CHANGELOG

@@ -22,7 +22,9 @@ a C file without issues
 
 ### Local Pool
 
-- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter
+- Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and
+bucket number of the pools per page and the number of pages are passed to the ctor instead of
+two ctor arguments and a template parameter
 
 ### Parameter Service
 
@@ -40,7 +42,8 @@ important use-case)
    
 ### File System Interface
 
-- A new interfaces specifies the functions for a software object which exposes the file system of a given hardware to use message based file handling (e.g. PUS commanding)
+- A new interfaces specifies the functions for a software object which exposes the file system of
+a given hardware to use message based file handling (e.g. PUS commanding)
 
 ### Internal Error Reporter
 
@@ -52,7 +55,8 @@ ID for now.
 ### Device Handler Base
 
 - There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
-that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
+that DHB users adapt their polling sequence tables to perform this step. This steps allows for 
+a clear distinction between operation and communication steps
 - setNormalDatapoolEntriesInvalid is not an abstract method and a default implementation was provided
 - getTransitionDelayMs is now an abstract method
 
@@ -69,7 +73,8 @@ now
 
 ### Commanding Service Base
 
-- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each CSB instance. This variable has to be set in the FSFWConfig.h file
+- CSB uses the new fsfwconfig::FSFW_CSB_FIFO_DEPTH variable to determine  the FIFO depth for each 
+CSB instance. This variable has to be set in the FSFWConfig.h file
 
 ### Service Interface
 
@@ -82,6 +87,12 @@ now
   For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded. 
   If this is not the case, everything should work as usual.
 
+### ActionHelper and ActionMessage
+
+- ActionHelper finish function and ActionMessage::setCompletionReply now expects explicit 
+information whether to report a success or failure message instead of deriving it implicitely 
+from returnvalue
+
 ### PUS Parameter Service 20
 
 Added PUS parameter service 20 (only custom subservices available).

action/ActionHelper.cpp

@@ -43,10 +43,10 @@ void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
     queueToUse->sendMessage(reportTo, &reply);
 }
 
-void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
+void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
         ReturnValue_t result) {
     CommandMessage reply;
-    ActionMessage::setCompletionReply(&reply, commandId, result);
+    ActionMessage::setCompletionReply(success, &reply, commandId, result);
     queueToUse->sendMessage(reportTo, &reply);
 }
 
@@ -69,7 +69,7 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
     ipcStore->deleteData(dataAddress);
     if(result == HasActionsIF::EXECUTION_FINISHED) {
         CommandMessage reply;
-        ActionMessage::setCompletionReply(&reply, actionId, result);
+        ActionMessage::setCompletionReply(true, &reply, actionId, result);
         queueToUse->sendMessage(commandedBy, &reply);
     }
     if (result != HasReturnvaluesIF::RETURN_OK) {

action/ActionHelper.h

@@ -62,12 +62,12 @@ public:
             ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
     /**
      * Function to be called by the owner to send a action completion message
-     *
+     * @param success   Specify whether action was completed successfully or not.
      * @param reportTo MessageQueueId_t to report the action completion message to
      * @param commandId ID of the executed command
      * @param result Result of the execution
      */
-    void finish(MessageQueueId_t reportTo, ActionId_t commandId,
+    void finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
             ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
     /**
      * Function to be called by the owner if an action does report data.

action/ActionMessage.cpp

@@ -53,11 +53,12 @@ void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
     message->setParameter2(data.raw);
 }
 
-void ActionMessage::setCompletionReply(CommandMessage* message,
+void ActionMessage::setCompletionReply(bool success, CommandMessage* message,
         ActionId_t fid, ReturnValue_t result) {
-    if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) {
+    if (success) {
         message->setCommand(COMPLETION_SUCCESS);
-    } else {
+    }
+    else {
         message->setCommand(COMPLETION_FAILED);
     }
     message->setParameter(fid);

action/ActionMessage.h

@@ -24,19 +24,23 @@ public:
     static const Command_t DATA_REPLY =  MAKE_COMMAND_ID(4);
     static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
     static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
+
     virtual ~ActionMessage();
     static void setCommand(CommandMessage* message, ActionId_t fid,
             store_address_t parameters);
+
     static ActionId_t getActionId(const CommandMessage* message );
     static store_address_t getStoreId(const CommandMessage* message);
+
     static void setStepReply(CommandMessage* message, ActionId_t fid,
             uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
     static uint8_t getStep(const CommandMessage* message );
     static ReturnValue_t getReturnCode(const CommandMessage* message );
     static void setDataReply(CommandMessage* message, ActionId_t actionId,
             store_address_t data);
-    static void setCompletionReply(CommandMessage* message, ActionId_t fid,
+    static void setCompletionReply(bool success, CommandMessage* message, ActionId_t fid,
             ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
+
     static void clear(CommandMessage* message);
 };
 

action/SimpleActionHelper.cpp

@@ -62,7 +62,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
         stepCount++;
         break;
     case HasActionsIF::EXECUTION_FINISHED:
-        ActionMessage::setCompletionReply(&reply, actionId,
+        ActionMessage::setCompletionReply(true, &reply, actionId,
                 HasReturnvaluesIF::RETURN_OK);
         queueToUse->sendMessage(commandedBy, &reply);
         break;

controller/ExtendedControllerBase.cpp

@@ -13,7 +13,7 @@ ExtendedControllerBase::~ExtendedControllerBase() {
 
 ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
         MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
-    // needs to be overriden and implemented by child class.
+    /* Needs to be overriden and implemented by child class. */
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -21,7 +21,7 @@ ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
 
 ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
         localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
-    // needs to be overriden and implemented by child class.
+    /* Needs to be overriden and implemented by child class. */
     return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -96,8 +96,10 @@ ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
 
 ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
     handleQueue();
-    poolManager.performHkOperation();
     performControlOperation();
+    /* We do this after performing control operation because variables will be set changed
+    in this function. */
+    poolManager.performHkOperation();
     return RETURN_OK;
 }
 

datapool/DataSetIF.h

@@ -18,15 +18,13 @@ class PoolVariableIF;
 class DataSetIF {
 public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::DATA_SET_CLASS;
-	static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION =
+	static constexpr ReturnValue_t INVALID_PARAMETER_DEFINITION = MAKE_RETURN_CODE(1);
-			MAKE_RETURN_CODE( 0x01 );
+	static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE(2);
-	static constexpr ReturnValue_t SET_WAS_ALREADY_READ = MAKE_RETURN_CODE( 0x02 );
+	static constexpr ReturnValue_t COMMITING_WITHOUT_READING = MAKE_RETURN_CODE(3);
-	static constexpr ReturnValue_t COMMITING_WITHOUT_READING =
-			MAKE_RETURN_CODE(0x03);
 
-	static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE( 0x04 );
+	static constexpr ReturnValue_t DATA_SET_UNINITIALISED = MAKE_RETURN_CODE(4);
-	static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE( 0x05 );
+	static constexpr ReturnValue_t DATA_SET_FULL = MAKE_RETURN_CODE(5);
-	static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE( 0x06 );
+	static constexpr ReturnValue_t POOL_VAR_NULL = MAKE_RETURN_CODE(6);
 
 	/**
 	 * @brief	This is an empty virtual destructor,

datapool/PoolDataSetBase.cpp

@@ -1,5 +1,8 @@
 #include "PoolDataSetBase.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "ReadCommitIFAttorney.h"
+
+#include "../serviceinterface/ServiceInterface.h"
+
 #include <cstring>
 
 PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
@@ -11,26 +14,28 @@ PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
 PoolDataSetBase::~PoolDataSetBase() {}
 
 
-ReturnValue_t PoolDataSetBase::registerVariable(
+ReturnValue_t PoolDataSetBase::registerVariable(PoolVariableIF *variable) {
-		PoolVariableIF *variable) {
     if (state != States::STATE_SET_UNINITIALISED) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "DataSet::registerVariable: "
+        sif::error << "DataSet::registerVariable: Call made in wrong position." << std::endl;
-				"Call made in wrong position." << std::endl;
+#else
+        sif::printError("DataSet::registerVariable: Call made in wrong position.");
 #endif
         return DataSetIF::DATA_SET_UNINITIALISED;
     }
     if (variable == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "DataSet::registerVariable: "
+        sif::error << "DataSet::registerVariable: Pool variable is nullptr." << std::endl;
-				"Pool variable is nullptr." << std::endl;
+#else
+        sif::printError("DataSet::registerVariable: Pool variable is nullptr.\n");
 #endif
         return DataSetIF::POOL_VAR_NULL;
     }
     if (fillCount >= maxFillCount) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "DataSet::registerVariable: "
+        sif::error << "DataSet::registerVariable: DataSet is full." << std::endl;
-				"DataSet is full." << std::endl;
+#else
+        sif::printError("DataSet::registerVariable: DataSet is full.\n");
 #endif
         return DataSetIF::DATA_SET_FULL;
     }
@@ -56,10 +61,12 @@ ReturnValue_t PoolDataSetBase::read(MutexIF::TimeoutType timeoutType,
     }
     else {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-		sif::error << "DataSet::read(): "
+        sif::error << "DataSet::read(): Call made in wrong position. Don't forget to commit"
-				"Call made in wrong position. Don't forget to commit"
                 " member datasets!" << std::endl;
-#endif
+#else
+        sif::printError("DataSet::read(): Call made in wrong position. Don't forget to commit"
+                " member datasets!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
         result = SET_WAS_ALREADY_READ;
     }
 
@@ -76,24 +83,21 @@ uint16_t PoolDataSetBase::getFillCount() const {
 ReturnValue_t PoolDataSetBase::readVariable(uint16_t count) {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     if(registeredVariables[count] == nullptr) {
-	    // configuration error.
+        /* Configuration error. */
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
-	// These checks are often performed by the respective
+    /* These checks are often performed by the respective variable implementation too, but I guess
-	// variable implementation too, but I guess a double check does not hurt.
+    a double check does not hurt. */
-	if (registeredVariables[count]->getReadWriteMode() !=
+    if (registeredVariables[count]->getReadWriteMode() != PoolVariableIF::VAR_WRITE and
-				PoolVariableIF::VAR_WRITE and
+            registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER) {
-		registeredVariables[count]->getDataPoolId()
-				!= PoolVariableIF::NO_PARAMETER)
-	{
         if(protectEveryReadCommitCall) {
-			result = registeredVariables[count]->read(
+            result = registeredVariables[count]->read(timeoutTypeForSingleVars,
-					timeoutTypeForSingleVars,
                     mutexTimeoutForSingleVars);
         }
         else {
-			result = registeredVariables[count]->readWithoutLock();
+            /* The readWithoutLock function is protected, so we use the attorney here */
+            result = ReadCommitIFAttorney::readWithoutLock(registeredVariables[count]);
         }
 
         if(result != HasReturnvaluesIF::RETURN_OK) {
@@ -118,17 +122,15 @@ void PoolDataSetBase::handleAlreadyReadDatasetCommit(
         MutexIF::TimeoutType timeoutType, uint32_t lockTimeout) {
     lockDataPool(timeoutType, lockTimeout);
     for (uint16_t count = 0; count < fillCount; count++) {
-		if (registeredVariables[count]->getReadWriteMode()
+        if ((registeredVariables[count]->getReadWriteMode() != PoolVariableIF::VAR_READ) and
-				!= PoolVariableIF::VAR_READ
+                (registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER)) {
-				&& registeredVariables[count]->getDataPoolId()
-				!= PoolVariableIF::NO_PARAMETER) {
             if(protectEveryReadCommitCall) {
-				registeredVariables[count]->commit(
+                registeredVariables[count]->commit(timeoutTypeForSingleVars,
-						timeoutTypeForSingleVars,
                         mutexTimeoutForSingleVars);
             }
             else {
-				registeredVariables[count]->commitWithoutLock();
+                /* The commitWithoutLock function is protected, so we use the attorney here */
+                ReadCommitIFAttorney::commitWithoutLock(registeredVariables[count]);
             }
         }
     }
@@ -141,17 +143,15 @@ ReturnValue_t PoolDataSetBase::handleUnreadDatasetCommit(
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     lockDataPool(timeoutType, lockTimeout);
     for (uint16_t count = 0; count < fillCount; count++) {
-		if (registeredVariables[count]->getReadWriteMode()
+        if ((registeredVariables[count]->getReadWriteMode() == PoolVariableIF::VAR_WRITE) and
-				== PoolVariableIF::VAR_WRITE
+                (registeredVariables[count]->getDataPoolId() != PoolVariableIF::NO_PARAMETER)) {
-				&& registeredVariables[count]->getDataPoolId()
-				!= PoolVariableIF::NO_PARAMETER) {
             if(protectEveryReadCommitCall) {
-				result = registeredVariables[count]->commit(
+                result = registeredVariables[count]->commit(timeoutTypeForSingleVars,
-						timeoutTypeForSingleVars,
                         mutexTimeoutForSingleVars);
             }
             else {
-				result = registeredVariables[count]->commitWithoutLock();
+                /* The commitWithoutLock function is protected, so we use the attorney here */
+                ReadCommitIFAttorney::commitWithoutLock(registeredVariables[count]);
             }
 
         } else if (registeredVariables[count]->getDataPoolId()
@@ -184,8 +184,7 @@ ReturnValue_t PoolDataSetBase::serialize(uint8_t** buffer, size_t* size,
         const size_t maxSize, SerializeIF::Endianness streamEndianness) const {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
     for (uint16_t count = 0; count < fillCount; count++) {
-		result = registeredVariables[count]->serialize(buffer, size, maxSize,
+        result = registeredVariables[count]->serialize(buffer, size, maxSize, streamEndianness);
-		        streamEndianness);
         if (result != HasReturnvaluesIF::RETURN_OK) {
             return result;
         }

datapool/PoolDataSetBase.h

@@ -29,7 +29,8 @@
  * @author	Bastian Baetz
  * @ingroup data_pool
  */
-class PoolDataSetBase: public PoolDataSetIF,
+class PoolDataSetBase:
+        public PoolDataSetIF,
         public SerializeIF,
         public HasReturnvaluesIF {
 public:

datapool/PoolDataSetIF.h

@@ -8,7 +8,9 @@
  * @brief   Extendes the DataSetIF by adding abstract functions to lock
  *          and unlock a data pool and read/commit semantics.
  */
-class PoolDataSetIF: public DataSetIF, public ReadCommitIF {
+class PoolDataSetIF:
+        public DataSetIF,
+        public ReadCommitIF {
 public:
     virtual~ PoolDataSetIF() {};
 

datapool/PoolReadGuard.h

@@ -8,9 +8,9 @@
 /**
  * @brief 	Helper class to read data sets or pool variables
  */
-class PoolReadHelper {
+class PoolReadGuard {
 public:
-    PoolReadHelper(ReadCommitIF* readObject,
+    PoolReadGuard(ReadCommitIF* readObject,
             MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
             uint32_t mutexTimeout = 20):
                 readObject(readObject), mutexTimeout(mutexTimeout) {
@@ -32,8 +32,18 @@ public:
         return readResult;
     }
 
-    ~PoolReadHelper() {
+    /**
-        if(readObject != nullptr) {
+     * @brief   Can be used to suppress commit on destruction.
+     */
+    void setNoCommitMode(bool commit) {
+        this->noCommit = commit;
+    }
+
+    /**
+     * @brief   Default destructor which will take care of commiting changed values.
+     */
+    ~PoolReadGuard() {
+        if(readObject != nullptr and not noCommit) {
             readObject->commit(timeoutType, mutexTimeout);
         }
 
@@ -42,6 +52,7 @@ public:
 private:
     ReadCommitIF* readObject = nullptr;
     ReturnValue_t readResult = HasReturnvaluesIF::RETURN_OK;
+    bool noCommit = false;
     MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
     uint32_t mutexTimeout = 20;
 };

datapool/PoolVariableIF.h

@@ -1,9 +1,10 @@
 #ifndef FSFW_DATAPOOL_POOLVARIABLEIF_H_
 #define FSFW_DATAPOOL_POOLVARIABLEIF_H_
 
+#include "ReadCommitIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serialize/SerializeIF.h"
-#include "ReadCommitIF.h"
+
 
 /**
  * @brief	This interface is used to control data pool
@@ -18,10 +19,10 @@
  * @author 	Bastian Baetz
  * @ingroup data_pool
  */
-class PoolVariableIF : public SerializeIF,
+class PoolVariableIF :
+        public SerializeIF,
         public ReadCommitIF {
-	friend class PoolDataSetBase;
+
-	friend class LocalPoolDataSetBase;
 public:
     static constexpr uint8_t INTERFACE_ID = CLASS_ID::POOL_VARIABLE_IF;
     static constexpr ReturnValue_t INVALID_READ_WRITE_MODE = MAKE_RETURN_CODE(0xA0);
@@ -45,6 +46,8 @@ public:
      * 			read-write or read-only.
      */
     virtual ReadWriteMode_t getReadWriteMode() const = 0;
+    virtual void setReadWriteMode(ReadWriteMode_t newMode) = 0;
+
     /**
      * @brief	This operation shall return the data pool id of the variable.
      */
@@ -58,7 +61,6 @@ public:
      * @brief	With this call, the valid information of the variable is set.
      */
     virtual void setValid(bool validity) = 0;
-
 };
 
 using pool_rwm_t = PoolVariableIF::ReadWriteMode_t;

datapool/ReadCommitIF.h

@@ -9,6 +9,7 @@
  * 			semantics.
  */
 class ReadCommitIF {
+    friend class ReadCommitIFAttorney;
 public:
 	virtual ~ReadCommitIF() {}
 	virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType,
@@ -18,9 +19,8 @@ public:
 
 protected:
 
-	//! Optional and protected because this is interesting for classes grouping
+	/* Optional and protected because this is interesting for classes grouping members with commit
-	//! members with commit and read semantics where the lock is only necessary
+	and read semantics where the lock is only necessary once. */
-	//! once.
 	virtual ReturnValue_t readWithoutLock()  {
 		return read(MutexIF::TimeoutType::WAITING, 20);
 	}

datapool/ReadCommitIFAttorney.h

@@ -0,0 +1,32 @@
+#ifndef FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_
+#define FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_
+
+#include <fsfw/datapool/ReadCommitIF.h>
+#include <fsfw/returnvalues/HasReturnvaluesIF.h>
+
+/**
+ * @brief   This class determines which members are allowed to access protected members
+ *          of the ReadCommitIF.
+ */
+class ReadCommitIFAttorney {
+private:
+    static ReturnValue_t readWithoutLock(ReadCommitIF* readCommitIF) {
+        if(readCommitIF == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return readCommitIF->readWithoutLock();
+    }
+
+    static ReturnValue_t commitWithoutLock(ReadCommitIF* readCommitIF) {
+        if(readCommitIF == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+        return readCommitIF->commitWithoutLock();
+    }
+
+    friend class PoolDataSetBase;
+};
+
+
+
+#endif /* FSFW_DATAPOOL_READCOMMITIFATTORNEY_H_ */

datapoollocal/HasLocalDataPoolIF.h

@@ -23,11 +23,21 @@ class LocalPoolObjectBase;
  * @details
  * Any class implementing this interface shall also have a LocalDataPoolManager member class which
  * contains the actual pool data structure and exposes the public interface for it.
+ *
  * The local data pool can be accessed using helper classes by using the
  * LocalPoolVariable, LocalPoolVector or LocalDataSet classes. Every local pool variable can
  * be uniquely identified by a global pool ID (gp_id_t) and every dataset tied
  * to a pool manager can be uniqely identified by a global structure ID (sid_t).
  *
+ * All software objects which want to use the local pool of another object shall also use this
+ * interface, for example to get a handle to the subscription interface. The interface
+ * can be retrieved using the object manager, provided the target object is a SystemObject.
+ * For example, the following line of code can be used to retrieve the interface
+ *
+ *    HasLocalDataPoolIF* poolIF = objectManager->get<HasLocalDataPoolIF>(objects::SOME_OBJECT);
+ *    if(poolIF != nullptr) {
+ *        doSomething()
+ *    }
  */
 class HasLocalDataPoolIF {
     friend class HasLocalDpIFManagerAttorney;
@@ -152,8 +162,8 @@ protected:
      */
     virtual LocalPoolObjectBase* getPoolObjectHandle(lp_id_t localPoolId) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden"
+        sif::warning << "HasLocalDataPoolIF::getPoolObjectHandle: Not overriden. "
-                << ". Returning nullptr!" << std::endl;
+                "Returning nullptr!" << std::endl;
 #else
         sif::printWarning("HasLocalDataPoolIF::getPoolObjectHandle: "
                 "Not overriden. Returning nullptr!\n");

datapoollocal/LocalDataPoolManager.cpp

@@ -42,15 +42,15 @@ LocalDataPoolManager::~LocalDataPoolManager() {}
 
 ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
 	if(queueToUse == nullptr) {
-		// error, all destinations invalid
+		/* Error, all destinations invalid */
-		printWarningOrError(sif::OutputTypes::OUT_ERROR,
+		printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
-				"initialize", QUEUE_OR_DESTINATION_INVALID);
+		        QUEUE_OR_DESTINATION_INVALID);
 	}
 	hkQueue = queueToUse;
 
 	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 	if(ipcStore == nullptr) {
-		// error, all destinations invalid
+		/* Error, all destinations invalid */
 		printWarningOrError(sif::OutputTypes::OUT_ERROR,
 				"initialize", HasReturnvaluesIF::RETURN_FAILED,
 				"Could not set IPC store.");
@@ -98,7 +98,7 @@ ReturnValue_t LocalDataPoolManager::initializeHousekeepingPoolEntriesOnce() {
 
 ReturnValue_t LocalDataPoolManager::performHkOperation() {
 	ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
-	for(auto& receiver: hkReceiversMap) {
+	for(auto& receiver: hkReceivers) {
 		switch(receiver.reportingType) {
 		case(ReportingType::PERIODIC): {
 			if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
@@ -375,12 +375,12 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
 				owner->getPeriodicOperationFrequency(), isDiagnostics);
 	}
 
-	hkReceiversMap.push_back(hkReceiver);
+	hkReceivers.push_back(hkReceiver);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
 
-ReturnValue_t LocalDataPoolManager::subscribeForUpdatePackets(sid_t sid,
+ReturnValue_t LocalDataPoolManager::subscribeForUpdatePacket(sid_t sid,
 		bool isDiagnostics, bool reportingEnabled,
 		object_id_t packetDestination) {
 	AcceptsHkPacketsIF* hkReceiverObject =
@@ -404,13 +404,13 @@ ReturnValue_t LocalDataPoolManager::subscribeForUpdatePackets(sid_t sid,
 		LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
 	}
 
-	hkReceiversMap.push_back(hkReceiver);
+	hkReceivers.push_back(hkReceiver);
 
 	handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t LocalDataPoolManager::subscribeForSetUpdateMessages(
+ReturnValue_t LocalDataPoolManager::subscribeForSetUpdateMessage(
 		const uint32_t setId, object_id_t destinationObject,
 		MessageQueueId_t targetQueueId, bool generateSnapshot) {
 	struct HkReceiver hkReceiver;
@@ -425,13 +425,13 @@ ReturnValue_t LocalDataPoolManager::subscribeForSetUpdateMessages(
 		hkReceiver.reportingType = ReportingType::UPDATE_NOTIFICATION;
 	}
 
-	hkReceiversMap.push_back(hkReceiver);
+	hkReceivers.push_back(hkReceiver);
 
 	handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t LocalDataPoolManager::subscribeForVariableUpdateMessages(
+ReturnValue_t LocalDataPoolManager::subscribeForVariableUpdateMessage(
 		const lp_id_t localPoolId, object_id_t destinationObject,
 		MessageQueueId_t targetQueueId, bool generateSnapshot) {
 	struct HkReceiver hkReceiver;
@@ -446,7 +446,7 @@ ReturnValue_t LocalDataPoolManager::subscribeForVariableUpdateMessages(
 		hkReceiver.reportingType = ReportingType::UPDATE_NOTIFICATION;
 	}
 
-	hkReceiversMap.push_back(hkReceiver);
+	hkReceivers.push_back(hkReceiver);
 
 	handleHkUpdateResetListInsertion(hkReceiver.dataType, hkReceiver.dataId);
 	return HasReturnvaluesIF::RETURN_OK;
@@ -829,8 +829,8 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid,
 }
 
 void LocalDataPoolManager::clearReceiversList() {
-	// clear the vector completely and releases allocated memory.
+	/* Clear the vector completely and releases allocated memory. */
-	HkReceivers().swap(hkReceiversMap);
+	HkReceivers().swap(hkReceivers);
 }
 
 MutexIF* LocalDataPoolManager::getLocalPoolMutex() {

datapoollocal/LocalDataPoolManager.h

@@ -137,7 +137,7 @@ public:
      * @param packetDestination
      * @return
      */
-    ReturnValue_t subscribeForUpdatePackets(sid_t sid, bool reportingEnabled,
+    ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
             bool isDiagnostics,
             object_id_t packetDestination = defaultHkDestination) override;
 
@@ -155,7 +155,7 @@ public:
      * Otherwise, only an notification message is sent.
      * @return
      */
-    ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
+    ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
             object_id_t destinationObject,
             MessageQueueId_t targetQueueId,
             bool generateSnapshot) override;
@@ -174,7 +174,7 @@ public:
      * Otherwise, only an notification message is sent.
      * @return
      */
-    ReturnValue_t subscribeForVariableUpdateMessages(const lp_id_t localPoolId,
+    ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
             object_id_t destinationObject,
             MessageQueueId_t targetQueueId,
             bool generateSnapshot) override;
@@ -271,7 +271,10 @@ public:
     MutexIF* getMutexHandle();
 
     virtual LocalDataPoolManager* getPoolManagerHandle() override;
-private:
+
+protected:
+
+    /** Core data structure for the actual pool data */
     localpool::DataPool localPoolMap;
     /** Every housekeeping data manager has a mutex to protect access
     to it's data pool. */
@@ -307,7 +310,7 @@ private:
     /** This vector will contain the list of HK receivers. */
     using HkReceivers = std::vector<struct HkReceiver>;
 
-    HkReceivers hkReceiversMap;
+    HkReceivers hkReceivers;
 
     struct HkUpdateResetHelper {
         DataType dataType = DataType::DATA_SET;
@@ -317,7 +320,8 @@ private:
     };
 
     using HkUpdateResetList = std::vector<struct HkUpdateResetHelper>;
-    // Will only be created when needed.
+    /** This list is used to manage creating multiple update packets and only resetting
+    the update flag if all of them were created. Will only be created when needed. */
     HkUpdateResetList* hkUpdateResetList = nullptr;
 
     /** This is the map holding the actual data. Should only be initialized
@@ -341,16 +345,14 @@ private:
      * Read a variable by supplying its local pool ID and assign the pool
      * entry to the supplied PoolEntry pointer. The type of the pool entry
      * is deduced automatically. This call is not thread-safe!
-     * For now, only friend classes like LocalPoolVar may access this
+     * For now, only classes designated by the LocalDpManagerAttorney may use this function.
-     * function.
      * @tparam T Type of the pool entry
      * @param localPoolId Pool ID of the variable to read
      * @param poolVar [out] Corresponding pool entry will be assigned to the
      * 						supplied pointer.
      * @return
      */
-    template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId,
+    template <class T> ReturnValue_t fetchPoolEntry(lp_id_t localPoolId, PoolEntry<T> **poolEntry);
-            PoolEntry<T> **poolEntry);
 
     /**
      * This function is used to fill the local data pool map with pool
@@ -362,15 +364,13 @@ private:
 
     MutexIF* getLocalPoolMutex() override;
 
-    ReturnValue_t serializeHkPacketIntoStore(
+    ReturnValue_t serializeHkPacketIntoStore(HousekeepingPacketDownlink& hkPacket,
-            HousekeepingPacketDownlink& hkPacket,
             store_address_t& storeId, bool forDownlink, size_t* serializedSize);
 
     void performPeriodicHkGeneration(HkReceiver& hkReceiver);
-    ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable,
+    ReturnValue_t togglePeriodicGeneration(sid_t sid, bool enable, bool isDiagnostics);
+    ReturnValue_t changeCollectionInterval(sid_t sid, float newCollectionInterval,
             bool isDiagnostics);
-    ReturnValue_t changeCollectionInterval(sid_t sid,
-            float newCollectionInterval, bool isDiagnostics);
     ReturnValue_t generateSetStructurePacket(sid_t sid, bool isDiagnostics);
 
     void handleHkUpdateResetListInsertion(DataType dataType, DataId dataId);
@@ -378,25 +378,19 @@ private:
             DataId dataId, MarkChangedIF* toReset);
     void resetHkUpdateResetHelper();
 
-    ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver,
+    ReturnValue_t handleHkUpdate(HkReceiver& hkReceiver, ReturnValue_t& status);
-            ReturnValue_t& status);
+    ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver, ReturnValue_t& status);
-    ReturnValue_t handleNotificationUpdate(HkReceiver& hkReceiver,
+    ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver, ReturnValue_t& status);
-            ReturnValue_t& status);
+    ReturnValue_t addUpdateToStore(HousekeepingSnapshot& updatePacket, store_address_t& storeId);
-    ReturnValue_t handleNotificationSnapshot(HkReceiver& hkReceiver,
-            ReturnValue_t& status);
-    ReturnValue_t addUpdateToStore(HousekeepingSnapshot& updatePacket,
-            store_address_t& storeId);
 
-    void printWarningOrError(sif::OutputTypes outputType,
+    void printWarningOrError(sif::OutputTypes outputType, const char* functionName,
-            const char* functionName,
             ReturnValue_t errorCode = HasReturnvaluesIF::RETURN_FAILED,
             const char* errorPrint = nullptr);
 };
 
 
 template<class T> inline
-ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId,
+ReturnValue_t LocalDataPoolManager::fetchPoolEntry(lp_id_t localPoolId, PoolEntry<T> **poolEntry) {
-        PoolEntry<T> **poolEntry) {
     auto poolIter = localPoolMap.find(localPoolId);
     if (poolIter == localPoolMap.end()) {
         printWarningOrError(sif::OutputTypes::OUT_WARNING, "fetchPoolEntry",

datapoollocal/LocalPoolDataSetBase.cpp

@@ -3,6 +3,7 @@
 #include "internal/HasLocalDpIFUserAttorney.h"
 
 #include "../serviceinterface/ServiceInterface.h"
+#include "../globalfunctions/bitutility.h"
 #include "../datapoollocal/LocalDataPoolManager.h"
 #include "../housekeeping/PeriodicHousekeepingHelper.h"
 #include "../serialize/SerializeAdapter.h"
@@ -35,14 +36,13 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(HasLocalDataPoolIF *hkOwner,
     this->sid.objectId = hkOwner->getObjectId();
     this->sid.ownerSetId = setId;
 
-    // Data creators get a periodic helper for periodic HK data generation.
+    /* Data creators get a periodic helper for periodic HK data generation. */
     if(periodicHandling) {
         periodicHelper = new PeriodicHousekeepingHelper(this);
     }
 }
 
-LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
+LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid, PoolVariableIF** registeredVariablesArray,
-        PoolVariableIF** registeredVariablesArray,
         const size_t maxNumberOfVariables):
                 PoolDataSetBase(registeredVariablesArray, maxNumberOfVariables)  {
     HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(
@@ -96,14 +96,14 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer
         SerializeIF::Endianness streamEndianness) const {
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
     uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
-    uint8_t validityMask[validityMaskSize];
+    uint8_t validityMask[validityMaskSize] = {};
     uint8_t validBufferIndex = 0;
     uint8_t validBufferIndexBit = 0;
     for (uint16_t count = 0; count < fillCount; count++) {
         if(registeredVariables[count]->isValid()) {
-            // set validity buffer here.
+            /* Set bit at correct position */
-            this->bitSetter(validityMask + validBufferIndex,
+            bitutil::bitSet(validityMask + validBufferIndex, validBufferIndexBit);
-                    validBufferIndexBit);
+        }
         if(validBufferIndexBit == 7) {
             validBufferIndex ++;
             validBufferIndexBit = 0;
@@ -111,7 +111,7 @@ ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer
         else {
             validBufferIndexBit ++;
         }
-        }
+
         result = registeredVariables[count]->serialize(buffer, size, maxSize,
                 streamEndianness);
         if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -148,7 +148,7 @@ ReturnValue_t LocalPoolDataSetBase::deSerializeWithValidityBuffer(
     uint8_t validBufferIndexBit = 0;
     for (uint16_t count = 0; count < fillCount; count++) {
         // set validity buffer here.
-        bool nextVarValid = this->bitGetter(*buffer +
+        bool nextVarValid = bitutil::bitGet(*buffer +
                 validBufferIndex, validBufferIndexBit);
         registeredVariables[count]->setValid(nextVarValid);
 
@@ -173,7 +173,7 @@ ReturnValue_t LocalPoolDataSetBase::unlockDataPool() {
 ReturnValue_t LocalPoolDataSetBase::serializeLocalPoolIds(uint8_t** buffer,
         size_t* size, size_t maxSize,SerializeIF::Endianness streamEndianness,
         bool serializeFillCount) const {
-    // Serialize as uint8_t
+    /* Serialize fill count as uint8_t */
     uint8_t fillCount = this->fillCount;
     if(serializeFillCount) {
         SerializeAdapter::serialize(&fillCount, buffer, size, maxSize,
@@ -246,21 +246,6 @@ ReturnValue_t LocalPoolDataSetBase::serialize(uint8_t **buffer, size_t *size,
     }
 }
 
-void LocalPoolDataSetBase::bitSetter(uint8_t* byte, uint8_t position) const {
-    if(position > 7) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LocalPoolDataSetBase::bitSetter: Invalid position!"
-                << std::endl;
-#else
-        sif::printWarning("LocalPoolDataSetBase::bitSetter: "
-                "Invalid position!\n\r");
-#endif
-        return;
-    }
-    uint8_t shiftNumber = position + (7 - 2 * position);
-    *byte |= 1 << shiftNumber;
-}
-
 void LocalPoolDataSetBase::setDiagnostic(bool isDiagnostics) {
     this->diagnostic = isDiagnostics;
 }
@@ -296,19 +281,6 @@ sid_t LocalPoolDataSetBase::getSid() const {
     return sid;
 }
 
-bool LocalPoolDataSetBase::bitGetter(const uint8_t* byte,
-        uint8_t position) const {
-    if(position > 7) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::debug << "Pool Raw Access: Bit setting invalid position"
-                << std::endl;
-#endif
-        return false;
-    }
-    uint8_t shiftNumber = position + (7 - 2 * position);
-    return *byte & (1 << shiftNumber);
-}
-
 bool LocalPoolDataSetBase::isValid() const {
     return this->valid;
 }
@@ -328,3 +300,9 @@ object_id_t LocalPoolDataSetBase::getCreatorObjectId() {
     }
     return objects::NO_OBJECT;
 }
+
+void LocalPoolDataSetBase::setAllVariablesReadOnly() {
+    for(size_t idx = 0; idx < this->getFillCount(); idx++) {
+        registeredVariables[idx]->setReadWriteMode(pool_rwm_t::VAR_READ);
+    }
+}

datapoollocal/LocalPoolDataSetBase.h

@@ -59,7 +59,7 @@ public:
 
     /**
      * @brief	Constructor for users of the local pool data, which need
-     *          to access data created by one (!) HK manager.
+     *          to access data created by one HK manager.
      * @details
      * Unlike the first constructor, no component for periodic handling
      * will be initiated.
@@ -109,6 +109,12 @@ public:
     LocalPoolDataSetBase(const LocalPoolDataSetBase& otherSet) = delete;
     const LocalPoolDataSetBase& operator=(const LocalPoolDataSetBase& otherSet) = delete;
 
+    /**
+     * Helper functions used to set all currently contained variables to read-only.
+     * It is recommended to call this in set constructors intended to be used
+     * by data consumers to prevent accidentally changing pool data.
+     */
+    void setAllVariablesReadOnly();
     void setValidityBufferGeneration(bool withValidityBuffer);
 
     sid_t getSid() const;
@@ -218,13 +224,6 @@ protected:
      */
     ReturnValue_t unlockDataPool() override;
 
-    /**
-     * Set n-th bit of a byte, with n being the position from 0
-     * (most significant bit) to 7 (least significant bit)
-     */
-    void bitSetter(uint8_t* byte, uint8_t position) const;
-    bool bitGetter(const uint8_t* byte, uint8_t position) const;
-
     PeriodicHousekeepingHelper* periodicHelper = nullptr;
     LocalDataPoolManager* poolManager = nullptr;
 

datapoollocal/LocalPoolObjectBase.cpp

@@ -1,10 +1,12 @@
 #include "LocalPoolObjectBase.h"
 #include "LocalDataPoolManager.h"
-#include "internal/HasLocalDpIFUserAttorney.h"
+#include "AccessLocalPoolF.h"
 #include "HasLocalDataPoolIF.h"
+#include "internal/HasLocalDpIFUserAttorney.h"
 
 #include "../objectmanager/ObjectManagerIF.h"
 
+
 LocalPoolObjectBase::LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkOwner,
         DataSetIF* dataSet, pool_rwm_t setReadWriteMode):
         localPoolId(poolId), readWriteMode(setReadWriteMode) {
@@ -35,15 +37,20 @@ LocalPoolObjectBase::LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
     if(poolId == PoolVariableIF::NO_PARAMETER) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
-                << "which is the NO_PARAMETER value!" << std::endl;
+                "which is the NO_PARAMETER value!" << std::endl;
+#else
+        sif::printWarning("LocalPoolVar<T>::LocalPoolVar: 0 passed as pool ID, "
+                "which is the NO_PARAMETER value!\n");
 #endif
     }
     HasLocalDataPoolIF* hkOwner = objectManager->get<HasLocalDataPoolIF>(poolOwner);
     if(hkOwner == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "LocalPoolVariable: The supplied pool owner did not "
+        sif::error << "LocalPoolVariable: The supplied pool owner did not implement the correct "
-                << "implement the correct interface"
+                "interface HasLocalDataPoolIF!" << std::endl;
-                << " HasLocalDataPoolIF!" << std::endl;
+#else
+        sif::printError( "LocalPoolVariable: The supplied pool owner did not implement the correct "
+                "interface HasLocalDataPoolIF!\n");
 #endif
         return;
     }
@@ -93,6 +100,10 @@ void LocalPoolObjectBase::setReadWriteMode(pool_rwm_t newReadWriteMode) {
 void LocalPoolObjectBase::reportReadCommitError(const char* variableType,
         ReturnValue_t error, bool read, object_id_t objectId, lp_id_t lpId) {
 #if FSFW_DISABLE_PRINTOUT == 0
+    const char* variablePrintout = variableType;
+    if(variablePrintout == nullptr) {
+        variablePrintout = "Unknown Type";
+    }
     const char* type = nullptr;
     if(read) {
         type = "read";
@@ -119,12 +130,12 @@ void LocalPoolObjectBase::reportReadCommitError(const char* variableType,
     }
 
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << variableType << ": " << type << " call | " << errMsg << " | Owner: 0x"
+    sif::warning << variablePrintout << ": " << type << " call | " << errMsg << " | Owner: 0x"
             << std::hex << std::setw(8) << std::setfill('0') << objectId << std::dec
             << " LPID: " << lpId << std::endl;
 #else
     sif::printWarning("%s: %s call | %s | Owner: 0x%08x LPID: %lu\n",
-            variableType, type, errMsg, objectId, lpId);
+            variablePrintout, type, errMsg, objectId, lpId);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_DISABLE_PRINTOUT == 0 */
 }

datapoollocal/LocalPoolVariable.tpp

@@ -26,9 +26,18 @@ inline LocalPoolVariable<T>::LocalPoolVariable(gp_id_t globalPoolId,
 template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::read(
         MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+    if(hkManager == nullptr) {
         return readWithoutLock();
     }
+    MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
+    ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    result = readWithoutLock();
+    mutex->unlockMutex();
+    return result;
+}
 
 template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
@@ -43,7 +52,6 @@ inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
     PoolEntry<T>* poolEntry = nullptr;
     ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
             &poolEntry);
-    //ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
     if(result != RETURN_OK) {
         object_id_t ownerObjectId = hkManager->getCreatorObjectId();
         reportReadCommitError("LocalPoolVariable", result,
@@ -51,15 +59,6 @@ inline ReturnValue_t LocalPoolVariable<T>::readWithoutLock() {
         return result;
     }
 
-    // Actually this should never happen..
-    //	if(poolEntry->address == nullptr) {
-    //		result = PoolVariableIF::INVALID_POOL_ENTRY;
-    //		object_id_t ownerObjectId = hkManager->getOwner()->getObjectId();
-    //		reportReadCommitError("LocalPoolVariable", result,
-    //				false, ownerObjectId, localPoolId);
-    //		return result;
-    //	}
-
     this->value = *(poolEntry->getDataPtr());
     this->valid = poolEntry->getValid();
     return RETURN_OK;
@@ -75,9 +74,18 @@ inline ReturnValue_t LocalPoolVariable<T>::commit(bool setValid,
 template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::commit(
         MutexIF::TimeoutType timeoutType, uint32_t timeoutMs) {
-    MutexHelper(LocalDpManagerAttorney::getMutexHandle(*hkManager), timeoutType, timeoutMs);
+    if(hkManager == nullptr) {
         return commitWithoutLock();
     }
+    MutexIF* mutex = LocalDpManagerAttorney::getMutexHandle(*hkManager);
+    ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    result = commitWithoutLock();
+    mutex->unlockMutex();
+    return result;
+}
 
 template<typename T>
 inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
@@ -90,7 +98,6 @@ inline ReturnValue_t LocalPoolVariable<T>::commitWithoutLock() {
     }
 
     PoolEntry<T>* poolEntry = nullptr;
-    //ReturnValue_t result = hkManager->fetchPoolEntry(localPoolId, &poolEntry);
     ReturnValue_t result = LocalDpManagerAttorney::fetchPoolEntry(*hkManager, localPoolId,
             &poolEntry);
     if(result != RETURN_OK) {

datapoollocal/ProvidesDataPoolSubscriptionIF.h

@@ -17,12 +17,8 @@ public:
      * to generate housekeeping packets which are downlinked directly.
      * @return
      */
-    virtual ReturnValue_t subscribeForPeriodicPacket(sid_t sid,
+    virtual ReturnValue_t subscribeForPeriodicPacket(sid_t sid, bool enableReporting,
-            bool enableReporting,
+            float collectionInterval, bool isDiagnostics, object_id_t packetDestination) = 0;
-            float collectionInterval, bool isDiagnostics,
-            object_id_t packetDestination) = 0;
-
-
     /**
      * @brief   Subscribe for the  generation of packets if the dataset
      *          is marked as changed.
@@ -33,11 +29,8 @@ public:
      * @param packetDestination
      * @return
      */
-    virtual ReturnValue_t subscribeForUpdatePackets(sid_t sid,
+    virtual ReturnValue_t subscribeForUpdatePacket(sid_t sid, bool reportingEnabled,
-            bool reportingEnabled,
+            bool isDiagnostics, object_id_t packetDestination) = 0;
-            bool isDiagnostics,
-            object_id_t packetDestination) = 0;
-
     /**
      * @brief   Subscribe for a notification message which will be sent
      *          if a dataset has changed.
@@ -52,10 +45,9 @@ public:
      *                              Otherwise, only an notification message is sent.
      * @return
      */
-    virtual ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
+    virtual ReturnValue_t subscribeForSetUpdateMessage(const uint32_t setId,
             object_id_t destinationObject, MessageQueueId_t targetQueueId,
             bool generateSnapshot) = 0;
-
     /**
      * @brief   Subscribe for an notification message which will be sent if a
      *          pool variable has changed.
@@ -70,12 +62,9 @@ public:
      *                              only an notification message is sent.
      * @return
      */
-    virtual ReturnValue_t subscribeForVariableUpdateMessages(
+    virtual ReturnValue_t subscribeForVariableUpdateMessage(const lp_id_t localPoolId,
-            const lp_id_t localPoolId,
+            object_id_t destinationObject, MessageQueueId_t targetQueueId,
-            object_id_t destinationObject,
-            MessageQueueId_t targetQueueId,
             bool generateSnapshot) = 0;
-
 };
 
 #endif /* FSFW_DATAPOOLLOCAL_PROVIDESDATAPOOLSUBSCRIPTION_H_ */

datapoollocal/internal/LocalDpManagerAttorney.h

@@ -24,7 +24,6 @@ private:
         return manager.getMutexHandle();
     }
 
-
     template<typename T> friend class LocalPoolVariable;
     template<typename T, uint16_t vecSize> friend class LocalPoolVector;
 };

datapoollocal/localPoolDefinitions.h

@@ -21,8 +21,8 @@ static constexpr uint8_t INTERFACE_ID = CLASS_ID::LOCAL_POOL_OWNER_IF;
 static constexpr ReturnValue_t POOL_ENTRY_NOT_FOUND = MAKE_RETURN_CODE(0x00);
 static constexpr ReturnValue_t POOL_ENTRY_TYPE_CONFLICT = MAKE_RETURN_CODE(0x01);
 
-//! This is the core data structure of the local data pools. Users should insert all desired
+/** This is the core data structure of the local data pools. Users should insert all desired
-//! pool variables, using the std::map interface.
+pool variables, using the std::map interface. */
 using DataPool =  std::map<lp_id_t, PoolEntryIF*>;
 using DataPoolMapIter = DataPool::iterator;
 

devicehandlers/DeviceHandlerBase.cpp

@@ -558,7 +558,7 @@ void DeviceHandlerBase::replyToCommand(ReturnValue_t status,
     if (cookieInfo.pendingCommand->second.sendReplyTo != NO_COMMANDER) {
         MessageQueueId_t queueId = cookieInfo.pendingCommand->second.sendReplyTo;
         if (status == NO_REPLY_EXPECTED) {
-            actionHelper.finish(queueId, cookieInfo.pendingCommand->first,
+            actionHelper.finish(true, queueId, cookieInfo.pendingCommand->first,
                     RETURN_OK);
         } else {
             actionHelper.step(1, queueId, cookieInfo.pendingCommand->first,
@@ -581,7 +581,11 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
         // Check if it was transition or internal command.
         // Don't send any replies in that case.
         if (info->sendReplyTo != NO_COMMANDER) {
-            actionHelper.finish(info->sendReplyTo, iter->first, status);
+            bool success = false;
+            if(status == HasReturnvaluesIF::RETURN_OK) {
+                success = true;
+            }
+            actionHelper.finish(success, info->sendReplyTo, iter->first, status);
         }
         info->isExecuting = false;
     }

doc/README-localpools.md

@@ -1,3 +1,172 @@
-## Local Data Pools
+## Local Data Pools Developer Information
+
+The following text is targeted towards mission software developers which would like
+to use the local data pools provided by the FSFW to store data like sensor values so they can be 
+used by other software objects like controllers as well. If a custom class should have a local 
+pool which  can be used by other software objects as well, following steps have to be performed:
+
+1. Create a `LocalDataPoolManager` member object in the custom class
+2. Implement the `HasLocalDataPoolIF` with specifies the interface between the local pool manager
+and the class owning the local pool.
+
+The local data pool manager is also able to process housekeeping service requests in form
+of messages, generate periodic housekeeping packet, generate notification and snapshots of changed
+variables and datasets and process notifications and snapshots coming from other objects.
+The two former tasks are related to the external interface using telemetry and telecommands (TMTC)
+while the later two are related to data consumers like controllers only acting on data change 
+detected by the data creator instead of checking the data manually each cycle. Two important 
+framework classes `DeviceHandlerBase` and `ExtendedControllerBase` already perform the two steps 
+shown above so the steps required are altered slightly.
+
+### Storing and Accessing pool data 
+
+The pool manager is responsible for thread-safe access of the pool data, but the actual
+access to the pool data from the point of view of a mission software developer happens via proxy
+classes like pool variable classes. These classes store a copy
+of the pool variable with the matching datatype and copy the actual data from the local pool
+on a `read` call. Changed variables can then be written to the local pool with a `commit` call.
+The `read` and `commit` calls are thread-safe and can be called concurrently from data creators
+and data consumers. Generally, a user will create a dataset class which in turn groups all 
+cohesive pool variables. These sets simply iterator over the list of variables and call the 
+`read` and `commit` functions of each variable. The following diagram shows the
+high-level architecture of the local data pools.
+
+<img align="center" src="./images/PoolArchitecture.png" width="50%"> <br>
+
+An example is shown for using the local data pools with a Gyroscope.
+For example, the following code shows an implementation to access data from a Gyroscope taken
+from the SOURCE CubeSat project:
+
+```cpp
+class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
+public:
+    /**
+     * Constructor for data users
+     * @param gyroId
+     */
+    GyroPrimaryDataset(object_id_t gyroId):
+            StaticLocalDataSet(sid_t(gyroId, gyrodefs::GYRO_DATA_SET_ID)) {
+        setAllVariablesReadOnly();
+    }
+
+    lp_var_t<float> angVelocityX = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_X, this);
+    lp_var_t<float> angVelocityY = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_Y, this);
+    lp_var_t<float> angVelocityZ = lp_var_t<float>(sid.objectId,
+            gyrodefs::ANGULAR_VELOCITY_Z, this);
+private:
+
+    friend class GyroHandler;
+    /**
+     * Constructor for data creator
+     * @param hkOwner
+     */
+    GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
+            StaticLocalDataSet(hkOwner, gyrodefs::GYRO_DATA_SET_ID) {}
+};
+```
+
+There is a public constructor for users which sets all variables to read-only and there is a
+constructor for the GyroHandler data creator by marking it private and declaring the `GyroHandler`
+as a friend class. Both the atittude controller and the `GyroHandler` can now
+use the same class definition to access the pool variables with `read` and `commit` semantics
+in a thread-safe way. Generally, each class requiring access will have the set class as a member
+class. The data creator will also be generally a `DeviceHandlerBase` subclass and some additional
+steps are necessary to expose the set for housekeeping purposes.
+
+### Using the local data pools in a `DeviceHandlerBase` subclass
+
+It is very common to store data generated by devices like a sensor into a pool which can 
+then be used by other objects. Therefore, the `DeviceHandlerBase` already has a
+local pool. Using the aforementioned example, our `GyroHandler` will now have the set class
+as a member:
+
+```cpp
+class GyroHandler: ... {
+
+public:
+	...
+private:
+	...
+	GyroPrimaryDataset gyroData;
+	...
+};
+```
+
+The constructor used for the creators expects the owner class as a parameter, so we initialize
+the object in the `GyroHandler` constructor like this:
+
+```cpp
+GyroHandler::GyroHandler(object_id_t objectId, object_id_t comIF,
+        CookieIF *comCookie, uint8_t switchId):
+        DeviceHandlerBase(objectId, comIF, comCookie), switchId(switchId),
+		gyroData(this) {}
+```
+
+We need to assign the set to a reply ID used in the `DeviceHandlerBase`. 
+The combination of the `GyroHandler` object ID and the reply ID will be the 64-bit structure ID
+`sid_t` and is used to globally identify the set, for example when requesting housekeeping data or
+generating update messages. We need to assign our custom set class in some way so that the local 
+pool manager can access the custom data sets as well.
+By default, the `getDataSetHandle` will take care of this tasks. The default implementation for a
+`DeviceHandlerBase` subclass will use the internal command map to retrieve 
+a handle to a dataset from a given reply ID. Therefore,
+we assign the set in the `fillCommandAndReplyMap` function:
+
+```cpp
+void GyroHandler::fillCommandAndReplyMap() {
+	...
+	this->insertInCommandAndReplyMap(gyrodefs::GYRO_DATA, 3, &gyroData);
+	...
+}
+```
+
+Now, we need to create the actual pool entries as well, using the `initializeLocalDataPool` 
+function. Here, we also immediately subscribe for periodic housekeeping packets 
+with an interval of 4 seconds. They are still disabled in this example and can be enabled 
+with a housekeeping service command.
+
+```cpp
+ReturnValue_t GyroHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+		LocalDataPoolManager &poolManager) {
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_X,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Y,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::ANGULAR_VELOCITY_Z,
+			new PoolEntry<float>({0.0}));
+	localDataPoolMap.emplace(gyrodefs::GENERAL_CONFIG_REG42,
+			new PoolEntry<uint8_t>({0}));
+	localDataPoolMap.emplace(gyrodefs::RANGE_CONFIG_REG43,
+			new PoolEntry<uint8_t>({0}));
+
+	poolManager.subscribeForPeriodicPacket(gyroData.getSid(), false, 4.0, false);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+```
+
+Now, if we receive some sensor data and converted them into the right format, 
+we can write it into the pool like this, using a guard class to ensure the set is commited back 
+in any case:
+
+```cpp
+PoolReadGuard readHelper(&gyroData);
+if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
+	if(not gyroData.isValid()) {
+		gyroData.setValidity(true, true);
+	}
+
+	gyroData.angVelocityX = angularVelocityX;
+	gyroData.angVelocityY = angularVelocityY;
+	gyroData.angVelocityZ = angularVelocityZ;
+}
+```
+
+The guard class will commit the changed data on destruction automatically.
+
+### Using the local data pools in a `ExtendedControllerBase` subclass
+
+Coming soon
 
 

globalfunctions/CMakeLists.txt

@@ -7,6 +7,7 @@ target_sources(${LIB_FSFW_NAME}
 		PeriodicOperationDivider.cpp
 		timevalOperations.cpp
 		Type.cpp
+		bitutility.cpp
 )
 
 add_subdirectory(math)

globalfunctions/bitutility.cpp

@@ -0,0 +1,33 @@
+#include "bitutility.h"
+
+void bitutil::bitSet(uint8_t *byte, uint8_t position) {
+    if(position > 7) {
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte |= 1 << shiftNumber;
+}
+
+void bitutil::bitToggle(uint8_t *byte, uint8_t position) {
+    if(position > 7) {
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte ^= 1 << shiftNumber;
+}
+
+void bitutil::bitClear(uint8_t *byte, uint8_t position) {
+    if(position > 7) {
+        return;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    *byte &= ~(1 << shiftNumber);
+}
+
+bool bitutil::bitGet(const uint8_t *byte, uint8_t position) {
+    if(position > 7) {
+        return false;
+    }
+    uint8_t shiftNumber = position + (7 - 2 * position);
+    return *byte & (1 << shiftNumber);
+}

globalfunctions/bitutility.h

@@ -0,0 +1,18 @@
+#ifndef FSFW_GLOBALFUNCTIONS_BITUTIL_H_
+#define FSFW_GLOBALFUNCTIONS_BITUTIL_H_
+
+#include <cstdint>
+
+namespace bitutil {
+
+/* Helper functions for manipulating the individual bits of a byte.
+Position refers to n-th bit of a byte, going from 0 (most significant bit) to
+7 (least significant bit) */
+void bitSet(uint8_t* byte, uint8_t position);
+void bitToggle(uint8_t* byte, uint8_t position);
+void bitClear(uint8_t* byte, uint8_t position);
+bool bitGet(const uint8_t* byte, uint8_t position);
+
+}
+
+#endif /* FSFW_GLOBALFUNCTIONS_BITUTIL_H_ */

housekeeping/HousekeepingPacketDownlink.h

@@ -10,7 +10,11 @@
  *          which are destined to be downlinked into the store.
  * @details
  * The housekeeping packets are stored into the IPC store and forwarded
- * to the designated housekeeping handler.
+ * to the designated housekeeping handler. The packet will consist of the following fields
+ *  - SID (8 byte): Structure ID, with the first 4 bytes being the object ID and the last four
+ *    bytes being the set ID
+ *  - Housekeeping Data: The rest of the packet will be the serialized housekeeping data. A validity
+ *    buffer might be appended at the end, depending on the set configuration.
  */
 class HousekeepingPacketDownlink: public SerialLinkedListAdapter<SerializeIF> {
 public:

ipc/CommandMessageIF.h

@@ -13,19 +13,21 @@ public:
     /**
      * Header consists of sender ID and command ID.
      */
-	static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
+    static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE + sizeof(Command_t);
-			sizeof(Command_t);
     /**
      * This minimum size is derived from the interface requirement to be able
      * to set a rejected reply, which contains a returnvalue and the initial
      * command.
      */
-	static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
+    static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE = CommandMessageIF::HEADER_SIZE +
-	        CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
+            sizeof(ReturnValue_t) + sizeof(Command_t);
-	        sizeof(Command_t);
+
+    static constexpr Command_t makeCommandId(uint8_t messageId, uint8_t uniqueId) {
+        return ((messageId << 8) | uniqueId);
+    }
 
     static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
-	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
+    static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(1);
 
     static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
     //! Used internally, shall be ignored

ipc/MutexHelper.h

@@ -2,33 +2,56 @@
 #define FRAMEWORK_IPC_MUTEXHELPER_H_
 
 #include "MutexFactory.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterface.h"
 
 class MutexHelper {
 public:
     MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
             MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0):
             internalMutex(mutex) {
+        if(mutex == nullptr) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "MutexHelper: Passed mutex is invalid!" << std::endl;
+#else
+            sif::printError("MutexHelper: Passed mutex is invalid!\n");
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
+            return;
+        }
         ReturnValue_t status = mutex->lockMutex(timeoutType,
                 timeoutMs);
+#if FSFW_VERBOSE_LEVEL >= 1
         if(status == MutexIF::MUTEX_TIMEOUT) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::error << "MutexHelper: Lock of mutex failed with timeout of "
                     << timeoutMs << " milliseconds!" << std::endl;
-#endif
+#else
+            sif::printError("MutexHelper: Lock of mutex failed with timeout of %lu milliseconds\n",
+                    timeoutMs);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+
         }
         else if(status != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-			sif::error << "MutexHelper: Lock of Mutex failed with code "
+            sif::error << "MutexHelper: Lock of Mutex failed with code " << status << std::endl;
-			        << status << std::endl;
+#else
-#endif
+            sif::printError("MutexHelper: Lock of Mutex failed with code %d\n", status);
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
         }
+#else
+        /* To avoid unused variable warning */
+        static_cast<void>(status);
+#endif /* FSFW_VERBOSE_LEVEL >= 1 */
     }
 
     ~MutexHelper() {
+        if(internalMutex != nullptr) {
             internalMutex->unlockMutex();
         }
+    }
 private:
     MutexIF* internalMutex;
 };
+
 #endif /* FRAMEWORK_IPC_MUTEXHELPER_H_ */

memory/HasFileSystemIF.h

@@ -16,17 +16,27 @@ class HasFileSystemIF {
 public:
     static constexpr uint8_t INTERFACE_ID = CLASS_ID::FILE_SYSTEM;
 
-    static constexpr ReturnValue_t FILE_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x00);
+    //! [EXPORT] : P1: Can be file system specific error code
-    static constexpr ReturnValue_t FILE_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
+    static constexpr ReturnValue_t GENERIC_FILE_ERROR = MAKE_RETURN_CODE(0);
-    static constexpr ReturnValue_t FILE_LOCKED = MAKE_RETURN_CODE(0x02);
+    //! [EXPORT] : File system is currently busy
+    static constexpr ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
+    //! [EXPORT] : Invalid parameters like file name or repository path
+    static constexpr ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
 
-    static constexpr ReturnValue_t DIRECTORY_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
+    static constexpr ReturnValue_t FILE_DOES_NOT_EXIST = MAKE_RETURN_CODE(5);
-    static constexpr ReturnValue_t DIRECTORY_ALREADY_EXISTS = MAKE_RETURN_CODE(0x04);
+    static constexpr ReturnValue_t FILE_ALREADY_EXISTS = MAKE_RETURN_CODE(6);
-    static constexpr ReturnValue_t DIRECTORY_NOT_EMPTY = MAKE_RETURN_CODE(0x05);
+    static constexpr ReturnValue_t FILE_LOCKED = MAKE_RETURN_CODE(7);
+
+    static constexpr ReturnValue_t DIRECTORY_DOES_NOT_EXIST = MAKE_RETURN_CODE(10);
+    static constexpr ReturnValue_t DIRECTORY_ALREADY_EXISTS = MAKE_RETURN_CODE(11);
+    static constexpr ReturnValue_t DIRECTORY_NOT_EMPTY = MAKE_RETURN_CODE(12);
+
+    //! [EXPORT] : P1: Sequence number missing
+    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_WRITE = MAKE_RETURN_CODE(15);
+    //! [EXPORT] : P1: Sequence number missing
+    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_READ = MAKE_RETURN_CODE(16);
 
 
-    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_WRITE = MAKE_RETURN_CODE(0x06); //! P1: Sequence number missing
-    static constexpr ReturnValue_t SEQUENCE_PACKET_MISSING_READ = MAKE_RETURN_CODE(0x07); //! P1: Sequence number missing
 
 	virtual ~HasFileSystemIF() {}
 	/**

osal/FreeRTOS/TaskFactory.cpp

@@ -49,5 +49,11 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+void TaskFactory::printMissedDeadline() {
+    /* TODO: Implement */
+    return;
+}
+
+
 TaskFactory::TaskFactory() {
 }

osal/host/Clock.cpp

@@ -1,4 +1,4 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../timemanager/Clock.h"
 
 #include <chrono>

osal/host/QueueMapManager.cpp

@@ -1,5 +1,6 @@
 #include "QueueMapManager.h"
 
+#include "../../serviceinterface/ServiceInterface.h"
 #include "../../ipc/MutexFactory.h"
 #include "../../ipc/MutexHelper.h"
 

osal/host/TaskFactory.cpp

@@ -48,4 +48,9 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+void TaskFactory::printMissedDeadline() {
+    /* TODO: Implement */
+    return;
+}
+
 

osal/linux/PeriodicPosixTask.cpp

@@ -68,20 +68,6 @@ void PeriodicPosixTask::taskFunctionality(void) {
 		}
 
 		if(not PosixThread::delayUntil(&lastWakeTime, periodMs)){
-			char name[20] = {0};
-			int status = pthread_getname_np(pthread_self(), name, sizeof(name));
-			if(status == 0) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-				sif::error << "PeriodicPosixTask " << name << ": Deadline "
-						"missed." << std::endl;
-#endif
-			}
-			else {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-				sif::error << "PeriodicPosixTask X: Deadline missed. " <<
-						status << std::endl;
-#endif
-			}
 			if (this->deadlineMissedFunc != nullptr) {
 				this->deadlineMissedFunc();
 			}

osal/linux/TaskFactory.cpp

@@ -39,5 +39,26 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
 	return PosixThread::sleep(delayMs*1000000ull);
 }
 
+void TaskFactory::printMissedDeadline() {
+    char name[20] = {0};
+    int status = pthread_getname_np(pthread_self(), name, sizeof(name));
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    if(status == 0) {
+        sif::warning << "task::printMissedDeadline: " << name << "" << std::endl;
+    }
+    else {
+        sif::warning << "task::printMissedDeadline: Unknown task name" << status <<
+                std::endl;
+    }
+#else
+    if(status == 0) {
+        sif::printWarning("task::printMissedDeadline: %s\n", name);
+    }
+    else {
+        sif::printWarning("task::printMissedDeadline: Unknown task name\n", name);
+    }
+#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
+}
+
 TaskFactory::TaskFactory() {
 }

osal/rtems/Clock.cpp

@@ -105,20 +105,28 @@ ReturnValue_t Clock::getClock_usecs(uint64_t* time) {
 
 ReturnValue_t Clock::getDateAndTime(TimeOfDay_t* time) {
     /* For all but the last field, the struct will be filled with the correct values */
-	rtems_time_of_day* timeRtems = reinterpret_cast<rtems_time_of_day*>(time);
+    rtems_time_of_day timeRtems;
-	rtems_status_code status = rtems_clock_get_tod(timeRtems);
+    rtems_status_code status = rtems_clock_get_tod(&timeRtems);
-	/* The last field now contains the RTEMS ticks of the seconds from 0
-    to rtems_clock_get_ticks_per_second() minus one. We calculate the microseconds accordingly */
-	timeRtems->ticks = static_cast<float>(timeRtems->ticks) /
-	        rtems_clock_get_ticks_per_second() * 1e6;
     switch (status) {
-	case RTEMS_SUCCESSFUL:
+    case RTEMS_SUCCESSFUL: {
+        /* The last field now contains the RTEMS ticks of the seconds from 0
+        to rtems_clock_get_ticks_per_second() minus one.
+        We calculate the microseconds accordingly */
+        time->day = timeRtems.day;
+        time->hour = timeRtems.hour;
+        time->minute = timeRtems.minute;
+        time->month = timeRtems.month;
+        time->second = timeRtems.second;
+        time->usecond = static_cast<float>(timeRtems.ticks) /
+                rtems_clock_get_ticks_per_second() * 1e6;
+        time->year = timeRtems.year;
         return HasReturnvaluesIF::RETURN_OK;
+    }
     case RTEMS_NOT_DEFINED:
-		//system date and time is not set
+        /* System date and time is not set */
         return HasReturnvaluesIF::RETURN_FAILED;
     case RTEMS_INVALID_ADDRESS:
-		//time_buffer is NULL
+        /* time_buffer is NULL */
         return HasReturnvaluesIF::RETURN_FAILED;
     default:
         return HasReturnvaluesIF::RETURN_FAILED;

osal/rtems/TaskFactory.cpp

@@ -44,5 +44,10 @@ ReturnValue_t TaskFactory::delayTask(uint32_t delayMs){
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+void TaskFactory::printMissedDeadline() {
+    /* TODO: Implement */
+    return;
+}
+
 TaskFactory::TaskFactory() {
 }

returnvalues/FwClassIds.h

@@ -65,6 +65,7 @@ enum {
 	HOUSEKEEPING_MANAGER, //HKM 60
 	DLE_ENCODER, //DLEE 61
 	PUS_SERVICE_9, //PUS9 62
+	FILE_SYSTEM, //FILS 63
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };

tasks/TaskFactory.h

@@ -62,6 +62,12 @@ public:
 	 */
 	static ReturnValue_t delayTask(uint32_t delayMs);
 
+	/**
+	 * OS specific implementation to print deadline. In most cases, there is a OS specific
+	 * way to retrieve the task name and print it out as well.
+	 */
+	static void printMissedDeadline();
+
 private:
 	/**
 	 * External instantiation is not allowed.

timemanager/CCSDSTime.cpp

@@ -396,12 +396,20 @@ ReturnValue_t CCSDSTime::convertToCcsds(OBT_FLP* to, const timeval* from) {
 
 ReturnValue_t CCSDSTime::convertFromCcsds(timeval* to, const uint8_t* from,
         size_t* foundLength, size_t maxLength) {
-	//We don't expect ascii here. SHOULDDO
+    if(maxLength >= 19) {
+        Clock::TimeOfDay_t timeOfDay;
+        /* Try to parse it as ASCII */
+        ReturnValue_t result = convertFromASCII(&timeOfDay, from, maxLength);
+        if (result == RETURN_OK) {
+            return Clock::convertTimeOfDayToTimeval(&timeOfDay, to);
+        }
+    }
+
     uint8_t codeIdentification = (*from >> 4);
     switch (codeIdentification) {
-	//unsupported, as Leap second correction would have to be applied
+    /* Unsupported, as Leap second correction would have to be applied */
-//	case CUC_LEVEL1:
+    case CUC_LEVEL1:
-//		return convertFromCUC(to, from, foundLength, maxLength);
+        return UNSUPPORTED_TIME_FORMAT;
     case CDS:
         return convertFromCDS(to, from, foundLength, maxLength);
     case CCS:

unittest/tests/action/TestActionHelper.cpp

@@ -70,7 +70,7 @@ TEST_CASE( "Action Helper" , "[ActionHelper]") {
 	SECTION("Handle finish"){
 		CHECK(not testMqMock.wasMessageSent());
 		ReturnValue_t status = 0x9876;
-		actionHelper.finish(testMqMock.getId(), testActionId, status);
+		actionHelper.finish(true, testMqMock.getId(), testActionId, status);
 		CHECK(testMqMock.wasMessageSent());
 		CommandMessage testMessage;
 		REQUIRE(testMqMock.receiveMessage(&testMessage) == static_cast<uint32_t>(HasReturnvaluesIF::RETURN_OK));

unittest/tests/datapoollocal/DataSetTest.cpp

@@ -1,8 +1,13 @@
 #include "LocalPoolOwnerBase.h"
 
 #include <catch2/catch_test_macros.hpp>
+#include <catch2/catch_approx.hpp>
+
 #include <fsfw/datapoollocal/HasLocalDataPoolIF.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
+#include <fsfw/datapool/PoolReadHelper.h>
+#include <fsfw/globalfunctions/bitutility.h>
+
 #include <unittest/core/CatchDefinitions.h>
 
 TEST_CASE("LocalDataSet" , "[LocDataSetTest]") {
@@ -12,11 +17,193 @@ TEST_CASE("LocalDataSet" , "[LocDataSetTest]") {
     REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK);
     REQUIRE(poolOwner->initializeHkManagerAfterTaskCreation()
             == retval::CATCH_OK);
-    const uint32_t setId = 0;
+    LocalPoolStaticTestDataSet localSet;
+
     SECTION("BasicTest") {
-        StaticLocalDataSet<3> localSet = StaticLocalDataSet<3>(
+        /* Test some basic functions */
-                sid_t(objects::TEST_LOCAL_POOL_OWNER_BASE, setId));
+        CHECK(localSet.getLocalPoolIdsSerializedSize(false) == 3 * sizeof(lp_id_t));
+        CHECK(localSet.getLocalPoolIdsSerializedSize(true) ==
+                3 * sizeof(lp_id_t) + sizeof(uint8_t));
+        CHECK(localSet.getSid() == lpool::testSid);
+        CHECK(localSet.getCreatorObjectId() == objects::TEST_LOCAL_POOL_OWNER_BASE);
+        size_t maxSize = localSet.getLocalPoolIdsSerializedSize(true);
+        uint8_t localPoolIdBuff[maxSize];
+        /* Skip size field */
+        lp_id_t* lpIds = reinterpret_cast<lp_id_t*>(localPoolIdBuff + 1);
+        size_t serSize = 0;
+        uint8_t *localPoolIdBuffPtr = reinterpret_cast<uint8_t*>(localPoolIdBuff);
+
+        /* Test local pool ID serialization */
+        CHECK(localSet.serializeLocalPoolIds(&localPoolIdBuffPtr, &serSize,
+                        maxSize, SerializeIF::Endianness::MACHINE) == retval::CATCH_OK);
+        CHECK(serSize == maxSize);
+        CHECK(localPoolIdBuff[0] == 3);
+        CHECK(lpIds[0] == localSet.localPoolVarUint8.getDataPoolId());
+        CHECK(lpIds[1]  == localSet.localPoolVarFloat.getDataPoolId());
+        CHECK(lpIds[2]  == localSet.localPoolUint16Vec.getDataPoolId());
+        /* Now serialize without fill count */
+        lpIds = reinterpret_cast<lp_id_t*>(localPoolIdBuff);
+        localPoolIdBuffPtr = localPoolIdBuff;
+        serSize = 0;
+        CHECK(localSet.serializeLocalPoolIds(&localPoolIdBuffPtr, &serSize,
+                        maxSize, SerializeIF::Endianness::MACHINE, false) == retval::CATCH_OK);
+        CHECK(serSize == maxSize - sizeof(uint8_t));
+        CHECK(lpIds[0] == localSet.localPoolVarUint8.getDataPoolId());
+        CHECK(lpIds[1]  == localSet.localPoolVarFloat.getDataPoolId());
+        CHECK(lpIds[2]  == localSet.localPoolUint16Vec.getDataPoolId());
+
+        {
+            /* Test read operation. Values should be all zeros */
+            PoolReadHelper readHelper(&localSet);
+            REQUIRE(readHelper.getReadResult() == retval::CATCH_OK);
+            CHECK(not localSet.isValid());
+            CHECK(localSet.localPoolVarUint8.value == 0);
+            CHECK(not localSet.localPoolVarUint8.isValid());
+            CHECK(localSet.localPoolVarFloat.value == Catch::Approx(0.0));
+            CHECK(not localSet.localPoolVarUint8.isValid());
+            CHECK(localSet.localPoolUint16Vec.value[0] == 0);
+            CHECK(localSet.localPoolUint16Vec.value[1] == 0);
+            CHECK(localSet.localPoolUint16Vec.value[2] == 0);
+            CHECK(not localSet.localPoolVarUint8.isValid());
+
+            /* Now set new values, commit should be done by read helper automatically */
+            localSet.localPoolVarUint8 = 232;
+            localSet.localPoolVarFloat = -2324.322;
+            localSet.localPoolUint16Vec.value[0] = 232;
+            localSet.localPoolUint16Vec.value[1] = 23923;
+            localSet.localPoolUint16Vec.value[2] = 1;
+            localSet.setValidity(true, true);
         }
+
+        /* Zero out some values for next test */
+        localSet.localPoolVarUint8 = 0;
+        localSet.localPoolVarFloat = 0;
+
+        {
+            /* Now we read again and check whether our zeroed values were overwritten with
+            the values in the pool */
+            PoolReadHelper readHelper(&localSet);
+            REQUIRE(readHelper.getReadResult() == retval::CATCH_OK);
+            CHECK(localSet.isValid());
+            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 */
+            localSet.setValidityBufferGeneration(false);
+            maxSize = localSet.getSerializedSize();
+            CHECK(maxSize == sizeof(uint8_t) + sizeof(uint16_t) * 3 + sizeof(float));
+            serSize = 0;
+            /* Already reserve additional space for validity buffer, will be needed later */
+            uint8_t buffer[maxSize + 1];
+            uint8_t* buffPtr = buffer;
+            CHECK(localSet.serialize(&buffPtr, &serSize, maxSize,
+                    SerializeIF::Endianness::MACHINE) == retval::CATCH_OK);
+            uint8_t rawUint8 = buffer[0];
+            CHECK(rawUint8 == 232);
+            float rawFloat = 0.0;
+            std::memcpy(&rawFloat, buffer + sizeof(uint8_t), sizeof(float));
+            CHECK(rawFloat == Catch::Approx(-2324.322));
+
+            uint16_t rawUint16Vec[3];
+            std::memcpy(&rawUint16Vec, buffer + sizeof(uint8_t) + sizeof(float),
+                    3 * sizeof(uint16_t));
+            CHECK(rawUint16Vec[0] == 232);
+            CHECK(rawUint16Vec[1] == 23923);
+            CHECK(rawUint16Vec[2] == 1);
+
+            size_t sizeToDeserialize = maxSize;
+            /* Now we zeros out the raw entries and deserialize back into the dataset */
+            std::memset(buffer, 0, sizeof(buffer));
+            const uint8_t* constBuffPtr = buffer;
+            CHECK(localSet.deSerialize(&constBuffPtr, &sizeToDeserialize,
+                    SerializeIF::Endianness::MACHINE) == retval::CATCH_OK);
+            /* Check whether deserialization was successfull */
+            CHECK(localSet.localPoolVarUint8.value == 0);
+            CHECK(localSet.localPoolVarFloat.value == Catch::Approx(0.0));
+            CHECK(localSet.localPoolVarUint8.value == 0);
+            CHECK(localSet.localPoolUint16Vec.value[0] == 0);
+            CHECK(localSet.localPoolUint16Vec.value[1] == 0);
+            CHECK(localSet.localPoolUint16Vec.value[2] == 0);
+            /* Validity should be unchanged */
+            CHECK(localSet.localPoolVarUint8.isValid());
+            CHECK(localSet.localPoolVarFloat.isValid());
+            CHECK(localSet.localPoolUint16Vec.isValid());
+
+            /* Now we do the same process but with the validity buffer */
+            localSet.localPoolVarUint8 = 232;
+            localSet.localPoolVarFloat = -2324.322;
+            localSet.localPoolUint16Vec.value[0] = 232;
+            localSet.localPoolUint16Vec.value[1] = 23923;
+            localSet.localPoolUint16Vec.value[2] = 1;
+            localSet.localPoolVarUint8.setValid(true);
+            localSet.localPoolVarFloat.setValid(false);
+            localSet.localPoolUint16Vec.setValid(true);
+            localSet.setValidityBufferGeneration(true);
+            maxSize = localSet.getSerializedSize();
+            CHECK(maxSize == sizeof(uint8_t) + sizeof(uint16_t) * 3 + sizeof(float) + 1);
+            serSize = 0;
+            buffPtr = buffer;
+            CHECK(localSet.serialize(&buffPtr, &serSize, maxSize,
+                    SerializeIF::Endianness::MACHINE) == retval::CATCH_OK);
+            CHECK(rawUint8 == 232);
+            std::memcpy(&rawFloat, buffer + sizeof(uint8_t), sizeof(float));
+            CHECK(rawFloat == Catch::Approx(-2324.322));
+
+            std::memcpy(&rawUint16Vec, buffer + sizeof(uint8_t) + sizeof(float),
+                    3 * sizeof(uint16_t));
+            CHECK(rawUint16Vec[0] == 232);
+            CHECK(rawUint16Vec[1] == 23923);
+            CHECK(rawUint16Vec[2] == 1);
+            /* We can do it like this because the buffer only has one byte for
+            less than 8 variables */
+            uint8_t* validityByte = buffer + sizeof(buffer) - 1;
+            CHECK(bitutil::bitGet(validityByte, 0) == true);
+            CHECK(bitutil::bitGet(validityByte, 1) == false);
+            CHECK(bitutil::bitGet(validityByte, 2) == true);
+
+            /* Now we manipulate the validity buffer for the deserialization */
+            bitutil::bitClear(validityByte, 0);
+            bitutil::bitSet(validityByte, 1);
+            bitutil::bitClear(validityByte, 2);
+            /* Zero out everything except validity buffer */
+            std::memset(buffer, 0, sizeof(buffer) - 1);
+            sizeToDeserialize = maxSize;
+            constBuffPtr = buffer;
+            CHECK(localSet.deSerialize(&constBuffPtr, &sizeToDeserialize,
+                    SerializeIF::Endianness::MACHINE) == retval::CATCH_OK);
+            /* Check whether deserialization was successfull */
+            CHECK(localSet.localPoolVarUint8.value == 0);
+            CHECK(localSet.localPoolVarFloat.value == Catch::Approx(0.0));
+            CHECK(localSet.localPoolVarUint8.value == 0);
+            CHECK(localSet.localPoolUint16Vec.value[0] == 0);
+            CHECK(localSet.localPoolUint16Vec.value[1] == 0);
+            CHECK(localSet.localPoolUint16Vec.value[2] == 0);
+            CHECK(not localSet.localPoolVarUint8.isValid());
+            CHECK(localSet.localPoolVarFloat.isValid());
+            CHECK(not localSet.localPoolUint16Vec.isValid());
+
+        }
+
+        /* Common fault test cases */
+        LocalPoolObjectBase* variableHandle = poolOwner->getPoolObjectHandle(lpool::uint32VarId);
+        CHECK(variableHandle != nullptr);
+        CHECK(localSet.registerVariable(variableHandle) ==
+                static_cast<int>(DataSetIF::DATA_SET_FULL));
+        variableHandle = nullptr;
+        REQUIRE(localSet.registerVariable(variableHandle) ==
+                static_cast<int>(DataSetIF::POOL_VAR_NULL));
+
+    }
+
+    /* we need to reset the subscription list because the pool owner
+    is a global object. */
+    CHECK(poolOwner->reset() == retval::CATCH_OK);
 }
 
 

unittest/tests/datapoollocal/LocalPoolManagerTest.cpp

@@ -160,7 +160,7 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
         CHECK(messageSent.getCommand() == static_cast<int>(
                 HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE));
         /* Now subscribe for the dataset update (HK and update) again with subscription interface */
-        REQUIRE(subscriptionIF->subscribeForSetUpdateMessages(lpool::testSetId,
+        REQUIRE(subscriptionIF->subscribeForSetUpdateMessage(lpool::testSetId,
                 objects::NO_OBJECT, objects::HK_RECEIVER_MOCK, false) == retval::CATCH_OK);
         REQUIRE(poolOwner->subscribeWrapperSetUpdateHk() == retval::CATCH_OK);
 
@@ -192,7 +192,7 @@ TEST_CASE("LocalPoolManagerTest" , "[LocManTest]") {
 
     /* we need to reset the subscription list because the pool owner
     is a global object. */
-    poolOwner->resetSubscriptionList();
+    CHECK(poolOwner->reset() == retval::CATCH_OK);
     mqMock->clearMessages(true);
 }
 

unittest/tests/datapoollocal/LocalPoolOwnerBase.h

@@ -10,6 +10,7 @@
 #include <testcfg/objects/systemObjectList.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/unittest/tests/mocks/MessageQueueMockBase.h>
+#include "../../../datapool/PoolReadHelper.h"
 
 namespace lpool {
 static constexpr lp_id_t uint8VarId = 0;
@@ -31,6 +32,23 @@ static const gp_id_t uint64Vec2Id = gp_id_t(objects::TEST_LOCAL_POOL_OWNER_BASE,
 }
 
 
+class LocalPoolStaticTestDataSet: public StaticLocalDataSet<3> {
+public:
+    LocalPoolStaticTestDataSet():
+        StaticLocalDataSet(lpool::testSid) {
+    }
+
+    LocalPoolStaticTestDataSet(HasLocalDataPoolIF* owner, uint32_t setId):
+        StaticLocalDataSet(owner, setId) {
+    }
+
+    lp_var_t<uint8_t> localPoolVarUint8 = lp_var_t<uint8_t>(lpool::uint8VarGpid, this);
+    lp_var_t<float> localPoolVarFloat = lp_var_t<float>(lpool::floatVarGpid, this);
+    lp_vec_t<uint16_t, 3> localPoolUint16Vec = lp_vec_t<uint16_t, 3>(lpool::uint16Vec3Gpid, this);
+
+private:
+};
+
 class LocalPoolTestDataSet: public LocalDataSet {
 public:
     LocalPoolTestDataSet():
@@ -41,19 +59,6 @@ public:
         LocalDataSet(owner, setId, lpool::dataSetMaxVariables) {
     }
 
-//    ReturnValue_t assignPointers() {
-//        PoolVariableIF** rawVarArray = getContainer();
-//        localPoolVarUint8 = dynamic_cast<lp_var_t<uint8_t>*>(rawVarArray[0]);
-//        localPoolVarFloat = dynamic_cast<lp_var_t<float>*>(rawVarArray[1]);
-//        localPoolUint16Vec = dynamic_cast<lp_vec_t<uint16_t, 3>*>(
-//                rawVarArray[2]);
-//        if(localPoolVarUint8 == nullptr or  localPoolVarFloat == nullptr or
-//                localPoolUint16Vec == nullptr) {
-//            return HasReturnvaluesIF::RETURN_FAILED;
-//        }
-//        return HasReturnvaluesIF::RETURN_OK;
-//    }
-
     lp_var_t<uint8_t> localPoolVarUint8 = lp_var_t<uint8_t>(lpool::uint8VarGpid, this);
     lp_var_t<float> localPoolVarFloat = lp_var_t<float>(lpool::floatVarGpid, this);
     lp_vec_t<uint16_t, 3> localPoolUint16Vec = lp_vec_t<uint16_t, 3>(lpool::uint16Vec3Gpid, this);
@@ -164,25 +169,62 @@ public:
     }
 
     ReturnValue_t subscribeWrapperSetUpdate() {
-        return poolManager.subscribeForSetUpdateMessages(lpool::testSetId,
+        return poolManager.subscribeForSetUpdateMessage(lpool::testSetId,
                 objects::NO_OBJECT, objects::HK_RECEIVER_MOCK, false);
     }
 
     ReturnValue_t subscribeWrapperSetUpdateSnapshot() {
-        return poolManager.subscribeForSetUpdateMessages(lpool::testSetId,
+        return poolManager.subscribeForSetUpdateMessage(lpool::testSetId,
                 objects::NO_OBJECT, objects::HK_RECEIVER_MOCK, true);
     }
 
     ReturnValue_t subscribeWrapperSetUpdateHk(bool diagnostics = false) {
-        return poolManager.subscribeForUpdatePackets(lpool::testSid, diagnostics,
+        return poolManager.subscribeForUpdatePacket(lpool::testSid, diagnostics,
                 false, objects::HK_RECEIVER_MOCK);
     }
 
     ReturnValue_t subscribeWrapperVariableUpdate(lp_id_t localPoolId) {
-        return poolManager.subscribeForVariableUpdateMessages(localPoolId,
+        return poolManager.subscribeForVariableUpdateMessage(localPoolId,
                 MessageQueueIF::NO_QUEUE, objects::HK_RECEIVER_MOCK, false);
     }
 
+    ReturnValue_t reset() {
+        resetSubscriptionList();
+        ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+        {
+            PoolReadGuard readHelper(&dataset);
+            if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+                status = readHelper.getReadResult();
+            }
+            dataset.localPoolVarUint8.value = 0;
+            dataset.localPoolVarFloat.value = 0.0;
+            dataset.localPoolUint16Vec.value[0] = 0;
+            dataset.localPoolUint16Vec.value[1] = 0;
+            dataset.localPoolUint16Vec.value[2] = 0;
+            dataset.setValidity(false, true);
+        }
+
+        {
+            PoolReadGuard readHelper(&testUint32);
+            if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+                status = readHelper.getReadResult();
+            }
+            testUint32.value = 0;
+            testUint32.setValid(false);
+        }
+
+        {
+            PoolReadGuard readHelper(&testInt64Vec);
+            if(readHelper.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
+                status = readHelper.getReadResult();
+            }
+            testInt64Vec.value[0] = 0;
+            testInt64Vec.value[1] = 0;
+            testInt64Vec.setValid(false);
+        }
+        return status;
+    }
+
     void resetSubscriptionList() {
         poolManager.clearReceiversList();
     }
@@ -191,14 +233,12 @@ public:
     LocalPoolTestDataSet dataset;
 private:
 
-    lp_var_t<uint8_t> testUint8 = lp_var_t<uint8_t>(this, lpool::uint8VarId,
+    lp_var_t<uint8_t> testUint8 = lp_var_t<uint8_t>(this, lpool::uint8VarId);
-            &dataset);
+    lp_var_t<float> testFloat = lp_var_t<float>(this, lpool::floatVarId);
-    lp_var_t<float> testFloat = lp_var_t<float>(this, lpool::floatVarId,
-            &dataset);
     lp_var_t<uint32_t> testUint32 = lp_var_t<uint32_t>(this, lpool::uint32VarId);
 
     lp_vec_t<uint16_t, 3> testUint16Vec = lp_vec_t<uint16_t, 3>(this,
-            lpool::uint16Vec3Id, &dataset);
+            lpool::uint16Vec3Id);
     lp_vec_t<int64_t, 2> testInt64Vec = lp_vec_t<int64_t, 2>(this,
             lpool::int64Vec2Id);
 

unittest/tests/datapoollocal/LocalPoolVariableTest.cpp

@@ -118,6 +118,8 @@ TEST_CASE("LocalPoolVariable" , "[LocPoolVarTest]") {
                 lpool::uint8VarId);
     }
 
+    CHECK(poolOwner->reset() == retval::CATCH_OK);
+
 }