form improvements DHB

devicehandlers/AcceptsDeviceResponsesIF.h

@@ -1,23 +1,19 @@
-/**
+#ifndef FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
- * @file	AcceptsDeviceResponsesIF.h
+#define FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
- * @brief	This file defines the AcceptsDeviceResponsesIF class.
- * @date	15.05.2013
- * @author	baetz
- */
-
-#ifndef ACCEPTSDEVICERESPONSESIF_H_
-#define ACCEPTSDEVICERESPONSESIF_H_
 
 #include "../ipc/MessageQueueSenderIF.h"
 
+/**
+ * This interface is used by the device handler to send a device response
+ * to the queue ID, which is returned in the implemented abstract method.
+ */
 class AcceptsDeviceResponsesIF {
 public:
 	/**
 	 * Default empty virtual destructor.
 	 */
-	virtual ~AcceptsDeviceResponsesIF() {
+	virtual ~AcceptsDeviceResponsesIF() {}
-}
+	virtual MessageQueueId_t getDeviceQueue() = 0;
-virtual MessageQueueId_t getDeviceQueue() = 0;
 };
 
-#endif /* ACCEPTSDEVICERESPONSESIF_H_ */
+#endif /* FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_ */

devicehandlers/AssemblyBase.cpp

@@ -2,10 +2,10 @@
 
 AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId,
 		uint16_t commandQueueDepth) :
-		SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth), internalState(
+		SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
-				STATE_NONE), recoveryState(RECOVERY_IDLE), recoveringDevice(
+		internalState(STATE_NONE), recoveryState(RECOVERY_IDLE),
-				childrenMap.end()), targetMode(MODE_OFF), targetSubmode(
+		recoveringDevice(childrenMap.end()), targetMode(MODE_OFF),
-				SUBMODE_NONE) {
+		targetSubmode(SUBMODE_NONE) {
 	recoveryOffTimer.setTimeout(POWER_OFF_TIME_MS);
 }
 
@@ -165,9 +165,8 @@ ReturnValue_t AssemblyBase::checkChildrenState() {
 }
 
 ReturnValue_t AssemblyBase::checkChildrenStateOff() {
-	for (std::map<object_id_t, ChildInfo>::iterator iter = childrenMap.begin();
+	for (const auto& childIter: childrenMap) {
-			iter != childrenMap.end(); iter++) {
+		if (checkChildOff(childIter.first) != RETURN_OK) {
-		if (checkChildOff(iter->first) != RETURN_OK) {
 			return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
 		}
 	}

devicehandlers/AssemblyBase.h

@@ -1,10 +1,30 @@
-#ifndef ASSEMBLYBASE_H_
+#ifndef FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_
-#define ASSEMBLYBASE_H_
+#define FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_
 
-#include "../container/FixedArrayList.h"
 #include "DeviceHandlerBase.h"
+#include "../container/FixedArrayList.h"
 #include "../subsystem/SubsystemBase.h"
 
+/**
+ * @brief   Base class to implement reconfiguration and failure handling for
+ *          redundant devices by monitoring their modes health states.
+ * @details
+ * Documentation: Dissertation Baetz p.156, 157.
+ *
+ * This class reduces the complexity of controller components which would
+ * otherwise be needed for the handling of redundant devices.
+ *
+ * The template class monitors mode and health state of its children
+ * and checks availability of devices on every detected change.
+ * AssemblyBase does not implement any redundancy logic by itself, but provides
+ * adaptation points for implementations to do so. Since most monitoring
+ * activities rely on mode and health state only and are therefore
+ * generic, it is sufficient for subclasses to provide:
+ *
+ * 1. check logic when active-> checkChildrenStateOn
+ * 2. transition logic to change the mode -> commandChildren
+ *
+ */
 class AssemblyBase: public SubsystemBase {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::ASSEMBLY_BASE;
@@ -16,10 +36,41 @@ public:
 	static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE =
 			MAKE_RETURN_CODE(0xa1);
 
-	AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
+	AssemblyBase(object_id_t objectId, object_id_t parentId,
+	        uint16_t commandQueueDepth = 8);
 	virtual ~AssemblyBase();
 
 protected:
+
+    // SHOULDDO: Change that OVERWRITE_HEALTH may be returned
+    // (or return internalState directly?)
+    /**
+     * Command children to reach [mode,submode] combination
+     * Can be done by setting #commandsOutstanding correctly,
+     * or using executeTable()
+     * @param mode
+     * @param submode
+     * @return
+     *    - @c RETURN_OK if ok
+     *    - @c NEED_SECOND_STEP if children need to be commanded again
+     */
+    virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
+
+    /**
+     * Check whether desired assembly mode was achieved by checking the modes
+     * or/and health states of child device handlers.
+     * The assembly template class will also call this function if a health
+     * or mode change of a child device handler was detected.
+     * @param wantedMode
+     * @param wantedSubmode
+     * @return
+     */
+    virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
+            Submode_t wantedSubmode) = 0;
+
+    virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
+            Submode_t submode) = 0;
+
 	enum InternalState {
 		STATE_NONE,
 		STATE_OVERWRITE_HEALTH,
@@ -36,6 +87,7 @@ protected:
 		RECOVERY_WAIT
 	} recoveryState; //!< Indicates if one of the children requested a recovery.
 	ChildrenMap::iterator recoveringDevice;
+
 	/**
 	 * the mode the current transition is trying to achieve.
 	 * Can be different from the modehelper.commandedMode!
@@ -61,8 +113,8 @@ protected:
 	bool handleChildrenChanged();
 
 	/**
-	 * This method is called if the children changed its mode in a way that the current
+	 * This method is called if the children changed its mode in a way that
-	 * mode can't be kept.
+	 * the current mode can't be kept.
 	 * Default behavior is to go to MODE_OFF.
 	 * @param result The failure code which was returned by checkChildrenState.
 	 */
@@ -75,9 +127,6 @@ protected:
 	ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
 			uint32_t *msToReachTheMode);
 
-	virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
-			Submode_t submode) = 0;
-
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 
 	virtual void doStartTransition(Mode_t mode, Submode_t submode);
@@ -90,24 +139,6 @@ protected:
 
 	void sendHealthCommand(MessageQueueId_t sendTo, HealthState health);
 
-	//SHOULDDO: Change that OVERWRITE_HEALTH may be returned (or return internalState directly?)
-	/**
-	 * command children to reach mode,submode
-	 *
-	 * set #commandsOutstanding correctly, or use executeTable()
-	 *
-	 * @param mode
-	 * @param submode
-	 * @return
-	 *    - @c RETURN_OK if ok
-	 *    - @c NEED_SECOND_STEP if children need to be commanded again
-	 */
-	virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
-
-	//SHOULDDO: Remove wantedMode, wantedSubmode, as targetMode/submode is available?
-	virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
-			Submode_t wantedSubmode) = 0;
-
 	virtual ReturnValue_t checkChildrenStateOff();
 
 	ReturnValue_t checkChildrenState();
@@ -125,8 +156,9 @@ protected:
 	 * Also sets state to STATE_OVERWRITE_HEATH.
 	 * @param objectId Must be a registered child.
 	 */
-	void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
+	void overwriteDeviceHealth(object_id_t objectId,
+	        HasHealthIF::HealthState oldHealth);
 
 };
 
-#endif /* ASSEMBLYBASE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

devicehandlers/ChildHandlerBase.cpp

@@ -1,16 +1,18 @@
+#include "ChildHandlerBase.h"
 #include "../subsystem/SubsystemBase.h"
-#include "../devicehandlers/ChildHandlerBase.h"
 #include "../subsystem/SubsystemBase.h"
 
 ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
 		object_id_t deviceCommunication, CookieIF * cookie,
-		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
+		object_id_t hkDestination, uint32_t thermalStatePoolId,
-		object_id_t parent, FailureIsolationBase* customFdir,
+		uint32_t thermalRequestPoolId,
-		size_t cmdQueueSize) :
+		object_id_t parent,
+		FailureIsolationBase* customFdir, size_t cmdQueueSize) :
 		DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
 			(customFdir == nullptr? &childHandlerFdir : customFdir),
 			cmdQueueSize),
 		parentId(parent), childHandlerFdir(setObjectId) {
+	this->setHkDestination(hkDestination);
 	this->setThermalStateRequestPoolIds(thermalStatePoolId,
 			thermalRequestPoolId);
 

devicehandlers/ChildHandlerBase.h

@@ -1,17 +1,18 @@
-#ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
+#ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
-#define FSFW_DEVICES_CHILDHANDLERBASE_H_
+#define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
 
-#include "ChildHandlerFDIR.h"
 #include "DeviceHandlerBase.h"
+#include "ChildHandlerFDIR.h"
 
 class ChildHandlerBase: public DeviceHandlerBase {
 public:
 	ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
-			CookieIF * cookie, uint32_t thermalStatePoolId,
+			CookieIF * cookie, object_id_t hkDestination,
-			uint32_t thermalRequestPoolId,
+			uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
 			object_id_t parent = objects::NO_OBJECT,
 			FailureIsolationBase* customFdir = nullptr,
 			size_t cmdQueueSize = 20);
+
 	virtual ~ChildHandlerBase();
 
 	virtual ReturnValue_t initialize();
@@ -22,5 +23,4 @@ protected:
 
 };
 
-#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
+#endif /* FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_ */
-

devicehandlers/ChildHandlerFDIR.cpp

@@ -1,6 +1,7 @@
 #include "ChildHandlerFDIR.h"
 
-ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner, object_id_t faultTreeParent, uint32_t recoveryCount) :
+ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner,
+        object_id_t faultTreeParent, uint32_t recoveryCount) :
 		DeviceHandlerFailureIsolation(owner, faultTreeParent) {
 	recoveryCounter.setFailureThreshold(recoveryCount);
 }

devicehandlers/ChildHandlerFDIR.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
+#ifndef FSFW_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
-#define FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
+#define FSFW_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
 
 #include "DeviceHandlerFailureIsolation.h"
 

devicehandlers/CookieIF.h

@@ -1,11 +1,12 @@
-#ifndef COOKIE_H_
+#ifndef FSFW_DEVICEHANDLER_COOKIE_H_
-#define COOKIE_H_
+#define FSFW_DEVICEHANDLER_COOKIE_H_
+
 #include <cstdint>
 
 /**
  * @brief Physical address type
  */
-typedef std::uint32_t address_t;
+using address_t = uint32_t;
 
 /**
  * @brief 	This datatype is used to identify different connection over a
@@ -16,7 +17,6 @@ typedef std::uint32_t address_t;
  * calling @code{.cpp} CookieIF* childCookie = new ChildCookie(...)
  * @endcode .
  *
- * [not implemented yet]
  * This cookie is then passed to the child device handlers, which stores the
  * pointer and passes it to the communication interface functions.
  *
@@ -31,4 +31,4 @@ public:
 	virtual ~CookieIF() {};
 };
 
-#endif /* COOKIE_H_ */
+#endif /* FSFW_DEVICEHANDLER_COOKIE_H_ */

devicehandlers/DeviceCommunicationIF.h

@@ -1,9 +1,10 @@
-#ifndef DEVICECOMMUNICATIONIF_H_
+#ifndef FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_
-#define DEVICECOMMUNICATIONIF_H_
+#define FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_
 
 #include "CookieIF.h"
+#include "DeviceHandlerIF.h"
+
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <cstddef>
 /**
  * @defgroup interfaces Interfaces
  * @brief Interfaces for flight software objects
@@ -19,8 +20,8 @@
  * the device handler to allow reuse of these components.
  * @details
  * Documentation: Dissertation Baetz p.138.
- * It works with the assumption that received data
+ * It works with the assumption that received data  is polled by a component.
- * is polled by a component. There are four generic steps of device communication:
+ * There are four generic steps of device communication:
  *
  *   1. Send data to a device
  *   2. Get acknowledgement for sending
@@ -38,24 +39,20 @@ class DeviceCommunicationIF: public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
 
-	//! Standard Error Codes
+	//! This is returned in readReceivedMessage() if no reply was reived.
+	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0x01);
+
 	//! General protocol error. Define more concrete errors in child handler
-	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x01);
+	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x02);
 	//! If cookie is a null pointer
-	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x02);
+	static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x03);
-	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x03);
+	static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x04);
 	// is this needed if there is no open/close call?
 	static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
-	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x06);
+	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
-	static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x07);
-	static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x08);
-
-	//! Can be used in readReceivedMessage() if no reply was received.
-	static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0xA1);
 
 	virtual ~DeviceCommunicationIF() {}
 
-
 	/**
 	 * @brief Device specific initialization, using the cookie.
 	 * @details
@@ -76,13 +73,13 @@ public:
 	 * by implementing and calling related drivers or wrapper functions.
 	 * @param cookie
 	 * @param data
-	 * @param len
+	 * @param len If this is 0, nothing shall be sent.
 	 * @return
 	 *  - @c RETURN_OK for successfull send
 	 *  - Everything else triggers failure event with returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
+	virtual ReturnValue_t sendMessage(CookieIF *cookie,
-			size_t sendLen) = 0;
+	        const uint8_t * sendData, size_t sendLen) = 0;
 
 	/**
 	 * Called by DHB in the GET_WRITE doGetWrite().
@@ -108,7 +105,7 @@ public:
 	 *           returnvalue as parameter 1
 	 */
 	virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
-			size_t requestLen) = 0;
+	        size_t requestLen) = 0;
 
 	/**
 	 * Called by DHB in the GET_WRITE doGetRead().
@@ -124,8 +121,8 @@ public:
 	 *         - Everything else triggers failure event with
 	 *           returnvalue as parameter 1
 	 */
-	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+	virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
-			size_t *size) = 0;
+	        uint8_t **buffer, size_t *size) = 0;
 };
 
-#endif /* DEVICECOMMUNICATIONIF_H_ */
+#endif /* FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_ */

devicehandlers/DeviceHandlerBase.cpp

@@ -2,15 +2,17 @@
 #include "AcceptsDeviceResponsesIF.h"
 #include "DeviceTmReportingWrapper.h"
 
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../objectmanager/ObjectManager.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../thermal/ThermalComponentIF.h"
-#include "../datapool/DataSet.h"
-#include "../datapool/PoolVariable.h"
 #include "../globalfunctions/CRC.h"
-#include "../subsystem/SubsystemBase.h"
+#include "../housekeeping/HousekeepingMessage.h"
+#include "../ipc/MessageQueueMessage.h"
 #include "../ipc/QueueFactory.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../subsystem/SubsystemBase.h"
 
 #include <iomanip>
 
@@ -25,10 +27,11 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 		wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
 		deviceCommunicationId(deviceCommunication), comCookie(comCookie),
 		healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
-		actionHelper(this, nullptr), childTransitionFailure(RETURN_OK),
+		actionHelper(this, nullptr), hkManager(this, nullptr),
-		fdirInstance(fdirInstance), hkSwitcher(this),
+		childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
-		defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
+		hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
-		childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
+		switchOffWasReported(false), childTransitionDelay(5000),
+		transitionSourceMode(_MODE_POWER_DOWN),
 		transitionSourceSubMode(SUBMODE_NONE) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
 			MessageQueueMessage::MAX_MESSAGE_SIZE);
@@ -48,6 +51,10 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
 	}
 }
 
+void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
+	this->hkDestination = hkDestination;
+}
+
 void DeviceHandlerBase::setThermalStateRequestPoolIds(
 		uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
 	this->deviceThermalRequestPoolId = thermalStatePoolId;
@@ -74,6 +81,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
 		decrementDeviceReplyMap();
 		fdirInstance->checkForFailures();
 		hkSwitcher.performOperation();
+		hkManager.performHkOperation();
 		performOperationHook();
 	}
 	if (mode == MODE_OFF) {
@@ -120,7 +128,9 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 
 	result = communicationInterface->initializeInterface(comCookie);
 	if (result != RETURN_OK) {
-		return result;
+	    sif::error << "DeviceHandlerBase::initialize: Initializing "
+	            "communication interface failed!" << std::endl;
+	    return result;
 	}
 
 	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
@@ -183,11 +193,16 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 		return result;
 	}
 
+	result = hkManager.initialize(commandQueue);
+	if (result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+
 	fillCommandAndReplyMap();
 
 	//Set temperature target state to NON_OP.
-	DataSet mySet;
+	GlobDataSet mySet;
-	db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+	gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 			PoolVariableIF::VAR_WRITE);
 	mySet.read();
 	thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
@@ -245,10 +260,10 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-//	result = hkManager.handleHousekeepingMessage(&command);
+	result = hkManager.handleHousekeepingMessage(&command);
-//	if (result == RETURN_OK) {
+	if (result == RETURN_OK) {
-//		return;
+		return;
-//	}
+	}
 
 	result = handleDeviceHandlerMessage(&command);
 	if (result == RETURN_OK) {
@@ -376,24 +391,28 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
 
 ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
 		DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
-		size_t replyLen, bool periodic, bool hasDifferentReplyId,
+		LocalPoolDataSetBase* replyDataSet, size_t replyLen, bool periodic,
-		DeviceCommandId_t replyId) {
+		bool hasDifferentReplyId, DeviceCommandId_t replyId) {
 	//No need to check, as we may try to insert multiple times.
 	insertInCommandMap(deviceCommand);
 	if (hasDifferentReplyId) {
-		return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(replyId, maxDelayCycles,
+		        replyDataSet, replyLen, periodic);
 	} else {
-		return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
+		return insertInReplyMap(deviceCommand, maxDelayCycles,
+		        replyDataSet, replyLen, periodic);
 	}
 }
 
 ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
-		uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
+		uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet,
+		size_t replyLen, bool periodic) {
 	DeviceReplyInfo info;
 	info.maxDelayCycles = maxDelayCycles;
 	info.periodic = periodic;
 	info.delayCycles = 0;
 	info.replyLen = replyLen;
+	info.dataSet = dataSet;
 	info.command = deviceCommandMap.end();
 	auto resultPair = deviceReplyMap.emplace(replyId, info);
 	if (resultPair.second) {
@@ -419,13 +438,12 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(
 
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
 		uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
-	std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
+	auto replyIter = deviceReplyMap.find(deviceReply);
-			deviceReplyMap.find(deviceReply);
+	if (replyIter == deviceReplyMap.end()) {
-	if (iter == deviceReplyMap.end()) {
 		triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
 		return RETURN_FAILED;
 	} else {
-		DeviceReplyInfo *info = &(iter->second);
+		DeviceReplyInfo *info = &(replyIter->second);
 		if (maxDelayCycles != 0) {
 			info->maxDelayCycles = maxDelayCycles;
 		}
@@ -435,6 +453,17 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
 	}
 }
 
+
+ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
+        LocalPoolDataSetBase *dataSet) {
+    auto replyIter = deviceReplyMap.find(replyId);
+    if(replyIter == deviceReplyMap.end()) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    replyIter->second.dataSet = dataSet;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
 void DeviceHandlerBase::callChildStatemachine() {
 	if (mode == _MODE_START_UP) {
 		doStartUp();
@@ -469,8 +498,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
 	Clock::getUptime(&timeoutStart);
 
 	if (mode == MODE_OFF) {
-		DataSet mySet;
+		GlobDataSet mySet;
-		db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ_WRITE);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -649,7 +678,7 @@ void DeviceHandlerBase::doGetRead() {
 void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		size_t receivedDataLen) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
-	DeviceCommandId_t foundId = 0xFFFFFFFF;
+	DeviceCommandId_t foundId = 0xffffffff;
 	size_t foundLen = 0;
 	// The loop may not execute more often than the number of received bytes
 	// (worst case). This approach avoids infinite loops due to buggy
@@ -661,18 +690,26 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
 		switch (result) {
 		case RETURN_OK:
 			handleReply(receivedData, foundId, foundLen);
+			if(foundLen == 0) {
+			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+			            " Packet parsing will be stuck." << std::endl;
+			}
 			break;
 		case APERIODIC_REPLY: {
 			result = interpretDeviceReply(foundId, receivedData);
 			if (result != RETURN_OK) {
-				replyRawReplyIfnotWiretapped(receivedData, foundLen);
+			    replyRawReplyIfnotWiretapped(receivedData, foundLen);
-				triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
+			    triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
-						foundId);
+			            foundId);
+			}
+			if(foundLen == 0) {
+			    sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
+			            " Packet parsing will be stuck." << std::endl;
 			}
-		}
-		break;
-		case IGNORE_REPLY_DATA:
 			break;
+		}
+		case IGNORE_REPLY_DATA:
+			continue;
 		case IGNORE_FULL_PACKET:
 			return;
 		default:
@@ -704,16 +741,19 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
 	DeviceReplyInfo *info = &(iter->second);
 
 	if (info->delayCycles != 0) {
+	    result = interpretDeviceReply(foundId, receivedData);
 
-		if (info->periodic != false) {
+	    if(result == IGNORE_REPLY_DATA) {
+	        return;
+	    }
+
+		if (info->periodic) {
 			info->delayCycles = info->maxDelayCycles;
 		}
 		else {
 			info->delayCycles = 0;
 		}
 
-		result = interpretDeviceReply(foundId, receivedData);
-
 		if (result != RETURN_OK) {
 			// Report failed interpretation to FDIR.
 			replyRawReplyIfnotWiretapped(receivedData, foundLen);
@@ -926,10 +966,10 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
 
 	if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
 			&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
-		DataSet mySet;
+		GlobDataSet mySet;
-		db_int8_t thermalState(deviceThermalStatePoolId, &mySet,
+		gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
 				PoolVariableIF::VAR_READ);
-		db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
+		gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
 				PoolVariableIF::VAR_READ);
 		mySet.read();
 		if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -956,8 +996,8 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
 			childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
 					MODE_ON);
 			triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
-			DataSet mySet;
+			GlobDataSet mySet;
-			db_int8_t thermalRequest(deviceThermalRequestPoolId,
+			gp_int8_t thermalRequest(deviceThermalRequestPoolId,
 					&mySet, PoolVariableIF::VAR_READ_WRITE);
 			mySet.read();
 			if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@@ -1089,19 +1129,6 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
 		}
 		replyReturnvalueToCommand(RETURN_OK);
 		return RETURN_OK;
-//	case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
-//		if (mode != MODE_OFF) {
-//			replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
-//		} else {
-//			result = switchCookieChannel(
-//					DeviceHandlerMessage::getIoBoardObjectId(message));
-//			if (result == RETURN_OK) {
-//				replyReturnvalueToCommand(RETURN_OK);
-//			} else {
-//				replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
-//			}
-//		}
-//		return RETURN_OK;
 	case DeviceHandlerMessage::CMD_RAW:
 		if ((mode != MODE_RAW)) {
 			DeviceHandlerMessage::clear(message);
@@ -1185,7 +1212,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
 	}
 	//Try to cast to GlobDataSet and commit data.
 	if (!neverInDataPool) {
-		DataSet* dataSet = dynamic_cast<DataSet*>(data);
+		GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
 		if (dataSet != NULL) {
 			dataSet->commit(PoolVariableIF::VALID);
 		}
@@ -1248,10 +1275,14 @@ void DeviceHandlerBase::buildInternalCommand(void) {
 		if (iter == deviceCommandMap.end()) {
 			result = COMMAND_NOT_SUPPORTED;
 		} else if (iter->second.isExecuting) {
+			//so we can track misconfigurations
 			sif::debug << std::hex << getObjectId()
 					<< ": DHB::buildInternalCommand: Command "
-					<< deviceCommandId << " isExecuting" << std::endl; //so we can track misconfigurations
+					<< deviceCommandId << " isExecuting" << std::dec
-			return; //this is an internal command, no need to report a failure here, missed reply will track if a reply is too late, otherwise, it's ok
+					<< std::endl;
+			// this is an internal command, no need to report a failure here,
+			// missed reply will track if a reply is too late, otherwise, it's ok
+			return;
 		} else {
 			iter->second.sendReplyTo = NO_COMMANDER;
 			iter->second.isExecuting = true;
@@ -1340,12 +1371,50 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
 void DeviceHandlerBase::performOperationHook() {
 }
 
+ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
+		LocalDataPool &localDataPoolMap,
+        LocalDataPoolManager& poolManager) {
+	return RETURN_OK;
+}
+
+LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
+	return &hkManager;
+}
+
+
 ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
     // In this function, the task handle should be valid if the task
     // was implemented correctly. We still check to be 1000 % sure :-)
     if(executingTask != nullptr) {
         pstIntervalMs = executingTask->getPeriodMs();
     }
+    this->hkManager.initializeAfterTaskCreation();
+
+    if(setStartupImmediately) {
+        startTransition(MODE_ON, SUBMODE_NONE);
+    }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
+	auto iter = deviceReplyMap.find(sid.ownerSetId);
+	if(iter != deviceReplyMap.end()) {
+		return iter->second.dataSet;
+	}
+	else {
+		return nullptr;
+	}
+}
+
+object_id_t DeviceHandlerBase::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+void DeviceHandlerBase::setStartUpImmediately() {
+    this->setStartupImmediately = true;
+}
+
+dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
+    return pstIntervalMs;
+}
+

devicehandlers/DeviceHandlerBase.h

@@ -1,12 +1,11 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
-#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
 
 #include "DeviceHandlerIF.h"
 #include "DeviceCommunicationIF.h"
 #include "DeviceHandlerFailureIsolation.h"
 
 #include "../objectmanager/SystemObject.h"
-#include "../tasks/PeriodicTaskIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../action/HasActionsIF.h"
@@ -14,10 +13,13 @@
 #include "../modes/HasModesIF.h"
 #include "../power/PowerSwitchIF.h"
 #include "../ipc/MessageQueueIF.h"
+#include "../tasks/PeriodicTaskIF.h"
 #include "../action/ActionHelper.h"
 #include "../health/HealthHelper.h"
 #include "../parameters/ParameterHelper.h"
 #include "../datapool/HkSwitchHelper.h"
+#include "../datapoollocal/HasLocalDataPoolIF.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
 
 #include <map>
 
@@ -38,17 +40,16 @@ class StorageManagerIF;
  * Documentation: Dissertation Baetz p.138,139, p.141-149
  *
  * It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink,
- * communication with physical devices, using the @link DeviceCommunicationIF @endlink,
+ * communication with physical devices, using the
- * and communication with commanding objects.
+ * @link DeviceCommunicationIF @endlink, and communication with commanding
- * It inherits SystemObject and thus can be created by the ObjectManagerIF.
+ * objects. It inherits SystemObject and thus can be created by the
+ * ObjectManagerIF.
  *
- * This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
+ * This class uses the opcode of ExecutableObjectIF to perform a
- * For each step an RMAP action is selected and executed.
+ * step-wise execution. For each step a different action is selected and
- * If data has been received (GET_READ), the data will be interpreted.
+ * executed. Currently, the device handler base performs a 4-step
- * The action for each step can be defined by the child class but as most
+ * execution related to 4 communication steps (based on RMAP).
- * device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
+ * NOTE: RMAP is a standard which is used for Flying Laptop.
- * a default implementation is provided.
- * NOTE: RMAP is a standard which is used for FLP.
  * RMAP communication is not mandatory for projects implementing the FSFW.
  * However, the communication principles are similar to RMAP as there are
  * two write and two send calls involved.
@@ -69,9 +70,6 @@ class StorageManagerIF;
  *
  * Other important virtual methods with a default implementation
  * are the getTransitionDelayMs() function and the getSwitches() function.
- * Please ensure that getSwitches() returns DeviceHandlerIF::NO_SWITCHES if
- * power switches are not implemented yet. Otherwise, the device handler will
- * not transition to MODE_ON, even if setMode(MODE_ON) is called.
  * If a transition to MODE_ON is desired without commanding, override the
  * intialize() function and call setMode(_MODE_START_UP) before calling
  * DeviceHandlerBase::initialize().
@@ -85,20 +83,18 @@ class DeviceHandlerBase: public DeviceHandlerIF,
 		public HasModesIF,
 		public HasHealthIF,
 		public HasActionsIF,
-		public ReceivesParameterMessagesIF {
+		public ReceivesParameterMessagesIF,
+		public HasLocalDataPoolIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	/**
 	 * The constructor passes the objectId to the SystemObject().
 	 *
 	 * @param setObjectId the ObjectId to pass to the SystemObject() Constructor
-	 * @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
-	 * @param setDeviceSwitch the switch the device is connected to,
-	 * for devices using two switches, overwrite getSwitches()
 	 * @param deviceCommuncation Communcation Interface object which is used
 	 * to implement communication functions
-	 * @param thermalStatePoolId
+	 * @param comCookie This object will be passed to the communication inter-
-	 * @param thermalRequestPoolId
+	 * face and can contain user-defined information about the communication.
 	 * @param fdirInstance
 	 * @param cmdQueueSize
 	 */
@@ -106,8 +102,21 @@ public:
 			CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
 			size_t cmdQueueSize = 20);
 
+	void setHkDestination(object_id_t hkDestination);
 	void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
 			uint32_t thermalRequestPoolId);
+	/**
+	 * @brief   Helper function to ease device handler development.
+	 * This will instruct the transition to MODE_ON immediately
+	 * (leading to doStartUp() being called for the transition to the ON mode),
+	 * so external mode commanding is not necessary anymore.
+	 *
+	 * This has to be called before the task is started!
+	 * (e.g. in the task factory). This is only a helper function for
+	 * development. Regular mode commanding should be performed by commanding
+	 * the AssemblyBase or Subsystem objects resposible for the device handler.
+	 */
+	void setStartUpImmediately();
 
 	/**
 	 * @brief 	This function is the device handler base core component and is
@@ -153,6 +162,14 @@ public:
 	 * @return
 	 */
 	virtual ReturnValue_t initialize();
+
+	/**
+	 * @brief   Intialization steps performed after all tasks have been created.
+	 *          This function will be called by the executing task.
+	 * @return
+	 */
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+
 	/** Destructor. */
 	virtual ~DeviceHandlerBase();
 
@@ -320,6 +337,8 @@ protected:
 	 * @param packet
 	 * @return
 	 *     - @c RETURN_OK when the reply was interpreted.
+	 *     - @c IGNORE_REPLY_DATA Ignore the reply and don't reset reply cycle
+	 *          counter.
 	 *     - @c RETURN_FAILED when the reply could not be interpreted,
 	 *     e.g. logical errors or range violations occurred
 	 */
@@ -347,22 +366,10 @@ protected:
 	 *    set to the maximum expected number of PST cycles between two replies
 	 *    (also a tolerance should be added, as an FDIR message will be
 	 *    generated if it is missed).
-	 *
-	 *    (Robin) This part confuses me. "must do as soon as" implies that
-	 *    the developer must do something somewhere else in the code. Is
-	 *    that really the case? If I understood correctly, DHB performs
-	 *    almost everything (e.g. in erirm function) as long as the commands
-	 *    are inserted correctly.
-	 *
-	 *    As soon as the replies are enabled, DeviceCommandInfo.periodic must
-	 *    be set to true, DeviceCommandInfo.delayCycles to
-	 *    DeviceCommandInfo.maxDelayCycles.
 	 *    From then on, the base class handles the reception.
 	 *    Then, scanForReply returns the id of the reply or the placeholder id
 	 *    and the base class will take care of checking that all replies are
 	 *    received and the interval is correct.
-	 *    When the replies are disabled, DeviceCommandInfo.periodic must be set
-	 *    to 0, DeviceCommandInfo.delayCycles to 0;
 	 *
 	 *  - Aperiodic, unrequested replies. These are replies that are sent
 	 *    by the device without any preceding command and not in a defined
@@ -376,13 +383,17 @@ protected:
 	 * @param deviceCommand	Identifier of the command to add.
 	 * @param maxDelayCycles The maximum number of delay cycles the command
 	 * waits until it times out.
+	 * @param replyLen Will be supplied to the requestReceiveMessage call of
+	 * the communication interface.
 	 * @param periodic	Indicates if the command is periodic (i.e. it is sent
 	 * by the device repeatedly without request) or not. Default is aperiodic (0)
 	 * @return	- @c RETURN_OK when the command was successfully inserted,
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false,
+			uint16_t maxDelayCycles,
+			LocalPoolDataSetBase* replyDataSet = nullptr,
+			size_t replyLen = 0, bool periodic = false,
 			bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
 
 	/**
@@ -396,7 +407,8 @@ protected:
 	 *          - @c RETURN_FAILED else.
 	 */
 	ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
-			uint16_t maxDelayCycles, size_t replyLen = 0, bool periodic = false);
+			uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
+			size_t replyLen = 0, bool periodic = false);
 
 	/**
 	 * @brief 	A simple command to add a command to the commandList.
@@ -424,6 +436,9 @@ protected:
 			uint16_t delayCycles, uint16_t maxDelayCycles,
 			bool periodic = false);
 
+	ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
+	        LocalPoolDataSetBase* dataset);
+
 	/**
 	 * @brief   Can be implemented by child handler to
 	 *          perform debugging
@@ -477,18 +492,22 @@ protected:
 	 * @param localDataPoolMap
 	 * @return
 	 */
-	//virtual ReturnValue_t initializePoolEntries(
+	virtual ReturnValue_t initializeLocalDataPool(LocalDataPool& localDataPoolMap,
-	//			LocalDataPool& localDataPoolMap) override;
+				LocalDataPoolManager& poolManager) override;
 
 	/** Get the HK manager object handle */
-	//virtual LocalDataPoolManager* getHkManagerHandle() override;
+	virtual LocalDataPoolManager* getHkManagerHandle() override;
 
 	/**
 	 * @brief 	Hook function for child handlers which is called once per
 	 * 			performOperation(). Default implementation is empty.
 	 */
 	virtual void performOperationHook();
+
 public:
+	/** Explicit interface implementation of getObjectId */
+	virtual object_id_t getObjectId() const override;
+
 	/**
 	 * @param parentQueueId
 	 */
@@ -608,7 +627,7 @@ protected:
 	/** Action helper for HasActionsIF */
 	ActionHelper actionHelper;
 	/** Housekeeping Manager */
-	//LocalDataPoolManager hkManager;
+	LocalDataPoolManager hkManager;
 
 	/**
 	 *  @brief Information about commands
@@ -647,7 +666,7 @@ protected:
 		//! The dataset used to access housekeeping data related to the
 		//! respective device reply. Will point to a dataset held by
 		//! the child handler (if one is specified)
-		// DataSetIF* dataSet = nullptr;
+		LocalPoolDataSetBase* dataSet;
 		//! The command that expects this reply.
 		DeviceCommandMap::iterator command;
 	};
@@ -689,14 +708,18 @@ protected:
 	uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
 
 	/**
-	 * Optional Error code
+	 * Optional Error code. Can be set in doStartUp(), doShutDown() and
-	 * Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
+	 * doTransition() to signal cause for Transition failure.
 	 */
 	ReturnValue_t childTransitionFailure;
 
-	uint32_t ignoreMissedRepliesCount = 0; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
+	/** Counts if communication channel lost a reply, so some missed
+	 * replys can be ignored. */
+	uint32_t ignoreMissedRepliesCount = 0;
 
-	FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
+	/** Pointer to the used FDIR instance. If not provided by child,
+	 * default class is instantiated. */
+	FailureIsolationBase* fdirInstance;
 
 	HkSwitchHelper hkSwitcher;
 
@@ -944,14 +967,17 @@ protected:
 
 	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
 			uint32_t *msToReachTheMode);
-	virtual void startTransition(Mode_t mode, Submode_t submode);
+
-	virtual void setToExternalControl();
+	/* HasModesIF overrides */
-	virtual void announceMode(bool recursive);
+	virtual void startTransition(Mode_t mode, Submode_t submode) override;
+	virtual void setToExternalControl() override;
+	virtual void announceMode(bool recursive) override;
 
 	virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
 
 	/**
-	 * Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper" faster about executed events.
+	 * Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper"
+	 * faster about executed events.
 	 * This is a bit sneaky, but improves responsiveness of the device FDIR.
 	 * @param event	The event to be thrown
 	 * @param parameter1	Optional parameter 1
@@ -1034,12 +1060,17 @@ private:
 	/** the object used to set power switches */
 	PowerSwitchIF *powerSwitcher = nullptr;
 
+	/** HK destination can also be set individually */
+	object_id_t hkDestination = objects::NO_OBJECT;
+
 	/**
 	 * @brief   Used for timing out mode transitions.
 	 * Set when setMode() is called.
 	 */
 	uint32_t timeoutStart = 0;
 
+	bool setStartupImmediately = false;
+
 	/**
 	 * Delay for the current mode transition, used for time out
 	 */
@@ -1080,11 +1111,6 @@ private:
 	void buildRawDeviceCommand(CommandMessage* message);
 	void buildInternalCommand(void);
 
-//	/**
-//	 * Send a reply with the current mode and submode.
-//	 */
-//	void announceMode(void);
-
 	/**
 	 * Decrement the counter for the timout of replies.
 	 *
@@ -1111,10 +1137,14 @@ private:
 	/**
 	 * Build and send a command to the device.
 	 *
-	 * This routine checks whether a raw or direct command has been received, checks the content of the received command and
+	 * This routine checks whether a raw or direct command has been received,
-	 * calls buildCommandFromCommand() for direct commands or sets #rawpacket to the received raw packet.
+	 * checks the content of the received command and calls
-	 * If no external command is received or the received command is invalid and the current mode is @c MODE_NORMAL or a transitional mode,
+	 * buildCommandFromCommand() for direct commands or sets #rawpacket
-	 * it asks the child class to build a command (via getNormalDeviceCommand() or getTransitionalDeviceCommand() and buildCommand()) and
+	 * to the received raw packet.
+	 * If no external command is received or the received command is invalid and
+	 * the current mode is @c MODE_NORMAL or a transitional mode, it asks the
+	 * child class to build a command (via getNormalDeviceCommand() or
+	 * getTransitionalDeviceCommand() and buildCommand()) and
 	 * sends the command via RMAP.
 	 */
 	void doSendWrite(void);
@@ -1159,7 +1189,6 @@ private:
 	ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
 			uint32_t *len);
 
-
 	/**
 	 * @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
 	 */
@@ -1170,25 +1199,14 @@ private:
 	 */
 	void callChildStatemachine();
 
-	/**
-	 * Switches the channel of the cookie used for the communication
-	 *
-	 *
-	 * @param newChannel the object Id of the channel to switch to
-	 * @return
-	 *     - @c RETURN_OK when cookie was changed
-	 *     - @c RETURN_FAILED when cookies could not be changed, eg because the newChannel is not enabled
-	 *     - @c returnvalues of RMAPChannelIF::isActive()
-	 */
-	ReturnValue_t switchCookieChannel(object_id_t newChannelId);
-
 	ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
 
-	virtual ReturnValue_t initializeAfterTaskCreation() override;
+	virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
-	void parseReply(const uint8_t* receivedData,
+    virtual dur_millis_t getPeriodicOperationFrequency() const override;
-	            size_t receivedDataLen);
+
+    void parseReply(const uint8_t* receivedData,
+                size_t receivedDataLen);
 };
 
-#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
-

devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -247,6 +247,14 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(
 		}
 		return true;
 	}
+
+	if (owner == nullptr) {
+	    // Configuration error.
+	    sif::error << "DeviceHandlerFailureIsolation::"
+	            << "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl;
+	    return false;
+	}
+
 	if (owner->getHealth() == HasHealthIF::FAULTY
 			|| owner->getHealth() == HasHealthIF::PERMANENT_FAULTY) {
 		//Ignore all events in case device is already faulty.

devicehandlers/DeviceHandlerIF.h

@@ -1,12 +1,19 @@
-#ifndef DEVICEHANDLERIF_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
-#define DEVICEHANDLERIF_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
+
+#include "DeviceHandlerMessage.h"
 
 #include "../action/HasActionsIF.h"
-#include "DeviceHandlerMessage.h"
 #include "../events/Event.h"
 #include "../modes/HasModesIF.h"
 #include "../ipc/MessageQueueSenderIF.h"
 
+/**
+ * This is used to uniquely identify commands that are sent to a device
+ * The values are defined in the device-specific implementations
+ */
+using DeviceCommandId_t = uint32_t;
+
 /**
  * @brief 	This is the Interface used to communicate with a device handler.
  * @details Includes all expected return values, events and modes.
@@ -15,6 +22,7 @@
 class DeviceHandlerIF {
 public:
 
+
 	static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
 	static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
 
@@ -47,6 +55,8 @@ public:
 	//! This is a transitional state which can not be commanded.
 	//! The device handler performs all actions and commands to get the device
 	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
+	//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
+	//! transition if available.
 	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
 	//! It is possible to set the mode to _MODE_TO_ON to use the to on
 	//! transition if available.
@@ -96,7 +106,7 @@ public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
 
 	// Standard codes used when building commands.
-	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
+	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
 	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
 	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
 	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
@@ -150,4 +160,4 @@ public:
 
 };
 
-#endif /* DEVICEHANDLERIF_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */

devicehandlers/DeviceHandlerMessage.cpp

@@ -1,10 +1,6 @@
-#include "../objectmanager/ObjectManagerIF.h"
 #include "DeviceHandlerMessage.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
-DeviceHandlerMessage::DeviceHandlerMessage() {
-}
-
 store_address_t DeviceHandlerMessage::getStoreAddress(
 		const CommandMessage* message) {
 	return store_address_t(message->getParameter2());
@@ -25,14 +21,6 @@ uint8_t DeviceHandlerMessage::getWiretappingMode(
 	return message->getParameter();
 }
 
-//void DeviceHandlerMessage::setDeviceHandlerDirectCommandMessage(
-//		CommandMessage* message, DeviceCommandId_t deviceCommand,
-//		store_address_t commandParametersStoreId) {
-//	message->setCommand(CMD_DIRECT);
-//	message->setParameter(deviceCommand);
-//	message->setParameter2(commandParametersStoreId.raw);
-//}
-
 void DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(
 		CommandMessage* message, store_address_t rawPacketStoreId) {
 	message->setCommand(CMD_RAW);
@@ -47,7 +35,7 @@ void DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(
 
 void DeviceHandlerMessage::setDeviceHandlerSwitchIoBoardMessage(
 		CommandMessage* message, uint32_t ioBoardIdentifier) {
-	message->setCommand(CMD_SWITCH_IOBOARD);
+	message->setCommand(CMD_SWITCH_ADDRESS);
 	message->setParameter(ioBoardIdentifier);
 }
 
@@ -79,18 +67,17 @@ void DeviceHandlerMessage::setDeviceHandlerDirectCommandReply(
 void DeviceHandlerMessage::clear(CommandMessage* message) {
 	switch (message->getCommand()) {
 	case CMD_RAW:
-//	case CMD_DIRECT:
 	case REPLY_RAW_COMMAND:
 	case REPLY_RAW_REPLY:
 	case REPLY_DIRECT_COMMAND_DATA: {
 		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
 				objects::IPC_STORE);
-		if (ipcStore != NULL) {
+		if (ipcStore != nullptr) {
 			ipcStore->deleteData(getStoreAddress(message));
 		}
 	}
 		/* NO BREAK falls through*/
-	case CMD_SWITCH_IOBOARD:
+	case CMD_SWITCH_ADDRESS:
 	case CMD_WIRETAPPING:
 		message->setCommand(CommandMessage::CMD_NONE);
 		message->setParameter(0);

devicehandlers/DeviceHandlerMessage.h

@@ -1,69 +1,56 @@
-#ifndef DEVICEHANDLERMESSAGE_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
-#define DEVICEHANDLERMESSAGE_H_
+#define FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
 
 #include "../action/ActionMessage.h"
 #include "../ipc/CommandMessage.h"
 #include "../objectmanager/SystemObjectIF.h"
 #include "../storagemanager/StorageManagerIF.h"
-//SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID.
+// SHOULDDO: rework the static constructors to name the type of command
+// they are building, maybe even hide setting the commandID.
+
 
 /**
- * This is used to uniquely identify commands that are sent to a device
+ * @brief   The DeviceHandlerMessage is used to send commands to classes
- *
+ *          implementing DeviceHandlerIF
- * The values are defined in the device-specific implementations
- */
-typedef uint32_t DeviceCommandId_t;
-
-/**
- * The DeviceHandlerMessage is used to send Commands to a DeviceHandlerIF
  */
 class DeviceHandlerMessage {
-private:
-	DeviceHandlerMessage();
 public:
+    /**
+     * Instantiation forbidden. Instead, use static functions to operate
+     * on messages.
+     */
+	DeviceHandlerMessage() = delete;
+	virtual ~DeviceHandlerMessage() {}
 
 	/**
 	 * These are the commands that can be sent to a DeviceHandlerBase
 	 */
 	static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
-	static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
+	//! Sends a raw command, setParameter is a storeId containing the
-//	static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
+	//! raw packet to send
-	static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
+	static const Command_t CMD_RAW = MAKE_COMMAND_ID(1);
-	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID( 4 ); //!< (De)Activates the monitoring of all raw traffic in DeviceHandlers, setParameter is 0 to deactivate, 1 to activate
+	//! Requests a IO-Board switch, setParameter() is the IO-Board identifier
+	static const Command_t CMD_SWITCH_ADDRESS = MAKE_COMMAND_ID(3);
+	//! (De)Activates the monitoring of all raw traffic in DeviceHandlers,
+	//! setParameter is 0 to deactivate, 1 to activate
+	static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID(4);
 
-	/*static const Command_t REPLY_SWITCHED_IOBOARD = MAKE_COMMAND_ID(1 );//!< Reply to a @c CMD_SWITCH_IOBOARD, indicates switch was successful, getParameter() contains the board switched to (0: nominal, 1: redundant)
+	//! Signals that a direct command was sent
-	 static const Command_t REPLY_CANT_SWITCH_IOBOARD = MAKE_COMMAND_ID( 2);	//!< Reply to a @c CMD_SWITCH_IOBOARD, indicating the switch could not be performed, getParameter() contains the error message
+	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS;
-	 static const Command_t REPLY_WIRETAPPING = MAKE_COMMAND_ID( 3);	//!< Reply to a @c CMD_WIRETAPPING, getParameter() is the current state, 1 enabled, 0 disabled
+	//! Contains a raw command sent to the Device
-
+	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11);
-	 static const Command_t REPLY_COMMAND_WAS_SENT = MAKE_COMMAND_ID(4 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was successfully sent to the device, getParameter() contains the ::DeviceCommandId_t
+	//! Contains a raw reply from the Device, getParameter() is the ObjcetId
-	 static const Command_t REPLY_COMMAND_NOT_SUPPORTED = MAKE_COMMAND_ID(5 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t is not supported, getParameter() contains the requested ::DeviceCommand_t, getParameter2() contains the ::DeviceCommandId_t
+	//! of the sender, getParameter2() is a ::store_id_t containing the
-	 static const Command_t REPLY_COMMAND_WAS_NOT_SENT = MAKE_COMMAND_ID(6 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was not sent, getParameter contains the RMAP Return code (@see rmap.h), getParameter2() contains the ::DeviceCommandId_t
+	//! raw packet received
-
+	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID(0x12);
-	 static const Command_t REPLY_COMMAND_ALREADY_SENT = MAKE_COMMAND_ID(7 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t has already been sent to the device and not ye been answered
-	 static const Command_t REPLY_WRONG_MODE_FOR_CMD = MAKE_COMMAND_ID(8 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates that the requested command can not be sent in the curent mode, getParameter() contains the DeviceHandlerCommand_t
-	 static const Command_t REPLY_NO_DATA = MAKE_COMMAND_ID(9 );	//!< Reply to a CMD_RAW or @c CMD_DIRECT, indicates that the ::store_id_t was invalid, getParameter() contains the ::DeviceCommandId_t, getPrameter2() contains the error code
-	 */
-	static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS; //!< Signals that a direct command was sent
-	static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11 ); //!< Contains a raw command sent to the Device
-	static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID( 0x12); //!< Contains a raw reply from the Device, getParameter() is the ObjcetId of the sender, getParameter2() is a ::store_id_t containing the raw packet received
 	static const Command_t REPLY_DIRECT_COMMAND_DATA = ActionMessage::DATA_REPLY;
 
-	/**
-	 * Default Destructor
-	 */
-	virtual ~DeviceHandlerMessage() {
-	}
-
 	static store_address_t getStoreAddress(const CommandMessage* message);
 	static uint32_t getDeviceCommandId(const CommandMessage* message);
 	static object_id_t getDeviceObjectId(const CommandMessage *message);
 	static object_id_t getIoBoardObjectId(const CommandMessage* message);
 	static uint8_t getWiretappingMode(const CommandMessage* message);
 
-//	static void setDeviceHandlerDirectCommandMessage(CommandMessage* message,
-//			DeviceCommandId_t deviceCommand,
-//			store_address_t commandParametersStoreId);
-
 	static void setDeviceHandlerDirectCommandReply(CommandMessage* message,
 			object_id_t deviceObjectid,
 			store_address_t commandParametersStoreId);
@@ -75,11 +62,6 @@ public:
 			object_id_t deviceObjectid, store_address_t rawPacketStoreId,
 			bool isCommand);
 
-//	static void setDeviceHandlerMessage(CommandMessage* message,
-//			Command_t command, DeviceCommandId_t deviceCommand,
-//			store_address_t commandParametersStoreId);
-//	static void setDeviceHandlerMessage(CommandMessage* message,
-//			Command_t command, store_address_t rawPacketStoreId);
 	static void setDeviceHandlerWiretappingMessage(CommandMessage* message,
 			uint8_t wiretappingMode);
 	static void setDeviceHandlerSwitchIoBoardMessage(CommandMessage* message,
@@ -88,4 +70,4 @@ public:
 	static void clear(CommandMessage* message);
 };
 
-#endif /* DEVICEHANDLERMESSAGE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_ */

devicehandlers/DeviceTmReportingWrapper.cpp

@@ -1,4 +1,3 @@
-#include "../serialize/SerializeAdapter.h"
 #include "DeviceTmReportingWrapper.h"
 #include "../serialize/SerializeAdapter.h"
 

devicehandlers/DeviceTmReportingWrapper.h

@@ -1,5 +1,5 @@
-#ifndef DEVICETMREPORTINGWRAPPER_H_
+#ifndef FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
-#define DEVICETMREPORTINGWRAPPER_H_
+#define FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
 
 #include "../action/HasActionsIF.h"
 #include "../objectmanager/SystemObjectIF.h"
@@ -24,4 +24,4 @@ private:
 	SerializeIF *data;
 };
 
-#endif /* DEVICETMREPORTINGWRAPPER_H_ */
+#endif /* FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_ */

devicehandlers/HealthDevice.cpp

@@ -13,10 +13,10 @@ HealthDevice::~HealthDevice() {
 }
 
 ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
-	CommandMessage message;
+	CommandMessage command;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		healthHelper.handleHealthCommand(&message);
+		healthHelper.handleHealthCommand(&command);
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

devicehandlers/HealthDevice.h

@@ -1,5 +1,5 @@
-#ifndef HEALTHDEVICE_H_
+#ifndef FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_
-#define HEALTHDEVICE_H_
+#define FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_
 
 #include "../health/HasHealthIF.h"
 #include "../health/HealthHelper.h"
@@ -37,4 +37,4 @@ public:
 	HealthHelper healthHelper;
 };
 
-#endif /* HEALTHDEVICE_H_ */
+#endif /* FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_ */