src/fsfw/container/SharedRingBuffer.cpp

@@ -1,5 +1,6 @@
 #include "fsfw/container/SharedRingBuffer.h"
 
+#include "SharedRingBuffer.h"
 #include "fsfw/ipc/MutexFactory.h"
 #include "fsfw/ipc/MutexGuard.h"
 
@@ -15,7 +16,12 @@ SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const
   mutex = MutexFactory::instance()->createMutex();
 }
 
-SharedRingBuffer::~SharedRingBuffer() { MutexFactory::instance()->deleteMutex(mutex); }
+SharedRingBuffer::~SharedRingBuffer() {
+  MutexFactory::instance()->deleteMutex(mutex);
+  if (receiveSizesFIFO != nullptr) {
+    delete (receiveSizesFIFO);
+  }
+}
 
 void SharedRingBuffer::setToUseReceiveSizeFIFO(size_t fifoDepth) { this->fifoDepth = fifoDepth; }
 
@@ -45,3 +51,22 @@ DynamicFIFO<size_t>* SharedRingBuffer::getReceiveSizesFIFO() {
   }
   return receiveSizesFIFO;
 }
+ReturnValue_t SharedRingBuffer::lockedWrite(const uint8_t* data, size_t dataLen,
+                                            MutexIF::TimeoutType lockType, uint32_t waitTimeMs) {
+  MutexGuard mg(mutex, lockType, waitTimeMs);
+  if (availableWriteSpace() < dataLen ||
+      (receiveSizesFIFO != nullptr && receiveSizesFIFO->full())) {
+    return returnvalue::FAILED;
+  }
+  // The following two operation should not fail..
+  ReturnValue_t result = writeData(data, dataLen);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  if (receiveSizesFIFO != nullptr) {
+    result = receiveSizesFIFO->insert(dataLen);
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+}

src/fsfw/container/SharedRingBuffer.h

@@ -80,6 +80,9 @@ class SharedRingBuffer : public SystemObject, public SimpleRingBuffer {
    */
   DynamicFIFO<size_t>* getReceiveSizesFIFO();
 
+  ReturnValue_t lockedWrite(const uint8_t* data, size_t dataLen, MutexIF::TimeoutType lockType,
+                            uint32_t waitTimeMs);
+
  private:
   MutexIF* mutex = nullptr;
 

src/fsfw/osal/host/FixedTimeslotTask.h

@@ -3,9 +3,9 @@
 
 #include <atomic>
 #include <condition_variable>
+#include <string>
 #include <thread>
 #include <vector>
-#include <string>
 
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/tasks/FixedSlotSequence.h"

src/fsfw/osal/host/PeriodicTask.h

@@ -3,9 +3,9 @@
 
 #include <atomic>
 #include <condition_variable>
+#include <string>
 #include <thread>
 #include <vector>
-#include <string>
 
 #include "fsfw/objectmanager/ObjectManagerIF.h"
 #include "fsfw/tasks/PeriodicTaskBase.h"

src/fsfw/osal/host/taskHelpers.h

@@ -3,8 +3,8 @@
 
 #include <fsfw/returnvalues/returnvalue.h>
 
-#include <thread>
 #include <string>
+#include <thread>
 
 namespace tasks {