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

action/ActionHelper.cpp

@@ -1,5 +1,6 @@
 #include "ActionHelper.h"
 #include "HasActionsIF.h"
+#include "../ipc/MessageQueueSenderIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
 
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :

container/RingBufferBase.h

@@ -1,96 +1,113 @@
-#ifndef FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
-#define FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_
+#ifndef FSFW_CONTAINER_RINGBUFFERBASE_H_
+#define FSFW_CONTAINER_RINGBUFFERBASE_H_
 
 #include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
 
 template<uint8_t N_READ_PTRS = 1>
 class RingBufferBase {
 public:
-	RingBufferBase(uint32_t startAddress, uint32_t size, bool overwriteOld) :
-			start(startAddress), write(startAddress), size(size), overwriteOld(overwriteOld) {
+	RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
+			start(startAddress), write(startAddress), size(size),
+			overwriteOld(overwriteOld) {
 		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
 			read[count] = startAddress;
 		}
 	}
-	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
-		if (availableReadData(n) >= amount) {
-			incrementRead(amount, n);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	ReturnValue_t writeData(uint32_t amount) {
-		if (availableWriteSpace() >= amount || overwriteOld) {
-			incrementWrite(amount);
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-	}
-	uint32_t availableReadData(uint8_t n = 0) const {
-		return ((write + size) - read[n]) % size;
-	}
-	uint32_t availableWriteSpace(uint8_t n = 0) const  {
-		//One less to avoid ambiguous full/empty problem.
-		return (((read[n] + size) - write - 1) % size);
-	}
+
+	virtual ~RingBufferBase() {}
+
 	bool isFull(uint8_t n = 0) {
 		return (availableWriteSpace(n) == 0);
 	}
 	bool isEmpty(uint8_t n = 0) {
-		return (availableReadData(n) == 0);
+		return (getAvailableReadData(n) == 0);
 	}
-	virtual ~RingBufferBase() {
 
+	size_t getAvailableReadData(uint8_t n = 0) const {
+		return ((write + size) - read[n]) % size;
 	}
-	uint32_t getRead(uint8_t n = 0) const {
-		return read[n];
+	size_t availableWriteSpace(uint8_t n = 0) const  {
+		//One less to avoid ambiguous full/empty problem.
+		return (((read[n] + size) - write - 1) % size);
 	}
-	void setRead(uint32_t read, uint8_t n = 0) {
-		if (read >= start && read < (start+size)) {
-			this->read[n] = read;
+
+	bool overwritesOld() const {
+		return overwriteOld;
 	}
+
+	size_t getMaxSize() const {
+		return size - 1;
 	}
-	uint32_t getWrite() const {
-		return write;
-	}
-	void setWrite(uint32_t write) {
-		this->write = write;
-	}
+
 	void clear() {
 		write = start;
 		for (uint8_t count = 0; count < N_READ_PTRS; count++) {
 			read[count] = start;
 		}
 	}
-	uint32_t writeTillWrap() {
+
+	size_t writeTillWrap() {
 		return (start + size) - write;
 	}
-	uint32_t readTillWrap(uint8_t n = 0) {
+
+	size_t readTillWrap(uint8_t n = 0) {
 		return (start + size) - read[n];
 	}
-	uint32_t getStart() const {
+
+	size_t getStart() const {
 		return start;
 	}
-	bool overwritesOld() const {
-		return overwriteOld;
-	}
-	uint32_t maxSize() const {
-		return size - 1;
-	}
+
 protected:
-	const uint32_t start;
-	uint32_t write;
-	uint32_t read[N_READ_PTRS];
-	const uint32_t size;
+	const size_t start;
+	size_t write;
+	size_t read[N_READ_PTRS];
+	const size_t size;
 	const bool overwriteOld;
+
 	void incrementWrite(uint32_t amount) {
 		write = ((write + amount - start) % size) + start;
 	}
 	void incrementRead(uint32_t amount, uint8_t n = 0) {
 		read[n] = ((read[n] + amount - start) % size) + start;
 	}
+
+	ReturnValue_t readData(uint32_t amount, uint8_t n = 0) {
+		if (getAvailableReadData(n) >= amount) {
+			incrementRead(amount, n);
+			return HasReturnvaluesIF::RETURN_OK;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+
+	ReturnValue_t writeData(uint32_t amount) {
+		if (availableWriteSpace() >= amount or overwriteOld) {
+			incrementWrite(amount);
+			return HasReturnvaluesIF::RETURN_OK;
+		} else {
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+	}
+
+	size_t getRead(uint8_t n = 0) const {
+		return read[n];
+	}
+
+	void setRead(uint32_t read, uint8_t n = 0) {
+		if (read >= start && read < (start+size)) {
+			this->read[n] = read;
+		}
+	}
+
+	uint32_t getWrite() const {
+		return write;
+	}
+
+	void setWrite(uint32_t write) {
+		this->write = write;
+	}
 };
 
-#endif /* FRAMEWORK_CONTAINER_RINGBUFFERBASE_H_ */
+#endif /* FSFW_CONTAINER_RINGBUFFERBASE_H_ */

container/SharedRingBuffer.cpp

@@ -0,0 +1,30 @@
+#include "SharedRingBuffer.h"
+#include "../ipc/MutexFactory.h"
+#include "../ipc/MutexHelper.h"
+
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, const size_t size,
+		bool overwriteOld, size_t maxExcessBytes):
+		SystemObject(objectId), SimpleRingBuffer(size, overwriteOld,
+		maxExcessBytes) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+SharedRingBuffer::SharedRingBuffer(object_id_t objectId, uint8_t *buffer,
+		const size_t size, bool overwriteOld, size_t maxExcessBytes):
+		SystemObject(objectId), SimpleRingBuffer(buffer, size, overwriteOld,
+		maxExcessBytes) {
+	mutex = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SharedRingBuffer::lockRingBufferMutex(
+        MutexIF::TimeoutType timeoutType, dur_millis_t timeout) {
+    return mutex->lockMutex(timeoutType, timeout);
+}
+
+ReturnValue_t SharedRingBuffer::unlockRingBufferMutex() {
+    return mutex->unlockMutex();
+}
+
+MutexIF* SharedRingBuffer::getMutexHandle() const {
+    return mutex;
+}

container/SharedRingBuffer.h

@@ -0,0 +1,68 @@
+#ifndef FSFW_CONTAINER_SHAREDRINGBUFFER_H_
+#define FSFW_CONTAINER_SHAREDRINGBUFFER_H_
+
+#include "SimpleRingBuffer.h"
+#include "../ipc/MutexIF.h"
+#include "../objectmanager/SystemObject.h"
+#include "../timemanager/Clock.h"
+
+/**
+ * @brief   Ring buffer which can be shared among multiple objects
+ * @details
+ * This class offers a mutex to perform thread-safe operation on the ring
+ * buffer. It is still up to the developer to actually perform the lock
+ * and unlock operations.
+ */
+class SharedRingBuffer: public SystemObject,
+		public SimpleRingBuffer {
+public:
+	/**
+	 * This constructor allocates a new internal buffer with the supplied size.
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+	 * will be overwritten.
+	 */
+	SharedRingBuffer(object_id_t objectId, const size_t size,
+			bool overwriteOld, size_t maxExcessBytes);
+
+	/**
+	 * This constructor takes an external buffer with the specified size.
+	 * @param buffer
+	 * @param size
+	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+	 * will be overwritten.
+	 */
+	SharedRingBuffer(object_id_t objectId, uint8_t* buffer, const size_t size,
+			bool overwriteOld, size_t maxExcessBytes);
+
+	/**
+	 * Unless a read-only constant value is read, all operations on the
+	 * shared ring buffer should be protected by calling this function.
+	 * @param timeoutType
+	 * @param timeout
+	 * @return
+	 */
+	virtual ReturnValue_t lockRingBufferMutex(MutexIF::TimeoutType timeoutType,
+	        dur_millis_t timeout);
+	/**
+	 * Any locked mutex also has to be unlocked, otherwise, access to the
+	 * shared ring buffer will be blocked.
+	 * @return
+	 */
+	virtual ReturnValue_t unlockRingBufferMutex();
+
+	/**
+	 * The mutex handle can be accessed directly, for example to perform
+	 * the lock with the #MutexHelper for a RAII compliant lock operation.
+	 * @return
+	 */
+	MutexIF* getMutexHandle() const;
+private:
+	MutexIF* mutex = nullptr;
+};
+
+
+
+#endif /* FSFW_CONTAINER_SHAREDRINGBUFFER_H_ */

container/SimpleRingBuffer.cpp

@@ -1,27 +1,69 @@
 #include "SimpleRingBuffer.h"
-#include <string.h>
+#include <cstring>
 
-SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld) :
-		RingBufferBase<>(0, size, overwriteOld) {
-	buffer = new uint8_t[size];
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
+		size_t maxExcessBytes) :
+		RingBufferBase<>(0, size, overwriteOld),
+		maxExcessBytes(maxExcessBytes) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+	buffer = new uint8_t[size + maxExcessBytes];
 }
 
 SimpleRingBuffer::SimpleRingBuffer(uint8_t *buffer, const size_t size,
-        bool overwriteOld):
-        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {}
-
+		bool overwriteOld, size_t maxExcessBytes):
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+}
 
 SimpleRingBuffer::~SimpleRingBuffer() {
 	delete[] buffer;
 }
 
-ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
-		uint32_t amount) {
+ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
+        size_t amount) {
     if (availableWriteSpace() >= amount or overwriteOld) {
-		uint32_t amountTillWrap = writeTillWrap();
+        size_t amountTillWrap = writeTillWrap();
+        if (amountTillWrap < amount) {
+            if((amount - amountTillWrap + excessBytes) > maxExcessBytes) {
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            excessBytes = amount - amountTillWrap;
+        }
+        *writePointer = &buffer[write];
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    else {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+}
+
+void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
+	if(getExcessBytes() > 0) {
+		moveExcessBytesToStart();
+	}
+	incrementWrite(amount);
+
+}
+
+ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
+		size_t amount) {
+	if (availableWriteSpace() >= amount or overwriteOld) {
+		size_t amountTillWrap = writeTillWrap();
 		if (amountTillWrap >= amount) {
+			// remaining size in buffer is sufficient to fit full amount.
 			memcpy(&buffer[write], data, amount);
-		} else {
+		}
+		else {
 			memcpy(&buffer[write], data, amountTillWrap);
 			memcpy(buffer, data + amountTillWrap, amount - amountTillWrap);
 		}
@@ -32,12 +74,13 @@ ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
 	}
 }
 
-ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
-		bool readRemaining, uint32_t* trueAmount) {
-	uint32_t availableData = availableReadData(READ_PTR);
-	uint32_t amountTillWrap = readTillWrap(READ_PTR);
+ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
+		bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
+	size_t availableData = getAvailableReadData(READ_PTR);
+	size_t amountTillWrap = readTillWrap(READ_PTR);
 	if (availableData < amount) {
 		if (readRemaining) {
+			// more data available than amount specified.
 			amount = availableData;
 		} else {
 			return HasReturnvaluesIF::RETURN_FAILED;
@@ -52,12 +95,27 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
 		memcpy(data, &buffer[read[READ_PTR]], amountTillWrap);
 		memcpy(data + amountTillWrap, buffer, amount - amountTillWrap);
 	}
+
+	if(incrementReadPtr) {
+		deleteData(amount, readRemaining);
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
-		bool deleteRemaining, uint32_t* trueAmount) {
-	uint32_t availableData = availableReadData(READ_PTR);
+size_t SimpleRingBuffer::getExcessBytes() const {
+    return excessBytes;
+}
+
+void SimpleRingBuffer::moveExcessBytesToStart() {
+    if(excessBytes > 0) {
+        std::memcpy(buffer, &buffer[size], excessBytes);
+        excessBytes = 0;
+    }
+}
+
+ReturnValue_t SimpleRingBuffer::deleteData(size_t amount,
+		bool deleteRemaining, size_t* trueAmount) {
+	size_t availableData = getAvailableReadData(READ_PTR);
 	if (availableData < amount) {
 		if (deleteRemaining) {
 			amount = availableData;
@@ -71,4 +129,3 @@ ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
 	incrementRead(amount, READ_PTR);
 	return HasReturnvaluesIF::RETURN_OK;
 }
-

container/SimpleRingBuffer.h

@@ -1,8 +1,8 @@
-#ifndef FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
-#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
+#ifndef FSFW_CONTAINER_SIMPLERINGBUFFER_H_
+#define FSFW_CONTAINER_SIMPLERINGBUFFER_H_
 
 #include "RingBufferBase.h"
-#include <stddef.h>
+#include <cstddef>
 
 /**
  * @brief 	Circular buffer implementation, useful for buffering
@@ -16,53 +16,114 @@ class SimpleRingBuffer: public RingBufferBase<> {
 public:
     /**
      * This constructor allocates a new internal buffer with the supplied size.
+     *
      * @param size
-     * @param overwriteOld
+     * @param overwriteOld If the ring buffer is overflowing at a write
+     * operation, the oldest data will be overwritten.
+     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * to the specified size to accomodate contiguous write operations
+     * with getFreeElement.
+     *
      */
-	SimpleRingBuffer(const size_t size, bool overwriteOld);
+	SimpleRingBuffer(const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
 	/**
 	 * This constructor takes an external buffer with the specified size.
 	 * @param buffer
 	 * @param size
 	 * @param overwriteOld
+	 * If the ring buffer is overflowing at a write operartion, the oldest data
+     * will be overwritten.
+	 * @param maxExcessBytes
+	 * If the buffer can accomodate additional bytes for contigous write
+	 * operations with getFreeElement, this is the maximum allowed additional
+	 * size
 	 */
-	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld);
+	SimpleRingBuffer(uint8_t* buffer, const size_t size, bool overwriteOld,
+	        size_t maxExcessBytes = 0);
 
 	virtual ~SimpleRingBuffer();
 
 	/**
-	 * Write to circular buffer and increment write pointer by amount
+	 * Write to circular buffer and increment write pointer by amount.
 	 * @param data
 	 * @param amount
+	 * @return -@c RETURN_OK if write operation was successfull
+	 * -@c RETURN_FAILED if
+	 */
+	ReturnValue_t writeData(const uint8_t* data, size_t amount);
+
+	/**
+	 * Returns a pointer to a free element. If the remaining buffer is
+	 * not large enough, the data will be written past the actual size
+	 * and the amount of excess bytes will be cached. This function
+	 * does not increment the write pointer!
+	 * @param writePointer Pointer to a pointer which can be used to write
+	 * contiguous blocks into the ring buffer
+	 * @param amount
 	 * @return
 	 */
-	ReturnValue_t writeData(const uint8_t* data, uint32_t amount);
+	ReturnValue_t getFreeElement(uint8_t** writePointer, size_t amount);
 
 	/**
-	 * Read from circular buffer at read pointer
+	 * This increments the write pointer and also copies the excess bytes
+	 * to the beginning. It should be called if the write operation
+	 * conducted after calling getFreeElement() was performed.
+	 * @return
+	 */
+	void confirmBytesWritten(size_t amount);
+
+	virtual size_t getExcessBytes() const;
+	/**
+	 * Helper functions which moves any excess bytes to the start
+	 * of the ring buffer.
+	 * @return
+	 */
+	virtual void moveExcessBytesToStart();
+
+	/**
+	 * Read from circular buffer at read pointer.
 	 * @param data
 	 * @param amount
+	 * @param incrementReadPtr
+	 * If this is set to true, the read pointer will be incremented.
+	 * If readRemaining is set to true, the read pointer will be incremented
+	 * accordingly.
 	 * @param readRemaining
-	 * @param trueAmount
+	 * If this is set to true, the data will be read even if the amount
+	 * specified exceeds the read data available.
+	 * @param trueAmount [out]
+	 * If readRemaining was set to true, the true amount read will be assigned
+	 * to the passed value.
 	 * @return
+	 * - @c RETURN_OK if data was read successfully
+	 * - @c RETURN_FAILED if not enough data was available and readRemaining
+	 *      was set to false.
 	 */
-	ReturnValue_t readData(uint8_t* data, uint32_t amount,
-	        bool readRemaining = false, uint32_t* trueAmount = nullptr);
+	ReturnValue_t readData(uint8_t* data, size_t amount,
+			bool incrementReadPtr = false, bool readRemaining = false,
+			size_t* trueAmount = nullptr);
 
 	/**
-	 * Delete data starting by incrementing read pointer
+	 * Delete data by incrementing read pointer.
 	 * @param amount
 	 * @param deleteRemaining
-	 * @param trueAmount
+	 * If the amount specified is larger than the remaing size to read and this
+	 * is set to true, the remaining amount will be deleted as well
+	 * @param trueAmount [out]
+	 * If deleteRemaining was set to true, the amount deleted will be assigned
+	 * to the passed value.
 	 * @return
 	 */
-	ReturnValue_t deleteData(uint32_t amount, bool deleteRemaining = false,
-	        uint32_t* trueAmount = nullptr);
+	ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
+	        size_t* trueAmount = nullptr);
+
 private:
-//	static const uint8_t TEMP_READ_PTR = 1;
 	static const uint8_t READ_PTR = 0;
 	uint8_t* buffer = nullptr;
+	size_t maxExcessBytes;
+	size_t excessBytes = 0;
 };
 
-#endif /* FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_ */
+#endif /* FSFW_CONTAINER_SIMPLERINGBUFFER_H_ */
 

datalinklayer/MapPacketExtraction.cpp

@@ -18,7 +18,7 @@ MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
 		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
 				packetBuffer), packetDestination(setPacketDestination), packetStore(
-				NULL), tcQueueId(MessageQueueSenderIF::NO_QUEUE) {
+				NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
 	memset(packetBuffer, 0, sizeof(packetBuffer));
 }
 

devicehandlers/HealthDevice.cpp

@@ -5,7 +5,7 @@ HealthDevice::HealthDevice(object_id_t setObjectId,
 		MessageQueueId_t parentQueue) :
 		SystemObject(setObjectId), lastHealth(HEALTHY), parentQueue(
 				parentQueue), commandQueue(), healthHelper(this, setObjectId) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(3, CommandMessage::COMMAND_MESSAGE_SIZE);
+	commandQueue = QueueFactory::instance()->createMessageQueue(3);
 }
 
 HealthDevice::~HealthDevice() {

events/fwSubsystemIdRanges.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
-#define FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_
+#ifndef FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
+#define FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_
 
 namespace SUBSYSTEM_ID {
 enum {
@@ -19,10 +19,12 @@ enum {
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
 	PUS_SERVICE_1 = 80,
+	PUS_SERVICE_9 = 89,
+	PUS_SERVICE_17 = 97,
 	FW_SUBSYSTEM_ID_RANGE
 };
 }
 
 
 
-#endif /* FRAMEWORK_EVENTS_FWSUBSYSTEMIDRANGES_H_ */
+#endif /* FSFW_EVENTS_FWSUBSYSTEMIDRANGES_H_ */

ipc/CommandMessage.cpp

@@ -1,33 +1,15 @@
-/**
- * @file	CommandMessage.cpp
- * @brief	This file defines the CommandMessage class.
- * @date	20.06.2013
- * @author	baetz
- */
-
-#include "../devicehandlers/DeviceHandlerMessage.h"
-#include "../health/HealthMessage.h"
 #include "CommandMessage.h"
-#include "../memory/MemoryMessage.h"
-#include "../modes/ModeMessage.h"
-#include "../monitoring/MonitoringMessage.h"
-#include "../subsystem/modes/ModeSequenceMessage.h"
-#include "../tmstorage/TmStoreMessage.h"
-#include "../parameters/ParameterMessage.h"
-
-namespace messagetypes {
-void clearMissionMessage(CommandMessage* message);
-}
-
+#include "CommandMessageCleaner.h"
+#include <cstring>
 
 CommandMessage::CommandMessage() {
-	this->messageSize = COMMAND_MESSAGE_SIZE;
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
     setCommand(CMD_NONE);
 }
 
 CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
         uint32_t parameter2) {
-	this->messageSize = COMMAND_MESSAGE_SIZE;
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
     setCommand(command);
     setParameter(parameter1);
     setParameter2(parameter2);
@@ -35,82 +17,72 @@ CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
 
 Command_t CommandMessage::getCommand() const {
     Command_t command;
-	memcpy(&command, getData(), sizeof(Command_t));
+    std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
     return command;
 }
 
 void CommandMessage::setCommand(Command_t command) {
-	memcpy(getData(), &command, sizeof(command));
+    std::memcpy(MessageQueueMessage::getData(), &command, sizeof(Command_t));
+}
+
+uint8_t CommandMessage::getMessageType() const {
+    // first byte of command ID.
+    return getCommand() >> 8 & 0xff;
 }
 
 uint32_t CommandMessage::getParameter() const {
     uint32_t parameter1;
-	memcpy(&parameter1, getData() + sizeof(Command_t), sizeof(parameter1));
+    std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
     return parameter1;
 }
 
 void CommandMessage::setParameter(uint32_t parameter1) {
-	memcpy(getData() + sizeof(Command_t), &parameter1, sizeof(parameter1));
+    std::memcpy(this->getData(), &parameter1, sizeof(parameter1));
 }
 
 uint32_t CommandMessage::getParameter2() const {
     uint32_t parameter2;
-	memcpy(&parameter2, getData() + sizeof(Command_t) + sizeof(uint32_t),
+    std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
             sizeof(parameter2));
     return parameter2;
 }
 
 void CommandMessage::setParameter2(uint32_t parameter2) {
-	memcpy(getData() + sizeof(Command_t) + sizeof(uint32_t), &parameter2,
+    std::memcpy(this->getData()  + sizeof(uint32_t), &parameter2,
             sizeof(parameter2));
 }
 
-void CommandMessage::clearCommandMessage() {
-	switch((getCommand()>>8) & 0xff){
-	case  messagetypes::MODE_COMMAND:
-		ModeMessage::clear(this);
-		break;
-	case messagetypes::HEALTH_COMMAND:
-		HealthMessage::clear(this);
-		break;
-	case messagetypes::MODE_SEQUENCE:
-		ModeSequenceMessage::clear(this);
-		break;
-	case messagetypes::ACTION:
-		ActionMessage::clear(this);
-		break;
-	case messagetypes::DEVICE_HANDLER_COMMAND:
-		DeviceHandlerMessage::clear(this);
-		break;
-	case messagetypes::MEMORY:
-		MemoryMessage::clear(this);
-		break;
-	case messagetypes::MONITORING:
-		MonitoringMessage::clear(this);
-		break;
-	case messagetypes::TM_STORE:
-		TmStoreMessage::clear(this);
-		break;
-	case messagetypes::PARAMETER:
-		ParameterMessage::clear(this);
-		break;
-	default:
-		messagetypes::clearMissionMessage(this);
-		break;
+uint32_t CommandMessage::getParameter3() const {
+    uint32_t parameter3;
+    std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
+            sizeof(parameter3));
+    return parameter3;
 }
+
+void CommandMessage::setParameter3(uint32_t parameter3) {
+    std::memcpy(this->getData()  + 2 * sizeof(uint32_t), &parameter3,
+            sizeof(parameter3));
+}
+
+size_t CommandMessage::getMinimumMessageSize() const {
+    return MINIMUM_COMMAND_MESSAGE_SIZE;
+}
+
+void CommandMessage::clearCommandMessage() {
+    clear();
+}
+
+void CommandMessage::clear() {
+    CommandMessageCleaner::clearCommandMessage(this);
 }
 
 bool CommandMessage::isClearedCommandMessage() {
     return getCommand() == CMD_NONE;
 }
 
-size_t CommandMessage::getMinimumMessageSize() const {
-	return COMMAND_MESSAGE_SIZE;
-}
-
 void CommandMessage::setToUnknownCommand() {
     Command_t initialCommand = getCommand();
-	clearCommandMessage();
+    this->clear();
     setReplyRejected(UNKNOWN_COMMAND, initialCommand);
 }
 
@@ -129,3 +101,11 @@ ReturnValue_t CommandMessage::getReplyRejectedReason(
     }
     return reason;
 }
+
+uint8_t* CommandMessage::getData() {
+    return MessageQueueMessage::getData() + sizeof(Command_t);
+}
+
+const uint8_t* CommandMessage::getData() const {
+    return MessageQueueMessage::getData() + sizeof(Command_t);
+}

ipc/CommandMessage.h

@@ -1,113 +1,88 @@
-/**
- * @file	CommandMessage.h
- * @brief	This file defines the CommandMessage class.
- * @date	20.06.2013
- * @author	baetz
- */
+#ifndef FSFW_IPC_COMMANDMESSAGE_H_
+#define FSFW_IPC_COMMANDMESSAGE_H_
 
-#ifndef COMMANDMESSAGE_H_
-#define COMMANDMESSAGE_H_
+#include "CommandMessageIF.h"
 
-
-#include "FwMessageTypes.h"
-#include <MissionMessageTypes.h>
 #include "MessageQueueMessage.h"
-
-#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
-typedef ReturnValue_t Command_t;
-
-class CommandMessage : public MessageQueueMessage {
-public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
-	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
-
-
-	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
-	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
-	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
-	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
+#include "FwMessageTypes.h"
 
 /**
-	 * This is the size of a message as it is seen by the MessageQueue
-	 */
-	static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE
-			+ sizeof(Command_t) + 2 * sizeof(uint32_t);
-
-	/**
-	 * Default Constructor, does not initialize anything.
+ * @brief 	Default command message used to pass command messages between tasks.
+ * 			Primary message type for IPC. Contains sender, 2-byte command ID
+ * 			field, and 3 4-byte parameter
+ * @details
+ * It operates on an external memory which is contained inside a
+ * class implementing MessageQueueMessageIF by taking its address.
+ * This allows for a more flexible designs of message implementations.
+ * The pointer can be passed to different message implementations without
+ * the need of unnecessary copying.
  *
-	 * This constructor should be used when receiving a Message, as the content is filled by the MessageQueue.
+ * The command message is based of the generic MessageQueueMessage which
+ * currently has an internal message size of 28 bytes.
+ * @author	Bastian Baetz
+ */
+class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
+public:
+    /**
+     * Default size can accomodate 3 4-byte parameters.
+     */
+    static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
+            CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE +
+			3 * sizeof(uint32_t);
+
+	/**
+	 * @brief   Default Constructor, does not initialize anything.
+	 * @details
+	 * This constructor should be used when receiving a Message, as the
+	 * content is filled by the MessageQueue.
 	 */
 	CommandMessage();
 	/**
-	 * This constructor creates a new message with all message content initialized
+	 * This constructor creates a new message with all message content
+	 * initialized
 	 *
 	 * @param command	The DeviceHandlerCommand_t that will be sent
 	 * @param parameter1	The first parameter
 	 * @param parameter2	The second parameter
 	 */
-	CommandMessage(Command_t command,
-			uint32_t parameter1, uint32_t parameter2);
+	CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
 
 	/**
-	 * Default Destructor
+	 * @brief 	Default Destructor
 	 */
-	virtual ~CommandMessage() {
-	}
+	virtual ~CommandMessage() {}
 
     /**
-	 * Read the DeviceHandlerCommand_t that is stored in the message, usually used after receiving
+     * Read the DeviceHandlerCommand_t that is stored in the message,
+     * usually used after receiving.
      *
      * @return the Command stored in the Message
      */
-	Command_t getCommand() const;
-
+    virtual Command_t getCommand() const override;
     /**
-	 * Set the DeviceHandlerCOmmand_t of the message
-	 *
+     * Set the command type of the message. Default implementation also
+     * sets the message type, which will be the first byte of the command ID.
      * @param the Command to be sent
      */
-	void setCommand(Command_t command);
+    virtual void setCommand(Command_t command);
+
+    virtual uint8_t* getData() override;
+    virtual const uint8_t* getData() const override;
 
 	/**
 	 * Get the first parameter of the message
-	 *
 	 * @return the first Parameter of the message
 	 */
 	uint32_t getParameter() const;
-
 	/**
 	 * Set the first parameter of the message
-	 *
 	 * @param the first parameter of the message
 	 */
 	void setParameter(uint32_t parameter1);
-
-	/**
-	 * Get the second parameter of the message
-	 *
-	 * @return the second Parameter of the message
-	 */
 	uint32_t getParameter2() const;
-
-	/**
-	 * Set the second parameter of the message
-	 *
-	 * @param the second parameter of the message
-	 */
 	void setParameter2(uint32_t parameter2);
-
-	/**
-	 * Set the command to CMD_NONE and try to find
-	 * the correct class to handle a more detailed
-	 * clear.
-	 * Also, calls a mission-specific clearMissionMessage
-	 * function to separate between framework and mission
-	 * messages. Not optimal, may be replaced by totally
-	 * different auto-delete solution (e.g. smart pointers).
-	 *
-	 */
-	void clearCommandMessage();
+	uint32_t getParameter3() const;
+	void setParameter3(uint32_t parameter3);
 
 	/**
 	 * check if a message was cleared
@@ -116,18 +91,41 @@ public:
 	 */
 	bool isClearedCommandMessage();
 
-
 	/**
 	 * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
 	 * Is needed quite often, so we better code it once only.
 	 */
-	void setToUnknownCommand();
-	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
-	ReturnValue_t getReplyRejectedReason(
-	        Command_t *initialCommand = nullptr) const;
+	void setToUnknownCommand() override;
 
-	size_t getMinimumMessageSize() const;
+    /**
+     * A command message can be rejected and needs to offer a function
+     * to set a rejected reply
+     * @param reason
+     * @param initialCommand
+     */
+    void setReplyRejected(ReturnValue_t reason,
+            Command_t initialCommand) override;
+    /**
+     * Corrensonding getter function.
+     * @param initialCommand
+     * @return
+     */
+    ReturnValue_t getReplyRejectedReason(
+            Command_t* initialCommand = nullptr) const override;
+
+
+    virtual void clear() override;
+    void clearCommandMessage();
+
+    /**
+     * Extract message ID, which is the first byte of the command ID for the
+     * default implementation.
+     * @return
+     */
+    virtual uint8_t getMessageType() const override;
+
+    /** MessageQueueMessageIF functions used for minimum size check. */
+    size_t getMinimumMessageSize() const override;
 };
 
-
-#endif /* COMMANDMESSAGE_H_ */
+#endif /* FSFW_IPC_COMMANDMESSAGE_H_ */

ipc/CommandMessageCleaner.cpp

@@ -0,0 +1,45 @@
+#include "../ipc/CommandMessageCleaner.h"
+
+#include "../devicehandlers/DeviceHandlerMessage.h"
+#include "../health/HealthMessage.h"
+#include "../memory/MemoryMessage.h"
+#include "../modes/ModeMessage.h"
+#include "../monitoring/MonitoringMessage.h"
+#include "../subsystem/modes/ModeSequenceMessage.h"
+#include "../tmstorage/TmStoreMessage.h"
+#include "../parameters/ParameterMessage.h"
+
+void CommandMessageCleaner::clearCommandMessage(CommandMessage* message) {
+	switch(message->getMessageType()){
+	case  messagetypes::MODE_COMMAND:
+		ModeMessage::clear(message);
+		break;
+	case messagetypes::HEALTH_COMMAND:
+		HealthMessage::clear(message);
+		break;
+	case messagetypes::MODE_SEQUENCE:
+		ModeSequenceMessage::clear(message);
+		break;
+	case messagetypes::ACTION:
+		ActionMessage::clear(message);
+		break;
+	case messagetypes::DEVICE_HANDLER_COMMAND:
+		DeviceHandlerMessage::clear(message);
+		break;
+	case messagetypes::MEMORY:
+		MemoryMessage::clear(message);
+		break;
+	case messagetypes::MONITORING:
+		MonitoringMessage::clear(message);
+		break;
+	case messagetypes::TM_STORE:
+		TmStoreMessage::clear(message);
+		break;
+	case messagetypes::PARAMETER:
+		ParameterMessage::clear(message);
+		break;
+	default:
+		messagetypes::clearMissionMessage(message);
+		break;
+	}
+}

ipc/CommandMessageCleaner.h

@@ -0,0 +1,16 @@
+#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
+#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
+#include "../ipc/CommandMessage.h"
+
+namespace messagetypes {
+// Implemented in config.
+void clearMissionMessage(CommandMessage* message);
+}
+
+class CommandMessageCleaner {
+public:
+	static void clearCommandMessage(CommandMessage* message);
+};
+
+
+#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */

ipc/CommandMessageIF.h

@@ -0,0 +1,73 @@
+#ifndef FSFW_IPC_COMMANDMESSAGEIF_H_
+#define FSFW_IPC_COMMANDMESSAGEIF_H_
+
+#include "MessageQueueMessageIF.h"
+#include "FwMessageTypes.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+
+#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
+typedef uint16_t Command_t;
+
+class CommandMessageIF {
+public:
+    /**
+     * Header consists of sender ID and command ID.
+     */
+	static constexpr size_t HEADER_SIZE = MessageQueueMessageIF::HEADER_SIZE +
+			sizeof(Command_t);
+	/**
+	 * This minimum size is derived from the interface requirement to be able
+     * to set a rejected reply, which contains a returnvalue and the initial
+     * command.
+	 */
+	static constexpr size_t MINIMUM_COMMAND_MESSAGE_SIZE =
+	        CommandMessageIF::HEADER_SIZE + sizeof(ReturnValue_t) +
+	        sizeof(Command_t);
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
+	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
+
+	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
+	//! Used internally, shall be ignored
+	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
+	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
+	//! Reply indicating that the current command was rejected,
+	//! par1 should contain the error code
+	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
+
+	virtual ~CommandMessageIF() {};
+
+	/**
+	 * A command message shall have a uint16_t command ID field.
+	 * @return
+	 */
+	virtual Command_t getCommand() const = 0;
+	/**
+	 * A command message shall have a uint8_t message type ID field.
+	 * @return
+	 */
+	virtual uint8_t getMessageType() const = 0;
+
+	/**
+	 * A command message can be rejected and needs to offer a function
+	 * to set a rejected reply
+	 * @param reason
+	 * @param initialCommand
+	 */
+	virtual void setReplyRejected(ReturnValue_t reason,
+			Command_t initialCommand) = 0;
+	/**
+	 * Corrensonding getter function.
+	 * @param initialCommand
+	 * @return
+	 */
+	virtual ReturnValue_t getReplyRejectedReason(
+			Command_t* initialCommand = nullptr) const  = 0;
+
+	virtual void setToUnknownCommand() = 0;
+
+	virtual void clear() = 0;
+
+};
+
+#endif /* FSFW_IPC_COMMANDMESSAGEIF_H_ */

ipc/MessageQueueIF.h

@@ -1,15 +1,15 @@
-#ifndef FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
-#define FRAMEWORK_IPC_MESSAGEQUEUEIF_H_
+#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
+#define FSFW_IPC_MESSAGEQUEUEIF_H_
 
 // COULDDO: We could support blocking calls
 
+#include "messageQueueDefinitions.h"
 #include "MessageQueueMessage.h"
-#include "MessageQueueSenderIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
+
 class MessageQueueIF {
 public:
-
-	static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
+	static const MessageQueueId_t NO_QUEUE = 0;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
 	/**

ipc/MessageQueueMessage.cpp

@@ -1,13 +1,27 @@
 #include "MessageQueueMessage.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
-
-#include <string.h>
+#include "../globalfunctions/arrayprinter.h"
+#include <cstring>
 
 MessageQueueMessage::MessageQueueMessage() :
-		messageSize(this->HEADER_SIZE) {
+		messageSize(getMinimumMessageSize()) {
 	memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
 }
 
+MessageQueueMessage::MessageQueueMessage(uint8_t* data, size_t size) :
+		messageSize(this->HEADER_SIZE + size) {
+	if (size <= this->MAX_DATA_SIZE) {
+		memcpy(this->getData(), data, size);
+		this->messageSize = this->HEADER_SIZE + size;
+	}
+	else {
+		sif::warning << "MessageQueueMessage: Passed size larger than maximum"
+				"allowed size! Setting content to 0" << std::endl;
+		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
+		this->messageSize = this->HEADER_SIZE;
+	}
+}
+
 MessageQueueMessage::~MessageQueueMessage() {
 }
 
@@ -37,29 +51,34 @@ void MessageQueueMessage::setSender(MessageQueueId_t setId) {
 	memcpy(this->internalBuffer, &setId, sizeof(MessageQueueId_t));
 }
 
-MessageQueueMessage::MessageQueueMessage(uint8_t* data, uint32_t size) :
-		messageSize(this->HEADER_SIZE + size) {
-	if (size <= this->MAX_DATA_SIZE) {
-		memcpy(this->getData(), data, size);
-	} else {
-		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
-		this->messageSize = this->HEADER_SIZE;
+void MessageQueueMessage::print(bool printWholeMessage) {
+	sif::debug << "MessageQueueMessage content: " << std::endl;
+	if(printWholeMessage) {
+	    arrayprinter::print(getData(), getMaximumMessageSize());
 	}
+	else {
+	    arrayprinter::print(getData(), getMessageSize());
 	}
 
-size_t MessageQueueMessage::getMinimumMessageSize() {
-	return this->HEADER_SIZE;
-}
-
-void MessageQueueMessage::print() {
-	sif::debug << "MessageQueueMessage has size: " << this->messageSize << std::hex
-			<< std::endl;
-	for (uint8_t count = 0; count < this->messageSize; count++) {
-		sif::debug << (uint32_t) this->internalBuffer[count] << ":";
-	}
-	sif::debug << std::dec << std::endl;
 }
 
 void MessageQueueMessage::clear() {
 	memset(this->getBuffer(), 0, this->MAX_MESSAGE_SIZE);
 }
+
+size_t MessageQueueMessage::getMessageSize() const {
+	return this->messageSize;
+}
+
+void MessageQueueMessage::setMessageSize(size_t messageSize) {
+	this->messageSize = messageSize;
+}
+
+size_t MessageQueueMessage::getMinimumMessageSize() const {
+    return this->MIN_MESSAGE_SIZE;
+}
+
+size_t MessageQueueMessage::getMaximumMessageSize() const {
+    return this->MAX_MESSAGE_SIZE;
+}
+

ipc/MessageQueueMessage.h

@@ -1,118 +1,149 @@
-#ifndef MESSAGEQUEUEMESSAGE_H_
-#define MESSAGEQUEUEMESSAGE_H_
+#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
+#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
 
-#include "MessageQueueSenderIF.h"
-#include <stddef.h>
+#include "../ipc/MessageQueueMessageIF.h"
+#include <cstddef>
 
 /**
- *	\brief		This class is the representation and data organizer for interprocess messages.
+ *	@brief		This class is the representation and data organizer
+ *				for interprocess messages.
+ *	@details
+ *	To facilitate and standardize interprocess communication, this class was
+ *	created to handle a lightweight "interprocess message protocol".
  *
- *	\details	To facilitate and standardize interprocess communication, this class was created
- *				to handle a lightweight "interprocess message protocol". It adds a header with the
- *				sender's queue id to every sent message and defines the maximum total message size.
- *				Specialized messages, such as device commanding messages, can be created by inheriting
- *				from this class and filling the buffer provided by getData with additional content.
- *				If larger amounts of data must be sent between processes, the data shall be stored in
- *				the IPC Store object and only the storage id is passed in a queue message.
- *				The class is used both to generate and send messages and to receive messages from
- *				other tasks.
- *	\ingroup message_queue
+ *	It adds a header with the sender's queue id to every sent message and
+ *	defines the maximum total message size. Specialized messages, such as
+ *	device commanding messages, can be created by inheriting from this class
+ *	and filling the buffer provided by getData with additional content.
+ *
+ *	If larger amounts of data must be sent between processes, the data shall
+ *	be stored in the IPC Store object and only the storage id is passed in a
+ *	queue message.The class is used both to generate and send messages and to
+ *	receive messages from other tasks.
+ *	@ingroup message_queue
  */
-class MessageQueueMessage {
+class MessageQueueMessage: public MessageQueueMessageIF {
 public:
 	/**
-	 * \brief	This constant defines the maximum size of the data content, excluding the header.
-	 * \details	It may be changed if necessary, but in general should be kept as small as possible.
+	 * @brief	The class is initialized empty with this constructor.
+	 * @details
+	 * The messageSize attribute is set to the header's size and the whole
+	 * content is set to zero.
+	 */
+	MessageQueueMessage();
+	/**
+	 * @brief	With this constructor the class is initialized with
+	 * 			the given content.
+	 * @details
+	 * If the passed message size fits into the buffer, the passed data is
+	 * copied to the internal buffer and the messageSize information is set.
+	 * Otherwise, messageSize is set to the header's size and the whole
+	 * content is set to zero.
+	 * @param data	The data to be put in the message.
+	 * @param size	Size of the data to be copied. Must be smaller than
+	 * 				MAX_MESSAGE_SIZE and larger than MIN_MESSAGE_SIZE.
+	 */
+	MessageQueueMessage(uint8_t* data, size_t size);
+
+	/**
+	 * @brief	As no memory is allocated in this class,
+	 * 		    the destructor is empty.
+	 */
+	virtual ~MessageQueueMessage();
+
+	/**
+	 * @brief	The size information of each message is stored in
+	 *  			this attribute.
+	 * @details
+	 * It is public to simplify usage and to allow for passing the size
+	 * address as a pointer. Care must be taken when inheriting from this class,
+	 * as every child class is responsible for managing the size information by
+	 * itself. When using the class to receive a message, the size information
+	 * is updated automatically.
+	 *
+	 * Please note that the minimum size is limited by the size of the header
+	 * while the maximum size is limited by the maximum allowed message size.
+	 */
+	size_t messageSize;
+	/**
+	 * @brief	This constant defines the maximum size of the data content,
+	 * 			excluding the header.
+	 * @details
+	 * It may be changed if necessary, but in general should be kept
+	 * as small as possible.
 	 */
 	static const size_t MAX_DATA_SIZE = 24;
+
 	/**
-	 * \brief	This constants defines the size of the header, which is added to every message.
+	 * @brief	This constant defines the maximum total size in bytes
+	 * 			of a sent message.
+	 * @details
+	 * It is the sum of the maximum data and the header size. Be aware that
+	 * this constant is used to define the buffer sizes for every message
+	 * queue in the system. So, a change here may have significant impact on
+	 * the required resources.
 	 */
-	static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
+	static constexpr size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
 	/**
-	 * \brief	This constant defines the maximum total size in bytes of a sent message.
-	 * \details	It is the sum of the maximum data and the header size. Be aware that this constant
-	 * 			is used to define the buffer sizes for every message queue in the system. So, a change
-	 * 			here may have significant impact on the required resources.
+	 * @brief Defines the minimum size of a message where only the
+	 * 		  header is included
 	 */
-	static const size_t MAX_MESSAGE_SIZE = MAX_DATA_SIZE + HEADER_SIZE;
+	static constexpr size_t MIN_MESSAGE_SIZE = HEADER_SIZE;
 private:
 	/**
-	 * \brief	This is the internal buffer that contains the actual message data.
+	 * @brief	This is the internal buffer that contains the
+	 * 			actual message data.
 	 */
 	uint8_t internalBuffer[MAX_MESSAGE_SIZE];
 public:
 	/**
-	 * \brief	The size information of each message is stored in this attribute.
-	 * \details	It is public to simplify usage and to allow for passing the variable's address as a
-	 * 			pointer. Care must be taken when inheriting from this class, as every child class is
-	 * 			responsible for managing the size information by itself. When using the class to
-	 * 			receive a message, the size information is updated automatically.
+	 * @brief	This method is used to get the complete data of the message.
 	 */
-	size_t messageSize;
+	const uint8_t* getBuffer() const override;
 	/**
-	 * \brief	The class is initialized empty with this constructor.
-	 * \details	The messageSize attribute is set to the header's size and the whole content is set to
-	 * 			zero.
+	 * @brief	This method is used to get the complete data of the message.
 	 */
-	MessageQueueMessage();
+	uint8_t* getBuffer() override;
 	/**
-	 * \brief	With this constructor the class is initialized with the given content.
-	 * \details	If the passed message size fits into the buffer, the passed data is copied to the
-	 * 			internal buffer and the messageSize information is set. Otherwise, messageSize
-	 * 			is set to the header's size and the whole content is set to zero.
-	 * \param data	The data to be put in the message.
-	 * \param size	Size of the data to be copied. Must be smaller than MAX_MESSAGE_SIZE.
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
 	 */
-	MessageQueueMessage(uint8_t* data, uint32_t size);
+	const uint8_t* getData() const override;
 	/**
-	 * \brief	As no memory is allocated in this class, the destructor is empty.
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
 	 */
-	virtual ~MessageQueueMessage();
+	uint8_t* getData() override;
 	/**
-	 * \brief	This method is used to get the complete data of the message.
+	 * @brief	This method is used to extract the sender's message
+	 * 			queue id information from a received message.
 	 */
-	const uint8_t* getBuffer() const;
+	MessageQueueId_t getSender() const override;
 	/**
-	 * \brief	This method is used to get the complete data of the message.
+	 * @brief	With this method, the whole content
+	 * 			and the message size is set to zero.
 	 */
-	uint8_t* getBuffer();
+	void clear() override;
+
 	/**
-	 * \brief	This method is used to fetch the data content of the message.
-	 * \details It shall be used by child classes to add data at the right position.
+	 * @brief	This method is used to set the sender's message queue id
+	 * 			information prior to ing the message.
+	 * @param setId
+	 * The message queue id that identifies the sending message queue.
 	 */
-	const uint8_t* getData() const;
+	void setSender(MessageQueueId_t setId) override;
+
+	virtual size_t getMessageSize() const override;
+	virtual void setMessageSize(size_t messageSize) override;
+	virtual size_t getMinimumMessageSize() const override;
+	virtual size_t getMaximumMessageSize() const override;
+
 	/**
-	 * \brief	This method is used to fetch the data content of the message.
-	 * \details It shall be used by child classes to add data at the right position.
+	 * @brief	This is a debug method that prints the content.
 	 */
-	uint8_t* getData();
-	/**
-	 * \brief	This method is used to extract the sender's message queue id information from a
-	 * 			received message.
-	 */
-	MessageQueueId_t getSender() const;
-	/**
-	 * \brief	With this method, the whole content and the message size is set to zero.
-	 */
-	void clear();
-	/**
-	 * \brief	This is a debug method that prints the content (till messageSize) to the debug output.
-	 */
-	void print();
-	/**
-	 * \brief	This method is used to set the sender's message queue id information prior to
-	 * 			sending the message.
-	 * \param setId	The message queue id that identifies the sending message queue.
-	 */
-	void setSender(MessageQueueId_t setId);
-	/**
-	 * \brief	This helper function is used by the MessageQueue class to check the size of an
-	 * 			incoming message.
-	 * \details	The method must be overwritten by child classes if size checks shall be more strict.
-	 * @return	The default implementation returns HEADER_SIZE.
-	 */
-	virtual size_t getMinimumMessageSize();
+	void print(bool printWholeMessage);
 };
 
-#endif /* MESSAGEQUEUEMESSAGE_H_ */
+#endif /* FSFW_IPC_MESSAGEQUEUEMESSAGE_H_ */

ipc/MessageQueueMessageIF.h

@@ -0,0 +1,80 @@
+#ifndef FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
+#define FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_
+
+#include <fsfw/ipc/messageQueueDefinitions.h>
+#include <cstddef>
+#include <cstdint>
+
+class MessageQueueMessageIF {
+public:
+
+    /**
+     * @brief   This constants defines the size of the header,
+     *          which is added to every message.
+     */
+    static const size_t HEADER_SIZE = sizeof(MessageQueueId_t);
+
+	virtual ~MessageQueueMessageIF() {};
+
+	/**
+	 * @brief	With this method, the whole content and the message
+	 * 			size is set to zero.
+	 * @details
+	 * Implementations should also take care to clear data which is stored
+	 * indirectly (e.g. storage data).
+	 */
+	virtual void clear() = 0;
+
+	/**
+	 * @brief	Get read-only pointer to the complete data of the message.
+	 * @return
+	 */
+	virtual const uint8_t* getBuffer() const = 0;
+
+	/**
+	 * @brief	This method is used to get the complete data of the message.
+	 */
+	virtual uint8_t* getBuffer() = 0;
+
+	/**
+	 * @brief	This method is used to set the sender's message queue id
+	 * 			information prior to sending the message.
+	 * @param setId
+	 * The message queue id that identifies the sending message queue.
+	 */
+	virtual void setSender(MessageQueueId_t setId) = 0;
+
+	/**
+	 * @brief	This method is used to extract the sender's message queue id
+	 * 			information from a received message.
+	 */
+	virtual MessageQueueId_t getSender() const = 0;
+
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	virtual const uint8_t* getData() const = 0;
+	/**
+	 * @brief	This method is used to fetch the data content of the message.
+	 * @details
+	 * It shall be used by child classes to add data at the right position.
+	 */
+	virtual uint8_t* getData() = 0;
+
+	/**
+	 * Get constant message size of current message implementation.
+	 * @return
+	 */
+	virtual size_t getMessageSize() const = 0;
+
+    virtual void setMessageSize(size_t messageSize) = 0;
+    virtual size_t getMinimumMessageSize() const = 0;
+    virtual size_t getMaximumMessageSize() const = 0;
+
+};
+
+
+
+#endif /* FRAMEWORK_IPC_MESSAGEQUEUEMESSAGEIF_H_ */

ipc/MessageQueueSenderIF.h

@@ -1,37 +1,26 @@
-#ifndef FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
-#define FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_
+#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
+#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
 
+#include "../ipc/MessageQueueIF.h"
+#include "../ipc/MessageQueueMessageIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
-class MessageQueueMessage;
-
-
-//TODO: Actually, the definition of this ID to be a uint32_t is not ideal and breaks layering.
-//However, it is difficult to keep layering, as the ID is stored in many places and sent around in
-//MessageQueueMessage.
-//Ideally, one would use the (current) object_id_t only, however, doing a lookup of queueIDs for every
-//call does not sound ideal.
-//In a first step, I'll circumvent the issue by not touching it, maybe in a second step.
-//This also influences Interface design (getCommandQueue) and some other issues..
-typedef uint32_t MessageQueueId_t;
 
 class MessageQueueSenderIF {
 public:
-	static const MessageQueueId_t NO_QUEUE = 0;
 
 	virtual ~MessageQueueSenderIF() {}
 
 	/**
-	 * Allows sending messages without actually "owing" a message queue.
+	 * Allows sending messages without actually "owning" a message queue.
 	 * Not sure whether this is actually a good idea.
-	 * Must be implemented by a subclass.
 	 */
 	static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom =
-					MessageQueueSenderIF::NO_QUEUE, bool ignoreFault=false);
+			MessageQueueMessage* message,
+			MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
+			bool ignoreFault = false);
 private:
 	MessageQueueSenderIF() {}
 };
 
 
-
-#endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */
+#endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */

ipc/messageQueueDefinitions.h

@@ -0,0 +1,19 @@
+#ifndef FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
+#define FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_
+
+#include <cstdint>
+
+/*
+ * TODO: Actually, the definition of this ID to be a uint32_t is not  ideal and
+ * breaks layering. However, it is difficult to keep layering, as the ID is
+ * stored in many places and sent around in MessageQueueMessage.
+ * Ideally, one would use the (current) object_id_t only, however, doing a
+ * lookup of queueIDs for every call does not sound ideal.
+ * In a first step, I'll circumvent the issue by not touching it,
+ * maybe in a second step. This also influences Interface design
+ * (getCommandQueue) and some other issues..
+ */
+using MessageQueueId_t = uint32_t;
+
+
+#endif /* FSFW_IPC_MESSAGEQUEUEDEFINITIONS_H_ */

modes/ModeHelper.cpp

@@ -36,7 +36,7 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
 		commandedMode = mode;
 		commandedSubmode = submode;
 
-		if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
+		if ((parentQueueId != MessageQueueIF::NO_QUEUE)
 				&& (theOneWhoCommandedAMode != parentQueueId)) {
 			owner->setToExternalControl();
 		}
@@ -74,7 +74,7 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
 void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
 	forced = false;
 	CommandMessage reply;
-	if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
+	if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE) {
 		if ((mode != commandedMode) || (submode != commandedSubmode)) {
 			ModeMessage::setModeMessage(&reply,
 					ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
@@ -86,12 +86,12 @@ void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
 				owner->getCommandQueue());
 	}
 	if (theOneWhoCommandedAMode != parentQueueId
-			&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
+			&& parentQueueId != MessageQueueIF::NO_QUEUE) {
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
 				submode);
 		MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
 	}
-	theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
+	theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
 }
 
 void ModeHelper::startTimer(uint32_t timeoutMs) {

objectmanager/ObjectManager.h

@@ -1,12 +1,5 @@
-/**
- * @file	ObjectManager.h
- * @brief	This file contains the implementation of the ObjectManager class
- * @date	18.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef OBJECTMANAGER_H_
-#define OBJECTMANAGER_H_
+#ifndef FSFW_OBJECTMANAGER_OBJECTMANAGER_H_
+#define FSFW_OBJECTMANAGER_OBJECTMANAGER_H_
 
 #include "ObjectManagerIF.h"
 #include "SystemObjectIF.h"
@@ -22,14 +15,15 @@
  * 			most of the system initialization.
  * 			As the system is static after initialization, no new objects are
  * 			created or inserted into the list after startup.
- * \ingroup system_objects
+ * @ingroup system_objects
+ * @author	Bastian Baetz
  */
 class ObjectManager : public ObjectManagerIF {
 private:
 	//comparison?
 	/**
-	 * \brief	This is the map of all initialized objects in the manager.
-	 * \details	Objects in the List must inherit the SystemObjectIF.
+	 * @brief	This is the map of all initialized objects in the manager.
+	 * @details	Objects in the List must inherit the SystemObjectIF.
 	 */
 	std::map<object_id_t, SystemObjectIF*> objectList;
 protected:
@@ -54,7 +48,8 @@ public:
 	/**
 	 *	@brief	In the class's destructor, all objects in the list are deleted.
 	 */
-	//SHOULDDO: If, for some reason, deleting an ObjectManager instance is required, check if this works.
+	// SHOULDDO: If, for some reason, deleting an ObjectManager instance is
+	// required, check if this works.
 	virtual ~ObjectManager( void );
 	ReturnValue_t insert( object_id_t id, SystemObjectIF* object );
 	ReturnValue_t remove( object_id_t id );
@@ -64,4 +59,4 @@ public:
 
 
 
-#endif /* OBJECTMANAGER_H_ */
+#endif /* FSFW_OBJECTMANAGER_OBJECTMANAGER_H_ */

objectmanager/ObjectManagerIF.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
-#define FRAMEWORK_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#ifndef FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
+#define FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
 #include "frameworkObjects.h"
 #include "SystemObjectIF.h"
@@ -21,7 +21,6 @@ public:
 	static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
 	static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
 	static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
-
 	static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
 	static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
 
@@ -80,6 +79,7 @@ public:
 /**
  * @brief	This is the forward declaration of the global objectManager instance.
  */
+// SHOULDDO: maybe put this in the glob namespace to explicitely mark it global?
 extern ObjectManagerIF *objectManager;
 
 /*Documentation can be found in the class method declaration above.*/

objectmanager/SystemObject.cpp

@@ -1,6 +1,6 @@
-#include "../events/EventManagerIF.h"
 #include "ObjectManager.h"
 #include "SystemObject.h"
+#include "../events/EventManagerIF.h"
 
 SystemObject::SystemObject(object_id_t setObjectId, bool doRegister) :
 		objectId(setObjectId), registered(doRegister) {

objectmanager/SystemObject.h

@@ -1,16 +1,9 @@
-/**
- * @file	SystemObject.h
- * @brief	This file contains the definition of the SystemObject class.
- * @date	07.11.2012
- * @author	Ulrich Mohr
- */
-
-#ifndef SYSTEMOBJECT_H_
-#define SYSTEMOBJECT_H_
+#ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_
+#define FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_
 
+#include "SystemObjectIF.h"
 #include "../events/Event.h"
 #include "../events/EventReportingProxyIF.h"
-#include "SystemObjectIF.h"
 #include "../timemanager/Clock.h"
 
 /**
@@ -20,7 +13,8 @@
  * 			class that is announced to ObjectManager. It automatically includes
  * 			itself (and therefore the inheriting class) in the object manager's
  * 			list.
- * \ingroup system_objects
+ * @author	Ulrich Mohr
+ * @ingroup system_objects
  */
 class SystemObject: public SystemObjectIF {
 private:
@@ -37,25 +31,28 @@ public:
 	 * @param parameter1
 	 * @param parameter2
 	 */
-	virtual void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0);
+	virtual void triggerEvent(Event event, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0);
 
 	/**
 	 * @brief	The class's constructor.
 	 * @details	In the constructor, the object id is set and the class is
 	 * 			inserted in the object manager.
 	 * @param setObjectId	The id the object shall have.
-	 * @param doRegister	Determines if the object is registered in the global object manager.
+	 * @param doRegister	Determines if the object is registered in
+	 * 						the global object manager.
 	 */
 	SystemObject(object_id_t setObjectId, bool doRegister = true);
 	/**
 	 * @brief	On destruction, the object removes itself from the list.
 	 */
 	virtual ~SystemObject();
-	object_id_t getObjectId() const;
-	virtual ReturnValue_t initialize();
+	object_id_t getObjectId() const override;
+	virtual ReturnValue_t initialize() override;
 	virtual ReturnValue_t checkObjectConnections();
 
-	virtual void forwardEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) const;
+	virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0) const;
 };
 
-#endif /* SYSTEMOBJECT_H_ */
+#endif /* FSFW_OBJECTMANAGER_SYSTEMOBJECT_H_ */

objectmanager/SystemObjectIF.h

@@ -1,26 +1,19 @@
-/**
- * @file	SystemObjectIF.h
- * @brief	This file contains the definition of the SystemObjectIF interface.
- * @date	18.09.2012
- * @author	Bastian Baetz
- */
-
-#ifndef SYSTEMOBJECTIF_H_
-#define SYSTEMOBJECTIF_H_
+#ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_
+#define FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_
 
 #include "../events/EventReportingProxyIF.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stdint.h>
+#include <cstdint>
 /**
- * \defgroup system_objects Software System Object Management
- * The classes to create System Objects and classes to manage these are contained in this group.
- * System Objects are software elements that can be controlled externally. They all have a unique
- * object identifier.
+ * @defgroup system_objects Software System Object Management
+ * The classes to create System Objects and classes to manage these are
+ * contained in this group. System Objects are software elements that can be
+ * controlled externally. They all have a unique object identifier.
  */
 
 /**
  * This is the typedef for object identifiers.
- * \ingroup system_objects
+ * @ingroup system_objects
  */
 typedef uint32_t object_id_t;
 
@@ -29,7 +22,8 @@ typedef uint32_t object_id_t;
  * list.
  * It does not provide any method definitions, still it is required to
  * perform a type check with dynamic_cast.
- * \ingroup system_objects
+ * @author  Bastian Baetz
+ * @ingroup system_objects
  */
 class SystemObjectIF : public EventReportingProxyIF {
 public:
@@ -41,24 +35,28 @@ public:
 	/**
 	 * The empty virtual destructor as required for C++ interfaces.
 	 */
-	virtual ~SystemObjectIF() {
-	}
+	virtual ~SystemObjectIF() {}
 	/**
-	 * Initializes all inter-object dependencies.
-	 * This is necessary to avoid circular dependencies of not-fully
-	 * initialized objects on start up.
-	 * @return	- \c RETURN_OK in case the initialization was successful
-	 * 			- \c RETURN_FAILED otherwise
+	 * @brief   Initializes the object.
+	 * There are initialization steps which can also be done in the constructor.
+	 * However, there is no clean way to get a returnvalue from a constructor.
+	 * Furthermore some components require other system object to be created
+	 * which might not have been built yet.
+	 * Therefore, a two-step initialization resolves this problem and prevents
+	 * circular dependencies of not-fully initialized objects on start up.
+	 * @return	- @c RETURN_OK in case the initialization was successful
+	 * 			- @c RETURN_FAILED otherwise
 	 */
 	virtual ReturnValue_t initialize() = 0;
 	/**
-	 * Checks, if all object-object interconnections are satisfying for operation.
-	 * Some objects need certain other objects (or a certain number), to be registered as children.
-	 * These checks can be done in this method.
-	 * @return	- \c RETURN_OK in case the check was successful
-	 * 			- \c any other code otherwise
+	 * @brief   Checks if all object-object interconnections are satisfying
+	 *          for operation.
+	 * Some objects need certain other objects (or a certain number), to be
+	 * registered as children. These checks can be done in this method.
+	 * @return	- @c RETURN_OK in case the check was successful
+	 * 			- @c any other code otherwise
 	 */
 	virtual ReturnValue_t checkObjectConnections() = 0;
 };
 
-#endif /* SYSTEMOBJECTIF_H_ */
+#endif /* #ifndef FSFW_OBJECTMANAGER_SYSTEMOBJECTIF_H_ */

objectmanager/frameworkObjects.h

@@ -1,8 +1,17 @@
-#ifndef FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
-#define FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
+#ifndef FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
+#define FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_
 
 namespace objects {
 enum framework_objects {
+	// Default verification reporter.
+	PUS_SERVICE_1_VERIFICATION = 0x53000001,
+	PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
+	PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
+	PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
+	PUS_SERVICE_9_TIME_MGMT = 0x53000009,
+	PUS_SERVICE_17_TEST = 0x53000017,
+	PUS_SERVICE_200_MODE_MGMT = 0x53000200,
+
 	//Generic IDs for IPC, modes, health, events
 	HEALTH_TABLE = 0x53010000,
 //	MODE_STORE = 0x53010100,
@@ -12,10 +21,11 @@ enum framework_objects {
 	//IDs for PUS Packet Communication
 	TC_STORE = 0x534f0100,
 	TM_STORE = 0x534f0200,
+
 	NO_OBJECT = 0xFFFFFFFF
 };
 }
 
 
 
-#endif /* FRAMEWORK_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ */
+#endif /* FSFW_OBJECTMANAGER_FRAMEWORKOBJECTS_H_ */

osal/FreeRTOS/MessageQueue.cpp

@@ -1,5 +1,6 @@
 #include "MessageQueue.h"
 
+#include "../../objectmanager/ObjectManagerIF.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
 // TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
@@ -101,7 +102,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			reinterpret_cast<const void*>(message->getBuffer()), 0);
 	if (result != pdPASS) {
 		if (!ignoreFault) {
-			InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
+			InternalErrorReporterIF* internalErrorReporter =
+					objectManager->get<InternalErrorReporterIF>(
 					objects::INTERNAL_ERROR_REPORTER);
 			if (internalErrorReporter != NULL) {
 				internalErrorReporter->queueMessageNotSent();

osal/FreeRTOS/QueueFactory.cpp

@@ -1,18 +1,21 @@
+#include "../../ipc/MessageQueueSenderIF.h"
 #include "../../ipc/QueueFactory.h"
 
 #include "MessageQueue.h"
 
 
-QueueFactory* QueueFactory::factoryInstance = NULL;
+QueueFactory* QueueFactory::factoryInstance = nullptr;
 
 
 ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
-			MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
+			bool ignoreFault) {
+	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
+			sentFrom,ignoreFault);
 }
 
 QueueFactory* QueueFactory::instance() {
-	if (factoryInstance == NULL) {
+	if (factoryInstance == nullptr) {
 		factoryInstance = new QueueFactory;
 	}
 	return factoryInstance;
@@ -24,9 +27,9 @@ QueueFactory::QueueFactory() {
 QueueFactory::~QueueFactory() {
 }
 
-MessageQueueIF* QueueFactory::createMessageQueue(uint32_t message_depth,
+MessageQueueIF* QueueFactory::createMessageQueue(uint32_t messageDepth,
 		size_t maxMessageSize) {
-	return new MessageQueue(message_depth, maxMessageSize);
+	return new MessageQueue(messageDepth, maxMessageSize);
 }
 
 void QueueFactory::deleteMessageQueue(MessageQueueIF* queue) {

osal/linux/Clock.cpp

@@ -6,8 +6,8 @@
 #include <linux/sysinfo.h>
 #include <time.h>
 #include <unistd.h>
+#include <fstream>
 
-//#include <fstream>
 uint16_t Clock::leapSeconds = 0;
 MutexIF* Clock::timeMutex = NULL;
 
@@ -76,22 +76,23 @@ timeval Clock::getUptime() {
 
 ReturnValue_t Clock::getUptime(timeval* uptime) {
     //TODO This is not posix compatible and delivers only seconds precision
-	struct sysinfo sysInfo;
-	int result = sysinfo(&sysInfo);
-	if(result != 0){
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-	uptime->tv_sec = sysInfo.uptime;
-	uptime->tv_usec = 0;
-
-
+    // is the OS not called Linux?
     //Linux specific file read but more precise
-//	double uptimeSeconds;
-//	if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
-//		uptime->tv_sec = uptimeSeconds;
-//		uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
-//	}
+    double uptimeSeconds;
+    if(std::ifstream("/proc/uptime",std::ios::in) >> uptimeSeconds){
+        uptime->tv_sec = uptimeSeconds;
+        uptime->tv_usec = uptimeSeconds *(double) 1e6 - (uptime->tv_sec *1e6);
+    }
 
+	//TODO This is not posix compatible and delivers only seconds precision
+    // I suggest this is moved into another clock function which will
+    // deliver second precision later.
+//	struct sysinfo sysInfo;
+//	int result = sysinfo(&sysInfo);
+//	if(result != 0){
+//		return HasReturnvaluesIF::RETURN_FAILED;
+//	}
+//	return sysInfo.uptime;
     return HasReturnvaluesIF::RETURN_OK;
 }
 

osal/linux/QueueFactory.cpp

@@ -1,8 +1,14 @@
 #include "../../ipc/QueueFactory.h"
+#include "MessageQueue.h"
+
+#include "../../ipc/messageQueueDefinitions.h"
+#include "../../ipc/MessageQueueSenderIF.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
 #include <mqueue.h>
 #include <errno.h>
-#include "MessageQueue.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+
 #include <cstring>
 
 QueueFactory* QueueFactory::factoryInstance = nullptr;

pus/Service17Test.cpp

@@ -0,0 +1,41 @@
+#include "Service17Test.h"
+
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../objectmanager/SystemObject.h"
+#include "../tmtcpacket/pus/TmPacketStored.h"
+
+
+Service17Test::Service17Test(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId):
+    PusServiceBase(objectId, apid, serviceId),
+    packetSubCounter(0) {
+}
+
+Service17Test::~Service17Test() {
+}
+
+ReturnValue_t Service17Test::handleRequest(uint8_t subservice) {
+	switch(subservice){
+	case Subservice::CONNECTION_TEST: {
+		TmPacketStored connectionPacket(apid, serviceId,
+		        Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+		connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
+				requestQueue->getId());
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+    case Subservice::EVENT_TRIGGER_TEST: {
+        TmPacketStored connectionPacket(apid, serviceId,
+                Subservice::CONNECTION_TEST_REPORT, packetSubCounter++);
+        connectionPacket.sendPacket(requestQueue->getDefaultDestination(),
+                requestQueue->getId());
+        triggerEvent(TEST, 1234, 5678);
+        return RETURN_OK;
+    }
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service17Test::performService() {
+	return HasReturnvaluesIF::RETURN_OK;
+}

pus/Service17Test.h

@@ -0,0 +1,44 @@
+#ifndef FSFW_PUS_SERVICE17TEST_H_
+#define FSFW_PUS_SERVICE17TEST_H_
+
+#include "../tmtcservices/PusServiceBase.h"
+#include "../objectmanager/SystemObject.h"
+
+/**
+ * @brief Test Service
+ * Full Documentation: ECSS-E70-41A p.167
+ *
+ * The test service provides the capability to activate test functions
+ * implemented on-board and to report the results of such tests.
+ * Service capability:
+ *   - TC[17,1]: Perform connection test
+ *   - TM[17,2]: Send Connection Test Report
+ *   - TC[17,128]: Perform connection test and trigger event
+ *
+ * @ingroup pus_services
+ */
+class Service17Test: public PusServiceBase {
+public:
+	// Custom events which can be triggered
+	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_17;
+	static constexpr Event TEST = MAKE_EVENT(0, SEVERITY::INFO);
+
+	enum Subservice: uint8_t {
+		//! [EXPORT] : [COMMAND] Perform connection test
+	    CONNECTION_TEST = 1,
+	    //! [EXPORT] : [REPLY] Connection test reply
+	    CONNECTION_TEST_REPORT = 2,
+		//!  [EXPORT] : [COMMAND] Trigger test reply and test event
+	    EVENT_TRIGGER_TEST = 128,
+	};
+
+	Service17Test(object_id_t objectId, uint16_t apid, uint8_t serviceId);
+	virtual ~Service17Test();
+	virtual ReturnValue_t handleRequest(uint8_t subservice) override;
+	virtual ReturnValue_t performService() override;
+
+protected:
+	uint16_t packetSubCounter = 0;
+};
+
+#endif /* FSFW_PUS_SERVICE17TEST_H_ */

pus/Service9TimeManagement.cpp

@@ -0,0 +1,58 @@
+#include "Service9TimeManagement.h"
+#include "servicepackets/Service9Packets.h"
+
+#include "../timemanager/CCSDSTime.h"
+#include "../events/EventManagerIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+
+Service9TimeManagement::Service9TimeManagement(object_id_t objectId,
+		uint16_t apid, uint8_t serviceId) :
+	PusServiceBase(objectId, apid , serviceId) {
+}
+
+Service9TimeManagement::~Service9TimeManagement() {}
+
+ReturnValue_t Service9TimeManagement::performService() {
+	return RETURN_OK;
+}
+
+ReturnValue_t Service9TimeManagement::handleRequest(uint8_t subservice) {
+	switch(subservice){
+		case SUBSERVICE::SET_TIME:{
+			return setTime();
+		}
+		default:
+			return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+		}
+}
+
+ReturnValue_t Service9TimeManagement::setTime() {
+	Clock::TimeOfDay_t timeToSet;
+	TimePacket timePacket(currentPacket.getApplicationData(),
+			currentPacket.getApplicationDataSize());
+	ReturnValue_t result = CCSDSTime::convertFromCcsds(&timeToSet,
+			timePacket.getTime(), timePacket.getTimeSize());
+	if(result != RETURN_OK) {
+		triggerEvent(CLOCK_SET_FAILURE, result, 0);
+		return result;
+	}
+
+	uint32_t formerUptime;
+	Clock::getUptime(&formerUptime);
+	result = Clock::setClock(&timeToSet);
+
+	if(result == RETURN_OK) {
+		uint32_t newUptime;
+		Clock::getUptime(&newUptime);
+		triggerEvent(CLOCK_SET,newUptime,formerUptime);
+		return RETURN_OK;
+	}
+	else {
+		triggerEvent(CLOCK_SET_FAILURE, result, 0);
+		return RETURN_FAILED;
+	}
+}
+
+
+

pus/Service9TimeManagement.h

@@ -0,0 +1,41 @@
+#ifndef FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
+#define FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_
+
+#include "../tmtcservices/PusServiceBase.h"
+
+class Service9TimeManagement: public PusServiceBase {
+public:
+
+	static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_9;
+	static constexpr Event CLOCK_SET = MAKE_EVENT(0, SEVERITY::INFO); //!< Clock has been set. P1: New Uptime. P2: Old Uptime
+	static constexpr Event CLOCK_SET_FAILURE = MAKE_EVENT(1, SEVERITY::LOW); //!< Clock could not be set. P1: Returncode.
+
+	static constexpr uint8_t CLASS_ID = CLASS_ID::PUS_SERVICE_9;
+
+	/**
+	 * 	@brief This service provides the capability to set the on-board time.
+	 */
+	Service9TimeManagement(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId);
+
+	virtual ~Service9TimeManagement();
+
+	virtual ReturnValue_t performService() override;
+
+	/**
+	 * 	@brief Sets the onboard-time by retrieving the time to set from TC[9,128].
+	 */
+	virtual ReturnValue_t handleRequest(uint8_t subservice) override;
+
+	virtual ReturnValue_t setTime();
+private:
+
+	enum SUBSERVICE {
+		SET_TIME = 128 //!< [EXPORT] : [COMMAND] Time command in ASCII, CUC or CDS format
+	};
+
+};
+
+
+
+#endif /* FSFW_PUS_SERVICE9TIMEMANAGEMENT_H_ */

pus/servicepackets/Service9Packets.h

@@ -0,0 +1,32 @@
+#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
+#define FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_
+
+#include "../../serialize/SerialLinkedListAdapter.h"
+
+/**
+ * @brief Subservice 128
+ * @details
+ * It only contains the time encoded as ASCII, CRC, CUC or CDS
+ * @ingroup spacepackets
+ */
+class TimePacket : SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	TimePacket(const uint8_t * timeBuffer_, uint32_t timeSize_) {
+		timeBuffer = timeBuffer_;
+		timeSize = timeSize_;
+	}
+	const uint8_t*  getTime() {
+		return timeBuffer;
+	}
+
+	uint32_t getTimeSize() const {
+		return timeSize;
+	}
+
+private:
+	TimePacket(const TimePacket &command);
+	const uint8_t * timeBuffer;
+	uint32_t timeSize; //!< [EXPORT] : [IGNORE]
+};
+
+#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE9PACKETS_H_ */

returnvalues/FwClassIds.h

@@ -1,5 +1,5 @@
-#ifndef FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_
-#define FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_
+#ifndef FSFW_RETURNVALUES_FWCLASSIDS_H_
+#define FSFW_RETURNVALUES_FWCLASSIDS_H_
 
 namespace CLASS_ID {
 enum {
@@ -56,7 +56,6 @@ enum {
 	DEVICE_COMMUNICATION_IF, //DC
 	BSP, //BSP
 	TIME_STAMPER_IF, //TSI 53
-	//TODO This will shift all IDs for FLP
 	SGP4PROPAGATOR_CLASS, //SGP4 54
 	MUTEX_IF, //MUX 55
 	MESSAGE_QUEUE_IF,//MQI 56
@@ -65,9 +64,10 @@ enum {
 	POOL_VARIABLE_IF, //PVA 59
 	HOUSEKEEPING_MANAGER, //HKM 60
 	DLE_ENCODER, //DLEE 61
+	PUS_SERVICE_9, //PUS9 62
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };
 }
 
-#endif /* FRAMEWORK_RETURNVALUES_FWCLASSIDS_H_ */
+#endif /* FSFW_RETURNVALUES_FWCLASSIDS_H_ */

timemanager/Clock.h

@@ -9,8 +9,7 @@
 #include <sys/time.h>
 
 //! Don't use these for time points, type is not large enough for UNIX epoch.
-typedef uint32_t dur_millis_t;
-typedef double dur_seconds_t;
+using dur_millis_t = uint32_t;
 
 class Clock {
 public:

timemanager/Stopwatch.cpp

@@ -6,19 +6,22 @@ Stopwatch::Stopwatch(bool displayOnDestruction,
         StopwatchDisplayMode displayMode): displayOnDestruction(
         displayOnDestruction), displayMode(displayMode) {
     // Measures start time on initialization.
-    Clock::getClock_timeval(&startTime);
+    Clock::getUptime(&startTime);
 }
 
 void Stopwatch::start() {
-    Clock::getClock_timeval(&startTime);
+    Clock::getUptime(&startTime);
 }
 
-dur_millis_t Stopwatch::stop() {
+dur_millis_t Stopwatch::stop(bool display) {
     stopInternal();
+    if(display) {
+        this->display();
+    }
     return elapsedTime.tv_sec * 1000 + elapsedTime.tv_usec / 1000;
 }
 
-dur_seconds_t Stopwatch::stopSeconds() {
+double Stopwatch::stopSeconds() {
     stopInternal();
     return timevalOperations::toDouble(elapsedTime);
 }
@@ -52,6 +55,6 @@ StopwatchDisplayMode Stopwatch::getDisplayMode() const {
 
 void Stopwatch::stopInternal() {
 	timeval endTime;
-	Clock::getClock_timeval(&endTime);
+	Clock::getUptime(&endTime);
     elapsedTime = endTime - startTime;
 }

timemanager/Stopwatch.h

@@ -1,5 +1,6 @@
-#ifndef FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
-#define FRAMEWORK_TIMEMANAGER_STOPWATCH_H_
+#ifndef FSFW_TIMEMANAGER_STOPWATCH_H_
+#define FSFW_TIMEMANAGER_STOPWATCH_H_
+
 #include "Clock.h"
 
 enum class StopwatchDisplayMode {
@@ -40,12 +41,12 @@ public:
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in milliseconds (rounded)
      */
-    dur_millis_t stop();
+    dur_millis_t stop(bool display = false);
     /**
      * Calculates the elapsed time since start and returns it
      * @return elapsed time in seconds (double precision)
      */
-    dur_seconds_t stopSeconds();
+    double stopSeconds();
 
     /**
      * Displays the elapsed times on the osstream, depending on internal display
@@ -66,6 +67,4 @@ private:
 };
 
 
-
-
-#endif /* FRAMEWORK_TIMEMANAGER_STOPWATCH_H_ */
+#endif /* FSFW_TIMEMANAGER_STOPWATCH_H_ */

timemanager/TimeStamper.cpp

@@ -0,0 +1,23 @@
+#include "TimeStamper.h"
+#include "Clock.h"
+#include <cstring>
+
+TimeStamper::TimeStamper(object_id_t objectId): SystemObject(objectId) {}
+
+
+ReturnValue_t TimeStamper::addTimeStamp(uint8_t* buffer,
+		const uint8_t maxSize) {
+	if(maxSize < TimeStamperIF::MISSION_TIMESTAMP_SIZE){
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	timeval now;
+	Clock::getClock_timeval(&now);
+	CCSDSTime::CDS_short cds;
+	ReturnValue_t result = CCSDSTime::convertToCcsds(&cds,&now);
+	if(result != HasReturnvaluesIF::RETURN_OK){
+		return result;
+	}
+	std::memcpy(buffer,&cds,sizeof(cds));
+	return result;
+}

timemanager/TimeStamper.h

@@ -0,0 +1,36 @@
+#ifndef FSFW_TIMEMANAGER_TIMESTAMPER_H_
+#define FSFW_TIMEMANAGER_TIMESTAMPER_H_
+
+#include "TimeStamperIF.h"
+#include "CCSDSTime.h"
+#include "../objectmanager/SystemObject.h"
+
+/**
+ * @brief   Time stamper which can be used to add any timestamp to a
+ *          given buffer.
+ * @details
+ * This time stamper uses the CCSDS CDC short timestamp as a fault timestamp.
+ * This timestamp has a size of 8 bytes. A custom timestamp can be used by
+ * overriding the #addTimeStamp function.
+ * @ingroup utility
+ */
+class TimeStamper: public TimeStamperIF, public SystemObject {
+public:
+    /**
+     * @brief   Default constructor which also registers the time stamper as a
+     *          system object so it can be found with the #objectManager.
+     * @param objectId
+     */
+	TimeStamper(object_id_t objectId);
+
+	/**
+	 * Adds a CCSDS CDC short 8 byte timestamp to the given buffer.
+	 * This function can be overriden to use a custom timestamp.
+	 * @param buffer
+	 * @param maxSize
+	 * @return
+	 */
+	virtual ReturnValue_t addTimeStamp(uint8_t* buffer, const uint8_t maxSize);
+};
+
+#endif /* FSFW_TIMEMANAGER_TIMESTAMPER_H_ */

tmtcservices/CommandingServiceBase.cpp

@@ -384,7 +384,7 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
 }
 
 
-void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
+void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) {
 	store_address_t address;
 	if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
 		commandMap.erase(&iter);

tmtcservices/CommandingServiceBase.h

@@ -39,7 +39,11 @@ class CommandingServiceBase: public SystemObject,
 		public HasReturnvaluesIF {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
+	// We could make this configurable via preprocessor and the FSFWConfig file.
+	static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH = 3;
+
 	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
+
 	static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
 	static const ReturnValue_t NO_STEP_MESSAGE = MAKE_RETURN_CODE(2);
 	static const ReturnValue_t OBJECT_BUSY = MAKE_RETURN_CODE(3);
@@ -223,7 +227,7 @@ protected:
 		uint32_t state;
 		Command_t command;
 		object_id_t objectId;
-		FIFO<store_address_t, 3> fifo;
+		FIFO<store_address_t, COMMAND_INFO_FIFO_DEPTH> fifo;
 
 		virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
 					size_t maxSize, Endianness streamEndianness) const override{
@@ -312,7 +316,7 @@ protected:
 	ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
 			SerializeIF* header = nullptr);
 
-	void checkAndExecuteFifo(CommandMapIter iter);
+	void checkAndExecuteFifo(CommandMapIter& iter);
 
 private:
 	/**

tmtcservices/VerificationReporter.cpp

@@ -1,55 +1,59 @@
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "VerificationReporter.h"
 #include "AcceptsVerifyMessageIF.h"
 #include "PusVerificationReport.h"
-#include "VerificationReporter.h"
 
-object_id_t VerificationReporter::messageReceiver = 0;
+#include "../ipc/MessageQueueIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../objectmanager/frameworkObjects.h"
+
+object_id_t VerificationReporter::messageReceiver =
+		objects::PUS_SERVICE_1_VERIFICATION;
 
 VerificationReporter::VerificationReporter() :
-		acknowledgeQueue() {
+		acknowledgeQueue(MessageQueueIF::NO_QUEUE) {
 }
 
-VerificationReporter::~VerificationReporter() {
-	//Default, empty
-}
+VerificationReporter::~VerificationReporter() {}
 
 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 		TcPacketBase* current_packet, uint8_t set_step) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(set_report_id,
 			current_packet->getAcknowledgeFlags(),
 			current_packet->getPacketId(),
 			current_packet->getPacketSequenceControl(), 0, set_step);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }
 
 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		uint8_t set_step) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE)  {
 		this->initialize();
 	}
 	PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
 			tcSequenceControl, 0, set_step);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }
 
 void VerificationReporter::sendFailureReport(uint8_t report_id,
 		TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step,
 		uint32_t parameter1, uint32_t parameter2) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(report_id,
@@ -57,11 +61,12 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 			current_packet->getPacketId(),
 			current_packet->getPacketSequenceControl(), error_code, step,
 			parameter1, parameter2);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendFailureReport: Error writing "
+				<< "to queue. Code: " << std::hex  << "0x" << status << std::dec
+				<< std::endl;
 	}
 }
 
@@ -69,27 +74,33 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 		uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
 		ReturnValue_t error_code, uint8_t step, uint32_t parameter1,
 		uint32_t parameter2) {
-	if (this->acknowledgeQueue == 0) {
+	if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
 		this->initialize();
 	}
 	PusVerificationMessage message(report_id, ackFlags, tcPacketId,
 			tcSequenceControl, error_code, step, parameter1, parameter2);
-	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue, &message);
+	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
+	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
-				<< (uint16_t) status << std::endl;
+		sif::error << "VerificationReporter::sendFailureReport: Error writing "
+				<< "to queue. Code: " << std::hex << "0x" << status << std::dec
+				<< std::endl;
 	}
 }
 
 void VerificationReporter::initialize() {
+	if(messageReceiver == objects::NO_OBJECT) {
+		sif::warning << "VerificationReporter::initialize: Verification message"
+				" receiver object ID not set yet in Factory!" << std::endl;
+		return;
+	}
 	AcceptsVerifyMessageIF* temp = objectManager->get<AcceptsVerifyMessageIF>(
 			messageReceiver);
-	if (temp != NULL) {
+	if (temp == nullptr) {
+		sif::error << "VerificationReporter::initialize: Message "
+				<< "receiver invalid. Make sure it is set up properly and "
+				<< "implementsAcceptsVerifyMessageIF" << std::endl;
+		return;
+	}
 	this->acknowledgeQueue = temp->getVerificationQueue();
-	} else {
-		sif::error
-				<< "VerificationReporter::VerificationReporter: Configuration error."
-				<< std::endl;
-	}
 }

tmtcservices/VerificationReporter.h

@@ -1,31 +1,50 @@
-#ifndef VERIFICATIONREPORTER_H_
-#define VERIFICATIONREPORTER_H_
+#ifndef FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
+#define FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
 
-#include "../objectmanager/ObjectManagerIF.h"
 #include "PusVerificationReport.h"
+#include "../objectmanager/ObjectManagerIF.h"
 
 namespace Factory{
 void setStaticFrameworkObjectIds();
 }
 
+/**
+ * @brief 	This helper object is used to forward verification messages
+ * 			which are generated by the Flight Software Framework.
+ * @details
+ * The messages can be relayed to an arbitrary object, for example a dedicated
+ * Verification Reporter. The destination is set by setting the static framework
+ * Id VerificationReporter::messageReceiver. The default verification reporter
+ * will be the PUS service 1, which sends verification messages according
+ * to the PUS standard.
+ *
+ */
 class VerificationReporter {
 	friend void (Factory::setStaticFrameworkObjectIds)();
 public:
 	VerificationReporter();
 	virtual ~VerificationReporter();
-	void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet, uint8_t set_step = 0 );
-	void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, uint8_t set_step = 0);
-	void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet, ReturnValue_t error_code = 0,
-			uint8_t step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 0 );
+
+	void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet,
+			uint8_t set_step = 0 );
+	void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags,
+			uint16_t tcPacketId, uint16_t tcSequenceControl,
+			uint8_t set_step = 0);
+
+	void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet,
+			ReturnValue_t error_code = 0,
+			uint8_t step = 0, uint32_t parameter1 = 0,
+			uint32_t parameter2 = 0 );
 	void sendFailureReport(uint8_t report_id,
-			uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, ReturnValue_t error_code = 0, uint8_t step = 0,
+			uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
+			ReturnValue_t error_code = 0, uint8_t step = 0,
 			uint32_t parameter1 = 0, uint32_t parameter2 = 0);
+
 	void initialize();
+
 private:
 	static object_id_t messageReceiver;
 	MessageQueueId_t acknowledgeQueue;
-
-
 };
 
-#endif /* VERIFICATIONREPORTER_H_ */
+#endif /* FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_ */