Merge branch 'master' into mueller/feature/windowsUdpBridge

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_
+#ifndef FSFW_CONTAINER_RINGBUFFERBASE_H_
-#define FRAMEWORK_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) :
+	RingBufferBase(size_t startAddress, const size_t size, bool overwriteOld) :
-			start(startAddress), write(startAddress), size(size), overwriteOld(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) {
+	virtual ~RingBufferBase() {}
-			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);
-	}
 	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 {
+	size_t availableWriteSpace(uint8_t n = 0) const  {
-		return read[n];
+		//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)) {
+	bool overwritesOld() const {
-			this->read[n] = read;
+		return overwriteOld;
-		}
 	}
-	uint32_t getWrite() const {
+
-		return write;
+	size_t getMaxSize() const {
-	}
+		return size - 1;
-	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;
+	const size_t start;
-	uint32_t write;
+	size_t write;
-	uint32_t read[N_READ_PTRS];
+	size_t read[N_READ_PTRS];
-	const uint32_t size;
+	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) :
+SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld,
-		RingBufferBase<>(0, size, overwriteOld) {
+		size_t maxExcessBytes) :
-	buffer = new uint8_t[size];
+		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):
+		bool overwriteOld, size_t maxExcessBytes):
-        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {}
+        RingBufferBase<>(0, size, overwriteOld), buffer(buffer) {
-
+	if(maxExcessBytes > size) {
+		this->maxExcessBytes = size;
+	}
+	else {
+		this->maxExcessBytes = maxExcessBytes;
+	}
+}
 
 SimpleRingBuffer::~SimpleRingBuffer() {
 	delete[] buffer;
 }
 
+ReturnValue_t SimpleRingBuffer::getFreeElement(uint8_t **writePointer,
+        size_t amount) {
+    if (availableWriteSpace() >= amount or overwriteOld) {
+        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,
-		uint32_t amount) {
+		size_t amount) {
 	if (availableWriteSpace() >= amount or overwriteOld) {
-		uint32_t amountTillWrap = writeTillWrap();
+		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,
+ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, size_t amount,
-		bool readRemaining, uint32_t* trueAmount) {
+		bool incrementReadPtr, bool readRemaining, size_t* trueAmount) {
-	uint32_t availableData = availableReadData(READ_PTR);
+	size_t availableData = getAvailableReadData(READ_PTR);
-	uint32_t amountTillWrap = readTillWrap(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,
+size_t SimpleRingBuffer::getExcessBytes() const {
-		bool deleteRemaining, uint32_t* trueAmount) {
+    return excessBytes;
-	uint32_t availableData = availableReadData(READ_PTR);
+}
+
+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_
+#ifndef FSFW_CONTAINER_SIMPLERINGBUFFER_H_
-#define FRAMEWORK_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,
+	ReturnValue_t readData(uint8_t* data, size_t amount,
-	        bool readRemaining = false, uint32_t* trueAmount = nullptr);
+			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,
+	ReturnValue_t deleteData(size_t amount, bool deleteRemaining = false,
-	        uint32_t* trueAmount = nullptr);
+	        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_ */
 

contrib/sgp4/sgp4unit.h

@@ -1,117 +1,117 @@
-#ifndef _sgp4unit_
+#ifndef _sgp4unit_
-#define _sgp4unit_
+#define _sgp4unit_
-/*     ----------------------------------------------------------------
+/*     ----------------------------------------------------------------
-*
+*
-*                                 sgp4unit.h
+*                                 sgp4unit.h
-*
+*
-*    this file contains the sgp4 procedures for analytical propagation
+*    this file contains the sgp4 procedures for analytical propagation
-*    of a satellite. the code was originally released in the 1980 and 1986
+*    of a satellite. the code was originally released in the 1980 and 1986
-*    spacetrack papers. a detailed discussion of the theory and history
+*    spacetrack papers. a detailed discussion of the theory and history
-*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
+*    may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
-*    and kelso.
+*    and kelso.
-*
+*
-*                            companion code for
+*                            companion code for
-*               fundamentals of astrodynamics and applications
+*               fundamentals of astrodynamics and applications
-*                                    2007
+*                                    2007
-*                              by david vallado
+*                              by david vallado
-*
+*
-*       (w) 719-573-2600, email dvallado@agi.com
+*       (w) 719-573-2600, email dvallado@agi.com
-*
+*
-*    current :
+*    current :
-*              20 apr 07  david vallado
+*              20 apr 07  david vallado
-*                           misc fixes for constants
+*                           misc fixes for constants
-*    changes :
+*    changes :
-*              11 aug 06  david vallado
+*              11 aug 06  david vallado
-*                           chg lyddane choice back to strn3, constants, misc doc
+*                           chg lyddane choice back to strn3, constants, misc doc
-*              15 dec 05  david vallado
+*              15 dec 05  david vallado
-*                           misc fixes
+*                           misc fixes
-*              26 jul 05  david vallado
+*              26 jul 05  david vallado
-*                           fixes for paper
+*                           fixes for paper
-*                           note that each fix is preceded by a
+*                           note that each fix is preceded by a
-*                           comment with "sgp4fix" and an explanation of
+*                           comment with "sgp4fix" and an explanation of
-*                           what was changed
+*                           what was changed
-*              10 aug 04  david vallado
+*              10 aug 04  david vallado
-*                           2nd printing baseline working
+*                           2nd printing baseline working
-*              14 may 01  david vallado
+*              14 may 01  david vallado
-*                           2nd edition baseline
+*                           2nd edition baseline
-*                     80  norad
+*                     80  norad
-*                           original baseline
+*                           original baseline
-*       ----------------------------------------------------------------      */
+*       ----------------------------------------------------------------      */
-
+
-#include <math.h>
+#include <math.h>
-#include <stdio.h>
+#include <stdio.h>
-
+
-// -------------------------- structure declarations ----------------------------
+// -------------------------- structure declarations ----------------------------
-typedef enum
+typedef enum
-{
+{
-  wgs72old,
+  wgs72old,
-  wgs72,
+  wgs72,
-  wgs84
+  wgs84
-} gravconsttype;
+} gravconsttype;
-
+
-typedef struct elsetrec
+typedef struct elsetrec
-{
+{
-  long int  satnum;
+  long int  satnum;
-  int       epochyr, epochtynumrev;
+  int       epochyr, epochtynumrev;
-  int       error;
+  int       error;
-  char      init, method;
+  char      init, method;
-
+
-  /* Near Earth */
+  /* Near Earth */
-  int    isimp;
+  int    isimp;
-  double aycof  , con41  , cc1    , cc4      , cc5    , d2      , d3   , d4    ,
+  double aycof  , con41  , cc1    , cc4      , cc5    , d2      , d3   , d4    ,
-         delmo  , eta    , argpdot, omgcof   , sinmao , t       , t2cof, t3cof ,
+         delmo  , eta    , argpdot, omgcof   , sinmao , t       , t2cof, t3cof ,
-         t4cof  , t5cof  , x1mth2 , x7thm1   , mdot   , nodedot, xlcof , xmcof ,
+         t4cof  , t5cof  , x1mth2 , x7thm1   , mdot   , nodedot, xlcof , xmcof ,
-         nodecf;
+         nodecf;
-
+
-  /* Deep Space */
+  /* Deep Space */
-  int    irez;
+  int    irez;
-  double d2201  , d2211  , d3210  , d3222    , d4410  , d4422   , d5220 , d5232 ,
+  double d2201  , d2211  , d3210  , d3222    , d4410  , d4422   , d5220 , d5232 ,
-         d5421  , d5433  , dedt   , del1     , del2   , del3    , didt  , dmdt  ,
+         d5421  , d5433  , dedt   , del1     , del2   , del3    , didt  , dmdt  ,
-         dnodt  , domdt  , e3     , ee2      , peo    , pgho    , pho   , pinco ,
+         dnodt  , domdt  , e3     , ee2      , peo    , pgho    , pho   , pinco ,
-         plo    , se2    , se3    , sgh2     , sgh3   , sgh4    , sh2   , sh3   ,
+         plo    , se2    , se3    , sgh2     , sgh3   , sgh4    , sh2   , sh3   ,
-         si2    , si3    , sl2    , sl3      , sl4    , gsto    , xfact , xgh2  ,
+         si2    , si3    , sl2    , sl3      , sl4    , gsto    , xfact , xgh2  ,
-         xgh3   , xgh4   , xh2    , xh3      , xi2    , xi3     , xl2   , xl3   ,
+         xgh3   , xgh4   , xh2    , xh3      , xi2    , xi3     , xl2   , xl3   ,
-         xl4    , xlamo  , zmol   , zmos     , atime  , xli     , xni;
+         xl4    , xlamo  , zmol   , zmos     , atime  , xli     , xni;
-
+
-  double a      , altp   , alta   , epochdays, jdsatepoch       , nddot , ndot  ,
+  double a      , altp   , alta   , epochdays, jdsatepoch       , nddot , ndot  ,
-         bstar  , rcse   , inclo  , nodeo    , ecco             , argpo , mo    ,
+         bstar  , rcse   , inclo  , nodeo    , ecco             , argpo , mo    ,
-         no;
+         no;
-} elsetrec;
+} elsetrec;
-
+
-// --------------------------- function declarations ----------------------------
+// --------------------------- function declarations ----------------------------
-int sgp4init
+int sgp4init
-       (
+       (
-         gravconsttype whichconst,      const int satn,     const double epoch,
+         gravconsttype whichconst,      const int satn,     const double epoch,
-         const double xbstar, const double xecco, const double xargpo,
+         const double xbstar, const double xecco, const double xargpo,
-         const double xinclo, const double xmo,   const double xno,
+         const double xinclo, const double xmo,   const double xno,
-         const double xnodeo,
+         const double xnodeo,
-         elsetrec& satrec
+         elsetrec& satrec
-       );
+       );
-
+
-int sgp4
+int sgp4
-       (
+       (
-         gravconsttype whichconst,
+         gravconsttype whichconst,
-         elsetrec& satrec, double tsince,
+         elsetrec& satrec, double tsince,
-         double r[], double v[]
+         double r[], double v[]
-       );
+       );
-
+
-double  gstime
+double  gstime
-       (
+       (
-         double
+         double
-       );
+       );
-
+
-void getgravconst
+void getgravconst
-      (
+      (
-       gravconsttype,
+       gravconsttype,
-       double&,
+       double&,
-       double&,
+       double&,
-       double&,
+       double&,
-       double&,
+       double&,
-       double&,
+       double&,
-       double&,
+       double&,
-       double&,
+       double&,
-       double&
+       double&
-      );
+      );
-
+
-#endif
+#endif
-
+

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/FixedSequenceSlot.cpp

@@ -1,20 +0,0 @@
-/**
- * @file	PollingSlot.cpp
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#include "FixedSequenceSlot.h"
-#include "../objectmanager/SystemObjectIF.h"
-#include <cstddef>
-
-FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
-		int8_t setSequenceId, PeriodicTaskIF* executingTask) :
-		handler(NULL), pollingTimeMs(setTime), opcode(setSequenceId) {
-	handler = objectManager->get<ExecutableObjectIF>(handlerId);
-	handler->setTaskIF(executingTask);
-}
-
-FixedSequenceSlot::~FixedSequenceSlot() {}
-

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

@@ -19,6 +19,7 @@ enum {
 	SYSTEM_MANAGER_1 = 75,
 	SYSTEM_1 = 79,
 	PUS_SERVICE_1 = 80,
+	PUS_SERVICE_9 = 89,
 	PUS_SERVICE_17 = 97,
 	FW_SUBSYSTEM_ID_RANGE
 };

globalfunctions/timevalOperations.cpp

@@ -1,99 +1,99 @@
-#include "timevalOperations.h"
+#include "timevalOperations.h"
-
+
-timeval& operator+=(timeval& lhs, const timeval& rhs) {
+timeval& operator+=(timeval& lhs, const timeval& rhs) {
-	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
+	sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
-	lhs.tv_sec = sum / 1000000;
+	lhs.tv_sec = sum / 1000000;
-	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
+	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
-	return lhs;
+	return lhs;
-}
+}
-
+
-timeval operator+(timeval lhs, const timeval& rhs) {
+timeval operator+(timeval lhs, const timeval& rhs) {
-	lhs += rhs;
+	lhs += rhs;
-	return lhs;
+	return lhs;
-}
+}
-
+
-timeval& operator-=(timeval& lhs, const timeval& rhs) {
+timeval& operator-=(timeval& lhs, const timeval& rhs) {
-	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	sum -= rhs.tv_sec * 1000000. + rhs.tv_usec;
+	sum -= rhs.tv_sec * 1000000. + rhs.tv_usec;
-	lhs.tv_sec = sum / 1000000;
+	lhs.tv_sec = sum / 1000000;
-	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
+	lhs.tv_usec = sum - lhs.tv_sec * 1000000;
-	return lhs;
+	return lhs;
-}
+}
-
+
-timeval operator-(timeval lhs, const timeval& rhs) {
+timeval operator-(timeval lhs, const timeval& rhs) {
-	lhs -= rhs;
+	lhs -= rhs;
-	return lhs;
+	return lhs;
-}
+}
-
+
-double operator/(const timeval& lhs, const timeval& rhs) {
+double operator/(const timeval& lhs, const timeval& rhs) {
-	double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
+	double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
-	return lhs64 / rhs64;
+	return lhs64 / rhs64;
-}
+}
-
+
-timeval& operator/=(timeval& lhs, double scalar) {
+timeval& operator/=(timeval& lhs, double scalar) {
-	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	product /= scalar;
+	product /= scalar;
-	lhs.tv_sec = product / 1000000;
+	lhs.tv_sec = product / 1000000;
-	lhs.tv_usec = product - lhs.tv_sec * 1000000;
+	lhs.tv_usec = product - lhs.tv_sec * 1000000;
-	return lhs;
+	return lhs;
-}
+}
-
+
-timeval operator/(timeval lhs, double scalar) {
+timeval operator/(timeval lhs, double scalar) {
-	lhs /= scalar;
+	lhs /= scalar;
-	return lhs;
+	return lhs;
-}
+}
-
+
-timeval& operator*=(timeval& lhs, double scalar) {
+timeval& operator*=(timeval& lhs, double scalar) {
-	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	product *= scalar;
+	product *= scalar;
-	lhs.tv_sec = product / 1000000;
+	lhs.tv_sec = product / 1000000;
-	lhs.tv_usec = product - lhs.tv_sec * 1000000;
+	lhs.tv_usec = product - lhs.tv_sec * 1000000;
-	return lhs;
+	return lhs;
-}
+}
-
+
-timeval operator*(timeval lhs, double scalar) {
+timeval operator*(timeval lhs, double scalar) {
-	lhs *= scalar;
+	lhs *= scalar;
-	return lhs;
+	return lhs;
-}
+}
-
+
-timeval operator*(double scalar, timeval rhs) {
+timeval operator*(double scalar, timeval rhs) {
-	rhs *= scalar;
+	rhs *= scalar;
-	return rhs;
+	return rhs;
-}
+}
-
+
-bool operator==(const timeval& lhs, const timeval& rhs) {
+bool operator==(const timeval& lhs, const timeval& rhs) {
-	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
+	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
-	return lhs64 == rhs64;
+	return lhs64 == rhs64;
-}
+}
-bool operator!=(const timeval& lhs, const timeval& rhs) {
+bool operator!=(const timeval& lhs, const timeval& rhs) {
-	return !operator==(lhs, rhs);
+	return !operator==(lhs, rhs);
-}
+}
-bool operator<(const timeval& lhs, const timeval& rhs) {
+bool operator<(const timeval& lhs, const timeval& rhs) {
-	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
+	int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
-	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
+	int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
-	return lhs64 < rhs64;
+	return lhs64 < rhs64;
-}
+}
-bool operator>(const timeval& lhs, const timeval& rhs) {
+bool operator>(const timeval& lhs, const timeval& rhs) {
-	return operator<(rhs, lhs);
+	return operator<(rhs, lhs);
-}
+}
-bool operator<=(const timeval& lhs, const timeval& rhs) {
+bool operator<=(const timeval& lhs, const timeval& rhs) {
-	return !operator>(lhs, rhs);
+	return !operator>(lhs, rhs);
-}
+}
-bool operator>=(const timeval& lhs, const timeval& rhs) {
+bool operator>=(const timeval& lhs, const timeval& rhs) {
-	return !operator<(lhs, rhs);
+	return !operator<(lhs, rhs);
-}
+}
-
+
-double timevalOperations::toDouble(const timeval timeval) {
+double timevalOperations::toDouble(const timeval timeval) {
-	double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
+	double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
-	return result / 1000000.;
+	return result / 1000000.;
-}
+}
-
+
-timeval timevalOperations::toTimeval(const double seconds) {
+timeval timevalOperations::toTimeval(const double seconds) {
-	timeval tval;
+	timeval tval;
-	tval.tv_sec = seconds;
+	tval.tv_sec = seconds;
-	tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
+	tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
-	return tval;
+	return tval;
-}
+}

ipc/CommandMessage.cpp

@@ -1,124 +1,96 @@
-/**
- * @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 "CommandMessageCleaner.h"
-#include "../modes/ModeMessage.h"
+#include <cstring>
-#include "../monitoring/MonitoringMessage.h"
-#include "../subsystem/modes/ModeSequenceMessage.h"
-#include "../tmstorage/TmStoreMessage.h"
-#include "../parameters/ParameterMessage.h"
-
-namespace messagetypes {
-void clearMissionMessage(CommandMessage* message);
-}
-
 
 CommandMessage::CommandMessage() {
-	this->messageSize = COMMAND_MESSAGE_SIZE;
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
-	setCommand(CMD_NONE);
+    setCommand(CMD_NONE);
 }
 
 CommandMessage::CommandMessage(Command_t command, uint32_t parameter1,
-		uint32_t parameter2) {
+        uint32_t parameter2) {
-	this->messageSize = COMMAND_MESSAGE_SIZE;
+    MessageQueueMessage::setMessageSize(DEFAULT_COMMAND_MESSAGE_SIZE);
-	setCommand(command);
+    setCommand(command);
-	setParameter(parameter1);
+    setParameter(parameter1);
-	setParameter2(parameter2);
+    setParameter2(parameter2);
 }
 
 Command_t CommandMessage::getCommand() const {
-	Command_t command;
+    Command_t command;
-	memcpy(&command, getData(), sizeof(Command_t));
+    std::memcpy(&command, MessageQueueMessage::getData(), sizeof(Command_t));
-	return command;
+    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;
+    uint32_t parameter1;
-	memcpy(&parameter1, getData() + sizeof(Command_t), sizeof(parameter1));
+    std::memcpy(&parameter1, this->getData(), sizeof(parameter1));
-	return 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;
+    uint32_t parameter2;
-	memcpy(&parameter2, getData() + sizeof(Command_t) + sizeof(uint32_t),
+    std::memcpy(&parameter2, this->getData() + sizeof(uint32_t),
-			sizeof(parameter2));
+            sizeof(parameter2));
-	return 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));
+            sizeof(parameter2));
 }
 
-void CommandMessage::clearCommandMessage() {
+uint32_t CommandMessage::getParameter3() const {
-	switch((getCommand()>>8) & 0xff){
+    uint32_t parameter3;
-	case  messagetypes::MODE_COMMAND:
+    std::memcpy(&parameter3, this->getData() + 2 * sizeof(uint32_t),
-		ModeMessage::clear(this);
+            sizeof(parameter3));
-		break;
+    return parameter3;
-	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;
-	}
 }
 
-bool CommandMessage::isClearedCommandMessage() {
+void CommandMessage::setParameter3(uint32_t parameter3) {
-	return getCommand() == CMD_NONE;
+    std::memcpy(this->getData()  + 2 * sizeof(uint32_t), &parameter3,
+            sizeof(parameter3));
 }
 
 size_t CommandMessage::getMinimumMessageSize() const {
-	return COMMAND_MESSAGE_SIZE;
+    return MINIMUM_COMMAND_MESSAGE_SIZE;
+}
+
+void CommandMessage::clearCommandMessage() {
+    clear();
+}
+
+void CommandMessage::clear() {
+    CommandMessageCleaner::clearCommandMessage(this);
+}
+
+bool CommandMessage::isClearedCommandMessage() {
+    return getCommand() == CMD_NONE;
 }
 
 void CommandMessage::setToUnknownCommand() {
-	Command_t initialCommand = getCommand();
+    Command_t initialCommand = getCommand();
-	clearCommandMessage();
+    this->clear();
-	setReplyRejected(UNKNOWN_COMMAND, initialCommand);
+    setReplyRejected(UNKNOWN_COMMAND, initialCommand);
 }
 
 void CommandMessage::setReplyRejected(ReturnValue_t reason,
-		Command_t initialCommand) {
+        Command_t initialCommand) {
 	setCommand(REPLY_REJECTED);
-	setParameter(reason);
+    setParameter(reason);
-	setParameter2(initialCommand);
+    setParameter2(initialCommand);
 }
 
 ReturnValue_t CommandMessage::getReplyRejectedReason(
@@ -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

@@ -1,114 +1,88 @@
-/**
+#ifndef FSFW_IPC_COMMANDMESSAGE_H_
- * @file	CommandMessage.h
+#define FSFW_IPC_COMMANDMESSAGE_H_
- * @brief	This file defines the CommandMessage class.
- * @date	20.06.2013
- * @author	baetz
- */
 
-#ifndef COMMANDMESSAGE_H_
+#include "CommandMessageIF.h"
-#define COMMANDMESSAGE_H_
-
-
-#include "FwMessageTypes.h"
-#include <config/ipc/MissionMessageTypes.h>
 
 #include "MessageQueueMessage.h"
+#include "FwMessageTypes.h"
 
-#define MAKE_COMMAND_ID( number )	((MESSAGE_ID << 8) + (number))
+/**
-typedef ReturnValue_t Command_t;
+ * @brief 	Default command message used to pass command messages between tasks.
-
+ * 			Primary message type for IPC. Contains sender, 2-byte command ID
-class CommandMessage : public MessageQueueMessage {
+ * 			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.
+ *
+ * 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:
-	static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
+    /**
-	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
+     * Default size can accomodate 3 4-byte parameters.
-
+     */
-
+    static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
-	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
+            CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE +
-	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
+			3 * sizeof(uint32_t);
-	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
 
 	/**
-	 * This is the size of a message as it is seen by the MessageQueue
+	 * @brief   Default Constructor, does not initialize anything.
-	 */
+	 * @details
-	static const size_t COMMAND_MESSAGE_SIZE = HEADER_SIZE
+	 * This constructor should be used when receiving a Message, as the
-			+ sizeof(Command_t) + 2 * sizeof(uint32_t);
+	 * content is filled by the MessageQueue.
-
-	/**
-	 * Default Constructor, does not initialize anything.
-	 *
-	 * 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,
+	CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);
-			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
+     *
-	 */
+     * @return the Command stored in the Message
-	Command_t getCommand() const;
+     */
+    virtual Command_t getCommand() const override;
+    /**
+     * 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
+     */
+    virtual void setCommand(Command_t command);
 
-	/**
+    virtual uint8_t* getData() override;
-	 * Set the DeviceHandlerCOmmand_t of the message
+    virtual const uint8_t* getData() const override;
-	 *
-	 * @param the Command to be sent
-	 */
-	void setCommand(Command_t command);
 
 	/**
 	 * 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);
-
+	uint32_t getParameter3() const;
-	/**
+	void setParameter3(uint32_t parameter3);
-	 * 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();
 
 	/**
 	 * check if a message was cleared
@@ -117,18 +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 setToUnknownCommand() override;
-	void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
-	ReturnValue_t getReplyRejectedReason(
-	        Command_t *initialCommand = nullptr) const;
 
-	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 /* FSFW_IPC_COMMANDMESSAGE_H_ */
-#endif /* 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_
+#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
-#define FRAMEWORK_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 = 0;
-	static const MessageQueueId_t NO_QUEUE = MessageQueueSenderIF::NO_QUEUE; //!< Ugly hack.
 
 	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 "../globalfunctions/arrayprinter.h"
-#include <string.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) :
+void MessageQueueMessage::print(bool printWholeMessage) {
-		messageSize(this->HEADER_SIZE + size) {
+	sif::debug << "MessageQueueMessage content: " << std::endl;
-	if (size <= this->MAX_DATA_SIZE) {
+	if(printWholeMessage) {
-		memcpy(this->getData(), data, size);
+	    arrayprinter::print(getData(), getMaximumMessageSize());
-	} else {
-		memset(this->internalBuffer, 0, sizeof(this->internalBuffer));
-		this->messageSize = this->HEADER_SIZE;
 	}
-}
+	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_
+#ifndef FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
-#define MESSAGEQUEUEMESSAGE_H_
+#define FSFW_IPC_MESSAGEQUEUEMESSAGE_H_
 
-#include "MessageQueueSenderIF.h"
+#include "../ipc/MessageQueueMessageIF.h"
-#include <stddef.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
+ *	It adds a header with the sender's queue id to every sent message and
- *				to handle a lightweight "interprocess message protocol". It adds a header with the
+ *	defines the maximum total message size. Specialized messages, such as
- *				sender's queue id to every sent message and defines the maximum total message size.
+ *	device commanding messages, can be created by inheriting from this class
- *				Specialized messages, such as device commanding messages, can be created by inheriting
+ *	and filling the buffer provided by getData with additional content.
- *				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
+ *	If larger amounts of data must be sent between processes, the data shall
- *				the IPC Store object and only the storage id is passed in a queue message.
+ *	be stored in the IPC Store object and only the storage id is passed in a
- *				The class is used both to generate and send messages and to receive messages from
+ *	queue message.The class is used both to generate and send messages and to
- *				other tasks.
+ *	receive messages from other tasks.
- *	\ingroup message_queue
+ *	@ingroup message_queue
  */
-class MessageQueueMessage {
+class MessageQueueMessage: public MessageQueueMessageIF {
 public:
 	/**
-	 * \brief	This constant defines the maximum size of the data content, excluding the header.
+	 * @brief	The class is initialized empty with this constructor.
-	 * \details	It may be changed if necessary, but in general should be kept as small as possible.
+	 * @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.
+	 * @brief Defines the minimum size of a message where only the
-	 * \details	It is the sum of the maximum data and the header size. Be aware that this constant
+	 * 		  header is included
-	 * 			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 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.
+	 * @brief	This method is used to get the complete data of the message.
-	 * \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.
 	 */
-	size_t messageSize;
+	const uint8_t* getBuffer() const override;
 	/**
-	 * \brief	The class is initialized empty with this constructor.
+	 * @brief	This method is used to get the complete data of the message.
-	 * \details	The messageSize attribute is set to the header's size and the whole content is set to
-	 * 			zero.
 	 */
-	MessageQueueMessage();
+	uint8_t* getBuffer() override;
 	/**
-	 * \brief	With this constructor the class is initialized with the given content.
+	 * @brief	This method is used to fetch the data content of the message.
-	 * \details	If the passed message size fits into the buffer, the passed data is copied to the
+	 * @details
-	 * 			internal buffer and the messageSize information is set. Otherwise, messageSize
+	 * It shall be used by child classes to add data at the right position.
-	 * 			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.
 	 */
-	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.
+	 * @brief	This method is used to set the sender's message queue id
-	 * \details It shall be used by child classes to add data at the right position.
+	 * 			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.
+	 * @brief	This is a debug method that prints the content.
-	 * \details It shall be used by child classes to add data at the right position.
 	 */
-	uint8_t* getData();
+	void print(bool printWholeMessage);
-	/**
-	 * \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();
 };
 
-#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_
+#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
-#define FRAMEWORK_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 =
+			MessageQueueMessage* message,
-					MessageQueueSenderIF::NO_QUEUE, bool ignoreFault=false);
+			MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
+			bool ignoreFault = false);
 private:
 	MessageQueueSenderIF() {}
 };
 
 
-
+#endif /* FSFW_IPC_MESSAGEQUEUESENDERIF_H_ */
-#endif /* FRAMEWORK_IPC_MESSAGEQUEUESENDERIF_H_ */

ipc/messageQueueDefinitions.h

@@ -0,0 +1,18 @@
+#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/frameworkObjects.h

@@ -4,11 +4,13 @@
 namespace objects {
 enum framework_objects {
 	// Default verification reporter.
-	PUS_SERVICE_1 = 0x53000001,
+	PUS_SERVICE_1_VERIFICATION = 0x53000001,
-	PUS_SERVICE_2 = 0x53000002,
+	PUS_SERVICE_2_DEVICE_ACCESS = 0x53000002,
-	PUS_SERVICE_5 = 0x53000005,
+	PUS_SERVICE_5_EVENT_REPORTING = 0x53000005,
-	PUS_SERVICE_8 = 0x53000008,
+	PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
-	PUS_SERVICE_200 = 0x53000200,
+	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,

osal/FreeRTOS/BinSemaphUsingTask.cpp

@@ -1,95 +1,95 @@
-#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
-
+
-BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
+BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
-	handle = TaskManagement::getCurrentTaskHandle();
+	handle = TaskManagement::getCurrentTaskHandle();
-	if(handle == nullptr) {
+	if(handle == nullptr) {
-		sif::error << "Could not retrieve task handle. Please ensure the"
+		sif::error << "Could not retrieve task handle. Please ensure the"
-				"constructor was called inside a task." << std::endl;
+				"constructor was called inside a task." << std::endl;
-	}
+	}
-	xTaskNotifyGive(handle);
+	xTaskNotifyGive(handle);
-}
+}
-
+
-BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
+BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
-	// Clear notification value on destruction.
+	// Clear notification value on destruction.
-	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
-}
+}
-
+
-ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
+ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
-        uint32_t timeoutMs) {
+        uint32_t timeoutMs) {
-    TickType_t timeout = 0;
+    TickType_t timeout = 0;
-    if(timeoutType == TimeoutType::POLLING) {
+    if(timeoutType == TimeoutType::POLLING) {
-        timeout = 0;
+        timeout = 0;
-    }
+    }
-    else if(timeoutType == TimeoutType::WAITING){
+    else if(timeoutType == TimeoutType::WAITING){
-        timeout = pdMS_TO_TICKS(timeoutMs);
+        timeout = pdMS_TO_TICKS(timeoutMs);
-    }
+    }
-    else {
+    else {
-        timeout = portMAX_DELAY;
+        timeout = portMAX_DELAY;
-    }
+    }
-	return acquireWithTickTimeout(timeoutType, timeout);
+	return acquireWithTickTimeout(timeoutType, timeout);
-}
+}
-
+
-ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
+ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
-        TimeoutType timeoutType, TickType_t timeoutTicks) {
+        TimeoutType timeoutType, TickType_t timeoutTicks) {
-	BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
+	BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
-	if (returncode == pdPASS) {
+	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-	else {
+	else {
-		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	}
+	}
-}
+}
-
+
-ReturnValue_t BinarySemaphoreUsingTask::release() {
+ReturnValue_t BinarySemaphoreUsingTask::release() {
-	return release(this->handle);
+	return release(this->handle);
-}
+}
-
+
-ReturnValue_t BinarySemaphoreUsingTask::release(
+ReturnValue_t BinarySemaphoreUsingTask::release(
-		TaskHandle_t taskHandle) {
+		TaskHandle_t taskHandle) {
-	if(getSemaphoreCounter(taskHandle) == 1) {
+	if(getSemaphoreCounter(taskHandle) == 1) {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
+	}
-	BaseType_t returncode = xTaskNotifyGive(taskHandle);
+	BaseType_t returncode = xTaskNotifyGive(taskHandle);
-	if (returncode == pdPASS) {
+	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-	else {
+	else {
-		// This should never happen.
+		// This should never happen.
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+	}
-}
+}
-
+
-TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
+TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
-	return handle;
+	return handle;
-}
+}
-
+
-uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
-	return getSemaphoreCounter(this->handle);
+	return getSemaphoreCounter(this->handle);
-}
+}
-
+
-uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
-		TaskHandle_t taskHandle) {
+		TaskHandle_t taskHandle) {
-	uint32_t notificationValue;
+	uint32_t notificationValue;
-	xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
+	xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
-	return notificationValue;
+	return notificationValue;
-}
+}
-
+
-// Be careful with the stack size here. This is called from an ISR!
+// Be careful with the stack size here. This is called from an ISR!
-ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
+ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
-		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
+		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
-	if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
+	if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
+	}
-	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
+	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
-	return HasReturnvaluesIF::RETURN_OK;
+	return HasReturnvaluesIF::RETURN_OK;
-}
+}
-
+
-uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
-		TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
+		TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
-	uint32_t notificationValue = 0;
+	uint32_t notificationValue = 0;
-	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
+	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
-			higherPriorityTaskWoken);
+			higherPriorityTaskWoken);
-	return notificationValue;
+	return notificationValue;
-}
+}

osal/FreeRTOS/BinSemaphUsingTask.h

@@ -1,76 +1,76 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
-
+
-#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../tasks/SemaphoreIF.h"
+#include "../../tasks/SemaphoreIF.h"
-
+
-#include <freertos/FreeRTOS.h>
+#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
+#include <freertos/task.h>
-
+
-/**
+/**
- * @brief 	Binary Semaphore implementation using the task notification value.
+ * @brief 	Binary Semaphore implementation using the task notification value.
- * 			The notification value should therefore not be used
+ * 			The notification value should therefore not be used
- * 			for other purposes.
+ * 			for other purposes.
- * @details
+ * @details
- * Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ * Additional information: https://www.freertos.org/RTOS-task-notifications.html
- * and general semaphore documentation.
+ * and general semaphore documentation.
- */
+ */
-class BinarySemaphoreUsingTask: public SemaphoreIF,
+class BinarySemaphoreUsingTask: public SemaphoreIF,
-		public HasReturnvaluesIF {
+		public HasReturnvaluesIF {
-public:
+public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
-
+
-	//! @brief Default ctor
+	//! @brief Default ctor
-	BinarySemaphoreUsingTask();
+	BinarySemaphoreUsingTask();
-	//! @brief Default dtor
+	//! @brief Default dtor
-	virtual~ BinarySemaphoreUsingTask();
+	virtual~ BinarySemaphoreUsingTask();
-
+
-	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-	        uint32_t timeoutMs = portMAX_DELAY) override;
+	        uint32_t timeoutMs = portMAX_DELAY) override;
-	ReturnValue_t release() override;
+	ReturnValue_t release() override;
-	uint8_t getSemaphoreCounter() const override;
+	uint8_t getSemaphoreCounter() const override;
-	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
+	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
-	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
-			BaseType_t* higherPriorityTaskWoken);
+			BaseType_t* higherPriorityTaskWoken);
-
+
-	/**
+	/**
-	 * Same as acquire() with timeout in FreeRTOS ticks.
+	 * Same as acquire() with timeout in FreeRTOS ticks.
-	 * @param timeoutTicks
+	 * @param timeoutTicks
-	 * @return - @c RETURN_OK on success
+	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED on failure
+	 *         - @c RETURN_FAILED on failure
-	 */
+	 */
-	ReturnValue_t acquireWithTickTimeout(
+	ReturnValue_t acquireWithTickTimeout(
-	        TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        TimeoutType timeoutType = TimeoutType::BLOCKING,
-	        TickType_t timeoutTicks = portMAX_DELAY);
+	        TickType_t timeoutTicks = portMAX_DELAY);
-
+
-	/**
+	/**
-	 * Get handle to the task related to the semaphore.
+	 * Get handle to the task related to the semaphore.
-	 * @return
+	 * @return
-	 */
+	 */
-	TaskHandle_t getTaskHandle();
+	TaskHandle_t getTaskHandle();
-
+
-	 /**
+	 /**
-	 * Wrapper function to give back semaphore from handle
+	 * Wrapper function to give back semaphore from handle
-	 * @param semaphore
+	 * @param semaphore
-	 * @return - @c RETURN_OK on success
+	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED on failure
+	 *         - @c RETURN_FAILED on failure
-	 */
+	 */
-	static ReturnValue_t release(TaskHandle_t taskToNotify);
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
-
+
-	/**
+	/**
-	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * Wrapper function to give back semaphore from handle when called from an ISR
-	 * @param semaphore
+	 * @param semaphore
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch should be requested
+	 * a higher priority was unblocked. A context switch should be requested
-	 * from an ISR if this is the case (see TaskManagement functions)
+	 * from an ISR if this is the case (see TaskManagement functions)
-	 * @return - @c RETURN_OK on success
+	 * @return - @c RETURN_OK on success
-	 *         - @c RETURN_FAILED on failure
+	 *         - @c RETURN_FAILED on failure
-	 */
+	 */
-	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
-				BaseType_t * higherPriorityTaskWoken);
+				BaseType_t * higherPriorityTaskWoken);
-
+
-protected:
+protected:
-	TaskHandle_t handle;
+	TaskHandle_t handle;
-};
+};
-
+
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

osal/FreeRTOS/BinarySemaphore.cpp

@@ -1,108 +1,108 @@
-#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
-
+
-BinarySemaphore::BinarySemaphore() {
+BinarySemaphore::BinarySemaphore() {
-	handle = xSemaphoreCreateBinary();
+	handle = xSemaphoreCreateBinary();
-	if(handle == nullptr) {
+	if(handle == nullptr) {
-		sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
+		sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
-	}
+	}
-	// Initiated semaphore must be given before it can be taken.
+	// Initiated semaphore must be given before it can be taken.
-	xSemaphoreGive(handle);
+	xSemaphoreGive(handle);
-}
+}
-
+
-BinarySemaphore::~BinarySemaphore() {
+BinarySemaphore::~BinarySemaphore() {
-	vSemaphoreDelete(handle);
+	vSemaphoreDelete(handle);
-}
+}
-
+
-BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
+BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
-    handle = xSemaphoreCreateBinary();
+    handle = xSemaphoreCreateBinary();
-    if(handle == nullptr) {
+    if(handle == nullptr) {
-        sif::error << "Binary semaphore creation failure" << std::endl;
+        sif::error << "Binary semaphore creation failure" << std::endl;
-    }
+    }
-    xSemaphoreGive(handle);
+    xSemaphoreGive(handle);
-}
+}
-
+
-BinarySemaphore& BinarySemaphore::operator =(
+BinarySemaphore& BinarySemaphore::operator =(
-        BinarySemaphore&& s) {
+        BinarySemaphore&& s) {
-    if(&s != this) {
+    if(&s != this) {
-        handle = xSemaphoreCreateBinary();
+        handle = xSemaphoreCreateBinary();
-        if(handle == nullptr) {
+        if(handle == nullptr) {
-            sif::error << "Binary semaphore creation failure" << std::endl;
+            sif::error << "Binary semaphore creation failure" << std::endl;
-        }
+        }
-        xSemaphoreGive(handle);
+        xSemaphoreGive(handle);
-    }
+    }
-    return *this;
+    return *this;
-}
+}
-
+
-ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
+ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
-        uint32_t timeoutMs) {
+        uint32_t timeoutMs) {
-    TickType_t timeout = 0;
+    TickType_t timeout = 0;
-	if(timeoutType == TimeoutType::POLLING) {
+	if(timeoutType == TimeoutType::POLLING) {
-	    timeout = 0;
+	    timeout = 0;
-	}
+	}
-	else if(timeoutType == TimeoutType::WAITING){
+	else if(timeoutType == TimeoutType::WAITING){
-	    timeout = pdMS_TO_TICKS(timeoutMs);
+	    timeout = pdMS_TO_TICKS(timeoutMs);
-	}
+	}
-	else {
+	else {
-	    timeout = portMAX_DELAY;
+	    timeout = portMAX_DELAY;
-	}
+	}
-	return acquireWithTickTimeout(timeoutType, timeout);
+	return acquireWithTickTimeout(timeoutType, timeout);
-}
+}
-
+
-ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
+ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
-        TickType_t timeoutTicks) {
+        TickType_t timeoutTicks) {
-	if(handle == nullptr) {
+	if(handle == nullptr) {
-		return SemaphoreIF::SEMAPHORE_INVALID;
+		return SemaphoreIF::SEMAPHORE_INVALID;
-	}
+	}
-
+
-	BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
+	BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
-	if (returncode == pdPASS) {
+	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-	else {
+	else {
-		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	}
+	}
-}
+}
-
+
-ReturnValue_t BinarySemaphore::release() {
+ReturnValue_t BinarySemaphore::release() {
-	return release(handle);
+	return release(handle);
-}
+}
-
+
-ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
+ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
-	if (semaphore == nullptr) {
+	if (semaphore == nullptr) {
-		return SemaphoreIF::SEMAPHORE_INVALID;
+		return SemaphoreIF::SEMAPHORE_INVALID;
-	}
+	}
-	BaseType_t returncode = xSemaphoreGive(semaphore);
+	BaseType_t returncode = xSemaphoreGive(semaphore);
-	if (returncode == pdPASS) {
+	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-	else {
+	else {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
+	}
-}
+}
-
+
-uint8_t BinarySemaphore::getSemaphoreCounter() const {
+uint8_t BinarySemaphore::getSemaphoreCounter() const {
-	return uxSemaphoreGetCount(handle);
+	return uxSemaphoreGetCount(handle);
-}
+}
-
+
-SemaphoreHandle_t BinarySemaphore::getSemaphore() {
+SemaphoreHandle_t BinarySemaphore::getSemaphore() {
-	return handle;
+	return handle;
-}
+}
-
+
-
+
-// Be careful with the stack size here. This is called from an ISR!
+// Be careful with the stack size here. This is called from an ISR!
-ReturnValue_t BinarySemaphore::releaseFromISR(
+ReturnValue_t BinarySemaphore::releaseFromISR(
-		SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
+		SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
-	if (semaphore == nullptr) {
+	if (semaphore == nullptr) {
-		return SemaphoreIF::SEMAPHORE_INVALID;
+		return SemaphoreIF::SEMAPHORE_INVALID;
-	}
+	}
-	BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
+	BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
-			higherPriorityTaskWoken);
+			higherPriorityTaskWoken);
-	if (returncode == pdPASS) {
+	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-	else {
+	else {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
+	}
-}
+}

osal/FreeRTOS/BinarySemaphore.h

@@ -1,107 +1,107 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
-#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
-
+
-#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../tasks/SemaphoreIF.h"
+#include "../../tasks/SemaphoreIF.h"
-
+
-#include <freertos/FreeRTOS.h>
+#include <freertos/FreeRTOS.h>
-#include <freertos/semphr.h>
+#include <freertos/semphr.h>
-
+
-/**
+/**
- * @brief 	OS Tool to achieve synchronization of between tasks or between
+ * @brief 	OS Tool to achieve synchronization of between tasks or between
- * 			task and ISR. The default semaphore implementation creates a
+ * 			task and ISR. The default semaphore implementation creates a
- * 			binary semaphore, which can only be taken once.
+ * 			binary semaphore, which can only be taken once.
- * @details
+ * @details
- * Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
+ * Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
- *
+ *
- * Please note that if the semaphore implementation is only related to
+ * Please note that if the semaphore implementation is only related to
- * the synchronization of one task, the new task notifications can be used,
+ * the synchronization of one task, the new task notifications can be used,
- * also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
+ * also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
- * These use the task notification value instead of a queue and are
+ * These use the task notification value instead of a queue and are
- * faster and more efficient.
+ * faster and more efficient.
- *
+ *
- * @author 	R. Mueller
+ * @author 	R. Mueller
- * @ingroup osal
+ * @ingroup osal
- */
+ */
-class BinarySemaphore: public SemaphoreIF,
+class BinarySemaphore: public SemaphoreIF,
-		public HasReturnvaluesIF {
+		public HasReturnvaluesIF {
-public:
+public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
-
+
-	//! @brief Default ctor
+	//! @brief Default ctor
-	BinarySemaphore();
+	BinarySemaphore();
-	//! @brief Copy ctor, deleted explicitely.
+	//! @brief Copy ctor, deleted explicitely.
-	BinarySemaphore(const BinarySemaphore&) = delete;
+	BinarySemaphore(const BinarySemaphore&) = delete;
-	//! @brief Copy assignment, deleted explicitely.
+	//! @brief Copy assignment, deleted explicitely.
-	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
+	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
-	//! @brief Move ctor
+	//! @brief Move ctor
-	BinarySemaphore (BinarySemaphore &&);
+	BinarySemaphore (BinarySemaphore &&);
-	//! @brief Move assignment
+	//! @brief Move assignment
-	BinarySemaphore & operator=(BinarySemaphore &&);
+	BinarySemaphore & operator=(BinarySemaphore &&);
-	//! @brief Destructor
+	//! @brief Destructor
-	virtual ~BinarySemaphore();
+	virtual ~BinarySemaphore();
-
+
-	uint8_t getSemaphoreCounter() const override;
+	uint8_t getSemaphoreCounter() const override;
-
+
-	/**
+	/**
-	 * Take the binary semaphore.
+	 * Take the binary semaphore.
-	 * If the semaphore has already been taken, the task will be blocked
+	 * If the semaphore has already been taken, the task will be blocked
-	 * for a maximum of #timeoutMs or until the semaphore is given back,
+	 * for a maximum of #timeoutMs or until the semaphore is given back,
-	 * for example by an ISR or another task.
+	 * for example by an ISR or another task.
-	 * @param timeoutMs
+	 * @param timeoutMs
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
+	 */
-	ReturnValue_t acquire(TimeoutType timeoutType =
+	ReturnValue_t acquire(TimeoutType timeoutType =
-            TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
+            TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
-
+
-	/**
+	/**
-	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
+	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
-	 * @param timeoutTicks
+	 * @param timeoutTicks
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
+	 */
-	ReturnValue_t  acquireWithTickTimeout(TimeoutType timeoutType =
+	ReturnValue_t  acquireWithTickTimeout(TimeoutType timeoutType =
-            TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
+            TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
-
+
-	/**
+	/**
-	 * Release the binary semaphore.
+	 * Release the binary semaphore.
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
-	 *         	already available.
+	 *         	already available.
-	 */
+	 */
-	ReturnValue_t release() override;
+	ReturnValue_t release() override;
-
+
-	/**
+	/**
-	 * Get Handle to the semaphore.
+	 * Get Handle to the semaphore.
-	 * @return
+	 * @return
-	 */
+	 */
-	SemaphoreHandle_t getSemaphore();
+	SemaphoreHandle_t getSemaphore();
-
+
-	 /**
+	 /**
-	 * Wrapper function to give back semaphore from handle
+	 * Wrapper function to give back semaphore from handle
-	 * @param semaphore
+	 * @param semaphore
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
-	 *         	already available.
+	 *         	already available.
-	 */
+	 */
-	static ReturnValue_t release(SemaphoreHandle_t semaphore);
+	static ReturnValue_t release(SemaphoreHandle_t semaphore);
-
+
-	/**
+	/**
-	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * Wrapper function to give back semaphore from handle when called from an ISR
-	 * @param semaphore
+	 * @param semaphore
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch from an ISR should
+	 * a higher priority was unblocked. A context switch from an ISR should
-	 * then be requested (see TaskManagement functions)
+	 * then be requested (see TaskManagement functions)
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
-	 *         	already available.
+	 *         	already available.
-	 */
+	 */
-	static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
+	static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
-				BaseType_t * higherPriorityTaskWoken);
+				BaseType_t * higherPriorityTaskWoken);
-
+
-protected:
+protected:
-	SemaphoreHandle_t handle;
+	SemaphoreHandle_t handle;
-};
+};
-
+
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

osal/FreeRTOS/CountingSemaphUsingTask.cpp

@@ -1,114 +1,114 @@
-#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
-
+
-CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
+CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
-		uint8_t initCount): maxCount(maxCount) {
+		uint8_t initCount): maxCount(maxCount) {
-	if(initCount > maxCount) {
+	if(initCount > maxCount) {
-		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
-				"intial cout. Setting initial count to max count." << std::endl;
+				"intial cout. Setting initial count to max count." << std::endl;
-		initCount = maxCount;
+		initCount = maxCount;
-	}
+	}
-
+
-	handle = TaskManagement::getCurrentTaskHandle();
+	handle = TaskManagement::getCurrentTaskHandle();
-	if(handle == nullptr) {
+	if(handle == nullptr) {
-		sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
+		sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
-				"handle. Please ensure the constructor was called inside a "
+				"handle. Please ensure the constructor was called inside a "
-				"task." << std::endl;
+				"task." << std::endl;
-	}
+	}
-
+
-	uint32_t oldNotificationValue;
+	uint32_t oldNotificationValue;
-	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
-			&oldNotificationValue);
+			&oldNotificationValue);
-	if(oldNotificationValue != 0) {
+	if(oldNotificationValue != 0) {
-		sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
+		sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
-				"current notification value is not 0. Please ensure the "
+				"current notification value is not 0. Please ensure the "
-				"notification value is not used for other purposes!" << std::endl;
+				"notification value is not used for other purposes!" << std::endl;
-	}
+	}
-	for(int i = 0; i < initCount; i++) {
+	for(int i = 0; i < initCount; i++) {
-		xTaskNotifyGive(handle);
+		xTaskNotifyGive(handle);
-	}
+	}
-}
+}
-
+
-CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
+CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
-	// Clear notification value on destruction.
+	// Clear notification value on destruction.
-	// If this is not desired, don't call the destructor
+	// If this is not desired, don't call the destructor
-	// (or implement a boolean which disables the reset)
+	// (or implement a boolean which disables the reset)
-	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
-}
+}
-
+
-ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
+ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
-        uint32_t timeoutMs) {
+        uint32_t timeoutMs) {
-    TickType_t timeout = 0;
+    TickType_t timeout = 0;
-    if(timeoutType == TimeoutType::POLLING) {
+    if(timeoutType == TimeoutType::POLLING) {
-        timeout = 0;
+        timeout = 0;
-    }
+    }
-    else if(timeoutType == TimeoutType::WAITING){
+    else if(timeoutType == TimeoutType::WAITING){
-        timeout = pdMS_TO_TICKS(timeoutMs);
+        timeout = pdMS_TO_TICKS(timeoutMs);
-    }
+    }
-    else {
+    else {
-        timeout = portMAX_DELAY;
+        timeout = portMAX_DELAY;
-    }
+    }
-    return acquireWithTickTimeout(timeoutType, timeout);
+    return acquireWithTickTimeout(timeoutType, timeout);
-
+
-}
+}
-
+
-ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
+ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
-        TimeoutType timeoutType, TickType_t timeoutTicks) {
+        TimeoutType timeoutType, TickType_t timeoutTicks) {
-	// Decrement notfication value without resetting it.
+	// Decrement notfication value without resetting it.
-	BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
+	BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
-	if (getSemaphoreCounter() == oldCount - 1) {
+	if (getSemaphoreCounter() == oldCount - 1) {
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-	else {
+	else {
-		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	}
+	}
-}
+}
-
+
-ReturnValue_t CountingSemaphoreUsingTask::release() {
+ReturnValue_t CountingSemaphoreUsingTask::release() {
-	if(getSemaphoreCounter() == maxCount) {
+	if(getSemaphoreCounter() == maxCount) {
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
+	}
-	return release(handle);
+	return release(handle);
-}
+}
-
+
-ReturnValue_t CountingSemaphoreUsingTask::release(
+ReturnValue_t CountingSemaphoreUsingTask::release(
-		TaskHandle_t taskToNotify) {
+		TaskHandle_t taskToNotify) {
-	BaseType_t returncode = xTaskNotifyGive(taskToNotify);
+	BaseType_t returncode = xTaskNotifyGive(taskToNotify);
-	if (returncode == pdPASS) {
+	if (returncode == pdPASS) {
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-	else {
+	else {
-		// This should never happen.
+		// This should never happen.
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+	}
-}
+}
-
+
-
+
-uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
-	uint32_t notificationValue = 0;
+	uint32_t notificationValue = 0;
-	xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
+	xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
-	return notificationValue;
+	return notificationValue;
-}
+}
-
+
-TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
+TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
-	return handle;
+	return handle;
-}
+}
-
+
-ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
+ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
-		TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
+		TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
-	vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
+	vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
-	return HasReturnvaluesIF::RETURN_OK;
+	return HasReturnvaluesIF::RETURN_OK;
-}
+}
-
+
-uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
-		TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
+		TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
-	uint32_t notificationValue;
+	uint32_t notificationValue;
-	xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
+	xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
-			higherPriorityTaskWoken);
+			higherPriorityTaskWoken);
-	return notificationValue;
+	return notificationValue;
-}
+}
-
+
-uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
+uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
-	return maxCount;
+	return maxCount;
-}
+}

osal/FreeRTOS/CountingSemaphUsingTask.h

@@ -1,102 +1,102 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
-
+
-#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
-#include "../../tasks/SemaphoreIF.h"
+#include "../../tasks/SemaphoreIF.h"
-
+
-extern "C" {
+extern "C" {
-#include <freertos/FreeRTOS.h>
+#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
+#include <freertos/task.h>
-}
+}
-
+
-/**
+/**
- * @brief 	Couting Semaphore implementation which uses the notification value
+ * @brief 	Couting Semaphore implementation which uses the notification value
- * 			of the task. The notification value should therefore not be used
+ * 			of the task. The notification value should therefore not be used
- * 			for other purposes.
+ * 			for other purposes.
- * @details
+ * @details
- *  Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ *  Additional information: https://www.freertos.org/RTOS-task-notifications.html
- *  and general semaphore documentation.
+ *  and general semaphore documentation.
- */
+ */
-class CountingSemaphoreUsingTask: public SemaphoreIF {
+class CountingSemaphoreUsingTask: public SemaphoreIF {
-public:
+public:
-	CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
+	CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
-	virtual ~CountingSemaphoreUsingTask();
+	virtual ~CountingSemaphoreUsingTask();
-
+
-	/**
+	/**
-	 * Acquire the counting semaphore.
+	 * Acquire the counting semaphore.
-	 * If no semaphores are available, the task will be blocked
+	 * If no semaphores are available, the task will be blocked
-	 * for a maximum of #timeoutMs or until one is given back,
+	 * for a maximum of #timeoutMs or until one is given back,
-	 * for example by an ISR or another task.
+	 * for example by an ISR or another task.
-	 * @param timeoutMs
+	 * @param timeoutMs
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
+	 */
-	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-	        uint32_t timeoutMs = portMAX_DELAY) override;
+	        uint32_t timeoutMs = portMAX_DELAY) override;
-
+
-	/**
+	/**
-	 * Release a semaphore, increasing the number of available counting
+	 * Release a semaphore, increasing the number of available counting
-	 * semaphores up to the #maxCount value.
+	 * semaphores up to the #maxCount value.
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
-	 *         	already available.
+	 *         	already available.
-	 */
+	 */
-	ReturnValue_t release() override;
+	ReturnValue_t release() override;
-
+
-	uint8_t getSemaphoreCounter() const override;
+	uint8_t getSemaphoreCounter() const override;
-	/**
+	/**
-	 * Get the semaphore counter from an ISR.
+	 * Get the semaphore counter from an ISR.
-	 * @param task
+	 * @param task
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch should be requested
+	 * a higher priority was unblocked. A context switch should be requested
-	 * from an ISR if this is the case (see TaskManagement functions)
+	 * from an ISR if this is the case (see TaskManagement functions)
-	 * @return
+	 * @return
-	 */
+	 */
-	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
-			BaseType_t* higherPriorityTaskWoken);
+			BaseType_t* higherPriorityTaskWoken);
-
+
-	/**
+	/**
-	 * Acquire with a timeout value in ticks
+	 * Acquire with a timeout value in ticks
-	 * @param timeoutTicks
+	 * @param timeoutTicks
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
+	 */
-	ReturnValue_t acquireWithTickTimeout(
+	ReturnValue_t acquireWithTickTimeout(
-	        TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        TimeoutType timeoutType = TimeoutType::BLOCKING,
-			TickType_t timeoutTicks = portMAX_DELAY);
+			TickType_t timeoutTicks = portMAX_DELAY);
-
+
-	/**
+	/**
-	 * Get handle to the task related to the semaphore.
+	 * Get handle to the task related to the semaphore.
-	 * @return
+	 * @return
-	 */
+	 */
-	TaskHandle_t getTaskHandle();
+	TaskHandle_t getTaskHandle();
-
+
-	/**
+	/**
-	 * Release semaphore of task by supplying task handle
+	 * Release semaphore of task by supplying task handle
-	 * @param taskToNotify
+	 * @param taskToNotify
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
-	 *         	already available.
+	 *         	already available.
-	 */
+	 */
-	static ReturnValue_t release(TaskHandle_t taskToNotify);
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
-	/**
+	/**
-	 * Release seamphore of a task from an ISR.
+	 * Release seamphore of a task from an ISR.
-	 * @param taskToNotify
+	 * @param taskToNotify
-	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
-	 * a higher priority was unblocked. A context switch should be requested
+	 * a higher priority was unblocked. A context switch should be requested
-	 * from an ISR if this is the case (see TaskManagement functions)
+	 * from an ISR if this is the case (see TaskManagement functions)
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
-	 *         	already available.
+	 *         	already available.
-	 */
+	 */
-	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
-			BaseType_t* higherPriorityTaskWoken);
+			BaseType_t* higherPriorityTaskWoken);
-
+
-	uint8_t getMaxCount() const;
+	uint8_t getMaxCount() const;
-
+
-private:
+private:
-	TaskHandle_t handle;
+	TaskHandle_t handle;
-	const uint8_t maxCount;
+	const uint8_t maxCount;
-};
+};
-
+
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */

osal/FreeRTOS/CountingSemaphore.cpp

@@ -1,43 +1,43 @@
-#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "../../osal/FreeRTOS/CountingSemaphore.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
-
+
-#include <freertos/semphr.h>
+#include <freertos/semphr.h>
-
+
-// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
+// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
-// free FreeRTOSConfig.h file.
+// free FreeRTOSConfig.h file.
-CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
-		maxCount(maxCount), initCount(initCount) {
+		maxCount(maxCount), initCount(initCount) {
-	if(initCount > maxCount) {
+	if(initCount > maxCount) {
-		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
-				"intial cout. Setting initial count to max count." << std::endl;
+				"intial cout. Setting initial count to max count." << std::endl;
-		initCount = maxCount;
+		initCount = maxCount;
-	}
+	}
-
+
-	handle = xSemaphoreCreateCounting(maxCount, initCount);
+	handle = xSemaphoreCreateCounting(maxCount, initCount);
-	if(handle == nullptr) {
+	if(handle == nullptr) {
-		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
-	}
+	}
-}
+}
-
+
-CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
-		maxCount(other.maxCount), initCount(other.initCount) {
+		maxCount(other.maxCount), initCount(other.initCount) {
-	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
-	if(handle == nullptr) {
+	if(handle == nullptr) {
-		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
-	}
+	}
-}
+}
-
+
-CountingSemaphore& CountingSemaphore::operator =(
+CountingSemaphore& CountingSemaphore::operator =(
-		CountingSemaphore&& other) {
+		CountingSemaphore&& other) {
-	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
-	if(handle == nullptr) {
+	if(handle == nullptr) {
-		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
-	}
+	}
-	return * this;
+	return * this;
-}
+}
-
+
-
+
-uint8_t CountingSemaphore::getMaxCount() const {
+uint8_t CountingSemaphore::getMaxCount() const {
-	return maxCount;
+	return maxCount;
-}
+}

osal/FreeRTOS/CountingSemaphore.h

@@ -1,34 +1,34 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
-#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
-#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
-
+
-/**
+/**
- * @brief 	Counting semaphores, which can be acquire more than once.
+ * @brief 	Counting semaphores, which can be acquire more than once.
- * @details
+ * @details
- * See: https://www.freertos.org/CreateCounting.html
+ * See: https://www.freertos.org/CreateCounting.html
- * API of counting semaphores is almost identical to binary semaphores,
+ * API of counting semaphores is almost identical to binary semaphores,
- * so we just inherit from binary semaphore and provide the respective
+ * so we just inherit from binary semaphore and provide the respective
- * constructors.
+ * constructors.
- */
+ */
-class CountingSemaphore: public BinarySemaphore {
+class CountingSemaphore: public BinarySemaphore {
-public:
+public:
-	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
-	//! @brief Copy ctor, disabled
+	//! @brief Copy ctor, disabled
-	CountingSemaphore(const CountingSemaphore&) = delete;
+	CountingSemaphore(const CountingSemaphore&) = delete;
-	//! @brief Copy assignment, disabled
+	//! @brief Copy assignment, disabled
-	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
-	//! @brief Move ctor
+	//! @brief Move ctor
-	CountingSemaphore (CountingSemaphore &&);
+	CountingSemaphore (CountingSemaphore &&);
-	//! @brief Move assignment
+	//! @brief Move assignment
-	CountingSemaphore & operator=(CountingSemaphore &&);
+	CountingSemaphore & operator=(CountingSemaphore &&);
-
+
-	/* Same API as binary semaphore otherwise. acquire() can be called
+	/* Same API as binary semaphore otherwise. acquire() can be called
-	 * until there are not semaphores left and release() can be called
+	 * until there are not semaphores left and release() can be called
-	 * until maxCount is reached. */
+	 * until maxCount is reached. */
-	uint8_t getMaxCount() const;
+	uint8_t getMaxCount() const;
-private:
+private:
-	const uint8_t maxCount;
+	const uint8_t maxCount;
-	uint8_t initCount = 0;
+	uint8_t initCount = 0;
-};
+};
-
+
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -8,7 +8,7 @@ const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod overallPeriod,
 		void (*setDeadlineMissedFunc)()) :
-		started(false), handle(NULL), pst(overallPeriod * 1000) {
+		started(false), handle(nullptr), pst(overallPeriod * 1000) {
 	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
 	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
 	// All additional attributes are applied to the object.
@@ -62,8 +62,10 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+    ExecutableObjectIF* handler =
-		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+            objectManager->get<ExecutableObjectIF>(componentId);
+	if (handler != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep, handler, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
@@ -85,6 +87,8 @@ void FixedTimeslotTask::taskFunctionality() {
     // start time for the first entry.
 	auto slotListIter = pst.current;
 
+	pst.intializeSequenceAfterTaskCreation();
+
 	//The start time for the first entry is read.
 	uint32_t intervalMs = slotListIter->pollingTimeMs;
 	TickType_t interval = pdMS_TO_TICKS(intervalMs);
@@ -143,10 +147,6 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
 }
 
 void FixedTimeslotTask::handleMissedDeadline() {
-#ifdef DEBUG
-    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
-            " missed deadline!\n" << std::flush;
-#endif
     if(deadlineMissedFunc != nullptr) {
         this->deadlineMissedFunc();
     }

osal/FreeRTOS/FixedTimeslotTask.h

@@ -1,12 +1,11 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#ifndef FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
-#define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
+#define FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
 #include "FreeRTOSTaskIF.h"
-#include "../../devicehandlers/FixedSlotSequence.h"
+#include "../../tasks/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "../../tasks/Typedef.h"
 
-
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
@@ -99,4 +98,4 @@ protected:
 	void handleMissedDeadline();
 };
 
-#endif /* FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_ */
+#endif /* FSFW_OSAL_FREERTOS_FIXEDTIMESLOTTASK_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/PeriodicTask.cpp

@@ -133,10 +133,6 @@ TaskHandle_t PeriodicTask::getTaskHandle() {
 }
 
 void PeriodicTask::handleMissedDeadline() {
-#ifdef DEBUG
-    sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
-            " missed deadline!\n" << std::flush;
-#endif
     if(deadlineMissedFunc != nullptr) {
         this->deadlineMissedFunc();
     }

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) {
+			MessageQueueMessage* message, MessageQueueId_t sentFrom,
-	return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
+			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/FreeRTOS/SemaphoreFactory.cpp

@@ -1,59 +1,59 @@
-#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
-#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
-#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "../../osal/FreeRTOS/CountingSemaphore.h"
-#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
-#include "../../tasks/SemaphoreFactory.h"
+#include "../../tasks/SemaphoreFactory.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
-
+
-SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-
+
-static const uint32_t USE_REGULAR_SEMAPHORES = 0;
+static const uint32_t USE_REGULAR_SEMAPHORES = 0;
-static const uint32_t USE_TASK_NOTIFICATIONS = 1;
+static const uint32_t USE_TASK_NOTIFICATIONS = 1;
-
+
-SemaphoreFactory::SemaphoreFactory() {
+SemaphoreFactory::SemaphoreFactory() {
-}
+}
-
+
-SemaphoreFactory::~SemaphoreFactory() {
+SemaphoreFactory::~SemaphoreFactory() {
-	delete factoryInstance;
+	delete factoryInstance;
-}
+}
-
+
-SemaphoreFactory* SemaphoreFactory::instance() {
+SemaphoreFactory* SemaphoreFactory::instance() {
-	if (factoryInstance == nullptr){
+	if (factoryInstance == nullptr){
-		factoryInstance = new SemaphoreFactory();
+		factoryInstance = new SemaphoreFactory();
-	}
+	}
-	return SemaphoreFactory::factoryInstance;
+	return SemaphoreFactory::factoryInstance;
-}
+}
-
+
-SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
-	if(argument == USE_REGULAR_SEMAPHORES) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
-		return new BinarySemaphore();
+		return new BinarySemaphore();
-	}
+	}
-	else if(argument == USE_TASK_NOTIFICATIONS) {
+	else if(argument == USE_TASK_NOTIFICATIONS) {
-		return new BinarySemaphoreUsingTask();
+		return new BinarySemaphoreUsingTask();
-	}
+	}
-	else {
+	else {
-		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
-				"binary semaphore" << std::endl;
+				"binary semaphore" << std::endl;
-		return new BinarySemaphore();
+		return new BinarySemaphore();
-	}
+	}
-}
+}
-
+
-SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
-		uint8_t initCount, uint32_t argument) {
+		uint8_t initCount, uint32_t argument) {
-	if(argument == USE_REGULAR_SEMAPHORES) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
-		return new CountingSemaphore(maxCount, initCount);
+		return new CountingSemaphore(maxCount, initCount);
-	}
+	}
-	else if(argument == USE_TASK_NOTIFICATIONS) {
+	else if(argument == USE_TASK_NOTIFICATIONS) {
-		return new CountingSemaphoreUsingTask(maxCount, initCount);
+		return new CountingSemaphoreUsingTask(maxCount, initCount);
-	}
+	}
-	else {
+	else {
-		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
-						"binary semaphore" << std::endl;
+						"binary semaphore" << std::endl;
-		return new CountingSemaphore(maxCount, initCount);
+		return new CountingSemaphore(maxCount, initCount);
-	}
+	}
-
+
-}
+}
-
+
-void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
-	delete semaphore;
+	delete semaphore;
-}
+}

osal/FreeRTOS/TaskManagement.cpp

@@ -1,24 +1,24 @@
-#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
-
+
-void TaskManagement::vRequestContextSwitchFromTask() {
+void TaskManagement::vRequestContextSwitchFromTask() {
-	vTaskDelay(0);
+	vTaskDelay(0);
-}
+}
-
+
-void TaskManagement::requestContextSwitch(
+void TaskManagement::requestContextSwitch(
-		CallContext callContext = CallContext::TASK) {
+		CallContext callContext = CallContext::TASK) {
-	if(callContext == CallContext::ISR) {
+	if(callContext == CallContext::ISR) {
-		// This function depends on the partmacro.h definition for the specific device
+		// This function depends on the partmacro.h definition for the specific device
-		vRequestContextSwitchFromISR();
+		vRequestContextSwitchFromISR();
-	} else {
+	} else {
-		vRequestContextSwitchFromTask();
+		vRequestContextSwitchFromTask();
-	}
+	}
-}
+}
-
+
-TaskHandle_t TaskManagement::getCurrentTaskHandle() {
+TaskHandle_t TaskManagement::getCurrentTaskHandle() {
-	return xTaskGetCurrentTaskHandle();
+	return xTaskGetCurrentTaskHandle();
-}
+}
-
+
-size_t TaskManagement::getTaskStackHighWatermark(
+size_t TaskManagement::getTaskStackHighWatermark(
-        TaskHandle_t task) {
+        TaskHandle_t task) {
-	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+}

osal/FreeRTOS/TaskManagement.h

@@ -1,64 +1,64 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
-#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
-
+
-#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
-
+
-extern "C" {
+extern "C" {
-#include <freertos/FreeRTOS.h>
+#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
+#include <freertos/task.h>
-}
+}
-#include <cstdint>
+#include <cstdint>
-
+
-/**
+/**
- * Architecture dependant portmacro.h function call.
+ * Architecture dependant portmacro.h function call.
- * Should be implemented in bsp.
+ * Should be implemented in bsp.
- */
+ */
-extern void vRequestContextSwitchFromISR();
+extern void vRequestContextSwitchFromISR();
-
+
-/*!
+/*!
- * Used by functions to tell if they are being called from
+ * Used by functions to tell if they are being called from
- * within an ISR or from a regular task. This is required because FreeRTOS
+ * within an ISR or from a regular task. This is required because FreeRTOS
- * has different functions for handling semaphores and messages from within
+ * has different functions for handling semaphores and messages from within
- * an ISR and task.
+ * an ISR and task.
- */
+ */
-enum class CallContext {
+enum class CallContext {
-	TASK = 0x00,//!< task_context
+	TASK = 0x00,//!< task_context
-	ISR = 0xFF  //!< isr_context
+	ISR = 0xFF  //!< isr_context
-};
+};
-
+
-
+
-class TaskManagement {
+class TaskManagement {
-public:
+public:
-	/**
+	/**
-	 * @brief	In this function, a function dependant on the portmacro.h header
+	 * @brief	In this function, a function dependant on the portmacro.h header
-	 * 			function calls to request a context switch can be specified.
+	 * 			function calls to request a context switch can be specified.
-	 * This can be used if sending to the queue from an ISR caused a task
+	 * This can be used if sending to the queue from an ISR caused a task
-	 * to unblock and a context switch is required.
+	 * to unblock and a context switch is required.
-	 */
+	 */
-	static void requestContextSwitch(CallContext callContext);
+	static void requestContextSwitch(CallContext callContext);
-
+
-	/**
+	/**
-	 * If task preemption in FreeRTOS is disabled, a context switch
+	 * If task preemption in FreeRTOS is disabled, a context switch
-	 * can be requested manually by calling this function.
+	 * can be requested manually by calling this function.
-	 */
+	 */
-	static void vRequestContextSwitchFromTask(void);
+	static void vRequestContextSwitchFromTask(void);
-
+
-	/**
+	/**
-	 * @return The current task handle
+	 * @return The current task handle
-	 */
+	 */
-	static TaskHandle_t getCurrentTaskHandle();
+	static TaskHandle_t getCurrentTaskHandle();
-
+
-	/**
+	/**
-	 * Get returns the minimum amount of remaining stack space in words
+	 * Get returns the minimum amount of remaining stack space in words
-	 * that was a available to the task since the task started executing.
+	 * that was a available to the task since the task started executing.
-	 * Please note that the actual value in bytes depends
+	 * Please note that the actual value in bytes depends
-	 * on the stack depth type.
+	 * on the stack depth type.
-	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
-	 * @return Smallest value of stack remaining since the task was started in
+	 * @return Smallest value of stack remaining since the task was started in
-	 * 		   words.
+	 * 		   words.
-	 */
+	 */
-	static size_t getTaskStackHighWatermark(
+	static size_t getTaskStackHighWatermark(
-	        TaskHandle_t task = nullptr);
+	        TaskHandle_t task = nullptr);
-};
+};
-
+
-#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */
+#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */

osal/linux/BinarySemaphore.cpp

@@ -1,149 +1,149 @@
-#include "../../osal/linux/BinarySemaphore.h"
+#include "../../osal/linux/BinarySemaphore.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
-
+
-extern "C" {
+extern "C" {
-#include <errno.h>
+#include <errno.h>
-#include <string.h>
+#include <string.h>
-}
+}
-
+
-BinarySemaphore::BinarySemaphore() {
+BinarySemaphore::BinarySemaphore() {
-	// Using unnamed semaphores for now
+	// Using unnamed semaphores for now
-	initSemaphore();
+	initSemaphore();
-}
+}
-
+
-BinarySemaphore::~BinarySemaphore() {
+BinarySemaphore::~BinarySemaphore() {
-	sem_destroy(&handle);
+	sem_destroy(&handle);
-}
+}
-
+
-BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
+BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
-	initSemaphore();
+	initSemaphore();
-}
+}
-
+
-BinarySemaphore& BinarySemaphore::operator =(
+BinarySemaphore& BinarySemaphore::operator =(
-        BinarySemaphore&& s) {
+        BinarySemaphore&& s) {
-	initSemaphore();
+	initSemaphore();
-	return * this;
+	return * this;
-}
+}
-
+
-ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
+ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
-		 uint32_t timeoutMs) {
+		 uint32_t timeoutMs) {
-	int result = 0;
+	int result = 0;
-	if(timeoutType == TimeoutType::POLLING) {
+	if(timeoutType == TimeoutType::POLLING) {
-		result = sem_trywait(&handle);
+		result = sem_trywait(&handle);
-	}
+	}
-	else if(timeoutType == TimeoutType::BLOCKING) {
+	else if(timeoutType == TimeoutType::BLOCKING) {
-	    result = sem_wait(&handle);
+	    result = sem_wait(&handle);
-	}
+	}
-	else if(timeoutType == TimeoutType::WAITING){
+	else if(timeoutType == TimeoutType::WAITING){
-		timespec timeOut;
+		timespec timeOut;
-		clock_gettime(CLOCK_REALTIME, &timeOut);
+		clock_gettime(CLOCK_REALTIME, &timeOut);
-		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
+		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
-		nseconds += timeoutMs * 1000000;
+		nseconds += timeoutMs * 1000000;
-		timeOut.tv_sec = nseconds / 1000000000;
+		timeOut.tv_sec = nseconds / 1000000000;
-		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
+		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
-	    result = sem_timedwait(&handle, &timeOut);
+	    result = sem_timedwait(&handle, &timeOut);
-	    if(result != 0 and errno == EINVAL) {
+	    if(result != 0 and errno == EINVAL) {
-	    	sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
+	    	sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
-	    			<< std::endl;
+	    			<< std::endl;
-	    }
+	    }
-	}
+	}
-	if(result == 0) {
+	if(result == 0) {
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-
+
-	switch(errno) {
+	switch(errno) {
-	case(EAGAIN):
+	case(EAGAIN):
-		// Operation could not be performed without blocking (for sem_trywait)
+		// Operation could not be performed without blocking (for sem_trywait)
-	case(ETIMEDOUT):
+	case(ETIMEDOUT):
-		// Semaphore is 0
+		// Semaphore is 0
-		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
-	case(EINVAL):
+	case(EINVAL):
-		// Semaphore invalid
+		// Semaphore invalid
-		return SemaphoreIF::SEMAPHORE_INVALID;
+		return SemaphoreIF::SEMAPHORE_INVALID;
-	case(EINTR):
+	case(EINTR):
-		// Call was interrupted by signal handler
+		// Call was interrupted by signal handler
-		sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
+		sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
-				"Code " << strerror(errno) << std::endl;
+				"Code " << strerror(errno) << std::endl;
-		/* No break */
+		/* No break */
-	default:
+	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+	}
-}
+}
-
+
-ReturnValue_t BinarySemaphore::release() {
+ReturnValue_t BinarySemaphore::release() {
-	return BinarySemaphore::release(&this->handle);
+	return BinarySemaphore::release(&this->handle);
-}
+}
-
+
-ReturnValue_t BinarySemaphore::release(sem_t *handle) {
+ReturnValue_t BinarySemaphore::release(sem_t *handle) {
-	ReturnValue_t countResult = checkCount(handle, 1);
+	ReturnValue_t countResult = checkCount(handle, 1);
-	if(countResult != HasReturnvaluesIF::RETURN_OK) {
+	if(countResult != HasReturnvaluesIF::RETURN_OK) {
-		return countResult;
+		return countResult;
-	}
+	}
-
+
-	int result = sem_post(handle);
+	int result = sem_post(handle);
-	if(result == 0) {
+	if(result == 0) {
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-
+
-	switch(errno) {
+	switch(errno) {
-	case(EINVAL):
+	case(EINVAL):
-		// Semaphore invalid
+		// Semaphore invalid
-		return SemaphoreIF::SEMAPHORE_INVALID;
+		return SemaphoreIF::SEMAPHORE_INVALID;
-	case(EOVERFLOW):
+	case(EOVERFLOW):
-		// SEM_MAX_VALUE overflow. This should never happen
+		// SEM_MAX_VALUE overflow. This should never happen
-	default:
+	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+	}
-}
+}
-
+
-uint8_t BinarySemaphore::getSemaphoreCounter() const {
+uint8_t BinarySemaphore::getSemaphoreCounter() const {
-	// And another ugly cast :-D
+	// And another ugly cast :-D
-	return getSemaphoreCounter(const_cast<sem_t*>(&this->handle));
+	return getSemaphoreCounter(const_cast<sem_t*>(&this->handle));
-}
+}
-
+
-uint8_t BinarySemaphore::getSemaphoreCounter(sem_t *handle) {
+uint8_t BinarySemaphore::getSemaphoreCounter(sem_t *handle) {
-	int value = 0;
+	int value = 0;
-	int result = sem_getvalue(handle, &value);
+	int result = sem_getvalue(handle, &value);
-	if (result == 0) {
+	if (result == 0) {
-		return value;
+		return value;
-	}
+	}
-	else if(result != 0 and errno == EINVAL) {
+	else if(result != 0 and errno == EINVAL) {
-		// Could be called from interrupt, use lightweight printf
+		// Could be called from interrupt, use lightweight printf
-		printf("BinarySemaphore::getSemaphoreCounter: Invalid semaphore\n");
+		printf("BinarySemaphore::getSemaphoreCounter: Invalid semaphore\n");
-		return 0;
+		return 0;
-	}
+	}
-	else {
+	else {
-		// This should never happen.
+		// This should never happen.
-		return 0;
+		return 0;
-	}
+	}
-}
+}
-
+
-void BinarySemaphore::initSemaphore(uint8_t initCount) {
+void BinarySemaphore::initSemaphore(uint8_t initCount) {
-	auto result = sem_init(&handle, true, initCount);
+	auto result = sem_init(&handle, true, initCount);
-	if(result == -1) {
+	if(result == -1) {
-		switch(errno) {
+		switch(errno) {
-		case(EINVAL):
+		case(EINVAL):
-			// Value exceeds SEM_VALUE_MAX
+			// Value exceeds SEM_VALUE_MAX
-		case(ENOSYS):
+		case(ENOSYS):
-		// System does not support process-shared semaphores
+		// System does not support process-shared semaphores
-		sif::error << "BinarySemaphore: Init failed with" << strerror(errno)
+		sif::error << "BinarySemaphore: Init failed with" << strerror(errno)
-				<< std::endl;
+				<< std::endl;
-		}
+		}
-	}
+	}
-}
+}
-
+
-ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
+ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
-	int value = getSemaphoreCounter(handle);
+	int value = getSemaphoreCounter(handle);
-	if(value >= maxCount) {
+	if(value >= maxCount) {
-		if(maxCount == 1 and value > 1) {
+		if(maxCount == 1 and value > 1) {
-			// Binary Semaphore special case.
+			// Binary Semaphore special case.
-			// This is a config error use lightweight printf is this is called
+			// This is a config error use lightweight printf is this is called
-			// from an interrupt
+			// from an interrupt
-			printf("BinarySemaphore::release: Value of binary semaphore greater"
+			printf("BinarySemaphore::release: Value of binary semaphore greater"
-					" than 1!\n");
+					" than 1!\n");
-			return HasReturnvaluesIF::RETURN_FAILED;
+			return HasReturnvaluesIF::RETURN_FAILED;
-		}
+		}
-		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
-	}
+	}
-	return HasReturnvaluesIF::RETURN_OK;
+	return HasReturnvaluesIF::RETURN_OK;
-}
+}

osal/linux/BinarySemaphore.h

@@ -1,81 +1,81 @@
-#ifndef FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
+#ifndef FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
-#define FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
-
+
-#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../returnvalues/HasReturnvaluesIF.h"
-#include "../../tasks/SemaphoreIF.h"
+#include "../../tasks/SemaphoreIF.h"
-
+
-extern "C" {
+extern "C" {
-#include <semaphore.h>
+#include <semaphore.h>
-}
+}
-
+
-/**
+/**
- * @brief 	OS Tool to achieve synchronization of between tasks or between
+ * @brief 	OS Tool to achieve synchronization of between tasks or between
- * 			task and ISR. The default semaphore implementation creates a
+ * 			task and ISR. The default semaphore implementation creates a
- * 			binary semaphore, which can only be taken once.
+ * 			binary semaphore, which can only be taken once.
- * @details
+ * @details
- * See: http://www.man7.org/linux/man-pages/man7/sem_overview.7.html
+ * See: http://www.man7.org/linux/man-pages/man7/sem_overview.7.html
- * @author 	R. Mueller
+ * @author 	R. Mueller
- * @ingroup osal
+ * @ingroup osal
- */
+ */
-class BinarySemaphore: public SemaphoreIF,
+class BinarySemaphore: public SemaphoreIF,
-		public HasReturnvaluesIF {
+		public HasReturnvaluesIF {
-public:
+public:
-	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
-
+
-	//! @brief Default ctor
+	//! @brief Default ctor
-	BinarySemaphore();
+	BinarySemaphore();
-	//! @brief Copy ctor, deleted explicitely.
+	//! @brief Copy ctor, deleted explicitely.
-	BinarySemaphore(const BinarySemaphore&) = delete;
+	BinarySemaphore(const BinarySemaphore&) = delete;
-	//! @brief Copy assignment, deleted explicitely.
+	//! @brief Copy assignment, deleted explicitely.
-	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
+	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
-	//! @brief Move ctor
+	//! @brief Move ctor
-	BinarySemaphore (BinarySemaphore &&);
+	BinarySemaphore (BinarySemaphore &&);
-	//! @brief Move assignment
+	//! @brief Move assignment
-	BinarySemaphore & operator=(BinarySemaphore &&);
+	BinarySemaphore & operator=(BinarySemaphore &&);
-	//! @brief Destructor
+	//! @brief Destructor
-	virtual ~BinarySemaphore();
+	virtual ~BinarySemaphore();
-
+
-	void initSemaphore(uint8_t initCount = 1);
+	void initSemaphore(uint8_t initCount = 1);
-
+
-	uint8_t getSemaphoreCounter() const override;
+	uint8_t getSemaphoreCounter() const override;
-	static uint8_t getSemaphoreCounter(sem_t* handle);
+	static uint8_t getSemaphoreCounter(sem_t* handle);
-
+
-	/**
+	/**
-	 * Take the binary semaphore.
+	 * Take the binary semaphore.
-	 * If the semaphore has already been taken, the task will be blocked
+	 * If the semaphore has already been taken, the task will be blocked
-	 * for a maximum of #timeoutMs or until the semaphore is given back,
+	 * for a maximum of #timeoutMs or until the semaphore is given back,
-	 * for example by an ISR or another task.
+	 * for example by an ISR or another task.
-	 * @param timeoutMs
+	 * @param timeoutMs
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
-	 */
+	 */
-	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-			uint32_t timeoutMs = 0) override;
+			uint32_t timeoutMs = 0) override;
-
+
-	/**
+	/**
-	 * Release the binary semaphore.
+	 * Release the binary semaphore.
-	 * @return -@c RETURN_OK on success
+	 * @return -@c RETURN_OK on success
-	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
-	 *         	already available.
+	 *         	already available.
-	 */
+	 */
-	virtual ReturnValue_t release() override;
+	virtual ReturnValue_t release() override;
-	/**
+	/**
-	 * This static function can be used to release a semaphore  by providing
+	 * This static function can be used to release a semaphore  by providing
-	 * its handle.
+	 * its handle.
-	 * @param handle
+	 * @param handle
-	 * @return
+	 * @return
-	 */
+	 */
-	static ReturnValue_t release(sem_t* handle);
+	static ReturnValue_t release(sem_t* handle);
-
+
-	/** Checks the validity of the semaphore count against a specified
+	/** Checks the validity of the semaphore count against a specified
-	 * known maxCount
+	 * known maxCount
-	 * @param handle
+	 * @param handle
-	 * @param maxCount
+	 * @param maxCount
-	 * @return
+	 * @return
-	 */
+	 */
-	static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
+	static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
-protected:
+protected:
-	sem_t handle;
+	sem_t handle;
-};
+};
-
+
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

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;
 

osal/linux/CountingSemaphore.cpp

@@ -1,54 +1,54 @@
-#include "../../osal/linux/CountingSemaphore.h"
+#include "../../osal/linux/CountingSemaphore.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
-
+
-CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
-		maxCount(maxCount), initCount(initCount) {
+		maxCount(maxCount), initCount(initCount) {
-	if(initCount > maxCount) {
+	if(initCount > maxCount) {
-		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
-				"intial cout. Setting initial count to max count." << std::endl;
+				"intial cout. Setting initial count to max count." << std::endl;
-		initCount = maxCount;
+		initCount = maxCount;
-	}
+	}
-
+
-	initSemaphore(initCount);
+	initSemaphore(initCount);
-}
+}
-
+
-CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
-		maxCount(other.maxCount), initCount(other.initCount) {
+		maxCount(other.maxCount), initCount(other.initCount) {
-	initSemaphore(initCount);
+	initSemaphore(initCount);
-}
+}
-
+
-CountingSemaphore& CountingSemaphore::operator =(
+CountingSemaphore& CountingSemaphore::operator =(
-		CountingSemaphore&& other) {
+		CountingSemaphore&& other) {
-	initSemaphore(other.initCount);
+	initSemaphore(other.initCount);
-	return * this;
+	return * this;
-}
+}
-
+
-ReturnValue_t CountingSemaphore::release() {
+ReturnValue_t CountingSemaphore::release() {
-	ReturnValue_t result = checkCount(&handle, maxCount);
+	ReturnValue_t result = checkCount(&handle, maxCount);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
+	if(result != HasReturnvaluesIF::RETURN_OK) {
-		return result;
+		return result;
-	}
+	}
-	return CountingSemaphore::release(&this->handle);
+	return CountingSemaphore::release(&this->handle);
-}
+}
-
+
-ReturnValue_t CountingSemaphore::release(sem_t* handle) {
+ReturnValue_t CountingSemaphore::release(sem_t* handle) {
-	int result = sem_post(handle);
+	int result = sem_post(handle);
-	if(result == 0) {
+	if(result == 0) {
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-
+
-	switch(errno) {
+	switch(errno) {
-	case(EINVAL):
+	case(EINVAL):
-		// Semaphore invalid
+		// Semaphore invalid
-		return SemaphoreIF::SEMAPHORE_INVALID;
+		return SemaphoreIF::SEMAPHORE_INVALID;
-	case(EOVERFLOW):
+	case(EOVERFLOW):
-		// SEM_MAX_VALUE overflow. This should never happen
+		// SEM_MAX_VALUE overflow. This should never happen
-	default:
+	default:
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+	}
-}
+}
-
+
-uint8_t CountingSemaphore::getMaxCount() const {
+uint8_t CountingSemaphore::getMaxCount() const {
-	return maxCount;
+	return maxCount;
-}
+}
-
+

osal/linux/CountingSemaphore.h

@@ -1,37 +1,37 @@
-#ifndef FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
+#ifndef FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
-#define FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
-#include "../../osal/linux/BinarySemaphore.h"
+#include "../../osal/linux/BinarySemaphore.h"
-
+
-/**
+/**
- * @brief 	Counting semaphores, which can be acquired more than once.
+ * @brief 	Counting semaphores, which can be acquired more than once.
- * @details
+ * @details
- * See: https://www.freertos.org/CreateCounting.html
+ * See: https://www.freertos.org/CreateCounting.html
- * API of counting semaphores is almost identical to binary semaphores,
+ * API of counting semaphores is almost identical to binary semaphores,
- * so we just inherit from binary semaphore and provide the respective
+ * so we just inherit from binary semaphore and provide the respective
- * constructors.
+ * constructors.
- */
+ */
-class CountingSemaphore: public BinarySemaphore {
+class CountingSemaphore: public BinarySemaphore {
-public:
+public:
-	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
-	//! @brief Copy ctor, disabled
+	//! @brief Copy ctor, disabled
-	CountingSemaphore(const CountingSemaphore&) = delete;
+	CountingSemaphore(const CountingSemaphore&) = delete;
-	//! @brief Copy assignment, disabled
+	//! @brief Copy assignment, disabled
-	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
-	//! @brief Move ctor
+	//! @brief Move ctor
-	CountingSemaphore (CountingSemaphore &&);
+	CountingSemaphore (CountingSemaphore &&);
-	//! @brief Move assignment
+	//! @brief Move assignment
-	CountingSemaphore & operator=(CountingSemaphore &&);
+	CountingSemaphore & operator=(CountingSemaphore &&);
-
+
-	ReturnValue_t release() override;
+	ReturnValue_t release() override;
-	static ReturnValue_t release(sem_t* sem);
+	static ReturnValue_t release(sem_t* sem);
-	/* Same API as binary semaphore otherwise. acquire() can be called
+	/* Same API as binary semaphore otherwise. acquire() can be called
-	 * until there are not semaphores left and release() can be called
+	 * until there are not semaphores left and release() can be called
-	 * until maxCount is reached. */
+	 * until maxCount is reached. */
-
+
-	uint8_t getMaxCount() const;
+	uint8_t getMaxCount() const;
-private:
+private:
-	const uint8_t maxCount;
+	const uint8_t maxCount;
-	uint8_t initCount = 0;
+	uint8_t initCount = 0;
-};
+};
-
+
-#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

osal/linux/FixedTimeslotTask.cpp

@@ -1,5 +1,5 @@
-#include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "FixedTimeslotTask.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
 
 #include <limits.h>
 
@@ -39,13 +39,16 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+	ExecutableObjectIF* executableObject =
-		pst.addSlot(componentId, slotTimeMs, executionStep, this);
+			objectManager->get<ExecutableObjectIF>(componentId);
+	if (executableObject != nullptr) {
+		pst.addSlot(componentId, slotTimeMs, executionStep,
+				executableObject,this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
 	sif::error << "Component " << std::hex << componentId <<
-			" not found, not adding it to pst" << std::endl;
+			" not found, not adding it to pst" << std::dec << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }
 
@@ -58,6 +61,9 @@ void FixedTimeslotTask::taskFunctionality() {
 	if (!started) {
 		suspend();
 	}
+
+	pst.intializeSequenceAfterTaskCreation();
+
 	//The start time for the first entry is read.
 	uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
 	uint64_t interval = pst.getIntervalToNextSlotMs();

osal/linux/FixedTimeslotTask.h

@@ -1,9 +1,9 @@
-#ifndef FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
+#ifndef FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
-#define FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
+#define FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_
 
-#include "../../tasks/FixedTimeslotTaskIF.h"
-#include "../../devicehandlers/FixedSlotSequence.h"
 #include "PosixThread.h"
+#include "../../tasks/FixedTimeslotTaskIF.h"
+#include "../../tasks/FixedSlotSequence.h"
 #include <pthread.h>
 
 class FixedTimeslotTask: public FixedTimeslotTaskIF, public PosixThread {
@@ -74,4 +74,4 @@ private:
 	bool started;
 };
 
-#endif /* FRAMEWORK_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */
+#endif /* FSFW_OSAL_LINUX_FIXEDTIMESLOTTASK_H_ */

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;

osal/linux/SemaphoreFactory.cpp

@@ -1,33 +1,33 @@
-#include "../../tasks/SemaphoreFactory.h"
+#include "../../tasks/SemaphoreFactory.h"
-#include "BinarySemaphore.h"
+#include "BinarySemaphore.h"
-#include "CountingSemaphore.h"
+#include "CountingSemaphore.h"
-#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
-
+
-SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
-
+
-SemaphoreFactory::SemaphoreFactory() {
+SemaphoreFactory::SemaphoreFactory() {
-}
+}
-
+
-SemaphoreFactory::~SemaphoreFactory() {
+SemaphoreFactory::~SemaphoreFactory() {
-	delete factoryInstance;
+	delete factoryInstance;
-}
+}
-
+
-SemaphoreFactory* SemaphoreFactory::instance() {
+SemaphoreFactory* SemaphoreFactory::instance() {
-	if (factoryInstance == nullptr){
+	if (factoryInstance == nullptr){
-		factoryInstance = new SemaphoreFactory();
+		factoryInstance = new SemaphoreFactory();
-	}
+	}
-	return SemaphoreFactory::factoryInstance;
+	return SemaphoreFactory::factoryInstance;
-}
+}
-
+
-SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
-	return new BinarySemaphore();
+	return new BinarySemaphore();
-}
+}
-
+
-SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
-		uint8_t initCount, uint32_t arguments) {
+		uint8_t initCount, uint32_t arguments) {
-	return new CountingSemaphore(maxCount, initCount);
+	return new CountingSemaphore(maxCount, initCount);
-}
+}
-
+
-void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
-	delete semaphore;
+	delete semaphore;
-}
+}

returnvalues/FwClassIds.h

@@ -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

serialize/SerialBufferAdapter.cpp

@@ -1,129 +1,129 @@
-#include "../serialize/SerialBufferAdapter.h"
+#include "../serialize/SerialBufferAdapter.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
-#include <cstring>
+#include <cstring>
-
+
-template<typename count_t>
+template<typename count_t>
-SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
+SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
-		count_t bufferLength, bool serializeLength) :
+		count_t bufferLength, bool serializeLength) :
-		serializeLength(serializeLength),
+		serializeLength(serializeLength),
-		constBuffer(buffer), buffer(nullptr),
+		constBuffer(buffer), buffer(nullptr),
-		bufferLength(bufferLength) {}
+		bufferLength(bufferLength) {}
-
+
-template<typename count_t>
+template<typename count_t>
-SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
+SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
-		count_t bufferLength, bool serializeLength) :
+		count_t bufferLength, bool serializeLength) :
-		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
+		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
-		bufferLength(bufferLength) {}
+		bufferLength(bufferLength) {}
-
+
-
+
-template<typename count_t>
+template<typename count_t>
-SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
+SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
-}
+}
-
+
-template<typename count_t>
+template<typename count_t>
-ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
+ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
-		size_t* size, size_t maxSize, Endianness streamEndianness) const {
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
-	if (serializeLength) {
+	if (serializeLength) {
-		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
+		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
-				buffer, size, maxSize, streamEndianness);
+				buffer, size, maxSize, streamEndianness);
-		if(result != HasReturnvaluesIF::RETURN_OK) {
+		if(result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
+			return result;
-		}
+		}
-	}
+	}
-
+
-	if (*size + bufferLength > maxSize) {
+	if (*size + bufferLength > maxSize) {
-		return BUFFER_TOO_SHORT;
+		return BUFFER_TOO_SHORT;
-	}
+	}
-
+
-	if (this->constBuffer != nullptr) {
+	if (this->constBuffer != nullptr) {
-		std::memcpy(*buffer, this->constBuffer, bufferLength);
+		std::memcpy(*buffer, this->constBuffer, bufferLength);
-	}
+	}
-	else if (this->buffer != nullptr) {
+	else if (this->buffer != nullptr) {
-		// This will propably be never reached, constBuffer should always be
+		// This will propably be never reached, constBuffer should always be
-		// set if non-const buffer is set.
+		// set if non-const buffer is set.
-		std::memcpy(*buffer, this->buffer, bufferLength);
+		std::memcpy(*buffer, this->buffer, bufferLength);
-	}
+	}
-	else {
+	else {
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+	}
-	*size += bufferLength;
+	*size += bufferLength;
-	(*buffer) += bufferLength;
+	(*buffer) += bufferLength;
-	return HasReturnvaluesIF::RETURN_OK;
+	return HasReturnvaluesIF::RETURN_OK;
-
+
-}
+}
-
+
-template<typename count_t>
+template<typename count_t>
-size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
+size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
-	if (serializeLength) {
+	if (serializeLength) {
-		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
+		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
-	} else {
+	} else {
-		return bufferLength;
+		return bufferLength;
-	}
+	}
-}
+}
-
+
-template<typename count_t>
+template<typename count_t>
-ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
+ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
-		size_t* size, Endianness streamEndianness) {
+		size_t* size, Endianness streamEndianness) {
-	if (this->buffer == nullptr) {
+	if (this->buffer == nullptr) {
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return HasReturnvaluesIF::RETURN_FAILED;
-	}
+	}
-
+
-	if(serializeLength){
+	if(serializeLength){
-		count_t lengthField = 0;
+		count_t lengthField = 0;
-		ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
+		ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
-				buffer, size, streamEndianness);
+				buffer, size, streamEndianness);
-		if(result != HasReturnvaluesIF::RETURN_OK) {
+		if(result != HasReturnvaluesIF::RETURN_OK) {
-			return result;
+			return result;
-		}
+		}
-		if(lengthField > bufferLength) {
+		if(lengthField > bufferLength) {
-			return TOO_MANY_ELEMENTS;
+			return TOO_MANY_ELEMENTS;
-		}
+		}
-		bufferLength = lengthField;
+		bufferLength = lengthField;
-	}
+	}
-
+
-	if (bufferLength <= *size) {
+	if (bufferLength <= *size) {
-		*size -= bufferLength;
+		*size -= bufferLength;
-		std::memcpy(this->buffer, *buffer, bufferLength);
+		std::memcpy(this->buffer, *buffer, bufferLength);
-		(*buffer) += bufferLength;
+		(*buffer) += bufferLength;
-		return HasReturnvaluesIF::RETURN_OK;
+		return HasReturnvaluesIF::RETURN_OK;
-	}
+	}
-	else {
+	else {
-		return STREAM_TOO_SHORT;
+		return STREAM_TOO_SHORT;
-	}
+	}
-}
+}
-
+
-template<typename count_t>
+template<typename count_t>
-uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
+uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
-	if(buffer == nullptr) {
+	if(buffer == nullptr) {
-		sif::error << "Wrong access function for stored type !"
+		sif::error << "Wrong access function for stored type !"
-				 " Use getConstBuffer()." << std::endl;
+				 " Use getConstBuffer()." << std::endl;
-		return nullptr;
+		return nullptr;
-	}
+	}
-	return buffer;
+	return buffer;
-}
+}
-
+
-template<typename count_t>
+template<typename count_t>
-const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
+const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
-	if(constBuffer == nullptr) {
+	if(constBuffer == nullptr) {
-		sif::error << "SerialBufferAdapter::getConstBuffer:"
+		sif::error << "SerialBufferAdapter::getConstBuffer:"
-				" Buffers are unitialized!" << std::endl;
+				" Buffers are unitialized!" << std::endl;
-		return nullptr;
+		return nullptr;
-	}
+	}
-	return constBuffer;
+	return constBuffer;
-}
+}
-
+
-template<typename count_t>
+template<typename count_t>
-void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
+void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
-		count_t bufferLength) {
+		count_t bufferLength) {
-	this->buffer = buffer;
+	this->buffer = buffer;
-	this->constBuffer = buffer;
+	this->constBuffer = buffer;
-	this->bufferLength = bufferLength;
+	this->bufferLength = bufferLength;
-}
+}
-
+
-
+
-//forward Template declaration for linker
+//forward Template declaration for linker
-template class SerialBufferAdapter<uint8_t>;
+template class SerialBufferAdapter<uint8_t>;
-template class SerialBufferAdapter<uint16_t>;
+template class SerialBufferAdapter<uint16_t>;
-template class SerialBufferAdapter<uint32_t>;
+template class SerialBufferAdapter<uint32_t>;
-template class SerialBufferAdapter<uint64_t>;
+template class SerialBufferAdapter<uint64_t>;
-
+

serialize/SerialBufferAdapter.h

@@ -1,78 +1,78 @@
-#ifndef SERIALBUFFERADAPTER_H_
+#ifndef SERIALBUFFERADAPTER_H_
-#define SERIALBUFFERADAPTER_H_
+#define SERIALBUFFERADAPTER_H_
-
+
-#include "../serialize/SerializeIF.h"
+#include "../serialize/SerializeIF.h"
-#include "../serialize/SerializeAdapter.h"
+#include "../serialize/SerializeAdapter.h"
-
+
-/**
+/**
- * This adapter provides an interface for SerializeIF to serialize or deserialize
+ * This adapter provides an interface for SerializeIF to serialize or deserialize
- * buffers with no length header but a known size.
+ * buffers with no length header but a known size.
- *
+ *
- * Additionally, the buffer length can be serialized too and will be put in
+ * Additionally, the buffer length can be serialized too and will be put in
- * front of the serialized buffer.
+ * front of the serialized buffer.
- *
+ *
- * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
+ * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
- * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
+ * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
- * Right now, the SerialBufferAdapter must always
+ * Right now, the SerialBufferAdapter must always
- * be initialized with the buffer and size !
+ * be initialized with the buffer and size !
- *
+ *
- * \ingroup serialize
+ * \ingroup serialize
- */
+ */
-template<typename count_t>
+template<typename count_t>
-class SerialBufferAdapter: public SerializeIF {
+class SerialBufferAdapter: public SerializeIF {
-public:
+public:
-
+
-    /**
+    /**
-     * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
+     * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
-     * Type of length can be supplied as template type.
+     * Type of length can be supplied as template type.
-     * @param buffer
+     * @param buffer
-     * @param bufferLength
+     * @param bufferLength
-     * @param serializeLength
+     * @param serializeLength
-     */
+     */
-    SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
+    SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
-            bool serializeLength = false);
+            bool serializeLength = false);
-
+
-    /**
+    /**
-     * Constructor for non-constant uint8_t buffer.
+     * Constructor for non-constant uint8_t buffer.
-     * Length field can be serialized optionally.
+     * Length field can be serialized optionally.
-     * Type of length can be supplied as template type.
+     * Type of length can be supplied as template type.
-     * @param buffer
+     * @param buffer
-     * @param bufferLength
+     * @param bufferLength
-     * @param serializeLength Length field will be serialized with size count_t
+     * @param serializeLength Length field will be serialized with size count_t
-     */
+     */
-    SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
+    SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
-            bool serializeLength = false);
+            bool serializeLength = false);
-
+
-    virtual ~SerialBufferAdapter();
+    virtual ~SerialBufferAdapter();
-
+
-    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-            size_t maxSize, Endianness streamEndianness) const override;
+            size_t maxSize, Endianness streamEndianness) const override;
-
+
-    virtual size_t getSerializedSize() const override;
+    virtual size_t getSerializedSize() const override;
-
+
-    /**
+    /**
-     * @brief This function deserializes a buffer into the member buffer.
+     * @brief This function deserializes a buffer into the member buffer.
-     * @details
+     * @details
-     * If a length field is present, it is ignored, as the size should have
+     * If a length field is present, it is ignored, as the size should have
-     * been set in the constructor. If the size is not known beforehand,
+     * been set in the constructor. If the size is not known beforehand,
-     * consider using SerialFixedArrayListAdapter instead.
+     * consider using SerialFixedArrayListAdapter instead.
-     * @param buffer [out] Resulting buffer
+     * @param buffer [out] Resulting buffer
-     * @param size remaining size to deserialize, should be larger than buffer
+     * @param size remaining size to deserialize, should be larger than buffer
-     *        + size field size
+     *        + size field size
-     * @param bigEndian
+     * @param bigEndian
-     * @return
+     * @return
-     */
+     */
-    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-            Endianness streamEndianness) override;
+            Endianness streamEndianness) override;
-
+
-    uint8_t * getBuffer();
+    uint8_t * getBuffer();
-    const uint8_t * getConstBuffer();
+    const uint8_t * getConstBuffer();
-    void setBuffer(uint8_t* buffer, count_t bufferLength);
+    void setBuffer(uint8_t* buffer, count_t bufferLength);
-private:
+private:
-	bool serializeLength = false;
+	bool serializeLength = false;
-	const uint8_t *constBuffer = nullptr;
+	const uint8_t *constBuffer = nullptr;
-	uint8_t *buffer = nullptr;
+	uint8_t *buffer = nullptr;
-	count_t bufferLength = 0;
+	count_t bufferLength = 0;
-};
+};
-
+
-#endif /* SERIALBUFFERADAPTER_H_ */
+#endif /* SERIALBUFFERADAPTER_H_ */

storagemanager/ConstStorageAccessor.cpp

@@ -0,0 +1,88 @@
+#include "ConstStorageAccessor.h"
+#include "StorageManagerIF.h"
+
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../globalfunctions/arrayprinter.h"
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId):
+		storeId(storeId) {}
+
+ConstStorageAccessor::ConstStorageAccessor(store_address_t storeId,
+		StorageManagerIF* store):
+		storeId(storeId), store(store) {
+	internalState = AccessState::ASSIGNED;
+}
+
+ConstStorageAccessor::~ConstStorageAccessor() {
+	if(deleteData and store != nullptr) {
+		store->deleteData(storeId);
+	}
+}
+
+ConstStorageAccessor::ConstStorageAccessor(ConstStorageAccessor&& other):
+		constDataPointer(other.constDataPointer), storeId(other.storeId),
+		size_(other.size_), store(other.store), deleteData(other.deleteData),
+		internalState(other.internalState) {
+	// This prevent premature deletion
+	other.store = nullptr;
+}
+
+ConstStorageAccessor& ConstStorageAccessor::operator=(
+		ConstStorageAccessor&& other) {
+	constDataPointer = other.constDataPointer;
+	storeId = other.storeId;
+	store = other.store;
+	size_ = other.size_;
+	deleteData = other.deleteData;
+	this->store = other.store;
+	// This prevents premature deletion
+	other.store = nullptr;
+	return *this;
+}
+
+const uint8_t* ConstStorageAccessor::data() const {
+	return constDataPointer;
+}
+
+size_t ConstStorageAccessor::size() const {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+	}
+	return size_;
+}
+
+ReturnValue_t ConstStorageAccessor::getDataCopy(uint8_t *pointer,
+		size_t maxSize) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(size_ > maxSize) {
+		sif::error << "StorageAccessor: Supplied buffer not large enough"
+				<< std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(constDataPointer, constDataPointer + size_, pointer);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void ConstStorageAccessor::release() {
+	deleteData = false;
+}
+
+store_address_t ConstStorageAccessor::getId() const {
+	return storeId;
+}
+
+void ConstStorageAccessor::print() const {
+	if(internalState == AccessState::UNINIT or constDataPointer == nullptr) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return;
+	}
+	arrayprinter::print(constDataPointer, size_);
+}
+
+void ConstStorageAccessor::assignStore(StorageManagerIF* store) {
+	internalState = AccessState::ASSIGNED;
+	this->store = store;
+}

storagemanager/ConstStorageAccessor.h

@@ -0,0 +1,116 @@
+#ifndef FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+#define FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_
+
+#include "storeAddress.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstddef>
+
+class StorageManagerIF;
+
+/**
+ * @brief 	Helper classes to facilitate safe access to storages which is also
+ * 			conforming to RAII principles
+ * @details
+ * Accessor class which can be returned by pool manager or passed and set by
+ * pool managers to have safe access to the pool resources.
+ *
+ * These helper can be used together with the StorageManager classes to manage
+ * access to a storage. It can take care of thread-safety while also providing
+ * mechanisms to automatically clear storage data.
+ */
+class ConstStorageAccessor {
+	//! StorageManager classes have exclusive access to private variables.
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class PoolManager;
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class LocalPool;
+public:
+	/**
+	 * @brief	Simple constructor which takes the store ID of the storage
+	 * 			entry to access.
+	 * @param storeId
+	 */
+	ConstStorageAccessor(store_address_t storeId);
+	ConstStorageAccessor(store_address_t storeId, StorageManagerIF* store);
+
+	/**
+	 * @brief 	The destructor in default configuration takes care of
+	 * 			deleting the accessed pool entry and unlocking the mutex
+	 */
+	virtual ~ConstStorageAccessor();
+
+	/**
+	 * @brief	Returns a pointer to the read-only data
+	 * @return
+	 */
+	const uint8_t* data() const;
+
+	/**
+	 * @brief	Copies the read-only data to the supplied pointer
+	 * @param pointer
+	 */
+	virtual ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize);
+
+	/**
+	 * @brief   Calling this will prevent the Accessor from deleting the data
+	 *          when the destructor is called.
+	 */
+	void release();
+
+	/**
+	 * Get the size of the data
+	 * @return
+	 */
+	size_t size() const;
+
+	/**
+	 * Get the storage ID.
+	 * @return
+	 */
+	store_address_t getId() const;
+
+	void print() const;
+
+	/**
+	 * @brief	Move ctor and move assignment allow returning accessors as
+	 * 			a returnvalue. They prevent resource being free prematurely.
+	 * Refer to: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * move-constructors-and-move-assignment-operators-cpp.md
+	 * @param
+	 * @return
+	 */
+	ConstStorageAccessor& operator= (ConstStorageAccessor&&);
+	ConstStorageAccessor(ConstStorageAccessor&&);
+
+	//! The copy ctor and copy assignemnt should be deleted implicitely
+	//! according to https://foonathan.net/2019/02/special-member-functions/
+	//! but I still deleted them to make it more explicit. (remember rule of 5).
+	ConstStorageAccessor& operator=(const ConstStorageAccessor&) = delete;
+	ConstStorageAccessor(const ConstStorageAccessor&) = delete;
+protected:
+	const uint8_t* constDataPointer = nullptr;
+	store_address_t storeId;
+	size_t size_ = 0;
+	//! Managing pool, has to assign itself.
+	StorageManagerIF* store = nullptr;
+	bool deleteData = true;
+
+	enum class AccessState {
+		UNINIT,
+		ASSIGNED
+	};
+	//! Internal state for safety reasons.
+	AccessState internalState = AccessState::UNINIT;
+	/**
+	 * Used by the pool manager instances to assign themselves to the
+	 * accessor. This is necessary to delete the data when the acessor
+	 * exits the scope ! The internal state will be considered read
+	 * when this function is called, so take care all data is set properly as
+	 * well.
+	 * @param
+	 */
+	void assignStore(StorageManagerIF*);
+};
+
+
+#endif /* FSFW_STORAGEMANAGER_CONSTSTORAGEACCESSOR_H_ */

storagemanager/LocalPool.h

@@ -1,18 +1,14 @@
-/**
+#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_H_
- *	@file	LocalPool
+#define FSFW_STORAGEMANAGER_LOCALPOOL_H_
- *  @date	02.02.2012
- *	@author	Bastian Baetz
- *	@brief	This file contains the definition of the LocalPool class.
- */
-#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
-#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_
 
-#include "../objectmanager/SystemObject.h"
-#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "StorageManagerIF.h"
+#include "../objectmanager/SystemObject.h"
 #include "../objectmanager/ObjectManagerIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 #include "../internalError/InternalErrorReporterIF.h"
-#include <string.h>
+#include "../storagemanager/StorageAccessor.h"
+#include <cstring>
+
 
 /**
  * @brief	The LocalPool class provides an intermediate data storage with
@@ -27,6 +23,7 @@
  * 			0xFFFF-1 bytes.
  * 			It is possible to store empty packets in the pool.
  * 			The local pool is NOT thread-safe.
+ * @author 	Bastian Baetz
  */
 template<uint8_t NUMBER_OF_POOLS = 5>
 class LocalPool: public SystemObject, public StorageManagerIF {
@@ -39,7 +36,7 @@ public:
 	/**
 	 * @brief	This is the default constructor for a pool manager instance.
 	 * @details	By passing two arrays of size NUMBER_OF_POOLS, the constructor
-	 * 			allocates memory (with \c new) for store and size_list. These
+	 * 			allocates memory (with @c new) for store and size_list. These
 	 * 			regions are all set to zero on start up.
 	 * @param setObjectId	The object identifier to be set. This allows for
 	 * 						multiple instances of LocalPool in the system.
@@ -73,10 +70,17 @@ public:
 			size_t size, bool ignoreFault = false) override;
 	ReturnValue_t getFreeElement(store_address_t* storageId,const size_t size,
 			uint8_t** p_data, bool ignoreFault = false) override;
+
+	ConstAccessorPair getData(store_address_t packet_id) override;
+	ReturnValue_t getData(store_address_t packet_id, ConstStorageAccessor&) override;
 	ReturnValue_t getData(store_address_t packet_id, const uint8_t** packet_ptr,
 			size_t * size) override;
+
+	AccessorPair modifyData(store_address_t packet_id) override;
+	ReturnValue_t modifyData(store_address_t packet_id, StorageAccessor&) override;
 	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
 			size_t * size) override;
+
 	virtual ReturnValue_t deleteData(store_address_t) override;
 	virtual ReturnValue_t deleteData(uint8_t* ptr, size_t size,
 			store_address_t* storeId = NULL) override;
@@ -84,7 +88,7 @@ public:
 	ReturnValue_t initialize() override;
 protected:
 	/**
-	 * With this helper method, a free element of \c size is reserved.
+	 * With this helper method, a free element of @c size is reserved.
 	 * @param size	The minimum packet size that shall be reserved.
 	 * @param[out] address Storage ID of the reserved data.
 	 * @return	- #RETURN_OK on success,
@@ -97,7 +101,8 @@ protected:
 private:
 	/**
 	 * Indicates that this element is free.
-	 * This value limits the maximum size of a pool. Change to larger data type if increase is required.
+	 * This value limits the maximum size of a pool. Change to larger data type
+	 * if increase is required.
 	 */
 	static const uint32_t STORAGE_FREE = 0xFFFFFFFF;
 	/**
@@ -123,7 +128,9 @@ private:
 	 * 			is also dynamically allocated there.
 	 */
 	uint32_t* size_list[NUMBER_OF_POOLS];
-	bool spillsToHigherPools; //!< A variable to determine whether higher n pools are used if the store is full.
+	//! A variable to determine whether higher n pools are used if
+	//! the store is full.
+	bool spillsToHigherPools;
 	/**
 	 * @brief	This method safely stores the given data in the given packet_id.
 	 * @details	It also sets the size in size_list. The method does not perform
@@ -180,4 +187,4 @@ private:
 
 #include "LocalPool.tpp"
 
-#endif /* FRAMEWORK_STORAGEMANAGER_LOCALPOOL_H_ */
+#endif /* FSFW_STORAGEMANAGER_LOCALPOOL_H_ */

storagemanager/LocalPool.tpp

@@ -1,5 +1,9 @@
-#ifndef FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
+#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
-#define FRAMEWORK_STORAGEMANAGER_LOCALPOOL_TPP_
+#define FSFW_STORAGEMANAGER_LOCALPOOL_TPP_
+
+#ifndef FSFW_STORAGEMANAGER_LOCALPOOL_H_
+#error Include LocalPool.h before LocalPool.tpp!
+#endif
 
 template<uint8_t NUMBER_OF_POOLS>
 inline LocalPool<NUMBER_OF_POOLS>::LocalPool(object_id_t setObjectId,
@@ -122,8 +126,9 @@ inline LocalPool<NUMBER_OF_POOLS>::~LocalPool(void) {
 }
 
 template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(store_address_t* storageId,
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::addData(
-		const uint8_t* data, size_t size, bool ignoreFault) {
+		store_address_t* storageId, const uint8_t* data, size_t size,
+		bool ignoreFault) {
 	ReturnValue_t status = reserveSpace(size, storageId, ignoreFault);
 	if (status == RETURN_OK) {
 		write(*storageId, data, size);
@@ -144,15 +149,55 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getFreeElement(
 	return status;
 }
 
+template<uint8_t NUMBER_OF_POOLS>
+inline ConstAccessorPair LocalPool<NUMBER_OF_POOLS>::getData(
+		store_address_t storeId) {
+	uint8_t* tempData = nullptr;
+	ConstStorageAccessor constAccessor(storeId, this);
+	ReturnValue_t status = modifyData(storeId, &tempData, &constAccessor.size_);
+	constAccessor.constDataPointer = tempData;
+	return ConstAccessorPair(status, std::move(constAccessor));
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(store_address_t storeId,
+		ConstStorageAccessor& storeAccessor) {
+	uint8_t* tempData = nullptr;
+	ReturnValue_t status = modifyData(storeId, &tempData, &storeAccessor.size_);
+	storeAccessor.assignStore(this);
+	storeAccessor.constDataPointer = tempData;
+	return status;
+}
+
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::getData(
 		store_address_t packet_id, const uint8_t** packet_ptr, size_t* size) {
-	uint8_t* tempData = NULL;
+	uint8_t* tempData = nullptr;
 	ReturnValue_t status = modifyData(packet_id, &tempData, size);
 	*packet_ptr = tempData;
 	return status;
 }
 
+template<uint8_t NUMBER_OF_POOLS>
+inline AccessorPair LocalPool<NUMBER_OF_POOLS>::modifyData(
+		store_address_t storeId) {
+	StorageAccessor accessor(storeId, this);
+	ReturnValue_t status = modifyData(storeId, &accessor.dataPointer,
+			&accessor.size_);
+	accessor.assignConstPointer();
+	return AccessorPair(status, std::move(accessor));
+}
+
+template<uint8_t NUMBER_OF_POOLS>
+inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
+		store_address_t storeId, StorageAccessor& storeAccessor) {
+	storeAccessor.assignStore(this);
+	ReturnValue_t status = modifyData(storeId, &storeAccessor.dataPointer,
+			&storeAccessor.size_);
+	storeAccessor.assignConstPointer();
+	return status;
+}
+
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::modifyData(
 		store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
@@ -242,8 +287,8 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
 	}
 	internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
 			objects::INTERNAL_ERROR_REPORTER);
-	if (internalErrorReporter == NULL){
+	if (internalErrorReporter == nullptr){
-		return RETURN_FAILED;
+		return ObjectManagerIF::INTERNAL_ERR_REPORTER_UNINIT;
 	}
 
 	//Check if any pool size is large than the maximum allowed.
@@ -251,10 +296,10 @@ inline ReturnValue_t LocalPool<NUMBER_OF_POOLS>::initialize() {
 		if (element_sizes[count] >= STORAGE_FREE) {
 			sif::error << "LocalPool::initialize: Pool is too large! "
 					"Max. allowed size is: " << (STORAGE_FREE - 1) << std::endl;
-			return RETURN_FAILED;
+			return StorageManagerIF::POOL_TOO_LARGE;
 		}
 	}
 	return RETURN_OK;
 }
 
-#endif
+#endif /* FSFW_STORAGEMANAGER_LOCALPOOL_TPP_ */

storagemanager/PoolManager.h

@@ -1,17 +1,18 @@
-#ifndef POOLMANAGER_H_
+#ifndef FSFW_STORAGEMANAGER_POOLMANAGER_H_
-#define POOLMANAGER_H_
+#define FSFW_STORAGEMANAGER_POOLMANAGER_H_
-
 
 #include "LocalPool.h"
+#include "StorageAccessor.h"
 #include "../ipc/MutexHelper.h"
 
+
 /**
  * @brief	The PoolManager class provides an intermediate data storage with
  * 			a fixed pool size policy for inter-process communication.
  * @details	Uses local pool calls but is thread safe by protecting the call
  * 			with a lock.
+ * @author 	Bastian Baetz
  */
-
 template <uint8_t NUMBER_OF_POOLS = 5>
 class PoolManager : public LocalPool<NUMBER_OF_POOLS> {
 public:
@@ -19,16 +20,25 @@ public:
 			const uint16_t element_sizes[NUMBER_OF_POOLS],
 			const uint16_t n_elements[NUMBER_OF_POOLS]);
 
-	//! @brief	In the PoolManager's destructor all allocated memory is freed.
+	/**
+	 * @brief	In the PoolManager's destructor all allocated memory
+	 * 			is freed.
+	 */
 	virtual ~PoolManager();
 
-	//! @brief LocalPool overrides for thread-safety.
+	/**
+	 * @brief 	LocalPool overrides for thread-safety. Decorator function
+	 * 			which wraps LocalPool calls with a mutex protection.
+	 */
 	ReturnValue_t deleteData(store_address_t) override;
 	ReturnValue_t deleteData(uint8_t* buffer, size_t size,
-			store_address_t* storeId = NULL) override;
+			store_address_t* storeId = nullptr) override;
-	ReturnValue_t modifyData(store_address_t packet_id, uint8_t** packet_ptr,
+
-				size_t* size) override;
+	void setMutexTimeout(uint32_t mutexTimeoutMs);
 protected:
+	//! Default mutex timeout value to prevent permanent blocking.
+	uint32_t mutexTimeoutMs = 20;
+
 	ReturnValue_t reserveSpace(const uint32_t size, store_address_t* address,
 			bool ignoreFault) override;
 
@@ -43,4 +53,4 @@ protected:
 
 #include "PoolManager.tpp"
 
-#endif /* POOLMANAGER_H_ */
+#endif /* FSFW_STORAGEMANAGER_POOLMANAGER_H_ */

storagemanager/PoolManager.tpp

@@ -1,6 +1,10 @@
 #ifndef FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
 #define FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_
 
+#ifndef FSFW_STORAGEMANAGER_POOLMANAGER_H_
+#error Include PoolManager.h before PoolManager.tpp!
+#endif
+
 template<uint8_t NUMBER_OF_POOLS>
 inline PoolManager<NUMBER_OF_POOLS>::PoolManager(object_id_t setObjectId,
 		const uint16_t element_sizes[NUMBER_OF_POOLS],
@@ -17,7 +21,7 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
 		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
+	MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
 			address,ignoreFault);
 	return status;
@@ -29,7 +33,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 	// debug << "PoolManager( " << translateObject(getObjectId()) <<
 	//       " )::deleteData from store " << packet_id.pool_index <<
 	//       ". id is "<< packet_id.packet_index << std::endl;
-	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
+	MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
 	return status;
 }
@@ -37,19 +41,16 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 		size_t size, store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
+	MutexHelper mutexHelper(mutex,MutexIF::WAITING, mutexTimeoutMs);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
 			size, storeId);
 	return status;
 }
 
 template<uint8_t NUMBER_OF_POOLS>
-inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData(
+inline void PoolManager<NUMBER_OF_POOLS>::setMutexTimeout(
-		store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
+		uint32_t mutexTimeoutMs) {
-	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
+	this->mutexTimeout = mutexTimeoutMs;
-	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::modifyData(packet_id,
-				packet_ptr, size);
-	return status;
 }
 
-#endif
+#endif /* FRAMEWORK_STORAGEMANAGER_POOLMANAGER_TPP_ */

storagemanager/StorageAccessor.cpp

@@ -0,0 +1,67 @@
+#include "StorageAccessor.h"
+#include "StorageManagerIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+
+StorageAccessor::StorageAccessor(store_address_t storeId):
+		ConstStorageAccessor(storeId) {
+}
+
+StorageAccessor::StorageAccessor(store_address_t storeId,
+		StorageManagerIF* store):
+		ConstStorageAccessor(storeId, store) {
+}
+
+StorageAccessor& StorageAccessor::operator =(
+		StorageAccessor&& other) {
+	// Call the parent move assignment and also assign own member.
+	dataPointer = other.dataPointer;
+	StorageAccessor::operator=(std::move(other));
+	return * this;
+}
+
+// Call the parent move ctor and also transfer own member.
+StorageAccessor::StorageAccessor(StorageAccessor&& other):
+		ConstStorageAccessor(std::move(other)), dataPointer(other.dataPointer) {
+}
+
+ReturnValue_t StorageAccessor::getDataCopy(uint8_t *pointer, size_t maxSize) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(size_ > maxSize) {
+		sif::error << "StorageAccessor: Supplied buffer not large "
+				"enough" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(dataPointer, dataPointer + size_, pointer);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t* StorageAccessor::data() {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+	}
+	return dataPointer;
+}
+
+ReturnValue_t StorageAccessor::write(uint8_t *data, size_t size,
+		uint16_t offset) {
+	if(internalState == AccessState::UNINIT) {
+		sif::warning << "StorageAccessor: Not initialized!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	if(offset + size > size_) {
+		sif::error << "StorageAccessor: Data too large for pool "
+				"entry!" << std::endl;
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	std::copy(data, data + size, dataPointer + offset);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+void StorageAccessor::assignConstPointer() {
+	constDataPointer = dataPointer;
+}
+
+

storagemanager/StorageAccessor.h

@@ -0,0 +1,45 @@
+#ifndef FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_
+#define FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_
+
+#include "ConstStorageAccessor.h"
+
+class StorageManagerIF;
+
+/**
+ * @brief   Child class for modifyable data. Also has a normal pointer member.
+ */
+class StorageAccessor: public ConstStorageAccessor {
+	//! StorageManager classes have exclusive access to private variables.
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class PoolManager;
+	template<uint8_t NUMBER_OF_POOLS>
+	friend class LocalPool;
+public:
+	StorageAccessor(store_address_t storeId);
+	StorageAccessor(store_address_t storeId, StorageManagerIF* store);
+
+	/**
+	 * @brief	Move ctor and move assignment allow returning accessors as
+	 * 			a returnvalue. They prevent resource being freed prematurely.
+	 * See: https://github.com/MicrosoftDocs/cpp-docs/blob/master/docs/cpp/
+	 * 		move-constructors-and-move-assignment-operators-cpp.md
+	 * @param
+	 * @return
+	 */
+	StorageAccessor& operator=(StorageAccessor&&);
+	StorageAccessor(StorageAccessor&&);
+
+	ReturnValue_t write(uint8_t *data, size_t size,
+		uint16_t offset = 0);
+	uint8_t* data();
+	ReturnValue_t getDataCopy(uint8_t *pointer, size_t maxSize) override;
+
+private:
+	//! Non-const pointer for modifyable data.
+	uint8_t* dataPointer = nullptr;
+	//! For modifyable data, the const pointer is assigned to the normal
+	//! pointer by the pool manager so both access functions can be used safely
+	void assignConstPointer();
+};
+
+#endif /* FSFW_STORAGEMANAGER_STORAGEACCESSOR_H_ */

storagemanager/StorageManagerIF.h

@@ -1,60 +1,17 @@
-#ifndef STORAGEMANAGERIF_H_H
+#ifndef FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_
-#define STORAGEMANAGERIF_H_H
+#define FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_
+
+#include "StorageAccessor.h"
+#include "storeAddress.h"
 
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include <stddef.h>
 
-/**
+#include <utility>
- * @brief 	This union defines the type that identifies where a data packet is
+#include <cstddef>
- * 			stored in the store.
- * It consists of a raw part to read it as raw value and
- * a structured part to use it in pool-like stores.
- */
-union store_address_t {
-	/**
-	 * Default Constructor, initializing to INVALID_ADDRESS
-	 */
-	store_address_t():raw(0xFFFFFFFF){}
 
-	/**
+using AccessorPair = std::pair<ReturnValue_t, StorageAccessor>;
-	 * Constructor to create an address object using the raw address
+using ConstAccessorPair = std::pair<ReturnValue_t, ConstStorageAccessor>;
-	 * @param rawAddress
-	 */
-	store_address_t(uint32_t rawAddress):raw(rawAddress){}
-
-	/**
-	 * Constructor to create an address object using pool
-	 * and packet indices
-	 *
-	 * @param poolIndex
-	 * @param packetIndex
-	 */
-	store_address_t(uint16_t poolIndex, uint16_t packetIndex):
-			pool_index(poolIndex),packet_index(packetIndex) {}
-
-	/**
-	 * A structure with two elements to access the store address pool-like.
-	 */
-	struct {
-		/**
-		 * The index in which pool the packet lies.
-		 */
-		uint16_t pool_index;
-		/**
-		 * The position in the chosen pool.
-		 */
-		uint16_t packet_index;
-	};
-	/**
-	 * Alternative access to the raw value.
-	 */
-	uint32_t raw;
-
-	bool operator==(const store_address_t& other) const {
-		return raw == other.raw;
-	}
-};
 
 /**
  * @brief	This class provides an interface for intermediate data storage.
@@ -77,6 +34,7 @@ public:
 	static const ReturnValue_t ILLEGAL_STORAGE_ID = MAKE_RETURN_CODE(3); //!< This return code indicates that data was requested with an illegal storage ID.
 	static const ReturnValue_t DATA_DOES_NOT_EXIST = MAKE_RETURN_CODE(4); //!< This return code indicates that the requested ID was valid, but no data is stored there.
 	static const ReturnValue_t ILLEGAL_ADDRESS = MAKE_RETURN_CODE(5);
+	static const ReturnValue_t POOL_TOO_LARGE = MAKE_RETURN_CODE(6); //!< Pool size too large on initialization.
 
 	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::OBSW;
 	static const Event GET_DATA_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
@@ -122,6 +80,29 @@ public:
 	 */
 	virtual ReturnValue_t deleteData(uint8_t* buffer, size_t size,
 			store_address_t* storeId = nullptr) = 0;
+
+
+	/**
+	 * @brief 	Access the data by supplying a store ID.
+	 * @details
+	 * A pair consisting of the retrieval result and an instance of a
+	 * ConstStorageAccessor class is returned
+	 * @param storeId
+	 * @return Pair of return value and a ConstStorageAccessor instance
+	 */
+	virtual ConstAccessorPair getData(store_address_t storeId) = 0;
+
+	/**
+	 * @brief 	Access the data by supplying a store ID and a helper
+	 * 			instance
+	 * @param storeId
+	 * @param constAccessor Wrapper function to access store data.
+	 * @return
+	 */
+	virtual ReturnValue_t getData(store_address_t storeId,
+			ConstStorageAccessor& constAccessor) = 0;
+
+
 	/**
 	 * @brief	getData returns an address to data and the size of the data
 	 * 			for a given packet_id.
@@ -135,8 +116,30 @@ public:
 	 */
 	virtual ReturnValue_t getData(store_address_t packet_id,
 			const uint8_t** packet_ptr, size_t* size) = 0;
+
+
 	/**
-	 * Same as above, but not const and therefore modifiable.
+	 * Modify data by supplying a store ID
+	 * @param storeId
+	 * @return Pair of return value and StorageAccessor helper
+	 */
+	virtual AccessorPair modifyData(store_address_t storeId) = 0;
+
+	/**
+	 * Modify data by supplying a store ID and a StorageAccessor helper instance.
+	 * @param storeId
+	 * @param accessor Helper class to access the modifiable data.
+	 * @return
+	 */
+	virtual ReturnValue_t modifyData(store_address_t storeId,
+				StorageAccessor& accessor) = 0;
+
+	/**
+	 * Get pointer and size of modifiable data by supplying the storeId
+	 * @param packet_id
+	 * @param packet_ptr [out] Pointer to pointer of data to set
+	 * @param size [out] Pointer to size to set
+	 * @return
 	 */
 	virtual ReturnValue_t modifyData(store_address_t packet_id,
 			uint8_t** packet_ptr, size_t* size) = 0;
@@ -155,6 +158,7 @@ public:
 	 */
 	virtual ReturnValue_t getFreeElement(store_address_t* storageId,
 			const size_t size, uint8_t** p_data, bool ignoreFault = false ) = 0;
+
 	/**
 	 * Clears the whole store.
 	 * Use with care!
@@ -162,4 +166,4 @@ public:
 	virtual void clearStore() = 0;
 };
 
-#endif /* STORAGEMANAGERIF_H_ */
+#endif /* FSFW_STORAGEMANAGER_STORAGEMANAGERIF_H_ */

storagemanager/storeAddress.h

@@ -0,0 +1,55 @@
+#ifndef FSFW_STORAGEMANAGER_STOREADDRESS_H_
+#define FSFW_STORAGEMANAGER_STOREADDRESS_H_
+
+#include <cstdint>
+
+/**
+ * This union defines the type that identifies where a data packet is
+ * stored in the store. It comprises of a raw part to read it as raw value and
+ * a structured part to use it in pool-like stores.
+ */
+union store_address_t {
+	/**
+	 * Default Constructor, initializing to INVALID_ADDRESS
+	 */
+	store_address_t():raw(0xFFFFFFFF){}
+	/**
+	 * Constructor to create an address object using the raw address
+	 *
+	 * @param rawAddress
+	 */
+	store_address_t(uint32_t rawAddress):raw(rawAddress){}
+
+	/**
+	 * Constructor to create an address object using pool
+	 * and packet indices
+	 *
+	 * @param poolIndex
+	 * @param packetIndex
+	 */
+	store_address_t(uint16_t poolIndex, uint16_t packetIndex):
+		pool_index(poolIndex),packet_index(packetIndex){}
+	/**
+	 * A structure with two elements to access the store address pool-like.
+	 */
+	struct {
+		/**
+		 * The index in which pool the packet lies.
+		 */
+		uint16_t pool_index;
+		/**
+		 * The position in the chosen pool.
+		 */
+		uint16_t packet_index;
+	};
+	/**
+	 * Alternative access to the raw value.
+	 */
+	uint32_t raw;
+
+	bool operator==(const store_address_t& other) const {
+		return raw == other.raw;
+	}
+};
+
+#endif /* FSFW_STORAGEMANAGER_STOREADDRESS_H_ */

tasks/FixedSequenceSlot.cpp

@@ -0,0 +1,17 @@
+#include "FixedSequenceSlot.h"
+#include "PeriodicTaskIF.h"
+#include <cstddef>
+
+FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
+		int8_t setSequenceId, ExecutableObjectIF* executableObject,
+		PeriodicTaskIF* executingTask) : handlerId(handlerId),
+		pollingTimeMs(setTime), opcode(setSequenceId) {
+    if(executableObject == nullptr) {
+        return;
+    }
+    this->executableObject = executableObject;
+    this->executableObject->setTaskIF(executingTask);
+}
+
+FixedSequenceSlot::~FixedSequenceSlot() {}
+

tasks/FixedSequenceSlot.h

@@ -1,41 +1,41 @@
-/**
+#ifndef FSFW_TASKS_FIXEDSEQUENCESLOT_H_
- * @file	FixedSequenceSlot.h
+#define FSFW_TASKS_FIXEDSEQUENCESLOT_H_
- * @brief	This file defines the PollingSlot class.
- * @date	19.12.2012
- * @author	baetz
- */
-
-#ifndef FIXEDSEQUENCESLOT_H_
-#define FIXEDSEQUENCESLOT_H_
 
+#include "ExecutableObjectIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
-#include "../tasks/ExecutableObjectIF.h"
+
 class PeriodicTaskIF;
 
 /**
- * @brief	This class is the representation of a single polling sequence table entry.
+ * @brief	This class is the representation of a single polling sequence
- *
+ *          table entry.
- * @details	The PollingSlot class is the representation of a single polling
+ * @details
- * 			sequence table entry.
+ * The PollingSlot class is the representation of a single polling
+ * sequence table entry.
+ * @author  baetz
  */
 class FixedSequenceSlot {
 public:
 	FixedSequenceSlot( object_id_t handlerId, uint32_t setTimeMs,
-			int8_t setSequenceId, PeriodicTaskIF* executingTask );
+			int8_t setSequenceId, ExecutableObjectIF* executableObject,
+			PeriodicTaskIF* executingTask);
 	virtual ~FixedSequenceSlot();
 
+	object_id_t handlerId;
+
 	/**
-	 * @brief	Handler identifies which device handler object is executed in this slot.
+	 * @brief	Handler identifies which object is executed in this slot.
 	 */
-	ExecutableObjectIF*	handler;
+	ExecutableObjectIF*	executableObject = nullptr;
 
 	/**
 	 * @brief	This attribute defines when a device handler object is executed.
-	 *
+	 * @details
-	 * @details	The pollingTime attribute identifies the time the handler is executed in ms.
+	 * The pollingTime attribute identifies the time the handler is
-	 * 			It must be smaller than the period length of the polling sequence.
+	 * executed in ms. It must be smaller than the period length of the
+	 * polling sequence.
 	 */
-	uint32_t	pollingTimeMs;
+	uint32_t pollingTimeMs;
 
 	/**
 	 * @brief	This value defines the type of device communication.
@@ -43,7 +43,7 @@ public:
 	 * @details	The state of this value decides what communication routine is
 	 * 			called in the PST executable or the device handler object.
 	 */
-	uint8_t			opcode;
+	uint8_t	opcode;
 
 	/**
 	 * @brief 	Operator overload for the comparison operator to
@@ -57,4 +57,4 @@ public:
 };
 
 
-#endif /* FIXEDSEQUENCESLOT_H_ */
+#endif /* FSFW_TASKS_FIXEDSEQUENCESLOT_H_ */

tasks/FixedSlotSequence.cpp

@@ -1,5 +1,6 @@
 #include "FixedSlotSequence.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
+#include <cstdlib>
 
 FixedSlotSequence::FixedSlotSequence(uint32_t setLengthMs) :
 		lengthMs(setLengthMs) {
@@ -12,7 +13,7 @@ FixedSlotSequence::~FixedSlotSequence() {
 }
 
 void FixedSlotSequence::executeAndAdvance() {
-	current->handler->performOperation(current->opcode);
+	current->executableObject->performOperation(current->opcode);
 //	if (returnValue != RETURN_OK) {
 //		this->sendErrorMessage( returnValue );
 //	}
@@ -80,44 +81,82 @@ uint32_t FixedSlotSequence::getLengthMs() const {
 	return this->lengthMs;
 }
 
+void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+        int8_t executionStep, ExecutableObjectIF* executableObject,
+        PeriodicTaskIF* executingTask) {
+    this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs,
+            executionStep, executableObject, executingTask));
+   this->current = slotList.begin();
+}
+
 ReturnValue_t FixedSlotSequence::checkSequence() const {
 	if(slotList.empty()) {
-		sif::error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
+		sif::error << "FixedSlotSequence::checkSequence:"
+				<< " Slot list is empty!" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 
-	auto slotIt = slotList.begin();
+	if(customCheckFunction != nullptr) {
-	uint32_t count = 0;
+		ReturnValue_t result = customCheckFunction(slotList);
-	uint32_t time = 0;
+		if(result != HasReturnvaluesIF::RETURN_OK) {
-	while (slotIt != slotList.end()) {
+			// Continue for now but print error output.
-		if (slotIt->handler == nullptr) {
+			sif::error << "FixedSlotSequence::checkSequence:"
-			sif::error << "FixedSlotSequene::initialize: ObjectId does not exist!"
+					<< " Custom check failed!" << std::endl;
-					<< std::endl;
-			count++;
-		} else if (slotIt->pollingTimeMs < time) {
-			sif::error << "FixedSlotSequence::initialize: Time: "
-					<< slotIt->pollingTimeMs
-					<< " is smaller than previous with " << time << std::endl;
-			count++;
-		} else {
-			// All ok, print slot.
-			//info << "Current slot polling time: " << std::endl;
-			//info << std::dec << slotIt->pollingTimeMs << std::endl;
 		}
-		time = slotIt->pollingTimeMs;
-		slotIt++;
 	}
-	//info << "Number of elements in slot list: "
+
+	uint32_t errorCount = 0;
+	uint32_t time = 0;
+	for(const auto& slot: slotList) {
+		if (slot.executableObject == nullptr) {
+			errorCount++;
+		}
+		else if (slot.pollingTimeMs < time) {
+			sif::error << "FixedSlotSequence::checkSequence: Time: "
+					<< slot.pollingTimeMs << " is smaller than previous with "
+					<< time << std::endl;
+			errorCount++;
+		}
+		else {
+			// All ok, print slot.
+			//sif::info << "Current slot polling time: " << std::endl;
+			//sif::info << std::dec << slotIt->pollingTimeMs << std::endl;
+		}
+		time = slot.pollingTimeMs;
+
+	}
+	//sif::info << "Number of elements in slot list: "
 	//	   << slotList.size() << std::endl;
-	if (count > 0) {
+	if (errorCount > 0) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
-void FixedSlotSequence::addSlot(object_id_t componentId, uint32_t slotTimeMs,
+
-		int8_t executionStep, PeriodicTaskIF* executingTask) {
+ReturnValue_t FixedSlotSequence::intializeSequenceAfterTaskCreation() const {
-	this->slotList.insert(FixedSequenceSlot(componentId, slotTimeMs, executionStep,
+    std::set<ExecutableObjectIF*> uniqueObjects;
-			executingTask));
+    uint32_t count = 0;
-	this->current = slotList.begin();
+    for(const auto& slot: slotList) {
+        // Ensure that each unique object is initialized once.
+        if(uniqueObjects.find(slot.executableObject) == uniqueObjects.end()) {
+            ReturnValue_t result =
+                    slot.executableObject->initializeAfterTaskCreation();
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                count++;
+            }
+            uniqueObjects.emplace(slot.executableObject);
+        }
+    }
+    if (count > 0) {
+        sif::error << "FixedSlotSequence::intializeSequenceAfterTaskCreation:"
+                "Counted " << count << " failed initializations!"  << std::endl;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void FixedSlotSequence::addCustomCheck(ReturnValue_t
+		(*customCheckFunction)(const SlotList&)) {
+	this->customCheckFunction = customCheckFunction;
 }

tasks/FixedSlotSequence.h

@@ -1,26 +1,30 @@
-#ifndef FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
+#ifndef FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
-#define FRAMEWORK_DEVICEHANDLERS_FIXEDSLOTSEQUENCE_H_
+#define FSFW_TASKS_FIXEDSLOTSEQUENCE_H_
 
 #include "FixedSequenceSlot.h"
 #include "../objectmanager/SystemObject.h"
+
 #include <set>
 
 /**
- * @brief	This class is the representation of a Polling Sequence Table in software.
+ * @brief	This class is the representation of a
- *
+ * 			Polling Sequence Table in software.
  * @details
  * The FixedSlotSequence object maintains the dynamic execution of
- * device handler objects.
+ * objects with stricter timing requirements for the FixedTimeslotTask.
  *
- * The main idea is to create a list of device handlers, to announce all
+ * The main idea is to create a list of executable objects (for example
- * handlers to thepolling sequence and to maintain a list of
+ * device handlers), to announce all handlers to the polling sequence and to
- * polling slot objects. This slot list represents the Polling Sequence Table
+ * maintain a list of polling slot objects.
- * in software.
+ * This slot list represents the Polling Sequence Table in software.
  *
  * Each polling slot contains information to indicate when and
- * which device handler shall be executed within a given polling period.
+ * which executable object shall be executed within a given polling period.
- * The sequence is then executed by iterating through this slot list.
+ * When adding a slot, a pointer to the executing task, a pointer to the
- * Handlers are invoking by calling a certain function stored in the handler list.
+ * executable object and a step number can be passed. The step number will be
+ * passed to the periodic handler.
+ * The sequence is executed by iterating through the slot sequence and
+ * executing the executable object in the correct timeslot.
  */
 class FixedSlotSequence {
 public:
@@ -29,41 +33,44 @@ public:
 
 	/**
 	 * @brief	The constructor of the FixedSlotSequence object.
-	 *
-	 * @details	The constructor takes two arguments, the period length and the init function.
-	 *
 	 * @param	setLength	The period length, expressed in ms.
 	 */
 	FixedSlotSequence(uint32_t setLengthMs);
 
 	/**
 	 * @brief	The destructor of the FixedSlotSequence object.
-	 *
+	 * @details
-	 * @details	The destructor frees all allocated memory by iterating through the slotList
+	 * The destructor frees all allocated memory by iterating through the
-	 *  		and deleting all allocated resources.
+	 * slotList and deleting all allocated resources.
 	 */
 	virtual ~FixedSlotSequence();
 
 	/**
 	 * @brief	This is a method to add an PollingSlot object to slotList.
 	 *
-	 * @details	Here, a polling slot object is added to the slot list. It is appended
+	 * @details
-	 * 			to the end of the list. The list is currently NOT reordered.
+	 * Here, a polling slot object is added to the slot list. It is appended
-	 * 			Afterwards, the iterator current is set to the beginning of the list.
+	 * to the end of the list. The list is currently NOT reordered.
-	 * 	@param Object ID of the object to add
+	 * Afterwards, the iterator current is set to the beginning of the list.
-	 * 	@param setTime Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
+	 * 	@param handlerId ID of the object to add
-	 * 				   will be called inside the slot period.
+	 * 	@param setTime
-	 * 	@param setSequenceId ID which can be used to distinguish
+	 * 	Value between (0 to 1) * slotLengthMs, when a FixedTimeslotTask
-	 * 	                     different task operations
+	 * 	will be called inside the slot period.
+	 * 	@param setSequenceId
+	 * 	ID which can be used to distinguish different task operations. This
+	 * 	value will be passed to the executable function.
 	 * 	@param
 	 * 	@param
 	 */
 	void addSlot(object_id_t handlerId, uint32_t setTime, int8_t setSequenceId,
+			ExecutableObjectIF* executableObject,
 			PeriodicTaskIF* executingTask);
 
 	/**
-	 * Checks if the current slot shall be executed immediately after the one before.
+	 * @brief	Checks if the current slot shall be executed immediately
-	 * This allows to distinguish between grouped and not grouped handlers.
+	 * 			after the one before.
+	 * @details
+	 * This allows to distinguish between grouped and separated handlers.
 	 * @return 	- @c true if the slot has the same polling time as the previous
 	 * 			- @c false else
 	 */
@@ -125,12 +132,32 @@ public:
 	SlotListIter current;
 
 	/**
-	 * Iterate through slotList and check successful creation.
+	 * @brief   Check and initialize slot list.
+	 * @details
 	 * Checks if timing is ok (must be ascending) and if all handlers were found.
 	 * @return
 	 */
 	ReturnValue_t checkSequence() const;
 
+	/**
+	 * @brief   A custom check can be injected for the respective slot list.
+	 * @details
+	 * This can be used by the developer to check the validity of a certain
+	 * sequence. The function will be run in the #checkSequence function.
+	 * The general check will be continued for now if the custom check function
+	 * fails but a diagnostic debug output will be given.
+	 * @param customCheckFunction
+	 */
+	void addCustomCheck(ReturnValue_t (*customCheckFunction)(const SlotList &));
+
+	/**
+	 * @brief 	Perform any initialization steps required after the executing
+	 * 			task has been created. This function should be called from the
+	 * 			executing task!
+	 * @return
+	 */
+	ReturnValue_t intializeSequenceAfterTaskCreation() const;
+
 protected:
 
 	/**
@@ -146,7 +173,9 @@ protected:
 	 */
 	SlotList slotList;
 
+	ReturnValue_t (*customCheckFunction)(const SlotList&) = nullptr;
+
 	uint32_t lengthMs;
 };
 
-#endif /* FIXEDSLOTSEQUENCE_H_ */
+#endif /* FSFW_TASKS_FIXEDSLOTSEQUENCE_H_ */

tasks/SemaphoreFactory.h

@@ -1,50 +1,50 @@
-#ifndef FSFW_TASKS_SEMAPHOREFACTORY_H_
+#ifndef FSFW_TASKS_SEMAPHOREFACTORY_H_
-#define FSFW_TASKS_SEMAPHOREFACTORY_H_
+#define FSFW_TASKS_SEMAPHOREFACTORY_H_
-
+
-#include "../tasks/SemaphoreIF.h"
+#include "../tasks/SemaphoreIF.h"
-
+
-/**
+/**
- * Creates Semaphore.
+ * Creates Semaphore.
- * This class is a "singleton" interface, i.e. it provides an
+ * This class is a "singleton" interface, i.e. it provides an
- * interface, but also is the base class for a singleton.
+ * interface, but also is the base class for a singleton.
- */
+ */
-class SemaphoreFactory {
+class SemaphoreFactory {
-public:
+public:
-	virtual ~SemaphoreFactory();
+	virtual ~SemaphoreFactory();
-	/**
+	/**
-	 * Returns the single instance of SemaphoreFactory.
+	 * Returns the single instance of SemaphoreFactory.
-	 * The implementation of #instance is found in its subclasses.
+	 * The implementation of #instance is found in its subclasses.
-	 * Thus, we choose link-time variability of the  instance.
+	 * Thus, we choose link-time variability of the  instance.
-	 */
+	 */
-	static SemaphoreFactory* instance();
+	static SemaphoreFactory* instance();
-
+
-	/**
+	/**
-	 * Create a binary semaphore.
+	 * Create a binary semaphore.
-	 * Creator function for a binary semaphore which may only be acquired once
+	 * Creator function for a binary semaphore which may only be acquired once
-	 * @param argument Can be used to pass implementation specific information.
+	 * @param argument Can be used to pass implementation specific information.
-	 * @return Pointer to newly created semaphore class instance.
+	 * @return Pointer to newly created semaphore class instance.
-	 */
+	 */
-	SemaphoreIF* createBinarySemaphore(uint32_t arguments = 0);
+	SemaphoreIF* createBinarySemaphore(uint32_t arguments = 0);
-	/**
+	/**
-	 * Create a counting semaphore.
+	 * Create a counting semaphore.
-	 * Creator functons for a counting semaphore which may be acquired multiple
+	 * Creator functons for a counting semaphore which may be acquired multiple
-	 * times.
+	 * times.
-	 * @param count Semaphore can be taken count times.
+	 * @param count Semaphore can be taken count times.
-	 * @param initCount Initial count value.
+	 * @param initCount Initial count value.
-	 * @param argument Can be used to pass implementation specific information.
+	 * @param argument Can be used to pass implementation specific information.
-	 * @return
+	 * @return
-	 */
+	 */
-	SemaphoreIF* createCountingSemaphore(const uint8_t maxCount,
+	SemaphoreIF* createCountingSemaphore(const uint8_t maxCount,
-			uint8_t initCount, uint32_t arguments = 0);
+			uint8_t initCount, uint32_t arguments = 0);
-
+
-	void deleteSemaphore(SemaphoreIF* semaphore);
+	void deleteSemaphore(SemaphoreIF* semaphore);
-
+
-private:
+private:
-	/**
+	/**
-	 * External instantiation is not allowed.
+	 * External instantiation is not allowed.
-	 */
+	 */
-	SemaphoreFactory();
+	SemaphoreFactory();
-	static SemaphoreFactory* factoryInstance;
+	static SemaphoreFactory* factoryInstance;
-};
+};
-
+
-#endif /* FSFW_TASKS_SEMAPHOREFACTORY_H_ */
+#endif /* FSFW_TASKS_SEMAPHOREFACTORY_H_ */

tasks/SemaphoreIF.h

@@ -1,68 +1,68 @@
-#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
+#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
-#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
+#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
-#include "../returnvalues/FwClassIds.h"
+#include "../returnvalues/FwClassIds.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
-#include <cstdint>
+#include <cstdint>
-
+
-/**
+/**
- * @brief 	Generic interface for semaphores, which can be used to achieve
+ * @brief 	Generic interface for semaphores, which can be used to achieve
- * 			task synchronization. This is a generic interface which can be
+ * 			task synchronization. This is a generic interface which can be
- * 			used for both binary semaphores and counting semaphores.
+ * 			used for both binary semaphores and counting semaphores.
- * @details
+ * @details
- * A semaphore is a synchronization primitive.
+ * A semaphore is a synchronization primitive.
- * See: https://en.wikipedia.org/wiki/Semaphore_(programming)
+ * See: https://en.wikipedia.org/wiki/Semaphore_(programming)
- * A semaphore can be used to achieve task synchonization and track the
+ * A semaphore can be used to achieve task synchonization and track the
- * availability of resources by using either the binary or the counting
+ * availability of resources by using either the binary or the counting
- * semaphore types.
+ * semaphore types.
- *
+ *
- * If mutual exlcusion of a resource is desired, a mutex should be used,
+ * If mutual exlcusion of a resource is desired, a mutex should be used,
- * which is a special form of a semaphore and has an own interface.
+ * which is a special form of a semaphore and has an own interface.
- */
+ */
-class SemaphoreIF {
+class SemaphoreIF {
-public:
+public:
-    /**
+    /**
-     * Different types of timeout for the mutex lock.
+     * Different types of timeout for the mutex lock.
-     */
+     */
-    enum TimeoutType {
+    enum TimeoutType {
-        POLLING, //!< If mutex is not available, return immediately
+        POLLING, //!< If mutex is not available, return immediately
-        WAITING, //!< Wait a specified time for the mutex to become available
+        WAITING, //!< Wait a specified time for the mutex to become available
-        BLOCKING //!< Block indefinitely until the mutex becomes available.
+        BLOCKING //!< Block indefinitely until the mutex becomes available.
-    };
+    };
-
+
-	virtual~ SemaphoreIF() {};
+	virtual~ SemaphoreIF() {};
-
+
-	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
-	//! Semaphore timeout
+	//! Semaphore timeout
-	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
+	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
-	//! The current semaphore can not be given, because it is not owned
+	//! The current semaphore can not be given, because it is not owned
-	static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
+	static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
-	static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
+	static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
-
+
-	/**
+	/**
-	 * Generic call to acquire a semaphore.
+	 * Generic call to acquire a semaphore.
-	 * If there are no more semaphores to be taken (for a counting semaphore,
+	 * If there are no more semaphores to be taken (for a counting semaphore,
-	 * a semaphore may be taken more than once), the taks will block
+	 * a semaphore may be taken more than once), the taks will block
-	 * for a maximum of timeoutMs while trying to acquire the semaphore.
+	 * for a maximum of timeoutMs while trying to acquire the semaphore.
-	 * This can be used to achieve task synchrnization.
+	 * This can be used to achieve task synchrnization.
-	 * @param timeoutMs
+	 * @param timeoutMs
-	 * @return - c RETURN_OK for successfull acquisition
+	 * @return - c RETURN_OK for successfull acquisition
-	 */
+	 */
-	virtual ReturnValue_t acquire(TimeoutType timeoutType =
+	virtual ReturnValue_t acquire(TimeoutType timeoutType =
-            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
-
+
-	/**
+	/**
-	 * Corrensponding call to release a semaphore.
+	 * Corrensponding call to release a semaphore.
-	 * @return -@c RETURN_OK for successfull release
+	 * @return -@c RETURN_OK for successfull release
-	 */
+	 */
-	virtual ReturnValue_t release() = 0;
+	virtual ReturnValue_t release() = 0;
-
+
-	/**
+	/**
-	 * If the semaphore is a counting semaphore then the semaphores current
+	 * If the semaphore is a counting semaphore then the semaphores current
-	 * count value is returned. If the semaphore is a binary semaphore then 1
+	 * count value is returned. If the semaphore is a binary semaphore then 1
-	 * is returned if the semaphore is available, and 0 is returned if the
+	 * is returned if the semaphore is available, and 0 is returned if the
-	 * semaphore is not available.
+	 * semaphore is not available.
-	 */
+	 */
-	virtual uint8_t getSemaphoreCounter() const = 0;
+	virtual uint8_t getSemaphoreCounter() const = 0;
-};
+};
-
+
-#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */
+#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */

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() {
+VerificationReporter::~VerificationReporter() {}
-	//Default, empty
-}
 
 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
+		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
-				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
+				<< "to queue. Code: " << std::hex << status << std::dec
-				<< (uint16_t) status << std::endl;
+				<< 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
+		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
-				<< "VerificationReporter::sendSuccessReport: Error writing to queue. Code: "
+				<< "to queue. Code: " << std::hex << status << std::dec
-				<< (uint16_t) status << std::endl;
+				<< 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
+		sif::error << "VerificationReporter::sendFailureReport: Error writing "
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
+				<< "to queue. Code: " << std::hex  << "0x" << status << std::dec
-				<< (uint16_t) status << std::endl;
+				<< 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
+		sif::error << "VerificationReporter::sendFailureReport: Error writing "
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
+				<< "to queue. Code: " << std::hex << "0x" << status << std::dec
-				<< (uint16_t) status << std::endl;
+				<< 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) {
-		this->acknowledgeQueue = temp->getVerificationQueue();
+		sif::error << "VerificationReporter::initialize: Message "
-	} else {
+				<< "receiver invalid. Make sure it is set up properly and "
-		sif::error
+				<< "implementsAcceptsVerifyMessageIF" << std::endl;
-				<< "VerificationReporter::VerificationReporter: Configuration error."
+		return;
-				<< std::endl;
 	}
+	this->acknowledgeQueue = temp->getVerificationQueue();
 }

tmtcservices/VerificationReporter.h

@@ -1,31 +1,50 @@
-#ifndef VERIFICATIONREPORTER_H_
+#ifndef FSFW_TMTCSERVICES_VERIFICATIONREPORTER_H_
-#define 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 sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet,
-	void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet, ReturnValue_t error_code = 0,
+			uint8_t set_step = 0 );
-			uint8_t step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 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_ */