Merge pull request 'thermal update' (#296) from KSat/fsfw:mueller/thermal-update into development

Reviewed-on: fsfw/fsfw#296

thermal/AbstractTemperatureSensor.cpp

@@ -44,19 +44,19 @@ ReturnValue_t AbstractTemperatureSensor::performHealthOp() {
 }
 
 void AbstractTemperatureSensor::handleCommandQueue() {
-	CommandMessage message;
+	CommandMessage command;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		result = parameterHelper.handleParameterMessage(&message);
+		result = parameterHelper.handleParameterMessage(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		message.setToUnknownCommand();
+		command.setToUnknownCommand();
-		commandQueue->reply(&message);
+		commandQueue->reply(&command);
 	}
 }
 

thermal/AbstractTemperatureSensor.h

@@ -10,6 +10,16 @@
 #include "ThermalModuleIF.h"
 #include "tcsDefinitions.h"
 
+/**
+ * @defgroup thermal Thermal Components
+ * @brief Contains all components related to thermal tasks (sensors, heaters)
+ */
+
+/**
+ * @brief Base class for Temperature Sensor, implements all important interfaces.
+ *        Please use the TemperatureSensor class to implement the actual sensors.
+ * @ingroup thermal
+ */
 class AbstractTemperatureSensor: public HasHealthIF,
 		public SystemObject,
 		public ExecutableObjectIF,

thermal/AcceptsThermalMessagesIF.h

@@ -0,0 +1,22 @@
+/**
+ * \file AcceptsThermalMessagesIF.h
+ *
+ * \date 16.02.2020
+ */
+
+#ifndef FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_
+#define FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_
+#include "../ipc/MessageQueueSenderIF.h"
+
+class AcceptsThermalMessagesIF {
+public:
+
+	/**
+	 * @brief	This is the empty virtual destructor as required for C++ interfaces.
+	 */
+	virtual ~AcceptsThermalMessagesIF() { }
+
+	virtual MessageQueueId_t getReceptionQueue() const = 0;
+};
+
+#endif /* FRAMEWORK_THERMAL_ACCEPTSTHERMALMESSAGESIF_H_ */

thermal/CoreComponent.h

@@ -1,96 +0,0 @@
-#ifndef MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
-#define MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_
-
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../thermal/ThermalComponentIF.h"
-#include "../thermal/AbstractTemperatureSensor.h"
-#include "../thermal/ThermalModule.h"
-#include "../thermal/ThermalMonitor.h"
-
-// TODO: Documentaiton, how to use this? only use Thermal Component, which inherits core component?
-class CoreComponent: public ThermalComponentIF {
-public:
-	struct Parameters {
-		float lowerOpLimit;
-		float upperOpLimit;
-		float heaterOn;
-		float hysteresis;
-		float heaterSwitchoff;
-	};
-
-	static const uint16_t COMPONENT_TEMP_CONFIRMATION = 5;
-
-	CoreComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
-			uint32_t targetStatePoolId, uint32_t currentStatePoolId,
-			uint32_t requestPoolId, GlobDataSet *dataSet,
-			AbstractTemperatureSensor *sensor,
-			AbstractTemperatureSensor *firstRedundantSensor,
-			AbstractTemperatureSensor *secondRedundantSensor,
-			ThermalModuleIF *thermalModule, Parameters parameters,
-			Priority priority, StateRequest initialTargetState =
-					ThermalComponentIF::STATE_REQUEST_OPERATIONAL);
-
-	virtual ~CoreComponent();
-
-	virtual HeaterRequest performOperation(uint8_t opCode);
-
-	void markStateIgnored();
-
-	object_id_t getObjectId();
-
-	uint8_t getDomainId() const;
-
-	virtual float getLowerOpLimit();
-
-	ReturnValue_t setTargetState(int8_t newState);
-
-	virtual void setOutputInvalid();
-
-	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
-			ParameterWrapper *parameterWrapper,
-			const ParameterWrapper *newValues, uint16_t startAtIndex);
-
-protected:
-
-	AbstractTemperatureSensor *sensor;
-	AbstractTemperatureSensor *firstRedundantSensor;
-	AbstractTemperatureSensor *secondRedundantSensor;
-	ThermalModuleIF *thermalModule;
-
-	gp_float_t temperature;
-	gp_int8_t targetState;
-	gp_int8_t currentState;
-	gp_uint8_t heaterRequest;
-
-	bool isHeating;
-
-	bool isSafeComponent;
-
-	float minTemp;
-
-	float maxTemp;
-
-	Parameters parameters;
-
-	ThermalMonitor temperatureMonitor;
-
-	const uint8_t domainId;
-
-	virtual float getTemperature();
-	virtual State getState(float temperature, Parameters parameters,
-			int8_t targetState);
-
-	virtual void checkLimits(State state);
-
-	virtual HeaterRequest getHeaterRequest(int8_t targetState,
-			float temperature, Parameters parameters);
-
-	virtual State getIgnoredState(int8_t state);
-
-	void updateMinMaxTemp();
-
-	virtual Parameters getParameters();
-};
-
-#endif /* MISSION_CONTROLLERS_TCS_CORECOMPONENT_H_ */

thermal/Heater.cpp

@@ -279,14 +279,14 @@ ReturnValue_t Heater::initialize() {
 }
 
 void Heater::handleQueue() {
-	CommandMessage message;
+	CommandMessage command;
-	ReturnValue_t result = commandQueue->receiveMessage(&message);
+	ReturnValue_t result = commandQueue->receiveMessage(&command);
 	if (result == HasReturnvaluesIF::RETURN_OK) {
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == HasReturnvaluesIF::RETURN_OK) {
 			return;
 		}
-		parameterHelper.handleParameterMessage(&message);
+		parameterHelper.handleParameterMessage(&command);
 	}
 }
 
@@ -301,7 +301,7 @@ ReturnValue_t Heater::getParameter(uint8_t domainId, uint16_t parameterId,
 		parameterWrapper->set(heaterOnCountdown.timeout);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

thermal/RedundantHeater.h

@@ -1,7 +1,7 @@
 #ifndef REDUNDANTHEATER_H_
 #define REDUNDANTHEATER_H_
 
-#include "Heater.h"
+#include "../thermal/Heater.h"
 
 class RedundantHeater {
 public:
@@ -10,15 +10,14 @@ public:
 		Parameters(uint32_t objectIdHeater0, uint32_t objectIdHeater1,
 				uint8_t switch0Heater0, uint8_t switch1Heater0,
 				uint8_t switch0Heater1, uint8_t switch1Heater1) :
-				objectIdHeater0(objectIdHeater0), objectIdHeater1(
+				objectIdHeater0(objectIdHeater0), objectIdHeater1(objectIdHeater1),
-						objectIdHeater1), switch0Heater0(switch0Heater0), switch1Heater0(
+				switch0Heater0(switch0Heater0),switch1Heater0(switch1Heater0),
-						switch1Heater0), switch0Heater1(switch0Heater1), switch1Heater1(
+				switch0Heater1(switch0Heater1), switch1Heater1(switch1Heater1) {
-						switch1Heater1) {
 		}
 
 		Parameters() :
-				objectIdHeater0(0), objectIdHeater1(0), switch0Heater0(0), switch1Heater0(
+				objectIdHeater0(0), objectIdHeater1(0), switch0Heater0(0),
-						0), switch0Heater1(0), switch1Heater1(0) {
+				switch1Heater0(0), switch0Heater1(0), switch1Heater1(0) {
 		}
 
 		uint32_t objectIdHeater0;

thermal/TemperatureSensor.h

@@ -1,40 +1,101 @@
 #ifndef TEMPERATURESENSOR_H_
 #define TEMPERATURESENSOR_H_
 
-#include "../datapool/DataSet.h"
+#include "../thermal/AbstractTemperatureSensor.h"
-#include "AbstractTemperatureSensor.h"
+#include "../datapoolglob/GlobalDataSet.h"
+#include "../datapoolglob/GlobalPoolVariable.h"
 #include "../monitoring/LimitMonitor.h"
 
-template<typename T>
+/**
+ * @brief 	This building block handles non-linear value conversion and
+ * 			range checks for analog temperature sensors.
+ * @details This class can be used to perform all necessary tasks for temperature sensors.
+ *          A sensor can be instantiated by calling the constructor.
+ *          The temperature is calculated from an input value with
+ *			the calculateOutputTemperature() function. Range checking and
+ *			limit monitoring is performed automatically.
+ *			The inputType specifies the type of the raw input while the
+ *			limitType specifies the type of the upper and lower limit to check against.
+ * @ingroup thermal
+ */
+
+template<typename inputType, typename limitType = inputType>
 class TemperatureSensor: public AbstractTemperatureSensor {
 public:
+	/**
+	 * This structure contains parameters required for range checking
+	 * and the conversion from the input value to the output temperature.
+	 * a, b and c can be any parameters required to calculate the output
+	 * temperature from the input value, depending on the formula used.
+	 *
+	 * The parameters a,b and c are used in the calculateOutputTemperature() call.
+	 *
+	 * The lower and upper limits can be specified in any type, for example float for C values
+	 * or any other type for raw values.
+	 */
 	struct Parameters {
 		float a;
 		float b;
 		float c;
-		T lowerLimit;
+		limitType lowerLimit;
-		T upperLimit;
+		limitType upperLimit;
-		float gradient;
+		float maxGradient;
 	};
+
+	/**
+	 * Forward declaration for explicit instantiation of used parameters.
+	 */
 	struct UsedParameters {
 		UsedParameters(Parameters parameters) :
-				a(parameters.a), b(parameters.b), c(parameters.c), gradient(
+			a(parameters.a), b(parameters.b), c(parameters.c),
-						parameters.gradient) {
+			gradient(parameters.maxGradient) {}
-		}
 		float a;
 		float b;
 		float c;
 		float gradient;
 	};
 
-	static const uint16_t ADDRESS_A = 0;
+	/**
-	static const uint16_t ADDRESS_B = 1;
+	 * Instantiate Temperature Sensor Object.
-	static const uint16_t ADDRESS_C = 2;
+	 * @param setObjectid objectId of the sensor object
-	static const uint16_t ADDRESS_GRADIENT = 3;
+	 * @param inputValue Input value which is converted to a temperature
+	 * @param poolVariable Pool Variable to store the temperature value
+	 * @param vectorIndex Vector Index for the sensor monitor
+	 * @param parameters Calculation parameters, temperature limits, gradient limit
+	 * @param datapoolId Datapool ID of the output temperature
+	 * @param outputSet Output dataset for the output temperature to fetch it with read()
+	 * @param thermalModule respective thermal module, if it has one
+	 */
+	TemperatureSensor(object_id_t setObjectid,
+			inputType *inputValue, PoolVariableIF *poolVariable,
+			uint8_t vectorIndex, uint32_t datapoolId, Parameters parameters = {0, 0, 0, 0, 0, 0},
+			GlobDataSet *outputSet = NULL, ThermalModuleIF *thermalModule = NULL) :
+			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(parameters),
+			inputValue(inputValue), poolVariable(poolVariable),
+			outputTemperature(datapoolId, outputSet, PoolVariableIF::VAR_WRITE),
+			sensorMonitor(setObjectid, DOMAIN_ID_SENSOR,
+				GlobalDataPool::poolIdAndPositionToPid(poolVariable->getDataPoolId(), vectorIndex),
+				DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit, parameters.upperLimit,
+				TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH),
+			oldTemperature(20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
+	}
+
+
+protected:
+	/**
+	 * This formula is used to calculate the temperature from an input value
+	 * with an arbitrary type.
+	 * A default implementation is provided but can be replaced depending
+	 * on the required calculation.
+	 * @param inputTemperature
+	 * @return
+	 */
+	virtual float calculateOutputTemperature(inputType inputValue) {
+		return parameters.a * inputValue * inputValue
+				+ parameters.b * inputValue + parameters.c;
+	}
 
-	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)
 
-	static const uint8_t DOMAIN_ID_SENSOR = 1;
 private:
 	void setInvalid() {
 		outputTemperature = INVALID_TEMPERATURE;
@@ -47,22 +108,17 @@ protected:
 
 	UsedParameters parameters;
 
-	T *inputTemperature;
+	inputType * inputValue;
 
 	PoolVariableIF *poolVariable;
 
-	PoolVariable<float> outputTemperature;
+	gp_float_t outputTemperature;
 
-	LimitMonitor<T> sensorMonitor;
+	LimitMonitor<limitType> sensorMonitor;
 
 	float oldTemperature;
 	timeval uptimeOfOldTemperature;
 
-	virtual float calculateOutputTemperature(T inputTemperature) {
-		return parameters.a * inputTemperature * inputTemperature
-				+ parameters.b * inputTemperature + parameters.c;
-	}
-
 	void doChildOperation() {
 		if (!poolVariable->isValid()
 				|| !healthHelper.healthTable->isHealthy(getObjectId())) {
@@ -70,7 +126,7 @@ protected:
 			return;
 		}
 
-		outputTemperature = calculateOutputTemperature(*inputTemperature);
+		outputTemperature = calculateOutputTemperature(*inputValue);
 		outputTemperature.setValid(PoolVariableIF::VALID);
 
 		timeval uptime;
@@ -78,7 +134,7 @@ protected:
 
 		if (uptimeOfOldTemperature.tv_sec != INVALID_UPTIME) {
 			//In theory, we could use an AbsValueMonitor to monitor the gradient.
-			//But this would require storing the gradient in DP and quite some overhead.
+			//But this would require storing the maxGradient in DP and quite some overhead.
 			//The concept of delta limits is a bit strange anyway.
 			float deltaTime;
 			float deltaTemp;
@@ -96,8 +152,8 @@ protected:
 			}
 		}
 
-		//Check is done against raw limits. SHOULDDO: Why? Using °C would be more easy to handle.
+		//Check is done against raw limits. SHOULDDO: Why? Using <EFBFBD>C would be more easy to handle.
-		sensorMonitor.doCheck(*inputTemperature);
+		sensorMonitor.doCheck(outputTemperature.value);
 
 		if (sensorMonitor.isOutOfLimits()) {
 			uptimeOfOldTemperature.tv_sec = INVALID_UPTIME;
@@ -110,23 +166,6 @@ protected:
 	}
 
 public:
-	TemperatureSensor(object_id_t setObjectid,
-			T *inputTemperature, PoolVariableIF *poolVariable,
-			uint8_t vectorIndex, Parameters parameters, uint32_t datapoolId,
-			DataSet *outputSet, ThermalModuleIF *thermalModule) :
-			AbstractTemperatureSensor(setObjectid, thermalModule), parameters(
-					parameters), inputTemperature(inputTemperature), poolVariable(
-					poolVariable), outputTemperature(datapoolId, outputSet,
-					PoolVariableIF::VAR_WRITE), sensorMonitor(setObjectid,
-							DOMAIN_ID_SENSOR,
-					DataPool::poolIdAndPositionToPid(
-							poolVariable->getDataPoolId(), vectorIndex),
-					DEFAULT_CONFIRMATION_COUNT, parameters.lowerLimit,
-					parameters.upperLimit, TEMP_SENSOR_LOW, TEMP_SENSOR_HIGH), oldTemperature(
-					20), uptimeOfOldTemperature( { INVALID_TEMPERATURE, 0 }) {
-
-	}
-
 	float getTemperature() {
 		return outputTemperature;
 	}
@@ -135,6 +174,15 @@ public:
 		return outputTemperature.isValid();
 	}
 
+	static const uint16_t ADDRESS_A = 0;
+	static const uint16_t ADDRESS_B = 1;
+	static const uint16_t ADDRESS_C = 2;
+	static const uint16_t ADDRESS_GRADIENT = 3;
+
+	static const uint16_t DEFAULT_CONFIRMATION_COUNT = 1; //!< Changed due to issue with later temperature checking even tough the sensor monitor was confirming already (Was 10 before with comment = Correlates to a 10s confirmation time. Chosen rather large, should not be so bad for components and helps survive glitches.)
+
+	static const uint8_t DOMAIN_ID_SENSOR = 1;
+
 	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
 			ParameterWrapper *parameterWrapper,
 			const ParameterWrapper *newValues, uint16_t startAtIndex) {
@@ -160,7 +208,7 @@ public:
 			parameterWrapper->set(parameters.gradient);
 			break;
 		default:
-			return INVALID_MATRIX_ID;
+			return INVALID_IDENTIFIER_ID;
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	}

thermal/ThermalComponent.cpp

@@ -1,20 +1,20 @@
 #include "ThermalComponent.h"
 
 ThermalComponent::ThermalComponent(object_id_t reportingObjectId,
-		uint8_t domainId, uint32_t temperaturePoolId,
+		uint8_t domainId, gp_id_t temperaturePoolId,
-		uint32_t targetStatePoolId, uint32_t currentStatePoolId,
+		gp_id_t targetStatePoolId, gp_id_t currentStatePoolId,
-		uint32_t requestPoolId, GlobDataSet* dataSet,
+		gp_id_t requestPoolId, LocalPoolDataSetBase* dataSet,
 		AbstractTemperatureSensor* sensor,
 		AbstractTemperatureSensor* firstRedundantSensor,
 		AbstractTemperatureSensor* secondRedundantSensor,
 		ThermalModuleIF* thermalModule, Parameters parameters,
 		Priority priority) :
-		CoreComponent(reportingObjectId, domainId, temperaturePoolId,
+		ThermalComponentCore(reportingObjectId, domainId, temperaturePoolId,
 				targetStatePoolId, currentStatePoolId, requestPoolId, dataSet,
-				sensor, firstRedundantSensor, secondRedundantSensor,
+				{ parameters.lowerOpLimit, parameters.upperOpLimit,
-				thermalModule,{ parameters.lowerOpLimit, parameters.upperOpLimit,
+				parameters.heaterOn, parameters.hysteresis,
-				parameters.heaterOn, parameters.hysteresis, parameters.heaterSwitchoff },
+				parameters.heaterSwitchoff },
-				priority, ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
+				ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL),
 		nopParameters({ parameters.lowerNopLimit, parameters.upperNopLimit }) {
 }
 
@@ -22,22 +22,22 @@ ThermalComponent::~ThermalComponent() {
 }
 
 ReturnValue_t ThermalComponent::setTargetState(int8_t newState) {
-	GlobDataSet mySet;
+	targetState.setReadWriteMode(pool_rwm_t::VAR_READ_WRITE);
-	gp_int8_t writableTargetState(targetState.getDataPoolId(),
+	targetState.read();
-			&mySet, PoolVariableIF::VAR_READ_WRITE);
+	if ((targetState == STATE_REQUEST_OPERATIONAL)
-	mySet.read();
+			and (newState != STATE_REQUEST_IGNORE)) {
-	if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
-			&& (newState != STATE_REQUEST_IGNORE)) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	switch (newState) {
 	case STATE_REQUEST_NON_OPERATIONAL:
-		writableTargetState = newState;
+		targetState = newState;
-		mySet.commit(PoolVariableIF::VALID);
+		targetState.setValid(true);
+		targetState.commit(PoolVariableIF::VALID);
 		return HasReturnvaluesIF::RETURN_OK;
 	default:
-		return CoreComponent::setTargetState(newState);
+		return ThermalComponentCore::setTargetState(newState);
 	}
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
@@ -57,11 +57,11 @@ ReturnValue_t ThermalComponent::setLimits(const uint8_t* data, size_t size) {
 }
 
 ThermalComponentIF::State ThermalComponent::getState(float temperature,
-		CoreComponent::Parameters parameters, int8_t targetState) {
+		ThermalComponentCore::Parameters parameters, int8_t targetState) {
 	if (temperature < nopParameters.lowerNopLimit) {
 		return OUT_OF_RANGE_LOW;
 	} else {
-		State state = CoreComponent::getState(temperature, parameters,
+		State state = ThermalComponentCore::getState(temperature, parameters,
 				targetState);
 		if (state != NON_OPERATIONAL_HIGH
 				&& state != NON_OPERATIONAL_HIGH_IGNORED) {
@@ -78,18 +78,19 @@ ThermalComponentIF::State ThermalComponent::getState(float temperature,
 }
 
 void ThermalComponent::checkLimits(ThermalComponentIF::State state) {
-	if (targetState == STATE_REQUEST_OPERATIONAL || targetState == STATE_REQUEST_IGNORE) {
+	if ((targetState == STATE_REQUEST_OPERATIONAL) or
-		CoreComponent::checkLimits(state);
+			(targetState == STATE_REQUEST_IGNORE)) {
+		ThermalComponentCore::checkLimits(state);
 		return;
 	}
-	//If component is not operational, it checks the NOP limits.
+	// If component is not operational, it checks the NOP limits.
 	temperatureMonitor.translateState(state, temperature.value,
 			nopParameters.lowerNopLimit, nopParameters.upperNopLimit, false);
 }
 
 ThermalComponentIF::HeaterRequest ThermalComponent::getHeaterRequest(
 		int8_t targetState, float temperature,
-		CoreComponent::Parameters parameters) {
+		ThermalComponentCore::Parameters parameters) {
 	if (targetState == STATE_REQUEST_IGNORE) {
 		isHeating = false;
 		return HEATER_DONT_CARE;
@@ -142,16 +143,16 @@ ThermalComponentIF::State ThermalComponent::getIgnoredState(int8_t state) {
 	case OUT_OF_RANGE_HIGH_IGNORED:
 		return OUT_OF_RANGE_HIGH_IGNORED;
 	default:
-		return CoreComponent::getIgnoredState(state);
+		return ThermalComponentCore::getIgnoredState(state);
 	}
 }
 
 ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
 		uint16_t parameterId, ParameterWrapper* parameterWrapper,
 		const ParameterWrapper* newValues, uint16_t startAtIndex) {
-	ReturnValue_t result = CoreComponent::getParameter(domainId, parameterId,
+	ReturnValue_t result = ThermalComponentCore::getParameter(domainId, parameterId,
 			parameterWrapper, newValues, startAtIndex);
-	if (result != INVALID_MATRIX_ID) {
+	if (result != INVALID_IDENTIFIER_ID) {
 		return result;
 	}
 	switch (parameterId) {
@@ -162,7 +163,7 @@ ReturnValue_t ThermalComponent::getParameter(uint8_t domainId,
 		parameterWrapper->set(nopParameters.upperNopLimit);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

thermal/ThermalComponent.h

@@ -1,12 +1,14 @@
-#ifndef THERMALCOMPONENT_H_
+#ifndef FSFW_THERMAL_THERMALCOMPONENT_H_
-#define THERMALCOMPONENT_H_
+#define FSFW_THERMAL_THERMALCOMPONENT_H_
 
-#include "CoreComponent.h"
+#include "ThermalComponentCore.h"
 
 /**
- * What is it. How to use
+ * @brief
+ * @details
+ * Some more documentation.
  */
-class ThermalComponent: public CoreComponent {
+class ThermalComponent: public ThermalComponentCore {
 public:
 	struct Parameters {
 		float lowerNopLimit;
@@ -42,9 +44,10 @@ public:
 	 * @param parameters
 	 * @param priority
 	 */
-	ThermalComponent(object_id_t reportingObjectId, uint8_t domainId, uint32_t temperaturePoolId,
+	ThermalComponent(object_id_t reportingObjectId, uint8_t domainId,
-			uint32_t targetStatePoolId, uint32_t currentStatePoolId, uint32_t requestPoolId,
+	        gp_id_t temperaturePoolId, gp_id_t targetStatePoolId,
-			GlobDataSet *dataSet, AbstractTemperatureSensor *sensor,
+	        gp_id_t currentStatePoolId, gp_id_t requestPoolId,
+			LocalPoolDataSetBase *dataSet, AbstractTemperatureSensor *sensor,
 			AbstractTemperatureSensor *firstRedundantSensor,
 			AbstractTemperatureSensor *secondRedundantSensor,
 			ThermalModuleIF *thermalModule, Parameters parameters,
@@ -63,15 +66,15 @@ protected:
 
 	NopParameters nopParameters;
 
-	State getState(float temperature, CoreComponent::Parameters parameters,
+	State getState(float temperature, ThermalComponentCore::Parameters parameters,
 			int8_t targetState);
 
 	virtual void checkLimits(State state);
 
 	virtual HeaterRequest getHeaterRequest(int8_t targetState, float temperature,
-			CoreComponent::Parameters parameters);
+			ThermalComponentCore::Parameters parameters);
 
 	State getIgnoredState(int8_t state);
 };
 
-#endif /* THERMALCOMPONENT_H_ */
+#endif /* FSFW_THERMAL_THERMALCOMPONENT_H_ */

thermal/ThermalComponentCore.cpp

@@ -1,50 +1,73 @@
-#include "CoreComponent.h"
+#include "ThermalComponentCore.h"
 
-CoreComponent::CoreComponent(object_id_t reportingObjectId, uint8_t domainId,
+ThermalComponentCore::ThermalComponentCore(object_id_t reportingObjectId,
-		uint32_t temperaturePoolId, uint32_t targetStatePoolId,
+        uint8_t domainId, gp_id_t temperaturePoolId,
-		uint32_t currentStatePoolId, uint32_t requestPoolId, GlobDataSet* dataSet,
+        gp_id_t targetStatePoolId, gp_id_t currentStatePoolId,
-		AbstractTemperatureSensor* sensor,
+		gp_id_t requestPoolId, LocalPoolDataSetBase* dataSet,
-		AbstractTemperatureSensor* firstRedundantSensor,
+		Parameters parameters, StateRequest initialTargetState) :
-		AbstractTemperatureSensor* secondRedundantSensor,
+		temperature(temperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE),
-		ThermalModuleIF* thermalModule, Parameters parameters,
+		targetState(targetStatePoolId, dataSet, PoolVariableIF::VAR_READ),
-		Priority priority, StateRequest initialTargetState) :
+		currentState(currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE),
-		sensor(sensor), firstRedundantSensor(firstRedundantSensor), secondRedundantSensor(
+		heaterRequest(requestPoolId, dataSet, PoolVariableIF::VAR_WRITE),
-				secondRedundantSensor), thermalModule(thermalModule), temperature(
+		parameters(parameters), domainId(domainId),
-				temperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
+		temperatureMonitor(reportingObjectId, domainId + 1,temperaturePoolId,
-				targetStatePoolId, dataSet, PoolVariableIF::VAR_READ), currentState(
+				COMPONENT_TEMP_CONFIRMATION) {
-				currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), heaterRequest(
-				requestPoolId, dataSet, PoolVariableIF::VAR_WRITE), isHeating(
-		false), isSafeComponent(priority == SAFE), minTemp(999), maxTemp(
-				AbstractTemperatureSensor::ZERO_KELVIN_C), parameters(
-				parameters), temperatureMonitor(reportingObjectId,
-				domainId + 1,
-				GlobalDataPool::poolIdAndPositionToPid(temperaturePoolId, 0),
-				COMPONENT_TEMP_CONFIRMATION), domainId(domainId) {
-	if (thermalModule != NULL) {
-		thermalModule->registerComponent(this, priority);
-	}
 	//Set thermal state once, then leave to operator.
-	GlobDataSet mySet;
+	targetState.setReadWriteMode(PoolVariableIF::VAR_WRITE);
-	gp_uint8_t writableTargetState(targetStatePoolId, &mySet,
+	ReturnValue_t result = targetState.read();
-			PoolVariableIF::VAR_WRITE);
+	if(result == HasReturnvaluesIF::RETURN_OK) {
-	writableTargetState = initialTargetState;
+		targetState = initialTargetState;
-	mySet.commit(PoolVariableIF::VALID);
+		targetState.setValid(true);
+		targetState.commit();
+	}
+	targetState.setReadWriteMode(PoolVariableIF::VAR_READ);
 }
 
-CoreComponent::~CoreComponent() {
+void ThermalComponentCore::addSensor(AbstractTemperatureSensor* sensor) {
+    this->sensor = sensor;
 }
 
-ThermalComponentIF::HeaterRequest CoreComponent::performOperation(uint8_t opCode) {
+void ThermalComponentCore::addFirstRedundantSensor(
+        AbstractTemperatureSensor *firstRedundantSensor) {
+    this->firstRedundantSensor = firstRedundantSensor;
+}
+
+void ThermalComponentCore::addSecondRedundantSensor(
+        AbstractTemperatureSensor *secondRedundantSensor) {
+    this->secondRedundantSensor = secondRedundantSensor;
+}
+
+void ThermalComponentCore::addThermalModule(ThermalModule *thermalModule,
+        Priority priority) {
+    this->thermalModule = thermalModule;
+    if(thermalModule != nullptr) {
+        thermalModule->registerComponent(this, priority);
+    }
+}
+
+void ThermalComponentCore::setPriority(Priority priority) {
+    if(priority == SAFE) {
+        this->isSafeComponent = true;
+    }
+}
+
+ThermalComponentCore::~ThermalComponentCore() {
+}
+
+ThermalComponentIF::HeaterRequest ThermalComponentCore::performOperation(
+        uint8_t opCode) {
 	HeaterRequest request = HEATER_DONT_CARE;
 	//SHOULDDO: Better pass db_float_t* to getTemperature and set it invalid if invalid.
 	temperature = getTemperature();
 	updateMinMaxTemp();
-	if ((temperature != INVALID_TEMPERATURE)) {
+	if (temperature != INVALID_TEMPERATURE) {
 		temperature.setValid(PoolVariableIF::VALID);
-		State state = getState(temperature, getParameters(), targetState);
+		State state = getState(temperature.value, getParameters(),
+				targetState.value);
 		currentState = state;
 		checkLimits(state);
-		request = getHeaterRequest(targetState, temperature, getParameters());
+		request = getHeaterRequest(targetState.value, temperature.value,
+				getParameters());
 	} else {
 		temperatureMonitor.setToInvalid();
 		temperature.setValid(PoolVariableIF::INVALID);
@@ -57,42 +80,45 @@ ThermalComponentIF::HeaterRequest CoreComponent::performOperation(uint8_t opCode
 	return request;
 }
 
-void CoreComponent::markStateIgnored() {
+void ThermalComponentCore::markStateIgnored() {
-	currentState = getIgnoredState(currentState);
+	currentState = getIgnoredState(currentState.value);
 }
 
-object_id_t CoreComponent::getObjectId() {
+object_id_t ThermalComponentCore::getObjectId() {
 	return temperatureMonitor.getReporterId();
+	return 0;
 }
 
-float CoreComponent::getLowerOpLimit() {
+float ThermalComponentCore::getLowerOpLimit() {
 	return parameters.lowerOpLimit;
 }
 
-ReturnValue_t CoreComponent::setTargetState(int8_t newState) {
+
-	GlobDataSet mySet;
+
-	gp_uint8_t writableTargetState(targetState.getDataPoolId(),
+ReturnValue_t ThermalComponentCore::setTargetState(int8_t newState) {
-			&mySet, PoolVariableIF::VAR_READ_WRITE);
+	targetState.setReadWriteMode(pool_rwm_t::VAR_READ_WRITE);
-	mySet.read();
+	targetState.read();
-	if ((writableTargetState == STATE_REQUEST_OPERATIONAL)
+	if((targetState == STATE_REQUEST_OPERATIONAL) and
-			&& (newState != STATE_REQUEST_IGNORE)) {
+			(newState != STATE_REQUEST_IGNORE)) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
+
 	switch (newState) {
 	case STATE_REQUEST_HEATING:
 	case STATE_REQUEST_IGNORE:
 	case STATE_REQUEST_OPERATIONAL:
-		writableTargetState = newState;
+		targetState = newState;
 		break;
 	case STATE_REQUEST_NON_OPERATIONAL:
 	default:
 		return INVALID_TARGET_STATE;
 	}
-	mySet.commit(PoolVariableIF::VALID);
+	targetState.setValid(true);
+	targetState.commit();
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void CoreComponent::setOutputInvalid() {
+void ThermalComponentCore::setOutputInvalid() {
 	temperature = INVALID_TEMPERATURE;
 	temperature.setValid(PoolVariableIF::INVALID);
 	currentState.setValid(PoolVariableIF::INVALID);
@@ -101,20 +127,22 @@ void CoreComponent::setOutputInvalid() {
 	temperatureMonitor.setToUnchecked();
 }
 
-float CoreComponent::getTemperature() {
+float ThermalComponentCore::getTemperature() {
-	if ((sensor != NULL) && (sensor->isValid())) {
+	if ((sensor != nullptr) && (sensor->isValid())) {
 		return sensor->getTemperature();
 	}
 
-	if ((firstRedundantSensor != NULL) && (firstRedundantSensor->isValid())) {
+	if ((firstRedundantSensor != nullptr) &&
+	        (firstRedundantSensor->isValid())) {
 		return firstRedundantSensor->getTemperature();
 	}
 
-	if ((secondRedundantSensor != NULL) && (secondRedundantSensor->isValid())) {
+	if ((secondRedundantSensor != nullptr) &&
+	        (secondRedundantSensor->isValid())) {
 		return secondRedundantSensor->getTemperature();
 	}
 
-	if (thermalModule != NULL) {
+	if (thermalModule != nullptr) {
 		float temperature = thermalModule->getTemperature();
 		if (temperature != ThermalModuleIF::INVALID_TEMPERATURE) {
 			return temperature;
@@ -126,7 +154,7 @@ float CoreComponent::getTemperature() {
 	}
 }
 
-ThermalComponentIF::State CoreComponent::getState(float temperature,
+ThermalComponentIF::State ThermalComponentCore::getState(float temperature,
 		Parameters parameters, int8_t targetState) {
 	ThermalComponentIF::State state;
 
@@ -144,14 +172,14 @@ ThermalComponentIF::State CoreComponent::getState(float temperature,
 	return state;
 }
 
-void CoreComponent::checkLimits(ThermalComponentIF::State state) {
+void ThermalComponentCore::checkLimits(ThermalComponentIF::State state) {
 	//Checks operational limits only.
 	temperatureMonitor.translateState(state, temperature.value,
 			getParameters().lowerOpLimit, getParameters().upperOpLimit);
 
 }
 
-ThermalComponentIF::HeaterRequest CoreComponent::getHeaterRequest(
+ThermalComponentIF::HeaterRequest ThermalComponentCore::getHeaterRequest(
 		int8_t targetState, float temperature, Parameters parameters) {
 	if (targetState == STATE_REQUEST_IGNORE) {
 		isHeating = false;
@@ -177,7 +205,7 @@ ThermalComponentIF::HeaterRequest CoreComponent::getHeaterRequest(
 	return HEATER_DONT_CARE;
 }
 
-ThermalComponentIF::State CoreComponent::getIgnoredState(int8_t state) {
+ThermalComponentIF::State ThermalComponentCore::getIgnoredState(int8_t state) {
 	switch (state) {
 	case NON_OPERATIONAL_LOW:
 		return NON_OPERATIONAL_LOW_IGNORED;
@@ -197,27 +225,27 @@ ThermalComponentIF::State CoreComponent::getIgnoredState(int8_t state) {
 	}
 }
 
-void CoreComponent::updateMinMaxTemp() {
+void ThermalComponentCore::updateMinMaxTemp() {
 	if (temperature == INVALID_TEMPERATURE) {
 		return;
 	}
 	if (temperature < minTemp) {
-		minTemp = temperature;
+		minTemp = static_cast<float>(temperature);
 	}
 	if (temperature > maxTemp) {
-		maxTemp = temperature;
+		maxTemp = static_cast<float>(temperature);
 	}
 }
 
-uint8_t CoreComponent::getDomainId() const {
+uint8_t ThermalComponentCore::getDomainId() const {
 	return domainId;
 }
 
-CoreComponent::Parameters CoreComponent::getParameters() {
+ThermalComponentCore::Parameters ThermalComponentCore::getParameters() {
 	return parameters;
 }
 
-ReturnValue_t CoreComponent::getParameter(uint8_t domainId,
+ReturnValue_t ThermalComponentCore::getParameter(uint8_t domainId,
 		uint16_t parameterId, ParameterWrapper* parameterWrapper,
 		const ParameterWrapper* newValues, uint16_t startAtIndex) {
 	ReturnValue_t result = temperatureMonitor.getParameter(domainId,
@@ -251,7 +279,7 @@ ReturnValue_t CoreComponent::getParameter(uint8_t domainId,
 		parameterWrapper->set(parameters.upperOpLimit);
 		break;
 	default:
-		return INVALID_MATRIX_ID;
+		return INVALID_IDENTIFIER_ID;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }

thermal/ThermalComponentCore.h

@@ -0,0 +1,117 @@
+#ifndef FSFW_THERMAL_THERMALCOMPONENTCORE_H_
+#define FSFW_THERMAL_THERMALCOMPONENTCORE_H_
+
+#include "ThermalMonitorReporter.h"
+#include "ThermalComponentIF.h"
+#include "AbstractTemperatureSensor.h"
+#include "ThermalModule.h"
+
+#include "../datapoollocal/LocalPoolVariable.h"
+
+/**
+ * @brief
+ * @details
+ */
+class ThermalComponentCore: public ThermalComponentIF {
+public:
+	struct Parameters {
+		float lowerOpLimit;
+		float upperOpLimit;
+		float heaterOn;
+		float hysteresis;
+		float heaterSwitchoff;
+	};
+
+	static const uint16_t COMPONENT_TEMP_CONFIRMATION = 5;
+
+	/**
+	 * Some documentation
+	 * @param reportingObjectId
+	 * @param domainId
+	 * @param temperaturePoolId
+	 * @param targetStatePoolId
+	 * @param currentStatePoolId
+	 * @param requestPoolId
+	 * @param dataSet
+	 * @param parameters
+	 * @param initialTargetState
+	 */
+	ThermalComponentCore(object_id_t reportingObjectId, uint8_t domainId,
+	        gp_id_t temperaturePoolId, gp_id_t targetStatePoolId,
+	        gp_id_t currentStatePoolId, gp_id_t requestPoolId,
+			LocalPoolDataSetBase* dataSet, Parameters parameters,
+			StateRequest initialTargetState =
+					ThermalComponentIF::STATE_REQUEST_OPERATIONAL);
+
+	void addSensor(AbstractTemperatureSensor* firstRedundantSensor);
+	void addFirstRedundantSensor(
+	        AbstractTemperatureSensor* firstRedundantSensor);
+    void addSecondRedundantSensor(
+            AbstractTemperatureSensor* secondRedundantSensor);
+    void addThermalModule(ThermalModule* thermalModule, Priority priority);
+
+    void setPriority(Priority priority);
+
+	virtual ~ThermalComponentCore();
+
+	virtual HeaterRequest performOperation(uint8_t opCode);
+
+	void markStateIgnored();
+
+	object_id_t getObjectId();
+
+	uint8_t getDomainId() const;
+
+	virtual float getLowerOpLimit();
+
+	ReturnValue_t setTargetState(int8_t newState);
+
+	virtual void setOutputInvalid();
+
+	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
+			ParameterWrapper *parameterWrapper,
+			const ParameterWrapper *newValues, uint16_t startAtIndex);
+
+protected:
+
+	AbstractTemperatureSensor *sensor = nullptr;
+	AbstractTemperatureSensor *firstRedundantSensor = nullptr;
+	AbstractTemperatureSensor *secondRedundantSensor = nullptr;
+	ThermalModuleIF *thermalModule = nullptr;
+
+	lp_var_t<float> temperature;
+	lp_var_t<int8_t> targetState;
+	lp_var_t<int8_t> currentState;
+	lp_var_t<uint8_t> heaterRequest;
+
+	bool isHeating = false;
+
+	bool isSafeComponent = false;
+
+	float minTemp = 999;
+
+	float maxTemp = AbstractTemperatureSensor::ZERO_KELVIN_C;
+
+	Parameters parameters;
+
+	const uint8_t domainId;
+
+	ThermalMonitorReporter temperatureMonitor;
+
+	virtual float getTemperature();
+	virtual State getState(float temperature, Parameters parameters,
+			int8_t targetState);
+
+	virtual void checkLimits(State state);
+
+	virtual HeaterRequest getHeaterRequest(int8_t targetState,
+			float temperature, Parameters parameters);
+
+	virtual State getIgnoredState(int8_t state);
+
+	void updateMinMaxTemp();
+
+	virtual Parameters getParameters();
+};
+
+#endif /* FSFW_THERMAL_THERMALCOMPONENT_CORE_H_ */

thermal/ThermalComponentIF.h

@@ -49,18 +49,18 @@ public:
 		SAFE = 0,             //!< SAFE
 		IDLE,                 //!< IDLE
 		PAYLOAD,              //!< PAYLOAD
-		NUMBER_OF_PRIORITIES          //!< MAX_PRIORITY
+		NUMBER_OF_PRIORITIES  //!< MAX_PRIORITY
 	};
 
 	/**
 	 * The elements are ordered by priority, lowest have highest priority
 	 */
 	enum HeaterRequest {
-		HEATER_REQUEST_EMERGENCY_OFF = 0,          //!< REQUEST_EMERGENCY_OFF
+		HEATER_REQUEST_EMERGENCY_OFF = 0,   //!< REQUEST_EMERGENCY_OFF
-		HEATER_REQUEST_EMERGENCY_ON, //!< REQUEST_EMERGENCY_ON
+		HEATER_REQUEST_EMERGENCY_ON,        //!< REQUEST_EMERGENCY_ON
-		HEATER_REQUEST_OFF,          //!< REQUEST_OFF
+		HEATER_REQUEST_OFF,                 //!< REQUEST_OFF
-		HEATER_REQUEST_ON,           //!< REQUEST_ON
+		HEATER_REQUEST_ON,                  //!< REQUEST_ON
-		HEATER_DONT_CARE             //!< DONT_CARE
+		HEATER_DONT_CARE                    //!< DONT_CARE
 	};
 
 	virtual ~ThermalComponentIF() {

thermal/ThermalModule.cpp

@@ -1,28 +1,31 @@
-#include "../monitoring/LimitViolationReporter.h"
-#include "../monitoring/MonitoringMessageContent.h"
 #include "ThermalModule.h"
-
 #include "AbstractTemperatureSensor.h"
 
-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId,
+#include "../monitoring/LimitViolationReporter.h"
-		uint32_t currentStatePoolId, uint32_t targetStatePoolId,
+#include "../monitoring/MonitoringMessageContent.h"
-		GlobDataSet *dataSet, Parameters parameters,
+
+
+ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
+		gp_id_t currentStatePoolId, gp_id_t targetStatePoolId,
+		LocalPoolDataSetBase *dataSet, Parameters parameters,
 		RedundantHeater::Parameters heaterParameters) :
-		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
+		oldStrategy(ACTIVE_SINGLE), parameters(parameters),
-				false), parameters(parameters), moduleTemperature(
+		moduleTemperature(moduleTemperaturePoolId, dataSet,
-				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), currentState(
+				PoolVariableIF::VAR_WRITE),
-				currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE), targetState(
+		currentState(currentStatePoolId, dataSet, PoolVariableIF::VAR_WRITE),
-				targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
+		targetState(targetStatePoolId, dataSet, PoolVariableIF::VAR_READ) {
 	heater = new RedundantHeater(heaterParameters);
 }
 
-ThermalModule::ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet* dataSet) :
+ThermalModule::ThermalModule(gp_id_t moduleTemperaturePoolId,
-		oldStrategy(ACTIVE_SINGLE), survivalTargetTemp(0), targetTemp(0), heating(
+		LocalPoolDataSetBase* dataSet) :
-				false), parameters( { 0, 0 }), moduleTemperature(
+		oldStrategy(ACTIVE_SINGLE), parameters( { 0, 0 }),
-				moduleTemperaturePoolId, dataSet, PoolVariableIF::VAR_WRITE), heater(
+		moduleTemperature(moduleTemperaturePoolId, dataSet,
-				NULL), currentState(PoolVariableIF::INVALID, dataSet,
+				PoolVariableIF::VAR_WRITE),
-				PoolVariableIF::VAR_WRITE), targetState(PoolVariableIF::INVALID,
+		currentState(gp_id_t(), dataSet,
-				dataSet, PoolVariableIF::VAR_READ) {
+				PoolVariableIF::VAR_WRITE),
+		targetState(gp_id_t(), dataSet,
+				PoolVariableIF::VAR_READ) {
 }
 
 ThermalModule::~ThermalModule() {
@@ -30,7 +33,7 @@ ThermalModule::~ThermalModule() {
 }
 
 void ThermalModule::performOperation(uint8_t opCode) {
-	if (heater != NULL) {
+	if (heater != nullptr) {
 		heater->performOperation(0);
 	}
 }
@@ -42,7 +45,7 @@ void ThermalModule::performMode(Strategy strategy) {
 	ThermalComponentIF::HeaterRequest componentHeaterRequest =
 			letComponentsPerformAndDeciceIfWeNeedToHeat(safeOnly);
 
-	if (heater == NULL) {
+	if (heater == nullptr) {
 		informComponentsAboutHeaterState(false, NONE);
 		return;
 	}
@@ -53,8 +56,8 @@ void ThermalModule::performMode(Strategy strategy) {
 		//Components overwrite the module request.
 		heating = ((componentHeaterRequest
 				== ThermalComponentIF::HEATER_REQUEST_ON)
-				|| (componentHeaterRequest
+				or (componentHeaterRequest
-						== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
+				== ThermalComponentIF::HEATER_REQUEST_EMERGENCY_ON));
 	}
 
 	bool dual = (strategy == ACTIVE_DUAL);
@@ -76,7 +79,7 @@ void ThermalModule::performMode(Strategy strategy) {
 }
 
 float ThermalModule::getTemperature() {
-	return moduleTemperature;
+	return moduleTemperature.value;
 }
 
 void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {
@@ -85,7 +88,8 @@ void ThermalModule::registerSensor(AbstractTemperatureSensor * sensor) {
 
 void ThermalModule::registerComponent(ThermalComponentIF* component,
 		ThermalComponentIF::Priority priority) {
-	components.push_back(ComponentData( { component, priority, ThermalComponentIF::HEATER_DONT_CARE }));
+	components.push_back(ComponentData( { component, priority,
+		ThermalComponentIF::HEATER_DONT_CARE }));
 }
 
 void ThermalModule::calculateTemperature() {
@@ -94,12 +98,13 @@ void ThermalModule::calculateTemperature() {
 	std::list<AbstractTemperatureSensor *>::iterator iter = sensors.begin();
 	for (; iter != sensors.end(); iter++) {
 		if ((*iter)->isValid()) {
-			moduleTemperature = moduleTemperature + (*iter)->getTemperature();
+			moduleTemperature = moduleTemperature.value +
+					(*iter)->getTemperature();
 			numberOfValidSensors++;
 		}
 	}
 	if (numberOfValidSensors != 0) {
-		moduleTemperature = moduleTemperature / numberOfValidSensors;
+		moduleTemperature = moduleTemperature.value / numberOfValidSensors;
 		moduleTemperature.setValid(PoolVariableIF::VALID);
 	} else {
 		moduleTemperature = INVALID_TEMPERATURE;
@@ -117,9 +122,10 @@ ThermalComponentIF* ThermalModule::findComponent(object_id_t objectId) {
 	return NULL;
 }
 
-ThermalComponentIF::HeaterRequest ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(
+ThermalComponentIF::HeaterRequest
-		bool safeOnly) {
+ThermalModule::letComponentsPerformAndDeciceIfWeNeedToHeat(bool safeOnly) {
-	ThermalComponentIF::HeaterRequest heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];
+	ThermalComponentIF::HeaterRequest
+	heaterRequests[ThermalComponentIF::NUMBER_OF_PRIORITIES];
 
 	survivalTargetTemp = -999;
 	targetTemp = -999;
@@ -224,7 +230,7 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 		limit = survivalTargetTemp;
 	}
 
-	if (moduleTemperature >= limit) {
+	if (moduleTemperature.value >= limit) {
 		currentState = OPERATIONAL;
 	} else {
 		currentState = NON_OPERATIONAL;
@@ -250,15 +256,16 @@ bool ThermalModule::calculateModuleHeaterRequestAndSetModuleStatus(
 }
 
 void ThermalModule::setHeating(bool on) {
-	GlobDataSet mySet;
+	ReturnValue_t result = targetState.read();
-	gp_int8_t writableTargetState(targetState.getDataPoolId(),
+	if(result == HasReturnvaluesIF::RETURN_OK) {
-			&mySet, PoolVariableIF::VAR_WRITE);
+		if(on) {
-	if (on) {
+			targetState.value = STATE_REQUEST_HEATING;
-		writableTargetState = STATE_REQUEST_HEATING;
+		}
-	} else {
+		else {
-		writableTargetState = STATE_REQUEST_PASSIVE;
+			targetState.value = STATE_REQUEST_PASSIVE;
+		}
 	}
-	mySet.commit(PoolVariableIF::VALID);
+	targetState.setValid(true);
 }
 
 void ThermalModule::updateTargetTemperatures(ThermalComponentIF* component,

thermal/ThermalModule.h

@@ -1,14 +1,18 @@
-#ifndef THERMALMODULE_H_
+#ifndef FSFW_THERMAL_THERMALMODULE_H_
-#define THERMALMODULE_H_
+#define FSFW_THERMAL_THERMALMODULE_H_
 
-#include "../datapoolglob/GlobalDataSet.h"
-#include "../datapoolglob/GlobalPoolVariable.h"
-#include "../devicehandlers/HealthDevice.h"
-#include "../events/EventReportingProxyIF.h"
 #include "ThermalModuleIF.h"
-#include <list>
 #include "tcsDefinitions.h"
 #include "RedundantHeater.h"
+
+#include "../datapoollocal/LocalPoolDataSetBase.h"
+#include "../datapoollocal/LocalPoolVariable.h"
+#include "../devicehandlers/HealthDevice.h"
+#include "../events/EventReportingProxyIF.h"
+
+#include <list>
+
+
 class PowerSwitchIF;
 
 /**
@@ -22,11 +26,12 @@ public:
 		float hysteresis;
 	};
 
-	ThermalModule(uint32_t moduleTemperaturePoolId, uint32_t currentStatePoolId,
+	ThermalModule(gp_id_t moduleTemperaturePoolId, gp_id_t currentStatePoolId,
-			uint32_t targetStatePoolId, GlobDataSet *dataSet, Parameters parameters,
+			gp_id_t targetStatePoolId, LocalPoolDataSetBase *dataSet,
-			RedundantHeater::Parameters heaterParameters);
+			Parameters parameters, RedundantHeater::Parameters heaterParameters);
 
-	ThermalModule(uint32_t moduleTemperaturePoolId, GlobDataSet *dataSet);
+	ThermalModule(gp_id_t moduleTemperaturePoolId,
+			LocalPoolDataSetBase *dataSet);
 
 	virtual ~ThermalModule();
 
@@ -62,20 +67,20 @@ protected:
 
 	Strategy oldStrategy;
 
-	float survivalTargetTemp;
+	float survivalTargetTemp = 0.0;
 
-	float targetTemp;
+	float targetTemp = 0.0;
 
-	bool heating;
+	bool heating = false;
 
 	Parameters parameters;
 
-	gp_float_t moduleTemperature;
+	lp_var_t<float> moduleTemperature;
 
-	RedundantHeater *heater;
+	RedundantHeater *heater = nullptr;
 
-	gp_int8_t currentState;
+	lp_var_t<int8_t> currentState;
-	gp_int8_t targetState;
+	lp_var_t<int8_t> targetState;
 
 	std::list<AbstractTemperatureSensor *> sensors;
 	std::list<ComponentData> components;
@@ -92,4 +97,4 @@ protected:
 	void updateTargetTemperatures(ThermalComponentIF *component, bool isSafe);
 };
 
-#endif /* THERMALMODULE_H_ */
+#endif /* FSFW_THERMAL_THERMALMODULE_H_ */

thermal/ThermalMonitor.h

@@ -1,23 +0,0 @@
-#ifndef FRAMEWORK_THERMAL_THERMALMONITOR_H_
-#define FRAMEWORK_THERMAL_THERMALMONITOR_H_
-
-#include "../monitoring/MonitorReporter.h"
-#include "ThermalComponentIF.h"
-
-class ThermalMonitor: public MonitorReporter<float> {
-public:
-	template<typename ... Args>
-	ThermalMonitor(Args ... args) :
-			MonitorReporter<float>(std::forward<Args>(args)...) {
-	}
-	~ThermalMonitor();
-	ReturnValue_t translateState(ThermalComponentIF::State state, float sample,
-			float lowerLimit, float upperLimit, bool componentIsOperational = true);
-
-	bool isAboveHighLimit();
-protected:
-	virtual void sendTransitionEvent(float currentValue, ReturnValue_t state);
-
-};
-
-#endif /* FRAMEWORK_THERMAL_THERMALMONITOR_H_ */

thermal/ThermalMonitorReporter.cpp

@@ -1,10 +1,12 @@
-#include "ThermalMonitor.h"
+#include "ThermalMonitorReporter.h"
 #include "ThermalComponentIF.h"
+
 #include "../monitoring/MonitoringIF.h"
-ThermalMonitor::~ThermalMonitor() {
+
+ThermalMonitorReporter::~ThermalMonitorReporter() {
 }
 
-void ThermalMonitor::sendTransitionEvent(float currentValue,
+void ThermalMonitorReporter::sendTransitionEvent(float currentValue,
 		ReturnValue_t state) {
 	switch (state) {
 	case MonitoringIF::BELOW_LOW_LIMIT:
@@ -28,7 +30,7 @@ void ThermalMonitor::sendTransitionEvent(float currentValue,
 	}
 }
 
-bool ThermalMonitor::isAboveHighLimit() {
+bool ThermalMonitorReporter::isAboveHighLimit() {
 	if (oldState == ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT) {
 		return true;
 	} else {
@@ -36,7 +38,8 @@ bool ThermalMonitor::isAboveHighLimit() {
 	}
 }
 
-ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, float sample, float lowerLimit,
+ReturnValue_t ThermalMonitorReporter::translateState(
+		ThermalComponentIF::State state, float sample, float lowerLimit,
 		float upperLimit, bool componentIsOperational) {
 	if (ThermalComponentIF::isIgnoredState(state)) {
 		setToUnchecked();
@@ -44,10 +47,12 @@ ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, fl
 	}
 	switch (state) {
 	case ThermalComponentIF::OUT_OF_RANGE_LOW:
-		return monitorStateIs(MonitoringIF::BELOW_LOW_LIMIT, sample, lowerLimit);
+		return monitorStateIs(MonitoringIF::BELOW_LOW_LIMIT, sample,
+				lowerLimit);
 	case ThermalComponentIF::NON_OPERATIONAL_LOW:
 		if (componentIsOperational) {
-			return monitorStateIs(ThermalComponentIF::BELOW_OPERATIONAL_LIMIT, sample, lowerLimit);
+			return monitorStateIs(ThermalComponentIF::BELOW_OPERATIONAL_LIMIT,
+					sample, lowerLimit);
 		} else {
 			return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
 		}
@@ -55,12 +60,14 @@ ReturnValue_t ThermalMonitor::translateState(ThermalComponentIF::State state, fl
 		return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
 	case ThermalComponentIF::NON_OPERATIONAL_HIGH:
 		if (componentIsOperational) {
-			return monitorStateIs(ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT, sample, upperLimit);
+			return monitorStateIs(ThermalComponentIF::ABOVE_OPERATIONAL_LIMIT,
+					sample, upperLimit);
 		} else {
 			return monitorStateIs(HasReturnvaluesIF::RETURN_OK, sample, 0.0);
 		}
 	case ThermalComponentIF::OUT_OF_RANGE_HIGH:
-		return monitorStateIs(MonitoringIF::ABOVE_HIGH_LIMIT, sample, upperLimit);
+		return monitorStateIs(MonitoringIF::ABOVE_HIGH_LIMIT, sample,
+				upperLimit);
 	default:
 		//Never reached, all states covered.
 		return HasReturnvaluesIF::RETURN_FAILED;

thermal/ThermalMonitorReporter.h

@@ -0,0 +1,28 @@
+#ifndef FSFW_THERMAL_THERMALMONITORREPORTER_H_
+#define FSFW_THERMAL_THERMALMONITORREPORTER_H_
+
+#include "ThermalComponentIF.h"
+#include "../monitoring/MonitorReporter.h"
+
+
+/**
+ * @brief   Monitor Reporter implementation for thermal components.
+ */
+class ThermalMonitorReporter: public MonitorReporter<float> {
+public:
+	template<typename ... Args>
+	ThermalMonitorReporter(Args ... args) :
+			MonitorReporter<float>(std::forward<Args>(args)...) {
+	}
+	~ThermalMonitorReporter();
+	ReturnValue_t translateState(ThermalComponentIF::State state, float sample,
+			float lowerLimit, float upperLimit,
+			bool componentIsOperational = true);
+
+	bool isAboveHighLimit();
+protected:
+	virtual void sendTransitionEvent(float currentValue, ReturnValue_t state);
+
+};
+
+#endif /* FSFW_THERMAL_THERMALMONITORREPORTERREPORTER_H_ */

thermal/tcsDefinitions.h

@@ -2,7 +2,7 @@
 #define TCSDEFINITIONS_H_
 
 
-static const uint32_t INVALID_TEMPERATURE = 999;
+static const float INVALID_TEMPERATURE = 999;
 
 
 #endif /* TCSDEFINITIONS_H_ */