Merge remote-tracking branch 'upstream/master' into mueller_CSB_improvements

container/HybridIterator.h

@@ -1,5 +1,5 @@
-#ifndef HYBRIDITERATOR_H_
+#ifndef FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
-#define HYBRIDITERATOR_H_
+#define FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_
 
 #include <framework/container/ArrayList.h>
 #include <framework/container/SinglyLinkedList.h>
@@ -8,34 +8,32 @@ template<typename T, typename count_t = uint8_t>
 class HybridIterator: public LinkedElement<T>::Iterator,
 		public ArrayList<T, count_t>::Iterator {
 public:
-	HybridIterator() :
+	HybridIterator() {}
-			value(NULL), linked(NULL), end(NULL) {
-	}
 
 	HybridIterator(typename LinkedElement<T>::Iterator *iter) :
-		LinkedElement<T>::Iterator(*iter), value(
+		LinkedElement<T>::Iterator(*iter), value(iter->value),
-					iter->value), linked(true), end(NULL) {
+		linked(true) {
 
 	}
 
 	HybridIterator(LinkedElement<T> *start) :
-		LinkedElement<T>::Iterator(start), value(
+		LinkedElement<T>::Iterator(start), value(start->value),
-					start->value), linked(true), end(NULL) {
+		linked(true) {
 
 	}
 
 	HybridIterator(typename ArrayList<T, count_t>::Iterator start,
 			typename ArrayList<T, count_t>::Iterator end) :
-			ArrayList<T, count_t>::Iterator(start), value(start.value), linked(
+			ArrayList<T, count_t>::Iterator(start), value(start.value),
-					false), end(end.value) {
+			linked(false), end(end.value) {
 		if (value == this->end) {
 			value = NULL;
 		}
 	}
 
 	HybridIterator(T *firstElement, T *lastElement) :
-			ArrayList<T, count_t>::Iterator(firstElement), value(firstElement), linked(
+			ArrayList<T, count_t>::Iterator(firstElement), value(firstElement),
-					false), end(++lastElement) {
+			linked(false), end(++lastElement) {
 		if (value == end) {
 			value = NULL;
 		}
@@ -44,17 +42,17 @@ public:
 	HybridIterator& operator++() {
 		if (linked) {
 			LinkedElement<T>::Iterator::operator++();
-			if (LinkedElement<T>::Iterator::value != NULL) {
+			if (LinkedElement<T>::Iterator::value != nullptr) {
 				value = LinkedElement<T>::Iterator::value->value;
 			} else {
-				value = NULL;
+				value = nullptr;
 			}
 		} else {
 			ArrayList<T, count_t>::Iterator::operator++();
 			value = ArrayList<T, count_t>::Iterator::value;
 
 			if (value == end) {
-				value = NULL;
+				value = nullptr;
 			}
 		}
 		return *this;
@@ -66,11 +64,11 @@ public:
 		return tmp;
 	}
 
-	bool operator==(HybridIterator other) {
+	bool operator==(const HybridIterator& other) const {
-		return value == other->value;
+		return value == other.value;
 	}
 
-	bool operator!=(HybridIterator other) {
+	bool operator!=(const HybridIterator& other) const {
 		return !(*this == other);
 	}
 
@@ -82,11 +80,11 @@ public:
 		return value;
 	}
 
-	T* value;
+	T* value = nullptr;
 
 private:
-	bool linked;
+	bool linked = false;
-	T *end;
+	T *end = nullptr;
 };
 
-#endif /* HYBRIDITERATOR_H_ */
+#endif /* FRAMEWORK_CONTAINER_HYBRIDITERATOR_H_ */

devicehandlers/ChildHandlerBase.cpp

@@ -35,7 +35,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
 		parent->registerChild(getObjectId());
 	}
 
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 
 	modeHelper.setParentQueue(parentQueue);
 

devicehandlers/DeviceHandlerBase.cpp

@@ -1085,7 +1085,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 
 void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
 	modeHelper.setParentQueue(parentQueueId);
-	healthHelper.setParentQeueue(parentQueueId);
+	healthHelper.setParentQueue(parentQueueId);
 }
 
 bool DeviceHandlerBase::isAwaitingReply() {

devicehandlers/HealthDevice.cpp

@@ -38,7 +38,7 @@ MessageQueueId_t HealthDevice::getCommandQueue() const {
 }
 
 void HealthDevice::setParentQueue(MessageQueueId_t parentQueue) {
-	healthHelper.setParentQeueue(parentQueue);
+	healthHelper.setParentQueue(parentQueue);
 }
 
 bool HealthDevice::hasHealthChanged() {

health/HealthHelper.cpp

@@ -29,11 +29,11 @@ HasHealthIF::HealthState HealthHelper::getHealth() {
 }
 
 ReturnValue_t HealthHelper::initialize(MessageQueueId_t parentQueue) {
-	setParentQeueue(parentQueue);
+	setParentQueue(parentQueue);
 	return initialize();
 }
 
-void HealthHelper::setParentQeueue(MessageQueueId_t parentQueue) {
+void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) {
 	this->parentQueue = parentQueue;
 }
 

health/HealthHelper.h

@@ -78,7 +78,7 @@ public:
 	/**
 	 * @param parentQueue the Queue id of the parent object. Set to 0 if no parent present
 	 */
-	void setParentQeueue(MessageQueueId_t parentQueue);
+	void setParentQueue(MessageQueueId_t parentQueue);
 
 	/**
 	 *

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -1,6 +1,7 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "FixedTimeslotTask.h"
 
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
@@ -18,16 +19,19 @@ FixedTimeslotTask::~FixedTimeslotTask() {
 
 void FixedTimeslotTask::taskEntryPoint(void* argument) {
 
-	//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
+	// The argument is re-interpreted as FixedTimeslotTask. The Task object is
+    // global, so it is found from any place.
 	FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
-	// Task should not start until explicitly requested
+	/* Task should not start until explicitly requested,
-	// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
+	 * but in FreeRTOS, tasks start as soon as they are created if the scheduler
-	// but not if the scheduler is not running.
+	 * is running but not if the scheduler is not running.
-	// to be able to accommodate both cases we check a member which is set in #startTask()
+	 * To be able to accommodate both cases we check a member which is set in
-	// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
+	 * #startTask(). If it is not set and we get here, the scheduler was started
-	// if it is set, the scheduler was not running before #startTask() was called and we can continue
+	 * before #startTask() was called and we need to suspend if it is set,
+	 * the scheduler was not running before #startTask() was called and we
+	 * can continue */
 
-	if (!originalTask->started) {
+	if (not originalTask->started) {
 		vTaskSuspend(NULL);
 	}
 
@@ -58,11 +62,6 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
 	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
-		if(slotTimeMs == 0) {
-			// FreeRTOS throws a sanity error for zero values, so we set
-			// the time to one millisecond.
-			slotTimeMs = 1;
-		}
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
@@ -81,8 +80,9 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 }
 
 void FixedTimeslotTask::taskFunctionality() {
-	// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
+	// A local iterator for the Polling Sequence Table is created to find the
-	auto slotListIter = pst.current;
+    // start time for the first entry.
+	FixedSlotSequence::SlotListIter slotListIter = pst.current;
 
 	//The start time for the first entry is read.
 	uint32_t intervalMs = slotListIter->pollingTimeMs;
@@ -90,29 +90,65 @@ void FixedTimeslotTask::taskFunctionality() {
 
 	TickType_t xLastWakeTime;
 	/* The xLastWakeTime variable needs to be initialized with the current tick
-	 count. Note that this is the only time the variable is written to explicitly.
+	 count. Note that this is the only time the variable is written to
-	 After this assignment, xLastWakeTime is updated automatically internally within
+	 explicitly. After this assignment, xLastWakeTime is updated automatically
-	 vTaskDelayUntil(). */
+	 internally within vTaskDelayUntil(). */
 	xLastWakeTime = xTaskGetTickCount();
 
 	// wait for first entry's start time
+	if(interval > 0) {
 	    vTaskDelayUntil(&xLastWakeTime, interval);
+	}
 
 	/* Enter the loop that defines the task behavior. */
 	for (;;) {
 		//The component for this slot is executed and the next one is chosen.
 	    this->pst.executeAndAdvance();
-		if (pst.slotFollowsImmediately()) {
+	    if (not pst.slotFollowsImmediately()) {
-			//Do nothing
+	        // Get the interval till execution of the next slot.
-		} else {
-			// we need to wait before executing the current slot
-			//this gives us the time to wait:
 	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
 	        interval = pdMS_TO_TICKS(intervalMs);
+
+	        checkMissedDeadline(xLastWakeTime, interval);
+
+	        // Wait for the interval. This exits immediately if a deadline was
+	        // missed while also updating the last wake time.
 	        vTaskDelayUntil(&xLastWakeTime, interval);
-			//TODO deadline missed check
+	    }
+	}
 }
 
+void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Tick count has overflown
+    if(currentTickCount < xLastWakeTime) {
+        // Time to wake has overflown as well. If the tick count
+        // is larger than the time to wake, a deadline was missed.
+        if(timeToWake < xLastWakeTime and
+                currentTickCount > timeToWake) {
+            handleMissedDeadline();
+        }
+    }
+    // No tick count overflow. If the timeToWake has not overflown
+    // and the current tick count is larger than the time to wake,
+    // a deadline was missed.
+    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+        handleMissedDeadline();
+    }
+}
+
+void FixedTimeslotTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
     }
 }
 

osal/FreeRTOS/FixedTimeslotTask.h

@@ -1,26 +1,27 @@
-#ifndef POLLINGTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
-#define POLLINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
 #include <framework/devicehandlers/FixedSlotSequence.h>
 #include <framework/tasks/FixedTimeslotTaskIF.h>
 #include <framework/tasks/Typedef.h>
 
-extern "C" {
+#include <freertos/FreeRTOS.h>
-#include "FreeRTOS.h"
+#include <freertos/task.h>
-#include "task.h"
-}
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF {
 public:
+
 	/**
-	 * @brief	The standard constructor of the class.
+	 * Keep in mind that you need to call before vTaskStartScheduler()!
-	 *
+	 * A lot of task parameters are set in "FreeRTOSConfig.h".
-	 * @details	This is the general constructor of the class. In addition to the TaskBase parameters,
+	 * @param name Name of the task, lenght limited by configMAX_TASK_NAME_LEN
-	 * 			the following variables are passed:
+	 * @param setPriority Number of priorities specified by
-	 *
+	 * configMAX_PRIORITIES. High taskPriority_ number means high priority.
-	 * @param	(*setDeadlineMissedFunc)() The function pointer to the deadline missed function that shall be assigned.
+	 * @param setStack	Stack size in words (not bytes!).
-	 *
+	 * Lower limit specified by configMINIMAL_STACK_SIZE
-	 * @param	getPst The object id of the completely initialized polling sequence.
+	 * @param overallPeriod		Period in seconds.
+	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
+	 * @return Pointer to the newly created task.
 	 */
 	FixedTimeslotTask(const char *name, TaskPriority setPriority,
 			TaskStackSize setStack, TaskPeriod overallPeriod,
@@ -28,16 +29,18 @@ public:
 
 	/**
 	 * @brief	The destructor of the class.
-	 *
+	 * @details
-	 * @details	The destructor frees all heap memory that was allocated on thread initialization for the PST and
+	 * The destructor frees all heap memory that was allocated on thread
-	 * 			the device handlers. This is done by calling the PST's destructor.
+	 * initialization for the PST and the device handlers. This is done by
+	 * calling the PST's destructor.
 	 */
 	virtual ~FixedTimeslotTask(void);
 
 	ReturnValue_t startTask(void);
 	/**
 	 * This static function can be used as #deadlineMissedFunc.
-	 * It counts missedDeadlines and prints the number of missed deadlines every 10th time.
+	 * It counts missedDeadlines and prints the number of missed deadlines
+	 * every 10th time.
 	 */
 	static void missedDeadlineCounter();
 	/**
@@ -46,13 +49,14 @@ public:
 	static uint32_t deadlineMissedCount;
 
 	ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs,
-			int8_t executionStep);
+			int8_t executionStep) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t checkSequence() const;
+	ReturnValue_t checkSequence() const override;
+
+	ReturnValue_t sleepFor(uint32_t ms) override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
 protected:
 	bool started;
 	TaskHandle_t handle;
@@ -60,32 +64,35 @@ protected:
 	FixedSlotSequence pst;
 
 	/**
-	 * @brief	This attribute holds a function pointer that is executed when a deadline was missed.
+	 * @brief	This attribute holds a function pointer that is executed when
-	 *
+	 *          a deadline was missed.
-	 * @details	Another function may be announced to determine the actions to perform when a deadline was missed.
+	 * @details
-	 * 			Currently, only one function for missing any deadline is allowed.
+	 * Another function may be announced to determine the actions to perform
-	 * 			If not used, it shall be declared NULL.
+	 * when a deadline was missed. Currently, only one function for missing
+	 * any deadline is allowed. If not used, it shall be declared NULL.
 	 */
 	void (*deadlineMissedFunc)(void);
 	/**
-	 * @brief	This is the entry point in a new polling thread.
+	 * @brief	This is the entry point for a new task.
-	 *
+	 * @details
-	 * @details	This method, that is the generalOSAL::checkAndRestartPeriod( this->periodId, interval ); entry point in the new thread, is here set to generate
+	 * This method starts the task by calling taskFunctionality(), as soon as
-	 * 			and link the Polling Sequence Table to the thread object and start taskFunctionality()
+	 * all requirements (task scheduler has started and startTask()
-	 * 			on success. If operation of the task is ended for some reason,
+	 * has been called) are met.
-	 * 			the destructor is called to free allocated memory.
 	 */
 	static void taskEntryPoint(void* argument);
 
 	/**
 	 * @brief	This function holds the main functionality of the thread.
-	 *
+	 * @details
-	 *
+	 * Core function holding the main functionality of the task
-	 * @details	Holding the main functionality of the task, this method is most important.
+	 * It links the functionalities provided by FixedSlotSequence with the
-	 * 			It links the functionalities provided by FixedSlotSequence with the OS's System Calls
+	 * OS's System Calls to keep the timing of the periods.
-	 * 			to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
-#endif /* POLLINGTASK_H_ */
+#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */

serviceinterface/ServiceInterfaceBuffer.cpp

@@ -1,11 +1,58 @@
 #include <framework/timemanager/Clock.h>
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <cstring>
+#include <inttypes.h>
 
 // to be implemented by bsp
-extern "C" void printChar(const char*);
+extern "C" void printChar(const char*, bool errStream);
+
+#ifndef UT699
+
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
+		bool addCrToPreamble, bool buffered , bool errStream, uint16_t port):
+		isActive(true), logMessage(setMessage),
+		addCrToPreamble(addCrToPreamble), buffered(buffered),
+		errStream(errStream) {
+	if(buffered) {
+		// Set pointers if the stream is buffered.
+		setp( buf, buf + BUF_SIZE );
+	}
+	preamble.reserve(MAX_PREAMBLE_SIZE);
+	preamble.resize(MAX_PREAMBLE_SIZE);
+}
+
+void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+	char array[BUF_SIZE];
+	uint32_t length = end - begin;
+	if (length > sizeof(array)) {
+		length = sizeof(array);
+	}
+	memcpy(array, begin, length);
+
+	for(; begin != end; begin++){
+		if(errStream) {
+			printChar(begin, true);
+		}
+		else {
+			printChar(begin, false);
+		}
+	}
+}
+
+#endif
 
 int ServiceInterfaceBuffer::overflow(int c) {
+	if(not buffered and this->isActive) {
+		if (c != Traits::eof()) {
+			if(errStream) {
+				printChar(reinterpret_cast<const char*>(&c), true);
+			}
+			else {
+				printChar(reinterpret_cast<const char*>(&c), false);
+			}
+		}
+		return 0;
+	}
 	// Handle output
 	putChars(pbase(), pptr());
 	if (c != Traits::eof()) {
@@ -20,52 +67,70 @@ int ServiceInterfaceBuffer::overflow(int c) {
 }
 
 int ServiceInterfaceBuffer::sync(void) {
-	if (this->isActive) {
+	if(not this->isActive and not buffered) {
-		Clock::TimeOfDay_t loggerTime;
+		if(not buffered) {
-		Clock::getDateAndTime(&loggerTime);
+			setp(buf, buf + BUF_SIZE - 1);
-		char preamble[96] = { 0 };
+		}
-		sprintf(preamble, "%s: | %lu:%02lu:%02lu.%03lu | ",
+		return 0;
-				this->log_message.c_str(), (unsigned long) loggerTime.hour,
+	}
-				(unsigned long) loggerTime.minute,
+	if(not buffered) {
-				(unsigned long) loggerTime.second,
+		return 0;
-				(unsigned long) loggerTime.usecond /1000);
+	}
-		// Write log_message and time
+
-		this->putChars(preamble, preamble + sizeof(preamble));
+	size_t preambleSize  = 0;
+	auto preamble = getPreamble(&preambleSize);
+	// Write logMessage and time
+	this->putChars(preamble.data(), preamble.data() + preambleSize);
 	// Handle output
 	this->putChars(pbase(), pptr());
-	}
 	// This tells that buffer is empty again
 	setp(buf, buf + BUF_SIZE - 1);
 	return 0;
 }
 
-#ifndef UT699
+bool ServiceInterfaceBuffer::isBuffered() const {
-
+	return buffered;
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
-	this->log_message = set_message;
-	this->isActive = true;
-	setp( buf, buf + BUF_SIZE );
 }
 
-void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
+std::string ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
-	char array[BUF_SIZE];
+	Clock::TimeOfDay_t loggerTime;
-	uint32_t length = end - begin;
+	Clock::getDateAndTime(&loggerTime);
-	if (length > sizeof(array)) {
+	size_t currentSize = 0;
-		length = sizeof(array);
+	char* parsePosition = &preamble[0];
+	if(addCrToPreamble) {
+		preamble[0] = '\r';
+		currentSize += 1;
+		parsePosition += 1;
 	}
-	memcpy(array, begin, length);
+	int32_t charCount = sprintf(parsePosition,
-
+			"%s: | %02" SCNu32 ":%02" SCNu32 ":%02" SCNu32 ".%03" SCNu32 " | ",
-	for( ; begin != end; begin++){
+					this->logMessage.c_str(), loggerTime.hour,
-		printChar(begin);
+					loggerTime.minute,
+					loggerTime.second,
+					loggerTime.usecond /1000);
+	if(charCount < 0) {
+		printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
+		return "";
+	}
+	if(charCount > MAX_PREAMBLE_SIZE) {
+		printf("ServiceInterfaceBuffer: Char count too large for maximum "
+				"preamble size");
+		return "";
+	}
+	currentSize += charCount;
+	if(preambleSize != nullptr) {
+		*preambleSize = currentSize;
+	}
+	return preamble;
 }
 
-}
+
-#endif
 
 #ifdef UT699
 #include <framework/osal/rtems/Interrupt.h>
 
-ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
+ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
+		uint16_t port) {
 	this->log_message = set_message;
 	this->isActive = true;
 	setp( buf, buf + BUF_SIZE );

serviceinterface/ServiceInterfaceBuffer.h

@@ -1,51 +1,71 @@
 #ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 #define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
 
+#include <framework/returnvalues/HasReturnvaluesIF.h>
 #include <iostream>
-#include <iosfwd>
 #include <sstream>
-#include <cstdio>
+#include <iomanip>
 
 #ifndef UT699
-class ServiceInterfaceBuffer: public std::basic_streambuf<char,
+
-		std::char_traits<char> > {
+/**
+ * @brief 	This is the underlying stream buffer which implements the
+ * 			streambuf class and overloads the overflow() and sync() methods
+ * @details
+ * This class is used to modify the output of the stream, for example by adding.
+ * It also calls the char printing function which is implemented in the
+ * board supply package (BSP).
+ */
+class ServiceInterfaceBuffer:
+        public std::streambuf {
 	friend class ServiceInterfaceStream;
 public:
-	ServiceInterfaceBuffer(std::string set_message, uint16_t port);
+	static constexpr uint8_t MAX_PREAMBLE_SIZE = 40;
+
+	ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
+			bool buffered, bool errStream, uint16_t port);
+
 protected:
 	bool isActive;
-	// This is called when buffer becomes full. If
+	//! This is called when buffer becomes full. If
-	// buffer is not used, then this is called every
+	//! buffer is not used, then this is called every
-	// time when characters are put to stream.
+	//! time when characters are put to stream.
-	virtual int overflow(int c = Traits::eof());
+	int overflow(int c = Traits::eof()) override;
 
-	// This function is called when stream is flushed,
+	//! This function is called when stream is flushed,
-	// for example when std::endl is put to stream.
+	//! for example when std::endl is put to stream.
-	virtual int sync(void);
+	int sync(void) override;
 
+	bool isBuffered() const;
 private:
-	// For additional message information
+	//! For additional message information
-	std::string log_message;
+	std::string logMessage;
+	std::string preamble;
 	// For EOF detection
 	typedef std::char_traits<char> Traits;
 
-	// Work in buffer mode. It is also possible to work without buffer.
+	//! This is useful for some terminal programs which do not have
+	//! implicit carriage return with newline characters.
+	bool addCrToPreamble;
+
+	//! Specifies whether the stream operates in buffered or unbuffered mode.
+	bool buffered;
+	//! This specifies to print to stderr and work in unbuffered mode.
+	bool errStream;
+
+	//! Needed for buffered mode.
 	static size_t const BUF_SIZE = 128;
 	char buf[BUF_SIZE];
 
-	// In this function, the characters are parsed.
+	//! In this function, the characters are parsed.
 	void putChars(char const* begin, char const* end);
+
+	std::string getPreamble(size_t * preambleSize = nullptr);
 };
+
 #endif
 
 
-
-
-
-
-
-
-
 #ifdef UT699
 class ServiceInterfaceBuffer: public std::basic_streambuf<char,
 		std::char_traits<char> > {

serviceinterface/ServiceInterfaceStream.cpp

@@ -1,11 +1,32 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
+		bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
+		std::ostream(&streambuf),
+		streambuf(setMessage, addCrToPreamble, buffered, errStream, port) {}
+
 void ServiceInterfaceStream::setActive( bool myActive) {
-	this->buf.isActive = myActive;
+	this->streambuf.isActive = myActive;
 }
 
-ServiceInterfaceStream::ServiceInterfaceStream(std::string set_message,
+std::string ServiceInterfaceStream::getPreamble() {
-		uint16_t port) :
+	return streambuf.getPreamble();
-		std::basic_ostream<char, std::char_traits<char> >(&buf), buf(
+}
-				set_message, port) {
+
+void ServiceInterfaceStream::print(std::string error,
+		bool withPreamble, bool withNewline, bool flush) {
+	if(not streambuf.isBuffered() and withPreamble) {
+		*this << getPreamble() << error;
+	}
+	else {
+		*this << error;
+	}
+
+	if(withNewline) {
+		*this << "\n";
+	}
+	// if mode is non-buffered, no need to flush.
+	if(flush and streambuf.isBuffered()) {
+		this->flush();
+	}
 }

serviceinterface/ServiceInterfaceStream.h

@@ -3,28 +3,56 @@
 
 #include <framework/serviceinterface/ServiceInterfaceBuffer.h>
 #include <iostream>
-#include <iosfwd>
-#include <sstream>
 #include <cstdio>
 
-// Unfortunately, there must be a forward declaration of log_fe
+/**
-// (MUST be defined in main), to let the system know where to write to.
+ * Generic service interface stream which can be used like std::cout or
-namespace sif {
+ * std::cerr but has additional capability. Add preamble and timestamp
-extern std::ostream debug;
+ * to output. Can be run in buffered or unbuffered mode.
-extern std::ostream info;
+ */
-extern std::ostream warning;
+class ServiceInterfaceStream : public std::ostream {
-extern std::ostream error;
-}
-
-
-class ServiceInterfaceStream : public std::basic_ostream< char, std::char_traits< char > > {
-protected:
-    ServiceInterfaceBuffer buf;
 public:
-    ServiceInterfaceStream( std::string set_message, uint16_t port = 1234 );
+	/**
+	 * This constructor is used by specifying the preamble message.
+	 * Optionally, the output can be directed to stderr and a CR character
+	 * can be prepended to the preamble.
+	 * @param setMessage message of preamble.
+	 * @param addCrToPreamble Useful for applications like Puttty.
+	 * @param buffered specify whether to use buffered mode.
+	 * @param errStream specify which output stream to use (stderr or stdout).
+	 */
+	ServiceInterfaceStream(std::string setMessage,
+			bool addCrToPreamble = false, bool buffered = true,
+			bool errStream = false, uint16_t port = 1234);
+
+	//! An inactive stream will not print anything.
 	void setActive( bool );
+
+	/**
+	 * This can be used to retrieve the preamble in case it should be printed in
+	 * the unbuffered mode.
+	 * @return Preamle consisting of log message and timestamp.
+	 */
+	std::string getPreamble();
+
+	/**
+	 * This prints an error with a preamble. Useful if using the unbuffered
+	 * mode. Flushes in default mode (prints immediately).
+	 */
+	void print(std::string error, bool withPreamble = true,
+			bool withNewline = true, bool flush = true);
+
+protected:
+	ServiceInterfaceBuffer streambuf;
 };
 
-
+// Forward declaration of interface streams. These should be instantiated in
+// main. They can then be used like std::cout or std::cerr.
+namespace sif {
+extern ServiceInterfaceStream debug;
+extern ServiceInterfaceStream info;
+extern ServiceInterfaceStream warning;
+extern ServiceInterfaceStream error;
+}
 
 #endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */

tasks/ExecutableObjectIF.h

@@ -1,15 +1,5 @@
-/**
+#ifndef FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_
- * @file	ExecutableObjectIF.h
+#define FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_
- *
- * @brief	This file contains the definition for the ExecutableObjectIF interface.
- *
- * @author	Bastian Baetz
- *
- * @date	12.03.2012
- */
-
-#ifndef EXECUTABLEOBJECTIF_H_
-#define EXECUTABLEOBJECTIF_H_
 
 class PeriodicTaskIF;
 
@@ -20,6 +10,7 @@ class PeriodicTaskIF;
  * @brief	The interface provides a method to execute objects within a task.
  * @details	The performOperation method, that is required by the interface is
  * 			executed cyclically within a task context.
+ * @author  Bastian Baetz
  */
 class ExecutableObjectIF {
 public:
@@ -37,13 +28,26 @@ public:
 
 	/**
 	 * @brief Function called during setup assignment of object to task
-	 * @details Has to be called from the function that assigns the object to a task and
+	 * @details
-	 * 			enables the object implementation to overwrite this function and get a reference to the executing task
+	 * Has to be called from the function that assigns the object to a task and
+	 * enables the object implementation to overwrite this function and get
+	 * a reference to the executing task
 	 * @param task_ Pointer to the taskIF of this task
 	 */
-	virtual void setTaskIF(PeriodicTaskIF* task_) {
+	virtual void setTaskIF(PeriodicTaskIF* task_) {};
 
+	/**
+	 * This function should be called after the object was assigned to a
+	 * specific task.
+	 *
+	 * Example: Can be used to get task execution frequency.
+	 * The task is created after initialize() and the object ctors have been
+	 * called so the execution frequency can't be cached in initialize()
+	 * @return
+	 */
+	virtual ReturnValue_t initializeAfterTaskCreation() {
+	    return HasReturnvaluesIF::RETURN_OK;
 	}
 };
 
-#endif /* EXECUTABLEOBJECTIF_H_ */
+#endif /* FRAMEWORK_TASKS_EXECUTABLEOBJECTIF_H_ */

tmtcservices/TmTcBridge.cpp

@@ -5,11 +5,13 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include <framework/globalfunctions/arrayprinter.h>
 
-TmTcBridge::TmTcBridge(object_id_t objectId_,
+TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
-        object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
+		object_id_t tmStoreId, object_id_t tcStoreId):
-        ccsdsPacketDistributor(ccsdsPacketDistributor_)
+		SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId),
+		tcDestination(tcDestination)
+
 {
-    TmTcReceptionQueue = QueueFactory::instance()->
+    tmTcReceptionQueue = QueueFactory::instance()->
             createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
 }
 
@@ -22,8 +24,9 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
 		return RETURN_OK;
 	}
 	else {
-	    sif::warning << "TmTcBridge: Number of packets sent per cycle "
+	    sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of "
-	               "exceeds limits. Keeping default value." << std::endl;
+	             << "packets sent per cycle exceeds limits. "
+	             << "Keeping default value." << std::endl;
 		return RETURN_FAILED;
 	}
 }
@@ -35,27 +38,35 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
         return RETURN_OK;
     }
     else {
-        sif::warning << "TmTcBridge: Number of packets stored "
+        sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of "
-                   "exceeds limits. Keeping default value." << std::endl;
+                << "packets stored exceeds limits. "
+                << "Keeping default value." << std::endl;
         return RETURN_FAILED;
     }
 }
 
 ReturnValue_t TmTcBridge::initialize() {
-	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+	tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
-	if (tcStore == NULL) {
+	if (tcStore == nullptr) {
-		return RETURN_FAILED;
+		sif::error << "TmTcBridge::initialize: TC store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
-	tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
+	tmStore = objectManager->get<StorageManagerIF>(tmStoreId);
-	if (tmStore == NULL) {
+	if (tmStore == nullptr) {
-		return RETURN_FAILED;
+		sif::error << "TmTcBridge::initialize: TM store invalid. Make sure"
+				"it is created and set up properly." << std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
 	AcceptsTelecommandsIF* tcDistributor =
-			objectManager->get<AcceptsTelecommandsIF>(ccsdsPacketDistributor);
+			objectManager->get<AcceptsTelecommandsIF>(tcDestination);
-	if (tcDistributor == NULL) {
+	if (tcDistributor == nullptr) {
-		return RETURN_FAILED;
+		sif::error << "TmTcBridge::initialize: TC Distributor invalid"
+				<< std::endl;
+		return ObjectManagerIF::CHILD_INIT_FAILED;
 	}
-	TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
+
+	tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
 	return RETURN_OK;
 }
 
@@ -63,26 +74,25 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
 	ReturnValue_t result;
 	result = handleTc();
 	if(result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Error handling TCs" << std::endl;
+		sif::debug << "TmTcBridge::performOperation: "
+		        << "Error handling TCs" << std::endl;
 	}
 	result = handleTm();
 	if (result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Error handling TMs" << std::endl;
+	    sif::debug << "TmTcBridge::performOperation: "
+	                    << "Error handling TMs" << std::endl;
 	}
 	return result;
 }
 
 ReturnValue_t TmTcBridge::handleTc() {
-	uint8_t * recvBuffer = nullptr;
+	return HasReturnvaluesIF::RETURN_OK;
-	size_t recvLen = 0;
-	ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
-	return result;
 }
 
 ReturnValue_t TmTcBridge::handleTm() {
 	ReturnValue_t result = handleTmQueue();
 	if(result != RETURN_OK) {
-		sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
+		sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
 		return RETURN_FAILED;
 	}
 
@@ -97,8 +107,8 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 	TmTcMessage message;
 	const uint8_t* data = nullptr;
 	size_t size = 0;
-	for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
+	for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
-		 result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
+		 result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
 	{
 		if(communicationLinkUp == false) {
 			result = storeDownlinkData(&message);
@@ -112,7 +122,7 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 
 		result = sendTm(data, size);
 		if (result != RETURN_OK) {
-			sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl;
+			sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
 			tmStore->deleteData(message.getStorageId());
 			return result;
 
@@ -123,13 +133,12 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
 }
 
 ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
-	//debug << "TMTC Bridge: Comm Link down. "
-	//		 "Saving packet ID to be sent later\r\n" << std::flush;
 	store_address_t storeId = 0;
 
 	if(tmFifo.full()) {
-		sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
+		sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
-				 "reached! Overwriting old data" << std::endl;
+		        << "of stored packet IDs reached! "
+		        << "Overwriting old data" << std::endl;
 		tmFifo.retrieve(&storeId);
 		tmStore->deleteData(storeId);
 	}
@@ -183,10 +192,20 @@ void TmTcBridge::registerCommDisconnect() {
 }
 
 MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
-	return TmTcReceptionQueue->getId();
+	return tmTcReceptionQueue->getId();
 }
 
 
 void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
 	arrayprinter::print(data, dataLen);
 }
+
+uint16_t TmTcBridge::getIdentifier() {
+	// This is no PUS service, so we just return 0
+	return 0;
+}
+
+MessageQueueId_t TmTcBridge::getRequestQueue() {
+	// Default implementation: Relay TC messages to TC distributor directly.
+	return tmTcReceptionQueue->getDefaultDestination();
+}

tmtcservices/TmTcBridge.h

@@ -1,16 +1,18 @@
 #ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 #define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
 
+#include <framework/objectmanager/SystemObject.h>
 #include <framework/tmtcservices/AcceptsTelemetryIF.h>
 #include <framework/tasks/ExecutableObjectIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/storagemanager/StorageManagerIF.h>
-#include <framework/objectmanager/SystemObject.h>
+#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
 
-#include <framework/tmtcservices/TmTcMessage.h>
 #include <framework/container/FIFO.h>
+#include <framework/tmtcservices/TmTcMessage.h>
 
 class TmTcBridge : public AcceptsTelemetryIF,
+		public AcceptsTelecommandsIF,
 		public ExecutableObjectIF,
 		public HasReturnvaluesIF,
 		public SystemObject {
@@ -22,7 +24,8 @@ public:
 	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
 	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
 
-	TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
+	TmTcBridge(object_id_t objectId, object_id_t tcDestination,
+			object_id_t tmStoreId, object_id_t tcStoreId);
 	virtual ~TmTcBridge();
 
 	/**
@@ -57,45 +60,42 @@ public:
 	 */
 	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
 
-	/**
+
-	 * Return TMTC Reception Queue
+	/** AcceptsTelemetryIF override */
-	 * @param virtualChannel
+	virtual MessageQueueId_t getReportReceptionQueue(
-	 * @return
-	 */
-	MessageQueueId_t getReportReceptionQueue(
 			uint8_t virtualChannel = 0) override;
+
+	/** AcceptsTelecommandsIF override */
+	virtual uint16_t getIdentifier() override;
+	virtual MessageQueueId_t getRequestQueue() override;
+
 protected:
+	//! Cached for initialize function.
+	object_id_t tmStoreId = objects::NO_OBJECT;
+	object_id_t tcStoreId = objects::NO_OBJECT;
+	object_id_t tcDestination = objects::NO_OBJECT;
+
 	//! Used to send and receive TMTC messages.
-	//! TmTcMessage is used to transport messages between tasks.
+	//! The TmTcMessage class is used to transport messages between tasks.
-	MessageQueueIF* TmTcReceptionQueue = nullptr;
+	MessageQueueIF* tmTcReceptionQueue = nullptr;
-	StorageManagerIF* tcStore = nullptr;
+
 	StorageManagerIF* tmStore = nullptr;
-	object_id_t ccsdsPacketDistributor = 0;
+	StorageManagerIF* tcStore = nullptr;
-	//! Used to specify whether communication link is up
+
-	bool communicationLinkUp = false;
+	//! Used to specify whether communication link is up. Will be true
+	//! by default, so telemetry will be handled immediately.
+	bool communicationLinkUp = true;
 	bool tmStored = false;
 
 	/**
 	 * @brief 	Handle TC reception
 	 * @details
 	 * Default implementation provided, but is empty.
-	 * Child handler should override this in most cases orsend TC to the
+	 * In most cases, TC reception will be handled in a separate task anyway.
-	 * TC distributor directly with the address of the reception queue by
-	 * calling getReportRecptionQueue()
 	 * @return
 	 */
 	virtual ReturnValue_t handleTc();
 
-	/**
-	 * Implemented by child class. Perform receiving of Telecommand,
-	 * for example by implementing specific drivers or wrappers,
-	 * e.g. UART Communication or an ethernet stack
-	 * @param recvBuffer [out] Received data
-	 * @param size [out] Size of received data
-	 * @return
-	 */
-	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0;
-
 	/**
 	 * Handle Telemetry. Default implementation provided.
 	 * Calls sendTm()
@@ -104,7 +104,8 @@ protected:
 	virtual ReturnValue_t handleTm();
 
 	/**
-	 * Read the TM Queue and send TM if necessary. Default implementation provided
+	 * Read the TM Queue and send TM if necessary.
+	 * Default implementation provided
 	 * @return
 	 */
 	virtual ReturnValue_t handleTmQueue();
@@ -117,7 +118,8 @@ protected:
 
 	/**
 	 * Implemented by child class. Perform sending of Telemetry by implementing
-	 * communication drivers or wrappers, e.g. UART communication or lwIP stack.
+	 * communication drivers or wrappers, e.g. serial communication or a socket
+	 * call.
 	 * @param data
 	 * @param dataLen
 	 * @return