datapool/DataSetBase.cpp

@@ -53,6 +53,10 @@ ReturnValue_t DataSetBase::read(uint32_t lockTimeout) {
 	return result;
 }
 
+uint16_t DataSetBase::getFillCount() const {
+    return fillCount;
+}
+
 ReturnValue_t DataSetBase::readVariable(uint16_t count) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
 	// These checks are often performed by the respective

datapool/DataSetBase.h

@@ -101,6 +101,8 @@ public:
 	 */
 	virtual ReturnValue_t unlockDataPool() override;
 
+	virtual uint16_t getFillCount() const;
+
 	/* SerializeIF implementations */
 	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
 				const size_t maxSize, bool bigEndian) const override;

datapool/DataSetIF.h

@@ -43,6 +43,7 @@ public:
 	 */
 	virtual ReturnValue_t registerVariable(PoolVariableIF* variable) = 0;
 
+	virtual uint16_t getFillCount() const = 0;
 private:
 	/**
 	 * @brief 	Most underlying data structures will have a pool like structure

datapoollocal/LocalDataPoolManager.cpp

@@ -33,7 +33,7 @@ LocalDataPoolManager::~LocalDataPoolManager() {}
 ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 	if(not mapInitialized) {
 		ReturnValue_t result =
-				owner->initializeHousekeepingPoolEntries(localDpMap);
+				owner->initializePoolEntries(localDpMap);
 		if(result == HasReturnvaluesIF::RETURN_OK) {
 			mapInitialized = true;
 		}
@@ -48,6 +48,14 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
 		HousekeepingMessage& message) {
     Command_t command = message.getCommand();
     switch(command) {
+    // I think those are the only commands which can be handled here..
+    case(HousekeepingMessage::ADD_HK_REPORT_STRUCT):
+    case(HousekeepingMessage::ADD_DIAGNOSTICS_REPORT_STRUCT):
+        // We should use OwnsLocalPoolDataIF to specify those functions..
+        return HasReturnvaluesIF::RETURN_OK;
+    case(HousekeepingMessage::REPORT_DIAGNOSTICS_REPORT_STRUCTURES):
+    case(HousekeepingMessage::REPORT_HK_REPORT_STRUCTURES):
+        return generateSetStructurePacket(message.getSid());
     case(HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT):
     case(HousekeepingMessage::GENERATE_ONE_DIAGNOSTICS_REPORT):
         return generateHousekeepingPacket(message.getSid());
@@ -114,13 +122,41 @@ ReturnValue_t LocalDataPoolManager::generateHousekeepingPacket(sid_t sid) {
 	return result;
 }
 
+ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid) {
+    LocalDataSet* dataSet = dynamic_cast<LocalDataSet*>(
+            owner->getDataSetHandle(sid));
+    if(dataSet == nullptr) {
+        sif::warning << "HousekeepingManager::generateHousekeepingPacket:"
+                " Set ID not found" << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    size_t expectedSize = dataSet->getFillCount() * sizeof(lp_id_t);
+    uint8_t* storePtr = nullptr;
+    store_address_t storeId;
+    ReturnValue_t result = ipcStore->getFreeElement(&storeId,
+            expectedSize,&storePtr);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        sif::error << "HousekeepingManager::generateHousekeepingPacket: "
+                "Could not get free element from IPC store." << std::endl;
+        return result;
+    }
+    size_t size = 0;
+    result = dataSet->serializeLocalPoolIds(&storePtr, &size,
+            expectedSize, false);
+    if(expectedSize != size) {
+        sif::error << "HousekeepingManager::generateSetStructurePacket: "
+                "Expected size is not equal to serialized size" << std::endl;
+    }
+    return result;
+}
+
 ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(
         store_address_t *storeId, LocalDataSet* dataSet) {
     size_t hkSize = dataSet->getSerializedSize();
     uint8_t* storePtr = nullptr;
     ReturnValue_t result = ipcStore->getFreeElement(storeId, hkSize,&storePtr);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-        sif::warning << "HousekeepingManager::generateHousekeepingPacket: "
+        sif::error << "HousekeepingManager::generateHousekeepingPacket: "
                 "Could not get free element from IPC store." << std::endl;
         return result;
     }

datapoollocal/LocalDataPoolManager.h

@@ -56,6 +56,8 @@ public:
 	LocalDataPoolManager operator=(const LocalDataPoolManager&) = delete;
 
 	ReturnValue_t generateHousekeepingPacket(sid_t sid);
+	ReturnValue_t generateSetStructurePacket(sid_t sid);
+
 	ReturnValue_t handleHousekeepingMessage(HousekeepingMessage& message);
 
 	/**

datapoollocal/LocalDataSet.cpp

@@ -1,5 +1,6 @@
 #include <framework/datapoollocal/LocalDataPoolManager.h>
 #include <framework/datapoollocal/LocalDataSet.h>
+#include <framework/serialize/SerializeAdapter.h>
 
 #include <cmath>
 #include <cstring>
@@ -67,6 +68,21 @@ ReturnValue_t LocalDataSet::unlockDataPool() {
 	return mutex->unlockMutex();
 }
 
+ReturnValue_t LocalDataSet::serializeLocalPoolIds(uint8_t** buffer,
+        size_t* size, const size_t maxSize, bool bigEndian) const {
+    for (uint16_t count = 0; count < fillCount; count++) {
+        lp_id_t currentPoolId = registeredVariables[count]->getDataPoolId();
+        auto result = AutoSerializeAdapter::serialize(&currentPoolId, buffer,
+                size, maxSize, bigEndian);
+        if(result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "LocalDataSet::serializeLocalPoolIds: Serialization"
+                    " error!" << std::endl;
+            return result;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 void LocalDataSet::bitSetter(uint8_t* byte, uint8_t position,
         bool value) const {
     if(position > 7) {

datapoollocal/LocalDataSet.h

@@ -68,7 +68,10 @@ public:
 	 * @return
 	 */
 	ReturnValue_t serializeWithValidityBuffer(uint8_t** buffer,
-	        size_t* size, const size_t maxSize, bool bigEndian) const ;
+	        size_t* size, const size_t maxSize, bool bigEndian) const;
+
+	ReturnValue_t serializeLocalPoolIds(uint8_t** buffer,
+            size_t* size, const size_t maxSize, bool bigEndian) const;
 protected:
 private:
 	/**

datapoollocal/OwnsLocalDataPoolIF.h

@@ -42,12 +42,36 @@ public:
 
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
 
+	/** Command queue for housekeeping messages. */
 	virtual MessageQueueId_t getCommandQueue() const = 0;
-	virtual ReturnValue_t initializeHousekeepingPoolEntries(
-			LocalDataPool& localDataPoolMap) = 0;
-	//virtual float setMinimalHkSamplingFrequency() = 0;
+
+	/** Is used by pool owner to initialize the pool map once */
+	virtual ReturnValue_t initializePoolEntries(
+	        LocalDataPool& localDataPoolMap) = 0;
+
+	/** Can be used to get a handle to the local data pool manager. */
 	virtual LocalDataPoolManager* getHkManagerHandle() = 0;
+
+	/**
+	 * This function is used by the pool manager to get a valid dataset
+     * from a SID
+	 * @param sid Corresponding structure ID
+	 * @return
+	 */
 	virtual DataSetIF* getDataSetHandle(sid_t sid) = 0;
+
+	/* These function can be implemented by pool owner, as they are required
+	 * by the housekeeping message interface */
+	virtual ReturnValue_t addDataSet(sid_t sid) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
+	virtual ReturnValue_t removeDataSet(sid_t sid) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
+	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
+	        dur_seconds_t newInterval) {
+	    return HasReturnvaluesIF::RETURN_FAILED;
+	};
 };
 
 #endif /* FRAMEWORK_DATAPOOL_HASHKPOOLPARAMETERSIF_H_ */

devicehandlers/DeviceHandlerBase.cpp

@@ -1350,7 +1350,7 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
 
 void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
-			executingTask = task_;
+	executingTask = task_;
 }
 
 // Default implementations empty.
@@ -1360,7 +1360,7 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 void DeviceHandlerBase::performOperationHook() {
 }
 
-ReturnValue_t DeviceHandlerBase::initializeHousekeepingPoolEntries(
+ReturnValue_t DeviceHandlerBase::initializePoolEntries(
 		LocalDataPool &localDataPoolMap) {
 	return RETURN_OK;
 }
@@ -1369,6 +1369,19 @@ LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
 	return &hkManager;
 }
 
+ReturnValue_t DeviceHandlerBase::addDataSet(sid_t sid) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerBase::removeDataSet(sid_t sid) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
+        dur_seconds_t newInterval) {
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
 	auto iter = deviceReplyMap.find(sid.ownerSetId);
 	if(iter != deviceReplyMap.end()) {

devicehandlers/DeviceHandlerBase.h

@@ -477,12 +477,17 @@ protected:
 	 * @param localDataPoolMap
 	 * @return
 	 */
-	virtual ReturnValue_t initializeHousekeepingPoolEntries(
+	virtual ReturnValue_t initializePoolEntries(
 				LocalDataPool& localDataPoolMap) override;
 
 	/** Get the HK manager object handle */
 	virtual LocalDataPoolManager* getHkManagerHandle() override;
 
+	virtual ReturnValue_t addDataSet(sid_t sid) override;
+	virtual ReturnValue_t removeDataSet(sid_t sid) override;
+	virtual ReturnValue_t changeCollectionInterval(sid_t sid,
+	        dur_seconds_t newInterval) override;
+
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.
@@ -703,7 +708,9 @@ protected:
 
 	bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
 
-	PeriodicTaskIF* executingTask = nullptr;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	//! Pointer to the task which executes this component, is invalid
+	//! before setTaskIF was called.
+	PeriodicTaskIF* executingTask = nullptr;
 
 	static object_id_t powerSwitcherId; //!< Object which switches power on and off.
 

events/EventManager.cpp

@@ -8,13 +8,16 @@
 const uint16_t EventManager::POOL_SIZES[N_POOLS] = {
 		sizeof(EventMatchTree::Node), sizeof(EventIdRangeMatcher),
 		sizeof(ReporterRangeMatcher) };
-//If one checks registerListener calls, there are around 40 (to max 50) objects registering for certain events.
-//Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// If one checks registerListener calls, there are around 40 (to max 50)
+// objects registering for certain events.
+// Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher.
+// So a good guess is 75 to a max of 100 pools required for each, which fits well.
+// SHOULDDO: Shouldn't this be in the config folder and passed via ctor?
 const uint16_t EventManager::N_ELEMENTS[N_POOLS] = { 240, 120, 120 };
 
 EventManager::EventManager(object_id_t setObjectId) :
-		SystemObject(setObjectId), eventReportQueue(NULL), mutex(NULL), factoryBackend(
-				0, POOL_SIZES, N_ELEMENTS, false, true) {
+		SystemObject(setObjectId),
+		factoryBackend(0, POOL_SIZES, N_ELEMENTS, false, true) {
 	mutex = MutexFactory::instance()->createMutex();
 	eventReportQueue = QueueFactory::instance()->createMessageQueue(
 			MAX_EVENTS_PER_CYCLE, EventMessage::EVENT_MESSAGE_SIZE);

events/EventManager.h

@@ -36,11 +36,11 @@ public:
 	ReturnValue_t performOperation(uint8_t opCode);
 protected:
 
-	MessageQueueIF* eventReportQueue;
+	MessageQueueIF* eventReportQueue = nullptr;
 
 	std::map<MessageQueueId_t, EventMatchTree> listenerList;
 
-	MutexIF* mutex;
+	MutexIF* mutex = nullptr;
 
 	static const uint8_t N_POOLS = 3;
 	LocalPool<N_POOLS> factoryBackend;

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -1,6 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "FixedTimeslotTask.h"
 
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
@@ -18,16 +19,19 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
-	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as FixedTimeslotTask. The Task object is
+    // global, so it is found from any place.
 	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-	// Task should not start until explicitly requested
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
-	// but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -81,7 +85,8 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 }
 
 void FixedTimeslotTask::taskFunctionality() {
-	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
+	// A local iterator for the Polling Sequence Table is created to find the
+    // start time for the first entry.
 	SlotListIter slotListIter = pst.current;
 
 	//The start time for the first entry is read.
@@ -101,17 +106,30 @@ void FixedTimeslotTask::taskFunctionality() {
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
 		//The component for this slot is executed and the next one is chosen.
-		this->pst.executeAndAdvance();
-		if (pst.slotFollowsImmediately()) {
-			//Do nothing
-		} else {
-			// we need to wait before executing the current slot
-			//this gives us the time to wait:
-			intervalMs = this->pst.getIntervalToPreviousSlotMs();
-			interval = pdMS_TO_TICKS(intervalMs);
-			vTaskDelayUntil(&xLastWakeTime, interval);
-			//TODO deadline missed check
-		}
+	    this->pst.executeAndAdvance();
+	    if (not pst.slotFollowsImmediately()) {
+	        /* If all operations are finished and the difference of the
+	         * current time minus the last wake time is larger than the
+	         * expected wait period, a deadline was missed. */
+	        if(xTaskGetTickCount() - xLastWakeTime >=
+	                pdMS_TO_TICKS(this->pst.getIntervalToPreviousSlotMs())) {
+#ifdef DEBUG
+	            sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
+	                    " missed deadline!\n" << std::flush;
+#endif
+	            if(deadlineMissedFunc != nullptr) {
+	                this->deadlineMissedFunc();
+	            }
+	            // Continue immediately, no need to wait.
+	            break;
+	        }
+
+	        // we need to wait before executing the current slot
+	        //this gives us the time to wait:
+	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
+	        interval = pdMS_TO_TICKS(intervalMs);
+	        vTaskDelayUntil(&xLastWakeTime, interval);
+	    }
 	}
 }
 

osal/FreeRTOS/FixedTimeslotTask.h

@@ -1,12 +1,12 @@
-#ifndef POLLINGTASK_H_
-#define POLLINGTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
 #include <framework/devicehandlers/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-#include <FreeRTOS.h>
-#include "task.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
@@ -29,16 +29,18 @@ public:
 
 	/**
 	 * @brief	The destructor of the class.
-	 *
-	 * @details	The destructor frees all heap memory that was allocated on thread initialization for the PST and
-	 * 			the device handlers. This is done by calling the PST's destructor.
+	 * @details
+	 * The destructor frees all heap memory that was allocated on thread
+	 * initialization for the PST and the device handlers. This is done by
+	 * calling the PST's destructor.
 	 */
 	virtual ~FixedTimeslotTask(void);
 
 	ReturnValue_t startTask(void);
 	/**
 	 * This static function can be used as #deadlineMissedFunc.
-	 * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
+	 * It counts missedDeadlines and prints the number of missed deadlines
+	 * every 10th time.
 	 */
 	static void missedDeadlineCounter();
 	/**
@@ -62,30 +64,29 @@ protected:
 	FixedSlotSequence pst;
 
 	/**
-	 * @brief	This attribute holds a function pointer that is executed when a deadline was missed.
-	 *
-	 * @details	Another function may be announced to determine the actions to perform when a deadline was missed.
-	 * 			Currently, only one function for missing any deadline is allowed.
-	 * 			If not used, it shall be declared NULL.
+	 * @brief	This attribute holds a function pointer that is executed when
+	 *          a deadline was missed.
+	 * @details
+	 * Another function may be announced to determine the actions to perform
+	 * when a deadline was missed. Currently, only one function for missing
+	 * any deadline is allowed. If not used, it shall be declared NULL.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
-	 * @brief	This is the entry point in a new polling thread.
-	 *
-	 * @details	This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
-	 * 			and link the Polling Sequence Table to the thread object and start taskFunctionality()
-	 * 			on success. If operation of the task is ended for some reason,
-	 * 			the destructor is called to free allocated memory.
+	 * @brief	This is the entry point for a new task.
+	 * @details
+	 * This method starts the task by calling taskFunctionality(), as soon as
+	 * all requirements (task scheduler has started and startTask()
+	 * has been called) are met.
 	 */
 	static void taskEntryPoint(void* argument);
 
 	/**
 	 * @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.
+	 * @details
+	 * Core function holding the main functionality of the task
+	 * It links the functionalities provided by FixedSlotSequence with the
+	 * OS's System Calls to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
 };

osal/FreeRTOS/PeriodicTask.cpp

@@ -12,8 +12,8 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 	BaseType_t status = xTaskCreate(taskEntryPoint, name,
 			setStack, this, setPriority, &handle);
 	if(status != pdPASS){
-		sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
-		           << status << std::endl;
+		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
+		        "Status: " << status << std::endl;
 	}
 
 }
@@ -23,14 +23,17 @@ PeriodicTask::~PeriodicTask(void) {
 }
 
 void PeriodicTask::taskEntryPoint(void* argument) {
-	//The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as PeriodicTask. The Task object is
+    // global, so it is found from any place.
 	PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
-	// Task should not start until explicitly requested
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
-	// but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	/* Task should not start until explicitly requested,
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
+	 * is running but not if the scheduler is not running.
+	 * To be able to accommodate both cases we check a member which is set in
+	 * #startTask(). If it is not set and we get here, the scheduler was started
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
 	if (not originalTask->started) {
 		vTaskSuspend(NULL);
@@ -61,9 +64,9 @@ void PeriodicTask::taskFunctionality() {
 	TickType_t xLastWakeTime;
 	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
-	 After this assignment, xLastWakeTime is updated automatically internally within
-	 vTaskDelayUntil(). */
+	 count. Note that this is the only time the variable is written to
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
@@ -76,12 +79,15 @@ void PeriodicTask::taskFunctionality() {
 		 * current time minus the last wake time is larger than the
 		 * wait period, a deadline was missed. */
 		if(xTaskGetTickCount() - xLastWakeTime >= xPeriod) {
+#ifdef DEBUG
 			sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
 					" missed deadline!\n" << std::flush;
+#endif
 			if(deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}
 		}
+
 		vTaskDelayUntil(&xLastWakeTime, xPeriod);
 
 	}

osal/FreeRTOS/PeriodicTask.h

@@ -5,10 +5,8 @@
 #include <framework/tasks/PeriodicTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
-}
 
 #include <vector>
 
@@ -22,7 +20,8 @@ class ExecutableObjectIF;
 class PeriodicTask: public PeriodicTaskIF {
 public:
 	/**
-	 * @brief	Standard constructor of the class.
+	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
 	 * @details
 	 * The class is initialized without allocated objects.
 	 * These need to be added with #addComponent.
@@ -38,8 +37,9 @@ public:
 	 * The function pointer to the deadline missed function that shall
 	 * be assigned.
 	 */
-	PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack,
-			TaskPeriod setPeriod,void (*setDeadlineMissedFunc)());
+	PeriodicTask(const char *name, TaskPriority setPriority,
+	        TaskStackSize setStack, TaskPeriod setPeriod,
+	        void (*setDeadlineMissedFunc)());
 	/**
 	 * @brief	Currently, the executed object's lifetime is not coupled with
 	 * 			the task object's lifetime, so the destructor is empty.
@@ -58,7 +58,9 @@ public:
 	 * Adds an object to the list of objects to be executed.
 	 * The objects are executed in the order added.
 	 * @param object Id of the object to add.
-	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
+	 * @return
+	 * -@c RETURN_OK on success
+	 * -@c RETURN_FAILED if the object could not be added.
 	 */
 	ReturnValue_t addComponent(object_id_t object);
 
@@ -69,40 +71,47 @@ protected:
 	bool started;
 	TaskHandle_t handle;
 
-	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
+	//! Typedef for the List of objects.
+	typedef std::vector<ExecutableObjectIF*> ObjectList;
 	/**
 	 * @brief	This attribute holds a list of objects to be executed.
 	 */
 	ObjectList objectList;
 	/**
 	 * @brief	The period of the task.
-	 * @details	The period determines the frequency of the task's execution. It is expressed in clock ticks.
+	 * @details
+	 * The period determines the frequency of the task's execution.
+	 * It is expressed in clock ticks.
 	 */
 	TaskPeriod period;
 	/**
 	 * @brief	The pointer to the deadline-missed function.
-	 * @details	This pointer stores the function that is executed if the task's deadline is missed.
-	 * 			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.
+	 * @details
+	 * This pointer stores the function that is executed if the task's deadline
+	 * is missed so each may react individually on a timing failure.
+	 * The pointer may be NULL, then nothing happens on missing the deadline.
+	 * The deadline is equal to the next execution of the periodic task.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
 	 * @brief	This is the function executed in the new task's context.
-	 * @details	It converts the argument back to the thread object type and copies the class instance
-	 * 			to the task context. The taskFunctionality method is called afterwards.
+	 * @details
+	 * It converts the argument back to the thread object type and copies the
+	 * class instance to the task context. The taskFunctionality method is
+	 * called afterwards.
 	 * @param	A pointer to the task object itself is passed as argument.
 	 */
 
 	static void taskEntryPoint(void* argument);
 	/**
 	 * @brief	The function containing the actual functionality of the task.
-	 * @details	The method sets and starts
-	 * 			the task's period, then enters a loop that is repeated as long as the isRunning
-	 * 			attribute is true. Within the loop, all performOperation methods of the added
-	 * 			objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
-	 * 			until the next period.
-	 * 			On missing the deadline, the deadlineMissedFunction is executed.
+	 * @details
+	 * The method sets and starts the task's period, then enters a loop that is
+	 * repeated as long as the isRunning attribute is true. Within the loop,
+	 * all performOperation methods of the added objects are called.
+	 * Afterwards the checkAndRestartPeriod system call blocks the task until
+	 * the next period.
+	 * On missing the deadline, the deadlineMissedFunction is executed.
 	 */
 	void taskFunctionality(void);
 };

serialize/SerializeAdapter.h

@@ -65,6 +65,21 @@
 // No type specification necessary here.
 class AutoSerializeAdapter {
 public:
+    /**
+     * Serialize object into buffer.
+     * @tparam T Type of object.
+     * @param object Object to serialize
+     * @param buffer
+     * Serialize into this buffer, pointer to pointer has to be passed,
+     * *buffer will be incremented automatically.
+     * @param size [out]
+     * Update passed size value, will be incremented by serialized size
+     * @param max_size
+     * Maximum size for range checking
+     * @param bigEndian
+     * Set to true if host-to-network conversion or vice-versa is needed
+     * @return
+     */
 	template<typename T>
 	static ReturnValue_t serialize(const T* object, uint8_t** buffer,
 			size_t* size, const size_t max_size, bool bigEndian) {

tasks/ExecutableObjectIF.h

@@ -37,8 +37,10 @@ public:
 
 	/**
 	 * @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
+	 * @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_) {

tmtcservices/CommandingServiceBase.cpp

@@ -412,5 +412,6 @@ void CommandingServiceBase::checkTimeout() {
 	}
 }
 
-
-
+void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
+    executingTask = task_;
+}

tmtcservices/CommandingServiceBase.h

@@ -97,9 +97,7 @@ public:
 	 * Used to setup the reference of the task, that executes this component
 	 * @param task_ Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_){
-		executingTask = task_;
-	};
+	virtual void setTaskIF(PeriodicTaskIF* task_);
 
 protected:
 	/**