result = base.read(timeoutType, timeoutMs);
+  unlockDataPool();
+  return result;
 }
+
 ReturnValue_t SharedSetBase::commit(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-  return base.commit(timeoutType, timeoutMs);
+  lockDataPool(timeoutType, timeoutMs);
+  ReturnValue_t result = base.commit(timeoutType, timeoutMs);
+  unlockDataPool();
+  return result;
 }
 uint16_t SharedSetBase::getFillCount() const { return base.getFillCount(); }
 
@@ -151,3 +162,8 @@ void SharedSetBase::setContainer(PoolVariableIF **variablesContainer) {
   return base.setContainer(variablesContainer);
 }
 PoolVariableIF **SharedSetBase::getContainer() const { return base.getContainer(); }
+
+void SharedSetBase::updateValidityBlobSerialization(bool enable) {
+  base.serializeWithValidityBlob = enable;
+}
+bool SharedSetBase::getValidityBlobSerialization() const { return base.serializeWithValidityBlob; }

src/fsfw/datapool/SharedSetBase.h

@@ -40,8 +40,6 @@ namespace datapool {
  * @ingroup data_pool
  */
 class SharedSetBase : public SerializeIF, public PoolDataSetIF {
-  // friend class PeriodicHousekeepingHelper;
-
  public:
   /**
    * @brief	Constructor for the creator of local pool data.
@@ -50,7 +48,7 @@ class SharedSetBase : public SerializeIF, public PoolDataSetIF {
    * periodic handling.
    */
   SharedSetBase(SharedPool& sharedPool, uint32_t setId, PoolVariableIF** registeredVariablesArray,
-                size_t maxNumberOfVariables);
+                size_t maxNumberOfVariables, bool serializeWithValidityBlob = true);
 
   /**
    * @brief	Constructor for users of the local pool data, which need
@@ -63,7 +61,8 @@ class SharedSetBase : public SerializeIF, public PoolDataSetIF {
    * @param registeredVariablesArray
    * @param maxNumberOfVariables
    */
-  SharedSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray, size_t maxNumberOfVariables);
+  SharedSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray, size_t maxNumberOfVariables,
+                bool serializeWithValidityBlob = true);
 
   /**
    * @brief	Simple constructor, if the dataset is not the owner by
@@ -84,7 +83,7 @@ class SharedSetBase : public SerializeIF, public PoolDataSetIF {
    * commit calls separately.
    */
   SharedSetBase(PoolVariableIF** registeredVariablesArray, size_t maxNumberOfVariables,
-                bool protectEveryReadCommitCall = true);
+                bool serializeWithValidityBlob, bool protectEveryReadCommitCall = true);
 
   /**
    * @brief	The destructor automatically manages writing the valid
@@ -109,14 +108,14 @@ class SharedSetBase : public SerializeIF, public PoolDataSetIF {
    */
   void setAllVariablesReadOnly();
 
-  [[nodiscard]] ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
-                                        Endianness streamEndianness) const override;
+  [[nodiscard]] virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                                                Endianness streamEndianness) const override;
 
   [[nodiscard]] ReturnValue_t serialize(uint8_t* buffer, size_t& serLen, size_t maxSize,
                                         SerializeIF::Endianness streamEndianness) const override;
 
-  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-                            Endianness streamEndianness) override;
+  virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                                    Endianness streamEndianness) override;
 
   [[nodiscard]] dp::sid_t getStructureId() const;
 
@@ -155,6 +154,14 @@ class SharedSetBase : public SerializeIF, public PoolDataSetIF {
   void setContainer(PoolVariableIF** variablesContainer);
   PoolVariableIF** getContainer() const;
 
+  /**
+   *  Set the validity of all children
+   */
+  void setChildrenValidity(bool valid);
+
+  void updateValidityBlobSerialization(bool enable);
+  bool getValidityBlobSerialization() const;
+
  protected:
   PoolDataSetBase base;
 
@@ -169,12 +176,6 @@ class SharedSetBase : public SerializeIF, public PoolDataSetIF {
 
   void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval);
 
-  /**
-   * If the valid state of a dataset is always relevant to the whole
-   * data set we can use this flag.
-   */
-  bool valid = false;
-
   /**
    * @brief	This is a small helper function to facilitate locking
    * 			the global data pool.

src/fsfw/datapool/StaticSharedSet.h

@@ -28,8 +28,9 @@ class StaticSharedSet : public datapool::SharedSetBase {
    * @param sharedPool Shared pool this dataset will read from or write to.
    * @param setId
    */
-  StaticSharedSet(SharedPool& sharedPool, const uint32_t setId)
-      : SharedSetBase(sharedPool, setId, nullptr, NUM_VARIABLES) {
+  StaticSharedSet(SharedPool& sharedPool, const uint32_t setId,
+                  bool serializeWithValidityBlob = true)
+      : SharedSetBase(sharedPool, setId, nullptr, NUM_VARIABLES, serializeWithValidityBlob) {
     this->setContainer(poolVarList.data());
   }
 
@@ -37,7 +38,8 @@ class StaticSharedSet : public datapool::SharedSetBase {
    * Constructor used by data users like controllers.
    * @param sid
    */
-  explicit StaticSharedSet(const structure_id_t sid) : SharedSetBase(sid, nullptr, NUM_VARIABLES) {
+  explicit StaticSharedSet(const structure_id_t sid, bool serializeWithValidityBlob = true)
+      : SharedSetBase(sid, nullptr, NUM_VARIABLES, serializeWithValidityBlob) {
     this->setContainer(poolVarList.data());
   }
 

src/fsfw/devicehandlers/DeviceHandlerThermalSet.h

@@ -13,7 +13,7 @@ class DeviceHandlerThermalSet : public dp::StaticSharedSet<2> {
       : DeviceHandlerThermalSet(hkOwner->getObjectId(), cfg) {}
 
   DeviceHandlerThermalSet(object_id_t deviceHandler, ThermalStateCfg cfg)
-      : StaticSharedSet(dp::structure_id_t(deviceHandler, cfg.thermalSetId)),
+      : StaticSharedSet(dp::structure_id_t(deviceHandler, cfg.thermalSetId), true),
         thermalStatePoolId(cfg.thermalStatePoolId),
         heaterRequestPoolId(cfg.thermalRequestPoolId) {}
 

src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp

@@ -190,4 +190,6 @@ ReturnValue_t FreshDeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uni
   return INVALID_DOMAIN_ID;
 }
 
-datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
+datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
+
+ModeHelper& FreshDeviceHandlerBase::getModeHelper() { return this->modeHelper; }

src/fsfw/devicehandlers/FreshDeviceHandlerBase.h

@@ -26,6 +26,33 @@ struct DhbConfig {
   uint32_t msgQueueDepth = 10;
 };
 
+/**
+ * @brief
+ * This is a base class which can be used for handler classes which drive physical devices.
+ *
+ * @details
+ * This class performs some boilerplate tasks to make it compatible to the FSFW ecosystem.
+ * For example, it adds all required interfaces and helpers which are required for the majority
+ * of physical devices:
+ *
+ * - SystemObject to become  globally addressable
+ * - HasModesIF and the ModeHelper: Expose modes. It is expected that most device handlers
+ *   use the default device handler modes OFF, ON and NORMAL at the very least.
+ * - HasHealthIF, HealthHelper and a FDIR object: Physical devices can break down or require
+ *   power cycling as the most common FDIR reaction. The FDHB implements the necessary interface
+ *   and is also composed of a FDIR object which can set the health state to FAULTY or
+ *   NEEDS_RECOVERY to cause FDIR reactions.
+ * - ModeTreeChildIF: Many device handlers are part of a mode tree.
+ * - HasActionsIF and the ActionHelper: Most device handlers expose executable commands, for example
+ *   to re-configure the physical device or to poll data from the physical device.
+ * - ReceivesParameterMessagesIF and the ParameterHelper: Most device handlers have tweakable
+ *   parameters.
+ *
+ * This class is used to extending it in a concrete device handler class and then implementing
+ * all abstract methods. The abstract methods provide adaption points for users which were
+ * deemed sufficient for most use-cases. The behaviour of the base-class can also be further
+ * configured by implementing other virtual functions.
+ */
 class FreshDeviceHandlerBase : public SystemObject,
                                public DeviceHandlerIF,
                                public HasModesIF,
@@ -41,7 +68,20 @@ class FreshDeviceHandlerBase : public SystemObject,
   ~FreshDeviceHandlerBase() override;
 
   /**
+   * @brief
    * Periodic helper executed function, implemented by child class.
+   *
+   * @details
+   * This will be called by the default performOperation call. This is the main adaption point
+   * for the actual device handling logic. It is expected that the following common tasks are
+   * performed in this method:
+   *
+   * 1. Performing periodic polling of the physical device in NORMAL mode. This is usually required
+   *    to poll housekeeping data from the device periodically.
+   * 2. Handle on-going mode transitions if the mode transitions can only be handled asynchronously.
+   *    This might also involve communication with the physical device and power switch
+   *    handling/polling for transition to OFF or ON/NORMAL.
+   * 3. Perform other periodic tasks which always need to be done irrespective of mode.
    */
   virtual void performDeviceOperation(uint8_t opCode) = 0;
 
@@ -57,6 +97,11 @@ class FreshDeviceHandlerBase : public SystemObject,
   ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
   ModeTreeChildIF& getModeTreeChildIF() override;
 
+  /**
+   * @brief Return an interface to the ModeHelper.
+   */
+  ModeHelper& getModeHelper();
+
  protected:
   ActionHelper actionHelper;
   ModeHelper modeHelper;
@@ -89,13 +134,17 @@ class FreshDeviceHandlerBase : public SystemObject,
 
   // Mode Helpers.
   virtual void modeChanged(Mode_t mode, Submode_t submode);
+
   /**
+   * This method is called when a mode message to set a new mode is received.
+   *
    * The default implementation sets the new mode immediately. If this is not applicable for
    * certain modes, the user should provide a custom implementation, which performs roughly
    * the same functionality of this function, when all the steps have been taken to reach the
    * new mode.
    */
   void startTransition(Mode_t mode, Submode_t submode) override;
+
   virtual void setMode(Mode_t newMode, Submode_t newSubmode);
   virtual void setMode(Mode_t newMode);
   void getMode(Mode_t* mode, Submode_t* submode) override;
@@ -104,12 +153,23 @@ class FreshDeviceHandlerBase : public SystemObject,
   // System Object overrides.
   ReturnValue_t initialize() override;
 
-  // Default implementation assumes that no optional shared pool is required.
-  virtual datapool::SharedPool* getOptionalSharedPool();
+  /**
+   * This function is implemented to serialize a housekeeping packet when a HK message to
+   * generate the packet is received, or periodic generation is necessary. The user should serialize
+   * the HK set into the provided buffer, which will have the size specified in the set
+   * specification.
+   */
+  ReturnValue_t serializeHkDataset(dp::sid_t structureId, uint8_t* buf,
+                                   size_t maxSize) override = 0;
+  /**
+   * This function is implemented by the user to specify the available housekeeping sets.
+   */
+  ReturnValue_t specifyHkDatasets(std::vector<hk::SetSpecification>& setList) override = 0;
 
-  // Implemented by child, required for periodic HK.
-  ReturnValue_t serializeHkDataset(dp::sid_t structureId, uint8_t* buf, size_t maxSize) = 0;
-  ReturnValue_t specifyHkDatasets(std::vector<hk::SetSpecification>& setList) = 0;
+  /*
+   *  If this device handler has an optional pool, return it. Otherwise, nullptr can be returned.
+   */
+  datapool::SharedPool* getOptionalSharedPool() override = 0;
 
   /**
    * Implemented by child class. Handle all command messages which are
@@ -124,11 +184,33 @@ class FreshDeviceHandlerBase : public SystemObject,
                                  uint32_t* msToReachTheMode) override = 0;
   // Health Overrides.
   ReturnValue_t setHealth(HealthState health) override;
-  // Action override. Forward to user.
+
+  /**
+   * This is called when an ActionMessage is received to execute it.
+   * @param actionId
+   * @param commandedBy
+   * @param data
+   * @param size
+   * @return
+   */
   ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                               const uint8_t* data, size_t size) override = 0;
-  // Executable overrides.
-  ReturnValue_t performOperation(uint8_t opCode) override;
+  /**
+   * This is the default periodic operation handler.
+   *
+   * Currently, it performs the following tasks:
+   *
+   *  1. Handle the message queue and all message types covered by the base class as specified
+   *     in the class documentation. It uses the composed helper classes for this.
+   *  2. Poll the FDIR instance to check for failures. The FDIR works by checking all events
+   *     received by the FDHB. An FDIR reaction sets the health state of the FDHB, which might
+   *     in turn trigger FDIR reactions.
+   *  3. Call the performDeviceOperation user hook.
+   *  4. Handle periodic housekeeping data generation.
+   * @param opCode
+   * @return
+   */
+  virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
   /**
    * This calls the FDIR instance event trigger function.

src/fsfw/events/Event.h

@@ -14,8 +14,6 @@ enum Severity : EventSeverity_t { INFO = 1, LOW = 2, MEDIUM = 3, HIGH = 4 };
 
 }  // namespace severity
 
-#define MAKE_EVENT(id, severity) (((severity) << 16) + (SUBSYSTEM_ID * 100) + (id))
-
 typedef uint32_t Event;
 
 namespace event {
@@ -24,11 +22,14 @@ constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); }
 
 constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); }
 
-constexpr Event makeEvent(uint8_t subsystemId, UniqueEventId_t uniqueEventId,
-                          EventSeverity_t eventSeverity) {
+template<uint8_t subsystemId, UniqueEventId_t uniqueEventId, EventSeverity_t eventSeverity>
+constexpr Event makeEvent() {
+  static_assert(uniqueEventId < 100, "The unique event ID must be smaller than 100!");
   return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
 }
 
 }  // namespace event
 
+#define MAKE_EVENT(id, severity) event::makeEvent<SUBSYSTEM_ID, id, severity>();
+
 #endif /* EVENTOBJECT_EVENT_H_ */

src/fsfw/housekeeping.h

@@ -1,9 +1,4 @@
-#ifndef FSFW_INC_FSFW_HOUSEKEEPING_H_
-#define FSFW_INC_FSFW_HOUSEKEEPING_H_
+#pragma once
 
-#include "src/core/housekeeping/HousekeepingMessage.h"
-#include "src/core/housekeeping/HousekeepingPacketDownlink.h"
-#include "src/core/housekeeping/HousekeepingSetPacket.h"
-#include "src/core/housekeeping/HousekeepingSnapshot.h"
-
-#endif /* FSFW_INC_FSFW_HOUSEKEEPING_H_ */
+#include "fsfw/housekeeping/Dataset.h"
+#include "fsfw/housekeeping/DatasetElement.h"

src/fsfw/housekeeping/Dataset.h

@@ -0,0 +1,128 @@
+#pragma once
+
+#include <cmath>
+#include <cstring>
+#include <functional>
+#include <vector>
+
+#include "SerializableWithValidityIF.h"
+#include "definitions.h"
+#include "fsfw/globalfunctions/bitutility.h"
+
+namespace hk {
+class Dataset : public SerializeIF {
+ public:
+  explicit Dataset(dp::structure_id_t sid, bool serializeWithValidityBlob = true)
+      : serializeWithValidityBlob(serializeWithValidityBlob), sid(sid) {}
+
+  [[nodiscard]] dp::structure_id_t getStructureId() const { return sid; }
+
+  void addSerializable(const std::reference_wrapper<SerializableWithValidityIF> serializable) {
+    serializables.push_back(serializable);
+  }
+
+  [[nodiscard]] size_t getNumberOfSerializables() const { return serializables.size(); }
+
+  [[nodiscard]] ReturnValue_t doSerializeWithValidityBlob(uint8_t **buffer, size_t *size,
+                                                          size_t maxSize,
+                                                          Endianness streamEndianness) const {
+    ReturnValue_t result = returnvalue::FAILED;
+    const uint8_t validityMaskSize = std::ceil(static_cast<float>(serializables.size()) / 8.0);
+    uint8_t *validityPtr = nullptr;
+#if defined(_MSC_VER) || defined(__clang__)
+    // Use a std::vector here because MSVC will (rightly) not create a fixed size array
+    // with a non constant size specifier. The Apple compiler (LLVM) will not accept
+    // the  initialization of a variable sized array
+    std::vector<uint8_t> validityMask(validityMaskSize, 0);
+    validityPtr = validityMask.data();
+#else
+    uint8_t validityMask[validityMaskSize] = {};
+    validityPtr = validityMask;
+#endif
+    uint8_t validBufferIndex = 0;
+    uint8_t validBufferIndexBit = 0;
+    for (auto &serializable : serializables) {
+      if (serializable.get().isValid()) {
+        // Set bit at correct position
+        bitutil::set(validityPtr + validBufferIndex, validBufferIndexBit);
+      }
+      if (validBufferIndexBit == 7) {
+        validBufferIndex++;
+        validBufferIndexBit = 0;
+      } else {
+        validBufferIndexBit++;
+      }
+
+      result = serializable.get().serialize(buffer, size, maxSize, streamEndianness);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+    }
+
+    if (*size + validityMaskSize > maxSize) {
+      return SerializeIF::BUFFER_TOO_SHORT;
+    }
+    // copy validity buffer to end
+    std::memcpy(*buffer, validityPtr, validityMaskSize);
+    *size += validityMaskSize;
+    *buffer += validityMaskSize;
+    return result;
+  }
+
+  [[nodiscard]] ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                        Endianness streamEndianness) const override {
+    if (serializeWithValidityBlob) {
+      return doSerializeWithValidityBlob(buffer, size, maxSize, streamEndianness);
+    }
+    ReturnValue_t result = returnvalue::OK;
+    for (auto &serializable : serializables) {
+      result = serializable.get().serialize(buffer, size, maxSize, streamEndianness);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+    }
+    return result;
+  }
+
+  [[nodiscard]] ReturnValue_t serialize(uint8_t *buffer, size_t &serSize, size_t maxSize,
+                                        Endianness streamEndianness) const override {
+    return SerializeIF::serialize(buffer, serSize, maxSize, streamEndianness);
+  }
+
+  void setChildrenValidity(bool valid) {
+    for (auto &serializable : serializables) {
+      serializable.get().setValid(valid);
+    }
+  }
+
+  [[nodiscard]] size_t getSerializedSize() const override {
+    size_t size = 0;
+    for (auto &serializable : serializables) {
+      size += serializable.get().getSerializedSize();
+    }
+    if (serializeWithValidityBlob) {
+      size += std::ceil(static_cast<float>(serializables.size()) / 8.0);
+    }
+    return size;
+  }
+
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            const Endianness streamEndianness) override {
+    ReturnValue_t result = returnvalue::OK;
+    for (auto &serializable : serializables) {
+      result = serializable.get().deSerialize(buffer, size, streamEndianness);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+    }
+    return result;
+  }
+
+  bool serializeWithValidityBlob = false;
+
+ private:
+  dp::structure_id_t sid;
+  std::vector<std::reference_wrapper<SerializableWithValidityIF>> serializables;
+};
+
+}  // namespace hk

src/fsfw/housekeeping/DatasetElement.h

@@ -0,0 +1,165 @@
+#pragma once
+
+#include <utility>
+
+#include "Dataset.h"
+#include "SerializableWithValidityIF.h"
+#include "fsfw/serialize/SerializeAdapter.h"
+
+namespace hk {
+
+template <typename T>
+class ListVariable : public SerializableWithValidityIF {
+ public:
+  template <typename... Args>
+  explicit ListVariable(Dataset& list, Args... args) : entry(std::forward<Args>(args)...) {
+    list.addSerializable(*this);
+  }
+  explicit ListVariable(Dataset& list) : entry() { list.addSerializable(*this); }
+
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                          Endianness streamEndianness) const override {
+    return SerializeAdapter::serialize(&entry, buffer, size, maxSize, streamEndianness);
+  }
+
+  [[nodiscard]] size_t getSerializedSize() const override {
+    return SerializeAdapter::getSerializedSize(&entry);
+  }
+
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            Endianness streamEndianness) override {
+    return SerializeAdapter::deSerialize(&entry, buffer, size, streamEndianness);
+  }
+
+  explicit operator T() { return entry; }
+
+  ListVariable& operator=(T newValue) {
+    entry = newValue;
+    return *this;
+  }
+
+  [[nodiscard]] bool isValid() const override { return valid; };
+
+  void setValid(bool _valid) override { this->valid = _valid; }
+
+  T* operator->() { return &entry; }
+
+  T get() const { return entry; }
+
+  bool valid = false;
+  T entry{};
+};
+
+template <typename T>
+using LVar = ListVariable<T>;
+
+using lvar_u8 = LVar<uint8_t>;
+using lvar_u16 = LVar<uint16_t>;
+using lvar_u32 = LVar<uint32_t>;
+using lvar_u64 = LVar<uint64_t>;
+using lvar_i8 = LVar<int8_t>;
+using lvar_i16 = LVar<int16_t>;
+using lvar_i32 = LVar<int32_t>;
+using lvar_i64 = LVar<int64_t>;
+using lvar_f32 = LVar<float>;
+using lvar_f64 = LVar<double>;
+
+template <typename T, size_t N>
+class ListVector : public SerializableWithValidityIF {
+ public:
+  template <typename... Args>
+  explicit ListVector(Dataset& list, Args... args) : entry(std::forward<Args>(args)...) {
+    list.addSerializable(*this);
+  }
+  explicit ListVector(Dataset& list) : entry() { list.addSerializable(*this); }
+
+  const T* get() const { return entry; }
+  T* getMut() { return entry; }
+
+  ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
+                          Endianness streamEndianness) const override {
+    ReturnValue_t result = returnvalue::OK;
+    for (size_t i = 0; i < N; i++) {
+      result = SerializeAdapter::serialize(entry + i, buffer, size, maxSize, streamEndianness);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+    }
+    return result;
+  }
+
+  [[nodiscard]] size_t getSerializedSize() const override {
+    return SerializeAdapter::getSerializedSize(entry) * N;
+  }
+
+  ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+                            Endianness streamEndianness) override {
+    ReturnValue_t result = returnvalue::OK;
+    for (size_t i = 0; i < N; i++) {
+      result = SerializeAdapter::deSerialize(entry + i, buffer, size, streamEndianness);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+    }
+    return result;
+  }
+
+  explicit operator T() { return entry; }
+
+  ListVector& operator=(T newValue[N]) {
+    entry = newValue;
+    return *this;
+  }
+
+  // Array subscript operator for access
+  T& operator[](size_t index) {
+    // No exceptions, so user takes care of index validation..
+    return entry[index];
+  }
+
+  const T& operator[](size_t index) const { return entry[index]; }
+
+  // Conversion operator
+  explicit operator T*() { return entry; }
+  explicit operator const T*() const { return entry; }
+
+  // Iterators for range-based for loops and STL compatibility
+  T* begin() { return std::begin(entry); }
+  T* end() { return std::end(entry); }
+  const T* begin() const { return std::begin(entry); }
+  const T* end() const { return std::end(entry); }
+  const T* cbegin() const { return std::begin(entry); }
+  const T* cend() const { return std::end(entry); }
+
+  [[nodiscard]] bool isValid() const override { return valid; };
+
+  void setValid(bool _valid) override { this->valid = _valid; }
+
+  // Additional utility methods
+  [[nodiscard]] constexpr size_t size() const { return N; }
+
+  bool valid = false;
+  T entry[N];
+};
+
+template <typename T, size_t N>
+using LVec = ListVector<T, N>;
+
+template <size_t N>
+using lvec_u8 = LVec<uint8_t, N>;
+template <size_t N>
+using lvec_u16 = LVec<uint16_t, N>;
+template <size_t N>
+using lvec_u32 = LVec<uint32_t, N>;
+template <size_t N>
+using lvec_i8 = LVec<int8_t, N>;
+template <size_t N>
+using lvec_i16 = LVec<int16_t, N>;
+template <size_t N>
+using lvec_i32 = LVec<int32_t, N>;
+template <size_t N>
+using lvec_f32 = LVec<float, N>;
+template <size_t N>
+using lvec_f64 = LVec<double, N>;
+
+}  // namespace hk

src/fsfw/housekeeping/PeriodicHkHelper.cpp

@@ -17,7 +17,7 @@ PeriodicHelper::PeriodicHelper(GeneratesPeriodicHkIF* owner, MessageQueueIF* que
                                MessageQueueId_t hkDestQueue)
     : hkDestinationId(hkDestQueue) {
   if (owner == nullptr) {
-    printWarningOrError(sif::OutputTypes::OUT_WARNING, "LocalDataPoolManager", returnvalue::FAILED,
+    printWarningOrError(sif::OutputTypes::OUT_WARNING, "PeriodicHkHelper", returnvalue::FAILED,
                         "Invalid supplied owner");
     return;
   }
@@ -200,11 +200,10 @@ void PeriodicHelper::performPeriodicHkGeneration(SetSpecification& setSpec, time
     if (result != returnvalue::OK) {
       // Configuration error
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed."
+      sif::warning << "hk::PeriodicHelper::performPeriodicHkOperation: HK generation failed."
                    << std::endl;
 #else
-      sif::printWarning(
-          "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
+      sif::printWarning("hk::PeriodicHelper::performPeriodicHkOperation: HK generation failed.\n");
 #endif
       return;
     }

src/fsfw/housekeeping/SerializableWithValidityIF.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include "fsfw/serialize/SerializeIF.h"
+
+class SerializableWithValidityIF : public SerializeIF {
+ public:
+  [[nodiscard]] virtual bool isValid() const = 0;
+
+  virtual void setValid(bool valid) = 0;
+};

src/fsfw/internalerror/InternalErrorDataset.h

@@ -10,15 +10,16 @@ class InternalErrorDataset : public dp::StaticSharedSet<4> {
  public:
   static constexpr uint8_t ERROR_SET_ID = 0;
 
-  InternalErrorDataset(dp::SharedPool& sharedPool) : StaticSharedSet(sharedPool, ERROR_SET_ID) {}
+  InternalErrorDataset(dp::SharedPool& sharedPool)
+      : StaticSharedSet(sharedPool, ERROR_SET_ID, false) {}
 
   InternalErrorDataset(object_id_t objectId)
-      : StaticSharedSet(dp::structure_id_t(objectId, ERROR_SET_ID)) {}
+      : StaticSharedSet(dp::structure_id_t(objectId, ERROR_SET_ID), false) {}
 
+  dp::var_t<uint8_t> valid = dp::var_t<uint8_t>(sid.objectId, VALID, this);
   dp::var_t<uint32_t> tmHits = dp::var_t<uint32_t>(sid.objectId, TM_HITS, this);
   dp::var_t<uint32_t> queueHits = dp::var_t<uint32_t>(sid.objectId, QUEUE_HITS, this);
   dp::var_t<uint32_t> storeHits = dp::var_t<uint32_t>(sid.objectId, STORE_HITS, this);
-  dp::var_t<uint8_t> valid = dp::var_t<uint8_t>(sid.objectId, VALID, this);
 };
 
 #endif /* FSFW_INTERNALERROR_INTERNALERRORDATASET_H_ */

src/fsfw/modes/ModeHelper.cpp

@@ -35,8 +35,12 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
       commandedMode = mode;
       commandedSubmode = submode;
 
-      if ((parentQueueId != MessageQueueIF::NO_QUEUE) &&
-          (theOneWhoCommandedAMode != parentQueueId)) {
+      // if (((parentQueueId != MessageQueueIF::NO_QUEUE) &&
+      //     (theOneWhoCommandedAMode != parentQueueId))) {
+      //   owner->setToExternalControl();
+      // }
+
+      if(theOneWhoCommandedAMode != parentQueueId and theOneWhoCommandedAMode != powerswitchQueueId) {
         owner->setToExternalControl();
       }
 
@@ -106,3 +110,7 @@ bool ModeHelper::isTimedOut() { return countdown.hasTimedOut(); }
 bool ModeHelper::isForced() { return forced; }
 
 void ModeHelper::setForced(bool forced) { this->forced = forced; }
+
+void ModeHelper::setPowerSwitchQueueId(MessageQueueId_t queueId) {
+  powerswitchQueueId = queueId;
+}

src/fsfw/modes/ModeHelper.h

@@ -21,10 +21,15 @@ class ModeHelper {
 
   /**
    * @param parentQueue the Queue id of the parent object.
-   * Set to 0 if no parent present
+   * Set to MessageQueueIF::NO_QUEUE if no parent present
    */
   void setParentQueue(MessageQueueId_t parentQueueId);
 
+  /**
+   * Set to MessageQueue::NO_QUEUE if no powerswitch is commanding the obejct.
+   */
+  void setPowerSwitchQueueId(MessageQueueId_t queueId);
+
   ReturnValue_t initialize(MessageQueueId_t parentQueueId);
 
   ReturnValue_t initialize(void);
@@ -42,6 +47,7 @@ class ModeHelper {
  protected:
   HasModesIF *owner;
   MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t powerswitchQueueId = MessageQueueIF::NO_QUEUE;
 
   Countdown countdown;
 

src/fsfw/monitoring/MonitorBase.h

@@ -59,6 +59,9 @@ class MonitorBase : public MonitorReporter<T> {
     if (result != returnvalue::OK) {
       return result;
     }
+    if (not poolVariable.isValid()) {
+      return MonitoringIF::INVALID;
+    }
     *sample = poolVariable.value;
     return returnvalue::OK;
   }

src/fsfw/osal/freertos/Clock.cpp

@@ -5,6 +5,7 @@
 
 #include "FreeRTOS.h"
 #include "fsfw/globalfunctions/timevalOperations.h"
+#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
 #include "fsfw/osal/freertos/Timekeeper.h"
 #include "task.h"
 
@@ -47,8 +48,8 @@ ReturnValue_t Clock::getClock(timeval* time) {
 }
 
 ReturnValue_t Clock::getClockMonotonic(timeval* time) {
-  // TODO: I don't actually know if the timekeeper is monotonic..
-  return getClock_timeval(time);
+	*time = Timekeeper::instance()->getMonotonicClockOffset() + getUptime();
+  return returnvalue::OK;
 }
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
@@ -58,7 +59,7 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
 }
 
 timeval Clock::getUptime() {
-  TickType_t ticksSinceStart = xTaskGetTickCount();
+  TickType_t ticksSinceStart = Timekeeper::instance()->getTicks();
   return Timekeeper::ticksToTimeval(ticksSinceStart);
 }
 

src/fsfw/osal/freertos/Timekeeper.cpp

@@ -17,7 +17,13 @@ Timekeeper* Timekeeper::instance() {
   return myinstance;
 }
 
-void Timekeeper::setOffset(const timeval& offset) { this->offset = offset; }
+void Timekeeper::setOffset(const timeval& offset) {
+	if (not monotonicClockInitialized) {
+		this->monotonicClockOffset = offset;
+		monotonicClockInitialized = true;
+	}
+	this->offset = offset;
+}
 
 timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
   timeval uptime;
@@ -33,3 +39,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
 }
 
 TickType_t Timekeeper::getTicks() { return xTaskGetTickCount(); }
+
+const timeval Timekeeper::getMonotonicClockOffset() const {
+	return monotonicClockOffset;
+}

src/fsfw/osal/freertos/Timekeeper.h

@@ -18,9 +18,14 @@ class Timekeeper {
   Timekeeper();
 
   timeval offset;
+  // Set when offset is initialized the first time
+  timeval monotonicClockOffset;
+  bool monotonicClockInitialized = false;
 
   static Timekeeper* myinstance;
 
+  void setMonotonicClockOffset(const timeval& monotonicClockOffset);
+
  public:
   static Timekeeper* instance();
   virtual ~Timekeeper();
@@ -34,6 +39,7 @@ class Timekeeper {
 
   const timeval& getOffset() const;
   void setOffset(const timeval& offset);
+  const timeval getMonotonicClockOffset() const;
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ */

src/fsfw/power/Fuse.cpp

@@ -60,14 +60,14 @@ ReturnValue_t Fuse::check() {
   set.read();
   if (!healthHelper.healthTable->isHealthy(getObjectId())) {
     setAllMonitorsToUnchecked();
-    set.setValid = false;
+    set.setChildrenValidity(false);
     return set.commit();
   }
   ReturnValue_t result = returnvalue::OK;
   checkFuseState();
   calculateFusePower();
   // Check if power is valid and if fuse state is off or invalid.
-  if (!set.setValid.value || (set.state == 0)) {
+  if (!set.power.isValid() || (set.state == 0) || !set.state.isValid()) {
     result = powerMonitor.setToInvalid();
   } else {
     float lowLimit = 0.0;
@@ -87,7 +87,7 @@ ReturnValue_t Fuse::check() {
 ReturnValue_t Fuse::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                               Endianness streamEndianness) const {
   ReturnValue_t result = returnvalue::FAILED;
-  for (DeviceList::const_iterator iter = devices.begin(); iter != devices.end(); iter++) {
+  for (auto iter = devices.begin(); iter != devices.end(); iter++) {
     result = (*iter)->serialize(buffer, size, maxSize, streamEndianness);
     if (result != returnvalue::OK) {
       return result;
@@ -98,7 +98,7 @@ ReturnValue_t Fuse::serialize(uint8_t** buffer, size_t* size, size_t maxSize,
 
 size_t Fuse::getSerializedSize() const {
   uint32_t size = 0;
-  for (DeviceList::const_iterator iter = devices.begin(); iter != devices.end(); iter++) {
+  for (auto iter = devices.begin(); iter != devices.end(); iter++) {
     size += (*iter)->getSerializedSize();
   }
   return size;
@@ -119,12 +119,12 @@ uint8_t Fuse::getFuseId() const { return fuseId; }
 
 void Fuse::calculateFusePower() {
   ReturnValue_t result1 = currentLimit.check();
-  if (result1 != returnvalue::OK || !(set.setValid.value)) {
-    set.powerValid = false;
+  if (result1 != returnvalue::OK || !(set.voltage.isValid())) {
+    set.power.setValid(false);
   }
   // Calculate fuse power.
   set.power = set.current.value * set.voltage.value;
-  set.powerValid = true;
+  set.power.setValid(true);
 }
 
 ReturnValue_t Fuse::performOperation(uint8_t opCode) {
@@ -169,7 +169,7 @@ void Fuse::checkCommandQueue() {
 }
 
 void Fuse::checkFuseState() {
-  if (!set.setValid.value) {
+  if (!set.state.isValid()) {
     oldFuseState = 0;
     return;
   }
@@ -182,7 +182,7 @@ void Fuse::checkFuseState() {
 }
 
 float Fuse::getPower() {
-  if (set.powerValid.value) {
+  if (set.power.isValid()) {
     return set.power.value;
   } else {
     return 0.0;
@@ -191,8 +191,7 @@ float Fuse::getPower() {
 
 void Fuse::setDataPoolEntriesInvalid() {
   set.read();
-  set.setValid = false;
-  set.powerValid = false;
+  set.setChildrenValidity(false);
   set.commit();
 }
 
@@ -220,7 +219,7 @@ bool Fuse::areSwitchesOfComponentOn(DeviceList::iterator iter) {
   return true;
 }
 
-bool Fuse::isPowerValid() { return set.powerValid.value; }
+bool Fuse::isPowerValid() { return set.power.isValid(); }
 
 ReturnValue_t Fuse::setHealth(HealthState health) {
   healthHelper.setHealth(health);

src/fsfw/power/Fuse.h

@@ -29,16 +29,14 @@ class FuseSet : public datapool::StaticSharedSet<6> {
  public:
   static constexpr uint8_t FUSE_SET_ID = 0;
 
-  FuseSet(dp::SharedPool &sharedPool) : StaticSharedSet(sharedPool, FUSE_SET_ID) {}
+  FuseSet(dp::SharedPool &sharedPool) : StaticSharedSet(sharedPool, FUSE_SET_ID, true) {}
 
-  FuseSet(object_id_t objectId) : StaticSharedSet(dp::sid_t(objectId, FUSE_SET_ID)) {}
+  FuseSet(object_id_t objectId) : StaticSharedSet(dp::sid_t(objectId, FUSE_SET_ID), true) {}
 
   dp::f32_t voltage = dp::f32_t(sid.objectId, FusePoolId::VOLTAGE, this);
   dp::f32_t current = dp::f32_t(sid.objectId, FusePoolId::CURRENT, this);
   dp::u8_t state = dp::u8_t(sid.objectId, FusePoolId::STATE, this);
   dp::f32_t power = dp::f32_t(sid.objectId, FusePoolId::POWER, this);
-  dp::u8_t powerValid = dp::u8_t(sid.objectId, FusePoolId::POWER_VALID, this);
-  dp::u8_t setValid = dp::u8_t(sid.objectId, FusePoolId::SET_VALID, this);
 };
 
 class Fuse : public SystemObject,

src/fsfw/power/PowerSensor.h

@@ -21,10 +21,11 @@ class PowerSensorSet : public dp::StaticSharedSet<6> {
  public:
   static constexpr uint8_t POWER_SENSOR_SET_ID = 0;
 
-  PowerSensorSet(dp::SharedPool &sharedPool) : StaticSharedSet(sharedPool, POWER_SENSOR_SET_ID) {}
+  PowerSensorSet(dp::SharedPool &sharedPool)
+      : StaticSharedSet(sharedPool, POWER_SENSOR_SET_ID, true) {}
 
   PowerSensorSet(object_id_t objectId)
-      : StaticSharedSet(dp::sid_t(objectId, POWER_SENSOR_SET_ID)) {}
+      : StaticSharedSet(dp::sid_t(objectId, POWER_SENSOR_SET_ID), true) {}
 
   dp::f32_t current{sid.objectId, PowerSensorPoolId::CURRENT, this};
   dp::f32_t voltage{sid.objectId, PowerSensorPoolId::VOLTAGE, this};

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -49,7 +49,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
 
   //! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
   //! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
-  static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+  static constexpr Event TC_DELETION_FAILED = event::makeEvent<SUBSYSTEM_ID, 0, severity::MEDIUM>();
 
   // The types of PUS-11 subservices
   enum Subservice : uint8_t {

src/fsfw/serialize/SerializableListElement.h

@@ -68,6 +68,9 @@ class ListVector : public SerializeIF {
   }
   explicit ListVector(List& list) : entry() { list.addSerializable(*this); }
 
+  const T* get() const { return entry; }
+  T* getMut() { return entry; }
+
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           Endianness streamEndianness) const override {
     ReturnValue_t result = returnvalue::OK;

src/fsfw/serviceinterface/ServiceInterfacePrinter.cpp

@@ -53,17 +53,17 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
 #endif
 
   if (printType == sif::PrintLevel::INFO_LEVEL) {
-    len += sprintf(bufferPosition + len, "INFO");
+    len += sprintf(bufferPosition + len, "INFO   ");
   }
   if (printType == sif::PrintLevel::DEBUG_LEVEL) {
-    len += sprintf(bufferPosition + len, "DEBUG");
+    len += sprintf(bufferPosition + len, "DEBUG  ");
   }
   if (printType == sif::PrintLevel::WARNING_LEVEL) {
     len += sprintf(bufferPosition + len, "WARNING");
   }
 
   if (printType == sif::PrintLevel::ERROR_LEVEL) {
-    len += sprintf(bufferPosition + len, "ERROR");
+    len += sprintf(bufferPosition + len, "ERROR  ");
   }
 
 #if FSFW_COLORED_OUTPUT == 1
@@ -75,7 +75,7 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
   /*
    * Log current time to terminal if desired.
    */
-  len += sprintf(bufferPosition + len, " | %lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
+  len += sprintf(bufferPosition + len, " | %02lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
                  (unsigned long)now.minute, (unsigned long)now.second,
                  (unsigned long)now.usecond / 1000);
 

src/fsfw/subsystem/SubsystemBase.cpp

@@ -64,6 +64,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
 
   for (; tableIter.value != nullptr; ++tableIter) {
     object_id_t object = tableIter.value->getObject();
+
+    // As default, the objectId in the commandTable is the same as the one in the childrenMap.
+    // The user has to specify otherwise if required.
+    object = commandObjectIdToChildrenMapObjectId(object);
+
     if ((iter = childrenMap.find(object)) == childrenMap.end()) {
       // illegal table entry, should only happen due to misconfigured mode table
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -79,22 +84,36 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
     }
 
     if (healthHelper.healthTable->hasHealth(object)) {
-      if (healthHelper.healthTable->isFaulty(object)) {
-        ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
-                                    SUBMODE_NONE);
-      } else {
-        if (modeHelper.isForced()) {
-          ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
-                                      tableIter.value->getMode(), submodeToCommand);
-        } else {
-          if (healthHelper.healthTable->isCommandable(object)) {
+
+      switch (healthHelper.healthTable->getHealth(object)) {
+        case NEEDS_RECOVERY:
+        case FAULTY:
+        case PERMANENT_FAULTY:
+          ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
+                                      SUBMODE_NONE);
+          break;
+        case HEALTHY:
+          if (modeHelper.isForced()) {
+            ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
+                                        tableIter.value->getMode(), submodeToCommand);
+          } else {
             ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
                                         tableIter.value->getMode(), submodeToCommand);
+          }
+          break;
+        case EXTERNAL_CONTROL:
+          if (modeHelper.isForced()) {
+            ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
+                                        tableIter.value->getMode(), submodeToCommand);
           } else {
             continue;
           }
-        }
+          break;
+        default:
+          // This never happens
+          break;
       }
+
     } else {
       ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
                                   tableIter.value->getMode(), submodeToCommand);
@@ -105,7 +124,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
       continue;  // don't send redundant mode commands (produces event spam), but still command if
                  // mode is forced to reach lower levels
     }
-    ReturnValue_t result = commandQueue->sendMessage(iter->second.commandQueue, &command);
+    
+    // Get the messageQueueId if the receiver specified by the commandTable.
+    // This the same MessageQueueId as stored in the childrenMap if the commanded object is part of the childrenMap.
+    MessageQueueId_t commandedReceiver = ObjectManager::instance()->get<HasHealthIF>(tableIter->getObject())->getCommandQueue();
+    ReturnValue_t result = commandQueue->sendMessage(commandedReceiver, &command);
     if (result == returnvalue::OK) {
       ++commandsOutstanding;
     }
@@ -339,3 +362,7 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
   }
   return returnvalue::OK;
 }
+
+object_id_t SubsystemBase::commandObjectIdToChildrenMapObjectId(object_id_t commandId) {
+  return commandId;
+}

src/fsfw/subsystem/SubsystemBase.h

@@ -153,6 +153,15 @@ class SubsystemBase : public SystemObject,
   virtual void announceMode(bool recursive) override;
 
   virtual void modeChanged();
+
+  /**
+ * @brief This converts the objectId of the object we want to send a mode command to into the 
+ * objectId of the corresponding object in the childrenMap for the current mode command. 
+ * As default implementation, this is the same objectId, and this functions returns it's input value
+ * 
+ * It is up to the user to specify otherwise.
+ */
+  virtual object_id_t commandObjectIdToChildrenMapObjectId(object_id_t commandId);
 };
 
 #endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */

src/fsfw/tcdistribution/definitions.h

@@ -25,7 +25,7 @@ static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(11)
 
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TMTC_DISTRIBUTION;
 //! P1: Returnvalue, P2: 0 for TM issues, 1 for TC issues
-static constexpr Event HANDLE_PACKET_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
+static constexpr Event HANDLE_PACKET_FAILED = event::makeEvent<SUBSYSTEM_ID, 0, severity::LOW>();
 
 };  // namespace tmtcdistrib
 #endif  // FSFW_TMTCPACKET_DEFINITIONS_H

src/fsfw/thermal/TemperatureSensor.h

@@ -142,7 +142,7 @@ class TemperatureSensor : public AbstractTemperatureSensor {
 
       deltaTime = (uptime.tv_sec + uptime.tv_usec / 1000000.) -
                   (uptimeOfOldTemperature.tv_sec + uptimeOfOldTemperature.tv_usec / 1000000.);
-      deltaTemp = oldTemperature - outputTemperature;
+      deltaTemp = oldTemperature - outputTemperature.value;
       if (deltaTemp < 0) {
         deltaTemp = -deltaTemp;
       }
@@ -160,13 +160,13 @@ class TemperatureSensor : public AbstractTemperatureSensor {
       outputTemperature.setValid(PoolVariableIF::INVALID);
       outputTemperature = thermal::INVALID_TEMPERATURE;
     } else {
-      oldTemperature = outputTemperature;
+      oldTemperature = outputTemperature.value;
       uptimeOfOldTemperature = uptime;
     }
   }
 
  public:
-  float getTemperature() { return outputTemperature; }
+  float getTemperature() { return outputTemperature.value; }
 
   bool isValid() { return outputTemperature.isValid(); }
 

src/fsfw/timemanager/Clock.h

@@ -192,6 +192,8 @@ class Clock {
   static MutexIF *timeMutex;
   static uint16_t leapSeconds;
   static bool leapSecondsSet;
+  static bool monotonicClockInitialized;
+  static timeval monotonicClockOffset;
 };
 
 #endif /* FSFW_TIMEMANAGER_CLOCK_H_ */

unittests/datapool/CMakeLists.txt

@@ -1,3 +1,4 @@
 target_sources(
-  ${FSFW_TEST_TGT} PRIVATE testLocalPoolVariable.cpp testLocalPoolVector.cpp
-                           testDataSet.cpp testPeriodicHkHelper.cpp)
+  ${FSFW_TEST_TGT}
+  PRIVATE testLocalPoolVariable.cpp testLocalPoolVector.cpp testSharedSet.cpp
+          testPeriodicHkHelper.cpp testDataset.cpp)

unittests/datapool/testDataset.cpp

@@ -0,0 +1,85 @@
+#include <fsfw/housekeeping/Dataset.h>
+#include <fsfw/housekeeping/DatasetElement.h>
+#include <fsfw/serialize/SerializeElement.h>
+
+#include <catch2/catch_test_macros.hpp>
+
+constexpr auto TEST_ID = dp::structure_id_t(1, 2);
+
+class TestDatasetSmall : public hk::Dataset {
+ public:
+  TestDatasetSmall() : hk::Dataset(TEST_ID, false) {}
+
+  hk::lvar_u8 test0{*this};
+  hk::lvar_u32 test1{*this};
+};
+
+class TestDatasetLarger : public hk::Dataset {
+ public:
+  TestDatasetLarger() : hk::Dataset(TEST_ID, false) {}
+
+  hk::lvar_u8 test0{*this};
+  hk::lvar_u32 test1{*this};
+  hk::lvar_u16 test2{*this};
+  hk::lvar_i32 test3{*this};
+  hk::lvar_f32 test4{*this};
+  hk::lvar_f64 test5{*this};
+  hk::lvar_u8 test6{*this};
+  hk::lvar_i16 test7{*this};
+  hk::lvec_u16<2> test8{*this};
+};
+
+TEST_CASE("Pool Dataset Test", "[datapool]") {
+  TestDatasetSmall dataset;
+  CHECK(dataset.getStructureId() == TEST_ID);
+  CHECK(!dataset.test0.isValid());
+  dataset.test0.setValid(true);
+  CHECK(dataset.test0.isValid());
+
+  SECTION("Pool Dataset Serialization Test 1") {
+    uint8_t buf[64]{};
+    dataset.test0 = 55;
+    dataset.test1 = 502392;
+    size_t serLen = 0;
+    CHECK(dataset.serialize(buf, serLen, sizeof(buf), SerializeIF::Endianness::NETWORK) ==
+          returnvalue::OK);
+    CHECK(buf[0] == 55);
+    CHECK(serLen == 5);
+    uint32_t readBack = 0;
+    size_t dummy = 0;
+    CHECK(SerializeAdapter::deSerialize(&readBack, buf + 1, &dummy,
+                                        SerializeIF::Endianness::NETWORK) == returnvalue::OK);
+    CHECK(readBack == 502392);
+    CHECK(buf[5] == 0);
+  }
+
+  SECTION("Pool Dataset Serialization With Validity") {
+    uint8_t buf[64]{};
+    dataset.test0 = 55;
+    dataset.test1 = 502392;
+    dataset.test0.setValid(true);
+    dataset.test1.setValid(true);
+    size_t serLen = 0;
+    uint8_t* dataPtr = buf;
+    dataset.serializeWithValidityBlob = true;
+    CHECK(dataset.getSerializedSize() == 6);
+    CHECK(dataset.serialize(&dataPtr, &serLen, sizeof(buf), SerializeIF::Endianness::NETWORK) ==
+          returnvalue::OK);
+    CHECK(buf[5] == 0b11000000);
+  }
+
+  SECTION("Larger Pool Dataset Serialization With Validity") {
+    uint8_t buf[64]{};
+    TestDatasetLarger datasetLarge;
+    datasetLarge.setChildrenValidity(true);
+    size_t serLen = 0;
+    uint8_t* dataPtr = buf;
+    datasetLarge.serializeWithValidityBlob = true;
+    CHECK(datasetLarge.serialize(&dataPtr, &serLen, sizeof(buf),
+                                 SerializeIF::Endianness::NETWORK) == returnvalue::OK);
+    CHECK(serLen == 32);
+    CHECK(buf[30] == 0b11111111);
+    CHECK(buf[31] == 0b10000000);
+    CHECK(buf[32] == 0);
+  }
+}

unittests/datapool/testSharedSet.cpp

@@ -14,7 +14,7 @@
 using namespace returnvalue;
 using namespace lpool;
 
-TEST_CASE("DataSetTest", "[DataSetTest]") {
+TEST_CASE("DataSetTest", "[datapool]") {
   auto queue = MessageQueueMock(1, MessageQueueIF::NO_QUEUE);
   TestPoolOwner poolOwner(queue, objects::TEST_LOCAL_POOL_OWNER_BASE);
   poolOwner.initialize();
@@ -23,6 +23,7 @@ TEST_CASE("DataSetTest", "[DataSetTest]") {
   SECTION("BasicTest") {
     /* Test some basic functions */
     CHECK(localSet.getReportingEnabled() == false);
+    CHECK(localSet.getSerializedSize() == 11);
     CHECK(localSet.getLocalPoolIdsSerializedSize() == 3 * sizeof(dp::id_t));
     CHECK(localSet.getStructureId() == lpool::testSid1);
     CHECK(localSet.getCreatorObjectId() == objects::TEST_LOCAL_POOL_OWNER_BASE);
@@ -57,17 +58,23 @@ TEST_CASE("DataSetTest", "[DataSetTest]") {
       PoolReadGuard readHelper(&localSet);
       REQUIRE(readHelper.getReadResult() == returnvalue::OK);
       CHECK(localSet.localPoolVarUint8.value == 0);
+      CHECK(!localSet.localPoolVarUint8.isValid());
       CHECK(localSet.localPoolVarFloat.value == Catch::Approx(0.0));
+      CHECK(!localSet.localPoolVarFloat.isValid());
       CHECK(localSet.localPoolUint16Vec.value[0] == 0);
       CHECK(localSet.localPoolUint16Vec.value[1] == 0);
       CHECK(localSet.localPoolUint16Vec.value[2] == 0);
+      CHECK(!localSet.localPoolUint16Vec.isValid());
 
       // Now set new values, commit should be done by read helper automatically
       localSet.localPoolVarUint8 = 232;
+      localSet.localPoolVarUint8.setValid(true);
       localSet.localPoolVarFloat = -2324.322;
+      localSet.localPoolVarFloat.setValid(true);
       localSet.localPoolUint16Vec.value[0] = 232;
       localSet.localPoolUint16Vec.value[1] = 23923;
       localSet.localPoolUint16Vec.value[2] = 1;
+      localSet.localPoolUint16Vec.setValid(true);
     }
 
     // Zero out some values for next test
@@ -85,10 +92,13 @@ TEST_CASE("DataSetTest", "[DataSetTest]") {
       PoolReadGuard readHelper(&localSet);
       REQUIRE(readHelper.getReadResult() == returnvalue::OK);
       CHECK(localSet.localPoolVarUint8.value == 232);
+      CHECK(localSet.localPoolVarUint8.isValid());
       CHECK(localSet.localPoolVarFloat.value == Catch::Approx(-2324.322));
+      CHECK(localSet.localPoolVarFloat.isValid());
       CHECK(localSet.localPoolUint16Vec.value[0] == 232);
       CHECK(localSet.localPoolUint16Vec.value[1] == 23923);
       CHECK(localSet.localPoolUint16Vec.value[2] == 1);
+      CHECK(localSet.localPoolUint16Vec.isValid());
 
       // Now we serialize these values into a buffer without the validity buffer
       maxSize = localSet.getSerializedSize();
@@ -129,7 +139,7 @@ TEST_CASE("DataSetTest", "[DataSetTest]") {
 
   SECTION("SharedDataSet") {
     object_id_t sharedSetId = objects::SHARED_SET_ID;
-    SharedSet sharedSet(poolOwner.sharedPool, sharedSetId, 5);
+    SharedSet sharedSet(poolOwner.sharedPool, sharedSetId, 5, false);
     localSet.localPoolVarUint8.setReadWriteMode(pool_rwm_t::VAR_WRITE);
     localSet.localPoolUint16Vec.setReadWriteMode(pool_rwm_t::VAR_WRITE);
     CHECK(sharedSet.registerVariable(&localSet.localPoolVarUint8) == returnvalue::OK);
@@ -145,4 +155,24 @@ TEST_CASE("DataSetTest", "[DataSetTest]") {
       CHECK(sharedSet.commit() == returnvalue::OK);
     }
   }
+
+  SECTION("Serialize with Validity Blob") {
+    localSet.updateValidityBlobSerialization(true);
+    CHECK(!localSet.localPoolVarUint8.isValid());
+    CHECK(!localSet.localPoolUint16Vec.isValid());
+    CHECK(!localSet.localPoolVarFloat.isValid());
+    localSet.setChildrenValidity(true);
+    CHECK(localSet.localPoolVarUint8.isValid());
+    CHECK(localSet.localPoolUint16Vec.isValid());
+    CHECK(localSet.localPoolVarFloat.isValid());
+    size_t serSize = 0;
+    // Already reserve additional space for validity buffer, will be needed later
+    uint8_t buffer[128]{};
+    uint8_t* buffPtr = buffer;
+    CHECK(localSet.getSerializedSize() == 12);
+    CHECK(localSet.serialize(&buffPtr, &serSize, sizeof(buffer),
+                             SerializeIF::Endianness::MACHINE) == returnvalue::OK);
+    CHECK(serSize == 12);
+    CHECK(buffer[11] == 0b11100000);
+  }
 }

unittests/mock/TestPoolOwner.h

@@ -1,5 +1,6 @@
 #pragma once
 #include <fsfw/housekeeping/GeneratesPeriodicHkIF.h>
+#include <fsfw/housekeeping/PeriodicHkHelper.h>
 #include <fsfw/objectmanager/SystemObject.h>
 
 #include "poolDefinitions.h"

unittests/mock/poolDefinitions.h

@@ -45,9 +45,10 @@ class Dataset : public List {
 
 class StaticTestDataset : public StaticSharedSet<3> {
  public:
-  StaticTestDataset() : StaticSharedSet(lpool::testSid1) {}
+  StaticTestDataset() : StaticSharedSet(lpool::testSid1, false) {}
 
-  StaticTestDataset(SharedPool& sharedPool, uint32_t setId) : StaticSharedSet(sharedPool, setId) {}
+  StaticTestDataset(SharedPool& sharedPool, uint32_t setId)
+      : StaticSharedSet(sharedPool, setId, false) {}
 
   u8_t localPoolVarUint8{lpool::uint8VarGpid, this};
   f32_t localPoolVarFloat{lpool::floatVarGpid, this};
@@ -58,10 +59,10 @@ class StaticTestDataset : public StaticSharedSet<3> {
 
 class TestDataset : public SharedSet {
  public:
-  TestDataset() : SharedSet(lpool::testSid2, lpool::dataSetMaxVariables) {}
+  TestDataset() : SharedSet(lpool::testSid2, lpool::dataSetMaxVariables, false) {}
 
   TestDataset(SharedPool& sharedPool, uint32_t setId)
-      : SharedSet(sharedPool, setId, lpool::dataSetMaxVariables) {}
+      : SharedSet(sharedPool, setId, lpool::dataSetMaxVariables, false) {}
 
   u8_t localPoolVarUint8{lpool::uint8VarGpid, this};
   f32_t localPoolVarFloat{lpool::floatVarGpid, this};